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12.3.4

I_Force Control

12.3.4.1

Program with I_Force Control Commands

In the WebMotion® menu „program“ the different

force functions of I_FORCE CALIBRATION, I_FORCE

LIMITATION and I_FORCE MONITORING can be

combined and defined with the use of the according

commands.

The command can be found in

chapter 9.12.1 Program commands

12.3.4.2

Drive I_Force

DRIVE I_FORCE is driving with force consisting of

acceleration (ACC), speed (SPEED), current (I_FORCE)

and driving direction (DIRECTION).

After defining and saving the above mentioned

parameters, DRIVE I_FORCE can be included in a

program.

Up to 10 DRIVE I_FORCE can be defined.

Содержание XENAX Xvi 48V8

Страница 1: ...er Web browser The integrated webserver allows a setup and parameterization over web browser After an automatic self check the connected LINAX linear motor axis the ELAX electric slide or the ROTAX ro...

Страница 2: ...w shaft Customary rotary AC DC EC servo motors for example from FAULHABER or MAXON can also be operated by the XENAX Xvi 48V8 The logic supply 24V DC and the intermediate circuit voltage 24V 48V DC ar...

Страница 3: ...ition of Rotating Direction for Servo Motors 13 4 2 6 OPTIO Pulse Dir Second Encoder Channel 14 4 2 7 PLC I O 15 4 3 Internal I O Circuit 16 4 4 Output Configuration 16 5 Configuration Motor Type Jenn...

Страница 4: ...9 6 14 Input Output 37 9 6 15 Correction Table 38 9 6 16 Limit Position ELAX 39 9 6 17 System Information 40 9 6 18 Ethernet 41 9 6 19 Bus Module Information 41 9 6 20 Error Handling 41 9 6 21 System...

Страница 5: ...11 Gantry Synchronized Mode 82 11 1 Activate Gantry Mode 82 11 2 ASCII Commands for Gantry Synchronized Mode 83 12 Forceteq Force Measurement Technology 84 12 1 Forceteq basic current based with self...

Страница 6: ...nce for rotary motors free to define incl external sensor Index 50 motion moves accl speed distance position Profile 5 extended motion profiles with 7 profile segments each Number of application progr...

Страница 7: ...TION SINUMERIK Start up Key ID number for Master Slave and application memory Force Processes Optional with license code Controllable Motor Types ELAX ROTAX and third party motors enabled by default L...

Страница 8: ...is the patented compact integration of the linear motor in the slider case resulting in a force volume ratio which has hitherto never been achieved Special feature Linear motor identification and temp...

Страница 9: ...e with brakes for vertical applications 2 3 Customary Servo Motors Faulhaber Maxon AC DC EC brushless servo motors with incremental encoder RS422 A A B B and Z Z and hall sensors as well as DC brush t...

Страница 10: ...ing internal temperature of 50 C 3 2 Assembly and Installation Assembly with two screws on an electrically conductive rear wall e g the back wall of a switch cabinet For a series mounting the distance...

Страница 11: ...LED CANopen optional 9 Pol socket D Sub Ethernet TCP IP RJ45 socket with status LED MOTOR 3 pole plug Wago pitch 3 5mm POWER LOGIK 4 pole plug Wago pitch 3 5mm ENCODER HALL 15 pole plug D Sub High De...

Страница 12: ...peak per axis Depending on mass in motion profile and power supply voltage For a fuse protection of the power supply it must be considered that a short peak current of 8A can be reached for the rotati...

Страница 13: ...7k to 5V pull down 2 2k differential input 26LS32 11 HALL 2 TMP Pull up 2 7k to 5V differential input 26LS32 over temperature signal motor 12 HALL 2 Middle level Pull up 2 7k to 5V Pull down 2 2k diff...

Страница 14: ...TION Middle level Pull up 2 7k to 5V pull down 2 2k differential input 26LS32 Pin 12 red blue DIRECTION Middle level Pull up 2 7k to 5V pull down 2 2k differential input 26LS32 Pin 14 brown green PULS...

Страница 15: ...t 1 24V Input Ri 31k Pin 4 yellow Input 2 24V Input Ri 31k Pin 5 grey Input 3 24V Input Ri 31k Pin 6 pink Input 4 Enabling Power Stage Activate the function with DIP switch DIP switch OFF HW power sta...

Страница 16: ...t ON Output OFF 0 1 SOURCE 1 HIGH 24V open 0 LOW open 24V 4 4 Output Configuration ACTIVITY SOA Set Output Activity parameter 2 Bit 1 Bit value per output Output 2 1 SOA Bit 1 0 Bit Wert 1 1 Decimal 3...

Страница 17: ...ied and parameterized Jenny Science Motors LINAX Linear Motor Axis ELAX Linear Motor Slide ROTAX Rotary Axis Motors from other manufacturers Typically rotary servo motors Motor Type Bit 1 Bit 2 Bit 3...

Страница 18: ...ontroller If this has been changed or the label is not accessible you can have the IP address displayed on the 7 segmet display To do this switch on the logic supply and switch it off again while the...

Страница 19: ...J45 cable 7 3 Close Port 10001 If the port 10001 is not closed correctly it can stay open In this case it is no longer possible to connect to this port with a new TCP IP connection There are 3 options...

Страница 20: ...P CR TP CR LF XXXXXXX CR LF Retrieve e g AC SP CR CR AC CR LF XXX CR LF SP CR LF XXX CR LF Echo command not recognized or cannot be completed in the current configuration command CR LF CR LF Echo comm...

Страница 21: ...y events Therefore it is not necessary to poll the status or inputs permanently Enable Events Events disabled default EVT 0 Events enabled generally EVT 1 Status modifications Reference Event Will be...

Страница 22: ...on WebMotion is an integrated graphic user interface website located in XENAX It is loaded and activated over a web browser Internet Explorer 8 0 Chrome Firefox Opera Note Please make sure that zoom s...

Страница 23: ...XENAX logic supply is interrupted or if the Ethernet cable is disconnected the TCP IP interruption will be detected by WebMotion and signaled with offline After removing the cause of the offline mode...

Страница 24: ...oltage input functions functionality of the measuring system parameter settings and current flow of the linear motor In order to test the functionality of the measuring systems the system asks you to...

Страница 25: ...the motor in increments of the measuring system Standard for LINAX ELAX linear motors is 1Increment 1 m MOTOR Automatic identification of the connected LINAX ELAX ROTAX motor axis If a third party ro...

Страница 26: ...POS Software Limit Position setting of an individual motion range in increments SLP position counter lower values SLP position counter upper values Both values 0 No limit limit is the stroke of the co...

Страница 27: ...units of 1 milliseconds Start with Enter TIME ms Time of the last profile drive in milliseconds Reference Reference drive REF Executes the reference drive to calculate the absolute position Run this f...

Страница 28: ...near motor axis or a ROTAX rotary axis XENAX assumes a connection with third party motor Instead of Go Pos 0 WebMotion offers Jog und Jog functions Jog Runs the motor in negative direction until the c...

Страница 29: ...ns can be activated with an extremely short reaction time Information about the tables Diagnosis and test functions Query of the programmed value 9 6 1 Power Reset DESCRIPTION Short CMD PARAMETER Powe...

Страница 30: ...ter can be used to enter the phase control PHD If appears the Dip switch is set to linear in the XENAX servo controller or the hall wiring is wrong Phase Direction Detection PHDD 0 1 Correction of the...

Страница 31: ...encoder counter Speed SP 10 9 000 000 Speed Inc s encoder counter initial value after powerup Speed Initial Value SPI 10 9 000 000 Acceleration Inc s encoder counter Acceleration AC 2 000 1 000 000 00...

Страница 32: ...motors reverse direction Direction REF DRHR 0 5 Responds the automatically detected Gantry Master Salve Offset Important The command DGMSO has to be performed on the Gantry Slave Axis Detected Gantry...

Страница 33: ...5 Move DRIVE I_FORCE No xx Drive I Force DIF xx Move DRIVE Force No xx available with Forceteq pro Drive Force DF xx Stop program and motion with deceleration Stop Motion SM 9 6 10 Index programmed mo...

Страница 34: ...alues The Force Calibration works iteratively and improves itself in repeated execution If the motor oscillates during the Force Calibration then wrong values are stored and the oscillation increases...

Страница 35: ...ation LSB sector 1 Select Sectors SSEC xx Reads I_FORCE peak value x1mA xx not defined Max peak value over all sectors xx n peak value of sector n I Force Peak IFPK xx shows the active sectors which f...

Страница 36: ...Limitation of I Force current while Drive I_Force xx x10mA I_Force Limit of selected Drive I_Force IDIF xx Direction Drive I_Force xx 0 positive xx 1 negative Direction of selected Drive I_Force DDIF...

Страница 37: ...lue 0 and 1 puts ILAS to 0x0 respectively 0xF Input LOW active ILA 0 2 individual input activity selection 0 Input HIGH active 1 Input LOW active Hex value binary coded for input 1 4 values 0x0 and 0x...

Страница 38: ...the SMU module Break Delay BRKD 1 1000 ms 9 6 15 Correction Table DESCRIPTION Short CMD PARAMETER Status of correction table 0 correction table deactivated 1 correction table activated 2 correction ta...

Страница 39: ...o be chosen smaller than MLPP If MLPN is deleted MLPN 0 the value for the internal mechanical limit stop itself is used for the reference in negative direction which is 1mm as per definition The posit...

Страница 40: ...S2 PRIMED BIT 18 SS2 HIT BIT 19 SLS PRIMED BIT 20 SLS SPEED HIT BIT 21 SLS POSITION HIT BIT 22 WARNING BIT 23 INFORMATION BIT 24 PHASING DONE BIT 25 I_FORCE_DRIFT_COMPENSATION_DRIVE_ACTIVE BIT 26 FORC...

Страница 41: ...D PARAMETER Baud rate of the optional CANopen interface CAN Baud rate CAB 1 000 1 000 000 Set cycle time microseconds in Cyclic Synchronous Position Mode DS402 Used RMR for interpolation Only multiple...

Страница 42: ...interface 0 deactivated 1 60 000 Watchdog time in ms If output stage is on and no ASCII command was received over the Serial or Ethernet for WD ms output stage is turned off and error code 77 is shown...

Страница 43: ...parts Or driving with very little force in order to detect an object s touching position I_FORCE MONITORING Monitoring the force progression by defining sectors in a force way diagram e g inspecting...

Страница 44: ...ation for new recording sequence Wait for message ready for recording next motion Start motion in command panel move axis by click or by command line e g G44000 SPEED Records speed in increments in re...

Страница 45: ...or repeat reverse RR CURSOR VALUE Shows the current values at the time of the cursor in the recording safe file Saves the motion profile on the computer open file Shows a motion profile which was save...

Страница 46: ...implify programming and reduce the communication time by serial control Execute with IXxx CR A maximum of 50 INDEXES can be predefined NEW Create new index Parameter of the Index ACCx1000 SPEED DISTAN...

Страница 47: ...e Drive I_Force EXECUTE Drive I_Force will be executed COPY TO DIFxx Drive I_Force will be copied into a new Drive I_Force 9 11 Sector I_Force In the WebMotion program menu sector I force up to 10 dif...

Страница 48: ...ends on program mapping PMAP default 0 PMAP 0 Prog 1 15 50 lines Prog 16 63 10 lines PMAP 1 Prog 1 5 130 lines Prog 6 63 10 lines COMMANDS CLEAR Clears the Program line MOVE UP Program line will be mo...

Страница 49: ...PUT NR HIGH xx MS Wait to logical Low of Input number xx within timeout frame yy otherwise jump to line zz error handling timeout can only be used locally not for remote WAIT INPUT NR LOW xx MS Set po...

Страница 50: ...ORCE xx Jump to line zz if distance xx absolute position sector offset greater than xx e g driving distance was too big after force was reached JUMP IF DISTANCE GREATER xx zz Jump to line zz if distan...

Страница 51: ...tors can be defined in the menu setup reference refer chapter 9 18 3 Reference ROTAX und Third Party Motors With this function the motor drives first to a reference switch approx zero and then to the...

Страница 52: ...TURE POSITION Interrupt program while Input active INTERRUPT PROGRAM Stop Impulse edge triggered If a LINAX is connected it behaves like STOP IMPULS COUNTER STOP IMPULS Stop Impulse Counter like STOP...

Страница 53: ...long as EMERGENCY EXIT is active no other function can be executed For the other functions the following applies If another function is already active it has to be finished before the next one is sta...

Страница 54: ...tion with Additional Holding Brake An additional holding brake for LINAX Lxs and Lxu Motor types can be controlled with a XENAX servo controller The output function BRK Brake can be assigned to one of...

Страница 55: ...ist contains all predefined profiles PARAMETERS Set up of the parameters in CURRENT PROFILE S CURVE Percentage S curve rounding of the profile Automatic calculation of jerk parameter for each profile...

Страница 56: ...e actual position controlled by edge With each increasing edge at input 4 the current position of the motor is written in a buffer register Start is Captured Pos 1 Reaction time 4 6 s First edge posit...

Страница 57: ...rect drive linear motors it is important to set the parameter for the moment of inertia of the external payload INERTIA otherwise the linear motor oscillates Because there is a factor of 10 9 there ca...

Страница 58: ...the status in position comes up Default Standard setting of the different parameters All parameters can be manually modified during the controller tuning and can be reset to default values with the D...

Страница 59: ...llation Setting one of the two parameters at 0 disables this feature Important Note The calculation of the target trajectory can not be abruptly changed in motion After setting a new value for frequen...

Страница 60: ...with high payloads it sometimes happens that no setting can be found that meets both criteria If the motor with a set band width begins to oscillate because of a resonance in the system this oscillati...

Страница 61: ...h a running program or through a superior PLC Turned on During the frequency analysis the axis moves to the indicated position within the selected recording time F Analysis Starts the frequency analys...

Страница 62: ...oximate middle of the resonance frequency On frequency 0 the mean current will be displayed during the frequency analysis It corresponds to the DC portion of the motor current which is rarely 0 Diagra...

Страница 63: ...airs 1 INC PER REVOLUTION Number of encoder increments per revolution Linear motor axis Lxc 44F04 INC PER REVOL 12 000 other LINAX products Lxc Lxe Lxu Lxs INC PER REVOL 24 000 ELAX INC PER REVOL 14 1...

Страница 64: ...PHASE DIRECTION Direction of phase control U V W or V W U depending on motor type Can be detected with command PHDD With DC brush type servo motors PHASE DIR 0 if motor shaft turns clockwise with dire...

Страница 65: ...0 INC PER REVOLOLUTION Number of encoder increments per revolution by AC DC EC brushless servo motors Not used for DC brush type servo motors PHASE DIRECTION Direction of phase control U V W or V W U...

Страница 66: ...um position values correspond to 231 1 2 147 483 647 inc in positive direction and 231 2 147 483 648 inc in negative direction The overflow takes place between these two values 2 147 483 647 2 147 483...

Страница 67: ...on up Away from absolute zero point in positive direction NEGATIVE Reference direction down direction towards absolute zero point GANTRY POS Motors in same direction up in positive direction away from...

Страница 68: ...e position stroke ELAX 1mm 9 18 2 2 Reference with External Limit If there are externally mounted limit stops MLPN 0 or MLPP 0 the reference REF will be completed to one of the externally mounted limi...

Страница 69: ...N SHORTEST WAY shortest way only possible at ROTAX Rxvp Z MARK SPEED Speed to search the Z mark If no Z mark Reference mark exists then set this value to 0 CLEAR OUPTPUTS Set all outputs to OFF after...

Страница 70: ...ative CREEP SPEED Speed to mechanical stop Inc s CURRENT LIMIT Nominal motor current x10mA during reference Power F motor current x force constant REF WINDOW Maximal allowed variation compared to last...

Страница 71: ...n the entries of the table can be defined If for example the range 0 100 000 increments shall be corrected the starting position is 0inc and the distance for the 50 remaining table entries is 2 000 in...

Страница 72: ...the correction table will be initialized and deactivated physical position encoder position During the measurement of the physical position values the correction table has to be deactivated Encoder P...

Страница 73: ...e position 0 REF Absolute position is calculated next to the 0 point This is repeatable at the same position G0 Go to absolute position 0 Now the Linear motor axis is ready Remark The position WebMoti...

Страница 74: ...INC PER PULSE Inc pro Pulse MODE 2 Puls Direction controlling SYNC RATIO Ratio of electronic gear CARD IDENTIFIER Master Slave CANopen Powerlink Read form start up key 2 x binary coded switch or set...

Страница 75: ...XENAX Overview of firmware WebMotion hardware and MAC address BUS MODULE Optional bus module with version indication and protocol type Mac address issue with Profinet Powerlink and EtherNet IP If the...

Страница 76: ...ia switch After completion of firmware download reset servo controller with command RES reset in menu move axis by command line Reload the application into WebMotion and download it to servo controlle...

Страница 77: ...when the WebMotion is starting Or under WebMotion Start Operation firmware version 9 21 2 Subsequent license ordering The MAC address must be sent to Jenny Science for any subsequent license ordering...

Страница 78: ...the new given from Jenny science license code in the displayed windows Click on SET LICENSE CODE WebMotion is starting new and display the new activated license By wrong license code introduction No A...

Страница 79: ...r to start up key Saves applications in the start up key to load faster on other XENAX If with Ethernet settings is checked the Ethernet settings are also saved on the Start up Key and thus copied to...

Страница 80: ...identical standard XENAX servo controllers The I2 C bus is interconnected via short standard USB patch cables Both plugs USB A are usable No difference between input and output The parameter CI Card I...

Страница 81: ...lly transferred to the slaves 10 3 Timing Master Slave The program interpreter is triggered in 1ms intervals The transmission of a command from the master to the slave takes an additional 0 45ms The m...

Страница 82: ...which will be communicated by ASCII commands is the master The slave has to be connected to the master via A A cable The slave has to be assigned a CARD IDENTIFIER between 1 and 3 This can be done by...

Страница 83: ...Go direct Position GW Go Way IX Index PRF Start profile No xx PG Program EE Emergency Exit EE1 Emergency Exit 1 SM Stop Motion EE and EE1 must only be parameterized in a Gantry Master Can also be tri...

Страница 84: ...n process Errors and discrepancies are detected immediately This means better quality and higher throughput Additional checking stations are no longer necessary For Standalone Operation Up to 10 force...

Страница 85: ...d Description PositionActual Inc 0x66 0x1 0x24 Position actual IForceActual mA 0x64 0x1 0x5 Force equivalent current actual LimitIForce x10mA 0x66 0x1 0x33 Limitation of force equivalent current Proce...

Страница 86: ...t of a force Calibration 12 3 2 I_Force Limitation The current value I_Force is proportional to the force Following graph shows corresponding relations for the different linear motor types LINAX Linea...

Страница 87: ...e force specifications are defined with the in the force sector incoming and exiting sector boundaries Force Specification Examples 1 Force curve has to pass through sector from the left bottom side t...

Страница 88: ...ombined and defined with the use of the according commands The command can be found in chapter 9 12 1 Program commands 12 3 4 2 Drive I_Force DRIVE I_FORCE is driving with force consisting of accelera...

Страница 89: ...hing position as sector offset for all functions that follow In order to determine the value Sector I_Force Start and Sector I_Force End it is simplest to record the force curve and to calculate the d...

Страница 90: ...on the force curve of the ceramic plate shall be recorded After an air gap of only 200 m the ceramic plate hits the rubber buffer At this position the force increases steeper as the rubber buffer acts...

Страница 91: ...ecognize touching position 1N 12 x 10mA Drive I_Force 1 Acc x1000 100 Speed 5000 IForce x10mA 6 Direction 0 In order to determine the following sector parameters we recommend the following approach 1...

Страница 92: ...error no object in place output 1 ON Short wait time in order to stabilize touching position Takes touching position as offset for the following tests Selecting sectors 1 5 Change I_FORCE forcurrent D...

Страница 93: ...om 0 until 50000 Inc one time Force Calibration test if slider is floating in balance optional Back to position control optional Sector Offset is set to 0 optional Selection of active sectors of 0 Onl...

Страница 94: ...escription Display No firmware operating system is active F Firmware active servo controller OFF 0 Servo On control loop closed 1 Error refer chapter 14Error Handling xx flashing No power supply logic...

Страница 95: ...rity of the overriding PLC can be deactivated if the user set the CANopen Mode of operation to 0 CANopen Object 0x6060 21 Force license missing Calibration value are existing in motor but there is no...

Страница 96: ...he difference between the internal calculated position and the present motor position encoder is larger than the value defined as DP deviation position in Closed Loop setup Refer to chapter 14 2 Notes...

Страница 97: ...alid please contact the Jenny Science AG company 79 Wrong checksum of calibration data Force calibration or position of mechanical limit wrong Restart Force calibration ASCII fcxx or mechanical limit...

Страница 98: ...atal Error Please restart the XENAX servo controller 99 Encoder cable unplugged disconnected Motor encoder cable was disconnected Please connect encoder cable again and restart XENAX L Level I2C Bus T...

Страница 99: ...d clockwise when looking at front shaft the POSITION encoder counter has to count positive When turned counter clockwise the POSITION encoder counter has to count negative Compare to chapter 4 2 5 Def...

Страница 100: ...SP10000 WA10000 PWC RR100 14 3 Arbitrary Display on 7 Segment After turning on the logic supply 24V typically a 0 appears on the display The green LED of the RJ45 connector lights up green when using...

Страница 101: ...tion Note This instruction manual contains copyright protected information All rights are reserved This document may not be in its entirety or partially copied duplicated or translated without the pri...

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