1
About this Document
1
1.1
Objective and Target Audience of this User Manual.................................................. 1
1.2
Symbols and Typographic Conventions...................................................................... 1
1.3
Definition of Terms ..................................................................................................... 2
1.4
Figures ........................................................................................................................ 3
1.5
Other Applicable Documents ..................................................................................... 3
1.6
Downloading Manuals ................................................................................................ 4
2
Safety
5
2.1
Intended Use .............................................................................................................. 5
2.2
General Safety Instructions ........................................................................................ 5
2.3
Organizational Measures ............................................................................................ 6
3
Product Description
7
3.1
Product View .............................................................................................................. 7
3.1.1 Front Panel .................................................................................................... 7
3.1.2 Rear Panel ...................................................................................................... 8
3.2
Type Plate ................................................................................................................... 9
3.3
Scope of Delivery ........................................................................................................ 9
3.4
Accessories ............................................................................................................... 10
3.5
Functional Principles ................................................................................................ 11
3.5.1 Block Diagram .............................................................................................. 11
3.5.2 Motor Control .............................................................................................. 11
3.5.3 Commandable Elements .............................................................................. 12
3.5.4 Important Components of the Firmware .................................................... 14
3.5.5 Operating Modes ......................................................................................... 15
3.5.6 Physical Units ............................................................................................... 15
3.5.7 Motion Triggering ........................................................................................ 17
3.5.8 Generating a Dynamics Profile .................................................................... 18
3.5.9 Servo Algorithm and Other Control Value Corrections ............................... 21
3.5.10 On-Target State ........................................................................................... 23
3.5.11 Reference Switch Detection ........................................................................ 24
3.5.12 Limit Switch Detection ................................................................................. 24
3.5.13 Travel Range and Soft Limits ....................................................................... 25
3.5.14 Referencing .................................................................................................. 28
3.6
Communication Interfaces ....................................................................................... 33
3.6.1 Controlling PI Systems ................................................................................. 33
3.6.2 C-863.12 Communication Interfaces ........................................................... 34
3.7
Overview of PC Software .......................................................................................... 34
Contents