Stober POSIDRIVE MDS 5000 Manual Download Page 374

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Standard blocks

Block descriptions

ID 441692.01

STÖBER ANTRIEBSTECHNIK

373

Outputs

No. Name

Datatype Scaling

Description

Cmd

U8 –

The output supplies the value of parameter

I211

motion command

byte. A command is selected with this signal in command positioning.

Execute

B –

The output supplies the state of the source which was specified by the
parameter

I100

execute source (binary input or

I210

, bit 0).

With command positioning, a rising edge causes the waiting
command to be executed.

TargetPo

P64 Skal.-Fkt.

The output supplies the sum of

I213

target position and

I70

posi

offset.

I70

is weighted with the source set in

I131

(analog input or

I231

With command positioning, the value is used as the target position for
the command to be executed if the waiting command requires a target
position.

Velocity

I32 Skal.-Fkt.14

The output supplies the value of

I10

maximal speed after it was

weighted with

I215

v-factor. With command positioning, the value is

used as the reference speed for the command to be executed if the
command needs a reference speed.

Accel

I32 Skal.-Fkt.14

The output supplies the value of

I11

maximal acceleration after it has

been weighted with

I216

acc-factor. With command positioning, the

value is used as the acceleration ramp for the command to be
executed if the command needs an acceleration ramp.

Decel

I32 Skal.-Fkt.14

The output supplies the value of

I11

maximal acceleration after it has

been weighted with

I217

dec-factor. With command positioning, the

value is used as the deceleration ramp for the command to be
executed if the command needs a deceleration ramp.

Jerk

I32 –

The output supplies the constant value 2147483647. It is not used for
command positioning at this time.

MotionID

U16 –

The output indicates bits 12 to 14 of the parameter

I210

posi. control

word combined into an U8 value. Command positioning uses the
value as the identifier of the command to be executed.

/HW-Lim+

B –

The output supplies the state of the source which was specified by the
parameter

I101

/HW-Limit- source (binary input of

I210

, bit 1).

Command positioning uses the output to show the state of the
positive HW limit switch.

/HW-Lim-

B –

The output supplies the state of the source which was specified by the
parameter

I102

/HW-Limit-Switch- source (binary input of

I210

, bit 2).

Command positioning uses the output to show the state of the
negative HW limit switch.

TipEnabl

B –

The output supplies the state of the source which was specified by the
parameter

I104

Tip enable source (binary input or

I210

, bit 4).

Command positioning uses the signal to activate tip mode.

Tip+

B –

The output supplies the state of the source which was specified by the
parameter

I105

Tip+ source (binary input or

I210

, bit 5).

Command positioning uses the signal to travel in tip mode in the
positive direction.

Tip-

B –

The output supplies the state of the source which was specified by the
parameter

I106

Tip- source (binary input or

I210

, bit 6).

Command positioning uses the signal to travel in tip mode in the
negative direction.

B –

The output supplies the state of the source which was specified by the
parameter

I107

H source (binary input or

I210

, bit 7).

Command positioning uses the signal to travel in increments in tip
mode in the positive direction.

TipStep-

B –

The output supplies the state of the source which was specified by the
parameter

I108

HandStep- source (binary input or

I210

, bit 8).

Command positioning uses the signal to travel in increments in tip
mode in the negative direction.

RefSwitc

B –

The output supplies the state of the source which was specified by the
parameter

I103

reference switch source (binary input or

I210

, bit 3).

Command positioning uses the output to supply the reference switch
signal.

RefTStmp

U16

1LSB = 1us

The output supplies the timestamp for the signal on the
output

RefSwi

Summary of Contents for POSIDRIVE MDS 5000

Page 1: ...from V 5 6 D 02 2012 DE DESCRIPTION 5th generation of STÖBER inverters Blocks ...

Page 2: ...isposed of If the product is sold disposed of or rented out always include the technical documentation with the product Operation in accordance with its intended use In the sense of DIN EN 50178 previously VDE 0160 the POSIDRIVE FDS 5000 and MDS 5000 and the POSIDYN SDS 5000 model series represent the electrical equipment of power electronics for the control of power flow in high voltage current s...

Page 3: ...n delivery at the most a maximum of symmetrical rated short circuit current at 480 Volts as per the following table Device family Size Max symmetrical rated short circuit current FDS 5000 MDS 5000 SDS 5000 BG 0 and BG 1 5000 A MDS 5000 SDS 5000 BG 2 5000 A BG 3 10000 A Install the inverter in a switching cabinet in which the permissible ambient temperature is not exceeded see mounting instructions...

Page 4: ...ro technology Installation and connection Electronics technician m f Commissioning of a standard application Technician m f electro technology Master electro technician m f Programming Graduate engineer electro technology or electrical power technology Operation Technician m f electro technology Master electro technician m f Disposal Electronics technician m f In addition the valid regulations the...

Page 5: ...t have an integrated temperature monitor with basic isolation in accordance with EN 61800 5 1 or external motor overload protection must be used The permissible protection class is protective ground Operation is not permitted unless the protective conductor is connected in accordance with the regulations Comply with the applicable instructions for installation and commissioning of motor and brakes...

Page 6: ... by STÖBER ANTRIEBSTECHNIK GmbH Co KG Send defective devices together with a fault description to STÖBER ANTRIEBSTECHNIK GmbH Co KG Abteilung VS EL Kieselbronner Str 12 75177 Pforzheim GERMANY Disposal Please comply with the latest national and regional regulations Dispose of the individual parts separately depending on their nature and currently valid regulations such as for example Electronic sc...

Page 7: ...ations The customer is also not authorized to convert the program 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 program or to rent or lease it out Product maintenance The obligation to maintain refers to the two latest program versions created by STÖBER ANTRIEBSTECHNIK GmbH Co KG and approved for use STÖB...

Page 8: ...t minor injury may occur if the stated precautionary measures are not taken Warning means that there may be a serious danger of death if the stated precautionary measures are not taken Danger means that serious danger of death exists if the stated precautionary measures are not taken Information indicates important information about the product or a highlighted portion of the documentation which r...

Page 9: ...th up to 4 axes This is possible with the MDS 5000 and SDS 5000 This option requires the following system structure The system of the 5th generation of STÖBER inverters is divided into two areas the global area and the axis area The global area contains the programming and parameterization related to the inverter This includes device control the setting of I O components such as brake resistors an...

Page 10: ...ystems and have a knowledge of PLC CNC programming are the target group of this manual Other manuals For further information see the following manuals Commissioning instructions with information on new installation or replacement of inverter FDS 5000 ID 442293 MDS 5000 ID 442297 SDS 5000 ID 442301 Projecting manual for the inverter with technical data and information on the installation and connec...

Page 11: ...Total summary Block descriptions ID 441692 01 www stoeber de 10 STÖBER ANTRIEBSTECHNIK Page 11 ff Page 21 ff Page 321 ff Organization blocks System blocks Standard blocks ...

Page 12: ...Organization blocks Block descriptions ID 441692 01 www stoeber de 11 STÖBER ANTRIEBSTECHNIK ...

Page 13: ... ANTRIEBSTECHNIK 12 Table of Contents Table of Contents 12 8000001 Parameter 13 8000005 Text one line 14 8000006 Input Pin 15 8000007 Output Pin 16 8000008 Constant value 17 8000009 Arraysize 18 8000010 Text multi line 19 8000011 Constant parameter address 20 ...

Page 14: ...ition the block can be connected to the ParAdr input of blocks 192 to 197 397 to 398 and 418 to 423 and the block supplies the address information of the specified parameter These write accesses are also unscaled and a PostWrite function which may be assigned is not called NOTE To specify a parameter on the block double click the block in the configuration interface with the left mouse button conf...

Page 15: ...Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 14 8000005 Text one line Description The block is used as a one line commentary for the graphic circuiting The characters comma semicolon and paragraph are not allowed ...

Page 16: ...TRIEBSTECHNIK 15 8000006 Input Pin Description The block is used to read access the input signals defined in the block attributes within a block The block can be used multiple times in a block Outputs No Name Datatype Scaling Description 1 Value of the read input ...

Page 17: ...16 8000007 Output Pin Description The block is used to write access the output signals defined in the block attributes within a block It must be instanced and connected exactly once for each output Inputs No Name Datatype Scaling Description 1 Value of the output to be written ...

Page 18: ...lue depends on the form in which it is input If the input begins with 0 the value is interpreted in octal notation If the value begins with 0x it is evaluated hexadecimally Furthermore conversion is terminated when the first invalid character occurs The entry 0172845 is interpreted as the octal value 172 Please remember that the block and the online monitoring display indicate the value entered by...

Page 19: ...er of array elements of an array parameter The array parameter whose number of elements is to be supplied is entered in the block Double click the block in the configuration interface with the left mouse button Then enter the coordinate of the array parameters Outputs No Name Datatype Scaling Description 1 I16 Number of array elements ...

Page 20: ... blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 19 8000010 Text multi line Description The block is used for multiple line commentary in the graphic circuiting The paragraph character may not be used ...

Page 21: ...cks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 20 8000011 Constant parameter address Description The block supplies the parameter address as a 32 bit value Outputs No Name Datatype Scaling Description 1 U32 ...

Page 22: ...System blocks Block descriptions ID 441692 01 www stoeber de 21 STÖBER ANTRIEBSTECHNIK ...

Page 23: ...t 47 23 binary decoder 1 Bit 49 24 binary decoder 2 Bit 50 25 binary decoder 3 Bit 51 26 binary decoder 4 Bit 52 27 Collector 8 bit 54 28 Collector 16 bit 55 29 Collector 2 byte 57 30 Collector 4 byte 58 31 Collector 2 word 59 32 priority encoder 1 Bit 60 33 priority encoder 2 Bit 61 34 priority encoder 3 Bit 62 35 priority encoder 4 Bit 63 36 Addition with saturation I16 65 37 Addition with satur...

Page 24: ...exer 32Bit 99 71 4 to 1 multiplexer 32Bit 100 72 8 to 1 multiplexer 32Bit 101 73 16 to 1 multiplexer 32Bit 102 74 2 to 1 multiplexer 8Bit 104 75 8 to 1 multiplexer 8Bit 105 76 16 to 1 multiplexer 8Bit 106 77 Division I32 I16 I16 with saturation 108 78 Division I32 I32 I32 109 79 Read array element 8Bit 110 82 Read array element 16Bit 111 83 Read array element 32Bit 112 84 Read array element R32 11...

Page 25: ...ter I32 154 150 Limiter I16 155 151 I32 I16 with saturation 156 152 I32 I8 with saturation 157 153 I16 I8 with saturation 158 154 bitwise NOT 8Bit 159 155 Bitwise NOT 16Bit 160 156 Bitwise NOT 32Bit 161 157 Negate I8 162 158 Negate I16 163 159 Negate I32 164 160 Multiplexer4 to 1 P64 165 161 Multiplexer8 to 1 P64 166 162 Multiplexer16 to 1 P64 167 173 Controlled negate R64 169 174 Controlled negat...

Page 26: ...Inv R64 208 245 Negate R64 209 246 Absolute R64 210 247 R64 I32 with saturation 211 248 I32 R64 212 253 I32 I16 213 254 I16 R32 214 255 U32 U16 215 256 R32 I16 with saturation 216 260 Application event 0 217 261 Application event 1 218 262 Application event 2 219 263 Application event 3 220 264 Application event 4 221 265 Application event 5 222 266 Application event 6 223 267 Application event 7 ...

Page 27: ... 260 346 X101 BE5 Driver with timestamp output 262 351 Write scaled parameter 264 352 Read scaled parameter 265 353 Numerator denumerator multiplication to P64 266 365 Source Selector 1Bit 267 366 Source Selector 16Bit 268 367 Position latch with timestamp 269 369 AddMul with saturation Gain 8192 1 0 270 370 Mulitply and add I16 271 384 Posi Switchpoint el cam 272 393 Scaling I32 with U8 256 1 0 2...

Page 28: ...and control 5 bands 299 447 Virtual master 300 464 Subtraction R32 301 465 Subtraction R64 302 468 Low pass filter I32 with overflow 303 469 Sine R32 304 470 Cosine R32 305 471 Tangent R32 306 472 Arcsin R32 307 473 Arccos R32 308 474 Arctan2 R32 309 475 Symmetrical modulo I32 310 476 Arithmetic shift 311 477 Logical shift 312 478 Min4 I8 313 479 Min3 I8 314 480 Min2 I8 315 481 Max4 I8 316 482 Max...

Page 29: ...The block calculates the square root of the value on the input In The result is written to the output Out The result is undefined when the input value is a negative value Inputs No Name Datatype Scaling Description 1 In R64 Input value Outputs No Name Datatype Scaling Description 2 Out R64 Result value ...

Page 30: ... input In The result is written to the output Out and rounded to the next lower whole number When the input value is a negative value the block sets the result on Out to zero Inputs No Name Datatype Scaling Description 1 In I16 Value whose square root is calculated Outputs No Name Datatype Scaling Description 2 Out I16 Square root of the value on the input In ...

Page 31: ...and In2 The calculation is limited to the value range of data format I8 The block checks to determine whether the result is within these limits If not the exceeded limit value is written as the result Inputs No Name Datatype Scaling Description 1 In1 I8 First summand 2 In2 I8 Second summand Outputs No Name Datatype Scaling Description 3 Out I8 Result of the addition ...

Page 32: ...4095 Input values less than 4096 and greater than 4095 are recognized as the corresponding multiple of 360 The block supplies the result scaled with a resolution of 4K 1 corresponds to 4096 and 1 corresponds to the value 4095 Inputs No Name Datatype Scaling Description 1 In I16 4096 2 π Input value whose sine function is calculated Outputs No Name Datatype Scaling Description 2 Out I16 4096 1 0 Va...

Page 33: ... to the value 4095 Input values less than 4096 and greater than 4095 are recognized as multiples of 360 The block supplies scaled values with a resolution of 4K as the result 1 corresponds to 4096 and 1 corresponds to the value 4095 Inputs No Name Datatype Scaling Description 1 In I16 4096 2 π Input value whose cosine function is calculated Outputs No Name Datatype Scaling Description 2 Out I16 40...

Page 34: ... input Pos 0 to 7 corresponds to the significance 2 to the power of 0 to 2 to the power of 7 Inputs No Name Datatype Scaling Description 1 X U8 Input value 2 Bit B Value which is written to the selected bit 3 Pos U8 Bit position in input value X to which the bit value Bit is written 0 to 7 corresponds to the significance 2 to the power of 0 to 2 to the power of 7 Outputs No Name Datatype Scaling D...

Page 35: ...put Pos 0 to 15 corresponds to the significance 2 to the power of 0 to 2 to the power of 15 Inputs No Name Datatype Scaling Description 1 X U16 Input value 2 Bit B Value which is written to the selected bit 3 Pos U8 Bit position in input value X to which the bit value Bit is written 0 to 15 corresponds to the significance 2 to the power of 0 to 2 to the power of 15 Outputs No Name Datatype Scaling...

Page 36: ...nput Pos 0 to 31 corresponds to the significance 2 to the power of 0 to 2 to the power of 31 Inputs No Name Datatype Scaling Description 1 X U32 Input value 2 Bit B Value which is written to the selected bit 3 Pos U8 Bit position in input value X to which the bit value Bit is written 0 to 31 corresponds to the significance 2 to the power of 0 to 2 to the power of 31 Outputs No Name Datatype Scalin...

Page 37: ...k shows rising edges When Mode 1 falling edges are indicated The result is output to the output Out The result is only available for one processing cycle The LastIn output is used for internal calculations It shows the input signal state of the last processing cycle Inputs No Name Datatype Scaling Description 1 In B Input signals 2 Mode B Selection 0 Indication of rising edges 1 indication of fall...

Page 38: ... 1 when signal 1 is exclusively available on input S Signal 1 must be available on input R to obtain output signal 0 When signal 1 is written to both inputs the output signal is reset Signal 0 Input R is dominant Inputs No Name Datatype Scaling Description 1 S B Sets the output 2 R B Resets the output Outputs No Name Datatype Scaling Description 3 Q B Output signal ...

Page 39: ...ocessing cycle is retained saved on Out When the input Reset contains signal 1 the value 0 is output to Out regardless of the signal state of the Latch input Inputs No Name Datatype Scaling Description 1 In I16 Input value 2 Latch B Save command Signal 0 Save last value of In Signal 1 Value of In is written to Out 4 Reset B Reset command The value 0 is written to the Out output regardless of the s...

Page 40: ...ocessing cycle is retained saved on Out When the input Reset contains signal 1 the value 0 is output to Out regardless of the signal state of the Latch input Inputs No Name Datatype Scaling Description 1 In I8 Input value 2 Latch B Save command Signal 0 Save last value of In Signal 1 Value of In is written to Out 4 Reset B Reset command The value 0 is written to the Out output regardless of the si...

Page 41: ...ocessing cycle is retained saved on Out When the input Reset contains signal 1 the value 0 is output to Out regardless of the signal state of the Latch input Inputs No Name Datatype Scaling Description 1 In I32 Input value 2 Latch B Save command Signal 0 Save last value of In Signal 1 Value of In is written to Out 4 Reset B Reset command The value 0 is written to the Out output regardless of the s...

Page 42: ...espective other outputs are set to signal level 0 inactive The block compares input values with the format I16 Inputs No Name Datatype Scaling Description 1 In1 I16 First value to be compared 2 In2 I16 Second value to be compared Outputs No Name Datatype Scaling Description 3 In1 In2 B Result equals 1 for same input values 4 In1 In2 B Result equals 1 if In1 is greater than In2 5 In1 In2 B Result e...

Page 43: ...respective other outputs are set to signal level 0 The block compares input values with the format I32 Inputs No Name Datatype Scaling Description 1 In1 I32 First value to be compared 2 In2 I32 Second value to be compared Outputs No Name Datatype Scaling Description 3 In1 In2 B Result equals 1 for same input values 4 In1 In2 B Result equals 1 if In1 is greater than In2 5 In1 In2 B Result equals 1 ...

Page 44: ... respective other outputs are set to signal level 0 The block compares input values with the format I8 Inputs No Name Datatype Scaling Description 1 In1 I8 First value to be compared 2 In2 I8 Second value to be compared Outputs No Name Datatype Scaling Description 3 In1 In2 B Result equals 1 for same input values 4 In1 In2 B Result equals 1 if In1 is greater than In2 5 In1 In2 B Result equals 1 if...

Page 45: ...election is made with bit 0 of the Sel input If the bit is 0 i e Sel is an even number the value of In0 is written to the output Out If the bit is 1 i e Sel is an odd number the input In1 is selected Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 Sel U8 Selection Outputs No Name Datatype Scaling Description 4 Out I16 Selected value ...

Page 46: ...rites it to the output Out The selection is made with bits 0 and 1 on the input Sel Bits 2 to 7 are not evaluated Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value 4 In3 I16 Fourth input value 5 Sel U8 Selection Outputs No Name Datatype Scaling Description 6 Out I16 Selected value ...

Page 47: ...1 and 2 on the input Sel Bits 3 to 7 are not evaluated Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value 4 In3 I16 Fourth input value 5 In4 I16 Fifth input value 6 In5 I16 Sixth input value 7 In6 I16 Seventh input value 8 In7 I16 Eighth input value 9 Sel U8 Selection value Outputs No Name Datatype Scaling Description 10...

Page 48: ...tion 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value 4 In3 I16 Fourth input value 5 In4 I16 Fifth input value 6 In5 I16 Sixth input value 7 In6 I16 Seventh input value 8 In7 I16 Eighth input value 9 In8 I16 Ninth input value 10 In9 I16 Tenth input value 11 In10 I16 Eleventh input value 12 In11 I16 Twelfth input value 13 In12 I16 Thirteenth input value 14 In13 I...

Page 49: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 48 Outputs No Name Datatype Scaling Description 18 Out I16 Output value ...

Page 50: ...Out1 The function can be disabled by writing signal 1 to the Disable input Signal 0 is output to all inputs regardless of the LSB of the input value Inputs No Name Datatype Scaling Description 1 In U8 Input value 4 Disable B Disable the decoding function Outputs No Name Datatype Scaling Description 2 Out0 B First output Signal 1 means that the value of the LSB on the input equals 0 3 Out1 B Second...

Page 51: ...y writing signal 1 to the Disable input Signal 0 is output to all inputs regardless of the LSBs of the input value Inputs No Name Datatype Scaling Description 1 In U8 Input value 6 Disable B Disable the decoding function Outputs No Name Datatype Scaling Description 2 Out0 B First output Signal 1 means that the value of the two LSBs on the input equals 0 3 Out1 B Second output Signal 1 means that t...

Page 52: ...In U8 Input value 10 Disable B Disable the decoding function Outputs No Name Datatype Scaling Description 2 Out0 B First output Signal 1 means that the value of the three LSBs on the input equals 0 3 Out1 B Second output Signal 1 means that the value of the three LSBs on the input equals 1 4 Out2 B Third output Signal 1 means that the value of the three LSBs on the input equals 2 5 Out3 B Fourth o...

Page 53: ... decoding function Outputs No Name Datatype Scaling Description 2 Out0 B First output Signal 1 means that the value of the four LSBs on the input equals 0 3 Out1 B Second output Signal 1 means that the value of the four LSBs on the input equals 1 4 Out2 B Third output Signal 1 means that the value of the four LSBs on the input equals 2 5 Out3 B Fourth output Signal 1 means that the value of the fo...

Page 54: ...welfth output Signal 1 means that the value of the four LSBs on the input equals 11 14 Out12 B Thirteen output Signal 1 means that the value of the four LSBs on the input equals 12 15 Out13 B Fourteenth output Signal 1 means that the value of the four LSBs on the input equals 13 16 Out14 B Fifteenth output Signal 1 means that the value of the four LSBs on the input equals 14 17 Out15 B Sixteenth o...

Page 55: ...written to the output Out In0 is the LSB In7 is the MSB Inputs No Name Datatype Scaling Description 1 In0 B First input bit LSB 2 In1 B Second input bit 3 In2 B Third input bit 4 In3 B Fourth input bit 5 In4 B Fifth input bit 6 In5 B Sixth input bit 7 In6 B Seventh input bit 8 In7 B Eighth input bit MSB Outputs No Name Datatype Scaling Description 9 Out U8 Output value ...

Page 56: ...ling Description 1 In0 B First input bit LSB 2 In1 B Second input bit 3 In2 B Third input bit 4 In3 B Fourth input bit 5 In4 B Fifth input bit 6 In5 B Sixth input bit 7 In6 B Seventh input bit 8 In7 B Eighth input bit 9 In8 B Ninth input bit 10 In9 B Tenth input bit 11 In10 B Eleventh input bit 12 In11 B Twelfth input bit 13 In12 B Thirteenth input bit 14 In13 B Fourteenth input bit 15 In14 B Fift...

Page 57: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 56 No Name Datatype Scaling Description 17 Out U16 Output value ...

Page 58: ...ption The block combines the two input bytes into one word The word is written to the output Out In0 is the LSB In1 is the MSB Inputs No Name Datatype Scaling Description 1 In0 U8 First input byte LSB 2 In1 U8 Second input byte MSB Outputs No Name Datatype Scaling Description 3 Out U16 Output value ...

Page 59: ...input bytes into one double word The double word is written to the output Out In0 is the LSB In3 is the MSB Inputs No Name Datatype Scaling Description 1 In0 U8 First input byte LSB 2 In1 U8 Second input byte 3 In2 U8 Third input byte 4 In3 U8 Fourth input byte MSB Outputs No Name Datatype Scaling Description 5 Out U32 Output value ...

Page 60: ...e block combines the two input words into one double word The double word is written to the output Out In0 is the LSW In1 is the MSW Inputs No Name Datatype Scaling Description 1 In0 U16 First input word LSW 2 In1 U16 Second input word MSW Outputs No Name Datatype Scaling Description 3 Out U32 Output value ...

Page 61: ... the highest priority is output to the output The priority is defined in ascending order starting with In0 Inputs No Name Datatype Scaling Description 1 In0 B Binary input signal 2 In1 B Binary input signal Outputs No Name Datatype Scaling Description 3 Out U8 Significance of the active input signal with the highest priority In0 lowest priority ...

Page 62: ...put to the output The priority is defined in ascending order starting with In0 Inputs No Name Datatype Scaling Description 1 In0 B Binary input signal 2 In1 B Binary input signal 3 In2 B Binary input signal 4 In3 B Binary input signal Outputs No Name Datatype Scaling Description 5 Out U8 Significance of the active input signal with the highest priority In0 lowest priority ...

Page 63: ...rder starting with In0 Inputs No Name Datatype Scaling Description 1 In0 B Binary input signal 2 In1 B Binary input signal 3 In2 B Binary input signal 4 In3 B Binary input signal 5 In4 B Binary input signal 6 In5 B Binary input signal 7 In6 B Binary input signal 8 In7 B Binary input signal Outputs No Name Datatype Scaling Description 9 Out U8 Significance of the active input signal with the highes...

Page 64: ...ng Description 1 In0 B Binary input signal 2 In1 B Binary input signal 3 In2 B Binary input signal 4 In3 B Binary input signal 5 In4 B Binary input signal 6 In5 B Binary input signal 7 In6 B Binary input signal 8 In7 B Binary input signal 9 In8 B Binary input signal 10 In9 B Binary input signal 11 In10 B Binary input signal 12 In11 B Binary input signal 13 In12 B Binary input signal 14 In13 B Bina...

Page 65: ...ystem blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 64 No Name Datatype Scaling Description 17 Out U8 Significance of the active input signal with the highest priority In0 lowest priority ...

Page 66: ...limited to the value range of the data format The block checks to determine whether the result is within these limits If this is not the case the exceeded limit value is written as the result Inputs No Name Datatype Scaling Description 1 In1 I16 First summand 2 In2 I16 Second summand Outputs No Name Datatype Scaling Description 3 Out I16 Result of the addition limited to value range of I16 ...

Page 67: ...Computation is limited to the value range of the data format The block checks to determine whether the result is within these limits If this is not the case the exceeded limit value is written as the result Inputs No Name Datatype Scaling Description 1 In1 I32 First summand 2 In2 I32 Second summand Outputs No Name Datatype Scaling Description 3 Out I32 Result of the addition ...

Page 68: ...ion of the values of inputs In1 and In2 In2 is subtracted from In1 The result is output to the output Out If the result is outside the limits of data type I8 the exceeded limit value is specified 127 or 128 Inputs No Name Datatype Scaling Description 1 In1 I8 Minuend 2 In2 I8 Subtrahend Outputs No Name Datatype Scaling Description 3 Out I8 Difference ...

Page 69: ... of the values of inputs In1 and In2 In2 is subtracted from In1 The result is output to the output Out If the result is outside the limits of data type I16 the exceeded limit value is specified 32767 or 32768 Inputs No Name Datatype Scaling Description 1 In1 I16 Minuend 2 In2 I16 Subtrahend Outputs No Name Datatype Scaling Description 3 Out I16 Difference ...

Page 70: ...esult is output to the output Out If the result is outside the limits of data type I32 the exceeded limit value is specified 2147483647 or 2147483648 If the value 2147483648 231 is entered in In2 this value is converted to 2147483647 231 1 since the block performs an addition Inputs No Name Datatype Scaling Description 1 In1 I32 Minuend 2 In2 I32 Subtrahend Outputs No Name Datatype Scaling Descrip...

Page 71: ...nge from the last cycle to the current cycle The value of the input variable In from the last cycle is written to the output LastIn Inputs No Name Datatype Scaling Description 1 In I16 Value to be differentiated Outputs No Name Datatype Scaling Description 2 Out I16 Difference of the input variable between this cycle and the last cycle 3 LastIn I16 Input value from the last cycle ...

Page 72: ...ange from the last cycle to the current cycle The value of the input variable In from the last cycle is written to the output LastIn Inputs No Name Datatype Scaling Description 1 In I8 Value to be differentiated Outputs No Name Datatype Scaling Description 2 Out I8 Difference of the input variable between this cycle and the last cycle 3 LastIn I8 Input value from the last cycle ...

Page 73: ...nge from the last cycle to the current cycle The value of the input variable In from the last cycle is written to the output LastIn Inputs No Name Datatype Scaling Description 1 In I32 Value to be differentiated Outputs No Name Datatype Scaling Description 2 Out I32 Difference of the input variable between this cycle and the last cycle 3 LastIn I32 Input value from the last cycle ...

Page 74: ... SatL In both cases the output value is saturated It remains unchanged until an integration in the opposite direction takes place When the integration results in a value within the value range SatU or SatL are reset Output Val32 is used for internal calculations It indicates the result of the integration times the factor 216 Inputs No Name Datatype Scaling Description 1 In I16 Value to be integrat...

Page 75: ...hen the limit of the negative value range is reached signal level 1 is written to the output SatL In both cases the output value is saturated It remains unchanged until an integration in the opposite direction takes place When the integration results in a value within the value range SatU or SatL are reset Inputs No Name Datatype Scaling Description 1 In I32 Value to be integrated 5 IntTime U32 1L...

Page 76: ...imU When the limit of the negative value range is reached signal level 1 is set on the output LimL In both cases the output value is saturated It remains unchanged until an integration in the opposite direction takes place When the integration results in a value within the value range LimU or LimL is reset Inputs No Name Datatype Scaling Description 1 In I32 Value to be integrated 3 LimU I32 Upper...

Page 77: ... written to the output SatL In both cases the output value is saturated It remains unchanged until an integration in the opposite direction takes place When the integration results in a value within the value range SatU or SatL is reset Output Val32 is used for internal calculations It indicates the result of the integration times the factor 216 Inputs No Name Datatype Scaling Description 1 In I16...

Page 78: ... input variable Integration is performed without limits A value range overflow or underflow occurs at the value range limits When such an overflow or underflow occurs the applicable output OvFl or UnFl is set for one cycle Inputs No Name Datatype Scaling Description 1 In I16 Value to be integrated 5 IntTime I32 1LSB 1us Time until the output Out reaches the input value In Outputs No Name Datatype ...

Page 79: ...onstant input variable Integration is performed without limits A value range overflow or underflow occurs at the value range limits When such an overflow or underflow occurs the applicable output OvFl or UnFl is set for one cycle Inputs No Name Datatype Scaling Description 1 In I32 Value to be integrated 5 IntTime I32 1LSB 1us Time until the output Out reaches the input value In Outputs No Name Da...

Page 80: ...supplies the output Out with the result of the multiplication of the inputs In1 and In2 The data format of the inputs is I16 The format of the output is I32 Inputs No Name Datatype Scaling Description 1 In1 I16 Multiplier 2 In2 I16 Multiplier Outputs No Name Datatype Scaling Description 3 Out I32 Result of the multiplication ...

Page 81: ...supplies the output Out with the result of the multiplication of the inputs In1 and In2 The data format of the inputs is I16 The format of the output is I32 Inputs No Name Datatype Scaling Description 1 In1 I8 Multiplier 2 In2 I8 Multiplier Outputs No Name Datatype Scaling Description 3 Out I16 Result of the multiplication ...

Page 82: ...The block multiplies the inputs In1 and In2 and writes the result to the output Out There is no check for overflow of data form I32 Inputs No Name Datatype Scaling Description 1 In1 I32 First input value 2 In2 I32 Second input value Outputs No Name Datatype Scaling Description 3 Out I32 Result of the multiplication ...

Page 83: ... 0 The output Counter specifies the remaining time in µs during which the pulse will still be queued When Reset has signal 1 Counter has the value 2147483647 The output TrigOld shows the status of the input Trig from the last cycle This is used to determine the change in edge on input Trig Inputs No Name Datatype Scaling Description 1 Trig B Trigger Positive change in edge starts the pulse 3 Reset...

Page 84: ...tate When signal 1 is written to the input Reset the output Out is set to 0 The output Act Time is an internal value that increments the value once per microsecond Inputs No Name Datatype Scaling Description 1 Run B Enable of the square wave generator 3 T I32 1LSB 1us Time duration of a half cycle 4 Reset B Reset the square wave generator Outputs No Name Datatype Scaling Description 2 Out B Output...

Page 85: ...icrosecond The output LastIn has no function NOTE Even with a delay time resolution of 1 µs the block is still not able to generate a delay with a higher resolution than the set cycle time A150 Inputs No Name Datatype Scaling Description 1 In B Enable of the square wave generator 3 Delay U32 1LSB 1us Duration of the switch on delay Outputs No Name Datatype Scaling Description 2 Out B Output signal...

Page 86: ...e is an internal value that increments the value once per microsecond The output LastIn has no function NOTE Even with a delay time resolution of 1 µs the block is still not able to generate a delay with a higher resolution than the set cycle time A150 Inputs No Name Datatype Scaling Description 1 In B Input 3 Delay U32 1LSB 1us Delay time Outputs No Name Datatype Scaling Description 2 Out B Outpu...

Page 87: ...ndf is set for one cycle An active input Reset always resets the block output Cnt to 0 Inputs No Name Datatype Scaling Description 1 In B Counting pulse 2 Run B 0 Counter ignores counting pulses 1 Counting pulses are being acquired 3 Decr B 0 Counting up 1 Counting down 4 Reset B 0 Normal operation 1 Counter output is set to 0 No other reaction Outputs No Name Datatype Scaling Description 5 Cnt I1...

Page 88: ...and the block enable is disabled the last state of Out is saved When the input Reset has a high signal signal 0 is output to the output regardless of other input signals NOTE The smaller of the values on CamStrt and CamEnd is used internally as the cam start Inputs No Name Datatype Scaling Description 1 En B Block enable 0 block not enabled 1 block is enabled and will be calculated 2 ActPosi P64 S...

Page 89: ...has signal level 0 and the block enable is disabled signal 0 is written to Out When Mode has signal 1 and the block enable is disabled the last state of Out is saved When the input Reset has a high signal signal 0 is output to the output regardless of other input signals Inputs No Name Datatype Scaling Description 1 En B Block enable 0 block not enabled 1 block is enabled and will be calculated 2 ...

Page 90: ...ut When Mode has signal 1 and the block enable is disabled the last state of Out is saved When the input Reset has a high signal signal 0 is output to the output regardless of other input signals The current position after execution of the block is output to ActPosO NOTE The smaller of the values on CamStrt and CamEnd is used internally as the cam start Inputs No Name Datatype Scaling Description ...

Page 91: ...0 and the block enable is disabled signal 0 is written to Out When Mode has signal 1 and the block enable is disabled signal 0 is written to Out When Mode has signal 1 and the block enable is disabled the last state of Out is saved When the input Reset has a high signal signal 0 is output to the output regardless of other input signals The current position after execution of the block is output to...

Page 92: ...k logically links the inputs In1 and In2 with the AND function The output Out is set to signal level 1 when both inputs have signal 1 Inputs No Name Datatype Scaling Description 1 In1 B First input value 2 In2 B Second input value Outputs No Name Datatype Scaling Description 3 Out B Result of the link ...

Page 93: ...ks the inputs In1 In2 and In3 with the AND function The output Out is set to signal level 1 when all inputs have signal 1 Inputs No Name Datatype Scaling Description 1 In1 B First input value 2 In2 B Second input value 3 In3 B Third input value Outputs No Name Datatype Scaling Description 4 Out B Result of the link ...

Page 94: ...escription The block logically links the inputs In1 and In2 with the OR function The result is indicated on the output Out Inputs No Name Datatype Scaling Description 1 In1 B First input signal 2 In2 B Second input signal Outputs No Name Datatype Scaling Description 3 Out B Result ...

Page 95: ...block logically links the inputs In1 In2 and In3 with the OR function The result is indicated on the output Out Inputs No Name Datatype Scaling Description 1 In1 B First input signal 2 In2 B Second input signal 3 In3 B Third input signal Outputs No Name Datatype Scaling Description 4 Out B Result ...

Page 96: ...tion The block logically links the inputs In1 In2 and In3 with the EXCLUSIVE OR function The result is indicated on the output Out Inputs No Name Datatype Scaling Description 1 In1 B First input signal 2 In2 B Second input signal Outputs No Name Datatype Scaling Description 3 Out B Result ...

Page 97: ...erflow occurs the signal OvFl or Undf is set for one cycle An active input Reset always resets the block output Cnt to 0 Inputs No Name Datatype Scaling Description 1 In B Counting pulse 2 Run B 0 Counter ignores counting pulses 1 Counting pulses are being acquired 3 Decr B 0 Counting up 1 Counting down 4 Reset B 0 Normal operation 1 Counter output is set to 0 No other reaction Outputs No Name Dat...

Page 98: ...R ANTRIEBSTECHNIK 97 68 Inverter Description The block inverts the signal on the input In and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In B input signal Outputs No Name Datatype Scaling Description 2 Out B Result ...

Page 99: ...nput values and writes it to the output Out An input is selected via the value of the two LSBs on Sel Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value 4 In3 I8 Fourth input value 5 Sel U8 Selection Outputs No Name Datatype Scaling Description 6 Out I8 Selected value ...

Page 100: ...Out Selection takes place on the input Sel When Sel contains the value 0 or an even number the value on In0 is written to the output Out When Sel contains an odd number the input In1 is selected Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 Sel U8 Selection Outputs No Name Datatype Scaling Description 4 Out I32 Selected value ...

Page 101: ...ut values and writes it to the output Out An input is selected via the value of the two LSBs on Sel Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value 4 In3 I32 Fourth input value 5 Sel U8 Selection Outputs No Name Datatype Scaling Description 6 Out I32 Selected value ...

Page 102: ...d via the value of the three LSBs on Sel Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value 4 In3 I32 Fourth input value 5 In4 I32 Fifth input value 6 In5 I32 Sixth input value 7 In6 I32 Seventh input value 8 In7 I32 Eighth input value 9 Sel U8 Selection value Outputs No Name Datatype Scaling Description 10 Out I32 Outpu...

Page 103: ...irst input value 2 In1 I32 Second input value 3 In2 I32 Third input value 4 In3 I32 Fourth input value 5 In4 I32 Fifth input value 6 In5 I32 Sixth input value 7 In6 I32 Seventh input value 8 In7 I32 Eighth input value 9 In8 I32 Ninth input value 10 In9 I32 Tenth input value 11 In10 I32 Eleventh input value 12 In11 I32 Twelfth input value 13 In12 I32 Thirteenth input value 14 In13 I32 Fourteenth in...

Page 104: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 103 Outputs No Name Datatype Scaling Description 18 Out I32 Output value ...

Page 105: ... Out Selection takes place on the input Sel When Sel contains the value 0 or an even number the value on In0 is written to the output Out When Sel contains an odd number the input In1 is selected Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 Sel U8 Selection Outputs No Name Datatype Scaling Description 4 Out I8 Selected value ...

Page 106: ...ected via the value of the three LSBs on Sel Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value 4 In3 I8 Fourth input value 5 In4 I8 Fifth input value 6 In5 I8 Sixth input value 7 In6 I8 Seventh input value 8 In7 I8 Eighth input value 9 Sel U8 Selection value Outputs No Name Datatype Scaling Description 10 Out I8 Output val...

Page 107: ...n0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value 4 In3 I8 Fourth input value 5 In4 I8 Fifth input value 6 In5 I8 Sixth input value 7 In6 I8 Seventh input value 8 In7 I8 Eighth input value 9 In8 I8 Ninth input value 10 In9 I8 Tenth input value 11 In10 I8 Eleventh input value 12 In11 I8 Twelfth input value 13 In12 I8 Thirteenth input value 14 In13 I8 Fourteenth input va...

Page 108: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 107 Outputs No Name Datatype Scaling Description 18 Out I8 Output value ...

Page 109: ...In2 is zero or the result causes an overflow of data format I16 In both cases 32767 is written to Out when the dividend is positive and 32768 when the dividend is negative When the fraction does not produce a whole number only the integer portion of the result is indicated The result is not rounded Inputs No Name Datatype Scaling Description 1 In1 I32 Dividend 2 In2 I16 Divisor Outputs No Name Dat...

Page 110: ...evel 1 when the number on the input In2 is zero 231 1 is written to Out when a divisor is greater than or equal to zero 2 31 when a divisor is negative When the fraction does not produce a whole number only the integer portion of the result is indicated The result is not rounded Inputs No Name Datatype Scaling Description 1 In1 I32 Dividend 2 In2 I32 Divisor Outputs No Name Datatype Scaling Descri...

Page 111: ... of the element to be read e g parameter A11 and element 1 is specified on the input Index The contents of the element are output on the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr I8 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Descripti...

Page 112: ...of the element to be read e g parameter A10 and element 2 is specified on the input Index The contents of the element are output on the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr I16 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Descripti...

Page 113: ...arAdr The index of the element to be read is specified on the input Index The contents of the element are output on the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr I32 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Description 3 Out I32 Con...

Page 114: ...rAdr The index of the element to be read is specified on the input Index The contents of the element are output on the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr R32 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Description 3 Out R32 Cont...

Page 115: ...rAdr The index of the element to be read is specified on the input Index The contents of the element are output on the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr R64 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Description 3 Out R64 Cont...

Page 116: ...tes the amount of the value on the input In and writes it to the output Out Exception When the input value is 32768 32767 is written to the output Inputs No Name Datatype Scaling Description 1 In I16 Input value whose amount is generated Outputs No Name Datatype Scaling Description 2 Out I16 Amount of the input value ...

Page 117: ...tes the amount of the value on the input In and writes it to the output Out Exception When the input value is 2 31 2 31 1 is written to the output Inputs No Name Datatype Scaling Description 1 In I32 Input value whose amount is generated Outputs No Name Datatype Scaling Description 2 Out I32 Amount of the input value ...

Page 118: ...iption The block evaluates the inputs In1 and In2 and writes the smaller of the two values to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value Outputs No Name Datatype Scaling Description 3 Out I16 Output of the smaller value ...

Page 119: ...iption The block evaluates the inputs In1 and In2 and writes the smaller of the two values to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value Outputs No Name Datatype Scaling Description 3 Out I32 Output of the smaller value ...

Page 120: ...block compares the inputs In1 In2 and In3 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value Outputs No Name Datatype Scaling Description 4 Out I16 Output of the smallest value ...

Page 121: ...block compares the inputs In1 In2 and In3 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value Outputs No Name Datatype Scaling Description 4 Out I32 Output of the smallest value ...

Page 122: ...he inputs In1 In2 In3 and In4 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value 4 In3 I16 Fourth input value Outputs No Name Datatype Scaling Description 5 Out I16 Output of the smallest value ...

Page 123: ...he inputs In1 In2 In3 and In4 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value 4 In3 I32 Fourth input value Outputs No Name Datatype Scaling Description 5 Out I32 Output of the smallest value ...

Page 124: ... Description The block compares the inputs In1 and In2 and writes the greater value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value Outputs No Name Datatype Scaling Description 3 Out I16 Output of the greater value ...

Page 125: ... Description The block compares the inputs In1 and In2 and writes the greater value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value Outputs No Name Datatype Scaling Description 3 Out I32 Output of the greater value ...

Page 126: ...block compares the inputs In1 In2 and In3 and writes the greatest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value Outputs No Name Datatype Scaling Description 4 Out I16 Output of the greatest value ...

Page 127: ...block compares the inputs In1 In2 and In3 and writes the greatest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value Outputs No Name Datatype Scaling Description 4 Out I32 Output of the greatest value ...

Page 128: ...he inputs In1 In2 In3 and In4 and writes the greatest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I16 First input value 2 In1 I16 Second input value 3 In2 I16 Third input value 4 In3 I16 Fourth input value Outputs No Name Datatype Scaling Description 5 Out I16 Output of the greatest value ...

Page 129: ...he inputs In1 In2 In3 and In4 and writes the greatest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I32 First input value 2 In1 I32 Second input value 3 In2 I32 Third input value 4 In3 I32 Fourth input value Outputs No Name Datatype Scaling Description 5 Out I32 Output of the greatest value ...

Page 130: ...eadband the output Out is In Deadband When the input variable In is less than or equal to zero and greater or equal to the value on the input Deadband the output Out is zero When the input variable In is less than or equal to zero and less than the negated value on the input Deadband the output Out is In Deadband Inputs No Name Datatype Scaling Description 1 In I16 Input value which is to be calcu...

Page 131: ...eadband the output Out is In Deadband When the input variable In is less than or equal to zero and greater or equal to the value on the input Deadband the output Out is zero When the input variable In is less than or equal to zero and less than the negated value on the input Deadband the output Out is In Deadband Inputs No Name Datatype Scaling Description 1 In I32 Input value which is to be calcu...

Page 132: ...arAdr The index of the element to be read is specified on the input Index The contents of the element are output to the output Out NOTE Specification of an element outside the defined array gives random values Inputs No Name Datatype Scaling Description 1 ParAdr P64 Parameter address of the array 2 Index I16 Index of the element to be read Outputs No Name Datatype Scaling Description 3 Out P64 Con...

Page 133: ...significance 2 to the power of 15 MSB Inputs No Name Datatype Scaling Description 1 In U16 Input value Outputs No Name Datatype Scaling Description 2 Out0 B First bit LSB 3 Out1 B Second bit 4 Out2 B Third bit 5 Out3 B Fourth bit 6 Out4 B Fifth bit 7 Out5 B Sixth bit 8 Out6 B Seventh bit 9 Out7 B Eighth bit 10 Out8 B Ninth bit 11 Out9 B Tenth bit 12 Out10 B Eleventh bit 13 Out11 B Twelfth bit 14 O...

Page 134: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 133 16 Out14 B Fifteenth bit 17 Out15 B Sixteenth bit MSB ...

Page 135: ...upplies the significance 2 to the power of 0 LSB Out7 supplies the significance 2 to the power of 7 MSB Inputs No Name Datatype Scaling Description 1 In U8 Input value Outputs No Name Datatype Scaling Description 2 Out0 B First bit LSB 3 Out1 B Second bit 4 Out2 B Third bit 5 Out3 B Fourth Bit 6 Out4 B Fifth bit 7 Out5 B Sixth bit 8 Out6 B Seventh bit 9 Out7 B Eighth bit MSB ...

Page 136: ...it Description The block splits the value on the input In into two bytes The LSB is written to the output Out0 The MSB is specified on Out1 Inputs No Name Datatype Scaling Description 1 In U16 Input value Outputs No Name Datatype Scaling Description 2 Out0 U8 First byte LSB 3 Out1 U8 Second byte MSB ...

Page 137: ...ck splits the value on the input In into four bytes The LSB is written to the output Out0 The MSB is specified on Out3 Inputs No Name Datatype Scaling Description 1 In U32 Input value Outputs No Name Datatype Scaling Description 2 Out0 U8 First byte LSB 3 Out1 U8 Second byte 4 Out2 U8 Third byte 5 Out3 U8 Fourth byte MSB ...

Page 138: ...it Description The block splits the value on the input In into two words The LSB is written to the output Out0 The MSB is specified on Out1 Inputs No Name Datatype Scaling Description 1 In U32 Input value Outputs No Name Datatype Scaling Description 2 Out0 U16 First word LSW 3 Out1 U16 Second word MSW ...

Page 139: ... 109 External fault 1 Description The block triggers the event 44 Ext Fault 1 The event can only be triggered when the input Trg has signal 1 Event 44 is a fault Inputs No Name Datatype Scaling Description 1 Trg B Event is triggered Static evaluation i e no edge evaluation ...

Page 140: ... The block triggers the event 68 Ext Fault 2 The event can only be triggered when the input Trg has signal 1 Event 68 is a fault You can enter the text to appear on the inverter s display in U181 Inputs No Name Datatype Scaling Description 1 Trg B Event is triggered Static evaluation i e no edge evaluation ...

Page 141: ...a data type U8 value on the input In to a data type B value When the input value equals 0 the value 0 is output to Out When the U8 value is a value other than 0 signal 1 is written to Out Inputs No Name Datatype Scaling Description 1 In U8 Input value Outputs No Name Datatype Scaling Description 2 Out B Output value ...

Page 142: ...ge the position control deadband in the configuration You cannot write directly to I23 in the configuration When input values less than zero are found they are limited to zero NOTE The block can only be used for positioning applications Inputs No Name Datatype Scaling Description 1 Deadband P64 Skal Fkt 8 Value of the position control deadband ...

Page 143: ...verts a data type B value on the input In to a data type U8 value When the input value equals 0 the value 0 is output to Out When the input value equals 1 signal 1 is written to Out Inputs No Name Datatype Scaling Description 1 In B Input value Outputs No Name Datatype Scaling Description 2 Out U8 Output value ...

Page 144: ...U8 U16 Description The block converts a data type U8 value on the input In to a data type U16 value The input value is rewritten in the U16 format Inputs No Name Datatype Scaling Description 1 In U8 Input value Outputs No Name Datatype Scaling Description 2 Out U16 Output value ...

Page 145: ...16 U32 Description The block converts a data type U16 value on the input In to a data type U32 value The input value is rewritten in the U32 format Inputs No Name Datatype Scaling Description 1 In U16 Input value Outputs No Name Datatype Scaling Description 2 Out U32 Output value ...

Page 146: ...I8 I16 Description The block converts a data type I8 value on the input In to a data type I16 value The input value is rewritten in the I16 format Inputs No Name Datatype Scaling Description 1 In I8 Input value Outputs No Name Datatype Scaling Description 2 Out I16 Output value ...

Page 147: ...16 I32 Description The block converts a data type I16 value on the input In to a data type I32 value The input value is rewritten in the I32 format Inputs No Name Datatype Scaling Description 1 In I16 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Output value ...

Page 148: ...ied in increments on the output InkOut The output RemOut shows the remaining increments Remaining increments are created in P64 values when the values are entered via a counter denominator scaling see scaling functions 8 and 9 Inputs No Name Datatype Scaling Description 1 PosIn P64 Input value Outputs No Name Datatype Scaling Description 2 InkOut I32 Increments 3 RemOut I32 Remaining increments ...

Page 149: ...s on the inputs Incln and RestIn to a position value in format P64 The increments are specified on the input Incln The remaining increments are specified on RestIn Inputs No Name Datatype Scaling Description 1 IncIn I32 Increments 2 RemIn I32 Remaining increments Outputs No Name Datatype Scaling Description 3 PosOut P64 Output value ...

Page 150: ... only be located a maximum of 230 away from each other For correct function x1 must be less than x2 Inputs No Name Datatype Scaling Description 1 In I32 x value whose y value is to be output on Out 2 P1 x I32 Value x1 must be less than x2 3 P1 y I32 Value y1 4 P2 x I32 Value x2 5 P2 y I32 Value y2 Outputs No Name Datatype Scaling Description 6 Out I32 Linear y value interpolated between P1 and P2 ...

Page 151: ...calculates the square root of the value on the input In The result is written to the output Out When an input value is negative the result is undefined Inputs No Name Datatype Scaling Description 1 In R32 Input value whose square root is to be calculated Outputs No Name Datatype Scaling Description 2 Out R32 Result ...

Page 152: ...on In1 and In2 and writes the result to the output Out If the result exceeds the limits of the valid data format the respective limit value is specified For overflow 231 1 For underflow 2 31 Inputs No Name Datatype Scaling Description 1 In1 I32 Multiplier 2 In2 I32 Multiplier Outputs No Name Datatype Scaling Description 3 Out I32 Result of the multiplication ...

Page 153: ...on In1 and In2 and writes the result to the output Out If the result exceeds the limits of the valid data format the respective limit value is specified For overflow 32767 For underflow 32768 Inputs No Name Datatype Scaling Description 1 In1 I16 Multiplier 2 In2 I16 Multiplier Outputs No Name Datatype Scaling Description 3 Out I16 Result of the multiplication ...

Page 154: ...th the input Reset When Reset has the value 0 the low pass function is executed When Reset has the value 1 the value 0 is output to Out When the value 2 is specified on Reset the input value is output unfiltered to Out The difference between block 148 and block 468 is the behavior when input variables overflow See the description of block 468 Inputs No Name Datatype Scaling Description 1 In I32 Va...

Page 155: ...nly execute the limitation correctly when the value on Lim is greater than Lim Inputs No Name Datatype Scaling Description 1 In I32 Value to be limited 2 Lim I32 Upper limit value 3 Lim I32 Lower limit value Outputs No Name Datatype Scaling Description 4 Out I32 Limited value When the input value on In is outside the limits Lim and Lim the exceeded limit value is output 5 Lim B Status of upper lim...

Page 156: ...nly execute the limitation correctly when the value on Lim is greater than Lim Inputs No Name Datatype Scaling Description 1 In I16 Value to be limited 2 Lim I16 Upper limit value 3 Lim I16 Lower limit value Outputs No Name Datatype Scaling Description 4 Out I16 Limited value When the input value on In is outside the limits Lim and Lim the exceeded limit value is output 5 Lim B Status of upper lim...

Page 157: ...rts data type I32 to I16 An input value is output to the output unchanged when it is located between or on the limits of data type I16 If not the exceeded limit value is specified on Out Inputs No Name Datatype Scaling Description 1 In I32 Value to be converted Outputs No Name Datatype Scaling Description 2 Out I16 Output value ...

Page 158: ...erts data type I32 to I8 An input value is output to the output unchanged when it is located between or on the limits of data type I8 If not the exceeded limit value is specified on Out Inputs No Name Datatype Scaling Description 1 In I32 Value to be converted Outputs No Name Datatype Scaling Description 2 Out I8 Output value ...

Page 159: ...erts data type I16 to I8 An input value is output to the output unchanged when it is located between or on the limits of data type I8 If not the exceeded limit value is specified on Out Inputs No Name Datatype Scaling Description 1 In I16 Value to be converted Outputs No Name Datatype Scaling Description 2 Out I8 Output value ...

Page 160: ...HNIK 159 154 bitwise NOT 8Bit Description The block performs bit by bit inversion of the input value on In The result is output to Out Inputs No Name Datatype Scaling Description 1 In U8 Input value Outputs No Name Datatype Scaling Description 2 Out U8 Output value ...

Page 161: ...NIK 160 155 Bitwise NOT 16Bit Description The block performs bit by bit inversion of the input value on In The result is output to Out Inputs No Name Datatype Scaling Description 1 In U16 Input value Outputs No Name Datatype Scaling Description 2 Out U16 Output value ...

Page 162: ...NIK 161 156 Bitwise NOT 32Bit Description The block performs bit by bit inversion of the input value on In The result is output to Out Inputs No Name Datatype Scaling Description 1 In U32 Input value Outputs No Name Datatype Scaling Description 2 Out U32 Output value ...

Page 163: ...ion The block specifies the negated value of the input In on the output Out Exception The value 127 is written to Out when the input value is 128 Inputs No Name Datatype Scaling Description 1 In I8 Input value Outputs No Name Datatype Scaling Description 2 Out I8 Output of the negated input value ...

Page 164: ... The block specifies the negated value of the input In on the output Out Exception The value 32767 is written to Out when the input value is 32768 Inputs No Name Datatype Scaling Description 1 In I16 Input value Outputs No Name Datatype Scaling Description 2 Out I16 Output of the negated input value ...

Page 165: ...block specifies the negated value of the input In on the output Out Exception The value 2174783647 is written to Out when the input value is 2174783648 Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Output of the negated input value ...

Page 166: ...t values and writes it to the output Out An input is selected via the value of the two LSBs on Sel Inputs No Name Datatype Scaling Description 1 In1 P64 First input value 2 In2 P64 Second input value 3 In3 P64 Third input value 4 In4 P64 Fourth input value 5 Sel U8 Selection Outputs No Name Datatype Scaling Description 6 Out P64 Selected value ...

Page 167: ... via the value of the three LSBs on Sel Inputs No Name Datatype Scaling Description 1 In1 P64 First input value 2 In2 P64 Second input value 3 In3 P64 Third input value 4 In4 P64 Fourth input value 5 In5 P64 Fifth input value 6 In6 P64 Sixth input value 7 In7 P64 Seventh input value 8 In8 P64 Eighth input value 9 Sel U8 Selection value Outputs No Name Datatype Scaling Description 10 Out P64 Output...

Page 168: ...1 P64 First input value 2 In2 P64 Second input value 3 In3 P64 Third input value 4 In4 P64 Fourth input value 5 In5 P64 Fifth input value 6 In6 P64 Sixth input value 7 In7 P64 Seventh input value 8 In8 P64 Eighth input value 9 In9 P64 Ninth input value 10 In10 P64 Tenth input value 11 In11 P64 Eleventh input value 12 In12 P64 Twelfth input value 13 In13 P64 Thirteenth input value 14 In14 P64 Fourt...

Page 169: ...System blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 168 Outputs No Name Datatype Scaling Description 18 Out P64 Output value ...

Page 170: ...o the input Ctrl the value on In is output unchanged to Out When Ctrl contains signal 1 the value on In is negated and written to Out Inputs No Name Datatype Scaling Description 1 In R64 Input value 2 Ctrl B Control input 0 Input value on In is output unchanged to Out 1 Input value is negated and output to Out Outputs No Name Datatype Scaling Description 3 Out R64 Output value ...

Page 171: ...o the input Ctrl the value on In is output unchanged to Out When Ctrl contains signal 1 the value on In is negated and written to Out Inputs No Name Datatype Scaling Description 1 In R32 Input value 2 Ctrl B Control input 0 Input value on In is output unchanged to Out 1 Input value is negated and output to Out Outputs No Name Datatype Scaling Description 3 Out R32 Output value ...

Page 172: ...on In is output unchanged to Out When Ctrl contains signal 1 the value on In is negated and written to Out Exception When the value on In is 2147483648 and the input Ctrl has signal 1 the value 2147483647 is written to Out Inputs No Name Datatype Scaling Description 1 In I32 Input value 2 Ctrl B Control input which controls the negation Outputs No Name Datatype Scaling Description 3 Out I32 Output...

Page 173: ...alue on In is output unchanged to Out When Ctrl contains signal 1 the value on In is negated and written to Out Exception When the value on In is 32768 and the input Ctrl has signal 1 the value 32767 is written to Out Inputs No Name Datatype Scaling Description 1 In I16 Input value 2 Ctrl B Control input which controls the negation Outputs No Name Datatype Scaling Description 3 Out I16 Output valu...

Page 174: ...the limits specified on LimU and LimL LimU upper limit LimL lower limit When the value is on or between the limits the output Out has signal level 1 Inputs No Name Datatype Scaling Description 1 In I16 Value to be checked 2 LimL I16 Lower limit value 3 LimU I16 Upper limit value Outputs No Name Datatype Scaling Description 4 Out B Output of whether the input value adhered to the limit ...

Page 175: ...rflow of the result is not indicated The computation is also executed correctly even when the intermediate result of the multiplication is outside the limits of data format I16 The block does not check for division by zero If this is the case the result is any random number Inputs No Name Datatype Scaling Description 1 In1 I16 Multiplier 2 In2 I16 Multiplier 3 In3 I16 Divisor Outputs No Name Datat...

Page 176: ...rflow of the result is not indicated The computation is also executed correctly even when the intermediate result of the multiplication is outside the limits of data format I32 The block does not check for division by zero If this is the case the result is any random number Inputs No Name Datatype Scaling Description 1 In1 I32 Multiplier 2 In2 I32 Multiplier 3 In3 I32 Divisor Outputs No Name Datat...

Page 177: ...When a warning occurs output T gives the remaining WarnTime When no event has occurred the value 0 is indicated on Level and the value 30 on Typ Outputs No Name Datatype Scaling Description 1 Level U8 Indication of the current level 0 no event 1 message 2 warning 3 fault 2 Typ U8 Current event number e g 46 for event 46 undervoltage see event list When no event is active the output indicates the v...

Page 178: ... In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr U8 Parameter to be written 2 In U8 Value to be written to the parameter ...

Page 179: ... In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr U16 Parameter to be written 2 In U16 Value to be written to the parameter ...

Page 180: ... In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr U32 Parameter to be written 2 In U32 Value to be written to the parameter ...

Page 181: ...In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr R32 Parameter to be written 2 In R32 Value to be written to the parameter ...

Page 182: ...In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr R64 Parameter to be written 2 In R64 Value to be written to the parameter ...

Page 183: ...In to the parameter connected to the input ParAdr A parameter write function is not used The input value is copied directly to the address taken from ParAdr There is no post write function no scaling and no limit value check Inputs No Name Datatype Scaling Description 1 ParAdr P64 Parameter to be written 2 In P64 Value to be written to the parameter ...

Page 184: ... C62 1 active causes position control to be executed In this case the speed value is used as the speed feed forward With speed or position control the reference speed or speed forward feed which was forwarded is limited to C01 In addition the block sets the status bits E182 status positive n limit and E183 status negative n limit accordingly C61 1 active causes torque control speed limiter In this...

Page 185: ...lock computes Out 4096 In This corresponds to the conversion of a speed in I16 data format 4 LSBs 1 Upm into a speed in I32 format 16384 LSBs 1 Upm Inputs No Name Datatype Scaling Description 1 In I16 1LSB 0 25Upm Input value Outputs No Name Datatype Scaling Description 2 Out I32 16384 1Upm Output value ...

Page 186: ... Description The block makes the current motor speed accessible in the configuration The speed supplied by the block is comparable to the value in E91 But E91 cannot be accessed in the configuration Outputs No Name Datatype Scaling Description 1 ActSpeed I32 16384 1Upm Current motor speed ...

Page 187: ...roportional gain n control C31 and the integral time n control C32 in the configuration Inputs No Name Datatype Scaling Description 1 Kp I16 4096 100 Proportional gain of speed control see C31 Values less than 0 are limited to 0 2 T_int I16 1LSB 0 1ms Integral time of speed control see C32 Values less than 10 LSBs are the same as an I gain of 0 ...

Page 188: ...the value on the input Kp The inputs Posi inc and GeaRatio are used as auxiliary values to scale the gain NOTE For correct scaling circuit Posi inc to I252 and GeaRatio to I26 Inputs No Name Datatype Scaling Description 1 Kp I32 1LSB 1 1 s Proportional gain of position control see I20 Values less than 0 are limited to 0 2 Posi inc I16 Auxiliary variable for scaling 3 GeaRatio U16 65535 65 535 Auxi...

Page 189: ...ersion of a speed in I32 data format 16384 LSBs 1 Upm into a speed in I16 format 4 LSBs 1 Upm When the output speed does not fit into the I16 format the closest value which can be represented is output Inputs No Name Datatype Scaling Description 1 In I32 16384 1Upm Input value Outputs No Name Datatype Scaling Description 2 Out I16 1LSB 0 25Upm Output value ...

Page 190: ...ay approx 1 5 s This causes the key code to be set and reset approximately 10 times per second In between code 0 no key pressed is output The block consumes the event generated by the keyboard driver and thus shall be instantiated only once in the configuration assign the output to a parameter if it is necessary to use it multiple times Outputs No Name Datatype Scaling Description 1 KeyCode U8 Key...

Page 191: ...00011b C and so on Bit 23 14 Line 0000000000b line 0 to 1111111111b line 1023 Bit 13 0 Element for arrays or structures counted starting at 0 maximum of 16383 Mode 5 The input Value is interpreted as the parameter address see mode 4 The value of this parameter is then indicated in line 0 top line Then the text of Line0 will be printed left justified in line 0 top line Line1 will be displayed in li...

Page 192: ...rmat I8 Input values between 0 and 127 are written unchanged to the output Out When a value on In is greater than 127 an overflow occurs The bit pattern on In is interpreted as an integer value and is output to Out Inputs No Name Datatype Scaling Description 1 In U8 Input value Outputs No Name Datatype Scaling Description 2 Out I8 Output value ...

Page 193: ...format U8 Input values between 0 and 127 are written unchanged to the output Out When a value on In is less than 0 an overflow occurs The bit pattern on In is interpreted as an unsigned number and is output to Out Inputs No Name Datatype Scaling Description 1 In I8 Input value Outputs No Name Datatype Scaling Description 2 Out U8 Output value ...

Page 194: ...at I16 Input values between 0 and 32767 are written unchanged to the output Out When a value on In is greater than 32767 an overflow occurs The bit pattern on In is interpreted as an integer value and is output to Out Inputs No Name Datatype Scaling Description 1 In U16 Input value Outputs No Name Datatype Scaling Description 2 Out I16 Output value ...

Page 195: ...ormat U16 Input values between 0 and 32767 are written unchanged to the output Out When a value on In is less than 0 an overflow occurs The bit pattern on In is interpreted as an unsigned number and is output to Out Inputs No Name Datatype Scaling Description 1 In I16 Input value Outputs No Name Datatype Scaling Description 2 Out U16 Output value ...

Page 196: ...2 Input values between 0 and 2147483647 are written unchanged to the output Out When a value on In is greater than 2147483647 an overflow occurs The bit pattern on In is interpreted as an integer value and is output to Out Inputs No Name Datatype Scaling Description 1 In U32 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Output value ...

Page 197: ...at U32 Input values between 0 and 2147483647 are written unchanged to the output Out When a value on In is less than 0 an overflow occurs The bit pattern on In is interpreted as an unsigned number and is output to Out Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out U32 Output value ...

Page 198: ... the inputs In1 and In2 and writes the result to the output Out When the result is outside the limits of data format R32 the value 1 or 1 is output to Out Inputs No Name Datatype Scaling Description 1 In1 R32 Multiplier 2 In2 R32 Multiplier Outputs No Name Datatype Scaling Description 3 Out R32 Result of the multiplication ...

Page 199: ...s the input In1 by In2 and writes the result to the output Out When division by zero takes place the output Overflow is set to 1 active Inputs No Name Datatype Scaling Description 1 In1 R32 Dividend 2 In2 R32 Divisor Outputs No Name Datatype Scaling Description 3 Out R32 Result of the division 4 OvFl B Division by zero ...

Page 200: ...dds the inputs In1 and In2 and writes the result to the output Out When the result is outside the limits of data format R32 the value 1 or 1 is output to Out Inputs No Name Datatype Scaling Description 1 In1 R32 Summand 2 In2 R32 Summand Outputs No Name Datatype Scaling Description 3 Out R32 Result of the addition ...

Page 201: ...block generates the reciprocal value of input In 1 In and writes the result to the output Out When the input value on In equals zero the value 1 or 1 is output to Out Inputs No Name Datatype Scaling Description 1 In R32 Input value Outputs No Name Datatype Scaling Description 2 Out R32 Reciprocal value ...

Page 202: ...R ANTRIEBSTECHNIK 201 237 Negate R32 Description The block negates the input In and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In R32 Input value Outputs No Name Datatype Scaling Description 2 Out R32 Negated value ...

Page 203: ... 202 238 Absolute R32 Description The block generates the absolute value amount of the input In and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In R32 Input value Outputs No Name Datatype Scaling Description 2 Out R32 Absolute value ...

Page 204: ...e less than 2147483648 are limited to 2147483648 Input values which are greater than 2147483647 are limited to 2147483647 NOTE The conversion cuts off the positions after the decimal point of the floating point representation Example 123 5 is converted to 123 Inputs No Name Datatype Scaling Description 1 In R32 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Converted value ...

Page 205: ...n The block converts values in data format I32 to format R32 Alone due to the definition of floating point representation there may be inaccuracies see IEEE 754 Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out R32 Converted value ...

Page 206: ... the inputs In1 and In2 and writes the result to the output Out When the result is outside the limits of data format R64 the value 1 or 1 is output to Out Inputs No Name Datatype Scaling Description 1 In1 R64 Multiplier 2 In2 R64 Multiplier Outputs No Name Datatype Scaling Description 3 Out R64 Result of the multiplication ...

Page 207: ...vides input In1 by In2 and writes the result to the output Out When division by zero takes place the output OvFl is set to 1 active Inputs No Name Datatype Scaling Description 1 In1 R64 Dividend 2 In2 R64 Divisor Outputs No Name Datatype Scaling Description 3 Out R64 Result of the division 4 OvFl B Division by zero ...

Page 208: ... 207 243 Addition R64 Description The block adds the inputs In1 and In2 and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In1 R64 Summand 2 In2 R64 Summand Outputs No Name Datatype Scaling Description 3 Out R64 Result of the addition ...

Page 209: ...k generates the reciprocal value of the input In 1 In and writes the result to the output Out When the reciprocal value of zero is generated the value 1 is output to Out Inputs No Name Datatype Scaling Description 1 In R64 Input value Outputs No Name Datatype Scaling Description 2 Out R64 Reciprocal value ...

Page 210: ...R ANTRIEBSTECHNIK 209 245 Negate R64 Description The block negates the input In and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In R64 Input value Outputs No Name Datatype Scaling Description 2 Out R64 Negated value ...

Page 211: ... 210 246 Absolute R64 Description The block generates the absolute value amount of the input In and writes the result to the output Out Inputs No Name Datatype Scaling Description 1 In R64 Input value Outputs No Name Datatype Scaling Description 2 Out R64 Absolute value ...

Page 212: ...onverts values in data format R64 to format I32 Input values which are less than 2147483648 are limited to 2147483648 Input values which are greater than 2147483647 are limited to 2147483647 Inputs No Name Datatype Scaling Description 1 In R64 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Converted value ...

Page 213: ...TÖBER ANTRIEBSTECHNIK 212 248 I32 R64 Description The block converts values in data format I32 to the format R64 Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out R64 Converted value ...

Page 214: ...ut values between 32767 and 32767 are written unchanged to the output Out When the value is outside the limits of format I16 an overflow occurs The bit pattern of the LSW on In is interpreted as an I16 value and output to Out Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out I16 Converted value ...

Page 215: ...TÖBER ANTRIEBSTECHNIK 214 254 I16 R32 Description The block converts values in data format I16 to the format R32 Inputs No Name Datatype Scaling Description 1 In I16 Input value Outputs No Name Datatype Scaling Description 2 Out R32 Converted value ...

Page 216: ...nput values between 0 and 65535 are written unchanged to the output Out When the value is outside the limits of format U16 an overflow occurs The bit pattern of the LSW on In is interpreted as an U16 value and output to Out Inputs No Name Datatype Scaling Description 1 In U32 Input value Outputs No Name Datatype Scaling Description 2 Out U16 Converted value ...

Page 217: ...s which are less than 32768 are limited to 32768 Input values which are greater than 32767 are limited to 32767 NOTE The conversion cuts off the positions after the decimal point of the floating point representation Example 123 5 is converted to 123 Inputs No Name Datatype Scaling Description 1 In R32 Input value Outputs No Name Datatype Scaling Description 2 Out I16 Converted value ...

Page 218: ... Description An application specific event can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 219: ... Description An application specific event can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 220: ... Description Application specific event 62 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 221: ... Description Application specific event 63 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 222: ... Description Application specific event 64 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 223: ... Description Application specific event 65 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 224: ... Description Application specific event 66 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 225: ... Description Application specific event 67 can be triggered with this block The triggering signal is connected to the input Trg NOTE The block can only be used once in an inverter program Inputs No Name Datatype Scaling Description 1 Trg B Event trigger Evaluation is static i e no edge recognition ...

Page 226: ...5 271 Timer 1ms Description The block increments the value on output T once per millisecond When the output reaches the value 65535 an overflow occurs The block begins again at zero for the next millisecond Outputs No Name Datatype Scaling Description 1 T U16 1LSB 1ms Time ...

Page 227: ...72 Timer1us 16Bit Description The block increments the value on output T once per millisecond When the output reaches the value 65535 an overflow occurs The block begins again at zero for the next millisecond Outputs No Name Datatype Scaling Description 1 T U16 1LSB 1us Time ...

Page 228: ... Timer1us 32Bit Description The block increments the value on output T once per microsecond When the output reaches the value 4294967295 an overflow occurs The block begins again at zero for the next microsecond Outputs No Name Datatype Scaling Description 1 T U32 1LSB 1us Time ...

Page 229: ...ed for the selection When Sel contains the value 0 or an even number the value on In0 is written to the output Out When Sel contains an odd number the input In1 is selected Inputs No Name Datatype Scaling Description 1 In0 P64 Skal Fktn 8 19 First input value 2 In1 P64 Skal Fktn 8 19 Second input value 3 Sel U8 Selection Outputs No Name Datatype Scaling Description 4 Out P64 Skal Fktn 8 19 Selecte...

Page 230: ...is allows the block to compute faster than with true division In principle the block can also be used for division by values 2 but to ensure accuracy block 285 should be used for such computations Example Signal X is to be divided by 1247 in the configuration The block always divides by 65536 This results in a factor Y 65536 1247 52554 93 approx 52555 Thus X is connected to In1 and Y 52555 to In2 ...

Page 231: ...ision by constant values 2 with multiplication This allows the block to compute faster than with true division Example Signal X is to be divided by 24778 in the configuration The block always divides by 4294967296 This results in a factor Y 4294967296 24778 173337 93 approx 173338 Thus X is connected to In1 and Y 173338 to In2 Remember that rounding errors increase the smaller the Y values Blocks ...

Page 232: ...iption The block is used to make the current motor torque accessible in the configuration The torque supplied by the block is comparable to the value in E90 but E90 cannot be accessed in the configuration Outputs No Name Datatype Scaling Description 1 Act Torq I16 4096 100 B18 Current motor torque ...

Page 233: ...ecutes a bitwise OR function The input values on In1 and In2 are compared bit by bit and linked with the OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U8 First input value 2 In2 U8 Second input value Outputs No Name Datatype Scaling Description 3 Out U8 Result of the link ...

Page 234: ...cutes a bitwise OR function The input values on In1 and In2 are compared bit by bit and linked with the OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U16 First input value 2 In2 U16 Second input value Outputs No Name Datatype Scaling Description 3 Out U16 Result of the link ...

Page 235: ...cutes a bitwise OR function The input values on In1 and In2 are compared bit by bit and linked with the OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U32 First input value 2 In2 U32 Second input value Outputs No Name Datatype Scaling Description 3 Out U32 Result of the link ...

Page 236: ...cutes a bitwise AND function The input values on In1 and In2 are compared bit by bit and linked with the AND function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U8 First input value 2 In2 U8 Second input value Outputs No Name Datatype Scaling Description 3 Out U8 Result of the link ...

Page 237: ...utes a bitwise AND function The input values on In1 and In2 are compared bit by bit and linked with the AND function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U16 First input value 2 In2 U16 Second input value Outputs No Name Datatype Scaling Description 3 Out U16 Result of the link ...

Page 238: ...utes a bitwise AND function The input values on In1 and In2 are compared bit by bit and linked with the AND function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U32 First input value 2 In2 U32 Second input value Outputs No Name Datatype Scaling Description 3 Out U32 Result of the link ...

Page 239: ... bitwise EXCLUSIVE OR link The input values on In1 and In2 are compared bit by bit and linked with the EXCLUSIVE OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U8 First input value 2 In2 U8 Second input value Outputs No Name Datatype Scaling Description 3 Out U8 Result of the link ...

Page 240: ...bitwise EXCLUSIVE OR link The input values on In1 and In2 are compared bit by bit and linked with the EXCLUSIVE OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U16 First input value 2 In2 U16 Second input value Outputs No Name Datatype Scaling Description 3 Out U16 Result of the link ...

Page 241: ...bitwise EXCLUSIVE OR link The input values on In1 and In2 are compared bit by bit and linked with the EXCLUSIVE OR function The result is specified on Out Inputs No Name Datatype Scaling Description 1 In1 U32 First input value 2 In2 U32 Second input value Outputs No Name Datatype Scaling Description 3 Out U32 Result of the link ...

Page 242: ...multiplies the input values The intermediate result is divided by 65536 and output to Out If the result is outside the limits of data format I16 the exceeded limit value is specified Inputs No Name Datatype Scaling Description 1 In1 I16 Multiplier 2 In2 I16 Multiplier 3 In3 I32 Multiplier Outputs No Name Datatype Scaling Description 4 Out I16 Result ...

Page 243: ...of the value on the input In The result is written to the output Out When the input value is negative the block sets the result on Out to zero The result is rounded to the next lower whole number Inputs No Name Datatype Scaling Description 1 In I32 Input value Outputs No Name Datatype Scaling Description 2 Out I32 Square root of the input value ...

Page 244: ...lock multiplies In1 with In2 and divides the intermediate result by In3 If the result is outside the limits of data format I32 the exceeded limit value is specified Inputs No Name Datatype Scaling Description 1 In1 I32 Multiplier 2 In2 I32 Multiplier 3 In3 I32 Divisor Outputs No Name Datatype Scaling Description 4 Out I32 Result ...

Page 245: ...by 16384 The intermediate results are multiplied with each other and output to Out If the result is outside the limits of the data format I16 the exceeded limit value is specified Transmission function Out 16384 Gain Offset In Inputs No Name Datatype Scaling Description 1 In I16 Input value 2 Offset I16 Offset value 3 Gain I16 16384 100 Factor Outputs No Name Datatype Scaling Description 4 Out I16...

Page 246: ...nput In With a rising edge the output Out is set to signal 1 for one cycle Output OldIn is used for the computations of the block Inputs No Name Datatype Scaling Description 1 In B Input value Outputs No Name Datatype Scaling Description 2 Out B Indication of a rising edge 0 no rising edge found 1 rising edge found 3 OldIn B For internal block calculations ...

Page 247: ...ut In With a falling edge the output Out is set to signal 1 for one cycle Output OldIn is used for the computations of the block Inputs No Name Datatype Scaling Description 1 In B Input value Outputs No Name Datatype Scaling Description 2 Out B Indication of a falling edge 0 no falling edge found 1 falling edge found 3 OldIn B For internal block calculations ...

Page 248: ... the input values on In1 and In2 If the sum exceeds the limits of data format I8 an overflow of the result occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I8 First input value 2 In2 I8 Second input value Outputs No Name Datatype Scaling Description 3 Out I8 Result of the addition ...

Page 249: ...he input values on In1 and In2 If the sum exceeds the limits of data format I16 an overflow of the result occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I16 First input value 2 In2 I16 Second input value Outputs No Name Datatype Scaling Description 3 Out I16 Result of the addition ...

Page 250: ...he input values on In1 and In2 If the sum exceeds the limits of data format I32 an overflow of the result occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I32 First input value 2 In2 I32 Second input value Outputs No Name Datatype Scaling Description 3 Out I32 Result of the addition ...

Page 251: ...lock subtracts the input values on In1 and In2 In1 In2 If the intermediate result exceeds the limits of data format I8 an overflow occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I8 Minuend 2 In2 I8 Subtrahend Outputs No Name Datatype Scaling Description 3 Out I8 Difference ...

Page 252: ...ck subtracts the input values on In1 and In2 In1 In2 If the intermediate result exceeds the limits of data format I16 an overflow occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I16 Minuend 2 In2 I16 Subtrahend Outputs No Name Datatype Scaling Description 3 Out I16 Difference ...

Page 253: ...ck subtracts the input values on In1 and In2 In1 In2 If the intermediate result exceeds the limits of data format I32 an overflow occurs The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 I32 Minuend 2 In2 I32 Subtrahend Outputs No Name Datatype Scaling Description 3 Out I32 Difference ...

Page 254: ...d by the value on In3 The final result is output to Out The intermediate result may be outside the value range of data format I16 If the final result is outside the limits of data format I16 the exceeded limit value to specified on Out Inputs No Name Datatype Scaling Description 1 In1 I16 Multiplier 2 In2 I16 Multiplier 3 In3 I16 Divisor Outputs No Name Datatype Scaling Description 4 Out I16 Resul...

Page 255: ...ss than one technology cycle A150 In this case at least the time edge outputs are updated Only one change in state is displayed at the output pin if the first ed corresponds to the edge set at the mode input mode 0 rising edge Requests from SB342 Current edge SB342 Time stamp SB342 Output SB342 Time 0V 24V 0 1 x µs y µs Aufrufe von SB342 Ausgan Zeitstemp A150 0 1 Aktuelle Flank NOTE This module mu...

Page 256: ... Scaling Description 1 Mode U8 0 Acquire rising edge 1 Acquire falling edge 2 Acquire both edges Outputs No Name Datatype Scaling Description 2 Out B Current BE status 3 TStamp U16 1LSB 1us Timestamp of the acquired edge 4 ActEdge U8 Last edge detected 0 no edge 1 rising edge 2 falling edge ...

Page 257: ... less than one technology cycle A150 In this case at least the tim edge outputs are updated Only one change in state is displayed at the output pin if the firs corresponds to the edge set at the mode input mode 0 rising edge Requests from SB342 Current edge SB342 Time stamp SB342 Output SB342 Time 0V 24V 0 1 x µs y µs Aufrufe von SB342 Ausg Zeitstem A150 0 1 Aktuelle Fla NOTE This module must not ...

Page 258: ...dge 2 Acquire both edges Outputs No Name Datatype Scaling Description 2 Out B Current BE status When the edge of a signal was recognized which was active for less than the technology cycle time the output is active for at least one cycle 3 TimeStmp U16 1LSB 1us Timestamp of the acquired edge 4 ActEdge U8 Last edge detected 0 no edge 1 rising edge 2 falling edge ...

Page 259: ... less than one technology cycle A150 In this case at least the tim edge outputs are updated Only one change in state is displayed at the output pin if the firs corresponds to the edge set at the mode input mode 0 rising edge Requests from SB342 Current edge SB342 Time stamp SB342 Output SB342 Time 0V 24V 0 1 x µs y µs Aufrufe von SB342 Ausg Zeitstem A150 0 1 Aktuelle Fla NOTE This module must not ...

Page 260: ...dge 2 Acquire both edges Outputs No Name Datatype Scaling Description 2 Out B Current BE status When the edge of a signal was recognized which was active for less than the technology cycle time the output is active for at least one cycle 3 TimeStmp U16 1LSB 1us Timestamp of the acquired edge 4 ActEdge U8 Last edge detected 0 no edge 1 rising edge 2 falling edge ...

Page 261: ... less than one technology cycle A150 In this case at least the tim edge outputs are updated Only one change in state is displayed at the output pin if the firs corresponds to the edge set at the mode input mode 0 rising edge Requests from SB342 Current edge SB342 Time stamp SB342 Output SB342 Time 0V 24V 0 1 x µs y µs Aufrufe von SB342 Ausg Zeitstem A150 0 1 Aktuelle Fla NOTE This module must not ...

Page 262: ...dge 2 Acquire both edges Outputs No Name Datatype Scaling Description 2 Out B Current BE status When the edge of a signal was recognized which was active for less than the technology cycle time the output is active for at least one cycle 3 TimeStmp U16 1LSB 1us Timestamp of the acquired edge 4 ActEdge U8 Last edge detected 0 no edge 1 rising edge 2 falling edge ...

Page 263: ... less than one technology cycle A150 In this case at least the tim edge outputs are updated Only one change in state is displayed at the output pin if the firs corresponds to the edge set at the mode input mode 0 rising edge Requests from SB342 Current edge SB342 Time stamp SB342 Output SB342 Time 0V 24V 0 1 x µs y µs Aufrufe von SB342 Ausg Zeitstem A150 0 1 Aktuelle Fla NOTE This module must not ...

Page 264: ...dge 2 Acquire both edges Outputs No Name Datatype Scaling Description 2 Out B Current BE status When the edge of a signal was recognized which was active for less than the technology cycle time the output is active for at least one cycle 3 TimeStmp U16 1LSB 1us Timestamp of the acquired edge 4 ActEdge U8 Last edge detected 0 no edge 1 rising edge 2 falling edge ...

Page 265: ... signals of a suitable type Inputs No Name Datatype Scaling Description 1 ParAdr U32 G5 Adresse 32Bit Coordinates of the parameter to which a write access is to be made 2 String Str16 New parameter value as character string with a maximum of 16 characters select 0 3 Double R64 New parameter value as 64 bit floating point number select 1 4 Integer I32 New parameter value in integer format not raw v...

Page 266: ... U32 G5 Adresse 32Bit Coordinates of the parameter whose value is to be read 2 Select I8 0 Output as string foreign language 1 Output as double 2 Output as integer 3 Output as string German The block is deactivated for all other values Outputs No Name Datatype Scaling Description 3 String Str80 Parameter value as character string select 0 or select 4 4 Double R64 Parameter value as 64 bit floating...

Page 267: ...When the product equals zero or is positive ValRest is added When the product is negative ValRest is subtracted The output values are also defined as an integer portion ResInt and a remainder portion ResRest without relationship to the denominator An active output Overflow means that the result has exceeded the limits of data format I32 NOTE Since the block has high runtime requirements it may be ...

Page 268: ...gabe Bit 1 BE1 usw Hier wird üblicherweise E19 Binäreingänge angeschlossen nur dann haben die Zeitstempel am Outputs TStamp die richtige Bedeutung 3 Sel U8 Auswahl welches Bit von In auf Out durchgeschaltet wird Sel Out 0 Low 0 1 High 1 2 Bus 3 Bit 1 von In 4 invertiertes Bit 1 von In 5 Bit 2 von In 6 invertiertes Bit 1 von In usw bis 28 invertiertes Bit 13 von In Outputs No Name Datatype Scaling ...

Page 269: ...etr auf Out Inputs No Name Datatype Scaling Description 1 AE1 I16 2 AE2 I16 3 AE3 I16 4 Parametr I16 Hier wird üblicherweise ein Feldbus Steuerwort angeschlossen 5 Sel U8 Auswahl welches Signal auf Out durchgeschaltet wird Sel Out 0 konstant 0 1 AE1 2 AE2 3 AE3 4 Parametr Outputs No Name Datatype Scaling Description 6 Out I16 Ausgabe des an Sel ausgewählten Signals ...

Page 270: ...3 The final state is reached In modes 4 to 7 the first trigger event was recognized and the 2nd event is now being waited for LStatus 2 In modes 4 to 7 saving is concluded The final state is reached When the input LReset is active LStatus is reset to 0 and acquisition is armed again as soon as LReset becomes inactive again Inputs No Name Datatype Scaling Description 1 Mode U8 Mode of Posi Latch 2 ...

Page 271: ...e on In is added to Offset then multiplied by Gain and divided by 8192 The result is limited to 16 bits 32768 to 32767 Out In Offset Gain 8192 limited to 32768 to 32767 Inputs No Name Datatype Scaling Description 1 In I16 Input value 2 Offset I16 Offset 3 Gain I16 8192 100 Factor Outputs No Name Datatype Scaling Description 4 Out I16 Result ...

Page 272: ...divided by 8192 The intermediate result and the value on Offset are added and output to Out When the result is outside the limits of data format I16 the exceeded limit value is specified Formula Out offset 8192 Gain In Inputs No Name Datatype Scaling Description 1 In I16 Input value 2 Gain I16 8192 100 Offset value 3 Offset I16 Factor Outputs No Name Datatype Scaling Description 4 Out I16 Result ...

Page 273: ...ition of the movement specified on StartPos and calculates the switching point from this information Correct usage of this method requires that the current target position be specified on the input TargtPos When the third method Mode 2 is used the outputs are set relative to the target position The block interprets the value on SwtchPos as the traveling distance relative to the target position spe...

Page 274: ...Fkt 8 Switching position 14 Reset B Reset signal 0 normal operation 1 reset switching point Outputs No Name Datatype Scaling Description 3 Internal I32 Intermediate storage for the actual position 4 Q_pulse B Pulse output only remains active for one cycle 5 Q_Set B Static output remains active after the event up to the reset 11 InState U8 Not used 12 OutState U8 State of the output Same as static ...

Page 275: ...32 with U8 256 1 0 Description The input value on In is multiplied by Scale and divided by 256 Out In Scale 256 Inputs No Name Datatype Scaling Description 1 In I32 Input value 2 Scale U8 256 100 Scaling factor Outputs No Name Datatype Scaling Description 3 Out I32 Result of the scaling ...

Page 276: ...th I16 16384 1 0 Description The input value on In is multiplied by Scale and divided by 16384 Out In Scale 16384 Inputs No Name Datatype Scaling Description 1 In I32 Input value 2 Scale I16 16384 100 Scaling factor Outputs No Name Datatype Scaling Description 3 Out I32 Result of the scaling ...

Page 277: ...ber of points in the array curve 3 Mode B Interpolation mode At this time only 0 linear possible All other values are reserved 4 x Array I32 Specification of the X values by an array parameter The elements of the array parameter describe the X axis section of the reference points The points must be sorted in ascending order 5 y Array I32 Specification of the Y values by an array parameter The elem...

Page 278: ...y back into the range of the circular length The position which is to be corrected is connected to the input In The circular length converted before to data type I32 is connected to the input Modulo The function of the block differs from the mathematical definition of the modulo function only for the negative input values Inputs No Name Datatype Scaling Description 1 In I32 Input size which is to ...

Page 279: ...The input value is copied directly to the address and no parameter write function is used Post write functions are not used There is also no scaling or limit value check All characters down to the first binary 0 are copied but not more than 8 characters Inputs No Name Datatype Scaling Description 1 ParAdr Str8 Parameter to which a write access is made 2 In Str8 Value to be written to the parameter...

Page 280: ...he input value is copied directly to the address and no parameter write function is used Post write functions are not used There is also no scaling or limit value check All characters down to the first binary 0 are copied but not more than 16 characters Inputs No Name Datatype Scaling Description 1 ParAdr Str16 Parameter to which a write access is made 2 In Str16 Value to be written to the paramet...

Page 281: ...on In2 Output In1 In2 is set 3 The value on In1 is less than the value on In2 Output In1 In2 is set Inputs No Name Datatype Scaling Description 1 In1 U8 First input value 2 In2 U8 Second input value Outputs No Name Datatype Scaling Description 3 In1 In2 B First result 0 In1 and In2 are not equal 1 In1 and In2 are equal 4 In1 In2 B Second result 0 In1 is less than or equal to In2 1 In1 is greater t...

Page 282: ...on In2 Output In1 In2 is set 3 The value on In1 is less than the value on In2 Output In1 In2 is set Inputs No Name Datatype Scaling Description 1 In1 U16 First input value 2 In2 U16 Second input value Outputs No Name Datatype Scaling Description 3 In1 In2 B First result 0 In1 and In2 are not equal 1 In1 and In2 are equal 4 In1 In2 B Second result 0 In1 is less than or equal to In2 1 In1 is greater...

Page 283: ... The cycle duration is determined by the parameter A150 The block sends both rising and falling edges to Out with a delay The output Old is used for internal computation and indicates the current signal state on In Inputs No Name Datatype Scaling Description 1 In B Input signal Outputs No Name Datatype Scaling Description 2 Out B Delayed signal 3 Old B Undelayed signal ...

Page 284: ...ring16 Description The block converts a value of the data type String8 on the input In to a value of the data type String16 The result is output to Out Inputs No Name Datatype Scaling Description 1 In Str8 Input value Outputs No Name Datatype Scaling Description 2 Out Str16 Output signal ...

Page 285: ...e of the data type String16 on the input In to a value of the data type String8 The result is output to Out If the input value contains more than eight characters only the first eight are sent on Inputs No Name Datatype Scaling Description 1 In Str16 Input value Outputs No Name Datatype Scaling Description 2 Out Str8 Output signal ...

Page 286: ...ingly by one circular length The remainder reference value of the position values to be added must be connected to the input RestRel This is parameter I253 for positions which are scaled with I07 I08 Parameter G250 must be connected for master positions The output Ovfl Und is not used Inputs No Name Datatype Scaling Description 1 Endless B 0 Limited position range 1 Endless position range 2 In1 P6...

Page 287: ...ay of the output signals can be corrected by the cycle time A150 is output on the output OutTS The status of the block can be queried on the output State Inputs No Name Datatype Scaling Description 1 Reset B Reset the block function 0 inactive normal operation 1 active reset 2 EdgeSel U8 Selection of the edge on In which will trigger acquisition of the actual position 0 inactive rising edge 1 acti...

Page 288: ...le Inputs No Name Datatype Scaling Description 1 Input I16 Value to be monitored 2 LimU I16 Upper limit value of the range 3 LimL I16 Lower limit value of the range 4 En B 0 Out 0 no range monitoring 1 Range monitoring active 5 Absolute I8 0 Range monitoring of the unchanged signal In 1 Range monitoring of the absolute value of the signal In Outputs No Name Datatype Scaling Description 6 Out U8 0 ...

Page 289: ...on of a JK Jump Kill flip flop with RS option NOTE Remember that the state of the clock signal is evaluated not the edges Inputs No Name Datatype Scaling Description 1 J B Jump 2 K B Kill 3 S B Set 4 R B Reset 5 Clk B Clock state controlled Outputs No Name Datatype Scaling Description 6 Q B Uninverted output 7 Q B Inverted output ...

Page 290: ...s CycleTime A ms Tau e T When a parameter is to be defined for T we recommend using the definition of C43 operating range low pass Inputs No Name Datatype Scaling Description 1 In I16 Value to be filtered 2 T I32 Skal Fkt 11 Time constant 3 Reset I8 0 Normal function as low pass 1 Filter permanently on 0 Out 0 2 Filter on time constant 0 Out In Other input values are reserved Outputs No Name Datat...

Page 291: ...ns with 0 This means that when there are five elements for example values 0 to 4 can be specified on Select NOTE If you use the block remember that the number of storage cycles on Paramodul is limited Inputs No Name Datatype Scaling Description 1 Execute B Trigger signal to execute the teach in function The position is saved with the rising edge 2 PosArray P64 Connection of the array parameter dat...

Page 292: ... but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr I8 Address of the array parameter whose elements are to be written 2 Index I16 Index of the el...

Page 293: ... but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr I16 Address of the array parameter whose elements are to be written 2 Index I16 Index of the e...

Page 294: ... but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr I32 Address of the array parameter whose elements are to be written 2 Index I16 Index of the e...

Page 295: ...but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr R32 Address of the array parameter whose elements are to be written 2 Index I16 Index of the el...

Page 296: ...but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr R64 Address of the array parameter whose elements are to be written 2 Index I16 Index of the el...

Page 297: ...but also other random areas of memory This may cause undefined reactions in the inverter For this reason we strongly recommend the connection of administration block 8000009 to the input ArrSize This block automatically determines the size of an array Inputs No Name Datatype Scaling Description 1 ParAdr P64 Address of the array parameter whose elements are to be written 2 Index I16 Index of the el...

Page 298: ...saturation Description The block converts data type U16 to U8 Input values from 0 to 255 are output unchanged Larger input values are limited to 255 Inputs No Name Datatype Scaling Description 1 In U16 Value to be converted Outputs No Name Datatype Scaling Description 2 Out U8 Output value ...

Page 299: ...s Description The block indicates whether the inverter is currently in capture or load startup operation see C20 Outputs No Name Datatype Scaling Description 1 LoadStrt B When this signal is active the drive is in load startup operation 2 Capture B When this signal is active the drive is in capture operation ...

Page 300: ...ve Inputs No Name Datatype Scaling Description 1 Input I16 Input value of range monitoring which is to be compared with Lim1 Lim2 Lim1 and Lim2 2 Lim2 I16 Limit for the output AreaRED 3 Lim1 I16 Limit for the output AreaYEL 4 Lim1 I16 Limit for the output AreaYEL 5 Lim2 I16 Limit for the output AreaRED 6 En B Activation of the block When the input signal is 0 inactive the block is deactivated and ...

Page 301: ... a rising signal edge the output VirtPos is set to the value on this input Outputs No Name Datatype Scaling Description 5 VirtPos I32 Inkr Output of the current position of the virtual master 6 ActVel I32 Inkr s Output of the current speed at which the actual virtual position is changing 7 InVeloci B Indication of the speed status If the current speed as per the ramp generator has still not reache...

Page 302: ...01 464 Subtraction R32 Description The block subtracts the input values on In1 and In2 In1 In2 The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 R32 Minuend 2 In2 R32 Subtrahend Outputs No Name Datatype Scaling Description 3 Out R32 Difference ...

Page 303: ...02 465 Subtraction R64 Description The block subtracts the input values on In1 and In2 In1 In2 The result is output to Out Inputs No Name Datatype Scaling Description 1 In1 R64 Minuend 2 In2 R64 Subtrahend Outputs No Name Datatype Scaling Description 3 Out R64 Difference ...

Page 304: ...ltered The difference between this block and block 148 is the behavior when the input variable overflows With block 148 the output value always follows into the range with the reverse sign above 0 during an overflow of the input value With block 468 an overflow or underflow also occurs with the output value When Reset equals 0 and the filtered output value overflows the output Wrap is set to TRUE ...

Page 305: ... sine function in In to the output Out The angle in In must be specified in the radian measure Inputs No Name Datatype Scaling Description 1 In R32 Winkel im Bogenmaß Input angle in radian measure whose sine function is calculated Outputs No Name Datatype Scaling Description 2 Out R32 Value of the sine function at the position of the input value ...

Page 306: ... of the cosine function in In to the output Out The angle in Out must be specified in the radian measure Inputs No Name Datatype Scaling Description 1 In R32 Winkel im Bogenmaß Input value whose cosine function is calculated Outputs No Name Datatype Scaling Description 2 Out R32 Value of the cosine function at the position of the input value ...

Page 307: ...ngent function in In to the output Out The angle in In must be specified in the radian measure Inputs No Name Datatype Scaling Description 1 In R32 Winkel im Bogenmaß Input angle whose tangent function is calculated Outputs No Name Datatype Scaling Description 2 Out R32 Winkel im Bogenmaß Value of the tangent function at the position of the input value ...

Page 308: ...nction in In to the output Out The angle in Out must be specified in the radian measure The result is in the range π π Inputs No Name Datatype Scaling Description 1 In R32 Input value whose arc sine function is calculated Outputs No Name Datatype Scaling Description 2 Out R32 Winkel im Bogenmaß Value of the arc sine function at the position of the input value ...

Page 309: ...ction in In to the output Out The angle in Out must be specified in the radian measure The result is in the range 0 2π Inputs No Name Datatype Scaling Description 1 In R32 Input value whose arc cosine function is calculated Outputs No Name Datatype Scaling Description 2 Out R32 Winkel im Bogenmaß Value of the arc cosine function at the position of the input value ...

Page 310: ...In1 are used to derive the quadrant in which the angle is located The value range in Out is then between π und π When In1 is permanently wired to 1 the block with input In0 behaves as per the normal arc tangent function with only one argument The value range in Out is then between π 2 and π 2 Inputs No Name Datatype Scaling Description 1 In0 R32 Y axis intercept of the slope 2 In1 R32 X axis inter...

Page 311: ...Remember that the result of the division is rounded in the direction of 0 Block 396 has a similar function except that it always rounds the result of the division upward The result is undefined for In1 0 The amount of In1 must be smaller than 1073741824 Inputs No Name Datatype Scaling Description 1 In0 I32 Dividend 2 In1 I32 Divisor Outputs No Name Datatype Scaling Description 3 Out I32 Result of ...

Page 312: ...e right the empty positions are filled with the value of the top bit so that the sign of In is retained for negative values of Shift When the value is shifted to the left the bottom bits are filled with zeros When no overflow occurs this corresponds to the computation Out In 2Shift with rounded result Inputs No Name Datatype Scaling Description 1 In I32 Input value 2 Shift I8 Number of binary posi...

Page 313: ...ft while negative values shift the input value to the right The new bits which are shifted in are filled with zeros When no overflow occurs this corresponds to the computation Out In 2Shift with rounded result Inputs No Name Datatype Scaling Description 1 In U32 Input value 2 Shift I8 Number of binary positions by which the value in In is to be shifted Outputs No Name Datatype Scaling Description ...

Page 314: ... inputs In0 In1 In2 and In3 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value 4 In3 I8 Output of the smaller value Outputs No Name Datatype Scaling Description 5 Out I8 Output of the smallest value ...

Page 315: ...e block compares the inputs In0 In1 and In2 and writes the smallest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value Outputs No Name Datatype Scaling Description 4 Out I8 Output of the smallest value ...

Page 316: ...I8 Description The block compares the inputs In0 and In1 and writes the smaller value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value Outputs No Name Datatype Scaling Description 3 Out I8 Output of the smaller value ...

Page 317: ...s the inputs In0 In1 In2 and In3 and writes the largest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value 4 In3 I8 Fourth input value Outputs No Name Datatype Scaling Description 5 Out I8 Output of the largest value ...

Page 318: ...he block compares the inputs In0 In1 and In2 and writes the largest value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value 3 In2 I8 Third input value Outputs No Name Datatype Scaling Description 4 Out I8 Output of the largest value ...

Page 319: ... I8 Description The block compares the inputs In0 and In1 and writes the larger value to the output Out Inputs No Name Datatype Scaling Description 1 In0 I8 First input value 2 In1 I8 Second input value Outputs No Name Datatype Scaling Description 3 Out I8 Output of the larger value ...

Page 320: ...d is always 0 When the circular length is 0 limited axis Over Und is also always 0 Inputs No Name Datatype Scaling Description 1 XMstrLim P64 Skal Fkt 19 Continuous master position 2 XMstrEnd P64 Skal Fkt 19 Master position converted to circular length 3 MstrVel I32 Skal Fkt 20 Master speed 4 Over Und I8 Overflow Underflow input The input expects the value 1 when an overflow has occurred for the m...

Page 321: ...Master position converted to circular length 17 MstrVel I32 Skal Fkt 24 Master speed 18 Over Und I8 Overflow Underflow output Outputs the value 1 when an overflow has occurred for the master position during the last cycle on the output XMstrEnd as per circular length The value 1 is output when an underflow has occurred The value 0 is output if neither overflow nor underflow has occurred during the...

Page 322: ...Standard blocks Block descriptions ID 441692 01 www stoeber de 321 STÖBER ANTRIEBSTECHNIK ...

Page 323: ... up to 6 words raw 348 100092 DP V1 Tx up to 6 words raw 349 100093 DP V1 Rx Mapping 350 100094 DP V1 Tx Mapping 351 100130 USS PZD rx with mapping 352 100131 USS PZD tx with mapping 353 100140 PID controller 354 100141 Torque force limit 355 100142 All binary inputs 356 100146 X103 BE6 357 100147 X103 BE7 358 100148 X103 BE8 359 100149 X103 BE9 360 100150 X103 BE10 361 100151 X103 BE11 362 100152...

Page 324: ...00278 PLCopen MC_GearIn 408 100280 PLCopen MC_GearOut 409 100305 DP V1 Rx up to 10W raw 410 100306 DP V1 Tx up to 10W raw 411 100317 Synchronous Command Positioning input block 412 100394 PDef C43 414 100432 Motion block posi lim pos range 415 100433 Motion block posi input block 418 100434 Motion block posi output block 421 100435 Master motion block posi 423 100444 Command Positioning PLCopen in...

Page 325: ...er electronic cam 470 100877 El CamCmdPosi lim pos range PLCopen interface 471 100888 X100 AA1 extended parameter source 473 100889 X100 AA2 extended parameter source 474 100897 El Cam PLCopen input block 475 100898 El Cam output block 477 100905 DSP402 global in block 479 100908 DSP402 global out block 480 100909 EtherCAT 1 Receive PDO 20 Bytes raw 481 100910 EtherCAT 1 Transmit PDO 20 Bytes raw ...

Page 326: ...l master 540 100961 PLCopen MC_CamIn 541 100970 Virtual master complete 543 100971 WizDef electronic cam positioning 544 100972 WizDef cam table master scaling 545 100973 WizDef EtherCAT 546 100984 Set values for fast electronic master cam 2 547 100985 Set values for fast electronic axis cam 2 548 100988 Set values for fast electronic master cam 3 549 100989 Set values for fast electronic axis cam...

Page 327: ... 101097 PDef PLCopen virtual master reference value set 572 101100 WizDef cam table master scaling OptimusMotus 573 101104 PDef B30 574 101134 IGB Motionbus 575 101145 Digital inputs 2 576 101146 Comfort reference 578 101147 Preset reference ramps 581 101148 PN mapping immediately transmit 583 101149 PN mapping receive 584 101162 PROFINET Transmit up to 24 words raw 585 101163 PROFINET Receive up ...

Page 328: ...s to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 NOTE When the MDS 500 inverter is used remember that binary input BE1 is only available when option module SEA REA or XEA is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE1 terminal X101 11 ...

Page 329: ...s to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 NOTE When the MDS 500 inverter is used remember that binary input BE2 is only available when option module SEA REA or XEA is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE2 terminal X101 12 ...

Page 330: ...s to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 NOTE When the MDS 500 inverter is used remember that binary input BE3 is only available when option module SEA REA or XEA is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE3 terminal X101 13 ...

Page 331: ...s to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 NOTE When the MDS 500 inverter is used remember that binary input BE4 is only available when option module SEA REA or XEA is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE4 terminal X101 14 ...

Page 332: ...s to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 NOTE When the MDS 500 inverter is used remember that binary input BE5 is only available when option module SEA REA or XEA is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE5 terminal X101 15 ...

Page 333: ...he block shows the signal state of the enable The block outputs this to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 and so forth Bit 13 X100 BE13 Outputs No Name Datatype Scaling Description 1 Out B Status of the enable terminal X1 4 ...

Page 334: ... the analog input to the display parameter E10 AE1 Level The value is added to F11 AE1 Offset and multiplied by F12 AE1 Gain The result is output to Out AE1 Level F11 x F12 Out Outputs No Name Datatype Scaling Description 1 Out I16 16384 10V Level of the analog input AE1 calculated with F11 AE1 Offset and F12 AE1 Gain terminal X100 1 X100 3 ...

Page 335: ... the analog input to the display parameter E11 AE2 Level The value is added to F21 AE2 Offset and multiplied by F22 AE2 Gain The result is output to Out AE2 Level F21 x F22 Out Outputs No Name Datatype Scaling Description 1 Out I16 16384 10V Level of the analog input AE2 calculated with F21 AE2 Offset and F22 AE2 Gain terminal X100 4 X100 5 ...

Page 336: ... the analog input to the display parameter E74 AE3 Level The value is added to F31 AE3 Offset and multiplied by F32 AE3 Gain The result is output to Out AE3 Level F31 x F32 Out Outputs No Name Datatype Scaling Description 1 Out I16 16384 10V Level of the analog input AE3 calculated with F31 AE3 Offset and F32 AE3 Gain terminal X102 1 X102 2 ...

Page 337: ... incremented to indicate that new data were received The output TimeStmp contains the timestamp of the receipt of this message in µs Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which was received first 2 Byte1 U8 Byte which was received second 3 Byte2 U8 Byte which was received third 4 Byte3 U8 Byte which was received fourth 5 Byte4 U8 Byte which was received fifth 6 Byte5 U8 Byte...

Page 338: ...Req is used in both directions The input is deleted after a sending request value not zero is found This is why no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which is sent first 2 Byte1 U8 Byte which is sent second 3 Byte2 U8 Byte which is sent third 4 Byte3 U8 Byte which is sent fourth 5 Byte4 U8 Byte which is sent fifth 6 Byte5 U8 Byte which is sent si...

Page 339: ... incremented to indicate that new data were received The output TimeStmp contains the timestamp of the receipt of this message in µs Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which was received first 2 Byte1 U8 Byte which was received second 3 Byte2 U8 Byte which was received third 4 Byte3 U8 Byte which was received fourth 5 Byte4 U8 Byte which was received fifth 6 Byte5 U8 Byte...

Page 340: ...Req is used in both directions The input is deleted after a sending request value not zero is found This is why no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which is sent first 2 Byte1 U8 Byte which is sent second 3 Byte2 U8 Byte which is sent third 4 Byte3 U8 Byte which is sent fourth 5 Byte4 U8 Byte which is sent fifth 6 Byte5 U8 Byte which is sent si...

Page 341: ... incremented to indicate that new data were received The output TimeStmp contains the timestamp of the receipt of this message in µs Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which was received first 2 Byte1 U8 Byte which was received second 3 Byte2 U8 Byte which was received third 4 Byte3 U8 Byte which was received fourth 5 Byte4 U8 Byte which was received fifth 6 Byte5 U8 Byte...

Page 342: ...Req is used in both directions The input is deleted after a sending request value not zero is found This is why no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which is sent first 2 Byte1 U8 Byte which is sent second 3 Byte2 U8 Byte which is sent third 4 Byte3 U8 Byte which is sent fourth 5 Byte4 U8 Byte which is sent fifth 6 Byte5 U8 Byte which is sent si...

Page 343: ... incremented to indicate that new data were received The output TimeStmp contains the timestamp of the receipt of this message in µs Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which was received first 2 Byte1 U8 Byte which was received second 3 Byte2 U8 Byte which was received third 4 Byte3 U8 Byte which was received fourth 5 Byte4 U8 Byte which was received fifth 6 Byte5 U8 Byte...

Page 344: ...Req is used in both directions The input is deleted after a sending request value not zero is found This is why no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte which is sent first 2 Byte1 U8 Byte which is sent second 3 Byte2 U8 Byte which is sent third 4 Byte3 U8 Byte which is sent fourth 5 Byte4 U8 Byte which is sent fifth 6 Byte5 U8 Byte which is sent si...

Page 345: ...are received and copied to the outputs Byte0 to Byte27 In addition the block handles communication of the cyclic data to the PKW0 routine and sends the data processed by the inputs of block 100090 The output NewData is incremented to indicate that new data were received The output TimeStmp contains the timestamp of the receipt of this message in µs NOTE Since block 100090 must be instanced before ...

Page 346: ...yte which was received thirteenth 14 Byte13 U8 Byte which was received fourteenth 15 Byte14 U8 Byte which was received fifteenth 16 Byte15 U8 Byte which was received sixteenth 17 Byte16 U8 Byte which was received seventeenth 18 Byte17 U8 Byte which was received eighteenth 19 Byte18 U8 Byte which was received nineteenth 20 Byte19 U8 Byte which was received twentieth 21 Byte20 U8 Byte which was rece...

Page 347: ...FIBUS master via the cyclic channel The PPO type configured for this drive on the PROFIBUS master determines the number of bytes which are received on the inputs Byte0 to Byte27 Block 100089 handles the output on PROFIBUS The process data are accepted when a value other than zero is found on the input Send Req NOTE Since block 100089 must be instanced before the data can be output always use block...

Page 348: ...hich is sent twelfth 13 Byte12 U8 Byte which is sent thirteenth 14 Byte13 U8 Byte which is sent fourteenth 15 Byte14 U8 Byte which is sent fifteenth 16 Byte15 U8 Byte which is sent sixteenth 17 Byte16 U8 Byte which is sent seventeenth 18 Byte17 U8 Byte which is sent eighteenth 19 Byte18 U8 Byte which is sent nineteenth 20 Byte19 U8 Byte which is sent twentieth 21 Byte20 U8 Byte which is sent 21st ...

Page 349: ...ock handles communication of the cyclic data to the PKW0 routine and sends the data processed by the inputs of block 100092 NOTE Since block 100092 must be instanced before the data of block 100092 can be sent always use blocks 100091 and 100092 together Outputs No Name Datatype Scaling Description 1 Word0 U16 Word which was received first 2 Word1 U16 Word which was received second 3 Word2 U16 Wor...

Page 350: ...S master determines the number of bytes which are received on the inputs Word0 to Word5 Block 100091 handles the output on PROFIBUS NOTE Since block 100091 must be instanced before the data can be output always use blocks 100091 and 100092 together Inputs No Name Datatype Scaling Description 1 Word0 U16 Word which is sent first 2 Word1 U16 Word which is sent second 3 Word2 U16 Word which is sent t...

Page 351: ...ly copied to the selected target parameters as per variable PZD mapping see parameters A90 A91 In addition this block handles communication of the cyclic data to the PKW0 routine and sends the data processed by the parameter values of block 100094 NOTE Since block 100094 must be instanced before the data processed by block 100094 can be sent always use blocks 100093 and 100094 together From the vi...

Page 352: ...urce parameters are used as per variable PZD mapping see parameters A94 and A95 Block 100093 handles the output to PROFIBUS The PDO type configured for this drive on the PROFIBUS master determines the number of bytes which are received This is why the configuration of the drive must be coordinated from the viewpoint of the PROFIBUS master with parameters A94 and A95 NOTE Since block 100093 must be...

Page 353: ...t of data from the RS232 interface and distributes the data as per the target parameters defined in parameter A110 x When a message is received via RS232 the bytes in the telegram which can be copied in full are written to the target parameters If too many bytes are received the excess bytes are not used If too few bytes are received the last parameter from the mapping receives no new data ...

Page 354: ...unt of process data from the inverter These data are copied and conditioned as per the parameters defined in parameter A114 x so that they can be sent via the service 50 USS PZD telegram interface RS232 NOTE Since the time at which the data are sent depends on when a service 50 USS PZD telegram is received always use blocks 100130 and 100131 together ...

Page 355: ...eset value has different meanings depending on the selection on the input Preset 3 I Set I8 0 Standard The PID controller output is calculated as for the standard case PID P I D 1 Output I Part 0 The PID controller output and the I Part have 0 2 Output I Part Init Val The PID controller output and the I Part have the value of the input Init Val 3 Output Init Val I Part Output P The PID controller ...

Page 356: ...the factor C06 This calculated torque limit is limited to values greater than or equal to 0 and specified symmetrically as positive and negative torque limit These values do not necessarily become the currently effective torque limits The internally effective values are calculated from the minimum of C03 or C05 the i t model and the values supplied by this block The currently effective limits are ...

Page 357: ...NIK 356 100142 All binary inputs Description The block supplies the state of all binary inputs in one word Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 Outputs No Name Datatype Scaling Description 1 All BEs U16 Status of all binary inputs in word format ...

Page 358: ...puts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE6 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE6 terminal X103 9 ...

Page 359: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE7 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE7 terminal X103 10 ...

Page 360: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE8 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE8 terminal X103 11 ...

Page 361: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE9 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE9 terminal X103 12 ...

Page 362: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE10 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE10 terminal X103 13 ...

Page 363: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE11 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE11 terminal X103 14 ...

Page 364: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE12 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE12 terminal X103 15 ...

Page 365: ...uts it to the output Out and copies it to the related bit of E19 binary inputs E19 binary inputs Bit 0 X1 Enable Bit 1 X100 BE1 And so forth Bit 13 X100 BE13 NOTE Remember that binary input BE13 is only available when option module XEA MDS 5000 or LEA FDS 5000 is used Outputs No Name Datatype Scaling Description 1 Out B Status of binary input BE13 terminal X103 16 ...

Page 366: ...oordinate is read multiplied by F42 then added to F41 and output to the analog output Display parameter E16 is updated at the same time NOTE We recommend only specifying a format I16 parameter in F40 When F40 specifies a parameter with an 8 bit data type the next lower even address is read but the 8 bit value may appear in the MSB or LSB of the analog output When F40 specifies a parameter with a 3...

Page 367: ...oordinate is read multiplied by F52 then added to F51 and output to the analog output Display parameter E28 is updated at the same time NOTE We recommend only specifying a format I16 parameter in F50 When F50 specifies a parameter with an 8 bit data type the next lower even address is read but the 8 bit value may appear in the MSB or LSB of the analog output When F50 specifies a parameter with a 3...

Page 368: ...r this is read and its current value is output to BA1 or BA2 NOTE When F61 or F62 specifies a parameter with an 8 bit 16 bit or 32 bit data type the first byte of this parameter is evaluated If the value of the byte is zero the signal 0 inactive is output to the binary output If the value of the byte is a number other than zero the signal 1 active is indicated on the binary output Remember that th...

Page 369: ...is read and its current value is output to the appropriate binary output NOTE When F63 to F70 specifies a parameter with an 8 bit 16 bit or 32 bit data type the first byte of this parameter is evaluated If the value of the byte is zero the signal 0 inactive is output to the binary output If the value of the byte is a number other than zero the signal 1 active is indicated on the binary output Reme...

Page 370: ...ers of data type I16 to analog output AA2 by parameters F50 F51 and F52 and the indication in E28 see block 100161 Output binary parameters to binary outputs BA1 and BA2 with parameters F61 and F62 see block 100162 Output binary parameters to binary outputs BA3 to BA10 with parameters F63 to F70 see block 100163 NOTE Remember that Analog outputs AA1 and AA2 as well as binary outputs BA1 and BA2 on...

Page 371: ...generate a project Inputs No Name Datatype Scaling Description 1 En B This signal is used in E200 bit 0 2 Fault B This signal is used in E200 bit 1 3 QuickStp B This signal is used in E200 bit 2 4 ActAx0 B This signal is used in E200 bit 3 5 ActAx1 B This signal is used in E200 bit 4 6 AxDis B This signal is not used in the block at the moment 7 AxRun B This signal is used in E200 bit 5 8 Local B ...

Page 372: ...plies the state of the binary signal source binary input or A180 bit 1 specified by the parameter A61 fault reset source 3 QuickStp B The output supplies the state of the binary signal source binary input or A180 bit 2 specified by the parameter A62 quick stop source 4 AxSel0 B The output supplies the state of the binary signal source binary input or A180 bit 3 specified by the parameter A63 axis ...

Page 373: ...ut block Description This block generates the control signals for command positioning from analog inputs binary inputs or fieldbus process data NOTE The block is automatically used in the configuration of the axis when you generate the command positioning application with limited or endless position range ...

Page 374: ...nto an U8 value Command positioning uses the value as the identifier of the command to be executed 9 HW Lim B The output supplies the state of the source which was specified by the parameter I101 HW Limit Switch source binary input of I210 bit 1 Command positioning uses the output to show the state of the positive HW limit switch 10 HW Lim B The output supplies the state of the source which was sp...

Page 375: ...output supplies the value of the source which was specified by the parameter I110 posi latch execute source binary input or I210 bit 10 Command positioning uses the signal to trigger the posi latch function at a rising edge The current actual position is saved at the time of the riding edge 22 SwtchRes B The output supplies the value of the source which was specified by the parameter I111 switchin...

Page 376: ...nt position actual position Binary outputs BA1 to BA10 and analog outputs 1 and 2 are supported at the same time F210 BA control bits is split into single bits F181 BA1 to F188 BA8 The block with its interface can be used on blocks 100185 and 100188 for example NOTE The block is automatically used in the configuration of the axis when you generate the command positioning application with limited o...

Page 377: ...uses it to indicate the output signal of the posi switching point 11 PLatchB0 B The signal is written to I200 bit 11 Command positioning uses it to indicate status bit 0 of the posi latch function 12 PLatchB1 B The signal is written to I200 bit 12 Command positioning uses it to indicate status bit 1 of the posi latch function 13 MotioID0 B The signal is written to I200 bit 13 Command positioning u...

Page 378: ...block is automatically used in the configuration of the axis when the command positioning application is generated with limited position range Inputs No Name Datatype Scaling Description 1 Cmd U8 Command 2 Execute B A rising edge causes the waiting command to be executed 3 TargetPo P64 Skal Fkt 8 Target position for the command to be executed if the command needs a target position 4 Velocity I32 S...

Page 379: ... posi latch with a rising edge The current actual position is saved at the time the rising edge occurred 22 SwtchRes B Posi switch reset resets the posi switching point The switching point remains inactive as long as the reset input is active 23 MaxTorqu I16 16384 100 Maximum permissible torque 24 PLat TS U16 1LSB 1us Posi latch timestamp Timestamp for time at which the rising edge of posi latch e...

Page 380: ... The block is automatically used in the configuration of the axis when the command positioning application is generated with limited position range Inputs No Name Datatype Scaling Description 1 Cmd U8 Command 2 Execute B A rising edge causes the waiting command to be executed 3 TargetPo P64 Skal Fkt 8 Target position for the command to be executed if the command needs a target position 4 Velocity ...

Page 381: ... posi latch with a rising edge The current actual position is saved at the time the rising edge occurred 22 SwtchRes B Posi switch reset resets the posi switching point The switching point remains inactive as long as the reset input is active 23 MaxTorqu I16 16384 100 Maximum permissible torque 24 PLat TS U16 1LSB 1us Posi latch timestamp Timestamp for time at which the rising edge of posi latch e...

Page 382: ...nce value application Inputs No Name Datatype Scaling Description 1 Stndstil B This signal is used in D200 bit 0 The fast reference value application uses the signal to indicate that the actual motor speed has reached the value 0 Upm C40 2 RefValRe B This signal is used in D200 bit 1 The fast reference value application uses the signal to indicate that the ramp generator has reached its reference ...

Page 383: ...ut supplies the state of the source which was specified by the parameter D130 reference value source analog input or D230 The fast reference value application uses the signal as the speed reference value 3 MaxTorqu I16 16384 100 The output supplies the state of the source which was specified by the parameter C130 torque limit source analog input or C230 The fast reference value application uses th...

Page 384: ...Inputs No Name Datatype Scaling Description 1 RefVal I32 8192 1 Upm High resolution speed reference value which is added to the signal on RVrelat 2 RVrelat I16 16384 100 Relative speed reference value 3 MaxTorqu I16 16384 100 Torque limit 4 Reverse B Negates the signal RVrelat The high resolution reference value on RefVal is not negated 5 ExtFault B Triggers the event 44 external fault 1 Outputs N...

Page 385: ...tputs No Name Datatype Scaling Description 1 Position P64 POSI Target position 2 Velocity I32 POSI Positioning speed 3 Accel I32 POSI Acceleration ramp of the motion job 4 Decel I32 POSI Deceleration ramp of the motion job 5 Jerk I32 POSI Output is not used 6 Directn U8 0 kürzest 1 positiv 2 negativ 3 aktuelleRicht Direction optimization for applications with endless axis 00bin direction optimizat...

Page 386: ...Standard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 385 100206 WizDef PROFINET Keine Doku zum Baustein vorhanden ...

Page 387: ...ing 2 XMstrLim P64 Skal Fkt 19 Master actual position for limited position range 3 XMstrEnd P64 Skal Fkt 19 Master actual position for endless position range 4 XMstrTS U16 1LSB 1us Timestamp of the master position 5 MstrVel I32 Skal Fkt 20 Master speed Outputs No Name Datatype Scaling Description 6 MstrRawR I32 Master encoder raw value for referencing 7 XMstrLim P64 Skal Fkt 19 Master actual posit...

Page 388: ...e on the output Aborted means that the command was aborted by another command for example Status 1 active on the output Error shows that positioning control found an error The error code as per parameter I90 can be read from the output ErrorID When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description...

Page 389: ...eans that the command was aborted by another command for example Status 1 active on the output Error shows that positioning control found an error The error code as per parameter I90 can be read from the output ErrorID When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute sign...

Page 390: ...on XMstrLim the related timestamp XMstrTS and the master speed MstrVel The output Over Und has no function A master offset can be set with the parameter G51 A master speed offset can be set with the parameter G52 This is primarily used to simulate a rotating master Inputs No Name Datatype Scaling Description 7 GeaRatio I16 16383 1 0 Online shift of the gear ratio 16384 and 16383 1 0 Outputs No Nam...

Page 391: ...ular length G40 by outputting a 1 on this output for one cycle A 1 is indicated for one cycle for an underflow under 0 A master offset can be set with the parameter G51 A master speed offset can be set with the parameter G52 This is primarily used to simulate a rotating master Outputs No Name Datatype Scaling Description 1 MstrRawR I32 Master encoder raw value for referencing 2 XMstrLim P64 Skal F...

Page 392: ... can be used to follow the sequence in I193 when several PLCopen blocks are being sequence controlled The timestamp of the Execute signal can be connected on the input ExeTStamp for precise positioning The output Done is 1 active when the motion job was finished This state is retained until the Execute signal falls If the Execute signal becomes inactive before the job is finished Done is active fo...

Page 393: ...for one cycle when Execute signal is no longer present or until the Execute signal falls 10 Aborted B Status signal 1 active motion job was aborted by another job 11 Error B Status signal 1 active position control found an error 12 ErrorID U16 Indication of the error code as per I90 due to error found by position control 13 Active B Status signal 1 active block sends the motion job to position con...

Page 394: ... falls If the Execute signal becomes inactive before the job is finished Done is active for one cycle The output Aborted is 1 active when the motion job was aborted by another job The output Error indicates that position control has found an error An error analysis is performed on the output Error ID indicating the error coding as per I90 The output Active is 1 active when the motion job is being ...

Page 395: ...s block provides the functionality of synchronous command positioning with limited position range For the function description see the documentation of synchronous command positioning NOTE The block is automatically used in the configuration of the axis when you generate the synchronous command positioning application with limited position range ...

Page 396: ...e direction 16 RefSwitc B Connection for the reference switch signal 17 RefTStmp U16 1LSB 1us Timestamp of the reference switch signal 18 SOveride I16 8192 100 Connection for the speed override 19 ExeTStmp U16 1LSB 1us Timestamp for the Execute signal 20 MaxTorqu I16 16384 100 Maximum permissible torque 38 MstrRefS B Master reference signal A rising edge of this signal sets the actual master posit...

Page 397: ...b finished 34 InPosWin B Drive is within the position window 35 Accel B The profile generator is specifying an accelerating motion sequence at the moment 36 Decel B The profile generator is specifying a decelerating motion sequence at the moment 37 Act Pos P64 Skal Fkt 8 Current actual position ...

Page 398: ...ch 2 HW Lim B Connection for the negative hardware limit switch 3 TipEnabl B Activation of tipping mode 4 Tip B Tipping in positive direction 5 Tip B Tipping in negative direction 6 TipStep B Tipping in increments in positive direction 7 TipStep B Tipping in increments in negative direction 8 RefSwitc B Connection for the reference switch signal 9 RefTStmp U16 1LSB 1us Timestamp of the reference s...

Page 399: ...n 20 LimitSwi B Hardware or software limit switch active 21 Denied B Motion job denied 22 Limit B Maximum following error exceeded or maximum torque reached 23 Aborted B Motion job aborted 24 ConstVel B Reference speed reached 25 InPositi B Reference position reached 26 InRef B Drive is referenced 27 Local B Local mode active 28 MotioID0 B MotionID bit 0 29 MotioID1 B MotionID bit 1 30 MotioID2 B ...

Page 400: ...tive for one cycle The output Aborted is 1 active when the motion job was aborted by another job The output Error indicates that position control has found an error An error analysis is performed on the output Error ID indicating the error coding as per parameter I90 The output Active is 1 active when the motion job is being executed Inputs No Name Datatype Scaling Description 1 Execute B Execute ...

Page 401: ...borted is 1 active when the motion job was aborted by another job The output Error indicates that position control has found an error An error analysis is performed on the output Error ID indicating the error coding as per parameter I90 The output Active is 1 active when the motion job is being executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the comma...

Page 402: ... active for one cycle The output Aborted is 1 active when the motion job was aborted by another job The output Error indicates that position control has found an error An error analysis is performed on the output Error ID indicating the error coding as per parameter I90 The output Active is 1 active when the motion job is being executed Inputs No Name Datatype Scaling Description 1 Execute B Execu...

Page 403: ... Aborted is 1 active when the motion job was aborted by another job The output Error indicates that position control has found an error An error analysis is performed on output Error ID indicating the error coding as per parameter I90 The output Active is 1 active when the motion job is being executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the command...

Page 404: ...when the motion job was aborted by another job for example The output Error indicates with the status 1 active that position control has found an error The error code can be read from the output ErrorID as per parameter I90 The output Active is 1 active when the block sends the motion job to position control or the motion job is executed Inputs No Name Datatype Scaling Description 1 Execute B Exec...

Page 405: ...r example The output Error indicates with the state 1 active that position control has found an error The output ErrorID can be used to read the error code as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the command at a rising ...

Page 406: ... the command was executed successfully The output Error indicates with its status 1 active that position control has found an error The output Error ID can be read for the error code as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which trigge...

Page 407: ...e the command was executed successfully The output Error indicates with its status 1 active that position control has found an error The output Error ID can be used to read the error code as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which t...

Page 408: ...as been aborted by another command for example The output Error indicates with the state 1 active that position control has found an error The output Error ID can be used to read the error code as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal w...

Page 409: ...other command for example The output Error indicates with the state 1 active that position control has found an error The error code can be read on the output Error ID as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the command ...

Page 410: ...active the drive has coupled with the master The output Error indicates with its status 1 active that position control has found an error The error code can be read on the output Error ID as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which t...

Page 411: ... processed by the inputs of block 100306 NOTE Since block 100306 must be instanced before the data of block 100306 can be sent always use blocks 100305 and 100306 together Outputs No Name Datatype Scaling Description 1 Word0 U16 Word that was received first 2 Word1 U16 Word that was received second 3 Word2 U16 Word that was received third 4 Word3 U16 Word that was received fourth 5 Word4 U16 Word ...

Page 412: ...Word0 to Word9 Block 100305 handles the output on PROFIBUS NOTE Since block 100305 must be instanced before the data can be output always use blocks 100305 and 100306 together Inputs No Name Datatype Scaling Description 1 Word0 U16 Word that is sent first 2 Word1 U16 Word that is sent second 3 Word2 U16 Word that is sent third 4 Word3 U16 Word that is sent fourth 5 Word4 U16 Word that is sent fift...

Page 413: ...otion command byte Synchronous positioning uses this signal to select a command 2 Execute B The output supplies the state of the source which was specified by the parameter I100 execute source binary input or I222 bit 0 Synchronous positioning uses a rising edge to trigger execution of the waiting command 3 TargetPo P64 Skal Fkt 8 The output supplies the value of the parameter I213 target position...

Page 414: ...on 13 Tip B The output supplies the state of the source which was specified by the parameter I106 Tip source binary input or I222 bit 6 Synchronous command positioning uses the signal to travel in tip mode in the negative direction 14 TipStep B The output supplies the state of the source which was specified by the parameter I107 HandStep source binary input or I222 bit 7 Synchronous command positi...

Page 415: ...HNIK 414 100394 PDef C43 Description The block supplies the parameter C43 operating range low pass This value is available on the output C43 Outputs No Name Datatype Scaling Description 1 C43 I32 Skal Fkt 11 Current value of the parameter C43 operating range low pass ...

Page 416: ...lock provides the functionality of motion block positioning with limited position range For the function description see the documentation of motion block positioning publication no 441782 NOTE The block is automatically used in the configuration of the axis when you generate the motion block application with limited position range ...

Page 417: ...pStep B Tipping in increments in negative direction 21 RefSwitc B Connection for the reference switch signal 22 RefTStmp U16 1LSB 1us Timestamp of the reference switch signal 23 SOveride I16 8192 100 Connection for the speed override 24 MaxTorqu I16 16384 100 Maximum permissible torque 25 TeachIn B When the signal has a rising edge the current actual position is written to the target position of t...

Page 418: ...erator is specifying an accelerating motion sequence at the moment 53 Decel B The profile generator is specifying a decelerating motion sequence at the moment 54 Act Pos P64 Skal Fkt 8 Current actual position 55 Cam1 B Output signal of electrical cam 1 56 Cam2 B Output signal of electrical cam 2 57 Cam3 B Output signal of electrical cam 3 58 PLatStat U8 State code of posi latch see parameter I190 ...

Page 419: ...lock Description The block generates the control signals for motion block positioning from the analog inputs binary inputs or from fieldbus process data NOTE The block is automatically used in the configuration of the axis when you generate the motion block application with limited or endless position range ...

Page 420: ...tput supplies the state of the source which was specified by the parameter I112 Next Step1 binary input or I220 bit 12 Motion block positioning uses the signal to step through a motion block chain 11 NSt1TS U16 1LSB 1us The output supplies the timestamp for the signal on the output NStep1 12 NStep2 B The output supplies the state of the source which was specified by the parameter I113 Next Step2 b...

Page 421: ...position to the target position of the selected motion block when a rising edge occurs 26 LatchExe B The output supplies the value of the source which was specified by the parameter I110 posi latch execute source binary input or I220 bit 10 Motion block positioning uses the signal to trigger the posi latch function when a rising edge occurs The current actual position is saved at the time the risi...

Page 422: ...tatus byte I203 current position actual position and I204 RV acknowledge Binary outputs BA1 to BA10 and the analog outputs 1 and 2 are supported at the same time F210 BA control bits is split into individual bits F181 BA1 to F188 BA8 NOTE The block is automatically used in the configuration of the axis when you generate the command positioning application with limited or endless position range ...

Page 423: ...ate bit 2 of MotionID 12 PLCoStat U8 Bits 0 to 3 are written to I201 bit 0 to bit 3 Motion block positioning uses the signal to indicate the PLCopen state code 13 Done B The signal is written to I201 bit 4 Motion block positioning uses it to indicate that a motion job is finished 14 InPosWin B The signal is written to I201 bit 5 Motion block positioning uses it to indicate that the drive is locate...

Page 424: ... axis when you generate the command positioning application with limited or endless position range Inputs No Name Datatype Scaling Description 6 GeaRatio I16 16383 1 0 Online modification of the gear ratio 16384 and 16383 1 0 7 SpdFdFwd I16 16383 1 0 C01 External speed feed forward 16384 1 0 C01 Outputs No Name Datatype Scaling Description 1 MstrRawR I32 Master encoder raw value for referencing 2 ...

Page 425: ...mand positioning uses the signal to activate tipping mode 4 Tip B The output supplies the state of the source which was specified by the parameter I105 Tip source binary input or I222 bit 5 Command positioning uses the signal to travel in tipping mode in the positive direction 5 Tip B The output supplies the state of the source which was specified by the parameter I106 Tip source binary input or I...

Page 426: ...f the source which was specified by the parameter C130 torque limit source analog input or C230 Command positioning uses the signal as the maximum permissible torque 12 GeaRatio I16 16384 100 The output supplies the value of the source which was specified by the parameter G130 gear ratio offset source analog input or G230 Command positioning uses the signal to continuously offset the gear ratio du...

Page 427: ...mp signals are specified on TstSrc and TstRef The PLL is set with the parameters G92 PLL gain G93 PLL low pass and G94 PLL maximum correction The status of the PLL is indicated on the output State and in the parameter G95 PLL status Parameter G96 PLL measured cycle time indicates the cycle time of the timestamp on TstSrc measured by the inverter The parameter G97 PLL cycle correction shows which c...

Page 428: ...his prevents the speed feed forward from traveling over the software limit switch Inputs No Name Datatype Scaling Description 1 p SWLim B Binary input signal When the signal is 1 active the value 0 is output to n_out e g positive software limit switch 2 n SWLim B Binary input signal When the signal is 1 active the value 0 is output to n_out e g negative software limit switch 3 n_in I32 16384 1Upm ...

Page 429: ... automatically indicated Bits 31 and 30 of Value are ignored The structure of a parameter address is Bit 31 30 Axis 00b Axis1 01b Axis2 10b Axis3 11b Axis4 any axis for global parameters Bit 29 24 Group 000001b A 000010b B 000011b C and so forth Bit 23 14 Line 0000000000b Line 0 to 1111111111b Line 1023 Bit 13 0 Element for arrays or structures counted starting at 0 up to max 16383 Except in mode ...

Page 430: ...d A221 and A225 for channel 1 or A222 and A226 for channel 2 see parameter documentation When the CAM bus receives a message the bytes in the telegram are written directly to the target parameters In addition the output PDO1 tx is incremented to indicate that new data have been received on PDO channel 1 The output PDO2 tx is incremented when new data were received on PDO channel 2 Outputs No Name ...

Page 431: ...s queued the block sends up to eight bytes via PDO channel 2 as per parameters A83 A230 and A234 NOTE The inputs PDO1 tx and PDO2 tx are used bi directionally Since the inputs are cleared after a request to send value other than 0 is detected no constants can be used Inputs No Name Datatype Scaling Description 1 SendReg1 U8 Connection of the request to send for PDO channel 1 2 SendReg2 U8 Connecti...

Page 432: ...ing IPM mode parameter A915 1 the block receives the process data of PDO1 rx and assigns them to the mapping parameters The NewData output is incremented after new data were found on channel PDO1 rx Outputs No Name Datatype Scaling Description 1 NewData U8 The output is incremented after new data were found on channel PDO1 rx ...

Page 433: ...the technology reference value 4 PID off B The output supplies the state of the source which was specified by the parameter G101 source PID controller disable binary input or G210 bit 3 The technology controller application uses the signal to switch off the PID controller 5 RVrelat I16 16384 100 The output supplies the state of the source which was specified by the parameter D130 reference value s...

Page 434: ... ramp generator has reached its reference value 3 RngeLim B The signal is used in G200 bit 2 The technology controller application uses it to show that the positive or negative torque limit has been reached 4 RngeLim B The signal is used in G200 bit 3 The technology controller application uses it to show that the upper limit of the PID controller has been reached 5 Stndstil B The signal is used in...

Page 435: ...lock also handles data exchange of the cyclic data to the PKW0 routine As seen by the PROFIBUS master the configuration of the drive must be coordinated with the mapping parameters A90 A91 The block offers the following parameters A84 PROFIBUS baud rate A85 PROFIBUS diagnosis A86 PROFIBUS configuration A90 x PZD Setpoint Mapping Rx A91 x PZD Setpoint Mapping 2 Rx A93 PZD Setpoint Len A98 DP Timest...

Page 436: ... DP V1 Tx mapping for example Since the number of bytes received depends on which PPO type is configured for this drive on the PROFIBUS master the configuration of the drive must be coordinated with the mapping parameters A94 A95 as seen by the PROFIBUS master The block offers the following parameters A84 PROFIBUS baud rate A85 PROFIBUS diagnosis A86 PROFIBUS configuration A94 x PZD ActValue Mappi...

Page 437: ...tput to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam is output to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 Constant value 1 A master cam is set w...

Page 438: ...tput to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam is output to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 Constant value 0 A slave cam is set wi...

Page 439: ...n the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvL P64 Skal Fkt 8 Actual position of the slave in the limited position range 2 Slave TS U16 1LSB 1us Ti...

Page 440: ... the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 1 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvL P64 Skal Fkt 8 Actual position of the slave in the limited position range 2 Slalve T U16 1LSB 1us T...

Page 441: ... the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 2 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvL P64 Skal Fkt 8 Actual position of the slave in the limited position range 2 Slave TS U16 1LSB 1us T...

Page 442: ...n the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 3 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvL P64 Skal Fkt 8 Actual position of the slave in the limited position range 2 Slave TS U16 1LSB 1us ...

Page 443: ...d The cam is calculated when the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 0 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvE P64 Skal Fkt 8 Actual position of the slave in the endless position ran...

Page 444: ...d The cam is calculated when the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 1 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvE P64 Skal Fkt 8 Actual position of the slave in the endless position ran...

Page 445: ...d The cam is calculated when the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 2 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvE P64 Skal Fkt 8 Actual position of the slave in the endless position ran...

Page 446: ...d The cam is calculated when the signal of the input CamEnabl is active The cam is disabled when the signal is inactive The output signal of the cam is written to the display parameter N80 3 Remember that the parameter is updated with the regular technology cycle time A150 Inputs No Name Datatype Scaling Description 1 XActSlvE P64 Skal Fkt 8 Actual position of the slave in the endless position ran...

Page 447: ... Out In 3277 5 4 if 3277 In 16384 4mA to 20mA 0 to 100 Out 0 if In 3277 Out 16384 if In 16384 Alarm 0 inactive if In 2867 corresponds to 3 5mA Alarm 1 active if In 2867 4 20 4mA Out 16384 In 3277 5 4 if 3277 In 16384 20mA to 4mA 0 to 100 Out 0 if In 16384 Out 16384 if In 3277 Alarm 0 inactive if In 2867 corresponds to 3 5mA Alarm 1 active if In 2867 Then a low pass filter is performed with the tim...

Page 448: ...F21 AE2 Offset and then multiplied by F22 AE2 gain Then a low pass filter is performed with the time constant F23 AE2 ref low pass filter to smooth the reference value The filtered value is output to the output Out and indicated in E72 AE2 scale The block offers the parameters E11 E72 F21 F22 and F23 Outputs No Name Datatype Scaling Description 1 Out I16 16384 100 The output supplies the value of ...

Page 449: ...F31 AE3 Offset and then multiplied by F32 AE3 gain Then a low pass filter is performed with the time constant F33 AE3 ref low pass filter to smooth the reference value The filtered value is output to the output Out and indicated in E73 AE3 scale The block offers the parameters E73 E74 F31 F32 and F33 Outputs No Name Datatype Scaling Description 1 Out I16 16384 100 The output supplies the value of ...

Page 450: ... motion job can be specified on the input StepID The value is copied to I193 When sequence control has several PLCopen blocks the sequence can be observed in I193 The output InCam indicates 1 active when coupling to the cam occurs This state is retained until the Execute signal falls If the Execute signal becomes inactive before the job is finished InCam remains active for one cycle The output Abo...

Page 451: ...he cam table 10 StepID U16 Motion job ID 11 ExeTimes U16 Timestamp of the Execute signal Outputs No Name Datatype Scaling Description 12 InCam B Status signal 1 active the command was executed successfully 13 Aborted B Status signal 1 active motion job was aborted by another job 14 Error B Status signal 1 active position control found an error 15 ErrorID U16 Indication of the error code as per I90...

Page 452: ... the master The output Error is 1 active to indicate that position control discovered an error The error code is provided on the output ErrorID as per parameter I90 When the output Active is 1 active the block sends the motion job to position control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the command at a rising edge 6 StepI...

Page 453: ... BA1 off delay as well as inversion F82 BA1 inverting and is then output to binary output BA1 NOTE When a parameter of a data type with 8 bits 16 bits or 32 bits is specified in F61 the first byte of this parameter is evaluated When the value of the byte is 0 0 is output to the binary output When the value of the byte is not 0 1 is output to the binary output NOTE Remember that binary output 1 wit...

Page 454: ... BA1 off delay as well as inversion F85 BA1 inverting and is then output to binary output BA2 NOTE When a parameter of a data type with 8 bits 16 bits or 32 bits is specified in F62 the first byte of this parameter is evaluated When the value of the byte is 0 0 is output to the binary output When the value of the byte is not 0 1 is output to the binary output NOTE Remember that binary output 2 wit...

Page 455: ...verting and is then output to binary output BA1 When an existing parameter is entered in F62 the parameter is read passed through switchon delay F83 BA2 on delay and switchoff delay F84 BA2 off delay as well as inversion F85 BA2 inverting and is then output to binary output BA2 NOTE When a parameter of a data type with 8 bits 16 bits or 32 bits is specified in F61 or F62 the first byte of this par...

Page 456: ...output1 level is updated When the coordinate of a parameter is specified in F50 analog output2 source this is read multiplied by F52 analog output2 gain and then F51 analog output2 gain added Next comes a low pass filter of the first order with F53 analog output2 act low pass filter followed by an amount block if F54 analog output2 absolute is activated and output to the analog output At the same ...

Page 457: ...cks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 456 100819 WizDef Technology closed loop controller Description Instancing of the wizard for the Technology Controller application 16 Technology controller ...

Page 458: ...dard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 457 100820 WizDef Fast reference value Description Instancing of the wizard for the Fast Reference Value application 0 Fast reference value ...

Page 459: ...ndard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 458 100821 WizDef General options Description Instancing of the wizard for general settings The wizard can be used for every application ...

Page 460: ...e general wizard for positioning applications The wizard can be used for the following applications Motion block positioning limited and endless position range Command positioning limited and endless position range Synchronous command positioning limited and endless position range Electronic cam limited and endless position range ...

Page 461: ...ck descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 460 100823 WizDef Posi motion set Description Instancing of the Posi Motion Blocks wizard for the Motion Block Positioning application endless and limited position range ...

Page 462: ...ions ID 441692 01 STÖBER ANTRIEBSTECHNIK 461 100824 WizDef CAN Description Instancing of the wizard for the CAN bus interface You can use the wizard with the following device controllers CANopen and DSP 402 CANopen device controller ...

Page 463: ... ID 441692 01 STÖBER ANTRIEBSTECHNIK 462 100825 WizDef PROFIBUS Description Instancing of the wizard for the PROFIBUS bus interface You can use the wizard with the following device controllers PROFIBUS DSP 402 PROFIBUS device controller ...

Page 464: ...dard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 463 100826 WizDef USS Description Instancing of the wizard for the USS bus interface You can use the wizard with the USS device controller ...

Page 465: ...blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 464 100827 WizDef Command positioning Description Instancing of the wizard for the Command Positioning application limited and endless position range ...

Page 466: ...828 WizDef Electronic Gear Description Instancing of the wizard for the Electronic Gear application You can use the wizard for the following applications Motion block positioning limited and endless position range Synchronous command positioning limited and endless position range ...

Page 467: ...Standard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 466 100835 WizDef comfort reference value Description Instancing of the wizard for the Comfort Reference Value application ...

Page 468: ...n for the negative hardware limit switch 3 TipEnabl B Activation of tipping mode 4 Tip B Tipping in positive direction 5 Tip B Tipping in negative direction 6 TipStep B Tipping in increments in positive direction 7 TipStep B Tipping in increments in negative direction 8 RefSwitc B Connection for the reference switch signal 9 RefTStmp U16 1LSB 1us Timestamp of the reference switch signal 10 SOverid...

Page 469: ...ched 22 InPositi B Reference position reached 23 InRef B Drive is referenced 24 Local B Local mode active 25 MotioID0 B MotionID bit 0 26 MotioID1 B MotionID bit 1 27 MotioID2 B MotionID bit 2 28 PLCoStat U8 PLCopen state code 29 Done B Motion job finished 30 InPosWin B Drive is within the position window 31 Accel B The profile generator is specifying an accelerating motion sequence at the moment ...

Page 470: ... overflow between the last and the current cycle 1 Actual master position in endless position range has executed an underflow between the last and the current cycle 7 XLimNK P64 Skal Fkt 19 Actual master position for limited position range without dead time compensation Remark The signal without dead time compensation is needed when a reference to a real mechanical position must be established via...

Page 471: ...der value of the master encoder 2 XMstrLim P64 Skal Fkt 19 Actual master position for limited position range 3 XMstrEnd P64 Skal Fkt 19 Actual master position for endless position range 4 XMstrTS U16 1LSB 1us Timestamp of the actual master position 5 MstrVel I32 Skal Fkt 20 Master speed 6 Over Und I8 0 Actual master position in endless position range has not executed an underflow or overflow betwe...

Page 472: ... for the negative hardware limit switch 3 TipEnabl B Activation of tipping mode 4 Tip B Tipping in positive direction 5 Tip B Tipping in negative direction 6 TipStep B Tipping in increments in positive direction 7 TipStep B Tipping in increments in negative direction 8 RefSwitc B Connection for the reference switch signal 9 RefTStmp U16 1LSB 1us Timestamp of the reference switch signal 10 SOveride...

Page 473: ...ed reached 22 InPositi B Reference position reached 23 InRef B Drive is referenced 24 Local B Local mode active 25 MotioID0 B MotionID bit 0 26 MotioID1 B MotionID bit 1 27 MotioID2 B MotionID bit 2 28 PLCoStat U8 PLCopen state code 29 Done B Motion job finished 30 InPosWin B Drive is within the position window 31 Accel B The profile generator is specifying an accelerating motion sequence at the m...

Page 474: ...put1 absolute is activated and output to the analog output At the same time display parameter E16 analog output1 level is updated NOTE It is only useful to specify a format I16 parameter in F40 When F40 specifies a parameter of the 8 bit data type the next to less significant even numbered address is read and the 8 bit value can appear in the MSB or LSB of the analog output When F40 specifies a pa...

Page 475: ...utput2 absolute is activated and output to the analog output At the same time display parameter E28 analog output2 level is updated NOTE It is only useful to specify a format I16 parameter in F50 When F50 specifies a parameter of the 8 bit data type the next to less significant even numbered address is read and the 8 bit value can appear in the MSB or LSB of the analog output When F50 specifies a ...

Page 476: ...ipEnabl B The output supplies the state of the source which was specified by the parameter I104 Tip enable source binary input or I223 bit 4 The electronic cam application uses the signal to activate tipping mode 4 Tip B The output supplies the state of the source which was specified by the parameter I105 Tip source binary input or I223 bit 5 The electronic cam application uses the signal to move ...

Page 477: ...nalog input or I230 The electronic cam application uses the signal as the speed override 11 MaxTorqu I16 16384 100 The output supplies the value of the source which was specified by the parameter C130 M torque limit source analog input or C230 The electronic cam application uses the signal as the maximum permissible torque 12 MstrSetR B The output supplies the state of the source which was specifi...

Page 478: ... 1 LimitSwi B The signal is used in I200 bit 0 The electronic cam application uses it to show that a hardware or software limit switch is active 2 Denied B The signal is used in I200 bit 1 The electronic cam application uses it to show that a motion job was denied 3 Limit B The signal is used in I200 bit 2 The electronic cam application uses it to show that the maximum following error was exceeded...

Page 479: ...es it to show motionID bit 1 15 MotioID2 B The signal is used in I200 bit 15 The electronic cam application uses it to show motionID bit 2 16 PLCoStat U8 Bits 0 to 3 of the signal are used in I201 bits 0 to 3 The electronic cam application uses the bits to show the PLCopen state code 17 Done B The signal is used in I201 bit 4 The electronic cam application uses it to show that the motion job was c...

Page 480: ...state of the parameter A576 control word 2 AxSel0 B The output supplies the state of the source which was specified by the parameter A63 axis selector 0 source binary input or A576 bit 11 DSP402 device control uses the signal to switch the axes 3 AxSel1 B The output supplies the state of the source which was specified by the parameter A64 axis selector 1 source binary input or A576 bit 12 DSP402 d...

Page 481: ...t 3 QuickStp B The signal is used in E200 bit 2 DSP402 device control uses it to show that a quick stop is being executed 4 ActAx0 B The signal is used in E200 bit 3 DSP402 device control uses it to indicate the active axis with the signal on the input ActAx1 5 ActAx1 B The signal is used in E200 bit 4 DSP402 device control uses it to indicate the active axis with the signal on the input ActAx0 6 ...

Page 482: ... incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that was received first 2 Byte1 U8 Byte that was received second 3 Byte2 U8 Byte that was received third 4 Byte3 U8 Byte that was received fourth 5 Byte4 U8 Byte that was received fifth 6 Byte5 U8 Byte that was r...

Page 483: ...eived 13th 14 Byte13 U8 Byte that was received 14th 15 Byte14 U8 Byte that was received 15th 16 Byte15 U8 Byte that was received 16th 17 Byte16 U8 Byte that was received 17th 18 Byte17 U8 Byte that was received 18th 19 Byte18 U8 Byte that was received 19th 20 Byte19 U8 Byte that was received 20th 21 NewData U8 The output is incremented when new data are found 22 TimeStmp U32 1LSB 1us Displays the ...

Page 484: ...nally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that is sent first 2 Byte1 U8 Byte that is sent second 3 Byte2 U8 Byte that is sent third 4 Byte3 U8 Byte that is sent fourth 5 Byte4 U8 Byte that is sent fifth 6 Byte5 U8 Byte that is sent sixth 7 Byte6 U8 Byte that is se...

Page 485: ... 13 Byte12 U8 Byte that is sent 13th 14 Byte13 U8 Byte that is sent 14th 15 Byte14 U8 Byte that is sent 15th 16 Byte15 U8 Byte that is sent 16th 17 Byte16 U8 Byte that is sent 17th 18 Byte17 U8 Byte that is sent 18th 19 Byte18 U8 Byte that is sent 19th 20 Byte19 U8 Byte that is sent 20th 21 Send Req U8 Auslösen der Sendens wird ein Wert ungleich Null festgestellt werden die Bytes gesendet ...

Page 486: ... incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that was received first 2 Byte1 U8 Byte that was received second 3 Byte2 U8 Byte that was received third 4 Byte3 U8 Byte that was received fourth 5 Byte4 U8 Byte that was received fifth 6 Byte5 U8 Byte that was r...

Page 487: ...eived 13th 14 Byte13 U8 Byte that was received 14th 15 Byte14 U8 Byte that was received 15th 16 Byte15 U8 Byte that was received 16th 17 Byte16 U8 Byte that was received 17th 18 Byte17 U8 Byte that was received 18th 19 Byte18 U8 Byte that was received 19th 20 Byte19 U8 Byte that was received 20th 21 NewData U8 The output is incremented when new data are found 22 TimeStmp U32 1LSB 1us Displays the ...

Page 488: ...nally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that is sent first 2 Byte1 U8 Byte that is sent second 3 Byte2 U8 Byte that is sent third 4 Byte3 U8 Byte that is sent fourth 5 Byte4 U8 Byte that is sent fifth 6 Byte5 U8 Byte that is sent sixth 7 Byte6 U8 Byte that is se...

Page 489: ...twelfth 13 Byte12 U8 Byte that is sent 13th 14 Byte13 U8 Byte that is sent 14th 15 Byte14 U8 Byte that is sent 15th 16 Byte15 U8 Byte that is sent 16th 17 Byte16 U8 Byte that is sent 17th 18 Byte17 U8 Byte that is sent 18th 19 Byte18 U8 Byte that is sent 19th 20 Byte19 U8 Byte that is sent 20th 21 Send Req U8 Request to send The bytes are sent when a value other than zero is found ...

Page 490: ... incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that was received first 2 Byte1 U8 Byte that was received second 3 Byte2 U8 Byte that was received third 4 Byte3 U8 Byte that was received fourth 5 Byte4 U8 Byte that was received fifth 6 Byte5 U8 Byte that was r...

Page 491: ...eived 13th 14 Byte13 U8 Byte that was received 14th 15 Byte14 U8 Byte that was received 15th 16 Byte15 U8 Byte that was received 16th 17 Byte16 U8 Byte that was received 17th 18 Byte17 U8 Byte that was received 18th 19 Byte18 U8 Byte that was received 19th 20 Byte19 U8 Byte that was received 20th 21 NewData U8 The output is incremented when new data are found 22 TimeStmp U32 1LSB 1us Displays the ...

Page 492: ...nally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that is sent first 2 Byte1 U8 Byte that is sent second 3 Byte2 U8 Byte that is sent third 4 Byte3 U8 Byte that is sent fourth 5 Byte4 U8 Byte that is sent fifth 6 Byte5 U8 Byte that is sent sixth 7 Byte6 U8 Byte that is se...

Page 493: ...twelfth 13 Byte12 U8 Byte that is sent 13th 14 Byte13 U8 Byte that is sent 14th 15 Byte14 U8 Byte that is sent 15th 16 Byte15 U8 Byte that is sent 16th 17 Byte16 U8 Byte that is sent 17th 18 Byte17 U8 Byte that is sent 18th 19 Byte18 U8 Byte that is sent 19th 20 Byte19 U8 Byte that is sent 20th 21 Send Req U8 Request to send The bytes are sent when a value other than zero is found ...

Page 494: ... incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that was received first 2 Byte1 U8 Byte that was received second 3 Byte4 U8 Byte that was received third 4 Byte5 U8 Byte that was received fourth 5 Byte4 U8 Byte that was received fifth 6 Byte5 U8 Byte that was r...

Page 495: ... 13th 14 Byte13 U8 Byte that was received 14th 15 Byte14 U8 Byte that was received 15th 16 Byte15 U8 Byte that was received 16th 17 Byte16 U8 Byte that was received 17th 18 Byte17 U8 Byte that was received 18th 19 Byte18 U8 Byte that was received 19th 20 Byte19 U8 Byte das an 20 Stelle empfangen wurde 21 NewData U8 The output is incremented when new data are found 22 TimeStmp U32 1LSB 1us Displays...

Page 496: ...nally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Byte0 U8 Byte that is sent first 2 Byte1 U8 Byte that is sent second 3 Byte2 U8 Byte that is sent third 4 Byte3 U8 Byte that is sent fourth 5 Byte4 U8 Byte that is sent fifth 6 Byte5 U8 Byte that is sent sixth 7 Byte6 U8 Byte that is se...

Page 497: ...twelfth 13 Byte12 U8 Byte that is sent 13th 14 Byte13 U8 Byte that is sent 14th 15 Byte14 U8 Byte that is sent 15th 16 Byte15 U8 Byte that is sent 16th 17 Byte16 U8 Byte that is sent 17th 18 Byte19 U8 Byte that is sent 18th 19 Byte18 U8 Byte that is sent 19th 20 Byte19 U8 Byte that is sent 20th 21 Send Req U8 Request to send The bytes are sent when a value other than zero is found ...

Page 498: ...target parameters as per variable PDO mapping When a message is received via EtherCAT bus the bytes in the telegram are written directly to the target parameters The output NewData is also incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 NewData U8 The output is incremented w...

Page 499: ... six parameters with a variable length of up to 4 bytes as per variable PDO mapping on PDO channel 1 via EtherCAT NOTE The input Send Req is used bi directionally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Send Req U8 Request to send The bytes are sent when a value other than zero is ...

Page 500: ...target parameters as per variable PDO mapping When a message is received via EtherCAT bus the bytes in the telegram are written directly to the target parameters The output NewData is also incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 NewData U8 The output is incremented w...

Page 501: ... six parameters with a variable length of up to 4 bytes as per variable PDO mapping on PDO channel 2 via EtherCAT NOTE The input Send Req is used bi directionally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Send Req U8 Request to send The bytes are sent when a value other than zero is ...

Page 502: ...target parameters as per variable PDO mapping When a message is received via EtherCAT bus the bytes in the telegram are written directly to the target parameters The output NewData is also incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 NewData U8 The output is incremented w...

Page 503: ... six parameters with a variable length of up to 4 bytes as per variable PDO mapping on PDO channel 3 via EtherCAT NOTE The input Send Req is used bi directionally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Send Req U8 Request to send The bytes are sent when a value other than zero is ...

Page 504: ...target parameters as per variable PDO mapping When a message is received via EtherCAT bus the bytes in the telegram are written directly to the target parameters The output NewData is also incremented to show that new data were received The output TimeStmp has the timestamp in µs of when this message was received Outputs No Name Datatype Scaling Description 1 NewData U8 The output is incremented w...

Page 505: ... six parameters with a variable length of up to 4 bytes as per variable PDO mapping on PDO channel 4 via EtherCAT NOTE The input Send Req is used bi directionally Since the input is cleared after a request to send is received value other than 0 no constants may be connected Inputs No Name Datatype Scaling Description 1 Send Req U8 Request to send The bytes are sent when a value other than zero is ...

Page 506: ... with a delay of OnDelay and turned off with a delay of OffDelay The delay times are specified in milliseconds Inputs No Name Datatype Scaling Description 1 In B Input for the binary signal to be delayed 2 OnDelay U32 1LSB 1us Time delay for switchon 3 OffDelay U32 1LSB 1us Time delay for switchoff Outputs No Name Datatype Scaling Description 4 Out B Output for the binary signal to be delayed ...

Page 507: ...one of the values on OnDelay and OffDelay is not zero the signal on In is delayed by the value in OnDelay and OffDelay The delayed signal is output to Out Inputs No Name Datatype Scaling Description 1 In B Input for the binary signal to be delayed 2 OnDelay U32 1LSB 1us Time delay for switchon 3 OffDelay U32 1LSB 1us Time delay for switchoff Outputs No Name Datatype Scaling Description 4 Out B Out...

Page 508: ...s A switchon delay can be parameterized on the input InDelay for the binary signal and a switchoff delay on the input OutDelay Inputs No Name Datatype Scaling Description 1 Parametr B Signal source for the setting Sel 2 For example the bit of a control word that is sent to the inverter via fieldbus can be connected to this input 2 All BEs U16 Signal source for the settings Sel 3 to 28 E19 binary i...

Page 509: ...ameter D116 motorised pot preset source binary input or D211 bit 2 The signal can be parameterized with a switchon or switchoff delay in parameters D416 x The comfort reference value application uses the signal to set the motorized pot reference value to the Preset value 4 MPRmpSel B The output supplies the state of the source which was specified by the parameter D117 motorized pot ramp source bin...

Page 510: ... comfort reference value application NOTE The block is used automatically in the configuration of the axis if you generate the comfort reference value application Outputs No Name Datatype Scaling Description 1 MPEna B Enable for the motor potentiometer block 2 PMHEna B Enable for 1 block binary inputs 3 PREna B Enable of the block binary inputs preset values and preset values ramps ...

Page 511: ...th a switchon or switchoff delay with the parameters D401 x The comfort reference value application uses the signal to trigger a fault externally 3 Stop B The output supplies the state of the source which was specified by the parameter D102 stop source binary input or D210 bit 2 The signal can be parameterized with a switchon or switchoff delay with the parameters D402 x The comfort reference valu...

Page 512: ...be parameterized with a switchon or switchoff delay with the parameters D409 x The comfort reference value application uses the signal to disable the negative direction 11 TorquSwi B The output supplies the state of the source which was specified by the parameter D110 torque switch source binary input or D210 bit 10 The signal can be parameterized with a switchon or switchoff delay with the parame...

Page 513: ...is not activated as the source in D125 0 a selection of 16 preset reference value is available in bits 0 to 3 of D212 NOTE The block is used automatically in the configuration of the axis if you generate the comfort reference value application Outputs No Name Datatype Scaling Description 1 PRRefSel U8 The output supplies the state of the sources which were specified via parameter D124 0 to D124 3 ...

Page 514: ...Evaluation of the sign of the particular preset reference value or the state of the direction of rotation D300 control selection of deceleration ramps for clockwise and counterclockwise When D21 x is 1 active D22 x and D23 x are used regardless of the direction of rotation When D13 0 preset reference value and a switch from a higher to a lower preset reference value deceleration uses the decelerat...

Page 515: ...ck 100818 expanded output block is only calculated when the array parameter is D229 7 1 The comfort reference value application sets this parameter to 1 when an analog or digital output is used see block 100929 With parameter F209 the bits of F210 are imaged on parameters F181 to F188 F209 0 or the bits of F200 F209 1 which represent the binary inputs BE1 to BE8 see block 100930 NOTE The block is ...

Page 516: ...alwd B The signal is used in D200 bit 10 The comfort reference value application uses it to show that a reference value is specified in the blocked direction of rotation 13 nLimPos B The signal is used in D200 bit 11 The comfort reference value application uses it to show that the positive speed limit was reached 14 nLimNeg B The signal is used in D200 bit 12 The comfort reference value applicatio...

Page 517: ...D64 and D65 D64 D69 D65 36 Ar1RED B The signal is used in D202 bit 0 The comfort reference value application uses it to show that the value indicated in D69 is below the limit entered in D64 D69 D64 37 Ar2RED B The signal is used in D202 bit 9 The comfort reference value application uses it to show that the value indicated in D79 is above the limit entered in D77 D79 D77 38 Ar2YEL B The signal is ...

Page 518: ...ve been multiplied and limited are indicated in D392 MaxTMot or in D393 MaxTGen NOTE Remember that the torque limitation also includes motor or device dependent limits as well as C03 C05 for details see documentation of torque limits The actually effective limits are listed in E62 E66 When the block is used in connection with block 100935 absolute torque limitation the application must ensure that...

Page 519: ...mber that the torque limitation also includes motor or device dependent limits as well as C03 C05 for details see documentation of torque limits The actually effective limits are listed in E62 E66 When the block is used in connection with block 100934 torque limitation motorized generator the application must ensure that only one of the two blocks is calculated since parameters D392 and D393 are u...

Page 520: ...iption 1 MaxTorq1 I16 4096 100 Maximum torque limitation value 1 display parameter C330 2 MaxTorq2 I16 4096 100 Maximum torque limitation value 2 display parameter C331 3 MaxTMot I16 4096 100 Maximum value motor torque display parameter C332 4 MaxTGen I16 4096 100 Maximum value for generator torque display parameter C333 5 Torqu Sw B Switch between MaxTorq1 und MaxTorq2 display parameter D310 Outp...

Page 521: ...ue from parameter E91 n motor The comfort reference value application uses the block to store the current speed during switches from torque to speed control In this case the block is disabled which is the same as latching the filtered value Outputs No Name Datatype Scaling Description 1 n actual I32 16384 1Upm Filtered actual speed value n Motor ...

Page 522: ...s it by the value of the I32 parameter on the input scale The result is output as an I16 variable to the output Out If the value of the parameter selected by the G5 address on input 1 Adress equals the value of the parameter on input 2 scale the value 16384 is available on output 3 Out which corresponds to a value of 100 for the analog output Inputs No Name Datatype Scaling Description 1 Adress U3...

Page 523: ...on The block converts parameters in I32 format to a value in I16 format This means that I32 values can be output to an analog output The block multiplies the I32 parameter specified in D98 2 by 16384 and divides it by the value of parameter D56 The result is written as an I16 variable to the parameter D99 2 ...

Page 524: ... active 3 D79 D75 AreaRED D197 is 1 active 4 D79 D74 AreaYEL D196 is 1 active 5 Otherwise AreaGRN D195 is 1 active Parameter D73 can be used to enable the creation of an absolute value Range control can be disabled by the signal on the input Reset Range control can also be disabled based on parameter D78 When D78 is set to 0 inactive range control is disabled when A900 0 inactive or one of the sig...

Page 525: ...tion The block converts parameters in I32 format to a value in I16 format This means that I32 values can be output to an analog output The block multiplies the I32 parameter specified in D98 1 by 16384 and divides it by the value of parameter D56 The result is written as an I16 variable to parameter D99 1 ...

Page 526: ...tion The block converts parameters in I32 format to a value in I16 format This means that I32 values can be output to an analog output The block multiplies the I32 parameter specified in D98 0 by 16384 and divides it by the value of parameter D56 The result is written as an I16 variable to parameter D99 0 ...

Page 527: ...tion The block converts parameters in I32 format to a value in I16 format This means that I32 values can be output to an analog output The block multiplies the I32 parameter specified in D98 3 by 16384 and divides it by the value of parameter D56 The result is written as an I16 variable to parameter D99 3 ...

Page 528: ...3 is 1 active 3 D69 D65 AreaRED D192 is 1 active 4 D69 D64 AreaYEL D191 is 1 active 5 Otherwise AreaGRN D190 is 1 active Parameter D63 can be used to enable the creation of an absolute value Range control can be disabled by the signal on the input Reset Range control can also be disabled based on parameter D68 When D68 is set to 0 inactive range control is disabled when A900 0 inactive or one of t...

Page 529: ...rising edge of the signal LimSwiP and an active signal ActDirN OR a rising edge of the signal LimSwiN and an active signal ActDirP sets the output LimFault LimFault is reset by LimSAct If the setting condition is true for the signal LSPCovrd or LSNCovrd the output LimEvent is set LimEvent is reset by one of the following conditions Falling edge of the signal LimSwiP or LimSwiN LimFault 1 active Re...

Page 530: ... not zero or if D55 0 inactive the output signal RefVEna is set to 1 active If bit 3 of the result of the bitwise AND comparison and the input Stop are active the output signal JogRefEna is set to 1 active Inputs No Name Datatype Scaling Description 1 RVEnaIn U8 Summation signal of the individual reference value enables similar to D55 4 Stop B Stop signal Outputs No Name Datatype Scaling Descripti...

Page 531: ...his block contains the functionality of the comfort reference value application For a function description see documentation of the comfort reference value application publication no 441843 NOTE The block is used automatically in the configuration of the axis if you generate the comfort reference value application ...

Page 532: ...B Reverse direction 16 ExtFault B Trigger external fault 17 Stop B Trigger stop display parameter D302 18 LimSwiP B Limit switch signal 19 LimSwiN B Limit switch signal 20 JogEna B Enable jog 21 DirPDis B Disable positive direction 22 DirNDis B Disable negative direction 23 SMasSlav B Switch master slave drive display parameter D311 24 SRefTorq B Switch speed torque 25 AddEna2 B Additional enable ...

Page 533: ...play parameter D434 55 RefRdy B Reference value ready display parameter D435 56 JogAct B Jog enabled display parameter D437 57 StopAct B Stop active display parameter D438 58 SkipAct B Skip active display parameter D439 59 ActMPos B Positive torque active 60 ActMNeg B Negative torque active 61 ActDirP B Forward active 62 AccActiv B Acceleration active 63 DecActiv B Deceleration active 64 Ar1RED B ...

Page 534: ... block is executed first and then the filter This means that the last value before the alarm is saved When the Alarm signal is active the saved and filtered value is output to the output and event 4 is triggered A falling edge of the signal Alarm resets the latch block and the input signal is output unchanged to Out Inputs No Name Datatype Scaling Description 1 Alarm B Switch the output Out from u...

Page 535: ... parameter D133 correction ref value 1 source analog input or D233 4 CRefV2 I16 16384 100 The output supplies the state of the source which was specified by the parameter D134 correction ref value 2 source analog input or D234 5 JogRef I16 16384 100 The output supplies the state of the source which was specified by the parameter D135 jog ref value source analog input or D235 6 TechRefV I16 16384 1...

Page 536: ...arameter D137 max V torque control source analog input or D237 14 MaxPSpd I16 16384 100 The output supplies the state of the source which was specified by the parameter D138 max V speed control source analog input or D238 15 MaxNSpd I16 16384 100 The output supplies the state of the source which was specified by the parameter D139 max V speed control source analog input or D239 16 MasRef I16 16384...

Page 537: ...Min and N Max Output En becomes active when RefIn RefMin and remains active as long as RefIn RefMin 0 1 V Output Alarm becomes active when RefIn RefMin 0 5 V and RefMin 0 5 V 0 5 V 819 If N Min is not zero the sign of RefOut is only changed when RefIn changes at least from 0 1 V to 0 1 V 0 1 V 164 or vice versa hysteresis Inputs No Name Datatype Scaling Description 1 RefIn I16 16384 100 Reference ...

Page 538: ...espective reference value enable is set The reference value enable is written to the related bit of the output value on RefVEna The bit numbering for the six reference values corresponds to the element numbering from the above table e g bit 4 for the signal on TechRefV Calculation of the six characteristic curves is enabled with parameters D299 0 to D229 5 When JogPos 1 active the scaled signal of...

Page 539: ...and D54 3 scaled and converted to data format I32 Is used by the comfort reference value application as jog reference value 18 TechRefV I32 16384 1Upm Output of the signal of TechRefV with D51 4 D52 4 D53 4 and D54 4 scaled and converted to data format I32 Is used by the comfort reference value application as technology reference value 19 TechActV I32 16384 1Upm Output of the signal of ActRefV wit...

Page 540: ...ically in the configuration of the axis if you generate the comfort reference value application Inputs No Name Datatype Scaling Description 1 MPUp B Increase motorized pot output value display parameter D314 2 MPDown B Decrease motorized pot output value display parameter D315 3 MPPreset B Set motorized pot output to preset value D44 8 MPRmpSel B Switch ramps from D41 to D42 when D40 bit 7 1 activ...

Page 541: ...ch the velocity of the virtual master moves from the current actual value to the reference value 3 RefPos I32 Skal Fkt 19 Master reference position When the input SetRef has a rising edge the actual position of the virtual master is set to this position 4 SetRef B When this input has a rising edge the current actual position of the virtual master is set to the value on the input RefPos Outputs No ...

Page 542: ...ecified on the input StepID The value is copied to I193 When sequence control has several PLCopen blocks the sequence can be observed in I193 The output InCam is 1 active when to the cam table is coupled This state is retained until the Execute signal falls When the Execute signal becomes inactive before the job is finished InCam remains active for one cycle The output Aborted is 1 active when the...

Page 543: ...scaled output value of the cam table 10 StepID U16 Motion job ID Outputs No Name Datatype Scaling Description 11 InCam B Status signal 1 active the command was executed successfully 12 Aborted B Status signal 1 active motion job was aborted by another job 13 Error B Status signal 1 active position control found an error 14 ErrorID U16 Indication of the error code as per I90 due to error found by p...

Page 544: ...from this based on the speed profile A rising edge on parameter G59 sets the actual position of the virtual master to the value of the parameter G58 The generated position values of the block are transferred via a system interface to both a driver for the local actual master position and a driver for the SSI simulation The current position of the virtual master is indicated in G190 and the current...

Page 545: ...locks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 544 100971 WizDef electronic cam positioning Description Instancing of the wizard for the electronic cam application limited and endless position range ...

Page 546: ...blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 545 100972 WizDef cam table master scaling Description Instancing of the wizard for the electronic cam application limited and endless position range ...

Page 547: ...D 441692 01 STÖBER ANTRIEBSTECHNIK 546 100973 WizDef EtherCAT Description Instancing of the wizard for the EtherCAT bus interface You can use the wizard with the following device controllers EtherCAT and DSP 402 EtherCAT device controller ...

Page 548: ...osition The value 1 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam...

Page 549: ...sition The value 0 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam ...

Page 550: ...osition The value 1 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam...

Page 551: ...sition The value 0 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam ...

Page 552: ...osition The value 1 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam...

Page 553: ...sition The value 0 is permanently output to the output Mstr Slv This output can be directly connected to the applicable input of the cam block The start position is output to the output CamStart and the end position of the cam to the output CamEnd NOTE Remember that this block may only be used in the electronic cam application Outputs No Name Datatype Scaling Description 1 Mstr Slv U8 0 Slave cam ...

Page 554: ...vates immediately the first time it executes the driver function for latching the zero pulse of the position encoder The block also monitors the status signal of the driver When the zero pulse occurs the latched counter value appears in E157 At the same time status signal E158 is set to 1 active Parameter I02 is also instanced ...

Page 555: ...when output Done 1 active When the output Aborted has the status 1 active the command was aborted by another command for example The 1 active state of the Error output means that positioning control has determined an error The error code as per parameter G163 error code can be read from the ErrorID output If output Active 1 active the block sends the positioning job to positioning control or the c...

Page 556: ...ve When the output Aborted has the status 1 active the command was aborted by another command for example The 1 active state of the Error output means that positioning control has determined an error The error code as per parameter G163 error code can be read from the ErrorID output If output Active 1 active the block sends the positioning job to positioning control or the command is executed Inpu...

Page 557: ...s state is retained until the Execute signal falls If the Execute signal becomes inactive before the job is finished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G16...

Page 558: ...he Execute signal falls If the Execute signal becomes inactive before the job is finished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G163 Error Code The Active out...

Page 559: ...inactive before the job is finished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G163 Error Code The Active output is 1 active when the positioning job is being exec...

Page 560: ...nished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G163 Error Code The Active output is 1 active when the positioning job is being executed Inputs No Name Datatype ...

Page 561: ...inactive before the job is finished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G163 Error Code The Active output is 1 active when the positioning job is being exec...

Page 562: ...nished Done becomes active for one cycle The Aborted output is 1 active when the positioning job was aborted by another job The Error output indicates that positioning control has found an error An error analysis is provided on the ErrorID output which indicates the error coding as per G163 Error Code The Active output is 1 active when the positioning job is being executed Inputs No Name Datatype ...

Page 563: ... When the Error output is 1 active positioning control has found an error The error code as per parameter G163 Error Code can be read from the ErrorID output When the Active output is 1 active the block sends the positioning job to positioning control or the command is executed Inputs No Name Datatype Scaling Description 1 Execute B Execute signal which triggers the command at a rising edge 2 Velo...

Page 564: ...en the Done output is 1 active the command has been successfully executed When the Error output is 1 active positioning control has found an error The error code as per parameter G163 Error Code can be read from the ErrorID output When the Active output is 1 active the block sends the positioning job to positioning control or the command is executed Inputs No Name Datatype Scaling Description 1 Ex...

Page 565: ...ed When the Done output is 1 active the command has been successfully executed When the Error output is 1 active positioning control has found an error The error code as per parameter G163 Error Code can be read from the ErrorID output When the Active output is 1 active the block sends the positioning job to positioning control or the command is executed Inputs No Name Datatype Scaling Description...

Page 566: ...h the output Over Und is set to 1 for one cycle When an underflow occurs in relation to the circular length the output Over Und is set to 1 Inputs No Name Datatype Scaling Description 1 XMstrLim P64 Skal Fkt 19 Continuous master position 2 XMstrEnd P64 Skal Fkt 19 Master position converted to circular length 3 MstrVel I32 Skal Fkt 20 Master speed 4 Over Und I8 Overflow Underflow input Expects a 1 ...

Page 567: ...IEBSTECHNIK 566 11 XLimNK P64 Skal Fkt 19 Continuous master position without offset based on time stamp of the encoder evaluation 12 XEndNK P64 Skal Fkt 19 Master position converted to circular length without offset based on time stamp of the encoder evaluation ...

Page 568: ...101038 Master PLCopen MC_Home 101039 Master PLCopen MC_MoveAbsolute with time stamp 101040 Master PLCopen MC_MoveAbsolute 101041 Master PLCopen MC_MoveRelative with time stamp 101042 Master PLCopen MC_MoveRelative 101043 Master PLCopen MC_MoveAdditive with time stamp 101044 Master PLCopen MC_MoveAdditive 101046 Master PLCopen MC_MoveVelocity 101048 Master PLCopen MC_Stop 101049 Master PLCopen MC_R...

Page 569: ... When N140 is active the block indicates whether the drive is within a certain position range cam If the current position is located on or between the start position and the end position the signal 1 is output to the output Out The current position is taken from the parameters I900 I901 slave cam or G908 G909 master cam based on the setting of N141 A hysteresis is specified for the cam block which...

Page 570: ...th Deceleration application Inputs No Name Datatype Scaling Description 1 RefVal I32 8192 1 Upm High resolution speed reference value which is added to the signal in RVrelat 2 RVrelat I16 16384 100 Relative speed reference value 3 MaxTorqu I16 16384 100 Torque limit 4 Reverse B Negates the RVrelat signal The high resolution reference value in RefVal is not negated 5 ExtFault B Used to trigger even...

Page 571: ...rence measurement in Position from rising to falling edge of LExec Mode 7 Difference measurement in Position from falling to rising edge of LExec The recording state is output at output LatchSta LatchSta 0 LExec is high The set event will cause triggering LatchSta 1 Saving is finished in modes 0 to 3 The end state has been reached The first trigger event was detected in modes 4 to 7 The 2nd event ...

Page 572: ...locks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 571 101096 PDef E40 Description This block defines parameter E40 For the function of the parameter see the parameter description in the parameter lists ...

Page 573: ... times the parameter records are set up as Q parameters using the next free parameter in group Q Outputs No Name Datatype Scaling Description 1 Position P64 Skal Fkt 19 Target position 2 Velocity I32 Skal Fkt 20 Positioning speed 3 Accel I32 Skal Fkt 20 Acceleration ramp of the positioning job 4 Decel I32 Skal Fkt 20 Deceleration ramp of the positioning job 5 Jerk I32 Skal Fkt 20 Output is not use...

Page 574: ...s Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 573 101100 WizDef cam table master scaling OptimusMotus Description Instancing of the wizard for cam tables and Optimus Motus in the Electronic Cam application ...

Page 575: ...cks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 574 101104 PDef B30 Description This block defines the parameter B30 For the function of the parameter see the parameter description in the parameter lists ...

Page 576: ...Standard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 575 101134 IGB Motionbus Keine Doku zum Baustein vorhanden ...

Page 577: ...th a switchon or switchoff delay with the parameters D401 x The comfort reference value application uses the signal to trigger a fault externally 3 Stop B The output supplies the state of the source which was specified by the parameter D102 stop source binary input or D210 bit 2 The signal can be parameterized with a switchon or switchoff delay with the parameters D402 x The comfort reference valu...

Page 578: ...a switchon or switchoff delay with the parameters D409 x The comfort reference value application uses the signal to disable the negative direction 11 TorquSwi B The output supplies the state of the source which was specified by the parameter D110 torque switch source binary input or D210 bit 10 The signal can be parameterized with a switchon or switchoff delay with the parameters D410 x The comfor...

Page 579: ...his block contains the functionality of the comfort reference value application For a function description see documentation of the comfort reference value application publication no 441843 NOTE The block is used automatically in the configuration of the axis if you generate the comfort reference value application ...

Page 580: ...fault 17 Stop B Trigger stop display parameter D302 18 LimSwiP B Limit switch signal 19 LimSwiN B Limit switch signal 20 JogEna B Enable jog 21 DirPDis B Disable positive direction 22 DirNDis B Disable negative direction 23 SMasSlav B Switch master slave drive display parameter D311 24 SRefTorq B Switch speed torque 25 AddEna2 B Additional enable 2 display parameter D313 26 MPRef I32 Motorized pot...

Page 581: ...play parameter D434 55 RefRdy B Reference value ready display parameter D435 56 JogAct B Jog enabled display parameter D437 57 StopAct B Stop active display parameter D438 58 SkipAct B Skip active display parameter D439 59 ActMPos B Positive torque active 60 ActMNeg B Negative torque active 61 ActDirP B Forward active 62 AccActiv B Acceleration active 63 DecActiv B Deceleration active 64 Ar1RED B ...

Page 582: ...to clockwise and counterclockwise When the setting is 0 inactive D22 x and D23 x are used for clockwise and D24 x and D25 x are used for counterclockwise Evaluation of the sign of the particular preset reference value or the state of the direction of rotation D300 control selection of deceleration ramps for clockwise and counterclockwise When D21 x is 1 active D22 x and D23 x are used regardless o...

Page 583: ...Name Datatype Scaling Description 5 PRRef I32 Value of the selected preset reference value 6 PRVal I32 Value of the selected preset value 7 PRAcc I32 Value of the selected preset reference value acceleration ramp 8 PRDec I32 Value of the selected preset reference value deceleration ramp ...

Page 584: ...andard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 583 101148 PN mapping immediately transmit Keine Doku zum Baustein vorhanden Inputs No Name Datatype Scaling Description 1 Send Req U8 ...

Page 585: ...ndard blocks Block descriptions ID 441692 01 STÖBER ANTRIEBSTECHNIK 584 101149 PN mapping receive Keine Doku zum Baustein vorhanden Outputs No Name Datatype Scaling Description 1 NewData U8 2 TimeStmp U32 ...

Page 586: ...Name Datatype Scaling Description 1 Word0 U16 2 Word1 U16 3 Word2 U16 4 Word3 U16 5 Word4 U16 6 Word5 U16 7 Word6 U16 8 Word7 U16 9 Word8 U16 10 Word9 U16 11 Word10 U16 12 Word11 U16 13 Word12 U16 14 Word13 U16 15 Word14 U16 16 Word15 U16 17 Word16 U16 18 Word17 U16 19 Word18 U16 20 Word19 U16 21 Word20 U16 22 Word21 U16 23 Word22 U16 24 Word23 U16 25 Send Req U8 ...

Page 587: ...atype Scaling Description 1 Word0 U16 2 Word1 U16 3 Word2 U16 4 Word3 U16 5 Word4 U16 6 Word5 U16 7 Word6 U16 8 Word7 U16 9 Word8 U16 10 Word9 U16 11 Word10 U16 12 Word11 U16 13 Word12 U16 14 Word13 U16 15 Word14 U16 16 Word15 U16 17 Word16 U16 18 Word17 U16 19 Word18 U16 20 Word19 U16 21 Word20 U16 22 Word21 U16 23 Word22 U16 24 Word23 U16 25 NewData U8 26 TimeStmp U32 ...

Page 588: ...Notes Block descriptions ID 441692 01 www stoeber de STÖBER ANTRIEBSTECHNIK ...

Page 589: ...7393 eMail info stoeber cn www stoeber cn STOBER DRIVES INC 1781 Downing Drive Maysville KY 41056 Fon 1 606 7595090 Fax 1 606 7595045 eMail sales stober com www stober com STOBER DRIVES LTD Upper Keys Business Village Keys Park Road Hednesford Cannock WS12 2HA Fon 44 0 1543 458 858 Fax 44 0 1543 448 688 E Mail mail stober co uk www stober co uk STOBER Japan P O Box 113 002 6 chome 15 8 Hon komagom...

Page 590: ...elbronner Str 12 75177 PFORZHEIM GERMANY Tel 49 0 7231 582 0 Fax 49 7231 582 1000 E Mail mail stoeber de 24 h service hotline 49 0 180 5 786 323 Technische Änderungen vorbehalten Errors and changes excepted ID 441692 01 02 2012 www stober com ...

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