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11.4.2

Configuring the hardware

►

Select the drive control unit being used in the hardware catalog.

INFORMATION

The axis

IndraDrive 02V01 GSDML V2.1

is required for the example project:

Other Field Devices > PROFINET IO >

Bosch Rexroth AG > IndraDrive > Top Module

►

Connect the drive control unit to the PLC.

►

Assign the drive control unit the IP address

from the configuration.

►

To do this, use the provided GSDML files

or download the current Bosch Rexroth

version.

INFORMATION

In the example project in the

Module

tab in the hardware catalog, the modules

Input 9 Words_1

and

Output 11

Word_1

are moved to the configuration.

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



+49 7844 9138 0 • www.zimmer-group.com

INSTALLATION AND OPERATING INSTRUCTIONS:

DES

DDOC00192 / f

EN / 2022-07-20

Содержание DES Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS Flat swivel unit electric DES series DDOC00192 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...tion for ground connection Offset Correction value PositionTolerance Tolerance range for TeachPosition BasePosition and WorkPosition The value of the parameter acts in both directions StatusWord In it...

Страница 3: ...Reading out the firmware status 18 11 2 3 Loading axis specific parameter sets 19 11 2 4 Moving the product in Easy Startup mode 20 11 2 5 Referencing the motor encoder 22 11 3 EtherCAT 23 11 3 1 Con...

Страница 4: ...9 11 5 15 st_Parameter TIA 50 11 6 Input values 50 12 Maintenance 51 13 Decommissioning disposal 51 14 RoHS declaration 52 15 REACH declaration 52 16 Declaration of Incorporation 53 17 Declaration of...

Страница 5: ...iding these dangers The warning symbols are assigned according to the type of danger WARNING This notice warns of a situation that is potentially hazardous to personal health Ignoring these notices ca...

Страница 6: ...en permission of the manufacturer Use of the product under extreme conditions such as aggressive fluids or abrasive dusts Additional drilled holes or threads Zimmer GmbH shall accept no liability for...

Страница 7: ...mblies into contact with plastics and parts of clothing that have plastic content Store electronic assemblies on conductive underlays only Do not install electronic assemblies in the vicinity of data...

Страница 8: ...roduct must always be mounted on materials that dissipate heat The product is used in accordance with proper use in closed rooms for rotating with position accuracy The product is not suitable for rot...

Страница 9: ...er supply lines 3 4 4 5 5 3 Media carrier 4 Electrical connection 5 Pneumatic connection 6 1 Self locking mechanism INFORMATION The product has a mechanical self locking mechanism to ensure that the w...

Страница 10: ...iant is used the absolute axis position is maintained with the battery buffer even after the voltage is shut off The multiturn absolute encoder is used for absolute indirect position measurement withi...

Страница 11: ...torage preservation Transport and storage of the product must be done only with the original packaging If the product has already been installed on the superordinate machine unit care must be taken du...

Страница 12: ...e machine for any residual energy that may be present NOTICE Installation may only be carried out by qualified personnel in accordance with these installation and operating instructions Switch off the...

Страница 13: ...INFORMATION It is mandatory to comply with the clamping variants illustrated in the figures Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsi...

Страница 14: ...sult in malfunction of the product Connect downstream cables for connection to a drive control unit to the product using screw couplings 8 9 bl bm bn Insert the pneumatic screw fittings into the provi...

Страница 15: ...f INFORMATION Do not replace the battery when the control voltage is shut off Otherwise the absolute encoder position and thus the position reference of the axis will be lost Version PRM1 03V6 2600C D...

Страница 16: ...at dissipating materials If the product is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis this might reduce its service life INFORMATION The cycle time mu...

Страница 17: ...gineering is required for initial commissioning This setting can vary in other software versions Please consult the software manufacturer to learn how to use the software version available to you Zimm...

Страница 18: ...out the firmware status NOTICE The firmware of the drive control unit and the parameter set must match In the Diagnostics menu click Electr Type Plate The firmware status is displayed Zimmer GmbH Im S...

Страница 19: ...Yes button The transfer of the parameter set to the drive control unit starts INFORMATION After the parameter set has been successfully transmitted to the drive control unit it must be restarted To do...

Страница 20: ...ved in Easy Startup mode as soon as it is ready to be operated In the navigation pane click Optimization Commissioning Click Easy Startup Mode The Easy Startup Mode area is displayed Click the Start E...

Страница 21: ...and Jog buttons for manual movement of the product are displayed The window with the Drive OFF button for disabling the drive control unit is displayed The drive comes to a standstill when the drive c...

Страница 22: ...otor Encoder Position reference Enter the reference measurement in the Reference measurement field Disable the release for the drive control unit Click the Set Absolute Position button The product ref...

Страница 23: ...ace Search for the correct drive control unit using the IndraWorks Ds software see section Setting the IP address In the Configuration menu click Load The Load Parameters window opens Enable the optio...

Страница 24: ...n order to create the configuration in online and offline mode These device descriptions are the XML files with EtherCAT Slave Information ESI One XML file can contain multiple device descriptions The...

Страница 25: ...168 0 125 SNM 255 255 255 0 Beckhoff CX 5130 Port X000 Ethernet IP 192 168 0 101 SNM 255 255 255 0 Beckhoff CX 5130 Port X001 EtherCAT IP 192 168 9 3 SNM 255 255 0 0 IndraDrive HSC01 1E X25 P1 IP 192...

Страница 26: ...Click System Click SysLibs Click the Tc2_Utilities Lib library The Tc2_Utilities Lib library is required for the function WORD_ TO_HEXSTR Click the OK button The Add Library window closes The Tc2_Util...

Страница 27: ...ter the drive control unit has been detected TwinCAT creates a new axis automatically INFORMATION In the example the target value positioning takes place in the drive control unit which means that nei...

Страница 28: ...I O Click Devices Click Device 5 EtherCAT The window of the example project opens Click the EtherCAT tab Click the Advanced Settings button The Advanced Settings window opens Click EOE Support Activa...

Страница 29: ...ption field Enter the desired IP address in the IP Address field Enter the desired subnet mask in the Subnet Mask field Example 255 255 255 0 Enter the IP address of the EtherCAT master in the Default...

Страница 30: ...essage closes After the activation the CX control system is set to Run Mode A message opens Click the OK button The message closes TwinCAT is restarted 11 3 3 3 Establishing an Ethernet connection Run...

Страница 31: ...r an Ethernet connection to the drive control unit is possible Start the IndraWorks Ds software Enter the IP address in the IndraWorks Ds software and the computer Click the Search button Found drive...

Страница 32: ...Explorer Click I O Click Devices Click Device 5 EtherCAT Click Device 1 IndraDrive The window of the example project opens Click the Startup tab Right click the main operating mode that you want to de...

Страница 33: ...project opens Click the Process Data tab Right click the PDO Content area In the context menu click Add New Item The Edit PDO Entry window opens Select the input parameter in the parameter category S...

Страница 34: ...the Process Data In AT tab Check the input parameters by clicking the links Signal Status Word and Signal Control Word The default bits signal status word and signal control word are already stored in...

Страница 35: ...word and signal control word are already stored in the included parameter set INSTALLATION AND OPERATING INSTRUCTIONS DES DDOC00192 f EN 2022 07 20 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49...

Страница 36: ...oup_Indradrive_EtherCat Project Click GVLs Click GVL_Axis_Structs The GVL_Axis_Structs Online window opens Click the example project in the Solution Explorer Click I O Click Devices Click Device 5 Eth...

Страница 37: ...d Input window closes The arrow at the bottom in the icon tells you that variable linking was successful Activate the PLC Restart the drive control unit The changed parameters have been applied to the...

Страница 38: ...e variable declaration includes the instantiation of the function block FB_DES190_z The program section includes the call up of the instance fb_DES190 Link the hardware to the instance fb_DES190 Conne...

Страница 39: ...e IndraWorks Ds software see section Setting the IP address The connection to the drive control unit is established In the Configuration menu click Load The Load Parameters window opens Enable the opt...

Страница 40: ...n between the PLC and the drive control unit it is important that the data length of the process input map and process output map be configured correctly In this example project 18 byte inputs actual...

Страница 41: ...ating Modes Drive Stop Click Operating Modes In the drop down menus select the operating modes In the drop down menu Main Operating Mode select the Drive controlled positioning via axis controller wor...

Страница 42: ...unit to the PLC Assign the drive control unit the IP address from the configuration To do this use the provided GSDML files or download the current Bosch Rexroth version INFORMATION In the example pro...

Страница 43: ...s entered by default After successful transmission and transfer of the configuration there is a connection between the drive control unit and the PLC INSTALLATION AND OPERATING INSTRUCTIONS DES DDOC00...

Страница 44: ...the PLC Data Types folder Go to the Templates folder and copy the function blocks FB_ DES_1xx_z FB_Zimmer_Indradrive_DCP_z and FC_InPosReal_z Click the Program Modules folder Paste the copied function...

Страница 45: ...ables with the suffix b_ are binary command inputs outputs These can be controlled with a button for example and used for further signal processing Create a suitable structure at the inputs st_AxisDat...

Страница 46: ...the two variables of the data type UDT_AXIS_IN and UDT_AXIS_OUT NOTICE Make sure that the respective IP address is correct in the Address field The IP address was assigned previously during the hardw...

Страница 47: ...control unit and processes them The drive control unit can be configured by connecting outputs Transfer the required data so that the drive control unit can activate the motor INFORMATION In the examp...

Страница 48: ...tive work position st_Parameter f_WorkPos_2 The prerequisite for this is that b_Power b_Automatic and b_Enabled AF are set to true and the function block is not currently processing any other commands...

Страница 49: ...g i_Torque 0 Allocate values to the parameters i_Velocity i_AccDec and i_Torque 11 5 11 i_Velocity The desired speed can be entered for i_Velocity The value can be 0 100 of the maximum permitted spee...

Страница 50: ...n the drive control unit DES140 gear ratio 1 96 50 rpm of the flat swivel unit at 4800 rpm on the motor Variable Value range Input value Corresponding value i_Velocity 0 500 75 37 5 U min i_Accelerati...

Страница 51: ...Even though the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination Have maintenance work be performed by Zimmer Custo...

Страница 52: ...REACH declaration In terms of the EC Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 77866 Rheinau Germany 49 7844 9138 0 info zimmer group com www zimmer group co...

Страница 53: ...cific technical documents were produced in accordance with Annex VII Part B of this Directive We undertake to provide the market supervisory bodies with electronic versions of special documents for th...

Страница 54: ...chinery General principles for design Risk assessment and risk reduction DIN EN 61000 6 3 EMC Generic standard Emission standard for residential commercial and light in dustrial DIN EN 61000 6 2 EMC G...

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