III. DELTA DIMA Module
Contents
1. 1 Slot DELTA e No contoller board can be plugged 4 Slot DELTA e 3 contoller boards 6 axes can be plugged 8 Slot DELTA e 7 controller boards 14 axes can be plugged DELTA DIMA Module DIMA Module Submodules DIMA Module Standard 16 digital inouts Additional 16 digital outputs option Submodule 3 submodule Function Submodule Function Slot 1 and 2 Slot 3 submodule 2 DIMA als digitaler Servo Regler AD8 8 analogue inputs lt Submodule 1 DA4 4 analogue outputs SV Fast dual channel counter Arrangement of the Controller Module Submodules DIMA Submodule Slot 1 2 Submodule Slot 3 DELIA PROCESS PLC System 4 2 Terminals 4 2 1 Terminals of the DIMA Logic Module 4 2 1 1 Power Supply UU 24V n o TS nu 19 gt lolo eje E gt lolo ele THE En SS 20 n 20 Inputs Outputs Figure 2 Power supply Power Supply at the Digital Input Terminals 2 Temial Meaming WV Gnd for logic 24VDC for logic Power Supply at the Digital Output Terminals Meaming Gnd for output supply 24VDC for output supply The power supply has to meet the folowing requirements Voltage range 20 VDC 30 VDC Filtered ripple 5 96 Power ca 20 W without LCD Options DELTA DIMA Module 10 4 2 1 2 Resolver Resolver Terminal 92. 9 pin Sub D RE STIL VER ai dh Exciting E Le e E 2 Usa n Si E tt S4 ne so47 4 Se Cosine gt a Y A Sl OS N 3 39 x gc 26 pin Sub p Connection Cable a o Rintern U U Rextern X3 Xo DIMA DIMA Logic Module TONS ug Proser V Amplifier 16 32 50 Ampere x2 M E M DELTA Submodule XI X4 d L1 L2 L3 PE LR E 24V Supply x 24V OV 3 Phase EMI Filter Il d 3x400V DELTA DIMA Module SS N E C Be od MECHANICAL LIMIT EMERG STOP NEGATIVE NEGATIVE F POINT RE POSITIVE DRIVING D ISTANDE o Me E MECHANICAL wmf EMERG STOP POSITIVE Ld Fe X fe ad 22 4 2 3 3 Ballast Resistor DECS 2ccm 8 CH Brioge if rnal be at resistor is used Not DIMAS 90 Connection of on external ballast resistor DIMAS 90 always external Attach the shield properly to the earth clamp DELIA PROCESS PLC System 4 3 LED Description 4 3 1 The LED of the DIMA Logic Module The upper 34 LED indicate the states of the digital inputs and outputs LED S1 to S8 show the state of the DIMA logic module The Logic LED IN1 16 Digital inputs OUT1 16 Digital outputs ERR2 Digital output driver overload overtemperature cable break of one or more outputs Extemal power supply of
3. Masterslave configuration 1 Masterslave configuration 2 Masterslave configuration 3 Switch off command 30 register 43 Masterslave configuration 4 Follower via factor divisor ON Follower via factor divisor OFF Follower via table ON Follower via table OFF Run table with time index ON Run table with time index OFF dd UN E Y NP O DELTA DIMA Module 82 Follower slave without correction Follower slave with correction Endless positioning in positive direction Endless positioning in negative direction Digital output 1 ON Digital output 1 OFF Digital output 2 ON Digital output 2 OFF Linearramps Sine square ramps Positioning by outputs ON Positioning by outputs OFF Nominal position 8388608 8388607 Nominal speed 0 1000 if Reg21 1000 R W Input polarities Bit0 O Home sensor OV active 1 Home sensor 24V active Bitl O Limit switch OV active 1 Limit switch 24V active Bit 2 O interrupt input print mark mode pin 11 15 pin Sub D low active 1 intemupt input high active Bit 3 O 2 nomal rotation direction 1 rotation direction reversed Bit4 O Follower execute table 1 execute upper table half Bits O activate limit switches 1 deactivate limit switches Bit7 O activate home sensor 1 deactivate home sensor Sart ramp 0 32767 Sop ramp 0 32767 Destination window range 0 8388607 CH 09 RW Actual p
4. DELTA DIMA Module 34 Slave conection takes place in case of master overflow 56 Endless positioning in positive direction starts endless positioning in positive direction 57 Endless positioning in negative direction starts endless positioning in negative direction 78 Linearramps 79 Sine squrae ramps default after reset DELIA PROCESS PLC System Register 1xy002 Nominal Position Read Current nominal position Value after reset 0 White Set new nominal position 8388608 8388607 Example 1 Positioning THEN REGISTER LOAD 1xy002 with 10000 Starts axis positioning to the absolute position 10000 inc rements 2 Nominal THEN position DISPLAY REG 0 cp 1 Reg 1xy002 display Displays the curent nominal position on the user interface top left THEN REG 1xy002 REG 1xy002 100 Start axis positioning to the relative position 100 i e drive on 100 increments DELTA DIMA Module 36 Note This register can be changed any time during positiong Then the positioning relates to the new value On this occasion the axis does not stop DELIA PROCESS PLC System Register 1xy003 Nominal Speed Read Curent nominal speed Value after reset 300 96o Write Defines new nominal speed 0 1000 if Reg 21 1000 The value is immediately valid This has follwing effect a Axis ata standstill The new value is stored for the next positioning b Positioning cu
5. the digital outputs Following states are indicated Positive limit switch axis 1 is orwas active Axis 1 reached position he LED lights when the axis reaches the destination window and extinguishes when the nex positioning is started ds oles active or was active PO LED lights when the axs reaches the DELTA DIMA Module 24 O when the nex positioning is started eC Negative limit switch axis 2 is orwas active Continuous light Axis stands at the limit switch limit switch is active Equally blinking The limit switch was active is not active and no new positioning was started Unequally blinking The software limit switch was triggered DELIA PROCESS PLC System 4 3 2 The LED of the DIMA Amplifier Standard The amplifier LED indicate the physical states of the Signal The Amplifier LED Enable green 24V attached to the release input The amplifier Home yellow 24V attached to the home LED indicate sensor input ne physical Limite Limit yellow 24V attached to the limit Ready green green Br yellow blinking Ballast resistor is propery working lig hts Ballast resistor overload U green Logic voltage OK Intermediate circuit between 100V and 450V cable logic amplifier I gt Over curent or short cut between motor phases or ground Intermediate circuit voltage to high Amplifier switc hed off red Cooling plate gt 85 C Amplifier switched off Motor cable red Motor cab
6. REGISTER LOAD 124001 with 41 Start interpolation WHEN AXXAR axis 21 Axis arrived AXARR axis 42 THEN DELAY 10 2 Positioning REGISTER LOAD 124038 with 10000 ActPos axis 21 REGISTER LOAD 124039 with 15000 ActPos axis 42 REGISTER LOAD 124030 with 22500 NomPos axis 21 REGISTER LOAD 124032 with 20000 NomPos axis 42 REGISTER LOAD 124001 with 41 Start interpolation WHEN AXARR axis 21 Axis arrived AXARR axis 42 THEN DELAY 10 GOTO 0 Program end DELTA DIMA Module 98 Axis 2 master module and extemal axes Adapt encoder line numbers and maximum speeds to the master axis 2 4 Variant The fourth variant is on principle identical to the third variant but in this case axs 2 not axis 1 of the master module participates in the interpolation Thus command 40 is used for definition of the master board Now the axs 4 of the master module operates intemally together with axis 2 therefore the values of the registers of axis 2 and axis 4 change together All encoder line numbers register 1xy052 and maximum speeds register 1xy051 of the slave axes have to be adapted to the axis 2 of the master module if the slave axes parameters should differfrom the parameters of the master module DELTA PROCESS PLC System 4 6 Circle Interpolation Software axis 4 of the master module is master Define physical axis numbers Define centers Define nominal angle Command 41 sta rts t
7. axes so at maximum one axis is on ee the master module the actual positions of the two be defined extemal axes have to be stored into registers 14038 and 1x4039 e The actual position of the axis which first gets its nominal position has to be stored into register 1x4038 e Comespondingly the actual position of the axs that receives second its nominal position has to be stored into register 1x4039 DELTA PROCESS PLC System Register 1xy039 Actual Position of the Exemal Axis for Calculating of the Diagonal Value after reset 0 e The actual position of one of the both axis is defined in this register between which the resulting diagonal of the linear interpolation is fixed Basically is valid The actual The actual positions of the master module axes axis positions of the Land axis 2 are used but need not to be defined by gece tiers the user program l e no actual positions have to be tobe defined defined if both axes of the master module are used for Calculation of the diagonal The actual If the resulting diagonal is defined by one or two positions of extemal slave axes so at maximum one axis is on ee the master module the actual positions of the two be defined extemal axes have to be stored into registers 14038 and 1x4039 e The actual position of the axis which first gets its nominal position has to be stored into register 1x4038 e Comespondingly the actual position of the axs that receives second its no
8. ballast resistor disconnects the intemal ballast resistor Limit Switches Home Sensor X4 L L Limit switch 24V isolated NCC recommended Configuraton 1xy004 R Ho 24V isolated sensor NCC or NOC Konfiguration 1xy004 Amplifier 24 V isolated release Ground for limit switches home sensorand release Waming The use of the limit switches does not necessarily protect the machine of problems in any case for instance fast driving off DELIA PROCESS PLC System To avoid such cases a second set of limit switches has to be used to disconnect the power supply of the amplifier Connection to the Logic Module X5 Pin 1 to 18 are connected 1 to 1 DELTA DIMA Module 20 4 2 3 Wiring Diagrams 4 2 3 1 Direct Mains Connection 9 pin Sub D RESOLVER s ob N Gi SRI Exciting Re Sin S4 ES ese os Za ji U OE Bp Sub d Connection Cable Rintern U U Rextern X3 Xo DIMA DIMA Logic Module 28 Amplifier 8 16 32 50 Ampere v v DELT Xe Submodule 14 X XA e L1 L2 L3PE L R E L Dy A 2 O O N 5 Pd X X 7 2 MECHANICAL LIMIT 5 MECHANICAL LIMIT A i J EMERG STOP NEGATIVE t EMERG STOP POSITIVE M Pa NEGATIVE Y POSITIVE S IRIVING DISTANGE 230V A E DELIA PROCESS PLC System 4 2 3 2 Connection with Trafo
9. can be watched in the setup screen of SYMPAS e Following registers have to be initialized before program start REGISTER 100 start ramp 700 steep REGISTER 101 stop ramp 3000 flat REGISTER 102 destination range 10 e Now the program can be started After setting of the reference point positions O and 10000 are simultaneously called up Adapt Parameters to Load With Help of Test Programm mentioned above e Small values are written into registers Reg010 1xy024 1xy026 and 1x010 to P gain adapt the control parameters to the load e g Reg 1xy024 10 Reg Reg024 DELTA DIMA Module 110 1xy026 100 Reg 1xy010 100 P gain digital speed loop Now increase value of register 1xy024 until the motor oscillates and Reg026 then decrease it by 10 l Coefficient digital speed Cany out the same procedure with loop register 1xy026 Now register 1xy010 is increased until motor in the motor oscillates and then standstill decreased until the motor stops oscillating load Reg with small values Possibly this adjustment procedure Reg010 100 has to be repeated a second time Reg024 10 to find the best settings since the Reg026 10 three registers depends to each other increase Reg024 until Now define start stop ramp and the Motor oscillates destination window range then decrease by 10 Increase or decrease stop ramp until the desired deceleration perfor the same with mance is obta
10. coordination Masteraxis4is o all participating physical axs are slaves placed on the DEER O further the module which software axs 4 is the master of a Coordination is the master module There ar 4 different vanants to combine the axs of a linear interpolation DELTA DIMA Module 90 4 variants of linear interpolation Declare one module for master Parametering in the master axis Declare axes percommand to slaves Declare physical axes numbers 1 only the two axes of the master module participate both axes of the master module and 1 to 4 extemal axes paticipate axis 1 of the master module and up to 5 extemal axes participate axis 2 of the master module and up to 5 extemal axes participate 4 different procedures to program a linear interpolation exist coresponding to these 4 different variants Basically is valid a b C d e one module has to be defined as master board For that axs 4 of the master module receives a command that define it as master axis of the coordination 1x4001 38 or 39 or40 or 43 the parametering speed start and stop ramps and destination window is specified for the master axis axs 4 Registers 1x4003 1x4005 14006 1x4007 the extemal slaves has to be told bei command that they are participating the coordination Register 1xy001 32 33 write the physical axs numbers into the registers 1xy132 to 1xy135 the nominal positions of the
11. defines the nominal position of an extemal Slave axs if it participates in a linear interpolation commands 32 33 Register 1xy033 Nominal Position Extemal Slave 2 Value afterreset 0 This register defines the nominal position of an extemal Slave axs if it participates in a linear interpolation commands 32 33 DELIA PROCESS PLC System Register 1xy034 Nominal Position Extemal Slave 3 Value afterreset 0 This register defines the nominal position of an extemal Slave axs if it participates in a linear interpolation commands 32 33 Register 1xy035 Nominal Position Extemal Save 4 Value afterreset 0 This register defines the nominal position of an extemal Slave axs if it participates in a linear interpolation commands 32 33 DELTA DIMA Module 56 Register 1xy038 Actual Position of the Exemal Axis for Calculating of the Diagonal Value after reset 0 e The actual position of one of the both axis is defined in this register between which the resulting diagonal of the linear interpolation is fixed Basically is valid The actual The actual positions of the master module axes axis positions of the Land axis 2 are used but need not to be defined by gece tiers the user program l e no actual positions have to be tobe defined defined if both axes of the master module are used for Calculation of the diagonal The actual If the resulting diagonal is defined by one or two positions of extemal slave
12. enor is only available in the position controller modes 2 and 3 Register 1xy020 Tracking Enor Limit Read Curent limit Value after reset 8388607 incr New tracking enor limit 0 8388607 This register defines from which value on an tracking enor is recognised and bit 3 of the state register 1xy000 is set A tracking enor is recognised if the value of register 1xy019 is greater than the value in register 1xxy020 If Bit 17 of the state register 1xy000 is reset bit 17 0 and a tracking enor is recognised the controller release is cancelled the axis stops DELIA PROCESS PLC System Register 1xy021 Reference Value for 1xy003 Maxmum Nominal Speed Value after reset 6000 A register value of1000 means the contents of register 1xy003 are per thousand values of the maxmum speed 1000960 comespond to the maximum speed of the axis means the contents of register 1xy003 are per cent values of the maximum speed 100 comespond to the maxmum speed of the axis 1xy021 1xy018 the unit of the register 1xy003 values is rpm Coresponding to this other reference values can be realised by register 1xy021 DELTA DIMA Module 50 Register 1xy022 User Encoder Resolution Ratio Value reset 256 The register value is calculated by following formular USER increments encoder increments Reg 22 256 Remark A division into halves of register 22 128 doubles the number of rotations Register 1xy023 N
13. have got merely informational character without warranty of any properties DELTA PROCESS PLC System 2 General Technical Specifications Note The general technical specifications listed below apply to all PROCESSPLC modules Above that further module specific data wil be mentoned in the respective chapters on modules Technical Data Ambient 0 50 C temperature Storing temperature 10 70 C Air humidity 5 95 RH 2 We kG BE to IEC 1131 2 Contamination level according to IEC1131 2 Oscillation fatigue limit e 1131 2 IP20 Protective system Ps Category of protection ll according to IEC 1131 2 DO Level ESD 4 according to IEC 1131 2 Housing Aluminium DELTA DIMA Module 4 3 Instructions on EMI A Besides other precautions shielding is important Direct and extensive grounding is important Please use metallised male connector housings Separate signal and voltage connections spatially A characteristic of interference immunity is the same as that of the often quoted chain It is as weak as its weakest member Thats why besides precautions inside the device cable connections respectively correct shielding are of greatest importance Shielding must be done on both ends of the applicable cables The entire shield must be drawn behind the isolation and then be extensively clamped undera stain relief When the signal is connected to terminal scre
14. when it exceeds the value of this register It is quasi set to O Register 1xy060 Increase Limitation of the Follower Value afterreset 32767 increments This register defines how many increments per contoller cycle the speed of the slave axs is allowed to increase ordecrease at maximum Thus an acceleration limitation can be realized which may be useful if a slave axis is switched to a running master axis DELTA DIMA Module 72 Register 1xy075 Time Register for Execution of the Table Read Last time Value after reset 0 O 32767 DELIA PROCESS PLC System 4 4 7 Registers for Relative Positioning Register 1xy067 Relative Position Function Description Value after reset 0 The value of register 1xy067 defines how many increments the axis positions further Note Register 1xy067 can only be used for relative positioning with start input Register 1xy068 Last Absolute Nominal Position in Relative Mode Value after reset 0 e The last nominal position can be read from register 1x068 if the process was breaked by the AXARR DELTA DIMA Module 74 instruction during relative positioning and positioning is to be continued e Command 19 moves the axis to the absolute position that results of 1xy068 1xy067 e Then the positioning continues by nomal relative positioning Register 1xy085 Absolute Maximum Position Endless Relative Positioning Value after reset 7490000 e The actual an
15. window of the master axis axs 4 are used as the parameters of the digital movement Specification of these parameters in the registers of the master causes automatic transfer of the parameters to the registers of the slave axes when the coordination is started The master calculates the length of the diagonale movement and transfers it to the slaves For that possibly see registers 38 39 the actual position of that both saves between which the diagonale of the DELTA PROCESS PLC System complete coordination is fixed has to be declared to the master Allaxesare e After this all virtual axes of the particular physical axes started and are started simultaneously and the physical axes are controlled i corresponding controlled comesponding to that part they share the to the virtual movement virtual master softeware axis 4 software For this reason optimized adjustment of the tracking master axis emors of the axes is very essential for linear coordination A a The better the tracking enor are adjusted the accurater the diagonale is followed by the physical axes 4 5 2 Programming of a Linear Interpolation 6 linear Assessment interpolated axes O up to 6 axescan be linearinterpolated O the software axis of one module detemines the u parametering of the coordinated movement Software axis is master axis 4 O the software axis the axis 4 of this one module is the master axis of the complete
16. 1 3 3 Release axis 21 Release axis 22 Reference axis 21 Reference axis 22 slot 2 participating interpolation REGISTER LOAD 121001 REGISTER LOAD 124003 with 38 21 mast int slave with 600 Speed REGISTER LOAD 124005 with 1000 Start ramp REGISTER LOAD 124006 with 1000 Stop ramp DH Define positions REGISTER LOAD 124030 with 30000 NomPos axis 21 REGISTER LOAD 124031 with 14000 NomPos axis 22 DH REGISTER_LOAD 121001 with 41 Start interpol 7 WHEN AXARR axis 21 Axis arrived DELTA PROCESS PLC System AXARR axis 22 THEN DELAY 10 E 2 Positioning REGISTER_LOAD REGISTER_LOAD 124030 with 2000 124031 with 4000 REGISTER LOAD 124001 with 41 WHEN AXXAR axis 21 AXARR axis 22 THEN Cancel interpoaltion mode REGISTER LOAD 121001 with 42 REGISTER LOAD 122001 with 42 DELAY 10 GOTO 0 Program end NomPos axis 21 NomPos axis 22 Start interpol Axis arrived Cancel interpol mode 2 Variant Configuration 2 Bothaxisofthe a inthiscase command 39 declares the master axis master module 4 register 14001 39 Because of this both and ci n physical axes of the module became slave axes Assign physical b Now the physical slave axis numbers have to be axis numbers assigned to the logical slave axs numbers of the to P coordination This is realized with the registers 1x4132 to 1x4135 Speed start c now the speed 14003 the sta
17. 24 10 Reg 1x9026 10 Reg024 10 Reg 1xy010 100 Reg026 10 DELIA PROCESS PLC System First Positioning Motor Dismounted e A first positioning can be started if the load NomPos motor shaft has come to a standstill into Reg002 like mentioned above e This is realized by loading register ActPos Reg009 1xy002 hasto concur e Register 1xy009 runs with the motor rotation and after standstill the after standstill register value is approxmatly the Reg002 value of register 1xy002 Check Limit Switches and Home Sensor Detail e The inputs should be checked before the motor is mounted again For that activate the positive limit activate switch of axis 1 Limit LED amplifier positive limit lights NOC or extinguishes NCC switch axis 1 Absolutely consider direction gt V Limit4 Also lights the S1 LED during amplifier activation of the limit switch if gt 9 S1 previously no positioning occured or DELTA module the last executed positioning moved light in positive direction The Limit LED extinguishes NOC or deactivate lights NCC after deactivation of the positive limit limit switch and the S1 LED lights on If switch the S1 LED does not light there is gt 2 Limit possibly a wiring enor amplifier If the S1 LED already lights before the extinguishes DELTA DIMA Module 108 activation of the limit switch its gt Y S polarity is wrong see register 1xy004 DELTA module lights o
18. 31 AXARR axis 31 32 AXARR axis 32 33 THEN 34 REGISTER LOAD 122001 with 42 End of interpol 35 REGISTER LOAD 131001 with 42 36 REGISTER LOAD 132001 with 42 End of program DELTA DIMA Module 104 4 7 Setup of a DIMA Axis Note e Observe a strictly chronologically procedure fo setup of a SV axs since else an overlay of different emor can occur because of the multitude of parameters that have to be adjusted e In case of using drives that are able to cause mechanical demage it is unconditionally recommended to unmount the motor during setup to avoid running through of the motor e First check if all connections are attached in the right way Wrong wiring excludes proper positioning Resolver Function Check Actual Position Register 1xy009 e Watch the value of register 1xy009 move motor and simultaneously tum the motor shaft check ActPos e The resolver cable may be defect if Reg009 the postion values are not incremented or decremented poss reason comesponding to the tuming resolver cable direction DELTA PROCESS PLC System Amplifier Power Supply e Supply the amplifier gt both LED supply amplifier Ucc and Ready have to light gt Y Ucc gt Y Ready light e Attach the 24 V release at the 24V to Enable amplifier Now the green On LED gt Y On has to light lig hts e If the DELIA controller has not been supply DELTA supplied up to now the Contoller _ Y Ready LED lights
19. 5 with 1000 Start ramp REGISTER LOAD 124006 with 1000 Stop ramp Define positions REGISTER LOAD 124041 with 40000 Center axis 21 REGISTER LOAD 124042 with 35000 Center axis 22 REGISTER LOAD 124045 with 16383 Nominal angle 1802 REGISTER LOAD 124001 with 41 Start interpolation DELAY 10 GOTO 0 Program end Following example illustrates the parametering DELTA PROCESS PLC System n3 PO Axis SE Z j Axis 21 4 6 1 Combined Circe and Linear Interpolation 4axeslinear 9 to 4 axes can be linear interpolated to a circle to circle interpolation The circle movement can only be interpolation executed by the both axes of the master board The axes of the other boards are linear interpolated to the length of the arc that means the speed and the ramps of the linear interpolated axes are contolled by the relation of their nominal actualdifference to the arc length The programming diffes to the exclusve circle interpolation by following Command 25 o command 25 precedes the parameting of the defines other circle interpolation The command informs the do due master board about the participation of further participating i axes in the interpolation DELTA DIMA Module 102 Commands 32 axis 1 or 33 axis 2 define the slave axes Nominal positions of the linear slaves Define center and nominal angle Commands 41 and 24 starts the movement the commands 32 axis 1 or 33 axs 2 def
20. 607 for diagonale calculation 39 RW ActPosextemalaxs 8388608 8388607 fordiagonale calculation Software axis length 8388608 1 8388607 SNC DELTA PROCESS PLC System 041 Circle Interpolation 150 Center axis 1 8388608 8388607 Center axis 2 8388608 8388607 45 RW Nominal angle 8388608 8388607 Mii Calculated radius 524207 524207 ofthe circle interpolation Calculated 32768 32767 start angle Calculated 8388608 8388607 arc length Calculated 8388608 8388607 destination position axis 1 50 Calculated 8388608 8388607 destination position axs 2 51 R W Maximum speed 0 32767 metes r 52 R W Adaption of 0 32767 Meere 128 Axis number axis 1 21 82 129 Axis number axis 2 21 82 150 RW Sart position 8388608 8388607 extemal slave axis Follower DELTA DIMA Module 86 54 R W Value of the 8388608 8388607 table element Factor between 1 32767 masterand slave Divisor between 1 32767 masterand slave 0 8388607 8388608 0 0 32767 R W Time register for 0 32767 execution of the position table il idi Relative Positioning 68 67 R W Relative position 8388608 4 8388607 in relative mode with start input R W Last absolute 8388608 8388607 nominal position in relative mode 85 RAW Absolute maximum position O0 7490000 endless relative positioning Interpolation Control Registers 84 83 f s
21. DELIA DIMA Module Users Manual JETTER GmbH Gr terstra se 2 D 71642 Ludwigsburg Tel 49 7141 25500 Fax 49 7141 2550 425 Hotline 49 7141 2550 444 E Mail jetter jetter de Mailbox 49 7141 59834 PROCESS PLC Edition 1 1 December 1997 J ETIER GmbH reserves the right to make alterations to its products in the interest of technical progress These alterations need not be documented in every single case This manual and the information contained herein has been compiled with the necessary care J EMER GmbH makes no wananty of any kind with regard to this material including but not limited to the implied warranties of merchantibility and fitness fora particular purpose J ETIER GmbH shall not be liable for emors contained herein or for incidental or consequential damage in connection with the fumishing performance or use of this material The brand names and product names used in this hardware description are trade marks or registered trade marks of the respective title owner Table of Contents Ill DELTA DIMA MODULE Z L Safety Instructions A 2 General Technical Specifications Instructions on EMI L 4 DIMA Digital Servo Controller 4 1 Technical Data and Configuration 4 2 1 Terminals of the DIMA Logic Module 4 2 2 DIMA Amplifier Terminals Standard 4 2 3 Wiring Diagrams 4 4 4 Registers for Linear Interpolation 4 4 5 Registers for Circle Interpolation 4 4 6 Registers for the Fo
22. Else lights the Ready LED lights amp Controller gt error 1 DELTA not supplied 2 Connection disturbed cable Motor Type Adaption Now carry out motor type adaption Reg027 with registers Reg027 curent limitation for speed Reg024 loop Reg010 P gain Reg024 P gain of the digital speed loop Reg026 I coefficient of the speed loop DELTA DIMA Module 106 if necessary Reg029 coefficient limitation of the speed loop store register values that corresponds to the used motortype Final Release Measure e Final release can now be given load Reg001 setting register 1xy001 to 1 with 1 Consequently the On LED lights gt Y On lights Now it is difficult to tum the motor out of position and it always moves back motor shaft is to its previous position hard else If the motor can be tumed in both gt motor directions as easily as previous the without current motor is without cument Check motor cables Either the motor cable or the resolver motor oscillates cable is connected the wong way if gt motor or the oscillates or can be tumed into resolver cable one direction more easily than into connected the the other wrong way The control parameters possibly may or be to great if the motor oscillates control although all cables are properly parameters to connected In this case registers great gt 1xy024 1xy026 and 1xy010 have to decrease be load with small values e g Reg Reg010 100 1xy0
23. Reg 1xy019 gt Reg 1xy020 Negative limit switch active Positive limit switch active Reference switch active Software limit switch was active Limit switch was active Position controller switched on Control after AXARR switc hed on Relay switched on Reference run error BUSY only valid for commands 9 to 12 and 42 Software limit switch acivated write access with 1 activates function DELIA PROCESS PLC System Bit 16 Axis is within stop ramp Bit 17 Do not switch off if tracking error write access with 1 activates function Bit 18 Printing mark not found Bit 19 SV amplifier error Bit 20 Resolver error Bit 21 Motor temperature too high Bit 23 Tracking error correction switched off a set bit deactivates function Register 1xy001 Command Register Read Las command Value after reset 0 Value ange 10 255 AXARR with stop ramp the axs stops with the stop ramp exception if the remaining distance is smaller than the stop ramp no additional ramp is used Switch on switches ON all contollers and gives rerlease for servo amplifier by relay Switch off relay the relay is switched off the contoller remains active Set reference DELTA DIMA Module 30 the reference point is set on the cument axis position Smutaneously the nominal and actual positions of the axis are set to 0 4 Clear Reference the reference is cleared The next coincidence of the home sensor and the KO sig
24. Setup 104 Adapt parameters to load 109 Amplifier power supply 104 Final release 106 First positioning 107 Limit switches and home sensor 107 Motor type adaption 105 Parameter destination 108 Resolver 104 Slots 7 Specifications 3 Submodules 8 T Technical data Servo controller 6 Technical specifications 3 Digital inputs 12 Digital outputs 14 EMI 4 Technische Daten Anschlu beschreibung 9 Terminal Home sensor 18 Terminals Amplifier 11 16 Ballast resistor 17 22 Connection to the logic module 19 Connection with Trafo 21 Digital inputs 12 direct mains connection 20 Limit switches 18 Motor 17 Power supply 9 Resolver 10 Trafo 17 Trafo 17 DELIA PROCESS PLC System 122
25. T IG PRA 16 i 24V gt o S GT 8 Contact 15 S 15 H e vi Y N Y a N 8 1S9 S 1S nputs Ljutputs Figure 3 Digital input wiring ee gt lt 6 8 V SERA A 33V ce Figure 4 Internal circuit of the digital inputs DELTA DIMA Module 14 bi D a 4 2 1 5 Digital Outputs ma VHH YY AN Te Et Is IS EN ler 4V e r1 16 IP Isl m eg ENS He 1404s EK S 34 Si y G te EJ Gi is uH el EL un k Lei a S U Ee E 18 9 ns el s ls sl uie e 6 el 5 UIS S 4 FY S 8 a H SI el y ei S H le Output Consider slot numbering for output numbering 16 terminals for digital outputs 24VDC have been provided on the upper side of the contoller housing The OV signal is connected to the control cabinet ground Gnd Technical Specifications digital Outputs Number of Outputs 16 Transistor pnp 20 30V max 0 5 A output Overload overvoltage overtemperature yes typ Mee 0 5 V gt N A p Output Numbering on the DIMA Module Number Sot numberx 100 1 Sot numberx 100 2 INE Output 16 Sot number x 100 16 DELTA PROCESS PLC System UVR Les 0V e d s External supply A E A A e S UN S Load ry le DION i H W AM IN 7 S ON S UN YA HACES Figure 5 Digital output wiring 24Vss texternal supply gt gt tlektrical switch NS Ro 3 Soy Figure 6 Internal circuit of the digital ou
26. all slaves are given to the master axis axis 4 of the master module The master axs trafnsfers the necessary data to the other axes Registers 1x4030 1x4037 register DELTA PROCESS PLC System Command to the master axis sta rts the interpolation Command 42 cancels interpolation mode 1 Variant Only the two axes of the master module participate Command 38 activates Configuration 1 Speed start and stop ramps are now defined Nominal positions axis 1 21 and axis 2 22 DELTA DIMA Module 9 14030 always contains only the nominal position of axs 1 of the master module register 1x4031 always contains only the nominal position of axis 2 of the master module a command to the master axs starts the interpoaltion Register 1x4041 41 command 42 to each physical axs cancels the coordinated mode of all physical axes paticipating in the linear interpolation cancel linear interpolation gt 1xy001 42 1 Variant Configuration 1 The simplest case of a liear interpolation is programmed asfollows a b d command 38 to the software axs 4 of the comesponding master module defines the axs 4 to the master master of the interpolation and the module itself to the master module Simultaneously command 38 specifies that only the both axes of this board participate in the interpolation For that the both physical axes of the module need not to be defined to slave axes additionally now th
27. ant The bold represented lines of the figure are executed linear interpolated Following preconditions have to be observed O O one SY module is plugged into slot 2 axis 21 one SY module is plugged into slot 4 axis 42 N y taxis 42 x V 36000 D 15000 2500 10000 15000 Q 22500 20000 oo D 30000 15700 27500 7500 0000 4 4 2 K 12000 4000 DELTA PROCESS PLC System 1 Positioning 7 Mode 3 digital speed loop for both axes REGISTER_LOAD 121098 with 3 DigSpeedLoop for 21 REGISTER_LOAD 141098 with 3 DigSpeedLoop for 42 Realease and reference of bothaxes REGISTER LOAD 121001 with 1 Release axis 21 REGISTER LOAD 142001 with 1 Release axis 42 REGISTER LOAD 121001 with 3 Ref 21 ActPos 0 REGISTER LOAD 142001 with 3 Ref 42 ActPos 0 7 Declare axis 42 to slave in the slave REGISTER LOAD 142001 with 33 42 slave in slave 7 Config 4 axis 1 master external slaves REGISTER LOAD 124001 with 43 21 master ext axis 7 Declare axis 42 to slave in the master REGISTER_LOAD 124132 with 42 42isSlave in master REGISTER LOAD 124003 with 600 Speed REGISTER LOAD 124005 with 1000 Start ramp REGISTER LOAD 124006 with 1000 Stop ramp Define positions REGISTER LOAD 124038 with 0 ActPos axis 21 REGISTER LOAD 124039 with 0 ActPos axis 42 REGISTER LOAD 124030 with 10000 NomPos axis 21 REGISTER LOAD 124032 with 15000 NomPos axis 42
28. cking error compensation digitalspeed loop Register1x1098 3 Tracking emor compensation and digital speed loop DELTA DIMA Module 78 4 4 10 Miscellaneous Registers Register 1xy071 Set Nominal and Actual Position Simulta neously Value after reset 0 Write access to the register stops the axis the axis has the new nominal respectivly actual position Remark This register should only be used if the axis is at standstill This register is used to define a new reference position also actual position of the axs without loss of increments Following procedure is executed Reg02 NomPos Reg71 Reg09 ActPos old ActPos Reg71 old NomPos Register 1x1099 Version Number DELIA PROCESS PLC System Read Operating system version number Value after reset version number Prohibited Z4 Sene r A 8388607 The version number is necessary to provide effective technical support Please give the version number if you contact the hotline fortechnical support Register 1xy155 Speed PreContrl Adjustnent Value afterreset 1000 If state bit 23 0 Reg 1xy000 Nominal speed value vp Reg1xy155 1000 DELTA DIMA Module 80 4 4 11 Register Table Reg RW No General Registers R W State register Meaning of the bits Bit O Reference set Bit 1 AXARR position reached Bit 2 Actual position in destination window Bit 3 Tracking enor recognised Bit 4 Negative limit switch active Bi
29. cuit 15 Wiring 15 Dimensions of the amplifier 113 Direct mains connection 20 E EMI 4 H Home sensor 18 Housing Slots 7 L LED 23 Amplifier 25 Logic module 23 Limit switches 18 120 Linear interpolation Example program 92 97 Overview 88 Programming 89 Variants 90 M Mode 1 76 Mode 3 76 Motor connection 17 N Numbering Axis number 26 Digital inputs 12 Digital Outputs 14 Register number 27 O Operating system update 112 Outputs digital 14 P Position controller modes 76 Power supply 9 R Register LinearInter Axisno axis 2 59 Register number 27 Registers Absolute MaxPos 74 Actual position 43 Actual speed 44 Circle interpolation 61 CircleInter Calculated arc length 64 Calculated DestPos axis 1 64 65 Calculated radius 63 Calculated start angle 63 Center axis 1 61 Center axis 2 61 Encoder resolution adapt 66 Maximum speed adaption 65 Nominal angle 62 CirleInter Axis number axis 1 67 Axis number axis 2 67 Start position external slave 67 Command register 29 Current I coefficient digital speed loop 52 Current limitation digital speed loop 52 Destination window range 41 Digital analogue offset 42 Digital speed loop 51 Encoder lines 46 Follower 68 Divisor master slave 70 Factor master slave 69 Increase limitation 71 Neg MaxPos Master 71 Number of table elements 69 Pointe
30. d in case of relative positioning also the nominal position is set to O if the value specified in register 1xy085 is reached e f the absolute position reaches this value the positions are decreased by the value of register 1xy085 DELIA PROCESS PLC System 4 4 8 Interpolation Control Registers also see follower Register 1xy082 Curve Counter Function Description Value after reset O 0 8388607 Register 1xy083 Table Filling Level Value after reset 0 O 7499 Register 1xy084 Wait States Axis 42 Read Current number of wait states Value after reset 50 0 32767 DELTA DIMA Module 76 4 4 9 Position Controller Modes 1 3 Register 1xy098 Position controller mode 1 No tracking emor compensation Digital speed SE controller mode 3 Tracking error compensation Digital speed loop The DIMA module can operate in 2 different modes Mode 1 Without Tracking Error Compensation with Digital Speed Loop Mode 1 does not compensate the tacking enor and uses a digital soeed loop Mode 3 Tracking Eror Compensation and Digital Soeed Loop Mode 3 compensates the tacking enor and uses a digital soeed loop Register 1x1098 Mode Selection Value afterreset 1 DELTA PROCESS PLC System The mode The servo module operates in different modes the mode specified in IN selection is specified only in axis 1 but valid for both axes axis 1 but valid for both axes j Register1x1098 1 No tra
31. e speed 1x4003 the start ramp 1x4004 the stop ramp 1x4006 and the destination window 1x4007 for the coordinated movement are defined in the registers of the software axis 4 If no values are set the settings of axis 1 of the master module are valid the nominal position of axis 1 is stored into register 1x4030 the nominal position of axis 2 is stored into register 1x4031 92 Command 41 e starts the interpolation Command 42 f cancels interpolation mode Command 41 for axs 4 starts the linear interpolation Both axs start simultaneously and reach their nominal positions simultaneously Each axs move with such a speed that the resulting speed is equal with the speed in register 1x4003 Write access to register 1x4003 during positioning changes the speed of al axes An AXARR instuction or command 0 to axis 4 stops all axes Further positionings are started by definition of new nominal positions and the start command to axs 4 command 42 to each physical axs cancels the coordinated mode of the both physical axes The axes operate now as independent axes again Example program The SV module is placed in slot 2 1 Positioning REGISTER LOAD 21098 with 3 Mod 3 DigSpeedLoop Release and referencing of both axes REGISTER LOAD 121001 REGISTER LOAD 122001 REGISTER LOAD 121001 REGISTER LOAD 122001 Config 1 Both axes with with with with on module at 1
32. egative software limit Value after reset 8388607 DELTA DIMA Module 46 Phase offset A The state of the software limit switches can be queried by bit 7 in the state register 1xy000 A set bit indicates that one of both software limit switches was activated Bit 14 of the state register de activates the software limit switches Register 1xy015 defines the value in increments at which the negative software limit switch is triggered Register 1xy016 Phase Offset Read Curent digital analogue offset Value after reset O O 4096 Note Register 1xy016 is reserved for special purposes Register 1xy016 has only to be applied by very experienced users The register value is determined by the manufacturer when required Register 1xy017 Encoder Lines Value afterreset 4096 DELIA PROCESS PLC System Register 1xy018 Maxmum Speed SV Motor Combination Current maximum speed Wert nach Reset 6000 U min Write New maximum speed Value range 0 32767 The maximum speed that can be reached from the SV motor combination has to be be entered into this register Note The product of the registers 1xy017 and 1xy018 must not exceed 61 436 000 DELTA DIMA Module 48 A Register 1xy019 Tracking Eror Read Curent tracking enor Value after reset 0 Write prohibited 8388608 8388607 The register specifies in increments how much the axis differs from the virtual axis Note The tracking
33. gister 1x4047 Calculated Start Angle Value after reset 0 a The contoller board calculates the start angle of the Circle interpolation with help of the registers 1xy041 to 1xy045 DELTA DIMA Module 64 Register 1x4048 Calculated Arc Length Read Current arc length Value after reset O White prohibited 8388608 8388607 The contoler board calculates the arc length of the circle interpolation with help of the registers 1xy041 to 1xy045 Register 1x1049 Calculated Destination Position Axis 1 Value afterreset 0 The controller board calculates the destination position of axis 1 of the circle interpolation with help of the registers 1xy041 to 1xy045 DELIA PROCESS PLC System Register 1x1050 Calculated Destination Position Axis 2 Value after reset 0 The controller board calculates the destination position of axis 2 of the circle interpolation with help of the registers 1xy041 to 1xy045 Register 1xy051 Maxmum Speed Adaption for Data Axs Value after reset 0 e Using the commands 38 39 43 the calculation of the speed of the software master axs of the linear and circle interpolation is realized with the data of axs 1 of the master module e n case of linear interpolation by command 40 the data of the axis 2 of the master module are used e Therefore this axis is called data axis DELTA DIMA Module 66 e Each other axes participating in the interpolation has to be informed abo
34. he interpolation Command 42 cancels interpolation mode DELTA DIMA Module Any SV axes can execute a circle interpolation As in case of the linear interpolation software axis 4 is master of the circle interpolation Programming of a circle interpolation a b the numbers of the physical axes participating in the circle interpolation have to be defined in registers 144128 and 14129 the center coordinates are defined in the registers 1x4041 and 1x4042 input of the nominal angle into register 1x4045 Command 41 for axs 4 stars the circle interpolation command 42 to both physical axes cancels the circle interpolation mode of the both physical axes end of circle interpolation gt 1xy001 42 The axes operate now as independent axs again the last nominal positions are the start point of the ar 100 Example program The SV module is placed in slot 2 Mode 3 digital speed loop for both axes 21 22 REGISTER_LOAD 121098 with 3 Reference and release of both axes REGISTER LOAD 121001 with 1 Release axis 21 REGISTER LOAD 122001 with 1 Release axis 22 REGISTER LOAD 121001 with 3 Ref 21 ActPos 0 REGISTER LOAD 122001 mit 3 Ref 22 ActPos 0 Declaration of the axes participating at the circle interpoaltion REGISTER LOAD 124128 with 21 Axes 21 22 participate REGISTER LOAD 124129 with 22 circle interpolation REGISTER LOAD 124003 with 600 Speed REGISTER LOAD 12400
35. ine the comesponding axes to slaves If the commands were already specified in a preceding interpolation and not canceled by a command 42 then no repeated commands are necessary identical to the linear interpolation the nominal positions of the extemal axes are stored into the registers 1x4032 to 1x4035 now the circle interpolation is started register 1x4041 and 1x4042 define the centers register 1x4045 specifies the arc the commands 41 starts the movement DELTA PROCESS PLC System Example program 1 REGISTER LOAD 134150 with 20000 StartPos axis 22 2 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkxk 3 Circle 31 and 22 with linear 32 4 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkxk 53 REGISTER_LOAD 134001 with 25 Screw 6 REGISTER LOAD 134128 with 31 Declare axis no KE REGISTER_LOAD 134129 with 22 Declare axis no 8 2 9 REGISTER LOAD 134003 with 500 Speed 10 REGISTER LOAD 134005 with 500 Start ramp 11 REGISTER LOAD 134006 with 500 Stop ramp 12 H 13 m Destination window 14 REGISTER LOAD 134007 with 10 Dest window 15 16 REGISTER LOAD 134041 with 20000 Center 31 17 REGISTER LOAD 134042 with 20000 Center 22 18 3 Relative angle for circle 19 REGISTER LOAD 134045 with 163840 5 circle 20 fj Gradient 21 REG 134031 22 23 REG 132002 24 t 25 500 27 REGISTER LOAD 134001 with 41 Start interpol 28 29 WHEN 30 AXARR axis 22
36. ined Reg 026 Reg010 If the drive oscillates at both end positions the stop ramp is to steep adjust stop Increase register 101 of the test amp program mentiond above here Reg101 Increase steeper or decrease _ fatten start ramp until the desired djust start acceleration performance ig amp obtained here Reg100 A WHEN AXARR instuction is fulfilled if the destinaton window range is reached Of course the axis DELTA PROCESS PLC System drives to the exact destination position DELTA DIMA Module 112 4 8 Operating System Update Operating system updates can be lead through in the Transfer menu of the SYMPAS programming environment Oparting system files are available on the JETTER Mailbox OS BESSER Listing Monitor Sa DELTA gt File EPD File EPD gt Editor File EPD RAM Compare editor DELTA Update operating system RAM gt Flash Flash RAM Register gt File DA File DA gt Register Figure 7 Operating system downloads for the DIMA module can be conducted with the SYMPAS programming environment The timeout in the Special Settings SYMPAS menu has to be set to 4000ms for operating system download default DELTA PROCESS PLC System 4 9 DIMA Amplifier Dimensions Standard Side View DIMA3 16 32 50 p NU e c fca o o a e SS S KD S 2k S 2s Ul tar 17 06 97 NL Ni maBs
37. ista 9 p E DELIA PROCESS PLC System Register 1xy009 Actual Position Read Curent actual position Value after reset O White defines a new actual postion reference is lost 8388608 8388607 Example WHEN REG 1xy09 gt 2000 THEN OUT 3 Register 1xy010 P Gain Position Contoller Value afterreset 750 DELTA DIMA Module 44 Register 1xy011 Nominal Speed of the Position Contmller Read Curent nominal speed calculated by the controller Value after reset O White prohibited 32768 32767 10V Register 1xy012 Actual Speed Function Read Cunent actual speed Value after reset 0 1 min Value range Register 1xy013 Time Base for Evaluation of the Actual Speed 1xy012 Function Read Curent time base Value after reset 6 unit 3ms Defines new time base Value range 0 32767 DELIA PROCESS PLC System Bit 7 of register 1xy000 queries software limit switch Register 1xy014 Positive Software Limit Switch Value afterreset 8388607 The state of the software limit switches can be queried by bit 7 in the state register 1xy000 A set bit indicates that one of both software limit switches was activated Bit 14 of the state register de activates the software limit switches Register 1xy014 defines the value in increments at which the positive software limit switch is triggered Register 1xy015 Negative Software Limit Switch Read Current n
38. le Interpolation Register 1x4041 Center Axis 1 Function Description Value after reset 0 Newcener e This register defines the center of axis 1 for the circle interpolation e Beside the center of this axs the center of axs 2 1xy042 and the nominal angle 1xy045 of the interpolation have to be specified e Sart points of the interpolation are automatically the last nominal positions of both axes Register 1x4042 Center Axis 2 Value afterreset 0 Newcener e This register defines the center of axis 2 for the circle interpolation e Beside the center of this axs the center of axs 1 lxy041 and the nominal angle 1xy045 of the interpolation have to be specified DELTA DIMA Module 62 A e Sart points of the interpolation are automatically the last nominal positions of both axes Note The difference center x minus start point must not exceed 524207 Register 1 4045 Nominal Angle of the Cricle Interpolation Value afterreset 0 Value range 8388608 8388607 32768 360 ccw This register determines the nominal angle of the arc which both axes describe during circle interpolation Note The arc length must be less than 67108000 DELIA PROCESS PLC System Register 1x4046 Calculated Radius of the Circle Interpolation Value after reset 0 The contoller board calculates the radius of the circle interpolation with help of the registers 1xy041 to 1xy045 Re
39. le break 2 V m 2 e D 3 o V DELTA DIMA Module 26 4 4 Software Description 4 4 1 Axes and Registers Numbering The Axis Number The first digits defines the slot number of the SV module The last digit specifies the axis number of the module Following pattem illustrates the axis numbering Axis number coding xy Meaning X y Slot Axis number 2 8 13 3 DELTA PROCESS PLC System The Register Number The registers are accessed by 6 digit places The first digit is 1 the second digit defines the slot number of the SV module the third specifies the axis number the last three digits define the register number Following pattem illustrates the register numbering Register number coding 1xyzzz Meaning 1 X y zz Slot Axisno Units place 2 8 1 3 0 999 Following different coding was valid before operating system version 2 00 of the CPU module XYZZZ The registers are upwards compatible 2 00 and bigger understands the old xyzzz numbers but not downwards compatible smaller 2 00 does not understand the new 1xyzzz coding DELTA DIMA Module 28 4 4 2 General Registers Register 1xy000 State Register Function Description ed Value after reset 1024 Reference set AXARR the position was reached The state bit is Cleared at the beginning of a positioning and set when the destination window is reached Actaul position in destination window Tracking error recognised
40. llower 4 4 7 Registers for Relative Positioning 4 4 8 Interpolation Control Registers also see follower 4 4 9 Position Controller Modes 1 3 Register 1xy098 4 4 10 Miscellaneous Registers 4 4 11 Register Table 4 5 Linear Interpolation 4 6 Circle Interpolation eii K l fl Ee K t3 ro ro r2 r2 ISIN SININ OAA Min Elo DID SID AA n oo he oo Nel jjo _ WI LDIE A DELTA PROCESS PLC System ll DELTA DIMA Module 1 Safety Instructions e The PROCESS PLC DELTA is a quality product made according to the recognised electrotechnical rules e The device has been delivered by the manufacturing company in faultless state In order to keep up this condition and to guarantee problem free operation the technical specifications given in this documentation are to be observed e The devices must not be used for purposes other than the purposes they have been designed for e The devices are only to be used inside the limits given in theirtechnical data e The devices are only to be operated by SELV The maximum operating voltage must not be exceeded When failure or malfunctioning of the device could result in endangering of man or damage of equipment this should be prevented by incorporating additional safety mechanisms like limit switches protection devices etc into the system DELTA DIMA Module 2 Note The data indicated in this manual
41. minal position has to be stored into register 1x4039 DELTA DIMA Module 58 Register 1x4040 Length of the Software Axis Value after reset 0 e The calculated length of the software axis of the virtual master of the linear interpolation is stored in this register e The length of the software axis can also be specified by the user Then the controller takes over this value and does not calculate it again In this case also the specification of the actual positions can dropped registers 1xy038 1xy039 Register 1x4132 Axis Number Axis 1 Description Read Curent axs number Value after reset 0 Value range 21 97 The register contains the actual axis number of the first axis participating in the linear interpolation DELIA PROCESS PLC System Register 1x4133 Axis Number Axis 2 Curent axis number Value after reset 0 Value range 21 97 The register contains the actual axs number of the second axs participating in the linear interpolation Register 1x4134 Axis Number Axis 3 Description Read Curent axs number Value after reset O Value range 21 97 The register contains the actual axs number of the third axis participating in the linear interpolation Register 1x4135 Axis Number Axis 4 Value afterreset 0 DELTA DIMA Module 60 The register contains the actual axs number of the fourth axis participating in the linear interpolation DELIA PROCESS PLC System 4 4 5 Registers for Circ
42. n extin guishes after next positioning started Repeat the same procedure for the repeat proce negative limit switch and consider dure with the the Limit LED amplifier and S3 LED negative limit DIMA module e At last activate the home sensor of activate home axis 1 Home LED amplifier lights sensor NOC or exinguishes NCC gt Y Home amplifier lig hts Repeat procedure with axis 2 repeat procedure with axis 2 Destination of the Parameters This is usually realized with help of a small test program of following orsimiliarkind assumption DIMA at slot 3 TASK 0 THEN REGISTER LOAD 13101 with 3 set reference REGISTER LOAD 13101 with 1 activate controller LABEL 40 COPY n 3 from 100 to 13105 copy register block POS axis 31 Pos 10000 v 1000 drive to 10000 WHEN with speed 1000 AXARR axis 31 reached dest THEN DELAY 10 POS axis 31 Pos 0 v 1000 drive to O WHEN AXARR axis 31 reached dest THEN DELIA PROCESS PLC System DELAY 10 GOTO 40 close task THEN DISPLAY_REG 0 cp 1 Reg 13109 display ActPos DELAY 2 GOTO 1 The program first sets the reference point and gives release of the amplifier After that the parameters that are stored from register 100 on are loaded and positions O and 10000 are continuously called up with 1 second break at each position Smultaneoulsy the actual position is displayed on the user interface or
43. nal references the axi 5 AXARR with position control the axis is stopped and the position controlled 6 AXARR without position control the axis is stopped the position is not controlled 7 Position control in destination point ON the position is controlled in the destination point 8 Position control in destination point OFF the position is not controlled in the destination point 9 Automatic reference run with the speed in register 1xy003 start in positive direction considering home sensor If the postive limit switch is hit the axis tums back and drives into the negative direction until o _ eitherthe home sensor is found then actual position is set to O O or the negative limit switch is hit then nominal position is set equal to actual position and an enoris indicated in the state register 1xy000 10 Automatic reference run with the speed in register 1xy003 start in negative direction considering home sensor DELTA PROCESS PLC System 11 12 13 14 17 18 If the negative limit switch is hit the axis tums back and drives into the positive direction until O either the home sensor is found then actual position is set to O O orthe positive limit switch is hit then nominal position is set equal to actual position and an enor is indicated in the state register 1xy000 Automatic reference run with the speed in register 1xy003 start in positive direction to
44. nd 54 has to be given previously Register 1xy053 Pointerto a Table Hement Read Cunent pointer Value afterreset 0 Wie Newpointer 7500 nominal positions can be defined for the slave axis by a table This register pointers to the different table entries Register 1xy054 Value of the Table Element Value after reset 0 DELIA PROCESS PLC System This register contains the nominal position for the slave axis The register content depends on the pointer register 1xy053 that points to one of the 7500 table elements Register 1xy055 Number of Table Elements Value after reset 0 This register defines the number of table elements the size of the table Register 1xy056 Factor between Master and Save Value afterreset 1 This register defines the masterslave ratio NomPos Slave Factor ActualPos Master Divisor DELTA DIMA Module 70 Register 1xy057 Divisor between Master and Save Value afterreset 1 This register defines the masterslave ratio NomPos Slave Factor ActualPos Master Divisor Register 1xy058 Positive Maximum Position of the Master Value after reset 8388607 The actual position is decreased by the value of this register when it exceeds the value of this register It is quasi set to 0 DELIA PROCESS PLC System Register 1xy059 Negative Maximum Position of the Master Value after reset 8388607 The actual position is decreased by the value of this register
45. oston 8388608 8388607 DELTA PROCESS PLC System R W Pgain position contoller 0 32767 Nominal speed 32768 32767 position controller Actual speed 0 32767 Tme base forevaluation 6 32767 ofthe actual speed Positive software 8388608 8388607 limit switch Negative software 8388608 8388607 limit switch Phase offset 0 4096 Encoder lines 0 10000 Maximum speed of the 0 32767 SV motor combination Tracking enor 8388608 8388607 Tracking enor limit 0 8388607 Reference value for 1xy003 0 32767 maximum nominal speed User encoder 1 256 resolution ratio E z 2 i7 2 RAW E Ei 2 7 Number of pole pairs al 2 332 Registers for the Digital Speed Loop P gain of the 0 32767 digital soeed loop Nominal current 256 256 l Coefficient 0 32767 Curent limitation 0 256 of the speed loop RAW 29 DELTA DIMA Module 84 28 RW Curent l Coefficient 30000 30000 of the speed loop R W coefficient limitation 0 30000 of the speed loop Linear Interpolation 135 30 RW NomPos1 axis 8388608 8388607 Im master module 31 RW NomPos 2 axis 8388608 8388607 ul a master module 32 RW NomPos exemal 8388608 8388607 m Save 1 RAW 33 NomPos exemal 8388608 8388607 be save 2 34 RW NomPos exemal 8388608 8388607 m save 3 35 RW NomPosexemal 8388608 8388607 Slave 4 38 R W ActPosextemalaxs 8388608 8388
46. pin Sub D Connection Shielding Specification on DIMA side max Length max 9 pin Sub D cable length male un 20m Attach shield at both sides Use meta llised housings hpusne Input cosine HEN HEN WENN E 8 DELIA PROCESS PLC System 4 2 1 3 Connection to the Amplifier Connection to the Amplifier 26 pin Sub D Connection Shielding Specification on DIMA side max 26 pin Sub D S cable length male EN 20m Attach shield at both sides Use meta llised housings EA MEME Connectltol DELTA DIMA Module 12 4 2 1 4 Digital Inputs 16 terminals for digital inputs 24VDC have been 3 ea HS provided on the upper side of the controller housing HS PHI The OV signal is connected to the control cabinet os ope ground Gnd BR ES Technical Specifications Digital Inputs E sHie Number of Inputs 16 El 88 Rated Input Voltage 24 VDC Elle EIS Voltage Range 15 27V tegen Rusia Input Current approx 8 mA Input Resistance 3 0 ko Input Delay Ca 3ms Signal Voltage ON min 15 V Signal Voltage OFF max 10V Potential Isolation no Co nside r slot cut Input Numbering on the numbering DIMA Module Number Sot number x 100 1 Sot number x 100 2 la Input 16 Sot number x 100 16 DELTA PROCESS PLC System OV v G DAT
47. r table element 68 Pos MaxPos Master 70 Time base 72 Value table element 68 I coefficient of the digital speed loop 51 I coefficient limitation dig speed loop 52 Input polarities 38 Interpolation control Curve counter 75 Filling level 75 Interpolation control registers 75 Linear Interpolation 53 LinearInter ActPos diagonal calcula 56 57 Axisno axis 1 58 Axisno axis 3 59 Axisno axis 4 60 NomPos 1 axis master 53 NomPos 2 axis master 53 NomPos external slave 1 54 NomPos external slave 2 54 NomPos external slave 3 55 NomPos external slave 4 55 Software axis length 58 Max speed SV Motor 47 Miscellaneous Equate ActPos NomPos 78 Factor nominal speed 79 Version number 79 Mode selection 76 Negative software limit switch 45 Nom current of the digital speed loop 51 Nominal position 35 Nominal speed 37 Nominal speed position controller 44 Number of pole pairs 50 Numbering 27 Overview 80 P gain of the digital speed loop 51 Phase offset 46 Position controller gain 43 Positive software limit switch 45 PosTab Wait states axis 42 75 Reference max nominal speed 49 Relative positioing 73 RelativePos Last NomPos 73 Relative position 73 Start ramp 39 State register 28 Stop ramp 40 Time base actual speed 44 Tracking error 48 Tracking error limit 48 User encoder resolution 50 Resolver 10 S Safety instructions 1
48. rrently executed The new value is the new maximum nominal speed The speed changes without a sharp rise or decrease but with the start ramp defined in register 1xy005 Example 1 THEN REGISTER_LOAD 1xy003 with 20 The axis moves with creep speed 2 of the maximum speed 2 THEN REG 1xy003 REG 1xy003 80 DELTA DIMA Module 38 Increases the speed to 10 of the maximum speed Register 1xy004 Input Polarities Read Curent polarities Value after reset 3 Write Sets new polarities The register is bit coded Bit 0 O home sensor OV active 1 home sensor 24V active Bit 1 O limit switch OV active NCC 1 limit switch 24V active NOC 0 intenupt input print mark mode pin 11 15 pin Sub D low active 1 interrupt input high active 0 nomal rotation direction 1 rotation direction reversed O Follower execute complete table 1 execute upper table half O activate limit switches 1 deactivate limit switches O activate home sensor 1 deactivate home sensor Value range 0 191 DELIA PROCESS PLC System Register 1xy005 Start Ramp Read Current start ramp Value after reset 1000 ms White Defines new start ramp O 32767 This new value is stored and effects only the next positioning or speed change White access to register 1xy005 does not effect a running positioning Only after start of the next positioning i e write access to registers 1xy002 and 1xy003 or Pos inst
49. rt ramp 14005 and stop ramp the stop ramp 1x4006 and the destination window 1x4007 for the coordinated movement are defined in the registers of the software axis 4 If no values are set the settings of axis 1 of the master module are valid Declare extemalaxes d the extemal axes get either command 32 axis 1 or pae command 33 axis 2 Define e now the nominal positions of the axes are stored nominal into the registers 1x4030 to 1x4035 The nominal posmong position of the axis 1 of the master module is stored DELTA DIMA Module 94 Define resulting diagonale Command 41 sta rts coordination Command 42 cancels coordinatio mode f 9 into register 14030 the nominal position of the axis 3 of the master module is stored into register 14031 Then the nominal positions of the extemal Slaves are entered The actual positions of the axes which are used for Calculation of the resulting diagonale have to be stored into the registers 14038 and 1 4039 if the both axes of the master module are not used for Calculation of the resulting diagonale Besides the nominal positions of these axes have to be declared first The actual position of register 14038 relates to the nominal position and axs which was declared first The actual position of register 14039 relates to the nominal position and axs which was declared second see section before command 41 for axis 4 start the coordination All axes start simultaneo
50. ruction the new start ramp value is used Note The ramp becomes shorter if the axis does not run maximum speed DELTA DIMA Module 40 Register 1xy006 Stop Ramp Read Current stop ramp Value after reset 1000 ms Write Defines new stop ramp O 32767 This new value is stored and effects only the next positioning or speed change Wite access to register 1xy006 does not effect a running positioning Only after start of the next positioning i e write access to register 1xy002 or Pos instruction the new stop ramp value is used Note The ramp becomes shorter if the axs does not run maximum speed DELIA PROCESS PLC System Register 1xy007 Destination Window Range Curent destination window range Value afterreset O increments range 0 8388607 Program flow can be accelerated by the destination window range because the condition WHEN AXARR already is fulfilled before the exact destination point is reached Of course the exact position is called at DELTA DIMA Module 42 Register 1xy008 Digital Analogue Offset Read Cunent offset Value after reset O Write Defines new offset 0 8388607 he mechanical friction can be overcome with help of this register OF FSET 0 OF FSET 1 OFF SET 10 E V KE 1 y See aS et Se A A d Uv p speed x E Spee onal a DAA I E KT 1000 100 10 destinoti n 10 100 l
51. t 5 Positive limit switch active Bit 6 Home sensor active Bit 7 Software limit switch was active Bit 8 Limit switch was active Bit 9 Position controller switched on Bit10 Control after AXARR Bit11 Switch on relay Bit12 Reference run enor Bit13 BUSY only Com 9 12 42 43 Bit14 Software limit switch activated 1 active Bit16 Axis within stop ramp Bit17 Do not switch off if tracking enor Bit18 Printing mark not found Bit19 SV amplifier enor Bit20 Resolver emor Bit21 Motortemperature too high Bit23 Tracking emorcorection switched off 1 switched off DELTA PROCESS PLC System Command register AXARR with stop ramp Switch on controller Switch off relay Set reference Clearreference AXARR with position control AXARR without position control Position control in destination point ON 8 Position control in destination point OFF 9 Automatic reference run Automatic reference run Automatic reference run Automatic reference run Control at limit switch OFF Control at limit switch ON Relative positioning Absolute positioning Continue after positioning break Relative positioning with start input ON Relative positioning with start input OFF Stop atreference point ON Stop at reference point OFF Annex nex interpolation Combine circle and linear interpolation Axis master in follower Axis 1 is slave Axis 2 is slave
52. tdblich M armo REESE 2 00 0 DELTA DIMA Module 114 Front View DIMA3 16 DA Enable OO Linit OO Reody OO Ucc OO Controller OO IO DO Motor cable O O J SER lome Limit on Br I gt emp gt 10 0 304 DELTA PROCESS PLC System Front View DIMA3 32 285 7 3 DELTA DIMA Module 116 Front View DIMA3 50 LOLU 1 111 0 87 0 M T 4 A EN 1 CH AN p E Qr zs A A Ne N Es N EN Enable O Home imit OO Linit Ready OO on Ucc OO Br Controller OO D U OO Tenp Motor cable OO J Kid wi DELTA PROCESS PLC System Side View DIMA3 8 Stand 17 06 9 Nicht ma st blich EN EN lay a le e n e B e 2 L E d DELTA DIMA Module 118 Front View DIMA3 8 Enable Limit Ready Ucc Controller Motor cable Home Limit DELTA PROCESS PLC System A Amplifier 11 16 Dimensions 113 LED 25 Anschlu beschreibung 9 Axis number 26 B Ballast resistor 17 22 C Circle interpolation 99 Example program 100 Cirle interpolation combined with linear interpol 101 Configuration Submodules 8 Connection with Trafo 21 D Digital inputs 12 Internal circuit 13 Wiring 13 Digital outputs 14 Internal cir
53. the positive limit switch ignore home sensor tum back there drive in negative direction considering home sensor If the negative limit switch is hit reference tun is terminated and an enor is indicated in state register 1xy000 Automatic reference run with the speed in register 1xy003 start in negative direction to the negative limit switch ignore home sensor tum back there drive in positive direction considering home sensor If the positive limit switch is hit reference run is terminated and an enor is indicated in state register 1xy000 Control at limit switch OFF OV are output if the limit switch is reached Control at limit switch ON the position is contolled if the limit switch is reached Relative positioning the positioning relates to the last nominal position not to the reference position Absolute positioning the positioning relates to the reference position DELTA DIMA Module 32 Continue afterpostioning break the positioning breaked by AXARR is continued Relative positioning with start input ON Relative positioning with start input OFF Stop atreference point ON the axs stops at the reference point during reference run Stop atreference point OFF the axs does not stop at the reference point during reference run see command 22 Annex next interpolation the nex interpolation is annexed to the curently executed without interruption Combine circle and linear interpola
54. tion the nex circle interpolation is combined with a linear interpolation with axes of other modules Axis master in follower this command is given in the master Axis reads master actual position the axs reads the master actual position from bus Axis 1 is slave axis 1 is slave in a linearorcircle interpolation Axis 2 is slave axis 2 is slave in a linearorcircle interpolation Master sla ve configuration 1 axis 4 is master only both module axes are slaves DELTA PROCESS PLC System 40 41 42 43 Master sla ve configuration 2 axs 4 is master both axes of the module are slaves and additional extemal slave exist Master sla ve configuration 3 axis 4 is master only axis 2 of the module and extemal axes are slaves Start interpolation start circle or linear interpolation Cancel interpolation for a xis an AXARR instruction is executed The interpolation mode of the axis is cancelled Master sla ve configuration 4 axis 4 is master only axis 1 of the module and extemal axes are slaves Follower via factor divisor ON Follower via factor divisor OFF Follower via table ON Follower via table OFF Run table with time index ON the table is not executed with help of an encoder but by a time base defined in register 1xy075 Run table with time index OFF Follower slave without correction no slave cormection takes place in case of master overflow Follower slave with correction
55. toe 0 70 4 NW metsatesosa2 1 68535 DELTA PROCESS PLC System xokekek kK Miscellaneous 71 RW Set actual and 8388608 8388607 nominal position simultaneously Mode selection 0 3 Ro Version number 0 8388607 155 RW Speed PreControl 0 1000 adjustment DELTA DIMA Module 88 4 5 Linear Interpolation 4 5 1 Overview Up to 6 axes can participate in a linear interpolation The virtual software axis 4 is the master of the coordination Parametering is also done in the virtual master axis 4 The master Calculates the diagonale and transfers it to the slaves The SV module allows linear coordination of up to 6 axis A virtual axis is attached to each physical axis which reflects the resulting movement of the coordination The virtual axes of all SV axes move on a diagonale that is fixed between two physical axes Also the start and stop ramps the speed and the destionation window relate to this diagonale The physical axes itself move slower by that part that they share in the movement The virtual software axis 4 is the master of the complete linear coordination The controller board on which the master software axis is placed is called master board The software axs 4 conducts all coordination tasks between the participating axs Also the parametering of the linear interpolation is defined in axs 4 The parameters of the start and stop ramp as well as the speed and the destination
56. tputs DELTA DIMA Module 16 4 2 2 DIMA Amplifier Terminals Standard Bottom View gt lt a NO Y ae 9 9 19 590 ee N NS Nf e d a d r H r CN C y C 1 M La M RR A4 CRX R3 e CC U r 1 be N N ES OS AE ACES I A I ke SZ NE GA e Nd n M HH CH y avt tS CN Leg LNV V nv a Sat XY Et KEN T Vi S lan z N N OO U D zi C Ns N Se C kard SS N N YD L u bei Xu DELTA PROCESS PLC System A Power Supply Trafo X1 L1 12 13 Power Secondary voltage trafo supply 3 230V PE Schutzleiter The centerhasto be earthed Note Only use terminals L2 and 13 if the amplifier is directly connected to the mains See 4 2 3 1 Direct MotorConnection X2 U V W Motorphases Considerthe right sequence PE Motor Ground The shielding of the motor cable hasto be clamped underthe strain relief Note Ex hanging of the phases leads to oscillating or blocking of the motor Balla st Resistor X3 To be bridged if the intemal DELTA DIMA Module 18 ballast resistor is used Intemal ballast resistor Only type 8 16 and 32 Rextemar Ur Connection extemal ballast resistor Extemal ballast resistor Minimum resistance intemal automatically DIMA 16 272 disconnected DIMA 32 50 160 Intermediate Intermediate voltage Circuit voltage terminal Note Connection of an extemal
57. umber of Pole Pairs Read Curent number of pole pairs Value reset 3 Write Sets a new number of pole pairs DELIA PROCESS PLC System 4 4 3 Registers for the Digital Soeed Loop Mode 3 Register 1xy024 P Gain of the Digital Speed Loop Value afterreset 10 Register 1xy025 Nominal Current Read Current nominal cument Value after reset O Defines a new nominal current 256 255 Register 1xy026 Coefficient Function Value after reset 350 Value range DELTA DIMA Module 52 Register 1xy027 Curent Limitation of the IB ef rz 1559110 M Kole e Value after reset 0 Register 1xy028 Curent I Coefficient Digital Speed Loop Curent Lcoeff ent Value after reset 0 Register 1xy029 I Coefficient Limitation of the Digital Speed Loop Value after reset 30000 DELIA PROCESS PLC System 4 4 4 Registers for Linear Interpolation Register 1xy030 Nominal Position 1 Axis of the Master Module Value afterreset 0 This register defines the nominal position of axs 1 of the master module if it participates in a linear interpolation commands 38 39 43 Register 1xy031 Nominal Position 2 Axis of the Master Module Value after reset 0 This register defines the nominal position of axis 2 of the master module if it participates in a linear interpolation commands 38 39 40 DELTA DIMA Module 54 Register 1xy032 Nominal Position Extemal Save 1 Value after reset 0 This register
58. usly and reach their nominal positions simultaneously Each axs move with such a speed that the resulting speed is equal to the value in register 1x4003 Write access to register 14003 during a positioning changes the speed of al axes An AXARR instruction orcommand 0 to axis 4 stops all axes Further positionings can now be started by definition of new nominal positions and the start command to software master axs 4 command 42 for the physical axis cancels the coordinated mode cancel linear interpolation gt 1x001 42 The axes operate now as independent axes again DELTA PROCESS PLC System Axis 1 master module and extemal axes Adapt encoder line numbers and maximum speeds to the master axis 1 3 Variant Configuration 4 The third variant is on principle identical to the second variant but it uses command 43 instead of 39 Command 43 defines that only the axis 1 of the master board participates in the interpolation Besides the registers 1x4038 and 1x4039 have to be initialized In case of the vanants 1 to 3 the axs 4 operates intemally together with axis 1 therefore the values of the registers of axis 1 and axis 4 change together All encoder line numbers register D4 y52 and maximum speeds 1xy051 of the slave axes have to be adapted to the axs 1 of the master module if the slave axes parameters should differ from the parameters of the master module DELTA DIMA Module 96 Example program for the 3 Vari
59. ut the maximum speed of the master axis e Thus register 1xy051 of all axes gets the value of register 1xy018 of the data axs if the maximum speed of the coresponding axes and the data axs are not equal e f they are identical the reset value O can be left in register 1xy051 Register 1xy052 Adaption of Different Encoder Resolutions Read Current adaption value after reset 0 New adaption Newadapton 8388608 8388607 Register 1xy052 is specified by following formula if one of the axes paticipating in the interpolation has a different encoder resolution than the data axs see also description register 1xy051 1xy052 NELofThisAxis NELDataAxis 1000 NEL Number of encoder lines Register 1x4128 Axis Number Axis 1 DELIA PROCESS PLC System Read Curent axis number Value after reset 0 Value range 21 97 This register contains the real axs number of the first axis participating in the circle interpolation Register 1x4129 Axis Number Axis 2 Read Curent axis number Value after reset 0 Value range 21 97 This register contains the real axis number of the second axis participating in the circle interpolation Register 1x4150 Start Position Extemal Slave Axis Value afterreset 0 DELTA DIMA Module 68 4 4 6 Registers for the Follower A Note If the follower is used in table mode and the table runs between two fixed values e g sine values with offset comma
60. ws The stain relief must be connected with a grounded surface directly and extensively When male connectors are used Only use metallised connector e g SUBD with metallised housing Please take care of direct connection here as well On principle separate connections spatially signal and voltage DELIA PROCESS PLC System SUB D male or female connectors ky Or SD I OY tallised housing Fully me i The extensive shielding must ke held tight under the shield fixings as a conducting connection with the housing Figure 1 Shielding in Agreement with EMI DELTA DIMA Module 6 4 DIMA Digital Servo Controller 4 1 Technical Data and Configuration Technical Data Digital Servo Contmller Positioning Range 8388608 8388607 Max EncoderSpeed 6000 U min Positioning Accuracy Sta rt Stop ramp Sine square steepness programmable Limit switch left right 24V NCC or NOC Home sensor 24V NCC or NOC Maximum Load Current DIMA3 8 8A peak DIMA3 16 16A peak DIMA3 32 32A peak DIMA3 50 50A peak Cycle Time Coprocessor 250us Speed loop 500us Position loop 2ms AE O also autotransformer Primary Voltage 3 x 400V Secundary Voltage 3 x230 V earth the center DELTA PROCESS PLC System Slots of the DELTA Housing Slot C 4 Slot P P U U 2 3 4 DELTA Slot C P 8 Slots U
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