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SM-Applications Modules & Motion Processors User Guide

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Issue Number: 4

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10.4

Position control tasks

The position control tasks consist of POS0, APC and POS1. The tasks are run in this
order (POS0 runs first followed by the APC which is followed by POS1). Because the
POS0 and APC tasks may not take the same time to execute on different modules the
APC and POS1 tasks cannot be phased Therefore when using Inter-option
synchronization the user must be aware that the position tasks as a whole for each
module will start in phase, not the individual tasks. Figure 10-5

Position control tasks

shows an example of this.

Figure 10-5 Position control tasks

250µ s

250µs

250µ s

250µ s

P O S 0 tasks in p h ase

P O S 0

P O S 0

P O S 0

P O S 0

P O S 0

P O S 0

P O S 0

S lo t

A P C

P O S 1

A P C

A P C

P O S 1

A P C tasks n o t in p h ase

P O S 1

1

2

3

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Содержание Digitax ST Indexer

Страница 1: ...r Guide SM Applications Modules and Motion Processors SM Applications SM Applications Lite SM Applications Plus SM Applications Lite V2 Digitax ST Indexer Digitax ST Plus Part Number 0471 0062 04 Issu...

Страница 2: ...nces including EU directive 2011 65 EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products Disposal and Recycling WEEE REACH legislati...

Страница 3: ...change the specification of the product or its performance or the contents of the guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by an...

Страница 4: ...ts 9 1 10 Hazardous environments 9 1 11 Motor 9 1 12 Mechanical brake control 9 1 13 Adjusting parameters 9 1 14 Electromagnetic compatibility EMC 9 2 Introduction 10 2 1 Features for Different Module...

Страница 5: ...nfiguration Parameters 29 5 4 Menus 70 75 PLC Registers 43 5 5 Menu 85 Timer Function Parameters 44 5 6 Menu 86 Digital I O Parameters 46 5 7 Menu 88 Status Parameters 48 5 8 Menu 90 General Parameter...

Страница 6: ...ization example 1 104 10 3 Inter option Synchronization example 2 107 10 4 Position control tasks 111 11 Diagnostics 112 11 1 Run time Errors 112 11 2 Drive Display Trip Codes 112 11 3 Second Processo...

Страница 7: ...ction System design installation commissioning start up and maintenance must be carried out by personnel who have the necessary training and competence They must read this safety information and this...

Страница 8: ...solated at least ten minutes before work may continue 1 7 Mechanical hazards Careful consideration must be given to the functions of the drive or controller which might result in a hazard either throu...

Страница 9: ...not be relied upon It is essential that the correct value is entered in the Motor Rated Current parameter 1 12 Mechanical brake control Any brake control functions are provided to allow well co ordina...

Страница 10: ...ide information thus offering a complete application solution The Second Processors are solutions modules that can be fitted to expansion slots in the supported drives or are embedded in the Digitax d...

Страница 11: ...PTLite V1 4 0 or later Enhanced high speed dedicated microprocessor SyPTLite 10 kb executable memory 384 kb executable memory 80 kb user memory Task based programming system allowing for real time con...

Страница 12: ...option modules and embedded processors on Digitax ST Indexer and Digitax ST Plus Throughout the manual these will be referred to generically as Second Processors or modules Should a particular section...

Страница 13: ...PTPro offers various tools to help in developing solutions Configuration editor for configuring drives and connections on CTNet EtherNet CT RTU CT TCP and MD29MON networks IEC61131 3 based ladder and...

Страница 14: ...from the Solutions Module slot For further information refer to the appropriate drive manual 3 2 SMARTCARD Installation Refer to the relevant drive documentation for SMARTCARD support 3 3 Electrical C...

Страница 15: ...nection for EIA RS485 port 2 RX EIA RS485 Receive line negative Incoming 3 RX EIA RS485 Receive line positive Incoming 4 TX EIA RS485 Transmit line negative Outgoing 5 TX EIA RS485 Transmit line posit...

Страница 16: ...s provided This has the advantage that if the terminal block is unplugged the continuity of the CTNet network is not broken CTNet networks run at high data rates and require cable specifically designe...

Страница 17: ...pigtail to be connected to CTNet shield connection on the terminal block as already shown For safety the CTNet shield must be connected to earth at one point This earth connection is to prevent the c...

Страница 18: ...by 2 unit loads Therefore in two wire mode each Control Techniques device loads the line by 4 unit loads This means that no more than a total of seven devices can be connected in a single group allow...

Страница 19: ...ne point 3 7 4 Routing of the cable A data communications cable should not run parallel to any power cables especially ones that connect drives to motors If parallel runs are unavoidable ensure a mini...

Страница 20: ...gital I O Parameters on page 46 3 9 Port Isolation The digital input output ports are connected to the main drive control circuits The CTNet and EIA RS485 ports have supplementary insulation from the...

Страница 21: ...des the firmware version of the module This User Guide is written for firmware version V01 04 07 V01 01 00 4 1 Using SyPTPro and SyPTLite SyPTPro provides the development platform for the SM Applicati...

Страница 22: ...CTNet This is part of the routing capability of the CTNetAPI See section 4 3 CTNetAPI routing on page 22 4 3 CTNetAPI routing The CTNetAPI offers a routing capability that allows access to various dri...

Страница 23: ...he Insert menu or by double clicking on the Double click to Insert Node icon 2 The Node properties will now be displayed Enter in the relevant details for Node ID and Network Then any information on S...

Страница 24: ...ned in section 4 2 Connecting the PC to the Second Processor on page 21 When using SyPTLite there is a choice of 3 targets when you create a new ladder diagram Drive Onboard module or Commander SK Fig...

Страница 25: ...his is created in the DPL Editor within SyPTPro Task sections encapsulate blocks of instructions that are to be executed by the microprocessor at a particular time for example every 8 ms or when the m...

Страница 26: ...n accumulator This example shows the basic concepts of accessing parameters and using mathematical functions It may be useful to people migrating from the UD70 platform toij Unidrive Classic since it...

Страница 27: ...ously read encoder feedback value to give us the delta 3 Re scale the value to actual encoder counts assuming a standard incremental rather than SinCos type encoder 4 Add this delta to an accumulator...

Страница 28: ...cond Processor when performing the actions shown below are Menus 70 71 74 and 75 equivalent to P Q T and U register sets Menu 20 To save the parameters on demand 1 Set Pr 81 19 to 1 Save Request 2 Pre...

Страница 29: ...the Digital ST Indexer menu 17 is reserved for the motion processor Unless otherwise indicated these parameters are only read when the Second Processor is first powered up on a reset or on a REINIT D...

Страница 30: ...not permitted since it is used by the master for addressing groups of nodes This parameter has no effect if the EIA RS485 mode is 25 CTSync or 26 CTSync Pr 81 02 Firmware Version Major Access RO Rang...

Страница 31: ...set for Mode 13 1 start bit 8 data bits NO parity 2 stop bits Mode 43 1 start bit 8 data bits EVEN parity 1 stop bit Mode 73 1 start bit 8 data bits ODD parity 1 stop bit 14 44 74 4 wire Modbus ASCII...

Страница 32: ...stop bit 20 50 80 2 wire Modbus ASCII master The EIA RS485 is set for Mode 20 1 start bit 7 data bits NO parity 2 stop bits Mode 50 1 start bit 7 data bits EVEN parity 1 stop bit Mode 80 1 start bit...

Страница 33: ...ed to be set to a 1 On Controls where the output of the DPL PRINT command is sent If set to zero Off the output is sent to the programming client SyPTPro and if set to 1 On it will be sent to the EIA...

Страница 34: ...set to 1 the module will be unaffected by a drive trip reset i e continue running Pr 81 12 POS task scheduling rate Access RW Range 0 to 6 Default 0 Update Rate Initialization Display Value Descripti...

Страница 35: ...SLx tO Please note that the WDOG command must also be executed once for the watchdog to be enabled This is normally executed at the end of the Initial task Pr 81 16 Encoder Data Update Rate Access RW...

Страница 36: ...0 therefore if more than one Second Processor is fitted to the drive only one should have this parameter set otherwise menu 20 will not be restored correctly on power up Pr 81 19 Save Request Access R...

Страница 37: ...n rate for CTNet This message is used to tell all nodes when to transmit cyclic data Only one node on the CTNet network should have this parameter set The format of the update parameter is SSFF where...

Страница 38: ...nation node number and slot NNN Node number 0 255 SS Slot number 1 3 e g A value of 201 means node ID 2 slot 1 Pr 81 27 MMPP 1 Defines the source drive parameter which is to be transmitted MM Menu num...

Страница 39: ...an APC non recoverable error occurs such as use of an unitialised CAM function When this parameter is 1 the drive will not trip when an APC non recoverable error occurs Pr 81 36 CTNet Diagnostics Acc...

Страница 40: ...Status Access RW Range 0 1 Default 0 Update Rate NA Synchronization Status Status 0 The synchronization master request is zero or another option module is synchronization master 1 The option module is...

Страница 41: ...3 The priority levels of different tasks may be changed with this parameter The parameter is accessed in a bit wise manner This parameter is dependant on what is running in the module i e Indexer Pr 8...

Страница 42: ...n number Use the function block SETUSERID to write to this parameter When a run time error occurs the error number is placed into this parameter See Chapter 11 1 Run time Errors on page 112 for furthe...

Страница 43: ..._R01 1 Pr 75 65 66 will do the same as _U65 66 etc Menus 70 71 74 and 75 can all be saved into the non volatile flash memory upon request or automatically when the drive goes into under voltage refer...

Страница 44: ...re on DIGIN1 Counter overflow can be selected by the user up to the full 16 bit range avilable for the counter The timer can be set to cache the count on a DIGIN0 rising or falling edge transition Fig...

Страница 45: ...n wrap around 2 Capture mode 2 The selected clock drives the counter A falling edge transition on DIGIN0 causes the current counter value to be latched into the TIMER CAPTURE CACHE parameter and the T...

Страница 46: ...s RW Range 16 bit Default N A Update Rate Immediate Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Setting a small wrap around figure with the timer operating at fast rates could result in the Se...

Страница 47: ...ovides control for both digital outputs and is an alternative to controlling each output individually with Pr 86 03 and Pr 86 04 Bit0 of this parameter controls digital output 0 Pr 86 03 and Bit1 cont...

Страница 48: ...rror was generated in This parameter is only valid if it is read from the ERROR task after a run time trip has occurred The values will have the following meanings A value of zero will be returned if...

Страница 49: ...i e highest resource usage that Pr 88 04 reaches since the monitoring was enabled Pr 88 03 It will give a realistic indication of the worst case available resources for the motion engine tasks so tha...

Страница 50: ...feedback device or scaling configured in the drive The lower 16 bits give the fine position as available from the feedback device scaled to 65536 For standard encoders this will typically be zero but...

Страница 51: ...encoder revolution count Provides a definitive method of identifying the mode the drive is in It is recommended that this parameter is used instead of Pr 11 31 or Pr 00 48 since those parameters indi...

Страница 52: ...ue of Pr 18 31 Application menu 1 bit 1 b6 Sets the value of Pr 01 46 Preset select bit 1 b5 Sets the value of Pr 01 45 Preset select bit 0 b4 User trip Trips drive immediately if set b3 Sets the valu...

Страница 53: ...on Access RO Range Unsigned 16 bit Default N A Update Rate On Event Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 13 Event1 task schedule reason Access RO Range Unsigned 16 bit Default N A...

Страница 54: ...can be used to communicate with the encoder connected via serial comms with the drive Pr 90 18 Feedback Encoder Freeze Flag Access RW Range 0 1 Default N A Update Rate 250 s Apps Apps Lite Apps Plus...

Страница 55: ...volution count The database version number is read from the database after power up Pr 90 23 Drive Encoder Comms Receive Register Access RW Range Unsigned 16 bit Default N A Update Rate Immediate Apps...

Страница 56: ...oders Pr 90 28 Reference Encoder Freeze flag Access RW Range 0 1 Default N A Update Rate 250 s Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 29 Reference Encoder Freeze Position Access RO...

Страница 57: ...38 for description Pr 90 33 Feedback Encoder Freeze Turns and Coarse Position Access RO Range Signed 32 bit Default N A Update Rate 250 s Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 34...

Страница 58: ...alue it will execute one of the Second Processor Event tasks Pr 90 38 Reference Encoder Marker Turns and Coarse Position Access RO Range Signed 32 bit Default N A Update Rate See Pr 81 16 Apps Apps Li...

Страница 59: ...for the reference and feedback data See the table below for the valid sources See Pr 90 46 for description Pr 90 41 Reference Encoder Marker Flag Access RW Range 0 1 Default N A Update Rate See Pr 81...

Страница 60: ...the Advanced Position Control User Guide Pr 90 46 Feedback Marker Flag Enable Access RW Range 0 1 Default N A Update Rate Immediate Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 47 Refere...

Страница 61: ...0 of Pr 91 01 is set and the full scale speed in Pr 91 05 is set accordingly when using this parameter Controls the hard speed reference on the drive in units of 0 001RPM Ensure bit 1 of Pr 91 01 is...

Страница 62: ...not a slot number This can only happen if Pr 03 26 on the Unidrive SP is set to a zero However if a low resolution encoder is used there may be some jitter at low speed For example at 10rpm with a 10...

Страница 63: ...logue inputs This value will be taken from the drive s analogue input 3 and is scaled for 1023 to represent the full scale signal at the input Refer to the Drive User Guide for information on the samp...

Страница 64: ...91 11 and Pr 91 12 will only be transferred if the drive analogue outputs are not in high speed mode The values are not scaled by the drive and the specified analogue output drive mode parameters will...

Страница 65: ...scheme For more information refer to Chapter 10 Inter option Synchronization on page 104 Pr 91 18 Number of Bad CTSync Messages Received Access RW Range Signed 32 bit Default N A Update Rate Apps App...

Страница 66: ...of these modules will have this bit clear For a module attempting to become inter module synchronization Consumer it indicates that it has not requested to become Producer and that a Producer has bee...

Страница 67: ...s but may be read only on the drive s keypad This parameter is automatically saved by the drive on power down Pr 1x 11 Pr 1x 50 are saveable in the drive s non volatile memory Pr 1x 01 Integer read wr...

Страница 68: ...e 32 bit parameters and are reserved for the internal motion processor They can be read and written to from the user program but are not accessible by the LCD or LED keypads This menu is NOT saved in...

Страница 69: ...NSI and a run time error 49 may occur The baud rate is specified in Pr 81 07 The address of this unit is specified in Pr 81 05 6 1 1 CT ANSI The Second Processor supports the ANSIx3 28 protocol All dr...

Страница 70: ...A decimal point is optional This can appear at any point in the data field but not before the sign or before 10 numbers i e the value written should not have more than 9 decimal places If the decimal...

Страница 71: ...P2 D1 D2 Dn ETX The checksum is an unsigned 8bit value and if this value is less than 32 then 32 is added to it 6 1 1 3 Second Processor address The Second Processor will only act on messages receive...

Страница 72: ...am RtuReadHoldingRegs RtuReadHoldingParas RtuReadInputRegs RtuPresetMultipleRegs RtuPresetMutlipleParas RtuMasterReply RtuMasterStatus 6 1 2 1 FC03 Read multiple registers Read a contiguous array of 1...

Страница 73: ...sters The slave imposes an upper limit on the number of registers which can be written If this is exceeded the slave will discard the request and the master will timeout The following tables show the...

Страница 74: ...egister data to write in bytes 7 Register data 0 MSB 8 Register data 0 LSB 7 byte count CRC LSB 8 byte count CRC MSB Table 6 10 Slave response Byte Description 0 Slave source node address 1 Function c...

Страница 75: ...HAR and GETCHAR commands 6 2 CTNet Please see Features section on pages 8 9 10 for availability on your module Full details of CTNet are outside the scope of this User Guide and can be found in the se...

Страница 76: ...raight to the Second Processor in slot 1 As there is no Second Processor fitted in slot 1 an error message will be returned indicating that the parameter does not exist If for example an SM DeviceNet...

Страница 77: ...references so data transfer must be done another way If the Second Processor in slot 1 wanted to read register Pr 71 08 from the Second Processor in slot 3 this must be done through one of the 32bit...

Страница 78: ...NE statement For example it is good practice to use aliases to give names to all drive parameters used in a program It is also recommended to have the alias name in UPPER case letters in order to help...

Страница 79: ...k executed on a fixed timebase between 1 200 ms used for some time related operations for example to generate a ramp profile This task is now synchronised to the drive s level 2 control loop and can b...

Страница 80: ...has completed 3 CLOCK task interrupts BACKGROUND task The drive controls when the CLOCK task will execute BACKGROUND task is suspended 4 CLOCK task has finished and now the BACKGROUND task can contin...

Страница 81: ...ing Point variable is denoted by the lack of a symbol Example of variables A special statement is placed at the start of the program to declare what type of floating point variable is used throughout...

Страница 82: ...le the first element of myarray is myarray 0 and the last is myarray 19 Two functions are provided that can be used at run time to determine the upper and lower bounds of an array These are UPPER and...

Страница 83: ...r of the register sets are also saveable in the Second Processor Flash memory See section 5 4 Menus 70 75 PLC Registers on page 43 for further information on PLC registers 7 3 10 RAM files RAM files e...

Страница 84: ...is command with fixed point integer the decimal places will be automatically removed For example parameter Pr 1 19 has a range of 0 000 0 099 Reading the parameter using will return integer values bet...

Страница 85: ...e not present in the UD70 for Unidrive 1 FOR loop This is new to the Second Processor CASE This provides an alternative to the IF ELSEIF ENDIF construct Subtraction Bitwise AND Bitwise OR Bitwise excl...

Страница 86: ...square brackets is optional The CASE statements operate in the same way as programs like Visual Basic in that the program flow will NOT drop through to the next CASE as it does in the C programming l...

Страница 87: ...ction on pages 8 9 to see if CTNet is available on your Second Processor This returns diagnostic information for CTNet Refer to on line help This replaces the special variables such as NOFMESSAGES tha...

Страница 88: ...resetParas RtuMasterReply RtuMasterStatus These commands are implemented to allow the user to utilise the SM Applications SM Applications Plus and Digitax ST Plus modules Modbus RTU master functionali...

Страница 89: ...i e parameter does not exist 65539 NAK received 65540 ACK received Result ANSIREADN 12 1811 perform ansi read has message been sent successfully IF Result 0 THEN message not sent successfully goto to...

Страница 90: ...s own right and therefore can consist of a mixture of raw DPL commands FBD and QLD diagrams and other UDFB s Note however that you cannot create standard task sections such as POS0 with a UDFB 7 7 2 S...

Страница 91: ...s i e case sensitive and must start with a letter not a number The length of input argument names is not limited however the FBD and QuickLD editors within SyPTPro will only show the first 5 character...

Страница 92: ...Issue Number 4 Below is an example of a simple UDFB that adds two numbers and scales by a pre defined amount 0 5 Output _simplefb Input1 Input2 Initialization code Scale 500 initialise a local variabl...

Страница 93: ...eze Input The encoder revolution counter is cached into Pr 90 30 and the encoder position is cached into Pr 90 29 Figure 8 2 SM Apps SM Apps Plus Digitax St Plus Feedback Freeze Input The encoder revo...

Страница 94: ...Figure 8 3 Apps Lite Apps Lite V2 and Digitax St Indexer Reference Freeze Input The encoder revolution counter is cached into parameter Pr 90 29 and the encoder position is cached into Pr 90 30 When f...

Страница 95: ...by setting parameter Pr 81 43 to either 0 rising edge or 1 falling edge Pr 81 42 enables the position to be written to Pr 90 19 and Pr 90 29 and the revolution counters to be written to Pr 90 20 and P...

Страница 96: ...pulse Figure 8 6 Second Processor Feedback Marker The marker position is cached into Pr 90 25 and the marker revolution counter is cached into Pr 90 26 The user sets Pr 90 42 to a zero and the drive s...

Страница 97: ...d to participate in the CTSync scheme The Master generates reference data which is transmitted to all Slaves on the network The Master can be set to operate as a Slave if for instance two drives need...

Страница 98: ...he reference data created by the CTSync Master It can be used on both the Master and Slaves The block returns the values of the last Master references received Output Arguments Status 1 OK 0 Zero or t...

Страница 99: ...block causes the specified channel to cease writing it s data to the Unidrive SP Input Arguments Channel 1 2 or 3 for the 3 available channels Output Arguments Result 1 Operation succeeded 1 Invalid...

Страница 100: ...ing the CTSYNCGetSlaveReferences function block 5 The reference data is output by the CTSYNCWriteOutputChannel function block if required to the channels specified 6 The Slave output values are writte...

Страница 101: ...tual Slaves CTSync Slave Motion Engine uses reference POS0 APC POS1 CTSync Slave output result written to DASIC Also Update of APC Encoder positions DASIC value written to Drive POS0 APC POS1 POS0 APC...

Страница 102: ...us REINIT Set up Virtual Master Ramp Reference Ramp 0 Configure Slave output channel 1 to menu 18 parameter 11 CTSYNCSetupOutputChannel 1 18 11 Enable the configured output channel CTSYNCEnableOutputC...

Страница 103: ...he Virtual Master Initial 81 06 26 CTSync Slave 81 12 2 Pos task at 500us REINIT Set up Virtual Master Ramp Reference Ramp 0 Configure Slave output channel 1 to menu 18 parameter 11 CTSYNCSetupOutputC...

Страница 104: ...ger from the Producer If a module is a Consumer and its position control task is set to run slower than that of the Synchronization Signal trigger from the Producer then it will be impossible for it t...

Страница 105: ...e with each other as shown in Figure 10 1 POS Task Execution BEFORE Inter option Synchronization After setting the parameters to the values shown above the POS tasks will be executing in phase with ea...

Страница 106: ...ber 4 Figure 10 2 POS Task Execution AFTER Inter option Synchronization Slot 1 2 3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s POS0 Unidrive SP1 POS0 tasks in phase POS0 POS0 POS0 POS0...

Страница 107: ...1 default Not in CTSync scheme Pr 81 12 2 500 s position control task period Pr 91 21 2 Inter Option Sync Consumer Pr 91 22 6 Inter Option Sync Consumer status achieved Slot 2 Pr 81 06 1 default Not...

Страница 108: ...sks may be executing out of phase with each other as shown in Figure 10 3 POS Task Execution BEFORE Inter option Synchronization with CTSync After setting the parameters to the values shown above the...

Страница 109: ...ide Quick Reference Index Figure 10 3 POS Task Execution BEFORE Inter option Synchronization with CTSync Slot 1 2 3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s POS0 Unidrive SP2 POS0 P...

Страница 110: ...3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s Unidrive SP2 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 Module unable to synchronise Slot 1 2 3 250 s 250 s 250 s 250 s 250 s...

Страница 111: ...0 runs first followed by the APC which is followed by POS1 Because the POS0 and APC tasks may not take the same time to execute on different modules the APC and POS1 tasks cannot be phased Therefore w...

Страница 112: ...is is detailed in section 11 3 below 11 2 Drive Display Trip Codes The table below shows the possible trip codes that will be displayed on the drive when an error is detected in the Second Processor w...

Страница 113: ...sor Error Code Access RO Range 0 to 255 Default N A Update Rate On error Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 81 14 Global Run time Trip Enable Access RW Range 0 1 Default 0 Update R...

Страница 114: ...n restored If this problem persists it may indicate a hardware failure so contact your supplier Yes Yes Not Run 59 Drive rejected application module as Sync master Yes Yes Yes 60 CTNet hardware failur...

Страница 115: ...cleared to zero on reset and when the user program execution is started 74 Over temperature Yes Yes Yes 75 Hardware unavailable The user program attempted to access unavailable hardware e g if access...

Страница 116: ...enable or disable monitoring of the motion engine tasks free resource When set to 1 parameters Pr 88 04 and Pr 88 05 become active If set to zero parameters Pr 88 04 and Pr 88 05 will read zero This...

Страница 117: ...unning the Clock task If this parameter value reaches zero a task overrun will occur It is calculated every Clock period and is displayed for the previous motion engine period This parameter shows the...

Страница 118: ...d Processors fitted with V01 04 07 V01 00 01 firmware The table below shows how to construct the full firmware version from these values Pr 81 02 Firmware Major Version Access RO Range 00 00 to 99 99...

Страница 119: ...menu 17 It is strongly advised that new user DPL programs that change setup parameters are altered to use menu 81 which will eliminate the need to determine which of menu 15 16 17 is being used The ta...

Страница 120: ...e now an extra 200 saveable registers available These are in register banks T and U or menus 74 and 75 The P Q R S register sets remain as they were however since there is no built in position control...

Страница 121: ...been added This provides a float to integer conversion truncating rather than rounding the result Floating point comparison With the UD70 a rather imprecise and unpredictable fuzzy compare was used fo...

Страница 122: ...eters have moved from menu 20 to the option menu 15 16 17 81 The special diagnostic variables such as NOFMESSAGES are no longer supported Instead a new function block CTNETDIAGS returns the diagnostic...

Страница 123: ...nstead of the older Speed Torque and Encoder tasks The Clock task will be recommended as an alternative to using a Pos task in place of an Encoder task 2 Differences in the Unidrive SP or SM Applicati...

Страница 124: ...1 Pr 81 14 Global run time trip enable Section 5 3 1 on page 33 0 1 0 Pr 81 15 Disable Reset on Trip Cleared Section 5 3 1 on page 33 0 1 0 Pr 81 16 Encoder Data Update Rate Section 5 3 1 on page 34...

Страница 125: ...0 0 255 0 Pr 81 45 User Setup Parameter 1 Section 5 3 1 on page 40 N A N A Pr 81 46 User Setup Parameter 2 Section 5 3 1 on page 41 N A N A Pr 81 47 User Setup Parameter 3 Section 5 3 1 on page 41 N A...

Страница 126: ...a parameter within a DPL program If parameter MM 17 0 the value written will be automatically limited and no error will occur May Yes Yes 45 Invalid synchronization modes Yes No Not Run 46 Unused N A...

Страница 127: ...he trip threshold is 20mA Yes Yes Yes 65 Invalid function block parameter s You have called a FB within a DPL program but one or more of the inputs are invalid Yes Yes Yes 66 User heap too large The p...

Страница 128: ...ected and Reset Index or Reset Position in segment is out of range May Yes Yes 82 Communcations to drive faulty May Yes Yes Table 13 6 Terminals Terminal Function Description 1 0V SC 0V connection for...

Страница 129: ...ions 16 18 CTNet 16 17 21 122 CTSync 97 D Diagnostics 112 Digital I O 46 125 Downloading 27 DPL 25 78 85 121 E Error Codes 113 F Firmware 118 Firmware Version 118 Freeze 93 94 H Hardware 121 I Install...

Страница 130: ...rs User Guide Issue Number 4 SMARTCARD 14 SM LON module front view 14 Status 126 SyPTLite 21 24 SyPTPro 21 22 23 T Tasks 79 121 Terminals 128 Termination 17 19 Timer 44 Timer Unit 125 Trip Codes 112 U...

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