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Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

The Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS is a cutting-edge product designed for optimal performance. This Functional Description manual provides comprehensive insights into its features and functions, ensuring you maximize its potential. Download it for free at manualshive.com, enhancing your understanding and usage of this remarkable product.

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17-4

 Index

ECODRIVE03-FL*-04VRS

         DOK-ECODR3-FL*-04VRS**-FK01-EN-P

DOLFI Signals Timeout  4-18
Double SST Failure  12-16, 12-30
Drive address  10-15
Drive Controllers and Motors  1-2
Drive enable  10-5
Drive Error Reaction  4-5
Drive HALT  12-45
Drive not ready for commutation command  12-42
Drive overtemp. prewarning  12-24
Drive Stop  10-5
Drive-controlled homing  8-3
Drive-controlled homing procedure command  12-39

E

ECODRIVE03 – A Family of Drives  1-1
ECODRIVE03 - The Universal Drive Solution for Automation  1-1
EMD Actors

technical data  15-4

EMD CAGE CLAMP  See Connections
EMD Connection

Actuator  15-16
Clamp Handling  15-13
Position of Connections  15-14
Power Supply  15-14

EMD Displays

Inputs  15-22
Outputs  15-22
Position  15-21

EMD distance between units  15-8
EMD dual-conductor sensors  15-15
EMD Firmware  15-20
EMD Inputs  10-7
EMD Installation Space  15-7
EMD Outputs  10-7
EMD Parameters  9-42
EMD Power Supply  15-14
EMD Programmable Inputs/Outputs  10-7
EMD Protection

General Information  15-15

EMD Sensor Connection  15-15
EMD Sensors

technical data  15-3

EMD Unit Dimensions  15-7
Emergency-Stop  12-8, 12-17, 12-18
Emulated position reference  8-58
Encoder 1 failure

Quadrant error  12-7
signal amplitude wrong  12-19

Encoder 2 failure

Quadrant error  12-10

Encoder combination not possible  12-38
Encoder Emulation  8-54
END  7-1
Erroneous internal hardware synchronization  12-11, 12-26
Error

Clear errors  4-5
Drive Error Reaction  4-5

Error during flash memory verification  4-14
Error during initialization of master communication  12-16
Error in the EcoX Slave  12-15
Error Message in the Firmware Loader  4-14
Error Reaction

Drive Error Reaction  4-5

Error when updating EMD Module firmware  12-13
Error when writing to RAM  4-14
E-Stop  10-5
Evaluation of the Home Switch  8-8
Excessive deviation  12-7
Excessive position command difference  12-9

Summary of Contents for Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS

Page 1: ...roth OptiFeed FS EcoDrive 03 with Integrated NC Control FLP04VRS Functional Description Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics ...

Page 2: ...ority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentat...

Page 3: ...tions for Electric Drives and Controls 3 1 3 1 Introduction 3 1 3 2 Explanations 3 1 3 3 Hazards by Improper Use 3 2 3 4 General Information 3 3 3 5 Protection Against Contact with Electrical Parts 3 5 3 6 Protection Against Electric Shock by Protective Low Voltage PELV 3 6 3 7 Protection Against Dangerous Movements 3 7 3 8 Protection Against Magnetic and Electromagnetic Fields During Operation an...

Page 4: ...Temperature Monitoring 5 2 Load Default 5 2 5 2 Setting the Motor Type 5 2 Automatic Setting of the Motor Type for Motors with Feedback Memory 5 2 5 3 Synchronous Motors 5 3 5 4 Motor Holding Brake 5 3 Pertinent Parameters 5 3 Setting the Motor Holding Brake Type 5 4 Setting Maximum Braking Time 5 6 Connecting the Motor Holding Brake 5 6 6 Writing the User Program 6 1 6 1 Overview of All User Comm...

Page 5: ...ker 6 33 FAK Length Scaling Factor 6 35 FOL Follow Master 6 36 FUN Functions 6 37 HOM Home Axis 6 38 JMP Jump Unconditional 6 39 JSR Jump to Subroutine 6 39 JST Jump and Stop 6 40 JTK Jump in Task 6 40 LAE End for Synchronization by Precise Positioning 6 41 LAL Length for Synchronization by Precise Positioning 6 41 LAR Raster for Synchronization by Precise Positioning 6 42 MAT Mathematics 6 43 MOM...

Page 6: ...2 Measuring Wheel Mode 8 1 Pertinent Parameters 8 2 Functioning 8 2 Diagnostic Messages 8 3 Systemvariable 8 3 8 3 Homing 8 3 Pertinent Parameters 8 4 Setting the Homing Parameter 8 4 Overview of the Type and Configuration of Reference Marks of Incremental Measuring Systems 8 5 How Drive Controlled Homing Works in Incremental Measuring Systems 8 6 Sequence Control for Homing 8 7 Initial Startup wi...

Page 7: ...ity Control Loop Monitoring 8 47 Setting the Position Controller 8 47 Position Control Loop Monitoring 8 48 Setting the Acceleration Feedforward 8 50 8 11 Mechanical Data 8 51 Mechanical Transmission Elements 8 51 Modulo Function 8 52 8 12 Movement to Positive Stop 8 53 8 13 Encoder Emulation 8 54 Activating Encoder Emulation 8 55 Operating Principle Incremental Encoder Emulation 8 55 Diagnostic M...

Page 8: ...A04 Override 9 18 AA05 Open Feed Roll I 9 19 AA06 Open Feed Roll II 9 20 AA07 Measuring Wheel Mode 9 21 AA08 Various Functions 9 21 AA09 Feed To Length Monitoring 9 22 AA10 Setup Mode 9 23 AA11 Tool Wear 9 24 AA12 Press Signal Offset 9 25 AA13 Press Signal Intermittent 9 26 AA14 Signal Control Enable 9 27 AA15 Signal Control Bit 1 9 28 AA15 Signal Control Bit 2 9 28 AA15 Signal Control Bit 3 9 28 ...

Page 9: ...guration 9 49 C015 Encoder Emulation Resolution 9 50 C016 Marker Pulse Offset 9 50 C017 SSI Encoder Press Encoder 9 51 C018 SSI Encoder Homing 9 52 C019 SSI Encoder Reference Distance 9 52 9 6 Control Parameters 9 53 CR00 Current Loop Proportional Gain 1 9 53 CR01 Current Loop Integral Action Time 1 9 53 CR02 Velocity Loop Proportional Gain 9 54 CR03 Velocity Loop Integral Action Time 9 55 CR04 Ve...

Page 10: ...0 1 10 1 Inputs Outputs Marker Flags 10 1 System Inputs 10 3 System Outputs 10 6 Parallel Interface DKC21 3 Programmable Inputs Outputs 10 7 EMD Programmable Inputs Outputs 10 7 Profibus Interface DKC 03 3 Programmable Inputs Outputs 10 8 BTV04 Programmable Inputs Outputs 10 8 Marker Flags 10 10 10 2 Serial Interface 10 14 Overview 10 14 Communications via RS232 Interface 10 16 Communications via ...

Page 11: ...oltage in power section 12 6 F228 Excessive deviation 12 7 F229 Encoder 1 failure Quadrant error 12 7 F230 Max signal frequency of encoder 1 exceeded 12 7 F234 Emergency Stop 12 8 F236 Excessive position feedback difference 12 8 F237 Excessive position command difference 12 9 F242 Encoder 2 failure Signal amplitude wrong 12 9 F245 Encoder 2 failure Quadrant error 12 10 F246 Max signal frequency of...

Page 12: ...warning 12 24 E256 Torque limit 0 12 25 E257 Continuous current limit active 12 25 E259 Command velocity limit active 12 25 E261 Continuous current limit prewarning 12 26 E263 Velocity command value limit S 0 0091 12 26 E267 Hardware synchronization defective 12 26 E288 Firmware update of EMD Module active 12 27 E289 Waiting for scan by EcoX Master 12 27 E291 Timeout in EMD Module 12 28 E293 Under...

Page 13: ...ming procedure command 12 39 C601 Homing only possible with drive enable 12 39 C602 Distance home switch reference mark erroneous 12 40 C604 Homing of absolute encoder not possible 12 40 C605 Homing velocity too high 12 40 C700 Basic load 12 40 C701 Basic load not possible with drive enable 12 41 C702 Default parameters not available 12 41 C703 Default parameters invalid 12 41 C704 Parameters not ...

Page 14: ...dog 2 Dots 12 47 Diagnostic Message Display E1 12 48 Diagnostic Message Display E2 12 48 Diagnostic Message Display E3 12 48 Diagnostic Message Display E4 12 48 Diagnostic Message Display E5 12 48 12 6 Operation Status 12 49 bb 12 49 Ab 12 49 Ad 12 49 AF 12 49 AU 12 49 HA 12 49 PA 12 49 Jb 12 49 JF 12 49 P2 12 50 P3 12 50 P4 12 50 PL 12 50 UL 12 50 12 7 NC Error Diagnostics F 12 51 F 0200 Paramete...

Page 15: ...all 12 56 F 0300 Invalid I O number in command instruction 12 56 F 0301 I O status illegal 12 56 F 0302 NC instruction number illegal 12 57 F 0304 NC command illegal 12 57 F 0305 not homed 12 57 F 0307 Data loss parameter 12 57 F 0308 AT Failure 12 58 F 0309 NC cycle error 12 58 F 0310 Parameter error 12 58 F 0311 Stack correction value 9 12 59 F 0312 Select Parameter Mode 12 59 F 0313 Jump interv...

Page 16: ...alid 12 65 A 0027 Control signal bit 2 invalid 12 65 A 0028 Control signal bit 3 invalid 12 66 A 0029 Control signal bit 4 invalid 12 66 13 Connectors 13 1 13 1 DKC21 3 13 1 13 2 DKC21 3 and DKC3 3 13 2 13 3 Press Encoder 13 3 14 Display 14 1 14 1 BTV04 14 1 Parameter Settings 14 2 PC BTV04 DKC Push Through Operation 14 2 Switching Between the User Interface and the Programming Displays 14 2 BTV04...

Page 17: ... 15 16 Output Signals 15 16 Fieldbus Connectors 15 17 Connection Between Input Output Module and Drive Controller 15 17 Connection of Input Output Modules 15 18 15 6 Initial Startup 15 20 Setting the Module Address 15 20 Assigning the Input Output Numbers 15 20 Setting the Drive Controller Parameters 15 20 15 7 Faults and Messages 15 21 Display 15 21 15 8 Replacement of a Unit 15 23 15 9 Factory S...

Page 18: ...XVI Table of Contents ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P ...

Page 19: ...a number of applications Typical applications are metalworking printing and paper processing machines automatic handling systems packaging and food processing machines handling and assembly systems 1 2 ECODRIVE03 A Family of Drives OPTIFEED FS In addition to the firmware documented here FWA ECODR3 FLP 0xVRS MS Drive with integrated NC control and Profibus parallel interface other application speci...

Page 20: ...es are supported DKC21 3 Parallel Interface 2 DKC03 3 Profibus DP Interface For other application specific firmware versions DKC11 3 Analog Interface DKC01 3 Parallel Interface DKC02 3 SERCOS Interface DKC03 3 Profibus DP Interface DKC04 3 Interbus Interface DKC05 3 CANopen Interface DKC06 3 DeviceNet Interface The following motor types can be operated using ECODRIVE03 firmware synchronous motors ...

Page 21: ...ring Systems Motors HSF LSF Resolver Sine encoder with 1Vp p signals Encoder with EnDat interface Resolver without feedback data memory Resolver without feedback data memory with incremental sine encoder Gearwheel encoder with 1Vp p signals Hall encoder with square wave encoder Hall encoder with sine encoder ECI encoder Parameters C001 and C004 describe which combinations are possible Measuring Wh...

Page 22: ...ubroutines system variables 400 variables 224 marker flags indexed variables Logic Task 1000 assignments Processing speed 5000 assignments sec minimum Cycle time 4ms System Marker Flags 320 marker flags PLS 8 outputs with lead time 10 PLSs RS 232 C RS 485 serial interface Programming via this interface is possible using the following ASCII Protocol SIS Protocol IDS connection Indramat decade switc...

Page 23: ...r PLS press encoder evaluation of absolute measurement systems modulo function torque force limit can be set via parameters current limiting travel limiting via travel limit switch and or position limit values drive error responses best possible deceleration velocity command value set to zero best possible deceleration torque free best possible deceleration velocity command value set to zero with ...

Page 24: ...verview ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P homing set absolute distance analog output analog inputs probe function detect marker position piece counter encoder emulation incremental encoder emulation ...

Page 25: ...nner then situations can develop that may lead to property damage or injury to personnel Note Rexroth as manufacturer is not liable for any damages resulting from inappropriate use In such cases the guarantee and the right to payment of damages resulting from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth products make sure that all the ...

Page 26: ... in single axis drives and control tasks Typical applications of ECODR3 FLP are Metalworking Handling and assembly systems printing and paper processing machines automatic handling systems packaging and food processing machines The ECODR3 FLP may only be operated under the assembly installation and ambient conditions as described here temperature system of protection humidity EMC requirements etc ...

Page 27: ...he person or persons responsible for the safe operation of this equipment If the equipment is resold rented or transferred or passed on to others then these safety instructions must be delivered with the equipment WARNING Improper use of this equipment failure to follow the safety instructions in this document or tampering with the product including disabling of safety devices may result in materi...

Page 28: ...nts WARNING High electrical voltage due to wrong connections Danger to life or bodily harm by electric shock WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment CAUTION Surface of machine housing could be extremely hot Danger of injury Danger of burns CAUTION Risk of injury due to improper handling Bodily harm caused by crush...

Page 29: ...ts and accessories approved by the manufacturer Follow all safety regulations and requirements for the specific application as practiced in the country of use The equipment is designed for installation in industrial machinery The ambient conditions given in the product documentation must be observed Use only safety features and applications that are clearly and explicitly approved in the Project P...

Page 30: ...instructions for installation in accordance with EMC requirements can be found in the documentation EMC in Drive and Control Systems The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations Technical data connections and operational conditions are specified in the product documentation and must be followed at all time...

Page 31: ...e even for brief measurements or tests if the ground wire is not permanently connected to the points of the components provided for this purpose Before working with electrical parts with voltage higher than 50 V the equipment must be disconnected from the mains voltage or power supply Make sure the equipment cannot be switched on again unintended The following should be observed with electrical dr...

Page 32: ...fety conductor connection Prior to startups even for brief tests always connect the protective conductor or connect with ground wire Otherwise high voltages can occur on the housing that lead to electric shock 3 6 Protection Against Electric Shock by Protective Low Voltage PELV All connections and terminals with voltages between 0 and 50 Volts on Rexroth products are protective low voltages design...

Page 33: ...mponents software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives Regarding personal safety especially the danger of bodily injury and material damage this alone cannot be relied ...

Page 34: ...esist maximum possible momentum especially if there is a possibility of loose parts flying off Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before startup Don t operate the machine if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a starting lockout to prevent unintenti...

Page 35: ...rying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment Persons with heart pacemakers hearing aids and metal implants are not permitted to enter the following areas Areas in which ele...

Page 36: ...Mounting Under certain conditions incorrect handling and mounting of parts and components may cause injuries CAUTION Risk of injury by incorrect handling Bodily harm caused by crushing shearing cutting and mechanical shock Observe general installation and safety instructions with regard to handling and mounting Use appropriate mounting and transport equipment Take precautions to avoid pinching and...

Page 37: ...ers corresponding to the information in the respective Project Planning Manual must be provided with pressurized media such as compressed air hydraulic oil cooling fluid and cooling lubricant supplied by external systems Incorrect handling of the supply and connections of pressurized systems can lead to injuries or accidents In these cases improper handling of external supply systems supply lines ...

Page 38: ...3 12 Safety Instructions for Electric Drives and Controls ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P Notes ...

Page 39: ... two options available PC programming using MotionManager BTV04 display unit with FWA BTV04 ELC firmware Fieldbus The following can be transmitted via the fieldbus cyclic I O variables S1 Key on Programming Module The S1 key and the address switch located below it can be used to control various basic settings The subsequent function is enabled by pressing the S1 key with the address set to 00 The ...

Page 40: ...09600 1 05 0 1 0 0 0 000 0 200 0 9 8 Load parameter with default values ASCII Protocol 9600 Baud NO Parity MotionManager 09600 1 05 1 1 0 1 0 004 0 200 0 Default 9 9 Load parameter with default values SIS Protocol 9600 Baud NO Parity BTV04 09600 1 05 0 1 0 0 0 000 0 200 0 Fig 4 1 Interface Settings Using the S2 S3 Switches All functions will set the serial interface to 1 stopbit Diagnostic E 01 09...

Page 41: ... you exit Parameter Mode the parameters and the Logic Task program are checked and for any errors an error message is displayed Manual The drive displays HA on the H1 display In Manual Mode and with the drive enabled the following functions are in operation Task 3 Logic Task PLS The following functions are possible jog forward jog reverse manual vector homing via programmable input Parameter C010 ...

Page 42: ...roup 0 Bit 6 First user programmable input See also Inputs Outputs Marker Flags Chapter 10 1 Warning Warnings do not lead to an automatic shutdown A number of monitoring functions are performed depending on the operating modes and parameter settings If a state is detected which allows proper operation for the time being but eventually generates an error and leads to a shutdown of the drive a warni...

Page 43: ...n error condition is detected in the drive execution of the drive s error reaction starts automatically as long as the drive is ready The H1 display flashes Fx xx The drive s reaction to interface and non fatal errors can be set in Parameter A119 Best possible deceleration The drive switches to torque free operation at the end of each error reaction Clear Errors Errors must be cleared externally E...

Page 44: ... that the drive will be matched to the machine and only in certain instances will it be matched to the connected motors and measuring systems The relevant settings must be made when first starting up the axis Automatic execution of the Load basic parameter function The drive firmware is on the programming module If the firmware is replaced with a different non compatible version of the firmware th...

Page 45: ...hecked Check wiring of inputs X3 and DKC21 3 X210 DKC3 3 Profibus Interface Check wiring of the interface to the operator panel PC or BTV Adjust the interface parameters using the S1 key see Chapter 4 1 Communication Match the parameters to the equipment Test motor brake control Turn on the power Check cooling systems for the drive amplifier and control cabinet Use Jog to move the axis in Manual M...

Page 46: ...e firmware version which the unit contains can be read sequentially via Status Message 19 If the unit contains the wrong firmware version the correct firmware can be downloaded using DOLFI software Once a new firmware version has been downloaded the H1 display will indicate PL the next time the control voltage is turned on The basic parameter load is activated by pressing the S1 key ...

Page 47: ...nternal Diagnostic Message Generation The actual operating state of the drive is determined from the presence of any errors warnings commands and controller enable signals as well as the active operating mode It can be determined from the 2 part seven segment display H1 display status message 53 system outputs Diagnostic Message Composition Each operating state is identified by a diagnostic messag...

Page 48: ...A Parameter Mode HA Manual Mode AU Automatic Mode Plain Text Diagnostic Message Status Message 53 The plain text diagnostic message contains the diagnostic message number followed by the diagnostic message text as shown in the Excessive Deviation example It can be read out via the status message and is used for direct display of the drive status at a user interface The language of the plain text d...

Page 49: ...ware Upgrade For a firmware upgrade the following basic points must be observed 1 Turn on the drive controller for the DKC3 3 without turning on the master If the Profibus connector is not plugged in the DKC3 3 automatically switches to Parameter Mode 2 Secure current parameters and programs Normally the programs and parameters remain intact 3 Switch the drive controller to Parameter Mode DKC21 3 ...

Page 50: ... programmed without asking for confirmation normally the firmware FWA ECODRIVE03 FLP has four firmware modules If Modules Module Single is selected you must press Send again after each firmware module has been programmed 8 After successful update press the Disconnect button Å The drive firmware is started 9 Close Dolfi Å If the number of parameters to be buffered has changed PL is displayed If err...

Page 51: ...er 03 Caution The BTV04 DOL 01Vxx module must never be overwritten Setup Menu in the BTV Enter the Setup Menu by pressing the F2 key while the BTV is in the initialization phase OR by pressing Shift F6 Enter the Setup Menu for Port 2 by pressing F1 Serial Port Parameter and then F3 Serial Port 2 Set to Address 3 Baud Rate 9600 Parity off Protocol ASCII SIS Answer Delay 1 4 Timeout ms 400 Retry 2 G...

Page 52: ...ror Message Number 7 Segment Display Error Message 0x9002 dL 00 Firmware was cleared 0x9003 Loading not allowed in phase 3 0x9004 Loading not allowed in phase 4 0x9102 dL 03 Firmware was cleared 0x9103 Restart not allowed in phase 3 0x9104 Restart not allowed in phase 4 0x9200 dL 06 Read error 0x9400 dL 07 Timeout during delete 0x9402 dL 0F Address range not in flash memory 0x940A dL 08 Deletion p...

Page 53: ... to see whether the checksum of the FIL module is correct in order to ensure that the module was correctly programmed and that the program can be executed This checksum validation went wrong For a The ELC FLP FGP SGP or SMT module must be programmed prior to programming the FIL module For b The FIL module must be programmed prior to programming the ELC FLP FGP SGP or SMT module 0x9003 Loading not ...

Page 54: ...rmware module 0x9402 dL 0F Address range not in flash memory An address range not in the flash memory must be cleared Correct the address range in the SIS service or check the address range in the ibf file 0x940A Reset only possible in loader Drive firmware is running and a flash memory is to be cleared Change over to the firmware loader 0x96E0 dL 0b Error verifying the flash memory An error occur...

Page 55: ... checksum of the source file ibf Additional Problems when Loading Firmware The programming of a module was terminated Problems on the serial interface can lead to the termination of a transmission If the loading procedure for the FBC module was terminated the unit must not be switched off This module is responsible for starting the firmware and is therefore absolutely necessary A module that has n...

Page 56: ...00 is always set b The receiver and unit addresses are not identical to the addresses set at the controller via switches S2 and S3 c Parity check in Parameter B001 Parity must be set to NO or EVEN DOLFI Cannot Open the ibf File DOLFI signals Wrong ibf format when opening the ibf file The ibf file was generated using a different release and the ibf format has changed from that used in the DOLFI ver...

Page 57: ...munications will proceed without errors The factory recommends a maximum download baud rate of 19 2 kBaud The baud rate can be increased considerably in some applications however which helps achieve a reduction in the time needed for a firmware update The following baud rates can be implemented at the specified cable lengths Cable Length m Max Baud Rate kBaud 2 115 2 5 57 6 10 57 6 15 38 4 Fig 4 9...

Page 58: ...4 20 General Instructions for Start Up ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P Notes ...

Page 59: ...ous fixed fixed 1 possible PTC LSF no synchronous param param no PTC Fig 5 1 Characteristics of Motor Types Part 1 Motor Feedback Data Memory The motor feedback data memory contains all motor specific parameters MHD MKD and MKE motors have a motor feedback data memory in which all motor specific parameters are stored The drive controller automatically detects this data memory and reads the paramet...

Page 60: ...t on the motor type used performed automatically by reading the motor feedback memory or via input of parameter CM00 Motor type The motor type should be set before start up because the motor type affects the drive functions Automatic Setting of the Motor Type for Motors with Feedback Memory MHD MKD and MKE motors have a motor feedback data memory in which the motor type is stored along with other ...

Page 61: ... memory synchronous motor specific parameter Rexroth housing motors are configured ready for operation at the factory meaning that they can be placed in service without having to make any additional motor specific settings 5 4 Motor Holding Brake A motor holding brake can be mounted via a potential free contact built into the drive controller It prevents unwanted axis movements when the drive enab...

Page 62: ...0 0 0 self holding brake 0V at the brake brake applied 1 self releasing brake 24V at the brake brake applied 0 Servo brake Brake is applied after reaching the max braking time 1 Main spindle brake Brake is applied only at 10 RPM The motor holding brake is always activated when the actual velocity of the motor is less than 10 RPM Sv5078fl_AE WMF Fig 5 2 Timing Diagram for Command Value Reset and CM...

Page 63: ...et braking time Sv5082fl_AE WMF Fig 5 3 Timing Diagram for Command Value Set to Zero and CM07 Holding Brake Type Servo Brake and Actual Braking Time A119 Incorrectly set braking time Sv5122fl_AE WMF Fig 5 4 Timing Diagram for Command Value Set to Zero and CM07 Holding Brake Type Servo Brake and Actual Braking Time A119 Behavior with Servo Brake CM07 Holding brake type Braking time A119 Behavior wi...

Page 64: ...n since the start of the error reaction has elapsed Note The value in A119 Best possible deceleration must be set so that the drive can come safely to a standstill from the maximum speed at the maximum moment of inertia and greatest load forces CAUTION If the value in A119 Best possible deceleration is set too low then the error reaction is terminated and the motor holding brake is activated at a ...

Page 65: ...anch Conditional on Byte Compare 6 22 BPA Branch Conditional on Byte 6 23 CAN Cam Shaft Feed Angle 6 23 CID Change Variable Value 6 24 CIO Copy Bit Field 6 25 CLC Clear Counter 6 25 CLG Cam Shaft Stroke 6 26 CMM Cam Shaft Assignment 6 26 CON Continuous Operation 6 28 COU Count 6 28 CPJ Compare and Jump 6 30 CPL Clear Position Lag 6 31 CPS Compare and Set a Bit 6 31 CST Change Subroutine Stack 6 32...

Page 66: ...ng Incremental to Positive Stop 6 46 POA Positioning Absolute 6 48 POI Positioning Incremental 6 49 PSA Positioning Absolute with In Position 6 50 PSI Positioning Incremental with In Position 6 51 REP Registration Position Limit 6 52 RTM Rotary Table Mode 6 52 RTS Return from Subroutine 6 53 SA1 Set Analog Output 1 6 54 SAC Set Absolute Position Counter 6 56 SET Set Variable Value 6 60 SRM Search ...

Page 67: ...struction with the next higher sequence number is processed unless a jump instruction is given In the descriptions that follow this action is called proceed immediately to next instruction In the case of commands involving wait states for receipt of an outcome the process time is always extended by the cycle time required for the outcome to arrive In most commands both constants and variables can ...

Page 68: ...s to accomplish this 1 Stop the program externally using the Immediate Stop input 2 Stop the program using the JST user command If the operating mode was not changed after such a stop the program continues from the point of interruption once the start command is received There are also two ways to interrupt the user program Unlike a program stop no start command is required once the cause of the i...

Page 69: ... an error message is generated Note The variable s operational sign is always taken into account e g For a travel command POI several inputs are shown With Constants POI 1 123456 123 111 Velocity in Feed length in IU Axis 1 For feed length the following data size is assigned min 200000 000 max 200000 000 For velocity the following data size is assigned min 000 max 999 V600 00123456 123456 V601 999...

Page 70: ...er V020 Hour Counter Automatic Mode V021 Actual Position 2 Optional Encoder V022 Actual Position 3 SSI Encoder PLS V023 Actual Position of Master Encoder Cam Degrees V024 Actual Velocity of the Optional Encoder IU s V027 Actual Velocity of the SSI Encoder V028 Length Counter for the Optional Encoder V030 Time Measurement Counter 1 current value V031 Time Measurement Counter 1 buffered measured val...

Page 71: ...modulo 100000000 in NC cycles The counter cannot be cleared System Variable V002 Current Program Instruction in Task 1 The current status of the program instruction counter for Task 1 System Variable V003 Current Program Instruction in Task 2 The current status of the program instruction counter for Task 2 System Variable V004 Current Program Instruction in Task 3 The current status of the program...

Page 72: ...gth of the IDS1 1 2 Current feed length of the IDS1 1 in IU input units Interpretation of the 6 decades with 4 places before the decimal and 2 places after the decimal as for an IDS1 1 2 Note The interface protocol for IDS must be enabled in B002 Interface Parameters System Variable V017 Feed length of the IDS1 1 3 Current feed length of the IDS1 1 in IU input units Interpretation of the 6 decades...

Page 73: ...l Velocity of the SSI Encoder Output of the actual velocity of the SSI encoder IU s System Variable V028 Length counter for the Optional Encoder Output of the length counter of the optional encoder 2 IU Note System Variable V028 can be changed with the commands SET and MAT System Variable V030 Time Measurement Counter 1 current value Output of the current value of the Time Measurement Counter 1 ms...

Page 74: ...stored measured value of the Length Measurement Encoder 3 IU System Variable V044 Actual Position Value Virtual Encoder Degrees Output of the Actual Position Value of the Virtual Encoder System Variable V100 Current Position Value Motor Encoder Output of the current position value for the motor encoder IU System Variable V101 Target Position Value Output of the Target position value IU System Vari...

Page 75: ...uring Wheel Mode is issued Constant Rate Feed Wheel Measuring Wheel Measuring of Rev 1 after Difference Encoder Slip Fig 6 3 Calculation of the Slip System Variable V108 Target Velocity IU s Output of the target velocity not averaged System Variable V113 Distance from home position to processing location IU All movements of the active measurement wheel are counted only for application Flying Cutof...

Page 76: ...iables The contents of variables V509 and V508 or V519 and V518 are multiplied and added to the contents of Variable 50x or V51x The resulting value is the variable number that is then processed in the called function Variables Definition 500 of Basis Variable 1 501 of Basis Variable 2 502 of Basis Variable 3 503 of Basis Variable 4 504 of Basis Variable 5 505 of Basis Variable 6 506 of Basis Vari...

Page 77: ...V511 V518 V519 532 V512 V518 V519 533 V513 V518 V519 534 V514 V518 V519 535 V515 V518 V519 536 V516 V518 V519 537 V517 V518 V519 538 518 539 519 Fig 6 8 Variable Block 2 Contents of the indexed variables with actual Offset Factor V518 and actual Index V519 All NC commands using Variables V500 V507 or V510 V517 are executed in their indexed form If access to a variable outside of the range V600 to ...

Page 78: ...tions Variable Fields in Parameters AA11 Tool Wear Variable Fields in Commands BAC Counter COU Counter If the target piece count is programmed through a variable for the COU and BAC commands the current piece count is automatically assigned to the variable with the number higher by 1 SRP Registration Marks ...

Page 79: ...and deceleration value is always the value programmed in Parameter A109 If the value 000 is input it represents 1000 Example of how to change the acceleration value 0000 ACC 1 999 999 Set acceleration to 100 0001 POI 1 000200 000 999 Position then proceed immediately to next instruction 0002 AKN Mx xx x Wait until position is reached Parameter A111 0003 ACC 1 500 999 Reduce acceleration to 50 0004...

Page 80: ...mands in the current instruction of a task with a higher task number directly affect the changing of this bit The program proceeds to the next instruction following the time period of one cycle AKN Acknowledge Bit or 0 Wait until status of the bit is at 0 1 Wait until status of the bit is at 1 Bit M0 M5 M8 I0 I4 Q0 Q2 The status of the programmed bit is verified The program proceeds to the next in...

Page 81: ...gram waits at this instruction until all conditions for proceeding on to the next instruction have been met Three different conditions are possible 0 The bit is checked to see if it is set to 0 1 The bit is checked to see if it is set to 1 2 The bit is not checked Example 0008_AKP_M0 05_ _ 2 1 0 0 1 2 2 0 7 6 5 4 3 2 1 0 Bits 0 4 and 5 are checked to see if they are set to 0 Bits 3 and 6 are check...

Page 82: ...ependently Three different conditions are possible 0 The bit is set to 0 1 The bit is set to 1 2 The status of the bits remains unchanged Example a 0008_APE_M2 02_ _ 2 1 0 0 2 2 1 0 7 6 5 4 3 2 1 0 Bits 0 4 and 5 are set to 0 Bits 1 and 6 are set to 1 Bits 2 3 and 7 are not changed Example b 0008_APE_M2 02_ _ 2 1 1 1 0 0 0 2 7 6 5 4 3 2 1 0 Bits 1 2 and 3 are set to 0 Bits 4 5 and 6 are set to 1 B...

Page 83: ...command allows the program to count events process cycles quantities etc First the quantity is incremented Then the actual quantity is compared with the desired target quantity If the programmed target quantity is not reached the program jumps to the target location If the target quantity is reached the program proceeds to the next instruction Examples a Count following the event 0000 WAI 01 000 0...

Page 84: ...t Bit Low Bit M0 M5 M8 I0 I4 Q0 Q2 Jump Length Maximum value 99 Jump Offset This command executes a jump to a calculated target location The destination depends on the state of the programmed bits Up to 8 bits are considered If a target instruction is 0999 the error message F 03 02 NC Block Nr illegal is issued If digits 9 result from the BCD evaluation the error message F 02 14 Input Not BCD is i...

Page 85: ...0 Binary Scaling 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 Equiv decimal value 128 64 32 16 8 4 2 1 Total Scaling 128 64 0 16 8 0 2 0 218 Target Instruction 218 02 300 0736 M2 03 M2 02 Start Bit 2 1 0 7 6 5 4 3 2 1 0 Current Status 1 0 1 0 1 1 0 0 1 1 1 1 Input BIC 0500 11 M2 02 4 5 1 Selected Bits 1 0 1 1 0 Decimal Scaling 10 8 4 2 1 Total Scaling 10 0 4 2 0 16 Target Instruction 16 11 500 0676 2 Input BIC...

Page 86: ...he bit is not checked The condition is met when the state of all selected bits in both compare bytes matches the state of the assigned bit field The jump is executed when all conditions are met Example 0032_BIO_0123_M2 02_Q1 00 1 1 1 1 0 0 0 0 Compare Byte 1 1 1 1 0 0 0 1 0 Compare Byte 2 1 1 0 0 0 0 1 1 Result 1 1 X X 0 0 X X 7 6 5 4 3 2 1 0 For results places with a content of 0 or 1 the conditi...

Page 87: ... to 0 1 The condition is true if the bit is set to 1 2 The bit is not checked The program continues after the time period of one cycle CAN Cam Shaft Feed Angle or Off Angle in IU Master Axis degrees editable on line On Angle in IU Master Axis degrees editable on line Master Axis 01 Optional Encoder 02 SSI Encoder 03 Virtual Encoder This command determines in which area of the master axis encoder v...

Page 88: ... result must be negative following the operation or the operation will not be executed 3 Place information and its operational sign in variable 4 Addition or subtraction however the result must be positive following the operation or the operation will not be executed 5 Addition or Subtraction however the result must be negative following the operation or the variable is set 0 Target Variable This ...

Page 89: ... M2 02 0 5 The status of inputs I1 01 0 to I1 01 4 is copied to markers M2 02 0 to M2 02 4 Input Bit 7 6 5 4 3 2 1 0 Status 1 0 1 0 1 0 1 1 Marker Bit 7 6 5 4 3 2 1 0 Status Before 0 1 0 1 1 0 1 0 Status After 0 1 0 0 1 0 1 1 The program proceeds to the next instruction following the time period of one cycle CLC Clear Counter or Instruction number of the counter to be set to zero At the specified ...

Page 90: ...time period of one cycle CMM Cam Shaft Assignment Reserved Mode 0 Slave Axis 1 Synchronization by Precise Positioning 2 Pxx Command with Cam 3 Cyclic Cam 4 Cam Start Stop Master Axis 01 Optional Encoder 02 SSI Encoder 03 virtual Encoder Cams 0 Quadratic Parabola Velocity Triangle 1 Sloping Sine Cam 2 Modified Sine Cam 3 Grade 5 Polynomial Cam 4 Sloping Sine Cam Change velocity no jerk 5 User Progr...

Page 91: ...ECODRIVE03 FL 04VRS Writing the User Program 6 27 DOK ECODR3 FL 04VRS FK01 EN P Kurven_Bilder_AE WMF Fig 6 12 Pre Defined Cams ...

Page 92: ... current values The program proceeds to the next instruction following the time period of one cycle COU Count or Preset Count Preset count reached Bit M2 M3 M4 M8 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 02 0 Q2 05 7 Actual Quantity Offset In the same way as the BAC command this command allows the program to count events process cycles quantities etc The quantity is incremented each time the instruction...

Page 93: ...al sign is a 0 the actual quantity is set to zero The actual quantity offset is significant only if the COU command BAC command has been read in even via the RS interface When the program is running the offset has no meaning In the user program the actual quantity can be reset to zero using the CLC command During a production cycle it may be necessary to change the desired target quantity This can...

Page 94: ...and 1 The jump to the target location is executed when the comparison has been made If the condition is not met the program continues at the instruction with the next higher number For the compare conditons same and different the condition is met when the difference between the two operands lies within the tolerance range Example CPJ V600 V601 0000 00 0400 V600 100 000 V601 090 000 The command bra...

Page 95: ... The program proceeds to the next instruction following the time period of one cycle CPS Compare and Set a Bit or Result Bit M2 M3 M4 M8 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 020 0 Q2 050 7 Tolerance Range Compare Operand 2 Operational Sign for Compare Operand 2 Compare Conditions equal to with tolerance range greater than less than greater than or equal to less than or equal to not equal to with tol...

Page 96: ...ed to correct the subroutine stack If several subroutines are accessed within one program cycle a direct return across several levels is not possible with the RTS command If the subroutine stack has been corrected using the CST command a subsequent RTS command will execute a direct return across several levels Note If all the subroutine stacks are cleared no RTS command may follow the CST command ...

Page 97: ... are always converted Input only M2 00 M2 12 Variables This command converts a binary or BCD bit pattern to a variable or converts a variable to a binary or BCD bit pattern BCD 1 x byte before the decimal point 1 FF negative 0 positive 4 x bytes before the decimal point 8 decimal places 3 x bytes after the decimal point 6 decimal places Binary 1 x operational sign bit 1 negative 0 positive highest...

Page 98: ... V600 00000000 000000 Initial Value for Marker 0001 CVT V600 M2 00 0 0 Initialize Marker with 0 0002 APE Q0 01 22220001 4 Select Decade Switch 10 0 0003 WAI 00 02 Wait Until Level is Stable 0004 CIO I1 01 0 M2 03 0 04 Load Value of the Decade Switch 0005 APE Q0 01 22220010 3 Select Decade Switch 10 1 0006 WAI 00 02 Wait Until Level is Stable 0007 CIO I1 01 0 M2 03 4 04 Load Value of the Decade Swi...

Page 99: ...iplica Position d absolute Preselecte Position Target Fig 6 18 Calculation of Absolute Positioning Each change in the factor applies to all subsequent positioning motions A positioning motion already in progress is no longer affected by changes in this factor To make a change in the operating mode Manual Automatic the multiplication factor is preset to a value of 1 000000 0000 PSI 1 000100 000 999...

Page 100: ... account To synchronize with a rotating master encoder the slave axis can be accelerated or decelerated when switching off equipment using a ramp The acceleration ramp can also be activated when changing the slave factor The acceleration is determined in Parameter A108 A109 or with the ACC command It is also possible to synchronize without using a ramp An additional positioning motion e g using th...

Page 101: ...ts 0 Buffer the measured value then clear counter and re start measurement 1 Clear counter and re start measurement The buffered value remains intact 2 No change 3 Buffer measured value Leave counter unchanged 4 Turn off Measuring The buffered values can be found in system variables System Variables V106 Average velocity IU s positive values only V030 Time Measurement Counter 1 current value ms V0...

Page 102: ...rate an absolute measurement reference In rotary motion type see Parameter A100 this command is not permitted In both cases the error message F 02 17 HOM not allowed is issued During homing make sure that no command is processed which executes a drive motion A query within the program to determine whether homing has been successfully completed is accomplished by polling the Homed bit in Parameter ...

Page 103: ...ing the time period of one cycle JSR Jump to Subroutine or Start instruction of the subroutine In programs containing several identical functions the programming can be simplified by entering repeat functions into a subroutine A program structure is thus clearer and shorter The return from a subroutine is always automatically to the instruction with the next sequential number following the instruc...

Page 104: ...g mode or error message Continuous operation using the CON command is disabled The output states are not changed by a JST command In multitasking see Section 8 7 a JST command results in a programmed stop in all running tasks Task 3 is not affected This corresponds to the system input Stop JTK Jump in Task or 1 Target Task 1 2 Target Task 2 3 Target Task 3 Target Instruction This command can be us...

Page 105: ...t instruction occurs as soon as the axis begins synchronizing Therefore outputs for example can be set even before the synchronization is complete The rising edge at Input ee is queried until synchronization begins Input ee 1 is always queried when a function is activated A detected rising edge of Input ee 1 is immediately recognized and confirmed with Marker Flag M1 02 1 No synchronization occurs...

Page 106: ...tial position The raster detection device must be placed in the direction of the material from the initial position The offset dimension is determined by the distance between the initial position and the processing location to be reached when the raster is located precisely under the raster detection device Proceeding to the next instruction occurs as soon as a rising edge is recognized at the inp...

Page 107: ...ion and subtraction functions require an NC cycle 2ms The multiplication and division operations are transferred to a calculating unit This unit functions independently from the cycle time Furthermore this calculating unit can be used by the other program tasks Therefore this command can endure over the time period of multiple cycles The program proceeds to the next instruction when the calculatio...

Page 108: ...rcent It is also possible to overwrite the torque limiting command while the drive is running Note When the MOM command is used error messages may be generated if the torque limit is set too low F228 Excessive Deviation F878 Velocity loop error To prevent these error messages position control circuit monitoring in Parameter A115 can be deactivated Caution If this monitoring function is disabled a ...

Page 109: ...rrent deceleration value Following deceleration any positioning travel remaining from the original move is ignored If continuous operation has been enabled using CON command it is disabled After the PBK command has been executed other positioning commands can follow immediately Example 0000 CON 1 1 999 0001 WAI 02 000 0002 PBK 1 0003 POI 1 000050 000 100 After the PBK command has been read in the ...

Page 110: ...s The positive stop must be between the position limit values A103 A104 The programmed distance to a positive stop must always be larger than the exact travel distance to the positive stop otherwise the positive stop may not be reached Proceeding to the next program instruction occurs immediately after fulfilling one of the following two conditions Proceeding to the next program instruction if the...

Page 111: ...tive stop 40 0101 POA 1 000250 000 999 Initiate movement at maximum speed 0102 VCC 1 000200 100 1 1 Wait until position 200 with v 10 is reached 0103 PFA 1 000300 000 100 002 Movement to positive stop until position 300 is reached 0104 JMP 0200 Jump if positive stop was not recognized 0105 BCE 0120 I0 00 7 1 Positive stop was recognized Jump if input is 1 0106 JMP 0105 Wait until input becomes 1 0...

Page 112: ... moved 200 mm backward to the 200 position Poa_bef_AE WMF Fig 6 23 Example of Position Absolute This command may be used only if an absolute measurement reference is present This is the case when an absolute multi turn encoder is used for position detection or for position detection following a return to zero homing see also Section 8 3 Homing Otherwise the error message F 03 05 n referenced is is...

Page 113: ...ent forward back Axis 1 The position setpoint is incremented or decremented by the amount of the programmed value This feed length is adjusted to account for any remaining travel distance Example 0000 POI 1 000100 000 999 0001 PSI 1 000200 000 999 0002 JSR 0555 0003 JMP 0000 The drive unit traverses the distance 100 200 100 The program proceeds to the next instruction following the time period of ...

Page 114: ...e drive unit is considered to have reached the correct position as soon as it reaches the Position window see Parameter A111 Switching threshold for the programmed position Example 100 00 current position 0 20 switching threshold Parameter A111 0 20 Position Window 0000 PSA 1 000200 000 999 The program proceeds to the next instruction when the drive unit has reached position 199 80 to 200 20 Note ...

Page 115: ...cknowledgement This procedure is completed as soon as the drive unit has traversed the programmed feed length within the Switching threshold Parameter A111 Adjustment for the highest accuracy takes place even after the program has gone on to the next instruction The size of the Positioning window is stipulated in parameter A111 Switching threshold Example 0000 PSI 1 000100 000 999 0001 WAI 00 500 ...

Page 116: ...wing instruction immediately The following command combinations are permissible 1 Moving to a reference point without search distance limitation 0020 SRM 1 000000 000 050 I0 01 0 2 Moving to the reference point is programmed in the SRM command A limit of max 500 IU is programmed in the REP command 0030 SRM 1 000000 000 050 I0 01 0 0031 REP 0900 1 000500 000 RTM Rotary Table Mode or Rotary table mo...

Page 117: ...from a higher subroutine level leads first to the next lower subroutine level rather than directly back to the main program Note The last instruction in each subroutine must be an RTS Return From Subroutine command If this command is invoked without first jumping to a subroutine the control generates the error message F 02 06 St overflow RTS Example Rts_bef_AE WMF Fig 6 24 Example of Return from S...

Page 118: ...up to the value 0 using the set startup time The marker flags in the marker flag field are set i e bit 4 and are then no longer processed by this function 1 The output voltage can be input directly as a constant or a variable The data range is from 9 999 to 9 999 The input of the scaling factor is ignored Input variations SA1 1 9 999 0 1000 M2 00 SA1 1 V600 0 V601 M2 00 The output value and the st...

Page 119: ...r a mode change from Automatic to Manual occur the analog output ramps to 0 using the actual data In Parameter Mode the value is kept at 0 signal In Parameter B003 S 0 0000 must be input and in Parameter B004 00000000 must be input If this is not the case the error message F 02 22 SA1 not allowed is output Example SA1 1 0 000 0 0200 M2 13 Startup Voltage 0 Volts AKN M2 13 4 1 Is the analog output ...

Page 120: ...0 x Axis 1 Using this command the coordinate system is offset or set to a particular value The changes made using the SAC command are temporarily valid After a system restart switch to Parameter Mode or clearing an error the initial coordinate system becomes valid again The command is executed correctly only when the axis signals Position reached Parameter A111 The program proceeds to the next ins...

Page 121: ...s is homed Mode 9 No function The program proceeds to the next instruction Axis is homed Mode 0 The target position is offset by the value in the SAC command referenced to the initial coordinate system Mode 1 The target position is set to the value found in the SAC command Mode 9 The absolute position reference is canceled and the actual position is set to the value 0 The axis is no longer homed S...

Page 122: ...tion The program proceeds to the next instruction Axis is homed Parameters A103 Negative travel limit and A104 Positive travel limit are valid They remain in the initial coordinate system Mode 0 The target position is offset by the value in the SAC command referenced to the initial coordinate system Mode 1 The target position is set to the value found in the SAC command Mode 9 No function The prog...

Page 123: ...omed using the SAC command Beforehand the axis must be homed using the HOM command The error message F 03 05 n referenced is issued Mode 9 No function The program proceeds to the next instruction Axis is homed Mode 0 The target position is shifted by the value in the SAC command referenced to the initial coordinate system Mode 1 The target position is set to the value found in the SAC command Mode...

Page 124: ...510 to V517 600 999 Indicated Offset Factor V508 V518 0 399 Indicated Index V509 V519 0 399 Fig 6 29 Set Command Valid Target Variable Valid Inputs for Value Variable Type Value Access Comment User programmable V600 to V999 Direct Indicated Basis V500 to V507 V510 to V517 Indicated Indicated Offset Factor V508 V518 Direct Indicated Index V509 V519 Direct System V000 to V199 Direct Only variable ac...

Page 125: ...r the offset to be executed If a value of 00 00 0 is programmed for the reference marker input then that input Probe 1 Connector X3 Pin 4 is selected as the reference marker input Via this input the reference mark position is determined ZLWK D SUHFLVLRQ RI V Offset Dimension The move to an offset dimension referenced to the reference mark position is accomplished immediately after detection of the...

Page 126: ... The search velocity is 200 IU s 500 100 IU s The accuracy is 0 4 mm With the Probe1 input Connector X3 Pin 4 there is no debouncing time DQG WKH GHWHFWLRQ RFFXUV ZLWKLQ D WLPH IUDPH RI V The accuracy is 0 01 IU Ref1_bef_AE WMF Fig 6 32 Example of Movement to a Reference Mark Example of moving to a reference mark with offset programming 0000 SRM 1 000200 000 500 I0 01 0 Ref2_bef1_AE WMF Fig 6 33 E...

Page 127: ...ed command PSI Depending on the assignment the result can be processed immediately or in the next positioning operation For Assignment 1 no correction is made in the first PSI command after the SRP SRP_FLP_1_AE WMF Fig 6 34 Registration Marks Marker Flag Byte M2 xx 4 Raster detected read only Raster Input X3 Pin 4 This is a fast input Variable Field Different data is required for the various assig...

Page 128: ...riable Vxxx 2 The beginning and end of the search can be set in variables Vxxx 3 and Vxxx 4 If there is no raster signal in this area the program branches to the instruction number set in variable Vxxx 5 The positioning operation is completed If search monitoring is not enabled and no raster signal is detected the next positioning movement is executed without correction 2 automatic correction in t...

Page 129: ...rrection SET V604 0 No Search Monitoring SET V700 100 Desired Positioning SET V701 V700 Calculated Positioning SET V702 0 Interim Value SRP 1 3 0 V600 M2 02 WAI 0 1 Start PSI 1 V701 999 Feed Command BCE Corr M2 02 4 1 SET V701 V700 JMP Prog Corr MAT V702 V602 V601 MAT V701 V700 V702 Prog JSR Processing JMP Start Fig 6 36 Example for Mode 3 ...

Page 130: ...e are executed in one cycle 2ms If less than 4 TXT commands are used the Status 63 output has a length of n 16 characters Example 0001 TXT 0 W A I T _ F O R _ _ _ _ _ _ _ _ 0001 TXT 0 F E E D _ A N G L E _ _ _ _ _ _ Status 63 Xs63_WAIT_FOR_ _ _ _ _ _ _ _ FEED_ANGLE_ _ _ _ _ _ _ h h CR LF Output via Status 53 Using Status 53 the current diagnostic can be requested In place of the diagnostics Manual...

Page 131: ...ost recent positioning function has been traversed A change in velocity can take place only when the positioning functions do not include position acknowledgement POI POA The position portion in the last VCC value must be smaller than the previously started positioning function otherwise that VCC command is not executed and the program proceeds to the next instruction Example The actual start posi...

Page 132: ...begins changing its velocity This point depends on the acceleration the difference in velocity and the position lag If this point has already been reached or exceeded when the VCC command arrives the program proceeds immediately to the next instruction accepting the new velocity Note The axis must be homed to zero Otherwise the error message F 03 05 n referenced is issued Example 0000 PSA 1 000100...

Page 133: ...programmed traversing commands With the Override as factor function the override value is multiplied by the programmed velocity from the commands With the Override as limit function the override value is multiplied by the programmed velocity from the parameter Vmax Param A106 and therefore limits the velocity Activation of an override function using the VEO command has priority over activation of ...

Page 134: ...0008 VEO 1 4 1 500 0 Program C reduce velocity Execute positioning move 0009 POI 1 000100 000 999 Move 100 mm and proceed to next instruction 0010 VCC 1 000035 000 800 0 0 After 35mm change to 80 velocity 0011 VCC 1 000050 000 600 0 0 After 50mm change to 60 velocity 0012 VCC 1 000065 000 400 0 0 After 65mm change to 40 velocity 0013 VCC 1 000080 000 200 0 0 After 80mm change to 20 velocity 0014 A...

Page 135: ...RS FK01 EN P 2 Program B velocity limited to 70 by instruction number 0006 Veo2_bef_AE WMF Fig 6 40 VEO Command Limit Velocity to 70 3 Program C Multiplication by factor of 500 from instruction number 0008 Veo3_bef_AE WMF Fig 6 41 VEO Command Multiplication by a Factor ...

Page 136: ...ch time the command is read the specified variable number is retrieved The contents of this variable is then permanently read and evaluated by the function Slave Axis 1 The virtual axis must be set using the CMM command Before the function selected in the CMM command is activated using the CSY command the VMC command must be executed WAI Wait Time Delay or Wait time in seconds Execution of the nex...

Page 137: ...again An average processing speed of 5000 assignments s is reached where a minimum cycle time of 4 ms is present Reading the program begins with program instruction 0000 and ends with the first END command found To deactivate the Logic Task an END command must be programmed into program instruction 0000 In the following cases the error message F 02 21 Logic Task Program Error is issued No valid Lo...

Page 138: ... current value to the operand Assigns the negated value to the operand Set and Reset Commands Setting the bit operand unconditional Setting the bit operand if the previous result is TRUE otherwise no change Setting the bit operand if the previous result is FALSE otherwise no change Resetting the bit operand unconditional Resetting the bit operand if the previous result is TRUE otherwise no change ...

Page 139: ...with the logical value of the following term AND logic of the current value with the negated logical value of the term that follows Examples AND Logic FBS AWL Type bool1 bool2 bool3 LD bool1 AND bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1 1 0 1 0 bool2 1 1 0 0 bool3 1 0 0 0 FBS AWL Type bool1 bool2 bool3 LD bool1 ANDN bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1 1 0 1 0 bool2 1 ...

Page 140: ...with the logical value of the following term OR logic of the current value with the negated logical value of the term that follows Examples OR Logic FBS AWL Type 1 bool1 bool2 bool3 LD bool1 OR bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1 1 0 1 0 bool2 1 1 0 0 bool3 1 1 1 0 FBS AWL Type 1 bool1 bool2 bool3 LD bool1 ORN bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1 1 0 1 0 bool2 1 ...

Page 141: ... value with the logical value of the following term Exclusive OR logic of the current value with the negated logical value of the term that follows Examples XOR Logic FBS AWL Type 1 bool1 bool2 bool3 LD bool1 XOR bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1 1 0 1 0 bool2 1 1 0 0 bool3 0 1 1 0 FBS AWL Type 1 bool1 bool2 bool3 LD bool1 XORN bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bo...

Page 142: ...e bits of Groups M5 M6 and Q0 Q3 are allowed as operands Target operands which have already been assigned to a function by a parameter cannot be used Otherwise the error message F 02 21 Logic Task Program Error is issued Likewise no output bit in the NC Program may be written if it has already been used as a target operand in the logic task Constants Source bits C0 00 0 to C0 01 7 All bits have a ...

Page 143: ...gram Examples Example 1 M6 00 0 M6 00 1 M6 01 0 M6 00 2 M6 00 3 M6 01 1 M6 01 3 M6 00 4 M6 01 2 M6 00 0 1 M6 00 1 M6 01 0 M6 00 2 o M6 01 1 M6 00 3 M6 01 3 M6 00 4 M6 01 2 LDN M6 00 2 AND M6 00 3 OR M6 00 0 AND M6 00 1 ST M6 01 0 ST M6 01 1 ST M6 01 3 AND M6 00 4 ST M6 01 2 ...

Page 144: ...esult M6 00 4 Intermediate flag M6 00 0 M6 00 1 M6 00 4 o M6 00 0 M6 00 4 LD M6 00 0 ANDN M6 00 4 ST M6 00 1 LD M6 00 0 ST M6 00 4 Example 3 Spurious pulse negative starting edge M6 00 0 Input M6 00 1 Result M6 00 4 Intermediate flag M6 00 0 o M6 00 1 M6 00 4 o M6 00 0 o M6 00 4 LDN M6 00 0 ANDN M6 00 4 ST M6 00 1 LDN M6 00 0 ST M6 00 4 ...

Page 145: ... DOK ECODR3 FL 04VRS FK01 EN P Example 4 LD M6 00 2 AND M6 00 4 OR M6 00 1 AND M6 00 3 AND M6 00 5 OR M6 00 0 ST M6 00 6 M6 00 2 M6 00 4 1 M6 00 1 M6 00 3 M6 00 5 1 M6 00 6 M6 00 0 M6 00 0 M6 00 1 M6 00 2 M6 00 3 M6 00 4 M6 00 5 M6 00 6 ...

Page 146: ...L 04VRS FK01 EN P Example 5 LDN M6 00 2 ANDN M6 00 4 OR M6 00 1 LDN M6 00 1 ANDN M6 00 3 ANDN M6 00 5 ORN M6 00 0 ST M6 00 6 M6 00 2 o M6 004 o 1 M6 00 1 o M6 003 o M6 005 o 1 M6 00 6 M6 00 0 o M6 00 0 M6 00 1 M6 00 2 M6 00 3 M6 00 4 M6 00 5 M6 00 6 ...

Page 147: ... up Homing Manual Vector Interruption Feed Angle Monitoring Automatic Mode In Automatic Mode both NC tasks 1 and 2 can be activated using the start command All functions are possible except for the jog and manual vector functions 8 2 Measuring Wheel Mode Roll feed drives are used to feed material that is processed downstream for example sheet metal cutting The motor encoder cannot be used to measu...

Page 148: ...ive switches over to Position Control Mode with motor encoder and measuring wheel encoder Any negative effects produced by poor coupling between the measuring wheel encoder and the motor shaft only those due to material properties shall be alleviated by attenuating the differences in the position feedback value The differences are smoothed out using a first order filter The filter time constants a...

Page 149: ...Wheel Mode 8 3 Homing The position feedback value of the measuring system to be referenced forms a coordinate system referencing the machine axis If absolute encoders are not used this coordinate system does not correspond to the machine coordinate system after the drive has been initialized Therefore homing is used to establish agreement between the drive measuring system and the machine coordina...

Page 150: ...guration parameter has been set The following settings are made in this parameter homing direction positive negative depending on A100 homing using motor optional encoder depending on A100 readout of home switch yes no readout of reference mark yes no The parameter is structured as follows C009 Homing Configuration 1 0 0 12 34 Homing Acceleration in of amax A108 Homing Velocity in of Vmax A106 Ref...

Page 151: ...with one or more reference marks such as the LS linear scales by Heidenhain Type 4 Incremental measuring systems with distance coded reference marks such as the LSxxxC linear scales by Heidenhain Drive internal detection of the configuration of the reference marks is based on the settings in the relevant parameter C002 Feedback 1 type for motor encoders or C005 Feedback 2 type for optional encoder...

Page 152: ...he coordinate system is the so called reference point The desired feedback position at this point is stipulated in parameter C011 Reference distance The physical position of the reference point is the result of the position of the reference mark After detecting the reference mark the drive knows the position of this marker and thus also the position of the reference point in the old drive coordina...

Page 153: ... X3 1 the drive first accelerates in the opposite homing direction until the negative home switch signal edge is detected and then reverses the direction of travel If a distance coded measuring system is being homed the drive travels in the set homing direction when the home switch is not activated However if the home switch has been activated when the command is invoked the drive travels in the o...

Page 154: ...uld now be absolute as referenced to this preliminary machine zero point To set the correct machine zero point the following steps can now be taken Move the axis to the desired machine zero point and enter the position feedback value indicated there in C011 Reference distance with the inverse operational sign or Move the axis to position feedback value 0 and measure the distance between the curren...

Page 155: ...ctuated when the command is invoked the drive moves in the preset homing direction Note The homing direction must be set so that the positive edge of the signal pulse can be found Sv5048f1_AE WMF Fig 8 4 Correct Setting of Homing Direction WARNING If the homing direction setting is incorrect the drive generates command values away from the positive edge of the home switch signal In such a case the...

Page 156: ...he home switch signal edge and the reference mark is too small it is possible that sometimes the home switch signal edge will be detected only after the reference mark has already been passed As a result the next reference mark after that is then evaluated The reference mark selection is no longer uniquely defined Sv5070f1_AE WMF Fig 8 7 Inaccurate Selection of Reference Marks when Distance Betwee...

Page 157: ...tch offset Sv5072f1_AE WMF Fig 8 9 How Parameter C012 Home switch offset works When setting parameter C012 Home switch offset always enter 0 the first time Initial Startup with Evaluation of Distance coded Reference Marks If the encoder has distance coded reference marks type 4 C009 Homing configuration must be set to determine the following whether the home switch should be evaluated and or in wh...

Page 158: ...n C013 Distance coded reference offset 1 the lesser distance in C013 Distance coded reference offset 2 The unit for these two distances is the grating period Typical values for a linear scale with distance coded reference marks are 20 02 mm for the greater distance and 20 00 mm for the lesser distance with a resolution of 0 02 mm The numerical values 1001 or 1000 are then entered in parameter C013...

Page 159: ...arameters C009 Homing velocity and C009 Homing acceleration can now be set to their final values Home Switch Evaluation with Distance Coded Reference Marks Evaluating a home switch in conjunction with homing of a distance coded measuring system serves only one purpose staying within the allowed travel range If the home switch is not evaluated the drive always traverses the distance in the selected...

Page 160: ... HOM command If a stop interrupt feed monitoring or mode change command is received in Manual Mode the cycle is terminated and must be reinvoked In Automatic Mode homing restarts immediately after the interrupt or stop is cleared and the start button is pressed Following an error or a change in operating mode during homing the homing function must be invoked all over again Possible Error Messages ...

Page 161: ... the following encoder types Rotary incremental encoder The maximum travel distance is 1 revolution of the encoder Distance coded measuring systems The maximum travel distance is defined by C013 Distance coded reference offsets The cause for this error message can be no detection of the reference marks possible due to cable break defective encoder etc wrong parameter set in C013 Distance coded ref...

Page 162: ...The graph below shows the relationship between the applied voltage and the override factor 541_1_ov WMF Fig 8 14 Analog Override The velocity Vo is produced by multiplying the programmed traversing velocity Vp by the override factor F F 0 1 corresponds to 0V 10V Vo Vp F L Vo velocity Vp Traversing Velocity F override factor Fig 8 15 Velocity Calculation with Override This function can be activated...

Page 163: ...In 0 0 0 0 0 1 0 0 0 1 1 1 0 0 2 0 1 0 0 4 0 1 1 0 6 1 1 1 0 8 1 0 1 0 10 0 0 1 0 20 0 0 1 1 30 1 0 1 1 40 1 1 1 1 50 0 1 1 1 60 0 1 0 1 70 1 1 0 1 80 1 0 0 1 90 0 0 0 1 100 Example The max velocity is entered in parameter A106 A106 000500 000 The following program instruction is processed 0000 PSI 1 001000 000 500 Input I0 01 1 weighted value of 1 Input I0 01 2 weighted value of 1 Input I0 01 3 w...

Page 164: ...04 or using the VEO program command Input Number I0 01 4 I0 00 6 binary value 2 6 2 5 2 4 2 3 2 2 2 1 2 0 decimal value 64 32 16 8 4 2 1 The decimal values of all of the above inputs set to 1 are added together The resulting velocity is obtained as follows 127 value decimal all of Sum Vp Vo L Vo Velocity Vp Traversing Velocity Fig 8 16 Velocity Calculation 8 5 Rotary Table Description in preparati...

Page 165: ...al vector is accepted No jogging or homing is possible while the manual vector program is running Any such command is ignored Example Input in Parameter AA01 AA01 I0 00 7 1 0 0400 Input in the programming instruction 0400 APE M2 02 00000000 0401 APE M2 03 00000000 0402 RTS Bytes M2 02 and M2 03 are cleared when the manual vector is invoked The manual vector program can be halted with a Stop comman...

Page 166: ...matic Mode the program counter resets to 0000 with each start command If the start command follows execution of a prior immediate stop the program continues from the point of interruption Normally only Task 1 is in operation Example 0000 AKN M2 02 0 1 0001 PSI 1 000100 000 999 0002 AEA Q0 00 4 1 0003 WAI 00 250 0004 AEA Q0 00 4 0 0005 COU 00000 Q0 00 5 000100 0006 JMP 0000 Task 2 is activated only...

Page 167: ...of a fault or emergency stop Lockouts can therefore also be monitored via this cycle Note Axis movements may not be processed in Task 3 Example Input in Parameter AA00 AA00 0000 0800 1 Input in the programming instruction 0800 AKN I0 00 7 1 0801 APE Q0 00 00000000 0802 WAI 02 000 0803 AEA Q0 00 4 1 0804 AKN I0 00 6 1 0805 AEA Q0 00 4 0 0806 AEA Q0 00 6 1 0807 WAI 00 100 0808 AEA Q0 00 6 0 0809 JMP...

Page 168: ... a cam for motion commands POI PSI POA and PSA Relative Synchronization According to Exact Position For flying cutoff or rotary processing Axis Motion with Cam Absolute Master Encoder SSI The cams set in the user program are now used during one master rotation Axis Motion with Cam Incremental Master Encoder optional Encoder 2 The master axis is re homed each time this function is activated in the ...

Page 169: ...00 Function of Encoder 2 1 or 3 N N N Y Y N AA09 Feed To Length Monitoring Y Y Y Y Y Y Modulo Value VK 360 VK FOL Command Y Y N N N N CSY Command N N Y Y Y Y CMM Command Y Y Y Y Y Y CLG Command N N Y N Y Y CAN Command N N N N Y Y LAL Command N N Y N N N LAR Command N N Y N N N LAE Command N N Y N N N V0xx Position Counter for Master 1 opt enc N N Y N N N V0xx Position Counter for Master 2 SSI N N ...

Page 170: ... exactly With the FOL command this function can be turned on or off In addition a gear can be edited with this command even during operation by changing a factor value Dynamic synchronization acceleration or deceleration is possible The activation of this function occurs in the user program with the FOL command See also Section 6 NC Commands ...

Page 171: ...on length and the maximum velocity pre set in the command With this pre calculation positioning is delayed by one cycle 2 ms Note Limiting of the acceleration does not take place Note After a started Pxx command with a cam the positioning distance and the velocity may no longer be changed Interrupt and Stop are only possible when the axis is stopped Commands CSY Turn this function on CMM Select th...

Page 172: ... be turned on and off using the CSY command During the synchronization phase a position offset can be set using the POI PSI commands The indicated velocity is therefore limited so that the maximum velocity Parameter A106 is not exceeded With the POA PSA commands the synchronization function is deactivated and it is positioned to the set absolute position using the set velocity If a velocity of 0 i...

Page 173: ... an offset measurement occurs for the master Synchronization begins when the offset measurement becomes smaller than the acceleration distance The offset measurement must be at least 2 x the acceleration distance Otherwise synchronization cannot occur because of acceleration values that are too high and the error message F 02 30 Offset Measurement too large is issued The programmed length is subtr...

Page 174: ...ce before the home position when reading the production length using the LAL command Synchronization does not occur M1 02 2 Cam active System Variables V113 Master Position Counter 1 Optional Encoder Program Example Synchronization from Starting Point Syntax Description HOM 1 Home slave CMM 1 00 01 1 0 Assign master Cam shape CLG 1 10 000 Set acceleration path CSY 1 2 2 2 00 00 0 Turn function on ...

Page 175: ...1 0 Assign master Cam shape CLG 1 10 000 Set acceleration path CSY 1 2 2 2 00 00 0 Turn function on Loop LAR 1 50 000 I0 00 6 I4 00 3 Wait for starting point AKN Axis_Synchron 1 System marker flags JSR Tools LAE 1 Turn synchronization off AKN Sw Threshld 1 Wait until axis stops AKN Reverse_enable 1 PSA 1 0 000 999 Return to home position JMP Loop ...

Page 176: ...e cam stroke and type can also be pre set in commands Velocity and acceleration of the slave axis are defined using the master velocity length of movement and angle range Commands CAN Angle range CLG Movement length CMM Activating this function with mode 3 CSY Activating a function Program Example for Positioning of Mechanical Hand In the 50 150 range for the master encoder SSI a mechanical hand i...

Page 177: ...oder evaluation corresponds to Feed Constant 2 To re start the function must first be deactivated and then reactivated using CSY Multiple cams can also be processed within one master rotation If the master axis is within the current angle range the next angle range can be determined using the CAN command The cam stroke and type can also be pre set in commands Commands CAN Angle range CLG Movement ...

Page 178: ... The following functions can be implemented Processing of lengths Cut inhibit with messaging output Immediate cut Moving away using the PSI POI command Reverse inhibit Reduction of the reverse velocity acceleration Shift home position The following function cannot be implemented Short length between two processing operations the carriage does not move back to the original position ...

Page 179: ...Velocity in per mil Test M CLG 1 10 000 Set acceleration path ACC 1 V608 V609 Setting the acceleration when braking to standstill or when moving to home position CSY 1 2 2 2 00 00 0 Turn function on Loop LAL 1 50 000 I0 00 6 Product Length Program stays in this instruction until synchronization begins AKN M1 02 0 1 Wait until synchronization point is reached JSR Tools PSI 1 0 5 999 Initialize Proc...

Page 180: ...R command In this case the direction to proceed to the next instruction does not occur in these commands Synchronization Inhibit can only be canceled using an Immediate Synchronization or by switching to Manual Mode Marker Flag M1 02 1 signals this status Functions Default Length or Inputs ee ee Immediate Cut Immediate Synchronization ee 1 Cut Inhibit Inhibit Synchronization Product Length IU Slav...

Page 181: ...m the initial position The offset dimension is determined by the distance between the initial position and the processing location to be reached when the raster is located precisely under the raster detection device Proceeding to the next instruction occurs as soon as a rising edge is recognized at the input Start Synchronization or Immediate Synchronization Synchronization Path The acceleration p...

Page 182: ...ery large negative distance is entered in the POI PSI command the axis can also move backward even beyond the home position Leaving a Synchronized State Braking the Axis The axis is braked using the LAE command with the default deceleration Slave Axis 1 Synchronization is disabled and decelerated using the current deceleration value Parameter A109 or ACC Command Proceeding to the next instruction ...

Page 183: ...ntered in the VMC command Reserved Mode 0 Slave Axis On Off in the FOL Command 1 Synchronization by Precise Positioning 2 Cam with Pxx Command and Virtual Master 3 Feed To Length Commands with Real Master 4 Feed To Length Commands with Real Master Master m 01 Optional Encoder 02 SSI Encoder 03 Virtual Encoder Cam k 0 Quadratic Parabola 1 Sloping Sine 2 Modified Sine 3 Grade 5 Polynomial 4 5 User P...

Page 184: ...on has ended the axis must not be positioned to a particular home position using the POA PSA command If the old home position is not being used the difference between the old home position and the new home position must be added to the production length once and activated using the LAL command Variables In Variable V113 the actual distance between the next or actual processing location and the hom...

Page 185: ...t more negative than the negative acceleration path see Fig 8 20 X it is no longer possible for the axis to synchronize to the processing location using the default parameters In this case the error marker flag M1 02 1 is set the axis no longer synchronizes and remains in the LAL command If the system is to continue operating this is possible by setting the negated acceleration path in Variable V1...

Page 186: ... they must be entered via the parameter input interface See also chapter on Basic Load In isolated instances it may nevertheless be necessary to adjust the control loop settings for a specific application The following section gives a few simple but important basic rules for setting the control loop parameters in such cases The methods indicated should always be viewed only as guidelines for produ...

Page 187: ...ECODRIVE03 FL 04VRS Functions 8 41 DOK ECODR3 FL 04VRS FK01 EN P fp5007fj_AE WMF Fig 8 22 Control Loop ...

Page 188: ...op The current loop must be set correctly The velocity loop is set via the parameters CR02 Velocity loop proportional gain CR03 Velocity loop integral action time CR04 Velocity loop smoothing time constant as well as the parameters CR05 Rejection frequency velocity loop CR06 Rejection bandwidth velocity loop The setting can be made by one time execution of the Basic Load function in accordance wit...

Page 189: ...oothing time constant until the oscillation ends Then increase the CR02 Velocity loop proportional gain until it becomes unstable again Reduce the CR02 Velocity loop proportional gain until the oscillation ends by itself The value found using this process is called the critical velocity loop proportional gain Determining the Critical Integral Action Time Set the CR02 Velocity loop proportional gai...

Page 190: ...cal system comprising the rotor drive train load as a result of position velocity feedback within a closed control loop This behavior called two mass oscillation is generally within the 400 to 800 Hz range depending on the rigidity or elasticity of the mechanism and spatial volume of the system This two mass oscillation usually has a distinct resonance frequency which can be suppressed selectively...

Page 191: ... velocity loop with the rejection filter deactivated see Chapter entitled Setting the Velocity Loop Record the step response high acceleration of the velocity feedback value and the torque force generating command current for a small velocity command step the torque generating command current must not reach the limits during this process Enter the most salient frequency in Hz in parameter CR05 Rej...

Page 192: ... of a second smoothing filter with low pass response can nevertheless produce the desired improvement in the control quality To activate this second filter set parameter CR06 Rejection bandwidth velocity loop to 1 The notch filter and the associated parameter CR05 Rejection frequency velocity loop are deactivated Instead of the notch filter a smoothing filter is activated in the control loop This ...

Page 193: ...ue is 0 0125 nMax Setting the Position Controller Current and velocity loops must be correctly set The position loop can be set using the following parameter CR07 Position Loop Kv Factor This loop can be set by either executing the Basic load function or by following the procedure below Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to ...

Page 194: ...ition control loop Reasons for triggering the position control loop monitor can be Exceeding the torque or acceleration capability of the drive Blocking of the axis mechanism Disruptions in the position encoder A parameter are used for setting the monitoring function A115 Monitoring position loop If the drive detects an error in the position control loop the error message F228 Excessive deviation ...

Page 195: ...trol Loop Monitor Requirements for setting the position loop monitor are as follows Check the velocity and position control loops for their appropriate settings prior to setting the position loop monitor The axis in question should be checked mechanically and should be in its final state Deactivation of the Position Control Loop Monitor It is strongly recommended that the position loop monitor be ...

Page 196: ...oximate value is known from the size and set up of the axis Then take the torque constant of the motor used This data can be retrieved from the motor data sheet or parameter CM05 Torque force constant The approximate value is calculated as follows 1000 Load Motor Kt J J d Feedforwar on Accelerati Acceleration feedforward mA rad s JMotor Moment of inertia of the motor kg m JLoad Moment of inertia o...

Page 197: ...g the following parameters A102 Gear input revolutions A102 Gear output revolutions The parameters for the ratio between gear input and output are set here Example Fs5003f1_AE WMF Fig 8 28 Setting the Gear Ratio Parameters In the illustration above 5 gear input revolutions motor revolutions were equivalent to 2 gear output revolutions The proper parameter settings for this would be Input revolutio...

Page 198: ...ity of the 0 modulo value are displayed Thus it is possible to implement an axis which can move infinitely in one direction There is no overrunning of the position data The modulo value is set via parameter A105 Modulo value Note Modulo processing of position data is allowed only with rotary motors The motor type is verified when parameter mode is exited and error message C213 Position data scalin...

Page 199: ...ravel command If you only want to turn off the clamping a POI command with travel distance of zero can be used The movement to positive stop function is triggered by the commands PFA and PFI Remarks When the command is initialized the feedrate is set first Requires approx 80 ms Next the logic is enabled for detecting the positive stop Then finally the positioning operation is started The positive ...

Page 200: ...der emulation to generate positions in both of the standard formats TTL format with incremental encoder emulation SSI format with absolute encoder emulation Using these formats encoder signals Connector X9 can be sent to other devices Incremental encoder emulation means the simulation of a real incremental encoder by a driver controller The emulated incremental encoder signals are used to relay in...

Page 201: ...esolution 1 to 65536 2 16 graduation marks revolution Note If a motor with resolver feedback is mounted then the emulator generates as many zero pulses per mechanical revolution as the resolver has pairs of poles Therefore make sure that the input for C015 Encoder emulation resolution is divisible by the number of resolver pole pairs with no remainder since otherwise the zero pulse will run away T...

Page 202: ... Marker pulse offset within one electrical or mechanical rotation in a clockwise direction The unit used in C016 is the degree For motor encoders which provide an absolute unambiguous position within one motor revolution after their initialization the input range is 0 359 9 degrees The input range for resolvers which provide an absolute unambiguous position within one electrical revolution is 359 ...

Page 203: ...ncoder Emulation The following diagnostic messages are generated with incremental encoder emulation F253 Incremental encoder emulator Pulse frequency too high The output frequency for the set number of graduation marks exceeds the value of 1024 kHz Decrement number entered for C015 Encoder emulation resolution Reduce travel velocity output of all graduation marks detected in the interval is monito...

Page 204: ...oder and Position command value is based on the feed constant and gear parameters The values produced by the emulator are load dependent Resolution with Absolute Encoder Emulation The data output format for the emulated SSI position is stipulated in parameter C015 Encoder emulation resolution 4 24 bit mm The output direction depends on parameter C000 Working polarity Homing with Absolute Encoder E...

Page 205: ... position fluctuations will lead to large jumps in the emulated SSI position This is the case with position 0 followed by 4096 revolutions Sv5089f1_AE WMF Fig 8 34 SSI Display Limits To prevent this effect the SSI position value must be moved using parameter C010 Homing Set absolute position It is recommended that parameter C011 Reference distance be used to move the position to the middle of the ...

Page 206: ... Variables The contents of variables V509 and V508 or V519 and V518 are multiplied and added to the contents of Variable 50x or V51x The resulting value is the variable number that is then processed in the called function Variable Definition 500 of Basic Variable 1 501 of Basic Variable 2 502 of Basic Variable 3 503 of Basic Variable 4 504 of Basic Variable 5 505 of Basic Variable 6 506 of Basic V...

Page 207: ...07 600 Product 2 Acceleration SET V608 150 Product 2 Preset Count SET V610 10 Product 3 Length SET V611 990 Product 3 Velocity SET V612 400 Product 3 Acceleration SET V613 100 Product 3 Preset Count Index V509 Length V500 Velocity V501 Acceleration V502 Preset Count V503 Actual Count V504 0 V600 V601 V602 V603 V604 1 V605 V606 V607 V608 V609 2 V610 V611 V612 V613 V614 3 V615 V616 V617 V618 V619 Fi...

Page 208: ...roduct 3 Length SET V612 999 Product 3 Velocity SET V622 400 Product 3 Acceleration Index V509 Length V500 Velocity V501 Acceleration V502 0 V600 V610 V620 1 V601 V611 V621 2 V602 V612 V622 3 V603 V613 V623 Fig 8 39 Product Table Example 2 SET V509 2 Select Product 3 ACC 1 V502 999 Í ACC 1 V620 999 Í ACC 1 400 999 PSI 1 V500 V501 Í PSI 1 V600 V610 Í POI 1 010 999 It follows that V509 is used to ac...

Page 209: ...he higher priority bit is displayed If the text strings are written using Mode 3 TXT 3 xxxxx they can be queried using Status 25 high Error Messages Warnings Diagnostics besides HA AU Logic Task Diagnostic NC Diagnostic per TXT Command HA AU Diagnostics Fig 8 40 Diagnostic Priority low Summary of DLC R Error Messages Status Messages 02M Feed Forward 0EPARAMETER MODE 17M Feed Reverse 18Initializing...

Page 210: ...xt commands written to the corresponding instruction area the text No text block nn nn text field number is displayed Examples Xs25 88EMERGENCY STOP hh cr lf Xs25 13Both Jogs High hh cr lf Xs25 02M Feed Forward hh cr lf Xs25 NC Customer Text hh cr lf Xs25 Logic Task Customer Text hh cr lf Xs25 00System is Ready hh cr lf Note If Status 25 is active the first 40 characters of the selected text block...

Page 211: ...x 32 xxxx 35 M6 38 7 Text Field 10 xxxx 36 xxxx 39 M6 38 6 Text Field 11 xxxx 40 xxxx 43 M6 38 5 Text Field 12 xxxx 44 xxxx 47 M6 38 4 Text Field 13 xxxx 48 xxxx 51 M6 38 3 Text Field 14 xxxx 52 xxxx 55 M6 38 2 Text Field 15 xxxx 56 xxxx 59 M6 38 1 Text Field 16 xxxx 60 xxxx 63 M6 38 0 Text Field 17 xxxx 64 xxxx 67 M6 37 7 Text Field 18 xxxx 68 xxxx 71 M6 37 6 Text Field 19 xxxx 72 xxxx 75 M6 37 5...

Page 212: ...the press velocity The outputs of groups Q0 to Q3 are available as physical outputs The PLS function must be enabled in Parameter N100 and the PLS outputs PLS positions and desired functions must be correctly input in Parameters N101 N131 The encoder type and the encoder reference position are recorded in Parameters C017 C019 Parameter Number Definition C017 SSI Encoder Type Press Encoder C018 Hom...

Page 213: ...erride 9 18 AA05 Open Feed Roll I 9 19 AA06 Open Feed Roll II 9 20 AA07 Measuring Wheel Mode 9 21 AA08 Various Functions 9 21 AA09 Feed To Length Monitoring 9 22 AA10 Setup Mode 9 23 AA11 Tool Wear 9 24 AA12 Press Signal Offset 9 25 AA13 Press Signal Intermittent 9 26 AA14 Signal Control Enable 9 27 AA15 Signal Control Bit 1 9 28 AA15 Signal Control Bit 2 9 28 AA15 Signal Control Bit 3 9 28 AA15 S...

Page 214: ...ntegral Action Time 9 56 CR04 Velocity Loop Smoothing Time Constant 9 57 CR05 Rejection Frequency Velocity Loop 9 57 CR06 Rejection Bandwidth Velocity Loop 9 58 CR07 Kv Factor 9 58 CR08 Acceleration Feedforward Gain 9 59 CR09 Switching Frequency 9 60 CR10 Actual Position Filter Time Constant for Measuring Wheel Mode9 60 9 7 MOTOR PARAMETERS 9 61 CM00 Motor Type 9 61 CM01 Bipolar Torque Force Limit...

Page 215: ...Parameters AA 00 to 19 General Parameters B0 00 to 14 Encoder Parameters C0 00 to 19 Controller Parameters CR 00 to 10 Motor Parameters CM 00 to 12 PLS Switch Press Encoder N1 00 to 31 Fig 9 1 Parameter Groups System Parameters A1 The machine type the maximum move data and the mechanical data are recorded here Function Parameters AA Program execution structures can be activated here General Parame...

Page 216: ...at idle PLS encoder in Manual Mode Each modification will cause a dead time of 10ms in which the outputs of the PLS stay unchanged N111 N118 Function of Output Channel 1 N121 N131 Switch 1 Input Unit The input unit is defined in Parameter A101 Feed Constant The feed constant is defined as the linear displacement of the load during one revolution of the gear output shaft Input can be in any desired...

Page 217: ...ar motion the drive unit moves a mechanical system only a specified distance Normally absolute positioning is performed and travel limit switches monitor the distance traversed The rotary table normally turns continuously Positioning is absolute within one revolution of Parameter A105 Modulo Value There are no travel limit switches none There is no second encoder Direct Measurement In addition to ...

Page 218: ...aft Input min 0 1000 IU Input max 5000 0000 IU A102 Gearing 0001 0001 Output Revolutions of the Load Gear Input Revolutions of the Load Gear A mechanical gear is often employed between the motor and the load The gear ratio is defined as Gear Load of volutions Re Output Gear Load of volutions Re Input i Fig 9 2 Gear Ratio See also functional description for Gear Ratio and Modulo Function Example Fi...

Page 219: ...ic Mode the error message F630 Negative position travel exceeded is generated Input min 200000 000 Input max 200000 000 A104 Positive Position Limit 000100 000 Positive Position Limit in IU The positive position limit defines the maximum travel distance in the positive direction The position limit is only active when the type of motion is 1 linear motion Parameter A100 and all position data have b...

Page 220: ... IU Input max 200000 000 IU A106 Maximum Velocity 001000 000 Maximum velocity of the axis in IU s The maximum velocity defines the maximum permissible velocity and applies symmetrically in both directions The maximum value that can be entered is limited by Parameter CM03 Maximum Motor Speed and by the amplifier output 03 106 106 max max CM A motor Linear Bei i 60 A101 FC speed possible Max A encod...

Page 221: ...ation and is programmed in this parameter Acceleration or deceleration limits are possible in Parameter A109 and or using the ACC command Input min 1 Input max 200000 A109 Acceleration Deceleration 000 000 Deceleration in per thousand Acceleration in per thousand In both of these values the indication refers to the maximum acceleration in Parameter A108 If 000 is entered the program retrieves the ...

Page 222: ...for acceleration s Min 0 no jerk Max 1 024 s The time constant is processed only in 2 n values Jerk1_AE WMF Fig 9 4 Jerk Parameter A110 can be written in all operating modes CAUTION Bei nicht stehender Achse kann es bei Änderung dieses Parameters zu ruckartigen Bewegungen kommen Value should be changed preferably in standstill ...

Page 223: ... Depending on the friction and external forces acting on the feed rolls and depending on the control loop parameter settings a small untraveled distance remains at the end of each progression This distance does not accumulate for more than one progression If this remaining distance position deviation is greater than the switching threshold that has been set the feed angle monitoring function if ac...

Page 224: ...In Positioning Window Å Output 0 This function is active in Manual and Automatic Mode Position Input Min 0 001 Position Input Max 9999 999 A114 Presignaling M2 02 2 1 5 0050 Distance from the Target Position in IU Min 1 Max 9999 Time in s pulse 0 0 Output as continuous signal Presignaling Output 00 00 0 Presignaling function not active M2 M3 M4 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 02 0 Q2 05 7 EMD Q...

Page 225: ...eviation tolerated between the measured and calculated actual positions is set using Parameter A115 Monitoring At maximum velocity the position deviation is assumed to be at 100 If the position deviation exceeds this monitoring window the error message F228 Excessive deviation is issued 100 max 1000 60 07 106 max Deviation Position CR A IU Deviation L A106 Maximum Velocity CR07 Kv Factor Fig 9 5 M...

Page 226: ...input bit If the signal drops out during feed feed is aborted and the error message F 02 10 Feed Angle Loss is generated Interruption Enter whether or not a positioning function in progress can be interrupted Entering 00 00 0 means there is no interrupt If the signal at the specified input bit is lost any initiated positioning functions are not executed or those already in progress are stopped All...

Page 227: ...e Measuring Wheel Difference Monitoring with a value 0 A118 Absolute Encoder Monitoring Window 0001 000 Window Size in IU Following a restart or after exiting Parameter Mode the actual position stored the last time the control voltage was switched off is compared with the current initialized actual position of the absolute measuring system by the absolute encoder monitoring function If the differe...

Page 228: ...lerates with consideration of the torque limit The max braking time is 5 seconds The holding brake is activated 100 ms prior to expiration of the braking time If the velocity has previously fallen below 10 Rpm rotary motors or below 10 mm min linear motors the motor holding brake will be engaged immediately The motor is torque free 100 ms after the mechanical brake is engaged 1 Switch to Torque Fr...

Page 229: ...0 appears here Task 2 is not enabled max 0999 For further details see Section 8 7 Multitasking AA01 Manual Vector M2 02 2 0 0 0100 Program Start Block Reserved 0 Start only via Input Bit 1 Jump to vector program even when switching from Automatic to Manual Input Bit Input number program start at leading edge of pulse 00 00 0 no input selected M0 M5 M8 I0 I4 Q0 Q3 For further information see Sectio...

Page 230: ...1 the vector is always active leading edge of pulse 2 the vector is inhibited during a subroutine JSR falling edge of pulse 3 the vector is always active falling edge of pulse Input Bit Activate interrupt function 00 00 0 Interrupt function inhibited M0 M5 M8 I0 I4 Q0 Q3 For further information see Section 8 6 Vector Programming AA03 Reserved Restart AA04 Override 1 0 Override is off 1 Inputs I0 0...

Page 231: ...lectrically For the latter positioning is disabled and the power to the motor is cut In preparation The pilot pins must hold the material in place before and position it after opening the rolls The material must also be held in place at all times while closing the rolls If a measuring wheel is used for positioning in conjunction with this function a motor encoder is used after the initial signal i...

Page 232: ...nable bit Jogging is always possible Enable Function This function can also be enabled from the NC Program Logic Task or from an external input Removing the enable signal while the function is active has no effect on the output In Manual Mode this function is always enabled Open Feed Roll Input Bit AA05 Open Feed Roll Output Bit AA05 Close Feed Roll Input Bit AA05 Measuring Wheel Active System Mar...

Page 233: ...Parameter A100 The measuring wheel is always active in Automatic Mode or can be disabled using the programmed input See also Parameter A117 Encoder Difference Monitoring AA08 Various Functions M2 02 2 M2 02 3 Output Bit Parameter Mode activated Output Bit Target velocity reached The following is valid for both output bits M2 M3 M4 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 02 0 Q2 05 7 EMD Q3 00 0 Q3 03 7...

Page 234: ...8 M2 M3 M4 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 02 0 Q2 05 7 EMD Q3 00 0 Q3 03 7 Output Bit Velocity 90 of A106 M2 M3 M4 DKC21 3 Q0 00 4 Q0 01 3 DKC 3 3 Q2 02 0 Q2 05 7 EMD Q3 00 0 Q3 03 7 00 00 0 no output programmed The output bits programmed in this parameter are set when the velocity or the acceleration reach 90 of their maximum possible values ...

Page 235: ...etup Mode and the remaining positioning move is aborted Jog Forward Input Bit As long as this input bit is set a feed progression is executed in the positive direction The next higher input bit causes a feed progression in the opposite direction The feed progressions stop when the programmed feed distance or the start position has been reached In Start Position Output Bit This bit signals that the...

Page 236: ... the marker group with the same number is assigned In the variable field the number of counters is defined along with the number of outputs After reaching the command piece count the corresponding marker bit is set Vnnn Å Output bit 0 Command number of times activated Vnnn 1 Å Output bit 0 Actual number of times activated Vnnn 14 Å Output bit 7 Command number of times activated Vnnn 1 14 Å Output ...

Page 237: ... the definition of the output used to control the press and when this output is cleared The press marker must be turned off in the program when the feed angle edge is falling Via this parameter it is possible to offset the shutoff signal of the feed angle rising edge The signal to turn on the press is always immediate This parameter must also be programmed when the function in Parameter AA13 is us...

Page 238: ...e press is run intermittently If this parameter is not activated the output from Parameter AA12 is used for the press in continuous operation or in intermittent operation In addition to the output Press in Parameter AA12 a second press output can be programmed Depending on the input marker Press Intermittent Continuous operation one of the two outputs is processed Input Press On Off Input Intermit...

Page 239: ... are outside the test range are not tested for the first cycle after enabling In case of a fault the drive is stopped and the following error message is issued F 02 26 SIC 1 Signal Fault F 0 2 27 SIC 2 Signal Fault F 0 2 28 SIC 3 Signal Fault F 02 29 SIC 4 Signal Fault If the output bit Fault is programmed when a fault occurs the output bit is set without stopping the drive The following diagnosti...

Page 240: ...ignal level 0 when not enabled tests for a change in the leading edge The input must be at 0 during the entire test range 02 Test for signal level 1 when not enabled tests for a change in the leading edge The input must be at 1 during the entire test range 03 Test for rising edge within the test range 04 Test for falling edge within the test range 05 Test for signal level 0 when leaving the test r...

Page 241: ...ECODRIVE03 FL 04VRS Parameters 9 29 DOK ECODR3 FL 04VRS FK01 EN P SIC_2_AE WMF Fig 9 12 Signal Control ...

Page 242: ...ing the falling edge of the feed angle A116 Feed Angle Monitoring In Automatic Mode and for the input bit Press AA12 1 the 1 Å 0 edge is monitored If this edge does not transition during the timeout preselected in the parameter the following diagnostic is issued A 00 12 Press Timeout and the output bit programmed in Parameter AA19 is set Via the function Clear Error the diagnostic and the output b...

Page 243: ...ve immediately after saving these parameters Write Protection NC Program and Logic Task are no longer programmable If a write command is sent via the serial interface anyway Status Message 01 is issued 26 Write Protected B001 Serial Interface Parameter 1 09600 1 05 Station number 00 the set address S3 S2 of the module is valid xx 1 32 fixed station number Parity Check 1 none 2 even 3 odd Baud Rate...

Page 244: ...error message write confirmation Y CR LF 0 off 1 on Checksum 0 checksum validation on 1 checksum validation off For further details see Section 10 2 Serial Interface Response Delay In RS485 Mode once the serial interface receives the last character of an LF request Line feed ASCII Code 10 it immediately switches to Send Mode With various RS 485 PC driver cards this leads to problems if the cards a...

Page 245: ...ntents of Parameter A106 IU s S 0 0047 Command Position IU with 4 Decimal Places Value from B005 IU S 0 0051 Actual Position Encoder 1 IU with 4 Decimal Places Value from B005 IU S 0 0053 Actual Position Encoder 2 IU with 4 Decimal Places Value from B005 IU S 0 0080 Command Torque Force 0 500 500 Current at Standstill Parameter CM02 S 0 0084 Actual Torque Force 0 500 500 Current at Standstill Para...

Page 246: ...ia B005 Analog Output 1 Scaling per 10V Full Scale A scaling factor of 1 0 equals the fixed reference unit The following permanently defined signals are possible Signal Number B004 Output Signal Reference Unit Scaling Factor 1 0 0x00000001 Motor Encoder Sine Signal 0 5V 10V 0x00000002 Motor Encoder Cosine Signal 0 5V 10V 0x00000003 Optional Sine Signal Encoder 0 5V 10V 0x00000004 Optional Cosine S...

Page 247: ...423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0 Bit 28 Byte output Bit 0 23 24 Bit address Fig 9 15 Definition of B004 Analog Output 1 Expanded Signal Select with Byte Output 3 Bit Output With this option individual bits of the data memory can be represented as an analog voltage If the bit in question is set 10 volts are output at the analog output In response to a reset bit 10 volts are ...

Page 248: ...ent of these signals can be viewed using an oscilloscope Input Definition B008 Input Value Value at 10V S 0 0036 Command Velocity Contents of Parameter A106 x 6 Contents of Parameter A106 IU s S 0 0040 Actual Velocity Contents of Parameter A106 x 6 Contents of Parameter A106 IU s S 0 0047 Command Position IU with 4 Decimal Places Value from B005 IU S 0 0051 Actual Position Encoder 1 IU with 4 Deci...

Page 249: ...wing permanently defined signals are possible Signal Number B007 Output Signal Reference Unit Scaling Factor 1 0 0x00000001 Motor Encoder Sine Signal 0 5V 10V 0x00000002 Motor Encoder Cosine Signal 0 5V 10V 0x00000003 Optional Sine Signal Encoder 0 5V 10V 0x00000004 Optional Cosine Signal Encoder 0 5V 10V 0x00000005 Position Loop Command Value Difference rotary 1000 Rpm 10V linear 100 m min 10V 0x...

Page 250: ...30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0 Bit 28 Byte output Bit 0 23 24 Bit address Fig 9 19 Definition of B007 Analog Output 2 Expanded Signal Select with Byte Output 3 Bit Output With this option individual bits of the data memory can be represented as an analog voltage If the bit in question is set 10 volts are output at the analog output In response to a reset b...

Page 251: ...Control for BTV04 0 200 maximum cycle time ms 200 500 ms 0 no serial inputs outputs active 1 serial inputs outputs active The system reads the X4 inputs and writes to the X5 outputs on the BTV04 via the serial interface The transmission rate depends on the type of transmission and the baud rate Cyclic transmission is monitored by the control unit If no new message is received within the maximum cy...

Page 252: ...s place via the serial interface and the control unit is in Parameter Mode The F 03 16 warning is generated whenever system control takes place via the serial interface and the control unit is in Manual or Automatic Mode Note The serial inputs outputs in Parameter B009 must also be activated The system inputs and outputs are no longer on connector X210 or on the assigned fieldbus markers In this c...

Page 253: ...tic Mode The F 03 17 error message is generated whenever communication does not take place via the fieldbus and the control unit is in Automatic Mode If the cycle time is predetermined by the fieldbus master the actually used value is written to this parameter and can be read out for diagnostic purposes Note A value of 0 means that monitoring is turned off For further information see the Profibus ...

Page 254: ...Motorola Format 0 Process Data channel with I O diagnostic and variable channel 1 Process Data channel with I O diagnostic 2 Process Data channel with I O diagnostic variable channel and service data channel For further information see Section 11 2 Profibus Command Communication B014 EMD Configuration 0 0 0 0 Reserved Reserved Number of EMD Modules max 2 The connected module must have the same Add...

Page 255: ...encoder is connected The number of the corresponding interface module should be entered in this parameter C000 Interface Measurement System 1 X4 Digital servo feedback or resolver 2 X8 Incremental encoder with sine signals by Heidenhain 1V signals 5 X8 Incremental encoder with square wave signals by Heidenhain 8 X8 Encoder with EnDat interface 9 X8 Gearwheel encoder with 1Vp p signals 10 X4 Resolv...

Page 256: ...o absolute measurement possible 01 absolute measurement possible and active Encoder is treated as absolute 11 Absolute measurement possible but not active This parameter is used to stipulate the most important properties of the motor encoder position encoder 1 Remark In absolute measuring systems with memory absolute measurement is automatically set to x1 For MHD MKD and MKE motors the encoder typ...

Page 257: ... the number of graduation marks per mm For motors with a resolver feedback the number of pole pairs is stored here C004 Interface Feedback 2 Applicable for master axis encoders measuring wheel encoder direct measurement 05 Measurement System 00 no optional encoder This parameter determines the encoder interface to which the optional encoder is connected The number of the corresponding interface mo...

Page 258: ...ute measurement possible 01 absolute measurement possible and active Encoder is treated as absolute 11 Absolute measurement possible but not active This parameter is used to set the most important properties of the interface encoder position encoder 2 Remark In absolute measuring systems with memory absolute measurement is automatically set to x1 C006 Feedback 2 Resolution 00005000 Pulses Revoluti...

Page 259: ...is parameter describes the conversion from rotary to linear motion It is defined as the linear displacement of the load during one revolution of the measuring wheel encoder shaft Input min 0 1000 IU Input max 5000 0000 IU C008 Reserved C009 Homing Configuration 1 0 0 10 20 Homing Acceleration in of amax A108 Homing Velocity in of Vmax A106 Reference Mark Measurement 0 yes 1 no Home Switch Evaluate...

Page 260: ...f 76 is entered in this parameter the absolute position is set to the value stored in Reference distance Parameter C011 upon exiting Parameter Mode After that the 76 is cleared If a parameter error occurs the 76 is cleared automatically and the function must be reprogrammed Set absolute encoder is not possible in this parameter in rotary mode In this case this can only be set using the SAC command...

Page 261: ...l description for Homing C014 Encoder Emulation Configuration 0 0 0 Select Emulation 0 no output 1 incremental encoder emulation 2 absolute encoder emulation Dead Time Compensation 0 is deactivated 1 is activated Select Actual Position Source 0 position output of motor encoder 1 position output of optional encoder 2 output of position command value Select between incremental absolute encoder emula...

Page 262: ...utput the number of graduation marks used by the emulated incremental encoder must be entered here See also functional description for Encoder Emulation Input min 1 or 8 Input max 65536 or 24 C016 Marker Pulse Offset 000 0 Offset in Degrees For the emulated incremental encoder this parameter can shift the position of the marker pulse zero pulse within one electrical or mechanical revolution See al...

Page 263: ...1 multi turn encoder tree format 2 single turn encoder For encoder type 0 the encoder emulation according to Parameter C014 C016 is turned off An absolute encoder with SSI format can be hooked up to connector X9 This encoder then outputs the data for the PLS Note In Manual and Automatic Mode the SSI encoder is monitored If an error is detected in the SSI files the following error message is genera...

Page 264: ...e Reserved Reserved Set Absolute Position If 76 is entered in this parameter the absolute value is set to the value stored in Reference distance Parameter C019 upon exiting Parameter Mode After that the 76 is cleared If a parameter error occurs the 76 is cleared automatically and the function must be reprogrammed C019 SSI Encoder Reference Distance 000000 000 Reference distance in IU ...

Page 265: ...t be changed It is loaded from the motor feedback memory when the initial connection is made UL is displayed or when the Basic load command is issued Note The values set at the factory should not be changed See also functional description for Setting the current loop Input min 0 V A Input max 655 35 V A CR01 Current Loop Integral Action Time 1 0002 5 ms The current loop integral action time is fix...

Page 266: ...on the motor type of the connected motor Unit Motor Type Unit Rotary motor A s rad Linear motor A min m Fig 9 24 Units for the Velocity Loop Proportional Gain Depending on Motor Type It is possible to load a default value for this parameter using the Basic load command if the current motor has a feedback memory CM00 Motor type 1 or 5 See also functional description for Setting the velocity loop In...

Page 267: ...g on the value of the proportional component Definition of the Integral Action Time I Gain_AE WMF L Tn velocity integral action time ms KP veloc contr prop gain A sec rad KI integral gain A rad G speed regulation deviation Fig 9 25 Integral Action Time The integral action time is defined as that value on the time axis at which the integral component is equal to the proportional component This repr...

Page 268: ...the minimum input value or 0 turns the filter off See also functional description for Setting the Velocity Controller Input min 0 µs Input max 65500 µs CR05 Rejection Frequency Velocity Loop 600 Frequency Hz To suppress the mechanical resonance frequency a band pass filter can be activated at the output of the velocity loop It can be set using the following parameters CR05 Rejection Frequency Velo...

Page 269: ...side of the notch frequency in which the attenuation is less than 3dB Example CR05 500 Hz CR06 200 Hz then attenuation 3dB in range of 400 600 Hz Parameter Value Action of CR06 1 VZ1 filter with CR04 time constant 0 filter is off 0 bandwidth for notch filter Fig 9 26 CR06 Velocity Loop Bandwidth Rejection Filter See also functional description for Filtering Oscillations from Mechanical Resonance I...

Page 270: ... The standard value equals 0 Acceleration feedforward is only possible in lagless mode Comparison between the different types of feedforward The velocity feedforward is activated by selecting an operating mode with no position lag following error This creates from the standpoint of the position loop a feedforward of the 1st order proportional to velocity This means that at constant speed the posit...

Page 271: ...ne Input min 4 kHz Input max 8 kHz CR10 Actual Position Filter Time Constant for Measuring Wheel Mode 000 00 Smoothing Time Constant in ms When measuring wheel mode is active the position control loop is closed using the sum of actual position 1 motor encoder and the filtered difference between actual position 2 and actual position 1 This parameter determines the time constant of the filter used T...

Page 272: ...allowed 2AD 1MB with PTC temperature sensor 7 Synchronous kit motor Input min 1 Input max 7 CM01 Bipolar Torque Force Limit Value 400 This parameter specifies the maximum permissible torque and applies symmetrically in both directions It ensures that the maximum permissible peak torque for the given application is not exceeded regardless of how high the torque force is set in the MOM command The e...

Page 273: ...ccording to the motor data sheet This value is stored in the motor feedback memory for MHD MKD and MKE motors and is loaded from there when the drive controller is turned on for the first time For other motor types the value must be taken from the data sheet All torque force data are based on this motor stall current being equal to 100 Input min 0 1 A Input max 500 0 A CM03 Maximum Motor Speed 105...

Page 274: ...MKD motors this value is stored in memory and need not be specified See also functional description for Motor feedback memory CM05 Torque Force Constant 000 20 Nm A The torque force constant indicates how much torque or force the motor delivers at a certain effective current For synchronous motors this value depends entirely on the design of the motor In asynchronous motors this value is valid as ...

Page 275: ...V at the brake brake applied 0 servo brake after maximum braking time the brake is activated 1 Main spindle brake Brake is applied only at 10 RPM If a holding brake is used this parameter specifies whether it is a self holding or self releasing brake If an MHD or MKD motor is used the holding brake if there is one is a self holding one Bit 0 is automatically set to 0 When other motor types are use...

Page 276: ... 04VRS FK01 EN P CM09 Motor Temperature 145 155 Motor Shutdown Temperature C Motor Warning Temperature C CM10 Motor Inductance 003 70 mH CM11 Commutation Setting 0000 0000 Probe Value mm In preparation CM12 Commutation Offset 00100 Commutation Offset ...

Page 277: ... is only to be used internally as a marker e g for feed angle outputs that are not physically present in the hardware like outputs in group Q1 00 can be used Multiple PLS positions can be assigned to each output For all outputs hysteresis spacing can be assigned separately for both encoder directions Example The programmed PLS position can be between 60 and 120 degrees and the hysteresis spacing f...

Page 278: ...t the encoder velocity is monitored When the velocity is exceeded the error message F 03 23 PLS Speed N109 is issued Filter Time To prevent bounce in the output for an encoder speed that is not constant a filtering time in milliseconds can be set for all inputs The input value is multiplied by 4 internally Hysteresis Spacing Hysteresis spacing for both directions of movement which is valid for all...

Page 279: ...r or not the output is used and how it is used Lead Time To balance switching hystereses for connected peripherals a lead time for turning on off the output can be set Depending on the encoder speed the corresponding output is turned on off earlier Run Time If the output is programmed as a timer it is set when the PLS position is reached and cleared again after the programmed time has expired Note...

Page 280: ...by the on position If a hysteresis or lead time has been input in the corresponding parameters the on position is automatically calculated and adjusted Off Position The point at which the output is turned off is defined by the off position If a hysteresis or lead time has been input in the corresponding parameters the off position is automatically calculated and adjusted Note Parameters N122 to N1...

Page 281: ...Data Application Type A100 Feed Constant A101 Gearing A102 Negative Position Limit A103 Positive Position Limit A104 Modulo Value A105 Maximum Velocity A106 Jog Velocity A107 Bipolar Acceleration A108 Acceleration Deceleration A109 Bipolar Jerk Limiting Time Constant A110 Switching Threshold A111 Reserved A112 In Position Window A113 Presignaling A114 Monitoring A115 Feed Angle Monitoring A116 Enc...

Page 282: ...trol Bit 1 AA15 Signal Control Bit 2 AA16 Signal Control Bit 3 AA17 Signal Control Bit 4 AA18 Press Time Monitoring AA19 Display B000 Serial Interface Parameter 1 B001 Serial Interface Parameter 2 B002 Analog Output 1 Signal Select B003 Analog Output 1 Expanded Signal Select B004 Analog Output 1 Scaling per 10V Full Scale B005 Analog Output 2 Signal Select B006 Analog Output 2 Expanded Signal Sele...

Page 283: ...fsets C013 Encoder Emulation Configuration C014 Encoder Emulation Resolution C015 Marker Pulse Offset C016 SSI Encoder Press Encoder C017 SSI Encoder Homing C018 SSI Encoder Reference Distance C019 Current Loop Proportional Gain 1 CR00 Current Loop Integral Action Time 1 CR01 Velocity Loop Proportional Gain CR02 Velocity Loop Integral Action Time CR03 Velocity Loop Smoothing Time Constant CR04 Rej...

Page 284: ...Channel 2 N102 Output Channel 3 N103 Output Channel 4 N104 Output Channel 5 N105 Output Channel 6 N106 Output Channel 7 N107 Output Channel 8 N018 SSI Encoder Monitoring N109 Reserved N110 Function of Output Channel 1 N111 Function of Output Channel 2 N112 Function of Output Channel 3 N113 Function of Output Channel 4 N114 Function of Output Channel 5 N115 Function of Output Channel 6 N116 Functio...

Page 285: ...X210 Group 0 Byte 00 I0 00 6 Input Connector X210 Group 0 Byte 00 Bit 6 First user programmable input Inputs The inputs are designated with I They can be programmed and processed in the parameters commands and in the Logic Task They are read at the beginning of each cycle every 2 ms or at the start of the Logic Task Source Bytes Functions 0 00 01 DSUB Connector X210 DKC21 3 1 00 04 BTV04 can be en...

Page 286: ...arameters commands and in the Logic Task They are processed at the beginning of each cycle every 2 ms or at the start of the Logic Task To avoid confusion the NC Task and the Logic Task have different marker flags Transfer marker flags handle the exchange of information between the NC Task and the Logic Task Source Bytes Function 0 00 05 System Marker Flags Inputs 1 00 03 System Marker Flags Outpu...

Page 287: ... all other preconditions have been met The following inputs are acceptable Drive Enable Reglerfreigabe RF Stop Jog Other functions can be assigned to inputs via programming Homing Manual Vector Interrupt Feed Angle Monitoring Automatic Mode is possible when a signal is present at this input no error is present and the RF signal is present The following inputs are acceptable Stop Start Other functi...

Page 288: ... moves forward at the velocity entered in Parameter A107 When entering Manual Mode for the first time a rising edge is required at the input Position limit monitoring is active only if the axis has been homed In this case the drive moves only to the Positive Position Limit Note There is no movement if a STOP interrupt or feed monitoring signal is active DKC21 3 X210 6 I0 00 5 DKC3 3 Control Word I...

Page 289: ...t X3 3 I4 01 0 Position Limit This limit switch must always be a normally closed contact X3 4 I4 00 3 Measurement of positions using the SRM command Used with SRP Command Registration Marks X3 5 I4 00 4 No function X3 6 I4 01 1 In the operating state 24V must be present at this input If this signal is not present contact Bb opens The axis is stopped via the Best possible deceleration mode Paramete...

Page 290: ...ted and NC Tasks 1 and 2 have been started this output is set Connector X3 DKC21 3 X3 8 DKC3 3 Status Word Q2 00 4 When the unit is ready to receive the drive enable signal the Ready output is set The output is turned off if an error is present if DC bus voltage is 0 75 x line voltage if control voltage is not present DKC21 3 X3 10 DKC3 3 Status Word Q2 00 5 Many types of monitoring are performed ...

Page 291: ...rs Note If an output is used from the logic task the error message F 03 00 I O No illegal is issued as soon as this output is used by an NC task EMD Programmable Inputs Outputs Two input output modules with 16 inputs outputs each can be connected Inputs Module 1 Inputs I3 00 0 to I3 01 7 Module 2 Inputs I3 02 0 to I3 03 7 There are therefore up to 32 available inputs The inputs are user programmab...

Page 292: ...console The parameters must be designated as B002 0 1 0 0 0 000 B009 1 xxx xxx 200 500 The inputs and outputs are transferred serially to the BTV04 The transfer time can take up to 500ms BTV04 X4 Inputs 10 inputs I1 03 0 to I1 04 1 are available BTV04 X5 Outputs 11 outputs Q1 03 0 to Q1 04 2 are available Some keys can be queried from the user programs I1 01 4 I1 01 5 I1 01 3 I1 01 6 I1 01 2 I1 00...

Page 293: ...ctive via the BTV04 keys Caution The system inputs and outputs of the DKC21 3 on connector X210 are no longer queried or set They can be used freely from the user programs If a fault output or the operating modes are nevertheless to be assigned to a hardware output Connector X210 this can be programmed in the Logic Task The BTV04 Keys PARA START AUTO STOP JOG JOG are activated ...

Page 294: ...ker Flags 6 19 System Byte Parameter B010 4 saved 6 20 36 Logic Task Marker Flags 6 37 39 Logic Task Marker Flags for Command TXT 3 and Serial Interface Status 25 8 00 19 Command Marker Flags via Serial Interface Fig 10 6 Marker Flag Categories Here the requirements are mirrored These marker flags are read only using the Logic Task and the NC Task M0 00 Bit Function Source 0 Parameter Input or Fie...

Page 295: ...uring Wheel Control enabled Parameter AA07 Fig 10 8 Marker Flags Programmable System Inputs Note If the functions for bits 0 and 1 are not set in the parameters these bits are initialized by setting them to 1 M0 03 All bits in this byte are reserved M0 04 All bits in this byte are reserved M0 05 All bits in this byte are reserved Here the conditions are mirrored These marker flags are read only us...

Page 296: ...top 6 Axis in Home Position of the last Positioning Command dependent on Parameter A113 Positioning Window 7 Reserved Free Fig 10 10 Marker Flags Generating Command Values M1 02 Bit Function Source 0 Axis is synchronized Status 1 Synchronization not possible Status 2 Cam is active Status 3 Reserved Free 4 Reserved Free 5 Reserved Free 6 Reserved Free 7 Reserved Free Fig 10 11 Marker Flags System O...

Page 297: ...s can be read and written by the Logic Task They are not cleared even when power is lost Marker flag M6 19 can also be used for system control See also Parameter B010 M6 20 M6 39 These marker flags can be read and written only by the Logic Task These marker flags are cleared when entering Parameter Mode when a fault occurs in the Logic Task or when power is lost Marker flags M6 37 to M6 39 can be ...

Page 298: ...ograms Logic Task Cam Status Information Commands These data are numbers oriented and a single transfer occurs The interface can operate optionally in either RS232 Mode or RS485 Mode Three different protocols are supported Indramat SIS Protocol user data transmitted in INTEL format ASCII Protocol The precise structure is outlined in the following section IDS protocol RS232 In conjunction with the ...

Page 299: ...ommunicating via the RS485 bus e g BTV04 The addresses can be set from 1 to 32 and for Profibus from 2 to 32 Fp5032f1_AE WMF Fig 10 13 Setting the Address via the Address Switch on the Programming Module In this mode it is not necessary to set the drive address since only one user is connected peer to peer connection Setting the Drive Address RS232 Mode ...

Page 300: ...nded for use when connecting a PC with the MotionManager startup program Transmission rates of 2400 baud ASCII 4800 baud ASCII 9600 baud ASCII SIS 19200 baud ASCII SIS Maximum transmission path 15m 8 bit ASCII protocol or 8 bit SIS protocol Parity bit none even odd one stop bit Fs0004d1_AE WMF Fig 10 14 Communications via RS232 interface ...

Page 301: ...ion path 500m Half duplex mode over a 2 wire line 8 bit ASCII protocol or 8 bit SIS protocol Parity bit none even odd one stop bit Fs0005d1_AE WMF Fig 10 15 Data Exchange of Drive Groups from an Operator Console Transmission Protocols When the 24V supply voltage is switched on the data set in Parameters B001 B002 B009 and B010 are used as the communications parameters If these settings do not corr...

Page 302: ...ain the station number 2 In RS485 mode the s is replaced by the respective station number 1 9 A W for No 10 to 32 If this number does not correspond to the number set in the programming module there is no response to the received data If s is a blank space this information is relevant for all users on the bus The third character identifies the information type 1 N Hexadecimal 4E character for NC i...

Page 303: ...orm the end of each transmission transmission of instruction All information characters are coded in hexadecimal format in accordance with the ASCII code table The following characters are used to exchange information 1 0 through 9 Hexadecimal 30 through 39 A through Z Hexadecimal 41 through 5A The numerals 0 through 9 and the letters A through Z are available for command and data input 2 _ Hexade...

Page 304: ..._ 20 32A 2B 355 1 31 386 2 32 3B8 3 33 3EB 4 34 41F 5 35 454 6 36 48A 2E 4B8 7 37 4EF 8 38 527 9 39 560 _ 20 580 1 31 5B1 2 32 5E3 3 33 616 _ 20 636 Fig 10 16 Generating the Checksum The sum of all ASCII characters is calculated from the first control character to the last character before the Then the High Byte is added to the Low Byte A transmission occurring during this time is ignored The Two ...

Page 305: ...ace confirmation feature must be activated NC Program Instructions A new instruction is read in as shown in the example below The character sequence s N always comes first An input must always end with CR LF or h h CR LF Format s N b b b b _ c c c _ d d d d d d d d d d d d d d d d _ h h C R L F Meaning of the characters used b Instruction number c Command code d Instruction information data field ...

Page 306: ... _ 123456 789_ CLG_1_ _ _ _ V600_ _ _ _ _ _ _ CMM CMM_1_ _ _ _02_01_3_0_ CMM_1_ _ _ _02_01_3_0_ CON CON_1_ _ _ _1_ _ _ _ 234_ _ CON_1_ _ _ _V600 _ V601_ COU COU_ 12345_Q0 01 1_ _654321_ COU_ 12345_Q0 01 1_ _V600_ _ _ CPJ CPJ_V600 12345 678_1234 56_1234_ CPJ_V604_ V600_ _ _ _ _ _V601_ _ _ _V603_ CPL CPL_1_ _ _ _ CPL_1_ _ _ _ CPS CPS_V602 12345 678 1234 56_Q0 01 1_ CPS_V602_ V600_ _ _ _ _ _V601_ _ _...

Page 307: ...0_ _ _ _ _ _ _ _ _ _ _ 12345678 123456_ SET V601_ _ _ _ _ _ _ _ _ _ _ V600_ _ _ _ _ _ _ _ _ _ _ _ SRM SRM_1_ _ _ _ 123456 123_ 123_ _I0 00 6_ SRM_1_ _ _ _ V600_ _ _ _ _ _ _ V601 _I0 00 6_ SRP SRP_1_ _ _ _1_0_V600_M2 12_ SRP_1_ _ _ _1_0_V600_M2 12_ TXT TXT_1_YESTHISISTEXT_ _ _ _ TXT_1_YESTHISISTEXT_ _ _ _ VCC VCC_1_ _ _ _ 123456 789_123_ _0_1_ _ _ _ VCC_1_ _ _ _ V600_ _ _ _ _ _ _V601_0_V602_ VEO VE...

Page 308: ... information number dependent on parameter Writing a parameter s K _ x x y y _ d d d d d d d d _ h h C R L F Meaning of the characters used x Block identifier y Parameter number d Instruction information number dependent on parameter Parameter Blocks Block Identifier Parameter Number System Parameters A1 00 to 19 Function Parameters AA 00 to 19 General Parameters B0 00 to 14 Encoder Parameters C0 ...

Page 309: ...2 0_ A116 A116_M2 02 0_M2 02 1_0_ A117 A117_123_ A118 A118_1234 567_ A119 A119_0_0_000_ AA00 AA00_0100_0200_1_ AA01 AA01_M2 02 0_1_0_0100_ AA02 AA02_M2 02 2_1_0_0100_ AA03 Reserved Free AA04 AA04_1_ AA05 AA05_M2 02 1_M2 02 2_M2 02 3_000_0_ AA06 AA06_M2 02 1_M2 02 2_ AA07 AA07_M2 02 0_ AA08 AA08_M2 02 0_M2 02 1_ AA09 AA09_00 00 0_00 00 0_ AA10 AA10_00 00 0_00 00 0_00 00 0_ AA11 AA11_Q3 00_M8 02_8_6...

Page 310: ...001 C001_01_ C002 C002_01_0_0_0_ C003 C003_00005000_ C004 C004_01_ C005 C005_01_0_0_0_ C006 C006_00005000_ C007 C007_1234 5678_ C008 Reserved Free C009 C009_1_0_0_12_34_ C010 C010_I0 00 6_Q0 00 6_03_ C011 C011_ 123456 789_ C012 C012_ 123 456_ C013 C013_1234_4567_ C014 C014_0_0_0_ C015 C015_02500_ C016 C016_000 0_ C017 C017_1_0_00_12_0_ C018 C018_00 00 0_00 00 0_76_ C019 C019_ 000090 000_ CR00 CR00...

Page 311: ...03_005_ N110 Reserved Free N111 N111_1_02_03_000_ N119 Reserved Free N120 Reserved Free N121 N121_2_180_270_ through N131 N131_2_180_270_ Examples Query Response 5 K _ B 0 0 6 _ h h C R L F K 5 B 0 0 6 _ S _ 0 _ 0 0 0 1 _ 0 5 C R L F 5 K _ A 1 0 1 _ h h C R L F K 5 A 1 0 1 _ 1 2 3 4 5 6 7 8 _ B 8 C R L F Examples Write 5 K _ A 1 0 3 _ 1 2 3 4 5 6 7 8 9 _ 1 1 C R L F 5 K _ C R 0 0 _ 6 5 5 3 5 _ F 1...

Page 312: ...8 V518 Direct Value 0 to 399 Indicated Index V509 V519 Direct Value 0 to 399 Indicated Basis V520 to V527 V530 to V537 Indicated See Fig 10 21 Determining the Target Variable by Accessing the Index Variable Fig 10 19 Allowed Variables for Selection s V x x x _ d d d d d d d d d d d d d d _ h h C R L F Meaning of the characters used x Variable number d Variable information Variable Type Access Comm...

Page 313: ...lows access to the same variables but also to the contents of the indicated target variable Displayed Index Variable Number of the Target Variable 500 to 507 500 to 507 508 508 509 509 510 to 517 510 517 518 518 519 519 520 V500 V508 V509 527 V507 V508 V509 528 508 529 509 530 V510 V508 V509 537 V517 V508 V509 538 518 539 519 Fig 10 21 Determining the Target Variable by Accessing the Index Variabl...

Page 314: ... _ d d d d d d d _ h h C R L F Meaning of the characters used x Instruction number b Logic task assignment d Operand Length up to 7 characters Command Data LD LD_ _ _ _M2 02 0_ LDN LDN_ _ _M2 02 0_ ST ST_ _ _ _M2 02 0_ STN STN_ _ _M2 02 0_ S S _ _ _ _ _M2 02 0_ SET SET _ _ _M2 02 0_ SETC SETC _ _M2 02 0_ SETCN SETCN _M2 02 0_ R R_ _ _ _ _M2 02 0_ RES RES_ _ _M2 02 0_ RESC RESC_ _M2 02 0_ RESCN RES...

Page 315: ... cam are stored in the programming module Using the FLPCAM program a CSV file can be transferred to the control The number of points on the cam may not exceed 1024 If the number of points is smaller the cam is automatically expanded to contain 1024 points The FLPCAM program can be found on the MotionManager CD and must be installed on a PC Table Values can be read out in any operating mode Format ...

Page 316: ...000 in Element 0000 and the last value in Element 1023 must be 7FFFFFFF Format s T n n _ e e e e _ p p p p p p p p h h C R L F Meaning of the characters used s Station Number n Table Number 00 only e Table Element No from 0000 to 1023 p Standardized Positions Hexadecimal Value standardized to 2 31 Note Only table values 7FFFFFFF may be transferred Write Table Values ...

Page 317: ... diagnostic code with text output Status 48 Actual Velocity in 1 min Status 53 Diagnostic Error Message Status 60 Output of first erroneous instruction number Parameter NC Task Logic Task Status 61 Output of a byte for the Markers Inputs Outputs Status 62 Controller Type or Motor Type Status 63 Text output TXT command Status 64 Two digit diagnostic code Status 66 Output of a word for the Markers I...

Page 318: ...r is not a decimal number 07 Param too large The transmitted parameter number is too large 08 Wrong RS Status The number given in a status request is not a decimal number 09 Status illegal An attempt was made to query status information that was not present 11 Invalid Param Block Incorrect parameter instruction identifier 12 Instruction too large The transmitted instruction number is greater than ...

Page 319: ...essage X s 0 5 _ _ v v v v v v v v v v v v v v v v _ h h C R L F Meaning of the characters used v firmware version also appears on the BTV display e g ECODR3 FLP 04V02 Status 08 Current Instructions and Return Instruction Numbers for Tasks 1 to 3 The status query s X _ _ 0 8 _ C R L F produces the message X s 0 8 _ a a a a _ b b b b _ c c c c _ d d d d _ e e e e _ f f f f _ h h C R L F Meaning of ...

Page 320: ...m m _ v n n n n n n n n n h h C R L F Meaning of the characters used e _ stands for relative position not homed A stands for absolute position axis homed v Operational sign of the actual position m Actual position of Axis 1 in IU The sums of all Measuring wheel encoder movements are added n Actual position of the motor encoder in IU incremental encoder 1 Status 10 Position Lag in IU The status que...

Page 321: ...ee also TXT Command Markers M6 37 M6 39 and Functional Description for Logic Task Controlled Diagnostic for Status Message 25 The status query s X _ _ 2 5 _ C R L F produces the message Xs25_cc 40 characters information hh C R L F cc Current diagnostic code Examples Xs25_8BAxis 1 Motor Has Overheated hh CR LF Xs25_02M Feed Forward hh CR LF Overview of Error Messages Status Messages 02M Feed Forwar...

Page 322: ...ctive 3FM Stop active 44Drive is not enabled 7DMotor Overtemp Warning 7EAmp Overtemp Warning 82Axis 1 Drive Runaway 88EMERGENCY STOP 8BMotor Has Overheated 8CDrive Stalled 93Drive Watch Dog Error 96Drive Error See H1 Display Status 48 Actual Velocity in 1 min The status query s X _ _ 4 8 _ C R L F produces the message X s 4 8 _ g _ v m m m m m m _ 0 _ 0 0 0 0 0 0 _ h h C R L F Meaning of the chara...

Page 323: ...mmand For fault texts and codes see Chapter 12 Diagnostics Status 60 Output of first erroneous instruction number Parameter Number NC Instruction Number Logic Task Instruction Number The status query s X _ _ 6 0 _ a _ C R L F produces the message X s 6 0 _ a _ n n n n _ h h C R L F a Source 0 Parameter 1 NC 2 Logic Task nnnn instruction number or parameter number If no error is present blank space...

Page 324: ...G0 KN 84 Status 63 Text output TXT command The status query s X _ _ 6 3 _ v b _ C R L F v 1 4 from line b 1 4 to line produces the message X s 6 3 _ t t t t t t t t t t t t t t t t _ h h C R L F t 16 32 48 or 64 characters of the TXT command with mode greater than 0 See also TXT command Status 64 Two digit diagnostic code Current two digit diagnostic code The status query s X _ _ 6 4 _ C R L F pro...

Page 325: ...L F q Source type I Q or M t Source number nn Byte number of the high byte m Display _ or b or B Binary h or H hexadecimal d or D decimal For binary display the datum is output at 16 bits for hexadecimal 4 digits and for decimal variable with 1 5 digits Examples e g M4 03 0 0 1 0 0 1 0 1 M4 02 1 1 0 0 1 0 1 0 Binary Xs66 _ M4 03 _ 0010010111001010 hh CR LF always 16 bits Bit Field 15 76543210 Byte...

Page 326: ...ted with status 00 when the type of motion 0 Parameter A100 If another type of motion is activated the interface responds with Status 01 18 Not accepted This is only possible if motion type 0 Parameter A100 If the control is not in Manual or Automatic Mode the interface responds with Status 01 05 Operating Mode Error Default parameters can be set via the interface s C S E T P A _ h h C R L F Note ...

Page 327: ...nd is successfully completed All Logic Task program instructions are written to with NOP commands Format s C N O P L T h h C R L F Note END is written to instruction 0000 Write NOP command to Logic Task program instructions Format s C N O P L T v v v v b b b b h h C R L F vvvv starting with logic task instruction number 0000 0999 bbbb up to and including logic task instruction number 0000 0999 Not...

Page 328: ...nnn Number of the system variables 0019 0020 and 0105 are allowable Note These commands are only accepted in Parameter Mode A Yes response follows and the command is successfully completed All saved marker flags M3 M6 and M8 are cleared Format s C C L M _ _ h h C R L F A particular group of saved NC marker flags is cleared Format s C C L M _ _ m n h h C R L F m M for marker flag n Group number The...

Page 329: ...nly in Parameter Mode Note There is no time monitoring of the data transmission The marker flags are saved A Yes response follows and the command is successfully completed Change a bit in marker flag group M8 s C S E T M _ M 8 n n b _ x _ h h CR LF With nn Byte number 00 to 19 b Bit number of the selected byte x 0 Clear bit 1 Set bit 2 Leave bit unchanged 3 Invert bit Note There is no time monitor...

Page 330: ...tomatic Mode An answer of Yes occurs immediately after acceptance of the command Polling Query A query in the shortest possible format which cyclically polls all of the controls connected to the RS485 bus The query s C R L F is answered with s n n n n C R L F Meaning of the characters used nnnn Diagnostic Error Number Hexadecimal See also Diagnostics Chapter 12 SIS Protocol In preparation Re Initi...

Page 331: ... LEDs signal the status of the control H211 H210 H213 Definition green off Status Diagnostic red green Warnings E 01xx red orange Error Message F 02xx red red Error Message F 03xx off Command communications not working any any orange blinking Initialization active any any green blinking System is working Fig 11 1 Diagnostic LED for Parallel Interface The LEDs H212 H214 and H215 have no function No...

Page 332: ...sed to set the parameters for the fieldbus Any change to the slave address takes effect only after startup of the drive controller For each PROFIBUS DP unit a unit source file GSD in which the data for the operation on the bus are stored must be executed This file is required for each unit when configuring the bus master The unit source file for the ECODRIVE03 with FLP firmware is an ASCII file na...

Page 333: ...KC Output Diagnostic Channel Variable Channel 3 Words 1 Word 4 Words Fig 11 3 Receive Channel DKC3 3 Å Master I Channel DKC Input Variable Channel 3 Words 4 Words Fig 11 4 Transmission Channel Master Å DKC3 3 Process Data Channel Parameter B013 Receive Length Profibus Master Send Length Profibus Master Format 0 8 Words 7 Words Format 1 4 Words 3 Words Format 2 8 Words 7 Words Fig 11 5 Transmission...

Page 334: ...2 Reserved Free Q2 01 4 13 Reserved Free Q2 01 5 14 Drive is ready Q2 01 6 15 Power on Q2 01 7 Fig 11 6 Status Word DKC3 3 Å Master I O Control Word DKC Input Bit Definition Designation 0 Parameter Mode I2 00 0 1 Manual Automatic I2 00 1 2 Start I2 00 2 3 Stop I2 00 3 4 Jog forward I2 00 4 5 Jog reverse I2 00 5 6 Clear Errors I2 00 6 7 Reserved Free I2 00 7 8 Reserved Free I2 01 0 9 Reserved Free ...

Page 335: ...Free Q2 01 4 13 Reserved Free Q2 01 5 14 Drive is ready Q2 01 6 15 Power on Q2 01 7 Fig 11 8 Status Word DKC3 3 Å Master I O Control Word DKC Input Bit Definition Designation 0 Parameter Mode I2 00 0 1 Manual Automatic I2 00 1 2 Start I2 00 2 3 Stop I2 00 3 4 Jog forward I2 00 4 5 Jog reverse I2 00 5 6 Clear Errors I2 00 6 7 Drive Enable RF I2 00 7 8 Reserved Free I2 01 0 9 Reserved Free I2 01 1 1...

Page 336: ...ssage F 02xx Diagnostic 02xx Error Message F 03xx Diagnostic 03xx The length is 4 words and all variables can be transmitted in 4 different formats From Master to DKC Read Control Word Write Control Word Variable Datum 1 Word 1 Word 1 Long Word Fig 11 10 Variable Channel Master Å DKC3 3 1 Word Read Control Word 1 Word Write Control Word 1 Long Word Write Variable Datum From DKC to Master Read Stat...

Page 337: ...oggles to the Status Word Fig 11 13 Control Word for Variable Handshake When restarting the DKC the handshake bits are the same When the master makes a read or write request the respective handshake bit must be toggled in the control word After the DKC has processed the request it toggles the respective handshake bit in the status word Handshake Bit Control Word Handshake Bit Status Word Status 0 ...

Page 338: ...9999999 1 0001 Fixed point 3 99999 999 2 0010 Fixed point 6 99 999999 3 0011 IEEE Floating point in preparation 4 0100 Integer not rounded 99999999 When the error bit Bit 14 is set in the status word error numbers are assigned to the format bits Bits 10 13 The following error numbers are assigned 0 0000 Variable number too large 1 0001 Variable number illegal 2 0010 Unknown format 3 0011 Data too ...

Page 339: ...t Fig 11 15 Structure of the Control Word in the Service Data Channel The individual bits are defined as follows Format These bits indicate the meaning of the transmitted data Currently only one format B exists Length These four bits indicate the length of the valid data byte in the Service Data Channel not including the control word The content of the invalid data is not defined Toggle This bit c...

Page 340: ...its indicate the length of the valid data byte in the Service Data Channel not including the control word The content of the invalid data is not defined Toggle This bit changes its status for each new cycle It is used for a software handshake between master and slave The slave recognizes new data when the received toggle bit control word is not equal to the sent toggle bit Last Last Bit This bit i...

Page 341: ...e Confirmation Write Response Write Indication Fig 11 18 Master Writes Read or Write Request The Request and Indication services contain the same data the difference is in the perspective Request from the master s perspective Indication from the slave s perspective If the master sends a service to the slave the first word is the control word If however an answer is sent from the slave to the maste...

Page 342: ...ster Sends a Write Request The slave responds with a Write Response that contains no data Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 x x x x x x x x x x Fig 11 20 The Slave Sends a Write Response The master now wants to read out the requested datum with a Read Request Control Word Service Data C E R L T Lengt...

Page 343: ...second fragment which contains the remaining 4 bytes The L Bit is set because the system is processing the last fragment In addition the length is set accordingly Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 1 50 20 20 20 x x x x x x P _ _ _ Fig 11 24 Read Response From the Slave Last Fragment Writing a Value In ...

Page 344: ...ta C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 50 20 x x x x x x x x P _ Fig 11 27 Write Request From the Master Second Fragment The slave now has all the information to process the master s request To confirm successful execution of the service to the master the slave sends a Write Response which consists of the status word to the ma...

Page 345: ...urred during communication between the fieldbus card and the drive controller 0x008A The index sent by the master is not present 0x008B The format is unknown 0x008C The length of the valid data indicated in the status word is longer than the parameter channel length 0x008D Communication is not possible because the parameter channel was configured with only 1 word 0x0090 The format changed during c...

Page 346: ... M 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 1 x x x x x x x x x x S 0 0 0 1 0 1 0 0 1 0 0 0 1 0 1 1 6C 61 72 67 65 l a r g e Fig 11 32 Error Output With Plain Text Termination of the Data Exchange In some cases it can make sense to terminate the data exchange the slave sends no more data The master can indicate the termination of the data exchange to the slave by using the format 0xF in the control word and ...

Page 347: ... RxD TxD N Receive Transmit Data N 9 CNTR N CNTR N Repeater Control Signal N Fig 11 34 X30 Signal Assignment Profibus Connection Diagnostic LED for Profibus For diagnosing the Profibus interface four LEDs are available on the front of the fieldbus card These LEDs signal the status of the synchronization between the fieldbus interface and the control as well as the bus activity for the cyclic data ...

Page 348: ...11 18 Command Communications ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P Notes ...

Page 349: ...Messages Diagnostic Status Messages Operation Status Composition of a Diagnostic Message A diagnostic message consists of a diagnostic message number and a Diagnostic Message Text F228 Excessive deviation Diagnostic message number Diagnostic message text F 0304 NC Command illegal or Fig 12 1 Composition of Diagnostic Message with Diagnostic Message Number and Text For the example shown in the abov...

Page 350: ... 1718 5 6 7 8 1 2 3 4 1 2 3 4 5 6 7 8 DKC H1 Display FA5047f1 fh7 Fig 12 2 H1 Display The diagnostic message number appears in the two digit seven segment display See the Diagnostic Message Priority Diagram for the display format This display quickly shows the current operating state without the use of a communications interface The operating mode is apparent from the H1 Display If the drive compl...

Page 351: ...the operating states in order of importance Da0002f1_AE WMF Fig 12 3 Diagnostic Message Priority Diagram The plain text diagnostic message contains the diagnostic message number followed by the diagnostic message text as shown in the example Excessive deviation Fig 12 1 It can be read out via Status 53 Diagnostic and is used for direct display of the drive status on a user interface The language o...

Page 352: ...replaced A parameter file was loaded in which the motor type is different from the motor type present Remedy Press the S1 key F209 PL Load parameter default values After replacing the firmware version the drive displays PL if the parameters have been changed compared to the old firmware Pressing the S1 key on the controller clears all of the parameters and sets them to the default values Cause The...

Page 353: ...nacceptable level As soon as the temperature error threshold of 155 C is exceeded the drive will immediately be brought to a standstill in accordance with the type of error response selected A119 Best possible deceleration The following applies temperature warning threshold temperature error threshold See also E251 Motor overtemperature prewarning Cause 1 The motor is overloaded The effective torq...

Page 354: ...e if necessary F221 Motor temp surveillance defective Cause Wire break or improper connection in motor temperature monitoring line Remedy Check motor temperature monitoring line signals MT emp and MT emp for breaks interruptions and short circuits See also functional description for Temperature Monitoring F226 Undervoltage in power section The level of the DC bus voltage is monitored by the drive ...

Page 355: ...and eliminate jamming of the axis For 3 Check the drive parameters control loop settings For 4 Set Parameter A115 Monitoring See also functional description for Position Control Loop Monitoring F229 Encoder 1 failure Quadrant error On the basis of faulty signals detected during the encoder evaluation a hardware error has been discovered in the interface being used for encoder 1 Cause 1 Defective e...

Page 356: ...feedback difference is generated the error response set in the parameter is executed and the reference bits Parameter C010 Homing of both encoders are cleared The monitoring function is inactive if a value of 0 is entered in Parameter A117 Encoder difference Monitoring Possible Causes 1 Wrong parameter for encoder 2 Parameter C005 Position Feedback 2 Type Parameter C006 Feedback 2 Resolution 2 Inc...

Page 357: ...F242 Encoder 2 failure Signal amplitude wrong Cause The analog signals of an optional measurement system are used for high resolution analysis of that measurement system These signals are monitored according to two criteria 1 The pointer length determined from the sine and cosine signals must be greater than 1 V 2 The maximum pointer length resulting from the sine and cosine signals must not excee...

Page 358: ...y of encoder 2 optional encoder is checked to see whether the allowed max frequency of the encoder interface has been exceeded If the frequency is higher than allowed error F246 Max signal frequency of encoder 2 exceeded is generated The homed output in Parameter C010 is turned off F248 Low Battery Voltage Cause For model MKD and MKE motors the absolute position information is stored in the motor ...

Page 359: ...tery pack in the housing and screw on the clamp Attention Do not kink or crimp the battery cable Attach battery connector 2 Close the resolver feedback lid screw in the 4 Torx screws 1 and tighten to 1 8 Nm with the torque wrench F253 Incr encoder emulator Frequency too high Cause The incremental encoder emulator can process a maximum of 1023 graduation marks per 250 µs sampling period this value ...

Page 360: ...correct in relation to the machine zero point Then clear the error For 3 Unintentional movement of the axis may cause accidents Check absolute reference point If the absolute reference point is incorrect the encoder is defective The motor should be replaced and sent to REXROTH Customer Service F277 Current measurement trim wrong This error can occur only when the drive controller is tested at the ...

Page 361: ...gain 3 the correct supply voltage of the EMD modules Then proceed as follows 1 Clear the error message in the drive controller 2 Switch form phase 2 to phase 3 3 Make a test to see whether the error is generated again If yes the electronic module may be damaged and will have to be replaced F291 Timeout in EMD Module The EMD Modules send the inputs to the base unit in a cyclic telegram If this tele...

Page 362: ...Slave The EcoX Slave sends a cyclic telegram to the EcoX Master If this telegram is not sent for 2 cycles and the controller is enabled Error F294 is generated in the Master The telegram cycle time is dependent on the number of slaves on the EcoX Bus The following is valid Cycle Time Number of Slaves 1 ms When the error is cleared the EcoX Bus is re scanned If the EcoX Slave is still not present W...

Page 363: ...en correctly wired 2 The EcoX bus has not been parameterized in an EcoX slave and or master 3 The EcoX bus is disturbed 4 The supply voltage of the EcoX slaves was cut off Remedy 1 Check the wiring of the EcoX bus 2 Check parameterization 3 Check the EcoX bus 4 Check supply voltage of the EMD modules F297 Error in EcoX Slave If an error e g F292 Overtemperature in EMD module occurs in an EcoX slav...

Page 364: ...issible memory access occurs Remedy Check card seating Switch unit off and on If error still pending replace hardware F411 Double SST failure shutdown Description The EcoX master cyclically sends the synchronization and command value telegram SST If it fails for 2 cycles warning E411 is generated The cycle time for the SST is 500 µs If controller enable has been set and the SST fails for 2 cycles ...

Page 365: ...ravel limit exceeded A command was executed which resulted in an axis position outside the negative travel range The axis has been brought to a standstill with the error response Set velocity command value to zero Cause Parameter A104 Positive travel limit exceeded Remedy 1 Verify Parameter A104 Positive travel limit 2 Check program Procedure Clear error If the power supply was turned off turn it ...

Page 366: ... drive will stop again Parameter A111 Switching threshold is used to implement a hysteresis function F634 Emergency Stop Actuating the emergency stop E Stop switch has caused the drive to stop by setting the velocity setpoint value to zero Cause The emergency stop switch was detected Remedy Eliminate the malfunction that has caused the emergency switch to be activated and clear the error F643 Posi...

Page 367: ...l range Note Command values which would move the axis outside the permissible range are not accepted and this error message is generated again F822 Encoder 1 failure Signal amplitude wrong The analog signals of an optional measurement system are used for high resolution analysis of that measurement system These signals are monitored according to two criteria 1 The pointer length determined from th...

Page 368: ...s high as the equipment s peak current The drive is immediately switched to a torque free state An optional holding brake if present engages immediately Cause 1 Short circuit in motor cable 2 Defective power section of the drive controller 3 The current loop parameters were set incorrectly Remedy For 1 Check motor cable for short circuit For 2 Replace the drive controller For 3 The current loop pa...

Page 369: ...o low Remedy Replace drive controller F878 Velocity loop error The velocity loop monitoring function is activated when the following conditions occur simultaneously The current command value is at the peak current limit The difference between the actual velocity and the target velocity is more than 10 of the maximum motor velocity Actual velocity 1 25 of the maximum velocity Target and actual acce...

Page 370: ...age is generated if there is a lack of synchronization Cause 1 The error can be caused by an electrostatic discharge 2 Synchronization between the resolver excitation voltage and the software is not correct Remedy For 1 Turn everything off and then on again If this does not solve the problem Replace the drive controller and send the old one in for inspection For 2 Replace the drive controller and ...

Page 371: ...ure sensor not connected 2 Broken cable 3 Defective sensor 4 Broken cable in drive controller Remedy For 1 Connect the sensor to the drive controller and to the motor see project planning specifications for the motor For 2 Replace the lead between the drive controller and the motor For 3 Replace the motor For 4 Replace the drive controller E225 Motor overload The maximum possible motor current is ...

Page 372: ...control cabinet E251 Motor overtemp prewarning As soon as the temperature warning threshold 145 C is exceeded the E251 warning is output and the drive continues to follow the setpoint specification This state can last for a long time without the drive powering down Only when the temperature error threshold is exceeded will the drive immediately power down See also F219 Motor overtemp shutdown Caus...

Page 373: ... of less than 10 V E257 Continuous current limit active The drive controller supplies peak current for 400 ms Afterward the continuous current limit becomes active and dynamically limits the peak current until it reaches the value of the continuous current Cause More continuous torque was required than was available Remedy 1 Check the drive rating 2 For systems which have been in use for a long ti...

Page 374: ...Cause The maximum velocity stipulated was greater than the permissible value Remedy The value is limited to that given in Parameter A106 Maximum velocity E267 Hardware synchronization defective Drive control in the EcoX slave is synchronized to the EcoX bus via a phase control loop In order to enable the EcoX slave to synchronize to the master the master has to be in phase 3 or 4 The correct synch...

Page 375: ...he drive controller Remedy After the Firmware update the warning is automatically cleared E289 Waiting for scan by EcoX Master During the command to transition from Phase 3 to Phase 4 the EcoX Slave is tested to determine whether or not it was scanned by the EcoX Master The warning is automatically reset after the scan takes place Cause 1 The EcoX bus has not been parameterized in the EcoX slave a...

Page 376: ...Undervoltage in EMD Module Cause The EMD modules of the EcoX bus have a supply voltage of 24 V If this voltage drops below 17 V the undervoltage is signaled at the EMD module by a red LED H2 and the warning E293 is generated Remedy Check the power supply or increase the voltage to the rated voltage of 24 V E296 Number of EcoX Slaves incorrect The number of EcoX Slaves must be entered in Parameter ...

Page 377: ...le running of the firmware program is no longer assured Cause An overload or a serious error in the firmware has caused the processor to no longer service interrupts Remedy Please contact REXROTH Customer Service Explain precisely under what circumstances the error occurred The firmware should be replaced E3 Display E408 Invalid addressing of MDT Data container A During data communication within t...

Page 378: ... EcoX bus 4 Check parameterization 5 Check supply voltage of the EcoX master E825 Overvoltage in power stage The DC bus voltage is too high Cause 1 During braking decelerating The regenerative energy received from the machine mechanism via the motor was briefly so high that the bleeder resistor was unable to convert enough of it to heat The regenerative current could not be bled off and therefore ...

Page 379: ... a fatal warning and the motor is switched off If the drive enable signal is present and the DC bus voltage status signal is lost the drive displays this warning Cause Power supply unit is switched off or power grid failure occurs when the drive enable signal is set Remedy Switch off the drive enable signal before switching off the power supply unit ...

Page 380: ...g mode are invalid Remedy Check parameters and make corrections Turn unit off and on Check for correct firmware C202 Parameter limit error Cause Parameters needed to operate the drive in communications phase 4 mode manual automatic exceed the minimum or maximum input values or the entered value cannot be processed Remedy Check parameters and make corrections Check for correct firmware Turn off and...

Page 381: ...d then on again If this does not solve the problem 2 Replace the unit C210 Feedback 2 required Cause Values were entered in Parameter A100 Type of application which make an optional encoder necessary However a 0 for not available is entered in Parameter C004 Interface feedback 2 Remedy Correct Parameter A100 Type of application Correct Parameter C004 Interface feedback 2 C211 Invalid feedback data...

Page 382: ...true linear motor and rotary position scaling with respect to the motor or rotary motor and linear position scaling with respect to the motor or linear motor and modulo scaling is set or the detected factor for converting the position data from display format to internal format or vice versa is not displayable Remedy Check parameters and make corrections Check for correct firmware Turn off and the...

Page 383: ... then on again If this does not solve the problem Replace the unit C216 Torque force data scaling error Cause The factor for converting the torque force data from the drive internal format to the display format and vice versa is outside of the possible range Remedy Check parameters and make corrections Check for correct firmware Turn off and then on again If this does not solve the problem Replace...

Page 384: ...easurement system cable For 2 Replace measurement system C220 Feedback 1 initializing error A number of tests are performed when the motor encoder is initialized An error was detected during this process This error may be an error reading the angle rectification data an error copying the angle rectification data interruption of communications with the encoder an assembly error regarding the positi...

Page 385: ...offset between the high and low resolution tracks Error in the measurement system micro controller with DAG 1 2 error external 24V set for SSI interface Cause 1 Defective opt encoder cable 2 Defective encoder 3 Defective measurement system interface Remedy For 1 Check opt encoder cable For 2 Replace encoder For 3 Replace the measurement system interface module C223 Input value for max range too hi...

Page 386: ...llocated to the motor encoder Remedy Select another optional encoder C235 Load side motor encoder with inductance motor only Cause The functionality of the optional encoder can be defined in Parameter A100 Type of application If load side motor encoder has been selected as the function of the optional encoder that function will be supported only for asynchronous motors Remedy Set Parameter CM00 Mo...

Page 387: ...er function C400 Switch to Parameter Mode Parameters can be written only in Parameter Mode so switch to Parameter Mode prior to editing parameters C4 Display C500 Reset class 1 diagnostic error reset The input for clearing the errors was activated All drive internal errors are cleared However the cause of the errors must first have been eliminated C5 Display C600 Drive controlled homing procedure ...

Page 388: ...olute encoder command the homing command can be used to initiate a return to the reference point Remedy Home the absolute encoder using the Set absolute encoder command See also functional description for Possible error messages with drive controlled homing C605 Homing velocity too high Cause If the velocity is too high it is not possible to achieve precise coordination between a reference mark an...

Page 389: ... feedback memory Via message C702 the drive controller signals that Basic load has been activated however no data memory is present in the connected motor Remedy Order the parameter sheet for the motor from REXROTH Customer Service and enter the parameters C703 Default parameters invalid Cause The default parameters are read from the motor feedback memory At least one of these parameters is invali...

Page 390: ...Locked with password Remedy Load basic parameters See also Section 4 System Startup D300 Command adjust commutation A correctly adjusted commutation offset is mandatory for the operation of synchronous motors The D3 message indicates that the command for determining the commutation offset has been activated Cause The adjust commutation command has been activated d3 Display D301 Drive not ready for...

Page 391: ...e brake D400 Command Move to Positive Stop Using the PFA or PFI commands the move to positive stop command is activated In this process encoder monitoring is turned off which would result in a drive error message if the drive were blocked because of a positive stop Cause The movement to positive stop was activated using the PFA or PFI commands See also Section Movement to Positive Stop d4 Display ...

Page 392: ... Definition The command is active The position loop is closed using Encoders 1 and 2 Control loop monitoring is deactivated Cause Measuring Wheel Mode was activated See also Measuring Wheel Mode in the Chapter entitled Functions d8 Display D801 Measuring Wheel Mode not possible Cause Measuring Wheel Encoder not connected ...

Page 393: ...ption for Parameter Mode Operating Mode A102 Position mode with encoder 1 The drive is in position control mode Within the drive the position control loop is closed via a position encoder The control system only sets the position command value sequence the drive complies with the command value with a systematic lag following error Encoder 1 indicates that the position encoder is installed on the m...

Page 394: ... without a systematic lag following error Encoder 1 indicates that the position encoder is installed on the motor shaft indirect measurement of the axis position A105 Position mode without lag encoder 2 The drive is in position control mode Within the drive the position control loop is closed via a position encoder The control system only sets the position command value sequence the drive complies...

Page 395: ...f the encoder power supply is not present Remedy Replace the hardware Diagnostic Message Display 3 Initializing parameters from non volatile memory and calculation of the corresponding data depending on the parameter contents Diagnostic Message Display 4 Initializing and testing command communications Diagnostic Message Display 5 Initializing the system control Diagnostic Message Display 6 Startin...

Page 396: ...d turn on again If the error message appears again replace the firmware module Diagnostic Message Display E3 Cause The 1 st watchdog timer of the amplifier has been triggered in response to a hardware fault or a high voltage discharge Remedy Turn amplifier off and then on again If E3 recurs replace amplifier In any case inform REXROTH Customer Service Diagnostic Message Display E4 Cause The 2 nd w...

Page 397: ... A012 Control and power sections ready for operation Ad Input Address Adresse eingeben Basic Settings via S1 S2 S3 Duration of Display approximately 20 seconds Diagnostic number 0010 AF Drive enable Antrieb Freigabe The operation mode display HA or AU replaces this one AU Automatic Automatik See also Automatic Diagnostic number 0004 HA Manual Hand See also Manual Diagnostic number 0003 PA Paramete...

Page 398: ... status message A002 P3 Phase 3 The control is transitioning from Phase 2 to Phase 4 Manual or Automatic Mode See also status message A003 P4 Phase 4 The control is in manual or automatic mode Normally this display appears only very briefly PL Basic Parameter Load Parameter Laden mit Basiswerten See also F209 PL Load parameter default values UL Basic Load Urladen See also F208 UL The motor type ha...

Page 399: ... target position pre set in an NC feed command POA POI PFA PFI PSA or PSI is less than the negative position limit F 0204 Target position positive position limit The target position pre set in an NC feed command POA POI PFA PFI PSA or PSI is greater than the positive position limit F 0205 Stack overflow with JSR command The nesting for subroutine programming exceeds 16 levels Remedy Check program ...

Page 400: ...he value for the multiplication factor in the FAK command is not within the range 0 to 1 999999 Cause For constants Data loss For variables Value of the destination variable is too large or negative Possibly caused by access to an incorrect destination variable when using indexed variables Remedy Re save the command with valid values F 0210 Feed angle loss The signal at the input Feed angle monito...

Page 401: ...ts is not in BCD F format for BIC command CVT command changes in bit pattern according to variable F 0215 FOL Factor Max The value of the slave factor in the FOL command is greater than 99 999999 Cause For constants Data loss For variables Value of the destination variable is too large Possibly caused by access to an incorrect destination variable when using indexed variables Remedy Re save the co...

Page 402: ... evaluation F 0218 RTM not allowed Calling the RTM command is not permitted because the motion type rotary table is programmed in Parameter A100 F 0219 Wrong variable value The variable value in an NC command is too large or too small F 0220 Wrong constant value The constant value in an NC command is too large or too small Cause The value is not permitted in the command Data error F 0221 Logic Tas...

Page 403: ...1 600 V V x V L Contents L V50x Contents of V500 V507 L V51x Contents of V510 V517 Fig 12 8 Limits for indexed variable access See Chapter 6 Indexed Variables F 0224 APZ not allowed Using the APZ command is not permitted because Parameter AA11 is not correctly set F 0225 No curve data For processing an NC function with cams activation using the CSY command required data like stroke angle range or ...

Page 404: ...e function was activated in Parameters AA14 and AA18 to compare PLS positions with a particular state of an input signal The state of the input signal from Parameter AA18 did not correspond to the PLS position Check input signal and PLSs F 0230 Offset dimension too small The offset dimension in the LAR command is too small It must be longer than twice the distance A106 2 2 A109 resp indicated in t...

Page 405: ...lled in the BIO command Remedy Re save the command with valid values Check the contents of the variable F 0304 NC command illegal Invalid NC command or command not supported by this firmware was processed in the program or manual vector Cause Data loss Remedy Check program F 0305 not homed Calling the commands POA PFA PSA SAC or VCC is not allowed because the axis is not homed F 0307 Data loss par...

Page 406: ...ded Remedy If possible pre select Parameter Mode and clear the error message Using S1 S2 and S3 on the programming module execute a Load parameters with default values See Chapter 4 S1 Key on Programming Module If the error continues to occur Please contact REXROTH Customer Service Explain precisely under what circumstances the error occurred The firmware should be replaced F 0310 Parameter error ...

Page 407: ...greater than 9 Cause For constants Data loss For variables Value of the destination variable is too large or negative Possibly caused by access to an incorrect destination variable when using indexed variables Remedy Re save the command with valid values F 0312 Select Parameter Mode The error message F 03 10 Parameter Error was acknowledged Parameter Mode was not pre selected Remedy Activate Param...

Page 408: ...on to the Fieldbus BTV04 is interrupted Cause System control via the fieldbus or via the BTV04 is interrupted in Manual or Automatic Mode Remedy BTV04 Check grounding of all cables on the DKC Ground BTV04 housing Use shielded cables Motor Serial Interface Increase maximum cycle time in Parameter B009 Possibly reduce the Answer Delay Time value Default 4ms in the BTV04 Fieldbus Ensure that the fiel...

Page 409: ...s Check all parameters and NC commands F 0320 FW Err No nnnn System Error Programming error in the firmware Remedy Upgrade firmware In any case inform REXROTH Customer Service Please describe the exact conditions under which the error occurred F 0321 NC Variable Number illegal Wrong variable number in NC command See Chapter 6 6 Variable or description of the related NC command F 0322 SSI Encoder E...

Page 410: ...ted NC program was stopped during an active cam Mode change was executed during an active cam F 0325 Mode unauthorized Calling the CMM command is not permitted because a function is already active in a different mode an invalid master axis is selected for the chosen function an invalid curve profile is selected ...

Page 411: ...roject planning information E 0104 System control offline The real time communication to the BTV04 is interrupted in Parameter Mode Remedy Check grounding of all cables on the DKC Ground BTV04 housing Use shielded cables Motor Serial Interface Increase maximum cycle time in Parameter B009 Possibly reduce the Answer Delay Time value Default 4ms in the BTV04 E 0105 No serial I O The cyclic communica...

Page 412: ...ble The positive position limit value has been reached or exceeded Remedy Move the axis with the signal jog reverse into the motion range E 0108 IDS01 Timeout The Interface to the IDS 01 decade switch is interrupted Cause IDS 01 Power Supply Cable Connection Parameter settings for the Interface E 0109 Load default values Default values are loaded Triggered by S1 probe with the Address 97 99 or via...

Page 413: ... state A 0012 Press Timeout In Parameter AA19 press monitoring is active No signal change for the feed area Parameter A116 occurred during the set time Parameter AA19 A 0013 Waiting for Feed Angle The signal at input Feed angle monitoring feed angle is not present See Parameter A116 A 0026 Control signal bit 1 invalid The function was activated in Parameters AA14 and AA15 to compare PLS positions ...

Page 414: ...ar state of an input signal The state of the input signal from Parameter AA17 did not correspond to the PLS position Check input signal and PLSs A 0029 Control signal bit 4 invalid The function was activated in Parameters AA14 and AA18 to compare PLS positions with a particular state of an input signal The state of the input signal from Parameter AA18 did not correspond to the PLS position Check i...

Page 415: ...00 1 Automatic 3 I0 00 2 Start 19 Q0 00 2 Fault 4 I0 00 3 Stop 20 Q0 00 3 Run 5 I0 00 4 Jog forward 21 Q0 00 4 Output 1 6 I0 00 5 Jog reverse 22 Q0 00 5 Output 2 7 I0 00 6 Input 1 23 Q0 00 6 Output 3 8 I0 00 7 Input 2 24 Q0 00 7 Output 4 9 I0 01 0 Input 3 25 Q0 01 0 Output 5 10 I0 01 1 Input 4 26 Q0 01 1 Output 6 11 I0 01 2 Input 5 27 Q0 01 2 Output 7 12 I0 01 3 Input 6 28 Q0 01 3 Output 8 13 I0 0...

Page 416: ...13 2 Connectors ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P 13 2 DKC21 3 and DKC3 3 ELC1_X3_1_AE WMF Fig 13 2 Connector X3 ...

Page 417: ...ECODRIVE03 FL 04VRS Connectors 13 3 DOK ECODR3 FL 04VRS FK01 EN P 13 3 Press Encoder Abb031_DKC_Press_geb_CR_en WMF Fig 13 3 Press Encoder ...

Page 418: ...13 4 Connectors ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P Notes ...

Page 419: ...ng the serial interface For this purpose two different accessories are available MotionManager PC Windows Program or BTV04 Operator Console A specific user program can be created or a BTV04 preconfigured with the firmware FWA BTV ELC 01VRS and the functions described below can be used btv04_COL WMF Fig 14 1 Front Panel ...

Page 420: ... Push Through Operation It is possible to push the serial communication from the PC and DKC through to the BTV04 via the second interface connection For this type of operation hard wiring of the interface between the BTV04 and the DKC can remain intact In such a case no changes are required to the interface settings as long as the communication between the BTV04 and the DKC is already functioning ...

Page 421: ...oduct Administration To compose the character B for example the character key must be pressed twice while holding the SHIFT key to compose the character C the character key must be pressed 3 times etc When releasing the Shift key the cursor moves one space to the right CLEAR Using the CLEAR key error messages are cleared To clear an error it must first have been eliminated otherwise the error scre...

Page 422: ...ses Parameter Mode The controller then has a status of Ready or Manual START When the system is in Automatic Mode pressing this key starts the program In Manual and Parameter Modes this key has no function AUTO The system switches to Automatic Mode Pressing the key again cancels Automatic Mode STOP Causes an immediate stop of the system The equipment is stopped as soon as possible without completi...

Page 423: ...1 MONITOR_MENU F1 Position F2 I O Menu F1 Input F2 Output F3 COUNTER F2 SETUP MENU F1 NC Program Level 2 F2 Parameter Level 1 F3 PLC Program Logic Task Level 1 F4 Variables Level 3 F5 Flags M8 Level 2 F3 STATUS MENU F1 I O F MENU F1 INPUT F2 OUTPUT F3 FLAGS F2 Program Status F3 Miscellaneous F1 Position Lag F4 Variables ...

Page 424: ... displayed and the controller address must be entered After confirming by pressing OK the display switches back to the main menu Status Line e g DKC3 3 040 7 e g ECODR3 FLP 04V03 Monitor Menu Status Line selected menu F W A B T V 0 4 E L C 0 1 V 0 8 E L C F L P A D D R E S S 5 M A I N M E N U O K M a n u a l M A I N M E N U D K C x x x x x x x E C O D R 3 X X X x x V x x M O N I T O R M E N U F 1 ...

Page 425: ...keys the next 4 input bytes can be displayed Position I O Menu M a n u a l V E L O C I T Y 0 0 0 0 0 9 R E L A T I V E P O S I T I O N 0 8 4 2 2 5 0 9 0 C L E A R P O S I T I O N 0 M a n u a l I O M E N U I N P U T F 1 O U T P U T F 2 M a n u a l I N P U T S I 0 0 0 0 0 0 0 0 0 0 0 I 0 0 1 0 0 0 0 0 0 0 0 I 1 0 0 0 0 0 0 0 0 0 0 I 1 0 1 0 0 0 0 0 0 0 0 I 1 0 2 0 0 0 0 0 0 0 0 ...

Page 426: ...a counter command COU BAC is entered here the target and actual counts are shown Counter M a n u a l O U T P U T S Q 0 0 0 0 0 0 0 0 0 0 0 Q 0 0 1 0 0 0 0 0 0 0 0 Q 1 0 0 0 0 0 0 0 0 0 0 Q 1 0 1 0 0 0 0 0 0 0 0 Q 1 0 2 0 0 0 0 0 0 0 0 M a n u a l C O U N T E R L I N E N U M B E R 0 T O T A L C O U N T A C T C O U N T ...

Page 427: ...oll through M marker flag I input Q output or 0 no meaning using the up and down cursor keys In addition the description of this input field is shown in the last two lines at the beginning of the input field and a variable should be programmed which can occur by directly entering the letter V NC Program M a n u a l S E T U P M E N U N C P R O G R A M F 1 P A R A M E T E R F 2 P L C P R O G R A M F...

Page 428: ...addition the description of the parameter function is shown in the last two lines the first space of the input fields depending on the meaning of the command input field the user can scroll through M marker flag I input Q output or 0 no meaning using the up and down cursor keys In addition the description of this input field is shown in the last two lines Parameters M a n u a l P A R A M E T E R H...

Page 429: ...ved by pressing OK The required input format must be observed and it is tested when exiting Parameter Mode Selecting the variables can be done by directly inputting the variable number or by scrolling using the Cursor keys The variables can also be edited in Automatic Mode When calling up the variable the current value is read and displayed once After editing the contents the new value is saved by...

Page 430: ...scrolling using the Cursor keys When calling up the marker flag the current value is read and displayed once The following editing methods are available per bit 0 The marker bit is set to the value 0 1 The marker bit is set to the value 1 2 the marker bit is not changed 3 the marker bit is inverted Marker Flag M8 M a n u a l F L A G S I N P U T M 8 M 8 0 1 0 1 0 1 0 1 0 1 0 x 0 1 x 1 2 x x 3 x x M...

Page 431: ...t bit can be displayed and by pressing the Page keys the next 4 input bytes can be displayed I O F Menu M a n u a l S T A T U S M E N U I O F M E N U F 1 P R O G R A M S T A T U S F 2 V A R I O U S F 3 V A R I A B L E S F 4 M a n u a l I O F M E N U I N P U T F 1 O U T P U T F 2 F L A G S F 3 M a n u a l I N P U T S I 0 0 0 0 0 0 0 0 0 0 0 I 0 0 1 0 0 0 0 0 0 0 0 I 1 0 0 0 0 0 0 0 0 0 0 I 1 0 1 0 ...

Page 432: ...layed Program Status M a n u a l P R O G R A M S T A T U S T A S K 1 0 0 0 0 N O P T A S K 2 0 1 0 0 P O I T A S K 3 0 3 0 0 A K N M a n u a l O U T P U T S Q 0 0 0 0 0 0 0 0 0 0 0 Q 0 0 1 0 0 0 0 0 0 0 0 Q 1 0 0 0 0 0 0 0 0 0 0 Q 1 0 1 0 0 0 0 0 0 0 0 Q 1 0 2 0 0 0 0 0 0 0 0 M a n u a l F L A G S M 0 0 0 0 0 0 0 0 0 0 0 M 0 0 1 0 0 0 0 0 0 0 0 M 0 0 2 0 0 0 0 0 0 0 0 M 0 0 3 0 0 0 0 0 0 0 0 M 0 0...

Page 433: ...eted Various Functions Variables M a n u a l M I S C E L L A N E O U S P O S I T I O N L A G F 1 M a n u a l P O S I T I O N L A G 0 0 0 0 0 0 0 0 1 R E L A T I V E P O S I T I O N 0 8 4 2 2 5 0 8 9 C L E A R P O S I T I O N 0 M a n u a l V A R I A B L E S V 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 V 6 0 0 V 9 9 9 ...

Page 434: ...meters are set and the display returns to the Parameter Menu Activate N1 F3 This way the PLS positions that were edited during operation can be transferred Start Adr Text F4 On the first line the start instruction of the user interface is defined Default value is 500 On the second line the index for the following screens is shown e g INDEX 20 F1 NC Instruction Number 500 F2 NC Instruction Number 5...

Page 435: ...xt see Special Displays Up to 6 different display specifications can be written In the user interface the displays are called up by pressing function keys F1 F6 The TXT 0 command is used as an identifier for the display specification The NC instructions are read in sequence until another command is reached Note For any erroneous entries in the format specification the data is erroneously displayed...

Page 436: ...10 definitions can be programmed Text Programming N0500 TXT 0 0 0 2 00 04 ABCD The TXT command and the following 0 are always hard coded Parameters Description min max 0 Assignment Text 0 Reserved 0 0 2 Line 1 6 7 00 Position 00 21 04 Number of Text Characters 01 20 ABCD Text Fig 14 7 Text In the 16 character writable portion of the TXT command the display specification is entered If more than 4 c...

Page 437: ...Menu N0500 TXT 0 0 0 1 05 10 MAIN TXT 0 MENU Text Machine 2345 TXT 0 0 0 2 04 12 MACH TXT 0 INE 2345 Text Actual Position TXT 0 0 0 3 00 07 ACTP TXT 0 OS Text Length TXT 0 0 0 4 00 07 LENG TXT 0 TH Text mm TXT 0 0 0 4 19 02 MM Text Velocity TXT 0 0 0 5 00 09 VELO TXT 0 CITY Text Pieces TXT 0 0 0 6 00 08 PIEC TXT 0 ES ...

Page 438: ... min max 1 Assignment Displays 0 0 Display Variable 2 Display Line 1 6 7 00 Display Position 00 21 100 Variable Number 000 999 0 Without operational sign 1 With operational sign 0 1 Number of Places Before Decimal 1 8 183 1xx x8x xx3 Number of Places After Decimal 0 6 Fig 14 8 Variable Display Display Actual Position TXT 0 1 0 3 08 100 183 V100 Actual Value Axis1 Display Markers N0500 TXT 0 1 1 2 ...

Page 439: ...ut position is shown as a negative value To change the value it is possible to place the cursor in the field Edited values are shown in italics and are then no longer updated By pressing OK the value is transferred and by pressing ESC the old value is reestablished Display and Edit Parts of a Variable The entire variable format 00000000 000000 Depending on the format indicated part of the variable...

Page 440: ... A rectangular shape is drawn Later write instructions overwrite these shapes or their content N0500 TXT 0 41 010 10 020 20 Parameter Description min max Assignment Draw Box 4x X 0 No fill with frame 1 Bold black 2 No fill 0 2 100 X Top left point of the rectangle 0 128 50 Y Top left point of the rectangle 0 64 120 X Width 0 128 30 y Height 0 64 Fig 14 12 Draw Box Draw Circle N0500 TXT 0 51 050 30...

Page 441: ...is command the number can be increased to 7 Note With 7 preselected lines for fields with an editing function the topmost pixels of the following line are overwritten Note The number of lines should always be programmed first N0500 TXT 0 9 0 6 Parameter Description min max 9 Assignment 0 Number of Lines 0 0 6 Number of Lines 6 7 Fig 14 14 Number of Lines ...

Page 442: ...TXT 0 OS TXT 0 0 0 4 00 07 LENG TXT 0 TH TXT 0 0 0 4 18 02 MM TXT 0 0 0 5 00 09 VELO TXT 0 CITY TXT 0 0 0 6 00 07 PIEC TXT 0 ES TXT 0 1 0 3 08 100 183 TXT 0 2 0 4 09 600 043 TXT 0 2 0 5 14 601 030 TXT 0 2 0 6 13 602 040 NOP NOP M a n u a l M A I N M E N U M A C H I N E 2 3 4 5 A C T P O S 0 0 0 0 0 1 2 3 1 2 3 L E N G T H 0 0 0 1 0 0 0 MM V E L O C I T Y 9 9 9 P I E C E S 0 0 0 0 ...

Page 443: ...29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 17 18 25 26 INPUT I OUTPUT O 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 0V 24V I 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 INPUT 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 OUTPUT 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 9 10 11 12 13 14 15 16 0 5 8 9 3 4 7 6 2 1 H1 H2 H3 H4 H5 S2 X1 F1 EM...

Page 444: ...567890 B Nr 12345678 BA Nr 12345678 X1 F1 EMD LISTED 22ZA UL C US ek5041F1 EPS Fig 15 2 Base Module The electronic module contains the processing unit the fieldbus connection and the input and output connections Diagnostic and status LEDs as well as address switches are also on this module I 9 1 0 11 1 2 1 3 1 4 1 5 1 6 1 2 3 4 5 6 7 8 INPUT 9 1 0 11 1 2 1 3 1 4 1 5 1 6 1 2 3 4 5 6 7 8 OUTPUT 1 2 ...

Page 445: ...oX Bus Data Input Output Module Data Designation Symbol Unit Value Description Supply Supply Voltage UDC V DC 24 20 Current Consumption Module without Load at UDC 24 V I A 0 1 20 Rated Current at 24 V 0 V IB A 8 Total Power Loss PV W 4 5 Protection for sensor power supply F1 TR5 250 V 6 3 A T Inputs Number 16 Connections dual or triple conductor depending on whether the sensor requires power suppl...

Page 446: ...nductive load Short Circuit Diagnostic no short circuit diagnostic possible Short Circuit Protection electronic automatic re start Electronic Isolation Circuit Side no Conditions for Use Ambient Temperature Allowed C 0 55 Storage and Transport Temperature C 25 70 max m over NN 2000 Max Allowable Relative Humidity 10 45 no condensation Air Pressure during Operation hPa 86 106 Protection Type IP 20 ...

Page 447: ...tee and the right to payment of damages resulting from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth products make sure that all the pre requisites for appropriate use of the products are satisfied Personnel that in any way shape or form uses our products must first read and understand the relevant safety instructions and be familiar wi...

Page 448: ... and firmware as specified in the relevant function descriptions The input output modules may only be operated under the specified conditions of mounting and installation in the specified area of use and according to the specified environmental requirements temperature type of protection humidity EMV etc Inappropriate Use Using the input output modules outside of the above referenced areas of appl...

Page 449: ...nit Dimensions and Installation Space Note To ensure adequate ventilation of the input output module and to avoid overheating please adhere to the required installation space shown in Fig 15 6 Please also note that the required installation space of 150 mm is required at the front Additionally the D SUB connector for the bus connection may protrude beyond the unit ...

Page 450: ...38 39 40 41 42 43 44 45 46 47 48 17 18 25 26 INPUT OUTPUT 1 2 3 4 5 6 7 8 9 10 1 12 13 14 15 16 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 0V 24V PUSH I 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 INPUT OUTPUT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 H1 H2 H5 H4 H3 PUSH PUSH I 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 INPUT OUTPUT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 H1 H2 H5 H4 H3 PUSH X1 F1 5 4 6 0...

Page 451: ...p hat or mounting rail The following drawing contains the dimensions of the top hat rail 1 mm 7 5 mm 35 mm mb5061f1 EPS Fig 15 8 Dimensions of the Top Hat Rail The base module and the electronic module together make up the input output module No tools are required to install the base module It must be hooked into the top hat rail and latched into place as shown in the following drawing Required In...

Page 452: ...nstalling the Base Module Removing the base module requires a 6 mm x 1 mm screwdriver Remove the base module by placing the tip of the screwdriver on the release clip of the base module Proceed as shown in the following drawing eb0009f1_AE WMF Fig 15 10 Removing the Base Module Removing the Base Module ...

Page 453: ...5 16 1 2 3 4 5 6 7 8 INPUT 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 OUTPUT 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 9 10 11 12 13 14 15 16 0 5 8 9 3 4 7 6 2 1 0 5 8 9 3 4 7 6 2 1 H1 H2 H3 H4 H5 S2 S1 Klick Klick Klick Klick Klick Klick Klick Klick Klick Klick Klick Klick X1 F1 eb0010f1 EPS Fig 15 11 Installing the Electronic Module To remove the electronic module press all four latches...

Page 454: ...tor connections are made with CAGE CLAMP connections The CAGE CLAMP connections are appropriate for fine or single conductor wiring Generally only one conductor can be connected to each clamp The CAGE CLAMP connection is structured so that with proper handling a fine conductor can be fed through without splicing and can be securely clamped Under normal operating conditions this direct clamping e g...

Page 455: ...rewdriver is required for connecting a conductor shows where the screwdriver is to be placed and Fig 15 13 shows how to attach a conductor with CAGE CLAMP connectors mz0002f1_AE WMF Fig 15 12 CAGE CLAMP Connections mz0001f1_AE WMF Fig 15 13 CAGE CLAMP Handling Attaching a Conductor Clamp Handling ...

Page 456: ...must be supplied with 24 Volts DC power using the clamps labeled as unit supply in Fig 15 14 Green clamp Grounding Red clamp 24 Volts Blue clamp 0 Volts With the appropriate layout the external power supply can be used as the power source that is also used to supply the drive controller The actors digital outputs can be supplied in two ways via the unit supply externally Power for the sensors is s...

Page 457: ...nt that establish the electrical connection to the top hat rail when the base module is correctly mounted The contacts at the rear of the base module are in turn connected to the grounding clamp front of unit Note Ensure that the top hat rail is grounded Input Signals The sensor connection clamps are labeled as sensor connections in Fig 15 14 For each of the 16 sensors that can be connected three ...

Page 458: ...p 8 outputs are placed The connection of an external power supply must be wired via the correct supply clamp Make sure that the output voltage can also flow in reverse to the power supply To ensure that this is possible an external connection between the 0 V potential of the input output module blue clamp and the 0 V potential of the external power supply must be established Note The entire load v...

Page 459: ...tput Module and drive controller and IKB0037 Connection from Input Output Modules cable assemblies have an integrated bus termination in the connectors Connection Between Input Output Module and Drive Controller The fieldbus input output modules EMD Module are galvanically isolated from each other The input output module must be connected to the drive controller On the EMD side a 9 pole D Sub conn...

Page 460: ...between input output module 1 inputs outputs 0 to 15 and module 2 inputs outputs 16 to 31 is done via a bridge in the EcoX connector on the input output module For more information see Chapter 15 6 Assigning the Input Output numbers Connection of Input Output Modules Note A pre assembled cable IKB0037 is provided for the connection from the Input Output modules AZ0003f2 WMF Fig 15 19 Connection fr...

Page 461: ...ple for the Structure of an EcoX Bus The following examples should clarify the basic structure of an EcoX bus Note Please note the types of cable assemblies used and the requirements for the bus termination resistance EMD_Fl2 WMF Fig 15 20 Bus with a Drive Controller and EMD Module ...

Page 462: ... Module 1 inputs outputs 0 to 15 and Module 2 inputs outputs 16 to 31 is done via a bridge in the connector on the input output module How to do it To define a module as Module 2 thereby defining the inputs outputs on this module as Input 16 17 18 31 or Output 16 17 18 31 a bridge must be placed across Pin 9 SUB ADR and Pin 6 GND of the connector No bridge may be placed on the connector for Module...

Page 463: ...finition Error Clearing H1 green on input output module is synchronous to master drive synchronous data exchange with the assigned drive H1 orange on input output module is synchronous to master drive no data exchange with the assigned drive H1 off input output module is asynchronous to master drive asynchronous data exchange with the assigned drive H1 red on no communication with a drive check if...

Page 464: ...se 3 again H5 green blinking normal operation H5 red on overtemperature Check load on input output module Check ambient temperature ventilation and installation Fig 15 22 Definitions of General Status Displays and Error Clearing Status Displays for the Inputs The status displays for the inputs are ready for operation as soon as supply voltage is applied to the input output module The following tab...

Page 465: ...e base module The Removal Installation has already been described The wiring of the input output module is not affected by replacing the electronic module For re startup instructions for the electronic module please see the corresponding section For re startup of the base module the same description is valid as for the electronic module A physical connection to the drive controller exists via the ...

Page 466: ...ECODR3 FL 04VRS FK01 EN P 15 9 Factory Settings and Identifying the Components Identifying the Components The base module and the electronic module are clearly marked with a typecode Tl0215f1_AE WMF Fig 15 24 Typecode for the Electronic or Base Module ...

Page 467: ...eed length with 6 decimal places and a velocity with 2 decimal places Communications with the IDS1 1 are activated by increasing the input value to 2 or 3 for the protocol in Parameter B002 With this setting the interface is always set to the IDS setting in Manual Automatic Mode In Parameter Mode the protocol setting is set back to the original protocol according to the driver selection in Paramet...

Page 468: ... Any positioning function in process is terminated and the NC user program is subsequently stopped B002 Protocol Parameter Mode Manual Mode Automatic Mode 0 SIS SIS SIS 1 ASCII ASCII ASCII 2 SIS IDS IDS 3 ASCII IDS IDS Fig 16 3 B002 Protocol Setting The IDS information that has been read is made available in system variables V015 to V018 and can be accessed there by the user NC program The distanc...

Page 469: ...ECODRIVE03 FL 04VRS IDS Accessories 16 3 DOK ECODR3 FL 04VRS FK01 EN P IDS_mas_AE WMF Fig 16 5 IDS Dimensions ...

Page 470: ...16 4 IDS Accessories ECODRIVE03 FL 04VRS DOK ECODR3 FL 04VRS FK01 EN P Notes ...

Page 471: ...he flash memory 4 16 0x96FF dL 09 Error during write access to RAM 4 17 0x9701 dL 0d Wrong checksum 4 17 0x9702 dL 0e Wrong CRC32 checksum 4 17 4 4 kHz signal wrong 12 22 7 7 Segment display Diagnostic message number 4 10 A Ab 12 49 Absolute encoder emulation 8 54 8 58 8 59 Absolute encoder out of allowed window 12 12 Absolute measuring system not installed 12 39 ACC 6 15 Acceleration 90 9 22 Acce...

Page 472: ...04 Display Menu 14 5 BTV04 Key Descriptions 14 3 Bus termination 15 17 C Cam 10 31 CAN 6 23 Checksum 10 20 CID 6 24 CIO 6 25 CLC 6 25 Clear errors 4 5 10 5 Clear errors with controller enable set 4 5 Clear NC variables 10 44 Clear saved marker flags 10 44 CLG 6 26 CMM 6 26 Command adjust commutation 12 42 Command Communications Interface 1 3 Command Detect Marker Position 12 43 Command Measuring W...

Page 473: ...rameters invalid 12 41 Default parameters not available 12 41 Definition of the Critical Proportional Gain and Smoothing Time Constant 8 43 Designation I Q M 10 1 Determining the Critical Integral Action Time 8 43 Determining the critical position loop gain 8 47 Determining the Position Loop Setting 8 48 Determining the Velocity Loop Setting 8 43 device data sheet 11 2 Diagnostic Channel 11 6 Diag...

Page 474: ...ts 10 7 EMD Installation Space 15 7 EMD Outputs 10 7 EMD Parameters 9 42 EMD Power Supply 15 14 EMD Programmable Inputs Outputs 10 7 EMD Protection General Information 15 15 EMD Sensor Connection 15 15 EMD Sensors technical data 15 3 EMD Unit Dimensions 15 7 Emergency Stop 12 8 12 17 12 18 Emulated position reference 8 58 Encoder 1 failure Quadrant error 12 7 signal amplitude wrong 12 19 Encoder 2...

Page 475: ...3 Firmware Update of ECODRIVE 4 11 Firmware Update using the DOLFI Program 4 11 Firmware was cleared 4 14 Firmwareupdate for the EMD Module active 12 27 FOL 6 36 FOL Factor Max 12 53 FUN 6 37 Function interrupt is active 12 65 Function Overview 1 3 Function terminated 12 62 Functioning of Measuring Wheel Mode 8 2 FW Err No nnnn 12 61 G Gear Feed Constant 8 51 Gear Ratio 8 51 General Information fo...

Page 476: ...truction offset greater than 999 12 60 Integral Action Time Determining the Critical Integral Action Time 8 43 Interface Commands 10 42 Interface Confirmation 10 21 Interface Mode 10 14 Interface Protocol 10 14 Interrupt vector 8 19 Interruption 9 14 Invalid addressing of MDT Data container A 12 29 Invalid amplifier data 12 34 Invalid destination task number 12 52 Invalid feedback data 12 33 Inval...

Page 477: ...utomatic Setting of the Motor Type 5 2 Temperature Monitoring 5 2 MKE 5 1 Motor feedback data memory 5 1 Mode unauthorized 12 62 Modulo function 8 52 Modulo range error 12 37 MOM 6 44 Monitoring Position Loop 8 48 Velocity Control Loop 8 47 Monitoring the Distance Between Home Switch and Reference Mark 8 10 Motor feedback Saved parameters 5 1 Motor holding brake 5 3 Motor holding brake type 5 4 Mo...

Page 478: ...roneous 12 42 Parameter error 12 58 Parameter input 10 3 Parameter limit error 12 32 Parameter Mode active Output 9 21 Parameters not copyable 12 41 PBK 6 45 Peak current Saving in the motor feedback memory 5 1 Per mil value in ACC command 999 12 52 Pertinent parameters for encoder emulation 8 54 Pertinent parameters for homing 8 4 Pertinent Parameters for Measuring Wheel Mode 8 2 Pertinent Parame...

Page 479: ...tor X30 11 17 Profibus DP address 11 2 Profibus Inputs 10 8 Profibus Outputs 10 8 Profibus DP 1 3 Program run without power 12 53 Programming possible only in loader 4 14 Proportional gain Determining the critical proportional gain 8 43 Protection technical data 15 3 PSA 6 50 PSI 6 51 PTC 5 1 R R 7 1 Rated current Saving in the motor feedback memory 5 1 Read Control Word 11 6 Read error 4 14 Read ...

Page 480: ...nector 11 17 SIS 4 9 Smoothing time constant 8 43 Determining the smoothing time constant 8 43 Source Numbers for the Marker Flags 10 2 Source Numbers of the Outputs 10 2 Special Displays 14 16 SRM 6 61 SRP 6 63 SSI Format 8 58 SSI Encoder Error PLS 12 61 ST 7 1 Stack correction value 9 12 59 Stack overflow with JSR command 12 51 Stack overflow with RTS command 12 51 Start input 10 3 Start Up 4 1 ...

Page 481: ...irtual Encoder_ 6 10 V100 _Current position value Motor encoder_ 6 10 V101 _Target position value _ 6 10 V103 _Position lag_ 6 10 V104 _Actual velocity_ 6 10 V105 _Processed Material Length_ 6 10 V106 _Average velocity_ 6 10 V107 _Slip in Measuring Wheel Mode_ 6 11 V108 _Target Velocity_ 6 11 V113 _Distance from home position to processing location_ 6 11 Systemcontrol Error 12 60 T Table Value 10 ...

Page 482: ...criteria for triggering 8 47 reasons for triggering 8 47 velocity control loop monitoring 8 47 Velocity data scaling error 12 34 Velocity loop Setting 8 42 Velocity loop error 12 21 Velocity reached 9 21 VEO 6 69 Virtual Master 6 72 VMC 6 72 W WAI 6 72 Wait for scan via EcoX Master 12 27 Waiting for Feed Angle 12 65 Warning Classes 4 4 Warning Motor temp surveillance defective 12 23 Write access 4...

Page 483: ...ehmen Sie bitte zuerst Kontakt mit unserem für Sie nächstgelegenen Ansprechpartner auf Die Angaben in der vorliegenden Dokumentation können seit Drucklegung überholt sein At www boschrexroth com you may find additional notes about service repairs and training in the Internet as well as the actual addresses of our sales and service facilities figuring on the following pages sales agencies offices p...

Page 484: ... 0 Fax 49 0 89 127 14 490 Vertriebsgebiet West Germany West Bosch Rexroth AG Regionalzentrum West Borsigstrasse 15 40880 Ratingen Tel 49 0 2102 409 0 Fax 49 0 2102 409 406 49 0 2102 409 430 Gebiet Südwest Germany South West Bosch Rexroth AG Service Regionalzentrum Süd West Siemensstr 1 70736 Fellbach Tel 49 0 711 51046 0 Fax 49 0 711 51046 248 Gebiet Südwest Germany South West Bosch Rexroth AG Reg...

Page 485: ...ia Paolo Veronesi 250 10148 Torino Tel 39 011 224 88 11 Fax 39 011 224 88 30 Italy Italien Bosch Rexroth S p A Via del Progresso 16 Zona Ind 35020 Padova Tel 39 049 8 70 13 70 Fax 39 049 8 70 13 77 Italy Italien Bosch Rexroth S p A Via Mascia 1 80053 Castellamare di Stabia NA Tel 39 081 8 71 57 00 Fax 39 081 8 71 68 85 Italy Italien Bosch Rexroth S p A Viale Oriani 38 A 40137 Bologna Tel 39 051 34...

Page 486: ...skiego 81 85 60 529 Poznan Tel 48 061 847 64 62 63 Fax 48 061 847 64 02 Romania Rumänien East Electric S R L B dul Basarabie nr 250 sector 3 73429 Bucuresti Tel Fax 40 0 21 255 35 07 40 0 21 255 77 13 Fax 40 0 21 725 61 21 est mb roknet ro Romania Rumänien Bosch Rexroth Sp zo o Str Drobety nr 4 10 app 14 70258 Bucuresti Sector 2 Tel 40 0 1 210 48 25 40 0 1 210 29 50 Fax 40 0 1 210 29 52 Russia Rus...

Page 487: ... Village Navi Mumbai 400 701 Tel 91 22 7 61 46 22 Fax 91 22 7 68 15 31 India Indien Bosch Rexroth India Ltd Electric Drives Controls Plot 96 Phase III Peenya Industrial Area Bangalore 560058 Tel 91 80 41 17 02 11 18 Fax 91 80 83 94 345 91 80 83 97 374 mohanvelu t boschrexroth co in India Indien Bosch Rexroth India Ltd 1st Floor S 10 Green Park ext Market New Delhi 110016 Tel 91 1 16 56 68 88 Fax 9...

Page 488: ...5 55 11 Fax 1 905 335 41 84 michael moro boschrexroth ca Canada West Kanada West Bosch Rexroth Canada Corporation 5345 Goring St Burnaby British Columbia Canada V7J 1R1 Tel 1 604 205 5777 Fax 1 604 205 6944 david gunby boschrexroth ca Mexico Bosch Rexroth Mexico S A de C V Calle Neptuno 72 Unidad Ind Vallejo 07700 Mexico D F Tel 52 5 754 17 11 52 5 754 36 84 52 5 754 12 60 Fax 52 5 754 50 73 52 5 ...

Page 489: ......

Page 490: ...VRS FK01 EN P R911296265 Bosch Rexroth AG Electric Drives and Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Phone 49 93 52 40 50 60 Fax 49 93 52 40 49 41 service svc boschrexroth de www boschrexroth com ...

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