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12 

4.3 

Program Operation (R8/4 =  0) 

 

4.3.1

 

Selection of a Program Block 

 

The P8721 has a Program memory of 200 Address lines. These can be divided into several Blocks of 

equal

 quantity of lines (see Register R41). Each Block can store a different Program, which can be 

selected for operation, at will. If for example, 8 Blocks of 25 Lines is set, selecting a Block higher than 8, 

will result in Block 8 being selected. 

 

To select the required Block for operation. 

 

Press Prog

 

  Selects Program mode 

Press T

   Resets windows to zero 

Press R

 

  The Nr (Address) Window flashes 

Key in 40

 

  40 appears in Nr Window (flashing). 

Press >

 

  The previously selected Program Block is displayed in Target window 

Press C

 

  Clears value to zero 

Key in 

(e.g.)

 3

    3 appears in Target window 

Press E

 

Program Block 3 is called up and sequence is ended  

Controller returns to Operation mode (all input windows are “0”) 

 

Now the Block can be used with the existing program, or a new program can be entered. 

4.3.2  Input of a Program 

 

The required Program Block is selected in accordance with section 4.2.1. The Memory-block remain 

selected also after power down. 

 

Press Prog

 

 

Selects Program mode 

Press T

  Reset 

controller. 

Press Nr

 

 

“01” appears in Nr Window. LED illuminates under Target window. 

Press C

  Clears 

existing 

value. 

Use Keys 0 – 9

 

To enter new dimension. 

Press >

 

 

LED illuminates under Quantity Window. 

Press C

  Clears 

existing 

value. 

Use Keys 0 – 9

 

To enter required quantity. 

Press >

 

 

LED illuminates under Abs/Incr Window 

Press C

  Clears 

existing 

value. 

Press : 0

 

 

= Absolute Position 

 

1

 

 

= Incre positive direction 

 

2

 

 

= Incremental – negative direction 

 

3  

= Incremental from “zero” 

 4  = 

Incremental from “zero” – tool offset value 

Now one program line is completed.  

The operator can now end programming or continue to next Address line. 

 

To end programming – 

Press E

 

To move to next line  -  

Press >

 

 

Содержание P8721-000-R SERIES

Страница 1: ...P8721 000 R P8721 000 R E_22 04 Single Axis Position Controller integrated relay outputs integrated mains power supply 3 different speed rates manual operation mode single set operation 200 sets program memory ...

Страница 2: ...2 Functions of LED s 8 3 3 Function of the Keypad 9 4 OPERATION MODES 11 4 1 Manual mode 11 4 2 Single set operation 11 4 3 Program Operation R8 4 0 12 4 3 1 Selection of a Program Block 12 4 3 2 Input of a Program 12 4 4 Table mode R8 4 1 13 4 4 1 Operation in Table mode 13 5 REGISTER INPUT 13 5 1 Unlocking Registers by Security Code 13 5 2 Setting and Changing Register Values 14 5 3 Locking of R...

Страница 3: ...TERMINALS ST3 AN ST4 27 10 FUNCTIONS OF OUTPUTS TERMINALS ST5 6 29 11 CONNECTIONS 30 11 1 Terminal assignment 31 12 TECHNICAL SPECIFICATIONS 31 13 INSTALLATION WIRING 32 14 ONLY FOR SERVICE 33 15 TYPE DESIGNATION 34 16 LIABILITY EXCLUSION GUARANTEE 35 ...

Страница 4: ...acy obtained is dependent on the type of drive chosen The outputs for stepped speed drives are relays These outputs can be configured in a number of ways to suit all types of control circuits Actual position is monitored by incremental encoder The power supply unit is integrated The controller can be used to position machinery to any desired absolute position Alternatively the controller can be us...

Страница 5: ...sfers the Demand display value into Actual Value Display R8 xx2xxx Automatic reference positive direction R8 xx3xxx Automatic reference negative direction R8 xx4xxx Datum with keypad alone The value of R7 is transferred to Actual Display by accessing R7 typing in value and then pressing E 2 4 Encoder Monitoring If after positioning is activated no Encoder pulses are received after a time set in R1...

Страница 6: ... quantity counter goes from 1 to 0 a pulse output is given The length of this pulse is set in P11 Setting 0 0 gives a maintained output 2 6 Program counter The program counter will be active when R46 0 R 47 will be incremented after a complete program operation If R47 R46 a message Count is shown in the actual value window after program operation and the counting value R47 is shown in the Target v...

Страница 7: ... R13 Single 05 Actual position max software limit R14 Hand Target position max software limit R14 Single 07 External stop activated or wire break The fault message is cleared by pressing any button 07 also flashes if Stop on front panel is activated in middle of any move Notice for 07 The external stop input must be linked before system can operate Therefore if external n c pushbutton is not fitte...

Страница 8: ... s LED Hand Illuminates after selecting Single mode by Hand Single button LED Single Illuminates after selecting Hand mode by Hand Single button LED Prog Illuminates when Program mode is selected LED P End Illuminates when program operation is complete program end LED 1 4 Indicate which input window is selected Windows can be changed by button 5 NR mm Prog Start Stop 4 Hand Single Prog P End OUT 1...

Страница 9: ...ccess Registers Start Starts positioning action The Start Button is inhibited when programming or setting of Registers is selected also in Hand mode Stop Motion is stopped NR This Button is only active in Program mode It has the following functions 1 Start the programming action Thereafter only the Cursor Button needs pressing 2 Checks existing program Pressing NR repeatedly scrolls through the pr...

Страница 10: ...Button should be pressed only when the last window is selected LED3 Stop the entered Register values End Register setting at any point R Selector for entry of Register values Only active when Prog selected T Reset Button Resets all Target windows to zero in Program mode C Clears selected Target window value 0 9 Numerical keys for data entry 5 NR mm Prog Start Stop 4 Hand Single Prog P End OUT 1 4 ...

Страница 11: ...ilst the button is depressed The remaining Buttons are inhibited in Manual mode The Buttons have the following functions Button 7 Slow Reverse Button 8 Fast Reverse Button 9 Fast Forwards Button NR Slow Forwards If a 3 speed drive is used the Fast and Creep speeds are used Physical direction of movement can be reversed by setting of Register R64 4 2 Single set operation In addition to Program oper...

Страница 12: ...Controller returns to Operation mode all input windows are 0 Now the Block can be used with the existing program or a new program can be entered 4 3 2 Input of a Program The required Program Block is selected in accordance with section 4 2 1 The Memory block remain selected also after power down Press Prog Selects Program mode Press T Reset controller Press Nr 01 appears in Nr Window LED illuminat...

Страница 13: ...Code 250565 has been entered into Register R98 Note that Registers R06 R07 and R40 are accessible without need for Security Code Accessing Registers can only take place when Controller is selected to Program mode In Register input mode the decimal point is always at the correct position for the register resolution All Registers are entered in the Position Target window Use Button E to a Store Regi...

Страница 14: ...reinstated Any Register from 1 to 97 can be selected and changed in the above manner If sequential Registers are to be set Press twice instead of E and continue editing Register by Register Press E on completion It is possible to run the Controller with Registers unlocked e g having set the Stop offset Register R03 you may now execute a Single move and then go back to edit R03 5 3 Locking of Regis...

Страница 15: ...position 0 1mm 10000 28 System Register 8 See Page 22 000000 29 Time delay for drive enable 0 1 sec 10 30 Time Program end 0 1 s 10 31 Closed loop inhibit time in Hand 0 1 sec 10 33 Power on mode 0 1 sec 10 34 Start delay time 0 1 sec 10 40 Program Block selection See Page 12 1 41 Number of lines in Prog Block 1 99 20 46 Program counter Limit 1 99 0 47 Program cycle counter 0 9999 0 48 Program Cou...

Страница 16: ...on should be approached from one direction only In positive direction therefore the Demand position will be overrun by the value of R4 and driven back at creep speed after a time delay of R10 to the Demand position R05 Retract distance There are different modes available in the P8721 selectable by Register R18 2 If R18 2 0 Retract Position Actual R5 If R18 2 1 Retract Position Value of R5 Whilst t...

Страница 17: ... Reverse 3 separate outputs fast forward slow forward fast rev slow rev 4 Fast only in reverse direction 5 3 speed Binary coded 6 3 speed operation Forwards Backwards Program Memory 0 Sequential Program 1 Table selection Datum reference 0 Datum to R7 with external pulse by key switch 1 Datum to Demand position window with external key switch 4 Datum to R7 by key board only Display windows program ...

Страница 18: ...l position displayed is made equal to the Demand position The actual error is not lost as the controller knows the true position Example R12 0 2 Therefore tolerance window is 0 2mm Display without tolerance Display with tolerance Notice The tolerance window R12 should be ZERO at first start up Single set operation Immediately after start signal the controller checks the software limits If the Dema...

Страница 19: ...oth software limits R13 R14 inhibited External limit switches can be connected to the St4 3 backwards and at St4 4 forwards xxxx0xBoth limits inputs active xxxx1xMin limit input St4 3 inhibited xxxx2xMax limit input St4 4 inhibited xxxx3xBoth software limit inputs St4 3 St4 4 inhibited Notice If these are not connected to limit switches they need to be connected Normally closed i e linked out R17 ...

Страница 20: ...ool offset value positioning in single 0 Absolute 1 Incremental positive direction 2 Incremental negative direction 3 Incremental from zero 4 Incremental from zero minus tool offset value retract mode 0 retract to Actual P5 setting value subtracts 1 retract to P5 setting return on deactivation 2 retract whilst input active return on deactivation 3 retract to Actual P5 without return 4 retract to P...

Страница 21: ...n negative direction This parameter is important for application with different load conditions on forward or backward if no use of automatic backlash compensation is desired The Parameter R28 2 has to be set to 1 for activation Distance at which the controller switches from high speed to slow speed in negative direction The output high speed will be switched off R22 Creep speed distance in negati...

Страница 22: ... by R1 R2 R3 and reverse separately in R21 R22 R23 Display selection for program mode see R8 2 page 16 R29 Time Delay for Drive inhibit Positioning On activating start output St6 1 2 is activated On arriving in position after a time delay of R29 this output deactivates R33 Controller switch on mode The value set in this register will determine the mode of operation that The controller assumes on p...

Страница 23: ...ister can be accessed without opening security code in R98 The actual count value can be displayed and set in this parameter R48 Output Program cycle complete time The length of this Program cycle end output is set in this parameter Setting 0 0 gives a maintained output at ST6 Pin 7 8 R56 Multi edge counter 1 pulses x 1 2 pulses x 2 4 pulses x 4 Entry of any other value will automatically select 1...

Страница 24: ...xx3 When the display is switched between metric inch this factor will be used to change the display to secondary units R96 Pulse factor encoder A factor 0 00001 to 9 9999 can be entered in this Register The incoming pulses will be multiplied by this factor to manipulate the display to required dimensions If no multiplication is required this Register must be set to 1 00000 R97 Inch mm conversion m...

Страница 25: ...dent outputs forward and reverse Independent outputs fast and slow ST5 Pin 3 10 X Pin s closed RELAY outputs 3 4 5 6 7 8 9 10 Creep forwards X X Slow forwards Fast forwards X X Creep reverse X X Slow reverse Fast reverse X X R2 Run forwards R5 Run reverse R3 Creep R4 Fast combined with forward reverse but independent Value 2 2 speed operation Speed set by Relays 2 3 Direction set by Relay 4 ST5 Pi...

Страница 26: ...orwards X X Fast forwards X X X Creep reverse X X X X Slow reverse X X X X Fast reverse X X X X Value 5 3 speed operation Binary coded Relays 2 3 for speed Relay 2 Run forwards Relay 5 Run reverse ST5 Pin 3 10 X Pin s closed RELAY outputs 3 4 5 6 7 8 9 10 Creep forwards X X Slow forwards X X Fast forwards X X X Creep reverse X X Slow reverse X X Fast reverse X X X Value 6 3 speed operation Relay 2...

Страница 27: ...1 datum can be set by this input R8 xx0xxx referencing to Register 7 R8 xx1xxx referencing to target value R8 xx2xxx Start of referencing in positive direction R8 xx3xxx Start of referencing in negative direction St3 5 Incremental negative Activating this input causes axis to move incrementally in negative direction This input has priority over setting of R18 3 and R18 4 In program operation this ...

Страница 28: ...St4 3 4 End switches External end switches can be connected at this pins St4 Pin3 End switch positive St4 Pin4 End switch negative Input logic is NPN input open end switch active An activated end switch is monitored by following fault messages Fault monitoring Negative end switch active error 02 Positive end switch active error 03 Notice If these pins are not connected to end switches they need to...

Страница 29: ...ll be active when the quantity is reached For quantity subtracting Æ Æ Æ Æ when batch counter 0 For quantity adding Æ Æ Æ Æ when input value is reached St6 pin 5 6 Program Running Program end Parameter R30 select the function of this output R30 value 0 Æ The output is set on first activation of start Æ The output is reset on completion of the last program line R30 value 0 1 99 9 sec Æ The signal i...

Страница 30: ...arth Screens ST 3 Input PIN Function 1 0 V PNP or 24 VDC Option NPN 2 Start 3 Stop 4 Datum reference 5 Incremental negative 6 Retract 7 Quantity 8 Incremental positive ST 4 Input PIN Function 1 0 V PNP or 24 VDC Option NPN 2 System Reset 3 End switch negative 4 End switch positive 5 Start Home position 6 7 8 ST 9 DC Power supply PIN Function 1 0 V GND 2 24 VDC 250 mA 3 PE Earth Screens ST 9 AC Pow...

Страница 31: ... Potential free shutter relays max switch able voltage DC 30 V max switch able voltage AC 250 V Memory E PROM minimum 10 years service life Connectors Screw terminals strain relieved Display Red low power LED 7 segment 10 mm high Hardware SMD microprocessor with 128 K E Prom System accuracy 1 digit Counting frequency 20 KHz higher on request Housing Black metal panel housing 144 x 144 x 84 mm s pl...

Страница 32: ...e connected centrally low ohm to PE earth potential connect only one sided at the P8721 Controller IMPORTANT 1 Don t connect the P8721 GND to PE earth potential 2 Don t connect the shielding on both sides to PE earth potential 3 If the protective ground potential is heavily contaminated by interference voltages try to connect the shielding to the GND potential instead of PE earth potential Fault c...

Страница 33: ...ce Select R90 before R99 Button 0 Input test ST3 Button 1 Input test ST4 Button 2 Input output test St3 to St5 Button 2 Input output test St4 to St6 Button 4 Displays the software details Target window SV number and version Quantity SN number Button 5 Selects relay 1 5 output test on St5 Button 6 Selects relay 6 10 output test on St6 Button 7 Keyboard test Button 8 Clear memory Button 9 Load test ...

Страница 34: ...etc Supply voltage 024 24 VDC 115 115 VAC 230 230 VAC Encoder input 0 A B 24V 24V 20KHz PNP 1 A B 0 24V24V 20KHz PNP 2 A B A B 5 V TTL 100 KHz 3 A B Z A B Z 5 V TTL 100 KHz 8 A B 24V 24 neg logic NPN 20 KHz Special Features P PID Analogue output R Relay output 7 shutters EN input NPN including index pulse S Serial interface RS232 P 87 2 1 000 230 0 R XXXXXX ...

Страница 35: ...we keep all rights reserved for any technical modifications without any notice ELGO Electric does not assume any liability for possible errors or mistakes The guarantee period is two calendar years EC Directive from the date of delivery and includes the delivered unit with all components ELGO Electric GmbH will at its option replace or repair without charge defects at the unit or the included part...

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