5 Commissioning and operation
| Parameterising the module for the drive system
27
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
Parameterising the module for the reference switch
A reference switch is integrated by setting the appropriate
parameters for the stepper motor module. For a detailed de-
scription of the adjustable parameters, see Section 3.7.
The reference switch must be connected correctly to the
module (see Section 4.3).
If you want to approach the reference switch in a coun-
ter-clockwise direction:
▶
Set the “function DI” parameter for channel 0 to “ref.
switch left/ccw”.
If you want to approach the reference switch in a clockwise
direction:
▶
Set the “function DI” parameter for channel 0 to “ref.
switch right/cw”.
If you want to evaluate the reference switch as an NC con-
tact:
▶
Set the “inversion” parameter for channel 0 to “enabled”.
If the reference run is to end once the reference switch has
been actuated:
▶
Set the “homing” parameter to “stop on ref.switch 0
➝
1”.
If the reference run is to end once the reference switch has
been triggered and has been released again:
▶
Set the “homing” parameter to “stop on ref.switch 1
➝
0”.
If the reference run is to end once the “homing” bit is reset
again in the process output data:
▶
Set the “homing” parameter to “stop on bit homing 1
➝
0”.
This setting is especially suitable if you are using a reference
switch that is not connected to the stepper motor module.
We advise that you debounce switches, espe-
cially mechanical switches. To do this, set the
“filter time” parameter for the channel to “5 ms”.
Parameterising the module for limit switches
Limit switches are integrated by setting the appropriate
parameters for the stepper motor module. For a detailed de-
scription of the adjustable parameters, see Section 3.7.
The limit switches must be connected correctly to the mod-
ule (see Section 4.4).
▶
Set the “function DI” parameter for channel 4 to “limit.
switch right/cw”.
▶
Set the “function DI” parameter for channel 5 to “limit
switch left/ccw”.
Limit switches are always evaluated by the step-
per motor module as an NC contact.
We advise that you debounce switches, espe-
cially mechanical switches. To do this, set the
“filter time” parameter for the channel to “5 ms”.
Parameterising the module for the incremental rotary en-
coder
An incremental rotary encoder is integrated by setting the
appropriate parameters for the stepper motor module. For a
detailed description of the adjustable parameters, see Sec-
tion 3.7.
The rotary encoder must be connected correctly to the mod-
ule (see Section 4.5).
▶
Set the “function DI” parameter for channel 4 to
“encoder sig. A”.
▶
Set the “function DI” parameter for channel 5 to
“encoder sig. B”.
▶
Set the “encoder resolution” parameter to the resolution
of the rotary encoder.
If you want to use the zero track signal of the rotary encoder:
▶
Set the “function DI” parameter for channel 1 to “zero
track”.
If you want to illustrate the position of the rotary encoder in
the process input data:
▶
Set the “encoder function” parameter to “enc.pos. in pro-
cess data”.
If you want to monitor the contouring error and generate an
error message if the contouring error is too big:
▶
Set the “encoder function” parameter to “contouring error
monitoring”.
▶
Set the “full steps stepper motor/rev.” parameter to the
number of steps for the stepper motor.
▶
Set the “contouring error” parameter to the maximum
permissible contouring error.
