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Stober CiA 402, Operation Manual

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Stober CiA 402 Operation Manual Download Page 42

ID 442454.02

42

WE KEEP THINGS MOVING

Basic information

2

Operation manual CiA 402 Controller Based

2.3

Feed forward

Feed forward relieves the load on the position controller, thereby reducing the 
following error.
You can implement feed forward with the following operating modes:
•

Interpolated position mode 

•

cyclic synchronous position mode

You can select different settings:
•

With control-unit-generated (external) feed forward

•

With drive-generated (internal) feed forward

•

Without feed forward

Moving with feed forward is preferable.

If your control unit calculates speed reference values, you should use them. If 
your control unit only calculates position reference values, you can make use 
of drive-controlled feed forward.

You may have to determine the optimum feed forward value for your system 
using an iterative procedure. To optimize control response, you should in any 
case consult the drive controller manual.

2.3.1

Control-unit-generated external feed forward

Use control-unit-generated external feed forward if you want to change the 
feed forward during operation to achieve optimization of movement.

Setting up external feed forward in DriveControlSuite

•

Set 

I25 Velocity feed forward

 to a value that is suitable for your application, 

e. g. to 80 %.

•

Activate external feed forward with 

I425

 = 

1: external - linear v+x 

or 

3: 

external - quadratic x

.

•

The control unit transfers 

A601 Interpolation data record

 and 

A592 Velocity 

offset

. 

Information

For multiple-axis movements, feed forward close to 100% is 
necessary for the most accurate trajectory possible.

I25

Interpolation

2

Interpolation

1

X

soll cycl

X

soll

V

soll

V

soll cycl

Summary of Contents for CiA 402

Page 1: ...CiA 402 Controller Based Operation manual ID 442454 02 12 2015 en ...

Page 2: ...2454 02 2 WE KEEP THINGS MOVING Table of contents Operation manual CiA 402 Controller Based Table of contents 1 General Information 3 2 Basic information 8 3 Commissioning 49 4 Object directory References 52 ...

Page 3: ...nformation Overview of sections 1 1 About this manual 4 1 2 Further documentation 5 1 3 Technical support 5 1 4 Important information and conventions 6 1 4 1 Safety instructions and pictograms 6 1 4 2 Abbreviations symbols indexes 6 1 5 Instructions for use 7 1 5 1 Using the software 7 1 5 2 Product maintenance 7 ...

Page 4: ...ailable for commissioning emergency mode and for maintenance and repair work You can also use different operation modes as specified by CANopen device profile CiA 402 This makes the Homing mode operation mode available for referencing In Production mode choose between Interpolated position mode Cyclic synchronous position mode Cyclic synchronous velocity mode or Cyclic synchronous torque mode Asso...

Page 5: ... Phone 49 7231 582 3060 E mail applications stoeber de Device Software Documentation Contents ID SD6 drive controllers Manual System environment technical data commissioning communication diagnosis 442426 SD6 drive controllers Commissioning instructions Technical data installation commissioning function test 442537 EtherCAT EC6 communication module Manual Technical data installation commissioning ...

Page 6: ...WARNING Warning means that there may be a serious danger of death if the stated precautionary measures are not taken 1 4 2 Abbreviations symbols indexes The following abbreviations formula symbols and indices are used in this documentation Information refers to important information about the product or serves to emphasize a section in the documentation to which the reader should pay special atten...

Page 7: ... than those in these regulations The customer is also not authorized to convert the software i e reverse assembly reverse compilation or to compile it in any other way The customer is also not authorized to issue sublicenses for the software or to rent or lease it out 1 5 2 Product maintenance The obligation to maintain refers to the two latest software versions created by STÖBER ANTRIEBSTECHNIK G...

Page 8: ...erencing method 7 24 2 2 3 3 6 Referencing method 11 25 2 2 3 3 7 Referencing method 17 26 2 2 3 3 8 Referencing method 18 26 2 2 3 3 9 Referencing method 19 27 2 2 3 3 10 Referencing method 21 27 2 2 3 3 11 Referencing method 23 28 2 2 3 3 12 Referencing method 27 29 2 2 3 3 13 Referencing methods 33 and 34 30 2 2 3 3 14 Referencing method 35 30 2 2 3 3 15 Referencing method 37 30 2 2 3 3 16 Refe...

Page 9: ...mation 39 2 2 7 Cyclic synchronous torque mode 39 2 2 7 1 Input and output signals 40 2 2 7 2 Control commands and status information 41 2 3 Feed forward 42 2 3 1 Control unit generated external feed forward 42 2 3 2 Drive generated internal feed forward 43 2 3 3 Without feed forward 43 2 4 Interpolation 44 2 5 Additional functions 45 2 5 1 Touch probe 45 2 5 1 1 Function 45 ...

Page 10: ...es and also covers feed forward and interpolation A description of the CiA 402 compliant Touch probe function is also included 2 1 Controller The application is based on the internationally standardized CANopen device profile CiA 402 for electrical drives The SD6 drive controller is controlled accordingly with CiA 402 compliant control and status words 2 1 1 Device state machine according to CiA 4...

Page 11: ...otion bus active AND IGB state 3 IGB motion bus OR IGB exception mode active OR Local mode active 3 Ready to switch on switched on Enable active AND command Switch On 4 Switched on operation enabled Enable active AND command Enable operation 5 Operation enabled switched on Enable active AND command Disable operation 6 Switched on ready to switch on Enable active AND command Shutdown 7 Ready to swi...

Page 12: ...B motion bus active AND IGB state not equal to 3 IGB motion bus AND IGB exception mode inactive AND local mode inactive 11 Operation enabled quick stop Command Quick stop OR Enable inactive AND Quick stop signal with enable off signal active 12 Quick stop switch on disable Quick stop complete OR DC link below 130 V OR safety technology active OR command Disable voltage 13 All states fault response...

Page 13: ...A 402 The table below lists manufacturer specific designations and the designations according to CiA Command Bit of the control word A515 control word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fault reset Enable operation Quick stop Enable voltage Switch on Shutdown 0 X 1 1 0 Switch on 0 0 1 1 1 Disable voltage 0 X X 0 X Quick stop 0 X 0 1 X Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1 Fault reset P...

Page 14: ...n mode Cyclic position assignment by the control unit Position controlled drive Cyclic synchronous position mode Cyclic position assignment by the control unit Position controlled drive Cyclic synchronous velocity mode Cyclic velocity assignment by the control unit Velocity controlled drive Cyclic synchronous torque mode Cyclic torque force assignment by the controller Torque force controlled driv...

Page 15: ...ID 442454 02 15 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 2 1 Input and output signals 0 1 2 ...

Page 16: ...e drive accelerates with ramp I13 and jerk limit I18 to velocity I12 If signal TipPos is set to 0 the drive brakes with ramp I45 to a complete stop If signal TipNeg is active the drive will accelerate to I12 The same applies to acceleration and jerk If signals TipPos and TipNeg are set to 1 at the same time the drive brakes to a complete stop Taste Taste 1 2 3 I12 n I12 0 1 0 1 I12 n I12 0 1 0 1 T...

Page 17: ... A515 No mode specific bit is used in the status word A516 2 2 3 Homing mode During the referencing in Homing mode the reference system of the machine and controller are absolutely matched to each other The drive is only able to perform absolute movements in the referenced state movements to defined positions Bit Designation Comment 4 TipPos 1 Jog in positive direction 5 TipNeg 1 Jog in negative d...

Page 18: ...ID 442454 02 18 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 3 1 Input and output signals ...

Page 19: ...the value that is set in the reference point The reference point is determined by the referencing method which is described in greater detail on the following pages Position A569 Home offset 2 50 m is assigned to the reference point by means referencing When the reference has been set the drive comes to a complete stop just after the reference position ...

Page 20: ...r zero pulse negative initial movement 5 yes Negative reference switch encoder zero pulse negative initial movement 17 yes Negative limit switch negative initial movement 21 Negative reference switch negative initial movement 2 yes yes Positive limit switch encoder zero pulse positive initial movement 3 yes Positive reference switch encoder zero pulse positive initial movement 18 yes Positive limi...

Page 21: ...oder zero pulse positive initial movement 37 35 Set reference method was moved from 35 to 37 1 yes Torque force stop positive initial movement 3 yes yes Torque force stop negative initial movement 2 yes Torque force stop encoder zero pulse positive initial movement 4 yes yes Torque force stop encoder zero pulse negative initial movement Switch position S and initial direction of travel when the sw...

Page 22: ...h and changes to speed A587 1 3 When the zero pulse is detected the reference is set 4 The drive comes to a complete stop with ramp A588 2 2 3 3 2 Referencing method 2 Referencing method 2 is characterized by the following features Positive limit switch Encoder zero pulse Positive initial movement Sequence 1 The drive starts in positive direction with ramp A588 and speed A587 0 2 The drive turns a...

Page 23: ...dge of the reference switch the reference is set when the zero pulse is detected 3 The drive comes to a complete stop with ramp A588 2 2 3 3 4 Referencing method 5 Referencing method 5 is characterized by the following features Negative reference switch Encoder zero pulse Negative initial movement Sequence Case I The drive has not activated the reference switch yet 1 The drive starts in negative d...

Page 24: ... 4 The drive comes to a complete stop with ramp A588 Case II The drive is already located on the reference switch 1 The drive starts in negative direction with ramp A588 and speed A587 1 2 After the negative edge of the reference switch the reference is set when the zero pulse is detected 3 The drive comes to a complete stop with ramp A588 Case III The drive is located between the reference switch...

Page 25: ...4 The drive comes to a complete stop with ramp A588 Case II The drive is already located on the reference switch 1 The drive starts in positive direction with ramp A588 and speed A587 1 2 After the negative edge of the reference switch the reference is set when the zero pulse is detected 3 The drive comes to a complete stop with ramp A588 Case III The drive is located between the negative limit sw...

Page 26: ...to speed A587 1 3 When the negative limit switch edge is detected the reference is set 4 The drive comes to a complete stop with ramp A588 2 2 3 3 8 Referencing method 18 Referencing method 18 is characterized by the following features Positive limit switch Positive initial movement Sequence 1 The drive starts in positive direction with ramp A588 and speed A587 0 2 The drive turns around on the po...

Page 27: ...A587 1 2 When the negative reference switch edge is detected the reference is set 3 The drive comes to a complete stop with ramp A588 2 2 3 3 10 Referencing method 21 Referencing method 21 is characterized by the following features Negative reference switch Negative initial movement Sequence Case I The drive has not activated the reference switch yet 1 The drive starts in negative direction with r...

Page 28: ...is set 4 The drive comes to a complete stop with ramp A588 Case II The drive is already located on the reference switch 1 The drive starts in negative direction with ramp A588 and speed A587 1 2 When the negative reference switch edge is detected the reference is set 3 The drive comes to a complete stop with ramp A588 Case III The drive is located between the reference switch and the positive limi...

Page 29: ...is set 4 The drive comes to a complete stop with ramp A588 Case II The drive is already located on the reference switch 1 The drive starts in positive direction with ramp A588 and speed A587 1 2 When the negative reference switch edge is detected the reference is set 3 The drive comes to a complete stop with ramp A588 Case III The drive is located between the negative limit switch and the referenc...

Page 30: ...eferencing method 34 1 The drive starts in positive direction with ramp A588 and speed A587 1 2 When the zero pulse is detected the reference is set 3 The drive comes to a complete stop with ramp A588 2 2 3 3 14 Referencing method 35 Sequence The position where the drive is located is set as the reference position No movement takes place 2 2 3 3 15 Referencing method 37 Sequence The position where...

Page 31: ...t in I28 is interrupted for at least the time set in I29 or more the reference is set 3 Reference values are ramped to zero with a value set in A588 2 2 3 3 17 Referencing method 2 Referencing method 2 is characterized by the following features Torque force stop Negative initial movement Sequence 1 The drive starts in negative direction with the ramp set in A588 and at the speed set in A587 0 2 If...

Page 32: ... at the speed set in A587 1 4 When the zero pulse is detected the reference is set 5 The drive comes to a complete stop with the ramp set in A588 2 2 3 3 19 Referencing method 4 Referencing method 4 is characterized by the following features Torque force stop Encoder zero pulse Negative initial movement Sequence 1 The drive starts in negative direction with the ramp set in A588 and at the speed se...

Page 33: ...on mode to implement cyclic position assignment with the control unit Position control is performed in the drive The control includes a reference position with a time stamp and if applicable a reference speed that is processed as a feed forward The application interpolates the reference values and forwards them to the position control system Acceleration and brake ramps or jerk limits are not take...

Page 34: ...ID 442454 02 34 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 4 1 Input and output signals 0 1 2 1 3 45 1 1 ...

Page 35: ...assigned in the status word 2 2 5 Cyclic synchronous position mode You can use Cyclic synchronous position mode to implement cyclic position assignment with a control unit Position control is performed in the drive The control includes a reference position with a time stamp and if applicable a reference velocity that is processed as a feed forward The application interpolates the reference values ...

Page 36: ...ID 442454 02 36 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 5 1 Input and output signals 0 12 ...

Page 37: ...ord A515 Control word The following operating mode specific bits are assigned in the status word 2 2 6 Cyclic synchronous velocity mode You can use Cyclic synchronous velocity mode to implement cyclic velocity assignment with a control unit Velocity control is performed in the drive The control unit contains a reference velocity with time stamp The application interpolates the reference values and...

Page 38: ...ID 442454 02 38 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 6 1 Input and output signals ...

Page 39: ...ered in control word A515 Control word The following operating mode specific bits are assigned in the status word 2 2 7 Cyclic synchronous torque mode You can use Cyclic synchronous torque mode to implement a cyclic torque force assignment with a controller Torque force control is performed in the drive The controller contains a reference speed force with time stamp The application interpolates th...

Page 40: ...ID 442454 02 40 WE KEEP THINGS MOVING Basic information 2 Operation manual CiA 402 Controller Based 2 2 7 1 Input and output signals ...

Page 41: ...e operation mode is output in A542 Modes of operation display If Cyclic synchronous torque mode is active the display contains as information 10 Cyclic synchronous torque mode No mode specific control commands need to be entered in control word A515 Control word The following operating mode specific bits are assigned in the status word A516 status word Bit Designation Description 12 Operation mode...

Page 42: ... feed forward You may have to determine the optimum feed forward value for your system using an iterative procedure To optimize control response you should in any case consult the drive controller manual 2 3 1 Control unit generated external feed forward Use control unit generated external feed forward if you want to change the feed forward during operation to achieve optimization of movement Sett...

Page 43: ...application e g to 80 Activate internal feed forward with I425 0 internal linear v x or 2 internal linear x or 4 internal quadratic x The control unit transfers only A601 Interpolation data record 2 3 3 Without feed forward Select this setting if the overall setting of the drive controller is sufficiently optimized so that active feed forward would have an adverse affect on overall control Deactiv...

Page 44: ... the interpolation routine are used to calculate how many individual increments a reference value difference must be subdivided into The interpolation routine changes the reference value for the internal Internal one individual increment for each cycle If no new reference value is available yet in the first cycle after the last individual increment the reference value for the internal control must...

Page 45: ...surement to a binary signal Set the source of the signal for Touch probe 1 in I110 for example binary input 1 for Touch probe 2 in I126 2 5 1 1 Function The Touch probe function is explained here based on Touch Probe 1 Touch Probe 2 functions in an identical manner and is controlled similarly to Touch probe1 with bits 8 to 15 in parameter A594 The function of Touch probe 1 is explained with severa...

Page 46: ...gnal are both turned on A594 bit 4 1 and bit 5 1 Accordingly the position in A596 positive edge and A597 negative edge respectively is written for each edge of the POSI Latch signal The first write processes to A595 bit 1 1 triggering to a positive edge occurred and bit 2 1 triggering to a negative edge occurred are displayed If Touch probe 1 is turned off A594 bit 0 0 all status bits in A595 are ...

Page 47: ... the first event bit 1 0 Triggering to the positive edge of the POSI Latch signal is turned off and triggering to the negative edge is turned on bit 4 0 and bit 5 1 Accordingly the position for the first negative edge of the POSI Latch signal t2 is written to A597 negative edge Bit 2 Bit 1 Bit 0 A595 1 2 3 4 A597 1 2 3 4 A596 POSI Latch Bit 0 A594 Bit 5 Bit 1 Bit 4 t1 t2 t3 t4 ...

Page 48: ...ach case triggering is to the first event bit 1 0 Triggering to the positive and negative edge of the POSI Latch signal is turned on bit 4 1 and bit 5 1 For the first negative edge of the POSI Latch signal t2 the position is accordingly written to A597 negative edge for the second positive edge t3 to A596 Bit 2 Bit 1 Bit 0 A595 1 2 3 4 A597 1 2 3 4 A596 POSI Latch Bit 5 Bit 4 Bit 1 Bit 0 A594 t1 t...

Page 49: ...ID 442454 02 49 WE KEEP THINGS MOVING Commissioning 3 Operation manual CiA 402 Controller Based 3 Commissioning Overview of sections 3 1 Projecting 50 3 2 Set up 51 3 3 Put into operation 51 ...

Page 50: ... window opens the Drive controller button is active Projecting the drive controller 2 Properties tab specify the necessary characteristics of the drive controller 3 Drive controller tab select the device type that corresponds with the drive controller The latest firmware version is activated by default 4 Option modules tab select the EC6A communication module 5 Device controller tab select the CiA...

Page 51: ...w Select the drive controller and click on Wizards The Wizards AR1 Drive controller window opens 7 Wizard AR1 Drive controller1 Parameterize the drive controller and fieldbus communication 8 Transfer the project to the drive controller and save the project there You have set up the drive 9 Set up the control unit Follow the instructions in the manufacturer s documentation for example the MC6 opera...

Page 52: ...061hex 0hex Modes of operation display A542 6064hex 0hex Position actual value A545 6065hex 0hex Following error window A546 6066hex 0hex Following error time out A547 606Chex 0hex Velocity actual value A553 6071hex 0hex Target torque A558 6072hex 0hex Max torque A559 6077hex 0hex Torque actual value A564 6078hex 0hex Current actual value A556 6079hex 0hex DC link voltage A567 6081hex 0hex Profile...

Page 53: ...rofile velocity A572 6085hex 0hex Quick stop deceleration A578 6091hex 0hex Gear ratio Highest sub index supported 2 Index Subindex Name STOBER parameter address Comment 6091hex 1hex Gear ratio Motor revolutions A584 0 6091hex 2hex Gear ratio Shaft revolutions A584 1 6092hex 0hex Feed constant Highest sub index supported 2 6092hex 1hex Feed constant Feed A585 0 6092hex 2hex Feed constant Shaft rev...

Page 54: ...cord 2nd set point A601 1 No function Index Subindex Name STOBER parameter address Comment 60C2hex 0hex Interpolation time period Highest sub index supported 2 Only in CiA 402 Controller Based 60C2hex 1hex Interpolation time period Interpolation time period value A602 0 Only in CiA 402 Controller Based 60C2hex 2hex Interpolation time period Interpolation time index A602 1 Only in CiA 402 Controlle...

Page 55: ...upported homing methods 1st 19th supported homing method A619 0 A619 19 60E4hex 0hex Additional position actual value Highest sub index supported 1 Index Subindex Name STOBER parameter address Comment 60E4hex 1hex Additional position actual value 1st additional position actual value A620 60F2hex 0hex Positioningoption code A621 Only in CiA 402 Drive Based 60F4hex 0hex Following error actual value ...

Page 56: ...ray and record parameters Example You want to reach parameter A154 2 Calculation Start index of parameter group A 2000hex Line of the parameter 154dez 9Ahex The index and subindex arise as follows Index 2000hex 9Ahex 209Ahex Subindex 2 Index hex STOBER parameter range 2000 21FF A00 A511 2200 23FF B00 B511 2400 25FF C00 C511 2600 27FF D00 D511 2800 29FF E00 E511 2A00 2BFF F00 F511 2C00 2DFF G00 G51...

Page 57: ...ul Fon 90 212 338 8014 sales turkey stober com www stober com STÖBER SCHWEIZ AG Rugghölzli 2 5453 Remetschwil Fon 41 56 496 96 50 sales stoeber ch www stoeber ch STOBER S a r l 131 Chemin du Bac à Traille Les Portes du Rhône 69300 Caluire et Cuire Fon 33 4 78 98 91 80 sales stober fr www stober fr STOBER China German Centre Beijing Unit 2010 Landmark Tower 2 8 North Dongsanhuan Road Chaoyang Distr...

Page 58: ...Co KG Kieselbronner Str 12 75177 PFORZHEIM GERMANY Fon 49 7231 582 0 mail stoeber de www stober com 24 h Service Hotline 49 7231 5823000 Technische Änderungen vorbehalten Errors and changes excepted ID 442454 02 12 2015 442454 02 ...

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