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Summary of read and write commands

Write command

Meaning

BRAKE

Define output for brake

CLRERROR

Clear error information

CLRSIG_SR

Clear temporarily stored axis signals

CONT

Continue interrupted shaft movement

ENSIG

Enable or disable axis signals

INITDRIVE

Initalize axis

MOVE

Incremental (relative) positioning
operation

POS

Absolute positioning operation

RAMP_EXP

Set exponential ramp

RAMP_LIN

Set linear ramp

RAMP_SIN

Set sine square ramp

REF_OUT_DISTANCE

Set maximum allowed distance from limit
switch for reference movement

REFPOS_LIMN

Reference movement towards CCW limit
switch

REFPOS_LIMP

Reference movement towards CW limit
switch

REFPOS_REF

Reference movement towards reference
switch

ROTMON_DISABLE

Disable rotation monitoring

ROTMON_ENABLE

Enable rotation monitoring

ROTMON_RESET

Reset rotation monitoring

SETCURRENT

Set motor current

SETENCODER

Set encoder signal type

SETHARDWARE

Set hardware settings

SETMODE

Set operating mode

SETNORM_GEAR_DEN

Set gear ratio denominator

SETNORM_GEAR_NUM Set gear ratio numerator

SETOFFSET

Set reference variable offset

SETPOS

Set current position

SETSIG_ACTIV_H

Set active state of axis signals

SETVEL_START

Set start/stop speed

SETVEL_SYS

Set maximum system speed

STOP_AXIS

Stop shaft movement

TIMEOUT*

Set or disable timeout monitoring

VEL

Set the set speed

WRITE_OUTPUT

Set outputs directly

Only for units with serial interface.

Operation

3-24

WDP3-01X Ident. no.: 00441109760

Содержание WDP3-01X

Страница 1: ...Positioning Controller for 3 phase Stepping Motors WDP3 01X Edition g156 08 03 Ident no 00441109760 Software version 02 0XX ...

Страница 2: ...sonnel The warranty is invalidated in case of unauthorized modification or opening of the device Please ask your technical consultant prior to installing accessories not listed in the chapter Description of accessories The safety symbols and notes on the device and in the manual shall be observed Explanation of symbols ATTENTION Reference to a danger for the device or components possibly resulting...

Страница 3: ...80 D 77901 Lahr Edition g156 08 03 Ident no 00441109760 Sender Please inform us using this form if you have discovered any errors when reading this document We should also appreciate any new ideas and proposals Name Company department Address Telephone no Proposal and or improvements ...

Страница 4: ......

Страница 5: ...Mechanical data 1 16 1 3 3 Ambient conditions 1 16 2 Installation 2 1 2 1 Scope of supply 2 1 2 2 Accessories 2 2 2 3 Mounting 2 3 2 4 Wiring 2 5 2 4 1 Mains connection 2 7 2 4 2 Motor connection 2 8 2 4 3 Signal interface 2 9 2 4 4 Analog interface OPT 1 2 14 2 4 5 RS 232 serial interface OPT 1 2 16 2 4 6 RS 485 serial interface OPT 1 2 18 2 4 7 Field bus interface OPT 1 2 20 2 4 8 Encoder interf...

Страница 6: ...Starting positioning and other operations 3 13 3 3 6 Manual movement via front panel 3 14 3 4 Manual mode via inputs outputs 3 15 3 5 Teach in mode via inputs outputs 3 17 3 6 Position processing via inputs outputs 3 19 3 7 Upload download via serial interface 3 22 3 8 On line command processing via serial or field bus interface 3 23 3 9 Electronic gear 3 26 3 10 Oscillator mode via inputs outputs...

Страница 7: ... 6 2 1 Fan 6 4 6 2 2 Mains filter 6 5 6 2 3 MP 923 interface converter 6 6 6 2 3 1 General description 6 6 6 2 3 2 Technical data 6 6 6 2 3 3 Setup 6 7 6 2 3 4 Status indicators 6 7 6 2 4 MP 924 interface distributor 6 9 6 2 4 1 General description 6 9 6 2 4 2 Technical data 6 9 6 2 4 3 Setup 6 10 6 2 5 Additional bleed resistor 6 11 6 3 Glossary 6 12 6 4 Abbreviations 6 15 Table of contents WDP3 ...

Страница 8: ...Page 7 Index 7 1 8 Corrections and additions 8 1 Table of contents WDP3 01X Ident no 00441109760 ...

Страница 9: ... device functions Interface options and device functions This documentation describes installation and operation via the front panel keys and the inputs outputs of the signal interface as well as via the analog and encoder interfaces Setup and operation of the unit via the serial interface or the field bus interface e g Interbus S or Profibus DP are described in separate documentations on the appr...

Страница 10: ...parameter P20 2 and P00 3 RS 232 or RS 485 Not installed Position processing via inputs outputs or on line command processing via serial interface Position processing or on line command processing can be set with front panel parameter P00 In position processing mode the unit has the same scope of functions as the basic unit except oscillator mode via inputs outputs In addition positions and parame...

Страница 11: ...ual mode via inputs outputs or front panel Parameter input via front panel RS 422 Rotation monitoring if parameter P20 2 and P00 3 Not installed or RS 232 or RS 485 or field bus RS 422 Electronic gear via encoder interface Electronic gear via encoder interface Manual mode via inputs outputs or front panel Parameter input via front panel or serial interface or field bus NOTE The interfaces installe...

Страница 12: ...bleed resistor A DC DC power supply unit generates various voltage levels for sup plying the internal electronic circuits of the processor unit from the 24 VDC voltage supply DC DC power supply unit NOTE The electronic circuitry of the processor unit consists of PELV circuits as defined in the DIN standard VDE 0160 WDP3 01X Inputs RS 232 RS 485 ANOZ field bus Outputs 24 VDC Option Interface OPT 1 ...

Страница 13: ...feature an additional interface in the OPT 1 adapter slot The two speeds fH and fL for oscillator mode via the inputs outputs of the signal interface are set on the front panel Oscillator The microprocessor controls all interfaces The movement profile gen erator is activated by the microprocessor Management processor Three seven segment displays indicate positions parameters operating states and a...

Страница 14: ...erence point or with incremental values relative to the current position The system of either absolute or incremental dimensions is selected on the front panel P21 parameter Before executing a positioning operation in the system of absolute dimensions a reference movement must be executed towards a limit switch or a reference switch see chapter 1 2 3 Alternatively the current position can be set a...

Страница 15: ...aces can be addressed from a master control unit or a PC The network address of the controller is set on the front panel with the P60 parameter The master controller must use a polling command to specify the unit with which it wants to com municate see separate documentation RS 485 network A standardized field bus interface e g Interbus S fig 1 4 or Profibus DP can be used for transmitting movemen...

Страница 16: ...voltage range is 10 V to 10 V however it can also be freely selected Oscillator mode via analog interface Maximum speed and maximum acceleration as well as the voltage at maximum speed the voltage range the zero window parameter and the braking ramp are set as parameters via the front panel M 3 phase stepping motor FH FL START Signal inputs outputs 20 _ 21 OPT 1 22 OPT 2 23 Signal 24 V DC 24 V W U...

Страница 17: ... the reference variable for the stepping motor position The pulse memory is cleared whenever an error occurs or when resetting input AUTOM from 1 to 0 The maximum acceleration the gear ratios and the encoder signal type are set via front panel parameters NOTE If the controller features a field bus or serial interface in addition the electronic gear parameters can be set using on line command proce...

Страница 18: ... can be used depending on the interface configura tion for selecting one of the following modes Manual and automatic mode Input AUTOM 0 Parameter and data input via front panel or Manual mode or Teach in mode or Upload download only with serial interface if parameter P00 0 Input AUTOM 1 Oscillator mode via inputs outputs or Oscillator mode via analog interface or Position processing mode via input...

Страница 19: ... reference switch at reference speed REF_OUT parameter P07 Figures 1 9 and 1 10 illustrate the principles of various reference move ments Reference speed REF_IN Reference speed REF_OUT M CCW limit switch CW limit switch CCW limit switch reference point CW limit switch reference point Max allowed dist limit switch Fig 1 9 Principle of reference movement to limit switch Reference speed REF_IN Refere...

Страница 20: ... r c c b protection according to DIN VDE 0664 part 1 10 85 Supply voltage 20 VDC to 30 VDC System supply via signal interface Power consumption 1 A max Ripple voltage 2 Vpp NOTE The 24 V voltage supply must meet the specifications of the DIN standard VDE 0160 on safety extra low voltage Phase current WDP3 014 0 1 A to 2 5 A WDP3 018 0 1 A to 6 8 A Motor connection No of steps 1000 steps per revolu...

Страница 21: ...ent 50 mA Voltage drop at 50 mA 2 VDC DANGER The signal inputs and the 24 VDC supply voltages at the signal connection must be definitely isolated from mains The maximum voltage towards ground must not exceed 60 VDC or 25 VAC RS 232 interface option Serial interfaces Internal leakage resistance towards ground 1 Mohm RS 485 four wire interface option Short circuit protected 150 mA max at short circ...

Страница 22: ...SUCONET slave interface RS 485 HS option Bus interface RS 485 HS Bus cable Shielded twisted pair cable Transmission speed 187 5 kbauds and 375 kbauds NOTE The BERGER LAHR controller automatically adjusts to the baud rate of the master it is therefore not necessary to set it on the unit ANOZ option Analog interface Internal leakage resistance towards ground 1 Mohm Electrical characteristics of the ...

Страница 23: ...rding to EN 50081 2 1993 when using a mains filter see Accessories Static discharge according to EN 60801 2 1993 class 4 Burst according to IEC 801 4 1988 class 4 Use a BERGER LAHR motor lead Length of motor lead is 10 m BERGER LAHR EMC test requirements Insert a BERGER LAHR mains filter into the mains supply line Install the device into the control cabinet Use BERGER LAHR signal cables and wire t...

Страница 24: ...Dimensions fig 1 11 249 x 240 x 52 mm Weight approx 3200 g 1 3 3 Ambient conditions Ambient temperature 0 C to 50 C Storage temperature 25 C to 70 C Relative humidity 15 to 85 non condensing 52 279 5 12 2 4 0 2 5 5 1 8 7 19 249 32 0 92 147 183 Fig 1 11 Dimensions of WDP3 014 and WDP3 018 General description 1 16 WDP3 01X Ident no 00441109760 ...

Страница 25: ...oller or WDP3 018 positioning controller 1 Product insert 1 Ground strap 4 Mounting bracket 1 Fan for WDP3 018 1 Diskette with PC program for upload download via serial interface or diskette with device master file for setup with Profibus DP interface If the appropriate interface is installed Fig 2 1 Scope of supply Installation WDP3 01X Ident no 00441109760 2 1 ...

Страница 26: ...l or adapter MP 923 interface converter RS 232 RS 485 RS 232 PC signal cable RS 422 IN customer signal cable MP 924 interface distributor RS 485 RS 485 LS MP 923 signal cable RS 485 LS MP 924 signal cable Signal connection customer signal cable Signal connection signal cable Signal cable for adapter slot OPT 1 Signal cable encoder for adapter slot OPT 2 Signal cable pulse direction for adapter slo...

Страница 27: ...talled vertically in a control cabinet and may have to be ventilated externally see fig 2 3 You can use the mounting brackets to install the unit on the rear or on the left fig 2 2 Fasten the ground strap supplied at the bottom front of the unit with screws and connect it to a grounded part of the control cabinet ATTENTION Clean air supply must be ensured in the control cabinet 52 279 5 12 28 8 7 ...

Страница 28: ...gh the unit from bottom up see fig 2 2 The arrow on the fan indicates the direction of the airstream if the fan is connected correctly red 24 VDC black 24 VGND Fasten the fan with four screws at the bottom of the unit after having cut out the grille see chapter 6 2 1 Connect the fan to the external 24 VDC voltage supply Accessory fan NOTE Ensure that the airstream in and around the unit is unobstr...

Страница 29: ... 3 for the technical data of the individual connections and interfaces NOTE The interfaces installed in the unit are indicated on the type plate NOTE The ground connections of the interfaces in adapter slots 21 and 22 are internally interconnected NOTE Shield connection on both ends ensures optimum protection against interference for digital systems However it must be noted that differen tial pote...

Страница 30: ...distributor can be used for implementing a network see chapter 6 2 4 NOTE With an RS 232 interface networking is not possible NOTE With an Interbus S interface the MP 927 Interbus S interface adapter must be used see separate documentation NOTE With a Profibus DP interface e g a bus terminal must be used MP 923 Interface converter RS 485 interface distributor Interbus S interface adapter other sla...

Страница 31: ...e 2 Mount wire end ferrules on the device end of the mains power cable 3 Fasten three litz wires fig 2 5 with screws L Phase 115 VAC or 230 VAC N Neutral PE Protective conductor NOTE A mains filter can be inserted in order to shield the unit against inter ference see chapter 6 2 2 L N PE Fig 2 5 Mains connection device end 230V Installation WDP3 01X Ident no 00441109760 2 7 ...

Страница 32: ...eparation the motor cable Fig 2 6 Preparing the motor cable Motor connection Fig 2 7 Motor connection NOTE An additional bleed resistor can be used for dissipating a higher amount of braking energy see chapter 6 2 5 NOTE The sense of rotation of the motor can be inverted by interchanging two motor leads In this case also the limit switch inputs LIMP and LIMN as well as the A and A signals of any r...

Страница 33: ...l angle is fastened to the bottom of the device with the screws and serrated washers supplied with the device Correct installa tion of the terminal angle is extremely important for grounding the motor cable shield and for strain relief Qty Designation 1 Terminal angle 1 Shield terminal 1 Screw M4 x 8 2 Screw M3 x 8 with serrated Washer 1 Serrated washer M4 connection of second protective conductor...

Страница 34: ...provided for fastening the cable to the fastening bracket Fig 2 9 Fastening the shield terminal The shield angle is suspended on the bracket from below The motor cable is not subject to strain and securely grounds shield when installed in this way Fig 2 10 Installed motor cable U V W 24 bn bl bk ye gn ...

Страница 35: ...or shell 5 Fasten the cable and the shield to the connector shell with screws providing for strain relief ATTENTION Ensure good electrical contact between the shield and the con nector shell Connect the shield on both ends 6 Assemble the two parts of the connector shell with two screws 7 Fasten the connector to the front panel item 23 with screws DANGER All signal connections must be definitely is...

Страница 36: ...I O supply voltage 19 IO24VDC IO24VDC IO24VDC I O supply voltage 20 LIMP I 12 LIMP IO24VDC CW limit switch I O supply voltage 21 22 23 STOP I 15 STOP STOP Stop 24 25 AUTOM I 8 AUTOM AUTOM Automatic 26 MAN_P I 6 MAN_P MAN_P Manual movement CW rotation 27 I 4 28 DATA8 I 2 Position no selection 29 DATA2 I 0 Position no selection 30 31 32 33 FUNCTION1 Q 2 FUNCTION1 FUNCTION1 Status output see chapter ...

Страница 37: ... 24 23 22 21 20 NO_ERROR FUNCTION1 ACTIVE FUNCTION2 24VDC GND GND IO24VDC 24VDC External power supply unit LIMN LIMP START STOP TEACH_IN REF AUTOM MAN_N MAN_P ERR_RESET DATA4 DATA8 DATA1 DATA2 Fig 2 8 Wiring example for position processing Installation WDP3 01X Ident no 00441109760 2 11 ...

Страница 38: ...tem supply voltage 18 IO24VDC IO24VDC I O supply voltage 19 IO24VDC IO24VDC I O supply voltage 20 IO24VDC IO24VDC I O supply voltage 21 22 23 STOP STOP Stop 24 25 AUTOM AUTOM Automatic 26 MAN_P MAN_P Manual movement CW rotation 27 28 29 CURRENT_OFF CURRENT_OFF Zero current 30 31 32 33 FUNCTION1 FUNCTION1 Status output see chapter 4 1 34 FUNCTION2 FUNCTION2 Status output see chapter 4 1 35 GND GND ...

Страница 39: ...3 22 21 20 NO_ERROR ACTIVE 24VDC GND GND IO24VDC 24VDC External power supply unit START STOP INV_DIR AUTOM MAN_N MAN_P ERR_RESET FH FL CURRENT_OFF IO24VDC IO24VDC FUNCTION1 FUNCTION2 Fig 2 9 Wiring example for oscillator mode via inputs outputs Installation WDP3 01X Ident no 00441109760 2 13 ...

Страница 40: ...e tie 3 Insert two threaded bolts fig 2 11 into the connector shell 4 Place the connector into the connector shell 5 Fasten the cable and the shield to the connector shell with screws providing for strain relief ATTENTION Ensure good electrical contact between the shield and the con nector shell Connect the shield on both ends 6 Assemble the two parts of the connector shell with two screws 7 Faste...

Страница 41: ...ANA_IN ANA_OUT GND ANA_IN GND ANA_OUT 5 4 3 2 1 9 8 7 6 Fig 2 10 Interface connection device end Fig 2 11 Interface connector assembly device end Installation WDP3 01X Ident no 00441109760 2 15 ...

Страница 42: ...en the cable and the shield to the connector shell with screws providing for strain relief ATTENTION Ensure good electrical contact between the shield and the con nector shell Connect the shield on both ends 6 Assemble the two parts of the connector shell with two screws 7 Fasten the connector to the front panel item 21 with screws ATTENTION For reasons of noise immunity the RS 232 cable should be...

Страница 43: ...9 8 7 6 5 4 3 2 1 13 12 11 10 25 24 23 22 21 20 19 18 17 16 15 14 Female Shield Shield Controller Controller PC PC 5 4 3 2 1 5 4 3 2 1 5 4 3 2 1 9 8 7 6 9 8 7 6 9 8 7 6 Female Female Female Fig 2 13 Controller PC wiring Fig 2 14 Interface connector assembly device end Installation WDP3 01X Ident no 00441109760 2 17 ...

Страница 44: ...e tie 3 Insert two threaded bolts fig 2 16 into the connector shell 4 Place the connector into the connector shell 5 Fasten the cable and the shield to the connector shell with screws providing for strain relief ATTENTION Ensure good electrical contact between the shield and the con nector shell Connect the shield on both ends 6 Assemble the two parts of the connector shell with two screws 7 Faste...

Страница 45: ...5 4 3 2 1 9 8 7 6 SGND TXD 12VDC RXD GND RXD GND TXD 12VDC Fig 2 15 Interface connection device end Fig 2 16 Interface connector assembly device end Installation WDP3 01X Ident no 00441109760 2 19 ...

Страница 46: ...us interface e g Interbus S or Profibus DP is located in adapter slot 21 see type plate NOTE Setup of the field bus interface is described in a separate documentation for each type of interface 21 OPT 1 Installation 2 20 WDP3 01X Ident no 00441109760 ...

Страница 47: ...ntact between the shield and the con nector shell Connect the shield on both ends 6 Assemble the two parts of the connector shell with two screws 7 Fasten the connector to the front panel item 22 with screws 8 Twist the encoder cable wires in pairs 9 Establish the connection on the motor end ATTENTION When using 5 V encoders SENSE must be connected to 5VGND and SENSE to 5VDC on the encoder end of ...

Страница 48: ...end of the cable ATTENTION The TEMP_MOT input is used for detecting a line interruption For this purpose TEMP_MOT must be connected to 5VDC on the encoder 1 1 1 1 Signal A Signal B Position 1 2 3 4 5 6 6 7 5 4 3 Counting on every pulse edge Clockwise rotation at rising falling A edge before rising falling B edge Counterclockwise rotation at rising falling B edge before rising falling A edge f A or...

Страница 49: ...nd of the cable ATTENTION The TEMP_MOT input is used for detecting a line interruption For this purpose TEMP_MOT must be connected to 5VDC on the encoder 1 2 1 2 3 3 4 Pulse Direction Position 1 1 0 0 Counting on positive pulse edge Direction 0 CW motor rotation Direction 1 CCW motor rotation 1 2 3 4 Hold time 300 ns Setup time 100 ns Minimum pulse width 250 ns Minimum pulse break 250 ns f pulse 2...

Страница 50: ...itched on simultaneously The controller executes a self test during which the numbers 0 1 2 3 appear in the status display followed by the software version number Subsequently the parameter P00 is displayed NOTE The P00 parameter can be used for setting the operating mode for the controller see chapter 3 3 1 4 Use the keys to set the following motor parameters P01 Motor phase current in A accordin...

Страница 51: ...tinuous operation If the key is pressed for 0 5 s the motor starts running at slow manual speed parameter P90 While the key is kept pressed the speed increases every 5 seconds in 10 stages up to fast manual speed parameter P91 The current position digits representing ones appear in the status display NOTE The sense of rotation of the motor can be inverted by interchanging two motor leads In this c...

Страница 52: ...Installation 2 26 WDP3 01X Ident no 00441109760 ...

Страница 53: ...peration 3 3 Parameter setting X X X X X X X 3 3 1 Position value input X X 3 3 2 Teach in X X 3 3 3 Value display X X X X X X X 3 3 4 Start positioning and actions X X 3 3 5 Manual movement X X X X X X X 3 3 6 Manual mode via inputs outputs X X X X X X X 3 4 Teach in via inputs outputs X X 3 5 Position processing via inputs outputs X X 3 6 Upload download via serial interface X X1 3 7 On line com...

Страница 54: ...nit in particular signal inputs for limit switches reference switch and stop carried out properly See chapter 2 4 Mains voltage set correctly on the selector switch See chapter 2 5 3 2 1 Switching on 1 Switch on the power supply for the power controller 2 Switch on the 24 V supply voltage for the processor unit 3 The controller executes a self test In the status display the digits 0 to 3 and the c...

Страница 55: ...ntation on the serial interface or the field bus interface e g Interbus S or Profibus DP If the parameter P69 is set to 1 in on line command processing mode the output Q1 can be used for controlling a brake 3 2 3 Switching off 1 The connected motor is deenergized after disconnecting the mains or 24 V supply voltage i e it does not have any holding torque ATTENTION Before switching off the mains an...

Страница 56: ...using the three keys and which have the following functions Scroll display down or Increment input value Scroll display up or Decrement input value Start editing Select menue option Save input value Stop editing Acknowledge error NOTE Any previous values are overwritten and the current values are retained also after switching off The three seven segment displays reflect parameters input values ope...

Страница 57: ...le that another error is then displayed See chapter 4 2 for troubleshooting Clearing the display or the error memory is only possible by activating the ERR_RESET input See chapter 4 2 for troubleshooting Clearing the display or the error memory is only possible by switching the 24 V power supply to the processor unit off and on again Negative values for two digit values with a minus sign for value...

Страница 58: ...tch on controller Basic parameter settings P00 to P99 A80 Keys and pressed simultaneously Key pressed Front panel options Position value input Teach in Value display Positioning activation and manual movement Partial parameter menue is displayed P99 1 or and pressed simulta neously Fig 3 2 Front panel operation Operation 3 6 WDP3 01X Ident no 00441109760 ...

Страница 59: ...e parameters are accessible Entire parameter menue Restricted parameter menue Prerequisites P99 1 or P99 0 and keys and pressed simultaneously Prerequisites P99 0 and no on line command processing NOTE The parameter P99 0 can be used for disabling the parameter menue This means that the parameters are not automatically displayed when the controller is switched on the next time In this case only a ...

Страница 60: ...lowed distance from limit switch or reference switch during a reference movement Thousand s digits of the travel 0 to 999 x 103 steps Enter in the same way as position sets see chapter 3 3 2 10 X P8 2 Maximum allowed distance from limit switch or reference switch during a reference movement Million s digits of the travel 0 to 55 x 106 steps max 55924053 Enter in the same way as position sets see c...

Страница 61: ...on line command processing mode 0 OFF 1 ON 0 P70 Voltage at maximum speed with CW rotation 10 0 V to 10 0 V 10 0 X P71 Voltage at maximum speed with CCW rotation 10 0 V to 10 0 V 10 0 X P72 Zero window 0 01 V to 1 0 V 0 01 X P73 Lower oscillator frequency fL 0 1 kHz to 5 0 kHz 0 1 X P74 Braking ramp with ANOZ 0 Hz ms to 999 Hz ms 0 X P90 Slow manual speed 0 1 kHz to 40 0 kHz 0 1 X X P91 Fast manua...

Страница 62: ...or sets 0 to 9 Position value digits representing thousands 0 to 999 x 103 increments E0 2 to E9 2 Position for sets 0 to 9 Position value digits representing millions 55 to 55 x 106 steps 55924053 steps max E0 3 to E9 3 Speed for sets 0 to 9 0 0 to 40 0 kHz If 0 0 is set the speed is determined by the parameter P04 by default Example for position input E0 2 E0 1 E0 0 0 4 5 4 5 6 1 2 3 steps 2 0 0...

Страница 63: ...in via inputs outputs Prerequisites Manual mode teach in or oscillator mode via inputs outputs not activated Reference point previously defined by reference movement or setting dimensions see chapter 3 3 5 1 Deactivate the AUTOM input 2 Select position number L0 0 to L9 0 The digits representing ones appear in the status display Display Meaning L0 0 to L9 0 Position number 0 to 9 Teach in position...

Страница 64: ...o be displayed Display Meaning d0 0 Actual position digits representing ones d0 1 Actual position digits representing thousands d0 2 Actual position digits representing millions d10 Software version d99 Interbus S diagnostic function The Interbus S diagnostics is activated with the d99 function and indi cates the following four states U Operating voltage RC Interbus S link o k BA Interbus S transm...

Страница 65: ...interrupted positioning operation 0 Inactive 1 Active A11 Reserved A12 Reference movement to CW limit switch 0 Inactive 1 Active A13 Reference movement to CCW limit switch 0 Inactive 1 Active A14 Setting dimensions to position value 0 0 Inactive 1 Active A15 Reference movement to reference switch 0 Inactive 1 Active A70 Voltage on analog input corresponds to maximum speed in CW rotation 0 Inactive...

Страница 66: ... 4 4 Single step If the key is pressed for 0 5 s the motor performs a single step in slow manual speed Continuous operation If the key is pressed for 0 5 s the motor starts running at slow manual speed parameter P90 While the key is kept pressed the speed increases every 5 seconds in 10 stages up to fast manual speed parameter P91 The current position digits representing ones appear in the status ...

Страница 67: ... single step in slow manual speed Continuous operation If the input is activated for 0 5 s the motor starts running at slow manual speed parameter P90 While the input is active the speed increases every 5 seconds in 10 stages up to fast manual speed parameter P91 If an error occurs during activation an error message is displayed and the position indication goes out The error indication is cleared ...

Страница 68: ...haracteristics in manual mode Inputs Outputs AUTOM Motor STOP active Eliminate fault Normal state Error state FUNCTION2 ACTIVE FUNCTION1 NO_ERROR 1 1 1 1 1 1 1 0 1 1 0 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 MAN_P or MAN_N t Idle Rotating Fig 3 4 Manual mode timing diagram Operation 3 16 WDP3 01X Ident no 00441109760 ...

Страница 69: ...nce movement or dimension setting performed see chap ter 3 6 1 Deactivate the AUTOM input 2 Approach the desired position using input MAN_P with CW posi tive rotation or input MAN_N with CCW negative rotation 3 Select the position number the position should be assigned For this purpose activate or deactivate the inputs DATA1 to DATA8 as follows DATA8 DATA4 DATA2 DATA1 Position number 0 0 0 0 0 0 0...

Страница 70: ...times of the master controller must be taken into account for signal evaluation Inputs Outputs AUTOM TEACH_IN Setup time 500 µs Hold time 500 µs Normal state Error state no reference FUNCTION2 ACTIVE FUNCTION1 NO_ERROR 1 1 1 1 1 1 1 1 1 1 0 1 1 1 0 1 1 1 0 1 0 1 0 1 1 1 1 1 0 1 0 0 MAN_P or MAN_N DATA1 to DATA8 valid t 1 1 2 2 Motor rotating Motor idle Fig 3 5 Teach in mode timing diagram Operatio...

Страница 71: ...t or dimension setting 1 Activate the AUTOM input 2 Select a position number or perform another activity For this purpose activate or deactivate the inputs DATA1 to DATA8 as follows DATA8 DATA4 DATA2 DATA1 Position number 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 0 0 1 1 3 0 1 0 0 4 0 1 0 1 5 0 1 1 0 6 0 1 1 1 7 1 0 0 0 8 1 0 0 1 9 Action 1 0 1 0 Continue an interrupted positioning operation 1 0 1 1 Reserved ...

Страница 72: ...nsmission times of the master controller must be taken into account for signal evaluation Inputs Outputs AUTOM Motor START FUNCTION2 ACTIVE FUNCTION1 NO_ERROR 1 1 0 1 1 1 1 1 0 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 DATA1 to DATA8 valid t Setup time 500 µs Hold time 500 µs Start delay 6 ms 1 3 1 2 2 3 Idle Long rotation Idle Brief rotation Fig 3 6 Position processing mode timing diagram Operation 3 20 WDP3...

Страница 73: ...tor START STOP active Eliminate fault FUNCTION2 ACTIVE FUNCTION1 NO_ERROR 1 1 0 1 1 1 1 1 0 1 1 1 0 1 1 1 1 1 1 0 DATA1 to DATA8 valid t Setup time 500 µs Hold time 500 µs Start delay 6 ms 1 3 1 2 2 3 Idle Rotation Fig 3 7 Position processing interrupt timing diagram Operation WDP3 01X Ident no 00441109760 3 21 ...

Страница 74: ...rface Teach in via front panel or Teach in via inputs outputs Prerequisites Front panel operation inactive Motor at standstill No error active NOTE The following parameters must have been set see chapter 3 3 1 Operating mode with parameter P00 0 or P00 3 for electronic gear Network address with parameter P60 for RS 232 always 1 Baud rate with parameter P61 1 Deactivate the AUTOM input 2 If run is ...

Страница 75: ... status display on line command processing is enabled Start by activating the power controller with the INITDRIVE command before executing any movement commands ATTENTION The parameters set via the front panel are used for the basic settings of the unit Some of these settings can be changed by on line command processing The transmitted values will be lost when switching off Reference documentation...

Страница 76: ...nt towards CW limit switch REFPOS_REF Reference movement towards reference switch ROTMON_DISABLE Disable rotation monitoring ROTMON_ENABLE Enable rotation monitoring ROTMON_RESET Reset rotation monitoring SETCURRENT Set motor current SETENCODER Set encoder signal type SETHARDWARE Set hardware settings SETMODE Set operating mode SETNORM_GEAR_DEN Set gear ratio denominator SETNORM_GEAR_NUM Set gear ...

Страница 77: ... GETMODE Read operating mode GETPOS Read position values GETSIG Read current axis signal states GETSIG_ACTIV_H Read active state of axis signals GETSIG_SR Read temporarily stored axis signals GETSTATE Read error status of an axis GETVEL Read speed value READ_INPUT Read inputs directly Operation WDP3 01X Ident no 00441109760 3 25 ...

Страница 78: ...er signal type with parameter P50 Gear ratios with parameters P51 and P52 1 Activate the AUTOM input NOTE The motor accelerates using the parameter value P02 if the ramp of the supplied pulses multiplied with the gear ratio exceeds this value If the ramp is less than the parameter value the motor accelerates precisely according to the supplied pulses 2 If the status display shows run pulses can be...

Страница 79: ...OM input is activated As a result an excessive motor speed occurs The increase in frequency of the supplied pulses is greater than the acceleration set in parameter P02 The motor accelerates and decelerates at parameter value P02 As a result an excessive motor speed occurs The frequency of the supplied pulses exceeds 40 kHz As soon as the frequency of the supplied pulses drops below 40 kHz the pul...

Страница 80: ...han the starting limit frequency fAM of the stepping motor see stepping motor sales documentation 2 Set the higher and lower oscillator frequency via input FH FL Input high Accelerate to higher oscillator frequency fH Input low Accelerate or decelerate to lower oscillator frequency fL NOTE The INV_DIR input can be used for inverting the motor s sense of rotation 3 Activate the START input The moto...

Страница 81: ...frequency can be set by parameter P04 fL Lower oscillator frequency can be set by parameter P73 AUTOM Inputs AM FH FL Movement frequency FH H L FL FL U U f f f f FH t t t START START U t START STOP U t a a Fig 3 10 Timing diagram for oscillator mode via inputs outputs Operation WDP3 01X Ident no 00441109760 3 29 ...

Страница 82: ...nput voltage at which the motor is to move at maximum speed in CCW sense of rotation The two graphics show Normal case 10 V input voltage maximum resolution Special case Limited working range reduced resolution NOTE With the actions A70 and A71 the working range can be defined by applying two voltages on the analog input see chapter 3 3 5 The two voltages are stored in the parameters P70 and P71 P...

Страница 83: ...resume a motor movement use the STOP input a Acceleration can be set by parameter P02 b Braking ramp can be set by parameter P74 Umax Voltage at maximum speed with CW sense of rotation can be set by parameter P70 Umax Voltage at maximum speed with CCW sense of rotation can be set by parameter P71 UZero Zero window can be set by parameter P72 Vmax Maximum speed can be set by parameter P04 ANA_IN Mo...

Страница 84: ... error if the difference between set and actual position of the motor is more than 18 steps NOTE The following parameters must have been set see chapter 3 3 1 Operating mode with parameter P00 3 Rotation monitoring with parameter P20 2 In on line command processing mode rotation monitoring can be en abled with the ROTMON_ENABLE command or disabled with the ROTMON_DISABLE command Rotation monitorin...

Страница 85: ...ch in mode via inputs outputs see chapter 3 5 Position processing via inputs outputs see chapter 3 6 For troubleshooting see chapter 4 2 For troubleshooting see chapter 4 2 Negative values for two digit values with a minus sign for values with more digits with three flashing points Only the last few digits are displayed e g 251 0 0 Interbus S diagnostics for testing the Interbus S interface The fo...

Страница 86: ...1 1 Input AUTOM 1 and motor rotates or dimension setting active 1 1 1 1 Input AUTOM 1 and motor stops or teach in acknowledgement NOTE If on line command processing is active and P69 0 the outputs can be freely used Errors are acknowledged in four ways 1 Switch the mains voltage off and on again 2 Press the key on the front panel This does not change the status of the outputs 3 Activate ERR_RESET ...

Страница 87: ...ng inactive Activate ERR_RESET input In on line command processing mode Use SETHARDWARE to switch power controller off and on again set CLRSIG_SR to ampnotready Contouring error rotation monitoring Check encoder or wiring of encoder interface see chapter 2 4 8 Reduce acceleration see chapter 3 3 1 Check electrical current setting see chapter 3 3 1 Reduce any excessive mechanical load or friction m...

Страница 88: ... activate a new movement see chapter 3 6 System error If on line command processing inactive Call Technical Services department In on line command processing mode Determine the cause of the error using the GETERROR_SR command Link via serial interface or field bus interface disrupted timeout Check wiring and master function Only for on line command processing Invalid address when accessing inputs ...

Страница 89: ...ain Controller ready Other malfunctions The following table lists possible malfunctions which are not indicated Malfunction Cause Rectification Motor does not move even with current available Motor is mechanically blocked Release motor brake if available No motor torque One or more motor leads interrupted Check motor wiring see chapter 2 4 Motor does not move Motor does not follow control Motor le...

Страница 90: ...he symbol may only be unpacked stored and installed in an electrostatically protected environment The original packing material should be kept for later use The following requirements apply when shipping units or PC boards Units or PC boards must be shipped in their original packing material PC boards without batteries or accumulators must be packed in wrapping which is electrically conductive on ...

Страница 91: ...nt from Lahr reaches most destinations in Europe within 24 hours Technical advice in case of failures by hotline Phone 49 0 7808 943 226 Fax 49 0 7808 943 499 Internet e mail hotline berger lahr com Of course the Technical Services department also offer the following services On site maintenance and direct communication with your service specialist Customer service WDP3 01X Ident no 00441109760 5 ...

Страница 92: ...Customer service 5 2 WDP3 01X Ident no 00441109760 ...

Страница 93: ... LRS 422 IN ANOZ Not installed LRS 422 IN RS 232 Not installed LRS 422 IN RS 485 LS Not installed LRS 422 IN CAN Bus CAN Not installed LRS 422 IN Interbus S IBS Not installed LRS 422 IN Profibus DP PBDP Not installed LRS 422 IN NOTE The interfaces installed in the unit are indicated on the type plate The following abbreviations are used ANOZ Analog interface CAN CAN Bus interface IBS Interbus S in...

Страница 94: ...6 2 Description of accessories Mains 11 14 15 12 22 10 13 17 18 19 20 21 7 4 8 5 6 2 3 9 1 9 16 9 9 Fig 6 1 Accessories Appendix 6 2 WDP3 01X Ident no 00441109760 ...

Страница 95: ... x 1 5 mm 12 Signal cable for signal connection 13 Signal cable for adapter slot OPT 1 14 Signal cable encoder for adapter slot OPT 2 15 Signal cable pulse direction for adapter slot OPT 2 Ready made cables 16 ANOZ customer signal cable terminated on device end 17 Interbus S MP 927 signal cable terminated on both ends 18 RS 232 PC signal cable terminated on both ends 19 RS 422 IN customer signal c...

Страница 96: ...ig 2 2 The arrow on the fan indicates the direction of the airstream if the fan is connected correctly red 24 VDC black 24 VGND 1 Cut out the grille on the unit 2 Fasten the fan to the bottom of the unit with four screws 3 Connect the fan to the external 24 VDC voltage supply NOTE Ensure that the airstream in and around the unit is unobstructed 40 28 4 4 32 32 40 Fig 6 2 Fan Appendix 6 4 WDP3 01X ...

Страница 97: ...ting specifications of BERGER LAHR must be observed Ambient conditions Storage temperature 25 C to 70 C Operating temperature 0 C to 55 C Humidity class F acc to DIN 40040 Humidity class tested to IEC 68 part 2 3 at Air temperature 40 C 2 C Relative humidity 93 2 3 non condensing N N Mains L L PE PE L N PE Fig 6 3 Mains filter Appendix WDP3 01X Ident no 00441109760 6 5 ...

Страница 98: ...ning units e g WDP3 power is supplied via the RS 485 RS 422 connection 6 2 3 2 Technical data Electrical data Voltage supply 9 6 to 15 VDC 150 mA Interfaces RS 485 LS RS 422 V24 RS 232 Mechanical data Dimensions 97 x 65 x 30 mm Weight approx 130 g Ambient conditions Storage temperature 25 C to 70 C Operating temperature 0 C to 55 C Humidity class F acc to DIN 40040 Humidity class tested to IEC 68 ...

Страница 99: ...he data transmission either the LED marked RS 485 V24 or the LED marked RS 485 V24 lights up 6 2 3 4 Status indicators The status indicators show the operating status or any malfunction LED Lit Not lit Flashing POWER ON Supply voltage available Supply voltage not available RS 485 V24 RS 485 RS 422 interface incorrectly wired signal lines TxD TxD and RxD RxD interchanged No data transmission from R...

Страница 100: ...3 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 Male conn Female connector RS 485 LS or RS 422 RGND GND 12V RxD TxD RxD TxD 5 4 3 2 1 5 4 3 2 1 9 8 7 6 9 8 7 6 Female connector Female connector MP 923 RS 485 RS 422 V24 RS 232 Fig 6 5 MP 923 interface converter setup Appendix 6 8 WDP3 01X Ident no 00441109760 ...

Страница 101: ...trical data 10 serial interfaces RS 485 LS RS 422 Mechanical data Dimensions approx 205 x 80 x 32 mm Weight approx 260 g Ambient conditions Storage temperature 25 C to 70 C Operating temperature 0 C to 55 C Humidity class F acc to DIN 40040 Humidity class tested to IEC 68 part 2 3 at Air temperature 40 C 2 C Relative humidity 93 2 3 non condensing Plastic cover LED 12 VDC supply voltage Shield con...

Страница 102: ...ted in fig 6 7 3 Set the connected units to network mode and switch them on ATTENTION The same baud rate must be set on all units for network mode ATTENTION When using an MP 923 interface converter at least one unit attached to the first MP 924 interface distributor must be switched on in order to ensure that power is supplied to the MP 923 1 B1 B2 B3 MP 924 MP 924 Unit 1 RS 485 interface Unit 8 R...

Страница 103: ...stor heats up when a great amount of braking energy is produced ATTENTION Good heat dissipation must be ensured when installing the bleed resistor 1 Switch the mains voltage OFF 2 Provide the two bleed resistor leads with wire end ferrules on the device end 3 Connect the two litz wires to the terminals at the bottom of the unit B WDP3 01X B 18 220 100 90 4 5 65 Fig 6 8 Additional bleed resistor Ap...

Страница 104: ...om the master to a controller slave The controller interprets and executes the commands CW rotation Sense of rotation of the motor in a clockwise direction as seen from front towards the motor shaft Download With the download function data are loaded into the controller from a master computer Electronic gear Externally supplied pulses are counted as A B encoder signals or pulse direction signals a...

Страница 105: ...method Limit switch Switch for limiting the travel and for reference movements Master slave principle Principle of communication in a network Only the master is permitted to send commands Slaves only receive and execute commands Negative limit switch Limit switch in CCW counterclockwise direction Motor rotation in a counterclockwise sense as seen from front towards motor shaft Network mode An oper...

Страница 106: ...rence speed The reference speed is the speed at which the axis moves away from a limit switch Reference switch A switch which can be approached from either direction for a reference movement Relative incremental positioning For incremental positioning the position value refers to the current position of the axis Rotation monitoring Rotation monitoring is used for detecting positional deviations of...

Страница 107: ...entary Metal Oxide Semiconductor DC Direct Current DP Decentralized peripheral equipment E Encoder FI Fault current HU Height unit I Input IBS Interbus S interface I O Input output LED Light Emitting Diode M Motor PBDP Profibus DP interface PC Personal Computer PELV Protected Extra Low Voltage PLC Programmable Logic Controller Q Output Appendix WDP3 01X Ident no 00441109760 6 15 ...

Страница 108: ...Appendix 6 16 WDP3 01X Ident no 00441109760 ...

Страница 109: ...1 15 2 21 Field bus interface 1 5 2 20 Interbus S interface 1 14 Mains connection 1 12 2 7 Motor connection 1 12 2 8 Profibus DP interface 1 14 RS 232 serial interface 1 13 2 16 RS 485 serial interface 1 13 2 18 Signal interface 1 13 2 9 D Device functions 1 2 E Electronic gear 1 9 3 26 Encoder signal type 3 8 A B signals 1 9 2 22 Pulse direction 1 9 2 23 Error code 4 3 Index WDP3 01X Ident no 004...

Страница 110: ...ts 1 6 3 15 Manual movement via front panel 3 14 Manual speed fast 3 9 Manual speed slow 3 9 Maximum allowed distance from limit switch 3 8 Maximum speed 3 8 Mode selection 1 10 Motor phase current 3 8 N Network Field bus 1 7 RS 485 1 7 Network address 3 8 O On line command processing 1 7 3 23 Operating mode 3 8 Operation with brake 3 3 Index 7 2 WDP3 01X Ident no 00441109760 ...

Страница 111: ...ual speed fast 3 9 Manual speed slow 3 9 Maximum allowed distance from limit switch 3 8 Maximum speed 3 8 Motor phase current 3 8 Network address 3 8 Operating mode 3 8 Parameter menue 3 9 Reference speed 3 8 Rotation monitoring 3 8 Standstill current 3 8 System of dimensions 3 8 Voltage at maximum speed 3 9 Zero window 3 9 Position processing 1 6 3 19 Position set input 3 10 Principle of a refere...

Страница 112: ...3 11 Timing diagram Electronic gear 3 27 Encoder signals A B 2 22 Manual mode 3 15 Operation with brake 3 3 Oscillator mode via analog interface 3 31 Oscillator mode via inputs outputs 3 29 Position processing 3 20 Pulse direction 2 23 Teach in 3 18 U Upload download 1 6 3 22 V Value display 3 12 Ventilation 2 4 Voltage at maximum speed 3 9 W Wiring layout 2 6 Z Zero window 3 9 Index 7 4 WDP3 01X ...

Страница 113: ...8 Corrections and additions At present there are no corrections or additions Corrections and additions WDP3 01X Ident no 00441109760 8 1 ...

Страница 114: ...Corrections and additions 8 2 WDP3 01X Ident no 00441109760 ...

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