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GEFRAN

—————— Instruction manual ——————

34

5.2.2.3. DltDisp Calculation

Calculation of the Pinion circle and therefore of the millimeters covered by the axis during a pinion revolution.

PinionCircle = MR_PinionDiameter * 3.14 = 10 * 3.14 = 314.159265359 millimeters

Calculation of the millimeters covered by the axis during a motor revolution.

mm1MotorRevolution = PinionCircle / MR_Ratio = 314.159265359 / 9 = 34.90658503989 millimeters

Calculation of the millimeters covered by the axis during an encoder revolution.

mm1EncoderRevolution = mm1MotorRevolution/MO_Motor:EncoerRatio = 34.90658503989 / 1 =
34.90658503989 millimeters

DltDisp = mm1EncoderRevolution = 34.90658503989 millimeters

5.2.2.4. MaxSpd Calculation

Calculation of the axis speed when the motor rotates at the maximum speed. The speed is stated in millime-
ters/second.

MaxSpd = ( MO_MaxRev./ 60 ) * DltDisp = ( 3000 / 60 ) * 34.90658503989 = 1745.329251995 mm/sec

5.2.2.5. MaxAcc Calculation

Calculation of the acceleration value needed to reach the maximum speed within the stated time: 1 second.

MaxAcc = MaxSpd / RQ_AccelerationTime= 1745.329251995 / 0.5 = 3490.658503989 mm/sec

2

5.2.2.6. OutNorm Calculation

Calculation of the normalizatin constant of the speed reference.

OutNorm = MO_MaxRevolutions / MaxSpd = 3000 / 1745.329251995 = 1.718873386 rpm*sec

mm

5.2.2.7. Zero Cycle search

When the

Type Cycle0

parameter is set at 0 (zero), the axis carries out an automatic sequence to acquire the

machine zero.

This sequence assumes that the incremental encoder is supplied with the

CH 0 signal (zero index)

, allow-

ing to detect an univocal position inside the encoder revolution.

If during the axis stroke, the incremental encoder performs more than one revolution, a

zero cam

(

zero

qualifier

) is required, allowing to detect a specific encoder revolution in the axis stroke.

W

ARNING

:

the zero cam must have a single switching edge inside the axis stroke.

The zero sequence can be configured according to the axis features and via the

IndexCnf, QualfCnf and

ZeroSpd

parameters.

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Содержание POS-MINI SIEIDrive

Страница 1: ...Instruction Manual SIEIDrive ONE AXIS POSITIONER POS MONO...

Страница 2: ...duced in any form or by any means including recording and photocopying without a written consent of GEFRAN S p A GEFRAN S p A is not responsible for those mistakes that may be found in this manual and...

Страница 3: ...nfiguration 20 3 7 3 Move N Command Configuration 20 3 8 Axis Configuration 21 3 9 Encoder Configuration 22 3 10 Absolute Encoder Configuration 23 3 11 About Application 24 4 Description of the Axis C...

Страница 4: ...al Encoder 32 5 2 1 Axis Features 32 5 2 1 1 Incremental Encoder 32 5 2 1 2 Motor 32 5 2 1 3 Motor Reducer 32 5 2 1 4 Axis 32 5 2 1 5 Requirements 32 5 2 2 Phase 1 Preliminary Calculation of the Axis...

Страница 5: ...uction manual 5 Appendix A Configuration of the DGFC Standard Parameters 42 Appendix B Profibus Communication Configuration 43 Appendix C List of the Positioner Specific Alarms 46 Appendix D List of t...

Страница 6: ...GEFRAN Instruction manual 6...

Страница 7: ...igital inputs 2 Via boolean parameters which are specific for each command such parameters can be written via the serial communication channels 3 Via a single parameter where each bit is assigned to a...

Страница 8: ...Jog command or when it reaches the minimum limit switch for the Jog command Such a condition is valid only after the zero cycle has been performed otherwise the axis goes on without end The axis speed...

Страница 9: ...a the following parameters Speed name SpeedSpace ipa 1088 Acceleration name AccelSpace ipa 1091 Jerk name JerkSpace ipa 1293 The specific parameter controlling IncrJog is the following name spaceFwd i...

Страница 10: ...ld contact is open 2 When the command is disabled The position to be reached by the axis is specified via the following parameter name TargetPos2 ipa 1012 The axis speed profile can be of two types wi...

Страница 11: ...ter whose values are the following 0 It enables the speed profile with a normal ramp 1 It enables the speed profile with an S shaped ramp The speed and acceleration values are contained into the selec...

Страница 12: ...ired input number Execution 4 The specific inputs have to be suitably controlled If the number of the available digital inputs is lower than 5 the SelectorSelX variable referring to the missing input...

Страница 13: ...the digital input configuration Dig Output configuration it enables the page for the digital output configuration Encoder configuration it enables the page for the encoder configuration Absolute Enco...

Страница 14: ...s real value 10 It forces the DGFC card to the Idle state 11 It forces the DGFC card to the Ready state 12 It forces the DGFC card to the Run state 13 It cancels possible DGFC still present alarms 14...

Страница 15: ...end of a movement 7 It controls the execution of the IncrJog and IncrJog movements allowing to set the movement space The speed and the acceleration can be changed in the Command page 8 Present overr...

Страница 16: ...the execution of the IncrJog and IncrJog movements allowing to set the movement space The speed and the acceleration can be changed in the Command page 5 Present override with the specific increasing...

Страница 17: ...command 7 It configures the Move2 command 8 it goes to the second configuration page of the digital input 9 It goes to the third configuration page of the digital input 3 5 1 Digital Input Configurati...

Страница 18: ...GEFRAN Instruction manual 18 3 6 DIGITAL OUTPUT CONFIGURATION This page allows to configure the digital outputs 1 It selects the output PAD 2 It configures the digital outputs 1 2...

Страница 19: ...ers on a PC file 3 7 1 Move 1 Command Configuration 1 Value to be reached 2 Speed of the MOVE 1 command 3 Acceleration of the MOVE 1 command 4 Jerk of the Move 1 command 5 It selects the source of the...

Страница 20: ...OVE 2 command 4 Jerk of the Move 2 command 5 It selects the source of the Move 2 command 6 It selects the source of Target Pos 2 7 Setting of the reached value threshold 3 7 3 Move N Command Configura...

Страница 21: ...ows the positioner configuration 1 Ideal value 2 Position error 3 Real value 4 Real value from the absolute encoder 5 The parameter meaning is contained in the table Description of the Axis Configurat...

Страница 22: ...s the encoder Enc 1 Enc 2 2 It sets the encoder initialization registers 3 It configures the Override 4 It selects the Target Pos 1 source Flag a Feed Rate source if the analog input reference has bee...

Страница 23: ...is page allows the absolute encoder configuration 1 Card availability flag 2 Counting values for the absolute encoder 3 Absolute encoder enabling disabling 4 Reserved 5 Absolute encoder reference valu...

Страница 24: ...GEFRAN Instruction manual 24 3 11 ABOUT APPLICATION This page contains the information about the application version...

Страница 25: ...nnel and the zero cam 1 no initialization sequence 2 absolute encoder 3 automatic absolute encoder 5101 IndexCnf bits It shows the edge on which the encoder zero channel must be acquired 0 climbing le...

Страница 26: ...or revolution MO_Bit1MotorRevolution 2048 bits 5 1 1 4 Motor Reducer Reduction ratio MR_Ratio 9 Diameter of the output pinion MR_PinionDiameter 10 millimeters 5 1 1 5 Axis Axis stroke AX_Stroke 1200 m...

Страница 27: ...his parameter 5111 QualfCnf bits bits 0 This configuration does not use this parameter 5081 ZeroSpd dis sec mm sec 1 This configuration does not use this parameter 5091 ZeroOrd n n 0 Axis sequence for...

Страница 28: ...ng the calculated parameters it is possible to check the calculation results 5 1 3 2 First Steps Take the DGFC card first to the READY state and afterwards to the RUN state 5 1 3 3 Check of the Increm...

Страница 29: ...near the maximum limit switch Detect the axis ideal value positionB Measure the distance DISTANCE between pointA and pointB Check that the measured distance DISTANCE is equal to positionB positionA Tr...

Страница 30: ...through this status the zero cycle sequence has to be repeated Send the StartCycle0 command Check that the zero cycle has been completed in the right way 5 1 3 12 Check of the Electronic Limit Switche...

Страница 31: ...of the proportional gain 5 1 3 15 Tuning of the maximum error for a static positioning Set this threshold with the maximum allowed positioning error This value depends on the machine features If this...

Страница 32: ...e control unit to the IDLE status Save the parameters in Flash Save the parameters on a file 5 2 CONFIGURATION EXAMPLE FOR A LINEAR MOVED AXIS WITH AN INCREMENTAL ENCODER 5 2 1 Axis Features 5 2 1 1 I...

Страница 33: ...zero cycle It is advisable to set a high positive value which avoids electronic limit switches 5151 Minimum dis mm 10000000 Axis min value This parameter is active after the zero cycle It is advisable...

Страница 34: ...MaxAcc Calculation Calculation of the acceleration value needed to reach the maximum speed within the stated time 1 second MaxAcc MaxSpd RQ_AccelerationTime 1745 329251995 0 5 3490 658503989 mm sec2...

Страница 35: ...he zero qualifier If the zero qualifier starting status is FALSE the axis moves first in a positive direction till reaching the first climbing leading edge of the zero qualifier and afterwards it ends...

Страница 36: ...2 3 5 Check of the manual commands Warning during this phase of the axis configuration procedure the electronic limit switches are disabled be careful while using the manual commands Set a JOG speed e...

Страница 37: ...xis movement is opposite to the zero cam direction stop the axis and set the zero speed with ZeroSpd Repeat the operations 3 The axis engages the zero cam 4 It stops 5 The axis moves in an opposite di...

Страница 38: ...re lower limit switch Maximum 1399 66 Software upper limit switch Lower limit switch Home switch Zero slot Encoder used for initialization Upper limit switch Encoder turns 1 2 3 4 Case 3 Starting poin...

Страница 39: ...ware lower limit switch Maximum 1399 66 Software upper limit switch Lower limit switch Upper limit switch 5 2 3 9 Zero Cycle repetition Every time the card reaches the IDLE status the system loses the...

Страница 40: ...limit switch Mechanical reference Preset 0 Baseori 250 34 0 200 400 600 800 1000 1200 1400 AXIS quota 1600 1650 This can be achieved by setting the BaseOri parameter with a value equal to the one of...

Страница 41: ...This function can be performed via two parameters MaxPosErr stating the maximum possible difference between the ideal and the real value MaxPosTime stating the maximum waiting time for the control uni...

Страница 42: ...0000000 Option 3 card configuration for DGFC 307 0 Identifier of the option 4 card for DGFC 308 0x00000000 Option 4 card configuration for DGFC 311 3 Main serial port serial protocol 3 SLINK 3 4 SLINK...

Страница 43: ...a Channel IPA BIT Bit description Function description Byte 0 dInAs0 1268 0 Select position Bit 0 Set point array index to be enabled SelectPositionByte 1 Select position Bit 1 The values are included...

Страница 44: ...rom DGFC Process Data Channel IPA BIT Bit description Function description Byte 0 dOutAs0 12730 Feedback position Bit 0 Active set point array index FeedbackPositionByte 1 Feedback position Bit 1 2 Fe...

Страница 45: ...s is lower or equal to the minimum limit switch 7 Limit Switch MAX 1 Value 1 when the axis is higher or equal to the maximum limit switch Byte 4 0 Error Code Drive error code ErrorCodeLowByte 1 Error...

Страница 46: ...POSITIONER SPECIFIC ALARMS ALARM_VOID 0 no alarm ALARM_QUOTA 1 wrong ideal value alarm ALARM_ERR_DIN 2 overcome dynamic error alarm ALARM_ERR_STAT 3 overcome static error alarm ALARM_ERR_POS 4 positio...

Страница 47: ..._AXES 6 command on too many axes AXIS_BUSY 7 busy axis MIN_POS 8 the S position is under the Minimum Value MAX_POS 9 the S position is over the Maximum Value INVALID_SPEED 10 zero set speed INVALID_AC...

Страница 48: ...MANUALE PosMono EN Rev 0 1 16 2 2011 1S5E73...

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