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PMCprimo C Programming Manual

1. 500 800 Position Electric cam with velocity dependent phase displacement at a velocity of v 5000 incr sec and a phase displacement of PA 2560 level output n 500 800 Position Figure 40 Velocity dependent phase displacement Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 15 Phase commands VTn Set velocity averaging time constant Set velocity averaging time constant Permitted values for n 1 to 10 000 milliseconds Factory setting 1 This command is effective when using the DV and PA command The value n specifies a time period over which PMCprimo determines the average velocity of the selected axis PMCprimo uses this average velocity rather than the current velocity to calculate the phase displacement on electronic cams When n 1 PMCprimo does not determine an average velocity The calculated average velocity can be displayed using the DV command or can be displayed at the analogue auxiliary output It is the actual velocity that is averaged BAn Set map base advance Set map base advance Permitted values for n 0 to 2 000 000 000 Factory setting 0 This command can be used to provide a master position offset set using the MB command see Page 3 87 with a velocity dependent phase displacement Phase displacement offset Velocity of mast
2. 3 202 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 16 Web tension control with analogue input 3 16 Web tension control with analogue input The value of the analogue input from the servo amplifier CAN IOs is a key factor for the web tension control loop As a result the value of the analogue input is downloaded at regular intervals CAN cycle time and this is used to calculate a transmission ratio between the master and the slave axis The algorithm for this calculation is i SM SM x AP ej Al Xej AD ej ej 1 i Master slave transmission ratio SM Set transmission ratio SM command AP Proportional gain Al Integral gain AD Differential gain e Web tension distance set web tension actual web tension The dynamic behaviour of the web tension depends on these constant gains and on the mechanical behaviour of the driven machine These gains must be set in order to achieve optimum control behaviour Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 16 Web tension control with analogue input AMn Set analogue control mode Set analogue control mode Permitted values for n 0 and 1 Factory setting 0 This command enables
3. cceceeseesseeeseees 3 149 Wait for write to variable cccccessessseeseeeees 3 216 Unlink slave axis from master aXis ccseeeseeees 3 86 Wait lOOpSis 3 scine tiated Sabet 3 99 WO EET E E A 3 149 Aran e PAETE TASE EA 3 103 Updates E ah ene 3 25 Wrest ence a a E A R 3 104 ME a A A A 3 105 eae ema Ne AIE E EEN E 3 103 M a a el he E ee a 3 100 Variable assignmMent ssssssrerererersrererrerererersre 3 215 MV PRERE EEEE ETLE AA E ses ta TITT 3 102 Variable number program assignment 3 215 Write to variable wait for osese 3 216 VGiSint geese attentive dein EES 3 39 WIS keniana EEA R ERE tits 3 104 Velocity averaging time constant set 3 201 W Tee See sek Ae E AEE REE 3 99 Velocity pre control gain ccccseseeseeesreesteeeees Velocity reverse amplification Velocity trigger output define VirtUal inputs can eine RRN VirtUal GUtDUtS rrn deere bites Wait for bound overflow count Wait for bound position Wait for input line n in grOup ceceeeseeeseeeees Wait for motor Status eceeeesesseceeeeneeeeeeeeeee Wait for reference input eccceseeseeeseesreeeees Wait for time EE TTT Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de i ol4te 2 0 08 AUTOMATION 5 FNN KOPROFIT Deutscher Akkreditierungs Rat a DA
4. 1 Serial number of safety card 2 State register 3 Error register 4 1 0 state register 5 Current velocity With CS commands a distinction is made between DIS1 and DIS2 See safety card documentation Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Status and error messages 4 1 Status messages Status and error messages 4 1 Status messages Overview of all the status messages that PMCprimo shows to the user on screen via a Telnet connection gt Position control loop closed and PMCprimo ready for the next travel command Motor switched off Position control loop open A Axis executes an alignment movement for starting a position mapping XM command Once this alignment movement has been completed message X appears for position mapping active Cc Axis executes the coupling process or MW command Bit 0 1 decoupling process STx for starting a position mapping XM Once this process movement has been completed message X appears for position mapping active Initialisation running Axis executes a positioning with a trapezoidal velocity profile Axis executes a stop command Execution of infinite positioning or velocity control Axis is in standby xs lt WZ Position mapping is active on the axis and alignment movement or coupling process has been completed N Linear interpolation is activ
5. Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands BN t gbb Define input inhibit line Define input inhibit line Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for bb 0000 0000 to 1111 1111 default setting 0 With this command the user can define an input inhibit for an input group in PMCprimo In contrast to the BG command Page 3 166 only the addressed input is inhibited The inhibited input can only be re enabled using the El command The right hand bit stands for input 1 Each bit stands for the respective input If n is not stated the input inhibit that is currently defined will be displayed executed after the input is enabled in contrast to the MN command see also MI command Page 3 144 T If the state of an inhibited input changes the respective input function will not be 3 170 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands Example PMCprimo user 0 1 ES Prgl 002E CHO 1 SV 003E NS Ord 0 1 ES Prg2 0021 0031 CH0 1 SA NS B EJ Ow DIO Sri P
6. PMCprimo user Comment v 0 1 gt EM Testmap lt CR gt Name of position table Q 0 1 gt Cycle length of Master NM lt CR gt End of position table NM End of enter map End of enter map This command ends the position table entry Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands LM Name n List map List map Permitted values for n 10000 This command is used to list a position table If a table name is not stated PMCprimo lists an overview of the position tables available within the memory Example PMCprimo user Comment v 0 1 gt LM Testmap lt CR gt List Testmap position table Q 0 1 gt Testmap Name of position table 1000 Master cycle length 3 Number of table values in this case 3 0 Table value 1 must always be 0 500 1000 NM End of table entry 0 1 gt Exactly n values are listed with the optional parameter n The values define the complete position table Example PMCprimo user Comment Y 0 1 gt LM Testmap lt CR gt 6 List testmap with 6 values Q 0 1 gt Testmap Name of position table 1000 Master cycle length 6 Number of table values in this case 6 0 Table value 1 must always be 0 200 400 600 800 1000 NM End of table entry 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 34
7. 3 10 SBnn Reference commands Set position overflow bound Set position overflow bound Permitted values for nn 1 to 2 000 000 000 Factory setting 4 194 304 This command defines a cycle length as the limit for the absolute position i e if the motor position exceeds the set cycle length the value nn is subtracted from the absolute value of the position counter The limit of the absolute position is usually set to be identical to the reference position This makes it easier to continually monitor the reference signals and carry out the necessary corrections that result Each full cycle length limit value exceeded is counted in an overflow counter The BC command Page 3 121 can be used to delete or set this counter the WC command Page 3 104 can be used to wait for a certain counter status Application example parts counter Example PMCprimo user Comment 0 1 gt SB1000 lt CR gt Cycle length of 1000 increments set 0 1 gt A typical application for using cycle lengths is a cyclical or rotating movement in which only the position within one rotation or cycle is important Positional details outside of the selected cycle length are possible at any time on travel commands however the current position at the end of the movement can never be greater than the cycle length set value is subtracted from the position counter The overflow counter BC contains the number of completed cycles Pilz GmbH amp Co
8. WC nn Wait for bound overflow count Wait for bound overflow count Permitted values for nn 2 000 000 000 With this command PMCprimo waits for the overflow counter to assume the value tnn before executing the next command see also SB command Page 3 120 The overflow counter counts the number of times the cycle limit is exceeded in a positive or negative count direction depending on the direction of the axis Example Wait for bound overflow count KA PMCprimo user Comment J 0 1 gt VC WC10 ST lt CR gt 0 1V The axis travels in pos direction until the overflow counter has reached the value 10 0 1W then executes the 0 15 stop command 0 1 gt 3 104 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 7 Wait loops WE End wait state End wait state With this command PMCprimo ends the current wait loop at the current axis and executes the next command immediately The GE command Page 3 71 can be used to cancel all active wait loops Example End wait state 9 PMCprimo user Comment x 0 1 gt ES P_WE Program triggers WE command 0 1 gt CHO 1 WE 0 1 gt NS 0 1 gt DI1 1 P_WE lt CR gt End wait loop with falling edge at input 1 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E
9. is set Bit 6 of FW can be used to decide whether RH is effective for the ZX or ZY range Define reference output Define reference output Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 This command can be used to set an output to true for the time in which a reference error correction is executed If or is not stated a definition can be invalidated The output switches to 1 for 1 millisecond even if the reference error is 0 Reference adjustment forwards output Reference adjustment forwards output Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1 to 8 This command can be used to set an output for the time in which a reference error correction is executed in the travel direction This means that the axis must be faster during the reference error correction so that the defined output is set to true If or is not stated a definition can be invalidated Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands JB g n Reference adjustment against backwards output Reference adjustment backwards output Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 This command can be used to set an output for the time in which a reference error correction is executed against the travel d
10. Command description 3 6 Mapping commands LWbb Set map link options word Set map link options word Permitted values for bb 0 to 1111 1111 Factory setting 0 The wildcard X can be stated for each bit This means that this bit will not be changed This command is used to set the axis coupling between the slave and master axis The LW command is set on the slave axis the setting must be made before the definition as slave axis via the ML command Page 3 85 Bit 0 is on the right with input output and on the left with Bit 7 With preset axis coupling it is possible to enable and define the software differential function If the function is enabled the demand position is calculated based on the sum or the difference between two master axes The NL command Page 3 86 must be used to define the 2nd master axis as differential master The function can be enabled and defined with Bits 4 to 6 Example Y PMCprimo user Comment J 0 1 LW lt CR gt Axis 1 is the slave axis 0 1 LW 00000000 Ove LW00110000 lt CR gt Enable software differential with subtraction 0 1 ML2 lt CR gt Axis 2 is the 1 master axis of axis 1 0 1 CH2 lt CR gt Select axis 2 0 2 NL3 lt CR gt Axis 3 is the 1 master axis of axis 2 0 2 CH1 lt CR gt Select axis 1 0 1 PC lt CR gt Activate position control loop 0 1 gt XM LINEAR lt CR gt After activating a position mapping on bh bd ce the slave axis its demand position is calculated
11. FH FL inactive 1 Parameters ZH ZL FH FL active Bit 1 This bit determines the reference position of RJ Page 3 128 in PMCprimo 0 PMCprimo uses the relative position RJ for the reference signal 1 PMCprimo uses the position of the position counter for RJ Bit 2 This bit defines the output of the measured reference error via DF 0 DPF displays the measured reference error 1 DF does not display the filtered reference error Bit 3 This bit decides the functionality of the debounce time RH for the reference signal 0 Value is used as the time for calculating the debounce time 1 Value is used as the distance for calculating the debounce time A further reference signal is ignored if the distance between the last signal and the current signal is less than the value RH Page 3 134 Bit 4 This bit decides how the reference signal is monitored 0 Monitoring with RT for round axis 1 Monitoring with RT for linear axis If the current position moves away from the range RF FR to RF FR the monitoring counter is increased and if necessary an error message is triggered Bit 5 This bit decides on a variable distance for the reference error correction 0 Fixed distance for reference error correction 1 Variable distance for reference error correction and fixed distance for correction free zone Pilz GmbH amp Co KG Felix Wanke
12. Set reference error limit Permitted values for n 0 to 65535 Factory setting 0 This command can be used to set a reference error limit in increments If PMCprimo detects a reference error that is greater than LR the error message Reference error limit exceeded is triggered LR is independent of SR Page 3 124 and FR Bit 1 of the EW command Page 3 110 can be used to determine whether the motor is to be shut down in addition to this error message LR is monitored before SR This means that a message appears if LR is greater than SR The message Reference error reduced to the maximum value is not triggered if the value n 0 Set reference offset Set reference offset Permitted values for n 2 000 000 000 Factory setting 0 This command can be used to set a reference offset If n 0 PMCprimo regards the position of the reference signal as the absolute position 0 If values for n 0 PMCprimo regards the position of the reference signal as the absolute position n Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands RVn Set reference correction velocity Set reference correction velocity Permitted values for n 0 to 200 Factory setting 0 To correct a reference error a temporary change in ve
13. Timing error 1 ms interrupt was called too early Safety card error Timing error 1 ms interrupt was called too late Safety card error Feasibility of position encoder signal encoder signal 22 error motor feedback failed Safety card error Feasibility of position encoder signal internal position oe servo controller DPR SSI failed Safety card error Feasibility of parameters invalid number of motor poles failed 4 242 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Feasibility of parameters invalid motor type failed Safety card error Feasibility of configuration data inputs configuration data input states do not match failed Safety card error Channel A B data alignment state of input SS1 Activate failed Safety card error Channel A B data alignment state of input SS2 Activate failed Safety card error Channel A B data alignment state of input SOS Activate failed Safety card error Channel A B data alignment state of input SLS Activate failed Safety card error Channel A B data alignment state of input SSR Activate failed Safety card error Channel A B data alignment state of input SDI Neg Activate failed Safety card error Channel A B data
14. gt 20000 increments revolution 1 Double pulse evaluation gt 10000 increments revolution 2 Single pulse evaluation gt 5000 increments revolution Example 2 Specification PMCprimo with SSI rotary encoder The resolution can be set with the NB command Page 3 186 FS setting 5 or 6 The position is evaluated relatively 7 or 8 The position is evaluated absolutely The SB value Page 3 120 must be 2 and should not exceed the maximum encoder resolution Example 3 Specification PMCprimo networked with servo amplifier and Hiperface rotary encoder via CANopen The required servo amplifier must be selected using the PD command Page 3 225 The resolution can be set with the NB command Page 3 186 FS setting 19 The position is evaluated relatively 20 The position is evaluated absolutely The SB value Page 3 120 must be 2 and should not exceed the maximum encoder resolution Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 NBnn FCnn MSnn Definition commands Set number of bits for SSI encoder Set number of bits for SSI encoder Permitted values for nn 12 to 32 Factory setting 24 With this command the number of data bits can be set for each axis when using an SSI or CANopen rotary encoder As a result SSI and CANopen rotary encoder types can be use
15. n from Byte g The sign indicates the signal level of the output for the pulsed output If or is not stated a pulsed output can be cancelled For example this function can be used to recognise products as good if the commands ZH ZL FH or FL Page 3 131 are used A pulsed output also occurs during initialisation with IN and IB Page 3 39 and 3 41 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 10 RHnn OR g n JF g n Reference commands Debounce time reference signal Set reference holdoff time Permitted values for n 0 to 2 000 000 000 Factory setting 0 This command can be used to set a debounce time for a reference signal PMCprimo will not accept the next reference signal until this switch off delay has elapsed If Bit 3 of the FW command is set to 1 the debounce time will no longer be used as a time but as a distance In this case RH is evaluated in increments A further signal is ignored if the distance between the last signal and the current signal is less than the value RH As the distance always remains the same bouncing signals that are based on the velocity can be filtered out better The debounce time is only effective when reacting to the rising edge actual reference signal If Bit 0 of FW
16. syncsrc 3 and fpga 3 In the case of a PMCprotego or PMCtendoDD5 only the setting syncsrc 3 must be made Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands With F21 to 27 only the demand position is sent via the CANBus Position control is performed by the servo amplifier The position control in PMCprimo KP KF etc is not used The latch function of the servo amplifier can be activated with FS21 22 24 and 25 To do this the command IN1MODE input 1 or INZ2MODE input 2 must be set to 26 and the reference sensor must be clamped to the servo amplifier s digital input SAVE COLDSTART required Referencing is fully supported with FS21 and 22 IN Page 3 39 RM Page 3 122 RW Page 3 122 etc incl FW Page 3 128 FH Page 3 131 FL ZH and ZL The resolution can be set with the NB command Page 3 186 NB24 means 4096 increments per revolution The direction of rotation is set using CW Bit 5 Page 3 54 Neither DZ nor DR may be set on the axis If FS21 or FS22 is selected no reference input from PMCprimo is assigned but the reference recording is still activated automatically Note Each time the PC command is called Page 3 32 the current actual position is read from the servo controller and the position counter in PMC
17. 002E PR PROG15 started Text output at program start 003E CHO 1 PC Activate axis 1 position control 004E CHO 1 MR500 Execute relative positioning of 500 increments 005E NS End of program entry 0 1 DI2 5 PROG15 Determine input definition Rising edge starts PROG15 0 1 RI2 5 Read input states Or 1 Inputs 0 2 87654321 00000000 All inputs FALSE FEEEEEEE Enable all input definitions 0 1 MI2 5 Mask input 2 5 0 1 In the mean time input 2 5 has changed its state PROG15 was not executed as input masked O 1 0 1 RI2 Read input states 0 1 Inputs 0 2 87654321 00010000 Input 2 5 TRUE EFREEMEEEE Input 2 5 masked Ons BI2E5 Enable input 2 5 OL PROG 15 is started as input state at El does not equal that at MI PROG15 started Text output 0 1 gt Activate position control 0 1M Execute relative positioning 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands BI t g n Inhibit function input Inhibit function input Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 With this command the user inhibits a defined input function or an input group with the byte address g of the input defined with n in PMCprimo If
18. 100004 Product Version DeL HW Version UNDEF PriBoLo v02 01 FPGA Driver v02 12 FPGA File CAN CAN v02 01 00 BSP Version v01 02 HW Type PMCprimo C 600MHz CAN CAN HW Revision 1 CPU Family 0x006 Model 0x26 SteppingID 0xl BIOS creation date 08 16 2011 MRAMData Ver 004 Size 524288 Reserved 160300 MAC primo 00 02 48 40 C9 2D MAC COM Modul 00 02 48 40 C7 A9 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands HWnn Print hardware Print hardware Permitted values for nn Oto 2 n 0 All CAN devices are listed 1 Hardware information is listed as follows SOFTWARE Firmware 3 0 2_T05 May 10 2012 12 56 18 Motion INSTALLED v IEC PLC INSTALLED Q Interpolation NOT AVAILABLE ETHERNET IP address 192 168 0 11 Netmask 255 255 2550 Gateway 192 168 0 1 CHANNELS Number Lees 30 HARDWARE Type PMCprimo C 600MHz CAN CAN Mat Nr 680055 Ser Nr 111 Pr Ver 10 Inputs 6 Outputs 6 Virtual Inputs 56 Virtual Outputs 56 Analogue Inputs 0 Analogue Outputs 0 DEVICES in CAN Network PMCprotego DS S706 at CAN1 ADDR 5 found DS402 Safety Card DIS2 found 680004 100001 1 0 Inputs 6 Inputs Outputs 0 Virtual Inputs 16 Virtual Outputs 20 Analogue Inputs 2 inputs linked to channel from 0 1 to 0 2 PMCprotego D S706 at C
19. Disengaging with MA MR occurs at the current slave velocity 1 Disengaging with MA MR occurs at the velocity determined by SV Disengaging with ST or STn occurs in accordance with the MAP that will be exited The gradient of the braking ramp is determined by the CL parameter even if Bit 5 is set to 0 Bit 7 Activate automatic cycle length correction The length of the slave cycle is specified automatically based on the position of the slave on the master cycle limit and its transmission ratio The GM command Page 3 189 can be used to list the current cycle length If the axis moves into mapping this command can be used to correct the cycle length automatically To do this the cycle length specified using the SB command is multipled by the transmission ratio SM As a result a reference sensor is no longer necessary with uneven gear ratios Example SB4096 SM1 3 4096 3 The cycle length would be 1365 33 As a result a drift of one increment for every three pulses would arise with a constant forward movement The cycle length is now set to 1365 for two pulses and to 1366 for one pulse thereby avoiding the drift 0 Automatic cycle length correction is disabled 1 Automatic cycle length correction enabled Bit 8 This bit can be used to select whether to use the current SB value of the master axis or the master SB value from the position table when calculating the setpoint for
20. GE Global wait off Global wait off All running wait loops are ended immediately The GE command is a WE command Page 3 105 that encompasses all wait loops GX Name Global abort execution Global abort execution This command sends the Abort command command to all axes and also ends programs at HOST level If a command line or a program begins with the GX command all running programs will be aborted the commands following the GX command will then be executed If a program name is stated only the stated program will be aborted MEName Set motor off error sequence Set motor off error sequence Permitted entry Program name or 0 Factory setting 0 This command can be used to define a program as a reaction program in PMCprimo in the event of an axis error This program is always run when an axis error occurs If no program name is stated the name of the current reaction program is read in the event of an axis error If O is entered as the program name this means that the user does not require a reaction program if an axis error occurs A reaction program can be defined for each axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 5 Program commands The following error messages trigger a reaction program code ec a a Software end limit has been passed in the minus direction 2
21. If the transmission ratio changes during active position mapping when the position at the slave axis is adjusted the velocity for the alignment is determined with the AV parameter Page 3 89 and the acceleration is determined with the value of the AA parameter Page 3 89 Example Transmission ratio 1096 361 The actual demand position of the slave axis is the demand position from position mapping multiplied by the factor 1096 361 9 PMCprimo user Comment 0 1 gt SM 1096 361 lt CR gt The slave master transmission ratio is set to 1096 361 Axis 1 is the slave axis in this case 0 1 gt 3 88 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands BR Set map scale factor from bounds ratio Set map scale factor from bounds ratio This command can be used to automatically calculate the transmission ratio SM command Page 3 88 from the specified cycle lengths of the master and slave axis The calculated transmission ratio equals the value SB slave SB master Example m PMCprimo user Comment n 0 1 gt SB4000 lt CR gt Cycle length 4000 increments axis 1 0 1 gt CH2 lt CR gt Selection of axis 2 0 2 gt SB5000 lt CR gt Cycle length slave axis 5000 increments 0 2 gt BR lt CR gt Calculate transmission ratio 0 2 gt SM lt CR gt List transmission ratio SM 5
22. KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands Direction of movement Position without stating cycle length 0 250 500 750 1000 4250 1500 Position stating cycle length of 1000 increments Q 250 500 750 0 250 500 Relative positioning 1500 increments Figure 31 Cycle length BC tnn Set display position overflow counter Set display position overflow counter Permitted values for nn 2 147 483 647 This command sets the overflow counter to the value nn The overflow counter counts the number of times the cycle lengths are exceeded The counter value is incremented when the cycle limit is exceeded in a positive direction and decremented when it is exceeded in a negative direction RLnn Set reference repeat length Set reference repeat length Permitted values for n 0 to 2 000 000 000 Factory setting 0 This command can be used to set a reference cycle length The reference cycle length indicates the position at which the PMCprimo expects a reference signal If a reference cycle length is not stated PMCprimo will expect a reference signal at the cycle limit set with SB command Page 3 120 Application example The machine s cycle length is SB 10000 and the reference cycle length is set with RL2500 As a result PMCprimo corrects a reference error 4 times within the machin
23. Monitoring Motor current OFF external brake failed Safety card error Safe Brake Test SBT BC function not configured Safety card error Safe Brake Test SBT Test period elapsed Safety card error Digital input test input SS1 Activate failed Safety card error Digital input test input SS2 Activate failed Safety card error Digital input test input SOS Activate failed Safety card error Digital input test input SLS Activate failed Safety card error Digital input test input SSR Activate failed Safety card error Digital input test input SDI Neg Activate failed Safety card error Digital input test input SDI Pos Activate failed Safety card error Digital input test input SBT Activate failed Safety card error Digital output test output STO Acknowledge failed Safety card error Digital output test output SOS Acknowledge failed Safety card error Digital output test output SDI Acknowledge failed Safety card error Digital output test output SRA Acknowledge failed Safety card error Digital output test output SBT Acknowledge failed Safety card error Digital output test output Ready failed Safety card error Digital output test output STO internal STO Enable failed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 S
24. PSSu E F PS 1 but not in R mode PSSu E F PS P PSSu E S 4DI PSSu E S 4D0 0 5 PSSu E S 2D0 2 PSSu E F 4DI PSSu E F 4DO 0 5 but not in amp mode PSSu E F 2DO 2 but not in amp mode PSSu E F 2DOR 8 but not in amp mode PSSu E S 4Al U but not in X S mode PSSu E S 2Al U but not in X S mode PSSu E S 2Al but not in X S mode PSSu E S 4A0 U PSSu E S 2AO U PSSu E S 2A0 PSSu 16DO PSSu 15DI PSSu 8DO8DI PSSu 2DOR2 PSSu 2DOR10 The inputs outputs can have any address between 1 and 49 and are addressed as normal inputs outputs The PNOZmulti can also be connected to the PMCprimo CANopen Bus The inputs outputs are addressed in the same way as on a PSSU PMCprimo user Comment 0 1 gt SO21 1 1 CAN IO 1 1 is set 0 1 gt DI21 1 2 PRG The input function PRG is defined for CAN IO 1 2 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 5 Interface PMCprimo lt gt Machine 5 7 Inputs and outputs The following commands can be used for CAN IOs e MG Define input mask group see Page 3 165 e BG Define input inhibit group see Page 3 166 e DI Define function input see Page 3 165 e l If input true do command line see Page 3 142 e WI Wait for input line n in group g see Page 3 100 e Ul Undefine input definition see Page 3 148 e MI Mask function input
25. Previously the axis could no longer be switched on while the limit switch was active Now the system stores the direction of rotation at the time of switching and allows a motion task in the opposite direction If the axis is stationary when the limit switch is switched then a switch on will no longer be possible as before Error message el gt ve 1 gt LV The software end limit has been passed in the plus direction 3 days 00 15 48 on OOOO Oo EA Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands PS g n Define position snapshot input Define position snapshot input Permitted values for g 1 Permitted values for n 1to6 This command can be used to store an encoder snapshot with a digital input The stored value can be read using the DS command see Page 3 188 The encoder snapshot is defined for the axis that is currently active prompt Only fast inputs can be used for the definition The byte address g must be stated The encoder snapshot is only executed if this function has previously been activated using the RM commana If is not stated an existing definition is invalidated The sign or indicates the direction of movement during which the encoder snapshot is to be executed The stored value for the encoder snapshot is independent of a reference
26. Undervoltage on intermediate circuit Controller error Flash Eprom check sum error oO Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages 193 Controller warning Watchdog for expansion card PMCprimo has been activated 9 Controller warning Supply voltage phase missing Controller warning Hiperface Basic setting loaded from motor 197 Controller warning Enable signal not connected CAN bus error Initialisation Safety cables are not online CAN bus error When writing PDO data CAN not in operational mode 0 196 Controller warning Expansion card PMCprimo is not operating correctly 1 CAN bus error When writing to the pipe CAN bus error The safety cable was connected by a subscriber CAN bus error The 12V supply voltage has been switched off CAN bus error Overflow on receive buffer Data has been lost CAN bus error Overflow on send buffer Data will be lost 20 0 CAN bus error The CAN controller has been switched off due to too many errors CAN bus error The receive buffer in the CAN controller has overflowed 206 J Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 2 3 4 5 4 Status and error messages 4 2 Error messages CA
27. m 132 CAN input byte 32 132 m 171 CAN output byte 1 I1 m 202 CAN output byte 32 132 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands THnn Trigger channel for trace mode triggerchannel for trace mode Permitted values nn 1to 4 Triggering can take place on a recording channel defined with the TH command The nn parameter indicates the required recording channel on which triggering is to take place The trigger level is defined with the TL command the trigger transition is defined with TF TLnn m Trigger level for trace mode triggerlevel for trace mode Permitted values nn 6 000 000 Permitted values for m 0 Trigger level signed 1 Amount for trigger level This command defines the trigger level for recording with TR If the trigger channel defined with TH has reached the value TL with the pulse edge defined in TF recording TR is started It is possible to assign a value to a variable TFnn Trigger transition for trace mode triggertransition for trace mode Permitted values nn 0 1or2 This command defines the trigger transition for recording with TR If the trigger channel defined with TH has reached the value TL with the pulse edge defined in TF recording TR is started The
28. n is not stated all input functions of g are inhibited If t n and g are not stated all input functions are inhibited An input function can be inhibited for example to ensure that a program can only be started once After the program has been called this command is used to inhibit the input function i e the command can only be repeated if the inhibit on the input function has been cancelled using the El command This method can also be used to inhibit input functions if they could disrupt the execution of other functions This command does not influence the commands II or WI If the state of an inhibited input changes the respective input function will not be executed after the input is enabled with the El command unlike the masked input 3 146 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Example Y PMCprimo user Comment amp Oued 0 1 ES PROG15 Entry of program PROG15 002E PR PROG15 started Text output at program start 003E CHO 1 PC Activate axis 1 position control 004E CHO 1 MR500 Execute relative positioning of 500 increments 005E NS End of program entry 0 1 DI2 5 PROG15 Determine input definition Rising edge starts PROG15 0 1 RI2 5 R
29. or GX command Page 3 71 ends the loop immediately Example Y PMCprimo user Comment J 0 1 gt RP5 MA100 MA0 lt CR gt Axis 1 to Pos 100 Axis 1 to Pos 0 0 1M The program line is executed 5 times 0 1 gt ER End repeat End repeat This command can be used to exit a program loop programmed with the RP command at its end The ER command is effective on continuous as well as non continuous program loops for example see IF command Page 3 66 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands IFVerkn pfung Execute commands if expression is true Execute commands if expression is true This command can be used to execute a command or command line based on whether the result of an arithmetic expression is TRUE If the operation is true the commands that follow the expression will be executed to the end of the line or to the EL command The operation that follows the IF command may be a simple comparison with a variable or an arithmetic expression Example 1 PMCprimo user Comment 0 1 gt RP IF X lt 10 SX SX 1 SV X 10000 WIT1000 EL ER 0 1 gt This command line increments the variable X sets a new speed value and then waits for one second If the value of the variable X reaches the value 10 this command line has been
30. path which the axis would cover without an alignment run If the value n is 0 the alignment is made with a step to RV With values between 1 and 1000 a warning is issued when Bit 6 is switched from 1 to 0 because in this case RC must be gt 1000 RC is automatically set to 0 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 10 RJnn DZn RNnn Reference commands Set deferred reference adjustment position Set deferred reference adjustment position Permitted values for n 0 to 2 000 000 000 Factory setting 0 With this command the user can define the position within the cycle limits at which PMCprimo may correct a stored reference error If n 0 PMCprimo corrects the reference error immediately The position that can be specified using this command must be activated with Bit 2 of the preset reference behaviour RW command Page 3 122 If a value n times greater than SB Page 3 120 or RL Page 3 121 if used is specified for RJ execution of the reference error correction is displaced by n cycles A relative or absolute position for RJ can be selected with Bit 1 of the FW command Page 3 128 Define zero marker input on off Define zero marker input on off Permitted values for n 0 and 1 Factory setting 0 This command can be used to
31. processed in full Example 2 PMCprimo user Comment 0 1 gt IF V1 2 XSPRG3 EL XSPRG21 lt CR gt 0 1 gt With this command line variable 1 is polled for the value 2 If the result is TRUE PMCprimo calls program PRG3 if the result is FALSE it calls the program PRG21 Example 3 for a more complex IF statement PMCprimo user Comment 0 1 gt IF X gt 10 amp amp X lt 20 SV X 10000 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description EL IXName Program commands Else execute commands if expression is false Else execute commands if expression is false This command can be used to execute a command or command line based on whether the result of a preceding IF or Il command Page 3 66 3 142 is FALSE The EL command must be in the same line as the IF or Il command Example PMCprimo user Comment 0 1 gt IF B 0 amp amp SA gt 100 XS PRG_A EL XS PROG99 0 1 gt This command line calls the program PRG_A only if the value of the variable B does not equal zero and the value of the variable A is greater than or equal to 100 Otherwise the program PROG99 is called Execute commands if program is active execute commands if program is active With this command the commands that follow in the program line are only executed if the
32. see Page 3 144 e El Enable function input see Page 3 148 e LI List input line definitions see Page 3 180 e RI Read input lines in group g see Page 3 141 e BI Inhibit function input see Page 3 146 e SO Set output line n in group g see Page 3 138 e LO List ouptut line definitions see Page 3 181 e RO Read output line states in group g see Page 3 141 e CO Clear output line n in group g see Page 3 140 e O If output true do command line see Page 3 143 Analogue CAN I O modules are supported The modules are assigned to axes automatically As a result all existing commands can be used such as DA AO OM KM etc as on existing internal analogue inputs outputs Position control is also possible using PC KP etc The analogue inputs outputs are read or written via synchronous messages The cycle time is set as previously using the CD command Up to 16 analogue inputs and 16 analogue outputs can be used These can be divided over several coupling modules e g 4 analogue inputs on the first module and 8 inputs on the second module Due to the connection to the axes the maximum number depends on the number of axes on the system It can be set using the CD command 5 258 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Interface PMCprimo lt gt Machine 5
33. simplify commissioning of the motor saves on rewiring and enable the travel direction of PMCprimo to be adapted to the user s definition of the travel direction Bit 0 Abort program in the event of a motor fault 0 Axis programs that are waiting for a motion command to be run are aborted 1 Axis programs are not aborted due to a motor fault Bit 1 Storing positions in non volatile memory MRAM 0 Positions are not stored in MRAM 1 Current position is permanently held in MRAM This bit cannot be stored If the MRAM is to read in the last position on power up the bit must be set in the start up program The data is mirrored in the MRAM and checked on power up In the event of an error an axis specific error message is triggered Attention This bit may only be set when all the commands that influence the position AN have been set FS NB MS SB commands If the bit is set too early the position read from the RAM may be incorrect If the axis is in a negative position it will still be negative after switching off on It s important to note that in the off state the axis may not be rotated manually by more than half the cycle length Bit 2 Definition of the velocity profile for acceleration and braking 0 Trapezoidal velocity profile for the MA MR VC and ST commands 1 Sinusoidal velocity profile for the MA MR VC and ST commands Bit 3 Behaviour in
34. whereby the cycle length is set at 1000 high Position 200 100 1000 900 800 700 600 500 400 300 200 100 Figure 39 Example 2 for PO command Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 PHnn Definition commands Define hysteresis for position trigger output Define hysteresis for position trigger output Permitted values for nn 2 000 000 000 This command is used to extend the PO command A hysteresis is added to the switching points so that the output at standstill is not constantly switched on and off if the actual position fluctuates by 1 increment for example The set value is either added to or subtracted from the cam position VO g n X1 X2 Define velocity trigger output Define velocity trigger output Permitted values for g 1to8 Permitted values for n 1to8 Start velocity X1 40 000 000 End velocity X2 440 000 000 This command can be used to set a digital output of Byte g depending on the current velocity of an axis The output specified with n carries the signal level specified with within the velocity range specified by the prefix X1 must be lt X2 lf or is not stated the definition is invalidated In the following example PMCprimo switches the signal level between the velocities 500 and 10000 Example PMCprimo us
35. 000 cccececceeceneeceteeeeeeeeeeeeeeeeneeceaeeseaaeesaeeseaeeesaeeseaeeseaeeseaeesseaeeseeetas 2 15 Command description siiiisnsniesemedecitianinansncnui ars sninenseniewcininananiedeens 3 17 Data command oin death telnet nods ee Ratan ths eet a eatin ates 3 17 Mode Command eiirus pe ia EA E EEEE E KEA TEE O seven eevee 3 32 Motion commands seis cose ects i aiate nira AAE A EA AAAA bunt TAAA EAEN ANARE E EARNE 3 33 Parameter commands senri ranae A a Aa AEA EAEE AEN NAA Ea RaRa a 3 44 Programi commanda areena att Gee ee a de ee el 3 58 Mapping commands skinas cai see cteandaaceec dele E dete esi aie tian hlece teenth adbadee es 3 73 WaltilOO DS eu Gua ea RE terete dase R E 3 99 Monitoring FUNCTIONS eae a A E A A E A Ta 3 106 Control Parameter ccccceccceseseeeeneeceneeeceaeeeeeeeeseaeeeeeaeesaeeceaeessaeeseaeeseaeeeseaeessieeeseaeess 3 112 Reference COMMMANAS ecccceesecceeeeeseneeeeseeeeeeeseeeesesaeneeseaaneeseseaneesenseneeseneeneeseneans 3 116 Digital input and OUtPUt commands orraa eee ceeeeeeeeeeeeeeeeaeeeeeetaeeeeeenaeeeeeenaeeeeeenaeeeeteaas 3 137 Analogue input and output COMMANAS cc ceeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeeeeaeeeesenaaees 3 155 De TIMIHOM COMMAS Aisa ae rese suze Face E E EEA 3 161 Display COMMANAS 0 eeecceeeeeneeeeeeeeeeeeeeeaeeeeeeaeeeeteaeeeeeeaeeeeeecaeeeeeeeaeeeesseaeeeeeenaeeeeneaas 3 187 Pnase cOMmMands ssc Aint artis aie ee ee ie eee ee ae ete ooh ee Fes 3 199 Web tension c
36. 1 to 8 Falling edge is reference signal from axis 3 Call program PROG1 Call program TEST Input free Input free Input free Software limit switch axis 2 Input free Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands LO t g List output line definitions List output line definitions Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C PMCprimo uses this command to list all the user defined output definitions for the selected output byte Example T PMCprimo user Comment J 0 3 gt LO1 lt CR gt This command line is used to list all the output definitions for output byte 1 Outputs 0 1 Outputs 1 to 8 O 1 1 undef Output free e132 undef Output free Delen undef Output free 0 1 4 undef Output free 0 1 5 PO3 gt 500 lt 1000 Electronic cam axis 3 Signal level 0 from 500 to 1000 increments 0 1 6 DE2 Error output Signal level 1 in the event of an error at axis 2 0 1 7 BO4 Pulsed output with signal level 1 at the cycle limit of axis 4 0 1 8 AE1 Analogue input limit error output axis 1 03 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command descript
37. 2 on network subscriber 1 RIL Read the state of all inputs of Byte 1 of the PMCprimo C MI2 3 7 Mask input 7 of Byte 3 on network subscriber 2 EIl Enable all inputs of Byte 1 of the PMCprimo C Virtual inputs and outputs Virtual outputs are connected to virtual inputs through the software With the exception of the DR and PS commands all commands can be used for the virtual inputs outputs Even the debounce time DB affects the virtual inputs The virtual input banks 0 101 to 0 108 are mapped to the bus variables B101 to B108 Corresponding outputs such as those found on classic virtual inputs are not available These virtual inputs are intended to receive input signals via a Modbus or Profibus Counters and timer functions are available for the digital outputs Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands SOjt g n X1 X2 Set output line n in group g Set output line n in group g Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 or no details PMCprimo C Permitted values for n 1 to 8 or no details Permitted values for X1 1 to 8 or no details Permitted values for X2 0 to 256 or no details PMCprimo uses this command to set the selected out
38. 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 ZHnn ZLnn FHnn Finn Reference commands RH Reference signal Reference signal valid Figure 35 Special filter function for referencing Set reference input true high limit Set reference input true high limit Set reference input true low limit Set reference input true low limit Set reference input false high limit Set reference input false high limit Set reference input false low limit Set reference input false low limit Permitted values for n 2 000 000 000 Factory setting 0 These four parameters limit the travel length of a reference input defined using the DR command They enable a situation in which PMCprimo only reacts to a reference input if the signal is detected within the specified limits The reference input is only assessed as valid if it is false between the values FL and FH and then true between the values ZL and ZH The input is only assessed by PMCprimo as a valid reference input if it has switched from true to false However the reference error for initialisation and cyclical referencing is detected with a rising edge at the input signal switching from false to true The path for n is stated in increments The limit values for reference input true are not checked when n 0 is stated for ZH and ZH The limit values for reference input false are not checked wh
39. Axis Figure 18 Effects of position offset The position table data is entered as absolution slave axis positions When absolute positions are entered for the slave axis each value represents the demand position of the slave axis in reference to the master axis The corresponding master positions result from the cycle length number of positions The table positions are stored centrally As a result position mappings that are used in multiple axes need only be created once The position mapping data is transferred to the respective axis using the TM command Page 3 85 The TM command must be executed once only at the respective axis before an XM command is executed for the first time When position mappings are entered the first position of the master is always 0 Only the entered table values are stored The values between the table positions are determined through linear interpolation when the table increment is greater than 1 This enables the user to easily create a position mapping with relatively few table values over a large mapping area without using much disk space Position mappings can be generated internally using the motion generator option if this option is enabled using the SK command Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands The differential
40. B data alignment monitoring of direction of rotation failed Safety card error Channel A B data alignment total velocity above 10 ms failed Safety card error Channel A B data alignment total velocity above 100 ms failed Safety card error Channel A B data alignment history of current feasibility failed Safety card error Channel A B data alignment counter fault tolerance current feasibility failed Safety card error Channel A B data alignment tolerance position error external encoder failed Safety card error CRC calculation error during the command CS 0 Invalid string length received Safety card error Feasibility of position encoder signal feasibility with setpoint value velocity lag distance too great failed Controller error Safety relay AS Enable was connected by the safety card Safety card error Safe Brake Test SBT Brake test aborted Safety card error Safe Stop 1 SS1 Monitoring of braking ramp Safety card error Timeout Download of SD memory card Safety card error Digital input test SS1 SIL3 Reset failed Safety card error Safe Speed Range SSR Limit value tolerance range exceeded Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Safely Limited Speed SLS Period length
41. Continuous reference mode on off set 3 122 Control parameters csccceccseseeseessteessteesseeenes 3 112 Control word set n caca eee beet ase 3 54 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de DA iessxetecticevedetet etree vied aia ace eee 3 160 DBA sgh atte Be een ia eae 3 176 DG o ites Hae hain ie ees 3 46 DD EEE E 3 187 Deis EE S EET T 3 172 Debounce time reference Signal cesceeeee 3 134 Define analogue input type cceceeseeereeeseeees 3 207 Define analogue limit error output 3 179 Define analogue range distance Define bound overflow output Define error OUtPUL ccecsceeeseesseeseeessseeeseeees Define function INPUT ccecceesseeseeeeeeeeeeeseeees Define hysteresis for position trigger output 3 175 Define hysteresis for velocity trigger output 3 176 Define input inhibit line ee eesesereeereeeseeees Define input mask SrOup cccsceeeceseteesteeeseeees Define limit switch iNPUt ccccceseeseeeeteeeseeees Define masked input line cceeeseeeseeereeeseeees Define output alignment MOVE ccscceeeeeeeees Define outside window output csceeereeeeeees Define position snapshot input sccseceeeees Define position trigger output csceeseeeeees Define reference acce
42. Invalid value for ConfigData wCanMode Error FB SetConfigData Invalid value for ConfigData wSdCardAddr Error FB SetConfigData Invalid value for ConfigData wModbusClient Error FB SetConfigData Invalid value for ConfigData sModbusClientServerlPAddr Error FB SetConfigData Invalid value for ConfigData diModbusClientCycleTime_ms Error FB SetConfigData Invalid value for ConfigData diModbusClientPrimoReadOffset Error FB SetConfigData Invalid value for ConfigData diModbusClientServerReadOffset Error FB SetConfigData Invalid value for ConfigData diModbusClientNumberOfReadParameters Error FB SetConfigData Invalid value for ConfigData diModbusClientPrimoWriteOffset Error FB SetConfigData Invalid value for ConfigData diModbusClientNumberOfWriteParameters Error FS Mode asynchronous motor The drive parameter STOPMODE must have the value 0 SAVE amp COLDSTART is required A Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Status and error messages 4 3 Coded status messages 4 3 Coded status messages Overview of all the codes that PMCprimo enters in a motor status variable depending on the axis status 66 67 68 128 256 512 2048 4096 8192 Position control loop closed PC Position control loop open motor switched off MO Achse waiting for coupling at the start of a position mappin
43. Mail pilz gmbh pilz de Contents 5 8 Drive command Skena a a evita ebcttbs eae veleeP ied a a E a aaa ada caidete 5 262 5 8 1 GAN N tWOrKING esorare etc ad davebetegesine deans acegedhadidiarvuadeeautadodyrs iv epesadetasestadcteangecuzeets Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de List of Figures Figure 1 Trapezoidal Velai renea n T T E 3 34 Figure 2 Course of position with trapezoidal velocity profile c cceeeeeeeseeeeeeeeeeeeeeeeeeeaeeseneeeeaees 3 34 Figure 3 Triangular velocity profile ce eceeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaeeeeeeaeeeeeesaeeeeeenaeeeesenaeeeeseaas 3 35 Figure 4 Movement ended via the ST command ccccececceeeeneeceteeeeneeeceaeeeeeeeseaeeseaeeeseaeeseneeseaees 3 37 Figure 5 Movement ended via the AB command ecc ete ee ete et eeeeeeeae etree tease tease teat eteaeetnaae 3 38 Figure 6 Moving at Constant velocity eee eeeeeeeeteeeeeeeeeeeeeeeeeeaeeeeeeaeeeeteaeeeeeeaeeeeeeaeeeeseneeeeeeaas 3 39 Figure 7 Initialisation with return to reference 0 0 ee ee eee eee eeeea ee teee ee eee seas esaeeeeaeeseaeeteaae 3 41 Figure 8 Initialisation of position and cycle length ee cesses seeneeeeeeeeeeeeeeeaeeeeeeeeeeseeeeeeeeeaeeeeneaes 3 43 Figure 9 Changing travel velocity while MOVING ccccceesceeeeeeeeeeseaeeeeeseaeeeessnaee
44. Mail pilz gmbh pilz de Command description 3 8 Monitoring functions 3 8 Monitoring functions Setting error limits and defining the reaction of PMCprimo in the event of an error PMCprimo constantly monitors and checks its functions for errors Some errors are critical because they stop PMCprimo controlling the drive correctly or they are errors such as the failure of a rotary encoder track Other error sources may be categorised as less serious Critical errors are categorised as Motor OFF errors If a Motor OFF error occurs PMCprimo switches off the motors controller enables This is the safest method when a Motor OFF error occurs A corresponding error message is displayed on PTerm The following errors are assessed as Motor OFF errors e Position error limit exceeded e Rotary encoder signals missing e Limit switch reached The following errors can be declared as Motor OFF errors if selected as such via the EW command e Reference signal time monitoring e Reference error too great e Reference signal before existing reference error has been compensated If these errors are not declared as Motor OFF errors all that will happen when they occur is that a corresponding error message will be output to the serial interface SEnn Set maximum position error Set maximum position error Permitted values for nn 1 to 2 000 000 000 Factory setting 1000 This command is used to set a maximum permitted positional deviat
45. Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Interface PMCprimo lt gt Machine QAt 5 8 1 Drive commands Set ASCII channel for drive Set ASCII channel for drive Permitted values for t 0 to 150 1 50 CANopen 51 150 SafetyNet The address range of 1 to 50 is reserved for CANopen The address range of 51 to 150 is reserved for SafetyNet The QA command can be used to access a servo amplifier The parameter t determines the address of the required servo amplifier On the current axis channel the drive commands can be used to address the servo amplifier as described above The command is axis specific so it is possible for each axis channel to communicate with a different servo amplifier CAN networking The PMCprimo C supports a maximum of 2 CAN networks called CAN1 and CAN2 There is just one address range for both networks Addresses from 1 to 49 can be assigned The baud rates of both CAN buses may be different Options 3 and 21 of CD command The bus cycle times may also be different Options 8 and 23 of CD command It is possible to configure one of the two CAN networks as a Slave Address 50 is reserved for PMCprimo itself by default Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pil
46. This interface is used to connect PMCprimo to a PC Communication with the control system is via a terminal program Easy to learn commands enable the user to program and commission PMCprimo quickly and effectively As an alternative to the programming language described here PMCprimo motion control systems can also be fully programmed under an IEC 61131 3 interface CoDeSys There is a separate manual for this describing the functions and commands of the programming language user manual for PMCprimo SoftPLC Please read this manual carefully This manual is the Reference Manual for all PMCprimo user commands even if these are not described in other documents or are even contradicted in other documents When used correctly PMCprimo motion control systems use electronic axis synchronisation to resolve tasks that have previously been implemented primarily by mechanical components The process uses electronic cam disks cam mechanisms and other functions to enable the controlled highly dynamic operation of servo drives PMCprimo motion control systems also offer the option to assume complete machine control via soft PLC functionality You will need an understanding of the system s basic principles in order to do this This manual aims to provide this understanding Another effective way is to attend a Pilz training course Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 7
47. activate a pulsed output when the cycle limit is exceeded If the selected axis exceeds the cycle limit PMCprimo outputs a 1 ms pulse at the output defined as n from Byte g The sign indicates the signal level of the output for the pulsed output If or is not stated the definition can be invalidated 3 176 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands OW g n Define outside window output Define outside window output Permitted values for g 1 to 8 Permitted values forn 1to8 With this command a digital output can be used to display the lag distance information larger than the target window SW This function can be used as information Axis within position window or as advance warning for reaching the position error limit SE The character indicates the signal level of the output when the axis is within the position window specified with SW If or is not stated the definition can be invalidated OA g n Define output alignment move Define output alignment move Permitted values for g 1 to 8 Permitted values for n 1to8 With this command a digital output can be used to display the information Alignment run active while mapping is active e g where MB MF SM have changed The alignment run during the coupling process will b
48. alignment state of input SDI Pos Activate failed Safety card error Channel A B data alignment state of input SBT Activate failed Safety card error Channel A B data alignment 1ms timer failed Safety card error Channel A B data alignment operating state failed Safety card error Flash memory error Error writing to Flash Safety card error Flash memory error Error when deleting a sector Safety card error Synchronisation channel A B Power n synchronisation point 1 failed Safety card error Synchronisation channel A B Power n synchronisation point 2 failed Safety card error Synchronisation channel A B Start p synchronisation point 1 failed Safety card error Synchronisation channel A B Start p synchronisation point 2 failed Safety card error Synchronisation channel A B Start p synchronisation point 3 failed Safety card error Synchronisation channel A B R n synchronisation point 1 failed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Synchronisation channel A B self test synchronisation point 1 failed Safety card error Synchronisation channel A B channel B must wait for channel A due to saving the error stack failed Safety card error Synch
49. all inputs of Byte 2 on the PMCprimo C Ogi MI3 7 Mask input 7 of Byte 3 0 1 EI4 Enable all inputs of Byte 4 of the PMCprimo C Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands DL g n Define limit switch input Define limit switch input Permitted values for g 1to8 Permitted values for n 1to8 This command can be used to define a digital input as a limit switch The definition only applies on the selected axis The sign defines the status that PMCprimo evaluates as passing the end position If the sign is not stated the definition as limit switch is invalidated If PMCprimo detects that the axis has passed a limit switch the motor is shut down immediately Example Y PMCprimo user Comment 0 1 gt CH3 DL3 7 lt CR gt This command line is used to define input 7 of Byte 3 as the limit switch of axis 3 0 1 gt PMCprimo evaluates the signal state 0 as the limit switch having been passed A direction of rotation can be added as an option This means that the axis can again be moved away from the limit switch without undefining it first So monitoring only takes place in one direction of rotation Example DL 0 1 1 or is used to limit monitoring to a positive or negative direction If or is not stated then the function has also been modified
50. analogue control AM1 means enable web tension control AM0 disables analogue control Analogue control can be enabled or disabled at any time The value of AM1 cannot be saved with the SP command Remedy Write the line AMO or AM1 into a start up program see AS command Page 3 68 Activating position mapping with the XM command triggers various actions on the slave axis When web tension control is enabled these actions are defined via the web tension presetting using the AW command When web tension control is enabled Bits 0 1 and 4 of the MW command are compulsorily set to 1 This is essential for the function of the software coupling and the velocity ratio in the web tension control loop If Bit 4 or Bit 5 of the AW command is set to 1 PMCprimo initialises the transmission ratio automatically before position mapping for web tension control is activated PMCprimo measures the distance between the two positions where the limit values for the analogue input are above or below the limit values by moving the master slave axis Transmission with these measured values provides a good estimate for the transmission ratio when web tension control is activated This value enables PMCprimo to achieve the transmission ratio much quicker than if it was using the preset SM value especially when the machine is not starting out from its start position An example for this application is winding or unwinding Normally the mac
51. command with program name Oi Is Active program lt PRG2 gt Subscriber 0 Line 2 Line no 2 of PRG2 is currently active Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 2 PC MO VMn Mode commands Mode commands Activate deactivate position control loop Enter position control mode Enter position control mode This command activates the motor s position control Power is applied to the motor as a result Position control is deactivated if a fault occurs on the motor PMCprimo signals active position control with the gt character via Telnet If a servo amplifier is to be enabled and it is positioned on a limit switch a warning is issued Controller warning The NSTOP limit switch has been activated and the motor switched off 468 or Controller warning The PSTOP limit switch has been activated and the motor switched off 469 Motor OFF Motor off This command switches off the control enable Power is no longer applied to the motor the rotary encoder signals are still evaluated If the control enable is re activated the motor remains in its current position The MO command can also be used as an alternative stop command The GF command see Page 3 71 can be used to execute the MO command simultaneously on all axes Set virtual motor mode Set virtual
52. define the zero track of the rotary encoder as the reference input If n 1 is stated PMCprimo evaluates the zero track of the rotary encoder as a reference input Set phase advance for reference signal Set phase advance for reference signal Permitted values for n 2 000 000 000 Factory setting 0 This command can be used to provide an axis reference signal with a velocity dependent phase displacement The calculation is made in accordance with the following formula calculation as for the PA and BA commands Page 3 201 Phase displacement reference signal Demand velocity x RN 256 256 The average demand velocity is used for the calculation The interval VT Page 3 201 is used in this case as set with the command 3 128 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands FWbb Set reference filter options word Set reference filter options word Permitted values for bb 0 to 1111 1111 Factory setting 0 The wildcard X can be stated for each bit This means that this bit will not be changed This command is used to preset the options for a PMCprimo reference filter Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 This bit activates the parameters ZH ZL FH FL 0 Parameters ZH ZL
53. defined with VT is displayed Display following error Display following error This command is used to display on screen the current position error of the selected axis This command provides the opportunity to read the current position error into a variable Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 14 DF DG DS Display commands Display calculated reference error Display calculated reference error With this command the last reference error to be stored for the selected axis is displayed in increments for reference errors see chapter entitled Reference commands from Page 3 116 If Bit 2 of the FW command is set the DF value is only updated if it is within the filter limits including SR value Display actual reference error Display actual reference error With this command the reference error which is actually being corrected is displayed in increments The DF command Page 3 188 on the other hand displays the calculated error for reference errors see chapter entitled Reference commands from Page 3 116 The display of the reference error to be corrected will be updated even if Bit 0 is set to 0 in other words the error is not corrected Display snapshot position data Display snapshot position data With this command the last recorded
54. depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 With this command the user deletes a defined output function that of the input defined with n of output byte g in PMCprimo This command deletes an existing output function irrespective of which output function was previously defined t n and g must always be stated for the UO command TCg n X1 X2 Define timer counter output Define timer counter output Permitted values for g 1 to 8 Permitted values for n 1to8 Permitted counter values X1 0 to 65535 for modes 0 to 7 and 0 to 31 for mode 8 Permitted modes X2 0to8 This command can be used to define a digital output of Byte g for a timer or counter function Once the output address and signal level sign have been stated two further parameters must be stated The first parameter is the timer counter value and the second value is the required mode The following modes can be selected pws Ran Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands The output is set to true selected with when the output is triggered for the first time and the output is set to false when the specified timer or counter value is reached In
55. distances at both axes Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 16 Web tension control with analogue input XRn Execute analogue range distance initialisation Execute analogue range distance initialisation Permitted values for n 0 The slave axis is initialised 1 The master axis is initialised The function Initialisation of transmission ratio with analogue distances can be started manually with XR The measurement results are entered in the AR and MM parameters The command is always triggered on the slave axis If the master axis is to be initialised the ML command must have been executed first Initialisation of transmission ratio with analogue distances operates as follows The motor moves at the velocity SS in the same direction as the approach of the web tension setpoint value until an analogue limit value is exceeded it then stores this position and stops The motor then moves in the opposite direction until another analogue limit value is exceeded it then stores this second position and stores the distance between these two values as the value of AR for slave and MM for master Bits 4 and 5 enable the Initialisation of transmission ratio with analogue distances i e this function is executed automatically when a position mapping is
56. during one cycle The possibility of WA waiting indefinitely is excluded e g if WA has been started with WA 12000 and the axis travels in a positive direction Bit 6 Not assigned Bit 7 If the axis moves into mapping this command can be used to correct the cycle length automatically To do this the cycle length specified using the SB command is multipled by the transmission ratio SM As a result a reference sensor is no longer necessary with uneven gear ratios Example SB4096 SM1 3 The cycle length would be 1365 33 As a result with a constant forward movement a drift of one increment for every three pulses would arise The cycle length is now set to 1365 for two pulses and to 1366 for one pulse thereby avoiding the drift The calculated cycle length can be checked using the GM command 0 Automatic cycle length correction is inactive 1 Automatic cycle length correction is active Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 5 Program commands 3 5 Program commands Commands used to define and run programs Programs can be stored in the Flash memory Programs are composed of individual commands Commands on various axes can be executed in sequence or simultaneously In PMCprimo all programs are stored on the host and are transferred from there to the necessary axes
57. failed Safety card error Checking of device data device has no serial number failed Safety card error Checking of device data checking safety version servo amplifier firmware on run up failed Safety card error Checking of device data checking serial number when loading configuration data failed Safety card error Checking of device data checking device version when loading configuration data failed 4 244 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Checking of device data checking device type when loading configuration data failed Safety card error Checking of device data checking hardware version during firmware update failed Safety card error Checking of device data checking hardware version when reading the serial number CS 0 failed Safety card error System software error Invalid interrupt Safety card error System software error Invalid Case statement Safety card error Unknown error number Safety card error Safe Stop 1 Emergency Stop is configured as drive activated on node no ld Safety card error Safe Stop 2 is configured as drive activated on node no ld The output is already defined as alignment run Safety card error Feasibility of position current zer
58. following applies when triggering on variables 0 When the variable value changes and the variable value is less than TL recording is started 1 When the variable value changes and the variable value is greater than TL recording is started 2 Ifthe variable value is changed to TL recording is started With all other recordings 0 Trigger on falling edge 1 Trigger on rising edge 2 Trigger on both edges It is possible to assign a value to a variable Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 14 TPnn Display commands Pretrigger for trace mode pretrigger for trace mode Permitted values nn 0 to 10 000 If trace mode is used with the trigger TH a pretrigger can be defined with TP In this case the data is stored permanently in a ring memory so that a history of nn milliseconds can also be recorded when triggering It is possible to assign a value to a variable TD mm nn Display last value of trace mode SYb display last value of trace mode Permitted values nn 1to4 Channel number 1 to 10 000 Output line The TD command displays the last value to be recorded on the nn channel via the TR command It is possible to assign a value to a variable The data recorded with the TR command can be displayed again wi
59. for PMCprimoC via SD card of PMCprotego Firmware update for all PMCprotego via SD card of PMCprotego Firmware update for all PMCtendoDD5 via SD card of PMCprotego Firmware update for all PMCtendoDD5 with ARM processor via SD card of PMCprotego Firmware update for all PMCtendoDD4 via SD card of PMCprotego Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands RS n Reset to default setup Reset to default setup This command overwrites all data with the factory set data This command is carried out automatically if a faulty check sum is detected during the boot process Forn 0 Forn 1 Forn 2 Forn 3 Forn 4 Forn 5 Forn 6 Above functionality applies Control system reboots PLC program is started PLC program is stopped PLC is reset and the PLC program is read in again from the Flash memory Reset PLC cold Reset PLC original RD n Reload stored data Reload stored data Forn 0 Forn 1 Forn 2 Forn 3 Forn 4 Forn 5 The stored data is reloaded by the internal Flash memory All changes made since the last save operation are deleted in the process The stored PMCprimo programs are copied from the SD card into the internal Flash memory The stored PMCprimo variables are copied from the SD card of the PMCprotego into the internal Flash memory The stored PMC
60. fourfold Alternatively rotary encoders with SSI or CAN open interface can also be used as absolute or incremental encoders All rotary encoder inputs are always isolated via optocouplers They are designed for rotary encoders that have potentially isolated line driver outputs to guarantee the safe transfer of information in an industrial environment PMCprimo has freely programmable digital inputs and outputs number depends on the model All digital inputs can trigger an alarm in the event of a change of state The reaction in the event of an alarm is defined by the user Inputs can be defined to start a program in the event of a change of state Digital outputs can be defined for various purposes such as electronic cams error outputs reference error output etc One of the functions of the inputs and outputs is to serve as an interface to a PLC They are potential free and operate with 24 VDC MODBUS TCP IP or diverse fieldbus systems are available for easy communication with a PLC or any other master computer Applications Typical application fields for PMCprimo motion control systems are e Packaging plant and machinery e Printing and paper machinery e Handling systems e Production machinery Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command overview General information about the instruction set Command overv
61. from the positions of the master axes irrespective of their status in accordance with Bit 5 and 6 Position mapping between axis 2 and 3 does not need to be present or active EEZ Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands Bit 0 This bit determines whether the slave axis is to follow the set values or the actual values of the master axis 0 The slave axis follows the demand positions of the master axis 1 The slave axis follows the actual positions of the master axis Bit 1 This bit determines whether the reference error correction is to be executed on the master or the slave The bit must be set on the master axis in order to enable the function 0 The reference error correction is executed on the master if physically present 1 The reference error correction is executed on the slave Bit 2 With velocity mapping it is possible to limit the slave velocity to a maximum value of SV and a minimum value of SS Bits 2 and 3 of MW are considered here in order to define the direction 0 Velocity restriction function disabled if Bit 4 of MW is set to 1 1 Velocity restriction function enabled if Bit 4 of MW is set to 1 Bit 3 It is possible to engage while the master is moving without software coupling However this only makes sense if the mov
62. input belonging to this shift register is copied into the shift register when the mapped signal change occurs at the TK test pulse input or with an SO command at the TC output At the same time the TC output is set to the value of the last bit of the shift register The TZ command or the CO command for the TC output clear the shift register In mode 7 the stated edge is extended by X1 x 1ms see Example 5 This function can be used to extend pulses of output functions 3 150 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Example 1 Y PMCprimo user Comment 0 2 gt TC1 3 20 1 lt CR gt This command line is used to define a cyclical up counter at output 3 of Byte 1 The output switches its signal level after 20 counter pulses The SO1 3 command increments the counter and the CO1 3 command stops the counter and resets it Example 2 Y PMCprimo user Comment 0 2 gt RA1 4 Pulsed output defined at valid reference input signal 0 2 gt TC1 4 5 4 lt CR gt This command line is used to add a one shot timer to this output The timer is started each time a valid reference input signal is detected and this pulse is extended to 20 ms This extends the normal pulse time of 1 ms making it easier for a PLC to detect the signal Example 3 T PMCprimo user Comm
63. is disabled 1 The integral gain is enabled Bit 3 This bit determines the transmission ratio with which web tension control will be activated 0 The initial transmission ratio is the SM value 1 The initial transmission ratio is the current transmission ratio Normally this is the last current transmission ratio determined before the slave was stopped 3 206 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 16 ATnn Web tension control with analogue input Bit 4 This bit enables automatic initialisation between the upper and lower limit value on the slave axis when a position mapping is activated with web tension control for detailed information see also AR and XR 0 Automatic initialisation of the transmission ratio with the upper and lower limit value is not enabled on the slave axis 1 Automatic initialisation of the transmission ratio with the upper and lower limit value is enabled on the slave axis Bit 5 This bit enables automatic initialisation between the upper and lower limit value on the master axis when a position mapping is activated with web tension control for detailed information see also AR and XR 0 Automatic initialisation of the transmission ratio with the upper and lower limit value is not enabled on the master axis 1 Automatic initialisati
64. lt CR gt Braking ramp of 25 000 increments second set at axis 1 XAnn Set braking ramp for AB Set deceleration for AB command Permitted values for nn 1000 to 2 000 000 000 Factory setting 1 000 000 This command is used to specify the braking ramp for the abort command in increments second The braking ramp can be changed at any time The lowest selectable braking ramp is 1000 The XA braking ramp is only used with the AB command Page 3 38 3 46 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description SCnn Parameter commands Set creep distance Set creep distance Permitted values for nn 0 to 2 000 000 000 Factory setting 0 The normal trapezoidal velocity profile of a positioning movement can be supplemented by the introduction of a creep distance for positioning The creep speed is set with the SS command Creep mode is used to approach the target position slowly This command is only effective if VJ Page 3 49 is set to 0 Example PMCprimo user Comment 0 1 gt SC200 lt CR gt Creep distance set to 200 increments 0 1 gt The braking process is now initiated so early that the axis travels at the slow creep speed at least 200 increments before reaching the target position Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 71
65. message appears and the stored data is rejected The control system will then load the default setting A fault may occur if PMCprimo is switched off during the save process for example EEI Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command overview 2 2 Command execution Command execution Commands can be executed in various ways in PMCprimo The methods for command execution are Command line Commands can be entered either individually or as a command line via the Telnet interface Ethernet the command is then executed using lt CR gt Enter key Individual commands are executed immediately If command lines have been entered the individual commands are processed in order Several command lines can be processed in parallel Example for individual commands PMCprimo moves the motor to the absolute position of 0 1 gt MA1000 lt CR gt 1000 increments Example for command line PMCprimo moves the motor to the absolute position of 0 1 gt MA1000 WT50 MA0 lt CR gt 1000 increments waits 50 x 1 ms and then moves the motor to the absolute position 0 Programs A program is a combination of multiple commands The commands in a program are processed consecutively as on a command line A program is defined via the ES command whereby NS completes the entry A program is called via the XS command Programs can
66. motor mode Permitted values for n 0 to 1 This command is used to declare an axis as a virtual axis In virtual mode the axis is restricted to generating the demand position the actual position is compared with the demand position Application of virtual mode e Test functions and programs without having a connection to the machine e Simulate a master axis VMO The axis is a real axis The rotary encoder input is the acknowledgement of the actual axis value VM1 The axis is a virtual axis The axis does not enable the drive Acknowledgement of the actual value is simulated internally 3 32 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion commands 3 3 Motion commands Basic commands for motor start and stop using a normal trapezoidal or sinusoidal motion profile MA nn Move to absolute position Move to absolute position Permitted values for n 2 000 000 000 The motor travels to the absolute position nn The movement follows a trapezoidal or sinusoidal velocity profile Fig 01 Bit 2 of the CW command can be used to select whether acceleration is trapezoidal or sinusoidal The motor accelerates with the acceleration value from SA Page 3 45 and brakes with the braking ramp from DC Page 3 46 The velocity is defined with the SV command Page 3 44 Positional ent
67. n 4 The data read out using the LA4 command in Motorola S Record Format can be read in again using this option This way it is possible to resave a complete backup If a soft PLC is present its data will also be read in again Saves all primo programs on the Protego s SD card Saves all primo variables on the Protego s SD card Saves the primo configuration on the Protego s SD card Saves the soft PLC s boot project on the Protego s SD card Saves the soft PLC s source code on the Protego s SD card 3353555 ll Ce NS 2 When saving to a SD card the CD26 command Page 3 17 must be used to select the PMCprotego containing the SD card Do not switch off during the save process otherwise data will be lost T Only the variables defined within a program will be saved Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Data commands The time it will take to save the data depends on the amount of data to be saved If there is insufficient memory available the save process will be cancelled before the Flash memory is written After power up PMCprimo operates with the data stored within the Flash memory A check sum guarantees that the data has been read in correctly after start up No programs should be running while data is being saved The following procedure is re
68. n Read SDO Read SDO Parameter t CAN nodes Parameter i Index Parameter s Subindex Parameter c No of Bytes With this command PMCprimo can access the object directory of a CAN device via SDO and so can read actual values for example Please refer to the manual of the respective network subscriber for details of how to configure the parameters The value that is read can be assigned to a variable Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 18 Commands for CANopen network PDi x Position from drive position from drive Permitted values for t 0 to 150 1 50 CANopen 51 150 SafetyNet Permitted values for x 0 to number of encoder inputs This command defines the connection between a servo amplifier and an axis channel The address range of 1 to 50 is reserved for CANopen The address range of 51 to 150 is reserved for SafetyNet The value 0 cancels the definition and disconnects the connection via CAN The FS command must be set so that position values are transferred via CANopen SafetyNet FS19 FS27 The cycle time and baud rate for the CAN bus can be set via the CD command Many different servo amplifiers can be networked with the PMCprimo via CAN depending on the setting Cycle time in ms Max no Max no servo amplifiers servo amplifiers 500 Kbit
69. per 1 Mbit per CANopen CANopen 1 2 4 2 4 8 4 8 16 8 16 32 With 2 CAN networks therefore it is possible to network up to a maximum of 49 servo amplifiers CNnn X1 X2 CAN trace CAN Trace Permitted values for n 0 to 3 Permitted values for X1 0 to 4 Permitted values for X2 0 to 127 Factory setting 0 This command can be used to record a CAN trace Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description nn 0 nn 1 X1 1 X1 2 X2 0 nn 2 nn 3 nn 4 nn 5 3 18 Commands for CANopen network The CAN trace function is disabled recorded CAN traces are deleted Starts recording the CAN trace With X1 there is an option to select which CAN network is to be recorded X1 0 All networks are recorded CAN 1 is recorded default CAN 2 is recorded With X2 there is an option to set a filter on a CAN address No filter active default X2 1 127 Passthrough filter for the stated node number Displays the recorded CAN trace on PTerm Recorded CAN traces are deleted and recording is restarted Recording is started with ring memory This enables continuous recording This can be used to stop the continuous recording that was started with CN4 If a CAN trace is to be made of the bus scan CN1 must be triggered and must be stored afterwar
70. program PRG10 Q 002E IN lt CR gt Initialisation in minus direction 003E RP3 MR100 lt CR gt Movement of 100 increments in direction Execute command line 3 times 004E MA2000 lt CR gt Movement to absolute position 2 000 005E NS lt CR gt Complete program entry 01 gt Program entered Example 2 for deleting a program 9 PMCprimo user Comment J 0 1 gt ES PRG10 lt CR gt Entry of program number 10 002E NS lt CR gt Entry complete 0 1 gt 3 60 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 5 Program commands NS End of sequence End of sequence This command completes the program entry Each program must end with this command LOOP Loop loop The program name LOOP is reserved for a program with cyclical program processing A program defined with LOOP will be run continuously with lower priority The LOOP program is not started automatically on power up The XP command Page 3 64 starts the program as a continuous loop With the XS command Page 3 63 the program is run once only The GX Page 3 71 or GX LOOP command ends the continuous loop The ZT command Page 3 30 indicates whether LOOP is active The following commands are not permitted within a LOOP program SP Save parameter Page 3 22 CP Change to para
71. programs and mappings consist of the letters A Z the numbers 0 9 and the character _ However they may not start with a number Entries are not case sensitive The system automatically converts lower case letters into upper case A command line may be made up of several commands 9 Example 0 1 gt ch2 mr2000 wt 500 lt CR gt The commands are separated by the character 3 The maximum line length is 200 characters The Escape key can be used to cancel an output command or the command for help command see page 3 197 Any sign at the start of an input line is ignored This is necessary because a modem connection is ended by the ASCII sequence whereby one character remains in the input buffer PMCprimo has an extensive instruction set The commands can be grouped into the following categories e Data commands Chapter 3 1 Axis selection and handling stored data e Mode commands Chapter 3 2 Activate deactivate position control loop e Motion commands Chapter 3 3 Basic commands for motor start and stop using a trapezoidal or sinusoidal velocity profile e Parameter commands Chapter 0 Input and output of axis parameters such as velocity acceleration etc e Program commands Chapter 3 5 Commands that are important for the input and output of programs and how they are created e Mapping commands Chapter 3 6 Creation and execution of tabular position mappings
72. setting 0 This command can be used to activate monitoring for reference signals If n 0 n reference signals may be lost before PMCprimo issues the error message Monitoring time for the reference signal has elapsed If Bit O of the EW command Page 3 110 is set to 1 PMCprimo switches off the controller enable power to the motor is removed This can also be used to monitor initialisation IN IB Page 3 39 3 41 Monitoring only applies to signals that are not filtered out FR command Page 3 125 If Bit 4 of FW is set and FR does not equal 0 the reference signal will be monitored as follows If the current position moves competely away from the range RF FR to RF FR the monitoring counter is increased at a counter status of n the following error message is issued Monitoring time for the reference signal has elapsed Example T PMCprimo user Comment 0 1 gt RT3 lt CR gt If 3 reference signals in succession are missing 0 1 gt PMCprimo detects this as an error 0 1 gt RTO lt CR gt Absence of reference signals is not monitored Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description EWbb Monitoring functions Set error options word Set error options word Permitted values for bb 0 to 1111 1111 Factory setting 0 The wildcard X can be stated fo
73. setting 0 This command can be used to select a parameter which can be incremented using the IP command Page 3 53 The parameter can be selected separately on each axis Parameters from the following table can be selected n Parameter Limit values 0 No function 1 Current velocity see below 2 Reserved 3 Position offset of master axis MB 2 000 000 000 4 Position offset of slave axis MF 2 000 000 000 5 Reserved 6 Set travel velocity see below 7 Transmission ratio SMn m 0 400 000 for n 8 Cycle length SB 0 2 000 000 000 IS1 The lower limit for the current travel velocity is 0 If the axis is travelling at normal velocity the upper limit is 2 x SV If the axis is travelling in creep mode the upper limit is SV The incrementation only affects the current travel velocity not the values for SV and SS The incremented value only applies until the next stop All of the following movements are executed with the values from SV or SS IS3 IS4 The incrementation of MB and MF changes the specified position offset The AV command is effective when MB or MF is changed Page 3 87 3 88 The change is executed at the cycle limit IS6 The lower limit for the travel velocity SV is 0 If the axis is travelling at normal velocity the upper limit is 2 x SV If the axis is travelling in creep mode the upper limit is SV The incrementation not only a
74. software function enables a drive to be synchronised so that it can follow the sum as well as the difference between the positions of two master drives This simulates differential gearing The ML command Page 3 85 must be used to define the slave axis as the slave of a master axis and the NL command Page 3 86 to define the slave axis as the slave of a second master axis differential axis Bits 4 6 of the LW command Page 3 94 determines how the slave axis evaluates the positions of the master axes and Bit 0 of the LW command determines whether the master or the differential axis transmits its demand position or its actual position to the slave axis Data flow ML2 First Master Axis Differential Master Axis LW00110000 Slave Axis Figure 19 Example of software differential The state of the master axes is arbitrary It is important that the settings with the LW command on the master and the slave axis are made before executing the ML command Changes to the LW command only take effect after the cancellation and redefinition as slave axis Master Axis Slave Axis Slave Axis LW00110000 Slave Axis Figure 20 Example of software differential The different parameters for executing a position mapping can be summarised in the equation below All parameters are to be set on the slave axis unless specific reference is made to the master axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Os
75. t g n Mask input function Mask function input Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 With this command the user disables masks a defined input function with the byte address g of the input defined with n in PMCprimo If n is not stated all inputs of g are disabled If n g and t are not stated all input functions are disabled An input function can be masked for example to ensure that a program can only be started once After this program has been called this command is used to mask the input function i e the command can only be repeated if the input function mask has been cancelled using the El command This method can also be used to mask input functions if they could disrupt the execution of other functions This command does not influence the commands Il or WI If the state of a masked input changes the respective input function will be executed after the input is enabled EEI Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Example v PMCprimo user Comment Q 013 0 1 ES PROG15 Entry of program PROG15
76. table is active Value range for shift register with TC command is between 1 and 32 132 When the master is moving engagement cannot take place without software coupling Cannot execute VC command because axis is in mapping Position table lt gt does not exist Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages 150 Cannot execute UL command because position mapping is active 151 ML must be executed before XM 152 External master value is not permitted with XR Caution Data will be deleted because the check sum calculation is invalid Monitoring is already running The following baud rates can be set e 4400 r n19200 r n38400 r n57600 r n1 15200 No No recording value has been selected si value has been selected If monitoring is running TW may not be modified Channels gt 4 do not exist Invalid data type for TW command No programs are defined Mode lt gt cannot be selected for TC command Invalid counter value lt gt for TC command NL must be executed for software differential Controller error Heat sink temperature gt 80 C Controller error Overvoltage on intermediate circuit Controller error Open circuit short circuit in feedback Resolver Hiperface Controller error
77. the event of a motor fault 0 Axis is switched off immediately MO command 1 Axis brakes with the braking ramp AB and then switches off the motor Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands Bit 4 Defines the sign for the setpoint output 0 Setpoint sign is normal i e if the encoder counts in a positive direction the setpoint sign is negative 1 Setpoint sign is inverted i e if the encoder counts in a positive direction the setpoint sign is also positive Bit 5 Defines the encoder s count direction 0 Count direction normal i e if Track B follows Track A the position counter on PMCprimo counts in a positive direction 1 Count direction inverted i e if Track A follows Track B the position counter on PMCprimo counts in a negative direction Bit 6 TO command for monitoring the encoder 0 TO command defines a monitoring time 1 TO command defines a monitoring method Bit 7 Defines whether the KI factor is always active or only active at standstill 0 The KI factor is always active 1 The KI factor is only active when the drive is at standstill Example for Bit 0 of the CW command PMCprimo user Comment v 0 CW1 lt CR gt Axis program should not be aborted Q QO PC MR10000 WT5000 SV lt CR gt MR command t
78. the slave position when tabular position mapping is executed In this case the slave axis automatically compensates the zero point of its cycle length when the cycle limit is reached The position mapping between master and slave axis can be supplied with an offset value on both axes These offset values MB and MF command Page 3 87 3 88 move the master slave relationship along the position axis of the master slave The value of the MB command is subtracted from the position of the master axis before the position is entered in the mapping As a result the position mapping line is moved to the right see graphic below The value of the MF command is added to the position of the slave axis before the position is entered in the mapping As a result the position mapping line is moved upwards The MB and MF commands enable one slave axis or all slave axes to be moved in relation to the master axis with active position mapping Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands without position offset with Offset Master Position Position Slave Axis Position Slave Axis Position Master Axis Position Master Axis with Offset Slave Position with Offset Master and Slave Position Position Slave Axis Position Slave Axis w Position Master Axis Position Master
79. then call other programs Programs can also run in parallel via the XP command or by starting via trigger variables or trigger inputs A program that is already active cannot be started a second time Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command overview 2 2 Command execution Example 0 1 gt ES PROG1 lt CR gt Definition of program PROG1 002E CH1 MA1500 VC WT100 ST lt CR gt 003E NS lt CR gt End of PROG1 0 1 gt x Q 0 1 gt ES PROG2 lt CR gt Definition of program PROG2 002E CH1 DP DV lt CR gt 003E NS lt CR gt End of PROG2 0 1 gt 0 1 gt XS PROG1 lt CR gt Program call of PROG1 0 1 gt XS PROG2 lt CR gt Program call of PROG2 0 1 gt DP 345 Output of actual position of axis 1 0 1 gt DV 0 Output of instantaneous velocity Input functions Programs can be called via digital inputs Mapping is carried out via the DI command Trigger variable Commands or even programs can be called by activating a variable The value of the variable must not change in the process Where commands cannot be executed by PMCprimo e g a travel command when the position control loop is open or in the event of a command collision PMCprimo signals this to the user with an appropriate error Example for trigger variable RA Q 0 1 gt TRIGVAR gt TEST lt CR gt The variable TRIGVAR is defined a
80. variable 3 186 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 14 3 14 DP DD DV FE Display commands Display commands Display of data such as position velocity lag distance Display actual position Display actual position This command is used to display on screen the current actual position of the selected axis The actual position is displayed in increments With the settings FS 21 to 26 Page 3 182 the demand position is transmitted via the CAN bus For example if the axis is rotated manually motor switched off previously the current position could not be displayed because the actual position is not transmitted with these FS settings Now the position is read using the DP command so the actual position is displayed Note This does not take place with the DM command scope function The extension only concerns the CP command Display demand position Display demand position This command is used to display on screen the current demand position of the selected axis The demand position is displayed in increments Display velocity Display velocity This command is used to display on screen the current velocity of the selected axis The actual velocity is displayed in increments second If the VT command is used an average velocity over the time interval
81. 0 This command is used to set the integral gain of the control algorithm for analogue control When using an integral gain PMCprimo integrates the control deviation into a continuous overall error by adding the current error The integral gain is mainly used in winding and unwinding applications with web tension control ADnn Set analogue differential control gain Set analogue differential control gain Permitted values for nn 0 to 2 000 000 000 Factory setting 0 This command is used to set the differential gain of the control algorithm for analogue control This gain uses the differential of the actual value distance that represents the system s control deviation This gain is useful where there are very rapid changes in the control deviation It has a dampening effect on the analogue control ACnn Set analogue control setpoint Set analogue control setpoint Permitted values for n 2 000 000 000 Factory setting 0 This command is used to specify the setpoint value of the analogue control The control deviation is calculated from the difference between this setpoint value and the actual value measured with the analogue input The setpoint value of the analogue control can be incremented decremented with the IP command if the IS command has been set to 2 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command descripti
82. 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages mo O The maximum possible position SB SM exceeds the value range of ld lt c c gt command The interpolator for the CNC application is active so cannot execute the I command 278 Camot modify the pre defined position table LIN AR 280 Note The ZC command has no function on absolute encoders ae eee Pee omtorers CS ML must be executed before XI SS 286 Outputisresevedfor PLC ss siSY is reserved for PLC Cannot execute PC command because the controller is not ready for a ee 288 Module on slot ld of node ld may not be movedup on slot ld of node ld may not be moved up Module or module configuration on slot ld of node ld is not supported 290 Node no ld Too many digital input modules used or more than 4 TPDOs required Node no ld Too many digital output modules used or more than 4 RPDOs required Node no ld Too many analogue input modules used 8 analogue inputs are supported Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Node no ld Too many analogue output modules used 8 analogue outputs are supported Node no ld Digital CAN IO input modules ES DI masked Node no ld Digital CA
83. 0 lt CR gt List program PRG10 0 1 gt ES PRG10 II0 1 1 BK Abort program if the state of input 0 1 1 is 0 otherwise travel with axis 1 to the CH1 MA1000 absolute position 1000 NS 0 1 gt 3 68 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands ASName Set autostart sequence Set autostart sequence Factory setting 0 This command can be used to define a program as a start up program in PMCprimo This program is always processed after power is switched ON If no program name is stated the name of the current start up program is listed If 0 is entered as the program name this means that the user does not require a start up program CHn Change channel Change channel Permitted values for n 1 to 60 can be set via CD command This command is used to select the required axis An axis can be changed at any time Example T PMCprimo user Comment 0 1 gt CH1 MA200 CH 2 MA100 lt CR gt Axis 1 to position 200 and then axis 2 to position 100 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description CP CE GS GA Program commands Change to parallel mode Change to parallel mode This command defines the start of simultaneous proce
84. 000 4000 AVn x Set map base offset scale factor adjustment velocity Set map base offset scale factor adjustment velocity Permitted values for n 0 to 200 Permitted values for x 0 to 6 Factory setting 0 The change introduction of a position offset MB and MF command Page 3 87 or transmission ratio SM command Page 3 88 results in a new demand position for the slave axis PMCprimo can use the AV factor to limit the maximum velocity during adjustment When a position offset transmission ratio is changed introduced with an AV factor 0 a position change is not adjusted via one single dramatic setpoint change The adjustment velocity is stated as a percentage based on the current demand velocity If the current demand velocity is 0 the adjustment is carried out using the velocity stored in the SS parameter Changing the transmission ratio when position mapping is activated on the slave axis also requires a change in velocity In this case the AV command operates in exactly the same way as when changing a position offset The value for AV should be specified on the slave axis The x parameter can be used to increase the resolution to 0 1 0 01 etc In this case the velocity is multiplied by the factor 0 1 Examples AV5 1 sets the adjustment velocity to 0 5 AV5 2 to 0 05 AV10 0 to 10 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 7
85. 09 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands XM Name Execute map Execute map This command is used to activate an existing position mapping Activation takes place on the slave axis Before activating the position mapping the master slave relationship must be defined using the ML command Once the slave axis is connected to the master axis the position of the master axis is transferred to the slave automatically by the host An active position mapping is registered on the monitor with an X on the selected slave axis The stop and abort commands deactivate a position mapping A linear position mapping is already pre defined by the name LINEAR LINEAR position mapping is used specifically for executing transmission ratios specified using the SM command Position mappings for linear correlations must not be generated using the EM command Page 3 80 If the command is triggered without a name the position table that is currently active is listed Position mapping can be activated while the master axis is stationary or moving 1 Activation when master axis is stationary In accordance with the activated position mapping the slave axis moves at the velocity SV to the corresponding position which has been mapped to the slave axis for the current position of the master axis When software coupling is active Bit 1 MW command Page 3 90 the slave axis waits in the cu
86. 1 1 L 3 L 4 L 5 L 6 Led L 8 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands TGg n g2 n2 Define timer counter gate input Define timer counter gate input Permitted values for g 1 to 8 Permitted values for n 1 to 8 Permitted values for g2 1to8 Permitted values for n2 1 to 8 This command can be used to link a digital input of Byte g with the output Once the input address and signal level sign have been stated the output must be stated with g2 n2 If the output is defined as a cam this will only be set if the enable input is true If the output is defined as a timer or counter counting will only take place if the enable input is true The TG command can enable several outputs simultaneously with one input To do this TG is mapped to the outputs and is displayed with the LO command see Page 3 181 To undo the definition the corresponding output must be stated TG g2 n2 TZg n g2 n2 Define timer counter zero input Define timer counter zero input Permitted values for g 1to8 Permitted values for n 1to8 Permitted values for g2 1to8 Permitted values for n2 1 to 8 This command can be used to link a digital input of Byte g with the output of a defined timer or counter function Once the input addres
87. 1 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands SSnn Set slow speed Set slow speed Permitted values for nn 0 to 40 000 000 Factory setting 0 This command is used to specify the creep speed in increments second The creep speed is the travel speed of the axis when VJ Page 3 49 is set to 1 When executing a positioning command the value for SS must be less than the value for SV Page 3 44 The SS speed is also used during a reference alignment run when the axis should actually be at standstill It is also used in the alignment of MB MF and SM when the Master is stationary Example T PMCprimo user Comment J 0 1 gt SS100 lt CR gt Creep speed set at 100 incr second 0 1 gt SV Area Creep distance ss Figure 12 Positioning with creep speed 3 48 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands VJn Set slow velocity mode Set slow velocity mode Permitted values for n 0 and 1 Factory setting 0 This command is used to switch between the velocity values SV and SS When n 0 the axis travels at the velocity set using SV Page 3 44 When n 1 the axis travels at the velocity set using SS The setting for a creep distanc
88. 1 and 2 Byte 2 0 1 gt The rising edge from input 1 inhibits input 2 The rising edge from input 2 inhibits input 1 Without an input inhibit a travel command can occur in the opposite direction Without an input inhibit the axis changes its direction of travel With an input inhibit there is no reaction from PMCprimo Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands MN t g o0 Define masked input line Define masked input line Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for bb 0000 0000 to 1111 1111 default setting 0 With this command the user can define an input mask for an input group in PMCprimo In contrast to the MG command Page 3 165 only the addressed input is masked The masked input can only be re enabled using the El command The right hand bit stands for input 1 Each bit stands for the respective input If n is not stated the input mask that is currently defined will be displayed If the state of a masked input changes the respective input function will be executed after the input is enabled see also MI command Page 3 144 3 168 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49
89. 11 3409 133 E Mail pilz gmbh pilz de Command description AAn MWbb Mapping commands Set map base offset scale factor adjustment acceleration Set map base offset scale factor adjustment acceleration Permitted values for n 0 1000 to 2 000 000 000 Factory setting 0 The change introduction of a position offset MB and MF command Page 3 87 or transmission ratio SM command Page 3 88 results in a new demand position for the slave axis PMCprimo can use the AA parameter to determine the acceleration ramp for achieving the adjustment velocity The AA parameter is stated in increments second The AA parameter should be set at the slave axis If the parameter is 0 it is accelerated quickly The lowest acceleration that can be set is 1000 Set map options word Set map options word Permitted values for bb O to 1111 1111 1111 1111 Factory setting 0 The wildcard X can be stated for each bit This means that this bit will not be changed This command is used to preset the behaviour of position mappings on the slave axis Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 This bit determines the behaviour of the slave axis when a position mapping is activated 0 Software coupling is inactive i e when a position mapping is activated the slave axis travels to its assigned demand position 1 Software coupling is active i e the slave axis waits until t
90. 11 3409 133 E Mail pilz gmbh pilz de 1 General 1 6 General description 1 6 General description This chapter contains a brief description of the possibilities of PMCprimo motion control systems PMCprimo motion control systems are available in various hardware versions and can control up to 60 axes PMCprimo is programmed in a high level language or under IEC 61131 3 CoDeSys The central communication medium is a terminal program see user manual PMCprimo Motion Control Tools on a PC which is connected to PMCprimo via an Ethernet interface All parameter settings and user programs can be stored in PMCprimo in a Flash memory or on a memory card in PMCprotego D Software functions for moving servo axes The PMCprimo commands described here are used to set the parameters in the control system and to program functions for the respective application A large selection of commands enables the implementation of complex applications PMCprimo has commands that span more than one axis In other words a single command can affect multiple axes simultaneously Reference commands enable automatic initialisation and reference error correction as the machine is running The reference error can be compensated in a variety of ways e g through definable ramp or time functions As a result any deviations in the product or machine parameters can be corrected flexibly based on the cycle Freely definable Master Slave relationships e
91. 133 E Mail pilz gmbh pilz de Command description 3 15 3 15 Phase commands Phase commands Velocity dependent phase displacement on electronic cams and with offset master position PA g n X Set phase advance scale factor Set phase advance scale factor Permitted values for g 1 to 8 Permitted values for n 1 to 8 Permitted values for X 0 to 2 000 000 000 Factory setting 0 This command can be used to provide the electronic cam of an axis with a velocity dependent phase displacement The definition refers to the output g n To query the value the output must also be stated Phase displacement output Demand velocity gt 56 x PA 256 The average demand velocity is used for the calculation The interval of VT Page 3 201 is used in this case as set with the command The velocity of the axis is stated in increments second for example a velocity of 20 000 increments second and a PA value of 500 results in a phase displacement of 153 increments Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 15 Phase commands Electric cam without velocity dependent phase displacement level output n 500 800 Position Electric cam with velocity dependent phase displacement at a velocity of v 1000 incr sec and a phase displacement of PA 2560 level output n
92. 2 Position mapping with differential as equation essesseseeseesereeesrrserirnserirnsetinnserinnnerinnne 3 79 Figure 23 Software clutch behaviour 0 0 eee eee eeceeeeeeeeeeeaeeeaeeeaeeeeeseeeseaeseaeeseeseeeseaeseaeeeaeeeeeeeeeas 3 96 Figure 24 ime dolay eanna fai nate aat e A can aaee ea AEAEE er AE A p ARENE 3 99 Figure 25 Wait for input line iN QrOUP Griera a E E T OEA AA 3 100 Figure 26 Wait for absolute POSION eiee eee a ki E EEr E EARE E a e Ea 3 101 Figure 27 Wait for relative POSIHON aedi aoni a E EER E 3 102 Figure 28 Relationship between lag distance and setpoint output eeeeseseeseeserreererieererserereenn 3 113 Figure 29 Interaction between the commands when a reference signal is detected 26 3 117 Figure 30 Interaction between the reference error Correction COMMAMNAS ecceeeeseeeeeeteeeeeteeee 3 118 Figure 31 Cycle eN a da aie isd aa aa a aaea a aa aaa aaraa a needa aaea a 3 121 Figure 32 Reference error correction with RV as velocity gain eeeeeseeeeeeerreerrreerrereerrreernn 3 126 Figure 33 Reference error correction with RV as path sessssesssseseisesrrisesirrserirrserirrserirnserrrnseren 3 127 Figure 34 Variable distance for reference error COrrection sesssesriesrresrrerirssrnssrnnsrnnsrnnsrrnsrrnsrne 3 130 Figure 35 Special filter function for referencing cccccceceeeeeeeeeeeeeeeeeaeeeeseeeseaeeseeeeeeaeeseneeeseneeeeas 3 131 Figure 36 Limit values for
93. 3 143 e E EAE eine tawere cers ius Maite 3 66 What E E E T 3 142 INe eee tenes a a ec 3 40 Increment select mode Set eee eeeeeseeteneeeeeeeeee 3 52 Increment selected parameter ccecceeseeeeeees 3 53 ADIDI sinihan neinni io s 3 146 Inhibit function input ssesesssseesessssssrreesrereseesee 3 146 Inhibit trigger variables c cccscesssesssessreeeseees 3 219 Initial ratio from analogue range distances calculate 3 208 Initialisation position and bounds wees 3 42 Initialise position m v1 3 40 Free analogue input ecceeeeseeeseseeeeeeeneeeeeneeers 3 155 Installation guidelines se 5 254 Free analogue Output oo eee eee eeeeeeeeeeees 3 155 ee E E E 3 143 Free memory display cccccsessceesseessecsseeesseeeees 3 29 P n a oe ran E a 3 53 Global motor off ccccccccccssecessseeeessseeeessseeeeseees 3 71 A D EE EEEN AEREE AEE TEETE ET 3 114 Global Stop rrrainis 3 70 KP ein me niente ini Si aes 3 115 Global wait Off cccccccccccssecesssseecesseeeessseeeessees 3 71 Kd thet EN Sie th te TB TE 3 114 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Index E head ori ehbovmelin dh 3 180 Motion COMMAMNAS ee eeseeeeseeeneeeseeteneeteseeeneeenee 3 33 Limit switch input define cccceseeeseeceteeeseeees 3 162 Motion COMMAMNAS ccesceeeteeeseeesee
94. 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages to iras aeea a te onder srapsrot ornes Fast input is not defined as a reference input The output has already been defined for Pulsed output during reference signal Incrementing error Upper limit of 2 SV has been exceeded aooo Incrementing error Creep speed may not be greater than SV 93 94 95 97 Incrementing may not change the direction of velocity 10 Cannot execute the XR command because the motor is off Cannot execute the XR command because the motor is already running 11 Map generator error Segment No nn Percentage values must add up to 100 11 OO oe Map generator is not enabled 0 0 1 114 The output has already been defined as lt JF gt lt XR gt lt XM gt command was cancelled BUS variable is not defined Value for analogue input is below the lower limit value 117 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages ML must be executed before XV 123 Cannot define analogue auxiliary output because position control is active 124 Cannot switch to real mode because an analogue auxiliary output is defined Transmission ratio can only be incremented if the position
95. 4 Controller error Open circuit short circuit in feedback Resolver Hiperface Controller error Commutation error Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands 3 6 Mapping commands Creation and execution of tabular position mappings or electronic gear functions between axes in Master Slave mode For each position of the master axis a corresponding position is defined for the slave axis through tabular or linear position mapping The master axis can control a drive but it is also possible for the master axis to operate only as a receiver of rotary encoder pulses e g transmission shaft main shaft or as a virtual axis e g speed controlled stepping function When position mapping is activated the corresponding position is assigned to the slave axis as the demand position from the table In simple cases it is sufficient to define a linear mapping as the electronic gearing between the master and slave axis This electronic gearing function is available in PMCprimo as LINEAR position mapping The master slave transmission ratio can be set using the SM command Tabular position mapping is used for more complex applications The more entries the table contains the more precise the master slave mapping will be because PMCprimo carries out a linear interpolation bet
96. 409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Cannot execute the XM command because the motor is off ML must be executed before BR 60 Nap generator onor Varabie SMSan nas rot been aoned Map generator error Invalid value for MXnn Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Status and error messages 4 2 Error messages Map generation error Variable MM Z is less than its preceding value Input cannot be defined as an input function Input is not a fast input The fast input is already defined No reference signal has been defined IB command is not possible because axis is virtual and motor is off Cannot execute LW command because assignment as slave has already been made via ML The output is defined and so cannot be switched manually The output has already been defined as a reference output The output has already been defined as an error output for the analogue input limit The output is not defined The output has already been defined as a reference error correction The encoder zero track is already defined for the axis An encoder snapshot has already been defined for this axis EA Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711
97. 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands Example PMCprimo user 0 1 ES Prgl 002E CHO 1 sv 003E NS Onde 0 1 ES Prg2 0021 0031 CH0 1 SA NS B EJ Ow DIO Sri Prgl O21 DIO lt 3 22 Prgz EI RI0 3 Inputs 0 3 7654321 0000000 EFEEEEEE o o Ff o o oo oO gt MNO 3 11111111 oO SO3 1 WT10 CO3 1 L SV 20000 RI0 3 Inputs 0 3 7654321 0000000 E M oO O O O O SO3 1 EL OG OOO O PPP Pp SV 20000 Comment Program Prg1 is defined which outputs the parameter value SV for test purposes Program Prg2 is defined which outputs the parameter value SA for test purposes For virtual input 3 1 Prg1 is defined as the input function for the rising edge For virtual input 3 2 Prg2 is defined as the input function for the rising edge All inputs are enabled Input group 3 is displayed All inputs are reset All inputs are enabled Each input should be masked automatically after it is called By setting and resetting the virtual output a signal is generated for the virtual input Program Prg1 has therefore been executed Input group 3 is displayed Input 3 1 has been masked due to the MN command A further input signal has no effect Only the enable triggers the program again Program Prgi has been triggered via El
98. 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 3 Motion commands V Reference signal Reference signal v v Reference signal x Return to Reference signal Cycle length Figure 8 Initialisation of position and cycle length CF Clear drive fault Clear drive fault The CF command resets all existing faults and warnings on a servo amplifier If resetting the fault should trigger a restart of the servo amplifier the system will automatically wait until the servo amplifier is once again ready for use Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands 3 4 Parameter commands Input and output of axis parameters SVnn Set velocity Set velocity Permitted values for nn 0 to 40 000 000 Factory setting 20000 This command is used to specify the velocity in increments second The velocity can also be changed during travel New travel velocity t Figure 9 Changing travel velocity while moving Example Y PMCprimo user Comment J 0 1 gt SV5000 lt CR gt The velocity is set to 5000 increments second 0 1 gt 344 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands S
99. 8 Drive commands Drive commands With PMCprimo it is possible to enter commands for the servo amplifier directly from PMCprimo s PTerm Drive commands must be set in inverted commas and a connection to the servo amplifier must be established via the QA command The compiler can store 10 000 drive commands Example PMCprimo user Comment 0 1 gt DIR Drive command DIR is triggered 0 1 gt DIR Output from servo amplifier 1 A drive command may be assigned to a variable If the servo amplifier does not return a value an error message is issued Example PMCprimo user Comment 0 1 SVAR DIR lt CR gt Drive command DIR is assigned to variable Oude SVAR lt CR gt Output from VAR Ol VAR 1 0x00000001 When saving with the SP command all drive parameters are stored as a program which is named as follows DRIVE t t Number of network subscriber Assigning a value to a variable on a drive command e g GV VAR The value of VAR is divided internally by 1000 in order to arrive at floating point numbers However it is only divided by 1000 if the command expects a floating point value Example VAR 2100 GV VAR produces GV 2 1 PEMAX VAR produces PE 2100 Drive command values are assigned to variables as follows Through the assignment VAR GV GV 2 1 supplied the value VAR 2100 Through the assignment VAR GV GV 2 supplied the value VAR 2000
100. A program consisting only of commands for one axis will be transferred in full to the respective axis module when called The program remains in the axis module s local memory to be used again Programs containing multi host or multi axis commands are analysed first by the host and are divided into their individual components depending on whether the command needs to be executed by the individual axis or by the host Axis specific program sections are loaded into the relevant axis module When the program is executed the host calls up the individual program sections in each axis module The host numbers the individual program sections automatically These are not accessible to users If a program is changed or deleted the host changes or deletes the relevant local programs in turn The analysis and loading of programs compilation are automated No input is needed from the user Commands and programs can be executed on various axes in sequence or simultaneously Normally all commands are run in sequence unless simultaneous processing has been selected using the CP command Example for processing in sequence PMCprimo user Comment Y 01 gt ES PRG1 lt CR gt Entry of PRG1 Q 002E CH1 MA20000 lt CR gt Axis 1 to absolute position 20 000 003E CH2 MA10000 lt CR gt Axis 2 to absolute position 10 000 004E NS lt CR gt End of PRG1 0 1 gt 3 58 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Te
101. AN bus Possible settings are 1 2 4 basic setting and 8 milliseconds In general reducing the cycle time improves the motor s control behaviour It is possible to set the node address on the CAN bus As a result a CAN operator terminal can address the PMCprimo control system for example Setting the Profibus address Setting the number of axes 30 axes are defined by default This number can be increased to a maximum of 60 However in this case the processor should be clocked at sufficient speed Setting the baud rate for CAN2 If the baud rate is to be the same as that of CAN1 0 must be set This is also the factory setting Slave mode can be set on CAN1 or CAN2 This means that no network scan is performed on the CAN Slave and there is a reaction to SDO access An extra cycle time can be set for CAN2 If 0 is set factory setting the cycle time of CAN1 is adopted The system cycle time can be set Select between 250 500 and 100 us This time determines the sampling time for generating set values and position control A specific address can be stated on the PMCprotego for saving to an SD card If the address 0 is stated when the SP or RD command is issued the system automatically searches for the first PMCprotego with SD card and accesses this 318 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command descriptio
102. AN1 ADDR 10 found DS402 Inputs 5 Outputs 1 Virtual Inputs 17 Virtual Outputs 19 Analogue Inputs 2 inputs linked to channel from 0 3 to 0 4 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands n 2 HW2 lists all CAN devices in table form The state of devices the firmware version number the distinction between CAN 1 CAN 2 and the link via PD and FS are listed Y STATE OF DEVICES Q Device Network Addr CH FS VN State PMCprimo C 3 0 2_T05 ACTIVE PMCprotego DS CAN1 5 0 2 27 5 260 FAULT amp WARNING PMCprotego D CAN1 10 0 3 27 5 260 ACTIVE PR Name Print to terminal Print to terminal Permitted values for Name Character string with maximum 80 characters This command lists the character string Name on a connected terminal A total of 800 PR commands are possible within programs Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands SP n Save parameter Save parameter n 0 Everything is saved does not need to be stated n 1 All program data is saved excluding variables n 2 Only the variables are saved n 3 All program data is saved excluding Drive programs
103. Ann Set acceleration Set acceleration Permitted values for nn 1 000 to 2 000 000 000 Factory setting 100 000 This command is used to specify the acceleration value in increments second The acceleration value can be changed at any time except while executing positioning tasks with MA or MR Page 3 33 3 36 i e including while moving The lowest executable acceleration value is 1000 Figure 10 High and low acceleration value Example Ri PMCprimo user Comment 0 1 gt SA10000 lt CR gt The acceleration value is changed to 10000 0 1 gt increments per second Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands DCnn Set deceleration for ST command Set deceleration for ST command Permitted values for nn 1 000 to 2 000 000 000 Factory setting 100 000 This command is used to specify the braking ramp in increments second The braking ramp can be changed at any time The lowest selectable braking ramp is 1000 The braking ramp is used with the ST MA MR IN and IB commands XA can be used to set a separate braking ramp for the abort command AB Stop command Figure 11 Set braking ramp Example Y PMCprimo user Comment J 0 1 gt SA10000 lt CR gt Acceleration 10 000 increments second 0 1 gt DC25000
104. Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands This example deletes an installed software key 0 1 g 0 1 sk lt CR gt 9 0 1 Serial number 000164 Installed software keys Motion b976c5 New Key b976c5 lt CR gt Key Entry successful lt CR gt O 1 3 30 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 1 Data commands ZT Name Display active programs Display active programs This command lists all the programs active on the control system without stating a program name If a PLC program is active it is displayed Example 1 Y PMCprimo user Comment J Ql zt Command is triggered Ord Active processes Current programs are listed I0 1 3 gt PRG1 Program PRG1 is active and was called by input 0 1 3 ONLINE 1000 gt PRG3 Program PRG3 was called by an online command SVAR1 gt PRG2 Program PRG2 was called by the trigger variable VAR1 SVAR2 gt PRG4 gt PRG5 Program PRG5 was called by program PRG4 Program PRG4 was called by the trigger variable VAR2 0 1 If the program name of an active program is also stated the program line that is currently active will be listed Example 2 t PMCprimo user Comment 0 1 ZTPRG2 ZT
105. Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands Position Slave Axis Non lineaer position mapping Area Slave Axis Figure 16 Position mapping for a defined area Area Master Axis Position Master Axis The position mapping shown in Figure 16 can also refer to an application in which the master axis behaves as a transmission shaft and the slave axis follows the mapped position profile each time the transmission shaft main shaft rotates In this application the SB command Page 3 120 must be used to set the cycle length of the master to the measurement of one rotation of the transmission shaft If the master and or slave axis behaves cyclically the cycle length must be set on each axis The tabular position mapping must be defined so that the position transitions run continuously at the cycle limits If the transitions are not continuous at the cycle limits erratic changes in speed may occur on the slave axis If the transition of the position values at the cycle limit of the slave axis is not continuous the difference between the actual cycle length and the set cycle length causes a relative offset between the slave and master axis This fault adds up over several machine cycles and behaves like a constant slave axis drift This problem is difficult to diagnose but it can be avoided by design
106. E m 4 Demand velocity V m 5 Actual velocity W m 6 Average actual velocity X m 7 Reference error R m 8 Encoder snapshot S m 9 Change of set value U m 10 Change of actual value C m 11 Value of analogue input A m 12 Lag distance additional control L m 13 Current transmission ratio U m 14 Position of master axis MP m 15 Velocity of master axis MV m 16 Position of differential axis DP m 17 Velocity of differential axis DV m 18 Actual current of servo controller IS m 20 Change of set value absolute amount UB m 21 Input byte 1 I1 m 22 Input byte 2 I2 m 23 Input byte 3 13 m 24 Input byte 4 14 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands No Type Description Display m 25 Input byte 5 I5 m 26 Input byte 6 I6 m 27 Input byte 7 I7 m 28 Input byte 8 18 m 31 Output byte 1 O1 m 32 Output byte 2 02 m 33 Output byte 3 O03 m 34 Output byte 4 04 m 35 Output byte 5 O05 m 36 Output byte 6 O6 m 37 Output byte 7 O7 m 38 Output byte 8 O08 m 40 Motor fault ME m 41 Error variable F m 42 Status variable S m 43 Bus variable Bn m 44 Variable Name m 61 CAN input byte 1 I m 68 CAN input byte 8 18 m 71 CAN output byte 1 O1 m 78 CAN output byte 8 O8 m 101 CAN input byte 1 11
107. E 3 120 E E A 3 47 Scale inappitig 4 ssstestecc atte a a 3 88 QA secsetesetersneeeneesnteennecnnetenteenneeneeeteeaneeanesenstenattey 5 260 SD iCardiitu red iiantaee waa a 3 25 OO 3 224 SD int aerate aaereretns 3 227 S finiteness ete eset at 3 106 a S 3224 Set acceleration eee eeeeeseeeeseeeseeeeeeeeseeeesneeeaeees 3 45 Pe csorecsta ye cease etter te ce ance cecal 3 133 Set acceleration feed forward gain constant 3 115 EPEE E EAE AE 3 127 Set analogue control todeisee acscecmietaidnoe PO E E T 3 27 S tanalogue control options Woriarireikus Read input lines in group g cesceeeseeeseeeeteeeseeees 3 141 Set analogue control proportional gain Reference adjustment forwards output 3 134 Set analogue control setpoint Reference correction velocity Set ccsceeeee 3 126 Set analogue differential control gain Reference filter options Word Set sseesseeeeees 3 129 Set analogue input high limit ccccccseeeeees Reference input true low limit set eeeees 3 131 Set ASCII channel for drive sser Reference input wait fOr sssssccsseesseeeeeeceeseees 3 103 Set autostart SCQUENCE c cccccccsssesesesssssessseeeseeees Reference options word Set cesceeseesreeeseeees 3 122 Set auxiliary output channel s ccecssescssessseesseeeeees Reference position strange channel 0 06 3 135 Set backlash compensation distance Relati
108. MasterVel KM 15 1000000 OM Velocity differential master axis Control point DiffMasterVel KM 15 1000000 OM Setpoint web tension torque control Control point AC OM Reference error Control point DF KM 4 1000 OM Encoder snapshot Control point DS KM 4 1000 OM Demand velocity including reference error correction Control point Vel KM 15 1000000 OM Velocity ratio slave master The Rel command FE DD DP DV AC DF DS average velocities VT Page 3 201 and BT Page 3 202 are calculated The ratio is calculated as follows Control point DV Slave KM DV Master OM 3 156 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 12 Analogue input and output commands KM nn Set monitor output gain Set monitor output gain Permitted values for nn 65 535 Factory setting 1 The analogue auxiliary output is not influenced by the gains of the control algorithm The analogue auxiliary output is independent of the control parameter presettings CW command Page 3 54 Before the value at the analogue auxiliary output is issued the value is multiplied by nn The output signal can be inverted by changing the prefix OM nn Set monitor output offset Set monitor output offset Permitted values for n 32 767VIK Factory sett
109. N IO output modules ES DO masked Node no ld Analogue CAN IO input modules Al U or Al I masked Node no ld Analogue CAN IO output modules AO U or AO I masked Node no ld Safe digital CAN IO input and output modules FS DI or FS DO masked and is not monitored Safety card error Safe Stop 2 SS2 Monitoring of standstill position failed Safety card error Safe Operating Stop SOS Monitoring of standstill position failed Safety card error Safely Limited Speed SLS Monitoring of safely limited speed failed Safety card error Safe Speed Range SSR Monitoring of speed range failed Safety card error Safe Direction SDI Monitoring of direction of rotation failed Safety card error Safe Brake Test SBT Monitoring of standstill position motor brake failed Safety card error Safe Brake Test SBT Monitoring of standstill position external brake failed 4 240 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Safe Brake Test SBT Monitoring Motor current ON motor brake failed Safety card error Safe Brake Test SBT Monitoring Motor current OFF motor brake failed Safety card error Safe Brake Test SBT Monitoring Motor current ON external brake failed Safety card error Safe Brake Test SBT
110. N bus error An error occured during transmission CAN bus error The CAN module watchdog has been activated 2 CAN bus error There was an error in the SDO transmission Time exceeded 21 CAN bus error An error occurred during the SDO transmission e g incorrect no of Bytes 211 0 CAN bus error Error message this message is not implemented CAN bus inactive CAN node nn Firmware version does not match the host Error Servo controller cannot be switched off via CAN PD command only possible from axis nn CAN bus error Node guarding error node nn Battery buffered memory is not available within the system Position table lt gt has not been sent to axis TM command Mapping is not active Servo controller error via CAN Caution Bit 1 of FW has been set to 1 as RU gt SB 2 2 2 2 2 2 Variable could not be assigned to drive command 2 2 2 No data present in Flash 9 0 0 6 7 Insufficient Flash memory Error occurred when saving 0 No more reference positions can be buffered 2 3 2 21 2 2 2 2 2 2 2 2 231 2 r n9600 r n1 9200 XOn XOff r n38400 XOn XOff pom The output has already been defined as a Velocity dependent output 2 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de The buffered reference positions will be deleted due to the change in the direc
111. OUT Length 0 Words 6 PROFIBUS Offset 0 KKEKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKEKK 0 Exit menu 2 Delete application data 3 Change CAN1 baudrate 4 Change Ethernet 5 Change in out length for Profibus 6 Change offset for Profibus 8 Set CAN Cycle time 9 Set CAN address 11 Change Profibus address 12 Change number of channels 21 Change CAN2 baudrate 22 Enable slave mode for CAN1 2 23 Set CAN2 cycle time 24 Change cycle time of system 26 Set address for PMCprotego with SD Card Choice Return ESC exits menu Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 11 12 21 22 23 24 26 3 1 Data commands Explanation of the configuration options Exit the configuration menu by entering 0 or Esc This is where the program stored on the PMCprimo can be deleted Setting the baud rate for CAN1 The following baud rates are possible 20 50 100 125 250 500 800 1 00OKBit The IP address gateway address and net masks can be set Setting the number of input output words for Profibus An offset can be stated for the fieldbus address The value range is between 0 and 100 The default value is 0 As a result it is possible to address the input banks 0 101 to 0 108 via the bus variable B101 to B108 It is possible to modify the cycle time of the C
112. PMCprimo ignores a reference error completely Only reference signals within the SR window are evaluated and corrected 1 _PMCprimo executes a reference error correction with the maximum permitted value and issues the error message RL The user can define any further reaction e g Motor OFF in an error program ME command Page 3 71 Bit 2 This bit activates a permitted position for correcting a reference error setting with RJ command Page 3 128 0 No position is defined for correcting a reference error The correction is made as soon as a reference input is detected 1 Position for correcting a reference error is active 3 122 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands Bit 3 This bit prevents any movement back to the reference signal during initialisation IN command Page 3 39 0 Movement back to the reference signal during initialisation is executed 1 Movement back to the reference signal during initialisation is not executed Bit 4 This bit determines the functionality of the RV command Page 3 126 0 The velocity for the reference error correction is specified via RV 1 The path for the reference error correction is specified via RV In this case the path is the actual path without correction With this function the referenc
113. Permitted values for g 1 to 8 PMCprimo C PMCprimo uses this command to show the state of the inputs of the byte defined as g on network subscriber t In addition to showing the state of the logic signal it also displays which input is masked M inhibited B or enabled E Virtual outputs are connected to virtual inputs through the software Example PMCprimo user Comment 0 1 gt RI0 1 lt CR gt The state of input bank 1 12345678 Inputs 1 to 8 of Byte 1 01100100 Logic signal state of inputs 1 to 8 EBMEBEE Enabled E masked M inhibited B inputs 0 1 gt Read output line states in group g read output line states in group g Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C PMCprimo uses this command to show the state of the outputs of Byte g If g is not stated the outputs of group 1 are displayed Virtual outputs are connected to virtual inputs through the software Example PMCprimo user Comment 0 1 gt RO1 lt CR gt This command line is used to show the state of the outputs of Byte 1 of the PMCprimo C 1234567 8 01100100 Logical signal state of outputs 1 8 is displayed 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital inpu
114. Program processing can be ended at any time using the GX command Page 3 71 A program must be run through in its entirety before being called up again if this is disregarded PMCprimo issues the following error message Cannot start the program lt Name gt because it is already running IS Note A maximum of 25 programs can be started in parallel Example Parallel program call PMCprimo user Comment 0 1 ES PRG11 Program PRG11 is defined 002E XP PRG12 Program PRG12 is to be called in parallel 003E SV Velocity is listed Y 004E NS End of definition of PRG11 0 1 ES PRG12 Program PRG12 is defined 002E WT10000 Wait for 10 seconds 003E SA The acceleration is then listed 004E NS End of definition of PRG12 01 XS PRG11 Program PRG11 is called Og Let 0 1 SV 20000 Velocity is listed immediately 0 1 SA 100000 Acceleration is listed after 10 seconds OL Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 5 Program commands RP nn Repeat command line Repeat command line Permitted values for nn 1 to 4 000 000 or no details With this command the current command line is repeated nn times if nn is not stated then infinitely The RP command may only be used once in a command line The ER command can be used to exit a loop when it ends The AX command Page 3 68
115. R gt 0 1 gt 0 1 gt ES PRG2 lt CR gt 002E CP lt CR gt 003E CH1 MA0 lt CR gt 004E CH2 MA0 lt CR gt to their zero positions 005E CE lt CR gt 006E NS lt CR gt 0 1 gt 0 1 gt ES PRG3 lt CR gt 002E XS PRG1 XS PRG2 lt CR gt 003E NS lt CR gt 0 L gt Program PRG3 Program 1 is processed and then program 2 is processed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands ES Name Enter sequence Enter sequence This command enables the user to enter a program Programs created using the ES command can be called and executed using the XS or XP commands A program becomes a subprogram when it is called by another program The number of possible programs depends on the memory capacity of the integrated Flash memory Each program can be called as a subprogram It is not possible to have more than 30 levels for subprogram calls Each program line consists of a single command or a command string Each program can consist of several program lines Program entry is completed with the NS command A program name must always start with a letter A program name can be a maximum of 20 characters in length Spaces and special characters are not permitted Example 1 for program entry PMCprimo user Comment v 0 1 gt ES PRG10 lt CR gt Entry of
116. Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved Byte 2 outputs 1 READY 2 STO Acknowledge 3 O0 SOS Acknowledge O1 SDI Acknowledge 5 O2 SRA Acknowledge 6 O3 SBT Acknowledge 7 SBC 8 SIL3 STO Byte 4 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 SS2 is 0 drive activated 1 controller activated 7 SS1 is O drive activated 1 controller activated SS1 internal Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 19 Commands for the safety card CSnn X1 X2 Communication safety card Communication SafetyCard This command can be used to communicate with the safety card nn 1 Displays a list of all active safety cards nn 2 Download the configuration data to the safety card with serial number X1 nn 3 Display the status information of the safety card with serial number X1 nn 4 Read the error stack of the safety card with serial number X1 All errors are displayed when X2 0 when X2 1 only the active errors are displayed nn 5 Upload the configuration data from the safety card with serial number X1 Example 1 CS 3 9 PMCprimo user Comment 0 1 CS 3 680000 100001 680000 100001 0 1 00000203 00000000 2001817F 1843 1 2 3 4 5
117. STO SIL 3 Safety card error Channel A B data alignment state of output STO failed Safety card error Channel A B data alignment check sum of configuration data failed Safety card error Synchronisation channel A B synchronisation download Config data end failed Safety card error System software error CRC test Flash CRC check Safety card error System software error Memory test Flash Ram Memory corrupt Safety card error System software error RAM data test Safety card error System software error Checking of parameters Safety card error System software error Self test Safety card error System software error Expiry monitoring Safety card error Digital output test dual pole output SBC SBC monitoring error failed Safety card error Digital output test dual pole output SBC SBC Transistor SBC does not switch on failed Safety card error Digital output test dual pole output SBC SBC Transistor SBC does not switch on failed Safety card error Digital output test dual pole output SBC SBC Brake in load transistor SBC does not switch off failed Safety card error Digital output test dual pole output SBC SBC Brake in load transistor SBC does not switch off failed Safety card error Digital output test safe pulse disabler monitoring error failed Safety card error Digital output test safe pulse disabler interruption of output st
118. T I 010 05 Siege REG NO 2462 In many countries we are represented by our subsidiaries and sales partners Please refer to our homepage for further details or contact our headquarters Pilz GmbH amp Co KG Felix Wankel StraBe 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de gt WWW www pilz com gt Technical support 49 711 3409 444 pilz In some countries InduraNET p Pilz PIT PMCprotego PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the spirit of safety are registered Pilz GmbH amp Co KG 2008 protected trademarks of Pilz GmbH amp Co KG Text and graphics in this publication are simply intended to give an overview of the system No responsibility accepted for errors or omissions
119. Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 NTName WV var Variable commands Variable map number assignment Variable map number assignment This command displays the table number of the position table Name The table number is an internal number address specified by the compiler this number can also be used to start a position mapping NT can be assigned to a variable Example PMCprimo user Comment 0 1 gt SVAR NT MAP1 lt CR gt The table number from MAP1 is assigned to the variable VAR 0 1 gt XM SVAR lt CR gt The position mapping is started with MAP1 Or gt Wait for write to variable Wait for write to variable With this command PMCprimo waits until the stated variable is assigned a value before executing the commands that follow A status variable or error variable may not be used for this command However it is possible to use the pre defined map variable SMREADY This variable uses the internal motion generator Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands var gt PrgName 0 1 Define trigger variable Define trigger variable The gt sign is used to define a variable as a trigger variable The defined program is
120. activated with XM The calculated transmission ratio AR Slave MM Master is used as the initial transmission ratio see also CR commana Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 16 AHnn ALnn Web tension control with analogue input Set analogue input high limit Set analogue input high limit Permitted values for n 31 Bit value Factory setting 2000 This command can be used to set a permitted upper limit for the analogue input If the value of the analogue input exceeds this value PMCprimo issues a relevant error message If Bit 3 of the EW command is set to 1 exceeding the upper limit will be assessed as a Motor OFF error Set analogue input low limit Set analogue input low limit Permitted values for n 31 Bit value Factory setting 2000 This command can be used to set a permitted lower limit for the analogue input If the value of the analogue input falls below this value PMCprimo issues a relevant error message If Bit 3 of the EW command is set to 1 falling below the lower limit will be assessed as a Motor OFF error Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 17 3 17 Variable commands Variable c
121. address ModbusClient Exception function code received Illegal response length ModbusClient Exception function code received Acknowledge ModbusClient Exception function code received Slave Device Busy ModbusClient Exception function code received Negative Acknowledge ModbusClient Exception function code received Memory Parity Error ModbusClient Exception function code received Gateway Path Unavailable ModbusClient Exception function code received Gateway target device failed to respond ModbusClient New configuration Connection is being re established 559 ModbusClient Error Corrupt data received Error FB SetConfigData Invalid value for ConfigData CycleTime_us Error FB SetConfigData Invalid value for ConfigData wNumberOfChannels Error FB SetConfigData Invalid value for ConfigData wNumberForEncoder Error FB SetConfigData Invalid value for ConfigData wCanCycleTime_ms Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Error FB SetConfigData Invalid value for ConfigData wCanNodeAddr Error FB SetConfigData Invalid value for ConfigData wCan1Baudrate_kBit Error FB SetConfigData Invalid value for ConfigData wCan2Baudrate_kBit Error FB SetConfigData Invalid value for ConfigData wCan2CycleTime_ms Error FB SetConfigData
122. age STO STO SIL3 on start up failed Safety card error Digital output test output stage branch STO does not switch off failed Safety card error Digital output test output stage branch STO SIL3 does not switch off failed Safety card error Digital output test safe pulse disabler interruption of output stage STO STO SIL3 with cyclical UN failed Safety card error ERR02 Motor is running Safety card error Channel A B data alignment monitoring of standstill failed 4 246 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error CRC calculation error during the command CS 0 Invalid check sum Safety card error Safe Stop 2 SS2 Monitoring of braking ramp failed Safety card error Digital output test safe pulse disabler Interruption of output stage in run mode Safety card error Voltage monitoring test monitoring of test pulse current signal failed Safety card error Feasibility of position encoder signal feasibility with external encoder failed Safety card error Feasibility of position encoder signal feasibility with setpoint value velocity different signs failed Safety card error Channel A B data alignment state of input SS1 SIL3 Enable failed Safety card error Channel A
123. all counter modes the counter is incremented or decremented each time that the output g n is set with the SO command set output or an output function sets the output g n to true If the up counter mode is selected the counting process begins with 0 and ends with the stated counter value In down counter mode the counting process begins with the stated value and ends at 0 At the first counting edge the output is set to true and the counter is set to its start value If the counter reaches its end value the output and the counter are reset The counter can be stopped and reset at any time using the CO command In the counter modes the timer is started in exactly the same way as the counters however each millisecond of the timer value is incremented until the specified end value is reached The output g n is set to true at the first trigger signal and is reset to false once the time has elapsed In one shot modes the timers and counters operate as described above If the timer counter reaches its end value in cyclical modes the output g n changes state the timer counter is set to its start value and starts again Mode 6 One shot timer with restart If the defined output is set with SOn m while the timer is already running the timer will start to count again The output remains constantly set In shift register mode 8 the counter operates as a shift register up to a maximum value of 31 Bits The state of the TG gate
124. ariable Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands TKg n g2 n2 Define timer counter clock input Define timer counter clock input Permitted values for g 1to8 Permitted values for n 1to8 Permitted values for g2 1to8 Permitted values for n2 1to8 This command can be used to link a digital output of Byte g with the output g2 n2 of a defined timer or counter function Once the input address and signal level sign have been stated the timer counter output must be stated with g2 n2 If the state of a counter input switches from false to true the corresponding counter is incremented or decremented as with the SO command see also TC command Page 3 149 If the state of a reset input defined with the TZ command switches from false to true the timer counter is stopped and reset as with the CO command If an enable input has been defined with the TG command a timer counter will only be incremented if the enable input is true If the signal level of the enable input is false the timer counter will not be incremented decremented Example Y PMCprimo user Comment 0 2 gt TK1 2 1 1 lt CR gt This command line is used to link input 1 2 to the timer counter of output 1 1 0 2 gt LI1 Display of input function Byte 1 gives Led 1 2 TK
125. ayed if Bit 0 is set to 0 Bit 5 Suppress the error message Reference error limit exceeded see also LR command Page 3 125 if Bit 1 is not set to 1 0 The error message is displayed 1 The error message is not displayed if Bit O is set to 0 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 8 Monitoring functions Bit 6 Suppress the error message Reference signal detected before the existing reference was completely adjusted if Bit 2 is not set to 1 0 The error message is displayed 1 The error message is not displayed if Bit O is set to 0 Bit 7 Suppress the error message Analogue input limit exceeded see also AH and AL command Page 3 210 if Bit 3 is not set to 1 0 The error message is displayed 1 The error message is not displayed if Bit O is set to 0 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 9 Control parameters 3 9 Control parameters The drive is operated in position control during all positioning operations Any discrepancies between the actual position and the constant or consecutive demand position will be resolved by the position controller Control algorithm PMCprimo contains a PID position controller with a rever
126. between individual axes for Master Slave mode 212 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 2 Command overview 2 1 General information about the instruction set e Wait loops Chapter 3 7 Programming of wait loops within a program or command sequence to query time elapsed reaching a position state of an input etc e Monitoring functions Chapter 3 8 Setting of error limits and definition of the PMCprimo s reaction in the event of an error e Control parameters Chapter 3 9 Setting of all factors that influence the control loop such as KP KI KD KV and KF e Reference commands Chapter 3 10 Activation and setting of the reference behaviour e Digital input and output commands Chapter 3 11 Querying and linking of digital inputs and setting resetting of digital outputs Using timers and counters in conjunction with digital inputs and outputs e Analogue input and output commands Chapter 3 12 e Definition commands Chapter 3 13 Definition of digital input and output functions e g input is reference input or output is electronic cam e Display commands Chapter 3 14 Display of data such as position velocity lag distance and time e Phase commands Chapter 3 15 Velocity dependent phase displacement with synchronous running and electronic cams e Additional control with analogue input C
127. ch time Permitted values for n 1 to 20 000 Factory setting 1 The software clutch function is designed for connecting the slave axis to a moving master axis The software clutch operates as a mechanical fixed point coupling which engages with exact precision while moving The slave axis waits in the current position until the master axis reaches the synchronisation position The software clutch time is only active if Bit 5 of MW Page 3 90 is set to 0 If Bit 5 is set to 1 the software clutch length CL Page 3 96 is active This command defines the time for the acceleration ramp The software clutch function is activated with Bit 0 of the MW command The value n 20000 represents the longest clutch time and the value n 1 the shortest The clutch time t is stated in milliseconds Example PMCprimo user Comment 0 1 gt CT16 lt CR gt Specify software clutch time of 16 ms 01 gt Configured Master Master and Slave Position synchronised v Master y Slave 1 1 1 1 1 1 i 1 1 i 1 1 1 1 1 i 1 if i I l I 1 I l i 1 I 1 I i 1 I I 1 I I I I i I I l I e Clutch time i 16 ms Figure 23 Software clutch behaviour Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands CLn Set clutch length Set clutch length Perm
128. command line With this command the user can arrange PMCprimo so that a command is only executed if the motor is in operation If the motor is switched off PMCprimo continues processing in the following line of a program or processes the program section after the EL command in this line Example PMCprimo user Comment 0 1 gt IT CO1 3 lt CR gt Output 1 3 is set as the motor is switched on 0 1 gt 1O t g n If output true do command line If output true do command line Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1 to 8 With this command the user can arrange PMCprimo so that a command is only executed if the state of the output defined as n of Byte g has the required logic state If the output does not have the required state PMCprimo continues processing in the following line of a program or processes the program section after the EL command in this line Example PMCprimo user Comment 0 1 gt 102 44 XS PROG23 lt CR gt This command line is used to poll the state of output 2 of Byte 2 for 1 If the output is set PMCprimo processes the program PROG23 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Mi
129. commands EV var Enable trigger variables Enable trigger variables This command can be used to enable a trigger variable In this case var represents the name of the variable that is to be enabled If var is not stated PMCprimo enables all trigger variables LV List variable value List variable value This command is used to list all the user defined variables and their current values If a variable name is entered its value will be listed Example 1 T PMCprimo user Comment J 0 1 gt SSPD lt CR gt User request SSPD 5000 0x00001388 The value of the variable is 5000 0 1 gt Example 2 Y PMCprimo user Comment 0 1 gt LV lt CR gt User request SBCD 12 The value of the variable BCD is 12 S SPD 5000 The value of the variable SPD is 5000 STR 75 The value of the variable TR is 75 0 1 gt 3 220 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 17 LB LP Variable commands List bus variable value List busvariable value This command can be used to list the pre defined bus variables There are 108 bus variables in total with the following syntax Bn n from 1 to 108 These bus variables are used as an interface to external devices such as an operator terminal Variables B1 to B100 can be defined as trigger variables and should be used as normal variables To qu
130. commended to ensure data is saved securely GX Stop all programs BV BI Mask trigger variable and inputs GF Switch off all motors SP Save data WT100 EV EI Enable trigger variable and inputs after 100 ms The commands listed above are explained in detail further on in this manual All the drive parameters from the existing servo amplifiers are stored as programs If necessary the programs can be started in order to import a backup When the program is saved not in the case of variables a version number is incremented and is stored in the Flash memory Program changes made by third parties can be recognised here as the version number is changed when the program is saved This number Version XX is listed with the LA command Page 3 28 The version number is not listed if only the variables or the Flash memory are read LA2 and LA4 command If the application program is deleted via the boot menu or CD command Page 3 17 the version counter is reset to zero at the same time Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description SU n Data commands Software update Software Update This command can be used to import new firmware After you have entered the command a confirmation prompt will appear If this is confirmed it will be possible to download the file con
131. cycle limit The prefix of the reference error determines the direction of the alignment 1 PMCprimo always corrects the reference error to the value 0 The prefix of the reference error is always negative Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 10 SRnn Reference commands Set maximum reference correction Set maximum reference correction Permitted values for nn 0 to 2 000 000 000 Factory setting 0 When nz0 this command limits the value of the reference error that is corrected on the motor to the value of nn This command can be used to eliminate incorrect reference signals lying far away from the expected position or to enable cyclical referencing even though the reference signals do not match the set cycle length If PMCprimo detects a reference signal the reference error is calculated as the difference between the zero point defined with the reference signal and the zero position or the SB position If the reference error is within SR and Bit 0 of RW Page 3 122 is 1 the reference error is offset on the motor If the reference error is outside the limit value set with SR the reaction of PMCprimo will depend on Bit 1 of the RW command and value n of the FR command Page 3 125 If Bit 1 of RW is set to 0 the reference error wil
132. d An input mask can be defined for example to ensure that conflicting commands that may not or cannot be executed simultaneously are mutually interlocked All other inputs on this input mask are disabled with a pulse edge from an input on this input mask The disabled inputs can only be re enabled using the El command The II and WI commands are not influenced by the MG command The right hand bit stands for input 1 Each bit stands for the respective input An input mask can only be defined for inputs with the same byte address If bb is not stated the input mask that is currently defined will be displayed T If the state of a masked input changes the respective input function will be executed after the input is enabled see also MI command Page 3 144 m Example Y PMCprimo user Comment 0 1 gt ES PROG1 002E CH1 VC Travel in direction 003E NS 0 1 gt ES PROG2 002E CH1 VC Travel in direction 003E NS 0 1 gt CH1 DI2 1 PROG1 lt CR gt Call program 1 0 1 gt CH1 DI2 2 PROG2 lt CR gt Call program 2 0 1 gt MG2 00000011 lt CR gt Input mask on inputs 1 and 2 Byte 2 0 1 gt The pulse edge from input 1 masks input 2 The pulse edge from input 2 masks input 1 Without an input mask a travel command can occur in the opposite direction Without an input mask the axis changes its direction of travel With an input mask there is no reaction from PMCprimo E Pilz GmbH amp Co KG Felix Wank
133. d Page 3 115 The analogue auxiliary output function can only be selected on an axis on which the position control loop is open MO command or which is operated virtually VM command Page 3 32 Voltage is output at the analogue output After a function has been selected with SF 0 the axis cannot leave virtual mode and the position control loop cannot be closed with PC The definition of an analogue auxiliary output can be rescinded on the relevant axis by specifying n 0 A variable can now be written with the current value of the analogue auxiliary output With the setting FS19 to 26 Page 3 182 the analogue output is not needed for position control In this case it is possible to use the AO command also while position control is active PC command Example Y PMCprimo user Comment J 0 1 AO 0 2 lt CR gt Definition of analogue auxiliary output 0 1 VAR A0O lt CR gt Definition is transferred to variable Owl SVAR lt CR gt Value query 0 1 0 1 SVAR 2 0x00000002 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 12 DA CAn Analogue input and output commands Display analogue input Display analogue input This command can be used to display the current value of the analogue input The value range is 2047 This corresponds to 10V Copy analogue in
134. d from a simple 12bit single turn to the 24bit multi turn model The following applies for transferring the position values from and to the servo amplifier FS19 27 Permitted values for nn 12 to 32 When transferring the position values from and to the servo amplifier the last 12 Bits of the NB value are always reserved for the number of revolutions The remaining bits indicate the resolution per revolution With NB28 resolution for example the motor runs 65 536 increments per revolution Feedback change encoder Feedback change encoder Permitted values for nn 0 to 60 Factory setting 0 Master scale factor master scale factor Permitted values for nn 0 to 8 Factory setting 0 This command can be used to scale a master value The master position is multiplied by the factor 2 This only makes sense if the master position is averaged using the PT command Page 3 53 otherwise the position changes are too great In conjunction with the PT command this option increases the resolution of the measuring system This is necessary if a slave axis with a high transmission ratio is to follow this master axis With a ratio of 10 1 for each increment that the master moves the slave must travel 10 increments This will impact on the motor in terms of noise and increased temperature development If the position is scaled and averaged the transmission ratio is reduced lessening the effect It is possible to assign a value to a
135. dern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands XSName Execute sequence Execute sequence This command enables the user to call a program When a program is called the stated program is run immediately If an error occurs program processing is aborted immediately Program processing can be ended at any time using the GX command Page 3 71 A program must be run in its entirety before being called again if this is disregarded PMCprimo issues the following error message Cannot start the program lt Name gt because it is already running Subprograms are executed consecutively Example Call program PRG10 PMCprimo user Comment 0 1 gt XS PRG10 lt CR gt Call program PRG10 0 1M PMCprimo executes the program PRG10 0 1 gt Program PRG10 has been executed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands XPName Execute sequence parallel Execute sequence parallel This command enables the user to call a program in parallel Any subprogram called by a program will be started in parallel The main program will continue running If the program triggers a change of state at an axis this will be displayed If an error occurs program processing is aborted immediately
136. description 3 3 Motion commands If position mapping triggers a stop at position command e g STO the active curve is only maintained until braking has been started The Slave is then stopped with a linear ramp braking ramp depends on CT or CL If the Master has also been stopped during this braking time for example the Slave will still move to the specified target position because the Master Slave relationship is dissolved In some circumstances therefore the Slave may travel a little further than specified by the Master However Bit 6 of the MW command Page 3 90 can be set so that the axis considers the curve even during the braking process and the Slave still reacts to the Master s velocity changes The Slave waits until the Master continues travelling for example and then completes the stopping process Only the setting from the CL command is used i e Bit 5 from the MW command CT CL selection has no significance as the target position cannot be reached with a time specification The ST command only affects the axis that is currently selected The effect of the GS command Page 3 70 spans more than one axis With the AX command Page 3 68 processing of a program can be cancelled without stopping the motor AB Abort emergency stop Abort emergency stop The motor brakes to velocity 0 with braking ramp XA Page 3 46 The AB command can be applied with any movement AB co
137. display mode is activated on axis 2 until DO is entered 0 2 D 0000918 P 0000918 E 0000000 T 00082231 0 2 D 0000918 P 0000918 E 0000000 T 00082303 0 2 D 0000918 P 0000918 E 0000000 T 00082376 0 2 D 0000918 P 0000918 E 0000000 T 00082449D0 lt CR gt 0 2 gt Enable trace mode Enable trace mode Permitted values nn 0 to 10 000 This command is used to start trace mode If nn is stated nn values will be recorded in intervals of TT see Page 3 192 If nn is not stated the display will be continuous based on the set transmission rate Up to 4 different pieces of information can be displayed This function uses the oscilloscope program PScope The TW command see Page 3 192 is used to select the channel 1 to 4 and the required information It is possible to define a trigger via the TH command see Page 3 195 and to specify a pretrigger via the TP command see Page 3 196 TRO can be used to display again the last data to be recorded However the TT and TW commands must not be modified following the recording Example 1 PMCprimo user Comment 0 1V THO Trigger is switched off 0 1V TT4 Time step is set to 4 milliseconds 0 1V TW1 1 Channel 1 is to record the demand position 0 1V TR2 Start the recording of 2 values 0 1v DO 1 00000123 T 00000004 Demand position is 123 T indicates the time elapsed DO 1 00000125 T 00000008 0 1V Pilz GmbH amp Co KG Feli
138. ds with SP When PMCprimo is restarted the bus scan is recorded and can then be displayed directly with CN2 after booting Example 1 PMCprimo user Comment 0 1 cnO Delete the Can trace 0 1 cn1 1 50 qr50 0x1000 0 4 Start CAN trace on main network filter for 0 1 CAN address 50 and SDO on address 50 0 1 0 1 QR 131474 20192 hex Response from SDO 0 1 cn2 Display CAN trace 0 1 Time 16200392 CanNo1 CobID 0632 Length8 Data 4000 10 00 00 0000 00 Time 16200393 CanNo1 CobIDO5b2 Length8 Data 43 00 10 00 92 01 02 00 Time 16200496 CanNo1 CobID0732 Length1i Data 00 Time 16200496 CanNo1 CobID0732 Length1 Data 85 Time 16200746 CanNo1 CobID0732 Length1i Data 00 Time 16200746 CanNo1 CobID0732 Length1 Data05 Time 16200996 CanNo1 CobID0732 Length1i Data 00 Time 16200996 CanNo1 CobID0732 Length1 Data 85 3 226 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 19 Commands for the safety card 3 19 Commands for the safety card Commands for communication with the safety card SD Display IO state safety card Display O State Safetycard This command is used to display the safety card s IO state register Byte 1 inputs 1 SS1 Activate 0 SS2 Activate 11 SOS Activate SLS Activate SSR Activate SDI left Activate 12 13 14 I5 SDI right Acitvate 16 SBT Activate Byte 3 1
139. e PMCprimo user Comment 0 1 gt VX lt CR gt All trigger variable definitions are listed M S SPD gt PRG1 Variable is masked E TR gt START_PRG Variable is enabled B SFRG gt PRG2 Variable is inhibited 0 1 gt MV var Mask trigger variables 1 Mask trigger variables This command can be used to mask a trigger variable In this case var represents the name of the variable that is to be masked If var is not stated PMCprimo masks all trigger variables If a value is assigned to a masked trigger variable the defined program will be executed once it is enabled with the EV command The VX command provides information as to whether a trigger variable is masked inhibited or enabled BV var Inhibit trigger variables Q Inhibit trigger variables This command can be used to inhibit a trigger variable In this case var represents the name of the variable that is to be inhibited If var is not stated PMCprimo inhibits all trigger variables If a value is assigned to an inhibited trigger variable the defined program will not be executed once it is enabled with the EV command The VX command provides information as to whether a trigger variable is masked inhibited or enabled Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable
140. e nnnE Program entry see ES command Page 3 59 nnnM Map definition see EM command Page 3 80 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Status and error messages Error messages Error messages Overview of all the error messages that PMCprimo shows to the user on a display unit No error Cannot start program because the max number of running processes has been reached This command is not yet implemented on the control system Cannot execute the MA command because the motor is off The target position is outside the defined software end limits Software end limit has been passed in the plus direction Software end limit has been passed in the minus direction Cannot execute the MA command because the motor is already running Cannot execute the MR command because the motor is off Cannot execute the MR command because the motor is already running Cannot execute the VC command because the motor is off Cannot execute the VC command because the motor is already running Attempt to divide by zero Switch to a sequential command sequence before calling a program Position error limit has been exceeded Input cannot be defined as a reset input Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3
141. e s cycle length Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands RMn Set continuous reference mode on off Set continuous reference mode on off Permitted values for n 0 and 1 Factory setting 0 With this command when n 1 the following are registered in each cycle defined with SB command the zero track as reference input defined with DZ command Page 3 128 all defined reference inputs defined with DR command Page 3 135 and all snapshots of the encoder position of the inputs defined using the PS command Page 3 163 RWbb Set reference options word Set reference options word Permitted values for bb 0 to 1111 1111 Factory setting 0 The wildcard X can be stated for each bit This means that this bit will not be changed This command is used to select a function and preset the reference behaviour of PMCprimo Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 This bit activates cyclical referencing if cyclical referencing has been activated using the RM command 0 Cyclical referencing inactive 1 Cyclical referencing active Bit 1 This bit determines the reaction of PMCprimo if the reference error to be corrected is greater than the maximum permitted value for reference error correction SR command Page 3 124 0
142. e SC command Page 3 47 is only valid when VJ equals 0 SV SS Figure 13 Velocity levels SV SS When switching between SV and SS during execution of MA or MR the value specified for SS must always be less than the value for SV otherwise the braking ramp cannot be calculated properly braking ramp very steep Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description BLnn SWnn Parameter commands Set backlash compensation distance Set backlash compensation distance Permitted values for nn 0 to 2 000 000 000 Factory setting 0 This command enables mechanical backlash compensation Each time the motor s direction of rotation changes this stretch is added to the actual distance in defined increments This backlash compensation is only effective when executing MA and MR commands Example PMCprimo user Comment 0 i gt BL20 lt CR gt Define backlash compensation at 20 increments 0 1 gt Each time the direction of rotation changes the first movement is increased by 20 increments Set window Set window Permitted values for nn 0 to 2 000 000 000 Factory setting 100 This command is used to specify the permitted target window in increments PMCprimo signals that the position has been reached when the motor is within the target wi
143. e 3 56 are considered during initialisation Bit 2 indicates whether the direction should be taken into account when returning to the reference signal Bit 3 then indicates the direction when returning to the reference signal Example Y PMCprimo user Comment 0 1 gt IN lt CR gt The motor anticipates a reference signal 0 1 gt in positive direction and then returns to the reference signal to the new zero position when using RF 3 40 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 3 Motion commands Reference signal 4 Reference signal X Return to reference signal Figure 7 Initialisation with return to reference Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion commands IB Initialisation position and bounds Initialise position and bounds The IB command is similar to the IN command The IB command is used to initialise the position and also to determine the machine s cycle length PMCprimo executes an initialisation command on the selected axis until a reference signal is detected for the first time Then the axis continues to travel at constant velocity until the reference signal is detected for the second
144. e axis are identical the value must amount to the value 0 or cycle length If the value changes upwards or downwards over the course of time the axis will drift away It is essential therefore to check the position mapping settings DM nn Continuous display mode Continous display mode Permitted values for nn 1 to 2 000 000 000 or no details This command is used to activate PMCprimo display mode If nn is not stated the display is continuous The interval between the individual values is 100ms The parameter T in the listing displays a time counter If you take the difference between two consecutive values the result will be the current time base If n 0 is stated the display appears n times on the display unit In ths case the values are recorded in 1 millisecond intervals Example 1 Y PMCprimo user Comment 0 2 gt DM2 lt CR gt This command line is used to activate display mode for 2 lines O22 D 0000918 P 0000918 E 0000000 T 0000001 0 2 D 0000920 P 0000920 E 0000000 T 0000101 02 gt The following values are listed D Demand position P Actual position E Lag distance T Recording time sequence E Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 14 TR nn Display commands Example 2 PMCprimo user Comment 0 2 gt DM lt CR gt With this command line
145. e axis of a 2nd master differential n indicates the required differential master axis This command must be used before activating a position mapping For details of the software differential please refer also to the LW command on Page 3 94 Unlink slave axis from master axis Unlink slave axis from master axis This command is used to cancel the mapping link to a master axis The slave axis definition must be cancelled before the axis can be linked to another master axis as slave axis Example Axis 1 becomes the new master axis PMCprimo user Comment 0 15 CH3 lt CR gt Selection of axis number 3 0 3 gt UL lt CR gt Axis 3 is no longer slave axis 0 3 gt ML1 lt CR gt Axis 1 is master axis of axis 3 0 3 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands MB nn Set map base offset for master map positions Set map base offset for master map positions Permitted values for n 4 000 000 Value range for n 2 000 000 000 Factory setting 0 The MB command enables the introduction of an offset to influence the position mapping between master and slave axis The value of the MB command is subtracted from the position of the master axis this is the resulting position when using a software differential As a result the position mapping line is moved The position mapping
146. e error is always distributed on a defined optimum path With values greater than 200 a warning is issued when Bit 4 is switched from 1 to 0 because in this case RV must be lt 200 RV is automatically set to 100 If this bit is set then Bit 6 of RW must also be set If this is not the case a warning is issued and Bit 6 is set automatically Bit 5 This bit determines whether a reference error correction is executed in the position indicator alone or also on the motor This bit has no effect on a slave axis with active position mapping as in this case every reference error is corrected on the slave axis 0 Motor position and position indicator are corrected 1 Only the position indicator is corrected Bit 6 This bit determines the functionality of the RC command Page 3 127 0 RC is used to set the acceleration for the reference alignment run 1 RC is used to specify an acceleration path that the axis would cover without an alignment run If the value is 0 the alignment is made with a jump to RV With values between 1 and 1000 a warning is issued when Bit 6 is switched from 1 to 0 because in this case RC must be gt 1000 RC is automatically set to 0 Bit 7 Determines the correction of the position counter when a reference signal is detected 0 PMCprimo searches for the shortest path for correcting the reference error It will either be corrected at Position 0 or at the end of the
147. e ignored The character indicates the signal level of the output when the axis is in an alignment run If or is not stated this output function can be invalidated Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 RR g n Definition commands Define reference reject output Define reference reject output Permitted values for g 1 to 8 Permitted values forn 1to8 This command can be used to define a digital output of Byte g as a reference error output Each reference signal is used to measure a reference error The measured reference error is comparerd with the value of SR If the measured reference error is within the limits specified with SR the reference error output is set to false If the opposite is the case i e the measured reference error exceeds the limits specified with SR the reference error output is set to true The signal level of the reference error output is specified with the sign or The signal level is maintained until a new comparison has been run with the next reference signal The definition as reference error output is cancelled if the command is entered without stating or A typical application for the RR command for example is to control a switchpoint that distinguishes between good parts and rejects For example the front edge
148. ead input states ORS Inputs 0 2 87654321 00000000 All inputs FALSE EFEEEEE Enable all input definitions 0 1 BI2 5 Disable input 2 5 Oal In the mean time input 2 5 has changed its state PROG15 was not executed as input masked Usl 0 1 RI2 Read input states 0 1 Inputs 0 2 87654321 00010000 Input 2 5 TRUE EFREEBEEEE Input 2 5 disabled Ont EL2s5 Enable input 2 5 0 1 PROG15 is not started although input state at El does not equal that at MI 0l Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands El t g n Enable function input Enable function input Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to 8 With this command the user enables a defined input function or input group that of the input defined with n of input byte address g in PMCprimo Input functions can be masked with the MI command see Page 3 144 or inhibited with the BI command see Page 3 146 If n is not stated all input functions of g are enabled If g is not stated PMCprimo automatically selects Byte 1 If n and g are not stated all input functions are enabled EN t g n oo Enable functi
149. eesenaeeeeeseteeeeseas 3 44 Figure 10 High and low acceleration Value 20 cee cece steer eee eeeeae etree eeaee seas esaeeseaeeseaeeeeaas 3 45 Figure 11 Set braking ramp eccccccececeseeeseneeseceeeeneeeeaeeeeeaeesaeeeeeaeeseaeeceaeeesaeessaeeeseaeeseaeeseeaeessieeesaaes 3 46 Figure 12 Positioning with creep speed eee ee eeeeeeeeeeeneeeeeeneeeeeeeeaeeeeeeeaeeeeeenaeeeeeenaeeeeeenaeeeeeesaeeeeeeaas 3 48 Figure 13 Velocity levels SV SS o cccceccceseseseneeceneeeceaeeceaeeeeeaeeseaeeeseaeeseaeessaneeseaeesseaeeseaeeseeaeessueeesaaes 3 49 Figure 14 Monitoring timer Theresia cons eed pehan des bveli tt besten dentdaaand elvan ERE OEREN S 3 51 Figure 15 Simple Position Mappings ccceeceeeeeeeeeeeeeeneeeeeaeeceaeeeseaeeseaeeeeeaeeseaeesseaeeseeeessaeeseueeeeaaes 3 74 Figure 16 Position mapping for a defined area ou cece ceeneeeeeeeneeeeeeeaeeeeteeaeeeeeesaeeeesenaeeeeeenaeeeeeeaas 3 75 Figure 17 Position mapping for a cyclical machine eect ee eeneeeeeeeeeeeeeeeaeeeeeetaeeeeeenaeeeesenaeeeeeeaas 3 76 Figure 18 Effects of position OffSet oo eee eeeeeeneeeeeeeeeeeeeneeeeeeeeaeeeeeeaeeeeeeaeeeeeeaeeeesenaeeeeeenaeeeeeeaas 3 77 Figure 19 Example of software differential eesriie anaa e e ea aa aa Ekaa 3 78 Figure 20 Example of software differential se ssssesssrressrrressrnneseranerernneternnertrnnernnanernnanecnnnnecennnnt 3 78 Figure 21 Position Mapping AS EQUATION neraissrasen n e a E E 3 79 Figure 2
150. el Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands BG t g bb Define input inhibit group Define input inhibit group Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for bb 0000 0000 to 1111 1111 default setting 0 With this command the user can define an input inhibit on the inputs in PMCprimo An input inhibit can be defined for example to ensure that conflicting commands that may not or cannot be executed simultaneously are mutually interlocked All other input functions on this input mask are inhibited with a pulse edge from an input on this input mask The inhibited input functions can only be re enabled using the El command The Il and WI commands are not influenced by the BG command If the state of an inhibited input changes the respective input function will not be executed after the input is enabled in contrast to the MG command see also MI command Page 3 144 Example Y PMCprimo user Comment J 0 1 gt ES PROG1 002E CH1 VC Travel in direction 003E NS 0 1 gt ES PROG2 002E CH1 VC Travel in direction 003E NS 0 1 gt CH1 DI2 1 PROG1 lt CR gt Call program 1 0 1 gt CH1 DI2 2 PROG2 lt CR gt Call program 2 0 1 gt BG2 11 lt CR gt Input inhibit on inputs
151. en n 0 is stated for FH and FL If n 0 is stated on all four parameters the limit values are not checked Summary Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 ZX Reference commands A reference input is evaluated as such if e ZL lt Travel length with reference input DR true lt ZH and e FL lt Travel length with reference input DR false lt FH FH ZE ax FL gt ZH coms _ ws gt ZA ZX ZY y yj high low L gt Distance Figure 36 Limit values for evaluating the reference input Reference input is evaluated as such when FL lt X lt FH and ZL lt Y lt ZH This option is used in order to filter a valid reference signal from a spectrum of signals from the reference sensor This filter property is especially suitable for printing and registering applications Display length reference signal false Display length reference signal false With this command the last measured length via which the reference signal had the status false is displayed It is only displayed if Bit 0 of the FW command Page 3 128 is set to 1 If Bit 0 of the FW command is set to 0 ZX is also set to zero automatically The edge to be detected is always changed internally to enable the length of the reference sig
152. enana 3 187 Enable function input ccccceseesessteeseneeeneees 3 148 Enable trigger variables cccscesssssstessteeesees 3 220 Encoder filter 3 53 End of enter map 3 80 End of parallel MOde ccccsccssseestesesteeeseessseeees 3 70 End Of sequente se e 3 61 End repeatern E e aia E E TEREA ia 3 65 Enid waiti statesni iiuen trie icin eis 3 105 Enter Mapi siiviasiziiener TETTA 3 80 Enter position Control MOdE ccscessseeeseesteeees 3 32 Enter Sequence 0 2 ee eeeccceeeeeeteeeeeeeteeeentteneneneneeenes 3 60 E E E hci stench ae 3 65 Error Options word Set cecesceceesteeeeesteeeeeneees 3 110 EEE EEE E E E E 3 60 EVA hegae e e a a a 3 220 A E T EETA 3 110 Execute commands if expression is true 065 3 66 Execute commands if program is active 3 67 Execute inverse map virtual ccscessseeeseeeteeeee 3 84 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Index EX CUTC E 1 o ETET ETET 3 82 EEEE TE E TETEA 3 42 Execute Map virtualiai innser 3 83 If input true do command line sssseseseseeseeeeeee 3 142 Execute Sequence ssssssssesssseessrrsssreeeerrsssseeeesnsssne 3 63 If motor status true do command line 0 3 143 Execute sequence parallel ccsccssseseseesteeeees 3 64 If output true do command line seceeeeeees
153. encoder snapshot for the selected axis is displayed in increments see PS command Page 3 163 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands DT n Display time Display time This command is used to display the internal PMCprimo system time The display format is as follows Days Hours Minutes Seconds The DTn command has been expanded as follows Display the internal system time see above Display the time needed by the interrupt routine in us Display the maximum time needed by the interrupt routine since the last reset DT3 Reset the maximum time DT2 Display the current CAN bus load as Display the maximum CAN bus load since the last reset DT6 as Reset the maximum load DT5 Display the current PLC cycle time in us Display the maximum PLC cycle time since the last reset DT9 Reset the maximum PLC cycle time DT8 10 Display the map generator s computing time 11 Display the processor temperature 12 Display the maximum processor temperature since cold start 13 Display the maximum processor temperature 14 Display the time since the system start in ms OOO OU ON ES DO Display mode off Display mode off This command is used to end display mode DM and trace mode TR GM Display mapped axis bound position Display mapped axis bound p
154. encoders with potentially isolated line driver outputs can be used These ensure that signals are transferred safely even ina rugged industrial environment Recurring reference signals can be used to avoid an accumulation of errors when transferring rotary encoder signals Alternatively rotary encoders can be used on which absolute positional information is transmitted via an SSI interface The digital inputs and outputs on PMCprimo are potentially isolated Potential isolation guarantees the highest possible immunity to interference signals Industrial monitoring devices such as a programmable logic controller for example can be connected directly without any problem The corresponding operating manual should be read when installing Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Interface PMCprimo lt gt Machine 5 2 Monitoring functions 5 2 Monitoring functions To use PMCprimo properly in a machine the user should consider the following monitoring functions separately for each axis e Setting the position error limit with the SE command see Page 3 106 e Time monitoring on the rotary encoder signals with the TO command e Setting software end limits with the LH and LL command e Defining the software limit switch with the DL command and installing the relevant switches on each axis so that if a limit switch is passed
155. ent J 2 gt LO1 lt CR gt Display the output definitions made in Examples 1 and 2 Outputs 0 1 O 1 1 0 1 2 0 1 3 TC Count 00020 Mode 1 0 1 4 RA1 gt TC Count 00005 Mode 4 Outed 0 L26 0 1 7 0 1 8 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Example 4 Y PMCprimo user Comment 0 2 gt TC1 5 10 8 lt CR gt This command line is used to define a 10 bit shift register at output 1 5 0 2 gt TG2 1 1 5 lt CR gt This command line is used to define input 2 1 as a gate input of the shift register from output 1 5 0 2 gt TC2 2 1 5 lt CR gt This command line is used to define input 2 2 as a test pulse input of the shift register from output 1 5 Example 5 Y PMCprimo user Comment 0 2 gt TC1 1 10 7 lt CR gt This command line is used to extend the rising edge at output 1 1 by 10ms 0 2 gt sol lj wt5 col 1 Output 1 1 is set and is to be reset after 5ms However as the TC7 command is active the output is only reset after 15ms LC g n List counter value List counter value Permitted values for g 1 to 8 Permitted values for n 1 to 8 This command can be used to list the counter status of the timer counter from output g n The value of the shift register is listed as a binary number It is possible to read the counter status into a v
156. er Comment 0 2 gt V02 5 500 10000 lt CR gt This command line is used to define output 5 of Byte 2 depending on the velocity of axis 2 0 2 gt with signal level 0 between the velocities 500 and 10000 0 2 gt VO2 5 lt CR gt This command line is used to cancel the above definition 0 2 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands VHnn Define hysteresis for velocity trigger output Define hysterese for velocity trigger output Permitted values for nn 40 000 000 This command is used to extend the VO command A hysteresis is added to the switching points so that the output at standstill is not constantly switched on and off if the actual velocity fluctuates by 1 increment for example The set value is either added to or subtracted from the velocity switching points DBnn Set input debounce time Set input debounce time Permitted values for n 0 to 10000 Factory setting 0 This command can be used to set a debounce time for the real and virtual digital inputs The values for n are stated in milliseconds Reference inputs can be debounced with the RH command see Page 3 134 BO g n Define bound overflow output Define bound overflow output Permitted values for g 1to8 Permitted values for n 1to8 This command can be used to
157. er axis x BA 256 256 The velocity of the master axis is stated in increments second for example a velocity of 10 000 increments second and a BA value of 200 results in a phase displacement of 30 increments The velocity of the master axis can be averaged over time The BT command is available for this it can be used to set the time over which the average velocity will be determined This factor can also be considered as a set time A value of 1 corresponds to 15 625 microseconds So a phase displacement of 64 corresponds to 1 millisecond and therefore the distance that the master travels in this time Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 15 Phase commands BTn Set base advance time constant Set base advance time constant Permitted values for n 1 to 10 000 milliseconds Factory setting 1 This command is effective when using the BA command The value n specifies a time period over which PMCprimo determines the average velocity of the axis PMCprimo uses this average velocity rather than the current velocity to calculate the phase displacement of a master position offset on the slave axis When n 1 PMCprimo does not determine an average velocity The averaged velocity is also used to determine whether the master is moving in the event of an XM command see Page 3 82
158. ery the value of an individual variable all you need to do is state its name The variable values B101 to B108 are mapped to the virtual input banks 0 101 to 0 108 By assigning a value e g B101 Oxff all the inputs of input bank 0 101 are set These inputs have the same functionality as the CAN inputs Corresponding outputs such as those found on classic virtual inputs are not available as they are switched via the bus variable The values for B101 to B108 cannot be saved Neither can they be defined as trigger variables The address range of Modbus CANbus and Profibus is increased accordingly The variables cannot be used directly as command parameters variables cannot be global Example PMCprimo user Comment 0 1 gt B12 lt CR gt User request B12 8 0x00000008 The value of the bus variable is 8 0 1 gt List map variable value List mapvariable value This command is used to list the variables defined for the internal motion generator see PMCprimo Motion Generator PMotion User Manual The variables MMSB and MSSB are also listed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 17 Fn Variable commands Set error variable Set error variable Permitted values for n 1 to 60 can be set via CD commana There is a pre defined error variable for each axis I
159. evaluating the reference INPUt eee eeeeeeeeeeeneeeeeeeeeeeteeaeeeesenaeeeeeeaas 3 132 Figure 37 Monitor function on the analogue auxiliary output ce eeeeeeeeeeeeeeeeeneeeeeenaeeeetenaeeeeeeaas 3 158 Figure 38 Example 1 for PO command cc ccceeececeeeeeeeeeeeeaeeeeeeeseaeeseaeeeeaeeseaeessaneeseaeesseneeseaeesaas 3 173 Figure 39 Example 2 for PO command c ccceeeeeeeeeeeeeeeseaeeeeeeeeceaeeceaeeeseaeeseaeessaeeseaeesteneeseaeeteas 3 174 Figure 40 Velocity dependent phase displacement c ccceeeeeeeeeeeneeeeeeeneeeeeeenaeeeeeenaeeeeseneeeeeeaas 3 200 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 1 General 1 1 Copyright 1 General 1 1 Copyright Copyright 2009 Pilz GmbH amp Co All rights reserved All rights reserved No part of this document may be reproduced in any form by printing photocopying microfilm or any other method nor may it be processed duplicated or distributed by electronic means without written permission from Pilz GmbH amp Co KG 1 2 Note Pilz GmbH amp Co KG reserves the right to amend this document at any time The given examples are for illustration only We accept no responsibility as to their suitability for specific applications This manual has been produced with great care but we cannot accept liability for errors or omissions We welcome yo
160. f the control algorithm This gain uses the set acceleration in contrast to the actual acceleration and is helpful when the position counter is set or a velocity profile is run The effect of KA is to provide a set value output component in proportion to the necessary set acceleration Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 10 3 10 Reference commands Reference commands Activation and setting of the reference behaviour This chapter describes the commands and options available to the user from the PMCprimo in terms of referencing Reference commands cover the basic initialisation function following a power failure like all positioning systems but also include the option for cyclical referencing which enables the user to adjust fluctuations and inaccuracies of the actual cycle length to the theoretical cycle length specification The position of the rotary encoder is saved as soon as a reference input is detected This saved position is compared with an anticipated reference position cycle limit SBn 0 SBn see SB command on Page 3 120 RL see RL command on Page 3 121 The resulting difference is defined as a reference error the absolute position can be corrected by this difference if required PMCprimo supports 2 types of reference signal A The zero track of the rota
161. ffects the travel velocity but also the value of SS when travelling in creep mode plus the value of SV All of the following movements are executed with the values of SS and SV IS7 The lower limit for multiplication factor n of the transmission ratio SM Page 3 88 is 0 The upper limit is 400000 IS8 The lower limit for the cycle length SB Page 3 120 is 0 The upper limit is 2 000 000 000 3 52 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description IP nn PTnn Parameter commands Example PMCprimo user Comment 0 1 gt SV1000 lt CR gt Normal velocity 1000 increments second i gt IS1 lt CR gt Current speed can be changed via IP 0 1 gt VC Travel at constant velocity 0 1V IP100 DV lt CR gt Increase velocity by 100 increments second DV1100 and display velocity 0 1V IP100 DV Increment selected parameter Increment selected parameter Permitted values for nn Depends on selected parameter This command increments the parameter selected using the IS command Page 3 52 by the value stated with nn nn may be either a positive or a negative value The IP command enables the value of the travel velocity to be modified in stages by repeating a single command for example If the permitted limit value of the selected parameter is exceeded an erro
162. fied with n nn or m Example PMCprimo user Comment 0 2 gt SVSSPD lt CR gt This command is used to assign the value of the variable SPD to the velocity 0 2 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 17 Variable commands Conversely parameter values can be also be read into variables Example PMCprimo user Comment 0 2 gt SSPD SV lt CR gt This command is used to read the value of the velocity into the variable 0 2 gt SPD A variable can be defined as a trigger variable i e if the value of this variable is updated the program assigned to this variable will be run Example PMCprimo user Comment 0 1 gt SPD gt PROG1 lt CR gt If the value of the variable SPD is changed 0 1 gt the program PROG 1 is called Variables can be used for arithmetic expressions The user can add with subtract with multiply with divide with and implement the modulo function with s As variables may only be integer values the remainder of a division is lost With the modulo function it is possible to determine the remainder when the left hand value is divided by the right hand value Each bracket that is opened must be closed An arithmetic expression can be used in exactly the same way as a simple variable Example Axis 1 must reach a certa
163. g XM Axis executes the coupling process at the start of a position mapping C Axis executes an alignment movement for starting a position mapping A The interpolator is active for the CNC application N Execution of infinite positioning or velocity control VC Axis executes a positioning command MA MR Position mapping Map active XM Axis executes a stop command ST Initialisation is running IN IB Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Interface PMCprimo lt gt Machine Installation guidelines Interface PMCprimo lt gt Machine Installation guidelines It is essential that the PMCprimo is installed properly Protect the PMCprimo from overvoltage and electrical interference signals in the power supply and signal cables Pilz accepts no responsibility for defects arising from a faulty installation Please refer to the information in the respective installation manual when installing the PMCprimo devices Each PMCprimo axis depends on the signals of the respective rotary encoder Incorrect rotary encoder pulses produce errors in the absolute position Great care must be taken when selecting and installing the rotary encoder so that interference can be avoided when the rotary encoder signals are transferred to PMCprimo The rotary encoder inputs on PMCprimo are isolated by optocouplers Rotary
164. generator 8 gt Values of status variables 279 gt Number formats The required help item is displayed by entering n Help can be requested for each command by adding a sign Example Y PMCprimo user Comment 3 0 2 gt DP lt CR gt Help is requested for the DP command DP Display actual position Syntax DP 02 gt LE n Display last error Display last error Permitted values for n 0 or 1 The following applies for n 0 This command repeats the last 10 error messages because under some circumstances these errors could not be evaluated at the time they occurred The following applies for n 1 The last 100 error messages are displayed As they are stored in non volatile memory they will not be lost when the system is switched off Notice will also be given when the control system has re booted A cold start will also be entered as such due to the watchdog Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands LGnn Set language Set language Permitted values for n 0 to 3 Factory setting 0 With this command the user can select the language in which PMCprimo messages are displayed in plain text o ore 3 198 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409
165. gt Greater than or equal to Equal to Not equal to 6 amp Bitwise AND b 250 a b amp 15 a 10 ay Bitwise XOR b 15 a b 2 a 13 Bitwise OR b 15 a b 1 a 15 amp amp Logic AND a 5 4 amp amp 5 gt 4 a 0 Logic OR a 5 4 5 gt 4 a 1 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands var nn Variable assignment Variable assignment The equals sign is used to assign a particular value a command another variable or an arithmetic expression to a variable The assignment can be used to define a variable Example Y PMCprimo user Comment 0 1 gt SPD 5000 lt CR gt The value 5000 is assigned to the variable SPD 0 1 gt CH1 POS DP lt CR gt The current actual position of axis 1 is read 0 1 gt into variable POS NPName Variable number program assignment Variable number program assignment This command displays the program number of the program Name The program number is an internal number address specified by the compiler this number can also be used to start a program NP can be assigned to a variable Example Y PMCprimo user Comment J 0 1 gt SVAR NP PRG1 lt CR gt The program number from PRG1 is assigned to the variable VAR 0 1 gt XS VAR lt CR gt Program PRG1 is started 0 1 gt Pilz GmbH amp Co KG Felix
166. h pilz de Command description 3 7 Wait loops WR nn Relative position wait loop Wait for relative position Permitted values for n 2 000 000 000 This command can be used to program polling of a relative position PMCprimo waits until the required relative position has been reached before executing the next command The relative position is stated in increments The wait for a relative position starts a WR position counter When the content of this counter matches the value of nn the wait loop is ended Example Change in velocity when a relative position is reached 9 PMCprimo user Comment 0 1 gt VC WR5000 SV1000 WR2000 ST lt CR gt 0 1V The motor travels 5000 increments in positive 0 1W direction at constant velocity changes the 0 1V velocity and then executes the stop command 0 15S after another 2000 increments 0 1 gt 1000 counts sec 500 counts sec Relative position 2000 Relative position 5000 Figure 27 Wait for relative position Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description WF WB Wait loops Wait for reference input Wait for reference input With this command PMCprimo waits for a reference signal to be detected before executing the next command This function is used in applications in which referencing must be changed following init
167. hapter 3 16 These commands enable a motor to be operated with web tension control e Variable commands Chapter 3 17 All numeric values can also be replaced by variables Variables can be used to perform arithmetic operations Specific variables bus variables can also be read via an operator terminal or bus system and can be modified in PMCprimo e CAN open commands 3 18 e Commands for the safety card 3 19 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command overview 2 1 General information about the instruction set In the PMCprimo it is possible to store variable values in an MRAM This has the advantage that the current variable values are still available after switching off and on The current rotary encoder value can also be stored in RAM The PMCprimo can access an SD card on a PMCprotego on which all the data can also be stored Drive parameters for the PMCtendo or PMCprotego can be entered directly via the software PDrive or Pterm All positional entries are made in rotary encoder pulses increments Data and parameter values are stored in a Flash memory with the SP command More than 500 MB are available for storing programs Variables are also stored dynamically in this memory area The stored data is checked via check sum as the control system is started up If a fault is detected an error
168. he master axis assumes the corresponding position and then accelerates to the required velocity within the set time CT command or set distance CL command see Bit 5 to comply with position mapping With velocity mapping Bit 4 of MW command is set position mapping can also be activated without software coupling For this the master velocity must be lower than 500 increments s Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands Bit 1 This bit determines whether a required alignment movement e g after introducing MB and MF should be dependent or independent of the set cycle length Example The axis position is 10000 increments and the cycle length is 10000 increments If MB 20000 is entered an alignment movement of 0 increments results when Bit 1 is set to 1 0 The cycle length has no influence on an alignment movement 1 The cycle length is considered when executing an alignment movement The shorter alignment route is always selected Bit 2 This bit determines whether the demand position is only approached in the direction selected with Bit 3 when a position mapping is activated 0 Direction for approaching the demand position is not defined 1 Direction for approaching the demand position can be defined with Bit 3 If a start window is defined for the software coupl
169. hine starts with a full or empty coil and the initial transmission ratio is specified by the SM value Any restart following an interruption is a soft start as the start uses the last transmission ratio to be determined However if the machine is started with partly wound or unwound coils with unknown diameters the SM value that is normally specified will be unsuitable for the new coil diameter Through this automatic initialisation of the transmission ratio at the start of web tension control the machine can be started without the web tension control loop swinging greatly from the preset SM value for the currently required transmission ratio 3 204 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 16 Web tension control with analogue input APnn Set analogue control proportional gain Set analogue control proportional gain Permitted values for nn 0 to 2 000 000 000 Factory setting 10 000 This command is used to set the proportional gain of the control algorithm for analogue control Setting a high value for the AP gain enables a short reaction time and precise analogue control The AP gain should therefore be set as high as possible without causing an overshoot Alnn Set analogue integral control gain Set analogue integral control gain Permitted values for nn 0 to 2 000 000 000 Factory setting
170. ialisation for example Example Wait for reference input PMCprimo user Comment 0u gt CH1 RW100001 IN WF RW1 lt CR gt 0 11 The motor initialises in positive direction 0 1W and only corrects the position counter not the motor position 0 1 gt After initialisation the motor position will also be corrected at each reference signal Wait for bound position Wait for bound position With this command PMCprimo waits for the cycle limit to be exceeded and for this to be detected before executing the next command see also SB command Page 3 120 Example Poll cycle limit PMCprimo user Comment 0 1 gt XM WB ST lt CR gt Position mapping is active on the slave axis 0 1x The axis stops when the cycle limit is reached 0 1W 0 15S 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 7 Wait loops WSn Wait for motor status Wait for motor status With this command PMCprimo waits until the motor status n is detected before executing the next command possible values for motor status can be found in Chapter 4 3 on Page 4 253 Example Wait for motor status PC 9 PMCprimo user Comment y 0 1 gt mr100000 Set motor status to positioning command a ws0 sv Wait for PC status and then output SV value i a PC status has been reached 0 1 Sv 5000 Output SV
171. iew General information about the instruction set On PMCprimo a command name always consists of two letters A command may also have a varying number of parameters These are stated with n nn or m in this manual Binary parameters 0 and 1 are identified with bb All input commands and command sequences must be acknowledged with a RETURN lt CR gt PMCprimo sends back a prompt after each RETURN The prompt is composed as follows 0 1 0 1 Current network Separator Current axis Current state of subscriber This is axis see Status always 0 messages page 4 229 If an axis has not previously been stated a command will always refer to the current axis displayed in the prompt To query the value of a command the command must be entered without parameters Example 1 enter value SV2000 lt CR gt Example 2 query value SV lt CR gt SV 2000 Numeric parameters can be input and output either in decimal or hexadecimal format A hexadecimal entry must be preceded by Ox Negative hexadecimal figures are represented with a minus symbol and not as a two s complement Leading zeros can be omitted when entering Bit values Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command overview 2 1 General information about the instruction set Names for variables
172. il pilz gmbh pilz de Interface PMCprimo lt gt Machine 5 6 5 7 Ethernet interface Ethernet interface The factory set IP address for the Ethernet interface is 192 168 0 11 The outputs from the boot process are displayed after the control system is connected for the first time The data sent to the control system is returned to the sender as an echo Inputs and outputs As standard PMCprimo is equipped with a number of digital inputs and outputs depending on the device Inputs and outputs are divided into groups of 8 Bytes Inputs and outputs can be programmed for the widest range of purposes All digital inputs and outputs are potentially isolated and are 24 VDC PMCprimo C 8 input groups The first input group is real only 6 of these inputs can be used All 6 inputs are fast inputs which can be used by the commands DR and PS 8 output groups The first output group is real only 6 of these outputs can be used It is possible to connect a CAN IO module e g Pilz PSSU to the PMCprimo CANopen Bus Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Interface PMCprimo lt gt Machine Inputs and outputs The two CAN modules PSSu H CAN and PSSu H SB CAN can also be connected to the PMCprimo CANopen Bus The following modules are supported PSSu E F PS but not in R mode
173. in start position before the machine starts The start position is any remainder arising because in this example the cycle length is not a multiple of the product length PMCprimo user Comment 0 1 gt MA SLEN 20 3SBND lt CR gt The demand position to be reached is the remainder arising from Product length x 20 divided by the cycle length LEN Product length 600 increments BND Cycle length 5000 increments giving a demand position of 2000 increments Variables should not be used instead of values with a sign The variable A contains the value 2 and the user enters DR A this does not mean DR2 and PMCprimo registers a syntax error Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands lf a command contains more than one numeric value a variable can be used for each of these values Example setting a transmission ratio via a variable PMCprimo user Comment v 1 gt SPC 75 lt CR gt The variable PC is set to 75 1 gt SMSPC 100 lt CR gt The transmission ratio is set to 75 100 1 gt Variables and arithmetic expressions must be read and calculated as they are executed As a result it will take longer to process commands containing variables than it will to process commands in which numeric values are stated Variables may also be
174. ing CI command this bit is ignored for the alignment run Bit 3 This bit determines the approach direction of the demand position when a position mapping is activated if Bit 2 is set to 1 0 The corrective movement is executed in a positive direction 1 The corrective movement is executed in a negative direction Bit 4 Selection between position mapping and velocity mapping Velocity mapping makes sense if absolute position mapping has no significance 0 Position mapping 1 Velocity mapping The BT command can be used to average the master velocity during velocity mapping This will lessen any disturbances on the master It is possible to end a velocity mapping by stopping in position Bit 6 of the MW command is ignored in this case The alignment acceleration AA is also active during velocity mapping if the transmission ratio is changed with SM Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Mapping commands Bit 5 Coupling can be executed over a preset time or a preset coupling length 0 Coupling is executed with the set coupling time CT Page 3 96 1 Coupling is executed with the set coupling length CL Page 3 96 If ST is used the map is still active when braking Bit 6 It is possible to disengage using MA or MR The velocity can be selected 0
175. ing 0 This command can be used to provide the analogue auxiliary output with a fixed voltage level offset The following applies for the analogue CAN outputs Offset in mV 0 305 mV OM Example of common settings of OM and KM a PMCprimo user Comment J 0 1 gt OM0 lt CR gt No offset at the analogue auxiliary output I gt KM500 lt CR gt Set amplification factor 500 or 1000 0 1 gt for measurement with oscilloscope Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 12 Analogue input and output commands Typical signal characteristics on the analogue auxiliary output with a poorly tuned control loop Demand velocity Measured velocity Position error Figure 37 Monitor function on the analogue auxiliary output Ea Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 12 Analogue input and output commands AO n Set auxiliary output channel Set auxiliary output channel Permitted values for n 0 to number of available analogue outputs Factory setting 0 This command can be used to define an analogue output as an analogue auxiliary output using n 0 The function of the analogue auxiliary output is selected on the required axis using the SF comman
176. ing master specifies standstill for the slave as otherwise the slave would drop out with a position error 0 Slave may not engage without software coupling while the master is moving 1 Slave may always engage while the master is moving Bit 4 This bit enables the software differential function The sum or the difference between two independent master positions determines the demand position of the slave axis 0 Software differential function is disabled 1 Software differential function is enabled Bit 5 This bit determines whether the demand position of the slave axis for the software differential function is the the sum or the difference between the master positions 0 The master positions are added 1 The position of the 2nd master axis is subtracted from the position of the 1st master axis Bit 6 This bit determines whether the sign for the demand position of the slave axis for the software differential function is negated 0 The sign is not negated 1 The sign is negated Bit 7 If velocity mapping is active Bit 4 of MW is set the acceleration and braking ramp can be restricted to the maximum values SA or DC 0 Restriction inactive 1 Restriction active Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description CTn Mapping commands Set clutch time Set clut
177. ing the tabular position mapping appropriately Tabular position mapping must cover the whole cycle length of the master axis from 0 to the cycle limit The slave must know the cycle length of the master axis so that it can calculate its speed and demand position beyond the cycle limit This happens automatically when execution of a tabular position mapping is started via the ML command Page 3 85 The cycle length of the master axis is automatically transferred to the corresponding slave axes Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands Position Master Axis Non lineaer position mapping a Cycle limit VA Position Master Axis Cycle limit Figure 17 Position mapping for a cyclical machine The diagram in Figure 17 illustrates a system in which the master and slave axes run their cycles at the same time with identical cycle lengths although they move along different paths It is not necessary for the cycle length and cycle time to match With linear electronic gearing neither the cycle length nor the cycle time match will match in practice 1 1 gearing is an exception The different cycle length and cycle time between master and slave axis does not cause any problem when tabular position mapping is executed Neither is there any problem in exceeding the cycle length with
178. ion 3 13 Definition commands FSnn Feedback set encoder type Feedback set encoder type Permitted values for n 0 to 28 Factory setting 0 This command can be used to set the required feedback system for each axis The following feedback systems are supported e Incremental rotary encoder FS 0 to 2 and 28 e SSI rotary encoder FS 5 8 e CANopen rotary encoder FS9 10 e Transmission of set velocity values for the servo amplifier via CANopen Position control is performed by PMCprimo FS19 20 e Transmission of positional set values for the servo amplifier via CANopen Position control is performed by the servo amplifier FS19 27 C o T raerena an oncoaer qarun puso oauan ee re ee Siraan neose aoso poston gray oaeioonne o T canone rory encoden raato roston 3 182 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands Servo amplifier velocity via CANopen relative evaluation with transmission of actual position and actual current select corresponding servo amplifier with PD command Servo amplifier velocity via CANopen absolute evaluation with transmission of actual position and actual current select corresponding servo amplifier with PD command Servo amplifier demand position via CANopen relative evaluation positive reference signal select cor
179. ion during the movement If the set error limit is exceeded PMCprimo brakes the axis to standstill and switches off the controller enable power to the motor is removed The position error limit is stated in increments 3 106 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 8 Monitoring functions TOnn Set timeout Set timeout Permitted values for nn 1 to 2 000 000 000 Factory setting 500 This command is used to set monitoring for the rotary encoder signals The parameter can be interpreted differently depending on the pre setting through Bit 6 of the CW command Page 3 54 Bit 6 of CW is 0 Once a movement has started PMCprimo must receive a rotary encoder signal within the set monitoring time If PMCprimo does not receive a rotary encoder signal before the monitoring time has elapsed PMCprimo switches off the controller enable power to the motor is removed The monitoring time for rotary encoder signals is entered in milliseconds Bit 6 of CW is 1 Once a movement has started PMCprimo must receive a rotary encoder signal within the set path setpoint specification If PMCprimo does not receive a rotary encoder signal within the set path PMCprimo switches off the controller enable power to the motor is removed The path for rotary encoder signals is entered in increment
180. irection This means that the axis must be slower during the reference error correction so that the defined output is set to true If or is not stated a definition can be invalidated RKn p Reference position strange channel Reference position strange channel Permitted values for n 1 to 60 Permitted values for p 2 000 000 000 With this command the reference error correction of the current axis is executed at the position p of the n axis The current axis waits until the axis n has reached the position p only then does it begin the reference error correction RJ Page 3 128 is no longer effective on the current axis If the position p is not stated the definition is deleted Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands DR g n Define reference input Define reference input Permitted values for g 1 Permitted values for n 1to6 This command can be used to define a digital input as a reference input The definition only applies on the selected axis The axis may also be virtual All inputs from 1 to 6 can be defined as reference inputs It is not necessary to state the byte address g If is not stated an existing definition is invalidated Example 1 K PMCprimo user Comment 0 1 gt DR1 1 lt CR gt This command line is used to define in
181. itted values for n 0 to 2 000 000 000 Factory setting 0 The software clutch length is only active if Bit 5 of MW Page 3 90 is set to 1 If Bit 5 is set to 0 the software clutch time CT Page 3 96 is active This command states the acceleration ramp as a distance for the software clutch function The software clutch function is activated with Bit 0 of the MW command The software clutch function is designed for connecting the slave axis to a moving master axis The software clutch operates as a mechanical fixed point coupling which engages with exact precision while moving The slave axis waits in the current position until the master axis reaches the synchronisation position For speed synchronous operation a value of n 0 should be specified for CL for connecting to the running master on the slave axis The value n 2 000 000 000 represents the longest possible distance and the value n 0 the shortest possible distance as clutch length The clutch length is specified on the slave axis but the stated distance in increments refers to the master axis Example K PMCprimo user Comment 0 1 gt CT16 lt CR gt Specify software clutch time of 16 ms 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Cin MTn Mapping commands Set clutch window Set clutch window Per
182. l Safe pulse disabler in non permitted state Safety card error System software error fatal Servo amplifier registers non permitted state of safe pulse disabler Safety card error System software error fatal input parameter check Safety card error Test of digital outputs SBC SBC internal error 4 250 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Test of digital outputs SBC SBC internal error Error when creating the inputs outputs of the device with address File does not exist Safety card error Feasibility of parameters Holding brake Safety card error Channel A B data alignment Ready for operation state failed Controller warning Reaction monitoring controller is disabled ESC User aborts Command will not be executed as the beta version has expired Position cannot be approached through ST because no positioning command is active ModbusClient Exception function code received unknown exception ModbusClient Connection interrupted Server is not responding ModbusClient Error Connection is being re established ModbusClient Connection to Server established ModbusClient Exception function code received Illegal function ModbusClient Exception function code received Illegal data
183. l value gain scales the motor velocity resulting from the measured position Use of the KV gain can be compared with the effect of a tachometer encoder The KV gain has a damping effect enabling a higher KP gain and thereby improving the reaction speed of the axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 9 Control parameters KFnn Set velocity feed forward gain constant Set velocity feed forward gain constant Permitted values for nn 0 to 65535 Factory setting 0 This command is used to set the setpoint gain of the control algorithm The setpoint gain influences the difference between the demand velocity and the actual measured velocity With a pure proportional controller a constant position error results when travelling at constant velocity By specifying a KF gain it is possible to reduce the position error to zero or even into the negative range The KF gain is added to the required velocity so that the actual measured velocity equals the calculated demand velocity With standard settings a value of 3750 is recommended for the PMCtendoDD4 and a value of 4465 for the PMCProtego PMCtendoDD5 KAnn Set acceleration feed forward gain constant Set acceleration feed forward gain constant Permitted values for nn 0 to 65535 Factory setting 0 This command is used to set the acceleration gain o
184. l Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands Ref Signal High Low SB RV RV SBRV RV DF Pos SB re OA f 4 SB DF DF Figure 34 Variable distance for reference error correction SB Cycle length SB RV Fixed distance for correction free zone RV Maximum distance for reference error correction DF Reference error RV DF Variable distance for reference error correction Bit 6 This bit can be used to select whether the debounce time or debounce distance RH is to affect ZY bit not set or ZX bit set 0 RH only affects ZY if reference filter is active 1 RH only affects ZX if reference filter is active Bit 7 Special filter function for referencing The debounce distance RH FW Bit 3 must be set is effective from the falling edge of the reference signal The reference signal is only detected as such once RH has elapsed If RH is already active RH is restarted by another falling edge To ensure that the falling edge is detected Bit 0 of FW must be set and the signal length high must be defined using ZL and ZH 0 Special filter function is inactive 1 Reference signal is not detected until the debounce distance RH has been travelled after a falling edge 3 130 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax
185. l not be offset and the error message Reference error limit exceeded will not be triggered The reference error will be ignored completely If Bit 1 of RW is set to 1 the value of SR will be offset as the maximum error at the motor The error message Reference error reduced to the maximum value will be triggered If the value of LR 0 the error message Reference error limit exceeded will be triggered if the reference error is greater than the value of LR Bit 1 of the EW command Page 3 110 can be used to determine whether the motor is to be shut down in addition to this error message Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 10 FRnn LRnn RF nn Reference commands Set filter on reference error Set filter on reference error Permitted values for n 0 to 65535 Factory setting 0 This command can be used to set a filter for a reference error If n 0 no filter is active When values for n 0 PMCprimo totally ignores reference errors that are greater than FR The FR command is used to filter out reference signals that are outside the expected permitted range The FR command is independent of SR Page 3 124 SR limits the correction value that is corrected in the event of a reference error on the motor Set reference error limit
186. le for each axis Its name is made up as follows WAxis number The status variable contains the current wait status An status variable can be used as a trigger variable A value can be assigned to a status variable The possible values for the status variables can be found in Chapter 4 3 Page 4 253 The size of this variable is just 9 Bits Each bit has a different meaning Bit 2 WA active Bit 3 WR active Bit 4 WF active Bit 5 WB active Bit 6 WC active Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 18 Commands for CANopen network 3 18 Commands for CANopen network In a CANopen network data is sent via the following objects SDO Service Data Object Needed to configure the bus node Transmission is confirmed PDO Process Data Object Needed for real time data exchange Transmission is unconfirmed From the PMCprimo side there are commands for reading and writing SDOs QSt i s c n Send SDO Send SDO Parameter t CAN nodes Parameter i Index Parameter s Subindex Parameter c No of Bytes Parameter n Value With this command PMCprimo can access the object directory of a CAN device via SDO and so can write set values or configure the device for example Please refer to the manual of the respective network subscriber for details of how to configure the parameters QRt i s c
187. lephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Activate simultaneous processing Axis 1 to absolute position 20 000 Axis 2 to absolute position 10 000 End simultaneous processing Simultaneous processing on Program PRG1 Axes 1 and 2 travel to their absolute positions Simultaneous processing off Simultaneous processing on Program PRG2 Axes 1 and 2 travel Simultaneous processing off 3 5 Program commands Example for simultaneous processing PMCprimo user Comment T 0 1 gt ES PRG1 lt CR gt Entry of PRG1 002E CP lt CR gt 003E CH1 MA20000 lt CR gt 004E CH2 MA10000 lt CR gt 005E CE lt CR gt 006E NS lt CR gt End of PRG1 0 1 gt If PRG1 is started the movement of axis 2 is started at the same time as the movement of axis 1 In this example there is no connection between the two axes If there is to be a link between the axes this will need to be specified by the user One example for this is the point to point movement of two axes in an XY coordinate system Both axes must have reached their positions before the next step can take place The following example illustrates how the individual programs can be linked together Example for processing in sequence and simultaneously PMCprimo user Comment Y 0 1 gt ES PRG1 lt CR gt v 002E CP lt CR gt 003E CH1 MA20000 lt CR gt 004E CH2 MA10000 lt CR gt 005E CE lt CR gt 006E NS lt C
188. line normally runs between the zero point and the end point If MB changes during a position mapping an alignment occurs between the velocity defined via the AV command and the alignment acceleration AA Page 3 89 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands MF nn Set slave map position offset Set slave map position offset Permitted values for n 2 000 000 000 Factory setting 0 The MF command enables the introduction of an offset to influence the position mapping between master and slave axis The value of the MF command is added to the demand position of the slave axis This enables the position mapping line to be moved in relation to the position of the master axis The position mapping line normally runs between the zero point and the end point If MF changes during a position mapping an alignment occurs between the velocity defined via the AV command and the alignment acceleration AA Page 3 89 SMn m Scale mapping Scale mapping Permitted values for n 0 to 400 000 Permitted values for m 1 to 400 000 Factory setting 1 1 This command can be used to set the transmission ratio between master and slave axis The transmission ratio is set at the slave axis The absolute slave position is multiplied by n and divided by m
189. llel mode Page 3 70 DM Continuous display mode Page 3 190 TR Enable trace mode Page 3 191 CD Change operating mode Page 3 17 XM Execute map Page 3 82 XS Execute sequence Page 3 63 SK Set software licence key Page 3 32 LM List map Page 3 81 XX Length of alignment move Page 3 84 LB List bus variable value Page 3 220 LV List variable value Seite 3 220 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 5 Program commands LS Name List sequence List sequence This command enables the user to list a program If the LS command is triggered without a Name all available programs will be listed Details of whether the program is an axis program or a host program will also be listed An axis program only contains axis specific commands Example 1 List program PRG10 9 PMCprimo user Comment x 0 1 gt LS PRG10 lt CR gt List program PRG10 IN RP3 MR100 MA2000 NS 0 1 gt Example 2 Display a list of all available programs in PMCprimo 9 PMCprimo user Comment J 0 1 gt LS lt CR gt List available programs TEST NODE 0 TEST program available PRG10 HOST PRG10 program available PRG15 NODE 0 PRG15 program available 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfil
190. locity is required while a movement is executed PMCprimo can use the RV factor to limit the maximum velocity while a reference error is corrected If n 0 is stated the reference error correction is processed as a step function The velocity RV is stated as a of the current demand velocity If a reference error is detected when the axis is stationary the error will be offset with the velocity of SS Page 3 48 The following relationship applies for values n 0 Change in velocity Current velocity x RV 100 If PMCprimo detects a reference signal before the existing reference error has been offset the following error message is generated Could not offset the reference error in one cycle This error can occur if the change in velocity is too small and the cycle lengths are very short If Bit 2 of the EW command Page 3 110 is set PMCprimo will shut down the motor in the event of an error The accelerator for processing a reference error See Fig 33 can be set using the RC parameter Reference signal Reference error theoretical cycle length Figure 32 Reference error correction with RV as velocity gain 3 126 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands If Bit 4 of the RW command is set Page 3 122 the path for
191. mands MR nn Move units relative to current position Move units relative to current position Permitted values for n 2 000 000 000 The motor travels to the relative position nn The motor moves nn increments from its current position The movement follows a trapezoidal or sinusoidal velocity profile Fig 01 The motor accelerates and brakes with the acceleration values that were specified with the SA or DC command The velocity is defined with the SV command Positional entries are made in increments If you are using MR for round axes see also SB command PMCprimo signals command execution with the M character Travel commands can only be executed when the position control loop is active Relative positioning is independent of Bits 1 3 of the MW command Example K PMCprimo user Comment 0 1 gt MR 3000 lt CR gt The motor moves from its current position 0 1M by 3000 increments in negative direction 0 1 gt While an MR command is being executed the velocity value set using SV or SS can be changed The speed level can be switched at any time using VJ but the value for SS must always be lower than the value of SV Before executing a travel command the target position is checked for compliance with the software end limits LH and LL command If the target position is outside the software end limits the travel command is not executed and PMCprimo signals the error Target position is o
192. ment 1 gt SPD Value query variable array L gt 1 gt SPD 0 0 0x00000000 1 gt SPD 1 0 0x00000000 1 gt SPD 2 0 0x00000000 1 gt SPD 3 13 0x0000000D 1 gt SSPD 4 0 0x00000000 1 gt SPD 3 gt H10 Element 3 of variable array SPD is 1 gt stored in MRAM var gt H1 1000 Store variable in MRAM Store variable in MRAM Variables in PMCprimo can be stored in non volatile memory MRAM A total of 1000 variables can be stored This is also possible with bus variables B1 6B100 Example SVAR gt H12 The variable VAR is linked to storage space H12 on the MRAM The LV command displays this link On power up a check sum is used to check whether any data on the MRAM has been lost If this is the case the variables will be initialised with the last values to be stored via the SP command Storage in the MRAM is cancelled with VAR gt 3 218 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 17 VX Variable commands List trigger variables List trigger variables This command can be used to list all trigger variable definitions The first letter of a displayed line has the following meaning E The trigger variable is enabled M The trigger variable is masked MV commana B The trigger variable is inhibited BV command Exampl
193. mitted values for nn 0 to 2 000 000 000 This command defines a start window for the software clutch If the master has stopped and CI does not equal zero an alignment run is always made based on the slave s starting position when the offset path lt n Bit 0 of the MW command Page 3 90 is ignored in this case If the offset path gt n a software clutch is used to engage if Bit 0 of the MW command is set If Bit 0 is not set an alignment run is also carried out Bits 2 and 3 of MW are considered for the selection criterion If the master is moving CI is ignored and Bit 0 of MW again comes into force The Cl command cannot be used with velocity mapping Bit 4 of CI and web tension control Bit 2 and Bit 3 of MW are not considered for the selection criterion Master timeout Master timeout Permitted values for n 0 to 1000 The MT command can be used to set a monitoring time to monitor the transfer of the master positions via the CANopen network If no master values are received within the set time an error message is issued and the motor is shut down Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 7 Wait loops 3 7 Wait loops Wait loops can be programmed within a program or command sequence PMCprimo signals W to the terminal program PTerm
194. mmand lt Actual velocity 1 Demand velocity Figure 5 Movement ended via the AB command The AB command only affects the axis that is currently selected The GA command Page 3 70 runs the AB command on all axes Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion commands VC Move at constant velocity Move at constant velocity This command is used to move the motor at constant velocity in the direction specified as or If no sign is indicated the motor will travel in the positive direction PMCprimo accelerates the motor with the acceleration value SA Page 3 45 until it reaches the velocity defined with the SV command Page 3 44 The motor travels at constant velocity until it reaches a stop signal PMCprimo signals command execution with the V character at the Telnet interface Travel commands can only be executed when the position control loop is closed Example Y PMCprimo user Comment v 0 1 gt SA1000 SV2000 VC lt CR gt This command line sets the 0 1V acceleration value to 1000 incr sec the velocity to 2000 incr sec it then accelerates axis 1 until it has reached the demand velocity and then travels at constant velocity v Figure 6 Moving at constant velocity The velocity values SV and SS can also be changed at any time during travel If the axis i
195. n 3 1 Data commands The command has been expanded by 2 optional parameters CD n x These parameters enable a setting to be made via a program without a selection menu Permitted values for n 2 All operating parameters are set to the factory setting ifx 1 IP address 192 168 0 11 Net mask 255 255 255 0 Gateway 192 168 0 1 The stored programs are deleted ifx 1 3 Set CAN baud rate 5 Number of fieldbus words 6 Profibus offset 8 CAN cycle time 9 CAN node number 11 Profibus address 12 Number of axes the factory setting 32 is adopted for x 0 22 CAN Slave setting 23 Cycle time for additional CAN 24 System cycle time 26 Address for SD card Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Data commands VNnn Print version number Print version number Permitted values for nn Oto 1 n 0 Lists the current software version serial number material number and product version number r gt 0 1 vn 0 1 PMCprimo C Channels 30 Version 3 0 2 May 10 2012 13 34 11 Mat Nr 680055 Ser Nr 111 Pr Ver 1 0 n 1 Also lists other version numbers configuration and MAC addresses in addition to the current software version serial number material number and product version number 0 1 gt vl 0 1 gt Version 3 1 0_dan 10 2013 08 55 25 Material Number 680050 Serial Number
196. n a reference signal is detected Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands Start position correction Determination of correction value RW Bit 6 Only postion indicator is corrected Motor position is corrected Acceleration path Figure 30 Interaction between the reference error correction commands Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands ZC nn Zero position counters or set position Zero position counters or set position Permitted values nn 2 000 000 000 or no details This command sets the position counter to the stated value If nn is not stated the counter is set to the value zero Example 1 Y PMCprimo user Comment 3 0 1 gt MA 5000 ZC lt CR gt The motor travels to the absolute position 5000 and then the 0 1 gt position counter is set to zero Example 2 PMCprimo user Comment 0 1 gt ZC1000 lt CR gt The position counter is set to the value 1000 0 1 gt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description
197. nable the user to define any velocity profiles for motors The use of shock free motion sequences e g modified sinoide keeps the mechanical load on the machines as low as possible PMCprimo can equip motors with an electronic gear function through software technology In addition to the gear function the relationship between the motor positions can be freely defined by the user linear and non linear correlations via tabular position mapping A large number of VDI defined motion types are available for selection Tabular position mappings can replace mechanical cam disks and or cam mechanisms If necessary PMCprimo can use the internal motion generator to create new position mappings as the machine is running As such product based machine conversions are realised at the touch of a button In addition to a wide range of options for synchronising machine axes the user also has access to a series of commands for absolute relative or infinite positioning of drives All axes can also be operated in a virtual mode electronic main shaft for commissioning or as auxiliary axes Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de General General description Hardware functions PMCprimo is designed for the use of incremental or absolute encoder systems with digital step values Incremental rotary encoder signals can be evaluated
198. nal to be measured The reprogramming time is a minimum debounce time RH function Page 3 134 Signals that are shorter than this debounce time or 1 millisecond cannot be measured and therefore supply a false result Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands ZY Display length reference signal true Display length reference signal true With this command the last measured length via which the reference signal had the status true is displayed It is only displayed if Bit 0 of the FW command Page 3 128 is set to 1 If Bit 0 of the FW command is set to 0 ZY is also set to zero automatically The edge to be detected is always changed internally to enable the length of the reference signal to be measured The reprogramming time is a minimum debounce time RH function Page 3 134 Signals that are shorter than this debounce time or 1 millisecond cannot be measured and therefore supply a false result RA g n Define reference accepted output Define reference accepted output Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 This command can be used to activate a pulsed output when a valid reference input signal is detected If PMCprimo detects the signal from a reference input as valid PMCprimo outputs a pulse of 1 ms at the output defined as
199. nce Define analogue range distance Permitted values for nn 0 to 2 000 000 000 Factory setting 256 This command defines or displays the distance between the upper and lower limit of the analogue input of the currently selected axis called the analogue distance It enables the value for the analogue distance to be specified for a master axis not controlled by PMCprimo or enables the value determined using the XR command to be displayed Define master axis analogue range distance Define master axis analogue range distance Permitted values for nn 0 to 2 000 000 000 Factory setting 256 This command defines or displays the distance between the upper and lower limit of the analogue input of the master axis called the master analogue distance It enables the value for the analogue distance to be specified for a master axis or enables the value determined using the XR command to be displayed Calculate initial ratio from analogue range distances Calculate initial ratio from analogue range distances CR calculates the initial transmission ratio from the values determined from the slave and master axis with AR and MM The calculation is made using both measured values with AR Slave MM Master in the same way as with the SB value via the BR command If the automatic measurement of the analogue distance at the master and at the slave axis is enabled the XM command automatically measures the analogue
200. ndow following the braking process The target window is only used with the motion commands MA Page 3 33 and MR Page 3 36 Example PMCprimo user Comment 0 1 gt SW25 lt CR gt The target window is defined at a size of 25 increments 0 1 gt 3 50 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Tinn Parameter commands Set timeout for window Set timout for window Permitted values for nn 0 to 2 000 000 000 Factory setting 0 The target window SW is not examined until the time TI has elapsed As a result the MA or MR command is not completed until the time TI has elapsed Example PMCprimo user Comment 0 1 gt TI200 lt CR gt Monitoring time is set to 200 0 1 gt MR200 MR200 200 increments will be travelled twice Figure 14 illustrates the time TI that must elapse before MR starts for a second time sasaaa Actual velocity Demand velocity 100 200 300 400 500 Tl 900 1000 1100 1200 t Figure 14 Monitoring time TI Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands ISn Set increment select mode Set increment select mode Permitted values n 0 to 8 Factory
201. o crossing of current signal not recognised failed Safety card error Feasibility of position current wrong position at zero crossing of current signal Safety card error Feasibility of position encoder signal speed value SSI not feasible failed Safety card error Feasibility of position encoder signal could not read SSI position failed Safety card error Channel A B data alignment state of self test failed Safety card error Channel A B data alignment state of output STO Acknowledge failed Safety card error Channel A B data alignment state of output SOS Acknowledge failed Safety card error Channel A B data alignment state of output SDI Acknowledge failed Safety card error Channel A B data alignment state of output SRA Acknowledge failed Safety card error Channel A B data alignment state of output SBT Acknowledge failed Safety card error Channel A B data alignment state of output READY failed Safety card error Channel A B data alignment state of output SBC failed Safety card error Channel A B data alignment state of output SBC failed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Channel A B data alignment state of output
202. of apart ona conveyor is measured with a photo cell The measured value can be used in conjunction with the SR value to control a switchpoint that separates good parts from rejects Example PMCprimo user Comment 0 1 gt SR500 lt CR gt Permitted limit for reference error 0 1 gt RR1 5 lt CR gt Output 5 Byte 1 is the reference error output of axis 1 0 1 gt If a reference signal is detected within the range SR 500 to SR 500 output 5 of Byte 1 will have the state 0 at the output terminal If a reference signal outside this range is detected output 5 will have the state 1 If the maximum value for reference error correction SR has the value 0 the reference error output is always set to FALSE Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 AE gint Definition commands Define analogue limit error output Define analogue limit error output Permitted values for g 1to8 Permitted values for n 1to8 This command defines a digital output from PMCprimo as an error output If the value of the analogue input exceeds one of the set limit values the error output will change its logical state In the event of an error the logical state of the output is the one that has been specified with the sign If the value of the analogue input returns within the permitted area the state of the e
203. offset set using RF NQ If a reference signal has already been defined for the axis DR or DZ command an encoder snapshot cannot also be defined on this axis lt Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands Example 1 PMCprimo user Comment With this command line input 2 of Byte 1 is used 0 23 CH4 PS1 2 lt CR gt 0 4 CH4 VAR DS lt CR gt Example 2 to execute an encoder snapshot on axis 4 The measured value from the position counter on axis 4 can be read into the VAR variable to enable the encoder snapshot to be processed further Comment PMCprimo user LI lt CR gt Inputs 0 1 LsL undef PS4 undef undef undef undef undef arvana OF w DN undef oo oocUmcDWCUUOUCOODCOUUNUCOODCUMwHECUBN Read input definitions Byte 1 Input 2 is encoder snapshot of axis 4 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands Di t g int Name Define function input Define function input Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values f
204. ommands All numeric values can also be replaced by variables Variables can be read and modified in PMCprimo via an operator terminal All numeric values identified in this manual with n nn or m can be replaced by variables The variables can be read in and modified via an operator terminal For example a position can be specified in a program as a variable rather than a numeric value and the value of the variable can then be modified by machine operators via the operator terminal Variables can also be used as trigger variables As such it is possible to start programs via the operator terminal The name of a variable is defined as follows e The name of a variable can be up to 20 characters long Figures from 0 to 9 and letters from A to Z can be used as well as _ and e The name of the variable may not contain spaces e Upper and lower case letters are equivalent PMCprimo does not distinguish between them e Each variable is preceded by a sign to distinguish it from the other commands The value can be transferred to a variable in decimal or hexadecimal format For a hexadecimal format the figure must be preceded by 0x Example PMCprimo user Comment 0 2 gt SPD 5000 lt CR gt With this command the value of the variable is set to 5000 0 2 gt S SPD 0x1388 lt CR gt With this command the value of the variable is also set to 5000 Variables can be used instead of the numeric values identi
205. on 3 16 Web tension control with analogue input AWbb Set analogue control options word Set analogue control options word Permitted values for bb 0 to 1111 1111 Factory setting 0 The wildcard X can be stated for each bit This means that this bit will not be changed This command is used to define the behaviour of the analogue control Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 This bit determines the behaviour of the slave axis when a position mapping is activated using the XM command 0 The slave axis immediately switches to the condition of the active position mapping If CT software coupling is used it switches to the transmission ratio specified through the web tension 1 The slave axis travels at jog speed set with SS until the web tension has reached the web tension setpoint value then it switches to the condition of active position mapping Bit 1 Reserved Bit 2 This bit determines the mode of operation of the integral gain The web tension depends on the movement of the master and slave axis as the output of the control loop is the velocity ratio between the two axes If the master axis is stationary the slave axis is also stationary and it is possible to control the velocity ratio In this case it is necessary to block the I section to prevent a large web tension distance from accumulating causing a step response when starting the motor 0 The integral gain
206. on input with priority Enable function input with priority Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1 to 8 Permitted values for bb 0000 0000 to 1111 1111 The bit mask bb indicates which inputs are enabled If several programs are pending execution due to a previous masking MI command Page 3 144 the program belonging to the lowest input number will be started The rest will be rejected see also El command Page 3 148 Ult g n Undefine input definition Undefine input definition Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1to8 With this command the user deletes a defined input function that of the input defined with n of input byte g in PMCprimo This command deletes an existing input function irrespective of which input function was previously defined t n and g must always be stated for the Ul command Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands UOt g n Undefine output definition Undefine output definition Permitted values for t 0 to 150
207. on of the transmission ratio with the upper and lower limit value is enabled on the master axis Bit 6 This bit determines the approach direction of the web tension setpoint value if Bit 0 is set to 1 and web tension control is enabled 0 The approach direction is the same as the sign for the web tension distance 1 The approach direction is contrary to the sign for the web tension distance Bit 7 This bit determines the sign of the analogue control 0 An increase in the control deviation web tension distance produces a voltage rise at the setpoint output 1 An increase in the control deviation web tension distance produces a voltage reduction at the setpoint output Define analogue input type Define analogue input type Permitted values for nn 0 to 2 Factory setting 0 It is possible to select between various input values for the web tension control ATO Analogue input value is DA value AT1 Reference error is DA value AT2 Motor current is DA value The current value is only available with FS19 or FS20 AT3 Analogue input value is DG value AT101 120 The analogue input value is the actual position DP value of the axis nn 100 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 16 ARnn MMnn CR Web tension control with analogue input Define analogue range dista
208. ontrol with analogue input ce eeeeceeeeeeeeeeeeeneeeeeeeeeeeeeeeeeeeeeenaeeeeeeeaaees 3 203 Varlable COmManGs sersa n eeenchboeserseecd tec E A E ace oendeity 3 211 Commands for CANopen network cccccceeeceeeeeeeeeeeeeseeeeeeaeeeseaeeseaeeseeeeseaeeeeeeeeseaeess 3 224 Commands for the Safety Card ccccccceeeeeeeeeeseeeeeeeeeeeeaeeseaeeeseneeseaeeseeeeseaeeeteeeeseaeess 3 227 Status and error Messages cccccceeeeesseeeeeeeeeeeeeeseeeeeeeeeeeeeeeeeeeenees 4 229 Status MCSSAGES inoran wi ei hare eed eet et a ee ere 4 229 ErrOr MOSSAGQ OS cess sees is saat fec Peet ec she fava vend A et dav dees vances staan Audet asa eels eee 4 230 Codedistatus MeSSages inpia ate dea lvaed ede kee eee ee ete 4 253 Interface PMCprimo lt gt Machine ccccccecceeseeeeeeeeeeeeeeeeeeesennees 5 254 Installation QUIGELINGS eect eect a i aara AERAN S EAER ASAA IAEA AAN ORE AARRE 5 254 Monitoring FUNCTIONS resedi eeii n AEEA EKEV CERNE EEA EEEE ANERE NEEE 5 255 Encode ee e a e a E E at ate 5 255 SEMPOIME OUTPUT AAE stags T ot ict T TATT 5 255 Analogue auxiliary ouput sss Eee en neat eE R dee deteeveul vectors 5 255 Ethernet Intent ace sonso no a a Ta chs dead atta telen ecd i teeeanie tea thes 5 256 Inputs ANd OUTPUTS ciiirt gee seks ceded a eevee dee edabl Yas E Eaa EEEE EERTE inden eter 5 256 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E
209. or n 1 to 8 Program name Name of a program This command can be used to assign a program to a digital input If the stated program is called although it is not defined an error message is issued The sign indicates the direction of the pulse edge at which PMCprimo calls the program A separate program can be assigned to each pulse edge provided both pulse edges are defined as input functions If no program name is stated the definition of the input function or is invalidated Example 1 PMCprimo user Comment 0 2 gt DI2 2 TestPrg lt CR gt With this command line input 2 of Byte 2 is used to call the program TestPrg at a falling edge A program must be run through completely before it is called again PMCprimo error message Cannot start the program lt gt because it is already running Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands MG t g ob Define input mask group Define input mask group Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for bb 0000 0000 to 1111 1111 default setting 0 With this command the user can define an input mask in PMCprimo via the inputs at the axis selected using the CH comman
210. osition This command can be used to display the current cycle length If Bit 7 of the MW command is set Page 3 90 the slave s cycle length is automatically adapted to the position table and the current transmission ratio during active position mapping The calculated value can be displayed using the GM command If position mapping is not active the SB value Page 3 120 is displayed The GM value is calculated internally by the processor The displayed value is only valid once position mapping has been activated The GM value can only be displayed on the slave axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands GW Get wraparound offset value Get wraparound offset value This command can be used to display the slave offset value during master zero crossing A misalignment due to the MB and MF commands Page 3 88 is not considered in this case If any drift should occur the GW value must not be allowed to change The automatic cycle length correction MW command Bit 7 Page 3 90 may be of help in this case The value is calculated internally by the processor The displayed value is only valid once position mapping has been activated The GM value can only be displayed on the slave axis In a simple case when the cycle length on the master and slav
211. osition is polled when using slave J position 2345 and map MAP_1 0 1 gt SVAR1 lt CR gt Value polled from VAR1 0 1 gt 0 1 gt SVAR1 1000 0x00000929 Slave position was stored in variable VAR1 XXName Length of alignment move length of alignment move With this command it is possible to establish the necessary alignment run for the position table Name which will be made automatically after starting the command XM Name Bit 0 of MW Page 3 90 must be set to 0 As a result it is possible to start the alignment run before executing XM The XX command must always be executed on the slave axis The position table must have already been transmitted to the axis using TM ML must have been executed on the axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands Example PMCprimo user Comment y 0 1 gt m12 Axis 0 1 should be slave and axis 0 2 master ry 0 1 gt zc0 Slave position is set to 0 0 1 gt ch0 2 Ok 0 2 gt zc300 Master position is set to 300 0 2 gt chl 0 2 gt 0 1 gt XX xx linear Result of XX is stored in variable XX 0 1 gt XX Query value XX 0 1 gt 0 1 gt XX 300 0x0000012C Slave must travel 300 increments to arrive at the required position TM Name Transfer map data This command is used to send an existing po
212. pilz Motion Control Systems Programming Manual 1002926 EN 02 Dieses Dokument ist das Originaldokument Alle Rechte an dieser Dokumentation sind der Pilz GmbH amp Co KG vorbehalten Kopien fur den innerbetrieblichen Bedarf des Benutzers d rfen angefertigt werden Hinweise und An regungen zur Verbesserung dieser Dokumentation nehmen wir gerne entgegen Pilz PIT PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the spirit of safety sind in einigen Landern amtlich registrierte und ge schutzte Marken der Pilz GmbH amp Co KG a ODP SD bedeutet Secure Digital Contents 1 1 1 2 1 3 1 4 1 5 1 6 2 1 2 2 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 3 18 3 19 4 4 1 4 2 4 3 5 5 1 5 2 5 3 5 4 5 5 5 6 5 7 ee EE E E EE E EEEE 1 6 6270 0 100 al ATE TE TE T T TEET A 1 6 NOLS E E AAE A E E AA E E E N A E A E ATE 1 6 Provibus edilon onnea E a ee il ee ee ee eee 1 6 Codes and symbols kiise ede ied dees iced Saeed ie ei agaia 1 7 PFELACE ve iseteletsiths tiviteereimtudneebeatibeteithe eiteherriviens a a ERS 1 8 General description prin occ lecaeieseeghesstat hesncdeates aes a E O a a 1 9 Command OVEFVICW sssseeeeeeeeeeeeeeeeeeseeeeeneeeeeseeeseneeeeneeeeeeeeeeeseeeeeeneees 2 11 General information about the instruction Set c ccceeceeeeeeeeeneeeeeeeeeeeeeseeeeseaeeseeetas 2 11 Command execution
213. pproach direction with absolute positioning MA is defined using Bit 3 of ZW This bit is also effective when Bit 1 is set 0 Direction for approaching the demand position is not defined 1 Direction for approaching the demand position can be defined with Bit 3 Bit 3 This bit determines the approach direction of the demand position with absolute positioning on a round axis if Bit 2 is set to 1 0 Positioning is executed in a positive direction 1 Positioning is executed in a negative direction Bit 4 If Bit 1 of ZW is set and the distance is a multiple of the cycle length travel with absolute positioning MA depends on Bit 4 O If Bit 1 is set and distance SB travel will not occur 1 If Bit 1 is set and distance SB travel will occur 3 56 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands Bit 5 This bit decides whether the cycle length SB should be considered for the WA command 0 The cycle length SB is not considered for the WA command 1 The cycle length SB is considered for the WA command as follows Examples SB10000 WA12000 Waiting at position 2000 or 8000 12000 10000 2000 WA 12000 Waiting at position 8000 or 2000 12000 10000 10000 8000 Standardising the wait command on the cycle length ensures that the command is completed
214. primo configuration is copied from the SD card into the internal Flash memory The soft PLC s boot project is copied from the SD card into the internal Flash memory The soft PLC s source code is copied from the SD card into the internal Flash memory The SD card must be inserted into the SD card slot of a PMCprotego the address of the PMCprotego should be stated via the command CD26 If the address 0 is stated the system automatically searches for the first PMCprotego lowest address with SD card Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description LA n Data commands List all parameters List all parameters Everything is listed does not need to be stated All program data is listed excluding variables Only the variables are listed Flash data content is listed Flash data content is listed in Motorola S Record format List is displayed during the boot process S535 535535 5 ool OM No This command is used to list all the data on the PMCprimo RAM It can be used to carry out a full upload The data received can be copied back into the control system via a download The LA command can be cancelled using the Escape key When n 4 the flash data content is listed in a special format S Record It can be read back in using the SP4 command This way it is possible to save a prog
215. primo is adjusted If the axis is rotated manually for example the change will not be noticed until the next PC command so no positions are lost With relative evaluation this is not carried out when switching on for the first time after power is applied The current position in PMCprimo is therefore maintained So the behaviour is identical to an incremental rotary encoder The selection FS 24 25 and 26 is similar to FS21 to 23 The internal position control loop of the servo amplifier is used The reference function with IN1MODE 26 or IN2MODE 26 is also possible The lag position error and actual current are also transmitted for diagnostic purposes To ensure that the correct value is transmitted the drive commands PGEARI and PGEARO are automatically set to 1048576 if PRBASE is 20 or 65536 if PRBASE is 16 The maximum position error PRBASE must be adapted in accordance with the required position error limit This setting increases the bus load So if the output of the position error and actual current is no longer needed the setting should be switched back to FS21 to 23 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands Example 1 Specification PMCprimo with incremental rotary encoder 5000 pulses FS setting 0 Quadruple pulse evaluation
216. program Name is active If the program does not exist an error message appears The EL command Page 3 67 can also be used in this case Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description AX BK Program commands Abort command execution Abort command execution This command interrupts the command that is currently being executed without stopping the motor If the AX command is used while the axis is travelling at constant velocity or a position mapping is activated the axis will continue to travel at constant velocity and position mapping will remain activated If the AX command is used while the axis is being positioned or is in a wait loop the positioning or wait loop will be processed in full but all subsequent commands will no longer be processed PMCprimo user Comment 0 1 gt VC lt CR gt Axis 1 travels at constant velocity 0 1V RP DP WT200 lt CR gt Actual position is displayed every 200ms 0 1V DP 1000 0 1V DP 1500 0 1V DP 2000 0 1V DP 30000 AX lt CR gt Abort command execution 0 1V Axes 1 travels at constant velocity Break out of sequence Break out of sequence This command aborts the program that is currently being processed This means that processing of the current program can be aborted when an input is polled for example PMCprimo user Comment Os 1S LS PRG1
217. pted OUtPUt eeeeeee Define reference iNPUt ccceesesereseseeeeteeeseeees Define reference output cceeeeeeteeetseeeteeeseeees Define reference reject output ceeeeeseeeeeeees Define timer counter clock input Define timer counter gate input Define timer counter output ceeeseeeeeeeeeees Define trigger Variable cccccsccssseeesseesteeeseeees Define variable array scccscccssessssessteesteeeseeees Define velocity trigger OUtPUt ceseeeseeeeees Define zero marker input ON Off ccceseeees Display active PrograMS scccsccseseesecssessteeeees Display actual position ccccecsesssessteeeeteeeseeees Display analogue iNpPUt c ccesceseeesteeceteeeseeees Display calculated reference error Display demand PoOSition csccseceeeseeesseeeseeees Display following CrrOP cccscceeseesseesteeesteeeseeees Display free MEMOLY ccscccesseeseesteesseeesseeeseesees Display last CrrOr scccsccsescesecesseeseesseessneeessens 3 197 Display last value of trace MOE cescceseeeseees 3 196 Display length reference signal false 08 3 132 Display length reference signal true 08 3 133 Display mapped axis bound position 6 3 189 Display mod Offiserene ieee 3 189 Display snapshot position data cscesceeeees 3 188 Display time saioren ar ias 3 189 Display y l cityrornes
218. put Copy analogue input Permitted values for n 1 to the number of analogue inputs in the network With the CA command an analogue input can also be read on another channel As a result the analogue input is also available to other axes for web tension control for example To read the second analogue input on axis 4 for example you will need to enter CHO0 4 CA 2 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands 3 13 Definition commands Definition of digital input and output functions such as Input is software limit switch or Assign input definition to input These definitions are axis related The digital inputs and outputs are divided into groups of 8 Byte Each address must be provided with a byte address A colon is used to separate the byte address g and bit address n If the IOs are to be addressed by a network subscriber the network subscriber number t must also be stated If they are not stated the IOs on the PMCprimo are addressed Examples Y PMCprimo user Comment J Osli SO1 2 Set output 2 of Byte 1 on network subscriber 0 O12 Sol 1 Set all unused outputs of Byte 1 on network subscriber 1 3 414 CO2 5 Reset output 5 of Byte 2 on network subscriber 3 0 1 RI2 1 1 Read state of input 1 of Byte 1 on network subscriber 2 0 12 RI2 Read the states of
219. put 1 as the reference input of axis 1 0 1 gt PMCprimo evaluates the falling edge as the reference signal Example 2 i PMCprimo user Comment 0 1 gt CH2 DR1 2 lt CR gt This command line is used to define input 1 2 as 0 2 gt the reference input of axis 2 PMCprimo evaluates the rising edge as the reference signal Example 3 t PMCprimo user Comment 0 1 gt LI1 lt CR gt This command line is used to list Inputs 0 1 the input definitions of Byte 1 0 1L RL 0 1 2 R2 0 13 0 1 4 015 0 1 6 O 1 7 0 1 8 0 1 gt 3 136 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands 3 11 Digital input and output commands Querying and linking of digital inputs and setting resetting of digital outputs PMCprimo has a number of freely available digital inputs and digital outputs depending on the design PMCprimo C 1 actual input group with 6 inputs 7 virtual input groups 1 actual output group with 6 outputs 7 virtual output groups The digital inputs and outputs are divided into groups of 8 Byte Each address must be provided with a byte address A colon is used to separate the byte address g and bit address n Examples SO1 2 Set output 2 of Byte 1 of the PMCprimo C sol Set all unused outputs of Byte 1 of the PMCprimo C CO1 2 5 Reset output 5 of Byte
220. put to the logical signal state 1 If n is not stated all non defined outputs of Byte g are set to to the signal state 1 If g is not stated PMCprimo uses output byte 1 If t is not stated the PMCprimo is selected Parameters X1 and X2 can be used to set the outputs n to X1 in accordance with the bit pattern of X2 3 138 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands Example 1 v PMCprimo user Comment 0 1 gt so0 1 2 4 0x7 lt CR gt Outputs 2 to 4 of output group 1 0 1 gt rol are assigned the value 1 0 1 gt Outputs 0 1 87654321 00001110 Example 2 Y PMCprimo user Comment 0 1 gt SO01 3 lt CR gt This command line is used to set output 3 of 0 1 gt Byte 1 to the logical signal state 1 Example 3 Y PMCprimo user Comment x 0 1 gt SO1 lt CR gt This command line is used to set all the outputs of Byte 1 to the logical 01 gt signal state 1 0 1 gt SO lt CR gt This command line is used to set all the outputs provided the outputs are not defined with a function Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Digital input and output commands CO t g n Clear output line n in gro
221. r ld Error Servo controller cannot be deactivated via SafetyNet 4 248 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Safe Direction SDI Monitoring clockwise rotation failed Safety card error Safe Direction SDI Monitoring in both directions is not permitted Node no ld Too many rotary encoder modules used maximum of ld supported Safety card error Safely Limited Increment SLI Standstill threshold exceeded Safety card error Safely Limited Increment SLI Monitoring of safe increment Safety card error Safely Limited Increment SLI Monitoring of safely limited speed Safety card error Safely Limited Increment SLI Monitoring of standstill position Safety card error Safely Limited Position SLP Monitoring of safe absolute position Safety card error Safely Limited Position SLP Monitoring of safely limited speed Safety card error Timing error Current transformer interrupt is already running Safety card error Timing error Cycle time exceeded Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 4 Status and error messages 4 2 Error messages Safety card error Feasibilit
222. r each bit This means that this bit will not be changed With this command the user can determine the behaviour of PMCprimo in the event of an error Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 Reaction of PMCprimo when the monitoring time for reference inputs is exceeded see also RT command Page 3 109 0 Inthe event of an error PMCprimo issues a signal 1 Inthe event of an error PMCprimo issues a signal and switches off the control enable Bit 1 Reaction of PMCprimo when a reference input is detected outside the permitted range see also LR command Page 3 125 0 Inthe event of an error PMCprimo issues a signal 1 Inthe event of an error PMCprimo issues a signal and switches off the control enable Bit 2 Reaction of PMCprimo when a reference signal is detected before an existing reference error has been adjusted 0 Inthe event of an error PMCprimo issues a signal 1 In the event of an error PMCprimo issues a signal and switches off the control enable Bit 3 Reaction of PMCprimo when the maximum permitted limit values at the analogue input are exceeded 0 Inthe event of an error PMCprimo issues a signal 1 Inthe event of an error PMCprimo issues a signal and switches off the control enable Bit 4 Suppress the error message Reference input missing see also RT command Page 3 109 if Bit 0 is not set to 1 0 The error message is displayed 1 The error message is not displ
223. r message is issued Encoder filter encoder filter Permitted values for nn 0 to 10 000 It is possible to average the encoder signals received over the period nn This can be used to smooth any noisy encoder signals that are received This command can only be used on an uncontrolled axis MO If a torque peak is present at a certain position on a master axis this disturbance will also be seen on the slave axis This filter can eliminate or reduce this effect Reaction to speed changes on the uncontrolled axis will be somewhat later due to averaging They also lead to a static offset of the averaged position Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 4 Parameter commands CWbb Set control word Set control word Permitted values for bb 0 to 1111 1111 Factory setting 0001 0000 The wildcard X can be stated for each bit This means that this bit will not be changed With this command the user can determine the encoder s count direction the velocity profile for motion commands and the sign for the setpoint output of each axis Bit 0 is on the right with input output and on the left with Bit 7 Note The encoder s count direction and the sign for the setpoint output should only be changed when the position control loop is open These inversion functions are used to
224. ram on the PMCprimo In the case of a servo amplifier the drive parameters are also listed They are stored ina program with a predefined name Name of program DRIVE_PARA_n whereby n Address of network subscriber If a soft PLC is used its data will also be listed when n 4 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description FM SK Data commands Display free memory Display free memory This command displays the available memory capacity Example 0 1 fm Ol ds Free RAM memory 36491 of 53448 kBytes Free Flash memory 3994419 of 4027056 kBytes Set software licence key Set software license key This command can be used to display the set software key and to set new software keys The following software options are only available for an additional charge e Motion generator e Soft PLC e CNC functions Where devices are ordered with the relevant options the appropriate software keys are pre enabled The SK command displays the unit s serial number and the options that are currently enabled It enables software keys to be entered and the current options to be disabled A software option can be retrofitted by ordering a software key at a later date and entering it using the SK command Re enter the relevant software key to disable an enabled option Pilz GmbH amp
225. ration value is very low the required velocity cannot be achieved This produces a velocity profile that is triangular rather than trapezoidal Figure 3 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Motion commands Set velocity Achieved velocity Figure 3 Triangular velocity profile PMCprimo signals command execution with the M character via Telnet Travel commands can only be executed when the position control loop is active Example 1 PMCprimo user Comment 0 1 gt MA2000 lt CR gt The motor moves to the absolute position 0 1M 2000 increments 0 1 gt The motor has approached the position 2000 Example 2 PMCprimo user Comment 0 1 gt MA5000 DP lt CR gt Processing of the DP command begins 0 1M as soon as the demand position has reached its target 0 1 gt DP 5000 0 1 gt Before a travel command is executed the target position is checked for compliance with the software end limits LH and LL comand If the target position is outside the software end limits the travel command is not executed and PMCprimo signals the error Target position is outside the software end limit Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion com
226. responding servo amplifier with PD command Servo amplifier demand position via CANopen relative evaluation negative reference signal select corresponding servo amplifier with PD command Servo amplifier demand position via CANopen absolute evaluation offset setting via RF Page 3 125 select corresponding servo amplifier with PD command Servo amplifier demand position via CANopen relative evaluation positive reference signal with transmission of position error and actual current select corresponding servo amplifier with PD command Servo amplifier demand position via CANopen relative evaluation negative reference signal with transmission of position error and actual current select corresponding servo amplifier with PD command Servo amplifier demand position via CANopen absolute evaluation offset setting via RF Page 3 125 with transmission of position error and actual current select corresponding servo amplifier with PD command Servo amplifier only demand position via CANopen this setting is suitable for third party manufacturers that support Interpolate Position Mode in accordance with DS402 select corresponding servo amplifier with PD command Incremental rotary encoder quadruple pulse evaluation relative position via CANopen select corresponding servo amplifier with PD command Note If a servo amplifier is selected with PD the following setting must be made ona selected PMCtendo DD4
227. rgl O21 DIO lt 3 22 Prgz EI RI0 3 Inputs 0 3 7654321 0000000 EFEEEREEEE o o M o oo oO BNO 3 11111111 O SO3 1 WT10 CO3 1 L SV 20000 RI0 3 Inputs 0 3 7654321 0000000 E B oO CO O O O 0 1 so3 1 wt10 co3 1 Comment Program Prg1 is defined which outputs the parameter value SV for test purposes Program Prg2 is defined which outputs the parameter value SA for test purposes For virtual input 3 1 Prg1 is defined as the input function for the rising edge For virtual input 3 2 Prg2 is defined as the input function for the rising edge All inputs are enabled Input group 3 is displayed All inputs are reset All inputs are enabled Each input should be masked automatically after it is called By setting and resetting the virtual output a signal is generated for the virtual input Program Prg1 has therefore been executed Input group 3 is displayed Input 3 1 has been masked due to the MN command A further input signal has no effect Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands DE g n Define error output Define error output Permitted values for g 1to8 Permitted values for n 1 to 8 This command can be used to define a digital output as an e
228. ries are made in increments If you are using MA for round axes see also SB command Page 3 120 It is possible to end a position mapping XM command with the MA commana Bit 6 from MW Page 3 90 can be used to determine whether to travel to the specified Q position at the current velocity or at the velocity defined through SV If Bit 2 from ZW ai is not set the current cycle is maintained when decoupling If necessary the system is braked and travels to the required position in the opposite direction If Bit 2 from ZW see Page 3 44 is set the direction defined with Bit 3 is always maintained If this does not match the current direction it will be changed When decoupling from a mapping in MA the velocity is compared with SS If the speed of the Slave is less than equal to SS then SS is used If Bit 1 of ZW is set the shortest distance is always travelled Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 3 Motion commands 7610 Increments s Figure 1 Trapezoidal velocity 1000 position Increments L750 gs00 1000 Increments Figure 2 Course of position with trapezoidal velocity profile If the distance to travel is short or the accele
229. riggers a motor fault 0 1 gt Status message for PC 0 1 Status message for MR 0 1 The position error limit has been exceeded 01 48 28 0 1M Osl 0 1 SV 20000 SV is listed after 5 seconds despite the error message Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 4 Parameter commands ZWbb Set position control word Set position control word Permitted values for bb 0 to 1111 1111 Factory setting 0100 0000 The wildcard X can be stated for each bit This means that this bit cannot be changed With this command the user can determine the behaviour of PMCprimo during positioning commands Bit 0 is on the right with input output and on the left with Bit 7 Bit 0 Determines whether the position counter is signed 0 Position counter negative and positive 1 Position counter positive only Bit 1 Determines whether the cycle length influences positioning commands 0 The cycle length set using SB Page 3 120 does not influence the execution of positioning commands 1 The cycle length is considered when executing absolute positioning MA With absolute positioning the axis travels to the position within the cycle limit that corresponds to the absolute position example round axis does not travel 1 5 but only 0 5 machine cycles Bit 2 This bit specifies that the a
230. ronisation channel A B synchronisation download Config data receipt failed Safety card error Watchdog was triggered Safety card error Checking of data parameters checking of configuration parameters failed Safety card error Checking of data parameters invalid hardware version number on firmware update failed Safety card error Checking of data parameters invalid hardware version number with CS 0 command failed Safety card error Checking of data parameters configuration data download too much data failed Safety card error Data transmission timeout when downloading configuration data Safety card error Data transmission timeout when uploading configuration data Safety card error Data transmission timeout when updating firmware Safety card error CRC calculation error when downloading configuration data Safety card error CRC calculation error when loading the configuration data from the Flash Safety card error CRC calculation error when updating firmware Safety card error Checking of device data checking serial number when downloading configuration data failed Safety card error Checking of device data checking device version when downloading configuration data failed Safety card error Checking of device data checking device type when downloading configuration data failed Safety card error Checking of device data checking device version on run up
231. rrent position until the master axis is in the position that corresponds to position mapping and then engages If the master is travelling at a velocity less than or equal to 500 incr s the slave engages even without software coupling For this the velocity of the master should be averaged using the BT command Page 3 202 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands 2 Activation when master axis is moving Activation of position mapping while the master axis is moving must be executed with the help of software coupling Bit 1 MW command When the XM command is used in a command line all subsequent commands will only be executed once the slave axis is aligned or the slave access has engaged with the master axis Bits 4 and 5 of the AW command Page 3 206 influence execution of the XM command when web tension control is activated with AM1 With velocity mapping Bit 4 MW command Page 3 90 only linear maps XM LINEAR are permitted XM may be assigned to a variable In this case the variable s current map number is transferred If mapping is inactive Oxffff is transferred XVName nn Execute map virtual execute map virtual Permitted values for nn 2 000 000 000 This command can be used to determine the slave position that corresponds to the master po
232. rror output The output specified with n from Byte g carries the signal level specified with if PMCprimo has detected an axis error motor off If the position control loop is closed again PC command the error output is reset In the event of the following errors PMCprimo switches the signal level at a defined error output e Position error limit exceeded SE command T e Monitoring time for rotary encoder signals exceeded TO command e Software limit switch exceeded DL command e Motor position outside the software end limits LL or LH command e Errors that can be cleared with the EW command for an axis error Example Y PMCprimo user Comment 0 2 gt CH1 DE2 1 lt CR gt This command line is used to define output 1 of Byte 2 as an error output of axis 1 output 2 1 carries signal level 0 in the event of an error 0 1 LO2 lt CR gt List output definitions Byte 2 Outputs 0 2 1 DEL Output 1 of Byte 2 is an error output of axis 1 Or 222 undef O23 undef 0 2 4 undef 0 225 undef 0 226 undef O27 undef 0 2 8 undef 0 1 CH1 DE2 1 lt CR gt This command line is used to cancel the 0 1 definition of output 1 of Byte 2 as error output of axis 1 3 172 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands PO g n X1 X2 Define position trigger ou
233. rror output will also change back Example PMCprimo user Comment 0 2 gt CH1 AE2 2 lt CR gt This command line is used to define output 2 of Byte 2 as an analogue error output of axis 1 output 2 1 carries signal level 0 in the event of an error 0 1 LO2 lt CR gt List output definitions Byte 2 Outputs 0 2 0 2 1 undef 0 2 2 AE1 0 223 undef 0 2 4 undef O25 undef 0 4 26 undef 0 2 7 undef 0 238 undef 0 1 CH1 AE2 2 lt CR gt This command line is used to cancel the definition of output 2 of Byte 2 as an analogue error output of axis 1 0 1 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 13 Definition commands Li t g List input line definitions List input line definitions Permitted values for t subscribers Permitted values for g 0 to 150 depending on the addresses of the network or no details 1 to 8 PMCprimo C PMCprimo uses this command to list all the user defined input definitions for the selected input byte Example PMCprimo user 0 3 gt LI1I lt CR gt Inputs 0 1 l 1 DR3 PROG1 TEST undef undef undef DL2 undef oo uyy 0n FPF WN 0 0 0 0 1 ORE 0 0 0 Ole 3 gt Comment This command line is used to list all the input definitions of input byte 1 Definitions of inputs
234. run each time the variable is activated via the operator terminal or when the variable value changes Programs that are assigned to a trigger variable are not permitted to write to the variables themselves as this would create a continuous loop see also Disable inhibit trigger variable from Page 3 219 lf 1 is stated after the program name the trigger program is only executed when a value changes If 0 is stated or no details are stated the program will be executed each time the variable is activated Example PMCprimo user Comment 1 gt SPD gt PRG1 lt CR gt The program PRG1 is executed each time the 1 gt variable is activated If a command line is not stated the definition as trigger variable is invalidated All trigger variables are disabled when the control system is switched on They are only enabled through the EV command Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands IA var n Define variable array Define variable array Permitted values for n 1 to 255 This command defines a variable array Each individual element can be stored in MRAM Each element is a fully fledged variable Example v PMCprimo user Comment J 1 gt IA SPD 5 lt CR gt Variable array with 5 elements is defined 1 gt SPD 3 13 Value is assigned to the third ele
235. ry encoder is connected to a fast reference input which even detects pulses with a length of 60 ns This reaction time is short enough to detect the zero track for high resolution rotary encoders at maximum speed Definition gt Zero track is reference input lt with DZ command B Digital inputs as reference inputs Inputs 1 to 6 can be defined with the DR command as reference inputs With these reference inputs external switching elements with a minimum pulse length of 50 us can be used for referencing Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 10 Reference commands initialisation Fastinputs ist active 10 Limit values for 20 evaluation of the 30 reference signal 40 Current motor position is After the Rotary encoder zero track maintained ST apperarance of the reference signal the motor S DZ 4 is stopped Referencin is active Deternmination of reference error Reference error is stored in DF Signal for reference Traveling Traveling error output is set towards back to reference reference signal signal If DF gt FR the reference error is ignored reference error limit is checked Reference error is reduced to maximum value Pulsed output at valid reference signal Reference error is corrected Figure 29 Interaction between the commands whe
236. s Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description LHnn LLnn Monitoring functions Set position limit high Set position limit high Permitted values for nn 2 000 000 000 Factory setting 2 000 000 000 This command is used to set a software end limit in the positive direction PMCprimo only starts a positioning movement if the target position is within the software end limit If the software end limit is reached PMCprimo switches off the controller enable power to the motor is removed The software end limit is stated in increments Set position limit low Set position limit low Permitted values for nn 2 000 000 000 Factory setting 2 000 000 000 This command is used to set a software end limit in the negative direction PMCprimo only starts a positioning movement if the target position is within the software end limit If the software end limit is reached PMCprimo switches off the controller enable power to the motor is removed The software end limit is stated in increments Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 8 Monitoring functions RTnn Set reference timeout Set reference timeout Permitted values for nn 0 to 255 Factory
237. s a trigger variable 0 1 gt EV STRIGVAR The trigger variable is enabled 0 1 gt TRIGVAR 0 The program TEST is started by assigning a value to the trigger variable 216 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands Command description 3 1 Data commands Commands used for data management and system configuration of PMCprimo CD Change operating mode Change Operating Mode This command can be used to change the configuration of the PMCprimo control system When CD is entered the following menu appears 0 1 cd O des ao ACTUAL CONFIGURATION g KkK Project Info PLC KKKKKKKKKKKKKKKKKEKEKK Q Date of Project 2012 05 03 Project Neu_BasicProject_17_Juni_2010 pro x Title Basic project for test xxx Version V3 100 KEE AVENO S St ckl Description KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKAKKAKKKKK KK Operate Mode STANDALONE 24 Cycle Time 1000 us 4 Actual IP address 192 168 0 11 4 Actual Netmask 2557255425540 4 Actual Gateway 192 168 0 1 12 Number of Channels 30 8 CAN Cycle time 4 ms 9 CAN node address 5 0 3 CAN1 baudrate 1000 KBit 21 CAN2 baudrate 1000 KBit 23 CAN2 cycle time 4ms equal CAN1 22 CAN mode CAN1 Master CAN2 Master 26 PMCprotego with SD Card automatic 11 PROFIBUS Address 0 5 PROFIBUS IN
238. s and signal level sign have been stated the timer counter output must be stated with g2 n2 If the state of a reset input switches from false to true the timer counter is stopped and reset as with the CO command see TK command Page 3 153 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 12 3 12 Fit n FOt n SFn Analogue input and output commands Analogue input and output commands Querying and linking of analogue inputs and setting resetting of analogue outputs PMCprimo C itself does not have any analogue inputs outputs but it can link into the analogue inputs outputs from the CAN IOs PMCprotego or PMCtendoDD5 The analogue inputs and outputs are automatically mapped to the axes in sequence Free analogue input free analogue input Permitted values for t 1 to 150 1 49 CANopen 51 150 SafetyNet Permitted values for n 0 to 1 This command can be used to enable or mask all the analogue inputs on a network subscriber If n 1 the inputs are enabled if n 0 they are masked If n is not stated the current state of the inputs on the network subscriber is displayed Free analogue output free analogue output Permitted values for t 1 to 150 1 49 CANopen 51 150 SafetyNet Permitted values for n 0 to 1 This command can be used to enable or disable all the analogue o
239. s moving pos direction the direction can be changed immediately by entering VC Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion commands IN Initialise position Initialise position PMCprimo executes an initialisation command until a reference signal is detected During initialisation PMCprimo signals l Execution The motor accelerates to the demand velocity and then maintains this at a constant level until PMCprimo detects a reference signal The direction of motor travel is specified by or If neither nor is indicated the motor will travel in the positive direction The position counter is immediately set to RF reference offset Page 3 125 and the motor is braked The motor then returns to Position 0 The IN command for initialisation can also be used when the position control loop is open In this case PMCprimo waits for a reference signal when a reference signal is detected the position counter is set to the value of RF The RW command Page 3 122 can be used to prevent a return to the reference signal The RT command monitoring rotary encoder signals Page 3 109 is also effective when executing the IN command If initialisation is cancelled due to an error the program that started the initialisation will also be ended Bits 2 and 3 of ZW Pag
240. se velocity and acceleration pre control factor Veet KP ei KI Xe KD 4 KV pi pi 1 KF di di 1 KA di di 1 di 1 di 2 KP Proportional gain KI Integral gain KD Differential gain KV Setpoint gain velocity reverse amplification KF Actual value gain velocity pre control gain KA Acceleration gain acceleration pre control gain e Lag distance demand position actual position d Demand position pi Actual position The dynamic behaviour of the drive depends on these constant gains and on the mechanical behaviour of the driven machine These gains must be set in order to achieve optimum control behaviour 3 112 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description KPnn Control parameters For a proportional controller the following relationship applies between lag distance and setpoint output Veet Lag Distance KP 256 10 2048 Istposition Regler Controller Figure 28 Relationship between lag distance and setpoint output Set proportional gain constant Set proportional gain constant Permitted values for nn 0 to 65535 Factory setting 10 This command is used to set the proportional gain of the control algorithm Setting a high value for the KP gain enables a short reaction time and precise position control The KP gain sho
241. seesssssseseesrrsseeee 3 155 Set monitor output Bain cece eeeeeteeeeees 3 157 Set monitor output Offset ceesessseeeseeesteeeees 3 157 Set motor off error sequence cesceeseeeteeeeeeees 3 71 Set motor status variable 3 223 Set number of bits for SSI encoder eee 3 186 Set output line n in group g seeeseeesseeeseeesteeeees 3 138 Set phase advance for reference signal 3 128 Set phase advance scale factor csceeseeeseeees Set position control word cccccsceesteeeseeeeteeeseeees Set position limit high Set position limit low Set position overflow bound Set proportional gain Constant ccceeseeeseeees Set reference correction velocity Set reference error adjustment acceleration 3 127 Set reference error limit essnee 3 125 Set reference filter options WOId cscceeseeees 3 129 Set reference input true high limit 0008 3 131 Set reference input true low limit 3 131 Set reference Offset eseese 3 125 Set reference options word ccscccseeeseeestseeees 3 122 Set reference repeat length cccceseeseesseeees 3 121 Set reference tiM OUt ee eee eeeeeeeseeteeteeeeeee 3 109 Set slave map position Offset cecceeseeeseeseees 3 88 Set slow speed asics en aii ee Bait 3 48 Set slow velocity mode s ccssceeseesteestteesteeeseeees 3 49 Set software licence key cescecesessteeesteseteeeseeees 3 29 Set sta
242. ser Maximum reference correction set PAn ioios no eed cates MBan a a ete ei Acie n Parameter COMMAMNAS sees MIE EEEE ETETETT ETETE Parameter selected increment 11111rrrrr O EE S AEE SAE A E A E OERE EE PE nen E A MOa bee A TAA T ER OLY e anot Ne PD EEE T T Miem aeeie i eit E ia essesesssesssessneesetessetsneesnesenseennetaneeeneeanetenstensseanetans Miassnacgaonns a a Sete PO cssessecsserseesecneesneessesseeenecneenessnsansenesenecnesncsess MIMsii8i 2 gevais rant etienceteoneceanscesanauatsnnet reataaae itis Position control word set sssssssesseesseesseesseessees MING eit aie oe ee Riv dla lates Position from drive esses MO sasha a tase etree etek ey S Position Mapping Monitor output fUNCtION Set Position trigger output define Monitor output gain Set sees Position wait loop relative ceeseeeeeneeeeeteees Monitoring fUNCtIONS eA e AE EAE NE E E E AEE A net Seis Gels Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Index PrinvhardWaleosttivs claitncuisttedt ies atte 3 21 Print help display 3 197 Print to termMimal c cccecesssesssseseeseseeesesesseeeseenenees 3 22 SA danaen ten gaat asebaaterccaeunendiecctihs 3 45 PS ite EE E E ee aah ae 3 163 SAVE i E Manian nian 3 23 Paea Seavtins sebastian E E E vases 3 53 SaVe pa rameter rna nonnra ee aN 3 23 e TAE EAE TEA
243. sition nn for the position table Name As a result the slave position can be read ina variable for example without engaging All settings MB MF etc are considered in a similar way to XM Page 3 82 The position table must have already been transmitted to the axis using TM ML must have been executed on the axis Example PMCprimo user Comment 0 1 gt SVAR1 XV MAP_1 1000 lt CR gt Slave position is polled when using master position 1000 and map MAP_1 0 1 gt SVAR1 lt CR gt Value polled from VAR1 0 1 gt 0 1 gt SVAR1 2345 0x00000929 Slave position was stored in variable VAR1 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands XIName nn Execute inverse map virtual execute inverse map virtual Permitted values for nn 6 000 000 to 6 000 000 This command can be used to determine the master position that corresponds to the slave position nn for the position table Name If several master positions are available the first master position is always listed Al settings MB MF etc are considered The position table must have already been transmitted to the axis using TM ML must have been executed on the axis Example PMCprimo user Comment v 0 1 gt SVAR1 XI MAP_1 2345 lt CR gt Master p
244. sition table from the host to the axis The position table itself is saved in the host s Flash memory and must be transferred back to the axis when necessary This is the case for example when it has been recreated by the map generator If the command is triggered without a name the position tables that have already been transferred are listed ML n Map link slave axis to master axis Map link slave axis to master axis Permitted values for n 1 to 60 can be set via CD command This command is used to declare the current axis as a slave axis n indicates the required master axis This command must be used before activating a position mapping because PMCprimo cannot execute a position mapping if a master axis has not been defined Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description NL n UL Mapping commands Example PMCprimo user Comment 0 1 gt CHO 2 lt CR gt Selection of axis number 2 0 2 gt MLO 1 lt CR gt Axis 1 is master axis of axis 2 0 2 gt CHO 3 lt CR gt Selection of axis number 3 0 3 gt MLO 2 lt CR gt Axis 2 is master axis of axis 3 0 3 gt Map link slave axis to differential master axis Map link slave axis to differential master axis Permitted values for n 1 to 60 can be set via CD command This command is used to declare the current axis as the slav
245. sseeesseeesseeses 3 33 List all parameterss 2 5 cvisesiiecnsehianknincsiuctstt 3 28 MOtOr OFF EEEE 3 32 List bus variable value s es 3 221 Motor status wait fOr ceceeesesseeseeeeeeteeeeeeees 3 104 List input line definitionS cceeseeeeeeeteeeeeeees 3 180 Move at constant velocity ccscsesessteeeseeeeeeees 3 39 List ma perisai sha A eee RA 3 81 Move to absolute position cccccescsseesseesreeees 3 33 List map Variable value ccccecscessseseseesereeeseeees 3 221 Move units relative to current position 3 36 List output line definitions ceeeeeseeeteeeeeees 3 181 l ANAE E eesldee erties Lesasls vases TE 3 36 List S EQUENCO sc iecas eas aa Ee ans 3 62 MRAM 2ettesen Satie Hastie a a EENS 3 218 List trigger Variables cs ccscccescesseesseeseteeeseeees 3 219 MS aingi caueicdbend erences Adee eta asta ets 3 186 List variable value oo ee eeeeceeseeeeeeceeeeeeeaeteeees 3 220 Mii Oetiker ae 3 98 Map link options word Set csccceseesteestseesseeeees 3 94 Map link slave axis to differential master axis 3 86 OAS Scie editetsaceessvcge O E sdfpaeincce oases 3 177 Map link slave axis to master axis Map options Word Set eeeceseceeeseeesesnteeeeeteeeeees Mask input function ccccesseeesseeseeeeneessneeeseeees Mask trigger variables Master scale factor Master timeo uT a ra n a e aa EEEa E E aa Master Slave Mode seeeereeseereriersereersrerr
246. ssing of axis commands The CP command is only permitted within programs Example PMCprimo user Comment 0 1 gt ES PROG1 lt CR gt PROG1 is entered 002E CP lt CR gt Simultaneous processing on 003E CHO 1 MA200 lt CR gt Axis 1 to travel to Pos 200 004E CH2 MA100 lt CR gt Axis 2 to travel to Pos 100 005E CE lt CR gt Simultaneous processing off 006E NS End of program 1 1 gt The movements within the program PROG1 will be started at the same time if the program is called End of parallel mode End of parallel mode This command ends simultaneous processing of axis commands The CE command is only permitted within programs If the CP command is not present before CE is entered PMCprimo will signal Select parallel mode first Global stop Global stop All axes brake with their respective braking ramp DC The GS command is an ST command Page 3 37 that encompasses all axes Global abort Global abort All axes brake with their respective braking ramp AX The GA command is an AB command Page 3 38 that encompasses all axes Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 5 Program commands GF Global motor off Global motor off All motors are shut down The GF command is an MO command Page 3 32 that encompasses all axes
247. t and output commands li t Jg n If input true do command line If input true do command line Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 PMCprimo C Permitted values for n 1 to 8 With this command the user can arrange PMCprimo so that a command is only executed if the state of the input defined as n of Byte g has the required logic state If the input does not have the required state PMCprimo continues processing in the following line of a program or processes the program section after the EL command in this line Virtual outputs are connected to inputs through the software Example 1 Y PMCprimo user Comment 0 1 gt I12 2 CO1 3 lt CR gt This command line is used to poll the state of input 2 of Byte 2 for 0 If the 0 1 gt input has the status 0 PMCprimo resets output 3 of Byte 1 Example 2 Y PMCprimo user Comment 0 1 gt IIl 2 XS PRG3 EL XS PRG21 lt CR gt This command line is used to poll the state of input 2 Byte 1 for 0 If the input has the state 0 PMCprimo calls the program PRG3 If the state is 1 program PRG21 is called EEA Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 11 Digital input and output commands If motor status true do command line If motorstatus true do
248. taining the firmware in the Motorola S Record Format using the terminal program PTerm The file has the extension hex The new firmware will be active following a restart It is possible to start a software update of the SD card All PMCtendos and PMCprotegos can also be updated as an option The firmware files on the SD card must be named in accordance with the following specifications Device Name of firmware file PMCprimo C PMCprimoC hex PMCprotego D PMCProtego hex PMCtendoDD4 PMCDD4 hex PMCtendoDD5 PMCDD5 hex PMCtendoDD5 mit Arm processor PMCDDS5N hex Example O 1 su 0 12 Firmware update 1 Yes 0 No Help Please load the HEX file into the control system Then follow the instructions 12566Programming Don t switch off now 0 0 Software update successful 00 18 40 01 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 1 Data commands The following updates are possible by entering a parameter SUO SU5 SU7 SU9 SU10 SU11 SU13 SU14 SU15 SU16 SU 17 Firmware update PMCprimo C classic Firmware update PMCtendo all PMCtendo DD4 Firmware update for all PMCtendoDD5 Firmware update for all PMCprotegos Firmware update for all PMCprimo C Firmware update for all PMCtendoDD5 with ARM processor Firmware update
249. tatus and error messages 4 2 Error messages Safety card error Digital output test output SIL3 STO failed Safety card error Voltage monitoring test reference voltage Safe Clock failed Safety card error Voltage monitoring test supply voltage digital outputs charge pump start up test failed Safety card error Voltage monitoring test supply voltage digital outputs charge pump cycl run test failed Safety card error Voltage monitoring test supply voltage digital outputs charge pump off test failed Safety card error Voltage monitoring test supply voltage digital outputs SafeClock off test failed Safety card error Watchdog test Watchdog inactive start up test failed Safety card error Watchdog test Watchdog triggered too early start up test failed Safety card error Watchdog test Watchdog did not trigger start up test ao failed 347 Safety card error Watchdog test Watchdog inactive discharge test failed Safety card error Watchdog test Watchdog did not trigger discharge test 348 failed 349 Safety card error Memory test Flash RAM memory test error Safety card error Timing error error waiting for fast interrupt Safety card error Timing error fast interrupt was called although it is already running 351 352 Safety card error Timing error 1 ms interrupt was called although it is already running Safety card error
250. tfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands XM PosName Slave demand position Table tmaster position MB x SM MF ff LW Bite LW Bit O to Master Figure 21 Position mapping as equation S Table Mp Mg X SBmaster SBoittmaster MB x SM MF LW Bit5 Figure 22 Position mapping with differential as equation S Demand position of slave axis Mp Position of first master axis ML Ma Position of differential master axis NL SBmaster Cycle length of master axis SBbittmaster Cycle length of differential master axis Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands EMName Enter map Enter map This command is used to enter position tables for position mappings A maximum of 500 tables can be created Example 1 Short position mapping with absolute slave positions PMCprimo user Comment gt 0 1 EM TESTMAP lt CR gt Name of position table Q Cyclel Length of Master 1000 lt CR gt Master cycle length No of values 3 lt CR gt Number of table values in this case 3 001M 0 lt CR gt Table value 1 002M 500 lt CR gt 003M 1000 lt CR gt 004M NM lt CR gt End of table entry 0 1 Example 2 Deleting a position mapping
251. the reference error correction is specified via RV In this case the path is the actual path without correction With this function the reference error is always distributed on a defined optimum path With values greater than 200 a warning is issued when Bit 4 is switched from 1 to 0 because in this case RV must be lt 200 RV is automatically set to 100 If Bit 4 of RW is set then Bit 6 of RW must also be set If this is not the case a warning is issued and Bit 6 is set automatically Velocity 100 200 300 400 500 600 700 800 900 1000 1100 1200 Time Figure 33 Reference error correction with RV as path The overall path RV and the acceleration path RC are specified The necessary acceleration and velocity to compensate the reference error DF are calculated from these automatically RCn Set reference error adjustment acceleration Set reference error adjustment acceleration Permitted values for n 1 to 2 000 000 000 Factory setting 0 Adjusting a reference error results in a new demand position for the slave axis PMCprimo can use the RC parameter to determine the acceleration ramp for achieving the adjustment velocity The RC parameter is stated in increments second The RC parameter should be set at the slave axis If n is not stated the acceleration is a step If Bit 6 of the RW command is set Page 3 122 RC is used to specify an acceleration
252. the slave axis The SB value from the position table should be used if the master s cycle length is changed while the map is active 0 When calculating the setpoint for the slave axis the master cycle length is the current SB value of the master axis 1 When calculating the setpoint for the slave axis the master cycle length is the value from the position table Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 6 Mapping commands Bit 9 Enable automatic map switching If this bit is set a new XM command can be triggered while mapping is enabled without the map being immediately switched Only when the master reaches its cycle limit does an automatic switch to the other map occur if one has been defined 0 Automatic map switching at master cycle limit disabled 1 Automatic map switching at master cycle limit enabled Bit 10 15 Not assigned Special case MW101 If Bit 0 and Bit 2 are set simultaneously the following behaviour is defined T The slave engages immediately This results in a misalignment which is saved as an offset for the slave in the MF parameter Page 3 88 The offset can be compensated later through MFO Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de
253. there is still time to stop the axis before reaching a mechanical limit 5 3 Encoders Incremental encoders supply 90 out of phase pulses These pulses are transmitted on 2 separate tracks PMCprimo recognises the count direction based on the pulse sequence In its default setting PMCprimo expects track B to follow track A for movements in a positive direction The encoder pulses are evaluated fourfold internally Rotary encoders with a voltage level of 5V are used as standard Other voltage levels may be used as an option Only rotary encoders with potentially isolated line driver outputs should be used SSI rotary encoders can be used as an alternative to incremental encoders It is also possible to use a CANopen rotary encoder Any bus addresses from 1 to 49 may be set 5 4 Setpoint output The setpoint is specified digitally An analogue CAN output can be used for an analogue setpoint specification 5 5 Analogue auxiliary output Each analogue output can supply an analogue voltage level as an analogue auxiliary output The function is selected using the AO command The signal is determined through the commands SF KM and OM If activation of the analogue auxiliary output is ended the voltage level is no longer defined PMCprimo does not output any voltage in its default setting Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Ma
254. thout parameter data using the TD command If mm and nn are stated the value of channel nn is displayed from the output line mm nn and mm may be expressions The TT and TW commands must not be modified following the recording so that the TD command can display the data again Set system prompts Set system prompts Permitted values for n 0 to 3 Factory setting 0 If SY is set to 1 system prompts are disabled Also error messages are only displayed as numbers The command has been expanded as follows SYO Factory setting All prompts displayed variables are displayed in decimal and hexadecimal SY1 No prompts displayed variables are displayed in decimal and hexadecimal SY2 As SYO variables only in decimal SY3 As SY1 variables only in decimal SY4 Map generator not displayed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands 2 Print help display Print help display This command is used to display the main help menu Help Main menu n gt Error text for error number n 1 gt Command overview 2 gt Error and status messages on the display 3 gt Abbreviations used 4 gt Mathematical operators 5 gt Variables 6 gt Programs and tables maps 7 gt Map
255. time PMCprimo regards the gap between detection of the reference signals as the cycle length of the selected axis During initialisation PMCprimo signals I Execution The motor accelerates to the demand velocity and then maintains this ata constant level until PMCprimo detects a reference signal for the second time The direction of motor travel is specified by or If neither nor is indicated the motor will travel in the positive direction The position counter is immediately set to the value of RF reference offset Page 3 125 and the motor is braked The motor then returns to Position 0 The IB command for initialisation can also be used when the position control loop is open In this case PMCprimo waits for a reference signal twice The gap between the reference signals is then entered in the SB parameter as the cycle length The RW command Page 3 122 can be used to prevent a return to position 0 IB may be assigned to a variable e g VAR IB An IB is therefore executed and the result is stored in VAR SB is not changed in the process k4 PMCprimo user Comment 0 1 gt IB lt CR gt The motor looks for 2 reference signals 0 1 gt in positive direction and then returns to the reference signal to the new zero position when using IB 3 42 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49
256. tion of rotation 3 3 3 The following baud rates can be set 3 4 Status and error messages 4 2 Error messages Cannot execute the ID command because the motor is not in PC status The parameter value lt ld gt is not permitted for the command lt gt if Bit 4 of RW is set The parameter value lt ld gt is not permitted for the command lt gt if Bit 4 of RW is not set The parameter value lt ld gt is not permitted for the command lt gt if Bit 6 of RW is set The parameter value lt ld gt is not permitted for the command lt gt if Bit 6 of RW is not set Value of RC lt 1000 is not permitted because Bit 7 of RW was set to 0 Value of RV gt 200 is not permitted because Bit 5 of RW was set to 0 Bit 5 of RW is automatically set to 1 because Bit 7 was set to 1 Internal PLC error Could not execute drive command because a node is not a drive Variable lt gt is not defined Network subscriber number lt gt is not assigned lt gt command QAO command CAN addr can only be executed on the host Network subscriber lt gt is already being accessed lt gt command The analogue output lt gt does not exist lt c c gt command Reserved for soft PLC 4 238 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409
257. tolerance range exceeded Safety card error Safely Limited Speed SLS Limit value tolerance range exceeded Safety card error Safe Speed Range SSR Period length tolerance range exceeded Controller warning The NSTOP limit switch has been activated and the motor switched off Controller warning The PSTOP limit switch has been activated and the motor switched off Telnet was closed by s for new connection Multiple CAN devices exist with node number ld Caution Telnet s has been closed due to this connection The device with node number ld is on another CAN network Command lt C C gt Axis is real and in position control so cannot execute command c lt c c gt Invalid value for gantry slave axis lt d gt command lt c c gt value must be greater than master axis Cannot execute command c lt c c gt because the axis is the slave axis for the gantry controller Error when sending a CAN message error code ld Error when receiving a CAN message error code ld The controller with node number ld has been disabled Could no longer find the device with node number ld during the bus scan Start of transmission of drive parameters from node no ld to exchange unit Only CAN addresses lower than ld are permitted please convert the CAN address of the device with address ld The device with node number ld cannot be addressed An automatic configuration has been performed on the device with node numbe
258. tput Define position trigger output Permitted values for g 1to8 Permitted values for n 1to8 Start position X1 2 000 000 000 End position X2 2 000 000 000 This command can be used to define a digital input of Byte g as an electronic cam The output specified with n carries the signal level specified with within the position range specified by the prefix If or is not stated the definition is invalidated In the following example PMCprimo switches the signal level between the positions 500 and 800 Example 1 PMCprimo user Comment 02 gt PO2 5 500 800 lt CR gt This command line is used to define output 5 of Byte 2 as the electronic cam of axis 2 0 2 gt with signal level 0 between the positions 500 and 800 0 2 gt PO2 5 lt CR gt This command line is used to cancel the above definition 0 2 gt high low 100 200 300 400 500 600 700 800 900 1000 1100 1200 Position Figure 38 Example 1 for PO command Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 13 Definition commands Example 2 PMCprimo user Comment 0 2 gt SB1000 lt CR gt Cycle length is set to 1000 0 2 gt PO2 5 0 200 Set electronic cam of axis 2 with signal level 1 0 2 gt PC VC System travels in negative direction In this example switching occurs in the range between 0 and 200
259. ts name is made up as follows FAxis number The error variable stores the error number of the last error that occurred An error variable can be used as a trigger variable A value can be assigned to an error variable Possible values for the error variables can be found in Chapter 4 2 on Page 4 230 The last error number from the host CAN map generator and compiler is stored in the error variable F0 The error messages Cannot start program because it is already running and Program is not available do not generate an error number for FO otherwise continuous loops may occur when F0 is defined as a trigger variable Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands Sn Set motor status variable Set motor status variable Permitted values for n 1 to 60 can be set via CD command There is a pre defined motor status variable for each axis Its name is made up as follows SAxis number The status variable contains the current motor status An status variable can be used as a trigger variable A value can be assigned to a status variable The possible values for the status variables can be found in Chapter 4 3 Page 4 253 Wn Set status variable Set status variable Permitted values for n 1 to 60 can be set via CD command There is a pre defined wait status variab
260. tus variable zy Pat 3 223 Set system prompts Set timeout 3 107 Set timeout for WINdOW eeeceeeeseeteceeeeteeeseteees 3 51 Set velocitysc4 fet ias ais eines att ees 3 44 Set velocity averaging time constant 00 3 201 Set velocity feedback gain constant 00 3 114 Set velocity feed forward gain constant 3 115 Set virtual motor MOE eee eeeetetteeeeeeteeeneeeeees 3 32 Set WINAOW Ae ss eneni aie eee 3 50 Set display position overflow counter 3 121 O aaa a a a aa ar n aaa aa oaia 3 155 L E E E T T 3 228 S Kisi enina a a a 3 29 Slow speed setor eS 3 48 I EAEE A T TET 3 88 Snapshot position data display csscceeeeees 3 188 SO E E as 3 138 Software pdaten anina E E 3 25 E A A E ei hs 3 23 SR aessa e A debits 3 124 S E A E TT A 3 48 SS a a aaa hiss sos a a ei aa a E Ea a i aS 3 182 SIs silence eer 3 37 Status MCSSABES 00 eee eeeeeeeeeeeeeseeeeeeteetenesseeneeenes 4 229 Status Variabl y cnniseuisiaisieieinaeies 3 223 Trace CAN nadanie a a A 3 225 Transfer Map datae aeaa eiiis 3 85 Trapezoidal velocity profile cscccesceseseeseeenes 3 34 ra a ra aE a ara a Ee a Naa ein Eni Teia 3 192 Wie aie SAG E E E E 3 192 TA a a N E 3 154 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Index Undefine output definition
261. ubscriber is not stated the inputs on the PMCPrimo are used Example State of input 2 Byte 2 9 PMCprimo user Comment J 0 1 gt MA500 WI2 2 MA0 lt CR gt 0 1M The motor travels to the absolute position of 500 waits until the state of input 2 Byte 2 is logic 0 1M zero and then travels to absolute Pos 0 0 1 gt Input 2 _ O Figure 25 Wait for input line in group g Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 7 Wait loops WA nn Wait for absolute position Wait for absolute position Permitted values for n 2 000 000 000 This command can be used to program polling of an absolute position PMCprimo waits until the required absolute position has been reached before executing the next command The absolute position is stated in increments Example Change in velocity when an absolute position is reached 9 PMCprimo user Comment v 0 1 gt SV200 VC WA1500 SV100 lt CR gt 0 1V The motor travels to the absolute position 1500 and when the absolute position 1500 has 0 1W been exceeded changes the velocity from 200 0 1V to 100 increments second 0 1 gt v absolute position 1500 az Figure 26 Wait for absolute position Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmb
262. uld therefore be set as high as possible without causing an overshoot Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description Kinn KDnn KVnn Control parameters Set integral gain constant Set integral gain constant Permitted values for nn 0 to 65535 Factory setting 0 This command is used to set the integral gain of the control algorithm The integral gain is useful for compensating a constant positional deviation due to continuous load and vibration or during velocity control However the integral gain also causes the axis to travel beyond the target position during positioning because the positional deviation created during movement can accumulate This problem is also known as wind up Set differential gain constant Set differential gain constant Permitted values for nn 0 to 65535 Factory setting 0 This command is used to set the differential gain of the control algorithm The differential gain is useful when there is a huge variation in position errors e g with step by step position changes In a well tuned control loop the KD gain is of only minor importance Set velocity feedback gain constant Set velocity feedback gain constant Permitted values for nn 0 to 65535 Factory setting 0 This command is used to set the actual value gain of the control algorithm The actua
263. up g Clear output line n in group g Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details Permitted values for g 1 to 8 or no details PMCprimo C Permitted values for n 1 to 8 or no details PMCprimo uses this command to set the selected output to the logical signal state 0 If n is not stated all outputs of Byte g are set to to the signal state 0 If g is not stated PMCprimo uses output byte 1 If n is not stated all non defined outputs are reset Virtual outputs are connected to virtual inputs through the software Example 1 T PMCprimo user Comment 0 1 gt CO0 2 7 lt CR gt This command line is used to set output 7 of Byte 2 to the logical 0 1 gt signal state 0 Example 2 K PMCprimo user Comment 0 1 gt CO1 lt CR gt This command line is used to set all the outputs of Byte 1 to the logical 0 1 gt signal state 0 0 1 gt CO lt CR gt This command line is used to reset all the outputs provided the outputs are not defined with a function Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 11 Ri t g ROjt g Digital input and output commands Read input lines in group g Read input lines in group g Permitted values for t 0 to 150 depending on the addresses of the network subscribers or no details
264. ur suggestions as to how to improve either our products or our documentation 1 3 Previous editions Edition Comment PH V1 0 D For PMCprimo versions up to and including 3 10 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 1 General 1 4 Codes and symbols 1 4 Codes and symbols Code Meaning description PMCprimo Registered trademark of Pilz GmbH amp Co KG PMCtendo Registered trademark of Pilz GmbH amp Co KG Symbol Meaning description This symbol signifies a potential threat to life and health Failure to comply with this information can cause harmful health consequences including life threatening injuries This symbol indicates an example which is intended to illustrate the T technical point lt Under this symbol you ll find applications tips and particularly useful information This helps you to use all the machine functions at optimum level Listing Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany 1 7 Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de General Preface Preface This manual describes the complete function range available for programming PMCprimo motion control systems PMCprimo systems are equipped with an Ethernet interface for programming
265. used in logic operations These are applied when using the IF command for conditional program processing A logic operation contains two values which are used with l lt gt lt gt to give the result TRUE or FALSE With arithmetic such as amp amp and corresponding mathematical expressions can result Each of these expressions must be enclosed in brackets All brackets that are opened must also be closed Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 17 Variable commands The following operations are possible Priority Symbol Operator Example Result 0 Brackets a 5 2 2 a 14 1 Neg sign a 2 a 2 Pos sign a 2 a 2 Log negation b 1 a b a 0 Bitwise negation b 255 a b a 256 2 Multiplication a 5 3 a 15 Division a 5 2 a 2 Remainder a 5 2 a 1 3 Addition a 5 3 a 8 Subtraction a 5 3 a 2 4 a lt lt n Logical left shift b 8 a b lt lt 2 a 32 0 is shifted from the right The left hand n positions are lost even if a is signed Arithmetic right shift a gt gt n If a is signed it will be shifted o 20 a b gt gt 2 a 5 from the left a 5 5 lt Less then comparison gt Greater than comparison lt Less than or equal to
266. utputs on a network subscriber If n 1 the inputs are enabled if n 0 they are masked If n is not stated the current state of the outputs on the network subscriber is displayed Set monitor output function Set monitor output function Permitted values for nn 0 to 15 Factory setting 0 This command can be used to set the output function for the analogue auxiliary output This makes it easier to set the control parameters for the respective axis for example A currently unused analogue output is used to output the analogue values with the AO command If the control point changes by 1 this corresponds to a voltage change of 4 88 mV Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description nn 10 11 12 13 14 3 12 Analogue input and output commands Function No function Demand velocity Control point SetVel KM 15 1000000 OM Actual velocity Control point ActVel KM 15 1000000 OM Position error Control point FE KM 4 1000 OM Velocity error Control point ActVel SetVel KM 15 1000000 OM Absolute demand position Control point DD KM 4 1000 OM Absolute actual position Control point DP KM 4 1000 OM Average actual velocity Control point DV KM 15 1000000 OM Velocity of master axis Control point
267. utside the software end limit The velocity during positioning does not change if the velocity is specified in a variable and the value of that variable changes during positioning It is possible to leave a position mapping see XM command Page 3 82 using the MR command 3 36 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 3 Motion commands ST nn Stop Stop Permitted values for nn 2 000 000 000 If no parameter is stated the motor will brake immediately to velocity 0 with the braking ramp specified via the DC command Page 3 46 The ST command can be applied with any movement PMCprimo signals S during the braking process ST command lt Figure 4 Movement ended via the ST command If nn is not stated the ST ramp is processed immediately If nn is stated the system travels to the position nn This is possible from any T movement During this time PMCprimo signals C This command can be used to decouple from a position mapping at an exact location for example If the specified position can never be achieved PMCprimo remains in the C condition This condition is then shown on the terminal Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command
268. ve position wait lOO cceseeseeereeeseeees 3 102 Set braking ramp for AB cc sccsscesssssssseeessessseeeeeessees Reload stored data issiria 3 27 Set clutch length cccsscscsesscsssessesssesecsssscesseseerseese SEVCIUTCH TIME nasya Serer ties Set clutch WINdOW ce eeeeseeseeeseeeeeeeeeeeeeseeneeeneeee Set continuous reference mode on off Set control word ccccccsseccesseccesseeecessseeeeseeeesaees Seti Creep GiStane sninen Set deceleration for ST command ccesceeeeeees Set deferred reference adjustment position 3 128 Set differential gain constant Set error options word ccceeeeteeeeseeeeeeteeeeeeee Set error variable ee Set filter on reference error Set increment select mode Set input debounce time eseesseseteeeseeesseeesnes Set integral gain CONStANL csceeeseesteeeseeeenes Set map base advance eseese Set map base offset for master map positions 3 87 Set map base offset scale factor adjustment acceleration re 3 90 Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Index Set Map options WOMKC ceceeeeseecesseeeeeeneeeeteees 3 90 Set map scale factor from bounds ratio 3 89 Set maximum POSITION error nesses 3 106 Set maximum reference correction s 3 124 Set monitor output function ss
269. ween the individual table positions With tabular position mapping it is possible to reproduce mechanical gearing functions such as cam mechanisms or valve tappets on a camshaft Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 6 Mapping commands A TE rece ee Lin E A S E T J Transmission ratio SM 1 1 kA Non lineaer position mapping Position Slave Axis a Transmission ratio SM 1 2 Position Master Axis Figure 15 Simple position mappings If the master and slave axis move within a specified area on a plant e g XY table position mapping need only be defined for this area In this case it is not necessary to set a cycle length factory setting of SB can be maintained because the motors are not continuously travelling in the same direction The diagram below illustrates a typical tabular position mapping The slave axis is a cutting tool for example and the master axis is the material transportation The speed of the master axis is to vary so that the velocity of the material within the machine remains constant By using tabular position mapping the slave axis always travels to the corresponding demand position irrespective of the current velocity of the master axis the cutting tool always remains in the correct position for material transportation Pilz GmbH amp
270. while a wait loop is active on the selected axis The WT command is a host command The number of potential WTs that can run simultaneously is unlimited As a result the message W cannot be output for an individual axis WTnn Wait for time Wait for time Permitted values for n 0 to 65535 This command can be used to program a time delay PMCprimo waits for the time set under milliseconds to elapse before executing the next command Example Time delay of 2 seconds 9 PMCprimo user Comment J 0 1 gt MA2000 WT2000 MAO0 lt CR gt The motor moves to the absolute 0 1M position 2000 increments waits 2 seconds 1M and returns to the absolute position 0 0 1 gt v WT Figure 24 Time delay Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 7 Wait loops WI t g Jn Wait for input line nin group g Wait for input line n in group g Permitted values for t 0 to 150 depending on the address of the network subscriber or no details Permitted values for g 1 to 8 PMCprimo C 2 Permitted values for n 1 to 8 This command can be used to wait for a positive negative state of an input PMCprimo waits for the relevant input state to be detected before executing the next command If the byte address g is not stated PMCprimo uses the inputs from input byte 1 If a network s
271. x Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de Command description 3 14 TT nn TW n m Display commands Time step for trace mode timestep for trace mode Permitted values nn 0 to 10 000 This command is used to define the time step for recording with TR It is possible to assign a value to a variable VarName Configuration word for trace mode configuration word for trace mode Permitted values n 1to4 Permitted values for m 0 to 202 Permitted values for VarName Variable name for Type 43 and 44 It s possible to choose between four recording channels m is used to select the required recording type Recording of the relevant channel is deactivated with m 0 For command type 43 and 44 the corresponding variable name must also be stated The selected variable automatically becomes global as it is recorded by the axis task The settings TW n 43 Bn and TW n 44 Name are not stored but are displayed with LA Pilz GmbH amp Co KG Felix Wankel Str 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de 3 Command description 3 14 Display commands No Type Description Display m 0 No value selected m 1 Demand position D m 2 Actual position P m 3 Lag distance
272. y of position encoder signal Position jump of external encoder Safety card error Feasibility of position encoder signal Feasibility of absolute position of external encoder Safety card error Channel A B data alignment Current offset Safety card error Channel A B data alignment State of internal feedback signals from safety functions Safety card error Channel A B data alignment State of internal activation signals from safety functions Safety card error Channel A B data alignment Subsequent error lt Reserved gt Safety card error Synchronisation channel A B Synchronisation current offset lt Reserved gt Safety card error Checking of data parameters Unknown device type in configuration data Safety card error Checking of data parameters Invalid device version in configuration data Safety card error CRC error CRC alignment via configuration data Safety card error System software error fatal cyclical test expiry monitoring Safety card error System software error fatal current feasibility expiry monitoring Safety card error System software error fatal cyclical test execution monitoring Safety card error System software error fatal input test expiry monitoring Safety card error System software error fatal CRC test configuration data Safety card error System software error fatal CRC test of RAM data Safety card error System software error fata
273. z de Index EE EEEE E E EO 3 197 Acceleration gain Acceleration pre control gain TN AE ATE EEA AA E EA EE T A ee et Alenia a A penne A a a A A eee AM E a E E E ES Analogue control options word Set 3 206 Analogue control proportional gain set 3 205 Analogue input high limit set ccsecsseeseees 3 210 Analogue limit error output define 0cc 3 179 Analogue range distance define cccceeeeees 3 208 BAren a eE E 3 201 BC ca Se See ee a ieee 3 121 AE EEEE ATT TET 3 167 E E A E E E E ee adiees 3 146 Calculate initial ratio from analogue range distances 3 208 CAN NetWOrking sssrinin irria 5 260 CAN I E a a a E e E 3 225 CAN IO MOdUI ccsccceseeeseesssecsseeeseeeeseeesseessnes 5 256 CD EE AEE E ead wane eatin 3 17 0 eE E EAEE AT 3 70 CFn ea a A RIN NTU 3 43 Change channel i 3 69 Change to parallel MOde cccscessesstecesteeeseees 3 70 s EA ETETE AEE EA 3 98 0 EEE EEE ETE A E EE 3 97 Glear drive fa ltn nasate ro reind 3 43 E ei I E EE E E E EE 3 225 CO EES E EAE E E EE 3 140 COMMANG FEE E ATA 3 45 Command eXECUtION ceeeeeeseeeseteeeeseeetsneteneees 2 15 Command eXeECUtION ceeeeeeseeeeeeeeseeeseeeteneeeaeees 2 15 Command line neseni nna Sian 2 15 COMMANG lih Snas 2 15 Command OVerV eW sssssesseseirerierirrrrsrrerrrsrrnerrees 2 11 Continuous display mode cscceeseeseeeseeeeees 3 190

PMCprimo C Programming Manual

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