1. PANNEAU DE COMMANDE PARVEX
Contents
1. e Minimum inter frame time time between end of transmission and next transmission request depending on solder tag Y2 Y2 in position 1 2 17 us default option Y2 in position 2 3 0 66 us Consult the manufacturer about any changes to Y2 The actual time between two position requests is of course externally controlled by the positioning system request 2 2 2 Signal level EIA RS 422 type signal The output signal is galvanically isolated from the DIGIVEX The output interface must have either a 5 V or a 24 V power supply depending on the position of strap ST2 ST2 in 5 V position external supply 5 V 5 max 50 mA ST2 in 24 V position external supply 24 V 5 max 50 Ma 5 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING 2 3 MEMORIZATION OF THE POSITION FAULT DIAGNOSIS SIGNAL POSITION Whenever the auxiliary power supply fails the absolute position is backed up in an EEPROM When power is restored the actual position is read off and compared with the stored position If the observed motion is less than a programmed limit the memorized position is updated ATTENTION Even when within this limit the system does not detect any offset of an integral number of resolver resolutions For safety e The motor must be fitted with a brake and declared as such when customizing the DIGIVEX e Inthe event of a main power failure the electronic card checks e that there is no longer a 24 V supply to the brake2. than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations e Check the bonding circuit e Lock the electrical cabinets e Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving parts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area All assembly and commissioning work must be done by qualified personnel who are familiar with the safety regulations e g VDE 0105 or accreditation C18510 2 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment e Unpack the servoamplifier carefully and check it is in good condition e Also check that data on the manufacturer s plate comries with data on the order acknowledgement If equipment has been damaged during transport the addressee must file a complaint with the carrier by recorded delivery mail within 24 hours Caution The packaging may contain essential documents or accessories in particular e User Manual e Co
3. DIGIVEX SSI ABSOLUTE ENCODING BUT M BUT P Origin CW Direction BUT P BUT M CCW Direction The mechanical position of the PLUS and MINUS LIMITS is therefore reversed 4 CONNECTIONS STRAP POSITIONS 4 1 SC 6637 RUB 1 CARD One 9 pin SUB D male plug CONTACT FUNCTION DESCRIPTION Logic Input CLOCK clock input Logic Input CLOCK Logic Output DATA High logic 1 position output Logic Output DATA 5 V ou 24 V STRAP ST2 Sec 2 2 2 Interface power supply OV LI Logic Input LO Logic Output 13 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING Cable 2 twisted pairs with shielding 1 general shieldingl DIGIVEx Maxi Lenght 100 m Zc 1200 characteristical impedance PRN a 8 CLOCK e H 4 1200 KI y iI DATA B t H Bien J 1200 g D SUBD cover shielding OV Ie NB Don t forget to adapt the data line 4 2 SC 6637 RUB 2 CARD One 9 pin SUB D male plug CONTACT FUNCTION DESCRIPTION 8 Logic Input CLOCK clock input 4 CLOCK 7 Logic Output DATA High level at output serial data output corresponds to logic 1 in 3 Logic Output DATA positive logic 5 Input 5 V ou 24 V Serial section supply voltage serial interface power supply Input OV Logic Input Origin setting validation Logic Input JOV Logic Input MODE Choice of operating mode 1 origin setting mode 1 EL OV 0 or NC normal mode LI Logic I
4. DIGIVEX SSI ABSOLUTE ENCODING CONTENTS SAFETY INSTRUCTIONS wuisstcsicssvesnsnwsvendsduswneewewssdnieensansesitseesunseuneueveais indenters 1 GENERAL 2 OPERATION 2 1 TYPE OF POSITION SIGNAL 2 2 SIGNAL CHARACTERISTICS 2 2 1 Transmission speed 2 2 2 Signal level 2 3 MEMORIZATION OF THE POSITION FAULT DIAGNOSIS SIGNAL POSITION 2 4 SOFT LIMIT ORIGIN DEFINED BY LOGIC INPUTS 2 4 1 Origin setting defined 24 2 Software LIMITS 3 PARAMETER INPUT 3 1 VIA DIGIVEX PC SOFTWARE 3 1 1 SOFTWARE DESCRIPTION 3 1 1 1 Travail OFF LINE 3 1 1 2 Working ON LINE 3 2 VIA DTP001 CONSOLE 3 3 PARAMETER FUNCTIONS AND VALUES 4 CONNECTIONS STRAP POSITIONS 4 1 SC 6637 RUB 1 CARD 4 2 SC 6637 RUB 2 CARD 4 3 WIRING REQUIREMENTS 4 4 ST1 ST2 STRAP POSITIONS Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 WWW SSDdrives com 1 PVD 3488 GB 01 2003 DHRHOAAHH Ep A ae coo wo 11 12 13 13 14 15 15 8 Avenue du Lac B P 249 F 21007 Dijon Cedex DIGIVEX SSI ABSOLUTE ENCODING SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may contain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more
5. IMIT Plus Axe X M LIMIT output zero speed negative zero speed direction positive direction ATTENTION The software limits are cross referenced to the position origin and therefor related to the origin setting After all origin setting sequences check that the mechanical position of the software stops is correct 8 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING 3 PARAMETER INPUT 3 1 VIA DIGIVEX PC SOFTWARE 3 1 1 SOFTWARE DESCRIPTION The SSI section can be accessed via the ENCODER menu of the DIGIVEX PC software in level 2 only password as required 3 1 1 1 Travail OFF LINE The SSI parameters may be included in a parameter file and then loaded via a total transfer Access is obtained e either by double clicking on the encoder picture e or via PARAMETERS ENCODER A window is displayed where either the encoder or the SSI option may be selected Selecting SSI opens the following parameter window Resolution oss H coded position for 1 rev 1 revolution i e Programmation Unit PU Origin UdP switch switch 1000 00000 UdP ORIGIN 1000 00000 UdP Actual position Pd Uap Maximum motion Power off 0 0005 lt 0 0005 lt 0 1000 UdP Cancel Press OK to validate all the SSI parameters See 3 2 for parameter definitions 9 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING When working OFF LINE clicking on ORIGIN
6. ITION SIGNAL The absolute position is encoded on 24 bits in binary or Gray code depending on the position of strap ST1 e ST1 in position BIN binary code e ST1 in position GRAY Gray code Default setting when shipped Gray code The position signalling sequence is as follows CLOCK gt DATA 1 1 1 G23 G22 G21 G20 G PFB 4 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING The external clock is at level 1 between two position measurements The occurrence at A of the first negative going edge clock input causes the position to be memorized acknowledgement time 0 3 us Tm 17 us One binary or Gray code bit is transmitted over the line for each positive going edge clock input beginning with the most significant bits G23 most significant bit G least significant bit After the least significant bit a PFB location is reserved for a parity check which is not validated in the current version bit is set to by default to 1 on request The absolute position transmitted is cross referenced to an origin home position obtained by a special resetting or origin setting sequence via logic inputs or via software 2 2 SIGNAL CHARACTERISTICS 2 2 1 Transmission speed e Maximum clock speed 1 5 MHz This frequency is limited by the line transmission times RS422 type e Minimum clock speed 80 kHz Maximum frequency Minimum transmission time kHz of one position 400 kHz 92 5 us 300 kHz 114 us
7. ORIGIN parameter which mav be Q or anv other value between the minimum and maximum possible Origin setting sequence via logic inputs outputs accessible with SC 6637 RUB 2 onl Open the brake and set the servo drive to zero torque CAUTION beware of possible mechanical consequences Move the drive manually to the desired position Set the MODE input to 1 to request the resetting sequence Validate by a positive or negative going edge on the Validate Reset input MODE 1 U ETATPOM VALIDATE ORIGIN SETTING The actual position is overridden and set to the programmed value MODE 1 VALIDATE ORIGIN SETTING These inputs can be driven by the same signal 7 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING ATTENTION Any positive or negative going edge is acknowledged when validating the origin The ETATPOM output is in logic state 1 when the Origin Setting is validated It is in logic state when a resetting sequence is required as when Position Fault arises 2 4 2 Software LIMITS A maximum stroke in positive and negative directions can be programmed via the DIGIVEX PC with the SSI option validated Reaching either of the two soft limits e prevents the drive axis from moving further by setting the servo drive software to zero speed in the relevant direction CW 0 or CCW 0 e sets the corresponding limit of travel output to 1 logic state transistor conducting M DIRUE ia P L
8. SETTING allows access to the window below only allowing the direction of increasing positions to be chosen OFF LINE the origin setting sequence is meaningless and is not acknowledged SSI Origin Ed DIGIVEX Drive is at Nul Torque by software Set the mechanic at the ORIGIN point Choose the counter direction then click on OK or undo by Cancel r Actual position 126 3 Counter direction C Clockwise Counter clockwise Cancel Press OK to validate the parameters and return to the SSI Card Definition window 3 1 1 2 Working ON LINE When the PC DIGIVEX connection is made the software acknowledges the SSI option is available e Total transfer with SSI Identical to total transfer without SSI except that the origin must be reset e Parameter modification ON LINE The system provides access to the same windows either bv double clicking on the ENCODER disc this opens the SSI parameter window directly as the software has acknowledged the option is available or via PARAMETERS ENCODER e Clicking on ORIGIN SETTING sets the DIGIVEX drive software to zero torque T 0 after confirmation e Clicking OK calls up the SSI Origin Setting window which is identical to the one seen in the OFF LINE section 10 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING e Software origin setting sequence The software origin setting sequence is as follows TAKE CARE If req
9. mum value 0 Digital value 8 digits floating decimal Unit programming is a feature provided for entering values in the absolute encoder card The value actuallv transmitted is not in units it is a code binarv or Grav depending on the number of revolutions and the resolution per revolution Current position present value in units Maximum motion authorized when power off Maximum value 0 1 motor revolutions converted into units This value is intended to monitor anv motion while power off Origin setting in units Value introduced when the origin setting sequence is validated by logic input or software Ni Maximum value corresponds to 2 1 codes Minimum value corresponds to 2 1 codes Value related to 24 bit signal to resolution and to unit value Plus LIMIT Minus LIMIT Values in units corresponding to the maximum desired stroke They are cross referenced to the origin position Maximum values related as for resetting to 24 bits to the unit and to the resolution Counting direction e Clockwise CW clockwise rotation of the motor shaft viewed from the shaft end increments the absolute position default value e Counter clockwise CCW counter clockwise rotation of the motor shaft viewed from the shaft end decrements the absolute position A change in the clockwise counter clockwise direction reverses the value of the limits and positions relative to the origin 12 PVD 3488 GB 01 2003
10. nnectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual and must receive thorough care and attention Failure to comply with these safety instructions may lead to serious injury or damage The cards contain components that are sensitive to electrostatic discharges Before touching a card you must get rid of the static electricity on your body The simplest way to do this is to touch a conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 3 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING 1 GENERAL This option is designed to provide serial information about absolute position sychronized with an externally generated by Numerical Control timing signal CLOCK The option is configured in part by straps on the card and via the DIGIVEX PC software This is a highly valuable option if the motor is fitted with a holding brake Two cards have been developed e SC 6637 RUB 1 card provides absolute position encoding only e SC 6637 RUB 2 card provides encoding and software inputs outputs for origin home position setting and software 2 OPERATION 2 1 TYPE OF POS
11. nput LO Logic Output 14 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING One 9 pin SUB D female plug CONTACT TYPE DESCRIPTION Negative abutment logic 4 Logic Output output 7 Logic Output Positive abutment logic t 3 Logic Outpu output 8 ___ reac Output ETATEOM _ Option card zero setting Logic Output status output Logic output power supply O 9 Input fo LI Logic Input LO Logic Output 4 3 WIRING REQUIREMENTS See the DIGIVEX DMD PVD 3464 GB DPD PVD 3484 GB or DSD PVD 3500 GB 4 4 ST1 ST2 STRAP POSITIONS When the options card is fitted e Strap ST1 is at the top Strap to front binary code marked BIN Strap to rear Gray code marked GRAY e Strap ST2 is at the bottom Strap to front 24 V supply marked 24 V Strap to rear 5 V supply marked 5 V 15 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING CAUTION DRIVE WITH SSI EMULATION OPTION WILL BE IN FAULT RED LED FLASHING AT THE FIRST POWER ON IT IS NECESSARY TO DO AN ORIGIN SOFTWARE ORIGIN OR AN ORIGIN UNDER EXTERNAL LOGIC CONTROL TO RESET THIS FAULT 16 PVD 3488 GB 01 2003
12. that the motor speed is lt 50 rpm A position fault diagnosis is signalled and can be read by the DIGIVEX PC in the following cases e Inthe event of a main failure motor declared without brake or motor speed gt 50 rpm or 24 V supply still applied to brake e When power is restored position outside programmed limit This fault causes the drive axis to be set to software zero torque T 0 and the ETATPOM output to switch to 1 without the OK relay opening e Resolver fault on drive axis To reactivate the servo drive and clear the fault an origin reset must be performed and torque set in the software 2 4 SOFT LIMIT ORIGIN DEFINED BY LOGIC INPUTS The SC 6637 RUB 2 card has two logic inputs and three logic outputs which are 24 V opto isolated For the physical definition of these outputs see the DIGIVEX digital servoamplifier instructions PVD 3464 GB 4 4 4 and DIGIVEX POWER DRIVE single axis PVD 3484 GB 2 4 1 Origin setting defined The origin setting sequence may be conducted e either via software see 83 e orvia two logic inputs and one logic output 6 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING The principle is identical in both cases e release the drive set to zero torque and open brake CAUTION Check that there are no mechanical hazards especiallv for vertical drive axes e position the motor manually e declare that the current mechanical position has a value set bv the
13. uired before setting to zero torque approach in numerical control manual mode Call up the SSI window then the Origin Setting section confirm set to zero torque Move manually at zero torque to the desired position Confirm by OK The ORIGIN value and clockwise counter clockwise directions are then acknowledged and the Origin Setting Completed output validated Reset the servo drive torque via the DIGIVEX PC Input Assignment window Origin must be reset after any change to parameters ON LINE or any total transfer 3 2 VIA DTP001 CONSOLE The SSI parameter setting option can be accessed in Parameter Group No 6 The PARAM key and and keys are used to shift from one parameter to the next SSI option set up Current position PU Resolution position via motor revolutions Programming unit Origin position PU Plus stop PU Minus stop PU Counting direction CW clockwise CCW counter clockwise e Maximum permitted motion with power off PU e Origin setting PU Programming Unit Default Position is displayed as SSI FAULT 11 PVD 3488 GB 01 2003 DIGIVEX SSI ABSOLUTE ENCODING 3 3 PARAMETER FUNCTIONS AND VALUES ATTENTION ATTENTION Resolution number of absolute positions encoded per motor revolution Value 4 to 65 532 Variation 4 by 4 Programming unit Value in units mm rev degrees etc for one motor revolution Maximum value as for resolution Mini
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