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Settings

9-29

FM 452 Electronic Cam Controller
C79000-G7076-C452-04

9.15

Control Signals for the Cam Controller

Definition

With the “control signals for the cam controller” setting, you enable cam processing
and the tracks.

Sequence of the Setting

1. Set the trigger bit in the channel DB.

2. The data are transferred to the module whenever FC CAM_CTRL is called.

Data Used in the Channel DB

Address

Name

Type

Initial Value

Comment

15.4

CAM_EN

BOOL

FALSE

1 = enable cam processing

16.0

TRACK_EN

WORD

W#16#0

Enable cam tracks 0 to 15

Bit 0 = track 0

Effects

The cam processing is started or stopped depending on the enable.

The track flag bits of the enabled tracks are passed on to the track signals and the
digital outputs.

Summary of Contents for SIMATIC FM 452

Page 1: ...M 452 into Operation 7 Reference Information Machine Data and Cam Data 8 Settings 9 Encoders 10 Diagnostics 11 Samples 12 Appendices Technical Specifications A Connection Diagrams B Data Blocks Error Lists C Index 02 2000 C79000 G7076 C452 Edition 04 FM 452 Electronic Cam Controller Installation and Parameter Assignment Manual This manual is part of the documentation package with the order number ...

Page 2: ... or components from other manu facturers which have been approved or recommended by Siemens This product can only function correctly and safely if it is transported stored set up and instal led correctly and operated and maintained as recommended SIMATIC SIMATIC NET and SIMATIC NET are registered trademarks of SIEMENS AG Third parties using for their own purposes any other names in this document w...

Page 3: ... with the N mber in the Page Footer is Valid for the FM 452 Number in the Page Footer MLFB Order Number Version EWA 4NEB 720 6012 02 6ES7 452 1AH00 0AE0 4 3 2 1 EWA 4NEB 720 6012 02 a 6ES7 452 1AH00 0AE0 5 4 3 2 4 3 2 or C79000 G7076 C452 6ES7 452 1AH00 0AE0 8 7 6 5 Contents of the Manual This manual describes the hardware and software of the FM 452 electronic cam controller It consists of the fol...

Page 4: ...be grateful if you could take the time to answer the questions giving your own personal opinion of the manual To help you to become familiar with working with SIMATIC S7 PLCs we offer a range of courses Please contact your regional training center or the central training center in D 90027 Nuremberg Tel 49 911 895 3202 for more information CE Mark Our products meet the requirements of the EU direct...

Page 5: ...2 11 3 Installing and Removing the FM 452 3 1 4 Wiring the FM 452 Electronic Cam Controller 4 1 4 1 Pinout of the Front Connector 4 2 4 2 Wiring the Front Connector 4 5 5 Installing the Software 5 1 6 Programming the FM 452 6 1 6 1 Basics of Programming an FM 452 6 2 6 2 FC CAM_INIT FC 0 6 4 6 3 FC CAM_CTRL FC 1 6 5 6 4 FC CAM_DIAG FC 2 6 10 6 5 FC CAM_MSRM FC 3 6 12 6 6 Data Blocks 6 14 6 6 1 Tem...

Page 6: ...9 2 Set Actual Value Set Actual Value on the fly Cancel Set Actual Value 9 3 9 3 Zero Offset 9 6 9 4 Set Reference Point 9 9 9 5 Changing the Cam Edges 9 11 9 6 Fast Cam Parameter Change 9 13 9 7 Length Measurement Edge Acquisition 9 15 9 8 Retrigger Reference Point 9 19 9 9 Deactivating Software Limit Switches 9 22 9 10 Simulation 9 23 9 11 Counted Values of the Counter Cam Tracks 9 25 9 12 Posit...

Page 7: ...ogram 3 OneModule 12 9 12 10 Sample Program 4 Interrupts 12 12 12 11 Sample Program 5 MultiModules 12 14 A Technical Specifications A 1 B Connection Diagrams B 1 B 1 Connection Diagram for Incremental Encoder Siemens 6FX 2001 2 Up 5V RS 422 B 2 B 2 Connection Diagram for Incremental Encoder Siemens 6FX 2001 2 Up 24V RS 422 B 3 B 3 Connection Diagram for Incremental Encoder Siemens 6FX 2001 4 Up 24...

Page 8: ...Contents viii FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 9: ...m Controller C79000 G7076 C452 04 Product Overview Chapter Overview Section Contents Page 1 1 What is the FM 452 1 2 1 2 Areas of Application of the FM 452 1 3 1 3 Structure of an Electronic Cam Controller with an FM 452 1 4 1 ...

Page 10: ...sign to 32 cam tracks as required The first 16 cam tracks are output via the digital outputs on the module For information about the functions and settings of the cam controller please refer to the following chapters You can operate several FM 452 modules at the same time Combinations with other FM CP modules are also possible One typical combination is to use the module in conjunction with an FM ...

Page 11: ...cal application is the automation of an eccentric press with a cam controller This is a rotational process in other words after one revolution of the rotary axis the function starts again at the beginning Typical electronic cam controller tasks in this application include Turning the lubricant supply on and off Triggering material feed and removal for example controlling a gripper Stopping the pre...

Page 12: ... supply Encoder Mechanical transmission elements CPU FM 452 Electronic Cam Controller PG PC EMER STOP Workpiece Digital outputs Q 0 to 15 Processing stations Limit switch 11 Motor Figure 1 3 Electronic Cam Controller Power Controller and Safety System The motor is controlled by the power controller The power controller can consist of a contactor circuit for example controlled by an FM 451 position...

Page 13: ...he digital outputs Encoder The encoder supplies information both about position and direction CPU The CPU executes the user program Data and signals are exchanged between the user program and the module using function calls PG PC You assign the required parameters and program the electronic cam controller on a programming device or PC Parameter assignment You set parameters for the FM 452 either u...

Page 14: ...Product Overview 1 6 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 15: ...nic Cam Controller C79000 G7076 C452 04 Basics of Cam Control Chapter Overview Section Contents Page 2 1 Cams 2 2 2 2 Tracks 2 4 2 3 Hysteresis 2 8 2 4 Dynamic Adjustment 2 10 2 5 Interfaces of the Cam Controller 2 11 2 ...

Page 16: ... appropriate parameter settings each cam can be either a distance cam or time cam Table 2 1 compares the characteristics of both types of cam Direction Detection The direction of movement of the axis is determined as follows With each pulse of an incremental encoder With each error free frame of an SSI encoder ...

Page 17: ...cam is activated At the cam start when the axis is moving in a positive direction and the positive activation direction is set At the cam end when the axis is moving in a negative direction and the negative activation direction is set The actual value is within the range of the cam The cam is activated At the cam start when the direction of movement of the axis matches the activation direction Aft...

Page 18: ...cams available that can be assigned to any track Several cams can be assigned to each track The track result is obtained by the logical ORing of all cam values of this track see Figure 2 4 page 2 11 Example of a Track Result During parameter assignment you specify the following cams for track 3 Cam Cam start Cam end 1 101 m 106 m 2 100 m 104 m This results in the following track result Cam 1 Cam 2...

Page 19: ...10 before they can switch the respective digital outputs Q3 to Q10 of the FM 452 A digital output Q3 to Q10 is switched when the following conditions are met The relevant track is enabled At least one cam on this track is active track result 1 The corresponding digital input I3 to I10 was set by an external event Setting the Track Signals The track signals 0 to 15 corresponding to digital outputs ...

Page 20: ...ults on this track You must specify a value for the counter and start the counter function Each rising edge of the track result decrements the counter value of the relevant track by 1 As long as the counter value for the counter cam track is higher than 0 the track flag bit remains 0 Once the counter value reaches the value 0 the track flag bit is set and if selected in the parameter settings the ...

Page 21: ...bit The track flag bit is reset again when There is no longer a 1 signal at I0 and afterwards the falling edge of the track result of track 2 is detected I0 Cam 3 2 4 1 1 to 4 indicate 4 cams which influence the brake cam track Brake enable Braking point Track flag bit Track 2 Figure 2 3 Response of a Brake Cam Track In the example Figure 2 3 the track flag bit is deactivated by the falling edges ...

Page 22: ...t even if no cam is set at the current axis position Rules for the Hysteresis Range The following rules apply to the hysteresis range Hysteresis is always activated when there is a change in direction Within the hysteresis the indication of the actual value remains constant The direction is not changed within the hysteresis Within the hysteresis a distance cam is neither activated nor deactivated ...

Page 23: ...nd a time cam The activation direction of the cam is positive Table 2 2 Effects of a Change of Direction on a Cam Distance cam Time cam Change of direction CE 2 3 4 5 6 7 8 9 1 0 CS Hysteresis Distance cam Distance cam 2 3 4 5 6 7 8 9 1 0 Change of direction CS Time cam Time cam Hysteresis The hysteresis becomes active after change of direction is detected The cam always remains active for the sel...

Page 24: ...end Lead Distance The lead distance of a cam is calculated continuously depending on the current feedrate and the lead time The entire cam is displaced by this distance in the direction of the actual value The range selected is known as the static range the range calculated as a result of the lead time is known as the dynamic range Lead distance lead time current feedrate of the axis Calculation o...

Page 25: ...ship between data inputs and outputs Cam Data Encoder signals Track 3 10 Track 11 to 15 Track 16 to 31 Track 2 Cam flag bits of cam 0 to 127 1 Machine data Channel DB I3 to I10 Q0 to Q2 Q3 to Q10 Q11 to Q15 Actual value feedrate direction FM 452 2 Track 0 to 1 3 4 5 6 7 8 Track 3 Track 10 I0 Track flag bits cam flag bits and data Track signals Track result Digital outputs Figure 2 4 Interfaces of ...

Page 26: ...a you can control whether the previously detected track flag bits of tracks 0 to 15 of the cam controller are passed on or whether they are set directly by the track enable TRACK_EN 8 7 page 8 23 9 15 page 9 29 5 You enable the track signals of tracks 0 to 15 with TRACK_EN and the count function with CNTC0_EN CNTC1_EN 9 11 page 9 25 6 The track signals of tracks 3 to 10 can be ANDed with digital i...

Page 27: ...ed in the installation manual S7 400 M7 400 Programmable Controllers Hardware and Installation Tools Required for Installation and Removal To install or remove the FM 452 you require a 4 5 mm screwdriver Installing the FM 452 Electronic Cam Controller 1 Hook the FM 452 on at the top and swing it down 2 Secure the FM 452 with screws torque approximately 0 8 to 1 1 Nm 3 Label the FM 452 with its slo...

Page 28: ...Installing and Removing the FM 452 3 2 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 29: ...t Connector 4 2 4 2 Wiring of the Front Connector 4 5 Important Safety Rule It is essential for the safety of the system to install the elements listed below and to adapt them to your system EMERGENCY STOP switch with which you can turn off the entire system EMERGENCY STOP limit switches connected directly to the power units of all drives Motor circuit breaker 4 ...

Page 30: ...r signal B inverse 5 V SSI shift clock input inverse 1 8 N Zero mark signal 5 V 9 N Zero mark signal inverse 5 V 10 CLS 2 SSI shift clock output 11 CLS 2 SSI shift clock output inverse 12 A Encoder signal A 24 V 13 B Encoder signal B 24 V 14 N Zero mark signal 24 V 15 Q0 Digital output 0 16 Q1 Digital output 1 17 Q2 Digital output 2 18 Q3 Digital output 3 19 Q4 Digital output 4 20 Q5 Digital outpu...

Page 31: ...d on module Auxiliary Supply for Sensors and DA 1L 2L 3L The 24 V DC auxiliary voltage of the encoders and digital outputs is monitored for wirebreak of the 24 V feed line for power failure The 24 V DC auxiliary supply is converted internally to 5 V DC This means that 24 V DC terminal 24 and 5 2 V DC terminal 23 are available on the front connector for the different types of encoders The general t...

Page 32: ...16 Digital Outputs Q0 to Q15 The state on off of tracks 0 to 15 is output via 16 digital outputs The digital outputs are connected to module chassis The following loads directions are possible Operating voltage 24 V Current load 0 5 A short circuit proof A separate LED indicates the state of each output ...

Page 33: ...er to use them you can use ferrules without an insulation collar DIN 46228 form A short version and two cords each with 0 25 to 0 75 mm2 in a ferrule Note If you connect momentary contact switches or proximity switches you must use shielded cords to achieve the optimum noise immunity Notes on 24 V DC Wiring You connect the 24 V DC auxiliary supply for the encoders and digital outputs at pins 36 26...

Page 34: ... 48 M to the ground of the CPU with low resistance In the case of external encoder supply you must also establish a low resistance connection between the ground of the external encoder supply and the ground of the CPU Ground FM 452 Shield protective earth bar Pin 48 M for auxiliary supply Power controller 24 V 24 V M M Auxiliary supply Pin 1L 3L CPU PS M Figure 4 1 Grounding Diagram Required Tools...

Page 35: ...gnment User Interface When wiring the front connector follow the steps outlined below 1 Remove the front connector cover 2 Strip the insulation from the conductors length 6 mm 3 Do you want to use wire end ferrules If so Crimp the wire end ferrules onto the conductor 4 Thread the enclosed strain relief into the front connector 5 Start wiring from the bottom When using a front connector with screw ...

Page 36: ...Wiring the FM 452 Electronic Cam Controller 4 8 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 37: ...pplied CD It is installed as follows 1 Insert the CD in the drive on your programming device PC 2 Start the software installation dialog in Windows 95 Windows NT by clicking the Add Remove Programs icon in the Control Panel 3 In this dialog select the CD drive and the folder FMx52 Disk1 then select the file Setup exe and start the installation 4 Follow the instructions displayed by the installatio...

Page 38: ...Installing the Software 5 2 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 39: ...n Contents Page 6 1 Basics of Programming an FM 452 6 2 6 2 FC CAM_INIT FC 0 6 4 6 3 FC CAM_CTRL FC 1 6 5 6 4 FC CAM_DIAG FC 2 6 10 6 5 FC CAM_MSRM FC 3 6 12 6 6 Data Blocks 6 14 6 7 Interrupts 6 17 6 8 Technical Specifications 6 19 6 9 Fast Access to Module Data 6 21 6 10 Parameter Transfer Routes 6 22 6 ...

Page 40: ...is is required for data exchange with the module CAM_DIAG FC 2 This is required when you process detailed diagnostic information in the program or want to make this information available to an operator control and monitoring system CAM_MSRM FC 3 This is required when you want to read out the results of a length measurement or edge detection immediately following a hardware interrupt CAM_CHANTYPE U...

Page 41: ...t of data blocks for each module Enter the module address in the channel DB and if used in the diagnostic DB also at the address MOD_ADDR You can also have the address entered automatically by selecting the module in HW Config and then selecting a data block in the Properties dialog with the Mod Addr button If your programming device PC is connected to a CPU you can now download the FCs and DBs to...

Page 42: ... buffers for FC CAM_CTRL and FC CAM_MSRM Call The function must be run through following a startup power supply on on the module or CPU You should therefore install it for example in the warm restart OB OB100 and the remove insert OB OB83 or call it in the initialization phase of your user program This ensures that your user program does not access old data following a CPU restart or a module star...

Page 43: ...trol signals The control signals entered in the channel DB are transferred to the module The enabling of the cam processing is however delayed as long as the trigger for a set reference point or write cam data job is set The activation or reactivation of cam processing is delayed for this time Execute job The next job is executed based on the trigger bits for jobs entered in the channel DB Call Th...

Page 44: ...tarted If you set the JOBRESET bit all the done and error bits are reset before the pending jobs are processed The JOBRESET bit is then set to 0 again Function Switches The function switches activate and deactivate module states A job for writing the function switches is only executed when there is a change in a switch setting It is always executed between the jobs set reference point REFPT_EN and...

Page 45: ...ame Data Type I O Meaning DB_NO INT I Number of the channel DB RET_VAL INT O Return value Return Values The function provides the following return values RET_VAL BR Description 1 1 At least one job active 0 1 No job active no error 1 0 Error Data error DAT_ERR or Communication error JOB_ERR occurred ...

Page 46: ...u can evaluate the status of a single job based on the trigger done and error bits of the job Job active RET_VAL 1 JOBBUSY 1 Trigger bit 1 Done bit 0 Error bit 0 Job completed without error RET_VAL 0 JOBBUSY 0 Trigger bit 0 Done bit 1 Error bit 0 Job completed with error in this job RET_VAL 1 JOBBUSY 0 Trigger bit 0 Done bit 1 Error bit 1 Write job aborted RET_VAL 1 JOBBUSY 0 Trigger bit 0 Done bi...

Page 47: ...rigger bit is reset and the error bit _ERR and the done bit _D are set The trigger bit is reset and the error bit _ERR is set for all write jobs still pending The pending read jobs continue to be processed JOB_ERR is set again for each job Error in a read job If an error occurs in a job the trigger bit is reset and the error bit _ERR and the done bit _D are set The read jobs still pending continue...

Page 48: ...when a new entry is indicated in the diagnostic buffer by the return signal DIAG 1 After reading the diagnostic buffer DIAG is set to 0 by the module Data Used Diagnostic DB The module address must be entered in the diagnostic DB The latest entry in the diagnostic buffer is entered in the DIAG 1 structure and the oldest entry in the DIAG 4 structure Jobs You can read the diagnostic buffer whether ...

Page 49: ...unction provides the following return values RET_VAL BR Description 1 1 Job active 0 1 No job active no error 1 0 Error Response to Errors If an error occurs in a job the cause of the error can be found in the diagnostic DB in the JOB_ERR parameter see Chapter 11 Diagnostics and Appendix C 3 Page C 12 ...

Page 50: ...t OB Call The function is called in a hardware interrupt OB for example OB 40 Data Used The module address must be entered in the channel DB Startup There is no startup processing associated with the function Call Parameters Name Data Type I O Meaning DB_NO INT I Number of the Channel DB RET_VAL INT O Return value Return Values The function provides the following return values RET_VAL BR Descripti...

Page 51: ...ured Data in the Channel DB Address Name Type Initial Value Comment 112 0 BEG_VAL DINT L 0 Initial Value 116 0 END_VAL DINT L 0 End value 120 0 LEN_VAL DINT L 0 Length 56 0 JOB_ERR_M INT 0 Communication error 58 0 JOBBUSY_M BOOL FALSE Job active Response to Errors If an error occurs in a job the cause of the error can be found in the channel DB in the JOB_ERR_M parameter see Chapter 11 Diagnostics...

Page 52: ...ions that access deleted data areas can no longer be used The supplied UDTs for the machine and cam data are matched already to the possible numbers of cams They can be optimized in steps of 16 cams 6 6 2 Channel DB Task The channel DB is the data interface between the user program and the FM 452 electronic cam controller All the data required for controlling and operating the module is entered in...

Page 53: ... the user program or by an operator control and monitoring system The modified data can be imported into the parameter assignment user interface and displayed there You can export the data displayed in the parameter assignment user interface to a parameter DB There can be several sets of parameter assignment data for a module for example for various recipes that you can activate program controlled...

Page 54: ...nload the hardware configuration to the CPU 2 Enabling events for hardware interrupts in the machine data 3 Setting parameters for hardware interrupts in the cam data for cams 0 to 7 Evaluation of a Hardware Interrupt If a hardware interrupt is triggered by the FM 452 the following information is available in the variable OB40_POINT_ADDR or in the corresponding variable of a different hardware int...

Page 55: ...rmation is available in the local data of OB82 and can be used for fast analysis Call the CAM_DIAG function to find out the exact cause of the problem as entered in the diagnostic buffer The local data of the diagnostic interrupt OB that are supported are listed below Variable Data Type Description OB82_MDL_DEFECT BOOL Module fault OB82_INT_FAULT BOOL Internal error OB82_EXT_FAULT BOOL External er...

Page 56: ...ÁÁ ÁÁÁÁ 5232 ÁÁÁÁ ÁÁÁÁ ÁÁÁÁ 4754 ÁÁÁÁÁ ÁÁÁÁÁ ÁÁÁÁÁ 32 ÁÁÁÁ ÁÁÁÁ ÁÁÁÁ 4718 ÁÁÁÁÁÁ ÁÁÁÁÁÁ ÁÁÁÁÁÁ SFC 58 WR_REC SFC 59 RD_REC ÁÁÁ ÁÁÁ FC2 ÁÁÁÁÁÁ ÁÁÁÁÁÁ FC CAM_DIAG ÁÁÁ ÁÁÁ 1 0 ÁÁÁÁ ÁÁÁÁ 1758 ÁÁÁÁ ÁÁÁÁ 1614 ÁÁÁÁÁ ÁÁÁÁÁ 42 ÁÁÁÁ ÁÁÁÁ 1578 ÁÁÁÁÁÁ ÁÁÁÁÁÁ SFC 59 RD_REC ÁÁÁ ÁÁÁ FC 3ÁÁÁÁÁÁ ÁÁÁÁÁÁ FC CAM_MSRM ÁÁÁ ÁÁÁ 1 0 ÁÁÁÁ ÁÁÁÁ 296 ÁÁÁÁ ÁÁÁÁ 226 ÁÁÁÁÁ ÁÁÁÁÁ 16 ÁÁÁÁ ÁÁÁÁ 190 ÁÁÁÁÁÁ ÁÁÁÁÁÁ SFC 59 RD_REC Chan...

Page 58: ...ess data on the FM 452 directly you must only use the non internal data described here using the method described here Otherwise your user program will encounter difficulties accessing the module Direct Access for Reading Return Signals The byte addresses are specified relative to the output address of the module The names of the bits correspond to the names in the channel DB In STL you access the...

Page 59: ...he names in the channel DB In STL you access the data with the commands PQB write 1 byte and PQW write 2 bytes Address Bit number 7 6 5 4 3 2 1 0 Byte 0 internal Byte 1 0 CNTC1_EN CNTC0_EN CAM_EN DIR_P DIR_M 0 0 Byte 2 TRACK_EN Byte 3 Example Actual Position Value ACT_POS STL Explanation Example L PID 516 The base address of the module is 512 Read the current actual position value ACT_POS with dir...

Page 60: ...nd download to CPU 3 The CPU writes the parameters to the module during system parameter assignment 4 Upload the parameters of the module to the PG with the Upload command 5 Download parameters from FM Config to the module with the Download command 6 Write parameters to the module using jobs in the user program 7 Read parameters from the module using jobs in the user program 8 Store parameters fro...

Page 61: ... required steps 10 6 4 You set the parameters with the parameter assignment user interface These should be available to the user program for temporary modifications Action required steps 1 2 3 for automatic parameter assignment Action required steps 10 7 for access by the user program 5 You modify parameters exclusively using the user program Action required steps 7 9 8 6 6 You want to see the dat...

Page 62: ...Programming the FM 452 6 24 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 63: ...ensure that the system can be switched off safely in the event of a computer or software failure Install an EMERGENCY STOP limit switch directly connected to the power units of all drives Make sure that nobody can obtain access to the area of the system that contains moving parts When controlling and monitoring the FM 452 at the same time in both your program and in the Test Startup dialog conflic...

Page 64: ...ont connector The front connector must sit firmly 5 Check the shielding of each individual cable 6 Turn on the power supply Switch the CPU to STOP safe state Turn on the 24 V supply for the FM 452 Creating a Project Now set up a project in STEP 7 The steps required to set up a project in the SIMATIC Manager are described below without using a wizard Step What Needs to Be Done 1 If you have not alr...

Page 65: ... can select the dialogs for Axis Encoders Cams Tracks and Interrupt Enable and set the required parameters 5 Save the parameter settings with the menu command File Save 6 Close the parameter assignment user interface with File Exit 7 Save the hardware configuration in HW Config with Station Save and Compile 8 Set up an online connection to the CPU and download the hardware configuration to the CPU...

Page 66: ...after parameter assignment Make an absolute encoder adjustment see Section 8 4 You may first have to calculate the exact value with set reference point Check the actual status of the axis The actual position must agree with the position indicated 2 Check the switching behavior of the cams and tracks being used Activate the test enable Run set reference point Activate cam processing Enable the trac...

Page 67: ...rite and read machine data in the user program you require UDT3 for 16 cams UDT4 for 32 cams UDT5 for 64 cams or UDT6 for 128 cams Preparing the Channel DB Step What Needs to Be Done 1 Open the channel DB 2 Check whether the module address has already been entered in the MOD_ADDR parameter If it is not there it must be entered now 3 Save the channel DB File Save Preparing the Diagnostic DB Step Wh...

Page 68: ...Putting the FM 452 into Operation 7 6 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 69: ...ion Contents Page 8 1 Writing and Reading the Machine and Cam Data 8 2 8 2 System of Units 8 6 8 3 Machine Data of the Axis 8 7 8 4 Absolute Encoder Adjustment 8 12 8 5 Machine Data for the Encoder 8 15 8 6 Resolution 8 20 8 7 Number of Cams and Track Data 8 23 8 8 Interrupt Enable 8 25 8 9 Cam Data 8 26 8 ...

Page 70: ...es 3 1 to 104 0 Initial Parameter Assignment If the module does not yet contain machine data return signal PARA 0 follow the steps outlined below to set initial parameters without the parameter assignment user interface Enter the new values in the parameter DB Download the parameter DB to the CPU Set the following trigger bit in the channel DB Write machine data MDWR_EN Call the FC CAM_CTRL functi...

Page 71: ... coordinate Absolute encoder adjustment with SSI encoders Type of reference point retriggering with incremental encoders or initiators Direction adaptation Number of Cams Software limit switch start and end with linear axes Reading Machine Data To read the current machine data from the module follow the steps outlined below Set the following trigger bit in the channel DB Read machine data MDRD_EN ...

Page 72: ...CAM8RD_EN Call the FC CAM_CTRL function in the cyclic user program This writes the current cam data to the parameter DB on the CPU Excerpt from the Channel DB Address Name Type Initial Value Comment 35 3 CAM1WR_EN BOOL FALSE 1 Write cam data 1 cams 0 to 15 35 4 CAM2WR_EN BOOL FALSE 1 Write cam data 2 cams 16 to 31 35 5 CAM3WR_EN BOOL FALSE 1 Write cam data 3 cams 32 to 47 35 6 CAM4WR_EN BOOL FALSE...

Page 73: ...data 7 cams 96 to 111 38 1 CAM8RD_EN BOOL FALSE 1 Read cam data 8 cams 112 to 127 Order when Writing Machine and Cam Data Always modify machine and cam data in the following order Write machine data Activate machine data Write cam data If you set the trigger bits for these jobs all at once FC CAM_CTRL makes sure that the jobs are processed in the correct order ...

Page 74: ... automatically If the unit is changed from or to pulses the cam processing is deactivated and the axis is no longer synchronized Units in the Parameter DB Address Name Type Initial Value Comment 8 0 UNITS DINT L 1 Units 1 10 3 mm 2 10 4 inches 3 10 4 degrees 4 10 2 degrees 5 pulses 6 10 3 degrees Standard Units In this manual limit values are always specified in the unit mm To define the limits in...

Page 75: ...nd of rotary axis is the highest theoretical value that the actual value can reach The highest theoretical value is however never displayed since it is physically the same position as the start of the rotary axis 0 The highest value that can be displayed by a rotary axis is as follows End of the rotary axis m resolution m pulse 1 pulse Rotary axis with absolute encoders With a rotary axis with an ...

Page 76: ... Page 8 12 explaining the interaction of absolute encoder adjustment with other data Linear axis The value of the reference point coordinate must be within the working range including the start software limit switch and end software limit switch Rotary axis The value of the reference point coordinate must be greater than or equal to 0 and must be less than the value end of rotary axis 0 reference ...

Page 77: ...rking range from software limit switch start to software limit switch end Incremental encoder and initiator After starting up the FM 452 the axis is initially not synchronized The software limit switches are only monitored after synchronization Relationship working range encoder range travel range The working range is the range you specify for your task using the software limit switches The encode...

Page 78: ...ctivation of a Distance Cam with Hysteresis Note Distance cams that are shorter than the hysteresis can be hidden by the hysteresis when there is a change in direction Time Cams with Hysteresis A time cam is activated in the following situation the cam start is reached in the activation direction and no hysteresis is active Note If the range between the reversal point and the start of the time cam...

Page 79: ...mula Vsim Simulation speed set by the FM 452 unit m min Vsim V Simulation speed specified in the machine data unit m min RES Resolution calculated from the encoder data unit m pulse Integer from this expression only the value before the decimal point is used for further calculation This expression must be within the range 2 65536 for all calculations As a result of the relationships see formula th...

Page 80: ... know and that is physically unique This could be for example the end software limit switch 2 Start the set reference point setting with the coordinate of the point defined in step 1 The FM 452 now determines an encoder value the absolute encoder adjustment for the reference point coordinate entered in the machine data You can read out this value with the user interface in the service dialog 3 Ent...

Page 81: ...m increment The absolute encoder used cannot be exactly adjusted mechanically and also does not have the option of setting the actual value Axis 1000 0 Value of absolute encoder 2047 125 Axis 1000 1000 0 125 Encoder value 0 Instantaneous Encoder Desired 1 2 1 Correlation between the coordinate system and encoder values with the set absolute encoder adjustment The encoder value 0 corresponds to the...

Page 82: ...nded with the software limit switches With the set resolution the working range is already covered with 2001 values Therefore in the example there are 47 pulses left over which lie symmetrically about the working range Alternative Mechanical Adjustment of an Encoder You can obtain a correct relationship between the coordinate system and the encoder as follows 1 Move the axis to a reproducible posi...

Page 83: ...rect Data in the Parameter DB Address Name Type Initial Value Comment 20 0 ENC_TYPE DINT L 1 Encoder type and frame length Range of values 1 5 V incremetal 2 24 V incremental 3 SSI 13 bit frame length 4 SSI 25 bit frame length 5 listen in 6 24 V initiator forwards 7 24 V initiator backwards 8 SSI 13 bit right justified 9 SSI 25 bit right justified 10 listen in right justified With the frame length...

Page 84: ...tion you inform the FM 452 of the distance covered by the drive system per encoder revolution The value distance per encoder revolution depends on how the axis is set up and how the encoder is installed You must take into account all transmission components such as couplings or gearing Section 8 6 Page 8 20 describes the relationship between the machine data distance per Encoder Revolution and inc...

Page 85: ...module see also Section 10 1 Page 10 2 Initiator Any value from the range shown can be entered Absolute encoder The limits vary according to the type of encoder Note The number of pulses of an encoder is calculated from the machine data increments per encoder revolution multiplied by number of revolutions see page 8 20 Encoder Type Frame Length Type Value Range Can be used as linear axis Single tu...

Page 86: ...owers of 2 Multi turn Listen in right justified 2 219 All values with the following restriction Increment encoder revolution number of encoder revolutions 225 Linear measure You can also connect a linear measure by entering the value 1 Total number of steps of the encoder The total number of steps is not part of the machine data Total no of steps increments per encoder revolution no of revolutions...

Page 87: ...reak 1 frame error must always be 1 1 missing pulses Wire break When monitoring is activated the FM 452 monitors the signals A A B B N and N of an incremental encoder The monitoring detects Wire break Short circuit on individual lines With incremental encoders without a zero marker you must either deactivate the wire break monitoring or connect the signals N and N externally see Section 10 1 Edge ...

Page 88: ...coders Initiators Input values Travel per encoder revolution Increments per encoder revolution Pulse evaluation quadruple 1 increment 4 pulses Travel per encoder revolution Increments per encoder revolution 1 increment 1 pulse Calculation RES distance encoder rev RES encoder rev pulses encoder rev Note In the pulses system of units the resolution always has the value 1 All position information is ...

Page 89: ... inches pulse degrees 10 4 degrees 10 3 degrees 10 2 degrees 0 1 10 4 degrees 1000 10 4 degrees pulse 0 1 10 3 degrees 1000 10 3 degrees pulse 0 1 10 2 degrees 1000 10 2 degrees pulse pulses 1 pulse 1 Example An incremental encoder has the following data Increments per encoder revolution 5000 Distance per encoder revolution 1000 mm 1 increment 4 pulses This results in the following resolution quad...

Page 90: ...ow Resolution RES is in the Range Maximum Travel Range 0 1 m pulse RES 1 m pulse 108 m to 108 m 100 m to 100 m 1 m pulse RES 1000 m pulse 109 m to 109 m 1000 m to 1000 m Relationship of the Feedrate and the Resolution The feedrate displayed can be within the following limits depending on the resolution this information relates to units of millimeters from 1 m min to 90 m min at a resolution of 1 m...

Page 91: ...0 max 16 cams 1 max 32 cams 2 max 64 cams 3 max 128 cams Track Data in the Parameter DB Address Name Type Initial Value Comment 90 0 TRACK_OUT WORD W 16 0 Activation of the track outputs Range 0 cam controller 1 CPU Bit number track number With the machine data activation of the track outputs you specify how the track signals of tracks 0 to 15 are activated Activation is possible via Cam controlle...

Page 92: ...al enable input I3 to I10 is set and the track result of the track is 1 Address Name Type Initial Value Comment 99 0 99 1 99 2 SPEC_TRC0 SPEC_TRC1 SPEC_TRC2 BOOL BOOL BOOL FALSE FALSE FALSE Special tracks 1 track 0 is counter cam track 1 track 1 is counter cam track 1 track 2 is brake cam track You can set tracks 0 1 and 2 as special tracks Address Name Type Initial Value Comment 100 0 104 0 CNT_L...

Page 93: ...interrupt Measurement completed Both with the edge detection setting and with the length measurement setting a falling edge at digital input I1 can trigger a hardware interrupt Machine Data for Interrupt Enable in the Parameter DB Address absolute Name Type Initial Value Comment 3 1 PI_MEND BOOL FALSE 1 enable hardware interrupt measurement end 3 2 PI_CAM BOOL FALSE 1 enable hardware interrupt cam...

Page 94: ...e Activation Direction With the exception of example 5 the positive activation direction is assumed No Description Distance cam Time cam 1 A cam is passed in the activation direction CS CE CS On time activation direction 2 A cam is passed in the direction opposite to the CS CE CS On time direction o osite to the activation direction 3 A cam is approached in the activation direction while the cam i...

Page 95: ... 0 3 CAM_TYPE BOOL FALSE 0 distance cam 1 time cam 0 4 PI_SW_ON BOOL FALSE 1 hardware interrupt on activation 0 5 PI_SW_OFF BOOL FALSE 1 hardware interrupt on deactivation 1 0 TRACK_NO BYTE B 16 0 Track number Range 0 to 31 Note Unused cams should always be set to invalid CAMVALID FALSE Activation direction Two activation directions are possible positive The cam is activated at the cam start when ...

Page 96: ...e Positive Direction Address relative Name Type Initial Value Comment For time cams 2 0 6 0 CBEGIN CEND DINT DINT L 100000000 L 100000000 Cam start CS Cam end CE On Time Range 0 to 13421 100 s with a maximum of 16 cams 0 to 26843 100 s with a maximum of 32 cams 0 to 53686 100 s with a maximum of 64 cams 0 to 65535 100 s with a maximum of 128 cams With a time cam you specify a cam start and an on t...

Page 97: ...is calculated less often Actual Lead Time You can calculate the actual lead time as follows Calculate the cam cycle time This is the time in which the FM 452 has completely processed all cams and depends on the number of cams in use see table Page 8 23 Calculate the actual lead time with the following formula Where Lead time act is the lead time set by the FM 452 Lead time I is the lead time you s...

Page 98: ...me time calculation of a new dynamic adjustment is disabled If the actual value reaches the static range of the cam the calculation of a new dynamic adjustment is enabled again a change in feedrate affects the cam end If the cam is deactivated at the end of the dynamic range dynamic adjustment is disabled again until the end of the static range of the cam Lead distance CE CS Actual value Dynamic a...

Page 99: ...1 9 6 Fast Cam Parameter Change 9 13 9 7 Length Measurement Edge Acqusition 9 15 9 8 Retrigger Reference Point 9 19 9 9 Deactivating Software Limit Switches 9 22 9 10 Simulation 9 23 9 11 Counted Values of the Counter Cam Tracks 9 25 9 12 Position and Track Data 9 26 9 13 Encoder Data 9 27 9 14 Cam and Track Data 9 28 9 15 Control Signals for the Cam Controller 9 29 9 16 Return Signals for the Cam...

Page 100: ...et for the cam The set on time runs until it expires Note If the axis is stationary the direction of movement depends on fluctuations in the actual value If you want the direction of movement to be taken into account when the axis is stationary you must set a hysteresis that is greater than the fluctuations in the actual value when the axis is stationary If the axis is not moving the last detected...

Page 101: ... The axis must be synchronized With set actual value on the fly Digital input I1 must be connected Sequence of the Setting 1 Enter the coordinate for the actual value or for the flying actual value in the channel DB Linear axis You must select an actual value so that the software limit switch is still within the range of movement after the setting has been read The value of the offset resulting fr...

Page 102: ... 400 mm at position 200 mm you can see how this setting shifts the coordinate system The following effects result The location of the working range is not physically shifted The individual points such as the software limit switches are assigned new coordinate values The cams retain their coordinate values and are therefore located at a different physical position When the axis is synchronized and ...

Page 103: ...l value on the fly Once set actual value on the fly has been triggered it can no longer be deleted before execution by a rising edge at input I1 However it can be overwritten by a new set actual value on the fly During a module start up these settings are reset Data Used in the Channel DB Address Name Type Initial Value Comment 35 2 AVALREM_EN BOOL FALSE 1 Cancel actual value setting Possible Sour...

Page 104: ...fset was active before the call set the value 0 for ZPOold With this formula you can calculate which coordinate values are adopted for example by the software limit switches Sequence of the Setting 1 Enter the value for the zero offset in the channel DB Linear axis The zero offset must be selected so that the software limit switch is still within the permissible range after the setting is read Rot...

Page 105: ...refore located at a different physical position When the axis is synchronized and the cam processing is enabled the actual position can skip cam edges or complete cams as a result of this setting Status changes of the cam which would normally trigger an interrupt can be lost Table 9 2 Coordinate System Shift Resulting from Zero Offset Zero offset SLS mm ACT mm SLE mm SLS ACT SLE 0 500 500 ange 200...

Page 106: ...et Taking into account a ZPOold 0 a new value of 385 results The actual value beings again at 0 at the end of the rotary axis when this is turning in a positive direction so that the value actually calculated is 25 coordinatenew coordinateold ZPOnew ZPOold end of rotary axis The value end of rotary axis only needs to be subtracted when coordinateold ZPOnew ZPOold will be higher than the end of the...

Page 107: ...Rotary axis The following rule applies to the reference point coordinate 0 reference point coordinate end of rotary axis 2 Set the appropriate trigger bit Date Used in the Channel DB Address Name Type Initial Value Comment 36 3 REFPT_EN BOOL FALSE 1 set reference point coordinates 98 0 REFPT DINT L 0 Reference point coordinates 25 0 SYNC BOOL FALSE 1 axis synchronized Effects of the Setting Based ...

Page 108: ...rence Point SLS mm ACT mm SLE mm Shift in the working range SLS ACT SLE Axis 0 500 500 100 mm Old coordinate system range 400 100 400 working range to 300 mm with set reference point 0 300 500 mm New coordinate system Working ra 400 300 400 Note on Absolute Encoders This setting is necessary for an absolute encoder adjustment see Section 8 4 page 8 12 ...

Page 109: ... valid Sequence of the Setting 1 Enter the cam number in the channel DB 2 For a distance cam Enter the cam start and cam end in the channel DB With a time cam Enter the value for the cam start in the channel DB 3 Set the appropriate trigger bit Data Used in the Channel DB Address Name Type Initial Value Comment 36 7 CH01CAM_EN BOOL FALSE 1 write setting for cam edges one cam 102 0 CAM_NO INT 0 Cam...

Page 110: ...After the call Figure 9 2 Changes in the Cam Edges in Individual Steps Note If a hardware interrupt has been enabled for this cam the FM 452 can trigger one or two hardware interrupts depending on parameter settings when the inverse cam is detected Changing the on and or off edge can result in a cam edge or the entire cam being skipped Note the switching response of time cams in Section 9 1 Page 9...

Page 111: ... Initial Value Comment 37 0 CH16CAM_EN BOOL FALSE 1 settings for fast cam parameter change 16 cams 176 0 C_QTY BYTE B 16 0 Number of cams to be modified 177 0 DIS_CHECK BOOL FALSE 1 deactivate data check Relative Address Name Type Initial Value Comment 0 0 CAM_NO BYTE B 16 0 Number of the cam to be modified 1 0 C_EFFDIR BOOL FALSE 1 change the cam activation direction 1 1 C_CBEGIN BOOL FALSE 1 cha...

Page 112: ...ule checks all data to be transferred TRUE The data check for the cam parameters is deactivated This means that the data to be changed can be processed faster on the FM 452 Regardless of this setting a check is always made to determine the following Has the axis had parameters assigned Is the number of cams to be modified C_QTY permitted Is the cam cam number to be modified valid Only when all dat...

Page 113: ...nd edge detection you can find out the length of a workpiece The length measurement and edge detection are and remain active until you deactivate them again or until you select a different measuring method If you select both methods at the same time FC CAM_CTRL activates the length measurement Requirements A bounce free switch must be connected at input I1 ...

Page 114: ...ry enter a value for the minimum edge to edge distance in the parameter DB Write and activate the machine data 2 Set the function switch for edge detection The MSR_DONE parameter is set 3 The rising edge of input I1 starts the edge acquisition The results of the measurement are updated and can be read out the start of the measurement is entered the end value and length become 1 4 After the update ...

Page 115: ...mum edge to edge distance you define a range after detection of the start of measurement when using edge acquisition If the end of the measurement is within this range the measurement is rejected The start of the measurement is signaled only after the minimum edge to edge distance has been traveled Conditions for Length Measurement The distance between the off edge and on edge at input I1 must be ...

Page 116: ...ff edges are detected simultaneously by the FM 452 for example caused by switch bounce Adjustment of the Coordinate System During Length Measurements Adjustments in the coordinate system influence the measured length in the following situations You are using an incremental encoder or an initiator and you are operating the FM 452 in the simulation mode You are running set reference point or retrigg...

Page 117: ...he reference point coordinate in the parameter DB 2 Enter the type of retrigger reference point in the parameter DB Here you have the following options Only the zero marker of the encoder is evaluated RETR_TYPE 7 Only the reference point switch is evaluated RETR_TYPE 6 The zero marker is evaluated in the positive direction the first rising edge of the zero marker after leaving the reference point ...

Page 118: ...e direction the rising edges are evaluated If movement is in a negative direction the falling edges are evaluated The actual position is set to the value of the reference point coordinate The working range is physically displaced on the axis The individual points retain their original value but are now located at new physical positions Cam status changes that would normally trigger an interrupt ca...

Page 119: ... into account in the retrigger reference point setting This means that the reference point coordinate set is calculated according to the following formula Ref RefMD zero offset RefMD is the value stored as the reference point coordinate in the machine data Table 9 5 Displacement of the Working Range on the Axis by Retrigger Reference Point with Zero Offset Retrigger reference point SLS mm REF mm A...

Page 120: ...END DINT L 1000000000 End of software limit switch Effects of the Setting Simulation If a software limit switch is passed in the simulation mode the simulation mode is stopped If you then deactivate the monitoring of the software limit switches the simulation mode is resumed The axis moves in the specified direction Zero offset when monitoring is switched off If a zero offset is specified in which...

Page 121: ...ve direction 15 3 DIR_P BOOL FALSE 1 simulation in positive direction 34 1 SIM_ON BOOL FALSE 1 simulation on Data Used in the Parameter DB Address Name Type Initial Value Comment 84 0 SIM_SPD DINT L 0 Simulation Speed Effects of Activating Simulation The encoder signals are no longer evaluated All monitoring relevant to the encoder input is deactivated Any errors signaled with reference to the enc...

Page 122: ... as the actual value With an absolute encoder the actual position is signaled that corresponds to the current encoder status The encoder signals are again evaluated according to the parameter settings in the machine data Limit Values The maximum and minimum limits of the simulation speed depend on the resolution see Section 8 3 page 8 7 Feedrate There may be a difference between the set and actual...

Page 123: ...es the value 0 the track flag bit of the counter cam track is set to 1 9 With the next falling edge at the track result the track flag bit is set back to 0 and the counter is set to the upper counted value Data Used in the Channel DB Address Name Type Initial Value Comment 15 5 CNTC0_EN BOOL FALSE 1 enable counter function of counter cam track 0 15 6 CNTC1_EN BOOL FALSE 1 enable counter function o...

Page 124: ...ed changes higher than 1 pulse per 4 ms with a slight inaccuracy The displayed speed is therefore not fully accurate and is not suitable for control purposes The internal speed used for the cam dynamics is more accurate Sequence of the Setting 1 Set the trigger bit in the channel DB 2 The data are stored in the channel DB Data Used in the Channel DB Address Name Type Initial Value Comment 38 4 ACT...

Page 125: ...er making the setting set reference point see Section 8 4 page 8 12 Sequence of the Setting 1 Set the trigger bit in the channel DB 2 The data are stored in the channel DB Data Used in the Channel DB Address Name Type Initial Value Comment 38 5 ENCVAL_EN BOOL FALSE 1 read encoder values 140 0 ENCVAL DINT L 0 Encoder value counter value internal representation 144 0 ZEROVAL DINT L 0 Counter value a...

Page 126: ... enter 0 as the type identifier only the cam flag bits 16 bytes are read 2 The data are stored in the channel DB Data Used in the Channel DB Address Name Type Initial Value Comment 12 0 FM_TYPE BOOL FALSE 0 FM 352 up to V4 0 1 FM 452 or FM 352 V5 0 or higher 38 6 CAMOUT_EN BOOL FALSE 1 read cam and track data 152 0 CAM_00_31 DWORD DW 16 0 Cam flag bits for cams 0 to 31 156 0 CAM_32_63 DWORD DW 16 ...

Page 127: ...trigger bit in the channel DB 2 The data are transferred to the module whenever FC CAM_CTRL is called Data Used in the Channel DB Address Name Type Initial Value Comment 15 4 CAM_EN BOOL FALSE 1 enable cam processing 16 0 TRACK_EN WORD W 16 0 Enable cam tracks 0 to 15 Bit 0 track 0 Effects The cam processing is started or stopped depending on the enable The track flag bits of the enabled tracks ar...

Page 128: ...tency between the signaled position and the track signals is not guaranteed Sequence of the Setting 1 Set the trigger bit in the channel DB 2 The data are stored in the channel DB whenever FC CAM_CTRL is called Data Used in the Channel DB Address Name Type Initial Value Comment 23 4 CAM_ACT BOOL FALSE 1 cam processing active 26 0 ACT_POS DINT L 0 Current position of the axis 30 0 TRACK_OUT DWORD D...

Page 129: ...ror classes listed in Appendix C an entry is made in the diagnostic buffer 2 If the module recognizes a write job with incorrect data it sets the DATA_ERR bit The cause of the error is entered in the diagnostic buffer 3 The data are stored in the channel DB 4 If the diagnostic buffer is read by FC DIAG or by the error evaluation of the parameter assignment user interface the module sets the DIAG b...

Page 130: ...Settings 9 32 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 131: ...10 1 FM 452 Electronic Cam Controller C79000 G7076 C452 04 Encoders In this Chapter Section Contents Page 10 1 Incremental Encoders 10 2 10 2 Initiators 10 5 10 3 Absolute Encoders 10 6 10 ...

Page 132: ...erfaces conforming to RS 422 Cut off frequency 1 MHz At 5 V supply voltage max 32 m line length At 24 V supply voltage max 100 m line length Note If the encoder 5 V does not output a zero marker signal and you have activated the wire break monitoring you must switch the zero marker inputs N and N externally so that these inputs have a different level for example N on 5 V N on ground Signal Shapes ...

Page 133: ...luation Pulses Signal period Increment 1 2 3 4 Figure 10 2 Increments and Pulses Pulses The FM 452 evaluates all 4 edges of the signals A and B see figure in each increment 1 increment set by the encoder 4 pulses FM evaluation Reaction Times With incremental encoders connected the FM 452 has the following reaction times Minimumreaction time cam cycle switching time of the connected switching eleme...

Page 134: ...can compensate the reaction time with appropriate parameter settings for the cams or using dynamic adjustment Unsharpness Unsharpness is the difference between the maximum and minimum reaction time In the case of incremental encoders it is Unsharpness 1 cam cycle Note If the switching time of the hardware on the FM 452 and the switching time of the connected switching elements can be ignored then ...

Page 135: ...ifying a direction incorrectly can lead to serious errors in the system for example as a result of incorrectly activating units Check the direction information each time you install and start up a system and whenever you replace an initiator Connectable Initiators You can connect the following initiators to the FM 452 Initiators with 24 V level Proximity Switches Limit Frequency 50 kHz max 100 m c...

Page 136: ...erial interface The FM 452 supports only GRAY code Due to the arrangement of the data bits in the transferred frames the data formats fir tree half fir tree and right justified are used Encoder Type Frame Length Type Single turn encoder Single turn encoders Single turn encoders Multi turn encoder Multi turn encoders Listen in Listen in Multi turn as Single turn encoders Special setting 13 bit half...

Page 137: ...Frame Length Wiring Listen In Figure 10 3 based on the example of an FM 451 and FM 452 illustrates how to connect the absolute encoder so that the FM 452 listens in 15 14 2 3 7 5 DAT CLS red blue yellow green brown white pink 24 V Shield to housing Wires twisted in pairs gray Ground DAT CLS 4 5 6 7 DAT DAT Shield to housing Shield to housing Absolute encoder FM 451 as master FM 452 as slave FM 452...

Page 138: ... flop time Minimum monostable flip flop period 15 s Maximum monostable flip flop time 64 s Encoders with values outside the limits shown here are not permitted Frame run times The frame run times depend on the baud rate Baud rate Frame Run Time for 13 bits Frame Run Time for 25 bits 0 125 MHz 112 s 208 s 0 250 MHz 56 s 104 s 0 500 MHz 28 s 52 s 1 000 MHz 14 s 26 s Example of Reaction Times The fol...

Page 139: ...h an Absolute encoder it is as follows Unsharpness 1 cam cycle frame run time monostable flip flop time With programmable absolute encoders Unsharpness 1 cam cycle frame run time monostable flip flop time 1 max step train frequency Note If the switching time of the hardware on the FM 452 and the switching time of the connected switching elements can be ignored then reliable switching of the cam is...

Page 140: ...Encoders 10 10 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 141: ...Electronic Cam Controller C79000 G7076 C452 04 Diagnostics Chapter Overview Section Contents Page 11 1 Possibilities for Error Evaluation 11 2 11 2 Meaning of the Error LEDs 11 3 11 3 Diagnostic Interrupts 11 4 11 ...

Page 142: ...es RET_VAL of the linked FC as a group display for errors that occurred while the FC was being executed The error bits of the jobs as a group display for errors that occurred while executing a job The error bit DATA_ERR as a group display for an error detected by the FM 452 during a write job The error flag in JOB_ERR for the cause of the error in communication between the FC and FM 452 FC CAM_DIA...

Page 143: ...r internal errors This LED indicates the following error states on the FM 452 Hardware interrupt lost Watchdog expired The FM 452 not configured Incorrect FM 452 parameter assignment only when parameters assigned with SDB EXTF red LED ON Group error for external errors This LED indicates the following error states No external 24 V auxiliary supply No front connector Encoder wire break Operating er...

Page 144: ...wing events and errors trigger a diagnostic interrupt Operating errors Incorrect machine data when parameters assigned with SDB Incorrect cam data when parameters assigned with SDB Diagnostic errors These errors are explained in detail in Appendix C 4 page C 15 onwards Reaction of the FM 452 to an Error with a Diagnostic Interrupt Cam processing is stopped The synchronization is deleted with the f...

Page 145: ...eaving state when the last error on the module has been rectified Sequence 1 The FM 452 detects that all errors have been rectified and initiates a diagnostic interrupt The LED INTF or EXTF is no longer lit The diagnostic buffer is not modified 2 The CPU operating system calls OB82 3 With the OB82_MOD_ADDR parameter you can see which module triggered the interrupt 4 Evaluate the OB82_MDL_DEFECT bi...

Page 146: ...Diagnostics 11 6 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 147: ...Requirements 12 2 12 3 Preparing the Samples 12 3 12 4 Code of the Samples 12 3 12 5 Testing a Sample 12 4 12 6 Adapting a Sample 12 4 12 7 Sample Program 1 GettingStarted 12 5 12 8 Sample Program 2 Commission 12 7 12 9 Sample Program 3 OneModule 12 9 12 10 Sample Program 4 Interrupts 12 12 12 11 Sample Program 5 MultiModules 12 14 12 ...

Page 148: ...et You have an S7 station consisting of a power supply module a CPU and an FM 452 or FM 352 module Version V5 that is installed and wired up Earlier versions of the module may deviate from the behavior described You have correctly installed STEP 7 and the configuration package for the FMx52 on your programming device PC The description of how to handle the programs is based on STEP 7 V5 0 If you u...

Page 149: ...ect a sample program and download its block folder to the CPU 6 Select the FM 352 or FM 452 in the hardware configuration and display the object properties Edit Object Properties 7 Using the Mod Addr dialog enter the current module address in all offline channel DBs and diagnostic DBs that exist in the sample program Open the dialog separately for each block You can also enter the module address w...

Page 150: ...mbol Comment Open a variable table link it with the configured CPU and monitor the variables cyclically This means that when the CPU is in the RUN P or RUN mode the displayed variables are updated constantly All the samples require that the machine and cam data were entered and saved with the parameter assignment user interface This allows you to execute the samples one after the other 12 6 Adapti...

Page 151: ...Getting Started primer The address of your module is entered correctly at the address MOD_ADDR in the channel DB Startup In the startup OB OB100 you call FC CAM_INIT that resets all the control and return signals and the job management in the channel DB Cyclic Operation Open the variable table establish the connection to the configured CPU and monitor the variables Transfer the prepared control va...

Page 152: ...m a more elegant method Open the hardware configuration and double click the FM 352 or FM 452 The parameter assignment user interface is started Display the cause of the error with Test Error Evaluation To eliminate the error follow the steps outlined below 1 Enter a permitted value in the control value 2 Switch the CPU to STOP 3 Switch the CPU to RUN P 4 Activate the control values If you activat...

Page 153: ...l FC CAM_INIT to initialize the channel DB You then set the trigger bits for all jobs and all control signals that you require after the module starts Cyclic Operation Open the two variable tables VAT1 and VAT2 establish the connection to the configured CPU and monitor the variables In VAT1 you can see the changes in the actual position and the track signals The module is in operation In VAT2 you ...

Page 154: ... point coordinate that is higher than the end of the rotary axis Turn off the external power supply Delete PARADB on the CPU online and attempt to write machine data The error evaluation is once again programmed spitefully so that the CPU changes to STOP If you update VAT1 again the error code for this error is indicated in CAM JOB_ERR ...

Page 155: ...b Evaluating the return signals of the block Evaluating the return signals of an individual job Resetting the done and error bits for individual or for all jobs Central CAM_CTRL call at the end of the user program Central error evaluation by CAM_DIAG at the end of the user program Evaluation of the diagnostic buffer in conjunction with DATA_ERR Requirements You have assigned parameters for the cam...

Page 156: ...he cam data return to the previous values again After this run through the step sequence has been processed the step number is 2 and simulation is stopped If you want to repeat the entire sequence again restart the CPU STOP RUN P This procedure is of course only acceptable in a sample If you have not activated the PROGDB SWITCH switch before a CPU STOP the parameters of the cam in the parameter DB...

Page 157: ...arted up The restart of the module can for example be triggered by a CPU warm restart or the return of a rack after a rack failure Step 1 The program waits until the set jobs have been executed Step 2 The program reads the cam flag bits continuously and waits until cam 4 is set Step 3 Cams 0 and 1 are assigned new parameter values To allow you to see the change the cam data are read out before and...

Page 158: ...r this module with Edit Object Properties Basic Parameters Select Interrupt Diagnostics Compile the hardware configuration and download it to the CPU The supplied channel DB already contains the DB number 3 of the parameter DB in the PARADBNO parameter The PARADB contained in the sample already has machine and cam data Startup In the startup OB OB100 the startup flag step 0 for the user program is...

Page 159: ...aluation of the diagnostic event In this sample no special measures have been taken for restarting after eliminating the error We have left this up to you as part of the exercise Diagnostic Interrupt OB82 Depending on the address of the module that triggered the interrupt OB82_MDL_ADDR the error ID in the corresponding instance DB of the user program is entered in the diagnostic interrupt ...

Page 160: ...as been entered in the block parameter MOD_ADDR in the channel DBs and diagnostic DBs The supplied channel DBs already contain the DB number 3 or 13 of the corresponding parameter DB in the PARADBNO parameter The parameter DBs DBs PARADB and PARADB2 contained in the sample contain machine and cam data for both modules A set of variable tables is also prepared for each module Startup In the start u...

Page 161: ...fic data blocks indirectly channel DB diagnostic DB and parameter DB The DB numbers specified in the call are not only passed on to supply FC CAM_CTRL and FC CAM_DIAG but are also used in the user program With this type of programming you cannot use symbolic names for the data in the data blocks Diagnostic Interrupt OB82 Depending on the address of the module that triggered the interrupt OB82_MDL_...

Page 162: ...Samples 12 16 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 163: ... Recognition Mark Underwriters Laboratories UL conforming to Standard UL 508 File E 116536 CSA Certification Mark Canadian Standard Association CSA conforming to Standard C 22 2 No 142 File LR 48323 FM Approval The following FM approval exists for the S7 400 FM approval complying with Factory Mutual Approval Standard Class Number 3611 Class I Division 2 Group A B C D Warning Injury to persons and ...

Page 164: ...formity are kept according to the above mentioned EU Directive Article 10 for the responsible authorities at Siemens Aktiengesellschaft Bereich Automatisierungstechnik A D AS E4 Postfach 1963 D 92209 Amberg Area of Application SIMATIC products are designed for use in an industrial environment Area of Application Requirements Emitted Noise Noise Immunity Industry EN 50081 2 1993 EN 50082 2 1995 Adh...

Page 165: ... and outputs from 1L 2L and 3L without load max 40 mA front connector pin 3 26 36 Supply of digital inputs and outputs Supply voltage 24 VDC permissible range 20 4 to 28 8 V Permitted potential difference between input ground connection M front connector pin 48 and the central grounding point shield 60 VAC 75 VDC Insulation tested with 500 VDC Encoder supply 5 V encoder supply 5 2 V 2 max 300 mA s...

Page 166: ...d cable length for absolute encoders Max 125 KHz for 320 m shielded cable length Max 250 KHz for 160 m shielded cable length Max 500 KHz for 63 m shielded cable length Max 1 MHz for 20 m shielded cable length Listen in mode with absolute encoders Yes Input signals Incremental 2 pulse trains 90 offset 1 zero pulse Absolute Absolute value SSI and Gray code Initiator 24 V Digital Inputs Number of dig...

Page 167: ...f a counter input Only conditionally see note Short circuit protection Yes electronically clocked Limit on induct cut off voltage 1L 2L 3L 48 V Switching frequency Resistive load max 500 Hz Inductive load Max 0 5 Hz Total current of the digital outputs Simultaneity factor 100 8 A Unshielded cable length Max 100 m Shielded cable length max 600 m Insulation test VDE 0160 Note When the 24 V power sup...

Page 168: ...Technical Specifications A 6 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 169: ...hese encoders are described in this chapter Section Connection Diagram for Connecting Cable Remark Page B 1 Incremental encoder 4 2 0 25 2 1 mm2 Up 5V RS 422 B 2 Siemens 6FX 2001 2 B 2 Incremental encoder 4 2 0 5 mm2 Up 24V RS422 B 3 Siemens 6FX 2001 2 B 3 Incremental encoder 4 2 0 5 mm2 Up 24V HTL B 4 Siemens 6FX 2001 4 B 4 Absolute encoder 4 2 0 5 mm2 Up 24V SSI B 5 Siemens 6FX 2001 5 B ...

Page 170: ...2 Up 5V RS 422 Connection Diagram The following schematic shows the connection diagram for the incremental encoder Siemens 6FX 2001 2 Up 5 V RS422 FM 452 Encoder Wire 4 2 0 25 2 1 mm2 Wires twisted in pairs 12 pin circular socket Siemens 6FX 2003 0CE12 Pin side soldered side 1 2 3 4 5 6 7 8 9 10 11 12 Ground Shield to casing Shield to casing ...

Page 171: ...2 Up 24V RS 422 Connection Diagram The following illustration shows the connection diagram for the incremental encoder Siemens 6FX 2001 2 Up 24 V RS 422 FM 452 Encoder Wire 4 2 0 5 mm2 Wires twisted in pairs Circular 12 pin socket Siemens 6FX 2003 0CE12 Pin side soldered side 1 2 3 4 5 6 7 8 9 10 11 12 Ground Shield to casing Shield to casing ...

Page 172: ... Siemens 6FX 2001 4 Up 24 V HTL FM 452 Encoder Wire 4 2 0 5 mm2 Circular 12 pin socket Siemens 6FX 2003 0CE12 Pin side soldered side 1 2 3 4 5 6 7 8 9 10 11 12 Shield to casing Shield to casing Ground Note If you would like to connect an incremental encoder from another manufacturer in a push pull configuration current sourcing sinking then you must observe the following Current sourcing Connect R...

Page 173: ...der Siemens 6FX 2001 5 Up 24V SSI Connection Diagram The following illustration shows the connection diagram for the absolute encoder Siemens 6FX 2001 5 Up 24 V SSI Pin side soldered side 1 2 3 4 5 6 7 8 9 10 11 12 Ground Shield to casing Wire Circular 12 pin socket Siemens 6FX 2003 OCE12 Wires twisted in pairs Encoder ...

Page 174: ...Connection Diagrams B 6 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 175: ...ller C79000 G7076 C452 04 Data Blocks Error Lists Chapter Overview Section Contents Page C 1 Content of the Channel DB C 2 C 2 Content of the Parameter DB C 10 C 3 Data and Structure of the Diagnostic DB C 12 C 4 Error Classes C 15 C ...

Page 176: ...SE 1 enable cam processing 15 5 CNTC0_EN BOOL FALSE 1 enable count function of counter cam track 0 15 6 CNTC1_EN BOOL FALSE 1 enable count function of counter cam track 1 16 0 TRACK_EN WORD W 16 0 Enable cam tracks 0 to 15 Bit 0 track 0 Return signals 22 2 DIAG BOOL FALSE 1 diagnostic buffer modified 22 4 DATA_ERR BOOL FALSE 1 data error 22 7 PARA BOOL FALSE 1 module has parameters assigned 23 4 C...

Page 177: ...cancel set actual value set actual value on the fly 35 3 CAM1WR_EN BOOL FALSE 1 write cam data 1 cam 0 to 15 35 4 CAM2WR_EN BOOL FALSE 1 write cam data 2 cam 16 to 31 35 5 CAM3WR_EN BOOL FALSE 1 write cam data 3 cam 32 to 47 35 6 CAM4WR_EN BOOL FALSE 1 write cam data 4 cam 48 to 63 35 7 CAM5WR_EN BOOL FALSE 1 write cam data 5 cam 64 to 79 36 0 CAM6WR_EN BOOL FALSE 1 write cam data 6 cam 80 to 95 3...

Page 178: ... CAM8RD_EN BOOL FALSE 1 read cam data 8 cam 112 to 127 38 2 MSRRD_EN BOOL FALSE 1 read measured values 38 3 CNTTRC_EN BOOL FALSE 1 read count values of counter cam tracks 38 4 ACTPOS_EN BOOL FALSE 1 read position and track data 38 5 ENCVAL_EN BOOL FALSE 1 read encoder values 38 6 CAMOUT_EN BOOL FALSE 1 read cam and track data Done Bits for Function Switches 40 0 EDGE_D BOOL FALSE 1 activate edge d...

Page 179: ... job completed 42 4 AVAL_D BOOL FALSE 1 A set actual value job completed 42 5 FVAL_D BOOL FALSE 1 A set actual value on the fly job completed 42 6 ZOFF_D BOOL FALSE 1 set zero offset job completed 42 7 CH01CAM_D BOOL FALSE 1 change parameters for 1 cam job completed 43 0 CH16CAM_D BOOL FALSE 1 change parameters for 16 cams completed fast cam parameter change Done Bits for Read Jobs 43 1 MDRD_D BOO...

Page 180: ...SE 1 error in write machine data job 47 1 MD_ERR BOOL FALSE 1 error in activate machine data job 47 2 AVALREM_ERR BOOL FALSE 1 error in cancel set actual value or cancel set actual value on the fly 47 3 CAM1WR_ERR BOOL FALSE 1 error in write cam data 1 job 47 4 CAM2WR_ERR BOOL FALSE 1 error in write cam data 2 job 47 5 CAM3WR_ERR BOOL FALSE 1 error in write cam data 3 job 47 6 CAM4WR_ERR BOOL FALS...

Page 181: ... BOOL FALSE 1 error in read count values of counter cam tracks job 50 4 ACTPOS_ERR BOOL FALSE 1 error in read position and track data job 50 5 ENCVAL_ERR BOOL FALSE 1 error in read current encoder value job 50 6 CAMOUT_ERR BOOL FALSE 1 error in read cam and track data job Job Management for FC CAM_CTRL 52 0 JOB_ERR INT 0 Communication error 54 0 JOBBUSY BOOL FALSE 1 at least one job active 54 1 JO...

Page 182: ... Read Encoder Data Job 140 0 ENCVAL DINT L 0 Encoder value 144 0 ZEROVAL DINT L 0 Counter reading at last zero mark 148 0 ENC_ADJ DINT L 0 Absolute Encoder Adjustment Data for the Read Cam and Track Data Job 152 0 CAM_00_31 DWORD DW 16 0 Cam flag bits for cams 0 to 31 156 0 CAM_32_63 DWORD DW 16 0 Cam flag bits for cams 32 to 63 160 0 CAM_64_95 DWORD DW 16 0 Cam flag bits for cams 64 to 95 164 0 C...

Page 183: ...ND BOOL FALSE 1 change the cam end on time to the value CEND new cam end 1 3 C_LTIME BOOL FALSE 1 change the lead time to the value LTIME new lead time 1 4 CAM_OFF BOOL FALSE 1 deactivate the cam during the cam data modification 1 5 EFFDIR_P BOOL FALSE 1 new activation direction positive plus 1 6 EFFDIR_M BOOL FALSE 1 new activation direction negative minus 2 0 CBEGIN DINT L 0 New cam start 6 0 CE...

Page 184: ...20 0 ENC_TYPE DINT L 1 Encoder type frame length 24 0 DISP_REV DINT L 80000 Distance per encoder revolution 32 0 INC_REV DINT L 500 Increments per encoder revolution 36 0 NO_REV DINT L 1024 Number of encoder revolutions 40 0 BAUDRATE DINT L 0 Baud rate 44 0 REFPT DINT L 0 Reference point coordinate 48 0 ENC_ADJ DINT L 0 Absolute Encoder Adjustment 52 0 RETR_TYPE DINT L 0 Type of retrigger referenc...

Page 185: ...cam track 99 1 SPEC_TRC1 BOOL FALSE 1 track 1 is counter cam track 99 2 SPEC_TRC2 BOOL FALSE 1 track 2 is brake cam track 100 0 CNT_LIM0 DINT L 2 Upper counter value for counter cam track 0 104 0 CNT_LIM1 DINT L 2 Upper counter value for counter cam track 1 Cam data for cams 0 to 15 0 to 31 0 to 63 0 to 127 108 0 STRUCT 12 bytes length per element Relative Address 0 0 CAMVALID BOOL FALSE 1 Cam val...

Page 186: ...mber of valid entries in the list 262 0 DIAG 1 STRUCT Diagnostic data latest entry 272 0 DIAG 2 STRUCT Diagnostic data second entry 282 0 DIAG 3 STRUCT Diagnostic data third entry 292 0 DIAG 4 STRUCT Diagnostic data oldest entry The diagnostic entry DIAG n is structured as follows Table C 4 Structure of the Diagnostic Entry Address Name Type Initial Value Comment 0 0 STATE BOOL FALSE 0 event enter...

Page 187: ... problem on K bus 80B1 32945 32591 Specified length wrong Incorrectly set FM_TYPE parameter in the channel DB for the module in use 80B2 32946 32590 The configured slot is empty 80B3 32947 32589 Actual module type does not match configured module type 80C0 32960 32576 The module does not have the data to be read 80C1 32961 32575 The data of a write job of the same type have not yet been processed ...

Page 188: ...rameter DB on the CPU write protected The data cannot be written to the DB read job 8732 34610 30926 DB number of the parameter DB too high read job 873A 34618 30918 Parameter DB does not exist read job 8745 34629 30907 Error in nth n 1 write access to a DB after error occurred read job The errors 80A2 to 80A4 and 80Cx are temporary in other words they can be cleared after a waiting time without y...

Page 189: ...e than 100m or 1000m Effect Axis not synchronized Class 4 Data Errors Data errors are detected synchronous to operator input commands No Meaning Diagn Interrupt 10 Bad zero offset No Cause The zero offset is more than 100m or 1000m The software limit switches are outside the travel range 100m 100m or 1000m 1000m after setting the zero offset Rotary axis The value of the zero offset is higher than ...

Page 190: ...e on the fly was active An attempt was made to execute retrigger reference point with an SSI encoder 29 Illegal bit coded command No Cause Unused and in this case unwritten bits are not 0 30 Bad lead time No 31 Bad cam number No Cause The cam is not valid The cam number is not in the range 0 to 127 32 Bad cam start No Cause The cam start is outside the travel range 100m 100m or 1000m 1000m Rotary ...

Page 191: ...ange 100m 100m or 1000m 1000m after making the setting The shift resulting from set actual value set actual value on the fly would be more than 100 m or 1000 m 107 Parameters not set for the axis No Cause There are no machine data on the axis There are no machine data activated on the axis 108 Axis not synchronized No Cause One of the settings set actual value set actual value on the fly and retri...

Page 192: ...der type Yes Cause The value for the encoder type is outside the permitted range of 1 to 10 11 Bad distance encoder revolution Yes Cause The value for distance encoder revolution is outside the permitted range of 1 to 109 µm regardless of the resolution 13 Bad number of increments encoder revolution see Section 8 5 page 8 15 Yes 14 Bad number revolutions see Section 8 5 page 8 15 Yes 15 Bad baud r...

Page 193: ...000m 1000m depending on the resolution or is less than the software limit switch start The software limit switch end including any existing zero offset is higher than 100 m or 1000 m depending on the resolution 144 Bad number of cams Yes Cause You have specified a value other than 0 to 3 for the number of cams 145 Bad hysteresis Yes Cause The hysteresis is outside the range 0 65535 resolution The ...

Page 194: ...e 2 or 65535 as the upper counter value 200 Bad resolution Yes Cause You have specified a resolution 0 1 µm pulse or 1000 µm pulse You have specified a distance encoder revolution and a number of pulses encoder revolution that results in a resolution of 0 1 or 1000 201 Encoder does not match the working range rotary axis range Yes Cause SSI encoder and rotary axis The encoder does not exactly cove...

Page 195: ...otary axis 4 Bad cam end Yes Cause The cam end is outside the travel range 100m 100m or 1000m 1000m The cam is at least one pulse long Rotary axis The cam end is 0 and or higher than the end of the rotary axis 5 Bad activation time Yes Cause The activation time is 0µs The maximum time depends on the number of cams see Section 8 9 page 8 26 6 Bad lead time Yes Cause The lead time is 0µs The maximum...

Page 196: ... Class 15 Messages No Meaning Diagnostic Interrupt 1 Start of parameter assignment No Cause The module has detected a parameter assignment by a system data block 2 End of parameter assignment No Cause The module has processed the parameter assignment by a system data block error free ...

Page 197: ...t plugged in Effect No external 24 V auxiliary supply Module not ready for operation Rectification Plug in front connector 51 Watchdog expired Yes Cause Strong interference on the FM 452 Error in the FM 452 Effect Module is reset Provided that after resetting the module no module defect is detected the module is ready for operation again The module signals the expired WATCHDOG with incoming and ou...

Page 198: ...odule Deactivate process interrupt Upgrade hardware and software to suit your process requirements for example faster CPU optimize user program 144 Encoder wire break Yes Cause Encoder cable cut or not plugged in Encoder has no quadrature signals Incorrect pin assignment Cable length too long Encoder signals short circuited Effect Cam processing switched off Track outputs are switched off With inc...

Page 199: ...f the next correct SSI transfer Rectification Check encoder cable Check the encoder Check the frame traffic between encoder and FM 452 146 Missing pulses frame incremental encoder Yes Cause Encoder monitoring has detected missing pulses Number of increments per encoder revolution is incorrectly entered Encoder defective Does not supply the specified number of pulses Bad or missing zero marker Inte...

Page 200: ...Data Blocks Error Lists C 26 FM 452 Electronic Cam Controller C79000 G7076 C452 04 ...

Page 201: ... Auxiliary supply 4 3 AVAL 9 4 AVAL_EN 9 4 AVALREM_EN 9 5 Axis data 8 7 Axis synchronization 7 3 Axis type 8 7 AXIS_TYPE 8 7 B BAUDRATE 8 18 BEG_VAL 9 17 Block library 6 2 Block templates 6 2 Bounce free switch 9 15 Brake cam track 2 7 8 24 C C_CBEGIN 9 13 C_CEND 9 13 C_EFFDIR 9 13 C_LTIME 9 13 C_QTY 8 23 9 13 Cable length maximum 8 18 Calculating coordinate zero offset 9 6 Cam change of direction...

Page 202: ... 19 Counted values of the counter cam tracks data used in the channel DB 9 25 data used in the parameter DB 9 25 sequence 9 25 Counter cam track 2 6 2 10 8 24 upper counter value 8 24 Counter cam tracks counted values 9 25 CPU startup 6 6 Creating a project 7 2 CSA approvals A 1 Current consumption A 3 D Data block template 6 14 Data check 9 14 by the module 9 14 Data errors C 15 Data for change c...

Page 203: ...ut 8 24 ENC_ADJ 8 12 ENC_TYPE 8 15 Encoder machine data 8 15 mechanical adjustment 8 14 multi turn 10 6 single turn 10 6 total number of steps 8 18 Encoder data 9 27 data used in the channel DB 9 27 requirements 9 27 sequence 9 27 Encoder range 8 9 Encoder supply polarity 4 5 Encoder type 8 15 End of rotary axis 8 7 End software limit switch 8 9 END_VAL 9 17 ENDROTAX 8 7 Error bits for function sw...

Page 204: ...20 installing 5 1 technical specifications 6 19 FVAL 9 4 FVAL_DONE 9 4 FVAL_EN 9 4 G Ground connection 4 6 Group errors 11 3 H Hardware installation 7 2 Hardware interrupt 8 25 evaluation 6 17 lost 6 18 HYS 8 9 Hysteresis 2 8 8 9 distance cam 8 10 time cam 8 10 8 11 Hysteresis range 2 8 8 9 rules 2 8 8 9 I INC_REV 8 17 Incorrect length measurement 9 18 Increment 10 3 Incremental encoder 8 8 increm...

Page 205: ... 3 activation of the track outputs 8 23 axis 8 7 axis type 8 7 baudrate 8 18 changing 8 2 count direction 8 19 distance per encoder revolution 8 16 enable hardware interrupt cam on off 8 25 enable hardware interrupt measurement end 8 25 enable hardware interrupt measurement start 8 25 enable input 8 24 encoder type 8 15 end of rotary axis 8 7 end software limit switch 8 9 frame length 8 15 hystere...

Page 206: ... 25 PI_MEND 8 25 PI_MSTRT 8 25 PI_SW_OFF 8 25 8 27 PI_SW_ON 8 25 8 27 Polarity of encoder supply 4 5 Polarity protection A 3 Position and track data 9 26 data used in the channel DB 9 26 sequence 9 26 Position detection A 4 Power controller 1 4 Power dissipation A 3 Power supply 4 3 Preparations for programming 7 5 Protective earth bar 4 6 Proximity switches 10 5 Pulses 10 3 Putting into operation...

Page 207: ...der revolution 8 17 Slot 3 1 SPEC_TRC0 8 24 SPEC_TRC1 8 24 SPEC_TRC2 8 24 Special track requirements 2 6 Special tracks 2 6 8 24 SSW_END 8 9 9 22 SSW_OFF 9 22 SSW_STRT 8 9 9 22 Standard units 8 6 Start software limit switch 8 9 Status displays 11 3 Step train frequency 10 9 Switching behavior 7 3 Switching response of time cams 9 2 Symmetrical output signals 10 2 SYNC 9 9 Synchronization loss of 9...

Page 208: ...ire break 8 19 Wiring 4 1 for 24 V DC 4 5 the front connector 4 5 Wiring procedure 4 7 Working range 8 9 Write job 6 6 error 6 9 Z Zero offset canceling 9 8 data used in the channel DB 9 6 definition 9 6 effects on a linear axis 9 7 sequence 9 6 with a rotary axis 9 8 ZOFF_EN 9 6 ZOFF 9 6 ZOFF_EN 9 6 ...

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