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Software Reference Manual MACCONTROLLER (MAC)

1. SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MI EXAMPLE MAC4 INC WIV 1000 velocity 1 000 Inc SP is set WID 200 braking acceleration 200 Inc SP SP is set MI operational mode search index is set E operational mode is activated after registration of the index pulse the axis is brought to a stand still in a maximum of 5 SP MACR_ENG DOC Status 04 06 99 Page 62 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQ1 WIRQ1 COMMAND CODE MNEMONIC DESIGNATION 175 RIRQI read interrupt vector 1 170 WIRQI write interrupt vector 1 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irq_vecl gt interrupt vector 1 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The interrupt is activated by entering a non zero interrupt vector otherwise the interrupt is inactive The interrupt 1 command buffer empty indicates that the axis controller has read a command sent via the VMEbus to its command buffer SPECIAL CONSIDERATIONS The interrupt is immediately active without an execute command If the
2. EXAMPLE MAC4 SSI WDL 2 positive limit switch search WFV 1000 velocity 1 000 Inc SP is set WED 100 braking acceleration of 100 Inc SP SP is set MF operational mode find edge is set E switch justification is started the axis is positioned after registration to the positive limit switch and brought to a stand still in 10 SP MACR_ENG DOC Status 04 06 99 Page 54 MAC4 REFERENCE Manual Version 1 2e of 138 RFE COMMAND CODE MNEMONIC DESIGNATION 121 RFE read following error COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual following error is returned as a parameter value The following error is given as the difference of the commanded and actual position For a positive direction of rotation a positive following error indicates that the axis is lagging behind the command value The returned value is in the units MAC4 INC Increments MAC4 SSI Increments MAC4 STP Steps SPECIAL CONSIDERATIONS If the value of the following error exceeds the maximum permissible value lt mf gt the axis is braked with the emergency deceleration lt ed gt and switched to the operational mode disable MAC4 STP A following error can also occur when steps are counted internally This effect results from time differences between position measurement and command output After completion of movement the following error is set to zero DIAGNOSTICS axis f e false axis number SEE ALSO RAA RMF EXAMP
3. INIT initialise system settings MACR_ENG DOC Status 04 06 99 Page 16 MAC4 REFERENCE Manual Version 1 2e of 138 MB COMMAND CODE MNEMONIC DESIGNATION 58 MB mode brake COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The axis is braked with a braking acceleration of lt sd gt After braking the position is held SPECIAL CONSIDERATIONS In off fly operation this command is not immediately executed in the position and justification operational modes An immediate braking of the axis is only possible via the stop bits in the DPRAM DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RSD EXAMPLE MAC4 SSI MS operational mode speed is set E operational mode is activated axis moves with a velocity of 1 000 Inc SP MB operational mode brake is set WSD 10 braking ramp 10 Inc SP SP is set E operational mode is activated the axis is braked with an acceleration of 10 Inc SP SP MACR_ENG DOC Status 04 06 99 Page 17 MAC4 REFERENCE Manual Version 1 2e of 138 MC COMMAND CODE MNEMONIC DESIGNATION 6 MC mode search index coarse COMPATIBILITY MAC4 INC O MAC4 SSI
4. URLP WZP URCR EXAMPLE MAC4 SSI RCP position is read and returns e g the position 2 000 Inc WAO_R 2 000 axis offset increased to 2 000 Inc E new axis offset is activated MACR_ENG DOC Status 04 06 99 Page 33 MAC4 REFERENCE Manual Version 1 2e of 138 RCP position is read and returns the positions value 4 000 Inc MACR_ENG DOC Status 04 06 99 Page 34 MAC4 REFERENCE Manual Version 1 2e of 138 RAP WAP WRP COMMAND CODE MNEMONIC DESIGNATION COMPATIBILITY 63 RAP read absolute position in mode positioning 70 WAP write absolute position in mode positioning 71 WRP write relative position in mode positioning MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ap gt absolute position MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 0 0 0 lowest value 1 000 000 000 1 000 000 000 10 000 000 highest value 1 000 000 000 1 000 000 000 10 000 000 DESCRIPTION The parameter lt ap gt gives the absolute target position for a positioning move in the operational mode positioning SPECIAL CONSIDERATIONS A relative write access does not refer to the position values prior to applying the parameters lt ap gt but to the actual position of the axis allowing for following errors i e the command WRP lt Parameter gt changes the actual target position directly MAC4 INC SSI lt ap gt lt Actual position gt lt Following error gt lt Parameter gt MAC4 STP lt ap gt lt Actual positio
5. 100000 negative software limit is set INIT axis initialised MACR_ENG DOC MAC4 REFERENCE Manual Version 1 2e Status 04 06 99 Page 118 of 138 URSO UWSO COMMAND CODE MNEMONIC DESIGNATION 145 URSO read drive fault switch 146 UWSO write drive fault switch COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt df gt drive fault switch MAC4 INC MAC4 SSI MAC4 STP default value 1 1 1 lowest value 0 0 0 highest value 2 2 2 DESCRIPTION The active polarity of the drive fault signal input can be configured lt df gt 0 OFF not connected lt df gt 1 active low lt df gt 2 active high If the axis controller recognises an active signal at the drive fault input the axis brakes with the emergency deceleration lt ed gt switches to the operational mode disable generates the interrupt drive fault and displays F at the 7 segment display The bit dr_f in the user status indicates the condition of the drive fault signal SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO RBS RIRQ3 EXAMPLE UWSO 2 the level of the drive fault signals is
6. 2e of 138 before the reached position is checked MACR_ENG DOC Status 04 06 99 Page 89 MAC4 REFERENCE Manual Version 1 2e of 138 RTR WTR WTR_R COMMAND CODE MNEMONIC DESIGNATION 112 RTR read target radius 113 WTR write target radius 114 WTR_R write target radius relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt tr gt target radius MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 0 0 0 lowest value 0 0 0 highest value 32 000 32 000 32 000 DESCRIPTION The target radius lt tr gt sets a window around the target in the operational mode positioning If the axis remains stabile within this tolerance band for the time duration given by the the parameter lt trt gt the bit pos_end in the user status is set and the interrupt end of positioning activated SPECIAL CONSIDERATIONS MAC4 INC SSI If the target radius is set so small that the system cannot reach it the end of the positioning move is not recognised In off fly operation means this that the axis controller cannot execute further commands DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO M
7. MAC4 SSI and the error signals are processed The position measurement system is not interrogated All error conditions are cleared The displays for the limit switches the software limit switches and the reference home switch are cleared DIAGNOSTICS axis f e false axis number SEE ALSO INIT EXAMPLE DEINIT deinitialise axis UWET 3 activate external incremental encoder UWEB 16 UWEC 50000 parameter for external incremental encoder is set MACR_ENG DOC Status 04 06 99 Page 12 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 3 E execute COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION An execute command activates all previous parameter changes as well as the last set operational mode A multiple input of the same commands with different parameters followed by an execute causes the last written parameter value to become effective SPECIAL CONSIDERATIONS The execute command in the off fly operation may not be immediately executed DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement has been read SEE ALSO FLYOFF EXAMPLE MAC4 INC MS operational mode speed is set E operational mode is activated axis moves with 1 000
8. SEE ALSO RCP RCPI RCT EXAMPLE UWET 3 encoder type external relative position encoder is set UWEA 200000 address of the position information is set VMEbus address 200000 UWEB 17 bit width of the position information is set two 16 bit accesses needed UWEC 100000 range of values of the position information is set INIT default parameters are activated and position measurement system initialised RED position information is read directly returns a 32 Bit value the 17 lower bits contain the position measurement value the upper 15 bits are not significant MACR_ENG DOC Status 04 06 99 Page 52 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 38 RFA read find edge acceleration 42 WFA write find edge acceleration 46 WFA_R write find edge acceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt fa gt find edge acceleration MAC4 INC MAC4 SSI Inc SP SP Inc SP SP default value 50 50 lowest value 1 1 highest value 2 000 000 2 000 000 DESCRIPTION RFA WFA WFA_R MAC4 STP Hz SP 500 1 8 000 The parameter lt fa gt defines the acceleration during the start ramp in the operational mode find edge SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has o
9. USR negative direction of rotation for a positive velocity values is set INIT axis initialised ME axis enable E enabling is activated WSV 100 velocity 100 Inc SP is set MS operational mode speed is set E operational mode is activated the axis rotates in counter clockwise direction MACR_ENG DOC Status 04 06 99 Page 120 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 181 VER read version COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION VER The implemented hard and software version is read A 32 bit value is returned with the version coding Significance bit 0 7 software release number bit 8 15 bit 16 23 hardware release number coded as a letter bit 24 31 FY ING 1 SSI 2 STP 3 UND SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO EXAMPLE MAC4 STP VER version is read the result was the value 02410201 i e card type STP hardware version A software version 2 1 MACR_ENG DOC Status 04 06 99 MAC4 REFERENCE Manual Version 1 2e Page 121 of 138 COMMAND CODE MNEMONIC DESIGNATION 72 VT velocity tracking COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The user may generate his own ramp in this operational mode The parameter value lt tv gt is output as the velocity command in the next sampling period The acceleration is not monitored it is the responsibility of
10. activated MACR_ENG DOC Status 04 06 99 Page 110 MAC4 REFERENCE Manual Version 1 2e of 138 URLP positive limit switch is read the result was the value 5 000 MACR_ENG DOC Status 04 06 99 Page 111 MAC4 REFERENCE Manual Version 1 2e of 138 URMS UWMS UWMS_R COMMAND CODE MNEMONIC DESIGNATION 234 URMS read motor steps 235 UWMS write motor steps 236 UWMS_R write motor steps relative COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt ms gt motor steps MAC4 STP Steps per rev default value 25 000 lowest value 1 highest value 10 000 000 ss Steps per motor revolution DESCRIPTION The parameter lt ms gt defines the number of steps that the motor executes per revolution SPECIAL CONSIDERATIONS The parameter lt ms gt is only significant if a position measurement system is used There can be rounding errors during conversion in the case of a disadvantageous ratio of motor steps to encoder resolution As a guide the quotient es ms and ms es may only have two significant bits behind the decimal point DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO URES EXAMPLE UWET 3 e
11. da E temporary parameter MACR_ENG DOC Status 04 06 99 Page 131 MAC4 REFERENCE Manual Version 1 2e of 138 2 2 3 In Order of Command Number Code Command Parameter Page I 10 I 12 I 17 I 18 I 17 I 43 I 38 I 39 I 43 II 38 II 39 I 43 I 38 I 39 I 22 I 63 I 55 I 56 I 63 I 55 I 56 II 63 I 55 I 56 I 21 M 54 I 52 I 53 I 54 I 51 I 53 I 54 I 52 I 53 I 20 II 50 I 47 TI 48 I 45 II 50 I 47 TI 48 I 45 II 50 I 47 TI 48 I 25 I 81 I 75 I 76 clear errors execute mode enable mode disable mode search index coarse read coarse velocity read coarse acceleration read coarse deceleration write coarse velocity write coarse acceleration write coarse deceleration write coarse velocity relative write coarse acceleration relative eile write coarse deceleration relative mode search index read index velocity read index acceleration SOn read index deceleration write index velocit write index acceleration write index deceleration write index velocity relative write index acceleration relative write index deceleration relative mode home read home velocity read home acceleration read home deceleration w write home velocity write home acceleration write home deceleration write home velocity relative write home acceleration relative W Nn write home deceleration relative mode find edge read find edge velocity read find edge acceler
12. e false axis number SEE ALSO RCPI RCT RED EXAMPLE MAC4 STP UWMS 1000 motor number of counts is set UWES 100 encoder lines per motor revolution is set 100 lines 400 increments i e 1 increment per 2 5 steps INIT initialise position measurement system aes axis moves RCPI position is read in increments returns e g the position value 100 Increments RCP position is read in steps returns the position 250 steps the actual position lies in the range 250 252 steps the next increment is first registered at 253 steps MACR_ENG DOC Status 04 06 99 Page 46 MAC4 REFERENCE Manual Version 1 2e of 138 RCPI COMMAND CODE MNEMONIC DESIGNATION 259 RCPI read current position in increments COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual position is returned as a parameter in increments SPECIAL CONSIDERATIONS If a position measurement system is connected with a higher resolution as the number of motor counts 4 lt es gt gt lt ms gt the actual position read is converted to the number of increments corresponding to the closest position in steps DIAGNOSTICS axis f e false axis number SEE ALSO RCP EXAMPLE UWMS 1000 motor number of counts is set UWES 1000 encoder lines per motor revolution is set 1 000 lines 4 000 increments i e 4 increments to 1 step INIT initialise position measurement system on movement of the motor RCPI actual position is read in increments
13. following units MAC4 INC Inc SP MAC4 SSI Inc SP MAC4 STP Steps SP SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO RAV EXAMPLE MAC4 SSI WSV 500 velocity 500 Inc SP is set MS operational mode speed is set E operational mode is activated RPS actual commanded velocity is read returns the value of 500 Inc SP after completion of the starting ramp MACR_ENG DOC Status 04 06 99 Page 79 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 60 RPV read positioning velocity 64 WPV write positioning velocity 67 WPV_R write positioning velocity relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt pv gt positioning velocity MAC4 INC MAC4 SSI Inc SP Inc SP default value 1 000 1 000 lowest value 1 1 highest value 250 000 000 250 000 000 DESCRIPTION RPV WPV WPV_R MAC4 STP Hz 4 000 1 50 000 The parameter lt pv gt defines the velocity during the constant velocity phase of the operational mode positioning SPECIAL CONSIDERATIONS none DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE AL
14. follows hexadecimal number e Abbreviation for instructions in the form of mnemonics is given in capitals INSTRUCTION e Instructions which write parameters to the controller are designated with an additional _R if these are relative write instructions WRITE_R relative parameter value e The given abbreviations for the instructions only serve to simplify documentation Transmission of instructions to the axis controllers is performed as a number code e Special notes and warning indications are provided as number codes and are provided in a box with an arrow gt WARNING Descriptions of abbreviations and designations are provided in the glossary MACR_ENG DOC Status 04 06 99 Page 4 MAC4 REFERENCE Manual Version 1 2e of 138 Contents 1 COMMAND DESCRIPTION 6 1 1 Overview 6 1 2 Detailed Command Description 9 2 APPENDIX 125 2 1 Parameter Overview 125 2 2 Command Overview 128 2 2 1 In Alphabetical Order 128 2 2 3 In Order of Command Number 132 INDEX 137 MACR_ENG DOC Status 04 06 99 Page 5 MAC4 REFERENCE Manual Version 1 2e of 138 1 Command Description 1 1 Overview Table 1 1 provides an overview over the commands implemented in the MAC series of multi axis positioning controllers In order to improve legibility the commands are specified as their mnemonic The command code corresponding to the mnemonics are included in the detailed command description Moreover there is a tabular list of the command co
15. gt gives the velocity during the constant velocity phase of the operational mode search index SPECIAL CONSIDERATIONS The sign of the parameter lt iv gt gives the direction of the movement DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MI EXAMPLE MAC4 INC WIV 1000 velocity 1 000 Inc SP is set MI operational mode search index is set E operational mode is activated the index pulse is sought in negative direction MACR_ENG DOC Status 04 06 99 Page 69 MAC4 REFERENCE Manual Version 1 2e of 138 RKI WKI WKI_R COMMAND CODE MNEMONIC DESIGNATION 91 RKI read integral gain 92 WKI write integral gain 93 WKI_R write integral gain relative COMPATIBILITY MAC4 INC MAC4 SSI O MAC4 STP PARAMETER lt ki gt integral gain MAC4 INC MAC4 SSI default value 1 1 lowest value 0 0 highest value 255 255 DESCRIPTION The controller is a lead lag filter PD related behaviour with a parallel integrator I behaviour The transfer function of the integrator is G Cz 1 z with the corresponding recursive algorithm Up k Ce k 1 uy k 1 The integral amplification C can set
16. irgq_vec l gt Code Command Parameter Page 58 59 write interrupt vector 2 write interrupt vector 3 write interrupt vector 4 write interrupt vector 5 read interrupt vector 1 read interrupt vector 2 read interrupt vector 3 read interrupt vector 4 read interrupt vector 5 initialisation lt irq_vec2 gt lt irq_vec3 gt lt irq_vec4 gt lt irq_vec5 gt lt irq_vec1 gt lt irq_vec2 gt lt irq_vec3 gt lt irgq_vec4 gt lt irq_vec5 gt H II 61 I 57 I 58 I 59 ZEEE 3 i 5 I 61 I 15 I 110 read version enable on fly changes disable on fly changes read encoder scaling factor write encoder scaling factor read scaling factor write scaling factor read encoder direct read motor steps write motor steps WMS_R write motor steps relative read boost time c cic s S R E lt g 2 i D I 13 TI 105 TI 105 II 106 TI 106 II 46 T 101 T 101 T 101 I 37 I 37 I 37 I 79 I 79 I 79 I 80 I 80 I 80 I 88 TI 95 TI 95 I 97 I 97 lt sc gt lt sc gt lt sf gt lt sf gt eat z n Ty c 7s z n Sh ch ch 5 EEE wn S J E 3 lt ms gt lt ms gt lt ms gt lt bt gt lt bt gt lt bt gt lt ssf gt lt ssf gt lt ssf gt lt stc gt lt stc gt lt stc gt N a x n N DS lon GIG W ioe N W N 2 239 240 241 242 243 write boost time U write boost time relative read start stop freque
17. is activated all values are scaled by 3 binary digits i e divided by 8 WPV 100 positioning velocity 100 8 12 5 Inc SP is set WPA 10 positioning acceleration 10 8 1 25 Inc SP SP is set WPD 20 positioning deceleration 20 8 2 5 Inc SP SP is set E parameter is activated MACR_ENG DOC Status 04 06 99 Page 117 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 126 URSH read shaft 127 UWSH write shaft COMPATIBILITY MAC4 INC MAC4 SSI PARAMETER lt sh gt shaft MAC4 INC default value 1 lowest value 1 highest value 3 DESCRIPTION The axis type is defined by this parameter 1 linear axis 2 circular axis 3 circular optimised axis SPECIAL CONSIDERATIONS URSH UWSH MAC4 STP MAC4 SSI MAC4 STP 1 1 1 1 3 3 The parameter can only be set in the deinitialised axis condition If an absolute encoder is used for position measurement the definition of the axis to be circular lt sh gt 2 or 3 causes the parameter lt ec gt of the position measurement system to be overwritten with the size parameter of the circular axis lt cr gt DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated SEE ALSO URCR UREC URLN URLP EXAMPLE UWSH 1 axis defined as linear UWLP 100000 positive software limit is set UWLN
18. on the controller always selects on fly operation SPECIAL CONSIDERATIONS In off fly operation the axis controller does not react immediately to a change to the operational mode brake An immediate stop can still only be commanded by means of direct DPRAM access which also clears all other commands in the command queue that have not yet been processed If the target radius has been set too small the end of a positioning move is not recognised In off fly operation this means that the axis controller cannot execute further commands The only solution is a stop via DPRAM access DIAGNOSTICS axis f e false axis number SEE ALSO E MC MF MH MI MP RTR MACR_ENG DOC Status 04 06 99 Page 14 MAC4 REFERENCE Manual Version 1 2e of 138 EXAMPLE MAC4 SS FLYON WAP 10000 MP E WAP 10000 E Inc FLYOFF WAP 10000 E WAP 10000 E MACR_ENG DOC FLYOFF FLYON on fly operation is set target position 10 000 Inc is set operational mode positioning is set positioning move is started new target position 10 000 Inc is set new target position is activated the axis is immediately moved to the new target position 10 000 even when the last target has not yet been reached After reaching the position off fly operation is set target position 10 000 Inc is set positioning move is started new target position 10 000 Inc is set new target position is activated the axis is first moved to the position 10 0
19. real integral amplification is now 10 1024 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 107 MAC4 REFERENCE Manual Version 1 2e of 138 URLN UWLN UWLN_R COMMAND CODE MNEMONIC DESIGNATION 150 URLN read limit negative 151 UWLN write limit negative 152 UWLN_R write limit negative relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt n gt limit negative MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 1 000 000 000 0 10 000 000 lowest value 1 000 000 000 1 000 000 000 10 000 000 highest value 999 999 999 999 999 999 9 999 999 DESCRIPTION The parameter lt n gt defines the position of the lower software limit switch for a linear axis If this position is reached the axis is braked and disabled The bit swl_n in the user status indicates that the axis is at the negative limit The axis can be enabled Only motion in a positive direction is allowed until the negative limit is no longer active SPECIAL CONSIDERATIONS Write access to the parameter lt n gt is only permissible in the operational mode disable The lower software limit switch must be lower than the upper lt n gt lt lt Ip gt If an absolute encoder is connected the lower software limit switch position may not be less than zero If the axis is defined as circular the parameter lt n gt ignored DIAGNOSTICS false axis number an error condition was not acknowledged the axis is not to the oper
20. the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO URSO EXAMPLE WIRQ3 100 vector for interrupt 3 is set to 100 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 65 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQ4 WIRQ4 COMMAND CODE MNEMONIC DESIGNATION 178 RIRQ4 read interrupt vector 4 173 WIRQ4 write interrupt vector 4 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irgq_vec4 gt interrupt vector 4 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The interrupt is activated by entering an non zero interrupt vector otherwise the interrupt is inactive The interrupt 4 end of positioning indicates that the actual positioning or justification move has been completed SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MC MF MH MI MP EXAMPLE WIRQ4 100 vector for interrupt 4 is set to 100 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 66 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQS5 WI
21. this sequence is reversed SPECIAL CONSIDERATIONS In the operational modes velocity tracking and position tracking as well as test the BOOST signal is not automatically turned off It remains active until the user changes to the modes disable or brake DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO PT RSS UE VT EXAMPLE WBT 50 boost time is set to 50ms internally rounded up to 56 ms WSSF 200 start stop frequency of 200 Hz is set MS operational mode speed is set WSV 500 velocity 500 Hz is set E operational mode is activated the BOOST signal is activated after 56 ms the motor moves at the start stop frequency of 200 Hz and is then accelerated to 500 Hz MACR_ENG DOC Status 04 06 99 Page 43 MAC4 REFERENCE Manual Version 1 2e of 138 RCA WCA WCA_R COMMAND CODE MNEMONIC DESIGNATION 8 RCA read coarse acceleration 11 WCA write coarse acceleration 14 WCA_R write coarse acceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt ca gt coarse acceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest value 1 1 highest value 2
22. value must be less than 100 000 MACR_ENG DOC Status 04 06 99 Page 48 MAC4 REFERENCE Manual Version 1 2e of 138 RCV WCV WCV_R COMMAND CODE MNEMONIC DESIGNATION 7 RCV read coarse velocity 10 WCV write coarse velocity 13 WCV_R write coarse velocity relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt cv gt coarse velocity MAC4 INC MAC4 STP Inc SP Hz default value 1 000 2 000 lowest value 250 000 000 50 000 highest value 250 000 000 50 000 DESCRIPTION The parameter lt cv gt defines the velocity during the constant velocity phase of the operational mode search index coarse SPECIAL CONSIDERATIONS The sign of the parameter lt cv gt gives the direction of movement DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MC EXAMPLE MC operational mode search index coarse is set WCV 500 negative search velocity is set E operational mode is activated the axis is coarsely positioned to the next index pulse in negative direction MACR_ENG DOC Status 04 06 99 Page 49 MAC4 REFERENCE Manual Version 1 2e of 138 RDA WDA WDA_R COMMAND CODE MNEMONIC DE
23. word at the address lt ea gt SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised condition The parameter lt eb gt is automatically set during initialisation for the encoder types lt et gt 0 1 If access is made via the VMEbus to an external position measurement systems lt et gt 3 4 by means of two 16 bit accesses it is the responsibility of the user to that the position information is not overwritten by the axis controller during the read access When the position information is transferred via the DPRAM of the axis controller a 32 bit access is always made The parameter lt eb gt is only used to blank out bits The bit width parameter lt eb gt does not define the range of values of the position measurement system This value is defined separately in the parameter lt ec gt DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO INIT RED UREC URET EXAMPLE UWEB 24 bit width of the position information is set MACR_ENG DOC Status 04 06 99 Page 102 MAC4 REFERENCE Manual Version 1 2e of 138 INIT parameter is activated and position measurement system initialised the upper 8 bit of the position information read are blended out MACR_
24. write zero 90 WZE_R write zero relative COMPATIBILITY MAC4 INC MAC4 SSI O MAC4 STP PARAMETER lt ze gt Zero MAC4 INC MAC4 SSI default value 232 232 lowest value 0 0 highest value 255 255 DESCRIPTION The controller is implemented as a lead lag filter PD related behaviour with a parallel integrator I behaviour The transfer function of the lead lag filter is G Z K 1 Az 1 Bz with the corresponding recursive algorithm u kK K e k K A e k 1 B uy k 1 The zero A of the lead lag filter can be set by the parameter lt ze gt the relationship is lt ze gt 256 A i e the zero component can be set in the range 0 1 1 256 in steps of 1 256 SPECIAL CONSIDERATIONS High values for the zero component cause a higher damping the of the control loop DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RGA RLT RKI RPO EXAMPLE WZE 128 zero is set to the value 128 256 0 5 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 95 MAC4 REFERENCE Manual Version 1 2e of 138 TURBO COMMAND CODE MNEMONIC DESIGNATION 246 TURBO turbo mode on off COMPATIB
25. 0 50 000 highest value 250 000 000 250 000 000 50 000 DESCRIPTION The parameter lt tv gt defines the velocity for the next sampling period SP in the operational mode velocity tracking Monitoring of the acceleration between two sampling periods is not implemented The parameter lt tv gt must therefore be set with care SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO VT EXAMPLE MAC4 SSI WTV 0 start velocity 0 Inc SP is set VT operational mode velocity tracking is set E operational mode is activated WTV 100 next velocity 100 Inc SP is set E new velocity is activated WTV 500 next velocity 500 Inc SP is set E new velocity is activated WTV_R 500 next velocity 1 000 Inc SP is set E new velocity is activated MACR_ENG DOC Status 04 06 99 Page 93 MAC4 REFERENCE Manual Version 1 2e of 138 RWD WWD COMMAND CODE MNEMONIC DESIGNATION 166 RWD read watchdog 167 WWD write watchdog COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt wd gt watchdog MAC4 INC MAC4 SSI MAC4 STP ms ms ms default value 0 0 0 lowest value 0 0 0 highest value 3 60
26. 0 E RCP RAO MACR_ENG DOC RAO UREC URLN URLP URCR position is read returns e g the position 2 000 Inc axis offset is read returns e g 0 Inc following error is read returns e g 0 Inc position is set to 1 000 Inc is set new position is activated position is read returns as positions value 1 000 Inc axis offset is read returns 1 000 Inc Status 04 06 99 MAC4 REFERENCE Manual Version 1 2e WZP Page 124 of 138 2 Appendix 2 1 Parameter Overview Short description Operational mode lt ao gt axis offset all RAO 132 Write Write Page abs r WA WAO_R I 28 33 WA RP 7 WA 7 1 A lt ap gt target position positioning RAP W TI 29 63 1 lt at gt wanted position position tracking RAT next SP 74 7 2 L 34 WRT IT 32 8 WBT_R I 37 39 5 3 02 8 7 238 e 4 WCA_R I38 1 WCD_R I 39 1 UWCR_R _ I 90 W W Ko vs Nn i vs z A D 4 V WCV_R I3 1 gt WwW 100 145 137 130 106 253 128 lt fa gt find edge acceleration RFA 38 39 a 37 lt ha gt home acceleration home lt bt gt time for all BOOST signal 237 lt ca gt coarse acceleration search index coarse RCA 8 WDA_R IM 1 a z O L O E 4 WD A Nn L lt cr gt circular range all 153 I 91 ae nN L i i tH Q O P T C C C A 6 L TI 94 WAA WAA_R 107 9 F F F 1 0 12 1 10
27. 0 000 3 600 000 3 600 000 DESCRIPTION A watchdog which can be set by software monitors the communication between the host and the axis controller If the axis controller receives no new commands from the host during the period set by the parameter lt wd gt it brings all axes to a halt with the emergency deceleration lt ed gt and deactivates them This facility ensures that a defect in the host system or in the connection between the host and the axis controller does not result in uncontrolled actions SPECIAL CONSIDERATIONS The set value is valid for all axes It is rounded up to the next integer multiple of the SP Axes that are in the operational mode test are switched off without a braking ramp The parameter value zero default means a deactivation of the watchdog function DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e a following error overflow has occurred limit_f e the given parameter value does not lie within the permissible range SEE ALSO RAA EXAMPLE MAC4 INC WWD 1000 watchdog is set to 1s E watchdog is activated if the axis controller receives no command from the host for more than 1s all axes are stopped and deactivated MACR_ENG DOC Status 04 06 99 Page 94 MAC4 REFERENCE Manual Version 1 2e of 138 RZE WZE WZE_R COMMAND CODE MNEMONIC DESIGNATION 88 RZE read zero 89 WZE
28. 00 Inc before the second positioning move begins Status 04 06 99 Page 15 MAC4 REFERENCE Manual Version 1 2e of 138 INIT COMMAND CODE MNEMONIC DESIGNATION 180 INIT initialisation COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The INIT command executes axis initialisation involving the steps e initialisation of position measurement system e activation of parameters e setting of the bit init in the user status SPECIAL CONSIDERATIONS If the position encoder is connected to the peripheral connector P2 and the parameter lt et gt configured then the default values for the position measurement system lt ea gt lt eb gt and lt ec gt are automatically loaded DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the INIT command was entered again after initialisation e a value was read from the position measurement system that was outside the permitted range e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement has been read SEE ALSO E UREA UREB UREC URET URES EXAMPLE UWET 3 encoder type external relative encoder is set UWEA 330A address of the position information is set DPRAM of axis controller UWEB 13 bit width of position information is set UWEC 8000 range of values of the position information
29. 000 000 8 000 DESCRIPTION The parameter lt ca gt defines the acceleration during the starting ramp of the operational mode search index coarse SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MC EXAMPLE MAC4 INC MC operational mode search index coarse is set WCA 10 acceleration 10 Inc SP SP is set WCV 50 velocity 50 Inc SP is set E operational mode is activated the velocity 50 Inc SP is reached after 5 SP as long as the index pulse is not found beforehand MACR_ENG DOC Status 04 06 99 Page 44 MAC4 REFERENCE Manual Version 1 2e of 138 RCD WCD WCD_R COMMAND CODE MNEMONIC DESIGNATION 9 RCD read coarse deceleration 12 WCD write coarse deceleration 15 WCD_R write coarse deceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt cd gt coarse deceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest value 1 1 highest value 2 000 000 8 000 DESCRIPTION The parameter lt cd gt defines the braking acceleration during the ramp of the operational mode search index coarse coarse justification to the i
30. 10 1 I 27 0 1 oat II 9 254 rr E 3 O lon n 0 46 47 45 GA Il 51 87 34 D W WHD_R lt hd gt home deceleration home RHD 29 32 35 RHV WHV WHV_R 1 54 MACR_ENG DOC Status 04 06 99 Page 125 MAC4 REFERENCE Manual Version 1 2e of 138 W 4 W 43 W Wi W A D V i i nN E 2 2 6 1 8 ioe Nn L ere D H 28 H I 53 ink JEE N i i Ww Nn Nn oo Short description Operational mode Write Write Page rel abs 18 21 24 19 22 25 17 lt irq_vec4 gt interrupt vector 4 search index coarse search index find edge home positioning 179 1 308 30 17 23 test disable 91 92 93 test disable 256 257 150 151 152 x iS gs a i 175 176 A i II 5 i O 7 177 jk i 5 Q z 3 1 1 78 5 Li m a g 0 72 73 74 7 E h Il 62 T E z LP 148 UWLP_R II 100 147 149 test disable 97 positioning find edge 109 est disable 103 lt ms gt motor steps per all revolution rd 234 61 65 68 62 66 69 test disable 94 95 96 lt ps gt positive limit switch all II 103 SEE bi EEE TI 65 O o0 gl zli z z e Eg a l g 5g D N Nn Z N pi W nN gt N T ik EREEE 139 140 lt pv gt positioning RPV WPV 1 74 67 lt rs gt reference switch I 104 143 144 MACR_ENG DOC Status 04 06 99 Page 126 MAC4 REFERENCE Manual Ve
31. 2e of 138 RPD WPD WPD_R COMMAND CODE MNEMONIC DESIGNATION 62 RPD read positioning deceleration 66 WPD write positioning deceleration 69 WPD_R write positioning deceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt pd gt positioning deceleration MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP default value 50 50 1 000 lowest value 1 1 1 highest value 2 000 000 2 000 000 8 000 DESCRIPTION The parameter lt pd gt defines the acceleration during the braking ramp of the operational mode positioning SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MP EXAMPLE MAC4 SSI WPD 100 braking acceleration 100 Inc SP SP is set WPV 500 velocity 500 Inc SP is set WAP 10000 target position 10 000 Inc is set MP operational mode positioning is set E positioning move is started MACR_ENG DOC Status 04 06 99 Page 77 MAC4 REFERENCE Manual Version 1 2e of 138 RPO WPO WPO_R COMMAND CODE MNEMONIC DESIGNATION 94 RPO read pole 95 WPO write pole 96 WPO_R write pole relative COMPATIBILITY MAC4 INC MAC4 SSI OMAC4
32. 99 MAC4 REFERENCE Manual Version 1 2e ROUT Page 75 of 138 RPA WPA WPA_R COMMAND CODE MNEMONIC DESIGNATION 6l 65 68 COMPATIBILITY MAC4 INC PARAMETER RPA read positioning acceleration WPA write positioning acceleration WPA_R write positioning acceleration relative MAC4 SSI MAC4 STP lt pa gt positioning acceleration default value lowest value highest value DESCRIPTION MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP 50 50 1 000 1 1 1 2 000 000 2 000 000 8 000 The parameter lt pa gt defines the acceleration during the starting ramp of the operational mode positioning SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f logo_f limit_f SEE ALSO EXAMPLE MAC4 INC RCP WPA 100 WPV 500 WAP 10000 MP E MACR_ENG DOC false axis number an error condition was not acknowledged the emergency stop switch was activated the watchdog was activated the drive fault signal is on a following error overflow has occurred an invalid value for the position measurement was read the given parameter value does not lie within the permissible range MP start position is 0 acceleration is set to 100 Inc SP SP velocity 500 Inc SP is set target position 10 000 Inc is set operational mode positioning is set positioning move is started the axis is accelerated in 5 SP to the velocity of 500 Inc SP Status 04 06 99 Page 76 MAC4 REFERENCE Manual Version 1
33. CRIPTION wow The velocity lt lv gt is used in the justification modes find edge search index home and for a the positioning move MAC4 STP in order to position to the given position as accurately as possible SPECIAL CONSIDERATIONS lt v gt is not multiplied by ten in TURBO operation MAC4 STP The parameter value for lt v gt may not exceed the start stop frequency DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF MH MI EXAMPLE MAC4 STP WLY 10 search velocity is set to 10 Hz MF operational mode find edge is set WDL 2 justification to the positive hardware limit switch E operational mode is activated the axis is driven at 10 Hz during the last phase of justification to the limit switch MACR_ENG DOC Status 04 06 99 Page 72 MAC4 REFERENCE Manual Version 1 2e of 138 RMF WMF WMF_R COMMAND CODE MNEMONIC DESIGNATION 103 RMF read maximum following error 104 WMF write maximum following error 105 WMF_R write maximum following error relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt mf gt maximum following error MAC4 INC MAC4 SSI MAC4 STP Inc I
34. ENG DOC Status 04 06 99 Page 103 MAC4 REFERENCE Manual Version 1 2e of 138 UREC UWEC COMMAND CODE MNEMONIC DESIGNATION 130 UREC read encoder counter range 131 UWEC write encoder counter range COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ec gt encoder counter range MAC4 INC MAC4 SSI MAC4 STP default value 32 768 16 777 216 32 768 lowest value 1 1 1 highest value 2 000 000 000 2 000 000 000 10 000 000 DESCRIPTION The parameter lt ec gt defines the range of values for the counter or the resolution the absolute encoder If the internal counter is used to read the position information lt et gt 0 or 1 the parameter lt ec gt is automatically assigned the maximum possible value of 32 768 during initialisation INIT The parameter lt ec gt is used in the case of counter overflows for automatic correction When using an SSI or an external position encoder the user must define the value lt ec gt lt ec gt allows an error to be recognised in the position measurement system user status encoder_f bit when the information from the encoder goes out of the range 0 lt ec gt 1 The axis is turned off SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition The value of lt ec gt may not be greater than the bit width range given by the parameter lt eb gt In the case of a circular axis with an absolute encoder the parameter lt ec gt is overwritten with th
35. ET 0 internal step counting is set INIT parameter is activated and position measurement system initialised MACR_ENG DOC Status 04 06 99 Page 106 MAC4 REFERENCE Manual Version 1 2e of 138 URKISC UWKISC COMMAND CODE MNEMONIC DESIGNATION 256 URKISC read ki scaling factor 257 UWKISC write ki scaling factor COMPATIBILITY MAC4 INC MAC4 SSI OMAC4 STP PARAMETER lt ki_sc gt ki scaling factor MAC4 INC MAC4 SSI default value 8 8 lowest value 0 0 highest value 8 8 DESCRIPTION In order to be able to set the integral amplification in finer steps the parameter lt ki gt for integral amplification is right shifted internally by lt ki_sc gt binary digits Each shift halves the value SPECIAL CONSIDERATIONS Write access to the parameter lt ki_sc gt is only possible in the operational mode disable DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis is not to the operational mode disable e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RKI EXAMPLE WKI 10 nominal integral amplification is set to the value 10 256 UWKISC 2 integral amplification is scaled shifting by 2 binary digits means division by 4 the
36. IC DESIGNATION 260 RAV read actual velocity COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual velocity is returned as a parameter with the following units MAC4 INC Inc system sampling period MAC4 SSI Inc system sampling period MAC4 STP Steps system sampling period SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO RPS EXAMPLE MAC4 STP WDA 1000 velocity 1000 Hz is set UE operational mode test is set E operational mode is activated RAV actual velocity is read the result was the value 8 Steps SSP MACR_ENG DOC Status 04 06 99 Page 40 MAC4 REFERENCE Manual Version 1 2e of 138 RBS COMMAND CODE MNEMONIC DESIGNATION 118 RBS read user status COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual user status of the addressed axis is returned as a parameter It has the following significance Significance Bit 1 mode operational mode see below 8 dr_en axis enabled 9 fev o reverse the output positioning move completed i e in the target radius justification completed as pe We Se encoder_f E a 20 pref home switchon O Co oo O ee on_fly on fly operation on 27 gray MAC4 SSI SSI encoder with Gray code otherwise not used 28 31 MACR_ENG DOC Status 04 06 99 Page 41 MAC4 REFERENCE Manual Version 1 2e of 138 RBS The operational modes are
37. ILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION A distinction is made between two operational configurations normal and TURBO in order to cover a larger velocity range If the axis is in TURBO operation all velocities are multiplied internally by the factor 10 The user needs only to take account of this property when generating his own velocity profiles in the operational modes velocity tracking and position tracking The command TURBO activates TURBO operation or turns off if the axis happens to be in the mode disable The condition of the axis controller can be read via the system status SPECIAL CONSIDERATIONS The justification velocity lt v gt is not multiplied by ten DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis is not to the operational mode disable e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e an invalid value for the position measurement was read SEE ALSO RSS EXAMPLE TURBO TURBO operation activated ME E axis enabled MS operational mode speed is set WSV 10000 nominal velocity 10 000 is set E operational mode is activated the motor accelerates to the velocity 100 000 Hz MACR_ENG DOC Status 04 06 99 Page 96 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 82 UE enter test mode COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP
38. If the position encoder is at the motor axis the number of lines rev given by the manufacturer can be entered in the parameter lt es gt The value 4 lt es gt gives the number of increments that correspond to the number of counts given by the parameter lt ms gt If the outputted steps are counted lt et gt 0 the parameter lt es gt is ignored SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition They may be excessive rounding errors during this conversion in the case of a disadvantageous ratio of the motor number of counts to encoder resolution As a guide value the quotients es ms and ms es should only have two figures behind the decimal point DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO URMS EXAMPLE UWMS 1000 motor number of steps rev is set UWES 500 encoder pulses per motor revolution is set 500 pulses 2 000 increments i e 2 increments is set to 1 step INIT position measurement system initialised the counted increments are converted to steps with the factor 0 5 MACR_ENG DOC Status 04 06 99 Page 105 MAC4 REFERENCE Manual Version 1 2e of 138 URET UWET COMMAND CODE MNEMONIC DESIGNATION 128 URET r
39. Inc SP default value WSV 2 000 new velocity 2 000 Inc SP is set axis continues to moves at 1 000 Inc SP WSV 500 new velocity 500 Inc SP is set axis still moves at 1 000 Inc SP E last input velocity is activated axis now moves with 500 Inc SP MACR_ENG DOC Status 04 06 99 Page 13 MAC4 REFERENCE Manual Version 1 2e of 138 FLYOFF FLYON COMMAND CODE MNEMONIC DESIGNATION 183 FLYOFF disable on fly changes 182 FLYON enable on fly changes COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION If the axis controller receives a new command it normally executes it immediately even when the command which has just been processed has not been fully executed This behaviour is known as on fly operation A switch over to off fly operation in which each command must be completely processed before a new command is executed is possible with the command FLY OFF in the operational modes positioning search index coarse search index home find edge All other operational modes operate exclusively on fly In the case of off fly operation all received commands are entered in the queue as long as this is still not full This commands are normally not processed until the command E is recognised Previous input commands that need not be activated with an E e g Read commands or FLYON are however executed directly The activation of on fly operation is made by the command FLYON After switch
40. LE MP operational mode positioning is set WAP 100 target position is set E positioning move is started i axis moves RFE following error is read returns e g 5 i e the axis is at position 95 MACR_ENG DOC Status 04 06 99 Page 55 MAC4 REFERENCE Manual Version 1 2e of 138 RFV WFV WFV_R COMMAND CODE MNEMONIC DESIGNATION 37 RFV read find edge velocity 41 WFV write find edge velocity 45 WFV_R write find edge velocity relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt fv gt find edge velocity MAC4 INC MAC4 SSI MAC4 STP Inc SP Inc SP Hz default value 1 000 1 000 2 000 lowest value 250 000 000 250 000 000 50 000 highest value 250 000 000 250 000 000 50 000 DESCRIPTION The parameter lt fv gt defines the velocity during the constant velocity phase in the operational mode find edge SPECIAL CONSIDERATIONS The sign of the parameter lt fv gt gives the direction of motion for a justification to the home switch The sign of lt fv gt is ignored for a justification to the limit switch the direction of motion depends here on the switch configuration DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie wit
41. MAC4 STP PARAMETER none DESCRIPTION This operational mode executes an approximate justification of the axis to the next index pulse of the incremental encoders The axis controller moves the axis with the acceleration lt ca gt up to the maximum permissible velocity lt cv gt The axis now moves with constant velocity until the next index pulse After registration of the index pulse a braking phase with the braking acceleration lt cd gt follows The axis is now near to the index pulse The difference between the axis position and the index pulse depends on the set parameters The direction of movement results from the sign the velocity lt cv gt After completion of this operational mode the axis is held at the reached position The completion of justification is indicated by the setting of the bits jus_end in the user status as well as the interrupt end of positioning SPECIAL CONSIDERATIONS A change to the operational mode search index coarse is only possible from the modes enable or brake This operational mode is only permissible if an incremental encoder with index pulse is connected directly to the axis controller DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e there is no position encoder with index pulse specified e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e the drive
42. MAC4 STP a creep move phase follows the braking ramp The direction of movement depends on the target position The positioning move is considered completed if the axis has remained within the target window given by lt tr gt for the period of time given by the parameter value lt trt gt The end of positioning is indicated by setting the bit pos_end in the user status and by the interrupt end of positioning The LED P at the front panel illuminates SPECIAL CONSIDERATIONS A change to the operational mode positioning is only possible in the modes enable or brake DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis was not initialised e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the set target position lies outside the axis range e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RAP RIRQ4 RPV RSTC RTR EXAMPLE MAC4 INC WPA 100 acceleration 100 Inc SP SP is set WPV 500 velocity 500 Inc SP is set WPD 200 braking acceleration 200 Inc SP SP is set WAP 10000 target position 10 000 Inc is set MP operational mode positioning is set E positioning move is started MACR_ENG DOC Status 04 06 99 Page 27 MAC4 REFERENCE Manual Version 1 2e of 138 MR COMMAND CODE MNEMONIC DESIGNATIO
43. MACCON GmbH Kuehbachstr 9 D 81543 Munich Tel 49 89 651220 0 Fax 49 89 655217 Change Status MACR_ENG DOC MOTION UNDER CONTROL S oftware Reference Manual MACCONTROLLER MAC MAC4 INC Version 4 2 MAC4 SSI Version 4 2 MAC4 STP Version 2 2 MACCON GmbH June 1996 Status 04 06 99 Page 1 MAC4 REFERENCE Manual Version 1 2e of 138 31 01 96 03 03 98 MACR_ENG DOC Status 04 06 99 Page 2 MAC4 REFERENCE Manual Version 1 2e of 138 All rights reserved The contents of this documentation was generated and checked carefully by engineers of MACCON and port GmbH in following MACCON MACCON can however accept no responsibility for damage caused by the use of this documentation In particular named performance characteristics and technical data may not be constituted to be guaranteed product features in any legal sense MACCON has the right to change the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with MACCON The transfer to third parties or duplication in any form whole or in part is subject to written approval by MACCON Copies of this document may however be made exclusively for the use the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are
44. Manual Version 1 2e of 138 Commanded position positioning tre Direct output value test Setting of the switch find edge Acceleration find edge Braking acceleration find edge Velocity find edge Acceleration home Braking acceleration home Velocity home Acceleration search index Braking acceleration search index Velocity search index RPA WPA WPA_R Acceleration positioning Braking acceleration positioning Velocity positioning Acceleration speed Braking acceleration brake Steps creep justification move positioning Velocity speed Window around tar RTRT WTRT lt trt gt Braking acceleration time for recognition of target position positioning RTV WTV WTV_R Commanded velocity velocity tracking RAST vera status S O RAV Actua velocity S RBS serstatus O Rep Actual position S O Reer Actual position in increments MAC4 STP RET Processed counter of the position measurement system RED Counter of the position measurement system REE Actual followingerror o SS O Ror S Actua outputvalue S O RPS o o Actual commanded velocity RSS System status S O VER Version number S O Table 1 1 Command Overview cont MACR_ENG DOC Status 04 06 99 Page 8 MAC4 REFERENCE Manual Version 1 2e of 138 1 2 Detailed Command Description This chapter gives a detaile
45. N 184 URSC read encoder scaling factor 185 UWSC write encoder scaling factor COMPATIBILITY O MAC4 INC MAC4 SSI O MAC4 STP PARAMETER lt sc gt encoder scaling factor MAC4 SSI default value 0 lowest value 0 highest value 24 DESCRIPTION The position information to be processed must be right justified In SSI communication there may be a number of protocol bits that are read by the axis controller in addition to useful position data refer to datasheet of the absolute encoder Due to fixed clock rate the axis controller always reads 24 bits of which not all are significant The parameter lt sc gt gives the number of binary bits by which this information must be right shifted The measured position value is first processed after right shift justification e g blending out bits test of value range SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition The parameter lt sc gt is only used for an SSI absolute encoder lt et gt 1 or 2 directly connected to the axis controller DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted the parameter after the initialisation is set e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO URET EXAMPLE UWSC 8 scaling factor the position measurement systems is set to 8 INIT position meas
46. N 84 MR mode reset COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION All axes are braked with the emergency deceleration lt ed gt to a stand still and transferred to the operational mode disable All parameter are reverted to their default values After a reset all axes are deinitialised SPECIAL CONSIDERATIONS A reset in the mode test causes the axes to be switched off without a braking ramp The reset is initiated without an execute command The immediate execution of a reset is not guaranteed The command is entered in the queue and is processed only after preceding commands After a reset the axis controller must be reinitialised with the command INIT DIAGNOSTICS axis f e false axis number SEE ALSO EXAMPLE MS operational mode speed is set E operational mode is activated MR reset axis controller all axes are braked with the braking ramp lt ed gt and then switched off MACR_ENG DOC Status 04 06 99 Page 28 MAC4 REFERENCE Manual Version 1 2e of 138 MS COMMAND CODE MNEMONIC DESIGNATION 48 MS mode speed COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The axis moves with the constant velocity lt sv gt after executing an acceleration ramp The sign of the velocity value lt sv gt determines the direction of axis movement SPECIAL CONSIDERATIONS A change to the operational mode speed is only possible in the mode enable or brake DIAG
47. N The command value calculated by the controller sign and magnitude 12 bit value is output via a DAC as a current command and generates a corresponding level of torque or force The torque can be limited in magnitude to the parameter value lt t gt SPECIAL CONSIDERATIONS Excessive limiting of the torque can cause a following error If the motor is driven in voltage mode the command value generated by the controller at the DAC corresponds to velocity The torque limit then has the significance of a speed limit DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RDA RGA RKI RPO RZE EXAMPLE WLT 1000 torque limit is set to 1 000 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 71 MAC4 REFERENCE Manual Version 1 2e of 138 RLV WLV WLV_R COMMAND CODE MNEMONIC DESIGNATION 109 RLV read low velocity 110 WLV write low velocity 111 WLV_R write low velocity relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt lv gt low velocity MAC4 INC MAC4 SSI MAC4 STP Inc SP Inc SP Hz default value 4 4 30 lowest value 1 1 1 highest value 2 000 000 2 000 000 500 DES
48. NC SSI lt at gt lt Actual position gt lt Following error gt lt Parameter gt MAC4 STP lt at gt lt Actual position gt lt Parameter gt In the case linear axes the parameter lt at gt must lie within the set software limits lt ln gt lt lt at gt lt lt lp gt In the case of a circular axis the parameter lt at gt must stay within the range 0 lt lt at gt lt lt cr gt MACR_ENG DOC Status 04 06 99 Page 38 MAC4 REFERENCE Manual Version 1 2e of 138 DIAGNOSTICS axis f logo_f limit_f SEE ALSO EXAMPLE MAC4 STP WAT 0 PT E WAT 10 E WAT 50 E WAT 100 E MACR_ENG DOC RAT WAT WRT false axis number an error condition was not acknowledged the emergency stop switch was activated the watchdog was activated the drive error signal is on a following error overflow has occurred an invalid value for the position measurement was read the given target position lies outside the permissible axis range the given parameter value does not lie within the permissible range ge 4 start position 0 steps is set operational mode position tracking is set operational mode is activated next position 10 steps is set new target position is activated next position 50 steps is set new target position is activated next position 100 steps is set new target position is activated Status 04 06 99 Page 39 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMON
49. NCE Manual Version 1 2e of 138 RSS COMMAND CODE MNEMONIC DESIGNATION 119 RSS read system status COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual system status of the addressed axis is returned as a parameter It serves mainly for internal control or diagnosis The individual bits have the following significance 0 mirdy Commandready o y a aa z irq 6 zstop Internal controlbit o y ee en 9 servo_on MAC4 STP internal control bit otherwise notused ___ dr_disable boost Ce ee ee MAC4 STP BOOST signal allows motion otherwise not used turbo E E ee nT dr_disable MAC4 STP BOOST signal interlocked otherwise not used MAC4 STP internal control bit otherwise not used MAC4 STP internal control bit otherwise not used wzp_bit MAC4 STP internal control bit otherwise not used a Ea eae MACR_ENG DOC Status 04 06 99 Page 83 MAC4 REFERENCE Manual Version 1 2e of 138 RSS SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO RAS RBS EXAMPLE RSS system status is read returns e g the value 00000020 i e the bit z_irq is set MACR_ENG DOC Status 04 06 99 Page 84 MAC4 REFERENCE Manual Version 1 2e of 138 RSSF WSSF WSSF_R COMMAND CODE MNEMONIC DESIGNATION 240 RSSF read start stop frequency 241 WSSF write start stop frequency 242 WSSF_R write start stop frequency
50. NOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e afalse axis number was given e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RSA RSV EXAMPLE MAC4 STP WSSF 100 start stop frequency is set to 100 Hz WSA 100 acceleration is set to 100 Hz SP WSV 1000 velocity is set to 1 000 Hz MS operational mode speed is called E operational mode is activated the axis accelerates in 10 SP to 1 000 Hz and then continues to move with this velocity MACR_ENG DOC Status 04 06 99 Page 29 MAC4 REFERENCE Manual Version 1 2e of 138 PT COMMAND CODE MNEMONIC DESIGNATION 169 PT position tracking COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION With this operational mode the user can generate his own move trajectory The parameter value lt at gt defines the target position for the next sampling period Velocity and acceleration limits are not active it is the responsibility of the user to avoid excessive position steps SPECIAL CONSIDERATIONS A change to the operational mode position tracking is only possible in the modes enable or brake MAC4 STP The BOOST signal is not automatically reset in this mode It remains activated until th
51. P RBS RIRQ4 RTRT EXAMPLE MAC4 STP WTR 100 100 steps window around target position is set WTRT 1000 waiting time is set to 1s internally rounded up 1 024s WAP 10000 target position 10 000 steps is set MP operational mode positioning is set E positioning move is started if the axis remains at least 1 024s in the range 9 900 10 100 Steps the bit pos_end is set and the interrupt end of positioning activated MACR_ENG DOC Status 04 06 99 Page 90 MAC4 REFERENCE Manual Version 1 2e of 138 RTRT WTRT COMMAND CODE MNEMONIC DESIGNATION 300 RTRT read target radius wait time 301 WTRT write target radius wait time COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt trt gt target radius wait time MAC4 INC MAC4 SSI MAC4 STP ms ms ms default value 0 0 0 lowest value 0 0 0 highest value 3 600 000 3 600 000 3 600 000 DESCRIPTION The parameter lt trt gt defines how long the axis must lie within the tolerance band around the target position given by lt tr gt in the operational mode positioning before the bit pos_end is set in the user status the interrupt end of positioning is activated and the LED P at the front panel is set This facility ensures that possible oscillations of the systems after completion of positioning moves have time to decay before the move is considered completed SPECIAL CONSIDERATIONS The profile generator is unaffected by this recognition mechanism of move completio
52. PARAMETER none DESCRIPTION In the test mode the axis can be operated by hand The axis is automatically enabled enable The BOOST signal MAC4 STP switched on and the parameter value lt da gt is output to the motor driver SPECIAL CONSIDERATIONS A change to the operational mode test is only possible in the modes enable disable or brake The operational mode test is used to test the axis configuration and during commissioning It should be used with care If a hardware limit switch is recognised in the operational mode test the axis controller turns off the axis Thereafter the operational mode test can be called with any value of lt da gt This facility allows the motor to be backed away from limit switch if it was incorrectly connected MAC4 STP The BOOST signal is not automatically reset It remains active until another operational mode except position tracking and velocity tracking is selected MAC4 INC SSI The controller and the profile generator are not active in the operational mode test The command USR has no effect in the operational mode test If a software stop is activated in the operational mode test by direct DPRAM access the axis switch automatically to the mode disable without a braking ramp An emergency situation in the operational mode test causes an immediate disabling of the axis without a braking ramp DIAGNOSTICS axis f e false axis number logo_f e the axis was not in
53. RQ5 COMMAND CODE MNEMONIC DESIGNATION 179 RIRQ5 read interrupt vector 5 174 WIRQS5 write interrupt vector 5 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irg_vec5 gt interrupt vector 5 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The interrupt is activated by entering an non zero interrupt vector otherwise the interrupt is inactive The interrupt 5 emergency stop indicates that an emergency stop was activated by the emergency stop switch SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO EXAMPLE WIRQS 100 vector for interrupt 5 is set to 100 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 67 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQ6 WIRQ6 COMMAND CODE MNEMONIC DESIGNATION 308 RIRQ6 read interrupt vector 6 307 WIRQ6 write interrupt vector 6 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irg_vec6 gt interrupt vector 6 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The i
54. SIGNATION 100 RDA read direct output 101 WDA write direct output 102 WDA_R write direct output relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt da gt direct or DAC output MAC4 INC MAC4 SSI MAC4 STP Hz default value 0 0 0 lowest value 2 047 2 047 50 000 highest value 2 047 2 047 50 000 DESCRIPTION The value of the parameter lt da gt is directly output to the motor driver in the operational mode test SPECIAL CONSIDERATIONS MAC4 INC SSI Automatic limiting of the output value of the parameter lt t gt is not implemented DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO ROUT UE EXAMPLE MAC4 INC UE operational mode test is set WDA 500 output value 500 is set E operational mode is activated the value 500 is output to the 12 Bit DAC MACR_ENG DOC Status 04 06 99 Page 50 MAC4 REFERENCE Manual Version 1 2e of 138 RDL WDL COMMAND CODE MNEMONIC DESIGNATION 40 RDL read limit switch 44 WDL write limit switch COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt dl gt define limit switch MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 l
55. SO MP EXAMPLE MAC4 STP WPV 1000 velocity 1 000 Hz is set WAP 10000 target position 10 000 steps is set MP operational mode positioning is set E positioning move is started MACR_ENG DOC Status 04 06 99 MAC4 REFERENCE Manual Version 1 2e Page 80 of 138 RSA WSA WSA_R COMMAND CODE MNEMONIC DESIGNATION 50 RSA read speed acceleration 53 WSA read speed acceleration 56 WSA_R write speed acceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt sa gt speed acceleration MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP default value 50 50 1 000 lowest value 1 1 1 highest value 2 000 000 2 000 000 8 000 DESCRIPTION The parameter lt sa gt defines the acceleration for the operational mode speed This defines the acceleration ramp with which the velocity given by the parameter lt sv gt is reached SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MS RSV EXAMPLE MAC4 INC WSA 100 acceleration 100 Inc SP SP is set WSV 1000 velocity 1 000 Inc SP is set MS operational mode speed is set E operation
56. STP PARAMETER lt po gt pole MAC4 INC MAC4 SSI default value 0 0 lowest value 0 0 highest value 255 255 DESCRIPTION The controller is implemented as a lead lag filter with PD related behaviour with a parallel integrator I behaviour The transfer function of the lead lag filter is G K 1 Az 1 Bz with the corresponding recursive algorithm u kK K e k K A e k 1 B uj k 1 The pole B of the lead lag filter can be set with the parameter lt po gt the relation applies lt po gt 256 B i e the values for the pole can be set in the range 0 1 1 256 in steps of 1 256 SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RGA RLT RKI RZE EXAMPLE WPO 64 set pole to the value 64 256 0 25 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 78 MAC4 REFERENCE Manual Version 1 2e of 138 RPS COMMAND CODE MNEMONIC DESIGNATION 117 RPS read speed COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual velocity values generated by the profile generator are returned as parameters with the
57. TP PARAMETER lt stc gt step counts MAC4 STP Steps default value 5 lowest value 0 highest value 1 000 DESCRIPTION The parameter lt stc gt defines the number of steps that are executed in the justification phase of a positioning move In this slow justification phase the axis is moved at the search velocity lt v gt SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MP RLV EXAMPLE WSTC 50 slow justification move phase is set to 50 steps WAP 10000 target position is set to 10 000 steps MP operational mode positioning is set E positioning move is started the last 50 steps are driven at the justification speed MACR_ENG DOC Status 04 06 99 Page 86 MAC4 REFERENCE Manual Version 1 2e of 138 RSV WSV WSV_R COMMAND CODE MNEMONIC DESIGNATION 49 RSV read speed velocity 52 WSV write speed velocity 55 WSV_R write speed velocity relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt sv gt speed velocity MAC4 INC MAC4 SSI MAC4 STP Inc SP Inc SP Hz default value 1 000 1 000 4 000 lowest value 250 000 000 250 000 000 50 000 hig
58. al following error write maximal following error write maximal following error relative read emergency deceleration WMF_R WSV__ write speed velocity sf csv a a aa Cee ee ei ed asl cl WSA write speed acceleration lt sa gt WSD___ write speed deceleration lt sd gt WSV_R___ write speed velocity relative lt sv gt WSA_R__ write speed acceleration relative lt sa gt _ WSDR__ write speed deceleration relative lt sd gt MB modebrake TS MP___ mode positioning S RPV read positioning velocity lt pv gt RPA read positioning acceleration lt pa gt RPD___ read positioning deceleration lt p gt RAP____ read absolute position in mode positioning lt ap gt WPV__ write positioning velocity lt pv gt WPA write positioning acceleration lt pa gt WPD___ write positioning deceleration lt pd gt WPV_R write positioning velocity relative lt pv gt WPA_R write positioning acceleration relative lt p gt WPD_R__ write positioning deceleration relative lt pd gt WAP write absolute position in mode positioning lt ap gt WRP __ write relative position in mode positioning lt ap gt vr velocitytracking TS RIV _ readtracking velocity o Jo gt RAT read absolute position in mode tracking lt at gt WTV write tracking velocity tv WTV_R write tracking velocity relative lt tv gt WAT write absolute position in mode tracking lt at g
59. al mode is activated the axis accelerates in 10 SP to the value 1 000 Inc SP MACR_ENG DOC Status 04 06 99 Page 81 MAC4 REFERENCE Manual Version 1 2e of 138 RSD WSD WSD_R COMMAND CODE MNEMONIC DESIGNATION 51 RSD read speed deceleration 54 WSD write speed deceleration 57 WSD_R write speed deceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt sd gt speed deceleration MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP default value 50 50 1 000 lowest value 1 1 1 highest value 2 000 000 2 000 000 8 000 DESCRIPTION The parameter lt sd gt defines the braking acceleration with which the axis brakes in the operational mode brake SPECIAL CONSIDERATIONS none DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MB EXAMPLE MAC4 STP RPS actual command velocity is read returns e g the value 1 000 Hz MB operational mode brake is set WSD 50 braking acceleration 50 Hz SP is set E operational mode is activated the axis is brought to a stand still in 19 SP with a start stop frequency of 100 Hz MACR_ENG DOC Status 04 06 99 Page 82 MAC4 REFERE
60. are read commands that are always executed DIAGNOSTICS axis f e false axis number SEE ALSO RBS RAS EXAMPLE UWPS 5 the level of the positive hardware limit switch is set the value 5 lies outside the permissible range URPS the level of the positive hardware limit switch is read the result was the default value 1 the invalid write command was ignored UWPS 2 the level of the positive hardware limit switch is set this valid command is not accepted because the error has not been acknowledged A logical error is indicated Cc It clears error returns the user status only now are further inputs possible UWPS 2 the level of the positive hardware limit switch is set the valid value 2 for the parameter lt ps gt is accepted and activated after the next E MACR_ENG DOC Status 04 06 99 Page 11 MAC4 REFERENCE Manual Version 1 2e of 138 DEINIT COMMAND CODE MNEMONIC DESIGNATION 311 DEINIT deinitialisation COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The DEINIT command makes a system initialisation ineffective After turn on and basic initialisation the axis controller is in the deinitialised condition The axis is braked until stand still and disable activated The controller and the profile generator are deactivated System parameters can only be set in the deinitialised condition SPECIAL CONSIDERATIONS In the deinitialised condition only the emergency stop signal the Gray Binary coding for
61. arting with the start stop frequency of 200 Hz MACR_ENG DOC Status 04 06 99 Page 58 MAC4 REFERENCE Manual Version 1 2e of 138 RHD WHD WHD_R COMMAND CODE MNEMONIC DESIGNATION 29 RHD read home deceleration 32 WHD write home deceleration 35 WHD_R write home deceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt hd gt home deceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest value 1 1 highest value 2 000 000 8 000 DESCRIPTION The parameter lt hd gt gives the braking acceleration for the operational mode home SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MH EXAMPLE MAC4 STP WHV 1000 velocity 1 000 Hz is set WHD 200 braking acceleration 200 Hz SP is set MH operational mode home is set E operational mode is activated after registration to the home switch the axis is brought to a stand still in 5 SP MACR_ENG DOC Status 04 06 99 Page 59 MAC4 REFERENCE Manual Version 1 2e of 138 RHV WHV WHV_R COMMAND CODE MNEMONIC DESIGNATION 27 RHV read home velocity 30 WHV write home velo
62. as a parameter It has the following meaning Bit ignificance h_stop hardware emergency stop f h_stop 7 31 frec watchdog activated SPECIAL CONSIDERATIONS none DIAGNOSTICS axis_f e false axis number SEE ALSO RBS RSS EXAMPLE RAS the overall status is read returns e g 00000008 i e signal FCO is active MACR_ENG DOC Status 04 06 99 MAC4 REFERENCE Manual Version 1 2e Page 37 of 138 RAT WAT WRT COMMAND CODE MNEMONIC DESIGNATION 74 RAT read absolute position in mode tracking 71 WAT write absolute position in mode tracking 78 WRT write relative position in mode tracking COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt at gt absolute tracking MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 0 0 0 lowest value 1 000 000 000 1 000 000 000 10 000 000 highest value 1 000 000 000 1 000 000 000 10 000 000 DESCRIPTION The parameter lt at gt gives the target position for the next sampling period in the operational mode position tracking The acceleration and velocity values between two sampling periods are not monitored The parameter lt at gt must be set with care SPECIAL CONSIDERATIONS A relative write access does not refer to the position values prior to applying the parameters lt ap gt but to the actual position of the axis allowing for following errors i e the command WRT lt Parameter gt changes the actual target position directly MAC4 I
63. ation read find edge deceleration read limit switch write find edge velocity write find edge acceleration write find edge deceleration write limit switch find edge write velocity relative write find edge acceleration relative write find edge deceleration relative mode speed read speed velocity read speed acceleration read speed deceleration w ju ooo jN ARIA AIHA AJU WFD_R D RSV RSA RSD wn MD 6 me ROR 9 Ro po wey ii WEA 2 WeD 3 WcyR 4 WCAR Hs WCB ER ig 7 Rv io RD 20 wiv O zao wa O 2 WD 23 WVR 24 WAR 25 WDR 29 RHD _ 30 WHV Bio wia i 32 WHD _ 33 WHV R 34 WHAR 35 WHDR 37 Rey 38 RFA 39 RFD At Wey 2 WEAR so WED as WFVR_ 46 WFAR_ 47 WDR a8 Ms O a9 Ry 50 Rsa CE MACR_ENG DOC Status 04 06 99 Page 132 MAC4 REFERENCE Manual Version 1 2e of 138 Nn i H H H R N D D write speed velocity Code Command Parameter Page nN I 75 II 76 I 81 I 75 II 76 II 16 I 23 I 74 I 70 I 71 I 29 I 74 I 70 I 71 I 74 I 70 I 71 I 29 I 29 T 111 I 85 write speed acceleration write speed deceleration write speed velocity relative write speed acceleration relative write speed deceleration relative Nn an WSV_R WSA_R WSD_R n nN mode brake mode positioning read positioning velocity read positioning acceleration read positioning deceleration r
64. ational mode disable the emergency stop switch was activated the watchdog was activated the drive fault signal is on a following error overflow has occurred an invalid value for the position measurement was read the input value lies above the positive limit lt p gt the input value is less than zero and thus lies outside the range of the absolute encoder e the given parameter value does not lie within the permissible range axis f logo_f limit_f MACR_ENG DOC Status 04 06 99 Page 108 MAC4 REFERENCE Manual Version 1 2e of 138 SEE ALSO URLP URLN UWLN UWLN_R EXAMPLE MAC4 INC UWLN 10000 negative limit switch is set to 10 000 Inc E parameter is activated UWLN_R 5000 negative limit switch is shifted by 5 000 Inc E parameter is activated URLN negative limit switch is read the result was the value 15 000 MACR_ENG DOC Status 04 06 99 Page 109 MAC4 REFERENCE Manual Version 1 2e of 138 URLP UWLP UWLP_R COMMAND CODE MNEMONIC DESIGNATION DESCRIPTION 147 URLP read limit positive 148 UWLP write limit positive 149 UWLP_R write limit positive relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt lp gt limit positive MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 1 000 000 000 16 777 215 10 000 000 lowest value 999 999 999 999 999 999 9 999 999 highest value 1 000 000 000 1 000 000 000 10 000 000 The parameter lt p gt defines the upper software limit sw
65. ault hardware or software limit switch following error overflow signal drive error active SPECIAL CONSIDERATIONS In the operational mode test the axis is not braked in the emergency situation instead it is turned off without activating the braking ramp DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO EXAMPLE MAC4 INC UWLP 10000 positive software limit switch 10 000 Inc is set WAA 200 emergency deceleration 200 Inc SP SP is set ME axis is enabled E enable is activated MS operational mode speed is set E operational mode is activated the axis move to position 10 000 and brought to a stand still with MACR_ENG DOC Status 04 06 99 Page 31 MAC4 REFERENCE Manual Version 1 2e of 138 200 Inc SP SP MACR_ENG DOC Status 04 06 99 Page 32 MAC4 REFERENCE Manual Version 1 2e of 138 RAO WAO WAO_R COMMAND CODE MNEMONIC DESIGNATION 132 RAO read axis offset 133 WAO write axis offset 134 WAO_R write axis offset relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ao gt axis offset MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 0 0 0 lowes
66. axis controller receives a command with a false axis number the interrupt command buffer empty is not activated DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RIRQ2 EXAMPLE WIRQ 100 vector for interrupt set to 100 MACR_ENG DOC Status 04 06 99 Page 63 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQ2 WIRQ2 COMMAND CODE MNEMONIC DESIGNATION 176 RIRQ2 read interrupt vector 2 171 WIRQ2 write interrupt vector 2 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irgq_vec2 gt interrupt vector 2 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The interrupt is activated by entering an non zero interrupt vector otherwise the interrupt is inactive The interrupt 2 answer available indicates that the axis controller has written a response to its output buffer for the command received via the VMEbus SPECIAL CONSIDERATIONS A response is lost if the queue is full In this case no interrupt is generated The interrupt is immediately active without an execute command The response to an command received with a fals
67. by the parameter lt ki gt the relation is lt ki gt 256 C i e the integral amplification values may be set in the range 0 1 1 256 in steps of 1 256 SPECIAL CONSIDERATIONS The command value generated by the integrator is limited to avoid windup The value entered in the parameter lt ki gt is shifted to the right in binary steps to allow for finer resolutions The number of shift steps is defined in the parameter lt ki_sc gt A high I component can lead to instability problems in the controller DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RGA RLT RPO RZE URKISC EXAMPLE WKI 1 integral amplification is set to the value 1 256 before scaling E parameter is activated MACR_ENG DOC Status 04 06 99 Page 70 MAC4 REFERENCE Manual Version 1 2e of 138 RLT WLT WLT_R COMMAND CODE MNEMONIC DESIGNATION 97 RLT read limit torque 98 WLT write limit torque 99 WLT_R write limit torque relative COMPATIBILITY MAC4 INC MAC4 SSI O MAC4 STP PARAMETER lt t gt limit torque MAC4 INC MAC4 SSI default value 2 047 2 047 lowest value 1 1 highest value 2 047 2 047 DESCRIPTIO
68. ccurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF EXAMPLE MAC4 SSI WDL 2 positive limit switch search WFV 1000 velocity 1 000 Inc SP is set WFA 100 acceleration 100 Inc SP SP is set MF operational mode find edge is set E switch justification is started the axis accelerates in 10 SP to the velocity 1 000 Inc SP MACR_ENG DOC Status 04 06 99 Page 53 MAC4 REFERENCE Manual Version 1 2e of 138 RFD WFD WFD_R COMMAND CODE MNEMONIC DESIGNATION 39 RFD read find edge deceleration 43 WFD write find edge deceleration 47 WFD_R write find edge deceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt fd gt find edge deceleration MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP default value 50 50 500 lowest value 1 1 1 highest value 2 000 000 2 000 000 8 000 DESCRIPTION The parameter lt fd gt defines the braking acceleration in the operational mode find edge SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF
69. city 33 WHV_Rwrite home velocity relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt hv gt home velocity MAC4 INC MAC4 STP Inc SP Hz default value 1 000 2 000 lowest value 250 000 000 50 000 highest value 250 000 000 50 000 DESCRIPTION The parameter lt hv gt defines the velocity during the constant velocity phase of the operational mode home SPECIAL CONSIDERATIONS The sign of the parameter lt hv gt defines the direction the motion DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MH EXAMPLE MAC4 STP WHV 1000 velocity 1 000 Hz is set MH operational mode home is set E operational mode is activated the home switch is sought in negative direction MACR_ENG DOC Status 04 06 99 Page 60 MAC4 REFERENCE Manual Version 1 2e of 138 RIA WIA WIA_R COMMAND CODE MNEMONIC DESIGNATION 18 RIA read index acceleration 21 WIA write index acceleration 24 WIA_R write index acceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt ia gt index acceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest va
70. coded according to the following table 0 disable a ees enable 7 brake 2 searchindex coarse 8 positioning 38 search index 9 velocity tracking P 4 shome tates S findedges position tracking 6 speed 2 reset o SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO RAS RSS EXAMPLE RBS user status is read returns e g the value 02000108 i e the axis is to the operational mode positioning the axis is enabled the axis is in the on fly operation MACR_ENG DOC Status 04 06 99 Page 42 MAC4 REFERENCE Manual Version 1 2e of 138 RBT WBT WBT_R COMMAND CODE MNEMONIC DESIGNATION 237 RBT read boost time 238 WBT write boost time 239 WBT_R write boost time relative COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt bt gt boost time MAC4 STP ms default value 100 lowest value 1 highest value 10 000 DESCRIPTION The BOOST signal is applied before each stepper motor move and is switched off at stand still The activation of the BOOST signal is indicated by setting the bit boost in the system status This signal must be applied to the motor driver for a period prior to motion defined by the parameter value lt bt gt The time specified is rounded up to an integer multiple of the system sampling period SP After expiration of the time lt bt gt the axis controller sets the bit boost_en in the system status On turn off
71. d description about each the commands implemented in the axis controller In order to simplify reading each command is given as its mnemonic These abbreviations are not relevant for real communication with the axis instead the corresponding command codes must be entered in the queue and be transferred to the serial interface see Users Manual The commands are alphabetically sorted according to their mnemonics Write and read commands that refer to the same parameter are covered jointly They are dealt with in the abbreviation of the read command e g Rxx Wxx Wxx_R or URxx UWxx UWxx_R Write read commands that begin with a U refer to system specific parameters The structure is explained by means of examples EXPL COMMAND CODE MNEMONIC DESIGNATION The command code the command abbreviation and a short designation the command are provided at this point code EXPL example COMPATIBILITY This section states for which type of axis controller the command is relevant applies O does not apply PARAMETER If the command refers to a parameter implemented within the axis controller this is given here along with default and any nominal limit value The permissible value range for this parameter may be further limited by global system parameter values DESCRIPTION Here follows a description on the effect the command has when processed by the axis controller SPECIAL CONSIDERATIONS Here attention is drawn to any special asp
72. ded position are compared If the axis is no longer in the tolerance band lt tr gt around the commanded position the axis controller switches the BOOST signal on and positions again to the commanded position The period lt sw gt is reactivated after reaching the commanded position Retriggering the waiting period lt sw gt at the end of each move profile ensures that a minimum period lt sw gt lies between direction changes If the axis lies in the target range after expiration of the period lt sw gt the axis controller turns the BOOST signal off The axis control output goes to zero The time measurement is restarted SPECIAL CONSIDERATIONS The set parameter is automatically rounded to units of the SP DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MP RTR EXAMPLE WSW 100 waiting time is set to 100 ms internally is rounded up to 104 ms WTR 10 target radius is set to 10 Steps WAP 10000 target position is set MP operational mode positioning is set E positioning move is started after completion of motion 100 ms delay occurs MACR_ENG DOC Status 04 06 99 Page 88 MAC4 REFERENCE Manual Version 1
73. des in the Appendix to this documentation Mnemonic Po Acknowledgeerror Po einitiatise S Po Execute Command i O PO Initialise Parameter Description MBO brake O MC search index coarse O MDOP disable MEO nena te MFO findeedge O MBO shome k ME searchindex SO MPO positioning O MRO eset BO Os ae PT positioning tracking O Vr velocity tracking S O uE o G test System Set up Mnemonic Parameter FLYOFF Turn off on fly operation FLYON Turn on on fly operation TURBO el Turn on or off TURBO operation original polarity Define position new US Table 1 1 Command Overview MACR_ENG DOC Status 04 06 99 Page 6 MAC4 REFERENCE Manual Version 1 2e of 138 Parameter watchdog Time Zero position the lead lag filter UREA UWEA RIRQ5 WIRQ5 Vector for interrupt 5 JRLP JRMS UWMS UWMS_R Number of steps of the motors per revolution URKISC UWKISC Scaling factor for Integral amplification U URNS UWNS Setting the negative hardware limit switch URES UWES Effective number of encoder lines per motor revolution U UWLP UWLP_R Positive software limit switch for linear axis URET UWET Type the position measurement systems URLN UWLN UWLN_R Negative software limit switch for linear axis Setting the drive fault signal Table 1 1 Command Overview cont UREC UWEC Value range the counter absolute encoders MACR_ENG DOC Status 04 06 99 Page 7 MAC4 REFERENCE
74. e 36 mode indedge dT mH 2 modehome S e a i Mmi 16 mode searchindex o h MP 59 mode positioning o b m MrR s4 modereset sd Mms 48 modespeea S e s pr 169 positiontracking 6 read absolute position in mode positioning RAS 120 read common status o be Y O i Rav 260 readactual velocity Ts RBs u8 _ readuserstatus oo e Os RCA 8 read coarse acceleration ca m38 RCD 9 read coarse deceleration cd TO RCP read current position ooo l TI 40 RCPI 259 read current position in increments 4 Rer us readcouner S beo e 11 43 RED 233 readencoder diret T RFD 39 read find edge deceleration fds RFE i21 readfollowingerror CA RHD 29 _ readhome deceleration hd S RID 19 readindex deceleration kid 6 RIRQ4 178 read interruptvectord TT lt irgivect gt meo MACR_ENG DOC Status 04 06 99 Page 128 MAC4 REFERENCE Manual Version 1 2e of 138 RKI 91 readintegral gain ski Rv 109 readlowvelocity ve me fRouT 258 readoutput S e o RPD 62 read positioning deceleration _ lt pd gt mn Reo 94 readpole po Res 17 readspeed sd RP 60 read positioning velocity sf lt pv gt TA RSA IRsS_ 19 readsystemstas 7 TURBO 246 turbo mode onfoff_ ss jue 82 entertestmode sd 89 FURCR 153 read circular range er URET 128 _ readencodertype cet m SC H UsN_ 124 setoutputnormal SS e w usr 125 setoutputreverse o bo mw uwcr 154 writecireularrange er UWCRR 155
75. e modes disable enable or brake are called DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RAT EXAMPLE MAC4 INC WAT 0 start position 0 Inc is set PT operational mode position tracking is set E operational mode is activated WAT 10 next position 10 Inc is set E new target position is activated WAT 50 next position 50 Inc is set E new target position is activated WAT 100 next position 100 Inc is set E new target position is activated MACR_ENG DOC Status 04 06 99 Page 30 MAC4 REFERENCE Manual Version 1 2e of 138 RAA WAA WAA_R COMMAND CODE MNEMONIC DESIGNATION 106 RAA read emergency deceleration 107 WAA write emergency deceleration 108 WAA_R write emergency deceleration relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ed gt emergency deceleration MAC4 INC MAC4 SSI MAC4 STP Inc SP SP Inc SP SP Hz SP default value 50 50 5 000 lowest value 1 1 1 highest value 2 000 000 2 000 000 8 000 DESCRIPTION Emergency deceleration serves to stop the axis in a situation of fault or danger The function is used in the following cases reset command watchdog f
76. e axis number causes the interrupt answer available to be generated with the interrupt vector of the last valid axis DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RIRQI EXAMPLE WIRQ2 100 vector for interrupt 2 is set to 100 MACR_ENG DOC Status 04 06 99 Page 64 MAC4 REFERENCE Manual Version 1 2e of 138 RIRQ3 WIRQ3 COMMAND CODE MNEMONIC DESIGNATION 177 RIRQ3 read interrupt vector 3 172 WIRQ3 write interrupt vector 3 COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt irg_vec3 gt interrupt vector 3 MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 255 255 255 DESCRIPTION The interrupt is activated by entering an non zero interrupt vector otherwise the interrupt is inactive The interrupt 3 drive fault indicates that the signal drive fault is active SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for
77. e value of lt cr gt the circular axis has the size of the absolute encoders DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the parameters for a circular axis with absolute encoder cannot be set up e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO INIT URCR UREB URET EXAMPLE UWET 4 encoder type external absolute encoder is set UWEC 72000 range of values of the counter absolute encoder is set INIT parameter is activated and position measurement system initialised read values over 72 000 cause a fault message MACR_ENG DOC Status 04 06 99 Page 104 MAC4 REFERENCE Manual Version 1 2e of 138 URES UWES COMMAND CODE MNEMONIC DESIGNATION 253 URES read encoder steps 254 UWES write encoder steps COMPATIBILITY OMAC4 SSI OMAC4 SSI MAC4 STP PARAMETER lt es gt encoder steps MAC4 STP Lines per rev default value 1 000 lowest value 1 highest value 1 000 000 number of lines per motor revolution DESCRIPTION If the axis position is read from a position encoder the measured value increments must be converted into motor steps steps The parameter lt es gt gives the number of effective encoder lines per motor revolution Internally lt es gt is multiplied by 4 and thus allows for quadrature
78. ead absolute position in mode positioning write positioning velocity Nn lt pv gt lt pa gt lt pd gt lt ap gt lt pv gt lt pa gt lt pd gt lt pv gt lt pa gt lt pd gt lt ap gt lt ap gt NIX Nl RAP WPV WPA WPD WPV_R WPA_R WPD_R RZ write positioning acceleration write positioning deceleration write positioning velocity relative write positioning acceleration relative write positioning deceleration relative write absolute position in mode positioning write relative position in mode positioning velocity tracking read tracking velocit read absolute position in mode tracking write tracking velocity write tracking velocity relative write absolute position in mode tracking write relative position in mode tracking enter test mode oO lt tv gt lt at gt lt tv gt lt tv gt lt at gt lt at gt I 85 I 85 J I 32 I 89 mode reset o0 Nn I 51 I 51 I 51 I 87 I 87 I 87 II 64 II 64 II 64 I 72 I 72 I 72 I 65 I 65 I 65 I 44 read gain write gain Co write gain relative read zero Co write zero write zero relative read integral gain write integral gain write integral gain relative read pole write pole write pole relative read limit torque write limit torque write limit torque relative read direct output write direct output LISS O o Q0 o0 PO_R I 44 I 67 I 67 I 67 I 27 write direct output relative read maxim
79. ead encoder type 129 UWET write encoder type COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt et gt encoder type MAC4 INC MAC4 SSI MAC4 STP default value 1 2 1 lowest value 1 1 0 highest value 4 4 4 DESCRIPTION The position measurement system used is defined with this value 0 Stepcounting o o o 1__L Incremental encoder atP2 _ __x _ x _ SSI absolute encoder at P2 operating incrementally 2 SSI absolute encoder at P2 ee eee ees 3 External incremental positionencoder_ x x x External absolute position encoder x configurable SPECIAL CONSIDERATIONS Write access to the parameter lt ef gt is only permissible in the deinitialised condition If an external position encoder is connected the parameters lt ea gt lt eb gt and lt ec gt must be defined When a position encoder is connected to the peripheral connector P2 these parameters are automatically generated In the case of an SSI absolute encoder the parameter lt sc gt must be set to indicate by how many binary places the values must be right shifted DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO INIT UREA UREB UREC URSC EXAMPLE MAC4 STP UW
80. ead speed read user status read system status read common status read following error write zero position set output normal set output reverse read shaft write shaft read encoder type write encoder type read encoder counter range write encoder counter range read axis offset write axis offset write axis offset relative W Nn read encoder address 36 37 38 write encoder address read encoder bit size write encoder bit size read positive limit switch write positive limit switch read negative limit switch write negative limit switch read reference switch U o i o i N P O write reference switch 2 read drive fault switch oN write drive fault switch read limit positive write limit positive write limit positive relative read limit negative write limit negative write limit negative relative read circular range P a 2o b ea WLV R RTR WIR WIR R RCT RCP RPS RBS RSS P i glz Z LN_R Oo Z vs a Cc z Q k write circular range write circular range relative h z z a is a Sv 3 N N E z Q wn MACR_ENG DOC Status 04 06 99 Page 134 MAC4 REFERENCE Manual Version 1 2e of 138 i oN nn RWD WWD II 86 II 86 I 26 I 57 lt wd gt lt wd gt read watchdog write watchdog position tracking write interrupt vector 1 WIRQI lt
81. ects the command e g restrictions that should be observed DIAGNOSTICS This section includes a short description of possible error messages that may result from using the command SEE ALSO Reference is made here to commands that are related to the command being described In the case of cross references to commands using parameters only the corresponding Read command is mentioned MACR_ENG DOC Status 04 06 99 Page 9 MAC4 REFERENCE Manual Version 1 2e of 138 EXAMPLE The processing sequence of the command and its effect on the axis are illustrated in this section by means of an example This example is always independent of context a preceding initialisation the axis is not specifically mentioned The command mnemonics are used instead the command codes in order to improve the readability the examples The examples have the structure EXPL comment to command MACR_ENG DOC Status 04 06 99 Page 10 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 2 C clear errors COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The command clears all axis as well as global following error flags if set In the case that following overflow has occurred this is also reset It returns the actual user status 5 appears at the 7 segment LED display SPECIAL CONSIDERATIONS Any error must first be cleared before the axis controller can accept further commands Exceptions
82. eration 56 index velocity 63 initialization 15 integral amplification 64 interrupt 1 command buffer empty 57 interrupt 3 drive error 59 interrupt 4 end of positioning 60 interrupt 5 emergency stop 61 interrupt 6 encoder value 62 limit negative 98 limit positive 100 limit switch 45 maximum following error 67 motor rotation 109 motor steps 101 negative limit switch 45 102 output value 44 69 pole 72 position 40 position in mode positioning 29 position in mode tracking 32 positioning 23 70 positioning acceleration 70 positioning deceleration 71 MACR_ENG DOC positioning velocity 74 positive limit switch 45 103 proportional amplification 51 range of values 94 reset 24 scaling factor 97 105 106 search index coarse 36 search velocity 66 servo mode wait time 82 slow justification phase 80 start stop frequency 79 step counts 80 stop 13 16 stop Bits 16 system status 77 target radius 83 target radius wait time 84 test mode 89 the interrupt answer available 58 torque limit 65 tracking velocity 85 turbo mode on off 88 User status 35 velocity 25 75 81 velocity acceleration 75 velocity deceleration 76 version 110 watchdog 86 zero 87 zero position 112 E Status 04 06 99 MAC4 REFERENCE Manual Version 1 2e Page 138 of 138
83. error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO MI RCA RCD RCV RIRQ4 EXAMPLE MC operational mode search index coarse is set WCV 500 negative search velocity is set E operational mode is activated the axis is approximately positioned to the next index pulse in negative MACR_ENG DOC Status 04 06 99 Page 18 MAC4 REFERENCE Manual Version 1 2e of 138 direction MACR_ENG DOC Status 04 06 99 Page 19 MAC4 REFERENCE Manual Version 1 2e of 138 MD COMMAND CODE MNEMONIC DESIGNATION 5 MD mode disable COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The addressed axis is disabled and the value zero is output to the motor driver The enable bit dr_en in the user status is cleared SPECIAL CONSIDERATIONS A change to the operational mode disable during a movement causes the axis to brake to a stand still without a braking ramp DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO ME EXAMPLE MS operational mode speed is set E operational mode is activated MD operational mode disable is set E operational mode is activated the motor is immediately disabled
84. ghest value BEFFFE BEFFFE BEFFFE address of the internal counter register axis specific DESCRIPTION The parameter lt ea gt defines the address where the axis controller should find position information If the internal counter is used as the position source lt et gt 0 1 2 the parameter lt ea gt is automatically set to the corresponding address during initialisation INIT When using an external position encoder lt et gt 3 4 the user must enter the DPRAM address of the axis controllers The host writes position information to this address or the VMEbus address The axis controller reads the position information independently as VMEbus Master in the parameter lt ea gt The DPRAM address are see Users Manual Axis 1 lt ea gt 330A Axis 2 lt ea gt 370A Axis 3 lt ea gt 3B0A Axis 4 lt ea gt 3F0A The VMEbus address can lie in the standard VMEbus range 100000 BEFFFE SPECIAL CONSIDERATIONS This parameter can only be set in the deinitialised condition When using an external position measurement system a significant value must be entered in the address range identified by lt ea gt before initialisation In the case of transfer of position information via the DPRAM the host must ensure the correct interlocking procedure see Users Manual MACR_ENG DOC Status 04 06 99 Page 100 MAC4 REFERENCE Manual Version 1 2e of 138 UREA UWEA DIAGNOSTICS axis f e false axis numbe
85. hest value 250 000 000 250 000 000 50 000 DESCRIPTION The parameter lt sv gt defines the commanded velocity for the operational mode speed SPECIAL CONSIDERATIONS The sign of the parameter lt sv gt gives the direction of motion for the axis DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MS RSA EXAMPLE MAC4 STP WSV 1000 velocity 1 000 Hz is set MS operational mode speed is set E operational mode is activated the axis moves after completion of the starting ramp at 1 000 Hz MACR_ENG DOC Status 04 06 99 Page 87 MAC4 REFERENCE Manual Version 1 2e of 138 RSW WSW COMMAND CODE MNEMONIC 261 RSW read servo mode wait time 262 WSW write servo mode wait time COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt sw gt servomode wait time MAC4 STP ms default value 0 lowest value 0 highest value 3 600 000 DESCRIPTION In the servomode the time lt sw gt is allowed to expire after completion a move before the position is checked This time allows for possible oscillations of the system to dampen down After expiration of the time lt sw gt the actual and comman
86. highest value 999 999 999 999 999 999 10 000 000 DESCRIPTION The actual axis position is with the parameter lt temp gt allowing for following error if relevant The axis offset lt ao gt thus has a changed significance MAC4 STP lt ao_new gt lt ao_old gt lt temp gt lt actual position gt MAC4 INC SSI lt ao_new gt lt ao_old gt lt temp gt lt actual position gt lt following error gt SPECIAL CONSIDERATIONS The velocity command must be zero when using this command In the case of a linear axis with an absolute encoder the parameter lt temp gt must lie in the range 0 lt lt temp gt lt lt ec gt In the case of a circular axis the parameter lt temp gt must lie in the range 0 lt lt temp gt lt lt cr gt DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the reference velocity is not zero e the watchdog was activated e the drive fault signal is on e a following error has occurred e an invalid value for the position measurement was read limit_f e for an absolute encoder the commanded value lies out of the range lt ec gt e the command value lies outside of the axis range for a circular axis e the given parameter value does not lie within the permissible range MACR_ENG DOC Status 04 06 99 Page 123 MAC4 REFERENCE Manual Version 1 2e of 138 SEE ALSO EXAMPLE MAC4 INC RCP RAO RFE WZP 100
87. hin the permissible range SEE ALSO MF EXAMPLE MAC4 SSI WDL 0 home switch search WFV 1000 velocity 1 000 Inc SP is set MF operational mode find edge is set E switch justification is started a search for the home switch is made in positive direction MACR_ENG DOC Status 04 06 99 Page 56 MAC4 REFERENCE Manual Version 1 2e of 138 RGA WGA WGA_R COMMAND CODE MNEMONIC DESIGNATION 85 RGA read gain 86 WGA write gain 87 WGA_R write gain relative COMPATIBILITY MAC4 INC MAC4 SSI O MAC4 STP PARAMETER lt ga gt gain MAC4 INC MAC4 SSI default value 7 7 lowest value 0 0 highest value 255 255 DESCRIPTION A lead lag filter PD similar behaviour with a parallel integrator I behaviour is implemented as the control algorithm The transfer function of the lead lag filter is G K 1 Az 1 Bz with the corresponding recursive form u k K e k K A e k 1 B u k 1 The proportional amplification K of the lead lag filter can be set with the parameter lt ga gt the ratio lt ga gt 4 K applies i e amplification values in the range 0 63 75 can be set in steps of 0 25 SPECIAL CONSIDERATIONS High amplification values can lead to stability problems DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an in
88. i e the axis brakes without a braking ramp MACR_ENG DOC Status 04 06 99 Page 20 MAC4 REFERENCE Manual Version 1 2e of 138 ME COMMAND CODE MNEMONIC DESIGNATION 4 ME mode enable COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION An axis must first be enabled before it can execute movement After enabling the axis the actual position is held SPECIAL CONSIDERATIONS This operational mode can only be activated if the axis has been initialised A change to the operational mode enable during motion causes an immediate stop without a braking ramp In contrast to mode disable the axis is not then disabled If the linear axis happens to be outside the permissible software limits lt Jn gt and lt p gt at the moment of enable it is immediately disabled The axis can be moved after enabling has been repeated however movement is only permitted in the permissible direction DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis was not initialised e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO INIT MD EXAMPLE MD axis is disabled E disable activated MS operational mode speed is set results in a fault because axis is not enabled Cc delete error ME enable axis E activate enable MS o
89. itch If this position is exceeded the axis is braked and disabled The bit swl_p in the user status indicates that the axis is at the positive limit The axis can be enabled Only motion in negative direction is allowed until the positive limit is no longer active SPECIAL CONSIDERATIONS The parameter can only be set if the axis is in the operational mode disable The upper software limit switch must be greater than the lower lt p gt gt lt ln gt If an absolute encoder is connected the upper software limit switch position must lie within the range of the absolute encoder lt ec gt lt lp gt lt lt ec gt If the axis is defined as circular the parameter lt p gt is ignored DIAGNOSTICS axis f logo_f false axis number an error condition was not acknowledged the axis is not to the operational mode disable the emergency stop switch was activated the watchdog was activated the drive fault signal is on a following error overflow has occurred limit_f SEE ALSO an invalid value for the position measurement was read the input value lies under the negative limit lt n gt the input value exceeds the range of the absolute encoder the given parameter value does not lie within the permissible range URLN EXAMPLE MAC4 STP UWLP 10000 positive limit switch is set to 10 000 steps E parameter is activated UWLP_R 5000 positive limit switch is shifted by 5 000 steps E parameter is
90. itialised e the axis controller is not in the operational mode enable disable or brake SEE ALSO RDA USR EXAMPLE MAC4 STP UE operational mode test is set E operational mode is activated WDA 100 step frequency 100 Hz is set E step frequency is activated MACR_ENG DOC Status 04 06 99 Page 97 MAC4 REFERENCE Manual Version 1 2e of 138 URCR UWCR UWCR_R COMMAND CODE MNEMONIC DESIGNATION 153 URCR read circular range 154 UWCR write circular range 155 UWCR_R write circular range relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt cr gt circular range MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value 2 000 16 777 216 2 000 lowest value 1 1 1 highest value 1 000 000 000 1 000 000 000 10 000 000 DESCRIPTION The parameter lt cr gt defines the size of a circular axis one revolution The start of a circular axis is always zero The permissible range of a circular axis is thus 0 lt cr gt 1 If the axis position reaches the value lt cr gt then it set back to zero if the position drops to zero it is set back to lt cr gt 1 SPECIAL CONSIDERATIONS Write access to the parameter lt cr gt UWCR UWCR_R are only possible in the operational mode disable If the axis is defined as linear the parameter lt cr gt is ignored The value of lt cr gt overwrites the parameter lt ec gt if the axis is defined as circular axis and an absolute encoder is attached The axis must h
91. limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF URNS URRS EXAMPLE UWPS 1 the level of the positive limit switch is set E parameter is activated the positive hardware limit switch is active low MACR_ENG DOC Status 04 06 99 Page 114 MAC4 REFERENCE Manual Version 1 2e of 138 URRS UWRS COMMAND CODE MNEMONIC DESIGNATION 143 URRS read reference switch 144 UWRS write reference switch COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt rs gt reference switch MAC4 INC MAC4 SSI MAC4 STP default value 1 1 1 lowest value 0 0 0 highest value 2 2 2 DESCRIPTION The active level of the home switch input can be configured lt rs gt 0 OFF not connected lt rs gt 1 active low lt rs gt 2 active high SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted the parameter after the initialisation to is set e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF MH URNS URPS EXAMPLE UWRS 0 the level of the home switch is set E parameter is activated there is no home switch connected MACR_ENG DOC Status 04 06 99 Page 115 MAC4 REFERENCE Manual Version 1 2e of 138 URSC UWSC COMMAND CODE MNEMONIC DESIGNATIO
92. ll as the interrupt end of positioning SPECIAL CONSIDERATIONS A change to the operational mode search index is only possible in the modes enable or brake This operational mode is only permissible if an incremental encoder with an index pulse is connected directly to the axis controller DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e there is no position encoder with index pulse specified e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO MC RIA RID RIV RIRQ4 RLV EXAMPLE MI operational mode search index is set WIV 500 positive search velocity is set E operational mode is activated the axis is positioned to the next index pulse in positive direction MACR_ENG DOC Status 04 06 99 Page 26 MAC4 REFERENCE Manual Version 1 2e of 138 MP COMMAND CODE MNEMONIC DESIGNATION 59 MP mode positioning COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The axis moves to the target position given by lt ap gt During movement a trapezoidal velocity profile is used Depending on the set velocity and acceleration values and the distance to the target position triangular or rectangular profiles may result In the case of
93. lue 1 1 highest value 2 000 000 8 000 DESCRIPTION The parameter lt ia gt gives the acceleration during the starting ramp of the operational mode search index SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MI EXAMPLE MAC4 INC WIV 1000 velocity 1 000 Inc SP is set WIA 200 acceleration 200 Inc SP SP is set MI operational mode search index is set E operational mode is activated the axis is accelerated in 5 SP to the velocity 1 000 Inc SP if not the index pulse is not registered previously MACR_ENG DOC Status 04 06 99 Page 61 MAC4 REFERENCE Manual Version 1 2e of 138 RID WID WID_R COMMAND CODE MNEMONIC DESIGNATION 19 RID read index deceleration 22 WID write index deceleration 25 WID_R write index deceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt id gt index deceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest value 1 1 highest value 2 000 000 8 000 DESCRIPTION The parameter lt id gt gives the braking acceleration during the braking ramp of the operational mode search index
94. mostly registered and are subject to copyright MACCON would like to thank port for their development work on the MAC series of position controllers and the engineers the European Southern Observatory ESO for their part in the generation and correction of this documentation Copyright 1996 MACCON GmbH port Automation Kuehbachstr 9 Antonienstr 3 D 81543 Munich D 06749 Bitterfeld Tel 49 89 651220 0 Tel 49 3493 743 10 Fax 49 89 655217 Fax 49 3493 743 15 e mail sales maccon de e mail service port de MACR_ENG DOC Status 04 06 99 Page 3 MAC4 REFERENCE Manual Version 1 2e of 138 General This documentation of the motor axis controller family MAC4 consists of a User and a Reference Manual This user Manual serves as an introduction in the use of the MAC series of axis controllers The procedure for the integration of axis controllers in the user system is described here This Reference Manual includes an instruction description for each command The page references given in the index refer to this Reference manual only Please also refer to index of user Manual Differentiation is made between the manuals by the roman numbers I user Manual and JI Reference Manual Conventions e Parameter for the axis controllers are designated in the text as follows lt abbreviation for parameter gt A summary of all these abbreviations is given in the appendix e Hexadecimal numbers are designated in the text as
95. n The value 0 ms means that the end the positioning move is reported immediately on entry of the target radius The nominal value is internally rounded up to an integer value of the SP DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MP RBS RIRQ4 RTR EXAMPLE MAC4 INC WTRT 1000 waiting time is set to ls is set WTR 100 target radius is set to 100 Inc is set WAP 10000 target position is set MP operational mode positioning is set MACR_ENG DOC Status 04 06 99 Page 91 MAC4 REFERENCE Manual Version 1 2e of 138 E positioning move is started the end the positioning move is recognised if the axis remains at least one sec in the range 9 900 10 100 Inc MACR_ENG DOC Status 04 06 99 Page 92 MAC4 REFERENCE Manual Version 1 2e of 138 RTV WTV WTV_R COMMAND CODE MNEMONIC DESIGNATION 73 RTV read tracking velocity 75 WTV write tracking velocity 76 WTV_R write tracking velocity relative COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt tv gt tracking velocity MAC4 INC MAC4 SSI MAC4 STP Inc SP Inc SP Hz default value 100 100 2 000 lowest value 250 000 000 250 000 00
96. n gt lt Parameter gt In the case of linear axes the parameter lt ap gt must lie within the set software limits lt ln gt lt lt ap gt lt lt lp gt In the case of a circular axis the parameter lt ap gt must lie within the range 0 lt lt ap gt lt lt cr gt MACR_ENG DOC Status 04 06 99 Page 35 MAC4 REFERENCE Manual Version 1 2e of 138 DIAGNOSTICS axis f logo_f limit_f SEE ALSO EXAMPLE MAC4 STP MF WDL 0 E WRP 1000 MP E MACR_ENG DOC RAP WAP WRP false axis number an error condition was not acknowledged the emergency stop switch was activated the watchdog was activated the drive error signal is on a following error overflow has occurred an invalid value for the position measurement was read the given target position lies outside the axis range the given parameter value does not lie within the permissible range MP URCR URLN URLP operational mode find edge is set justification to the home switch reference move is started axis justification to the home switch target position 1 000 steps after the reference position operational mode positioning is set positioning move is started Status 04 06 99 Page 36 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 120 RAS read overall status COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The overall or general status for all axes is returned
97. nc Steps default value 8 000 8 000 8 000 lowest value 1 1 1 highest value 32 000 32 000 32 000 DESCRIPTION The difference between the commanded and actual position of the axis is designated as following error Possible causes for the axis not being able to maintain the commanded position are a wiring fault too large value of velocity or acceleration the motor cannot follow an error of the position measurement system MAC4 INC SSI bad controller parameters MAC4 STP a wrong value input for the number of motor steps lt ms gt or the number of encoder lines lt es gt MAC4 STP a disadvantageous ratio of lt es gt to lt ms gt that causes excessive rounding errors e poor mechanical connection between motor and encoder e afalsely connected motor or encoder i e for positive motor movement the encoder counts downwards e MAC4 SSI wrong shift factor lt sc gt for the position encoder The parameter lt mf gt gives the maximum permissible value of the following error If this value is exceeded the controller brakes the axis with the emergency braking acceleration lt ed gt and then disables the axis The fault message Following error overflow is activated A following error overflow is indicated by the bit ferr_f in the user status SPECIAL CONSIDERATIONS MAC4 STP A following error can also result when counting steps internally because of a time difference between position measurement and command output The maxim
98. ncy write start stop frequency write start stop frequency relative read step counts write step counts N N oN N write step counts relative turbo mode on off read encoder steps write encoder steps read ki scaling factor write ki scaling factor read output read current position in increments read actual velocity read servo mode wait time Nn lt es gt i_sc gt _sc gt N Nn N ISC I 41 I 34 I 82 I 82 I 84 I 84 I 62 I 62 write servo mode wait time read target radius wait time write target radius wait time write interrupt vector 6 read interrupt vector 6 lt trt gt lt trt gt lt irq_vec6 gt lt irq_vec6 gt i p S ZIBlEIZIPIA Z 12 B S 2 B 1S amp oN A O b v2 AIA A VIV Vv Q6 MACR_ENG DOC Status 04 06 99 Page 135 MAC4 REFERENCE Manual Version 1 2e of 138 deinitialisation temporary parameter MACR_ENG DOC Status 04 06 99 Page 136 MAC4 REFERENCE Manual Version 1 2e of 138 Index lt ao gt 28 lt ap gt 29 lt at gt 32 lt bt gt 37 lt ca gt 38 lt cd gt 39 lt cr gt 90 lt cv gt 43 lt da gt 44 lt df gt 108 lt dl gt 45 lt ea gt 91 lt eb gt 93 lt ec gt 94 lt es gt 95 lt et gt 96 lt fa gt 47 lt fd gt 48 lt fv gt 50 lt ga gt 51 lt ha gt 52 lt hd gt 53 lt hv gt 54 lt ia gt 55 lt id gt 56 lt irg_vecI gt lt irq_vec2 gt lt irg_vec3 gt lt irgq_vec4 gt lt irg_vec5 gt lt irgq_
99. ndex pulse SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MC EXAMPLE MAC4 INC MC operational mode search index coarse is set WCD 10 braking acceleration 10 Inc SP SP is set WCV 50 velocity 50 Inc SP is set E operational mode is activated after recognition of the index pulse the axis is braked within 5 SP MACR_ENG DOC Status 04 06 99 Page 45 MAC4 REFERENCE Manual Version 1 2e of 138 RCP COMMAND CODE MNEMONIC DESIGNATION 116 RCP read current position COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual position is returned as a parameter in the following units MAC4 INC Increments MAC4 SSI Increments MAC4 STP Steps SPECIAL CONSIDERATIONS MAC4 STP If a position measurement system is connected with a lower resolution than the motor steps 4 lt es gt lt lt ms gt the accuracy of the target position is reduced accordingly The read position in increments does not give exact information about the real motor position in steps This inaccuracy is allowed for by the controller during positioning DIAGNOSTICS axis f
100. nterrupt is activated by entering an non zero interrupt vector otherwise the interrupt is inactive The interrupt 6 encoder value indicates that the axis controller has read the position information from the DPRAM and a new value can be entered SPECIAL CONSIDERATIONS If the start position is missing in the DPRAM and an interrupt vector was entered the axis controller demands the start position during the axis initialisation per interrupt After entering the start position in the DPRAM the interlock flag must be set DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO EXAMPLE WIRQ6 150 vector for interrupt 6 is set to 150 MACR_ENG DOC Status 04 06 99 Page 68 MAC4 REFERENCE Manual Version 1 2e of 138 RIV WIV WIV_R COMMAND CODE MNEMONIC DESIGNATION 17 RIV read index velocity 20 WIV write index velocity 23 WIV_R write index velocity relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt iv gt index velocity MAC4 INC MAC4 STP Inc SP Hz default value 1 000 2 000 lowest value 250 000 000 50 000 highest value 250 000 000 50 000 DESCRIPTION The parameter lt iv
101. op switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF URPS URRS EXAMPLE UWNS 2 the switching level of the negative limit switch is set E parameter is activated the negative hardware limit switch is active high MACR_ENG DOC Status 04 06 99 Page 113 MAC4 REFERENCE Manual Version 1 2e of 138 URPS UWPS COMMAND CODE MNEMONIC DESIGNATION 139 URPS read positive limit switch 140 UWPS write positive limit switch COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ps gt positive limit switch MAC4 INC MAC4 SSI MAC4 STP default value 1 1 1 lowest value 0 0 0 highest value 2 2 2 DESCRIPTION The active state of the positive hardware limit switch input can be configured lt ps gt 0 OFF not connected lt ps gt 1 active low lt ps gt 2 active high SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition It must be ensured that the hardware limit switch remains active over the complete endangered region There is no protection against incorrect operation when the axis runs over the limit switch range i e the axis comes to a stand still behind the switch DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted the parameter after the initialisation is set e the emergency stop switch was activated e the watchdog was activated
102. owest value 0 0 0 highest value 2 2 2 DESCRIPTION The parameter lt d gt defines to which switch justification is made in the operational mode find edge P homeswith O negative limit switch positive limit switch SPECIAL CONSIDERATIONS Circular axes can only justify to the home switch DIAGNOSTICS axis_f e false axis number logo_f e an error condition was not acknowledged e the limit switch was defined for a circular axis e the given switch was as OFF declared e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MF EXAMPLE WDL 1 negative limit switch search MF operational mode find edge is set E switch justification is started the axis is automatically driven in negative direction search negative limit switch and positioned to the right edge MACR_ENG DOC Status 04 06 99 Page 51 MAC4 REFERENCE Manual Version 1 2e of 138 RED COMMAND CODE MNEMONIC DESIGNATION 233 RED read encoder direct COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The value of the counter register memory or the external position encoder is returned directly unprocessed without unit conversion SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number
103. owever be in the deinitialised condition DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e lt cr gt was set for a circular axis with connected absolute encoder after the initialisation e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read e the axis controller is not in the operational mode disable limit_f e the given parameter value does not lie within the permissible range SEE ALSO UREC URET URSH EXAMPLE MAC4 SSI UWSH 3 axis type circular optimised is set UWCR 10000 size of the circular axis is set INIT axis initialised ME axis enable E enabling is activated RCP actual position is read e g 1 000 Inc WRP 2000 position 2 000 Inc in negative direction MP operational mode positioning is set E operational mode is activated MACR_ENG DOC Status 04 06 99 Page 98 MAC4 REFERENCE Manual Version 1 2e of 138 RCP actual position is read the result was the value 9 000 MACR_ENG DOC Status 04 06 99 Page 99 MAC4 REFERENCE Manual Version 1 2e of 138 UREA UWEA COMMAND CODE MNEMONIC DESIGNATION 135 UREA read encoder address 136 UWEA write encoder address COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ea gt encoder address MAC4 INC MAC4 SSI MAC4 STP default value k lowest value 3000 3000 3000 hi
104. perational mode speed is set E operational mode is activated the axis begins to move MACR_ENG DOC Status 04 06 99 Page 21 MAC4 REFERENCE Manual Version 1 2e of 138 MF COMMAND CODE MNEMONIC DESIGNATION 36 MF mode find edge COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The axis is justified according to the switch identified by the parameter lt dl gt Justification is performed in two phases The reference switch search is executed with acceleration lt fa gt and velocity lt fv gt the axis is braked with braking acceleration lt fd gt The justification to the switch transition is made in the opposite direction at the velocity lt v gt Braking from the velocity lt v gt is made without a ramp The direction of movement for justification to the home switch is defined by the polarity of the parameter lt fv gt In the other settings the direction depends on the switch configuration After completion of this operational mode the position reached is held The end of justification is indicated by setting the bit jus_end in the user status as well as the interrupt end of positioning SPECIAL CONSIDERATIONS A change to the operational mode find edge is only possible in the modes enable or brake When justifying to a hardware limit switch the corresponding software limit switch ignored Circular axes cannot be justified to a limit switch DIAGNOSTICS axis f e false axis n
105. r logo_f e an error condition was not acknowledged e it was attempted to set the parameter after the initialisation e the emergency stop switch was activated e the watchdog was activated limit_f e the given parameter value does not lie within the permissible range SEE ALSO URET UREB INIT EXAMPLE UWEA 330A address of the position information is set UWEB32 set the bit number INIT parameter is activated and position measurement system initialised the axis controller reads its position information from address 330A DPRAM MACR_ENG DOC Status 04 06 99 Page 101 MAC4 REFERENCE Manual Version 1 2e of 138 UREB UWEB COMMAND CODE MNEMONIC DESIGNATION 137 UREB read encoder bit size 138 UWEB write encoder bit size COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt eb gt encoder bit size MAC4 INC MAC4 SSI MAC4 STP default value 15 24 15 lowest value 8 8 8 highest value 32 32 32 DESCRIPTION The bit width of the position information must entered in the parameter lt eb gt All higher bits are blended out If the position information is transferred from an external position measurement system via the VMEbus the parameter lt eb gt defines whether the axis controller makes one or two 16 bit accesses via the VMEbus If the position information width is greater than 16 bit the LSW least significant word of the position measurement value is read at the address lt ea gt 2 and then the MSW most significant
106. relative COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt ssf gt start stop frequency MAC4 STP Hz default value 100 lowest value 1 highest value 2 000 DESCRIPTION The start stop frequency gives the velocity that the stepper motor can immediately start to or stop from without step lost Higher velocities can only be made with an acceleration ramp In the case of braking from higher velocities a braking ramp must be used SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MP RSTC EXAMPLE WSSF 200 start stop frequency is set to 200 Hz is set MS operational mode speed is set WSV 500 velocity 500 Hz is set E operational mode is activated after expiration of the BOOST time the motor is brought to the start stop frequency of 200 Hz and from there is accelerated up to 500 Hz MACR_ENG DOC Status 04 06 99 Page 85 MAC4 REFERENCE Manual Version 1 2e of 138 RSTC WSTC WSTC_R COMMAND CODE MNEMONIC DESIGNATION 243 RSTC read step counts 244 WSTC write step counts 245 WSTC_R write step counts relative COMPATIBILITY O MAC4 INC O MAC4 SSI MAC4 S
107. returns e g 107 increments RCP actual position is read in steps returns the position 27 steps that actually corresponds to 108 increments MACR_ENG DOC Status 04 06 99 Page 47 MAC4 REFERENCE Manual Version 1 2e of 138 RCT COMMAND CODE MNEMONIC DESIGNATION 115 RCT read counter COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The bit width of the counter registers or the range of values of the absolute encoder is defined with the parameter lt eb gt Access to the position measurement value of the axis controller is however made as a 16 32 bit access In order to avoid a corruption of the value read all set upper bits above the bit width range lt eb gt are blended out The command RCT returns this truncated value SPECIAL CONSIDERATIONS The returned value must lie within the range 0 lt ec gt 1 otherwise the fault message Error of position measurement system is generated The counter and the internal counter register set to zero on basic initialisation DIAGNOSTICS axis f e false axis number SEE ALSO RED UREB UREC EXAMPLE UWET 3 encoder type is set external relative position encoder UWEA 200000 encoder address is set VMEbus address UWEB 17 bit width of position information is set 17 bit i e two VMEbus accesses needed UWEC 100000 range of position information value is set INIT initialise parameters RCT counter is read returns a 32 Bit value the 15 highest bits are zero the
108. rive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RHA RHD RHV RIRQ4 RLV EXAMPLE MAC4 STP WHV 1000 velocity of 1 000 Hz is set for reference move MH operational mode home is set MACR_ENG DOC Status 04 06 99 Page 24 MAC4 REFERENCE Manual Version 1 2e of 138 E operational mode is activated the axis search for the home switch is in negative direction MACR_ENG DOC Status 04 06 99 Page 25 MAC4 REFERENCE Manual Version 1 2e of 138 MI COMMAND CODE MNEMONIC DESIGNATION 16 MI mode search index COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION This operational mode executes a fine justification to the next index pulse of the incremental encoder The first phase is the same as for the mode search index coarse however search index uses acceleration lt ia gt maximum velocity lt iv gt and braking acceleration lt id gt In the first phase the axis is moved beyond the index pulse In the second phase it moves back to the index pulse with the creep velocity lt v gt On arriving at the index pulse for the second time the axis is stopped without using a braking ramp The direction of movement is defined by the sign of the parameter lt iv gt After completion of this operational mode the position reached is held The end of justification is indicated by setting the bit jus_end in the user status as we
109. rsion 1 2e of 138 i ih lt sa gt speed acceleration speed RSA WSA WSA_R I 75 50 53 L D 5 Name Short description Operational mode Read Write Write Page rel a lt sc gt encoder scaling factor SC 184 85 lt sd gt speed deceleration speed RSD W WSD_R I 76 54 5 lt sf gt scaling factor all except test disable URSF UWSF T 10 enable 6 87 El 0 3 SV kui 3 nn k fay 1 1 T E F bs all ae f 8 lt sh gt axis type all SH H 107 2 1 lt ssf gt start stop frequency all WSSF WSSF_R IL 79 4 24 242 lt stc gt number of steps at creep positioning WSTC WSTC_R II 80 velocity 4 44 245 9 5 AA 2 2 R 4 amp Biss N 4 n a Ti 2 2 wait time in servomode all except test RSW s I 82 tracking 6 speed 114 e 300 30 7 WD 6 16 9 113 1 2 lt sv gt speed velocity speed WSV_R IT 81 5 5 2 1 hbk o W WZE_R I 87 8 90 S S T S S 2 T T 7 Z 0 3 75 7 a 16 test disable 88 MACR_ENG DOC Status 04 06 99 Page 127 MAC4 REFERENCE Manual Version 1 2e of 138 2 2 Command Overview 2 2 1 In Alphabetical Order e Pp daremos OT DENT 311 deinitialisation o e e eE hB Jeewe S be y e FLYOFF_ 183 disable on fly changes EB ELYON 182 enable on fly changes _ _ bo n Nr i80 initialisation ss mB 58s modebrake sd mc 6 mode searchindexcoarse _ MD S modedisable sts ME 4 modeemable S be y o M
110. set E parameter is activated the drive fault signal is active high MACR_ENG DOC Status 04 06 99 Page 119 MAC4 REFERENCE Manual Version 1 2e of 138 USN USR COMMAND CODE MNEMONIC DESIGNATION 124 USN set output normal 125 USR set output reverse COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION If the motor is correctly connected it turns clockwise for a positive velocity output signal This polarity can be inverted by using the command USR With this facility it is possible to correct the synchronisation of motor rotation with the counting direction of position measurement i e for a positive velocity value the actual position increases The original polarity can be set by reissuing the USN command The bit rev_o in the user status indicates the change of the command output polarity SPECIAL CONSIDERATIONS The addressed axis must be in the deinitialised condition when the command is given The command USR has no effect in the operational mode test The command USR should only be used during commissioning and test During commissioning the correct motor wiring should be selected in order that a false configuration polarity can no longer occur DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis is not in the deinitialised condition e the emergency stop switch was activated e the watchdog was activated SEE ALSO RBS UE EXAMPLE MAC4 SSI
111. t WRT _ write relative position in mode tracking lt at gt UE entertestmode o d MR modereset TS RGA freadgain i gat WGA writegain gat WGA R write gain relative fea RZEreadzero i e O WZE writezero i ze WZE R writezerorelaive sf ze RKI _ readintegral gain ki WKI write integral gain ki WKLR write integral gain relative ki RPO frea poe i po WPO_ writepole po WPO_R _ writepolerelative pom RLT _ readlimittorge it WLT __ writelimittorgue it WLT R_ write limit torque relative it RDA _ readdirectoutput i lt a WDA write directoutput J a WDA_R__ write direct output relative lt da gt RMF____ read maximal following error lt mf gt WMF____ write maximal following error cm WME_R__ write maximal following error relative lt mf gt RAA read emergency deceleration _ lt ed gt MACR_ENG DOC Status 04 06 99 Page 133 MAC4 REFERENCE Manual Version 1 2e of 138 write emergency deceleration write emergency deceleration relative read low velocity i AA_R Q O write low velocity Code Command Parameter Page 111 112 113 114 115 116 117 118 119 120 121 123 124 125 126 127 128 129 130 131 132 133 134 1 lt lv gt lt tr gt lt tr gt lt tr gt WLV_R RTR WTR WTR_R RCT RCP RPS RBS RSS write low velocity relative read target radius write target radius write target radius relative read counter read current position r
112. t value 999 999 999 999 999 999 10 000 000 highest value 999 999 999 999 999 999 10 000 000 DESCRIPTION The reference position for all position information is shifted by the value lt ao gt SPECIAL CONSIDERATIONS The write commands WAO and WAO_R are only permissible if the axis is at stand still i e the output command must be zero The new absolute value of the axis position must still lie within the permitted parameter limits after a relative Write command WAO_R The software limit switch values lt n gt and lt p gt remain valid physically however they are shifted accordingly In the case of linear axes with absolute encoders the parameter lt ao gt must lie within the range lt ec gt lt lt ao gt lt lt ec gt In the case of circular axes the parameter lt ao gt must lie within the range lt cr gt lt lt ao gt lt lt cr gt DIAGNOSTICS axis f logo_f false axis number an error condition was not acknowledged the emergency stop switch was activated the reference velocity is zero the watchdog was activated the drive error signal is on a following error overflow has occurred an invalid value for the position measurement was read the given value does not lie within the range lt ec gt lt ec gt for a linear axis with an absolute encoder the given value does not lie in the circular range e the given parameter value does not lie within the permissible range limit_f SEE ALSO UREC URLN
113. the user to ensure that the acceleration limits are not exceeded SPECIAL CONSIDERATIONS A change to the operational mode velocity tracking is only possible in the operational mode enable or brake MAC4 STP The BOOST signal is not automatically reset in this mode It remains active until the mode disable enable or brake is set DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis controller is not to the operational mode enable or brake e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RTV EXAMPLE MAC4 INC WTV 0 start velocity 0 Inc SP is set VT operational mode velocity tracking is set E operational mode is activated WTV 100 next velocity 100 Inc SP is set E new velocity is activated WTV 500 next velocity 500 Inc SP is set E new velocity is activated WTV_R 500 next velocity 1 000 Inc SP is set E new velocity is activated MACR_ENG DOC Status 04 06 99 Page 122 MAC4 REFERENCE Manual Version 1 2e of 138 WZP COMMAND CODE MNEMONIC DESIGNATION 123 WZP write zero position COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt temp gt temporary parameter MAC4 INC MAC4 SSI MAC4 STP Inc Inc Steps default value none none none lowest value 999 999 999 999 999 999 10 000 000
114. then braked with the braking acceleration lt hd gt In the second phase the axis is positioned to the left edge of the home switch and finally in the third phase to the next index pulse in positive direction In the last two phases moves are made with the velocity lt v gt Braking from the velocity lt v gt is without a braking acceleration The search direction is defined by the sign of the velocity lt hv gt After completion of this operational mode the achieved position is held The end of justification is indicated by the bit jus_end in the user status as well as the interrupt end of positioning SPECIAL CONSIDERATIONS A change to the operational mode home is only possible in the modes enable or brake This operational mode is only permissible if an incremental encoder with index pulse is directly connected to the axis controller and the reference switch is not declared as OFF In the case of linear axes the definition of the wrong search direction causes the axis to be positioned to the limit switch and held there automatic reversal of the search direction is not implemented DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e there is no position encoder with index pulse specified e the axis controller is not in the operational mode enable or brake e the emergency stop switch was activated e the reference switch is defined as OFF e the watchdog was activated e the d
115. um following error value should therefore not be set too low MAC4 INC SSI In the operational mode test the controller is not active No following error is processed MACR_ENG DOC Status 04 06 99 Page 73 MAC4 REFERENCE Manual Version 1 2e of 138 RMF WMF WMF_R DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RBS RFE EXAMPLE MAC4 SSI WMF 1000 maximum following error is set to 1 000 Inc E parameter is activated if the axis is more than 1 000 Inc from the commanded position it is braked with the emergency deceleration value and turned off MACR_ENG DOC Status 04 06 99 Page 74 MAC4 REFERENCE Manual Version 1 2e of 138 COMMAND CODE MNEMONIC DESIGNATION 258 ROUT read output COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The actual output value is returned as a parameter SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number SEE ALSO EXAMPLE MAC4 INC UE operational mode test is set WDA 50 DAC value is set to 50 E operational mode is activated ROUT DAC value is read the result was the set value 50 MACR_ENG DOC Status 04 06
116. umber logo_f e an error condition was not acknowledged e the axis controller is not in the operational mode enable or brake e the switch for justification is defined as OFF e it was attempted to justify a circular axis to a limit switch e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read SEE ALSO RDL RFA RFD RFV RIRQ4 RLV EXAMPLE MAC4 SSI WDL 1 search for negative limit switch WFV 1000 search velocity is set to 1 000 Inc SP WFA 100 acceleration is set to 100 Inc SP SP WED 200 braking ramp is set to 200 Inc SP SP WLV 10 search velocity is set to 10 Inc SP MF operational mode is set to find edge E initiate justification to switch the axis moves automatically in a negative direction MACR_ENG DOC Status 04 06 99 Page 22 MAC4 REFERENCE Manual Version 1 2e of 138 search for a negative limit switch and position to the right hand edge MACR_ENG DOC Status 04 06 99 Page 23 MAC4 REFERENCE Manual Version 1 2e of 138 MH COMMAND CODE MNEMONIC DESIGNATION 26 MH mode home COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER none DESCRIPTION The axis is positioned to the first index pulse to the right of the left edge of the home switch In the first phase a search is made for the home switch with the acceleration lt ha gt and velocity lt hv gt the axis is
117. urement system initialised the lower 8 bits of the read from the SSI absolute encoder are shifted out MACR_ENG DOC Status 04 06 99 Page 116 MAC4 REFERENCE Manual Version 1 2e of 138 URSF UWSF COMMAND CODE MNEMONIC DESIGNATION 186 URSF read scaling factor 187 UWSF write scaling factor COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt sf gt scaling factor MAC4 INC MAC4 SSI MAC4 STP default value 0 0 0 lowest value 0 0 0 highest value 16 16 12 DESCRIPTION The axis controller only accepts integer values Using binary shifting by lt sf gt digits the velocity can be scaled to fractional values The scaling relationship is expressed as follows lt Parameter scaled gt lt Parameter gt 2 SPECIAL CONSIDERATIONS The parameter can only be set if the axis is in the operational mode disable The output values are scaleable for all operational modes velocity acceleration and braking acceleration values DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the axis is not to the operational mode disable e the emergency stop switch was activated e the watchdog was activated e the drive fault signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO EXAMPLE MAC4 INC UWSE 3 scaling factor is set E parameter
118. valid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO RKI RLT RPO RZE EXAMPLE WGA 20 Proportional amplification K is set to the value 20 4 5 E parameter is activated MACR_ENG DOC Status 04 06 99 Page 57 MAC4 REFERENCE Manual Version 1 2e of 138 RHA WHA WHA_R COMMAND CODE MNEMONIC DESIGNATION 28 RHA read home acceleration 31 WHA write home acceleration 34 WHA_R write home acceleration relative COMPATIBILITY MAC4 INC O MAC4 SSI MAC4 STP PARAMETER lt ha gt home acceleration MAC4 INC MAC4 STP Inc SP SP Hz SP default value 50 500 lowest value 1 1 highest value 2 000 000 8 000 DESCRIPTION The parameter lt ha gt gives the acceleration during the starting ramp of the operational mode home SPECIAL CONSIDERATIONS none DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e the emergency stop switch was activated e the watchdog was activated e the drive error signal is on e a following error overflow has occurred e an invalid value for the position measurement was read limit_f e the given parameter value does not lie within the permissible range SEE ALSO MH EXAMPLE MAC4 STP WHV 1000 velocity 1 000 Hz is set WHA 200 acceleration 200 Hz SP is set MH operational mode home is set E operational mode is activated the axis is accelerated in 5 SP to the velocity 1 000 Hz SP st
119. vec6 gt lt iv gt 63 lt ki_sc gt 97 lt ki gt 64 lt In gt 98 lt lp gt 100 lt It gt 65 lt lv gt 66 lt mf gt 67 lt ms gt 101 lt ns gt 102 lt pa gt 70 lt pd gt 71 lt po gt 72 lt ps gt 103 lt pv gt 74 lt rs gt 104 lt sa gt 75 lt sc gt 105 lt sd gt 76 lt sf gt 106 lt sh gt 107 lt ssf gt 79 lt stc gt 80 lt sv gt 81 MACR_ENG DOC MAC4 REFERENCE Manual Version 1 2e 57 58 59 60 61 62 lt sw gt 82 lt tr gt 83 lt trt gt 84 lt tv gt 85 lt wd gt 86 lt ze gt 87 acceleration 38 actual velocity 34 axis offset 28 axis type 107 Bit size 93 boost time 37 brake 16 circular range 90 clear errors 10 coarse 38 coarse acceleration 38 coarse deceleration 39 coarse velocity 43 commanded velocity 73 common status 31 conversion 95 counter 42 counter range 94 dac output 44 DEINIT 11 deinitialisation 11 disable 18 DPRAM 13 16 drive error 108 emergency deceleration 27 enable 19 encoder address 91 encoder direct 46 encoder type 96 execute 12 execute command 12 find edge 20 47 find edge acceleration 47 find edge deceleration 48 find edge velocity 50 FLYOFF 13 FLYON 13 following error 49 following error overflow 68 gain 51 home 21 52 home acceleration 52 Status 04 06 99 Page 137 of 138 home deceleration 53 home switch 45 home switch input 104 home velocity 54 increments 41 index 55 index acceleration 55 index decel
120. write circular range relative __ je gt mo JWES MACR_ENG DOC Status 04 06 99 Page 129 MAC4 REFERENCE Manual Version 1 2e of 138 CIcIcIcIcIcIcIcIcICICIcCICcCICICICISCIcIcIcIcIcIcIcIc JEEE FUWET 129 _ writeencodertype et 9 UWKISC write ki scaling factor LN_R 11 98 JWLP 11 100 JWLP_R 11 100 WMS 11 101 WMS_R 11 101 JWNS 11 102 PS 11 103 RS lt rs gt 11 104 SC 11 105 JWSF 11 106 JWSH 11 107 JWSO 11 108 181 freadversion 10 72 welocitytracking o e e WAA 1 27 WAA_R 1 27 WAO 11 28 WAO_R 11 28 WAP 11 29 WAT 11 32 WBT 1 37 WBT_R 1 37 WCA 11 38 WCA_R 11 38 WCD 11 39 WCD_R 11 39 WCV 11 43 WCV_R 11 43 WDA 11 44 WGA 86 writegain ga ES 151 1 52 152 11 53 MACR_ENG DOC Status 04 06 99 Page 130 MAC4 REFERENCE Manual Version 1 2e of 138 Ss 3 3 8 S amp i gt S A is alelelela G al Cc WIRQ4 173 write interruptvector4 lt iq vect gt m60 cee Ree eee a aa ee ee eee eee wir 98 write limittorque ts WLTR_ 99 write limit torque relative cit wv 110 writelowvelociy ve e FWLV_R 111 write low velocity relative __ d gt m66 WPA_R_ 68 write positioning acceleration relative lt p gt m70 wrp 66 write positioning deceleration lt pd gt mn WPD_R_ 69 write positioning deceleration relative lt pd gt m71 WPOR_ 96 writepole relative pom WZE 89 wiez o cre WZER 90 writezerorelative ze 87 fwzP 123 write zero position S beo y
121. xternal position encoder is set to relative position counting UWMS 1000 number of motor steps per revolution is set UWES 100 effective number of encoder pulses per motor revolution is set 100 pulses 400 increments i e 1 increment is set to 2 5 steps INIT position measurement system initialised the increments counted and converted by the factor 2 5 to steps MACR_ENG DOC Status 04 06 99 Page 112 MAC4 REFERENCE Manual Version 1 2e of 138 URNS UWNS COMMAND CODE MNEMONIC DESIGNATION 141 URNS read negative limit switch 142 UWNS write negative limit switch COMPATIBILITY MAC4 INC MAC4 SSI MAC4 STP PARAMETER lt ns gt negative limit switch MAC4 INC MAC4 SSI MAC4 STP default value 1 1 1 lowest value 0 0 0 highest value 2 2 2 DESCRIPTION The active state of the negative hardware limit switch input can be configured lt ns gt 0 OFF not connected lt ns gt 1 active low lt ns gt 2 active high SPECIAL CONSIDERATIONS The parameter can only be set in the deinitialised axis condition It must be insured that the hardware limit switch is active over the complete endangered region There is no protection against incorrect operation when the axis runs over the limit switch range i e the axis comes to a stand still behind the switch DIAGNOSTICS axis f e false axis number logo_f e an error condition was not acknowledged e it was attempted the parameter after the initialisation is set e the emergency st

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