Application Synchronous / Command Positioning - DEMERO · 2016. 8. 29. · Servo motors (MDS 5000,...

from V 5.6-F

01/2013 EN

APPLICATIONSynchronous/Command Positioning FUNCTIONS

DETAILS

PARAMETERS5th Generation of STÖBER Inverters

Table of Contents Synchronous/Command Positioning

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Table of Contents

1. Notes of Safety ……................................................ 1 1.1 Software ................................................................................. 6

1.2 Presentation of notes on safety .............................................. 7

2. Function Description ............................................. 8 2.1 Interface ……………..……....................................................... 10

2.1.1 Input Signals …….................................................................... 11

2.1.2 Output Signals ……………………............................................ 14

2.1.3 Process Data Image …………………………............................ 18

2.2 Overview of Available Commands ……….……………............ 19

2.2.1 State diagram (based on PLCopen) …………….……………… 20

2.2.2 MC_MoveAbsolute (01hex) ………………………………………. 24

2.2.3 MC_MoveRelative (02hex) ….................................................... 25

2.2.4 MC_MoveAdditive (03hex) ........................................................ 26

2.2.5 MC_MoveVelocity (04hex) ........................................................ 27

2.2.6 Stop (MC_Stop 05hex) …........................................................... 27

2.2.7 MC_Home …............................................................................ 28

2.2.8 MC_Reset (07hex) …................................................................. 34

2.2.9 Activate positioning (08hex) ………............................................ 34

2.2.10 Deacivate positioning (09hex) …................................................ 34

2.2.11 MC_Continue (0Dhex) …......................................................... 34

2.2.12 Tipping Mode …....................................................................... 35

2.3 Synchronous Coammands ….................................................. 36

2.3.1 MC_GearIn ….......................................................................... 36

2.3.2 MC_GearOut …....................................................................... 37

2.3.3 MC_MoveSuperimposed ………………………………………… 38

2.4 Synchronous Functions …………………….............................. 39

2.4.1 Interface Combinations ……………………............................... 39

2.4.2 The Assignments in Detail …………………............................. 40


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3. Details ………………………..................................... 44 3.1 End of commands ………………………………........................ 44

3.2 Limit Switches ……………………………….............................. 46

3.2.1 Software Stops ……………...................................................... 46

3.2.2 Hardware Limit Switches …..................................................... 47

3.3 Following Error ……………….................................................. 48

3.4 Speed/Position Controller ……................................................ 48

3.5 Local Mode …..….................................................................... 49

3.6 Quick Stop Behavior …..…………..…...................................... 49

3.7 Setting the Mechanical Reference System with I07 / I08 ....... 50

3.8 Setting the Synchronous Ratio with G21 / G22 …………........ 52

3.9 External Position Encoder …………………………………….… 53

3.10 Special Extra Functions (only Command Positioning) ………. 57 3.11 Reconstruction of the Actual Position after Device Switchon .. 60

3.12 MotionID / Toggle Bit / Handshake Procedures ………………. 61

3.13 Application Events ……..….…………………………………….. 64

3.14 Communication with CAN ………………………………………. 65

3.15 Communication with PROFIBUS ………………………………. 66

3.16 Communication with EtherCAT …………………………………. 66

3.17 Communication with PROFINET ……………………………….. 66

4. Used Parameters ……………………….................... 67 4.1 Parameter Legend ………………………………....................... 67

4.2 Parameter List ………………………………............................. 68


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- This page was purposely left blank -

Notes on Safety Synchronous/Command Positioning

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1 Notes on Safety When in operation, inverters from STÖBER ANTRIEBSTECHNIK GmbH + Co. KG may have energized or rotating parts depending on their protection rating. Surfaces may heat up. For these reasons, comply with the following: The safety notes listed in the following sections and points The technical rules and regulations

In addition, always read the mounting instructions and the short commissioning instructions. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages caused by non-adherence to the instructions or applicable regulations. Subject to technical changes to improve the devices without prior notice. This documentation is purely a product description. It does not represent promised properties in the sense of warranty law.

Component part of the product The technical documentation is a component part of a product. Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of. If the product is sold, disposed of, or rented out, always include the

technical documentation with the product.

Operation in accordance with its intended use In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE® FDS 5000 and MDS 5000 and the POSIDYN® SDS 5000 model series represent the electrical equipment of power electronics for the control of power flow in high-voltage current systems. They are designed exclusively to power: Servo motors (MDS 5000, SDS 5000) Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000)

Operation for purposes other than the intended use include the connection of other electrical loads! Before the manufacturer is allowed to put a machine on the market, he must have a danger analysis prepared as per machine guideline 98/37/EG. This analysis establishes the dangers connected with the use of the machine. The danger analysis is a multi-stage, iterative process. Since this documentation cannot begin to provide sufficient insight into the machine guidelines, please carefully study the latest standards and legal situation yourself. After the drive controller has been installed in machines, it cannot be commissioned until it has been determined that the machine complies with the regulations of EG guideline 98/37/EG.


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Ambient conditions Model series POSIDRIVE® FDS 5000 and MDS 5000 and POSIDYN® SDS 5000 are products of the restricted sales class as described in IEC 61800-3. This product may cause high-frequency interference in residential zones and the user may be asked to take suitable measures. The inverters are not designed for use in public low-voltage networks which power residential areas. High-frequency interference must be expected when the inverters are used in such a network. The inverters are only intended for use in TN networks. The inverters are only designed for use on supply current networks which can delivery at the most a maximum of symmetrical rated short circuit current at 480 Volts as per the following table:

Device family Size Max. symmetrical rated short circuit

current FDS 5000, MDS 5000, SDS 5000

BG 0 and BG 1

5000 A

MDS 5000 SDS 5000

BG 2 5000 A

BG 3 10000 A Install the inverter in a switching cabinet in which the permissible maximum surrounding air temperature is not exceeded (see mounting instructions). The following applications are prohibited: Use in potentially explosive areas Use in environments with harmful substances as per EN 60721 (e.g., oils,

acids, gases, fumes, powders, irradiation) Use with mechanical vibration and impact stresses which exceed the

information in the technical data of the mounting instructions Implementation of the following applications is only permitted when STÖBER ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission: Use in non-stationary applications

Qualified personnel Since the drive controllers of the model series POSIDRIVE® FDS 5000, POSIDRIVE® MDS 5000 and POSIDYN® SDS 5000 may harbor residual risks, all configuration, transportation, installation and commissioning tasks including operation and disposal may only be performed by trained personnel who are aware of the possible risks.


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Personnel must have the qualifications required for the job. The following table lists examples of occupational qualifications for the jobs: Activity Possible occupational qualifications Transportation and storage Worker skilled in storage logistics or

comparable training Configuration Graduate engineer (electro-

technology or electrical power technology)

Technician (m/f) (electro-technology) Installation and connection Electronics technician (m/f) Commissioning (of a standard application)

Technician (m/f) (electro-technology) Master electro technician (m/f)

Programming Graduate engineer (electro-technology or electrical power technology)

Operation Technician (m/f) (electro-technology) Master electro technician (m/f)

Disposal Electronics technician (m/f) In addition, the valid regulations, the legal requirements, the reference books, this technical documentation and, in particular, the safety information contained therein must be carefully: read understood and complied with.

Transportation and storage Immediately upon receipt, examine the delivery for any transportation damages. Immediately inform the transportation company of any damages. If damages are found, do not commission the product. If the device is not to be installed immediately, store it in a dry, dust-free room. Please see the mounting instructions for how to commission an inverter after it has been in storage for a year or longer.

Installation and connection Installation and connection work are only permitted after the device has been isolated from the power! The accessory installation instructions allow the following actions during the installation of accessories: The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot

can be opened. The housing of the MDS 5000 and SDS 5000 in the bottom slot can be

opened. Opening the housing in another place or for other purposes is not permitted.


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Use only copper lines. For the line cross sections to be used, see table 310-16 of the NEC standard for 60 oC or 75 oC. Protect the device from falling parts (pieces of wire, leads, metal parts, and so on) during installation or other tasks in the switching cabinet. Parts with con-ductive properties inside the inverter can cause short circuits or device failure. The motor must have an integrated temperature monitor with basic isolation in acc. with EN 61800-5-1 or external motor overload protection must be used. The permissible protection class is protective ground. Operation is not permitted unless the protective conductor is connected in accordance with the regulations. Comply with the applicable instructions for installation and commissioning of motor and brakes.

Commissioning, operation and service Remove additional coverings before commissioning so that the device cannot overheat. During installation, provide the free spaces specified in the mounting instructions to prevent the inverter from overheating. The housing of the drive controller must be closed before you turn on the supply voltage. When the supply voltage is on, dangerous voltages can be present on the connection terminals and the cables and motor terminals connected to them. Remember that the device is not necessarily de-energized after all indicators have gone off. When network voltage is applied, the following are prohibited: Opening the housing Connecting or disconnecting the connection terminals Installing accessories

Proceed as shown below to perform these tasks: 1. Disable the enable (X1). 2. Turn off the supply voltage (power pack and controller power supply

as well as any auxiliary voltages for encoder, brake, etc.). 3. Protect the supply voltages from being turned on again. 4. Wait 5 minutes (time the DC link capacitors need to discharge). 5. Determine isolation from the voltage. 6. Short circuit the network input and ground it. 7. Cover the adjacent, voltage-carrying parts.

You can then start your work on the drive controller. Repairs may only be performed by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. Send defective devices together with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Abteilung VS-EL Kieselbronner Str. 12 75177 Pforzheim

GERMANY


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Disposal Please comply with the latest national and regional regulations! Dispose of the individual parts separately depending on their nature and currently valid regulations such as, for example: Electronic scrap (PCBs) Plastic Sheet metal Copper Aluminum

Residual dangers The connected motor can be damaged with certain settings of drive controllers. Longer operation against an applied motor halting brake Longer operation of self-cooled motors at slow speeds

Drives can reach dangerous excess speeds (e.g., setting of high output frequencies for motors and motor settings which are unsuitable for this). Secure the drive accordingly.


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1.1 Software

Using the POSITool software The POSITool software package can be used to select the application and adjust the parameters and signal monitoring of the 5th generation of STÖBER inverters. The functionality is specified by selecting an application and transmitting these data to an inverter. The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and is copyrighted. The program is licensed for the user. The software is only provided in machine-readable form. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a non-exclusive right to use the program (license) provided it has been legitimately obtained. The customer is authorized to use the program for the above activities and functions and to make copies of the program, including a backup copy for support of this use, and to install same. The conditions of this license apply to each copy. The customer promises to affix the copyright notation to each copy of the program and all other property notations. The customer is not authorized to use, copy, change or pass on/transmit the program for purposes other than those in these regulations. The customer is also not authorized to convert the program (i.e., reverse assembly, reverse compilation) or to compile it in any other way. The customer is also not authorized to issue sublicenses for the program, or to rent or lease it out.

Product maintenance The obligation to maintain refers to the two latest program versions created by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program errors or will provide the customer with a new program version. This choice will be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual cases, the error cannot be immediately corrected, STÖBER ANTRIEBS-TECHNIK GmbH + Co. KG will provide an intermediate solution which may require the customer to comply with special operation regulations. A claim to error correction only exists when the reported errors are reproducible or can be indicated with machine-generated outputs. Errors must be reported in a reconstructable form and provide information which is useful to error correction. The obligation to correct errors ceases to exist for such programs which the customer changes or edits in any way unless the customer can prove that such action is not the cause of the reported error. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid program versions in an especially safe place (fireproof data safe, bank deposit box).


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1.2 Presentation of notes on safety

Notice means that property damage may occur if the stated precautionary measures are not taken.

Caution with warning triangle means that minor injury may occur if the stated precautionary measures are not taken.

Warning means that there may be a serious danger of death if the stated precautionary measures are not taken.

Danger means that serious danger of death exists if the stated precautionary measures are not taken.

Information indicates important information about the product or a highlighted portion of the documentation which requires special attention.

CAUTION

WARNING

DANGER

NOTICE

Function description Synchronous/Command Positioning

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2 Function Description This description applies to the applications command positioning and synchronous command positioning (electronic gear) which are controlled via a fieldbus system (CAN, PROFIBUS DP, EtherCAT). The synchronous command positioning operation application is a single-axis positioning controller with the capability of being electronically coupled to a master axis for positioning (electronic gear). Command positioning does not include the synchronous commands but has a cam, a switching point and the Posi latch function. A choice of limited or endless position range (slave) is available. The inverter processes a series of positioning commands which correspond to the behavior of the Motion Control blocks in accordance with the PLCopen standard (http://www.plcopen.org/). The higher-level controller can use a byte to select commands such as MC_MoveAbsolute, MC_MoveRelative or MC_GearIn for absolute, relative or synchronous positioning jobs. Additional data words within a process data telegram can be used to specify parameters such as target position, speed, speed override or the torque limit. A so-called handshake is provided for the adjustment between higher-level controller and drive so that there are no bothersome wait times due to status bit polling. The following functions are available: Continuous position control with following error monitoring Assignment of a job identifier to the positioning jobs Change in target during positioning Continuation of interrupted positioning commands Referencing with several modes Continuous re-referencing for slip-prone axes Direction-independent, continuous referencing Cyclically returning reference marks Tipping mode, continuous TipStep mode with fixed position increments Speed override for continuous change in speed during positioning Torque limitation, also continuously during positioning Hardware limit switch (endless axis and limited axis) Software stop (only limited axis) Easy control of the halting brake Speed and angle-synchronous coupling into running and stationary master

axis (only with synchronous command positioning) Easy and quick access to inputs and outputs of the inverter Functions only available with the command positioning application: Posi.Latch function for precise position acquisition via external events "Electronic cam" function Function Posi.switchpoint (e.g., as positioning advance alarm)


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Limited position range A limited position range exists when the permissible area of movement is limited by stops or similar.

Information For reasons of safety, limit switches are recommended. If the inverter does not have enough available inputs free (operation without option board), the limit switches must be evaluated by the higher-level controller and sent to the inverter via fieldbus. Be absolutely sure to read and adhere to the information on limit switches in chapter 3.1.

Limited position range

Figure 2-1 Limited position range


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Endless position range (circular axis) The most important feature of an endless position range is the cyclic repetition of certain positions during a movement in one direction (example: hands of a clock). Selection of the circular axis application means that the position is only counted up to the CircularLength I01 (e.g., 360°). After this value, counting starts again at zero.

Limitation When a position outside the circular length is selected absolutely, the positioning command is rejected. Only absolute positions within the position range are permitted. Endless position range

Figure 2-2 Endless position range Whether an application with endless or limited position range is used must be specified in the configuration assistant when the application is selected.

2.1 Interface The device controller is selected during step 4 (device configuration) of the configuration assistant (POSITool). The selection of a device controller does not mean that the control and status signals are only available exclusively via the selected controller. Mixed operation with control via terminals is always possible for fieldbus systems. For this reason, the origin of the control and status signals must be set in the particular Selector for every application. When the setting "Parameter" is selected for the input signals in Selector, the value from the fieldbus image is used. Values can be transferred via a fieldbus system to these parameters. The indication parameter can be used to check whether the signal path is correctly set. (Caution! Indication parameters in POSITool are only visible during online operation or in an updated documentation!). When there is no Selector for a signal, the value must be entered directly in the fieldbus image. For control of the signals, see operating manuals, chapter 8: MDS 5000: ID 442285 FDS 5000: ID 442281 SDS 5000: ID 442289


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2.1.1 Input Signals The input signals of the inverter are described here which are necessary to activate a drive axis via a fieldbus system. Signals can reach the device via binary inputs or via fieldbus. The selection is made in the applicable Selector parameter (e.g., A60). Several signals are always combined into one byte or one word so that they can be written via fieldbus (e.g., A180).

Bit signals

Signal Function SelectorImage on Fieldbus (Bit)

Indication Parameter

Additional enable

Additional enable, extra signal via fieldbus for hardware enable.

A60 A180 Bit 0 A300

Fault reset Acknowledgment for faults of the device state machine.

A61 A180 Bit 1 A301

Quick stop Brakes the motor on the ramp in I17. A62 A180 Bit 2 A302 Axis selector 0 With multiple-axis operation, selects the

active axis. A63 A180 Bit 3 A303

Axis selector 1 A64 A180 Bit 4 A304 Axis disable All axes deactivated. No motor on. A65 A180 Bit 5 A305

Execute1 With a rising edge, the command in Motion Command byte I211 is executed.

I100 I210 Bit 0 I222 Bit 0

I300

/Hardware-Limit-Switch+1

Hardware limit switch, positive/negative end of range. LOW-active! When the direction of counting is changed by a negative value in I07 or I08, the hardware limit switches must be reversed!

I101 I210 Bit 1 I222 Bit 1

I301

/Hardware-Limit-Switch-1

I102 I210 Bit 2 I222 Bit 2

I302

Reference input1

Reference switch. Reference positioning is started with the command MC_Home in the command word.

I103 I210 Bit 3 I222 Bit 3

I303

Tip enable Activates tipping mode. I104 I210 Bit 4 I222 Bit 4

I304

Tip+ Tip mode in positive/negative direction with the speed I12 and acceleration I13.

I105 I210 Bit 5 I222 Bit 5

I305

Tip- I106 I210 Bit 6 I222 Bit 6

I306

1 When connected to binary inputs BE1 to BE5, the rising edge is acquired by the hardware with microsecond precision and the delay until the terminal is polled is offset automatically by the software. This capability is required for precise referencing or for very time-critical positioning jobs.


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Signal Function SelectorImage on Fieldbus (Bit)

Indication Parameter

TipStep+ TipStep mode in positive/negative direction: With rising edge, the axis moves along the path I14 in positive/negative direction (speed I12, acceleration I13).

I107 I210 Bit 7 I222 Bit 7

I307

TipStep- I108 I210 Bit 8 I222 Bit 8

I308

Posi.Latch Reset

Change from LOW HIGH sets Posi.Latch Status I190=0 which activates the latch function. Note: Only for command positioning

I109 I210 Bit 9 I309

Posi.Latch Execute1

With the behavior set in I75, the current value of the position encoder I02 is acquired and written to I191. Note: Only for command positioning

I110 I210 Bit 10 I310

Posi.Switching Point Reset

The switching point is reset. Note: Only for command positioning

I111 I210 Bit 11 I311

Motion ID‘s

Command identifiers for identification of each job with a unique number which is imaged in I200 of the controller during execution (see chap. 3.11).

—

I210 Bit 12 - I210 Bit 14; I222 Bit 12 - I222 Bit 14

—

Motion Command Byte

Positioning command — I211 Bit 0 – I211 Bit 4

—

Brake

Positioning-job-dependent brake control. If brake control F08 was activated, this signal can be used to apply the brake at the end of a positioning job.

— I211 Bit 5 —

Direction optimization

Direction optimization for circular axis. For description, see chapter 2.9.

— I211 Bit 6 & I211 Bit 7

1 When connected to binary inputs BE1 to BE5, the rising edge is acquired by the hardware with microsecond precision and the delay until the terminal is polled is offset automatically by the software. This capability is required for precise referencing or for very time-critical positioning jobs.


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Reference values Only the I213 target position must be supplied for the minimal configuration of command positioning.. Additional possible reference values: I230 Override

Affects the speeds of ALL motions (positioning, tipping and referencing) and is accepted at all times without Execute edge. Selector: I130, indication parameter: I330

I215 Speed factor Affects the speed of the command to be accepted at a rising Execute edge. This value can only be accepted during the rising edge of the Execute command.

I216 Accel factor Factor for the acceleration ramp. This value can only be accepted during the rising edge of the Execute command.

I217 Decel factor Factor for the deceleration ramp. This value can only be accepted during the rising edge of the Execute command.

C230 M-Max Torque limitation. This value can be accepted at all times without the Execute edge. Selector: C130, indication parameter: C330

G230 Gear factor offset (electronic gear) Is used for the fine adjustment of the gear factor. This value can only be accepted during the rising edge of the Execute command. Selector: G130, indication parameter: G330

For a detailed description of the parameters, see the parameter list in chap. 4.

Control parameters The following control parameters are mandatory.

I210 Posi control world / I222 Synchronous control word I211 Motion Command Byte A180 DeviceControlByte.

Information During operation with multiple axes (axis switch POSISwitch® AX5000), the control parameters only exist once as global parameters.


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2.1.2 Output Signals

Status signals on binary outputs The binary status signals are combined in the status words E200, I200 and I201. The signals of the parameters are described in this chapter. The binary status signals are also provided as individual bit-indication parameters. These can be used as signal sources for the binary outputs. The selection of a signal for the output to a binary output is performed via the BA sources parameters F61…F70 (depending on which option board is being used).

Bit signals

Signal Function Image on Fieldbus (Bit)

Individual Parameter

Enabled Drive enabled E200 Bit 0 -

Error Device state is fault or fault reaction active. E200 Bit 1 -

Quick stop Quick stop is queued/is being executed. E200 Bit 2 -

Axis selector bit 0

Axis indication of the selected axis, bit 0 E200 Bit 3 -

Axis selector bit 1

Axis indication of the selected axis, bit 1 E200 Bit 4 -

Axis-running An axis is active. E200 Bit 5 -

Local Local mode is activated. E200 Bit 6 -

Toggle bit Handshake bit (s. chap. 3.11). E200 Bit 7 -

Limit switch One of the two hardware limit switches or software stops in manual mode (see also I91)

I200 Bit 0 -

Denied Group error: Not referenced, software stop, reverse disabled, etc. Can be evaluated via Error Code.

I200 Bit 1 -

Limit Group error: Maximum following error from I21 reached, torque limitation or torque limitation via i2t

I200 Bit 2 I187


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Aborted

Positioning command denied/aborted. TRUE means that the last positioning job was aborted (e.g., due to a halt command). Since the signal is set to FALSE when a new positioning job is started, it is not possible to use the "Aborted" flag to recognize the abortion of a previous positioning job due to a new positioning job. Aborted is also TRUE with an absolute motion block without referenced axis or positioning commands which end at the software stop.

I200 Bit 3 I182

Constant velocity

Constant speed reached I200 Bit 4 I183

Position reached

Window around target position reached for the first time.

I200 Bit 5 I85

In reference Axis is referenced. I200 Bit 6 I86

Standstill

PLCopen state I89=2:Standstill (version 5.1 or later) (brake applied and speed less than F02 in version 5.0 )

I200 Bit 7 I89 = 2

Tipping active

Manual or local mode is active. I200 Bit 8 I188

Electronic cam

The electronic cam is in the active range (I60, I61). Note: Only available with command positioning.

I200 Bit 9 I87

Switching point

The switching point was reached. High remains queued until the reset via I210 Bit 11. Note: Only available with command positioning.

I200 Bit 10 I97

Latch Status Bit0

0: latch is ready for receipt 1: During measurement with rising edge, value

in parameter I191 is ready to be fetched. 1: During difference measurement, the first

edge was recognized. Note: Only available with command positioning.

I200 Bit 11 I190 = 1

Latch Status Bit1

1: During difference measurement, parameter I191 contains a value which is ready to be fetched. During measurement with rising edge, this bit has no function. Note: Only available with command positioning.

I200 Bit 12 I190 = 2


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Motion IDs Response message of the job ID (see chap. 3.11).

I200 Bit 13 bis I200 Bit 15

I82

Done TRUE means that the command was executed successfully. Done remains valid until the next positioning job is started.

I201 Bit 4 I189

Pos Window reached

Actual position is located in the position window.

I201 Bit 5 I180

Accelerating Drive is accelerating. I201 Bit 6 I184

Decelerating Drive is decelerating. I201 Bit 7 I185

Status positive M-limit

Positive M limit is active. I200 Bit2 E180

Status negative M-limit

Negative M limit is active. I200 Bit 2 E181

Status positive n-limitation

Positive speed limit is active. — E182

Status negative n-limitation

Negative speed limit is active. — E183


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The following signals are available for the electronic gear:

Signal Function Image on Fieldbus Individual Parameter

Superimposed positioning command in position

When a relative or absolute positioning job is started superimposed on a synchronous movement, it is indicated here that the superimposed positioning command is in position. Bit 7 and bit 1 are set at the same time.

I192 Bit 0 —

Engaged Master and slave axis are firmly coupled. Acceleration procedures for synchronization are complete. Bit 7 is set at the same time.

I192 Bit 1 —

Waiting for synchronization

After MCGearInAtAbsPosition or GearInAtRelPosition is started, the drive can remain without movement in a wait state. This state is indicated with this bit. Bit 7 is set at the same time.

I192 Bit 2 —

Target cannot be reached

Circular axis: Next possible circular length selected. Linear axis: Synchronized to speed and engaged.

I192 Bit 4 —

Movement with synchronous master reference active

This bit indicates that a command was started with a synchronous master reference. Further bits may also be set.

I192 Bit 7 —


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2.1.3 Process Data Image

The primary parameters for the process data image The following parameters are especially provided for monitoring the application via the high-speed process data channel in fieldbus mode.

Parameter Length [Byte] Meaning

E02 2 Motor torque (bipolar, smoothed) E90 2 Motor torque (bipolar, smoothed) E19 2 Binary inputs, incl. enable

E100 2 Motor speed in 2-byte format relative to C01 n-max [16384=100%]

E101 1 Inverter current (amount) in % of the nominal inverter current [16384=100%]

E200 1 Device Status Byte; counterpart to DeviceControlByte A180

F200 1 BE Byte; BE1-BE8 as bit space for space-saving transmission on process data channel

I200 2 Posi Status Word; status bits. Counterpart to Control Word I210.

I201 1 Motion Status Byte; counterpart to Motion Command Byte I211.

I203 4 Actual position in user units; (counterpart to reference value position I213).

G81 4 Master actual position; only synchronous command positioning.

G85 4 Master speed; only synchronous command positioning.


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2.2 Overview of Available Commands The PLCopen definition contains various commands. For the commands used in the application, see the table below. Some commands offer more than the functions defined in PLCopen. Only one command per Execute edge can be accepted. Except for MC_Stop every command can be overwritten during its execution. To issue commands successfully, several conditions must be met: Local mode (display) may not be active. No tipping may be enabled (I210 Bit 4 / I222 Bit 4). No switchon disable may be queued on the device. No basic device fault may be present.

Function Synchronous Function 01hex MC_MoveAbsolute (move to absolute position)

0Ahex: MC_GearIn (synchronize to master)

02hex MC_MoveRelative (move relative to the reference position)

0Bhex: MC_GearOut (de-synchronize)

03hex MC_MoveAdditive (move relative to reference position)

0Chex: MC_MoveSuperimposed (move relative to master)

04hex MC_MoveVelocity (move endlessly)

05hex MC_Stop (HALT) 06hex MC_Home (start reference positioning)

07hex MC_Reset 08hex Activate_Posi 09hex Deactivate_Posi 0Dhex MC_Continue (continue motion)


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2.2.1 State diagram (based on PLCopen)

4:ContinuousMotion

5:SynchronizedMotion

3:DiscreteMotion

12

14

15

28

29

18

20

21

30

17

22

24

23

26

27

31

25

13

32

35

7:Errorstop

6:Stopping

2:Standstill

8:Homing

78

9

3

4

5

19

6

10

16

11

1:Passive

12 33

34

Figure 2-3 State diagram positioning

Information Parameter I89 can be used to monitor the current PLCopen status of the inverter.


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Description of the transitions Transition Trigger

1 : Passive to Standstill MC_ActivatePositioning when the device is enabled

Automatic, when I52 = active and the device is enabled

2: Standstill to Passive

MC_DeactivatePosi MC_Reset Enable off

3: Standstill to Homing MC_Home

4: Homing to Standstill Done

5: Homing to Errorstop Error1

6: Standstill remains

Default With MC_Stop, Standstill is retained

without any other state changes 7: Standstill to Errorstop Error1

8: Errorstop to Standstill MC_Reset when quick halt request is no longer queued. Otherwise, Errorstop is retained.

9: Stopping to Errorstop Error1

10: Errorstop remains Default

11: Stopping to Standstill When the profile generator outputs 0 as reference speed

12: Standstill to Continuous Motion

MC_MoveVelocity Tipping +/- MC_Continue when the command

MC_MoveVelocity was aborted with MC_Stop before.

13: Standstill to Synchronized Motion

MC_GearIn

1 Cause of the error condition: Falling edge on a hardware limit switch (except in state Homing) Quick stop request of device state machine Denied positioning jobs for the following reasons:

Impermissible direction Target beyond the software stops Absolute positioning job in unreferenced state

Circular axis-absolute target position greater than circular length


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Transition Trigger

14: Continuous Motion to Errorstop

Error1

15: Continuous Motion to Stopping

MC_Stop Tipping is activated

16: Stopping remains As long as the profile generator outputs a reference speed other than 0.

17: Discrete Motion to Standstill Done

18: Standstill to Discrete Motion MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive TipStep MC_Continue when

MC_MoveAbsolute, MC_MoveRelative or MC_MoveAdditive was aborted by MC_Stop before.

19: Homing to Stopping MC_Stop

20: Discrete Motion to Errorstop Error1

21: Discrete Motion to Stopping MC_Stop Tipping is activated

22: Discrete Motion remains As long as the movement is running MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

23: Synchronized Motion to Discrete Motion

MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

24: Discrete Motion to Synchronized Motion

MC_GearIn

25: Continuous Motion remains As long as no new command is executed, no quick stop request arrives and no software stops are reached.

26: Continuous Motion to Synchronized Motion

MC_GearIn



Circular axis-absolute target position greater than circular length.


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Transition Trigger

27: Synchronized Motion to Continuous Motion

MC_MoveVelocity MC_GearOut

28: Discrete Motion to Continuous Motion

MC_MoveVelocity

29: Continuous Motion to Discrete Motion

MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

30: Synchronized Motion to Stopping

MC_Stop Tipping is activated

31: Synchronized Motion remains As long as no other command than MC_GearIn or MC_MoveSuperimposed is executed, no quick stop request arrives and no software stops are reached.

32: Synchronized Motion to Errorstop

Error1

33: From all states except Errorstop to Passive

MC_Reset

34: To the state Homing from the states Continuous Motion, Discrete Motion and Synchronized Motion

MC_Home

35: Continuous Motion to Standstill

SW stops are reached



Circular axis-absolute target position greater than circular length.


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2.2.2 MC_MoveAbsolute (01hex) The command MC_MoveAbsolute triggers a movement to an absolute position. The position is specified in I213. The positioning profile is calculated from the parameters I215, I216 and I217. Before the command can be triggered, the drive must be referenced (see below, MC_Homing). With an endless axis and this command, only values which are less than the circular length I01 will be accepted in I213. Our example (figure 2-4) shows two positioning jobs which are executed in different time sequences. In the first case, the motion block with the target position 5000 and the speed 5 is completely finished before the second positioning job with the target position 8000 and the speed 3 is executed. The two separate positioning profiles can be distinguished clearly. In the second case, the second motion block has already been started before the target position of the first positioning job was reached. This means that the positioning job data of the second motion block (target position, speed and acceleration ramps) become valid starting at the rising edge of the Execute signal. Although the positioning profiles of the two cases differ, the end position of the drive is the same in both cases.

5000

8000

5

3

0

0

Execute v

x

t

Geschwindigkeit

Istposition

Figure 2-4 Timing diagram MC_MoveAbsolute

Speed

Act. position


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2.2.3 MC_MoveRelative (02hex) The command MC_MoveRelative triggers a movement covering a specified distance. The distance is entered in I213. The target position is calculated from the addition of I213 to the current actual position of the drive. The positioning profile is calculated from the parameters I215, I216 and I217. With an endless axis, the distance I213 to be moved may be significantly greater than the circular length I01. In the first case of our example (figure 2-5) , the motion block with the relative target position 5000 and the speed 5 is completely finished before the second positioning job with the relative target position 3000 and the speed 3 is executed. The two separate positioning profiles can be clearly distinguished. In the second case, the second motion block has already been started before the target position of the first motion block was reached. The relative target position of 3000 is added to the current actual position of the drive. In both cases, the end positions of the drive are different.

5 0 0 0

5

3

0

0

8 0 0 0

t

v

x

E x e c u te G e s c h w in d ig k e it

Is tp o s itio n

Figure 2-5 Timing diagram MC_MoveRelative

Speed

Act. position


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2.2.4 MC_MoveAdditive (03hex) The command MC_MoveAdditive triggers a movement covering a specified distance. In contrast to the command MC_MoveRelative, the target position is calculated from the addition of I213 and the current reference position. In our example (figure 2-6), the end positions of the drive are the same in both cases. In addition to the parameter I213, the movement is determined by the parameters I215, I216 and I217. With an endless axis, the distance I213 to be traveled may be significantly greater than the circular length

Information If, for example, a rotary attachment is to be repeatedly switched further by 60°, the command MC_MoveRelative is unsuitable since, at each start, the actual position may deviate from the reference position by several increments. This error may accumulate over time. It can be avoided by using the command MC_MoveAdditive.

5000

5

3

0

0

8000

v

x

t

Execute Geschwindigkeit

Istposition

Figure 2-6 Timing diagram MC_MoveAdditive

Speed

Act. position


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2.2.5 MC_MoveVelocity (04hex) The command MC_MoveVelocity has no target position as a parameter. Only the speed and the accelerations are important. As shown in the second figure, when a new command "move endless" is triggered with other speeds and accelerations, only the speed is adjusted to the specified accelerations. To stop a movement as shown in figure 2-7, a MC_Stop command must be issued. With the endless axis, the software stop is also active with MC_MoveVelocity.

5000

5

3

0

0

8000

v

x

t

MC_Stop

Execute Geschwindigkeit

Istposition

Figure 2-7 Timing diagram MC_MoveVelocity

2.2.6 Stop (MC_Stop 05hex) The command MC_Stop decelerates the speed with the specified delay ramp until it reaches zero. As shown in the state diagram, the state machine is in the state Stopping and then changes to Standstill when the speed reaches 0. The last positioning command can then be continued with the command MC_Continue. Note: Only MC_MoveAbsolute, MC_MoveVelocity, MC_MoveAdditive and MC_MoveRelative can be continued with MC_Continue. Related parameters: I11 Maximum acceleration, I217 Decel factor

Speed

Act. position


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2.2.7 MC_Home When the 24 V voltage is turned on, the actual position is unknown. A defined starting location is obtained with referencing. Absolute movements can only be executed in the referenced state. During referencing, hardware limit switches do not cause faults. When a hardware limit switch is reached, the direction of rotation is reversed and referencing is continued. If, however, the reverse direction is disabled for an endless axis (I04 Move direction), the drive remains stopped on the limit switch. Parameterization of reference mode takes place with parameters I30 to I41 in the Posi Machine assistant. The command MC_Home must be issued to start referencing. In addition, the positioning-job-dependent braking control and the override function can be utilized. The acceleration and deceleration ramps can be specified. However, these parameters have no effect on referencing behavior. The next command cannot be started until referencing is finished or aborted. An abortion is triggered with MC_Stop or MC_Reset. The referenced state is signaled by I86 in reference = 1. It can be output on the binary output or via a bus system. When the device is turned on and off, the signal In reference is retained when an absolute encoder is used for position control. When no absolute encoder is used, referencing must be performed again each time axis initialization occurs. An axis is initialized during device startup and during axis switchover. When absolute encoders are used and devices are replaced, the In reference signal can be transferred to the new device by replacing the Paramodule. When motors are replaced, referencing must always be performed again

When the event 37:encoder is triggered, the In reference signal is deleted regardless of which encoder is being used. Referencing must be performed again after power OFF/ON. The primary parameters for referencing will now be discussed.

In reference

CAUTION


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The parameter I30 is used to specify the required initiators or the functions for binary inputs. There are three types of referencing: 0:reference input, 1:Encoder track 02 and 2:define home. When the type 0:reference input is used, a sensor signal or the signal of a controller can be used, for example, as the reference point. The interface is selected with parameter I103. A limit switch can also be used as the reference input (see figure 2-8, example 4 below). In this case, the parameters I101 or I102 and I103 must be specified to the same interface (e.g., BE1). The function of the reference input must be inverse to that of the limit switch (e.g., BE1-inverse) since the limit switches are evaluated LOW-active. When the type 1:Encoder track 0 is selected, the reference position is set up after start the first time the zero track signal is reached. This setting can only be used when an encoder with zero track or zero information (e.g. EnDat®, encoder, SSI) is being used. When the type 2:define home is selected, the current position is replaced by the reference position when triggering is performed by the Execute signal. This type of referencing allows a drive to also be referenced in the device states switchon disable, ready for switchon and fault (for device states, see chap. 3.1 of the application manual). The referencing type can also be started during a movement. If the Execute signal is recognized, the actual position becomes the reference position and then the drive is braked to standstill with the ramp I39 (see below). I31 is used to specify the direction (of search) when referencing is started. If the reference switch (or limit switch) is active, the direction is reversed (cf. example further down). The correct value for I31 can be checked, for example, by manually positioning the axis. Two speeds (I32 and I33) are specified so that the reference position can be precisely approached. First the reference position is approached at the fast speed. When the reference signal is detected, the drive brakes and travels in the opposite direction at the slow speed (see figure 2-8). The use of two different speeds is primarily an advantage for large linear axes. When I32 or I33 are set greater than I10, the reference speed is limited to I10. I32 and I33 can be changed with the override function (maximum up to I10). When only one direction of rotation is permitted in parameter I04 Move direction, the drive uses only the slow speed during referencing. When the reference position is reached for the first time, the drive stops. The direction of rotation is not reversed. When the reference point is detected, the actual position is set to I34 Reference position.

I30 referencing type

I31 Referencing direction

I32 Referencing speed fast

and

I33 Referencing speed slow

I34 Reference position


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If a switching point is assigned to the Homing command, the switching point can be processed when the reference point is detected and the actual position is set to the reference position!

When switch or sensor signals are used as the reference point of the machine, additional precision can be obtained by using the function of parameter I35. During this, the drive moves to the reference switch with the fast speed. Then the direction of rotation is reversed and the drive moves with the slow speed. The drive sets the actual position to I34 when the next zero pulse signal is determined and then stops (see Figure 2-8). I35 is used to specify whether the zero track signal of the motor encoder or the position encoder is used. An encoder with zero track must be provided when this function is used I37=1 is used to start referencing automatically when the axis is initialized. Axis initialization takes place in two situations.

At power on if an axis is selected (A63 and A64, no axis active via A65, see chap. 1.2.1).

When the axes are switched over.

With the referencing types 0:Reference input and 1:Encoder track 0, referencing is started as soon as the enable is given. With type "2:Define home," the current position is immediately used as the reference position. When a valid position can be reconstructed during the initialization of the axis (e.g., when an absolute encoder is used), automatic referencing is not performed. With the setting I37=2:Reconstruct angle, the current position of the position encoder is saved 100 msec after the device enable is removed and reconstructed when the device is switched off and on again. With single-turn absolute encoders (e.g., resolvers), the position is only reconstructed after power-on when the angle of deviation was less than 5°. With incremental encoders, the position for I37=2:Reconstruct angle is always reconstructed. However, it must be ensured that the axis cannot move when the device is off. The ramps of referencing can be set separately. When the reference position is detected, the drive brakes to a standstill. The distance needed for reversal or braking is generally: v² With v: speed (velocity) Distance = ------- a: acceleration (here I39). 2a After referencing is finished, the drive does not return to the reference position and stops instead after the necessary braking distance I332 / (2*I39). Cf. above. The override function (see chap. 2.2.8) changes the speed and thus also the braking distance! When I39 is set greater than I11, the reference acceleration is limited to I11.

I35 Referencing on track 0

I37 Automatic referencing

during initialization of the axis

I39 Referencing acceleration

NOTICE


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Example 1 I30=0: Ref.input, I31=0:positive Example 2 I30=0: Ref.input, I31=0:positive

Since the reference switch divides the whole position range into two halves, no further switches are required.

The direction defined in I31 is reversed when the reference switch is active at the beginning!

Example 3 I30=0: Ref.input, I31=0:positive Example 4 I30=0: Ref.input, I31=0:positive

REF END+END-

v

I35=1

I35=0

x

The reference switch (cam) trips only briefly. A limit switch is used for the reversal.

Instead of a reference switch, a limit switch can be used for the reversal. I101 = /I103

Figure 2-8 Examples referencing These parameters are used for the fully automatic offset of slip or an imprecise gear ratio. After the first referencing, the actual position I80 is overwritten with the reference position I34 every time the reference switch is passed over. Since the distance still to be covered is corrected, even with slip-prone drives the axis itself can execute any number of relative movements in a direction without drifting away.

I36 continuous referencing

and I41 reference period

Reference switch

Fast (I32)

Slow (I33) Zero pulsesIncremental encoder

Ref. directionreversed

active Reference switch

Fast (I32)

Slow (I33) Zero pulses Incremental encoder

Fast (I32)

Zero pulsesIncremental encoder

Limit switch + Reference switch

Fast (I32)

Zero pulses Incremental encoder

Limit switch +


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Information During continuous referencing, the reference switch is always referenced on the same side regardless of the current direction of revolution of the drive. The side is specified in parameter I31. The side to be used is the side which the drive reaches first while revolving in direction I31. In our example, side A is referenced when I31=0:positive is set.

Figure 2-9 Pages for the reference switch

I36=1:standard is used when there is one reference switch in the entire position range or within one circular length I01. When the reference switch is reached, I80 is offset with the I34 reference position. With rotary attachment applications, the circular length I01 must correspond as precisely as possible to the distance between two reference signals. After one belt circle is completed, the same position must be indicated again, for instance. The actual position I80 must be checked for this during a rotation at I36=0:inactive and, if necessary, I07 must be adjusted. The distance per rotation I07 must always be rounded to a higher number to prevent bothersome backwards corrections. The reference switch should not be addressed during a deceleration ramp since a negative correction would cause a backwards movement.

When several reference switches are located along the position range, the setting I36=2:periodic is used. The distance of the reference switch is entered in I41 reference period. With this function, the device also has a "potential reference position" which it would expect for the next reference point. When a signal occurs at the reference point, the device compares the distance of its own actual position with the last and the next expected reference position. The nearest position is selected as the new reference position and it becomes the actual position at the time of the initiator. I41 is visible in the POSI Machine assistant when I36 was set to 2:periodic.

A BReference switch signal

I31=1:negative I31=0:positive


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Information If, during continuous, cyclic referencing, referencing is to be performed first so that the zero point of the machine can be specified, for example, remember that all reference switches are connected in parallel to one binary input when continuous, cyclic referencing is used. The signal evaluated by the inverter cannot differentiate between the various switches. Referencing (I30 = 0:Reference switch) provides correspondingly different machine zero points. For this reason, referencing should only be used with referencing type I30 = 2: Set ref.

When I01, I07, I08 or other important parameters are changed, it is mandatory that the axis be referenced again with every encoder system so that relevant data can be consistently retained on the inverter and stored safe from voltage failure.

Information 1. With slip-prone drives, the target window I22 must be larger than the maximum mechanical inaccuracy! 2. With a multi-turn absolute encoder, referencing must usually only be performed once during commissioning.

CAUTION


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2.2.8 MC_Reset (07hex) An error acknowledgment via MC_Reset in the state Errorstop causes the state Standstill. The command MC_Reset has no effect on faults of the device. It is a command which resets the PLCopen position control. Device faults must be reset with the "acknowledge" signal (selector A61, see chap. 1.2.1; STÖBER state machine, see chap. 3 of application manual). However, remember that the Acknowledge signal cannot reset errors of the positioning controller.

Information A command MC_Reset resets the current reference position to the current actual position. A running movement can be interrupted.

2.2.9 Activate positioning (08hex) The Activate positioning command changes the position control from the state Passive to the state Standstill. To bypass the command, the parameter I52 Posi autoenable can be set to 1:active. This causes the PLCopen state machine when enabled to change automatically to the state Standstill.

2.2.10 Deactivate positioning (09hex) Positioning control changes from all PLCopen states except Errorstop to the state Passive. Here the internal reference position is always updated to the current actual position. The state Passive is especially provided in case the power pack is inactive and the speed and position controller are unable to function. The status signals of positioning control (current MotionID, InPosition …) remain valid.

2.2.11 MC_Continue (0Dhex)

Information Please remember that the MC-Continue command may not be used at the same time as the POSI switching point function!

When a positioning job with the command MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive or MC_MoveVelocity was interrupted by a positioning job with the command MC_Stop, the job can be continued with the command MC_Continue. The command and, with discrete movements (MoveAbsolute, MoveRelative, MoveAdditive), the target position are used.


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Other parameters such as speed, acceleration or links are used from the MC_Continue job.

2.2.12 Tipping Mode

Personal injury/property damage due to sinking of the gravity-stressed axes. Do not use the jog/tip function for gravity-stressed axes

Information Please remember that when tipping mode is active, no command can be executed. This also applies to reference positioning type /30 = 2:Set reference.

When the TipEnable signal is activated (selection of the signal source in I104), the tipping block triggers a stop command. The drive brakes until standstill and then sets the output signal Tip active. Then four other signals take effect: Tip+, Tip-, TipStep+ and TipStep-. If the drive is already in standstill when TipEnable is activated, exactly one time cycle passes before the Tip signals take effect.

Tip+ and Tip- cause continuous manual positioning in the positive or negative direction. If both signals are active, no movement takes place. The signals TipStep+ and TipStep- cause positioning relative to the current actual value by the increment (step) specified in I14. The signals Tip+ or Tip- are treated with priority before the signals TipStep+ or TipStep-. When at least one of the signals Tip+ or Tip- is active, TipStep positioning is no longer considered. This also applies when both signals are active and no movement occurs due to this. A running step movement can be interrupted by MC_Stop or by deactivating the tip enable but not by Tip+, Tip-, TipStep+ or TipStep-. When TipEnable becomes inactive and positioning is continuous manual positioning, a stop command is sent to the positioning control. As soon as the drive is in standstill, the signal I188 tipping active becomes inactive. Tipping mode is deactivated. When the drive executes a step while TipEnable is deactivated, the drive completes the step. When the drive is at a standstill, Tip active becomes inactive. Tipping mode is deactivated. Related parameters I12 Tipping speed I13 Tipping acceleration I14 Tip step

Deactivation of "TipEnable“

WARNING


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2.3 Synchronous Commands

Information An electrical coupling (via binary inputs, X120 or similar) must exist between master and slave before synchronous commands can be executed (see chapter 2.4).

2.3.1 MC_GearIn Acceleration to master speed is performed with the specified acceleration ramp (I11 x I216). When this is accomplished, the gear is coupled in at the currently actual position and then positioning is continued angle-synchronously.

1 3 12

t

x

MC_GearIn

Figure 2-10 Timing diagram MC_GearIn

Execute

Speed

Trigger command MC_GearIn Trigger command Befehls MC_Stop Trigger command MC_MoveVelocity Master speed Slave speed


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2.3.2 MC_GearOut The command MC_GearOut is used to decouple the gear out of synchronous operation and into a continuous movement. The slave speed which was valid last is retained. To decelerate the drive, the command MC_Stop must be used.

1 2

t

x

Figure 2-11 Timing diagram MC_GearOut

Execute

Speed

Trigger command MC_GearOut Trigger command MC_Stop Master speed Slave speed


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2.3.3 MC_MoveSuperimposed When the PLCopen state Synchronized Motion is reached, a fixed reference exists between master and slave position (phase). The phase can be changed via MC_MoveSuperimposed. The phase change is specified in I213. To be able to make the change, the speed I10 x I215 specified with MC_Move-Superimposed is added to the current speed.

1 2

t

x

MC_MoveSuperimposed

Figure 2-12 Timing diagram MC_MoveSuperimposed Example: The slave couples into the master during standstill. Both are located at position 0. When a ratio of 1 is defined between master and slave, master and slave always move to the same position. When the command MC_MoveSuperimposed starts with a phase of 180°, the slave is located 180° in front of the master after execution of the command. (Example: Master at 100°, slave at 280°). A negative phase must be entered in I213 for negative phase changes. The sign of the speed has no effect on the phase change.

In coupled-in state, slave speed and slave acceleration are no longer limited to the values in I10 and I11! The parameter C01 n-max is the limit for the speed.

Execute

Phase

Trigger command MC_GearIn Trigger command MC_MoveSuperimposed Master position Slave position

CAUTION


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2.4 Synchronous Functions The following chapter covers the settings necessary for synchronous motion. You have the option of connecting a master encoder to the X120, X140 and X101 (BE encoder) In this case, comply with the information on slave parameterization in the examples in chapter 2.4.2. If you want to couple inverters of the 5th generation of STÖBER inverters with each other, see also the interface combinations in chapter 2.4.1.

Information The inverters of the SDS 5000 device series can exchange a master position with each other via the IGB Motion bus. See the operating manual SDS 5000 (ID 442289).

2.4.1 Interface Combinations The coupling of two or several axes can be performed via various inputs/outputs. The following table lists the possible combinations.

Slave Master (Simulation)

Inverter MDS 5000, SDS 5000 FDS 5000 Required

Option XEA 5001 REA 5001

REA 5000 REA 5001

SEA 5001 XEA 5001

—

Inverter Required

Option Interface X120 X101 X101 X101

MDS 5000 SDS 5000

XEA 5001 X120 SSI, TTL TTL — — REA 5000 REA 5001 X120 TTL TTL — —

SEA 5001 XEA 5001 REA 5000 REA 5001

X101 — HTL HTL HTL

FDS 5000 — X101 — HTL HTL HTL An inverter can be controlled via stepper motor signals. We recommend only using this reference value specification for specification via a controller. The controller can be used to ensure that the slave position does not drift when the step signal flickers.


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For detailed information on the interfaces, please refer to the projecting manuals: MDS 5000: ID 442273 FDS 5000: ID 442269 SDS 5000: ID 442277

2.4.2 The Assignments in Detail

1. Master X120 SSI simulation – Slave X120 SSI evaluation This coupling can be implemented under the following prerequisites: Master: MDS 5000 with XEA 5001 SDS 5000 with XEA 5001 Slave MDS 5000 with XEA 5001 SDS 5000 with XEA 5001 With the SSI coupling, the absolute value can be transmitted (i.e., even after a system new start, both the axis positions of the respective axis and the master position on the slave are known when absolute encoders are used for the coupled axes). This coupling offers the maximum possible functionality. Parameterization of the master H120 = 82:SSI simulation H125 = 0:gray H126 = 25 H127 = 0:Motorencoder Parameterization of the slave H120 = 67:SSI Master (Note: When the first slave is NOT an SSI slave. With every additional slave, 68:SSI-Slave must be set!!) H125 = 0:gray H126 = 25 G27 = 4:X120 encoder Signal N /N Clk /Clk Data /Data 0V Master PIN X120 2 3 5 4 6 7 1 Slave PIN X120 2 3 5 4 6 7 1


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2. Master X120 TTL simulation – slave X120 TTL encoder This coupling can be implemented under the following prerequisites: Master: MDS 5000 with XEA 5001 or REA 5000 SDS 5000 with XEA 5001 or REA 5000 Slave MDS 5000 with XEA 5001 SDS 5000 with XEA 5001 This is an incremental coupling (i.e., the master position is not automatically known to the slave axis after a system new start, even when an absolute encoder system is used for both drives). Parameterization of the master H120 = 80:Incremental-encoder simulation H123 = 5:1024 I/r(1:1) Parameterization of the slave H120 = 4:Incremental encoder In H121 = 1024 Inc/r G27 = 4:X120-encoder Signal N /N A /A B /B 0V Master PIN X120 2 3 5 4 6 7 1 Slave PIN X120 2 3 5 4 6 7 1

3. Master binary outputs X101 HTL – slave X101 binary inputs HTL This coupling can be implemented under the following prerequisites: Master: MDS 5000 with SEA 5001 or XEA 5001 or REA 5000 SDS 5000 with SEA 5001 or XEA 5001 or REA 5000 FDS 5000 Slave MDS 5000 with XEA 5001 or REA 5000 SDS 5000 with XEA 5001 or REA 5000 FDS 5000 This is an incremental coupling (i.e., the master position is not automatically known to the slave axis after a system new start, even when an absolute encoder system is used for both drives). Parameterization of the master H60 = 1:Incremental-encoder simulation H63 = 5:1024 I/r(1:1)


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Information The 24 V power of the binary outputs must be compellingly connected.

Parameterization of the slave H40 = 1:Incremental-encoder In H41 = 1024 Inc/r G27 = 1:BE-encoder Signal A B 0V 24V Master PIN X101 16 17 10 18 Slave PIN X101 14 15 10

4. Master X120 TTL simulation – slave X101 binary inputs (only with REA 5000 on the slave)

The selection switch for the input voltage of the binary inputs must be set to TTL level since otherwise the "I/O terminal module" may be damaged.

This coupling can be implemented under the following prerequisites: Master: MDS 5000 with XEA 5001 or REA 5000 SDS 5000 with XEA 5001 or REA 5000 Slave MDS 5000 with REA 5000 SDS 5000 with REA 5000 This is an incremental coupling (i.e., the master position is not automatically known to the slave axis after a system new start, even when an absolute encoder system is used for both drives). Parameterization of the master H120 = 80:Incremental-encoder simulation H123 = 1024 Inc/r Parameterization of the slave H40 = 1:Incremental-cncoder In H41 = 1024 Inc/r G27 = 1:BE-encoder

NOTICE


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Information STÖBER does not recommend this coupling. With the same hardware, coupling number 5 is clearly better with respect to fault interval and limit frequency.

Signal N /N A /A B /B 0V

Master PIN X120 2 3 5 4 6 7 1

Slave PIN X101 NC NC 14 NC 15 NC 10

5. Resolver installed on the system side as real master When an I/O terminal module, resolver (REA 5000) is installed, a resolver can be used for master speed evaluation. This coupling is only possible with the MDS 5000 and the SDS 5000. Parameterization of the slave H140 = 66:Resolver G27 = 3:X140 Resolver See the projecting manuals for the terminal allocations. MDS 5000: ID 442273 FDS 5000: ID 442269 SDS 5000: ID 442277

Details Synchronous/Command Positioning

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3 Details

3.1 End of commands The Done signal tells you whether a command has been processed or not. You can read the Done signal in parameter I189 or I201 Bit 4.

Command Condition for

I189 = 0:inactive I189 = 1:active MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive MC_Continue

The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the motion profile has been covered and the difference between reference and actual position is less than the position window. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150). Once the signal is 1:active, a departure from the position window can also not cause the signal to become 0:inactive again.

MC_MoveVelocity The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the profile generator has reached the reference speed. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150).

MC_Stop The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the profile generator has reached the reference speed 0. Internal state changes can delay the change of the Done signal to 1:active by one cycle (A150).

MC_Home The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the referencing procedure is concluded and the drive has come to a standstill after the reference positioning. With the "set reference" type of reference positioning, the Done signal becomes 1:active again 6 cycles (A150) after the rising edge of the Execute signal.


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Command Condition for

I189 = 0:inactive I189 = 1:active MC_Reset The Done signal becomes 0:inactive as

soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

—

AktivierePosi — The Done signal becomes 1:active as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 1:active, this state does not change.

DeaktivierePosi — — MC_GearIn The Done signal becomes 0:inactive as

soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The Done signal becomes 1:active when the profile generator reaches the master speed. This state is also indicated by I192 Bit 1.

MC_GearOut — The Done signal becomes 1:active as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 1:active, this state does not change.

MC_Move-Superimposed

The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the higher-level motion profile was covered. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150).


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3.2 Limit Switches

3.2.1 Software Stops Software stops are used to protect the system. They are usually placed just in front of the hardware limit switches. Software stops are only available for applications with restricted axes. To be able to use them, the drive must be referenced. The software stops are activated by setting different values in parameters I50 and I51. There are two ways to deactivate the software limit switches: Set the software limit switches to exactly the same value. Set the software limit switches to values outside the positioning range. Positioning jobs with targets behind the software stops are rejected. With position endless, tipping mode and in synchronous mode, braking is done with the quick stop ramp (I17) before the software stop and the axis comes to a standstill on the software stop.

Since the parameters I10 and I17 are not considered as limits in synchronous mode, the slave speed can be significantly higher than I10. When a software stop is approached in this case, correct target braking cannot be performed. For this reason, I10 and I17 should be adjusted to the master speed and master acceleration.

NOTICE


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3.2.2 Hardware Limit Switches The hardware limit switches are available in applications with limited and endless position range. They trigger a fault in the standard (except in the state Homing). This is the application event 1 (ext. event1) Limit Switch0. The fault must be acknowledged. The source of the limit switch signals is specified in I101 and I102. After acknowledgment, positioning can be done in tipping mode (Tip Enable) from the limit switch in the opposite direction. This can also be accomplished in positioning mode with a command in the opposite direction. The direction beyond the hardware limit switch is disabled until the limit switch is enabled.

When the limit switch is reached in tipping or local mode, the drive must come to a standstill before the limit switch is left. When the hardware limit switch is left before the drive has braked, the drive accelerates again in tipping or local mode. In this case, limit switch signals may occur due to flat deceleration ramps in tipping or local mode or only queued briefly.

Test the limit switches before commissioning! To prevent damage, disconnect the connection between motor and load! Test to determine whether - the limit switch signals are correctly evaluated, - the limit switches were connected logically correctly (HW limit switch+ to the positive range limit, HW limit switch- to the negative range limit).

Hardware limit switches are evaluated LOW-active.

WARNING

WARNING

NOTICE


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3.3 Following Error The distance between the position generated by the position controller and the current actual position is called the following error. During synchronous operation, the following error is the synchronous deviation between master and slave. The current following error is indicated in I84. When the following distance increases to more than the value in parameter I21, application event 0 is triggered. In the standard, this event is parameterized as a fault. This can be changed via the event system to a message or a warning (parameter U100). In addition, the parameter I187 can be scanned to determine whether a following error has occurred. When scanning is performed via fieldbus, bit 2 is available in parameter I200 as a group message (message that following error, torque limit and T-limit i²t have been reached).

3.4 Speed/Position Controller To minimize the following deviation (difference between reference position and actual position), the application uses speed feed forward. The maximum permissible following deviation specified in I21 is continuously monitored. The position controller runs continuously during the entire movement. The gain of the position controller I20 (i.e., the "rigidity" of the position controller) is called the Kv-factor. Parameter I16 ramp smoothing can be used to parameterize relimited positioning profiles or prevent high-frequency excitation due to a low pass. The time constant I16 corresponds to a low pass limit frequency of fg=2/I16. The speed and position control circuit must be adjusted for optimal function to the mechanical situation. It can always be said that, with unstable control, the gain (C31, I20) should be reduced or the integral time (C32) should be increased. To optimize system dynamics, the forward feed I25 should be adjusted to the mechanical situation. With a forward feed of 80%, overswinging in the target position is quite moderate or non-existent. With 100% speed forward feed, the drive always overswings over the target position. For more information on speed/position controllers, see relevant literature on control technology.


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3.5 Local Mode The command positioning/synchronous command positioning application offers the following functions via the operator panel: Error acknowledgment with the ESC key. Parameter entry Local mode with the key.

To access lo

Application Synchronous / Command Positioning - DEMERO · 2016. 8. 29. · Servo motors (MDS 5000,...

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Transcript of Application Synchronous / Command Positioning - DEMERO · 2016. 8. 29. · Servo motors (MDS 5000,...