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SERS Version V04 Installation and programming manual

1. Necessary parameters P1053 30r7 P1029 10r2 or3 Command POSR not possible Necessary parameters P1053 1 oder 2 P1029 0 St gra SERS SERS Parameter Option Pulse Input Electrical Gearing Function Hand wheel Encoder input Load angle control with correction of position Frequency measurement P1143 0 function disabled Pulses at digital input I 3 result in moving motor stepper driver clock input 2 as 1 but additionally with direction at digital input I 4 aktive negative direction 3 Pulses at digital input I 3 result in moving into positive direction Pulses at digital input I 4 result in moving into negative direction 4 Load angle control connection of a 2 channel encoder Channel A at digital input I 3 and channel B at digital input I 4 P1002 if the max load angle saved into P1057 exceeds the value in P1002 then a load angle error will be created depending on P1029 5 Pulses at digital input I 3 are measured as frequency result in P1146 Scaling factor input pulses P1144 Definitions as P1054 but regarding to P1143 pulses at I 3 and I 4 Time slot for frequency measuring P1145 Definition wie P1055 aber bezogen auf P1143 Pulse an 13 und I 4 Frequency at P1143 5 P1146 Frequency at P1143 5 Unit Pulses P1145 time slot Pulse input counter 3 P1147 Used internally and should not be written Reading out or erasing pulse input counter 3
2. ON Schalter 2 Einstellung Antriebs nummer und Autostart Connections X1 signal X1 signal 2a not connected 2c not connected bl 4a inputI5 4c input I 2 n 6a jinputIl 6c input I 4 il 8a GND input 8c input I 6 10a _ input I3 10c input 18 12a input 17 12c ADC neg 10 T N 14a not connected 14c ADC pos 16a GND outputs l6c output Ol 18a output O3 18c output O2 20a VCC outputs 20c output O4 22a notconnected 22c Handshake Out 24a not connected 24c not connected 26a Handshake In 26c 9 VDC 50mA 28a notconnected 28c GND RS232 30a not connected 30c RXD 32a not connected 32c TXD m a H D II N o N N N es I N 16 5mm 19 St gra SERS Optional encoder input 3 4 Optional encoder input Encoder signals e g from an encoder mounted at the stepping motor for control of the steps or from a hand wheel with an encoder and pulse signals e g from a pulse generator can be connected at a the 9 pole D Sub connector ENC or at the inputs I 3 and I 4 at the I O Port 25 polige D Sub connector see page 17 Encoder input at 9 pole D Sub connector exisists only for versions SERS V04 E50 The 9 pole encoder connector is located at the SERS frontpanel indication ENC Encoder signals from 2 chanel encoders signal A and B and inverted signa
3. expression will be sent to the slave drive With the expression Z 0 the master assigns the following instructions for himself again address 0 is the master address A typical master parameter which can be changed only during operation is P1110 With this parameter the master decides weather after starting a positioning job instruction E it will proceed with the next instruction only after finishing the positioning job or weather it will execute the next instruction without waiting for the end of the positioning job in that way the master is able to control other drives while it self is still positioning See example program page 40 29 St gra SERS Programming instructions Parallel BCD mode A program for the parallel mode consists of one or more subroutines and is programmed as follows Each subroutine is started with a label the label number corresponds to the program address and is terminated with RETURN or RT 8LI I1 I2 I3 14 I5 I6 Jump to Label f 0 iO iO JO O O L1 ion 1 10 10 O O J0 L2 0 1 i0 JO JO O L3 RT 1 1 10 O 0 J0 L4 L3 0 O 1 J0 JO O L5 RT 1 O0 1 10 JO JO L6 until L64 The program waits until there is a signal edge at the start input input 8 at I O Port Then depending on the address which is created by the inputs I1 to I6 BCD 0 63 the program jumps to the corresponding label L1 to L64 s
4. sssssssssss 63 4 8 6 6 Control of load angle 64 4 8 6 7 Control of motion 68 4 8 6 8 Handshake mode RS232 RS485 interface 68 4 8 6 9 E Prom parameters ce ititeececedu 69 4 8 6 10 Language selection ssseses 69 4 8 6 11 Software limit switch 70 4 8 6 12 Arithmetic parameters 70 4 8 6 13 Service switch external 70 4 8 6 14 Program parameter mask and password for SERS Programmer 71 4 8 6 15 CANopen Parameeter 75 4 8 6 16 Profibus Parameter 75 42 Parameter overview St gra SERS SERS Parameter 4 8 SERS Parameter 4 8 1 Interface I O 4 8 1 1 Inputs Inputs P1300 P1300 contents the status of the digital Inputs I1 to I8 Set Input H D DI I5 I6 F IS Parameter value 1 2 4 8 16 32 64 128 E g in case of P1300 11 then the inputs I1 I2 and I4 are set 1 2 8 11 I1 I8 and INO IN255 can be used for IF requests see page 32 chapter 4 6 1 IF requests Inputs I O extension P1301 P1301 contents the status of the digital inputs I9 until I16 valid values only in case of installed option IO SERS with I O extension DigIn enable P1021 P1021 specifies which manual drive function is available at the digital inputs in case of switched off service
5. Also the velocity of evaluating and executing commands received and sent via the RS232 interfcae is reduced to 2ms per command P1127 0 The time for executing commands in operational programs and the RS232 interface is 500us 4 8 6 10 Language selection Language selection P265 0 German 1 English gs St gra SERS SERS Parameter 4 8 6 11 Software limit switch position limit Position limit negative P1040 scaled value depends on P76 When running into negative direction and the actual position P51 is smaller than this value P1040 then the drive stops the bit limit position in P12 warnings is set P1042 is 1 and the 7 Segment displays shows a blinking L Position limit positive P1041 Definition as P1040 but positive drive direction 4 8 6 12 Arithmetic Parameters Accumulator P1047 Alternative Syntax X Variable for all arithmetic functions all calculations have to be done via the accumulator X see also chapter arithmetic page 38 Example X V ADC P1080 Register 1 P1080 RO Alternative syntax RO Free usable 32 bit signed variable e g for saving results of arithmetical operations Register 2 P1081 R1 Alternative syntax R1 see P1080 Register 3 P1082 R2 Alternative syntax R2 see P1080 Register 4 P1083 R3 Alternative syntax R3 see P1080 Register 5 P1084 R4 Alternative syntax R4 see P1080 Register 6 P1085 R5 Alternative syntax R5 see P1080
6. IF C1 gt 1 Cl C 1 1 if C1 0 then execute next instruction GOTO4 jump to label L4 loop with 10 runs because of C1 10 and IF C1 GOTO1 program jump to label L above L10 label L10 102 1 set output O2 WAIT I1 1 wait until input I1 21 W 5000 E travel distance position 5000 and start positioning 102 0 reset output O2 WAIT I1 20 wait until input Il 20 ZRETURN end of subroutine return to the instruction following last GOSUB Parallel BCD mode Each subroutine is preceded by a label and finished with a RT or RETURN The instructions may be in one line or in multiple lines behind other A label number corresponds to a binary address created by signals at the digital SERS inputs Il to I6 e g L1 address 0 L2 address 1 or L10 address 9 L1 ON RT program line for address 0 no address input is set L2 V 1000 W 2500 E RT program for address I only I1 is set L3 V 10 Wz10 5 E RT program for address 2 only I2 is set L4 start of program for address 3 I1 and I2 set V 20 8 W 40 6 E RETURN end of program for address 4 39 St gra SERS Program examples Master mode In the following example a master controls two SERS slaves with the addresses 1 and 2 The bold printed characters belong to the program the cursive text behind with the comment characters are explanations which are not part of the program TON swi
7. Text for displaying in the SERS Programmer assignment command operator operand for arithmetic functions unary operator for arithmetic functions 24 St gra SERS Programming and operating the SERS IF address condition decimal constant interrogation see chapter 4 6 1 WAIT address condition decimal constant Wait for event address condition decimal constant manual driving until input is not active GOTO decimal constant jump to label number decimal constant GOSUB decimal constant jump to subroutine at label number decimal constant GT decimal constant equivalent to GOTO GS decimal constant equivalent to GOSUB RETURN return from subroutine target address is the line after the last GOSUB command RT equivalent to RETURN RS manual drive right slow Right Slow RF manual drive right fast Right Fast LS manual drive left slow Left Slow LF manual drive left fast Left Fast L decimal constant label number LIST list program in E Prom LIST list actual program line next line to be executed or last listed line LIST list line before actual position in program is also set to line before LIST list next line position in program see LIST LIST decimal constant list line decimal constant program position is set to program address decimal constant in PGM mode LISTO enables inserting a line at the program
8. as WP but additionally P1014 0 relative positioning last positioning section in mode polynom positioning as WPT but additionally P1014 2 absolute positioning as WPT but additionally P1014 0 relative positioning equivalent P1047 accumulator for calculating equivalent P1 destination address for master mode start actual positioning job actual value set in W P47 will be executed start homing stop the motor will be stopped see also parameter P1033 continue after stop RETURN key of keyboard Return character ASCII Code 13 decimal Linefeed character ASCII Code 10 decimal 2 St gra SERS Programming and operating the SERS Decimal constant decimal digit decimal digit e g 5 20 5 decimal constant decimal digit e g 10 75 Decimal digit 0 1 2 3 4 5 6 7 8 9 Separating character space character comma semicolon prevents a carriage return at program input in the actual line tab tabulator character 4 3 Program lines and numbering Internally each instruction receives its own line number The lines 1 ON V 1000 W 5000 E 4O1 1 D 10 W 2000 E are put out in a list after the instruction list with the selected option line numbers see also parameter P1028 as follows 1 1 ON V 1000 W 5000 E 5 01 1 D 10 W 2000 E or depending on the parameter P1028 1 1 ON V 1000 FW 5000 E 4801 1 D 10 FW 2
9. stogra i ANTRIEBSTELHNIK GMBH St gra Antriebstechnik GmbH Machtlfinger Stra e 24 D 81379 M nchen Tel 089 15904000 Fax 089 15904009 info stoegra de http www stoegra de SERS Version V04 Stepping motor power amplifier board with position control and RS232 RS485 interface Installation and programming manual Edition December 2006 All rights reserved Without written approval we allow no reprint nor partial copying We reserve the right to make engineering changes refinements and improvements Mechanical and electrical ratings and dimensions are therefore subject to change without notice No liability whatsoever is accepted St gra SERS Index Index page 1 General notes ADs aU tUleS cover dba ente E 4 1 2 General notes SERS 5 gae oh ie edades 4 1 3 ThstallatlOlk coc oitose tio tiri egt Da DINE 6 2 Power amplifier 2 1 with 32 pole connector 2 1 CONMMCCHONS used eade 7 2 1 2 Limit home stop and external service switch sssss 8 2 1 3 Ready Signal relay to control a brake 9 ZA A Powersupply sessies ect mte rohs 10 2 1 5 Separate ext Logic supply option U 11 2 1 6 DIMENSIONS nero aha Bae 11 2 2 Panel mount system series ELK 2 2 1 Dimensions ELK rei 12 2 2 2 Connections ELK screw terminal 12 2 3 Panel mount system series ELK S 13 2 4 19 inch rack series ELR esee 13 3 P
10. 0 if P336 1 SERS IN Position O1 O4 1 if P336 0 O function disabled e g P112522 when motor is running P336 0 then O2 0 at standstill gt O2 1 Output program active P0 P1126 P1126 may be configured as follows 1 4 output O1 04 1 if PO RUN program is running O1 04 0 if PO 0 1 4 O1 04 0 if PO RUN program is running O1 04 1 if PO 0 O the function is disabled e g P1126 1 if a program is running PO RUN then O1 1 else O1 0 Output SERS error P11 P1131 O function disabled 1 4 output O1 04 1 if P11 lt gt 0 error active and O1 04 0 if P1120 4 O1 04 0 if P11 lt gt 0 error active and O1 04 1 if P1120 Output SERS warning P12 P1132 O function disabled 1 4 output O1 04 1 if P12 lt gt 0 warning active and O1 04 0 if P1220 1 4 O1 04 0 if P12 lt gt 0 warning active and O1 04 1 if P12 0 45 St gra SERS SERS Parameter 4 8 2 System parameters 4 8 2 1 Mode programming operation EPROM Modus PO 0 The E Prom program is waiting for an action e g a command via the serial interface or a start command If the programming mode is active then it will be terminated with PO 0 alternative syntax quit 1 the assignment PO 1 starts the E Prom program during operation E Prom program is running parameter PO 1 alternative syntax run 2 PO 2 starts the programming mode the actual E Prom program will be erased all fol
11. encoder interface with option E50 In case of writing P1147 an electrical gearing function at P1053 7 may receive new command values what results in a not planned drive reactions movements Keep absolute value in case of error limit switch and function electrical shaft handwheel P1094 In cese of P105323 or P1053 7 if the motor moves on a limit switch when controled by the external encoder signals then the drive will be stopped and the motor phase current will be switched off If afterwards the external encoder signals are into the opposite direction then depending on P1094 the motor reacts as follows 0 encoder signals into the direction of the open limit switch will be ignored Encoder signals into the opposite direction result in switching on the phase current and following of the motor to the encoder signals encoder signals into the direction of the open limit switch are not executed but will be counted internally increment the counter Encoder signals into the opposite direction result in dercrementing the internal counter If the counter is 0 then the motor phase current will be switched on and the motor follows the encoder signals So the motor position is allways identically proportionally to the position of the handwheel or leading axis in case of encoder signals from an other leading motor 69 St gra SERS SERS Parameter Pulse input counter 1 P1119 Is used internal
12. 57 3 6 3 69 the drive moves on or returns until reaching a position which is 0 1 after or before a multiple of 1 8 e g position command value is 3 6 motor moves until 3 7 or position command value is 5 35 motor moves until 5 3 This is for evitating a possible noise of the chopper at the motor at motor stand still P1001 2 move 0 2 degree away from zero phase P100123 move 0 3 degree away from zero phase Distance after stop P1039 The distance after Stop is activated in case it is not Zero P1039 lt gt 0 Scaled value according to P76 Relative distance into the same direction with identical velocity and jog acceleration The value P1039 is the relative distance executed after the Stop event of a command e g RS I1 1 see chapter 4 6 9 A set backlash P1037 lt gt 0 will be ignored in case of a set P1039 P1039 lt gt 0 During executing the distance P1039 the parameter P108 Feedrate Override is ignored Save position in case of under voltage P1058 P1058 0 no function P1058z1 If the supply voltage is lower then a minimum value Ug see page 10 error under voltage in P11 then the command POSSAVE see P51 is executed Presupposition is that the supply voltage falls down slowly sufficient big electrolytical capacitors in the AC DC power supply gt 10ms between Ug and Uj see page 10 4 8 4 3 Velocity dates All velocity values depend on the scaling P44 Velocity Positioning P9
13. C1 In case P1014 3 relative positioning with overflow counter then C1 is signed 32768 until 32768 and it will be used as overflow counter Counter 2 unsigned 16 bit counter 0 until 65536 P101 C2 Alternative syntax C2 Counter 3 unsigned 32 bit counter 0 until 4 295 x 10 P102 C3 Alternative syntax C3 Counters together with IF requests can be used for programming loops E g C1 20 L1 Instruction block IF C151 GOTO 1 In the example the instruction block will be executed 20 times 4 8 5 3 Marker Marker 1 P1101 M1 Alternative Syntax M1 Marker 2 P1102 M2 Alternative Syntax M1 Marker 3 P1103 M3 Alternative Syntax M1 Markers may be set and reset any time in a executable program Markers may be used as events in IF requests Eg 8MI I In the example the instruction block LI will be executed as long as the marker Instruction block P1101 is set IF M1 1 GOTO 1 61 St gra SERS SERS Parameter 4 8 5 4 List options List options P1028 For listing the E Prom program with the command LIST different options may be selected Following Bits are assigned in the 8 Bit value P1028 Bit 0 decimal 1 The number of the instruction line number will be listed Bit 1 decimal 2 units will be listed Bit 2 decimal 4 listing with offset of lines labels will be listed in the 1 row and instructions will be listed in the 4 row Bit 3 decimal 8 Carriag
14. E Sogocza a a efESGEN a g 50 O0dqw Ww w ZN YN mV o ui ZN VAN i p i a 1320 amp wxcomswn0oro aR alenn NOND OS o 2 wU cC NM TM O crAVOTNO 25 n RON EP ee ereere ca DE kb ho d C wt C E 8 5 ES Po NN 5 M nctra fg 28 56ESSO TIRES 5575 ALQ 8zgteoo ESes 2 gt x oO c 7 zoc 5 Aa 5 2 g2 9H ees o o c x os 9858 52 999869 Sogossdq 2920 o l So gt 2 Sc gt S9 c z Coa Sos S ogg c ao 2 D L o _qg S Q D E g amp a o o OER S 09 2823 weos gt DE 0 502 7A o 7g o o oa S 2a e zz z ez oO oO o 7 12 St gra Panel mount system ELK S SERS 2 3 Panel mount system series ELK S 17 18 19 20 21 22 23 24 254 26 27 28 29 30 31 32 PE shield 11 PE shield 2 motor phase 1 12 motor phase 1 Sears S 3 motor phase 2 13 motor phase 2 SSS 4 ready signal 14 ready signal 5 STOP 15 home switch 6 limit switch left 16 limit switch right 7 Opto GND 17 Service switch ext 8 GND 24VDC 18 GND 24VDC 9 24VDC 19 24VDC 2 4 19 inch rack series ELR 3 E a E AG 185 a g 205 CQ CU SUE SETAR SETTE o m SHURE ee Q ii m ip Em deo p us mm B 4 input I2 33 input Il mo mance amag m inpu inpu neg 46 3 1490098 input I5 36 GND 24VDC a 1 e input I6 37 GND IN input 42 26 input I7 38 not conn
15. First the drive must accelerate with the value a1 to the velocity v1 and then move with constant velocity v1 until the section W1 is completed Then the drive accelerates with a2 to velocity v2 in the distance section X2 The sections X3 until X5 are as sections X1 and X2 The last section X6 is defined with the acceleration a6 the velocity v6 and the decelerating ramp B V A O2 1 X1 X2 X3 total distance position Function principle A velocity profile consists of a single or multiple distance sections Each distance section consists of an accelerating ramp and a section with constant velocity The last distance section includes additionally the decelerating ramp B When positioning with velocity profiles a distance section will be defined with the command WP The acceleration A and velocity V may be redefined for each distance section or the actual values set may be used no redefini tion of acceleration and or velocity value in the new distance section Within the definition of a distance section first the command WP must be defined The last distance section must be defined with the command WPT Each distance section must be terminated with E In case SERS outputs marker or any parameters shall be set defined after terminating a distance section within a velocity profile e g in the diagram above the outputs O1 and O2 proceed as follows at first the next coming distance section has to be defined during
16. Linefeed there is no character echo If the commands or parameters are faulty then error messages will be returned Error messages start with the character e g limit switch open in case the drive is on a limit switch input limit switch is open and a start command E execute positioning job was sent to the SERS When receiving faulty syntax the SERS will return immediately an error message When receiving faulty values e g to big then depending on the values the SERS will return an error message before or after a Carriage Return Attention In the mode HANDSHAKE_RS485 see parameter P1017 Handshake error messages are returned always only after a finished line Carriage Return Line feed i St gra SERS Programming and operating the SERS When requesting parameters in the serial mode e g 2P117 then the SERS returns the result as follows P11 0 10 13 First the parameter number of the requested parameter P11 then the character then the content of the parameter e g 0 and at last the line feed character 10 and a Carriage Return 13 are returned When assigning parameters there are no units allowed e g writing V 1000 U min is wrong and an error message will be returned Correct V 1000 the unit is defined in the parameter P44 scaling for velocity dates Addressing a SERS is realised by sending the drive address via the interface e g when sending 2 th
17. ON address 3 2142 bit 2 ON and Bit 4 ON address 10 2 8 Possible values for the drive address are 1 to 127 for SERS Slaves and the address 0 for configuring a SERS as master if the master is called with the address 200 then it behaves like a slave and can be programmed A ON position of a switch means a set bit 1 3 1 2 Automatic program start autostart An automatic program start can be selected by switching on bit 8 of DIP switch 2 In case there is a valid executable program in the E Prom of the SERS then with an ON position of this switch the program will be started automatically after a power on reset connecting SERS with power supply Bit 8 ON autostart enabled OFF autostart disabled ON BE j d IL IL ON Selected drive address 1 RE RN RN NN OFF autostart disabled CO N OR o Selected drive address 67 autostart disabled Selected drive address 3 autostart enabled St gra SERS Configurations via DIP switches 3 1 3 Baud rate The baud rate can be selected via bits 1 to 3 of the 8 pole DIP switch 1 see 2 1 6 dimensions Baudrate 1200 2400 4800 9600 19200 38400 57600 115200 Baud Bit 1 OFF ON OFF ON OFF ON OFF ON Bit 2 OFF OFF ON ON OFF OFF ON ON Bit 3 OFF OFF OFF OFF ON ON ON ON 3 1 4 Enable manual drive functions jog Via bit 6 o
18. St gra SERS Ready signal to control a brake 2 1 3 Ready signal relay to control a brake The output ready signal is e g for controlling an emergency brake at the motor especially for Z axis The signal indicates that the motor phase current is switched on Attention The output can not control the brake directly There must be used an additional power relay Alternatively the brake can be controlled directly from one of the SERS outputs O1 O4 see parameter 1036 Stepping motors with integrated brake usually have permanent magnet brakes which will be activated in case of loss of power Between the pins 12a and 12c of the 32 pole male connector there is a relay which will be closed when the motor current is switched on command ON or in manual mode via the inputs I1 until I6 The relay contacts will be open in case of switching off the motor phase current by a command OFF or in case of an error electrical error mechanical error encoder feedback error only with installed option encoder or other errors like a limit switch error see parameter P11 which will switch off the motor current automatically M A ready signa Maximum load at the relay contacts 50 VDC 100mA Attention When connecting the relay contacts to an external circuit the maximum load of the relay has to be followed see above Especially when connecting an inductive load e g small brake due to the working indu
19. Syntax IF event condition digit Digit 0 or 1 respective 0 255 in case of programming IF IN digit The condition depends on the event z gt lt oder lt gt The former syntax firmware 100101 and earlier using IF event still is accepted For the old syntax using the character the event will be inverted IF event means If the event is not true When saving a program with the old syntax into the SERS E Prom and then reading the program out of the SERS the program will be listed with the new syntax If the event is true then the next instruction will be executed otherwise it will be skipped ignored Events may be parameters or digital inputs at I O Port Following conventions are made for the digital inputs 1 to I if the inputs is set then the event is true e g IFI5 1 If input I5 is set then execute next instruction otherwise skip ignore next instruction IF I5 0 Ifinput I5 is not set then execute next instruction otherwise skip ignore next instruction INO to IN255 IF IN digit requests all inputs where the values of the inputs are binary coded I1 1 ID222 I324 14 8 I5 16 16232 17 64 I8 128 e g IFIN5 If Il and I3 are set then execute next instruction 5 I1 I3 For negative events use e g IF IN5 If not IN5 I1 0 or I320 JA Home switch IF J121 if the drive is on the home switch opener J2 Limit switc
20. as described in Up St gra SERS separated external logic supply option U and dimensions 2 1 5 Separated external logic supply option U An separated external logic voltage supply input exists for all SERS units with option U marking U in the type designation e g SERS 06 85 V04 PB DP U The option U must be ordered explicitely no standard feature for the SERS At standard SERS units without option U the logic section of the SERS including microcontroller and interface controller is supplied by the common main voltage supply e g in case of a SERS 06 85 V04 it is the voltage supply 50 85VDC In the SERS there is an internal DC DC converter which creates the necessary low voltage for the logic from this main voltage At SERS units with option U the logic section must be supplied by a separate external 24VDC voltage 24V connected to the input sercice switch external pin 2c and OV connected to GND pins 30 32a c see chapter 2 1 1 page 7 When switching off the main voltage power in case of of a safety power down e g when opening the safety door of a machine the logic section still is active and the communication with the SERS via the interfaces still is possible Typically the option U is used for SERS units with Profibus or CAN interface because here the interface is connected permanently to an interface bus with a master which needs to communicate with the slaves also a
21. at the SERS control At versions until 6A parameter P1136 cannot be changed 4 8 2 5 Firmware version Firmware version P1133 The comand VER also returns the value of P1133 read only parameter 46 St gra SERS SERS Parameter 4 8 3 Status messages 4 8 3 1 Drive error and warnings Drive error P11 In case of an error in the SERS parameter P11 contents the corresponding errors each error will set a certain bit in P11 A drive error always results in decelerating of the drive with the value defined in parameter P1030 When the motor stopped the motor phase current will be switched off and afterwards the ready signal will be reset see page 9 relay will open Via parameter P1036 there may be defined that an output O1 O4 will be set in case of an error Reset of drive error messages After an error occurred the motor phase current may be switched on and the drive can be moved only if there is no error anymore and the error message was reset with the instruction P11 0 In case of an error short circuit power amplifier or motor P11 128 before writing P1120 the STOP input see chapter 2 1 2 of the SERS must be opened an then closed again Assignment error number drive error 2 error over temperature the heat sink temperature is over 85 C 10 C 32 error control of load angle see P1029 only with installed option control of load angle 128 short circuit at amplifier board or m
22. begin LIST decimal constant list 20 lines until decimal constant program position is set to address decimal constant all LIST commands will change the actual program position LIST decimal constant1 decimal constant2 list decimal constant2 multiplied 10 lines from program line decimal constant LIST P list all parameters actual values LISTP decimal constant list parameter decimal constant internal order according to P no sorted ascending with actual values LISTP decimal constant1 decimal constant2 list decimal constant2 multiplied 10 parameter from parameter decimal constant2 internal order according to P no sorted ascending with actual values comment character all characters in a line from here will be not interpreted PE end of program PSAVE parameters in the SERS will be stored permanently values from RAM of SERS into E Prom of SERS POSSAVE save P51 actual position into E Prom POSO move to electrical 0 position every 7 2 POSR move to position command value see P1043 NEW equivalent to PO 2 programming mode with erasing of actual program All characters sent from now on will be stored in the EPROM 2952 St gra SERS Programming and operating the SERS PGM Turning on the programming mode with editing of the actual program Input lines will be inserted at the actual program position In the programming mode instructions
23. control of the microstepping and commutation of the phase currents The upper level consists of the position control and an interface see options above The power amplifier of the SERS features control of 2 phase stepping motors by using the bipolar chopper principle microstepping with a resolution of 12800 steps per revolution protection against short circuit in the motor phase to phase and phase to GND earth protection against over temperature and under voltage phase currents from 0 to 14 5 ampere and voltage supply of 20 to 240 VDC different versions for phase current and voltage supply see chapter 5 Technical specifications St gra SERS General notes SERS The control of motor velocity and position features acceleration 2 rad s to 15600 rad s velocity 0 12 rev min to 12000 rev min motor depending on size can be operated until 4000 rev min position 2 increments to 2 increments control of limit switches and homing Die RS232 RS485 interface features selectable baud rates from 1200 to 115200 Baud 8 data bits no parity 1 stop bit handshake V24 RTS CTS hardware handshake can be disabled via software The functional principle of the position control is as follows internal operation cycle 0 5ms that means independent of an existing operational program every 0 5ms all external inputs are controled feedback signals of the power stage ar
24. function will be stopped 4 8 6 5 Drive address Drive address P1050 The SERS stores the drive address selected at DIP switch 2 see 3 1 1 page 14 in parameter P1050 65 St gra SERS SERS Parameter 4 8 6 6 Control of load angle Control of load angle assignment error warning P1029 Definition of the reaction of the SERS in case of a load angle error 0 no reaction without control of load angle 1 Message drive error control of load angle see P11 2 Message warning control of load angle see P12 3 Message drive error control of load angle P11 but motor current stays ON Parameter values 1 to 3 for P1029 work only if option E50 SERS E50 e g SERS 06 85 V02 E50 1s installed and the stepper motor includes a 2 channel incremental encoder P1029 lt gt 0 means controlling the load angle of the stepper motor The position command value is compared with the real motor position If the allowed max load angle is exceeded then a warning or an error is created If P1053 4 or P1053 8 then not only the exceeding of the load angle is detected but additionally the real motor position see P1053 Option Input pulse electrical gearing hand wheel input encoder control of load angle with correction of position frequency measurement P1053 0 Function disabled 1 Pulses at digital Input I 3 move the motor 2 as 1 but additionally with direction signal at digital Input I 4
25. in jog mode right slow with the velocity P1019 until input I1 is set Possible commands RS LS RF and LF with the events I1 until I16 IN If parameter P1039 lt gt 0 a driving distance after stop is defined the drive will move the relative distance defined in P1039 after the event came true input is active e g at RS I1 1 or input is deactivated at e g RS I120 and then stops The driving distance after stop P1039 includes the distance moved during decelerating until motor stop V NN 237 RS 11 1 St gra SERS Programming instructions 4 6 10 Arithmetical functions in the SERS A SERS E PROM program may include arithmetical functions There are following arithmetical functions a32 bit accumulator X all arithmetical operations have to be assigned to the accumulator six 32 bit variables P1080 until P1085 which may be used for any assignments Following arithmetical operations exist Adding Subtracting Multiplying Dividing And amp Or l Exclusive Or NEG the accumulator s sign will be inverted The operations are executed from left to right no point before line Arithmetical operations always have to be done via the accumulator X There may be used all parameters and 32 bit constants in arithmetical operations Examples X V ADC 100 The actual selected velocity V is multiplied with the value at the V X analogue input
26. like LIST DEL TR C will not be stored but executed DEL erases the actual line in the programming mode C decimal constant Changes the value of the assignment at the actual programming position QUIT terminates programming mode RUN equivalent to PO 1 start program in E Prom TRON trace mode on mode for enabling program execution line by line TROFF trace mode off TR requests trace mode TR enables trace mode and executes of one a program step VER shows program version ON equivalent to P134 7 turn on phase current of motor OFF equivalent to P134 0 turn off phase current of motor condition gt lt lt gt Character list character character list character Character any character except quotation marks and 0x00 ZASCII character with code 00 Assignment address data X operand accumulator for calculating address shows parameter data value content address shows parameter identification operator t adding to the accumulator subtracting from the accumulator multiplying with accumulator in case shall be used at begin of line then the address of the drive has to be set ahead for the SERS not interpreting the character as broadcast address dividing accumulator x AND accumulator OR accumulator EXCLUSIV OR accumulator gt Ao 26 St gra SERS SERS functions and mod
27. operator is responsible that all installation mounting maintenance and inspection works are carried out correctly The manufacturer rejects any liability for mistakes or damages because of not correct installation or not proper handling The SERS may not be commissioned as long as it is not built into a device which corresponds to the specifications of the norm VDE 0100 part 410 protection against dangerous currents through human bodies and VDE 0100 part 420 protection against thermal influences At any installation maintenance mounting and inspection works the SERS first has to be separated from all electric circuits There may not be any electricity at the device must be verified 1 2 General notes SERS The SERS is a stepping motor power amplifier board with integrated control of position and RS232C COM V24 or optionally with RS485 Profibus DP or CANopen Interface SERS must be ordered with one of the interfaces The unit controls 2 phase stepping motors with phase currents up to 14 5 ampere phase see different versions for phase currents in chapter 5 Technical specifications SERS is designed in a modular way with three levels realised with three PCB s connected via PCB connectors The lowest level is the power amplifier with a 32 pole male connector according to DIN 41612 type D Here the phase currents are created within two H bridges The second level controls the phase currents
28. requested event The slave returns the value of the event as assignment to the master P2 is used internally e g P2 336 is equivalent to IF 336 after addressing a slave drive 62 St gra SERS SERS Parameter 4 8 6 Miscellaneous parameters 4 8 6 1 Phase current adjustment Commuting table P1009 Selection of the current characteristics for the stepping motor current The characteristics to be chosen depends on the used stepping motor The better the current characteristics matches the motor characteristics the softer and less noisier the stepping motor runs at low speed ranges Following selections are available sinus characteristics pure sinus current 87 style characteristics adjusted to the ST GRA stepping motor series SM 87 characteristics 3 sinus characteristics characteristics 4 damped sinus characteristics half step characteristics full step characteristics nARWN KF The 87 characteristics and the Characteristics 3 are between the sinus characteristics and the characteristics 4 full step half ste HU E characteristics 4 Recommended current characteristics to be selected for STOGRA stepping motors series SM 56 87 characteristics series SM 87 87 characteristics series SM 107 108 characteristics 4 series SM 168 characteristics 4 1 3 5 7 SURET 1 792123 25 27 239 sn 32 corresponds to an angle of 1 8
29. reserved for internal usage The switch must be set to OFF Bit 8 of the 8 pole DIP switch is not connected z5 St gra SERS interface 3 2 Interface RS232C V24 3 2 1 Configurations Interface configurations for the SERS baud rate selectable via DIP switch 1 see 3 1 3 page 15 data bits 8 stop bit 1 parity no handshake selectable in parameter P1017 see page 43 standard hardware pins 7 and 8 at 9 pole D sub connector must be connected 3 2 2 Connections 9 pole D sub connector pin not connected 2 TXD 6 not connected 3 RXD 7 HSI hand shake IN 4 not connected 8 HSO hand shake Out l 5 GND 9 9 VDC power supply terminal If the hardware SERS 1 SERS 2 SERS 3 hand shake is disabled in parameter P1017 then the pins 7 and 8 are not used In standard adjustment the hardware hand shake is disabled SERS 1 SERS 2 SERS 3 Attention PC SERS Slave 1 1 connection but SERS Master SERS Slave Zero modem connection St gra SERS I O Port with digital inputs and outputs 3 3 I O Port with digital inputs and outputs 3 3 1 Standard I O port All SERS units include in standard version 8 free programmable digital inputs I1 until I8 4outputs O1 until O4 1 analogue input ADC The I Os are connected to the 25 pole D Sub female connector located on the front panel of the SERS see page 11 or for versions SERS R1 and
30. still executing the actual last defined and started distance section and after that the parameter output or and marker to be set after the still running distance section may be defined Terminating the polynom mode without using WPT must be done with by using POSO or POSR see parameter P1043 After an error e g because of a wrong definition of polynom sections the polynom mode stays active until it will be terminated by a command The example diagram above with 6 distance sections must be programmed as follows WP 100 A 1000 V 200 E WP 120 A 300 V 400 E Ol 1 WP 100 A 1000 V 50 E WP 100 A 1500 V 700 E WP 200 A 500 V 100 E O2 1 WPT 130 A 1000 V 50 E 36 St gra SERS Programming instructions The output O1 will be set after terminating the first distance section but note the command O1 1 comes only after the definition of the second distance section The output O2 will be set after terminating the fourth distance section O2 1 is defined after the definition of the fifth distance section The definition of the acceleration within a distance section is optionally If the acceleration is not defined within the single distance sections then the last set acceleration A is used with exception of the last decelerating ramp here parameter B is used The command WP depends on the positioning mode P1014 relative or absolute positioning mode in the same way as the standard p
31. switch see page 15 chapter 3 1 4 Assignment parameter value Inputs drive function Value dec Input Function 1 Il Left slow 2 D Right slow 4 I3 Left fast 8 I4 Right fast 16 I5 Start homing 32 I6 Motor ON OFF additionally P1120 and P12 0 at motor ON 84 I7 Stop 128 I8 Start program e g P1021 3 manual drive slow right and left at the inputs Il and I2 is always active P1021 255 all functions activated Limit switches and Digin P1056 Parameter P1056 is only for internal use DigIn label enable P1022 P1022 specifies which inputs may be used as address inputs for the parallel mode E g P1022 15 inputs I1 I4 will be used as address inputs in the parallel mode Attention If a input is enabled also in P021 then it is not available in the parallel mode Attention P1021 must content value 128 Enable program jump P1098 Enable program jump in case of a signal at a digital input see chapter 4 5 2 event controlled mode 43 St gra SERS SERS Parameter Start enable P1023 0 Program is started with a positive signal edge at the start input I8 Program is started when the start input I8 is set static signal Analogue Input P1046 Alternative Syntax ADC Standard 8 bit resolution with Ibit hysteresis the value at the input has to change at least 2 LSB for changing the actual value in P1046 ADC The ana
32. 00 C1 is used as overflow counter The position with overflow is X C1 P103 P51 So the max relative position is 5 8982 10 Grad rotational respectively 4 7186 10 mm linear but the max value for a single positioning job is the max value of P103 via the polynom driving mode there may be positioned larger distances 4 8 4 2 Way distance position dates Position command value P47 W Alternative syntax W The really executed motor movement depends on the positioning mode P1014 on the scaling of the position dates P76 and on the parameters P121 P123 The value ranges are in case of 1 1 gear ratio and feeding constant 1 P121 P122 P123 1 Value range Rotational 214748 3647 to 214748 3647 Linear 167772 1599 to 167772 1599 mm Incremental 2147483639 to 2147483639 increments steps Starting a positioning procedure is done by the command E e g W 360 E New relative position position command value relative P1051 WR Alternative syntax WR Description as W P47 but additionally the positioning mode is set to RELATIVE P1014 0 New absolute position position command value absolute P1052 WA Alternative syntax WA Description as W P47 but additionally the positioning mode is set to ABSOLUTE P1014 2 Position command value Polynom P1111 WP Alternative syntax WP Description as W P47 but definition of distance section at polynom driving
33. 000 E e e e 2 4 4 Limitations for E Prom programs Following limitations for a E Prom program apply program memory in standard version the number of program lines depends on the structure of the program there are 2Kbyte available e g long lines result in a fewer total number of programmable lines When programming only one instruction per line then there can be programmed approximately 300 lines Optionally there is a 8Kbyte version SERS with P8 in the type designation with up to approximately 1200 lines respectively instructions maximum of 60 characters per line maximum of 64 labels L1 to L64 plus Label L65 where the program will jump to after a program stop interlaced storage number for subroutines max 4 into each other interlaced program loops 28 St gra SERS SERS functions and modes 4 5 SERS functions and modes 4 5 1 Manual mode manual drive control jog For the manual drive control jog there are 4 different commands 1 manual drive right slow RS function Right Slow 2 manual drive right fast RF function Right Fast 3 manual drive left slow LS function Left Slow 4 manual drive left fast LF function Left Fast Following parameters are available for the manual drive control functions Acceleration manual drive control P1018 Velocity manual drive control slow P1019 Velocity manual drive control fast P1020 Enable inputs for m
34. 0000 64 U min Incremental Load 4 00000010 2 U min Rotational Motor 4 01000010 66 U min Rotational Load 4 00000001 1 mm min Linear Load 3 00010001 17 in min Linear Load 5 Pre selected is 2 U min rotational motor Scaling Acceleration dates P160 Bit 76543210 decimal unit scaling mode reference decimal places 00000000 O rad s Incremental Motor 3 01000000 64 rad s Incremental Load 3 00000010 2 rad s Rotational Motor 3 01000010 66 rad s Rotational Load 3 00000001 1 mm s Linear Load 3 00010001 17 ins Linear Load 5 Pre selected is 2 rad s rotational motor 58 St gra SERS SERS Parameter 4 8 4 7 Mechanics gear ratio feeding constant Feeding constant P123 The unit depends on P44 scaling position dates The feeding constant transforms a rotational movement into a linear movement e g spindle The feeding constant is equivalent to the made linear distance at one revolution of the spindle Pre selected value 1 Example Spindle with lead of 5 5mm per revolution P123 5 Gear ratio Gear input revolutions P121 Input revolutions at the first stage of all gears between the motor shaft and the load seen at the motor shaft Pre selected value 1 Gear output revolutions P122 Output revolutions at the last stage of all gears between the motor shaft and the load seen at the load Pre selected value 1 Gear input revolutions Gear ratio Gear output revolu
35. 07 P1208 P1209 P1210 P1211 P1212 P1213 P1214 256 512 1024 2048 4096 8192 116384 32768 F42 P1063 P1064 P1065 P1066 P1067 P1068 St gra SERS SERS Parameter Program Mask 1 P1070 By using the program mask there can be enabled specific program lines only value assignments in the E PROM Program when using a SERS Programmer The enabled program lines value assignments will be displayed in the program menu of the SERS Programmer and can be edited even if the password defined in P1059 was not entered correctly in the SERS Programmer Following rules apply Enabling a program line refers to a Label e g L1 or L23 The Label L1 until L64 may be enabled The by the Label followed assignment is enabled e g L1 V 1000 Only value assignments may be enabled together with Labels If there is an additional TEXT string defined through quotations marks between the enabled Label and the value assignment e g L1 velocity V 1000 then this TEXT string will be displayed too Example Following program is stored in the E PROM of the SERS P1014 0 L1 A 2000 000 L2 Velocity V 500 000 W 1300 E The Label L1 and L2 are enabled with P107023 2142 When using the SERS Programmer without entering the correct password or just entering the RET Taste when asked for the password then following program lines will be displayed A 2000 000 Velo
36. 1 V Alternative syntax V Maximum selectable value at rotational scaling U min 10000 Velocity manual slow P1019 Velocity manual fast P1020 Velocity homing P41 Velocity after start homing if the homing switch input is not set Velocity homing slow P1003 Velocity during homing when the homing switch input is set Also used for velocity for backlash function see P1037 Feedrate override P108 Possible values 0 100 unit is 96 The homing velocity P41 and the jog velocities P1019 and P1020 will be multiplied with this value 55 St gra SERS SERS Parameter 4 8 4 4 Acceleration dates All accelerating values depend on the scaling P160 Acceleration positioning P138 Alternative syntax A Maximum selectable value at rotational scaling 100000 rad s Acceleration manual drive P1018 Acceleration homing P42 Acceleration at drive error P1030 When an error occurs see P11 or the Stop input is set then the drive will decelerate with the value defined in P1030 The value must be as great as possible but only as great as the stepping motor will not loose it synchronous running at worst conditions Ramp form of acceleration P1032 0 exponential sinus see drawing below V 96 V 96 100 P91 V 200 m ao 200 P1007 a 160 200 P1008 70 140 60 120 50 100 40 80 30 60 20 40 10 20 Exponential acceleration Sinus Acceleration Acceleration section 1 P1005 Indication
37. 1204 output 4 alternative syntax O4 P1201 1 or O1 1 sets the output O1 P1201 0 or O1 0 resets the output O1 Outputs I O extension P1205 O5 Only in case of SERS option IO I O extension until P1205 output 5 O5 until P1216 output 16 O16 P1216 O16 44 St gra SERS SERS Parameter Break output P1036 The Ready signal usable as signal for activating a break in case of a driver error or motor error or in case of power off e g for holding of a z axis can be mapped to a digital output by writing 1 4 switching on output O1 04 in case of an error 4 switching off output O1 O4 in case of an error O function is disabled Compare position 1 P1024 If the position defined in parameter P1024 is reached then the output or marker defined in P1025 will be set or reset see P1025 Compare output 1 P1025 When actual position P51 P1024 and P1025 0 no action l to 4 corresponding output will be set e g P102523 O3 will be set to 4 corresponding output will be reset 5to 7 marker 1 to 3 will be set 5 marker 1 6 marker 2 7 marker 3 5 to 7 marker 1 to 3 will be reset e g P1025 6 marker 2 will be reset Compare position 2 P1026 see P1024 Compare output 2 P1027 See P1025 Output Motor IN Position P336 P1125 P1125 may be configured as follows 1 4 output O1 O4 1 if P336 1 SERS IN Position O1 O4 20 if P336 0 1 4 O1 04
38. 2 A phase SERS 06 xx 0 8 4 A phase SERS 12 xx 0 14 5 A phase Inputs 2 limit switch inputs 1 home switch input 1 stop input 1 external service switch input Optoisolated inputs with common Opto GND Signal level 13 VDC 30 VDC 8 free programmable digital inputs configurable Low or High active TTL level or SPS level optionally additional 8 free programmable digital inputs only option I O with PLC level 1 analogue input differential analogue input 0 5 VDC with 8 bit resolution Outputs 1 potential free ready signal 2 relay contacts max load 100mA 50VDC 4 free programmable galvanic isolated PNP outputs max load 500mA 5 24 VDC additional 12 outputs for option I O galvanically not isolated and max 100mA 5 24VDC 78
39. 4 8 6 13 Service switch external Service switch external P1092 0 disabled if there is an active signal at the opoisolated input service switch external then the digital inputs I 1 to I 8 are enabled for the manual drive functions see description Enable manual drive functions at page 15 chapter 3 1 4 The service switch external can be used alternatively to the service switch at DIL switch 1 Bit 6 chapter 3 1 4 27123 St gra SERS SERS Parameter 4 8 6 14 Program Parameter Masken and Password for SERS Programmer Password definition P1059 In P1059 there can be defined any password 4 digit number as password to enable showing and changing parameters and the E Prom program in the SERS when operating with the SERS Programmer P1059 0 means that there is no password defined and all parameters and program lines may be seen and changed without password In case of the definition of a password If the password is not entered correctly when operating the SERS with the SERS Programmer e g just enter the RET key when being asked for the password then only the parameters enabled in P1060 until P1065 and the program lines enabled in P1070 until P1073 are displayed When entering the password correctly in the SERS Programmer then the operator can see and edit all parameter and the complete program Parameter Mask 0 P1060 Enable the parameters PO until P103 set bit means enabled a
40. 768 Parameter Maske 4 Explanation as P1060 and valid for following parameters P1038 P1039 P1040 P1041 P1042 P1043 P1044 P1045 1 2 4 8 16 32 64 128 P1046 P1047 P1050 P1051 P1052 P1053 P1054 P1055 256 512 1024 2048 4096 8192 116384 32768 Parameter Maske 5 Explanation as P1060 and valid for following parameters P1056 P1057 P1058 P1059 P1060 P1061 P1062 P1063 1 2 4 8 16 32 64 128 P1064 P1065 P1066 P1070 P1071 P1072 P1073 P1080 256 512 1024 2048 4096 8192 116384 32768 Parameter Mask 6 Explanation as P1060 and valid for following parameters P1081 P1082 P1083 P1084 P1085 P1092 P1093 P1094 1 2 4 8 16 32 64 128 P1095 P1096 P1097 P1098 P1099 P1100 P1101 P1102 256 512 1024 2048 4096 18192 116384 32768 Parameter Mask 7 Explanation as P1060 and valid for following parameters P1103 P1110 P1111 P1112 P1113 P1114 P1115 P1116 1 2 4 8 16 32 64 128 P1117 P1118 PI119 P1120 P1121 P1122 P1123 P1124 256 512 1024 2048 4096 8192 116384 32768 Parameter Mask 8 Explanation as P1060 and valid for following parameters P1125 P1126 P1201 P1202 P1203 P1204 P1205 P1206 1 2 4 8 16 32 64 128 P12
41. ADC 0 100 and the value 100 is added P1081 2 X V ADC 3 P1080 X X W 10000 P1080 P 1081 X W NEG The accumulator s sign is inverted X X W X 4 6 11 Operation with the SERS Programmer When controlling a SERS with the SERS Programmer then the parameter section and the program section can be locked via a Password Only when the operator of the SERS Programmer knows the Password then he is able to see and change all parameters and program lines in the SERS Without knowing the password the operator can see and change only released parameters in the parameter section and released program lines with value assignments e g V 1000 or P1080 5 in the program section These released parameters and value assignments can be changed by the operator via the SERS Programmer The Password is defined in the parameter P1059 The parameters to be released are defined via the parameter masks parameters P1060 until P1065 and program lines with value assignments to be released have to be defined via the program masks parameters P1070 until P1074 In the program section there can be displayed any text additionally to the released value assignments To do that the text to be displayed has to be set between quotation marks e g diameter The text has to be placed between the released Label releasing of program lines with value assignments is done with the help of Labels see description under P1070 page 75 and the program line with th
42. At the phase zero position the current in phase 1 of the stepping motor is set to positive 100 and the current in phase 2 is set to 0 If the POSSAVE command is never used then after Power On of the SERS the motor is always set to a phase zero position and P51 0 With POSO the drive first runs from the actual set phase position e g after a POSSAVE command P51 361 8 to the next phase zero position to 360 in the example and afterwards P51 is set to 0 P51 0 POSO also does a reset of the polynom mode started by a WP command 2 alternative Syntax POSR Motor is moved into position command value P47 with homing velocity P41 command can be used only after an error P11 32 or a warning P12 32 presupposition is a motor with encoder SERS with option E50 P1029 1 or P1029 2 and P1053 8 After the motor stopped because of e g a mechanical overload and the max load angle was exceeded the real motor position is detected by the encoder signals The difference between motor position and position command value will be corrected by the command POSR POSR also does a reset of the polynom mode started by a WP command 3 Command P1043 3 will execute POSR also without an existing error P11232 or a warning P12 32 POSR tries P1138 0 function disabled standard setting n in case of a load angle error see description for P1043 2 POSR the SERS tries max n times to execute command POSR for correcting the error If
43. ND output 8e xl 19 donot connect 7 5 VDC output ADC 99 Q22 20 analogue input ADC neg 8 analogue input ADC pos PO a23 21 input I7 Stop 9 J inputI8 Start program Le M 22 inputI5 Start homing 10 input I6 Motor ON OFF e 9 23 input I3 Left fast 11 input I4 Right fast we 24 input Il Left slow 12 input D2 Right slow 25 GND input 13 GND input 25 pol D Sub connector The 5 VDC output at Pin 7 may be used for supplying e g a potentiometer example at page 17 bottom right The max load current is 50mA St gra SERS I O Port with digital inputs and outputs Digital Inputs schematics LL control low high active 10K t ME pa input 10K 10K O i tOnF OK control GND input TIS TTL PLC level Examples for connecting the digital inputs Digital Inputs signal level TTL level logical 1 r min 3 5V 24V logical 0 ov SPS Iev el min 13 5 30 logical 0 ov SPS high active TTL high active low active SERS I O SERS I O SERS I O interface interface interface 1 25 pole D Sub 25 pole D Sub 25 pole D Sub 24 i 5 i VDC i Input Ix VDC e Input Ix t Input Ix M 18 r 11 18 O n 18 AGND _ GND Y i GND i Inputs Inputs Inputs Digital outputs schematics VCC output 3D output PTC Q control out
44. OS Alternative syntax POS While the drive is running P336 0 else 5 P336 1 Independently messaging In Position P1121 0 disabled 1 after terminating a positioning job the string nPOS 1 will be sent where n is the drive address e g SERS with address 2 message 2POS 1 Independently messaging Program Finished P1129 0 disabled 1 after finishing an operational program nPO 0 is sent where n is the drive address e g a SERS with address 2 message 2P 0 Position feedback value status P403 If the position feedback value is valid after Power On of the SERS there was at least once a successful homing procedure then P403 2 0 After a Power On and still no successful homing procedure P403 3 Accelerating phase P1015 While the drive is accelerating P1015 1 Constant phase P1016 While the drive is running with constant velocity gt P1016 1 Drive status and limit switch P1013 word 2 byte only read parameter Consists of the driver status and the status of the limit switch inputs Set active bit 0 decimal value 1 limit switch right open drive error syntax for IF J3 decimal value 2 limit switch left open drive error syntax for IF J2 2 decimal value 4 STOP switch open drive stops syntax for IF J4 3 decimal value 8 home switch open syntax for IF J1 7 decimal value 128 service switch open inactive syntax for IF J5 All oth
45. SERS R2 at the additional 32 pol Connector at the boards rear side The inputs can be configured low or high active and with TTL or PLC SPS signal level see chapter 3 1 5 At the inputs the connection GND inputs common GND OV Pins 13 and 25 must be connected to the external signal GND The GND potential of the inputs is connected with the GND potential of the power supply for the SERS pins 30 32a c of the 32 pole VG connector see page 7 and when using a ELK rack with the internal common GND The digital outputs must be supplied externally via the connections VCC outputs Pins 1 2 14 and GND outputs Pins 5 6 17 18 In case of an active service switch extern and P1092 1 or DIP switch 1 Bit 6 ON the inputs I1 to I8 are assigned to the functions manual drive jog start homing ON OFF STOP and START executable program Else the inputs may be used as free programmable inputs for an executable program or they may be requested in the serial mode via parameter P1300 Via parameter P1021 it is possible to assign just some of the predefined functions to the inputs The not assigned inputs may be used as free programmable inputs see also input parameters page 43 Connections standard I O port Pin connection Pin connection 1 VCC outputs m 14 VCC outputs 2 VCC outputs 35 S 15 output O3 3 output O4 4 Hi 16 output Ol 4 output O2 5 eid 17 GND output 5 GND output Be e 18 GND output 6 G
46. Speed P147 4 and positioning into negative direction e g P1014 0 direction positive gt relative positioning and command W 360 E dir neg backlash backlash backlash P147 4 and positioning into positive direction e g P1014 0 led gt relative positioning and command W 360 E irection positive Start i Statt backlash Ww A y pao are i cM backlash dir neg backlash backlash P147 5 and positioning into positive direction running characteristics 1A and 1B P147 5 and positioning into negative direction running characteristics 2A and 2B Backlash function when positioning and before executed manual drive command Depending on the executed manual drive function and the covered distance at manual driving in relation to the backlash distance the running characteristics 1A or 2A depending on the direction and P147 or a different running characteristics is executed e g positioning to the position command value only with backlash velocity if the covered distance with manual driving is smaller than the backlash value 60 St gra SERS SERS Parameter 4 8 5 Parameters for programming 4 8 5 1 Time delay Time delay P1100 D Alternative syntax D Indication in 10 seconds 100ms D 1 Minimum programmable delay 10ms D 0 1 Example D 20 2 seconds delay or D 0 5 50ms delay 4 8 5 2 Counter Counter 1 unsigned 16 bit counter 0 until 65536 P100 C1 Alternative syntax
47. a POSR try does not succeed there is again a load angle error then the SERS will try the correction POSR max n times again The POS signal see P336 stays active POS 0 as long as the load angle error correction tries last Range of values for P1138 0 to 65536 POSR Delay time P1139 Delay time between a load angle error and automatcal correction if P1138 20 The value 1 0 corresponds to 0 1s 100ms the value 10 0 corresponds to 1s Range of values for P1139 0 to 327 6 max 32 76 seconds Adjustable in steps of 0 1 corresponds to steps of 10ms standard setting P1139 1 0 POSR mode P1140 Bit 0 decimal 1 Bit 0 1 if P1138 lt gt 0 and the motor is moved out of its position at stand still then an automatical correction POSR is executed Bit 0 0 standard setting if P1138 lt gt 0 and at motor stand still no automatical correction with POSR will be executed after a load angle error Bit 1 decimal 2 Bit 1 1 after each successfull POSR again P1138 new correction tries are available for any other load angle error later Bit 1 2 0 only P1138 tries all together are available counted from Power ON 54 St gra SERS SERS Parameter Leave Zero Phase P1001 P1001 0 normal operation P1001 1 Phase positions where one of the phases carries a very low current are left When reaching a position which is multiple of 1 8 or is within 0 1 after or before e g 0 1 74 1 8 1 85 3
48. active negativ 3 Type SERS without option E50 Pulses at digital Input I 3 gt motor moves into positive direction Pulses at digital Input I 4 gt motor moves into negative direction Type SERS E50 including option E50 Encoder signals signal A at Input I 3 and Signal B at Input 14 motor is moved by encoder signals Evaluation of direction automatically from encodersignals A and B 4 Control of load angle connection of a 2 channel encoder channel A at digital Input I 3 and channel B at digital Input I 4 as 1 but encoder input 9 pole D Sub connector ENC instead of digital input as 2 but encoder input 9 pole D Sub connector ENC instead of digital inputs as 3 but encoder input 9 pole D Sub connector ENC instead of digital inputs Control of load angle connection of a 2 channel encoder with signals A and B and inverted signals A and B at 9 pole D Sub connector ENC 9 for SERS without option E50 input for frequency measurement the frequency of pulses at digital input I 3 are measured result can be read in P1124 P1055 defines the timer interval for the measurement 10 Frequenzmessung ber Drehgebereingang an 9 pol D Sub Buchse ENC Ergebnis in P1124 Die Frequenz wird unabh ngig von der Drehrichtung immer positiv ausgegeben Auswertung von A A B und B Mit P1055 wird das Zeitmess Intervall bestimmt Handwheel electrical gear P1053 3 or P1053 7 The motor
49. anual drive control functions P1021 The manual drive control functions can be started by Sending the instructions RS or RF or LS or LF via the serial interface to the SERS Or Signals at the inputs I1 to I4 at the 25 pole D Sub connector I O Port see connections page 17 When using the manual drive control functions via the inputs I1 to I4 the phase current of the motor will be turned on automatically When using the manual drive control functions by sending instructions via the serial interface the phase current of the motor must be turned on before by sending ON to the SERS 4 5 2 Executable program mode for master mode parallel BCD mode and standalone mode Following steps are necessary for a automatically executable program mode for the operating modes master mode parallel mode and standalone mode writing and downloading an executable program into the E Prom of the SERS adjusting all necessary parameters in the SERS adjusting the DIP switches on the SERS Executable program Master mode The structure of a master program principally is the same as for programs in other operating modes Additionally for a master program there are instructions which are for controlling other SERS drives Slaves This is done by sending the expression Z address to the drive to be controlled where address is the drive address of that slave drive All following instructions in the program until the next Z address
50. art of executable programs and subroutines of other SERS drives request of inputs and drive status of other SERS drives 3 6 3 Parallel mode In the parallel mode subroutines stored in the E Prom are called in the SERS drives via the digital inputs The different subroutines are addressed with 6 inputs binary address 0 to 63 With another input the address is set strobe and the addressed subroutine will be started The digital parallel inputs can be controlled e g by manual switches or by digital outputs of a PLC 3 6 4 Standalone mode In the standalone mode the SERS runs independently without a higher ranking control The E Prom program is started by a digital input start input I8 or automatically after connecting the SERS with a power supply autostart selection via DIP switch see 3 1 2 page 14 Events at the inputs can control the execution of the program s DOM St gra SERS Programming and operating the SERS 4 Programming and operating the SERS 4 1 Syntax general notes each line sent to the SERS must begin with the character e g ON will switch on the phase current the line begins with each line must be finished with Carriage Return Return key of the keyboard corresponds to the ASCII character 13 decimal number 13 in the ASCII table when writing a e g PC program or Linefeed ASCII character 10 e g programming in PASCAL a string with an assignment W 1000
51. at the stepper motor Phase current P1010 The unit of the assigned values is mA The unit may not be assigned The valid range of values respectivley the max value which can be set depends on the SERS version SERS 01 SERS 02 SERS 03 SERS 06 SERS 12 SERS 04 SERS 06 SERS 08 mA 1400 2800 4200 8400 14500 4000 6000 8400 e g P1010 6000 sets the phase current to 6A 26000mA Acceleration value for current boost P1012 The unit depends on the scaling mode for acceleration P160 In case of a set bit 2 in P1011 the phase current will be risen during accelerating if the value stored in P1012 is exceeded P1012 may not be chosen smaller than 10 rad s 63 St gra SERS SERS Parameter current parameters P1011 Following assignment bit by bit apply the explanations are valid for bits set Bit 0 decimal 1 automatic current reduction at motor stop is active When the motor stops the phase current will be reduced to 5096 of the value stored in P1010 Bit 1 decimal 2 automatic current boost is active for getting more torque for acceleration When the acceleration value stored in P1012 is exceeded during accelerating then the phase current will be increased by 20 Bit 2 decimal 4 Current boost is active at motor stop When the motor stops the phase current will be increased by 20 Bit 3 decimal 8 switch to full step characteristics during accelerating for getting max accelerating torque depends o
52. case of signal edges at multiple inputs enabled via P1098 at the same time then I1 is the input with the highest priority I2 is the input with the next lower priority If inputs stay active then all corresponding subroutines will be called after each other If an input which did not lead to the call of its corresponding subroutine yet changes to inactive state during another program subroutine is running then the subroutine will not be called meaning the signal edges will not be saved internally 30 St gra SERS Programming instructions Standalone mode In the standalone mode the E Prom program is started with a start signal autostart via switched on bit 8 of switch 2 see 3 1 2 page 14 or start input I8 at I O Port from the program begin The program execution can depend on events at the inputs I O Port or run independently Necessary SERS parameter Parallel BCD mode P1022 Digin label enable The inputs which are used for the addressing in the parallel mode have to be enabled in P1022 see parameter description and the Start Input must be set in P1021 P1021 128 Event controlled mode P1098 enable program jump the inputs needed for calling the subroutines in the event controlled mode have to be enabled in P1098 DIP switches General notes Selecting the autostart function at switch 2 see chapter 3 1 2 depends on the application Selecting input signal level at switch 1 see
53. chapter 3 1 5 depends on the connected hardware e g control units to the inputs connected switches are against GND or 24VDC or 5VDC Switch off service switch bit at switch 1 see page chapter 3 1 4 4 5 3 Programming mode When using the SERS programming software from STOEGRA you do not need the functions explained as follows For entering the programming mode the SERS must be stopped no autostart active or a running program must be stopped via the Stop input or a sent stop command There are two different programming modes programming mode with erasing of actual program in E Prom and MT em programming mode with editing of actual program in E Prom The instruction NEW will start the programming mode with erasing an E Prom program the instruction PGM will start the programming mode with editing an E Prom program A short description of the instructions LIST DEL C QUIT for the programming mode can be found in chapter 4 2 syntax definitions in the section instructions 4 5 4 Trace mode When using the SERS programming software from STOEGRA you do not need the functions explained as follows In the trace mode an executable program can be executed step by step The instructions TRON TROFF TR TR Are explained in chapter 4 2 syntax definitions in the section instructions 535 St gra SERS SERS functions and modes 4 6 Programming instructions 4 6 1 IF Conditional execution
54. city V 500 000 NOTES to TEXT strings When using a TEXT string defined through the quotation marks at the beginning and the end of the text then the length of the text should be exactly 16 characters because the SERS Programmer does not insert automatically a carriage return at the end of the text the display of the SERS Programmer is 4 x 16 characters In that way the text and the following value assignment will be shown at the display of the SERS Programmer in separate lines The text can be filled with space characters e g length to the text length are added 10 space characters Ll L2 L3 L4 L5 L6 L7 L8 1 2 4 8 16 32 64 128 L9 L10 L11 L12 L13 L14 L15 L16 256 512 1024 2048 4096 8192 16384 32768 e g P1070 42 2 8 32 Labels L2 L4 and L6 are enabled 295 St gra SERS SERS Parameter Program Mask 2 P1071 Explanation as P1070 for following program Label L17 L18 L19 L20 L21 L22 L23 L24 1 2 4 8 16 32 64 128 L25 L26 L27 L28 L29 L30 L31 L32 256 512 1024 2048 4096 8192 16384 32768 Program Mask 3 P1072 Explanation as P1070 for following program Label L33 L34 L35 L36 L37 L38 L39 L40 1 2 4 8 16 32 64 128 L41 L42 143 L44 L45 L46 L47 148 256 512 1024 2048 4096 8192 16384 32768 Program Mask 4 P1073 Explanation as P1070
55. ctance of the load there must be installed a recovery diode In non disturbed condition ready signal active motor phase current is ON the relay contact is closed Following conditions cause disabling the ready signal and an open relay 1 adrive error see parameter P11 is active 2 the SERS did not receive the command ON or the last command received is OFF In the case of any error except short circuit the drive will be stopped controlled meaning that the motor will be decelerated until motor stand still Then the relay contacts will be opened Afterwards the phase current will be switched off In case of a short circuit the phase current will be switched off immediately and at the same time the relay contacts will be opened St gra SERS Power supply 2 1 4 Power supply The SERS requires a DC voltage supply The unit includes an electrolytic capacitor which is calculated for buffering a non controlled DC voltage with a Ripple of maximum 5 In case of power supply leads 0 5 m distance between power supply and SERS at the input of SERS Pins 8 10 ac and Pins 30 32 ac see connections 2 1 1 there has to be installed an additional electrolytic capacitor with at least 10001 Following voltage values are defined 1 Uy Maximum voltage supply nominal voltage supply 2 Uw Voltage level for the indication of pre warning undervoltage 3 Ug Voltage le
56. e Returns within the program will be listed in the same way the user programmed them else each instruction will be printed in an separate line Bit 4 decimal 16 When sending LIST P the parameter texts are listed too E g P1028 5 results in listing all instructions of the program in the E Prom with line numbers when sending the command LIST writing labels in the 1 row and instructions in the 4 row P1028 5 1 4 Bit 0 and Bit 2 will be set 4 8 5 5 Special Master mode parameter Wait until end of positioning P1110 When the master is executing a positioning job it will wait depending on parameter P1110 until the end of the positioning job before it continues with the next instruction of the program 0 No waiting for the end of a positioning job in this way the master is able to control other axis while executing its own positioning job 1 Wait for the end of the actual positioning job Please note After Power On of the SERS always P1110 1 The parameter P1110 can not be stored into the parameter section of the E Prom Destination address P1 alternative syntax z destination drive address slave address used only from the master drive destination for assignments commands and IF requests e g Z 3 gt following commands are sent to drive address 3 IF send receive P2 IF send receive will be initiated by the master drive The master drive sends an assignment to a slave drive The operand is the
57. e controled various parameters are checked received characters at the serial input buffer are evaluated similar to the working principle of a PLC an operational program in the E Prom is executed line by line functional principle as a CNC control The control stays at every command in the program lines until the command is finished Execept the commands start positioning E start homing and delay D all commands are being executed within one internal operation cycle 0 5ms processor SERS Logic Parameter J operational program Ams onv limit switch 1 ADC 8 Bit 0 5VDC Ris edt 4 digital outputs 500 mA A M P L F E R IONMHAIN SERS shown with function blocks St gra SERS Installation 1 3 Installation Before doing any installation maintenance mounting or inspection work pay attention to the safety rules this manual chapter 1 1 All relevant standards of the low voltage EMC and machine directives must be fulfilled before commissioning the SERS Leads cables to the stepping motor Shielding The cables of the SERS to the stepping motor should be shielded for preventing noise radiation A shield made of metal braiding achieves better results than a shield made of metal foil The shield should be mounted on a large surface at both sides motor and case or cabinet in where the SERS is installed Leads cross section The fol
58. e drive with the address 2 is called After sending an address all following commands and assignments of parameters are accepted only by the addressed drive All other connected drives will ignore the commands and assignments If some commands or parameter assignments are dedicated for another drive then first the drives address has to be sent e g 3 e g 2 ON The phase current of the drive with address 2 is switched on v 1000 with ON the velocity is set to 1000 the way distance to be W 5000 E moved is set to 5000 and with E drive 2 is started 3 ON Afterwards drive 3 is addressed the current is switched on V 1500 with ON and velocity and the way are set and drive 3 is W 4000 E started 4 2 Syntax definitions Following the general syntax definitions for the SERS All expressions and characters which are not described more detailed must be input directly Cursive written expressions are defined more detailed in the following lines Expressions in are optionally All key words may be written in small or big letters Explanations to the syntax are behind the comment characters Instruction line drive address instruction list end of line Drive address decimal constant allowed is 0 127 i addressing all drives e g for synchronically start of all drives broadcast address Instruction list instruction instruction instruction list Instruction character list
59. e of no error the SERS will return a OK If the parameter value is not valid the SERS will return an error message Reading actual parameters out of the SERS A parameter can be read with the instruction Pdata with the parameter identifier data e g P138 The SERS returns the parameter value in case of parameter values with units like e g acceleration the unit will be returned together with the unit In the example above e g 1500 rad s2 will be returned After sending list p to the SERS a list of all parameters and values will be returned Reading parameter identifications parameter names out of the SERS A parameter identification can be read by sending the instruction Pdata with the parameter number data e g P138 The SERS returns the parameter identification e g acceleration List of all parameters PO J X 44 P1 Z 60 1004 69 P1009 d e61 P1044 68 P1070 P1073 73 P1080 P1085 70 P1094 4 er P1095 63 P1099 75 P1100 D 59 P1110 X f60 Pt111 P1116 50 P1119 X es P1120 X 68 P265 69 P1028 4 60 po 3 P1017 fes P137 69 P1122 69 P1127 69 P1301 19 116 ee jJ P2 60 RO R5 70 Lo LS RS RS RF H A St gra page 48 SERS Parameter 4 8 Inputs Outputs I O ASAD Inputs oe etes ec en dac heaton 41 4 8 1 2 Outputs ie e a e dies 42 4 8 2 System parame
60. e value assignment to be displayed A detailed description of the operation with the SERS Programmer can be found in the manual SERS Programmer 38 St gra SERS Program examples 4 6 12 Program examples Standalone mode Following example demonstrates an endless loop Because all executed positions ways are always positive results in running always into the same direction the positioning mode must be set to RELATIV ERASE the positioning mode ABSOLUT is possible doesn t make sense in this case because the program would position 10 times behind each other to the same position 1000 The bold printed characters belong to the program the cursive text behind with the comment characters are explanations which are not part of the program TON switch motor current on V 10 velocity 10 e g at rotational scaling 10 rpm W 25 5E travel distance position 25 5 and start E positioning L1 label L1 destination for program jump with GOTO WAIT 12 20 wait until input 12 0 wait here as long as I2 1 V 1500 velocity 1500 W 2000 E travel distance position 2000 and start E positioning WAIT INS wait until not INS wait here as long as I1 21 and I3 1 IN5 1 C1 10 set counter C1 10 together with IF C1 below loop with 10 runs L4 label LA W 100 E travel distance position 100 and start positioning GOSUB 10 call of subroutine starting at label L10
61. ected 49 24 2o 4 diem input I8 39 24VDC 38 22 OO 2 Phase 1 output O1 40 GND 24VDC 36 20 OO 1Phase 1 output O2 4 GND OUT 34 18 output O3 42 VCC OUT output O4 43 24VDC 5 ready signal 11 ready signal RS232 HSO 44 not connected 6 GND VCC 12 GND VCC RS232 8VDC 45 RS232 HSI 7 STOP 13 home switch RS232 GND 46 RS232 Pin 6 8 limt switch left 14 limit switch right RS232 RXD 47 RS232 Pin 4 9 Opto GND 15 service switch ext RS232 TXD 48 RS232 Pin 1 10 GND 24V 16 24VDC ere Sio St gra SERS Configurations via DIP switches 3 Position control 3 1 configurations via DIP switches All adjustments must be made during power off of the SERS Changes of switches during power on of the SERS are be ignored exceptionally bits 4 to 6 from switch 1 3 1 1 Drive address The drive address address of a SERS slave within a ring of drives can be selected at the 8 pole DIP switch 2 see 2 1 6 dimensions bits 1 to 7 The selected drive address is build with a binary code of the 7 switch positions bit 1 2 3 4 5 6 7 value 1 2 4 8 16 32 64 e g bit 1 ON address 1 bit 1 ON and Bit 2
62. ed 40 newor neg expected 41 list expected 42 J quit expected 43 off expected 44 program still running 45 pgm expected 46 Programming mode not active 47 del expected 48 data expected 48 St gra SERS SERS parameter 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 change only constant allowed decimal constant or pos expected pos expected psave expected tr tron troff expected program not running troff expected ver expected 1 2 3 or 4 expected pos or possave expected Ip expected possave expected data or parameter expected semicolon not allowed not expected not known status program start not possible when service switch is ON programmstart not possible error P11 Stop switch is active stop switch is open not valid program existing drive must stand still unknown destination destination not valid Stack overflow unknown Opcode forgot return unknown fxxx Opcode invalid Opcode for destination address unknown f7xx Opcode limit switch open drive not enabled OFF unknown positioning mode drive must run constant or stand still invalid EEPROM mode value label already defined L position difference to big new position to big new positi
63. ed via P1021 or service switch with P1095 it is specified how to react after a Power ON Reset voltage supply ON 0 Start jog function if there is a static signal at the jog input 1 Start jog function only if there is signal edge to 1 at the jog input 4 8 6 4 Manual drive control with Timeout Manual drive with Timeout P1035 If a manual drive function was started by sending one of the manual drive commands LS RS LF RF or by assigning the parameter P1031 as described above then depending on the parameter P1035 the manual drive function will be stopped again if the manual drive command is not repeated latest 500ms after the last command The parameter is 1 by factory setting When operated with a SERS Programer this transmitts the jog command every 500ms again to the SERS as long as the corresponding key of the jog function is pressed at the SERS Programer e g RS for jog right slow ATTENTION Parameter P1035 cannot be saved into the EEProm of the SERS After each Power ON switching on the voltage supply of the SERS P1035 is always set to 1 Gog will be stopped automatically after 500ms Therfore for an operation of the SERS with e g a PC in serial mode parameter P1035 must be set to 0 P1035 0 always after switching on the power supply Power ON if jog commands shall be used 0 no timeout when using manual drive functions 1 timeout manual drive is active max after 500ms a manual drive
64. ee table above and all instructions until the next RT RETURN are executed After the RETURN the program waits again for the next signal edge at the start input Event controlled mode In the event controlled mode single subroutines stored in the E Prom are called directly via single inputs An executable program consists of one or multiple subroutines wich are defines through Label L and RT e g L1 ON RT L2 V 1000 W 360 E RT Depending on the activated input the corresponding subroutine will be called rising signal edge at input will initiate the jump to the subroutine Only the inputs labels enabled in parameter P1098 are valid for this program mode The inputs labels not defined in P1098 may be used for other functions P1098 1 jump to L1 at signal edge at input I1 2 jump to L2 at signal edge at input I2 3 jump to L1 at signal edge at input I1 and jump to L2 at signal edge at I2 4 jump to L3 at signal edge at input I3 5 jump to L1 at signal edge at input I1 and jump to L3 at signal edge at I3 255 jump to L1 until L8 in case of edges at inputs I1 until I8 A positive signal edge at the input will call the subroutine if at the time of the signal edge no program is executed PO 0 If there was a positive signal edge at the input and a program was running at the time and the input is still active after the program is terminated then the subroutine will be called after termination of the program In
65. elative positioning position absolute positioning syntax W value and executed with the instruction execute positioning job Syntax E For executing a positioning job with the SERS only the execute instruction E has to be sent to the SERS or E must be programmed in the executable program in the E Prom The parameters A V and W of a executed positioning job are kept in the memory of the SERS and if not overwritten they will be used for the next positioning job After Power On of the SERS the parameters A and V stored in the E Prom are valid The parameter W after Power ON always is 0 except W was saved with POSSAVE The parameter A and V may be redefined any time If these parameters are overwritten during the SERS is executing a positioning job then they will be valid only for the next positioning job Changing W is only possible at standstill of the drive POS 1 or when the drive runs with constant velocity constant phase When overwriting W in the constant phase then in relative positioning mode the new value W will be added to the previous value W and the drive will execute the total new distance W In absolute positioning mode the drive will position to the new value W The values W sent during the constant phase may not result in a change of the motor direction In that case the sent value W will be returned with an error message and only after finishing the actual positioning job W will be executed with
66. end of line Carriage Return see also page 23 syntax general notes 70 St gra SERS SERS Parameter 4 8 6 9 E7PROM Parameter E PROM Parameter P1004 Following values can be selected 2 Save the actual parameter in the SERS RAM into the E PROM alternative syntax PSAVE Please note Changed parameters in the SERS are stored into the SERS E PROM only by sending P1004 2 or PSAVE Before sending PSAVE the actual parameters are only in the SERS RAM that means that after switching off the SERS disconnecting from power supply without PSAVE all parameter changes are lost 3 Write standard parameter values in EPROM ATTENTION By sending P1004 3 to the SERS all actual parameters stored in the E PROM will be erased and replaced by standard values pre selected values 4 Save actual position P51 into EPROM alternative syntax POSSAVE 5 Save register RO until R5 and W into E PROM Save RO until R5 and W P1117 Possible values to be written 0 disabled standard adjustment Save also parameters RO until R5 and W into E PROM with the command P1004 2 PSAVE Free E7PROM memory P1122 Indicates the actual fee program memory in the E Prom Indication in words 1 word 2 bytes 500us programm mode P1127 Switching mode for compatibility to SERS V01 V03 controls P1127 1 Executing of operational programs in the EEPROM will be reduced to 500 commands per second 2ms cycle time
67. er amplifier 2 1 with 32 pole male connector 2 1 1 Connections external service switch Opto GND optoisolated 24 VDC input Common ground for all optoisolated inputs 2c 4a c 6a c Limit switch left optoisolated 24 VDC input Limit switch right optoisolated 24 VDC input Input I9 STOP input optoisolated 24 VDC input Home switch optoisolated 24 VDC input Output ready signal l Potentialfree contacts for controlling a brake open error closed no error Imax 01A Umax 50VDC supply voltage VDC max stepping motor cast connection box version stepping motor leads version yellow blue black supply voltage GND Stepping motor with Encoder E50 Connection Connection Encoder PE St gra SERS Limit home reset stop and external service switch 2 1 2 Limit home reset stop and external service switch The two limit switch inputs the home switch input the reset input the stop input and the external service switch input are optoisolated 24 VDC inputs The connection Opto GND is the OV common GND of these signals This connection is not conncted to any other potential in the SERS Therefore the Opto GND connection must be connected to the OV of the external 24V for the stop and limit switches The two limit switch inputs and the stop input must be connected for the operation of the SERS Meaning that for operation there must be 24 VDC at both limit switch inputs and at the sto
68. er bits are used internally For checking e g the limit switch left AND function of P1013 and the decimal value of the bit to be checked P1013 amp 2 2 if the bit is active else the result of the AND function is O Alternatively request directly via Jx IF J2 1 see also page 32 IF requets Limit position exceeded P1042 LP Alternative syntax LP see also description P1040 P1041 page 72 If P51 P1040 or P51 gt P1041 then P1042 1 else P1042 0 Load next polynom section P1123 The SERS expects the definition of the next polynom section when P1123 1 Necessary for polynom driving in the serial mode see chapter 4 6 7 polynom driving 5 St gra SERS SERS Parameter 4 8 4 Operating parameter 4 8 4 1 Positioning mode Positioning mode P1014 0 RELATIVE the new position command value is the actual position command value plus the value stored in W P47 The drive is running the distance stored in W P47 after receiving the instruction E 1 RELATIVE ERASE After receiving the instruction E the drive is running the distance stored in W P47 and P51 actual position is set to zero before starting This mode is used for endless positioning Also pay attention to P103 2 ABSOLUTE An instruction E starts positioning to the absolute position stored in W P47 After finishing positioning the position value P51 W P47 3 RELATIVE WITH OVERFLOW COUNTER The 16 Bit counter P1
69. erating modes overview 3 6 Operating modes overview 3 6 1 Serial operation In the serial mode the SERS stepping motor positioning drives are controlled by a higher ranking master PC PLC or NC via the serial interface RS232C e g COMI of a IBM PC or RS485 The master controls the connected SERS drives by sending commands and parameter assignments as ASCII characters via the serial interface requests actual parameters like position drive status inputs or starts executable programs or subroutines in the SERS drives In standard version there can be controlled up to 127 SERS drives from one e g PC COM interface 127 different addresses 1 127 can be adjusted at a SERS 3 6 2 Master mode In the Master mode one SERS drive is configured as higher ranking control Master By selecting the address 0 at the DIP switch the SERS will work as Master If the Master with adjusted address 0 is called with the address 200 then it behaves like a slave and can be programmed A Master SERS sends commands via the serial interface and can control other SERS drives in that way So even complex motion applications can be realised without additional control PC or PLC Characteristics of a SERS Master all drive functions for a standalone drive assigning parameters of other SERS drives e g velocity acceleration position sending all commands to other SERS drives e g start stop set output St
70. es unary operator NOT NEG operand address decimal constant address A ADC C1 C2 C3 D M1 M2 M3 I1 to I8 I9 to I16 J1 J2 J3 J4 J5 OI until O16 P decimal constant POS V W WA WR WP WAP WRP WPT WAPT WRPT X Z Command E H S Data decimal constant End of line Carriage Return Ir In inverting accumulator bit by bit inverting sign of accumulator equivalent to P138 acceleration equivalent P1046 analogue Input equivalent P100 P101 P102 counter equivalent P1100 delay time in 10 seconds equivalent P1101 P1102 P1103 marker equivalent P1300 inputs I1 to I8 equivalent P1301 inputs I9 to I16 home switch for requests with IF WAIT and limit swith left for requests with IF WAIT and limit swith right for requests with IF WAIT and STOP switch for requests with IF WAIT and service switch for requests with IF WAIT qnd equivalent P1201 until P1216 output 01 until O16 parameter see description of parameters 4 7 page 41 equivalent P336 status In Position equivalent P91 velocity equivalent P47 distance to move or position as W but additionally P1014 2 absolute positioning as W but additionally P1014 0 relative positioning first positioning section in mode polynom positioning as WP but additionally P1014 2 absolute positioning
71. est if P51 P1040 or P51 gt P1041 request of status of software limit switches possible requests IF LP 1 and IF LP 0 X request of accumulator IF X Oor IFX lt 0 P1123 request of polynom status IF P1123 1 load next polynom section Example for an IF request IF P12 lt gt 0 Ol 1 GT 20 If P12 is not equal 0 a warning is occurred then output O1 will be set O1 1 is the next instruction following the IF request Afterwards the program will jump to Label 20 GT20 If P12 is 0 P12 lt gt 0 is wrong then the next instruction O1 1 will not be executed but skipped The program executes the instruction afterwards GT 20 and jumps to Label 20 Following program is identical to above program IF P12 lt gt 0 Ol 1 GT20 Attention There is no difference for the SERS weather the instruction following the IF command is in the next program line or in the same line as the IF command 4 6 2 Program labels Syntax L decimal constant decimal constant is a value between 1 and 65 e g Ll or L64 Labels are used as jump destinations for creating program loops or subroutines Each label number may be defined only once in a program In case of P1033 2 The program jumps to Label L65 if the E PROM program is terminated suddenly e g by a external Stop command or a drive error e g error temperature This enables certain actions to be executed in case of an error In case the Label L65 does not exist then the pro
72. f the 8 pole DIP switch 1 see 2 1 6 dimensions service switch can be selected that only the manual drive functions manual drive right left slow fast and start homing via the digital inputs are enabled The auto start function and the program start via the serial interface will be disabled bit6 ON all manual drive functions at the inputs enabled no auto start or start program via serial interface possible OFF manual drive functions at the inputs enabled depending on parameter P1021 auto start and start program via serial interface enabled For enabling or disabling manual drive functions via parameter P1021 see page 43 3 1 5 Signal levels and polarity of the inputs Via bits 4 and 5 of the 6 pole DIP switch 1 see 2 1 6 dimensions the signal levels and the polarity of the digital inputs I1 I8 can be configured bit 4 OFF and bit 5 OFF high active with PLC SPS level 13 5 V signal level bit 4 ON and bit 5 OFF high active with TTL level 3 5 V signal level bit4 ON andbit 5 ON low active 1 V signal level bit4 OFF and bit 5 ON not valid may not be selected selected baud rate 1200 baud inputs not valid manual drive via dig inputs depend on P1021 selected baud rate 38400 baud inputs high active TTL level manual drive via digital inputs always enabled selected baud rate 19200 baud inputs not valid manual drive via dig inputs depend on P1021 Bit 7 of the 8 pole DIP switch 1 is
73. follows the encoder pulses of a handwheel or of a leading axis motor While following the encoder pulses the acceleration and the velocity of the drive are limited by the parameters A P138 and V P91 If an error limit switch occurs e g limit switch left opens the motor stops and the phase current will be switched off Afterwards moving the handwheel or the leading axis into the opposite direction e g right direction will switch on the motor current again automatically and the motor follows the encoder signals again see also parameter P1094 o 1 ON tA 66 St gra SERS SERS Parameter Control of load angle P1053 8 or P1053 4 with detection of real motor position P1053 4 normally is not good for the control of load angle because for a safe control of load angle the inverted signals A and B should be evaluated too Only in exceptional cases P1053 4 should be used For the control of load angle always the option P1053 8 should be used Additionally to P1053 8 the parameter P1029 must be set to a value lt gt 0 see P1029 In case of an error load angle P11 32 or P12232 depending on P1029 the motor lost its position due to a mechanical overload following commands can be used POSR the motor will be moved with homing velocity P41 to the actual position command value parameter W P47 see also parameter P1043 P11 0 or P12 0 the real motor posit
74. for following program Label L49 L50 L51 L52 L53 L54 L55 L56 1 2 4 8 16 32 64 128 L57 L58 L59 L60 L61 L62 L63 L64 256 512 1024 2048 4096 8192 16384 32768 76 St gra SERS SERS Parameter 4 8 6 15 CANopen Parameter Operand P1097 For use with SERS versions with CANopen interface SERS CAN Operand for the Opcode defined in P1099 An assignment to this parameter will not be saved into the E PROM but executed immediately only 32 bit assignments Opcode P1099 For use with SERS versions with CANopen interface SERS CAN An assignment to this parameter will not be saved into the E PROM but executed immediately only 32 bit assignments The value of these parameter will be assigned to the Opcode In the programming mode started through PO 2 new the Opcode will be saved In the normal non programming mode the Opcode will be executed In case of Opcodes which require a Operand the Operand must be defined before in P1097 E g a RUN 5 Opcode will be executed as P1099 62213 A E Opcode will be executed as P1099 63235 For writing an operational program with a SERS CAN with CANopen interface for saving it into the SERS E PRom the parameters P1097 und P1099 must be used 4 8 6 16 Profibus Parameter Profibus ID P1142 0 default use ID from versions SERS VOI to SERS V03 ID 0008 1 use new Profibus ID ID 07B5 For old exisiting projec
75. fter a safety power down of the slaves Specification of external logic voltage supply Voltage supply 24VDC 15 10 Consumption max 100mA 2 1 6 Dimensions SERS interface connector according to DIN 41612 status indication RS232 RS485 Profibus DP 32 pole male connector Reset switch depending on version o W o E o SERS 06 V01 Inputs I1 to I8 Analogue Input Outputs O1 to O4 Switch 1 selection baud rate enable manual drive functions and configuration inputs OFF nm ON 100 switch 2 selection drive number and autostart St gra SERS Dimensions ELK 2 2 Optionally as panel mount system ELK 2 2 1 Dimensions ELK Following schematics show a ELK panel mount unit type ELK3 with integrated power supply and 2 stepping motor drivers The dimensions depend on the ELK type see table below with ELK2 ELK3 and ELKA _ 8 15 7 eleg eJ 5 6 66 STOEGRA STATUS status 5 o RS eL SERS 06 85 V01 SERS 06 85 V01 10 3x68 O O O O O O O O O O O O O O O C 2 2 2 Connections ELK T PES g YD 5 T Mee S s 2 O t e on gt OQ g 9509 NS 20S S gt ar vE T Tora ToscsaNeg enganrea nun Bt 2ZORZG nun Bit PZORZG o o oo 2090 gn o o ozoncgo 2 8 2925 2 2 mcn 28 5 o559g80 S o5 2929250 5 S6BEQCZY
76. gram will be terminated after a drive error or a stop 33 St gra SERS Programming instructions 4 6 3 GOTO GT jumps Syntax GOTO Label Label must be defined anywhere in the program Alternative syntax GT Label Program jump to a label backwards or forwards L1 s s GOTO 1 equivalent GT 1 or GOTO 1 L1 s 4 6 4 GOSUB call of subroutine Syntax GOSUB Label Label must be defined anywhere in the program Alternative Syntax GS Label Jump to a subroutine Each subroutine contains a label at its begin and a RETURN at its end e g GOSUB 12 equivalent GS 1 L12 start subroutine RETURN end of subroutine and continue with instruction after last GOSUB 4 6 5 RETURN terminating subroutine Syntax RETURN Alternative Syntax RT The instruction RETURN terminates a subroutine which was called with GOSUB and initiates a jump to the instruction which follows the GOSUB lt A RETURN in the parallel mode terminates the called subroutine called via a signal at the start input and a address at the I O Port Then the SERS waits for the next subroutine call 34 St gra SERS Programming instructions 4 6 6 Programming of positioning jobs A positioning job is specified by the standard parameter acceleration Syntax A value velocity syntax V value way r
77. h left IF J2 0 if the drive is on the limit switch left closer J3 Limit switch right J4 STOP switch J5 Service switch external Following parameters may be used as events PO request weather a program is executed for master mode if the program execution in the slave has terminated possible requests IF PO 0 or IF PO 1 C1 to C3 counter each IF request will decrement the counter by 1 IF C1 gt 1 C1 C1 1 and if still C121 then execute next instruction POS P336 IF POS 1 requests weather the drive is In Position meaning weather it reached the command value position in master mode for requesting the slave state IF POS 1 motor is in position IF POS 0 motor is running P1015 P1016 request weather drive is in accelerating phase or in constant running phase drive runs with constant velocity possible requests IF P1015 1 IF P1016 1 IF P1015 0 or IF P1016 0 M1 to M3 P1101 to P1103 requests marker possible requests IF M1 1 IF M1 0 IF M2 1 IF M2 0 IF M3 1 IF M3 0 P11 P12 error warning register parameter lt gt 0 event true IF P11 lt gt 0 requests weather there is an error e g temperature error In case of an error P11 is not zero and the following instruction will be executed IF P11 0 executes the next instruction in case there is no error IF P12 lt gt 0 and IF P12 0 as P11 23245 St gra SERS Programming instructions LP IF LP 1 requ
78. h only during homing procedure Bit 2 4 decimal Reset position 0 homing to switch only 1 homing to switch and afterwards moving on to the next electr reset position every 7 2 at motor in case of 1 8 stepping motor Bit 3 8 decimal Controlling software limit switch 0 ignore P1040 und P1041 when homing 1 do not ignore P1040 und P1041 when homing Bit 4 16 decimal Home input inverted 0 not inverted standard input closer 1 inverted input opener no signal at input drive is on the home switch Bit 5 82 decimal Option homing to switch middle position 0 function disabled 1 homing to switch middle position the drive first travels to the right and left edge of the switch and in that way measures the switch then it travels to the middle of the switch Bit 6 64 decimal Use Zero pulse instead of homing switch 0 homing to homing switch or limit switch depending on Bit 1 1 homing to zero pulse for encoders with zero pulse channel Bit 7 128 decimal After homing move motor to zero pulse and afterwards to reset position 0 Standard homing procedure depending on Bit 1 to Bit 6 1 first homing to home switch then travel to zero pulse and then travel to next reset position as Bit 2 1 57 St gra SERS SERS Parameter 4 8 4 6 Scaling of operating parameters Following scaling modes are possible Incremental unit increments 12800 increments 1 mot
79. in of P138 A value range 0 to 100 Velocity section 1 P1007 Indication in of P91 V value range 0 to 100 Acceleration section 2 P1006 Indication in of P138 A value range 0 to 100 Velocity section 2 P1008 Indication in of P91 V value range 0 to 100 Ramp down Deceleration at end of polynom P1096 B Alternative syntax B Max adjustable value in case of rotational scaling 100000 rad s 56 St gra SERS SERS Parameter 4 8 4 5 Homing parameter Start Homing When receiving the command H or in case of an active signal at the digital input I5 depends on P1021 and the service switch the drive starts running to the home switch The drive accelerates with the acceleration homing P42 to the velocity velocity homing P41 At a positive edge of the home switch the drive decelerates until motor stop Then the drive runs with the velocity homing slow P3 into the opposite direction until reaching the negative edge of the home switch In case of start homing when the drive is on the reference switch then the drive runs with velocity homing slow until reaching a negative edge of the home switch The homing direction is defined in P147 Start homing Home switch Homing parameter P147 Bit 0 1 decimal Homing direction 0 positive 1 negative Bit 1 2 decimal Homing mode 0 homing to homing switch 1 homing to limit switch limit switch will be used as homing switc
80. ing of SERS forced draft fan and 24 VDC in ELK o k 9 error under voltage see 2 1 4 check power supply 9 blinking warning under voltage see 2 1 4 check power supply A Error monitoring stand still fucntion _ See parameter P1044 P1045 A blinking warning position overflow parameter W P47 to big positioning job is reaching position check positioning mode for endless limit positioning gt P1014 1 see page 52 c Limit switch is open check limit switches at machine and limit switch inputs SERS see 2 1 2 E shortcircuit in motor or at power when installing the motor check phase amplifier board connections F error step angle control the motor check encoder connections could not follow the position acceleration to high command value only with option external load to big not enough step angle control see P1029 motor torque F blinking warning step angle control see comment for F description as F see P1029 page 66 H blinking warning program error executable check parameters and labels in program program stopped because of an error use SERS software for debugging in the program L blinking warning software limit switch The actual position exceeded the limit position set in P1040 or P1041 Reset an error by writing P11 0 see P11 page 47 Reset a warning by writing P12 0 see P12 page 47 s OFT e St gra SERS Op
81. ion detected by the encoder signals will be written into parameter P51 position of the stator field After a mechanical overload the SERS can detect count a max load angle error difference between position command value and physical motor position of 32768 increments In case of encoder type E50 2 x 50 pulses per rev and 4 times evaluation 200 pulses per rev it can be detected and corrected by command POSR max 163 8 revolutions Scaling factor input pulses P1054 This parameter specifies the resolution of the connected encoder or the required step width per pulse e g in case of P1053 1 unit 1 200 rev unit 1 200 Umdr 16 bit value with 5 decimal points value range 32 76800 until 32 76700 internally there are stored only 16 bit At values out of the range 0 32768 0 32767 the resolution will be reduced by setting the last two decimal points to 0 e g 21 54700 Examples P1054 2 5 for an encoder with 2 x 20 pulses per rev e g encoder E20 P105421 for an encoder with 2 x 50 pulses per rev e g encoder E50 P1054 0 25 for an encoder with 2 x 200 pulses per rev e g encoder H200 P1054 0 05 for an encoder with 2 x 1000 pulses per rev Time slot for frequency measuring P1055 Indication in multiples of 2ms For the function handwheel electrical gear defines the time interval for counting the pulses for calculating the velocity command value of the drive P1055 1 means that every 2ms the cou
82. logue input is scanned and updated every time when being assigned or used in a formula E g X ADC or X V ADC result in reading the analogue input ADC Hysteresis P1135 With P1135 a Hysteresis for P1046 ADC may be defined Standard value is P1135z7 This value reduces the resolution of P1046 by 3 bit to totally 7 bit A signal noise is reduced Range of values 0 255 Example 0 no Hysteresis and 10 Bit resolution for P1046 7 Hysteresis with 3 Bit 7 Pa 1 and 7 Bit resolution 10 3 for P1046 255 Hysteresis with 8 Bit 255 One 1 and 2 Bit resolution 10 8 for P1046 x Hysteresis with n Bit x 2 1 and m Bit resolution 10 n for P1046 Home switch Digin assignment P1130 0 home switch input 2 standard home switch 1 to 8 digital input I1 to I8 home switch input Invert limit stop switches P1038 0 standard settings limit switches and stop switch must be connected 24VDC at inputs significates drive not on switch non disturbed operation test mode may not be set 2 inputs limit and stop switch inverted inputs open 24VDC not connected significates drive not on switch P1038 2 can be used if limit and STOP switches do not exist at the machine Connecting of these inputs at the SERS is not necessary then mO 4 8 1 2 Outputs Outputs P1201 P1201 output 1 alternative syntax O1 until P1202 output 2 alternative syntax O2 P1204 P1203 output 3 alternative syntax O3 P
83. lowing instructions except list quit pgm trace will be stored into the E Prom After each Carriage Return the SERS returns a pgm alternative syntax new The instruction pgm also enters the programming mode but the actual E Prom program will not be erased but can be edited 4 8 2 2 Power control drive ON OFF Master control word P134 0 Switch motor phase current off alternative syntax OFF 7 Switch motor phase current on alternative Syntax ON 4 8 2 3 Motor direction assignment Direction turn P1134 This parameter is for assigning the movment commands e g RS or L S and the position to the physical motor direction Changing the parameter P1134 has the same result as exchanging the motor connections within one motor phase the motor then turns physically into the opposite direction 0 standard motor direction 1 motor direction inverted 4 8 2 4 Phasen current chopper frequency at 12A version Increased chopper frequency P1136 At alle SERS versions until 6A the chopper frequency is approx 18KHz At SERS versions with 12A the chopper frequency is set to 12KHz standard for 12A Standard setting is P1136 0 With P1136 1 for the 12A versions the chopper frequency can be increased to 18KHz It is not recommended to change the setting of P1136 and keep the chopper frequency at 12Khz for 12A versions A higher chopper frequency will result in increasing losses and to increasing temperatures
84. lowing table shows reference values for choosing the right cross section The values in the table refer to a standard leads type e g flexible PVC control leads with copper shield braiding By using different types of leads we reference to the standard VDE 0298 part 4 motor current Cross section A mm until 4 0 75 until 6 0 75 to 1 0 until 10 1 0 to 1 5 until 16 1 5 to 2 5 Ground conductor system The ground conductor system must be installed correctly VDE 0113 Herefore it is important e g The ground clamp inside the motor must be connected The GND connection of the power supply for the SERS must be connected to ground direct at the power supply in case of long leads between the power supply and the supplied device SERS Ground conductor PE connection at ELK panel mount systems Connect the connectors PE GND of 24 VDC and GND of VCC three connectors direct beside each other located direct beside the mains connection PE L1 N to your ground conductor PE bar inside your switch cabinet If there is no switch cabinet respective no PE bar then connect the 3 connectors PE GND of 24 VDC and GND of VCC to each other with short 1 5mm leads Protection against touching The SERS must be installed in a way that there is no danger electrical shock when being touched VDE 0113 SERS St gra Connections 2 Pow
85. ls A and B with 1 1 duty cycle can be evaluated The evaluation of the signals includes a 4 times evaluation every edge of A and B creates an internal pulse the recognition of the motor direction and analogue and digital signal filters This connection can be used for a control of steps load angle for a hand wheel or for a function electrical shaft 5VDC encoder At Pin 2 of the 9 pole D Sub connector ENC there is provided a 5VDC voltrage max 100mA for the supply of 5VDC encoders 24VDC encoder The SERS does not provide a 24VDC voltage for 24VDC encoders The 24 VDC must be supplied externally 24 VDC encoders are allowed to be connected only to types SERS V04 E50 24 SERS type designation must include 7 24 after E50 24 VDC encoder may not be connected to types SERS V04 E50 SERS type designation without 7 24 after E50 Pin connection ENC Pin Belegung Encoder cable 5 B f 9 B When connecting an encoders for 4 shield 8 GND the control of step load angle 3 ine 7 sme then a shielded cable must be S 2s 6 A used Pulse input at I O port 25 pole D Sub connector I 3 and I 4 At the I O Port inputs I 3 and I 4 Pin 23 Pin 11 there can be connected encoder or pulse signals for using a handwheel or realizing an electrical gearing function Also a control of step load angle is possible with these inputs For the function handwheel electrical gea
86. ly for the P1053 modes and contents the actual count do not overwrite because else in case of activated functions electrical gearing pulse input the motor could receive new position command values Pulse input counter 2 P1120 Definition as P1119 4 8 6 7 Control of motion Motion control P1044 Running distance value scaled value depending on P76 When running after covering this distance there must be a signal edge 0 1 with high active input signals or edge 1 0 with low active input signals at the input specified in P1045 e g P1044 10mm and P1045 2 When during running there is not a signal edge at the input I2 at least all 10mm then the drive will stop and the error bit motion control in P11 will be set Motion control assignment input for control P1045 Definition of the input used for the motion control see P1044 P1045 1 input Il P1045 2 input D P1045 8 input I8 4 8 6 8 Handshake mode Handshake mode P1017 0 V24 handshake mode the pins 2 3 5 7 8 at the 9 pole serial PC COM connection must be connected hard ware handshake using of pins 7 and 8 each received character will be returned 1 1 1 no hardware handshake the pins 2 3 5 at the 9 pole serial PC COM connection must be connected each received character will be returned 1 1 2 RS485 handshake no hardware handshake received characters are not returned error messages are sent only after a received
87. mination for possible errors see description parameter P11 3 as 2 but after a jump to L65 all further errors will not result in a program stop or a further jump to L65 until the internal flag L65 error handling is reset by the command P1118 0 or P1120 Flag L65 error handling P1118 Possible values 0 End of L65 error handling it may be jumped again to L65 1 L65 is executed 64 St gra SERS SERS Parameter 4 8 6 3 Manual drive control commands Manual drive control command P1031 Different manual drive functions can be executed by assigning P1031 as follows 1 Left slow alternative syntax LS 2 Right slow alternative syntax RS 4 Left fast alternative syntax LF 8 Right fast alternative syntax RF 16 Homing alternative Syntax H Stop when manual driving jog P1093 In case a manual drive jog function is activated at a digital Input I 1 until I 6 and a E Prom operational program is active then the reaction of the SER drive depends on P1093 as follows 0 the operational program will be interrupted and the jog function will be executed After deactivating the jog input the operational program will be continued 1 the operational program will be terminated and the jog function will be executed After deactivating the jog input the operational program will not be continued Manual drive jog functions at Power ON P1095 If manual drive functions are enabl
88. n P1012 as Bit 1 above E g P1011 3 results in reducing automatically the phase current by 50 when the motor stops and rising the phase current by 20 during accelerating depending on P1012 current range P1034 may not be changed set by factory 1 1A versions e g SERS 01 60 V04 2 2A versions e g SERS 02 24 V04 3 3Aand 4A SERS versions e g SERS 03 24 V04 or WSERS 04 80 VOI 4 4A WSERS versions e g WSERS 04 230AC VOI 5 4A versions e g SERS 04 60 V04 6 6A and 8A SERS versions e g SERS 06 85 V04 or WSERS 08 80 VOI 7 6A WSERS versions e g WSERS 06 230AC VO1 2 12 12A versions e g SERS 12 120 V04 4 8 6 2 Program continue after Stop Continue after Stop P1033 The parameter defines how to continue in the program respective with a positioning job after an one time Stop command sent via serial interface or Stop Signal at input I9 and then again a Start command or signal sent input I8 Following possibilities can be selected 0 New start of the program in the E Prom Start at line 1 respective new complete execution of the value in W P47 in case of relative positioning 1 After one time Stop Continuing of the program at that point where it was interrupted respective continuing the interrupted positioning job After two times Stop proceed as described for P1033 0 2 Jump to Label L65 in the program after a stop command or if there is an error which causes a program ter
89. nd the parameter can be seen and edited by the SERS Programmer also without knowing the password in P1059 PO Pl P2 Pll P12 P41 P42 P44 1 2 4 8 16 32 64 128 P47 P51 P76 P91 P100 P101 P102 P103 256 512 1024 2048 4096 8192 16384 32768 e g P1060 2144 32 64 2048 parameters P41 P42 and P91 V will be displayed in the parameter section of the SERS Programmer and can be edited even without knowing the password defined in P1059 Parameter Mask 1 P1061 Explanation as P1060 and valid for following parameters P108 P121 P122 PI123 P134 P138 P147 P160 1 2 4 8 16 32 64 128 P265 P336 P403 P1001 P1002 P1003 P1004 P1005 256 512 1024 2048 4096 8192 16384 32768 Parameter Mask 2 P1062 Explanation as P1060 and valid for following parameters P1006 P1007 P1008 P1009 P1010 P1011 P1012 P1013 1 2 4 8 16 32 64 128 P1014 P1015 P1016 P1017 P1018 P1019 P1020 P1021 256 512 1024 2048 4096 8192 16384 32768 273 St gra SERS SERS Parameter Parameter Maske 3 Explanation as P1060 and valid for following parameters P1022 P1023 P1024 P1025 P1026 P1027 P1028 P1029 1 2 4 8 16 32 64 128 P1030 P1031 P1032 P1033 P1034 P1035 P1036 P1037 256 512 1024 2048 4096 8192 116384 32
90. nted pulses result in a new velocity command value A larger value e g P1055 50 interval 100ms results in a smother running of the motor at low speed when following the encoder pulses At P1053 9 the parameter P1055 defines the time interval for the frequency measurement e g At P1055 50 every 100ms the pulses at input I3 are counted The counting result after one time interval can be read in parameter P1124 Max load angle for internal use only P1057 Controlled value load angle P1002 Limit value of load angle when the load angle exceeds this value then an error load angle will be created Non scaled value Indication in increments unit 1 12800 12800 increments 360 Standard value 7 2 degree in case of 1 8 stepper motor P1002 255 Frequency at P1053 9 P1124 Frequency measurement result at P1053 9 unit counted pulses P1055 time interval 67 St gra SERS SERS Parameter Overview functions P1053 Control of load angle SERS E50 Necessary parameters P1053 00r 8 P1029 1 or2 or3 Possible command POSR Function handwheel electrical gear Handwheel with encoder SERS E50 z motor encoder Control of load angle and function handwheel electrical gear handwheel with encoder SERS E50 motor encoder Pulses input Puke ar PERS Di M Or Pulse IUIL Pulse MUIL 68 Necessary parameters P1053 30r7 P1029 0
91. ogram was ended due to an error in the program 1024 RS232 buffer overflow to many RS232 characters received within short time Last error warning message number errno P1137 The last error message also indicated by P12 216 is saved into P1137 as error number errno assignment errno to error message xd St gra SERS SERS parameter List of all error numbers errno 1 to big 2 to small 3 not valid 4 invalid output 5 EEPROM storage full 6 EEPROM acknowledge timeout 7 EEPROM no acknowledge 8 EEPROM no page begin 9 run decimal constant to small 10 decimal constant to big 11 unknown if event 12 admission refused 13 Parameter not existing 14 adc expected 15 end of text expected 16 input text only in pgm mode 17 text to long 18 decimal constant pgm psave expected 19 permitted only at Pl or z 20 dataor z expected 21 command expected 22 programming mode not active 23 J ifexpected 24 if event expected 25 goto or gosub or GT or GS expected 26 goto or gosub expected 27 goto expected 28 goto decimal constant expected 29 gosub expected 30 gosub decimal constant expected 31 return RT run rs rf expected 32 return expected 33 decimal constant list Is If expected 34 zor expected 35 decimal constant on off expected 36 decimal constant or n expected 37 decimal constant expected 38 run expected 39 new neg not expect
92. on to small new residual position to short compare position 1 is to big compare Position 1 is to small compare Position 2 is to big compare Position 2 is to small new modulo value is to big not writable during drive is positioning solder bridge is set wrong for this range negative software limit position is bigger than positive position exponent to big exponent to small calculation result is to big 49 St gra SERS SERS parameter 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 calculation result is to small calculation result is to big to be displayed calculation result is to small to be displayed division through 0 bus stopbit is active subindex not existing value can not be written read only parameter value can not be read Polynom with backlash not allowed Missing Polynom data for next section Wait expected 20 expected 0 expected 0 expected Oor 1 expected gt expected expected expected 3 expected Polynom end to short for deceleration false definition of polynom section A to small A to big V to small V to big Polynom datas reload not possible RS232 buffer overflow load angle error 50 St gra SERS SERS Parameter 4 8 3 2 Drive Status messages Position status In Position P336 P
93. or revolution Linear unit mm 1mm 1 motor revolution Rotational unit 360 1 motor revolution In case of the scaling modes rotational and incremental the reference may be the load or the motor shaft In case of a reference load the parameters P121 and P122 gear ratio will be taken into account when calculating the operating datas In case of the scaling mode linear the parameters P121 P122 and P123 feeding constant will be taken into account always when calculating the operating datas Most of the scaled values include decimal places The number of decimal places varies e g in case of linear position datas 4 decimal places The value 120mm is stored as 120 0000 mm When writing values in ASCII format SERS with RS232 interface only the value 120 must be written In case of option Profibus interface SERS PB DP and binary mode or CANopen SERS CAN the value 1200000 must be written for 120 mm includes the 4 decimal places Scaling position dates P76 Bit 76543210 decimal unit scaling mode reference decimal places 00000000 0 incr Incremental Motor 0 01000000 64 incr Incremental Load 0 00000010 2 a Rotational Motor 4 01000010 66 Rotational Load 4 00000001 mm Linear Load 4 00010001 17 in Linear Load 6 Pre selected is 2 rotational motor Scaling Velocity dates P44 Bit 76543210 decimal unit scaling mode reference decimal places 00000000 0 U min Incremental Motor 4 0100
94. ositioning command positioning distance definition W Alternatively to WPT it can be used WPA distance section absolut e g WPA 1000 WPR distance section relativ e g WPR 500 and alternatively to WPT it can be used WPTA terminating distance section absolute e g WPTA 1000 WPTR terminating distance section relative e g WPTR 1000 If the single polynom distance sections are sent via a serial interface serial mode with RS232 or Profibus DP or CANopen interface then the SERS indicates via parameter P1123 P1123 1 when the next polynom section must be sent The SERS needs to receive the next polynom section definition before the actual polynom section is terminated by the motor else there will be created an error message and the motor will be stopped 4 6 8 WAIT instruction A WAIT instruction stops the execution of an operational program until the defined event comes true Possible events are I1 116 IN POS M1 M3 O1 016 the syntax is as the IF command e g WAIT Il 1 waits until input I1 will be set WAIT I5 0 waits until input I5 will be erased WAIT is executed only locally can not be sent in the master mode to slaves 4 6 9 instruction jog drive until STOP at an input Manual driving jog with constant velocity until a specified event comes true then the motor will be decelerated with the jog acceleration value P1018 and then stopped eg RS I1l 1 the motor is driving
95. ositioning control 3 1 Configurations via DIP switches Slo JC TIDE Senes iiec cenfeo ot 14 3 1 2 Automatic program start 14 3 13 Baud Tate aiia ice cione usen e deddus 15 3 1 4 Enable manual drive functions service SWIteh isse day Ee aye oe vea eX tein 15 3 1 5 Signal level and polarity of inputs 15 3 2 Interface RS232C V24 and RS485 3 2 1 Configurations rst oer reste ege 16 3 2 2 9 pole D Sub connector sss 16 3 2 3 Connection PC SERS and SERS SERS 16 3 3 O Port with digital inputs and outputs 3 3 1 Standard l O port eere teet 17 3 3 2 O port SERS R1 and SERS R2 19 3 4 Optional encoder input eene 20 3 5 Status error indication 7 Segment indication 21 zo St gra SERS Index page 3 6 Operation modes Overview 2 61 Sedal mode doses atio t CURT NE Te ERR 22 3106 2 Master ROUES oou erede adus 22 3 6 3 Parallel mode sistens tet ia 22 3 6 4 Standalone mode sess 22 4 Programming and operation of the SERS 4 1 Syntax general notes c eere Ie een 23 4 2 Syntax definilons eres terrena rores 24 4 3 Program lines numbering eese 28 4 4 Limitations for E PROM programs 28 4 5 SERS functions and modes 4 5 1 Manual operation manual drive 20 4 5 2 Operation in master mode parallel mode and s
96. otor 512 error undervoltage the power supply is to low see page 10 2048 error motion control see P1044 8192 error position limit control drive is on limit switch input limit switch is open A value 514 has the signification error over temperature 2 and undervoltage 512 occurred Drive warnings P12 If a warning occurs it will be indicated in P12 After the reason for the warning disappeared P12 still contents the warning reset P12 with the assignment P12 0 except values 2 and 4 these warnings are reset automatically when the reason for the warning disappeared Assignment parameter values drive warnings 1 Warning limit position P51 P1040 or P51 gt P1041 software limit switch reached 2 Warning over temperature the heat sink temperature exceeds 75 C 4 10 C 4 Warning under voltage the voltage supply is to low see page 10 8 Internal position limit the internally calculated position value can not be imaged to the scaled value 16 An error message was generated e g parameter value to big after trying to assign a parameter with a not valid to big value or destination does not exist when trying to jump to a not existing label in an executable program in the E Prom 32 Error control of load angle see P1029 only with installed option control of load angle 64 Position limit command value the set position command value is too big 128 Program error the operational pr
97. p switch input in case the motor is not on a limit switch position or in case there is no stop active Otherwise the unit returns the message position overflow and the 7 segment display indicates a c open limit switch or it returns the message stop input open and the motor cannot be moved If STOP and limit switches are not used at all then these inputs maybe inverted by setting pameter P1038 2 connecting the inputs to 24VDC then is not necessary anymore The home switch input is used for the drive controlled homing procedure A 24 VDC voltage level at the home switch input means that the home position is reached the motor is on the home position The input external service switch is for enabling the manual drive functions at the digital inputs I 1 to I 8 the parameter P1092 must be set 1 additionally A 24 VDC level at the external service switch input means that the external services witch is active and the manual drive functions are enabled The following electrical schematics shows the input circuits at the SERS INPUT OPTIO GND Voltage range inputs 13 VDC 30 VDC With a connected limit switch the electrical schematics is as follows motor not on limit switch position limit switch opener L gt Eo INPUT Both limit switches and the stop switch must be break contacts opener The home switch and the reset switch must be make contacts closer 8
98. parameter for an endless operation at positioning mode RELATIV ERASE P103 must be bigger than the biggest single distance to be executed Also P103 must be an endless to be scaled value that means P103 must be able to be executed without a rest distance corresponding to the physically resolution of the drive of 12800 Increments revolution Suitable values at a gear ratio of 1 1 and a feeding constant 1 are e g 360 and multiples of 360 at rotational scaling 12800 and multiples of 12800 at incremental scaling or 1 and multiples of 1 at linear scaling Different gear ratios and feeding constants must be taken into account e g linear scaling gear ratio 2 1 and feeding constant 5 2 motor revolutions are 5 mm 1 rev 2 5 mm because motor revolution always can be executed without rest and 2 5 mm 1 rev suitable values for P103 Multiples of 2 5mm e g 2500 mm selected value must be greater than the greatest to be executed single distance 53 St gra SERS SERS Parameter Erase phase position position correction P1043 0 no function 1 alternative syntax POSO When the actual position was stored with the command POSSAVE and the real physical position of the drive was changed e g after switching the drive off what results in switching off the phase current and because of that losing the torque then the phase zero position can be reset to its origin only with command POSO equal to P1043 1
99. printed in cursive style have to be programmed in the used programming language e g PASCAL or C 1 5 13 addressing of the drive here drive address is 1 HON 13 switch on current of motor 4 tV 1000 13 velocity 1000 unit depends on parameter P44 W 2500 E 343 way to be executed 2500 the way really executed depends on scaling P76 positioning mode P1014 gear ratio and feed constant P120 P122 E starts the positioning job POS 13 request if POS 1 P336 1 or POS 0 moving finished positioning or not the SERS will return a 1 or O P1300 13 request of the digital input port the SERS returns a value between 0 and 255 Set and not set inputs can be filtered out of the returned value and depending on the result further actions can be started 40 St gra SERS Parameter overview 4 7 Parameter overview Modifying parameters in the SERS Parameters are programmed with following syntax Pdata value the parameter identifier data and the new parameter value value e g P138 1500 Please note The drive where a parameter shall be changed must be addressed first meaning the address of the drive has to be sent one time to the drive before sending a parameter assignment to the drive e g for a drive with the address 1 1P138 1500 Followed by a Carriage Return the new value will be accepted by the SERS and in cas
100. put optoisolated GND output The outputs must be supplied externally by DC voltage 5VDC 30 VDC When an output is set e g O1 1 then a P FET will switch through the external supply voltage a not set output means tri state Connecting outputs example connecting a motor brake SERS I O interface 25 pole D Sub VCC Outputs Output Ox 01 04 18 SERS 25 pole D Sub connector i ae pos 1 0MQ 8 Bit analogue input ADC 0 to 5VDC connecting the ADC input e g with a variable 990 power supply l SERS o o or with a 25 pole D Sub connector potentiometer bo C Poti 1k St gra SERS I O Port mit digitalen Ein und Ausg ngen 3 3 2 I O Port versions SERS R1 and SERS R2 The SERS versions R1 and R2 include a second 32 pole connector at the boards rear side connector X1 in drawing below for the connection of the I O ports and the RS232 interface connections X2 see chapter 2 1 1 The version R1 includes an additional 9 pole D Sub connector at the front panel for the RS232 interface RS232 Schnittstelle Optional 9 pol D Sub Buchse 2 x Steckerverbinder nach DIN 41612 bei R1 Version bei SERS E50 mit 32 polige Steckerleiste Statusanzeige Encoderanschluss Bauform D STOEGRA SERS 06 V01 Schalter 1 Einstellung Baudrate Freigabe Handfahren und Pegel Eingangssignale OFF on
101. ring function and control of load angle the signals are evaluated 4 times and the motor direction is evaluated from encoder signals The max input frequency at the inputs I3 and I4 is 100 KHz More datas necessary parameter settings see parameter P1029 P1053 20 St gra SERS Status and error indication via 7 segment display 3 5 Status and error indication via 7 segment display The 7 segment display fo the SERS indicates the actual status of the SERS Error and status indications are indicated by constant illuminating characters Warnings are indicated by blinking characters Indication description comment initialisation phase Is indicated 2 seconds after a power on reset 4 ready for switching phase current ON The motor torque current is off 5 phase current of motor is ON positioning jobs can be executed The motor torque is on and there is voltage current at the motor 5 blinking STOP switch is open During an open STOP switch it was tried to move the motor 10 at the SERS 7 checksum error of dates in E Prom Overwrite E Prom parameters with backed up parameters with SERS software or select standard parameters with P1004 3 see page 71 8 error over temperature from 85 C check the cooling of the SERS ambient temperature to high 8 blinking warning over temperature 75 C 10 at the power amplifier stage check cool
102. see chapter 4 6 7 52 St gra SERS SERS Parameter Position command value relative Polynom P1112 WRP Alternative syntax WRP Description as WR but definition of distance section at polynom driving see chapter 4 6 7 Position command value absolute Polynom P1113 WAP Alternative syntax WAP Description as WA but definition of distance section at polynom driving see chapter 4 6 7 Position command value Polynom termination P1114 WPT Alternative syntax WPT Description as W but definition of last distance section at polynom driving see chapter 4 6 7 Position command value relative Polynom termination P1115 WRPT Alternative syntax WRPT Description as WR but definition of last distance section at polynom driving see chapter 4 6 7 Position command value absolute Polynom termination P1116 WAPT Alternative syntax WAPT Description as WA but definition of last distance section at polynom driving see chapter 4 6 7 Position value P51 Stores the actual position of the drive P51 may be assigned with any value e g for setting a zero position After Power On of the SERS P51 is set to the value 0 because P51 is not saved automatically into the E Prom of the SERS With the command POSSAVE the actual value in P51 cab be saved into the E Prom After the next Power On of the SERS P51 is set to this saved value Modulo value for position command value P103 Important
103. sent to the SERS via the COM interface must be programmed as string W 1000 13 Commands will be executed by the SERS already before receiving a Carriage Return E g when writing ON and a following Carriage Return the current of the motor phases will be switched on already before the Carriage Return There may be multiple commands and parameters in one line before writing a Carriage Return but maximum 60 characters in one line e g ON V 1000 W 2500 O 1 E may be written in one line and at the line end finished with a Carriage Return Carriage Return CR 13 and Line feed LF 10 will be echoed with a ok and a digit by the SERS in case the sent commands and parameters are free of errors The digit can be 0 to 4 0 Drive is running P336 0 Drive is in position P336 1 2 Drive is running and a warning was created P12 gt 0 3 Drive is in position and a warning was created P12 gt 0 4 There is an error at the drive P11 gt 0 The characters sent by the SERS are 10 ok1 10 13 or 10 ok4 10 13 string with LF ok digit LF und CR In the programming mode 4 5 3 page 30 there will be sent pgm instead of ok Inthe V24 mode each sent character to the SERS will be returned echoed from the SERS mode selection via parameter P1017 Attention In the mode HANDSHAKE_RS485 the SERS will return only the ok pgm after receiving a Carriage Return or
104. tandalone mode nieto dtu 20 4 5 3 Programming mode eee 32 ADA Trace diode sudant en votos es 32 4 6 Programming commands 4 6 1 IF conditional execution se 32 V0 Ee A T E EE EA mat dsites dott 33 4 6 3 GOTO GT Tip oiest os se dta rH aatect 34 4 6 4 GOSUB subroutine call 34 4 65 RETURN subroutine termination 34 4 6 6 Programming of positioning jobs 35 4 6 7 Positioning with velocity profiles polynom function 36 4 0 8 WAIT instruction eorr neenon 37 4 6 9 instruction manual driving until STOP 37 4 6 10 Arithmetical functions in the SERS 38 4 6 11 Operation with the SERS Programmer 38 4 6 12 Program examples sese 39 4 7 Parameter OVerVIBW s aed sioe e ten cael ances 41 ASS SERS parathielere s cete ier perd breed 43 5 Technical specifications ssesssss 78 St gra SERS Safety rules 1 General notices 1 1 Safety rules The stepping motor drives SERS are designed for the installation into other devices or machines or for mounting together with other devices or machines The operator of the SERS has to ensure that all installation maintenance mounting and inspection works at the SERS are carried out only from qualified and authorised professionals who informed themselves by a detailed study of this manual The
105. tch motor current on L1 label L1 Z 1 send following instructions assignments to drive with address 1 V 1000 drive 1 velocity 1000 W 500 drive I travel distance position 500 L2 label L2 IF 13 GT 2 if input I3 of drive 1 is not active then goto label L2 E drive l start positioning actual value W of drive 1 L3 label L3 IF POS if drive 1 is still positioning then execute next instruction GT 3 jump to label L3 Z 0 following instructions will be executed by the master V 2000 velocity 1000 W 1000 E travel distance position 1000 and start positioning Z 2 send following instructions assignment to drive with address 2 RUN 2 drive 2 start subroutine at label L2 in E Prom program of drive 2 L10 label L10 IF PO if program of drive 2 is still running then execute next instruction GT 10 jump to label L10 loop waiting for end of program in drive 2 Z 0 following instructions will be executed from the master V 10 velocity 10 W 20 E travel distance position 20 and start positioning GT 1 jump to label L1 Serial mode Bold printed characters between single quotes have to be sent as ASCII characters via a COM interface e g COMI of a PC to the drive The Carriage Return character is written as t13 for the ASCII Code 13 of the character Note The SERS returns a ok after each Carriage Return Explanations and instructions
106. ters 4 8 2 1 Mode programming operation 44 4 8 2 2 Power control drive ON OFF 44 4 8 2 Motordrehrichtung Zuordnung 44 4 8 2 4 Phasenstrom Chopperfrequenz 124A 44 4 8 3 5 Firmware Version 44 4 8 3 Status messages 4 8 3 1 Drive errors and warnings 45 4 8 3 2 Drive status messages ssssssss 49 4 8 4 Operating parameters 4 8 4 1 Positioning mode sssssss 50 4 8 4 5 Way distance position dates 50 4 8 4 3 Velocity dates ssssssssesss 53 4 8 4 4 Acceleration dates 54 4 8 4 5 dHoming 2s etit deno titnddten leas 33 4 8 4 6 Scaling of operating parameters 56 4 8 4 7 Mechanics gear feeding constant backlash 5 acetate aeinn 57 4 8 5 Programming parameter 4 8 5 1 TimeDelay inei epic conten 39 4 8 5237 Counter iust Der et nonae pone 59 495 53 Market Ci ente oeadii ei deis 59 4 8 5 4 Iistopt on ooosoo e pde e 60 4 8 5 5 Special master mode parameters 60 4 8 6 Miscellaneous parameters 4 8 6 1 Phase current adjustment 61 4 8 6 2 Program continue after stop 62 4 8 6 5 Manual drive control commands 63 4 8 6 4 Manual drive control with timeout 63 4 8 6 5 Drive address
107. the next instruction E start positioning Additionally to the standard parameters there are some more parameters which have influence on the positioning jobs Positioning mode P1014 relative or absolute positioning Ramp form of the acceleration P1032 exponential or sinus ramp form P1005 acceleration section 1 P1006 acceleration section 2 P1007 velocity section 1 P1008 velocity section 2 Scaling P160 acceleration P44 velocity P76 way distance position data Alternatively to the assignment W value there are the commands WR value positioning mode is set to relative P1014 0 and W value e g WR 1000 WA value positioning rmode is set to absolute P1014 2 and W value e g WA 1000 Following parameters show the actual status of a positioning job P336 alternative POS POS 1 if actual position value position command value P1015 acceleration phase 1 during accelerating of the drive P1016 constant phase 1 when the drive runs with constant speed In the executable program mode the program only continues with the next instruction when POS 1 is fulfilled But with parameter P1110 immediately execution of the next instruction independently of POS can be selected e g for the master mode 35 St gra SERS Programming instructions 4 6 7 Positioning with velocity profiles polynom positioning The drive shall move the distance W X1 X2 X3 X4 X5 X6
108. tions Example gear 8 1 P121 8 and P122 1 Backlash P1037 Backlash correction a spindle or a chain includes a backlash By writing the backlash value value depends on scaling for position dates P76 e g 0 1 in case of rotational scaling into parameter P1037 the backlash when reversing direction or rebounding after positioning with high acceleration will be corrected when executing positioning jobs A value 0 in P1037 disables the backlash function The backlash correction function depends on the running direction Parameter P147 homing parameter homing direction defines the backlash direction when positioning into positive direction and P147 4 homing into negative the motor first runs the distance W minus backlash with velocity V into positive direction and afterwards the distance backlash with velocity P1003 into the same positive direction when changing direction positioning job into negative direction the drive first runs the backlash distance stored in P1037 with velocity P1003 into the positioning direction negative direction Then it executes the distance W with the velocity V into the same negative direction At last the drives returns to the opposite direction positive direction and runs the backlash distance with the P1003 velocity 59 St gra SERS SERS Parameter SERS Backlash function Timing Diagram when executing a positioning job command E
109. ts where Id Nr 0008 was used when setting up the Profibus projekt using GSD files STOEGRA3 gsd until STOEGRAS gsd parameter P1142 must be set to 0 P1142 0 For new projects when using STOEGRA6 gsd or newer GSD files parameter P1142 must be set to 1 P1142 1 aT St gra SERS Technical specifications 5 Technical specifications Protection of the device SERS IP 00 together with ELK or ELR IP20 Protection against over temperature under voltage and protection against short circuit phase against phase and phase against GND Weight SERS 01 SERS 02 SERS 03 0 4 kg SERS 06 0 77 kg SERS 12 1 1 kg Ambient conditions Ambient temperature 0 C to 50 C Forced draft is necessary in case of following conditions Duty cycle gt 50 or current reduction at stand still disabled see parameter P1011 and for SERS 06 or SERS 12 and set phase current gt 8A Noise immunity In case of correct installation according to EN50082 2 Noise radiation In case of correct installation and shielding of the leads according to EN55011 class B Voltage supply SERS xx 24 20 40 VDC max ripple 5 SERS xx 60 50 70 VDC max ripple 5 SERS xx 85 50 85 VDC max ripple 5 SERS xx 120 60 120 VDC max ripple 5 SERS xx 240 120 240 VDC max ripple 5 Phase currents SERS 01 xx 0 1 4 A phase SERS 02 xx 0 2 8 A phase SERS 03 xx 0 4
110. vel for the indication of error undervoltage 4 Up Voltage level for switching off the power amplifier internally Uy VDC Uw VDC Up VDC Ui VDC SERS XX 24 36 19 18 16 SERS XX 60 70 46 43 32 SERS XX 85 85 46 43 32 SERS XX 120 120 58 50 36 SERS XX 240 240 120 100 80 Uy The maximum voltage supply Uy is calculated for a maximum mains tolerance of 15 That means that the non controlled DC voltage output of the power supply which is used for the voltage supply for the SERS may have nominally maximum 85 VDC but not 85 VDC 15 Uw If the supplied voltage becomes lower than Uw then a message pre warning undervoltage will be sent Bit 15 of P12 warning parameter will be set and a blinking 9 will be indicated at the 7 segment display U If the supplied voltage becomes lower than Ug then the drive will be stopped meaning that the stepping motor will be decelerated until stand still Then the ready signal will be disabled output relay contacts will be opened and 50ms afterwards the stepping motor phases will be switched off switching off the motor torque A message error undervoltage will be sent Bit 9 of P11 error parameter will be set and the 7 Segment display will indicate 9 U If the supplied voltage becomes lower than Ur then the motor torque will be switched off immediately without decelerating the motor for protecting the electronics of the power amplifier The 7 Segment display is

SERS Version V04 Installation and programming manual

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