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User Manual IB IL POS 200 UM E - Digi-Key

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1. 0 Higher level bus 0 Lower level bus 0 L Domit Est E eee e Axis 04 Axis OX Axis 10 Higher level bus Leed i EIE ET FE 0 FT Higher level bus 1 Lower level bus 1 Axis 14 Axis 1X Axis 20 6576A051 Figure 2 2 Typical architecture in the control cabinet 2 10 PHCENIX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables 2 7 Terminal Assignment for Input and Output Terminals When Operated With the IB IL POS 200 2 7 1 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 Without Holding Brake IB IL AO 2 U BP Terminal Signal Assignment Point 1 1 U1 Voltage output 1 0 V to 10 V analog 2 1 U2 Voltage output 2 not used 1 2 2 2 Not used 1 3 2 3 AGND Voltage output ground 1 4 2 4
2. CONTACT Table 6 49 Parameters for IB IL POS 200 diagnostic codes index 0161 hex Invoke ID 0 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub R SystemDiagCode USIGN16 System diagnos 016155 01 POS200 tic code R SystemAddDiagCode USIGN16 Additional system 0161hex 02 POS200 diagnostic code ProcessDataV24 When operation is via the V 24 interface instead of via the bus the process data parameter channel for the bus interface is no longer available The control bytes for the ten axes are then transmitted via index 01695 Table 6 50 ProcessDataV24 parameter index 01695 Invoke ID 0 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub R W ProcessDataV24 Structure Control bytes for 0169hex the ten axes 6 46 PHGNIX 657601 Basic Parameterization PDUSize parameter For the IB IL POS 200 a PDU size Peripherals Data Unit maximum size of trans mitted PCP data objects of 246 bytes is set by default For masters with a PDU size that is limited to 64 bytes the PDU size of the IB IL POS 200 must be adapted accordingly e g when using PROFIBUS bus couplers This index is stored in the NV RAM The modified PDU size only takes effect after a reset Table 6 51 PDUSize parameter index 01
3. CTI Controller board Master Lower level bus 0 e Bus terminal IB IL POS 200 IB IL INC IN IB IL DC AR 48 10A Higher level bus CR 3 Lower level bus 1 mim Dn acm es pen EN m ee Bus terminal IB IL POS 200 IB IL INC IN IB IL DC AR 48 10A il II Il Il 6576A025 Figure 8 1 Example bus configuration 657601 PH NIX 8 7 CONTACT IB IL POS 200 PAC The following examples describe Establishing a communication link to an IB IL POS 200 in the local bus in this case to the first PCP module which is why the value specified in the commu nication relationship is 0216x Configuring the module Reading data Sending data Aborting the connection between host and module The values for the example are in the right hand column of the description tables Initiate This service is used to initiate the connection between the controller board and a local bus device capable of communications PCP device During connection es tablishment the settings for the send and receive buffer sizes and the supported services for the two devices are checked for compatibility A request can be sent to the bus to receive feedback as to whether the connection was established successfully or whether an error occurred The right hand columns in the following tables provide examples of the values that should be entered to establish a con
4. 6576A060 Figure 5 6 Flowchart Sequence C Pos mode 657601 PHCENIX 5 11 CONTACT IB IL POS 200 PAC v Select Step mode Mode Step mode Enable 1 Desired direction o travel right Mode Step mode Enable 1 Step Right 1 Mode Step mode Enable 1 Step Right 1 no Run 1 Mode Jog mode Enable 1 Figure 5 7 Flowchart Sequence D Step mode 6576A061 5 12 PHCENIX CONTACT 657601 State Machine 5 2 Startup The individual axes are controlled via process data The process data contains eight control bits and eight status bits for each axis Control Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Jog Left Jog Right 00 Jog mode Stop Quit Enable StartPos 01 Pos mode Step Left Step Right 10 Step mode SetRef StartRef 11 Ref mode Status Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet Jog Run 00 Jog mode Error Active Ready PosDriveEnd Pos Run 01 Pos mode Step Run 10 Step mode Ref Run 11 Ref mode Bits 0 to 2 of the status byte indicate the status of the individual axis control system regardless of the operating mode Mode indicates the set operating mode in bits 3 and 4 Bit 5 indicates whether the axis is moving and bit 6 indicates whether
5. Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R TargetWindow USIGN16 Window for display of Target posi s 1090 05 tion reached unit hex W R RapidSpeedPos USIGN16 Positioning speed for rapid motion 96 1091 01 in a positive direction hex 0 to 100 W R RapidSpeedNeg USIGN16 Positioning speed for rapid motion 96 1091 02 in a negative direction hex 0 to 100 W R Creeping USIGN16 Positioning speed for creeping mo 1091 03 SpeedPos tion in a positive direction hex 0 to 100 W R _ Creeping USIGN16 Positioning speed for creeping mo 1091 04 SpeedNeg tion in a negative direction hex 0 to 100 W R LoopDistance USIGN32 Loop distance S 1092 unit hex W R EnableBacklash BOOL Enable backlash compensation 1093 01 Compensation 1 Enabled hex 0 Not enabled W R _ TargetDirection BOOL Desired direction of travel when 1093 02 approaching the target hex 0 Positive 1 Negative W R Encoder USIGN16 Resolution of the encoder in bits 1100 01 Resolution SSI 1 8 bits hex 2 9 bits 19 26 bits W R EncoderOffset USIGN32 Encoder offset 1100 02 SSI hex A 8 657601 PHCENIX CONTACT Tables Table A 2 Parameters C
6. 6 53 Table 6 56 DiagCodeAxis and AddDiagCodeAxis parameters index 1059 nay EE 6 53 Table 6 57 Axis parameter index 105A ey ssssess 6 54 Section 7 Table 7 1 TargetPosition parameter index 1050pex 7 8 Table 7 2 Parameters for the pre stop windows stop windows and target window index 1090 hex eese 7 5 Table 7 3 Parameters for positioning speeds index 1091p5 7 6 Table 7 4 Parameters for loop distance and backlash compensation index 109244 and 1093p ey sssem 7 7 Table 7 5 Parameters for jog speed index 1070pge 7 8 Table 7 6 Parameters for step speed index 1072q4 4 7 9 Table 7 7 StepUnit parameter index 10735 7 10 Table 7 8 Parameters for step stop window index 1074p 7 10 Table 7 9 RefPoint parameter index 1080g ssse 7 11 Table 7 10 Parameters for reference speed index 1081 poy 7 12 Table 7 11 Parameters for home position switch and homing direction index 1OBS pag ere eet dnte tes 7 13 Table 7 12 RefDistance and AdjustmentValue parameters index 1085pex ANd 1120pex E 7 14 657601 PHCENIX ET CONTACT IB IL POS 200 PAC Section 8 Table 8 1 PGP Services used cese cedet decies 8 3 Table 8 2 Initi
7. ki lt x lt x o o o D e 9 E E Be E N z cc N cc z o z 2 Oo z cc 2 z als alasa z amp z lt z a d E EI E E E m o jafo ajaja j afa jajaja a Input Out Input Out Input Out Input Output Input Out put put put put Address 0 2 4 6 7 9 11 12 14 16 17 19 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 New configuration Table 6 19 Reconfiguration of the axis assignment new configuration IB IL POS 200 IB IL DC AR 48 10A IB IL DC AR 48 10A IB IL 24 DO 4 IB IL AO 2 U BP IB IL DC AR 48 10A z m IB IL SSI IB IL 24 DI 2 IB IL INC IN IB IL INC IN IB IL 24 DO2 IB IL INC IN Address 0 2 4 6 7 9 11 12 14 16 17 19 Axis 2 Axis 1 Axis 3 Axis 4 Axis 5 657601 PHCENIX 6 21 CONTACT IB IL POS 200 PAC 1 Reset VariantTF index 1030 6x of the relevant axes to 0 This clears the old address entries for the relevant axes 2 Enter the input and output versions and the new addresses Using the same example as before this leads to the following parameterization Table 6 20 Parameterization for axis 1 Axis 1 Invoke ID 1 Index Designation Entry 1030hex VariantTF 1 1032pex VariantInput 3 103446 Sub 01 AddressInput1 4 103445 Sub 02 AddressInput2 6 1036hex VariantOutput 6 1038hex Sub1 AddressOutput1 7 Table 6
8. Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub R W ProcessDataV24 Structure Control bytes for the ten axes 0169 hex DAN PDUSize USIGN16 PDU size setting for the 016A IB IL POS 200 hex 0000hex 246 bytes default 0001 hex 64 bytes W R VariantTF USIGN16 Axis activation 1030 0 Not active hex 1 Activation of technology function rapid creeping speed positioning W R VariantInput USIGN16 Type of Position Detection 1032 Input Terminal hex Entry 1st Terminal 2nd Termina 3 IB IL SSI IB IL 24 DI 2 5 IB IL INC IN W R Addresslnput USIGN16 Address in the local bus structure New Ref 1034 01 for the first input terminal entry hex only required if a 3 is entered under index 1032 W R AddressInput2 USIGN16 Address in the local bus structure New Ref 1034 02 forthe second input terminal entry hex only required if a 3 is entered under index 1032 657601 PHCENIX A 3 CONTACT IB IL POS 200 PAC Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R VariantOutput USIGN16 Type
9. emm 2 12 2 7 3 Output Terminal IB IL 24 DO A 2 13 2 7 4 Input Terminal IB IL SSI IB IL 24 DI 2 2 14 2 7 5 Input Terminal IB IL INC IN eeennee 2 15 657601 PHCENIX 2 1 CONTACT IB IL POS 200 PAC 2 2 PHCENIX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables 2 Mounting Removing the Positioning CPU and Connecting Cables 2 1 Installation Instructions 2 1 1 Unpacking a Terminal Unpacking the Terminal The terminal is supplied in an ESD box PESCE 2 1 2 Replacing Terminals A 657601 PH NIX 2 3 CONTACT IB IL POS 200 PAC 2 2 Mounting and Removing Terminals The positioning terminals are designed for use within an Inline station An Inline station is set up by mounting the individual components side by side No tools are required Mounting the components side by side automatically creates po tential and bus signal connections between the individual station components All Inline terminals are mounted on 35 mm 1 378 in standard DIN rails The ter minals are mounted perpendicular to the DIN rails This ensures that they can be easily mounted and removed even within limited space After a station has been set up individual terminals can be exchanged by pulling them out or plugging them in Tools are not required 2 3 Voltage Supply The terminals are supplied with power through the pote
10. 6 27 Figure 6 3 Output function 2 without holding brake 6 28 Figure 6 4 Sequence of signals for the IB IL AO 2 U BP IB IL 24 DO 2 output version with holding brake 6 33 Figure 6 5 Sequence of signals for the IB IL 24 DO 4 output version with holding brake AAA 6 34 Figure 6 6 Single evaluation een 6 36 Figure 6 7 Twofold evaluation e ea eaaa e raaa aasa 6 36 Figure 6 8 Fourfold evaluation 0 00 eeseeeeeseeeeeneeeeeneeeeeeeeeeenneeeeneeeeeas 6 37 Figure 6 9 Pulse sequence of an asymmetrical encoder 6 37 Figure 6 10 Pulse sequence of a symmetrical encoder 6 38 Section 7 Figure 7 1 Index 109044 sub 01 to 05 ssssss 7 4 Section 8 Figure 8 1 Example bus configuration seeenne 8 7 Figure 8 2 Process image in the I O memory area of the controller board AAA 8 16 Section 9 Figure 9 1 Assignment of process data in the local bus 9 5 657601 PHCENIX Ea CONTACT IB IL POS 200 PAC B 4 PHCENIX 657601 CONTACT List of Tables B2 List of Tables Section 1 Table 1 1 Terminal point assignment seen 1 8 Table 1 2 Local LED diagnostic and status indicators 1 10 Section 4 Table 4 1 Setpoints for the speed Indice 4 16 Section 6 Table 6 1 InterfaceWriteEnable parameter index 0168pge
11. parameter This window can be used to check the target position reached If the position reached is not in this window an error message is output A range is defined ei ther side of the current target position The value must meet the following condition GR x Value lt 65535 ge Table 7 2 Parameters for the pre stop windows stop windows and target window index 1090p x Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R PreStop USIGN32 Pre stop window in a s unit 109045 01 WindowPos positive direction W R PreStop USIGN32 Pre stop window in a s unit 109054 02 WindowNeg negative direction W R StopWindowPos USIGN32 Stop window in a positive s unit 109044 03 direction W R StopWindowNeg USIGN32 Stop window in a negative s unit 109044 04 direction W R TargetWindow USIGN16 Window for display of s unit 109055 05 Target position reached 657601 PHCENIX D CONTACT IB IL POS 200 PAC RapidSpeedPos RapidSpeedNeg Indices 109144 sub 01 to 04 define the individual speeds of the positioning function They are defined so that two speeds are assigned to each direction The CreepingSpeedPos and Creeping SpeedNeg parameters positioning speed Table 7 3 lowing values Rapid speed Creeping speed Entry in index 2 40 Parameters for positioning
12. ecceeeeeeeeeeeeeeeeeeees 6 53 657601 PHCENIX ed CONTACT IB IL POS 200 PAC 6 2 PHCENIX 657601 CONTACT Basic Parameterization 6 Basic Parameterization The parameters for the input and output terminals and for the positioning CPU can be set using PCP services The user writes the necessary settings to the individual indices of the positioning CPU The settings which are required in the lower level I O terminals are transferred to these terminals automatically by the positioning CPU i e the individual functions of the positioning CPU and the I O terminals are addressed via indices Appendix A 1 Index Tables contains a list of the functions of the relevant indices The IB IL POS 200 has a memory which stores all parameters even if the voltage supply fails Writing a zero to index 1030 resets all parameters to their default val ues The positioning CPU can be fully parameterized during startup using the Phoenix Contact parameterization software which is connected using the POS 200 CAB V24 cable The software supports the user with its menu driven operation and communicates via RS 232 or the bus system with the IB IL POS 200 which stores the parameters In normal operation the IB IL POS 200 is controlled by a higher level PLC or PC via a remote bus INTERBUS PROFIBUS CANopen DeviceNet M Ethernet The remote bus is typically used to transmit the target position as a PCP parameter and the status
13. Invoke ID CR Comm _ Referenz Communication_ Referenz Index Subindex Result Error_Class Error_Code 8 1 3 Description of General Parameters This section lists the parameters for PCP services which are used frequently They are not listed again under the individual services Fixed number which is specified for each command Fixed number which is specified for each message Number of subsequent data words each two bytes If only one byte parameter oc curs in a word it is still counted as a word Order number for parallel services Each technology function in this case rapid creeping speed positioning and each intelligent PCP compatible I O module is assigned a specific Invoke ID 1 to 255 This means that each technology function can access the entire index area Number of the communication relationship between the controller board and PCP device Communication relationships OO and O1hex are reserved The communi cation relationship 0254 stands for the first PCP device O3hex for the second PCP device etc The maximum value for the communication relationship is 6346x The index of the object to be accessed is entered here The index table is in Appendix A 1 Index Tables The Subindex parameter is used to address an element of the data field in the ad dressed object 01 use first element 0246 second element etc Subindex 00 addresses the entire object Result of the PCP service proces
14. Nominal value 7 5 V DC Tolerance 5 Ripple 1 5 Maximum current consumption 0 5 A Bus Interface Lower Level Bus Interface Local bus Electrical isolation No Maximum current of the bus terminal in the logic area 2 A Number of devices of an Inline station 63 maximum Number of UO points 512 Number of PCP devices 10 Connection of Loop 2 devices Via INTERBUS Loop 2 branch terminal Optical Diagnostics INTERBUS RUN FAIL D Application processor SF L1 L2 L3 L4 657601 PH N IX CONTACT 9 9 IB IL POS 200 PAC Ambient Conditions Deviations From the Inline Specifications Degree of protection IP 20 EN 60529 1991 Temperature according to EN 60204 1 Operation 0 C to 55 C 32 F to 131 F deviation from the Inline specifications Storage and transport 25 C to 75 C 13 F to 167 F Humidity according to EN 60204 1 Storage and operation 75 on average 85 occa sionally EN 60204 1 no condensation Air pressure Operation 70 kPa to 108 kPa up to 3000 m 9843 ft above sea level Storage and transport 66 kPa to 108 kPa up to 3500 m 11483 ft above sea level Mechanical Requirements Vibration 2g criterion 1 according to IEC 60068 2 6 deviation from the Inline specifications Conformance With EMC Directive 89 336 EEC Noise Immunity Test According to EN 50 082 2 Electrostatic disch
15. Programming data and technical data for the positioning CPU Ordering data for the positioning CPU accessories and documentation Technical Data and Ordering Dalai ter step be eS M per orbe e t Peri demie 9 3 9 1 Programming Data Configuration Data eese 9 3 9 2 Process Data Words cie e atu oce a erer 9 4 9 2 1 INTERBUS OUT Process Data Words AA 9 6 9 2 2 INTERBUS IN Process Data Words AAA 9 7 9 3 Technical D ta rH Er e pe Dette ete ede 9 9 9 4 Ordering Data gendi egi etae PU BE 9 11 657601 PHCENIX 9 1 CONTACT IB IL POS 200 PAC 9 2 PHCENIX 657601 CONTACT Technical Data and Ordering Data 9 Technical Data and Ordering Data IS 9 1 Programming Data Configuration Data INTERBUS ID code 223gec DF hex Length code O5hex Process data channel 5 words Input address area 5 words Output address area 5 words Parameter channel PCP 1 word Register length bus 6 words Operating mode PCP and process data mode with the higher level controller board Other Bus Systems 657601 PHGNIX 9 3 CONTACT IB IL POS 200 PAC Process data Parameter data 9 2 Process Data Words Process Data Representation The Inline positioning CPU offers digital access to all drive parameters and func tions via the local bus interface i e the positioning CPU is parameterized and con trolled via the local bus The positioni
16. 5 Any 2 Intelligent input terminal with PCP 6 Any 2 Intelligent output terminal with PCP e g IB IL DC AR 48 10A 1000hex to 11 FF hex Rapid creeping speed positioning Any Intelligent input terminal with PCP Any Intelligent output terminal with PCP e g IB IL DC AR 48 10A 10 1000hex to 11 FF hex 4 Rapid creeping speed positioning 11 Any Intelligent input terminal with PCP 12 Any Intelligent output terminal with PCP e g IB IL DC AR 48 10A 13 100044 to 11 F Fre Rapid creeping speed positioning 14 Any Intelligent input terminal with PCP 15 Any 5 Intelligent output terminal with PCP e g IB IL DC AR 48 10A 16 1000hex to 11 FF hex 6 Rapid creeping speed positioning 17 Any Intelligent input terminal with PCP 18 Any Intelligent output terminal with PCP e g IB IL DC AR 48 10A 19 1000hex to 11 FF hex Rapid creeping speed positioning 20 Any Intelligent input terminal with PCP 21 Any Intelligent output terminal with PCP e g IB IL DC AR 48 10A 22 100054 to 11FFhex Rapid creeping speed positioning 23 Any Intelligent input terminal with PCP 24 Any Intelligent output terminal with PCP e g IB IL DC AR 48 10A 657601 PHCENIX es CONTACT IB IL POS 200 PAC Table 6 2 Assignment of Invoke IDs in the IB IL POS 200 Continued Invoke ID Index Axis No Addresses 25 1000hex to 11 FF hex 9 Rapid creeping speed positioning 26 Any 9 Intelligent input terminal with PCP
17. 8 3 POS POSDRIVEEND eee 5 20 POSIBUN utr REUS qu 5 20 POS STOP iti t tee ie edis 5 20 Position detection seeeeeeeeee 6 35 Positioning eed cecus 3 7 Sequence ascende e det 3 9 Target area dech dats 3 8 Positioning accuracy seeeee 3 20 Positioning CPU FUNCOM E 1 3 Positioning data records e TC 3 9 Positioning mode AA 3 7 Positioning range s 4 4 Positioning speed 3 12 7 6 Positioning absolute ssssssssss 3 7 Positive pre stop window u u u dssenesserererrere renee 3 8 Positive stop window eeeeeeee 3 9 Pre stop window Negatives cie e tco 7 4 Positiven oen 7 4 PreStopWindowNeg eene 3 8 PreStopWindowPos eee 3 8 Process data channel Assignment 3 i ale ed 8 16 Process data operation n e 8 16 Q Quick stop seessssseseeeenennenenneenenn 5 14 H Rapid speed principe 1 3 Rapid creeping speed principle 3 7 HapidG peed AAA 3 12 Read WEE 8 6 Se VICe eie mi ides 8 11 REF RUN 5 25 REF STOR 55 at Meth ee oth aon 5 25 REF STOP 2 nenne 5 25 HefDist nce i e ee 3 25 Reference oftoet 3 21 7 11 Reference point Homing mode A 5 24 Modification ccccccccccccceeeeeeeeseeeesseesssesenes 7 11 Reference speed 3 25 7 12 RefSpeed 4 uh cede 3 25 Resolution of the encoder
18. Intelligent PCP compatible input terminals receive the entire index area with separate Invoke ID 1 180hex to 11 FFhnex Output terminal Configured output terminal if NOT intelligent Intelligent PCP compatible output terminals receive the entire index area with separate Invoke ID 6 10 PHCENIX 657601 CONTACT Basic Parameterization Subindex Every element of an object is assigned a subindex logical sub address If the en tire object is to be written enter the subindex OU If a single parameter is to be written select an element from the data field which is to be addressed 015a first element 02hex second element etc Length Number of following data bytes This depends on the object being written e g whether only one element or the entire object should be read 00 Zuel Data The actual user data is entered here i e the new values to be written for the object 657601 PHCENIX 6 11 CONTACT IB IL POS 200 PAC Invoke ID 6 3 Activation of Used Axes and Address Assign ment for the Terminals In order to operate axes on the IB IL POS 200 one input and one output terminal must be operated for each axis The various options can be set using specific indices The terminals must be assigned the addresses from the bus configuration The Invoke ID always addresses the entire index areas of the individual axes To make settings for a specific axis select the relevant Invo
19. Invoke ID 4 Invoke ID 7 Invoke ID 10 Invoke ID 13 The IB IL INC IN and IB IL SSI IB IL 24 DI 2 input terminals and the IB IL AO 2 U BP IB IL 24 DO2 IB IL 24 DO 4 and IB IL DC AR 48 10A output terminals can be used The input terminal for the axis is selected under index 1032hex see Table 6 7 657601 PHGNIX 6 13 CONTACT IB IL POS 200 PAC Table 6 7 VariantInput parameter index 1032p6x Invoke ID 1 4 7 28 Access Designation Data Type Description Mod PCP Index Sub Rights ules Oth index er Index Sub W R Variantinput USIGN16 Type of Position Detection 1032hex Input Terminal Entry 1st terminal 2nd termi nal 3 IB IL SSI IB IL 24 DI 2 5 IB IL INC IN With reference to the typical structure the following entries should be made in index 1032hex for the individual axes Table 6 8 Entries in index 1032hex Axis Number Invoke ID Entry in Index 1032 1 1 5 2 4 3 3 7 5 4 10 5 5 13 5 6 14 PHCENIX 657601 CONTACT Basic Parameterization Index 1036hex can be used to select one of the various output terminals Table 6 9 VariantOutput parameter index 1036 Invoke ID 1 4 7 28 Access Designation Data Description Mod PCP Index Sub Rights Type ules Othe index r Index Sub WD VariantOutput USIGN16 Type of Drive Control 10365 Outpu
20. No function SwitchOverTime parameter Table 6 32 To prevent the risk of short circuits in the IB IL 24 DO 4 output version when the contactors are switched over too quickly switch over times can be defined in the ms range After the outputs are switched off the specified time elapses before the next outputs are switched on This means that the contactor response time can be taken into account Index 1184 is used for this option When parameterizing the switch over time index 1063 sub 01 should also be taken into account This index can be used to set another time which affects the switch over in terms of rotation and downtime monitoring It is therefore possible that the delay time if it is set to a high value may exceed the value entered under index 11844 switch over delay time when the drive changes direction SwitchOverTime parameter index 11844 for IB IL 24 DO 4 Invoke ID 1 4 7 28 Access Rights Designation Data Type Description Unit Other PCP Index Subindex Index Sub W R SwitchOver Time USIGN16 Switch over delay time output con tactor response time Minimum 0 default Maximum 65535 ms 1184 6 6 32 PHCENIX CONTACT 657601 Basic Parameterization EarlyReleaseTime parameter DelayedRelease Time parameter Movement signal analog 0 Enable 6 4 4 Use of an Output Ver
21. 1 2 2 2 B B Channel B channel B inverted Channel B free 1 3 2 3 Z Z Channel Z channel Z inverted Channel Z free 1 4 2 4 Shield Encoder cable shield Encoder cable shield Terminal Signal Assignment Point Connector 2 1 1 E1 Input for limit switch 1 minimum hardware limit switch 2 1 E2 Input for limit switch 2 maximum hardware limit switch 1 2 2 2 24 V 24 V encoder limit switch supply 1 3 2 3 GND DV encoder limit switch supply 1 4 E3 Input for homing position switch or NPN output 2 4 5V 5 V encoder limit switch supply 1 5 2 5 24 V 24 V encoder limit switch supply 1 6 2 6 GND 0 V encoder limit switch supply 657601 PHCENIX 2 15 CONTACT IB IL POS 200 PAC 2 16 PHCENIX 657601 CONTACT Section 3 This section provides information about The functions of the positioning CPU Functions of the Positioning CPU e ind tet rete eek Ore uU Pea in ie eevee 3 3 3 1 Jog Mode menan ie een epe bea qi t deir 3 4 3 1 1 Jog Speed JogValue AA 3 4 3 2 Step Mode ws thgavi 3 5 3 2 1 Step Speed StepSpeed AAA 3 5 3 2 2 Step Distance and Step Stop Window StepUnit and StepStopWindow sees 3 5 3 3 Positioning Mode Absolute Positioning eeeeeeeeees 3 7 3 3 1 Definition of Parameters for the Target Area for Positioning 3 8 3 3 2 Positioning Sequence and Structure of Positioning Data Records AAA 3 9 3 3 3 Sequence of Positioning in a Positive
22. 1038hex sub 01 of the relevant axis or replace terminal if nec essary F101 hex Address error on IB IL AO 2 U BP 1038 01 Correct the entry in index Address or module error 1038h sub 01 of the relevant axis F102nex Address error on IB IL AO 2 U BP 1038 01 Correct the entry in index ID code error 1038h sub 01 of the relevant axis F103hex Address error on IB IL AO 2 U BP 1038 01 Correct the entry in index Length code error 1038h sub 01 of the relevant axis F104hex Same address already assigned to 1038 01 Compare the entry in index another axis 1038hex sub 01 with the ad dress inputs for the other axes and correct if necessary F201 hex Address error on IB IL 24 DO 2 1038 02 Correct the entry in index Address or module error 1038hex sub 02 of the relevant axis F202hex Address error on IB IL 24 DO 2 1038 02 Correct the entry in index ID code error 1038hex sub 02 of the relevant axis F203hex Address error on IB IL 24 DO 2 1038 02 Correct the entry in index Length code error 1038hex sub 02 of the relevant axis F204nex Same address already assigned to 1038 02 Compare the entry in index another axis 1038hex sub 02 with the ad dress inputs for the other axes and correct if necessary FE01 hex Incorrect output function 1180 Correct the entry in index 1180nex for the relevant axis FEO2nex Invalid output voltage 1186 Check the entry with defined value range of the relevant in dex FFO1 hex Voltage at DAC digita
23. 27 Any 9 Intelligent output terminal with PCP e g IB IL DC AR 48 10A 28 100044 to 11 F Fre 10 Rapid creeping speed positioning 29 Any 10 Intelligent input terminal with PCP 30 Any 10 Intelligent output terminal with PCP e g IB IL DC AR 48 10A Comm _Reference Number of the communication relationship between the controller board and PCP device The communication relationships CR Oe and CR 01nex are reserved The communication relationship CR 02hex stands for the first PCP device CR 03pex for the second PCP device etc The maximum value for the communi cation relationship is 63hex The CPU IB IL POS 200 positioning CPU is addressed with a communication relationship CR The individual axes and any lower level PCP devices e g IB IL DC AR 48 104 of the positioning CPU are addressed via the same CR and via an axis specific Invoke ID 6 8 PHCENIX 657601 CONTACT Basic Parameterization PLC Controller board Master Lower level bus 0 SS oe Bus terminal IB IL POS 200 IB IL INC IN IB IL DC AR 48 10A Higher level bus CR 3 Lower level bus 1 L IL c Loa ES e 0 im Bus terminal IB IL POS 200 IB IL INC IN IB IL DC AR 48 10A II II I II 6576A025 Figure 6 1 Communication relationship between the controller board and PCP devices 657601 PHCENIX 6 9 CONTACT IB IL POS 200 PAC Index The index is
24. Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 A4 83 2 1 0 OUT 4 Assignment Control byte for axis 9 Control byte for axis 10 Conirol Bytes for INTERBUS OUT Process Data Words OUT 1 to OUT 4 Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Jog Left Jog Right 00 Jog mode STOP Quit Enable StartPos 01 Pos mode Step Left Step Right 10 Step mode SetRef StartRef 11 Ref mode 9 2 2 INTERBUS IN Process Data Words The IN process data words are status bytes for the individual axes which are transmitted from the IB IL POS 200 to the controller board For the positioning CPU the states of the axes are indicated using status bytes so that it is possible to mon itor two axes with one word Word Word 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IN 0 Assignment Status byte for axis 1 Status byte for axis 2 657601 PHCENIX 9 7 CONTACT IB IL POS 200 PAC Word Word 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
25. IB IL POS 200 UM E Revision 01 Order No 26 98 08 3 My Opinion on the Document Form Yes In part No Is the table of contents clearly arranged m rl o Are the figures diagrams easy to understand helpful o o m Are the written explanations of the figures adequate rl rl o Does the quality of the figures meet your expectations needs rn rl o Does the layout of the document allow you to find information easily oO rH rH Contents Yes In part No Is the phraseology terminology easy to understand oO o H Are the index entries easy to understand helpful H H H Are the examples practice oriented oO o H Is the document easy to handle rn rn o Is any important information missing If yes what oO oO oO Other Comments 5050df17
26. If the enable bit is not set the machine enters the Ready state A new control byte can be used to select the mode and set the enable bit 2 Errors after which the axis can no longer be operated These are errors reported by the I O devices or error messages which indicate that the parameterized values do not correspond to the value ranges or to the terminals used The following errors may occur see also Appendix A 2 Error Tables Error on IB IL SSI Error on IB IL INC IN software driver Erroron IB IL INC IN Parameterization error invalid parameters O module not ready Direction of rotation and downtime monitoring has been triggered Error during homing Limit switch has been triggered Parameterization error unknown version parameterized ErmoronlB IL 24 DO 4 Error on IB IL AO 2 U BP IB IL 24 DO 2 Error on IB IL DC AR 48 10A software driver Erroron IB IL DC AR 48 10A 657601 PHCENIX d CONTACT IB IL POS 200 PAC The system indicates these errors by setting the ready bit and error bit but not the active bit The affected axis can no longer be operated A rising edge at the quit bit in the control byte is used to enable the axis again after removing the error The control system then enters the Ready state 3 System Errors This type of error occurs if the bus crashes or a PCP error occurs In this case the error bit is set and this bit cann
27. Meaning Cause Error Removal Code Index Hex FFE7hex Firmware dependent error code from IB IL DC AR 48 10A see user manual for IB IL DC AR 48 10A Error message is sent from the IB IL DC AR 48 10A to the IB IL POS 200 0000hex No error 1000hex Generic error in the device 2340hex Short circuit on motor output 321 1hex Surge voltage of the power section supply 3221hex Undervoltage of the power section supply 4210hex Overtemperature of the output stage 6010hex Software reset Watchdog 6100hex Firmware check sum 7500hex Initialization SUPI 8100hex Communication 657601 A 29 PHCENIX CONTACT IB IL POS 200 PAC A 2 5 Other Errors Table A 8 Other errors DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FF41hex Invalid target position 0001 hex Error during positioning Possi 1050 Correct the entry in index 105016x ble error cause for the relevant axis Position to be approached is out of the permissible range or is not defined Loopingis not possible as software limit switches would be overrun 0002hex Error during stepping Possible error cause Position to be approached is out of the permissible range or is not defined 0003hex Backlash function is not possi ble as software limit switches would be overrun FF42nex Axis not homed FF43hex Target window not reached 0000hex Target range could not be Check pre stop window and stop reached win
28. POSI Errors on page A 21 OUTPUT errors see section OUTPUT Errors on page A 26 and Other errors see section Other Errors on page A 30 A 2 1 System Errors In the event of a system error read the DiagCode under index 0161 sub 01 and the AddDiagCode under index 0161 sub 02 System errors indicate errors in the bus system In the event of a system error the system must be completely restarted by switching the supply voltage off and on again Some error codes provide information about the bus device at which the error has occurred In this case the relevant bus terminal should be checked and replaced if necessary Table A 3 System errors lower level bus master interface DiagCode AddDiag Meaning Cause Error Removal Code Index FFO1hex System errors lower level Completely restart the system by bus master interface switching the supply voltage off and on again FFFFrex Timeout on reading the bus configuration FFFEpex Too many devices on reading Check the number of devices bus configuration 40 maximum FFFDhex Negative confirmation when Check that the correct terminal is reading bus configuration being used FFFChex Invalid length code when Check that the correct terminal is reading bus configuration being used FFFBhex Too many POP devices on Check the number of devices reading bus configuration 40 maximum 657601 PHCENIX 22d CONTACT IB IL POS 200
29. The output version with the IB IL 24 DO 4 terminal is used to control drives using digital 24 V signals In this version the IB IL POS 200 cannot affect the speeds at which the connected drive travels in rapid or creeping motion However the indices for rapid and creeping motion must be set to meaningful values in this version so that drive control operates correctly This is due to the structure of the function blocks in the IB IL POS 200 The central function block determines how the drive should be controlled and generates a cor responding value from 0 to 100 at the output for positive or negative rapid mo tion positive or negative creeping motion or stop The function block takes this value from the indices for rapid or creeping speed However in the IB IL 24 DO 4 output version this output signal cannot be trans ferred to the connected drive It is instead compared with fixed threshold values and transferred to the function block as the status Rapid speed Creeping speed or Stop The function block uses this status to generate the corresponding bit pattern for the digital outputs of the IB IL 24 DO 4 for the selected output function The fol lowing threshold values are used Table 4 1 Setpoints for the speed indices Output Value Status 0 Stop 1 39 Creeping motion 40 100 Rapid motion To ensure that the threshold function can generate the correct output signals the corresponding values must be pa
30. Value range for a software limit switch with absolute encoders 2 Resolution in bits 1 x GR lt Value lt 2 Resolution in bits 1 1 x GR and 231 lt Value lt 291 1 Example Example for an absolute encoder with a resolution of 25 bits 2 4 x GR lt Value x 24 1 x GR and 23 lt Value lt 231 1 657601 PHCENIX T CONTACT IB IL POS 200 PAC Cyclic reading of the actual position 4 4 Relationship Between Positioning Accuracy and Creeping Speed The positioning accuracy of positioning CPUs which operate using the rapid creep ing speed principle such as the IB IL POS 200 depends on three factors Cyclic reading of the actual position Modification of the creeping speed Modification of the braking response The best positioning accuracy that can be obtained is the path which is covered between two scans of the actual position at creeping speed During this process the positioning CPU wants to stop the drive when it passes the stop point and due to the time dependent scanning it may respond to a stop point that has just been passed or even to a stop point from the previous scan The maximum positioning accuracy delta s can be calculated using the following formula delta s delta Scan delta Schange in speed delta Schange in deceleration delta Scan is the positioning accuracy which is caused by cyclically scanning the actual position It is the path which is covered be
31. duo uten Backlash compensation ssesssss Parameters alanine Binary e C Cable GODDectiorn zoe om ets Changing direction seeseesss Comm Reference isse lee Command Code esee Communication principle Connectors Dimensions sine eec Contactors 5 1 certe e ase eel Gonttolbitu sz iicet ette troie Control byte ssi oe aine for StAMtUP EE JOG ue E Pos modes ice Segen kt SEENEN Ref Mode ass eee Step moderi iros en RaRo Creeping Spee Positioning accuracy eee Creeping speed principle Index CreepingSpeed sse 3 12 D Datel RES uM 6 11 Diagnostic code lee itela EE 6 46 SYSTEM oe e Hence tus 6 46 Digital output terminal 6 26 6 30 RICK 2 4 Direction of homing AA 7 13 Direction of rotation and stop monitoring 6 51 Direction of travel ccccceeeceeeeeeeeeeeeeteeeeeees 6 23 DRIVECOM Profile 22 sess 1 4 DRIVECOM standard 6 10 E Electronics base DIMENSIONS scab ee i ide ee 1 5 Encoder asymmetrical ccceceeeeeeeeeeeees 6 37 Encoder symmetrical succeer 6 38 EG tagged e e aede 2 3 G Gea ratio EE 4 5 Define 2 00 cheat 6 50 Gray EE 6 43 H Hardware limit switch zero point CIStance cicero eee 3 25 Hardware limit switches sssseeeeerrererrrr renee 4 4 ek e DEEN 3 21 Homing mode 1 4 3
32. holding brake Table 6 33 EarlyReleaseTime and DelayedReleaseTime parameters index 11854 Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R EarlyRelease USIGN16 Clamping brake ms 118555 01 Time time for early release W R Delayed USIGN16 Clamping brake ms 1185nex 02 ReleaseTime time for delayed release Minimum 0 default Maximum 65535 6 34 PHGNIX 657601 CONTACT Basic Parameterization Evaluation INC 6 5 Parameterization of Position Detection Encoders The IB IL POS 200 positioning CPU supports the selection of an actual value de tection system for each axis This uses index 10325 VariantInput for each axis Once the input and output terminals have been set and addressed the selected modules must be parameterized The various input terminals require different pa rameters for the different encoder types These settings also enable the user to in fluence the axis and its limit switches via the software without having to make mod ifications to the terminal points of the terminals used 6 5 1 Use of Incremental Encoders Incremental encoders are operated together with the IB IL INC IN input terminal This terminal is suitable for the connection of symmetrical or asymmetrical encod ers with square wave signals from 4 5 V to 30 V When making the necessary en coder settings fo
33. positioning begins and the device is in substate RUN Once the speci fied distance has been traveled for the step motion this motion is completed and the machine returns to STOP state Before movements can be made in Step mode using relatively operating position detection systems homing must be carried out The RefPointSet bit in the status byte provides additional information When absolute encoders are used this bit is set automatically For a description of the Step function please refer to section 3 2 Step Mode Substate STOP Substate RUN Step mode is active but no motion is underway When a positive edge is set at the Step Left or Step Right bit the drive moves taking the relevant parameters set under the step function into ac count During positioning the Step Run bit in the status byte remains set 5 22 657601 PHCENIX CONTACT State Machine l X00 10 001 Change of Sub State STOP status Status 100 10 011 OSO 10001 00S 01001 lf distance travelled Sub State RUN Status 101 10 011 6576A035 Figure 5 13 Step mode Control bit 5 Step Right S L Control bit 6 Step Left BibsbisSipR g l Ke E 6576A036 Figure 5 14 Step Right Step Left 657601 PHCENIX 5 23 CONTACT IB IL POS 200 PAC 5 6 Ref Mode Homing Mode Control Byte Mode Bit 7 Bit 6 Bit 5 Bit
34. 1 2 With holding brake AO2 DO2 2 Without holding brake 3 to 65536 No function 6 28 PHCENIX 657601 CONTACT Basic Parameterization Uout parameter To adapt and protect the connected drive amplifiers which require for example an input voltage of 0 V to 5 V or 5 V to 5 V a maximum output voltage can be de fined for the IB IL AO 2 U BP IB IL 24 DO 2 output version By default a maxi mum value of 10 V is defined Values which should be below this value can be entered under index 118646x During IB IL POS 200 parameterization speeds are always entered as percentage values where 100 is the maximum output voltage Um If the maximum output voltage is modified 100 corresponds to the modified maximum output voltage Table 6 26 Uout parameter index 1186 for IB IL AO 2 U BP IB IL 24 DO 2 Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Sub Rights index Index Sub W R Uout USIGN16 Desired maximum output voltage V 11865 0 No function 1to 102 1 V to 10 V 10 default 11 to 65536 No function 657601 PH NIX 6 29 CONTACT IB IL POS 200 PAC 6 4 3 Use of the IB IL 24 DO 4 Output Version The IB IL 24 DO 4 digital output terminal is used to control drives with up to four dig ital 24 V input signals This output version supports four output functions Dahlander circuit Pole changing circ
35. 1074 02 Step stop window in a negative direction 001 2hex RapidSpeedPos 1091 01 Positioning speed for rapid mo tion in a positive direction 001 3hex RapidSpeedNeg 1091 02 Positioning speed for rapid mo tion in a negative direction 0014hex CreepingSpeedPos 1091 03 Positioning speed for creeping motion in a positive direction 0015nex CreepingSpeedNeg 1091 04 Positioning speed for creeping motion in a negative direction WEI StartRampPos 1098 01 001 7hex StartRampNeg 1098 02 A 22 PHCENIX 657601 CONTACT Tables Table A 6 POSI errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex 001 8hex StopRampPos 1098 03 0019p ex StopRampNeg 1098 04 001 Ahex RefVariant 1084 Type of encoder 001 Bhex RefDistance 1085 Distance between home posi tion switch and Z signal 001 Chex RefRapidSpeed 1081 01 Reference speed for rapid mo tion 001 Dhex RefCreepingSpeed 1081 02 Reference speed for creeping motion 001 Enex LoopDistance 1092 Loop distance 001 Frex Reserved 1090 06 0020hex DelayTimeReverse 1063 01 Waiting time when changing di rection 002 lte DelayTimeSupervisionDirection 1063 02 Waiting time until direction of rotation downtime monitoring detection is active FFC1hex Input output terminal not ready 0001 hex Input terminal not ready Acknowledge and wait to see if another error follows 00
36. 21 Parameterization for axis 2 Axis 2 Invoke ID 4 Index Designation Entry 1030hex VariantTF 1 1032pex VariantInput 5 1034hex Sub 01 AddressInput1 0 103446 Sub 02 AddressInput2 1036hex VariantOutput 1038nex Sub1 AddressOutput1 PHCENIX CONTACT 657601 Basic Parameterization 6 4 Parameterization of Drive Control The IB IL POS 200 supports the individual use of a drive for each axis This is spec ified by the selection of the relevant Inline terminal for drive control Index 1036p informs the IB IL POS 200 which output version has been selected see section 6 3 Activation of Used Axes and Address Assignment for the Terminals The various output versions require different parameters and some also offer the choice of different output functions Direction parameter All three output versions IB IL DC AR 48 10A IB IL 24 DO 4 IB IL AO 2 U BP IB IL 24 DO 2 offer the option of inverting the direction How ever it should be noted that when the direction is inverted the settings for the input versions such as change in direction when using incremental encoders index 1103hex sub 03 are also affected Table 6 22 Direction parameter index 1182h Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Sub Rights index Index Sub W R Direction BOOL Direction of travel 118244 01 0 Not inverted default 1 Inv
37. 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Oth Subindex er Index Sub W R DelayTimeReverse USIGN16 Waiting time when changing ms 106354 01 direction 0 to 65535 W R DelayTime USIGN16 Waiting time until direction of ms 106344 02 SupervisionDirection rotation and downtime moni toring is active 0 to 5000 0 default W R DisableSupervision BOOL Switch off direction of rotation 106444 01 Direction and downtime monitoring 0 Monitoring active default 1 Monitoring not active W R TimeSlotSuper USIGN8 Time slot for direction of rota 106444 02 visionDirection tion and downtime monitoring 0 t 60 ms default 1 t 120 ms 2 t 180 ms n t n 1 x 60 ms Canonly be written in Ready operating mode 6 52 657601 PHCENIX CONTACT Basic Parameterization 6 7 Use and Meaning of the Status Information The axis specific extended status information can be used to read the properties of the individual axes CurrentPosition The actual position can be read under index 1058pex at any time This actual posi parameter tion depends on the set gear ratio and is output in the parameterized unit of mea actual position surement Table 6 55 CurrentPosition parameter index 1058p6x Invoke ID 1 4 7 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub R CurrentPosition
38. 3 CONTACT IB IL POS 200 PAC Statement of Legal Authority This manual including all illustrations contained herein is copyright protected Use of this manual by any third party deviating from the copyright provision is forbidden Reproduction translation or electronic and photographic archiving or alteration re quires the express written consent of Phoenix Contact Violators are liable for damages Phoenix Contact reserves the right to make any technical changes that serve the purpose of technical progress Phoenix Contact reserves all rights in the case of patent award or listing of a regis tered design Third party products are always named without reference to patent rights The existence of such rights shall not be excluded Internet Up to date information on Phoenix Contact products can be found on the Internet at www phoenixcontact com 14 PHCENIX 657601 CONTACT About This Manual Purpose of this manual This manual illustrates how to connect and operate the IB IL POS 200 PAC po sitioning CPU to meet application requirements Who should use this Use this manual if you are responsible for installing and operating up to ten posi manual tioning CPUs within an Inline system This manual is written based on the assump tion that the reader possesses basic knowledge about INTERBUS and the Inline product range Related documentation For information on the Inline product range please refer to the
39. 5 26 PH NIX 657601 CONTACT State Machine Control bit 5 StartRef Control bit 6 SetRef Status bit 5 Ref Run Status bit 7 RefPointSet 6576A038 Figure 5 16 StartRef SetRef Ref Run RefPointSet 657601 PHCENIX SS CONTACT IB IL POS 200 PAC 5 28 PHGNIX 657601 CONTACT Basic Parameterization Section 6 This section provides information about 6 5 6 6 6 7 Parameterization Various parameters of the positioning CPU S edd Eege tetas eege 6 3 Controlling Communication via RS 232 or Local Bus Interface 6 4 Communication With Intelligent Input and Output Terminals 6 5 Activation of Used Axes and Address Assignment forthe Terminals nee e Rp MEER SE 6 12 Parameterization of Drive Control 6 23 6 4 1 Use of the IB IL DC AR 48 10A Output Version 1 1 1 1 1 1 6 23 6 4 2 Use of the IB IL AO 2 U BP IB IL 24 DO 2 Output Version 6 26 6 4 3 Use of the IB IL 24 DO 4 Output Version 6 30 6 4 4 Use of an Output Version With Holding Brake 6 33 Parameterization of Position Detection Encoders 6 35 6 5 1 Use of Incremental Encoders au 6 35 6 5 2 Use of Absolute Encoders AAA 6 41 Use and Meaning of the Parameiers AAA 6 45 6 6 1 System Parameters s sse 6 45 6 6 2 General Parameters for the Individual Axes 6 48 Use and Meaning of the Status Information
40. 6 9 2 2 INTERBUS IN Process Data Words AAA 9 7 9 3 Technical Dat eire recie eee ee ieee 9 9 9 4 Ordering Data oe ote ehe atte eden 9 11 Ay Tables rm adnan ingen A 1 A 1 Index Fabl6S odit edi e E A 1 A2 Ertor Tabl6821 5 libio nette t disi A 11 A 2 1 System EOS eq A 11 A 2 2 ARU TEO S eebe een IB URGED A 18 A233 POSDEILOIS aa eH e eS A 21 A2 4 OUTPUT Errors sese A 26 A2 5 Other Errors eene e Needed esie bove dues A 30 B S elle Te B 1 B1 Eietot Uc sc Arno haat B 1 B2 Vista Fables 5 de n tette ac t decetero B 5 B3 ING p ES B 11 iv PHCENIX 657601 CONTACT Section 1 This section provides information about Fields of application and options The structure of the positioning CPU Function and Structure of the Positioning CDU 1 3 1 1 PUACHON an oe ee ee ease ees ee ees 1 3 1 2 Rull Ree 1 5 1 2 1 Housing Dimensions AN 1 5 1 2 2 Terminal Point Assignment AN 1 7 1 2 3 Local LED Diagnostic and Status Indicators 1 9 657601 PHCENIX 1 1 CONTACT IB IL POS 200 PAC 1 2 PHCENIX 657601 CONTACT Function and Structure of the Positioning CPU 1 Function and Structure of the Positioning CPU 1 1 Function The IB IL POS 200 terminal is part of the Inline product range and can be used to create modular positioning control systems The terminal is a universal positioning CPU intended for use withi
41. AN 1 5 1 2 2 Terminal Point Assignment AN 1 7 1 2 3 Local LED Diagnostic and Status Indicators 1 9 2 Mounting Removing the Positioning CPU and Connecting Cables 2 3 2 1 Installation Instructions seeeeeen mn 2 3 2 1 1 Unpacking a Terminal AN 2 3 2 1 2 Replacing Terminals AN 2 3 2 2 Mounting and Removing Terminals AAA 2 4 2 3 Voltage Supply reget deer tec fepe ito tee de certe Ne ceci te etes 2 4 2 4 Connecting Cables 20 sete weenie ivi Nee deen 2 5 2 5 Structure of an Inline Station With IB IL POS 200 2 6 2 6 Typical Architecture in the Control Cabinet 2 9 2 7 Terminal Assignment for Input and Output Terminals When Operated With the IB IL POS 200 2 11 2 7 1 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 Without Holding Brake AAA 2 11 2 7 2 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 With Holding Brake AAA 2 12 2 7 3 Output Terminal IB IL 24 DO 4 seeeeeeeeeee 2 13 2 7 4 Input Terminal IB IL SSI IB IL 24 DI 2 sss 2 14 2 7 5 Input Terminal IB IL INC IN eeeeem 2 15 3 Functions of the Positioning CPU indeed Eres Rode adde espe via det oss 3 3 3 1 Jog Mode dee ea Ud Lee Ie Loco D tbe vs 3 4 3 1 1 Jog Speed JogValue ssesesseeeeeennene 3 4 3 2 Step MOde i cep ele 3 5 3 2 1 Step Speed StepSpeed sss 3 5 3 2 2 Step Dist
42. ApptOach iit IR nds 3 9 Target window ssssssss 3 9 7 5 Positioning accuracy eene 3 20 TargetWindow A 3 9 Terminal installation EE 2 4 removal 8 d e ne rn gie rts 2 4 replacement esee 2 3 Terminal points Assignment ect tie wn eee 1 7 V Voltage supply eere 2 4 W Waiting WEE 4 7 ULC 8 6 Example n reima ett ZE heehee enger 6 6 SeIVICO iue Aa E A 8 13 Z Kale CIE 3 21 3 25 KA De LE 3 25 Zero point DOPING vertices i err eet 6 42 657601 PHCENIX B 13 CONTACT IB IL POS 200 PAC B 14 PHCENIX 657601 CONTACT We Are Interested in Your Opinion We would like to hear your comments and suggestions concerning this docu ment We review and consider all comments for inclusion in future documentation Please fill out the form on the following page and fax it to us or send your com ments suggestions for improvement etc to the following address Phoenix Contact GmbH amp Co KG Marketing Services Dokumentation INTERBUS 32823 Blomberg GERMANY Phone 49 0 52 35 3 00 Telefax 49 0 52 35 3 4 18 08 E Mail tecdoc phoenixcontact com PHCENIX Phoenix Contact GmbH amp Co KG Date Marketing Services Dokumentation INTERBUS Fax No 49 0 52 35 3 4 18 08 From Company Name Department Address Job function City ZIP Phone code Country Fax Document Designation
43. Cd i 6576A016 Figure 3 4 Sequence of positioning in a negative direction As can be seen in the diagrams positioning begins directly with startup at rapid speed At the start of positioning if the difference between the target value and the current position value is less than the value of the pre stop window then the drive will loop at creeping speed The stop window and creeping speed should be ad justed to ensure that the target window is reached Se PHOENIX 311 CONTACT IB IL POS 200 PAC 3 3 5 Positioning Speed RapidSpeed CreepingSpeed If drives with adjustable speed are used the speed can be freely selected for both directions in Positioning mode Pos mode For the IB IL AO 2 U BP IB IL 24 DO 2 and IB IL DC AR 48 104 output versions the speed values are specified as a percentage of the maximum speed Four speeds must be parameterized in positioning mode Rapid speed in a positive direction Rapid speed in a negative direction Creeping speed in a positive direction Creeping speed in a negative direction For the IB IL 24 DO 4 output version the speeds specified by the contactor circuits in rapid or creeping motion are used see section 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version 3 3 6 Looping If the current position is within the pre stop window but not yet in the target window looping is always used to reach the target position The loop distance
44. Example For an encoder which provides 1024 pulses per rotation the positioning counter counts 4096 increments counts Encoder pulse 1 train A E E E e EE 1 Encoder pulse l l i 0 train B 1 2 3 4 4 Increment 6576A044 Figure 6 8 Fourfold evaluation EncoderType INC This parameter is used to specify whether the encoder provides asymmetrical or arameter symmetrical signals p The pulse image of an asymmetrical encoder is shown in Figure 6 9 It consists of signals A and B set at 90 and the zero pulse Z which provides one pulse per encoder rotation Output signals A and B comprise a pulse 180 and a pause 180 Asymmetrical encoders with a 5 V or 24 V encoder supply can be connected to the IB IL INC IN terminal IO OO LEL P3513 Es EHE ES 5882A042 Figure 6 9 Pulse sequence of an asymmetrical encoder 657601 PHCENIX 6 37 CONTACT IB IL POS 200 PAC The pulse image of a symmetrical encoder is shown in Figure 6 10 An inverted sig nal A B Z is output for every signal A B Z RS 422 interface Inverted signals increase the level of immunity to interference Figure 6 10 5882A043 Pulse sequence of a symmetrical encoder To ensure correct pulse evaluation the right encoder type must be selected using an entry under index 1102544 sub 04 Table 6 35 EncoderType parameter index 1102pex for IB IL INC IN Invoke ID 1
45. Flowchart Error removal 5 8 PHCENIX 657601 CONTACT State Machine Select Jog mode Mode Jog mode Enable 1 Desired direction of travel right v v Mode Jog mode Mode Jog mode Enable 1 Enable 1 Jog Right 1 Jog Left 1 During travel the run During travel the run bit is set bit is set Desired position reached yes Desired position reached Mode Jog mode Mode Jog mode Enable 1 Enable 1 Jog Right 0 Jog Left 0 3 6576A058 Figure 5 4 Flowchart Sequence A Jog mode 657601 PHCENIX 5 9 CONTACT IB IL POS 200 PAC v Select Ref mode Mode Ref mode Enable 1 Set reference point Y dynamically Set reference point Mode Ref mode Enable 1 SetRef 1 Start homing Mode Jog mode Enable 1 yes Jog Right 1 SZ RS RefPointSet 1 yes Mode Jog mode Enable 1 6576A059 Figure 5 5 Flowchart Sequence B Ref mode SE PHCENIX CONTACT 657601 State Machine e v SS Select Pos mode Mode Pos mode Enable 1 n PosDriveEnd 1 yes SQ yes Start new EN positioning Enter setpoint position under index 1050 Mode Jog Mode Y Enable 1 Start positioning Mode Pos mode Enable 1 StartPos 1
46. INT32 Actual position s unit 1058hex DiagCodeAxis and Indices 1059hex sub 01 sub 02 provide information on axis specific errors that oc AddDiagCodeAxis cur Error evaluations can be found in Appendix A 2 Error Tables parameters Table 6 56 DiagCodeAxis and AddDiagCodeAxis parameters index 105946x Invoke ID 1 4 7 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub R DiagCodeAxis USIGN16 Diagnostic code 105944 01 R AddDiagCode USIGN16 Additional diagnostic 1059hex 02 Axis code 657601 PHCENIX 6 53 CONTACT IB IL POS 200 PAC Axis parameter Table 6 57 A copy of the process data status byte from the positioning CPU can be read under index 105Apex Bits 0 to 7 are reserved for this see also section 5 State Machine Bits 8 to 11 indicate the states of the software and hardware limit switches Bit 12 indicates whether the drive is enabled Bits 13 and 14 indicate the drive direction Axis parameter index 105Apex Invoke ID 1 4 7 28 Access Rights Desig nation Data Type Description Unit Mod ules Other PCP Index Subindex Index Sub R Axis USIGN16 Bit image Bits 0 to 7 Copy of the process data status byte Bit 0 Ready Bit 1 Active Bit 2 Error Bits 3 4 Current mode Bit 5 Run Bit 6 PosDri
47. LoopDistance and the direction of travel TargetDirection must be parameterized for looping Ensure that the loop distance is greater than or equal to the largest pre stop window otherwise an error message is displayed If the pre stop window corresponds to the distance required to switch from rapid to creeping speed and the loop distance is equal to the pre stop window the target position may not be reached during looping In this case when the loop distance and pre stop window are parameterized the distance required by the drive to reach creeping speed on startup should be added These two parameterized values are also valid for backlash compensation see section 3 3 7 Backlash Compensa tion The loop distance is the distance that is added to or subtracted from the target po sition depending on the direction of travel Once this point is reached the direction of travel changes and the target position is approached again see examples 1 to 4 3 12 PHCENIX 657601 CONTACT Functions of the Positioning CPU This means that the drive passes the target position once and then changes direc tion when it reaches the target position loop distance point in order to approach the target position again If the positioning process is close to the limit switches a limit switch may be passed during looping In this case positioning is aborted at the limit switch and an error message is generated even though the target position i
48. Not enabled default W R TargetDirection BOOL Desired direction of 1093hex 02 travel when approaching the target 0 Positive default 1 Negative 657601 PHCENIX GE CONTACT IB IL POS 200 PAC IS JogValuePos and JogValueNeg parameters Jog 7 2 Parameters for the Jogging Individual Axes Function In Jog mode the speeds should simply be parameterized under index 1070hex sub 01 sub 02 One speed should be defined for each direction The value range is between 0 and 100 The values are specified as percentages and refer to the speed maximum permissible speed Special remark for the IB IL 24 DO 4 output version Rapid speed Entry in index gt 40 Creeping speed 1 lt Entry in index lt 40 Downtime Entry in index 0 Table 7 5 Parameters for jog speed index 1070544 Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R JogValuePos USIGN16 Jog speed in a positive v unit 107055 01 direction W R JogValueNeg USIGN16 Jog speed in a negative v unit 1070hex 02 direction 7 8 PHGNIX 657601 CONTACT Parameterization of Functions IS StepSpeedPos and StepSpeedNeg parameters step 7 3 Parameters for the Stepping Individual Axes Function One speed should be parameterized for each direction index 1072hex sub 01 sub 02
49. PAC Table A 3 System errors lower level bus master interface Continued DiagCode AddDiag Meaning Cause Error Removal Code Index FFO2nex FFFFhex Timeout on bus cycle bus Completely restart the system by cycle was not completed switching the supply voltage off All movements were stopped and on again by a long bus reset May be caused by bus interrupt or interference FFFEnex More than three invalid bus cy Completely restart the system by cles in succession switching the supply voltage off All movements were stopped and on again by a long bus reset May be caused by bus interrupt or interference A 12 PHGNIX 657601 CONTACT Tables Table A 4 System errors reported by the positioning CPU DiagCode Meaning Add_Error_Info Error Removal 1511 to Reported by the positioning 157D CPU 1511hex Errors which are generated by G4 firmware error code Replace faulty positioning modules imported by G4 CPU firmware They can only occur during the boot process of the controller 1512pex An untreated exception has Vector offset of the initiated ex been initiated ception 1513hex The hardware properties spec Replace faulty positioning 1514hex ified for the boot and main firm CPU 1515hex ware do not correspond 1516hex 1517hex Notification of data cycle Replace faulty positioning end startable was set by the CPU user
50. Schange in deceleration is the positioning accuracy which is caused by modifying the braking response of the mechanics deceleration gt delta Schange in deceleration v 2 x 1 a4 1 a2 where v is constant gt delta Schange in deceleration v2 2 x 1 a Aa 1 a Aa 2 2 2 gt delta Schange in deceleration V 2 x 2a af a 2 2 gt delta SChange in deceleration v2xa a a Positioning accuracy which is caused by cyclically scanning the actual position v 2 0 6 m min tscan 6 ms delta Sscan V X tgcan 0 6 m min x 6 ms 10 um ms x 6 ms gt delta Sgcan 60 um Positioning accuracy which is caused by modifying the creeping speed 5 with constant deceleration v 0 6 m min Av 0 03 m min 5 a 5 m s delta Schange in speed 2V X Av a where a is constant 2 x 0 6 m min x 0 03 m min 5 m s 2x 10 um ms x 0 5 um ms 5 um ms gt delta SChange in speed 2 yum ms 4 12 PHGNIX 657601 CONTACT Basic Settings Example 3 Positioning accuracy which is caused by modifying the braking response of the mechanics deceleration 20 v 0 6 m min a 5 m s Aa 1 m s delta SChange in deceleration v xa a Aa 0 6 m min x 5 m s 5 m s f 1 m s P 10 um ms x 5 um ms 5 um ms 1 um ms P gt delta Schange in deceleration 20 83 um 657601 PHCENIX 4 13 CONTACT IB IL POS 200 PAC 4 5 Stop Path W
51. Shield Shield connection IB IL 24 DO 2 Terminal Assignment Remark Point 1 1 Signal output OUT1 Enable positive motion EN Signal output OUT2 Enable negative motion 1 2 2 2 Segment voltage Us for 4 wire termination Measuring point for the supply voltage 1 3 2 3 Ground contact GND for 2 3 and 4 wire termination 1 4 2 4 FE connection for 2 and 3 wire termination E PHCNIX 2 11 CONTACT IB IL POS 200 PAC IB IL AO 2 U BP 2 7 2 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 With Holding Brake Terminal Signal Assignment Point 1 1 U1 Voltage output 1 10 V to 10 V analog 2 1 U2 Voltage output 2 not used 1 2 2 2 Not used 1 3 2 3 AGND Voltage output ground 1 4 2 4 Shield Shield connection IB IL 24 DO 2 Terminal Assignment Remark Point 1 1 Signal output OUT1 Enable 2 1 Signal output OUT2 Brake 1 2 2 2 Segment voltage Us for 4 wire termination Measuring point for the supply voltage 1 3 2 3 Ground contact GND for 2 3 and 4 wire termination 1 4 2 4 FE connection for 2 and 3 wire termination 2 12 PHCENIX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables 2 7 3 Output Terminal IB IL 24 DO 4 IB IL 24 DO 4 Terminal Assignment Point 1 1 Signal output OUT 1 2 1 Signal output OUT 2 1 2 2 2 Ground contact GND for 2 and 3 wire termination 1 3 2 3 FE connection
52. The value range is between 0 and 100 The values are specified as per centages and refer to the maximum permissible speed speed Special remark for the IB IL 24 DO 4 output version Rapid speed Entry in index gt 40 Creeping speed 1 Entry in index lt 40 Downtime Entry in index 0 Table 7 6 Parameters for step speed index 107216x Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R StepSpeedPos USIGN16 Step speed ina positive di v unit 107245 01 rection W R StepSpeedNeg USIGN16 Step speed in a negative v unit 107244 02 direction 657601 PHCENIX 7 9 CONTACT IB IL POS 200 PAC StepUnit parameter The step distance to be entered refers to the gear ratio The target position is cal step distance culated from the actual position step distance entry in index 107344 Ensure that no limit switches are passed during the movement This value must be greater than the largest stop window for the step function The value for the step distance is entered under index 1073h x This value refers to the gear ratio and must be within the following value range Value x GR lt 65535 When defining the step distance ensure that the drive is able to reach the param eterized speed otherwise the target will not be reached accurately Table 7 7 StepUnit parameter
53. ZBF 6 see Phoen CLIPLINE Catalog ix Contact Labeling field covering one connector IB IL FIELD 2 27 27 50 1 DIN EN 50022 DIN rail 2 meters 6 562 ft perforated NS 35 7 5 GELOCHT METER 08 01 733 unperforated NS 35 7 5 UNGELOCHT METER 08 01 68 1 Screwdriver according to DIN 5264 SZF 1 0 6X3 5 1204517 blade width 3 5 mm 0 138 in RS 232 connecting cable for parameterization software POS 200 CAB V24 28 19532 9 12 657601 PHCENIX CONTACT Technical Data and Ordering Data Ordering Data for Documentation Description Order Designation Order No Configuring and Installing the INTERBUS Inline Product IB IL SYS PRO UME 27 43 048 Range User Manual General Introduction to the INTERBUS System User IBS SYS INTRO G4 UME 27 45 21 1 Manual Configuring and Installing INTERBUS User Manual IBS SYS PRO INST UM E 27 43802 Automation Terminals of the INTERBUS Inline Product IL SYS INST UME 26 98 73 7 Range User Manual Peripherals Communication Protocol PCP User IBS SYS PCP G4 UME 27 45 169 Manual Inline Servo Amplifier for DC Motors With Brushgears UM EN IB IL DC AR 48 10A 2699192 User Manual CD ROM with all automation data sheets CD IBS DB ELDOC 27 45 606 CD ROM with all automation manuals and data sheets CD IBS UM DB EL DOC 27 45 619 657601 PHCENIX 9 13 CONTACT IB IL POS 200 PAC 9 14 PHCENIX 657601 CONTACT Append
54. a a 2 a3l 2 ERR o SEES o a m ujoja a jaja ajalina aofo aj e Bus Position Out Input Out Input Output Input Out Input Out Branch coupler ing CPU put put put put terminal Address 0 2 3 6 9 11 12 14 16 17 19 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Invoke Invoke ID 4 Invoke ID 7 Invoke Invoke ID 1 ID 10 ID 13 lt q lt q ki o o o 3 3 a 3 2 Sp D a E z cc o cc z o z 2 o z cc i elela ElSsislSis S Ste SS sdz ela a ajz a 2 4 3a 2 8 o 2 m v jajaja afa afa alaja n Bus Input Out Input Out Input Out Input Output Input Out coupler put put put put Address 21 23 25 27 28 30 32 33 35 37 38 40 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Invoke Invoke ID 19 Invoke ID 22 Invoke Invoke ID 16 ID 25 ID 28 6 20 657601 PHCENIX CONTACT Basic Parameterization Reconfiguration of the Axis Assignment It is possible to reconfigure the axis assignment without resetting the entire frame Example Axis 1 to be addressed with the terminals previously used for Axis 2 Axis 2 to be addressed with the terminals previously used for Axis 1 Address entries only to be modified for the affected terminals Bus configuration not to be modified Old configuration Table 6 18 Reconfiguration of the axis assignment old configuration
55. axis is not necessarily at the zero point it is at whatever position it was moved to before the system was shut down A selected hardware limit switch is used as the reference signal For positioning counter homing the positioning CPU offers either an automatic homing function or Jog mode in which the axis is moved to a position at which a reference point is set via the control bit 657601 PHCENIX ES CONTACT IB IL POS 200 PAC 3 1 Jog Mode In Jog mode a control bit can be used to move the axis as long as this bit is active There are separate control bits for Right and Left If the higher level control sys tem reads in the signal from pushbuttons the drive can be moved in a specific di rection using these pushbuttons When incremental encoders are operated with the IB IL INC IN terminal there is no need to home the axis in advance 3 1 1 Jog Speed JogValue If drives with adjustable speed are used the speed can be freely selected for both directions in Jog mode For the IB IL AO 2 U BP IB IL 24 DO 2 and IB IL DC AR 48 10A output versions the speed values are specified as a percent age of the maximum speed For the IB IL 24 DO 4 output version the speeds specified by the contactor circuits in rapid or creeping motion are used see section 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version 3 4 PHCENIX 657601 CONTACT Functions of the Positioning CPU 3 2 Step Mode
56. both via TPU channels and via DPM interrupts 1518hex Notification of data cycle DPM interrupt code Replace faulty positioning and stariabis va DPM inter 1 Data cycle startable notifica CRU rupt was terminated by time t tion was interrupted is 2 Data cycle end notification was interrupted 15195 The hardware properties spec Replace faulty positioning ified forthe boot and main firm CPU ware do not correspond 1521hex More PCP devices have been detected on the lower level bus than is permitted 1522hex A PCP device not supported Number of the PCP device not Only PCP devices with a by the firmware has been de supported counting from 1 PCP data width of 1 2 or 4 tected words should be installed 1523hex More devices have been de Check the number of de tected on the lower level bus vices 40 maximum than is permitted 657601 PH NIX A 13 CONTACT IB IL POS 200 PAC Table A 4 System errors reported by the positioning CPU Continued DiagCode Meaning Add_Error_Info Error Removal 1524hex 1525hex 1526hex The memory provided is not sufficient to manage all de vices Replace faulty positioning CPU or remove excess terminals 1531hex The last cycle was terminated with an error and the bus crashed This code is mapped by both error registers of the IPMS 3 ERROR ERROR_2 Bit 15 The CRC detected an error on the bus trans mi
57. for 3 wire termination 1 4 Signal output OUT 3 2 4 Signal output OUT 4 1 5 2 5 Ground contact GND for 2 and 3 wire termination 1 6 2 6 FE connection for 3 wire termination 657601 PHCENIX 2 13 CONTACT IB IL POS 200 PAC 2 7 4 Input Terminal IB IL SSI IB IL 24 DI 2 IB IL SSI Terminal Assignment Remark Point Connector 1 Shield connector 1 1 24 V 24 V encoder supply 1 2 GND Reference ground for encoder supply 1 3 5V 5 V encoder supply 1 4 Shield Shield connection high resistance and a capaci tor to FE 2 1 2 2 Not used 2 3 2 4 Connector 2 1 1 T Clock 1 2 T Clock inverted 1 3 D Data 1 4 D Data inverted 2 1 2 2 Not used 2 3 2 4 IB IL 24 DI 2 Terminal Assignment Remark Point 1 1 Signal input 1 IN1 Minimum hardware limit switch 2 1 Signal input 2 IN2 Maximum hardware limit switch 1 2 2 2 Segment voltage Us for 2 3 and 4 wire termination 1 3 2 3 Ground contact GND for 3 and 4 wire termination 1 4 2 4 FE connection for 4 wire termination 2 14 PHCENIX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables 2 7 5 Input Terminal IB IL INC IN IB IL INC IN Terminal Signal Assignment Point Symmetrical Encoder Asymmetrical Encoder Connector 1 1 1 2 1 AA Channel A channel A inverted Channel A free
58. index 1073pex Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R StepUnit USIGN16 Step distance s unit 10735 StepStopWindowPos The stop windows should also be parameterized in both directions The value for and StepStop the stop windows is entered under index 107444 sub 01 sub 02 and must be within WindowNeg parame the value range from 0 to the step distance Logically the value must be less than ters stop window the step distance Table 7 8 Parameters for step stop window index 1074hex Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R StepStop USIGN16 Step stop window in a s unit 1074nex 01 WindowPos positive traversing direction W R StepStop USIGN16 Step stop window in a s unit 1074hex 02 WindowNeg negative traversing direc tion 7 10 PHCENIX 657601 CONTACT Parameterization of Functions 7 4 Parameters for the Homing Individual Axes Function IS RefPoint parameter An entry can be made in index 1080hex to set the reference point to a value other reference offset than O The possible value range depends on the gear ratio and must be within the following value range 232 lt Value x GR lt 222 4 After the reference offset has been modified a
59. index 1084pex for IB IL INC IN 6 40 Table 6 40 Resolution of the absolute encoder eee eee 6 41 Table 6 41 EncoderResolution parameter index 110055 sub 01 for IBIL SS auis Ned nepote teen e 6 41 Table 6 42 EncoderOffset parameter index 110046 sub 02 for IBIL SS uiae dae eee iore 6 42 Table 6 43 Parity parameter index 110245 sub 02 for IB IL SSI 6 43 Table 6 44 Code parameter index 110246 sub 03 for IB IL SSI 6 43 Table 6 45 InvertLimitSwitch parameter index 110346 sub 01 fOr IBIIE SS iier ee ett acre e en 6 44 Table 6 46 RefVariant parameter index 1084pex for IB IL SSI 6 44 B 6 PHCENIX 657601 CONTACT List of Tables Table 6 47 Assignment of Invoke IDs to the individual axes 6 45 Table 6 48 SoftwareVersion POS 200 parameter index 0160pex 6 45 Table 6 49 Parameters for IB IL POS 200 diagnostic codes index O16 1 pay ete Diete 6 46 Table 6 50 ProcessDataV24 parameter index 0169p 9 6 46 Table 6 51 PDUSize parameter index 016A 4 6 47 Table 6 52 Parameters for software limit switches index 1060p 6 49 Table 6 53 Parameters for the gear ratio index 0161 poy 6 50 Table 6 54 Parameters for direction of rotation and downtime monitoring index 0163554 and 0164p6x 6 52 Table 6 55 CurrentPosition parameter index 10585
60. index 1182165 ssssss 6 23 Table 6 23 Invoke ID for IB IL DC AR 48 10A nsss 6 24 Table 6 24 Setting the indices for the IB IL DC AR 48 104 6 25 Table 6 25 OutputFunction parameter index 118046x for IB IL AO 2 U BP IB IL 24 DO 6 28 Table 6 26 Uout parameter index 1186544 for IB IL AO 2 U BP IB IL 24 DO 2 sss 6 29 Table 6 27 Output assignment for output function 1 6 30 Table 6 28 Output assignment for output function 2 6 30 Table 6 29 Output assignment for output function 3 6 31 Table 6 30 Output assignment for output function 4 ssses 6 31 Table 6 31 OutputFunction parameter index 1180 for IB IL 24 DO eee 6 32 Table 6 32 SwitchOverTime parameter index 1184p6x for IB 1E 24 DO 4 uester 6 32 Table 6 33 EarlyReleaseTime and DelayedReleaseTime parameters index 1185pex sees 6 34 Table 6 34 Evaluation parameter index 110254 for IB IL INC IN 6 35 Table 6 35 EncoderType parameter index 1102pex for IB IL INC IN 6 38 Table 6 36 InvertLimitSwitch parameter index 110346 sub 01 for IB IL INN 6 39 Table 6 37 ChangeDirection parameter index 1103hex sub 03 for IB IL INN 6 39 Table 6 38 SwapLimitSwitches parameter index 1103hex sub 04 for IB IL INN 6 40 Table 6 39 RefVariant parameter
61. mode and the enable bit is set A rising edge at the StartPos bit in the control byte is also generated to enter sub state RUN which starts positioning When the target window at the end of auto matic positioning is reached the device directly enters substate POSDRIVEEND The device remains in this status until a new target position is approached Before movements can be made in Pos mode using relatively operating position de tection systems homing must be carried out The RefPointSet bit in the status byte provides additional information When absolute encoders are used this bit is set automatically For a description of the positioning function please refer to section 3 3 Positioning Mode Absolute Positioning 657601 5 19 PHCENIX CONTACT IB IL POS 200 PAC Substate STOP Pos mode is active but no motion is underway Substate RUN When a positive edge is set at the StartPos bit the drive moves taking the relevant parameters set under the positioning function into account During positioning the Pos Run bit in the status byte re mains set In this status changing the target position TargetPosition has no effect If a new target position is transmitted a new positioning process can be prepared Substate POSDRIVEEND _ If the drive has reached the desired target posi tion the PosDriveEnd status bit is set automati cally to indicate this state 5 20 PHGNIX 657601 CONTACT Stat
62. of Drive Control 1036 Output Terminal hex Entry 1st Terminal 2nd Termina l IB IL 24 DO 4 IB IL AO 2 U B IB IL 24 P DO 2 6 IB IL DC AR 48 10A W R AddressOutput1 USIGN16 Address in the local bus structure New Ref 1038 01 for the first output terminal entry hex only required if a 3 is entered under index 1032 W R AddressOutput2 USIGN16 Address in the local bus structure New Ref 1038 02 for the second output terminal en hex try only required if a 3 is entered under index 1032 R Software USIGN16 Example 01011ex gt Version 1 1 1040 Version Input hex R Software USIGN16 Example 010144 gt Version 1 1 1041 VersionOutput hex R Software USIGN16 Example 0101545 gt Version 1 1 1042 VersionTF hex W R TargetPosition INT32 Target position current setpoint S No write 1050 value which can be written without unit protection hex leaving the operating state R CurrentPosition INT32 Actual position S 1058 unit hex R DiagCodeAxis USIGN16 Diagnostic code 1059 01 hex R AddDiag USIGN16 Additional diagnostic code 1059 02 CodeAxis hex A 4 PHCENIX 657601 CONTACT Tables Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Rights Designation Data Type Description Unit Mod ules Othe r PCP Index Subindex Index Sub R Axis USIGN16 Bit image Bi
63. stop Status XX0 XX X11 Control byte 000 XX 001 Ready Status X00 00 001 6576A030 Figure 5 8 Quick stop 5 2 2 Testing Aid If there is no specific parameterization for an axis i e index 1030 VariantTF 0 the status byte returns the received control byte This is designed as a testing aid for use during startup as it makes it easy to detect incorrect process data addressing control byte status byte 5 14 PHCENIX 657601 CONTACT State Machine 5 2 3 Procedure in the Event of Errors The possibility of errors exists in all states In the event of an error the positioning CPU enters the Error state In this case the error bit is set There are three different types of error 1 Errors after which the axis can still be operated This type of error is triggered during a motion This error is generated if Direction of rotation and downtime monitoring is triggered An error occurs during homing A limit switch is triggered An invalid target position is entered The axis is not homed when the movement is started The target range is exceeded The system indicates these errors by setting the ready bit active bit and error bit A rising edge at the quit bit in the control byte is used to acknowledge the error The mode to be used for further travel can also be set in the same control byte How ever the enable bit must be set and the movement must be started
64. structure EE Higher level bus Lower level bus 0 IBIL POS 200 Axis 01 EC Higher level bus Lower level bus Axis 03 0 Axis Ox PERE Axis 10 IB IL POS 200 Axis 11 Axis 12 Limit switch Gi d Encoder Axis 13 d Axis 1X Axis 20 WII VID oe Limit switch ij ar Motor 6576B014 Figure 2 1 Typical architecture of an Inline station with IB IL POS 2
65. the index ta ble see also Appendix A 1 Index Tables A brief summary of the function de scriptions is provided here 6 6 1 System Parameters Note the assignment of the Invoke IDs see section 6 2 Communication With Intelligent Input and Output Terminals to ensure that the desired axes are ad dressed using the individual indices Table 6 47 Assignment of Invoke IDs to the individual axes Axis Number Invoke ID 1 1 4 7 10 13 16 19 22 jo Oo O AJOJN 25 o 28 The software version implemented by the IB IL POS 200 positioning CPU can be read from index 01605 Table 6 48 SoftwareVersion POS 200 parameter index 016016x Invoke ID 0 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub R SoftwareVersion USIGN32 Software version 0160hex POS200 657601 6 45 PHCENIX CONTACT IB IL POS 200 PAC SystemDiagCode POS200 and SystemAddDiagCode POS200 parameters The system diagnostic code provides information about any system errors that might occur which are caused by the local bus the master interface or the CPU ditional diagnostic code under index 0161pex sub 02 Error evaluations can be found in Appendix A 2 Error Tables The error code can be read under index 016145 sub 01 Additional information is provided by the ad
66. the logical address of an object An object can have different data for mats These data formats are for example BOOL INT32 USIGN8 USIGN16 USIGN32 bit byte or array Parameters are written to these data areas and are addressed using the index Rapid creeping speed positioning is defined by an implemented technology func tion This function is assigned a specific index area which must be under 6000464 The area above GOOD is used by the DRIVECOM standard In addition the area above 6000 contains the standard DRIVECOM parameters e g for device assignment for a technology function addresses of the relevant input and output terminals etc They can be used by the technology function Parameters for input and output terminals can be divided into two separate index areas 1 General parameters e g change of direction are in the index area for the rel evant technology function 2 Specific parameters for intelligent PCP compatible terminals are in a sepa rate index area with a separate Invoke ID Table 6 3 Indices per axis function Index Contents Meaning 1000 nex to 102F rex Reserved for standard indices 1030hex to 104Fhex System Configuration Technology type terminal type terminal addresses etc 1050hex to 10FFhex Axis function Indices for the technology function rapid creeping speed positioning 1100hex to 117 F hex Input terminal Configured input terminal if NOT intelligent
67. the parameters for rapid and creeping speed For the IB IL 24 DO 4 output version e g for pole changing motors Dahlander circuit etc the output bits for rapid and creeping speed are set accordingly Once positioning is complete i e once the drive has been stopped the positioning CPU checks whether positioning was successful and determines whether the axis position is in the target window If it is in the target window positioning is confirmed by a positive acknowledgment 657601 PHGNIX 3 9 CONTACT IB IL POS 200 PAC 3 3 3 Sequence of Positioning in a Positive Direction V A M Target Positive pre stop window i Lengt Positive stop i window Creeping speed Positive Rapid speed zone zone pe Siopzone path Holding brake optional Positive rapid motion Positive creeping motion Negative rapid motion Negative creeping motion 6576A015 Figure 3 3 Sequence of positioning in a positive direction 3 10 PHGNIX 657601 CONTACT Functions of the Positioning CPU 3 3 4 Sequence of Positioning in a Negative Direction V Negative pre stop Target window i Negative stop window Negative path iCreeping speed Rapid speed zone zone gtorzong Holding brake optional Positive rapid motion Positive creeping motion Negative rapid motion Negative creeping motion i
68. 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IN 1 Assignment Status byte for axis 3 Status byte for axis 4 Word Word 2 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit CHERCHER NHK EECH EHNEN IN 2 Assignment Status byte for axis 5 Status byte for axis 6 Word Word 3 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 241 4 0 IN 3 Assignment Status byte for axis 7 Status byte for axis 8 Word Word 4 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IN 4 Assignment Status byte for axis 9 Status byte for axis 10 Status Bytes for INTERBUS IN Process Data Words IN 1 to IN 4 Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet Jog Run 00 Jog mode Error Active Ready PosDriveEnd Pos Run 01 Pos mode Step Run 10 Step mode Ref Run 11 Ref mode 9 8 PH NIX 657601 CONTACT Technical Data and Ordering Data 9 3 Technical Data General Data Order designation order number IB IL POS 200 28 19 33 8 IB IL POS 200 PAC 28 61 82 3 Dimensions width x height x depth 109 8 mm x 71 5 mm x 120 mm 4 323 x 2 815 x 4 724 in Weight 400 g approximately Module Supply Communications Power Potential Jumper
69. 00 and all the different options for input and output terminals ER PHCENIX CONTACT 657601 Mounting Removing the Positioning CPU and Connecting Cables 2 6 Typical Architecture in the Control Cabinet The Inline system and the IBS IL 24 RB T branch terminal can be used to isolate the lower level bus so that it can be continued at a different location see Figure 2 2 on page 2 10 This is a useful option if the required input and output terminals can not be housed in one row The IB IL POS 200 supports this function It is also pos sible to use several branch terminals e g IBS IL 24 RB T next to one another to branch to different DIN rails 657601 PHCENIX ES CONTACT IB IL POS 200 PAC Lower level bus 0 IB IL 24 RB T IEEE EEE ER Mp ER Fa essa ssi jan Axis 01 Axis Axis 02 03 IB IL POS 200
70. 01 00 001 must be written The drive moves left until the Jog Left bit remains set or moves right until the Jog Right bit remains set This status is indicated by the status byte X01 00 011 regardless of the direction 657601 PHCENIX CONTACT IB IL POS 200 PAC Jog mode Status XXX 00 001 Control byte X00 00 001 Change of Sub State STOP Control byte status Status X00 00 011 X00 00 011 Control byte Control byte 01000001 00100001 Sub State RUN Status X01 00 011 6576A031 Figure 5 9 Jog mode Control bit 5 Jog Right Control bit 6 Jog Left Status bit 5 RUN 6576A032 Figure 5 10 Jog Right Jog Left 5 18 PHCENIX 657601 CONTACT State Machine 5 4 Pos Mode Positioning Mode Control Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 StartPos 01 Pos mode Stop Quit Enable Status Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet PosDriveEnd Pos Run 01 Pos mode Error Active Ready Positioning mode is set by writing the control word X00 01 001 from the Ready state i e selecting Pos mode 01 and also setting the enable bit The positioning CPU acknowledges this command by displaying the active bit in the status byte The device remains in Pos mode as long as bits 3 and 4 in the control byte are set to Pos
71. 02hex Output terminal not ready Acknowledge and wait to see if another error follows 0003hex Input and output terminals not Acknowledge and wait to see if ready another error follows 657601 A 23 PHCENIX CONTACT IB IL POS 200 PAC Table A 6 POSI errors Continued DiagCode AddDiag Code Meaning Cause Index Hex Error Removal FFC2hex Direction of rotation and downtime monitoring 1XXXhex Error during desired movement in a positive direction XXX Number of accumulated pulses Example 100044 Desired movement positive 0 pulses detected 1FFFhex Desired movement positive 1 pulse detected in negative direction Check encoder is connected cor rectly 2XXXhex Error during desired movement in a negative direction XXX Number of accumulated pulses Example 2000hex Desired movement negative 0 pulses detected 2001 hex Desired movement negative 1 pulse detected in positive direction Check encoder is connected cor rectly FFC3hex Homing 0001 hex Movement to limit switch no Z signal Check encoder is configured and connected correctly 0002 ho RefDistance exceeded no Z signal Check encoder is configured and connected correctly FFC4hex Limit switch has been trig gered 0001 hex Positive software limit switch has been triggered 0002 hex Negative software limit switch has been triggered 0003h
72. 21 Housing dimensions eene 1 5 657601 PHCENIX En CONTACT IB IL POS 200 PAC IB IL 24 DO 2 as the output version ceecee 6 26 IB IL 24 DO 4 as the output version seeen 6 30 IB IL AO 2 U BP as the output Version eec 6 26 IB IL DC AR 48 10A as the output version eese 6 23 lieu EE 4 5 Incremental encoder WS OY teni ee eects stag Ee een 6 35 INGO EE 6 10 Index Ce 6 45 Initiate vase ernie ete ee ees 8 6 SONVICO E 8 8 Initiate Confirmation eeeeee 8 9 Initiate Request smsssseeeeenenernnenn nr eerren eee 8 8 Inline Statio WEE 2 4 Integer values Processing DEE 4 3 Invoke ID Assignment n nter 6 12 ue lp EE 6 6 J Jog function HOMINO r aaa aia 3 24 JOG mode 2 eH s 1 4 3 4 5 17 Parameterize speed 7 8 JOG IR 5 17 Jog speed uixit usen ge 3 4 7 8 ele el 5 17 JOOV AUC gren ringe drer konse eacus 3 4 L LED diagnostic indicators 1 9 berigthis iicet ttd tetto 6 11 Limit switch INVESTS OM siue red etd ee et dent 6 39 Linear axes FUNGIONS EE 4 4 Target approach 3 7 Loop detance 22 5 larger sete sen 3 12 7 7 EOo0pilrig z s pee e pP ee ER 3 12 Direction of Travel 3 12 M Modules intelligent AA 6 5 N Negative pre stop window 3 8 Negative stop window eeeeeeenee 3 9 O Output voltage maximum eee 6 29 B 10 PHGNIX 657601 CONTACT Index D OutputFun
73. 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R Encoder BOOL 0 Symmetrical New Ref 110294 04 Type INC 1 Asymmetrical 6 38 PHCENIX 657601 CONTACT Basic Parameterization InvertLimitSwitch INC parameter The limit switch can be inverted and activated or deactivated under index 1103 sub 01 When activated the limit switches can be connected as N O contacts and the signal is evaluated as active high When deactivated the limit switches can be connected as N C contacts and the signal is evaluated as active low Table 6 36 InvertLimitSwitch parameter index 1103hex sub 01 for IB IL INC IN Invoke ID 1 4 7 28 Access Designation Data Description Unit Other PCP Index Rights Type Subindex Index Sub W R InvertLimit BOOL Invert limit switch active high or New Ref 110344 01 Switch INC low IB IL INC IN 0 Active low N C contact 1 Active high N O contact ChangeDirection INC parameter The counting direction for an encoder depends on its installation location If the en coder is correctly connected to the input terminal it should first generate the en coder pulse for channel A on a positive motion If this is not the case the direction of rotation downtime monitoring will output an error However it is possible to change the direction of rotation of the encoder via the software
74. 4 Bit 3 Bit 2 Bit 1 Bit 0 SetRef StartRef 11 Ref mode Stop Quit Enable Status Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet Ref Run 11 Ref mode Error Active Ready This mode is required when relatively operating encoder systems e g incremental encoders are used because it provides a reference point for use during positioning Homing mode is set by writing the control word XXX 11 001 from the Ready state i e selecting Ref mode 11 and also setting the enable bit The positioning CPU acknowledges this command by displaying the active bit in the status byte The device remains in Ref mode as long as bits 3 and 4 in the control byte are set to Ref mode and the enable bit is set If no rising edge is generated at the StartRef and SetRef bits in the control byte the device is in substate STOP 1 provided no reference point has been set or found If a reference point has been set or found the machine is in substate STOP2 If a rising edge is also generated at the Star tRef bit homing begins and the device is in substate RUN If the SetRef bit is set the reference point is defined as the position in which the drive is currently located Once the reference point has been set or homing has been completed successfully the machine returns to the STOP2 state The RefPointSet bit in the status byte indicates whether a reference poin
75. 5 6 5 1 Use of Incremental Encoders 6 35 6 5 2 Use of Absolute Encoders AAA 6 41 6 6 Use and Meaning of the Parameter 6 45 6 6 1 System Parameters sssssssesseeeeeeneenns 6 45 6 6 2 General Parameters for the Individual Axes 6 48 6 7 Use and Meaning of the Status Information cccesceeeeeeeeeeeeeeeeees 6 53 7 Parameterization of Functions ssseseeeseeseeseeeeeneenen ennemis 7 3 7 1 Parameters for the Positioning Individual Axes Function 7 3 7 2 Parameters for the Jogging Individual Axes Function 7 8 7 8 Parameters for the Stepping Individual Axes Function 7 9 7 4 Parameters for the Homing Individual Axes Function 7 11 657601 PHCENIX d CONTACT IB IL POS 200 PAC 8 Peripherals Communication Protocol DCH 8 3 8 1 Communication Mode 8 3 8 1 1 S tvices Used diete at teens 8 3 8 1 2 Principle of Communication seeeeeeeenees 8 4 8 1 3 Description of General Parameters sss 8 5 8 1 4 Key PCP SetviCes ede iei e 8 6 8 2 Process Data Operation sse 8 16 9 Technical Data and Ordering Data REENEN 9 3 9 1 Programming Data Configuration Data seeeeeeeeeees 9 3 9 2 Process Data Words uendere 9 4 9 2 1 INTERBUS OUT Process Data Words s 9
76. 6 4 Table 6 2 Assignment of Invoke IDs in the IB IL POS 200 6 6 Table 6 3 Indices per axis function sn 6 10 Table 6 4 Assignment of Invoke IDs to the individual axes 6 12 Table 6 5 VariantTF parameter index 1030 ssss 6 13 Table 6 6 Typical Structure vis 2 2 ert nie eee ECH 6 13 Table 6 7 VariantInput parameter index 1032qe 6 14 Table 6 8 Entries in index 10324 aging iiei ediyi ei 6 14 Table 6 9 VariantOutput parameter index 1026 6 15 Table 6 10 Entries in index 1036psy ice Eee dee eite 6 15 Table 6 11 Reserved Words rite ri ceni po etae 6 16 Table 6 12 AddressInput parameter index 10344 6 16 Table 6 13 Entries in index 1034 sseseseeeeeeeee 6 17 Table 6 14 AddressOutput parameter index 1038p6x 6 17 Table 6 15 Entries in index TO 6 18 Table 6 16 Ove Mie W aes ebessi ideale d epiac it 6 19 Table 6 17 Addressing when using a branch terminal 6 20 Table 6 18 Reconfiguration of the axis assignment old configuration 6 21 Table 6 19 Reconfiguration of the axis assignment new configuration 6 21 Table 6 20 Parameterization for axis TN 6 22 Table 6 21 Parameterization for axis 2 6 22 657601 PHCENIX E CONTACT IB IL POS 200 PAC Table 6 22 Direction parameter
77. 61 Sub01 GR The following value range dec should be observed Path _ Index1061 Sub01 1 1000 Increments counts Index1061 Sub02 32767 7 Increments counts DenominatorGearRatio Index1061 Sub02 Table 6 53 Parameters for the gear ratio index 0161pex Invoke ID 1 4 7 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R Numerator USIGN16 Increment evaluation nu sun New Ref 1061554 01 GearRatio merator path W R Denominator USIGN16 Increment evaluation de s unit New Ref 1061hex 02 GearRatio nominator counts Can only be written in Ready operating mode 6 50 657601 PHCENIX CONTACT Basic Parameterization DelayTimeReverse parameter waiting time when changing direction DelayTime SupervisionDirection parameter waiting time until direction of rotation and downtime monitoring is active DisableSuper visionDirection parameter switch off direction of rotation and downtime monitor ing TimeSlot SupervisionDirection parameter time slot for direction of rotation and downtime monitor ing Waiting Time When Changing Direction Index 106344 sub 01 can be used to enter a value which specifies the waiting time until a change of direction is activated after the drive is shut down The value range is from 0 ms to 5000 ms Direction
78. 6Anex Invoke ID 0 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub R W PDUSize USIGN16 PDU size setting for 016Anex the IB IL POS 200 0000hex 246 bytes default 0001 ten 64 bytes 657601 PHCENIX 6 47 CONTACT IB IL POS 200 PAC MaxSwLimSwitch and MinSwLim Switch parameters software limit switches Software limit switches for incremental 6 6 2 General Parameters for the Individual Axes Software Limit Switches The software limit switches can be defined or read under index 106054 sub 01 and index 1060pex sub 02 Please ensure that the value of the minimum software limit switch index 1060p sub 02 is less than the value of the maximum software limit switch index 1060 sub 01 This defined value range INT32 applies for increments If a gear ratio has been defined this must be taken into account when defining the software limit switches Path Ses Increments counts see section 4 2 Gear Ratio Value range for software limit switch with incremental encoders for a gear ratio GR 1 encoders 231 x GR lt Value x 23 1 x GR 2 147 483 648 x GR Value x 2 147 483 648 x GR Value range for software limit switch with incremental encoders for a gear ratio GR 1 231 lt Value lt 2914 2 147 483 648 lt Value lt 2 147 483 648 Example Gear Ratio GR Maximum Value for Software
79. AO 2 U BP IB IL 24 DO 2 Output Function 1 With Holding Brake 10 V analog output 0 V lt Ug lt 10 V gt positive direction 10 V lt Ug gt 0 V gt negative direction Enable digital output 1 Holding brake digital output 2 A Vout i Movement signal analog 0 U f out Enable Release brake di L ITO LL 0 gt t Travel in Travel in positive direction negative direction 6576A039 Figure 6 2 Output function 1 with holding brake 657601 PHCENIX 6 27 CONTACT IB IL POS 200 PAC IB IL AO 2 U BP IB IL 24 DO 2 Output Function 2 Without Holding Brake OV to 10 V analog output Enable positive direction digital output 1 Enable negative direction digital output 2 A Movement H signal analog o Positive 1 enable 0 Negative enable 1 0 Figure 6 3 Travel in positive direction Travel in Output function 2 without holding brake The output function is set under index 1180 For the IB IL AO 2 U BP IB IL 24 DO 2 output version the entries have the following negative direction 6576A040 meanings Table 6 25 OutputFunction parameter index 118046x for IB IL AO 2 U BP IB IL 24 DO 2 Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Sub Rights index Index Sub W R Output USIGN16 0 No function default 11805 Function
80. Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 5 4 3 2 0 Word 4 Assignment Axis 9 Axis 10 9 2 1 INTERBUS OUT Process Data Words The OUT process data words are control words which are transmitted from the controller board to the IB IL POS 200 For the positioning CPU the axes are ad dressed using control bytes so that it is possible to address and or control two axes with one word Word Word 0 Bit 15 14 13 12 11 10 9 8 7 5 4 3 2 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 5 4 3 2 0 OUTT0 Assignment Control byte for axis 1 Control byte for axis 2 Word Word 1 Bit 15 14 13 12 11 10 9 8 7 5 4 3 2 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 5 4 3 2 0 OUT 1 Assignment Control byte for axis 3 Control byte for axis 4 Word Word 2 Bit 15 14 13 12 11 10 9 8 7 5 4 3 2 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 5 4 3 2 0 OUT 2 Assignment Control byte for axis 5 Control byte for axis 6 9 6 PHGNIX 657601 CONTACT Technical Data and Ordering Data Word Word 3 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 32 1 0 7 6 5 A4 83 2 1 0 OUT 3 Assignment Control byte for axis 7 Control byte for axis 8 Word Word 4 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
81. Configuring and In stalling the INTERBUS Inline Product Range and Automation Terminals of the In line Product Range User Manuals and for information on INTERBUS in general please refer to the Configuring and Installing INTERBUS User Manual For infor mation on other bus systems please refer to the user manual for the relevant bus terminal For information on PCP communication please refer to the Peripherals Communi cation Protocol PCP User Manual Description Order Designation Order No Configuring and Installing the IB IL SYS PRO UM E 27 4304 8 INTERBUS Inline Product Range Automation Terminals of the Inline IL SYS INST UM E 26 98 737 Product Range Configuring and Installing IBS SYS PRO INST UM E 27 43 80 2 INTERBUS Peripherals Communication Pro IBS SYS PCP G4 UME 27 45 169 tocol PCP User Manual Latest documentation Make sure you always use the latest documentation Any changes or additions to on the Internet present documentation can be found in the download area on the Internet at www phoenixcontact com The Phoenix Contact homepage is updated daily 657601 PHCENIX 1 5 CONTACT IB IL POS 200 PAC Orientation in this manual This user manual includes Validity of documentation For easy orientation when looking for specific information the manual offers the fol lowing help The manual starts with the main table of contents that gives you an overview of
82. Direction 3 10 3 3 4 Sequence of Positioning in a Negative Direchon 3 11 3 3 5 Positioning Speed RapidSpeed CreepingSpeed 3 12 3 3 6 POOPING EE 3 12 3 3 7 Backlash Compensation seen 3 17 3 3 8 Positioning Accuracy sssem eem 3 20 3 4 Homing del EE 3 21 3 4 1 Hornirigi EE 3 21 3 4 2 Setting the Reference Point Gefier 3 24 3 4 3 Reference Speed RefSpeed A 3 25 3 4 4 Distance Between Hardware Limit Switch and Zero Point RefDistance AAA 3 25 3 4 5 Adjustment Value cccecessceeceseeeeseeceeseseceeeneeeeeneeeeessentens 3 26 657601 PHCENIX e CONTACT IB IL POS 200 PAC 3 2 PHCENIX 657601 CONTACT Functions of the Positioning CPU 3 Functions of the Positioning CPU Jog mode Step mode Pos mode Ref mode The IB IL POS 200 positioning CPU supports three motion operating modes and homing mode Ref mode for each connected axis Jog mode step mode or posi tioning mode Pos mode can be selected depending on the application Homing mode and homing are required when using relatively operating position detection systems for positioning mode and step mode These functions are selected and controlled via the control byte The details are given in section 5 State Machine In Jog mode an axis is moved in a specific direction at a parameterizable speed JogValue as long as the relevant bit is set in the control byte This fun
83. E E e Denne OCDE INNOVATION IN INTERFACE User Manual IB IL POS 200 PAC Positioning CPU IB IL POS 200 UME 26 98 08 3 Bezeichnung Art Nr User Manual IB IL POS 200 PAC Positioning CPU Bezeichnung IB IL POS 200 UME Revision 01 Art Nr 26 98 08 3 Dieses Handbuch ist g ltig f r IB IL POS 200 28 19 338 IB IL POS 200 PAC 28 61823 Phoenix Contact 08 2003 657601 PHCNIX CONTACT Please Observe the Following Notes In order to ensure the safe use of your device we recommend that you read this manual carefully The following notes provide information on how to use this man ual User Group of This Manual The use of products described in this manual is oriented exclusively to qualified electricians or persons instructed by them who are familiar with applicable national standards Phoenix Contact accepts no liability for erroneous handling or damage to products from Phoenix Contact or third party products resulting from disregard of information contained in this manual Explanation of Symbols Used A IS B Ee We Are Interested in Your Opinion We are constantly attempting to improve the quality of our manuals Should you have any suggestions or recommendations for improvement of the con tents and layout of our manuals we would appreciate it if you would send us your comments Please use the universal fax form at the end of the manual for this 657601 PHCENIX 1
84. IB IL 24 DO 4 for drive control using 24 V digital signals e g from asynchronous motors or pole changing motors with contactors Analog output terminal IB IL AO 2 U BP digital output terminal IB IL 24 DO 2 for controlling drive controllers Operation with holding The analog terminal outputs a defined speed brake with a signal from 10 V to 10 V for drives with variable speeds The two digital terminals output an enable and brake signal Operation without holding The analog terminal outputs a defined speed brake with a signal from O V to 10 V for drives with variable speeds The two digital terminals output either an enable signal for the positive direction or an enable signal for the negative direction DC drive controller IB IL DC AR 48 10A for DC motors with brushgears up to 450 W power output 2 6 PHCENIX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables When setting up the input and output terminals for each axis the order is not impor tant because the terminal addresses that depend on the bus configuration can be stored in the IB IL POS 200 see section 6 3 Activation of Used Axes and Address Assignment for the Terminals To ensure easy operation and clarity in the system we recommend inserting the input terminal s for each axis first and then positioning the output terminal s to the right of them 657601 PHCENIX 2 7 CONTACT IB IL POS 200 PAC Typical
85. In Step mode the axis is moved a defined distance relative to the current position i e a drive can be manually moved very small or even large predefined distances from the current value For precise positioning with a high degree of accuracy the use of positioning mode absolute positioning is recommended IS ERE PAE Nr 3 2 1 Step Speed StepSpeed If drives with adjustable speed are used the speed can be freely selected for both directions in Step mode For the IB IL AO 2 U BP IB IL 24 DO 2 and IB IL DC AR 48 10A output versions the speed values are specified as a percent age of the maximum speed For the IB IL 24 DO 4 output version the speeds specified by the contactor circuits in rapid or creeping motion are used see section 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version 3 2 2 Step Distance and Step Stop Window StepUnit and StepStopWindow The desired step distance StepUnit can be parameterized and refers to the gear ratio As the speeds can be freely parameterized a stop window StepStopWindow must also be parameterized to provide the highest possible degree of positioning accuracy The distance required by the axis to come to a stop after the drive is shut down is entered in this window In step mode one stop window can be parameter ized for the positive direction and one for the negative direction The drive is shut down at the value equal to the step distance minus the stop win dow
86. Limit Switch 1 um 1000 inc 2 147 483 1 um 100 inc 21 474 836 1 um 10 inc 214 748 364 1 um 1 inc 2 147 483 647 gt 1 2 147 483 647 6 48 PH NIX 657601 CONTACT Basic Parameterization Software limit switches for absolute encoders and 231 lt Value lt 231 1 Example for an absolute encoder with a resolution of 25 bits 2 4 x GR lt Value x 2 4 1 x GR and 231 lt Value lt 231 1 Value range for a software limit switch with absolute encoders 2 Resolution in bits 1 x GR lt Value lt 2 Resolution in bits 1 1 x GR Table 6 52 Parameters for software limit switches index 10601ex Invoke ID 1 4 7 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R MaxSwLimSwitch INT32 Software limit switch ina s unit 1060nex 01 positive direction W R MinSwLimSwitch INT32 Software limit switch ina s unit 106044 02 negative direction Can only be written in Ready operating mode 657601 6 49 PHCENIX CONTACT IB IL POS 200 PAC NumeratorGearRatio and DenominatorGear Ratio parameters gear ratio The gear ratio can be specified using index 1061 sub 01 sub 02 see section 4 2 Gear Ratio When the gear ratio is changed a new reference point must be de fined for incremental encoders The gear ratio is defined as follows Path _ NumeratorGearRatio _ Index10
87. This takes the drive coasting range into account 657601 PHCENIX 3 5 CONTACT IB IL POS 200 PAC Example of Jog mode in a positive direction A Positive step speed StepSpeedPos E Path Current position Positive step stop window StepStopWindowPos Step distance StepUnit Ea 6576A013 Figure 3 1 Example of Jog mode in a positive direction 36 PH NIX 657601 CONTACT Functions of the Positioning CPU Function Logic IS 3 3 Positioning Mode Absolute Positioning Positioning mode Pos mode can be used to move a drive with absolute position specifications to a target position i e positioning mode can be used to precisely move a drive small or even large distances to a defined target position The positioning CPU uses the rapid creeping speed principle for positioning In this method positioning starts at rapid speed At a predefined point the drive switches to creeping speed which allows it to approach the target slowly increased position ing accuracy At the stop point the drive then switches from creeping speed to stop During the positioning process the positioning CPU controls the output signals for drive control once positioning has started As soon as the axis exceeds the pre defined position thresholds the CPU first switches from rapid speed to creeping speed and then from creeping speed to stop Once the target position is reached the drive is shut down i e it does
88. V PCP Process Channel data channel 6576A055 Figure 9 1 Assignment of process data in the local bus Process Data Channel Assignment Word Word 0 Bit 15 14 1312 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 13 2 1 0 7 6 5 41 3 2 1 0 Word 0 Assignment Axis 1 Axis 2 Word Word 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Word 1 Assignment Axis 3 Axis 4 Word Word 2 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Word 2 Assignment Axis 5 Axis 6 657601 PHCENIX 9 5 CONTACT IB IL POS 200 PAC Word Word 3 Bit 15 14 13 12 11 10 9 8 7 5 4 3 2 0 Byte bit view Byte Byte 0 Byte 1 Bit 7 6 5 4 3 2 1 0 7 5 4 3 2 0 Word 3 Assignment Axis 7 Axis 8 Word Word 4 Bit 15 14 13 12 11 10 9 8 7 5 4 3 2 0
89. W R DelayTime USIGN16 Waiting time until direction of rota ms 1063 02 Supervision tion and downtime monitoring is hex Direction active 0 to 5000 0 default WIR Disable BOOL Switch off direction of rotation and 1064 01 Supervision downtime monitoring hex Direction 0 Monitoring active default 1 Monitoring not active W R TimeSlot USIGN8 Time slot for direction of rotation 1064 02 Supervision and downtime monitoring hex Direction 0 t 60 ms default 1 t 120 ms 2 t 180 ms n t n 1 x 60 ms W R JogValuePos USIGN16 Jog speed in a positive direction v 1070 01 unit hex W R JogValueNeg USIGN16 Jog speed in a negative direction v 1070 02 unit hex W R StepSpeedPos USIGN16 Step speed in a positive direction v 1072 01 unit hex W R StepSpeedNeg USIGN16 Step speed in a negative direction v 1072 02 unit hex W R StepUnit USIGN16 Step distance S 1073 unit hex WIR StepStop USIGN16 Step stop window in a positive S 1074 01 WindowPos direction unit hex W R StepStop USIGN16 Step stop window in a negative S 1074 02 WindowNeg direction unit hex W R RefPoint INT32 Reference offset S New Ref 1080 unit hex A 6 657601 PHCENIX CONTACT Tables Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Uni
90. al Signals Table 6 29 Output assignment for output function 3 Status Output 1 Output 2 Output 3 Output 4 Positive Rapid Positive Creep Negative Negative Rapid Motion ing Motion Creeping Motion Motion Downtime 0 0 0 0 Positive creeping motion 0 1 0 0 Positive rapid motion 1 0 0 0 Negative creeping motion 0 0 1 0 Negative rapid motion 0 0 0 1 IB IL 24 DO 4 Output Function 4 Control of Drive Amplifiers With Three Digi tal Signals and One Digital Signal to Control a Holding Brake Table 6 30 Output assignment for output function 4 Status Output 1 Output 2 Output 3 Output 4 Positive Negative Rapid Motion Release Brake Direction Signal Direction Signal Positive creeping motion 1 0 0 1 Negative creeping motion 0 1 0 1 Positive rapid motion 1 0 1 1 Negative rapid motion 0 1 1 1 Downtime 0 0 0 0 657601 PHGNIX 6 31 CONTACT IB IL POS 200 PAC The output function is set under index 1180hpex sion the entries have the following meanings For the IB IL 24 DO 4 output ver Table 6 31 OutputFunction parameter index 1180 for IB IL 24 DO 4 Invoke ID 1 4 7 28 Access Designa Data Type Description Unit Other PCP Index Rights tion Subindex Index Sub W R Output USIGN16 0 No function default 11805 Function 1 Output function 1 DO4 2 Output function 2 3 Output function 3 4 Output function 4 5 to 65536
91. al is designed so that it can be used in this type of control box The IB IL POS 200 positioning CPU is an Inline terminal The housing dimensions are determined by the dimensions of the electronics base and those of the connec tors The electronics base for the terminal has an overall width of 109 8 mm 4 323 in This means that five connectors each with a width of 12 2 mm 0 480 in can be connected With connectors the terminal has a depth of 71 5 mm 2 815 in anda height of approx 135 mm 5 315 in EIS S EX o OIN a 85x al Eo 109 8 mm 4 323 6576A063 Figure 1 1 Electronics base dimensions 657601 PHCENIX Ls CONTACT IB IL POS 200 PAC Connectors Operation requires four IB IL SCN 8 connectors and one IB IL SCN 6 SHIELD shield connector to which no cables are connected Its task is to cover the contacts Connector 5 is only connected during parameterization via the RS 232 interface see section Terminal Point Assignment on page 1 7 112 4 mm 4 425 SB 2 00 g d E 00 S nn I 00 412 2 mm 0 480 s mm 40 6576A001 Figure 1 2 Dimensions of the standard connector A Standard connector B Shield connector The depth of the con
92. all the sections and their topics On the left side of the pages within the sections you will see the topics that are covered in the section Each manual section starts with an overview of the section topics In the Appendix you will find a list of figures and a list of tables In the Appendix you will also find explanations of typical INTERBUS terms ab breviations and symbols used in this manual The index at the end of this manual helps you find the term you are looking for An overview of the possible applications offered by the IB IL POS 200 PAC posi tioning CPU The following sections contain general information about working with the terminal Topics are for example Terminal structure Installation and wiring Description of functions Explanation of parameter transmission PCP Explanation of process data operation Notes on parameterization and configuration Technical data Phoenix Contact reserves the right to make any technical extensions and changes to the system that serve the purpose of technical progress Up to the time that a new manual revision is published any updates or changes will be documented in the download area on the Internet at www phoenixcontact com 1 6 PHGNIX 657601 CONTACT Table of Contents 1 Function and Structure of the Positioning CDU 1 3 1 1 la sen 1 3 1 2 Terminal Structure nrin ae a a 1 5 1 2 1 Housing Dimensions
93. alyzed using error tables and their additional diagnostic codes index 0161 sub 02 657601 PHCENIX 29 CONTACT IB IL POS 200 PAC Acknowledging errors Axis Function Errors To remove these errors refer to the error tables with their additional diagnostic code index 0159 sub 02 and the function descriptions They provide the user with error causes and starting points for error removal An axis function error may be one of the following errors which only affect the se lected axis In this case index 0159 sub 01 should be read see also Appendix A 2 Error Tables FFA2 error on IB IL SSI FFAG error on IB IL INC IN software driver FFAA error on IB IL INC IN FFCO parameterization error invalid parameters FFC1 I O module not ready FFC2 direction of rotation and downtime monitoring has been triggered FFCS error during homing FFCA limit switch has been triggered FFC5 parameterization error unknown version parameterized FFE2 error on IB IL 24 DO 4 FFES error on IB IL AO 2 U BP IB IL 24 DO 2 FFE6 error on IB IL DC AR 48 10A software driver FFET error on IB IL DC AR 48 10A FF41 parameterization error invalid target position entered FF42 axis not homed For additional diagnostics refer to the additional diagnostic code index 1059 sub 02 Once the axis function error has been removed the controller mu
94. ameter specifies whether access rights are checked when accessing device objects FF Access rights are checked 00 Access rights are not checked Password Manufacturer specific but generally not used 00 Access Groups Negative Confirmation Manufacturer specific but generally not used 00 If an error is detected during connection establishment a negative confirmation with an error indication is entered in words 4 and 5 657601 PHCENIX Es CONTACT IB IL POS 200 PAC Table 8 4 Initiate_Confirmation negative Syntax Word 1 Message_Code 808Bhex Word 2 Parameter_Count 0008hex Word 3 Comm _Reference 0002hex Word 4 Error_Class Error_Code XXXXhex Word 5 Additional_Code XXXXhex Word 6 Send_Buffer high Send_Buffer low 00F6hex Word 7 Receive_Buffer high Receive_Buffer low 00F6hex Word 8 Services_Supported 1 Services_Supported 2 0000hex Word 9 Services_Supported 3 Services_Supported 4 0000hex Word 10 Services_Supported 5 Services_Supported 6 3080hex Bit RE T ESPE eet aui e Send_ Receive_Buffer Size of the buffers for the remote device The buffer sizes for the positioning CPU are specified in the low send and receive buffers 246 bytes each F6pex The high send and receive buffers are not supported Services_Supported This parameter contains the services supported by the positioning CPU see PCP User Manual In the event of an error the propertie
95. ameter this function the parity check will be carried out when the current actual position is determined The parity value 1 or 2 must be entered under index 1102hex sub 02 If two errors occur one after another during this check an INPUT error is output see Appendix A 2 2 INPUT Errors The encoder parity value which is specified in the data sheet provided by the encoder manufacturer is entered under index 1102p6x sub 02 If the value 0 is entered a parity check is not carried out Table 6 43 Parity parameter index 110255 sub 02 for IB IL SSI Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R Parity SSI USIGN8 Encoder parity 1102hex 02 0 None 1 Even 2 Odd Code SSI parameter The transmission code can be entered under index 110344 sub 01 Depending on the encoder either binary or Gray code can be selected A 0 specifies evaluation in binary code and a 1 specifies evaluation in Gray code Table 6 44 Code parameter index 1102545 sub 03 for IB IL SSI Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R Code SSI USIGN8 0 Binary code 1102 03 1 Gray code 657601 PHGNIX 6 43 CONTACT IB IL POS 200 PAC InvertLimitSwitch The limit switch can be inverted and activated or deactivated under index 1103 SSI parameter sub 01 When activated the lim
96. ance and Step Stop Window StepUnit and StepStopWindow eese 3 5 657601 PHCENIX i CONTACT IB IL POS 200 PAC 3 3 Positioning Mode Absolute Positioning eee 3 7 3 3 1 Definition of Parameters for the Target Area for Positioning knina enn tee i Si a ee 3 8 3 3 2 Positioning Sequence and Structure of Positioning Data Records AAA 3 9 3 3 3 Sequence of Positioning in a Positive Direction 3 10 3 3 4 Sequence of Positioning in a Negative Direction 3 11 3 3 5 Positioning Speed RapidSpeed CreepingSpeed 3 12 3 3 6 Bee le WT 3 12 3 3 7 Backlash Compensation eene 3 17 3 3 8 Positioning Accuracy sseem 3 20 3 4 Homing Mode seach rm c du eae ae db cte 3 21 3 4 1 HOmMINg PR 3 21 3 4 2 Setting the Reference Point SetRef AA 3 24 3 4 3 Reference Speed RefSpeed A 3 25 3 4 4 Distance Between Hardware Limit Switch and Zero Point RefDistance AA 3 25 3 4 5 Adjustment Value 3 ne Edere EEN 3 26 A BASIC Setllligs EE 4 3 4 1 Axis Function Linear Axes 4 4 4 2 Gear Ration fic unde p RU D e Ud iaceo 4 5 4 8 Downtime Monitoring and Limit Switches AA 4 7 4 8 1 Downtime Monitoring AN 4 7 4 3 2 Hardware Limit Switches AAA 4 7 4 3 3 Software Limit Switches A 4 8 4 4 Relationship Between Positioning Accuracy and Creeping Speed 4 10 4 5 Stop Path When a Hardware Limit Switch Is Trig
97. arameter records for the individual axes are addressed via the Invoke IDs The axes are assigned to the Invoke IDs as follows Table A 1 Assignment of Invoke IDs to the individual axes Axis Number Invoke ID 1 1 2 4 3 7 657601 PHCENIX xx CONTACT IB IL POS 200 PAC Table A 1 Assignment of Invoke IDs to the individual axes Continued Axis Number Invoke ID 4 10 5 13 6 16 7 19 8 22 9 25 10 28 The following index table is sorted according to the value of the index The same indices may have different meanings for different encoder and output versions Table A 2 Parameters Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub R Software USIGN32 Software version Invoke ID 0 0160 Version POS200 hex R System USIGN16 System diagnostic code 0161 01 DiagCode Invoke ID 0 fios POS200 R SystemAdd USIGN16 Additional system diagnostic code 0161 02 DiagCode Invoke ID 0 hex POS200 W R Interface USIGN16 Transfer write authorization 0168 WriteEnable 0 No function hex 1 Local bus interface towards the higher level control system default 2 RS 232 interface 3 to 65535 No function Invoke ID 0 A 2 PH NIX 657601 CONTACT Tables
98. arge ESD EN 61000 4 2 IEC 61000 4 2 Criterion B 6 kV contact discharge 8 kV air discharge Electromagnetic fields ENV 50140 Criterion A IES orn Field strength 10 V m Fast transients burst EN 61000 4 4 IEC 61000 4 4 Criterion B Supply lines 2 kV Signal data lines 2 kV Conducted interference ENV 50141 Criterion A IEC 61000 4 6 Test voltage 10 V Noise emission of housing EN 55011 Class A 9 10 PH NIX 657601 CONTACT Technical Data and Ordering Data 9 4 Ordering Data Ordering Data for Terminals 657601 PHGNIX CONTACT Description Order Designation Order No Positioning CPU with connectors and labeling fields IB IL POS 200 PAC 28 61 823 Positioning CPU without connectors and labeling fields IB IL POS 200 28 19 338 INTERBUS Inline terminal for connecting a remote bus IBS IL 24 RB T PAC 28 61 44 1 branch with connectors and labeling fields INTERBUS Inline terminal for connecting a remote bus IBS IL 24 RB T 27 27 94 1 branch without connectors and labeling fields Servo amplifier for DC motors with brushgears including IB IL DC AR 48 10A 28 19286 COMBICON connectors Inline terminal for incremental encoders with connectors IB IL INC IN PAC 28 61 755 and labeling fields Inline terminal for incremental encoders without connec IB IL INC IN 28 19228 tors and labeling fields Positioning terminal for absolute encoders wit
99. ash compensation is enabled this only has an effect if the start position target position path does not correspond to the parameterized direction of travel for approaching the target TargetDirection In this case the axis is first moved the loop distance value LoopDistance past the target and then the target is approached from the desired direction see Example 1 on page 3 13 and Example 2 on page 3 14 If due to active backlash compensation the direction of travel must be changed to reach the target a limit switch may be passed during looping In this case position ing is aborted at the limit switch and an error message is generated even though the target position is in the defined range If possible the parameters software limit switch loop distance should be modified so that limit switches are not passed even during backlash compensation for parameters see page 7 7 The approach from the correct target approach direction is carried out completely at creeping speed The values for the change in direction are taken from the loop distance LoopDistance and direction of travel TargetDirection parameters see section 3 3 6 Looping 657601 PHCENIX SR CONTACT IB IL POS 200 PAC Example 1 v Positive creeping __ speed Loop distance Bel Positive stop window Start position Target position Path Negative creeping speed Negative stop Neg
100. ate Request Syntax sssseeeee 8 8 Table 8 3 Initiate Confirmation positive Syntax 8 9 Table 8 4 Initiate Confirmation negative Syntax 8 10 Table 8 5 Read Request Syntax ssssseeeeeeenne 8 11 Table 8 6 Read Confirmation positive Syntax 8 12 Table 8 7 Read Confirmation negative Syntax 8 12 Table 8 8 Write Request Syntax 8 13 Table 8 9 Write Confirmation positive Syntax u u u ssneseecerererer 8 13 Table 8 10 Write Confirmation negative Syntax 8 14 Table 8 11 Device specific error messages for the IB IL POS 200 8 14 Table 8 12 Abort Request Syntax sessseseeeeenenne 8 15 Appendix A Table A 1 Assignment of Invoke IDs to the individual axes A 1 Table A 2 Parameters len pb sad A 2 Table A 3 System errors lower level bus master interface A 11 Table A 4 System errors reported by the positioning CPU A 13 Table A 5 INPUT errors gt ged ee ENEE EE See P AEREAS A 18 Table A 6 POS I GIfOIS iste neha Siete erbe seed A 21 Table A 7 OUTPUT te A 26 Table A 8 EE A 30 B 8 PHGNIX 657601 CONTACT B3 Index Adjustment value Analog output Terminal Axis assignment reconfiguration sene B Backlash
101. ative rapid edie EENG Speed Positive pre stop window ra gt 6576A021 Figure 3 9 Sequence of positioning with backlash compensation parameterized direction of travel when approaching the target positive Start position target position path negative 3 18 PHGNIX 657601 CONTACT Functions of the Positioni ng CPU Example 2 v Positive pre stop window Positive rapid Positive speed stop window Positive creeping eOe aa ANN honn A speed Target position p Path Start a position Negative creeping J LLN speed Negative stop window F228 gt Loop distance ret Leg 6576A022 Figure 3 10 Sequence of positioning with backlash compensation parameterized direction of travel when approaching the target negative Start position target position path positive 657601 PHCENIX 3 19 CONTACT IB IL POS 200 PAC 3 3 8 Positioning Accuracy The positioning accuracy depends on the mechanics and the speed The slower the drive approaches the target the more precisely the target is reached A positioning accuracy in the um range can be achieved The windows and speeds should be pa rameterized by the user according to the desired degree of accuracy The following parameters have a direct effect on the positioning accuracy Creeping speed Stop window Target window If the Creeping Speed Is Increased The stop window must
102. ator specifies the distance traveled in the desired unit of measurement and the denominator specifies the number of increments cor responding to this distance Example You want to enter the position parameters and the actual position in centimeters rather than increments You know that a predefined path is 200 mm long and that this represents 4000 increments Path 200 mm Number of increments 4000 GR Path _ NumeratorGearRatio _ 200 Increments counts DenominatorGearRatio 4000 Where GR Gear ratio Once the gear ratio has been defined the following values are specified and output in the new unit of measurement s unit Actual position Target position Pre stop window Stop window Target window Loop distance Step distance Reference offset Maximum permissible distance between limit switch and zero point Software limit switches The user must determine the relationship between the numerator and denominator of the gear ratio using the encoder and gear data This data can be used to calcu late how many increments are traveled in a specific distance If this data is not available it is also possible to set both the numerator and denom inator for the gear ratio to 1 in order to travel a predefined distance As the actual position is output in increments when the gear ratio 1 it is then possible to deter mine the number of increments that corresponds to this distance by calculating the dif
103. be adjusted to the new creeping speed If the creeping speed is increased the stop window must also be increased because the drive re quires a longer stop zone at a higher speed The higher the creeping speed the more difficult it is to achieve a high degree of accuracy If necessary the target window can also be increased This process is more dynamic but less accurate If the Creeping Speed Is Reduced The stop window must be adjusted to the new creeping speed If the creeping speed is reduced the stop window must also be reduced because the drive re quires a shorter stop zone at a lower speed The lower the creeping speed the easier it is to achieve a high degree of accuracy If necessary the target window can be reduced This process is less dynamic but more accurate 3 20 PHCENIX 657601 CONTACT Functions of the Positioning CPU Reference offset 3 4 Homing Mode Relatively operating position detection systems are read via input terminals which operate using positioning counters These positioning counters are set to zero when switched on To read usable information from the positioning counter after switching it on the axis must be moved to a specific position at which the position ing counter can then be set to the relevant position value e g zero This is known as homing Homing can be carried out by the IB IL POS 200 using an automatic homing function or by setting the reference point to a position w
104. bits If INTERBUS and a PC are used as the remote bus there is no need to establish an additional connection with the parameterization software via RS 232 the INTERBUS connection can be used The other bus systems must be connected via the RS 232 interface 657601 PHCENIX ES CONTACT IB IL POS 200 PAC InterfaceWriteEnable 6 1 Controlling Communication via RS 232 or Local Bus Interface This section describes the procedure for switching between the local bus interface and the RS 232 interface Both interfaces have constant read access to all PCP objects except for the lower level IB IL DC AR 48 104 and the status and control bytes However only one of the interfaces has write authorization at any given time During initialization the local bus interface has write authorization If the Phoenix Contact parameterization software is connected via the RS 232 interface the individual functions e g positioning can also be carried out without a local bus connection Index 0168nex is used to transfer write authorization from the local bus interface to parameter the RS 232 interface It is only possible to switch between the RS 232 and local bus interface if no axes are moving i e if the enable bits of all axes are set to zero or on a timeout aborted communication on the process data interface Write authorization can only be returned from the RS 232 interface to the local bu
105. ction IB IL AO 2 U BP IB IL 24 DO 2 6 26 Parameter Parity SSI ecc chance rene 6 43 AddDiagCodeAxis sss 6 53 PDUSize 6 47 AddressInputi ees 6 16 PreStopWindowNeg 74 AddressinpUut2 2 eem 6 16 PreStopWindowPos 74 Address Output un 6 17 ProcessDataV24 comma 6 46 AddressOutpute esses 6 17 Rapid SpeedPos 7 6 Adjustmentv alue ue 7 14 RapidSpeedNeg s 7 6 Axis Br Wiad Mac ea 6 54 RefCreepingSpeed 742 ChangeDirection INC 6 39 RefDistance 7 44 Eege tenance E RefLimitSwitch 111111111 1111s1111n 7 13 CreepingSpeedNeg ee e REPOM eut etes feet tare 7 11 EE ee as RefRapidSpeed sssssssssses 7 12 ACUI CIEE OSIM OD cis een 67420 93 RefVariant NG 6 40 Ge disnei eet HER ee P festes 7 13 RefVariant ei 6 44 DelayedReleaseTime 6 33 SoftwareVersion Dean 6 45 DelayTimeReverse sess 6 51 StepSpeedNeg 7 9 DelayTimeSupervisionDirection 6 51 StepSpeedPos 79 DenominatorGearRatio 6 50 StepStopWindowNeg 7 10 DiagCodeAxis eet 6 53 StepStopWindowPos s 7 10 Direction uet Rees 6 23 StepUnit 7 10 DisableSupervisionDirection 6 51 StopWindowNeg 7 5 EarlyReleaseTime sss 6 33 StopW
106. ction is used for example when setting up machines In Step mode the axis is moved a defined distance relative to the actual position In this mode the step speed and step distance can be parameterized In Pos mode positioning mode the higher level control system sends an absolute target position to the positioning CPU Positioning can be started by the higher level control system via a control bit The modular positioning CPU then carries out po sitioning automatically and confirms the result to the higher level control system in the status byte hand shaking between supervisor CPU and positioning CPU The positioning CPU uses the rapid creeping speed principle for positioning Posi tioning is started at rapid speed In order to reach the target as precisely as possi ble the drive is switched to creeping speed at a defined position and then switched off at the stop point Once the target position is reached the drive is switched off which means that it does not provide torque in the target position Due to its fast response logic the positioning CPU can achieve a positioning accu racy in the um range using this simple method The actual position value can be read in every bus cycle Ref mode homing mode is used in relatively operating position detection systems to set the positioning counter to zero at a specific position This is necessary be cause when the system is switched on the positioning counter is set to zero but the
107. d status indicators 657601 PHCENIX 1 9 CONTACT IB IL POS 200 PAC Table 1 2 Local LED diagnostic and status indicators Des Color Meaning D Yellow LED Diagnostics for higher level bus ON Communications power present module function error free bus active Flashing 0 5 Hz Communications power present bus not active slow 2Hz Communications power present I O error medium 4Hz Communications power present cable interrupt before the module fast OFF No communications power SF Yellow LED System failure ON The application CPU has run through a second reset after a power on reset check the application program OFF No error RUN Green LED Local bus LED local bus running ON The lower level bus is ready to operate and data is being transmitted Flashing The lower level bus is ready to operate but no data is being transmitted OFF The lower level bus is not ready to operate FAIL Red LED Controller failure ON Error in the lower level bus bus error Invalid command from the application program user error nternal controller error OFF No error L1 Yellow LED Peripheral fault in the local bus ON Peripheral fault in the local bus bus can still be operated OFF No peripheral fault L2 Green LED Transmit receive PCP communication ON PCP communication with the higher level control system OFF No PCP communication with the higher
108. ddresses of the input terminals are entered under index 103444 sub 01 The first terminal after the positioning CPU always has address O If an input terminal is connected to an additional input terminal see Table 6 6 Axis 2 IB IL SSI IB IL 24 DI 2 the address of this additional terminal should be stored under index 10344 sub 02 Table 6 12 AddressInput parameter index 10344 Invoke ID 1 4 7 28 Access Designation Data Description Mod PCP Index Sub Rights Type ules Othe index r Index Sub W R Address USIGN16 Address in the local bus structure for New Ref 1034hex 01 Input1 the first input terminal W R Address USIGN16 Address in the local bus structure for New Ref 103416x 02 Input2 the second input terminal 6 16 657601 PHCENIX CONTACT Basic Parameterization With reference to the typical structure the following entries should be made in index 1034pex sub 01 02 for the individual axes Table 6 13 Entries in index 1034 Axis Num Invoke ID Entry in Index 1034 Entry in Index 1034 ber Sub 01 Sub 02 1 1 0 2 4 4 6 3 7 9 4 10 12 5 13 17 Due to the selected input version no entries are expected for the empty fields of sub 02 This means that an address value is only required for input version IB IL SSI IB IL 24 DI 2 The addresses of the output terminals are entered under index 1038hex sub 01 If an
109. dependent from one another there are as many independent state machines as there are axes active on the IB IL POS 200 The state machine illustrates the various states that are supported by the individual axes of the IB IL POS 200 The current status is externally visible via the bit pattern displayed in the boxes which can be read in the status byte This status is valid for a specific period of time Events may cause the axis control system to change status These events may be caused by internal functions or by external commands control bits The boxes are linked by arrows which indicate which changes of sta tus are possible and which command or event would trigger the changes The Flowchart The flowchart is designed to help the user to understand the relationships between the individual states It provides examples of how the individual axes can be con trolled externally i e by a higher level system PLC The flowchart therefore provides an example of a control program on the higher level control system 657601 PHCENIX SS CONTACT IB IL POS 200 PAC Power up V Init firmware starts up CN Status 000 00 000 i I Firmware startup complete Control byte ed CH MER e XXX XX ORO Status X00 XX 001 a Control byte Control byte XXX 00 001 Control byte 000 XX 000 Control byte XXX 01 001 Control byte C
110. dow The position is outside the tar Check pre stop window and stop get range window 1090 01 to Correct the entry in index 1090hex 1090 05 sub 01 to index 1090pex sub 05 for the relevant axis A 30 657601 PHCENIX CONTACT Tables Table A 8 Other errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FF44hex Axis not enabled 0001 hex Positive edge on bit 5 al though axis not in Operating state First set the axis to Operating 0002 hex Positive edge on bit 6 al state and then initiate the function though axis not in Operating state 657601 A 31 PHCENIX CONTACT IB IL POS 200 PAC A 32 PHCENIX 657601 CONTACT B Appendices List of Figures B 1 List of Figures Section 1 Figure 1 1 Electronics base dimensions eee eee eee eee teen tees 1 5 Figure 1 2 Dimensions of the standard connector 1 6 Figure 1 3 Assignment of terminal points for the positioning CPU 1 7 Figure 1 4 Local LED diagnostic and status indicators 1 9 Section 2 Figure 2 1 Typical architecture of an Inline station with IB IL POS 200 and all the different options for input and output terminals 2 8 Figure 2 2 Typical architecture in the control cabinet 2 10 Section 3 Figure 3 1 Example of Jog mode in a positive direction 3 6 F
111. e Machine Pos mode Status XXX 01 011 Control word X00 01 001 Change of Sub State STOP status Status 100 01 011 Control word OOR 01 001 Sub State RUN Status 101 01 011 If not If Error reached reached Change of Sub State POSDRIVEEND Status Status 110 01 011 Control word OOR 01 001 6576A033 Figure 5 11 Pos mode positioning mode Control bit 5 StartPos Status bit 5 RUN Status bit 6 PosDriveEnd 6576A034 Figure 5 12 StartPos PosDriveEnd 657601 PHCENIX 5 21 CONTACT IB IL POS 200 PAC 5 5 Step Mode Control Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Step Left Step Right 10 Step mode Stop Quit Enable Status Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet Step Run 10 Step mode Error Active Ready Step mode is set by writing the control word XXX 10 001 from the Ready state i e selecting Step mode 10 and also setting the enable bit The positioning CPU acknowledges this command by displaying the active bit in the status byte The device remains in Step mode as long as bits 3 and 4 in the control byte are set to Step mode and the enable bit is set If no rising edge is generated at the Step Left and Step Right bits the device directly enters substate STOP If one of these bits is set
112. e moves at creeping speed before reaching the target This value dec applies for positioning in a positive direction and must be greater than the value of the stop window in this direction The maxi mum value is 21474834 and refers to the gear ratio VAFn Index 10904 Sub 02 This index specifies the window in which the drive moves at creeping speed before reaching the target This value dec applies for positioning in a negative direction and must be greater than the value of the stop window in this direction The maxi mum value is 2147483 y and refers to the gear ratio AFp Index 10904 Sub 03 This value is the distance which the drive travels after the motor is stopped This value dec applies for positioning in a positive direction The value must not exceed the value of the pre stop window in this direction index 109055 sub 01 It must also meet the following condition GR x Value lt 65535 ye 7 4 PHCENIX 657601 CONTACT Parameterization of Functions StopWindowNeg parameter negative stop window TargetWindow AFn Index 10904 Sub 04 This value is the distance which the drive travels after the motor is stopped This value dec applies for positioning in a negative direction The value must not ex ceed the value of the pre stop window in this direction index 1090hex sub 02 It must also meet the following condition GR x Value lt 65535 ye ZF Index 10904 Sub 05
113. e position switch and zero pulse Z signal can be read under index 11205 This value is the adjustment value which is specified in increments regardless of the gear ratio Table 7 12 RefDistance and AdjustmentValue parameters index 108546 and 1120p6x Invoke ID 1 4 7 28 Access Designation Data Description Unit Mod PCP Index Rights Type ules Subindex Other Index Sub W R RefDistance INT32 Distance to the limit switch within s unit 1085hex which the zero pulse should appear If this distance is exceeded i e there is no zero pulse homing is aborted with an error message R Adjustment USIGN16 Difference between home position inc 1120hex Value switch and zero pulse 7 14 PH NIX 657601 CONTACT Section 8 This section provides information about Communication and process data mode in the Peripherals Communication Protocol PCP Peripherals Communication Protocol PCP 8 3 8 1 Communication Mode 8 3 8 1 1 Services USET 35d Leite drip me d tectae 8 3 8 1 2 Principle of Communication 8 4 8 1 3 Description of General Parameters A 8 5 8 1 4 Key PCP Services AAA 8 6 8 2 Process Data Operation oder i aner 8 16 657601 PHCENIX 8 1 CONTACT IB IL POS 200 PAC 8 2 PHCENIX 657601 CONTACT Peripherals Communication Protocol PCP 8 Peripherals Communication Protocol PCP Communication with the IB IL POS 200 positioning CPU is carried out in PCP mode Peripherals Communication P
114. er_Count 0005nex Word 3 Invoke ID Comm Reference 0102 Word 4 Result 0000hex Word 5 Length 0004nex Word 6 Data 1 Data 2 0000hex Word 6 Data 3 Data 4 O3E8hex Bit 15 insidias 8 KEE Negative Confirmation In the event of an error information about the error is provided Table 8 7 Read_Confirmation negative Syntax Word 1 Message_Code 8081 hex Word 2 Parameter_Count 0003hex Word 3 Invoke_ID Comm _Reference 0002hex Word 4 Error_Class Error_Code 0605hex Word 5 Additional_Code 0000hex Bit WED E 8 KEE In this case an error in Class 6 Error Class 6 with error code O5hex Error Code 05 has occurred This means that a service parameter e g Length or Subindex in the Read Request service was not specified correctly Check your entries and try to request the data again using the Read Request service 8 12 PHCENIX CONTACT 657601 Peripherals Communication Protocol PCP Write This service can be used to send a data field Data from your control system to a local bus device For arrays and records you can specify whether the entire object or only an element of the object is to be written Send a write service each time you want to write to an object The examples used here for sending a write service are for the definition of the loop distance for the positioning function on axis 1 Table 8 8 Write_Request Syntax Word 1 Command_Code 0082hex Word 2 Parameter_Count 0004hex Word 3 Invo
115. error messages for the IB IL POS 200 Additional_Code Meaning FFFEnex Invalid number of axes FFFDhe No write access at present FFFBhex Number of transmitted bytes does not correspond Length FFFAnex Reserved FFF9hex No write access for the interface used bus or V 24 FFF8hex No connection established with the lower level IB IL DC AR 48 10A FFF7hex Lower level IB IL DC AR 48 10A responds with invalid com mand code This error occurs for example if you try to write a new parameter record dur ing operation see section 5 State Machine 8 14 PH NIX 657601 CONTACT Peripherals Communication Protocol PCP Abort The Abort service can be used to abort a connection It is an unconfirmed service i e no abort confirmation is sent The service is called using the Abort Request command The Abort Request contains only the communication reference for the connection to be aborted The example in the right hand column of the table shows the connec tion release for the positioning CPU with CR 2 Table 8 12 Abort Request Syntax Word 1 Command Code 088D pex Word 2 Parameter Count 0002hex Word 3 Comm _Reference 0002hex Word 4 Reason_Code Abort_Detail_Length 0000hex Bit KS EE 8 KE 0 Reason_Code Reason for the connection abort default 0016x Abort_Detail_Length Not used Entry is 0016x 657601 PHGNIX 8 15 CONTACT IB IL POS 200 PAC 8 2 Process Data Operation Process Da
116. erted 6 4 1 Use of the IB IL DC AR 48 10A Output Version The IB IL DC AR 48 10A servo amplifier can be used to operate DC motors with brushgears up to 450 W power output The servo amplifier conforms to DRIVECOM Profile 22 whereby all parameters are read and written as indices using PCP ser vices as for the IB IL POS 200 The IB IL DC AR 48 10A is operated as a lower level bus device on the IB IL POS 200 All parameters are written to the IB IL POS 200 and then trans ferred transparently to the IB IL DC AR 48 10A via the PCP channel All bus de vices below the IB IL POS 200 including the servo amplifier are addressed using an Invoke ID which is not equal to zero 657601 PHGNIX 6 23 CONTACT IB IL POS 200 PAC To address the desired axes using the IB IL DC AR 48 10A the following Invoke IDs should be selected Table 6 23 Invoke ID for IB IL DC AR 48 10A Axis Number Invoke ID for IB IL DC AR 48 10A 1 3 6 9 12 15 18 21 24 OoOo NI OD oO AJOJN 27 CH 20 During parameterization note that a waiting time of 2 to 3 seconds is added after writing the output version index 1036544 the address index 1038hex and the general output parameters indices 1180hex 1182hex 1184hex 1185hex 1186 pe This enables the IB IL POS 200 to transfer this data to the IB IL DC AR 48 10A and to await confirmation before further communication The IB IL POS 200 st
117. ex Positive hardware limit switch has been triggered 0004 hex Negative hardware limit switch has been triggered A 24 PHCENIX CONTACT 657601 Tables Table A 6 POSI errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FFC5hex Unknown version parameterized 0001 hex Unknown input version 1032 Correct the entry in index 1032p for the relevant axis 0002 hex Unknown positioning version 1030 Correct the entry in index 103016x for the relevant axis 0003hex Unknown output version 1036 Correct the entry in index 103655 for the relevant axis FFC6hex Timeout 0001 hex Timeout for process data via the Check connector slave interface 0002hex Timeout for control bytes via the Check connector RS 232 interface 657601 PHCENIX A 25 CONTACT IB IL POS 200 PAC A2 4 OUTPUT Errors In the event of an output error read the DiagCode under index 0159 sub 01 and the AddDiagCode under index 0159 sub 02 OUTPUT errors indicate errors in the output terminal e g IB IL 24 DO 4 The Cause Index column indicates the indices that should be corrected in order to re move the error index sub In the event of address conflicts the addresses of the individual axes should be compared and then corrected Table A 7 OUTPUT errors DiagCode AddDiag Meaning Cause Erro
118. ference in the actual position before and after the movement Using the above example a traverse path of 200 mm would result in a difference in the actual posi tion before and after the movement of 4000 657601 PHCENIX Tu CONTACT IB IL POS 200 PAC The gear ratios to be set must be in the following value ranges NT Path lt 32 767 1000 Increments counts 1 For a resolution in um an encoder must be used at the axis which provides at least 1 increment per um Otherwise it is not possible to set the desired resolution using the gear ratio 4 6 PHGNIX 657601 CONTACT Basic Settings 4 3 Downtime Monitoring and Limit Switches 4 3 1 Downtime Monitoring If the IB IL POS 200 positioning CPU controls a drive it can always check whether the drive is moving and whether the movement is in the correct direction Waiting times Downtime and direction monitoring can be activated or deactivated A waiting time can also be entered which specifies how long the system should wait for downtime monitoring to be activated Stop monitoring is activated when a distance of less than 1 increment is traveled in the defined time window multiple of 60 ms Another waiting time can also be defined in ms which specifies how long the sys tem should wait for downtime monitoring to be activated after a change in direction For the IB IL 24 DO 4 output version another time can also be parameterized which takes the switch over
119. gered 4 14 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version 4 16 4 7 Output Functions in the IB IL 24 DO 4 Output Version for Various Drive Circuits sssseeseveeeee reen renerne renerne rense renee 4 18 ii PHGNIX 657601 CONTACT Table of Contents b rate Mash E EE 5 3 5 1 elle de VE 5 5 5 2 egener a vector weal alae eee ee 5 13 5 2 1 Qu iCK StOp EE 5 14 5 2 2 Testing Aldea ey far arpa a tosse Fanden set 5 14 5 2 3 Procedure in the Event of Errors A 5 15 5 8 Jog Mode tetti ottenere ute 5 17 5 4 Pos Mode Positioning Mode AAA 5 19 5 5 Step Mode sic 55 sine A 5 22 5 6 Ref Mode Homing Mode AA 5 24 6 Basic Parameterization oie ene Dade E ech E SERRE PRA E ER REP eee ene 6 3 6 1 Controlling Communication via RS 232 or Local Bus Interface 6 4 6 2 Communication With Intelligent Input and Output Terminals 6 5 6 3 Activation of Used Axes and Address Assignment for the Terminals cendi encre iens ide ro io nta 6 12 6 4 Parameterization of Drive Control 6 23 6 4 1 Use of the IB IL DC AR 48 10A Output Version 6 23 6 4 Use of the IB IL AO 2 U BP IB IL 24 DO 2 Output Version oai ene dede 6 26 6 4 3 Use of the IB IL 24 DO 4 Output Version eee 6 30 6 4 4 Use of an Output Version With Holding Brake 6 33 6 5 Parameterization of Position Detection Encoders 6 3
120. h connec IB IL SSI PAC 28 61865 tors and labeling fields Positioning terminal for absolute encoders without con IB IL SSI 28 36 340 nectors and labeling fields Inline terminal with two digital inputs with connectors and IB IL 24 DI 2 PAC 28 61 22 1 labeling fields Inline terminal with two digital inputs without connectors IB IL 24 DI 2 27 26 20 1 and labeling fields Inline terminal with four digital inputs with connectors and IB IL 24 DO 4 PAC 28 61276 labeling fields Inline terminal with four digital inputs without connectors IB IL 24 DO 4 27 26256 and labeling fields Inline terminal with two analog voltage outputs with con IB IL AO 2 U BP PAC 28 61 467 nectors and labeling fields Inline terminal with two analog voltage outputs without IB IL AO 2 U BP 27 32 732 connectors and labeling fields 9 11 IB IL POS 200 PAC Ordering Data for Connectors Description Order Designation Order No shield connection green w o color print for RS 232 connecting cable pack of 10 Connector with eight terminals spring cage connection IB IL SCN 8 27 26 337 green w o color print pack of 10 Connector with six terminals spring cage connection and IB IL SCN 6 SHIELD 27 26 353 Ordering Data for Accessories Description Order Designation Order No Coding profile 100 pcs package IL CP 27 42 68 3 Zack markers for labeling terminals ZBFM 6 and
121. hen a Hardware Limit Switch Is Triggered The stop path required by the positioning CPU to bring a drive to a stop in response to a triggered hardware limit switch can be determined as follows Response path Braking path Stop path Where Response path Edge on the hardware limit switch until the drive is shut down Braking path Path traveled before the drive stops after shutdown Response path It takes four bus cycles for the positioning CPU to stop a drive in response to a hard ware limit switch As the bus cycle time for the IB IL POS 200 is fixed at 6 ms the response path depends solely on the speed of the drive When considering worst case scenarios the maximum possible speed must be assumed SResponse 4 X V X tscan Where SResponse Response path tscan Time between two scans of the actual position Braking path The length of the braking path Sgrake depends on the speed v and the deceleration a SBrake 7 vie Examples 1 Response path tscan 6 ms v 0 6 m min SResponse 4 X V X tgcan 4x 0 6 m min x 6 ms 4x 10 mm s x 6 ms 4x 10 um ms x 6 ms gt SResponse 240 uim 4 14 PHGNIX 657601 CONTACT Basic Settings 2 Braking path v 2 0 6 m min a 5 m s SBrake v 2a 0 6 m min 2 x 5 m s 10 um ms 2 x 5 um ms gt SBrake 10 um 657601 PHCENIX 4 15 CONTACT IB IL POS 200 PAC 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version
122. hex Download data with checksum error 157Chex Unknown Flash type 157Dhex Flash programming has failed 657601 PHCENIX CONTACT A 17 IB IL POS 200 PAC A 2 2 INPUT Errors In the event of an input error read the DiagCode under index 0159 sub 01 and the AddDiagCode under index 0159 sub 02 INPUT errors indicate errors in the input terminal e g IB IL SSI The Cause In dex column indicates the indices that should be corrected in order to remove the error index sub In the event of address conflicts the addresses of the individual axes should be compared and then corrected Table A 5 INPUT errors DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FFA2nex Error on IB IL SSI 0001 hex Incorrect operating mode If necessary call the 0003hex Timeout IB IL SSI is not re Phoenix Contact hotline sponding F101hex Address error on IB IL SSI 1034 01 Correct the entry in index 103216x Address or module error and index 10344 sub 01 for the relevant axis F102hex Address error on IB IL SSI ID 1034 01 Correct the entry in index 103216x code error and index 103416 sub 01 for the relevant axis F103hex Address error on IB IL SSI 1034 01 Correct the entry in index 1032 Length code error and index 1034hpex sub 01 for the relevant axis F104nex Same address already as 1034 01 Compare the entry in index s
123. hich the axis has already reached using the Jog function 3 4 1 Homing During homing the positioning CPU uses the hardware limit switches as the refer ence signal It controls the drive so that the axis approaches the previously selected hardware limit switch calibration switch at rapid speed When the hardware limit switch range is entered a signal edge is generated which shuts down the drive Once the drive has stopped the hardware limit switch range is exited in the opposite direction at creeping speed Once the hardware limit switch range has been exited the positioning counter is set to zero on the next Z signal At this point the drive is shut down and coasts until it stops at position X see Figure 3 13 on page 3 23 and Figure 3 14 on page 3 24 The Z signal is used to set the reference point in order to increase the repeat accuracy of this homing function A separate home position switch without limit switch function is not supported by the positioning CPU and must not be connected when the IB IL INC IN terminal is used The reference offset can be used to assign a value other than O to the reference point see Figure 3 11 and Figure 3 12 657601 PHCENIX ER CONTACT IB IL POS 200 PAC Reference Offset 0 Example 1 Minimum hardware Maximum hardware limit switch limit switch Z Signal 6576A027 Figure 3 11 Reference offset 0 Example 2 Reference Offset 500 Minimum hardware Maximum hard
124. igned to another axis 103446 sub 01 with the address entries for the other axes and cor rect if necessary F201 hex Address error on IB IL 24 DI 2 1034 02 Correct the entry in index 1032he Address or module error and index 10344 sub 02 for the relevant axis F202nex Address error on IB IL 24 DI 2 1034 02 Correct the entry in index 1032 ID code error and index 1034hex sub 02 for the relevant axis F203hex Address error on IB IL 24 DI 2 1034 02 Correct the entry in index 1032 Length code error and index 1034hex sub 02 for the relevant axis A 18 657601 PHCENIX CONTACT Tables Table A 5 INPUT errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex F204hex Same address already as 1034 02 Compare the entry in index signed to another axis 103446 sub 01 with the address entries for the other axes and cor rect if necessary FEO1hex Incorrect Parity parameter 1102 02 Check the entry in index 11025 sub 02 FEO2hex Incorrect EncoderResolution 1102 01 Check the entry in index 1102p6x parameter sub 01 FEO3hex Incorrect Code parameter 1102 03 Check the entry in index 110216x sub 03 FFXXpex Firmware dependent error code from IB IL SSI see IB IL SSI UM E User Manual Error message is sent from the IB IL SSI to the IB IL POS 200 FFOOnex No error occurred FFO1 hex The module is in hand held op erator panel mode gt Canno
125. igure 3 2 Target area for positioning sen 3 8 Figure 3 3 Sequence of positioning in a positive direction 3 10 Figure 3 4 Sequence of positioning in a negative direction 3 11 Figure 3 5 Example 1 Looping i 3 13 Figure 3 6 Example 2 LOOpING zero intere eroe ett 3 14 Figure 3 7 Example 3 Looping aiiiar Nar 3 15 Figure 3 8 Example 4 Looping eese 3 16 Figure 3 9 Sequence of positioning with backlash compensation parameterized direction of travel when approaching the target positive Start position target position path Negative em 3 18 Figure 3 10 Sequence of positioning with backlash compensation parameterized direction of travel when approaching the target negative Start position gt target position path positive o ett d eet 3 19 657601 PHCENIX E CONTACT IB IL POS 200 PAC Figure 3 11 Reference offset 0 3 22 Figure 3 12 Reference offset 500 AN 3 22 Figure 3 13 Homing sequence using combination 1 3 23 Figure 3 14 Homing sequence using combination 2 3 24 Figure 3 15 Zero point step change sss 3 26 Figure 3 16 Adjustment value cccesccceesereeesseeeeeneneeeseneeseeneeneeneeneses 3 27 Section 4 Figure 4 1 Example of a linear axis with incremental encoder 4 4 Figure 4 2 Re
126. imum software limit switch Value Range for a Software Limit Switch With Incremental Encoders This value range only applies for increments If a gear ratio has been defined this must be taken into account when defining the software limit switches The following condition applies where GR gear ratio Value range for a software limit switch with incremental encoders for a gear ratio GR lt 1 231 x GR lt Value x 23 1 x GR 2 147 483 648 x GR x Value lt 2 147 483 648 x GR Value range for a software limit switch with incremental encoders for a gear ra tio GR 2 1 231 lt Value lt 231 1 2 147 483 648 lt Value lt 2 147 483 648 Example Gear Ratio GR Maximum Value for Software Limit Switch 1 um 1000 inc 2 147 483 1 um 100 inc 21 474 836 1 um 10 inc 214 748 364 1 um 1 inc 2 147 483 647 gt 1 2 147 483 647 E Path GR Increments counts see section 4 2 Gear Ratio 4 8 PH NIX 657601 CONTACT Basic Settings Value Range for a Software Limit Switch With Absolute Encoders For absolute encoders the value range of the IB IL POS 200 is not monitored in terms of resolution The user must ensure the correct parameterization This value range only applies for increments If a gear ratio has been defined this must be taken into account when defining the software limit switches The following condition applies where GR gear ratio
127. indowPos 74 EnableBacklashCompensation 3 17 7 7 SwapLimitSwitches INC 6 40 Encoder type INC coupes guest our SWitChOVerTime cccccccscscseseseceseeseeteeeees 6 32 EncoderOffset Ss m 6 42 SystemAddDiagCode POS200 6 46 EncoderResolution SSI 6 41 SystemDiagCode POS200 2 6 46 Evaluation ON 6 35 Target Window 7 5 InterfaceWriteEnable 6 4 TargetDirection 3 12 3 17 7 7 InvertLimitSwitch INC 6 39 TargetPosition 73 InvertLimitSwitch SSI 6 44 TimeSlotSupervisionDirection 6 51 JogValueNeg eeeeeennee 7 8 Uout IB IL AO 2 U BP IB IL 24 DO 2 6 29 JogValuePos neptis 7 8 Variantlnput 6 14 6 35 LoopDistance e 3 12 3 17 VariantOutput 6 15 LoopDistance1 sse 7 7 VariantTF 6 13 EEN RE ECH Parameter channel sse 6 5 aae a SCH Parameter data channel 6 5 NumeratorGearRatio ssssse 6 50 GE TEE 6 6 OutputFunction IB IL 24 DO 4 6 30 Parametetization 6 45 657601 PHCENIX B 11 CONTACT IB IL POS 200 PAC PGP nnion eae She Eed 8 3 PCP deVi6e sic tai pt ie eta 6 5 PCP services 1 4 8 3 8 6 Parameter eee EEN 8 5 Peripherals Communication Protocol
128. ion 4 16 4 7 Output Functions in the IB IL 24 DO 4 Output Version for Various Drive Circuits 4 18 657601 PHCENIX i CONTACT IB IL POS 200 PAC 4 2 PHCENIX 657601 CONTACT Basic Settings 4 Basic Settings General notes Byte rotation for Intel processors All integer values are processed by the IB IL POS 200 in Motorola data format This means that when Intel processors are used the higher level PC applica tion must rotate the bytes Example The following data is in the IB IL POS 200 memory Address Contents hex 000 12 001 34 002 56 003 78 Motorola double precision value 123456784 correct interpretation Intel double precision value 78563412hex incorrect interpretation In order to interpret the memory contents correctly using an Intel processor the bytes must be rotated Use of asymmetrical encoders A symmetrical encoder is set by default This means that an encoder error is indicated if an asymmetrical encoder is connected This encoder error can be acknowledged once an asymmetrical encoder has been parameterized Bus error on initialization The bus may crash and error 15314 will be indicated In this case switch off the bus briefly and then switch it on again Use of incremental encoders Incremental encoders with a Z signal zero point should be used Homing to limit switches Homing can only be linked to the limit switches A separate home pos
129. ipherals Communication Protocol PCP and in the PCP User Manual Parameter Count Specifies the number of subsequent data words 00XXhex each consisting of two bytes If only one byte parameter occurs in a word it is still counted as a word Invoke ID The Invoke ID can be used to address the parameter records of the individual axes and any PCP compatible terminals located below the IB IL POS 200 For the positioning CPU a separate Invoke ID is assigned to each axis function and each PCP compatible terminal for drive control and position detection This means that each axis and each PCP compatible input and output terminal can access the en tire index area An intelligent PCP compatible terminal can be parameterized di rectly via the relevant Invoke ID Terminals which cannot be parameterized via PCP e g IB IL INC IN are parameterized via the axis function Table 6 2 Assignment of Invoke IDs in the IB IL POS 200 Invoke ID Index Axis No Addresses 1 1000hex to 11 FF hex 1 Rapid creeping speed positioning 2 Any 1 Intelligent input terminal with PCP 3 Any 1 Intelligent output terminal with PCP e g IB IL DC AR 48 10A 4 100044 to 11FFhex 2 Rapid creeping speed positioning 6 6 PHCENIX 657601 CONTACT Basic Parameterization Table 6 2 Assignment of Invoke IDs in the IB IL POS 200 Continued Invoke ID Index Axis No Addresses
130. it switches can be connected as N C contacts and the signal is evaluated as active low When deactivated the limit switches can be connected as N O contacts and the signal is evaluated as active high Table 6 45 InvertLimitSwitch parameter index 1103hex sub 01 for IB IL SSI Invoke ID 1 4 7 28 Access Designation Data Description Unit Other PCP Index Rights Type Subindex Index Sub W R InvertLimit BOOL Invert limit switch active high or New Ref 110344 01 Switch SSI low 0 Active high N O contact 1 Active low N C contact RefVariant SSI When absolute encoders are used there is no need to set a reference point How parameter type of ever to set the Ref bit in the status byte to enable the drive a 0 must be entered encoder in index 10845 Table 6 46 RefVariant parameter index 10845 for IB IL SSI Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R RefVariant USIGN16 Type of encoder New Ref 1084hex SSI 0 Absolute encoder 1 Reserved 2 Incremental encoder 6 44 PHCNIX Um CONTACT Basic Parameterization SoftwareVersion POS200 parameter 6 6 Use and Meaning of the Parameters This section provides information about the parameterization and assignment of in dividual indices for the various operating modes and systems listed in
131. ith an error message 657601 PHCENIX ES CONTACT IB IL POS 200 PAC Zero point step change 3 4 5 Adjustment Value In addition to the homing function itself the homing process also provides the ad justment value This describes the distance between the free hardware limit switch and the zero point Z signal of the encoder in increments regardless of the gear ratio The response of a hardware limit switch may depend on external factors For prox imity switches for example the ambient temperature can affect the switching be havior This leads to a tolerance window within which the switch responds If the tolerance window is on the Z signal of the encoder a zero point step change may occur This means that during homing this signal or the adjacent Z signal is some times accepted Tolerance range of the switching point Hardware f limit switch a Path Z signal Homing process Adjustment value et E i is 6576B052 Figure 3 15 Zero point step change The adjustment value is used to adjust the hardware limit switch so that its signal edge is not too close to the zero point Z signal Figure 3 16 on page 3 27 provides an example of two critical reference points and the ideal reference point A critical response occurs if the adjustment value is close to 0 or to the maximum value for the encoder resolution If the adjustment value is about half the encoder resolution e g adjustment value of a
132. ition Switch is not provided 657601 PHCENIX T3 CONTACT IB IL POS 200 PAC 4 1 Axis Function Linear Axes The positioning CPU can be used to carry out positioning with linear axes Linear axes A linear axis is an axis with a limited positioning range finite axis The positioning range is limited by parameterized software limit switches MinSwLimSwitch Max SwLimSwitch and or hardware limit switches IN 1 IN 2 The maximum positioning range for incremental encoders depends on the permis sible value range for the target position of 231 to 291 1 increments gear ratio 1 With absolute encoders the positioning range depends on the encoder resolution Connection to the IB IL INC IN positioning terminal Spindle mmm rd 0 Incremental I I D MinSwLimSwitch MaxSwLimSwitch encoder CD e I I I Safe distance E Overtravel 6576A003 Figure 4 1 Example of a linear axis with incremental encoder Key IN 1 Limit position 1 IN 2 Limit position 2 MinSwLimSwitch Minimum software limit switch MaxSwLimSwitch Maximum software limit switch 4 PHGNIX SS CONTACT Basic Settings 4 2 Gear Ratio By defining the gear ratio it is possible to move all distances in a desired unit of length e g um mm rather than in increments The gear ratio depends on the path e g in mm which corresponds to a specific number of increments The numer
133. ix A A Tables SystemDiagCode s unit v unit New Ref Write protection A 1 Index Tables The index tables list all indices with their properties and a brief description For ad ditional information about parameterization please refer to section 3 and section 5 System errors are errors in the bus configuration or errors which are reported by the Inline CPU The meaning of the error can be found in section A 2 Error Tables Indices with this designation are input and output in the unit of measurement de fined by the gear ratio rather than in increments Indices with this designation specify the speed as a percentage This percentage refers to the maximum permissible speed When an index with this designation is modified the axis must be homed again using an incremental encoder All indices have write protection to ensure that they cannot be deleted or overwritten during operation This means that parameter settings cannot be made in the Ac tive state To modify an index during operation 1 Resetthe enable bit bit O in the control byte 2 Write the new value 3 Setthe enable bit again Exception Index 10504 this can be read at any time inc An entry in a parameter with this designation does not depend on the gear ratio and is specified in increments ms An entry in a parameter with this designation is specified in ms The following parameters must be written for every axis The p
134. ke ID Table 6 4 Assignment of Invoke IDs to the individual axes Axis Number Invoke ID 1 1 4 7 10 13 16 19 22 25 28 jo o oc AJOJN o To activate an axis a 1 must be written to index 1030 of the relevant Invoke ID If for example three axes are operated on the IB IL POS 200 then a 1 must be written to this index under Invoke IDs 1 4 and 7 A 0 is written for the remaining Invoke IDs 10 13 etc belonging to the unused axes 6 12 PHCENIX 657601 CONTACT Basic Parameterization Table 6 5 VariantTF parameter index 1030 Invoke ID 1 4 7 28 Access Designation Data Type Description Mod PCP Index Sub Rights ules Oth index er Index Sub W R VariantTF USIGN16 Axis activation 1030hex 0 Not active 1 Activation of technology func tion rapid creeping speed positioning The following typical structure without bus coupler in this example shows various options for the individual input and output terminals Table 6 6 Typical structure lt x lt x e o o a e 3 S EI S A z cc N tr z Oo z 2 o z tc 2 3 als 8 a3 8 35 8 8 HERRER RS 2 lzal lasa SS xsl z 3 as 2 ea zl ofa Seje im afs leje mm m nm o Input Out Input Out Input Out Input Output Input Out put put put put Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Invoke ID 1
135. ke ID Comm Reference 0102hex Word 4 Index 1092 hn Word 5 Subindex Length 0004hex Word 6 Data 1 Data 2 0000hex Word 7 Data 3 Data 4 O3E8hex Bit UL EE 8 KE Positive Confirmation In the example the number of increments 1000 which make up the loop distance is transmitted in words 6 and 7 The positive Write_Confirmation contains only the communication relationship and the positive result Table 8 9 Write_Confirmation positive Syntax Word 1 Message_Code 8082hex Word 2 Parameter_Count 0002hex Word 3 Invoke ID Comm Reference 0102hex Word 4 Result 0000hex Bit T5 S 8 ei NE DIR NE 657601 PHCENIX CONTACT IB IL POS 200 PAC Negative Confirmation The negative confirmation contains the error class Error_Class error code Error Code and a more detailed description of the error Additional Code Table 8 10 Write_Confirmation negative Syntax Word 1 Message_Code 8082 pex Word 2 Parameter CountComm Reference 0003hex Word 3 Invoke ID Comm Reference 0102hex Word 4 Error_Class Error_Code 0800hex Word 5 Additional_Code XXXXhex Bit Tooten lee 8 Vv ek EE 0 For the example this means An error occurred with Error_Class 08 and Error_Code 00 In this case it is a de vice specific error message rather than a communication error see Appendix A 2 Error Tables Table 8 11 Device specific
136. l to analog converter exceeds permissible value FFO2hex Terminal faulty Replace the terminal 657601 A 27 PHCENIX CONTACT IB IL POS 200 PAC Table A 7 OUTPUT errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FFE6nex Error on IB IL DC AR 48 10A software driver 0001 hex Invalid operating mode If necessary call the Phoenix Contact hotline 0002hex Invalid change of operating mode 1036 Correct the entry in index 10365 for the relevant axis 0003hex Timeout 0004hex PCP initialization error 0005hex No PCP confirmation from the IB IL DC AR 48 10A 0006hex No error code for IB IL DC AR 48 10A error F101hex Address error on 1038 01 Correct the entry in index IB IL DC AR 48 10A Address or 103844 sub 01 of the relevant module error axis F102hex Address error on 1038 01 Correct the entry in index IB IL DC AR 48 10A ID code er 1038hex sub 01 of the relevant ror axis F103hex Address error on 1038 01 Correct the entry in index IB IL DC AR 48 10A Length code 1038nexsub 01 of the relevant error axis F104nex Same address already assigned to 1038 01 Compare the entry in index another axis 1038h sub 01 with the ad dress inputs for the other axes and correct if necessary A 28 657601 PHCENIX CONTACT Tables Table A 7 OUTPUT errors Continued DiagCode AddDiag
137. lationship between creeping speed and positioning accuraoy eeseem ee 4 11 Figure 4 3 Evaluation sci itte reet fte petto 4 17 Figure 4 4 Function DIOCK EE 4 18 Section5 Figure 5 1 Elle EE 5 4 Figure 5 2 Flowchart Startup eceeccececeeeceeeseeseeeeeeeeeaeeeeeeeeeeeseaeeeeeeaees 5 7 Figure 5 3 Flowchart Error removal cceeccesseeeeeeeeeeeeeeeeeeseeeseaeeeneeeaees 5 8 Figure 5 4 Flowchart Sequence A Jog mode sess 5 9 Figure 5 5 Flowchart Sequence B Ref mode ssssse 5 10 Figure 5 6 Flowchart Sequence C Pos mode W u u u sssssceerereererreree 5 11 Figure 5 7 Flowchart Sequence D Step mode 5 12 Figure 5 8 Quick stop 5 14 Figure 5 9 deu EE 5 18 Figure 5 10 Jog Right Jog Left A 5 18 Figure 5 11 Pos mode positioning mode seeeeeses 5 21 Figure 5 12 StartPos PosDriveEnd sese 5 21 Figure 5 13 Step Mode i ipe eet eic ide Pete ep Ens 5 23 Figure 5 14 Step Right Step Left AE 5 23 Figure 5 15 Ref mode homing mode sss 5 26 Figure 5 16 StartRef SetRef Ref Run RefPointSet A 5 27 B 2 PHCENIX 657601 CONTACT List of Figures Section 6 Figure 6 1 Communication relationship between the controller board and PCP devices essse 6 9 Figure 6 2 Output function 1 with holding brake
138. level control system L3 Green LED Axis axes ready to operate ON At least one axis is configured and ready to operate OFF No axis is configured or ready to operate 1 10 PHCENIX 657601 CONTACT Function and Structure of the Positioning CPU Table 1 2 Local LED diagnostic and status indicators Continued Des Color Meaning L4 Red LED Error in bus configuration ON Error in bus configuration OFF No error in bus configuration 657601 PHCENIX 1 11 CONTACT IB IL POS 200 PAC 1 12 PHCENIX 657601 CONTACT Section 2 This section provides information about Mounting and removing the positioning CPU Connecting the cables Mounting Removing the Positioning CPU and Connecting Cables 2 3 2 1 Installation Instructions A 2 3 2 1 1 Unpacking a Terminal 2 3 2 1 2 Replacing Terminals AA 2 3 2 2 Mounting and Removing Terminals AAA 2 4 2 3 Voltage Supply Sit aasa aa atana ae eem ret geed 2 4 2 4 Connecting Cables s iere eege HERE 2 5 2 5 Structure of an Inline Station With IB IL POS 200 2 6 2 6 Typical Architecture in the Control Cabinet 2 9 2 7 Terminal Assignment for Input and Output Terminals When Operated With the IB IL POS 200 sees 2 11 2 7 1 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 Without Holding Brake AAA 2 11 2 7 2 Output Terminal IB IL AO 2 U BP IB IL 24 DO 2 With Holding Brake
139. lt Bi Negative pre stop window Fal a Loop distance La a 6576A019 Figure 3 7 Example 3 Looping Desired direction of travel when approaching the target TargetDirection is negative Start position target position Negative pre stop window gt start position target position 657601 PHCENIX vis CONTACT IB IL POS 200 PAC Example 4 v rone pre stop Positive window stop window Positive creeping __ _ speed Target position CG Start Path position Negative creeping LN speed Negative stop window Loop distance at 6576A020 Figure 3 8 Example 4 Looping Desired direction of travel when approaching the target TargetDirection is negative Start position target position Positive pre stop window gt target position start position 3 16 657601 PHCENIX CONTACT Functions of the Positioning CPU 3 3 7 Backlash Compensation Usually drive systems have clearance called backlash in practice Every time the direction changes the backlash causes a motor rotation without changing the drive position The connection of the position encoder with the motor axis leads to a re duction of the positioning accuracy The positioning CPU enables you to compen sate for the backlash by approaching all positions from one direction The backlash compensation function can be enabled during parameterization EnableBacklashCompensation If backl
140. minals for actual value detection and drive control for the typical structure Table 6 16 Overview Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 IB IL DC AR 48 10A IB IL DC AR 48 10A IB IL DC AR 48 10A IB IL POS 200 IB IL INC IN IB IL SSI IB IL 24 DI 2 IB IL INC IN IB IL 24 DO 4 IB IL INC IN IB IL AO 2 U BP 2 Words IB IL 24 DO 2 IB IL INC IN 11 12 17 19 Invoke ID 7 Invoke ID 13 Index 1030 VariantTF Index 1032 VariantInput Index 1034 Sub 01 AddressInput1 Index 1034 No entry No entry No entry Sub 02 required required required AddressInput2 Index 1036 4 VariantOutput Index 1038 11 Sub 01 Address Output Index 1038 No entry No entry required No entry No entry Sub 02 required required required Address Output2 657601 PHCENIX 6 19 CONTACT IB IL POS 200 PAC Addressing When Using a Branch Terminal A branch terminal can be used to isolate the bus and continue it at another location During addressing there is no need to take the branch terminal into account Addressing is continued as usual at the location at which the lower level bus local bus is continued determined by the position of the branch terminal Example Table 6 17 Addressing when using a branch terminal lt q ki o o o I I D 2 S f a si A lr A alg SISSE els e szs t ra S 8 fesla 8 gle Sle Siel 5 amp zialoi
141. n an Inline station The positioning CPU and the relevant I O terminals from the Inline system can be used to create scalable and bus independent control solutions for point to point po sitioning according to the rapid creeping speed principle also known as switching axes for one to ten axes The positioning CPU controls movement to the destina tion In positioning mode the positioning CPU uses the rapid creeping speed prin ciple to directly switch off the drives which can be run in rapid motion and creep ing motion when the target position is reached During positioning the drive control is switched from rapid motion to creeping motion and then from creeping motion to stop at predefined positions Accuracy of up to 1 um can be achieved depending on the motor and the gears The IB IL POS 200 switches off the drives on reaching the target position which means that the drives do not provide torque in the target position unlike the drives of positioning control systems with position controllers This positioning method is designed for applications in which the target position is retained mechanically e g by a self sustaining gear or holding brake When compared with positioning control systems with position controllers the rapid creeping speed principle makes startup much easier As there is no position controller there is no need to enter pa rameters which is not only time consuming and prone to errors but also means that the use
142. nection from the host to the first PCP module Table 8 2 Initiate Request Syntax Word 1 Command Code O08Bhex Word 2 Parameter_Count 0002hex Word 3 Comm _Reference 0002hex Word 4 Password Access Groups 0000hex Bit p EE 8 ieee 0 Password Password which is defined for this communication relationship for accessing the device objects In this case no password has been entered so the value 00 must be used 8 8 PHCENIX 657601 CONTACT Peripherals Communication Protocol PCP Access Groups Positive Confirmation Assignment of the controller board to a specific access group which specifies ac cess rights to the device objects no access protection 00 If the connection is established successfully the module sends a confirmation with the specified values Table 8 3 Initiate_Confirmation positive Syntax Word 1 Message_Code 808Bhex Word 2 Parameter_Count 0006hex Word 3 Comm _Reference 0002hex Word 4 Result 0000hex Word 5 Version OD FFFFhex Word 6 Profile 0000h ex Word 7 Protection Password FFOOhex Word 8 Access_Groups 0000hex Bit Tox ET TEA 8 KEE 0 Version OD Device specific version number for the object dictionary OD Profile Designation of the device profile i e the number of the application specific settings is specified Protection Contains the Access Protection Supported attribute from the device documenta tion The par
143. nector does not influence the overall depth of the terminal 1 6 PHGNIX 657601 CONTACT Function and Structure of the Positioning CPU Terminal Point Assignment 1 2 2 9 pos D SUB female 9 o 093 o o Ze o O 4 5 connector 6 2 RxD 3 TxD 5 GND Shield Strain relief D j 1 4 Solder side 6576B050 Assignment of terminal points for the positioning CPU Figure 1 3 1 7 DS CONTACT 657601 IB IL POS 200 PAC Table 1 1 Terminal point assignment Terminal Assignment Remark Point Connector 1 Reserved Connector 2 Reserved Connector 3 Reserved Connector 4 Reserved Connector 5 RS 232 V 24 interface 1 1 RxD Receive data Receive data 2 1 TxD Transmit data Transmit data DRS mers eminence 1 2 Reserved 2 2 CTS Clear to send Clear to send 1 3 DTR Data terminal Ready for communication ready 2 3 GND Ground Ground 1 4 2 4 FE Functional earth Shield connection ground 1 8 657601 PHCENIX CONTACT Function and Structure of the Positioning CPU 1 2 3 Local LED Diagnostic and Status Indicators 6576A002 Figure 1 4 Local LED diagnostic an
144. new parameterization is required Table 7 9 RefPoint parameter index 1080hex Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R RefPoint INT32 Reference offset s unit New Ref 1080hex dn PH NIX 7 11 CONTACT IB IL POS 200 PAC RefRapidSpeed and RefCreepingSpeed parameters reference In homing mode only the speeds for rapid and creeping motion can be parameter ized under index 108145 sub 01 sub 02 These speeds apply for both directions The value range is between 0 and 100 The values are specified as percentages speed and refer to the maximum permissible speed Special remark for IB IL 24 DO 4 output version Rapid speed Entry in index gt 40 Creeping speed 1 Entry in index 40 Downtime Entry in index 0 Table 7 10 Parameters for reference speed index 1081pex Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R RefRapid USIGN16 Reference speed for rapid v unit Optional 108145 01 Speed motion W R RefCreeping USIGN16 Reference speed for v unit Optional 1081hex 02 Speed creeping motion 7 12 PHCENIX 657601 CONTACT Parameterization of Functions RefLimitSwitch and DefRefPointDir parameters selection of home posi
145. ng CPU is controlled via fast cyclic process data This process data channel can be used to control the functions of the IB IL POS 200 All axes are con trolled separately by one byte each Examples of this are Jog Right Jog Left Enable Start positioning StartPos At the same time status bytes from the positioning CPU are read back via this channel for example Run Ready The positioning CPU communicates with the higher level control system via the local bus as well as via the fast cyclic process data channel and the acyclic param eter channel PCP Peripherals Communication Protocol While process data is generally exchanged cyclically the drive parameters can be read and written acyclically via the Read and Write PCP services The parame ters are stored permanently in the positioning CPU Process data is time critical status information that changes continually and must be continuously updated This information must be transmitted at short regular in tervals It is transmitted via the process data channel Parameter data is data that seldom changes and must therefore only be transmitted when required It is transmitted via PCP communication 9 4 PHCENIX 657601 CONTACT Technical Data and Ordering Data In the local bus ring the positioning CPU occupies one word for the PCP channel and five words for process data words not variable for each data direction SS IN V
146. ng CPU or the IB IL DC AR 48 10A servo amplifier The Peripherals Communication Protocol PCP provides the user with a range of standardized services which can be divided into various groups User services Administration services Management services see section 8 Peripherals Communication Protocol PCP Driver functions are available as software for the use of PCP services These drivers are an essential prerequisite for the use of the INTERBUS master board They offer function calls for the PCP services e g Write service In addition function blocks for several PLC and bus systems e g Siemens Step 7 are available for the entire control of the IB IL POS 200 positioning control system 657601 PHCENIX CONTACT IB IL POS 200 PAC Example Write Service This example can be used to explain the meaning of the terms used in parameterization The Write service can be used to overwrite the device parame ters set for an object with new values Syntax Write Request 0082 Word 1 Command Code Word 2 Parameter Count Word 3 Invoke ID Comm Reference Word 4 Index Word 5 Subindex Length Word 6 Data Word Word Bit T5 un oues 8 de etu 0 Command Code Fixed number which is specified for each command For example 0082hex must be entered for the Write service Additional services and their Command Codes are described in section 8 Per
147. not provide torque in the target position Due to its fast reacting logic the positioning CPU used together with an input and output terminal can achieve a positioning accuracy in the um range using this sim ple method The IB IL POS 200 logic operates internally as follows The current position value is compared with the specified target position and the pa rameterized window limits Depending on the result of the comparison the direction of travel is determined and the relevant output bits or analog values for controlling the drive are sent to the I O terminals for drive control For linear axes the target is approached in a positive or negative direction depend ing on whether the difference between the target position and actual position is pos itive or negative The position that is actually reached can by read via INTERBUS PCP under Cur rentPosition 657601 PHCENIX 7 CONTACT IB IL POS 200 PAC 3 3 1 Definition of Parameters for the Target Area for Positioning Target AFn AFp ra Bel VAFn VAFp La gt Positive direction Negative direction a 6576A047 Figure 3 2 Target area for positioning Key VAFp Positive pre stop window PreStopWindowPos This specifies the position at which the drive switches from rapid speed to creeping speed This value applies for positioning in a positive direction VAFn Negative pre stop window PreStopWindowNeg This specifies the po
148. ntial jumpers No additional power connections are needed 2 4 PHCEN IX 657601 CONTACT Mounting Removing the Positioning CPU and Connecting Cables 2 4 Connecting Cables Es E 657601 PHCENIX 2 5 CONTACT IB IL POS 200 PAC Input terminals Output terminals 2 5 Structure of an Inline Station With IB IL POS 200 As shown in the typical structure Figure 2 1 on page 2 8 the bus is supplied with power via a bus coupler for INTERBUS e g IBS IL BK T U The positioning CPU is Snapped onto this bus coupler and any number of Inline I O terminals can be in serted between the bus coupler and positioning CPU This is known as the higher level bus which ends with the IB IL POS 200 To the right of the IB IL POS 200 is the lower level bus which includes the input and output terminals for actual position detection and drive control Various terminals can be used as input terminals depending on the position detec tion system The different drives and or drive amplifiers are controlled by the rele vant output terminals Position detection terminal IB IL INC IN for connecting incremental encoders with symmetrical or asymmetrical square wave signals set at 90 ranging from 4 5 V to 30 V Positioning control system position detection terminal IB IL SSI digital input terminal IB IL 24 DI 2 for connecting absolute encoders with SSI signals and up to 26 bit resolution Digital output terminal
149. of Rotation and Downtime Monitoring Direction of rotation and downtime monitoring is activated if less than one increment is traveled in a defined period of time or if the traversing direction does not corre spond to the parameterized direction Index 106344 sub 02 can be used to activate the direction of rotation and downtime monitoring after a defined delay time The value range is from 0 ms to 65535 ms Index 106445 sub 01 can be used to switch off monitoring completely e g for test purposes see section 4 3 Downtime Monitoring and Limit Switches To prevent the direction of rotation and downtime monitoring from continuously switching off axes that move with a jerk a time slot can be set under index 10644 sub 02 The default value is 60 ms and the time can be increased in increments of 60 ms For the IB IL 24 DO 4 output version index 118445 SwitchOverTime must be observed Another time can be parameterized here which delays the switch over for the contactors to avoid short circuits It is therefore possible that the delay time for the IB IL 24 DO 4 output version may stop the drive for longer on a change in direction than the setting made under index 106344 sub 01 DelayTimeReverse 657601 6 51 PHCENIX CONTACT IB IL POS 200 PAC Table 6 54 Parameters for direction of rotation and downtime monitoring index 016355 and 0164p6x Invoke ID 1 4 7
150. olutions This resolution can be entered under index 110045 sub 01 Absolute encoders with a resolution of be tween 8 and 26 bits should be used The encoder resolution should be taken from the specific data sheet provided by the encoder manufacturer When setting the resolution refer to the following table Table 6 40 Resolution of the absolute encoder Resolution of the encoder in bits 8 9 110111112113114115116117118119 20121 22123124125 26 Entry in index 1100 sub 01 Table 6 41 EncoderResolution parameter index 1100hpex sub 01 for IB IL SSI Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R Encoder USIGN16 Resolution of the encoder in bits 110054 01 Resolution SSI 1 8 bits SSI 2 9 bits 19 26 bits 657601 PHCENIX SH CONTACT IB IL POS 200 PAC EncoderOffset SSI parameter Example Table 6 42 Especially when installing the encoder it may be that the encoder is not set to zero If the encoder can move so far in a positive direction that it overruns the positioning control system will have to abort the movement to the target because it cannot han dle an overrun This means that the encoder cannot travel across its entire incre ment range The EncoderOffset parameter can be used to redefine
151. ontinued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R Evaluation INC USIGN8 0 Single evaluation New Ref 1102 01 1 2 Twofold evaluation hex 2 Fourfold evaluation W R Parity SSI USIGN8 Encoder parity 1102 02 0 None hex 1 Even 2 Odd W R _ Code SSI USIGN8 0 Binary code 1102 03 1 Gray code hex W R EnoderType BOOL 0 Symmetrical New Ref 1102 04 INC 1 Asymmetrical hex W R InvertLimit BOOL Invert limit switch active high or New Ref 1103 01 Switch INC low hex 0 Active low N C contact 1 Active high N O contact W R InvertLimit BOOL Invert limit switch active high or New Ref 1103 01 Switch SSI low hex 0 Active high N O contact 1 Active low N C contact Reserved 1103 02 hex W R Change BOOL 0 Not active New Ref 1103 03 Direction INC 1 Active hex W R SwapLimit BOOL 0 E1 Negative limit switch New Ref 1103 04 Switches INC E2 Positive limit switch hex 1 E1 Positive limit switch E2 Negative limit switch R Adjustment USIGN16 Difference between home position inc 1120 Value switch and zero pulse hex 657601 PHCENIX A 9 CONTACT IB IL POS 200 PAC Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 A
152. ontrol a holding brake To support various output functions the IB IL POS 200 contains a function block which reads the states Rapid speed Creeping speed or Stop and then gener ates the necessary bit patterns Positive rapid speed 4 I Output 1 Negative rapid speed Function block for the various Output 2 Downtime j output functions m Output 3 Positive creeping speed Output 4 Negative creeping speed 4 6576A053 Figure 4 4 Function block 4 18 PHCENIX 657601 CONTACT Section 5 This section provides information about Startup Operating modes of the positioning CPU State MEG ING EE 5 3 5 1 Elowchart EE 5 5 5 2 ele TN cse uite eda oen e NUR Boat 5 13 5 2 1 Quick Stop MEN 5 14 5 2 2 Testing Ald xn eei pee eee a 5 14 5 2 3 Procedure in the Event of Errors AAA 5 15 5 3 Klee EE 5 17 5 4 Pos Mode Positioning Mode AAA 5 19 5 5 otep MOde ie eege CEA EE 5 22 5 6 Ref Mode Homing Mode AA 5 24 657601 PHGNIX 5 1 CONTACT IB IL POS 200 PAC 5 2 PHCENIX 657601 CONTACT State Machine 5 State Machine The IB IL POS 200 is a positioning CPU for one to ten independent axes In terms of its functions the IB IL POS 200 acts in the same way as up to ten single axis con trol systems The state machine describes the behavior of each of these axis con trol systems As all the axes are in
153. ontrol byte 000 XX 000 Control byte XXX 10 001 Control byte XXX 11 001 000 XX 000 Y 000 XX 000 i I Mode Jog Mode Pos Mode Step Mode Ref Status XXX 00 011 Status XXX 01 011 Status XXX 10011 Status XXX 11 011 gt d e b ede puedes tele ERR SE EH e Lt Catalans ER Tu uU E Ld e NE NE oe Lee eee one ee en eee e ee e Control byte Control byte Control byte Control byte 000 00 OR1 000 01 OR1 000 10 OR1 000 11 OR1 Error after which axis can still be operated Status XXX XX 111 i Error after which axis can i EE no longer be operated 4 Status XXX XX 101 6576A029 Figure 5 1 State machine 5 4 PHCENIX 657601 CONTACT State Machine Analyzing errors Key R Rising edge X Setting not relevant 5 1 Flowchart Explanation of the Flowchart The possibility of errors exists in all states Consequently the error bit must be re quested continuously If an error bit is set indices 0161 sub 01 02 and 1059 sub 01 02 must be read for error analysis see flowchart If there is an entry under index 0161 the error is a system error If there is an entry under index 1059 the error is an axis function error System Errors System errors are based on bus or PCP errors and affect all axes In this case index 0161 sub 01 02 should be read Example of a possible system error 1531 bus crash System errors and their corresponding error messages can also be an
154. ores all parameters including the parameters for the IB IL DC AR 48 10A which does not have its own permanent memory When the system is shut down and restarted the IB IL POS 200 writes all parameters to the IB IL DC AR 48 10A again A few parameters must be set in order to adapt the mechanical properties of the motor and the axis to the speed controller The lower the positioning speed the greater the effect of these parameters The aim of this parameterization is to reach the slowest possible creeping speed as this increases the positioning accuracy considerably 6 24 PHGNIX 657601 CONTACT Basic Parameterization The following table can be used to set the most important parameters for adapting the open and closed loop control to the gears and motor Table 6 24 Setting the indices for the IB IL DC AR 48 10A Index Data Type Designation 010B USIGN16 IxR factor compensation 0109 USIGN16 KP factor speed controller 0107 USIGN16 KP factor current controller To adjust the controller the IxR factor for compensation KP factor for speed con troller and KP factor for current control parameters should be set as follows 1 Increase IxR factor compensation until the motor runs irregularly 2 Subtract about 1096 to 2096 from this value and enter this as the IxR factor compensation 3 Increase KP factor speed controller until the motor runs irregularly 4 Subtract about 1096 to 2096 f
155. ot be acknowledged The module must be switched off completely and then switched on again reset In this case all axes can no longer be operated The cause of the error is displayed in the relevant diagnostic code index 1059 and also in the system diagnostic code index 0161 for all axes 5 16 PHCENIX 657601 CONTACT State Machine 5 3 Jog Mode Control Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Jog Left Jog Right 00 Jog mode Stop Quit Enable Status Byte Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RefPointSet Jog Run 00 Jog mode Error Active Ready Jog mode is set by writing the control byte XXX 00 001 from the Ready state i e selecting Jog mode 00 and also setting the enable bit The positioning CPU acknowledges this command by displaying the active bit in the status byte The device remains in Jog mode as long as bits 3 and 4 in the control byte are set to 0 and the enable bit is set If the Jog Left and Jog Right bits are not set the device is in substate RUN For a description of the Jog function please refer to section 3 1 Jog Mode Substate STOP Substate RUN Jog mode is active but no motion is underway This status is indicated by the status byte X00 00 011 To enter the RUN state the control byte 010 00 001 or 0
156. output terminal is connected to an additional output terminal as for the IB IL AO 2 U BP IB IL 24 DO 2 output version see Table 6 6 Axis 4 the ad dress of the second module should be stored under index 103846 sub 02 Table 6 14 AddressOutput parameter index 1038544 Invoke ID 1 4 7 28 Access Designation Data Type Description Modules PCP Index Sub Rights Other index Index Sub W R Address USIGN16 Address in the local bus structure New Ref 1038hex 01 Output1 for the first output terminal W R Address USIGN16 Address in the local bus structure New Ref 1038he 02 Output2 for the second output terminal 657601 6 17 PHCENIX CONTACT IB IL POS 200 PAC With reference to the typical structure the following entries should be made in index 1038hex sub 01 02 for the individual axes Table 6 15 Entries in index 10385 Axis Num Invoke ID Entry in Index 103844 Entry in Index 103816x ber Sub 01 Sub 02 1 1 2 2 4 7 3 7 11 4 10 14 16 5 13 19 Due to the selected output version no entries are expected for the empty fields of sub 02 This means that an address value is only required for output version IB IL AO 2 U BP IB IL 24 DO 2 6 18 PHCENIX CONTACT 657601 Basic Parameterization Overview The following table provides a complete overview of the activation of used axes and address assignment of ter
157. pproximately 500 with an encoder resolution of 1024 inc rotation the system will operate without prob lems 3 26 PHCNIX 657601 CONTACT Functions of the Positioning CPU Example Encoder With 1024 Increments 1st critical position of the Z signal Hardware limit switch D EEN Path Z signal A Homing process Path Adjustment value 10 increments Ideal position of the Z signal Hardware limit A switch a NERE Path Z signal A j Homing process A Path djustment value 512 increments 2nd critical position of the Z signal Hardware limit switch Path Homing process m Path Adjustment value 1014 increments Z Signal 6576B048 Figure 3 16 Adjustment value 657601 PH NIX 3 27 CONTACT IB IL POS 200 PAC 3 28 PHGNIX 657601 CONTACT Basic Settings Section 4 This section provides information about The positioning and setting functions of the positioning CPU mE 4 3 4 1 Axis Function Linear Axes 4 4 4 2 Gear Ratio WEE 4 5 4 3 Downtime Monitoring and Limit Switches AA 4 7 4 3 1 Downtime Monitoring AN 4 7 4 3 2 Hardware Limit Switches AA 4 7 4 3 3 Software Limit Switches AAA 4 8 4 4 Relationship Between Positioning Accuracy and Creeping Speed 4 10 4 5 Stop Path When a Hardware Limit Switch Is Triggered 4 14 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Vers
158. r Removal Code Index Hex FFE2hex Error on IB IL 24 DO 4 0001 hex Incorrect operating mode If necessary call the Phoenix Contact hotline 0002hex Incorrect output function during op 1180 Correct the entry in index eration 1180p for the relevant axis F101hex Address error on IB IL 24 DO 4 1038 01 Correct the entry in index Address or module error 1038h sub 01 of the relevant axis F102hex Address error on IB IL 24 DO 4 ID 1038 01 Correct the entry in index code error 1038h sub 01 of the relevant axis F103hex Address error on IB IL 24 DO 4 1038 01 Correct the entry in index Length code error 1038hex sub 01 of the relevant axis F104nex Same address already assigned to 1038 01 Compare the entry in index another axis 1038hex sub 01 with the ad dress inputs for the other axes and correct if necessary FE01 hex Incorrect output function during ini 1180 Correct the entry in index tialization 1180hex for the relevant axis FFEShex Error on IB IL AO 2 U BP IB IL 24 DO 2 0001 hex Incorrect operating mode If necessary call the Phoenix Contact hotline 0002hex Incorrect output function 1180 Correct the entry in index 11804 for the relevant axis A 26 657601 PHCENIX CONTACT Tables Table A 7 OUTPUT errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex 0003hex Terminal is not responding 1038 01 Correct the entry in index
159. r incremental encoders the entry for index 10325 VariantInput must be 5 for the relevant axis The following parameters must be defined for an axis when using incremental en coders The IB IL INC IN can be used to detect encoder signals using either single twofold parameter or fourfold evaluation The desired encoder signal evaluation should be set under index 1102pex sub 01 Table 6 34 Evaluation parameter index 1102hex for IB IL INC IN Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Other PCP Index Rights Subindex Index Sub W R Evaluation USIGN8 0 Single evaluation New Ref 110255 01 INC 1 Twofold evaluation 2 Fourfold evaluation 657601 PHGNIX 6 35 CONTACT IB IL POS 200 PAC Single Evaluation Example For an encoder which provides 1024 pulses per rotation the positioning counter counts 1024 increments counts Encoder pulse i 1 anA D E 11 4 Encoder pulse i i 0 train B 1 increment 6576A042 Figure 6 6 Single evaluation Twofold Evaluation Example For an encoder which provides 1024 pulses per rotation the positioning counter counts 2048 increments counts Encoder pulse 1 train A E dq d LL 0 Encoder pulse 1 train B 0 1 2 2 Increment 6576A043 Figure 6 7 Twofold evaluation 6 36 PHGNIX 657601 CONTACT Basic Parameterization Fourfold Evaluation
160. r requires the relevant knowledge of control systems A positioning CPU can control one to ten axes which can be adapted to the con trolled devices independently of one another using a separate Inline I O terminal for position detection and a separate terminal for the drive control of each device As various detection and output terminals are available for both functions the required interfaces for the various encoders and drives can be combined flexibly for almost all positioning tasks 657601 PHCENIX 1 3 CONTACT IB IL POS 200 PAC Application examples The parameters for the input and output terminals and the positioning CPU can be set using PCP services according to DRIVECOM Profile 22 The user writes the necessary settings to the individual indices of the positioning CPU The basic set tings which are required in the lower level I O terminals are transferred to these terminals automatically by the positioning CPU The parameters described in this user manual and a few specific basic settings for the IB IL DC AR 48 10A terminal are stored in the CPU so that they are still available when the system is shut down and restarted In addition to the point to point positioning method the positioning CPU also sup ports other functions In Jog mode a movement can be controlled manually The drive travels until the relevant control bit is set In Step mode the drive travels a predefined distance when the relevant control bit i
161. rameterized in the indices for rapid and creeping motion 4 16 PHCENIX 657601 CONTACT Basic Settings Evaluation Jog mode Step mode DO Rapid motion Pos mode Speed 40 Speed DO Creeping motion E bis 100 1 lt Speed lt 40 ping Ref mode Speed lt 1 DO Downtime Setpoint position Actual position This unit determines depending on the input parameters but regardless of the type of output terminal whether rapid or creeping motion should be used The speed set by this function block in is taken from the indices 1091 for rapid and creeping speed To ensure that the signal for the digital output version IB IL 24 DO4 terminal can be used it is converted and the relevant states for rapid or creeping motion are generated 6576A049 Figure 4 3 Evaluation 657601 PHCENIX 4 17 CONTACT IB IL POS 200 PAC 4 7 Output Functions in the IB IL 24 DO 4 Output Version for Various Drive Circuits The output version with the IB IL 24 DO 4 terminal is used to control drives using up to four digital 24 V signals The IB IL POS 200 supports various drive circuits by generating different bit patterns at the digital outputs The following output functions are supported Dahlander circuit Pole changing circuit Control of drive amplifiers with four digital signals Control of drive amplifiers with three digital signals and one signal to c
162. regardless of the installation location The ChangeDirection parameter can be used to mount the encoder on the axis regardless of its direction of rotation It should be noted how ever that the direction of travel of the output terminal must correspond to the count ing direction see Table 6 22 on page 6 23 If the encoder pulse for channel B is generated first on a positive motion the change in direction should be activated with the entry 1 in index 1103hex sub 03 Table 6 37 ChangeDirection parameter index 1103hex sub 03 for IB IL INC IN Invoke ID 1 4 7 28 Access Designation Data Description Unit Other PCP Index Rights Type Subindex Index Sub W R Change BOOL 0 Not active New Ref 11036 03 Direction 1 Active INC 657601 PHCENIX xs CONTACT IB IL POS 200 PAC SwapLimitSwitches INC parameter It is also possible to swap the wired positive and negative limit switches via the soft ware Under normal circumstances the negative limit switch for the IB IL INC IN is wired to input E1 and the positive limit switch is wired to input E2 In this case index 110354 sub 04 would have the value 0 If the value 1 is entered here without mod ifying the terminal assignment at the terminal points the limit switches are swapped over Table 6 38 SwapLimitSwitches parameter index 1103hex sub 04 for IB IL INC IN Invoke ID 1 4 7 28 Access De
163. rom this value and enter this as the KP factor speed controller 5 Increase KP factor current controller until the motor runs irregularly 6 Subtract about 10 to 20 from this value and enter this as the KP factor current controller 657601 PHCENIX 6 25 CONTACT IB IL POS 200 PAC 6 4 2 Use of the IB IL AO 2 U BP IB IL 24 DO 2 Output Version The IB IL AO 2 U BP analog output terminal and the IB IL 24 DO 2 digital output terminal are used together for controlling drive controllers The analog output termi nal is used to output an analog voltage as a setpoint for the speed of a connected drive amplifier e g a frequency inverter The digital output terminal outputs direc tion signals or enable and braking signals OutputFunction Index 1180hex can be used in this output version to select one of two output parameter functions Output function 1 offers a bipolar voltage of 10 V to 10 V at the analog output ter minal which enables the connected drive amplifier to select a speed between the maximum negative speed 10 V and the maximum positive speed 10 V An en able signal and a signal for controlling a holding brake are output at the digital out put terminal Output function 2 outputs 0 V to 10 V at the analog output terminal and outputs enable signals for both the positive and negative direction at the digital output ter minal 6 26 PHGNIX 657601 CONTACT Basic Parameterization IB IL
164. rotocol Operation is only possible with PCP com patible controller boards for INTERBUS firmware Version 3 0 or later This section describes communication in the local bus INTERBUS with PCP soft ware Version 2 0 This PCP version is designed for use with INTERBUS Generation 4 controller boards firmware Version 4 0 or later 8 1 Communication Mode 8 1 1 Services Used The following PCP services are available on the module Table 8 1 PCP services used Service Meaning Management services context management Initiate Initiate a connection Abort Abort a connection Read Read a variable Write Write a variable The Initiate and Abort services can be used to initiate and abort a communica tion relationship with the positioning CPU The Read and Write services can be used to communicate with the positioning CPU 657601 PHGNIX 8 3 CONTACT IB IL POS 200 PAC 8 1 2 Principle of Communication There are various ways of establishing communication Some controller boards have pre defined function blocks which are used to call the services For all other controller boards the required service calls should be integrated in the application program The IBS CMD SWT G4 software tool from Phoenix Contact can be used for all Generation 4 host systems This is the simplest way to establish and test a communication relationship using command codes This section introduces the wa
165. s by the RS 232 interface or by triggering an initialization through a complete reset switching the power off and then on again Table 6 1 InterfaceWriteEnable parameter index 0168 Invoke ID 0 Access Designation Data Type Description Unit PCP Index Sub Rights index Index Sub W R Interface USIGN16 Transfer write authorization 01685 WriteEnable 0 No function 1 Local bus interface towards the higher level control system default 2 RS 232 interface 3 to 65536 No function 94 PHGNIX 657601 CONTACT Basic Parameterization Drivers 6 2 Communication With Intelligent Input and Out put Terminals The IB IL POS 200 positioning CPU can be used to control up to ten axes The PCP PCP Peripherals Communication Protocol is used for communication when pa rameterizing the positioning CPU The parameter data channel or parameter channel for short is used for the acyclic transfer of complex data structures between two devices Two 8 bit words are transmitted per cycle The data transmitted in the parameter channel usually has a low dynamic response and occurs relatively infrequently e g the transmission of parameter records or control programs to intelligent bus devices The PCP software splits the parameter data into individual block slices and then re combines it Modules which support a parameter channel are also known as PCP devices or intelligent modules e g the IB IL POS 200 positioni
166. s in the defined range To solve this problem change the looping direction reduce the loop distance if possible or approach the target from a new initial position nz y ad v Example 1 Loop distance iml Positive stop window Positive creeping speed Start position Target Path position Negative creeping__ speed Negative pre stop window E 6576A017 Figure 3 5 Example 1 Looping Desired direction of travel when approaching the target TargetDirection is positive Start position target position Negative pre stop window gt start position target position 657601 PHCENIX 3 13 CONTACT IB IL POS 200 PAC Example 2 V Positive pre stop window e Weg gt Positive stop window Positive creeping speed Target position Start Path position Negative creeping__ speed Loop distance 6576A018 Figure 3 6 Example 2 Looping Desired direction of travel when approaching the target TargetDirection is positive Start position lt target position Positive pre stop window gt target position start position 3 14 PHCENIX 657601 CONTACT Functions of the Positioning CPU Example 3 vA Positive stop window Positive creeping _ cocos speed Start Target position position gt Path Negative creeping speed Negativ stop window
167. s of the PCP device in this case the position ing CPU must correspond to those of the controller board They can be adapted using the Load_CRL_Attribute_Loc_Request command see PCP User Manual 8 10 PHGNIX 657601 CONTACT Peripherals Communication Protocol PCP Read This service is used to read the value of objects of a PCP device For arrays and records you can specify whether the entire object or only an element of the object is to be read The example shows a Read_Request service at the actual position index 1058 in order to read the current position Table 8 5 Read_Request Syntax Word 1 Command_Code 0081 hex Word 2 Parameter_Count 0003hex Word 3 Invoke ID Comm Reference 0102hex Word 4 Index 1058hex Word 6 Subindex 0000hex Bit EE 8 Ee Once the service request has been processed the system displays a message which indicates whether the result was positive Read_Confirmation Result or negative Read Confirmation Result 657601 8 11 PHCENIX CONTACT IB IL POS 200 PAC Positive Confirmation If the result is positive the data bytes are sent The data byte values given in the right hand column of the table have been selected at random and are meant to stand for position 1000 Table 8 6 Read_Confirmation positive Syntax Word 1 Message_Code 8081 hex Word 2 Paramet
168. s set once Another function Homing mode is available for position detection using relative detection systems e g incremental encoders This mode can be used to define limit switches as reference points or to set a specific position as the reference point The IB IL POS 200 positioning CPU offers cost and operational advantages in par ticular for the automation of less dynamic axes with speed reducers e g for posi tioning Transport equipment conveyor belts cranes chain and monorail conveyors Tools spindles saw blades cutting and bending tools Axes for format settings setting limit stops guideways or rollers The modular design of the point to point control system enables the use of several IB IL POS 200 CPUs which means that any number of axes can be configured cost effectively Up to ten axes can be automated using one positioning CPU each with different actual position detection and drive control The modern point to point positioning control system can be operated on INTERBUS or any other fieldbus for which there is a Phoenix Contact Inline bus coupler i e CANopen PROFIBUS Ethernet or DeviceNet as well as INTERBUS 1 4 PHGNIX 657601 CONTACT Function and Structure of the Positioning CPU Electronics base 1 2 Terminal Structure 1 2 1 Housing Dimensions Small I O stations are frequently installed in standard control boxes with a depth of 80 mm 3 150 in The Inline termin
169. signation Data Description Unit Other PCP Index Rights Type Subindex Index Sub W R SwapLimit BOOL 0 E1 Negative limit switch New Ref 110344 04 Switches E2 Positive limit switch INC 1 E1 Positive limit switch E2 Negative limit switch RefVariant INC parameter type of This parameter can be used to set the type of encoder absolute or incremental en coder To enable reference point setting when using incremental encoders encoder index 108444 must have the value 2 Table 6 39 RefVariant parameter index 1084p6x for IB IL INC IN Invoke ID 1 4 7 28 Access Designation Data Description Unit Other PCP Index Rights Type Subindex Index Sub W R RefVariant BOOL Type of encoder New Ref 1084nex INC 0 Absolute encoder 1 Reserved 2 Incremental encoder 6 40 PHGNIX 657601 CONTACT Basic Parameterization EncoderResolution SSI parameter 6 5 2 Use of Absolute Encoders Absolute encoders are operated together with IB IL SSI IB IL 24 DI 2 input termi nals The IB IL SSI supports the use of absolute encoders with a resolution of up to 26 bits When making the necessary encoder settings for absolute encoders the entry for index 1032hex VariantInput must be 3 for the relevant axis The following parameters must be defined for an axis when using absolute encod ers The various absolute encoders have different res
170. sing If the service was completed successfully the parameter equals OU If the service was not completed successfully the pa rameter does not equal OO and contains a coded error message On a negative confirmation these parameters indicate the error cause A list of er rors can be found in the PCP User Manual An extract from the list is also given in Additional_ section A 2 Error Tables Code Error Class and Error Code are stored together under index 0161 sub 01 and Additional Code is stored under index 0161 sub 02 Length Number of following data bytes Data Contains the actual data 657601 PHCENIX S CONTACT IB IL POS 200 PAC 8 1 4 Key PCP Services When communicating with the IB IL POS 200 positioning CPU the services re quired most often are Connection establishment Initiate Read and write parameter values Read and Write Connection release Abort These services are listed below and values for the IB IL POS 200 positioning CPU are given for an example bus configuration This example uses PCP Version 2 0 The example uses a bus configuration consisting of two Inline terminals Both ter minals are positioning modules capable of PCP communication IB IL POS 200 Control is either via a controller board e g for SIMATIC S5 or an interface board e g for the PC 8 6 PHCENIX 657601 CONTACT Peripherals Communication Protocol PCP PLC
171. sion With Holding Brake Operation with a holding brake is supported with the IB IL AO 2 U BP IB IL 24 DO 2 output function 1 and IB IL 24 DO 4 output function 4 output ver sions Two parameters can be set for rapid creeping speed positioning with a holding brake This parameter is used to release the brake before the movement is started The EarlyReleaseTime parameter describes the time between the early release of the brake and the connection of the motor It is given in milliseconds This parameter is used to set the brake once the axis reaches the target When set ting this parameter note the distance required by the axis to reach the target after the motor has been switched off stop window The DelayedReleaseTime param eter describes the time that elapses after the motor has been switched off before the brake is activated It is specified in milliseconds A U out out Release brake 1 0 Set Early Delayed Early Delayed release time release time release time release time 6576A062 Figure 6 4 Sequence of signals for the IB IL AO 2 U BP IB IL 24 DO 2 output version with holding brake 657601 PHCENIX S CONTACT IB IL POS 200 PAC A Movement signals1 MR Output 1 to 3 0 i Release brake gt fe Early release time Delayed release time 6576A041 Figure 6 5 Sequence of signals for the IB IL 24 DO 4 output version with
172. sition at which the drive switches from rapid speed to creeping speed This value applies for positioning in a negative direction 3 8 PH NIX 657601 CONTACT Functions of the Positioning CPU AFp Positive stop window StopWindowPos This value is the distance which the drive travels after the motor is stopped This value applies for positioning in a positive direc tion AFn Negative stop window StopWindowNeg This value is the distance which the drive travels after the motor is stopped This value applies for positioning in a negative direc tion ZF Target window for the position reached TargetWindow This window can be used to check the target position reached If the position reached is not in this window an error message is output A range is defined either side of the current target position 3 3 2 Positioning Sequence and Structure of Positioning Data Records In order to approach the specified target position the drive is controlled by the positioning CPU automatically depending on the actual position The value for the target position and the parameters which define the positions for changing speed are written to the positioning CPU by the higher level control sys tem During positioning the CPU recognizes the individual states e g negative creeping speed and controls the drive accordingly Drives with the IB IL DC AR 48 10A and IB IL AO 2 U BP IB IL 24 DO 2 output version are con trolled using
173. speeds index 10915 1 Entry in index 40 value range is between 0 and 100 The values are percentages of the maximum permissible speed Ensure that the values for rapid speed are always greater than the values for creeping speed Special remark For the IB IL 24 DO 4 output version the indices must have the fol Invoke ID 1 4 7 28 Access Rights Designation Data Type Description Unit Modules Other PCP Index Subindex Index Sub W R RapidSpeedPos USIGN16 Positioning speed for rapid motion in a positive direction 0 to 100 1091nex 01 W R RapidSpeedNeg USIGN16 Positioning speed for rapid motion in a negative direction 0 to 100 1091 4 02 W R Creeping SpeedPos USIGN16 Positioning speed for creeping motion in a positive direction 0 to 100 1091thex 03 W R Creeping SpeedNeg USIGN16 Positioning speed for creeping motion in a negative direction 0 to 100 109144 04 7 6 PHCENIX CONTACT 657601 Parameterization of Functions LoopDistance EnableBacklashCom pensation and TargetDirection parameters loop distance back lash compensation desired direction of travel when approach ing the target If the current position is so close to the target position that the value of the pre stop window is not exceeded looping is always carried ou
174. ssion path Bit 14 The CRC detected an error on the transmis sion path from the last bus device to the con troller Bit 13 A CR signal error was detected during the last cycle Bit 12 A SL signal error was detected during the last cycle Bit 11 The last bus cycle was terminated by a loop back word error Bit 10 The last bus cycle was terminated by a timeout Bit9 The last bus cycle was terminated by an exter nal signal Bit8 Overflow of the data IN FIFO in the IPMS A 14 PHCENIX CONTACT 657601 Tables Table A 4 System errors reported by the positioning CPU Continued DiagCode Meaning Add_Error_Info Error Removal Bit 7 An error was detected in the data frame group message Bit6 An asynchronous state change was identified as an error on the SL line Bit5 Cycles were still running after the cycle end Bit4 The IBRUN bit in the IMPS status register was still set at the cycle end Bit3 The ENDCY bit in the IPMS status register was not set at the cycle end Bit 2 Reserved Bit1 A faulty stop bit was de tected BitO A faulty start bit was de tected 1532hex The cycle time monitoring MSB internal state code If the system is still in INIT timer has expired the length of state this indicates that the the bus cycle is too long bus length is not permi
175. ssssseeeeeeerenenerrrrrnnee 6 41 Rotation and stop monitoring 6 32 S Selection of home position switch 7 13 Servo amplifier AAA 6 23 SER ER i adii tem M ttc es 3 24 Setting the reference point 3 24 Short circuit prevention eese 6 32 Signal edge sese 3 21 Software limit ewitches 4 4 Definition EE 6 48 Status byte Tor start p ei Ene Re Dec 5 13 ele Bu e su teta tte 5 17 Pos mode ee cede dee cedo dele 5 19 Ref mode ae eee 5 24 Step Modein aei deett 5 22 Status information eseeseeeesss 6 53 Status LEDS esssssssseseeenennnnnn 1 9 Step distance sop pe 3 5 7 10 Step mode usa aa me al nn har AEREA 1 4 3 5 STEP BRU RN e Ee EES 5 22 Step speed sse 3 5 7 9 STEP STOP ud Ge eei EE edu 5 22 Step stop window ce ceceeseeeseeeeeeeeeeeeeteeeeeeeeaees 3 5 B 12 PHCENIX 657601 CONTACT Index StepSpeed EE 3 5 StepStopWindow seen 3 5 Sleigh 3 5 ele Le ET 5 14 Stop window ssesssseeseseeeeee 3 5 7 10 Nee Aere 7 5 Positioning accuracy eene 3 20 POSItIVE nee eas 7 4 GiopM indowhleg A 3 9 StopWindowPos A 3 9 Structure typical 6 13 Subindex es tee ei env 6 11 System parameters sesesees 6 45 T Target position eese 3 7 7 3
176. st be informed using the Quit bit in the control byte It is set once to acknowledge the error and it enables the axis again once the error has been removed successfully 5 6 PHCENIX 657601 CONTACT State Machine o Start Power up v Firmware starts up Waiting time approximately 10s CH no Ready 1 Y Axis not active Parameterize axis using PCP Set Jog function Set Ref function EN Set enable 0 Y Set Pos function Parameterize axis using PCP Set Set function Reparameterize axis Figure 5 2 Flowchart Startup 6576A056 657601 PHCNIX CONTACT 5 7 IB IL POS 200 PAC Continuous error bit monitoring If Error 1 Active bit set Active 1 Analyze error using error table Remove error using new parameters or control bits Y Start function with bit 5 or 6 Return to previous mode Figure 5 3 Read index 0161 sub 01 02 rror message under index 0161 yes System error Index 0159 Sub 01 02 Y Analyze error using error table Hardware modification required Quit 1 Remove error using new o v Analyze system error using error table Switch off IB IL POS 200 station Remove system error 6576A057
177. t Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R RefRapidSpeed USIGN16 Reference speed for rapid motion v Optional 1081 01 unit hex W R _ RefCreeping USIGN16 Reference speed for creeping mo v Optional 1081 02 Speed tion unit hex W R RefLimitSwitch BOOL Home position switch New Ref 1083 01 0 Maximum limit switch hex 1 Minimum limit switch W R DefRefPointDir BOOL Direction of homing New Ref 1083 02 0 Positive hex 1 Negative W R RefVariant INC BOOL Type of encoder New Ref 1084 0 Absolute encoder hex 1 Reserved 2 Incremental encoder W R RefVariant SSI USIGN16 Type of encoder New Ref 1084 0 Absolute encoder hex 1 Reserved 2 Incremental encoder W R RefDistance INT32 Distance to the limit switch within s 1085 which the zero pulse should ap unit hex pear If this distance is exceeded i e there is no zero pulse hom ing is aborted with an error mes sage W R PreStop USIGN32 Pre stop window in a positive di s 1090 01 WindowPos rection unit hex W R PreStop USIGN32 Pre stop window in a negative di s 1090 02 WindowNeg rection unit hex W R StopWindowPos USIGN32 Stop window in a positive direction s 1090 03 unit hex W R StopWindowNeg USIGN32 Stop window in a negative S 1090 04 direction unit hex 657601 A 7 PHCENIX CONTACT IB IL POS 200 PAC
178. t Terminal Entry 1st Terminal 2nd Termi nal IB IL 24 DO 4 IB IL AO 2 U IB IL 24 BP DO2 6 IB IL DC AR 48 10A With reference to the typical structure the following entries should be made in index 10365 for the individual axes Table 6 10 Entries in index 1036hex Axis Number Invoke ID Entry in Index 1036 1 1 6 2 4 6 3 7 4 4 10 5 5 13 6 The terminals must be addressed under other indices The bus configuration spec ifies which input and output terminals are expected at which positions These spec ifications are compared with the connected hardware on power up If modules other than the expected ones have been configured or if the bus configuration and pa rameterization do not correspond the assignment is rejected and the user is in formed by an error message 657601 PHCENIX 6 15 CONTACT IB IL POS 200 PAC When addressing individual terminals the relevant number of words for each termi nal must be observed The following table provides information about the words re served for each terminal Table 6 11 Reserved words Terminal Number of Number of Used Remark Words Bits IB IL INC IN 2 32 IB IL SSI 2 32 IB IL 24 DI 2 1 2 IB IL DC AR 48 10A 2 32 IB IL AO 2 U BP 2 16416 With the IB IL POS 200 only the first of the two channels is used IB IL 24 DO2 1 IB IL 24 DO 4 The a
179. t be controlled via the bus FFO2hex Output driver overload or short circuit and module error FFO3hex Encoder supply fault and mod Check encoder supply ule error No encoder supply or short circuit FF04nex The encoder configuration is 1100 01 Check the entry in index 1100p invalid sub 01 of the relevant axis FFO5hex A parity error has occurred Check connection to the sensor or Connection to the sensor is ite onfiguration defective or sensor is config ured incorrectly 657601 A 19 PHCENIX CONTACT IB IL POS 200 PAC Table A 5 INPUT errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FFO6hex The initiator or switching output configuration is invalid FF14hex Bus reset FF15hex Invalid system configuration FFA3hex Error on IB IL INC IN soft ware driver 0001 hex Invalid operating mode If necessary call the 0002hex Invalid change of operating Phoenix Contact hotline mode 8XXXnhex Warning increment limit ex ceeded XXX Number of increments F101hex Address error on IB IL INC IN 1034 01 Check the entry in index 1034hex Address or module error sub 01 of the relevant axis F102hex Address error on IB IL INC IN 1034 01 Check the entry in index 10345 ID code error sub 01 of the relevant axis F103hex Address error on IB IL INC IN 1034 01 Check the entry in index 10345 Length code error s
180. t has been found or set For a description of the homing function please refer to section 3 4 Homing Mode 5 24 657601 PHCENIX CONTACT State Machine Substate STOP1 Substate STOP2 Substate RUN Ref mode is active but no motion is underway and no reference point has been set or found Ref mode is active but no motion is underway A reference point has already been set or found When an edge is set at the StartRef bit of the con trol byte homing is started taking the parameters set under the homing function into account Dur ing the motion the Ref Run bit in the status byte remains set Once an edge has been set at the SetRef bit the device remains in substate RUN for a short while No motion is required when setting a new reference point because the current position is used as the reference point 657601 PHCENIX SS CONTACT IB IL POS 200 PAC Ref mode Status XXX 11 011 X00 11 011 Sub State STOP1 Sub State STOP2 Change of No reference point available Reference point available 4g status Status 0X1 11 011 Status 1X1 11 011 0SO 11 001 0S0 11 001 Reference OOS 11 011 OOS 11 011 point found i i Sub State RUN Status 1X1 11 011 6576A037 Figure 5 15 Ref mode homing mode The Ref Run status bit indicates whether the drive is moving at present The tra versing direction is not displayed
181. t permit ted 0 or greater than the data width that can be set by the slave chip 1553hex The firmware does not support the ID code set by the user 1554hex Initialization of the slave chip OPC has failed 1571hex During the application down load a PCP write service was received with an index not equal to 5FFEpe A 16 PHCENIX CONTACT 657601 Tables Table A 4 System errors reported by the positioning CPU Continued DiagCode Meaning Add_Error_Info Error Removal 1572hex During the application down load a PCP write service was received in which the lengths ParaCount Length BlockLen do not correspond 1573hex During the application down load a PCP write service was received containing a com mand with a length parameter that is not permitted not equal to 2 1574hex During the application down load a PCP write service was received containing an unex pected command 1575hex The command mode is unde fined 0 1576hex The Mode and SectNr in the LeadOut command do not cor respond to the previous Lea din command 1577hex The user has tried to write to the boot sector 1578hex A PCP write service which contains download data is not expected in the current state 1579hex The data block type is not ex pected 157Anex The data block BlockNum is not expected 157B
182. t to reach the target position Index 1093nex sub 02 can be used to specify the direction from which the target should be approached in this case The loop distance is specified under index 109246x Please note that this value must be greater than or equal to the largest pre stop window and that the maximum value is 2147483 4c If the pre stop window corresponds to the distance required to switch from rapid to creeping speed and the loop distance is equal to the pre stop window the target position may not be reached during looping In this case when the loop distance and pre stop window are parameterized the distance required by the drive to reach creeping speed on startup should be added The value of the loop distance refers to the gear ratio and is therefore specified in the unit of measure ment defined by the gear ratio These two parameterized values for the direction and the loop distance are also valid for backlash compensation which can be activated under index 1093hex sub 01 Value range for the loop distance Loop distance x GR 2 147 483 Table 7 4 Parameters for loop distance and backlash compensation index 109246x and 1093hex Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R LoopDistance USIGN32 Loop distance s unit 10924 W R EnableBacklash BOOL Enable backlash com 109355 01 Compensation pensation 1 Enabled 0
183. ta Channel Assignment The process image of the positioning CPU on the local bus ring comprises six data words Of these six data words the first word is the PCP channel The remaining five data words are the process data channel Controller board TTT Output memory area b er e E area TI Firmware IB IL POS 200 Register V Process data channel channel 6576A026 Figure 8 2 Process image in the I O memory area of the controller board The data words are in the process data memory area on the controller board The process data memory area comprises an output memory area and an input memory area The two memory areas do not necessarily have to be different 8 16 PHGNIX 657601 CONTACT Peripherals Communication Protocol PCP Definition Direction of output data flow From the controller board to the positioning CPU con trol word Direction of input data flow From the positioning CPU to the controller board status byte In process data operation data words are controlled and read using the relevant word address of the control word in the process data area Terminals are controlled using the output memory area The response of terminals to the control com mands is provided in the input memory area 657601 PHCENIX SP CONTACT IB IL POS 200 PAC 8 18 PHGNIX 657601 CONTACT Section 9 This section provides information about
184. ten without leaving the operating state The parameter value range which depends on the encoder type absolute encoder or incremental encoder is between the values of the software and hardware limit switches and must remain within the range 231 to 251 1 This value can be entered or read under index 1050hex The values entered refer to the gear ratio and should be spec ified in the unit of measurement parameterized by the gear ratio Ensure that the values entered can also be achieved on the axis Table 7 1 TargetPosition parameter index 105054 Invoke ID 1 4 7 28 Access Designation Data Description Unit Modules PCP Index Rights Type Other Subindex Index Sub W R TargetPosition INT32 Target position current s unit No write 10505 setpoint value which can protection be written without leaving the operating state 657601 PHCENIX 7 8 CONTACT IB IL POS 200 PAC PreStopWindowPos parameter positive pre stop window PreStopWindowNeg parameter negative pre stop window StopWindowPos parameter positive stop window The individual windows of index 1090 sub 01 to 05 are defined as follows Target A f AFn AFp _ VAFn VAFp La gt Positive direction Negative direction E n 6576A047 Figure 7 1 Index 1090hex sub 01 to 05 VAFp Index 109046x Sub 01 This index specifies the window in which the driv
185. the axis is in the target window once positioning is complete Bit 7 indicates whether the axis has been homed When it is switched on the positioning CPU is in the Init state which is indicated by the status byte 000 00 000 As soon as the axis has been parameterized index 1030 VariantTF 1 the firmware starts up automatically Following startup the state machine directly enters the Ready state This is confirmed by the status byte X00 XX 001 and the ready bit of the general status bits is set From now on the various different modes can be selected using the control byte Details of the different modes are described below Before changing to another mode the Ready status must first be selected by re setting the enable bit 657601 5 13 PHCENIX CONTACT IB IL POS 200 PAC 5 2 1 Quick Stop In Pos Step and Ref operating modes a stop signal can be generated which interrupts the movement by setting the stop bit As long as the stop bit remains set in the control byte the motor brakes are applied This is known as active braking i e the drive is not shut down for the IB IL DC AR 48 10A and IB IL AO 2 U BP IB IL 24 DO 2 output versions it is instead stopped with a zero current It is only when the stop bit and enable bit are reset that the motor is shut down and the machine returns to the Ready state Mode X SubState Run Status XX1 XX 011 Control byte 000 XX 101 Quick
186. the relevant index 0000hex An attempt was made to acti vate the axis using enable bit 0 before parameterization has been executed successfully 0001 hex MaxSwLimSwitch 1060 01 Maximum software limit switch 0002 hex MinSwLimSwitch 1060 02 Minimum software limit switch 0003hex RefPoint 1080 Reference offset 0004hex NumeratorGearRatio 1061 01 Increment evaluation numera tor 0005hex DenominatorGearRatio 1061 02 Increment evaluation denomi nator 0006hex PreStopWindowPos 1090 01 Pre stop window in a positive direction 0007 hex PreStopWindowNeg 1090 02 Pre stop window in a negative direction 0008hex StopWindowPos 1090 03 Stop window in a positive direc tion 657601 A 21 PHC NIX CONTACT IB IL POS 200 PAC Table A 6 POSI errors Continued DiagCode AddDiag Meaning Cause Error Removal Code Index Hex 0009hex StopWindowNeg 1090 04 Stop window in a negative di rection 000Anex TargetWindow target window 1090 05 000Bhex JogValuePos 1070 01 Jog speed in a positive direc tion 000Chex JogValueNeg 1070 02 Jog speed in a negative direc tion 000Dhex StepSpeedPos 1072 01 Step speed in a positive direc tion 000Enex StepSpeedNeg 1072 02 Step speed in a negative direc tion 000F pex StepUnit 1073 Step distance 0010hex StepStopWindowPos 1074 01 Step stop window in a positive direction 001 1 hex StepStopWindowNeg
187. the zero point The absolute encoder used has 12 bit resolution which provides a usable range of 4096 increments In the start position the encoder provides the value of 1000 increments This value can be read under index 10584ex CurrentPosition To ensure that the value read at the axis zero point can be used for the encoder offset entry the numerator and denominator for the gear ratio index 1061 sub 01 02 must both be 1 The aim is that the entire range from 0 to 4096 increments can be used although the start position provides the absolute value 1000 To achieve this aim the start position should have the value 0 The encoder could be removed and turned around However the positioning CPU offers the option of defining the zero point using the encoder offset index 110046 sub 02 In this example the value 1000 should be entered The encoder offset is always specified in increments EncoderOffset parameter index 11004 sub 02 for IB IL SSI Invoke ID 1 4 7 28 Access Rights Designation Data Type Description Unit Other PCP Index Subindex Index Sub W R EncoderOffset SSI USIGN32 Encoder offset 110054 02 6 42 PHCENIX 657601 CONTACT Basic Parameterization Parity SSI If you have configured a parity check for your encoder and the encoder supports par
188. time for the contactors into account to avoid short cir cuits This time is activated as soon as a contactor is switched If a longer switch over time has been parameterized for the IB IL 24 DO 4 output version the drive may stop for longer on a change in direction than the setting made for downtime monitoring 4 3 2 Hardware Limit Switches Hardware limit switches are mounted on the axis or motor and specify the maximum traverse path for the axis in the relevant direction The positioning CPU can process N C contacts and N O contacts because it is possible to switch between active high and active low during parameterization If a hardware limit switch is triggered during positioning the drive stops and an error is indicated Once the error message has been acknowledged the Jog Step or Pos function can be used to exit the limit position in the opposite direction 657601 PHGNIX 4 7 CONTACT IB IL POS 200 PAC 4 3 3 Software Limit Switches In addition to hardware limit switches software limit switches can also be defined These operate in a similar way to the limit switches mounted on the axis and abort a movement with an error message when the defined point of the software limit switch is reached They can be used to set the positioning range within the required limits using the software A minimum limit switch can be defined which aborts the negative movement at the previously defined point The same applies for the max
189. tion switch direction of It is possible to select the direction of homing and the limit switch to be used as the home position The limit switch is selected under index 108346 sub 01 and the homing direction is selected under index 1083 sub 02 For a positive homing direction the minimum hardware limit switch should be se lected index 108354 sub 01 1 index 108356 sub 02 0 and for a negative hom homing ing direction the maximum hardware limit switch should be selected index 1083p sub 01 0 index 108344 sub 02 1 Table 7 11 Parameters for home position switch and homing direction index 10835 Invoke ID 1 4 7 28 Access Designation Data Type Description Unit Modules PCP Index Rights Other Subindex Index Sub W R RefLimit BOOL Home position switch New Ref 1083 01 Switch 0 Maximum limit switch 1 Minimum limit switch W R DefRef BOOL Direction of homing New Ref 1083 44 02 ES 0 Positive 1 Negative 657601 PHCENIX 7 13 CONTACT IB IL POS 200 PAC RefDistance and AdjustmentValue It is also possible to specify a value under index 1085hex which aborts homing if the distance between the home position switch and Z signal is too great The value parameters range dec is defined as follows 1 lt Value x GR x 2 147 483 647 If homing was successful the difference between the hom
190. to the desired position using the Jog function The control byte is used to set the po sitioning counter at this position to the value stored in the Reference offset param eter 3 24 PHGNIX 657601 CONTACT Functions of the Positioning CPU 3 4 3 Reference Speed RefSpeed Homing is carried out at two speeds Rapid speed is used until the hardware limit switch is reached Creeping speed is used to exit the limit switch range in the op posite direction and to reach the next Z signal The parameterized creeping speed indirectly determines the distance between the position X and the Z signal the higher the creeping speed the greater the distance For the IB IL AO 2 U BP IB IL 24 DO 2 and IB IL DC AR 48 10A output versions the speeds can be freely selected However rapid speed must be greater than creeping speed otherwise an error message will be generated The speed values are specified as a percentage of the maximum speed For the IB IL 24 DO 4 output version the speeds specified by the contactor circuits in rapid and creeping motion are used see section 4 6 Effect of Speed Parameters on the IB IL 24 DO 4 Output Version 3 4 4 Distance Between Hardware Limit Switch and Zero Point RefDistance This distance defines the path within which the zero point Z signal must appear i e the maximum permissible difference between the hardware limit switch and Z signal If this difference is exceeded homing is aborted w
191. ts 0 7 Copy of the process data status byte Bit 0 Ready Bit 1 Active Bit 2 Error Bits 3 4 Current mode Bit 5 Run Bit 6 PosDriveEnd Bit 7 RefPointSet Bits 8 15 Additional status of Bit 8 SwLimitSwitchPos Bit 9 SwLimitSwitchNeg Bit 10 HwLimitSwitchPos Bit 11 HwLimitSwitchNeg Bit 12 Drive is enabled Result of direction of rotation and downtime monitoring Bit 13 Drive moving in positive direction Bit 14 Drive moving in negative direction Bit 15 Reserved 105A hex W R MaxSwLim Switch INT32 Software limit switch in a positive direction 1060 01 hex W R MinSwLim Switch INT32 Software limit switch in a negative direction 1060 02 hex W R Numerator GearRatio USIGN16 Increment evaluation numerator path New Ref 1061 01 hex W R Denominator GearRatio USIGN16 Increment evaluation denominator counts New Ref 1061 02 hex W R DelayTime Reverse USIGN16 Waiting time when changing direction 0 to 65535 1063 01 hex 657601 PHCENIX CONTACT IB IL POS 200 PAC Table A 2 Parameters Continued Axis Selection Axis 1 Invoke ID 1 Axis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub
192. tted 0 or greater than the maximum number of devices that can be operated 1533hex The ID code of a device has Number of the changed device changed counting from 1 1534hex An unexpected event has oc Internal code 1535hex curred internally 1536hex 1537hex The activation of a module Number of the device Check the terminal with the error bit for a device has been indicated number detected e g check cable connec tion replace terminal if re quired 657601 A 15 PHCENIX CONTACT IB IL POS 200 PAC Table A 4 System errors reported by the positioning CPU Continued DiagCode Meaning Add_Error_Info Error Removal 1538hex The deactivation of a module error bit for a device has been detected Number of the device 154 1hex The user has sent a service with an unknown code 154216 The user has sent a service with an invalid length 1543hex The user has sent a service with an invalid parameter 1544hex The user has sent a service which is not permitted in the current state 1545hex The user has sent a non time related service while another also non time related service is being processed Replace faulty positioning CPU If necessary call the Phoenix Contact hotline 1551hex The unit of length bits 15 and 16 specified in the set slave ID code is not permitted 1552pex The lengths specified inthe set slave ID code are no
193. tween two scans of the actual po sition at creeping speed delta Sgcan V X tscan Where delta Scan Positioning accuracy v Creeping speed tecan Time between two scans of the actual position The following diagram shows what occurs on a positioning error caused by cyclical scanning i e the drive speed at which the positioning CPU reaches minimum positioning accuracy 4 10 PHCNIX 657601 CONTACT Basic Settings 6000 E gt 600 S 3 o g 60 Oo c 2 6 7 o ka 0 0 0 001 0 01 0 1 1 Creeping speed m s 6576A007 Figure 4 2 Relationship between creeping speed and positioning accuracy Modification of the When the creeping speed is modified the length of the stop path also changes creeping speed delta Schange in speed IS the positioning accuracy which is caused by modifying the creeping speed delta Sscan delta Schange in speed V X tgcan AV X t Av x t v47 2a v3 2a Where a is constant Leads to gt delta Schange in speed V47 2a v2 2a where a is constant 1 2a x v4 vo 1 2a x V4 Vo x V4 Vo 1 2a x V Av v AV x 2Av 1 2a x 2v x 2Av gt delta Schange in speed 2V X Av a SS PHOENIX en CONTACT IB IL POS 200 PAC Modification of the braking response Example 1 Example 2 When the braking response of the mechanics deceleration is modified the length of the stop path also changes delta
194. ub 01 of the relevant axis F104hex Same address already as 1034 01 Compare the entry in index signed to another axis 103446 sub 01 with the address entries for the other axes and cor rect if necessary FFA4nex Error on IB IL INC IN 0001 hex Unknown parameter If necessary call the 0002 ex Homing initiated several times Phoenix Contact hotline 0003hex Reserved 0004hex Actual position value invalid Replace the terminal voltage supply 0005hex Actual position value invalid encoder error 0006 nex Homing not possible evalua tion not set If necessary call the DO Zen Actual value invalid as evalua Phoenix Contact hotline tion adjusted during operation A 20 657601 PHCENIX CONTACT Tables A 2 3 POSI Errors In the event of a POSI error read the DiagCode under index 015946 sub 01 and the AddDiagCode under index 015946 sub 02 POSI errors indicate errors during positioning The Cause Index column indicates the indices that should be corrected in order to remove the error index sub The entries in the relevant indices must be checked The value range specified by the data format must not be exceeded The values defined for the rapid creeping speed method must also be observed e g speeds and window sizes Table A 6 POSI errors DiagCode AddDiag Meaning Cause Error Removal Code Index Hex FFCOnex Invalid parameter Check the entry with defined value range of
195. uit Control of drive amplifiers with four digital signals Control of drive amplifiers with three digital signals and one digital signal to con trol a holding brake OutputFunction In this output version it is possible to use the four digital outputs with different pre parameter defined output functions The outputs should be assigned the relevant contactors which control the motor at rapid or creeping speed and in reverse or forward run ning The following output functions are defined IB IL 24 DO 4 Output Function 1 Dahlander Circuit Table 6 27 Output assignment for output function 1 Status Output 1 Output 2 Output 3 Output 4 Rapid Motion Enable Positive Direction Negative Direction Signal Signal Downtime 0 0 0 0 Positive creeping motion 0 1 1 0 Positive rapid motion 1 1 1 0 Negative creeping motion 0 1 0 1 Negative rapid motion 1 1 0 1 IB IL 24 DO 4 Output Function 2 Pole Changing Circuit Table 6 28 Output assignment for output function 2 Status Output 1 Output 2 Output 3 Output 4 Rapid Motion Creeping Positive Direction Negative Direction Motion Signal Signal Downtime 0 0 0 0 Positive creeping motion 0 1 1 0 Positive rapid motion 1 0 1 0 Negative creeping motion 0 1 0 1 Negative rapid motion 1 0 0 1 6 30 657601 PHCENIX CONTACT Basic Parameterization IB IL 24 DO 4 Output Function 3 Control of Drive Amplifiers With Four Digit
196. veEnd Bit 7 SetPointRef Bits 8 to 15 Additional status of Bit 8 SwLimitSwitchPos positive software limit switch has been triggered Bit 9 SwLimitSwitchNeg negative software limit switch has been triggered Bit 10 HwLimitSwitchPos positive hardware limit switch has been triggered Bit 11 HwLimitSwitchNeg negative hard ware limit switch has been triggered Bit 12 Drive is enabled Result of direction of rotation and downtime monitoring Bit 13 Drive moving in positive direction Bit 14 Drive moving in negative direction Bit 15 Reserved 105Anex 6 54 PHCENIX CONTACT 657601 Section This section provides information about The parameters for the individual functions Parameterization of Functioris circo teas ina Pk o a ENEE EE dole anges 7 3 7 1 Parameters for the Positioning Individual Axes Function 7 3 7 2 Parameters for the Jogging Individual Axes Function 7 8 7 8 Parameters for the Stepping Individual Axes Function 7 9 7 4 Parameters for the Homing Individual Axes Function 7 11 657601 PHCENIX fal CONTACT IB IL POS 200 PAC 7 2 PHCENIX 657601 CONTACT Parameterization of Functions 7 Parameterization of Functions 7 1 Parameters for the Positioning Individual Axes Function TargetPosition The absolute target position can be writ
197. ware limit switch limit switch Z Signal 500 1000 1500 2000 2500 6576A028 Figure 3 12 Reference offset 500 Selecting a Hardware Limit Switch as the Home Position Switch and the Associated Homing Direction Parameters can be set to determine which limit switch should be approached and to specify the direction of homing to the Z signal 3 22 PHCENIX 657601 CONTACT Functions of the Positioning CPU Homing Sequence Using Combination 1 Speed Homing direction A es ee Reference point Adjustment value lt lt C H Start reeping Ha f osition motion i H P Path i iPosition X Rapid estu e motion Hardware RefDistance limit switch Path E 6576A024 Z signal Figure 3 13 Homing sequence using combination 1 657601 PHCENIX VES CONTACT IB IL POS 200 PAC Homing Sequence Using Combination 2 Speed A Homing direction lt Rapid f Nee motion Adjustment value i RefDistance Path i gt Start i H position Position X Creeping beet reana motion Hardware limit switch i Path gt Z signal i i i Path gt 6576A023 Figure 3 14 Homing sequence using combination 2 3 4 2 Setting the Reference Point SetRef In order to set the reference point without homing the user must move the axis
198. xis 2 Invoke ID 4 etc Access Designation Data Description Unit Mod PCP Index Rights Type ules Othe Subindex r Index Sub W R OutputFunction USIGN16 0 No function default 1180 DO4 1 Output function 1 hex 2 Output function 2 3 Output function 3 4 Output function 4 5 to 65536 No function W R OutputFunction USIGN16 0 No function default 1180 AQ2 DO2 1 With holding brake hex 2 Without holding brake 3 to 65536 No function WIR Direction DO4 BOOL Direction of travel 1182 01 GE 02 0 Not inverted default hex i 1 Inverted W R SwitchOver USIGN16 Switch over delay time output ms 1184 Time DO4 contactor response time hex Minimum 0 default Maximum 65535 W R EarlyRelease USIGN16 Clamping brake ms 1185 01 Time DO4 time for early release only rele hex AQ2 DO2 vant if index 1180 4 W R Delayed USIGN16 Clamping brake ms 1185 02 ReleaseTime time for delayed release only hex DO4 relevant if index 1180 4 A02 DO2 Minimum 0 default Maximum 65535 W R Uout USIGN16 Desired maximum output voltage 1186 A024002 0 No function hex 1to10 1Vto 10V 10 default 11 to 65536 No function A 10 657601 PHCENIX CONTACT Tables A2 Error Tables There are several different types of error System errors see section System Errors on page A 11 INPUT errors see section INPUT Errors on page A 18 POSI errors see section
199. y in which communication works using basic ser vice operations regardless of the tools used Communication INTERBUS supports connection oriented one to one communication phases relationships Connection oriented communication can be divided into three phases Connection establishment Data transfer Connection release Connection Establishment Phase In the connection establishment phase a PCP device acting as a client tries to es tablish communication with another PCP device acting as a server During this pro cess the context conditions connection parameters specified in the communica tion relationship lists for both devices are checked If the context conditions correspond the data transfer phase is started Otherwise the connection establish ment attempt is aborted with an error message Data Transfer Phase In the data transfer phase the PCP devices exchange data subject to the context conditions The connection remains open until it is specifically aborted or aborted after a communication error Connection Abort Phase Once the data exchange is complete the connection can be aborted using the con nection abort function In the event of a communication error the connection is aborted automatically Data can now only be exchanged after a new connection has been established 8 4 PHCENIX 657601 CONTACT Peripherals Communication Protocol PCP Command_ Code Message Code Parameter_ Count

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