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Motion Control PMC

1. 8 per CAN network till Version 2 004 from Version 2 005 Cycle time In the main network mode standalone the cycle time is abjustable with the CD command In mode Host Node the cycle time is always 4 ms In extended CAN network the cycle time will be choosen automatically according to the following table Page 190 Reference Manual PMCprimo 9 Status and error messages 9 Status and error messages 9 1 Status messages XX This section gives the PMCprimo messages in various circumstances gt Normal prompt This is the prompt character in position control mode PMCprimo is ready for the next move command Motor off prompt This is the prompt for position control loop is open A Executing map alignment This channel is starting to enter position mapping using an alignment move MW bit 0 set to 0 If this prompt is visible the XM command is still executing C Executing software clutch This channel is starting to enter position mapping using the software clutch MW bit 0 is set to 1 If this prompt is visible the XM command is still executing Initialising The channel is executing the IN initialise command M Moving The channel is executing a normal trapezoidal or sinusoidal move S Stopping The channel is executing a normal controlled stop V Velocity control mode The channel is executing a constant velocity move W Waiting The channel is waiting for some con
2. Ss Page 22 8 Command Reference Save parameters n Q save all can leaved out ENK save the program datas no variables n 2 save only variables n 4 Data selected with command LA4 in Motorola s record format can read with this option It is possible to save a program for a network without nodes in the host PMCprimo must be in the right operating mode before download because the change of mode deletes the flash Enhancement as of version 2 000 If a SoftPLC is present data of it are also read This command saves all the programmable parameters to flash memory During the saving do not switch off the control Otherwise data may be lost Only the variables defined in a program are saved There may be a delay while the save operation takes place depending on the number of channels and the amount of data to be saved At the end of the save operation PMCprimo calculates a checksum on the saved data by means of a cyclic redundancy check CRC algorithm The checksum is then also saved in flash memory This checksum ensures that the data was read in correctly during booting While the save command is executed no sequence is working To make sure that everything is correct save the data in the way described below GX Stop all sequences BV BI Mask all trigger variables and input lines GF All motors off SP Save all data WT100 EV EI Wait 100 ms and enable trigger variables and input lines The used co
3. ML must be run Example PMCprimo User Comment 0 1 gt ml2 Axis 0 1 should be slave and axis should be master O 1 gt zen Slave position set to 0 0 1 gt 0 25 Z300 Master position set to 100 0 2 gt chi 0 1 gt XX xx linear Result of XX is saved in variable XX O 1 gt SG Value XX 0 1 gt 0 1 gt XX 300 0x0000012C Slave must drive 300 increments to get to desired position Reference Manual PMCprimo Page 75 8 Command Reference TM Name Transfer map data This command tells PMCprimo to transfer the specified map to the current motor channel The map table is stored in the flash of the Host and it is necessary to transfer the map to the axis one time before XM This could be necessary for example if the map generator has generated a new map If TM is not followed by the name of a map PMCprimo lists all the existing maps of the actual Node ML t n Map link slave axis to master axis Range t 0 to 59 depends on number of installed nodes Range n 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 PMCprimo Drive2 This command links the current channel to the specified master channel in preparation for execution of a position mapping Note that a slave channel must be linked to some master channel before executing a map n defines the master axis and t defines the node number there the channel is present Example PMCprimo User Comment 0
4. Slave Demand Position Map Master Position MB x SM MF rf LW Bite LW Bit 0 at master Figure 21 Position mapping as an equation S Map Mp Mq X SBwaster SBpitimaster z MB X SM MF LW P S Slave Demand Position Mp Primary Master Position ML Ma Differential Master Position NL SBwaster Set Bound Master S BbDiffmaster Set Bound Differential Master Figure 22 Position mapping as an equation differential Reference Manual PMCprimo Page 71 8 Command Reference EMName Enter map This command is used to enter position mapping tables into PMCprimo Each entry in the table is the signed absolute position on the slave axis at the current master channel position given by the table entry number It is possible to enter 200 maps Example 1 PMCprimo User Comment Q 0 1 EM TESTMAP lt CR gt Name of position map Q Masterbound 1000 lt CR gt set bound master Number of values 3 lt CR gt number of table entries here 3 001M 0 lt CR gt first table entry 1 002M 500 lt CR gt 003M 1000 lt CR gt 004M NM lt CR gt End of enter map 0 1 Example 2 Delete a map table PMCprimo User Comment e O 1 gt EM Testmap lt CR gt Name of position map Q 0 l1 gt Masterbound NM lt CR gt End of enter map NM End of enter map This command is the last entry in a map table If there is no entry before NM in the table the map itself is deleted Page 72 Reference Manual PMCprimo 8 Command Re
5. and it is not possible to enter map dates for the map LINEAR into PMCprimo Ei If there is no name given PMCprimo displays the current active map The map could be executed if the master is stopped or stationary 1 Master axis is stationary The slave moves to its demand position given from the map table If the software clutch is enabled bit 1 of MW command page 81 the slave is waiting until the master comes to the right position and clutches in If the velocity is less than 500 incr sec the slave is clutching in without software clutch For this the master velocity should be averaged with the BT command set BT on the slave channel see page 173 2 Master axis is moving To execute a map if the master is moving then the slave axis can wait for the required mapped position to pass the current slave position and then start following the mapping as it passes The software clutch bit 1 of MW command must be activated if the master is moving If the XM command is part of a string the commands following XM are not executed until the slave axis has finished the alignment move or has synchronized with the master axis using the software clutch The action of the XM command is modified if tension control is on as set by AM1 command The bits 4 and 5 of the AW command see page 176 defines a special behaviour of XM With speed mapping bit 4 of command MW see p
6. demand speed with DPRam depends from NB setting relative relative position pt Reference Manual PMCprimo Delay time for demand signal E o o a Depending for CAN cycle Description 12 PMCprimo Drive channel x 1 1 9 PMCtendo DD4 demand velocity resolution with NB changeable resolution of demand speed with DPRam depends from NB setting absolute position see FS 5 frequency 100kHz see FS 6 frequency 100kHz see FS 7 frequency 100kHz see FS 8 frequency 100kHz time Transmission with the next synchronisation message 1 2 or 4ms see FS18 see FS18 see FS18 see FS18 see FS18 and actual position Relative position 20 PMCtendo DD4 demand velocity 2 2 PMCtendo DD4 demand position and actual position Absolute position PMCtendo DD4 demand position Relative position and positive reference signal Relative position and negative reference signal 23 PMCtendo DD4 demand position Absolute position 24 See FS21 but with see FS18 Hardware register following error and PMCtendo DD4 lt 1us Page 156 Accuracy reference inputs Referencing not possible If PMCprimo Drive channel x 1 Not available With SSI encoder 1ms If PMCprimo Drive channel x 1 Not available With SSI encoder ims Referencing not possible Referencing not possible Depending for CAN cycle time 1 2 or 4ms Referenc
7. 24 This command sets the number of data bits used when the channel is configured for use with an SSI encoder It allows several different types of SSI encoder to be used in different applications from single turn 12 bit to multiturn 25 bit models The number of data bits may be set differently on each channel if required Ei Hiperface Range 12 to 28 For Hiperface encoder the last 12 bit of the NB value are always reserved for the number of rotations The remaining bit defines the resolution for one rotation For example NB28 the motor moves 65 537 increments per resolution FCnn Feedback change encoder Range for nn 0 to 2 PMCprimo Drive 2 0 to 3 PMCprimo 2 2 1 to 16 PMCprimo 16 adjustable with command CD Default 0 With this command it is possible to change the encoder feedback from axis nn to the actual axis For example axis 1 of PMCprimo Drive should connect with an incremental encoder its only possible by using the FC command CH1 FC2 An encoder is for example a possible application which is fitted after a gearbox and shall be used as actual value source for the motor The encoder is connected at the free encoder input and is allocated to the axis 2 with PMCprimo Drive Axis 1 motor axis can take over the positions of the axis 2 with this function and therefore the position control is calculated by this desired value Ei A reference input FS or DZ must be defined at the channel the
8. DI input line changes state while it is masked then the function assigned to the change of state executes when the line is enabled If the line changes state twice and returns to the same state as when it was masked then nothing executes when it is enabled If a line number is given to n then the specified line is masked If a byte number followed by a colon is given with no line number then all function inputs and or expanded inputs in the specified group are masked If no line number or byte number is given then all function inputs in all bytes of the node are masked If no line number no byte number and no node number is given then all function inputs in all bytes in all nodes are masked Example T PMCprimo User Comment 3 O 1 gt DI2 1 PROG15 lt CR gt The rising edge of input 2 1 executes PROG15 PROG15 sets Output 1 5 please see the picture below 0 1 gt 1 MIZ El2 1 State Output 1 5 0 1 5 1 State Input 2 1 O B t 1 MIZ El2 1 State Output 1 5 O 1 State Input 2 1 gt t Figure 35 Mask input with MI command Reference Manual PMCprimo Page 127 Bit ont Page 128 8 Command Reference Inhibit function input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 This command is used to disable the action of defined function inputs or any expanded input lines It is similar to the MI mask input function but with the difference that
9. If bit 4 of the command RW page 110 is set RV sets the distance of the reference correction With this function the reference error is spread out to a defined distance Bit 6 of RW must be set if bit 4 is set If not then a warning is given out and bit 6 is set automatic Reference Manual PMCprimo Page 113 RCn Page 114 8 Command Reference Velocity SV 100 200 300 400 500 600 700 800 900 1000 1100 1200 Time Figure 33 Reference correction with RV The complete distance RV and the acceleration distance RC are predetermined The required acceleration and speed for balancing of the reference error DF are calculated automatically Set reference error adjustment acceleration Range n 0 to 2 000 000 Default 0 The adjustment of a reference correction changes the demand position of a channel PMCprimo can set an acceleration for the change between the actual velocity and the adjustment velocity The parameter RC is given in counts second If there is no zero parameter given to RC the acceleration is not limited Reference Manual PMCprimo 8 Command Reference RJ nn DZb RN Set deferred reference adjustment position Range 0 to 4 000 000 As of version 2 004 new range for n 2 000 000 000 Default 0 This command allows the position correction on a reference input signal to be deferred until the motor passes a defined position In some circumst
10. KMS500 lt CR gt monitor gain set to 500 or 1000 0 1 gt for measuring with an oscilloscope Typical monitor outputs from a poorly tuned system Demand velocity Measured velocity Position error Figure 28 Monitor output functions this diagram is not to scale Page 102 Reference Manual PMCprimo 8 Command Reference AOft n Set auxiliary output channel Range for t 0 to 59 depends on number of nodes Range for n 0 to 2 Default 0 This command allocates the monitor signal for the current channel to one of the analogue outputs on the same board The monitor function SF may be defined for the current channel at any time The AO command is not available on different nodes The auxiliary output channel may be set for a particular analogue output only when its channel is in the motor off or virtual motor modes If the channel is in any other state then the analogue output is not available for use as a monitor output Conversely if the analogue output has been allocated to a channel as a monitor signal then this channel cannot be taken out of motor off or virtual mode To return analogue output channel to normal operation use AOO on the channel where the auxiliary output is defined Note that it is also possible to have the auxiliary output signal allocated to the current channel when it is in virtual mode the signal does not have to be defined on a different channel s output This may be useful in open lo
11. MO Motor off Turns off the position control servo loop action All other facilities still operate normally including the input and output lines and the encoder position is continuously monitored When the system is returned to position control mode the motor does not jump back to the last position but remains the new position The system returns a character as a prompt in the motor off state In the motor off state with PMCprimo 2 2 16 the signal output is switched directly to OV by the onboard relay It is recommended that this relay is used to disable the motor drive completely If the drive is not disabled with the relay the motor will drift because the motor position is not controlled in this state If the MO command is used as a motor off stop command when PMCprimo puts the current channel into motor off and leaves the remainder of the sequence running If it is necessary to put all channels into motor off then the GF global motor off command should be used VMn Set virtual motor mode Range 0 to 1 This command defines whether the current channel is in normal or virtual motor mode In virtual motor mode the channel can operate without a motor or encoder connected The actual position is internally calculated from the demand position Virtual motor mode is particularly useful in the following circumstances e For testing commands and sequences before the controller is connected to the machine e For providing a
12. RIO 3 Show input port 0 3 Oi Input 0 3 e E Ee Z SS a OO OO 0 0 0 0 All inputs are clear EFEEFEEEEEE All inputs are enabled 0 1 Osis BNO 3 LIL Every input should inhibit after its change Bee SOs EE co si Set and reset of the virtual output makes a E signal for the virtual input 0 1 SV 20000 Sequenze Prg1 was executed Oe RIO 3 Show input port 0 3 0 1 sg Input 0 3 oe 7 6 o gt 4 38 2 E 00 0 0 0 E Ah H EEEEEEEB The command BN has effected that input 3 1 was inhibit ke Ech Another input signal has no effect 0 1 Reference Manual PMCprimo 8 Command Reference DE t g n Define error output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 This command defines the specified output line as an error output The line is set to the specified state when PMCprimo detects any motor off error condition and is cleared to the opposite state when the axis is returned to the position control state with the PC command The following error conditions change the state of the error output e Set error SE command Ei e Timeout encoder TO command e Limit switch detected DL command e Motor errors defined with EW command Example PMCprimo User Comment 0 2 gt CH1 DE2 1 lt CR gt This command defines output 1 of byte 2 as error output for
13. SSPD 5000 STR 75 0 1 gt Example 3 PMCprimo User Comment 01 gt IA SVAR 5 lt CR gt H LG LV lt CR gt Define variable array with 5 elements List all variables SVAR 200 0 1 gt SVAR List variables of array 0 1 gt SVAR O 0 0x00000000 0 1 gt SVAR 1 0 0x00000000 0 1 gt SVAR 2 0 0x00000000 0 1 gt SVAR 3 0 0x00000000 0 1 gt SVAR 4 0 0x00000000 List bus variable value This command lists the predefined bus variables It exists 100 bus variables with the following syntax Bn n from 1 to 100 1 to 108 as of version 1 008 range 32 768 2 Byte signed This bus variables are the interface for extern devices for example an operators panel They can also be defined as trigger variables or can be used as normal variables Example PMCprimo User Comment List value of B12 The value of B12 is 8 O 1 gt B12 lt CR gt SB12 8 0x00000008 0 1 gt List map variable value Reference Manual PMCprimo 8 Command Reference This command lists the predefined variables for the internal motion generator see therefore PMCprimo Motion Generator PMotion user manual Enhancement as of version 2 002 The variables MMSB and MSSB are also listed with the command Ft n Error variable Range fort 0 to 59 depends on number of nodes or no value Range forn 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command
14. TO defines a check time for encoder control 1 Command TO defines a way for encoder control Bit 7 This bit modifies the integral control action to help avoid the problem of wind up during a move 0 The integral term is active continuously This is the normal setting 1 The operation of the integral action is modified such that the position error is only added to the current integral total when the motor is static in the idle position control state Example for command CW bit 0 PMCprimo User Comment T 0 1 CW1 lt CR gt Sequence waiting for movement should not abort Because Bit 4 is Q set not to 1 the command makes a motor error 0 1 PC MR10000 WT5000 SV lt CR gt The command MR makes a motor error 0 1 gt status message PC 0 1M status message MR 0 1 Motor position error 01 48 28 0 1M 0 1 0 1 SV 20000 Despite the fact that a motor error occurs the sequence will continue and after 5 seconds SV is displayed Reference Manual PMCprimo Page 49 ZWhbb Page 50 8 Command Reference Set position control word Range 0 to 1111 1111 Default 0100 0000 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows the user to write a value into the position control word for the current channel The position control word allows the user to modify the operation of move commands
15. This means the bit 5 of MW CT CL setting is ignored because with CT it is not possible to reach the target position It is possible clutching out with MA or MR Therefore the velocity can select with this bit 0 Move with actual velocity 1 Move with velocity set by SV see page 38 Enhancement as of version 2 004 Clutching out with ST the map is done until stop if the bit is set Only the clutch length CL is used bit 5 of command MW has no relevance Reference Manual PMCprimo 8 Command Reference Bit 7 Enhancement as of version 1 006a Activate an automatic bound correction The slave bound is set automatic to the slave position at the master bound and its scale map The actual bound can be displayed with the command GM page 162 Enhancement as of version 2 000 If the axis is not moving in mapping an automatic bound correction is possible with this command Therefore the bound set by SB is multiplied with the scale map SM With an odd gear transmission a reference sensor is no longer necessary Example SB4096 SM1 3 The bound for it is 1365 33 Therefore a drift of one increment every 3 bound would happened With correction the bound set two cycles to 1365 and one cycle to 1366 Special case MW 101 If bit 2 of MW is set as well as bit 0 then the XM command executes with an automatic offset adjustment In this case the map offset parameter MF is adjuste
16. move commands the first move in the new direction is extended by 20 counts to take up the backlash Reference Manual PMCprimo Page 45 ISn IS1 IS3 IS4 IS6 IS7 IS8 Q Page 46 8 Command Reference Set increment select code Range 0 to 8 Default A This command selects the parameter which is incremented by the IP command see page 47 Each channel has a separate IS value The parameter selected is defined by the code as follows n Parameter Limits as of version 2 004 0 no function 1 current running speed see below 2 reserved 3 Map base MB 4000000 2 000 000 000 4 Map offset MF 4000000 2 000 000 000 5 reserved 6 Set velocity SV T Scale map SMn m 0 65535 for n 8 Set bound SB 0 4000000 0 2 000 000 000 The lower limit for the current speed is 0 If the axis is running in normal velocity mode the upper limit is twice SV If the axis is running in slow velocity mode the upper limit is SV The increment affects only the current running speed and not SV or SS and is only effective until the motor stops Subsequent moves start with a speed of SV of SS as appropriate Changes to map base or offset affect MB MF parameters permanently IF map base is changed the change is subject to AV see page 79 and the map base value wraps round at the master axis bound If map offset is changed the change is subject to AV and the map offset value wr
17. occurs The GX see page 63 command aborts executing sequences It is not possible to execute the same sequence more than one time If the sequence is triggered before it is finished PMCprimo gives the error message Cannot execute sequence while still busy Note You may only start 25 sequences parallel Example Parallel start of a sequence PMCprimo User 0 1 ES PRG11 002E XP PRG12 003E SV 004E NS 0 1 ES PRG12 002E WT10000 003E SA 004E NS 0 1 XS PRG11 1 0 1 SV 20000 0 1 SA 100000 0 1 Reference Manual PMCprimo Comment Enter sequence PRG11 Executing PRG12 parallel Display velocity Exit enter sequence Enter sequence PRG12 Wait 10 seconds Display acceleration Exit enter sequence Execute sequence PRG11 The velocity is displayed immediate After 10 seconds the acceleration is displayed Page 57 8 Command Reference RP nn Repeat command line Range 1 to 4 000 000 or no parameter This command tells PMCprimo to repeat the commands on the current command line nn times If no repeat count is given PMCprimo repeats infinitely Only one RP command is allowed on any command line The ER end repeat command may be used to break out of the loop at the end of the current loop The AX or GX command breaks out of the loop immediately Example PMCprimo User Comment Q O 1 gt RP5 MA100 MA0 lt CR gt Channel 1 moves to 100 and back to 0 0 1M The command line will
18. 1 PMCprimo Drive ims channel x 1 Hiperface resolution with NB Page 154 Page154 e Reference Manual PMCprimo PMCprimo 8 Command Reference Description Delay time for demand Accuracy reference inputs Number of PScope can Following Use of signal synchronous CAN display error position messages motor current available in loop of PMCprimo PMCtendo changeable relative position SSI encoder see FSO If mcD channel x 1 Hardware register lt 1us BiG oan With SSI encoder Drive and relative position Gray code ims channel x 1 PMCprimo Drive channel x 1 Hiperface resolution with NB changeable relative position SSI encoder see FSO Referencing not possible Yes with absolute position PMCprimo binary code Drive and channel x 1 PMCprimo Drive channel x 1 Hiperface resolution with NB changeable absolute position SSI encoder see FSO Referencing not possible Yes with absolute position PMCprimo Gray code Drive and channel x 1 PMCprimo Drive channel x 1 Hiperface resolution with NB changeable absolute position CAN open encoder see FSO Depending for CAN cycle Yes with relative position PMCprimo i Drive and channel x 1 1 2 or 4ms CAN open encoder see FSO Referencing not possible Yes with absolute position PMCprimo Drive and channel x 1 PMCprimo Drive see FSO Hardware register lt 1us Yes with channel x 1 PMCprimo resolution with NB Drive and changeable channel x 1 resolution of
19. 1 gt CHO 2 lt CR gt Change to channel 2 node 0 0 2 gt MLO 1 lt CR gt Channel 1 node 0 is master of channel 2 node 0 0 2 gt CHO 3 lt CR gt Change to channel 3 0 3 gt MLO 2 lt CR gt Channel 2 is master of channel 3 0 3 gt NL t n Map link to differential axis Range t 0 to 59 depends on installed nodes Range n 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 PMCprimo Drive2 This command links the current channel to the specified master differential channel in preparation for execution of a software differential position mapping Note that a slave channel must be linked to some master channel before executing a map n defines the master axis and t defines the node number there the channel is present If the NL command is given with no parameter the system prints the channel number of the differential master axis for the current channel if it is linked For differential see also LW on page 83 Page 76 Reference Manual PMCprimo 8 Command Reference UL Unlink slave axis from master axes This command is used to unlink a slave axis from it s master axes after finishing a position mapping Note that channels may be left linked to their master axis if required while other commands are be executed It is only necessary to use the UL command if the slave channel needs to be linked to a different master axis Example VM PMCprimo User Comment 1 gt CH3
20. 10 7 CANopen ln 204 109 AnNaogue MPU EEN 204 10 9 Digital In Ee ef 205 10 10 EE 207 10 71 Op rate MOdES EE 209 OET RO eE E E EEE T E E E E E eee rere 209 aE Da Ve tee ee E 209 10 11 3 CAN Net and CAN Open Page 4 Reference Manual PMCprimo 2 Contents List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Trapezoidal e TT 28 Position profile with trapezoidal velocity profile cccceccccsecceeeeeeceeeeseeeetaeeeees 29 Triangular MOVE profile 30 Move with normal etop 32 Move With ADONG E 33 Constant velocity MOVE cccceccccceeeeceeeeeeeeeeeeesaeeeeeseeeeeseaeeeeseeeeessaeeeesaaeeeesaneeesaaes 34 Initialisation tO zero POSITION ccc ccecccececeececeeeeeeeeeeeeseeeeeeeeseeeseeeeseeeseeeseeetseeeseeees 35 Initialise position and bounde 36 Figure 9 Move with change of veloctv 38 Figure 10 High and low acceleration SA DC 39 Figure 11 Effect of DC Commande 40 Figure 12 Move with creep to final position cece cecccecceeeeeeceeeeceeceeeeeeeeeeeeeeeeeseeessneeeas 42 Figure 13 Normal Slow velocity mode nannnnsnnnnennnnsnreesrrnnsrrrnsrrrrsrrersrrrrsrrrrsrrrrsrrrrsrrrrnne 43 Figure 14 Timeout for window TI 44 Figure 15 Simple position MAPS ccccccceeccceeeceeeececeececeeeeseeeeeseeceseucesseeeeseeeeseeeessneesaeeees 66 Figure 16 Position mapping over a defined range ssennssennesrnresrrrrsrrrrrrrrrsrrrr
21. 1048576 if PRBASE is 20 or 65536 if PRBASE is 16 The setting of the following error PEMAX inside PMCtendo DD4 has to be adjusted by the customer The function should be only for service or adjusting If the machine is finished then the FS should be set to FS21 to 23 to decrease the bus load Overview FS settings and technical data Description Delay time for demand Accuracy reference inputs Number of PScope can Following Use of signal synchronous CAN display error position messages motor current available in loop of PMCprimo PMCtendo DD4 Incremental encoder PMCprimo Drive Hardware register lt 1us Yes with X4 multiplication Channel x 1 PMCprimo At the end of the 1ms Drive and PMCprimo Drive Interrupt Depending of channel x 1 channel x 1 processor load 200 4096 300us increments turn Analogue output In the 1ms interrupt after calculation of the position loop Depending of processor load 200 300us Incremental encoder see FSO Hardware register lt 1us Yes with X2 multiplication PMCprimo Drive and PMCprimo Drive channel x 1 channel x 1 2048 increments turn Incremental encoder see FSO Hardware register lt 1us Yes with X1 multiplication PMCprimo Drive and PMCprimo Drive channel x 1 channel x 1 1024increments turn SSI encoder see FSO If PMCprimo Drive Yes with relative position channel x 1 PMCprimo binary code Hardware register lt 1us Drive and With SSI encoder channel x
22. 177 ES dli 44 lu CT DTe essien a Ee A0 103 Seng g f ei Nfiguration COMMANAG ccccccessseeeeeeeeeneeeeeeeeneees EE 175 ii ne an z d K a d 165 PARR EPEAT E AEE E A T 177 oe oe oa bin AS 61 Continous display MOGC c ccssceceeeeeeeeeeeeeeeeseeeeeeeees 163 ween mm Fre referenco moda ALE noo 109 ontrol word WE assignment Variable ccccccesseeeeceeeeeeseeeeeeseeeeeeeeees 182 CP 62 AT E 177 iz Auxiliary Gute 203 ge ee SEENEN De AN 79 So SE ih EE 176 Sr EEE EEE EEE EEE IIIS 48 LN CO EEE EEE IIIS IIS SS DA ee 162 Eeer 172 Eege 147 Reference Manual PMCprimo Page 211 10 Interface PMCprimo lt gt machine DEER 40 EEN 163 DD apr ee errant nae meee Meer eee rne re eee ee eee 161 DO eee ent ene E er A A en ree ere eee eet ee een er 162 eebe 143 De ee ere nee ere eee Se eee me ee errno er eee eee eter ee ees eee eer 161 DE CCIOF ANON BE 40 ME 121 Deceleration for AB COMMANG ssceeeseeeeeeeeeneees 40 Dive command S osis a 207 Deferred reference adjustment position een 115 eebe 162 Define analogue input type ccccccceeseeeeeeeeeeeeeeeeees 177 RN WE 162 Define analogue limit error Output seen 149 DAS 161 Define analogue range distance cccceesseeeeeeeeeeees 177 eebe 115 Define bound overflow output cccceecseeeeeeeeeeeeees 147 Define error output E 143 Define function input sisiectersssestaiverssuewsavecumivedornenGundautanies 138 Define hysterese
23. 2 PMCprimo Drive 1 to 3 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 Range for n 1 to 8 This command defines an output line which indicates when a reference adjustment in the forward direction is taking place Reference adjustment backwards output Range for g 1 to 2 PMCprimo Drive 1 to 3 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 Range for n 1 to 8 This command defines an output line which indicates when a reference adjustment in the backwards direction is taking place Reference position strange channel Range for nodet 0 to 59 max 60 nodes Range for channel n 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 Range for position p 4 000 000 as of version 2 004 new range for p 2 000 000 0000 This command makes the reference adjustment of the actual channel at the position o of channel Lo The actual channel waits until channel t g has reached the position p and starts after it with reference adjustment RJ see page 115 at the actual channel is in this case without any effect The command without o deletes an existing definition Reference Manual PMCprimo 8 Command Reference DR t g n Define reference input Range
24. 250 500 800 and 1000 kBit s Page 18 Reference Manual PMCprimo 8 Command Reference VN Print version number This command prints information about the version of software fitted to PMCprimo It gives the version number and revision dates of the firmware Enhancement as of version 2 000 This command can set to a variable Follow information is set node specific to the variable Hardware Version No Version No Version No Supplies SubIndex SubSubIndex Nibble Nibble Byte Nibble Hardware 2 PMCprimo Drive 3 PMCprimo 2 2 4 PMCprimo 16 SE PMCprimo Drive2 Version No Numerals of version number before the comma Version No SubIndex Numerals of version number after the comma Version No SubSubIndex If beta version OxBn with e g n 1 for Beta1 resp a for Version 1 008a Supplies Bit 0 Motion Bit 1 Ethernet Bit 2 SoftSPS Enhancement as of version 2 005 The command prints also the serial number 0 1 VN 0 1 Primo motion control 16 Channels 10 Version 2 005 Nov 26 2004 12 07 32 Ser Nr 4 Reference Manual PMCprimo Page 19 8 Command Reference HW Print hardware Command as of version 2 000 This command prints information about the hardware in all CAN net ware which is no PMCprimo PR Name Print to terminal Command as of version 1 008 range Name string with max 60 signs This command prints the String Name to a connected terminal It is possible to make 100 PR commands in programs Enha
25. 400 500 600 700 800 900 1000 1100 1200 Position Figure 37 Example 1 for command PO Page 144 Reference Manual PMCprimo 8 Command Reference Reference Manual PMCprimo Example 2 PMCprimo User Comment 0 2 gt SB1000 lt CR gt Set bound to 1000 0 2 gt PO2 5 0 200 Define position output for channel 2 0 2 gt PC VC Move in negative direction Unless version 1 006 it is toggle in the range between 800 and 1000 whereas the bound is set to 1000 high low Position 200 100 1000 900 800 7 00 600 500 400 300 200 100 Figure 38 Example 2 for command PO unless version 1 006 Since version 1 007 it is toggle in the range between 0 and 200 whereas the bound is set to 1000 high low Position 200 100 1000 900 800 00 600 500 400 300 200 100 Figure 39 Example 3 for command PO since version 1 007 Page 145 8 Command Reference PHnn Define hysterese for position trigger output Range nn 0O to 4 000 000 As of version 2 004 new range for nn 2 000 000 000 Enhancement as of version 1 007 The command PH is used for a hysteresis of the command PO The hysteresis is added to the switching positions to prevent the position output to switch very fast without moving for example if the actual position changes 1 increment around the switching position VOjt g n X1 X2 Define velocity trigger output Default t 0 to 59 depends on number of nodes or no value Defaul
26. 800 Position Position output with phase advance at velocity 1000 counts second and phase advance PA 2560 level output n 500 800 Position Position output with phase advance at velocity 5000 counts second and phase advance PA 2560 level output n 900 800 Position Figure 40 Phase advance Reference Manual PMCprimo Page 171 8 Command Reference Vin Set velocity averaging time constant Range n 1 to 10000 milliseconds Default 1 When using the phase advance facility the measured axis speed is used to calculate the required amount of phase advance The measured speed is calculated from successive encoder positions at 1ms intervals and so the measured speed is only accurate 100 encoder counts per second When used with the phase advance any variation in the measured speed causes a varying phase advance term giving erratic operation of any advanced output signals In this case speed averaging is required to maintain correct operation If n is equal to 1 PMCprimo calculates no averaging time constant The averaged speed value is returned by the DV display velocity command BAn Set map base advance Range n 0 to 65 535 Default 0 The map base advance is a mechanism for shifting the mapped position of a slave axis relative to the master axis by some amount dependent on the current master axis speed The base advance is applied to the slave axis in the same way as the fixed MB map b
27. Bit 5 This bit defines whether the channel corrects only the displayed position value or the motor and the displayed position 0 Motor position and displayed position are corrected 1 Only the displayed position value is corrected Bit6 Enhancement as of version 1 008 This bit defines the parameter of the command RC see page 114 0 RC sets the acceleration for the reference correction 1 RC sets an acceleration distance Bit 7 not used SRnn Set maximum reference correction Range 0 to 65 535 Default 0 This command when set to a non zero value limits the maximum allowed reference correction to the specified number of encoder counts It may be used to eliminate false reference signals at positions far away from the expected reference position or to allow the position reference facilities to be used even when the machine cycle length is not the same as the distance between reference marker signals When a reference signal is seen the reference error is calculated as the difference between the zero position defined by the reference input and the zero position or nearest bound position as measured by the normal system encoder counters If enabled by bit O of RW and inside the limit defined by the SR command the position is corrected by this reference error If the reference error is greater than SR then the action taken depends on bit 1 of RW and the FR parameter If Bit 1
28. CD PMCprimo Drive2 For every channel exists a predefined error variable The name is composed with the following details FNode Channel The error variable stores the error number of the last error An error variable can be defined as a trigger variable It can made a value assignment to an error variable See chapter 9 2 on page 192 for the different values Enhancement as of version 1 007 It is possible to make an assignment to the error variable e g F0 1 0 This includes a reset for the 7 segment display Enhancement as of version 2 000 In the error variable F0 0 the last error number of Host CAN mapgenerator and compiler is stored The error message Program is not defined and Cannot enter or execute program while it is in use makes no error number for F0 0 because if F0 0 is defined as a trigger variable a never ending loop can happen St n Motor status variable Range t 0 to 59 depends on number of nodes or no value Range n 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 For every channel exists a predefined motor status variable The name is composed with following details SNode Channel The motor status variable stores the actual status of the channel A motor status variable can be defined as a trigger variable It can made a value assignment to a motor status variable See chapter 9 10n page 191 for the different values Reference Man
29. CEDOUNCE TIME cc ceeeeeeeeeeeeeeeeeeeeeeeeeneeneeenes 147 RE 56 ege e d EE 7 EV E E E E E AE A A EE E 186 le E A N EAA T A E E EA 126 E i PTA E E NA E E A E A 83 P a E 47 BS EAE E AE E A 46 SE 126 KE 60 NN E E 28 Reference Manual PMCprimo Page 213 10 Interface PMCprimo lt gt machine Map base advance sieiiicincscocricurincncmonmanneueoscusmuanetaucisins 172 el 119 Map link options word ccccceeeeeeeeeeeeeeeeeeeneeseeneeeeaaes 83 Output for refrence adjustment c ssseeseseeeeeees 119 Map link slave axis to master AaXiS scceeeeeeeeeees 76 Outside window output ccc ccceeeeeeeeeeeeeeeeeeeeeeeeeanes 147 Map link to differential axis ccccseeeeeeeeeeeeeeeeeeees 76 Nees 147 Map ptions WOOP sis sccnscoessniciscevarcescnasacateueocguunndinucssivs 81 Mapped axis bound position 162 Mask function input cccccceeeeeeeeeeeeeeeneeseeeeeeaneeesanes 127 Mask trigger variables EEN 185 Eegenen 170 Master axis analogue range distance ses 111 177 Parameter commandS secsssescesessssessessessensessensneees 38 Master Scale Toetor ENEE 160 feele 27 Masterposition Umeout EEN 86 PD 190 Maximum reference Correctlon 111 dg eee ee cee eee ee eee ree ea eee eee ee tee ee 146 Nee 77 Phase ACVANC f a 170 kee 93 NI 181 POU eg ae PO 144 MG GE 139 146 eege E EE ene rer E E 127 Position contra word 50 MINUS esis ects dana season erecanuie anem
30. FC command refers Reference Manual PMCprimo Page 159 8 Command Reference MSnn Master scale factor Range for nn Oto 8 Default 0 With this command it is possible to scale a master position The master position is multiplied with the factor sn This makes only sense if the master position is averaged with the command PT page 47 or else the position changes are to big This possibility gives the PT command a higher resolution of the measuring system This is needed when a slave axis must follow the master axis with a higher transmission ratio With a transmission ratio of 10 1 the slave must drive 10 increments when the master drives one increment This is noticeable at the motor by noises and higher temperature development Will the position now scaled and averaged the transmission ratio will be scaled down and the effect will be reduced Enhancement as of version 2 002 It is possible to make an assignment to a variable Page 160 Reference Manual PMCprimo 8 Command Reference 8 12 DP DD DV FE DF DG Display Commands Display of datas like position velocity position error Display actual position Displays current actual position in encoder counts As of version 2 006 With the settings FS21 to 26 page 151 now the actual position is read from the drive If the motor is turned by hand if motor is switched off then until now the actual position was not shown because with this set
31. Oe ie FG ase see eee 159 Display mode Off RE 162 E dee e BE geet ee 161 Feedback change Cncode ccccssccceseeeeeeeeeseenensees 159 Display snapshot position data ccccsseeeeeeeeeeees 162 Display tite eera e E 162 La EE 117 j f filter reference LOM cccccsscceeeceeeseceseeeneeeseeeseneneeees 112 PAO IE V ee eset ree emer Res La EN 117 oe a Wee a BE 24 HIV TE 181 KU 136 DEE Ke a E 112 Page 212 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine EE a9 KA 100 SIE egestas erara secon EaR ea E G Li E E E E N EE 99 Get wraparound offset value EE 162 Lu E 100 GE a ee ee eee ne E 99 EE eege Ge Beer 101 Global abort execution EE 63 E 99 Eeer G Bee 99 GIG Dal E 63 Global wait E 63 Beete 162 EA ee ee 24 Ee 63 ENEE 169 LEE 162 Et e EE 169 OK ako ste eee 63 Last value of trace MOE ccccceeeseeeeeeeeeeeeeeeseeeeeeneees 168 RS 186 nnn eg A a eee eaateaue reseraee tees 169 H lp VE E 168 length of alignment MOVE s sscessesseseccessessesecsersessesees 75 Hipertaee ENEE 151 Less AI EE 181 159 E E AEE debate ch cease E irene E EEA TTT 169 Host Node EE 209 Eet 94 AE 20 ZE 150 hysterese for position trigger output eee 146 List all Parameters wea iisdicssisascsocavecdscaacsceaacsazevaciescsvacvonss 24 hysterese for velocity trigger output eee 147 List busvariable value E 186 List counter valUG ege eegne 132 List input line definitions a s
32. Range nn 0 to 65535 Default 0 This command sets the gain for the integral term in the tension ratio control loop When integral control is used the system integrates the analogue error by adding the current error to a running total Integral gain is useful to allow for long term changes in ratio as required for tension control in winding unwinding applications Set analogue differential control gain Range nn 0 to 65535 Default 0 This command sets the gain of the differential term in the tension ratio control loop This term uses the differential of the analogue error rate of change of error which represents the velocity error of the system This is useful where the analogue error is changing rapidly and provides damping in the analogue control loop Set analogue control set point Range n 2047 Default 0 This command sets the set point for the analogue control loop The loop error is calculated by subtracting the measured analogue input value from the set point It may be incremented and decremented by the IP command see page 47 when IS is set to 2 Reference Manual PMCprimo Page 175 8 Command Reference AWhbb Set analogue control options word Range bb O to 1111 1111 Default 0 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows the user to modify the operation of the analogue control loop
33. Set reference filter options word s ss1111ss1111res11 116 Set analogue control Options word 176 Set reference holdoff time cccsceeeseeeeeeeeeeeeeeeees 119 Set analogue control proportional gen 175 Set reference input false high mn sees KENNEN 117 Set analogue control Setpoint 0 cc ccscessceseeeseeees 175 Set reference input false low limit seteeee 117 Set analogue differential control gain 175 Set reference input true high limit see EEN EN 117 Set analogue input high mt 178 SE CIE a MMLC ees pat Set analogue input low limit c scccescesceesecceccecseeseeees 178 Set reference offset gege eege geb 112 Set analogue integral Control gain s2211111112111110 175 Set reference options word cccccsseeeeeeeeeeeeeeeeeeenes 110 Set autostart SEQUENCE c ccceesessseseesesesseesenseeeeseees 61 Set reference repeat lengthen 109 Set auxiliary output channel 103 Set reference tiMeOut cccccecseseeceeeeecenneeeeneeeseneees 95 Set backlash compensation distance s ss sessesse 0 45 Set slave map positon oOffSet ccsecessseeeeeeeeeeeeeeeees 77 Set baud rate NENNEN 21 Set slow speed EEN 42 Set baud rate modbus ENEE 21 Set slow velocity mode ENEE 43 Set clutch lengthen 86 Set system prompts EEN 169 Set clhutch tie f 85 Sel WICC ase iene regs ccccnes tecauucaasencsemusatencoccnnetcancccieees 94 Set clutch window EE 86 Set timeout for WINKOW ENEE 44 Set
34. Thus PMCprimo 0 1 gt returns the normal prompt at the end of a move only when the motor is within 25 counts of the required position PMCprimo reports position is reached when the current position is within the window Reference Manual PMCprimo Page 43 8 Command Reference Tinn Set timeout for window Set timeout for window Range nn 0 bis 65 535 Default 0 The check of SW is made after the time ff The commands MA and MR are after the time TP ready Example 9 PMCprimo User Comment Q 0 1 gt TI200 lt CR gt Timeout for window is set to 200 0 1 gt MR200 MR200 Two moves of 200 increments are made Figure 14 explains the time TP between the two moves velocity sees QaCtual velocity demand velocity 900 1000 1100 1200 Figure 14 Timeout for window TI Page 44 Reference Manual PMCprimo 8 Command Reference BLnn Set backlash compensation distance Range 0 to 65 535 Default 0 This command sets up a backlash compensation facility It applies only to the MA and MR point to point move commands It defines an extra distance that the motor moves each time it reverses direction thus taking up any slack of backlash between the motor and the final output It is defined in encoder counts Example PMCprimo User Comment 0 1 gt BL20 lt CR gt This sets the backlash compensation distance to 20 counts 0 1 gt Each time the motor changes direction on successive
35. With input inhibit no reaction of PMCprimo occurs Reference Manual PMCprimo 8 Command Reference MNIt g bb Define masked input line Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range bb 0000 0000 to 1111 1111 default 0 The command MN defines an input mask group like MG The difference is that only the changed input is masked After the change the input must set free with the EI command The right bit is input 1 Every bit is corresponding to an input Without the parameter n the actual mask is shown If the state of a masked input changes the defined input sequence will start after enable the inputs see also MI command on page 127 Example PMCprimo User Comment 0 1 ES Prgl Sequence Prg1 is defined which 002E CHO 1 SV prints the value of SV for test 003E NS 0 1 0 1 ES Prg2 Sequence Prg2 is defined which 002E CHO 1 SA prints the value of SA for test 003E NS Ae BE Gli Ee be ral Define virtual input 3 1 with sequence Prg ER e DIO 3724 PrgZ Define virtual input 3 2 with sequence Prg2 E Fe EI Enable all inputs 01 RI0 3 Show input port 0 3 Oc ts t Input 0 3 8765 4321 0000000 0 All inputs are clear FEEEEEEE All inputs are enabled 0 1 Osle MNO ITIL Every input should masked after its change Ols e EA be Eiere rel Set and reset of the virtual output makes a Dadli signal for the virtual input 0 1 SV 20000 Sequen
36. actually controlling the position and it has no effect if the motor is not driving the system Note that friction in the mechanical system can also cause a position offset after a move command is executed Reference Manual PMCprimo Page 37 8 Command Reference 8 4 Parameter commands Input and output of axis parameters SVnn Set velocity Range nn 0 to 4 000 000 As of Version 2 004 new range for n 0 to 40 000 000 Default 20000 This command is used to set the velocity of a channel in encoder counts per second It may be used at any time including when the motor is already moving The diagram below shows a typical velocity profile where the velocity is increased part way through a normal move Figure 9 SV command received x Figure 9 Move with change of velocity Example e PMCprimo User Comment Q 0 1 gt SV5000 lt CR gt This sets the velocity to 5000 increments second 0 1 gt Page 38 Reference Manual PMCprimo 8 Command Reference SAnn Set acceleration Range nn 1 000 to 2 000 000 000 Default 100 000 This command is used to set the acceleration value in increments second The acceleration value can be changed every time also during movement beside during the execution of position tasks with MA or MR page 31 The lowest acceleration value is 1000 V t Figure 10 High and low acceleration SA DC Example PMCprimo User Comment 0 1 gt SA10000 lt CR gt The acceleration is set t
37. all input state changes are ignored on inhibited inputs Inhibited inputs are enabled again by the EI command If a line number is given to n then the specified line is inhibited If a byte number followed by a colon is given with no line number then all function inputs in the specified byte are inhibited If no line number or byte number is given then all function inputs in all bytes of the node are inhibited If no line number no byte number and no node number is given then all function inputs in all bytes in all nodes are inhibited Example PMCprimo User Comment O 1 gt DI2 1 PROG15 lt CR gt The rising edge of input 2 1 executes PROG15 PROG15 sets Output 1 5 please see the picture below 0 1 gt I BI1 El State Output 1 5 1 0 State Input Oo t Figure 36 Inhibit input function Reference Manual PMCprimo 8 Command Reference El t g n ENT Ion bb UI on UO on Enable function input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 This command is used to enable the action of defined function inputs where they have been masked by the MI see page 127 command or inhibited by the BI command see page 128 If a byte number followed by a colon is given with no line number then all function inputs in the specified byte are enabled If no line number or byte number is given then all function inputs in all bytes of the node are enabled If
38. but GV 2 gives VAR 2000 With the command CMD VAR the value is only divided with 1000 if the command needs a floating point value VAR 2100 GV VAR gives GV 2 1 PEMAX VAR gives PE 2100 Reference Manual PMCprimo Page 207 10 Interface PMCprimo lt gt machine QA nm ASCII channel for PMCtendo DD4 n 0 PMCtendo DD4 in CAN Net command must execute on the host node n 1 PMCtendo DD4 in CANOpen Range m 1 to 61 With the command QA you can open an ASCII channel to communicate with a PMCtendo DD4 drive With the parameter n the CAN Net page 210 is selected The parameter m specifies the address of the PMCtendo DD4 It can communicate on the actual channel with the drive commands described before The command is channel specific so you can communicate on every channel command with a different PMCtendo DD4 Page 208 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine 10 11 Operate modes Every device in the network is with its node number identified Every number can be used only one time Device Host Node CAN I O Module 0 firm 1 60 61 firm 10 11 1 Host The host administers and saves all sequences maps and variables in the network All devices are programmed by the interface of the host It can connect an operator panel with the host This configuration joins both possibilities in one device Only one host is allowed in the network The user can choose wh
39. constant KI integral gain constant KD differential gain constant KV velocity feedback gain constant KF velocity feed forward gain constant KA acceleration feed forward gain constant ej position error demand position measured position dji demand position p measured position The dynamic behaviour of the motion control system on these gain constants and on the mechanical characteristics of the system being controlled Tuning the control system to get best performance on a particular mechanical setup requires setting up these gain constants The actual scaling between position error and output voltage for proportional gain only is as follows Vso error KP 256 10 2048 Where KP is the proportional gain term and error is the position error measured in encoder counts The other control terms are similar The performance of any axis may be monitored by using another channel s analogue output as a monitor output Commands are provided to output various signals on this channel for viewing on an oscilloscope or chart recorder These are described at the end of this section This scaling of the monitor output is similar to that of the main demand output but uses the KM monitor output gain Current position Reference Manual PMCprimo 8 Command Reference KPnn Set proportional gain constant Range 0 to 65535 Default 100 This command sets the proportional gain of the motion control system The prop
40. dummy master axis in position mapping For example two axes could be made to trace a circular outline by providing a third master axis moving at constant velocity in virtual motor mode and mapping the two slave axes to the master with a sine and cosine map respectively VMO The channel is set to normal mode A real motor is controlled and a real encoder is read for position feedback VM1 The channel is set to virtual motor mode The motor and encoder are simulated internally The motor enable relay is held in the off state but all other commands operate normally including the position reference and snapshot The channel is not able to read encoder signals in this mode Reference Manual PMCprimo Page 27 8 Command Reference 8 3 Move commands Basic commands for motor start and stop with use of a normal trapezoid or sinuid movement profile MA tnn Move to absolute position tnn Range 4 000 000 Version 2 004 new range for n 2 000 000 000 The motor moves to the absolute position given in the command It follows a trapezoidal or a sinusoidal velocity profile graph of velocity against time With bit 2 of the CW command can choose between a trapezoidal or a sinusoidal profile The motor accelerates from rest at the acceleration set by the SA command see page 39 until it reaches the velocity set by the SV command see page 38 At the end of the move the motor decelerates at the rate from the DC command s
41. following rules e A variable name consists of up to 20 characters which must be numbers UO or letters A Z S or oe e Upper and lower case letters are equivalent For example POS and pos refer to the same variable e Every variable name begins with a sign It is possible to set a value to a variable hexadecimal Therefore the prefix Uv must be written Example PMCprimo User Comment 0 2 gt SPD 5000 lt CR gt Set the value 5000 to the variable SPD 0 2 gt S SPD 0x1388 lt CR gt Also set the value 5000 to the variable SPD Variables can be used instead of the numeric values denoted with n nn or m Example 9 PMCprimo User Comment Q 0 2 gt SVSSPD lt CR gt This command sets the velocity to the value of SPD 0 2 gt Converse a value of a parameter can assigned to a variable Example PMCprimo User Comment 0 2 gt SSPD SV lt CR gt s 0 2 gt Reference Manual PMCprimo Page 179 8 Command Reference Page 180 A variable can be defined as a trigger variable so that when it is updated a sequence is executed Example PMCprimo User Comment O0 1 gt SPD gt PROG1 lt CR gt If the value of SPD is updated the sequence PROG 1 0 1 gt starts Variables can be used in arithmetic expressions involving the standard operators The remainder or modulo operator gives the remainder when the left operand is divided by the right An expression can be used as a command parameter an
42. for position trigger output 146 Eege 129 Define hysterese for velocity trigger output 147 Eesen 59 Define inhibit input ne See REERK ERR EER KEREN 142 Else execute commands if expression is false 59 Define input inhibit group 140 ER asa od eeereravou eset crestor ricadeneninateyjaneoneeteeesaeetreetions 72 Define input MASK group cccecseseeeeeseeseeeeeeeeeeeeeeeneenes 139 Emergency Stop EE 33 Define masked input me En 141 EN 129 Define master axis analogue range distance 177 Enable function input cccccccccsseeeeeeeeeeeeeeeeeeeeeeaees 129 Define output for refrence adiuetment 119 Enable function input with priortity 129 Define outside window Output seers 147 Enable trace mode EE 164 Define position snapshot Input 137 Enable trigger variables NEEN 185 Define position trigger output sees 144 Encoder Hlter ENEE NENNEN 47 Define reference accepted output secseeseeeeeeees 119 End of enter map 72 Define reference input ccceeeeeseseeeeeneeseeeeeeneeeeanes 121 End of parallel mode 62 Define reference reject Output esecseeeceeeeeeteees 148 End Of Sequence ENEE 55 Define timer counter clock Input ss rrrrsssr11rrrssnnnns 133 Elena 58 Define timer counter gate input ssseseeteeeeee 134 End wait state onset ate ane aeeh ee sce ecseeeeee tee eaves 92 Define timer counter Output sesecseceeteeeettentetenes 130 Enter M a 7
43. for t Range for g 1 Range for n 0 to 59 depends on number of nodes 1 to 2 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 4 adjustable with command CD PMCprimo 16 1 to 4 adjustable with command CD PMCprimo Drive2 This command defines the specified input line as a position reference input for the channel The sign defines which logic transition is used as the reference position The channel looks for the specified change in the reference input when the IN initialise position command is executed and when the automatic reference functions are enabled by the RM and RW commands Note that only input 1 and 2 of byte 1 may be defined as a reference input If no node number is given PMCprimo sets t 0 Example 1 PMCprimo User 0 1 gt DR1 1 lt CR gt 0 1 gt Example 2 PMCprimo User 0 1 gt CH2 DR1 2 lt CR gt 0 2 gt Example 3 PMCprimo User we LI1 lt CR gt Inputs 0 1 1 1 R1 2 R2 3 O O O O OO OO OO OO OO E CH o JO UI d OO H H bi H H H Comment This command line defines input 1 of byte 1 as reference input The falling edge is used as reference signal Comment This command line defines input 1 2 as reference input of channel 2 The rising edge is used as reference signal Comment This command line lists the input definitions of byte 1 Reference Manual PMCprimo Page 121 8 10 Page 122 8 Command Reference Digital Inputs and Outputs PMCprim
44. is the controlled channel channel 2 is only an encoder or a PMCtendo DD4 as a real channel channel 3 is only a virtual channel or a real encoder Example PMCprimo User Comment O 1 gt CH1 1 MA200 CH2 1 MA100 lt CR gt Channel 1 from node 1 moves to 200 and afterwards Channel 1 from node 2 moves to position 100 Reference Manual PMCprimo Page 61 8 Command Reference CP Change to parallel mode This command allows the user to switch between motor channels in a sequence and allow simultaneous command execution on more than one channel The command CP is only allowed in Sequences Example PMCprimo User Comment O 1 gt ES PROG1 lt CR gt Enter PROG1 002E CP lt CR gt simultaneous ON 003E CHO 1 MA200 lt CR gt channel 1 from node 0 move to 200 004E CH1 1 MA100 lt CR gt channel 1 from node 1 move to 100 005E CE lt CR gt simultaneous OFF 006E NS end of sequence 1 1 gt The move commands in sequence PROG1 are started at the same time if sequence PROG1 is called CE End of parallel mode This command tells PMCprimo the end of a simultaneous execution of commands The command CE is allowed in sequences If there is no CP command before the CE command PMCprimo gives the error message Still in parallel mode Page 62 Reference Manual PMCprimo 8 Command Reference GS GA GF GE GX Name MEName Global stop This command sends a stop command ST see page 32 to all channels The GS co
45. last value logged by the TR command Its possible to make an assignment to a variable Enhancement as of version 1 008 With the command TD without any parameter the last record of TR can print again With parameter nn and mm you can print or set to a variable every value recorded by TR The command TT and TW must not be changed after recording with TR Print help display This command prints a menu list Help Main menu Zl gt Command summary 22 gt Error and Status codes on display 23 gt Used abbraviations 4 gt Operators 5 gt Variables Zb gt Programs and maps 7 gt Map generator 28 gt Values of status variables With enter of dn you can select the special help For every command it can ask for help by appending a to the command Example PMCprimo User Comment 0 2 gt DP lt CR gt Ask for a help about the DP command DP Display measured position Syntax DP Example DP SVariable DP 0 2 gt Reference Manual PMCprimo 8 Command Reference LE Display last error This command redisplays the last 10 error messages for the last error detected by PMCprimo It is useful for finding an error message which has stopped PMCprimo when there is not normally a display connected to the machine LGnn Set language Range n 0 to 3 Default 0 This command allows the user to choose the language for the messages which are given f
46. line see page 126 10 Interface PMCprimo lt gt machine Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine 10 10 Drive commands With PMCprimo Drive it is possible to set commands for the drive direct form the PMCprimo shell The drive commands must be put in quotation marks Example PMCprimo User Comment 0 415 DIR Drive command DIR is set from PMCprimo shell 0 1 gt DIR output from Drive It is possible to assign a drive command to a variable If the drive returns no value it comes to a error message Example PMCprimo User Comment 0 1 SVAR DIR lt CR gt Drive command DIR is set to the variable VAR 0 1 SVAR lt CR gt Display VAR 0 1 SVAR 1 OxO00000001 Saving with the command SP the drive parameters are stored in the sequence with the following name DRIVE t t node number Enhancement as of version 2 000 Assignment of a variable to a drive command eg GV VAR The value of VAR is divided intern with 1000 in order to get a floating point number For commands who needs an integer the value must multiplied always with 1000 Enhancement as of version 2 007 Until now the drive commands are done in this way CMD VAR The system alos writes a floating point value If VAR 2100 then the command CMD was written VAR CMD If the command returns a floating point value of dot was returned then the value was multiplied with 1000 GV 2 1 gives VAR 2100
47. lines For the digital output are timer and counter functions available Enhancement as of version 1 008 The new virtual input ports 0 101 to 0 1008 are connected to the bus variables B101 to B108 A value set to B101 for example B101 0xff set all inputs of port 0 101 The inputs have the same functionality as the CAN inputs There exist no corresponding outputs like the classic virtual inputs The values of B101 to B108 cant be saved with SP They can t be defined as trigger variables The address range of the modbus was increased for this The variables cant be used like MA B101 no global variables Reference Manual PMCprimo 8 Command Reference SOjt g n X1 X2 Set output line n in byte g Range for t 0 to 59 depends on number of nodes or no value Range for g 1 to 2 or no value PMCprimo Drive 2 1 to 3 or no value PMCprimo 2 2 1 to 3 or no value PMCprimo 16 Range for n 1 to 8 or no value Range for X1 1 to 8 or no value Range for X2 0 to 256 or no value This command sets the specified output line to a logic high The output state is maintained until superseded by another command for the same output line If the specified output is programmed for some defined function then the line already defined error is reported If no value is given for n all unused outputs in byte g are set to a logic high If no value is given for g PMCprimo uses byte 1 With the parameters X1 a
48. lt distance with DR input true lt ZH and e FL lt distance with DR input false DR lt FH FH F cO ZL ZX 8 ZY el high low gt distance Figure 34 Reference width checking with ZH ZL FH and FL Reference Manual PMCprimo Page 117 ZX ZY Page 118 8 Command Reference Display length reference signal false This command shows the measured distance of the reference signal is false The value will only be displayed if bit O of FW is set to 1 If bit O of FW command see page 116 is set to 0 the ZX is also set to 0 automatically Display length reference signal true This command shows the measured distance of the reference signal is true The value will only be displayed if bit O of FW is set to 1 If bit O of FW command see page 116 is set to 0 the ZY is also set to 0 automatically Reference Manual PMCprimo 8 Command Reference RA g n Define reference accepted output Range for g 1 to 2 PMCprimo Drive 1 to 3 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 Range for n 1 to 8 This command defines the specified output line as a reference accepted output The output gives a 1ms pulse when a reference input signal has been accepted as a valid reference The sign gives the low or high level An unsigned command deletes
49. lt CR gt change channel 3 3 gt UL lt CR gt unlink 3 gt ML1 lt CR gt channel 3 is linked to channel 1 3 gt O O O CH MB nn Set map base offset for master map positions Range 4 000 000 As of version 2 004 new range for n 2 000 000 000 Default 0 This command sets a map base value This value is subtracted from the master axis position resultant position after differential and SN scaling have been applied before using the data for the map input An alternative description is that it defines the base position of the mapped region on the master channel such the slave channel is mapped into the master channel position for the range MB to masterbound MB Normally the mapping is defined over the range from zero to the master axis bound The MB parameter allows the slave channel to be advanced or related to the master axis A change of MB during mapping involves a compensation with the velocity defined with AV see page 79 and the alignment acceleration AA see page 80 MF nn Set slave map position offset Range 4 000 000 Default 0 This command sets a map offset value This value is added to the slave position obtained from the mapping This allows the slave axis map profile to be rotated or shifted relative to the master axis If the MF is changed during mapping the alignment move is made with the velocity AV and the acceleration of AA see page 80 Reference Manual
50. medium is a terminal software see user manual PMCprimo Motion Control Tools on your PC that will be connected via a RS232 or Ethernet interface All parameterisations and user programs can be saved in flash memory or a Compact Flash Card Software functions for movement of servo axes With the described PMCprimo commands the parameters will be set and functions for the respective task will be programmed The wide range of commands allows the realization of complex applications PMCprimo has axis spanned commands this means that a separate command can affect several axes Reference commands allow the automatic initialisation and a reference error correction at a running machine The reference error can be compensated variable for example with defined ramp or time functions By this divergences in product or machine parameters can be corrected flexible cycle based Free definable master slave relationships allow the user to define any speed profiles for motors The usage of jerk less movement flow for example modified sine reduces the mechanical load at the machine as much as possible PMCprimo can fit motors with electronic gear functions just by software The relation between motor positions can be defined freely by the user additionally to the electronic gear function linear and non linear correlation with a tabular position assignment There are multiple of VDI defined movement kinds for your choice Tabular position assign
51. message and does not update the reference error value displayed by the DF command 1 If the reference error is greater than the maximum value set by the SR command the channel corrects by this maximum value The reference out of limits error is reported if LR is set to zero and may set the channel off if required see ME command page 63 Bit 2 This bit enables the adjustment position set by the RJ command see page 115 0 No position for reference correction defined The correction takes place immediately the reference signal is detected 1 The channel defers the position correction until the motor passes the adjustment set by the RJ command Bit 3 This bit inhibits the move back to the new zero position in the IN command see page 35 0 The IN command finishes with a move back to the new zero position defined by the just detected reference input 1 The move back to the new zero position is inhibited Bit 4 Enhancement as of version 1 008 This bit defines the parameter of the command RV see page 113 0 RV sets the velocity for the reference correction 1 RV sets the distance of the reference correction With this function the reference error is spread out to a defined distance Bit 6 of RW must be set if bit 4 is set If not then a warning is given out and bit 6 is set automatic Page 110 Reference Manual PMCprimo 8 Command Reference
52. n m DD4 with CAN address m in CANOpen of node n Display free memory This command displays information about the memory The information refers always to the host Example Osli am lt CRS Se 938904 bytes ram memory free 123004 bytes flash memory free Reference Manual PMCprimo 8 Command Reference ZT Name Display active programs Without any program name the command lists all active sequences Enhancement as of version 2 000 The command line of a online command is also write out Example PMCprimo User Comment QO 1 St Set command 0 1 Aktive processe display active programs I0 1 3 gt PRG1 Program PRG1 is active and was started from input 0 1 3 ONLINE 500 gt PRG3 The program PRG3 was started from a single command of the user SVAR1 gt PRG2 The program PRG2 was started from trigger variable VAR1 ONLINE 501 Online command ZT has the intern program number 501 SVAR2 gt PRG4 gt PRG5 The program PRG5 was called by PRG4 The program The program PRG4 was called by the trigger variable VARZ2 0 1 IF ZT is followed by a program name the active program line is listed if the program is active Example 2 PMCprimo User Comment 0 1 ZTPRG2 Command ZT with program name 0 1 Active processes lt PRG2 gt node 0 line 2 The active program part is running on the host node 0 at the moment line number 2 of PRG2 is active Reference Manual PMCprimo Page 25 SK Page 26 Set
53. of RW is zero and FR is set to zero then the position is not corrected the out of limits reference error value is discarded and the reference is ignored completely If RW bit 1 is set or FR is non zero the position is corrected by an amount equal to SR When the reference error is larger than SR the LR parameter see page 112 is zero and correction up to the value of SR is enabled by RW bit 1 or FR non zero then a reference out of limits error message is given for reference errors larger than LR If required PMCprimo may be programmed to generate a motor error when this error is detected This facility depends on bit 1 of EW see page 96 Reference Manual PMCprimo Page 111 FRnn LRnn Page 112 8 Command Reference Set filter on reference error Range 0 to 65535 Default 0 This command when set to a non zero value defines a maximum value for the reference error in encoder counts Any reference which gives a reference error value greater than FR is ignored completely It is used to eliminate false reference signals at positions far away from the expected reference position It is independent of the value of SR see page 111 which defines the maximum allowed reference correction Set reference error limit Range 0 to 65535 Default 0 This command when set to a non zero value defines a limit value for the reference error in en
54. one time Reference Manual PMCprimo Page 139 BGIt g bb Page 140 8 Command Reference Define input inhibit group Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range bb 0000 0000 bis 1111 1111 default 0 This command specifies a set of input lines such that if one line in the set goes active all the input lines in the set are immediately inhibited to prevent them acting The lines remain inhibited until they are explicitly enabled The set of lines is specified by a binary parameter where a bit set to 1 includes the corresponding input line 1 in the specified group It is similar to the MG mask group function but with the difference that all input state changes are ignored on inhibited inputs see MI command on page 127 If the state of an inhibited input changes opposite to MG the defined input sequence will not start after enable the inputs see also Bl command on page 128 Example PMCprimo User Comment O0 1 gt ES PROG1 002E CH1 VC Move in positive direction 003E NS O 1 gt ES PROG2 002E CH1 VC Move in negative direction 003E NS O 1 gt CH1 DI2 1 PROG1 lt CR gt Execute sequence PROG O 1 gt CH1 DI2 2 PROG2 lt CR gt Execute sequence PROG2 0 1 gt BG2 11 lt CR gt Inhibit group on input 1 and 2 in byte 2 0 1 gt The rising flank of input 1 inhibits input 2 The rising flank of input 2 inhibits input 1 Without input inhibit PMCprimo returns an error
55. or the difference between the positions of two master axes This is analogous to a differential gearbox The slave axis must be linked to a master axis with the ML command see page 76 and to a second master axis called the differential axis with the NL command see page 76 LW bits 4 6 see page 83 control how the slave axis uses the position information from the two master axes and LW bit O controls whether the master or differential axis transmits its demand or actual position to slave axes Reference Manual PMCprimo Page 69 8 Command Reference data flow Differential master axis First master axis LW00110000 Slave axis Figure 19 Example setup for software differential Note that the master channels may be in any state provided the map links are set up as required Also note that it is important to set the LW options on master and slave axes before executing the ML map link command Any change to LW error message when ML is active is not applied until the slave channel is unlinked and re linked to the master axis Master axis Slave axis Slave axis LW00110000 Slave axis Figure 20 Example setup of software differential complex The various parameters governing position mapping can be summarised in the following equations Unless noted all parameters apply to the slave axis Page 70 Reference Manual PMCprimo 8 Command Reference XM PosName l
56. state each time the counter timer reaches its final count In shift register mode 8 the timer counter behaves as a shift register to a maximum of 31 bits The state of the TG gate input assigned to the timer counter is clocked into the shift register by an active transition on the TK clock input or by an SO command on the TC output At the same time the last bit in the shift register is clocked out onto the TC output line An active transition on a TZ input or a CO command on the TC output resets the shift register contents to zero Example 1 v PMCprimo User Comment Q 0 2 gt TC1 3 20 1 lt CR gt This command line defines a cyclic up counter which toggles output 1 3 every twenty clocks S01 3 increments the counter by 1 CO1 3 stops the counter and resets it to zero Example 2 T PMCprimo User Comment Q 0 2 gt RA1 4 defines a reference accepted output and adds a one shot 0 2 gt TC1 4 20 5 lt CR gt pulse timer to it The timer triggered by the RA output going true and then holds the output true for 20ms Thus it stretches the normal RA output time of 1ms to something a bit longer to make it easier for it to be seen by a PLC Example 3 v PMCprimo User Comment Q 2 gt LO1 lt CR gt List output definitions in byte 1 Outputs 0 1 0 1 1 0l 0 1 3 TC Count 00020 Mode 1 0 1 4 RA1 gt TC Count 00005 Mode 4 0 1 5 0 1 6 0 1 7 0 1 8 Reference Manual PMCprimo Page 131 8 Command Ref
57. typical position mapping where the slave channel is following some position profile relative to the master axis This could be for example the path for a cutting tool on a machine where the master axis speed varies to maintain a constant linear tool speed across the material This could not be easily achieved by other methods which would rely on keeping the cutter motion synchronised in time with the master axis motion This could only be set up for one specific master axis speed or profile and would need to be programmed to allow the machine to be run at a different speed Using the position mapping mechanism the master axis speed may be varied at any time even during a cut and the cutter stays on the correct path as defined by the mapping Slave position Map position relationship Slave position A g A d range i A a LZ s lt Master position range gt Master position Figure 16 Position mapping over a defined range The example of Figure 16 could also apply to a machine where the master axis is a continuous rotary axis such as a line shaft with the slave axis profile repeating once for every cycle of the master axis In this case the master bound position must be set to the master axis cycle length and also copied to the slave axis with the MP map bound command On a machine where either or both axes are cyclic the position bounds on e
58. until it reaches the velocity set by SV and moves with constant speed in positive direction V Figure 6 Constant velocity move The velocity values SV and SS can also change during VC Page 34 Reference Manual PMCprimo 8 Command Reference IN Initialise position PMCprimo performs the initialisation sequence to find a zero position reference signal In normal PC state the system gives the lI initialise prompt character while executing the initialisation sequence The motor accelerates to the set velocity in the specified direction If no direction is specified the motor moves in the positive direction When PMCprimo detects a reference input signal it resets the position counters to RF see page 112 immediately The motor then decelerates to a stop and moves back to the new zero position if bit 3 of RW is not set This command may also be used in states other than PC when PMCprimo simply waits for a reference signal and sets the zero position accordingly If no reference input or marker input is defined then the IN command returns an error message The IN command works independently of the settings of all the other reference commands This is so that whatever the reference setup for normal running the IN command always works normally The exception to this is bit 3 of the RW reference options word which disables the move back to the new zero point after the re
59. 096 Stopping ST 8192 Initialising IN IB Every bit of a wait command belongs to a bit of the wait status variable W WI Bit 2 WA Bit 3 WR Bit 4 WF Bit 5 WB Bit 6 WC Bit 7 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine 10 Interface PMCprimo lt gt machine 10 1 Notes on Installation Care should be taken in all installations to protect PMCprimo from high voltages and to minimize electrical noise on signal and power supply lines Pilz can accept no responsibility for problems arising from poor installation Please refer to the PMCprimo Installation manual for more information A digital servo controller relies on the position information from its incremental encoder and any noise on the encoder signals can give rise to errors in the absolute position Care must be taken in installation of PMCprimo and the encoders to minimize any noise on the encoder signal lines PMCprimo has full optical isolation on all the encoder signals and require encoders with complementary line driver outputs The encoder input interface has a differential input stage for use with such encoders providing high rejection of common mode noise In addition spurious signals on one encoder track produce both an up and a down count and thus cancel out However in particularly electrically noisy environments it is still possible to get position counting errors Noise is reduced by using encoders with line driver outputs Where the enviro
60. 2 Define timer counter reset Input SEENEN KENNEN 134 Enter position control mode s ssssssssessesessessecsecsecsees 27 Define trigger Variable EEN 183 Enter SEQUENCE ENNEN 54 Define Variable Amrane 184 Equal to 181 Define velocity trigger output seesseesteseeeeeeee 146 EE 58 Define zero marker input on off sess testes 115 Error MCSSAGES cecssssescssseseesessenseeesenseeeseeseesaeeseeeseeaes 192 Demand OUP EE 203 error OPtiONS word 96 Demand Position ENEE 161 Error variable 187 eege EEN 161 ER ugeet 54 DE a er eer mne etre ener eer ee ere 161 AV 185 Diaa E 138 AV 96 Digital In and Output ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 205 Execute analogue range distance initialisation 178 Display actual position cccseeeeeeeeeeeeeeeeeeeeeeeeneneees 161 Execute commands if expression is true 0 s 0 59 Display actual reference error cccccsseeeeeeeseeeeeeeeeees 161 Execute commands if program is ac 60 Display analogue Input esses tenet 162 Execute Heed 74 Display demand poeltlon En 161 Execute map virtual EEN 75 Display following error ENEE 161 Execute seguence EE 57 Display l st amp rror ose cee sitpictatsaciumiecesteudanctaeumiredanaaal candies 169 Execute sequence parallel 57 Display last value of trace mode cceceeeeeeeeeeeeees 168 Display length reference signal false 00s0008 118 Display length reference signal true SSES 118 i i ll cia POS
61. 7 This command sets the high limit for the analogue input If the analogue input value exceeds this value then the analogue input high limit exceeded error message is displayed If bit 3 of the error options word EW is set to 1 then this is a motor error and the axis shuts down to the motor off state Set analogue input low limit Range n 31bit value Default 2047 This command sets the low limit for the analogue input If the analogue input value exceeds this value then the analogue input low limit exceeded error message is displayed If bit 3 of the error options word EW is set to 1 then this is a motor error and the axis shuts down to the motor off state Reference Manual PMCprimo 8 Command Reference 8 15 Variable commands The variable database is a centralized facility which is accessible to all tasks in the system and holds a set of integer variables Because variables are generally accessible it is possible for the user to change a variable using an operator s panel and for the variable to be used subsequently to set a motor parameter in PMCprimo Similarly a variable can be se to some motor parameter such as the position which can then be displayed on an operator s panel A variable can also be set up to trigger execution of a command string on PMCprimo This means that a button of an operator s panel can be set to update a variable which in turn triggers an action on PMCprimo A name is defined with the
62. Fast input is activ d C Limitation of 20 m the reference 30O signal 40 Latch actual motor position Zero marker input P After appearing m ST of the reference A DZ signal the motor EM pa Referencin is activ 4 Calculaltion of refernce eror Reference error is set to DF ZW Bit 2 Signal for refernce OH OH error is set QO 2 IR Moving Moving to the back reference to the signal reference lf DF gt FRthe signal reference error is ignored d Reference error limit is checked RW Bit 1 T Refernce error is reduced to the maximum value Output pulse for RA valid reference signal RW Bit 1 Correction of reference error Figure 29 Cooperation of the commands after detecting a reference signal Reference Manual PMCprimo Page 105 8 Command Reference Start position correction Demand velocity 0 II Calculate the value of correction RW Bit 6 Correction of Only correction of motorposition position counter Way of acceleration Figure 30 Cooperation of the commands reference error correction Page 106 Reference Manual PMCprimo 8 Command Reference ZC nn Zero position counter or set position Range nn 4 000 000 or no parameter As of version 2 004 new range for nn 2 000 000 000 or no parameter If a position value is given PMCprimo sets the current demand position to the given absolute value If no value is given the current demand po
63. IN2MODE must set to 26 and reference input is input 2 of PMCtendo DD4 SAVE COLDSTART must made The solution can set with the NB command page 159 NB24 means 4096 increments per revolution The rolling direction can be set with bit 5 of CW command page 48 With FS21 and 22 the referencing is supported completely IN RM RW FW FH FL ZH ZL There must set no DZ or DR With FS21 or 22 no reference input of PMCprimo is allocated but referencing can be made With every PC command the actual position of the drive is read and the position counter of PMCprimo is set to it If the motor is moved manhandled the change is seen after the next PC command Therefore the position is not lost After first switch on it isn t made by relative position The actual position in PMCprimo is still present The behavior is the same like an incremental encoder Reference Manual PMCprimo Page 153 8 Command Reference As of version 2 004 This extension operates only with PMCtendo DD4 version 5 16 and higher New settings FS24 to 26 As with FS21 to 23 the demand position is sent to PMCtendo DD4 and the internal position loop of the PMCtendo DD4 is used The referencing with INMODE2 26 is also available The difference is that the actual following error and the actual current is received To get the right value the drive commands PGEARI and PGEARO are changed automatically from PMCprimo to
64. M 5 Absolute demand position DD control value DD KM 4 1000 OM 6 Absolute measured position DP control value DP KM 4 1000 OM T7 actual measured speed DV control value DV KM 15 1000000 OM 8 Master speed control value Master speed KM 15 1000000 OM 9 averaged master speed control value averaged master speed KM 15 1000000 OM 10 Tension control set point AC control value AC OM 11 Reference error DF control value DF KM 4 1000 OM 12 Snapshot position DS control value DS KM 4 1000 OM 13 Demand velocity including any reference correction control value velocity KM 15 1000000 OM Enhancement as of version 1 008 14 Velocity ratio of master slave Therefore the average velocities are used The ratio is calculated as follow control value DV Slave KM DV Master OM Set monitor output gain Range 65 535 Default 1 This command sets the gain for the monitor output signal The monitor output functions are scaled by the monitor gain and not by the gains used in the control algorithm The signal can be inversed with a changed sign Reference Manual PMCprimo Page 101 8 Command Reference OM nn Set monitor output offset Range 32 767 Default 0 This command allows the auxiliary monitor output to be offset by a fixed voltage Offset in mV 4 88 mV OM Example e PMCprimo User Comment Q O 1 gt OMO lt CR gt No offset O 1 gt
65. Master is moving Enhancement as of version 2 002 The master velocity can be averaged in speed mapping with the command BT Damping of rapid movements of the master is possible with it Reference Manual PMCprimo Page 173 8 Command Reference 8 14 Analogue Control This section describes facilities for performing analogue loop control used for tension control applications Closed loop tension control is performed by calculating the required speed ratio between a master and slave axis in mapping with feedback on the analogue input The tension control loop reads the analogue input at the normal system sample rate and compares it with the analogue setpoint value The difference between the setpoint and the input is the analogue loop error and this is used in a closed loop control algorithm to determine the required action The ratio control algorithm used is of the following form i SM SM x AP eji Al Xe AD ej e 7 i ratio SM default ratio SM command AP proportional gain constant Al integral gain constant AD differential gain constant ej tension error tension setpoint measured tension In closed loop analogue control the dynamic behaviour of the system depends on these gain constants and on the mechanical characteristics of the system being controlled Tuning the control system to get best performance on a particular mechanical setup requires setting up these gain commands AMn Set
66. O O OOOO CH Comment Motor 1 is in constant velocity mode Display actual position every 200ms Abort command Motor 1 is still in constant velocity mode Reference Manual PMCprimo 8 Command Reference BK Break out of sequence This command causes the system to break out of the current sequence and to continue executing commands in the calling sequence if any This is useful for terminating a sequence early depending on the state of an input line PMCprimo User Comment O0 1 gt LS PRG10 lt CR gt List sequence PRG10 ES PRG10 CHO 1 111 BK break out of sequence if input 1 1 is low CHO 1 MA1000 channel 1 move to 1000 NS end of sequence 0 1 gt ASName Set autostart sequence Default 0 This command is used to set up a command sequence to execute automatically when PMCprimo starts up after all the saved setup parameters and configuration details are loaded from the flash memory If no sequence name is given PMCprimo prints the current autostart sequence name If 0 is given to AS no autostart sequence is defined CH t n Change channel range for t 0 to 59 maximum 60 Network nodes range for n 1 to 3 for PMCprimo Drive 1 to 4 for PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 for PMCprimo Drive2 This command allows the user to switch between motor channels It may be used at any time If no parameter is given for t PMCprimo uses automatically node number 0 Note for PMCprimo Drive Channel 1
67. Operating Mode Y N N lt CR gt Delete application data Y N Y gt lt CR gt Are you sure Y N Y lt CR gt Reset is done 0 1 For PMCprimo 2 2 16 PMCprimo Drive2 optional the IP address for Ethernet and the field bus address can be set Page 16 Reference Manual PMCprimo 8 Command Reference Enhancement as of version 1 008 For PMCprimo 2 2 16 PMCprimo Drive2 optional it can set an offset for the field bus address The range of value is between 0 and 100 Default is 0 Therefore it is possible to use the input ports 0 101 to 0 108 with the bus variables B101 to B108 Example Actual configuration Operate Mode STANDALONE Actual IP address 10 10 180 7101 Actual Netmask 255 0 0 0 Fieldbus In Out length 50 words Change Operating Mode Y N N lt CR gt Delete application data Y N N lt CR gt Change Ethernet Y N Y lt CR gt New IP address 00 00 000 000 10 10 180 101 lt CR gt New Netmask 255 0 0 0 255 0 0 0 lt CR gt Change Fieldbus configuration Y N N lt CR gt U Enhancement as of version 1 008c The size of the flash memory for PMCprimo an the SoftSPS can be set Up to now the 256KB are divided into 128KB for PMCprimo and 128KB for the SoftSPS Now the SoftSPS can get 128 192 or 256KB The flash for PMCprimo is 128 64 or OKB if a SoftSPS is installed Enhancement as of version 2 000 The command was expanded with 2 optional parameters CD n x Range n As of version 2 005 2 All values o
68. PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual This command allows the programmer to specify that a command or a command line is conditional on the current state of an output line If the output line specified in the lO command is in the specified state the condition is true then the remainder of the command line is executed If the output line is not in the specified state the remainder of the command line is skipped and the execution proceeds to the next line of input either the next line of a sequence or new input commands Example T PMCprimo User Comment Q O 1 gt IO2 4 XS PROG23 lt CR gt If the output line 2 in byte 2 is logic high PMCprimo executes PROG23 Page 126 Reference Manual PMCprimo 8 Command Reference NI Ion Mask function input Range t 0 to 59 depends on number of nodes or no value Range n 1 to 8 Range g 1 to 2 This command is used to mask the action of defined function inputs It allows several input lines to selectively mask out defined actions depending on the current function activated For example a machine start sequence assigned to a function input may mask itself once the machine has started until the stop sequence assigned to another input re enables it This prevents any subsequent signal on the start input from generating unnecessary start sequence commands which may not be allowed when the machine is running Masked inputs are enabled again by the EI command If a
69. PMCprimo Page 77 8 Command Reference SMn m Scale mapping Range n 0 to 65535 Range m 1 to 65535 Default 1 1 This command is used to set a scale factor for mapping It is used on the slave channel not on the master The required absolute position on the slave channel as defined by the mapping from the master position or result of any software differential is multiplied by the first parameter value and divided by the second value This allows a wide range of scale factors to be realized while keeping a simple integer ratio scale function Note that changing the map scale factor while executing a map can give erratic results because this may change the required slave axis demand position by a large amount To avoid this problem AV and AA see page 79 can be used to smooth out the changes in SM Example Scale map 1096 361 The demand position is calculated from the position from the map table multiplied with 1096 361 e PMCprimo User Comment Q O 1 gt SM 1096 361 lt CR gt The scale map is set to 1096 361 Channel 1 is slave 0 1 gt Page 78 Reference Manual PMCprimo 8 Command Reference BR Set map scale factor from bounds ratio This command is used to automatically calculate the map scale factor CSN see page 78 on the slave axis from the ratio of the slave bounds to the master bounds The scale factor calculated is equivalent to SB slave SB master The BR command should only be execu
70. Reference input false low limit cccccsessseeseeeeeees 117 Reference input true high limit scccesesseeeeeeeees 117 Reference input true low limit ccccseeeeeeeeeeeeees 117 ON EE 102 Reference options word 110 Operate un TEE 209 Page 214 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine Reference position strange channel see EEN Ken 120 Set feedback encoder type c cccccseeeeeeeeeeeeeeeeeeeneees 151 Reference repeat length ccccsssseeeeeeseeeeeeeeeeneeeeeees 109 Set filter on reference error KENNEN EEN 112 FREI ANGOD eege 181 Set increment Select code cccccceeeeeeeeeeeeeeeeeeeeeeeees 46 Repeat command IINC ccceeeeeeeeeeeeeeeeeeeeeeeeneeneenees 58 Set input CEDOUNCE tIMEC cccceeeeeeeeeeeeeeeeeeeneeeeneees 147 eege 112 Set integral gain Constant sees ENNER 99 PR os deo ENE A EEE EA E E E E T 119 ici laNg Ce LE 169 Pease te EA T A E E A T T A E E 124 Set map base advance ssssssnssnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnne 172 E 115 Set map base offset for master map positions 77 Reeg 120 Set map base offset scale factor adjustment 79 a A E E A E A EA AT E T E A 109 Set map base offset scale factor adjustment acceleration tt lr SE 80 Cd WEE 115 Set map link options WOMGC cccceeeeeeeeeeeeeeeeeeeeeeeees 83 Ce dE 125 Set Map options WOM ccccceeeeeeeeeeeeeeeeeeeeeeeeeneeneneees 81 geg
71. SPD Ask for values of variable array 1 1 gt 1 1 gt SSPD 0 0 0x00000000 1 1 gt SSPD 1 0 0x00000000 1 1 gt SSPD 2 0 0x00000000 1 1 gt S SPD 3 13 0x0000000D 1 1 gt SSPD 4 0 0x00000000 1 1 gt SPD 3 gt H10 Element 3 of SPD is stored in SRAM 1 1 gt var gt H1 1000 Store variable in SRAM Page 184 In PMCprimo 2 2 and 16 it is possible to store variables in a battery backed SRAM It s possible to store 1000 variables The bus variables B1 6B100 can also be stored Example SVAR gt SH12 The variable VAR is linked with the memory cell H12 on the SRAM The command LV lists this link After starting up it is checked if a lose of data in the SRAM occurred If this happens the variables are initialised with the values stored by the SP command With redefine a trigger variable storing in the SRAM the definition is also repealed Reference Manual PMCprimo 8 Command Reference VX List trigger variables This command displays a list of all the trigger variables The first character of each line has the following meaning E The trigger variable is enabled M The trigger variable is masked command MV B The trigger variable is inhibited command BV Example T PMCprimo User Comment Q 0 1 gt VX lt CR gt List all trigger variables M SSPD gt PRG1 Variable is masked E STR gt START_PRG Variable is enabled B SFRG gt PRG2 Variable is inhibited 0 1 gt MV va
72. TE e EEN 14 8 Command Reference EEN 16 8 1 Data Commands essnee panenn eee i e EE a A r Ea E 16 8 2 Mode COMMANGS E 27 8 3 Move commands eessen nenau a ea a E Ea e ea a E E aea A EE Eh 28 GA Parameter commandS Eesen 38 E We Ee e ul E 52 Sen EE 66 e E e 19 11 un e EE 87 e Wm Greg 2 91 ane ee een eRe eee A te ee eee ee ae ere eee eee eee 93 8 9 SHEI eege 98 8 10 Reference Commande 104 8 11 Digital ele URS and IT E 122 Siz ENGER Commands ee E Ehe 135 oo DEPAY CUMS E 161 614 IPWASC ACV ANCE ocscsiait cc deronctscanieure ce e E nae me E r aberdeen 170 o9 ANdogue OU EE 174 8 16 Variable COMMANGS sive hiceecescsaciddauceteacensectanaica sub teanededuedinbcdbuh temnebedwedtmntaatebemuebeduedientenhbeteneteaweeanss 179 8 17 Commands for CANopen network nvicecicoscccscecdeceseciuedeavetvescsicnsses wecnciedannsnnndnavanrnseedeacsuredeadecvesends 189 9 Status ANd error MESSAGES waviisiscscsvcaccewenscemansssreddvaradeteancesusseeodenecsasenedennanesennenetacnes 191 EU Skaus FNS SS AS EE 191 ER genre E 192 SES WEE Log 6 8 EE 200 10 Interface PMCprimo lt gt machine cccccccecceeeeeeeeeeeeeeeeeeeeeeeeseeeeneeeeneeseeeeseeneseaaes 201 10 1 Notes on Installation BEE 201 TO E 202 6 e SE Ge Een Bee EE 202 104 Demand Output PMCprimo 16 sicccnscesecievensisastenvincn sed bvancenantwevocrnndctindevennvadhstesdendsteinierddeevearneats 203 Reference Manual PMCprimo Page 3 2 Contents AR EE E 203 10 6 Eeer 204
73. V set to a non zero value to give a limit to the motor velocity during a reference error is corrected If RV is set to zero then the reference error correction is performed immediately in one step The value for RV is given as parts per hundred of the actual demand velocity If a reference error is detected although the motor velocity is zero the channel will correct the reference error with the velocity given by the SS command see page 42 The following algorithm is used if n 0 Change velocity actual velocity x RV 100 If the reference correction velocity is set to small or the reference error is too large then it is possible for the next reference signal to arrive before the correction for the previous reference is complete This condition is called reference correction overrun and is indicated by the reference correction overrun error message This error may be set to give either a user error or a motor by setting bit 2 of EW see page 96 If this error occurs it indicates either that the machine is not performing correctly and is giving excessive reference errors or that the value of RV is too small and should be increased The acceleration during reference correction could be set with the RC command Velocity Reference signal Reference error SV Set Bound Time Figure 32 Reference correction with RV Enhancement as of version 1 008
74. ach axis are set to the cycle length for that axis The mapping must be defined such that the required slave axis position is continuous at the points where the master and slave axes pass their respective bound positions If this is not done the discontinuity in the mapping at the position bounds could give rise to very sudden changes in speed and position of the slave when the bound positions are reached If the slave position is not continuous across the map boundary the difference between the required slave cycle length and the actual cycle length given by the mapped master position bound appears as a small shift of the slave axis relative to the master axis This error accumulates over several cycles of the machine and behaves as an apparent drift of the slave axis This type of problem is difficult to spot but can be prevented by careful definition of the position map table The mapping should be defined over the master position range from zero to at least the master axis bound position In addition the master axis bound position value must be known by the slave axis so that when the master axis position wraps around to zero at the bound position the slave axis knows how to adjust is mapped demand position in order to maintain is speed across the master wraparound point This is done automatically by PMCprimo when the ML see page 76 map link command is used or if the master bound is changed Reference Manual PMCprimo Page 67 8 Comma
75. age 81 only linear maps XM LINEAR are allowed Enhancement as of version 2 000 It is possible to set XM to a variable In this case the actual mapnumber is set to the variable If mapping is not active the variable is set to Oxffff Page 74 Reference Manual PMCprimo 8 Command Reference XVName nn XXName nn Execute map virtual Range 6 000 000 to 6 000 000 With this command it is possible to get the actual slave position of the master position nn in map Name It can read without XM a slavepostion for example in a variable All settings MB MF etc has the same effect like XM see page 74 The map must be transferred with TM to the axis The map link must be executed on the axis Example PMCprimo User Comment O0 1 gt SVAR1 XV MAP 1 1000 lt CR gt Get slave position if master position is 1000 and Map is MAP_1 O 1 gt SVAR1 lt CR gt Get value of VAR 0 1 gt O 1 gt VAR1 2345 0x00000929 Display value of VAR1 Length of alignment move With this command the necessary alignment move for the position table name can be aquired which are made automatically after the start of the command XM Name Bit 0 of MW page 81 must be set to 0 Thus it it possible to make the alignment move before the execution of XM The command XX must always run on the slave axis The position table must be assigned to the axis with the command TM On the axis
76. an existing definition This may be used to indicate the presence of a good product for example when using reference width checking with the commands FH FL ZH ZL see page 117 Enhancement as of version 1 006d It is also given pulse when initialisation with IN or IB see page 35 and 36 is executed RHnn Set reference holdoff time Range 0 to 10 000 Default 0 This command sets up a holdoff time on the reference input When RH is set to a non zero value the reference holdoff function is enabled When a reference input is detected no further reference inputs are recognized until the holdoff time has elapsed The reference holdoff function is disabled by setting RH to zero OR g n Define output for reference adjustment Range for g 1 to 2 PMCprimo Drive 1 to 3 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 Range for n 1 to 8 This command defines the specified output line to be true when reference adjustment is taking place An unsigned command deletes an existing definition Change as of version 1 008a The output is set for 1 millisecond to 1 also the reference error is 0 In older versions the output was not set in this case Reference Manual PMCprimo Page 119 JF g n JB g n RKt n p Page 120 8 Command Reference Reference adjustment forwards output Range for g 1 to
77. analogue control mode Range n 0 to 1 Default 0 This command selects the analogue closed loop control mode AM1 enables tension control mode and AMO disables the analogue control functions The analogue control loop may be enabled and disabled at any time The AM value is not saved Setting AM1 also sets bit 0 1 and 4 of MW to 1 This forces the use of the software clutch and speed mapping as required for tension control Activate mapping with the command XM sets bit 0 1 and 4 if MW to 1 This forces the use of the software clutch and speed mapping as required for tension control If either of AW bits 4 and 5 are also set to 1 then the unit automatically initialises the map scale factor before executing the map under tension control The system measures the distance moved by the master and or slave axes between the two positions where the analogue input high and low limits are exceeded and stores these in the AR parameters The ratio of these two values gives a good estimate of the initial map ratio required by the tension control loop and is used at the start of synchronization This allows the system to reach its correct steady state ratio much more quickly than if it starts from the default SM value particularly if the system is not at its normal starting position An example where this is useful are winding or unwinding applications In normal circumstance the system always starts w
78. ances it may not be desirable to allow a sudden position correction to occur at the reference position for example because of some mechanical interaction with other parts of a machine In such a case the RJ command defines a position which the motor must pass before the correction due to the reference signal is executed This function is enabled by bit 2 of RW see page 110 If this bit is set to zero the reference correction takes place immediately If the value of RJ is n times greater than SB see page 108 resp RL see page 109 than the correction of referencing will shift for n bounds Define zero marker input on off Range n 0 and 1 Default 0 This command defines whether the encoder zero marker input the fast reference input is on or off The sense of this input is fixed and cannot be programmed If the value is 1 the zero marker input is turned on SetReferenceAdvanceFactor Range n 0 to 65 535 As of version 2 005 new range for n 65 535 Default 0 This function block is used to realise a shift dependent on the velocity of the referencing signal This can be necessary if the used sensor switches only slowly and therefore the measured position depends on the velocity The calculation occurs according to the following formula calculation as with PA and BA demand velocity RN Displacement 65536 The value is a time which results from the calculation 1 ms correspond
79. aps round at the slave axis bound The lower limit for the current speed is 0 If the axis is running in normal velocity mode the upper limit is twice SV If the axis is running in slow velocity mode the upper limit is SV The increment affects SS running with slow velocity mode and affects SV running with normal velocity mode Subsequent moves start with the new value SV or SS as appropriate The lower limit for n of scale map see page 69 is 0 the upper limit is 65 535 Enhancement as of version 1 008 The lower limit of n for the SB is 0 the upper limit is 4000000 Example PMCprimo User Comment 0 1 gt SV1000 lt CR gt Move velocity is 1000 counts second 0 1 gt IS1 lt CR gt Select running speed for increment O 1 gt VC Start motor running 0 1V IP100 DV lt CR gt Increment running speed DV1100 Running speed is now 1100 0 1V IP100 DV Increment running speed DV1200 Running speed is now 1200 Reference Manual PMCprimo 8 Command Reference IP nn Increment selected parameter Range dependent on selected code This command adds the value given to the parameter selected by IS This allows a selected parameter such as motor speed to be increased or decreased in steps by repeating a single command The increment value would exceed its allowed range it is set to its maximum or minimum value as appropriate When a parameter value is changed with the IP command then the new val
80. ase offset value and thus is defined as a shift along the master axis proportional to master axis speed MB command see page 77 This command sets the scale factor between the measured master axis speed and the actual map base advance The scaling of the base advance is given by the expression map base advance master speed x BA 256 256 where the master speed is measured in encoder counts per second For example with a measured master axis speed of 10 000 counts per second a value for BA of 2000 gives a map base advance of 30 encoder counts The average speed of the master axis can acquired with the BT command This factor can also regarded as adjusted time The value 1 conforms 15 625 microseconds A phase shit of 64 conforms 1 ms and thus the way which the master puts back in this time Page 172 Reference Manual PMCprimo 8 Command Reference Bin Set base advance time constant Range n 1 to 10000 milliseconds Default 1 When using the map base advance facility the master axis speed is used to calculate the required amount of advance When the master axis is also controlled by PMCprimo the demand speed for the master axis is available to the slave giving very smooth operation The BT command sets up an averaging mechanism on the slave axis If n is set to 1 PMCprimo calculates no averaging time constant The averaged velocity is also used by the XM command see page 74 for recognizing if the
81. ating the slave and master positions 0 Position mapping 1 Speed mapping With speed mapping follow must regard If the slave receives the master values via CAN Bus the master speed is calculated about the master positions A change of the master position made by referencing or for example the comand ZC is affected to the slave speed If the master and slave are on the same node slave gets no master values via CAN Bus changes of positons of the master have no affects to the slave speed Enhancement as of version 2 002 The master velocity can be averaged in speed mapping with the command BT Damping of rapid movements of the master is possible with it Enhancement as of version 2 005 Now it is possible to interrupt speed mapping with stop to position In this case bit 6 of command MW is ignored Enhancement as of version 2 006 The alignment acceleration AA is now also with speed mapping active if the map ratio is changed with the SM command With the old versions the speed ration was switched immediately without a ramp The acceleration ramp of the Software Clutch facility is defined as clutch time or as a clutch length 0 The acceleration ramp is defined with clutch time CT page 85 1 The acceleration ramp is defined with clutch length CL page 86 Enhancement as of version 2 004 When ST is used the map is still active when decelerating The setting of CL is always used
82. ation by entering this command without the sign 0 1 Reference Manual PMCprimo Page 149 Li t Jg LO t Jg Page 150 8 Command Reference List input line definitions Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual This command lists the current definitions of the input lines for the specified group on the display The list shows the input line number followed by a sign or and a letter representing its function Lines not defined are left blank Function inputs also have their command string listed Example PMCprimo User Comment 0 3 gt LI1 lt CR gt List input line definitions byte 1 Inputs 1 to 8 from byte 1 node 0 Inputs 0 1 O 1 1 DR Falling edge is reference to channel 3 0 1 2 PROG1 Execute sequence PROG1 0 1 3 TEST Execute sequence TEST 0 1 4 undef no input line definition 0 175 undef no input line definition 0 1 6 undef no input line definition 0 1 7 DL2 Limit switch channel 2 0 1 8 undef no input line definition 0 3 gt List output line definitions Range for t 0 to 59 depends on number of nodes or no value Range forg 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual This command lists the current definitions of the output lines for the specified group on the display The list shows the output line number followed by a sign or and a letter representing
83. be executed 5 times 0 1 gt ER End repeat This command allows the user to exit from a repeat loop cleanly at the end of the current loop The ER command is independent from the given number of repeat counts for example look IF command page 59 Page 58 Reference Manual PMCprimo 8 Command Reference IFexpression EL Execute commands if expression is true The IF command causes the commands following it to be executed only if the expression is true i e non zero This command affects all commands following it up to the end of line or the next EL command whichever comes first The expression following the IF command may consist of a simple variable a comparison or a combination of expressions A comparison uses the operators lt gt lt gt Expressions can be combined using the operators amp amp Example 1 PMCprimo User Comment O 1 gt RP IF SX lt 10 SX SX 1 SV SX 10000 WT1000 EL ER 0 1 gt This command line repeatedly increments X sets a new speed and waits 1 second until X becomes equal to 10 Example 2 PMCprimo User Comment 0 1 gt IF SV1 2 amp amp X lt 20 XSPRG3 EL XSPRG21 lt CR gt 0 1 gt This example shows a more complex expression in the IF command Else execute commands if expression is false The EL command causes the commands following it to be executed if the preceding IF or IP command page 125 eva
84. be used in various ways Additional has PMCprimo analogue inputs and outputs All digital input lines gives with a change of their state an interrupt The user defines what happens with the interrupt The state of the input line or the value of the analogue input could be checked in sequences The state of the outputs is also controlled by sequences Outputs may be explicitly set and cleared and can be used to control external relays or valves or just for status indication The inputs and outputs can be used as an interface to a PLC The digital input and output lines are fully isolated and are compatible with 24 V logic signals For comfortable communication with a PLC or any other host computer a RS232 interface MODBUS several field bus systems or Ethernet are available The analogue outputs give signals ranging from 10 V to 10 V Applications Typical applications for PMCprimo motion control systems are e Packaging machinery e Modular machines e Printing and paper machineries e Handling systems 6 News in PMCprimo firmware 6 1 Version 2 006 EE EE Reference Manual PMCprimo Page 9 6 News in PMCprimo firmware 6 2 Version 2 007 The default value for LL was changed to 4 194 304 Otherwise the channel shows an error message while moving because of SB default value of 4 104 304 LL LH The default value for LH was changed to 4 194 304 Otherwise the channel shows an error message while moving because of SB defa
85. ble to start a software update from Compact Flash The available versions are displayed and it can choose a specific version Optional all version of nodes can updated It is also possible to update the PMCtendo DD4 firmware Example eas S Oe E Update firmware 1 Yes 0 No help Please download HEX file now and follow the further instructions 12686Programming Don t switch off now 0 0 Softwareupdate successful 00 22 44 Del Enhancement as of version 2 005 With SU command you can alsa make a update with CAN bus Till now this was only possible to do by the boot menue Using a parameter the follow updates are possible SUO The same update like without parameter SU1 Firmwareupdate PMCprimo of all MC drives SU2 Firmwareupdate PMCprimo of all MC2 2 SU3 Firmwareupdate PMCprimo of all MC16 SU4 Firmwareupdate PMCprimo of all MC drive2 SU5 Firmwareupdate PMCtendo of all DD4 SU6 Firmwareupdate PMCtendo of all MC drive2 Enhancement as of version 2 006 If a firmware is updated with SU or the autoupdate function then the host shows uPd in the display Reference Manual PMCprimo Page 23 RS n LA n FM Page 24 8 Command Reference Reset to default setup This command resets all the parameters input and output line definitions sequences and profiles to their default settings On power up the system recalculates the checksum on the saved data in the flash memory If the calculat
86. both motors before the next action can take place The next example shows this and also demonstrates how sequences may be nested Example PMCprimo User 0 1 gt 002E 003E 004E 005E 006E 0 1 gt 0 1 gt 002E 003E 004E 005E 006E 0 1 gt 0 1 gt 002E 003E 0 1 gt Reference Manual PMCprimo ES PRG1 lt CR gt CP lt CR gt CH1 MA20000 lt CR gt CH2 MA10000 lt CR gt CE lt CR gt NS lt CR gt ES PRG2 lt CR gt CP lt CR gt CH1 MAO0O lt CR gt CH2 MA0 lt CR gt CE lt CR gt NS lt CR gt ES PRG3 lt CR gt XS PRG1 XS PRG2 lt CR gt NS lt CR gt Comment Executing simultaneous ON Sequence PRG1 Channel 1 and channel 2 starts move absolute at the same time Executing simultaneous OFF Executing simultaneous ON Sequences PRG1 Channel 1 channel 2 starts move absolute at the same time Executing simultaneous OFF Sequence PRG3 Executing sequence PRG1 and if PRG1 is finished it executes sequence PRG2 Page 53 8 Command Reference ES Name Enter sequence The sequence commands allow the user easily to build up complex sequences of machine Operations and store them in PMCprimo A stored sequence may be called up and executed with a single command The ES command is used to enter command sequences into PMCprimo PMCprimo responds with a 002E prompt for the sequence entries Each entry in a sequence can be any valid command line Command strings on one command line are accepted as one sequence ent
87. can avoid a move back to new zero Enhancement as of version 2 000 It is possible to assign IB a variable e g VAR IB An IB is made and the result is set to VAR The value of SB is not changed 9 PMCprimo User Comment Q 0 1 gt IN lt CR gt The motor moves in positive direction until 2 reference 0 1 gt signals are detected and moves back to the new zero position V Reference signal Reference signal Reference signal Se Move back to zero Sees bounds Figure 8 Initialise position and bounds Page 36 Reference Manual PMCprimo 8 Command Reference ID Initialize demand signal offset Command as of version 1 008 Under normal conditions there may be some constant offset in the demand signal analogue output amplifiers which causes the motor to settle at a position slightly different to the required position The ID command sets the system up to correct for this assumed constant offset in all subsequent position control operations It must be used every time the system is powered on when the system is in the position control mode to set the actual position as close as possible to the required position This is particularly necessary when the final position outside the final position window and at the end of a move command it returns the error message failed to reach target position The ID command
88. ce TK t g n g2 n2 Define timer counter clock input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 Range g2 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Rangen2 1to8 The TK command defines a clock trigger input line for a timer counter output The parameter g and n gives the input line and g2 and n2 gives the output line When a clock input changes from false to true it increments or decrements a counter or it triggers a timer in the same way as the SO command on the timer counter output see TC command on page 130 When a reset input is true the timer counter is stopped and is reset to its initial value in the same way as the CO command on the timer counter output If a gate input is defined it allows its timer counter to run normally when it is true and holds it at its current value when it is false Example PMCprimo User Comment 2 gt TK1 2 1 1 lt CR gt This defines a clock signal on input 1 2 assigned to a timer counter on output 1 3 2 gt LI1 lt CR gt LI lists this as follows 1 1 1 2 TK gt TC1 1 1 3 1 4 135 1 6 1 7 1 8 Reference Manual PMCprimo Page 133 8 Command Reference TG t Jg n g2 n2 Define timer counter gate input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 Ra
89. ce Prg1 was executed Osis RIO 3 Show input port 0 3 0 1 se Inpu t 0 3 8 76543221 E O sD Er Ek St Ug EEEEEEEM The command MN has effected that input 3 1 was masked Ons Sch Another input signal has no effect Onl ET Enable input starts the sequence 0 1 0 1 SV 20000 Sequence Prg1 was started by EP 0 1 Reference Manual PMCprimo Page 141 BNIt g bb Page 142 8 Command Reference Define inhibit input line Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range bb 0000 0000 to 1111 1111 default 0 The command BN defines an input inhibit group like BG The difference is that only the changed input is inhibited After the change the input must set free with the El command The right bit is input 1 Every bit is corresponding to an input Without the parameter n the actual mask is shown If the state of a masked input changes the defined input sequence will start after enable the inputs See also MI command on page 127 Example PMCprimo User Comment 0 1 ES Prgl Sequence Prg1 is defined which 002E CHO 1 SV prints the value of SV for test 003E NS 0 1 0 1 ES Prg2 Sequence Prg2 is defined which 002E CH0 1 SA prints the value of SA for test 003E NS 0 1 sL D03 Prg Define virtual input 3 1 with sequence Prg1 0 15 DOE ek Pro Define virtual input 3 2 with sequence Prg2 O Ls BL Enable all inputs 0 1
90. channel 1 0 1 LO2 lt CR gt List output definitions byte 2 Outputs 0 2 1 DEL Output 1 byte 2 is error output channel 1 0 2 2 undef 0 2 3 undef 0 2 4 undef 0 2 5 undef 0 2 6 undef 0 2 7 undef 0 2 8 undef 0 1 CH1 DE2 1 lt CR gt undefine error output 1 of byte 2 0 1 Reference Manual PMCprimo Page 143 8 Command Reference POjt g n X1 X2 Define position trigger output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 Range X1 4 000 000 As of version 2 004 2 000 000 000 Range X2 4 000 000 As of version 2 004 2 000 000 000 This command defines the specified output line as a position trigger output If the PO command is given with a sign it must be followed by two position values These define the range of positions within which the output line goes to the state specified by the sign in the command A line which has been defined as a position trigger output may be returned to normal operation by entering this command without the sign Ei The output and the axis must be from the same node Example 1 T PMCprimo User Comment Q 0 2 gt PO2 5 500 800 lt CR gt This command defines that output 2 5 is low if the 0 2 gt position of channel 0 2 is between 500 and 800 0 2 gt PO2 5 lt CR gt Undefine PO 0 2 gt high low 100 200 300
91. coder counts If a reference is detected and gives a reference error value greater than LR then the reference error out of limits error is reported It is independent of the value of SR see page 111 which defines the maximum allowed reference correction and of FR the reference error filter value When EW bit 1 is set see page 96 a reference limit error also sets the channel to motor off Change as of version 1 007 The monitoring of LR is made before the SR monitoring This means that if SR gt LR a message occurs In the versions before SR was first priority and the reference error was reduced to the maximum value and the LR monitoring has no effect Set reference offset Range 4 000 000 As of version 2 004 new range for n 2 000 000 000 Default 0 This command sets the offset for the reference position When n 0 PMCprimo regards the position of the reference input signal as absolute position 0 When the value is n 0 PMCprimo regards the position of the reference input signal as absolute position n For FS7 or 8 or FS9 or 10 the RF value will be recognized RF value is subtract from the absolute position You can correct an offset Reference Manual PMCprimo 8 Command Reference RVn Set reference correction velocity Range 0 to 200 Default 0 This command sets the correction speed for any reference error PMCprimo is enabled with a R
92. coder marker signal detected then gives a useful reference error measurement which may be used for correction if required RMn Set continuous reference mode on off Range 0 and 1 Default 0 This command enables and disables the fast reference input if defined by the DZ command and any reference inputs defined by the DR command If RM is set to 1 all reference inputs are enabled If it is set to zero all reference inputs are disabled Reference Manual PMCprimo Page 109 8 Command Reference RWbb Set reference options word Range 0 to 1111 1111 Default 0 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows various reference functions to be enabled and disabled The bit functions for the reference word are described below Bit 0 is right and Bit 7 is on the left side Bit 0 This bit enables and disables the position correction on detecting a reference signal if the reference mode is enabled with the RM command 0 Position correction disabled 1 Position correction enabled Bit1 This bit defines the action taken if the reference error is greater than the maximum value set by the SR command SR command see page 111 0 A reference error greater than the maximum value is ignored completely and its value is discarded This also inhibits the reference out of limits error
93. continous reference mode onloft einan 109 DOU VIOC Y E 38 Set control WOIK ccccccesseeseessesssesseeseeeseeseeseneseeseesaneas 48 Set velocity averaging time Constant 172 Set creep distance EE 41 Set velocity feedback gain Constant 99 Set deceleration EE 40 Set virtual motor mode ENEE 27 Set deceleration for AB commande 40 Set wait status variable cccceceeeeeeseeeeeeeeeeeeseeeeeeeees 188 Set deferred reference adjustment position 115 MOU WING OW sucine reueg 43 Set differential gain Constant 99 Set display position overflow Counter 109 Set error options word ENEE 96 SetReferenceAdvanceF actor 115 Reference Manual PMCprimo Page 215 10 Interface PMCprimo lt gt machine ee 101 Meet 77 SON eege 26 Undefine input fUNCtION ccceeeeeeeeeeeeeeeeeeeeeneeeees 129 Slave map positon OffSet ccccsseeesseeeeseneeeeeeeneeeees 77 Undefine output function ccccceeeeeeeeeeeeeeeeeeeeneneees 129 SLOW SPee BE 42 Unlink slave axis from master axes REENEN KEN 77 SIOW velocity MOG ssn 43 E a E E PE E N E A A A 129 N cana E enearauuorneadaenaiunaueeucy 78 Update ina i 23 Snapshot position Cata cccccceseseeeceeseeeeeeeeseeeeeseeees 162 o E 123 software license key cccccsssseeeesseeeeeeseeneeeseeneeeseaees 26 SoftWare pdat h EE 23 Variable asslonment 182 E 22 Variable COMMANAS oecocccoccccccccccccccccccccccecceccececccccesccccee 179 23 Var
94. d Example 1 List sequence PRG10 mY PMCprimo User Comment O0 1 gt LS PRG10 lt CR gt List sequence PRG10 ES PRG10 IN RP3 MR100 MA2000 NS Example 2 List all sequences PMCprimo User Comment Q 0 1 gt LS lt CR gt List all sequences TEST NODE 0 sequence TEST is node sequence PRG10 HOST sequence PRG10 is host sequence PRG15 NODE 1 sequence PRG15 node sequence 0 1 gt Page 56 Reference Manual PMCprimo 8 Command Reference This command tells PMCprimo to execute sequence Name The normal status message for each part of the sequence are printed on the display as they are executed The sequence aborts automatically if any error occurs The GX see page 63 command aborts executing sequences It is not possible to execute the same sequence a second time if it is in use If the sequence is triggered before it is finished PMCprimo gives the error message Cannot execute sequence while execute sequence PRG10 PMCprimo executes sequence PRG10 sequence PRG10 finished XSName Execute sequence still busy Example Execute sequence PRG10 T PMCprimo User Comment Q O 1 gt XS PRG1O lt CR gt 0 1M 0 1 gt XPName Execute sequence parallel This command starts a sequence parallel If a sequence is started from another sequence with XP the sequence runs parallel The normal status message for each part of the sequence are printed on the display as they are executed The sequence aborts automatically if any error
95. d to maintain the current relative positions of the master and slave axes when the XM command is executed and mapping starts immediately The value of MF could be set by the user or by a sequence after the XM command is finished LWbb Set map link options word Range 0 to 1111 1111 Default 0 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows the user to modify the operation of the map link function It also enables the Software Differential function The value is entered as a binary number with each bit controlling a different aspect of the position mapping Bit 0 is right and Bit 7 is left If the Software Differential is enabled the demand position of the slave is calculated from the sum or the difference of both master positions The master is defined with the ML command and the differential master is defined with the NL command see page 76 The bit functions for the link options word are described below Example PMCprimo User Comment 0 1 LW lt CR gt set map link options word on slave channel 0 1 LW 00000000 before map link 0 1 LW00110000 lt CR gt _ enable software differential 0 1 MbL2 lt CR gt channel 2 is master 0 1 NL3 lt CR gt channel 3 is differential master 0 1 PC lt CR gt enter position control mode 0 1 gt XM LINEAR lt CR gt execute linea
96. de 127 Figure 36 Inhibit input Tunchon 128 Figure 37 Example 1 for command PO 144 Figure 38 Example 2 for command PO unless version 1 008 145 Figure 39 Example 3 for command PO since version 1 ODU 145 Figure 40 Phase AAVANCE ccccccssecccsecensscecssecseeececececeueeseueeseeeecsusessueesseesnsetensesensaees 171 Reference Manual PMCprimo Page 5 3 Abbreviations and Symbols 3 Abbreviations and Symbols PMCprimo Registered trademark of Pilz GmbH amp Co KG PMCtendo Registered trademark of PilZ GmbH amp Co KG Symbol This symbol indicates a possible danger hazard risk to life or health Ignorance may seriously affect health and cause dangerous injuries This symbol indicates an example This symbol indicates special user tips and or important useful information These will support optimum use of the product and functions Emphasis indicator Page 6 Reference Manual PMCprimo 4 Introduction 4 Introduction This manual describes the complete functional range which is available for the programming in PMCprimo motion control systems For programming PMCprimo systems are equipped with a RS 232 serial interface and depending on model additionally with an Ethernet interface With these interfaces PMCprimo can be connected with a PC The communication is done with a terminal software Easy to learn commands allow effective and fast programming and initial operation Alternatively to the describ
97. defined limit position If at any time the absolute position of the motor exceeds the high position limit PMCprimo gives the high position limit exceeded error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in encoder counts If the SB set bound value is less than the high limit then the high position limit checking is disabled as the absolute position value wraps around to zero at the bound position before reaching the high limit position Page 94 Reference Manual PMCprimo 8 Command Reference LLnn Set position limit low Range 4 000 000 As of version 2 004 new range for n 2 000 000 000 Default 4 000 000 As of version 2 007 Default 4 194 304 This command sets up a user defined limit position If at any time the absolute position of the motor is less than the low position limit PMCprimo gives the low position limit exceeded error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in encoder counts If the SB set bound value is less than the low limit then the low position limit checking is disabled as the absolute position value wraps around to zero at the bound position before reaching the low limit position RTnn Set reference timeout Range 0 to 255 Default 0 This command sets up a timeout on the reference input It is used when PMCprim
98. distance SS Figure 12 Move with creep to final position Reference Manual PMCprimo 8 Command Reference VJn SWnn Set slow velocity mode Range 0 und 1 Default 0 Setting VJ to 1 enables slow velocity mode In this mode all moves are made at slow velocity as set by the SS command and the creep distance set by the SC command see page 41 has no effect Setting VJ to zero the axis changes to normal velocity mode where moves are made at normal velocity as set by the SV command see page 38 SV SS Figure 13 Normal slow velocity mode When switching between SV and SS during the execution of MA or MR the predefined value for SS must be less than the value for SV because otherwise the brake ramp cannot calculated correctly brake ramp arduous Set window Range 0 to 65 535 As of version 2 004 new range for nn 0 to 4 000 000 Default 100 This command sets a window or tolerance around the required final position of a move PMCprimo defines a move as finished when the demand position has reached the target position and the measured position is inside the window It returns from the move state to the position control state only when the motor is within this window The set window is only used at move commands like MA page 28 and MR page 31 Example PMCprimo User Comment 0 1 gt SW25 lt CR gt This command sets the window to 25 counts
99. dition before continuing X Executing a position mapping This channel is linked to another master axis and is executing a position mapping and has completed the clutch or alignment phase The XS prompt is used to indicate that the channel is cross linked to another channel since the M prompt is used for normal moves nnnE Enter sequence see ES command on page 54 nnnM Enter map definition see EM command on page 72 Reference Manual PMCprimo Page 191 9 Status and error messages 9 2 Error messages This section describes the various messages displayed by PMCprimo The language parameter LG is set 1 re Cannot execute lt MA gt while motor is running Cannot execute lt MR gt while motor off Cannot execute lt MR gt while motor is running Cannot execute lt VC gt while motor off Cannot execute lt VC gt while motor is running The parallel execution must be end command CE to execute a program Mapgenerator already in use 15 Reset input not possible No trigger variable defined Target position outside limits Motor timeout No encoder signals Cannot enter or execute program lt gt while it is in use Encoder counter read error Wrong position deleted and interpolated position used Cannot execute lt XM gt while motor off Page 192 Reference Manual PMCprimo 9 Status and error messages Code bytes ram memory free bytes flash memory free Interrupt took to much
100. e 1 Trapezoidal profile Page 28 Reference Manual PMCprimo 8 Command Reference 4000 Position Increments L750 o 500 SE SS E E gg e 250 t 1 ji j t time D dn m r Figure 2 Position profile with trapezoidal velocity profile Reference Manual PMCprimo Page 29 8 Command Reference If the move distance is small the velocity is high or the acceleration is low the motor may not reach the set velocity within given move distance In this case the motor follows a triangular velocity profile instead of a trapezoidal one Set velocity Actual peak velocity 222 Figure 3 Triangular move profile When PMCprimo executes an absolute or relative move command it gives the M move prompt character The move commands may only be used from the idle position control state Example 1 9 PMCprimo User Comment Q 0 1 gt MA2000 lt CR gt The motor moves to the absolute 0 1M position 2000 units 0 1 gt The motor has reached the position 2000 Example 2 PMCprimo User Comment 0 1 gt MA5000 WT256 lt CR gt PMCprimo starts the WT command after the actual position 0 1M of the channel reaches the target position limited by 0 1W the SW command see page 43 0 1 gt The target move position is also checked against the current values of the user defined position limits set by the LH and LL commands Is the target position out of the user defined positi
101. e 58 Set map scale factor from bounds ratio 00 79 lege 148 Set MAXIMUM POSITION error ee EE REENEN 94 Fy icone erence EE 24 Set maximum reference correction een 111 CA RW 95 Set modbus NUMDEL cccseeeeseseeeeeseeseeneeseeneeseenenes 21 A EE 113 Set monitor output FUNCTION cece eeeee ee eeeeeeeeeeees 101 FO EE 110 Set Monitor output gain ccc eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 101 Set monitor output offset cc ceeeeceeeee KEREN KENE 102 Set motor off error SEQUENCE ccesesecesseseeseeseneeeeeeeens 63 Set number of bits for SSI encoder ees KEN 159 Ee 39 Set output line n in byte gn 123 Safety EEN 202 SESE PAS SOE ee 2l Save parameters NENNEN 22 Set phase advance scale factor En 170 SB EEN 108 SE 19 EE Ai Set position control word EEN 50 Scale Mapping csccescesssssssessesesesesseesessesseesseeseeeseeas 78 Set position limit high En 94 BEE 94 SHO SPUR MIRAE UO Wieeeecae a pense nrarte ceenreneneteaere eonaetaes 39 Send SDO EEN 189 SESCH OME TANO WE DOUNA prerii ia cae 10G Sequence Commande ENNEN 52 Set proportional gain Constant eseeeteteeeeee 99 Serial Communications ENEE 204 Set reference correction velocity En 113 Set acceleration E 39 Set reference error adjustment acceleration 114 Set acceleration feed forward gain constant 100 Set reference error limit ccccceeeseeeeeeeeeeeeeeeeeeeenees 112 Set analogue Control mode EE 174
102. e 92 8 Command Reference Wait for bound overflow count Range 2 000 000 000 This command tells PMCprimo to wait until the bound overflow counter has changed by the specified count value before continuing with the command string It may be used for example to wait for a given number of machine cycles to complete before stopping Example Wait for bound overflow count PMCprimo User Comment O 1 gt VC WC10 ST lt CR gt 0 1V The motor moves in positive direction until the bound 0 1W overflow counter reaches the value of 10 and then the Oe LS motor stops 0 1 gt End wait state This command ends the current wait state as completed normally This allows the user to escape from a wait state early but to continue with commands following the wait command The GE command ends all wait states see page 63 Example end wait state PMCprimo User Comment 0 1 gt ES P WE Sequence makes the command WE 0 1 gt CH0 1 WE Ets i gt NS 0 1 gt DI1 1 P WE lt CR gt End wait state if input becomes low O 1 gt MA1000 WI1 2 MA0 lt CR gt 0 1M Motor one moves to position 1000 0 1W waits until 11 2 is high or input 1 sends end wait state 0 1M motor one moves to position 0 0 1 gt Reference Manual PMCprimo 8 Command Reference 8 8 Error Trapping PMCprimo continuously monitors various aspects of its performance in order to detect a range of error conditions Some errors are critical in that they prevent PMCpri
103. e third input group is a virtual and connected by software with the virtual outputs of group two Only the inputs 1 to 4 of input group 1 are fast inputs and can be used for the DR and PS commands 3 output groups at what the second group is virtual It is possible to use a CAN IO module in the CANopen bus of PMCprimo The inputs have always the node number 61 and can be used as normal inputs PMCprimo User Comment e O 1 gt S061 1 1 CAN IO 1 1 is set 0 1 gt DI61 1 2 PRG For CAN IO 1 2 the sequence PRG is defined CAN IO s can be used in all operation modes of PMCprimo 1 Standalone only CAN IO s and CAN encoder useable 2 Hosttaxis networked Reference Manual PMCprimo Page 205 Page 206 The follow commands can be used for CAN IO s e MG e BG e DI e l e WI e Ul e MI e El e LI e RI e BI e SO e LO e RO e CO e IO Define input mask group see page 139 Define input inhibit group see page 140 Define function input see page 138 If input true do command line see page 125 Wait for input line see page 88 Undefine input line see page 129 Mask input line see page 127 Enable input line see page 129 List input line definitions See page 150 Read input line see page 124 Inhibit function input see page 128 Set output line see page 123 List output line definitions See page 150 Read output line see page 125 Reset output line see page 124 If output true do command
104. ead the documentation of the device for setting the configuration parameters The read value can be allocated to a variable QRt i s c Read SDO Parameter t CAN node Parameter i Index Parameter s Sub index Parameter c Number of Bytes With this command PMCprimo can access an object directory of a CAN device via SDO for example to read actual values or to configure the device Please read the documentation of the device for setting the configuration parameters The read value can be allocated to a variable Reference Manual PMCprimo Page 189 8 Command Reference PDt Position from drive Range t 0 to 59 max 60 number of nodes With this command it is possible to control a PMCtendo DD4 with CANbus on channel 2 and 3 PMCprimo Drive or channel 3 and 4 PMCprimo 2 2 in VMO modus The position is returned from CANbus or from the encoder see command FS page 151 PDO redefines the definition Enhancement as of version 1 008 The command PD can be used in PMCprimo 2 2 on all 4 channels Now it is possible to control 4 PMCtendo DD4 with CAN Bus in 4ms cycle time Enhancement as of version 2 001 With PMCprimo 16 the command PD can used on max 16 channels at the same time The cycle time depends on the number of PMCtendo DD4 in the CANbus With value O the definition will be canceled and the connection via CAN disconnected ae Useable addresses Number per CAN PMCprimo Drive2 8 per CAN network PMCprimo 16 4
105. ed It is also possible to use SSI encoders Hiperface is only possible with PMCprimo Drive Moreover it is possible to use a CANopen encoder In a network the bus number of the encoder must be the same as the node number of the axis If PMCprimo is configured to standalone the bus number of the encoder is arbitrary because PMCprimo detect it automatic Page 202 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine 10 4 Demand Output PMCprimo 16 The normal demand output signal to the high power motor drive is an analogue signal with a range of 10V at 12 bits resolution This output is switched directly to OV in the motor off state by a reed relay for each axis The PMCprimo is normally connected such that a positive demand output signal causes the motor to move in the positive direction In the PMCprimo Drive the interface for the demand output is digital 10 5 Auxiliary Output Every analogue output of PMCprimo which is used normally as demand output can be used as auxiliary output with a range of 10V The definition is made with the AO command see page 103 The signal is appointed with the commands SF KM and OM Reference Manual PMCprimo Page 203 10 6 10 7 10 8 Page 204 10 Interface PMCprimo lt gt machine Serial Communications The serial link uses RS 232 signal levels as standard The serial word format used is 8 data bits 1 stop bit and no parity The baud rate
106. ed checksum does not match with the stored checksum the RS function is executed automatically to reset the system to the default state Enhancement as of version 2 000 With the new paramter n n 0 Classic function described before n 1 A complete reboot of the control is made List all parameters n Q list all can leaved out ENK list the program data no variables n 2 list only the variables n 3 list all from flash n 4 List all in Motorola S Record Format It is possible to save a program for a network without nodes in the host with the command SP4 This commands lists all the parameters of PMCprimo input and output line definitions sequences and maps to the screen in a suitable format for entering the parameters etc at a later state The escape key interrupts the LA command The command with n 4 lists the data from the flash in a special format S Record It is possible to save this data for a network without nodes in the host with the command SP4 Using a PMCprimo Drive 2 the drive parameters are listed as well They are defined in a sequence with a special name Name of the program DRIVE_n whereat n Number of node Enhancement as of version 2 000 If a SoftPLC is present with n 4 the data of it are also listed If a PMCtendo DD4 is in the CAN net the drive parameters are listed as well They are defined in a sequence with a special name TENDO n DD4 with CAN address n in CAN Net TENDO
107. ed programming language it is possible to completely program PMCprimo motion control systems with a IEC 61131 3 CoDeSys software The functions and commands of this programming language is described in a separate manual AH PMCSLC xx GB Please read the manual carefully Reference manual for all commands is the german version PMCprimo motion control systems resolve tasks with the help of electronic axis synchronisation when applied correctly which where so far realised by mechanical components For these tasks electronic cams cam gearboxes and other functions are used to control servo power transmissions highly dynamically Additionally PMCprimo motion control systems have the possibility to take over the complete control of the machine with a Soft PLC Prerequisite for this is the comprehension of the system basics This manual efforts to create the prerequisite for this Another effective way is a training at Pilz Reference Manual PMCprimo Page 7 5 General Description 5 General Description This section gives a brief description of the facilities of the PMCprimo motion control systems PMCprimo motion control systems are available in different types and can control more than 700 axes in a network The coordination of the separate axes in PMCprimo is realized over the host level Every PMCprimo device can be used as a host system PMCprimo is programmed in a high level language or IEC 61131 3 CoDeSys Central communication
108. ee page 40 to stop at the desired final position The position is entered in encoder counts It s possible to stop mapping command XM with command MA With bit 6 of command MW see page 71 can select if the actual velocity or the velocity set with SV is selected to move to Ei the target position nn If bit 2 of ZW is not set the current bound will not left If necessary it comes to a stop and the move to the position is made in the other direction If bit 2 of ZW see page 50 is set the direction is dedicated with bit 3 If the current direction is not correct it will change Enhancement as of version 1 008a While clutching out of a map with MAT the actual velocity is compared with SS If the velocity of the slave is lower resp equal SS than SV is used If bit 1 of ZW is set to 1 the shortest way is done Enhancement as of version 2 004 If the axis is running and it is made a MA or MR command and the breaking distance ist higher the the target position until now one more bound was driven If Bit 1 of ZW is not set now it is breaking down immediately and moving back to the wished position If bit 1 of ZW is set one more bound is moved 6000 Velocity Increments s H5400 m4800 4200 H3600 H3000 H2400 H1800 1200 H600 time Figur
109. ental feedback encoder 5000 impulses 3 Adjustment FS O quadruple impulse analysis gt 20000 increments rotation 1 twofold impulse analysis gt 10000 increments rotation 2 single impulse analysis gt 5000 increments rotation Example 2 Requirement PMCprimo Drive with Hiperface feedback encoder The resolut is set with the command NB page 159 Adjustment FS 5 or 6 The position is analysed relatively The SB value page 108 is relevant and should be a multible of 2 to obtain the position after a restart 7 or 8 The position is analysed absolute The SB value page 108 is not relevant The via NB adjusted value determines the cycle length 1 twofold impulse analysis gt 10000 increments rotation 2 single impulse analysis gt 5000 increments rotation Example 3 Requirement PMCprimo 16 with PMCtendo DD4 and Hiperface feedback encoder networked with CANopen The desired drive must be choosen with the PD page 190 command The resolution is set with the NB page 159 command Adjustment FS 19 The position is analysed relatively The SB value page 108 is relevant and should be a multiple of 2 to obtain the position after a restart 20 The position is analysed absolute The SB value page 108 is not relevant The via NB adjusted value determines the cycle length Page 158 Reference Manual PMCprimo 8 Command Reference NBnn Set number of bits for SSI encoder Range 12 to 32 Default
110. eration at full machine speed without causing unnecessarily quick adjustments at lower machine speeds The parameter AV is given in per cent of the actual demand velocity If the actual demand velocity is 0 the adjustment is done by the velocity of SS The parameter for AV must be set on the slave channel As of version 2 006 The command AV was improved With the additional parameter x the resolution could be increased The calculation is x 0 1 pow n The maximum value for n is 6 Example AV5 1 set the resolution to 0 5 AV 5 2 set it to 0 05 AV10 0 set it to 10 AV 10 is like earlier version 10 Reference Manual PMCprimo Page 79 AAn Page 80 8 Command Reference Set map base offset scale factor adjustment acceleration Range 0 1000 to 2 000 000 000 Default 0 This command sets the adjustment acceleration for any change in the map base map offset or map scale factor values entered while the axis is executing a map The AA command gives an acceleration ramp for the change between the demand velocity to the adjustment velocity AA is given in counts second squared and is given to the slave channel If there is no value given to AA the acceleration is not limited The slightest value for acceleration is 1000 Reference Manual PMCprimo 8 Command Reference MWbb Set map options word Range 0 to 1111 1111 Default 0 Enhancement as of version 2 001 It is possib
111. eration by entering this command without the sign Reference Manual PMCprimo Page 147 RR t g n Page 148 8 Command Reference Define reference reject output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 This command defines the specified output line as a reference reject signal output The RR output is set to true if any reference error occurs and is cleared when a valid reference signal is detected The sense of the output is defined by the sign given in the command The output state is held until the next valid reference is detected A line which has been defined as a reference reject output may be returned to normal operation by entering this command without the sign A typical application of the RR command is for a simple product reject facility If the reference input is triggered by the leading edge of a product on a conveyor belt detected by a photocell or proximity switch then the RR output together with the SR command indicates when a product is out of position by more than the SR value The signal may be used to trigger a product reject actuator if required Example PMCprimo User Comment 0 1 gt SR500 lt CR gt Specified limit for reference error O 1 gt RR1 5 lt CR gt Output 5 byte 1 is reference reject for channel 1 0 1 gt I
112. erence Example 4 PMCprimo User Comment 0 2 gt TC1 5 10 8 lt CR gt This defines a 10 bit shift register on output 1 5 with the data signal on input 2 1 and the clock signal on input 2 2 0 2 gt TG2 1 1 5 lt CR gt A rising edge on input 2 2 or SO1 5 clocks the current state of input 2 1 into the shift register and the shift 0 2s TC2 lt 24 1 5 lt 2CR gt register updates output 1 5 as appropriate CO1 5 clears the shift register contents Enhancement as of version 2 004 The command TC was enhanced with a further modus Modus 6 One Shot Timer with restart If the defined output is set again with SO nm and the timer is still running the timer starts once again The output is still set TRUE LC t g n List counter value List counter value Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 The LC command lists the current count or time value of a timer counter This may be particularly useful in applications using a counter to count some external event or signal If the TC output is programmed as a shift register then the current contents of the shift register are displayed but as a numerical value not a binary value It is possible to assign the result of the LC command into a variable Page 132 Reference Manual PMCprimo 8 Command Referen
113. ersion 2 002 With speed mapping bit 4 of command MW must set it is possible now to go in mapping without software clutch Therfore the velocity of master must be lower than 500 increments per second Bit 1 This bit defines if an alignment move caused for example by MB or MF depends on set bound or not Example The position of the axis is 10000 increments and the set bound is 10000 increments If bit 1 is set to 1 and MB is set to 20000 the alignment move IS zero 0 Set bound value has no effect for alignment move 1 The target position for the alignment move is set to the nearest correct cyclic position within SB Bit 2 If mapping starts with the alignment move this bit specifies that it is constrained to move in only one direction 0 The direction for an alignment move at the beginning of mapping is not defined 1 The map alignment move at the beginning of mapping is always in one direction defined with bit 3 of MW Reference Manual PMCprimo Page 81 Page 82 Bit 3 Bit 4 Bit 5 Bit 6 8 Command Reference This bit sets the direction of the map alignment move if it is constrained by setting bit 2 of the map options word to 1 0 The map alignment move is in the positive direction 1 The map alignment move is in the negative direction This bit is used to execute mapping as speed mapping where the slave speed is related to the master speed by mapping instead of rel
114. essessesessessessesetseeseesess 61 acceleration feed forward ENEE 98 BT RN 173 Actual position EE 161 Dee 185 Actual reference Cr ror cccccessseeeeeesseeeeeesseeeeeeneeeenees 161 E 175 D ENN 149 BAVA ME 178 ee A 175 Calculate initial ratio from analogue range distances 178 E EE AEEA E EEE E OA O CANNet ig eebe 178 an Se a AM DO 174 ae a poemen ae n Interface a sciceeccsedncexenecesaxenvenserenexeueconesenenexzeneet Analogue e ut Ol EE 174 CD SES SEN 46 Riise GOA GENEE 174 E 7 Analad contoan word eee 176 GE E Analogue control oro poena EEN eer ee a Change Channel ccccccseseeeeeseeeeeseeeeeeeeseeeseessaeeeeeses 61 Analogue control Setpoint ccsececeeeeseeeeeeeeeeeeeeeees 175 i Change the operating mode c sccceeeeeeeeeeeeeeeeeees 16 Analogue differential Control gan keen 175 Change to parallel MOdGC ccceceeeeeeeeeeeeeeeseeeeeeee 62 PNAlOGUG IND UU sisinsdiran tanan loian inaani 162 Cl 86 DEE ut HIG ENEE 178 8 EE e eener eeng 178 ee EE Clear output line n in byte g ccceeeeeeeeeeeeeeeeeeeeeeeees 124 Analogue INPUTS Aussen tee Sue tege ebe ek oge e 204 f Clutch WIN GOW ssassssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 86 Analogue integral control gain SEENEN En 175 co 124 TE TE ou DU eee 149 DEENEN Command Execution cccccceeecceeceseceeecseeeeeeeneeeneeesees 14 Analogue range distance cccccsesceeeeeeseeeeeeeeeneeseaees
115. explicitly specified to proceed in sequence or in parallel with each channel working independently A sequence consists of one or more lines of commands which can be executed by issuing the appropriate XS command Unlike command strings it is possible to execute one sequence while another is already in progress provided the motor state allows it On PMCprimo units all sequences are stored by the host processor system and downloaded to the appropriate axis as required A sequence which consists only of commands for one motor is downloaded complete to the current motor channel when it is first called up and is executed by the axis module itself The sequence is first analysed by the host and split into its various components to be executed on each motor and on the host Any parts of the sequence that can be executed on a single channel are downloaded to that channel as a single channel sequence The local single channel sequences are assigned sequence numbers by the host system automatically and are not available to the user If a sequence is modified or deleted the host system modifies or removes the appropriate local sequences as required This sequence analysis and downloading it to the different channels is completely automatic and requires no interaction of the user Commands and sequences may execute in sequence or in parallel on different channels The default case is for all commands to be executed in sequence expect where spec
116. f any reference error occurs then output line 5 is set to high It stays high until the next valid reference is detected when it changes to the low state If the maximum reference correction SR is set to 0 the output state is set always TRUE Change as of Version 2 000 If the maximum reference correction SR is set to 0 the output state is set always FALSE Reference Manual PMCprimo 8 Command Reference AE t g n Define analogue limit error output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 This command defines the specified output line as an analogue input out of limits error signal The line is set to the specified state when the analogue input value is outside the high and low limits set by the AH and AL commands and cleared again when the analogue input returns into these limits Example 9 PMCprimo User Comment 3 0 2 gt CH1 AE2 2 lt CR gt This command defines output 2 2 as an analogue error limit output Output 2 2 is low if the analogue input is outside limits 0 1 LO2 lt CR gt List output definitions from byte 2 Outputs 0 2 ES undef 0 2 2 AB ECK undef 0 224 undef 0 2 5 undef 0 2 6 undef 0 2 7 undef E Sep undef 0 1 CH1 AE2 2 lt CR gt A line which has been defined as an analogue error output is returned to normal oper
117. f operating mode are set to default values IP address 192 168 0 1 Netmask 255 255 255 0 Gateway will be deleted 3 CAN baud rate 500 kBit or 1Mbit 5 Number word field bus 6 Offset field bus PMCprimo 2 2 fifth channel on or off 8 cycle time CAN in standalone 1 2 or 4 ms 9 CAN node number for Standalone 10 Segmentation of memory for PMCprimo und SoftSPS 11 Profibus address for Anybus IC As of version 2 005 12 Set number of axis With x 0 the default value 10 is set 14 Configuration of RS232 interface 15 Configuration of RS422 interface Range x depends on n With parameters it is possible to make settings in a sequence without the menu The actual configuration is given out by the command LA and SP with CD commands A backup is made complete in this way In operate mode standalone it is possible to set the node address for the CAN bus With this it is possible us use more than one PMCprimo devices in one CAN net For example one CAN operator panel can respond to several PMCprimo devices Reference Manual PMCprimo Page 17 8 Command Reference Enhancement as of version 2 000 The cycle time of the can bus can be changed Possible settings are 1 2 and 4 default milliseconds The setting is only in standalone mode possible It is important to use the PMCtendo DD4 version 3 56 with using 1ms because the parameterization of the drive is not possible with an older version Enhancement of version 2 000 for PMCpr
118. f the motor is inside the set window 0 1 gt Figure 24 Wait time Page 87 WI t g n Page 88 8 Command Reference Wait for input line Range for t 0 to 59 depends on the number of nodes Range for g 1 bis 3 PMCprimo Drive 2 Range for n 1 bis 8 This command tells PMCprimo to wait until the specified input line goes to the specified state If the input line is already in that state then the WI command terminates immediately An input line that is defined for an other function may be used in a WI command If there is no value given for g PMCprimo uses the inputs from input byte 1 If there is no value given for the node number t PMCprimo uses the actual node number Example state input 2 byte 2 node 0 PMCprimo User Comment O 1 gt MA500 WI2 2 MA0 lt CR gt 0 1M The motor moves to position 500 waits for the input 0 1W state and moves to position 0 0 1M 0 1 gt V WI t DB input 2 1 0 Figure 25 Wait for input line Reference Manual PMCprimo 8 Command Reference WA nn Wait for absolute position Range 4 000 000 As of version 2 004 new range for n 2 000 000 000 This command tells PMCprimo to wait until the current channel reaches the given absolute position before executing the next command The position is specified in increments Example Change of velocity after reaching a specified position 9 PMCprimo User Comment Q O 1 gt SV200 VC WA1500 SV100 lt CR g
119. ference LM Name n List map Range n 0 to 10000 without 1 This command allows the user to examine map data previously entered into PMCprimo With n gt 1 PMCprimo lists n values The listed map can not be changed with this command If there is no name given PMCprimo lists the names of all maps which are inside the node Example PMCprimo User Comment v O 1 gt LM Testmap lt CR gt list map Testmap Q EM TESTMAP name of the map 1000 masterbound 3 number of table entries here 3 0 first table entry always 0 500 1000 NM End of enter map 0 1 gt Reference Manual PMCprimo Page 73 8 Command Reference XM Name Execute map This command puts the currently selected axis into the position mapping mode where it s demand position is calculated according to the specified mapping from another master channel s position The master channel position is transferred to all slave channels this is set up automatically when the slave channel is linked to the master channel with the ML map link command see page 76 While a channel is executing a position mapping it gives the X map mode prompt character The stop or abort commands are used to exit from map mode The linear position map is inside PMCprimo named LINEAR The map LINEAR is used for the special case of linear mapping If map LINEAR is executed the slave channel executes a scale of SM mapping and it is not necessary to transfer the map with TM
120. ference input is detected The reference offset value is also effective during the initialisation such that the position at which the reference signal is detected if defined as the absolute position given by the value of RF not necessarily zero The RT command see page 80 is also working For more details please read the Reference Commands section later in this manual If the initialisation is abort due an error the sequence which has start the initialisation is stopped Enhancement as of version 1 007 The bits 2 and 3 of ZW page 50 are considered Bit 2 defines if the direction for moving back to the reference signal is considered Bit 3 defines the direction for the movement to the reference signal Example v PMCprimo User Comment Q 0 1 gt IN lt CR gt The motor moves in the positive direction until a valid 01I reference input is seen The motor stops and moves back to the new zero position V Reference input detected KN Move back to zero Figure 7 Initialisation to zero position Reference Manual PMCprimo Page 35 8 Command Reference IB Initialize position and bounds This command is similar to the IN command but also sets the position bounds in addition to finding the zero position In normal PC state PMCprimo gives the I initialise prompt character while executing the initialisation command The motor accelerates to the set velocity SV in the direction specified If no directio
121. fined Page 64 Reference Manual PMCprimo 8 Command Reference Node number d is already in use command lt c c Lakisha E Cannot execute lt XM gt while motor is running Command QAO CAN Adr can only done on the host The analog output lt ld gt is not available command lt c c gt Reserved for Soft SPS Reserved for Soft SPS Reserved for Soft SPS 265 269 Reserved for Soft SPS Node d Drive command not completed Battery buffered memory is used by SoftPLC The maximum possible position SB SM is greater than the position limit of Cold command lt c c gt The predefined map LINEAR can t be changed Reference Manual PMCprimo Page 65 8 Command Reference 8 6 Map commands This section describes the commands to use the position mapping or Software Gearbox facilities The position mapping commands provide a mechanism for defining the required position of a slave motor with respect to a given master channel for all possible positions of the master channel The master channel may itself be controlling a motor or it may simply be monitoring the position of for example a line shaft to which other motors must be synchronised The mapping itself consists of a table of slave position offsets relative to the master position with one entry for every possible master position When the map is executed on the slave axis it s demand position is calculated by using the current master position as an index in
122. for trace mode En 166 WE 87 Triggertransition for trace mode 167 E 183 MW RE 164 LEa EEEE EEA E A EEE 165 E 134 KA WEE 40 EE A LEE 57 JI BEE 129 Page 216 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine eege 178 Zero position counter or set Dositon EEN 107 eege 57 FA D 117 AE 75 eats E 117 A 75 EV EE 25 EENEG 50 EE 118 K E 118 Ee 107 Reference Manual PMCprimo Page 217 ae gt www In many countries we are www pilz com represented by our subsidiaries and sales partners e gt Technical support Please refer to our Homepage 49 711 3409 444 for further details or contact our headquarters Pilz GmbH amp Co KG Sichere Automation Felix Wankel StraBe 2 73760 Ostfildern Germany Telephone 49 711 3409 0 more than automation Ru S Telefax 49 711 3409 133 e E Mail _ pilz gmbh pilz de safe automation 21 507 07 2005 11 Printed in Germany
123. g one or more lines of commands can be defined using the ES and NS command The commands are executed by issuing the XS command Sequences can themselves call other sequences The sequences can run parallel started with the command XP trigger variables or inputs A sequence can not be started if it is in use Example O0 1 gt ES PROG1 lt CR gt Definition of sequence PROG1 002E CH1 MA1500 VC WT100 ST lt CR gt 003E NS lt CR gt end PROG1 0 1 gt O 1 gt ES PROG2 lt CR gt Definition of sequence PROG2 002E CH1 DP DV lt CR gt 003E NS lt CR gt end PROG2 0 1 gt 0 1 gt XS PROG1 lt CR gt Start sequence PROG1 0 1 gt XS PROG2 lt CR gt Start sequence PROG2 O 1 gt DP 345 Output of actual position of channel 1 0 1 DY 0 Output of velocity Reference Manual PMCprimo 7 Commands Programs are itemized in sub programs which will be started on different axes If only axis specific commands are used in a program then the program can run autonomous on an axis without a host With these node programs the reaction time of input functions can reduced dramatically Input line function Digital input lines are calling sequences The relation between input line and sequence is defined with the DI command Trigger variable To write a value to a variable triggers a sequence The value of the variable must not change for executing the trigger Trigger variables are working in the same way as the input lines and i
124. given for t PMCprimo reads the outputs of node 0 Example PMCprimo User Comment Osis ROO 1 lt CRs This command reads the state of the output lines in byte 1 12345678 output line number 01100100 Logic state 0 1 gt If input true do command line Range fort 0 to 59 depends on number of nodes or no value Range for g 1 to 3 3 is virtual Range forn 1to8 This command allows the user to specify that a command or command line is conditional on the current state of an input line If the input line specified in the II command is in the specified state the condition is true the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input either the next line of a sequence or new input commands The IT command may be followed by the EL command If the input line is true PMCprimo executes the commands following Il up to the EL command or end of line which comes first If the input line is false PMCprimo executes the commands following EL up to the end of line The EL command must appear on the same line as the II command except in a sequence where it may also be the first command on the line following II Example 1 PMCprimo User Comment O 1l gt I1I2 2 C01 3 lt CR gt If input lin2 in byte 2 is low the output 1 3 is set to logic low 0 1 gt Example 2 PMCp
125. global because it is logged in the channel task The settings TWn 43 Name and TWn 44 Bn are not saved but listed with LA No Value Demand position Actual position Actual velocity m Average actual velocity Reference error Snapshot position m 9 Change in demand U m 10 Change in position C 1 e 0P zer eene OV ze e ze omnes G m 20 Change in demand UB absolute value since version 2 004 Input byte 2 Output byte 2 m 40 Motor error since version 2 000 Reference Manual PMCprimo Page 165 DV IS 11 ME THnn TLnn Page 166 m 41 Error variable F since version 2 000 m 42 Status variable S since version 2 000 m 43 Busvariable Bn since version 2 000 m 44 Variable Name since version 2 000 m 61 CAN input byte 1 11 since version 2 000 m 62 CAN input byte 2 since version 2 000 m 63 CAN input byte 3 since version 2 000 since version 2 000 CAN output byte 2 since version 2 000 Trigger channel for trace mode Range nn Oto4 8 Command Reference It s possible to trigger on the defined channel nn of TW The trigger level is set by TL and the trigger transition is set by TF Trigger level for trace mode Range nn 2 000 000 000 This command defines the trigger level for the trace mode TR If the value of the trigger channel TH is equal to TL and the transition is also equal to TF the trace
126. he BC command see page 109 Example e PMCprimo User Comment Q 0 1 gt SB1000 lt CR gt Set position overflow bound to 1000 0 1 gt A typical application of this is on a cyclic or rotary machine where it is required to know the motor position to within one revolution of the motor only but it is not necessary to distinguish between complete revolutions of the motor If a move from zero to position 1500 is executed the final displayed position value is 500 The motor has moved a total distance of 1500 counts as required but the final position is the remainder when divided by the bound value If a move from zero to position 1500 is executed the final position is 500 In this application the position overflow counter represents the number of complete revolutions of the motor from the zero position to the current position and the normal position value defines the position within one revolution Direction of move gt Positions without bounds total distance 0 250 500 750 1000 1250 1500 Positions with bounds set to one turn 1000 0 250 500 750 0 250 500 Move relative 1500 Figure 31 Position bounds Page 108 Reference Manual PMCprimo 8 Command Reference BC nn Set display position overflow counter Range nn 2 147 483 647 This command sets the position bound overflow counter to the specified value The overflow counter is incremented when the position exceeds the upper bound and is decremented when the po
127. he command XP see page 57 starts the program cyclic With the command XS see page 57 the sequence is running one time The command GX see page 63 or GX LOOP stops the loop The command ZT see page 25 shows if LOOP is active The following commands are not allowed in a LOOP Programm SP CP DM TIR CD XM XS SK LM KX D LB D LV Reference Manual PMCprimo Save data page 22 Change to paralell mode page 62 Continuous display mode page 163 Enable trace mode page 164 Change the operating mode page 16 Execute map page 74 Execute sequence page 57 Software key page 26 Display position table page 73 Execute map virtual page 75 List bus variable value page 186 List variable value page 186 Page 55 8 Command Reference LS Name List sequence This command allows the user to examine a sequence that has previously been entered into the system The sequence is listed on the terminal If no sequence name is given in the command PMCprimo lists the names of all sequences which are currently defined It is also shown if the sequence is a host or a node sequence In a node sequence are only commands of a specific node If the sequence is defined as an input function it can run without the host and therefore much faster It is not possible to make a change at the sequence with this comman
128. he motor off state as PMCprimo may be made completely unstable by reversing either of these This facility is intended to be used only when initially connecting the module to the motor to avoid having to rewire the system if the encoder connections are reversed It also allows the logical positive and negative directions to be reversed under software control by toggling both the encoder and output reversal bits in the control word Bit 0 Abortion if motor error 0 Sequences waiting for a movement will stop 1 sequences waiting for a movement will not stop Bit 1 Storing of positions in a battery backed SRAM This function is in PMCprimo 2 2 and 16 possible 0 No position is hold in the SRAM 1 Actual position is hold in two register of the SRAM This bit can t be saved If the position from the register should be read from SRAM after power on the bit must be set in the startup sequence see page 61 The position data will be copied in every tick of the system to two register of the SRAM The position counter will be set to the value of the SRAM registers after power up if both registers are equal If the two registers are not equal an error will be reported on the specified channel Attention This bit may only set when all commands affecting the position are set command FS NB MS SB If the bit is set too early then the position in the ram may be wrong Enhancement as of version 2 004 lf a motor is mo
129. hich has been defined as a limit switch input may be returned to normal operation by entering this command without the sign Example PMCprimo User Comment O 1 gt CH3 DL2 4 lt CR gt This command line defines input 2 4 as a limit switch to 0 1 gt channel 3 on node 0 PMCprimo detects a limit switch when the line goes to a logic low As of Version 2 006 The command DL now can set a direction With this the channel could be moved from the limit switch The check is done only for one direction Example DL 0 1 1 With or the limit switch detection could be done only for the positive or negative direction If or is not set then the function is also changed In earlier version the motor could not switch on while the limit switch was active Now the system saves the direction at the time when the limit switch is activated A movement in the other direction is possible If the speed is and the limit switch is activated then the function is like in the old versions and PC is not possible Error message sk gt Ve SE e ECK eit 1 High position limit exceeded 20 01 2005 11 57 01 0 0 0 0 0 Gres Reference Manual PMCprimo 8 Command Reference PS t g n Define position snapshot input Range t 0 to 59 depends on number of nodes or no value Range g 1 Range n 1 to 2 PMCprimo Drive 2 1 to 4 PMCprimo 2 2 1 to 4 PMCprimo 16 This command defines the specified input line as a positio
130. hing position Set input debounce time Range n O to 10000 Default 5 This command sets up a debounce time for all the digital inputs It is specified in units of 1 millisecond The debounce time for reference inputs is set with the RH command see page119 Define bound overflow output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 This command defines the specified output line as a position bound overflow output Each time the channel passes the position bound set by the SB command a logic high or low pulse is output on the specified output line The sense of the pulse is defined by the sign given in the command The output pulse lasts for a minimum of 1ms A line which has been defined as a bound overflow output may be returned to normal operation by entering this command without the sign Define outside window output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 Enhancement as of version 1 008 This command defines an output for watching position error If the position error is bigger than SW the output is set reset A line which has been defined as an outside window output may be returned to normal op
131. ia cane mevecraumt on eaatceetas 181 POSITION Encoder oecoceccccccccccccccecececececccccecececcescccecceseceeees 202 Mla 76 PERE PARE From dree 190 OI eenn E 177 Position over ov boud n 108 MIN gonar S 141 Boston over oV COUET oeecqocqecccccccccccccccccceccccccccccccece 109 de BE 27 Position trigger output 144 EE at d 20 Mode OM rason 162 Pretrigger for trace mode 167 NEEN 27 Print hardhware oa 20 lee e TE 91 Print help display c scsssssssssssssscsesecsecsecsecsecsecsecseee 168 Motor status Variable ENEE 187 Print to terminal ENEE 20 ue ee d TC 126 Print VErSiON number 19 Move at constant veloeftg En 34 otc aed eee reed ie ot cee eet 137 Move commande ENEE 28 2 arene sete econ a ees vee eee eee oe ete eevee eens ee neaeeciee a 47 DEET 31 Dee 21 Move to absolute position ek EEN EEN EEN EEN 28 leegen 31 EEN e EE i Eeer 208 I BE 21 UU VE 181 WE NW UE CN Egeter Eege 119 SEENEN 114 B S 124 IV LEE 159 cp cae i EE Ke E EU 181 B a aa ana aati Ken IV UE 76 Eege Wei INN ce cr gee ee eee se E ones sep eee ence aes 72 ren Orne BOI He ie i ane Eeer Ke NOUE E 209 EE EE W Not Equal to 181 ATE E EO a seh f Reference error adjustment acceleration 114 Notes on Installation c ccccceceeeeeeeeeeeeeeeneneeeenseaes 201 E WEE EA DEENEN 442 wm ference filter options wordu de Nr 182 E eg Wie Ee CT LE 121 number of bits for SSI EnCOdEeL sceceeeseeeeeeeeeeees 159 Reference input false high Wm 417
132. iable map number assignment See KENNEN 182 Ee 111 Variable number program asslonment 182 SE 134 VG een EE E 34 Ee 42 Velocity eccesceccesssecsecsecsecsecssecsessucsucsecsecssecsecsucsassacesecseeees 161 leegen 151 Velocity averaging time Constant 172 H EE 32 Velocity feedback c ccscsssssssescescecsesssessessessecsecsessseeseeees 98 Status COC E 200 Velocity feed Zorward 98 SLALUS un LTE 191 Velocity trigger output 146 POP CONUN AE ee 32 NEE 147 Store variable in SRAM c ccsseseeseeseeeneeeeneneeeees 184 Virtual In and OUtputs ccccccccceccessecseccecsecsecsecsecsecsecees 122 eege 38 Virtual MOtOr mode ocecccccccccccccccccccccccccceccecccccececcecceccceces 27 See SS d EE 43 Ch E 169 VM 27 See k Meet 19 may S REIN POM EE ne VT WE 172 NEE 185 T 168 A oe ee g tendo E 24 Wait for absolute position 89 eege 167 Wait for baund position renen 4 Weeer 134 WEE EE gj ur EG 166 Wait for input Ve ge BE 44 TE REESEN 5i lan E 162 Wait for reference Input 91 Time step to trace mode ENEE 164 Wait for relativ position 90 Timeout for WINdOW EEN 44 Wait TEE 87 eebe 133 WEE EE ies D 166 sii iia beers EE ies L O 76 WEE EE ge E 94 HEEL gj Eege 167 WE EE 52 Wee 164 WEE ge Mace MORG ee wn ner ee er eee 88 Transfer map data EE 76 Weeer 90 Trapezoidal profile ccccsssesesseeceeseeeeeeeeeeeeeeseenensees 28 Wraparound offset value 162 Triggerchannel for trace mode sssssesettsssenee 166 Wee 91 Triggerlevel
133. ich device the PMCprimo Host Node is It depends not on a physical position in the network It s advisable to take the node with the least utilization 10 11 2 Node The nodes get their sequences from the host Every node has its own I O and axis Reference Manual PMCprimo Page 209 i PIZ meer lt gt machine 10 11 3 CAN Net and CAN Open As of version 2 000 PMCprimo supports more than one CAN Net The main net which connect the PMCprimo devices is described as CAN Net The sub net which connects a PMCprimo device with some drive devices like PMCtendo DD4 is described as CAN Open CAN Net Page 210 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine Backlash compensation distance ccccsseceeeeeeees 45 Base advance time constant EEN 173 Baud rate MOGDUS siseicessicvcavcascinscasastancoinedsntentianansasiwaneas 21 GVA RE 182 e 109 CAT 183 E B EAE EEN AE A A TNE N A E AAE 21 Zvars Ht 2000 184 EE 140 EN 128 DI LI et OO lt x oF gt ER e g e O 2 A Zerf CO CO EEN 168 TS ke Bit DY Dit XOR sasona 181 Eeer 61 BEE e B Mesia 21 Wel 80 aceasta ences ene EA a eect E 142 B C 33 BO eee eect eects 147 e eu EEN 33 Bound overflow output EE EE EEN 147 Abort command executlon EE 60 BE gege 79 AC znnnnnnnRRRRRRRRRRRRRRRRRRRRRR RRE RRE RER RR RRE RR ERR RR RRE RR ER ERR RRRRRRR ERR RR 1 75 Brackets BEES 1 81 Accelera ON E 39 Break out of SEQUENCE c cesssssssess
134. ifference of two master axes gives the demand position of the slave axis 0 The master positions are added 1 The master positions are subtracted This bit controls the sign of the calculated demand position 0 The master position data is used unchanged 1 The master position data is negated before being used by the current channel not used Reference Manual PMCprimo 8 Command Reference Gin Set clutch time Range 1 to 20 000 Default 1 When the software clutch is enabled a slave axis does not go immediately into the mapped state on performing an execute map command Instead it goes into a holding state and waits for the projected master position to pass the projected slave position at the end of the slave acceleration ramp as given by the clutch ramp time factor The clutch time defines the number of time steps in milliseconds taken for the slave axis to accelerate from rest to the required mapped speed This command sets the acceleration ramp time for the Software Clutch facility The software clutch is enabled by bit 0 of MW the map options word The software clutch is defined as a time value with CT if bit 5 of the MW is set to 0 It allows a slave channel to be mapped onto a master axis that is already moving The maximum clutch time is n 20000 ms and the minimum clutch time is 1 ms The value for the clutch time is given in milliseconds Example PMCprimo User Comment O 1 gt CT16 lt CR g
135. ified explicitly by the CP change channels in parallel command Example 1 first channel 1 moves to 20000 then channel 2 moves to 10000 PMCprimo User Comment g 0 1 gt ES PRG1 lt CR gt Enter sequence PRG Q 002E CH1 MA20000 lt CR gt Channel 1 move to 20000 003E CH2 MA10000 lt CR gt Channel 2 move to 10000 004E NS lt CR gt End of PRG1 0 1 gt Example 2 channel 1 and channel 2 moves simultaneous PMCprimo User Comment 0 1 gt ES PRG1 lt CR gt Enter sequence PRG1 002E CP lt CR gt Executing simultaneous ON 003E CH1 MA20000 lt CR gt Channel 1 move to 20000 004E CH2 MA10000 lt CR gt Channel 2 move to 10000 005E CE lt CR gt Executing simultaneous OFF 006E NS lt CR gt End of PRG1 0 1 gt Page 52 Reference Manual PMCprimo 8 Command Reference The move commands on both channels are started at the same time if sequence PRG1 is executed The channels in the example above are not linked together If more general synchronisation is required there are commands available to manipulate links between the motor channels If some degree of synchronisation is required between operations taking place in parallel then this may be specified by defining the sequence as a set of parallel sequence components which themselves execute in sequence An example is a set of point to point moves in two axes on an XY table Each two axis move consists of two moves running in parallel on two motors but both moves must be complete on
136. igt werden soll 0 The value of SB has no effects for the command WA 1 The value of SB has an effect for the command WA in the follow way Example SB10000 WA12000 It is wait for position 2000 or 8000 12000 10000 2000 WA 12000 It is wait for position 8000 or 2000 12000 10000 10000 8000 The WA command is finished within one bound It is not possible that WA wait forever if for example WA 1000 was started but the motor moves in positive direction if the bit is set to 1 Reference Manual PMCprimo 8 Command Reference Bit 6 reserved Bit 7 Enhancement as of version 2 000 If the axis is not moving in mapping an automatic bound correction is possible with this command Therefore the bound set by SB is multiplied with the scale map SM With an odd gear transmission a reference sensor is no longer necessary Example SB4096 SM1 3 The bound for it is 1365 33 Therefore a drift of one increment every 3 bound would happened With correction the bound set two cycles to 1365 and one cycle to 1366 The calculated bound can be shown with the command GM O Automatic correction is not active 1 Automatic correction is active Reference Manual PMCprimo Page 51 8 Command Reference 8 5 Sequence commands This section describes the sequence commands They provide comprehensive facilities for defining reviewing and executing complex command sequences Command execution on different channels may be
137. imo 2 2 and 16 Change RS 232 configuration It can choose between software Xon Xoff and hardware handshake Enhancement of version 2 000 for PMCprimo 16 The date and time of the real time clock can be set Furthermore the number of channels can be set It depends on the operate mode and the CAN card Host Node and Standalone Number of channels can be set between 1 and 20 Default 10 Without a CAN card all axis above number 3 are virtual With CAN card all axis above number 16 are virtual Node Number of channels is set automatic It can not be changed If a CAN card is not inside it exist 10 axis 8 real and 2 virtual With a CAN card it exist 18 axis 16 real and 2 virtual RS 422 configuration for PMCprimo 16 The modbus interface can set to tristate multidrop Enhancement of version 2 003d There is no configuration with the CD command The 7 segment display can be switched to run if no error is active with CD17 1 With CD17 0 the old display is activated Enhancement of version 2 004 Die 7 segment display can be switched with CD17 1 When this was done the display just shows run if no error occurs With CD17 0 the previous display is activated Enhancement of version 2 005 With option 4 it is possible to set a gateway address Enhancement of version 2 007 For option 3 additional CAN baud rate settings were added Now this settings are possible 20 50 100 125
138. in various ways The position control word bit functions are described below Bit O on right side and Bit 7 on the left side Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 reserved This bit controls whether SB has effects to an alignment move or to a move absolute or not 0 The value of SB see page 108 has no effect to move commands 1 The value of SB is important for move commands MA The motor moves to the nearest position within bounds appropriate to the target position Example ZC0 SB4000 MA6000 gt motor moves only 2000 counts This bit is used if an alignment move or a normal move must be constrained only in one direction 0 The direction of a move is not specified by this bit 1 The direction of a move is specified by Bit 3 of the position control word This bit defines the direction of a move if bit 2 is set to 1 0 The direction of a move is positive 1 The direction of a move is negative Enhancement as of version 2 000 If bit 1 of ZW is set and the target position is a multiple of the value of SB for a move absolute MA Bit 4 decides to move one bound or not 0 If bit 1 is set and driveway n SB no movement 1 If bit 1 is set and driveway n SB one position bound is moved As of version 2 007 This bit controls whether SB has effects for the command WAT Dieses Bit entscheidet ob die Zykluslange SB fur den Befehl WA ber cksicht
139. in various ways The value is entered as a binary number with each bit controlling a different aspect of the function Leading zeros may be omitted The bit functions for the analogue control options word are described below Bit 0 is the right and bit 7 the left one BitO This bit controls the behaviour of the system when mapping is started with the XM command and tension control is enabled by setting AM1 0 When set to 0 the slave axis goes immediately into mapping using the software clutch with the map ratio determined by the tension control loop 1 When set to 1 the slave axis moves at jog speed set by SS until the measured analogue input reaches the tension control set point and then drops into mapping This is intended to initialise tension control when the master axis is stopped Bit 1 Notin use Bit 2 This bit controls the analogue control integral term It allows the analogue control integral term to be turned off if required for example if the controlled motor is disabled This prevents the system from integrating up any static analogue error and giving a large transient when the motor starts again 0 The analogue control integral term is disabled 1 The analogue control integral term is enabled Bit 3 This bit sets the initial ratio when the slave axis is mapped to the master axis and tension control is enabled 0 The initial ratio is the SM value 1 The ratio value previously is kept N
140. ing not possible Hardware register PMCtendo DD4 lt 1us Hardware register PMCtendo DD4 lt 1us Referencing not possible Number of synchronous CAN messages a oe a ol na o e O O O O Yes with version 5 x 8 Command Reference PScope can Following Use of display error position available in PMCprimo motor current loop of PMCtendo DD4 Yes with Yes PMCprimo Drive and channel x 1 lt D n Yes with PMCprimo Drive and channel x 1 Yes with Yes PMCprimo Drive and channel x 1 Z O O O O O O Yes with Yes PMCprimo Drive and channel x 1 Yes with PMCprimo Drive and Yes O channel x 1 lt Wu n Z Yes with version 3 56a or 4 94a lt Wu n Z Yes with version 3 56a or 4 94a Yes Yes No Yes Yes Yes Reference Manual PMCprimo 8 Command Reference FS Description Delay time for demand Accuracy reference inputs Number of PScope can Following Use of signal synchronous CAN display error position messages motor current available in loop of PMCprimo PMCtendo ll o 25 See FS22 but with see FS18 Hardware register Yes with following error and PMCtendo DD4 lt 1us version 5 x actual current 26 See FS23 but with see FS18 Referencing not possible Yes with following error and version 5 x actual current Reference Manual PMCprimo Page 157 8 Command Reference Example 1 v Requirement PMCprimo Drive with increm
141. io is calculated from values AR and MM as AR slave MM master in much the same way as the BR command does for the bounds values If automatic measurement of the analogue range distance is enabled on either master or slave axes the XM command performs an automatic ratio calculation using CR Execute analogue range distance initialisation Range n 0 initialises slave axis 1 initialises master axis XR executes the analogue range initialisation function manually on the current axis The measured values are stored in the AR XRO or MM XR1 parameter The command is always used on the slave channel Before initialising the master with XR1 the command ML must be done The analogue range initialisation function does the following The motor moves in one direction chosen so as to move initially towards the set point until one analogue input limit is crossed stores the current position and stops It then reverses and moves until the other analogue limit is crossed stores this second position and saves the difference between the two positions as the AR slave with XRO or MM master with XR1 value Setting AW bits 4 and or 5 on the tension controlled slave axis enables automatic measurement of the analogue range distance on the slave and or master channel respectively at the start of mapping Set analogue input high limit Range n 31bit value Default 204
142. ion value calculated in the mapping This has the effect of moving the map curve up the graph These two parameters allow any or all slave axes to shifted or rotated relative to the master axis even while executing a mapping An example of a similar situation is the ignition timing on a car engine the timing adjustment involves rotating the distributor shaft relative to the crankshaft so that the spark is generated earlier or later in the engine cycle Page 68 Reference Manual PMCprimo 8 Command Reference Normal map With map base offset Slave Master With map base offset With map base offset Slave Master Master Figure 18 Effects of map base and map offset Data for the maps are entered as absolute slave axis positions Each map table entry represents the required slave motor position at the given master axis position Maps are stored on the host This allows a map common to more than one channel to be defined only once thus saving memory space The map data are manually downloaded to the current channel by using the TM see page 76 transfer map command This may be executed as part of the autostart sequence to avoid any delay the first time a map is executed Only the given map entrees are saved in PMCprimo PMCprimo interpolates linearly between the position intervals to generate the full resolution map The Software Differential allows a slave motor to be synchronized so that it follows either the sum
143. is by the PMCprimo Drive fixed at 9600 baud By the PMCprimo 2 2 and 16 the baud rate can be set with the command BD to a maximal value of 19200 baud The baud rate can t be saved and must set therefore before communication for example in AS see page 61 The serial interface is buffered in software and echoes back the characters as they are received All the PMCprimo systems use xon xoff software handshake by default on the programming terminal port but they also support hardware handshake using RTS and CTS signals CANopen Interface The communication with PMCprimo and the PC can also made with a CANopen interface Therefore a CAN bus card in the PC is needed Besides it can access to the bus variables B1 to B100 by CAN bus The follow SDO s must set for it CMS _ Index Sub index Comment Default Range Data length 0x3000 Oe Variable b1 OO 32768 32767 Integer16 pf Variable b2 OO 32768 32767 Integer16 Im Variable b100 Oo 32768 32767 Integer16 Enhancement as of version 2 005 It is now possible to use the Sontheim CAN I O Modul DIO32 16 inputs and 16 outputs Analogue Inputs The signal inputs are multiplexed and the multiplexer output is buffered with a differential amplifier The analogue inputs have a range of 10V The analogue signal levels are converted to digital values at 12 bits resolution The DA command displays the analogue input signal value for the current channel The analogue in
144. is constant and depends on the baud rate of the serial interface for PMCprimo it s 9 6 kbaud The parameter T displays a timer counter The difference of two successive values is the actual time step lf a parameter value is given PMCprimo prints that number of lines of the position data recorded at the full time step of 1 millisecond Comment display 2 lines 2 D 0000918 P 0000918 E 0000000 T 0000001 eZ D 0000920 P 0000920 H 0000000 T 0000002 Example 1 v PMCprimo User Q 0 2 gt DM2 lt CR gt 0 O 0 2 gt Following values are displayed D demand position P actual position ES position error T timer counter in ms Example 2 O O O O O O Reference Manual PMCprimo PMCprimo User 2 gt DM lt CR gt 2 D 0000918 2 D 0000918 2 D 0000918 2 D 0000918 25 P 0000918 P 0000918 P 0000918 P 0000918 Comment The display mode at channel 2 is active until the command DO stops it E 0000000 T 00082231 E 0000000 T 00082303 E 0000000 T 00082376 E 0000000 T 00082449D0 lt CR gt Page 163 8 Command Reference TR nn Enable trace mode Range nn Oto 10 000 This command controls a continuous trace display It allows various data values to be displayed via the serial port similar to the DM command but it allows data from more than one channel to be simultaneously displayed and it supports a wide range of data values The data values to be traced are specified by the TW comma
145. ith Iw characters in the input buffer after the modem link is closed The standard command set provides flexible and complete control of PMCprimo The commands fall broadly onto the following categories e Data commands chapter 7 1 Commands to change between channels and to handle the stored setup data e Mode commands chapter 7 2 These include commands to change between motor off and position control e Move commands chapter 7 3 These are the basic commands for moving and stopping the motors using the normal trapezoidal or S form move profile e Set parameter commands chapter 7 4 These commands set up a wide range of parameters including the velocity and acceleration of the normal moves e Sequence commands chapter 7 5 These commands allow the user to enter list and execute complex command sequences e Map commands chapter 7 6 These commands allow the user to enter list and execute position mappings Software Gearbox e Wait command chapter 7 7 These commands are used in command sequences to wait until a condition is true before executing the next command in the sequence e Error handling chapter 7 8 These commands set up the error monitoring functions and defines the reaction of PMCprimo if an error appears e Gain commands chapter 7 9 These commands set up the gain constants used in the closed loop control algorithm e Reference commands chapter 7 10 These commands set up the continuous po
146. ith either full or empty spool of material and the initial scale factor is set in the SM parameter Restarting the machine with the same spools uses the scale factor last calculated when the machine was stopped and the tension loop restarts smoothly However if the machine may be started with spools that are partly filled to an unknown diameter then the normal SM value is not at the correct value of running at the new spool diameter The analogue range initialisation function allows the required ratio with the actual spool diameters to be measured The machine may be started with the new spool without any large transients while the tension control loop stabilizes from the initial default SM value to the new scale factor Page 174 Reference Manual PMCprimo 8 Command Reference APnn Alnn ADnn ACnn Set analogue control proportional gain Range nn 0 to 65535 Default 10 000 This command sets the proportional gain of the tension ratio control loop The proportional gain acts on the measured analogue error which is calculated as the difference between the required set point and the value measured by the analogue input High gain gives the system a faster response and tighter control but if the gain is too high the system may oscillate For best results the proportional gain as low as possible to avoid overshoot or oscillation while still achieving the required control response Set analogue integral control gain
147. its function Lines not defined are left blank Example PMCprimo User Comment 0 3 gt LO1 lt CR gt List output line definitions byte 1 Outputs 0 1 Outputs 1 to 8 0 1 1 undef no output line definition 0 122 undef no output line definition 0 1 3 undef no output line definition 0 1 4 undef no output line definition 0 1 5 PO3 gt 500 lt 1000 position output channel 3 0 1 6 DE2 error output Logic high if motor error occurs 0 1 7 BO2 1ms pulse at bound overflow channel 2 0 1 8 AE1 analogue error output channel 1 0 3 gt Reference Manual PMCprimo 8 Command Reference FSnn Set feedback encoder type Range n 0 to 26 Default 0 This command sets up different encoder feedback options for every axis The following feedback encoder types can be used Incremental feedback encoder FS 0 2 SSI or Hiperface feedback encoder FS 5 8 11 18 CANopen feedback encoder FS 9 10 Transmission of feedback encoder values with CANopen for PMCtendo DD4 FS 19 20 With transmission of the demand positions with CANopen for PMCtendo DD4 the position control is done by PMCtendo DD4 FS 21 26 Reference Manual PMCprimo ers potion a Quadrature x 1 except channel 1 in PMCprimo Drive 2 ee e 7 Reseed 6 Hr ae voston gey ee 6 react ae postan orn soue neess 11 SS Hiperface relative position with high resolution as of version 1 009 12 SS Hiperface absolute position with high resolution as of version 1 009 Hi
148. le to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows the user to modify the operation of position mapping in various ways Bit 0 is right and Bit 7 left Bit 0 This bit controls the behaviour of the system when a position mapping is executed 0 Software clutch disabled the slave axis calculates its demand position as required by the mapping and executes a normal trapezoidal move to align itself to that position before going into the mapped state 1 Software clutch is enabled This is used when it is required to lock a slave channel to a master axis which is already moving In this case the slave channel remains it s current position until the calculated demand position from the mapping approaches the current slave position The slave channel then ramps up to the required speed in such a way as to reach this speed at the correct mapped position The time for this clutch acceleration ramp is defined by the CT clutch time command see page or if Bit 5 is set the acceleration ramp is defined by the CL clutch length command If bit 2 of MW is set as well as bit 0 then the XM command executes with an automatic offset adjustment In this case the map offset parameter MF is adjusted to maintain the current relative positions of the master and slave axes when the XM command is executed and mapping starts immediately Enhancement as of v
149. lines such that if one line in the set goes active all the input lines in the set are immediately masked to prevent them acting The lines remain masked until they are explicitly enabled The set of lines is specified by a binary parameter where a bit set to 1 includes the corresponding input line 1 in the specified group The input mask group should only include inputs defined as function inputs with the DI command The MG command has no effect on other types of input line The MG command applies to the specified input group only It is not possible to specify automatic masking of inputs in a different input group If the state of a masked input changes the defined input sequence will be start after enable the inputs see also MI command on page 127 Example PMCprimo User Comment O0 1 gt ES PROG1 002E CH1 VC Move in positive direction 003E NS 0 1 gt ES PROG2 002E CH1 VC Move in negative direction 003E NS O 1 gt CH1 DI2 1 PROG1 lt CR gt Execute PROG1 O 1 gt CH1 DI2 2 PROG2 lt CR gt Execute PROG2 O0 1 gt MG2 00000011 lt CR gt Mask group to input 1 and 2 of byte 2 0 1 gt In the example above the input line mask group is defined to include input lines 1 and 2 When input line 1 goes high inputs 1 and 2 are both masked If the axis is stopped and the input lines are enabled it is possible to start the axis next time This makes sure that only one of the two start functions are enabled at
150. ll position values occur from encoder impulses increments Hiperface or SSI Data and parameter values are saved in a flash memory with the command SP For the saving of programs 2 MB memory are available Variables are also saved dynamically in this memory area A checksum test checks the saved data during the booting of the control If an error is found an error message is given and the saved values will be deleted and the default values are loaded An error may appear for example if the PMCprimo is turned off during saving Reference Manual PMCprimo Page 13 7 2 Page 14 7 Commands Command Execution PMCprimo commands can be executed in a number of different ways This section explains how PMCprimo deals with different methods of execution and how to get the most out of your system The main ways of executing commands are as follows Command line Commands can be entered separate or as a string at the RS232 terminal and they are executed immediately when lt CR gt is typed Entering a command line each command in the line is executed step by step It is possible to execute command lines parallel Example for command line 0 1 gt MA1000 lt CR gt PMCprimo moves the motor to the target position of 1000 increments Example for command line 0 1 gt MA1000 WT50 MA0 lt CR gt PMCprimo moves the motor to the target position 1000 waits 50 ms and moves the motor to target position of 0 Sequences Sequences containin
151. luated to false or zero The EL command must either appear on the same line as the associated IF or Il command or as the first command on the following line If the EL command appears in any other position all commands following it up to the end of line are simply ignored Example PMCprimo User Comment O 1 gt IF SB 0 amp amp SA gt 100 XS PRG _A EL XS PROG99 021s This command line executes sequence PRG_A if B is non zero and A is greater than or equal to 100 Otherwise sequence PROG99 is executed Reference Manual PMCprimo Page 59 IXName Page 60 8 Command Reference Execute commands if program is active The commands after IX are only done if the sequence named Name is active It comes to an error message if the sequence doesn t exist The command EL see page 59 can also used Abort command execution This command aborts execution of any command strings or sequences running on the current channel but without stopping the motor If AX is issued while the channel is in mapping or constant velocity states the motor is left in mapping or constant velocity as appropriate If AX is issued while the channel is executing a move or waiting the move or wait is finished normally but following commands are aborted PMCprimo User l1 gt VC lt CR gt 1V RP DP WT200 lt CR gt 1V DP 1000 1V DP 1500 1V DP 2000 1V DP 30000 AX lt CR gt 1V
152. ments can replace mechanical cams and mechanical gearboxes When needed PMCprimo can generate new maps with the internal motion generator during machine operation Product dependent machine changeovers can be done by the push of a button Beside several possibilities to synchronize machine axes there are also many commands for absolute relative or endless positioning of power transmissions available All axes can operate in virtual mode electronic master axis for example for initial operation or as help axes Hardware functions PMCprimo is intended for use with digital incremental position encoders which provide two signals in quadrature This allows the system to measure both the distance and direction of motion of the motor thus providing the closed loop feedback information for the channel The encoder input interface circuit multiplies the resolution of the encoder by four such that each complete cycle of the encoder signals represents four counts PMCprimo includes full isolation of the encoder input signals and are designed for use with encoders having differential line driver outputs This is get best performance and noise rejection in an industrial environment You can also use SSI Hiperface or CANopen encoder instead of incremental position encoders Page 8 Reference Manual PMCprimo 6 News in PMCprimo firmware PMCprimo has digital input and digital output lines the number depends to the type of PMCprimo which may
153. messages Mapgenerator not enabled Mapgenerator started 113 Mapgenerator ready a Command lt XR gt or lt XM gt was breaking off 116 Operator panel varibale not defined 117 Analogue input low limit exceeded 118 Analogue input high limit exceeded E Input is already defined as position snap shot Variable not defined Wrong nodenumber in input term Reference Manual PMCprimo Page 195 9 Status and error messages C o o DI not defined Fast input already defined for channel Trace mode already in use Possible baudrates 9600 14400 19200 38400 57600 115200 There is no value trace mode While trace mode lt TW gt not allowed Channel gt 4 doesn t exists for TW Wrong datatype for TW command Attention error softwareupdate soem dE ee ee EE mm mm mm aT mm mm mm mm CH mm Drive error internal temperature to high um Drive error output stage not OK Page 196 Reference Manual PMCprimo Drive error Flash Eprom checksum error 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 71 172 173 174 175 176 177 178 179 180 181 182 183 184 9 Status and error messages code fo Drive error supply power BTB RTO Drive warning 2t threshold exceeded Drive warning preset regen power reached Map wasn t transfer to channel command TM Error CAN Bus CAN Receivebuffer overflow Reference Manual PMCprimo Page 197 9 Status and error messages a Mapping
154. mmand is a global stop command for all channels Global abort All channels stop with their AX deceleration ramp The GA command sends an AB command see page 33 to all channels Global motor off All channels go in the motor off state immediately The GF command sends a motor off command see page 27 to all channels Global wait off This command stops all running wait commands The GE command is a global WE command see page 92 Global abort execution This command sends an AX command see page 60 to all channels and stops all running sequences Starts a sequence with an GX command all other sequences are stopped and than all commands following the GX will be executed If a sequence name is given only the specified sequence will be stopped Set motor off error sequence Range sequence name or 0 Default 0 This command sets up a sequence to execute when any motor off error occurs on the current channel If no sequence name is given PMCprimo prints the current motor error sequence name for the current channel To disable the motor error sequence on this channel set ME to zero Reference Manual PMCprimo Page 63 8 Command Reference Follow errors executes a motor error sequence if defined with ME E oron m Memory full a a O 20 sterne Reference correction overrun a eebe I y e mmm S Analogue input low limit exceeded Variable s d is not de
155. mmands are described later in this manual In a PMCprimo Drive 2 also drive parameters are saved in a sequence see page 180 Enhancement as of version 2 000 When program data not variables are saved a version number is increased and saved in the flash Sequence changes made by third can retraced with this version number With the command LA page 24 this number Version XX is displayed Are only the variables or is the flash memory selected command LA2 and LA4 the version number is not displayed If the program is deleted with CD or by the boot menu the version counter is set to zero Enhancement for PMCprimo 16 A backup is automatic made on a Compact Flash Card Reference Manual PMCprimo 8 Command Reference SU Software Update With this command it is possible to update a new firmware After enter the command a control request appears Reconfirming it the file with the Motorola S Record format can download with the terminal program PTerm The file has the extension hex With the RS232 interface the update needs a lot of time about 1 hour It is better to do the update with Ethernet connection if possible With PMCprimo Drive it is not possible to update the firmware with Ethernet With PMCprimo Drive2 update with Ethernet is possible if you have the expansion board 1 expansion card Ei It must made a reboot to activate the new firmware Enhancement as of PMCprimo 16 It is possi
156. mo from controlling the motor correctly or they indicate some external failure such as an encoder wiring fault Others may be more or less important depending on the application Critical errors are called motor off errors If such an error is detected the axis shuts down to the motor off state with the motor enable relay switched off This is the safest course of action for the system to take when these error conditions occur An error message is output on the main serial port to indicate which error has been detected An error code is also shown on the LED display The motor error conditions are as follows e Motor position error e Motor timeout e Limit switch input detected The following error conditions may also be enabled as motor off errors by setting bits in the error options word EW see page 96 When enabled these also cause the axis to shut down to the motor off state If not enabled as a motor off error they are treated as user errors and just give an error message on the serial port These optional motor off errors are as follows e Reference timeout e Reference outside limits e Reference correction overrun Reference Manual PMCprimo Page 93 8 Command Reference SEnn Set maximum position error Range 1 to 65535 Default 1000 This command sets a maximum position error which is continuously monitored by PMCprimo If the position error at any time exceeds this value PMCprimo gives a motor position erro
157. mode starts Enhancement as of version 2 002 It is possible to make an assignment to a variable Reference Manual PMCprimo 8 Command Reference TFnn Trigger transition for trace mode Range nn Oor1 as of version 2 000 2 This command defines the trigger transition for TR If the value of the trigger channel TH is equal to TL and the transition is also equal to TF the trace mode starts Enhancement as of version 2 000 Trigger with variable 0 If the value of variable changes and the value is lower than TL the trace mode starts q If the value of variable changes and the value is higher than TL the trace mode starts 2 If the value of variable changes and is equal to TL the trace mode starts With other records 0 Trigger with positive edge 1 Trigger with negative edge 2 Trigger with both edges Enhancement as of version 2 002 It is possible to make an assignment to a variable TPnn Pretrigger for trace mode Range nn Oto 10 000 If TR is used with trigger TH it is possible to define a pretrigger with TP In this case the datas are stored permanent in a ring buffer in order the case history of the last on milliseconds after trigger is registrated Reference Manual PMCprimo Page 167 TD mm nn 2 Page 168 8 Command Reference Display last value of trace mode Range nn 1 to 4 channel no 1 to 10 000 output line This command displays the
158. n is specified the motor moves in positive direction When PMCprimo detects a reference input signal it resets the position counters to zero immediately The motor continues to move until a second reference input signal is detected and sets the position bounds to the distance moved since the first reference signal was received The motor then decelerates to a stop and moves back to the new zero position This command may also be used in states other than PC when PMCprimo simply measures the distance between two successive reference signals and sets the zero position and bounds accordingly The IB command works independently of the settings of all the other reference commands This is so that whatever the reference setup for normal running the IN command always works normally The exceptions to this are bit 3 of the RW reference options word which disables the move back to the new zero point after the reference input is detected The reference offset value is also effective during the initialisation such that the position at which the reference signal is detected is defined as the absolute position given by the value of RF not necessarily zero The RT command see page 80 is also working For more details please read the reference commands section later in this manual If the initialisation is abort due an error the sequence witch has start the initialisation is stopped With RW command see page 110 you
159. n page 137 Display analogue input Displays the current channel s analogue input signal voltage as a number in the range 2047 corresponding to 10V Display time Displays current time in hh mm ss format The time starts after switching on with 00 00 00 Its not possible to set the actual time Display mode off Turns off the DM continuous display This command may also be used to turn off the trace mode TR display Display mapped axis bound position Command as of version 1 006 This command displays the actual bound If bit 7 of command MW is set page 81 the bound of the slave is automatic set to the map and the actual scalemap The calculated value can be displayed with the command GM If mapping is not active the SB value page 108 is displayed Get wraparound offset value Command as of version 1 006 GW displays the offset between the actual slave position und from the map calculated position An offset with the command MB and MF page 77 is not considered If no drift is allowed the GW value should not change The automatic cyclic length correction may help here command MW Bit 7 page 81 Reference Manual PMCprimo 8 Command Reference DM nn Continuous display mode Range nn 1 bis 65 535 or no value If no parameter value is given this command turns on a continuous display of demand position measured position position error and time The time step
160. n snapshot for the channel The sign defines which logic transition is used to detect the snapshot position PMCprimo monitors the Snapshot input and stores the absolute position value at that time The snapshot position data may be read at any time by using the DS command see page 162 The snapshot function uses the same mechanism as the reference input function to get an accurate measurement of position on an input signal Note that because of this only inputs 1 and 2 3 and 4 only at PMCprimo 2 2 and 16 in byte 1 may be defined as snapshot inputs A position snapshot input line may be returned to normal operation by entering this command without the sign Ei If DR or DZ is already defined for the axis it is not possible to define a position snapshot for lt the same axis Example 1 0 4 CH4 PS1 2 lt CR gt 9 PMCprimo User 0 2 0 4 CH4 SVAR DS lt CR gt Example 2 o y AU VS GA bi Os O 0 O E O 0 O O Os OO H H bi H PRP PB Reference Manual PMCprimo LI1 lt CR gt 9 PMCprimo User Q Lt inputs 0 1 i sbel undef PS4 undef undef undef undef undef undef Comment This command line defines input 1 2 as a position snapshot for channel 4 The specified input must be on the same node as the specified channel The measured value of the position snapshot could read with the DS command and could be put into a variable Comment List input definitions by
161. n to be changed after detecting the first reference since PMCprimo was started If no reference input or marker input is defined then the WF command returns the error message no reference input defined Example waiting for reference input PMCprimo User Comment O 1 gt CH1 RW100001 IN WF RW1 lt CR gt 0 11 The motor initialises in positive direction and 0 1W corrects only the position counter and not the motor 0 1 gt position After initialisation every reference signal corrects the motor position WB Wait for bound position This command tells PMCprimo to wait until the motor passes the next bound position positive or negative before continuing with the command string see also SB command page 108 Example T PMCprimo User Comment Q 0 1 gt XM LINEAR WB ST lt CR gt The slave is executing a linear position map 0 1X After the slave reaches its bound the stop command is 0 1W executed 0 15S 0 1 gt WSn Wait for motor status Enhancement as of version 1 010 With this command PMCprimo waits for the next command until the motor status n happens possible values for motor status see capture 9 3 Example wait for motor status PC PMCprimo User Comment 0 1 gt mr100000 Set motorstatus to posistioning command O 1 gt 0 1M ws0 sv Wait for status PC and return value for SV 0 1M AS Status PC was reached 0 1 SV 5000 Output of SV Reference Manual PMCprimo Page 91 WE Pag
162. ncement as of version 2 005 It is possible to make 200 PR commands in programs Page 20 Reference Manual PMCprimo 8 Command Reference MUnn BMnn BDnn PW Set modbus number Range 0 to 255 Default 1 This command sets the modbus number This is used in a ModBus multidrop net to indentify the device Set baud rate modbus Range 9600 to 38400 Default 9600 The baud rate for the modbus can be set As the baud rate of 19200 Xon XOff is deactivated Set baud rate Set baud rate Range 9600 to 115200 Default 9600 The baud rate for the serial interface RS232 can be set The parameter can t be saved For PMCprimo Drive 2 only the default baud rate 9600 is possible Set password This command allows the user to define his own password The maximum length of the password is 8 letters The password is saved with the SP command see Page 22 inside the flash memory Once a password is given to PMCprimo PMCprimo asks for the password at the end of power up If the entered password is not correct there is no communication about the serial port All the other functions are working as normal As of version 2 006 If the password is set with the command PW then the files primoprg pg and variable prg are encoded on the CF card Therefore nobody can use a CF cardreader and open the files without permission Example 0 1 gt PW Name lt CR gt enter password 0 1 gt Reference Manual PMCprimo Page 21 SP n
163. nd It is possible to display 4 values defined with the command TW see page 165 The TR command with parameter log nn values in a time step defined by TT see page 164 It s possible to define a trigger with the command TH see page 167 If no parameter value is given the sample time is constant and depends on the baud rate of the serial interface for PMCprimo it s 9 6 kbaud Enhancement as of version 1 008 With TRO the last recorded datas can be print again Example 1 PMCprimo User Comment 0 1V THO Deactivate the trigger function 0 1V TT4 time step set to 4 ms 0 1V TW1 1 channel 1 should log demand positions 0 1V TR2 Start recording of 2 values 0 1V DO 1 00000123 T 00000004 demand position is 123 T shows the elapsed time DO 1 00000125 T 00000008 0 1V TT nn Time step to trace mode Range O to 10 000 This command defines a time step for the trace mode TR Enhancement as of version 2 002 It is possible to make an assignment to a variable Page 164 Reference Manual PMCprimo 8 Command Reference TW n m VarName Configuration word for trace mode Range n 1 to 4 Range m 0 to 32 Range VarName Variable name for type 43 and 44 as of version 2 000 It can choose between four record channel With m the data value to be traced is specified Enhancement as of version 2 000 For command type 43 and 44 the variable name must indicate The selected variable is getting automatic
164. nd Reference Slave position Map position relationship re Slave bound Master position Master bound Figure 17 Position map for a cyclic machine The diagram in Figure 17 shows a system where the master and slave axes both complete one cycle in the same time although they cover different distances and the master and slave bound positions are coincident It is not necessary for the master and slave bound positions to coincide or for the slave axis bound position to repeat in the same interval as the master axis bound In fact in any linear ratio mapping other than the simple 1 1 case the bound positions will not coincide and will not repeat at the same rate This does not cause any problems in executing the map It is also possible for the required slave position to go outside the slave bound value without any problems In this case the slave channel compensates automatically it s wraparound when it passes the bound position The position mapping between the master and slave channels may be modified by the map base and map offset commands These appear to be similar but have subtly different effects in practice They shift the position map relationship along either the master position or the slave position axis The map base value is subtracted from the master axis position before indexing into the map table This has the effect of shifting the map curve to the right on the graph The map offset value is added to the slave posit
165. nd X2 the output lines n to X1 can set to the value of X2 Example 1 T PMCprimo User Comment Q 01 gt 500 1 2 4 0X7 lt CR The output lines 2 to 4 from output byte 1 are set to 1 0x7 0 1 gt rol 0 1 gt Outputs 0 1 8 76543 21 0000111 0 Example 2 v PMCprimo User Comment Q O 1 gt S0O1 3 lt CR gt This command line sets output 3 in byte1 to a logic high 0 1 gt Example 3 PMCprimo User Comment O 1 gt SO1 lt CR gt This command line sets all unused outputs in byte1 to a 0 1 gt logic high 0 1 gt SO lt CR gt This command line sets all unused outputs to a logic high Reference Manual PMCprimo Page 123 COjt g n Bit jo Page 124 8 Command Reference Clear output line n in byte g Range for t 0 to 59 depends on number of nodes or no value Range for g 1 to 2 or no value PMCprimo Drive 2 1 to 3 or no value PMCprimo 2 2 1 to 3 or no value PMCprimo 16 Range for n 1 to 8 or no value This command clears the specified output line to a logic low The output state is maintained until superseded by another command for the same output line If the specified output is programmed for some defined function then the line already defined error is reported If no value is given for n all unused outputs in byte g are cleared to a logic low If no value for g is given PMCprimo uses byte 1 The virtual outputs are connected inside to the virtual input lines Example 1 PMCprimo User C
166. nge g2 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n2 1to8 The TG command defines a gate input for a timer counter The parameter g and n gives the input line and g2 and n2 gives the output line If a position output see page 144 is defined the output is only set if TG is true Enhancement as of version 1 008 The command TG can define a gate input for several outputs Therefore TG is assigned to the outputs and is shown with the LO command see page 150 To undefine TG the output must indicate TG g2 n2 TZ t Jg n g2 n2 Define timer counter reset input Page 134 Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 Range g2 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n2 1to8 The TZ command defines a reset input for a timer counter The parameter g and n gives the input line and g2 and n2 gives the output line When a reset input is true the timer counter is stopped and is reset to its initial value in the same way as the CO command on the timer counter output see TK command on page 133 Reference Manual PMCprimo 8 Command Reference 8 11 Configuration Commands Configuration commands allow the definition of limit switches and other input definitions Mos
167. nment is electrically noisy or where the system will be used continuously and reliability is important it is possible to set up the system such that its position is continuously operating unless the system was stopped at regular intervals to reinitialise the absolute position The digital input and output lines are also fully isolated from the machine or plant both for protection and to allow 24V signals to be used This provides greater noise immunity and allows direct interfacing to industrial control equipment such as a programmable logic controller PLC Isolation is also available as an option on the analogue output signals if required All electrical connections such like suspense supply the connection for the drive and the in and outputs are done with screw terminal blocks Reference Manual PMCprimo Page 201 10 Interface PMCprimo lt gt machine 10 2 Safety The PMCprimo system provides many safety facilities and it is recommended that these are used in addition to external safety systems such as hardwired limit switches PMCprimo can accept no responsibility for problems due to incorrect use of the safety features provided The safety features of the system are provided for very good reasons It is important to understand the operation of all these facilities as it is possible to do fast amounts of damage to both machinery and people with high performance motors and drives It is not sufficient to decide that these facili
168. nnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 150 EIS CMAN caa ANAK 73 DAR iois baaanutansenieiasiwesnsidisnweiesssvianaveteleindis aa aiana 184 List mapvariable value c cscccssseeeeseeeeeeeeeseeeeeseeees 186 TC EE EE E A A TAE P A A E A ET 36 List output line definitionS nasssnennnnnnnnnnnnnnnnnnnnnnnnnn 150 lp AEPA EE EA E A A E T 37 LIS SEQUENCE orssiirrinasr enansar anaana aai aaia 56 EE E A A A A AE EE E E A EE 59 List Vahlable ValUG 2guseggtes gees euee eso ed 186 If input true do command Line cccceeeseeeeeeeeeeeeees 125 RE 95 if motor status true do command line 000 126 BR RE 73 If output true do command line REENEN EEN EEN 126 E a BE 150 EEN 125 L g MEG AU ON EE 181 E 35 LOGI Cal AND ME 181 Increment select code ccccceeeeeeeeeeeeeeeeeeeeeeeeseneeees 46 Logical lef euer 181 Increment selected parameter sccecceeeeeeeseeeeees 47 LOGI Cal OR erecswiveasseveneantcsectiestseuauriiadestessieuerteelenteeteawacies 181 Inhibbit trigger variables ccccceeesseeeeeeeeeeeeeeeeees 185 Logical righi shift E 181 Inhibit function input saassaassnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnne 128 OOP E 55 Initialise DOSINON ieciisvecssen rie Rasstaetivareiestaiardecenedianieeac 35 LOOP for SCQUGNCO tics eege ENEE 55 Initialize demand Signal offset ccccecesseeeeeeeeeees 37 RE 186 Initialize position and DOUNAS cccceeeeeeeeeeeeeeeees 36 E E 112 Input
169. no line number no byte number and no node number is given then all function inputs in all bytes in all nodes are enabled Enable function input with priority Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 Range bb 0000 0000 to 1111 1111 This command sets the inputs defined in the group b free like the command EI The difference is that only one sequence is executed If there are more than one sequences to execute of the masked inputs only the input with the lowest input number is executed Undefine input function Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 ist virtual Range n 1 to 8 This command undefines an existing input definition It is independent what type of input function is defined The parameter n gives the specified input line If no value for t is given PMCprimo sets t 0 The UI command expects always a byte and a line number It is not possible to undefine more when one input function at the same time Undefine output function Range t 0 to9 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 at PMCprimo 2 2 3 is virtual 1 to 3 at PMCprimo 16 3 is virtual Range n 1 to 8 This command undefines an existing output definition It is independent what type of output function is defined The parameter n gives the specified output line If
170. no value for t is given PMCprimo sets t 0 The UO command expects always a byte and a line number It is not possible to undefine more when one output function at the same time Reference Manual PMCprimo Page 129 8 Command Reference TC t Jg n X1 X2 Define timer counter output Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 Range X1 count value 0 to 65535 for modus 0 to 7 and O to 31 for modus 8 Range X2 Mode 0 to 8 There are several commands available to support timer counter functions on the digital output lines The TC function may be combined with other output functions for example to provide a defined pulse width for signalling to a PLC or it may be used with the SO and CO commands If the TC command is given with the following sign to define a new timer counter output then it should be followed by two parameters The first parameter is the count value for the timer counter and the second value is the timer counter mode The timer counter mode values are as follows ER eee 2 One shot down counter Reserved Shift register The output line is set true as defined by the sense in the TC command when the timer counter is first triggered and it is reset false when the timer counter reaches its final value set by the count parame
171. not activ Error from servo controller on CAN bus Buffer for storing reference position is full SES Direction has changed The buffer with reference position must delete Possible baudrates 96000 19200 XOn XOff 38400 XOn XOff a a eo a SRE a eee om Variable is not defined DE O a Node number is already in use command lt a emmen Page 198 Reference Manual PMCprimo 9 Status and error messages oo Cannot execute lt XM gt while motor is running Command QAO CAN Adr can only done on the host oe The analog output lt gt is not available command lt gt PD command not possible PMCtendo DD4 version wrong lt 4 94 Node Drive command not completed Battery buffered memory is used by SoftPLC 277 Die maximum possible position SB SM is greater than the position limit of command lt gt 278 The predefined map LINEAR can t be changed Reference Manual PMCprimo Page 199 9 3 Page 200 9 Status and error messages Status Codes This section gives the numeric values for the status codes which are placed in the status variables 0 Idle mode PC 8 Motor off MO 66 Waiting for clutching in at the beginning of mapping XM 67 Executing software clutch XM and MW bit 0 set to 1 C 68 Executing alignment move XM and MW bit 0 set to 0 A 256 Constant velocity mode VC 512 Moving MA MR 2048 Executing a position mapping Map active XM 4
172. o 10000 counts second 0 1 gt Reference Manual PMCprimo Page 39 8 Command Reference DCnn Set deceleration Range 1 000 to 2 000 000 000 Default 100 000 This command sets the deceleration of the channel to the specified value in user units per second squared The deceleration value is used in the move functions ST MA MR IN and IB for the deceleration ramp The minimum deceleration value is 1000 counts second For the AB command the deceleration value is given by the XA command see page 40 Stop command Figure 11 Effect of DC Command Example PMCprimo User Comment O0 1 gt SA10000 lt CR gt The acceleration is set to 10 000 counts second and the O0 1 gt DC25000 lt CR gt deceleration is set to 25 000 counts second on channel 1 XAnn Set deceleration for AB command Range nn 1000 to 2 000 000 000 Default 100 000 This command sets the deceleration for the AB command of the channel to the specified value in user units per second squared The deceleration value is used for the AB command see page 33 The minimum deceleration value is 1000 counts second Page 40 Reference Manual PMCprimo 8 Command Reference SCnn Set creep distance Range 0 to 65 535 Default 0 The normal trapezoidal velocity profile for a position move can be modified to include a slow speed creep to the final required position The creep distance is the distance from
173. o has a number of digital inputs and digital outputs on each unit This section describes the commands available to read the inputs and control the outputs They may be used immediately at the prompt or in command strings and sequences The input and output lines on PMCprimo are divided into bytes of eight lines and all commands for the input and output lines take a node and byte number prefix before the line number If no node number is given PMCprimo takes the actual node number Every line address must have a prefix with the byte number PMCprimo Drive 2 2 real input bytes and 1 virtual input byte 1 real output byte and 1 virtual output byte PMCprimo 2 2 2 real input bytes and 1 virtual input byte 2 real output bytes and 1 virtual output byte PMCprimo 16 2 real input bytes and 1 virtual input byte 2 real output bytes and 1 virtual output byte Example SO1 2 Set output 2 in byte 1 SOL Set all unused outputs in byte 1 CO2 5 Clear output 5 in byte 2 virtual output in PMCprimo Drive RI1 Read inputs byte 1 MI3 7 Mask input 7 in byte 3 virtual input EIl Enable all inputs in byte 1 Virtual In and Outputs PMCprimo Drive Input byte 3 and output byte 2 PMCprimo 2 2 Input byte 3 and output byte 3 PMCprimo 16 Input byte 3 and output byte 3 The virtual output lines in byte 2 PMCprimo Drive are connected with software to the virtual input lines in byte 3 Except DR and PS all commands are available for this O
174. o is set up for continuous monitoring of the reference input to give a warning error message if the reference input is not detected A counter is incremented each time the system passes a position half way between the expected reference positions and cleared each time a valid reference input is detected If the counter exceeds the RT value PMCprimo gives the reference timeout error message If bit O of the EW command is set to 1 see page 96 PMCprimo switches off the motor This facility is also working if the IN or IB command see page 35 36 is executed The reference timeout function is disabled by setting it to zero Example PMCprimo User Comment O 1 gt RT3 lt CR gt If the reference signal is 3 times not detected PMCprimo 0 1 gt gives an error message O 1 gt RTO lt CR gt The reference timeout function is disabled Reference Manual PMCprimo Page 95 8 Command Reference EWbb Set error options word Range 0 to 1111 1111 Default 0 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed The error word allows various user and motor error options to be turned on or off The error word bit functions are described below bit 0 is right and bit 7 is left BitO This bit defines if a reference timeout is treated as an user error or as a motor off see RT command on page 95 0 The reference timeout is
175. of integral gain but this has other effects as well For PMCprimo Drive there is a algorithm to get the right KF value KF 15360 1000 resolution per rotation Example resolution 4096 increments rotation gt KF 3750 Set acceleration feed forward gain constant Range 0 to 65535 Default 0 This command allows the user to set the gain for the acceleration feed forward term in the controller transfer function It uses the demand acceleration as opposed to the measured acceleration and is useful when following a set position or velocity profile The effect of KA is to provide a component of the output signal proportional to the required demand acceleration Reference Manual PMCprimo 8 Command Reference SFn KMzenn Set monitor output function Range 0 to 15 Default 0 This command selects a particular control value to output on the auxiliary analogue output channel The possible monitor output functions and their associated commands where applicable are as follows A change of the control value about 1 is equivalent to a voltage fluctuation of 4 88 mV n Function accordingly command 0 no output function 1 Demand velocity control value Demand velocity KM 15 1000000 OM 2 Measured velocity control value Measured velocity KM 15 1000000 OM 3 Position error control value FE KM 4 1000 OM 4 Integral of error control value Measured velocity Demand velocity KM 15 1000000 O
176. omment 0 1l1 gt CO0 2 7 lt CR gt This command clears output line 7 in byte 2 in node 0 0 1 gt to a logic low Example 2 PMCprimo User Comment O 1 gt COl1 lt CR gt O 1 gt O 1l gt CO lt CR gt This command sets all unused outputs in byte 1 to a logic low This command sets all unused outputs to a logic low Read input lines in byte g Range t Range g 0 to 59 depends on number of nodes or no value 1 to 3 or no value 3 is virtual This command reads the current state of the specified input byte If no parameter is given for g PMCprimo reads the state of the inputs in byte 1 additional to the logic state of the input lines PMCprimo shows whether the input line is enabled E masked M or inhibited B Example PMCprimo User Comment e dee RIO 1 lt CR gt 234567 8 0 This command reads the state of the input lines in byte 1 1 Ol100100 E 0 input line number Logic state EBMEBEE Enabled E masked M inhibited B inputs 1 gt Reference Manual PMCprimo 8 Command Reference RO t g II Ont Read output line states in byte g Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 or no value 1 to 3 PMCprimo 2 2 or no value 1 to 3 PMCprimo 16 or no value D D This command reads the current state of the specified output byte If no parameter is given for g PMCprimo reads the state of the outputs in byte 1 If no parameter is
177. on limits then the move command will not executed and PMCprimo displays an error message Page 30 Reference Manual PMCprimo 8 Command Reference MR nn Move nn units relative to current position Range 8 389 000 encoder counts Version 2 004 new range for n 2 000 000 000 PMCprimo performs a move similar to the absolute move above but the move distance is defined relative to the current demand position The move distance is entered in encoder counts The channel follows a trapezoidal or a sinusoidal velocity profile picture 01 graph of velocity against time The motor accelerates from rest at the acceleration set by the SA command until it reaches the velocity set by the SV command At the end of the move the motor decelerates at the rate from the DC command to stop at the desired final position When PMCprimo executes an absolute or relative move command it gives the M move prompt character The move commands may only be used from the idle position control state The relative movement is independent of the bits 1 3 of the MW command Enhancement as of version 2 004 If the axis is running and it is made a MAT or MR command and the breaking distance ist higher the the target position until now one more bound was driven If Bit 1 of ZW is not set now it is breaking down immediately and moving back to the wished position If bit 1 of ZW is set one more bound is moved Exam
178. onstant PMCprimo uses the measured position to calculate the motor velocity scaled by KV is used in the controller transfer function Note that differential control uses the rate of change of error while velocity feedback uses the rate of change of position Adding velocity feedback is similar to the effect of a tacho generator connected externally to the motor drive in that it adds damping into PMCprimo This allows higher values of proportional gain to be used without giving excessive overshoot or oscillation thus improving the speed of response of PMCprimo Reference Manual PMCprimo Page 99 KFnn KAnn Page 100 8 Command Reference Set velocity feed forward gain constant Range 0 to 65535 Default 0 This command allows the user to set the gain for the velocity feed forward term in the controller transfer function It uses the demand velocity as opposed to the measured velocity and is particularly useful when following a set position or velocity profile If PMCprimo is using proportional gain only then there will be a steady position error when running at constant velocity known as velocity lag The feed forward gain has the effect of reducing the velocity lag by adding a component dependent on the demand velocity into the demand signal output The velocity lag error may be easily reduced to zero or even made negative by increasing the value of the feed forward gain Alternatively velocity lag may be reduced to zero by the use
179. op control applications Enhancement as of version 1 008 In PMCprimo Drive the command AQ4 enables a limitation of the torque PMCtendo firmware version 3 55 is required and the parameter DILIM must be set to 1 after this change it must done SAVE and COLDSTART The value 3280 is equal to the IPEAK value Enhancement as of version 2 006 Now a variable could be set with the actual setting of AO For PMCprimo Drive 2 follow is essential AO1 The motor of the drive is moved with constant speed without position control If for example an offset is made with the comand OM this is dircet equivalent to the revolution min AO2 The first analog output of tende DD4 is used Therefor the parameter ANOUT1 must set to 6 An output value of 2047 is equal to 10V AO3 The second analog output of tende DD4 is used Therefor the parameter ANOUT2 must set to 6 An output value of 2047 is equal to 10V AO4 Torque restriction for the connected motor An output value of 3280 is equal to IPEAK Example e PMCprimo User Comment 0 1 AO 0 2 lt CR gt Define auxiliary output 0 1 VAR A0 lt CR gt Assignment to variable 0 1 SVAR lt CR gt value check 0 1 0 1 VAR 2 0x00000002 Reference Manual PMCprimo Page 103 8 Command Reference Reference Commands This section describes the commands available to make use of the position reference facilities In particular these commands allow the user to set up a repetitive
180. or 0 The reference timeout error is displayed 1 The reference timeout error is not displayed Page 96 Reference Manual PMCprimo 8 Command Reference Bit 5 This bit controls if the reference out of limits see LR command page 112 error as user error is displayed The error message is displayed if the error is a motor off error 0 The reference out of limits error is displayed 1 The reference out of limits error is not displayed Bit6 This bit controls if the reference correction overrun error as user error is displayed The error message is displayed if bit 2 is set not to 1 0 The reference correction overrun error is displayed 1 The reference correction overrun error is not displayed if bit O is set to O Bit 7 This bit controls if the analogue input out of limits error see AH and AL command page 178 as user error is not displayed if bit 3 is not set to 1 0 The analogue input out of limits error is displayed 1 The analogue input out of limits error is not displayed Reference Manual PMCprimo Page 97 8 9 Page 98 8 Command Reference Gain commands The motor control system operates by sampling the position of the motor at regular intervals and calculating a motor demand signal according to some control algorithm The algorithm used is of the following form Vpemand KP ej KI Le KD ere al KV pi pi 1 KF dj dj_4 KA di di 1 di 1 di 2 KP proportional gain
181. ormally this is the last value calculated by the tension control loop before the slave axis was stopped Bit4 This bit controls the automatic measurement of the distance between the high and low analogue limits the analogue range distance on the slave axis when the XM command is executed Refer to the AR and XR commands for more details 0 The slave axis analogue range initialisation is disabled 1 The slave axis analogue range initialisation is enabled Bit5 This bit controls the automatic measurement of the distance between the high and low analogue limits the analogue range distance on the master axis when the XM command is executed Refer to the AR and XR commands for more details 0 The master axis analogue range initialisation is enabled 1 The master axis analogue range initialisation is disabled Page 176 Reference Manual PMCprimo 8 Command Reference ATnn ARnn MMnn Bit6 This bit sets the direction of the tension takeup move when the slave axis is started with tension control enabled and AW bit O set to 1 0 The direction of the takeup move is the same as the sign of the initial tension error 1 The direction of the takeup move is the opposite as the sign of the initial tension error Bit 7 This bit determines the sense of the analogue control loop 0 An increase in the analogue error gives an increase in the output value 1 An increase in the analogue error gi
182. ortional gain acts on the measured position error which is calculated as the difference between the current demand position and the position measured by the encoder High gain gives the system a faster response and tighter position control but if the gain is too high the system may oscillate For best results the proportional gain should be set as high as possible without inducing several overshoot or oscillation Kinn Set integral gain constant Range 0 to 65535 Default 0 This command sets the gain for the integral term in the controller transfer function When integral control issued PMCprimo integrates the position error by adding the current error to a running total Integral gain is useful to remove a constant position error due to a steady load or friction or in steady state velocity control but also tends to make the motion control system overshoot the target position at the end of a move because of the error accumulated during the move This problem is known as wind up KDnn Set differential gain constant Range 0 to 65535 Default 0 This term uses the differential of the position error rate of change of error which presents the velocity error of the motion control loop This is useful where the position error is changing rapidly for example if the required motion is a step change in position KVnn Set velocity feedback gain constant Range 0 to 65535 Default 0 This command sets the velocity feedback gain c
183. otor Reference Manual PMCprimo 8 Command Reference AB Abort emergency stop The motor stops under controlled deceleration set by the XA command see page 40 The abort command may be used during any motion to decelerate the motor to a stop AB command a actual velocity lt lt demand velocity Figure 5 Move with abort The AB command is executed at the current channel If it is necessary to abort all channels then the GA global abort command seed page 63 should be used Reference Manual PMCprimo Page 33 8 Command Reference VC Move at constant velocity This command is used to move the motor at a constant velocity in the direction specified without any target position If the direction is not specified the motor moves in the positive direction PMCprimo accelerates the motor at the defined acceleration until it reaches the velocity set by the SV command see page 38 If then controls the motor at constant velocity until it is told to stop While in constant velocity mode PMCprimo gives the V velocity control prompt character Velocity control mode can only be entered from position control mode and not directly from the motor off state Example PMCprimo User Comment 0 1 gt SA1000 SV2000 VC lt CR gt This command line set the acceleration to 1000 0 1V incr sec 2 the velocity to 2000 incr sec and 0 1 gt accelerates channel 1 at the defined acceleration
184. perfache SSIl relative position binary 100kHz Hiperfache SSIl relative position gray code 100kHz Hiperfache SSI absolute position binary 100kHz Hiperfache SSI absolute position gray code 100kHz 19 PMCtendo DD4 relative position chose the PMCtendo DD4 with pd and consider the reference 20 PMCtendo DD4 absolute position chose the PMCtendo DD4 with pd and consider the reference Page 151 8 Command Reference CANopen demand position relative evaluation positive reference signal as of version 2 000 chose the PMCtendo DD4 with pd consider the reference CANopen demand position relative evaluation negative reference signal as of version 2 000 chose the PMCtendo DD4 with pd and consider the reference CANopen demand position absolute evaluation offset set with command RF page 112 as of version 2 000 chose the PMCtendo DD4 with pd and consider the reference CANopen demand position relative evaluation positive reference signal The actual following error and the actual current is received as of version 2 004 chose the PMCtendo DD4 with pd and consider the reference CANopen demand position relative evaluation negative reference signal The actual following error and the actual current is received as of version 2 000 chose the PMCtendo DD4 with pd and consider the reference CANopen demand position absolute evaluation offset set with command RF page 112 The actual following e
185. pilZ more than automation safe automation PMCprimo 1 General Information 1 General Information 1 1 Copyright Copyright 2005 Pilz GmbH amp Co KG All rights reserved All rights reserved The implementation of technical changes which improve the performance of the product is subject to change without prior notification The product or parts of the content may be reproduced or transmitted in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Pilz GmbH amp Co KG 1 2 Notice All examples in this manual have been made to ensure the accuracy of the information in this document Pilz GmbH amp Co KG assumes no liability for inadvertent errors Suggestions for improvements in either the products or the documentation are welcome 1 3 Previously published editions Previous Versions Seite 2 Reference Manual PMCprimo 2 Contents 2 Contents THE CT te EN de 2 Tal ASOD ee Le E 2 12 NOICE ET 2 1 3 Freviously published Red CEET 2 KR eu eee en ee ee eS eee 3 3 Abbreviations and SYMONS wevcsencescccindescoaniiecencsmeniaduwdesesvistwarstunssacendeineccvesientaeiedeneetestas 6 A ACO e TE d Cu BEN 7 5 General DESCrip COM E 8 6 News in PMCprimo firmware version 2 00G cccscesseecsseeeeneceeeeeeeseeneeeneeeeeeneneneaes 9 CANIN TEE 11 7 1 General Le ie neer e e E E E a 11 T2 Command
186. ple e PMCprimo User Comment Q 0 1 gt MR 3000 lt CR gt The motor moves from its current position 0 1M 3000 encoder counts in the negative direction 0 1 gt With the SV or SS command the velocity could be set during executing a MR command to a new value The change between SV and SS with the VJ command is possible every time but the value from SV is necessarily higher than the value from SS The target move position is also checked against the current values of the user defined position limits set by the LH and LL commands If the move would take the motor outside the set position limits then the target position outside limits error message is again returned and the move is not executed The velocity during a move isn t changed if the velocity is set by a variable and the value of the variable is changed It is possible to enter mapping see XM command page 74 with the MR command Reference Manual PMCprimo Page 31 ST nn Page 32 8 Command Reference Stop Range 4 000 000 Version 2 004 new range for n 2 000 000 000 Without any parameter the motor stops under controlled deceleration set by the DC command see page 32 The ST stop command may be used during any motion to decelerate the motor to a stop When the motor is stopping PMCprimo gives the S stopping prompt character ST command x Figure 4 Move with normal
187. position reference signal and to use it to automatically adjust the absolute position of the channel The position of the encoder is immediately stored when the reference input signal is detected This position is compared with an expected reference position either the current zero position or the nearest bound position The difference is defined as the reference error and the absolute position may be corrected by this amount if required PMCprimo supports two types of reference input signal The encoder marker signal is connected via the Z and Z inputs to a dedicated fast reference input called the zero marker input which responds to signals down to a minimum pulse width of 60ns This is fast enough to deal with the single marker pulse from a high resolution encoder running at high speed This input is configured with the DZ command In addition to this reference inputs may be programmed on inputs 1 or 2 using the DR command These additional reference inputs are intended for use with other devices such as proximity switches or micro switches Note that the fast reference or zero marker input is only used for the encoder marker signal and cannot be programmed for any other uses while inputs 1 to 2 may be programmed for any purpose PMCprimo 2 2 16 Inputs 1 4 are available as reference inputs PMCprimo Drive 2 Inputs 1 2 are available as reference inputs Page 104 Reference Manual PMCprimo 8 Command Reference Initialization
188. put can used for analogue control see chapter 8 14 Reference Manual PMCprimo 10 Interface PMCprimo lt gt machine 10 9 Digital In and Outputs PMCprimo has a fixed number of in and outputs depending on the hardware The in and outputs are divided in groups bytes with 8 lines The digital input and output lines are also fully isolated from the machine or plant both for protection and to allow 24V signals to be used PMCprimo Drive 2 3 input groups at what only 4 lines of the second group can be used The third input group is a virtual and connected by software with the virtual outputs of group two Only the inputs 1 and 2 are fast inputs and can be used for the DR and PS commands 2 output groups at what the second group is virtual As of version 2 004 Now 16 virtual inputs and 16 outputs are available The output group 2 is linked to input group 3 to be compatible with existing programs The output group 3 is linked also to input group 3 The additional outputs are then linked on group 4 together The virtual inputs and outputs have the same numbering with all systems PMCprimo 2 2 3 input groups at what the third input group is a virtual and connected by software with the virtual outputs of group two Only the inputs 1 to 4 of input group 1 are fast inputs and can be used for the DR and PS commands 3 output groups at what the second group is virtual PMCprimo 16 3 input groups at what th
189. r message and enters the motor off state PMCprimo must be returned to position control mode before any further motion commands are accepted by PMCprimo See the Mode commands page 27 for details of the MO motor and PC position control commands The value is defined in encoder counts TOnn Set timeout Range 1 to 65535 Default 500 This command sets a monitoring for the encoder signals The type of monitoring depends on bit 6 of the CW command see page 48 Bit 6 of CW command is 0 When PMCprimo expects the motor to move and the encoder position does not change for a period that exceeds the timeout then PMCprimo prints a motor timeout error message and goes to the motor off state PMCprimo must be returned to position control mode before any further motion commands are accepted The value is defined in this case in milliseconds Bit 6 of CW command is 1 When PMCprimo expects the motor to move and the encoder position does not change for a period that exceeds the demand position then PMCprimo prints a motor timeout error message and goes to the motor off state PMCprimo must be returned to position control mode before any further motion commands are accepted The value is defined in this case in increments LHnn Set position limit high Range 4 000 000 As of version 2 004 new range for n 2 000 000 000 Default 4 000 000 As of version 2 007 Default 4 194 304 This command sets up a user
190. r Mask trigger variables This command masks a specified trigger variable or all trigger variables if no variable name is given The VX command shows the current mask enable state of all trigger variables If a value is assigned to a masked trigger variable after enable with the command EV the defined sequence is executed BV var Inhibit trigger variables This command inhibits a specified trigger variable or all trigger variables if no variable name is given The VX command shows the current mask enable state of all trigger variables If a value is assigned to a masked trigger variable after enable with the command EV the defined sequence is not executed EV var Enable trigger variables This command enables a specified trigger variable or all trigger variables if no variable name is given The VX command shows the current mask enable state of all trigger variables Reference Manual PMCprimo Page 185 LV LB LP Page 186 8 Command Reference List variable value If LV is entered PMCprimo lists all the currently defined with their values If the name of the variable itself is entered PMCprimo lists the value of the specified variable Example 1 PMCprimo User Comment List value of SPD Current value of SPD is 5000 O0 1 gt SSPD lt CR gt s SSPD 5000 0x00001388 0 1 gt Example 2 PMCprimo User Comment 0 1 gt LV lt CR gt List all variable values SBCD 12
191. r map 1X the demand position of the slave is calculated master position minus differential master position There is no link between the masters necessary Reference Manual PMCprimo Page 83 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Page 84 8 Command Reference This bit controls what data from the master axis give the demand position of the slave Normally the slave is set up to follow the master demand position as this gives smoother motion on the slave axis 0 Slave follows the demand position of the master 1 Slave follows the actual position of the master This Bit defines if the correction of the reference error is made on the master or slave 0 The correction of the reference error is made on the real master 1 The correction of the reference error is made on the slave Enhancement as of version 2 000 In speed mapping it is possible to restrict the slave velocity to a maximum value of SV and a minimum value of SS The bits 2 and 3 of MW for definition of direction are active in this case 0 Function speed limit is not active 1 Function speed limit is active if bit 4 of MW is set to 1 not used This bit enables the Software Differential The demand position of the slave depends on the sum or the difference of two master axes 0 Software differential disabled 1 Software differential enabled This bit controls whether the sum or the d
192. re given decimal or hexadecimal to the system Decimal numbers are entered as signed or unsigned assumed positive numbers For entering hexadecimal you must prefix 0x Negative hexadecimal number have a minus sign Leading zeros may be omitted when entering values The normal character set consists of the letters A Z and a z the numbers 0 9 and _ and space characters Commands may be sent in either lower case or upper case Lower case commands are converted to upper case before storing as command sequences or function input strings Multiple command strings may be entered as one command line with the individual commands separated by a delimiter character The character must be used as the command delimiter v Example Q 0 1 gt ch2 mr2000 wt500 lt CR gt The delimiter between the command strings is the sign The maximum line length is 200 characters The backspace character is used to remove characters from the current input line Other non printing characters are simply echoed and have no effect The escape button is able to stop a printing command or the command command see page 168 for a help listing Reference Manual PMCprimo Page 11 Page 12 7 Commands Any characters at the beginning of an input line are ignored This is to prevent any errors when using a modem link to a remote system The standard hangup character sequence is and this would otherwise leave the system w
193. red The command CT can t used in speed mapping bit4 of MW and in tension control Masterposition timeout Range 4 to 10 000 milliseconds From version 2 006 Range 0 to 1000 milliseconds In the PMCprimo network the master position is transferred all 4 milliseconds During the 4 milliseconds the positions for the clock of 1 millisecond are interpolated For monitoring the transfer of master positions with CANopen the command MT can be used If no position is received in the defined time MT an error message is given out and the motor will be switched off Enhancement as of version 2 002 It is possible to make an assignment to a variable Reference Manual PMCprimo 8 Command Reference 8 7 WTnn Reference Manual PMCprimo Wait command The wait commands are most useful in sequences The wait command is a Host command The number of wait commands which are executed in parallel is not limited The command WT is a host command PMCprimo doesn t return a W status message to indicate that it is waiting on a specific channel Wait for time Range 0 to 65535 This command tells PMCprimo to wait for the given time before proceeding to the next command The wait time is specified in milliseconds Example Waiting for 2 seconds PMCprimo User Comment O 1 gt MA2000 WT2000 MA0 lt CR gt The motor moves to position 2000 waits 2 seconds 0 1M and moves to position 0 The wait command starts 0 1M i
194. rimo User Comment O 1 gt I1I1 2 XS PRG3 EL XS PRG21 lt CR gt If input line 2 in byte 1 is low PMCprimo executes PRG3Q if input line 2 in byte 1 is high PMCprimo executes PRG21 Reference Manual PMCprimo Page 125 8 Command Reference IT If motor status true do command line If motor status true do command line This command allows the user to specify that a command or command line is conditional on the current motor status If the motor is switched on the condition is true the remainder of the command line is executed If the motor is off the remainder of the command line is skipped and execution proceeds to the next line of input either the next line of a sequence or new input commands The IT command may be followed by the EL command If the motor is on PMCprimo executes the commands following IT up to the EL command or end of line which comes first If the motor is off PMCprimo executes the commands following EL up to the end of line The EL command must appear on the same line as the IT command except in a sequence where it may also be the first command on the line following IT Example e PMCprimo User Comment Q 0 1 gt IT CO1 3 lt CR gt Output 1 3 is set because the motor is switched on 0 1 gt IO t g n If output true do command line Range t 0 to 59 depends on number of nodes or no value Range n 1 to 8 Range g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3
195. rom PMCprimo to the user The following languages are available at the moment ee SYb Set system prompts Range n 0 or 1 Default 0 Setting SY to 1 inhibits the normal echo of characters sent to the terminal The error messages are displayed only with there error numbers Reference Manual PMCprimo Page 169 8 Command Reference 8 13 Phase Advance DAT Ton A Set phase advance scale factor Range t 0 to 59 depends on number of nodes or no value Range g 1 to 2 PMCprimo Drive 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Range n 1 to 8 Range X 0 to 65 535 Default 0 The phase advance feature is mechanism for shifting all position trigger output signals programmed on the current axis by some amount dependent on the instantaneous measured speed The definition belongs to the output Lon The phase advance is defined as a shift proportional to the current speed of the motor This command sets the scale factor between the measured speed and the actual phase advance The scaling of the phase advance is given by the expression phase advance speed 256 X PA 256 where the axis speed is measured in encoder counts per second For example with a measured speed of 20 000 counts per second a value for PA of 500 gives a phase advance of 153 encoder counts Page 170 Reference Manual PMCprimo 8 Command Reference Position output with PAO level output n 500
196. row gt defines the variable on its left as a trigger variable such that each time the variable is updated the value of the variable must not change the sequence after It is important to make sure that the triggered commands do not cause the trigger variable to be updated otherwise PMCprimo will enter an endless loop when the trigger variable is first updated Enhancement as of version 1 007 With 1 after the program name the value must be changed to start the sequence With 0 or nothing after the program name no change of the value is necessary to start the sequence Example e PMCprimo User Comment Q 1 gt SPD gt PRG1 lt CR gt Each time SPD is updated the sequence PRG1 is started To remove the trigger variable definition the variable and gt should be entered at the end of line with no following commands After start up of PMCprimo all trigger variables are inhibited The command EV enables the trigger variables Reference Manual PMCprimo Page 183 IA var n 8 Command Reference Define Variable Array Define variable array Range n 1 to 255 Command as of version 2 000 This command defines a variable array Every element of it can stored extra in the SRAM Every element is a surrogate variable and can also get global Example PMCprimo User Comment 1 1 gt IA SSPD 5 lt CR gt Define variable array SPD with 5 elements lst SSPDl2 13 The third element is assigned an value Lal S
197. rror and the actual current is received as of version 2 000 chose the PMCtendo DD4 with pd and consider the reference With a CAN Baudrate of 1 Mbit s and a cycletime of 1ms do syncsrc 3 and fpga 3 with the chosen PMCtendo DD4 As of version 1 009 FS 11 and 12 Hiperface relative and absolute In comparison with FS5 6 or 7 8 a higher resolution for the interchange of the demand values is used Standard Interchange of demand value in1 1 min With FS11 and 12 follow resolution is set NB28 28 bit 1 140 1 min maximal resolution PMCtendo DD4 NB27 1 70 1 min NB26 1 35 1 min NB25 1 17 5 NB24 1 8 75 1 min NB23 and less 1 1 min The resolution was selected in this way with it the values of KF see page 100 are in the range of 0 to 65535 With NB of 24 to 28 the KF and KP value see page 99 is always the same because of the division with 2 The optimum KF value in this case is 32812 With NB23 and less the KF and KP value must adjust as normal Page 152 Reference Manual PMCprimo 8 Command Reference As of version 2 000 Ei This extension operates only with PMCtendo DD4 version 4 94 and higher FS 21 22 and 23 demand position with CANBus The position control is made by PMCtendo DD4 The position control of PMCprimo KP KF ect is not in use With FS21 and FS22 the latch function of PMCtendo DD4 can be activate Therefore the drive command
198. ry Sequences entries may also include commands to execute other sequences to allow sequences to be nested To end the sequence use the NS command and PMCprimo then returns to normal operation The sequences can be nested up to 30 Every line of a sequences includes one command one command string or a comment started with The NS command exits the enter sequence command The name of a sequence starts always with a letter The length of the sequence name is limited 3 up to 20 signs The only sign except letters and numbers is the underscore sign Example 1 PMCprimo User Comment Si 0 1 gt ES PRG10 lt CR gt Enter sequence PRG10 Q 002E IN lt CR gt Initialise channel in negative direction 003E RP3 MR100 lt CR gt Move relative 3 times 100 counts in positive direction 004E MA2000 lt CR gt Move to absolute 2000 005E NS lt CR gt Exit enter sequence 0 1 gt Example 2 delete a sequence 8 PMCprimo User Comment Q 0 1 gt ES PRG10 lt CR gt Enter sequence PRG10 002E NS lt CR gt Exit enter sequence 0 1 gt Page 54 Reference Manual PMCprimo 8 Command Reference NS End of sequence This command is the command for PMCprimo for the end of a sequence The last command in every sequence is the NS command LOOP Loop for sequence The name LOOP is reserved for a cyclic sequence A sequence named LOOP is running cyclic with low priority After power up the LOOP starts not automatically T
199. s subject to the same rules Sequences are automatically split up into a number of sub sequences which are executed on the individual channels Example for trigger variable e Q 0 1 gt TRIGVAR gt TEST The variable TRIGVAR is defined as a trigger variable 0 1 gt EV STRIGVAR The trigger variable is enabled 0 1 gt STRIGVAR 0 The sequence TEST is started with the variable assignment Reference Manual PMCprimo Page 15 8 Command Reference 8 Command Reference 8 1 Data Commands Commands for data management and system configuration of PMCprimo CD Change the operating mode Change Operating Mode The command defines the operating mode of PMCprimo The following operating modes are available e STANDALONE PMCprimo without network standard e HOST NODE If PMCprimo is used in a network one network member must be set to Host Node e NODE If PMCprimo is used in a network for every network member this operating mode must be set except node 0 Host Node Example Gedi cd E Bakes Actual configuration Operate Mode HOST ACHSE Change Operating Mode Y N lt 0 gt STANDALONE lt I gt HOST lt 2 gt SLAVE lt 3 gt HOST HOLLAVE Enter Operating Mode 0 lt CR gt Please reboot system Ei Data will be lost if you change the operating mode It is also possible to delete the PMCprimo program with this function Example eck vod Oe Actual conti guration E Operate Mode HOST ACHSE Q Change
200. s to the value 64 As a result the shift can be adjusted in steps of 15 625 micro seconds The average of the setpoint velocity is used for the calculation The time interval set with the function block SetVelocityAveragingTime is used Reference Manual PMCprimo Page 115 FWbb Page 116 8 Command Reference Set reference filter options word Range bb O to 1111 1111 Default 0 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command sets the options for the reference filter and for expanded reference options bit 0 is right and bit 7 left Bit 0 This bit enables disables the filter parameters ZH ZL FH FL 0 Parameters ZH ZL FH FL disabled 1 Parameters ZH ZL FH FL enabled Bit1 This bit defines whether the RJ see page 115 is executed relative from the reference signal or is executed at the absolute position of the channel 0 PMCprimo executes RJ relative to the reference signal 1 PMCprimo executes RJ at the absolute position of the channel Bit 2 not used Bit 3 not used Bit 4 not used Bit 5 not used Bit 6 not used Bit 7 not used Reference Manual PMCprimo 8 Command Reference ZHnn Set reference input true high limit ZLnn Set reference input true low limit FHnn Set reference input false high limi
201. sition correction facilities for use with position reference input signals e Digital input and output commands chapter 7 11 These commands directly control the digital input and output lines e Configuration commands chapter 7 12 These commands configure the digital input and output lines for various automatic functions e Display commands chapter 7 13 Reference Manual PMCprimo 7 Commands These command outputs parameter values and status information via the serial port e Phase advance commands chapter 7 14 These commands control a speed dependent phase advance mechanism for slave channels in mapping and for position trigger outputs e Analogue control commands chapter 7 15 These commands are used to set up closed loop tension control e Variables chapter 7 16 Variables and expressions can be used in place of constants for most command parameters to increase the flexibility of PMCprimo They are of particular use in conjunction with an operator s panel or a bus system In PMCprimo 2 2 and 16 PMCprimo Drive2 optional it is possible to save variable values in the battery buffered RAM These values are available after turning the device on and off The actual encoder value is also saved in the RAM The PMCprimo 16 PMCprimo Drive2 optional has a CompactFlash card on which all values can be saved additionally The input of drive parameters for the PMCprimo Drive 2 can be done directly with PDrive or PTerm A
202. sition is set to zero Example 1 PMCprimo User Comment O 1 gt MA 5000 ZC lt CR gt The motor moves to 5000 and 0 1 gt than the position counter is set to zero Example 2 PMCprimo User Comment 0 1 gt ZC1000 lt CR gt The position counter is set to 1000 0 1 gt Reference Manual PMCprimo Page 107 8 Command Reference SBnn Set position overflow bound Range 1 to 4 000 000 As of version 2 004 new range for n 1 to 2 000 000 000 Default 4 000 000 As of version 2 005 new default value 4 194 304 This helps to avoid problems with absolute encoders because therefor the bound must have a value of 2 This command sets upper and lower bounds on the absolute position of the channel If the position of the motor exceeds the upper bound then the position bound value is subtracted from the current position If the position goes below the lower bound the bound value is added to the current position to keep the position within bounds Note that this does not limit the range of any move commands but only changes the value of the final position for moves outside the position bounds This is illustrated by the example below There is also a 32 bit position overflow counter which is incremented when the position passes the upper bound and is decremented when the position passes the lower bound This effectively provides a 32 bit high order extension to the absolute position The overflow count may be displayed and reset to zero by t
203. sition passes the lower bound If no value is given the current value of the bound overflow counter is displayed RLnn Set reference repeat length Range 0 to 4 000 000 As of version 2 004 new range for n 0 to 2 000 000 000 Default 0 This command sets the reference repeat length This is the position at which the channel expects to see the reference position signal If RL is set to zero then the channel uses the bound position set by the SB as the expected reference position If RL is set to some value greater than zero then it is used as the expected reference position instead of the bound value When a reference signal is detected the position is compared with the nearest multiple of the reference repeat length instead of to the nearest zero or bound position This allows the expected reference position to be set independently of the bound position Note that if RW bit 7 is set to 1 then the RL value has no effect and the reference error is calculated relative to the zero position A typical example where this is useful is a lead screw application where the encoder is mounted on the motor and provides a marker signal every turn of the motor while the bound value must be set larger than the total travel required by the motor Using the RL command the reference repeat length is set to the number of counts per turn of the motor while the position bound is set as required by the linear motion Each en
204. software license key 8 Command Reference New software keys can be set and shown with this command The following software options are available only at additional charge e Motion Generator e Soft PLC In devices which where ordered with a special option the according software keys are already unlocked The command SK shows the serial number of the device and the enabled options It enables to enter a software key or to lock the actual options To upgrade a software option you can order a software key and unlock it with SK To lock an option the software key must enter a second time This example deletes a software key 0 1 0 1 sk lt CR gt 0 1 Serial number 000164 Installed Softwarekeys Motion b976c5 New Key bo 76c5 lt CR gt Key Installation successful lt CR gt 0 1 Reference Manual PMCprimo 8 Command Reference 8 2 Mode commands PC Enter position control mode This command activates the position control mode of the motor This command puts the current motor channel back into the normal state with the motor position continuously controlled after the MO motor off command has been executed or any motor error has occurred The prompt character gt is returned to the terminal program e g Pterm in position control mode With active position control mode in PMCprimo 2 2 and 16 in the first two channels a relay is switched over for use a drive enable signal if required
205. srrrrsrrrrenne 67 Figure 17 Position map for a cyclic machine n nnnnennnnennnnsnnnnsrrnnsrrnrsrrrrsnrrrsrrrrsrrrrsrrrennne 68 Figure 18 Effects of map base and map offset nn0nnn0nnnennnennnnnnnrnnnnrnnnrnnrrrnnrrnnrnnnrrnnrene 69 Figure 19 Example setup for software dfferental 70 Figure 20 Example setup of software differential complex ccccseeeeseeeeeeeeeeeeeneeeeesaees 70 Figure 21 Position MAPPING AS AN EQUATION ccc ceccceeeceeeeeeeeeeeeseeeseeeeaeeeseeeseeeeseeeseess 71 Figure 22 Position mapping as an equation dfferental 71 FIQGUIE 23 Sofiware CIUC ccc csecccex ces vevcncxucsicuesce veceneucbaxeeSiavastecednseavestsesendesvaxendeabastesstadaeecerecse 85 Figure 24 Ted E 87 Figure 25 Wait for input ne 88 Figure 26 Wait for absolute POSITION cc ceccccceeeeceeeeeeeeeeeeeeeaeeeeeseeeeeeseeeeesaaeeeesaeeeeeaeeseesaaes 89 Figure 27 Wait for relative position 90 Figure 28 Monitor output functions this diagram enottoscalel 102 Figure 29 Cooperation of the commands after detecting a reference signal 6 105 Figure 30 Cooperation of the commands reference error correction ssssrsessrreeer11ea 106 Figure 31 POSITION elei Le 108 Figure 32 Reference Correction With HVT 113 Figure 33 Reference Correction With HVT 114 Figure 34 Reference width checking with ZH ZL FH and FL ccc ccceecceceeeeeeeeeeee ees 117 Figure 35 Mask input with MI comman
206. stop Without parameter nn the ST ramp is done immediately With parameter nn it is made a move to the target position nn It is possible to do it by every motion During this time PMCprimo gives the C prompt This command can be used for clutching out of mapping to a defined position Enhancement as of version 2 004 In the past the command stop to position example ST0 with mapping the active map was only kept until the deceleration was started Then a linear ramp ramp depending from CT or CL was used to stop the slave If the master was stopped in that time then the slave still moved to the target position because the master slave link was already opened The slave moved therefore sometimes more than the master Now with MW bit 6 it is possible to maintain the master slave link also while decelerating until the final target position is reached This means that the slave is stopping as the master and then waiting until the master is moving again until the slave reaches the position The setting of CL is always used This means the bit 5 of MW CT CL setting see page 81 is ignored because with command CT it is not possible to reach the target position The ST command is executed at the current channel If it is necessary to stop all channels then the GS see page 63 global stop command should be used With the command AX see page 51 a sequence can abort without stop the m
207. t 0 1M The velocity is initially 200 counts sec The motor moves 0 1W to position 2000 and at position 1500 the velocity is 0 1M changed to 100 counts second 0 1 gt V absolute position 1500 a 200 100 Figure 26 Wait for absolute position Reference Manual PMCprimo Page 89 8 Command Reference WR nn Wait for relative position Range 8 000 000 As of version 2 004 new range for n 2 000 000 000 This command is similar to the WA command above It tells PMCprimo to wait until it reaches the specified position relative to some previous position The position is specified in increments The wait relative command starts a WR position counter If the position counter reaches the value of nn the WR command is finished Example 1 Change of velocity after reaching a specified position 8 PMCprimo User Comment 3 O 1 gt VC WR5000 SV1000 WR2000 ST lt CR gt 0 1V The motor moves with constant velocity 5000 counts 0 1W changes the velocity moves 2000 counts and 0 1V stops the motor 0 1S 0 1 gt 1000 counts sec Tellative position A n 2000 500 counts sec relative position 5000 Figure 27 Wait for relative position Page 90 Reference Manual PMCprimo 8 Command Reference WF Wait for reference input This command sets PMCprimo into the wait state until a reference input is seen It may be useful in sequences to allow the reference actio
208. t FLnn Set reference input false low limit Range 0 to 65535 As of version 2 004 new range 2 000 000 000 Default 0 These four parameters define limits on the width of the reference input signal seen by the DR input They allow the channel to respond to a valid reference signal only if it matches the width limits given The reference input is accepted as valid only if it is false for a distance which is between FL and FH and it is then true for a distance between ZL and ZH The input is therefore recognized as valid on the trailing edge of the reference signal when it switches from true to false However the reference error for initialisation and position correction purposes is calculated relative to the leading edge of the input signal when it switches from false to true as defined by the DR command The distance limits are specified in encoder counts To disable any threshold test set the limit value to zero For example to check that the reference input is false for at least 200 counts with no maximum false distance set FL to 200 and FH to 0 To disable reference width checking completely and return to normal operation set all four values to zero This feature is used to pick out a valid reference pattern from other signals that may be detected by the reference sensor It is particular useful in printing and registration applications Summary Reference input is accepted if e ZL
209. t clutch time is set to 16ms 0 1 gt projected master master and slave position synchronised 2 l v master ss Slave clutch time t 16ms Figure 23 Software clutch Reference Manual PMCprimo Page 85 CLn Cin MTn Page 86 8 Command Reference Set clutch length Range 0 to 4194304 As of version 2 004 new range for n 0 to 2 000 000 000 Default 0 This command sets the acceleration ramp length for the Software Clutch facility The software clutch is enabled by bit 0 of the MW see page 81 the map options word The software clutch is defined as a length with CL if bit 5 of the MW is set to 1 It allows a slave channel to be mapped onto a master axis that is already moving The value of n 4194304 is the maximum length and n 0 is the minimum length The parameter is set on the slave but the given length depends on master counts Example PMCprimo User Comment 0 1 gt CL2000 lt CR gt clutch length is 2000 master counts 0 1 gt Set clutch window Range 0 to 65 535 increments Enhancement as of version 1 008 This command defines a window for software clutch If CI O and the way for alignment is lower than CI the slave makes an alignment move lf CI O and the way for alignment is higher than CI the slave is using software clutch Bit 1 of the MW command is ignored if CI 0 But bit 2 and 3 is used for the CI command If the master is moving CI is igno
210. t g 1 to 2 PMCprimo Drive 2 2 is virtual 1 to 3 PMCprimo 2 2 3 is virtual 1 to 3 PMCprimo 16 3 is virtual Default n 1 to 8 Begin velocity X1 4 000 000 as of version 2 004 40 000 000 End velocity X2 4 000 000 as of version 2 004 40 000 000 This command defines the specified output line as an output depending on the velocity It must be followed by two velocity values These define the range of velocity within which the output line goes to the state specified by the sign in the command A line which has been defined as a velocity trigger output may be returned to normal operation by entering this command without the sign Ei The output and the axis must be from the same node Example v PMCprimo User Comment Q 0 2 gt VO2 5 500 10000 lt CR gt This command defines that output 2 5 is low if the 0 25 velocity of channel 0 2 is between 500 and 10000 0 2 gt VO2 5 lt CR gt Undefine VO 0 2 gt Page 146 Reference Manual PMCprimo 8 Command Reference VHnn DBnn BO t g n OWlt g n Define hysterese for velocity trigger output Range nn 0O to 4 000 000 As of version 2 004 new range for nn 2 000 000 000 Enhancement as of version 1 007 The command VH is used for a hysteresis of the command VO The hysteresis is added to the switching velocities to prevent the velocity output to switch very fast without moving for example if the actual velocity changes 1 increment around the switc
211. t of these commands are channel specific The number of input and output lines depends on the unit for example PMCprimo Drive has 12 digital inputs and 8 digital outputs The input and output lines on PMCprimo are divided into bytes of eight lines and all commands for the input and output lines take a node and byte number prefix before the line number If no node number is given PMCprimo takes the actual number Every line address must have a prefix with the byte number Example PMCprimo User Comment 0i SO122 Output 2 of byte 1 on node 0 set to logic high E teg EE E Set all unused outputs of byte 1 on node 0 to logic high 3 1 3CO235 Clear output 5 of byte 2 virtual output on PMCprimo Drive 0 1 RI2 1 1 Read state of inputs from byte 1 on node 2 0 1 RIO 2 Read state of inputs from byte 1 on node 0 0 1 MI3 7 Mask input line 7 from byte 3 on node 0 0 1 EI2 enable all inputs from byte 2 on node 0 Reference Manual PMCprimo Page 135 8 Command Reference DL t g n Page 136 Define limit switch input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 to 8 This command defines the specified input line as a limit switch input The sign defines which logic state represents the out of limit condition When the line goes to the specified state PMCprimo stops the motor immediately prints a limit switch detected error message and goes to the motor off state A line w
212. te 1 Input 2 is position snapshot of channel 4 Page 137 8 Command Reference DI t g n Name Define function input Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range n 1 tp 8 Name Name of sequence This command defines a specified input line to have the given function The sign specifies the active state of the input such that PMCprimo executes the function when the input changes to the specified state The command function calls a sequence The sign defines which logic transition is used to execute the sequence It is possible to define a sequence for the rising edge and a sequence for the falling edge at the same input line Note that this is not possible if the input line is defined as a reference input or position snapshot An input function may be returned to normal operation by entering this command without the sign Example 1 v PMCprimo User Comment Q 0 2 gt DI2 2 TestPrg lt CR gt This command line defines that the falling edge of input 2 2 starts sequence TestPrg Note that it is not allowed to start a running sequence Error message Cannot execute sequence lt gt while it is in use Page 138 Reference Manual PMCprimo 8 Command Reference NG TI g bb Define input mask group Range t 0 to 59 depends on number of nodes or no value Range g 1 to 3 3 is virtual Range bb 0000 0000 to 1111 1111 default 0 This command specifies a set of input
213. ted after executing the ML command The correct sequence of operations is shown in the following example Example PMCprimo User Comment 0 1 gt SB4000 lt CR gt Set bound 4000 channel 1 0 1 gt CH2 lt CR gt Change channel 2 0 2 gt SB5000 lt CR gt Set bound slave 5000 0 2 gt ML1 lt CR gt Map link to channel 1 0 2 gt BR lt CR gt Calculate scale map 0 2 gt SM lt CR gt edit scale map SM 5000 4000 AVn x Set map base offset scale factor adjustment Range n 0 to 200 As of version 2 006 New parameter x 0 to 6 Default 0 This command sets the adjustment speed for any change in the map base map offset MB MF command see page 77 or map scale factor CSN command see page 78 values entered while the axis is executing a map The AV command is used to make large adjustments smoothly by spreading them over several time steps If AV is set to zero then any map base offset or scale factor adjustment is performed immediately in one step If AV is not zero and the axis is executing a mapping then the adjustment of map base or offset is limited to a set maximum speed given by the sum of the adjustment velocity and the current instantaneous motor velocity The adjustment velocity is a power of two fraction of the current motor speed defined by the value of AV This means that the adjustment speed scales automatically with the machine speed such that the value of AV may be chosen for correct op
214. ter aa One Shot Timer with restart as of version 2 004 pe In counter modes 0 to 3 the counter is incremented or decremented when either the SO command is given for the output or any other defined output function on the same output goes true If it is an up counter its initial value is zero and its final value is given by the count parameter If it is a down counter its initial value is the count parameter and its final value is zero On the first count the output line is set to true and the counter is started and set to its initial value When the count is incremented or decremented to its final value the output line is reset false and the counter is stopped and reset to its initial value The counter may be stopped and reset at any time by using the CO command Page 130 Reference Manual PMCprimo 8 Command Reference In timer modes 4 and 5 the timer is triggered in the same way as in counter mode but once triggered it counts once per tick until the final count is reached The output line is set true when the timer is triggered and is reset false when the timer reaches the final count In one shot modes 0 2 and 4 the timer counter behaves as described above In cyclic modes 1 3 and 5 it operates in a slightly different way When the timer counter reaches its final count the output line is toggled to its opposite state the counter timer is reset to its initial value and continues to run The output line changes
215. the final position over which the motor moves a the slow speed set by the SS command This may be used to minimise overshoot at high speed and accelerations This command is only effective when VJ see page 43 is set to zero Example v PMCprimo User Comment Q 0 1 gt SC200 lt CR gt This command sets the creep distance to 200 units A 0 1 gt position move command will now start to decelerate earlier than normal such that the motor reaches the slow speed at least 200 units before the final required position Reference Manual PMCprimo Page 41 SSnn Page 42 8 Command Reference Set slow speed Range 0 to 4 000 000 As of version 2 004 new range for nn O to 40 000 000 Default 0 This command allows the user to set the speed of the slow creep to the final position if required The command is also used to set the slow speed to be used in slow velocity mode when VJ see page 80 is set to 1 It is specified in counts second The value of SS has to be smaller than SV see page 38 The set velocity of SS is used for an adjustment move to correct a reference error although the actual velocity of the channel is equal to zero SS is also used for adjustment velocity change of MB MF SM if the velocity of the master channel is equal to zero Example PMCprimo User Comment 0 1 gt SS100 lt CR gt Slow speed is set 100 counts second 0 1 gt SV area creep
216. ties are not relevant to a particular application they are provided to monitor the correct operation of the whole system and if the system gives an error then it is telling you something important The relevant commands are listed here SE Set maximum position error TO Get timeout LH Set high position limit LL Set low position limit DL Define limit switch inputs OB Define motor brake output BD Set brake delay time Please read thoroughly the descriptions of these commands at least if no others 10 3 Position Encoder The system is designed for use with digital incremental position encoders These encoders provide two signals in quadrature one is phase shifted by 90 relative to the other The system can monitor these signals and determine both the direction and distance of any movement The direction is defined by which signal leads the other The normal definition is such that the track A encoder input leads the track B input for movement in the positive direction The system generates four counts for each complete cycle of the input signals such that an encoder with 1000 lines per turn is seen as generating 4000 counts per turn The encoder input signals are all fully isolated The standard systems are designed for use with encoders having complementary line driver outputs for maximum noise immunity The position encoder feedback is fundamental to the correct operation of the system and so all precautions against noise are justifi
217. time Cannot execute program lt gt because it is not defined Reference timeout Active program lt gt node line Masterbound 40 41 42 43 Input number greater than 8 At least 2 pairs of values for mapgeneration must be defined 46 47 48 49 50 51 52 53 54 55 56 57 58 59 Error mapgenerator Variable MS not defined Error mapgenerator Wrong value for MX Error mapgenerator Wrong value for MY Gate input not possible Reference Manual PMCprimo Page 193 nm Output is already defined as bound overflow output 61 62 64 65 67 0 9 Status and error messages Gei fo Counter input not possible MLn Cannot link channel to itself Output is already defined as AO Position snap shot already defined at this channel j The fast input is already defined Zero marker input is defined Position snap shot already defined at this channel Reference input already defined at this channel Error mapgenerator Variable MZ not defined Output not defined Ouput is already defined as reference correction output me Input is already used from another channel Error mapgenerator Variable MX not defined Error mapgenerator Variable MY not defined 107 Error mapgenerator Variable MX gt MY 81 82 83 84 85 87 88 91 92 93 94 95 97 100 101 102 103 104 105 06 Page 194 Reference Manual PMCprimo 9 Status and error
218. tings the actual position is not send Now the position is read with DP and the real actual position is shown Note The command DM scope is not changed The improvement is done only for the command DM Display demand position Displays current demand position in encoder counts Display velocity Displays the current measured velocity of the channel in encoder counts per second If speed averaging is enabled by the VT command see page 172 then the displayed velocity value is the average measured velocity with the time base of VT Display following error Displays the closed loop following error in encoder counts This is provided for applications which need to read the following error into a variable Display reference error Displays measured absolute position error relative to the last valid reference input in encoder counts For more details see section for reference commands on page 103 Display actual reference error Command as of version 2 000 Displays the position error which is really adjust in increments The command DF whereas shows the measured error For more details see section for reference commands on page 103 Reference Manual PMCprimo Page 161 DS DA DT DO GM GW Page 162 8 Command Reference Display snapshot position data Displays the last absolute position measured when a snapshot input signal was detected For more details see the PS configuration command o
219. to the map table and then adding the offset value in the table to the master position In a simple case this allows any linear gear ratio to be defined between the master and the slave axis This linear gearbox is inside PMCprimo as map table LINEAR In more complex applications it allows the system to mimic the action of non linear systems where the position of the slave motor has some more complicated relationship to the master axis position This can be used to replace eccentric gearbox mechanism crankshaft linkages cam operated pushrods or almost any mechanical linkage or transmission system with equal ease simply by defining the required map table l GE E mapping Slave position Ja Nonlinear mapping p i P a 1 2 mapping Master position Figure 15 Simple position maps Page 66 Reference Manual PMCprimo 8 Command Reference On a machine where both master and slave axes are only moving from point to point within a finite range of positions for example on a XY table the mapping simply needs to be defined over the range of master position actually used and the mapping itself then defines the slave position range This is the simplest application In such a system there is no need to set up the position bounds on either channel They may be left at the default value since the motor positions are constrained within fixed ranges and the motors cannot move continuously in one direction The diagram below shows a
220. treated as an user error and PMCprimo simply prints an error message 1 The reference timeout error is treated as a motor error and PMCprimo goes to the motor off state when a reference timeout occurs Bit 1 This bit defines if a reference limit error is treated as a motor error or as a motor off error see LR command page 112 0 The reference limit error is treated as an user error and PMCprimo simply prints an error message 1 The reference limit error is treated as a motor error and PMCprimo goes to the motor off state when it occurs Bit2 This bit defines if a reference correction overrun error is treated as a motor error or as a motor off error 0 The reference correction overrun error is treated as an user error and PMCprimo simply prints an error message 1 The reference correction overrun error is treated as a motor error and PMCprimo goes to the motor off state when it occurs Bit 3 This bit defines if an analogue input out of limits error is treated as a motor error or as a motor off error 0 The analogue input out of limits error is treated as an user error and PMCprimo simply prints an error message 1 The analogue input out of limits error is treated as a motor error and PMCprimo goes to the motor off state when it occurs Bit 4 This bit controls if the reference timeout errors see RT command page 95 as user errors are displayed The error message is displayed if the error is a motor off err
221. ual PMCprimo Page 187 Wt n Page 188 8 Command Reference Set wait status variable Range for t 0 to 59 depends on number of nodes or no value Range forn 1 to 3 PMCprimo Drive 1 to 4 PMCprimo 2 2 1 to 20 adjustable with command CD PMCprimo 16 1 to 10 adjustable with command CD PMCprimo Drive2 For every channel exists a predefined wait status variable The name is composed with following details WNode Channel The wait status variable stores the actual status of the channel A wait status variable can defined as a trigger variable It can made a value assignment to a wait status variable See chapter 9 10n page 191 for the different values Reference Manual PMCprimo 8 Command Reference 8 16 Commands for CANopen network Messages are send in a CANopen network with follow objects SDO Service Data Object It s a data element with low priority It is used to configure a node The transfer is with reconfirming PDO Process Data Object It s a data element with high priority It s for real time data exchange The transfer is without reconfirming It is possible to write and read SDO s with special commands QSt i s c n Send SDO Parameter t CAN node Parameter i Index Parameter s Sub index Parameter c Number of Bytes Parameter n value With this command PMCprimo can access an object directory of a CAN device via SDO for example to write demand values or to configure the device Please r
222. ue is retained until the unit is turned off or the previously saved values are restored The changed values are not automatically saved but may be saved with the SP command if required PTnn Encoder filter Range O to 10 000 It is possible to average the encoder signals over a defined space of time Noisy encoder signals can be made to smooth signals This command can be only used in status motor off MO If there is a torque control maximaum on a master axis so t this fault can be seen also on the slave axis With this filter the effect can be reduced With PT changes of velocity are registered at a later time It also comes to a static offset for the averaged position Reference Manual PMCprimo Page 47 8 Command Reference CWbb Set control word Range 0 to 1111 1111 Default 0001 0000 Enhancement as of version 2 001 It is possible to set every bit with the wild card X It effects that the value of this bit will not be changed This command allows the user to write a value into the control word for the current channel Note that the leading zeros may be omitted The control word allows the state in which the axis module powers up to be defined and allows the sense of the encoder input and of the command signal output to be reversed The control word bit functions are described below Bit O is right and Bit 7 left NOTE The encoder and command signal sense should only be changed while the module is in t
223. uery is assigned to the variable Example PMCprimo User Comment 0 1 gt SPD 5000 lt CR gt Set variable SPD to 5000 O 1 gt CH1 SPOS DP lt CR gt 0 1 gt Set POS to current position Variable number program assignment This command displays the program number of the sequence Name This number is an intern address which can be used to start a sequence NP can be assigned to a variable Example PMCprimo User Comment 0 1 gt SVAR NP PRG1 lt CR gt The variable VAR is assigned with the program number PRG1 O 1 gt XS SVAR lt CR gt The sequence PRG 1 is started Us Ls Variable map number assignment This command display the map number of the map Name This number is an intern address which can be used to start mapping NT can assigned to a variable Example PMCprimo User Comment O 1 gt SVAR NT MAP1 lt CR gt The variable VAR is assigned with the map number MAI 0 1 gt XM SVAR lt CR gt Mapping is executed with MAT 0 1 gt Reference Manual PMCprimo 8 Command Reference WV var Wait for write to variable This command tells PMCprimo to wait until a value is written to the specified variable before continuing with the command string or sequence Its not possible to use status or error variables for this command Its possible to use the predefined map variable MREADY This variable is used by the intern motion generator var gt PrgName 0 1 _ Define Trigger variable The right ar
224. ult value of 4 104 304 Drive Floating point numbers will be corrected command dependant commands 9 9 2 5 4 07 The error message Attempt to divide by zero now also shows the program and line number Now it is possible to find the exact program line which caused this error Additional CAN baudrate settings 16 165 The message Reference error reduced to maximum value not 112 shown if LR 0 LR TW New setting for TW command 15 00 Bit 5 of ZW controls whether SB has effects for the command WA Page 10 Reference Manual PMCprimo 7 Commands D Commands 7 1 General Notes All commands are two letters sometimes followed by a numerical parameter The syntax of this commands is described below Numerical parameters are denoted by n nn or m Parameters entered as a binary string 0 s and 1 s are denoted by bb All input commands or command strings are terminated by a carriage return lt CR gt Commands are given together with the numerical parameter to the system PMCprimo sends after a RETURN a prompt back This prompt includes follow informations actual node In separator actual channel actual state see configuration page 191 STANDALONE it is always 0 Commands without a numerical parameter show the actual value Example 1 command with numerical parameter 9 Q SV2000 lt CR gt Example 2 command itself SV lt CR gt SV 2000 Numerical parameters a
225. ved to a negative position and then PMCprimo is switched off and on then the position is calculated to a negative position In former versions the position was calculated to a positive position It is important that the motor is not moved more than the half bound length manually when the system is switched off Bit 2 Defines the profile of acceleration and deceleration 0 Trapezoidal profile of velocity for the commands MA MR VC and ST 1 Sinusoidal profile of velocity for the commands MAT MR VC and ST Page 48 Reference Manual PMCprimo 8 Command Reference Bit 3 Behaviour in case of motor error 0 Immediately motor off command MO 1 Motor makes an emergency stop command AB and after it motor off Bit 4 This bit defines the sense of the main analogue output for the motor command signal 0 The command signal sense is normal if the encoder is moved in the positive direction a negative output voltage is produced at the command output 1 The sense of the command signal output is reversed if the encoder is moved in the positive direction the command signal goes positive Bit 5 This bit defines the logical sense of the encoder input 0 The encoder direction sense is normal if encoder signal track A leads track B the motor is positive 1 The encoder direction is reversed if track A leads track B the motor is negative Bit 6 Command TO for encoder control 0 Command
226. ves a decrease in the output value Define analogue input type Range nn 0 to 2 Default 0 It s possible to choose between different input types for tension control ATO Analogue input is DA value AT1 Reference error is DA value AT2 Motor current is DA value Enhancement as of version 2 000 AT3 Analogue input is DG value see page 161 Define analogue range distance Range nn 0 to 65535 Default 256 This command defines or displays the distance between the analogue input high and low limits on the current channel called the analogue range distance It may be used to set this value for an axis that is not driven by the unit or to display the value measured by the XR initialisation function Define master axis analogue range distance Range nn 0 bis 65535 Default 256 This command defines or displays the distance moved by the current channel s master axis between the analogue input high and low limits called the master analogue distance It may be used to set this value for a master axis that is not driven by the unit or to display the value measured by the XR initialisation function Reference Manual PMCprimo Page 1 7 CR XRn AHnn Al nn Page 178 8 Command Reference Calculate initial ratio from analogue range distances CR calculates the ratio between the AR and MM values on the master and slave axes and uses the result as the map scale factor The rat
227. with other expressions using the amp amp and operators to give compound expressions An expression must be enclosed in brackets and it may also be necessary to use further levels of brackets inside the expression to ensure that sub expressions are evaluated correctly Ambiguous expressions in sequences may be resolved by PMCprimo listing a sequence will show the result with brackets inserted as necessary The following table shows the valid arithmetic and logical operators OoOo Er Negate a 2 Plus a 2 Log negation b 1 a b Bit by bit negation b 255 a b Multiply a 5 3 Divide a 5 2 Remainder a 5 2 Logical left shift Shift O from right The left bits get lost also the sign Logical right shift If a has a sign its shift from left Less than Greater than Less or equal Greater or equal Equal to Not equal to Bit by bit AND b 250 a b amp 15 a 10 Bit by bit XOR b 15 a b 2 Bit by bit OR b 15 a b 1 Logical AND a 5 4 amp amp 5 gt 4 Logical OR a 5 4 5 gt 4 Reference Manual PMCprimo Page 181 var nn NPName NTName Page 182 8 Command Reference Variable assignment The equals sign assigns the value or expression on its right to the variable on its left Assignment can be used to initialise a variable or to set a variable to a new value based on the value of some other variable If is followed by a command mnemonic which can be queried the result of the q
228. ywhere that a simple variable can be used Example The following example does a move to a position based on the product length GLEN and batch size 20 but allowing for bounds wraparound BND PMCprimo User Comment 0 1 gt MA SLEN 20 SBND lt CR gt If the product size is 600 counts and the bounds are 5000 counts the command would result in a move to 2000 Note the extra pair of brackets to ensure that multiplication takes place before the modulo operation Variables should not be used in place of parameters which include a or sign In particular setting variable A to 2 and typing DR A is not the same as typing DR2 and will give a syntax error In commands which take more than one parameter a variable can be used in place of either or both parameters Example Set scale map PMCprimo User Comment 1 gt PC 75 lt CR gt The variable PC is set to 75 1 gt SMSPC 100 lt CR gt The scale map is set to 75 100 1 gt Variable and arithmetic expressions must read and calculate before executing Therefore using variables for commands the execution is slower than using numeric values Reference Manual PMCprimo 8 Command Reference Variables can also be used in logical expressions These are used with the IF command to allow conditional execution of commands A logical expression compares two values using the lt gt lt gt operators to give a result of TRUE or FALSE It can be combined

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