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Technical data

PCD2.H31x

Page 2-4



SAIA-Burgess Electronics Ltd.

(2H3-02-E.DOC)

26/762 E2

2.3 Function-specific data

Number of systems

Motion parameters

(31-bit registers are used for destination position, velocity and accelera-
tion, numerical range ± 2

)

Position

Resolution selectable (depending on machine
factor)

Velocity

Resolution selectable (depending on machine
factor)

Acceleration

Resolution selectable (depending on machine
factor)

PID controller

Sample time 341

s, programmable proportional,

integral and differential factors. Sample time for
differential part can be programmed separately

Counting frequency

up to 50 kHz

Summary of Contents for PCD2.H310

Page 1: ...SAIA PCD Process Control Devices PCD2 H31x Motion control modules for servo drives English edition 26 762 E2...

Page 2: ...gate Peterborough PE1 5BQ UK 01733 89 44 89 Fax 01733 89 44 88 Portugal INFOCONTROL Electronica e Automatismo LDA Praceta Ces rio Verde No 10 s cv Massam P 2745 Queluz 21 430 08 24 Fax 21 430 08 04 De...

Page 3: ...rgess Electronics Ltd SAIA Process Control Devices Motion control modules for servo drives PCD2 H31x SAIA Burgess Electronics Ltd 1999 All rights reserved Edition 26 762 E2 11 99 Subject to technical...

Page 4: ...SAIA Burgess Electronics Ltd Updates Manual PCD2 H31x Motion control modules for servo drives Edition E2 Date Chapter Page Description 12 05 2000 Appendix A A 36 divers corrections...

Page 5: ...tions 2 3 2 3 Function specific data 2 4 3 Presentation 4 Terminals and meaning of LEDs 5 Function description 5 1 Operating modes 5 1 5 2 Generator for the velocity profile 5 2 5 3 PID controller 5 4...

Page 6: ...ring homing 8 3 9 Installation and commissioning 9 1 Introduction 9 1 9 2 Installation and wiring 9 2 9 3 Commissioning drive without motion control module 9 3 9 4 Drive with motion control module 9 4...

Page 7: ...e Step Forwards A 20 SgStpBak Single Step Backwards A 21 LdDestAbs Load Destination Absolute A 22 LdDestRel Load Destination Relative A 23 LdVelAbs Load Velocity Absolute A 24 LdVelRel Load Velocity R...

Page 8: ...Contents PCD2 H31x Page 4 SAIA Burgess Electronics Ltd 2H3 00 E DOC 26 762 E2 Notes...

Page 9: ...ained in these manuals regarding assembly wiring programming and commissioning Doing this will enable you to join the large group of enthusiastic SAIA PCD users Summary Hardware PCD4 Hardware PCD6 PCD...

Page 10: ...his share to the reliable operation of an installation He is therefore responsible for ensuring that controller use conforms to the technical data and that no excessive stres ses are placed on it e g...

Page 11: ...able DC or AC motor having a power stage and incremental shaft encoder for the registration of position and speed PCD1 2 BUS PROCESSOR PCD1 2 BUS INTERFACE M POWER AMPLIFIER INCREM INPUTS DIGITAL INPU...

Page 12: ...operated together with all base units The motion control module contains a single chip processor that inde pendently directs and PID controls every movement according to pa rameters supplied by the u...

Page 13: ...even during motion Analogue 10V output with 12 bits inc sign bit for triggering the motor power stage Digital input for reference switch with the H310 Encoder signal inputs of 24 VDC source operation...

Page 14: ...AIA Burgess Electronics Ltd 2H3 01 E DOC 26 762 E2 1 4 Typical areas of use Handling robots Automatic placement and assembly machines Automatic palletizers Packing machines Sheet metal working machine...

Page 15: ...ool from version V2 0 70 either in IL Instruction List or graphically FUPLA Initialization instruction INIT FB When it is called 11 parameters are given with it See section 7 1 2 and appendix A pages...

Page 16: ...red PID factors ac celeration velocity etc after which a preset destination position is ap proached in a controlled manner In speed control mode the desired velocity is attained with a preset rate of...

Page 17: ...t commissioning software is available in the form of a FUPLA program This tool offers a simple method whereby all tests and adjust ments required during commissioning can be carried out or checked on...

Page 18: ...Introduction PCD2 H31x Page 1 8 SAIA Burgess Electronics Ltd 2H3 01 E DOC 26 762 E2 Notes...

Page 19: ...tivalent inputs according to RS 422 Hysteresis max 200 mV Line termination resistance 150 Analogue output for the PCD2 H310 311 modules Analogue controller output 12 bit resolution with sign bit Short...

Page 20: ...supply H311 LED Power 15 V supply Querying from software Input Power addr 08 Enables software monitoring of supplies Input Ref addr 11 Enables the logic status of the reference switch to be queried H...

Page 21: ...he 5V is 1600 mA for a PCD2 or 750 mA for a PCD1 Users of PCD2 H310 and or PCD2 H311 modules are urged to check the overall current consumption of all modules in a PCD2 1 and in any C100 or C150 expan...

Page 22: ...y and accelera tion numerical range 230 Position Resolution selectable depending on machine factor Velocity Resolution selectable depending on machine factor Acceleration Resolution selectable dependi...

Page 23: ...pply LEDs Terminals and are the external supply terminals Vext Ref is the digital input for the reference switch Out is the analogue controller output A B IN are the 3 encoder signals nc terminals are...

Page 24: ...uts such as limit switches the PCD2 H311 module s reference switch the driver s ENABLE must be monitored or controlled with a standard I O module e g PCD2 B100 PCD2 E110 E111 or PCD2 A410 A A B B IN I...

Page 25: ...0 9 numbering right to left Inputs Number 4 Terminal 0 A Encoder signal A Terminal 1 nc not used Terminal 2 B Encoder signal B Terminal 3 nc not used Terminal 4 IN Encoder signal IN Terminal 5 nc not...

Page 26: ...umbering right to left Inputs Number 6 Terminal 0 A Encoder signal A Terminal 1 A Encoder signal A Terminal 2 B Encoder signal B Terminal 3 B Encoder signal B Terminal 4 IN Encoder signal IN Terminal...

Page 27: ...resents the supply of a connected encoder This LED is on when the 5V are OK no short circuit Applies to PCD2 H311 only LED Power shows the presence of 15V This LED is on when both 15V supplies are OK...

Page 28: ...Terminals PCD2 H31x Page 4 4 SAIA Burgess Electronics Ltd 2H3 04 E DOC 26 762 E2 Notes...

Page 29: ...hed in a controlled manner During the motion velocity PID fac tors and destination position can be changed Speed control operation Initiation with instructions GoForw or GoBackw Pattern of instruction...

Page 30: ...ition can be changed at any point along the mo tion and the controller will accelerate or brake accordingly at the defined rate of acceleration Acceleration and braking ramps are symmetrical In speed...

Page 31: ...motor fails to reach the desired speed e g due to a blocked rotor the difference between the destination and actual positions is very large This generates a position error message which can trigger a...

Page 32: ...ling for the differential portion kp Proportional factor ki Integral factor kd Differential factor User programmable parameters Control factors kp ki kd Differential sampling time Integration limit IL...

Page 33: ...IN Status diagram of signals A B IN at position decoder Inputs A B Whenever signals A or B change status 0 1 and 1 0 the internal position register is incremented or decremented by 1 In this way the q...

Page 34: ...ero position Modules for the connection of 5V encoder signals The PCD2 H311 module is used Shielded cable must be used for connec tion to the 5V encoder max cable length 20m min line cross section 0 2...

Page 35: ...PCD2 H31x Function description 26 762 E2 2H3 05 E DOC SAIA Burgess Electronics Ltd Page 5 7 Input wiring diagrams and connections PCD2 H310 PCD2 H311 5V 5V A B IN A B IN 5V A B A IN A B B IN IN...

Page 36: ...age 5 8 SAIA Burgess Electronics Ltd 2H3 05 E DOC 26 762 E2 5 5 D A converter Both PCD2 H310 and H311 modules have an analogue output for the motor s controller output A 12 bit D A converter has been...

Page 37: ...eter 5 Vmax The search direction is defined in parame ter 2 If the reference switch is not found and the axis meets a limit switch the search direction is inverted 2 The digital input to which the ref...

Page 38: ...he error flag fHomeErr_x x module no is set and the Home FB is exited When the Home FB has finished successfully or broken off by an error the fEndHome_x flag is set automatically Since the Home FB is...

Page 39: ...D2 E110 Motion model with DC motor spindle and incremental shaft encoder DC Motor with gears approx 500 rev min at 10 VDC Spindle gradient 1 mm revolution Incremental shaft encoder 1000 signals per re...

Page 40: ...le is to demonstrate the principle and possible user program structures Above all note the be ginning of the program with its assembler directives include and group The meaning and definition of indiv...

Page 41: ...e 5 Derivative term sampling interval 500 Position tolerance 0 Behaviour in case of position error R 1000 Mechanical factor register R 1001 Initial velocity register R 1002 Initial acceleration regist...

Page 42: ...loop LD R 100 Target Position 0 Absolute value CFB Exec Executable FB K 1 Module number LdDestAbs Command Load Absolute Destination R 100 Absolute Destination register CFB Exec Executable FB K 1 Modu...

Page 43: ...n is loaded into PCD register R 100 This value is transferred to the module with LdDestAbs The StartMot com mand starts the motion 20 mm traverse In a program loop the position is continuously read wi...

Page 44: ...onics Ltd 2H3 06 E DOC 26 762 E2 6 1 2 Entry level example in GRAFTEC INTRO 2 SFC Same example as under section 6 1 1 but in a proper GRAFTEC struc ture without any program jumps or wait loops Individ...

Page 45: ...factor regulator 0 Derivative factor regulator 4000 Integrative limit value 5 Derivative term sampling interval 500 Position tolerance 0 Behaviour in case of position error R 1000 Mechanical factor r...

Page 46: ...dule number LdDestAbs Command Load Absolute Destination R 100 Absolute Destination register CFB Exec Executable FB K 1 Module number StartMot Command Start motion rNotUsed Dummy register EST 14 ST 15...

Page 47: ...ter R 0 Value of Status Register STH fOnDest_1 Position reached ETR 52 TR 53 Pause 1 elapsed I 13 Pause 1 O 14 Move backwards stl t 0 ETR 53 TR 54 Move backwards ended I 14 Move backwards O 15 Pause 2...

Page 48: ...destination position is loaded via PCD register R 100 into the H310 module and motion is started In TR 52 and TR 54 the end of a motion is queried from software so that the program can be released to...

Page 49: ...ine in the debugger By activating I 1 motion can also be stopped abruptly I 2 From the resting position the carriage can be moved forward with the chosen parameters for as long as I 2 remains switched...

Page 50: ...ve limit value 5 Derivative term sampling interval 500 Position tolerance 0 Behaviour in case of position error R 1000 Mechanical factor register R 1001 Initial velocity register R 1002 Initial accele...

Page 51: ...PCD2 H31x Quick start 26 762 E2 2H3 06 E DOC SAIA Burgess Electronics Ltd Page 6 13 6 2 Entry with programming in FUPLA In preparation...

Page 52: ...Quick start PCD2 H31x Page 6 14 SAIA Burgess Electronics Ltd 2H3 06 E DOC 26 762 E2 Notes...

Page 53: ...G3 programming tool use FBs for the PCD4 H3 module Programming takes place either in IL Instruction List with FBs Func tion Blocks or in FUPLA with FBoxen in preparation FBs are avail able on diskette...

Page 54: ...s FBs for use with the earlier PG3 see Readme FBoxes for FUPLA are not yet available Installation of package for the PG4 The easiest method of installation is with the PG4 Setup Extra Files pro gram I...

Page 55: ...QU 0 Base address of module 13 BA_14 EQU 0 Base address of module 14 BA_15 EQU 0 Base address of module 15 BA_16 EQU 0 Base address of module 16 endgroup The number of PCD2 H31x modules should be spec...

Page 56: ...EST H3 D2H310_b mba move 01 sfc D2H310_b hlp The user program for the H310 section has the following presentation include D2H310_b equ group H310 XOB 16 PCD Code ecob endgroup If the program is writte...

Page 57: ...nce 0 Par 8 Behaviour under position error r 1000 Par 9 Mechanical factor r 1001 Par 10 Velocity r 1002 Par 11 Acceleration Registers for parameters 9 10 and 11 should be loaded with the correct value...

Page 58: ...LdDestRel Load Destination Relative A 23 18 LdVelAbs Load Velocity Absolute A 24 19 LdVelRel Load Velocity Relative A 25 20 LdAccAbs Load Acceleration Absolute A 26 21 LdAccRel Load Acceleration Rela...

Page 59: ...user Element Description fHomeErr_x When error with Home element H Timeout home position not found fLS1_x H on arrival at limit switch 1 fLS2_x H on arrival at limit switch 2 fEndHome_x Always H exce...

Page 60: ...2 D2H310_B H310 Home FB 2 D2H310_B H310 Init FB 0 D2H310_B 2 speed H310 rDiag R 3500 D2H310_B H310 Reg_base R 3500 3524 D2H310_B 2 speed H310 rIniVel_1 R 3524 D2H310_B H310 rMecFac_1 R 3522 D2H310_B H...

Page 61: ...PCD2 H31x Programming 26 762 E2 2H3 07 E DOC SAIA Burgess Electronics Ltd Page 7 9 7 2 Programming in FUPLA with FBoxes in preparation...

Page 62: ...Programming PCD2 H31x Page 7 10 SAIA Burgess Electronics Ltd 2H3 07 E DOC 26 762 E2 7 3 Programming in GRAFTEC with FBoxes in preparation...

Page 63: ...ark No H310 used NbrModules 0 in D2H310_B MBA If the number of modules NbrModules is 16 no code is assembled and the following error message is written in the Make window Error more than 16 Modules H3...

Page 64: ...he fPar_Err flag is not reset within FBs This should take place in XOB 16 or the Init step The error code is made up as follows rDiag bit 31 24 23 16 15 8 7 0 Reserve FB no Par no Mod no Init FB 1 Exe...

Page 65: ...the diagnostic register rDiag is additionally loaded with code 6 as the parameter number the timeout is parameter 6 The fHomeErr_x flag is defined for each module _x is the module no and is reset at t...

Page 66: ...Error handling and diagnosis PCD2 H31x Page 8 4 SAIA Burgess Electronics Ltd 2H3 08 E DOC 26 762 E2 Notes...

Page 67: ...or for converting electrical into mechanical energy A position transmitter in the form of an incremental shaft encoder A mechanical drive unit Selection of servo amplifier and servomotor Regardless of...

Page 68: ...indispensable The PCD1 2 system should be connected to the GND terminal 24 VDC with the largest possible cross section on the earth rail of the control box It should further be ensured that all earth...

Page 69: ...ary Release connection of the H3 module s controller output Out 10V to the power stage at terminals 6 and minus of the H3 module The PCD1 2 and H3 module have been switched off If this is not possible...

Page 70: ...Behaviour 24 VDC yellow Supply voltage present must be on Run yellow CPU in Run not on as no program has been loaded Error yellow should not be on on the PCD2 Meaning LED Behaviour 24 VDC yellow Supp...

Page 71: ...ises the following steps Installation of the PCD9 H31E programming package according to section 7 1 1 Opening a new project Copying in the D2H310_B MBA file Adjusting the D2H310_B MBA file with the nu...

Page 72: ...page A 1 2 Recommended start values Proportional factor Parameter 2 10 Integral factor Parameter 3 0 Differential factor Parameter 4 0 Integration limit Parameter 5 30000 Sample time D portion Paramet...

Page 73: ...PCD register provided using the same unit of measurement as the machine factor Recommendation 0 05 m s 50 mm s or 50000 m s Ensure that the chosen drive can actually achieve the velocity of its pa ra...

Page 74: ...ree with definitions in the D2H310_B MBA file For the following tests a display of actual position is viewed Checking the direction 1 Rotate drive shaft in a positive direction actual position must in...

Page 75: ...mands from the commissioning program 1 Observe display of index position register any value is dis played 2 Execute the instruction SetIdxPos When the next index impulse is captured the actual positio...

Page 76: ...truction The H3 module regulator is switched on and the axis is held in its position by the regulator 2 Load a destination position that is located within the allowed trav elling range and start motio...

Page 77: ...and stopped the drive The motor cannot follow the motion de fined Remedy Correct possible mechanical problems Adjust velocity and acceleration Increase max value for position error The axis runs jerki...

Page 78: ...his sets the integral factor and should not be changed further for the time being If excessive overshoot is noticed when approaching the destination posi tion this may be due to the following The chos...

Page 79: ...factor Set up rule for sample time instruction LdSampInt in the D portion For operation at low velocities opt for a rather large sample time Experience shows that sample time values generally lie bet...

Page 80: ...ndency to overshoot but equally reduces the permanent control deviation and increases controller hard ness Raising the ki factor heightens the tendency to overshoot but simultane ously ensures faster...

Page 81: ...Initial absolute speed LD R 1002 10000 Initial absolute acceleration CFB Init Initialization FB K 1 Module number 10 Proportional factor regulator 0 Integrative factor regulator 0 Derivative factor re...

Page 82: ...n reached jr l pos1 if no wait ld t 0 50 pause1 sth t 0 jr h pause1 LD R 100 Target Position 0 Absolute value CFB Exec Executable FB K 1 Module number LdDestAbs Command Load Absolute Destination R 100...

Page 83: ...ple path program enabling the online modification of all PID parameters for the purpose of optimizing control behaviour and all path parameters plus a final FBox that allows the creation and online mo...

Page 84: ...art for ever The Waiting time parameter can be used to define a pause after each sequence in the path program It is also possible to travel forwards or backwards as desired Go forward or Go backward a...

Page 85: ...viously described FBox for simple back and forth travel by the carriage is shown below in full size As before PID parameters are set individually transferred separately and then activated together wit...

Page 86: ...rgess Electronics Ltd 2H3 10 E DOC 26 762 E2 Adjust window of the initialization FBox Parameters are only transferred after a download The parameters of this adjust window therefore should be set befo...

Page 87: ...t a single complete sequence and Start for ever keeps the cycle of sequences moving until Stop or Motor Off interrupts it The Waiting time parameter can be used to define a pause after each sequence I...

Page 88: ...ge 10 6 SAIA Burgess Electronics Ltd 2H3 10 E DOC 26 762 E2 The adjust window for the FBox with a 4 sequence cycle appears as fol lows The values entered serve only as an example but work well with th...

Page 89: ...tinued For the best possible commissioning a storage oscilloscope to display the 10V control voltage should also be available as this is the only way of viewing controller behaviour under the various...

Page 90: ...trol until the CPU s self diagnostic is completed This prevents the carriage from making any uncontrolled jump when the controller is switched on FBox H31 Library Organization FBox Must be located at...

Page 91: ...l velocity IdX integer Index register Sta integer Status register Adjust window see page 10 3 FBox H31 Tuning Exp FBox with path program comprising any 4 sequences whose parameters can be set individu...

Page 92: ...Commissioning tool PCD2 H31x Page 10 10 SAIA Burgess Electronics Ltd 2H3 10 E DOC 26 762 E2 Notes...

Page 93: ...e does not proceed out of control during this power up phase Monitoring the position error See flag fPosErr_x Exceeding the permitted position error signals serious problems and should therefore alway...

Page 94: ...setpoint input at the power section and to disconnect the main supply with a time delay of a few milliseconds However this disconnection can or must take place depends on the ma chine concerned and mu...

Page 95: ...for automatic homing The hardware is based on workshop model V PCX 24 and consists of the slide with DC motor reference switch limit switches and final limit switches the servo amplifier with emergen...

Page 96: ...ing directly following system power up the following motion sequence should be executed Homing Before presenting the overall user program homing should be looked at more closely The arrangement of swi...

Page 97: ...out 30s I 64 Par 7 Reference input address Behaviour under various starting positions a Starting position normal carriage between Ref position and LS2 Behaviour as described above If the reference poi...

Page 98: ...continuously until homing is complete The end of homing is sig nalled by the fEndHome_x flag Before calling the Home FB limit switches LS1 and LS2 which are wired to digital PCD inputs must be read i...

Page 99: ...D R 1001 100000 Initial absolute speed LD R 1002 400000 Initial absolute acceleration CFB Init Initialization FB K 1 Module number 250 Proportional factor regulator 0 Integrative factor regulator 60 D...

Page 100: ...n speed r 1011 max speed 50 timeout i 64 input reference switch EST 11 ST 12 I 51 Home ended I 57 Pause 2 elapsed O 53 Start OK EST 12 ST 13 Move forwards I 53 Start OK O 54 Move forwards ended LD R 1...

Page 101: ...Mot Command Start motion rNotUsed Dummy register EST 15 ST 16 Pause 2 I 56 Move backwards ended O 57 Pause 2 elapsed ld t 0 50 EST 16 TR 50 I 10 Initialization O 11 Home stl t 0 ETR 50 TR 51 Home ende...

Page 102: ...P R 90 Display register CFB Exec Executable FB K 1 Module number RdStatRg Command Read Status Register R 0 Value of Status Register STH fOnDest_1 Position reached ETR 54 TR 55 Pause 1 elapsed I 14 Pau...

Page 103: ...these parameters were defined once in FB Init and left unchanged throughout the course of the program The only values that are modified are the relative or absolute positions for any car riage travel...

Page 104: ...is reached for the purpose of user program control The correct change over of velocity is performed by the module itself not the user program In ST 13 and ST 16 the new slow velocity is defined and a...

Page 105: ...eed LD R 1002 400000 Initial absolute acceleration CFB Init Initialization FB K 1 Module number 250 Proportional factor regulator 0 Integrative factor regulator 60 Derivative factor regulator 4000 Int...

Page 106: ...bs Command Load Absolute Breakpoint R 101 Absolute Destination register CFB Exec Executable FB K 1 Module number LdVelAbs Command Load absolute Velocity R 102 Speed CFB Exec Executable FB K 1 Module n...

Page 107: ...Abs Command Load Absolute Breakpoint R 101 Absolute Destination register CFB Exec Executable FB K 1 Module number LdVelAbs Command Load absolute Velocity R 102 Speed CFB Exec Executable FB K 1 Module...

Page 108: ...e FB K 1 Module number RdActPos Command Read Actual Position R 90 Actual Position register DSP R 90 Display register CFB Exec Executable FB K 1 Module number RdStatRg Command Read Status Register R 0...

Page 109: ...ter CFB Exec Executable FB K 1 Module number RdStatRg Command Read Status Register R 0 Value of Status Register STH fBrkPt_1 Breakpoint position reached ETR 55 TR 56 Move backwards ended I 16 Modify v...

Page 110: ...Application examples PCD2 H31x Page 12 16 SAIA Burgess Electronics Ltd 2H3 12 E DOC 26 762 E2 Notes...

Page 111: ...nt K parameters 9 to 11 as PCD register addresses absolute or symbolic and all other parameters should be specified as integer values Parameter 9 is the machine factor This contains the encoder parame...

Page 112: ...limit Integer 0 32767 Limit on influence of I portion in system 6 Sample time of D factor Integer 0 255 Sample interval for D factor 7 Position tolerance Integer 0 32767 Maximum position error compare...

Page 113: ...310 module has a Ref input The address of this input is the module base address 11 For an H310 module at base address 64 the Ref input is located at address I 75 The PCD2 H311 module has no Ref input...

Page 114: ...e switch 0 backwards 1 forwards 3 Free travel direction from reference switch Integer 0 1 Defines the free travel direction away from the reference switch 0 backwards 1 forwards 4 Minimum velocity R I...

Page 115: ...defined in the D2H310_B MBA file The FBs support max 16 PCD2 H31x modules per PCD system Individual instructions parameter 2 are dealt with on the following pages The parameters of an instruction e g...

Page 116: ...te A 22 17 LdDestRel Load Destination Relative A 23 18 LdVelAbs Load Velocity Absolute A 24 19 LdVelRel Load Velocity Relative A 25 20 LdAccAbs Load Acceleration Absolute A 26 21 LdAccRel Load Acceler...

Page 117: ...atRg enables all or some of the status bits to be reset The status byte is represented in the first 8 bits of the signal register These 8 bits are reset simultaneously with the status byte The StartMo...

Page 118: ...s instruction is used to stop motion abruptly without braking ramp The instruction can be used both in position control and speed control modes Par Designation function Type Format Value Comment 1 Mod...

Page 119: ...ruction can be used to stop motion using the normal braking ramp The instruction can be used both in position control and speed control modes Par Designation function Type Format Value Comment 1 Modul...

Page 120: ...on This instruction is used to switch off the PID function that influences the motor The effect is the same as if the motor supply were removed Par Designation function Type Format Value Comment 1 Mod...

Page 121: ...ctual position of the system It should be called whenever position has to be read Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Module number...

Page 122: ...integer part This means that at low velocities values obtained are not comparable with the result of the RdTargVel instruction which contains the fractional part If the machine factor is less than 1 l...

Page 123: ...e PID con troller s I portion The instruction should be called whenever the integration sum has to be read Description of input and output elements concerned Par Designation function Type Format Value...

Page 124: ...coder in dex impulse Reading the index register can be part of the error checking program routine The new index position minus the old one divided by the en coder resolution encoder division by 4 must...

Page 125: ...excessive position error bit 8 Internal use only bit 7 Motor off bit 6 Breakpoint reached bit 5 Excessive position error bit 4 Wraparound occurred bit 3 Index pulse acquired bit 2 Trajectory complete...

Page 126: ...ement Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Module number K 1 16 2 Instruction RdTargPos 3 PCD register for target position R integer...

Page 127: ...ould be called whenever the target velocity has to be read Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Module number K 1 16 2 Instruction Rd...

Page 128: ...he predefined velocity and acceleration but without destination position With this instruction speed control mode is also selected Description of input and output elements concerned Par Designation fu...

Page 129: ...he predefined veloc ity and acceleration but without destination position With this instruc tion speed control mode is also selected Description of input and output elements concerned Par Designation...

Page 130: ...used to switch forward a single step of the en coder resolution at the predefined velocity and acceleration Description of input and output elements concerned Par Designation function Type Format Val...

Page 131: ...used to switch backward a single step of the en coder resolution at the predefined velocity and acceleration Description of input and output elements concerned Par Designation function Type Format Va...

Page 132: ...n must follow to activate the function The absolute target position always refers to the zero position Description of input and output elements concerned Par Designation function Type Format Value Com...

Page 133: ...must follow to activate the function The relative target position always refers to the actual position Description of input and output elements concerned Par Designation function Type Format Value Co...

Page 134: ...instruction must follow to activate the function The absolute velocity always refers to the zero velocity Description of input and output elements concerned Par Designation function Type Format Value...

Page 135: ...instruction must follow to activate the function The relative velocity always refers to the actual velocity Description of input and output elements concerned Par Designation function Type Format Valu...

Page 136: ...ction must follow to activate the function The absolute acceleration always refers to the zero velocity or accelera tion Description of input and output elements concerned Par Designation function Typ...

Page 137: ...nstruction must follow to activate the function The relative acceleration always refers to the actual acceleration Description of input and output elements concerned Par Designation function Type Form...

Page 138: ...odify the proportional factor An ActRegFact instruction must follow to activate the function Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Mod...

Page 139: ...modify the integral factor An ActRegFact instruction must follow to activate the function Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Modul...

Page 140: ...odify the differential factor An ActRegFact instruction must follow to activate the function Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Mod...

Page 141: ...l for the D factor The differential factor works with the difference of error signal between two sampling signals For this reason 341 s is too small to have a real difference Experience shows that the...

Page 142: ...modify the integration limit An ActRegFact instruction must follow to activate the function Description of input and output elements concerned Par Designation function Type Format Value Comment 1 Modu...

Page 143: ...e used to activate simultaneously all factors of PID control It is also possible to activate one parameter alone Description of input and output elements concerned Par Designation function Type Format...

Page 144: ...e breakpoint is reached the fBrkPt_x flag is set However this flag only becomes active after FB RdStatRg has been processed Description of input and output elements concerned Par Designation function...

Page 145: ...e breakpoint is reached the fBrkPt_x flag is set However this flag only becomes active after FB RdStatRg has been processed Description of input and output elements concerned Par Designation function...

Page 146: ...pulse observed 8 bit 2 Trajectory complete 4 bit 1 Internal use only 2 bit 0 Internal use only 1 255 To reset the whole status register 0 must be loaded in the register for parameter 3 Description of...

Page 147: ...nto the module s index register The position is adopted when both encoder inputs A and B and index input IN are low The Home procedure uses this function to simplify definition of the Home function De...

Page 148: ...ction can be used to set any position to zero That position then becomes the new Home position Description of input and output elements concerned Par Designation function Type Format Value Comment 1 M...

Page 149: ...trol mode H position control mode bit 1 only effective in position control mode L backwards H forwards The standard option is position control mode Description of input and output elements concerned P...

Page 150: ...there whether the motor should be stopped or whether only the fPosErr_x flag should be set Before the fPosErr_x flag can be evaluated FB RdStatRg must be processed as it deals with the procedure for...

Page 151: ...PCD2 H31x Summary of all FBoxes 26 762 E2 2H3 AB E DOC SAIA Burgess Electronics Ltd Page B 1 Appendix B Summary of all FBoxes for programming in FUPLA In preparation...

Page 152: ...Summary of all FBoxes PCD2 H31x Page B 2 SAIA Burgess Electronics Ltd 2H3 AB E DOC 26 762 E2 Notes...

Page 153: ...nd back to SAIA Burgess Electronics Ltd Bahnhofstrasse 18 CH 3280 Murten Switzerland http www saia burgess com BA Electronic Controllers Manual PCD2 H31x If you have any suggestions concerning the SAI...

Page 154: ...SAIA Burgess Electronics Ltd Your suggestions...

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