Home

iDPL user manual

1. A No n A NS SN SA ES ee Sa N qoo n Y Sa SN S G IN AA Ea A S e ss LO Yon N aY LO e ES ll N F E Jai SO OG OY SODIO Y Y Ue X5 ENCODER X4 ENCODER a a 8 3 a 5 Bano 3 3 INPUT OUTPUT gt N ma vt ajo wt O o No JN Pa X8 POWER X7 DIGITAL X6 AUX SUPPLY 1 0 SUPPLY y 3 X 230 480VAC For 1 x 230Vac connection use L1 and L2 A Pour une alimentation 230Vac mono utiliser L1 et L2 Intelligent Motion Drive 5 i LO LO 5 e SERAD 271 route des cr tes 44440 TEILLE Se 5 www serad fr y N Es Capacitors discharge time 5 minutes High voltage on X8 X10 connectors All the PE pins must be connected Read manual before installing Temps de d charge des condensateurs 5 minutes a Haute tension sur les connecteurs X8 X10 ii Toutes les bornes PE doivent tre raccord es Lire le manuel avant l utilisation de X10 BALLAST MOTOR N ma vt wo Koj Lad ve Lo wd a Q o Ww X11 X12 opa 6 gt gt gt RESOLVER ANALOG VO 7 CECT a m i E ET iF MT O A T T_T TI E BPQGQGGS VY JJ ie ae a LO 003 E me LA A yio a al Y N RACCORDEMENT Ae BLINDAGE MOTEUR A A AN a e ES eS R510 16 SERAD S A IMD Drive User Manual 2 6 Connector pin assignments 2 6 1 X1 RJ45 serial port for downloading programs and parameters no name O Receive data apo 5 ono
2. Home Type Parameters Parameters O Immediate Speed 10 000 tev s O Immediate iL man Cra E O AN 0 000 a On sensor without release in direction On sensor with release in direction On sensor without release in direction On sensor with release in direction On sensor and Signal lt without release in direction Un sensor and Signal lt with release in direction From this screen one configures the type of HOME the speed and the datum to be charged in the counter position Information e The type chosen in this screen 1s used only on HOME movement declared starting from Trajectories array when the driver works in mode trajectories pre stored e Ifyou use the HOME instruction in a BASIC task the type must be indicated inside the instruction Example HOME on signal Z gt HOME 1 141 SERAD S A IMD Drive User Manual e The speed of the axis during the HOME corresponds at the speed seized in this screen If during the HOME VEL or VEL instructions are executed the speed of the axis 1s then modified e The HOME instruction 1s blocking for task DPL If you want to stop the homing during his execution it is necessary to do in another task HALT of the task containing the HOME instruction then a STOP of the axis 7 4 3 HOME types A Type 0 immediate The counter position is forced with the value of reference in an immediate way Example Datum 100 in the Home scr
3. S y N WA Z Z LA Z Z Z Z X10 BALLAST MOTOR 00000000 Z Z Z L L WA Z Z Z 233 5 X11 RESOLVER X13 SINCOS X12 ANALOG I O X10 RB MOTOR External braking resistor and motor supply X11 FEEDBACK Motor position feedback resolver encoder x12 ANALOG Analogue I O X13 SINCOS Motor position feedback if SINCOS encoder is used A must be taken when making connections to connector X10 An incorrect connection can seriously damage the drive Dangerous voltages are present on X10 900V Wait at least 5 minutes to allow the capacitors to discharge before removing the connector R510 15 SERAD S A IMD Drive User Manual 2 5 Mounting Several drives can be mounted side by side provided that enough space at least 20mm is left to ensure good natural convection Leave a space greater than 90mm over and under the drives to allow for the various connectors and cables to be fitted N
4. lt NumberNextCam gt Input 0 if the cam must not be followed by another one Otherwise input the number of the next cam from to 5 lt NumberPreviousCam gt Input 0 if the cam will not start at the end of another one Otherwise input the number of the previous cam from to 5 See also STARTCAM 9 10 68 LOADCAMPOINT Change a point of a cam Modify a cam point in FRAM memory Syntax LOADCAMPOINT lt NumCam gt lt NumPoint gt lt FRAMIndex gt lt NumCam gt Number of the cam loaded previously from 1 to 5 lt NumPoint gt Number of the cam point to modify from 1 to NB cam point lt FRAMIndex gt Address of the point in FRAM from 0 to 511 to send in the target cam point Warning This instruction blocks the task LOADCAMPOINT can only be done if the cam is not between previous and next lt NumPoint gt point This instruction gives an iDPL error if no cam has been loaded before 9 10 69 LOADPARAM Reload the drive parameters Syntax LOADPARAM Description Transfers the drive parameters saved in Flash memory into the working RAM See also SAVEPARAM 9 10 70 LOADVARIABLE Load saved variables Syntax LOADVARIABLE R510 222 SERAD S A IMD Drive User Manual Description Transfers the variables VRO to VR63 and VLO to VL63 saved in Flash memory into the working RAM See also SAVEVARIABLE 9 10 71 LOADTIMER Load a variable with a timer value Syntax LOAD
5. 0 12 0 360 540 40 160 180 a x 720 epee O a eee nis La EA 6 30 Chil Theorical positior A Task TEP Trace ETT E Visualisations Offset o 2 x 6 20 Error Flags 6 10 iii b 3 D PDO ChO Send Counter W pra xl E 1 PDO Chi Send Counter 6 00 YIO Counter Che Real velocity rpn A 5 90 a W 10 1111 100 5 70 A 4 b Ed ps OS v 2 00 Mon ler variateur ids 13 10 2004 08 33 14 DPL Project Mon 1er variateur 18 Bytes 13 10 2004 08 31 12 7 e Tool bar Qi A POD Setup Motion Edit tasks Drive Save parameters E l selection e Oscilloscope Compile Bae Instrument display Hyperterminal Send tasks project R510 37 SERAD S A IMD Drive User Manual e Command bar 1 Select drive to communicate Node ID with iDFEL software Run or stop comm urucation ve with drive Status of control loop Open or close the control loop Enable Display drive status Status al Run or stop IDEL tasks PL e State bar of i 05 w 2 00 Drive My drive 1 Parameters 15 10 2004 18 19 28 DOPL Tasks 15 Bytes 19 10 2004 18 20 36 ee Satus ofthe OS version Drove name Parameter version Tasks version connection R510 38 SERAD S A IMD Drive User Manual 3 2 3 Project management iDPL software starts with a wizard window D L New project Open project MyProject E Doce fg Inputs Outputs aE Variables e Task
6. Attention All other corrections are ignored if a correction is being done or if lt Dist master gt 1s null B ICORRECTION S Correction status Syntax lt Variable gt CORRECTION S Accepted types lt Variable gt bit Description This function 1s used to ascertain the status of a correction returns ifa correction is taking place else returns 0 C EXAMPLE Synchronised movement MOVS 4 4 1 1 Speed A relationship master slave p 3 4 Master position Synchronised movement Synchronised movement correction MOVS 4 4 1 1 WAIT POSMASTER S gt 2 ICORRECTION 1 1 0 2 R510 159 SERAD S A IMD Drive User Manual Synchronised movement correction 7 7 4 Cam A Graphical editor Use the cam editor in Motion Control Cam editor to build and edit your cam profiles Cam must be declared in windows Project Setup DriveName Cams W Cam editor Machoire Id 3 CAME Cam editor Pasit osa ooo Position a a 361 882 288 000 pe a y 144 000 x ee al ee A P 1 I 1 1 1 144 000 I I L I l l 216 000 238 000 A A EEE Speed E 000 E Saa O 9 A 2 000 ps 6 000 A A A Parameters 10 on0 I l I l l I I l l l l l l I l l l 0 000 72 000 l l 144 000 216 000 288 000 R510 160 SERAD S A IMD Drive User Manual The cam function allows the realisation of a cam
7. The instructions CAPTURE and CAPTURE 2 are used to record the current position of the axis Syntax CAPTURE lt Source gt lt InputNo gt lt Edge gt lt Window gt lt Min gt lt Max gt lt Interior gt With this instruction the drive waits for the rising edge of a capture input signal When the edge is detected the position is stored in variable REGPOS1 S The flag REGI S is set as true lt Source gt 0 for motor position 1 for master encoder lt InputNo gt the input no of the capture signal 1 to 16 lt Edge gt 1 for positive edge or 0 negative edge lt Window gt if true then the input is only tested when the axis 1s between the positions lt Min gt and lt Max gt lt Interior gt defines whether the test 1s performed inside or outside the limits lt Min gt and lt Max gt lt Min gt must always be less than lt Max gt Warning CAPTURE must be re launched for each new capture It is forbidden to use the same input and edge with different functions capture counter trigger at the same time B REG1 Sand REG2 S R510 Syntax lt VFx gt REGI1 S Description This function indicates if a position capture has been carried out Remarks The returned value is only true once per capture REGI S is automatically reset to zero by a read operation On starting a new capture operation if REG1_S is currently 1 it is set to 0 174 SERAD S A IMD Drive User Manual C REGPOS
8. R510 99 SERAD S A IMD Drive User Manual i Setup JO x Motion control gi Speed profile aut Speed 5 value E 5000 mms 0 T Units oa fo 00 00 ms 00 00 me k Speed profile Deceleration 250 00 mm t Acceleration Urgent deceleration 250 00 mmi 500 00 mmi kal r ny According to the characteristics of the motor set the following error in Parameters Supervision Position Following error e In Diagnostic tools Generator start a movement as shown below Generator Test generator Position Acceleration A 20 100 00 me e Use Diagnostic tools Oscilloscope to observe the following error during the movement R510 100 SERAD S A IMD Drive User Manual R510 Select Following error in Position loop for channel 1 Do not select a trigger function Increase the proportional gain until the system becomes unstable then reduces the gain by 20 Increase the feed forward to reduce the following error to zero O Typical values proportional gain 1000 to 3000 feed forward 60 to 65 Typical curves for optimised gains Oscilloscope OA A AA A A Mr Pr fl a de aie yoy Vy a O y Uo
9. lt Variable gt Integer between 0 and 65535 lt CounterNo gt Counter number 1 or 2 8 5 Cam boxes 8 5 1 Cam box R510 186 SERAD S A IMD Drive User Manual Cam boxes allow digital outputs to be controlled according to angular or linear positions iDPL can have 2 cam boxes with up to 4 segments per box For example outputs 3 4 and 12 can be controlled by a cam box and the others can be used elsewhere The outputs of a cam box are updated every 300us The functions available are CAMBOX CAMBOXSEG STARTCAMBOX and STOPCAMBOX When a segment is declared the starting value can be greater than the end value The program zero is taken into account with each definition of segment The drive handles up to two cam boxes each having four segments The source can be either the motor position or the position of the master encoder connector X2 When the source is the motor position the values for the start and the end of the segment are directly tied to scaling and units in the screen Motion control Configuration Units When the source is the master encoder the values for the start and the end of the segment are directly tied to scaling and units in the screen Motion control Configuration Master In the instruction CAMBOXSEG the start and end of the segments must be between 0 and modulo value seoment 4 S12 1 oe 270 90 segment 3 512 1 segment 2 S4 180 In this exam
10. 7 6 5 Stopping a movement It is possible to execute movement by communication bus by writing drive parameter Open Help Modbus CANopen window A Speed profile e MOTION PROJECT VEL allows to specify the current speed in units per second e MOTION PROJECT ACC allows to modify the current acceleration value e MOTION PROJECT DEC allows to modify the current deceleration value e MOTION PROJECT VELACCDEC allows to specify speed profil in percent of Motion Control Speed profil windows parameters R510 150 SERAD S A IMD Drive User Manual B Positioning 1 1 MOTION PROJECT HOME allows to execute a HOME parameter value give the home type _MOTION PROJECT STTA allows to start an absolute movement to parameter value MOTION PROJECT STTR allows to start a relative movement to parameter value MOTION PROJECT SSTOP allows to stop movement Synchronization 7 7 1 Electronic gearbox A GEARBOX This instruction implements an electronic gearbox between a master encoder and the motor slave axis Syntax GEARBOX lt Numerator gt lt Denominator gt lt Reverse gt lt Numerator gt lt Denominator gt defines the ratio between one rev of the slave and one motor rev of the encoder 1 e for lt Denominator gt increments of the master the motor will make a move of lt Numerator gt increments lt Reverse gt 1s a logical variable that indicates 1f gearbox 1s reversible This instruction does
11. NMT Can 0 2 Can 1 1 Can 2 0 CanTx loop Delay 10 VL11 VL11 1 goto loop EndProg D Generic CAN example SetupCan 1 1 Can 0 2 Can 1 1 Can 2 0 CanTx VI5 CanErrCounter VB5 CanErr if CanEvent 0 Goto St VBO Can 0 R510 COBID number Transmission type cyclic Number of mapped PDO PDO mapping COBID number Transmission type cyclic Number of mapped PDO PDO mapping 273 SERAD S A IMD Drive User Manual VB1 Can 1 VB2 Can 2 VB3 VB3 1 St if VF10 0 goto st2 CanErrCounter 0 CanErr 0 St2 10 3 MODBUS 10 3 1 Definition A Introduction MODBUS is a master slave protocol used mainly in industrial applications It allows supervisory equipment Human Machine Interface Supervisory Control and Data Acquisition to communicate with various industrial devises Programmable Logic Controllers sensors etc This protocol functions using requests These messages can be transmitted on a serial link such as RS232 RS422 or RS485 To distinguish one slave from another each piece of equipment is given an address Unit ID Using this number only the slave concerned will answer a request from the master The drive operates the protocol MODBUS RTU slave The serial link format is 8 data bits 1 stop bit no parity The transmission speed can be up to 57600 baud Functions for reading words function no 3 or 4 and writing words function no 16 are recognized b
12. R510 SGN lt Expression gt Expression Long integer real This function returns a real equal to 1 for the negative numbers 1 for the positive numbers and 0 for the number zero VRO SGN 10 Result VRO 1 235 SERAD S A IMD Drive User Manual 9 10 108 SIN Sine Syntax Accepted types Description Remarks See also SIN lt Expression gt Expression real This instruction returns the sine of lt Expression gt lt Expression gt 1s expressed in radians The result is between 1 and 1 COS ARCTAN TAN 9 10 109 SLAVEOFFSET Dynamically shift the slave position Syntax Limits Accepted types Description Remark SLAVEOFFSET lt Offset gt lt Acceleration gt lt Offset gt Between 0 and the slave modulo lt offset gt Real lt Acceleration gt Real This instruction dynamically shifts the slave position in an absolute cam lt Offset gt Offset value to apply lt Acceleration gt Acceleration used to apply the offset The dephasing is directly applicate if the synchronised movement is not running or if axis in not enable 9 10 110 SQR Square root Syntax Accepted types Description Example SQR lt Expression gt Expression real This function returns the square root of lt Expression gt VRO SQR 2 9 10 111 SSTOP Stop the axis Syntax Description Remarks R510 SSTOP This function stops the axis usin
13. we we bsolute i o T solute i am O lative Dl kh a a l mm a elatiwe J lative are o T kh in Dl T wo a on Elan m J S S ol as ma ome finite i inite bsolute solute solute T bzolute Aaa ea DI Co Coy Ooy co coy OO O OJO bh Ola T E J i J I m o e on e Select mode to use trajectories R510 112 SERAD S A IMD Drive User Manual e For each trajectory you must enter 1 A position 2 A mode absolute relative infinite infinite or home 3 A speed in 4 An acceleration in 5 A deceleration in ny All of the values entered relate to the units and speed profile entered in Motion Control Configuration Make a HOME by trajectories 1 Declare a trajectory 2 Setup home datum in Motion Control Home 3 Setup input 4 as Home function in Parameter Digitials inputs outputs if you use sensor Save the trajectories with Communication Trajectories Save trajectories b Simulate trajectories In the screen Define trajectories you can simulate the trajectories entered Select a trajectory Start a trajector Stop a trajectory 1 Verify that the drive is enabled and that the Active box is selected 2 Select the number of the trajectory to execute 3 Press START to launch the trajectory 4 Press STOP to stop
14. Flash write flash Read read flash gt _ Reboot D During Flash operations is displayed during the Flash operations SAVEPARAM SAVEVARIABLE 10 1 2 Error messages A List of errors DC Bus over voltage an over voltage has been detected on the internal dc bus This fault can be due either to an over voltage on the supply or to the braking resistance being insufficient R510 252 SERAD S A IMD Drive User Manual DC Bus under voltage an under voltage has been detected on the internal dc bus This condition is only monitored when the drive 1s active Enable ON DC Bus voltage less than drive s parameter and also when drive is enabled DC Bus voltage less than 250V Pt motor Pt motor detected Over current a current greater than the maximum current has been detected Short circuit a short circuit between phases or between a motor phase and earth has been detected Temperature IGBT maximum temperature attained in the drive Temperature motor maximum motor temperature attained Resolver fault Resolver feedback or absolute encoder or SinCOS signals defective Invalid parameters checksum error on the drive parameters or parameters not initialized Drive type error the parameter file does not correspond to the drive type or parameters not configured IDPL error an error has been detected during the execution of the iDPL tasks division by
15. IMD Drive User Manual b Digitials I O card Standard gt Input 1 used to enable drive on positive edge and disable on low state ENABLE The input 1 must be setup as ENABLE function in Parameter 1 Digital I O Additionnal board Inputs 5 to 10 used to code the trajectory number Input 5 is the LSB Input 11 START the trajectory on the rising edge of this input Input 12 STOP A logic allows operation A logic 0 stops the movement gt gt gt gt Output 3 Homing state 0 if homing not done 1 if homing completed gt Output 4 Movement status MOVE S 0 if axis stopped 1 if axis moving N ote Input 5 corresponds to the first input on the I O expansion module c Composition of a trajectory Each trajectory 1s coded using a real number and a long integer e g The trajectory TRJO is coded using VRO and VLO The trajectory TRJ19 is coded using VR19 and VL19 e The real variable contains the position e The long integer is divided into 4 bytes 1 byte Mode MS byte 0 absolute l relative 2 infinite 3 infinite Y V Y V WV 4 home 2 byte Speed in 3 byte Acceleration in 4th byte Deceleration LS byte in R510 119 SERAD S A IMD Drive User Manual 6 Programming language 6 1 Introduction 6 1 1 Introduction R510 The language 1DPL Drive Programming Language is a programming tool that is both powerful and simple to use It provides
16. SDOBX lt Index gt lt Sub Index gt lt Drive gt SDOIX lt Index gt lt Sub Index gt lt Drive gt lt word or variable gt lt Variable gt SDOIX lt Index gt lt Sub Index gt lt Drive gt SDOLX lt Index gt lt Sub Index gt lt Drive gt lt double word or variable gt 268 SERAD S A IMD Drive User Manual Syntax 6 lt Variable gt SDOLX lt Index gt lt Sub Index gt lt Drive gt Limits lt Index gt from 0000h to FFFFh lt Sub index gt from 00h to FFh Syntax and 2 lt Variable gt from 00h to FFh Syntax 3 and 4 lt Variable gt from 0000h to FFFFh Syntax 5 and 6 lt Variable gt 7FFFFFFFh Description This function reads or writes a remote variable in the dictionary of the IMD drive Q SETUPCAN Configure a message Syntax SETUPCAN lt TX COBID gt lt RX COBID gt Accepted types lt TX COBID gt lt RX COBID gt Long integer Description This function configures the reception and transmission COBID before sending a message R STARTCANRECEIVEPOSITION Start to receive drive positions by CANopen bus Syntax STARTCANRECEIVEPOSITION lt PDO gt lt COBID gt lt Offset gt lt TimeOut gt Description This instruction starts to receive drive positions by CANopen bus Accepted values lt PDO gt PDO number to 8 lt COBID gt between 0x181 to 0x37F lt Offset gt allows compensating transmission delay between 0 and position send p
17. The wiring is as follows Ending resistors between Can H andan L Wiring of a Can Open network Warning Do not forget the termination resistors at each end of the CANopen network D Types of messages There are two main kinds of messages sent on the CANopen network e The SDO are transmitting data e The PDO are transmitting events R510 259 SERAD S A IMD Drive User Manual 10 2 2 IMDCANI card A Presentation IMDCANI card The different parameters of the IMD drive and the data tables are stored in a two dimensional array called the dictionary Each data or parameter is defined by an address index and a sub index address The IMD drive can communicate with another device of the network by different ways It can leave data at the disposal of other devices by writing them in its local table any other peripheral can then read and write to this local table This 1s the way used for example to communicate with an intelligent operator terminal Dialog 80 or 640 The IMD drive can also read and write to a local table of another device This operation is done with the instruction CanRemote B Characteristics An SDO default server to set the parameters of the remote board by a supervisor An SDO client to access the variables and peripheral parameters of devices such as displays PLC PC boards 8 PDO in emission to drive the outputs of the I O modules or signal an event to another device 8 PDO in rece
18. This function returns the fractional part of lt Expression gt The result is real VR2 3 0214 VRI FRAC VR2 Result VR2 0 0214 INT 9 10 52 GEARBOX Syntax Description Data types Remarks Example See also R510 GEARBOX lt Numerator gt lt Denominator gt lt Reverse gt This instruction provides a gearbox function between a master encoder and the motor slave axis lt Numerator gt real lt Denominator gt real lt Numerator gt lt Denominator gt defines the ratio between the master encoder and the slave motor lt Reverse gt 1s a Boolean that indicates that the gearbox 1s reversible This instruction does not block the task unless the movement buffer 1s full So long as the link between the master and slave 1s not broken the instruction MOVE S will give a value of 1 even if the slave is stopped GEARBOX 1 2 Ratio 0 5 GEARBOXRATIO STARTGEARBOX 214 SERAD S A IMD Drive User Manual 9 10 53 GEARBOXRATIO Syntax Description Data types Remarks Example See also GEARBOXRATIO lt Ratio gt lt Master acc distance gt This instruction modifies the ratio of an electronic gearbox lt Ratio gt 0 to 65535 The ratio of the gearbox 1s defined by lt Ratio gt x lt Numerator gt lt Denominator gt lt Numerator gt and lt Denominator gt are parameters the GEARBOX instruction lt Master acc distance gt 1s the distance for master ac
19. V 7 Le cts Inp Out Inp Clear to send Transmit data A SHIELD MS Connectthe shield to the shell ofthe connector 9 way SUBD socket aos gt O SOS 7 gt lt P RTS 4 a Q gt 9 E ans SEND DA 3 TXB lt a 2 RXD RID o 1 2 C Oe R510 17 SERAD S A IMD Drive User Manual 2 6 2 X2 amp X3 Extension Optional communications port AN Connect the shield to the shell of the connector e X2 and X3 are identical and have the same connections This makes it easier to connect several drives to a network e Node Address For RS422 RS485 and CANopen the NodeID corresponds to the five firstly dipswitchs 1 Ex dipswitchs 1 gt ON 2 gt OFF 3 gt ON 4 gt OFF 5 gt OFF Dipswitchs value 1 4 5 NodeID 5 1 6 e Put on Dipswitch 6 to activate terminal resistor 120Q 3 RS232 communication allows communication only with 1 device ex 1 PLC and 1 IMD drive R510 18 SERAD S A IMD Drive User Manual 2 6 3 X4 Multifunction encoder output e Encoder emulation output e IMDbus output The choice of the output is made in the 1DPL software in the Multifunction encoder output window Connector SUBD 9 way female Encoder emulation Channel A e Channel A inverted Channel B O e Channel B inverted O Zero marker Zero marker inverted N O w ELE ErPPE JBE 0 IM Wi LN Ea EM E
20. lt lt lt Expression2 gt Byte or Integer This operator shifts lt Expressionl gt to the left by lt Expression2 gt bits lt Expression2 gt represents the number of bits to shift by The shifting 1s not circular VL1 4 VE2 VEI 32 Result VL2 16 gt gt Leave a space before and after the operator symbol 197 SERAD S A IMD Drive User Manual 9 10 8 Not equal to Syntax Data types Description Remarks Example See also 9 10 9 Equals Syntax Data types Description Remarks Example See also lt Expressionl gt lt gt lt Expression2 gt Byte Integer Long mteger Real This operator tests if lt Expressionl gt and lt Expression2 gt are different lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type VL1 10 IF VL2 lt gt VLI EST PUE EA sa E A ey A lt Expressionl gt lt Expression2 gt or lt Variable gt lt Expression2 gt Bit Byte Integer Long integer Real This operator assigns lt Variable gt equal to lt Expression2 gt or tests 1f lt Expressionl gt is equal to lt Expression2 gt lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type VLI 1 Loop VL1 VL1 1 IF VL1 10 GOTO Next GOTO Loop Next RS tm LA lr 1 gt eS gt 9 10 10 Greater than Syntax Data types Description R510 lt Expression gt gt
21. the drive has detected a following error gt the axis goes open loop MOV A 1000 the instruction is consumed but not acted on OUT 3 1 Output 3 is activated MOV A 2000 the instruction is consumed but not acted on OUT 3 0 Output 3 is deactivated Output 3 would only be on transiently since the instruction Mova 2000 took very little system time END PROG 7 3 2 Closed loop operation In order that the servo axis can control movements it is necessary to switch to closed loop control The axis is in controlled mode closed loop Each time the instruction AXIS ON is executed by a task Y By using the debug menu enable button ON The instruction AXIS S allows the state of the axis to be read ny The AXIS instruction takes approximately 3ms to become effective To ensure that the axis 1s in closed loop mode use Axis On Wait AXIS S On R510 140 SERAD S A IMD Drive User Manual 7 4 Homing 7 4 1 Definition The homing allow to the system to determine the origin measures of the axis this one being lost with each power off The homing HOME allow to refer the motor position to the mechanics position Various types of HOME are available immediate on sensor with release A cycle of HOME forces the counter position to a value of reference 7 4 2 Setup the HOME in DPL R510 Homing uses the parameters set on the screen Motion control Home ETA ab I Motion control
22. In the previous example Task 1 can call Subroutines 1 and 2 but not subroutines 3 and 4 A subroutine can call another subroutine in the same task Only one PROG END PROG structure can be used in each task and this can be positioned anywhere within the program During the execution of a task the execution of the instruction END PROG causes a branch to PROG B Subroutines R510 A subroutine must be declared using SUB END SUB It can be placed either before or after the main program To call a subroutine you must use the instruction CALL The subroutine called must be in the same task After a subroutine call the execution continues automatically with the instruction following the CALL instruction The system leaves the subroutine when it encounters the instruction END SUB or EXIT SUB For example SUB Calculate VR2 0 IF VR1 lt gt 0 GOTO DIV_OK If VRI is zero the division is impossible EXIT SUB DIV_OK VR2 VRI0 VR1 Division END SUB A subroutine can be called from anywhere within the program but it cannot call itself If data are used in both the program and subroutine it 1s recommended that the data be carefully specified In fact all variables can be modified by a subroutine You could use specific variables for each subroutine setting their values just before the call 130 SERAD S A IMD Drive User Manual For example VRI100 VRI1 VRIO1 VRI8 CALL Divide IF VR102 gt 10 Goto SUB Divid
23. MOVS 100 50 0 0 4 Poston x 0 20 80 This example shows 2 synchronised movements with and without the acceleration and deceleration phases When there is no acceleration and deceleration phase the master axis and the slave axis must have the same speed to limit the transitory phases If the speeds are very different acceleration and deceleration must be adjusted to avoid mechanical problems The speeds are not necessarily the same and depend on the acceleration and deceleration phases because the system has to respect distances C Stop STOPS When the master axis arrives at lt MasterPos gt slave axis starts deceleration until lt SlavePos gt Syntax STOPS lt MasterPos gt lt SlavePos gt lt MasterPos gt is a real in the master unit lt SlavePos gt is a real in the slave unit Example STOPS 20 105 When the master arrives at position 20 the slave axis will decelerate until position 105 on slave axis Warnings The call of STOPS instruction reset STOPS S flag R510 154 SERAD S A IMD Drive User Manual D Status STOPS S This instruction can be use only if STOPS instruction has been call before This flag indicates if the slave position given by the STOPS has been achieved This flag is reset after having been read Return 1 if e Ifitis not possible to achieve the demanded slave position e g demanded slave position has already been passed e If slave speed is null during a c
24. SDOLX Read or write a remote variable o oooccnncnccnnnnocnnnnocnnunocnnunocononiconanicnnanocos 268 O SETUPCAN Conticuresa Messi Oe ti a a lt e dd lt De dl e ln do ee Ly 269 R STARTCANRECEIVEPOSITION Start to receive drive positions by CANopen bus ccccccccccccnnnnnnos 269 S STARTCANSENDPOSITION Start to send positions on CANopen DUS occccccccnnncnncnnnnnnnnnononononinininnnos 269 T STOPCANRECEIVEPOSITION Stop receiving drive positions by CANopen bus ccccccceeeeeeeeees 270 U STOPCANSENDPOSITION Stop sending positions on CANopen DUS occcccccccccnnnnnnnnnnnnnnnnnnnnnnnnininonos 270 VE VB VI and VL Read or write a remote variable oooccccccccnnnnnnnnnnnnnnnnononnnnnnnnnononnnononnnnnnnnnnnnnnnnnnnnss 270 WA esa SN 08 6 U ch eR CR ET PPO O PPO RCC YET te E ie ERR OR eC 271 LO SIGH On o nace aia 274 REMOTE CONTROL anaiarena aea EATE E TEETE ENEA A 277 al CONNECTION sn ii id ias ZIT TAI o Rarer ear 277 R510 6 SERAD S A IMD Drive User Manual 11 1 2 RS 232 link between the modem I and the MCS 32 EX u ccecccccccccccccccccseecccssecccueecccuuecccuueccsuueccsaecesaussssaeesesanes 277 11 1 3 RS 232 link between the modem 2 and the PC iie cccccccccccccceccccseecccssecccueeccccuecccaucccsuuecccueccsuuecesaecesaesceuecesanes 278 Id LINE ESTABLISHMENT urai A A a a E a RE id 278 11 2 1 Setting up the modem 1 connected to the IMD driVe oooonnnnnnnnonooncononnnncnnnn
25. T O 100 0 100 E 300 000 E Speed e Demand Select the command source value analogue input position loop RS232 e Acceleration limit Limit the rate of change of speed Table showing relationship between acceleration limit percentage and time for speed to increase from zero to nominal motor velocity R510 48 SERAD S A IMD Drive User Manual 100 010 e Speed limit Limit the speed as a percentage of the nominal value e Integral gain Set the integral coefficient of the control loop e Proportional gain Set the proportional coefficient of the control loop The acceleration limit speed limit and filter value are accessible only when the advanced parameter option has been selected see Menu Options Accessibility D Position loop Icon l Action Configure the drive position loop i Position loop Feed forward Calculated speed 0 000 2i Proportional a a Demand gt a gt lt H speen V A _ ll i 500 000 Postion e Feed forward The feed forward gain can be used to give a following error close to zero e Proportional gain Set the proportional coefficient of the control loop R510 49 SERAD S A IMD Drive User Manual E Analogue inputs output Icon Action Configure the analogue I O my Analogue inputs outputs Analogue 1 Demand Analogue Current limit Scale 10 1000
26. WING mapua qe WO MISO ESIA C pA Le a a ca A ry _ SAU Lona Hebie TOMDEZ 33 Hd T9NIS 21171 IDO 359 Hd JSYHL STEVI p p01g SUN Jano y ax El 21 11 dd ph i JOE PO AUN Jano y RS The output Q2 is NPN open collector 100mA max The load must be connected between Q2 and 24Vdc R510 30 SERAD S A IMD Drive User Manual C Connecting a motor brake 24 DC AA o F2 External DRIVE Power IMD F1 24VDC P al hee Static 10 A SE 5 Relay X7 LAA AS om C2 1 READY Q1 gt 24 DC N DGND 4 A i 9 des dl ii Brake ai i3 6 protection A Motor pt 2 7 24VDC E Ai ny The output Q2 is NPN open collector 100mA max The load must be connected between Q2 and 24Vdc Using the DPL parameter set up window select the function Brake for output 2 ny It is obligatory to use the 2 protection diodes otherwise drive components can be damaged 2 9 System checks before starting With the Enable input off switch on the auxiliary 24V dc supply Ensure that the STATUS display is lit Apply power If the Status display shows an error message check the list of error codes R510 31 SERAD S A IMD Drive User Manual 3 iDPL software 3 1 iDPL software installation 3 1 1 System configuration A Minimum configuratio
27. YAOI ADC 2 Read QNGIO SUC input Zo nia AA AAA A AAA AA AA AREA 200 JO L ACE Acceleration in perechi arein da ii 200 Ded Wed SAND ARO OPTa OF EE ities ici Sel sti ah A E E Seo altel E T 201 GALO SS ARO COS INVEST E e E AEA 201 ITOT ARCSIN TVE E ile acia 202 DRT OZ OAR CIAN V re LIM td e to o da e Safest e O Gant oa Ea le 202 Ord Qed Le AXIS ARTS LOOP COMO did tit 202 9 10 22 AXIS S Read the state of the control loop oononnnnnnnnnnicicooonoooonononnnnnnnnnnnnnnonnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninoss 203 9 10 23 BUFMOV_S Number Of waiting movements c oooooocococoonnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 203 OA ZA CAL L Ca GSU OUTING eau cen ses sels nee A A A A AA 203 Dod a2 DCAM BOX COMORES cdi ibid a 204 9 10 26 CAMBOXSEG Cam box SegMeMcoooooonocococoonnnnnnnnnnnnnnnnnnnnnnnnnn a eee aaa nn nono nn nn nn nono nn nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 204 9 10 27 CAMNUM_S Number of the running cam ooooonncoconannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nn nro nnnnnnnnnnnnnnnnnnnnnnnananinos 205 9 10 28 CAMREADPOINT Slave position in the CAM oonnonnnnnnnononoooconnnononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 205 9 10 29 CAMSEG_S Equation number of the running CAM ooonoonnnonocooonnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninnnininos 205 CADSUSCAPTORES POSTIOECAPIUTE it dd dad 206 Del O ST CLEAR A ea
28. byte Acceleration in qth byte Deceleration LS byte in 5 3 Trajectories using communication bus 5 3 1 Implementation It is possible to launch trajectories by communication bus using drive direct parameters see Help Modsbus CANopen windows a Control of a trajectory e PARAM TRAJ ACTIF activates the trajectories mode set to 2 e PARAM TRAJ SELECTION selects a trajectory 0 to 63 e PARAM TRAJ START starts the selected trajectory e PARAM TRAJ STOP stops an executing trajectory b Composition of a trajectory Each trajectory 1s coded using a real number and a long integer R510 107 SERAD S A IMD Drive User Manual e g The trajectory TRJO is coded using VRO and VLO The trajectory TRJ19 is coded using VR19 and VL19 e The real variable contains the position e The long integer is divided into 4 bytes 1 byte Mode MS byte 0 absolute l relative 2 infinite 3 infinite Y V VV WV 4 home 2 byte Speed in 3 byte Acceleration in qth byte Deceleration LS byte in 5 3 2 Operation Example of trajectories by CANopen bus Prog Demo Bitconnect CAN ModBus 1DPL WriteParam 2800h 01h 2 WriteParam 6040h 00h 0 Disable drive wait readParam 6041h 00h 0 WriteParam 6040h 00h 1 Enable drive wait readParam 6041h 00h 1 WriteParam 2800h 04h 0 R510 108 SERAD S A IMD Drive User Manual R510 HOME VRO 0 WriteParam 3400h
29. lt Initial Position gt lt Acceleration gt lt Initial Position gt between 0 amp axis modulo lt Initial Position gt Real lt Acceleration gt Real This instruction automatically re aligns the axis position to a sensor ENABLERECALE use the parameters of the CAPTURE function that was launched prior this instruction lt Source gt 0 for motor position 1 for master encoder lt InputNo gt the input no of the capture signal 1 to 16 lt Edge gt 1 for positive edge or 0 negative edge lt Window gt if true then the input is only tested when the axis is between the positions lt Min gt and lt Max gt lt Interior gt defines whether the test is performed inside or outside the limits lt Min gt and lt Max gt lt Min gt must always be less than lt Max gt ENABLERECALE cancel CAPTURE function CAPTURE 0 2 1 0 0 0 0 Capture on positive edge on input 2 ENABLERECALE 1 0 1000 Use parameters of CAPTURE 1 set position to 0 and acceleration to 1000 211 SERAD S A IMD Drive User Manual See also DISABLERECALE 0 DISABLERECALE 9 10 45 ENDCAM Stop a cam Syntax Description Remarks See also ENDCAM The function ENDCAM stops the slave movement at the end of the cycle while the functions STOP stops it immediately Warning If ENDCAM is applied to a cam which has been declared in non single shot and linked with another one the cam ends its profile
30. 1 1 Insertion FA Lor Iw amp The tools used to simplify the editing process are SS Search Save Print task Display value Cut Copy Paste Es Debug 4 Fun single tep R510 83 SERAD S A IMD Drive User Manual C Compile tasks Icon Action Compile the tasks D Search tasks A Action Allows the user to search for a string of characters in the tasks Icon E Information Icon Action Provides information on the program memory usage and other information associated with the project 3 3 7 Options DPL IMD Series software MyProject gt Project Parameters Communication Set up tools Motion Control Language iDPL Help Languages d Accessibility Com PE Language PL Load Us A Languages Icon Action Select the language to be used by the software R510 84 SERAD S A IMD Drive User Manual B Accessibility Icon Action C Com PC Icon Action D iDPL language Icon Action R510 Selects the access level to the various parameters e Standard parameters e Advanced parameters e Restricted parameters Select or de select the 1DPL menu ny The modification of advanced and restricted parameters can have an adverse effect on the performance of the drive This must only be carried out by suitably qualified personnel Select the PC communication port COM1 COM2 COM3
31. 2 STTA 300 Absolute movement to 300 trigger at master position 200 in positive sense B TRIGGERI This instruction indicates that the next movement will be triggered on an input edge Syntaxe Exemple R510 TRIGGERI lt NumInput gt lt Edge gt lt NumInput gt from 1 to 16 lt Edge gt 0 for negative edge positive edge STTA 50 177 SERAD S A IMD Drive User Manual TRIGGERI 7 1 STTA 300 Absolute movement at 300 triggered on positive edge on input 7 C TRIGGERC This instruction indicates that the next movement will be triggered on capture Syntaxe TRIGGERC lt NumCapture gt lt NumCapture gt 1 or 2 Exemple STTA 50 CAPTURE1 0 4 On 10 20 On TRIGGERC 1 STTA 300 Absolute movement at 300 triggered on capture 1 Warning TRIGGERC cancels a CAPTURE function so it is possible to start another TRIGGERC with capture on inputs 3 4 15 and 16 fast inputs working as standard inputs D TRIGGERS This instruction starts the triggered movement without condition Needs to be use in another parallel task that had a TRIGGER instruction E TRIGGERR This instruction cancels the triggered movement without condition Needs to be used in another parallel task that had a TRIGGER instruction R510 178 SERAD S A IMD Drive User Manual 7 10 Virtual master 7 10 1 Virtual master It is possible to work in master virtual mode to ease dev
32. 2 d56 dM6 B Move MOVS dsa Slave distance during acceleration phase dMa Masterdistance during acceleration phase dsd Slave distance duringdeceleration phase dMqd Masterdistance during deceleration phase d amp n Slave distance during the next constant phase dMn Master distance dunng the next constant phase dsp Slave distance dunngthe previous constant phase dMp Master distance during the previous constant phase Foranacceleration from azero velocity dSa dMa 1 2 dSn dMn Foran decelerationto azero velocity dSd dMd 1 2d5p dMp Foran acceleration oradecelerationphase between two constant phases dsadMa 1 2 dSpidMp tdSn dMn dSd dMd 1 2 dSp dMptdSn dMn The instruction MOVS provides a synchronisation between a slave and a master axis This instruction does not stop the task except if the movements buffer is full Syntax MOVS lt MasterDist gt lt SlaveDist gt lt AccelDist gt lt DecelDis gt Example MOVS 20 10 0 0 for a relative movement of 20 units R510 153 SERAD S A IMD Drive User Manual on master slave moves of 10 It is used for synchronising the slave and master axis for a precise distance of the master axis with separately variable phases of acceleration and deceleration on the slave axis The master axis can be a servo axis or an axis encoder The slave axis must be a servo axis For example MOVS 100 50 20 20 Position Y 7 LA
33. 9 10 142 VIRTUALMASTER Enable disable virtual master Syntax VIRTUALMASTER ON OFF Description This instruction allows the master axis to be used in virtual mode all positioning instructions MOVA MOVR STTA SSTR will take place for the master axis and the master axis will move virtually It is possible to have synchronised functions between master and slave using MOVS GEARBOX Warning To use the virtual master select virtual source in Motion control Master slave functions 9 10 143 WAIT Wait for a condition Syntax WAIT lt Condition gt Description Waits until the condition is true Example WAIT INP 11 On Passive wait 9 10 144 WRITECAM Write a cam point Syntax WriteCam lt Index gt lt Sub index gt lt VRx gt Description Writes a cam point in FLASH memory R510 247 SERAD S A IMD Drive User Manual Limites See alson lt Index gt from 0 to 511 cam point number in FRAM lt Sub index gt from 0 to 3 cam point parameter 0 for master position Y 1 for slave position 2 for master tangential 3 for slave tangential lt VRx gt from VRO to VR255 READCAM 9 10 145 WRITEI Write a FRAM integer Syntax Limits WRITEI lt Address gt lt VIn or value gt lt Address gt from 0 to 4095 n from 0 to 255 9 10 146 WRITEL Write a FRAM long integer Syntax Limits Warning WRITEL lt Address gt lt VLn or value gt lt Address
34. AXIS S R510 Sign Sine Square root Tangent Shift left Shift right AND operator NOT operator OR operator Exclusive OR operator Less than Less than or equal Not equal Equal Greater than Greater than or equal Conditional test Acceleration Acceleration in percent Axis loop control Axis loop state 190 SERAD S A IMD Drive User Manual BUFMOV S CLEAR CLEARMASTER DEC DEC FE S FEMAX S HOME HOME S LOOP MERGE MOVE S ORDER ORDER S POS POS S POSMASTER S VEL VEL S VEL VELMASTER S B Positioning MOVA MOVR SSTOP STOP STTA STTI Number of waiting movements Zero the axis position Zero the master position Deceleration Deceleration in percent Following error Following error limit Move to home position Home state Virtual mode Merge movements Movement state Movement order number Current order number Target position Actual position Actual position of the master axis Speed Actual speed Speed in percent Return master filter speed Move absolute Move relative Stop axis without waiting for zero speed Stop axis Start an absolute movement Start an infinite movement 191 SERAD S A IMD Drive User Manual STTR C Synchronization CAMNUM S CAMREADPOINT CAMSEG S ENDCAM FILTERMASTER ICORRECTION ICORRECTION S GEARBOX GEARBOXRATIO LOADCAM LOADCAMPOINT MASTEROFFSET MOVS READCAM SLAVEOFFSET STARTCAM STARTGEARBOX STOPS STOPS S W
35. CI Q Q G Loading cam n 1 10 points single shot followed by cam C2 LOADCAM 1 0 0 10 1 1 0 1 1 2 0 Loading cam n 2 36 points non single shot followed by cam C3 R510 165 SERAD S A IMD Drive User Manual LOADCAM 2 0 10 76 0 1 0 1 1 3 1 Loading cam n 3 6 points single shot LOADCAM 3 0 86 6 1 1 0 1 1 0 0 Launching of cam Cl gt execution of Cl then C2 STARTCAM 1 WAIT CAMNUM S 2 Wait execution of C2 WAIT INP StopInfo Wait for stop requirement ENDCAM Slave Stop cam 2 at the end of profile and then cam 3 WAIT NOT CAM _S Slave Wait for end of cam 3 END PROG G State of the cam Three functions can show the current state of a servo board running a cam Instruction MOVE S permits to know if a cam is running Example IF NOT MOVE S THEN GOTO FINCAME Stopped cam IF MOVE S THEN GOTO CAME EN COURS Running cam Y Instruction CAMNUM S returns the number of the running cam The returned value is valid only if MOVE S is set Example IF CAMNUM_ S 1 THEN GOTO ATTENTE FIN CAME 1 Cam 1 running IF CAMNUM_ S 2 THEN GOTO ATTENTE FIN CAME 2 Cam 2 running Instruction CAMSEG S returns the equation number of the cam that is running The returned value is valid only if MOVE S is set Example IF CAMSEG S 1 THEN GOTO ATTENTE FIN SEGMENT _ 1 Cam between point 1 and point 2 R510 166 SERAD S A IMD Drive User Manual IF CAMSEG S 2 THEN GOTO ATTENTE
36. Encoder E mulation ak come je Mode Enabled eg ee Resolution 4038 E Source Resolver 11 PTOS Sintos 13 Multifunction Encoder Virtual Disable mode The encoder output is not used R510 62 SERAD S A IMD Drive User Manual Enable mode The encoder output returns an incremental signal using the selected source and resolution e Source Resolver SinCos multi function input incremental stepper SSI Virtual Analogue e Resolution input the resolution in increments Bypass mode copy the encoder input to encoder output IMD bus Not available on this version M RS232 serial port fitted as standard Icon s Action Configure the port for Modbus R510 The drive uses this connection in Modbus RTU slave mode The data format is fixed as 8 bits 1 stop bit no parity i RS232 serial port lt 1 Protocol Pu odbuz F TU Speed AY BOD Baud Oo Data Bit Parity None Stop 1 Bit Timeout 10 me Format Decimal This window is used to set the transmission speed and the timeout in cases where the port is not using the system communication When the port 1s using the system communication set as the default in the menu Options ComPC the speed is fixed at 57600 bauds ny With the system communication the signal RTS from the PC is used and is forced to a logic 1 63 SERAD S A IMD Drive User Manual N Optional serial link Icon
37. F Setup Icon Action E Save the entire contents of the project ES Save the project under a different name This command creates a file and a directory having the same name but with extensions idw for the file and data for the directory y Close the current project Setup the drives in the project define I O variables tasks of each drive See project management chapter G Preferences Icon Action H Print Icon Action R510 le Setup alter the printing options it is only possible to print in portrait mode E e Print the entire contents or selected items of a project 45 SERAD S A IMD Drive User Manual I Exit Icon Action Exit the program 3 3 2 Parameters iDPL IMD Series software MyProject E Project Regulation Current loop Speed loop Position loop supervision Motor TE Resolver Ssincos Rs232 serial port Optional serial port A Regulation Analogue inputs outputs Digital inputs outputs Multifunction encoder input Multifunction encoder output Communication Set up tools Motion Control Language iDPL Options Help Icon Action Principal window for the drive regulation allows access to all other regulation and configuration windows R510 46 SERAD S A IMD Drive User Manual al Regulation x Curent loop 5 peed loo P Position loop Com
38. FIN SEGMENT 2 Came between point 2 and point 3 H Stop a cam The function ENDCAM stops the slave movement at the end of the cycle while the function STOP stops it immediately The syntax of the instruction ENDCAM is ENDCAM Warning If ENDCAM is applied to a cam that has been declared in non single shot and linked with another one the cam ends its profile and goes on to the next D Dynamic de phasing a Master de phasing The master de phasing effects to de phase the master cycle with regard to the slave In the case of a re looped cam it is necessary to respect this de phasing for positioning the slave with regard to the master The master de phasing can be done progressively by the use of an acceleration parameter The de phasing is applied directly if the synchronised movement is not running or if axis in not enabled Slave position NN Master position MasterOffset OffsetMaster 1000 SlaveOffset OffsetSlave 1000 StartCam 1 OffsetMaster OffsetMaster 10 MasterOffset OffsetMaster 0 1 R510 167 SERAD S A IMD Drive User Manual b Slave de phasing Slave position Master position The slave de phasing effects to de phase the slave position but keeps the phase with the master cycle It is necessary in all case to allow for this de phasing to position the slave according to the master The slave de phasing can be done progressively by the use of an acceleration parameter The de phasing is appl
39. PE R oe B eie 00100 Fl w l E mmm ji x i 0610 Ch3 0 000 iF if i iz o 0 100 Cha a 1200 0 000 500 000 1000 00 Tngger hiode Hres Ri saiuhon Duite e Save the adjustments using Parameters Save parameters 4 5 2 Speed loop adjustment e Disable the drive Enable button OFF in the main window e Select speed mode in the main window e Select the menu Parameters Speed loop R510 95 SERAD S A IMD Drive User Manual A Spoed loop Demand A Position loop bec 00000 ESCE Fropertoral 8 AA f Poj pa ol i i i fw O Le fem cm i me pa E ion 100 3 100 ma To start the speed loop adjustments use the values shown above ny The command source must be of type value e Enable the drive Enable button ON in the main window e In Diagnostic tools Generator start a movement as shown below ny The motor shaft must be free to rotate Optimum adjustment of the speed loop is done using a loaded motor A Generator Test generator Speed Acceleration R510 96 SERAD S A IMD Drive User Manual e Use Diagnostic tools Oscilloscope to observe the form of the speed during the movement Oscilloscope ESS 088 Q _ E m O 118 IN son ppt i We Che 7 H cinta a 50 000 f j i m m 1 r i Ch3 1 000 i d E 50000 Chd 2 100 000 E c z 150 000 s 0 000 500 000 1000 001 Trigger hinde Nivea R eabion Duba Eneu da p
40. Remove TIMEOUT error of CANPOSSTATUS function Syntax CANPOSTIMEOUTRAZ Description This instruction removes lt TimeOut gt error of the CANPOSSTATUS function D CANSENDNMT Send an NMT on CAN bus Syntax CANSENDNMT lt Node gt lt Action gt Description This instruction sends an NMT command to lt Node gt devices for starting PDO Acepted values lt Node gt 0 to 31 gt 0 send NMT to all devices gt local drive send to itself gt other send to lt Node gt device lt Action gt gt 1 send START gt 2 send STOP gt 3 send DISCONNECT J CANSENDSYNCHRO Send a synchronization message on the CAN bus Syntax CANSENDSYNCHRO lt COBID gt Description This instruction sends a synchronization message Accepted values lt COBID gt between 0x80 and OxFF 0x80 by default K CANSETUPSYNCHRO Set up CAN synchronization for PDO messages Syntax CANSETUPS YNCHRO lt COBID gt lt Period gt Description This instruction sets up the synchronization of the PDO messages Accepted values lt COBID gt between 0x80 and OxFF 0x80 by default lt Period gt number of 150us intervals between 2 PDO messages Warning If lt Period gt 0 then the synchronisation is stopped L CANTX Send a message Syntax CANTX R510 267 SERAD S A IMD Drive User Manual Description This function send the CAN message M PDOEVENT Test a PDO arrival Syntax Limits lt Variable gt
41. Scale 10 50 0 E Offset ooo lt w Offset ooo y za Position Scale 10 00 gt Y e Analogue inputs In current loop Analogue 1 can be use as demand source and Analogue 2 as limit current with maximum value Inom Imax see Parameter Motor Scale 10V assigns a percentage to the maximum 10V input signal knowing that 100 is the maximum value of the current or the speed in speed loop Ex Nominal speed 3000 rev min Maximum speed 110 Voltage on analogue 1 gt 5V Then we have the maximum speed 3300 rev min and we will put 200 in the scale parameter so that 5V on Analogue 1 corresponds to maximum speed R510 50 SERAD S A IMD Drive User Manual e Analogue output Min value Max value Following err Following err Scale Selects a range for the analogue output 1 2 rev 1 2 rev Inom Imax Inom Imax F Digital inputs outputs Icon 43 Action Configure the digital I O a Digital inputs outputs Funchons lriverk Filter Intarnal Input 1 Enable DPL fe CL Ml Input 2 Poatie lint x Negative lirit Exterior Input 3 E Input 4 Home Filter Funchons Iriver Orie ready Brake e Input 1 Selection Drive Enable or none 1 If None the power stage of the drive is activated by the Enable button in the main DPL window or by an Axis On Axis Off instruction in a iDPL task 2 If Enable control is done on r
42. See also VRI POS S IF VR1 lt 50 GOTO Loop OUT 5 0 Clear output 5 VEL S 9 10 91 POSMASTER S Actual position of the master axis Syntax Data types Description Remarks Example 9 10 92 PROG Syntax Description Remarks Example lt Expression gt POS S Real This function returns the actual position of the master axis With this you can obtain the axis position in real time STTA 100 Start the axis OUT 5 1 Set output 5 Loop VRI POSMASTER S IF VR1 lt 50 GOTO Loop STOP Stop slave when master 1s at 50 OUT 5 0 Clear output 5 END PROG Main program block PROG This keyword defines the start of the main program block When used in conjunction with END it is used to define the end of the main program block Only one PROG END PROG block can be defined in a task PROG END PROG 9 10 93 READCAM Read a cam point Syntax R510 lt VRx gt ReadCam lt Index gt lt Sub index gt 230 SERAD S A IMD Drive User Manual Description Limits See also Reads a cam point in the FLASH memory lt Index gt from 0 to 511 cam point number in FRAM lt Sub index gt from 0 to 3 cam point parameter 0 for master position Y 1 for slave position 2 for master tangential 3 for slave tangential lt VRx gt from VRO to VR255 WRITECAM 9 10 94 READI Read a FRAM integer Syntax Limits lt VIn gt READI lt Address gt lt Ad
43. VL100 lt lt 8 VL100 VL100 100 deceleration 100 VLO VL100 WriteParam 3300h 00h VL100 options WriteParam 2800h 02h 1 repeat VL100 ReadParam 6064h 00h VR100 VL100 VR100 VR100 100 until VR100 gt 0 WriteParam 2800h 03h 1 stop e movement repeat VI100 ReadParam 6510h 06h VI100 VI100 and 1 until VI100 0 VRO 0 WriteParam 3400h 00h 0 position 0 VL100 2 mode Infinite VL100 VL100 lt lt 8 VL100 VL100 30 vitesse 30 VL100 VL100 lt lt 8 VL100 VL100 100 acceleration 100 VL100 VL100 lt lt 8 VL100 VL100 100 deceleration 100 VLO VL100 WriteParam 3300h 00h VL100 options 111 SERAD S A IMD Drive User Manual WriteParam 2800h 02h 1 delay 1000 WriteParam 2800h 03h 1 stop movement halt 1 EndProg 5 4 Advanced trajectories using I O card 5 4 1 Implementation in advanced mode a Define trajectories To use the trajectories the drive must be in position mode e Select Trajectories in the menu Motion Control e Ifthe drive is connected to a PC the PC will search for any trajectories contained in the drive and display them Otherwise the user will be asked to open a trajectory file or create a new one i Trajectories Mal ES Trajectories Mode Logic Input Output B Logic Input Output om oo on o o S ols on an po D ola mal un Trajectory definition M Position Mode eed bsolute cceleration Deceleration i mm l L
44. YN a 500 000 3000009 Sonon 2000 000 OO 2000000 Se 101 SERAD S A IMD Drive User Manual Note It is useful to observe the theoretical speed on channel 2 in order to know the following error during the acceleration and deceleration phases In this case adjust channel 1 by a factor of 1000 and channel 2 by a factor of 0 001 e Save the adjustments using Parameters Save parameters 4 6 Other adjustements 4 6 1 Speed loop operation 1 Select speed mode 2 In parameters speed loop Demand select analogue input 3 In parameters analogue inputs outputs verify that analogue scale 1 is 100 for a 10V demand 4 In parameters motor parameters enter nominal motor speed and 110 to the maximum speed 5 In parameters supervision DC bus enable under voltage 6 In parameters multifunction encoder output select bypass mode and enter source and resolution of the feedback 4 6 2 Double loop operation 1 Select position mode 2 In parameters regulation loop type select double and then setup position loop feedback Ex for incremental encoder select resolver X11 then set the resolution 4 6 3 Stepper input operation 1 Select position mode 2 In motion control master slave select multifunction encoder input as source and setup the input for stepper mode 3 Create a new task with gearbox and startgearbox for stepper electronic gearbox R510 102 SERAD S A IMD Drive User Manu
45. a structured architecture found in other high level languages 1DPL comprises a real time multi tasking kernel using pseudo basic instructions supplemented by specific instruction for automation and motion control IDPL supports various data variable formats A project developed using 1DPL can contain up to 4 tasks running in parallel each task being assigned its own priority level IMD drive has 4096 words of FRAM memory that allows the use of saved data or cams 120 SERAD S A IMD Drive User Manual 6 1 2 Memory map FLASH memory RAM memory Reserved area to system GS Boot G Operating system Firmware 256 system parameters Gr 512 bytes Tnitialised variable values gt 514 bytes gt VRO to WR63 E WL to LAS BASIC programming co 7 Ebytes 4 motion basic tasks 6 2 Variables 6 2 1 Variables R510 SERAD S A Reserved area to system gt Boot Gr Operatie system 256 real variables EE bytes cr WED to VE255 256 signed dword variables GS Ebytes E VLO te 1 L255 256 word variables E 45124 bytes oe WI to WI255 256 byte variables c 2456 bytes VEO te VE255 256 bit variables GS 32 bytes WEO to VF255 All variables are global and can be used by several tasks Variables can also be handled as arrays using index notion Y ou can allot a name to a variable in order to facilitate the reading of your program by means of Language DPL Declarati
46. and infinite cams A mechanical cam corresponds to a finite electronic cam In the points array the first and last values of the slave position are the same The slave movement will be a linear movement with a finite magnitude The electronic cam also permits the creation of an infinite slave rotation movement the absolute slave position increases for each new master cycle Warning If the master axis or the slave axis is infinite they must be declared as modulo axes from the Motion control tab of the iDPL software Finite cam Slave position A gt Master position R510 163 SERAD S A IMD Drive User Manual Infinite cam A Slave position fe Master position D Loading a cam Syntax LOADCAM lt NumberCam gt lt Absolute gt lt Table gt lt Number gt lt SingleShot gt lt Reversible gt lt Direction gt lt MasterGain gt SlaveGain gt lt NumberNextCam gt lt NumberPreviousCam gt Description this instruction loads a cam in the drive Limits lt NumberCam gt to 5 lt Absolute gt 1 for absolute cam else 0 lt Table gt First element of the table to define the cam 0 to 511 lt Number gt Number of elements of the table to define the cam 2 to 512 lt SingleShot gt Define the automatic re looping of the cam 0 Re looping cam it will be stopped only when the stop instruction will be executed 1 Single shot cam lt Reversible gt Tell if the lt Sl
47. course of the movement This instruction does not block the task unless the movement buffer is full It uses the current values for acceleration deceleration and speed The syntax 1s STTR Position For example VEL 100 Rapid speed VR1 POS_8 STTR 2000 Start moving to a relative position 2000 LOOP VRZ POS 3 VR2 VR2 VR1 IF VR2 lt 100 GOTO LOOP Wait Tor position 100 VELS 10 Slow speed WAIT MOVE S 0 Wait for the end of the movement In this example during the movement the speed can be modified since the instruction does not block the task If the MERGE instruction is active and several STTR instructions are loaded the movements will be executed one after the other without passing through zero speed R510 148 SERAD S A IMD Drive User Manual B Move MOVR The instruction MOVA sends the axis to a relative position It uses the current values for acceleration deceleration and speed The syntax is MOVR Distance This instruction sends the axis to a relative position having the value lt Position gt The program waits for the end of the movement before continuing For example VB1 0 LOOP MOVR 100 CALL PUNCH VB1 VB1 1 IF VB1 lt 10 Goto LOOP The instruction MOVA blocks the task until the movement is finished condition MOVE S 0 MOVR 100 is equivalent to STTR 100 WAIT MOVE S 0 C Trajectory TRAJR The Trajectory function is designed to simplify the definition of com
48. e Action Configure the optional serial port for CANopen RS232 RS422 or RS485 R510 64 SERAD S A IMD Drive User Manual R510 e CANopen W Optional serial port lt 4 Connector 4 Speed Defines the communication speed used by the CANopen bus For more information see the appendix relating to CANopen e Port RS232 RS422 or RS485 The drive uses this connection in Modbus RTU slave mode The data format is fixed as 8 data bits 1 stop bit no parity Connector 4 Modbus R5485 Srei Float Float Decimal 65 SERAD S A IMD Drive User Manual Settings Node Address For the NodeID corresponds to the five first dipswitchs 1 Ex dipswitchs 1 gt ON 2 gt OFF 3 gt ON 4 gt OFF 5 gt OFF Dipswitchs value 1 4 5 NodeID 5 1 6 Speed Set the communication speed of the port Timeout Maximum time without a response Format Select the real format of variables VRO VR255 or parameters motor position e Floating use by system communication e Decimal number of decimal places depends of the precision parameter in the options language 1DPL Compiler 3 3 3 Communication DPL IMD Series software MyProject E Project Parameters R510 Set up tools Motion Control Language iDPL Options Help Online Offline Parameters Trajectories DPL variables Cam profile Saved data IDPL tasks Send all Receive all Run tasks Stop t
49. end of slave Y Units are just used for display All cam tables are saved in FRAM memory To write or read a cam point use this instruction lt VRx gt ReadCam lt Index gt lt Sub index gt WriteCam lt Index gt lt Sub index gt lt VRx gt lt Index gt from 0 to 511 cam point number in FRAM lt Sub index gt from 0 to 3 cam point parameter 0 for master position Y 1 for slave position 2 for master tangential 3 for slave tangential Trajectory mode depends on different parameter values Y If master position lt gt master tangential then the trajectory is type Manual If master position master tangential and slave tangential lt gt 0 then the trajectory is type Line Y If master position master tangential and slave tangential 0 then the trajectory is type Auto B Absolute and relative cams The difference between an absolute and a relative cam is the datum for a relative cam the datum is the real axis position and for an absolute cam the datum 1s 0 Example CAM profile 3 3 3 op 5 If master position is 20 and slave is 30 before starting the cam the cam will do those movements for an absolute cam R510 162 SERAD S A IMD Drive User Manual Absolute CAM Master pos Slave pos If master position is 20 and slave is 30 before starting the cam the cam will do those movements for a relative cam Relative CAM Master pos Slave pos 20 30 a o 50 70 C Finite
50. functions distort time base 8 3 2 Active wait A TIME The internal global variable TIME can be used to give an active wait TIME is a long integer that represents the number of milliseconds elapsed since the last power on This variable can therefore be used as a time base It 1s particularly suitable for machines that are powered up for less than 25 days at a time This is because at power on TIME is initialized to 0 After 25 days the variable reaches its maximum value of 231 and then goes to 2 31 This transition can 1n certain cases give timing errors To avoid this problem it is preferable to use the instruction LOADTIMER For example VL2 TIME R510 184 SERAD S A IMD Drive User Manual VL2 VL2 5000 Loop VL3 TIME IF VL3 lt VL2 GOTO Loop 5 second delay Note TIME 1s a long integer Warning TIME does not work in a test B LOADTIMER and TIMER The instruction LOADTIMER can be used to give an active wait This is a real variable that represents the number of milliseconds elapsed since the last power on This variable can therefore be used as a time base It is particularly suitable for machines that are permanently powered up It also allows the loading of a value into a timer which decrements automatically down to 0 We can tell 1f the timer has timed out using the instruction TIMER VLXX with XX between 0 and 255 If TIMER VLXX 1 the time has not elapsed If TIMER VLXX 0 the timer has
51. gt from 0 to 4094 n from 0 to 255 Reading or writing a long integer use 2 consecutively memory address and adresse 1 9 10 147 WRITEPARAM Write a parameter Syntax Data types Description Example R510 WRITEPARAM lt Index gt lt Sub Index gt lt Variable gt lt Variable gt Long integer lt Index gt Integer lt Sub Index gt Byte This function allows a task to write parameters to the drive via the CANopen dictionary WRITEPARAM 9984 6 1 Set the axis as modulo 248 SERAD S A IMD Drive User Manual 9 10 148 WRITER Write a FRAM real Syntax Limits Warning WRITER lt Address gt lt VRn or value gt lt Address gt from 0 to 4094 n from 0 to 255 Reading or writing a real use 2 consecutively memory address and adresse 1 9 10 149 XOR Exclusive OR operator Syntax Data types Description Remarks Example See also R510 lt Expressionl gt XOR lt Expression2 gt Bit Byte Integer This function performs a binary Exclusive OR between two expressions and returns a value of the same type as the operand lt Expressionl gt and lt Expression2 gt must be of the same type IF VL1 XOR OFFOOh AND OR NOT IF 249 SERAD S A IMD Drive User Manual 10 Appendix 10 1 STATUS 7 segments display 10 1 1 Message descriptions A At power on of the drive R510 1 BOOT initialization phase Before BOOT in
52. gt 0 for motor position 1 for master encoder lt InputNo gt The input used to detect the rising edge 1 to 16 lt Edge gt 1 for positive edge or 0 negative edge lt Window gt If window is true the input is only tested between the positions lt Min gt and lt Max gt lt Inside gt Defines whether the test is performed inside or outside the limits of the window lt Min gt and lt Max gt lt Min gt must always be less than lt Max gt CAPTURE1 0 4 1 10 20 1 Capture motor position on the rising edge of input 4 when the axis 1s between 10 and 20 WAIT REGI S 1 Wait for the capture VRI REGPOSI S VR1 captured position REGI_S or REG2 S REGPOSI S or REGPOS2 S Clear the axis position CLEAR This instruction sets the axis position to zero CLEAR VRI POS_S Result VR1 0 0 206 SERAD S A IMD Drive User Manual 9 10 32 CLEARMASTER Set the master encoder position to zero Syntax CLEARMASTER Description This instruction set to 0 the master encoder position Example CLEARMASTER 9 10 33 COMCOUNTER Return the number of exchange frames Syntax lt NB Frames gt COMCOUNTER X Description This instruction returns the number of exchange frames on the selected bus 0 for modbus 1 X1 1 for modbus 2 X4 2 for CANopen and 3 for SDO server incremented at each SDO request Remark allows the implemetation of a software watchdog and controls lost communication with other device HMI dr
53. indicates if the slave position given by the STOPS has been arrived at This flag is reset after 1t has been read Return 1 if If the demanded slave position is impossible to achieve e g 1f it has already been passed If slave speed is null during a constant phase Else return 0 VFO STOPS S MOVS 20 10 0 0 STOPS 20 105 WAIT MOVE S 0 IF STOPS _S 1 GOTO ERRSTOPS 9 10 121 STOPS stop MOVS instruction Description Syntax Example Warning When the master axis arrives at lt MasterPos gt slave axis starts deceleration until lt SlavePos gt STOPS lt MasterPos gt lt SlavePos gt lt MasterPos gt is a real in the master unit lt SlavePos gt is a real in the slave unit STOPS 20 105 When the master arrives at position 20 the slave axis will decelerate until position 105 on the slave axis The call of STOPS instruction resets the STOPS S flag 9 10 122 STTA Start absolute movement Syntax Data types Description R510 STTA lt Distance gt Real Starts a movement to an absolute position 240 SERAD S A IMD Drive User Manual Remarks Example See also The system does not wait for the end of the movement MOVE _S 0 before executing the next instruction The axis uses the current values of speed acceleration and deceleration STTA 1200 00 WAIT MOVE S OFF MOVA MOVR STTR STTI 9 10 123 STTI Start infinite
54. is On Top Z no movement is done the drive calculates the position relative to Top Z the new position various between 2 motor rev ZE 3 8 9 On sensor input without release positive direction On sensor input with release positive direction On sensor input without release negative direction On sensor input with release negative direction On sensor and Top Z without release positive direction On sensor and Top Z with release positive direction On sensor and Top Z without release negative direction On sensor and Top Z with release negative direction 10 Position initialization with the absolute position only in SinCos mode or SSI else initialization to 0 11 clear following error 12 relative Home allow to subtract Reference to the current position Reference optional home position value Remarks Use AXIS Off to stop a homing operation If lt Type gt is not specified the value 1s the type defined in the Home set up menu R510 216 SERAD S A IMD Drive User Manual Example Note See also Warning VRO 100 HOME 3 VRO Go home using mode 3 and a home position of 100 If adding 16 to lt Type gt number the HOME instruction is doing without position modification but the offset is save in HOMEPOS S variable If the Reference value is not given it is 0 HOME 2 is equivalent to VRO 0 and HOME 2 VRO HOME S Input 4
55. lt Expression2 gt Bit Byte Integer Long integer Real This operator tests if lt Expressionl gt is greater than lt Expression2 gt 198 SERAD S A IMD Drive User Manual Remarks Example See also lt Expression gt and lt Expression2 gt must be valid expressions and must be of the same type IF VLI gt VL2 my IS MAA tee los LAO 9 10 11 Greater than or equal to Syntax Data types Description Remarks Example See also lt Expression gt gt lt Expression2 gt Bit Byte Integer Long integer Real This operator tests if lt Expressionl gt is greater than or equal to lt Expression2 gt lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type IF VLI gt VL2 ms Wy tet te J gt te teal gt 9 10 12 Shift right Syntax Data types Description Remarks Example See also Caution lt Expressionl gt gt gt lt Expression2 gt Byte or Integer This operator shifts lt Expressionl gt to the right by lt Expression2 gt bits lt Expression2 gt represents the number of bits to shift by The shifting is not circular VLI 48 VL2 VLI gt gt 3 Result VL2 12 1 ca Leave a space before and after the operator symbol 9 10 13 ACC Acceleration Syntax 1 Syntax 2 Units Data types R510 ACC lt Expression gt lt Variable gt ACC User define
56. moteur Seuil en 0 2000 4000 6000 8000 10000 R sonde en ohms c Motor feedback Type choice of the motor feedback resolver X11 or SinCos X13 D Resolver ES Action Set up the resolver Icon ij Resolver Resolver Offset Resolver offset Pole pairs Must correspond to the used resolver R510 59 SERAD S A IMD Drive User Manual ny For resolver with several pole pairs you have several rotor position for 1 motor position ex 0 120 or 240 for resolver with 3 pole pairs So a HOME on TOP Z can have several physical position offset number of pole pairs 360 J SinCos Icon AN Action Set up the SinCos i SinCos Input x13 Resolution 4036 Serial link Hipertace Resolution Defines the number of encoder increments 4 increments by point Ex For a 500 line encoder chose 2000 increments Serial link If none is selected then the feedback is relative if Hiperface is selected then feedback is absolute nN there is an fault on the serial link when the drive is activated the drive gives an error E08 K Encoder input Icon aia Action Set up encoder input R510 60 SERAD S A IMD Drive User Manual al Encoder Encoder type Incremental 7 Incremental encoder input p A he l j Resolution 4096 Inc al ee a Incremental mode Resolution Defines the number of encoder increments 4 increments by point Ex Fo
57. must be declared as HOME function in digital input window for Home on sensor else Home function is cancelled 9 10 57 HOME S Read homing status Syntax Description Remarks Example See also HOME S This function reads the homing status This function shows 1f the homing has been completed or not During a homing cycle the HOME S flag is forced to 0 When the cycle is complete the HOME S flag becomes a 1 IF HOME S OFF GOTO Next Next HOME 9 10 58 HOMEMASTER Go to home on master axis Syntax Description R510 HOMEMASTER KType gt Reference This function forces the axis to return to its home position using the method defined by lt Type gt This instruction blocks the task until the homing 1s complete and also causes execution to transfer to the next task Homing uses the speed set on the screen Motion control Home Values for lt Type gt are 0 immediate 1 On Top Z drive is waiting a Top Z on master encoder 2 On sensor input drive 1s waiting for an input edge on HOME sensor 3 On sensor input and Top Z drive 1s waiting for an input edge on HOME sensor then a Top Z on master encoder 217 SERAD S A IMD Drive User Manual 4 setup master position to absolute position with SinCos or SSI else setup master position to 0 5 cancel HOMEMASTER without HOMEMASTER S changing Reference optional home position value Remarks Use AXIS Off to stop a homing
58. only used if Nominal voltage parameter is Other parameters window else default values are used 390V for nominal voltage 230V 780V for nominal voltage 400V e External brake resistance check this box if you add an external brake resistance to the drive e Brake level sets the low limit to activate the external brake resistance e Warning This parameter 1s only used 1f External brake resistance box 1s checked or 1f Nominal voltage parameter is Other parameters window else default values are used 375V for nominal voltage 230V 750V for nominal voltage 400V e Ton and Period allows you to define the duration and duty for the brake resistance R510 54 SERAD S A IMD Drive User Manual Tl T2 T T4 O oH tts Period Ton total of activation time T1 TZ of the resistor during the time Period While the activation time is less than Ton length during a time interval set by Period the DC bus over voltage can be reduced by the brake resistance Warning This parameter is only used if External brake resistance box is checked b Temperature monitor ny Factory settings do not modify id 3uUperrision SLpervision DE Bis Temperature Motor Level E A Tima me Tempe ie Clue a F ss Position e Motor temperature defines the level and length of the motor over temperature and gives error E07 e IGBT temperature defines the level and length of the IGBT over t
59. profile on a slave axis linked to a master axis This profile is defined with an array of points An IMD drive can store up to 5 cams and 512 points for the 5 cams Each point is defined as a master position and a slave position The values given to the master positions inside the array must be increasing a PO Manual ooo hoo 100 ale LTC EL 2 Mena 1 IA CT IO r Tale po LT TOTO 4 Manual 120000 00128 000 0 NACI ET IA ET hoo eMe o ET eon E grie 158 000 158 000 eMe eooo Soa Talie heso ho heso hon oMa peso oo pemo ee A cam point is defined by Sa mode Sa master position Sa slave position Sa master tangential Sa slave tangential The cam form depends on each point s mode Y Line calculate a line from the current point to the next point there is a speed discontinuity at the current speed speed keeps the same until the next speed Auto calculate a trajectory with a 3rd order polynomial use the current point the next point and the previous point Manual calculate a graph according to a tangential at the current point and with slope master tangential slave tangential Parameters ios current cam I gt Es Master begin 0 x Master end 360 x Unit FO inte fom Slave end 100 Y oO W 100 ale Slave begin R510 161 SERAD S A IMD Drive User Manual In the parameter area of the cam editor you can set up Y Scale Begin and end of master X begin and
60. rise to serious problems Remove all voltages before inserting the connectors Ensure that the earth connection to the drive is correctly made pin 4 of the connector X8 Connect the motor earth to the drive pin 5 of the connector X10 before applying any voltages For the shielded cables connect the screen to the chassis at each extremity via the Shell of the connectors for the SUBD or the screws provided for this purpose X7 in order to ensure an optimal equipotential Transient suppression measures should be taken on control panel components such as contactors obligatory on brake and relays using RC elements or diodes e g 1N4007 ol Maximal input Safety device n EOS current cutout curve C 400V 3 phase 2 2A 10A max 230V 1 phase 10A max 400V 3 phase 10A max 230V 1 phase 10A max 400V 3 phase 10A max 230V 1 phase 16A max Caution the in rush current can reach 25A with a duration of 10ms R510 28 SERAD S A IMD Drive User Manual A Stand alone drive 211 r solwer l OOA If external resistor remove 1 2 RESOLVER IMO connection POSITIVE Und iT A DRIVE READY HESATIVE LIMITE Power Line Protects L1 L2L3 Three phase 4004C L1 L2 Single phase 23040 Contactor Hi The output Q2 is NPN open collector 100mA max The load must be connected between Q2 and 24Vdc SERAD S A 29 R510 IMD Drive User Manual B Drive controlled by a motion controller
61. sosa dd il iciccepdsin 215 Variables exchange between IMD drive coooocccoocccccocccconccconoccnnncnnonncncnnncncnnncnnonnnnnnns 271 A E E eT eee ee ee eT eee re 246 VEL A PO sees es soe cetaceans ace onc a neces eae E A EA A 246 VEL O asec O E A 246 VEENA STER Oria eos lei 247 R510 289 SERAD S A IMD Drive User Manual VERSION e ee oes A Pat asi 247 NICU ASLO tt e het ta it nen dee eS al el 179 180 VIRTUALMASTER e eS 247 W pA Renee eRe eae ees ee ergs eee nee Tee ee ee ee een ete ee eee ere Teer 247 Wat SACO a die eee 182 MV ARTA O 8 Write an output esatera cote ee ee ne eee eee 183 Write QUES a 181 WRITE e dd oe 248 IRTE odos 248 WRITEPRARAM Sasina o eaten cd ad erate peeled 248 WRITER eee Rtn ne ee et eee 249 X AOR A ere ee ee ECR oo ee Rote chert ea Eat ee ota ne Oe ee Poe ee eee 249 R510 290 SERAD S A
62. stops the axis using the current deceleration This instruction blocks the task until MOVE Sis 0 STOP STTA STTR STTI GEARBOX In virtual mode STOP does not stop positioning movements STTA TRAJA 9 10 118 STOPCAMBOX Stop a cam box Syntax Description Remarks Example See also STOPCAMBOX lt BoxNo gt This instruction stops a previously defined cam box lt BoxNo gt is the number used in the instruction CAMBOX This function does not destroy the cam box STOPCAMBOX 1 CAMBOX CAMBOXSEG STARTCAMBOX 9 10 119 STOPMASTER stop movement in virtual mode Syntax Description Remarks Example R510 STOPMASTER This function stops the movement of a virtual master This function blocks the task until the axis has stopped If axis uses a synchronized movement then axis stops The instruction STOPMASTER empties the movement buffer and stops the axis using the current deceleration This instruction blocks the task until MOVEMASTER S is not equal to 0 VIRTUALMASTER ON MOVS 1 1 0 0 STTA 10 STOPMASTER Master stop axis does not move further But synchronising is always enabled STTA 10 Master move and axis start to turn 239 SERAD S A IMD Drive User Manual 9 10 120 STOPS _S status of the synchronised movement Description Syntax Example This instruction can be used only if STOPS instruction has been called previously This flag
63. the drive s components are susceptible to damage from electrostatic discharges Always handle the equipment using appropriate anti static precautions We have gone to great lengths to ensure this documentation is correct and complete However since it is not possible to produce an absolutely error free text No responsibility will be assumed by SERAD for any damage caused by using this documentation and software We reserve the right to make changes to all or part of the specification without prior notice 8 SERAD S A IMD Drive User Manual 1 2 IMD series drive description 1 2 1 General The IMD Series intelligent brushless drives are specially adapted for high dynamic performance They contain an integrated power supply mains filter and braking resistor They can be used to control motor torque speed or position depending on their operating mode Various field bus configurations are available such as MODBUS CANopen and PROFIBUS DP that allow the use of the drives in networked systems Thanks to their easy to program Basic language multi tasking kernel MOTION control features and integrated PLC functions they are well suited to a wide range of applications 1 2 2 Technical data 230V to 400V AC 10 three phase or 230V AC 10 single phase Integral 75 ohms 60W Possibility to add an external resistor Braking resistance Min value Max cont power Imp power 600 5kW 10kW Short circuit between phase
64. the movement before the end R510 113 SERAD S A IMD Drive User Manual c TRJ files e It is possible to save the trajectories in a file tr with Communication Trajectories Receive trajectories e In the same way it is possible to transfer the contents of a trj file to the drive using Communication Trajectories Send trajectories R510 114 SERAD S A IMD Drive User Manual 5 4 2 Operation a Flow chart R510 115 SERAD S A IMD Drive User Manual Trajectory execution Begin Send HOME trajectory number Set START 111 RUNNING 04 1 2 YES Reset START 111 RUNNING 04 0 YES End R510 116 SERAD S A IMD Drive User Manual HOME trajectory execution Start Send trajectory number Set START 111 Delay 100ms YES Reset START 111 NO YES End R510 117 SERAD S A IMD Drive User Manual PLC defaults control Reset STOP 112 Set START 111 Stop trajectory execution NO NO _ Fault acknowledge by key Om Start Reset ENABLE 11 Delay 100ms ERROR 05 1 OUI y YES Set ENABLE 11 Delay 100ms AXIS_S 06 1 YES y Set STOP 112 Running cycle AXIS_S 06 0 R510 118 JERREUR 05 0 0R SERAD S A
65. time x Life Life time factor aucune sign time factor 32 bits 700h 100 o Node guarding ID E NodelD COB ID Nodeguarding 100F Number of SDOs 32bits fo 00010001h Nombre de SDO support supported non sign o purero oeron an sign serveur q SDO receive COB Id 32 bits ales 600h node COB ID de r c ption du 1er non sign ID SDO serveur ia a A 580h node COB ID d envoi du 1er SDO non sign ID serveur 3 meas o MESA e alte NON av none Node ID du SDO client client sign 1280 ES Number of elements 2 st parametre du 1er SDO client 1 SDO receive COB Id ae a ro aucune SOLD ce FOE MOT ouder non sign SDO client NES a E COB ID d envoi du ter SDO non sign client R510 262 SERAD S A IMD Drive User Manual server signe 4400 apena amante 8 bits non 1 2 param tre de r ception du sign 1er PDO NES COB ID Ano COB ID utilis par le PDO non sign mr Transmission type a Type de la r ception param tre de r ception du a OO O O B 1800 Number of elements 8 bits Ate 6 2 param tre d mission du 1er sign PDO non sign Type de l mission 252 gt sur synchro a 8 bits non 2 Transmission type Signe rw 254 253 gt remote RTR 254 gt p riodique 255 gt sur modification 3 rw 254 16 bits Inhinit time iter non signe dur e d inhibition ms A A PA MS 10 A ES E O O co 8 me PDO The dictionary contains the various parameters and variables of the drive see Help M
66. trigger without condition This instruction starts the triggered movement without condition Needs to be used in another parallel task that had the TRIGGER instruction 9 10 137 VEL Speed Syntax VEL lt Expression gt Units User defined units per second e g mm s revs s degrees s Data types Real Description This value specifies the current speed in units per second Remarks lt Expression gt must be a valid real expression The speed value can be modified at any time Example VEL 2000 See also ACC DEC POS 9 10 138 VEL S Actual speed Syntax VEL S Description This function returns the current velocity Example STTA 100 IF VEL S lt 50 GOTO Stop 1 See also POS S 9 10 139 VEL Speed in percent Syntax VEL lt Expression gt Data types Byte Limits O to 100 Description this function adjusts the current speed as a percentage of the speed parameter in screen Motion control Configuration Speed profile Example VBO 50 VEL VBO R510 246 SERAD S A IMD Drive User Manual See also ACC DEC 9 10 140 VELMASTER S Return master filter speed Syntax VELMASTER S Description This function returns the master filter speed Example GEARBOX 1 1 IF VELMASTER S lt 50 GOTO Stop 1 See also VEL S 9 10 141 VERSION OS Firmware version Syntax lt VI_XX gt VERSION Description This function returns the version of the operating system
67. type s DIV MOD c Unary operators Same sion Byte Integer Long integer or Operand type real Byte Integer Long integer or Operand type real d Logic operators NOT Byte Integer Operand type AND Binary AND Byte Integer Operand type XOR R510 132 SERAD S A IMD Drive User Manual e Bit operators f Relationship operators E Tests Conditional instructions are a useful means of executing or not a group of instructions according to a condition being true or false IF lt Expression gt GOTO lt Label gt Label Or IF lt Expression gt THEN lt Instruction1 gt END IF Or IF lt Expression gt THEN lt Instruction1 gt ELSE lt Instruction2 gt R510 133 SERAD S A IMD Drive User Manual END IF lt Expression gt must have a bit type value If lt Expression gt is true the jump to lt Label gt 1s executed If lt Expression gt 1s false the program moves directly to the following line Example VEL 100 Rapid speed STTA 2000 Move to absolute position 2000 MOVE ON IF POS_S lt 1000 GOTO NEXT VEL If the position is greater or equal to 1000 then VEL 50 Speed is reduced to a half NEXT VEL IF POS_S lt 1500 GOTO NEXT OUT If the position is greater or equal to 1500 then OUT 9 1 Set output 9 NEXT OUT IF MOVE S lt gt 1 GOTO MOVE ON Loop until the movement is finished F REPEAT instruction REPEAT instruction allows the rep
68. zero incorrect instruction CAM or synchro movement error Following error the maximum following error has been exceeded Contact technical support FLASH memory error writing impossible Contact technical support R510 253 SERAD S A IMD Drive User Manual FPGA error loading not possible or CAN communication error Contact technical support Over velocity motor velocity is higher than nominal speed in torque mode Feedback saturation error Feedback or SinCos signals are too high Auxiliary supply error Control 24V auxiliary supply B List of iDPL errors Error 1 Error 2 and 3 Error 4 Error 5 Error 6 Error 7 Error 8 Error 9 Error 10 R510 Instruction illegal Flash corruption and or compilation error Cam allocation error Internal OS error Impossible to calculate a cam point Reduce master length Illegal function Flash corruption and or compilation error Divide by 0 Cam number error in LOADCAM function FRAM offset error value not between 0 and 4095 Cam gain error master or slave distance 1s negative Invalid task number ll double click on error message to open 1DPL task and set cursor at the faulty line 254 SERAD S A IMD Drive User Manual C Fault reset e If input E4 is not configured as Fault Reset proceed as follows Fault Enable Drive fault Display fault Drive ready e If input E4 is configured as Fault Rese
69. 00h 0 position 0 VL100 4 mode Home VL100 VL100 lt lt 8 VL100 VL100 0 speed 0 VL100 VL100 lt lt 8 VL100 VL100 0 acceleration 0 VL100 VL100 lt lt 8 VL100 VL100 0 deceleration 0 VLO VL100 WriteParam 3300h 00h VL100 options WriteParam 2800h 02h 1 repeat V1100 ReadParam 65 10h 06h VI100 V1100 and 2 until VI100 lt gt 0 VRO 5 WriteParam 3400h 00h 500 position 5 VL100 0 mode Absolu VL100 VL100 lt lt 8 VL100 VL100 20 speed 20 VL100 VL100 lt lt 8 VL100 VL100 100 acceleration 100 VL100 VL100 lt lt 8 VL100 VL100 100 deceleration 100 VLO VL100 WriteParam 3300h 00h VL100 options 109 SERAD S A IMD Drive User Manual R510 WriteParam 2800h 02h 1 repeat VI100 ReadParam 6510h 06h VI100 VI100 and 1 until VI100 0 VRO 1 WriteParam 3400h 00h 100 position 1 VL100 1 mode Relative VL100 VL100 lt lt 8 VL100 VL100 10 speed 10 VL100 VL100 lt lt 8 VL100 VL100 100 acceleration 100 VL100 VL100 lt lt 8 VL100 VL100 100 deceleration 100 VLO VL100 WriteParam 3300h 00h VL100 options WriteParam 2800h 02h 1 repeat V1100 ReadParam 65 10h 06h VI100 VI100 and 1 until VI100 0 VRO 2 5 WriteParam 3400h 00h 250 position 2 VL100 0 mode Absolu VL100 VL100 lt lt 8 VL100 VL100 30 speed 30 VL100 VL100 lt lt 8 110 SERAD S A IMD Drive User Manual R510 VL100 VL100 100 acceleration 100 VL100
70. 1 S and REGPOS S Syntax lt Variable gt REGPOS1 S Data types Variable real Description This function returns the last captured position of the axis obtained using the instruction CAPTURE 1 D Example STARTCAPTURE CAPTURE1 0 4 0n 10 20 On Capture position on rising edge of input 4 when the motor axis is between 10 and 20 WAITING IF REG S ON THEN Wait for a capture VR1 REGPOSI S VR1 value of the captured position GOTO STARTCAPTURE ENDIF GOTO WAITING 7 8 2 Automatic axis re alignment A ENABLERECALE Automatic axis re alignment Syntax ENABLERECALE lt Register Number gt lt Initial Position gt lt Acceleration gt Limits lt Initial Position gt between 0 amp axis modulo Accepted types lt Initial Position gt Real lt Acceleration gt Real Description This instruction automatically re aligns the axis position to a sensor lt Initial Position gt indicates the position to be put into the position counter when the sensor is detected lt Acceleration gt as the function MASTEROFFSET allows an acceleration to be used to apply the offset Remarks ENABLERECALE uses parameters of the CAPTURE function that was launched prior this instruction R510 175 SERAD S A IMD Drive User Manual Example lt Source gt 0 for motor position 1 for master encoder lt InputNo gt the input no of the capture signal 1 to 16 lt Edge gt 1 for positive edge or 0 negativ
71. 10 78 SERAD S A IMD Drive User Manual e Speed profile W Setup Motion control A Speed profile Speed profile Speeds accelerations and decelerations expressed as percentages are referred to these values The urgent deceleration is used to stop axis when limit sensors are active S coefficient parameter allows having acceleration and deceleration with a S form that softens the start and end of a movement Acceleration with S coefficient is between 0 and 200 of acceleration parameter Warning These parameters are relative to the mechanic of the system not the motor R510 79 SERAD S A IMD Drive User Manual B Home Icon Action R510 Configure the homing mode i Configuration Motion control 1 On Signal Z gt Onseneor iiho release A decion Onsensor walh release n ciectian Onaeneor walhout reas r diezin Onsensor wih release n dieciion Onsencor and Signa Z without leaps ii direction Onaensorand Signal wath ideas r dinechon 2 Orientar and Signa Pakait ear in drechon 3 Onaensorand Signal wath meas direc hon e Homing method e Homing speed e Home position 0 by default 80 SERAD S A IMD Drive User Manual C Master encoder Icon at Action Configure the master encoder Setup Motion control blaster vna Ha blaster mg The master encoder uses the same units as the motor axis Only in modulo mod
72. 10 102 RUN Start a task Syntax Description Remarks Example R510 RUN lt TaskNo gt This instruction 1s used to start a stopped task e g a task declared as Manual This function has no effect on a suspended task or a task already started Start Wait Inp 11 On RUN 3 Wait Inp 1 1 Off 233 SERAD S A IMD Drive User Manual See also Warning HALT 3 Goto Start CONTINUE HALT SUSPEND After a HALT function it 1s recommend to wait for the task to be completely stopped Wait Status Task num 0 9 10 103 SAVEPARAM Save drive parameters Syntax Description Remarks See also Attention SAVEPARAM The drive parameters in the working RAM are saved in Flash memory The Flash memory has a life time limit of 5000 write cycles LOADPARAM Excessive execution of this instruction can cause the premature degradation of the Flash memory SAVEPARAM and SAVEVARIABLE functions distort time base and cancel CAN position sending 9 10 104 SAVEVARIABLE Save variables Syntax Description Remarks See also Attention SAVEVARIABLE Variables VRO to VR63 VLO to VL63 in the working RAM are saved in the Flash memory The drive automatically passes to AXIS OFF The Flash memory has a life time limit of 5000 write cycles LOADVARIALBE Excessive execution of this instruction can cause the premature degradation of the Flash memory SAVEPARAM and SAVEVAR
73. 107 R510 2 SERAD S A IMD Drive User Manual 8 A ola a 10 Ree NI A eee eT en Ree eee AR 108 3 4 ADVANCED TRAJECTORIES USING LOCA Dirt 112 3 4 l Implementalion in advanced Mode erranei E E ia 112 Faa OCT ION sz so asd esc E A E O NRA 115 PROGRAMMING LANGUAGE wesscccssssscscssesecesssesavecssesevesssssavecsscsessesecssesadecsessevesosssacecsendecesadesadecssnsesesssesacecsenserecaze 120 0 1 NTRODUE LION Tan E IIA E chia A aid 120 E ES RA O 120 OAL SM MOS Md e a lt td ii e ii 12 62 NV ARABLE A O A 121 O ar aD A A A E PY SES ONT PPS PS OT te rev ee 12 07232 GONVETSION DEIWE CMO ALA TV DON 2 SAA AAA uted besbalesaeieiteeses 123 paa rN Er Ca NOIA btt 124 E E CO VAN IAC Scat asa V EE TAE E TEE PAE E T E E E A E E AT 124 Os SAVED DA A AA T A A AAR 124 60A PARAME TER Si E T E E E E E E R 126 O 124 6 5 1 MULTAS ENS principles A A A 27 A AS OT AEAEE AQ E T E T E E T E E EA E TEE 128 ODF e LaS kmand CCIM CIE ctl A A A Aad iit hud up h henied abun da 128 VS TELS KET UCUN O ss a hah St wah Sa ah alata A sella el ea Slane eae auntie 129 MOTION CONTROL PROGRAMMING sescacccadarecciiesveccciastebevieszeersccaceiviiaideleebeivaneesssndetbictte tees a iiaa 136 TA INTRODUCTION S A E A E 136 7 2a CONFIGURE AN AXIS a ta NE 136 TUE Ut AA A A R TIE Ett ry etre 136 IL SE V CO ONCOS a oe A AAA A a 138 LS O PEC IOMA A A AAA Ad 139 OPEN LOOP CLOSED EDO Punilla 139 AE OPen Toop opral Ons aa a e ihdetnsedecestds ehcasheniecextds a a ti aa 139 ladar A A
74. 3 Com US Robotics Sportster Voice 33600 Fax Modem Sportster 56 K Fax Modem e Westermo TD 31 TD 32 R510 285 SERAD S A IMD Drive User Manual Index A PCG aria tienen SS Aa olin oder 199 200 PC Cowher is oath see Maat aii 200 ACTIVE Wal AS eal ons AA arated 184 185 Adjustment of drive enable MOde ococcooccccccocccnccnoconconononononcnnconnnonnononnnnnnnarnnnnnancnnnnnnrnnnnnos 89 AND cosas caida 201 ARCOS ti RS A AS A ia Na 201 PE SUING ence tha noises di 202 ARCTAN ti di 202 Auto tuning of the control lOOpS oooccccococconccocccnconononononcnnconanonnnnoncnnnnnnrnnnonanrnnonanennnnnos 91 Automatic MINO cr aa 175 A A EA N N 202 A E E ea ce IEE EAE E E AEE E E E E EEE A E E E EE 203 B ES ASIC task SUCUT ad aaa 129 C o e 26 A arctic A O eote seme e usenet etacencias 203 204 A aes Once ete N 160 161 162 163 164 165 166 167 168 169 222 C5 14 016 aA RR ae eee RM AIRE A eR et EAPO AA A RETR tal Maer Seema 187 188 CAMBOX Gieenne ee tie nese on ne tacto ella een eae ane 204 CAMBOXSES tata ais 204 GAN A E ONE PEO O A A O A rene O 265 CANODENCOMMUNIGALION sit sitete coach AS 256 CANE OSs UA TU Sua ib tado 266 CANPOSTIME OT AZ traia ia 267 CANSENDNM crt etcetera ee eee eee 267 CANSENDSYNCHRO 0 aise sarees dea cen aca eee es eee 267 CANSETU PS YNCHROS ducati ace ace eee eee 267 CANTA pa aora 267 CAPS a A eee re 174 175 CAPTURE Tucu iii A oes ee ene le 206 GEARS A
75. 5 dM5 and is lower than the initial velocity ratio so this is a deceleration phase b Velocity changing phase Constant phase i Zero initial velocity In the previous example the phase 1 1s a velocity changing phase with zero initial velocity dS10 dS1 dS2 1 2 dM1 dS2 dM2 dS2 dM10 dM1 dM2 MOVS Slave Master dM10 dS10 dM1 0 11 Initial velocity greater than zero and lower than final velocity The phases 3 represent this kind of velocity changing phase The initial velocity ratio is dS2 dM2 and the final velocity ratio is dS4 dM4 so dS30 dS3 dS4 dM3 dS2 dM2 dS4 dM4 dS4 2 dM30 dM3 dM4 MOVS Slave Master dM30 dS30 dM3 0 The average velocity ratio during this phase 1s dS3 dM3 and 1s greater than the initial velocity ratio so this is an acceleration phase R510 156 SERAD S A IMD Drive User Manual 111 Initial velocity greater than zero and greater than final velocity This kind of phase 1s represented on phase 5 The initial velocity ratio is dS4 4M4 and the final velocity ratio is dS6 dM6 so dS50 dS5 dS6 dM5 dS4 dM4 dS6 dM6 2 dS6 dM50 dM5 dM6 MOVS Slave Master dM50 dS50 dM5 0 The average velocity ratio during this phase is dS5 dM5 and is lower than the initial velocity ratio so this is a deceleration phase c Constant phase Phases 2 4 and 6 are constant MOVS Slave Master dM2 dS2 0 0 MOVS Slave Master dM4 dS4 0 0 MOVS Slave Master dM6 dS6 0 0 d Constant phase Stop phase With p
76. A as 206 CEEARMASTER sais asis a Rad ead oa eae ae wea 207 Closed loop operation sson ei a A A 140 Sn o asia aca cee nn 67 Communication by PDO oi nds 272 Communication bY SDO 0 o ooo ae 271 Compensation uncompensation functions ccoooccccoccccccncnncncnnononnnonannnonnnnnnonononanononanoss 158 Connection diagrams Protection ii tas 28 CONTINUE lt a oia 207 208 Conversion between data types oooccccooccccococccccconccnconononnnnoncncnnnnonnonnnnnnonnnrnnnnnnnnnnonancnnonanens 123 COUNTER tas isa cera nach ca A e ta 208 COUNTERS sia coo o oo 208 COUME A ispecies a E eusesed uasdencseysdanteneet eet eee 185 Current loop adjustment cnain dao 92 D A A A mae aanere 209 A aaa Balen A N E hice taleuie am lee iantie ian suc 209 DEC 2 td tat eee teeta 209 210 Declaration of an axis in virtual mode occcccoccnncccncnncccocnncncnncononononnonannnnononnnnnonannnnorannnnnnananennns 146 DELAY A No ote Edt peta aetna 210 PAGO SUC omen gute useeenasans sana dos aietamsabetantetes el enaeualt 69 R510 286 SERAD S A IMD Drive User Manual DIC HONI VA E E OMS aaa ccs tet ee a a ee Sa a aaa A eae A A Electronic dea ENABLERECALE ui a uae ened EXIT SUB os G GEARBOX A A Generando orde ec Generic CAN example ccoooccccocccccocccccoccnococononncnnoncnnonnnnononcnononenonos o A A e RI o A Greater hahen ne aa Greater than or equal to ooooccccocccccccccconcncconcnconnnnnnncn
77. D S A IMD Drive User Manual 2 6 9 X10 Motor armature Connector Removable 8 way 7 62mm pitch Motor phase U The shielded motor cable must be connected directly to the terminals of the drive _ CS Out PC Bus Out JDC bus OS Out Out Out Out Out 7 Out ut Connect the shield on drive side using the clamp provided see Front view of the drive Selection of the braking resistor Internal resistor Fit a link between terminals 1 and 2 External resistor Remove the link between terminals 1 and 2 Connect the external resistor between terminals 2 and 3 ny Care must be taken when making connections to connector X10 An incorrect connection can seriously damage the drive Dangerous voltages are present on X10 SERAD MOTOR DESCRIPTION 1 Phase U 4 Phase V 3 Phase W 4 2 Earth 1 3 C Break D Break Shield reverse around the ring R510 23 SERAD S A IMD Drive User Manual 2 6 10 X11 Motor position feedback resolver Connector SUBD 9 way female Name Type _ gt mp Ps mo cosine Hi eno fav anatogue OOOO R f Out eference Hi OMe ine Lo U escription ne HI OO lt USO Inp Inp Inp Inp Inp osine Lo Inp ATA ME A ME CA MIT CA AR pos _ SHIELD J S2 S1 R1 S4 3 otor temperature sensor Lo R2 my eference Lo LN CM HOM _ 8 A O onnect the shield to the shell of the
78. Description Remarks Example lt Variable gt BUFMOV S Byte This function returns the number of movements waiting in the buffer The movement currently executed is not counted by this function This function can be used after having launched several movements to see if a movement is finished When the movement buffer is full the task is blocked until a place becomes available STTR 100 STTR 50 STTR 50 WAIT BUFMOV_S lt 2 Wait until the end of the first move 9 10 24 CALL Call a subroutine Syntax R510 CALL lt Name gt 203 SERAD S A IMD Drive User Manual Description Remarks Example See also This instruction 1s used to call a subroutine defined by a block SUB lt Name gt 1s the name of the subroutine block A subroutine cannot call itself The execution of this instruction causes the multi tasking controller to move on to the next task CALL Movement SUB 9 10 25 CAMBOX Camboxes Syntax Limits Data types Description Remarks Example See also CAMBOX lt BoxNo gt lt Source gt lt Segments gt Box number 1 to 2 Source 0 for motor 1 for master encoder Segments 1 to 4 Box number Byte Segments Byte This function defines a cam box All segments previously defined by CAMSEG are erased lt BoxNo gt cam box number lt Segments gt 1s the number of segments in the box If this value 1s zero the cam 1s destroyed
79. ECURITY 9 10 49 FE_S Following error Syntax Description Remarks Example See also FE S This function returns the value of the actual following error This can be used to verify the performance of the axis control in real time VRI FE S FEMAX S 9 10 50 FILTERMASTER Apply a position filter during a synchronization Syntax Description R510 FILTERMASTER lt Value gt This function is used to apply a position filter during a synchronization Values for lt Type gt are 0 no filter quick synchronization but risk discontinuous velocity shock 1f master speed is much less than slave speed l standard filter by default 2 Thanks to low time constant and advanced filter the synchronization remains fast and removes a lot of the discontinuous velocity shocks 213 SERAD S A IMD Drive User Manual 3 Thanks to high time constant and advanced filter the synchronization remains fast and removes all discontinuous velocity shocks but synchronization loses precision 4 Interpolation filter for high ratio with small master speed changes 5 Advanced interpolation filter for high ratio with small master speed changes the synchronization remains fast and removes all discontinuous velocity shocks but synchronization loses precision 9 10 51 FRAC Fractional part Syntax Data types Description Remarks Example See also FRAC lt Expression gt Real
80. IABLE functions distort time base and cancel CAN position sending 9 10 105 SECURITY Defines security actions Syntax R510 SECURITY lt Level gt 234 SERAD S A IMD Drive User Manual Description Level Remarks Example Note This instruction is used to define how the system will react when a following error is detected lt Level gt determines the level of security At power on the default value is SECURITY 2 Error 12 Flag Femax Axis S S1 ready On display No l Axis_s On l No l Axis _s Off l Yes Axis s Off 0 If the SECURITY instruction 1s used the level of security can be reduced by a task It is recommended not to use this instruction SECURITY 0 The drive remains enabled with an excess following error The flag Femax_S is reset to 0 each time the axis is enabled Axis On 9 10 106 SETUPCOUNTER Configure a counter Syntax Data types Description Remarks See also Attention SETUPCOUNTER lt l or 2 gt lt InputNo gt lt Filter gt lt Filter gt Bit This instruction configures counter 1 or 2 lt InputNo gt Input number from to 16 lt Filter gt Filter activation O for no filter 1 for a filter COUNTER If the filter 1s not active the maximum frequency 1s 5 kHz otherwise 1t depends on the Filter parameter in Parameters Digital Inputs Outputs 9 10 107 SGN Sign Syntax Accepted types Description Example
81. IMD Drive User Manual 7 2 3 Speed profile A trajectory in positioning is made of the phases of acceleration constant speed and deceleration The fields available from the board configuration in the DPLcan give default values to these different phases The values are taken in account every time you switch on the MD They are also used in the debug mode and with the instructions ACC DEC VEL and trajectories mode Open Motion Control Configuration Speed profile il Confiauration Ms E Motion control Conligurshon Deacshe shor Jo 50 len Ayoceeralion Urgent decalaration p RE 100 ite The urgent deceleration is used to stop axis when limit censors are actives 7 3 Open loop Closed loop 7 3 1 Open loop operation The axis switches out of the controlled mode open loop Each time the drive is restarted Each time the instruction AXIS OFF is executed in a task On detecting a following error unless the instruction SECURITY has been executed On detecting a fault Y By using the debug menu enable button OFF or the communication menu stop tasks send tasks restart the drive The instruction AXIS_S allows the state of the axis to be read R510 139 SERAD S A IMD Drive User Manual If a movement instruction is executed whilst in open loop the instruction will appear to have been executed but no motion will take place For example Task Process PROG
82. ION methods ras tdi iia 34 O AS Gl gol A RCE A E O rent oer 37 IL MOE CAMA A a I ets tay sat Nath cesta chee ede ee at ee e e ee 39 Pe en OPC CON ETLE e ipa a cal As aaa ah aides OS 43 SA IMIENOS NICO Nc amen a o di AA E A amet ee A EA E A A 44 O 44 A AS RT 46 TIC OMMUTA CONAN AER AENA ADA ADA A A di 66 DL A OA AR A O O A A A A 69 Ds MOON COMO dd died 77 JOA ON OU A ASA A AA A ALA A IA AA II 82 Po OPON S an e Cert ee eee E ET Te Sot Te eta ee en eee eT Erte eee ete Tn Stern eon n oer ener te 84 FRSO A E E O II A A II E E N rae 86 DRIVE ADIJUSTE MENTS annae r a a Oa aeaaeai 87 4 1 MOTOR AND RESOLVER PARAMETER ADS MENTA a ai 87 4 22 ADIUSIMENT OF DRIVE ENABLE MODE ii idas 89 ASS PERA TINO MODEST e E ASA A 90 JA AUTOMATI CONTROL LOOPS ADIUSTEMENT uta is A A A dci 91 4S WVMIANUALCONTROELOOBADUSTEMENTES a da alla 92 Bre CUTRE BLOOD ad US INCI secs tate SE ESA A A E aa 92 ALA DEC ADO 0d USN ER aen n id 95 4 POSON JOOP OG USTE eina a aa a a a a A 98 A 0 gt OTHER ADIUSTEMENT Sai ia 102 LOL ES DEC LO O Dada 102 40221 OUDIC OOD OPIO O e id Seal E 102 4000 le PPer InP ODCFAL OM res tad tata von shade cece tada tail iio 102 TRAJECTORIES lt a cacao dicas 103 le Ne OID CTION oae ado iel 103 25 IRAT C TORTS USING Y OSCAR DAA IAN ERAN IAS 104 SS TULA AO AA A II A radth dh ng 104 A O AAA A eT O OT RT EIN NCTE POTENT 106 ds TRATE TORIES USING COMMUNICATION BUS scsi statis le dd EE odas 107 Ded dE A A stats tals g lates anatetad sa R
83. It is recommended that there is a single task with all of the initialization routines after which the other tasks can be launched There are 5 instructions to manage the tasks Run Launch a task that is stopped Suspend Suspend pause the execution of a task 128 SERAD S A IMD Drive User Manual Continue Continue the execution of a suspended task gt Halt Stop the execution of a task Status Indicate the state of a task Example Task 1 Task 2 Prog Prog Run 2 If VR1 0 Halt 2 Wait Status 2 0 End Prog End Prog Caution The stopping or suspension of a task does not affect any movements initiated by that task Example Task 1 Prog If VF 0 Goto CYCLE PROD Halt 2 Stop CYCLE PROD End Prog 6 5 4 Basic task structure R510 Task 2 Prog Mova 1000 Out 6 1 Mova 2000 End Prog Each task 1s composed of a main program defined by the keywords PROG and END PROG and by subroutines defined by the keywords SUB END SUB For example 129 SERAD S A IMD Drive User Manual Tachet Tache SUB SousFrog1 SUB SousProdg3 PROG Pal PROG ES 7 7 END SUB ES END SUB CALL SousProg _ CALL SousProg3 a CALL SousProg2 CALL SousFrogg K y SUB SousPrag E Ss SUB SousProg4 END PROG on E END PROG pe END SUB END SUB A Main program The main program of a task can call all of its subroutines but it can t call the subroutines of other tasks A task corresponds to a file
84. Motion Drive Digital drive for Brushless motors IMD Series User manual SERAD SA all instructions with this icon po 271 route des cr tes 44440 TEILLE France 33 0 2 40 97 24 54 33 0 2 40 97 27 04 http www serad fr gt lt info serad fr Read manual before installing and follow IMD UM EN We reserve the right to make changes to all or part of the specification without prior notice IMD Drive User Manual 1 5 Table of Contents INTRODUCTION 0 A E AAA AA AA AAA AAA AAA 8 TA WARNIN e E E A Ed 8 EEN SERIES DRIVE DESCRIPTION SA ad 9 ES AP ROO 9 PD E EA a a a T songs vesbeuss see ones 9 le IDP SOFTWARE oien AS A A A Redline AAA A AA A A A A A 11 SE CHET A ROA 11 Teee El 1 EL A EA 11 123 32 TPL Prora ino TAN QUADS a dE A AA AA A EA A A A db 11 TINS EAU AIO NN a diosas 12 A a A A A IN A A A A AAIE A IR 12 DS FRONT VIEW aons a a a de ea o a a a 13 Dae TORVE W a A NN 14 IAS BOTON E A dio 15 25 gt MOUNTING A e E A AAA io 16 20 CONNECTOR PIN ASSIGNMENT Sr ia ara 17 CABE a A a A a aU cc i tas an Ons eee 26 20 ONNECTION DIAGRAMS PROTEC DION dias 28 2 92 SYSTEM CHECKS BEFORE STAR LING eriein iaa 3 IDPESOPEWARE 0 a E E aaa a e a 32 Se TPL SO RIWA RE INSTALLATION ta aces 32 Dads SV SICIMNCONPLOUL ALON ri bette artattants A teea neath ates 32 Sel D ADELA ONO PHOCCAUPE a3 iseit once breteletereocicu ss A SS 33 E ED 10 dx AR A A A O 33 SAN AA O O o A A A a ere ee 34 3 2 l COMMUNICAT
85. N 8 EN Ex Ea EN Connect the shield to the shell of the connector NC Not connected It is forbidden to connect this pin R510 19 SERAD S A IMD Drive User Manual 2 6 4 X5 Multifunction encoder input e Incremental encoder input e SSI encoder input e Stepper input e IMDbus input TTL 5V encoder 0 5V differential The choice of the input is made in the 1DPL software in the Multifunction encoder input window Connector SUBD 9 way male Type Incremental encoder Codeur SSI Stepper IMDbus np Channel A Direoton Tz np Channel A inverted Direction META Ee Channel E Pulse A Channel 8 inverted Pulse C OV _N Name 70 rez Supply for external 7 9 5Vdc Out N 5vac encoder 100 mA max 8 GND A AS SSI selection Connect Al HIELD Connect the shield to the shell of the connector If the feedback is SINCOS then do not use the 5V power supply pin 7 of connector X5 but an external power supply N O Zero marker inverted Clock N N C C C OV NC NC Not connected It is forbidden to connect this pin 2 6 5 X6 24V dc supply Connector Removable 2 way 5 08mm pitch 24Vdc ontrol card supply backup motor position R510 20 SERAD S A IMD Drive User Manual 2 6 6 X7 Digital VO Connector Removable 8 way 3 81mm pitch a E DAI inp nput 4 programmable Inp nput 3 programmable nput 2 programmable Inp inp Input 1 programmable standard func
86. Nopen windows Parameters are accessible between addresses 1000 and 4000 Flag variables are accessible between addresses EOOOh and EOOFh Byte variables are accessible between addresses E010h and EO8Fh Integer variables are accessible between addresses E090h and E18Fh Long integer variables are accessible between addresses E190h and E38Fh Real variables are accessible between addresses E390h and E58Fh Difference between IMD and MD table R510 MD Comment Reserved Reserved Parameter Reserved Reserved Parameter Reserved FRAM 4k word direct access Reserved Reserved Exchange PC Exchange PC Reserved Variables Variables see modbus dictionnary 276 SERAD S A IMD Drive User Manual 11 Remote control 11 1 Connections The remote control allows by a simple phone link to remotely control one or several IMD drive with 1DPL software The remote control is composed of an integrated dialler and two modems linked by a phone link 11 1 1 Structure The different parts are linked as shown PC with EDPL Touch panel Phone link 11 1 2 RS 232 link between the modem 1 and the MCS 32 EX 9 points SUBD pin assignment R510 2771 SERAD S A IMD Drive User Manual CN o Use a shielded cable with shield connected at each end Linkmg 11 1 3 RS 232 link between the modem 2 and the PC This link between the modem and the PC 1s made with the cable provided with the modem 11 2 Link establis
87. OSA TOOP OD VOT OEE EEEE AENEA ADEA AERAR ANNE AR EAR 140 RN a a 141 Fedele E O AN 14 AAA A O ini ct ts haa detec hana 141 PA ES dd ed rere 142 Sa DECLARATION OF AN AXIS IN VIRTUAL MODE tatiana lists 146 IE POSTING Na TEET RA AT AOS 147 10 15 ADSOLUTO MOVES LE A A A A A A a DEA 147 f Om 2 ROVE MOVEMOS ito 148 A LR AA LE A A ets de pact Sei TEATE Ses IA each Se cesdal E Raa 149 TEO AS TOPS CIN OVCINCN ice ctk eter at Naik eee ate ead o OI 150 FOI LOPE NOV CIN CUI enacts A eats Catan ine arenas meet aegis rate acing 150 DT WIN CHIRON IZ ATION E id deis 151 PLE Elecro PCOMDON tt teased A Aa A A a Ad a ad dia 151 Pa 2 O Y NCNVONISCO INOVCI S O a 152 IL COMPERSALIONJUNCUONS lt A AA dond 158 a A Seal gate A al nace Side rh elit ee eect oe dace 160 Lek SEMU IS UST CAN ODO Dietistas idad tors tnsttedegh dv uate p ea an 169 ARO LOPD EA MASLA AVEN SA AA dh EA R T Rast dont ne at te daiad 172 A A E E E E E A E E E EO 174 LR ACAP T Cola cl this T A E EA A A E E E A A la 174 12 AOMA COUS TO OL ONMO oor S E E E E E O A 173 19 TRIGGERED MOVEMENT id ltda 176 TOS VIRTUAL MAS e ile 179 PLCEROGRAMMING iii ii a E a E E 181 Sle DIGITAL TO ii di teo 181 LS RAS A NEE E NAE A EEN E A E E E E E aia EE etre dci 181 02 UC ONU o a a asses E A A AA 181 Ce PD ICO LINCOLN secs hice er lc ee le tle ale ec ht lec ec ec ec i lec ee ach 182 Oe UII SL nthe Sasa AA Rat deme a a Sadek a Stata aa atten Raat am ee ese see ee 182 A A oss becuse a cad dasr S 182 Se ANALICE VO Me
88. PDOEVENT lt NumPDO gt lt NumPDO gt from 01h to 08h Accepted types lt Variable gt lt NumPDO gt Byte Description Remark This function indicates 1f the request for a PDO 1s effective Y ou have to set the transmission parameters of the PDO to receive a PDO N PDOTX Send mapping data Syntax Description PDOTX This function sends mapping data O SDOB SDOI SDOL Read or write a remote variable Syntax 1 Syntax 2 Syntax 3 Syntax 4 Syntax 5 Syntax 6 Limits Description SDOB lt Index gt lt Sub Index gt lt byte or variable gt lt Variable gt SDOB lt Index gt lt Sub Index gt SDOI lt Index gt lt Sub Index gt lt word or variable gt lt Variable gt SDOI lt Index gt lt Sub Index gt SDOL lt Index gt lt Sub Index gt lt double word or variable gt lt Variable gt SDOL lt Index gt lt Sub Index gt lt Index gt from 0000h to FFFFh lt Sub index gt from 00h to FFh Syntax l and 2 lt Variable gt from 00h to FFh Syntax 3 and 4 lt Variable gt from 0000h to FFFFh Syntax 5 and 6 lt Variable gt 7FFFFFFFh This function reads or writes a remote variable in the dictionary of the IMD drive P SDOBX SDOIX SDOLX Read or write a remote variable Syntax 1 Syntax 2 Syntax 3 Syntax 4 Syntax 5 R510 SDOBX lt Index gt lt Sub Index gt lt Drive gt lt byte or variable gt lt Variable gt
89. RC cancels a CAPTURE function so it is possible to start another TRIGGERC with capture on input 3 4 15 16 fast inputs works like standard inputs 244 SERAD S A IMD Drive User Manual 9 10 133 TRIGGERI Trigger on input state Syntax TRIGGERI lt NumInput gt lt Edge gt lt NumInput gt from 1 to 16 lt Edge gt 0 for negative edge positive edge Description This instruction indicates that the next movement will be triggered on an input edge Example STTA 50 TRIGGERI 7 1 STTA 300 Absolute movement at 300 triggered on positive edge on input 7 Warning It is forbidden to use the same edge and input at the same time as counter capture and trigger functions 9 10 134 TRIGGERP Trigger on master position Syntax TRIGGERP lt MasterPos gt lt Edge gt lt MasterPos gt real position in master unit lt Edge gt 0 no edge for negative edge 2 positive edge Description This instruction indicates that the next movement will be triggered on master position Example STTA 50 TRIGGERP 200 2 STTA 300 Absolute movement to 300 trigger at master position 200 in positive sense 9 10 135 TRIGGERR Cancel a trigger without condition This instruction cancels the triggered movement without condition Needs to be used in another parallel task that had the TRIGGER instruction R510 245 SERAD S A IMD Drive User Manual 9 10 136 TRIGGERS Execute a
90. RITECAM D Capture R510 CAPTUREI and CAPTURE2 DISABLERECALE ENABLERECALE REGPOS1 Sand REGPOS2 S Start a relative movement Number of the running cam Slave position in the cam Equation number of the running cam Stop a cambox Apply a position filter during a synchronization Correction function Status of correction Electronic gearbox Modify the ratio of an electronic gearbox Load a cam Change a point of a cam Shift dynamically the master position Synchronized movement Read a cam point Shift dynamically the slave position Launches the execution of a cam Start an electronic gearbox Stop synchronization Status of the synchronized movement Write a cam point Start a position capture De activation of re alignment Automatic axis re alignment Read a captured position 192 SERAD S A IMD Drive User Manual REG1_S and REG2 S E Triggered move TRIGGERP TRIGGERI TRIGGERC TRIGGERS TRIGGERR F Virtual master MOVEMASTER S SSTOPMASTER STOPMASTER VIRTUALMASTER 9 7 PLC A Digital 1 0 R510 CAMBOX CAMBOXSEG INP INPB INPW OUT OUTB STARTCAMBOX STOPCAMBOX WAIT Capture state Trigger on master position Trigger on input state Trigger on capture Execute a trigger without condition Cancel a trigger without condition Movement state in virtual mode Stop movement in virtual mode without waiting for zero speed Stop movement in virtual mode Enable or disable virtual
91. RX Loop DELAY 10 Inputs SDOI 60FDh 0 Read Drive 3 inputs state GOTO Loop b Write outputs to IMD drive no 5 CANopenL 1280h 1 605h Initialization of the ClientSDO TX CANopenL 1280h 2 585h Initialization of the ClientSDO RX SDOI 60FEh 0 0 Write the outputs of drive no 5 via SDO OldOutputs 0 Loop IF OldOutputs lt gt Outputs THEN SDOI 60FEh 0 Outputs OldOutputs Outputs END IF R510 27 SERAD S A IMD Drive User Manual GOTO Loop C Communication by PDO a Drive no 1 Prog Delay 2000 Transmit PDO no 4 CANopenL 1803h 01h 0000048 lh COBID number CANopenB 1803h 02h 0FFh Transmission type cyclic CANopenB 1A03h 00h 01h Number of mapped PDO CANopenL 1A03h 01h 33000020h PDO mapping Receive PDO no 4 CANopenL 1403h 01h 00000482h COBID number CANopenB 1403h 02h OFFh Transmission type cyclic CANopenB 1603h 00h 01h Number of mapped PDO CANopenL 1603h 01h 33000A20h PDO mapping SetupCan 0 1 NMT Can 0 2 Can 1 1 Can 2 0 CanTx loop Delay 10 VLO VL0 1 goto loop EndProg b Drive no 2 Prog Delay 2000 Transmit PDO no 4 R510 272 SERAD S A IMD Drive User Manual CANopenL 1803h 01h 00000482h CANopenB 1803h 02h 0FFh CANopenB 1A03h 00h 01h CANopenL 1A03h 01h 33000B20h Receive PDO no 4 CANopenL 1403h 01h 00000481h CANopenB 1403h 02h 0FFh CANopenB 1603h 00h 01h CANopenL 1603h 01h 33000120h SetupCan 0 1
92. Regulation 30 6 A Offset Resolver C t E UITer e Pole pairs 3 Je Speed Phase Order OU CON OW _ Speed Position Full autotune A Current loop auto tuning ResolveurSinlos During this phase the motor makes small movements and calculates vibration limits then long movement depending on inertia Warning it is possible to make this phase with or without motor load except 1f the mechanics are weak B Speed loop auto tuning During this phase the motor turns at average velocity Warning The axis must be a rotary axis because the number of turns is unknown It is preferable to make this adjustment with the motor load for good stiffness C Position loop auto tuning During this phase the motor turn with a small velocity Warning it is possible to make this phase with or without a motor load D Complete auto tuning Executes all tuning routines R510 91 SERAD S A IMD Drive User Manual E Auto tuning precautions During auto tuning all securities are actives Pt etc To reduce or cancel overshoot at the beginning and end of a move set 0 1n acceleration compensation in speed loop following error will grow during acceleration and deceleration phases For a better system stiffness increase the proportional gain of the speed loop For a better system time response increase the integral gain of the speed loop If system becomes unstable reduce o
93. S SAGES idea erste ch Riel NA e e a Died let Sens ls wt Sule a Tt ee ln Tie dle 292 100 CANOPEN carton P E A a a a A eee 256 O A AAA O A 256 FOZ MID GAIN CAI A e ETET AR E AAA A A E TTE 260 TO E ASAC ONS LS aa ia 264 Ay Listo CANopen INSWCHIOMS O 264 B CAN Read and write a imessae esis hc ici 265 C CANERRCOUNTER Controls and erases the communication errors oooccccccccncnnnnnnnnnnnnnnnnnnnnnnnnnininininnnos 265 Dy CANERR Effordetecton arusini sce a a A E A A 265 ER CANEVENT esta message aiy Alors a ada 266 F CANOPENX Read or write a remote parameter oooococccncncnncnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnoss 266 G CANPOSSTATUS Receive status of the CAN poOSitiONn ccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeees 266 H CANPOSTIMEOUTRAZ Remove TIMEOUT error of CANPOSSTATUS function ccccccccnnnnnonnncnnnns 267 1 CANSENDNMT Sendan NMT on CAN Dustin dai 267 J CANSENDSYNCHRO Send a synchronization message on the CAN DUS oooooooooccccnnncncnnnnnnnnnnnnncnnnnnnnoss 267 K CANSETUPSYNCHRO Set up CAN synchronization for PDO messages oooccccccccncnnnnnnnnnnnnnnnnnnnnninnnos 267 LF CANTA a Sendra MES a ias tea teatanautien a 267 M PDOEVENT Testa PDO ara ao 268 Ne PDOTX Sendmappiidald td id a dc 268 O SDOB SDOI SDOL Read or write a remote varlable ccoooccnnncoccnnnnccnnnnocnnonocononocononocononoconaniccnanicnons 268 P SDOBX SDOIX
94. T che 1 Allows the activation of tasks at power on or by run function and defines a task priority R510 4 SERAD S A IMD Drive User Manual D Cam declaration ES MyProject Mi y drive 1 1 9 G Bf My dive 1 E t s Ag pts Outputs im oe oe A Vest My came 1 09 JO PSS o E 1 My drive 2 ges Inputs Outputs pu A Varnables E 1 My drive 3 Allows the definition of cams in flash memory a cam is defined by a starting position and a size E Drive files information MyProject a g hy drive 1 42 Inputs Outputs AL Variables Parametres file Cee de MESS Bi My drive 1 ids 131042004 08 33 14 Maeso O o My diyet 11241042004 18 12 06 Bvaitesie EE aires Op My dive Lope pava A gt A Variables Eamfles o o o PS Teds TMy cane can arava e sogas 1 Medir o ae CA E 1 Wy drive 33 Shows all files for the drive and allows importing or exporting files from to other projects R510 42 SERAD S A IMD Drive User Manual F Drive information MyProject MI y drive 1 1 3 EN Muy drive 1 E e Inputs Outputs 1 Wariablez Size 15 7 14336 Bytes ook Tasks Date 13102004 08 31 12 DPL WPL 200 5 puts Outputs oR Variables os of 200 ot Tasks 4 Info H A My drive 3 Shows the OS and software version as well as the drive memory in use 3 2 4 Project contents A project comprises a file ProjectName idw
95. TAN takes the ratio of two sides of a right triangle and returns the corresponding angle The ratio 1s the length of the side opposite the angle divides by the length of the side adjacent to the angle Example VRI ARCTAN 3 VR2 ARCTAN 1 See also SIN COS and TAN 9 10 21 AXIS Axis loop control Syntax AXIS ON OFF Description This instruction 1s used to open and close the control loop Remarks When the axis 1s in closed loop AXIS ON all of the movement instructions are transmitted to the axis via an intermediate movement buffer and are executed If the axis is in open loop AXIS OFF the movement buffer is cleared and the instructions MOVE S and FE S return a value of 0 Example AXIS ON closed loop control MOVA 1000 move to position 1000 OUT 3 1 set output 1 R510 202 SERAD S A IMD Drive User Manual Attention See also MOV A 2000 OUT 3 0 See also the enable mode on screen Parameters Digital Inputs Outputs AXIS_S SECURITY 9 10 22 AXIS S Read the state of the control loop Syntax Description Remarks Example See also AXIS S This instruction is used to read the state of the control loop and returns a value or 0 This instruction can be used at any time to see if the axis is enabled MOVA 100 If AXIS S 0 GOTO Error Error since the axis has changed to open loop AXIS 9 10 23 BUFMOV S Number of waiting movements Syntax Data types
96. TIMER lt VL n XX gt lt Value gt Data types Value Long integer Description The instruction LOADTIMER can be used to provide an active wait Variable VLXX 1s loaded with the sum of Time lt Value gt Remarks Up to 256 timers can be used simultaneously Example LOADTIMER VL129 3000 Load a time of 3000ms in variable VL129 See also TIMER Warning SAVEPARAM and SAVEVARIABLE functions distort time base 9 10 72 LOG Logarithm Syntax LOG lt Expression gt Accepted types Expression real Description Returns the natural logarithm of lt Expression gt Example VRO LOG 1 2 See also EXP 9 10 73 LOOP Virtual mode Syntax LOOP ON OFF Description This function puts the axis into a virtual mode and allows a program to be tested with neither an encoder nor a motor In this mode do not supply power to connector X10 LOOP ON function allow to ignorate E2 E7 and ES errors 9 10 74 MASTEROFFSET Dynamically shift the master position Syntax MASTEROFFSET lt Offset gt lt Acceleration gt R510 223 SERAD S A IMD Drive User Manual Description Limits Accepted types Remark This instruction dynamically shifts the master position for an absolute cam lt Offset gt Between 0 and the master modulo lt Offset gt Real lt Acceleration gt Real lt Offset gt Offset value to apply lt Acceleration gt Acceleration used to apply the offset increment T0 T
97. al 5 Trajectories 5 1 Introduction R510 The trajectory mode allows a PLC or an external controller to start one of up to 64 pre stored movements using the digital inputs to select a particular one Trajectories can also be controller by Modbus or CANopen communication DRIVE MO E gt Fld A Ell Elz oa 5d re MOTOR Each trajectory profile is defined by a speed acceleration and deceleration All of these parameters are stored in the first 64 real and long integer variables ny If iDPL is used at the same time as the trajectories any modification of VRO to VR63 or VLO to VL63 by the tasks will also modify the corresponding trajectory 103 SERAD S A IMD Drive User Manual 5 2 Trajectories using I O card 5 2 1 Implementation a Define trajectories To use the trajectories the drive must be in position mode e Select Trajectories in the menu Motion Control e Ifthe drive is connected to a PC the PC will search for any trajectories contained in the drive and display them Otherwise the user will be asked to open a trajectory file or create a new one i Trajectones OF ES Trajectories Mode Logic Input Output B Logic Input Output cceleration 72 Deceleration T i Trajectory definition Position Mode eed bsolute 7 T bsolute iT solute cr a mn y elative i Z a l O lative lativ
98. ameters into the non volatile memory bank 0 Command ATYO Meaning Selecting these parameters in the non volatile memory as parameter to be used at power on Parameters for an Wertermo TD31 or TD32 modem type R510 Command AT amp F Meaning Using default factory settings 283 SERAD S A IMD Drive User Manual e Command AT amp WO Meaning Store current parameters into the non volatile memory bank 0 e Command AT amp YO Meaning Selecting these parameters in the non volatile memory as parameter to be used at power on ATTENTION For Westermo modem it s also recommended to let the Dips configuration as default all OFF 11 2 3 Call By using the phone dialler integrated in the DPL software we can establish and interrupt the phone link The phone dialler 1s accessible form the Communication menu Remote control loxi Dial ae 0240972454 Hangup Close After entering the phone number click on Dial button to establish the link The Hang up button allows to interrupt the link When the link is established we can use all the MCB functions including Send and receive the configuration variables tasks CAM FRAM memory e Start and stop the tasks e Access to debug tools Hyper terminal Scope Trace Manual mode e Reload OS e Access to all network drives R510 284 SERAD S A IMD Drive User Manual 11 3 List of the validated modems e
99. and a folder ProjectName data The folder contains e Files DriveName ids containing the drive parameters in text format e Files DriveName idp containing the drive information in text format gt I O declaration gt Variable declaration gt Task declaration e Folder DriveName data containing the files gt Files TaskX dpl containing the task code in text format gt A file DriveName dpi containing information relating to the drive gt A file DriveName dpo containing oscilloscope set up relating to the drive R510 43 SERAD S A IMD Drive User Manual A file DriveName dpv containing a list of variables and their values A file DriveName trj containing trajectories relating to the drive A folder bin containing the compiler output files and parameter files required by the drive Files dpt containing hyper terminal setup Files cam containing cam profile 3 3 Menus and icons 3 3 1 Project iDPL IMD Series software MyProject Parameters Communication Set up tools Motion Control Language iDPL Options Help New Oper Save Save as Close Setup Preferences Print Exit 1 D Produits SERAD WY ariateur 1 MyProject idw A New Icon Action Define a new project B Open Icon Action Open an existing project R510 44 SERAD S A IMD Drive User Manual C Save Icon Action D Save as Icon Action E Close Icon Action
100. and goes on to the next CAM STOP 9 10 46 EXIT SUB Exit a subroutine Syntax Description See also EXIT SUB This instruction exits a subroutine SUB 9 10 47 EXP Exponential Syntax Accepted types Description Example See also EXP lt Expression gt Expression real This function returns e natural logarithm base raised to lt Expression gt power VRO EXP 2 LOG 9 10 48 FEMAX S Following error limit Syntax Description Remarks R510 FEMAX S This flag is set to when the following error exceeds the level in the following error parameter accessible from the menu Parameters Supervision Position This function can be used to determine if a following error fault has occurred If the instructions SECURITY 0 or SECURITY 1 have 212 SERAD S A IMD Drive User Manual Example See also been used it is recommended that this flag be monitored in a dedicated error handling task The flag 1s reset to zero e If input is configured as NONE FEMAX Sis set to 0 with an Axis On instruction in a task or on the rising edge of the enable button in the main DPL window e Ifinput l is configured as ENABLE FEMAX Sis set to 0 on the rising edge of this input e Ifinput l is configured as ENABLE iDPL FEMAX S is set to 0 is input 1 1 and an Axis On instruction has been executed in a task IF FEMAX S 1 GOTO Error GOTO Start Error FE_S S
101. and must be redefined before reuse CAMBOX 1 1 4 Cam box 1 master encoder 4 segments CAMBOXSEG 9 10 26 CAMBOXSEG Cam box segment Syntax Limits Units Data types Description R510 CAMBOXSEG lt BoxNo gt lt SegNo gt lt OutputNo gt lt Start gt lt End gt Box number to 2 Segment number 1 to 4 Output number to 10 Start End User units Box number Segment number Output number Byte Start End Real This function defines one segment of a cam box 204 SERAD S A IMD Drive User Manual Remarks Example See also The output 1s set to 1 between lt Start gt and lt End gt CAMBOXSEG 1 2 4 0 90 The second segment of box 1 sets output 4 between 0 and 90 the user units having been defined as degrees CAMBOX 9 10 27 CAMNUM_S Number of the running cam Syntax Accepted types Description Remarks Example See also lt Variable gt CAMNUM S lt Variable gt Integer this instruction returns the number of the running cam The returned value is valid only if CAM S is set IF CAMNUM _S 1 THEN GOTO ATTENTE FIN CAME 1 Cam 1 running IF CAMNUM_ S 2 THEN GOTO ATTENTE FIN CAME 2 Cam 2 running CAM S CAMSEG S 9 10 28 CAMREADPOINT Slave position in the cam Syntax Description Accepted types Remarks lt Slave position gt CAMREADPOINT lt Master position gt lt NumCam gt This intruction allows to ca
102. asks Restart drive 66 SERAD S A IMD Drive User Manual A Online e Icon Action Establish communication with the drive All parameters shown on the screen correspond with the values stored in the drive B Offline ole Icon Action Continue to work without being connected to a drive C Parameters LE Icon Action When working online you can e Send parameters PC gt Drive send a parameter file from the PC to the drive These parameters are automatically saved in the drive e Import from file and send allow to send an external parameter file from PC to drive These parameters are automatically saved in the drive e Save drive parameters transfer the current drive parameters to Flash memory This allows them to be restored automatically after a supply interruption D Trajectories Icon Action Send or receive the 64 pre programmed movements R510 67 SERAD S A IMD Drive User Manual E iDPL variables Icon Y Action Sends or receives the initial values of the variables to or from the drive O Only variables VRO toVR63 and VLO to VL63 are applicable At each power on of the drive these 128 variables are loaded with these initial values F Cam profiles Icon oF Action Sends or receives Cam profiles in FRAM G Saved data Icon Action Sends or receives data save in FRAM H iDPL tasks Icon Action Allows the user to
103. ates if the axis is moving simple or synchronized movement If the axis 1s open loop AXIS OFF the instruction MOVE S 0 If the axis is closed loop MOVE S 1s equal to 0 if the 4 following points are true The current positioning movement is complete The following error is within the positioning window The movement buffer 1s empty In the case of a slave axis linked by a synchronized function the link must already have been broken If one of these points is false the instruction MOVE S returns a value of 1 STTA VRIO WAIT MOVE S OFF Wait until the axis 1s stopped In VIRTUALMASTER mode MOVE Sis null if this 3 points are true The following error is within the positioning window The movement buffer 1s empty In the case of a slave axis linked by a synchronized function the link must already have been broken 225 SERAD S A IMD Drive User Manual 9 10 79 MOVEMASTER S Movement status in virtual mode Syntax Data types Description Example MOVE MASTER S Bit MOVE MASTER S is equal to 0 if the 3 following points are true Virtual mode is active The current positioning movement is complete The movement buffer 1s empty In the case of a slave axis linked by a synchronised function the link must already have been broken If one of these points is false the instruction MOVEMASTER S returns a value of 1 VIRTUALMASTER ON STTA VR10 WAIT MOVEMASTER S OFF Wait until the tra
104. ave gt must follow the master in both directions Input 0 for a non reversible cam if the master moves in the opposite way as the one defined in lt Direction gt the slave stops It will start off again when the master will go in the right way and pass by the position where the slave stopped Input 1 for a reversible cam The slave follows its cam profile whatever is the master direction lt Direction gt Input 0 for no direction 1 for a negative direction 2 for a positive one R510 164 SERAD S A IMD Drive User Manual lt MasterGain gt Applied coefficient to cam master position default value 1 lt SlaveGain gt Applied coefficient to cam slave position default value 1 lt NumberNextCam gt Input 0 if the cam must not be followed by another one If it is not the case input the number of the next cam from to 5 lt NumberPreviousCam gt Input 0 if the cam will not start at the end of another one If it 1s not the case input the number of the previous cam from 1 to 5 E Launching a cam To launch the execution of a cam use the instruction STARTCAM Its syntax is STARTCAM lt NumberCam gt lt NumberCam gt number of the cam from 1 to 5 F Chaining cams Here is a cycle made of three cams C1 with an input profile single shot C2 repetitive and C3 with an output profile single shot C1 is chained with C2 and C2 to C3 A Slave position Master position gt Cam
105. axis is between 10 and 20 WAIT REGI S 1 Wait for the capture VRI REGPOSI S VR1 captured position CAPTURE or CAPTURE2 REGPOS1_S or REGPOS2 S 9 10 99 REGPOSI S Last Capturel position Syntax Description Example See also R510 lt VR XX gt REGPOS1 S This function returns the last position captured by execution of the instruction CAPTURE CAPTURE1 0 4 1 10 20 1 Capture the motor position on the rising edge of input 4 when the axis is between 10 and 20 WAIT REGI S 1 Wait for the capture VRI REGPOSI S VR1 captured position CAPTURE or CAPTURE2 REG1 S or REG2 S 232 SERAD S A IMD Drive User Manual 9 10 100 REPEAT UNTIL Syntax Description Remarks Example REPEAT lt Instructions gt UNTIL lt Condition gt This structure allows to the system to execute a list of instructions in a loop as long as the given condition is wrong In the structure REPEAT UNTIL the lt Instructions gt are executed at least once even if the condition 1s true The execution of this instruction launches the execution of the next task VEL 100 High velocity STTA 2000 move to 2000 REPEAT VRO POS S IF VRO gt 1000 THEN VEL 50 Medium speed at position 1000 END IF UNTIL NOT MOVE S Re loop until end of movement 9 10 101 RESTART Restart the system Syntax Description RESTART Restart the system in the same way as at power on 9
106. be extended to contain any other necessary components The CAN bus is a multi master bus Unlike in other field buses the messages are identified and not the connected modules The network elements are allowed to send their messages each time the bus 1s free Bus conflicts are resolved by a priority level given to each message CAN bus messages are divided into 2032 priority levels All elements of the network have the same rights and so this form of communication is only possible without a bus master Each element decides for itself when data is to be sent It is however possible to send data by another means This demand is made by the remote device The CANopen specifications DS 201 DS 207 define the technical and functional characteristics required by any device connected to the network CANopen makes a distinction between devices that are servers and clients B CANopen communication The CANopen communication profile allows information for the data exchange and the parameters to be specified in real time CANopen uses services optimised for different types of data PDO Process Data Object gt Exchange data in real time R510 256 SERAD S A IMD Drive User Manual 5 High priority identifier gt Synchronous or asynchronous transmission gt Maximum of 8 bytes one message gt Pre defined format Y SDO Service Data Object gt Access the objects dictionary of a device gt Low priority identifier gt Asynch
107. be displayed in the display area To delete a variable or a parameter select it in the display area and click on icon You can display 16 variables or parameters maximum It is possible to save or load a HyperTerminal configuration with icon Record area used to modify a variable VF VB VI VL VR FRAM variable FI to integer FL to long integer and FR to real long integer and real use 2 consecutive address or a parameter 3 3 5 Motion control Menu only available in position mode DPL IMD Series software MyProject gt Project Parameters Communication Set up tools Motion Control Language iDPL Options Help a Configuration Horne GA Master Slave a Trajectories a Cam editor A Configuration a Icon Action Set the working units mm degrees as well as the default speed acceleration and deceleration R510 77 SERAD S A IMD Drive User Manual e Units Setup Motion control E Units Units Speed profile E 1 00 Example 1 Linear axis Motor connected to leadscrew with 5mm pitch Units mm Rin 1 Rout 1 Distance per rev 5 000 Modulo not active Example 2 Rotary axis Motor with 10 1 reduction gearbox 360 rotary table on output of gearbox Units degrees Rin 10 Rout 1 Distance per rev 360 000 modulo active with a value of 360 000 Note the number of decimal places is a parameter in menu Options Language iDPL R5
108. ccepted types Description See also STARTCAM lt NumberCam gt lt NumberCam gt to 5 lt NumberCam gt Byte this instruction launches the execution of a cam LOADCAM 9 10 115 STARTGEARBOX Start electronic gearbox Syntax Description Accepted types See also STARTGEARBOX lt Master acceleration dist gt This instruction initiates an electronic gearbox using an acceleration and a ratio previously defined by GEARBOX The ratio between master and slave is Ratio x lt Numerator gt lt Denominator gt with lt Numerator gt and lt Denominator gt defined in the instruction GEARBOX lt Master acceleration dist gt 1s real With Ratio that corresponding to the value of GEARBOXRATIO GEARBOX GEARBOXRATIO 9 10 116 STATUS Task status Syntax Description Remarks Example STATUS lt TaskNo gt This function returns the state of a task Possible values are O The task is stopped 1 The task is suspended 2 The task is running Run 2 Wait Status 2 0 9 10 117 STOP Stop the axis Syntax Description R510 STOP This function stops the axis using the current deceleration This function blocks the task until the axis has stopped 238 SERAD S A IMD Drive User Manual Remarks Example See also Warning The axis stops even if the axis is linked by the GEARBOX function The instruction STOP empties the movement buffer and
109. ccoccnnccnncnncononcnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnonancnnnnnos 108 ODON A ee ee See ee ee eee eee ey ee ne 85 OR cee A 227 ORDER ira dei eel rad deco ice delos acti db 227 228 ORDENES Sr Oo ae re Se a oer ee a lies acto ac 228 A te ag E ee ne re eee eee ee 228 A ee ete ees nn eer eee Mee er ear eee ee ee een eee eres 229 P FCCC S aot cede oia 47 48 53 54 66 126 127 Passive Wallonie aaa 184 PDOEVEN Td dd o ai 268 P DOTA td on 268 PO Sun oa 229 POS O o po sa 229 Position loop adjustment esnin a ia 98 ProJECUCOMENIS caniin n a a ado 43 Project managemen aaien a coi 39 R A hg are exis are E E E E 183 O olen a 181 Read Me GUMUS lt a ld e dot adan etantes 182 READ cs ete eps ee aa a beers ceed eaten rene gees 231 READ E lo orton ae 231 NEAL ARA Vb ls del a 232 READ as linia 231 NOU eclesial 137 REPEAT UNTIG 000 cc a 233 RESTAR Tos dalt cia occ 233 RUN E o tacteatc camel susan Laaene it a a a aac ieaterctant na catish Pectin aateohe detente satiate 233 R510 288 SERAD S A IMD Drive User Manual S Saved CAs sce Stach ee ee Sec eae ec eae eee eae ee eee 124 A tab eim a dedi one E R E 124 SAVER ARAM wraecetauceh depen o led aie nbc aeen aidan da aoe les 234 SAVEVARIABLE leo lea 234 SECURITY dd tai 235 SUN A AS A is 136 SETUP AN a A dae A 269 SSL RR re ete etc oe PN CE ern eRe eee ER er Ren Pent aE 235 A ne CR See eS eR Ee CR eR ee nS eee 236 Speed loop adjustMent ooccccoccnccccnnccccnnccnnnncnnnncnnonnno
110. celeration The instruction is non blocking and allows the ratio to be changed at any time without stopping the gearbox GEARBOXRATIO 2 GEARBOX STARTGEARBOX 9 10 54 GOTO Jump to a label Syntax Description Remarks Example See also GOTO lt Label gt Jump to a label A label is a name followed by a The execution of this instruction causes the multi tasking controller to move on to the next task GOTO Begin Begin IF 9 10 55 HALT Stop a task Syntax Description Remarks Example R510 HALT lt TaskNo gt This instruction 1s used to stop a running task or a suspended task This function has no effect on a task already stopped It does not affect current movements or the movement buffer Begin Wait Inp 8 On RUN 2 Wait Inp 8 Off aoe SERAD S A IMD Drive User Manual HALT 2 Goto Begin Warning After a HALT function it is recommend to wait for the task to be completely stopped Wait Status Task num 0 See also RUN SUSPEND CONTINUE 9 10 56 HOME Go to home datum Syntax HOME lt Type gt Reference Description This function forces the axis to return to 1ts home position using the method defined by lt Type gt This instruction blocks the task until the homing 1s complete and also causes execution to transfer to the next task Homing uses the speed set on the screen Motion control Home Values for lt Type gt are 0 immediate
111. connector DRIVE SERAD 4 twisted pairs 2 x 0 22mm MOTOR C Standard shield RESOLVER CONNECTOR a s e 7 SHIELD WIRE 4 SIN nm 18 SIN 13 COS E COS o O 5 REF 9 REF 5 z L 6 TEMP LI i Cee UY 12 TEMP SHIELD Resolver connector SUB D 9 way male Metallic casing Shield reverse around the ring Resolver Cable clamp connector M23 R510 24 SERAD S A IMD Drive User Manual 2 6 11 X12 Analogue I O Connector SUBD 9 way male Name Type Description Analogue input 2 Analogue input 2 assigned to torque limit nalogue input 1 nalogue input 1 assigned to speed or torque command AGND OV analogue Out 12V 20 mA output OV analogue Out 12V 20 mA output Out nalogue output function monitor gt E E O onnect the shield to the shell of the connector ip 7 A 1 2 6 12 X13 Option SinCos encoder input Connector SUBD 15 way male escription otor temperature sensor Hi OV analogue DATA In Dev RS485 HIPERFACE CLOCK In Dev 5V 200 mA output In Dev SS Inp Cosine Hi inp np np ine Hi np n 8 3V 150 mA output HIPERFACE Came SIN In Dev in development otor temperature s
112. ction stops sending positions on the CANopen bus Accepted values lt PDO gt PDO number 1 to 8 V VB VI and VL Read or write a remote variable Syntax 1 VB lt Index gt lt Sub Index gt lt byte or variable gt Syntax 2 lt Variable gt VB lt Index gt lt Sub Index gt Syntax 3 VI lt Index gt lt Sub Index gt lt word or variable gt Syntax 4 lt Variable gt VI lt Index gt lt Sub Index gt Syntax 5 VL lt Index gt lt Sub Index gt lt double word or variable gt Syntax 6 lt Variable gt VL lt Index gt lt Sub Index gt Limits lt Index gt from 0000h to FFFFh lt Sub index gt from 00h to FFh Syntax l and 2 lt Variable gt from 00h to FFh Syntax 3 and 4 lt Variable gt from 0000h to FFFFh Syntax 5 and 6 lt Variable gt 7FFFFFFFh Description This function reads or writes a remote variable of an IMD drive R510 270 SERAD S A IMD Drive User Manual 10 2 4 Examples A Exchange variables between IMD drives a Changing another drive s variable VR 2 3 VRI send value of VR to drive n 3 in VR2 b Reading another drive s variable list VB1 0 REPEAT Read from drive n 5 VRO VB1 VR VB 1 5 variables from VRO to VR9 VBI VBI 1 UNTIL VB1 10 B Communication by SDO a Read inputs states from IMD drive no 3 CANopenL 1280h 1 603h Initialization of the ClientSDO TX CANopenL 1280h 2 583h Initialization of the ClientSDO
113. d units per s e g mm s degrees s revs s etc Real 199 SERAD S A IMD Drive User Manual Description Remarks Example See also This instruction reads or modifies the current acceleration value lt Expression gt must be a valid real expression The current acceleration can be read or modified at any time ACC 500 VRO 1000 ACC VRO DEC POS and VEL 9 10 14 ADC 1 Read analogue input 1 Syntax Unite Limits Data types Description Example See also lt Variable gt ADC 1 Variable Volt Variable 10V lt Variable gt Real This function returns the voltage on analogue input 1 VRI1 ADC 1 DAC ADC 2 9 10 15 ADC 2 Read analogue input 2 Syntax Unite Limits Data types Description Example See also lt Variable gt ADC 2 Variable Volt Variable 10V lt Variable gt Real This function returns the voltage on analogue input 2 VR2 ADC 2 DAC ADC 1 9 10 16 ACC Acceleration in percent Syntax Data types R510 ACC lt Expression gt Byte 200 SERAD S A IMD Drive User Manual Data limits Description Remarks Example See also l to 100 This instruction modifies the current acceleration as a percentage of the acceleration parameter The acceleration parameter can be set on screen Motion control Configuration Speed profile ACC 10 Set t
114. diagnostic tools menu Select the signals SINE and COSINE in RESOLVER then start the data acquisition Turn the motor by hand and observe the signal traces If the highest and lowest points of signals exceed 0 9 or 0 9 go to the list of resolver parameters accessible with the advanced parameters option and reduce the value of Gain excitation If the signals are too weak between 0 5 and 0 5 contact our technical department Execute the feedback auto tuning b SinCos Enter SinCos resolution and serial link Open the control panel in the diagnostic tools menu Check that the position is increasing correctly when you turn the motor Execute the feedback auto tuning 88 SERAD S A IMD Drive User Manual c Feedback offset adjustment 1 Provide the drive with its main AC supply 2 Enter options then accessibility and select advanced parameters 3 Enter diagnostic tools and select auto resolver offset The drive will energise the motor windings and automatically measure the resolver offset This step lasts only a few seconds 4 Close the parameter window 5 Save the parameters 4 2 Adjustment of drive enable mode To facilitate adjustment of the various control loops the drive enable mode should initially be set as follows e Select the menu Parameters Digital inputs outputs a Digital inputs outputs Funchons Iriver Filter Intarnal Input 1 Enable DPL fe CL ak Inout 2 Poste
115. distance of master axis The slave axis must be linked to the master axis by a synchronized function before the execution of the correction instruction With the synchronized movement of the slave axis the next movement is superposed During the distance of the master axis a movement lt Dist slave gt is added with an acceleration and a deceleration on a lt Dist accel gt All other ICORRECTION functions are ignored if one correction function 1s running or if lt Dist master gt is null 9 10 61 ICORRECTION S Correction status Syntax Accepted types Description 9 10 62 IF Syntax 1 Syntax 2 Syntax 3 Description R510 lt Variable gt CORRECTION S lt Variable gt bit This function returns the status of the running correction return 1f ICORRECTION is running else return 0 IF lt Condition gt GOTO lt Label gt IF lt Condition gt THEN lt Instructions 1 gt END IF IF lt Condition gt THEN lt Instructions 1 gt ELSE lt Instructions2 gt END IF The keyword IF begins a control structure IF THEN ELSE END IF It must appear before all other part of the structure lt Condition gt must be a Boolean expression 219 SERAD S A IMD Drive User Manual Remarks Example If lt Condition gt is true then lt Instructions1 gt are executed If lt Condition gt is false then lt Instructions2 gt are executed lt Condition gt must be a Boolean ex
116. djustments If you have transferred a parameter file for the motor and drive combination in use then it will not be necessary to adjust the control loop parameters or the resolver offset e Select drive nominal voltage in the parameter windows For each value security parameters change brake resistor over voltage e Ifnot the parameters can be adjusted by selecting the menu Parameters motor resolver The following menu is displayed ll Motor 7 Resolver ha ator P Temperature sensor RecoherxiT Hes R510 87 SERAD S A IMD Drive User Manual A Motor adjustments Refer to the motor manufacturer s data or the motor nameplate e Enter the motor parameters rated current maximum speed etc In normal situations enter a maximum current of 200 of the rated current B Feedback adjustments R510 e Select feedback Resolver or SinCos a Resolver ny The resolver must be a TAMAGAWA TS2620N21E11 or equivalent For other resolver types verify suitability before use Verify that the SINE and COSINE signal of the resolver vary between 0 9 and 0 9 This should be done using the software oscilloscope function as follows Supply the drive with 24V DC only connector X6 the resolver and the RS232 serial link already being connected Open the control panel in the diagnostic tools menu Check that the position is increasing correctly when you turn the motor Open the oscilloscope in the
117. during a synchronization o e 213 IDIL PRAC F rachond I POTT Aane a A A tele E A dd 214 DODGE ATO A A A A A sau saie sldhbeustanacenunl ssgncssa he teremaadenapsuantionxechiiauns 214 R510 4 SERAD S A IMD Drive User Manual POTI G EARBOXRAT I dd cdt cid tonos 215 LOA GOTO J mp toG label aone ei asin 215 GAVIA HALT Op ios i ba 213 02702902 HOME Goto home datumi ASA AAA AAA 216 0 10 57 HOME 1S Read homing Status tl iS ta Zhe 9 10 58 HOMEMASTER Go to NOME on master axis A A A a 217 9 10 59 HOMEMASTER S Read master homing Status oooooonnonnnocoononooonnnnnnnononononononnnonnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnninoss 218 9 10 60 1C ORRECTION Correction bs 218 O TU O1STOORRECOTION S COPECO TOMAS e Sisal ade wiahiehes Ea 219 AO L EE E A EE A E A A A A entaases 219 RN AAA E E E ET 220 O 10 064 1NPB Read a block OT 8 MPU aerer aE n O ana 220 IOGAN W SCAG T CLO TAL LAU S ssi A A N N ees tena 220 Dol O20 G2INT IMOT PU dobla 221 9 106 LOAD CAM load A CAM ii A Ai ii 221 9 10 68 LOADCAMPOINT Change a point Of a COM ooooooononnconnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninos 222 9 10 69 LOADPARAM Reload the drive parameters oooooooocoocoooooooonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninnnos 222 9 10 70 LOADVARIABLE Load sav d variables omosoisienussi aa N E NE 222 9 10 71 LOADTIMER Load a variable with a timer value oooonnnnnnnncoooananannnononononononono
118. e a 2 im th l iig J ae o T l m in o amoo als 1 I 5 2 l Pa o Elm u u on ra I O SO ola S o a oa ie ame i g nfinite nfinite bsolute bsolute solute bsolute i cr EP pie an ee ee i E ma LA me e Select mode to use trajectories e For each trajectory you must enter 1 A position 2 A mode absolute relative infinite infinite or home 3 A speed in 4 An acceleration in 5 A deceleration in ny All of the values entered relate to the units and speed profile entered in Motion Control Configuration R510 104 SERAD S A IMD Drive User Manual Make a HOME by trajectories 1 Declare a trajectory 2 Setup home datum in Motion Control Home 3 Setup input 4 as Home function in Parameter Digitials inputs outputs if you use sensor Save the trajectories with Communication Trajectories Save trajectories b Simulate trajectories In the screen Define trajectories you can simulate the trajectories entered Select a trajectory Start a btraqjector Stop a trajectory 1 Verify that the drive is enabled and that the Active box is selected 2 Select the number of the trajectory to execute 3 Press START to launch the trajectory 4 Press STOP to stop the movement before the end c TRJ files e It is possible to save the trajectories in a file tr with Communication T
119. e VR102 0 IF VR100 0 EXIT SUB VR102 VR100 VR101 END SUB C Branch to a label The GOTO instruction causes a branch to a label A label is composed of a name ending in If the GOTO instruction is used within a subroutine the label must be in the same subroutine SUB END SUB structure A branch using the GOTO instruction can be directed either forwards or backwards in the program For example GOTO Labell Labell D Operators Expressions are made up of operators and operands In Basic nearly all operators are binary meaning that they use two operands Operators using only one operand are called unary operators Binary operators use common algebraic forms e g A B Unary operators are always placed before the operand e g NOT A In complex expressions priority rules govern operator order NOT i DIV MOD AND lt lt gt gt 2 IR XOR R510 131 SERAD S A IMD Drive User Manual ny In one program line a single operator can be treated a Arithmetic operators The operator NOT 1s a unary operator The operators and are used as both unary and binary operators the remainder are only binary A unary operator has only one parameter For example NOT lt Expression gt A binary operator requires two parameters For example lt Expressionl gt lt Expression2 gt b Binary operators Byte Integer Long integer or real Operand type Eyte Integer Long integer or real Operand
120. e can they be different D Trajectories E Icon Action Launches trajectories selected by the digital inputs See section on trajectory definition E Cam editor Icon W Action Edit a Cam profile See section on cam R510 81 SERAD S A IMD Drive User Manual 3 3 6 DPL language SI IMD Series software MyProject Project Parameters Communication Set up tools Motion Control Language iDPL Options Help Edit variables Edit task Compile tasks Ctrl F Search in tasks A Edit variables el e Icon a Action Examine and modify variables contained in the drive file dpv and send these to the drive using the command Communication Variables iDPL Send variables RETE ES Variables TnL 7 l Saved 1 Not saved Mol saved WA BS B Edit a task S Action The task editor allows the user to enter and modify the Basic code used by the program Icon R510 82 SERAD S A IMD Drive User Manual i Task editor Mi READ STATUS Foot Call Status sub A READ INPUTS r k wie y Inp ut 3 Md Inpw CO WRELTE OOP ae e read current state If Oldoutputs outputs Md Goto Outputs end OldOutputs Outputs Md VB2 50 Dutb i1 VB251 Dutb i set bloci 51 58 depending command state and mask VI254 Outputs Md And CutputsMask Ma Vil2ss Outputstask Md VBeaso V1l255 VB255 Hot VBZ255 VB250 WB250 And VBZ255 VB255 V1254
121. e edge lt Window gt if true then the input is only tested when the axis 1s between the positions lt Min gt and lt Max gt lt Interior gt defines whether the test is performed inside or outside the limits lt Min gt and lt Max gt lt Min gt must always be less than lt Max gt ENABLERECALE cancel CAPTURE function CAPTURE 0 2 1 0 0 0 0 Capture on positive edge on input 2 ENABLERECALE 1 0 1000 Use parameter of CAPTURE set position to O and acceleration to 1000 DISABLERECALE 0 B DISABLERECALE Cancel axis re alignment Syntax DISABLERECALE lt Axis gt Limits lt Axis gt 0 slave axis or 1 master axis Description This instruction cancels the axis re alignment to a sensor 7 9 Triggered movement 7 9 1 Triggered movement Triggers a movement with an event e amaster position e an input e a capture R510 176 SERAD S A IMD Drive User Manual On a triggered movement the task which launches triggered movement is paused until the movement start TASE Paused task MOVS start and task MOVE S next instructions EDFMOY l o A TRIGGERP This instruction indicates that the next movement will be triggered on master position Syntax Example TRIGGERP lt MasterPos gt lt Edge gt lt MasterPos gt real position in master units lt Edge gt 0 no edge 1 negative edge 2 positive edge STTA 50 TRIGGERP 200
122. e gt lt Number gt lt SingleShot gt lt Reversible gt lt Direction gt lt MasterGain gt lt SlaveGain gt lt NumberNextCam gt lt NumberPreviousCam gt this instruction loads a cam in the drive lt NumberCam gt l to 5 lt Absolute gt 1 for absolute cam else 0 lt Table gt First element of the table to define the cam 0 to 511 lt Number gt Number of elements of the table to define the cam 2 to 512 lt SingleShot gt Define the automatical re looping of the cam 0 Re looping cam it will be stopped only when the stop instruction will be executed 1 Single shot cam lt Reversible gt Inducates 1f the lt Slave gt must follow the master 1n both directions Input 0 for a non reversible cam if the master moves in the opposite direction to that defined in lt Direction gt the slave stops It will start off again when the master goes in the correct sense and passes by the position where the slave stopped Input 1 for a reversible cam The slave follows its cam profile whatever the master direction 221 SERAD S A IMD Drive User Manual lt Direction gt If the cam is not reversible you must indicate the usual direction of the master Input 0 for no direction 1 for a negative direction 2 for a positive direction lt MasterGain gt Applied coefficient to cam master position default value 1 lt SlaveGain gt Applied coefficient to cam slave position default value 1
123. ears on the status display The control of this value is very important a value too small can lead to spurious errors a value too large can reduce the overall safety margins of the machine Warning the value of the following error depends of the unit in the Motion control Units window e Position window A the end of a movement the movement is considered to be completed only when the difference between the actual position and the theoretical position 1s less than the position window value Warning the value of the position window error depends of the unit in Motion control Windows units H Motor Icon Action Configure the motor and resolver R510 57 SERAD S A IMD Drive User Manual E Motor Resolver Motor y Temperature sensor Motor feedback Recoherxi1 mes a Motor Rated current The rated current of the motor in amps Maximum current A percentage of the rated current Default value 200 Rated torque Rated motor torque in Nm only use for display Pole pairs Must correspond to the motor being used Nominal speed Nominal speed rev min Maximum speed A percentage of the nominal speed use to limit the motor in speed loop R510 58 SERAD S A IMD Drive User Manual b Temperature sensor Type PTC or NTC PTC sensor Error when the sensor in over drive sensor threshold NTC sensor Error when the sensor in under drive sensor threshold Seuil declenchement T
124. eate a new project with the drive number of the machine To connect to another drive select a drive in the drive list of iDPL software The CIMDP cable can be connected to any drive ny PC uses node ID 1 so your CANopen network must start at address 2 It is OBLIGATORY to be in system communication between PC and drives for multidrives project Q Default project is saved in the Project directory of the DPL software In off line working you must open a project and a parameter file R510 36 SERAD S A IMD Drive User Manual 3 2 2 Initial screen The iDPL software is characterized by a main window that contains a menu bar icon bar and a number of selectable windows The ability to have multiple windows allows the user to simultaneously view several aspects of the drive iDPL IMD Series software MyProject ajx Project Parameters Communication Set up tools Motion Control Language iDPL Options Help z gt S My drive 1 Y fa Ri als Q l E Sl lt gt SS Y omy Parameters lu Instrument panel Selah Drive Mode Position 1 Model IMD 710 Drive motor Analog 3 Node ID Address 1 Rated current 4 10 00 Degrees Position Maximum current 4 20 00 Enable Nominal voltage 2304 Current loop Speed loop Position loop Analogue inputs outputs Digital inputs outputs W Hyper Terminal Oscilloscope s E Hyper terminal My chive 1 Digital
125. eated execution of one or more instructions in accordance to an expression value REPEAT instruction syntax is described below REPEAT lt Instructions gt UNTIL lt Expression gt In this instruction if lt Expression gt is right before the REPEAT structure beginning there is one loop lt Instructions gt are executed unit lt Expression gt is right For example VEL 100 Fast velocity STTA 2000 Start absolute move to position 2000 R510 134 SERAD S A IMD Drive User Manual REPEAT VRO POS S IF VRO gt 1000 THEN VEL 50 Slow velocity at middle distance END IF UNTIL NOT MOV S Loop until motor stop R510 135 SERAD S A IMD Drive User Manual 7 Motion control programming 7 1 Introduction The drive can control a servo axis and a master encoder The iDPL software contains numerous instructions associated with motion control positioning electronic gearbox superposition synchronised movements etc The position counter can count up to 2 147 483 647 motor revs The sense of the position control loop can be inverted in the parameter list Motion control Invert motor sense Caution this does not reverse the rotor position shown on the instrument panel 7 2 Configure an axis 7 2 1 Setup an axis An axis must be set before using it The parameters access 1s from the Parameter menu or from a direct acces by the windows parameter Parameters Drive R510 El Drive Mode P
126. ed drive Ability to work and edit parameters without being connected to a drive On line help for each window 1 3 3 DPL programming language R510 The IMD series drives incorporate a real time multi tasking kernel and have more than 1000 user variables The pseudo basic language 1DPL allows users to develop test and save their own application programs These applications can use any combination of operating modes e g torque speed and position All of the I O can be controlled from within the program as well as parameters and variables 11 SERAD S A IMD Drive User Manual 2 Installation 2 1 General R510 ny It is very important to adhere to the following A badly earthed connection can damage electronic drive components The drive must be installed vertically in free air to ensure cooling by natural convection It must be protected from excess humidity liquids and dirt The motor resolver and encoder cables must be screened the screen being earthed at both ends of the cable The analogue I O must use screened cable the screen being earthed at one end only 4 The cable for the RS 232 serial link between the drive and the PC must be screened the screen being earthed at both ends of the cable It should be disconnected from the drive when no longer in use All of these cables as well as the I O cables should be run separately from the power cables Diodes must be fitted acr
127. een HOME 0 position engine 100 B Type 1 On signal Z The motor don t make any movement its position is recomputed compared to driving Signal Z and the value of datum You obtain a position being located between Y turn or datum Y driving turn C Type 2 On sensor in direction without release The drive launches an infinite movement in positive direction and awaits a growing edge of the entry HOME The position is then forced with the value of datum and the motor stops on this position Position Datum R510 142 SERAD S A IMD Drive User Manual D Type 3 On sensor in direction with release If the entry HOME is already to 1 then the drive launches in first an infinite movement in negative direction to emerge from the HOME sensor Then the drive launches an infinite movement in positive direction and awaits a growing edge of the entry HOME The position is then forced with the value of datum and the motor stops on this position Sensor AXIS Start Start Sy Position Datum E Type 4 On sensor in direction without release The drive launches an infinite movement in negative direction and awaits a growing edge of the entry HOME The position is then forced with the value of datum and the motor stops on this position Stop Position Datum R510 143 SERAD S A IMD Drive User Manual F Type 5 On sensor in direction with release If the entr
128. elopment A VIRTUALMASTER enable disable virtual master Syntax Positioning movement STTA TRAJ Master input Description Warning VIRTUALMASTER ON OFF VIRTUALMASTER OFF VIRTUALMASTER ON Positioning Trajectory STA TRAJ generator This instruction allows the use of a master axis in virtual mode all positioning instructions MOVA MOVR STTA SSTR will function for the master axis and the master axis will move virtually It is possible to make synchronised functions between master and slave with using MOVS GEARBOX To use the virtual master select virtual source in Motion control Master slave functions B MOVEMASTER S Movement status in virtual mode Syntax Data types Description R510 MOVEMASTER S Bit MOVEMASTER S is equal to 0 if the 3 following points are true e Virtual mode is active e The current positioning movement is complete e The movement buffer is empty In the case of a slave axis linked by a synchronised function the link must already have been broken 179 SERAD S A IMD Drive User Manual Example If one of these points 1s false the instruction MOVEMASTER S returns a value of 1 VIRTUALMASTER ON STTA VR10 WAIT MOVEMASTER S OFF Wait until the trajectory on virtual master is finished C STOPMASTER Stop the virtual axis Syntax Description Remarks Example R510 STOPMASTER This funct
129. ement launched by the basic instruction TRIGGER M Warning Value for master position in the cam table is monotonic This difference between 2 points must not be too small minimum time between 2 points is 300us 7 7 5 Multi axis using CANopen It is possible to synchronize several drives by position exchange on the CANopen bus A Source drive task Prog StartCA NSendPosition 1 1 210h 10 Bel Goto Bcl EndProg R510 169 SERAD S A IMD Drive User Manual B Slave drive task Prog StartCANReceivePosition 1 210h 0 20 Axis On Wait Axis S On Filtermaster 1 Gearbox 1 1 1 Startgearbox 1 Ble vi0 canposstatus If vi0 2 then vil vil 1 canpostimeoutraz Endif Goto test EndProg C Warning In Motion control Master slave the master source must be configured as CANopen X4 If master use modulo it is obligatory to same units between Motion Control Units windows master drive and Motion Control Master window slave drive Master din Witt E oe R510 170 SERAD S A IMD Drive User Manual Slave Set hp n Hone Massiel CATA fea Cain fie dl Master and slave modulos must be equal and distance per master rev distance per Rout rev Rout Rin The CAN instructions for synchronization are described in Appendix 1 CANopen 1 instructions list R510 171 SERAD S A IMD Drive User Manual 7 7 6 Stopping a master slave link To st
130. emory into the working RAM 6 3 Saved data 6 3 1 Saved data 4096 words in FRAM FRAM memory advantage e No limit of writing or reading cycle e Data save after power cut R510 124 SERAD S A IMD Drive User Manual Thanks to this characteristic 1t is possible to use FRAM memory as saved area it allows the saving of integer long integer and real variables or cam tables WETTE act peat Came 1 point 2 Mot n 4095 Adresse 4094 Mot n 4096 Adresse 4095 A Read write an integer Read WRITEI lt Address gt lt VIn or value gt Write lt VIn gt READI lt Address gt Limits lt Address gt from 0 to 4095 n from 0 to 255 B Read write a long integer Read WRITEL lt Address gt lt VLn or value gt Write lt VLn gt READL lt Address gt Limits lt Address gt from 0 to 4095 n from 0 to 255 R510 125 SERAD S A IMD Drive User Manual Warning The reading and writing of a long integer needs 2 consecutive memory addresses address n and address n 1 C Read write a real Read WRITER lt Address gt lt VRn or value gt Write lt VRn gt READR lt Address gt Limits lt Address gt from 0 to 4095 n from 0 to 255 Warning The reading and writing of a real needs 2 consecutive memory addresses address n and address n 1 D Read write cam table See the chapter Motion control programming Synchronization CAM A N that the cam p
131. emperature and gives error E06 R510 55 SERAD S A IMD Drive User Manual c Current monitor ny Factory settings do not modify Supervision Cumert Overcurrent ete T oe a te Ta Tempe eure Curent Position e t Brushless motors can accept peak currents greater than Inom 2 2t verifies if the average current is always less than Inom In correct use I2t must keep null e Time defines the length of one control period e Over current the drive always controls the current if it is within its range if the current is out of limit during the time parameter then there is an error E04 over current R510 56 SERAD S A IMD Drive User Manual d Position monitor ny When the drive is used in position mode control the following error to be as small as possible The maximum permissible following error is 20 motor revs The value of the following error limit should be as small as possible for example 0 2 motor revs id 3Uperrision 53 Lperision a as 7 Postion Fobowing error Postion nd Level 0 100 unilz Level 0 010 ruts Tempe aire Cour rt e Following error The following error is monitored whenever the drive is enabled either stopped or moving If the difference between the calculated position and the actual position exceeds the following error limit the power stage of the drive is disabled and an error code app
132. ensor Lo U ATA In Dev RS485 HIPERFACE LOCK In Dev O osine Lo O ine Lo O onnect the shield to the shell of the connector R510 25 SERAD S A IMD Drive User Manual 2 7 Cables We can supply all cables with connectors standard robotics contacts us e RS 232 serial communication cable X1 Screened cable 4 core Connect the shield on each extremity to the shell of the connector RJ45 and SUBD e Encoder cable X4 X5 Screened cable with 4 twisted pairs 0 25 mm Connect the shield on each extremity to the shell of the connector e Analogue cable X12 Screened cable 2 core 0 25 mm per analogue input Connect the shield on drive side to the screw provided see 2 2 Front view and on the other side to the shell equipment ex Motion controller e Motor feedback cable resolver X11 Screened cable with 4 twisted pairs 0 25 mm Ground the shield of the feedback SUBD as shown below R510 26 SERAD S A IMD Drive User Manual e Motor power cable X10 Screened cable 4 core 2 for a brake 1 5 mm for drives up to 8A otherwise use 2 5 mm Connect the shield on drive side to the clamp provided see Front view of the drive R510 27 SERAD S A IMD Drive User Manual 2 8 Connection diagrams Protection All connections must be made by qualified personnel The cables must be tested before being connected as any wiring fault can give
133. erNo gt Description The instruction COUNTER S reads the value of a counter Data types lt Variable gt Integer between 0 and 65535 lt CounterNo gt counter number 1 or 2 Example VIO COUNTER 1 R510 208 SERAD S A IMD Drive User Manual 9 10 38 DAC Analogue output Syntax Units Limits Data types Description Remarks Example See also DAC lt Expression gt Volts 10 to 10 Real This function sets the voltage on the analogue output The value on the analogue output can also be read DAC 5 2 IF ADC 1 gt DAC ADC 1 ADC 2 9 10 39 DEC Deceleration Syntax 1 Syntax 2 Units Data types Description Remarks Example See also DEC lt Expression gt lt Variable gt DEC User defined units per s e g mm s degrees s revs s etc Real This instruction reads or modifies the current deceleration value lt Expression gt must be a valid real expression The current deceleration can be read or modified at any time DEC 500 VRO 10000 DEC VRO ACC VEL 9 10 40 DEC Deceleration in percent Syntax Data types Data limits R510 DEC lt Expression gt Byte 1 to 100 209 SERAD S A IMD Drive User Manual Description Remarks Example See also 9 10 41 DELAY Syntax Units Data types Description Example Warning This instruction modifies the current decelerat
134. erator gt lt Denominator gt lt Numerator gt and lt Denominator gt are parameters of the instruction GEARBOX lt Master acc Distance gt 1s the distance where the master will accelerate The instruction is non blocking and allows the ratio to be changed without stopping the gearbox GEARBOXRATION don t affect the position scale of the master encoder ny The instruction GEARBOX internally sets the value of GEARBOXRATIO to 1 D STOP This instruction stops an electronic gearbox using the deceleration defined in the instruction STARTGEARBOX Syntax STOP E Example GEARBOX 1 2 0 The motor turns twice as fast as the master encoder GEARBOXRATIO 1 STARTGEARBOX 10 Initiate a gearbox with an acceleration phase of 10 units GEARBOXRATIO 2 Final ratio 2 2 1 STOP Stop the gearbox with a deceleration phase WAIT MOVE S 0 of 10 units 7 7 2 Synchronised movements R510 152 SERAD S A IMD Drive User Manual A General formula dSlave Gi DE tai aS ANS het ii Te SENS 1 ds E re mmm o aa ES H pf ass OO ee 7 i oe ee E EE NEA eee E S E E a d 3 ee AA a Pg REA ee ee ds2 E s ds eee SS a e e e e e e H mo 3 e e e cea eee UD dM dM2 diM3 dM4 diYiS M6IdM7 des e I I I I I i AccSlave I I I I I For thisexample we have dsl dMl 1 2 d52 dM2 ds3 dM3 1 2 d52dM2 d54 dM4 ds5 dM5 1 2 d54 dM4 d56 d4M6 d57dM7 1
135. eries STATUS E e X1 COM NODE RX K nk LO K 9 X2 N N EXT1 X3 EXT2 Capacitors discharge time Temps d charge condensateurs 5 minutes Ea CE SERAD G6 Earth clamp for xa screen of motor i 5 power cable STATUS 7 segment diagnostic display XI COM RS 232 serial port for communication with a PC X2 EXTI Extension Optional communications ports X3 EXT2 Extension Optional communications ports R510 13 SERAD S A IMD Drive User Manual 2 3 Top view 72 x re 2 a W gt 1 rOn ogo USS PR x mM y J o fR E 3 15 4 AB 5 LO 1 05 6 N aE ES N 8 Szo 1 OV lt 2 9 2 2388 la LL Ja OH O D yO ae W foo g w e yA AS LL Po E x E EE D gt y 0D lt x o oe gt X4 ENCODER OUTPUT Multifunction encoder output X5 ENCODER INPUT Multifunction encoder input X6 24Vdc Auxiliary 24V DC supply X7 I O Digital I O X8 POWER SUPPLY Single Three phase power supply X9 EXT I O Option I O expansion board ny The voltage on connector X8 can reach 480V R510 14 SERAD S A IMD Drive User Manual 2 4 Bottom view 12
136. eriod gt lt Offset gt 0 good accuracy but timing offset equals position send period gt lt Offset gt lt Period gt 1 small timing offset or null but low accuracy lt TimeOut gt number of 150us intervals before CANPOSSTATUS error Warning The instruction PDO can t be use by other CAN instructions SAVEPARAM and SAVEVARIABLE functions cancel CAN position sending S STARTCANSENDPOSITION Start to send positions on CANopen bus Syntax STARTCANSENDPOSITION lt Source gt lt PDO gt lt COBID gt lt Period gt Description This instruction starts to send positions on the CANopen bus R510 269 SERAD S A IMD Drive User Manual Accepted values lt Source gt 0 for slave axis and for master axis PDO gt PDO number 1 to 8 lt COBID gt between 0x181 and 0x37F lt Period gt number of 150us intervals between 2 PDO messages Warning If lt Period gt 0 then position is sent as soon as possible The instruction PDO can t be use by other CAN instructions SAVEPARAM and SAVEVARIABLE functions cancel CAN position sending T STOPCANRECEIVEPOSITION Stop receiving drive positions by CANopen bus Syntax STOPCANRECEIVEPOSITION lt PDO gt Description This instruction stops receiving positions by the CANopen bus Accepted values lt PDO gt PDO number to 8 U STOPCANSENDPOSITION Stop sending positions on CANopen bus Syntax STOPCANSENDPOSITION lt PDO gt Description This instru
137. esult VI2 140 AND OR XOR 9 10 84 OR Or operator Syntax Data types Description Remarks Example See also lt Expressionl gt OR lt Expression2 gt Bit Byte Integer This function performs a binary OR between two expressions and returns a value of the same type as the operand lt Expressionl gt and lt Expression2 gt must be the same type VI12 VI12 OR 000FFh AND NOT XOR and IF 9 10 85 ORDER Movement order number Syntax 1 Syntax 2 Data types R510 ORDER lt Value gt ORDER Value between 0 and 65535 227 SERAD S A IMD Drive User Manual Description Remarks Example See also This instruction sets the order number of the next movement or reads the order number of the last movement This instruction can be used with the ORDER S function ORDER 0 STTA 50 VB1 ORDER Result VBI 1 ORDER S 9 10 86 ORDER S Current order number Syntax Data types Description Remarks Example See also ORDER S Integer This function returns a value for the order number of the movement currently being executed This function can be used to determine the state of a movement ORDER 0 STTA 50 STTA 100 STTA 50 IF ORDER S 2 The second movement has started ORDER 9 10 87 OUT Write a digital output Syntax Data types Description Remarks Example See also R510 OUT lt OutputNo gt
138. for variables Real time multi tasking kernel Current loop 75 us Control loops Speed loop 150 us Position loop 150us Torque mode Speed mode Position mode Operating modes ne Stepper Mode pulse input direction Motion functions absolute relative and infinite movements S profile Advanced motion functions gearbox CAM profiles CAMBOX functions triggered movement Operating temperature 0 to 40 C Degree of protection IP 20 Peak current 2s Dimensions wxhxd R510 10 SERAD S A IMD Drive User Manual 1 3 iDPL software 1 3 1 General The 1DPL software with its graphical user interface allows the user to easily configure the drive from a PC Operating within a Windows environment the user friendly software provides for multiple windows and full help facilities The auto tuning trajectory generator and oscilloscope functions ensure speedy and optimum system set up and rapid commissioning 1 3 2 Technical data Configuration of all parameters grouped by function motor regulation encoder analogue I O digital I O communication supervision Downloading of set up and parameters speed current torque position Saving and printing all parameters on a PC Automatic resolver offset adjustment Y Trajectory generator position acceleration deceleration speed Y Digital multi channel oscilloscope Y Set up screen axis inputs outputs Automatic recognition of connect
139. g the current deceleration This function does not block the task The axis stops even if the axis is linked by the GEARBOX function 236 SERAD S A IMD Drive User Manual Example See also The instruction SSTOP empties the movement buffer and stops the axis using the current deceleration SSTOP STTA STTR STTI GEARBOX 9 10 112 SSTOPMASTER Stop movement in virtual mode without waiting for Zero speed Syntax Description Remarks Example SSTOPMASTER This function stops a movement of the virtual master This function does not block the task If the axis uses a synchronized movement then the axis stops The instruction SSTOPMASTER empties the movement buffer and stops the axis using the current deceleration VIRTUALMASTER ON MOVS 1 1 0 0 STTA 10 SSTOPMASTER Master stop axis does not move further WAIT MOVEMASTER S 0 But synchronising is always enabled STTA 10 Master moves and axis starts to turn 9 10 113 STARTCAMBOX Start a cam box Syntax Description Remarks Example See also R510 STARTCAMBOX lt BoxNo gt This instruction starts a previously defined cam box If the cam box has not been defined the instruction has no effect lt BoxNo gt is the number used in the instruction CAMBOX STARTCAMBOX 1 CAMBOX 237 SERAD S A IMD Drive User Manual 9 10 114 STARTCAM Launches the execution of a cam Syntax Limits A
140. gt must represent the number of an output lt BlockNumber gt the number of a block of 8 outputs This number corresponds to the number in the configuration module The types of data used are e Bit for an output e Byte for a block of 8 outputs For example R510 181 SERAD S A IMD Drive User Manual OUT 5 1 set output 5 high OUTB 1 48 write to a block of 8 outputs 8 1 3 Read the outputs All outputs can be read as well as written to The value read is the last value written This property is very useful when more than one task uses the same block of outputs It is possible to write only to the required outputs in one operation without changing the others For example To set bit 4 in a block of 8 bits OUTB 2 16 set bit 4 to 1 VBO OUTB 2 read a block of 8 outputs 8 1 4 Wait input state It is possible to wait for a change of state on an input using the instruction WAIT The syntax is WAIT lt Condition gt The function WAIT is used to wait for a changing state during normal execution The execution of the task 1s stopped for as a long as the condition 1s false When the condition becomes true execution continues This function is very useful to wait for the end of a movement etc Example WAIT INP 2 ON Wait until input 2 is 1 STOP Stop the axis WAIT INP 5 ON Wait until input 5 is 1 8 1 5 Test input state R510 182 SERAD S A IMD Drive User Manual It is possible to tes
141. h the task we must use STTA This instruction is very useful 1f the speed or the target position must be changed during the course of the movement With this function the absolute error is minimal This instruction does not block the task unless the movement buffer 1s full It uses the current values for acceleration deceleration and speed The syntax 1s STTA Position For example VELS 100 STTA 2000 Start moving towards absolute position 2000 WAIT POS S gt 200 Walt For position 200 OUT 6 1 Y Set an Cun PUE WAIT POS S gt 700 Y Wait of position 700 OUT 6 0 Clear an output WAIT MOVE S 0 Wait for the end of the movement In this example during the movement we can change the outputs since the task 1s not blocked If the instruction MERGE is active and several STTA instructions are loaded the movements will be executed one after the other without passing through zero speed If the axis is declared as modulo the motion towards a position will be in a positive sense if the demanded value is positive and a negative sense if the demanded value is negative For example Axis modulo 360 Axis at an initial position of 90 Si lA 10 movement in a negative sense for a distance of 80 WAIT MOVE S 0 STTA 350 movement in a positive sense for a distance of 340 WAIT MOVE S 0 STTA 30 movement in a positive sense for a distance of 30 WAIT MOVE S 0 B Move MOVA The instruction MOVA sends
142. hase 6 and 7 we have dE70 dE6 dE7 dE6 1 2 dM7 dE6 dM6 dM70 dM6 dM7 MOVS Esclave MaOtre dM70 dE70 0 dM7 e Stop phase Phase 7 is a stop phase MOVS Slave Master dM7 dS7 0 dM7 The velocity ratio before this phase was 2 dS7 dM7 R510 157 SERAD S A IMD Drive User Manual f Velocity changing phase Constant phase Stop phase dS 1 1 2 dM1 dS2 dM2 dSlave dS3 1 2 dM3 dS2 dM2 dS dS 1 dS2 dS3 1 2 dM1 dM3 dS2 dM2 dS3 esas a ae ee dM dM1 dM2 dM3 MOVS Slave Master dM dS dM1 dM3 dM dM2 viSlave AccSlave 7 7 3 Compensation functions A ICORRECTION Correction function Syntax ICORRECTION lt Dist master gt lt Dist slave gt lt Dist accel gt Units lt Dist master gt lt Dist slave gt user unit Ex mm degree lt Dist accel gt user unit s Accepted types lt Dist master gt lt Dist slave gt lt Dist accel gt real Description This function applies a correction movement to the slave axis during the distance of master axis R510 158 SERAD S A IMD Drive User Manual Remarks The slave axis must be linked to the master axis by a gear box function GEARBOX a synchronized movement MOVS before the execution of the correction instruction With the synchronized movement of the slave axis the next movement is superposed During the distance of the master axis a movement lt Dist slave gt is added with an acceleration and a deceleration on a lt Dist accel gt
143. he current acceleration to 10 VB 50 ACC VBO DEC 9 10 17 AND And operator Syntax Data types Description Remarks Example See also lt Expressionl gt AND lt Expression2 gt Bit Byte Integer This function performs a binary AND between two expressions and returns a value of the same type as the operand lt Expressionl gt and lt Expression2 gt must be of the same type VB3 1001111b VB4 1111110b VB2 VB3 AND VB4 VB2 1001110b OR NOT XOR and IF 9 10 18 ARCCOS Inverse cosine Syntax Limits Accepted types Description Remarks Example See also R510 ARCCOS lt Expression gt l to 1 Byte Integer Long integer real This function returns the arccosine of lt Expression gt This function returns an angle expressed in radians VRI ARCCOS 0 SIN COS and TAN 201 SERAD S A IMD Drive User Manual 9 10 19 ARCSIN Inverse Sine Syntax ARCSIN lt Expression gt Limits to 1 Accepted types Byte Integer Long integer real Description This function returns the arcsine of lt Expression gt Remarks This function returns an angle expressed in radians Example VR1I ARCSIN 1 See also SIN COS and TAN 9 10 20 ARCTAN Inverse tangent Syntax ARCTAN lt Expression gt Accepted types Byte Integer Long integer real Description This function returns the arctangent of lt Expression gt Remarks The function ARC
144. he dephasing is directly applicate if the synchronised movement is not running or if axis in not enable 9 10 75 MERGE Chain movements Syntax Description Example MERGE ON OFF This instruction 1s used to activate or deactivate the chaining of consecutive movements MERGE ON TRAJA 1000 500 Movements chained without TRAJA 1500 200 passing through zero speed MERGE OFF TRAJA 1800 700 Pass through zero speed at position 1500 9 10 76 MOD Modulus Syntax Data types Description Example lt Expressionl gt MOD lt Expression2 gt Byte Integer Long integer This operator returns the remainder from an integer division VI10 5 VIl0 VI10 MOD 2 s Result VI10 1 9 10 77 MOVA Move absolute Syntax Units R510 MOVA lt Distance gt User defined units e g mm degrees 224 SERAD S A IMD Drive User Manual Data types Description Remarks Example See also Real Move the axis to an absolute position This instruction causes execution to transfer to the next task The task waits for the end of the movement MOVE _S 0 before executing the next instruction The axis uses the current values of speed acceleration and deceleration MOVA 1200 00 MOVR STTA STTR STTI and MOVE S 9 10 78 MOVE_S Movement status Syntax Data types Description Remarks Example Warnings R510 MOVE S Bit This function indic
145. he position is then forced with the value of datum and the motor stops on this position Stop Position Datum R510 145 SERAD S A IMD Drive User Manual J Type 9 On sensor and signal Z in direction with release If the entry HOME is already to 1 then the drive launches in first an infinite movement in positive direction to emerge from the HOME sensor Then the drive launches an infinite movement in negative direction and awaits a growing edge of the entry HOME and pass behind the signal Z The position is then forced with the value of datum and the motor stops on this position JL JL TOP Z 0 motor Po Sensor Axis i Start l Stop i Position Datum 7 5 Declaration of an axis in virtual mode From a basic task it is possible to lead an axis in virtual mode with the instruction LOOP On In this mode the MD drive will simulate the encoder pulses in an intern way so every command send will be made virtually This mode is interesting during the program development phase we can test the global application without motors and drives connected In this mode don t connect power connector X10 The LOOP Off instruction cancels the virtual mode R510 146 SERAD S A IMD Drive User Manual 7 6 Positioning 7 6 1 Absolute movements A Start a movement STTA To initiate a movement towards an absolute position and not to wait for the movement to be completed before continuing wit
146. hment 11 2 1 Setting up the modem 1 connected to the IMD drive R510 The set up of the modem connected to the IMD drive 1s made by connecting this modem to a PC A terminal software is used to send commands to the modem This set up have to following objectives Initialising the modem Defining the number of ringing before the modem pick up to allow an automatic establishment of the link Removing all hardware and software flow controls Storing this configuration into the non volatile memory of the modem Selecting these parameters in the non volatile memory as parameter to be used at power on Example Parameters for an 3Com Us Robotics Sportster modem type Command AT amp FO Meaning Using default factory settings Command ATSO 3 Meaning Automatic pick up after 3 ringing Command AT amp HO Meaning Disable the flow control when sending 278 SERAD S A IMD Drive User Manual Command AT amp I0 Meaning Disable the flow control when receiving Command AT amp WO Meaning Store current parameters into the non volatile memory bank 0 Command ATYO Meaning Selecting these parameters in the non volatile memory as parameter to be used at power on When the modem take these commands into account it answers OK Parameters for an Wertermo TD31 or TD32 modem type Command AT amp F Meaning Using default factory settings Command ATSO 3 Meaning Automatic pick u
147. ied directly if the synchronised movement is not running or if axis 1s not enabled MasterOffset OffsetMaster 1000 SlaveOffset OffsetSlave 1000 StartCam 1 OffsetSlave OffsetSlave 10 SlaveOffset OffsetSlave 0 1 J Modification of a cam point LOADCAMPOINT Modify a cam point in FRAM memory Syntax LOADCAMPOINT lt NumCam gt lt NumPoint gt lt FRAMIndex gt lt NumCam gt Number of the cam loaded previously from 1 to 5 lt NumPoint gt Number of the cam point to modify from 1 to NB cam point lt FRAMIndex gt Address of the point in FRAM from 0 to 511 to send in the target cam point Warning This instruction blocks the task LOADCAMPOINT can only be done if the cam 1s not between previous and next lt NumPoint gt point This instruction gives an iDPL error if no cam has been loaded before R510 168 SERAD S A IMD Drive User Manual K Slave position in the cam CAMREADPOINT This instruction calculates the slave position lt Slave position gt in the cam corresponding to the master position lt master position gt Syntax lt Slave position gt CAMREADPOINT lt Master position gt lt NumCam gt Accepted types lt Master position gt real lt Slave position gt real lt NumCam gt Number of the selected cam loaded previously 1 to 5 Remarks Return 0 if lt Master position gt is not in the selected cam L Execution of a triggered cam It is possible to make a cam mov
148. ing delay in 1 10 before the modem answer Parameter Dial Value ATDT for vocal dial ATDP for a pulse dial Meaning Selecting the way to call Parameter DialTimeOut Value 600 Meaning Maximal waiting delay in 1 10 before the modem connection Parameter Ok Value OK Meaning Modem answer 1f the command have been handled correctly Parameter Connect Value CONNECT Meaning Modem answer when connecting Parameter Busy Value BUSY Meaning Modem answer if the line is busy Parameter Hangup 282 SERAD S A IMD Drive User Manual Value ATH Meaning Selecting the way to hang up Parameter HangupOk Value NO CARRIER Meaning Modem answer when hanging up Parameter CommandTimeOut Value 20 Meaning Maximal waiting delay in 1 10 before the modem going to the command mode Parameter HangupTimeOut Value 20 Meaning Maximal waiting delay in 1 10 before the hanging up The dialler expect that the modem is setup to send an echo for all sent command and to receive a text message as answer If not the communication 1s unable It s possible to be sure to start with a good set up for the modem by using the factory settings as default parameters A terminal software 1s used to send commands to the modem Parameters for an 3Com Us Robotics Sportster modem type Command AT amp F Meaning Using default factory settings Command AT amp WO Meaning Store current par
149. ion as a percentage of the acceleration parameter The deceleration parameter can be set on screen Motion control Configuration Speed profile DEC 10 Set deceleration to 10 VBO 50 DEC 50 ACC and VEL Passive wait DELAY lt Duration gt milliseconds Integer This function initiates a passive delay for the specified duration The task 1s blocked by this instruction which passes execution on to the next task DELAY 500 Delay of 0 5 s or VI12 500 DELAY VI12 SAVEPARAM and SAVEVARIABLE functions distort time base 9 10 42 DISABLERECALE Cancel axis re alignment Syntax Limits Description See also DISABLERECALE lt Axis gt lt Axis gt O slave axis or 1 master axis This instruction cancels the re alignment of an axis to a sensor ENABLERECALE 9 10 43 DISPLAY 7 segment display Syntax Data types R510 DISPLAY lt Expression gt Expression Byte 210 SERAD S A IMD Drive User Manual Description Remarks Example This instruction sets one or more of the individual segments of the LED display Each bit of lt Expression gt represents a segment The MSB is not used Display 109 Equivalent to Display 01101101b or 5 bi b 7 12 pS b3 ba 9 10 44 ENABLERECALE Automatic axis re alignment Syntax Limits Accepted types Description Remarks Example R510 ENABLERECALE lt Register Number gt
150. ion status CANPOSTIMEOUTRAZ Remove TIMEOUT error of CANPOSSTATUS function STARTCANRECEIVEPOSITION Start to receive drive position by CANopen STARTCANSENDPOSITION Start to send position on CANopen STOPCANRECEIVEPOSITION Stop reception of drive position on CANopen STOPCANSENDPOSITION Stop sending position on CANopen B CAN Read and write a message Syntax 1 CAN lt ByteNumber gt lt Variable gt Syntax 2 lt Variable gt CAN lt ByteNumber gt Accepted types lt Variable gt Characters string Description This function reads or sends a message Remark You have to tell the parameters of the reception COBID to receive the message C CANERRCOUNTER Controls and erases the communication errors Syntax 1 lt Variable gt CANERRORCOUNTER Syntax 2 CANERRORCOUNTER 0 Limits lt Variable gt from 0000h to FFFFh Accepted types lt Variable gt integer Description Syntax 1 gives the number of errors that have occurred since the counter was reset Syntax 2 resets the errors counter D CANERR Error detection Syntax lt Variable gt CANERR Accepted types lt Variable gt Byte Bit 0 to 1 1f bus error Bit 1 to 1 if SDO timeout Bit 2 to 1 if Node Guarding error R510 265 SERAD S A IMD Drive User Manual Description This function shows if an error has occurred E CANEVENT Test a message arrival Syntax lt Variable gt CANEVENT Accepted types lt Variable gt Boolean Descriptio
151. ion stops a movement of the virtual master This function blocks the task until the axis has stopped If the axis uses a synchronized movement then the axis stops The instruction STOPMASTER empties the movement buffer and stops the axis using the current deceleration This instruction blocks the task until MOVEMASTER Sis not equal to 0 VIRTUALMASTER ON MOVS 1 1 0 0 STTA 10 STOPMASTER Master stop axis don t move more But synchronising is always enabled STTA 10 Master move and axis start to turn 180 SERAD S A IMD Drive User Manual 8 PLC programming 8 1 Digital I O 8 1 1 Read inputs The function INP is used to read 1 bit INPB a block of 8 bits and INPW a block of 16 bits The syntaxes are INP lt InputNumber gt INPB lt BlockNumber gt INPW lt InputNumber gt must represent the number of an input lt BlockNumber gt the number of a block of 8 inputs This number corresponds to the number in the configuration module The data returned types are Bit for an input Byte for a block of 8 inputs Integer for a block of 16 inputs For example VF1 INPG read input number 3 VB2 INPB 1 read the first block of 8 inputs VB4 INPB 2 read the second block of 8 inputs VI3 INPW read 16 inputs 8 1 2 Write outputs The function OUT 1s used to write 1 bit OUTB a block of 8 bits The syntaxes are OUT lt OutputNumber gt OUTB lt BlockNumber gt lt OutputNumber
152. ising edge of the logical input El 3 If Enable iDPL control is done on rising edge of the logical input El and by the Axis Off instruction followed by Axis On of language 1DPL R510 51 SERAD S A IMD Drive User Manual Error Asis OM Axis gt 4 If Late validation control request is done on rising edge of the logical input I1 but control is done on Softstart and SINCOS if used validation the timeout is 500ms 11 Softetart OK Axis s n enable mode E02 Error under voltage Axis s in late validation 500 ms e Input 2 Selection Over travel or none e Input3 Selection Over travel or none e Input 4 Selection Home limit Fault reset on the failing edge or none e Filter delay Value of the input filter delay in ms e Inversion If inversion is not selected the input is activated with positive logic If inversion is selected the input is activated with negative logic e Filter Activate filtering of the selected input R510 52 SERAD S A IMD Drive User Manual e Output Drive ready or none e Output 2 Motor brake or none The output Drive Ready can be connected in series with the emergency stop control loop If the brake option is selected for output 2 it is necessary to add an external relay to control the brake as the output current from the drive is limited to 100mA The logic state of the brake output corresponds to the internal enable sta
153. itialization the display 1s In the case of an initialization error you can have these faults gt IL Checksum error of the boot OS sector gt l Error loading OS Internal error gt 2 OS initialization phase The segments light quickly in the following order gt I At the end of the OS initialization version 1s displayed I l HLI NLI L _ JJ _l In this example the version is 1 23 3 After initialization 250 SERAD S A IMD Drive User Manual The output Drive Ready S1 is active If iDPL is in use the automatic tasks are launched and there should remain only the decimal point that flashes e IfiDPL is not in use the segments of the display light in sequence as the motor shaft turns e IfiDPL is in use only the decimal point remains The segments can be modified using the instruction Display in an 1DPL task B During drive operation 1 On the occurrence of an error The numbers of the errors are displayed in order e g For a motor temperature error E7 and an encoder error E8 we see 2 On the removal of a fault Removal of the error number and return to a normal display as after the initialization ny Flashing decimal point e Ifsystem serial connection present RTS high On Off e fno system serial connection R510 25 SERAD S A IMD Drive User Manual On Off C During loading of the OS IL Erase clear FLASH
154. ition shows the motor position in degrees 0 to 360 gt RPM velocity shows motor velocity revs per minute b Allows the user to see the analogue I O states and to change the output A Instrument panel Instrument panel Visualization a Motor Drive Analogue 3 Digital Analogue inputs Inputs 3 50 Sl Change R510 70 SERAD S A IMD Drive User Manual c Allows the user to see the digital I O states and to change them i Instrument panel Miel ES Instrument panel b E Visualisation ae Motor Drive Digital inputs outputs Inputs oo Od OF OF OF Oo OF E Y Software 0000605006060 Hardware Analogue ES Digital Software Hardware gt Click on the switch over output number to change its state gt Red output are unchangeable such as drive ready brake B Fault display Icon 4 Action Displays the drive faults When a fault has occurred the fault can be reset by disabling and re enabling the drive input El or Enable switch in iDPL main screen or Axis off Axis on iDPL instruction C Auto tuning Fh Icon a Action Performs an automatic evaluation of the resolver offset and automatically adjusts all regulation loops See drive adjustments chapter Option only available with advanced parameters selected R510 71 SERAD S A IMD Drive User Manual D Generator Icon 2 Action Generates a range of move
155. ive Example TESTCOM LOADTIMER VL122 500 WAIT TIMER VL122 0 IF OldCounter COMCOUNTER 1 THEN NBErr NBErr 1 END IF OldCounter COMCOUNTER 1 IF NBErr gt 3 GOTO ERRCOM GOTO TESTCOM 9 10 34 CONTINUE Continue the execution of a task Syntax CONTINUE lt TaskNo gt Description This instruction 1s used to continue the execution of a suspended task Remarks lt TaskNo gt is the number of the suspended task This function has no effect on a stopped task or a running task Example Wait Inp 9 RUN 2 Begin Wait Inp 9 R510 207 SERAD S A IMD Drive User Manual SUSPEND 2 Wait Inp 8 CONTINUE 2 Goto Begin See also RUN HALT SUSPEND 9 10 35 COS Cosine Syntax COS lt Expression gt Accepted types Expression real Description This instruction returns the cosine of the lt Expression gt Remarks The result is between 1 and 1 Example VRO COS 3 14159 See also SIN ARCTAN and TAN 9 10 36 COUNTER Initialize counter with a value Syntax COUNTER 1 or 2 lt Value gt Data types lt Value gt value between 0 and 65535 Description The instruction COUNTER 1 or 2 is used to write a value to counter 1 or 2 Example COUNTER 2 VL1 1000 Warning It is forbidden to use the same input and edge for triggered movement counter and capture at the same time See also SETUPCOUNTER 9 10 37 COUNTER S Read a counter Syntax lt Variable gt COUNTER_ S lt Count
156. jectory on virtual master is finished 9 10 80 MOVR Move relative Syntax Data types Description Remarks Example See also MOVR lt Distance gt Real Move the axis to a relative position This instruction causes execution to transfer to the next task The task waits for the end of the movement MOVE _S 0 before executing the next instruction The axis uses the current values of speed acceleration and deceleration MOVR VRI MOVA STTA STTR STTI MOVE S 9 10 81 MOVS Synchronized movement Syntax Description R510 MOVS lt MasterDistance gt lt SlaveDistance gt lt AccelerationDistance gt lt DecelerationDistance gt This instruction 1s used to link a slave axis to a master axis during a certain distance of the master axis with acceleration and deceleration phases on the slave axis if the buffer of movement is not full 226 SERAD S A IMD Drive User Manual Accepted types Exemple MasterDistance SlaveDistance AccelerationDistance DecelerationDistance real MOVS 20 10 0 0 9 10 82 NEXTTASK Syntax Description NEXTTASK This instruction causes the multi tasking controller to move on immediately to the next task 9 10 83 NOT Complement operator Syntax Data types Description Example See also NOT lt Expression gt Bit Byte Integer The NOT returns the complement of the expression VB1 15 VB2 NOT VB R
157. lculate the slave positon lt Slave position gt in the cam corresponding to the master position lt master position gt lt Master position gt real lt Slave position gt real lt NumCam gt Number of the selected cam who was loaded before 1 to 5 Return 0 if lt Master position gt is not in the selected cam 9 10 29 CAMSEG_S Equation number of the running cam Syntax Accepted types Description Remarks R510 lt Variable gt CAMSEG S lt Variable gt Integer this instruction permits to know which equation number of the cam 1s running The returned value is valid only if CAM S is set 205 SERAD S A IMD Drive User Manual Example See also IF CAMSEG S 1 THEN GOTO ATTENTE FIN SEGMENT 1 Cam between point and point 2 IF CAMSEG S 2 THEN GOTO ATTENTE FIN SEGMENT 2 Came between point 2 and point 3 CAM S CAMNUM S 9 10 30 CAPTURE 1 Position capture Syntax Description Data types Example See also 9 10 31 CLEAR Syntax Description Example R510 CAPTURE lt Source gt lt InputNo gt lt Window gt lt Edge gt lt Min gt lt Max gt lt Inside gt The instructions CAPTURE1 and CAPTURE 2 are used to register the actual position of the axis or the master encoder on the rising edge of an input When the rising edge is detected the position is stored in variable REGPOS1 S The flag REG1 S 1s also set to true lt Source
158. limit a Negative limit Exterior Input 3 C Input 4 Home Filter Outputs Funchons Iriver Cutout 1 Drive ready Ouiputz Brake e Select None in the field Input 1 At the end of the control loop adjustments this should be reset according to the requirement s of the system The Enable button in the main window can now be used to enable and disable the drive R510 89 SERAD S A IMD Drive User Manual e Ifthe motor had a brake select brake function to Input 2 verify that a diode is connect to brake pin to protect electric components e Save the parameters 4 3 Operating modes R510 The iMD series drives have 3 operating modes requiring various internal control loops e TORQUE MODE Current loop In torque mode the motor maintains the specified torque The speed depends on the applied load e SPEED MODE Current loop Speed loop In speed mode the motor maintains the specified speed irrespective of the load e POSITION MODE Current loop Speed loop Position loop In position mode the motor follows the demanded trajectory The choice of operating mode is made in the PARAMETERS window on the line Drive Select one of the three modes TORQUE SPEED POSITION ny The drive must be disabled before changing the mode 90 SERAD S A IMD Drive User Manual 4 4 Automatic control loops adjustement 4 4 1 Auto tuning of the control loops ii Autotune Resolver Sinlos
159. lt VL 50 and Y lt Expressionl gt lt Expression2 gt Byte Integer Long mteger Real This operator divides lt Expressionl gt by lt Expression2 gt lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type lt Expression2 gt must not be zero This operator always returns a real value VL1 10 VL2 5 VL3 VL1 VL2 Result VL3 2 tpt tt veer o ae 196 SERAD S A IMD Drive User Manual 9 10 5 Less than Syntax Data types Description Remarks Example See also lt Expressionl gt lt lt Expression2 gt Byte Integer Long mteger Real This operator tests if lt Expression1 gt is less than lt Expression2 gt lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type VL1 10 IF VLI lt VL 2 MA IS Mol lol llos SS SS ee et 9 10 6 Less than or equal to Syntax Data types Description Remarks Example See also 9 10 7 Shift left Syntax Data types Description Remarks Example See also Caution R510 lt Expressionl gt lt lt Expression2 gt Byte Integer Long integer Real This operator tests if lt Expressionl gt is less than or equal to lt Expression2 gt lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type VLI 10 IF VL1 lt VLI ft IS Ml IA 1 SN Net lt Expressionl gt
160. lt Expression gt Expression Bit This function sets the state of a digital output lt OutputNo gt represents the number of the digital output 1 to 10 OUT 10 ON INP INPB INPW OUTB 228 SERAD S A IMD Drive User Manual 9 10 88 OUTB Write a block of 8 outputs Syntax Data types Description Example See also OUTB lt BlockNo gt lt Expression gt lt Expression gt Byte lt BlockNo gt 1 or 2 This function sets the states of 8 digital outputs OUTB 1 15 INP INPB INPW OUT 9 10 89 POS Target position Syntax 1 Syntax 2 Data types Description Remarks Example See also POS lt Expression gt POS Real This function returns or sets the target position in the chosen units This function can be used to change the target position during the course of a movement The position can be changed at any time STTA 5000 Start the axis WAIT INP 10 On Wait for an input POS POS_S 50 Stop 50mm after the sensor input WAIT MOVE S OFF Wait until the axis is stopped ACC DEC VEL 9 10 90 POS_S Actual position Syntax Data types Description Remarks Example R510 lt Expression gt POS S Real This function returns the actual position of the axis With this you can obtain the axis position in real time STTA 100 Start the axis OUT 5 1 Set output 5 Loop 229 SERAD S A IMD Drive User Manual
161. mand command aS alae ala ir Curent measure Hormel Resolver 411 Gb Loop type Double e i i Mormal Resolver 11 amp Simple loop the three regulation loops use the same feedback resolver or SinCos It is possible in this screen to modify the position feedback signal Double loop the position loop uses a feedback resolver or SinCos different from the two other loops It is possible in this screen to modify position feedback signal B Current loop Icon l Action Configure the drive current loop parameters i Curent loop H Integral Demand Current limit Current R510 47 SERAD S A IMD Drive User Manual e Demand Select the command source value expressed as a percentage of maximum motor current analogue input speed loop or RS232 e Max slope Limit the rate of change of current e Current limit Limit the current as a percentage of the nominal value e Integral gain Set the integral coefficient of the control loop e Proportional gain Set the proportional coefficient of the control loop The acceleration limit and current limit are accessible only when the advanced parameter option has been selected see Menu Options Accessibility C Speed loop oy d a rey Icon Action Configure the drive s speed loop parameters ii Speed loop o Demand 6 000 El P3 7 L z X oo x L Command m p
162. master Cam box Cam box segment Read an input Read a block of 8 inputs Read a block of 16 inputs Write an output Write a block of 8 outputs Start a cam box Stop a cam box Wait for a condition 193 SERAD S A IMD Drive User Manual B Analogue I O ADC 1 ADC 2 DAC C Timing DELAY LOADTIMER TIME TIMER D Counters COUNTER SETUPCOUNTER COUNTER S 9 8 Task management CONTINUE HALT RUN SUSPEND STATUS 9 9 Miscellaneous R510 COMCOUNTER DISPLAY LOADPARAM LOADVARIABLE Read analogue input 1 Read analogue input 2 Write analogue output Passive wait Load a timer value into a variable Time base Compare a variable with TIME Initialise a counter value Configure a counter Read the state of a counter Continue the execution of a task Stop a task Start a task Suspend a task Read task state Return the number of exchange frames 7 segment display Load parameters from Flash Load variables from Flash into RAM 194 SERAD S A IMD Drive User Manual READI Read a FRAM integer READL Read a FRAM long integer READR Read a FRAM real RESTART Restart the drive SAVEPARAM Save parameters from RAM into Flash SAVEVARIABLE Save variables VRO VR63 VLO VL63 SECURITY Define safety actions VERSION Read the Operating System version WRITEI Write a FRAM integer WRITEL Write a FRAM long integer WRITER Write a FRAM real 9 10 Alphabetical list 9 10 1 Addition Syntax Da
163. ments which allow the user to optimize the various control loops in the drive il een abc Test generator Position Soceleisbon Run or 50 Stop the 37 50 rest fg e Set up the generator to carry out the desired movement e Activate the drive with the ENABLE button and or Input 1 e Start the movement with the ON OFF button on the generator E Motion Icon Action Allows the testing of the positioning of the axis It 1s preferable to start by checking the behaviour of the motor drive by forcing the source with a value ranging between 10V and 10V the axis must be in open loop One can then switch to controlled mode and adjust the control parameters When the parameters are correct they should be saved to Flash memory R510 72 SERAD S A IMD Drive User Manual Current speed Master current Clear the master following error position Clear the position Current following error Motion Hove s Position MasterfPos g Home_s Drive status Current position 20 000 Clear 0 000 0 012 0 000 Clear HomeMaster_s morion Femax_s Infinite start Start or stop the 00 00 me selected Parameter P1 a 2 ry value le 000 ACCE i 00 00 Absolute F1 Stop movement Relative F1 P ooo z Parameter a 50 00 mms Cycle F1 value Infinite Press gr to Lek a ES make manual T 75 a me Welz 100 0 Cycle P1 P2 deel y Parameter T value l
164. modem answer Parameter Dial Value ATDT for vocal dial ATDP for a pulse dial Meaning Selecting the way to call 280 SERAD S A IMD Drive User Manual e Parameter DialTimeOut Value 600 Meaning Maximal waiting delay in 1 10 before the modem connection e Parameter Ok Value OK Meaning Modem answer 1f the command have been handled correctly e Parameter Connect Value CONNECT Meaning Modem answer when connecting e Parameter Busy Value BUSY Meaning Modem answer if the line is busy e Parameter Hangup Value ATH Meaning Selecting the way to hang up e Parameter HangupOk Value NO CARRIER Meaning Modem answer when hanging up e Parameter CommandTimeOut Value 20 Meaning Maximal waiting delay in 1 10 before the modem going to the command mode e Parameter HangupTimeOut Value 20 Meaning Maximal waiting delay in 1 10 before the hanging up All missing parameter is automatically set to the default values indicated on the first using R510 281 SERAD S A IMD Drive User Manual R510 Parameters for an Westermo TD31 or TD32 modem type Parameter Init Value ATZ Meaning Using default factory settings Parameter Init TimeOut Value 20 Meaning Maximal waiting delay in 1 10 before the modem answer Parameter Init2 Value AT amp F amp KO Meaning Remove the DTR and DSR handling Parameter Init2TimeOut Value 20 Meaning Maximal wait
165. movement Syntax Description Remarks Example See also STTI or Starts an infinite movement The system immediately executes the next instruction To stop the movement you must use STOP or SSTOP The axis uses the current values of speed and acceleration STTI start an infinite movement in the positive direction MOVA MOVR STTA STTR STOP 9 10 124 STTR Start a relative movement Syntax Data types Description Remarks Example See also STTR lt Distance gt Real Starts a relative movement The system does not wait for the end of the movement MOVE _S 0 before executing the next instruction The axis uses the current values of speed acceleration and deceleration VRO 420 STTR VRO MOVA MOVR STTA STTI 9 10 125 SUB END SUB Subroutine Syntax Description R510 SUB lt Name gt This keyword defines the start of a subroutine Used in conjunction with END it is to define the end of a subroutine 24 SERAD S A IMD Drive User Manual Remarks Example SUB END SUB blocks must be outside the main program block defined by PROG END PROG SUB Move END SUB 9 10 126 SUSPEND Suspend a task Syntax Description Remarks Example See also SUSPEND lt TaskNo gt This instruction suspends a running task This instruction has no effect on stopped tasks It does not affect current movements or the m
166. n gt Pentium II PC gt 64M Byte RAM gt gt Hard disk 35 M Bytes free Microsoft Windows 98 SE NT 2000 and XP gt CD ROM 2X gt SVGA monitor gt gt Mouse or other pointing device B Recommended configuration gt Pentium IT PC gt 256M Byte RAM gt gt Hard disk 35 M Bytes free gt Microsoft Windows 2000 or XP gt CD ROM 4X gt SVGA monitor gt gt Mouse or other pointing device This software can also function under Microsoft Windows N TM It does not function with UNIX Mac MS DOS and Microsoft Windows 3 11 R510 32 SERAD S A IMD Drive User Manual la DPL installation procedure The software package Intelligent Drive Programming Language is supplied on a CD 3 1 3 R510 ROM It should be installed as follows e Check that the system has the required configuration e Insert the CD ROM in the appropriate drive e Follow the on screen instructions The installation program runs e During the installation the user is asked for 1 destination directory 2 type of installation typical compact custom 3 program folder Caution only one level of program folder can be created The installation of the files begins and progression 1s indicated with a bar graph The installation ends with the addition of the DPL application icon in the programs folder Directories The default installation folder for the software 1s C Program Files SERAD iD
167. n This function shows if a message has been received Remark You have to set the parameters of the reception COBID to receive the message F CANOPENX Read or write a remote parameter Syntax 1 CANOPENB lt Index gt lt Sub Index gt lt byte or variable gt Syntax 2 lt Variable gt CANOPENB lt Index gt lt Sub Index gt Syntax 3 CANOPENTI lt Index gt lt Sub Index gt lt word or variable gt Syntax 4 lt Variable gt CANOPENI lt Index gt lt Sub Index gt Syntax 5 CANOPENL lt Index gt lt Sub Index gt lt double word or variable gt Syntax 6 lt Variable gt CANOPENL lt Index gt lt Sub Index gt Limits lt Index gt from 0000h to FFFFh lt Sub index gt from 00h to FFh Syntax l and 2 lt Variable gt from 00h to FFh Syntax 3 and 4 lt Variable gt from 0000h to FFFFh Syntax 5 and 6 lt Variable gt 7FFFFFFFh Description This function reads or writes a remote parameter in the dictionary of the IMD drive G CANPOSSTATUS Receive status of the CAN position Syntax CANPOSSTATUS Description This instruction returns the receive status of the CAN position gt O no reception gt 1 reception in progress gt 2 the reception has been interrupted for more than lt TimeOut gt but is running now gt 3 the reception is stopped because a master position error has been detected R510 266 SERAD S A IMD Drive User Manual H CANPOSTIMEOUTRAZ
168. n a ei aaa ieia i 231 9 10 95 READL Read a FRAM long nteger os irie ed r EEEE rn REE E E EE RE EAT A EE ETE EE E SiS 231 GAVE READ R Redd GF RAM FEO orae E ETOT EEE T OET aia 231 9 10 97 READPARAME Read a parameter at AS AAA AA AREA 232 O 10 982 REGI o POSTION capture SIQUUS seina aa Ad r aN 232 9 10 99 REGFPOST 5 Last Capture POSTON E AAA E EE A E 232 OTAGO REPEAT AN I cts O EOE OET TO EE O E E RO EAR 233 9 TO TOT RESTARF Re start the systemi e paola 233 DAOA RUN SOTA se E E E E E E EO 233 9 10 103 SAVEPARAM Save drive parameters coocoooonnnococoonooonnnnonononnnnnnnnnnnnnonnnnnnnn non nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 234 9 107104 5AVEVARIABLE S ve varidbleS iba 234 9 10 105 SEGCGURITY Defines security ACTIONS Li A A A E ee OE 234 0 10 1062 SETOPCOUNTER Configure A COunler icc ica erect A A ia 235 PLOTO ONE idad A 235 ILOA OS OU IV td a 236 9 10 109 SLAVEOFFSET Dynamically shift the slave position 236 OOO SOR SUITE OO sec E A E E A e E 236 DIOT SS TOP SSOP Te AS A do hh 236 9 10 112 SSTOPMASTER Stop movement in virtual mode without waiting for zero Speed c e 237 9 10 113 STARTCAMBOX Start a CAM DOX ceart E E EE A E E E E 237 9 10 114 STARTCAM Launches the execution Of a CAM ooooooonncooocononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 238 9 10 115 STARTGEARBOX Start electronic gearbOX ooooonoonnnnnnccoccococcononnnnnonnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnn
169. n is equal to the final one the position window For example on a piercing machine for which you need an accuracy of 0 1 mm we take this value for the position window parameter Set in the field position window of the Parameter Security Position windows the required accuracy 137 SERAD S A IMD Drive User Manual 7 2 2 User Miscellaneous Depending to the application the mechanical linear or rotation axis we may affect to each axis a more easy unit mm pulse encoder pulse 4 degrees radian inch round or whatever Indeed this unit is only used on the DPL screen to be easier to understand and practice For example if the selected unit is mm in the Units menu of the DPL speed s unit is mm s and acceleration and deceleration mm s Open Motion Control Configuration Unit and setup your axis a Conhiguration Motion control Conligurshon Position Bistenceperier 1000 rex pie pan nret rotalar drechon Example 1 Linear axis Motor connected to leadscrew with 5mm pitch Units mm Rin 1 Rout 1 Distance par tour 5 000 Modulo not active Example 2 Rotary axis Motor with 10 1 reduction gearbox 360 rotary table on output of gearbox Units degrees Rin 10 Rout 1 Distance per rev 360 000 modulo active with a value of 360 000 Note the number of decimal places is a parameter in menu Options Language DPL R510 138 SERAD S A
170. nctionality by the manufacturer In most master slave buses the efficiency of the master determines the behaviour of the entire network Moreover slaves cannot communicate directly with each other Such characteristics increase the number of transmission errors CANopen eliminates all of these disadvantages The timing characteristic can be specified individually for each task of the participating devices So the entire communication system does not need to have the same efficiency 1f this is only required by certain devices Moreover an automatic task can be separated for each device Thus the performance available to the network manager can be used in an optimised way and can be increased at any time by adding new devices The variables mapping used during the PDO type exchanges permits to use in an optimal way the current bandwidth of the bus CANopen determinates default values of all the parameters C Network configuration The CANopen network is made of several devices each of them can be master and slave They are identified in the network by an arbitrary number called Node Id This parameter must be unique two different devices of the CANopen network can not have the same Node Id This Node Id is very important it is the real identity card of the peripheral on the CANopen network R510 258 SERAD S A IMD Drive User Manual N odeID ModelD Modelo WodelD HodelD WodelD 3 12 1 13 2 5 Example of CANopen network configuration
171. nnnnnnnnnnnnnnnnnnnnnnnnnnnnn nono nr nnnnnnnnnnnnnn 278 112222 2 Seine up the modem 2 connected to the PE aladdin 280 He A aA NO 284 ll LISTOFIT HE VALIDATED MODEMS a A O A 285 R510 7 SERAD S A IMD Drive User Manual 1 Introduction 1 1 Warning R510 Read this manual first before installing the drive non observance may result in damage to property and in personal injuries Only suitable qualified personnel should undertake the mounting installation operation and maintenance of this equipment The general set up and safety regulations for work on power installations e g DIN VDE EN IEC or other national and international regulations must be complied with It is important that all safety instructions are strictly followed Personal injury can result from a poor understanding of the safety requirements The safety regulations are VDE 0100 Specification for the installation of power systems up to 1000 V J R VDE 0113 Electrical equipment of machines Equipment for power systems containing electronic e VDE0160 components Never open the equipment Dangerous high voltages exist within the equipment and on the connectors Because of this before removing any of the connectors it is necessary to remove the power and wait at least 5 minutes to allow the capacitors to discharge Never connect or disconnect the drive with power applied Some of the drive s surfaces can be very hot Some of
172. nnnnnnnnnnnnnnnnnnnnos 238 FLIVATLO STATUS TASK SATUS liada addict 238 GALO ALTAS POR RSOP TIC ONIN dde 238 O21 024 Pont OP CAMBOX SODA COMIDO sia 239 9 10 119 STOPMASTER stop movement in virtual mode oooooonnnnnconoonoaonnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 239 R510 5 SERAD S A IMD Drive User Manual 10 11 9 10 120 STOPS S status of the synchronised MOVEMEI coooccooococcoooooononnnnnononononononononnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 240 9210 1212 STOPS Stop MOV S TAS Siench se iasatd soudeleaS idence es bevebuus ested A E AEAEE E Aat 240 9 10 1225 ST TA TOTES OLE MOVIE cia 240 AOL 1 11 STA LENTE MOVEMENT AA IS A A 241 el al 242 S TTR Starr relative MOVEMEN ds tt ita 241 YAOI 2 SUB ENDS UD SUDOR O A A A AA AA AE 241 OLEO 120730 SPEND US DERE AAN ossrmmntadce crate stented sn ceases stun tad softies dtveuted attests Stine 242 DEO LAN SA ANA CI cake nett ab iin otis 242 DOT 26rd IME Lena ed UNE DOSS e Nici Veh add 243 9 10 129 TIMER Compare a variable to TiM oooonnnnnnnnnncnocanoooaoonnnnnnonnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnos 243 DoT W130 TRAJA ADSO LUTO PO CCIONY cist teint standin E i aticindie A bas 243 IAS TS TRATE Relative PAC CIO VS ce cece cote ce tas eee seve a es eta T A O ion 244 Od On 1922 TIGGER TOCA OW COUNT EE E ue a gd do o LU 244 910 337 TRIGGER 1rigoer ON INDUL SIAL 5 ic 245 9 10 134 TRIGGERP Trigge
173. nonnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnoss 223 DVO eT S EOT S LOCO a EE E TEETE E de aero S TE bd ORRA ETA ES 223 ADT s BOOF Van ua MOG En EE E T O EEE A cOn 223 9 10 74 MASTEROFFSET Dynamically shift the master position eessen 223 ADT VER GE Chain INOVEMICIIS lt td da dt 224 GATO MOD VOCUS einean aaa tet ee vag Maas a aaa dis ld 224 DEJO MOV A MOVE ADS OMI C pasion E Steet cios 224 9 0 78 MOVE Movement SUAS cil ce a S coli 223 9 10 79 MOVEMASTER S Movement status in virtual MOdE oooooonnnnnnnnoonooononanonnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 226 EOS MOVER MOVE TCION Ve st ls dali iii ta 226 0 10 61 MOV SS VRCARONIZC A MOV ENE A E 226 AVES ENEA TI ASE a SN E a dad 227 D1 203 NOT C Omple ment OPT AION E a A A AAA AA AA 227 De TOROS OI ODE OPEL da a do els da Sue oa il 227 9 10 85 ORDER Movement order number ssccs sissies sekaesue ia 227 9 10 8607 ORDER S Current Order number lt lt i e i ei ia 228 BEN LO mre TOUT Vrite a diota kOm PU eiei e a A las 228 DADES OO TB W ritea Block O S OULDUIS A a aa 229 OL O26 92 POS arder DOSIMON tddi tdo 229 STO I0 POS iS ACTUAL POSTON A A A AAA AA tant Soe sex Sweeties EEE 229 9 10 91 POSMASTER_S Actual position of the master AXIS oooononocococonannnncnnnnnnnnnnnnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 230 9 10 92 PROG END PROG Main program DOCK A A A E td a 230 9 10 93 READ CAM RCID A can O A A E 230 9 10 94 READI Read a FRAM integers deiei eea
174. nononnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnonnnnnnnnnnnnnns 95 Speed DON OPEN ad 102 E A A a E 139 A tert AE 236 O O A A 236 237 STARTCANRECEIVEPOSITION ooocccccocccconocconcnnoconcnnoncnncnnnnononnnonnononnnnnnnnrnnnonnnrnnnnnnrnnrrnnnnnnonanens 269 STAR FOANSEINDR SITIO criados 269 Sa EE o A ree ee 238 Stepper input OperatlON usuaris edbtanossdrbaabdlod boobed ie 102 A o In 238 239 gt TOPEANRECENVEPOS TON santana dll oidos 270 SORMA STE atada votas ace 239 SLOPDING a MOVEMENT cercada ld ias 150 TOPS cae 240 TOPS rad tio 240 SA ace casei E tuck sen scce seh sust ces atedsaeetebesversdeneved 240 241 JA O tees sker seme secedans See 241 STER e eE 241 SUSPENDE o A dE end 242 Synchronised MOVEMENMS ococccooccccccooccnccnoccncononcnnononcnnnnnnnnnonnnrnnonnnrnnnnnnnnnnonnnrnrnnnnrnrnrnrnnnnnannns 154 System checks before starting oooccccoooccococonccnconononnnnnnnncnnanonnnnnncnnonnnrnnonnnnnnnononrnnnnnanenos 31 System CONTI USAMOS dani 32 T TAN ti dao 242 Task Management aaa 128 TASK PONY at O a aan mee eae 128 TSU Stale ci sa ts 182 TIME A ios 243 TOP VIC Wess ida 14 TRATA a a ee 243 244 TRAJR lali biien 244 TRIGGER o eet eee o eee 244 Triggered MOV Media oa 178 A ee eee ee eaten Ae eee eee 245 TRIGGER pose esas ec eee etc cee eee ee eee ase ee ees 245 U User Miscelaneos crani dia 138 A A A II A A aun 34 V vaa Sers ne eee eee mn tone eee een ee eee ee ee eT eee 121 122 123 Variables coded as 2 WOKS
175. not block the task unless the movement buffer is full As long as the link between the master and the slave is not broken the instruction MOVE S will return a value of 1 even 1f the slave axis 1s stopped ny The instruction GEARBOX internally sets the value of GEARBOXRATIO to 1 Example If Numerator and Denominator 2 for 1 rev of the master encoder the slave motor moves by 0 5 revs The Numerator is a real The Denominator is a real Gearbox with values lt Numerator gt or lt Denominator gt different from 1 affects the scale of the position of the main encoder if you use master position or Cambox B STARTGEARBOX R510 This instruction initiates an electronic gearbox using an acceleration and a ratio previously defined by GEARBOX The ratio between master and slave is 151 SERAD S A IMD Drive User Manual Ratio x lt Numerator gt lt Denominator gt with lt Numerator gt and lt Denominator gt defined in the instruction GEARBOX Syntax STARTGEARBOX lt Master acceleration dist gt lt Master acceleration dist gt is real With Ratio that corresponding to the value of GEARBOXRATIO C GEARBOXRATIO This instruction modifies the reduction ratio of an electronic gearbox the instruction STARTGEARBOX having already been executed Syntax GEARBOXRATIO lt Ratio gt lt Master acc Distance gt lt Ratio gt is real The ratio of the gearbox is defined by lt Ratio gt x lt Num
176. o E ork monia E m 11000 2 mF 1 Select Actual speed in Speed loop for channel 1 2 Select Speed command in Speed loop for channel 2 3 Select Speed command as the trigger and choose rising edge If the signal speed command signal is not trapezoidal adjust the generator parameters e Increase the proportional gain until the actual speed is as close as possible to the command If the motor vibrates reduce the proportional gain by 20 Increase the integral gain until the actual speed follows the command exactly QO values proportional gain 200 to 1000 integral gain 1 to 20 Typical curves for optimised gains R510 97 SERAD S A IMD Drive User Manual i Empty 3 l y Oscilloscope m E Core gn de vie _ Coreigiie de fa e Save the adjustments using Parameters Save parameters 4 5 3 Position loop adjustment e Disable the drive Enable button OFF in the main window e Select position mode in the main window e Select the menu Parameters Position loop R510 98 SERAD S A IMD Drive User Manual m Position loop i Feed forward To start the position loop adjustments use the values shown above e In Motion control Configuration modify the units and the speed profile as required The percentage speed and acceleration used in the generator window are referenced to the values in the menu Motion control Configuration Speed profile Motion control Units Speed profile
177. o o s a 70 RJ45 IMD mo O Ry RJ45 IMD 0 eo zo se o Toe x E e E 2 exm ext is F Sl exm St e A gt x3 EEH E ES x3 O EXT2 3 ExT2 EXT2 o pra A o o RJ45 IMD RAS IMD Capacitors dischar rge time Capacitors Temps d charge condensateurs Temps dees Temps charga aeris Le CS RAD lt CE RAD Ce RAD D Diagnostics on the CANopen network LED CAN Rx Tx Flashing light is function of the traffic on the CANopen bus its intensity can be very low or high R510 261 SERAD S A IMD Drive User Manual E CANopen dictionary The drive can use both the SDO and PDO modes to allow reading from and writing to its parameters and variables or to another CANopen device l 32 bits E CES o emean AT non sign Manufacturer Status 32 bits registre d etat sp cifique au 1002 O Register non sign constructeur 1003 ES predefined error field E P nombre d erreurs apparues 32 bits 1 actual error AO derni re erreur apparue non sign 1004 number of PDO s S biis 000800081 Nombre de PDO support supported non signe Number of 32 bits Nombre de PDO synchrone synchronous PDO non signe support Number of 32 bits Nombre de PDO asynchronous PDO non signe ES asynchrone supporte 1005 o COB ID PADIS w 00000008h COB OD SYNC message non sign 100B Node ID 32 bits ro aucune N de noeud local non ag oe o ameme ae non sign 8 bits non Timeout Guard
178. odsbus CANopen windows R510 263 SERAD S A IMD Drive User Manual 10 2 3 Instructions list A List of CANopen instructions a Exchange instructions between IMD drives VE Read or write a remote variable byte VB Read or write a remote variable byte VI Read or write a remote variable word VL Read or write a remote variable double word VR Read or write a remote variable real b Dictionary read or write CANOPENB Read or write a remote parameter byte CANOPENI Read or write a remote parameter word CANOPENL Read or write a remote parameter double word c SDO Instructions SDOB Read or write a remote variable byte SDOI Read or write a remote variable word SDOL Read or write a remote variable double word SDOBX Read or write a remote variable byte SDOI X Read or write a remote variable word SDOLX Read or write a remote variable double word d PDO Instructions CANSENDNMT Send a NMT on CAN bus CANSENDSYNCHRO Send 1 synchronisation message on CAN bus CANSETUPSYNCHRO Set up the CAN synchronization PDOEVENT Test a PDO arrival PDOTX Send mapping data e Generic CAN instructions CAN Read and write a message CANERR Fault detection CANERRCOUNT Controls and erases the communication errors CANEVENT Test a message arrival R510 264 SERAD S A IMD Drive User Manual CANTX Send a message SETUPCAN Configure of a message f Multi axis instructions CANPOSSTATUS Return CAN position recept
179. on E g Position POS _S 121 IMD Drive User Manual Variables are numbered from 0 to 255 Summary of the different variable types R510 All calculation must be of type lt Variablel gt lt Variable2 gt lt Expression gt lt Variable3 or Constant gt With lt Variablel gt same type as lt Variable2 gt and lt Variable3 gt lower or equal type as lt Variablel gt Ex VRO VRI 100 VRO VRI VR2 VLO VLO VBO To change the value of variable in the screen Language 1DPL Edit variables It is possible to use indexed variables in the form of a table VL22 VLO 7 is equivalent to VL22 VL7 VL23 VL2 9 is equivalent to VL23 VL11 VB3 9 VL24 VL5 VB3 is equivalent to VL24 VL14 Warning Variable tables are only used for affectation Eg 1 VRO VRO VB1 STTA VRO Eg 2 VRO VR2 VB2 VLO VL2 VB3 VRO VRO VLO 122 SERAD S A IMD Drive User Manual Real variables are signed long integers multiplied by a coefficient type 1 0 1 0 01 fixed point To change the coefficient enter menu Option gt Language 1DPL gt Compiler the project must be recompiled after 6 2 2 Conversion between data types R510 To convert one data type to another simply make an assignment Flag VBI VFO VII VFO VLI VFO VRI VFO Byte VF2 VBO VI VBO VL2 VBO VR2 Vb0 Integer VF3 VIO VB3 VIO VL3 VIO VR3 VIO Long intege
180. ononinonos DPALlanguadean a hs IDPL SotMWare 0000 ad IF219 220 IMD series drive description oocoooccccccncoccncoccconcnncnnnnncncnnnnos Implementation by communication busS coooccccnccnccnccnconccnnnnos INFINITO Movement Sna a o L LAS ses ana ese A ee A A Less than or equal to oocccooccccccccccnccccnconcnonoconocnnnnnnnnanonnnnnnnnnos E A A A A Ree ne R510 287 SERAD S A IMD Drive User Manual M Memory MAP anios aio iia 121 MERGE cia ral tab 224 Message descriptos iia 250 MOD os ata 224 MOON CONTO aa bwin dana E a 17 Motor and resolver parameter adjustments ooocccocccccoccnccnccncnnccnnoncnnnncnnnnncnnnnncncnnnnnnonanoss 87 MOON ici o 16 MOVA oa ia 224 225 MOVE Sir a a a atic aerated o to tia 225 MOVEMASTE Static aca E AAA A 226 A A 226 O O O A 227 Multi axis by CAIN OCI iii o dolia 169 Multi tasking principles cooocccoocccoccnoccconocnococnnoonconnnonnrncnnnnonnnonnnnnnnrnnonrnnnnrnnnnnonaninnaninos 127 N Network onfigurati N o Sens element 259 ING YUE AO aw PP RO CO EC ER vin bute O 221 O Saat naeuat os acetate a ase samahe santa noeastaest 227 Numerical notation oooocccoccccoccccconcnnnnncncnnncncnncncnnnnnnnnnnnnnnrnnrnnrnrnnnrnrnnnnnrrnrnnnnnnnrnnrnrenaranenaness 124 O Operating MODES oraraa a a dido 90 Operacion a a a ie a E ree mre rea eer ene 106 119 Operation by COMMUNICATION DUS ccooooccnc
181. onstant phase Else return 0 Syntax VFO STOPS S Example MOVS 20 10 0 0 STOPS 20 105 WAIT MOVE S 0 IF STOPS _S 1 GOTO ERRSTOPS E Applications MOVS instruction accepts the following combinations Velocity changing phase Velocity changing phase Constant phase Constant phase Constant phase Stop phase Stop phase Velocity changing phase Constant phase Stop phase a Velocity changing phase i Zero initial velocity In the previous example the phase 1 1s a velocity changing phase with zero initial velocity MOVS Slave Master dM1 dS1 dM1 0 The velocity ratio at the end of this phase is equal to 2 dS1 dM1 R510 155 SERAD S A IMD Drive User Manual 11 Initial velocity greater than zero and lower than final velocity Phase 3 represents this kind of velocity changing phase The initial velocity ratio 1s dS2 dM2 and the final velocity ratio is dS4 dM4 so dS3 dM3 dS2 dM2 dS4 dMA4 2 MOVS Slave Master dM3 dE3 dM3 0 The average velocity ratio during this phase 1s dS3 dM3 and 1s greater than the initial velocity ratio so this is an acceleration phase 111 Initial velocity greater than zero and greater than final velocity This kind of phase 1s represented on phase 5 The initial velocity ratio 1s dS4 dM4 and the final velocity ratio is dS6 dM6 so dS5 dM5 dS4 dM4 dS6 dM6 2 MOVS Slave Master dM5 dS5 dM5 0 The average velocity ratio during this phase is dS
182. ools Oscilloscope to observe the form of the current during the movement R510 93 SERAD S A IMD Drive User Manual ii Empty iof x Oscilloscope gt Chl Real position ES 20 0 E 18 0 Offset o z x 16 0 9 me ohn xl 14 0 12 0 dD Che Theorical positior ER 10 00 Offset 7 x 8 00 C m if xl 6 00 dhn 4 00 a CAS Following error K 2 00 i a lt gt Offset o a 0 x 2 00 m ii i x1000 4 00 E 6 00 Ch4 E 8 00 10 00 12 0 14 0 16 0 18 0 Os 500 ms 1 00 1 50 s 2 00 2 50 3 00 Trigger Mode Level Resolution Time base 7 a Aj Aj Theorical pc X Rising edge y 9 0000 3 E ms 3000 ms _ Fixed height 1 Select IsQ in Current loop for channel 1 2 Select ISQREF in Current loop for channel 2 3 Select ISQREF as the trigger and choose rising edge If the signal ISQREF is not trapezoidal adjust the generator parameters e Before starting it is preferable to lock the motor shaft 1 Increase the proportional gain until the actual current IsQ is as close as possible to the command IsQREF 2 Ifthe motor vibrates reduce the gain by 20 3 Increase the integral gain until the actual current follows the command exactly Q Typical values proportional gain from 30 to 500 integral gain from 1 to 10 Typical curves for optimised gains R510 94 SERAD S A IMD Drive User Manual al il Wa sat neg Fone Tigger Oscilloscope Chl sl Be 02300
183. op a synchronise movement you can use this instructions gt STOP finish the movement immediately gt STOPS finish the movement on master slave condition gt ENDCAM stop a cam gt Oran end of movement eg came end When the synchronised stopping is asked an iDPL internal deceleration is use to stop slave axis lave speed A Deceleration following the MOTION deceleration allow to pass the speed at s Synecrorusation breaking moment to a null speed on slave A a synchronization link lave position dependence of master slave position the time ayrichrornization breaking 5 TOP In practice there is always a deceleration phasing very low gt Continuous cycle lave speed myiichrorization is never stopped so there is no problem of synchroruzation breaking Master position R510 172 SERAD S A IMD Drive User Manual gt Triggered synchronise movement mlaye speed synchrorization breaking Add a MOVYS instruction with a null slave movement for a small master distance Waster position A Triggere d synehronis E Triggered synchronise move ment movement R510 173 SERAD S A IMD Drive User Manual 7 8 Capture 7 8 1 Capture Capture allows for the registration of the current axis position on the rising edge of an input signal to the drive Capture time Standard input Quick input 600 us No filter 150 us A CAPTURE and CAPTURE2
184. operation If lt Type gt is not specified the value is the type defined in the Home set up menu Example VRO 100 HOMEMASTER 3 VRO Go home using mode 3 and a home position of 100 Note If adding 16 to lt I ype gt number the HOME instruction is doing without position modification but the offset is save in HOMEPOSMASTER S variable If the Reference value is not given it is 0 HOMEMASTER 2 See also HOME S Warning Input 4 must be declared as HOME function in digital input windows for Home on sensor else Home function is cancelled 9 10 59 HOMEMASTER S Read master homing status Syntax HOMEMASTER S Description This function reads the master homing status Remarks This function shows if the homing has been completed or not During a homing cycle the HOMEMASTER S flag is forced to 0 When the cycle is complete the HOMEMASTER S flag becomes a 1 Example IF HOMEMASTER S OFF GOTO Next Next See also HOMEMASTER 9 10 60 ICORRECTION Correction function Syntax ICORRECTION lt Dist master gt lt Dist slave gt lt Dist accel gt Units lt Dist master gt lt Dist slave gt user unit Ex mm degree lt Dist accel gt user unit s R510 218 SERAD S A IMD Drive User Manual Accepted types Description Remarks Warning lt Dist master gt lt Dist slave gt lt Dist accel gt real This function applies a correction movement to the slave axis during the
185. or COM4 The option System Communication forces the PC and the drive to use a fixed format of 57600 baud 8 data bits 1 stop bit no parity slave address 1 In System Communication mode the RS232 parameters are not used Q On activating System Communication the PC forces RTS to a logic 1 When the drive sees a 1 on its CTS input the link is established Access the iDPL programming options e Precision defines the number of decimal places used for real numbers Variables VRO to VR63 position POS_S in iDPL etc e Task ageing time defines the maximum time spent in a task before switching to the next task It is necessary to re compile the tasks after a modification 85 SERAD S A IMD Drive User Manual E Operating system Icon GR Action Download a new version of the operating system firmware ny This should only be done by qualified personnel The downloading affects the drive parameters It is therefore necessary to re load the parameters from a file 3 3 8 Help iDPL IMD Series software MyProject gt Project Parameters Communication Set up tools Motion Control Language iDPL Options E Help AL Modbus C4ANopen A Help Icon we Action Access the help files B About Icon Action Displays the current version of the software and drive firmware R510 86 SERAD S A IMD Drive User Manual 4 Drive adjustements 4 1 Motor and resolver parameter a
186. osition Model MD 230 7 1 Node ID Address 1 Rated current A 1 25 Masimum current 4 2 50 Current loop Proportional 20 000 Integral 5 000 Demand source Speed loop Demand 0 0 Source limit 100 Maxinnuinn torque 100 0 Maximum current slope 100 0 Speed loop Position loop Analogue inputs outputs Digital inputs outputs Supervision Motor Resolver Encoder emulation Motion control R5232 serial port Optional serial port Generator Scope 136 SERAD S A IMD Drive User Manual Regulation Open your parameters file from the motor librairy and tranfer it to MD drive Maximum following error As soon as an axis leads in controlled mode it is always controlled in stop or in motion If the difference between the calculated theoretic position and the real one given by the encoder feedback is bigger than the maximum following error all the axis lead in non controlled mode and the watchdog contact is getting open except if you use the instruction SECURITY The adjustment of this value is very important a too small value stops untimely the axis control a too big one interferes with security of electrical and mechanical devices Set in the field maximum following error of the Parameter Security Position windows the good value Position window R510 When we send an axis to a position the MCS knows that the motion is over when the theoretic profile is achieved and the real positio
187. oss the loads on all static digital outputs Q2 to Q10 These diodes must be positioned as close to the load as possible The supply and signal cables must be free from over voltage transients Y Safety standards specify a manual reset after a stop caused either by a supply interruption or by an emergency stop or by a drive fault For all serious faults it is obligatory to remove the high voltage supply to the drive The Drive Ready output should be connected in series in the emergency stop loop In the case of axis over travel the over travel limit switches must be connected to the limit inputs or in series with the emergency stop loop It is also recommended to use the software limits If the drive is configured in speed loop the drive enable input should be controlled by the supervisory controller CNC PLC etc If the drive is configured in position loop the parameter Maximum following error should be set appropriately If the drive contains an application program developed using iDPL connect a signal Cabinet supplies OK to one of the digital inputs and monitor it in a non blocking safety task On detection of an excess following error the drive will be put in open loop mode and the drive ready relay will be opened If another action 1s required you should use the SECURITY instruction 12 SERAD S A IMD Drive User Manual 2 2 Front view 12 39 9 gt C6 IMD s
188. ovement buffer Wait Inp 12 RUN 4 Begin Wait Inp 12 SUSPEND 4 Wait Inp 12 CONTINUE 4 Goto Begin RUN CONTINUE HALT 9 10 127 TAN Tangent Syntax Accepted types Description Example See also R510 TAN lt Expression gt Expression real This instruction returns the tangent of lt Expression gt lt Expression gt 1s an angle expressed in radians VRO TAN 3 14 SIN ARCTAN TAN 242 SERAD S A IMD Drive User Manual 9 10 128 TIME Extended time base Syntax Description Example Warning lt VLx gt TIME The system variable TIME can be used to give an active wait TIME is a long integer that represents the number of millisecond since the last power on VL2 TIME 5000 Load a time of 5000ms LOOP VL3 TIME IF VL3 lt VL2 GOTO LOOP TIME does not work in a test SAVEPARAM and SAVEVARIABLE functions distort time base 9 10 129 TIMER Compare a variable to Time Syntax Description Data types Example Warning TIMER lt VL XX gt This instruction compares the system variable TIME with the contents of variable VLXX TIMER VLXX 1 if Time lt VLXX timing in progress TIMER VLXX 0 if Time gt VLXX timing over VL XX Long integer LOADTIMER VL122 3000 Load a time of 3s WAIT TIMER VL122 0 Wait until the time has elapsed SAVEPARAM and SAVEVARIABLE functions distort time base 9 10 130 TRAJA Absolute t
189. p after 3 ringing Command AT amp Cl Meaning Activate DCD when connected Command AT amp KO Meaning Disable the flow control Command AT amp WO Meaning Store current parameters into the non volatile memory bank 0 Command AT amp YO Meaning Selecting these parameters in the non volatile memory as parameter to be used at power on When the modem take these commands into account it answers OK R510 279 SERAD S A IMD Drive User Manual 11 2 2 Setting up the modem 2 connected to the PC R510 The setting up of the modem connected to the PC is done by modifying the information in the Modem part of the DPL INI file that is in the DPL Data directory This set up have to following objectives Initialising the modem Remove handling of the DSR and DTR signals to avoid automatic hang up when the communication port is closed Defining the way the calls are made and how to hang up the line Defining the messages sent by the modem Parameters are setup for standard modem Example Parameters for an 3Com Us Robotics Sportster modem type Parameter Initl Value ATZ Meaning Using default factory settings Parameter Init TimeOut Value 5 Meaning Maximal waiting delay in 1 10 before the modem answer Parameter Init2 Value AT DO850 Meaning Remove the DTR and DSR handling Parameter Init2TimeOut Value 5 Meaning Maximal waiting delay in 1 10 before the
190. pl It contains 5 sub directories e Data containing the source files of the software e Help containing the help files e Lib containing the various parameter files for the drive e Os containing the drive operating system e Doc containing automatically generated documentation files modbus htm EDS file 33 SERAD S A IMD Drive User Manual 3 2 Presentation 3 2 1 Communication methods To communicate with the drive you need the CIMDP cable that allows the drive to be connected to a PC When you connect a drive to a PC all the drive parameters are transferred into the DPL software When you change a parameter in the 1DPL software you also change the drive parameters but they are not saved if you restart drive A Communication with one drive S CIMDP Be RS232 In iDPL software create a new project with one drive R510 34 SERAD S A IMD Drive User Manual B Communication with several drives In iDPL software create a new project with the drive number of the machine To connect to another drive select a drive from the drive list in the 1DPL software and then connect the CIMDP cable to the correct drive R510 35 SERAD S A IMD Drive User Manual C Multi drive communication Multi drive several drives on a CAN network allows you to program all drives without changing the CIMDP cable connection RIO 40 Supervisor 640 40 VO d port es In the iDPL software cr
191. ple the master encoder 1s modulo 360 The cam boxes are written in the following way CAMBOX 1 1 4 Cam box 1 master encoder 4 segments R510 187 SERAD S A IMD Drive User Manual R510 CAMBOXSEG 1 1 4 40 60 and 60 CAMBOXSEG 1 2 4 230 250 and 250 CAMBOXSEG 1 3 12 230 250 and 400 CAMBOXSEG 1 4 12 350 10 and 10 STATCAMBOX 1 STOPCAMBOX 1 Cam box 1 segment 1 output 4 between 40 Cam box 1 segment 2 output 4 between 230 Cam box 1 segment 3 output 12 between 200 Cam box 1 segment 4 output 12 between 350 Start cam box 1 Stop cam box 1 188 SERAD S A IMD Drive User Manual 9 Operator and instruction list 9 1 Program To determine the execution time of each instruction read the 1DPL TIME INSTRUCTION XLS file in DATA directory CALL Call a subroutine NEXTTASK Move immediately to the following task GOTO Jump to a label PROG END PROG Main program SUB END SUB Subroutine EXIT SUB Exit a subroutine 9 2 Arithmetic as Addition A Subtraction Multiplication Division 9 3 Mathematical R510 ARCCOS Inverse Cosine ARCSIN Inverse Sine ARCTAN Inverse Tangent COS Cosine EXP Exponential FRAC Fractional part INT Integer part LOG Logarithm MOD Modulus 189 SERAD S A IMD Drive User Manual SGN SIN SOR TAN 9 4 Logic lt lt eea AND NOT OR XOR 9 5 Test 9 6 Motion control A Axis control ACC ACC AXIS
192. plex movements It allows a movement to be launched towards a relative position with a specific speed Syntax TRAJR lt Position gt lt Speed gt For example TRAJR 500 2000 is equivalent to VEL 2000 STTR 500 If the MERGE instruction is active and several TRAJA or TRAJR instructions are loaded the movements will be executed one after the other without passing through zero speed For example MERGE On TRAJR 500 2000 TRAJR 1000 50 change to low speed at position500 7 6 3 Infinite movements To start a continuous movement you must use the instruction STTI The axis moves at the current speed R510 149 SERAD S A IMD Drive User Manual This instruction does not block the task unless the movement buffer is full The instruction STOP or SSTOP is required to stop a continuous movement The direction of the movement is defined by or Syntax STTI Sign Example WAIT INP 4 O0On STTI WAIT INP 4 0ff STOP 7 6 4 Stopping a movement To stop a movement you must use either STOP or SSTOP The axis is stopped using the programmed deceleration and the movement buffer is cleared The instruction STOP blocks the task until the movement is finished condition MOVE S 0 whereas SSTOP is non blocking Syntax STOP Example move until a sensor is activated ST ta WAIT INP 4 On STOP The instruction AXIS OFF also stops the movement but without any control as the drive is inhibited
193. pression IF VR1 150 GOTO NEXT IF VR1 lt 150 THEN VRI VRI 1 END IF 9 10 63 INP Read a digital input Syntax Data types Description Remarks Example See also INP lt InputNo gt Value from 1 to 16 This function returns the state of a digital input lt InputNo gt represents the number of the digital input The returned data type 1s Bit VF1 INP 11 INPB INPW OUT OUTB 9 10 64 INPB Read a block of 8 inputs Syntax Data types Description Remarks Example See also INPB lt BlockNo gt Value 1 or 2 This function returns the state of a block of 8 digital inputs lt BlockNo gt represents the input block number The returned data type is Byte VB1 INPB 2 INP INPW OUT OUTB 9 10 65 INPW Read 16 digital inputs Syntax Description Remarks R510 INPW This function returns the state of the block of 16 digital inputs The returned data type 1s Integer 220 SERAD S A IMD Drive User Manual Example See also VI2 INPW INP INPB OUT OUTB 9 10 66 INT Integer part Syntax Data types Description Example See also INT lt Variable gt Real This function returns the integer part of lt Variable gt VR1 25 36 VR2 INT VR1 Result VR2 25 FRAC 9 10 67 LOADCAM load a cam Syntax Description Limits R510 LOADCAM lt NumberCam gt lt Absolute gt lt Tabl
194. ption to receive the inputs of the I O modules or signal an event from another device Y Direct access functions to the CAN bus to send and receive specific messages such as the functions NMT et DBT Node guarding functions C Connections X2 amp X3 Extension Optional communications port Module CANopen X2 Module CANopen X3 U CAN_L CAN_H A SHIELD Raccorder la tresse blind e sur le corps du SUBD e X2 and X3 are identical and have the same connections They provide for easier network connections R510 260 SERAD S A IMD Drive User Manual e Node Address For RS422 RS485 and CANopen the NodeID corresponds to the first five dipswitchs 1 Ex dipswitchs 1 gt ON 2 gt OFF 3 gt ON 4 gt OFF 5 gt OFF Dipswitchs value 1 4 5 NodeID 5 1 6 e Put on Dipswitch 6 to activate termination resistor 120Q ny RS232 communication allows communication with only 1 device ex 1 PLC and 1 IMD drive a Maximum transmission speed regarding the length of the CANopen network Maximum transmission speed Network length b Example with 3 IMD drive and 1 SUPERVISOR O IMD series IMD series IMD series g 4 f STATUS STATUS al S la SUBD 9pts m le a B he vers S80 X1 X1 O COM COM o o es ma ge 64 NODE NODE err xo m
195. r VF4 VLO VB4 VLO VI4 VLO VR4 VLO Real VF5 VRO VB5 VRO VIS VRO VL5 VRO VF2 is equal to the LSB of VBO VF3 is equal to the LSB of VIO lt VB3 is equal to the LS Byte of VIO lt VF4 is equal to the LSB of VLO VB4 is equal to the LS Byte of VIO VIA is equal to the 16 LSBs of VLO VES is equal to the LSB of the integer part of VRO VBS is equal to the LS Byte of the integer part of VRO VIS is equal to the 16 LSBs of the integer part of VRO VES is equal to the integer part of VRO 123 SERAD S A IMD Drive User Manual 6 2 3 Numerical notation Values can be given in decimal hexadecimal and binary E g WB0 2534 decimal notation VB1 0FEh hexadecimal notation VB2 11111110b binary notation 6 2 4 Saved variables Some global variables VRO to VR63 VLO to VL63 can be saved and initialized at drive starting or drive restarting a SAVEVARIABLE Save variables Syntax SAVEVARIABLE Description Variables VRO to VR63 VLO to VL63 in the working RAM are saved in the Flash memory The drive automatically passes to AXIS OFF Remarks The Flash memory has a life time limit of 5000 write cycles Attention Excessive execution of this instruction can cause the premature degradation of the Flash memory b LOADVARIABLE Load saved variables Syntax LOADVARIABLE Description Transfers the variables VRO to VR63 and VLO to VL63 saved in Flash m
196. r CORS DOS TIO A A A A A A 206 9 10 32 CLEARMASTER Set the master encoder position tO ZOYO oonnininccncococococoooooonnnnnonnnnnnnnnnnonononnnonononnnnnnnnnnnns 207 9 10 33 COMCOUNTER Return the number of exchange frames ooooooonnnonconoooooonnnonnnonnnnnnnnnnononononnnnnnnnnnnnnnonnnnnnnnos 207 9 10 34 CONTINUE Continue the execution Of a lOSK oooonnnnnnncooooooooooooonnnnnnnnnonononononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 207 ASIA OS AOS MES deducen cada isc ne ds 208 9 10 36 COUNTER Initialize counter with a value oooooononcnncnoaaonnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 208 YODA COUNTER S ROLE COURT A ib 208 ALS DAC SAN OPU OU SS A dl 209 YAOI DEC Deel ra ON ista tito 209 YE TO 20 DE CDE CO Cra ionin PEC AAA SAA A AO 209 pd DELAY F ASS VE WO ao a E O E e e es 210 9 10 42 DISABLERECALE Cancel axis re alignment ooooooonononocnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 210 OTUA DISPLAY SCOMENE d DIO E A a id 210 9 10 44 ENABLERECALE Automatic axis re alignment ooooooononncoccooononnnnnnnnnnnnonnnnnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 211 Pd EIN DCAM S OP COM i a eer do ae rebel 212 2102402 XAT SOB F a SUDIOULNG a aes E ad 212 Del a a ENI EXA a eaa aN 212 9 10 48 FEMAX 3 FOMOWING error TIMID vcs db 212 DT P E SSF O OWA OIN OF aTr E A AA A AA A 213 9 10 50 FILTERMASTER Apply a position filter
197. r a 500 line encoder chose 2000 increments b Stepper mode Allows the IMD drive to be connected to a third party stepper motor controller The number of steps and rotation direction can be changed Speed profile and signal diagram we mm m Direction l 0 Resolution input the resolution in increments 4 increments per line For example for an encoder with 500 pulses per rev enter 2000 increments c SSI mode R510 61 SERAD S A IMD Drive User Manual Allows an SSI absolute encoder to be used for master functions or double loop regulation The position of the motor shaft is calculated from the cyclic absolute signals of the resolver or encoder 1 2 d 4 ba 5 T B A 1a 11 11 13 14 15 16 12 18 19 0 2 ST 213 H 5 Clock T t l l l l Bin r ifi femke Ar Ar AALALA AzA Ae l l l Gray yon ferof ss Asa Ac7 Ass Acs Acs A 53 52 A oi A so Bit Number of bits for position information from 2 to 31 Frequency Clock frequency 1 5 MHz max Resolution input the resolution in increments 4 increments per line For example for an encoder with 500 pulses per rev enter 2000 increments GRAY code Yes No see encoder documentation Warning The resolution must be less or equal to 2 nb Bit and maximum capture time 2 nb Bit Frequency must be under 100us L Encoder output JAHL Icon ia Action Set up encoder output i Multifunction encoder output lt 4
198. r cancel the integral gain of the speed loop 4 5 Manual control loop adjustements 4 5 1 Current loop adjustment R510 Good control of the current loop is required before it is attempted to optimise the speed loop and subsequent stages The parameters are integral gain and proportional gain This adjustment is directly linked to the characteristics of the motor and does not depend on the load Disable the drive Enable button OFF in the main window Select torque mode in the main window Select the menu Parameters Current loop The following menu appears Current boop ES Dienanl Speed loco Maw slope MUERTO Propoitional e gt gt oS gt erari gt x HH Commend 100 0 me elu 350 000 t es on 3 t es Co SENE To start the current loop adjustments use the values shown above ny The command source must be of type value 92 SERAD S A IMD Drive User Manual e In Diagnostic tools Generator start a movement as shown below hi Gencrator Bel Test generator Torque m Acceleralon r 100 ma he Cucle comings and oc Y ou can adjust the amplitude between 5 and 15 and the acceleration between 50 and 100 according to the type of motor The amplitude is expressed as a percentage of the maximum motor current ny To start the movement you must enable the drive by putting the Enable button to the ON position in the main screen e Use Diagnostic t
199. r on master DOS LON ocooooonocooooonnnnnnnnnnnnnnnononnnononnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnneannnnnnnnnnnnnns 245 9 10 135 TRIGGERR Cancel a trigger Without condition oooonnnnnnnnonoconooooonooonono nono nonononononnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnos 245 9 10 136 TRIGGERS Execute a trigger without CONdItiON oooonnnnncncnooooooooooonnonononononnnnnononnnnnnnnnnnnnnnnnnononnnnnnnnnnnos 246 AVAST SAS OC is ito 246 Ded Qed Foe VEL SS ACIUOL SDE Cd ti tii 246 DATO TS 9S EEA DOC IN DECREASE 246 9 10 140 VELMASTER_S Return master filter speed oooonoonnnnnnoooonoooononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 247 0 10 14 1 VERSION OS Firmware Version lt A AA A AAA A bes AAA REA 247 9 10 142 VIRTUALMASTER Enable disable virtual MAStOT ooooonnnnnnnnonononananononnnnnnnnnnnnnnonnnnnnnnnonnnnonnnnnnnnnnnnnnnnnnnnnos 247 Del Oe LS VALE Wai JOP acontecido 247 910 144 WRITEGAM Write u cam DOIN sieci onse e E aces bene A sinus laae Maeudn S iat 247 On 02 14a gt IVRILELA W riea FRAM IMIE CEF raa e E E A EA AN A A a RAA AAEN S SNA 248 9 1040 WV RUEL V ritea FRAM LONG IIE TER IE E E Mahal E E E E ae 248 9 10 1147 WRITE PARAM Write a parametet alas batas dt dt tii 248 YAO 148 WVIITER gt WI Le A FRAM POOL A EAS E TE 249 0 10 149 XOR EXCIUSTVE OR OP Craik AA ea ion 249 APPENDIX A RT 250 LOSS TATUS SEGMENTS DISPLAY o o e eE 250 IUe MESS E CEST A SO i la cae i eel hie 250 IUl TEV OF IN
200. rajectories Receive trajectories e In the same way it is possible to transfer the contents of a trj file to the drive using Communication Trajectories Send trajectories R510 105 SERAD S A IMD Drive User Manual 5 2 2 Operation ES to E10 ELI Start Ele Stop 34 a Timing Walue 341 Value 6 Movement Movement Trajectory n 6 Trajectory n 41 Ti and TT lt 10ms starting and stopping time of a trajectory T2 gt 10mes holding time of a trajectoy number b I O expansion card Inputs 5 to 10 used to code the trajectory number Input 5 is the LSB Input 11 START the trajectory on the rising edge of this input Input 12 STOP A logic 1 allows operation A logic 0 stops the movement Output 3 Homing state 0 if homing not done 1 if homing completed Output 4 Movement status MOVE S 0 if axis stopped 1 if axis moving Note Input 5 corresponds to the first input on the I O expansion module R510 106 SERAD S A IMD Drive User Manual c Composition of a trajectory Each trajectory 1s coded using a real number and a long integer e g The trajectory TRJO is coded using VRO and VLO The trajectory TRJ19 is coded using VR19 and VL19 e The real variable contains the position e The long integer is divided into 4 bytes 1 byte Mode MS byte 0 absolute l relative 2 infinite 3 infinite Y Y V V WV 4 home 2 byte Speed in 3
201. rajectory Syntax Data types Description Remarks Example R510 TRAJA lt Position gt lt Speed gt Real This instruction can be used to produce a complex movement This instruction causes execution to be switched to the next task The axis uses current acceleration and deceleration values MERGE On TRAJA 1000 00 VRO Move at slow speed to position 1000 243 SERAD S A IMD Drive User Manual See also TRAJA 1500 00 VR1 Change speed without passing through 0 MERGE Off STTA MERGE TRAJR 9 10 131 TRAJR Relative trajectory Syntax Data types Description Remarks Example See also TRAJR lt Position gt lt Speed gt Real This instruction can be used to produce a complex movement This instruction causes execution to be switched to the next task The axis uses current acceleration and deceleration values MERGE On TRAJR 200 00 VRO Move at a slow speed TRAJR 1000 00 VRO to position 1200 TRAJR 1500 00 VR1 Change speed without passing through 0 MERGE Off STTR MERGE TRAJA 9 10 132 TRIGGERC Trigger on capture Syntax Description Exemple Warning R510 TRIGGERC lt NumCapture gt lt NumCapture gt l or 2 This instruction indicates that the next movement will be triggered on capture STTA 50 CAPTURE1 0 4 On 10 20 On TRIGGERC 1 STTA 300 Absolute movement at 300 triggered on capture 1 TRIGGE
202. rameters Syntax LOADPARAM Description Transfers the drive parameters saved in Flash memory into the working RAM 6 5 Tasks 6 5 1 Multi tasking principles The real time multi tasking kernel can manage up to 4 tasks in parallel The multi task passes from the current task to the next task if The time spent in the task exceeds the ageing time This time is a parameter set in menu Options Language iDPL Compiler It is necessary to recompile the tasks after a modification R510 127 SERAD S A IMD Drive User Manual A blocking instruction is encountered gt Wait Delay gt Mova Movr Stop Home Y The instruction NEXTTASK is executed As a general rule a short task allows events to be treated more rapidly than a long task 6 5 2 Task priority In an iDPL project you can have one high priority task that will be executed more often than the other tasks The priority task is allocated time slots as shown in the table Execution time Example with task 1 high priority Nb tasks High task 2 normal tasks Task execution cycle Nothing 75 25 1 1 1 2 66 33 1 1 1 2 1 3 62 5 37 5 1 1 1 2 1 3 1 4 6 5 3 Task management R510 Each task has a starting mode defined when it is created Automatic the task is launched automatically at power on of the drive Manual the task must be launched manually from within a program A project must contain at least one automatic task
203. re cis Tene ee 183 NS TUE cise Stet sha a A Masse iDd wet eld assis da seeds Masseinhihd sxeteleuestesideseetentonet 183 6 22 VIC NOU tati de hewieecceddedetectox 183 Sos TIMERS A O si ooaet estate ntaamyaoee areata cata 184 OE SIV WN EIE OU se EE es ees ee ee 184 R510 3 SERAD S A IMD Drive User Manual OPI ACCENT id id nd ad os 184 COUNTERS o dns od asta d cine crios 185 Be AVE BO OO 186 OPERATORAND INSTRUCTIONS 0 sadistic E a it 189 A RR O 189 aT ARITHMETIC A A a des 189 ID MATEMATICA Eon open aig be Sel cee paren dio 189 JAS LOGIC ee uae a AA AAA iii 190 A O A 190 AO MOTION CON TROE 030 ES A ARA TEA AAA AAA AAA 190 LN 193 9207 TASK MANAGEMENT dada daa 194 9 9 MISCTELANT TOUS a A E RIOS 194 YO ATPRABE TICA da o e rl a tel ace Sat it 195 ITO AALTO A A SA pce Pa agian Sida Na ld E E O NA 195 ES ee ele haa E N NE E E EON 195 OA RA Ea a EARR AE 196 OOF PU IVS LO ieii rees EEE E E E E E E E E E EE E S EES 196 IAE L ESSA en ENEE E E A A R A 197 TORO MESS Un O COUTO A a a E a 197 L EE E usb 197 DON OF OGUA LO r ERE E EEEE E EEEE E EAEE AE N EEEE O A EO CEEE 198 910 9 F GUGIS E E E A A A ede sral eves ea ai erheutets Weir eae 198 NODOS TUNA A AAA SAA biel tava nate Ga 198 AVDA 1G RES IND AO lO 199 OAOT O A A E eee Ee Tener ee en eter Cree eer Fee eeee Crees fer ere eee cena 199 DELO RL ACC AC COLETTI ON a E tc sone ca 199 O U ADC 1 ReEAd analogne Input Toner cena eves aoe ee eee E veel veal l eae she a aire yaa Aslus 200
204. ress gt from 0 to 4095 n from 0 to 255 9 10 95 READL Read a FRAM long integer Syntax Limits Warning lt VLn gt READL lt Address gt lt Address gt from 0 to 4094 n from 0 to 255 Reading or writing a long integer use 2 consecutively memory address and adresse 1 9 10 96 READR Read a FRAM real Syntax Limits Warning R510 lt VRn gt READR lt Adresse gt lt Adrese gt from 0 to 4094 lt VRn gt from 0 to 255 Reading or writing a real use 2 consecutively memory address and adresse 1 231 SERAD S A IMD Drive User Manual 9 10 97 READPARAM Read a parameter Syntax Data types Description Example lt Variable gt READPARAM lt Index gt lt Sub Index gt lt Variable gt Long integer lt Index gt Integer lt Sub Index gt Byte This function allows a task to read the status and parameters of the drive via the CANopen dictionary VLO READPARAM 8448 1 Read the drive fault number 9 10 98 REG1_ S Position capture status Syntax Description Remarks Example See also lt VFx gt REGI1 S This function indicates 1f a position capture has taken place The returned value is only true once per capture REGI S 1s automatically reset to 0 after a read operation and also on re launching another capture CAPTURE1 0 4 1 10 20 1 Capture the motor position on the rising edge of input 4 when the
205. rofile and saved data don t use the same addresses otherwise your cam profile can change during moving 6 4 Parameters 6 4 1 Parameters It is possible in an iDPL task to change drive parameters change mode current limit input functions adjust regulation see Help Modsbus CANopen windows A READPARAM Read a parameter Syntax lt Variable gt READPARAM lt Index gt lt Sub Index gt Data types lt Variable gt Long integer lt Index gt Integer lt Sub Index gt Byte Description This function allows a task to read the status and parameters of the drive via the CANopen dictionary R510 126 SERAD S A IMD Drive User Manual Example VLO READPARAM 8448 1 Read the drive fault number B WRITEPARAM Write a parameter Syntax WRITEPARAM lt Index gt lt Sub Index gt lt Variable gt Datatypes lt Variable gt Long integer lt Index gt Integer lt Sub Index gt Byte Description This function allows a task to write parameters to the drive via the CANopen dictionary Example WRITEPARAM 9984 6 1 Set the axis as modulo C SAVEPARAM Save drive parameter Syntax SAVEPARAM Description The drive parameters in the working RAM are saved in Flash memory Remarks The Flash memory has a life time limit of 5000 write cycles Attention Excessive execution of this instruction can cause the premature degradation of the Flash memory D LOADPARAM Reload the drive pa
206. ronous transmission gt Data distributed in multiple messages gt Data addressed with an index The information sent on the CAN are received and evaluated by all connected devices Each service of a CAN device is configured by a COBID Communication OBject Identifier The COBID is an identifier that characterises the message It 1s this parameter that indicates to a device whether or not the message must be treated For each service PDO or SDO it 1s necessary to specify a COBID during the transmission send a message and a reception COBID receiving a message For the first SDO server the COBID 1s fixed and cannot be modified remotely Moreover it is calculated from the NODE ID The NODE ID 1s the parameter that characterises the device and permits a unique access to it PDO Process Data Object This is a data exchange arbitrated between two modules The PDO can transfer in turn controlled synchronizations or events to carry out the message sending request With the controlled events mode the bus loading can be reduced to a minimum A devices can therefore obtain a high performance with a low transfer rate Data exchange with the PDO uses the advantages of CAN Sending messages can be done from an asynchronous event controlled event Sending messages can be done from the reception of a synchronizing event Recovery from a remote frame SDO Service Data Object This is a point to point data exchange A device asks for acce
207. s Drive n Flowpack machine Speed profile update 23 09 2003 ff Inputs Outputs SRE Variables 2 les Tasks 45 Inputs Outputs Si Variables MBR SERADSA IMD Drive User Manual In this window you can setup all drives of your project parameters I O variables tasks cams Double click on Node ID number to change it must be the same as drive dipswitchs In the right area programmer can let notes for next use A project can have up to 127 drives A I O declaration ES MyProject Varnateur HodelD Sl 1 y My drive 1 ha inputs J Y C Lepe jue EI Variables mo de Tasks d Enable E Positive limit Negative lirit Home El My drive 2 n Start 8 Inputs Outputs atop L A Variables A Cut i de Tasks 2 Hight cut Low cut E 1 biy drive 3 Allows I O to be assigned names that can be used by the 1DPL tasks R510 40 SERAD S A IMD Drive User Manual B Variable declaration MyProject El My drive 1 1 sn Inputs Outputs al Varables 2 he Tasks Counter Humber e Cut number Variables n ql Tasks Allows variables to be assigned names that can be used by the 1DPL tasks C Task declaration MyProject M y drive 1 1 gt E f My ive 1 TO T me O M3 Inputs Outputs O Number State Start Comments AR Variables Task na Taskd Inactive auto a 1 My drive 2 Inputs Outputs RE Variables gle Tasks Prioritary task
208. s phase to earth over current 2t Protection Over voltage under voltage Motor feedback fault Resolver Motor feedback Rates SinCos encoder Hiperface P Incremental encoder Absolute encoder SSI SinCos encoder Hiperface Virtual Incremental A A B B Z Z 1 to 100 000 points per rev RS 232 MODBUS RTU IMDBUS for master slave application Communication CANopen DS 402 SDO PDO master or slave PROFIBUS DP Pt SERCOS 16Mb Master encoder option R510 9 SERAD S A IMD Drive User Manual 4 inputs with 2 fast inputs I3 and 14 12 additional inputs with expansion module with 2 fast inputs 115 and 116 Digital inputs Type PNP 24V DC 8mA per input and 15mA per fast input Logic 0 Between 0 and 5 V Logic 1 Between 8 and 30 V 2 outputs as standard S1 Relay 48V de 48V ac 3A max S2 NPN open collector 24V dc 100mA 8 additional outputs with expansion module Type PNP 24V dc 500mA max per output Protected against short circuit and over temperature Digital outputs 2 inputs Input voltage 10 V Maximum voltage 12 V Analogue inputs Input impedance 20 kQ Resolution 16 bits on Input 1 12 bits on input 2 1 output Output voltage 10 V Analogue output Maximum current 5 mA Resolution 8 bits Processor 150 MHz DSP and 100 000 gates FPGA FLASH memory for programs and parameters Architecture RAM memory for data FRAM memory
209. send tasks to the drive or clear the tasks in the drive I Send all Icon mE Action Allows the user to send a package to the drive it is possible to select parameters variables cams tasks J Receive all Icon aj Action Allows the user to receive a package from the drive itis possible to select parameters variables cams tasks R510 68 SERAD S A IMD Drive User Manual K Run iDPL Icon gt Action Runs all of the active tasks that are designated as automatic L Stop iDPL Action Stops the execution of all of the tasks Icon M Restart Icon o Action Restarts the drive 3 3 4 Diagnostics DPL IMD Series software MyProject Set up tools Motion Control Language iDPL Options Help Instrument display Project Parameters Communication Fault display Auto tuning Generator Motion Oscilloscope Hyper Terminal A Instrument panel Icon ha Action Allows the monitoring of drive functions R510 69 SERAD S A IMD Drive User Manual a Allows the user to see the internal state of the drive and motor ui Instrument panel iols Instrument panel b E Visualisation a Drive Motor Motor Drive Degrees Position Digital 360 540 180 1 T20 An x 7 ree rpm DE Bus Velocity EN ILimit gt ILimit LED is lit when there is over current and the following error is growing gt Degrees pos
210. ss to the list of SDO objects The SDO replies with information corresponding to the type of request Each SDO can be client or server An SDO server cannot send a request to another SDO it can only respond to R510 257 SERAD S A IMD Drive User Manual a request from a client SDO Unlike a PDO the SDO must follow a particular communication protocol Each message is composed of 8 bytes Domain Protocol Byte 0 Defines the command Upload Download Index 16 bits Bytes 1 and 2 Defines the dictionary address of the object Sub index 8 bits Byte 3 Defines the element of the selected object Y Parameter Bytes 4 to 7 Defines the value of the parameter read or written The network manager has a simplified mode for starting up the network Network configuration 1s not required in all cases The default parameter configuration is sufficient in many cases If the user wants to optimise the CANopen network or increase its functionality he can modify these parameters In CANopen networks all devices have the same rights and data exchange is directly regulated between each participating device The profile of a device defines the parameters necessary for communication The contents of this profile are specified by the device manufacturer Devices with the same profile are directly interchangeable Most parameters are described by the manufacturer The profile may also contain empty slots for future extensions to the fu
211. t Home E Speed profile Selected motion type F Oscilloscope Icon ad Action Opens the oscilloscope window This tool aids commissioning by allowing all of the drive s parameters and states to be observed Up to 4 channels can be observed simultaneously The oscilloscope is divided into three areas The display screen The configuration control area The display control area R510 73 SERAD S A IMD Drive User Manual Oscilloscope Real position a Theorical positior E Following error B 1 50 2 00 s Ringed m pooo a 0 Si gg on 3 Y The display screen is the central part of the oscilloscope where the data are plotted Y The configuration controls make it possible to choose the signals to be displayed and to set up the mode of acquisition the number of samples duration etc Source selection Offset value Signal name Scale resolution Display color Change scale resolution Trigger source selection Time between 2 samples Type of edge Edge level Lenght of acquisitip Renged 5000073 07 E m 07S me R510 aT RAD SA IMD Drive User Manual Each signal is plotted in 1ts own units e g current in amps speed in revs min Each channel has a scaling factor to amplify or attenuate the amplitude of the signal The display control area is used to start and stop acquisition and also to modify the plotting on the display screen D Start the capture Single capt
212. t proceed as follows Fault Enable RAY fault Drive fault Display fault Drive ready R510 255 SERAD S A IMD Drive User Manual 10 2 CANopen 10 2 1 Definition A Introduction The CAN Controller Area Network bus appeared in the middle of the 80 s to responded to the requirements of data transmission in the automobile industry This type of bus makes it possible to obtain high data transfer rates The CAN specifications define 3 layers in the model OSI the physical layer the data link layer and the application layer The physical layer defines the mode of data transmission The data link layer represents the core of the CAN protocol since this layer is responsible for controlling the transmission bus arbitration error detection etc The last layer is the application layer also referred to as CAL CAN Application Layer This is therefore a general description of the language for the CAN network that offers a number of communication services CANopen is a type of network that is based on a serial link and on the CAL application layer CANopen only supports part of the communication services offered by CAL The advantages are that this only needs a low performance processor with low memory requirements CANopen is therefore an application layer standardised by the CIA CAN In Automation specifications DS 201 DS 207 The network manager allows for simplified network initialization The network can
213. t the state of an input using the instruction IF The syntax 1s IF lt Condition gt GOTO lt Label gt The structure IF 1s used to test a condition at a given instant If the lt Condition gt is true the program execution branches to the label Example IF INP 5 ON GOTO Label 1 Test the state of input 5 If the input is a 1 jump to Label 1 8 2 Analogue I O 8 2 1 Read an input The functions ADC 1 and ADC 2 are used to read the 2 analogue inputs The data returned by this instruction are always real and in the range 10 to 10 For example VRI ADC 1 Read analogue input 1 VR5 ADC 2 Read analogue input 2 8 2 2 Write an output The function DAC is used to write to the analogue output The syntax is DAC lt Real expression gt The data used by this instruction are always and in the range 10 to 10 For example DAC 5 0 Set the output with a value of 5 V R510 183 SERAD S A IMD Drive User Manual 8 3 Timers 8 3 1 Passive wait The function DELAY is used to give a passive wait The syntax is DELAY lt Duration gt lt Duration gt is an integer expressed in milliseconds This instruction is recommended for long passive waits since during the wait the program does not use any processor time With this function the program waits for the duration indicated For example Start WAIT INP 5 1 DELAY 5000 Wait for 5 seconds GOTO Start Warning SAVEPARAM and SAVEVARIABLE
214. ta types Description Remarks Example See also lt Expressionl gt lt Expression2 gt Byte Integer Long mteger Real This operator adds two expressions and returns a value of the same type as the operands lt Expression1 gt and lt Expression2 gt must be valid expressions and must be of the same type VL1 10 VL2 5 VL3 VL1 VL2 Result VL3 15 and 9 10 2 Subtraction Syntax Data types Description R510 lt Expression gt lt Expression2 gt Byte Integer Long integer Real This operator subtracts lt Expression2 gt from lt Expressionl gt and returns a value of the same type as the operands 195 SERAD S A IMD Drive User Manual Remarks Example See also lt Expression gt and lt Expression2 gt must be valid expressions and must be of the same type VL1 10 VL2 5 VL3 VLI VL2 Result VL3 5 o AI Y 9 10 3 Multiplication Syntax Data types Description Remarks Example See also 9 10 4 Division Syntax Data types Description Remarks Example See also R510 lt Expression gt lt Expression2 gt Byte Integer Long integer Real This operator multiplies lt Expression1 gt by lt Expression2 gt and returns a value of the same type as the operands lt Expressionl gt and lt Expression2 gt must be valid expressions and must be of the same type VL1 10 VL2 5 VL3 VL1 VL2 Resu
215. te of the drive In position mode the urgent deceleration Motion control 1 Speed profile is used to stop axis when limit sensors are active To use inputs 3 4 15 and 16 in fast mode deactivate their filters With an extension card you can have a Digital inputs 7 outputs a El HHHOATHEBBEE BHEEBHEEHEBeBHE Z MOO YM ee ee vl Y Extension HHA A O E a e 12 additional inputs that can be filtered and or inverted to use fast inputs 15 and 16 deactivate filtering e 8 additional outputs that can be inverted G Supervision Action Configure the security parameters Icon a DC Bus monitor ny Factory settings do not modify When an external brake resistor has been used select the tick box External if it is unchecked drive uses default parameters to control the ballast R510 53 SERAD S A IMD Drive User Manual ny This resistance must be carefully chosen The adjustments are only accessible when advanced parameters are selected i Supervision Supervision DL Bus Under voltage Active Brake resistance _ External Level y Level fol y Over voltage active Tan 13900 2 la Level fol y Period 20000 m Cuurent A aini Position e Under voltage active by default drive minimum voltage when drive enabled gives Error E02 under voltage e Over voltage active by default drive maximum voltage gives Error 01 over voltage e Warning This parameter is
216. the axis to an absolute position It uses the current values for acceleration deceleration and speed The syntax is MOV A Position This instruction sends the axis to an absolute position having the value lt Position gt The program waits for the end of the movement before continuing The positioning error 1s minimal For example MOVA 100 CALL Punch MOVA 0 The instruction MOVA blocks the task until the movement is finished condition MOVE S 0 MOVA 100 1s equivalent to STTA 100 R510 147 SERAD S A IMD Drive User Manual WAIT MOVE S 0 C Trajectory TRAJA The Trajectory function is designed to simplify the definition of complex movements It allows a movement to be launched towards an absolute position with a specific speed Syntax TRAJA lt Position gt lt Speed gt For example TRAJA 500 2000 is equivalent to VEL 500 STTA 2000 If the MERGE instruction is active and several TRAJA or TRAJR instructions are loaded the movements will be executed one after the other without passing through zero speed For example MERGE On TRAJA 500 2000 TRAJA 1000 50 change to low speed at position 500 7 6 2 Relative movements A Start a movement STTR To initiate a movement towards a relative position and not to wait for the movement to be completed before continuing with the task we must use STTR This instruction is very useful if the speed or the target position must be changed during the
217. timed out It is possible to use 256 timers simultaneously For example LOADTIMER VL129 3000 Load a delay of 3s Loop IF TIMER VL129 lt gt 0 GOTO Loop Wait for the end of the delay Note During the execution of these lines the long integer variable VL129 is used by the system SAVEPARAM and SAVEVARIABLE functions distort time base 8 4 Counters 3 4 1 Counters Caution R510 185 SERAD S A IMD Drive User Manual The same input and edge cannot be used both as a counter and for position capture or triggered movement When the counter reaches its maximum value it goes to 0 on the next edge maximum value 65535 A Configuration The instruction SETUPCOUNTER is used to configure the counter Syntax SETUPCOUNTER lt CounterNo gt lt Input gt lt Filter gt lt CounterNo gt Oorl lt Input gt Input number 1 to 16 lt Filter gt Activation of filter O for no filter 1 for filter If the filter is not activated the maximum frequency is 5 kHz otherwise it depends on the filter parameter in Parameters Digital Inputs Outputs B Writing The instruction COUNTER 1 or 2 is used to initialize the counter with a value Syntax COUNTER lt CounterNo gt lt Value gt lt CounterNo gt Counter number 1 or 2 lt Value gt Value between 0 and 65535 C Reading The instruction COUNTER S is used to read the counter Syntax lt Variable gt COUNTER S lt CounterNo gt
218. tion ENABLE _ 3 The output Q2 is NPN open collector the load must be connected between Q2 and 24V DC 2 6 7 X8 High voltage supply Connector Removable 4 way 7 62mm pitch mp Care must be taken when making connection to connector X8 Wait for at least 5 minutes to allow the capacitors to discharge before remove the connector R510 21 SERAD S A IMD Drive User Manual 2 6 8 X9 Option Expansion module 12 inputs 8 outputs Connector SUBD 25 way female Name Type pescript Inp nput 5 programmable put 6 programmable nput 7 programmable put 8 programmable nput 9 programmable nput 10 programmable z oeno 0V digital VO Output 3 programmable Output 5 programmable Q6 Out Output 6 programmable inp inp Inp Input 11 programmable Inp put 12 programmable Inp put 13 programmable put 14 programmable Inp nput 15 programmable put 16 programmable tput 7 programmable utput 8 programmable utput 9 programmable tput 10 programmable V digital I O V digital I O onnect the shield to the shell of the connector 5 510 D O O 5 mi mi o lo lels 5 5 xix c i rt mv A O 5 s5 Do S nin cic Oo olo 3 OTS Q lt lt a NIN 3 QS 3 Dm Sale olo D N 6 EA 8 Yo _ 00 5 5 5 5 c EN DOPpOT N pot pol pol E olnl lolo Pins 7 24 25 internal connection Pins 12 13 internal connection R510 22 SERA
219. ure Stop the capture O Zoom i Z00r Zoom a window s Move Windows Autozoom E Save the capture e Zoom window Click on the switch zoom window With the switch active trace out a rectangle on the display screen by keeping the left button of the mouse pressed Releasing the button completes the zoom e Save capture save the current capture as a HTML and JPG file R510 75 SERAD S A IMD Drive User Manual G Hyper terminal Pa Icon in Action Opens the hyper terminal This tool aids commissioning by allowing the user to display variables inputs outputs and parameters in relation with drive state It is also possible to directly modify variables In multi drive mode select the drive that you want to communicate with ui Hyper Terminal Hyper terminal A O Visualizations Task MM Stat T Activit ai a Ais ae heaical posi 14 005 De Theorical velocity 40 000 m 4 Display area Selected drive 1111 Tasks status area Record area The hyper terminal window is divided into three areas Tasks status area shows the status and the current line number line of the tasks and communication activity Display area displays a variable a parameter an input or an output R510 76 SERAD S A IMD Drive User Manual To add a variable or a parameter click on icon P and double click on a variable or one of the parameters the name will
220. y HOME is already to 1 then the drive launches in first an infinite movement in positive direction to emerge from the HOME sensor Then the drive launches an infinite movement in negative direction and awaits a growing edge of the entry HOME The position is then forced with the value of datum and the motor stops on this position Start Stop Position Datum G Type 6 On sensor and signal Z in direction without release The drive launches an infinite movement in positive direction and awaits a growing edge of the entry HOME then to pass behind the Signal Z The position is then forced with the value of datum and the motor stops on this position UN O Nn O A Stop Position Datum R510 144 SERAD S A IMD Drive User Manual H Type 7 On sensor and signal Z in direction with release If the entry HOME is already to 1 then the drive launches in first an infinite movement in negative direction to emerge from the HOME sensor Then the drive launches an infinite movement in positive direction and awaits a growing edge of the entry HOME and pass behind the signal Z The position is then forced with the value of datum and the motor stops on this position Stop Position Datum I Type 8 On sensor and signal Z in direction without release The drive launches an infinite movement in negative direction and awaits a growing edge of the entry HOME then to pass behind the Signal Z T
221. y the drive R510 274 SERAD S A IMD Drive User Manual B Variables coded as 2 words Drive parameters as well as some variables are coded as 2 words 32bits As indicated in the Modbus standard a double word has the following form The parameter Invert word order accessible in the parameter group Optional Serial Link allows the inversion of the coding of the double word for the variables type long and real El Drive Mode Position Model MD 230 1 Mode ID Address 1 Rated current A 1 25 Maxinurn current A 2 50 Current loop Speed loop Position loop Analogue inputs outputs Digital inputs 7 outputs Supervision Motor Resolver Encoder emulation Motion control R5232 senal port El Optional serial port Protocal Modbus AS Invert word order No 7 LAN open speed Bits 500K Modbus speed Baud 19200 Parity None Timeout m 20 Generator Scope System Invert Data VR amp VL Parameter communication parameter format coding version coding version Float or Decimal Disable No ron sd No Decimal X don t care If Invert Order NO gt Address n most significant R510 275 SERAD S A IMD Drive User Manual Address n 1 least significant If Invert Order YES Address n least significant Address n 1 most significant 10 3 2 MODBUS dictionary A MODBUS dictionary The dictionary contains the various parameters and variables of the drive see Help Modsbus CA

iDPL user manual

Contents

Download Pdf Manuals

Related Search

Related Contents