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Software Manual EN

◼

SE-24

◼

01.06.2022

◼

V1.3

–54

Settings for the “Move OK” signal in current mode.

Curr. window

This value corresponds to the tolerance for the current
window and is placed as a sym/- value around the
target current.

Comment: Double the value corresponds to the
“current_tolerance” value in Figure 4: Current mode.

Curr. window time

This value sets the delay time from the moment when the
actual current value is in the c

urrent window until the “Move

OK” signal is triggered.

Comment:

This

value

corresponds

the

“current_delay_time” value in Figure 4: Current mode.

Curr. gating time

This value fades out the starting current when a movement
is started.

After start-

up the “Move OK” signal is not triggered though

the current is within the current window.

Comment:

This

value

corresponds

the

“current_gating_time” value in Figure 4: Current mode.

Comment:

The “Move OK” signal is triggered after the current fade out time and the delay

time for the current in the current window have passed.

X = position_value (actual position)

Y = target_position (abortion position)

Current = target_current

Figure 4: Current mode

Содержание SE-24

Страница 1: ...Servo Controller SE 24 Software Manual Complementary document to the Operating Instructions Copyright by Afag Automation AG ...

Страница 2: ...0315437 Accessories Order No SE 24 programming cable 3m 50315431 SE 24 stick 50315432 Installation and start up is to be performed only by qualified personnel in accordance with the operating instructions Version of this documentation SE 24 Software Manual vers 1 3 en 01 06 2022 CAUTION As this manual is a complementary document to the operating instructions it alone is not sufficient to carry out...

Страница 3: ...ossible dangerous situation Disregard of this information can result in death or serious personal injuries invalidity CAUTION Indicates a possibly dangerous situation Disregard of this information can result in damage to property or light to medium personal injuries NOTE Indicates general notes useful operator tips and operating recommendations which don t affect safety and health of the personnel...

Страница 4: ...ram 16 5 2 Main window 16 5 2 1 Support 17 5 2 2 Language 17 5 2 3 Connection 18 5 2 4 Device informations 20 5 2 5 Tools 20 5 3 Status 22 5 4 CAN configuration 27 5 4 1 CAN baudrate 27 5 5 Profibus configuration 28 5 5 1 Profibus baud rate 28 5 6 Firmware update 29 5 7 Parameters Download 31 5 8 Manual operation 33 5 8 1 Commands 34 5 8 2 Actual application status 35 5 8 3 Actual device status 36...

Страница 5: ...re Manual EN SE 24 01 06 2022 V1 3 5 54 List of Figures Figure 1 SE 24 programming cable 10 Figure 2 SE 24 stick 10 Figure 3 Positioning mode 40 Figure 4 Current mode 41 Table 1 Checklist for commissioning 48 ...

Страница 6: ...ment present documentation description SE 24 Operating Manual Description of the technical data and the functions of the device as well as notes on the plug assignment installation and operation of the SE 24 servo controller It is meant for persons who want to get familiar with the SE 24 servo controller CAUTION The operating manual is the main document and must be read by all means before install...

Страница 7: ...SE 24 programming example Siemens S7 V5 5 Description to the programming example for Siemens S7 V5 5 SE 24 programming example Siemens TIA V12 0 Description to the programming example for Siemens TIA V12 0 SE 24 EtherCAT Manual Description of the fieldbus control of the SE 24 servo controller under EtherCAT SE 24 programming example Beckhoff TwinCAT 2 Description to the programming example for Bec...

Страница 8: ... module easy and more convenient Commissioning is possible even when no higher level controller PLC is connected The afagTools program is easy to operate and enables a quick and comfortable commissioning It contains the following tools Status Display of device information and actual values CAN configuration Setting of communication parameters and of the CAN node address Profibus configuration Sett...

Страница 9: ... one free USB interface V2 0 downward compatible with V1 1 4 2 Installation of the afagTools program The afagTools program can be downloaded and saved free of charge from the Afag Automation AG website using the following link http www afag com produkte download download handling elektrisch html Unpack the file afagTools V1 xx yy zz Setup zip with a suitable program WinZip 7 Zip or similar Now exe...

Страница 10: ... the controller The SE 24 programming cable is the connecting cable between the SE 24 servo controller and the SE 24 stick and can be used for all types of the SE 24 servo controller Figure 1 SE 24 programming cable 4 3 2 SE 24 stick 50315432 The SE 24 stick is needed together with the SE 24 programming cable if the afagTools parameterization program is used to access the controller The SE 24 stic...

Страница 11: ...software from version V1 00 00 00 was installed on the computer before you connect the SE 24 stick Administrator rights are required on the corresponding PC After the afagTools software was installed on the computer the SE 24 stick can be plugged into a free USB connection The following window will open when the device is recognized Select No not this time and click on Continue ...

Страница 12: ...12 54 Software Manual EN SE 24 01 06 2022 V1 3 The following window will be displayed Select option Install software from a list or a specific location for advanced users and click Continue ...

Страница 13: ...Software Manual EN SE 24 01 06 2022 V1 3 13 54 The following window appears Select options Search the following locations for matching driver and also Search the following location Then click on Browse ...

Страница 14: ...e Manual EN SE 24 01 06 2022 V1 3 The following window appears In the installation directory select the USB folder of the afagTools program The default path is C Programs miControl mPLC Drivers USB Then click on OK ...

Страница 15: ...01 06 2022 V1 3 15 54 The path will also be displayed in the following window Click on Continue when the path is displayed correctly The following window opens Click on Complete This finishes the installation of the SE 24 stick ...

Страница 16: ...program by clicking on the corresponding desktop link which was created automatically during installation or by selecting the program under Start Programs miControl mPLC afagTools 5 2 Main window After starting the program the main window will open The main window is divided in a number of areas which are explained hereafter ...

Страница 17: ...e afagTools program He however first has to specify a code so that a session can be started and is contact person only for program technical questions and not for an application oriented support which is guaranteed by Afag Automation AG 5 2 2 Language The language can be selected via the function Configuration Settings The following languages are implemented in the current version of afagTools Def...

Страница 18: ... Baudrate Communication speed for the connection to the SE 24 servo controller The baud rate can be set from 10k to 1M baud SDO for communication Selection of the SDOs Service Data Object which are to be used for communication with the afagTools parameterization program Connect device Starts communication with the SE 24 servo controller whose address is entered in the Node ID box Scan baudrate If ...

Страница 19: ...clicked Enter the ID of the device with which a connection is to be established in the Node ID box and press the Connect device button If only one device was found a connection will already be established without entering the ID in the Node ID box and without pressing the Connect device button Enter the Node ID found and press Connect device ...

Страница 20: ...tion about the connected device are displayed in the Device informations area Firmware version Version of the currently loaded firmware Device code Individual code with which every device can be identified 5 2 5 Tools The Tools area provides the overview of all functions available ...

Страница 21: ...Software Manual EN SE 24 01 06 2022 V1 3 21 54 After a tool was selected a short description will be displayed in this area The tools are only released when there is an active connection to a device ...

Страница 22: ...he corresponding objects Device informations Max power voltage Maximum voltage which may be applied to the power voltage input of the SE 24 servo controller Power supply connector X1 pin 3 Max motor current Maximum current that can be supplied from the SE 24 servo controller to a motor Nominal electronic voltage Ue Nominal voltage of the controller electronics This voltage is applied to pin 2 of t...

Страница 23: ...ion the value is however displayed in the following units translatory µm um rotary 1000 Actual values Current Current actual current Velocity Current actual velocity Comment The unit rpm is the default setting Depending on the application the value is however displayed in the following units translatory mm s rotary s Position Current actual position Comment The unit Ink is the default setting Depe...

Страница 24: ... peak current of the dynamic current limitation Cont current Currently set limitation for the continuous current of the dynamic current limitation Peak time Currently set limitation for the peak time of the dynamic current limitation Velocity limit pos dir Currently set speed limitation for movements in clockwise direction Comment The unit rpm is the default setting Depending on the application th...

Страница 25: ...ning limitation for movements in clockwise direction Comment 1 The unit Ink is the default setting Depending on the application the value is however displayed in the following units translatory µm um rotary 1000 Comment 2 As the position limitations are set against a stored reference offset the value displayed here does not correspond to the value which can actually be approached software limit Pl...

Страница 26: ...ent actual status of the blocking monitoring Not relevant for the SE 24 MPU information and status MPU Motion Process Unit MPU version Version of the currently loaded MPU max prg size Maximum size of the MPU program max register Maximum available registers for the MPU program max stack size Maximum stack size of the MPU program Status bits Current actual status of the status bits Prg running Signa...

Страница 27: ...address Node ID and the communication speed baud rate 1 Call up the afagTools parameterization program 2 Select the CAN Config tool 3 Set the Node ID and the baudrate in the following window and confirm with Set 4 Important Changes are only retrieved when the controller is restarted 5 4 1 CAN baudrate The default transmission speed of the SE 24 servo controller is 125kBit s and can be set up to ma...

Страница 28: ...e address 1 Call up the afagTools parameterization program 2 Select the PROFIBUS Config tool 3 Set the Profibus Slave address in the following window and confirm with Set 4 Important The address is only retrieved when the controller is restarted 5 5 1 Profibus baud rate The SE 24 servo controller automatically detects the baud rate of the Profibus communication and supports speeds up to max 12Mbau...

Страница 29: ...ication which are stored on the SE 24 servo controller A firmware update should therefore only be executed if absolutely necessary or upon consultation with the manufacturer Afag Automation If a firmware update must be executed for an important reason proceed as follows 1 Call up the afagTools parameterization program 2 Select the Firmware update tool 3 Click the Open button to open the firmware d...

Страница 30: ... desired firmware select firmware and confirm by clicking the Open button 5 Click the START update button to load the desired firmware 6 Important CAUTION After a firmware update the SE 24 servo controller is not ready to operate if the application and parameters were not loaded ...

Страница 31: ...E Afag Automation AG generates and provides the parameter sets for applications with Afag handling modules The parameter files are identified by the extension par Carry out the following steps to load a parameter file 1 Call up the afagTools parameterization program 2 Select the Parameters download tool 3 Click the Open button to open the Parameter file ...

Страница 32: ...e desired Parameter file select the file and confirm by clicking the Open button 5 Activate the Save parameters at the of programming option and load the selected Parameter file by clicking the START Download button Activate the Save parameters at the end of programming option ...

Страница 33: ...manual operation of the connected servo axis as well as setting saving and loading of the position related parameters NOTE Applies only to the SE 24 CANopen model The communication via CANopen to a higher level control system PLC must be stopped if the functions of the Manual operation tool are to be used for the models of the SE 24 CANopen series ...

Страница 34: ...tor energized Disable Controller will be deactivated and the motor no longer energized STOP A current movement is stopped immediately Homing Starts the reference run Comment This function is only active if the controller enable was activated CAUTION A movement is triggered after the Homing button was actuated ...

Страница 35: ... ready to operate there are no active errors pending Comment Corresponds to the ready interface signal Enabled The controller is active and the motor is energized Comment Corresponds to the drive_enable_ok interface signal Homing done A valid reference run was executed Comment Corresponds to the ref_valid interface signal Move OK A movement was executed Comment Corresponds to the move_ok interface...

Страница 36: ...e motor is energized Comment Corresponds to the drive_enable_ok interface signal Error An error is active Warning A warning is active Moving The connected servo axis executes a movement Target reached The target value of the specified position was reached Limit active A limit is active Following error A following error is active Homing done A valid reference run was executed Comment Corresponds to...

Страница 37: ...ed Comment This signal is used internally Command error A command error is active Stop or halt A stop or halt is executed Limit current The current limit is reached Limit velocity The speed limit is reached Limit position The position limit is reached Limit svelocity The limit for the secondary speed controller is active ...

Страница 38: ...following units translatory mm s rotary s Trg position Current target position Comment 1 Depending on the application the value is displayed in the following units translatory µm um rotary 1000 Comment 2 Corresponds to the target_position interface object not available for the SE 24 I O model Act position Current actual position Comment 1 Depending on the application the value is displayed in the ...

Страница 39: ... is accelerated with the acceleration set for the Jog mode up to the velocity in the positive direction which was also set for the Jog mode When the button is released the drive is braked until stop with the deceleration set for the quick stop Comment The function is only active when controller enable was activated A reference run does not have to be executed Jog By pressing and holding down the J...

Страница 40: ...and is placed as a symmetric value around the target position Comment Double the value corresponds to the position_tolerance value in Figure 3 Positioning mode Pos window time This value sets the delay time from the moment when the actual position value is in the positioning window until the Move OK signal is triggered Comment This value corresponds to the position_delay_time in Figure 3 Positioni...

Страница 41: ... the Move OK signal is triggered Comment This value corresponds to the current_delay_time value in Figure 4 Current mode Curr gating time This value fades out the starting current when a movement is started After start up the Move OK signal is not triggered though the current is within the current window Comment This value corresponds to the current_gating_time value in Figure 4 Current mode Comme...

Страница 42: ...olled via the pos_nr_bit0 to 3 signals The moving data sets are not used in the following cases For operation of servo controllers with fieldbus connection when the target values for a motion block are transmitted with the corresponding bus protocol and the pos_nr_bit0 to 3 signals are not used Comment This mode of operation is recommended for servo controllers with fieldbus connection CAUTION Be ...

Страница 43: ...nits translatory µm um rotary 1000 Comment 2 For operation in current mode this position must be behind the impact on the object Velocity Target movement speed Comment Depending on the application the value is displayed in the following units translatory mm s rotary s Acceleration Target acceleration Comment Depending on the application the value is displayed in the following units translatory mm ...

Страница 44: ...on If this option is activated the target position value will be interpreted as a relative value Otherwise the value is absolute related to the reference point Set The corresponding moving set is started when this button is clicked Comment The function is only active when controller enable was activated and a valid reference run was executed CAUTION A movement is triggered after the Set button was...

Страница 45: ...on is pressed That means that the two selected moving sets are approached continuously one after the other The reverse mode can be stopped by clicking the STOP button In this case movement is braked with the braking acceleration defined for the quick stop The reverse mode can also be interrupted by clicking the Disable button The motor will then coast to stop Comment The function is only active wh...

Страница 46: ... position values to a file The values set in the Manual operation tool should be saved to a file Select the File Save as function from the Manual operation tool Select the desired directory in the window which opens and save the file by clicking the Save button ...

Страница 47: ...a file Select the File Load function in the Manual operation tool in order to load a saved position file into the servo controller Open the desired directory in the window which now opens and select the file The file will be loaded into the servo controller by clicking the Open button ...

Страница 48: ...e safety instructions contained in the operating manual and in the complementary documents must be followed by all means Only trained and qualified personnel in the meaning of this operating manual are allowed to carry out commissioning of the device 6 1 Checklist for commissioning Table 1 Checklist for commissioning Step Work to be done OK 1 Connect the cable for motor output encoder and referenc...

Страница 49: ... Afag SE 24 servo controller Please see the SE 24 operating instructions for further notes 9 Connect the SE 24 stick to the SE 24 programming cable 10 Insert the SE 24 stick into the PC If the hardware installation wizard opens select the path for driver installation as per chapter 4 3 3 Installation of the SE 24 stick in this manual 11 Ensure that the interface cables to a higher level control sy...

Страница 50: ... tool The ready status bit in the Actual application status should be green The servo controller is ready to operate For further notes please see chapter 5 8 Manual operation in this manual 17 Actuate the Enable button to activate the controller enable For further notes please see chapter 5 8 1 Commands in this manual After a restart a commuting adjustment is carried out for motors without Hall en...

Страница 51: ...ou should use the Reverse mode function For further notes please see chapter 5 8 8 Reverse mode in this manual Ensure that the previously tested moving sets have been activated in the two selection boxes Click the Pos 1 Pos 2 button to start the reverse mode Stop reverse mode with the STOP button in order to adjust individual values of the moving sets enter the modified values and restart reverse ...

Страница 52: ...hen select the corresponding and previously tested moving set via the pos_nr_bit0 to 3 signals and start the moving set using the start stop_move signal Otherwise this step can be skipped 28 If a servo controller with fieldbus interface is used and the moving sets are not used but the values are sent via the bus protocol then use the values from the previously tested moving sets and start the move...

Страница 53: ...Software Manual EN SE 24 01 06 2022 V1 3 53 54 ...

Страница 54: ...Afag Automation AG Luzernstrasse 32 CH 6144 Zell Switzerland Phone 41 0 62 959 86 86 Fax 41 0 62 959 87 87 e mail sales afag com Internet www afag com ...

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