user manual setup software version profibus dp ba
Contents
1. Reference traverse Motion task Load Load rs m lt MA1 E1 NI E2 MA2 2 39 Setup software version PROFIBUS Version 04 08 2 16 2 Limit values v max um s a max mm s Maximum permissible traversing rate for position data factory default SHA 470 2 300 000 m s SHA 340 2 000 000 wum s SHX 470 1 500 000 um s SHX 340 1 500 000 m s SHY 470 1 500 000 um s SHY 340 2 000 000 wum s SVA 130 1 300 000 m s SHE 130 1 000 000 m s SVE 130 1 000 000 wum s Maximum permissible acceleration for position data factory default SHA 470 10000 mm s SHA 340 10 000 mm s SHX 470 3750 mm s SHX 340 4000 mm s SHY 470 5 000 mm s SHY 340 10 000 mm s SVA 130 5 000 mm s SHE 130 6 500 mm s SVE 130 7500 mm s Emergency brake ramp Braking ramp for emergency braking This braking ramp is used if the Pt message Following error Following error actual message n03 following error or 04 response monitoring occurs as well as when a hardware or software limit switch is activated or if the drive has been disabled The maximum emergency brake ramp has been set as follows factory default SHA 470 20 000 mm s SHA 340 20 000 mm s SHX 470 10000 mm s SHX 340 8000 mm s SHY 470 10000 mm s SHY 340 20 000 mm s SVA 130 10 000 mm s SHE 130 10 000 mm s SVE 130 10 000 mm s Sets the level as a percentage value of the r m s current above which a message2. The states of the digital inputs outputs are shown in the diagram of the connector X3 2 8 1 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP The terminals DIGITAL IN1 2 PSTOP and NSTOP X3 11 12 13 14 can be used in combination with internal functions Changes can only be made ifthe output stage is disabled followed by a reset The zero pulse initiator must be applied to a digital input Function 12 Reference must be assigned to the respective input Function 0 Off 1 Reset 2 PSTOP 3 NSTOP 4 PSTOP Intg off 5 NSTOP Intg off 6 PSTOP NSTO 7 P Nstop Intg of 12 Reference 13 ROD SSI 15 Start MT Next 18 Ipeak2x 20 Start_JOG x 23 Start2_MT No x 24 OPMODE A B 25 Zero_latch 27 Emerg Stop 32 Brake Active edge a X Low active X Low active Y Low active X Low active X Low active X Low active 7 High Low Can be set NUN High Low NUN Auxiliary value of Ipeak vin um s see descrip Function can be combined with DIGITAL IN1 X3 11 D x x e KK KK KK KK DIGITAL IN2 X3 12 X x KKK KK KK KK PSTOP X3 13 x X XX XX XX XX X X X NSTOP X3 14 x XXX X XXX X X X 2 26 Setup software version PROFIBUS Version 04 08 2 8 1 1 Description of the digital inputs X3 0 Off 1 Reset 2 PSTOP 3 NSTOP 4 PSTOP intg off 5 NSTOP Intg off 6 PSTOP NSTOP 7 P Nstop Intg off 12 Reference No functio
3. INFO Password protection for protected area Communication COM1 2 Offline Linear axis Main window Position data Motion tasks Homing Setup mode Default values Next motion task Threshold cam function 4 registers PROFIBUS Main page Instrument control Control word Status word Status machine VO digital X3 Configurable signal state Status Reset Error Warnings Save data Parameters and or motion tasks File open Parameters and or motion tasks Store in EEPROM RAM gt EEPROM STOP Stop all motion tasks jog mode etc 2 10 Setup software version PROFIBUS Version 04 08 2 3 Screen page Linear axis Linear Axis 0 DRIVEO Click with the left mouse button on a button on the screen page to call up the respective function or screen page Saves current parameters to a data carrier hard disk diskette It is possible to save control ap parameters and motion task parameters in separate files Loads a parameter file or motion task file from a data carrier hard disk diskette Only data records of the respective linear axis can be loaded Opens the screen page Actual values to display the actual drive status gt chapter 2 10 Non volatile storage of the currently valid parameter set in the EEPROM of the servo amplifier In this way all the parameter changes made since the last switch on reset of the servo amplifier can be perman
4. MONRECH Handling Components SERVOLINE USER MANUAL SETUP SOFTWARE VERSION PROFIBUS DP BA 100043 Edition 04 08 Setup software version PROFIBUS Version 04 08 Change index Editions issued so far Edition Comments Order number English version 04 01 First edition valid from software version 2 00 507008 07 02 Kapitel 2 16 1 Anderung und neue Software Endschalter Werte 507008 Kapitel 2 16 2 Anderung und neue Werte Kapitel 2 17 4 Neue Defaultwerte Kapitel 2 19 2 SSI Code Funktion ist Bin r oder Gray 02 06 New article number BA 100043 04 08 New Vista BA 100043 A Setup software version PROFIBUS Version 04 08 1 1 1 1 2 1 3 1 4 1 4 1 1 4 2 1 5 1 6 1 7 1 7 1 1 7 2 1 8 1 9 2 1 2 2 2 3 2 4 2 4 1 2 4 2 2 4 3 2 4 4 2 4 5 2 4 6 2 4 7 2 5 2 5 1 2 6 2 7 27 1 2 7 2 2 143 2 8 2 8 1 2 8 2 2 9 2 9 1 2 9 2 GENERAL PARAMETERS AND FUNCTIONS Introduction Use as directed Software description Operating systems Microsoft WINDOWS Vista XP 2000 NT ME 98 08 DO3 052 WINDOWS3 RX hassen fan Bsp en Hardware requirements Installation under Microsoft WINDOWS Vista XP 2000 NT ME 98 95 Software operation Software structure Screen layout Screen page Communication Software structure open area Screen page Linear axis Screen page Position data Field Status messages 141120 na RR aated his a
5. Controls the difference between position setpoint and actual value to 0 R RAM Random Access Memory Volatile memory in the servo amplifier Data stored in RAM are lost if the auxiliary voltage is switched off Reset Restart of the micro processor ROD interface Incremental position output S SSI interface Cyclically absolute serial position output Z Zero pulse Is issued once per revolution by incremental transmitters it is used for zeroing the machine 3 50 Setup Software Version PROFIBUS Version 04 08 3 3 Index 3 51
6. behaviour 0 Signal change at the Next InPosition end of the following task behaviour 2 Signal change at the InPosition end of a motion task behaviour Wa sequence if the SS Fr InPosition window has a Specified delay time or waiting for digital been reached input 2 42 Setup software version PROFIBUS Version 04 08 2 17 3 Operation mode OPMODE Use OPMODE to set the operation mode basic function of the amplifier This mode can be switched at any time via field bus interface or digital I O INXMODE 24 The following settings are possible Code Function Comment 4 Position of electrical gearing Position controller pulse follower Operation mode of slave axes master slave operation 6 SERCOS position control Position control with SERCOS expansion card Is used only in conjunction with the SERCOS option 8 Position of motion blocks Position control via stored motion blocks Standard operation mode Warning OPMODE can be switched with the drive in motion This can lead to A N dangerous acceleration Switch OPMODE while the drive is in motion only if the drive application allows this 2 17 4 Loading default values The data sets of the axis to be used can be loaded from the SERVOLINE database If an encoder is used as a feedback unit the motor number will automatically be reported to the servo amplifier Changes can be made only while
7. motion task It is only used with the I O version Warning The motion task does not stop automatically if the start signal is removed The motion task needs to be stopped in one of the following ways e viaa falling edge on a digital input with the function Start MT No x e via the ASCII command STOP e viathe STOP function of the setup software Switches the operation mode from Electrical gearing OPMODE to Positioning OPMODE 8 with slave horizontal axes without holding brakes This function is used for initialising Zeroing the slave axis in the case of mechanically non connected master slave applications Since in their disabled state horizontal axes are without torque a reference traverse homing must be carried out after each disable Auxiliary value Operation mode see chapter 2 17 3 State of DIGITAL INx Auxiliary value High Low Hex Input dec Operation mode 8 Operation mode 4 position of motion position of electrical 804 2052 blocks gearing Operation mode 4 Operation mode 8 position of electrical position of motion 408 1032 gearing blocks Warning Use only in the case of mechanically non connected slave axes Setting the ROD zero pulse offset With the rising edge on the digital input the current position is converted depending on the set ROD resolution and entered in the variable NI Offset chapter 2 19 1 Then the new setting must be saved in the serial EEPROM chapter
8. will be sent to one of the programmable outputs DIGITAL OUT1 2 X3 16 or X3 17 The default is 85 Effects Value too low message appears too soon drive is not fully utilised Value too high limiting occurs at the same time as the message Following error refers to the maximum difference window between the position setpoint and the actual position that is permitted during processing If the value moves outside this window then the position controller generates an error message and brakes the drive using the emergency stop ramp The following values have been set factory default SHA 470 60 000 um SHA 340 50 000 um SHX 470 60000 pum SHX 340 60000 um SHY 470 60000 um SHY 340 50 000 um SVA 130 30 000 um SHE 130 20 000 um SVE 130 20 000 um Effects Value too low the acceleration process will be interrupted Value too high a following error will not be recognised The actual following error is displayed in um 2 40 Setup software version PROFIBUS Version 04 08 2 17 Screen page Settings Setup 0 DRIYEO mn Cem DRIVEO 8 Position Motion Tasks ei SS See SHA 130 600 a au Encoder emulation Electrical gearing Feedback 2 17 1 Field bus Address Baud rate CAN bus Name Opens the screen page Encoder emulation gt chapter 2 19 Opens the screen page Electrical gearing gt chapter 2 18 Opens the screen page Fee
9. After the function has been selected you can enter the value of the current in auxiliary value x The output is a High signal as long as the absolute r m s value of the actual current is higher than a specified value in mA auxiliary value x After the function has been selected you can enter the value of the current in auxiliary value x If the preset I t monitoring threshold is reached screen page Limit values gt chapter 2 16 this is indicated by a High signal Use this function only if position register no 4 I O version is used For a description of signal behaviour refer to chapter 2 16 2 Settings The output produces a High signal if an error or a warning message is signalled by the servo amplifier For a list of warning messages and error messages refer to chapter 2 9 1 and 2 9 2 The output produces a High signal if an error is signalled by the servo amplifier For a list of error messages refer to chapter 2 9 1 A High signal is output if the actual value of the DC link voltage is higher than a specified value in volts auxiliary value x After the function has been selected you can enter the voltage value in auxiliary x A High signal is output if the actual value of the DC link voltage is lower than a specified value in volts auxiliary value x After the function has been selected you can enter the voltage value in auxiliary x A High signal is output if the
10. Ends processing of the current parameter set If you have made any changes you will be asked if you want to save the data 2 12 Setup software version PROFIBUS Version 04 08 2 4 Screen page Position data Position Data 0 DRIVEO lit EE i 0 1500000 10000 Without 150000 1500000 10000 Without 300000 1500000 10000 Without EI afell po Ss In 2 4 1 Field Status messages Upper field Shows the enable status of the amplifier Enable No Hardware Enable No Software Enable No Enable Offline Lower field Shows the error status of the amplifier e Status OK e Error e Warning 2 13 Setup software version PROFIBUS Version 04 08 2 4 2 Table Motion tasks For each of the positioning tasks you will need to specify a motion task These motion tasks can be selected via a motion task number and are stored in the servo amplifier The motion task No 0 is a direct order and can be described or executed only via field bus systems Motion task number Stored in Precondition for storing Comments 1 180 EEPROM Output stage disabled Permanently stored 0 181 255 RAM None Volatile storage Entries in the table can only be made after activating the Enter key To complete the entry press the Enter key again The data are stored in the EEPROM only after you click on the Accept bu
11. Internal auxiliary voltage not OK F08 Overspeed Motor running away speed is higher than is permissible F09 EEPROM Checksum error F10 Flash EPROM Checksum error F11 Brake Broken cable short circuit short to ground SVA only F12 Motor phase Motor phase is missing broken cable or similar F13 Internal temperature Internal temperature in the amplifier is too high F14 Output stage Fault in the power output stage F15 I2t max t max value exceeded F16 Mains BTB 2 or 3 supply phases are missing F17 A D converter Error in the analog digital conversion F18 Regen Regen circuit faulty or setting incorrect F19 Mains phase A supply phase is missing F20 Slot error Hardware error on the expansion card PROFIBUS F21 Handling error Software error on the expansion card PROFIBUS F22 Earth fault Inactive F23 CAN bus inactive Communication interrupted by CAN bus F24 F31 Reserved Reserved F32 System fault System software not responding correctly These error messages can be cleared without resetting the amplifier If only one of these errors is present and the RESET button or the I O function RESET is used then too only the error is cleared 2 32 Setup software version PROFIBUS Version 04 08 2 9 2 Warnings Faults that occur but do not cause a switch off of the amplifier output stage BTB contact remains closed are displayed as a numerical warning code in the LED display on the front panel and on the screen page STATUS Warn
12. Moth Reve Fable Motion task yy tege ese area Se ee eS Screen page Next motion ok Field Setup amp ceed cede escent tee an i en Field Motion task y 22 eee esa BRR ee t Messagen ar ies Ae EEGEN EE SEENEN Aer Field Referenc traverse eer ics eee esa we ee a R Screen page Threshold cam function Ne ele Screen page PROFIBUS Screen page Device control Field State machine ssnin ii a i Field Control word STW csccescsssessseeseesecesseeeecesecesecsecaaeceaecsaecaeeeneeeaeeeeeeeeenereeatees Field State word ZSW S aan EES NENNEN SERA Screen page digital I O X3 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP ceee Digital outputs DIGITAL OUT 1 DIGITAL OUTR uensssensesseesensneneen Screen page Status ETTO MESSAGES e ie Arei EES E EE G ste Ee 1 3 GEES 1 5 Setup software version PROFIBUS Version 04 08 2 10 Screen page Actual values 2 11 Screen page Info 2 12 Software structure password protected area 2 13 Enter password 2 14 Screen page Linear axis password protected area 2 15 Screen page Change password 2 16 Screen page Limit values 2 16 1 Software limit switches 1 and 2 2 162 gt Wem SE 2 17 Screen page Settings DATs Field Duss E SI InPosition behaylour u 22 00 k ia saastavad vaiku St 217 3 Operation Teresa DATA Loading default values 2 dee te 2
13. Not used F12 Disable Disable the output stage via software Shift F12 Enable Enable the output stage via software Setup software version PROFIBUS Version 04 08 1 8 Software structure MONTECH Setup software Open area Motion task data Limit values Password protected area Digital I Os Basic settings Setup mode Open area The open area of the software provides the user of the linear axis with the option of changing any of the relevant operation specific data while meeting the limit values defined by the equipment manufacturer This can be the case when setting up the equipment for a different product The user of the equipment is thus able to carry out the required changes The following changes may be made e Opening and saving data on a hard disk diskette Only data of the respective type of linear axis can be loaded Motion task data Input values within the limit values specified in the pasword protected area Setup operation Threshold function and cam function Function of the digital I Os Password protected area In the password protected area of the software the equipment manufacturer can define equipment specific limit values The operator of the equipment is thus unable either not to reach or to exceed the limit values The following additional changes can be made e Erasure of the EEPROM e Loading default data or special solutions from hard disk diskette e Limit values maximum tra
14. Their function is shown in the flow diagram The state ofthe position registers can be gueried via the bus See Communications profile PROFIBUS DP Inactive No function allocated Pos 1 overshot Reports overshooting of pos 1 The position is entered in threshold ym Pos 1 not reached Reports failure to reach position 1 The position threshold is entered in um Within pos 1 and pos 2 A signal is sent as soon as the drive is between position 1 and cam position 2 The positions are entered in um Outside pos 1 and pos 2 A signal is sent as soon as the drive is outside position 1 and cam position 2 The positions are entered in um 2 22 Setup software version PROFIBUS Version 04 08 Register state Actual position Teach in F7 Pos 1 overshot Pos 1 not reached Within Pos 1 and Pos 2 Outside Pos 1 and Pos 2 Shows the state of the register high or low Shows the actual position of the slide in um Taking over position 1 or position 2 of the respective position register Procedure e Reference point has been set e Position field has been marked mouse pointer or tabulator function Activate teach in key mouse or function key F7 e Take over position value key Take over 0 Pos 1 Pos 2 max Distance gt S 2 23 Setup software version PROFIBUS Version 04 08 2 6 Screen page PROFIBUS PROFIBUS 0 DRIVEO eiere OFAST Bommuneati
15. description The servo amplifier has to be adapted to the conditions of the application target position acceleration speed etc Such parameterisation is not carried out on the amplifier itself but on a PC by means of the setup software The PC is connected in series to the servo amplifier via a null modem cable The setup software establishes communication between the PC and the servo amplifier With very little effort you can alter parameters and instantly see the effect on the drive since there is a permanent online connection to the amplifier Important process values actual values are simultaneously read out from the amplifier and displayed on screen You can store archive sets of data on a data carrier and load them again The data set currently in use can be printed Setup software version PROFIBUS Version 04 08 1 4 Operating systems 1 4 1 Microsoft WINDOWS Vista XP 2000 NT ME 98 95 The setup software runs under WINDOWS Vista XP 2000 NT ME 98 95 1 4 2 DOS OS2 WINDOWS 3 xx The setup software will not run under DOS OS2 or Windows 3 xx Emergency operation is possible with ASCII terminal emulation no user interface Interface settings 9600 baud 8 bit 1 stop bit no parity no handshake 1 5 Hardware requirements Minimum specifications of the PC Processor Intel Pentium or higher Operating system Microsoft WINDOWS Vista XP 2000 NT ME 98 95 Graphics card Windows compatible colour
16. displayed accordingly e The remaining data of the motion task is taken from the default settings D 8 ABS 22338 1000000 10000 10000 Ohne e Store the data in EEPROM by activating the key Take over 2 19 Setup software version PROFIBUS Version 04 08 2 4 5 Field Motion task r Motion Task v limit ums 1 5e 006 o A Start a motion task via the setup software This mode can be started n Task when the reference point has been set and the motion tasks have been specified Stop v limit um s During setup the velocity can be limited with v limit without changing the motion task settings No Enter the number of the motion task to be started Start motion task Start the motion task whose number appears in the field No Stop Stop the current motion task N Caution e Assembly installation wiring and final check have been carried out according to the operator manual for the servo amplifier e Assembly installation and final check have been carried out according to the operator manual for the servo axis Ensure that nobody is present within working range of the axis e During operation keep all covers protective devices and switchgear cabinet doors closed Failure to do so may result in life threatening or severe personal injuries or material damage 2 4 6 Message Servoline This message appears if a drive order is started with the software via the drive order field after the re
17. m Temperatures Heat Sink Temperature 33 C Internal Temperature 49 C Angle of Rotation 0 1 mech 1 45 Anzahl Speed Actual Value 0 pm Setpoint 0 mmm Other Following Error 0 pm Position 0 pm Ft Average Value 8 Reference Point set Electrical system Effective current Current D comp Current Q comp Bus voltage Regen power Temperatures Heat sink temperature Internal temperature Angle of rotation Angle of rotation Speed Actual speed Setpoint speed Other Following error Position lt Reference point Shows the value in amperes of the actual current indication Arms value always positive Shows the value in amperes of the current D component Id reactive current of the current indication Shows the value in amperes of the current Q component Iq active current of the current indication The sign that is displayed is negative in regenerative operation motor under braking Shows the DC link DC bus voltage in V produced by the amplifier Shows the actual regenerative power in W Shows the temperature in degrees Celsius of the heat sink in the servo amplifier Shows the temperature in degrees Celsius inside the servo amplifier Shows the actual angle of rotation of the rotor only for speeds n lt 20 min in degrees and number in relation to the mechanical zero point of the measuring system Shows the a
18. servo amplifier is enabled To obtain enable the external enable signal on terminal X3 15 must be present the Enable status must be set in the setup software and no error must be present that would cause automatic internal disabling of the servo amplifier see chapter 2 9 1 for error messages The zero pulse High signal of the encoder emulation is indicated This function is only useful at very low speeds The output signals High if a reference point is available A reference traverse homing has been carried out or a reference point has been set 2 30 Setup software version PROFIBUS Version 04 08 2 9 Screen page Status Status 0 DRIVE0 Run time Fault History No Actual Errors No Run time Last 10 errors Frequency Actual errors Actual warnings Reset 2090 2 H MIN Fault Frequency Actual Warnings No Time in hours during which the servo amplifier has been operating with the output stage enabled Displays the last 10 errors that have occurred together with the time of their occurrence with reference to the run time Displays the frequency of occurrence of all faults that caused the servo amplifier to switch off Displays the errors currently reported by the servo amplifier according to error messages F01 to F32 in the LED display on the front panel of the amplifier See chapter 2 9 1 for a list of error messages Displays the errors currently reported by the servo amplif
19. the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create a position output in a format that is compatible with the standard SSI absolute encoder format 24 bits are transmitted with the upper 12 bits being fixed to ZERO and the lower 12 bits containing the position information For 2 pole resolvers the position value refers to one revolution of the motor 2 45 Setup software version PROFIBUS Version 04 08 2 19 1 ROD Encoder 0 DRI EO Encoderemulation Auflosung ROD 1024 D Ink Umdr NI Offset 5 Incr Resolution ROD Determines the number of increments per motor revolution that are output Change this setting only while the amplifier is disabled Increments per motor revolution for feedback Resolution Resolver EnDAT 256 256 256 512 512 512 1024 1024 1024 2048 2048 4096 4096 8192 8192 SHA 130 up to v 1 1 m s SVA 130 up to v 0 9 m s 16384 16384 SHA 130 up to v 0 5 m s SVA 130 up to v 0 4 m s SHA 470 up to v 1 1 m s FP 130 x axis up to v 1 1 m s y axis up to v 0 5 m s The resolution in the control system can be increased by quadruple evaluation of the increments NI Offset relates to the zero crossing of the feedback unit Determines the position of the zero marker pulse when A
20. the system printer or save it to a file Print preview Print setup Use these functions in the same way as for any other Windows software Exit Terminates the program COMMUNICATION COM1 COM2 If one of these interfaces ports is available for communication with a servo amplifier i e if it is not being used by any other equipment or drivers then the text label appears in black and can be selected Select this interface and use it for connecting to the servo amplifier Offline In preparation Deactivate interfaces This deactivates access to the setup software from interfaces COM1 and COM2 chapter 2 1 Multi drive EDIT Undo Select line Cut Copy Paste Delete Use these functions in the same way as for any other Windows software VIEW Toolbar Status bar Switch to show or hide the toolbar top or the status bar bottom on the screen WINDOW Cascade Tile vertically Arrange icons Use these functions in the same way as for any other Windows software SERVICE Stops any motion task functions that are currently active STOP F9 Device information Setup software version PROFIBUS Version 04 08 2 Parameters and functions This chapter describes all the parameters that can be accessed via the setup software 2 1 Screen page Communication ae the Disconnect Interfaces COM1 COM2 If one of these
21. 18 Screen page Electrical gearing 2 19 Screen page Encoder emulation 2191 ROD Ee han aaa sekvoia A A Mea TUUA ee D1D DA ASST aeons ties AA eer eet 2 20 Screen page Feedback 3 APPENDIX ae 3 1 Abbreviations and acronyms 3 2 Glossary 3 3 Index 2 34 2 35 2 36 2 37 2 38 2 38 2 39 PEA E EEEE S 2 39 A EERE ee 2 40 2 41 EE 2 41 dree EE 2 42 Geen 2 43 deer 2 43 2 44 2 45 Geh Ae 2 46 DEREN Seet 2 47 2 48 3 49 3 50 3 51 Setup software version PROFIBUS Version 04 08 1 General 1 1 Introduction This manual explains the installation and handling of the setup software for the digital servo amplifier version PROFIBUS DP The information is broadly arranged as follows e Chapter 1 General information installation screen layout operation e Chapter 2 Parameter description e Chapter 3 Glossary index This manual forms part of the complete documentation of the SERVOLINE products The complete documentation consists of the following documents Description Ref No e Communications profile PROFIBUS DP BA 100041 e Setup software version PROFIBUS DP BA 100043 e Servo amplifier version PROFIBUS DP BA 100042 e Mechanical design of the SERVOLINE products miscellaneous The documentation is available in the following language versions German English French Italian Spanish and Swedish of the servo amplifier can le
22. 2 3 This function makes it possible for the ROD zero pulse to be issued always at the current position within a revolution The low level initiates an emergency stop phase cancels a motion and stops the drive via the emergency stop ramp Irrespective of the operation mode OPMODE set the speed controller is activated during the emergency stop phase 2 28 Setup software version PROFIBUS Version 04 08 32 Brake A A high level at the digital input releases the brake SVA 130 only The function of this input is only active with the output stage disabled and with the BTB closed no amplifier error Warning The load of the vertical axis must be held by an appropriate device 2 8 2 Digital outputs DIGITAL OUT1 DIGITAL OUT2 The following standard pre programmed functions can be combined with the digital outputs DIGITAL OUT1 terminal X3 16 or DIGITAL OUT2 terminal X3 17 High functions Low functions 2 8 2 1 0 Off 1 v lt x Function Off V lt X v gt x SW_limit Pos gt x act lt x act gt x It Next InPos Error Warn Error DC_Link gt x DC_Link lt x ENABLE Zero_pulse Ref OK The presence of the function that is set is indicated by a High signal on the respective interface terminal The presence of the function that is set is indicated by a Low signal on the respective interface terminal Logic High High High High High High High High High High High Hi
23. B 1 The entry 2 46 Setup Software Version PROFIBUS Version 04 08 2 19 2 SSI Encoderemulation Baudrate oa 200 kBaud sl SSI Takt C Single Tum standard SSI Code binary OK Cancel __ w Determines whether single turn or multi turn signals are to be emitted Change this setting only while the amplifier is disabled Baud rate Determines the serial transmission rate Change this setting only while the amplifier is disabled ID Function 0 200 kBaud 1 1 5 MBaud SSI Clock Determines whether the output level is normal or inverted Change this setting only while the amplifier is disabled ID Function 0 Standard 1 Inverted SSI Code Determines whether the output is in binary or GRAY code Change this setting only while the amplifier is disabled ID Function 0 binary 1 Gray 2 47 Setup software version PROFIBUS Version 04 08 2 20 Screen page Feedback Feedback Type 0 Resolver ja Offset DR o To confirm changes reet the amplifier OK possesses ae zesecceg i Feedback type ID Function Comments 0 Resolver The linear axes have two pole hollow shaft resolvers fitted as standard Cycle time 62 5 us The settings have been made at the factory 4 EnDat As an option the linear axes are available with high resolution absolute encoders multi turn with EnDat interfaces Heidenha
24. Resolution 800 x 600 pixels minimum Drives CD drive Hard disk 5 MB free space Main memory 8 MB minimum Interface One free serial interface COM1 or COM2 The interface must not be used by any other software driver or similar Setup software version PROFIBUS Version 04 08 1 6 Installation under Microsoft WINDOWS Vista XP 2000 NT ME 98 95 Connect or disconnect the interface only if all the supply voltages amplifier and PC have been switched off On the CD you will find an installation program with the name SETUP EXE which makes it easier for you to install the setup software on your PC Connection to the serial interface of the PC Connect the interface cable to a serial interface of the PC COM1 or COM2 and to the PC interface X6 of the servo amplifier Switch on Switch the PC and the monitor on When the boot phase has finished the Windows user interface appears on screen Installation Click on START taskbar then on Run Enter the program call a setup exe where a is the correct drive letter Confirm by pressing OK and follow the instructions Setting up the graphics card font size Click on the desktop with the right mouse button The dialog window Properties appears Select the file card Settings Set the font size to Small fonts Follow the instructions provided by the system 1 4 Setup software version PROFIBUS Version 04 08 1 7 Software operat
25. a physical change but the offset is used as a reference value within the position control of the servo amplifier Homing to the reference switch will then not finish at zero but instead at the set reference offset value The reference offset must be set before homing is started Any change to the offset will only become effective after a new homing operation The reference offset is entered in mm v um s Determines the speed for the reference traverse Factory default is maximum speed a mm s Specifies the acceleration for homing Enter the value in mm s The ramp also applies to jog mode A maximum value has been set as a factory default Reference point Indicates whether or not a reference point has been set Start Button to start homing Stop Button to stop homing After a reference traverse the stop key must be pressed so that a drive order can be initiated 2 21 Setup software version PROFIBUS Version 04 08 2 5 Screen page Threshold cam function Threshold Cam Function 0 DRI EO Position Register Position 1 um Position 2 um Register State Actual Position um 5 Teach In F7 Cancel Apply OK 2 5 1 Position registers These are programmable registers which can have various functions assigned to them Make changes only while the output stage is disabled and then reset If a particular position value is exceeded or not attained this can be reported via the position registers
26. ad to personal injury or material damage and render the warranty void It is vital that you keep to the technical data and information on connection requirements e Please read this documentation before commencing with setup Incorrect handling e A basic knowledge of the operating system WINDOWS and of the use of a personal computer is assumed Strictly observe all instructions relating to safety installation and setup e Only properly qualified personnel are permitted to perform activities such as installation setup and maintenance Properly qualified persons are those who are familiar with the assembly installation setup and operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe the following standards or guidelines IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National accident prevention regulations or VBG4 Setup software version PROFIBUS Version 04 08 1 2 Use as directed The setup software is intended to be used for altering or storing the operational parameters of the servo amplifier of the SERVOLINE products The servo amplifier that is connected is commissioned by means of the software whereby the drive can be directly controlled by the setup and service functions Due to the characteristic nature of a PC these functions do not provide operational safety without further measures A PC program might unexpecte
27. ctual rotational speed of the motor in min Shows the currently set speed in min Shows the present following contour error in mm Shows the present position mm Shows the actual effective load in per cent of the preset effective current l m Shows whether or not a reference point has been set 2 34 Setup software version PROFIBUS Version 04 08 2 11 Screen page Info Hardware Firmware Software PC Serial number Run time Name Data set Version level of the servo amplifier hardware Version level of the servo amplifier firmware Version level of the current operator software Serial number of the servo amplifier The number of operating hours of the enabled servo amplifier i e output stage active Saved at 6 min intervals If the 24V supply is switched off a maximum of 6 min operating time may be lost Name of the servo amplifier Shows the data set loaded and the type designation of the Montech linear axis 2 35 Setup software version PROFIBUS Version 04 08 2 12 Software structure password protected area In the password protected area of the software the equipment manufacturer can define equipment specific limit values The operator of the equipment is thus unable either not to reach or to exceed the limit values The following additional changes can be made e Erasure of the EEPROM e Loading default data or special solutions from hard disk diskette e L
28. dback gt chapter 2 20 Enter the station address 1 63 of the amplifier This number is required by the field bus CANopen PROFIBUS DP SERCOS etc and for the parameter setting of the servo amplifier in multi axis systems for unambiguous identification of the servo amplifier within the system The address is displayed in the setup software in the title bar of every screen page as long as you are working online Enter the baud rate 10 20 50 100 125 250 333 500 666 800 1000 kBaud of the amplifier This transmission rate is required by the field bus CANopen as well as for the parameter setting of servo amplifiers in multi axis systems Here you can assign a name 8 characters max to the servo amplifier This makes it easier for you to allocate a function within the system to the servo amplifier The name is displayed in the setup software in the title bar of every screen page In offline mode the name provides an indication as to the origin of the currently active data set 2 41 Setup software version PROFIBUS Version 04 08 2 17 2 InPosition behaviour Delay time Delay time for the InPosition message in ms When a motion task is started the InPosition message is withdrawn and monitoring of the InPosition window is only activated after the set time has elapsed This function is particularly important with position activities within the InPosition window In any case it is ensured that the InPosition message
29. dly be disturbed or stopped so that in the event of a malfunction any movements that have already been initiated can no longer be stopped from the PC The equipment manufacturer is obliged to prepare a hazard analysis of the equipment and is also responsible for functional mechanical and personal safety aspects in relation to the machine This applies especially to the initiation of movements by way of functions in the setup software parties After a set of data has been loaded all parameters must always be checked Sets of data that are stored on data media are not safe from unintended alteration by third bg before the servo amplifier is enabled Servo amplifiers are components that are built into electrical equipment or machinery they must only be operated as integral components of such equipment The BTB contact must be wired into the safety loop of the system The safety loop as well as the stop and emergency stop functions must comply with the requirements of EN60204 EN292 and VDI2853 Before operating the servo axes all work is to be carried out as specified in the operator manuals of the servo amplifier and the Servoline axes Strictly observe all safety regulations e Assembly installation wiring and final check have been carried out according to the operator manual for the servo amplifier e Assembly installation wiring and final check have been carried out according to the operator manual for the servo axes 1 3 Software
30. e signal Cycle time of the electrical gearing is 250 us a value averaged over 1000 us is used Direction of rotation Determines the direction of rotation of the motor shaft in relation to the polarity of the setpoint value The setting is used to change the direction of the slave axis during master slave operation Make changes only while the amplifier is disabled and then reset ID Function 0 Negative 1 Positive Input pulses motor revolution Gearing ratio EE lt 1 x Z x Input pulses in increments motor revolution x must correspond to the setting of the master axis encoder emulation ROD ylz Gearing down of the axis Must be lt 1 2 44 Setup Software Version PROFIBUS Version 04 08 2 19 Screen page Encoder emulation Encoder 0 DRIYED OK Encoderemulation Apply Cycle time of encoder emulation 0 5 us Function Comments Input The interface is used as an input Setting the slave axis master slave operation ROD Incremental encoder emulation In the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create incremental encoder compatible pulses max 250 kHz Pulses are emitted at the connector X5 as two signals A and B with a 90 electrical phase difference and a zero pulse SSI SSI encoder emulation In
31. e target position has been reached You can enter the delay time via the Delay time parameter The next task is started by a signal at a digital input Start_MT Next terminal X3 or by a specified delay The event that occurs first the start signal or the end ofthe delay time provides the trigger Condition The target position must have been reached You can preselect the logic with the Start with parameter and enter the delay time with the Delay time parameter Logic for the digital input terminal X3 that has the function Start_MT Next Low level High level 0 7V 12 30V 7mA 2 15 Setup software version PROFIBUS Version 04 08 Delay time Enter the delay time in ms between reaching the target position and starting the next task Motion task Next task Next task Next task Next task no 1 no 2 no 3 no 4 no 5 v h 2 T Time e vi Start with Time Immediately UO High level UO Low level Start_MT Next i X11B 11 EGE me t Accel decel Select the action to be taken when the target position for the present motion task is reached On v 0 The drive brakes and comes to a stop in the target position The next motion task is then started From target The drive moves at v_cmd of the present motion task to the target position and then accelerates through to v_cmd of the next task Not yet selectable function v o is carried out T
32. ently saved Haji Stops cancels motion functions motion task homing i Opens the screen page Instrument info to display the hardware and software versions gt chapter 2 11 2 11 Setup software version PROFIBUS Version 04 08 Threshold Cam Function PROFIBUS 170 digital x3 etne OK rs Software Disable Enable L inear St L SW Disable F12 GG Enable Shift F12 End processing Quit Opens the screen page Position data gt chapter 2 4 Opens the screen page Threshold cam function gt chapter 2 5 Opens the screen page PROFIBUS gt chapter 2 6 Opens the screen page I O digital X3 gt chapter 2 8 Opens the screen page Status gt chapter 2 9 If a fault is present the text of the button changes e Status OK e Error e Warning Shows the enable status of the amplifier Enable No Hardware Enable No Software Enable No Enable Offline Disables or enables the servo amplifier via the software This signal is logically And linked inside the servo amplifier with the hardware enable terminal X3 15 Disabling and enabling can also be undertaken via the function key F12 or Shift F 12 This function does not ensure personnel safety To disable the servo amplifier so as to ensure personnel safety the enable signal terminal X3 15 must be removed and the line mains power must be switched off
33. ersion 04 08 2 4 4 2 2 Procedure Teach in with the output stage enabled Warning KL Assembly installation wiring and final check have been carried out according to the user manual of the servo amplifier Assembly installation and final check have been carried out according to the user manual of the servo horizontal axis Ensure that nobody is present within working range of the axis During operation keep all covers protective devices and switchgear cabinet doors closed Failure to do so may result in life threatening or severe personal injuries or material damage e f several positions are to be entered at the same speed or acceleration the speed or acceleration can be specified as a default in the default window chapter 2 4 4 1 Existing motion task data will not be overwritten e Enable the output stage power supply is On and Enable input is set to High level e Via jog mode gt chapter 2 8 1 1 function 20 Start_JOGx move to the command position e Disable the output stage function key F12 e Select the motion task for which a teach in is to be carried out Highlight the motion task number 6 zul Teach In EG e Carry out a teach in by pressing the Teach in key F6 or by Ist Position um pressing the function key F6 on the PC keyboard The current 22338 actual position of the slide is taken over to become the command position for the selected motion task and is
34. ference traverse This message is also AN Function is active displayed if a drive order was executed with Start drive order and then a reference traverse is started via the software After this message has been acknowledged the stop key should be pressed so that the drive order can be started 2 20 Setup software version PROFIBUS Version 04 08 2 4 7 Field Reference traverse Reference Traverse Ref Offset um wv ums a mm s Reference Point SE Start fo boom sooo E The reference traverse homing is an absolute task which is used for zeroing the drive for subseguent positioning operations After homing the drive reports InPosition thus enabling the position controller in the servo amplifier Warning e The position controller cannot be operated without first carrying out a reference traverse homing e After the 24V auxiliary voltage has been switched on a reference traverse has first to be carried out The reference point is set to the first zero crossing point of the feedback unit resolver after the reference switch transition has been detected The two pole resolver has exactly one zero crossing per revolution thus positioning on the zero mark is unambiguous within a motor revolution Ref Offset um With the reference offset an absolute position value other than 0 can be assigned to the reference position With an offset for the reference position you are not actually making
35. gh High High High Auxiliary value x Velocity in um s Velocity in um s Position in um Current in mA Current in mA Voltage in V Voltage in V Description of the digital output functions X3 No function assigned As long as the value for the velocity is less than a preset value auxiliary value x a High signal will be output After the function has been selected the speed v in mm s can be entered in auxiliary value x 2 29 Setup software version PROFIBUS Version 04 08 2 V gt x 5 SW_limit 6 Pos gt x 8 1 act lt x 9 1 act gt x 11 Pt 16 Next InPos 17 Error Warn 18 Error 19 DC link gt x 20 DC link lt x 21 ENABLE 22 Zero pulse 24 Ref OK As long as the value for the velocity is less than a preset value auxiliary value x a High signal will be output After the function has been selected the speed v in mm s can be entered in auxiliary value x When a software limit switch SW limit switch 1 or SW limit switch 2 has been reached this is indicated by a High signal If the position of the slide exceeds a preset value auxiliary value x a High signal will be output After the function has been selected the signalling position in mm can be entered in auxiliary value x The output is a High signal as long as the absolute r m s value of the actual current is lower than a specified value in mA auxiliary value x
36. gs 2 37 Setup software version PROFIBUS Version 04 08 2 14 Screen page Linear axis password protected area Linear Axis 0 DRIVEO EES otsi By left clicking the mouse on the respective buttons you can call up the associated screen pages or functions The EEPROM ofthe servo amplifier is cleared and a safe data setis loaded To operate the linear axis a default data set window Settings first needs to be loaded Change password Open the screen page Change password gt chapter 2 15 Limit values Open the screen page Limit values gt chapter 2 16 Settings Open the screen page Settings gt chapter 2 17 2 15 Screen page Change password Change Password Change the password for the protected area EEH 2 38 Setup software version PROFIBUS Version 04 08 2 16 Screen page Limit values Limits 0 DRIVEO Software Limit Switches SW Limit Switch 1 pm 2000 Output SWE1 x11 B 6 SW Limit Switch 2 pm 602000 Output SWE2 x11 B 7 Actual Position um Weeer 1 5e 006 Emerg Ramp mm s 20000 Max Following Error um 50000 fi 0000 Ft Message 80 Act Following Error 0 Low 511 8 6 Low 811 8 7 Teach In F7 m Limits v_max ums a max mm s Apply Cancel Us 2 16 1 Software limit switches 1 and 2 The software limit switches form part of the monitoring functions of
37. i E SetleGphG GlatRuenoE ben en kens ken Jee Je Je ken ken bes en kens ken Jm Je ke en Je On the screen page PROFIBUS the PROFIBUS specific parameters the bus status and the data words are shown in the direction of transmission and reception when seen from the bus master This page is helpful for troubleshooting and when setting up the bus communication Baud rate Shows the baud rate specified by the PROFIBUS master PNO Identno PNO identification is the number which the SERVOSTAR occupies in the list of ident numbers of the PROFIBUS user organisation Address Station address of the amplifier The address is set on the screen page Settings PPO type The servo amplifier only supports PPO type 2 of the PROFIDRIVE profile Interface states Shows the current state of bus communication Data transfer via PROFIBUS can only take place when the message Communication OK is displayed Input Shows the last bus object received by the master Output Shows the last bus object sent by the master Data for Input Output is transmitted only if response monitoring for the servo amplifier was activated during the hardware configuration 2 24 Setup software version PROFIBUS Version 04 08 2 7 Screen page Device control Device Control 0 DRIYEO r State Diagram r Status word 25W Switch on Inhibit voltage Fast stop switch on i Operation enabled Fast stop inh ramp Pause s
38. ier according to warnings n01 to n32 in the LED display on the front panel of the amplifier See chapter 2 9 2 for a list of warning messages Software reset warm start of the servo amplifier The servo amplifier must be disabled Present errors are deleted the servo amplifier software is re initialised and communication is established anew 2 31 Setup software version PROFIBUS Version 04 08 2 9 1 Error messages Errors that occur are displayed via a coded error number in the LED display on the front panel and on the screen page STATUS All error messages result in the following action the BTB contact terminals X3 2 and X3 3 opens the drive switches off in a managed way braking with emergency ramp and the output stage of the amplifier switches off motor loses all torque The holding brake of the motor is activated SVA 130 only Number Designation Explanation F01 Heat sink temperature Heat sink temperature is too high Limit has been set to 80 C by the manufacturer F02 Overvoltage Overvoltage in the DC link circuit Limit depends on the mains supply voltage F03 Following error Message from the position controller F04 Feedback Cable break short circuit short to ground F05 Undervoltage Undervoltage in the DC link Limit has been set to 100V by the manufacturer F06 Motor temperature Temperature sensor faulty or motor temperature too high Limit has been set to 145 C by the manufacturer F07 Auxiliary voltage
39. imit values maximum traversing rate acceleration emergency stop ramp following errror and I2tmessage e Software limit switch positions e Operation mode master slave or position mode encoder emulation electrical gearing feedback system in position behaviour Communication COM1 2 Offline Linear axis Main window INFO Enter password for protected area Limit values for position data Encoder emulation Electical gearing Feedback Position data Motion tasks Homing reference traverse Teach in operation Default values Next motion task Threshold cam function 4 registers Profibus Main page Instrument control State machine Control word State word I O digital X3 Configurable Signal state Status Reset Error Warnings Erase EEPROM Daten speichern Parameter und oder Motion tasks File open Parameters and or Save in EEPROM RAM gt EEPROM STOP Stop all motion tasks jog mode etc Actual values Actual drive data 2 36 Setup software version PROFIBUS Version 04 08 2 13 Enter password Procedure Open device info window Activate key combination Ctrl Alt Shift Click the mouse on the motor image gt Administrator access window opens Enter password default no password The following additional buttons appear on the Linear axis page Erase EEPROM Change password Limit values Settin
40. in as feedback Cycle time 125 us The settings have been made at the factory Offset Compensates for a mechanical position error of the resolver encoder in the motor Change this setting only while the amplifier is disabled If an encoder with EnDat is used as a feedback unit the offset is automatically transmitted to the servo amplifier An incorrect setting can cause the motor to run away even with a OV setpoint 2 48 Setup Software Version PROFIBUS Version 04 08 3 Appendix 3 1 Abbreviations and acronyms The table below shows abbreviations and acronyms used in this manual Abbreviation acronym Explanation BTB RTO Ready for operation CE Communit Europ enne European Community CENELEC European electrotechnical standards coordinating committee COM Serial interface of a PC AT DIN German technical standards organisation Deutsches Institut fur Normung Disk Magnetic storage diskette hard disk EEPROM Electrically erasable and programmable read only memory EMV Electromagnetic compatibility EN European standard IEC International Electrotechnical Commission ISO International Standardisation Organisation LED Light Emitting Diode MB Megabyte MS DOS Operating system for PC AT NI Zero impulse NSTOP Limit switch input anticlockwise rotation PELV Protective low voltage PSTOP Limit switch input clockwise r
41. ings that are recognised by the supply monitoring system will only be reported after the servo amplifier has been enabled Number Designation Explanation n01 It It message threshold exceeded n02 Regen power Preset regen power reached n03 FError Preset following error window exceeded n04 Response monitoring Response monitoring field bus active n05 Mains phase Mains phase missing n06 SW limit switch 1 Software limit switch 1 exceeded n07 SW limit switch 2 Software limit switch 2 exceeded n08 Motion task_error A faulty motion task was started n09 No reference point No reference point set at start of task n10 PSTOP Hardware limit switch PSTOP activated servo axes without hardware limit switch n11 NSTOP Hardware limit switch NSTOP activated servo axes without hardware limit switch n12 Default values Inactive n13 Expansion card Expansion card PROFIBUS not functioning correctly n14 HIPERFACE Inactive n15 Table error Inactive n16 n31 Reserved Reserved n32 Firmware beta version Firmware version has not been released A Reset RESET is present at DIGITAL IN1 ee These warning messages lead to a controlled shut down of the drive braking with the emergency ramp 2 33 Setup software version PROFIBUS Version 04 08 2 10 Screen page Actual values Monitor 0 DRIVE0 r Electricity Current RMS 0 061 A Current D Component 0 005 A Current D Component 0 054 A Bus Voltage 565 V Max regen power ow
42. initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Polls the reference switch zero point initiator The zero point initiator must be applied to a digital input Function 12 Reference must be assigned to the respective input 2 27 Setup software version PROFIBUS Version 04 08 15 Start_MT Next 18 Ipeak2x 20 Start_JOG x 23 Start2_MT No x A 24 OPMODE A B A 25 Zero_latch 27 Emerg Stop The following task which is specified in the motion block screen page Following task chapter 2 4 3 with the setting Start via I O is started The target position of the present motion block must have been reached before the following task can be started Switch over to a second lower peak value of current Scaled to x 0 100 of the peak current of the instrument After the function has been selected you can enter the percentage value in Auxiliary value x A rising edge starts jog mode setup mode endless motion The speed is specified in Auxiliary value x Since the jog mode is processed via the internal position controller OPMODE 8 is the prerequisite for this mode The speed is specified in um s Start of a motion task that is stored in the servo amplifier with definition of the motion task number which is present in bit coded form on inputs AO to A7 Motion task number 0 starts the reference traverse homing A rising edge starts the
43. interfaces ports is available for communication with a servo amplifier i e if itis not being used by other equipment or drivers then the text label appears in full black and can be selected Use this interface for connecting to the servo amplifier Select the interface which you are using The status bar shows the status of communication with the servo amplifier If communication is working properly the parameters stored in the servo amplifier are read into the PC A dialog window keeps you up to date Offline In preparation Deactivate This deactivates access to the setup software from interfaces COM1 and COM2 interfaces Setup software version PROFIBUS Version 04 08 2 2 Software structure open area The open area of the software provides the user of the linear axis with the option of changing any of the relevant operation specific data while meeting the limit values defined by the equipment manufacturer This can be the case when setting up the equipment for a different product The user of the equipment is thus able to carry out the required changes The following changes may be made Opening and saving data on a hard disk diskette Only data of the respective type of linear axis can be loaded Motion task data Input values within the limit values specified in the pasword protected area Setup operation Threshold function and cam function Function of the digital I Os Actual values Current drive data
44. ion 1 7 1 General The setup software is basically used in the same way as other Windows programs Note that after any parameter alteration on a screen page you must first click on APPLY so that the parameter is transferred to the RAM of the servo amplifier Pressing the Return key after altering a parameter value also has the effect of transferring the parameter set to the RAM of the servo amplifier Only then should you leave the page If a reset of the servo amplifier is necessary to activate a function this is recognised by the software which will carry out a reset after a software confirmation request The currently valid data set must be saved in the EEPROM of the servo amplifier in order to be permanently stored Therefore execute the Save Data to EEPROM function on the Linear axis page gt chapter 2 3 before the servo amplifier switches off or before processing of the data set has been completed 1 7 2 Function keys Function key Function Comment F1 Help Contextual help in preparation F2 Not used Not used F3 Not used Not used F4 Not used Not used F5 Not used Not used F6 Teach in F6 Teach in function for e Positioning data gt motion task position s_cmd um F7 Teach in F7 Teach in function for e Threshold function cam function gt positions 1 and 2 e Limit values gt Software limit switch positions 1 and 2 F8 Not used Not used F9 STOP Off Emergency stop F10 Not used Not used F11 Not used
45. is withdrawn for a specified time InPosition window Sets the InPosition window um Determines at what distance from the setpoint position the message InPosition is to be issued The drive moves exactly to the target position Effects Value too low time for positioning increases no InPosition message Value too high InPosition is signalled to the PLC Next InPosition behaviour With this setting the function of the interim message can be configured in a sequence of motion tasks At the start of the first motion block of a sequence of motion blocks the output Next InPos is always set to 0 The behaviour of the output when carrying out the sequence of motion blocks depends on the setting 0 The output is inverted during the start of a following motion block 1 At the start of a motion block the output is set to 0 on completion of a motion block the output becomes High 2 The output is inverted at the end of a motion block During a sequence of motion tasks in which the motion tasks are started immediately only the settings 0 or 2 are useful At a setting of 1 the High state is so brief that it may well not be registered by the external control system Next task Next task Next task Next task vil no 1 no 2 no 3 no 4 O l N ls Velocity lt 1 Signal change at the a start of the next Signal between two Next InPosition following tasks active behaviour 1 D Next InPosition
46. n Software reset of the servo amplifier in the event of a fault All the functions and displays are set to the initial status Parameters that are not stored in the EEPROM are deleted the parameter set which is stored in the EEPROM is loaded If any of the error messages F01 F02 F03 F05 F08 F13 F16 or F19 chapter 2 9 1 are present then no software reset will be carried out instead just the error message will be deleted This means that for example the encoder output signals are stable and can continue to be evaluated by the control system Limit switch function A Low signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the I component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Limit switch function A Low signal on the input terminal NSTOP terminal X3 14 inhibits the negative direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the I component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Limit switch function A Low signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotatio
47. n The motor brakes with the emergency stop ramp and comes to a standstill without the I component under proportional control mechanical delimitation stop is permitted A falling edge initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Limit switch function A Low signal on the input terminal NSTOP terminal X3 14 inhibits the negative direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill without the I component under proportional control mechanical delimitation stop is permitted A falling edge initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Limit switch function STOP regardless of the direction of rotation A Low signal on the input terminal PSTOP terminal X3 13 inhibits both directions of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the I component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not reguire a hardware limit switch Limit switch function STOP regardless of the direction of rotation A Low signal on the input terminal PSTOP terminal X3 13 inhibits both directions of rotation The motor brakes with the emergency stop ramp and comes to a standstill without the I component under proportional control mechanical delimitation stop is permitted A falling edge
48. o target The changeover to the next task is brought so far forward that v_cmd of the next task has already been reached by the time the target of the present motion task has been reached Not yet selectable function v o is carried out Motion task Next task no 1 no 2 vr Accel decel E 8 to v 0 gt s T gt Distance Motion task Next task Accel decel X no 1 no 2 from target 2 DN z s Distance Motion task Next task Accel decel e no 1 no 2 2 to target E gt s gt gt Distance Target position Motion task no 1 2 16 Setup software version PROFIBUS Version 04 08 2 4 4 Field Setup Setup Teach In F6 Ist Position pm 22338 Default values Open the screen page Default values gt chapter 2 4 4 1 Teach in Take over the actual position as s cmd position of a motion task gt chapter 2 4 4 2 Actual position um Shows the actual slide position in um 2 4 4 1 Screen page Default values Default Values for Motion Tasks 0 DRIVEO Art jess H v_cmd ums sono acc mm s hmm dec mm s hooo Next Motion Task without The default values are used to enter a position or teach in of a motion task which has previously not been specified The position value entered is automatically supplemented by the default value gt E Motion task specified OK Cancel IE Motion task data already specified
49. otation RAM Volatile memory ROD Inkrementelle Positionsausgabe SPS Programmable logic controller PLC SSI Synchronous serial interface VAC Alternating voltage VDC Direct voltage VDE Association of German electrical engineers VDI Verein deutsch Ingenieure 3 49 Setup software version PROFIBUS Version 04 08 3 2 Glossary C Current controller Controls the difference between current setpoint and actual value of the current to 0 E E PROM See EEPROM EEPROM Electrically Erasable and Programmable Read Only Memory Electrically erasable memory in the servo amplifier Data stored in the EEPROM is not lost when the auxiliary voltage is switched off Enable Enable signal for the servo amplifier 24 G GRAY format Special form of binary code with only one bit changing between sequential numbers H Holding brake Motor brake which must only be applied with the motor at a standstill 1 le Monitoring of the effectively required root mean square RMS current Intermediate circuit Rectified and smoothed output voltage Ipeak peak current Effective value of peak current Irms effective current Effective value of continuous current M Motion block Data packet with all position control parameters which are required for a motion task O Optical coupler Optical connection between two electrically independent systems v Position controller
50. otor jog mode 2 4 4 2 1 Teach in with the output stage disabled SHA and FP only contactor is switched off e Ensure that the supply voltage cannot be switched on by others e Failure to adhere to these safety measures may result in life threatening or severe personal injuries or material damage N e Disconnect the supply voltage from the servo amplifier The main switch or mains Procedure e Disable the output stage function key F12 e Switch off the power supply L1 L2 L3 for the controller e f several positions are to be entered at the same speed or acceleration the speed or acceleration can be entered as a default in the default values window gt chapter 2 4 4 1 Existing motion task data will not be overwritten e Slide the load to the desired position e Select a motion task for which a teach in is to be carried out Highlight the motion task number 7 EE E q H F Teach In F6 e Carry out a teach in by pressing the teach in key F6 or by Ist Position um pressing function key F6 on the PC keyboard The current 22338 A actual position of the slide is taken over to become the command position for the selected motion task and is displayed accordingly e The remaining data of the motion task is taken from the default value settings D ABS 22338 1000000 10000 10000 Ohne e Store the data in the EEPROM by activating the key Take over 2 18 Setup software version PROFIBUS V
51. ramp sine shaped This parameter determines the deceleration in mm s Deceleration ramp sine shaped Select whether a new motion task should be started automatically after the present task is finished The InPosition signal is only enabled when the last motion task no further task has been processed You can use the function Next InPos to obtain confirmation that each target position within a sequence of motion tasks has been reached Displays the number of the next motion task 2 14 Setup software version PROFIBUS Version 04 08 2 4 3 Screen page Next motion task Next motion task EN No Motion task No Next motion task Start condition Start with Nr Motion Task Start Condition fi 1 0 kd Nr next Motion Tas Acc Dec onv 0 D k Start by High Level D KE Delay time 1 ms Cancel Displays the current motion task number Displays the number of the next motion task On completion of the present task the next motion task is automatically started meeting the following conditions Immediately reached VO Time I O or time The next task is started as soon as the target position is The next task is started by a signal at a digital input Start_MT Next terminal X3 Condition Target position must have been reached You can preselect the logic with the Start with parameter The next task is started with a specified delay after th
52. ransitions of the state machine refer to the user manual Communications profile PROFIBUS DP Transitions 2 7 2 Field Control word STW By means of the control word you can switch from one instrument state to another The bit combination of the control word is shown in the field Control word The image of the state machine shows which instrument state can be reached via which transitions For a description of the control word refer to the user manual Communications profile PROFIBUS DP 2 7 3 Field State word ZSW By means of the state word the instrument state is shown and the transmitted control word is verified The bit combination of the state word is shown in the field State word For a description of the state word refer to the user manual Communications profile PROFIBUS DP 2 25 Setup software version PROFIBUS Version 04 08 2 8 Screen page digital I O X3 170 digital 0 DRIVEO m DIGITAL IN 1 Function Yalue x 1 Reset bane DIGITAL IN 2 Function Value x 12 Reference ai fp PSTOP Function Value x 0 Off ll NSTOP Function Value x 0 Off fp AGND BTB RTO BTE RTO AGND DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP ENABLE DIGITAL OUT1 DIGITAL OUT2 Low Low Low Close m DIGITAL OUT 1 Function 0 Off e 0 Off DIGITAL OUT2 Function X Cycle time of the digital I O functions approx 1 ms
53. the amplifier is disabled The following data records can be selected e SHA 340 400 e SHX 340 1200 e SHY 470 1800 e SHA 340 600 e SHX 470 800 e SHY 470 2200 e SHA 340 800 e SHX 470 1200 e SVA 130 200 e SHA 340 1000 e SHX 470 1600 e SVA 130 400 e SHA 340 1200 e SHX 470 2000 e SVA 130 600 e SHA 470 800 e SHX 470 2400 e SHE 130 100 e SHA 470 1200 e SHY 340 400 e SHE 130 200 e SHA 470 1600 e SHY 340 600 e SHE 130 300 e SHA 470 2000 e SHY 340 800 e SVE 130 100 e SHA 470 2400 e SHY 340 1000 e SVE 130 200 e SHX 340 400 e SHY 340 1200 e MONTRAC lift motor top e SHX 340 600 e SHY 470 600 e MONTRAC lift motor bottom e SHX 340 800 e SHY 470 1000 e Special data record e SHX 340 1000 e SHY 470 1400 e If a type of linear axis other than the one already present in the EEPROM is loaded AN all motion task data will be cleared e All parameters will be overwritten by the default parameter record of the SERVOLINE database Special data record 2 43 Setup software version PROFIBUS Version 04 08 Use this option to load special solutions from a hard disk diskette 2 18 Screen page Electrical gearing Gearing 0 DRIVEO Rotary direction negative Input Pulses per Turn fi e N zm 1024 fi 1024 Pulses 1 Turn x cerca The servo amplifier obtains a position setpoint value from another device master servo amplifier and controls the position of the motor shaft synchronous to this master guidanc
54. the position controller e SW limit switch 1 Monitoring takes place whether the actual position value is lower than the preset value the negative direction of rotation is now inhibited Move out of limit switch 1 in positive direction Enter the distance between the limit switch position and the reference point in um Default values SHA 470 SHX 470 SHY 470 SVA 130 5000 um SHA 340 2 000 um 5000 um SHX 340 2000 um 5000 um SHY 340 2000 um 2 000 um SHE SVE 130 1 000 um e SW limit switch 2 Monitoring takes place whether the actual position value is higher than the preset value the positive direction of rotation is now inhibited Move out of limit switch 2 in negative direction Enter the distance between the limit switch position and the reference point in um Default values SHA 470 SHX 470 SHY 470 SHA 340 SHX 340 SHY 340 SVA 130 SHE SVE 130 stroke 5 000 um stroke 5 000 um stroke 5 000 um stroke 2 000 um stroke 2 000 um stroke 2 000 um stroke 2 000 um stroke 1 000 um The drive brakes with the emergency ramp and remains at standstill under torque Position of the software limit switches SHA FP SVA Legend MAT Machine stop left top NI Zero pulse initiator reference E1 Software limit switch 1 E2 Software limit switch 2 MA2 Machine stop right bottom Ti Positive count direction Negative count direction
55. top rfg Setpoint enable Reset Fault Jogging on off reserved PZD enable inhibit Start homing run le Manufacturer specific Manufacturer specific Start s hiGtready fon switchran Ji Stenman maate bt Heady Torsten Gr E Ready for operator Eronesponse Schu is error CH ow one u N e Ready for switch on Switched on Operation enabled Error Voltage inhibited Fast stop Switch on inhibit Warning Setpoint actual value m Remote Setpoint reached Limit active Mode dependent Mode dependent Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific 4 5 s D E 1 peration sch BSR Engler ol rass 16 Control of the instrument is described by means of a state machine The state machine is specified in the drive profile in a flow diagram for all operating modes 2 7 1 Field State machine The flow diagram of the state machine is shown The actual state and the last transition are shown highlighted Instrument state The rectangles in the flow diagram show the possible instrument states of the servo amplifier The current instrument state is shown highlighted For a description of the states refer to the user manual Communications profile PROFIBUS DP The numbered connections in the flow diagram show the transitions of the state machine The number of the last transition is shown highlighted For a description of the t
56. tton The following functions are available for editing motion tasks Functions Keyboard Menubar Mouse Select line Ctri A Edit gt Select line Right mouse key gt Select line Cut Ctrl X Edit gt Cut Right mouse key gt Cut Copy Ctrl C Edit gt Copy Right mouse key gt Copy Paste Ctrl V Edit gt Paste Right mouse key gt Paste Delete Ctrl K Edit gt Delete Right mouse key gt Delete Nr Motion task number Type This selection determines whether the motion task is interpreted as a relative or an absolute task ABS movement to an absolute target position in relation to the reference point REL cmd relative to the last target setpoint position in connection with motion block changeover e g summing operation REL act relative to the actual position at start in connection with motion block changeover e g register control REL InPos when the load is in the InPosition window relative to the last target position when the load is notin the InPosition window relative to the actual position at start s cmd um This parameter determines the distance to be travelled v_cmd um 5 acc mm s dec mm s Next motion task F Nr This parameter determines the velocity of movement If v_limit is later set to a value that is less than v_cmd the position controller will use the smaller value This parameter determines the acceleration in mm s Acceleration
57. versing rate acceleration emergency stop ramp following errror and I2tmessage e Software limit switch positions e Operation mode master slave or position mode encoder emulation electrical gearing feedback system in position behaviour Setup software version PROFIBUS Version 04 08 1 9 Screen layout Title bar Status bar Title bar The program name the station address as well as the name of the currently valid data set amplifier are displayed in the title bar Toolbar Typical Windows style buttons provide direct access to individual functions Status bar Shows current information on data communication Setup software version PROFIBUS Version 04 08 Menubar FILE Open A parameter or motion task data set is read from the data medium hard disk diskette Only data of the same type of linear axis can be opened Close The current data set is closed and not saved Save Saves the current parameter and or motion task data set to a data carrier hard disk diskette while keeping the file name if the data set already has a name If the data set has yet not been named you will be prompted to enter a name and storage location Save as Saves the current parameter and or motion task data set to a data carrier hard disk diskette You will be prompted to enter a name and storage location Print The current data set will be printed out You can choose whether to send the print data to
58. will not be overwritten Type This selection determines whether the motion task is to be interpreted as a relative or an absolute task ABS movement to an absolute target position in relation to the reference point REL cmd relative to the last target setpoint position in connection with motion block changeover e g summing operation REL act relative to the actual position at start in connection with motion block changeover e g register control REL InPos when the load is in the InPosition window relative to the last target position when the load is not in the InPosition window relative to the actual position at start v_cmd m s acc mm s dec mm s Next motion task This parameter determines the distance to be travelled If at a later stage v_limit is set to a value that is less than v_cmd the position controller will use the smaller value This parameter determines the acceleration in mm s acceleration ramp sine shaped This parameter determines the delay in mm s acceleration ramp sine shaped Select whether on completion of the current motion task a new motion task should be started automatically 2 17 Setup software version PROFIBUS Version 04 08 2 4 4 2 Teach in With this function the current position value can be taken over as a position of a motion task Teach in The desired position can either be reached manually by sliding the load or via the m
Download Pdf Manuals
Related Search