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Position control - Position controller

PtP

Positioning profile

generator

Position

control

PI current controller

‘0x8480-02 - Position actual value’

on page 124

Encoder value

‘0x8F00-02 - Encoder actual value’

on page 143

‘0x8480-13 - Position control P-part’

on page 127

‘0x8480-03 - Position set value’

on page 125

‘0x8480-14 - Position control I-part’

on page 127

‘0x8480-15 - Position control D-part’

on page 127

‘0x8480-10 - Lag error’ on page 126

‘0x8480-16 - Position control shift

factor’ on page 128

Limit Current - Limitation current

‘0x8C00-04 - Motor max. current’

on page 141

Limit

Current

PI current controller

‘0x8600-04 - Current limit positive

direction’ on page 133

‘0x8600-05 - Current limit negative

direction’ on page 133

PI - PI current controller

Limit

Current

Limitation current

int. PS

internal

power stage

Position

control

Position controller

‘0x8600-03 - Current set value’

on page 132

‘0x8600-02 - Current actual value’

on page 132

‘0x8600-06 - Current control P-part’

on page 133

‘0x8600-12 - Current set value winding

A’ on page 134

‘0x8600-07 - Current control I-part’

on page 133

‘0x8600-14 - Current offset value

winding A’ on page 135

‘0x8600-09 - Current control filter

factor ’ on page 134

‘0x8600-16 - Current voltage ratio

winding A’ on page 136

VIPA System SLIO

Deployment

Velocity profile

HB300 | FM | 054-1CB00 | en | 18-06

Содержание FM 054

Страница 1: ...FM 054 1CB00 Manual HB300 FM 054 1CB00 en 18 06 VIPA System SLIO Motion Module 2xDC FM 054 www vipa com en service support manuals ...

Страница 2: ...054 1CB00_000_FM054 2xDC 4 EN 2018 VIPA GmbH Ohmstr 4 91074 Herzogenaurach Telephone 09132 744 0 Fax 09132 744 1864 Email info vipa com Internet www vipa com ...

Страница 3: ...echnical data 39 4 Deployment 43 4 1 Basics 43 4 1 1 DC motor module 44 4 1 2 Structure of a positioning control 44 4 1 3 Encoder signal evaluation 45 4 2 Commissioning 47 4 2 1 Installation 47 4 2 2 Inspections and tests before the test operation 47 4 2 3 Start up of the System SLIO motion module 47 4 3 Connecting a motor 49 4 3 1 Connection options 49 4 4 Drive profile 50 4 4 1 Overview 50 4 4 2...

Страница 4: ...ystem command 0x6100 103 5 2 5 Digital inputs I O1 I O4 0x7100 103 5 2 6 Digital output I O1 I O4 0x7200 105 5 2 7 Driver command 0x8100 108 5 2 8 Configure drive 0x8180 116 5 2 9 Options 0x8200 117 5 2 10 Operating modes 0x8280 118 5 2 11 Homing 0x8300 119 5 2 12 Parameter for the PtP positioning profile 0x8400 123 5 2 13 Positions and limit values 0x8480 124 5 2 14 Velocities and limit values 0x...

Страница 5: ...tive purchase contract Hereby VIPA GmbH declares that the products and systems are in compliance with the essential requirements and other relevant provisions Conformity is indicated by the CE marking affixed to the product For more information regarding CE marking and Declaration of Conformity DoC please contact your local VIPA customer service organization VIPA SLIO System 100V System 200V Syste...

Страница 6: ...1CB00 01 V1 1 2 The manual is targeted at users who have a background in automation technology The manual consists of chapters Every chapter provides a self contained description of a specific topic The following guides are available in the manual n An overall table of contents at the beginning of the manual n References with page numbers The manual is available in n printed form on paper n in ele...

Страница 7: ...ent n installation department n commissioning n operation CAUTION The following conditions must be met before using or commis sioning the components described in this manual Hardware modifications to the process control system should only be carried out when the system has been disconnected from power Installation and hardware modifications only by properly trained per sonnel The national rules an...

Страница 8: ... that have been damaged by electrostatic discharges can fail after a temperature change mechanical shock or changes in the electrical load Only the consequent implementation of protection devices and meticulous attention to the applicable rules and regulations for handling the respective equipment can prevent failures of electrostatic sensitive modules Modules must be shipped in the original packi...

Страница 9: ...lexity is low because the supply of the DC 24V power section is integrated to the backplane bus and defective modules may be replaced with standing wiring By deployment of the power modules in contrasting colors within the system further isolated areas may be defined for the DC 24V power section supply respectively the electronic power supply may be extended with 2A VIPA System SLIO Basics and mou...

Страница 10: ...ronic and the electronic of the connected periphery modules are supplied The DC 24 power section supply for the linked periphery modules is established via a further connection of the power module By installing of up to 64 periphery modules at the backplane bus these are electrically connected this means these are assigned to the backplane bus the elec tronic modules are power supplied and each pe...

Страница 11: ...at the System SLIO bus is decreased by 1 To use the line extension no special configuration is required Each periphery module consists of a terminal and an electronic module 1 Terminal module 2 Electronic module The terminal module serves to carry the electronic module contains the backplane bus with power supply for the electronic the DC 24V power section supply and the staircase shaped terminal ...

Страница 12: ... shield bus carrier With each head module to protect the backplane bus connectors there is a mounted bus cover in the scope of delivery You have to remove the bus cover of the head module before mounting a System SLIO module For the protection of the backplane bus con nector you always have to mount the bus cover at the last module of your system again The bus cover has the order no 000 0AA00 Ther...

Страница 13: ...2 3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x VIPA System SLIO Basics and mounting Dimensions HB300 FM 054 1CB00 en 18 06 13 ...

Страница 14: ...Dimensions bus coupler and line extension slave Dimensions line extension master VIPA System SLIO Basics and mounting Dimensions HB300 FM 054 1CB00 en 18 06 14 ...

Страница 15: ...Dimensions in mm Dimension periphery module Dimensions electronic module VIPA System SLIO Basics and mounting Dimensions HB300 FM 054 1CB00 en 18 06 15 ...

Страница 16: ...ocking lever is opened The modules are each installed on a mounting rail The electronic and power section supply are connected via the backplane bus Up to 64 modules may be mounted Please consider here that the sum current of the electronic power supply does not exceed the maximum value of 3A By means of the power module 007 1AB10 the current of the electronic power supply may be expanded accordin...

Страница 17: ...sible combinations for coding with the use of both coding sockets 1 Plug according to your coding 2 coding jacks in the coding sockets of your elec tronic module until they lock 2 Now plug the according coding plugs into the coding jacks 3 To fix the coding put both the electronic and terminal module together until they lock CAUTION Please consider that when replacing an already coded electronic m...

Страница 18: ...er at the right side of the Head module by pulling it forward Keep the cover for later mounting 4 For mounting turn the locking lever of the module upward until it engages 5 For mounting place the module to the module installed before and push the module to the mounting rail guided by the strips at the upper and lower side of the module 6 Turn the locking lever of the periphery module downward aga...

Страница 19: ...cted to the corresponding terminal module With wiring the terminal modules terminals with spring clamp technology are used for wiring The spring clamp technology allows quick and easy connection of your signal and supply lines In contrast to screw terminal connections this type of connection is vibration proof Umax 240V AC 30V DC Imax 10A Cross section 0 08 1 5mm2 AWG 28 16 Stripping length 10mm 1...

Страница 20: ... mounting of shield bus carriers are necessary The shield bus carrier available as accessory serves to carry the shield bus to connect cable shields 1 Each System SLIO module has a carrier hole for the shield bus carrier Push the shield bus carrier until they engage into the module With a flat mounting rail for adaptation to a flat mounting rail you may remove the spacer of the shield bus car rier...

Страница 21: ...mm2 AWG 28 16 Stripping length 10mm 1 Pin number at the connector 2 Opening for screwdriver 3 Connection hole for wire 1 Insert a suited screwdriver at an angel into the square opening as shown Press and hold the screwdriver in the opposite direction to open the contact spring 2 Insert the stripped end of wire into the round opening You can use wires with a cross section of 0 08mm2 up to 1 5mm2 3 ...

Страница 22: ...supply 8 Sys 0V I GND for electronic section supply I Input CAUTION Since the power section supply is not internally protected it is to be exter nally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected by a 10A fuse fast respectively by a line circuit breaker 10A characteristics Z The electronic power section supply is internally protected against ...

Страница 23: ...activated Here the power module with the order number 007 1AB10 is to be placed between the peripheral modules n If the 10A for the power section supply is no longer sufficient you may use the power module from VIPA with the order number 007 1AB00 So you have also the possibility to define isolated groups n The power module with the order number 007 1AB10 is to be used if the 3A for the electronic...

Страница 24: ...e necessary The shield bus carrier available as accessory serves to carry the shield bus to connect cable shields 1 Each System SLIO module has a carrier hole for the shield bus carrier Push the shield bus carrier until they engage into the module With a flat mounting rail for adaptation to a flat mounting rail you may remove the spacer of the shield bus car rier 2 Put your shield bus into the shi...

Страница 25: ...3 Attach the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus VIPA System SLIO Basics and mounting Wiring power modules HB300 FM 054 1CB00 en 18 06 25 ...

Страница 26: ...n 1 Power off your system 2 Remove if exists the wiring of the module 3 For demounting and exchange of a head module or a group of modules due to mounting reasons you always have to remove the electronic module right beside After mounting it may be plugged again Press the unlocking lever at the lower side of the just mounted right module and pull it forward 4 Turn the locking lever of the module t...

Страница 27: ... operation 1 Power off your system 2 Remove if exists the wiring of the module group 3 For demounting and exchange of a head module or a group of modules due to mounting reasons you always have to remove the electronic module right beside After mounting it may be plugged again Press the unlocking lever at the lower side of the just mounted right module near the module group and pull it forward 4 T...

Страница 28: ... the both modules and push it guided by the stripes at both sides to the mounting rail 8 Turn all the locking lever downward again 9 Plug again the electronic module which you have removed before 10 Wire your module group ð Now you can bring your system back into operation VIPA System SLIO Basics and mounting Demounting periphery modules HB300 FM 054 1CB00 en 18 06 28 ...

Страница 29: ...g power modules on page 21 Behaviour After PowerON the MF LED of one module respectively more modules flashes The RUN LED remains off Reason At this position a module is placed which does not correspond to the configured module Remedy Match configuration and hardware structure Behaviour After PowerON all of the RUN LEDs up to the defective module are flashing With all following modules the MF LED ...

Страница 30: ...to the interference cause interferences to your control occur by means of different coupling mechanisms There are n galvanic coupling n capacitive coupling n inductive coupling n radiant coupling In the most times it is enough to take care of some elementary rules to guarantee the EMC Please regard the following basic rules when installing your PLC n Take care of a correct area wide grounding of t...

Страница 31: ...th conductor is impedance low because otherwise the interference currents may appear as interference cause When isolating cables you have to regard the following n If possible use only cables with isolation tangle n The hiding power of the isolation should be higher than 80 n Normally you should always lay the isolation of cables on both sides Only by means of the both sided connection of the isol...

Страница 32: ...sulation voltage to reference earth Inputs outputs AC DC 50V test voltage AC 500V Protective measures against short circuit Environmental conditions to EN 61131 2 Climatic Storage transport EN 60068 2 14 25 70 C Operation Horizontal installation hanging EN 61131 2 0 60 C Horizontal installation lying EN 61131 2 0 55 C Vertical installation EN 61131 2 0 50 C Air humidity EN 60068 2 30 RH1 without c...

Страница 33: ...y 2 EN 61000 4 3 HF field immunity casing 80MHz 1000MHz 10V m 80 AM 1kHz 1 4GHz 2 0GHz 3V m 80 AM 1kHz 2GHz 2 7GHz 1V m 80 AM 1kHz EN 61000 4 6 HF conducted 150kHz 80MHz 10V 80 AM 1kHz EN 61000 4 4 Burst degree of severity 3 EN 61000 4 5 Surge degree of severity 3 Due to the high energetic single pulses with Surge an appropriate external protective circuit with lightning protection elements like c...

Страница 34: ... n 4 inputs outputs DC 24V which can be used as encoder inputs n PWM clock speed 32kHz Compatibility list An overview of CPU and bus coupler which support the 054 1CB00 can be found at www vipa com at the download area of the System SLIO manuals Type Order number Description FM 054 2xDC 054 1CB00 System SLIO 2x DC motor module DC 24V 1 5A 2 channels with feedback 4 inputs outputs DC 24V 054 1CB00 ...

Страница 35: ...te before starting instal lation disassembly or wiring of the System SLIO modules You can use wires with a cross section of 0 08mm2 up to 1 5mm2 For the connection lines the following requirements apply n For the digital I O connection with DIO operation single lines can be used In encoder mode shielded cables are to be used n A motor must be connected via shielded lines n Generally power and sign...

Страница 36: ...ower section supply I O area must be switched on first Ä Standard wiring on page 22 There is the possibility to connect an encoder via I O1 and I O3 respectively via I O2 and I O4 Current values of position velocity acceleration and deceleration are calculated by the System SLIO motion module itself If there is no more encoder connected the unused digital in outputs are further free for usage Enco...

Страница 37: ...ates on page 51 Drive 2 is in state Switched on Drive 2 is in state Operation enabled ERRA red No error drive 1 Warning drive 1 0x80 in Ä 0x8100 02 Status word on page 110 Error drive 1 0x08 in Ä 0x8100 02 Status word on page 110 ERRB red No error drive 2 Warning drive 2 0x80 in Ä 0x8100 02 Status word on page 110 Error drive 2 0x08 in Ä 0x8100 02 Status word on page 110 I O1 green Digital input o...

Страница 38: ...DC 20 4 28 8V UD DC 10V driver supply The power supply is built via UIN via a DC DC converter and enabled via the µ controller UC DC 3 3V µ controller supply The power supply is built via UIN via a DC DC converter ON Edge 0 1 at 16V from UIN OFF Edge 1 0 at 14V from UIN UM Motor power supply ON Edge 0 1 at 19 2V from UIN OFF Edge 1 0 at 18 5V from UIN Structure Voltages VIPA System SLIO Hardware d...

Страница 39: ...600 m Rated load voltage Current consumption from load voltage L without load Rated value DC 20 4 28 8 V Input voltage for signal 0 DC 0 5 V Input voltage for signal 1 DC 11 28 8 V Input voltage hysteresis Frequency range Input resistance Input current for signal 1 3 mA Connection of Two Wire BEROs possible ü Max permissible BERO quiescent current 1 5 mA Input delay of 0 to 1 1 5 ms Input delay of...

Страница 40: ...itching frequency on lamp load max 10 Hz Internal limitation of inductive shut off voltage L 45 V Short circuit protection of output yes electronic Trigger level 1 A Number of operating cycle of relay outputs Switching capacity of contacts Output data size Status information alarms diagnostics Status display green LED per channel Interrupts yes parameterizable Process alarm no Diagnostic interrupt...

Страница 41: ...ution 24 Bit Control type closed loop Temperature sensor ü Operating modes position functions Homing via homing switch ü Positioning via torque ü Positioning without encoder ü Positioning with encoder ü Speed control ü Torque control ü Housing Material PPE PPE GF10 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 12 9 mm x 109 mm x 76 5 mm Net weight 65 g Weight including accessories 6...

Страница 42: ...Order no 054 1CB00 UL certification yes KC certification in preparation VIPA System SLIO Hardware description Technical data HB300 FM 054 1CB00 en 18 06 42 ...

Страница 43: ... 0x1000 0x6FFF General data and system data 0x7000 0x7FFF Data of the digital input and output part 0x8000 0x8FFF Data drive 1 0x9000 0x9FFF Data drive 2 Each object has a subindex 0 Calling an object with subindex 0 the number of available subindexes of the corresponding object is returned You have the following options for accessing the objects in the object dictionary n Access via acyclic chann...

Страница 44: ...circuit the implementation of simple axes is possible The power stage has an overload and short circuit protection 4 1 2 Structure of a positioning control The figure below shows the structure of a typical positioning control The Control consists of the PLC with the user program for the processing and the motion module to control the drive The motion module has an integrated power stage This gen e...

Страница 45: ...pulses per rev olution n The value generation is done by counting the pulses For the requirements of the load to be moved and the consideration of additional loads such as bearings and gears you can determine the necessary motor data Here impor tant parameters are n Mass inertia n Cycle times of positioning n Start holding and torque at the maximum required speed n Acceleration and torque when pas...

Страница 46: ...ing 90 towards the signal of Track B n During the sensor evaluation from the difference between two counter values the velocity and direction can be determined n With 1 fold evaluation one signal edge 0 1 of Track A corresponds to one counter pulse respectively one division of the system to be scanned corresponds to one counter pulse n With 4 fold evaluation one signal edge of Track A and Track B ...

Страница 47: ... error before you start the test operation n Check the correct setting of the set points for the drive and the I O signals from the superordinate control n Check wiring between the superordinate control and your drive as well as the polarity of the wires n Check all operational settings of your drive Set the respective system limits the system behavior and characteristics in the object dic tionary...

Страница 48: ... and electronic power supply When commissioning these may simultaneously or electronic power supply must be switched on first When commissioning these may simultaneously or power section supply I O area must be switched on first Ä Standard wiring on page 22 Switch your CPU to RUN state 3 Switch on the motor ð Your system is now ready for communication and you can establish parameter setting via th...

Страница 49: ...rately Pos Function Type Description 1 PA1 O DC Motor 1 connection 1 2 PA2 O DC Motor 1 connection 2 3 I O1 I O Digital input output 1 4 I O3 I O Digital input output 3 5 PB1 O DC Motor 2 connection 1 6 PB2 O DC Motor 2 connection 2 7 I O2 I O Digital input output 2 8 I O4 I O Digital input output 4 I Input O Output Power supply The module is to be power supplied with the both DC 24V voltages powe...

Страница 50: ...us word on page 110 you can access the state Here the state is output via appropriate combinations of bits Command For triggering of state transitions certain combinations of bits must be set in the Control word Ä 0x8100 01 Control word on page 109 Such a combination is called Command The System SLIO motion module provides its data such as Profiling target position via an object dictionary In this...

Страница 51: ...rive or communication error 14 Internal fault reaction 16 Disabling command output disable BASP Ä 0x8100 01 Control word on page 109 2 6 Bit 3 0 x110 Command Shutdown 3 Bit 3 0 0111 Command Switch on 4 Bit 3 0 1111 Command Enable operation According to CiA 402 the automatic transition from Ready to switch on to Oper ation enabled is possible 5 Bit 3 0 0111 Command Disable operation State machine a...

Страница 52: ...sitioning profile on page 60 n Ä Chapter 4 7 Velocity profile on page 72 n Ä Chapter 4 8 Torque control on page 76 Basis of the individual modes is the cascaded controller structure of the System SLIO motion module This will give you a high dynamic and position precision The set point for the higher level position controller is generated by the profile generators of the individual modes Positionin...

Страница 53: ...c position start position or home position Homing is an initialisation drive of a drive where the correct position is determined by means of an reference signal This process is called referencing home drive or homing When referencing you can determine velocity acceleration deceleration and type of homing The FM 054 1CB00 supports the following homing types n Ä Chapter 4 5 1 Homing by means of a ho...

Страница 54: ...input I O1 I O4 on page 120 Ä 0x8300 04 Homing digital input active polarity I O1 I O4 on page 120 Ä 0x8280 02 Operating mode actual on page 119 Ä 0x8300 05 Homing target position on page 121 Ä 0x8300 06 Homing velocity V1 on page 121 Ä 0x8300 07 Homing velocity V2 on page 121 Ä 0x8300 08 Homing acceleration on page 122 Ä 0x8300 09 Homing deceleration on page 122 Ä 0x8300 10 Homing offset value on...

Страница 55: ...locity V1 If the homing value R is overrun again it is again decelerated and it is again accelerated in the positive direction with slower velocity V2 With the next overrun of the homing switch the reference position R is set and moved to with velocity V2 n Use To connect the home switch one of the digital inputs of the motion module and specify the polarity of the switch with the parametrization ...

Страница 56: ...0 08 Homing acceleration on page 122 Specify the acceleration for homing n Ä 0x8300 09 Homing deceleration on page 122 Specify the deceleration for homing n Ä 0x8300 10 Homing offset value on page 122 If necessary specify an offset for the homing position 4 n Ä 0x8400 03 Positioning profile target velocity on page 123 Enter the value 0 5 n Switch your motion module to the Positioning mode Ä 0x8280...

Страница 57: ...ing mode requested on page 118 Enter the value 1 6 Send the command Shutdown Ä 0x8100 01 Control word on page 109 Bit 3 0 x110 ð The motion module shows the state Ready to switch on 7 Send the command Switch on Ä 0x8100 01 Control word on page 109 Bit 3 0 0111 ð The motion module shows the state Switched on 8 Send the command Enable operation Ä 0x8100 01 Control word on page 109 Bit 3 0 1111 ð The...

Страница 58: ... the following steps It is traversed with the high velocity V1 toward the target position T until the drive is stopped by a soft stop If a predefined limit current is exceeded the current position is set as homing position R To move the drive free you can also specify an offset V1 High velocity V2 Low velocity R Homing switch respectively homing value T Target position L General position limit Hom...

Страница 59: ...the movement to the soft stop n Ä 0x8300 07 Homing velocity V2 on page 121 Specify the low velocity for the free movement from the soft stop n Ä 0x8300 08 Homing acceleration on page 122 Specify the acceleration for homing n Ä 0x8300 09 Homing deceleration on page 122 Specify the deceleration for homing n Ä 0x8300 10 Homing offset value on page 122 If necessary specify an offset for the homing pos...

Страница 60: ...s automatically executed when a new target position requires a change of direction A separated activation by starting the job in the Con trol word is not necessary n If a specified target position is reached or a limit is activated during the traversing this is indicated in Ä 0x8100 02 Status word on page 110 n Current values of position velocity acceleration and deceleration are calculated by the...

Страница 61: ...mit Voltage Limitation voltage Vel Velocity profile Vel control Velocity control PtP PtP positioning profile Position control Position controller PI PI current controller int PS Internal power stage M Motor Encoder Encoder current value Structure VIPA System SLIO Deployment PtP positioning profile HB300 FM 054 1CB00 en 18 06 61 ...

Страница 62: ...0 04 Current limit positive direction on page 133 Ä 0x8600 05 Current limit negative direction on page 133 Ä 0x8C00 04 Motor max current on page 141 Ä 0x8F00 01 Encoder Feedback config uration on page 143 Vel velocity profile Start à Vel à Vel control Velocity control Limit limitation velocity Ä 0x8500 04 Velocity control limit posi tive direction on page 129 à Limit Velocity à Vel control Velocit...

Страница 63: ...Ä 0x8580 02 Acceleration Deceleration actual value on page 131 Ä 0x8F00 02 Encoder actual value on page 143 Ä 0x8F00 03 Encoder resolution on page 144 PtP Positioning profile generator Vel control Velocity control à PtP à Position control Position controller Ä 0x8400 02 Positioning profile target position on page 123 Ä 0x8400 03 Positioning profile target velocity on page 123 Ä 0x8400 04 Positioni...

Страница 64: ... profile generator Ä 0x8480 02 Position actual value on page 124 Encoder value Ä 0x8480 09 In position window on page 126 Ä 0x8F00 02 Encoder actual value on page 143 Ä 0x8480 13 Position control P part on page 127 Ä 0x8480 03 Position set value on page 125 Ä 0x8480 14 Position control I part on page 127 Ä 0x8480 15 Position control D part on page 127 Ä 0x8480 10 Lag error on page 126 Ä 0x8480 16 ...

Страница 65: ... section supply voltage max warning level on page 137 Ä 0x8680 06 Power section supply voltage min error level on page 137 Ä 0x8680 07 Power section supply voltage max error level on page 138 Ä 0x8680 10 Control voltage power stage min warning level on page 138 Ä 0x8680 11 Control voltage power stage max warning level on page 138 Ä 0x8680 12 Control voltage power stage min error level on page 139 ...

Страница 66: ...on n Target velocity is reached n Specifying a new target position as starting position V Velocity A Acceleration P Position t Time Symmetrical acceleration and deceleration with reaching the target velocity VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 66 ...

Страница 67: ...ore deceleration is initiated to reach the target position n Specifying a new target position as starting position V Velocity A Acceleration P Position t Time Symmetrical acceleration and deceleration without reaching the target velocity VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 67 ...

Страница 68: ...get velocity is reached n Specifying a new target position as starting position V Velocity A Acceleration P Position t Time Asymmetrical acceleration and deceleration with reaching the target velocity VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 68 ...

Страница 69: ...ocity is reached n Specifying a new target position as starting position V Velocity A Acceleration P Position t Time Asymmetrical acceleration and deceleration with reducing the acceleration during the move VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 69 ...

Страница 70: ...ty is reached n Specifying a new target position as starting position during deceleration V Velocity A Acceleration P Position t Time Symmetrical acceleration and deceleration with reaching the target velocity VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 70 ...

Страница 71: ...reached n Specifying a new target position after the previous target position was reached V Velocity A Acceleration P Position t Time Symmetrical acceleration and deceleration with specifying a target posi tion twice VIPA System SLIO Deployment PtP positioning profile Examples HB300 FM 054 1CB00 en 18 06 71 ...

Страница 72: ...t according to profile accelera tion and profile deceleration until the target velocity is reached This operation mode bases on the PtP positioning profile except that position settings such as target and limit values have no effect With this object Ä 0x8500 01 Velocity control configuration on page 128 you can specify the frequency pulse patterns Start Start parameters Limit Velocity Limitation v...

Страница 73: ...600 04 Current limit positive direction on page 133 Ä 0x8600 05 Current limit negative direction on page 133 Ä 0x8C00 04 Motor max current on page 141 Ä 0x8F00 01 Encoder Feedback config uration on page 143 Vel velocity profile Start à Vel à Vel control Velocity control Limit limitation velocity Ä 0x8500 04 Velocity control limit posi tive direction on page 129 à Limit Velocity à Vel control Veloc...

Страница 74: ...edback config uration on page 143 Ä 0x8580 02 Acceleration Deceleration actual value on page 131 Ä 0x8F00 02 Encoder actual value on page 143 Ä 0x8F00 03 Encoder resolution on page 144 PtP Positioning profile generator Vel control Velocity control à PtP à Position control Position controller Ä 0x8400 03 Positioning profile target velocity on page 123 Ä 0x8400 04 Positioning profile target accelera...

Страница 75: ...ge 141 à Limit Current à PI PI current controller Ä 0x8600 04 Current limit positive direction on page 133 Ä 0x8600 05 Current limit negative direction on page 133 PI PI current controller Limit Current Limitation current à PI à int PS internal power stage Position control Position controller Ä 0x8600 03 Current set value on page 132 Ä 0x8600 02 Current actual value on page 132 Ä 0x8600 06 Current...

Страница 76: ...rol voltage power stage actual value on page 138 PI PI current controller Ä 0x8600 02 Current actual value on page 132 4 8 Torque control Always adapt parameters to the operating mode Please ensure that the module always has the correct parameters according to the selected operating mode Pay special attention to the use of the current values in the output area Ä Chapter 4 11 In Output area on page...

Страница 77: ...de requested on page 118 10 Torque control Ä 0x8280 02 Operating mode actual on page 119 à Start à PI PI current controller Ä 0x8500 06 Velocity control range for torque limit on page 129 Ä 0x8500 07 Velocity control limit type for torque mode on page 130 Ä 0x8600 04 Current limit positive direction on page 133 Ä 0x8600 05 Current limit negative direction on page 133 Ä 0x8C00 04 Motor max current ...

Страница 78: ... Ä 0x8600 09 Current control filter factor on page 134 Ä 0x8600 16 Current voltage ratio winding A on page 136 Limit Voltage Limitation voltage Ä 0x8680 04 Power section supply voltage min warning level on page 137 à Limit Voltage à int PS internal power stage Ä 0x8680 05 Power section supply voltage max warning level on page 137 Ä 0x8680 06 Power section supply voltage min error level on page 137...

Страница 79: ... digital input n Used as digital output n Pairs use as encoder input for 24V HTL signal The 4 digital ports of the motion module have the following default settings Default setting Pos Function Type Description 3 I O1 I Digital input 4 I O3 I Digital input 7 I O2 I Digital input 8 I O4 I Digital input I Input O Output Via Ä Chapter 5 2 5 Digital inputs I O1 I O4 0x7100 on page 103 respectively Ä C...

Страница 80: ... ically operated With the optical scanning a disk which has a fine raster is optically scanned With the magnetic scanning a pole wheel or magnetic band is scanned which has been written with a raster by a magnetization before n The incremental encoder has two sensors Track A and Track B for scanning n The sensors are arranged at an angle of 90 degrees from each other on the system to be scanned n ...

Страница 81: ...eration and deceleration are calculated by the System SLIO motion module itself Via Ä 0x8F00 02 Encoder actual value on page 143 the encoder value can be read and further processed in you user program If there is one encoder connected the unused digital in outputs are further free for usage Objects Ä 0x8F00 01 Encoder Feedback config uration on page 143 à DIO Control Encoder à Ä 0x8F00 02 Encoder ...

Страница 82: ...4 I Encoder function drive 2 I Input Via Ä Chapter 5 2 5 Digital inputs I O1 I O4 0x7100 on page 103 respectively Ä Chapter 5 2 6 Digital output I O1 I O4 0x7200 on page 105 the 4 digital pins of the motion modules can be configured VIPA System SLIO Deployment Deployment I O1 I O4 Usage as input for encoder HB300 FM 054 1CB00 en 18 06 82 ...

Страница 83: ...hange to Switch on disabled n Brake with quick stop deceleration and state change to Switch on disabled Quick stop objects Ä 0x8100 01 Control word on page 109 à Quick stop configu ration à Ä 0x8100 02 Status word on page 110 Ä 0x8200 01 Configuration quick stop on page 117 Ä 0x8580 03 Deceleration quick stop value on page 131 4 11 In Output area The motion module uses 60byte input and 60byte outp...

Страница 84: ...7100 05 Digital input states I O1 I O4 on page 105 49 1 DIOs Ä 0x7200 05 Digital output states I O1 I O4 actual states on page 107 50 1 Acyclic Acyclic communication channel Status 51 1 Acyclic Acyclic communication channel Subindex in the object dictionary 52 2 Acyclic Acyclic communication channel Index in the object dictionary 54 4 Acyclic Acyclic communication channel Data 58 1 reserved 59 1 r...

Страница 85: ...d on page 118 28 4 Drive 2 Ä 0x8400 02 Positioning profile target position on page 123 32 4 Drive 2 Ä 0x8400 03 Positioning profile target velocity on page 123 36 4 Drive 2 Ä 0x8400 04 Positioning profile target acceleration on page 124 40 4 Drive 2 Ä 0x8400 05 Positioning profile target deceleration on page 124 44 2 Drive 2 The assignment depends on the selected operating modes n Torque control e...

Страница 86: ...ve the following assignment Request Response Output data n Byte 0 CMD Command n Byte 1 SUBIDX Subindex n Byte 2 IDX0 Index low byte n Byte 3 IDX1 Index high byte n Byte 4 DATA0 Data low byte n Byte 5 DATA1 Data n Byte 6 DATA2 Data n Byte 7 DATA3 Data high byte à ß Input data n Byte 0 STATUS Status n Byte 1 SUBIDX Subindex n Byte 2 IDX0 Index low byte n Byte 3 IDX1 Index high byte n Byte 4 DATA0 Da...

Страница 87: ...a are write protected Command rejected 0x99 ACYC_COM_ERR Error during acyclic communication Command rejected For the VIPA SPEED7 Studio and the Siemens SIMATIC Manager there is the block FB 320 ACYC_RW for simplified access available More information about the usage of this block may be found in the manual SPEED7 Operation List from VIPA 4 13 Parameter data Here via the parameters you may define a...

Страница 88: ...arameter 4 Index 00h 83h 3119h 311Ah 0Bh SUBIDX_4 2 Universal parameter 4 Sub index 00h 83h 311Bh 311Ch 0Ch DATA_4 4 Universal parameter 4 Value 00h 83h 311Dh 3120h 0Dh IDX_5 2 Universal parameter 5 Index 00h 84h 3121h 3122h 0Eh SUBIDX_5 2 Universal parameter 5 Sub index 00h 84h 3123h 3124h 0Fh DATA_5 4 Universal parameter 5 Value 00h 84h 3125h 3128h 10h IDX_6 2 Universal parameter 6 Index 00h 85h...

Страница 89: ...mit active bits on page 113 Limitations within the normal operating range adapted to the respective applica tion n 2 Warning Status Ä 0x8100 05 Warnings active bits on page 114 The permissible operating range is almost exhausted and the system is about to initiate a fault response n 3 Error Status Ä 0x8100 06 Error active bits on page 115 The permissible operating range is exceeded and a configura...

Страница 90: ...value there is an error reaction of the motion module which can be configured The motion module monitors the velocity The set velocity is limited to a configurable value and with active limitation reported via Ä 0x8100 02 Status word on page 110 When the value of the actual velocity exceeds the maximum permissible motor velocity Ä 0x8C00 07 Motor max velocity on page 142 this is reported via the Ä...

Страница 91: ...Position actual value on page 124 Ä 0x8480 05 Software position limit positive direction on page 125 Ä 0x8480 06 Software position limit negative direction on page 125 Ä 0x8400 03 Positioning profile target velocity on page 123 Ä 0x8500 04 Velocity control limit posi tive direction on page 129 Ä 0x8100 04 Limit active bits on page 113 Ä 0x8500 05 Velocity control limit nega tive direction on page ...

Страница 92: ...e power stage min warning level on page 138 Ä 0x8680 11 Control voltage power stage max warning level on page 138 Ä 0x8780 02 Temperature µ Controller actual value on page 139 Ä 0x8100 05 Warnings active bits on page 114 Ä 0x8780 03 Temperature µ Controller warning level on page 140 Ä 0x8780 07 Temperature power stage actual value on page 140 Ä 0x8780 08 Temperature power stage warning level on pa...

Страница 93: ...9 Ä 0x8780 04 Temperature µ Controller error level on page 140 Ä 0x8100 03 Error code on page 111 Ä 0x8780 07 Temperature power stage actual value on page 140 Ä 0x8780 09 Temperature power stage error level on page 141 Ä 0x8480 10 Lag error on page 126 Ä 0x8500 02 Velocity control actual value on page 128 Ä 0x8100 02 Status word on page 110 Ä 0x8600 10 Current actual value winding A on page 134 Ä ...

Страница 94: ...ess via EtherCAT with Index 5005h More can be found in the according manual of your bus coupler Name Bytes Function Default DS IX SX ERR_A 1 Diagnostic 00h 01h 2F01h 02h MODTYP 1 Module information 18h 03h ERR_C 1 reserved 00h 04h ERR_D 1 reserved 00h 05h CHTYP 1 Channel type 72h 06h NUMBIT 1 Number diagnostics bits per channel 08h 07h NUMCH 1 Number channels of the module 04h 08h CHERR 1 Channel ...

Страница 95: ...t on error output I O2 n Bit 2 set on error output I O3 n Bit 3 set on error output I O4 n Bit 7 4 reserved Byte Bit 7 0 0 Diagnostics interrupt due to n Bit 2 0 reserved n Bit 3 Short circuit n Bit 7 4 reserved Byte Bit 7 0 0 3 Value µs ticker at the moment of the diagnostic Byte Bit 7 0 0 reserved MODTYP Module informa tion CHTYP Channel type NUMBIT Diagnostic bits NUMCH Channels CHERR Channel e...

Страница 96: ...ex and subindex a grouping is possible The individual areas are divided into groups of related objects With the System SLIO motion module this object directory is structured as follows Index area Content 0x1000 0x6FFF General data and system data 0x7000 0x7FFF Data of the digital input and output part 0x8000 0x8FFF Data drive 1 0x9000 0x9FFF Data drive 2 Each object has a subindex 0 Calling an obj...

Страница 97: ...u have to add 0x1000 to the corre sponding object Object dictionary drive 1 0x8000 0x8FFF Object dictionary drive 2 0x9000 0x9FFF Explanation of the elements Index Sub Index and subindex Sx Data type SIGNEDx Ux Data type UNSIGNEDx RW Read write access degC Temperature in degree celsius C inc Increment pulse of an encoder Ä Chapter 4 1 3 Encoder signal evalua tion on page 45 User The unit User is a...

Страница 98: ... 0x7200 06 Digital output states I O1 I O4 requested states on page 108 Ä 0x8100 00 Control drive number of entries on page 108 Ä 0x8100 01 Control word on page 109 Ä 0x8100 02 Status word on page 110 Ä 0x8100 03 Error code on page 111 Ä 0x8100 04 Limit active bits on page 113 Ä 0x8100 05 Warnings active bits on page 114 Ä 0x8100 06 Error active bits on page 115 Ä 0x8180 00 Configure drive number ...

Страница 99: ... Lag error on page 126 Ä 0x8480 11 Lag error warning on page 127 Ä 0x8480 12 Lag error error on page 127 Ä 0x8480 13 Position control P part on page 127 Ä 0x8480 14 Position control I part on page 127 Ä 0x8480 15 Position control D part on page 127 Ä 0x8480 16 Position control shift factor on page 128 Ä 0x8500 00 Velocity number of entries on page 128 Ä 0x8500 01 Velocity control configuration on ...

Страница 100: ...ower stage actual value on page 138 Ä 0x8680 10 Control voltage power stage min warning level on page 138 Ä 0x8680 11 Control voltage power stage max warning level on page 138 Ä 0x8680 12 Control voltage power stage min error level on page 139 Ä 0x8680 13 Control voltage power stage max error level on page 139 Ä 0x8780 00 Temperatures number of entries on page 139 Ä 0x8780 02 Temperature µ Control...

Страница 101: ...e name of the motion module ASCII coded 0x44434D31 DCM1 Index Sub Type RW Default Value range Unit Description 0x100A 00 U32 R current version 0 0xFFFFFFFF Manufacturer software version Ä Explanation of the elements on page 97 Here you can find the software version of the motion module 8bit coded e g 0x01050300 V1 5 3 0 Index Sub Type RW Default Value range Unit Description 0x1018 00 U08 R 5 5 Pro...

Страница 102: ... the elements on page 97 Here according to CiA 402 the serial number of the module can be found Currently this object is not used and returns 0 Index Sub Type RW Default Value range Unit Description 0x1018 05 U32 R 0 0 200 Module category Ä Explanation of the elements on page 97 Here according to CiA 402 you can find the module category of the motion module 0x31 DCM 5 2 3 Passwords and security 0x...

Страница 103: ...le the monitoring of the cyclic communication to the System SLIO bus and thus to the fieldbus If there is no communication within the specified time in ms the motion module enters the error state Should the application require a cyclic communication with the motion module but the monitoring of the cycle can not be ensured on the side of the fieldbus coupler or CPU by means of this object a monitor...

Страница 104: ...mA High side source n 1 The I Ox is used as digital input DC 24V IEC 61131 2 Typ 3 High side sink The configuration as encoder happens via Ä 0x8F00 01 Encoder Feedback configuration on page 143 n The inputs can always be read so its configuration is independent of the configura tion as outputs object 0x7200 01 04 n If a digital input output is defined as output via object 0x7200 it can be read via...

Страница 105: ...signal 0 x x x 1 Input I O1 has signal 1 x x 0 x Input I O2 has signal 0 x x 1 x Input I O2 has signal 1 x 0 x x Input I O3 has signal 0 x 1 x x Input I O3 has signal 1 0 x x x Input I O4 has signal 0 1 x x x Input I O4 has signal 1 5 2 6 Digital output I O1 I O4 0x7200 Index Sub Type RW Default Value range Unit Description 0x7200 00 U08 R 8 8 Digital outputs number of entries Ä Explanation of the...

Страница 106: ... four digital inputs outputs I O1 I O4 are configured as outputs If a digital input output is defined as output it can be read via the cyclic data This is the really pending state at the digital driver part Value Description 0 The output is de activated 1 The output is activated and can be controlled by the cyclic data Ä 0x7200 06 Digital output states I O1 I O4 requested states on page 108 0x7200...

Страница 107: ...yclic Channel to objects which are mapped in the I O area these values are overwritten with the next cycle Bit 3 0 3 2 1 0 Description x x x 0 I O1 has signal 0 x x x 1 I O1 has signal 1 x x 0 x I O2 has signal 0 x x 1 x I O2 has signal 1 x 0 x x I O3 has signal 0 x 1 x x I O3 has signal 1 0 x x x I O4 has signal 0 1 x x x I O4 has signal 1 0x7200 05 Digital output states I O1 I O4 actual states V...

Страница 108: ... 0 Description x x x 0 Output I O1 has signal 0 x x x 1 Output I O1 has signal 1 x x 0 x Output I O2 has signal 0 x x 1 x Output I O2 has signal 1 x 0 x x Output I O3 has signal 0 x 1 x x Output I O3 has signal 1 0 x x x Output I O4 has signal 0 1 x x x Output I O4 has signal 1 5 2 7 Driver command 0x8100 Index Sub Type RW Default Value range Unit Description 0x8100 00 U08 R 6 6 Control drive numb...

Страница 109: ...bits Bit 3 0 Control drive state 3 2 1 0 Description x 1 1 0 Shutdown 0 1 1 1 Switch on 1 1 1 1 Switch on and enable operation x x 0 x Disable voltage 0 1 1 1 Disable operation 1 1 1 1 Enable operation x 0 1 x Quick stop Bit 15 4 Reset error bits 15 8 7 6 Description reserved 0à1 reserved Edge 0 1 resets all error bits in Ä 0x8100 06 Error active bits on page 115 0x8100 01 Control word VIPA System...

Страница 110: ...1 1 1 State Operation enabled x 0 0 x 0 1 1 1 State Quick stop active x 0 x x 1 1 1 1 State Fault reaction active x 0 x x 1 0 0 0 State Error Ä 0x8100 03 Error code on page 111 1 x x x x x x x A warning has occurred Ä 0x8100 05 Warnings active bits on page 114 Bit 15 8 Operating mode state 15 14 13 12 11 10 9 8 Description x x x x x 0 x x Target position not reached axis is stopped x x x x x 1 x x...

Страница 111: ... page 115 Bit 17 0x3220 Power section supply reduced voltage Ä 0x8680 12 Control voltage power stage min error level on page 139 Ä 0x8100 06 Error active bits on page 115 Bit 16 0x4310 Temperature µ controller exceeded Ä 0x8780 04 Temperature µ Controller error level on page 140 Ä 0x8100 06 Error active bits on page 115 Bit 12 13 0x5115 Control voltage power stage exceeds the range of values Ä 0x8...

Страница 112: ...ve Ä 0x8100 06 Error active bits on page 115 Bit 23 0xF020 Error operation mode is not supported Ä 0x8280 01 Operating mode requested on page 118 Ä 0x8100 06 Error active bits on page 115 Bit 24 0xF080 There is an internal error please contact our support Ä 0x8100 06 Error active bits on page 115 Bit 28 VIPA System SLIO Object dictionary Objects Driver command 0x8100 HB300 FM 054 1CB00 en 18 06 11...

Страница 113: ...sition on page 123 Ä 0x8480 05 Software position limit positive direction on page 125 Ä 0x8400 02 Positioning profile target position on page 123 Ä 0x8480 06 Software position limit negative direction on page 125 Ä 0x8480 03 Position set value on page 125 Ä 0x8480 05 Software position limit positive direction on page 125 Ä 0x8480 03 Position set value on page 125 Ä 0x8480 06 Software position limi...

Страница 114: ... actual value on page 137 Ä 0x8680 04 Power section supply voltage min warning level on page 137 n Bit 17 Warning over voltage UIN 24VDC Ä 0x8680 02 Power section supply voltage actual value on page 137 Ä 0x8680 05 Power section supply voltage max warning level on page 137 n Bit 18 Warning under voltage triggering power stage motion module Ä 0x8680 08 Control voltage power stage actual value on pa...

Страница 115: ...supply voltage min error level on page 137 n Bit 17 Over voltage U errorIN 24VDC Ä 0x8680 02 Power section supply voltage actual value on page 137 Ä 0x8680 07 Power section supply voltage max error level on page 138 n Bit 18 Under voltage triggering power stage error motion module Ä 0x8680 08 Control voltage power stage actual value on page 138 Ä 0x8680 12 Control voltage power stage min error lev...

Страница 116: ...fied number of units n Velocity The velocity is normalized to unit s n Acceleration and deceleration Acceleration and deceleration are normalized to unit s2 Example 1 A motor directly drives a toothed disk Via a toothed belt a drilling machine is 1 1 cou pled It is to be used with a resolution of 0 0001 U 1 unit In order to drive a speed of 900 U min therefore a value of 150000 must be reported Ge...

Страница 117: ...k with quick stop deceleration 0x8580 03 and subsequent state change to Switch on disabled 4 reserved Index Sub Type RW Default Value range Unit Description 0x8200 05 S16 R W 2 0 2 Configuration fault reaction Ä Explanation of the elements on page 97 The object contains the action to be used on an error of the System SLIO motion module Mode Description 0 Instant state change to Switch on disabled ...

Страница 118: ...d Value Description 0 No operating mode 1 Ä Chapter 4 6 PtP positioning profile on page 60 n The Homing mode can be called during the operation if you have pre viously set a homing method via Ä 0x8300 02 Homing method on page 119 n A change to the Velocity profile is only possible if the state machine is in state Switch on disabled 3 Ä Chapter 4 7 Velocity profile on page 72 4 reserved 6 Ä Chapter...

Страница 119: ... Type RW Default Value range Unit Description 0x8300 00 U08 R 13 13 Homing number of entries Ä Explanation of the elements on page 97 Ä Chapter 4 5 Homing on page 53 Index Sub Type RW Default Value range Unit Description 0x8300 02 S08 R W 0 128 127 Homing method Ä Explanation of the elements on page 97 Ä Chapter 4 5 Homing on page 53 This object is used to select the homing method Homing is an ini...

Страница 120: ...n of the elements on page 97 This object sets for homing Mode 17 the digital input I O1 I O4 to which the homing switch is connected Enter here number n 0 inactive n 1 Input of DIO1 n 2 Input of DIO2 n 3 Input of DIO3 n 4 Input of DIO4 Index Sub Type RW Default Value range Unit Description 0x8300 04 U08 R W 1 0 1 Homing digital input active polarity I O1 I O4 Ä Explanation of the elements on page ...

Страница 121: ...t is traversed toward the target position 0x8300 05 until the homing switch is overrun 2 Then it is decelerated to speed 0 and again accelerated 0x8300 08 and 09 and moved in the negative direction at velocity V1 3 If the reference switch is overrun again it is again slowed down and it is again accel erated in the positive direction at velocity V2 0x8300 07 4 With the third overrun of the homing s...

Страница 122: ...ements on page 97 This object specifies the offset between the zero position of the application and the refer ence point by homing determined of the drive The value is to specify with sign If the homing is completed and the initial position is reached the offset is added to the initial position Index Sub Type RW Default Value range Unit Description 0x8300 12 S16 R W 500 0 15000 mA Homing trq mode ...

Страница 123: ...le is selected n the System SLIO motion module is in state Operation enabled The positioning must not be started specifically by Ä 0x8100 01 Control word on page 109 During an ongoing positioning or after reaching the target position 0x8400 02 can be changed and it starts positioning to the new target value For complete configuration of a positioning and to execute other objects of the index group...

Страница 124: ...not be written via the acyclic channel During a running positioning 0x8400 05 can be changed and is immedi ately active 5 2 13 Positions and limit values 0x8480 Index Sub Type RW Default Value range Unit Description 0x8480 00 U08 R 16 16 Positions and limits number of entries Ä Explanation of the elements on page 97 Index Sub Type RW Default Value range Unit Description 0x8480 02 S32 R 0 8388608 8...

Страница 125: ...04 Limit active bits on page 113 is set n Is a measured actual position above the positive limit Bit 8 in Ä 0x8100 04 Limit active bits on page 113 is set Index Sub Type RW Default Value range Unit Description 0x8480 06 S32 R W 8388608 8388608 8388607 user Software position limit negative direction Ä Explanation of the elements on page 97 This object indicates the negative limit for the position s...

Страница 126: ...0 07 Range limit positive direction on page 126 Together with the object 0x8480 08 you can define a position range For example by presetting Ä 0x8480 05 Software position limit positive direc tion on page 125 and Ä 0x8480 06 Software position limit negative direction on page 125 out of the range you will get an endless movement since the software limits can never be reached during the movement Ind...

Страница 127: ... Ä 0x8100 02 Status word on page 110 Ä 0x8100 06 Error active bits on page 115 Index Sub Type RW Default Value range Unit Description 0x8480 13 U16 R W 500 0 32000 Position control P part Ä Explanation of the elements on page 97 P part of the position control Index Sub Type RW Default Value range Unit Description 0x8480 14 U16 R W 10 0 32000 Position control I part Ä Explanation of the elements on...

Страница 128: ...t point velocity setting via Ä 0x8400 03 Positioning profile target velocity on page 123 This is the default setting n 1 Velocity control exclusively velocity profile with set point velocity setting via Ä 0x8500 03 Velocity control set value on page 129 n 2 PtP position profile and velocity profile are disabled with set point velocity setting as set point frequency for the PWM stage Index Sub Type...

Страница 129: ...ts on page 97 This object indicates the negative limit for velocity Each target velocity is checked against this limit Index Sub Type RW Default Value range Unit Description 0x8500 06 S32 R W 20000 1000000 1000000 user Velocity control range for torque limit Ä Explanation of the elements on page 97 For the operating mode Torque control Ä 0x8280 01 Operating mode requested on page 118 here you can ...

Страница 130: ...29 respectively Ä 0x8500 05 Velocity control limit negative direction on page 129 is reached with maximum permissible current When the limit is exceeded an abrupt deceleration takes place Index Sub Type RW Default Value range Unit Description 0x8500 11 U16 R W 0 0 65535 Velocity control P part Ä Explanation of the elements on page 97 P part of the velocity control Index Sub Type RW Default Value r...

Страница 131: ...ion 0x8580 03 S32 R W 10000 10 100000000 user Deceleration quick stop value Ä Explanation of the elements on page 97 This object specifies the value of the target deceleration in case of a quick stop Index Sub Type RW Default Value range Unit Description 0x8580 04 S32 R W 10000 10 100000000 user Acceleration limit Ä Explanation of the elements on page 97 This object indicates the bidirectional lim...

Страница 132: ...rrent actual value Ä Explanation of the elements on page 97 Effective value of the actual current of the winding in mA Index Sub Type RW Default Value range Unit Description 0x8600 03 S16 R W 0 15000 15000 mA Current set value Ä Explanation of the elements on page 97 For the operating mode Torque control Ä 0x8280 01 Operating mode requested on page 118 here the effective value of the set point cur...

Страница 133: ...is object defines the limit value for the set current in negative direction Current limit positive negative Both values have the same magnitude e g 0x8600 04 2000mA 0x8600 05 2000mA An asymmetric adjustment is not currently supported Index Sub Type RW Default Value range Unit Description 0x8600 06 U16 R W 1000 0 65535 Current control P part Ä Explanation of the elements on page 97 P part of the cu...

Страница 134: ...0 15000 15000 mA Current actual value in winding Ä Explanation of the elements on page 97 Effective value in mA of the actual current in winding Index Sub Type RW Default Value range Unit Description 0x8600 12 S16 R 0 15000 15000 mA Current set value in winding Ä Explanation of the elements on page 97 Effective value in mA of the set current in winding 0x8600 09 Current con trol filter factor 0x86...

Страница 135: ...nd voltage I U 4 Set value 5 Offset 6 Output current 0x8600 14 This object specifies the offset of the analog current actual value detection to 0 in winding 0x8600 16 This object specifies the ratio between current and voltage I U of the analog current actual value detection in winding 0x8600 14 Current offset value winding A VIPA System SLIO Object dictionary Objects Currents 0x8600 HB300 FM 054 ...

Страница 136: ...tio between current and voltage I U of the analog current actual value detection in winding To change this value is not usually required Should this value be changed first to avoid an error notification of the motion module Ä 0x8C00 04 Motor max current on page 141 should be set 5 2 17 Voltages 0x8680 Index Sub Type RW Default Value range Unit Description 0x8680 00 U08 R 19 19 Voltages number of e...

Страница 137: ...el Ä Explanation of the elements on page 97 This object specifies an upper limit for the supply voltage of the module If the limit is exceeded via Ä 0x8100 02 Status word on page 110 respectively Ä 0x8100 05 Warnings active bits on page 114 a warning is shown Index Sub Type RW Default Value range Unit Description 0x8680 06 U16 R W 1800 0 5500 0 01V Power section supply voltage min error level Ä Ex...

Страница 138: ...l Ä Explanation of the elements on page 97 This object specifies a lower limit for the control voltage of the power stage If the limit is exceeded via Ä 0x8100 02 Status word on page 110 respectively Ä 0x8100 05 Warnings active bits on page 114 a warning is shown Index Sub Type RW Default Value range Unit Description 0x8680 11 U16 R W 1200 0 4000 0 01V Control voltage power stage max warning level...

Страница 139: ...the limit is exceeded via Ä 0x8100 02 Status word on page 110 respectively Ä 0x8100 06 Error active bits on page 115 an error is shown 5 2 18 Temperatures 0x8780 Index Sub Type RW Default Value range Unit Description 0x8780 00 U08 R 12 12 Temperatures number of entries Ä Explanation of the elements on page 97 Index Sub Type RW Default Value range Unit Description 0x8780 02 S16 R 0 50 120 degC Temp...

Страница 140: ... shown and the status of the motion module changes to Fault reaction active Index Sub Type RW Default Value range Unit Description 0x8780 07 S16 R 0 50 120 degC Temperature power stage actual value Ä Explanation of the elements on page 97 This object specifies the measured temperature of the internal power stage Index Sub Type RW Default Value range Unit Description 0x8780 08 S16 R W 90 50 120 deg...

Страница 141: ...nge Unit Description 0x8C00 04 U16 R W 500 0 15000 mA Motor max current Ä Explanation of the elements on page 97 This object specifies the maximum effective value of the motor current and must be con figured Exceeds the actual current in operation this value there is a fault response of the motion module which is shown in Ä 0x8100 02 Status word on page 110 respectively Ä 0x8100 06 Error active bi...

Страница 142: ... elements on page 97 Details can be found in the data sheet of your motor Index Sub Type RW Default Value range Unit Description 0x8C00 10 U16 R W 0 0 65535 mΩ Motor phase resistance Ä Explanation of the elements on page 97 Details can be found in the data sheet of your motor 5 2 20 Encoder resolution 0x8F00 Index Sub Type RW Default Value range Unit Description 0x8F00 00 U08 R 3 3 Encoder number ...

Страница 143: ...ion I O2 and I O4 Ä Explanation of the elements on page 97 With this object the digital in outputs I O2 and I O4 are physically configured as encoder input n 0 Encoder functionality for I 02 and I O4 is disabled n 1 Encoder functionality for I 02 and I O4 is enabled 24V HTL signal Phase A and B 100 kHz 4 fold evaluation Index Sub Type RW Default Value range Unit Description 0x8F00 02 U16 R 0 0 655...

Страница 144: ...Explanation of the elements on page 97 With this object you can configure the encoder resolution of the connected encoder The encoder resolution defines the number of pulses per rotation 0x8F00 03 Encoder reso lution VIPA System SLIO Object dictionary Objects Encoder resolution 0x8F00 HB300 FM 054 1CB00 en 18 06 144 ...

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