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Advanced Position Controller User Guide

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3. AN 54613 Reference Axis100rpm 218454 109227 Interpolation 4 7 3 Interpolation with respect to the CAM reference is a process of estimating the Feedback position reference within a given CAM segment There are 3 different interpolation modes which may be selected for the CAM Reference using the command APCSetCAMinterpolationMode Mode Multiple APCSetCAMInterpolationMode 1 where the interpolation used CAM segment can be selected on an individual basis defined by the interpolation array Linear APCSetCAMInterpolationMode 0 where only Linear interpolation will be used in all CAM segments where only Cosine interpolation will be Cosine APCSetCAMInterpolationMode 1 used in all CAM segments Multiple interpolation incorporates both Linear and Cosine interpolation together with Square1 Square2 Cosine1 and Cosine2 All of these interpolation methods described below Advanced Position Controller User Guide www controltechniques com 40 Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 3 1 Linear Interpolation 0 Figure 4 17 Y Y A kia ia X x X X x X i i Y dY
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6. DIM 6 DIM OutArray 6 DIM 6 CAM ARRAY ELEMENTS Advanced Position Controller User Guide 153 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started Notes Guide Terminology Reference 700rpm ref amp Fbk N N gt t 2s 5s 3s COUNTS PER REV Reference 65536 Feedback 65536 REFERENCE ARRAY Reference Speed CPS 65536 700 60 764587 01 764587 2 2sec Forward direction Inarray 1 764587 5 5sec InArray 2 764587 3 3sec InArray 3 764587 2 2sec Reverse direction InArray 4 764587 5 5sec InArray 5 764587 3 3sec FEEDBACK ARRAY Feedback Speed Reference speed 764587 Accel Decel Distance Vel 2 Time Steady State Distance Vel Time OutArray 0 MULDIV 764587 2 2 Forward direction OutArray 1 MULDIV 764587 5 1 OutArray 2 MULDIV 764587 3 2 OutArray 3 MULDIV 764587 2 2 Reverse direction OutArray 4 MULDIV 764587 5 1 OutArray 5 MULDIV 764587 3 2 INTERPOLATION ARRAY IntArray 0 2 Forward direction linear Ramps IntArray 1 J 0
7. uoulul0 g 1 SH 400 quonoun4 58754 sddy NS sossedJejse y 204519 1 19 d INIANe udg 63 Advanced Position Controller User Guide Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 11 64 APC Output Channel When an SM Applications module writes data to a drive parameter it does so via a multi port RAM interface A write to a drive parameter is handled as a write to a multi port RAM location which the Unidrive SP then reads and updates the associated parameter This is handled every 250 5 by the Unidrive SP There can therefore be up to 250us between the time at which the SM Applications module writes a parameter to the multi port RAM and when the Unidrive SP tra
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9. WSIS 8 lt gt 2 5 15 4 2 4 oeqpeeJ o o Advanced Position Controller User Guide www controltechniques com Safety Introduction Information Using This 74 Using This Safety Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetReferenceSource Status APCSetReferenceSource Source Input Arguments Source Drive Slot 1 Slot 2 Slot 3 User program Unconfigured Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description Source 0 With Source set to 0 the Drive encoder input is selected as the Reference Position source With Source set to 1 the feedback option in Slot 1 is selected as the Reference Position source With Source set to 2 the feedback option in Slot 2 is selected as the Reference Position source With Source set to 3 the feedback option in Slot 3 is selected as the Reference Position source With Source set to 4 Reference Source position can be manually written to the APC using the command APCSetReferencePosition Turns Position 6 PositionFine With Source set to 5 the Reference Position source is selected as unconfi
10. 53 109 111 APCSetDigLockRatioDenominator 56 110 APCSetDigLockRatioNumerator 56 110 APCSetExternalRefPosition 121 122 APCSetExternalRefSpeed 120 121 APGSelFbcKInDUL etre capes 91 APCSetFeedbackPosition 88 APCSetFeedbackSource 2 0 0 0 76 88 89 APCSetNumOfTurnsBits 33 69 70 77 96 116 122 135 APCSetOffProfileAccelRate 2 117 APCSetOffProfileAccelRateScaled 118 APCSetOffProfileDecelRate 117 APCSetOffProfileDecelRateScaled 118 APCSetOffProfileMaxSpeedClamp 118 APCSetOutputRatioDenominator 1 123 APCSetOutputRatioNumerator 2 123 APCSetOutputSpeedClamp 124 tat Abate Iti 120 APCSetPGainSpeedClamp 120 APGCSetPositionOffset teret ee e e teet 116 APCSetPositionResetOffset 67 68 69 70 71 APCSetPositionSetPoint 33 94 96 Advanced Position Controller User Guide Issue Number 3 www controltechniques com 215 APCSetProfileAccelRate
11. 53 109 111 115 APCSetProfileDecelRate 33 53 96 109 112 115 APCSetProfileMaxSpeedClamp 53 109 111 115 5 88 APCSetReferenceSource 75 88 89 APC SetRefINpUt 5 91 APCSetRunMode 67 68 69 70 71 104 105 APCSetSpeedFFwdGain e RE 122 APC SEIS PSSGONSEL dere Wa roa Fe Ro va Fav occa paa 116 APCSetSpeedSetPoint 35 94 97 APGSetStopMode e ERES 33 94 96 62 68 69 124 126 APCToUsSserPosition 128 APG TOUSErV SO GIy 129 1 62 125 127 ry TE 36 yd EET 184 B Eackgroulid tar pto idv mil Leur 138 D stp nasa dann achat 184 C m 27 36 141 152 Closed Loop idt tenetur bn pne re e GI ER RR AE T d 184 COMMISSIONING 136 Constant Data AITay bL DR E LULA DP ep 47 COMUMUOUSS xc Ace pu es ga E 49 GONVEPSION oe te tetur ed ee eee Ede uo eeu ee 178 193 Con
12. G x S e Command Description Functional Using This Introduction Guide Terminology Reference Information Figure 4 2 SMEAS jeuueyo durejopsedsindinores smes stets lori peeds yndjno eei dwerg peeds d euruioua oreuucuegoneamdnoresod OJE BUNN og ouinNonesi dno Ps odv WSLS uonisod yoeqpee4 08 SEL oixuidipesdsindinoreo p eds speeds 92u949J9M peeds cei ueg jeuoipodoig g reu pies ody SMLS 1013 leuontsog QureopmaapeadsiesodW 0001 Lvl peeds To avuy peeds same A joejes peeds peeds eu 051 peds uou L as peed 1 ISH
13. Program Application Migration Glossary of 979914 2 5 5 f 54 5 o uonisod vos EN 0 lt WSEAS scsmieis e j 1 Bi 10 1 5 a ejg Jaye Dos ody SMNeIS H v N yndu Jesse weounogp ysiqesiqodv SMeIS o i SeS 5 O oa 1015 Japoouy uondo 0 i 5 tO eee 1 bat 016 Jepooug uond 2 3 8 uonisod ins 91 1 Z 1015 3 S H AuU SHASUNLJOUNNPS IdV ASMAS 3 B iL i uoniisod aoualajay 5 On i 6 Jepoou3 uondo 0 s smeis SMEIS Oindujeweigesidodv 1 5 0 4 29944 2 qeuq Oin
14. 2 ees o 1dtos dv SMEIS uoneio o2og 8702 57068 d siuroo 2 lode dV 5 103219099 PeIqesiqodv Ide REUS 24 eigesia Jes WYO pue uonisod 69 uonisod paeds 92419101 5 5 smes 21 Advanced Position Controller User Guide Issue Number www controltechniques com 3 Using This Safety introduction EIE Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference Operational Overview 4 2 1 Modes of Operation The APC can be configured to run in 3 modes 1 Completely disabled In this mode the APC is never called 2 Runwhilst Disabled In this mode only the encoder position counters are updated The encoders selected will also configure the corresponding virtual parameters in
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17. 31 32 80 81 82 APCResetRefSourceFreezeFlag 29 32 83 95 APCResetRefSourceMarkerFlag 31 32 78 79 82 APCResetSourcesOnbDisable 67 68 71 APCSelectAbsoluteMode 69 APCSelectActionOnFreeze 32 53 95 APCSelectCAMAbsoluteReset 49 104 105 106 107 108 APCSelectCAMZeroReset 49 104 105 107 108 APGCSelectOffsel ct nine eris 117 APCSelectReference 53 71 94 96 97 105 114 APCSelectRelativeMode 70 APCSetCAMAbsResetlndex 49 104 105 107 108 APCSetCAMAbsResetPositionInSeg 49 104 106 107 108 APCSetCAMDeltaSegLimit 48 102 APCSetCAMInterpolationMode 40 98 99 100 101 103 APCSetCAMOutRatioDenominator 48 103 104 APCSetCAMOutRatioNumerator 48 103 104 APCSeLCAMSIZG ni a De 48 49 102 APCSetCAMStartIndex 48 49 101 102 105 107 108 APCSetDigLockLockingPosition 55 109 111 APCSetDigLockLockingSpeed 54 55 109 110 111 APCSetDigLockMode
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21. Joeu SNIS Ye JeuinN uoje OWN None 6 SMEIS uonisod pejeosiuognesuonisogies OV SMEIS yurogiesuonisogies dv SMEIS v6 julodjag peeds Juiogiespeedsies 5 5 vopisog jue snieis uonisod 39594 einiosqv NY DIES SMEIS WWD einjosqv 2 21 2 SMEIS 212 2 91 5 39594 v2 e Njosqy 01927 SNeIS 2e eu32av 5 1045 ejBuis Wy 29S 2d V SMEIS yw 5 SMEIS ezis 5 xepupJers Wv 29S Od SNEIS 5 uonisog 3ojejeues NVO 29 1 1p p 93 Advanced Position Controller User Guide Issue Number 3 www controltechniques com Using This Safety introdu
22. CONTROL www TECHNIQUES Qs www controltechniques com User Guide Advanced Position Controller Position Control for Unidrive SP Part Number 0471 0034 03 Issue Number 3 General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of a commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance or the contents of this guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Drive software version This product is supplied with the latest version of user interface and machine control software If this product is to be used in a new or existing system with other drives there may be some differences between their software and the software in this product These differences may cause this product to function differently This may also apply to drives returned from a Control Techniques
23. Do not reset feedback position on first Marker DisMrkStatus APCDisableFbckSourceMarker Enable Marker Pulse Capture Function MarkerEnStatus APCEnableFeedbackMarker Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBi ts 16 Advanced Position Controller User Guide 159 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference Position Reference reden E Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF Stop Type StpTypStatus APCSetStopMode APC PROF STOP Profile Generator EE L D eS OR Enable Profile Generator Prof EnStatus APCEnableProfi le Profile Max Speed 90 of 1000rpm 900rpm ProfMaxSpeed MULDIV 1073741824 01 06 90 60000 100 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed Profile Acceleration and Deceleration Rates 2s Accel amp 1s Decel ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfileAccelRate ProfAcceleration 6 ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop EE Disable external Speed and Position References Ex
24. Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 1121199 Command Units Default APCDisableCAMSingleShot Active or Inactive 0 Unlocked APCSetDigLockMode Mode 1 Locked 2 Never locked 006588 APCSetDigLockRatioNumerator Numerator to 65535 000 APCSetDigLockLockingSpeed Speed rev encoder 9 15 231 1 17895 APCSetDigLockLockingPosition Position 0 to 231 1 65688 APCEnableRigidLock NA Active or Inactive APCDisableRigidLock Active or Inactive 11 1 4 Profile Generators 11 1 4 1 Main Profile Generator Command Units Range Default APCEnableProfile Lr gsm Active or Inactive APCDisableProfile Active of Inactive or Inactive APCSetProfileAccelRate AccelRate 2 counts encoder 9 to 4473934 22369 over 250us 250us APCSetProfileDecelRate DecelRate counts encoder o to 4473934 22369 over 250us 250us APCSetProfileMaxSpeedClamp MaxSpeed counts rev encoder to 715827883 48318382 over 250us 11 1 4 2 Offset Profile Generator Command Units Default 2 counts rev encoder 715827883 to APCSetSpeedOffset Speed over 250 5 715827883 Active APCSetPositionOffset APCSetPositionOfiset Position
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26. 00200 100 APCSetOutputRatioNumerator Numerator APCSetOutputRatioDenominator Denominator Mode 0 Hard speed APCSetupOutputChannel Mode Menu Reserved Parameter Speed ref 5 Parameter User ref Quiet APCEnableOutputChannel Active or Inactive APCDisableOutputChannel Active or Inactive NA APCWriteOutputChannel Value 231 to 231 4 mM 11 1 6 Word Manipulation i Default UnsignedTopWord Input SignedTopWord UnsignedBottomWord Input PutTopWord Input2 231 to 231 4 231 to 231 4 PutBottomWord Input Input2 11 1 7 Conversion Command Default 231 to 231 4 UnitsPerRev UserToAPCPosition UserPos 291 to 231 1 231 to 231 4 UserToAPCVelocity UserVel APCToUserVelocity Vel 231 to 231 1 UserToAPCAcceleration UserAccel 231 to 231 4 N Advanced Position Controller User Guide 193 Issue Number 3 www controltechniques com APCToUserPosition Pos NA A Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 11021199 Command Units Default APCToUserAcceleration Accel 231 to 231 4 SetConverterNumerator Numerator SetConverterDenominator De
27. 50 18 35 selects either the Stop or Digital Lock Reference IF 18 35 1 THEN RefSelectStatus APCSelectReference APC DIG LOCK REF ELSE RefSelectStatus APCSelectReference APC STOP REF ENDIF Virtual Master counter Counts per POSO Task sample 1ms RPM Counts per Rev 60 1000 CountsPerSample MULDIV 18 16 65536 60000 18 16 Virtual master speed in rpm Virtual Counter MasterCounter MasterCounter CountsPerSamp e 6 Split up Virtual Master Counter data ready for the APC User Program Reference Turns UnsignedTopword MasterCounter Position UnsignedBottomword MasterCounter PositionFine 0 Send Virtual Master counter data to the APC User Program Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine POSO Refer to the Functional Description or APC Command Descriptions sections for more details The drive parameters used in POSO have been used for demonstration purposes only In real applications access to drive parameters should be limited as much as possible Where drive parameter access is required in real time tasks like POSO variables should be associated in the background task and then used in the real time code Advanced Position Controller User Guide 143 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command 18 Program Application Migration Glossary of Quick Manual Information
28. Maker Pulse For this to happen the reference marker flag must be enabled using the command APCEnableReferenceMarker and the reference marker flag must be reset by using the command APCResetRefSourceMarkerFlag 24 If the motor has to turn less than 180 before the marker is found then the reference position counters will jump down to zero i e zero position turn O If the motor has to turn more than 180 before the marker is found then the reference position counters will jump up to zero i e zero position turn 1 The turns count is not reset to zero after a marker reset Once the position counters are aligned this function will have no effect A Reference Marker Position capture is not possible when this command is active NA Active or Inactive Inactive 78 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCDisableRefSourceMarker Status APCDisableRefSourceMarker Input Arguments None Output Arguments Status 0 1 Description Units Range Default Operation failed Operation successful This command disables the reference source marker from resetting the reference position Marker Pulse Disabled Position Maker Pulse When a marker
29. Using This Safety Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 121199 Parameter Description Units Default 23 counts rev Speed set point encoder over 715827883 to 715827883 2501s e 232 counts rev Speed offset encoder over 715827883 to 715827883 2501s Stop Position Speed CAM Digital Lock Currently selected reference Action to reference selector on freeze No action Digital lock on freeze CAM on freeze Offsets Disabled Position Offset Enabled Speed Offset Enabled counts rev Profile acceleration rate Mm over 0 to 4473924 22369 250us 250us 29 counts rev Profile deceleration rate encoder over 0 to 4473924 22369 250us 250us 29 counts rev Profile maximum speed encoder over 0 to 715827883 48318382 250us Enable profile Profile disable 1 Disable profile Profile input position 231 to 231 1 2 counts rev 116 Profile input speed 231 to 231 1 250us 117 Profile output position 231 to 231 4 232 counts rev 118 Profile output speed encoder over 231 to 231 4 2501s Offset Selector NES eo ION OS 23 counts rev Profile output acceleration encoder over 231 to 231 4 250us 250us Not at target position At Target Position At target position Not at target speed Position c
30. APCSetRunMode Status APCSetRunMode Mode Input Arguments Mode 0 Output Arguments Status 0 1 Description Mode 0 The APC is not called The APC will be called but only the Reference and Feedback counters will be updated The APC will run and perform the position control CAM and digital lock operations as configured Operation failed Operation successful With Mode set to 0 the APC is completely disabled and has no effect With Mode set to 1 the APC runs in the disabled state and only allows the Reference and Feedback counters to be used no other functions of the APC are available Behaviour of the Reference and Feedback Integrated Counters 28 and 48 The reference and feedback integrated counters will be held in their reset state value depends on whether relative or absolute mode is selected when APCResetSourcesOnDisable is active refer to Table 4 1 Otherwise if APCDoNotResetSourcesOnDisable is active then the APC integrated position counters will increment or decrement with respect to the direction of the source position The APCReset has no effect in this mode To Ensure that the APC Counters and parameters are initialised correctly on power up APC run mode 1 must be called in the Initial task and at least 1 POS task cycle must have occurred before using the counter values With Mode set to 2 the APC is fully functional and will perform as configured When mode 2 is sele
31. Active or Inactive APCEnableFbcklnput Active or Inactive APCDisableFbcklnput Active or Inactive 11 1 3 References Command Default Stop Position APCSelectReference Reference Speed Digital Lock No Action APCSelectActionOnFreeze Action CAM Digital Lock 0 Profiled Stop 0 APCSetPositionSetPoint Position Position Encoder counts 231 to 231 1 M 232 counts rev encoder 715827883 to 0 APCSetSpeedSetPoint Speed ever 715827883 APCCanmlnitialise InArray OutArray1 OutArray2 InterpolationArray APCCanmlnitialise1 InArray OutArray1 TEES APCCamlnitialise2 InArray OutArray1 NA NA NA InterpolationArray APCCamlnitialise3 InArray OutArray1 OutArray2 NA NA APCSetCAMStartIndex StartIndex 0 to 65535 APCSetCAMSize Size 0 to 65535 APCSetCAMDeltaSegLimit DeltaLimit POS task to 65535 NA 0 Linear 1 Cosine APCSetCAMOutRatioNumerator Ratio NA 1000 APCSetCAMOutRatioDenominator Ratio NA NA APCSelectCAMZeroReset NA APCSetCAMAbsResetlndex Index NA APCSetCAMAbsResetPositionInSeg Position Encoder counts 0 to 231 4 mM APCEnableCAMSingleShot NA Active or Inactive Advanced Position Controller User Guide 191 Issue Number 3 www controltechniques com InterpolationType APCSetCAMInterpolationMode n
32. p P dois 3884 uonisod uonisod xoeqpeej t i Auo p 00 uonisod dois mm Buiddoig dois dois epowenne paioopsodv 9 lt 24 osepow epowdorsias seS epo Oo o o 9 Qo c 6 a lt e ejnjos g 5 g OSOAN NEIS 13938 f LL uonisod 1ueubesu sogesessqv v Na 05 4015 uonisod WWD 295244 SMEIS O Nouisod _ einjosqv nouseBuisww Description o eene ase YEMIOsAWNYOIPAPSOd V 3 93345 39591 einjosqy 7 Wyo Ody pow 1045 ejbuis uonisod one opu oue gone ino 51062 sone JojeewunNonen OWYOIeS Od V 22
33. LL 5 2 o O o 2 2 2 ov wg 258 5 09 8229 255 Ow 3 5 B a 7 2 lt zo 7 S S00 ore o o o ES E Y X Cog N o 9 SV gt E ecu E OS WNC WS Dn 9 3 5 MN os SAA 0 E 9 SES _ run 727 5 RANA 25 o _ NN 5 o 5 o 58 c 5 8 6 o ELG 58 5 E 80 HEB C o 555 FE Of E 2 lt lt a 38 CE 2 Q 4 e eed 5855 dies 58 sxy yoeqpes4 o 9 lt 92529 Cos 5 o 2 o Q Eum NELES c Using This 4 6 ition Controller User Guide 3 Advanced Pos Issue Number Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 4 7 1 4 7 2 4 7 2 1 36 CAM Reference Introduction A mechanical cam produces linear or varied motion from a continuous circular mot
34. NO e 9 _ _ A 0 c 0 9 eo 970 e 5 2 g o m o ve 2 x S 2 5 N x Sal gt o x o CN 1 c 25 q i N N 6 co 806957 N ez 2 5 i 82 lt 5 St c 6 27 5 lt 5 lt c iL On 0 c S o 5222 251 8 8 526 25 8 5 5 9 9 oO c gt N QS 4 S 22022552142 EE ES o lt 85 40 JS US oct 5 S o 2 cs o o soe 8 SAARC 2 HEB 2 9 b gt gt 5 5555965 55555 a a c 5 a 3 5 gt coo lt o gt O00 9 mos 2 6 12 a s sixy lt o o oc LL LL LL S 2 o 2 o 5 gt lt 2 5 Q 2 ES D 2 D For this particular speed profile Square1 and Square2 interpolation must be used for acceleration and deceleration and linear used for the steady state secti
35. o 5 On eS Q O Functional Description Using This Safety Introduction Manual Information Figure 4 37 CTSync and APC Motion Engine 0SOd suonisodJepoou3 Odvjo eepdn osiy eAugojuegum ISYA Or uenumjinseJ 2718 JSE uonisod jndino 9 snogz doo peeds ___ _ _ im eouesqjeisasn 2 22 jeuueuaindinoejuM2d v Aq S89UB19J9YEAL SIODINAS 42 IS9UAS 1D pue seAe Sou S 9 2 51 jou i i 92u9J9J9J H 216 9 sesn Aq dn pexoid 4 9 Jesn sanes n 1951 USM gep se els ALIS
36. 1 Operation successful 3 Another object is modifying the object s data Source Drive Slot 1 Slot 2 Slot 3 User program No source selected Description This command retrieves the current selected reference source set by the command APCSetReferenceSource Source and will put the source number into a user variable in this case Source Default 0 APCGetFeedbackStatus CSource Status APCGetFeedbackstatus Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful 3 Another object is modifying the object s data Source Drive Slot 1 Slot 2 Slot 3 User program No source selected Description This command retrieves the current selected feedback source set by the command APCSetFeedbackSource Source and will put the source number into a user variable in this case Source Default 0 Advanced Position Controller User Guide 89 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableRefinput Status APCEnableRefInput Input Arguments None Output Arguments Status 0 Operation failed 12 Operation successful Description This command enables the reference source position data to be passed through to the Reference Input 31 This command is active when
37. 404400 0 47 98 103 APCCanmlnitialise1 4 040400 0 47 99 APCCanmlnitialise2 2 47 100 103 APCCanmlnitialise3 0 000 0 0 enne 47 101 APCDisableCAMSingleShot 1411 00 49 107 108 APCDisableExternalRefPosition 0 4 264 000 122 APCDisableExternalRefSpeed 121 APCDisableFbcklnput 44 4 420 242 24242 2 1 0 9 9 440 91 APCDisableFbckSourceMarker 31 81 APCDisableFeedbackFreeze 86 APCDisableFeedbackMarker 85 APCDisableOutputChannel 1 2 2 1 2 2 66 126 chant 114 APCDisableReferenceFreeze 85 APCDisableReferenceMarker 84 Mifit duoc 90 APCDisableRefSourceMarker 31 79 APCDisableRigidLock 53 109 112 APCDoNotlnvertFbckSource 2 11 021 nennen nnns 87 APCDoNotlnvertRefSource 2 5 87 APCDoNotResetSourcesOnbDisable 67 68 72 APCEnableCAMSingleShot 49 107 108 APCEnableExternalRefPosition
38. 9 2 10 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 Getting Started Hardware Selection Drive and Encoder setup SM Applications Setup for APC User Program Using the example code in this section Final Performance Checks Program Examples Position Reference Digital Lock Simple Flying Shear CAM Speed and Position Homing CTSync Master and Digital Lock CTSync Slave and Digital Lock Application Notes Compensation For Overshoot With High Inertia Load Position Loop Control on Open Loop Unidrive SP Conversion and Word Manipulation Migration and Software changes Migration from V01 02 01 Firmware APC Software Changes Glossary of Terminology Quick Reference APC Command Reference APC Read Parameters SM Applications Virtual Parameters CTSync Command Reference APC Definitions SM Applications Setup Parameters Conversion Factors Documentation Overview 134 134 136 137 138 144 144 145 145 148 152 158 163 168 172 172 175 178 181 181 182 184 189 189 195 199 201 201 206 207 208 209 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Information Description Description Started Examples Notes Guide Terminology Reference 1 Using This Manual This manual provides complete information on the setup and o
39. IntArray 2 3 IntArray 3 4 Reverse direction Sine Ramps IntArray 4 0 IntArray 5 J 5 APC SETUP de Ye e e de de de ve de de de de de e ve e e de de de de de ve e dede de de de e e de de de de de de de de de de de de de de de de de de dede de de de dede dede dede dede ee Control Initialise rU EE Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC DISABLE Reference amp Feedback Encoders ________________________ Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 offStatus APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSelectRelativeMode ENDIF 154 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety ibtesductioh Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Feedback Encoder Source Drive FbkSrcStatus APCSetFeedbackSource APC DRIVE Feedback Do not Invert FbkInvStatus APCDoNotInvertFbcksource Reference Encoder Source Drive RefSrcStatus APCSetReferenceSource APC USER ENC Reference Do not Invert RefInvStatus
40. Portion of the command signals that generates the position information based on position feedback Programming Language This is the interface that allows the user to control the motion system according to the demands of the user Quadrature This is a technique that separates signal channels by 90 electrical in feedback devices It is used with encoders and resolvers to detect direction of motion Relative Move A move referenced from the current set position Repeatability This is the ability of a positioning system to return to an exact location during operation from the same direction with the same load and speed Resolution The smallest positioning increment achievable In digitally programmed systems it is the smallest specifiable positioning increment Advanced Position Controller User Guide 187 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Quick Manual Information Description Description Started Examples Notes Guide Reference 5 S curve refers to control pattern that accelerates and decelerates a motor slowly to reduce mechanical shock This function is more sophisticated than linear acceleration Synchronisation The condition that occurs when several functions of a machine mechanical servo or software follow a common control signal and are in a specific position accordin
41. UnsignedTopWord This command takes a 32 bit integer value and converts the upper 16 bits to an unsigned 16 bit value in the lower 16 bits of the output variable SignedTopWord This command takes a 32 bit integer value and converts the upper 16 bits to a Signed 16 bit value in the lower 16 bits of the output variable UnsignedBottomWord This command takes a 32 bit integer value and converts the lower 16 bits to an Unsigned 16 bit value in the lower 16 bits of the output variable SignedBottomWord This command takes a 32 bit integer value and converts the lower 16 bits to a signed 16 bit value in the lower 16 bits of the output variable PutTopWord This command takes the lower 16 bits of the 32 bit integer value from the first input variable and puts them in to the upper 16bits of the output variable It also takes the lower 16 bits of the 32 bit integer value from the second input variable and puts them in to the lower 16bits of the output variable PutBottomWord This command takes the lower 16 bits of the 32 bit integer value from the first input variable and puts them in to the lower 16bits of the output variable It also takes the upper 16 bits of the 32 bit integer value from the second input variable and puts them in to the upper 16bits of the output variable One application of these function blocks is using them to dissect a 32bit position sent via CTSync into its component parts ready for use by the APC which req
42. and APCResetSourcesOnDisable Integrated position counters 28 48 only In APC Run Mode 2 APCSetRunMode 2 APCResetSourcesOnDisable and APCReset Integrated position counters 28 48 115 117 The position counters 20 and 40 are a duplication of the source counters with the set user resolution defined by APCSetNumOfTurnsBits TurnBits Units NA Range Active or Inactive Default Inactive Advanced Position Controller User Guide 69 Issue Number 3 www controltechniques com Using This Safety Introduction Functional 1 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSelectRelativeMode Status APCSelectRelativeMode Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description When this command is active the integrated position counters will be reset to zero after power up or an APC reset The reset offset position value defined by APCSetPositionResetOffset will only be added to the feedback profile integrated counters The counters can be reset as follows In APC Run Mode 1 APCSetRunMode 1 and APCResetSourcesOnDisable Integrated position counters 28 48 only In APC Run Mode 2 APCSetRunMode 2 APCResetSourcesOnDisable and APCReset Integrated position counters 28 48 115 117 The position counters 20 and 40 are a dup
43. c N s Lu o On 4090 S ig p n 5 2 5 GO ES o uc X amp X amp amp x xxx a c amp SS E SS lt c c RRR ND SS SS 5 2 Dp o SS SS SS 7 o 5 SS SS _ 44 La SS o c WS o o SS 3 peeds o 2 SIXy lt c 5 Ef o 2 o 5 5 5 6 c 5 o 2 _ ES 26 gt 2 From the Profile above we can see that the Feedback axis must accelerate to 200rpm in 1 second then stay at 200rpm for 2 seconds and finally decelerate to Orpm in 0 5 seconds To determine the amount of position change required for the feedback at the given speed 200rpm it is necessary to find the integral of each profile segment or the area under the plot in each segment The Reference speed from the profile diagram is 100rpm and the Reference and Feedback encoders will have the same resolution From this we know that the Reference will move by 109227 counts every 1 second travelled at 100rpm so a 2 second
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45. menu 90 3 In this mode the complete APC functionality is available 4 2 2 Reference Switching There are 5 operating references available with the APC Stop Position Speed Digital Lock The user may switch between each of the references with bump less transfer i e the profile generator is used to ramp to the new position or speed reference so that there are no sudden jumps in Feedback axis position or speed with the following exceptions Selecting the CAM reference when the Feedback axis is not at standstill Selecting the Stop reference when Instant Stop is selected and the Feedback Axis is not at standstill 4 2 3 Profile Generators The Profile Generators main and offset determine how a change in speed or position reference is responded to The Profile Generators operate differently for a change in speed reference compared with a change in position reference These differences are discussed below Forachange in speed reference the profile generators calculate a ramp to the new speed reference with respect to the acceleration deceleration rate set Forachangein position reference the profile generator calculates the time required at maximum speed with respect to the acceleration deceleration rate set so that the feedback axis will ramp down and stop at or synchronise with the new position reference When the main Profile generator is inactive any change in speed or po
46. to determine the value of Y position with respect to X The Lower half of Figure 4 18 above is the rate of change of Cosine interpolation and indicates the resultant velocity when Cosine Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity Y co ordinate 2 X co ordinate 42 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction ANEI Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 3 3 Square Interpolation 2 Figure 4 19 Y Y A p 7 X X X Y X Y When Square1 Interpolation has been applied to a CAM segment and the X axis is positive and increasing it will derive a positive linear acceleration velocity profile It is used for linear velocity acceleration over a given CAM segment In the Upper half of Figure 4 19 above Square1 Interpolation has been used between each set of co ordinates X Y to determine the value of Y position with respect to X The Lower half of Figure 4 19 above is the rate of change of Square1 interpolation and indicates the resultant velocity when Square1 Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity 2 Y co ordinate X co ordinate Adv
47. window is shifted right by the same number of bits e g If the number of turns bits is set to 10 then the 32 bit position window used by the APC will comprise of 10 turns bits 16 coarse position bits and 6 fine position bits giving a total of 1024 turns counts 279 and 4194304 position counts revolution 216 If the chosen encoder has a resolution of 16 bit or less altering the number of turns bits will not give extra positional information per revolution it will only reduce the number of turns bits seen by the APC Number of Turns Coarse Position Fine Position 31 16 15 0 APC Number of Turns Coarse Position A APCSetNumOfTurnsBits n n 1 to 16 Default 16 Units Range Default Advanced Position Controller User Guide 77 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableRefSourceMarker Status APCEnableRefSourceMarker Input Arguments None Output Arguments Status 0 1 Description Operation failed Operation successful This command enables the reference source marker to reset the reference position within one revolution so that zero position and the marker pulse are aligned Marker Pulse Enabled eee 180 CA Position
48. 1 x G 4 QSL OS SS SS Without Compensation With Compensation the Profile speed This area is controlled by reference or velocity feed forward term area controlled by Profile Dashed line indicates the speed reference or the velocity feed forward term All Sic Advanced Position Controller User Guide www controltechniques com introducing S ramps to smooth out speed performance as the target speed is reached however they are not available in this version of the APC The method of dampening overshoot in this application note is implemented by reducing the speed feed forward term so that the P term regulates a larger proportion of the demanded speed and position and therefore the load is accelerated to the demand speed softly See Figure response of the APC in order to reduce overshoot Normally this can be achieved by 8 1 below In applications where a high inertia is present it may be desirable to dampen the Compensation For Overshoot With High Inertia Application Notes B c ES t 90 Cu o S c 2 5
49. 1 Preset Speed Ref 1 302 02 0 Disable Drive Ramps 4202 04 0 Fast Decel Ramps 3206 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP 724 81 12 3 1ms Task time 381 14 1 Global Trip Enable 381 16 1 Update Ref and Fbck every POS Task 381 17 0 Disable Parameter Over range trip 381 20 1 Save PLC Registers On Power down REINIT INITIALISATION OF VARIABLES EEE EEE None APC SETUP KARARKA RRAK kkk kkk kkk kkk kkk kkk kkk kkk kkk kkk kkk kkk kkk kkk kk kkk kkk kkk kkk kk Homi ng 0 01d1832 0 OldMarkerFlag 0 FeedbackPositioncnts 0 Control Initialise rr EE Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC DISABLE Reference amp Feedback Encoders EE Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 offStatus APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSelectRelativeMode ENDIF Feedback Encoder Source Drive FbkSrcStatus APCSetFeedbackSource APC_DRIVE_ENC Feedback Do not Invert FbkInvStatus APCDoNotInvertrFbcksource
50. 1 Enable power down save 4281 38 1 Disable APC run time error trip 300 00 1000 Save parameters and reset the SM Applications module 310 38 100 288 01 1 ENDIF Configure then enable the APC and Output Channel writing to precision reference and trim parameters 1 18 and 1 19 APcchStatus1 APCSetupOutputchannel 4 1 18 APC output channel writes to Reference APCChStatus2 APCEnableoOutputchannel 0 SyncchStatus1 CTSYNCSetupOutputchannel 1 1 19 CTSync output channel writes to Trim SyncchStatus2 CTSYNCEnableoutputchannel 1 Configure the APC Feedback and Reference Source encoders SourceStatus1 APCSetFeedbackSource APC DRIVE Drive encoder selected SourceStatus2 APCSetReferenceSource APC USER ENC User Program Selected RunModeStatus APCSetRunMode APC DISABLE Primes the position counters on startup or reset Set APC output ratio to compensate for output gear box ratio where In Out Numerator Denominator RatioStatus1 APCSetOutputRatioNumerator 1000 RatioStatus2 APCSetOutputRatioDenomi nator 1000 Synchronous speed for conversion from rpm to Hz Calculated from 120 Motor Hz Motor Poles SynchronousSpeed 3000 Profile Max Speed 90 of motor application motor synchronous speed ProfMaxSpeed MULDIV 1073741824 SynchronousSpeed 90 60000 100 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed P Gain Speed 1 10 of motor
51. 10 188 188 Virtual 11 188 Virtual Parameters 181 199 Word Manipulation 52 ree Fem erc eda en 180 Advanced Position Controller User Guide 219 Issue Number 3 www controltechniques com
52. 14 Use preset speed reference 3 Preset speed reference 1 1 15 1 selected 2 02 Disable drive ramps 0 2 04 Use fast decel ramps 0 6 01 Stop with no ramps 2 Parameter 1 06 will override the APC s output speed clamp which is also set to 3000rpm from default In user code this would look like Figure 6 2 Initial Drive setup Parameters 301 06 3000 301 07 0 01 10 1 01 14 3 01 15 1 02 02 0 02 04 0 06 01 2 Initial The code above has been set up assuming the APC s output channel is written to preset speed reference 1 alternatively the output channel could be written to the hard speed reference in which case parameters 1 10 1 14 1 15 and 2 02 do not need to be set Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Program Application Migration Glossary of Quick Manual Information Description Description 8 Examples Notes Guide Terminology Reference 6 SM Applications Setup for APC The parameters in this section are referred to as 81 xx They are aliases to menu 15 16 or 17 depending on which slot the SM Applications module is fitted to When writing code for the SM Applications module using 81 xx ensures that the module can be fitted to any slot and the correct corresponding slot menu will be updated changed Table 6 3 below shows the parameters which must be setup to allow the APC to fu
53. 1apoouo NAL 2 YPAS IAY WNEI uoneiojo2eg 1042 5102 Jopoouo Jed sjunoo zZ 12124 Py eetiezovellio1 ies WSLS uoneiojo2ov OOOO 103219090 uie 881 poods lyo1d 951 01195 peeds 19540 IV 5 Y uogisog euj 56 uonisod OLY 01195 uonisod 39840 IW 51092 Jepooue Jed 2 speeds xe w duiejpeedsxe WelljoudjOIeS 9215 peeds 19540 OV Jeno syunoo 5 10540 5 1 4epooue lt gt 19540 uonisod 19540 ud 999 iad spuo G9 YO1dHORSOdV 51002 51052 SJUNOD 2 udi 999 5709 51062 18 0 sjunoo snis uoneig o22y 10319099 ejjojd 19540 apo eane eue es Idy SMe
54. 7 10 Calculating CAM Co ordinates from Slave Positional Information This method demonstrates how to calculate the Master co ordinates for a trapezoidal Velocity profile from the following position information 1 Master Overall Distance Pmt 2 Slave Overall Distance Pst 3 Slave Acceleration Distance Psa 4 Slave Deceleration Distance Psd With reference to Figure 4 26 below the following calculation can be deduced Slave Steady State Distance Pss Pst Psa Psd The Total Equivalent Slave area Psf 2 Psa Pss 2 Psd Master Acceleration Distance Pma 2Psa Psf Pmt Master Steady State Distance Pms Pss Psf Pmt Master Deceleration Distance Pmd 2Psd Psf Pmt To ensure the master distances calculated are correctly the master velocities can be checked i e If the master distances have been calculated correctly all 3 equations below will have the same answer Final velocity for acceleration Master Velocity 2 Psa Pma Start velocity for deceleration Master Velocity 2 Psd Steady State Velocity Master Velocity Pss Pms Figure 4 26 Psf Area within the dashed box P MASTER x2 x1 x2 Acceleration SteadyState Deceleration Square1 Interpolation Linear Interpolation Square2 Interpolation E Pmt gt Advanced Position Controller User Guide 51 Issue Number 3 www controltechniques com Using This Safety introdu
55. APCDisableFbcklnput respectively 2 The current source position must be acquired from read parameter 20 or 40 using the APCReadPar Parameter command 3 The current source position is then fed into the function block then the new derived position is inserted back into the Reference or Feedback counter using the command APCSetReflnput Input or respectively If the commands APCEnableReflnput or APCEnableFbckinput are active then any value written using APCSetRefinput Input or APCSetFbckInput Input will be ignored and the position counters will function as normal Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information 9901 Description Started Examples Notes Guide Terminology Reference Any values written in POSO using the commands APCSetReflnput Input or APCSetFbcklnput Input96 are used in the same POS task cycle 4 4 Stop Reference The Stop reference is used to stop the Feedback axis regardless of the previous reference and current velocity The Stop reference has two different operating modes 4 4 1 Profile Stop In this mode APCSetStopMode 0 when the Stop reference is selected the axis will be ramped from the current speed to zero This is achieved by the stop reference being loaded with the
56. APCDoNotinvertRefSource Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBi ts 16 Stop Reference e ______________ _ Decelerate on a Stop StopStatus APCSetStopMode APC PROF STOP CAM Reference F Initialise 2 function with In Out amp Interpolation Array CAMIniStatus APCCamInitialise2 InArray OutArray IntArray Interpolation Type Array CAMIntStatus APCSetCAMInterpolationMode APC ARRAY CAM Segment limit CAMsegStatus APCSetCAMDeltaSegLimit 256 CAM Output Ratio CAMNumStatus APCSetCAMOutRatioNumerator 1000 CAMNumStatus APCSetCAMOutRatioDenomi nator 1000 Start Point and Size CAMStrStatus APCSetCAMStartIndex 0 CAMSzStatus APCSetCAMSize 3 CAM Start Mode CAMStrStatus APCSelectCAMZeroReset CAMStrStatus APCSelectCAMAbsoluteReset IndexStatus APCSetCAMAbsReset Index Index SegmentStatus APCSetCAMAbsResetPositionInSeg Position Profile Generator _______________ _ Enable Profile Generator ProfEnStatus APCEnableProfile Profile Max Speed 90 of 1000rpm 900rpm ProfMaxSpeed MULDIV 1073741824 401 06 90 60000 100 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed Profile Acceleration and
57. CAM Reference APCCamilnitialise Status APCCamInitialise InArray OutArray1 OutArray2 InterpolationArray Input Arguments InArray Input array dimensioned by the user OutArray1 Output array 1 dimensioned by the user OutArray2 Output array 2 dimensioned by the user InterpolationArray Interpolation array dimensioned by the user Output Arguments Status 0 Operation failed 1 Operation successful Description This command defines the names of the arrays to be used with the APC CAM reference With reference to the above the first array InArray is the name of the array which defines the reference x axis position elements for each CAM segment The second array OutArray1 is the name of the array which defines the feedback y axis position elements for each CAM segment The interpolation used with respect to the reference array InArray is defined by APCSetCAMinterpolationMode n The third array OUtArray2 is the name of the array which defines the feedback offset position elements CAM segments the value of this array is added to the OutArray1 array but it only uses linear interpolation with respect to the reference array InArray 6 The fourth array InterpolationArray is the name of the array which defines the interpolation type used for OutArray1 6 with respect to the reference array InArray 6 for each CAM segment This is only applicable when multiple interpolation is required defined by APCSetCAM
58. CAM Start Index and the CAM size APCSetCAMS ize can be changed whilst the CAM reference is running but will not take effect until the current cycle has finished or the CAM is re started 4 7 8 2 Absolute CAM Reset When the CAM reference is deselected and Absolute CAM reset has been selected by APCSelectCAMAbsoluteReset when the CAM Reference is next selected the CAM will start from the segment and the position in the segment defined by APCSetCAMAbsResetIndex and APCSetCAMAbsResetPositionInSeg within the limits defined by APCSetCAMStartindex and APCSetCAMSize This may be useful for absolute positioning when it is important to ensure the Feedback axis CAM is set to the correct position after an unforeseen power cut or reset 4 7 9 CAM Selection by Freeze The CAM reference may be selected by a freeze input This is useful when an application requires that a process must be synchronised to a particular position on the Reference Master axis like a flying shear application shown in Figure 4 25 Advanced Position Controller User Guide 49 Issue Number 3 www controltechniques com Functional Description Reine This Safety Introduction Manual Information Command Getting Program Application Migration Glossary of Quick Description Started Examples Notes Guide Terminology Reference Figure 4 25 CAM Profiled return and deceleratio
59. Deceleration Rates 2s Accel amp 15 1 ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfi leAccelRate ProfAcceleration ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop EE Disable external Speed and Position References ExtSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisableExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 Output Channel speed ref 01 21 APcChStatus1 APCSetupOutputchannel 2 0 0 APCChStatus2 APCEnableoutputchannel Advanced Position Controller User Guide 155 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 401 06 10 60000 100 PTermC Status APCSetPGainSpeedClamp PGainMaxSpeed Output Speed Clamp OutClampStatus APCSetOutputSpeedclamp 53687091 equal to 3000rpm Initial Background Background Task Lowest Priority Ta
60. Do not invert reference Reference source invert N Invert reference Integrated reference position 231 to 231 4 A Integrated reference position on 2231 231 4 freeze A 14 15 20 21 22 23 24 5 2 Integrated reference position on 31 31 uem ui d _ Feedback source position Encoder counts 231 to 231 4 Feedback source freeze position 231 to 231 4 0 No feedback freeze flag Feedback source freeze flag Feedback freeze flag eedback source marker position 231 to 231 4 Feedback source marker flag No feedback marker flag 1 0 Ref input not disabled Reference Input Disable 1 Ref input disabled 1 Feedback marker flag Feedback source is affected by NA 0 Feedback is not affected marker 1 Feedback is affected 27 28 29 30 31 32 40 41 42 43 44 5 4 Advanced Position Controller User Guide 195 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 11021199 196 Parameter Description Default 232 counts rev 46 Feedback source speed encoder over 231 to 231 4 2501s 47 Feedback source invert NA 9 live rie aback 1 Invert feedback freeze Integrated Feedback position on 231 to 231 1 BE marker 51 Feedback Input Encoder Counts 23110 231 1 2 0 Fbck input not
61. Index Segment Indication 18 15 APCReadPar APC_CAM_INDEX Background Advanced Position Controller User Guide 141 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command 18 Program Application Migration Glossary of Quick Manual Information Description Description M Examples Notes Guide Terminology Reference 6 4 9 POSO 18 33 selects either the Stop or CAM Reference IF 418 33 1 THEN RefSelectStatus APCSelectReference APC CAM REF ELSE RefSelectStatus APCSelectReference APC STOP REF ENDIF Set single shot or continuous CAM IF 18 34 1 THEN CAMSSStatus APCEnableCAMSingleShot ELSE CAMSSStatus APCDisableCAMSingleShot ENDIF Virtual Master counter Counts per POSO Task sample 1ms RPM Counts per Rev 60 1000 CountsPerSample MULDIV 18 16 65536 60000 18 16 Virtual master speed in rpm Virtual Counter MasterCounter MasterCounter CountsPerSamp1e Split up Virtual Master Counter data ready for the APC User Program Reference Turns UnsignedTopword MasterCounter Position UnsignedBottomword Mastercounter PositionFine 0 Send Virtual Master counter data to the APC User Program Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine POSO Refer to the Functional Description or APC Command Descriptions sections for more details The drive parameters used in
62. Manual Information Description Description Started Examples Notes CI 6 EM Terminology Reference Most new user testing firmware version 1 03 00 find that after downloading they are unable to get position feedback in 90 01 and 90 02 This is because in this firmware the drive encoder is not automatically directed to 90 01 and 90 02 two new parameters have been created to direct both the Reference Auxiliary and Feedback Main encoder sources 90 43 Which effectively replaces 81 16 and sets the Reference encoder source The reference encoder position data is displayed in 90 03 and 90 04 90 44 Which sets the Feedback encoder source The Feedback encoder position data is displayed in 90 01 and 90 02 For both parameters 90 43 and 90 44 a value from to 5 can be set where 0 Drive encoder 1 Slot 1 2 Slot 2 3 Slot 3 4 User program source CTSync etc 5 None Therefore to view the drive encoder position data in 90 01 and 90 02 90 44 must be set to 0 In Firmware version V01 03 00 90 43 and 90 44 are set to a default value of 5 which means that from default no encoder data will be displayed in 90 01 to 90 04 In firmware version gt V01 03 00 the default has been set to 0 therefore the drive encoder data will be displayed in 90 01 to 90 04 9 2 APC Software Changes 9 2 1 Changes introduced with V01 03 03 Firmware In V01 03 03 the following additional features have been added 1 The Offse
63. Manual Information Description Description Started Examples Notes Guide Terminology Reference Positioning Modes The APC reference and feedback position counters are incremented by integrating the encoder counts per sample The start or reset position can be defined by one of the following modes Relative Mode In this mode the reference and feedback counters are set to zero when an APC Reset is actioned If required an offset position can be added to the feedback counters Any encoder can be used in this mode Absolute Mode In this mode the reference and the feedback counters are set to the absolute position values read directly from the source encoder when an APC Reset is actioned If required an offset position can be added to the feedback counters This is useful when using absolute feedback devices like SSI SinCos EndAt as the absolute position is maintained at all times even without power Resolution The APC kernel resolution The APC uses 32 bit signed resolution Encoder Resolution Scaling The reference and feedback encoder position counters can be scaled from 216 to 231 depending on the encoder used For example high resolution SinCos encoder can have a maximum of 2 bit resolution per turn which can be scaled down to a minimum of 216 When the resolution of the encoder counts per revolution is less than 216 the encoder counts will be interpolated up to 216 Note The true resolution will still equal
64. NUR RO PER tne 187 Proportional TREE 18 PutBoltomiWOord ee dn 133 eR 133 e vehe 11 187 R rc AUN M Oe DON UN 56 59 Read Parameters 195 10 25 26 139 189 191 Relative nexu e RE ec ri Pong 27 135 Relative Mode 2222 12 26 Relative asd esI EA M 187 aie 187 FRESOIULION REEL 12 27 134 135 187 135 Digital GG rte tetto sane de ertt 55 Rotatlonal 17 134 tcc bm d tun UM ED Id 18 5 E 6 SetConverterDenominator 131 SetConverterNumerator 2 131 eU ce TI CE 127 SignedBottomWord sv yeaa et e rp e eoa 132 Sighied TOP WORE ei em tele ect e llb 132 SINGOS nei rie IB ete ioi t e 11 12 13 135 218 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Single AX S eee 11 SNOS mE 49 CUT Der PEN PI NM 53 SM Applications bos ue 14 206 S
65. POSO have been used for demonstration purposes only In real applications access to drive parameters should be limited as much as possible Where drive parameter access is required in real time tasks like POSO variables should be associated in the background task and then used in the real time code Digital Lock The Digital Lock Reference provides a method of synchronising a Slave feedback axis to a Master reference axis Example code using the Digital Lock reference in rigid or non rigid lock with variable output ratio is shown in Figure 6 10 142 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety ibtesductioh Functional Command Program Application Migration Glossary of Quick Manual Information Description Description 8 Examples Notes Guide Terminology Reference Figure 6 10 Initial Initialise Virtual Master Counter variable Mastercounter 0 Initialise digital lock ratio parameters to set a 1 1 ratio 18 17 1000 18 18 1000 Initial Background Set rigid or non rigid Digital Lock IF 18 36 1 THEN RigidLckStatus APCEnableRigidLock Sync Speed and Position before locking ELSE RigidLckStatus APCDisableRigidLock Sync Speed only before locking ENDIF Set the Digital Lock Ratio NumeratorStatus APCSetDigLockRatioNumerator 18 17 DenominatorStatus APCSetDigLockRatioDenominator 18 18 Background
66. Position 231 to 231 4 232 counts rev Offset Profile Input Speed encoder over 231 to 231 4 25015 Offset Profile Output Position 231 to 231 4 232 counts rev Offset Profile Output Speed encoder over 231 to 231 4 250us 232 counts rev Offset Profile Output Acceleration encoder over 231 to 231 4 250us 250us At Offset Target Position Not at target position At target position At target speed 198 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 3 SM Applications Virtual Parameters Parameter Description Units Range Default count i pr i EM position count 90 18 Feedback encoder freeze NA 0 No freeze pulse flag 1 Freeze pulse TT postion pid is id position rev count Disable drive encoder 0 Enable 90 22 Drive encoder comms 0 to 65535 NA transmit register receive register me did j li position rev count 90 28 Reference encoder freeze NA 0 No freeze pulse flag 1 Freeze pulse Reference encoder freeze 90 29 ER Encoder counts 231 231 4 NA position rev count 90 31 Feedback encoder Ds Turns and encoder counts 231 to 231 4 NA and coarse position 90 32 Reference encoder turns Turns and encoder counts 2
67. Position Controller User Guide 33 Issue Number 3 www controltechniques com 3 2 x gt Guide Terminology Reference Program Application Migration Glossary of 1 AALL SS oo o SS SS SSS MAW SQA RQ c SS SS 2 AQ LA Ss MQ Qa o sixy oeqpeeJ Issue Number Profile deceleraton to zero speed and position setpoint Advanced Position Controller User Guide Traveling at max speed to position setpoint www controltechniques com Profile acceleraton to max speed Safety c 6 Using This If the Position reference is used for in an Indexing application where position change Current position Index the position reference will roll over with the feedback once 231 to 231 1 is exceeded This means that the user can Index in one direction infinitely without any unexpected position changes NOTE 34 35 www controltechniques com s amp c _ D 0 52 2 vr 5 3 Q gt Ot 2 o9 o BE 5 5 95 oO gt m O
68. Reference The following equations convert rpm into internal speed units Speed 232 0 00025 rpm 60 or Speed 232 rpm 240000 Advanced Position Controller User Guide 17 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference For SM Applications programs use the following equation APCSpeed MULDIV 1073741824 SpeedRPM 60000 230 rpm 60000 3 11 2 3 Acceleration The internal acceleration units are in 232 encoder counts per rev over 250us 250us These units are used for the Profile Acceleration rate Profile Deceleration rate and the Profile Output Acceleration Acceleration rate APC Speed 232 encoder counts per rev over 250us 250us Accel Time s For SM Applications programs use the following equation APCAcce l 62MULDIV APCSpeed 250 AccelTimeMi 5 3 11 2 4 Proportional Gain Kv 3 11 3 18 The APC internal Proportional gain units are in 0 01rads s rad units If required the word or rads in the proportional gain units can substituted for any other units like mm or revs as the response will still be the same User Program The interface to the APC is not via parameters but by a series of function calls to the main APC kernel In
69. SMEIS 91 1 Z 1015 uondo 1015 uondo depen ed q e ug 0 Jies meis Advanced Position Controller User Guide 24 Issue Number 3 www controltechniques com 25 52 SMeIS epoyeiniosqyioeresodv aynjosqy Guide Terminology Reference IGesiquossounogjesey SMIEIS uonisogd iendeeiiarosm ioo eG SNIEIS 4 SMEIS uonisog 18584 kw di eoinog e peeds aigesiquossoinogiaseyioNOdod s snieis 92uo19J9M yoo ody s smeis Program Application Migration Glossary of lt gt lt gt s amp epoi epojun ies OdY SMEIS euoN i S i apoW uonisod NSPH dod ARS 0 lt oguonisod SMeIs o Be 44022 eounogjesneses dv 9 smeis iw Jayey eigesid 5 5 4
70. Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is retained to current position plus offset if required on drive disable Absolute mode when the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Both modes works with all encoders Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 Tune the speed loop gains 4 SM Applications must be in a run state 13 1 OTHER NOTES All the APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Initial Initialisation Program DRIVE PARAMETER SETUP 01 06 1000 Max Speed 1000rpm 01 07 0 Min Speed Orpm 2 01 10 1 Bipolar Reference 201 14 3 Preset Speed Reference 158 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference 401 15
71. Service Centre If there is any doubt contact a Control Techniques Drive Centre Copyright 22 June 2004 Control Techniques Drives Ltd Issue Code 3 Hardware SM Applications Issue 03 00 Firmware 01 03 03 Advanced Position Controller User Guide www controltechniques com Issue Number 3 1 2 2 1 2 2 2 3 2 4 2 5 2 6 2 7 3 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 9 5 1 5 2 5 3 Contents Using This Manual Safety Information Warnings Cautions and Notes Electrical Safety General Warning System Design and Safety of Personnel Environmental Limits Compliance with Regulations Motor Adjusting Parameters Introduction Overview Motion Fundamentals Clarification of Terms Positional Feedback References Positioning Modes Resolution Hardware High Speed Position Capture Task model Performance Interfacing Functional Description APC Overall Diagram Operational Overview Reference and Feedback Encoder Positions Stop Reference Position Reference Speed Reference CAM Reference Digital Lock Reference Position Loop CTSync APC Output Channel APC Command Descriptions APC Functions DPL Commands Conversion Functions Advanced Position Controller User Guide Issue Number 3 www controltechniques com CONNNNDDOOD CC 127 6 1 6 2 6 3 6 4 6 5 6 6 7 1 7 2 7 3 7 4 7 5 7 6 8 1 8 2 8 3 9 1
72. Status 0 The value UserAccel is too large to fit within 32 bit signed bounds The value returned will be set to zero 1 Operation successful The User equivalent of the APC acceleration if Status is 1 0 UserAccel otherwise zero Description This command converts an APC acceleration in APCAccel and will return a User acceleration units s s in UserAccel 5 3 1 1 Notes on Rounding In most cases it will be possible to convert a user value e g position to an internal APC position and back again and retain exactly the same value For example UPR 5000 Number Of Turns Bits 9 User position of 1000 gives APC position of 1677722 via the UserToAPCPosition function block Advanced Position Controller User Guide 129 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference This is actually 1677721 6 but gets rounded to 1677722 APC position of 1677722 gives user position of 1000 via the APCToUserPosition function block This is actually 1000 0002384 but gets rounded to 1000 As the APC kernel uses integer maths fractions are not possible so in each conversion the fractional part is rounded to the nearest whole unit This can sometimes lead to unexpected errors If we perform the calculation
73. Terminology Reference UserToAPCPosition CAPCPos Status UserToAPCPosition UserPos 6 Input Arguments UserPos Signed 32 bit Output Arguments Status The value APCPos is too large to fit within 32 bit signed bounds The value returned will be set to zero 1 Operation successful The APC equivalent of the user position if Status is 1 0 otherwise zero Description This command converts a user position in UserPos and will return an APC Position in APCPos APCToUserPosition UserPos Status APCToUserPosition APCPos 6 Input Arguments APCPos Signed 32 bit Output Arguments Status The value APCPos is too large to fit within 32 bit signed bounds The value returned will be set to zero 1 Operation successful UserPos The user equivalent of the APC position if Status is 1 otherwise zero Description This command converts an APC position in APCPos and will return a user position in UserPos UserToAPCVelocity C APCVe1 Status UserToAPCVelocity UserVvel 6 Input Arguments UserVel Signed 32 bit Output Arguments Status The value APCVel is too large to fit within 32 bit signed bounds The value returned will be set to zero 1 Operation successful The APC equivalent of the user velocity if Status is 1 0 APCVel otherwise zero Description This command converts a user velocity units s in UserVel and will return an APC velocity in APCVel 128
74. Units 232 counts rev encoder over 25015 Range 715827883 to 715827883 Default 0 APCSetPositionOffset Status APCSetPositionoffset Position Input Arguments Position Signed 32bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets offset profile generator position offset 93 and is Summed with the main profile generator output This can be used to phase advance retard the feedback axis with respect to the reference axis The value of Position is entered in counts and should be calculated with respect to the same resolution set for the feedback encoder defined by the command APCSetNumOfTurnsBits TurnBits 14 When the Stop reference is selected 100 0 the offset selector 102 will be set to 0 internally and therefore the offsets will have no effect and if profiled stop is selected 90 1 the offset profile acceleration and deceleration rates are ignored and the main profile rates are used Units Encoder Counts Range 231 to 231 1 Default 0 116 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSelectOffset Status APCSelectoOffset OffSelect 5 Input Arguments OffSelect Offsets disabled Positio
75. and Denominator This can be used to compensate for a gear box in a CAM application like a Rotary Knife application shown in Figure 4 24 below Figure 4 24 CAM Output Ratio Numerator 7 Denominator 3 Speed T Reference Position loop Unidrive SP APC This means that the CAM can be calculated at 1 1 ratio therefore minimising any count rounding errors The gear box ratio is then compensated for by the CAM output ratio The CAM output ratio is set by the following commands APCSetCAMOutRatioNumerator APCSetCAMOutRatioDenominator If granularity of the position output at the motor shaft is a problem when the CAM output numerator is greater than 1 e g 7 3 the slave co ordinates can be multiplied by the numerator value 7 and the CAM output ratio can be reduced to 1 3 using the ratio to apply the denominator means that any remainder is automatically compensated for This means that instead of each count being directly multiplied i e a step jump of 7 counts for 1 count in the CAM will interpolate through the 7 counts giving a smooth transition with low granularity 48 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guid
76. application motor synchronous speed 1 MULDIV 1073741824 SynchronousSpeed 10 60000 100 ProfMxSpStatus APCSetPGainSpeedClamp PGainClamp Initial 176 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Background top Speed Setpoint Scaling from 0 1 entered in parameter 18 11 to Internal units SpeedSetpointinternal MULDIV 1073741824 18 11 10 60000 Send Speed Reference to APC SpeedRefStatus APCSetSpeedSetPoint SpeedSetpointinternal Set Position loop Proportional gain try at 1500 to start APCSetPGain 18 12 goto top main background loop Background 0 Drive Reference on interlock IF 01 11 1 THEN RunModeStatus APCSetRunMode APC ENABLE APC fully functional ELSE RunModeStatus ENDIF APCSetRunMode APC DISABLE Only APC source counters active 18 31 selects either the Stop or Speed Reference IF 18 31 1 THEN RefSelectStatus APCSelectReference APC SPEED REF ELSE RefSelectStatus APCSelectReference APC STOP REF ENDIF Get high resolution speed reference from the APC position loop output Speed APCGetOutputSpeed Convert high resolution reference to rpm x1000 units
77. arrays you want to start from and how much of the CAM from the start point you want to use The CAM start index and CAM Size is set by the commands Advanced Position Controller User Guide 47 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference e APCSetCAMStartindex APCSetCAMSize The CAM Start Index and the CAM size can be changed whilst the CAM reference is running but will not take effect until the current cycle has finished or the CAM is re started Any changes to the CAM array data will take effect immediately Care must be taken to ensure that the array elements being changed are not being used to prevent sudden unexpected jumps in position which could damage the application mechanics or personnel The CAM Delta segment limit must also be set to define the maximum change allowed in the Reference source per POS task cycle set by 481 12 or x 12 for the SM Applications module Setting this to a suitable value will prevent large step changes in reference source from being applied to the Slave axis which could potentially damage an applications mechanics The CAM Delta Segment limit is set by the command APCSetCAMDeltaSegL imit 4 7 6 Output Ratio The CAM reference has an output ratio in form of a Numerator
78. as the Position Loop feed forward reference Units NA Range Active or Inactive Default Active APCSetExternalRefSpeed Status APCSetExternalRefSpeed Speed Input Arguments Speed Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the value of the external reference speed 139 Units 232 counts rev encoder over 250us Range 715827883 to 715827883 Default 0 APCEnableExternalRefPosition Status APCEnableExternalRefPosition Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables position loop reference position to be changed 136 1 from the Profile Position reference 117 to the External position reference 137 set by the command APCSetExternalRefPosition Position Units NA Range Active or Inactive Default Inactive Advanced Position Controller User Guide 121 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Examples Notes Guide Terminology Reference APCDisableExternalRefPosition Status APCDisableExternalRefPosition Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the External position reference 137 and enables Profile Position refe
79. aware of fundamental changes and addition to the virtual parameters with the introduction of the in firmware version gt V01 03 00 9 1 1 Virtual Parameters that have changed function Table 9 1 Parameter lt V01 02 01 Description gt V01 03 00 Description 81 16 Auxiiary encoder select Encoder data update rate 81 38 Reserved Disable APC runtime error 90 01 Main encoder position Feedback encoder position 90 02 Main encoder revolution count Feedback encoder revolution count 90 03 Auxiliary encoder position Reference encoder position 90 18 Enable freeze input Feedback encoder freeze flag 90 19 Freeze encoder position count Feedback encoder freeze position 90 20 Freeze encoder revolution count Feedback encoder freeze revolution count 90 25 Main encoder marker position Feedback encoder marker position Feedback encoder marker revolution count 90 28 Auxiliary encoder freeze flag Reference encoder freeze flag 90 29 Auxiliary encoder freeze position Reference encoder freeze position Reference encoder freeze revolution count 90 26 Main encoder marker revolution count 90 30 Auxiliary encoder freeze revolution count 9 1 2 New Virtual Parameters gt V01 03 00 Firmware Table 9 2 90 35 Reference encoder marker position Advanced Position Controller User Guide 181 Issue Number 3 www controltechniques com Using This Safety Functional Command Getting Program Application Glossary of Quick
80. axis means one stand alone controllable axis where the set point is not directly related to another axis position speed See Figure 3 3 below Figure 3 3 3 4 Feedback Encoder Profile Position Generator Loop Gains Position v Setpoint d 1 5 axis means there is one controllable axis following another axis synchronously in position speed See Figure 3 4 Figure 3 4 Reference Encoder Feedback Encoder Position Loop Gains Digital Lock Positional Feedback References The reference and feedback positions can be taken from a feedback device connected directly to the drive a feedback device connected to a position category option module in any drive slot or from a user selected parameter The latter option can be used in conjunction with CTSync to implement a virtual master system The update rates associated with these options are shown in Table 3 2 below Table 3 2 Reference Comment Update Time Soure _ User Parameter CT Sync SM Application port RS485 250us min Feedback Via SM Application port RS485 250us Refer to the options relevant user manual for more information Advanced Position Controller User Guide 11 Issue Number 3 www controltechniques com 3 5 1 3 5 2 3 6 3 6 1 3 6 2 3 6 2 1 3 6 2 2 12 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick
81. before rounding errors occur 130 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference 5 3 2 User Defined Unit Converter Note that this is not intended exclusively for use with the APC but can be used for any purpose For example millimeters to inches conversion and back again can be performed by setting the numerator to 254 and the denominator to 10 Converting forwards will scale by 25 4 which will convert inches to millimeters Converting backwards will convert millimeters to inches SetConverterNumerator SetConverterNumerator Numerator 6 Input Arguments Numerator Signed 32 bit Description This command sets the numerator value for use as a scaling factor by the User Defined Unit Converter SetConverterDenominator SetConverterDenominator Denominator 6 Input Arguments Denominator 6 Signed 32 bit Description This command sets the denominator value for use as a scaling factor by the User Defined Unit Converter ConvertForwards Output ConvertForwards Input Input Arguments Input Signed 32 bit Output Arguments Output Signed 32 bit Description This command takes a 32 bit integer value from the input variable Input and multiplies it by the numerator denomina
82. dX dY dX Y When Linear Interpolation has been applied to a CAM segment it will derive a steady state velocity profile between CAM co ordinates It is used for steady state velocity profiles This means that if linear interpolation is used over the whole CAM there will be a step change in velocity between CAM segments In the Upper half of Figure 4 17 above Linear Interpolation has been used between each set of co ordinates X Y to determine the value of Y position with respect to X The Lower half of Figure 4 17 above is the rate of change of linear interpolation and indicates the resultant velocity when Linear Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity Y co ordinate X co ordinate Advanced Position Controller User Guide 41 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Started Examples Notes Guide Terminology Reference 4 7 3 2 Cosine Interpolation 1 Figure 4 18 When Cosine Interpolation has been applied to a CAM segment it will derive a Cosine velocity profile between CAM co ordinates It is used for smooth point to point position changes In the Upper half of Figure 4 18 above Cosine Interpolation has been used between each set of co ordinates X Y
83. da eens ee 22 Motion Profile lt lt 186 Multiplg 40 Never LOCK cs de nta Lidl a Aa te 53 Non Rigid Digital Lock 54 Notes TASK d Qa ve 138 Advanced Position Controller User Guide 217 Issue Number 3 www controltechniques com Offset ahs 27 39 186 Offset POSION 12 Offset Profile Generator 192 Open Loop E 175 187 Output Channel iara 139 acte ma Mer eade vade ade 48 Output Speed Clamp oko tocco eniin aec e OR Ete Fel LER ARE LR RR 60 QvershoOt ins eL SES pA a 172 187 P iic et 187 POS Task 16 POSO and POS1Tasks nn nnn nennen nnn nnns 138 eee es 10 17 27 33 140 145 158 Position Capture 28 Position Correction 2 57 Position oe Er tt e ie Er Rc ER ed ba e e Ee t e d 187 POSItIOn EOD MESE AES ITI 187 192 oe m rmm 187 ERE 36 37 47 Profile Generator 22 Protile Generators ein een rere er erga 192 Programming Language 1 3 e eens UU
84. de ve e de de de de de e e de de de de de de e de de de de dede de de de de de de dede de de dede dede de dede eee 381 06 25 CTSync Master 3281 12 3 lms Task time 381 14 1 Global Trip Enable 81 16 1 Update Ref and Fbck every POS Task 381 17 0 Disable Parameter Over range trip 381 20 1 Save PLC Registers On Power down REINIT XNITIALISATION OF VARIABLES None MasterCounter 0 18 32 0 APC SETUP Control Initialise ee EE Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC DISABLE Reference amp Feedback Encoders rn EE Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 OffStatusX APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSelectRelativeMode ENDIF Feedback Encoder Source Drive FbkSrcStatus APCSetFeedbackSource APC DRIVE Feedback Do not Invert FbkInvStatus APCDoNotInvertFbcksource Reference Encoder Source Drive RefSrcStatus APCSetReferenceSource APC USER ENC Reference Do not Invert RefInvStatus APCDoNotInvertRefSource 164 Advanced Position Controll
85. for CTSync is 200 metres 4 10 4 Motion Engine 62 The tasks performed for each motion engine sample are shown below 1 The Master motion engine calculates the reference 2 The Master passes the reference data to the RS 485 handler by using the CTSyncSetMasterReferences function block 3 The RS 485 data is transmitted to the Slave s 4 The reference data is retrieved by the Slave s including the Master if relevant using the CTSyncGetSlaveReferences function block This should be performed in the POSO user code The reference data can be written to one of the following references External speed and position references of the APC position loop This data will be updated within the same POS task cycle the data was retrieved The User Program encoder source This will be used on the following POS task as the APC encoder positions are updated just before the POS task cycle 5 The reference data is outputted by APCSetupOutputChannel or APCWriteOutputChannel if required to the channels specified 6 The Slave output values are written to the Drive parameters via the Drive s ASIC For more information on the timings refer to Figure 4 37 CTSync and APC Motion Engine Advanced Position Controller User Guide www controltechniques com Issue Number 3 Glossary of Quick i Reference uide Terminology c 2 0 88 2 lt o c oc Oo 52
86. interlock When the run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It is important to ensure the position loop reference integrators are set to correct values if the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a disable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Reset integrator counter to 0 or offset position when disabled 18 31 Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is retained to current position plus offset if required on drive disable Absolute mode when the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Ensure the run signal is off before the program is ran in this mode so the reference integrator can be preset to feedback Both modes works with all Unidrive SP encoders 152 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Drive amp Motor Setup Before this program
87. introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference 401 15 1 Preset Speed Ref 1 302 02 0 Disable Drive Ramps 4202 04 0 Fast Decel Ramps 3 06 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP 724 dede ve ve de dede ve ve de de de de de e de e de de de de e e e de de de de de de de de de de de ve de de de de de de dede de de de dede de de de de de dede dede dede eee 381 06 26 CTSync Slave 3881 12 3 115 Task time 381 14 1 Global Trip Enable 3281 16 1 Update Ref and Fbck every POS Task 3281 17 0 Disable Parameter Over range trip 81 20 1 Save PLC Registers On Power down REINIT INITIALISATION OF VARIABLES KEKE kkk kkk kkk kkk KKK kkk kkk EEE EEE EEE EEE EE EEK KEKE EEE EEE None APC SETUP 774 None Control Initialise Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC DISABLE Reference amp Feedback Encoders EE Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 offStatus APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSel
88. is not intended exclusively for use with the APC but can be used for any purpose For example millimeters to inches conversion and back again can be performed by setting the numerator to 254 and the denominator to 10 Converting forwards will scale by 25 4 which will convert inches to millimeters Converting backwards will convert millimeters to inches The following example code demonstrates this Notes This example code demonstrates how the user defined conversion block may be used to convert a value in inches to millimeters and vice versa Notes Initial Initialise conversion variables ConvertInches 6 0 ConvertMm 6 0 Initial Background top Set converter numerator and denominator SetConverterNumerator 254 SetConverterDenominator 10 Convert inches to mm AnswerInmm ConvertForwards ConvertInches 6 Convert mm to inches AnswerInInches ConvertBackwards Convertmm goto top main background loop Background See section 5 3 2 User Defined Unit Converter for more details Advanced Position Controller User Guide 179 Issue Number 3 www controltechniques com Using This Safety Functional Command Getting Program Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 8 3 3 Word Manipulation Function Blocks V01 03 00 introduces several useful 32bit word manipulation function blocks
89. mode the profile generator is bypassed so that any changes in the reference axis speed and position will be instantly responded to by the APC It is possible to manually switch into Locked mode however care should be taken that the axes are synchronised when this happens to avoid large instantaneous jumps in position which may damage application mechanics Command References APCSetDigLockMode 4 8 2 3 Never Lock In Never Lock mode like Unlocked mode the profile parameters Acceleration rate Deceleration rate and Max Speed are used to synchronise the reference and feedback axes however once the axes have synchronised the profile generator will remain active therefore any large changes in Reference position will be smoothed out by the profile generator on the Feedback axis Never lock mode is only accessed by manually setting the Digital Lock mode to Never Lock Command References APCSetProfileAccelRate Advanced Position Controller User Guide 53 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Started Examples Notes Guide Terminology Reference APCSetProfileDecelRate APCSetProfileMaxSpeedClamp APCSetDigLockMode 4 8 3 54 Non Rigid Digital lock When Non Rigid Digital Lock is active and there is a difference in speed between the Master and Slave v
90. most cases the operations read from or written to a parameter that is held within the kernel None of the data held by the kernel can be saved directly into non volatile memory and so the user program must provide this function The function calls are described later in this manual in the APC Command Descriptions section The Sypt Pro programming tool is required to call and configure the APC motion kernel User Programs can be downloaded from the Sypt Pro programming tool to the SM Applications module by the following methods RS 485 using the Unidrive SP s RJ45 comms port on the front of the drive A converter from RS232 or USB to RS485 may be required This is the only method which can be used to down load to an SM Applications Lite option module CTNet via the dedicated terminals on the SM Applications module This is the fastest way to transfer programs A CTNet card will be required to transfer the program from the user PC to the SM Application module Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety lntrodaetion Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference This page is intentionally blank Advanced Position Controller User Guide 19 Issue Number 3 www controltechniques com Guide Terminology Reference D
91. move will be double 218454 counts and so on Input and output array co ordinates First the number of counts per second at the from this we can determine all of the Input array co ordinates 65536 counts rev number of turns bits 16 From this it is possible to calculate the chosen speed must be found using the following equation For the Output array For the Input array from this we can calculate the Output array co ordinates using the following equations We also know that 200rpm for the Feedback encoder will be 218454 counts second so Advanced Position Controller User Guide Issue Number 3 Issue Number 3 Reference Axis100rpm Advanced Position Controller User Guide 218454 www controltechniques com 109227 InterpolationArray 1 0 InterpolationArray 0 2 InterpolationArray 2 3 o 55 30 9 gt hy 8 9 59 g 2 c 9 9 E 5 y N EE T x iw rwr ie dE aa N 5 0 2 So XX No gt x l o
92. new position may be captured Marker position capture can be used as a second freeze input provided the correct converters 24V to RS485 are used and good EMC practices are followed If Marker position capture is used then Marker position reset is not available Marker Position Reset When Feedback or Reference Marker position reset is enabled the relevant source marker pulse will reset the respective source position counters within one revolution so that zero position and the marker pulse are aligned as shown in Figure 4 9 below Figure 4 9 Marker Pulse Enabled 360 180 Position Maker Pulse If the motor has to turn less than 180 before the marker is found then the position counters will jump down to zero i e zero position turn O If the motor has to turn more than 180 before the marker is found then the position counters will jump up to zero i e zero position turn 1 The turns count is not reset to zero after a marker reset i gt Advanced Position Controller User Guide 31 Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 3 7 5 4 3 8 32 To action a Marker position reset the following commands virtual parameters shown in Table 4 7 b
93. occurs the Source Reference Marker Position 23 and the Integrated Source Reference Marker Position 30 may be used to display a marker captured position this operates in a similar to the way the freeze function For a marker pulse position capture to occur the reference marker flag must be enabled by using the command APCEnableReferenceMarker and the reference marker flag must be reset by using the command APCResetRefSourceMarkerFlag 24 0 Read parameter 24 will change state from 0 to 1 when a marker pulse has occurred NA Active or Inactive Active Advanced Position Controller User Guide 79 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableFbckSourceMarker Status APCEnableFbckSourceMarker Input Arguments None Output Arguments Status 0 1 Description Operation failed Operation successful This command enables the feedback source marker to reset the feedback position within one revolution so that zero position and the marker pulse are aligned Marker Pulse Enabled eee 180 CA Position Maker Pulse For this to happen the feedback marker flag must be enabled by using the command APCEnableFeedbackMarker and the feedback marker flag must be reset by u
94. of the APC with the CAM and its features One shot Interpolation and dynamic change of CAM start position CAM Cam profile generated will be based on the following V 700rpm ref amp Fbk N N N gt t 2s 5s 35 Parameter 18 32 enables CAM 0 will enable a stop and disable CAM 1 Enable CAM This will perform a simple synchronous trapezoidal profile Parameter 218 33 enables Reverse Profile with Sine Ramps 0 Forward Profile with linear ramps 1 Reverse Profile with Sine ramps Parameter 18 34 enables Single Shot CAM cycle 0 cyclic mode 1 Single Shot cycle The master reference is generated as virtual reference within the code to demonstrate the CAM and also the way how to configure a user positional reference within a program The virtual reference is set to 700rpm to ensure there is enough head room for the P term trim to compensate for any position error Parameter 18 11 Position reference from CAM output in 0 1 revs Parameter 218 12 Actual position feedback in 0 1 revs Motion Profile Set up The profile speed is 90 of Max speed set in Drive 01 06 in this example it is set to 1000rpm where the profile speed will be set to 900rpm The acceleration is 2sec and deceleration 15 15 to get to 900rpm Any encoder feedback can be use with this program the number of counts per revolution for the reference and feedback will be 65536 Drive Enable
95. on how the output channel may be configured and enabled Figure 6 5 Initial Configure then enable the APC Output Channel writing to 1 21 APCChStatus1 APCSetupoutputchannel 2 0 0 APCChStatus2 APCEnableoutputchannel Initial Refer to the Functional Description or APC Command Descriptions sections for more details 6 4 4 Feedback and Reference Source Encoders The Reference and Feedback source encoders must be defined for the APC to function correctly The User can choose from the drive encoder input an encoder option in one of the slots a user program reference or no encoder It is recommended that the Feedback source encoder is directed to the drive encoder The example code in this section has been written assuming that the Reference source encoder data will be provided by a virtual master counter which has been incorporated into the CAM and Digital Lock reference examples Figure 6 6 below shows a code example on how the Reference and Feedback source encoders may be configured Advanced Position Controller User Guide 139 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command 18 Program Application Migration Glossary of Quick Manual Information Description Description Examples Notes Guide Terminology Reference Figure 6 6 Initial Configure the APC Feedback and Reference Source encoders SourceStatus1 APCSetFeedbackSource APC DRIVE Dr
96. position co ordinates for the output offset array is calculated in the same way as the as the steady state section of the profile For the Output array Counts Second 50 60 65536 54613cps For the Steady State period of 1s Segment1 54613 1 54613 Steady State Segment2 For the Steady State period of 2s Steady State 54613 x 2 109227 For the Steady State period of 0 5s Segment3 27307 Steady State 54613 x 0 5 The Output Offset Array co ordinates are then 54613 109227 27307 OutArray2 0 OutArray2 1 Out Array2 2 39 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Glossary of Quick i Reference uide Terminology H ems o 0 5 970 az lt DE x Oo o On C E 1 Description Using This Safety Introduction Manual Information The completed profile diagram is shown in Figure 4 16 below Figure 4 16 200rpm 50rpm offset Segment3 RRR LA
97. protected or read only parameter To select the drive parameter the output of the Position loop is to write to Menu and Parameter must be set to the menu number and parameter number respectively In this mode the Output channel will write a user defined value to the parameter of your choice provided that it is not a protected or read only parameter To select the drive parameter the output channel is to write to Menu and Parameter must be to the menu number and parameter number respectively The value the output channel will write to is defined by the command APCWriteOutputChannel Value where Value is a signed 32bit value In this mode the APC will not output any data to the drive Units Range Default Advanced Position Controller User Guide 125 Issue Number 3 www controltechniques com Using This Safety Introduction Functional 1 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableOutputChannel Status APCEnableOutputcChannel Input Arguments None Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command enables the APC s output channel to write data to the drive synchronously with the speed loop The data will be sent 250us with the next POS task update If this Command is not active APC can not transfer outpu
98. stop This means that when the Stop reference is selected to stop the axis it will do it using the profile generator ramps The Acceleration and Deceleration rate has been 22369 232 rev 250us 250us or 1 25rpm 250us which is equal to 5000rpm s counts per The Profile maximum speed is set to 48318382 232 counts per rev 250us or 2700rpm The Profile generator is enabled from default This means that if a reference needs the profile generator it will use the profile maximum speed clamp and the acceleration deceleration rate set The position loop proportional gain is set to 25 times This means that any position error is multiplied by 25 and fed back into the position loop to ensure that the reference speed or position is maintained quickly The position loop proportional gain speed clamp is set to 300rpm This means that if the error would exceed 300rpm it will be clamped to 300rpm This improves stability with high proportional gains 138 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command 178 Program Application Migration Glossary of Quick Manual Information Description Description 8 Examples Notes Guide Terminology Reference All of the ratio s within the APC are set to 1 1 This includes the Digital Lock CAM and Position Loop numerator and denominators which are both set to 1000 Refer to the Functional Descrip
99. the Master and Slaves The block returns the values of the last Master references received The function block returns the values of the last Master references received Profile Generator Default 0 This function block allows the CTSync Slaves to read the reference data created by the CTSync Master It can be used on both the Master and Slaves 92 www controltechniques com Advanced Position Controller User Guide Issue Number 3 2 o o 9 9 5 S8 gt 2 2 lt 5 o Getting Description Started Examples Functional Using This Introduction Guide Terminology Reference Information 5 2 4 References Figure 5 4 WHNPIS oor 2995 l 612q4 je3 3015 0 NOILISOd OO 4046 1524 uonisod i 9 903 dois 5 SMeEIS 26 1p p dois 1p p o 43335 SNEIS WW DESOdV SNEIS Lg 08 5 uonisog quand WWD o
100. the encoder counts per revolution though it has been interpolated up to 216 each count will go up in large steps E g for 1024ppr encoder the counts per rev will be 4096 For one count the counter will go up in steps of 16 65536 4096 Incremental Encoder Resolution Figure 3 5 shows how to determine the number of encoder lines or counts per revolution for a quadrature incremental encoder Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introd etion Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Figure 3 5 3 6 2 3 Encoder Lines 5 The number of lines per revolution 4 encoder pulses per revolution SinCos Encoder Feedback Resolution When operating with SinCos Encoder feedback the maximum resolution is determined from 1 The number of sine waves of the encoder 2 The interpolated information resolution The Max Feedback Resolution per turn Number of sine waves Interpolated resolution The interpolated information resolution can vary between a maximum of 11 bits 2048 to a minimum of 6 bits 64 with this being determined from 1 The input frequency 2 The encoder voltage levels Drive encoder input Table 3 3 Table 3 3 Feedback Signal Feedback Signal Frequency Voltage Level 1kHz 5kHz 50kHz 1
101. to be changed whilst the program code is running Constant arrays are placed into Flash ROM and therefore can only be altered by changing the array values in the DPL program code A constant array is declared by using the CONST command see the SYPT user help guide under Constant Data Array for examples on how to enter constant arrays Dynamic arrays should be used when the values in an array need to be changed whilst the program code is running Dynamic arrays are placed into RAM A Dynamic array has to be dimensioned so that the compiler can reserve space in RAM for the Data A Dynamic array is dimensioned using the DIM command see the SYPT user help guide under Dynamic Array for examples on how to enter constant arrays CAM Initialisation Once the CAM Co ordinates have been calculated and the interpolation type has been chosen the CAM arrays must be Initialised by one the following commands APCCamlnitialise Initialises the CAM with an Input Output 1 Output 2 and Interpolation array APCCamlnitialise1 Initialises the CAM with an Input and Output 1 array APCCaminitialise2 Initialises the CAM with an Input Output 1 and Interpolation array APCCamlnitialise3 Initialises the CAM with an Input Output 1 and Output 2 array These commands act as a pointer for the CAM reference so that the location of the various arrays is known The CAM start index and CAM Size must be set to define where in the CAM
102. 0 18 31 selects either the Stop Position Reference IF 18 31 1 THEN RefSelectStatus APCSelectReference APC POSITION REF ELSE RefSelectStatus APCSelectReference APC STOP REF ENDIF 50 Refer to the Functional Description Command Descriptions sections for more details 6 4 7 Speed Reference The Speed reference allows the user to perform jogging and homing type applications The Speed setpoint is set in 232 counts rev encoder over 250us however these units are easily converted into rpm or any other preferred unit A code example using the Speed reference is shown in Figure 6 7 140 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety ibtesductioh Functional Command gl Program Application Migration Glossary of Quick Manual Information Description Description Examples Notes Guide Terminology Reference Figure 6 8 Background Speed Setpoint Scaling from 0 1 entered in parameter 18 13 to Internal units SpeedSetpointinternal MULDIV 1073741824 18 13 10 60000 Send Speed Reference to APC SpeedRefStatus APCSetSpeedSetPoint SpeedSetpointinternal 3 Background POSO 18 32 selects either the Stop or Speed Reference IF 18 32 1 THEN RefSelectStatus APCSelectReference APC_SPEED_REF ELSE RefSelectStatus APCSelectReference APC STOP REF ENDIF POSO Refer to the Functional Description or APC Com
103. 0000 Virtual Counter MasterCounter MasterCounter 1 APC User Program Reference Dissection of virtual Counter Turns UnsignedTopword MasterCounter Position UnsignedBottomword MasterCounter PositionFine 0 Set User Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine DIGITAL LOCK PROGRAM Enable with the Drive Reference ON IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode ENABLE Enable Digital lock IF 18 32 1 THEN Enable Digital Lock Reference PosSelStatus APCSelectReference APC DIG LOCK REF Return to Datum ELSE Enable Position Reference PosSelStatus APCSelectReference APC POSITION REF Position Setpoint 0 datum position PosRefStatus APCSetPositionSetPoint PosSetpointcnts ENDIF ELSE Disable APC Track feedback position RunModeStatus APCSetRunMode APC_DISABLE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF Pos0 Advanced Position Controller User Guide 151 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 114509 Notes Guide Terminology Reference CAM Notes This program demonstrates the use
104. 00kHz 200kHz 500kHz a SM Universal Encoder Plus Encoder input Table 3 4 Advanced Position Controller User Guide 13 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Table 3 4 Feedback Signal Feedback Signal Frequency Voltage Level 5kHz 50kHz 100kHz 166kHz 1 2Vdc 2048 2048 1024 1024 3 6 2 4 Synchronous Serial Interface SSI and EndAt Encoder Resolution The resolution of this encoder is given as number of turn bits and the number of bits per turn For example an SSI or EndAt encoder may be described as 25bit where 13bits are the number of turn bits and the 12bits are for the number of counts per revolution In this case the counts will be interpolated up to 16bits by the drive so each increment will be in 16 count steps Please Refer to the relevant user manual for more detailed information 3 7 Hardware To utilise the Advanced Position Controller the following products are used Unidrive SP SM Applications module or SM Applications Lite module 371 SM Applications Module The SM Applications module for Unidrive SP is an option module that can be fitted to any one of the three expansion slots in the Unidrive SP and is powered from the Unidrive SP internal power supply 3 7 1 1 Specificati
105. 1 06 90 60000 100 ProfMxSpStatus APCSetProfi leMaxSpeedclamp ProfMaxSpeed Profile Acceleration and Deceleration Rates 2s Accel amp 1s Decel ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfi leAccelRate ProfAcceleration ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop rc E Disable external Speed and Position References ExtSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisableExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 Output Channel speed ref 201 21 APcChStatus1 APCSetupOutputchannel 2 0 0 APCChStatus2 APCEnableoutputchannel Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output Clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 01 06 10 60000 100 PTermclStatus APCSetPGainSpeedCl amp PGainMaxSpeed Advanced Position Controller User Guide 165 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 1146509 Notes Guide Terminology Reference Output Speed clamp OutClampStatus AP
106. 121 APCEnableExternalRefSpeed 2 120 90 APCEnableFbckSourceMarker 32 80 APCEnableFeedbackFreeze 29 32 86 APCEnableFeedbackMarker 31 32 84 APCEnableOutputChannel 1 21 2 6 126 52 5 114 APCEnableReferenceFreeze 00000 29 32 85 APCEnableReferenceMarker 0 31 32 84 APCEnableltellnpuL 90 APCEnableRefSourceMarker 32 78 APCEnableRigidLock 15 53 71 109 111 214 Advanced Position Controller User Guide www controltechniques com Issue Number 3 APGCOeltFeedbackStatus 232s succes ak ee edd 89 APGOGOIOUIDUISDSO TEC D a m Mk ead telecast el ate 68 APCGetOutputSpeedRpmx10 69 APCGetReferenceStatus 89 APGlInvertFbekSOUrce itt rct ted 87 APCInvertRefSource 0 1 eene 86 87 ue Eni cR TIO 70 ea ae E 12 27 68 69 70 71 107 APCResetFbckSourceFreeZeFlag 29 32 83 95 APCResetFbckSourceMarkerFlag
107. 2 o 5 gt 5 c 5 2 2 ES 2a gt 2 8 8 1 172 Manual Information Description Description Started Examples Notes Guide Terminology Reference 8 1 1 Checking Speed Loop Before using this method of dampening it is essential that the performance of the drives speed loop is checked This should be done by monitoring analogue output 1 with an oscilloscope The following parameters must be set in order to monitor the speed from analogue output 1 e 7 19 3 02 7 21 5 3 10 38 100 or press reset to activate changes to the analogue inputs Connect the oscilloscope to pins 9 and 11 0V If analogue output 1 does not provide a sufficient output voltage for the demand speed lower drive parameter 1 06 till itis approximately 1096 above the demand speed This will give more volts per rpm as the scaling for the analogue output is based on the value of parameter 1 06 To monitor the drives speed loop performance the P gain for the position loop within the APC must be set to zero by using the command APCSetPGain Gain in the user code where 0 Removing the P gain means that no longer regulates the position of the motor so the drive is regulating it s self Ensure the speed loop can control the load by setting the fastest acceleration rate the application requires and applying a step change in demand velocity whilst monitoring the performance using the oscil
108. 231 to 231 4 inactive APCSelectOffset 002 to 2 APCSetOffProfileAccelRate AccelRate 2 counts X rev encoder 0 4473934 22369 over 250us 250us APCSetOffProfileDecelRate DecelRate counts rev encoder 0 to 4473934 22369 over 250 5 250us APCSetOffProfileAccelRateScaled AccelRate 1000rpm 1 to 1000000 APCSetOffProfileDecelRateScaled APCSetOffProfileDecelRateScaled DecelRate ms 1000 1191000000 to 1000000 APCSetOffProfileMaxSpeedClamp MaxSpeed encoder 715827883 48318382 u 11 1 5 Position Loop Command Units Default APCSetPGain e radians 0 to 65535 2500 192 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program Application Migration Glossary of 1 Manual Information Description Description Started Examples Notes Guide Terminology 121199 Command Units Default 32 APCSetPGainSpeedClamp PClamp 2 counts encoder 0 to 745827883 5368709 over 2505 A 232 counts rev encoder over 250us NA APCSetExternalRefSpeed Speed ET 9 APCEnableExternalRefPosition Active or Inactive APCDisableExternalRefPosition Active or Inactive APCSetExternalRefPosition Position Encoder Counts 231 to 231 4 mM NA APCSetSpeedFFwdGain Gain
109. 250 5 APCSetProfileMaxSpeedClamp Status APCSetProfi 1 1 MaxSpeed Input Arguments MaxSpeed 1 to 715 827 883 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the main Profile Generator maximum speed clamp 113 Units 232 counts rev encoder over 250us Range 0 to 715827883 Default 48318382 equal to 2700rpm Advanced Position Controller User Guide 115 Issue Number 3 www controltechniques com Using This Safety introduction Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 2 5 2 Offset Profile Generator APCSetSpeedOffset Status APCSetSpeedoffset Speed Input Arguments Speed Signed 32 bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the offset profile generator speed offset 95 and is summed with the main profile generator output This is used to provide a speed trim draw to the feedback axis with respect to the reference axis When the Stop reference is selected 100 0 the offset selector 102 will be set to 0 internally and therefore the offsets will have no effect and if profiled stop is selected 90 1 the offset profile acceleration and deceleration rates are ignored and the main profile rates are used
110. 28 48 115 and 117 to the absolute or relative positions if there is a reset offset position value defined by APCSetPositionResetOffset this will be added to the feedback profile integrated counters Where APCDoNotResetSourcesOnDisable is active APCReset has no effect on the integrated counters but will be able to restart the CAM in single shot mode Range Active or Inactive Default Inactive APCGetOutputSpeed Speed APCGetOutputSpeed Input Arguments None Output Arguments Speed 6 Output speed Description This command will return the value of the Position loop output 135 and load the result into a user variable in this case Speed Where the recommended output channel command is not used APCSetupOutputChannel this command can be used as an alternate method of sourcing the output speed reference to the drive by the user program Note When the drive speed reference is sourced from the user program it will get updated on the next 250 5 of the drive speed loop This is not recommended for high precision synchronised multiple slave axes Units 232 counts rev encoder over 25015 Range Max profile speed P Speed Clamp Default 0 68 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminolo
111. 28 48 115 117 Units NA Range Active or Inactive Default Active Advanced Position Controller User Guide 71 Issue Number 3 www controltechniques com Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCDoNotResetSourcesOnDisable Status APCDoNotResetSourcesOnDisable Input Arguments None Output Arguments Status 0 Operation failed d Operation successful Description When this command is active the integrated position counters can not be reset or given an offset after power up or an APC reset This command is solely intended for allowing the user in APC Run mode 1 with Relative mode selected to use the Reference and Feedback Integrated counters without the integrated count being reset to zero Units NA Range Active or Inactive Default Inactive 72 Advanced Position Controller User Guide www controltechniques com Issue Number 3 73 5 15 SMEIS aynjosqy Guide Terminology Reference AMAS Saino SMES i SMEIS 92u919J9 MEE S lt
112. 31 to 231 4 NA and coarse position 90 33 Feedback encoder freeze Turns and encoder counts 231 to 231 4 NA turns and coarse position 90 34 Reference encoder freeze Turns and encoder counts 231 to 231 4 NA turns and coarse position didis postion i position rev count 90 37 Feedback encoder marker ri and encoder counts 231 to 231 4 NA turns and coarse position 90 38 Reference encoder Turns and encoder counts 231 to 231 4 NA turns and coarse position 90 41 Reference encoder marker NA 0 No marker pulse flag 1 Marker pulse 90 42 Feedback encoder marker NA 0 No marker pulse flag 1 Marker pulse Advanced Position Controller User Guide 199 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 1121199 Parameter Description Default Drive encoder input Slot 1 Reference encoder source Slot 2 Slot3 User Program None Drive encoder input Slot 1 Feedback encoder source NA Slot 2 Slot3 User Program Reference marker flag NA Disable marker flag enable 1 Enable marker flag Feedback marker flag Disable marker flag NA enable Enable marker flag A Enable freeze Feedback freeze enable N Oto Disable freeze 1 Enable freeze Shortcut enable 0 to 255 0 Di
113. 5 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets Position Loop numerator value 133 The position loop output will be multiplied by the numerator value before the position loop output speed clamp It is used in conjunction with the position loop denominator APCSetOutputRatioDenominator Denominator and can be used where the feedback encoder is not directly attached to the drive motor i e These values can be set to compensate for any gearing between the slave motor shaft and the feedback encoder Units Number Range 0 to 65535 Default 1000 APCSetOutputRatioDenominator Status APCSetOutputRatioDenomi nator Denominator Input Arguments Denominator 1 to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets Position Loop denominator value 133 The position loop output will be multiplied by the denominator value before the position loop output speed clamp It is used in conjunction with the position loop numerator APCSetSpeedFFwdGain Numerator and can be used where the feedback encoder is not directly attached to the drive motor i e These values can be set to compensate for any gearing between the slave motor shaft and the feedback encoder Units Number Range 1 to 65535 Default 1000 Advanced Position Controller User Guide 123 Issue Number 3 www controltechniques com Using This Safety I
114. 6 04 for the SM Applications If the Drive I O is read from the Drive I O parameters parameters 8 01 to 8 06 and 8 09 the update rate is only 4ms 3 11 Interfacing 3 11 1 Overview Figure 3 8 shows an overview of the interfacing between the SM Options user program Unidrive SP and the APC Figure 3 8 Digital Vo CTSync Freeze Communications Digital Analogue I O Position Feedback Communications CTSync Freeze Digital Analogue Position Serial yo Feedback Communications The user code can access any parameter I O or Option module used on Unidrive SP 3 11 2 Units The APC Kernel uses the following units to maintain maximum resolution of each parameter 3 11 2 1 Position The position is set in Encoder counts so the resolution will correspond to set feedback encoder resolution For example Rotational If there are 65536 counts per turn to move 5 revolutions the position reference will be 5 x 65536 327680 Linear If there are 2048 counts per mm to move 100mm the APC position reference has to be 2048 x 100 204800 Please refer to the Resolution section for more information on setpoint resolution 3 11 2 2 Speed The APC internal speed units are in 23 encoder counts per rev over 250us sample These units are used for the Profile Maximum Speed Speed Reference Reference and Feedback Encoder Speed Profile Generator Output Speed and the APC Output Speed
115. 6bit coarse Position 16bit Fine Position Default 0 APCSetFeedbackPosition Status APCSetFeedbackPosition Turns Position PositionFine Signed 32 bit The lower 16 bits of Turns will be treated as a Input Arguments signed 16 bit value Bits 16 to 31 of Turns will be ignored Turns Signed 32 bit The lower 16 bits of Position will be treated as a signed 16 bit value Bits 16 to 31 of Position will be ignored Signed 32 bit The lower 16 bits of PositionFine will be PositionFine treated as a signed 16 bit value Bits 16 to 31 of PositionFine will be ignored Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command sets the user reference source position This user reference position is used when reference source selector is set to 4 set by the command APCSetFeedbackSource 4 Units Turns and Encoder Counts Range 16bit Turns 16bit coarse Position 16bit Fine Position Default 0 88 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCGetReferenceStatus Source Status APCGetReferencestatus Input Arguments None Output Arguments Status 0 Operation failed
116. Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional EE Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCToUserVelocity 05 1 5 5 APCToUSserVelocity APCVel Input Arguments 1 Signed 32 bit Output Arguments Status 0 The value APCVel is too large to fit within 32 bit signed bounds The value returned will be to zero 1 Operation successful The User equivalent of the APC velocity if Status is 1 0 UserVel otherwise zero Description This command converts an APC velocity in APCVel and will return a User velocity units s in UserVel UserToAPCAcceleration 1 5 5 UserToAPCAcceleration UserAccel Input Arguments UserAccel Signed 32 bit Output Arguments Status 0 The value APCVel is too large to fit within 32 bit signed bounds The value returned will be set to zero 1 Operation successful T APCAccel 6 The APC equivalent of the user acceleration if Status is 1 otherwise zero Description This command converts a user acceleration units s s in UserAccel and will return an APC acceleration in APCToUserAcceleration UserAccel Status APCToUServelocity APCAccel Input Arguments APCAccel Signed 32 bit Output Arguments
117. CSetOutputSpeedclamp 53687091 equal to 3000rpm Initial Background Background Task Lowest Priority Task TOP Current Position Indication 0 1 PosRefcnts APCReadPar APC PROF IN POS 318 11 MULDIV PosRefcnts 10 65536 Current Reference Position Indication 0 1 FeedbackPosCcnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer P0196 APCReadPar _P00 GOTO TOP Background 50 5 Task Runs Before Runs SET REFERENCE POSITION FROM CTSync 1 de de de de ve ve de de de de e e e e de de de de de e e de de de de de e e de de de de de de de de de de de de de de de de de de de dede de de dede de Get Virtual Master Reference from 5 Only using 32bit Position Counter MasterReferencel MasterReference2 MasterControlword Status CTSyncGetSlaveReferences APC User Program Reference Dissection of virtual Counter Turns UnsignedTopword MasterReferencel Position UnsignedBottomword MasterReferencel PositionFine 0 Set User Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine MAIN PROGRAM Enable with the Drive Reference ON IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode APC ENABLE Mastercontrolword 1 THE
118. Description Description 8 Examples Notes Guide Terminology Reference 6 6 6 6 1 6 6 2 144 Using the example code in this section Below are some tips on how to use the example code in this section example code in this section has been laid out so that the user can construct program by copy and pasting the code examples from the PDF manual directly into the DPL editor in Sypt Workbench The text tool in Adobe Acrobat be used to select the text then copy and paste as normal Before pasting the code insert a Initial task POSO task and a Notes task if required so that the code can go directly into the relevant task Within each example there may be code for more than 1 task e g Background and POSO therefore code for the Background must be pasted into the Background task in the DPL editor e Where there are multiple code entries for a task any new code for a task should be pasted after the previous in the order the code is given in this section Final Performance Checks If the performance achieved is not as expected the following performance check will determine where the tuning problem lies Checking Speed Loop This should be done by monitoring analogue output 1 with an oscilloscope The following parameters must be set in order to monitor the speed from analogue output 1 e 7 19 8 02 7 21 H Spd 3 e 10 38 100 or press reset to activate changes to the analogue in
119. EEE kkk kkk kkk KEKE EEE EEE SE Control Initialise Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC_DISABLE Reference amp Feedback Encoders app Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 offstatus APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSelectRelativeMode ENDIF Feedback Encoder Source Drive FbkSrcStatus APCSetFeedbackSource APC_DRIVE_ENC Feedback Do not Invert FbkInvStatus APCDoNotInvertFbckSource Advanced Position Controller User Guide 149 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference Reference Encoder Source Drive RefSrcStatus APCSetReferenceSource APC USER ENC Reference Do not Invert RefInvStatus APCDoNotInvertRefSource Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBits 16 Stop Reference _ _ ____ Decelerate on a Stop StopStatus APCSetStopMode APC PROF STOP Digital Lock E Digi
120. F Pos0 Advanced Position Controller User Guide 147 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference 7 2 Digital Lock Simple Flying Shear Notes This program demonstrates the use of the APC with Digital Lock and switch to position reference on the Fly to simulate a simple flying shear application Position Reference The position setpoint is set in 0 1 motor revolution entered into parameter 18 11 Digital Lock Parameter 18 32 enables Digital lock 0 Position reference is selected and the axis will return to datum set in parameter 18 11 1 Enable digital lock Axis will ramp to line speed and recover any lost position during acceleration and then lock to the line reference The master reference is generated as virtual reference within the code to demonstrate digital lock and also the way how to configure a user positional reference within a program The virtual reference is set to 700rpm to ensure there is enough head room for the feedback axis to recover the Lost position during acceleration Digital lock ration is set to 1 1 Motion Profile Set up The profile speed is 90 of Max speed set in Drive 01 06 in this example it is set to 1000rpm where the profile speed will be set to 900rpm The acce
121. Gunooyo WESOdV smeis WPSOdV 185 113 Advanced Position Controller User Guide Issue Number www controltechniques com 3 Using This Safety introduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 2 5 1 Main Profile Generator 114 APCEnableProfile Status APCEnableProfileQ Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables the interlock for the internal Profile Generator 114 When enabled the Profile Generator bypass Switch is controlled by the selected position reference function APCSelectReference Position 1 Speed 2 amp Stop 0 Reference The Profile Generator is enabled by this command CAM 3 This command has no effect as the Profile generator is always disabled Digital lock 4 The Profile generator enable is dependant on this command and the digital lock mode The command APCDisableProfile will disable bypass the profile generator Units NA Range Active or inactive Default Active APCDisableProfile Status APCDisableProfileQ Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command forces the Profile Generator to be manually bypassed 114 1 Care should be taken when using this co
122. IS epowWeiniosqyioe es Ody SNIEIS SMEIS Jargesiquoseo nogjeseyddy se WWD SHOE PSOdV SNES pue yaeg SHO se H eiqesia o peeds iesijopeedsiesodv SNPIS c6 39540 peeds sguonisog jesyouonrsogiesodv 5 15 1opoouo siunoo uonisod SHO peeds 3 SHO c6 19540 paigesia 39640 9pow 5 5 13534 0 dois 0 aiqesia 1504 m 43885 uonisod 3201 1v1l9ld 5106 iepoous SUNOD Z 001 9219S paeds SMEIS 5 0 24 SMEIS de geu32dv 951215 19 PoW PPOYPHOTIENDIGIOSOdW SMeIS 09 3207 pir e po p ryegesidodv s smeis SMIEIS 69 uontsog 79 paeds Sog uon iso gBubioo pio Peed S peeds
123. InterpolationMode 1 The InArray and the OutArray1 are both required for the basic operation of the CAM reference however where the OutArray2 array and the Interpolation array are not required then use APCCamlnitialise 1 APCCaminitialise2 APCCaminitialise3 Default NA 98 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCCamilnitialise1 Status APCCamInitialisel InArray OutArray1 Input Arguments InArray Input array dimensioned by the user OutArray1 Output array 1 dimensioned by the user Output Arguments Status 0 Operation failed 1 Operation successful Description This command defines the names of the arrays to be used with the APC CAM reference With reference to the above the first array InArray is the name of the array which defines the reference x axis position elements for each CAM segment The second array OutArray1 is the name of the array which defines the feedback y axis position elements for each CAM segment The interpolation used with respect to the reference array InArray is defined by APCSetCAMInterpolationMode n When this CAM Initialisation command is used the Interpolation type must be defined by the command APCSetCAMinterpolationMo
124. Jepoyeini IS eynjosqy 5206 8030S IASON IAV 492991 4 4 oeqpoo4 unogsesioNoQodv SMIEIS einesiquoseo elqesiquo seonosiases Ody YNES nese ody WNES lze uonisog 13544 lt gt Ioni pads ayoic ot usu ores eigesiq sano 6poous Jed peeds Snoszisnoz 1 qunoo 9511215 196 peeds sjuonisog iesjjouonisogiesodv s smeis 91 uonisod opoouo nai Jed sunoo 95 SHO 329195 6 195490 uonisod 96198185 SHOPS ssi SHO peads atypia spnbe 6 soueiejon Lon eS uonisog 51092 4870 Jepooua Jed SJUNOI zZ sspeeds xe due Paad 315 4 87092 7092
125. MEADDIICSIOTIS DIG Era vea a o qe Fa ERO RR XS eu seg c Se Su cetur aU 15 A ARRA MARRE 17 27 35 140 158 Speed 58 Speed Feed Forwards aad ti Ee M e 57 Salate zt ua Teo OR unda d ee 40 43 Severa EE 40 44 11 12 14 Steady State conten kom orar rata ov dV po vasos etae 38 41 RB RARE ATA REO EUM RUM 27 33 140 188 SVHICHFODISB s Lu 62 T Task Mm M La ME EM M E 188 Torque Feed Forward e tei ere Res rete e rr 60 Bayer EE 188 esc prd SER et E ERE RE E BOR KC EAE E 27 77 U DIBYA O EI 8 UNIS 17 Units Per Revolution 127 Unlocked E 53 UnsignedBottomWeord one Say eene er 132 UnsignedTODVVOFG el as ro iol ine 132 MI CALC Sse tee iure 26 Update eoe e m nee er dS 16 User 178 129 UserTOAPGPOSHIIOD oi axe bci a e 128 128 V
126. N Enable Digital Lock Reference PosSelStatus APCSelectReference APC DIG 1 REF ELSE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF ELSE Disable APC Track feedback position RunModeStatus APCSetRunMode APC DISABLE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF 166 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference VIRTUAL MASTER COUNTER 774 dede ve ve de de de ve ve e de de de de e e e de de de de e e e de de de de de de de de de de de de de de de de de de dede de de de de de de de de de de dede dede de dede ee Master Speed 700rpm Counts per POSO Task sample 1ms RPM Counts per Rev 60 1000 CountsPerSample MULDIV 700 65536 60000 Virtual Counter MasterCounter MasterCounter CountsPerSamp e 6 Common Slave Enable IF 18 32 1 THEN m Mastercontrol 6 0 ELSE Il Mastercontrol 6 0 ENDIF Set CTSync Virtual Master Reference CTSyncSetMasterReferences MasterCounter 0 Mastercontrol PosO Advanced Position Controller User Guide 167 Issue Number 3 www controltechniques com Using This Safety introduction F
127. O IV senbe LOTS 1 39540 5706 Jed sjunoo zZ 5 XEN 19540 1 Jed sunoo 0 spuoces 4 SMIEIS 57092 87092 ono siunoo 2 395 uciiggo 62ue16J6 Mud SHO eoo velo 5 OV SMEIS d suo 2 dp 900919390 4515 1 1 Jepoouo Sunoo 3ojejeues 19580 97 5 SMEIS Quonisogjosjetepcjorqeu3dv snis 329195 eouel9JoM uonisod e 0 A s 8 uonisog un Z 24 5 4 5 io 6v uonisod 929914 xoeqpeoj 524 sies epowemniosqyioojos dv
128. PC Command Reference 11 1 1 Control and Access Functions Command Default 0 Off APCSetRunMode Mode 1 Disable 2 Enable Max profile speed P speed clamp 232 counts rev encoder APCGetOutputSpeed over 250 25015 Max profile APCGetOutputSpeedRpmx10 speed P speed clamp APCSelectAbsoluteMode Active or Inactive APCSelectRelativeMode Active or Inactive Dependant on parameter APCSetPositionResetOffset Position 231 to 231 4 0 APCResetSourcesOnDisable Active or Inactive APCDoNotResetSourcesOnDisable Active or Inactive 11 1 2 Feedback and Reference Source Dependant on APCReadPar Dependant on parameter parameter Command i Default Drive Slot 1 Slot 2 APCSetReferenceSource Source Slot 3 User program Unconfigured Drive Slot 1 Slot 2 Slot 3 User program Unconfigured APCSetFeedbackSource Source Or ON ONS Oo APCSetNumOfTurnsBits TurnBits APCEnableRefSourceMarker Active or Inactive Inactive APCDisableRefSourceMarker Active or Inactive Active Advanced Position Controller User Guide 189 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 1121199 Command Units Range Default Acti
129. Position PosSelStatus APCSelectReference APC STOP REF Homing 5 ENDIF ENDIF ELSE Advanced Position Controller User Guide 161 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started Notes Guide Terminology Reference Disable APC Track feedback position RunModeStatus APCSetRunMode APC DISABLE ENDIF Cache old states for edge triggering OldMarkerFlag MarkerFlag 0 162 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference 7 5 CTSync Master and Digital Lock Notes This program demonstrates the use of the APC using CTSync and direct digital lock on a Feedback slave axis This program also generates a Virtual master position for the remote and local slave axes Program Description with the drive in Run mode and a bit of the virtual master control bit 0 set high the drive will follow the virtual master reference in rigid digital lock ramp up and retain position when it was enabled The virtual Master reference is generated also within this program though the APC is treated as the f
130. Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetOffProfileAccelRateScaled Status APCSetOffProfileAccelRateScaled AccelRate 6 Input Arguments AccelRate Signed 32 bit Output Arguments Status 0 Operation failed d Operation successful Description This command sets the offset Profile Generator acceleration rate 150 Units ms 1000rpm Range 0 to 1000000 Default 200 equal to 0 2s 1000rpm APCSetOffProfileDecelRateScaled Status APCSetOffProfileDecelRateScaled DecelRate 6 Input Arguments DecelRate Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the offset Profile Generator deceleration rate 151 Units ms 1000rpm Range 0 to 1000000 Default 200 equal to 0 2s 1000rpm APCSetOffProfileMaxSpeedClamp Status APCSetOffProfi 1 1 MaxSpeed Input Arguments MaxSpeed 1 to 715 827 883 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the offset Profile Generator maximum speed clamp 153 Units 232 counts rev encoder over 250us Range 0 to 715827883 Default 48318382 equal to 2700rpm 118 Advanced Position Controller User Guide www controltechniques com Issue Number 3 2 o o 9 9 5 gt 9
131. References APCSetDigLockRatioNumerator APCSetDigLockRatioDenominator Digital lock selection by Freeze The Digital lock reference may be selected by a freeze input This is useful when an application requires that a process must be synchronised to a particular position on the Master axis like a simple flying shear application shown in Figure 4 29 below Figure 4 29 Position Reference Digital Lock Reference i Start Position 7777 Shea Material Cut Point Freeze To APC Sensor AR Reference Master Axis Encoder This type of application would use Rigid digital lock such that a mark on the material triggers the freeze input which in turn selects the digital lock reference This will synchronise the Slave axis to the Master axis at the exact point the freeze occurred The Digital Lock ratio may needed to compensate for Gear Boxes and Ball Screw pitch For this type of simple flying shear to operate the freeze sensor must be aligned with the cutting blade The cut must only occur once the Master and Slave has become Locked to prevent damage to the cutting blade Once the cut has been made the APC must be switched to the Position reference to return the shear to the start position The speed profile shown in Figure 4 30 shows movement of the shear Advanced Position Controll
132. SetFeedbackSource APC DRIVE Feedback Do not Invert FbkInvStatus APCDoNotInvertFbcksource Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBits 16 Stop Reference rr EE Decelerate on a Stop StopStatus APCSetStopMode APC PROF STOP Position Reference e E Set Position Reference Position PosSelStatus APCSelectReference APC POSITION REF Profile Generator Enable Profile Generator ProfEnStatus APCEnableProfile 146 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Profile Max Speed 90 of 1000rpm 900rpm ProfMaxSpeed MULDIV 1073741824 401 06 90 60000 10007 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed Profile Acceleration and Deceleration Rates 2s Accel amp 15 1 ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfi leAccelRate ProfAcceleration ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop nre EE Disable external Speed and Position References ExtSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisa
133. Speedclamp PClamp 6 Input Arguments PClamp 0 to 715 827 883 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the Proportional Gain maximum speed clamp This should normally be set to 1096 of the maximum speed range to allow for position correction Units 232 counts rev encoder over 2503 Range 0 to 715827883 Default 5368709 equal to 300rpm APCEnableExternalRefSpeed Status APCEnableExternalRefSpeed Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables the Position Loop feed forward reference to be changed 138 1 from the Profile speed reference 116 to the External speed reference 139 set by the command APCSetExternalRefSpeed Speed Units NA Range Active or Inactive Default Inactive 120 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCDisableExternalRefSpeed Status APCDisableExternalRefSpeed Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the External speed reference 139 and enables Profile Position reference 116 138 0 to be used
134. _JSHO 92u919J91 n se 420 e3bIG r9 peeds MM 9x20 peeds esyopeedsiesodv 31 1 O 06 syo peeds 101 Jed SUNO zZ peeds oor 329196 4 SMES WSEAS IUD SNIEIS aiqesiq 19 9pjoJ4gd 1 5 5 1 se WYO m 09 3207 pibry 1099 SMEIS smeis 5 24 SIS sj peeds 2 SMEIS 5 1215 eno siunoo uonisod SHO peeds 66 398330 uonisod peiqesia 1050 Information Using This Advanced Position Controller User Guide 212 3 Issue Number www controltechniques com Program Application Migration Glossary of Command Functional Using This Introduction Guide Terminology 121199 Started Examples c 5 o o 2 5 o o Informat
135. above with number of turns bits set to 9 feeding in User Position of 1000 each time but with differing values for UPR we obtain the following Table 5 1 Ideal APC Rounded Ideal user position Rounded user position Position APC converted back from converted back from Position rounded APC Position rounded APC Position 5 000 16777221 6 1677722 1000 000 1000 50 000 1677722 16 167772 999 999 1000 500 000 167772 216 16777 999 987 1000 Note that in the final 3 example the error is greater than a half which results in an error in the result even after rounding We do not get the same value back This problem occurs when the units per revolution is far greater than the position being converted and can be improved by decreasing the number of turns bits to provide better resolution Number Of Turns Bits 5 Table 5 2 Ideal APC Rounded Ideal user position Rounded user position Position APC converted back from converted back from Position rounded APC Position rounded APC Position 5 000 16777221 6 26843545 6 1000 000 1000 50 000 1677722 16 2684354 56 1000 000 1000 500 000 167772 216 268435 456 999 998 1000 5 000 000 16777 2216 26843 5456 1001 016 1000 50 000 000 1677 72216 2684 35456 999 867 1000 500 000 000 167 772216 268 435456 998 377 998 5 000 000 000 16 7772216 26 8435456 1005 828 1006 The improved resolution in the second example reduces the effect of the rounding so that we can have a greater UPR Input Value ratio
136. ackMarker Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the feedback encoder marker pulse from being seen by the SM Applications APC This command is the equivalent of setting 490 46 0 This command is made inactive by APCEnableFeedbackMarker Units NA Range Active or Inactive Default Active APCEnableReferenceFreeze Status APCEnableReferenceFreeze Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables the reference encoder freeze position data to be seen by the SM Applications APC This command is the equivalent of setting 90 47 1 This command must be active for a reference freeze position capture to be performed This command is made inactive by APCDisableReferenceFreeze Units NA Range Active or Inactive Default Inactive APCDisableReferenceFreeze Status APCDisableReferenceFreeze Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the reference encoder freeze position data from being seen by the SM Applications APC This command is the equivalent of setting 90 47 0 This command is made inactive by APCEnableReferenceFreeze Units NA Range Active or Inactive Default Active Advanced Position Controller User Guide 85 Issue Number 3 www controlt
137. anced Position Controller User Guide 43 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 3 4 Square2 Interpolation 3 Figure 4 20 When Square2 Interpolation has been applied to a CAM segment and the X axis is positive and increasing it will derive a negative linear acceleration velocity profile It is used for linear velocity deceleration over a given CAM segment In the Upper half of Figure 4 20 above Square2 Interpolation has been used between each set of co ordinates X Y to determine the value of Y position with respect to X The Lower half of Figure 4 20 above is the rate of change of Square1 interpolation and indicates the resultant velocity when Square2 Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity 2 Y co ordinate X co ordinate 44 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction AAEE Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 3 5 Cosine1 Interpolation 4 Figure 4 21 Y Y A A gom m X
138. and position window Feedback Speed Time If Never Lock mode has been selected the slave will catch up to the master speed and relative position but the Digital lock mode will not change to locked and the Profile Generator will remain active and any abrupt changes in Master speed will be ramped to by the Slave i e the Reference will be followed within the bounds profile acceleration deceleration rate and the profile maximum speed clamp If a non rigid digital lock synchronisation is in progress and rigid digital lock is selected the slave will synchronise to the master speed and the relative position at which rigid digital lock was selected Command References APCEnableRigidLock APCSetDigLockLockingSpeed APCSetDigLockLockingPosition APCSetDigLockMode APCSetProfileAccelRate APCSetProfileDecelRate APCSetProfileMaxSpeedClamp Advanced Position Controller User Guide 55 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 8 5 4 8 6 56 Digital Lock Ratio The Digital lock reference has an adjustable output ratio in the form of a Numerator and Denominator to allow the Digital lock reference to be used as a Virtual Gear box or to compensate for mechanical gearing in a system Command
139. anual Information Description 191 Started Examples Notes Guide Terminology Reference APCDisableFbcklnput Status APCDisableFbckInput Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the feedback source position data from being passed through to the Feedback Input 51 This allows source feedback position 40 to be manipulated e g a filter The resultant manipulated position data may then be passed to the reference input using the command APCSetFbck input Fbckin This command is active when the feedback input disable flag 52 1 This command is made inactive by APCEnableFbckInput Units NA Range Active or Inactive Default Inactive APCSetRefinput Status APCSetRefInput RefIn Input Arguments Signed 32bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the reference source input position data 31 when the command APCDisableReflnput is active 32 1 Position data entered in POSO using this command is used in the same POS task cycle Units NA Range Active or Inactive Default 0 APCSetFbckinput Status APCSetFbckInput FbckIn Input Arguments Fbckin Signed 32bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the reference source input position data 51 when the command APCDisa
140. ate source Task User Code User Code integrated encoder User Code User Code integrated encoder User Code positions positions Source encoder Source encoder Source encoder positions are updated positions are updated positions are updated within 90ms in time within 90us in time within 90ms in time for the start of the next for the start of the next for the start of the next POS task cycle POS task cycle POS task cycle 4 90us gt 90us 250 512 250 12 us between L2 4 Cycle Cycle cycle and POS Task 3 10 1 Update Rates The motion position task can be runn at the following update rates and is set by parameter 81 12 250 5 500 1ms 2 5 4ms amp 8ms 16 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference To run the APC effectively and reliability with user code it is recommended to set the update rate no faster than 500us Some functions will run at 250us but there will be limited resources available for user code and for CTNet to run The I O on the Drive and SM Applications module can be read at either 250us or the POS task update rate from the following parameters Virtual Parameter 91 16 for the Drive I O Parameter 86 01 to 8
141. back source position invert APCInvertFbckSource 47 1 and makes the feedback non inverted This command is active when the source feedback invert flag 47 0 Units NA Range Active or Inactive Default Active Advanced Position Controller User Guide 87 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Examples Notes Guide Terminology Reference APCSetReferencePosition Status APCSetReferencePosition Turns Position PositionFine Signed 32 bit The lower 16 bits of Turns will be treated as a Input Arguments signed 16 bit value Bits 16 to 31 of Turns will be ignored Turns Signed 32 bit The lower 16 bits of Position will be treated as T Position a signed 16 bit value Bits 16 to 31 of Position will be ignored Signed 32 bit The lower 16 bits of PositionFine will be PositionFine treated as a signed 16 bit value Bits 16 to 31 of PositionFine will be ignored Output Arguments Status 0 Operation failed Operation successful 3 Another process is modifying the object s data Description This command sets the user reference source position This user reference position is used when reference source selector is set to 4 set by the command APCSetReferenceSource 4 Units Turns and Encoder Counts Range 16bit Turns 1
142. bleExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 Output Channel speed ref 01 21 APcchStatus1 APCSetupOutputchannel 2 0 0 APCChstatus2 APCEnableOutputchannel Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output Clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 01 06 10 60000 100 PTermclStatus APCSetPGainSpeedCcl amp PGainMaxSpeed Output Speed Clamp OutClampStatus APCSetOutputSpeedclamp 53687091 equal to 3000rpm Initial Background Background Task Lowest Priority Task TOP Position Setpoint Scaling from O 1revs to counts PosSetpointcnts MULDIV 18 11 65536 10 Current Position Indication from counts to 0 1 5 FeedbackPosCnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer _ 01 APCReadPar _P00 GOTO TOP Background 0 5 Task Runs Before Runs Enable APC with the Drive Reference ON IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode APC ENABLE Position Setpoint in 0 1 Revolutions of Motor PosRefStatus APCSetPositionSetPoint PosSetpointcnts ELSE Disable APC Track feedback position RunModeStatus APCSetRunMode APC_DISABLE ENDI
143. bleFbcklnput is active 52 1 Position data entered in POSO using this command is used in the same POS task cycle Units NA Range Active or Inactive Default 0 Advanced Position Controller User Guide 91 Issue Number 3 www controltechniques com Using This Safety Introduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 2 3 CTSync Functions CTSyncSetMasterReferences cTSyncSetMasterReferences Referencel Reference2 AuxRef Input Arguments Reference1 Reference2 AuxRef Description Reference1 Reference2 AuxRef Signed 32bit value Signed 32bit value Unsigned 8bit value This function block allows the CTSync Master to write reference data to all CTSync Slaves on the network It may only be used on the Master 231 to 231 1 23 231 1 0 to 28 1 Default 0 CTSyncGetSlaveReferences 1 Reference2 AuxRef Status CTSyncGetSlaveReferences Reference 196 Output Arguments Reference2 AuxRef Status 1 Description Signed 32bit value Signed 32bit value Unsigned 8bit value Operation successful Zero or fewer bytes than expected received More bytes than expected received Checksum error in received data This function block allows the CTSync Slaves to read the reference data created by the Master It can be used on both
144. can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 Tune the speed loop gains 4 SM Applications must be in a run state 13 1 OTHER NOTES All the APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Initial Initialisation Program DRIVE PARAMETER SETUP 724 dede ve e de de de ve ve dede de de de e de Ve de de de de e e e de de ve de de e de de de de de de de de de de de de dede de e de de dede de de de dede dede dede dede ee 401 06 1000 Max Speed 1000rpm 301 07 0 Min Speed Orpm 401 10 1 Bipolar Reference 401 14 3 Preset Speed Reference 201 15 1 Preset Speed Ref 1 4202 02 0 Disable Drive Ramps 302 04 0 Fast Ramps 4206 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP 81 12 3 1ms Task time 381 14 1 Global Trip Enable 3281 16 1 Update Ref and Fbck every POS Task 381 17 0 Disable Parameter Over range trip 381 20 1 Save PLC Registers On Power down REINIT INITIALISATION OF VARIABLES Mastercounter 0 DIMESIONING CAM ARRAYS
145. ce encoder positions can be updated at a rate defined by parameter 81 16 this is as follows 0 250us every speed loop update 1 At the start of every POS task Defined by 81 12 2 At the start of every Clock task Defined by 81 11 3 Not Updated When using the APC for best performance 81 16 should be set to 1 4 3 2 Encoder Source Selection and Main Position Integrators Any encoder that is connected to either the Unidrive SP or SM Position option can be used as the APC Reference or Feedback source The SM Applications virtual parameters menu 90 will be setup with respect to the APC Reference and Feedback integrated counters are incremented decremented with the delta position per sample of the drive encoder positions This allows the counters to be easily reset preset in absolute or relative mode The source position can be inverted to change the direction of rotation 4 3 3 Absolute and Relative Modes The internal integrator counters for the Reference feedback can be used in Absolute mode where the internal integrated position counters are preset to the drive position counters Plus offset feedback counters only on an APC reset This is useful where absolute feedback devices are used Definite datum position is known Relative mode where the internal counters are reset to 0 position Offset on a APC reset where it is up to the user to define the datum position 26 Advanced Position Controller User Guid
146. coming EIA RS485 Transmit line negative ITX Outgoing TX i ive EIA RS485 Transmit line positive Outgoing CTNetA CTNet data line NE NN s 39 06 ita iutO optional Freeze _ 000 3 7 2 SM Applications Lite module The SM Applications Lite module is a lower cost version of the SM Applications module Therefore it does not have some of the features of the fully featured module These include 384kb Flash memory for user program 384kb for SM Applications 80kb user program memory 80kb for SM Applications No terminal connections no RS485 port no CTNet port and no Digital The user cannot use CTSync or freeze position data using the SM Applications Lite module due to it not having the RS485 port or digital I O To get freeze position data when an SM Applications Lite module is used a Universal Encoder Plus module is required Advanced Position Controller User Guide 15 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 3 8 1 3 8 2 3 9 3 10 High Speed Position Capture Marker Pulse Discrete marker pulse capture position facilities are available for reference and Feedback incremental encoders With the c
147. cription Started Examples Notes Guide Terminology Reference The SECURE DISABLE function has been approved as meeting the requirements of EN954 1 category 3 for the prevention of unexpected starting of the drive It may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards Independent approval by BIA has been given for sizes 1 to 3 2 4 Environmental Limits Instructions in the Unidrive SP User Guide regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force 2 5 Compliance with Regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective earth ground connections The Unidrive SP User Guide contains instruction for achieving compliance with specific EMC standards Within the European Union all machinery in which this product is used must comply with the following directives 98 37 EC Safety of machinery 89 336 EEC Electromagnetic Compatibility 2 6 Motor Ensure the motor is ins
148. cted the internal integrated position counters are set as shown in Table 4 1 Behaviour of the APC Integrated counters The integrated position counters feedback reference and profile references can be reset in two ways 1 Forcing the APC run mode to disable 1 providing APCResetSourcesOnDisable is active 2 Using dedicated APC function APCReset The feedback and Profile counters 48 115 and 117 can be reset with or without a offset defined by APCSetPositionResetOffset Where APCDoNotResetSourcesOnDisable is active an APCReset will have no effect on the counters To Ensure that the APC Counters and parameters are initialised correctly on power up APC run mode 1 must be called in the Initial task and at least 1 POS task cycle must have occurred before using the counter values Default 0 Advanced Position Controller User Guide 67 Issue Number 3 www controltechniques com Using This Safety introduction Functional 1 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCReset Status APCReset Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command is only functional when the APC run mode is set to 2 APCSetRunMode 2 When APCResetSourcesOnDisable is active using this command will reset the integrated position counters
149. ction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 11 Calculating CAM Co ordinates from time and distance Information This method demonstrates how to calculate the Master co ordinates for a trapezoidal Velocity profile from the following position information Acceleration time A1 Constant speed time A2 Deceleration time A3 Slave total distance Pst Velocity of master Vm With reference to Figure 4 26 the following calculation can be deduced Total Acceleration time At A1 2 A2 A3 2 Slave Acceleration Distance Psa A1 At Pst 2 Slave Steady State Distance Pss A2 At Pst Slave Deceleration Distance Psd A3 At Pst 2 Amt A1 A2 Total distance of the master will be Pmt Amt Vm Master Acceleration Distance Pma A1 Amt Pmt Master Steady State Distance A2 Amt Pmt Master Deceleration Distance Pmd A3 Amt Pmt The Constant speed slave Velocity will be Vs Pss 2 Check that your calculations are correct Pst Psa Pss Psd Pmt Pms 52 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Infor
150. ction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 2 4 1 Reference Select APCSelectReference Status APCSelectReference Reference Input Arguments Reference Use Stop position as reference Use Position setpoint as reference Use Speed setpoint as reference Use CAM as reference Use Digital Lock as reference Output Arguments Operation failed Operation successful Description Reference 0 With Reference set to 0 the Stop reference will be enabled 100 0 The type of stopping mode is selected by the command APCSetStopMode Mode 90 See the Stop Reference section for functional information on this reference With Reference set to 1 the Position reference will be enabled 100 1 The Position reference setpoint is set by the command APCSetPositionSetPoint Position 92 See the Position Reference section for functional information on this reference With Reference set to 2 the Speed reference will be enabled 100 2 The Speed Setpoint is set by the command APCSetSpeedSetPoint Speed 94 See the Speed Reference section for functional information on this reference With Reference set to 3 the CAM Function Generator will be enabled 100 3 See the CAM Reference section for functional information on this reference With Reference set to 4 the Digital Lock reference will be
151. current position plus the stopping distance The stopping distance is calculated from the current velocity and the deceleration rate set in the profile generator by the command APCSetProfileDecelRate The Final calculated stopping position is shown by read parameter 91 4 4 2 Instant Stop In this mode APCSetStopMode 1 when the Stop reference is selected the axis will be decelerated from the current speed to zero instantaneously with no ramps This is achieved by setting the stop reference to the current position and bypassing the profile generator Care should be taken when using this stop mode that the application mechanics can withstand an instant stop without damage 4 5 Position Reference The Position Reference is for simple profile controlled point to point indexing moves The position setpoint may be set by APCSetPositionSetPoint with respect to the current resolution set by APCSetNumOfTurnsBits The position setpoint can be set dynamically while a profile is already in progress e g If the position set point is set to 100000 and the feedback axis has travelled to 50000 then if the setpoint is changed to 200000 the Feedback axis will stop at 200000 The position loop reference will be profiled within the limits of the profile generator accel decel amp max profile speed for the given position setpoint Read parameter 92 may be used to view the current accepted position reference See Figure 4 10 below Advanced
152. d and Position References with the Marker Pulse Capture to perform a simple home on marker function Homing Description with the Unidrive in run mode when parameter 18 32 is set to 1 positive edge triggered the motor will rotate at 10 in speed mode When the motor encoder marker is detected the APC is switched to Position reference and the position reference is set to the capture marker position When the marker position is achieved with 20 counts then home is completed Motion Profile Set up The profile speed is 90 of Max speed set in Drive 01 06 In this example it is set to 1000rpm where the profile speed will be set to 900rpm The acceleration is 2sec and deceleration is 15 to get to 900rpm Encoder Resolution Any encoder feedback can be use with this program the number of counts per revolution is 65536 Drive Enable interlock When the run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It is important to ensure the position loop reference integrators are set to correct values if the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a disable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Reset integrator counter to 0 or offset position when disabled 18 31
153. de 0 or 1 which means that all moves will be interpolated using Linear 77 0 or Cosine interpolation 77 1 Default NA Advanced Position Controller User Guide 99 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCCamilnitialise2 Status APCCamInitialise2 InArray OutArray196 InterpolationArray Input Arguments InArray Input array dimensioned by the user OutArray1 Output array 1 dimensioned by the user InterpolationArray Interpolation array dimensioned by the user Output Arguments Status 0 Operation failed 1 Operation successful Description This command defines the names of the arrays to be used with the APC CAM reference With reference to the above the first array InArray is the name of the array which defines the reference x axis position elements for each CAM segment The second array OutArray1 is the name of the array which defines the feedback y axis position elements for each CAM segment The interpolation used with respect to the reference array InArray is defined by APCSetCAMinterpolationMode n The third array InterpolationArray is the name of the array which defines the interpolation type used for OUtArray1 with respect to the reference array InArray for each CAM s
154. der position counter Master Information Using This Advanced Position Controller User Guide Issue Number 3 Using This Safety introduction EIE Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 3 1 Encoder Source Update Using the APC the encoder source positions are updated before the POSO task runs as shown by Figure 4 5 below Figure 4 5 becario Update Time set b Update Time set b between L2 paate set paate lime set by gt lt gt lt cycle and Parameter 81 12 Parameter 81 12 POS Task APC APC 51 50 51 50 POS1 Task Kernel Kernel Task Update source Task Task Update source Task User Code User Code integrated encoder User Code User Code integrated encoder User Code positions positions Source encoder Source encoder Source encoder positions are updated positions are updated positions are updated within 90ms in time within 90 6 in time within 90ms in time for the start of the next for the start ofthe next for the start of the next POS task cycle POS task cycle POS task cycle 90us gt 90us 90 5 offset 250 5 L2 250 5 L2 between L2 Cycle cycle and m yo POS Task When using the APC in Disabled mode where only the encoders are used the sour
155. dex can only be set when the CAM reference is not selected APCSelectReference 0 1 2 4 100 0 1 2 4 or the is in disable mode APCSetRunMode 1 1 0 The Index value can be read from read parameter 82 Range 0 to 65535 Default 0 Advanced Position Controller User Guide 105 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetCAMAbsResetPositionInSeg Status APCSetCAMAbsResetPositionInSeg Position 6 Input Arguments Position to 23 1 position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the value of the CAM absolute reset position in index segment when the command APCSelectCAMAbsoluteReset is active The value entered into Posi tion is used to define where within the index segment defined by APCSetCAMAbsResetIndex Index 6 the CAM reference will start from when it is next selected The position value can only be set when the CAM reference is not selected APCSelectReference 0 1 2 4 100 0 1 2 4 or the APC is in disable mode APCSetRunMode 1 1 0 The current CAM position value can be read from read parameter 83 Units Encoder Counts Range 0 to 231 1 Default 0 106 Advanced Position Controller U
156. disabled AXE 0 Non rigid lock Rigid digital lock select Ne 1 Rigid lock 5 0 Unlocked 1 Locked 2 Never locked Digital lock mode Digital lock ratio numerator 0 to 65535 1000 Digital lock ratio denominator INA 1 to 65535 1000 iai counts Digital lock locking speed 31 difference encoder over 0 to 2314 17895 250us Digital lock locking position 31 d m ii Start index of active CAM 0 to 65535 Number of index values used by active CAM NA 0 to 65535 Maximum change of segments allowed sample 1 Multiple interpolation CAM interpolation type N 0 Linear interpolation 1 Cosine interpolation CAM single shot mode select Cycle made 62 3 NA NA NA NA 6 NA 232 65 74 75 76 0 1 Single shot mode 0 CAM zero reset CAM absolute reset mode 1 CAM absolute reset CAM output ratio numerator 010 65535 1000 CAM output ratio denominator 1 to 65535 1000 Current segment of active CAM 0 to 65535 Delta input position from start of 0 to 231 1 current segment Size of CAM arrays 0 to 65535 CAM absolute mode index reset Ne 0 to 65535 value CAM absolute mode position in counts 0 to 231 1 segment reset value 0 Profiled stop Position selected when stop is 31 31 ii Advanced Position Controller User Guide www controltechniques com Issue Number 3 A A A A 78 79 81 82 83 84 85 1 9
157. duypyeiqeuaday scsmeis Jopoou3 9 1 188 jndu LZ uonisod 929914 9 WSNS 5 2 S 8e Jezee1Jeounogjesesesodv sosmeis 4 2 4 Q o 9 c 2 www controltechniques com Introduction Information 5 2 2 Reference and Feedback Encoder Using This Advanced Position Controller User Guide Issue Number 3 3 Issue Number WSIS Japonen psa es ody ssnieis Guide Terminology Reference peeds elgesiquoseo nogieses No 9v SNIEIS x eqpeeJ smeigxoeqpee 49 Ody s smeis IgesiquoseoanogiesesOdv 96510815 eoinos uonisog 4 9 5 SMEIS esey ody seis 19534 oF uonisod gt xoeqpeej Program Application Migration Glossary of uonisod 929914 xoeqpeoe 9 c 2
158. e Terminology Reference 47 7 Single Shot and Continuous CAM The CAM may be run in of two modes 4 7 7 1 Single Shot In single shot mode the CAM will run from the selected start co ordinate and will continue until the last co ordinate is reached and then stop The CAM then has to be re started by one of the following methods Perform an APCReset Disable single shot mode by using APCDisableCAMSingleShot then re enable using APCEnableCAMSingleShot De select then reselect the CAM Reference using APCSelectReference De select then reselect run mode 2 using APCSetRunMode Single shot mode may be selected at any point whilst the CAM is running in continuous mode and will cause the CAM to run until the end of the current cycle 4 7 7 2 Continuous In Continuous mode the CAM will run cyclically running till the last co ordinate then wrapping around to the first co ordinate again Continuous CAM mode is selected by APCDisableCAMSingleShot If the start index is changed it will not take effect until the current CAM cycle has been completed 4 7 8 Zero and Absolute CAM Reset It is possible to select within the defined CAM where to start from when the CAM reference is next selected 4 7 8 1 Zero CAM Reset When the CAM reference is deselected and Zero CAM reset has been selected by APCSelectCAMZeroReset when the CAM Reference is next selected the CAM will Start from the segment defined by APCSetCAMStartindex The
159. e www controltechniques com Issue Number 3 Manual Information Description Started Examples Notes Guide Terminology Reference 4 3 4 Resetting Internal Counters The counters can be reset with a defined offset if required in 2 ways 1 When the APC is disabled the APC can be set up to reset the counters By using the reset command APCReset This can be used without disabling the APC Offsets are only added to feedback integrators 4 3 5 Overview of Resetting Internal Counters Table 4 1 indicates the reset values for each of the position integrators used within the APC Table 4 1 Reference Mode Reference Feedback Profile Profile selected Integrator Integrator Generator I P Generator O P Relative 0 Feedback Feedback Integrator Integrator Reference Feedback Feedback Absolute Source Source Position Source Position m Integrator Position Feedback Feedback Relative 0 Integrator Integrator Absolute Reference Feedback Feedback Feedback Source Position Source Position Integrator Integrator S Speed Feedback Feedback Relative 0 Integrator Integrator Reference Feedback Feedback Feedback Absolute m ource Position Source Position Integrator Integrator Feedback Feedback Relative 0 Integrator Integrator Absolute Reference Feedback Feedback Feedback Source Position Source Position Integrator Integrator Digital Lock Reference Feedback Relative 0 Integrator Integrat
160. e www controltechniques com Issue Number 3 Using This Safety introduction Functional Command 178 Program Application Migration Glossary of Quick Manual Information Description Description Examples Notes Guide Terminology Reference The closest standard value rounded up is 2048 counts per revolution or a 11bit resolution encoder From a practical point of view the slave encoder resolution would have to be raised to 14bit 16384 counts per revolution 4096 Pulses per revolution as this is the minimum encoder size that should be used on a servo motor and is the standard value quadrature encoder supplied by Control Techniques The Master encoder resolution should also be raised by the same number of bits to 19bit as it is important to keep the ratio of the number of counts per unit between the master and slave at similar value This is because if the master encoder has less resolution than the slave like a 10 1 difference for every 1 count moved by the master the slave will have to move by 10 counts This means that the system will act like an amplifier with a high gain which can produce noisy or even unstable operation 6 1 2 1 System Resolution The resolution of the system is defined by the type of encoder used in the application and the number of turns bits set in the APC by the command APCSetNumOfTurnsBits In general incremental encoders give the lowest resolution and SinCos Encoders give the highest resolutio
161. e Generator is set to 0 and therefore the Main Profile Generator accel and decel rate will be used to profile back to the demand speed or position The offset profile decel rate is not used when decelerating to a standstill when the Stop reference and Profiled Stop 90 0 is selected Under these conditions the main profile generator decel rate is used to decelerate the feedback axis Advanced Position Controller User Guide 23 Issue Number 3 www controltechniques com oO o o 9 oO 6 2 C 6 a lt e o G x lt G 5 Functional Description Using This Introduction Guide Terminology Reference Information Reference and Feedback Encoder Positions Feedback encoder position counter Slave 4 3 Figure 4 3 uonisod Jepowennejesioejes dv SMeIS Jepoeinosqyi2ejesodv SMEIS y eqp 4 SMEIS 4 yoeqpae4 OS aynjosqy gesiquo seounogiesesodv esyolesesuonisodies reseuodv SMeIS 1QuOseo nogieseMoNo SNEIS uonisod peeds y eqp 4 e ASNES eiqesiq 1950 ody SMEIS 3 y eqp 4 0 gt _
162. e Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference Generating Speed and Position values directly from reference generator e g Profile generator See Figure 4 35 below Figure 4 35 Speed Feed forward Path External Speed Reference Generator Speed Gain Kv 50 gt natio 1 1 Position P Gain Feedback Clamp Speed Position External Position Feedback Generating Speed reference Feed forward from the Position reference e g Digital lock or electronic gearing See Figure 4 36 below Figure 4 36 Speed Feed forward Path Reference Generator Position Speed Position P Gain Feedback Clamp Speed Feedback The external speed is in 232 counts per revolution encoder over 250us sample Advanced Position Controller User Guide 61 Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 10 4 10 1 CTSync Overview The SM Applications module may be used to synchronise two or more Unidrive SP drives This will ensure that the drives run their
163. e action of the code These examples may be copied and pasted into Sypt from the PDF version of this manual to form the basis of new programs Application This section provides application notes on solving common industrial Notes problems such as high load inertia overshoot This Section Details the parameter changes introduced with SM Migration Guide Applications firmware version gt V01 03 00 and the new features And Software introduced with firmware version gt V01 03 02 It also gives information Changes on common problems encountered when transferring code written for previous versions of the SM Applications firmware Glossary of This section gives definitions for general motion terminology which is Terminology also used throughout this manual This section contains short form description of all the command calls for Quick the APC read parameters aliases diagrams menu 90 virtual parameters and all the relevant SM Applications parameters This section is intended for users who are familiar with the APC to refer to whilst coding Reference Text shown in falics are cross reference links e g APCSetRunMode is a link to that commands description in the APC Command Description section These links can be used when the document is in PDF format Numbers shown in square brackets e g 28 are read parameter numbers and can be used with the command APCReadPar to return the value of that read parameter Advanced Positio
164. e g All input arguments must be allocated APCCommand 1 1 1 2 to user variables Value Status APCCommand Variable1 Variable2 Function Name Output arguments Input arguments User defined variable User defined variable Status check can be ommitted if not required e g All input arguments must be allocated value APCCommand Variable1 Variab1e2 to user variables The status check lets the user know whether a command has been sucessfully executed or not This is useful for debugging programmes but may not be required for final code The status output can take one of two forms 1 Boolean where 0 Operation Failed and 1 Operation Sucessful 2 Numerical where 0 and 1 are the same as Boolean however there are other numbers for specific reasons for an Sucessful operation Consult the individual command description for a full list of the status returns for any specific command The following Section gives detailed descriptions of each APC function command and should be used in conjunction with the Functional Description section Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 11 Started Examples Notes Guide Terminology Reference 5 2 1 Control and Access Functions
165. e slave APC output references are updated at the same time therefore minimising slave to slave positional jitter Advanced Position Controller User Guide 65 Issue Number 3 www controltechniques com Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 1 5 2 66 APC Command Descriptions APC Functions The Advanced Position Controller has different built in user configured motion functions these are as follows Digital Lock electronic gearbox CAM User defined position and speed setpoints Linear speed profile generator Closed loop position controller DPL Commands Apart from the SM Applications setup parameters menu 15 16 or 17 no other parameters or registers need to be configured to run the APC All configurations and operations are actioned by DPL function calls using the DPL Editor in Sypt Workbench Each APC DPL function call may have input or output arguments It is important that the argument position is considered and retained when changing variable names to ensure correct functionality of the command See Figure 5 1 Figure 5 1 Ord eg 1 1 1 1 2 Function Output argument Input arguments User defined variable User defined variable Can be ommitted if not required
166. e196 PositionFine 0 Set User Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine MAIN PROGRAM Enable with the Drive Reference ON IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode APC ENABLE IF Mastercontrolword 1 THEN Enable Digital Lock Reference PosSelStatus APCSelectReference APC DIG 1 REF EESE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF ELSE Disable APC Track feedback position RunModeStatus APCSetRunMode APC DISABLE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF POSO Advanced Position Controller User Guide 171 Issue Number 3 www controltechniques com Glossary of Quick i Reference Guide Terminology Notes Load Demanded speed Time g g Oo The shaded area is controled by the P term RRA This level is set by the APC output ratio reduction Time Issue Number 3 QQ SAL OS Program ENTE position The P term does minimal work only regulates the Figure 8
167. echniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableFeedbackFreeze Status APCEnableFeedbackFreeze Input Arguments None Output Arguments Status 0 Operation failed 12 Operation successful Description This command enables the feedback encoder freeze position data to be seen by the SM Applications APC This command is the equivalent of setting 490 48 1 This command must be active for a feedback freeze position capture to be performed This command is made inactive by APCDisableFeedbackFreeze Units NA Range Active or Inactive Default Inactive APCDisableFeedbackFreeze Status APCDisableFeedbackFreeze Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the feedback encoder freeze position data from being seen by the SM Applications APC This command is the equivalent of setting 90 48 0 This command is made inactive by APCEnableFeedbackFreeze Units NA Range Active or Inactive Default Active APCInvertRefSource Status APCInvertRefSource Output Arguments Status 0 Operation failed 1 Operation successful Description This command inverts the reference source position after the source counter 20 but before the integra
168. ectRelativeMode ENDIF Feedback Encoder Source Drive FbksrcstatusX APCSetFeedbackSource APC_DRIVE_ENC Feedback Do not Invert FbkInvStatus APCDoNotInvertFbckSource Reference Encoder Source Drive RefSrcStatus APCSetReferenceSource APC_USER_ENC Reference Do not Invert RefInvStatus APCDoNotInvertRefSource Do not reset feedback position on first Marker DisMrkStatus APCDisableFbckSourceMarker Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBi ts 16 Stop Reference Advanced Position Controller User Guide 169 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF Stop Type StpTypStatus APCSetStopMode APC PROF STOP Digital Lock __________________ Digit Lock Mode ramp and seek lock DgLkModeStatus 6 APCSetDigLockMode APC UNLOCKED Digital Lock Type Ridged DgLkRigStatus APCEnableRigidLock Digital Lock Ratio DgLkNumStatus APCSetDigLockRatioNumerator 1000 DgLkDenStatus APCSetDigLockRatioDenominator 1000 Digital Lock window DgLkwpStatus APCSetDigLockLockingPosition 6553 DgLkwsSta
169. ee WI Enable with the Drive Reference IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode APC ENABLE Enable CAM IF 18 32 1 THEN Enable CAM Reference PosSelStatus APCSelectReference APC CAM REF Forward CAM Array Elements IF 418 33 1 THEN CAMStrStatus APCSetCAMStartIndex 3 CAMSzStatus APCSetCAMSize 3 Reverse CAM Array Elements ELSE CAMStrStatus 6 APCSetCAMStartIndex 0 CAMSzStatus APCSetCAMSize 3 ENDIF Single Shot IF 418 34 1 THEN CAMSSStatus APCEnableCAMSingleShot Cyclic ELSE CAMSSStatus APCDisablecAMSinglesShot ENDIF Decelerate to a Stop ELSE Enable Position Reference PosSelStatus APCSelectReference APC STOP REF ENDIF ELSE Disable APC Track feedback position RunModeStatus APCSetRunMode APC DISABLE Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF ENDIF Pos0 Advanced Position Controller User Guide 157 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started Notes Guide Terminology Reference 7 4 Speed and Position Homing Notes This program demonstrates the use of the APC using the Spee
170. eedback slave motion axis The virtual position is based on the a steady count value which equates to 700rpm Motion Profile Set up The profile speed is 90 of Max speed set in Drive 01 06 In this example it is set to 1000rpm where the profile speed will be set to 900rpm The acceleration is 2sec and deceleration 15 15 to get to 900rpm Encoder Resolution Any encoder feedback can be use with this program the number of counts per revolution is 65536 Drive Enable interlock when the run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It is important to ensure the position loop reference integrators are set to correct values if the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a disable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Reset integrator counter to 0 or offset position when disabled 18 31 Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is retained to current position plus offset if required on drive disable Absolute mode when the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Both modes works with all e
171. egment This is only applicable when multiple interpolation is required defined by APCSetCAMInterpolationMode 1 Units Range Default 100 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCCaminitialise3 Status APCCamInitialise3 InArray OutArray1 OutArray2 Input Arguments InArray Input array dimensioned by the user OutArray1 Output array 1 dimensioned by the user OutArray2 Output 2 array dimensioned by the user Output Arguments Status 0 Operation failed 1 Operation successful Description This command defines the names of the arrays to be used with the APC CAM reference With reference to the above the first array InArray is the name of the array which defines the reference x axis position elements for each CAM segment The second array OutArray1 is the name of the array which defines the feedback y axis position elements for each CAM segment The interpolation used with respect to the reference array InArray is defined by APCSetCAMinterpolationMode n The third array OUtArray2 is the name of the array which defines the feedback offset position elements CAM segments the value of this array is added to the OutArray1 array but it only uses linear int
172. elements CAM segments 5 to 15 will be used If the CAM size is set to 0 then the Stop reference will be automatically selected as the CAM reference array requires a minimum of 1 element Default 0 APCSetCAMDeltaSegLimit Status APCSetCAMDeltaSegLimi imi 5 Input Arguments 07 Unsigned 16bit Negative values will be clamped to zero values DeltaLimit Sver 65535 will be clamped to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the maximum delta position change per POS task clock time The POS task clock time is set by 481 12 or X 12 for the SM applications module If this limit is exceeded then the reference will automatically be switched to Stop and trip Tr81 on the relevant Unidrive SP slot Units Encoder counts POS task clock time Range 0 to 65535 Default 256 102 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetCAMInterpolationMode Status APCSetCAMInterpolationMode InterpolationMode 6 Input Arguments InterpolationMode All segments use linear interpolation All segments use cosine interpolation Interpolation defined by the Interpolation array Output Arguments Operation failed Operation succe
173. elocity when the Slave is enabled the slave will ramp upto the Master speed and become locked to the master axis position when the Digital lock locking speed window is reached No position will be recovered from when the Slave accelerated decelerated to the Master speed If the Slave is enabled when the Master is at zero speed then the Slave will become locked directly To attain a Locked status from an Unlocked status whilst in Non Rigid Digital Lock the profile generator must provide a profile that will give the reference speed only within the limit set by the Maximum profile speed Profile acceleration deceleration and Digital Lock Locking Speed See Figure 4 27below Figure 4 27 Digital Lock selected Locked Positi 4 osition Speed Locked E Digital Lock Locking speed n window Feedback Speed Time If Never Lock mode has been selected the slave will catch up to the master speed but the Digital lock mode will not change to locked and the Profile Generator will remain active and any abrupt changes in Master speed will be ramped to by the Slave i e the Reference will be followed within the bounds of the profile acceleration deceleration rate and the profile maximum speed clamp Command References APCDisableRigidLock APCSetDigLockLockingSpeed APCSetDigLockMode APCSetProfileAccelRate APCSetProfileDecelRate APCSe
174. elow have to be set Table 4 7 If Marker position Reset is used then Marker position capture is not available Freeze Triggering of APC References The Freeze function may also be used to set the APC Reference selector to either Digital Lock CAM selected by the command APCSelectActionOnFreeze This is useful when an application requires that a process must be synchronised to a particular position on the Master axis See the Digital lock selection by Freeze and the CAM Selection by Freeze sections To action a Freeze selection the following commands virtual parameters in Table 4 8 below have to be set Table 4 8 Parameter Command Value Function APCEnableReferenceFreeze NA Reference Freeze Enable APCEnableFeedbackFreeze NA Feedback Freeze Enable APCResetRefSourceFreezeFlag NA Resets Reference Freeze flag APCResetFbckSourceFreezeFlag NA Resets Feedback Freeze flag APCSelectActionOnFreeze Action Action 1 Digital Lock Select on Freeze Action 2 CAM Select on Freeze When a freeze signal is used to trigger the CAM or Digital Lock reference there is no lost position from when the freeze was triggered to when the reference is engaged Reference and Feedback Disable The Reference and Feedback may be disabled so that the position feedback can be modified and re inserted e g by a filter To insert a function block 1 The Reference or Feedback must be disabled by the commands APCDisableReflnput and
175. en the CAM is started it will only be able to complete the remaining CAM points in either direction until the CAM start index is crossed e g with a CAM of 1 segment containing 10000 counts started in single shot at 1000 counts will be able to move forward by 9000 counts or reverse by 1000 before the CAM will stop This command makes APCDisableCAMSingleShot inactive Units NA Range Active or Inactive Default Inactive Advanced Position Controller User Guide 107 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCDisableCAMSingleShot Status APCDisablecAMSingleshot Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables continuous CAM mode When APCSelectCAMZeroReset is active The CAM will start at the first CAM segment defined by the command APCSetCAMStartIndex StartIndex9 6 and run the CAM in either the forward or reverse direction and will then wrap around to the start index segment and will continually cycle through the CAM When APCSelectCAMAbsoluteReset is active The CAM will Start from the absolute CAM reset index and Position in segment defined by the commands APCSetCAMAbsResetIndex Index 6 and APCSetCAMAbsResetPositi
176. enabled 100 4 See the Digital Lock Reference section for functional information on this reference Default 0 94 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional E Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSelectActionOnFreeze Status APCSelectActionOnFreeze Action 6 Input Arguments Action No action on freeze event Enable digital lock on freeze event Enable CAM on freeze event Output Arguments Operation failed Operation successful Description Action 0 With Action set to 0 there will be no additional action when a Freeze event occurs With action set to 1 the Digital Lock reference will be selected 100 4 when a freeze event occurs To allow this function to happen the Freeze function must be enabled by using the command APCEnableReferenceFreeze and APCEnableFeedbackFreeze and the Freeze flags must be reset using the command APCResetRefSourceFreezeFlag and APCResetFbckSourceFreezeFlag With Action set to 2 the CAM reference will be selected 100 3 when freeze event occurs To allow this function to happen the Freeze function must be enabled by using the command APCEnableReferenceFreeze and APCEnableFeedbackFreeze and the Freeze flags must be reset using the command APCResetRefSou
177. er User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference Figure 4 30 Locked Profile a SPeed Reference speed Start Position Time 4 Profile Digital Lock Position Reference Reference selected selected By Freeze By Software 4 9 Position Loop The position loop is used to regulate the position following error to a minimum for a given profile The drive speed and current loops when correctly set up will provide the dynamic response and speed regulation required for the given speed profile derived by the position loop See Figure 4 31 below Figure 4 31 The position loop consists of two paths speed feed forward path which is derived from the generation of the position reference and provides the main speed reference to the drive e g Profile generator or the differential of the following reference position e position correction path which trims the main speed feed forward path to correct any positional error generated The proportional gain is use to amplif
178. er User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Do not reset feedback position on first Marker DisMrkStatus APCDisablerFbcksourceMarker Resolution Number of Turn Bits 65536 cpr NTBStatus APCSetNumOfTurnsBi ts 16 Stop Reference Set Position Reference Stop PosSelStatus APCSelectReference APC STOP REF Stop Type StpTypStatus APCSetStopMode APC PROF STOP Digital Lock anna ee aE E Digit Lock Mode ramp and seek lock DgLkModeStatus APCSetDigLockMode APC UNLOCKED Digital Lock Ridged DgLkRigStatus APCEnableRigidLock Digital Lock Ratio DgLkNumStatus APCSetDigLockRatioNumerator 1000 DgLkDenStatus APCSetDigLockRatioDenominator 1000 Digital Lock window DgLkwpStatus APCSetDigLockLockingPosition 6553 DgLkwsStatus APCSetDigLockLockingSpeed 17895 Digital Lock Offsets 0 DgLkosStatus APCSetSpeedoffset 0 DgLkOpStatus APCSetPositionoffset 0 Enable Profile Generator ProfEnStatus APCEnableProfileQ Profile Generator Enable Profile Generator ProfEnStatus APCEnableProfileQ Profile Max Speed 90 of 1000rpm 900rpm ProfMaxSpeed MULDIV 1073741824 0
179. er User Guide 207 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 8 Documentation A list of other documents or manuals that may be referred to is given below Document name Part number 5 User Guide User Gude 0477 0030 UmarvesPUserGude 0471 00005 SP Advanced User Guide 0471 0002 208 Advanced Position Controller User Guide www controltechniques com Issue Number 3 2 o o 9 9 5 S8 gt 2 2 lt 5 o e o x G S Functional Using This Introduction Guide Terminology 121199 Description Description Information Overview 11 9 Figure 11 1 Reference Source Position Counter epowenejesnoeps Ody SMEIS epowenniosqyi2ejes dv WNES ejnisqv eIgesiquoseonogiesesnoNododv 5 1 vigesiquossounogiese SMEIS S0d eSYOIESE NUON ISOGESOdV SMEIS UOI ISO Jaye 1 jeseubdv UPN 4484 Je 9osnieis
180. erations which are not time critical e g Limits scaling indication etc POSO and POS1Tasks Which run before and after the APC respectively These tasks can be used to manipulate the APC and related position information before and after the APC runs Only time critical operations should be performed in this task 6 4 4 Basic User Program The the program code in section 7 shows working code examples where every APC setup command has been called however if the default APC setup is acceptable then there are very few commands that actually have to be used to get a simple setup running From default all of the key APC setup parameters have sensible values entered these are briefly described below The APC is in Relative mode This means that after a reset or the APC is disabled or on power up the Integrated position counters are reset to zero instead of the absolute position Source reset on disable is active This means that APC is allowed to perform a reset when the user calls one in the code The reset position offset is set to O This means that if the user calls a reset no extra position will be added to the relative position The main feedback and reference integrated counter positions are not inverted The number of turns bits is set to 16 This means that the source encoder resolution that the APC sees has been set to 16bit or 65536 counts per revolution The Stop reference has been set to Profiled
181. erence is locked when the command APCEnableRigidLock is active 60 1 The condition for locking is when the modulus of the difference between reference and feedback position is less than or equal to digital lock locking position Units Encoder Counts Range 0 to 231 4 Default 6553 APCEnableRigidLock Status APCEnableRigidLock Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables rigid digital lock 60 1 In rigid digital lock mode at the relative point the digital lock reference is selected the profile generator will achieve the ratio of reference position and speed within the constraints of the profile parameters defined by commands APCSetProfileAccelRate Accel 6 110 APCSetProfileMaxSpeedClamp MaxSpeed 113 When the feedback position and speed matches that of the ratio of the reference within locking window parameters the system is considered locked The locking window parameters are defined by commands APCSetDigLockLockingSpeed LockSpeed 64 and APCSetDigLockLockingPosition LockPosition 65 The profile generator deceleration rate in rigid lock mode is defined by the acceleration rate APCSetProfileAccelRate Accel 110 Depending on the digital lock mode selected defined by command APCSetDigLockMode Mode 56 61 the profile generator will act accordingly when feedback position and speed matches that of the ratio of t
182. erpolation with respect to the reference array When this CAM Initialisation command is used the Interpolation type must be defined by the command APCSetCAMinterpolationMode 0 or 1 which means that all moves will be interpolated using Linear 77 0 or Cosine interpolation 77 1 NA Default NA APCSetCAMStartindex Status APCSetCAMStartiIndex StartIndex Input Arguments oy Unsigned 16bit Negative values will be clamped to zero values Startindex Sver 65535 will be clamped to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command defines the CAM arrays start element Default 0 Advanced Position Controller User Guide 101 Issue Number 3 www controltechniques com Using This Safety Introduction Functional RZECE Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetCAMSize Status APCSetCAMSize Size 6 Input Arguments Size Unsigned 16bit Negative values will be clamped to zero values 2 over 65535 will be clamped to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This defines the array size from the array start element the CAM will use e g Where the arrays contain 20 elements each and the CAM start index is set to 5 APCSetCAMStartindex 5 and the CAM size is set to 10 only array
183. et to 2000 Step Speed demand This application note is based on laboratory tests using 750 Unimotor with 4 8 1 load inertia to motor inertia ratio The speed loop gains were manually optimised for best performance with an APC profile acceleration deceleration rate of 80000 equivalent to 4 47rpm 250us The gains shown in Figure 8 2 are actual values used in the laboratory test 174 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program 11 Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 8 Position Loop Control on Open Loop Unidrive SP In retro fit situations where an open loop application like a conveyor needs position control and it is not possible to fit an encoder to the motor but one can be installed on the line the APC may be used close the position loop The example code in Figure below demonstrates how to use the APC in this way and uses the APC speed reference to create the demand This can easily be replaced with another reference Notes This program demonstrates the use of the APC with Unidrive SP in Open Loop Vector control to provide crude position control for retro fit type applications where an encoder can not be fitted to the application motor Speed Reference T
184. ets the value sent to the drive when the output channel is set to user reference mode 4 defined by the command APCSetupOutputChannel 4 Menu 6 Parameter Default 0 5 3 Conversion Functions 5 3 1 Embedded APC Converter To assist the user to perform Position Control operations in familiar units conversion from user units to APC kernel internal units and from APC kernel internal to user units is provided The user has to specify the number of units required for a single revolution of the motor UPR after which the position or distance velocity and acceleration can be specified in user units user units s and user units s s respectively SetUPR SetUPR UnitsPerRev Input Arguments UnitsPerRev Signed 32 bit Description This command assigns the number of user Units Per Revolution for use in all conversion to and from user units with the embedded APC converter Default 1000 GetUPR UnitsPerRev Status GetUPR Output Arguments Status 0 Operation failed 1 Operation successful UnitsPerRev Signed 32 bit Description This command returns the current embedded APC converter UPR and places the result into the output argument UnitsPerRev Advanced Position Controller User Guide 127 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide
185. etting Program Application Migration Quick Manual Information Description Description Started Examples Notes Guide Reference 186 Homing Locating a unique reference position at power up for axis calibration In At Position Window This is the range of position increments in which the axis is considered by the controller to be at the commanded position point Can be thought of in terms of N position increments from the commanded position Interpolation This is a mathematical expression which defines a coordinated move of an axis with respect to another Jerk limitation Limits the rate of acceleration change during the movement of an axis Its purpose is to eliminate mechanical jerking when speed changes are made Jog This is an axis running at a fixed velocity and acceleration deceleration rate in a selected direction with no specific destination KP Velocity Loop Proportional Gain determines how much velocity error will be allowed by the servo system during a move See also Tuning KV Position Loop Gain determines how much positioning error or following error will be allowed by the servo system during a move See also Tuning Linear This is the relationship between an input and output in which the output varies in direct proportion to the input Loop Update Time This defines the time interval between updates to calculate the process set point from the following error Ma
186. fety introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference Reference 201 15 1 Preset Speed Ref 1 302 02 0 Disable Drive Ramps 302 04 0 Fast Decel Ramps 206 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP a ee a np p N 3 lms Task time 381 14 1 Global Trip Enable 381 16 1 Update Ref and Fbck every POS Task 381 17 0 Disable Parameter Over range trip 381 20 1 Save PLC Registers On Power down REINIT INITIALISATION OF VARIABLES None APC SETUP Control Initialise 5 Disable APC Track feedback position This will initialise the APC parameters RunModeStatus APCSetRunMode APC DISABLE Reference amp Feedback Encoders Counter Reset On Disable DisRstStatus APCResetSourcesOnDisable Reset Offset Position 0 OffStatusX APCSetPositionResetOffset 0 Positioning Mode IF 18 31 1 THEN Absolute Mode AbsStatus APCSelectAbsoluteMode ELSE Relative Mode RelStatus APCSelectRelativeMode ENDIF Feedback Encoder Source Drive FbkSrcStatus APC
187. g Flying Shear and Rotary Knife etc Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introddetion Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 3 1 Overview 3 1 4 Features 1 There are 5 motion function references to meet a wide range of applications Stop Position Speed CAM Multiple interpolation Single shot or cyclic modes e Recovery of CAM position after power loss Digital Lock Rigid and Non Rigid functionality Numerator Denominator Ratio 2 Position Profile generator which enables the user to change any of its parameters and take immediate effect during a profile 3 Offset Profile generator which enables the user to add a separate speed or position offset to any of the APC references except the Stop reference Bump less transition when selecting references Wide range of encoder interfaces absolute and incremental User definable position resolution within the limitations of the encoder Marker pulse and Freeze Capture Flexible and open interface for user program At Speed and At Position flags for the Main and Offset profile generators 0 The ability to insert filters or other function blocks after the source counters for both the Reference and Feedback position counters Advanced P
188. g to this signal Task A software system control that determines the execution rates and priority levels for software modules running in a motion control or PLC Tuning Adjusting the servo drive s internal characteristics to give it the ability to control the reflected inertia and gives the axis a smooth position velocity profile The process of Tuning involves setting the Velocity Loop Proportional Gain KP Position Loop Gain KV and the Velocity Loop Integral Action Ki values so that the axis has a position velocity profile allowing only as much position velocity error as the process will permit Velocity This is the rate at which the position of a moving object is changing Velocity has two characteristics magnitude speed and direction Velocity Loop A servo control function that sums a velocity command signal with a speed feedback signal from a motor and outputs the difference as a torque command signal Virtual Master An encoder signal created in the software of a motion control to allow synchronising of multiple servo systems A typical machine may have several virtual master encoders 188 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 Quick Reference 11 1 A
189. ge 0 to 65535 Default 1000 Advanced Position Controller User Guide 103 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetCAMOutRatioDenominator Status APCSetCAMOUtRatioDenominator Ratio Input Arguments Ratio96 Unsigned 16bit value to set as numerator Negative values will be 2 clamped at zero values over 65535 will be clamped to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the CAM output denominator 81 The CAM output will be divided by the denominator value set before the profile generator input It is used in conjunction with the CAM output numerator APCSetCAMOutRatioNumerator Numerator Units NA Range 1 to 65535 Default 1000 APCSelectCAMAbsoluteReset Status APCSelectCAMAbsoluteReset Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description When this command is active the start index and segment position within the defined CAM output array s can be set by the following commands APCSetCAMAbsResetIndex Index 6 82 APCSetCAMAbsResetPositioninSeg Position 83 This can only be achieved when the CAM reference is not selected wAPCSelectReference 0 1 2 4 100 0 1 2 4
190. gure 4 22 above Cosine1 Interpolation has been used between each set of co ordinates X Y to determine the value of Y position with respect to X The Lower half of Figure 4 22 above is the rate of change of Square1 interpolation and indicates the resultant velocity when Cosine1 Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity 2 co ordinate X co ordinate 46 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 4 4 7 5 Figure 4 23 below shows a profile and the type of interpolation required to perform that profile Figure 4 23 2 4 The offset array Output2 array would be used here to provide an offset of 72V Interpolation Required Note For a linear acceleration deceleration velocity profile the actual change in position will be a square function as the integral of the speed over a time period gives the position change and the integral of a ramp accelerating or decelerating is a square function Constant and Dynamic Arrays The arrays which hold the CAM data may be defined as Constant or Dynamic Constant arrays should be used when the values in an array do not need
191. gure 4 7 Figure 4 7 47 0 Freeze and Marker pulse Functionality The APC Feedback and Reference Source counters have Freeze and marker pulse functionality This functionality includes Freeze and Marker Pulse position capture Marker position reset only whilst marker position capture is not used Freeze Triggering of APC References CAM and Digital Lock Freeze and Marker Pulse Position Capture The APC source counters are equipped with 2 pairs of 32bit signed position single shot counters Each pair of counters consists of an integrated and non integrated position counter both triggered simultaneously from one trigger source one pair by the Freeze input present on SM Universal Encoder Plus and SM Applications and one pair by Marker Pulse The command APCReadPar must be used to read the captured positions See Table 4 2 below Table 4 2 Feedback Freeze Non Integrated 41 Value APCReadPar 41 Feedback Marker Integrated 49 Value APCReadPar 49 Feedback Marker Non Integrated 43 Value APCReadPar 43 Feedback Marker Integrated 50 Value APCReadPar 50 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information 9901 Description Started Examples Notes Guide Terminology Reference The actual position is captured within a mic
192. gured This means that the Reference Source position will be set to zero When this command has been used to set the reference encoder location the reference encoder virtual parameters in menu 90 will also be directed to the same encoder The equivalent of this command in menu 90 is 90 43 Default 0 Advanced Position Controller User Guide 75 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional 1 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetFeedbackSource Status APCSetFeedbackSource Source Input Arguments Drive Slot 1 Slot 2 Slot 3 User program Unconfigured Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description Source 0 With Source set to 0 the Drive encoder input is selected as the Feedback Position source With Source set to 1 the feedback option in Slot 1 is selected as the Feedback Position source With Source set to 2 the feedback option in Slot 2 is selected as the Feedback Position source With Source set to 3 the feedback option in Slot 3 is selected as the Feedback Position source With Source set to 4 Feedback Source position can be manually written to the APC using the command APCSetFeedbackPosition Turns Position PositionFine With Sou
193. gy Reference APCGetOutputSpeedRpmx10 Speed APCGetOutputSpeedRpmx10 Input Arguments None Output Arguments Speed 6 Output speed converted to 0 01 rpm units Description This command will return the value of the Position loop output 135 converted into 0 01rpm units and load the result into a user variable in this case Speed Where the recommended output channel command is not used APCSetupOutputChannel this command can be used as an alternate method of sourcing the output speed reference to the drive by the user program Note When the drive speed reference is sourced from the user program it will get updated on the next 250 5 of the drive speed loop This is not recommended for high precision synchronised multiple slave axes Units rpm x 10 Range Max profile speed P Speed Clamp Default 0 APCSelectAbsoluteMode Status APCSelectAbsoluteMode Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description When this command is active the integrated position counters will be preset with the corresponding source position after power up or an APCReset The reset offset position value defined by APCSetPositionResetOffset will only be added to the feedback profile integrated counters This will be a true absolute position where an absolute encoder is used e g SinCos 551 The counters can be preset as follows APC Run Mode 1 APCSetRunMode 1
194. he feedback co ordinates in the array See Table 4 9 below Table 4 9 Segment Relative Position Absolute Position 1 109227 109227 2 436908 546135 3 54613 600748 Advanced Position Controller User Guide www controltechniques com Issue Number 3 37 Reference Axis100rpm rpm 60 x counts rev 109227 218454 54613 www controltechniques com Counts Second Counts Second 100 60 65536 109227cps Counts Second 200 60 x 65536 218454cps 0 1 2 o 5 o gt 2 2 o gt nS E N E o c e A WA RQ A Put lt 5 RRQ OHI MESSE S RRA S RN CO aN WN gt 844044 gt 1 NS O Wt DM DNS 0 9 3261 Eu az m Co c lt gq LL geseg 6 Sa 1 C e on c z e o c 5 1 c o 6 o 2 lt 5 N 2 ME 5 vo m up 5 gt creag
195. he reference NA Default Inactive Advanced Position Controller User Guide 111 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCDisableRigidLock Status APCDisableRigidLock Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables rigid digital lock and enables non rigid digital lock 60 1 In non rigid digital lock mode the profile generator will achieve the ratio of reference speed within the constraints of the profile parameters defined by commands APCSetProfileAccelRate Accel 6 110 APCSetProfileDecelRate Decel 6 111 APCSetProfileMaxSpeedClamp MaxSpeed 113 When the feedback speed matches that of the ratio of the reference within locking window parameter the system is considered locked The locking window parameter is defined by command APCSetDigLockLockingSpeed LockSpeed 64 Depending on the digital lock mode selected defined by command APCSetDigLockMode Mode 6 61 the profile generator will act accordingly when feedback position and speed matches that of the ratio of the reference Units NA Range Active or Inactive Default Active 112 Advanced Position Controller User Guide www controltechniques com Issue Nu
196. he speed setpoint is set in O 1rpm units entered into parameter 18 11 Motion Profile Set up The profile speed is 90 of the synchronous speed set for the application motor in SynchronousSpeed In this example it is set to 3000rpm where the profile speed will be set to 2700rpm as the code has been written assuming a 2 pole motor is used The acceleration and deceleration is set to 0 5sec to get to or from 2700rpm and Orpm Encoder Resolution Any encoder feedback can be used with this program the number of counts per revolution is 65536 Drive Enable interlock when the APC run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 SM Applications must be in a run state x 13 1 OTHER NOTES If a motor with more than 2 poles is used the conversion factor SyncronousSpeed must be changed to reflect the application motors Synchronous Speed See the list below 2 Pole 3000 4 Pole 1500 6 Pole 1000 8 pole 750 Setting this variable also defines the APC profile maximum speed clamp and the P Gain speed clamp This code uses one of the 3 CTSync output channels to send the trim speed to the drive so that the Reference and Trim are
197. ill be divided by the denominator value set before the offsets are applied It is used in conjunction with the digital lock numerator APCSetDigLockRatioNumerator Numerator Units Number Range 1 to 65535 Default 1000 APCSetDigLockLockingSpeed Status APCSetDigLockLockingSpeed Speed Input Arguments Speed Unsigned 31bit value to define locking speed Output Arguments Status 0 Operation failed Operation successful Description This command sets the digital lock locking speed 64 which is used to define when the digital lock reference is locked The condition for locking is when the modulus of the difference between reference and feedback speed is less than or equal to digital lock locking speed Units 232 counts rev encoder over 25015 Range 0 to 231 1 Default 17895 110 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetDigLockLockingPosition Status APCSetDigLockLockingPosition Position 96 Input Arguments Position Unsigned 31bit value to define locking position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the digital lock locking position 65 which is used to define when the digital lock ref
198. internal functions at exactly the same frequency and time meaning all actions are performed at the same instant One and only one SM Applications module must be configured as the Master and all others configured as Slaves The Master generates reference data which is transmitted to all Slaves on the network The Master can be set to operate as a Slave if for instance two drives need to be synchronised In this case the Master will be generating the reference data as well as following that reference data The Slave will also be following that reference data 4 10 2 Connections The SM Applications CTSync operates via a connection between the RS485 ports of the SM Applications modules on the network in either 2 wire or 4 wire Refer to the SM Application manual for information on how to connect the SM Applications RS 485 ports To simplify wiring the Slave transmit and Master receive signal line connections can be omitted in 4 wire mode This is because the Master does not receive a response from the Slave Therefore only 2 conductors excluding shield are required The CTSync Master can be changed dynamically in 2 wire mode 4 10 3 Limitations Only one CTSync Master is permitted on the Network All CTSync Master and Slave POS tasks must be set to the same update time parameter 2281 12 8nodes maximum for 2 wire and 16 nodes maximum for 4 wire before line repeaters are required e Maximum cable length of RS485 network
199. ion Figure 11 5 Position Loop MOdV SMNEIS X X X X X osmeis uueuoindinoe qeu3Odv 51 8 5 odv s W3sn v u3lJWvivd 24 JdH 03395 lt 300801 484 9334 Ody 0 ed SNEIS yndjno joejes jouueyd dwe gpesdsindino esody SNEIS lori peeds yndjno Ody WSLS dwerg peeds SNEIS o 0 JounN Jorejeun None ies IAY SMEIS ureoueodiesodv SMEIS ure xoeqpae4 uonisod uomisod dv ASPI uonisog jeujejx3 Ser 22 speeds 68 SMEIS peeds 0001 wed p
200. ion Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 5 7 APC and CTSync Output Channel Definitions Definition Value Related Command p 2 Generic output channel definition emes R O R 11 5 8 CTSync Definitions Definition Value Related Command USR_VALUE_OK USR_VAL_UNCONFD o USR INVALID CHAN Generic CTSync definition USR NOT MASTER 2 USR ACCESS DENY USR PAR INVALID 4 11 5 9 APC Parameter Definitions Definition Value pre ros omeen Advanced Position Controller User Guide 203 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 1121199 Definition Value Wcowssps 204 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 121199 Definition Value Advanced Position Controller User Guide 205 Issue Number 3 www controltechniques com Using This Safety introducti Functional Command Getting Program Ap
201. ion i e one motion with respect to another The APC CAM reference works in similar way a table of Feedback or slave position movements are calculated with respect to Reference or master position movements forming a CAM profile table such that when the CAM reference is selected the APC produces a varied Feedback axis position reference with respect to Reference axis encoder position with the given interpolation type selected See Figure 4 12 below Figure 4 12 Reference Interpolation Feedback Input Array Array Output array X1 I1 Y1 2 12 Y2 Reference 13 Encoder gt Numerator p Position Denominator Reference In Yn Optional CAM Co ordinates Basics The moves generated by the CAM reference are created from a series CAM position co ordinates These co ordinates are arranged into Input Reference and Output Feedback arrays Arrays are sets of variables of the same type arranged in order each variable forming an Array Element each with a numerical reference A typical CAM array in DPL might look like 0 109227 1 218454 InArray 6 2 54613 OutArray1 0 109227 OutArray1 1 436908 OutArray1 2 54613 The co ordinates are entered in relative position increments therefore the feedback absolute position when the CAM has run one cycle is the sum of all of t
202. is is a positioning system which employs feedback information to regulate the output response Co ordination The integration of the movements of two or more axes of motion so that the resultant motion is a path which none of the axes are capable of independently Coordination may also involve the use of sensors and other internal or external commands in the Integration effort which assist in effecting the movement or work desired Deceleration This is the rate of change of velocity Name commonly used as negative acceleration i e going from a higher velocity to a lower velocity Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program Application Migration Quick Manual Information Description Description Started Examples Notes Guide 9 Reference Decentralised control A control system in which the logic functions and input output functions are located at individual pieces of equipment or sub systems and function essentially independent of each other Normally the independent systems will have some means of communicating vital information with each other Dwell Time This defines the time within a move cycle where no motion occurs Electronic CAM profiles A technique used to perform non linear motion electronically similar to that achieved with mechanical cams Electronic gearing This is a method that simulates
203. isable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Reset integrator counter to 0 or offset position when disabled 18 31 Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is returned to the current position plus offset if required on drive disable Absolute mode when the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Both modes works with all encoders Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 Tune the speed loop gains 4 SM Applications must be a run state 4 13 1 OTHER NOTES All the APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Initial Initialisation Program DRIVE PARAMETER SETUP 01 06 1000 Max Speed 1000rpm 201 07 20 Min Speed Orpm 301 10 1 Bipolar Reference 4301 14 3 Preset Speed Advanced Position Controller User Guide 145 Issue Number 3 www controltechniques com Using This Sa
204. it integer value from the input variable Input and converts the upper 16 bits to a Signed 16 bit value in the lower 16 bits of the output variable Output For the example Output Uns i gnedTopword 0x01234567 the result in Output 6 equals 0x00000123 a positive number For the example Output Uns i gnedTopword 98768765 the result in Output 6 equals OxFFFF9876 a negative number UnsignedBottomWord Output Unsi gnedBottomword Input Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes a 32 bit integer value from the input variable Input and converts the lower 16 bits to an Unsigned 16 bit value in the lower 16 bits of the output variable Output For the example Output Unsi gnedBottomword 0x01234567 the result in Output equals 0x00004567 a positive number For the example Output Unsi gnedBottomword 0x98768765 the result in Output equals 0x00008765 a positive number SignedBottomWord Output S1 gnedBottomword Input Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes a 32 bit integer value from the input variable Input and converts the lower 16 bits to a signed 16 bit value in the lower 16 bits of the output variable Output For the example Output Si gnedBottomword 0x01234567 the result in Output equals 0x00004567 a positive number For the example Output Si gnedBot
205. ital lock mode however once the locking conditions set by APCSetDigLockLockingSpeed LockSpeed 64 and APCSetDigLockLockingPosition LockPosition 6 65 are met the digital lock mode will automatically change to 1 61 1 In this mode 61 1 the system is locked the drive axis is directly coupled in position to the ratio of the reference position Any difference in position and speed between the reference and feedback will re gained with no ramps as the profile generator is bypassed It is possible to manually set the digital lock mode to 1 however care should be taken when doing this as switching into digital lock mode 1 causes the profile generator to be bypassed and therefore any differences between the reference and the feedback position will lead to an instantaneous change in output speed which could cause damage to the mechanics of an application In this mode 61 2 the profile generator will try to attain a lock within constraints of the profile setup parameters set by commands APCSetProfileAccelRate Accel 6 110 APCSetProfileDecelRate Decel 6 111 non rigid lock only APCSetProfileMaxSpeedClamp MaxSpeed 113 The will not actually reach a locked status 61 1 as in this mode the profile generator parameter setup is permanently active even when the reference and feedback are synchronised The profile generator will try to attain either speed synchronisation non rigid digital lock or speed and p
206. ive encoder selected SourceStatus2 APCSetReferenceSource APC USER ENC User Program Selected RunModeStatus APCSetRunMode APC DISABLE Primes the position counters on startup or reset Initial Refer to the Functional Description or APC Command Descriptions sections for more details 6 4 5 Stop Reference The Stop reference allows the user to decelerate the axis no matter what reference was previously selected in a controlled manner The Stop reference has two modes of operation which are Profile Stop and Instant Stop Profile Stop is enabled from default Code showing the use of the Stop reference has been combined with the other references example code like Speed and Position reference 6 4 6 Position Reference The Position reference allows the user to make simple profile controlled point to point indexing moves The resolution is set to 65536 counts per turn from default and can be easily converted to a custom number of units per turn or units per count Example code using the Position reference is shown in Figure 6 7 below Figure 6 7 Background Position Setpoint Scaling from 0 1revs entered in parameter 18 11 to counts PosSetpointcnts MULDIV 18 11 65536 10 Send Position Reference to APC PosRefStatus APCSetPositionSetPoint PosSetpointcnts Current Position Indication from counts to 0 1 5 FeedbackPoscnts APCReadPar APC FB POS 318 122 MULDIV FeedbackPoscnts 10 65536 3 Background 5
207. leration is 2sec and deceleration is 15 to get to 900rpm Encoder Resolution Any encoder feedback can be use with this program the number of counts per revolution is 65536 Drive Enable interlock When the APC run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It 15 important to ensure the position loop reference integrators are set to correct values if the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a disable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Reset integrator counter to 0 or offset position when disabled 18 31 Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is retained to current position plus offset if required on drive disable Absolute mode when the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Ensure the run signal is off before the program is ran in this mode so the reference integrator can be preset to feedback Both modes works with all Unidrive SP encoders Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp pe
208. lication of the source counters with the set user resolution defined by APCSetNumOfTurnsBits TurnBits Units NA Range Active or Inactive Default Active APCReadPar Value Status APCReadPar APCParameterNumber Input Arguments APCParameterNumber The index number for the required parameter Output Arguments Status 0 Operation failed 1 Operation successful Description This command allows the user to read any of the parameters within the APC shown in diamond boxes on the APC Logic Diagram or square brackets in text and write the contents into DPL variable Units Dependant on parameter read Range Dependant on parameter read Default Dependant on parameter read 70 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetPositionResetOffset Status APCSetPositionResetOffset Position 6 Input Arguments Position The position to be used for the offset to the overall position when an APC Reset is called or the APC is disabled Run Mode 1 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the reset offset position the value of which will be added to the Feedback Profile integrated position counter value afte
209. loscope If it can not control the load sufficiently follow the instruction in the Optimisation section in the Unidrive SP user guide Once the Speed loop is tuned and the Position loop P gain is re applied it can be seen that an over shoot will occur which can not be tuned out by the P term The compensation setup shown below resolves this problem 8 1 2 Compensation Setup 1 The speed feed forward gain must be altered to less than 1 The Default settings for the speed feed forward is 1000 which gives a gain of 1 1000 1000 setting the numerator to a value of 960 will provide good results for most applications The command APCSetSpeedFFwdGain Gain is used to set the speed feed forward gain value where Gain is a value of 960 Advanced Position Controller User Guide 173 Issue Number 3 www controltechniques com Using This Safety Functional Command Getting Manual Information Description Description St Program Glossary of Quick arted Examples Notes Guide Terminology Reference 2 Using the oscilloscope to monitor performance apply the same step change in speed demand as previously used and set the value of the P Gain to get the desired damping level Figure 8 2 shows an interpretation of the likely dampening effect with different P Gain settings Figure 8 2 A Speed Response with P Gain set to 6000 Response with P Gain set to 4000 Response with P Gain s
210. made inactive by APCDisableReferenceMarker Units NA Range Active or Inactive Default Inactive APCDisableReferenceMarker Status APCDisableReferenceMarker Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the reference encoder marker pulse from being seen by the SM Applications APC This command is the equivalent of setting 490 45 0 This command is made inactive by APCEnableReferenceMarker Units NA Range Active or Inactive Default Active APCEnableFeedbackMarker Status APCEnableFeedbackMarker Input Arguments None Output Arguments Status 0 Operation failed Operation successful Description This command enables the feedback encoder marker pulse to be seen by the SM Applications APC This command is the equivalent of setting 490 46 1 This command must be active for a feedback marker position reset or a feedback marker position capture to be performed This command is made inactive by APCDisableFeedbackMarker Units NA Range Active or Inactive Default Inactive 84 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCDisableFeedbackMarker Status APCDisableFeedb
211. mand Descriptions sections for more details 6 4 8 CAM Reference The CAM reference provides varied motion from a continuous reference motion All of the position changes that the CAM reference produces are in numbers of feedback encoder counts that must be moved forwards or backwards with respect to a number of reference encoder counts at a given speed For a more detailed description of how the CAM reference functions see section 4 7 CAM Reference Example code using the CAM reference in single shot or continuous run mode is shown in Table 6 7 below including a virtual master reference counter Figure 6 9 Initial Initialise Virtual master counter variable Mastercounter 0 Dimension CAM data arrays DIM InArray 3 DIM OutArray 3 Enter Position data into CAM Arrays 0 65536 1 turn forwards InArray 1 65536 1 turn forwards InArray 2 65536 1 turn forwards OutArray 0 5536 1 turn forwards OutArray 1 131072 2 turns forwards OutArray 2 196608 3 turns backwards back to start position Initialise CAM arrays CAMIniStatus APCCAMInitialisel InArray OutArray Set Interpolation type CAMIntStatus APCSetCAMInterpolationMode APC COSINE CAM Set CAM start point and size CAMStartStatus APCSetCAMStartIndex 0 start at CAM array element 0 CAMSizeStatus APCSetCAMSize 3 3 pairs of CAM array elements Initial Background Current CAM
212. mation 9901 Description Started Examples Notes Guide Terminology Reference 4 8 Digital Lock Reference 4 8 4 Introduction Digital Lock is a common industrial method of synchronising a Slave feedback axis to a Master reference axis There are two different ways in which the Digital Lock reference can be used Gear Box lock where the Slave is effectively directly coupled to the Master motor and both motors start from zero speed e Master Synchronisation where the Master motor is at some velocity and the Slave must synchronise Lock with the master in a controlled fashion using ramps with or without position recovery for acceleration Rigid or Non Rigid Lock respectively 4 8 2 Digital Lock Mode There are three different digital lock modes Unlocked Locked and Never Lock 4 8 2 1 Unlocked In Unlocked mode the profile parameters Acceleration rate Deceleration rate and Max Speed are used to obtain a lock to the master reference axis Once the locking conditions are set by Rigid or Non Rigid digital lock the mode will automatically switch to Locked When the Digital Lock reference is selected using the reference selector or by a Freeze input the default mode is Unlocked Command References APCSetProfileAccelRate APCSetProfileDecelRate APCSetProfileMaxSpeedClamp APCEnableRigidLock APCDisableRigidLock APCSetDigLockMode APCSelectReference APCSelectActionOnFreeze 4 8 2 2 Locked In Locked
213. mber 3 2 o o 9 5 S8 gt 9 2 a t Getting Description 191 Started Examples Functional Using This Introduction Guide Terminology Reference Information 5 2 5 Profile Generators Figure 5 5 5 SMeIS SMEIS gt IqesiquoseounosjesesoNOQOdV SNIEIS eigesiquoseoinosiesesoav ieseuodv n 4 eiqesia uonsod lt 11 9v Jepooue sjunoo 92u819JoM peeds 81062 81062 91 Jed uonisod doo uonisod 91 peeds doo1 uonisod oL uonisod UPN Auo 001 uonisod yoeqpeey joejos peeds eui ueu a 5 paads jv eu 101104 eu UYM PS uonisod 57092 sjunoo zZ o 5 SMIEIS peeds XEN 57062 81092
214. mdd peeds 5 ruse yap 5 15 3299 p d peeds Opeedsjeujeuepqelgesiqodv SNeIS peedgye 5 1 32919 peeds 4 jeuonisod ureuJeyxsies Odv SNEIS 92u019J9M 40131504 9 ljoJd dY 5 15 uonisoqyey eux MEU SMIEIS 32919 213 Advanced Position Controller User Guide www controltechniques com 3 Issue Number 5 zn oe aes BS E 11 A n shea weston 27 135 tete 12 26 de Ter P EORR EE 184 ACGCelerallOli pt E rette ite tees 10 18 23 184 Access Functions 189 A 134 184 Adobe Acrobat 144 e m 27 APC Overall Diagram iie et eine et tendo teu c t do tg ecce esie ra an 20 4 4
215. mechanical gears by electrically synchronising one closed loop axis to a second axis open or closed loop through a variable ratio Encoder An electromechanical device which produces discrete electrical pulses directly related to the angular position of the input shaft providing high resolution feedback data on position velocity and direction Encoder Resolution The number of electrically identified positions occurring in 360 degrees of input shaft rotation Feedback The signal or signals received from a controlled machine or process to denote its response to the command signal Feed Forward This is a method that pre compensates a control loop for known errors due to motor drive or load characteristics to improve response It depends only on the reference generated not the measured error Following Error This is the difference between the reference position of an axis and its actual feedback position The amount of Following Error present varies with the speed of the axis The amount of following error allowed can be adjusted through the KV parameter Home Position This is a reference position for all absolute positioning movements Usually defined by a home limit switch and or encoder marker Normally set at power up and retained as long as control system is operational Advanced Position Controller User Guide 185 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command G
216. mmand as any fast stepped changes from the selected source reference will be instantly seen by the position loop as there are no ramps applied This could cause damage to the applications mechanics Units NA Range Active or Inactive Default Inactive Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetProfileAccelRate Status APCSetProfi leAccelRate AccelRate Input Arguments AccelRate Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the main Profile Generator acceleration rate 110 When Digital Lock is selected 100 4 with Rigid Lock mode 60 1 this command will also set the deceleration rate of the Profile Generator Units 232 counts rev encoder over 250us 250us Range 0 to 4473934 Default 22369 equal to 1 25rpm 250 5 APCSetProfileDecelRate Status APCSetProfi leDecelRate DecelRate Input Arguments DecelRate Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the main Profile Generator deceleration rate 111 Units 232 counts rev encoder over 250us 250us Range 0 to 4473934 Default 22369 equal to 1 25rpm
217. n Start Position i e Acceleration Steady State Deceleration n Feedback Slave Axis 2 emn Reference Master Axis Encoder Speed Reference p eu E Master Start speed Start Position Position Time Segment Segment egment Segment Segment Segment 0 1 2 3 4 5 Freeze sensor distance dwell Acceleration to Master speed Steady state Cut is performed here Deceleration to Zero speed Negative acceleration to return shear to start position Positive Deceleration to Zero speed and start position In this type of flying shear the distance from the freeze sensor to the shear cutting blade and the acceleration to the master speed must be compensated for when calculating the profile The advantage of this type of flying shear Un like a Digital Lock flying shear time is wasted when synchronising the Slave to the Master axis There is no over speed required to recover lost acceleration position slave is permanently locked in position with the master at all times 50 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information De Description Started Examples Notes Guide Terminology Reference 4
218. n Controller User Guide 5 Issue Number 3 www controltechniques com Using This 1537 Introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Description Description Started Examples Notes Guide Terminology Reference 2 Safety Information 2 1 Warnings Cautions and Notes A Warning contains information which is essential for avoiding a safety hazard WARNING A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment Note contains information which helps to ensure correct operation of the product 2 2 Electrical Safety General Warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive Specific warnings are given at the relevant places in this User Guide 2 3 System Design and Safety of Personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipme
219. n Value Related Command APC_OFF APC_DISABLE APCSetRunMode APC_ENABLE 11 5 2 Feedback and Reference Encoder Definition Value Related Command APC_DRIVE_ENC m APC SLOT1 ENC APCSetReferenceSource APCSetFeedbackSource ENG APCGetReferenceStatus APC USER ENC SLOT3 APCGetFeedbackStatus TOO Advanced Position Controller User Guide 201 Issue Number 3 www controltechniques com Using This Safety intro uction Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 1121199 11 5 3 References Definition Value Related Command o APCSetCAMInterpolationMode RRC PRO STOP p APCSelectActionOnFreeze 11 5 4 Offset Profile Generator Definition Value Related Command APC_OFF_DISABLED 0 APC OFF POS APCSelectOffset APC OFF SPD 11 5 5 Position Loop Definition Value Related Command APC_HARD_SPD_REF m APC SPEED REF APC PARAMETER APCSetupOutputChannel APC USER REF APC QUIET 11 5 6 Operation Status Definitions Definition Value Related Command APC FAIL o APC ACCESS DENY INVALID ARGU Generic status definition 202 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Applicat
220. n available however the final resolution available is down to the individual encoder chosen for the application as encoder resolution can vary 6 1 2 2 Absolute or Relative There are two categories of encoder Relative or Absolute Relative encoders only provide positional information within one revolution whereas Absolute encoders provide positional information within a revolution and turns information and can keep track of the position even when there is no power Absolute single and multiturn encoders have an internal mechanical encoder which keeps track of the position even when the power is turned off These encoders transmit their position data to the drive on power up so that the current position or position and number of turns is known straight away 6 1 2 3 Encoder Pro s and Con s Table 6 1 below shows a comparison of Resolvers Incremental encoders and SinCos encoders Table 6 1 Parameter Resolver Incremental Encoder SinCos Encoder Mechanical Shock and Vibration Excellent Average Average resistance Temperature rating up to 150 C Typical up to 105 C Typical to 105 C Typical Resolution 12 to 16bit Typical 12 to 16bit Typical up to 21bit Typical Low speed operation Average Average Excellent 6 1 2 4 APC Reference Encoder A Reference Source encoder is only required for the CAM and Digital Lock APC references The Reference source encoder position may come from a standard encoder or from
221. n offset 93 enabled Speed offset 95 enabled Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets which offset type is to be applied to the selected reference 102 When the Stop reference is selected 100 0 the offset selector will be set to 0 internally and therefore the offsets will have no effect and if profiled stop is selected 90 1 the offset profile acceleration and deceleration rates are ignored and the main profile rates are used Default 0 APCSetOffProfileAccelRate Status APCSetoffProfi leAccelRate AccelRate Input Arguments AccelRate Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the offset Profile Generator acceleration rate 150 Units 232 counts rev encoder over 250us 2501s Range 0 to 4473934 Default 22369 equal to 0 2s 1000rpm APCSetOffProfileDecelRate Status APCSetoffProfi leDecelRate DecelRate Input Arguments DecelRate Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the offset Profile Generator deceleration rate 151 Units 232 counts rev encoder over 250us 250us Range 0 to 4473934 Default 22369 equal to 0 2s 1000rpm Advanced Position Controller User Guide 117 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting
222. n the encoder required can be calculated A rotational and linear example is discussed below Slave 2 1 Pulley Master 20mm turn pitch E 10mm carriage movement COMM 100mm Diameter ees wheel A 2 1 Rotational Master In Figure 6 1 there is a measuring wheel 100mm in diameter The circumference of the wheel is Circumference x Diameter x 100 314 15 If we use a resolution accuracy of 0 1mm units there are 314 15 0 1 3141 5 Fine units per revolution A good rule of thumb is to use an encoder that can produce 20 counts per fine resolution unit minimum the more counts the better Encoder counts per revolution 20 3141 5 62830 The closest standard encoder value rounded up is 65536 counts per revolution or a 16bit resolution encoder This encoder could be a SinCos SSI or a high resolution quadrature 16384ppr 2 Linear Slave In Figure 6 1 there is a ball screw with a turn pitch of 20mm connected to a 2 1 pulley which is in turn connected to the motor The turn pitch at the motor is 10mm so Keeping the same fine resolution of 0 1mm 10 0 1 100 Fine units per revolution Using the same rule of thumb at 20 counts per fine resolution unit 20 100 2000 134 Advanced Position Controller User Guid
223. n the form of a numerator and denominator and is used to compensate for gearbox ratios where the feedback position is not fitted and not related to the actual motor speed the drive is controlling See Figure 4 32 below Figure 4 32 Speed Speed Feed forward Path Reference Generator Position Position Feedback Speed Feedback Gearbox N 1 4 9 2 Speed Feed Forward Gain The speed feed forward gain should normally be set to 1 however the gain can be reduced to soften the speed response when coming into final position This is useful on low bandwidth applications where no s ramps are used for the acceleration or the application has a high inertia See Figure 4 33 below Figure 4 33 Speed Speed Reference With feed forward reduction Advanced Position Controller User Guide 59 Issue Number 3 www controltechniques com Manual Information Description Started Examples Notes Guide Terminology Reference 4 9 3 Output Speed Clamp The output speed clamp should be set to the same speed as drive parameter 1 06 where Output Speed Clamp 232 41 06 240000 or in DPL APCSetOutputSpeedClamp MULDIV 1073741824 1 06 60000 4 9 4 Torque Feed forward To reduce the following error during acceleration a torque feed forward term can be generated within the user code The acceleration of the position reference is readily available on the o
224. nce data to on of the above destinations This means that the user must write code within one of the POS tasks This can be used with the read output speed command APCGetOutputSpeed where the user can manipulate the output speed and send it to the drive destination parameter using the write output command APCWriteOutputChannel This should be done in the POS1 task as this runs after the APC is executed Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Die Description Started Examples Notes Guide Terminology Reference The APC output channel may be enabled and disabled whilst the program is running In summary the user has the option of how the APC output reference is written to the destination parameter within the drive The method chosen will be dependant on the APC s application For Example e Fora stand alone single axis applications the output reference is required to be written to the destination parameter synchronously with the drive speed loops therefore simply writing to the destination parameter in user code within the POS1 task is sufficient although the output channel method can also be used e For synchronised multi slave axis applications using CTSync it is important to ensure the output channel method is used as this will ensure all th
225. ncoders Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 Tune the speed loop gains 4 SM Applications must be a run state 4 13 1 OTHER NOTES All the APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Advanced Position Controller User Guide 163 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 114509 Notes Guide Terminology Reference Initial Initialisation Program DRIVE PARAMETER SETUP qe e e ede dee e dede de de e ve e e de de de de de e e de de de de de e ve de de de de de de de de de de de de de e e de de de de dede de de de dede dede deed ee 3501 06 1000 Max Speed 1000rpm 201 07 0 Min Speed Orpm 201 10 1 Bipolar Reference 201 14 3 Preset Speed Reference 01 15 1 Preset Speed Ref 1 302 02 0 Disable Drive Ramps 302 04 0 Fast Decel Ramps 206 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP de de e e de de de ve de dede de de e e e e de de de de
226. nction as the user requires Parameter Description Default 0 Disable 1 0 25 5 2 0 5ms 3 5 POS Task scheduling rate Millseconds 81 13 Auto run enable This must be set manually 81 14 Global trip enable 0 1 Every POS Task 2 Every Clock Task 3 0 Encoder data update rate 90 1ms 4 2ms 4ms 6 0 Disable 1 Enable 0 Disable 1 Enable 8ms Every 0 25ms 81 17 Parameter overrange trip Disable enable 1 Enable Disable drive trip on APC Disable 81 38 Runtime Error prevents Tr81 if required Enable Table 6 3 To get a basic APC program running these parameters should be set as shown in Table 6 4 below and can be adjusted as required later Parameter value Table 6 4 In user code this would look like Figure 6 3 Figure 6 3 Initial SM Applications setup Parameters 81 12 81 14 81 16 81 17 81 38 REINIT Initial uo Hg Hog Advanced Position Controller User Guide 137 Issue Number 3 www controltechniques com Manual Information Description Description Examples Notes Guide Terminology Reference 6 4 User Program An APC application program generally consists of a Notes Task which explains broadly how the code works Initial Task which sets up the SM Applications module drive parameters alias and the APC Background Task Which is the lowest priority task and handles op
227. nominator 194 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 2 APC Read Parameters Parameter Description Units Default Position controller enable NA Disable pos controller 1 Enable pos controller Absolute position reset mode 0 Relative mode 1 NA select 1 Absolute mode Position offset applied during 31 31 2 position reset Encoder counts 291 to 251 1 Reset the sources on position 0 Do not reset sources 3 NA 5 control disable 1 Reset sources Pos task sample time Milliseconds Alignment specified by number of 11016 turn bits Version number of position 0 to 65535 controller Reference source position 231 to 231 4 Reference source freeze position Encoder counts 231 to 231 4 NA NA Reference source freeze flag NA No reference freeze 1 Reference freeze flag NA 232 16 NA Reference source marker position Encoder counts 231 to 231 4 0 Reference source marker flag 1 Reference marker flag Reference source is affected by 0 Reference is not affected marker 1 Referece is affected counts rev Reference source speed encoder over 231 to 231 4 2501s 0
228. nsfers the value into the parameter This can cause problems if it is not handled correctly In the case where the SM Applications module writes its data to the multi port RAM just before the Unidrive SP reads it out into the parameter the delay is very small but if the SM Applications module was to write to the multi port RAM just after the Unidrive SP had performed the transfer to the parameter it would take very nearly 250 5 for the drive to check again and see that new data had been written and update the associated parameter This may be a problem when writing to parameters which directly control the drive s output e g the Hard Speed Reference Any jitter at the point when the SM Applications module user program wrote to the Hard Speed Reference might result in much larger integer multiples of 250us jitter in the data being used by the drive to control the motor A system has been provided to the author of User Programs for the SM Applications module to ensure the data is written to the multi port RAM at a known and constant point in relation to when the Unidrive SP extracts data from the multi port RAM and transfers it to the corresponding drive parameter In this system the user passes the data to be written to a holder and this holder which resides at a low level in the operating system is capable of ensuring that the transfer to multi port RAM is handled at the correct time The time at which the data is transferred to the multi
229. nt malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this User Guide carefully The STOP and SECURE DISABLE functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SECURE DISABLE function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking 6 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This ET Functional Command Getting Program Application Migration Glossary of Quick Manual Description Des
230. nter c 9 o 9 a Functional Advanced Position Controller User Guide www controltechniques com _ Introduction Information Using This 210 Program Application Migration Glossary of Command Functional Using This Introduction Guide Terminology 121199 Started Examples c 5 o o 5 o o Information Figure 11 3 APC References l 084 4 9 1p p uonisod 4015 06 apow 403 EPO WEIS J eoueejeuioe eS SNEIS 001 329195 26 uonisod dojs 1se4 5 Buiddojs 993 UONISOd pejeosiurogiesuonisodies SMEIS HUO RISO SNIEIS Ive jurodjes peeds Jutogiespeedsies 51 815 5 24 5 24 SNEIS Ul uonisog 39594 WVD ei1njiosqv xepul xepuneseysqy NV 21495 Odv SNPIS 19594 WV einjiosqv 7 SMEIS SMEIS OF 43385 Wvo MIOT jesel IVD einjosqy 0197 oeu WOUS GORENNONWOIES SNIEIS
231. ntroduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCSetOutputSpeedClamp Status APCSetOutputspeedClamp Clamp 6 Input Arguments Clamp Signed 32 bit Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the value of the Output Speed Clamp 140 This should equal the sum of the P Gain Speed Clamp 132 main profile generator output speed clamp 113 and the offset profile generator output speed clamp 153 if used set by the commands APCSetPGainSpeedClamp Clamp APCSetProfileMaxSpeedClamp Clamp and APCSetOffProfileMaxSpeedClamp Clamp Units 232 counts rev encoder over 2501 Range 0 to 715827883 Default 53687091 APCSetupOutputChannel Status APCSetupOutputChannel Mode Menu Parameter Input Arguments Mode Write Position loop Output Speed to the Hard Speed Reference shortcut and OutputSpeedRpmx10 to parameter 3 22 Not allocated Write Position loop Output Speed to the Speed Reference shortcut and OutputSpeedRpmx10 to parameter 1 21 Write Position loop OutputSpeedRpmx10 to Menu Parameter Data provided by user at the end of the motion engine period is written to Menu Parameter at the start of the next motion engine period Quiet mode The APC will not automatically output data to the drive Menu Menu number t
232. o use if Mode 3 or 4 Parameter Parameter number to use if Mode 3 or 4 Output Arguments Status 0 Operation failed 1 Operation successful 3 Another process is modifying the object s data 124 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetupOutputChannel Status APCSetupOutputChannel Mode Menu Parameter Description Mode 0 In this mode the Position Loop Output will be automatically written to the Drives hard speed reference Parameter 3 22 For the hard speed reference to control the drives speed the Hard Speed reference has to be selected by setting parameter 3 23 to 1 In this output mode Menu and Parameter do not have to be set Mode should not be set to 1 as this feature is not available in this release In this mode the Position Loop Output will be automatically written to the Drive preset speed reference 1 Parameter 1 21 For the preset speed reference to control the drives speed the preset speed reference has to be selected by setting parameter 1 14 to 3 In this output mode Menu and Parameter do not have to be set In this mode the Position Loop Output will be automatically written the parameter of your choice provided that it is not a
233. on The interpolation array for the profile would look like this For more information on interpolation see the Interpolation section 38 Glossary of Quick i Reference uide Terminology c 0 5 D0 gt c 0 S2 25 az e lt EO e oc oo 2 9 On 55 9 Functional Description Using This Safety Introduction Manual Information If a continuous speed offset is required through the profile then there is a second output array which is a dedicated output offset array OutArray2 See Figure 4 15 below Figure 4 15 oa c e SS SS c SS lt lt N SS SS SS SS 974 N D N N N 2 N SERS 7777 N A ZA 12260 A ZA A A 92 A A ZA A ZA ZA 218454 109227 Reference Axis100rpm Figure 4 15 above shows the previous speed profile with a 50rpm speed offset The
234. onInSeg Position 6 The CAM will run to the end of the last segment then wrap around to the start index segment and will continually cycle through the CAM This command makes APCEnableCAMSingleShot inactive Units NA Range Active or Inactive Default Active 108 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference 5 2 4 6 Digital Lock Reference Profile generator active not locked but seeking lock Profile generator inactive and locked Profile generator active and system cannot lock Output Arguments Status 0 Operation failed 1 Operation successful Description Mode 0 In this mode 61 0 the profile generator will try to attain a locked status 61 1 within constraints of the profile setup parameters set by commands APCSetProfileAccelRate Accel 6 110 APCSetProfileDecelRate Decel 6 111 non rigid lock only APCSetProfileMaxSpeedClamp MaxSpeed 113 The profile generator will try to attain either ratio speed synchronisation non rigid digital lock or ratio speed and position synchronisation rigid digital lock depending on whether the command APCEnableRigidLock 60 1 or APCDisableRigidLock default 60 0 is active It is possible to manually set the dig
235. ons High speed dedicated microprocessor 384kb Flash memory for user program 80kb user program memory EIA RS485 port offering ANSI Modbus RTU slave and master and Modbus ASCII slave and master protocols CTNet high speed network connection offering up to 5Mbit s data rate Two high speed 24V digital inputs and outputs Dual port RAM interface for communicating with the Unidrive SP and other option modules Task based programming system allowing for real time control of drive and process This is a general overview only For more information refer to the SM Applications manual for more information 3 7 1 2 Electrical Connections The SM Applications module Figure 3 6 has 2 no 5 way and 1 no 3 way screw terminal blocks 14 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Figure 3 6 25786 9 10111213 Tn JHBOEH The terminals are numbered from terminal 1 on the left hand side to terminal 13 on the right The terminal functions are given in Table 3 5 below Table 3 5 Terminal Function Description SC OV connection for RS485 port IRX EIA RS485 Receive line negative Incoming RX EIA RS485 Receive line positive In
236. ontroller proportional 0 01 radians s 0 to 65535 2500 gain radian unit 2 counts rev 222 0 to 715827883 5368709 250us Advanced Position Controller User Guide 197 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 1121199 Parameter Description Units Default Position controller output ratio 0 to 65535 1000 numerator Position controller output ratio 1 to 65535 1000 denominator counts rev Position controller output speed d um over 231 to 231 4 2501s External position reference select NA Profile generator output External position ref 187 External reference position 231 to 231 4 pr External speed reference select Profile generator output External speed counts rev External speed reference 40 715827883 to 715827883 25015 232 counts rev Output Speed Clamp encoder over 0 to 715827883 53687091 250us Speed Feed Forward Gain 0 to 2000 1000 232 counts rev Offset Profile Acceleration Rate encoder over 0 to 4473924 22369 250us 25045 232 counts rev Offset Profile Deceleration Rate encoder over 0 to 4473924 22369 250us 25045 232 counts rev Offset Profile Max Speed Clamp encoder over 0 to 715827883 48318382 250us Offset Profile Input
237. or Absol t Reference Feedback Reference Feedback Source Position Source Position Integrator Integrator Denotes reset position offset will be added to these values 4 3 6 Resolution Alignment The drive uses 48bit counters for all the source encoder positions used on Unidrive SP and is allocated as turns position and fine Encoders with less than 16bit counts per turn are interpolated up to 16bit and will use the upper 32bits of the 48bit counter The overall resolution will not be greater than the source encoder as the counter will increment decrement in larger steps e g For a 4096ppr encoder there are 16384cpr which means that after interpolation the source counter will count in 4 count steps If higher resolution encoders are used the lower 16bits fine are also used Figure 4 6 shows the construction of the 48bit position counters Advanced Position Controller User Guide 27 Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 3 7 4 3 7 1 28 Figure 4 6 47 32 31 16 15 0 Number of Turns The APC SM Applications uses 32bit signed integer values so on higher resolution encoders e g SinCos the user can define the resolution per turn required by defining the number of turn bits See Fi
238. or a marker pulse position capture to occur the feedback marker flag must be enabled by using the command APCEnableFeedbackMarker and the feedback marker flag must be reset by using the command APCResetFbckSourceMarkerFlag 44 0 Read parameter 44 will change state from 0 to 1 when a marker pulse has occurred Units NA Range Active or Inactive Default Active Advanced Position Controller User Guide 81 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCResetRefSourceMarkerFlag Status APCResetRefSourceMarkerFlag Input Arguments None Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command resets the Reference marker capture flags APC feedback marker flag 24 The virtual parameter feedback marker flag 90 41 The selected source drive marker parameter Drive encoder marker flag Pr3 32 Option module marker flag x 08 For a marker pulse position capture to occur the Reference marker flag must be enabled by using the command APCEnableReferenceMarker Units NA Range Active or Inactive Default Inactive APCResetFbckSourceMarkerFlag Status APCResetFbckSourceMarkerFlagQ Input Arguments None Output A
239. or the APC is in disable mode APCSetRunMode 1 1 0 This command disables Zero CAM reset mode APCSelectCAMZeroReset Units NA Range Active or Inactive Default Inactive 104 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSelectCAMZeroReset Status APCSelectCAMZeroReset Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description When this command is active the start index position within the defined CAM is set by the command APCSetCAMStartindex Startindex the position within the index segment is set to zero This command disables Absolute CAM reset mode APCSelectCAMAbsoluteReset Units NA Range Active or Inactive Default Active APCSetCAMAbsResetindex Status APCSetCAMAbsResetindex Index 6 Input Arguments Index of the CAM segment to be reset to 0 to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the value of the CAM absolute reset index when the command APCSelectCAMAbsoluteReset is active The value entered into Index is used to define where within the defined CAM arrays the CAM reference will start from when it is next selected The in
240. orrect interfacing hardware 24Vdc to RS485 converter the marker pulse can be utilised as an additional high speed Freeze registration input Freeze A high speed freeze input can be used to capture the Drive D Type encoder position or both the Drive encoder position and SM option position together The Freeze hardware can be configured to capture on a positive or negative edge in both the SM Applications and SM Universal Encoder Plus Table 3 6 below shows the combinations available with the SM option used Table 3 6 SM Option Module Input 4 Signal Captured Positions Drive D Type Position SM Encoder Plus SM Resolver Drive D Type Position SM Encoder Plus SM Resolver SM Universal Encoder Plus DIGINO SM Applications T10 24Vdc PL2 SM Universal Encoder Plus T1 24Vdc T8 T9 RS485 Task model The APC kernel is executed between the POSO and POS1 tasks of the SM Applications operating system therefore allowing the user write code before and after the APC runs The POS task cycle shown below is updated at a rate given by Pr81 12 Figure 3 7 shows the POS task cycle Figure 3 7 90us offset between L2 Update Time set by ka Update Time set by cycle and Parameter 81 12 Parameter 81 12 POS Task APC APC POS1 POSO POS1 POSO POS1 Task Kernel Kernel Task Update source Task Task Upd
241. osition Controller User Guide 9 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 3 2 3 3 10 Motion Fundamentals Figure 3 2 shows the relationship of the position velocity and acceleration when applied to a trapezoidal velocity profile Figure 3 2 Target Position counts t Profiled Position counts t Max Profile counts sec lt Velocity Velocity Distance Time t AMNES Max Profile Velocity Max Profile Acceleration zz ccr Acceleration counts sec Acceleration Velocity Time Max Profile ici LLL 777 Acceleration Clarification of Terms Throughout this document the terminology shown in Table 3 1 will be used Table 3 1 Term Single Axis 1 5 Axes Set point for motion loop This is the Master or the Auxiliary axis Feedback Main feedback to motion loop This is the Slave or the Main drive axis Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Single
242. osition synchronisation rigid digital lock depending on whether the command APCEnableRigidLock 60 1 or APCDisableRigidLock default 60 0 is active The only way to select Mode 2 is to select it manually by using the command Status APCSetDigLockMode 2 Default 0 Advanced Position Controller User Guide 109 Issue Number 3 www controltechniques com Using This Safety Introduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description Examples Notes Guide Terminology Reference APCSetDigLockRatioNumerator Status APCSetDigLockRatioNumerator Numerator 6 Input Arguments Numerator Unsigned 16bit value to set as numerator Output Arguments Status 0 Operation failed 12 Operation successful Description This command sets the digital lock numerator 62 The Reference position will be multiplied by the numerator value set before the offsets are applied It is used in conjunction with the digital lock denominator APCSetDigLockRatioDenominator Denominator Units Number Range 0 to 65535 Default 1000 APCSetDigLockRatioDenominator Status APCSetDigLockRatioDenomi nator Denominator Input Arguments Denominator Unsigned 16bit value to set as denominator Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the digital lock denominator 63 The Reference position w
243. output variable Output It also takes the upper 16 bits of the 32 bit integer value from the second input variable Input2 and puts them in to the upper 16bits of the output variable Output For the example Output PutBottomword 0x00000068 0x00000057 the result in Output equals 0x00000068 positive number For the example Output PutBottomword OxFFFFFFF7 0x57043291 the result in Output equals 0x5704FFF7 a positive number Advanced Position Controller User Guide 133 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Application Migration Glossary of Quick Manual Information Description Description 8 Examples Notes Guide Terminology Reference 6 Getting Started 6 1 Hardware Selection 6 1 1 Motor and Drive The drive and motor combination chosen for the application must be selected such that the drive used has sufficient current capability that it will not go into current limit under the most demanding dynamic moves the application is likely to incur Under current limit conditions the drive will not be able to follow the demanded speed from the application motion profile To see if the drive is going into current limit check if parameter 10 09 is changing to 1 or ON 6 1 2 Feedback and Reference encoder Before the application encoders can be selected the application accuracy resolution of the system needs to be decided the
244. peration of the SM Applications on board Advanced Position Controller The manual has been written assuming that the user has the following knowledge Setup and tuning of Unidrive SP Experience with programming SM Applications with Sypt Motion applications experience The sections within this manual are in a logical order and will progress the user from basic safety information through to code examples These sections are described in the table below Table 1 1 Section Number What the section is for Section Name Safety 2 This section describes basic drive and drive system safety Information This section gives simple over view of the APC s structure background Introduction information features and hardware together with additional basic information on the units used within the APC This section provides a detailed description of the various functions of the APC like the references what they do and how to set them up Additional application information is also given Functional Description APC Command This section gives detailed information on each individual APC function Description command and any other applicable commands This section shows how to get a very simple program working using the Getting Started default settings The user can construct a program from building block code examples given in this chapter This section provides several code examples each with detailed notation describing th
245. plication Migration Glossary of 4 Manual Information 084991 Description Description Started Examples Notes Guide Terminology 1121199 11 6 SM Applications Setup Parameters Parameters in this section are referred to as 81 xx They are aliases to menu 15 16 or 17 depending on which slot the SM Applications module is fitted to When writing code for the SM Applications module using 81 ensures that the module can be fitted to any slot and the program will still run Table 11 1 Parameter Description Units Default 25 CTSync Master 81 06 RS485 port mode NA 26 CTSync Slave 1 0 to 255 Disable 0 25 5 0 5ms POS Task scheduling rate Milliseconds 1ms 2ms 81 13 Auto run enable Disable 2 Enable Every 0 25ms 81 16 Encoder data update rate Every POS Task 90 Every Clock Task Disable drive trip on APC Disable 81 38 Runtime Error Enable prevents Tr81 if required 206 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Manual Information Description Description Started Examples Notes Guide Terminology 121199 11 7 Conversion Factors 11 7 1 The following table shows how to convert values between units Table 11 2 Convert From Convert To Multiply By Advanced Position Controll
246. port RAM is immediately prior to the next motion engine cycle being started i e immediately before POSx task This means that the data written during the n th POS task will be written to the multi port RAM at the very start of the n 1th POS task and the Unidrive SP will pass this to the associated parameter 250us later This means that no matter how long the POS task takes to calculate the data to be written to the drive parameter as long as the task does not over run it will reach the parameter at the same time with no jitter The holder for the data to be written and the information concerning which parameter the data should be written to is known collectively an Output Channel Although it is quite possible for the user program to write directly to a parameter this might provide rough position or speed control depending on conditional execution within the POSx tasks whereas routing the data through an output channel ensures smooth deterministic operation The APC output channel can be configured in two ways 1 Automatic Configuration where once configured the APC will continue to write the output speed from the position loop to one of the following destinations The Unidrive SP Hard Speed Reference drive parameter 3 19 The Unidrive SP preset Speed reference parameter 1 21 Any un protected Unidrive SP or SM Applications module parameter 2 Manual configuration Once configured this will enable the user to source the refere
247. puts Connect the oscilloscope to pins 9 and 11 0V If analogue output 1 does not provide a sufficient output voltage for the demand speed lower drive parameter 1 06 till it is approximately 10 above the demand speed This will give more volts per rpm as the scaling for the analogue output is based on the value of parameter 1 06 To monitor the drives speed loop performance the P gain for the position loop within the APC must be set to zero by using the command APCSetPGain Gain in the user code where Gain 0 Removing the P gain means that no longer regulates the position of the motor so the drive is regulating it s self Ensure the speed loop can control the load by setting the fastest acceleration rate the application requires and applying a step change in demand velocity whilst monitoring the performance using the oscilloscope If it can not control the load sufficiently follow the instructions in the Optimisation section in the Unidrive SP user guide Checking Position loop Once the Speed loop is tuned the Position loop P gain is re applied and tuned to reduce the following error shown by read parameter 130 If a more dynamic reduction of following error under acceleration is required either reduce the acceleration rate or create a torque feed forward see Torque Feed forward note in the Functional Description section If an over shoot which can not be tuned out by the P term is present it is likely that the load u
248. r power up or an APC reset The counters can be reset with offset as follows In APC Run Mode 1 APCSetRunMode 1 and APCResetSourcesOnDisable Integrated position counters 48 only In APC Run Mode 2 APCSetRunMode 2 APCResetSourcesOnDisable and APCReset Integrated position counters 48 115 117 Where an offset is applied there will be no resultant following error However if the Digital Lock reference is selected by APCSelectReference 4 with APCEnableRigidLock active the resultant following error will equal the reset offset position value and will therefore cause a corresponding speed reference to be generated Units Encoder Counts Range 231 to 231 1 Default 0 APCResetSourcesOnDisable Status APCResetSourcesOnDisable Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description When this command is active the integrated position counters will be reset to a value dependant on whether Absolute or Relative mode is selected after power up or an APC reset The reset offset position value defined by APCSetPositionResetOffset will only be added to the feedback profile integrated counters The counters can be reset as follows In APC Run Mode 1 APCSetRunMode 1 and APCResetSourcesOnDisable Integrated position counters 28 48 only In APC Run Mode 2 APCSetRunMode 2 APCResetSourcesOnDisable and APCReset Integrated position counters
249. r the nex POS Task Freeze data is Freeze data can latched in be used in this hardware at 115 2505 POS Task and can occour cycle and the anywhere Freeze flag may 250us L2 cycle be reset ready for therefore the nex freeze maximum pickup event time will be 250us as 15 processed end of this cycle 250 5 L2 Cycle 250us L2 Cycle 250 5 L2 Cycle 30 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information 9901 Description Started Examples Notes Guide Terminology Reference 4 3 7 3 Marker Position Capture 4 3 7 4 To action a Marker position capture the following commands virtual parameters in Table 4 6 below have to be set Table 4 6 Parameter Command Function APCEnableReferenceMarker Reference Marker Flag Enable APCEnableFeedbackMarker Feedback Marker Flag Enable APCResetRefSourceMarkerFlag Resets Reference Marker flag APCResetFbckSourceMarkerFlag Resets Feedback Marker flag APCDisableRefSourceMarker Enables Reference Marker Position Capture APCDisableFbckSourceMarker Enables Feedback Marker Position Capture Like a Freeze position capture after a Marker capture the marker flags are set and must be reset by the commands APCResetRefSourceMarkerFlag and APCResetFbckSourceMarkerFlag before a
250. rce set to 5 the Feedback Position source is selected as unconfigured This means that the Feedback Source position will be set to zero When this command has been used to set the Feedback encoder location the Feedback encoder virtual parameters in menu 90 will also be directed to the same encoder The equivalent of this command in menu 90 is 90 44 Default 0 76 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional EE Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCSetNumOfTurnsBits Status APCSetNumOfTurnsBits TurnBits Input Arguments TurnBits Value in range 1 to 16 inclusive Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the APC resolution by defining the number of turns bits and position information seen by the APC The APC views the position information available from a 48 bit position word through a 32 bit window The 48 bit word is made from 16 bits of turns upper 16 16 bits of coarse position middle 16 and 16 bits of fine position lower 16 From default the APC uses a 32 bit position word made from 16 bits of turns information upper 16 bits and 16 bits of coarse position information lower 16 bits When the number of turns bits is set below 16 the APC s 32 bit
251. rceFreezeFlag and APCResetFbckSourceFreezeFlag Units Range Default Advanced Position Controller User Guide 95 Issue Number 3 www controltechniques com Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 5 2 4 2 Stop Reference Input Arguments Stop using the currently selected profile Stop without using the profile Output Arguments Status Operation failed Operation successful Description In this mode when the Stop reference is set using the command APCSelectReference 0 100 0 the profile generator will calculate a stop position which can be achieved using the profile deceleration rate set by the command APCSetProfileDecelRate Decel 6 111 The calculated stop position is shown by 91 In this mode when the Stop reference is set using the command APCSelectReference 0 100 0 the profile generator is bypassed and the feedback will stop instantly with no ramps Care should be taken when using this mode as an instant stop could damage the application mechanics O or 1 Default 0 5 2 4 3 Position Reference APCSetPositionSetPoint Status APCSetPositionSetPoint Position 6 Input Arguments Position Signed 32bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the Posi
252. rence 117 136 0 Units NA Range Active or Inactive Default Active APCSetExternalRefPosition Status APCSetExternalRefPosition Position Input Arguments Position Signed 32 bit Output Arguments Status 0 Operation failed ji Operation successful Description This command sets the value of the external reference position 137 in counts The value of Posi tion is entered in counts and should be calculated with respect to the same resolution set for the feedback encoder defined by the command APCSetNumOfTurnsBits TurnBits 14 Units Encoder Counts Range 231 to 231 1 Default 0 APCSetSpeedFFwdGain Status APCSetSpeedFFwdGain Gain Input Arguments Gain 0 to 2000 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets position loop speed feed forward gain 141 The speed feed forward reference will be multiplied by Gain and divided by 1000 and can be used to provide high inertia positional dampening Units Number Range 0 to 2000 Default 1000 122 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 11 Started Examples Notes Guide Terminology Reference APCSetOutputRatioNumerator Status APCSetOutputRatioNumerator Numerator Input Arguments Numerator 0106553
253. rform an autotune 3 Tune the speed loop gains 4 SM Applications must be in a run state 13 1 148 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference OTHER NOTES All APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Initial Initialisation Program DRIVE PARAMETER SETUP 01 06 1000 Max Speed 1000rpm 301 07 0 Min Speed Orpm 301 10 1 Bipolar Reference 3201 14 3 Preset Speed Reference 401 15 1 Preset Speed Ref 1 302 02 0 Disable Drive Ramps 4202 04 0 Fast Decel Ramps 306 01 2 No Drive Ramp mode SM APPLICATIONS PARAMETER SETUP 81 12 3 1ms Task time 381 14 1 Global Trip Enable 381 16 1 Update Ref and Fbck every POS Task 381 17 0 Disable Parameter Over range trip 381 20 1 Save PLC Registers On Power down REINIT INITIALISATION OF VARIABLES 724 EEE EEE EEE EEE k Mastercounter 0 APC SETUP Hi EEE EEE
254. rgeigesiaodv SMeIS 5 32919 p d peeds 5 WSEAS pue pae s snieis 3291 p d uonisod Quonisogjesjreujerx3elgesiT2dv SMEIS Od SMEIS uonisog 119 Advanced Position Controller User Guide Issue Number 3 www controltechniques com Using This Safety Introduction Functional 1 Getting Program Application Migration Glossary of Quick Manual Information Description Examples Notes Guide Terminology Reference APCSetPGain Status APCSetPGain Gain Input Arguments Gain 0 to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the proportional gain of the Position Loop controller in 0 01 radians s radian unit If the position controller controls a motor that provides linear movement the units of the proportional gain will be equivalent to meters s meter or millimeters s millimeter Units 0 01 radians s radian unit Range 0 to 65535 Default 2500 APCSetPGainSpeedClamp Status APCSetPGain
255. rguments Status 0 Operation failed Operation successful 3 Another process is modifying the object s data Description This command resets the feedback marker capture flags APC feedback marker flag 44 The virtual parameter feedback marker flag 490 42 The selected source drive marker parameter Drive encoder marker flag Pr3 32 Option module marker flag x 08 For a marker pulse position capture to occur the feedback marker flag must be enabled by using the command APCEnableFeedbackMarker Units NA Range Active or Inactive Default Inactive 82 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCResetRefSourceFreezeFlag Status APCResetRefSourceFreezeFlag C Input Arguments None Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command resets the Reference Freeze capture flags APC feedback marker flag 22 The virtual parameter feedback freeze flag 90 28 The selected source drive marker parameter Option module Freeze 39 For a Freeze position capture to occur the Reference freeze flag must be enabled by using the command APCEnableReferenceFree
256. ription Started 13 Notes Guide Terminology Reference 50 POSO Task Runs Before APC Runs Read APC Parameters FeedbackPositioncnts APCReadPar APC FB POS MarkerFlag APCReadPar APC FBSRC MRKFLG Enable APC with the Drive Reference ON IF 01 11 1 THEN Enable APC RunModeStatus APCSetRunMode APC ENABLE Home Set Sped Look For Marker IF Homing 1 THEN Reset Marker flag arm for next capture MrkRstStatus APCResetFbcksourceMarkerrlag Select Speed Reference PosSelStatus APCSelectReference APC SPEED REF Set Speed Reference 10rpm HomeSpeed MULDIV 1073741824 10 60000 HmSpStatus APCSetSpeedSetPoint HomeSpeed Set Homing flag Homing 2 Detect Marker ELSEIF Homing 2 THEN Check Marker Flag IF MarkerFlag gt OldMarkerFlag THEN Homing 3 Goto Marker Position Allow one scan of the APC to set position integrators ELSEIF Homing 3 THEN Read Marker Position MarkerPositioncnts APCReadPar APC FBSRC MRKPOS Select Position Reference PosSelStatus APCSelectReference APC POSITION REF Set Position Reference to Marker captured Position PosRefStatus APCSetPositionSetPoint MarkerPositioncnts Homing 4 Detect when at Marker Position ELSEIF Homing 4 THEN AT Position window 20 Counts InPosition IWINDOW FeedbackPositioncnts MarkerPositioncnts 20 20 IF InPosition 1 THEN Select Stop
257. rmClStatus APCSetPGainSpeedClamp PGainMaxSpeed Output Speed Clamp OutClampStatus APCSetOutputSpeedclamp 53687091 equal to 3000rpm Initial 170 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Background Background Task Lowest Priority Task TOP Current Position Indication 0 1 PosRefCnts APCReadPar APC PROF IN POS 318 11 MULDIV PosRefCnts 10 65536 Current Reference Position Indication 0 1rev FeedbackPoscnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer _P01 APCReadPar _P00 GOTO TOP Background PosO POSO Task Runs Before APC Runs SET REFERENCE POSITION FROM cTsync deve ve ve dede de ve ve ede dede de dede e e dede ve de de e e de de de de de de de de de de dede de de de dede dede Get Virtual Master Reference from CTSync only using 32bit Position Counter MasterReferencel MasterReference2 Mastercontrolword Status cTSyncGetS laveReferences ee de oe de de ae ae ae APC User Program Reference Dissection of Virtual Counter Turns UnsignedTopword MasterReferencel Position UnsignedBottomword MasterReferenc
258. ro second on the drive and is passed to the SM Applications module on the following sample period detailed in Table 4 3 Table 4 3 Source Transfer to APC Time Freeze Every POS task Marker Drive Software V01 05 00 Every 4ms Marker Drive Software V01 06 00 Every POS task but the marker position capture repetition period cannot exceed 20ms 4 3 7 2 Freeze Position Capture To action a Freeze capture the following commands virtual parameters shown in Table 4 4 have to be set Table 4 4 The Freeze hardware also has to be setup however this is dependent on which option modules have been used for the Feedback and Reference source Table 4 5 below shows which parameters have to be set for the freeze hardware for each configuration of option modules Table 4 5 Configuration Parameters to set SM Applications SM Encoder Plus In this configuration the Freeze signal is input via the SM Applications module on Digital Input 0 Pin 10 Parameter 81 43 or x 43 sets the detection type 0 rising edge 1 falling edge Parameter 81 42 or x 42 must be set to 1 to enable the freeze hardware SM Applications SM Universal Encoder In this configuration the Freeze signal can be Plus input via the SM Applications module as above to freeze the drive encoder position only The freeze signal can also be input via the SM Universal Encoder Plus as this module can freeze the drive encoder position and its own encoder counter po
259. s This example code demonstrates how the APC embedded velocity conversion block may be used to convert a speed reference in counts s to an APC speed reference and how the APC position loop speed output may be converted back into counts s for monitoring Notes Initial Initialise conversion variable CounsPerSecin Initial Background top Set the converter UPR Units Per Rev For conversion to counts s the resolution set by the number of turns bits should be used for this example 16bit resolution is assumed SetUPR 65536 Convert user reference UserVelocity in counts s into an APC velocity APCVelocity APCVe locity ConvertStatus1 UserToAPCVelocity CounsPerSecin Send converted velocity to APC speed reference SpeedStatus APCSetSpeedSetpoint APCVelocity Get position loop output and covert to counts s APCSpeedout ReadStatus APCReadPar 135 CountsPerSecOut ConvertStatus2 APCToUSerVelocity APCSpeedout goto top main background loop Background See section 5 3 1 Embedded APC Converter for more details 178 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program 11 Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 8 3 2 User Defined Unit Converter This converter
260. sable freeze Reference freeze enable 0 001 RPM Closed Loop 31 31 Speed setpoint 0 1Hz Open Loop 27 2 1 Hard speed reference 0 001 RPM 231 to 231 4 Maximum speed clamp 231 to 231 4 Speed feedback 0 01 RPM 231 to 231 4 N 0 to 255 N Inter option module synchronisation status 200 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 1 Manual Information Description Description Started Examples Notes Guide Terminology 121199 114 CTSync Command Reference Command Reference1 21 to 231 1 CTSYNCSetMasterReferences Reference1 Reference296 Reference3 Reference296 231 231 4 Reference3 04 28 4 CTSYNCGetSlaveReferences 11 5 APC Definitions The definitions in the following tables are aliases to the values used by the APC commands or are aliases to parameters in the APC Aliases give meaningful names to numeric values A user program can either use the numeric value or the alias name Examples of using aliases are given below Enable APC RunModeStatus APCSetRunMode APC_ENABLE read Position Controller status PosctrlStatus 6 APCReadPar APC POS CTRL IF PosctrlStatus DISABLE THEN Position controller enabled but not running place code here ENDIF 11 5 1 Control and Access Functions Definitio
261. sed has a high inertia The compensation setup shown in the Compensation For Overshoot With High Inertia Load application note resolves this problem Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Program Examples Position Reference Notes This program demonstrates the use of the APC with the position reference Position Reference The position setpoint is set in 0 1 motor revolutions entered into parameter 18 11 Motion Profile Set up The profile speed is 90 of Max speed set for the Drive in parameter 01 06 In this example it is set to 1000rpm where the profile speed will be set to 900rpm The acceleration 15 2sec and deceleration 15 15 to get to 900rpm Encoder Resolution Any encoder feedback can be used with this program the number of counts per revolution is 65536 Drive Enable interlock when the run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It is important to ensure the position loop reference integrators are set to correct values If the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a d
262. ser Guide www controltechniques com Issue Number 3 Using This Safety Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCEnableCAMsSingleShot Status APCEnableCAMSingleShot Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables CAM reference single shot mode When the CAM reference is selected it will run one cycle of the CAM in either forward or reverse direction depending on the direction of the reference encoder and then stop To re start the CAM once a single shot cycle has finished De selected then re selected the CAM reference Call an APC reset using the command APCReset Disable then re enable Single shot mode disabled by APCDisableCAMSingleShot Toggle the APC run mode from 2 to any other run mode When APCSelectCAMZeroReset is active The CAM will start at the first CAM segment defined by the command APCSetCAMStartindex Startindex and run the CAM in either the forward or reverse direction until the CAM start index is next reached at which point the CAM will stop When APCSelectCAMAbsoluteReset is active The CAM will Start from the absolute CAM reset index and Position in segment defined by the commands APCSetCAMAbsResetindex Index and APCSetCAMAbsResetPositionInSeg Position Wh
263. set integrator counter to 0 or offset position when disabled 18 31 Selects absolute position mode 0 Position is reset to zero plus offset if required position on drive disable Relative Mode 1 Position is retained to current position plus offset if required on drive disable Absolute mode When the Drive is re enabled the position loop reference integrators are set to the Feedback integrated position Both modes works with all encoders Drive amp Motor Setup Before this program can be used the following must be configured 1 Drive run and enable control 2 Enter motor map data amp perform an autotune 3 Tune the speed loop gains 4 SM Applications must be in a run state 13 1 OTHER NOTES All the APC parameters have been set up within the initial task except the position setpoint If changes are required to take effect the SM Apps will need to be reset Denotes default setting this APC parameter does not need to be set Notes Initial Initialisation Program DRIVE PARAMETER SETUP de Ye de e de de de e de dede de de ve ve e de dede de de e ve dede de de de de e de dede dede dede de dede dee e dede 301 06 1000 Max Speed 1000rpm 201 07 0 Min Speed Orpm 201 10 1 Bipolar Reference 201 14 3 Preset Speed Reference 168 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety
264. sing the command APCResetFbckSourceMarkerFlag 44 If the motor has to turn less than 180 before the marker is found then the feedback position counters will jump down to zero i e zero position turn O If the motor has to turn more than 180 before the marker is found then the feedback position counters will jump up to Zero i e zero position turn 1 The turns count is not reset to zero after a marker reset Once the position counters are aligned this function will have no effect A Feedback Marker Position capture is not possible when this command is active NA Active or Inactive Inactive 80 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCDisableFbckSourceMarker Status APCDisableFbcksourceMarker Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the feedback source marker from resetting the feedback position Marker Pulse Disabled Position Maker Pulse When a marker occurs the Source Feedback Marker Position 43 and the Integrated Source Feedback Marker Position 50 may be used to display a marker captured position this operates in a similar to the way the freeze function F
265. sition The Freeze sensor maybe connected to either PL2 Pin 1 24V or PL2 Pin 8 and 9 RS485 Parameter 38 sets the Freeze signal type 1 24V 2 RS485 3 24V RS485 logical OR Parameter x 41 sets the detection type 0 rising edge 1 falling edge Parameter x 40 must be set to 1 to enable the SM Universal Encoder Plus to freeze the main drive position Once a Freeze capture has taken place the freeze flags will be set and will remain latched on so that further Freeze signals will not be detected until the user resets them To reset the Freeze flags use the commands APCResetRefSourceFreezeFlag and Advanced Position Controller User Guide 29 Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCResetFbckSourceFreezeFlag These commands reset the all of the freeze flags including the drive and option module flags the virtual parameter flags in menu 90 and the APC flags The Freeze position data update timing is shown in Figure 4 8 below Figure 4 8 340us maximum till freeze data can be used POS Taskis allways offset by 90us from the L2 Cycle to allow position data to be processed 250us POS Task 250us POS Task Freeze data is processed 9045 into the next 250us L2 Cycle in time fo
266. sition reference will be responded to instantly with no ramps The maximum speed reached is still controlled by the position loop output speed clamp 22 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 2 3 1 Figure shows how both profile generators acceleration and deceleration rates are implemented Velocity Time Velocity Deceleration rate Acceleration rate Both Profile Generators have At Target Position 120 160 and At Target Speed 121 161 indicators The flags are high when profile input position or speed equals profile output speed or position respectively Offset Profile Generator The Offset Profile generator has two selectable input references a position and a speed offset Only one of these references may be used at a time If the Offset Speed and Position references are selected from one another i e switched from Speed to Position or position to speed then the Offset Profile accel and decel rates will be used However If the Speed or Position offset is selected and then changed to offsets disabled the output of the Offset Profil
267. sk TOP Current Position Indication 0 1 PosRefcnts APCReadPar APC_PROF_IN_POS 18 11 MULDIV PosRefcnts 10 65536 Current Reference Position Indication 0 1 FeedbackPoscnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer _ 01 APCReadPar _P00 GOTO TOP Background PosO POSO Task Runs Before APC Runs VIRTUAL MASTER COUNTER de ve e e de dee e de dede dede e de e de dede de de de e e dede de de de de e e de de de de de de de de de de de de de de dede de de dee de de dede dede Master Speed 700rpm Counts per POSO Task sample 1ms RPM Counts per Rev 60 1000 CountsPerSample MULDIV 700 65536 60000 Virtual Counter MasterCounter MasterCounter CountsPerSamp e 6 APC User Program Reference Dissection of Virtual Counter Turns UnsignedTopword MasterCounter Position UnsignedBottomword Mastercounter PositionFine 0 Set User Reference UserRefStatus APCSetReferencePosition Turns Position PositionFine 156 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 195 Notes Guide Terminology Reference CAM PROGRAM Yee te de dede dede dede e
268. software sources via the User Program reference like CTSync For more information on CTSync refer to section 4 10 CTSync Advanced Position Controller User Guide 135 Issue Number 3 www controltechniques com Using This Safety Introdustioh Functional Command 18 Program Application Migration Glossary of Quick Manual Information Description Description M Examples Notes Guide Terminology Reference 6 1 3 SM Applications or SM Applications Lite 6 2 136 Refer to section 3 7 1 SM Applications Module and section 3 7 2 SM Applications Lite module for all available functionality and features Drive and Encoder setup The drive must be setup and tuned correctly so that the APC can give the best performance In particular It is essential that the drives Current loop and Speed loop gains are set correctly as these directly affect the systems dynamic performance Chapters 4 7 and 8 of the Unidrive SP User guide supplied on the CD with Unidrive SP contains a comprehensive guide on how to connect the supply motor and encoder together with a commissioning and tuning guide Once the drive and encoder has been commissioned it is important to set up the following parameters either on the drive or in program code in the initial task Table 6 2 Parameter Description Value Application dependant set to 3000rpm from default 1 07 Drive minimum speed 0 1 10 Bipolar reference select 1 1 06 Drive maximum speed 1
269. ssful Description InterpolationMode 1 This interpolation mode 77 1 allows the interpolation to be defined for each CAM segment of the output array 1 with respect to the input array The interpolation array used is named in the one of the following commands APCCaminitialise APCCaminitialise2 There are 6 different types of interpolation available which is need to be defined within the interpolation array 0 Linear 1 2 1 3 Square2 4 Cosine1 5 Cosine2 These values should be in the corresponding array element Refer to the Interpolation section for more detail of interpolation types With this interpolation mode 77 0 only linear interpolation is between all CAM segment positions With this interpolation mode 77 7 1 only cosine interpolation is between all CAM segment positions Default 0 APCSetCAMOutRatioNumerator Status APCSetCAMOUutRatioNumerator Ratio Input Arguments Ratio Unsigned 16bit value to set as numerator Negative values will be 9 clamped at zero values over 65535 will be clamped to 65535 Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the CAM output numerator 80 The CAM output will be multiplied by the numerator value set before the profile generator input It is used in conjunction with the CAM output denominator APCSetCAMOutRatioDenominator Denominator Units NA Ran
270. ster This is a physical feedback which provides position information for a synchronized axis to follow Motion Profile This is a method of describing a move operation in terms of time position and velocity Typically velocity is characterised as a function of time or distance which results in a triangular or trapezoidal profile Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program Application Quick Manual Information Description Description Started Examples Notes Guide 9 Reference Offset A preset distance between the actual zero reference point and a programmed zero reference point Open Loop This is a system which does not employ feedback information Overshoot This is a system response where the output or result exceeds the desired value Phasing Adjusting the position of one axis with respect to others during synchronisation or electronic gearing This is usually done while the axes are moving and done to correct for small registration problems Position Error Error caused when the difference between the actual position and the command position is greater than a set amount Positioning Specifying a move by giving a target position a velocity and acceleration The target position can be an absolute position or a relative position from the current position Position Loop
271. t Lock Mode ramp and seek lock DgLkModeStatus APCSetDigLockMode APC UNLOCKED Digital Lock Type Rigid DgLkRigStatus APCEnableRigidLock Digital Lock Ratio DgLkNumStatus APCSetDigLockRatioNumerator 1000 DgLkDenStatus APCSetDigLockRatioDenominator 1000 Digital Lock window DgLkwpStatus APCSetDigLockLockingPosition 6553 DgLkwsStatus APCSetDigLockLockingSpeed 17895 Digital Lock Offsets 0 DgLkOsStatus APCSetSpeedoffset 0 DgLkOpStatus APCSetPositionoffset 0 Enable Profile Generator ProfEnStatus APCEnableProfi le Profile Generator Profile Max Speed 90 of 1000 900rpm ProfMaxSpeed MULDIV 1073741824 401 06 90 60000 100 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed Profile Acceleration and Deceleration Rates 2s Accel amp 1s Decel ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfileAccelRate ProfAcceleration 6 ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop rn E EE Disable external Speed and Position References ExtSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisableExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 O
272. t data to drive parameter selected by APCSetupOutputChannel Mode 6 Menu Parameter Output Output Channel Che les POSO Task POS1 Task POSO Task User Code User Code User Code Update Time set by Parameter 81 12 250us speed 250us speed 250us speed loop update time loop update time loop update time The output channel has to be configured before it is enabled The output channel is configured by the command APCSetupOutputChannel Mode Menu Parameter Range Active or Inactive Default Inactive APCDisableOutputChannel Status APCDisableOutputChannel O Input Arguments None Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command disables the APC s output channel and prevents it from writing data to the drive Units NA Range Active or Inactive Default Active 126 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCWriteOutputChannel Status APCWriteOutputchannel value 6 Input Arguments Value 32bit signed value Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command s
273. tProfileMaxSpeedClamp Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 8 4 Rigid Digital Lock When Rigid Digital Lock is active and there is a difference in speed between the Master and Slave velocity when the Slave is enabled the slave will ramp upto the maximum profile speed to regain position lost during acceleration then ramp down to the Master speed and become locked to the master axis position when the Digital lock locking speed and position window is reached If the Slave is enabled when the Master is at zero speed then the Slave will become locked directly To attain a Locked status from an Unlocked status whilst in Rigid Digital Lock the profile generator must provide a profile that will give the reference speed and position within the limits set by the Maximum profile speed Profile acceleration deceleration Digital Lock Locking Speed and Position See Figure 4 28 below Figure 4 28 Digital Lock selected Locked Profile Max Speed Digital Lock Area 2 SMS 177 1 2 2 Reference Locking speed o Speed
274. tSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisableExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 Output Channel speed ref 201 21 APCChStatus1 APCSetupoutputChannel 2 0 0 APCChStatus2 APCEnableoutputchannel Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output Clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 401 06 10 60000 100 PTermClStatus APCSetPGainSpeedClamp PGainMaxSpeed Output Speed Clamp OutClampStatus APCSetOutputSpeedClamp 53687091 equal to 3000rpm Initial Background Background Task Lowest Priority Task TOP Current Position Indication 0 1rev PosRefcnts APCReadPar APC_PROF_IN_POS 18 11 MULDIV PosRefcnts 10 65536 Current Reference Position Indication 0 1rev FeedbackPoscnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer _ 01 APCReadPar P0096 IF 418 32 gt 01d1832 THEN Homing 1 01d1832 718 32 GOTO TOP Background 160 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Desc
275. talled in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be fitted with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in Pr 0 46 motor rated current This affects the thermal protection of the motor 2 7 Adjusting Parameters Some parameters have a profound effect on the operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering Advanced Position Controller User Guide 7 Issue Number 3 www controltechniques com Using This Safety introduction Functional Command Getting Program Application Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 3 Introduction The Advanced Position Con
276. ted counter 28 This command is active when the source reference invert flag 27 21 Units NA Range Active or Inactive Default Inactive 86 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference APCDoNotlnvertRefSource Status APCDoNotInvertRefSource Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command cancels a reference source position invert APCInvertRefSource 27 1 and makes the reference inverted This command is active when the source reference invert flag 27 0 Units NA Range Active or Inactive Default Active APCinvertFbckSource Status APCInvertFbcksource Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command inverts the feedback source position after the source counter 40 but before the integrated counter 48 This command is active when the source feedback invert flag 47 is 1 Units NA Range Active or Inactive Default Inactive APCDoNotinvertFbckSource Status APCDoNotinvertFbcksource Output Arguments Status 0 Operation failed 1 Operation successful Description This command cancels a feed
277. the reference input disable flag 32 0 This command is made inactive by APCDisableReflnput Units NA Range Active or Inactive Default Active APCDisableRefinput Status APCDisableRefInput Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command disables the reference source position data from being passed through to the Reference Input 31 This allows source reference position 20 to be manipulated e g a filter The resultant manipulated position data may then be passed to the reference input using the command APCSetRefinput Refin This command is active when the reference input disable flag 32 1 This command is made inactive by APCEnableReflnput Units NA Range Active or Inactive Default Inactive APCEnableFbckinput Status APCEnableFbckInput Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables the feedback source position data to be passed through to the Feedback Input 51 This command is active when the feedback input disable flag 52 0 This command is made inactive by APCDisableFbcklnput Units NA Range Active or Inactive Default Active 90 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction 11 Getting Program Application Migration Glossary of Quick M
278. tion or APC Command Descriptions sections for more details 6 4 2 Enable APC The APC Run mode should be interlocked with drive parameter 1 11 drive reference on in the POSO task To ensure the APC will not be able to build up an excessive following error whilst the drive is tripped disabled or if the run signal was lost for any reason This is particularly important when using references like CAM and Digital lock as an excessive following error would cause an instantaneous jump in position when the drive is reset or the run signal re applied which could damage the applications mechanics Whilst in the APC is in the disabled state the APC tracks the feedback and reference positions In user code this may look like Figure 6 4 50 Drive Reference on interlock IF 01 11 1 THEN RunModeStatus APCSetRunMode APC ENABLE APC fully functional ELSE RunModeStatus APCSetRunMode APC DISABLE Only APC source counters active ENDIF POSO 6 4 3 Output Channel The APC has a destination configurable output speed channel which must be configured and enabled so that the APC can control the drive The Output channel is not configured and is disabled from default Using the output channel ensures drive parameters are updated at the fastest rate possible The example code used throughout this section has been written assuming that the output channel will write to preset speed 1 Parameter 1 21 Figure 6 5 below shows a code example
279. tion setpoint 92 and will be applied to the profile generator input when selected using the command APCSelectReference 1 100 1 The value of Posi tion is entered in counts and should be calculated with respect to the same resolution set for the feedback encoder defined by the command APCSetNumOfTurnsBits TurnBits 14 Units Encoder Counts Range 231 to 231 1 Default 0 96 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference 5 2 4 4 Speed Reference APCSetSpeedSetPoint Status APCSetSpeedSetPoint Speed Input Arguments Speed Signed 32 bit position Output Arguments Status 0 Operation failed 1 Operation successful Description This command sets the Speed setpoint 94 and will be applied to the profile generator input when selected using the command APCSelectReference 2 100 2 Units 232 counts rev encoder over 250us Range 715827883 to 715827883 Default 0 Advanced Position Controller User Guide 97 Issue Number 3 www controltechniques com Using This Safety introduction Getting Program Application Migration Glossary of Quick Manual Information Description 11 Started Examples Notes Guide Terminology Reference 5 2 4 5
280. to maintain resolution in integer maths Rpmx1000 MULDIV Speed 60000000 1073741824 Convert rpm x1000 into Hz x1000 open loop drive uses Hz not rpm Hzx1000 MULDIV Rpmx1000 50 SynchronousSpeed Remove trim from HZx1000 to give Reference only ReferenceHz Hzx1000 100 Remove Reference from HZx1000 to give trim only TrimHz Hzx1000 ReferenceHz 100 Send calculated Reference and Trim to drive APCWriteOutputChannel ReferenceHz CTSYNCWri teOutputchannel 1 TrimHz 0 Advanced Position Controller User Guide 177 Issue Number 3 www controltechniques com Using This Safety Functional Command Getting Program Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference 8 Conversion and Word Manipulation With the introduction of the APC comes a number of useful Conversion Functions 8 3 1 Embedded APC Converter To assist the user to perform Position Control operations in familiar units conversion from user to APC units and from APC to user units is provided The user has to specify the number of units required for a single revolution of the motor UPR after which the position or distance velocity and acceleration can be specified in user units user units s and user units s s respectively The example code below demonstrates how the embedded APC conversion blocks may be applied Note
281. tomword 0x98768765 the result in Output equals OxFFFF8765 a negative number This Function can be used to sign extend a word 132 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description 191 Started Examples Notes Guide Terminology Reference PutTopWord Output PutTopword Input1 Input2 Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes the lower 16 bits of the 32 bit integer value from the input variable Input1 and puts them in to the upper 16bits of the output variable Output 6 It also takes the lower 16 bits of the 32 bit integer value from the second input variable Input2 and puts them in to the lower 16bits of the output variable Output For the example Output PutTopword 0x00000068 0 00000057 the result in Output equals 0x00680057 a positive number For the example Output PutTopword OxFFFFFFF7 0 00000057 the result in Output equals OxFFF70057 a negative number PutBottomWord Output PutBottomword Input1 Input2 Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes the lower 16 bits of the 32 bit integer value from the input variable Input1 and puts them in to the lower 16bits of the
282. tor The inverse of this function is APCConvertBackwards ConvertBackwards Output ConvertBackwards Input Input Arguments Input Signed 32 bit Output Arguments Output Signed 32 bit Description This command takes a 32 bit integer value from the input variable Input and multiplies it by the denominator numerator The inverse of this function is APCConvertForwards Advanced Position Controller User Guide 131 Issue Number 3 www controltechniques com Using This Safety Introduction Functional 11 Getting Program Application Migration Glossary of Quick Manual Information Description 111 Started Examples Notes Guide Terminology Reference 5 3 3 Word Manipulation Function Blocks UnsignedTopWord Output Uns i gnedTopword Input Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes a 32 bit integer value from the input variable Input and converts the upper 16 bits to an unsigned 16 bit value in the lower 16 bits of the output variable Output For the example Output Uns i gnedTopword 0x01234567 the result in Output equals 0x00000123 a positive number For the example Output Uns i gnedTopword 98768765 the result in Output equals 0x0009876 a positive number SignedTopWord Output Si gnedTopword Input 6 Input Arguments Input Signed 32 bit Output Arguments Output Un signed 32 bit Description This command takes a 32 b
283. troller is a multifunction motion kernel which is embedded into the SM Applications module operating system It has very similar features to its predecessor on the 0070 with some enhancements relating to the user interface functionality and efficiency The APC cannot be used on its own as it requires user code for sequencing scaling and control of the motion functionality contained within the APC kernel Figure 3 1 APC Position References Reference Encoder Index Position Profile Generation Position Speed Loop Gains Reference Speed Profile Generation Feedback Encoder Feedback Encoder Digital Lock Rigid Lock The APC with Unidrive SP can be used in a wide range of closed loop applications in Servo or Closed Loop Vector modes Rotational and linear motors are supported with a wide range of feedback devices e g SinCos Incremental Quadrature EndAt and SSI The APC Controls the motion of one drive axis and can be used to e Perform independent discrete positional moves where the motion trajectory is produced by a profile generator which controls acceleration deceleration and maximum speed Typical applications include pushers feeders indexers etc Produce synchronised motion with respect to another axis Typical uses include simple following applications like Digital Lock or Electronic Gear Box EGB or more complex synchronised profiles using an electronic CAM e
284. ts have been moved downstream from the Digital Lock reference so that all references except the Stop reference may use the offsets This includes the addition of a second Offset Profile generator so that offsets can be applied smoothly 2 Speed Feed Forward term has been added 182 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Functional Command Getting Program Application Glossary of Quick Manual Information Description Description Started Examples Notes Terminology Reference 3 The Output Speed Clamp has been separated from the Profile Maximum Speed Clamp and the P Gain Speed Clamp so that it can be adjusted individually 4 The ability to insert function blocks like filters between the Source and Main counters has been added 5 The encoder sources are now updated a second time at the end of POSO This means that changes to the position information actioned in POSO will be used by the APC in the same POS task cycle Because the position data sources are now updated twice in the same POS task cycle it is important to set 481 16 to 1 update position sources every POS task Failure to do this could result in position data skew 6 DPL calls have been added to enable or disable the marker and freeze functions These calls are the equivalent of setting resetting 90 45 to 490 48 Advanced Position Controller User Guide 183 Iss
285. tus APCSetDigLockLockingSpeed 17895 Digital Lock offsets 0 DgLkOsStatus APCSetSpeedoffset 0 DgLkOpStatus APCSetPositionoffset 0 Enable Profile Generator ProfEnStatus APCEnableProfi le Profile Generator Enable Profile Generator ProfEnStatus APCEnableProfile Profile Max Speed 90 of 1000rpm 900rpm ProfMaxSpeed MULDIV 1073741824 401 06 90 60000 100 ProfMxSpStatus APCSetProfileMaxSpeedclamp ProfMaxSpeed Profile Acceleration and Deceleration Rates 2s Accel amp 1s Decel ProfAcceleration MULDIV ProfMaxSpeed 250 2000000 ProfDeceleration MULDIV ProfMaxSpeed 250 1000000 ProfAccStatus1 APCSetProfi leAccelRate ProfAcceleration ProfDecStatus2 APCSetProfi leDecelRate ProfDeceleration Position Loop E Disable external Speed and Position References ExtSpStatus APCDisableExternalRefSpeed ExtPosStatus APCDisableExternalRefPosition Position Loop External Numerator Denominator 1 1 PNumStatus APCSetOutputRatioNumerator 1000 PDenomStatus APCSetOutputRatioDenominator 1000 Output Channel speed ref 201 21 APCChStatus1 APCSetupoutputChannel 2 0 0 APCChStatus2 APCEnableoutputchannel Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output Clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 401 06 10 60000 100 PTe
286. ue Number 3 www controltechniques com Using This Safety Introduction Functional Command Getting Program Application Migration Quick Manual Information Description Description Started Examples Notes Guide Reference 10 184 Glossary of Terminology Absolute Move A move referenced from a fixed absolute zero position Acceleration This is the rate of change of velocity Acceleration has two characteristics magnitude and direction Name commonly used as positive acceleration i e going from a lower velocity to a higher velocity Accuracy This is an absolute measurement defining the difference between expected and actual position Actual Position This is the position of an axis relative to the commanded position This may be the position at the end of the commanded move or the lag between command position at any point during the move and the actual position of the axis at that point The later is commonly referred to as following error Axis A principal direction along which movement of a tool component or work piece occurs Backlash This is the amount of play lost motion between a set of moveable parts when changing the direction of travel Typically seen in drive trains lead screws amp bearings Centralised Control This is a control system in which all of the primary processing is done at a single location rather than at multiple points throughout the system Closed Loop Th
287. uires separate Turns Coarse and Fine position data when entered via the User Program reference The example code below shows how this may be achieved Notes This example code demonstrates how dissect a 32bit position word consisting of Turns Upper 16bits and Coarse Position Lower 16bits transmitted via CTSync and send the dissected information to the Reference source user program reference Notes 50 Get Reference from 5 Only using 32615 Position Counter MasterReference 5 MasterControlword Status CTSyncGetSlaveReferences APC User Program Reference from Dissection of MasterReferencel Turns UnsignedTopword MasterReference Position UnsignedBottomword MasterReference PositionFine 0 Send dissected position information to the Reference source user program reference UserRefStatus APCSetReferencePosition Turns Position PositionFine POSO See section 5 3 3 Word Manipulation Function Blocks for more details 180 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety lntroduelion Functional Command Getting Program Application Glossary of Quick Manual Information Description Description Started Examples Notes Terminology Reference 9 Migration and Software changes 9 1 Migration from V01 02 01 Firmware Users familiar with SM Applications firmware Version 1 02 01 need to be
288. unctional Command Getting Application Migration Glossary of Quick Manual Information Description Description Started 11509 Notes Guide Terminology Reference CTSync Slave and Digital Lock Notes This program demonstrates the use of the APC using CTSync and direct digital lock on a Feedback slave axis Program Description with the drive in Run mode and a bit of the Virtual master control bit 0 set high the drive will follow the virtual master reference in rigid digital lock ramp up and retain position when it was enabled Motion Profile Set up The profile speed is 90 of Max speed set in Drive 01 06 In this example it is set to 1000rpm where the profile speed will be set to 900rpm The acceleration is 2sec and deceleration is 15 to get to 900rpm Encoder Resolution Any encoder feedback can be use with this program the number of counts per revolution is 65536 Drive Enable interlock When the run mode is interlocked with the drive Reference On parameter 01 11 This parameter is set to 1 when the drive is healthy Enabled and a run is commanded It is important to ensure the position loop reference integrators are set to correct values if the feedback encoder is moved while in disabled mode There are two ways the APC can be set when returning from a disable mode Absolute Mode Start from current position e g track the feedback encoder while disabled Relative Mode Re
289. utput Channel speed ref 201 21 APCChStatus1 APCSetupoutputChannel 2 0 0 APCChStatus2 APCEnableoutputchannel Proportional Term PtermStatus APCSetPGain 2500 Proportional Term Output clamp 10 of 1000 head room for position correction PGainMaxSpeed MULDIV 1073741824 401 06 10 60000 100 PTermC Status APCSetPGainSpeedClamp PGainMaxSpeed Output Speed Clamp OutClampStatus APCSetOutputSpeedClamp 53687091 equal to 3000rpm Initial 150 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting 11 Application Migration Glossary of Quick Manual Information Description Description Started 13 Notes Guide Terminology Reference Background Background Task Lowest Priority Task TOP Position Setpoint Scaling from O 1revs to counts PosSetpointcnts MULDIV 18 11 65536 10 Current Position Indication from counts to 0 1 5 FeedbackPoscnts APCReadPar APC FB POS 318 12 MULDIV FeedbackPoscnts 10 65536 Parameter Read Pointer _P01 APCReadPar _P00 GOTO TOP Background PosO POSO Task Runs Before APC Runs VIRTUAL MASTER COUNTER Ue te te Master Speed 700rpm Counts per POSO Task sample 1ms RPM Counts per Rev 60 1000 CountsPerSample MULDIV 700 65536 6
290. utput of the profile generator Scaling this from APC units to rad s s and when multiplied by the load inertia the acceleration torque feed forward value can be derived To use this with the Unidrive SP this torque value must be converted into percentage torque as follows torque Acceleration torque 100 Full load torque This value can be summed with the output torque demand from the output of the speed loop by setting the torque mode selector 04 11 4 speed and torque and writing the percentage acceleration torque to the torque reference virtual parameter 91 04 See Figure 4 34 below Fast write parameter 91 01 must be set to 4 to ensure 91 04 is updated with the speed loop update of the drive Figure 4 34 Power Supply ee 1 Reference Generator Cut n seating Pos P Speed eedbac eedbac 4 9 5 External Speed and Position References In cases where the APC standard references are not required the user can generate their own position reference within POSO user code and write directly into the position loop external speed and position references The user must provide the correct values for both references that are generated from same sample period failing to do this will result in a positional following error Example methods of generating external references 60 Advanced Position Controller User Guide www controltechniques com Issu
291. ve or Inactive Inactive Active or Inactive Active Active or Inactive Inactive Active or Inactive Inactive Active or Inactive Inactive Active or Inactive Inactive Active or Inactive Inactive Active or Inactive Active Active or Inactive Inactive Active or Inactive Active Active or Inactive Inactive Active or Inactive Active Active or Inactive Inactive Active or Inactive Active Active or Inactive Inactive Active or Inactive Active APCInvertFbckSource NA Active or Inactive APCDoNotlnvertFbckSource NA Active or Inactive 16bit Turns Turns and Encoder counts 16bit Position 16bit PositionFine APCSetReferencePosition Turns96 Position96 PositionFine 16bit Turns Turns and Encoder counts 16bit Position 16bit PositionFine APCSetFeedbackPosition Turns Position PositionFine Drive Slot 1 Slot 2 Slot 3 User Program Unconfigured APCGetReferenceStatus Drive Slot 1 Slot 2 Slot 3 User Program Unconfigured APCGetFeedbackStatus 190 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety introduction Functional Command Getting Program Application Migration Glossary of 4 Manual Information Description Description Started Examples Notes Guide Terminology 121199 Command Units Default APCEnableReflnput Active or Inactive APCDisableReflnput
292. version Factors 207 CornvertBackwards ais Seis Dei ie 131 Convener eoo eee mtt etm tese ted e eta laeti tentis 127 2 nan 131 GCOsordiliates 36 Co ordination o NAUES 184 40 42 COSINE Ts EE 40 45 COSING2 oe uera c t 40 46 ORIN E OI DRIN 18 ES ING a 11 62 92 135 163 168 201 C TSync orabat 163 CISC Slave v csl CE YI I C TM AMPLIA CET 168 CTSyncGetSlaveReferences 92 CTSyncSetMasterReferences essen 92 G rrent Limit ec eet te iE aerate oe tes 134 CWIGGW qr 11 D 172 Deceleration 23 184 Default nose eh fe eee Oh th Ee eae 138 xz eere 3 ct a DUREE da 201 Digital rmt a 27 53 142 148 163 168 216 Advanced Position Controller User Guide www controltechniques com Issue Number 3 DPEFunctionm Gall 66 Dwell Time 185 47 Electronic CAM Profiles nnne 185 185 Encoder Resolution
293. written to the drive using the output channel method and will be actioned at the same time The Proportional gain set by parameter 18 12 must be set to use position control It is recommended that a start value of 1500 is used as high proportional gains tend to lead to instability at high speeds Notes Advanced Position Controller User Guide 175 Issue Number 3 www controltechniques com Using This Safety lrtraduction Functional Command Getting Program Migration Glossary of Quick Manual Information Description Description Started Examples Notes Guide Terminology Reference Initial Drive Setup Parameters 01 06 50 Max speed 50Hz 01 07 0 Min speed OHz 01 10 il Bipolar reference selected 01 14 5 High precision reference selected 02 11 0 Set Accel ramp to zero 02 21 0 5 Decel ramp to zero 3102 04 0 Fast ramps 3106 01 il Ramp stop selected SM Applications setup Parameters IF 81 06 lt gt 25 OR 81 12 lt gt 3 OR 81 13 lt gt 1 OR 81 14 lt gt 1 OR 81 16 lt gt 0 OR 81 17 lt gt 0 OR 81 20 lt gt 1 OR 81 38 lt gt 1 THEN Prevents a reset loop 81 06 25 Enable cTSync comms mode allows CTSync to write to drive parameters Set POS task update time to 105 4281 14 1 Enable global runtime trip 4281 16 1 Set encoder source update to every POS task 281 17 0 Disable parameter overrange trips 4281 20
294. x X Y X Y When Cosine1 Interpolation has been applied to a CAM segment and the X axis is positive and increasing it will derive a positive sinus acceleration velocity profile It is used for sinusoidal velocity acceleration over a given CAM segment In the Upper half of Figure 4 21 above Cosine1 Interpolation has been used between each set of co ordinates X Y to determine the value of Y position with respect to X The Lower half of Figure 4 21 above is the rate of change of Square1 interpolation and indicates the resultant velocity when Cosine1 Interpolation is used The final Slave axis velocity is equal to Y velocity X velocity 2 Y co ordinate X co ordinate Advanced Position Controller User Guide 45 Issue Number 3 www controltechniques com Using This Safety Introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 7 3 6 Cosine2 Interpolation 5 Figure 4 22 Y Y Y y 7 gt x X X X X X Y gt Y X Y When Cosine2 Interpolation has been applied to a CAM segment and the X axis is positive and increasing it will derive a negative sinus acceleration velocity profile It is used for sinusoidal velocity deceleration over a given CAM segment In the Upper half of Fi
295. y the amount of error correction With a high gain the system will be more responsive and with a Speed Speed Feed forward Path Reference Position P Gain Feedback Clamp Speed Feedback 57 Advanced Position Controller User Guide Issue Number 3 www controltechniques com Using This Safety introduction Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference lower gain less responsive Too high a gain could increase noise on the motor and also increase instability With no proportional gain an increasing following error will occur An output clamp is available to restrict the amount of proportional gain speed trim It is important to ensure the clamp is not set too low as it will restrict the response Typically the proportional speed clamp is set to 10 of max speed It is important to ensure the drive speed and torque loops are set correctly for the required bandwidth before the position loop Proportional gain is set 58 Advanced Position Controller User Guide www controltechniques com Issue Number 3 Using This Safety Introduction HEIE Command Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference 4 9 1 Output Ratio The output ratio is i
296. ze Units NA Range Active or Inactive Default Inactive APCResetFbckSourceFreezeFlag Status APCResetfbcksourceFreezeFlag Input Arguments None Output Arguments Status Operation failed Operation successful Another process is modifying the object s data Description This command resets the Reference Freeze capture flags APC feedback marker flag 42 The virtual parameter feedback freeze flag 90 18 The selected source drive marker parameter Option module Freeze flag x 39 For a Freeze position capture to occur the Feedback freeze flag must be enabled by using the command APCEnableFeedbackFreeze Units NA Range Active or Inactive Default Inactive Advanced Position Controller User Guide 83 Issue Number 3 www controltechniques com Using This Safety Introduction Functional Getting Program Application Migration Glossary of Quick Manual Information Description Started Examples Notes Guide Terminology Reference APCEnableReferenceMarker Status APCEnableReferenceMarker Input Arguments None Output Arguments Status 0 Operation failed 1 Operation successful Description This command enables the reference encoder marker pulse to be seen by the SM Applications APC This command is the equivalent of setting 490 45 1 This command must be active for a reference marker position reset or a reference marker position capture to be performed This command is

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