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2. Object index

Interbus-S

2.7 Positioning

2.7.1 POSA

Absolute positioning. Reference point is real zero (RN).
Positioning is done with the acceleration time (brake time) set by ACCELL-POS (ACCEL-NEG) and the velocity set by SPEED.
If these values were not set, then valid are

substitute values:

SPEED: Parameter P002; ACCEL: Parameter P006

Object Description

Index

0x5ff0

Symbol

POSA

Length

Access groups

Object code

Simple var.

Password

Data type

Octet String

Access rights

Write all

PD Map

Not possible

Data Description

Data format

BCD

Unit

mm (or inch)

Value range

-4 000 000 000 ... +4 000 000 000

Resolution

⇔

0.001 mm (or inch)

Data byte [Bit]

Assignment

Data byte [Bit]

Assignment

1 [7 ..... 0]

Value sign (0x00

⇔

; 0xff

⇔

)

2 [7,6,5,4]

4 [3,2,1,0]

2 [3,2,1,0]

5 [7,6,5,4]

3 [7,6,5,4]

5 [3,2,1,0]

3 [3,2,1,0]

6 [7,6,5,4]

4 [7,6,5,4]

6 [3,2,1,0]

Example

The drive must travel to the absolute position 7350.150 mm.

Service

Write request

Sub-index

3. data byte

0x07

Command Code

0x8082

Length

4. data byte

0x35

Param. counter

1. data byte

0x00

5. data byte

0x01

Index

0x5ff0

2. data byte

0x00

6. data byte

0x50

Содержание Hauser COMPAX-M Series

Страница 1: ...us S Software version V2 1 January 2000 W e a u t o m a t e m o t i o n DIN EN ISO 9001 C E R T I F I E D Q U A L I T Y S Y S T E M Main Office Parker Hannifin GmbH EMD HAUSER P O Box 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Germany Phone 49 0 781 509 0 Fax 49 0 781 509 176 http www Parker EMD com Great Britain Parker Hannifin plc EMD Digiplan 21 Balena Close Poole Dorset BH17 7DX UK Phone...

Страница 2: ...PG 31 2 6 7 S7_S8 31 2 7 Positioning 32 2 7 1 POSA 32 2 7 2 POSR 33 2 7 3 LAGE_ZIEL 33 2 7 4 S1 34 2 7 5 LAGE_IST 35 2 7 6 S2 35 2 7 7 S12 35 2 7 8 REALNULL 36 2 7 9 GRENZEN 36 2 7 10 POS_FENSTER 37 2 7 11 SCHLEPP_FEN 37 2 7 12 S3 38 2 7 13 POLARITAET 38 2 7 14 REF_MODE 38 2 7 15 CAM_CMD 39 2 7 16 WAITPOSA 39 2 7 17 WAITPOSR 40 2 8 SPEED 41 2 8 1 SPEED 41 2 8 2 OVERRIDE 41 2 8 3 POSR0SPEED 42 2 8 ...

Страница 3: ...n This documentation applies for these devices COMPAX 10XXSL with the Option F2 available 04 2000 COMPAX 25XXS with the Option F2 COMPAX 45XXS with the Option F2 COMPAX 85XXS with the Option F2 COMPAX P1XXM with the Option F2 COMPAX 02XXM with the Option F2 COMPAX 05XXM with the Option F2 COMPAX 15XXM with the Option F2 OMPAX 35XXM with the Option F2 XX any characters F2 Interbus S Option Key to u...

Страница 4: ...of the last COMPAX M which is connected to the network module if the ribbon cable short circuit plug is inserted in this device 1 2 1 The bus wiring RS485 POWER SUPPLY Ξ 6 Ξ 7 Ξ 8 Ρ ε α δ ψ Ερρορ ΡΣ 485 ΙΝ Ο ΥΤ Χοντρολ DIGITAL Statu s Nu mb er X6 X8 X10 Enter R ea dy Error RS232 Inp ut Ou tpu t Te st Control X9 X11 Value COMPAX M NM D COMPAX Mwith optionF2 SSC13 COMPAX SwithoptionF2 C O M P A X S ...

Страница 5: ...m message length through the PCP channel 1 6 Communication Option F2 includes the Interbus S communications software PCP 1 5 Peripherals Communication Protocol which allows it to transmit in addition to cyclical process data acyclic parameters 2 Byte data channel The following services are available Context Management Initiate Start communication connection Abort Quit communication connection Reje...

Страница 6: ...nnel is outlined in the respective objective descriptions under the heading PD depictions or in the object overview page 9 onwards in the column headed PD Assignment of PED and PAD There are various ways of loading objects onto the process data channels 1 Via the COMPAX parameter P135 P142 These parameters are only accepted by COMPAX after Power off on Setting the process data channels with the CO...

Страница 7: ...as an answer acknowledgement for OBJECT_REQ P196 Bit 1 1 OBJECT_RSP is not automatically assigned to the PED as an answer acknowledgement for OBJECT_REQ There is however the possibility of enabling or disabling OBJECT_RSP for the PED temporarily if required via the CONTROL object command number 20 and 21 Controlling the temporary PD assignment 2 control bits in STEUERWORT and CPX_STW ObjectReqEnab...

Страница 8: ...mber choose number of C parameter status indicator change C parameter without function call higher Status number call smaller C parameter number call higher C parameter number Enter Enter Enter A Enter B A B Enter Enter choice of operation modes Meaning C parameters Meaning Range COMPAX parameters Active on C01 Address of unit Automatically set C02 Baud rate Automatically set C03 Bus protocol 0 25...

Страница 9: ...yte Octet Value range TRUE or FALSE Length 1 Byte Coding FALSE is depicted by the value 0x00 TRUE by the value 0xff 1 7 2 Integer Integer values are signed quantities Type Value range Length Integer8 128 127 1 Byte Integer16 32 768 32 767 2 Byte Integer32 2 147 483 647 2 147 483 647 2 147 483 648 0x80 00 00 00 Overflow 4 Byte Coding Two s complement In objects with the data type Integer32 it is po...

Страница 10: ...rd wr 0x6072 71 0 2 29 Read write program memory ASCII N rd wr 0x5ff1 43 1 250 32 54 Rated torque motor NENNMOMENT rd wr 0x6076 73 0 2 29 Motor nominal current NENNSTROM rd wr 0x6075 72 0 2 30 Read write program memory binary Nx rd wr 0x5fd5 15 1 250 20 54 Write read objects via process data channel OBJECT_REQ wr 0x5fc5 0 6 A 66 write read acknowledgement answer obj via PDK OBJECT_RSP rd 0x5fc6 0 ...

Страница 11: ... Control voltage and intermediate circuit voltage S7_S8 rd 0x5fdd 23 1 2 2 31 Number of axis motion cycles S9 rd 0x5fdc 22 0 4 27 Contour error window SCHLEPP_FEN rd wr 0x6065 68 0 4 37 Traverse speed SPEED rd wr 0x5fec 38 0 2 A 41 Run program record N START_N wr 0x5ff4 46 0 1 A 60 Start program from record N START_N_GO wr 0x5fe5 31 0 1 A 61 Status byte STATUSBYTE rd 0x5fcf 9 0 1 I 17 Status word ...

Страница 12: ...fdf 25 0 4 27 Synchronisation with automatic reverse travel WAITPOSA wr 0x5fe0 26 0 4 39 Synchronisation without automatic reverse travel WAITPOSR wr 0x5fe1 27 0 4 40 Comparator function active high POSROUTPUTP wr 0x5fe2 28 1 16 4 53 Comparator function active low POSROUTPUTN wr 0x5fe3 29 1 16 4 53 Speed step profile POSRXSPEEDY wr 0x5fe4 30 0 8 42 Start program from record N START_N_GO wr 0x5fe5 ...

Страница 13: ...74 0 2 30 Intermediate circuit voltage ZWK_SPG rd 0x6079 75 0 2 31 Target position default POSITION_TARGET rd wr 0x607a 76 0 4 A 33 Reference measurement offset REALNULL rd wr 0x607c 77 0 4 36 Position limit value min max GRENZEN rd wr 0x607d 78 1 2 4 36 Polarities POLARITAET rd wr 0x607e 79 0 1 38 Max speed GESCHW_MAX rd wr 0x607f 80 0 4 44 Max motor speed value DREHZAHLMAX rd wr 0x6080 81 0 2 44...

Страница 14: ...b3 b0 Profile group Profile version Profile group Meaning Profile group Meaning 0x00 No profile manufacturer specific 0x07 Encoder 0x01 Sensor actuator 0x08 Process controller 0x02 DRIVECOM 0x09 Robot control 0x03 reserved 0x0A Screw control 0x04 Interface components 0x0B ISO valve terminal 0x05 reserved 0x0C Weld control 0x06 reserved 0x0D Operating display device Function groups No Data byte 3 D...

Страница 15: ...te Bit Assignment Data byte Bit Assignment 1 7 6 5 4 1011 4 7 6 5 4 105 1 3 2 1 0 1010 4 3 2 1 0 104 2 7 6 5 4 109 5 7 6 5 4 103 2 3 2 1 0 108 5 3 2 1 0 102 3 7 6 5 4 107 6 7 6 5 4 101 3 3 2 1 0 106 6 3 2 1 0 100 Sub index Assignment Sub index Assignment 1 Software version 6 Date version of bus option 2 Software date 7 Device identification 3 Job number 8 Device family 4 Part number 9 Device 5 Ver...

Страница 16: ...Reset mode 1 Target position input 1 Continuous mode 3 Speed input 2 Example The operation mode Position target input must be set Service Write request Index 0x6060 1 data byte 0x00 Command Code 0x8082 Sub index 0 2 data byte 0x01 Param counter 4 Length 2 2 4 2 BETR_ART_AZ Operation mode display This parameter indicates the current operation mode The meaning of the displayed value corresponds to t...

Страница 17: ...ew start 1 1 Record select 23 the machine zero point is approached 1 0 Record select 20 The Quit command is not accepted for P190 22 DRIVECOM profile 22 Error message aknowledgement as outlined in the status chart on page 77 2 4 4 STATUSBYTE The status byte shows information about the status of the device as well as messages Object Description Index 0x5FCF Symbol STATUSBYTE Length 1 Access groups ...

Страница 18: ...ledgement as outlined in the status chart on page 77 By partially reassigning the input functions to STEUERWORT the function is limited by the multiple function E1 Example If a function with E1 occupies the control word e g Teach real null then additional E1 functions such as the QUIT function are ignored by the inputs Therefore If you need all the input functions the function must be completely r...

Страница 19: ...us A15 2 6 Lag error 1 5 Status A14 2 5 Idle after stop 1 4 Status A13 2 4 Target position reached 1 3 Status A12 2 3 Ready for start 1 2 Status A11 2 2 MN was reached 1 1 Status A10 2 1 No warning 1 0 Status A9 AckToggle 2 0 No fault Data description P203 Bit 0 1 Data byte Bit Assignment Data byte Bit Assignment 1 7 2 7 2 6 0 0 OUTPUT A0 x after OUTPUT A0 0 1 6 RUN 0 off or turned off in the even...

Страница 20: ...ons ObjectReqEnable and FreezePAD are only active in STEUERWORT when PD Length 4 and P196 Bit 7 0 and P196 Bit 5 1 For a description please see page 64 onwards 2 4 8 STATUSWORT The status word displays information regarding the status of the devices and messages when SPM status word is not equal to SPM control word The status word displays pop up messages when SPM status word is not equal to SPM c...

Страница 21: ... sum of the significants in P193 If the pop up message processing is active and there is a pop up message COMPAX interrupts the normal status display in the status word toggles the pop up message flag SPM and displays the actual pop up message in the status word The Master accepts the pop up message and acknowledges it by toggling the SPM in the control word The status word displays a pop up messa...

Страница 22: ...program positioning 14 Deactivate password protection GOTO 302 4 Break off program positioning 15 Activate password protection GOTO 270 5 Acknowledge error 16 Deactivate password protection GOTO 620 6 Read current position as real null 17 Declare curve valid 7 Declare valid 18 Not Stop with clear 8 Declare configuration valid 19 Not Stop without clear 9 Traverse speed from external encoder 20 OBJE...

Страница 23: ... data byte 0x38 8 Sub index 0 4 data byte 0x52 R 9 20 data byte 0x20 2 4 12 P Write read COMPAX parameters in ASCII format The corresponding parameter is selected using the Sub index Sub index parameter No Object Description Index 0x5fe7 Symbol P Length 32 Access groups 0 Object code Array Elements 250 Password 0 Data type Visible String Access rights read write all PD Map not possible Data Descri...

Страница 24: ...rights Read write all PD Map Not possible Data Description Parameter Resolution Parameter Resolution 001 005 1 0 001 035 036 1 0 000001 006 010 1 037 049 1 0 001 011 016 1 0 001 050 072 1 017 020 1 073 099 1 0 001 021 022 1 0 000001 100 186 1 023 029 1 187 196 1 0 001 030 034 1 0 001 197 250 1 Example Parameter 11 must be given the value 5000 Service Write request Sub index 11 3 data byte 0x4b Com...

Страница 25: ...roached 6200h E23 Command is not allowed 8400h E24 Speed is invalid 8600h E25 Position is invalid 6300h E26 END command missing for REPEAT 6320h E27 Parameter cannot be written to 1000h E28 6320h E29 Motor values missing 5500h E30 Hardware fault 6320h E31 Parameter error 6320h E32 Parameter error 6300h E33 Data memory error 6300h E34 Data memory error 5500h E35 Hardware fault Code COMPAX error 550...

Страница 26: ...ignment Sub index Assignment 1 Error number of current error 2 Error number of last error 2 5 3 S6 Temperature of the power output stage Object Description Index 0x5fde Symbol S6 Length 2 Access groups 0 Object code Simple var Password 0 Data type Unsigned16 Access rights Read all PD Map Not possible Data Description Unit degrees Celsius Resolution 1 0 1 C 2 5 4 S10 COMPAX operating hours Object D...

Страница 27: ... Unsigned16 Access rights read all PD Map not possible 2 5 7 S23_S26 Status of the drive the switch the limits and the output stage Object Description Index 0x5fd8 Symbol S23 S26 Length 2 Access groups 0 Object code Array Elements 4 Password 0 Data type Octet String Access rights read all PD Map not possible Data Description Data byte Bit Assignment Data byte Bit Assignment 1 7 0 Status bits 2 7 0...

Страница 28: ...status No Object Description Index 0x5fe8 Symbol S Length 32 Access groups 0 Object code Array Elements 250 Password 0 Data type Visible String Access rights read all PD Map not possible Data Description Coding ASCII Value range 0x20 0x7f Data byte Assignment Data byte Assignment 1 1 character of the response string 32 32 character of the response string Example Read S23 Service Read Request Param...

Страница 29: ...be 400 per thousands of the motor rated torque Service Write request Index 0x6072 1 data byte 0x01 Command Code 0x8082 Sub index 0 2 data byte 0x90 Param counter 4 Length 2 2 6 2 NENNMOMENT Rated torque motor This value can be found on the rating plate of the motor Object Description Index 0x6076 Symbol NENNMOMENT Length 2 Access groups 0 Object code Simple var Password 0 Data type Unsigned16 Acce...

Страница 30: ...ffb Symbol S5 Length 2 Access groups 0 Object code Simple var Password 0 Data type Integer16 Access rights Read all PD Map PED Data Description Unit Resolution 1 1 64 6400 100 2 6 5 NENNSTROM Motor nominal current This value can be found on the rating plate of the motor Object Description Index 0x6075 Symbol NENNSTROM Length 2 Access groups 0 Object code Simple var Password 0 Data type Unsigned16 ...

Страница 31: ...cription Unit Volt Resolution 1 1 V 2 6 7 S7_S8 Control voltage and power or intermediate circuit voltage Object Description Index 0x5fdd Symbol S7 S8 Length 2 Access groups 0 Object code Array Elements 2 Password 0 Data type Unsigned16 Access rights read all PD Map not possible Data Description Unit Volt Resolution 1 0 1 V Sub index Assignment Sub index Assignment 1 Control voltage 2 intermediate...

Страница 32: ... String Access rights Write all PD Map Not possible Data Description Data format BCD Unit mm or inch Value range 4 000 000 000 4 000 000 000 Resolution 1 0 001 mm or inch Data byte Bit Assignment Data byte Bit Assignment 1 7 0 Value sign 0x00 0xff 2 7 6 5 4 109 4 3 2 1 0 104 2 3 2 1 0 108 5 7 6 5 4 103 3 7 6 5 4 107 5 3 2 1 0 102 3 3 2 1 0 106 6 7 6 5 4 101 4 7 6 5 4 105 6 3 2 1 0 100 Example The ...

Страница 33: ...ndex 0x5fef 2 data byte 0x00 6 data byte 0x10 2 7 3 LAGE_ZIEL Target position default Absolute positioning Reference point is the real null RN or relative positioning set by the data byte 2 Bit 6 0 absolute 1 relative Positioning is done with the acceleration time brake time set by ACCELL POS ACCEL NEG and the velocity set by SPEED If these values were not set then valid are substitute values SPEE...

Страница 34: ...vel to the absolute position 1000 000 mm Service Write request Sub index 0 3 data byte 0xbd Command Code 0x8082 Length 4 4 data byte 0xc0 Param counter 5 1 data byte 0xff Index 0x607a 2 data byte 0xf0 2 7 4 S1 Actual position Current position in relation to real zero Object Description Index 0x5ff9 Symbol S1 Length 6 Access groups 0 Object code Simple var Password 0 Data type Octet String Access r...

Страница 35: ...he current or last positioning cycle implemented Object Description Index 0x5fdf Symbol S2 Length 4 Access groups 0 Object code Simple var Password 0 Data type Integer32 Access rights Read all PD Map Not possible Data Description Unit mm or inch Resolution 1 0 001 mm or inch 2 7 7 S12 Position of the absolute value sensor Option A1 Object Description Index 0x5fd9 Symbol S12 Length 4 Access groups ...

Страница 36: ...absolute position limits within which the set values and actual values in absolute form must be moved Each new target position is checked with these limits They always refer to the machine zero point therefore they must be corrected using the reference measurement offset Object Description Index 0x607d Symbol GRENZEN Length 4 Access groups 0 Object code Array Elements 2 Password 0 Data type Intege...

Страница 37: ...x3a Command Code 0x8082 Length 4 4 data byte 0x98 Param counter 5 1 data byte 0x00 Index 0x6067 2 data byte 0x00 2 7 11 SCHLEPP_FEN Contour error window The contour error window lies symmetrically around the currently set position set point If the current position indicator actual value lies outside this window a contour error occurs Object Description Index 0x6065 Symbol SCHLEPP_FEN Length 4 Acce...

Страница 38: ... Symbol POLARITAET Length 1 Access groups 0 Object code Simple var Password 0 Data type Octet String Access rights Read write all PD Map Not possible Data Description Data bit 7 Assignment Data bit 7 Assignment 1 Reversal of direction motor left 0 default motor right The other bits are irrelevant for COMPAX Example The motor should turn clockwise Service Write request Index 0x607e 1 data byte 0x80...

Страница 39: ...b index is used to select the corresponding command Sub index CAM command Object Description Index 0x5fcc Symbol CAM_CMD Length 4 Access groups 0 Object code Array Elements 6 Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Sub index Command Resolution 1 SETC 1 2 SETM 1 0 001 3 SETS 1 0 001 4 POSR CAM 5 LOOP 1 6 VF 2 7 16 WAITPOSA Synchronisation with aut...

Страница 40: ...e a complete synchronisation move is carried out The value for this object is the processing interval length of material when cutting Object Description Index 0x5fe1 Symbol WAITPOSR Length 4 Access groups 0 Object code Simple var Password 0 Data type Integer32 Access rights Write all PD Map Not possible Data Description Unit mm or inch Resolution 1 0 001 mm or inch Example A cutting length of 720 ...

Страница 41: ...n Unit Resolution 1 1 64 6400 100 Example The drive should travel at 75 of the nominal speed Service Write request Index 0x5fec 1 data byte 0x12 Command Code 0x8082 Sub index 0 2 data byte 0xc0 Param counter 4 Length 2 2 8 2 OVERRIDE Reduce traverse speed Software emulation of an external potentiometer on the override input X11 6 Object Description Index 0x5fee Symbol OVERRIDE Length 1 Access grou...

Страница 42: ...te 0x50 Param counter 5 Length 3 3 data byte 0x00 2 8 4 POSRXSPEEDY Speed step profile Every revolution step profile can have a maximum of 8 revolution steps The position value is given as a relative measurement It is referenced to the positioning start point Object Description Index 0x5fe4 Symbol POSRXSPEEDY Length 8 Access groups 0 Object code Simple var Password 0 Data type Octet String Access ...

Страница 43: ...point Object Description Index 0x5fc7 Symbol PRXSDYALZ Length 10 Access groups 0 Object code Simple var Password 0 Data type Octet String Access rights Write all PD Map Not possible Data Description Data byte Assignment Data byte Assignment 1 Highest value byte of the position 4 Lowest value byte of the position Coding Two s complement Unit mm or inch Value range 2 147 483 648 2 147 483 647 Resolu...

Страница 44: ...x speed of the motor is 6000 rpm Service Write request Index 0x6080 1 data byte 0x17 Command Code 0x8082 Sub index 0 2 data byte 0x70 Param counter 4 Length 2 2 8 7 GESCHW_MAX Maximum speed The maximum speed applies to both rotation directions Object Description Index 0x607f Symbol GESCHW_MAX Length 4 Access groups 0 Object code Simple var Password 0 Data type Unsigned32 Access rights Read write a...

Страница 45: ...0 Data type Integer32 Access rights Read write all PD Map Not possible Data Description Unit Resolution 1 0 001 Example The drive should travel at 66 of the nominal speed Service Write request Sub index 0 3 data byte 0x01 Command Code 0x8082 Length 4 4 data byte 0xd0 Param counter 5 1 data byte 0x00 Index 0x6081 2 data byte 0x01 2 8 9 S4 Current axis process speed Value in of the nominal speed nom...

Страница 46: ...nce run speed Speed set point for approaching the machine zero point Given in of the nominal speed nominal rpm travel per motor revolution Object Description Index 0x6099 Symbol GESCHW_REF Length 4 Access groups 0 Object code Simple var Password 0 Data type Unsigned32 Access rights Read write all PD Map Not possible Data Description Unit Resolution 1 0 001 Example The reference run speed is set to...

Страница 47: ...0 2 data byte 0xff Param counter 4 Length 2 2 9 2 ACCEL_POS Acceleration time Time setting for the acceleration process Also the time setting for the deceleration process as long as the object ACCEL NEG or RAMPE NEG has not been written to The time specification applies to nominal speed 100 t SPEED 100 ACCEL_POS a Object Description Index 0x5fea Symbol ACCEL_POS Length 2 Access groups 0 Object cod...

Страница 48: ... 0x8082 Sub index 0 2 data byte 0xc4 Param counter 4 Length 2 2 9 4 RAMPE_POS Acceleration Time setting for the acceleration process Also the time setting for the deceleration process as long as the object ACCEL NEG or RAMPE NEG has not been written to The time specification applies to nominal speed 100 t SPEED 100 RAMPE_POS a Object Description Index 0x6083 Symbol RAMPE_POS Length 4 Access groups...

Страница 49: ...er 5 1 data byte 0x00 Index 0x6084 2 data byte 0x00 2 9 6 RAMPE_NOTS Rapid stop Time setting for the deceleration process if the command rapid stop Bit 2 in the control word is given a limit switch is activated or after an emergency stop The time specification applies to nominal speed 100 t SPEED 100 RAMPE_NOTS a Object Description Index 0x6085 Symbol RAMPE_NOTS Length 4 Access groups 0 Object cod...

Страница 50: ...Symbol RAMPE_REF Length 4 Access groups 0 Object code Simple var Password 0 Data type Unsigned32 Access rights Read write all PD Map Not possible Data Description Value range 0 65 000 Unit ms Resolution 1 1 ms Example The acceleration time for the reference run is set to 733 ms Service Write request Sub index 0 3 data byte 0x02 Command Code 0x8082 Length 4 4 data byte 0xdd Param counter 5 1 data b...

Страница 51: ...input 9 2 0 Status input 1 2 10 2 OUTPUT_WORD Logic state of the 16 digital outputs Some outputs are assigned a fixed status information Output Assignment Output Assignment 1 no fault 5 Programmed nominal position reached 2 No warning 6 Idle after stop 3 Machine zero has been approached 7 15 Freely assignable in standard model 4 Ready for start 16 Label present after max feed length This object al...

Страница 52: ...index 13 Param counter 4 Length 1 2 10 4 OUTPUT_MASK Mask outputs Each output which must be influenced via the Interbus S must be specifically enabled masked The output thereby loses any status information which was assigned to it After Power On the OUTPUT MASK has the value 0 i e all outputs are disabled for the IBS not masked Object Description Index 0x5ff5 Symbol OUTPUT_MASK Length 2 Access gro...

Страница 53: ... byte 0x65 Command Code 0x8082 Length 4 4 data byte 0x00 Param counter 5 1 data byte 0x00 Index 0x5fe2 2 data byte 0x04 2 10 6 POSROUTPUTN Comparator function active low Reset an unassigned output within a positioning cycle The position value is given as a relative measurement It is referenced to the positioning start point A maximum of 4 comparators can be set for a positioning process The corres...

Страница 54: ...mand Code 0x8082 1 data byte 0x50 P 6 data byte 0x32 2 Param counter 19 2 data byte 0x4f O 7 data byte 0x35 5 Index 0x5ff1 3 data byte 0x53 S 8 data byte 0x30 0 Sub index 5 4 data byte 0x41 A 9 32 data byte 0x20 Long combined commands with 32 characters cannot be completely displayed These commands can however be written with the use of command abbreviations 2 11 2 Nx Reading and writing the progr...

Страница 55: ...er 0xC1 POSA Variable 0xCB LOOP Variable 0xCC ACCEL Variable 0xCD SETM Variable 0xD2 POSR Variable 0xD3 SPEED Variable 0xD4 REPEAT Variable 0xD7 WAIT Variable Sorted by command code Code Command 0x6C ACCEL Parameter 0xCC ACCEL Variable 0x4C ACCEL value 0x45 END 0x42 GOSUB 0x47 GOTO 0x4A IF Operand1 Comparison operator Operand2 0x49 IF Ex y IF ERROR IF STOP 0x20 Empty instruction No Operation 0x4B ...

Страница 56: ... A comparison operator consists of 1 byte Comparison operator Symbols Code Equal 0x3D Less than 0x3C More than 0x3E Equal to less than 0xBC Equal to greater than 0xBE Does not equal 0xBB Arithmetic operator codes An arithmetic operator consists of 1 byte Arithmetic Operator Symbols Code Addition 0x2B Subtraction 0x2D Multiplication 0x2A Division 0x2F Whole number division 0x5C Modulo calculation 0...

Страница 57: ...Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 Vglop O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6 0x42 n MSB n LSB IF STOP GOSUB n 0x49 0x00 0xFE 0x31 0x42 n MSB n LSB LOOP n 0x4B n MSB n LSB LOOP Parameter 0x6B No H Nr L LOOP Variable 0xCB No H No L OUTPUT Ax y 0x4F x MSB x LSB y OUTPUT Ax yy 0x4F x MSB x LSB y1 y2 OUTPUT Ax OUTPUT Ax yyyyyyyy 0x4F x MSB x LSB y1 y2 y3 y4 y5 y6 y7 y8 OUTPUT A0 y 0x4F 0x00 0x00 y POS...

Страница 58: ... V12 P40 V10 POSR Variable SPEED Variable 0x2D No H Nr L 0x00 0x00 0x00 0x00 0x3D No H Nr L 0x00 0x00 0x00 0x00 POSR Value SPEED Value ACCEL Value 0x52 NL NM NH VL VM VH 0x53 NL NM NH VL VM VH 0x4C MSB LSB POSR SPEED ACCEL Combinations examples Value V12 V13 P40 V10 P41 POSR Variable SPEED Variable ACCEL Variable 0x2D No H Nr L 0x00 0x00 0x00 0x00 0x3D No H Nr L 0x00 0x00 0x00 0x00 0xCC No H Nr L ...

Страница 59: ...in DSP number format NM Mid byte of the fractional digit of a value in DSP number format NH High byte of the fractional digit of a value in DSP number format VL Low Byte of the integral digit of a value in DSP number format VM Mid Byte of the integral digit of a value in DSP number format VH High byte of the integral digit of a value in DSP number format O1Type Type indicator of the 1 operand O1D1...

Страница 60: ...est Index 0x5ff2 Data byte 0x12 Command Code 0x8082 Sub index 0 Param counter 4 Length 1 2 11 4 START_N Run program record N Only this record is processed The record pointer remains at this program record Object Description Index 0x5ff4 Symbol START_N Length 1 Access groups 0 Object code Simple var Password 0 Data type Unsigned8 Access rights Write all PD Map PAD Data Description Data format Binar...

Страница 61: ...cessed from record 50 Service Write request Index 0x5fe5 Data byte 0x32 Command Code 0x8082 Sub index 0 Param counter 4 Length 1 2 11 6 TEACH_N Take over current position in record N The command POSA current position is stored in record N Object Description Index 0x5ff3 Symbol TEACH_N Length 1 Access groups 0 Object code Simple var Password 0 Data type Unsigned8 Access rights Write all PD Map Not ...

Страница 62: ..._MEM_P The curve memory pointer is automatically incremented after this object is accessed Object Description Index 0x5fcb Symbol CAM_MEM Length 3 Access groups 0 Object code Simple var Password 0 Data type Octet string Access rights Read write all PD Map Not possible Data Description Data byte 1 2 3 Meaning Record memory contents Assignment MSB LSB 2 11 9 VX Enter or read COMPAX variable The corr...

Страница 63: ...Resolution Variable Resolution 001 005 1 0 001 023 029 1 006 010 1 030 034 1 0 001 011 016 1 0 001 035 036 1 0 000001 017 020 1 037 040 1 0 001 021 022 1 0 000001 Data description P196 Bit 4 1 New from Interbus S Software V2 12 onwards Variable Resolution 001 040 1 0 001 ...

Страница 64: ...ue 4 PAD3 PAD8 0 5 ObjectReqEnable STEUERWORT CPX_STW Data byte1 Bit0 1 6 Wait until AckToggle STATUSWORT CPX_ZSW Data byte1 Bit0 has changed its value PAD3 PAD8 will now be transferred to OBJECT_REQ 7 write and or read all required objects 8 ObjectReqEnable STEUERWORT CPX_STW Data byte1 Bit0 0 9 Wait until AckToggle STATUSWORT CPX_ZSW Data byte1 Bit0 has changed its value 10 Reset PAD3 PAD8 to th...

Страница 65: ...OMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1 1 ObjectReqEnable 1 1 0 FreezePAD 1 PED Master COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1 0 AckToggle 0 Transfer PAD with OBJECT_REQ P23 200 write PAD Master COMPAX PAD1 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 STEUERWORT 1 1 ObjectReqEnable 1 1 0 FreezePAD 1 PED Master COMPAX PED1 PED2 PED3 PED4 PED5 PED6 PED7 PED8 STATUSWORT 1...

Страница 66: ...type Octet string Access rights Write all PD Map PAD Data Description Data byte Bit Assignment Data byte Bit Assignment 1 7 0 Object write 1 Object read 3 Object Data byte 1 1 6 0 Index Object pointer1 4 Object Data byte 2 5 Object Data byte 3 2 Sub index 6 Object Data byte 4 OBJECT_RSP Acknowledgement for a write access or answer to a read access to an object via OBJECT_REQ Object Description Ind...

Страница 67: ...ll be valid after Power On this corresponds to the settings through the COMPAX Parameter The PA data can be enabled or disabled with the objects OUT_ENABLE or PA_ENABLE After Power On the PA data are enabled 2 12 1 PAD_Steuerung The process output data can be used to cyclically write to the following COMPAX communication objects Object name Description Index COMPAX Parameter 2 Byte see dec hex P13...

Страница 68: ... 0 PA_SELECT allows the channels to be freely assigned You will find depictions of the various possibilities of parameters P139 P142 PADs disable enable The PAD s can be individually disabled and enabled using the object Enable Process Output Data PA_ENABLE see page 74 This means an object is only written with the value from the PAD channel if the corresponding PAD s are also enabled After Power o...

Страница 69: ...0 0x0000 9 Object sub index assigned for PAD4 6 0 0x00 10 Object index assigned for PAD5 7 24556 0x5fec 11 Object sub index assigned for PAD5 7 0 0x00 12 Object index assigned for PAD6 8 0 0x0000 13 Object sub index assigned for PAD6 8 0 0x00 After changing the PAD assignment via object PA_SELECT PA_ENABLE is set to 0 to avoid an undefined condition After a PAD change the PAD s must be manually en...

Страница 70: ...all listed objects simultaneously This means you need to make an appropriate selection Setting the PED via the object Process Input Data Description or via the COMPAX parameters P135 P136 P137 P138 corresponds to the object PED_INI You may place each of the named objects on the PED channel according to its required bytes Set the corresponding COMPAX parameter to the value given for the respective ...

Страница 71: ..._SELECT the PAD assignment can be changed during operation Sub index Meaning value dec hex 1 PED length not variable 6 0x06 2 Object index assigned for PED1 3 24568 0x5ff8 3 Object sub index assigned for PED1 3 0 0x00 4 Object index assigned for PED2 4 0 0x0000 5 Object sub index assigned for PED2 4 0 0x00 6 Object index assigned for PED3 5 24570 0x5ffa 7 Object sub index assigned for PED3 5 0 0x0...

Страница 72: ... which assigns 3 rd 5 th PE data byte Unsigned16 2 7 Device parameter sub index which assigns 3 rd 5 th PE data byte Unsigned 8 1 8 Device parameter index which assigns 4 th 6 th PE data byte Unsigned16 2 9 Device parameter sub index which assigns 4 th 6 th PE data byte Unsigned 8 1 10 Device parameter index which assigns 5 th 7 th PE data byte Unsigned16 2 11 Device parameter sub index which assi...

Страница 73: ...er index which assigns 3 rd 5 th PA data byte Unsigned16 2 7 Device parameter sub index which assigns 3 rd 5 th PA data byte Unsigned 8 1 8 Device parameter index which assigns 4 th 6 th PA data byte Unsigned16 2 9 Device parameter sub index which assigns 4 th 6 th PA data byte Unsigned 8 1 10 Device parameter index which assigns 5 th 7 th PA data byte Unsigned16 2 11 Device parameter sub index wh...

Страница 74: ...cess rights Read write all PD Map Not possible Data Description Bit Assignment Bit Assignment 7 1 autom Acceptance of a modified LAGE_ZIEL of the PA data is disabled 3 4 th 6 th byte of the PA data 6 None 2 3 rd 5 th byte of the PA data 5 6 th 8 th 8 byte of the PA data 1 2 nd 4 th byte of the PA data 4 5 th 7 th byte of the PA data 0 1 3 rd byte of the PA data Bit Function Data byte Function 0 FA...

Страница 75: ...t 3 rd 9 PE data byte Object Index High Byte Object Index Low Byte Object Sub index 2 Stipulate object which will assign 2 nd 4 th PE data byte Object Index High Byte Object Index Low Byte Object Sub index 3 Stipulate object which will assign 3 rd 5 th PE data byte Object Index High Byte Object Index Low Byte Object Sub index 4 Stipulate object which will assign 5 th 7 th PE data byte Object Index...

Страница 76: ...PA data byte Object Index High Byte Object Index Low Byte Object Sub index 2 Stipulate object which will assign 2 nd 4 th PA data byte Object Index High Byte Object Index Low Byte Object Sub index 3 Stipulate object which will assign 3 rd 5 th PA data byte Object Index High Byte Object Index Low Byte Object Sub index 4 Stipulate object which will assign 5 th 7 th PA data byte Object Index High Byt...

Страница 77: ... 0x8082 Sub index 0x00 2 data byte 0xf8 Param counter 5 Length 3 3 data byte 0 2 12 4 OUT_SELECT Process Output Data Description This object defines which communication object or element of a communications object is emulated on the 1 byte and if necessary on the following bytes of the process output data of the process data channel Object Description Index 0x5ffe Symbol OUT_SELECT Access groups 0...

Страница 78: ...roups 0 Object code Simple var Password 0 Data type Boolean Access rights read write all PD Map not possible Data Description Data byte Function Data byte Function 0x00 FALSE Process data value disabled 0xff TRUE Process data value enabled Example The process data value which assigns 1 st 3 rd byte of the PA data and if necessary the others should be enabled Service Write request Index 0x5fff Data...

Страница 79: ... is therefore only given as a supplement to the DRIVECOM documentation Conditions diagram START NOT READY TO SWITCH ON xx00h statusword SWITCH ON DISABLED READY TO SWITCH ON SWITCHED ON OPERATION ENABLE FAULT REACTION ACTIVE FAULT statusword statusword statusword statusword statusword statusword xx60h xx21h xx23h xx27h QUICK STOP ACTIVE xx07h xx28h controlword xx1x x1xx controlword lock voltage xx...

Страница 80: ...y shows OFF EINGESCHALTET Communication through all interfaces is enabled Modifications to parameters variables records is possible Drive function is disabled but motor has current Display shows run BETRIEB FREIGEGEBEN Communication through all interfaces is enabled Modifications to parameters variables records is possible Drive function is enabled motor has current Display shows run SCHNELLHALT A...

Страница 81: ...ich assigns the 3 5 PE data byte after turning on Value Index 256 Sub index 0 0 16777215 Power on P138 Object index and sub index which assigns the 5 7 PE data byte after turning on Value Index 256 Sub index 0 0 16777215 Power on P139 Object index and sub index which assigns the 1 3 PA data byte after turning on Value Index 256 Sub index 0 0 16777215 Power on P140 Object index and sub index which ...

Страница 82: ...essages No Cause Remedy Causes Acknowl edge with No power to drive E73 Time out error The error response is influenced with P191 Re send the characters 1 nein 2 1 No acknowledgement necessary the error message is cancelled after the next errorless transmission 2 Depends on P191 ...

Страница 83: ...ENNSTROM 31 Nx 55 Object index 10 OBJECT_REQ 67 OBJECT_RSP 67 OBJECT_RSP temporarily disabled on PED 23 OBJECT_RSP temporarily enabled on PED 23 ObjectReqEnable 19 21 Operand Codes 57 OPERATING MODE 17 OUT_ENABLE 79 OUT_SELECT 78 OUTPUT 53 OUTPUT_MASK 53 OUTPUT_WORD 52 OVERRIDE 42 P 24 P196 6 P196 Bit 4 64 PA_ENABLE 75 PA_SELECT 74 PAD_INI 77 PAD_Steuerung 68 PADs disable enable 69 Parameter data ...

Страница 84: ...6 Index Interbus S 84 ...

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