JetMove 105
Contents
1. Referencing towards zero pulse Current reduction Hold flag Capture mode Virtual encoder Osci trigger NANA SS NS AY NN SRA ORR RS Jetter AG 3 Version Update von V2 09 0 0 auf V2 10 0 0 JetMove 105 18 02 2011 1 New Features 1 1 Osci Triggering to float registers Until now it has not been possible to trigger the osci function where the signal to be used for triggering is a float value As of version 2 09 0 01 the trigger function is also available for float registers 1 2 Incremental encoder As of version 2 09 0 01 an incremental encoder can be used as a feedback system 1 3 Trigger input As of version 2 09 0 04 the trigger input can be used for the Capture functions of the JM 2xx series and for referencing on the fly The following register is for setting hardware delay Register 527 Dead Time Correction Type unit Float ms Value after reset 0 025 ms 1 4 Trailing indicator for tracking error As of version 2 09 0 04 the following registers can be used to read out the maximum and minimum value for the position controller tracking error Register 538 Trailing Indicator for Pos Tracking Error Function Desorption OOOO O O Read Write Read access Return value is the maximum value of the trailing indicator Write Reset the trailing indicator to 0 0 Type unit Float mm 4 Jetter AG JetMove 105 18 02 2011 Version Update von V2 09 0 0 auf V2 10 0 0 J2. Read Write Holding current after torque deactivation Type unit Float Aeff Value range 0 0 to R502 maximum value for output current from devices After the axis has been stopped by torque deactivation the holding current moves the axis against the obstacle until the user program switches off the axis for example Note The holding current can only be set as an amount of current Motor constant Kr Nm A can be used to convert holding torque into torque developed by the motor This approach is only recommended for mode 2 If the holding current has a value of 0 0 the current for the cut off threshold is used as the holding current compatible with former versions 1 9 2 phase stepper motor control As of version 2 10 0 0 the JetMove 105 can be connected to a 2 phase stepper motor with or without an encoder feedback device The description of connections can be found in the user manual 6 Jetter AG JetMove 105 18 02 2011 Version Update von V2 09 0 0 auf V2 10 0 0 Jetter AG 2 Corrections 2 1 Torque controlled shut off Command 29 was not always effective when used to end torque deactivation In the event of an error it was no longer possible to position the axis As of version 2 09 0 01 torque deactivation can be ended without any problems 2 2 Negative leading axis difference in the table Until now a table starting with a negative leading axis difference was capable of crashing JetM
3. JetMove 105 Version Update from V2 09 0 0 to V2 10 0 0 Revision 1 00 18 02 2011 Printed in Germany Version Update von V2 09 0 0 auf V2 10 0 0 JetMove 105 18 02 2011 Jetter AG reserve the right to make alterations to their products in the interest of technical progress These alterations will not necessarily be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names used in this manual are trade marks or registered trade marks of the respective title owner 2 Jetter AG JetMove 105 18 02 2011 Version Update von V2 09 0 0 auf V2 10 0 0 Table of Contents TOC Introduction Overview of Version Updates Version Function New Fixed V 2 09 0 0 DC motor control 2 phase stepper motor control Resolver optimizing V 2 10 0 0 Triggering to float registers Incremental encoder Dead time compensation for trigger input Trailing indicator for tracking error Command 14 R432 CamChange Type DC motor control Holding current for torque deactivation 2 phase stepper motor control Torque controlled shut off Negative leading axis difference in the table Referencing with MC gantry axis Reference position with decimal places Commutation finding Resolver optimizing Overvoltage error Machine referencing to the reference switch
4. a SinCos encoder caused the JetMove 105 to fail As of version 2 09 0 04 this problem has been resolved 8 Jetter AG JetMove 105 18 02 2011 Version Update von V2 09 0 0 auf V2 10 0 0 Jetter AG 2 13 Capture mode All results of the capture mode were written to the outdated register 187 As of version 2 09 0 01 the results are written to registers 521 through 524 As of version 2 09 0 04 the result of the reference input is also written to the correct register 2 14 Virtual encoder As of the first version the virtual encoder could have an overflow and cause wrong commutation As of version 2 09 0 05 this problem has been resolved 2 15 Osci trigger As of the first version the tracking error register 119 has not been processed correctly as an osci trigger As of version 2 10 0 0 this problem has been solved
5. etter AG Register 539 Trailing Indicator for Neg Tracking Error Read Write Read The return value is the minimum value of the trailing indicator Write Reset the trailing indicator to 0 0 Type unit Float mm Value range 0 0 MinFloat 1 5 New command 14 As of version 2 09 0 04 command 14 on register 100 can be used to clear the R101 0 Home position set flag 1 6 New R432 CamChangeType Until now the master and slave axes have been subject to modulo treatment when switching from the currently used table to a new table This however is not always desirable The R432 CamChangeType register enables the user to make the right selection for any given application Register 432 CamChangeType Function Deseripton Read Write Current new value for CamChangeType Type unit Int Modulo treatment for master and slave default Modulo treatment for master only Modulo treatment for slave only No modulo treatment WwWIN gt O 1 7 DC motor control As of version 2 09 0 05 the JetMove 105 can be connected to a brushed DC motor and an encoder feedback device The description of connections can be found in the user manual Version Update von V2 09 0 0 auf V2 10 0 0 JetMove 105 18 02 2011 1 8 Holding current for torque deactivation As of version 2 09 0 06 the holding current for torque deactivation can be set separately Register 607 Holding Current
6. ing the axis to decelerate which could lead to a higher DC link voltage As of version 2 09 0 03 this problem has been resolved 2 8 Machine referencing to the reference switch one phase The JM 105 uses the R164 Max Distance Switch Search register to monitor the maximum distance even though as is also the case with the MC the R167 Max Distance Reference Search register should be used As of version 2 09 0 03 this problem has been resolved 2 9 Referencing towards zero pulse As of the first version referencing towards zero pulse without a reference switch can only be completed when a reference switch is actually activated It will then behave as if referencing to KO with a reference switch had been selected As of version 2 09 0 03 this problem has been resolved 2 10 Current reduction As of the first version current reduction for stepper motors did not function correctly When an attempt was made to switch back to normal operating current after the motor current had been reduced the reduced setpoint value for the current continued to apply As of version 2 09 0 04 this problem has been resolved 2 11 Hold flag Up to version 2 09 0 04 it had been possible for relative positions with a distance differential of 0 in relation to the actual position value to remain locked in the Maximum speed state The Hold flag was not set in such situations 2 12 SinCos encoder selection As of version 2 09 0 01 selecting
7. ove communication A negative leading axis difference always occurs if the leading axis position of the final point in a table is less than or equal to the leading axis position of the initial point in a table As of version 2 09 0 01 this problem has been resolved 2 3 Referencing with MC gantry axis Since the first version reference runs for MC gantry axes have been interrupted with the 5800 or 6800 error message Gantry synchronization window exceeded As of version 2 09 0 01 this problem has been resolved 2 4 Reference positions with decimal places Until now it has not been possible to set reference positions with decimal places for modulo axes For example the system would set the reference position to 10 0 if anyone attempted to set a value of 10 5 As of version 2 09 0 01 this problem has been resolved 2 5 Commutation finding At commutation finding values greater than 360 could appear As of version 2 09 0 02 this problem has been resolved 2 6 Resolver optimizing Optimizing didn t function with some resolvers As a result an encoder error was displayed while the axis could not be enabled Version Update von V2 09 0 0 auf V2 10 0 0 JetMove 105 18 02 2011 As of version 2 09 0 02 this problem has been resolved 2 7 Overvoltage error As of the first version the overvoltage error F04 was not monitored On the other hand monitoring the maximum DC link voltage F21 functioned correctly caus
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