Isel IMD20 Manual Download Page 135

Page: 135 / 135

Positioning module IMD20, IMD40

Index

135

Ready to Switch On 99
Reference potential 26, 34
Reference run 75, 109, 111
RS232 34, 42, 47
RS232 interface 18
RS422 specification 25, 33

SDO 81
Set of parameters 49
State machine 99
Status diagram 87, 99
Status word 100
Store parameters 92

Switched On 99
SYNC 85, 107
Synchronous PDOs 84

td (scan time) 63
Terminating resistor 26, 33

Toothed belt feed forward

Transmission ratio 61

UPMV4/12 51

Velocity control 101

Summary of Contents for IMD20

Page 1: ...AC servo positioning module with CanOpen interface IMD20 IMD40 www isel com ...

Page 2: ...tion isel com Remarks concerning this manual D the utmost care prin If Company isel Germany AG 2009 All rights reserved Without the prior written content of isel Germany AG no part of this publication may be reproduce stored in a retrieval system or transmitted in any way whatsoever No responsibility is accepted for the correctness of the data contained in this manual Isel Germany AG company reser...

Page 3: ...Description of the drive module 18 Settings and status display 18 DIP switch 18 Modes of operation 18 LEDs IMD20 19 LEDs IMD40 20 Hardware description IMD20 21 Connectors 21 Frame connector X1 Connection of the operating voltage 40V 95V motor and brake 21 Frame connector X2 15 pin Sub D Connection of the encoder hall sensors and limit switch 22 Frame connector X3 20 pin System connection 22 Frame ...

Page 4: ...1 Commands of the File menu 41 The New command File menu 41 The Open command File menu 41 The Save command File menu 41 The Save As command File menu 41 The 1 2 3 4 commands File menu 41 The Exit command File menu 41 Commands of the Connection menu 42 The Online Mode On Off command 42 The Active Connection CAN command 42 The Active Connection RS232 command 42 The RS232 Settings command 42 The CAN ...

Page 5: ...ialogue box 60 Motor and Transmission dialogue box 61 Velocity Controller dialogue box 63 Direction dialogue box 66 Acceleration dialogue box 67 Velocity dialogue box 68 Position Controller dialogue box 69 Can Interpolation dialogue box 72 Inputs dialogue box 74 Reference Run dialogue box 75 Object Directory dialogue box 76 Firmware update 78 CanOpen protocol 79 Overview 79 SDO 81 PDO 83 Mapping 8...

Page 6: ... Group Conversion factors 111 General parameters 113 Manufacturer specific parameters 120 EDS DCF files 128 Appendix 129 Connection of Motionking EC motor to the IMD20 IMD40 129 Encoder connection 129 Motor connection 130 IMD20 basis connection 131 IMD20 system connection 132 Glossary 133 Index 134 ...

Page 7: ...mmissioning of the drive The content of this manual is also provided as online help together with the setting programme Features of the drive module Supply voltage IMD20 40 95 V DC IMD40 220 V AC Motor current IMD20 bis 25 A continuous current 12 A IMD40 bis 13 A CAN bus interface according to CanOpen DS301 V4 0 and DS402 V1 0 RS232 interface z Analogue input 10 V mit 11 bit resolution Inputs for ...

Page 8: ...at hand is not understood accurately please contact and inform our supplier o drive controller requires proper and professional A in th suffi he product w l truction concerning the standards and accident prevention regulations for the horisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands So...

Page 9: ...ontact your n responsible for the safe operation of the servo drive controller sales representative Immediately demand these documents to be sent to the perso If you sell rent and or otherwise make this device available to others these safety notes must also be included The user must not open the servo drive controller for safety and warranty reasons Pro drive co er fessional control process desig...

Page 10: ...e protected using an AC DC sensitive 300mA fault current protection switch RCD Residual Current protective Device Gold contacts or contacts with a high contact pressure should be used to switch the con trol contacts Pre con ventive interference rejection measures should be taken for control panels such as necting contactors and relays using RC elements or diodes The safety rules and regulations of...

Page 11: ...tem Th er or the operator is responsible for compliance with these regulations The ser y be operated maintained and or repaired by personnel trained and qualified for working on or with electrical devices vo drive controller must onl P evention r of accidents injuries and or damages Additionally secure vertical axes against falling down or lowering after the motor has been switched off e g by mean...

Page 12: ...ake resistor externally or internally can assume high temperatures which may cause serious burns Protection against contact with electrical parts This section t with parts ca an 50 V can be dangerous for people and may cause electrical shock Du ng operation of electrical devices some parts of these devices will inevitably carry dangerous v only concerns devices and drive components carrying voltag...

Page 13: ...residual capacitor charge Actual value of D fter being switched C bus voltage see object 0x2072 Protection against electrical shock by means of protective extra low volta A voltages between 5 and 50 Volts at the servo drive controller are p e safe from contact in correspondence with the fo untries within the EU EN 50178 1998 section 5 2 8 1 ge PELV ll connections and terminals with rot ctive extra...

Page 14: ... mentioned above personal protection must be ensured by means of monitoring or uperordinated measures on the device These are installed in accordance with the specific data of e system and a danger and error analysis by the manufacturer The safety regulations applying to the system are also taken into consideration Random movements or other malfunctions may be caused by switc tallations off by byp...

Page 15: ...able tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment e g goggles protective footwear protective gloves Do not stand underneath hanging loads Re ing liquids on the floor immediately to prevent slipping move leak Notes on safe and EMC compliant installation es the following Definition and terms Electromagnetic compa...

Page 16: ...product can cause high frequency interference in residential areas which could require measures for radio interference suppression EMC compliant cabling The following must be considered for an EMC compliant setup of the drive system In order to keep the leakage currents and the losses in the motor connection cable as small as possible the servo positioning controller should be located as close to ...

Page 17: ...ctors Maximum length 40 Connect the total shield on the motor side plane to the connector housing or motor housing um length 40 mm housings are used In general th Connect the inner shields to the mm Length of the unshielded cores 35 mm maximum Connect the total shield on the controller side plane to the PE terminal Maximum length 40 mm Maxim DANGER For safety reasons all PE ground conductors must ...

Page 18: ... connectors Limit switch chain In and Limit switch chain Out S8 terminates the CAN bus with a resistor of 120 Ohm scription of the drive module tings and status display On the front IMD40 or on the side IMD concerning the node address the baud rate limit show the current mode of operation he DIP switch i module is switched o not have any effects The switches S1 to S4 are u are 1 to 15 If the Node ...

Page 19: ...es of operation is evaluated Node address Mode of operation Modes of operation 1 Profile position mode 3 Profile velocity mode 6 Reference run homing mode 7 Interpolation interpolated position mode 2 Velocity control analogue input Node addr Mode of op ess unequal 0 eration is set by the parameter Modes of operation 3 Moving the axis away from a limit switch Node address equal 0 Velocity control a...

Page 20: ...d STS2 case of a fault Fault state the two digit error code of the current fault is given via a blinking code 1st digit number of blinking impulses of both status LEDs STS1 und STS2 2nd digit number of blink impulses of LED STS2 See EMCY on page 86 for the description of the error code In case of a missing enabling signal all two LEDs STS1 STS2 blink about once every 1 5 seconds e L ont it is p rm...

Page 21: ...ectors are prov front of the drive module tors ided on the 1 11 1 X1 X2 X3 X4 X5 Frame co ctor X erating voltage 40V 95V motor and brake nne 1 Connection of the op Pin Signal 1 Powe tion r GND power sec 2 Powe V power r 40 95 section 3 Motor 3 W 4 Motor 2 V 5 Motor 1 U 6 PE 7 Brake 8 Brake GND V GND_24 21 ...

Page 22: ...ital GND 11 Encoder Z 12 Encoder B 13 Encoder A 14 Hall C 15 Limit switch 2 Fram Pin Signal e connector X3 20 pin System connection 1 Stop1 IN 2 Stop2 IN 3 Analog input Analog IN 4 5 Input Enable 6 Input Ready In Ready IN 7 Output Homing 8 Input chain limit switch In LIMIT IN 9 24V Logic 24V 10 GND_24V Logic GND 11 Stop1 OUT 12 Stop2 OUT 13 Analog input Analog IN 14 Analog GND 15 Input Enable 16 O...

Page 23: ... settings For the normal operation no settings via jumpers are required Only for the loading process of a new software version by means of the bootstrap loader the bootstrap jumper has to be connected See also The Firmware Update via Bootstrap Loader com and on page 44 m Bootstrap Jumper Prozessor IR DIL Schalter SUB D 15 Wiring of the inputs and outputs Digital Inputs limit switch Enable The eval...

Page 24: ...contact makes it possible to easily link several Ready outputs This sum signal can be processed e g in the safety circuit 4 1 1 2 2 24V REL1 REL1 Ready In Digital output Homing The Homing output can be used to shunt the limit switch in the safety circuit It is set during the reference run on limit switch 3 Ready Out DGND 1 2 3 4 K A 1 2 TLP124 24V Output Homing Digital output Brake The Brake outpu...

Page 25: ...ogue input The analogue input is preset for a voltage level in the area of 10 V 10 V The signal can either e connected to the positive input or to the inverting signal The reference potential is always b Analogue GND 3 1 LM324SO 10K 10K 10K 10K 10K 10K 100PF 100PF 100PF 100PF 2 nalogue input Analogue input Analogue GND A Encoder connections The drive module is preset for the connection of a quadra...

Page 26: ...e drive module itself exists a terminating resistor It is activa by the DIP sw N terminator The stub lines leading from the bus to the individual modu should not be l n 50 cm in case of a baud rate of 1 Mbit s Encoder GND an network r n both side ted les itch CA onger tha 120 120 Axis 1 Axis n Device CAN High CAN Low CAN GND For the CAN wiring it is recommended to use twisted shielded cables with ...

Page 27: ...module with the exception of the brake resistor conne on on tors nnecto provided on the fron cti one side of the IMD40 X1 X2 X3 X4 X5 X6 1 1 1 11 Frame co tor X1 Conn f the operating voltage AC 220V motor and brake Pin Signal nnec ection o 1 Motor U 2 Motor V 3 Motor W 4 PE 5 PE 6 L Mains phase 7 N Ma onductor ins neutral c 27 ...

Page 28: ...e 4 GND_24V Logic GND 5 Limit SW 1 6 Limit SW 2 7 GND_24V logic GND Frame co ctor X3 15 pin nnection encoder hall sensors limit switch nne Sub D Co Pin Signal 1 Hall A 2 Encoder 5V Voltage 5 V Digital 3 Encoder Z 4 Encoder B 5 Encoder A 6 Logic 24V 7 Limit switch 1 Limit SW1 8 GND_24V D Logic GN 9 Hall B 10 Encoder GND Digital GND 11 Encoder Z 12 Encoder B 13 Encoder A 14 Hall C 15 Lim 2 Limit swi...

Page 29: ... input Analog IN 9 Stop2 OUT 10 Stop1 OUT 11 GND_24V Log GND ic 12 24V Logic 24V 13 OUT Output limit switch chain Out Limit 14 Output Homing 15 Output Ready Out Ready OUT 16 Input Enable 17 Digital GND 18 Analogue inputr Analog IN 19 Stop2 IN 20 Stop1 IN Fram Pin 1 2 3 4 5 6 7 8 e connector X5 RJ45 RS 232 und CAN IN Signal RS232 TxD RS232 RxD RS232 GND Digtal GND CAN Low CAN High CAN GND Frame con...

Page 30: ...d 2 carry a high voltage DC bus voltage Also after switch off pin 1 and pin 2 can carry a high voltage up to 5 min charging of the capacitor of the DC bus voltage Acutal value of DC bus voltage see CAN object 0x2072 Jumper settings For the normal operation no settings via jumpers are required Only for the loading process of a new software version by means of the bootstrap loader the bootstrap jump...

Page 31: ...ule and is only set if the module software works correctly monitoring through internal watchdog timer The design as a potential free contact makes it possible to easily link several Ready outputs This sum signal can be processed e g in the safety circuit 1 2 4 1 2 3 24V REL1 REL1 Ready In Ready Out Digi on limit switch tal output Homing The Homing output can be used to shunt the limit switch in th...

Page 32: ... activated the contact is open In the safety circuit this signal can be used to monitor the limit switch 2 10K GND_24V GND_24V 4 1 2 3 2 3 4 1 REL1 REL1 REL2 REL2 Limit switch 1 Limit switch 2 Limit switch chain In Limit switch chain Out Ana he analogue input is preset for a voltage level in the area of 10 V 10 V The signal can either e connected to the positive input or to the inverting signal Th...

Page 33: ...ecomm u T VCC VCC 3 11 4 9 10 7 1 2 12 5 6 13 15 14 Y1 Y2 Y3 Y4 En1 B4 A4 B2 B1 A1 En2 LTC489 SOL16 B3 A3 A2 120 120 2K2 2K2 2K2 Encoder A Encoder B Encoder A r Z Encoder Z 120 Encoder B Encode 2K2 2K2 2K2 5V Encoder r GND VCC CAN The structure of the Can n is to be realised so as to e that a 120 ohm terminating sistor is provided on both sides The drive module exists a terminating resistor It is ...

Page 34: ...ess unequal 0 RS232 Read an Analogue input S6 X RS232 Read and Write Controlword Node address and Modes of Operation ca equal 0 w n nnot be ritte In case of a communicatio via Can the CanOpen protocol is u see last chapter n sed parts ts II r than 4 bytes Likewise the boot up message and the emergency messages in case of a fault is sent from the module via the serial interface See Monitor window f...

Page 35: ...l character is This only concerns the pure data bytes that are to be transferred The checksum also has to be converted into ASCII characters again before it is sent This transfer protocol is applicable for both directions of transfer i e both for the reading and the writing process Conversion of the data bytes into ASCII signs e g 0x3F 3 and F 0x33 a Checksum Byte1 Byte2 Byte_n mo In the following...

Page 36: ...s is in the gantry operation or not and which axis is the master and w slave In case of a slave axis the user also has to define t maxim dmissible deviation of posi d the coupling factor between the master and the slave duri e C ce point is the s f th axis its own reference switch or a limit ch servin rence switch In order to compensate for the tolerance during the installation of e switch users m...

Page 37: ...7 00 00 00 582 60 40 60 00 00 00 00 00 602 2B 40 60 00 0F 00 00 00 582 60 40 60 00 00 00 00 00 T 6083h parameter is used to set the desired acceleration e g 100000 he Profile acceleration 0x000186A0 Send Receive ID Data ID Data 602 23 83 60 00 A0 86 0 00 1 582 0 00 00 00 00 00 60 83 6 et the Target velocity 60FFh parameter e g 50000 0x0000C350 The motion is launched Rece S Send ive ID Data ID ata ...

Page 38: ...00 26 CR B 60 40 60 00 00 CR The Profile acceleration 6083h parameter is used to set the desired a 0x000186A0 cceleration e g 100000 Send Receive Data ASCII characters Data C 23 83 60 00 A0 86 01 00 D3 CR B 60 83 60 00 BD CR Set the Profile velocity 6081h speed e g 300000 0x000493E0 Send Receive Data ASCII characters Data C 23 81 60 00 80 38 01 00 43 CR B 60 81 60 00 BF CR Set the Target position ...

Page 39: ...ut B n 1 Mbit s RS232 5 aud N ddress 0 Mode of ope oc ontrol wit V ple 3 Analogu Ca e inp aud rate ode a 7600 b ration Vel ity c h analogue input 10 S the contro b configuri maxim lp of the ACSetup programme Activate the Operation Enable status via the Velocity targe e signal 10 V corre et l range y ng the um speed with the he enabling signal dig input 4 t via analogu sponds to set maximum speed 3...

Page 40: ...0x7307 19 Fault Encoder Track Z 9 0x8100 0x0002 21 CAN error 10 x7 0 308 22 Deviation of position between the master and the slave is greater than the maximum admissible value 11 0x8120 23 Node guarding failed 12 0x5441 24 Negative limit switch active 13 0x5442 25 Positive limit switch active 14 0x5444 26 No enabling signal 16 0x7309 28 Fault in slave axis 17 0x730A 29 Fault in master axis 18 0x60...

Page 41: ... parameters in the DCF format under the current name and in the current directory If the document is saved for the first time the ACSetup programm would like t the Save As comm Shortcuts Tool ba Keyboard CTRL S The Save As command File menu Use this command in order to save and name the active set of parameters The programme opens r for you to enter the name for your set of parameters The 1 2 3 4 ...

Page 42: ...rent parameters Shortcuts The Active Connection CAN command By means of this command you can configure the ACSetup programme so that the CAN bus is to be used as the active connection to the drive module i e all parameters are read and written via CAN Shortcuts Tool bar The Active Connection RS232 command n configure the ACSetup programme so that the serial interface is the drive module i e all pa...

Page 43: ...m The ndex and This comma s mands of the Settings menu Object Directory command Use this command in order to access the Object Directory dialogue box Via the object directory you can access all drive module parameters The parameters here are sorted according to an i displayed with their CanOpen characteristics Shortcuts Tool bar Com The the possibility to access all existing commands n order to fa...

Page 44: ... All current settings of the drive module parameters are kept during an update The update process must not be interrupted e g by switching off the module interrupting the connection etc If the update process could not be completed successfully the drive module is not operational In this case a new update has to be realised with the help of the Firmware Update via Bootstrap Loader command See Firmw...

Page 45: ...ate of the drive module according to CANOpen DS402 ool bar By means of this command you can show or hide the tool bar T this command in order to show rogramme or the selected menu erial Interface command haracters of the active serial connection that N Monitor command his command switches on or off the monitor window for the CA nt and received are displayed that are transferred betwee ve drive mod...

Page 46: ... as active connection Indicates the operating state of the module Launches the commissioning wizard Shows all setting dialogue boxes as tabs Displays a tree diagram with all module parameters objects Launches the direct help Status bar The status bar gives information on the programme and on the opened interfaces and shows the current state of the connection to the drive module Online mode activat...

Page 47: ... status query is interrupted Monitor window for serial interface r state If on the DIP switch th there are only the two possible states Ready To Switch controlled by the enabling signal A change via this dialogue box or the Control word is thus not possible help of the View Drive status comman With the fa Characters sent Characters received Entry field for sending data Sends characters in the entr...

Page 48: ... message received ule In this window CAN data are shown which are exchanged between the ACSetup programme and the selected drive mod For the communication the CANOpen SDO protocol is used The setting of the node number for the connection with the desired module can be realised via the Connection CAN settings menu command 48 ...

Page 49: ...connection See also RS232 CAN settings Choose Active Connection The data communication with the positioning module can be realised either via the serial interface RS232 or via CAN The Active Connection CAN RS232 command is used to select a connection before the online mode is switched on the ACSetup programme must of course be RS 2 r gramme functions ate a data connection The positioning module IM...

Page 50: ...with the IMD20 IMD40 module Only the serial interface is concerned If you nevertheless want to use ACSetup with the CAN bus you have to activate the Declaration mode In this case you can observe the different parameters via the Settings Object Directory menu The writing of the parameters however is not possible The use of the ACSetup programme in the Step by step commissioning mode or in the Rando...

Page 51: ...ion are run through in a predefined order Thus the highest level of security is ensured and uncontrolled movements of the axis e g due to wrongly connected encoder lines and non adapted control parameters can be avoided to a large extent The execution of the next step often depends on the successful completion of the current step During the first start of the programme a simplified menu bar is sho...

Page 52: ...easonable if one wants to make a quick change or detail improvements In cases in which the drive module can move because of its own weight even if the system is dead a new commissioning shall also be carried out with the help of this option For this the parameters of the current velocity or position controller have at first to be set to default values The control is thus activated On the basis of ...

Page 53: ...Connection dialogue box Here you can select the active connection and adjust the corresponding settings Afterwards the online mode can be activated During the step by step commissioning the online mode is automatically launched with the Next button 53 ...

Page 54: ...P switch was not used to set the analogue reference input current or velocity control preset In case of the step by step commissioning the number of the following setting dialogue boxes depends on the mode of operation chosen here The changing of the operational status is only possible in case of the Commissioning in a random order See Modes of operation on page 18 54 ...

Page 55: ...ogramme Offset Calibration dialogue box ith the offset calibration the offsets are measured and the drive module is calibrated The offset W calibration is realised automatically in the drive module and launched via the corresponding button 55 ...

Page 56: ...his setting possibility serves to eliminate small zero point deviations and voltage fluctuations on the analogue input The digitalised voltage value is set to zero in the set area around the zero point This parameter has only an effect on modes of operation with analogue input 56 ...

Page 57: ...not exist the manual control mode has to be chosen In this mode the application software has to operate the output or brake itself In the automatic mode the brake is activated automatically if the final stage is currentless The motor can no longer move freely If the final stage is activated the brake is switched off Then the motor can be moved All settings must in any case be controlled with the h...

Page 58: ...al three impulses is applied on the controller s input for the test Here the duration and the amplitude of the test signal can be set The path of the actual current is recorded internally and then queried and displayed by the ACSetup programme see Figure For the setting of the controller it has to be made sure that the target value dotted line is achieved and maintained Note If the motor does not ...

Page 59: ...it the output of the current controller Here these values can be changed The values should not be set too high or too low If the values are too high the control is not correct The motor is noisy and the motor current is too high If the values are too low the full power of the motor cannot be used In the dialogue box Motor and Transmission these two values can be calculated out of the motor data Ho...

Page 60: ...onnection is carried out internally in the drive module At first it is tested if a certain number of impulses e g 100 is exceeded at standstill about 1 sec This could be caused by an open connection or faults Afterwards the motor is moved in one direction until a preset number of impulses 1 000 Inc is achieved or until a preset time 100 ms has been exceeded A pause of about 2 seconds is to make su...

Page 61: ...eleration are always derived from the position unit as Unit Sec or Unit Sec In the example above a linear axis with a spindle pitch of 10 mm rev without transmission is required The position is to be given in the µm unit Thus the units for the speed and acceleration would be µm sec or µm sec respectively If a rotary axis is used it is reasonable to use a unit of angular measurement Here one can ch...

Page 62: ...o use a your own motor together with IMD20 IMD40 communicate with us We will elp you to determine the hall sensor and index signal positions e buttons Point 1 and Point 2 you can drive to two different points on the of the two points and input the distance in the edit field Distance of points e fee Corre onstant is calculated automatically while entering the measured t the calculated feed constant...

Page 63: ...fects the scan time of the differential controller x 1 td This value should only be set greater than 0 in case of heavy axes An increase of the td value by one corresponds to a duplication of the kd value Actually the velocity controller is a position controller with the function to count the target position with a constant rate This rate corresponds to the actual target velocity Due to this princ...

Page 64: ...e test and are then replaced again by the previous parameters The parameters can be tested both at standstill as well as in motion In the beginning it is best to use the default values and to only then try different settings Some basic setting rules y In case of a strong following reduce kp and or increase kd y Too high a D proportion leads to a rough motor operation and to loud noises y An increa...

Page 65: ...Positioning module IMD20 IMD40 ACSetup programme 65 ...

Page 66: ...ion of the motor can be adapted so that it corresponds to the defined axis direction of the connected mechanical facilities For this purpose a dialogue box can be displayed by means of which the axis is moved into the positive or negative direction If the analogue mode of operation current or velocity controller is activated the default axis direction has to be chosen Otherwise the movement of the...

Page 67: ...h At the same time the build up times of the ramps are measured and averaged This value is limited to 80 in order to have a certain reserve for the control Important If a short circuit error error number 13 occurs during the determination of the maximal acceleration the user have to reduce the Current limitation in the main iq_Limit step by step until the error 13 does not occur anymore If a short...

Page 68: ...on dialogue box on page 54 The determination of this parameter can be carried out automatically Here it is however necessary to define a motion sector since the axis might cover a long way during the acceleration to the maximum speed and the subsequent braking and may not drive into the mechanical stop See Acceleration dialogue box on page 67 In order to determine this motion area at least one lim...

Page 69: ...x The position controller is a PD controller with velocity feed forward This is superimposed on the velocity controller i e the velocity controller has to be set first A feed forward always leads to better dynamics but also to an following Normally the default values for he feed forward should be applied For the test of the settings a test signal is again available consisting of three impulses wit...

Page 70: ...ctor and kp until the following error becomes minimal For this increase the target speed lowing in vary the velocity controller in order to achieve a ition controller y Set the test acceleration to jump and control the transient behaviour of the control cycle even at higher target speeds speed display If the axis switches to a permanent vibration limit the following limitation of the velocity cont...

Page 71: ...tic parameter for the dynamism of an axis This parameter is not used within the positioning module A superordinate CNC control such as the ISEL control can read this parameter and use it for the optimisation of the sequence of motions The kv factor is to be determined experimentally by selecting the kv_value radio button 71 ...

Page 72: ...et A superordinate control can query this flag and react accordingly The axis vibration behaviour can be influenced by the Maximum jerk parameter The smaller the jerk value the less the vibration of the axis during the accelerating and braking processes In return the acceleration and braking process takes longer accordingly The jerk value can be read in and used by the CNC control Within the final...

Page 73: ...ue is the maximum possible value following limitation can also be changed via t limitation data entry fi so Velocity Controll ox on page 63 fault states The related master axis with the error code 28 greater the fa position be the coupling factor the better the gantry operation But the regulation on the slave axis is unfortunately rougher The user should always apply the default value as initial v...

Page 74: ...ual status of the inputs can be read via the LEDs This display corresponds to the state as it is evaluated by the control light green input is active grey input is not active In order to test the limit switch on one axis said axis can be displaced to the limit switches by means of a Teach dialogue move axis If the activation of the limit switches via the emergency stop chain of the plant would lea...

Page 75: ...ch speed in one direction until the switch indicated becomes active Afterwards the axis slowly moves with the Drive out of the switch speed in the other direction until the switch switches off again Finally the axis is brought to a defined distance reference distance from the switching point This is then the zero point of the axis The reference acceleration should amount to about 1 10 75 ...

Page 76: ... view of all parameters CanOpen objects of the d Via objects and read and or write the p ord ption of all objects can be found in the c ge CanOpen standards may use this dialogue box in o pa hall realise the setting of parameters via the ng f the Commissioning menu on page 43 The tree view on the left side is su Device Profile DS402 and M Spe e characteristics and the content of the currently s ct...

Page 77: ...Positioning module IMD20 IMD40 ACSetup programme 77 ...

Page 78: ... only the first three memory banks are newly written during the normal update i e the set of parameters is maintained If new parameters are added due to the update these are configured with default values Contrary to the normal update the update via the bootstrap loader deletes the complete Flash memory and the stored parameter settings are lost This possibility to load the programme also works if...

Page 79: ...Interfa e to inte para rnal variables an Apart from the two objects r the ran fer t s objects e g for the synchronisation or error messages All in all d ni tions bjec S ort de ripti fo data t s here are still further communication the following CanOpen objects are supporte Commu ca o t h sc on SDO Universal mmu objects contained er than PDO since the o ct add s ha a second SDO ha co nications chan...

Page 80: ...ontrol level Parameters and data of the control CAN CANOpen control e g PC CANOpen participant e g I O module CANOpen participant e g Drive node adress 17 Or SDO Index Sub index Flags r w Data max 4 bytes Index 607A Sub index 0 Variable for target position Object Dictionary PDO e g target position 607A object 32 bit PDO mapping Table Object X Target position Ob Ject Read or write Read or write CAN...

Page 81: ... of the first byte of an SDO Command Specifier controls the communication and defines e g if an object is read or written An SDO message always consists of 8 bytes irrespective of the fact how many data bytes are really transferred The unused data bytes can contain any values and have to be ignored The number of data bytes can be given in the Command Specifier it is however also defined by the dat...

Page 82: ... The following error codes an be indicated by the drive module SDO interruption error code Meaning 0x05030000 Toggle Bit was not changed 0x05040000 SDO protocol timeout exceeded 0x05040001 Command specifier invalid or unknown 0x06010001 Read access to write only object 0x06010002 Write access to read only object 0x06020000 Object not existing in the object directory 0x06040041 Mapping for this obj...

Page 83: ...rangement of the objects in this Can frame due to the Mapping table for this PDO in its object directory The table is either preset firmly or written before the sending of the PDOs The receipt of a PDO is not confirmed by the recipients The length of a PDO 1 8 bytes depends on the number and length of the contained objects Mapping A CanOpen device can dispose of several Receive PDOs and Transmit P...

Page 84: ...0 If an object cannot be mapped or if the length of the PDO is exceeded the SDO transfer is interrupted with a sponding error message f Os can be tri by thre n r an internal timer by the query of the PDO via a remote request RTR Can object by the of a SYNC message urthermore two types of transfer are distinguished synchronous transfer Synchronous PDOs are transferred directly after the SYNC object...

Page 85: ...e data at the xth SYNC 0 x TP r after every xth SYNC 241 251 Reserved 252 x x Objects in the PDO are updated with every SYNC but only sent upon demand RTR 253 x ct h e up ent when the is v x Obje RTR s in t recei e PDO ar ed dated and s 254 s x Not u ed 255 x Event controlled PDO The transfer is triggered by a ble change of the mapped parameter or an adjusta timer S The SYNC signal provides a comm...

Page 86: ...ication s basic functions of the participants in the n network Here a master slave configuration is taken as a basis in which an NMT master s the state ther pa ts Status changes of individual or all NMT slaves Start Stop R are triggered by an NMT object 00 This obj er and alway te he ontains a o term g tate of the data byte defines if all slaves are addressed at the same time or if individua T obj...

Page 87: ...ion are triggered by internal Power ON or hardware reset Initialisation Pre Operational Stopped CS 0x0 Operational 1 CS 0x80 CS 0x02 CS 0x80 CS 0x01 CS 0x02 Reset communication CS 0x82 Reset node CS 0x81 Initialisation completed A ansition perational state it is not possible to send or receive PDOs In the Stopped state no atsoever is p with th e ardin fe ts of he pro nications obj utomatic tr In t...

Page 88: ... 0 The guarding includes th automatic self interruptio For this purpose the mast for every node a request telegram RTR for the guarding object of the respective slave The NMT slave replies within the life time guard time x life time factor with the guarding object which contains in one data byte the current NMT state and a toggle bit Upon the first query the toggle bit has a value of 0 and changes...

Page 89: ...Positioning module IMD20 IMD40 CanOpen protocol NMT Master NMT Slave RTR Life Time Life guarding error Operational 0x05 RTR 0x85 RTR 0x05 Guard time 89 ...

Page 90: ...ype Index Sub Name Type Attrib Map Default va Meaning 1000 00 Device type Unsigned 32 00020192 RO N 0x Device type Th drive 02 e vic dicates whi f used nd f o h h Error register b p lue de e type in Bit 0 15 device profile 402 ch device pro 192 ile is a which kind o device this is e g serv Index Sub Name Type Attri Ma Default va Meaning 1001 00 Error register Unsigned 8 RO Y 0x00 Error register Th...

Page 91: ...he list The writing of delete mory 32 error entries e r cod EE e 2 dditi formation in the C The sub index gistered an 0 on the sub index 0 s the error me The bytes a bit long nd a consist of th onal in erro e C see emerg upp ncy object in the lower er 2 bytes ME Additional information Er ode bits Low bits C c b p value ror c er 16 Upper 16 OB ID Syn message Index Sub Name Type Attri Ma Default Mea...

Page 92: ...ndex Sub Name Type Attri Ma Default value Meaning 100D 00 Life time factor Unsigned 8 RW N 3 See below Life e f m le switches ta il a ar Store parameters Index Sub Name Type Attrib Map Default value Meaning tim actor x guard time time until the odu to the fault s te if guard telegrams fa to ppe 1010 Store parameters RECORD Store parameters 1010 00 Largest supported sub index Unsigned 8 RO N 1 Numb...

Page 93: ...values By writing the signature on sub index 2 only communications parameter with default values are loaded High resolution time stamp Index Sub Name Type Attrib Map Default value Meaning 1013 00 High resolution time stamp Unsigned 32 RW Y 0 High resolution time stamp µs Synchronisation of the interpolation cycle in the interpolation mode 2 COB ID Error message Index Sub Name Type Attrib Map Defau...

Page 94: ...nd 4 Transmit PDOs with vari PD ra any possible wa l other pa admissible in CanO n The iden r mapping can be t be re ured every time a er and the m P Ind ttrib Ma lue 1400 R_PDO1 parameters ORD Comm parameters REC 1400 00 Number of entries Unsigned 8 C 2 Number of entries ONST N 1400 01 COB ID Unsigned 32 R 0x200 Node no Identifier of the RxPDO1 O N 1400 02 Transmission type Unsigned 8 1 Transfer ...

Page 95: ...x0000000 Mapping U 0 of the 4 th object Receive PDO2 mapping parameters Type Attrib Map Default Meaning Index Sub Name value 160 rameters 1 R_ PDO2 mapping RECORD Mapping pa 160 00 No of obj in PDO Unsigned 8 RW N 2 Number of objects 1 160 1 st object 1 01 Mapping for 1st obj Unsigned 32 RW N 0x60400010 Mapping of the 1601 2nd obj Unsigned 32 RW 008 Mapping of the 2 nd object 02 Mapping for N 0x60...

Page 96: ...NST N 2 Number of entries 1800 01 COB ID Unsigned 32 RO N 0x180 Node Identifier of the TxPDO1 no 1800 02 Transmission type d 8 e of the PDO Unsigne RW N 1 Transfer typ 1800 03 Inhibit time Unsigned 16 RW N Minimal sending interval 50 for TxPDO1 in 100 µs 1800 04 Compatibility entry Unsigned 8 RW N 0 n No functio 180 unit 1 ms 0 05 Event timer Unsigned 16 RW N 0 Timer for cyclic sending communicati...

Page 97: ...03 00 Number of entries Unsigned 8 CONST N 2 Number of entries 180 TxPDO4 3 01 COB ID Unsigned 32 RO N 0x480 Node Identifier of the no 1803 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO 1803 03 Inhibit Time Unsigned 16 RW N 50 Minimal sending interval for TxPDO4 in 100 µs 180 Unsigned 8 RW N 0 No function 3 04 Compatibility entry 1803 05 Event timer Unsigned 16 RW N 0 Timer for c...

Page 98: ...t PDO 1A02 00 No of obj in PDO d 8 objects Unsigne RW N 2 Number of 1A02 01 Mapping for 1st obj Unsigned 32 RW N 0x60410010 st Mapping of the 1 object 1A02 02 Mapping for 2nd obj Unsigned 32 RW N 0x60640020 Mapping of the 2 nd object 1A02 03 Mapping for 3rd obj Unsigned 32 RW N 0x00000000 Mapping of the 3 rd object 1A02 04 Mapping for 4th obj Unsigned 32 RW N 0x00000000 f the 4 th object Mapping o...

Page 99: ...tion Switch On Disabled Ready to Switch On Switched On Operation Enable Quick Stop Activ Active Fault 0x7 0x6 0x6 0x0 0xF 0x7 Fault Reset 0x2 0x6 0x0 0x0 0x0 Control word Bit 0 3 Power Enabled 0x60 0x0F 0x2F 0x21 0x23 0x27 0x07 0x20 0x20 Status word Bit 0 1 2 3 5 6 Fault reset Control word Bit 7 0 1 escription of the individual states Ready to Switch On Final stage blocked Drive functions blocked ...

Page 100: ... erati Mode of o de Mode of operation Interpolation 0 3 Control of the state machine 4 Apply new set of on Start reference run Release of polation mode positi inter 5 The set of position atel es v immedi becom y alid 6 0 absolute 1 relative 7 Reset fault 8 Stop Braking w al ramp Int si motion vector is ntaine t refer run ith norm errupt po tioning mai d Interrup ence 9 10 Not used 11 Cancel positi...

Page 101: ...g error Error durin reference r rror g Following e un 14 Motion ac Motion acti tive ve Buffer full 15 Interpolation stopped missing SYNC or buffer empty M f eration e ttin f the mode of op al via the 6060h object Thi ly be it Th uery of the active era is ca d o via the 6061 se parameters lue ode o op Th wr se ten g o e q eration is re mode of op ised tion s parameter can on h object rrie ut The fo...

Page 102: ... box on page 61 imum current ex Sub Name Type Attrib Map Default value Meaning 6073 00 Maximum current Unsigned 16 RW N 12000 Maximum output current in mA The maxim is li um cu y 25000 rrent can amo values bet mA ximum current m mA at IMD is limit 0 0 R c nt Index Sub Name Type Attrib Map Default value Meaning unt to 20 and ween 1 00 ed by 80 0 an 0 mA d 25 000 at IMD4 The ma ited b ated urre 6075...

Page 103: ...motor is a iven a n or braked until the new target speed value is achieved In the S arget is set if the actual velocity remains in the Velocity Window for the Velocity Window Time Target velocity Index Sub Name ib Map Default value Meaning ile Velocity Mode velocity control with ramp profile The objects given here are important for the velocity control mode of operation Furthermore the Acceleratio...

Page 104: ...indow time Unsigned 16 RW N 1 the Time frame for achievement of the target velocity in milliseconds rs Velocity controller paramete Index Sub Name Type Attrib Map Default value Meaning 60F9 Velocity control parameters RECORD Parameters of the velocity controller 60F9 00 Number of entries Unsigned 8 CONST N 6 Number of entries 60F 01 kp Unsigned 16 RW N 50 Proportional amplification 9 60F9 02 ki Un...

Page 105: ... the individual movement segments is realised via the parameters Target position Segment velocity Final velocity and Acceleration the same values being used for acceleration and braking ramps Via Control word and Status word a handshake i the following illustration ment segments are executed after each other are transferred only after the first segment was c e transfer rder to tel ter the respecti...

Page 106: ...Meaning 60FC 00 Position target value Incr Signed 32 RO Y 0 Actual position target value al position Incr Name Type Attrib Map D Actu Index Sub efault value Meaning 6063 00 Actual Position Signed 32 RO Y 0 Actual position value in Incr increments Actual positio ni p lue n user defined u ts Index Sub Name Type Attrib Ma Default va Meaning 6064 00 Actual posi user defined units tion Signed 32 RO Y 0...

Page 107: ...W N 10 Differential amplifica 60FB of the D n in units of the controller scan time 04 td Unsigned 8 RW N 0 Scan time proportio Unsigned 16 RW N 100 Velocity amplification 60FB 05 kv factor kv 60F RW N 0 Feed forward factor B 06 Ff Unsigned 8 The parameterisation of the position controller can be carried out by means of the ACSetup osition Controller dialogue box on page 69 I Mode Pos ntrol w rp o ...

Page 108: ...efault value Meaning f the SYNC s nal fails o tatus word For this the las terpolation me ation sub lect Signed 16 RW N 0 0 selection of the process 60C0 00 Interpol mode se interpolation D c fo Ind ata re ord r interpolation ex Sub Name Type Attrib Map Default value Meaning 60C Data record for interpolation 1 Interpolation data record RECORD 60C1 ber of entries Unsigned 8 CONST N 1 Number of entri...

Page 109: ...efine the zero point of the axis See Reference Run dialogue box on page 75 The type as well as the velocities and acceleration during the search for the zero point can be set For the execution of the reference run the module has to be switched to the Homing Mode of operation Via the control word the reference run is launched and with the help of the status word the actual reference run status can ...

Page 110: ...witch reference switch not supported 34 no rrent position run cu Reference run b p ue speeds Index Sub Name Type Attri Ma Default val Meaning 6099 eeds RECORD uring the Homing sp Speeds d reference run 6099 00 ST Number of entries Unsigned 8 CON N 2 Number of entries 6099 01 Unsigned 32 RW N 10000 ring the movement to the switch in user defined units s Speed during search for switch Speed du 6099 ...

Page 111: ...switc a limit switch is activated Factor Group e jec quired for the co on of th c ati e g µm into internal units incre e only o th vers is t nversion ed and a r defined units a e multipli the units for the velocity and acceleration are user defined unit secon cond The conversion factor is calculated from the other objects according to the formula described under Motor and Transmission dialogue box...

Page 112: ...cremental encoder 608F 00 Number of entries Unsigned 8 CONST N 2 Number of entries 608F 01 Encoder increments Unsigned 32 RW N 4000 Number of encoder impulses 4 times the value of the line number 608F ned 32 RO N 1 Per number of motor revolutions 02 Motor revolutions Unsig A ncoder resolution 4 times the value of the line number of the encoder has to be set since the resolution sed by the 4 edge e...

Page 113: ...gned 32 RW N 5 Divisor General parameters Here those objects are grouped that cannot be allocated to a certain group since they affect several modes of operation or functional groups Maximum speed Index Sub Name Type Attrib Map Default value Meaning 607F 00 Max profile speed Unsigned 32 RW N 100000 Maximum speed The maximum speed internally restricts all velocities in the modes of operation Profil...

Page 114: ...follows Bit number Meaning Bit 0 Negative limit switch Bit 1 Positive limit switch Bit 3 Enabling signal Digital outputs Inde Type Att value Meaning x Sub Name rib Map Default 60FE 00 Digital outputs Unsigned 8 RW Actual state of the digital outputs Y 0x00 With the help of the first bit of the object 0x60FE set or reset for the brake control ntly only output 3 is shown on the object D ts ning of t...

Page 115: ... moved in both directions There are however applications in which it is desir t e ac dir o limit switch is blocked In this case the parameter Limit switch active disable n t et o ise vements in both directions are still admissible Parameter Meaning in case of an activated limit switch o a ed that the movemen in th tive ection f the curre t mus be s to 1 therw mo value 0 The movement in rections bo...

Page 116: ...N 0 0 rotation motor 1 linear motor 6410 0E Pitch Unsigned 32 RW N 31008 ear motor Pitch of the lin 6410 0F Emulating Encoder Index Safety Distance Unsigned 16 RW N 50 Emulating Encoder Index Safety Distance 6410 10 Motor Temperatur Sensor Unsigned 8 RW N 0 1 Motor temperature sensor active 0 Motor temperature sensor not active 6410 11 Invert Motor Temperature Input Unsigned 8 RW N 0 1 Motor tempe...

Page 117: ... limitation time 6510 07 RW Mode of operation for the control of the brake Mode of Set Bracke Unsigned 8 N 0 6510 08 Init Value of Digital 00 of the Outputs Unsigned 8 RW N 0x Initialisation values digital outputs 6510 09 Invert Digital Outputs Unsigned 8 RW N 0x01 of the digital low Evaluation outputs high active 6510 0A Hardware Type Unsigned 8 RO N 0x00 Hardware type IMD20 or IMD40 0 Imd20 1 Im...

Page 118: ...ut ever SD T first bit of the In value of dig l outp ob t c ed as the initia e from ou 0 Manual 1 Automatic e Inve a efin if output 3 is to be evalua actively This parameter is blocked for the automatic mode v Di ea Th rt digital outputs p rameter d es ted low actively or high In ert gital Outputs M ning 0 Output 3 is high active i e no Value 0 or 1 to Bit 0 from the object 0 o outpu signal invers...

Page 119: ...e current During the operation all motor phase currents are measured permanently and are compared with this limit value An exceeding of this value leads to deactivation of the controlling until the motor phase currents decrease under the limit value Take into consideration that the IMD20 IMD40 is not switched off during this measure It is only a security measure 119 ...

Page 120: ... 1 of the DIP switch 5 High Speed Mode the user can choose with the rameter New Hi ed Su erent transfer baud he new baud rate is on ch off and switch on of the module With a double click on the object 2001 03 New High Speed Subm w baud rate for the can bus can be c osen The followi baud rate sed in the object Ca Baud Rate Code CAN Bus Baud Rate If baud rate about 2 help of the pa ly active after a...

Page 121: ...42 00 Number of entries Unsigned 8 CONST N 3 Number of Entries 2042 01 Current password Unsigned 32 WO N Current password 2042 02 Modification mode Unsigned 8 RO N 0 Æ Wrong password 1 Æ Correct password 2042 03 New password Unsigned 32 WO N New password The Password object offers the possibility to protect the set parameters from unauthorised changes It has to be taken into account that the prote...

Page 122: ...ntrol if applicable Currently up to 2 gantry axes are allowed per machine The CAN node ID of the slave axes are stored in the Slave minimal node ID and Slave maximal node ID for the monitoring of errors The Slave Error object is only used by one master axis If the related slave axis is faulty this object is set in the master In a slave axis this object is of no importance During the gantry the sla...

Page 123: ...ers of the motor controller 204A 00 Number of Entries Unsigned 8 CONST N 2 Number of entries 204A 01 Register Offset Unsigned 8 RW N 0 Offset read register 204A 02 Register Size N 1 Register lenght in byte 4 Unsigned 8 RW 1 2 3 204A 03 Data from Registe 2 RO 0 Data from register r Unsigned 3 N With this er can read all read register of the internal motor controller Data from Register can be loa da...

Page 124: ...the safety circui supply voltage can be switched on Afterwards is can be the active limit oncerning this subject see Moving the axis on age 111 Offset analogue input Index Sub Name Typ Attrib Map Default value Meaning tivated limit s upply volt of the he ax deactivates moved out of t Thus the switch C t p 2064 Calibrate Analog IO RECORD Offset calibration of analogue input 2064 00 Number of Entrie...

Page 125: ...Signed 16 RO N 0 Actual current lw Actual analogue target value Index Sub Name Type Attrib Map Default value Meaning 2071 00 Actual analogue input Signed 16 RO Y 0 Actual analogue target value 1023 1023 DC Bus Voltage Index Sub Name Typ Attrib Map Defaultwert Bedeutung 2072 00 Number of Entries Unsigned 8 CONST N 2 2072 01 IMD20 Actual Active Level Status Unsigned 8 RO N 0 At IMD20 1 DC Bus Voltag...

Page 126: ...signal is the maximum path length to be moved in Incr This object restricts the range of movement of the axis during the determination process Start test signal Index Sub Name Type Attrib Map Default value Meaning 20A0 Test input RECORD Choose test signal and start 20A0 00 Number of Entries Unsigned 8 CONST N 2 Number of entries 20A0 01 Configure Test Input Unsigned 8 RW N 0 Selection of the test ...

Page 127: ...module IMD20 IMD40 CanOpen protocol Trace Data Type Attrib Map Default value Meaning Index Sub Name 2081 00 Domain RO N Data field for internal registrations of courses of current and velocities etc Trace data 127 ...

Page 128: ...ning of the file general data on the de en characteristics are given Then the object descriptions are given which have t following structure nce run velocity object 6099h sub inde Meaning 9sub1 x and sub index ParameterName Speed During Search For Switch Name of the parameter 0x7 NSIGNED32 Access type RW read and write admissible 000 fault value Mapping admissible 0 no Mapping 00 lue given only in...

Page 129: ...S70A 640 1000Z 90BLS100A 440 1000Z 90BLS100A 640 1000Z EC 86 S 440W 90BLS125A 640 1000Z EC 86 L 660W 110BLD110A 640 1000Z 110BLD170A 630 1000Z Encoder cable motor Motionking SUBD_15_IMD20 IMD40 Cable color Pin SUBD15 Connection Identifier IMD20 IMD40 White 9 HALL_B_IN White Black Green 14 HALL_C_IN Green Black Yellow 1 HALL_A_IN Yellow Black Orange 11 ENC_Z Qrange Black 3 ENC_Z Grey 13 ENC_A Grey ...

Page 130: ...tionat IMD20 90BLS100A 640 1000Z EC 86 S 440W Connectionat IMD40 90BLS125A 640 1000Z EC 86 L 660W Connectionat IMD40 110BLD110A 640 1000Z Connectionat IMD40 110BLD170A 630 1000Z Connectionat IMD40 Motor cable Connection at IMD20 Connection at IMD40 Yellow Motor 1 U Motor U Blue Motor 2 V Motor V Green Motor 3 W Motor W Der following motor connection is valid for the Motionking EC motor 90BLS100A 4...

Page 131: ...T Stop1 OUT Stop2 IN Stop1 IN Hall B Hall A Power GND Power 40V to 95V Motor 3 W Motor 2 V Motor 1 U PE Brake Brake GND Encoder Hall Limit Switch 5V 40V to 95V ST2 ST1 Logic GND 1 9 10 11 12 13 14 15 2 3 4 5 6 7 8 Limit SW2 Limit SW1 Logic 24V A A B B Z Z Digital GND Digital 5V Hall C Device Status Supply Voltage CAN IN CAN OUT RS232 TXD 2 1 3 4 6 8 5 7 2 1 3 4 6 8 5 7 RXD CAN_L Digital GND CAN_H ...

Page 132: ... OUT Stop2 IN Stop1 IN Hall B Hall A Power GND Power 40V to 95V Motor 3 W Motor 2 V Motor 1 U PE Brake Brake GND Encoder Hall Limit Switch 5V 40V to 95V ST2 ST1 Logic GND 1 9 10 11 12 13 14 15 2 3 4 5 6 7 8 Limit SW2 Limit SW1 Logic 24V A A B B Z Z Digital GND Digital 5V Hall C Device Status Supply Voltage CAN IN CAN OUT RS232 TXD 2 1 3 4 6 8 5 7 2 1 3 4 6 8 5 7 RXD CAN_L Digital GND CAN_H CAN GND...

Page 133: ...bjects and current value of the objects EDS file Electronic Data Sheet File Descriptions of the module s objects PDO Process Data Object Can message with a defined identifier which contains one or more objects without address information SDO Service Data Object Communication channel between two CanOpen participants ...

Page 134: ...ng signal 19 Encoder 60 Encoder resolution 62 Error code 82 86 Error memory 91 F Fault 99 Fault state 40 Fault states 40 File 41 Firmware update 43 44 78 Forward feed constant 61 Forward feed factor 70 Frame connector 21 27 28 G Guarding 88 H Hard limit 64 I Interface 45 Interpolation 107 J Jumper 34 K kd differential amplification 63 kv speed amplification 71 L LED s 19 M Mapping 83 94 Maximum ac...

Page 135: ...7 RS232 interface 18 RS422 specification 25 33 S SDO 81 Set of parameters 49 State machine 99 Status diagram 87 99 Status word 100 Store parameters 92 Switched On 99 SYNC 85 107 Synchronous PDOs 84 T td scan time 63 Terminating resistor 26 33 Toothed belt feed forward 70 Transmission ratio 61 U UPMV4 12 51 V Velocity control 101 ...

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