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Table of contents
OptiMove CR07
Travel to reference point ....................................................................................... 27
Start/stop the axis ................................................................................................. 28
Program change ................................................................................................... 29
Displaying the cycle time ...................................................................................... 29
Edit programs ....................................................................................................... 30
Axes operating modes
31
General information .............................................................................................. 31
Pendulum operating mode ................................................................................... 31
Editing/setting .......................................................................................... 32
Sequence program ............................................................................................... 32
Structure of a program step (procedure step) ......................................... 33
Programming example - positioning ........................................................ 34
Programming example - pendulum movements ..................................... 34
Programming example with path-time diagram ....................................... 35
Semiautomatic pendulum operating mode ........................................................... 36
Sequence program X_GunClean ......................................................................... 36
Setup .................................................................................................................... 37
Setup mode by keyboard (pendulum operating mode / semiautomatic
mode)....................................................................................................... 37
Setup mode by keyboard (sequence program) ....................................... 37
RAM reset ............................................................................................................. 38
Entering the RAM reset mode ................................................................. 38
Default values after RAM reset ............................................................... 38
DigitalBus parallel interface
41
Overview ............................................................................................................... 41
16 bits parallel bus structure ................................................................... 42
Command table and value ranges .......................................................... 44
Control sequence ................................................................................................. 45
Control sequence for program number change (identification number 6)45
Control sequence for program parameter (identification numbers 0-5) .. 45
Data transfer ............................................................................................ 45
Software description ............................................................................................. 46
Program procedure diagram ................................................................... 46
Digital Connector CD02 with connection designations ........................................ 47
CAN bus
49
General information .............................................................................................. 49
Hardware .............................................................................................................. 49
CAN bus cable - plug assignment ........................................................... 49
Setting the user address (ID Number) ..................................................... 50
Setting the Baud rate ............................................................................... 50
Fault remedying
51
General information .............................................................................................. 51
Hardware 53
Pin allocations ...................................................................................................... 53
Plug 2.1 - Power IN ................................................................................. 53
Plug 2.2 - Drive supply ............................................................................ 53
Plug 2.3 - Drive I/O .................................................................................. 53
Plug 2.4 – Aux DigitalBus parallel interface ............................................ 54
Plug 2.5 - CAN bus IN ............................................................................. 54
Plug 2.6 - CAN bus OUT ......................................................................... 55
