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Operation & Software Manual

86

Direct Drives & Systems

Chapter C: System functions

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05

new data. If this new value is incorrect, the

K79 BAD VALUE

error (M64=40) will appear.

For the DSCDP, if parameter K79 is modified (with K79=100, 101 and 104), the SAV command

must be executed on both axes. For the DSCDP, K79 = 4 and 104 is available only from
DSCDP3xx-xxxE. For the DSCDL, K79 = 4 is available only from DSCDL3xx-xxxC.

Parameter K55 allows the setting of the number of increments per magnetic period (linear motors)

or per turn (rotary motor); this parameter is used by the motor commutation look-up table (LKT).

Monitoring

M239

indicates the encoder period given

either

by parameter K241

or

the EnDat 2.1

encoder (depending on the encoder type selection (parameter K79)).

The currents sent to the motor phases are calculated by the current reference generator with the commutation
look-up table. Here is the formula to calculate the number of increment (parameter K55):

• For

rotary motor:

• For

linear motor:

Remark:

Refer to

for more information about parameters K69 and K77 and to

for parameter K50.

Monitoring

M241

indicates the encoder interpolation factor.

12.3.1 Analog encoders (K79=0)

The

analog encoders

(1Vptp) can determine exactly the motor position thanks to two sinusoidal signals with

a phase-shift of 90

°

(sine and cosine). The period of these signals varies according to the type of encoder used

(from 128 nm to 32 mm). The smaller the period is, the bigger the precision is. These signals must be calibrated
to be optimized so as to have the same amplitude and no offset. Parameters K70, K71, K72 and K73 make
such corrections. Some of the scales used with the analog encoders are multi-reference mark, and in that case
the average distance between reference marks must be given via parameter K75. Formula for

linear motors

:

M

Name

Comments

M239

Encoder period

Gives the type of motor connected to the position controller

M

Name

Comments

M241

Encoder interpolation factor

Gives the interpolation factor of the encoder.
In the above-mentioned formulas, monitoring M241 corresponds to
1024 * 2

K77

(for an analog encoder) and 64 * 2

K69

(for a TTL encoder).

Available on

DSC2P

DSC2V

DSCDP

DSCDL

DSCDM

K55

NPCod 1024 2

K

77

⋅

⋅

=

NPCod = Encoder periods number per turn [p/r]

(for analog encoder)

K55

NPCod 64 2

K

69

⋅

⋅

=

(for TTL encoder)

K55

Pway

PCod

----------------

1024 2

K

77

⋅

⋅

=

PCod = Encoder periods number [m]

(for analog encoder)

K55

Pway

PCod

----------------

64 2

K

69

⋅

⋅

=

(for TTL encoder)

Pway = magnetic period [m]

K75

1024 Distance between 2 indexes [m]

⋅

PCod

--------------------------------------------------------------------------------------

with PCod = encoder period [m]

=

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Summary of Contents for DSC Series

Page 1: ...tel etelgmbh de HEADQUARTERS SWITZERLAND ETEL S A Zone industrielle CH 2112 Môtiers Phone 41 0 32 862 01 23 Fax 41 0 32 862 01 01 E mail etel etel ch http www etel ch FRANCE ETEL S A 89 rue Henri Rochefort FR 91025 Evry cedex Phone 33 0 1 64 97 98 05 Fax 33 0 1 64 97 30 56 E mail etel etel fr ITALY ETEL S A Piazza della Repubblica 11 IT 28050 Pombia Phone 39 0321 958 965 Fax 39 0321 957 651 E mail...

Page 2: ...THIS PAGE IS INTENTIONALLY LEFT BLANK ...

Page 3: ... 3 CTI Current Time Interrupt 23 5 Communication with the controller 24 5 1 Single axis configuration 24 5 1 1 Baud rate configuration 24 5 2 Multi axis configuration with DSMAX or DSTEB 24 5 3 Multi axis configuration with micro master 25 6 Commands registers syntax 27 6 1 Commands 27 6 1 1 Sending commands 27 6 1 2 Accumulator operations 28 6 1 3 Sequence labels 28 6 2 Registers groups 29 6 2 1 ...

Page 4: ... 8 3 Drive Setting tool 45 8 3 1 Drive selection 46 8 3 2 Motor selection 47 8 3 3 Encoder Selection 48 8 3 4 Initialization mode 49 8 3 5 Homing mode 50 8 3 6 Mass or inertia 51 8 3 7 Automatic tuning options 51 8 4 Scope tool 54 8 4 1 The icons bar 54 8 4 2 Scope menu 55 8 4 3 Digital oscilloscope 56 8 4 4 Scope s Trigger 59 8 4 5 Parameters 60 8 4 6 Commands 61 8 4 7 Step movement 61 8 4 8 Syst...

Page 5: ...rect Drives Systems 5 8 7 Unit Converter tool 70 8 7 1 The icons Bar 70 8 7 2 Unit conversion 71 9 Simplified regulator s principle 72 9 1 General diagram 72 9 2 Parameters description 73 9 2 1 Current regulator 73 9 2 2 Position regulator 74 10 Controller regulators tuning principle 76 ...

Page 6: ...4 90 12 3 6 Position factors for DLLs 90 12 3 7 Encoder monitorings 90 12 4 Precaution parameters IMPORTANT 91 12 4 1 Movements limits 91 12 4 2 Current limits 92 12 4 3 Safety signals on DIN and DOUT 94 12 4 4 Motor temperature TEB time out and analog encoder error check 95 12 4 5 Vpower DC bus voltage 96 12 4 6 Fuse check 96 12 5 Errors and warnings handling 97 12 5 1 Troubleshooting 97 12 5 2 R...

Page 7: ...e modes K61 1 143 13 2 1 External reference modes K61 0 3 4 or 36 143 13 3 Advanced movements 150 13 3 1 Movements types 150 13 3 2 Look up table movements 152 13 3 3 Infinite rotary movements 154 13 3 4 Movement with predefined profile 157 13 3 5 Start movements STA and STI commands 159 13 3 6 Concatenated movements MMC command 163 13 3 7 CAM command 165 13 3 8 STE command 165 13 3 9 BRK and STP ...

Page 8: ...iggers definition and structure 195 13 9 4 Elements description 195 13 9 5 Masks actions selection 198 13 9 6 Mappings activation 199 13 9 7 Programming triggers example 199 13 10Analog encoder interpolation 202 13 11Status Drive 203 13 11 1 M60 monitoring SD1 203 13 11 2 M61 monitoring SD2 204 13 11 3 M63 monitoring 204 13 12Advanced communication 206 13 12 1Synchronization 206 13 12 2Real time m...

Page 9: ... 14 2 2 Unconditional jump JMP command 220 14 2 3 Conditional jump TST JEQ JNE JLT and JGT commands 221 14 2 4 Routine commands CAL RET and POP 222 14 3 Accumulator functions 223 14 3 1 Set the accumulator XAC 223 14 3 2 Test XAC value IEQ INE ILT IGT ILE IGE JBS and JBC 224 14 4 Sequences handling 225 14 4 1 Stop a sequence HLT HLB HLO 225 14 4 2 Group of axes 225 14 4 3 Clear user variables CLX ...

Page 10: ...ple 242 15 12MMC example 243 15 13MMD LTN LTI example 244 15 14MMD 3 calculated mvt SET example 245 15 15PWR IND ACC SPD POS example 246 15 16 REI RTI example 247 15 17RSD example 248 15 18Special labels 79 80 example 249 15 19SLS example 250 15 20STA example 251 15 21STE example 252 15 22STI example 253 15 23STP example 254 15 24TCL TMK TNB TRS triggers example 255 15 25TST JGT JEQ JNE example 25...

Page 11: ... Monitorings M for DSCDP 320 17 3 Monitorings M for DSCDL 327 17 4 Monitorings M for DSCDM 334 18 Warnings reference lists 341 18 1 Warnings for DSC2P and DSC2V 341 18 2 Warnings for DSCDP 341 18 3 Warnings for DSCDL 341 18 4 Warnings for DSCDM 342 19 Errors reference lists 343 19 1 Errors for DSC2P and DSC2V 343 19 2 Errors for DSCDP 347 19 3 Errors for DSCDL 350 19 4 Errors for DSCDM 353 20 Unit...

Page 12: ...Operation Software Manual 12 Direct Drives Systems ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 THIS PAGE IS INTENTIONALLY LEFT BLANK ...

Page 13: ...ut in the comment of the function e g DSCDP Remark The updates between two successive versions are highlighted with a modification stroke in the margin of the manual General operating conditions The controllers are designed to operate in a non aggressive and clean environment with a humidity rate ranging between 10 and 85 an altitude 2000m 6562 ft and a temperature ranging between 15 C 59 F and 30...

Page 14: ...e manufacturer of this machine must establish that it fulfils the 89 336 EEC directive on EMC before operating the controller How to use this manual If you are not an experienced user read first the Chapter A to catch the basis about the controller s internal functioning and commands syntax Then follow step by step the Chapter B to successfully realize the first installation and setup of the contr...

Page 15: ...03 Updated version with firmware from version 1 14 for DSC2P and with firmware from version 1 04 for DSCDP E 12 11 03 Updated Version with firmware from version 1 17 for DSC2P and with firmware from version 1 07 for DSCDP Extended functions for K141 parameter refer to 12 4 4 Dynamic braking refer to 12 5 5 Extended functions for K32 parameter and new parameter K100 refer to 12 9 New homing modes K...

Page 16: ...Operation Software Manual 16 Direct Drives Systems Introduction ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 THIS PAGE IS INTENTIONALLY LEFT BLANK ...

Page 17: ...ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 Chapter A Internal functioning architecture Operation Software Manual Direct Drives Systems 17 Chapter A Internal functioning architecture ...

Page 18: ...the current reference generator calculates the reference currents Icx for each motor phase Those references are eventually sent to a PI proportional integral regulator which controls the current in the motor phase s The diagram below shows the complete regulation process The elements of this regulation general diagram are detailed in 9 1 for beginners and in 13 1 for advanced users Set point gener...

Page 19: ... 1 Ic2 sin X 120o in phase 2 and Ic3 sin X 240o in phase 3 The motor currents calculation is as follows Three pointers 1 with a 120 electrical phase shift point at in a table according to the motor position This table called commutation look up table 2 contains 2048 points 3 forming a sinusoidal function period Motor position sine forms are thus immediately read on the numbers of the table The for...

Page 20: ...of a mobile in one direction versus time The first derivative of this function gives the speed trajectory of the movement speed versus time The second derivative determines the acceleration trajectory of the movement acceleration versus time The third derivative is called the jerk trajectory of the movement jerk versus time The step movement is a very abrupt movement in which the motor position ch...

Page 21: ...Step movement is used by ETEL Tools for the controller system tuning only refer to 10 for more information The S Curve and Rotary S Curve movements are used in most applications refer to 12 10 for more information The Look up table infinite rotary rotary look up table and calculated movements are used in some specific applications by advanced users only refer to 13 3 for more information 3 1 1 1 L...

Page 22: ...pse of time speed and acceleration may attain very high values that can even exceed the capacity of the system 3 1 1 2 Look up table movement Each sti refer to 4 the controller takes a point of the look up table The point depends on the value of the execution time LTI of the look up table If this value should fall between two points of the table it will be linearly interpolated between the two adj...

Page 23: ...t value To obtain the actual STI value in seconds divide M245 by M242 STI s M245 M242 4 2 FTI Fast Time Interrupt The FTI is used for Linear interpolation between the trajectory points calculated by the STI Position loop regulation and position encoder interpolation Calculation of force reference Fc delivered to the current loop regulator EBL2 communication transmission reception Default value To ...

Page 24: ...ed in daisy chain The master is a DSMAX or a DSTEB motion controller with whom the PC communicates via the PC ISA or PCI connector The axes are called slaves All axes are linked together by the Turbo ETEL Bus also called TEB ETEL proprietary protocol One of the roles of the master is to dispatch the orders he receives from the PC or sent by itself to the slaves Each axis has a personal number and ...

Page 25: ...f the master is to dispatch the orders he receives from the PC or sent by itself to the slaves Each axis has a personal number and if several axes are chained every number must be different from the others from 0 to 30 It is then possible to link up to 31 axes The functioning mode is chosen with the MDE command which is an alias of parameter K170 only available on the DSC2P and DSC2V K Alias Value...

Page 26: ... the controller is in the µ master mode In the µ master mode the axis 0 can execute normal commands record 20H emergency commands record 18H and monitorings record 12H on all the axes present on the TEB When the ETEL Tools is connected on the µ master all the slaves present on the TEB are visible and can be questioned The µ master can execute a sequence and receive normal commands emergency comman...

Page 27: ...meters If no value is defined it is automatically the value 0 by default which is selected for a command which needs one or two parameters Note the link sign is needed only if at least one px field is present Possible values Integer Value contained in any register at any depth px syntax is similar to a command syntax register depth axis Remark An alias like POS SPD MMD is a more user friendly term...

Page 28: ... 4 2 Symbol and the axes mask total number to select some axes refer to 14 4 2 p1 and p2 Accumulator parameters If no value is defined the value 0 by default is automatically selected Possible values Integer Value contained in any register at any depth px syntax is similar to a command syntax register depth axis operator Mathematical operator Possible values Arithmetical and logical operators Refe...

Page 29: ... in variables and read at any time Examples Parameter K1 describes the proportional gain value of the position loop X13 variable describes the 14th user variable M11 monitoring indicates the motor real speed 6 2 2 Advanced registers R for RTIs Also called real time interrupts for advanced users only they allow the execution of an immediate function The sequence execution may jump to a defined labe...

Page 30: ... register type is T Integer from 0 to 1999 if the register type is L Integer from 0 to 255 if the register type is F Y indirect parameterization refer to the EBL2 Communication Manual for more information depth K parameters may contain up to 4 different values simultaneously Each value is stored at a different depth numbered 0 1 2 and 3 If no depth is defined depth 0 is automatically programmed by...

Page 31: ...sters arithmetical shift to the left not for F registers obligatory link sign p1 Set the register s value Possible values Integer immediate value Value contained in another register at any depth indirect value It can be taken from any axis p1 syntax register_name depth axis Remark For all registers a maximum value and a minimum value are defined If a higher value than the maximum value or a smalle...

Page 32: ...r from 0 to 255 if the register type is F depth1 and 2 If no depth is defined depth 0 is automatically programmed by default K parameters may contain up to 4 different values simultaneously Each value is stored at a different depth numbered 0 1 2 and 3 If no depth is defined depth 0 is automatically programmed by default For R and E depth is another RTI priority R or another trigger line E Possibl...

Page 33: ...hen all bits 0 their functions are not active Thus K68 0 is not described in the table above this is the case in this document for all registers and commands values defined as bit fields 6 5 1 1 Numerical values Most registers and commands are defined as simple numerical values Their corresponding functions cannot be combined How to recognize them If no numbers are present in the table under the h...

Page 34: ... 1000 Reads the value contained in the K1 user register of the axis 1 at depth 0 K4 0 2 K4 0 2 4 Reads the value contained in the K4 user register of the axis 2 at depth 0 K32 2 2 K32 2 2 2 Reads the value contained in the K32 register of the axis 2 at depth 2 M4 2 M4 2 32 Reads the value contained in the M4 register of the axis 2 K32 1 2 K4 2 2 K32 1 2 3 K4 2 2 5 Simultaneous reading of two regis...

Page 35: ...ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 Chapter B System setup tuning Operation Software Manual Direct Drives Systems 35 Chapter B System setup and tuning ...

Page 36: ...r performs a SELF TEST and will display on the LCD its controller family product number firmware version present in the controller axis number presence of an optional board A message for example DSC2P READY appears on the LCD display the controller is not in the Power On mode Never connect the motor if Power On already appears on the LCD display Remark If there is no physical display on the contro...

Page 37: ...s on the LCD display Remark If there is no physical display on the controllers the user can use M95 axis the conversion is automatically done by the DLLs or can select scope drive LCD display in the scope menu of the scope tools ETT to display a software display indicating the status the error and the warning messages The system is ready to work Interfaces to be connected Required Optional 1 TEB c...

Page 38: ...tage may be present on the motor connector Turn off the power or 2min for the DSCDM and before touching them check with a voltmeter that no residual voltage remains on these connectors ENCODER MOTOR Mains 220 V 50 60 Hz Line Neutral PC with ETEL s DSMAX or DSTEB board mounted inside and ETEL Tools software installed Power input Auxiliary input TEB communication P E Always connect the Protective Ea...

Page 39: ...TEL Tools ETT software provides the necessary tools to set up the controller It is possible to send parameters and commands a command can include parameters to the controller ETT Scope tool is used to monitor graphically the system s performance ETT allows you also to build a sequence of commands performing the movements required by the application The diagram below outlines this principle BOOT SO...

Page 40: ...functionalities into account To install it proceed as follows Open the directory ETEL Tools 4 xx the number of the version will change with new releases Run the Setup exe application Follow the installation steps a Read and accept ETEL s License agreement b Choose the destination directory for ETT by default it is C Program Files ETEL c The program folder will be ETEL Tools 4 xx by default d The i...

Page 41: ...ation with DSMAX or DSTEB if present ETT needs this communication between the PC and the controller through DSMAX TEB if present 3 a Select the port to be used by EBL2 on your PC ETEL Bus Lite 2 on COM1 recommended No other application should run on the port selected for EBL2 115 200 bps is the communication speed s default setting Click on Open Go to 4 a 3 b Select the corresponding DSMAX DSMAX1 ...

Page 42: ...s next to the Connection Disconnection icon In this case check the port selected on your PC and your connection with the DSMAX if present and retry to set up the communication This button is used to connect a remote host PC e g To go back to the Connection Chooser window from the Main Menu window click on the button Connection Disconnection as shown above or from any other tool except the Download...

Page 43: ...registers are accessible and a graphical 2 channels oscilloscope allows the monitoring of the system s performance position reference real position speed current The Terminal tool is used to directly send commands to a controller or a group of drives The Terminal reacts to these commands and indicates if the last command has been acknowledged by the controller s or not and displays the result s Th...

Page 44: ... Menu window or in other tools you will first see all basic tools Main Menu refer to 8 2 Scope tool refer to 8 4 Terminal tool refer to 8 5 Editor tool refer to 8 6 Drive Setting tool refer to 8 3 Unit Converter tool refer to 8 7 The MultiScope and all the tools listed under Advanced are reserved to experienced users only Some tools may be opened several instances simultaneously They are listed un...

Page 45: ...nication is established between the PC and the controller The Axis selection detects automatically with EBL2 communication the axis number this number cannot be changed with TEB communication the axis number can be selected Click on the Begin button to start the drive setting process ETT proposes to save the old parameters stored in your controller you should click on YES Caution By clicking on NO...

Page 46: ...ltage 325 VDC Max measurable current 12 5 A are displayed Check that all data fits to your controller s characteristics Click on the NEXT button and the next window will appear Remark Full range phase current measurable Peak current DSC2Px2 12 5 A 11 A for 2 sec with 3 phase motor DSC2Px3 25 A 21 A for 2 sec with 3 phase motor DSC2Px5 66 67 A 56 A for 1 sec with 3 phase motor DSCDPx2 12 5 A 11 A f...

Page 47: ...nce per phase 1 81 mH Resistance per phase at 20 C 5 96 Ω If you are using a motor type not present in the scroll menu click on OTHER Then type the applicable values to complete the motor s specification fields Select the motor max working temperature here 80 C air cooling Caution This max temperature may be reached only if the system cooling is designed accordingly Read the motor specifications i...

Page 48: ... fields allow the setting of the controller parameters K50 and K77 Default values are set by ETT Your system will work with these values Ideally you should optimize them read this Operation Software Manual to do it Click on HELP for a short explanation about these parameters Under Actual system values you can read some system data directly linked to parameters K50 and K77 Click on the black arrow ...

Page 49: ...lses to the motor phases It determines the motor position in relation with the magnets The advantage of this method is that the motor does not move but it is not as precise as the first one 20 off the optimum phase shift adjustment This 2nd way should be especially used with vertical linear motors or if the system mechanical friction is high After the initialization procedure the motor position in...

Page 50: ... against a fix mechanical end stop or against a limit switch or home switch The homing procedure has a double aim first to determine the motor absolute position and secondly to find a constant phase shift adjustment value for each system set up You will have to select with the black arrows the correct options in three scroll menus on the window Choose against which kind of reference should be perf...

Page 51: ...ld and enter the value here 500 00 E 3 kg we have a linear system Click on the NEXT button wait a few seconds until the next window appears 8 3 7 Automatic tuning options These options are displayed for your information only CURRENT LOOP ADJUSTMENT MOTOR PHASES RESEARCH FINE PHASE ADJUSTMENT leave them set by default unless you are an expert Note The Current loop adjustment button is deactivated o...

Page 52: ... the Automatic tuning options window and then on Finish The following windows appears 1 If you do not want to adjust the encoder s signal Click on No The parameters are saved in the controller and the setting process is finished 2 If you want to adjust the encoder s signal Click on Yes This function is used to correct the analog encoder s amplitude and the offset errors Click on Start to automatic...

Page 53: ...his Operation Software Manual for more information Read the window and click on OK to go back to the Automatic tuning options window Check if no external perturbation has disturbed the tuning and try to click again on START If the tuning is still not successful an experienced user should use the Scope Window 8 4 to modify the settings until it is possible to successfully perform the tuning Click o...

Page 54: ...etely the EBL2 communication between the controller s and the host PC with ETT e g It refreshes the trigger and the oscilloscope s display The emergency stop button similar to HLO command stops the progression of the user s sequence and switches off the power in the motor phases It is used in case of emergency unexpected motor noise e g The Esc key on your keyboard has the same effect The RSD x 25...

Page 55: ... the ETEL Tools Setup Software Manual 8 4 2 4 Derivative analysis This tool enables the user to obtain the 1st 2nd and 3rd order derivative of a plot For example with the plot of a position the user can display the corresponding speed acceleration and jerk 8 4 2 5 Scope Drive LCD display tool This tool shows on a small window exactly the same information which appear on the display of the controll...

Page 56: ...sus time of any M K or X register M monitoring K parameter X user variable The register s type ex M number ex 6 and name ex theoretical position with SET scal map and unit ex µm are also displayed The Single scale display is selected by default To measure the two registers displayed it is possible to have a dual scale by unticking the box above In this window the Dual scale mode is selected The 2n...

Page 57: ...aph to autoscale both the X axis and Y axis continuously click on the lock switch to lock the autoscaling mode 8 4 3 3 Zoom and panning tools Two buttons are used to control the operating mode for the graph By pressing on the panning tool you switch to a mode in which you can scroll the visible data by clicking and dragging sections of the graph By pressing on the zoom tool you get a pop up menu y...

Page 58: ... the cursor may be placed only on the signals traces equally on signal 1 or on signal 2 Lock to plot 1 the cursor may be placed only on the signal trace 1 Lock to plot 2 the cursor may be placed only on the signal trace 2 Move a cursor The cross button is used to move the cursors on the Scope s display Another way to move a cursor is to type its coordinates directly in the position fields In Snap ...

Page 59: ...67 x 1E 3 x 200 33 4 milliseconds displayed on the X axis 8 4 4 2 Change trigger mode Click on the Trigger mode button Select mode appears on the button with a pop up menu on its right side It is now possible to set the trigger to four different acquisition modes Roll Continuous Single or Stop refer to the next picture The Roll mode lets the scope run all the time The Continuous and Single trigger...

Page 60: ...e Value incr field The acquisition can also start when a Parameter displayed on the scope reaches a defined level The 1st parameter green is set if you click on Parameter and if you type the Value you want in the dedicated Value incr field can be read with monitoring M7 incr 8 4 5 Parameters 8 4 5 1 On the monitor window Fifteen parameters that you may use to set up the controller s regulation can...

Page 61: ...e numbers will set the parameters to the desired values 8 4 6 Commands The Scope window also includes at the bottom right corner a small terminal to send commands to the controller Firstly type the command in the dedicated field and then press on the Send enter button or type Enter on your keyboard to send the command to the controller If you want to enter one of the commands already sent click on...

Page 62: ...ope window several details are displayed Controller type Here DSC2P152 Firmware version installed in the controller Here Firmware 1 10A In the upper left corner of the Scope window the following details are displayed Controller axis number Here Axis 0 Daisy chain TEB the Axis present scroll menu shows Axis 0 Axis 1 and DSMAX Axis 31 Axis 31 is reserved for the DSMAX the axes number may be from 0 t...

Page 63: ...equence and switches off the power in the motor phases It is used in case of emergency unexpected motor noise e g The Esc key on your keyboard has the same effect The HLT stops the progression of the user s sequence and stops the motor with the maximal deceleration possible similar to HLT command The SAV 0 button saves in the flash the registers K X E L S R F as well as the axis number for all axe...

Page 64: ...r on keyboard a comment about the function appears in green on the same line Note The fields put in square brackets like depth are optional refer to 6 for more explanations about the syntax described above 8 5 3 Download sequence registers into the controller 8 5 3 1 Download sequence When you write a user sequence you save it as a text txt file on your PC refer to 6 and 14 for the commands syntax...

Page 65: ... appears Select an axis and click on the Download button Wait until the sequence is completely downloaded The Axis is the DSMAX Remark If a sequence is already running in the controller the Error window below appears 8 5 3 2 Download registers For registers follow the same procedure as for a sequence refer to 8 5 3 1 Remark The window s name will be Download Registers The Error window will never a...

Page 66: ...this Operation Software Manual 8 6 1 The icons bar New blank editor window Open a text file txt in the editor window Save the editor window contents Print the editor window contents Cut the selected text on the editor Copy the selected text on the editor Paste the last text selection on the editor Download the Sequence present on the editor window into the controller Download the Registers present...

Page 67: ...dow It is also possible to open sequences and registers saved on your PC par seq or txt files The sequence including or not including registers values or the registers may only be downloaded into the controller 8 6 2 1 Download a sequence into the controller Click on Download Upload then on Download sequence from window in the menu bar The Download Sequence window appears Select an axis and click ...

Page 68: ...ill be Download Registers The Error window will never appear 8 6 3 Upload create open modify sequences registers It is also possible to upload the sequence or the registers stored in the controller When a sequence is uploaded a green comment appears on the same line When registers are uploaded a green comment appears on the same line for parameters K only not for all of them 8 6 3 1 Upload a seque...

Page 69: ...Operation Software Manual Direct Drives Systems 69 The Upload Sequence window appears Select an axis and click on the Upload button Wait until the sequence is completely uploaded 8 6 3 2 Upload registers For registers follow the same procedure as for a sequence refer to previous paragraph ...

Page 70: ...axes present on the Turbo ETEL Bus daisy chain 8 7 1 The icons Bar Open the Connection Chooser window refer to 8 1 Add a new conversion item new line This function Add may also be realized from the menu Delete a conversion item line This function Del may also be realized from the menu Remark It is necessary to select an item line before deleting it The emergency stop button similar to HLO command ...

Page 71: ... convert their values Upload directly from the controller increments the Position Speed or Acceleration value to the corresponding line Inc and ISO This is an increment ISO value conversion Download directly to the controller increments the Position Speed or Acceleration value inc and ISO from the corresponding line This is an ISO increment value conversion Example The controller is in Power On mo...

Page 72: ... Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 K80 K81 K1 K2 K4 K21 K20 Motor commutation look up table Position calculator K3 Integrator Limit K60 X e Position error X c Position reference V c Speed reference F c Force reference I c Reference of current X Motor real position V Motor speed F Force supplied by the motor I 1 Current in phas...

Page 73: ...n parameters listed in this chapter are sufficient to set up the controller for all typical applications Remark The principles described below are generally verified however the results will strongly depend on the application and on the system s working conditions 9 2 1 Current regulator Note Refer to 13 1 2 1 for the position regulator s K values A classical proportional integral PI regulator is ...

Page 74: ... the position response faster but it may also create an overshoot oscillations and a permanent error Position error Xe Xc X K4 Integral gain I The main effect of parameter K4 is to suppress the position permanent error Xe constant K2 Speed feedback gain or pseudo derivative gain D This is not a real position derivative gain since the input to K2 is not directly stemmed from the position error Xe b...

Page 75: ...meter K20 value should be set equal to the one of parameter K2 K21 Acceleration feedforward gain The difference between the position reference Xc and the real position X2 is similar to the acceleration s profile X2 The acceleration feedforward will compensate the undershoot and overshoot remaining after the speed feedforward compensation 9 2 2 3 Speed filter The speed feedback input to K2 to the s...

Page 76: ...otor and load that it will drive You will use ETEL Tools for this operation especially its Scope Tool refer to 8 4 Caution The following diagram describe in a basic way the principles to tune the controller s current and position regulators Of course these procedures are general and cannot be considered as perfect for setting all applications Therefore receiving a training by an ETEL support engin...

Page 77: ... P gain K80 x 1 5 High freq oscillations noise Lower P gain K80 2 Do a step T 1 STI Nb p 1000 M30 M31 Constant error Higher I gain K81 x 1 5 High freq oscillations or overcurrent Lower I gain K81 2 Do a step T 1 STI Nb p 200 M30 M31 Saturation M30 K60 Current regulator s basic tuning OK Reduce Do a step size YES NO NO NO YES YES NO YES YES NO YES NO M31 current rise saturation M31 bad current rise...

Page 78: ...ator s basic tuning OK Position regulator s basic tuning Do a step T 1 Nb p 150 M6 M7 0 5 Overshoot 5 Higher P gain K1 x 1 1 to 1 5 Modify P gain K1 x 0 8 to 1 2 Higher I gain K4 x 1 5 Constant error Do a step T 1 Nb p 150 to 450 M6 M7 Set K20 value K2 SAV axis 2 RSD axis 255 PWR IND POS axis x travel limit High freq noise high note Speed feedback filter K8 1 Position regulator s basic tuning OK Y...

Page 79: ...ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 Chapter C System functions Operation Software Manual Direct Drives Systems 79 Chapter C System functions ...

Page 80: ...ues read in the flash memory and are definitively lost Similarly the SAV command crushes the values contained in flash with those contained in the SDRAM To avoid possible problems SAV RES and NEW commands should be executed if the controller is in Power Off Command format P1 Comment SAV axis P1 0 1 2 Saves sequence S register user look up tables L register user variable X parameters K trigger E re...

Page 81: ...ng different actions one after the other Actions State of the SDRAM after acting the controller uses these values for all its calculations State of the flash after acting Switch on the controller Parameter K1 is equal to 100 value by default Parameter K1 is equal to 100 value by default K1 1 5000 Parameter K1 is equal to 5000 Parameter K1 is equal to 100 value by default Switch off and on the cont...

Page 82: ...ond axis number of the same controller will be automatically incremented by one If there are two or more controllers on the same TEB ring with the same axis number the BAD NODE TEB ERR error M64 59 will appear This error will be generated only on the duplicated node s and its their LED TEB OK will blink 12 1 2 Selection with command AXI The AXI AXIs command is used to change an axis number This co...

Page 83: ...mber the BAD NODE TEB ERR error M64 59 will appear This error will be generated only on the duplicated node s and its their LED TEB OK will blink 12 1 3 Serial number and firmware version The SER command SERial number which is an alias of monitoring M73 is used to know the serial number of the position controller It can be requested by the AXI command before changing the axis number The VER comman...

Page 84: ...ter is used by the motor commutation look up table LKT The sinusoidal currents sent in the motor phases are calculated by the current reference generator with the LKT refer also to 12 7 1 4 With linear motors K54 1 Motor phase and force inversion parameter K56 It enables the permutation by software of the connection of the motor phases as well as the sign of the motor force If the phases have been...

Page 85: ...r of dpi motor revolution period With linear encoder number of dpi motor magnetic period K68 Encoder reading way inversion 1 2 4 0 1 2 Analog 1 Vptp or EnDat 2 1 encoder reading way is inverted TTL encoder reading way is inverted Inverts force reference from MACRO DSCDM and DSCDL K70 Encoder sine offset correction Correction of the sine signal offset K71 Encoder cos offset correction Correction of...

Page 86: ...encoder interpolation factor 12 3 1 Analog encoders K79 0 The analog encoders 1Vptp can determine exactly the motor position thanks to two sinusoidal signals with a phase shift of 90 sine and cosine The period of these signals varies according to the type of encoder used from 128 nm to 32 mm The smaller the period is the bigger the precision is These signals must be calibrated to be optimized so a...

Page 87: ...e possible to correct a too weak amplitude with the software It is possible to decrease a signal amplitude at best by a factor 2 with the value 16384 The value 32767 does not correct any encoder signals amplitude Remark During offset and amplitude corrections manual research it is advised to start first disabling individually every signal offset and then to correct the amplitudes in order to adjus...

Page 88: ...torings M40 and M41 allows the user to monitor the sine and cosine signals of the analog encoder refer to 12 3 7 for more information Amplitude correction K72 K73 The amplitude correction only allows the decrease of the signal amplitude and never the increase of it That is why the encoder head tuning is highly important because it will not be possible to correct a too weak amplitude with the softw...

Page 89: ...er K11 Parameter K11 filter is taken into account only when the real speed is equal to 0 As soon as the real speed is different from 0 parameter K11 filter is deactivated Remark The difference between K79 1 and K79 7 is the type of the secondary encoder With K79 1 the secondary encoder which can be used only on a DSC2P and DSC2V is a 1 Vptp analog encoder With K79 7 which can be used only on a DSC...

Page 90: ...O units is The x value depends on the type of position controller Remark To convert ISO units m s f e and ETEL units upi f e refer to 19 K66 4 allows the user to display on the scope the amplitude of the encoder s analog signals as well as the position of the index Available on DSC2P DSC2V DSCDP DSCDL DSCDM Available on DSC2P DSC2V DSCDP DSCDL DSCDM K Name Comment K242 Position multiplication fact...

Page 91: ...to 12 9 for more information If K145 2 or 3 parameters K41 K42 K47 and K58 are taken into account refer to 12 9 for more information Available on DSC2P DSC2V DSCDP DSCDL DSCDM Valid for K Name Value Bit Comment Units All motors K30 Motor position tracking error limit When the tracking error is K30 the controller generates the TRACKING ERROR error M64 23 dpi rdpi K31 Motor real speed limit When the...

Page 92: ... enough to burn the motor This i2t energy limit is given by parameter K85 When the instantaneous current value increases over the value of parameter K84 an integrator is activated As long as the current stays over the value of parameter K84 it is integrated but when it passes under it the integrator empties progressively If the integral value is higher than parameter K85 the controller displays an...

Page 93: ...formation concerning the system configuration has to be known Motor Im peak Motor peak current A this is also the max current of the application Im continuous Motor continuous current A t Maximum time at Im peak before an i2 t error s Iover current Ultimate motor current value for a motor OVER CURRENT error A Im peak A 20 Controller Imax controller Maximum current of controller A M82 100 Parameter...

Page 94: ...r to another Here is a table giving the number of digital outputs present on each position controller refer to the corresponding Hardware Manual for more information Caution On the DSCDM the digital inputs and outputs are on the same pin The pin must be selected in order to have an input or an output It is NOT possible to have both on the same pin To use a pin as a digital input the bit correspond...

Page 95: ...igital input the bit corresponding to this input MUST be equal to 0 in parameter K171 otherwise the hardware of the controller and the one of the user can be damaged Remark For a dual axes controller DSCDP DSCDL and DSCDM if parameter K141 is modified the SAV command must be executed on both axes DIN1 2 9 and 10 are standard inputs then be careful when choosing the type of temperature sensor digit...

Page 96: ...mment Units K146 Vpower undervoltage warning 0 0 Disables test on Vpower Warning activated Vpower level is tested If Vpower V 100 K146 the controller generates a W UNDER VOLTAGE warning M66 10 V 100 K147 Vpower undervoltage error 0 0 Disables test on Vpower Error activated Vpower level is tested If Vpower V 100 K147 the controller generates an UNDER VOLTAGE error M64 9 V 100 K148 Vpower overvoltag...

Page 97: ... controller F7 fuse7 DSP Sharc K value s Error may be due to a bad setting of the listed parameter s PS x Error may be due to the power supply DSO PWS TEB x Error may be due to the Turbo ETEL Bus communication protocol EBL2 x Error may be due to the ETEL Bus Lite 2 communication protocol Other Error may be due to the reason described in the cell SW Res x It is possible to reset the error by softwa...

Page 98: ...der control RSD 1 255 The board is reset and the motor position is erased A new initialization has to be redone in order to find again the absolute motor position 12 5 3 Clear errors CPE CPE command Clear Pending Error resets to 0 the pending error bit when required When an error happens the execution of a sequence goes on automatically on label n 80 if it exists and an internal bit of the control...

Page 99: ...aged by a software and a voltage is present at the motor s terminal continuous alternating switching of the transistors GND Vpower Due to this voltage it is strictly forbidden to touch the system controller cable and motor as long as the mains is not switched off Bit 4 of parameter K32 is used to enable or disable the braking mode refer also to 12 9 for more information about parameter K32 Once en...

Page 100: ...ich are refer to 12 10 3 for more information a final position to reach defined by parameter K210 or the POS command which is an alias of parameter K210 the maximum speed defined by parameter K211 or the SPD command which is an alias of parameter K211 the maximum acceleration defined by parameter K212 or the ACC command which is an alias of parameter K212 the jerk time defined by parameter K213 or...

Page 101: ...d measurements can vary in a range of 10 from an phasing to another especially with an phasing by pulses Of course this would influence the system s performances in the same range To avoid this problem before the first initialization we have to make a phase shift adjustment A phase shift adjustment is done during the first Power On of the motor This command will do a phasing then an homing and wil...

Page 102: ...h to allow displacements However if the phasing is not correctly done it is possible that the motor cannot give the maximum force Sometimes the motor gives no force at all or worse it gives a maximum force but in the wrong direction In those cases we will talk about phase shift adjustment and in the last case about an inverted phase shift adjustment Next paragraph will show you the phase shift adj...

Page 103: ... ve but as in our case the force F provided by the motor is opposed to the reference force Fc the motor will move in the direction that tends to increase ve rather than to decrease it 12 7 1 4 Commutation look up table parameters The currents sent in the motor phases have a sinusoidal form These types of current are calculated with the current reference generator It is important to remember that t...

Page 104: ...y constant current Parameters K92 K93 K94 and K97 concern only the phasing by constant currents Available on DSC2P DSC2V DSCDP DSCDL DSCDM K Name Value Comment K90 Phasing mode and commutation 0 1 2 3 4 5 6 No phasing with 1 ph motor or EnDat 2 1 encoder Phasing by current pulses 3 phase ironcore motors only DSCDL Phasing by constant current in the motor phases Phasing with digital Hall effect sen...

Page 105: ...o 64mm In fact during a phasing distinct constant current are sent into each phase of the motor instead of a single current in a single phase In this case the principle remains exactly the same but the stable and unstable balance points are shifted with respect to the magnet pole according to the ratio between the injected currents If a motor has reached an unstable balance point it means that was...

Page 106: ...mmediately applied to the phases but it is linearly increased until the maximum value set by the parameter K92 is reached The time elapsed since the start of the phasing determines the end of the phasing by constant current It is determined by parameter K94 and is expressed in seconds Pointers position in the LKT Pointers position in the LKT 2048 1 magnetic period start target end target P P K93 K...

Page 107: ... 12 7 2 3 Phasing with digital Hall effect sensor It is possible to interface digital Hall effect sensor only with three phase motors Three digital inputs H1 H2 and H3 specific or not can be used to connect a digital Hall effect sensor except on the DSCDL if K90 3 4 or 5 The digital Hall effect sensor is connected to these 3 inputs refer to the corresponding Hardware Manual for more information Ca...

Page 108: ... the reference mark is found then the position encoder is used with the value stored in parameter K53 phase shift adjustment Caution When parameter K90 or K68 is modified the command AUT 10 must be executed to re calculate parameter K53 K90 4 Phasing with digital Hall effect sensor mode 2 The commutation is done with a digital Hall effect sensor up to the first edge and with the position encoder u...

Page 109: ...90 5 Phasing and commutation with digital Hall effect sensor only The commutation is only done with the digital Hall effect sensor Caution When parameter K90 or K68 is modified the command AUT 10 must be executed to re calculate parameter K53 Remark Refer to the corresponding Hardware Manual for more information about the connection of the Hall effect sensor Available on DSC2P DSC2V DSCDP DSCDL DS...

Page 110: ...arameter K101 is 1000 incr 1 sec When K101 0 the total phasing duration is about 60ms but a short phasing fits only a certain type of application and is not 100 reliable with most systems When K90 6 three possible phasing errors may occur INITIALI LOW CUR M64 153 this error appears when the movement is too small during the phasing process The value of the current parameter K91 is too low and shoul...

Page 111: ...culated when executing a phasing by constant current Then the motor moves of a distance equal to 45 of the electric period Remark During the AUT command the TIMEOUT AUT CMD error M64 156 will appear if the motor did not move after the time defined by parameter K94 or if no value has been found for parameter K56 Parameter K53 phase shift adjustment is first calculated executing a phasing defined by...

Page 112: ... 2 2 to see the graphical representation of the process If bit 0 1 Step 1 The look up table pointer moves from parameters K97 to K93 during 2 3 of the time defined by parameter K94 Step 2 The process waits 1 3 of the time defined by parameter K94 Step 3 First calculation of the position value of the motor s coil towards the magnet Step 4 Move away from parameter K93 in the same direction from a va...

Page 113: ...n loop must be correctly regulated because the motor is under control The PWR command must be executed each time the motor is switched on Remark If parameter K33 contains the value 0 the power is only supplied if the digital input DIN1 is set to 1 If not the controller enters in POWER OFF ON error M64 26 When the power is cut off with the PWR 1 0 command the motor position keeps on being calculate...

Page 114: ...n and K61 1 For mono reference mark encoders or for a mechanical end stop home switch or limit switch homing the motor moves until it reaches the reference mark and places there the 0 machine Then the controller also adds up the value contained in parameter K45 upi The motor does not exactly stop on the reference mark Calculation of the constant phase shift adjustment for each setting The phasing ...

Page 115: ...er On To reset the error when K61 1 the following procedure is recommended Reset the error with RST axis command Send the command PWR axis 1 Move the motor out of the limit switch with POS axis command To reset the error when K61 1 the following procedure is recommended Clear bit 0 of K32 otherwise during the next Power On the same error will come back Reset the error with RST axis command Send th...

Page 116: ...parameter K60 K60 0 is kept as the limitation of the force torque and depth 0 of K31 K31 0 as the value of the overspeed If K178 2 0 and K179 2 0 state 0 of DIN2 activates the limit depth 3 of parameter K60 K60 3 is kept as the limitation of the force torque and depth 3 of K31 K31 3 as the value of the overspeed Bit 5 of K32 0 The limitation is not activated depth 0 of parameter K60 K60 0 is kept ...

Page 117: ...ones before it the speed and the acceleration takes parameter K205 CAM command into account refer to 13 3 7 for more information 12 9 1 K45 parameter Once the homing procedure done according to parameter K40 or the absolute position known in case of EnDat 2 1 encoder the position of the 0 machine is determined and modified by an offset given by parameter K45 to place the origin position in the req...

Page 118: ...ystem provided with limit switches to detect stroke ends Available on DSC2P DSC2V DSCDP DSCDL DSCDM K40 Direction Mechanical end stop Home switch DIN2 Limit switch DIN K58 0 Limit switch L1 L2 K58 1 Limit switch L H K58 2 Mono ref mark encoder Multi ref mark encoder Remark 0 OK 1 OK 2 OK 3 OK 4 OK OK OK 5 OK OK OK 6 OK X X X 7 OK X X X 8 OK 9 OK 10 X X X OK 11 X X X OK 12 OK 13 OK 14 X OK 15 X OK ...

Page 119: ... The trip is defined by parameter K46 21 OK The trip is defined by parameter K46 22 Immediate homing The actual position is the ref mark 24 OK The trip is defined by parameter K46 25 OK The trip is defined by parameter K46 26 X OK The trip is defined by parameter K46 if mechanical end stop 27 X OK The trip is defined by parameter K46 if mechanical end stop 28 33 Reserved for future use 34 X OK The...

Page 120: ...found the mechanical end stop the motor moves back the distance given by parameter K47 K40 2 Homing on a home switch with a positive movement To have the home switch always in the same position the motor must find it when moving in the determined direction There are three possibilities 1 The motor is on the left of the home switch at the beginning of the homing It moves and directly meets the home...

Page 121: ...SCDM is used with K40 2 and 3 the HOME NOT POSSIBLE error M64 69 will appear if bits 2 and 3 of parameter K58 are equal to 0 K40 3 Same as K40 2 but with a negative movement K40 4 Homing on a limit switch with a positive movement After having found the limit switch the motor moves back the distance given by K47 If at the beginning of the homing the motor is on the positive limit switch the motor m...

Page 122: ...f parameter K58 are equal to 0 while bit 3 1 K40 7 Same as K40 6 but with a negative movement K40 8 Same as K40 2 but with a mono ref mark with positive movement As the width of a ref mark is very small with respect to a home switch the motor braking distance is big enough to move away from the ref mark in case 3 So parameter K48 can be set to 0 Only case 3 is shown K40 9 Same as K40 8 but with a ...

Page 123: ...where a reference mark is detected by the controller only if DIN2 input is set to 1 Remark When a DSCDM is used with K40 16 17 18 and 19 the HOME NOT POSSIBLE error M64 69 will appear if bits 2 and 3 of parameter K58 are equal to 0 The same error will occur with K40 18 and 19 if bits 0 and 1 of parameter K58 are equal to 0 while bit 3 1 K40 20 Homing with a multi reference mark The motor moves the...

Page 124: ...me as K40 24 but with a negative movement K40 26 Homing on a mono reference mark with a positive movement There are two possibilities 1 The motor is on the left of the index at the beginning of the homing It moves and meets the index 2 The motor is on the right of the index at the beginning of the homing It moves up to the mechanical end stop and then comes back the distance given by parameter K46...

Page 125: ...direction until the reference mark is found Once it is found a movement in the negative direction of the distance of parameter K48 is done and then another movement in the positive direction is done up to the reference mark If the limit switch is found before the reference mark the SING IDX SEARCH error M64 62 appears Remark If K58 2 when K40 34 the HOME NOT POSSIBLE error M64 69 will appear inste...

Page 126: ...nning of the homing It moves up to the mechanical end stop and then comes back the distance given by parameter K46 If the index is not found during the return the SING IDX SEARCH error M64 62 appears If the home switch is found in the wrong direction the motor moves the distance given by parameter K48 in the opposite direction of the homing to leave the home switch parameter K48 must be bigger tha...

Page 127: ...d stop Once found the motor moves back the distance given by parameter K47 and finds the reference mark with the distance given by parameter K46 If the index is not found within the distance given by parameter K46 the SING IDX SEARCH error M64 62 appears the distance given by parameter K46 must be smaller than the one between both mechanical end stop K40 39 Same as K40 38 but with a negative movem...

Page 128: ... 0 for instance to place the motor in a precise pre defined position before starting the SET command 12 10 2 Linear or rotary movement Parameter K202 also available via the MMD alias defines the movement type K202 1 or MMD 1 defines a linear movement S curve movement K202 17 or MMD 17 defines a rotary movement rotary S curve movement Remark These two movements are available only with the standard ...

Page 129: ... the reference mark WTM 1 Waits until the movement is finished POS 1 0 The motor moves exactly on the reference mark WTM 1 Waits until the movement is finished SET 1 100000 0 machine definition at 100000 upi of the reference mark position MMD 1 1 Selects S curve movement ACC 1 500000 Definition of amax SPD 1 200000 Definition of vmax JRT 1 200 Definition of the jerk time 200x166 67µs 33 2 ms for t...

Page 130: ...hese parameters are also used for advanced rotary movements types refer to 13 3 if you are an advanced use 12 10 4 1Rotation way parameter K209 Caution The following condition must be met so that a rotary motor works correctly 12 10 4 2Position counter s limits parameter K27 A maximum limit is required for the position counter refer to 12 4 1 For a rotary motor revolving at constant speed Availabl...

Page 131: ...position measurement versus time will be Remark It is recommended to set parameter K27 to the value corresponding to one complete machine cycle If a position target is given over the limit Xref K27 it is brought back to a value 0 Xfinal K27 Example 1 Xstart 15000 POS 1 110000 or POS 1 95000 means Xref 110000 K27 40000 Xfinal 30000 brought back to a value K27 Example 2 Xstart 15000 POS 1 90000 or P...

Page 132: ...splay a software display indicating the error and warning messages In a normal display mode K66 1 the controller s status appears on the LCD display When the controller is switched on it executes a self test SELFTEST and the boot version 01 00B eg appear 1 Then the axis number is given from the boot 2 Then briefly the type of controller 3 Then the controller tells if there is an optional board or ...

Page 133: ...er firmware version Number of the firmware version installed in the controller M73 SER Controller serial number Controller s serial number M76 Optional board type 0 4 7 16 24 32 Optional board installed in the controller DSCDM No optional board in the controller DSO MAC Macro field bus interface DSCDL DSO HIO Extension board with 8 digital I O DSO CAN CAN field bus interface with CANetel protocol ...

Page 134: ...ve smooth current changes The current is injected into the motor as soon as the motor is in Power On PWR axis 1 The moving bit bit 4 of SD1 refer to 13 11 1 for more information is set to 1 during the movement and the stabilization time In external reference mode K61 1 refer to 13 2 for more information only parameter K60 is taken into account and the user has to change its value during the moveme...

Page 135: ...parameter K61 which can be used are Standard reference mode K61 1 refer to 12 6 for more information Remark The regulation loop principle is identical with a three phase stepper motor Speed reference mode K61 3 refer to 13 2 1 for more information Remark The regulation loop principle is identical with a three phase stepper motor x Integrator Limit 1st order filter Current in phase 1 Phase 1 Phase ...

Page 136: ...en by parameter K77 must be equal to 0 refer to 13 10 for more information Encoder type selection given by parameter K79 must be equal to 20 21 23 or 24 refer to 12 3 for more information Current loop parameters given by parameters K80 K81 and K82 refer to 13 1 2 2 and 13 1 2 3 for more information Current limits given by parameters K83 K84 and K85 refer to 12 4 2 for more information Motor phase ...

Page 137: ...der Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 X e Position error X c Position reference V c Speed reference F c Force reference I c Reference of current X Motor real position V Motor speed F Force supplied by the motor I 1 Current in phase 1 I 2 Current in phase 2 Set point generator sti refer to 4 Regulator fti refer to 4 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81...

Page 138: ...the low motor s force needs a too long time to reach a far position During that time the integrator reaches a high value When the position is reached Fc should invert its direction but it is impossible because the integrator is full To avoid the problem parameter K5 will subtract a value from the integrator s input parameter K4 but only when parameter K60 is active state regulator saturated Parame...

Page 139: ...ameter K23 corresponds to the phase shift defined for the pointers The formula below gives the value of parameter K23 according to the requested phase shift expressed in degrees and the motor speed Monitoring M11 is the motor real speed The application nominal speed will be chosen Remark With a direct drive the quality of the current loop has to be very good otherwise the noise due to the transist...

Page 140: ...put filter Force reference filter 1st order of the position regulator output K82 Current filter Current output filter 1st order of the current regulator K Name Comment K104 Force reference output filter Parameter of the first digital filter K105 Force reference output filter Parameter of the first digital filter K106 Force reference output filter Parameter of the first digital filter K107 Force re...

Page 141: ...t Limit Limit 1 st order filter 1 st order filter Current in phase 1 Encoder Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81 K82 K60 K9 K114 K115 K116 K117 K118 K104 K105 K106 K107 K108 K6 K4 K1 K2 K23 K5 K21 K20 Motor commutation look up table Position calculator K8 Advanced filters K3 Limit K60 X X c X e V c a c M29 M20 M21 M3...

Page 142: ...eter K50 and the scaling mapping correction into account upi rupi M10 Theoretical velocity Theoretical velocity Vc dsi rdsi M11 Real velocity Real velocity V dsi rdsi M14 Theoretical acceleration Theoretical acceleration Ac dai rdai M20 Real current in phase 1 Real current in phase 1 ci A M21 Real current in phase 2 Real current in phase 2 ci A M22 Real current in phase 3 Real current in phase 3 D...

Page 143: ...ult Caution The external position reference must be given in user position increments upi the external speed reference in user speed increments usi the external force reference in force increments foi and the external torque reference in torque increments toi The SET command is disabled When one of the external reference modes is used the user must set first parameters K220 to K224 before paramete...

Page 144: ...ew millimeters is wished After that first multiplication the value contained in parameter K223 is subtracted to the external reference This offset moves the origin according to the user s needs It is then multiplied by It tunes the reference amplitude Unlike the first operation which only increases the amplitude signal it can decrease it K224 224 and invert the reference sign K224 0 The following ...

Page 145: ... position reference K213 Feedforward estimator Force calculator Motor position Motor position x Motor speed v F force supplied by the motor Integrator Integrator Limit Limit Limit 1 st order filter 1 st order filter Current in phase 1 Encoder Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81 K82 K60 K9 K114 K115 K116 K117 K118 K10...

Page 146: ...ans that a dual axes controllers DSCDP DSCDL and DSCDM does not take the interpolation point at each cycle of the DSMAX unlike the DSC2P DSC2V The trajectory with a dual axes controller is then not as precise as with a DSC2P DSC2V The advantage of the ITP 1 mode is the possibility to use the encoder scaling mapping refer to 13 13 for more information and the filter set by parameter K600 refer to t...

Page 147: ...t order filter 1 st order filter Current in phase Encoder Phase 1 Phase 3 Phase 2 Motor Speed estimato 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81 K82 K60 K9 K114 K115 K116 K117 K118 K104 K105 K106 K107 K108 K6 K4 K1 K2 K23 K5 K21 K20 Motor commutation look up table Position calculator K8 Advanced filters K3 Limit K60 X X c X e V c a c DSMAX Feedforward estimator DSMAX ...

Page 148: ...l position reference K213 Feedforward estimator Force calculator Motor position Motor position x Motor speed v F force supplied by the motor Integrator Integrator Limit Limit Limit 1 st order filter 1 st order filter Current in phase 1 Encoder Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81 K82 K60 K9 K114 K115 K116 K117 K118 K1...

Page 149: ...er to 20 for more information Set up external force reference Force calculator Motor position Motor position x Motor speed v Set point generator F force supplied by the motor Integrator Integrator Limit Limit Limit 1 st order filter 1 st order filter Current in phase 1 Encoder Phase 1 Phase 3 Phase 2 Motor Speed estimator 1 st order filter x2 Current loop 1 2 or 3 phases Fc Ic I 1 I 2 K80 K81 K82 ...

Page 150: ...e and parameter K229 the time Look up table movement sti Rotary S curve sti movement Rotary calculated mvt with predefined profile Parameter K230 gives the profile and parameter K229 the time infinite rotary movement Rotary look up table movement K201 MMC Concatenated movements selection 0 1 2 3 Concatenated movements disabled Concatenated movements for MMD 1 17 Infinite back and forth movement fo...

Page 151: ...6 for more information 13 3 1 3 Movement definition MMD Command MMD MoveMent moDe is an alias which chooses the requested type of movement If MMD command is not executed before starting a movement the S curve movement will be selected by default Example MMD 1 1 Select S curve movement MMD 1 24 Select Rotary infinite movement Available on DSC2P DSC2V DSCDP DSCDL DSCDM Available on DSC2P DSC2V DSCDP...

Page 152: ...he movement s maximum stroke should bear this value to have the highest possible resolution with the LKT movement Position during the movement is given by the formula So the LKT max value for the max stroke will use the whole LKT resolution 13 3 2 3 LTN and LTI commands To realize a look up table movement the movement must first be selected with the MMD command Then the requested table is selected...

Page 153: ... x y y not taken into account only starts the LKT movement STA STI x y k y value in a depth to start a movement k mask of bit s Example The following example shows how to realize a look up table movement with a total movement of 200000 increments in 2 5s MMD 1 10 Select the look up table movement LTN 1 3 Select the look up table movement LKT 3 is user defined LTI 1 15000 The movement duration is 1...

Page 154: ...ion is brought back to 0 Thus the motor position is never bigger than parameter K27 If the value 20000 is inserted in parameter K27 1 2 a turn the motor position measure versus time would likely be The movement undertaken before the distance measured has been reset is called a cycle In the case above a cycle corresponds to half a turn The size of a cycle definition depends on the application Remar...

Page 155: ... the acceleration defined with ACC command in parameter K212 POS 1 15000 The rotary movement stops with the acceleration defined with ACC in position 15000 If this position has already been passed in the present cycle or if the programmed acceleration is not big enough to reach it the motor will stop there during the next cycle 13 3 3 2 Stopping an infinite rotary movement a Using BRK command Note...

Page 156: ...nt motor position and the position to reach X1 is too small to stop the motor with the acceleration in parameter K212 negative deceleration the motor will make one more turn to stop correctly Step 1 POS x X Step 2 Step 3 current pos pos to reach current position pos to reach X1 X t new position to reach current position pos to reach start of the deceleration K212 X t current pos position reached p...

Page 157: ...movement cannot be concatenated with MMC 1 The movement stops either when the target has been reached or when a command such as POS STP or BRK has been used If such a command is used the position is not lost and the movement can start again from this point 13 3 4 2 Rotary movement calculated with a predefined movement MMD 19 This type of movement works as the previous one with MMD 3 but a position...

Page 158: ... the different values of parameter K230 MMD 3 or 19 K230 0 Triangular movement the graph represents the theoretical speed and position K230 1 S curve movement the graph represents the theoretical speed and position K230 2 Sine modified movement the graph represents the theoretical speed and position K230 3 Real sine movement the graph represents the theoretical speed and position ...

Page 159: ...vailable on DSC2P DSC2V DSCDP DSCDL DSCDM Command format Comments on commands p1 values depth p2 values p2 bit Comments on bits mask p2 STA axis p1 p2 STI axis p1 p2 Starts a movement by using the movement parameters of the sub indexes depth 1 to 3 specified by P1 and P2 is a mask of the movement parameter to be loaded Synchronous start sti of a movement on an input by using the movement parameter...

Page 160: ...crements STA 1 1 7 Starts a movement with the values contained at the depth 1 The motor moves to the position 200000 with an acceleration of 700000 and a speed of 400000 increments Remark STA and STI commands copy at the depth 0 the POS SPD ACC and JRT values contained at the depth where the movement will be executed Therefore each STA or STI execution will see the depth 0 values crushed In the ab...

Page 161: ...f digital inputs present on each position controller refer to the corresponding Hardware Manual for more information Caution On the DSCDM the digital inputs and outputs are on the same pin The pin must be selected in order to have an input or an output It is NOT possible to have both on the same pin To use a pin as a digital input the bit corresponding to this input MUST be equal to 0 in parameter...

Page 162: ...2 the status will be DOUT2 1 bit 1 value 2 and all the other DOUTs 0 Parameter K164 time limit for STI start The ISO time is for the DSC2P DSC2V K164 x 166 67µs Thus K164 max value 100 sec DSCDP DSCDL and DSCDM K164 x 500µs Thus K164 max value 300 sec STI command timing STI use example The user wants the movement to begin when DIN1 0 and DIN10 1 Furthermore the user wants DOUT2 to move to 1 and DO...

Page 163: ...llows to realize this function and even more since also speed and acceleration can be changed during the movement When concatenated movements mode is selected MMC 1 1 and a second movement starts the controller immediately calculates the new speed trajectory and the motor switches from one movement to the other without going through the 0 speed The first movement does not end and the controller im...

Page 164: ...epth 0 SPD 1 200000 Defines vmax at the depth 0 ACC 1 1 700000 Defines amax at the depth 1 SPD 1 1 400000 Defines vmax at the depth 1 POS 1 1 200000 Defines xfinal at the depth 1 The motor does not move Only the POS command at the depth 0 can move the motor POS 1 100000 The motor moves to the position 100000 STA 1 1 The memorized movement at the depth 1 is started If the first movement is not fini...

Page 165: ...ible operators The value programmed with the CAM command remains always active In order to come back to the basic values the command CAM 1 100 must be entered Example MMD 1 1 S curve movement selection ACC 1 500000 Definition of amax SPD 1 200000 Definition of vmax POS 1 300000 The motor moves to the position 300000 with an acceleration of 500000 and a speed of 200000 CAM 1 20 Global diminution to...

Page 166: ...ase of emergency Caution The sudden deceleration set with the STP command can damage the mechanical parts of the system Note BRK and STP commands do not stop the sequence thus the movements defined in a sequence will be executed 13 3 10 Parameters defining units scales Parameter K50 defines the unit scale movements Parameter K50 The POS SPD and ACC commands are used respectively to determine a pos...

Page 167: ...ystem s position speed and acceleration resolution However the controller s internal calculations the regulator e g do not include this parameter and the resolution is not decreased Parameter K77 refer to 13 11 determines the smallest distance an analog encoder resolution can measure this is parameter K69 for TTL encoders Increasing parameter K77 or K69 allows also to diminish gain values in the p...

Page 168: ...on because the tangential speed is constant In zone 3 there is a negative tangential acceleration deceleration amax Therefore the mobile can slow down and reach its aim without speed A trapezoidal movement is entirely defined by the length of the segment to reach set up by the controller with the POS command the maximum tangential speed Vmax given with the SPD command and the tangential accelerati...

Page 169: ... equations of the S Curve movement As the S curve movement uses 3rd degree equations it needs one more parameter than the trapezoidal movement to be defined This parameter is called jerk time which is programmed with the JRT command and defines the additional time number of times of sti refer to 4 that the S Curve movement will last with respect to a trapezoidal movement Example If a movement of 1...

Page 170: ...nput is deactivated The digital inputs bits values are as follows Example A simple conversion in binary of the value shown by DIN in hexadecimal is enough to know which digital inputs are activated and deactivated In the first line of the above mentioned example DIN1 and DIN2 are activated DIN 1 Reads the digital inputs state The controller gives the value 3 in hexa because 0x3 in binary is 000000...

Page 171: ...itoring M55 in hexadecimal is enough to know which digital inputs are activated and deactivated In the first line of the above mentioned example XDIN5 is activated M55 1 Reads the digital inputs state The controller gives the value 0x10 in hexadecimal because 0x10 in binary is 00010000 and each bit represents one of the eight digital inputs from right to left In the second line of the above mentio...

Page 172: ...or more information about the syntax and the possible operators A bit equal to 1 means that the corresponding digital input is activated and equal to 0 means that the corresponding digital input is deactivated The digital inputs bits values are as follows The DOUTs state can be read with monitoring M171 which takes parameters K171 and K37 into account Example A simple conversion in binary of the v...

Page 173: ...0 means that the corresponding digital input is deactivated The digital inputs bits values are as follows Remark On the DSCDP and DSCDL if parameter K172 of one axis is changed K172 of the other axis will be automatically changed Example In the first line of the above mentioned example XDOUT1 to 8 are activated K172 1 255 Activates XDOUT1 to 8 In the second line of the above mentioned example XDOU...

Page 174: ...ure Remark If parameter K159 inverts the digital inputs the rising edges become falling edges and vice versa DIN1 cannot be inverted by parameter K159 if K33 0 because DIN1 is a safety input Parameter K159 does not modify monitoring M50 It is only for the position capture test that the digital inputs are inverted Parameter K182 allows the user to activate the position capture on the digital inputs...

Page 175: ...ing to the digital inputs which must be inverted Set to 1 the bits of parameter K178 corresponding to the digital inputs which must be detected on a rising edge Set to 1 the bits of parameter K179 corresponding to the digital inputs which must be detected on a falling edge Set parameter K182 to 1 to execute a new position capture The position controller monitors the digital inputs according to par...

Page 176: ...lating the voltage from the values contained in monitoring M51 Example AI1 1 Reads the voltage on the analog input AIN For example if the controller gives the value 1718 increments use the above mentioned formula to calculate the corresponding voltage measurable on AIN here 1718 increments corresponds to 8 39V for a DSC2P or DSC2V and 0 52V for a DSCDL 13 6 1 2 Analog inputs on DSO HIO The DSO HIO...

Page 177: ... command enables the user to allocate a defined value defined voltage to the XAOUT1 XAOUT2 XAOUT3 and XAOUT4 analog outputs of the DSO HIO This command is an alias of parameter K173 Remark For the DSCDP and DSCDL if parameter K173 is modified the SAV command must be executed on both axes XAOUT alias use the same syntax than parameter K173 Refer to 6 3 for more information about the syntax and the ...

Page 178: ...of 50 inc Analog outputs with source register mode The user can allocate to the XAOUT1 XAOUT2 XAOUT3 and XAOUT4 analog outputs of the DSO HIO the values of any register X K or M present in the controller To do so the following commands or parameters must be used the 4 depths of the parameters correspond to the 4 analog outputs K Alias Name p1 Comment K156 DAO depth axis p1 Analog output offset 327...

Page 179: ...me monitoring mode The source register is user variable X The source register is a parameter K The source register is a monitoring M The 4 depths of the parameter correspond to the 4 analog outputs K151 MSN depth axis p1 Register index 0 255 Indicates the source register number The 4 depths of the parameter correspond to the 4 analog outputs K158 ASE depth axis p1 Source register axis 0 1 Indicate...

Page 180: ...rt the signal with negative values Example with K154 1000 K155 223 K156 100 K157 214 and a DAC with an offset of 50 inc M Name Comment M173 Analog output1 status Gives the value on the analog output 1 M174 Analog output2 status Gives the value on the analog output 2 M175 Analog output3 status Gives the value on the analog output 3 M176 Analog output4 status Gives the value on the analog output 4 M...

Page 181: ...en by parameter K38 in sti without interruption This In window bit bit 5 of monitoring M60 SD1 is set to 1 when the motor reaches the position window and stays within the tolerance during the time defined by parameter K38 This bit is set to 0 during the next movement with POS STA STI or WTW axis 2 command Remark When K38 0 the In window bit bit 5 of monitoring M60 is set to 1 at the end of the the...

Page 182: ...on conditions 2 of the valid RTI are tested This test proceeds increasingly from the lowest line number of the RTI table where they are stored refer to 13 8 1 1 As soon as the test condition is true the RTI is activated independently from the fact that the test condition remains true or becomes false If the RTI is enabled 3 the RTI is executed 4 Definitions 1 Valid A RTI is declared valid by setti...

Page 183: ... for more information Elements 8 to 11 are all included in the element 0 They are redundant 13 8 1 3 Y Axis number Axis number values Y 0 to 30 13 8 1 4 Z Elements values The possible values are different for every element Available on DSC2P DSC2V DSCDP DSCDL DSCDM Type Label Mode Status Param 1 Param 2 Param 3 Param 4 RTI0 table line 0 R0 8 Y Z R0 9 Y Z R0 10 Y Z R0 11 Y Z R0 1 Y Z R0 2 Y Z R0 3 ...

Page 184: ...led by the RTI Z 2 Keep the commands wait All the commands wait previously launched are memorized but not executed Then after a REI command the commands wait previously memorized are restored and executed 13 8 2 4 Element Status Access Reading command R0 11 1 Z 1 RTI is valid Z 2 RTI is active Z 4 RTI is enabled Z 8 Wait for the end of commands wait or come back in the sequence before the commands...

Page 185: ...nts are structured R0 8 1 40 Type of RTI Simple clock R0 9 1 50 Jumps to label 50 R0 10 1 1 Clears the commands WAIT R0 1 1 0x0001000B X11 variable to increment R0 2 1 0x0001000A X10 variable as a limit R0 3 1 0x020200AB Bit 2 from digital outputs R0 4 1 1 Digital outputs set to 1 Byte Weight Comment 0 LSB Register index LSB 1 Register index MSB 2 Type of register 1 type X 2 type K 3 type M 3 MSB ...

Page 186: ...e RTI process RID axis Sets the controller in the RTI disable mode All valid RTI are always tested but are not executed RIE axis Sets the controller in the RTI enable mode If some RTI have been activated during the disable period they are directly executed REI axis Executes the RIE and RET commands within one instruction The sequence returns to the line which follows the last executed line before ...

Page 187: ...NO YES YES NO YES YES NO NO RTI to be processed active RTI to be processed waiting for a driver command end Activation condition true for RTI to be processed Driver mode RTI enable RTI to be processed enable RTI to be processed is waiting for a driver command end Is the driver executing a command RTI to be processed active RTI to be processed ask the sequence to jump to a label RTI to be processed...

Page 188: ...rmat P3 Parameter 3 description Parameter 3 coding format P4 Parameter 4 description Parameter 4 coding format Type 2 Activation condition Always active Executing function Copies the register bit defined by P1 in another register bit defined by P2 according to P3 mode Parameters Function Format P1 Bit source Bit description BD P2 Bit destination Bit description BD P3 Mode 0 Normal 1 bit inversion ...

Page 189: ...dge 3 Rising and Falling edge 4 State 0 8 State 1 0 at least 1 bit of the mark has changed 32 all bits of the mask have changed P4 Bit to modify Bit Description BD Type 20 Activation condition Comparison of P1 register with P2 immediate value If the result of the comparison fulfils the condition requested in P3 Executing function Sets the bit defined in P4 to 1 Parameters Function Format P1 Regist...

Page 190: ...1 P2 5 P1 P2 6 P1 P2 128 No test 129 P1 P2 130 P1 P2 131 P1 P2 132 P1 P2 133 P1 P2 134 P1 P2 edge edge edge edge edge edge edge state state state state state state state P4 Bit to modify Bit Description BD Type 22 Activation condition Always active Executing function If P2 P1 P3 then P4 1 otherwise P4 0 Parameters Function Format P1 Register to test Register Description RD P2 Inferior window limit...

Page 191: ... Description BD P4 P3 modification mode 0 No modification of P3 1 P3 is set to 1 when P1 P2 2 P3 is set to 0 when P1 3 P3 is toggled state state Type 50 Activation condition always active Executing function Break control especially in applications with vertical motors The output defined by P3 is changed to 1 if the controller is not in error M60 bit 10 AND the controller has finished its phasing M...

Page 192: ...R0 2 1 0x00010002 Inferior limit X2 variable R0 3 1 0x00010003 Superior limit X3 variable R0 4 1 0x000200ab Bit to modify DOUT1 parameter K171 K191 1 1 Valid RTI line K192 1 1 Enables the RTI line RIE 1 Sets the controller RTI enable mode 13 8 6 2 Example 2 Bit test type Test if the din1 comes to 1 and jump to label 200 P3 is not included because P4 0 in this case Sequence 5 1 Start of the sequenc...

Page 193: ...2 5 R0 2 1 0x0001000A X10 variable as a limit hexa 13 8 2 5 R0 3 1 0x020200AB Bit 2 from digital outputs hexa 13 8 2 5 R0 4 1 1 Digital outputs set to 1 13 8 2 5 X11 1 0 Clock initialization X10 1 10000 Clock limit initialization K191 1 1 The first RTI line is valid 13 8 3 1 K192 1 1 The first RTI line is enabled 13 8 3 1 K193 1 0 Reset the flag of the activated RTI RIE 1 Sets the controller in th...

Page 194: ...iggers and bidirectional triggers The first is activated only when the motor goes past the requested position with a local positive movement The second one is activated with a negative local movement and the third one is activated at each time whatever the movement direction Using simultaneously 192 triggers is possible They can be subdivided into groups called mapping parameter K187 or TNB alias ...

Page 195: ...ction 8 bits Res 1 8 bits Type 8 bits LSB X 1 Parameter 1 32 bits X 2 Parameter 2 32 bits X 3 Position 32 bits Refer to 13 9 4 for more information about the elements 13 9 3 3 Y Axis number Axis number values Y 0 to 30 13 9 3 4 Z Elements values The possible values are different for every element 13 9 4 Elements description Here is the description of the trigger elements Action Type Parameter 1 Pa...

Page 196: ...s Remark Refer to 13 11 for more information about SD2 monitoring M61 and monitoring M63 13 9 4 4 Element Parameter 1 For action 1 and 2 Parameter 1 represents a bits field defining the digital outputs The bits set to 1 in Parameter 1 set the corresponding digital outputs to 1 the other outputs are set to 0 When Action 1 Î the bits mask defines the digital outputs of the controller refer to the co...

Page 197: ...efining the Status Drive SD2 alias of monitoring M61 and monitoring M63 TEB status The bits set to 1 in Parameter 2 set the corresponding bits to 1 in SD2 and monitoring M63 the other bits are set to 0 Caution The SD2 bits available are 8 to 15 but the corresponding values are programmed in Parameter 2 as they were 0 to 7 Example If Parameter 2 4 bit 10 of SD2 is set to 1 The bits 8 to 15 of SD2 a...

Page 198: ...3 Remark TMK alias use the same syntax than parameter K185 Refer to 6 3 for more information about the syntax and the possible operators For example these masks may be used to protect some DOUTs from being modified by triggers when they are used by another function refer to 13 4 for more information Remark Parameter K184 may also be set with bits 0 15 of monitoring M63 Action 3 Comment No change N...

Page 199: ...0 upi E5 position 25000 upi and E6 position 35000 upi The diagrams below show exactly how the triggers Ex are positioned The user wants to activate the digital outputs of the DSC2P DOUTs and the Status Drive SD2 when the motor reaches a position with a trigger as shown below Mapping 0 go past E0 DOUT1 1 DOUT2 0 SD2 1 go past E2 DOUT1 0 DOUT2 1 SD2 1 go past E3 DOUT1 1 DOUT2 1 SD2 1 go past E1 DOUT...

Page 200: ...igger 0x82 and action 1 0x01 controller s DOUTs SD2 E1 1 1 0 Controller s outputs 0000 bin All the DOUTs 0 masked by TMK E1 2 1 0 Status Drive SD2 bits 00 bin Bit 9 0 Bit 8 0 masked by parameter K184 E1 3 1 20000 Trigger position 20000 upi E2 0 1 0x00010081 Positive trigger 0x81 and action 1 0x01 controller s DOUTs SD2 E2 1 1 2 Controller s outputs 0010 bin DOUT2 1 masked by TMK other DOUTs 0 E2 2...

Page 201: ...aits for the end of the previous movement 10 1 Label 10 TRS 1 0 Mapping 0 is activated alias of parameter K186 TMK 1 3 Controller s outputs Mask 0011 bin only actions linked to DOUT2 DOUT1 are selected TMK alias of parameter K185 K184 1 1 SD2 bits Mask 01 bin only action linked to Bit 8 is selected POS 1 45000 Goes to the position 45000 upi WTM 1 Waits for the end of the previous movement POS 1 15...

Page 202: ...coder no interpolation the minimum position reading resolution is 16 dpi corresponding to the 4 bits 16 default shift value Refer also to formulas in 12 3 to see the effect of this factor 16 value Available on DSC2P DSC2V DSCDP DSCDL DSCDM DSC2P DSC2V DSCDP DSCDM DSCDL Formulas K Name Controller Value Comment K77 Encoder Interpolation shift value for analog encoder 1Vptp and EnDat 2 1 DSC2P DSC2V ...

Page 203: ...nd builds label table Example M60 1 The Status Drive SD1 value is 2F it means 101111 binary It means that the power is on in the motor the phasing and homing have been completed and the position is kept in the window bits 0 1 2 3 and 5 are set to 1 Available on DSC2P DSC2V DSCDP DSCDL DSCDM M Alias Name Comment M60 SD1 Status drive 1 Status drive phasing error M61 SD2 Status drive 2 Status drive p...

Page 204: ... or by parameter K177 13 8192 User bit 5 could be modified by trigger functions or by parameter K177 14 16384 User bit 6 could be modified by trigger functions or by parameter K177 15 32768 User bit 7 could be modified by trigger functions or by parameter K177 Available on DSC2P DSC2V DSCDP DSCDL DSCDM Bit Value Bit definition description when bit 1 Corresponding to SD1 or SD2 bits 0 1 User bit 0 ...

Page 205: ...r is executing a trajectory moving SD1 bit 4 21 2097152 Motor in the position time window In window defined by parameters K38 and K39 SD1 bit 5 23 8388608 Controller global warning SD1 bit 23 24 16777216 Controller executing an internal sequence sequence in the controller SD1 bit 8 26 67108864 Controller in error mode SD1 bit 10 27 134217728 Trace busy flag is set during a register trace acquisiti...

Page 206: ... µ master through the TEB It is applied to PWM simultaneous commutation of power IGBTs All the process of the controllers reading of position reference coming from the DSMAX interpolated mode The controller synchronization mode is set by parameter K87 It defines if the controller should be synchronized and how Bits 0 to 7 define the synchronization frequency of the controller Remark With a TEB com...

Page 207: ...ve to another slave through a real time monitoring channel To do so a DSMAX or a DSTEB must be present as a master of the communication ring and the following parameters set this function is then not available with a DSC2P or DSC2V in µ master mode There can be a maximum of 4 slaves sending 2 registers to other slaves through 4 real time monitoring channels Warning A slave must not receive registe...

Page 208: ...the master of the communication ring and the following parameters set Maximum 16 slaves can send a register to the master and in that case the axes number must range from 0 to 15 Refer to the DSMAX User s Manual to have more information about how to collect them To activate the desired RTM mode parameter K102 must be correctly set To enable the slave to master mode bit 0 of parameter K102 must be ...

Page 209: ...ller does not send any value to the RTM channels Example The measured position monitoring M7 and the theoretical force monitoring M30 of the axis 5 are sent to the master K219 0 5 0x03000007 Register 1 is monitoring M7 03 monitoring M 07 monitoring number K219 1 5 0x0300001E Register 2 is monitoring M30 03 monitoring M 1Eh 30 monitoring number K Name Byte Comment K219 RTM register 0 1 Number of th...

Page 210: ... of the scale The second function allows the user to proportionately influence the movement references Whether it is the trajectory generator or the DSMAX which gives the position set point the data firstly goes through the jerk filter defined by parameter K213 and then through the encoder scaling and mapping correction Remark Both corrections are given with regards to the absolute position on the...

Page 211: ...th in dpi on which the look up table corrects the set point The value of parameter K167 is from 0 to 231 1 This correction is subtracted from the set point reference theoretical position Linear encoder mapping Rotary encoder mapping To apply cyclic corrections on one motor s turn parameter K167 must be set to include the distance in dpi corresponding to exactly one turn Thus when a negative or pos...

Page 212: ...ction after the encoder scaling and mapping Remark Once the corrections of the position are activated there are also valid in interpolated mode with the DSMAX as shown above As the corrections are done with regard to the absolute position in dpi the SET command which changes the offset for the variable in upi can be used without affecting the correction Once the controller is powered on K168 0 M8 ...

Page 213: ...ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 Chapter D Programming Operation Software Manual Direct Drives Systems 213 Chapter D Programming ...

Page 214: ...e DSCDP DSCDL and DSCDM 14 1 1 2 WTM and WTP commands When the WTM command WaiT for end of Movement is executed the controller waits for the end of the current movement before going on with the sequence execution If several movement commands POS STA etc are successively sent it is not necessary to introduce the WTM command between each movement to wait for the end of the preceding one because the ...

Page 215: ...when this command is executed the controller acknowledges the command without testing if the motor is in the window or not WTW axis 0 command must not be preceded by a WTM axis command because the WTW command must be executed before reaching the theoretical position Waits for the bit in window bit 5 of SD1 to be at 1 without taking into account if the theoretical trajectory is finished or not Rest...

Page 216: ... inputs simultaneously by choosing the adequate mask is also possible For example the following command has to be used to continue the sequence when DIN1 and DIN2 are set to 1 WBS 1 M50 1 3 The sequence only goes on when the digital inputs DIN1 and DIN2 are set to 1 14 1 3 Wait on values WPL WSL WPG and WSG commands When the controller meets the WPL command Wait Parameter Lower than it waits for t...

Page 217: ...chained and can only be executed by the µ master axis 0 It means that the command will always be WTB 0 P1 The value contained in P1 is a mask which corresponds to the axis or axes that the µ master has to wait for The selected axis or axes numbers are given when the bits corresponding to P1 value are set to 1 in binary as shown in the following table Value 4 only selects axis 2 and value 41 select...

Page 218: ...ement on axis 0 The following sequence extract is memorized in axis 0 POS 1 300000 The axis 1 goes to the position 300000 WTM 1 Waits for the axis 1 to finish the movement so the axis 1 becomes busy until the end of the movement refer to 14 1 1 2 WTB 0 2 Waits for the axis 1 not to be busy any more before executing the POS 0 10000 command POS 0 10000 When the movement of the axis 1 is over the axi...

Page 219: ...f axis 1 10 4 Label no 10 for a sequence of axis 4 123 2 Label no 123 for a sequence of axis 2 14 2 1 1 Particular labels Particular labels are labels in which the controller automatically goes on with the sequence execution if a particular event takes place as long as the corresponding label is present in the sequence 79 If the label 79 is available the sequence is automatically executed from thi...

Page 220: ... sequence goes on from label n 10 80 1 Label n 80 In case of error the execution of the sequence continues from this place POP 1 The stack is erased RST 1 The error is reset JMP 1 79 The sequence continues at label n 79 from the beginning in this case All benefits that can produce the use of particular labels in the execution of a sequence especially when handling errors and warnings is demonstrat...

Page 221: ...xample X2 1 20 Attributes the value 20 to X2 variable TST 1 X1 1 25 Compares the X1 user variable with the number 25 JGT 1 10 Sequence execution goes on from label 10 if X1 25 JEQ 1 X2 Sequence execution goes on from label 20 value contained in the user variable X2 if X1 25 POS 1 50000 If no test is right when X1 25 the sequence goes on from the following line and the motor moves to the position 5...

Page 222: ...acity overflow may happen if several errors happen To avoid it the contents of the stack is erased while treating the error on label 80 with the POP command POP up Remark The values contained in the accumulator are kept when a routine is over RET even if the routine also uses an accumulator and even if there are several embedded routines If the RET command is used in a routine it is not possible t...

Page 223: ... make arithmetical and logical operations Examples XAC 1 1029 The accumulator is equal to 1029 XAC 1 K2 2 1 Attributes the value contained at the depth 2 of parameter K2 to the accumulator XAC 1 SPD 1 X12 1 The accumulator is equal to the difference between the programmed vmax maximum value contained in parameter K211 and the X12 user variable value Remark Accumulator max value XAC 231 1 and min v...

Page 224: ... bit 1 of the accumulator is set to 1 As it is not the case the sequence execution goes on from the next line ILT 1 X3 1 20 The execution of the sequence continues from label 20 because XAC 5 X3 7 10 1 Instructions 20 1 JBC 1 1 10 The execution of the sequence continues from label 10 because bit 1 of the accumulator is really equal to 0 Command P1 P2 Comment IEQ axis P1 P2 Reference value label_ I...

Page 225: ...rrupts the current sequence execution The HLO command HaLt sequence and power Off stops the movement with the maximum deceleration that the controller can supply interrupts the current sequence execution and switches off the power in the motor phases PWR 1 0 Caution The motor may keep moving for a while depending on the system s moving part inertia It is advised to use HLO command only if the cont...

Page 226: ... the controller meets the END END command the execution stops definitively The END command can be used to store different sequences at the same time in the controller for instance Remark When the controller has executed the last line of the command it stops even if no END command is executed Example Given the following sequence memorized in the controller 10 1 sequence 1 END 1 20 1 sequence 2 END ...

Page 227: ...nal parts are lost with the division Examples In these examples what is called result is the value memorized in X1 1 after executing the command The value at the start of X1 1 is 23 in any case 14 5 2 Logical operations Logical operations allow the user to directly work on the bits which compose the register value The controller does not accept the values in binary writing and the user will conseq...

Page 228: ...the grey blanks show that the bits of unmasked A have not been changed and that the masked bits bits 4 and 1 are forced either to 1 or to 0 Operations and The operation shifts all bits a number to the right and the shift is done over 32 bits If the bit of higher weight bit 31 is equal to 1 then 1 is entered if not it will be 0 The operation does the inverted operation it shifts all bits a number t...

Page 229: ...F register into another F register F2 1 3 1415f Immediate F value allocation displayed in floating point mode X3 5 F2 5 Conversion float integer of an F into an X or L F2 1 X3 1 Conversion integer float of an X K L M into an F F2 1 Reads an F register displayed in floating point mode F2 1 F3 1 Addition between 2 F registers F2 1 F3 1 Subtraction between 2 F registers F2 1 F3 1 Multiplication betwe...

Page 230: ...Operation Software Manual 230 Direct Drives Systems Chapter D Programming ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 THIS PAGE IS INTENTIONALLY LEFT BLANK ...

Page 231: ...ETEL Doc Operation Software Manual DSC2P 903 Ver F 3 6 05 Chapter E Appendixes Operation Software Manual Direct Drives Systems 231 Chapter E Appendixes ...

Page 232: ...lowing commands should be used on line through the Terminal or the Scope It is useless to have them in the middle of sequence as the rest of it will be lost because a switch on off is needed after the SAV command At the beginning the controller has the axis number 0 SER 0 Reads the serial of the controller axis 0 here e g 5968 returned from the controller AXI 0 5968 7 The axis 0 now bears the numb...

Page 233: ...til the movement is finished IND 0 Starts the homing WTM 0 Waits until the movement is finished SPD 0 1 0 Sets the maximum speed to 1 ISO unit ACC 0 20 0 Sets the maximum acceleration to 20 ISO unit MMD 0 24 Sets the infinite rotary movement 30 0 Label 30 POS 0 1 Goes to the position 1 ISO unit WTT 0 5 0 Waits for 5 ISO unit BRK 0 Stops the movement with the acceleration programmed in parameter K2...

Page 234: ...es to the position 30 ISO unit WTM 0 Waits until the movement is finished CAL 0 70 Calls the subroutine 70 JMP 0 30 Jumps to label 30 60 0 Label 60 X1 0 450 Sets user s variable X1 of axis 0 to 450 WTT 0 1 0 Waits for 1 ISO unit RET 0 Returns to the calling routine 70 0 Label 70 X10 0 2 Adds 2 to the previous value of the user s variable X10 of the axis 0 X1 0 130 Sets user s variable X1 of axis 0...

Page 235: ...S 0 360 0 Goes to the position 360 ISO unit WTM 0 Waits until the movement is finished CAL 0 60 Calls the subroutine 60 POS 0 30 0 Goes to the position 30 ISO unit WTM 0 Waits until the movement is finished CAL 0 70 Calls the subroutine 70 JMP 0 30 Jumps to label 30 60 0 Label 60 CAM 0 20 Global diminution to 20 of speed acceleration and increases the waiting time refer to 13 3 7 WTT 0 1 0 Waits f...

Page 236: ...15 5 CLX example 10 0 Label 10 X1 0 1 Sets user s variable X1 of axis 0 to 1 X2 0 2 Sets user s variable X2 of axis 0 to 2 X3 0 3 Sets user s variable X3 of axis 0 to 3 WTT 0 1 0 Waits for 1 ISO unit CLX 0 Clears all user s variables X resets to 0 as well as the accumulator WTT 0 2 0 Waits for 2 ISO unit JMP 0 10 Jumps to label 10 ...

Page 237: ...es Operation Software Manual Direct Drives Systems 237 15 6 DOUT example 10 0 Label 10 DOUT 0 0 Clears all the DOUTs WTT 0 1 0 Waits for 1 ISO unit DOUT 0 7 Enables the DOUTs 1 2 and 3 only DOUT1 and 2 on DSCDP and DSCDL WTT 0 1 0 Waits for 1 ISO unit JMP 0 10 Jumps to label 10 ...

Page 238: ...e 60 POS 0 30 0 Goes to the position 30 ISO unit WTM 0 Waits until the movement is finished CAL 0 70 Calls the subroutine 70 JMP 0 30 Jumps to label 30 60 0 Label 60 X1 0 450 Sets user s variable X1 of axis 0 to 450 WTT 0 1 0 Waits for 1 ISO unit RET 0 Returns to the calling routine 70 0 Label 70 X10 0 2 Adds 2 to the previous value of the user s variable X10 of the axis 0 X1 0 130 Sets user s var...

Page 239: ... X10 0 0 Sets user s variable X10 of axis 0 to 0 F100 0 5 0f Sets float F100 of axis 0 to 5 F200 0 10 0f Sets float F200 of axis 0 to 10 F100 0 F100 0 F1002 25 F100 0 f200 0 F100 F200 15 F100 0 2 0f F100 2 7 5 X10 0 f100 0 Sets user s variable X10 of axis 0 with the value of F100 as the user s variable must include an integer X10 0 8 END 0 Stops the execution of the sequence ...

Page 240: ...ximum acceleration to 300 ISO unit MMD 0 24 Sets the infinite rotary movement 30 0 Label 30 POS 0 1 Goes to the position 1 ISO unit WTT 0 5 0 Waits for 5 ISO unit HLT 0 Stops the motor with an infinite deceleration and the sequence END 0 Stops the execution of the sequence Remark The principle is identical for the HLB and HLO command Command HLB stops the motor without going over the authorized ma...

Page 241: ...s the value of the user s variable X10 of axis 0 in the accumulator XAC JBS 0 0 30 If the bit 0 of the accumulator is equal to 1 the execution goes on from label 30 JBC 0 0 40 If the bit 0 of the accumulator is equal to 0 the execution goes on from label 40 JMP 0 20 Goes to label 20 30 0 Label 30 POS 0 100 0 Goes to the position 100 ISO unit WTT 0 1 00000 Waits for 1 ISO unit POS 0 0 00000 Goes to...

Page 242: ...r s variable X10 of axis 0 to 0 WTT 0 4 0 Waits for 4 ISO unit 20 0 Label 20 X10 0 2 Adds 2 to the previous value of the user s variable X10 of the axis 0 WTT 0 1 0 Waits for 1 ISO unit JMP 0 40 Goes to label 40 30 0 Label 30 X10 0 1 Substracts 1 from the previous value of the user s variable X10 of the axis 0 WTT 0 1 0 Waits for 1 ISO unit JMP 0 20 Goes to label 20 40 0 Label 40 WTT 0 1 0 Waits f...

Page 243: ... the maximum acceleration to 500 ISO unit POS 2 2 0 00000 Goes to the position 0 ISO unit SPD 2 2 10 0000 Sets the maximum speed to 10 ISO unit ACC 2 2 500 000 Sets the maximum acceleration to 500 ISO unit 40 2 Label 40 STA 2 1 0x7 Starts the movement specified at the depth 1 by using the parameter specified by the mask 0x7 bit0 goes to the position 10 bit1 with a speed of 50 and bit2 with an acce...

Page 244: ...ovement is finished POS 2 0 00000 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished MMD 2 26 Sets the rotary look up table movement LTN 2 0 Selects the look up table number 0 LTI 2 2 00000 Sets the execution time of the look up table to 2 ISO unit 30 2 Label 30 POS 2 10 0000 Goes to the position 10 ISO unit WTM 2 Waits until the movement is finished SET 2 0 00000 Sets the ...

Page 245: ...otary S curve movement PWR 2 1 Power on WTM 2 Waits until the movement is finished IND 2 Starts the homing WTM 2 Waits until the movement is finished POS 2 0 00000 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished MMD 2 3 Sets the calculated movement with predefined profile K229 2 2 00000 Sets the movement time 2 ISO unit K230 2 0 Sets a triangular movement 30 2 Label 30 P...

Page 246: ...the absolute positive position 20 ISO unit with the same acceleration and speed as before WTM 0 Waits until the movement is finished WTT 0 1 00000 Waits for 1 ISO unit ACC 0 5 Sets a new acceleration 5 times smaller SPD 0 5 Sets a new speed 5 times smaller POS 0 30 0000 Goes to the position 30 ISO unit with the new acceleration and speed WTM 0 Waits until the movement is finished POS 0 10 000 Move...

Page 247: ...bit 0 of the user s variable X2 30 2 Label 30 K190 2 1 Enables the RTI mode of the controller K191 2 0x1 The first line R0 of the RTI is validated K192 2 0x1 The first line R0 of the RTI is enabled 40 2 Label 40 X1 2 0 Sets user s variable X1 of axis 2 to 0 X2 1 0 Sets user s variable X2 of axis 1 to 0 WTT 2 2 00000 Waits for 2 ISO unit 45 2 Label 45 X1 2 1 Adds 1 to the previous value of the user...

Page 248: ... WTM 2 Waits until the movement is finished X1 2 0 Sets user s variable X1 of axis 2 to 0 30 2 Label 30 XAC 2 X1 2 Copies the value of the user s variable X1 of the axis 2 in the accumulator XAC IEQ 2 10 50 Goes to label 50 if XAC 10 POS 2 10 0000 Goes to the position 10 ISO unit WTM 2 Waits until the movement is finished POS 2 0 Goes to the position 0 ISO unit WTM 2 Waits until the movement is fi...

Page 249: ...2 Label 30 XAC 2 X1 2 Copies the value of the user s variable X1 of the axis 2 in the accumulator XAC IEQ 2 10 50 Goes to label 50 if XAC 10 POS 2 10 0000 Goes to the position 10 ISO unit WTM 2 Waits until the movement is finished POS 2 0 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished X1 2 1 Adds 1 to the previous value of the user s variable X1 of the axis 2 JMP 2 30 J...

Page 250: ... see the limit positions 20 0 Label 20 PWR 0 1 Power on IND 0 Starts the homing WTM 0 Waits until the movement is finished SLS 0 Searches the limit stroke on a mechanical end stops or limit switch WTM 0 Waits until the movement is finished PWR 0 0 Power off END 0 Stops the sequence execution After having found the mechanical end stop the motor moves back the distance given in K47 ...

Page 251: ...o 10 ISO unit ACC 1 2 100 000 Sets the maximum acceleration to 100 ISO unit POS 2 2 10 000 Goes to the position 10 ISO unit SPD 2 2 360 0000 Sets the maximum speed to 360 ISO unit ACC 2 2 500 000 Sets the maximum acceleration to 500 ISO unit 30 2 Label 30 STA 2 1 0x7 Starts the movement specified at the depth 1 by using the parameter specified by the mask 0x7 bit0 goes to the position 100 bit1 wit...

Page 252: ...er on WTM 2 Waits until the movement is finished IND 2 Starts the homing WTM 2 Waits until the movement is finished POS 2 0 0 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished 30 2 Label 30 STE 2 1 0 Moves of 1 ISO unit in the positive direction relative step WTM 2 Waits until the movement is finished WTT 2 1 0 Waits for 1 ISO unit JMP 2 30 Jumps to label 30 Remark The STE...

Page 253: ... Sets the maximum acceleration to 100 ISO unit K160 2 1 DIN 1 is tested to execute the STI command K161 2 1 DIN 1 must be activated to start the movement after the STI command K164 2 10 0000 Defines the time out limit 10 in ISO unit between the moment when the STI command is sent and the moment when DIN 1 1 30 2 Label 30 STI 2 1 0x7 Starts the movement on the rising edge of DIN 1 specified at the ...

Page 254: ... 0 Waits until the movement is finished IND 0 Starts the homing WTM 0 Waits until the movement is finished SPD 0 1 0 Sets the maximum speed to 1 ISO unit ACC 0 20 0 Sets the maximum acceleration to 20 ISO unit MMD 0 24 Sets the infinite rotary movement 30 0 Label 30 POS 0 1 Goes to the position 1 ISO unit WTT 0 5 0 Waits for 5 ISO unit STP 0 Stops the movement with an infinite deceleration WTT 0 5...

Page 255: ...riggers E0 and E1 E0 0 2 0x00010081 Positive trigger 0x81 and action 1 0x01 controller s DOUTs SD2 E0 1 2 1 Controller outputs 0001 bin DOUT1 1 masked by TMK other DOUTs 0 E0 2 2 1 Status Drive SD2 bits 01 bin Bit 9 0 Bit 8 1 masked by parameter K184 E0 3 2 1137778 Trigger position 1137778 upi E1 0 2 0x00010082 Negative trigger 0x82 and action 1 0x01 controller s DOUTs SD2 E1 1 2 2 Controller s ou...

Page 256: ...2 10 the sequence goes on from the following line JGT 2 40 Sequence execution goes on from label 40 if X10 2 10 If X10 2 10 the sequence goes on from the following line JNE 2 20 As long as X10 2 10 it jumps to label 20 otherwise the sequence goes on from the following line 30 2 Label 30 POS 2 20 0 Goes to the position 20 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1...

Page 257: ...ution goes on from label 20 if X10 2 10 If X10 2 10 the sequence goes on from the following line JLT 2 40 The execution sequence goes on from label 40 if X10 2 10 If X10 2 10 the sequence goes on from the following line 30 2 Label 30 POS 2 20 0 Goes to the position 20 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1 ISO unit POS 2 0 0 Goes to the position 0 ISO unit WT...

Page 258: ...t 1 of monitoring M50 corresponding to DIN2 is equal to 1 POS 2 20 0 Goes to the position 20 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1 ISO unit POS 2 0 0 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1 ISO unit 40 2 Label 40 WBC 2 M50 2 1 Waits until bit 1 of monitoring M50 corresponding to DIN2 is equal to 0 ...

Page 259: ... than the value 2 POS 2 20 0000 Goes to the position 20 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1 ISO unit POS 2 0 00000 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished WTT 2 1 00000 Waits for 1 ISO unit 40 2 Label 40 WPL 2 M50 2 2 Waits for the value of monitoring M50 of axis 2 to be lower than the value 2 POS 2 10 0000 Goes to the po...

Page 260: ...d IND Starts the homing WTM Waits until the movement is finished POS 0 00000 Goes to the position 0 ISO unit WTM Waits until the movement is finished 20 2 Label 20 POS 0 2 3 20 0000 Goes to the position 20 ISO unit WTM Waits until the movement is finished WTB 0 13 Waits for the axes 0 2 and 3 not to be busy any more before executing the next command POS 0 2 3 10 0000 Goes to the position 10 ISO un...

Page 261: ...vement is finished IND 2 Starts the homing WTM 2 Waits until the movement is finished POS 2 0 00000 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished 20 2 Label 20 POS 2 10 0 Goes to the position 10 ISO unit WTM 2 Waits until the movement is finished WTT 2 2 0 Waits for 2 ISO unit POS 2 20 0 Goes to the position 20 ISO unit WTM 2 Waits until the movement is finished WTT 2 ...

Page 262: ... until the movement is finished 20 2 Label 20 POS 2 10 0 Goes to the position 10 ISO unit WTP 2 5 0 Waits for the motor to cross position 5 ISO unit before going on with the execution of the sequence X10 2 1 Sets user s variable X10 of axis 2 to 1 WTM 2 Waits until the movement is finished POS 2 0 0 Goes to the position 0 ISO unit WTP 2 3 0 Waits for the motor to cross position 3 ISO unit before g...

Page 263: ...ement is finished POS 2 0 00000 Goes to the position 0 ISO unit WTM 2 Waits until the movement is finished K38 2 1 0 Sets the minimum time to 1 ISO unit for the real position to stay in the position window K39 2 0 1 Sets the maximum position error to 0 1 ISO unit in the position window 20 2 Label 20 POS 2 10 0 Goes to the position 0 ISO unit WTW 2 0 Waits until the movement reaches the window POS ...

Page 264: ... X20 2 0 Sets user s variable X20 of axis 2 to 0 WTT 2 0 1 Waits for 0 1 ISO unit X10 2 1 Adds 1 to the previous value of the user s variable X10 of the axis 2 JMP 2 20 Jumps to label 20 40 2 Label 40 X20 2 2 Sets user s variable X20 of axis 2 to 2 WTT 2 1 0 Waits for 1 ISO unit X20 2 0 Sets user s variable X20 of axis 2 to 0 WTT 2 1 0 Waits for 1 ISO unit X10 2 1 Adds 1 to the previous value of t...

Page 265: ...ser s variable X10 of the axis 2 WTT 2 1 0 Waits for 1 ISO unit JMP 2 20 Jumps to label 20 30 2 Label 30 X20 2 1 Sets user s variable X20 of axis 2 to 1 WTT 2 0 1 Waits for 0 1 ISO unit X20 2 0 Sets user s variable X20 of axis 2 to 0 WTT 2 0 1 Waits for 0 1 ISO unit X10 2 1 Adds 1 to the previous value of the user s variable X10 of the axis 2 JMP 2 20 Jumps to label 20 50 2 Label 50 X20 2 4 Sets u...

Page 266: ... the axis 2 in the accumulator XAC INE 2 1 30 Goes to label 30 if XAC 1 X10 2 1 Adds 1 to the previous value of the user s variable X10 of the axis 2 WTT 2 1 0 Waits for 1 ISO unit JMP 2 20 Jumps to label 20 30 2 Label 30 X20 2 1 Sets user s variable X20 of axis 2 to 1 WTT 2 0 1 Waits for 0 1 ISO unit X20 2 0 Sets user s variable X20 of axis 2 to 0 WTT 2 0 1 Waits for 0 1 ISO unit X10 2 1 Adds 1 t...

Page 267: ...I 1 1245 2 change axis 1 in axis 2 its serial number is 1245 that is given by SER or M73 BRK AXIS Stops the motor using programmed deceleration K206 but does not stop the sequence CAL AXIS P1 Calls a subroutine specified at the label defined by P1 The accumulator XAC is preserved in the stack and it is restored when RET command is executed CLX AXIS Clears all user variables X register including ac...

Page 268: ... using programmed deceleration K206 HLO AXIS Stops the sequence by clearing bit 8 seq_on of status drive 1 SD1 and the motor movement using an infinite deceleration and performs a power off HLT AXIS Stops the sequence by clearing bit 8 seq_on of status drive 1 SD1 and the motor movement using an infinite deceleration IEQ AXIS P1 P2 Jumps to the label specified by P2 if P1 is equal to the accumulat...

Page 269: ...S P1 Jumps to the label specified by P1 if the operands of the last TST function were equal If it jumps it sets bit 8 seq_on of status drive 1 SD1 JGT AXIS P1 Jumps to the label specified by P1 if the first operand of the last TST function was bigger than the second one If it jumps it sets bit 8 seq_on of status drive 1 SD1 JLT AXIS P1 Jumps to the label specified by P1 if the first operand of the...

Page 270: ...er look up table L user variable X parameters K trigger E real time interrupt R float F and axis number from flash to ram memory if all the switches of the DIP switch are set to 1 1 Restores sequence S and user look up table L from flash to ram memory 2 Restores user variable X parameters K trigger E real time interrupt R float F and axis number from flash to ram memory if all the switches of the ...

Page 271: ...mand but not in M36 and M37 setting STA AXIS P1 P2 Starts a movement by using the movement parameters of sub index depth 1 to 3 specified by P1 and P2 is a mask of movement parameter to be loaded 0 means all movements parameters are taken into account 1 0 Gets target position POS K210 from the specified index Also possible during a trapezoïdale movement if MMC 1 2 1 Gets profile velocity SPD K211 ...

Page 272: ...oad 0 means all movements parameters are taken into account 1 0 Gets target position POS K210 from the specified index Also possible during a trapezoïdale movement if MMC 1 2 1 Gets profile velocity SPD K211 from the specified index Also possible during a trapezoïdale movement if MMC 1 4 2 Gets profile acceleration ACC K212 from the specified index Also possible during a trapezoïdale movement if M...

Page 273: ... SD1 as long as the condition is not true and then clears it WSG AXIS P1 P2 Waits until P1 becomes greater than P2 signed Sets bit 7 wait of status drive 1 SD1 as long as the condition is not true and then clears it The test is signed WSL AXIS P1 P2 Waits until P1 becomes lower than P2 signed Sets bit 7 wait of sta tus drive 1 SD1 as long as the condi tion is not true and then clears it The test i...

Page 274: ...AC 1 X1 1 M7 1 XAC AXIS P1 P2 Multiplication of P1 by P2 and puts the result in the accumulator XAC Example XAC 1 X1 1 M7 1 XAC AXIS P1 P2 Logical OR between each bit of P1 and P2 and puts the result in the accumulator XAC Example XAC 1 X1 1 M7 1 XAC AXIS P1 P2 Logical NOT OR between each bit of P1 and P2 and puts the result in the accumulator XAC Example XAC 1 X1 1 M7 1 XAC AXIS P1 P2 Shifts P1 o...

Page 275: ... or any other register Example X1 1 K30 1 REG AXIS P2 Multiplies REG by P2 and puts the result in REG The first operand can only be a K parameter or a X variable the second one can be an immediate value or any other register Example X1 1 K30 1 REG AXIS P2 Inverts P2 and puts the result in REG The first operand can only be a parameter K or a variable X the second one can be an immediate value or an...

Page 276: ...el when second param of ZIM is equal to 3 or 4 for trace register T acquisition See EBL2 User s Manual ZFT AXIS Enables start trigger acquisition It does not take trigger condition into account When the controller has finished the acquisition it clears the trace busy bit of SD1 bit 11 See EBL2 User s Manual ZIM AXIS P1 P2 Sets period and trigger mode for trace register T acquisition See EBL2 User ...

Page 277: ...tion range limit for rotary movement Depth 0 for primary encoder and depth 1 for secondary encoder 1 0 2000000000 K30 Absolute tracking error limit When the tracking error is greater than K30 the controller generates the error M64 23 10000000 0 1073741823 K31 Absolute velocity limit When the velocity is greater than K31 the controller generates an overspeed error M64 24 100000000 0 2147483647 K32 ...

Page 278: ...imit switch 6 Homing on home switch with detection of limit switch 8 Homing on a single index 10 Homing on a single index with detection of limit switch 12 Homing on a multi index 14 Homing on a multi index with detection of limit switch 16 Homing on a single index with DIN2 at 1 18 Homing on a single index with DIN2 at 1 with detection of limit switch 20 Homing on multi index with a defined strok...

Page 279: ...e motor 1 for linear motor 1 1 2147483647 K55 Motor commutation encoder number of dpi per revolution for rotary motor or number of dpi per magnetic period for linear motor 0 0 2147483647 K56 Motor commutation phase inversion enabled 0 0 1 K58 Limit switch mode 0 0 2 K58 0 Limit switch mode DIN9 and DIN10 1 Limit switch mode L1 L2 2 Limit switch mode L H K60 Theoretical software force torque limit ...

Page 280: ...urrent loop output filter 0 0 511 K83 Current loop software overcurrent limit 16000 0 32000 K84 Current loop i2t rms current limit 510 0 8192 K85 Current loop i2t time limit 20966400 0 2147483647 K87 Synchronization mode and frequency of the controller 0 0 16777215 K88 Position loop frequency MACRO mode only 24 0 32 K89 Motor phase number and PWM type selection 30 10 41 10 1 phase motor PWM at 24K...

Page 281: ... advanced filter coefficient for term yk 2 0 2147483648 2147483647 K106 First advanced filter coefficient for term xk 1073741824 2147483648 2147483647 K107 First advanced filter coefficient for term xk 1 0 2147483648 2147483647 K108 First advanced filter coefficient for term xk 2 0 2147483648 2147483647 K114 Second advanced filter coefficient for term yk 1 0 2147483648 2147483647 K115 Second advan...

Page 282: ...see Hardware Manual and or time out TEB error and or enables the checking of the error for the secondary encoder 0 0 7 1 0 Enables test of motor overtemperature protection connected to TSD signal see Hardware Manual 2 1 Enables time out TEB error test 4 2 Enables the checking of the error for the secondary encoder K145 Searches limit stroke SLS mode 0 0 3 0 Positive movement to search mechanical e...

Page 283: ...t mask used with STI command 0 0 15 K163 Syncronization output value used with STI command 0 0 15 K164 Syncronization time out used with STI command 0 0 600000 K165 Enables scaling mapping correction 0 0 4 0 Mapping and scaling deactivated 1 Mapping activated 2 Scaling activated 3 Mapping and scaling activated 4 Rotary mapping activated K166 Position dpi where the mapping correction starts 0 21474...

Page 284: ...5 and user byte of SD2 bit 8 to 15 for trigger 0 0 65535 K185 TMK Digital output mask for trigger 0 0 255 K186 TRS Trigger mapping number 1 deactivates the trigger 1 1 191 K187 TNB Trigger mapping size 0 0 192 K188 Mask on the digital output in fast trigger mode Available in Macro mode with K176 different from 0 0 0 15 K189 Position dpi that is compared to M1 to activate digital output in fast tri...

Page 285: ...n percent Stretches the user time scale 100 1 100 K206 Brake deceleration with BRK and HLB command 1000000 256 2147483647 K207 LKT mode selection 0 0 1 0 LKT movement running to target defined by POS command 1 LKT movement with same starting and end point K208 defines the amplitude of the movement K208 Maximum stroke for LKT movement with K207 1 and for MMD 10 26 0 2147483648 2147483647 K209 Rotar...

Page 286: ...147483647 K242 Position multiplication factor is used by the DLL to calculate the position unit with indirect encoder 1 1 2147483647 K243 Position division factor is used by the DLL to calculate the position unit with indirect encoder 1 1 2147483647 K Alias Val P1 Bit P1 Comment for parameters K and P1 of the DSCDP Def Val P1 Min Val P1 Max Val P1 DSCDP parameters K1 Position loop proportional gai...

Page 287: ...ates an error M64 26 125 Enabled signal not used DIN1 is not taken into account PWR 1 command switches the power on the motor K34 Minimum software position limit 0 2147483648 2147483647 K35 Maximum software position limit 0 2147483648 2147483647 K36 Enables position limit K34 K35 generating an error depending on the value 0 0 7 1 0 Use of K34 and K35 as limit on the target the motor can reach Used...

Page 288: ...home switch before stroke defined by K46 the controller generates an error M64 62 38 Homing on single index after having found mechanical end stop with defined stroke K46 If no index has been met the controller generates an error M64 62 K41 Homing speed 2000000 1 2147483647 K42 Homing acceleration 1000000 256 2147483647 K43 Homing tracking limit for mechanical end stop detection 10000000 0 2147483...

Page 289: ...splays analog encoder amplitude and index position 8 Displays sequence line number 16 Displays optional board message K68 Inverts positive negative way 0 0 7 1 0 Inverts analog 1Vptp encoder 2 1 Inverts TTL encoder 4 2 Inverts force reference from MACRO K69 Encoder shift value for TTL encoder K79 1 0 0 12 K70 Analog encoder sine offset 0 1024 1024 K71 Analog encoder cosine offset 0 1024 1024 K72 A...

Page 290: ... Phasing and commutation with digital Hall sensors only 6 Small movements phasing K91 Phasing pulse level with K90 1 or K90 6 12000 0 28000 K92 Phasing constant current level with K90 2 12000 0 28000 K93 Phasing final phase with K90 2 1024 0 2048 K94 Phasing time process with K90 2 5000 0 25000 K97 Phasing initial phase with K90 2 512 0 2048 K98 Phasing power voltage rate in percent with K90 1 Thi...

Page 291: ...that the register selected for the trigger condition is defined in depth of K121 and K122 parameters See EBL2 manual 0 0 3 K127 Value of the register selected by K121 K122 and K126 parameters for acquisition start See EBL2 manual 0 2147483648 2147483647 K128 Number of points for the trace See EBL2 manual 1024 0 1024 K133 AUT command definition mode 0 0 1 0 Principle for finding the fine phase adju...

Page 292: ... has four depths for the four analog outputs Choose the axis to link with the monitoring source 0 0 1 K159 Inverts the digital inputs for position capture or with DSO MAC optional board If K33 0 DIN1 is a safety input DIN1 cannot be inverted 0 0 771 K160 Syncronization input mask that will be tested for synchronized start movement on digital input STI command 0 0 771 K161 Syncronization input mask...

Page 293: ...of M63 Writing a 0 stops the pro cess 0 0 1 K183 Digital output mask on optional board for trigger 0 0 255 K184 Mask on user word of M63 bit 0 to 15 and user byte of SD2 bit 8 to 15 for trigger 0 0 65535 K185 TMK Digital output mask for trigger 0 0 3 K186 TRS Trigger mapping number 1 deactivates the trigger 1 1 191 K187 TNB Trigger mapping size 0 0 192 K188 Mask on the digital output in fast trigg...

Page 294: ...rting and end point K208 defines the amplitude of the movement K208 Maximum stroke for LKT movement with K207 1 and for MMD 10 26 0 2147483648 2147483647 K209 Rotary movement type selection 0 0 2 0 Movement always positive 1 Movement always negative 2 Movement minimum distance K210 POS Starts movement only depth 0 and gives the target posi tion 0 2147483648 2147483647 K211 SPD Absolute maximum spe...

Page 295: ... K4 always on 2 Position loop integrator gain K4 always off K8 Position loop speed filter 0 0 511 K9 Force reference filter on the position regulator output 0 0 511 K11 Speed smooth filter for TTL encoder 0 0 256 K20 Position loop speed feedforward gain 0 0 2147483647 K21 Position loop acceleration feedforward gain 0 0 2147483647 K23 Commutation phase advance according to the speed 0 0 65535 K27 M...

Page 296: ...r When the controller is not in error any more the digital outputs have the DOUT value 0 0 3 K38 Duration of the window used with WTW command 0 0 393210 K39 Position range of the window used with WTW command 0 0 1073741823 K40 Homing mode 8 0 39 0 Homing on mechanical end stop 1 0 Homing with a negative movement 2 Homing on home switch 4 Homing on limit switch 6 Homing on home switch with detectio...

Page 297: ...47 K50 Set point calculator shift value 1dpi 2 K50 1upi 0 0 8 K52 Enables fine phase adjustment takes K53 into account after homing 0 0 1 K53 Motor commutation phase adjustment after homing is taken into account only if K52 1 0 0 2048 K54 Pairs of pole of the motor 1 for linear motor 1 1 2147483647 K55 Motor commutation encoder number of dpi per revolution for rotary motor or number of dpi per mag...

Page 298: ...in open loop with 1Vptp encoder as secondary 24 Stepper in open loop with EnDat encoder as secondary K80 Current loop proportional gain 100 0 16383 K81 Current loop integrator gain 0 0 127 K83 Current loop software overcurrent limit 16000 0 32000 K84 Current loop i2t rms current limit 510 0 8192 K85 Current loop i2t time limit 20966400 0 2147483647 K87 Synchronization mode and frequency of the con...

Page 299: ...K 3 Monitoring register M 8 LKT register L K122 Trace register number and depth selection bit 0 15 for register number bit 16 23 for depth See EBL2 manual 0 2147483648 2147483647 K123 Trace time in sti between two trace acquisition points See EBL2 manual 0 0 65535 K125 Trace trigger mode See EBL2 manual 0 0 5 0 No trigger 1 Start of movement 2 End of movement 3 Trigger at a position selected by K1...

Page 300: ...n is disabled 1200 0 4000 K147 Limit of Vpower to activate undervoltage error V 100 When Vpower V 100 is lower than K147 the controller generates an undervoltage error M64 9 If K147 0 the limit detection is disabled 800 0 4000 K148 Limit of Vpower to activate overvoltage warning V 100 When Vpower V 100 is greater than K148 the controller generates an overvoltage warning Set bit 19 of SD1 If K148 0...

Page 301: ...es the scaling correction 0 50000 50000 K171 DOUT Activates ot deactivates the digital outputs of the controller DOUT1 and DOUT2 K37 if different from 0 changes the value of the digital outputs in case of error but not the value of DOUT K171 0 0 3 K172 XDOUT Optional board digital outputs 8 for DSO HIO 0 0 255 K173 XAOUT Optional board analog outputs of the DSO HIO 8191 20V between XAOUT and XAOUT...

Page 302: ...ement according to K230 value and executes the trajectory in a time given by K229 10 Look up table linear movement 17 S curve jerk time rotary movement 19 Selects a predefined rotary movement according to K230 value and executes the trajectory in a time given by K229 24 Infinite rotary movement 26 LKT rotary movement K203 LTN Look up table number movement 0 0 7 K204 LTI Time to execute a look up t...

Page 303: ...te the position unit with indirect encoder 1 1 2147483647 K243 Position division factor is used by the DLL to calculate the position unit with indirect encoder 1 1 2147483647 K Alias Val P1 Bit P1 Comment for parameters K and P1 of the DSCDM Def Val P1 Min Val P1 Max Val P1 DSCDM parameters K1 Position loop proportional gain 100 0 2147483647 K2 Position loop speed feedback gain 20 0 2147483647 K3 ...

Page 304: ...abled signal not used DIN1 is not taken into account PWR 1 command switches the power on the motor K34 Minimum software position limit 0 2147483648 2147483647 K35 Maximum software position limit 0 2147483648 2147483647 K36 Enables position limit K34 K35 generating an error depending on the value 0 0 7 1 0 Use of K34 and K35 as limit on the target the motor can reach Used with K61 1 2 1 Use of K34 ...

Page 305: ...eet home switch before stroke defined by K46 the controller generates an error M64 62 38 Homing on single index after having found mechanical end stop with defined stroke K46 If no index has been met the controller generates an error M64 62 K41 Homing speed 2000000 1 2147483647 K42 Homing acceleration 1000000 256 2147483647 K43 Homing tracking limit for mechanical end stop detection 10000000 0 214...

Page 306: ...er amplitude and index position 8 Displays sequence line number K68 Inverts positive negative way 0 0 7 1 0 Inverts analog 1Vptp encoder 2 1 Inverts TTL encoder K69 Encoder shift value for TTL encoder K79 1 0 0 12 K70 Analog encoder sine offset 0 1024 1024 K71 Analog encoder cosine offset 0 1024 1024 K72 Analog encoder sine factor 32767 16384 32767 K73 Analog encoder cosine factor 32767 16384 3276...

Page 307: ...process with K90 2 5000 0 25000 K97 Phasing initial phase with K90 2 512 0 2048 K98 Phasing power voltage rate in percent with K90 1 This is useful for slow inductance motor 100 25 100 K100 SDP ACC and MMD after IND selection mode 0 0 18 2 1 Sets SPD ACC and MMD parameter that was set before IND command at the end of the homing process K101 Phasing time process with K90 6 1000 0 25000 K102 Enables...

Page 308: ...22 and K126 parameters for acquisition start See EBL2 manual 0 2147483648 2147483647 K128 Number of points for the trace See EBL2 manual 1024 0 1024 K133 AUT command definition mode 0 0 1 0 Principle for finding the fine phase adjustment 0 old principle 1 new principle K140 Mask for fuse control 0 0 1 1 0 Disables the test of F2 fuse K141 Enables test of motor overtemperature protection connected ...

Page 309: ...15 0 0 65535 K178 Depth 0 rising edge mask on digital input for position capture Depth 2 mask on digital input that must be at 1 for K60 K31 limitation 0 0 769 K179 Depth 0 falling edge mask on digital input for position capture Depth 2 mask on digital input that must be at 0 for K60 K31 limitation 0 0 769 K182 Enables position capture on input according to K178 and K179 Writing a 1 in K182 enable...

Page 310: ... 10 Look up table linear movement 17 S curve jerk time rotary movement 19 Selects a predefined rotary movement according to K230 value and executes the trajectory in a time given by K229 24 Infinite rotary movement 26 LKT rotary movement K203 LTN Look up table number movement 0 0 7 K204 LTI Time to execute a look up table movement 10000 4 500000 K205 CAM Came value in percent Stretches the user ti...

Page 311: ...2147483648 2147483647 K229 Execution time of the movement selected by K230 10000 4 500000 K230 Movement type selection for MMD 3 or 19 0 0 3 0 Triangular speed movement 1 S curve full jerk movement 2 Sine modified movement 3 Real sine movement K240 Motor type 0 linear motor 1 rotary motor 0 0 1 K241 Encoder period in nm for linear encoder or number of period for rotary encoder 1 2147483648 2147483...

Page 312: ...correction into account 0 2147483648 2147483647 M10 Theoretical velocity dsi 0 2147483648 2147483647 M11 Real velocity dsi 0 2147483648 2147483647 M12 Real position upi captured on DIN Takes SET command K50 and scaling mapping correction into account 0 2147483648 2147483647 M13 Position given by the secondary encoder dpi 0 2147483648 2147483647 M14 Theoretical acceleration dai 0 2147483648 2147483...

Page 313: ...ing process with success 8 3 Bit present always 1 16 4 The motor is executing a trajectory 32 5 This bit is set when the motor is in the position time window defined by K38 and K39 64 6 Controller in u master mode This mode is set at the power on of the controller when K170 1 128 7 Controller is waiting 256 8 The controller is executing an internal sequence 512 9 The controller is in edition of se...

Page 314: ...ould be modified by trigger functions or by K177 256 8 User word bit 8 could be modified by trigger functions or by K177 512 9 User word bit 9 could be modified by trigger functions or by K177 1024 10 User word bit 10 could be modified by trigger functions or by K177 2048 11 User word bit 11 could be modified by trigger functions or by K177 4096 12 User word bit 12 could be modified by trigger fun...

Page 315: ...tage Vpower in volt in lower than K147 100 10 Error in offset of current measurement The offset measured if greater than 8 of the maximum current of the controller M82 13 The temperature sensor does not respond 16 The EnDat calculated position is too big Decrease K77 17 Zero position of the EnDat encoder not found 18 Error on CRC from the EnDat 19 Error during the reading position of EnDat 20 The ...

Page 316: ...ccurs when the motor has reached the two mechanical end stops detections are done by K43 and K44 without having finished the homing process for linear motors 62 Error in single index homing process Checks K43 and K44 parameters This error occurs when the motor has reached the two mechanical end stops detections are done by K43 and K44 without having finished the homing process for linear motors 63...

Page 317: ... board error 112 See optional board manual 113 Optional board error 113 See optional board manual 114 Optional board error 114 See optional board manual 115 Optional board error 115 See optional board manual 116 This error is generated by the ERR command In general this command is sent by the DSMAX or the u master 130 Hardware overcurrent The current has reached the maximum admissible value by the...

Page 318: ...ives the firmware version of the controller A special ETEL procedure allows the conversion of this value in the firmware version 0 0 4294967295 M73 SER Gives the serial number of the controller 0 0 4294967295 M76 Optional board type 0 0 255 0 No optional board 4 DSO MAC optional Macro protocol 7 DSO HIO optional board with 8 digital I O and 4 analog I O 16 DSO CAN optional w CANetel protocol 24 DS...

Page 319: ...der 0 0 65535 M148 EnDat pulse number 0 0 65535 M149 EnDat turn number 0 0 65535 M171 Gives the state of the digital outputs of the controller Takes DOUT K171 and K37 into account 0 0 15 M173 Real state of DSO HIO analog output 1 Takes K173 K150 K151 and K154 to K157 into account 0 8192 8191 M174 Real state of DSO HIO analog output 2 Takes K173 K150 K151 and K154 to K157 into account 0 8192 8191 M...

Page 320: ...eoretical velocity dsi 0 2147483648 2147483647 M11 Real velocity dsi 0 2147483648 2147483647 M12 Real position upi captured on DIN Takes SET command K50 and scaling mapping correction into account 0 2147483648 2147483647 M13 Position given by the secondary encoder dpi 0 2147483648 2147483647 M14 Theoretical acceleration dai 0 2147483648 2147483647 M17 Reference value for mode K61 0 1 3 4 and 36 0 ...

Page 321: ...ting 256 8 The controller is executing an internal sequence 512 9 The controller is in edition of sequence mode EDI command This mode allows the writing of S sequence register 1024 10 The controller is in error mode 2048 11 Trace busy flag is set during a register trace acquisition 8192 13 This bit is set during the homing process 8388608 23 Global warning M61 SD2 Drive status 2 0 0 4294967295 1 0...

Page 322: ...uld be modified by trigger functions or by K177 8192 13 User word bit 13 could be modified by trigger functions or by K177 16384 14 User word bit 14 could be modified by trigger functions or by K177 32768 15 User word bit 15 could be modified by trigger functions or by K177 65536 16 The controller is in power on 524288 19 Bit present always 1 1048576 20 The motor is executing a trajectory 2097152 ...

Page 323: ...he position acquisition the frequency is too high 23 The tracking position error is greater than K30 24 The velocity is greater than K31 26 Error when power on with DIN1 is equal to 0 when K33 0 29 The temperature of the motor is too high measured by temperature sensor connected to digital input according to K141 30 The controller generates this error when the controller reaches a limit switch dur...

Page 324: ... not in power on mode 68 PWR ON not possible because the controller is in interpolation mode by ITP 1 69 Homing is not possible due to the configuration of the controller and the setting 80 Framing error on EBL2 81 Overrun error on EBL2 82 Checksum error on EBL2 message 84 Input buffer full on EBL2 85 Bad CRC on EBL2 in received message in CRC Mode 88 Other axis error on EBL2 89 Overrun error with...

Page 325: ...90 6 155 Too low time when K90 6 156 Time out during AUT command 157 Error during the phasing process when K90 2 190 The controller has executed a save operation SAV com mand M66 Gives the warning code 0 0 255 1 This warning occurs when M67 is greater than K85 2 2 This warning occurs when the temperature of the controller is greater than 60 C 3 Power supply inrush or power voltage too low for rack...

Page 326: ...ilable only with DSO CAN DSO SER DSO PRO The 16 strings of the article number are read using the 4 depths of M86 Each depth shows 4 strings in ASCII 0 0 4294967295 M87 Gives the axis number 1 0 30 M90 Temperature of the controller measured by a thermostat on the heat sink 0 40 100 M95 Shows the strings on the software display The 16 strings of the controller display are read using the 4 depths of ...

Page 327: ...ping correction into account but does not take care of SET command and K50 0 2147483648 2147483647 M2 Tracking error This is the difference between M0 and M1 0 2147483648 2147483647 M3 Maximum tracking error during movement 0 0 2147483647 M4 Offset between dpi and upi upi dpi M4 K50 0 2147483648 2147483647 M5 Offset due to the homing dpi 0 2147483648 2147483647 M6 Theoretical position upi Takes SE...

Page 328: ...nal board digital inputs 8 inputs for DSO HIO 0 0 255 M56 XAIN1 Optional board analog input 1 for DSO HIO 0 8192 8191 M57 XAIN2 Optional board analog input 2 for DSO HIO 0 8192 8191 M58 XAIN3 Optional board analog input 3 for DSO HIO 0 8192 8191 M59 XAIN4 Optional board analog input 4 for DSO HIO 0 8192 8191 M60 SD1 Drive status 1 8 0 4294967295 1 0 The controller is in power on 2 1 This bit is se...

Page 329: ... could be modified by trigger functions or by K177 4 2 User word bit 2 could be modified by trigger functions or by K177 8 3 User word bit 3 could be modified by trigger functions or by K177 16 4 User word bit 4 could be modified by trigger functions or by K177 32 5 User word bit 5 could be modified by trigger functions or by K177 64 6 User word bit 6 could be modified by trigger functions or by K...

Page 330: ... in volt is greater than K149 100 8 Error that occurs when the 5V of the controller becomes lower than 4 5V 9 The absolute value of the power voltage Vpower in volt is lower than K147 100 10 Error in offset of current measurement The offset measured if greater than 8 of the maximum current of the controller M82 13 The temperature sensor does not respond 16 The EnDat calculated position is too big ...

Page 331: ...ear motors 62 Error in single index homing process Checks K43 and K44 parameters This error occurs when the motor has reached the two mechanical end stops detections are done by K43 and K44 without having finished the homing process for linear motors 63 Error in start synchro on input STI command 65 Error when the real position M7 is out of the limits defined by K34 and K35 when bit 1 of K36 is se...

Page 332: ...process when K90 2 153 Too low force when K90 6 154 Too high force when K90 6 155 Too low time when K90 6 156 Time out during AUT command 157 Error during the phasing process when K90 2 190 The controller has executed a save operation SAV command M66 Gives the warning code 0 0 255 1 This warning occurs when M67 is greater than K85 2 2 This warning occurs when the temperature of the controller is g...

Page 333: ...he software display The 16 strings of the controller display are read using the 4 depths of M95 Each depth shows 4 string in ASCII 0 0 4294967295 M96 Gives the line number being executed in the sequence 0 0 8190 M110 Gives the interpolation mode of the position controller 0 0 255 0 Interpolation mode disabled 1 Interpolation mode at every sti interrupt Takes jerk time IJT and encoder scaling mappi...

Page 334: ...m tracking error during movement 0 0 2147483647 M4 Offset between dpi and upi upi dpi M4 K50 0 2147483648 2147483647 M5 Offset due to the homing dpi 0 2147483648 2147483647 M6 Theoretical position upi Takes SET command K50 and the scaling mapping correction into account 0 2147483648 2147483647 M7 Real position upi Takes SET command K50 and the scaling mapping correction into account 0 2147483648 2...

Page 335: ... when the controller has been initialized once first PWR 1 4 2 This bit is set when the controller has finished the homing process with success 8 3 Bit present always 1 16 4 The motor is executing a trajectory 32 5 This bit is set when the motor is in the position time window defined by K38 and K39 128 7 Controller is waiting 256 8 The controller is executing an internal sequence 512 9 The control...

Page 336: ...or by K177 128 7 User word bit 7 could be modified by trigger functions or by K177 256 8 User word bit 8 could be modified by trigger functions or by K177 512 9 User word bit 9 could be modified by trigger functions or by K177 1024 10 User word bit 10 could be modified by trigger functions or by K177 2048 11 User word bit 11 could be modified by trigger functions or by K177 4096 12 User word bit 1...

Page 337: ... CRC from the EnDat 19 Error during the reading position of EnDat 20 The amplitudes of the analog encoder signals are too small 21 The encoder has lost the position acquisition the frequency is too high 23 The tracking position error is greater than K30 24 The velocity is greater than K31 26 Error when power on with DIN1 is equal to 0 when K33 0 29 The temperature of the motor is too high measured...

Page 338: ...s defined by K34 and K35 when bit 1 of K36 is set 66 Error when the reference position is out of the limits defined by K34 and K35 when bit 2 of K36 is set 67 Movement not possible because the controller is not in power on mode 68 PWR ON not possible because the controller is in interpolation mode by ITP 1 69 Homing is not possible due to the configuration of the controller and the setting 80 Fram...

Page 339: ... allows the conversion of this value in the firmware version 0 0 4294967295 M73 SER Gives the serial number of the controller 0 0 4294967295 M82 Controller maximum current M82 100 gives the maximum current in Ampere 2500 1250 6667 M85 Gives the article number string The 16 strings of the article number are read using the 4 depths of M85 Each depth shows 4 strings in ASCII 0 0 4294967295 M87 Gives ...

Page 340: ...39 Encoder period 1 1 2147483647 M240 Motor type 0 0 1 M241 Encoder interpolation factor 0 0 32768 M242 Controller quartz frequency Hz 30000000 30000000 30000000 M243 Controller current loop time factor cti M243 M242 time in second 1667 1667 1667 M244 Controller fast interrupt time factor fti M244 M242 time in second 1667 1667 1667 M245 Controller slow interrupt time factor sti M245 M242 time in s...

Page 341: ...is greater than K85 2 2 W OVER TEMPERAT This warning occurs when the temperature of the controller is greater than 60 C 3 W INRUSH P SUPPLY Power supply inrush or power voltage too low for rack version it occurs when inrush signal on d14 of JC15 is not at 0V this signal is given by ETEL s power supply or must be given by the user in case of another power supply 5 W ENCODE AMPLITU This warning occu...

Page 342: ...his warning occurs when the temperature of the controller is greater than 65 C 3 W UNDER VOLTAGE Power voltage too low 5 W ENCODE AMPLITU This warning occurs when the amplitude of the analog encoder signals is too small 2x the error 6 TRACKING WARNING This warning occurs when the tracking error is greater than K30 2 8 W DIGIT HALL Wrong value coming from the digital Hall sensor 9 WuCONTRO LSYNCHRO...

Page 343: ... Errors for DSC2P and DSC2V M64 Displayed message Description Enc Mot Hrd Bad K PS TEB EBL2 Other SW res Hw res Brk DSC2P and DSC2V errors 2 OVER CURRENT1 The current measured in phase 1 is greater than K83 x x K60 K80 K81 K82 K83 K98 x OFF 3 OVER CURRENT2 The current measured in phase 2 is greater than K83 x x K60 K80 K81 K82 K83 K98 x OFF 4 I2T ERROR This occurs when M67 becomes greater than K85...

Page 344: ...error when the controller reaches a limit switch during a movement except during IND and SLS if bit 0 of K32 is set K32 K40 I O shorted limit switch x ON 33 MULT LAB ERROR Error when the same label is defined many times If the error appears checks the sequence and if correct erases sequence NEW 1 and download again the sequence It could be possible that a part of an old sequence is still present i...

Page 345: ...le index homing process Checks K43 and K44 parameters This error occurs when the motor has reached the two mechanical end stops detections are done by K43 and K44 without having finished the homing process for linear motors x F3 F4 K30 K31 K40 K41 K42 K43 K44 K45 x ON 63 SYNCHRO START Error in start synchro on input STI command K164 SW user sequence x ON 65 OUT OF STROKE Error when the real positi...

Page 346: ...the maximum admissible value by the controller x x Motor cable external relay x OFF 141 FPGA ERROR 2 DSP watchdog error x x OFF 144 QUARTZ OSCILLAT Difference between the oscillator and quartz is too big x x OFF 150 INITIALI MOTOR 1 Bad measure during initialization process when K90 1 x K90 K91 K98 Motor cable x OFF 151 INITIALI MOTOR 2 Bad time measurement during initialization process when K90 1...

Page 347: ...s power supply or must be given by the user in case of another power supply x x ON 8 5V SHUTDOWN Error that occurs when the 5V of the controller becomes lower than 4 5V x x x ON 10 OFFSET CURERROR Error in offset of current measurement The offset measured is greater than 8 of the maximum current of the controller M82 x x OFF 13 SENSOR TEMP ERR The temperature sensor does not respond x x OFF 16 END...

Page 348: ...k is overflowed 256 times x ON 40 K79 BAD VALUE This error occurs when K79 as a wrong value K79 x ON 41 K89 BAD VALUE This error occurs when K89 as a wrong value K89 x ON 56 TIMEOUT TEB ERR The controller does not receive TEB command any more This error is enabled by setting bit 1of K141 x K141 x Bad TEB connection x ON 59 BAD NODE TEB ERR There are several nodes that have the same number on the T...

Page 349: ...t buffer full on EBL2 x ON 85 EBUSLITE BAD CRC Bad CRC on EBL2 in received message in CRC Mode x x Noise on line bad user program x ON 88 EBUSLITO THERAXIS Other axis error on EBL2 x x ON 89 MACRO ER OverRun Overrun error with MACRO x ON 90 MACRO ER Violatio Violation error with MACRO x ON 91 MACRO ER Parity Parity error with MACRO x ON 92 MACRO ER UnderRun Underrun error with MACRO x ON 93 MACRO ...

Page 350: ...AV command x OFF M64 Displayed message Description Enc Mot Hrd Bad K PS TEB EBL2 Other SW res Hw res Brk DSCDL errors 2 OVER CURRENT1 The current measured in phase 1 is greater than K83 x x K60 K80 K81 K83 K98 x OFF 3 OVER CURRENT2 The current measured in phase 2 is greater than K83 x x K60 K80 K81 K83 K98 x OFF 4 I2T ERROR This occurs when M67 becomes greater than K85 This is a power protection o...

Page 351: ...nd SLS if bit 0 of K32 is set K32 K40 I O shorted limit switch x OFF 33 MULT LAB ERROR Error when the same label is defined many times If the error appears checks the sequence and if correct erases sequence NEW 1 and download again the sequence It could be possible that a part of an old sequence is still present in the controller Same label used several times May appear when an old sequence has no...

Page 352: ...M7 is out of the limits defined by K34 and K35 when bit 1 of K36 is set K34 K35 K36 x OFF 66 REF OUT OFSTROKE Error when the reference position is out of the limits defined by K34 and K35 when bit 2 of K36 is set K34 K35 K36 x ON 67 MVT NOT POSSIBLE Movement not possible because the controller is not in power on mode x OFF 68 NO PWRON IN ITP PWR ON not possible because the controller is in interpo...

Page 353: ... K PS TEB EBL2 Other SW res Hw res Brk DSCDM errors 2 OVER CURRENT1 The current measured in phase 1 is greater than K83 x x K60 K80 K81 K82 K83 K98 x OFF 3 OVER CURRENT2 The current measured in phase 2 is greater than K83 x x K60 K80 K81 K82 K83 K98 x OFF 4 I2T ERROR This occurs when M67 becomes greater than K85 This is a power protection of the motor and or the controller K1 K2 K4 K52 K53 K56 K84...

Page 354: ...it switch x ON 33 MULT LAB ERROR Error when the same label is defined many times If the error appears checks the sequence and if correct erases sequence NEW 1 and download again the sequence it could be possible that a part of an old sequence is still present in the controller Same label used several times May appear when an old sequence has not been erased with a NEW cmd x ON 35 ENCODER FUSE KO T...

Page 355: ... M7 is out of the limits defined by K34 and K35 when bit 1 of K36 is set K34 K35 K36 x ON 66 REF OUT OFSTROKE Error when the reference position is out of the limits defined by K34 and K35 when bit 2 of K36 is set K34 K35 K36 x ON 67 MVT NOT POSSIBLE Movement not possible because the controller is not in power on mode x ON 68 NO PWRON IN ITP PWR ON not possible because the controller is in interpol...

Page 356: ...e controller is disabled during initialization process when K90 1 or 2 x OFF 153 INITIALI LOW CUR Too low force when K90 6 Increase K91 K91 K101 x OFF 154 INITIALI HIGH CUR Too high force when K90 6 Decrease K91 K91 K101 x OFF 155 INITIALI LOW TIME Too low time when K90 6 Increase K101 K91 K101 x OFF 156 TIMEOUT AUT CMD Time out during AUT command x x K90 to K98 K79 Motor or encoder cable x OFF 15...

Page 357: ...e increment All internal calculations done by the controller are in drive increment because the resolution is better In the next part of the manual the different cinematic quantities are abbreviated like described in the following table otherwise the complete conversion formula will be given from case to case Remark Read also 13 3 10 about parameter K50 for units scales definition Offset between d...

Page 358: ... K34 K35 K39 K45 K46 K47 K48 K208 M6 M7 M12 M13 M36 M37 usi Speed user speed increment m s usi usi m s SPD K211 K41 uai Acceleration user acceleration increment m s2 uai uai m s2 ACC K212 K42 K206 Distance upi Distance m 1024 2 K77 PCod 2 K50 Distance upi Distance m 64 2 K69 PCod 2 K50 for analog encoder for TTL encoder Distance m Distance upi PCod 2 K50 1024 2 K77 Distance m Distance upi PCod 2 K...

Page 359: ...rive acceleration increment m s2 dai dai m s2 All internal acc of controller M14 Distance dpi Distance m 1024 2 K77 PCod Distance dpi Distance m 64 2 K69 PCod for analog encoder for TTL encoder Distance m Distance dpi PCod 1024 2 K77 Distance m Distance dpi PCod 64 2 K69 for analog encoder for TTL encoder Speed dsi Speed m s 256 1024 2 K77 k PCod Speed dsi Speed m s 256 64 2 K69 k PCod for analog ...

Page 360: ... s2 ruai ruai turn s2 ACC K212 K42 K206 Distance rupi Distance turn 1024 2 K77 NPCod 2 K50 Distance rupi Distance turn 64 2 K69 NPCod 2 K50 for analog encoder for TTL encoder Distance turn Distance rupi 2 K50 1024 2 K77 NPCod Distance turn Distance rupi 2 K50 64 2 K69 NPCod for analog encoder for TTL encoder Speed rusi Speed turn s 256 1024 2 K77 NPCod h 2 K50 Speed rusi Speed turn s 256 64 2 K69 ...

Page 361: ... K30 K166 K168 K167 K189 M0 to M5 M8 rdsi Speed rotary drive speed increment turn s rdsi rdsi turn s All internal speeds of controller K31 M10 M11 rdai Acceleration rotary drive acceleration increment turn s2 rdai rdai turn s2 All internal acc of controller M14 Distance rdpi Distance turn 1024 2 K77 NPCod Distance rdpi Distance turn 64 2 K69 NPCod for analog encoder for TTL encoder Distance turn D...

Page 362: ...N m Kt motor force constant N m A I current A The constant Kt is given for every motor linear or rotary The formulae which calculates the currents and forces in ISO units from their increment values and vice versa are given bellow For the next part of this chapter the units will be abbreviated as follows In all other cases a formula will be given Abbreviation used in the table below Imax controlle...

Page 363: ...or more information toi Torque increment rotary motors N m foi foi N m K60 M30 to M32 Notation Signification Equivalent in SI Unit sti Slow time increment s fti Fast time increment s cti Current loop time increment s Unit Quantity Conversion formulae Concerned quantities sti Time Slow time increment sti s s sti K38 K164 K229 LTI K204 WTT JRT K213 fti Time Fast time increment fti s s fti cti Time C...

Page 364: ...es 165 units 357 Clear errors 98 CLX 226 236 Commands ACC 128 246 AI1 176 ASE 179 AUT 111 AXI 82 232 BRK 166 233 CAL 222 234 CAM 150 165 235 CLX 226 236 CPE 98 DAA 178 DAO 178 DIN 170 DOUT 172 237 EDI 203 END 226 238 ERR 99 EXI 203 FCOS 229 FFP 229 FINV 229 FIP 229 FSIGN 229 FSIN 229 FSQRT 229 FTST 229 HLB 225 240 HLO 225 240 HLT 225 240 IEQ 224 264 IGE 224 265 IGT 224 264 ILE 224 265 ILT 224 264 ...

Page 365: ...urrent reference generator 19 139 Current regulator 73 Current regulator tuning 76 D DAA 178 DAO 178 Depths 159 Digital Hall effect sensor 107 Digital inputs outputs 170 DIN 170 Dip switch 82 Display modes 132 DOUT 172 237 Drive increments table for linear and rotary 357 Drive increments linear dai 359 dpi 359 dsi 359 Drive increments rotary rdai 361 rdpi 361 rdsi 361 DSMAX reference 146 Dynamic b...

Page 366: ...polation 202 Interpolation mode 146 Interrupts CTI 23 FTI 23 RTI 182 STI 23 In window 181 ITP 146 J JBC 224 241 JBS 224 241 JEQ 221 256 Jerk time 169 Jerk trajectory 20 JGT 221 256 JLT 221 257 JMP 220 242 JNE 221 256 JRT 128 244 K K parameters K1 138 K2 138 K3 138 K4 138 K5 138 K6 138 K7 139 K8 140 K9 134 140 K11 89 K20 138 K21 138 K23 139 K27 91 130 K30 91 K31 91 K32 99 115 117 K33 95 K34 91 K35 ...

Page 367: ...184 198 K185 198 K186 199 K187 194 K190 186 K191 186 K192 186 K193 186 K195 24 K201 150 163 K202 146 150 K203 150 K204 150 K205 150 K206 150 K207 150 K208 150 K209 130 K210 128 K211 128 K212 128 K213 128 K219 209 K220 143 K221 143 K222 143 K223 143 K224 143 K229 150 K230 150 K231 208 K232 208 K233 208 K240 84 K241 85 K242 90 K243 90 K38 181 K39 181 K59 134 K parameters setting current loop regulat...

Page 368: ...49 89 M171 172 M173 178 180 M174 178 180 M175 178 180 M176 178 180 M230 208 M231 208 M239 86 M240 84 M241 86 M242 23 M243 23 M244 23 M245 23 M29 141 Magnetic brake 94 MAM 179 Mapping 210 Mathematical operations 227 cosine 229 fractional part 229 integer part 229 inversion 229 sign 229 sine 229 square root 229 MDE 25 Mechanical end stop 114 Micro master 25 errors management 99 Minimal configuration...

Page 369: ...tion 168 illustration 20 Reference advanced modes 143 basic mode 100 external modes 143 Reference mark 114 Registers bit fields 33 examples of use 33 K parameters 29 L look up table 152 M monitoring 29 maximum value 31 minimum value 31 numerical values 33 value attribution 30 value reading 32 X user variables 29 Regulation loops 18 Regulator current 73 position 74 simplified principle 73 Regulator...

Page 370: ...idal movement definition 168 illustration 20 Triggers 194 positive negative and bidirectionnel 194 Triggers programming 199 255 Troubleshooting 97 TRS 199 255 TST 221 256 257 Tuning 76 Turbo ETEL Bus 24 U Unit scale 166 Units conversion 357 User increments table for linear and rotary 357 User increments linear uai 358 upi 358 usi 358 User increments rotary ruai 360 rupi 360 rusi 360 V VER 83 Volta...

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