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L&B Controller - Vollmer America

1. j o Serial bus RS 422 RS 485 a Serial interface RS 232 C V 24 RS 422 RS 485 Apm 1 4 pa 2 GND 210 E 3 Rta mm 4 Reb m 5 je Rx T 1470 lt 6 9 PD m 7 lt Rx svaro 8 Pu d 9iste De 9 gt Tx 9 6 9 ST5 E mm 10 gt Tx w 1 gt Le emergency stop 1 m 3 phar rae emergency stop 2 GEL IST T option a a NASD emergency stop 2 24o oes NAID emergency stop 1 2 Pd o ca enable keys Be PS a supply voltage 21 a Pd DTR data terminal ready 10 GND signal ground Se 6 _ DSR data set ready 17 lt CTS clear to send V 24 RS 232C Rx e RTS request to send Ee e RxD receive data 140 20 TxD transmit data 1 RE protective earth female connector 9 If transmission problems occur insert bridges for terminal resistance Rt as well as for pull up and pull down resistance PU PD at the terminal unit J Signals are not processed internally E180047B For the power supply of the module and the optional hand terminal GEL 131 there must be a auxiliary voltage fed to terminals 1 and 2 of the N module If the module is inserted the description of the Op1 option in appendix O will give you further information additionally Op2 for the GEL 131 8310 8610 8 B 1
2. 0 inactive manual controlling is disabled 1 inputi 0 positioning via the 1st data input E1 decade 10 2 input1 1 positioning via the 1st data input E1 decade 10 3 input1 2 positioning via the 1st data input E1 decade 10 4 input1 3 positioning via the 1st data input E1 decade 10 5 input1 4 positioning via the 1st data input E1 decade 10 6 input1 5 positioning via the 1st data input E1 decade 10 7 input2 0 positioning via the 2nd data input E2 decade 10 8 input2 1 positioning via the 2nd data input E2 decade 10 a input2 2 positioning via the 2nd data input E2 decade 10 10 input2 3 positioning via the 2nd data input E2 decade 10 a input2 4 positioning via the 2nd data input E2 decade 10 12 input2 5 positioning via the 2nd data input E2 decade 10 13 input3 0 positioning via the 3rd data input E3 decade 10 14 input3 1 positioning via the 3rd data input E3 decade 10 15 input3 2 positioning via the 3rd data input E3 decade 10 16 input3 3 positioning via the 3rd data input E3 decade 10 17 input3 4 positioning via the 3rd data input E3 decade 10 18 input3 5 positioning via the 3rd data input E3 decade 10 continued on the next page gt 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 25 GEL 8310 only continuation 3 19 19 keyboard positioning via the keyboard 2 in t
3. a count input for axis no i 5 Ea 2nd module 0 9 A str L am 1 tt pd M DE rox U 2 m2 22 Re 20 V encoder supply Tere o OE sT o mg 4 14 24 keep blank am 5 15 25 0 i 6 16 26 keep blank Pos Lx bm 7 17 27 rnr 90 X m 8 18 28 keep blank po l c 9 19 29 zero reference fine HH 10 20 30 keep blank S 1 internal connections 2 without inverse signals connect to ground for 5 V signal level keep blank for 24 V signal level this is the only possibilty to work with different signal levels for encoders and e g sensors at a single terminal strip 3 position OFF only if none of the 3 connectable encoders is operated at 5 V applies for count module C only Address Coding first count module C1 Z1 746 second count module C2 Z2 Poifo po po za6 IPO NO HPO tro Lo tho bot lo compulsory for ES Eo ll 213 for GEL 86xx only Pal alive luge GEL 83xx Gas SO a ee ee EE E EE E n nD WN N n an N E180025K O On the C module the encoder supply voltage is preset to 5 V for all three inputs 8310 8610 8 B 8 PIN LAYOUT W Y Terminal strip Actual value input for 1 to 3 absolute encoders with parallel data outputs High active W or Low active Y with aux voltage 20 V power supply for encoder and data
4. 1 6 8310 8610 8 i OPERATIONAL CONTROLS 2 Operational Controls 2 1 Basic keyboard 2 1 4 ESC 8 F1 45 1 Display A actual value counter 7 displays the input of nominal values and machine data 8 2 Display B active operating para meters plain text 3 Display C nominal actual values 9 plain text 4 ESCAPE key cancel a function and return to the next higher functional 10 level 5 Function keys activation of a certain function in combination with another 11 key see section 2 3 6 Slot for memory card option to read or write operating data 8310 8610 8 X1830055 Data keys to input values in the programming mode ENTER key storing of an entered value or operating function confirming messages of the Controller FORWARD cursor key scrolling forward through value and function lists REVERSE cursor key scrolling reverse through value and function lists CLEAR key resetting of a pro grammed or entered value to zero 2 2 OPERATIONAL CONTROLS 2 2 Additional keyboard of the GEL 8610 A G B C D E nm D OOZ EMANA U A B A e DA E F FA te co ED JIZ A G HC DA DA Q A D Sse DS End d M N or R af R gt Unit Axis 1 Axis 1 1 A A S T D A V w X
5. E180062A standard display display B axis program sentence display C position length nom value nominal position length variance of position length nominal number of pieces 1 actual number of pieces 1 variance of number of pieces 1 machine functions 1 nominal speed rate 1 identification text for the selected axis GEL 8310 input only via serial inter face 1 under preparation voltage at analogue output 2 standard tolerance of position contouring error 2 nominal cycles actual cycles variance of the cycles act values of 3 connected axes here display A axis 2 display C axis 3 display B axis 1 2 1 These parameters can only be selected if the appropriate types of nominal values have been activated at the unit parameters i e if they are part of a sentence 2 These parameters can also be selected in the reset state 8310 8610 8 OPERATING MODES AND STATES 3 2 Progr mode for nominal values 3 9 3 2 Programming mode for nominal values In this mode the position and control data required for the operation of the installation can be entered The programming mode can be protected against unauthorised data access by fixing a password refer to appendix A system parameters Display format input value here nominal position E180077F O sentence number nominal value program number here position of axis 1 Memory structure The maximum of 716
6. n protct GEL 8310 GEL 8610 Determines if the equipment specific axis parameters AP are not to be read from or written to the optional memory card if the AP have never been stored on a certain memory card and you try to read the card incl AP then the message 7 1 _ Card fkt Special function with memory card Ma Dardos ne is shown 0 excl AP axis parameters are not stored overwritten 1 incl AP axis parameters are stored overwritten Password inquiry for nominal value GEL 8310 programming GEL 8610 Specifies if the programming mode for nominal values is to be accessible via a password only 1 Password no password inquiry 0 inactive with password inquiry define the password at the following storage location 1 active 8310 8610 8 A 8 9 E 12 Password STORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 GEL 8610 Specification of the password Definition of the sequence of digits for the password of the programming mode for nominal values XXXXXXXX input of 1 to 8 digits 1 Term P21 Keyboard lock terminal P21 SEE eso GEL 8610 Defines the function of the control input P21 keyboard lock of the P1 module 0 inactive P21 without function 1 keyboard with Low level at P21 all keys are locked 2 m param with Low level at P21 the programming mode for machine parameters is locked
7. slow speed 0 end 50 0 start 100 0 R3 1 forward 0 end 00 start 20 0 R4 reverse 0 end 50 0 start o0 speed profile E180010C Storage location assignment slow speed 3 63 R1 Beg 100 0 3 64 R1 End 50 0 fast speed 3 65 R2 Beg 200 0 3 66 R2 End 150 0 forward 3 67 R3 Beg 20 0 3 68 R3 End reverse 3 69 R4 Beg 3 70 R4 End 50 0 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals 4 15 b Manual positioning of the drive Here the drive signals are directly set with the appropriate control keys or signals Programmed start and end values are ignored The manual drive control is only possible in the interrupted or reset state of the automatic mode and during the teach in operation when programming nominal values The following diagram is based on the fact that the polarity for manual controlling has not been changed storage location 3 20 0 key or signal 1 Ss key or signal mst key or signal te key or signal lt lt R1 slow speed R2 fast speed R3 forward R4 reverse E180010E 8310 8610 8 4 16 4 5 Signals FUNCTIONAL DESCRIPTIONS c Automatic reference search routine Here the drive signals are set or reset directly via the appropriate control signals like search for reference reversing switch and reference fine Programmed values for the start and end are ignored Furth
8. to define the end of program BEO resp or to set a program flow instruction at this position eo eA You tried to copy sentences BO resp E or to delete GO resp or to insert a sentence 163 48 resp to read data from the memory card 6A resp although there is still at least 1 unit in the started or inter rupted state First enter the remaining nominal values of the actual sentence Reset the Controller for all units 8310 8610 8 6 8 Warning or error message 6 1 Warning and error messages Cause situation e 998 sentences have already been programmed the end of program does also count as a sentence and you now tried to enter another nominal value or to insert a sentence e When copying in the insert mode too many sentences have been selected so that the sum of the sentences existing and still to be copied would exceed the value 998 TROUBLE SHOOTING Remedy reaction Terminate the program Reduce the number of sentences to be copied parameter error An inadmissible value has been entered for a machine parameter occurs when trying to exit the programming mode of machine parameters i Input monitoring value of parking position parking position is too high exceeds the specified Pos max value storage location 3 72 Confirm the message with the invalid paramet
9. cccccceeceeeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeseneeeeeeeees 4 36 4 14 Program flow instructions serei 4 39 4 14 1 Call subroutine CALL Pr ear 4 40 4 14 2 Jump instructions JUMP Pr JMP sent 4 41 4 14 3 Signal dependent branching IF I O eeeeeeeeeeeeneeeeeeeeeeeeeeeeeneeeeeeeees 4 42 4 14 4 HEXAMDICS sans ah if aeb rash atch Ac dedeatiretyiapetadpaabriadet eit cd Eid adega ai tate a 4 43 4 15 Coordinates offset ccc teeta Se otineithcenintel asd IB Shas caabntat GRSA a ni a qa 4 46 Commissioning 5 5 1 Standard settings rasa ee ote eaten ace enema 5 2 5 2 Actual value adjustment arara 5 3 5 241 incremental EnCOdOrS casas cer sect a asia ada si aaa aaa 5 3 5 2 2 Absolute encoders ni enseseeeaeaeanaarennaaaa 5 3 5 3 Preparations for displacing the drive 5 6 5 4 Count direction and voltage polarity ii 5 8 55 Minimum voltages csasssisa sei GIL E SS in 5 10 5 6 Optimization of control parameters ao 5 11 5 6 1 Maximum Speed ensaia io ido ao ha dir ia dA Eai tuted a ied RA 5 11 5 6 2 CON O factor sn neta nica a dr Ma Sac da Carina 5 12 5 6 3 Accelerating braking times nn 5 12 5 64 Jerk IMG css ata ass a SE a ES A E IC Eae 5 14 5 7 Gontroller configuratiO Missana a did Ea 5 15 8310 8610 8 OPERATING MANUAL GEL 8310 8610 CONTENTS
10. 7 z cal X Search for reference signal was preset with Low level at the stop input or the unit being in the interrupted state 8 reset cal X Search for reference signal was preset with High level at the reset input 9 z cal X Search for reference signal was preset with the unit being in the started state 10 cal X Search for reference signal was preset during manual positioning of the drive 11 Fr ET cal X Search for reference signal was preset during the programming of machine parameters Search for reference signal was preset during the recalculation of machine parameters i e directly after terminat ing the programming operation 13 atop pm ee eae Start signal was preset with Low level at the stop input 1 4 reget PS Sa Start signal was preset with High level at the reset input RES 8310 8610 8 ere ent AR ego AS sein gas ole teeth seine pao E Start signal was preset although at least one axis of the unit performs an automatic reference search routine Start signal was preset during manual positioning of a drive of the unit Start signal was preset during the programming of machine parameters Start signal was preset during a program structure change inserting or deleting of nominal value sentences programs and serial trans mission of already existing programs and of machine parameters 6 14 6 2 Fault memory TROUBLE SHOOTING No Displays B C
11. e Display B C plain text of the fault see table If the Controller is equipped with a serial interface module V with clock the date and time of the occur rence of the fault can be displayed resp o Example A reference search routine is released for an axis of the 2nd unit although the unit has been already started as this intended action shows no effect a corresponding fault message is stored which is the fourth message stored at the time of the fault polling the number of faults stored totals 11 unit axis curr no total count ID no occured error no 9 E180077A The DO keys can be used to scroll through the messages if several fault numbers are present in memory 8310 8610 8 6 12 6 2 Fault memory TROUBLE SHOOTING If the key is pressed when displaying the ast fault all fault numbers can be removed from memory if the safety inquiry ie ieste a11 7 is confirmed with With 6 the action is aborted The ioa are Se switched to the normal operating status again i e the inquiry function is exited An individual fault message can be deleted when it is displayed by pressing and confirming the Bs ieste this safety inquiry with too With the action is aborted The number of faults and the running number of the faults above the deleted are then reduced by 1 If both were previously 1 then the displays are switched to the normal operating state again i e the inquiry function i
12. Trouble shooting 6 1 Warning and error MESSAGES iz sees ctcceceiatdiniesntcecceiads ieteueiesccataddeaenieuavate 6 1 6 2 Fault CO ta ada sda a a a a a a mined meet 6 12 Mounting Instructions 7 7 1 Cable CONNECTIONS cccccccccccccceccceeeeceeccecececeececceeeeeeceececeeeceeeeeseeeeeeeess 7 1 7 2 EMG MCASURCS asa gi E E ER 7 1 7 3 Replacing Mod le Senna a a a E 7 4 Fo ISAS SSMU Y Sesi 7 4 Voar ASS CID ET 7 5 7 4 Replacing an EPROM cccccceeeeesescecceeeeeeeeeeeeeeaaeeeeeeeeeeeeeesseneaaeeeeeeeees 7 7 TAA PLS EPROM apa DR RD a ad 7 7 TA Ne sea DIE Bren eee eae E ne A ae a LE OME A TREA ORE A TAR E MERA PERT 7 8 Storage locations for machine parameters Appendix A Overview of the storage locations sz ce postada aaa acduideaecset isla die aaa io A 1 Patalnetel lola ana ore Serasa anna N Adana aaa eden A 4 Explanations on the representation used ana A 4 1 System parameters 1 level ceesiaccatraesntiacerd quieta iscas b iara A 5 2 Unit parameters 2 level cccccccccscsscsscssessesscsscsscsscsecececsecsecseesaesseeaseaes A 11 3 Axis parameters 3 leVel ccccccccccscsscsscsscsscssesecsecsscsseseeseessessesseseeseeees A 19 Pin Layout Appendix B Connector designations serao aaa quad RUAS Ea ES tthe anu atc ecu cate B 1 Terminal SUP COG ING ss exes cies crcaveds cds i enaA da adiada dae a dei iii cida B 2 Module arrangement of the GEL 8310 back of the Controlle
13. Y Storage location 3 30 minimum negative voltage value Umin Enter the largest of the remembered voltage values without operational sign The next step is the optimization of the coarsely adjusted control parameters 8310 8610 8 COMMISSIONING 5 6 Optimization of control parameters 5 11 5 6 Optimization of control parameters 5 6 1 Maximum speed To check or optimize Vmax the drive must be displaceable for a sufficient period of time e g 5 seconds so that the output voltage for the set working speed rate and also the contouring distance Delta_s can be read in the display Y Storage locations 3 21 and 3 23 slow speed forward and reverse Now values are entered for the slow speed rate which are in the order of the later positioning speed rate in actual measuring units per second the definite values for the manual displacement control will be determined later section 5 7 If this speed cannot be maintained long enough because the displacement area is too small smaller values must be programmed accordingly It must however be considered in this connection that potential nonlineari ties in the drive system can lead to major control deviations when position ing later on Exit the programming mode for machine parameters Ensure that the axis to be adjusted is displayed The display must show the output voltage select with VR NN Move the drive at slow speed forward or reverse until the vol
14. control inputs outputs data output relay contact outputs perto 3 inputs for absolute encoders with serial data output SSI T intelligent serial interface RS 422 for special protocols U intelligent serial interface RS 485 for PROFIBUS applications serial bus RS 422 RS 485 serial interface V 24 RS 232 C V input for absolute encoders parallel High level 2 logic 1 lt lt input for absolute encoders parallel Low level 2 logic 1 8310 8610 8 1 to 3 count inputs for incremental encoders 24 V B 2 PIN LAYOUT Terminal strip coding P1 P2 WiW2Y1 Y2 C1 C2 Z1 Z2 D1 D2 L1 L2 L3 L4 V S1 S2 R1 R2 R3 R4 j ff ml mi 2 im 2 im 2 DIE DIE ms
15. devices with C certification devices without C certification Y Place the metal frame with Y Plug all terminal strips identical mounted power supply card designations on terminal strip and socket Y Place the metal angle O Mind that all earth pins of the modules fit correctly in the associated sockets of the metal frame angle V Screw the metal frame V Screw the metal angle and strip including the twin blade terminal V Plug all connectors and terminal for earthing strips V Connect earth wire to the metal angle Mind that the cable lug does not contact the screw of the heat sink In this case internal ground would be connected to earth 8310 8610 8 MOUNTING INSTRUCTIONS 7 4 Replacing an EPROM 7 7 7 4 Replacing an EPROM The following statements are related to the program EPROM The equivalent is valid for EPROMs on other modules e g SSI interface and PROFIBUS The program EPROM is located onthe main board behind the keyboard of the Controller for devices with C certification PLCC type resp onthe P1 module control inputs outputs for devices without C certification DIL type 7 4 1 PLCC EPROM For the replacement all modules and blind plates have to be removed from the Controller GEL 8610 on the right half only the P module may be excepted from this with built in memory card option p V Disconnect all current sources from the Controller o nm ENE Y Remove modules as des
16. Concerning the auxiliary voltages please read the instructions at the beginning of the section Connection diagrams in appendix B A The operating data tolerances for the supply voltage stated in appendix C must be strictly observed since otherwise Controller functions might fail causing dangerous situations the mains failure monitoring system in the Controller reacts and a started programme might possibly not be continued properly If required provide for an E STOP circuit reacting to this A Prior to start carrying out any positioning procedures using the Controller it is imperative that you read section 4 1 3 and the instructions on commissioning supplied in chapter 5 especially sections 5 3 and 5 4 A Further special information on danger causing injury or material damages and any other information are marked in this manual by special symbols This symbol denotes an imminent danger to life and health of persons Should you ignore these warnings severe damages to health or even life panceR threatening injuries might be the consequence gt Symbolises a possible danger for life and health of a person Should you ignore these warnings severe damages to health or even life warnine threatening injuries might be the consequence or may cause severe material damages gt This symbol denotes a possibly dangerous situation Should you ignore these warnings slight injuries or material damages c
17. Read data from memory card option loading of operating and machine parameters only possible if the Controller is in the reset state for all units and the card has at least already once been written with security inquiry Manual operation slow speed forward only possible in the interrupted or reset state of the automatic mode and during teach in operation cf storage locations 3 18 24 as this is an axis function the axis to be controlled first has to be displayed see further above HO and O0 High level must to be applied at the stop input for the respective axis P4 P7 P10 Manual operation fast speed forward see explanations of slow speed forward 8310 8610 8 OPERATING MODES AND STATES 3 1 Automatic mode 3 7 9 e 8310 8610 8 3 Qe Qe Manual operation slow speed reverse see explanations of slow speed forward Manual operation fast speed reverse see explanations of slow speed forward Manual preset of the signal actual nominal P27 P28 P29 as this is an axis function the axis to be controlled first has to be displayed see further above EHO and O0 3 8 3 1 Automatic mode OPERATING MODES AND STATES 3 1 2 Displays in the start and stop state
18. e Low level limit switch has triggered corresponds to an open input e High level ready to operate 0 inactive signals of hardware limit switches are ignored 1 input1 0 limit switch signals at the 1st data input E1 decade 10 2 inputt 1 limit switch signals at the 1st data input E1 decade 10 3 input1 2 limit switch signals at the 1st data input E1 decade 10 4 input1 3 limit switch signals at the 1st data input E1 decade 10 5 input1 4 limit switch signals at the 1st data input E1 decade 10 6 input 5 limit switch signals at the 1st data input E1 decade 10 7 input2 0 limit switch signals at the 2nd data input E2 decade 10 8 input2 1 limit switch signals at the 2nd data input E2 decade 10 9 input2 2 limit switch signals at the 2nd data input E2 decade 10 10 input2 3 limit switch signals at the 2nd data input E2 decade 10 11 input2 4 limit switch signals at the 2nd data input E2 decade 10 12 input2 5 limit switch signals at the 2nd data input E2 decade 10 13 input3 0 limit switch signals at the 3rd data input E3 decade 10 14 inputs 1 limit switch signals at the 3rd data input E3 decade 10 15 input3 2 limit switch signals at the 3rd data input E3 decade 10 16 input3 3 limit switch signals at the 3rd data input E3 decade 10 17 input3 4 limit switch signals at the 3rd data input E3 decade 10 18 input3 5 limit switch signals at the 3rd data input E3 deca
19. exchange the connections of the amplifier input or analogue output only feasible if the amplifier inputs of the several axes are not inter connected through a joint earth line see terminal strip D in appendix B or reverse the polarity of the analogue output storage location 3 25 If the actual value counts down and the machine however moves forward as requested exchange the count connections 0 90 of an incremental encoder at the Controller or reverse the count direction storage location 3 2 If the actual value counts down and the machine does not move forward as requested exchange the connections of the amplifier input or analogue output only feasible if the amplifier inputs of the axes are not intercon nected through a joint earth line see terminal strip D in appendix B or reverse the polarity of the analogue output storage location 3 25 8310 8610 8 COMMISSIONING 5 4 Count direction and voltage polarity 5 9 If the actual value changes erratically only possible for absolute encoders with BCD or Gray code select the appropriate code type on storage location 3 1 with logic reverse The next step is to determine the minimum voltage values for the drive amplifier which is necessary to start the drive in the forward and reverse direction if not yet known 8310 8610 8 5 10 5 5 Minimum voltages COMMISSIONING 5 5 Minimum voltages The following experimental determina
20. 21 e gt gt MAX po 400 gt gt 15 02 2 10 E lt MIN o s 2 o S lt lt IMAX 16 O 21 20 e gt Ri 4 4 KQ 24V off h0 fga o s 23 o pe o 2 R 2 2 gr sa 2 e S 19 OT Bere z 3k3 oa 20 ES WY O E JE WA o i 2 yng 24708 22510 o JE o 23 2 9 0 AN 22 OS 7 2 8 N 5V6 O w 2 2 104 BS ST8 o 7 g ae 24 O 2 gt o oe 2105 E L INTEXT ir eae o2 o fz 2 sT5 ro ou sro TE Cave 2 7 2 6 3 19 3 74 pao ae eee see table A ti i i storage location toV TENT male connector 2 signal voltage pin 13 ST5 ST8 ST9 vee 20V 420VE INT INT external Us e g 24V Us OV OVE EXT EXT Address Coding data inputs outputs first module E1 second module E gt third module Es fourth module E4 Oa Oe Po O oiiro FO ro i es ON i i ON ON it ON oC or bo po 2 Lo OFF lo Lo OFF Fosco i O10 io o Oilo o N o N o N o N E E E E E E H n wn n n n n n n for GEL 86xx only With combined data input and output address encoding applies to both E180047A The power supply for the signals ist preset to internal at the factory With combined data input output connectors E and A on a single module this is valid for both input and output common jumpers ST8 and ST9 refer to connector A on the next page If you use external voltages for the signals you have to change all jumpers ST8 and ST9 as well as ST5 and ST10 according to both tables for
21. 8310 8610 8 5 2 5 1 Standard settings COMMISSIONING O Does your Controller get its control signals from a PLC or similar auto mation devices 1 If so please check already during trial service whether there are always the same errors being stored in the fault memory of the Controller cf section 6 2 Responsible for that could be the control device generating several start signals per second which do not cause a start because of the reset signal still being active or the stop input being at Low level Then each time the error 14 or 13 is written to the EEPROM This extended account of write cycles will shorten the service life of the EEPROM about 10 000 write cycles at maximum For this reason please provide validity checks of the corresponding signal states in your control device program Otherwise the EEPROM and consequently the Controller will break own R a E short operational time with the display showing E GPO eppo 5 1 Standard settings VY Activate the programming mode for machine parameters 2 OOOG System parameters Y Storage locations 1 3 to 1 5 GEL 8610 1 8 units Combine the axes available into units oe to the instavation requirements Confirm the security inquiry fim i ta writ issued upon reprogramming by pressing the key When commissioning the individual axes in the Automatic mode these must be shown in the display individually BO PEE OE 3 to select the axis within
22. EMC certified for the devices with the C marker pay special attention to the screening and earthing In general Earthing connections should be kept as short as possible and with a large cross section e g low inductance braided cable flat band conductor Mounting plates as well as the control cabinet must be well earthed All un screened cables should be kept as short as possible Connect screens at both cable ends with as large a surface area as possible 8310 8610 8 7 2 7 2 EMC measures MOUNTING INSTRUCTIONS Only connectors with metal housings or a housing made of metallized plastic should be used and the screen connected directly to the strain relief of the connector with as large a surface area as possible If the connector does not have special strain relief clamp it is advised to provide adequate clamping between the two halves of the housing If necessary widen the cable with shrink sleeve before folding over the screen The same applies to the cables at the terminal strips for the C devices X035AH OL 68 29 95 X180014J Signal and control lines should be laid separated from the power cables Should potential differences exist or occur between machine and elec tronic earth connections measures should be taken so that no compensat ing currents can flow through the screen e g potential equali
23. Example o 4 1 1 Language Languages Determine the language for the display of texts 0 german texts are displayed in German 1 english texts are displayed in English O 0 O O Number of parameter level from display A 1 system parameters 2 unit parameters 3 axis parameters O Number of parameter storage location within the level from display A scrolling with O Short designation of the parameter from display B O Designation function of the parameter O Explanations on the parameter O Number of parameter variant from display A scrolling with 9 9 If no digit is indicated a value must be entered for the variant Initially all variants and values are set to zero exception system parameter 1 3 1 O Short designation of the parameter variant from display C characters in italics indicate the input format of a value parameters which cannot yet be activated are marked by Function of the variant 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 5 1 System parameters 1st level E Determines the language termines the language for the display of texts the display of texts 0 texts are displayed in German texts are displayed in English 1 1 2 Pow fail Power failure security Specifies if the actual values and operating states are to be stored so that they will be available again after a power failure and when the equipment is norm
24. This corresponds to a distance of 10 0 mm with 1 revolution D 1 min 10mm 60sec A mm sec DA 1 DD 0 10mm 60 sec 10 Sues 10 10 1 6667 60 1019 mm sec mm sec Check for e g vp 3000 1 min 3000 DispU va C vp 1 6667 3000 DispU 5000 DispU 500 0 mm sec Do not forget Program the desired decimal places at storage location 3 46 8310 8610 8 4 6 4 3 Continuous sentence processing FUNCTIONAL DESCRIPTIONS 4 3 Continuous sentence processing positioning without stop Requirement The nominal value type speed rate must be part of a sentence storage location 2 3 0 Activation When entering speed values in the nominal values programming mode the 3 key combination or the key is to be pressed Then an arrow m is shown in display C The function is switched off again by pressing or once more For normal positioning the drive is accelerated according to a calculated characteristic run at constant working speed and then decelerate to reach the exact position For continuous sentence processing a start signal is internally generated and the drive is accelerated or decelerated directly to the nominal speed defined in the next sentence Two modes are available for this depending on the programming of storage location 2 3 e Mode 1 storage location 2 3 1 or 3 The start signal is generated as soon as the Controller normally would enter the braking phase e
25. count input for incremental encoders B 7 Terminal strips W Y input for absolute encoders parallel B 8 Terminal strip S input for absolute encoders SSI B 9 Terminal strip D analog outputis eee eeeeeeeeeeeeeeeeeeeeeeeeeeeees B 10 Connector E data input sasa asso caoioissaoaspiosanbalodoncas i eens tatseeee i nee B 11 Connector A data output logic Outputs ceeeeeeeeeeeeeeeeeeeeeeees B 12 Terminal strip L data output power OUtPUtS 00 ccceeeeeeeeeeeeeeeeeeeeees B 13 Terminal strip R data output contact outputs ceeeeeteeeeeeeeeees B 14 Terminal strip Connector V serial interfaces rren B 15 Connector U intelligent interface R8485 PROFIBUS B 16 Connector T intelligent interface RS485 special protocols B 16 8310 8610 8 i SPECIFICATIONS Operational data Power requirements for the Controller circuits GEL 8310 GEL 8610 for signal circuits encoder supply and some modules GEL 8310 GEL 8610 for use of mains trans former GEL 8903x design according to VDE 0551 GEL 8310 GEL 8610 Count inputs terminal strips C and Z logic level input resistance input frequency encoder supply Actual value inputs terminal strip W Y data encoder signal supply SSI inputs terminal strip S data c
26. display units abbreviated to DispU mean a sequence of digits without decimal point as it is shown in the display A With incremental encoders this is the number of count increments after edge evaluation and multiplier Example Value in display 23470 DispU 123400 actual unit of measure ment 1234 4 1 3 Count direction When specifying a direction e g automatic reference positioning forward the Controller and or the regulation expects a determined behaviour of the actual value counter Basically the following assignment is valid forward gt incrementing of the actual value e g gt 157 Pega gt 1 Oe 23 gt reverse decrementing of the actual value e g 2S a el De ee S aaa OT a 8310 8610 8 A WARNING 4 1 Definitions FUNCTIONAL DESCRIPTIONS On start up If with a regulated forward positioning e g with reference positioning or positioning in the Controller defined forward direction that can also equipment specifically deviate the actual value counts downward then the contouring distance increases very quickly and thus the voltage at the analog output This results in an accelerated and almost no more controllable movement in the wrong direction Correspondingly this is also valid for reverse positioning with upward counting On the supposition that the position loop control is disabled for the interrupted and reset state storage location 3 47 0 then this process can b
27. e Press the key combination resp the key GEL 8610 e Enter the axis number and confirm with e Enter the correction value display A and confirm with The input value becomes active with the next start signal It is also possible to preset the correction value via an optional data input module refer to storage location 3 76 in appendix A and section 4 10 1 8310 8610 8 4 24 4 8 Rotary table positioning FUNCTIONAL DESCRIPTIONS 4 8 Rotary table positioning The rotary table positioning is activated by programming a value at storage location 3 8 The special feature of this type of positioning is apart from the restricted counting range for incremental encoders the path optimization Here the Controller itself selects the travel direction depending on the actual position and the next nominal position Thus always the shorter distance is travelled The rotary table function does not work together with the e path control storage location 2 5 e system of incremental dimensions storage location 3 44 A parameter error message F x 4 or is displayed if one of these functions has been programmed For the input monitoring of the nominal positions lengths the minimum value is internally set to zero and the maximum value to rotary table range 1 DispU independent of the values programmed at storage locations 3 71 and 3 72 In addition the software limit switch function will be ignored if it is activated stora
28. e sentence end e block end e program end e stop e reset These signals are unit related They occupy a certain BCD decade 4 bits at a data output module A L or R which has to be determined using storage location 2 9 refer to the Pin Layout in appendix B The signal reset can only be output in lieu of the signal sentence end or block end Sentence end is output with a start signal if the actual number of pieces is equal to the nominal number of pieces If the number of pieces is not part of a nominal value sentence storage location 2 1 1 or 3 then the signal is output at the start of each sentence i e the signal remains always set Block end is output with a start signal if the actual number of pieces of the last sentence within a program run cycle has reached its nominal value If the number of pieces is not part of a nominal value sentence storage location 2 1 1 or 3 then the signal is output at the start of the last sentence 8310 8610 8 4 12 4 5 Signals FUNCTIONAL DESCRIPTIONS Program end is output with a start signal if the actual number of pieces of the last sentence in the last program run cycle has reached its nominal value If the number of pieces is not part of a nominal value sentence storage location 2 1 1 or 3 then the signal is output at the start of the last sentence in the last program run All 3 signals remain also set in the interrupted stop state but not in the reset state Altern
29. mg 27 20 g mg 28 gt 21 5 10 mm 29 22 mg 30 23 Address Coding data inputs outputs first module L1 second module L2 third module L3 fourth module L4 Ol oO rol O 1 Ol ro ro iro E Lo ipo oN iroi Lo ON Lo Lo jon Lil or oi Lo OF Lo o OF Loli ol OFF e e E ie ks N N N N N no N no GEL 86xx only E1800250 8310 8610 8 PIN LAYOUT Data output contact outputs contacts 240 V 1 A at maximum Terminal strip lt operating voltage machine functions L 100 528 M4 6 operating voltage Lo L 101 go 9 22 N7 EE 10 gt 23 M8 EE 11 lt operating voltage E 12 20 M9 M1 so M10 M2 peso L 10 2 IE ur M11 M3 E 15 23 M12 M4 2 2 Pay attention to spark extinguishing for relay contacts R3 R4 R1 R2 R3 R4 R1 assignment as for data output module A decades 0 to 2 R2 R3 R4 3 61 Address Coding data inputs outputs first module R1 second module R2 storage location third module Rs fourth module Ra for GEL 86xx only E180025L 8310 8610 8 PIN LAYOUT B 15
30. mode for nominal values 3 11 EH EO CHO wa O g Y o eg o S O 8310 8610 8 Jump to the beginning of the previous sentence Jump to the beginning of the next sentence Jump to the beginning of program Jump to the end of program number of program runs cycles Confirm the entry made and change to the next nominal value Respond to a security inquiry with yes any other key means no Confirm the entry made and change to the next nominal value of the same type within the program quick input so you can input all the position values e g directly one after the other skipping the other nominal value types for the moment Delete a preset or entered value Delete a sentence without security inquiry only possible if the Controller is in the reset state for all units the numbers of the following sentences are decremented by 1 When selecting a program delete all programs of the associ ated unit with security inquiry only possible if the Controller is in the reset state for all units Q 12 3 2 Progr mode for nominal values OPERATING MODES AND STATES When selecting a sentence delete all sentences of the asso ciated program with security inquiry only possible if the Controller is in the reset state for all units O Insert a sentence only possible if the Controller is in the reset state for all units the numbers of the next sentences are incremented by 1
31. of the 2nd data input program 2 is to be processed otherwise program 3 Program 1 control program sentence 1 i Ec is od 0 initial position sentence 2 ER TA 200 bit 2 1 sentence 3 8 yes process program 2 sentence 4 201 no bit 2 1 sentence 5 8 yes process program 2 sentence 6 3 no process program 3 sentence 7 2 ready back to the first scan sentence 8 2 process program 2 sentence 9 2 ready back to the first scan sentence 10 0 end of program 8310 8610 8 4 44 4 14 Program flow instructions FUNCTIONAL DESCRIPTIONS 2 Logical AND Only if High level is present at position 2 and 2 of the 2nd data input program 2 is to be processed otherwise program 3 Program 1 control program sentence 1 0 initial position sentence 2 200 bit 2 1 sentence 3 5 yes next scan sentence 4 7 no process program 3 sentence 5 201 bit 2 1 sentence 6 9 yes process program 2 sentence 7 3 no process program 3 sentence 8 2 ready back to the first scan sentence 9 2 process program 2 sentence 10 2 ready back to the first scan sentence 11 0 end of program 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 14 Program flow instructions 4 45 3 Simple positioning sequence principle Material of differing length is to be pushed forward in a slide providing the material with borings at a distance of optionally 1000 or 2000 depending on a signal at the 2nd data input position 2 1 length
32. routine resp 6 although the unit of the corresponding axis has not been reset TROUBLE SHOOTING Remedy reaction Reset the Controller for the corresponding unit You tried to delete the only nominal value sentence of a program or the end of the program itself 163 42 resp Acknowledge with any key invalid number of pieces e In the Automatic mode you tried to change the program eO or the direct entry of a reference value a correction value ora parking position was activated 009 00 00 although the unit of the respective axis has not been reset e In the nominal value programming mode you have entered an invalid I O number for an IF command 0 was entered for the nominal number of pieces Reset the Controller for the respective unit Enter a valid I O number refer to section 4 14 Enter the correct piece number 8310 8610 8 TROUBLE SHOOTING Warning or error message d pita he invalid end of program e You tried to define the end e You tried to insert a sen 6 1 Warning and error messages 6 5 Cause situation of program for a program that is still empty eO resp te tence when the end of program is displayed 6A resp Remedy reaction First enter nominal values or exit the program Scroll back to the sentence after which a new sentence is to be inserted e When copying sentences e W
33. the new sentence is inserted after the actual one and contains as preset values the data of the actual sentence a BS Copy sentences within a unit only possible if the Controller is in the reset state for all units the sentence range and the program are to be selected as source the actual program is the destination the sentences are copied either in replace or insert mode depending on the completion of the sentence end number entry Dia overwrite the sentences following the actual one BHA insert the sentences before the actual one In the first case there must still be as many sentences after the actual sentence in the destination program as shall be copied otherwise an error message will be issued Change between position and length the entered position value is interpreted either as absolute position absolute dimension processing fixed zero or as relative length incremental dimension processing continuous zero changing is only possible before the value entered is confirmed by pressing the key and only with storage location 3 44 0 system of absolute dimensions 0 Continuous sentence processing this function can only be activated for the nominal value type a speed rate and is marked by an arrow in display C refer AD BE to section 4 3 O Select program flow instruction CALL Pr at the beginning of the sentence only in place of the nominal value type pos
34. 13 14 15 L 17 18 19 20 E A 9 22 10 23 E A 5 18 6 19 L 23 24 25 26 E A 11 24 12 25 L 27 28 29 30 3 E A 7 20 8 21 Please cross what is applicable LENORD BAUER amp CO GMBH Supplementary sheet no 2 to operating manual GEL 8310 8610 Configuration of the storage locations 1 4 customer type GEL 8 system parameters a Le nt 18 21 28 2 7 12 7 22 27 s e 13 18 23 28 E e 14 19 24 2 Ls 10 5 20 25 so unit parameters unit 2 unit 3 unit 4 unit 5 unit 6 O IOINNIO OA EIOTN e ao RR O ee e E CR RS UA RE O E es Ca ap OO MmDInyi oy aT PI OOINJ O N oO LENORD BAUER amp CO GMBH Supplementary sheet no 2 to operating manual GEL 8310 8610 axis parameters 2 4 se e Oe ee ee OO el el ee ee M VONNONAOANEAHAOUNOANOOHOOUNOOOAVOOUINE o N LENORD BAUER amp CO GMBH 3 4 Supplementary sheet no 2 to operating manual GEL 8310 8610 axis parameters be e e Oe ee OO el ee ee ee M ONDA AN ANANDA OO AAAA AAA DNNN NAS o N LENORD BAUER amp CO GMBH Supplementary sheet no 2 to operating manual GEL 8310 8610 axis parameters 4 4 elele eie el ele el el l ORA AO ANNAN AOS AAAA ANA ANNANATOO o N LENORD BAUER amp CO GMBH Supplementary sheet no 3 to operating manual GEL 8310 8610 1 2 Nominal value
35. 2 2 e program and sentence number storage location 2 8 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 10 External data input output 4 29 e program processing signals storage location 2 9 e range signals storage location 3 61 e actual position storage location 3 81 e nominal position storage location 3 80 e correction value storage location 3 82 With an appropriate selection of the decades you can output different types of data at one single data output This allows a more effective use Example Four machine functions program and sentence number the latter with two digits at maximum 99 and the program processing signals of one unit shall simultaneously be available at the first data output 8310 8610 8 A1 Programming storage variant meaning location 2 2 2 8 machine functions at decades 2 3 8 outl 2 2 8 1 sentence and program number at decades output 1 0 2 4 5 2 9 3 program processing signals at decade 3 out 1 3 Output a sentence and program number at decades 0 1 and 4 5 the E 3rd digit of the sentence number qu 45 at decade 2 must be zero e e program 22 4 b lower four machine functions e mta e stop M1 M4 at decade 2 the upper 920 3 E end of program four machine functions M5 M8 qu aa at decade 2 must not be ee 12 Ma programmed 0 e t y 16 1 c p
36. 2000 Using another signal 2nd data input position 2 the end of the material is determined and the slide is move to position 0 The sentences include a machine function output with actual nominal They are automatically started e g every 5 sec The process enable is scanned in a waiting loop signal at position 2 of the 2nd data input 1 start enabled Program 1 sentence 1 0 beginning of material 0 do not drill sentence 2 200 start permitted sentence 3 5 yes next scan sentence 4 2 no repeated scan waiting loop sentence 5 202 end of material sentence 6 1 yes gt initial position sentence 7 201 no distance 2000 sentence 8 11 yes distance 2000 sentence 9 1000 no distance 1000 1 drill sentence 10 2 ready back to first scan sentence 11 2000 distance 2000 1 drill sentence 12 2 ready back to first scan sentence 13 iit bes 0 end of program 8310 8610 8 4 46 4 15 Coordinates offset FUNCTIONAL DESCRIPTIONS 4 15 Coordinates offset With units containing only pure positioning axes the origin of coordinates can be offset for each sentence namely either absolutely with reference to the machine zero point angle encoders zero or reference point with incremental systems or relatively to the just valid origin The following diagram demonstrates these possibilities axis 2 axis 2 O c abs Al 200 4 C abs A2 350 100 or C rel A1 200 4004
37. 28 becomes effective as long as Delta_s is within this range U O remains unchanged This also applies to active position loop controlling in the interrupted or reset state storage location 3 47 8310 8610 8 4 8 4 4 Drive control FUNCTIONAL DESCRIPTIONS 4 4 2 Positioning characteristic The characteristic of the positioning curve e g soft start is determined by the jerk parameter i e the jerking time refer to storage location 3 39 The larger the jerking time is programmed the smaller is the Jerk i e the softer the drive runs during starting and stopping The following diagram illus trates these relations by the example of 3 different jerking times t j DispU sec 3 accelerating braking Cole stc sales example 1 for tj1 example 2 for tj example 3 for tj3 tji lt tj2 lt tj3 jerk gt jerk 2 gt jerkg E180016B 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals 4 9 4 5 Signals 4 5 1 Sense The sense line module C is a measuring line which measures the voltage drop across the positive line to the incremental encoder Precondition is that both supply lines have an equal cross section and an equal length resulting in an the equal voltage drop The output voltage of the Controller is then adjusted so that 5 V are applied to the encoder terminals If the sense input is not wired then the regulator supplies a stabilized output voltage of 5
38. 4 26 4 10 External data input output option 4 27 4 10 1 VAAN cave eatin SERRA JR FERRO AS CAN RAR JRR JRR ENA 4 27 410 2 Data OUT OM PSD SR DD R E ARE Ra a RANE Ra 4 28 a a a M a aE ae E A E 4 31 4 11 1 Software limit switches and input monitoring eeesesssseerrreeessserreen 4 31 4 11 2 Hardware limit switch option eee 4 32 4 12 Clock OPON oiie inniinn niine Ca Aa dd 4 34 w 8310 8610 8 i FUNCTIONAL DESCRIPTIONS 4 4 13 Linear path COMTOhiscscabes uescnscenmseaeseewseetadennatesucuacniqeamstaeaeewssttadennneaetcs 4 36 4 14 Program flow instructions c cceeceeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeaaes 4 39 4 14 1 Call subroutine CALL Pr wis saivnestutetonaeniarineteneindSaivnvinteantinctnlawientys 4 40 4 14 2 Jump instructions JUMP Pr JMP Sent cc ccceeeeeeeeeeeeeeeeeeeeeeees 4 41 4 14 3 Signal dependent branching IF I O ll 4 42 AA AeA EX AIM ICS Seco eo oe one aes gear a eee andi 4 43 4 15 Coordinates of set eee eeeeeeeececeeeeeeeeeeeeeeeeseeeeeeeeees 4 46 il 8310 8610 8 COMMISSIONING 5 1 5 Commissioning The procedure specified in the following for the commissioning of the Controllers GEL 8310 8610 can only be a proposal and is just one of various possibilities Use your experience to optimize this procedure for your special needs and applications Commissioning basically includes the following steps Standard settings sectio
39. 9 ed ME LNCLHO NS tros dada ira on for ar ac A eens 3 10 3 2 2 Programming example co coeccars cusenredi son vecucotus iil vedivedi vedas eth vedivedivedsietioedsa 3 14 3 3 Programming mode for machine parameters cccceeeeeeeeeeeeeeeeeeeeees 3 15 gh SRUMCMOMS rere A conc cone A ten seer 3 16 3 3 2 Programming example ores exes snes cote ces re ra sd nad 3 18 Functional Descriptions 4 4 1 Defini e a Seenen er aence a a TEETE EE NET Rt 4 1 4 1 1 Actual unit of MeaSUreMeNt eesssessesssssssssssssssesssssesesssssssssseeeeees 4 1 4 1 2 Display units DISPL sra cinco dinastia e e 4 1 Mula SOUND OMS CION sssini ensien e es ee tends pa e pia ate paide Deda 4 1 4 2 Sp cd rales tii aeaa A a aN a 4 3 4 3 Continuous sentence processing positioning without stop 4 6 4 4 Drive contol cd e ti ie eain 4 7 4 4 1 Principle of PeGUl AU OMS vee sess ate ren czar e sgeuee estes svat eeneusai See cee Seneneeesemeceet tauecente 4 7 4 4 2 Positioning Characteristic ja c c ca cede ceed cence deee deka dekce ceedeendetedshedceedeeenctee 4 8 4 5 o o go PRE RR ED RR ae took iach el ee E pe ea Sek RE ae eee oe 4 9 a fra Pa DOR Leki DDR DN e A DR A A 4 9 a PE SER SO vaxansvare soos anweuns NES RE DR SD ER RD SP erereaaseints 4 9 Ans Zero Delta S ousada cc ce te ee 4 10 4 5 4 DVIVECOMMONGIQMN ALS zap ia eniai a tale Lia pd alates aa 4 10 4 5 5 Program processing signals sssssssssssssssss
40. C rel A2 350 0 7 gt axis 1 an 100 200 c rel Al 400 7 axis 2 C rel A2 250 2 O c abs A1 600 200 o 100 C abs A2 100 1004 7 7 gt axis 1 o 0 100 200 O gt axis 1 0 100 200 300 400 500 600 700 800 E180039B If a sentence is started with a coordinates offset only the actual value counter of the concerned axes is changed No positioning process is involved Then the next sentence is started with an internally generated signal If it contains the nominal length 0 for all axes then here also no positioning is performed Requirements for all involved axes e system of absolute dimensions storage location 3 44 0 reference e no rotary table function storage location 3 8 0 Activation e press at the beginning of a sentence instead of the position for the first axis in the unit the key combination for an absolute offset of the origin display C i x X no of the axis or 6O for a relative offset of the origin display C msi ix X no of the axis 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 15 Coordinates offset 4 47 e Enter the desired absolute or relative zero coordinate for the x axis display A The input features for the coordinates offset correspond to the program flow instructions refer to section 4 14 General features Positioning example for an unit consisting of two axes sentence 1 100 coordinates machine coordinates 200 sentence 2
41. E mg 4 12 20 DY A mg 5 13 21 data ae st mg 6 14 22 data XXX XD mm 7 15 23 clock Ts mE 8 16 24 gt clock Peen 1 internal connections Address Coding pe amo Ch HIRES first module S1 Oi sag second module S2 ipa 4 6 compulsory for Lists for GEL 86xx only s1 3 GEL 83xx e Lei E180025N 8310 8610 8 B 10 PIN LAYOUT 1 to 3 analog outputs D Terminal 0 10 V 10V 10 mA potential free 1 22 mV resolution strip sustained short circuit proof with aux voltage 20 V control outputs 20 mA at maximum 1st module analog output for axis no a pd 2nd module OV 10V 10V analog output 20 V supply for signals forward reverse cancel controller lock release brake 1 internal connections Address Coding first module D1 com second module D2 pulsory for GEL 83xx for GEL 86xx only E180025C For the power supply of the module there must be a auxiliary voltage fed to terminals 1 and 2 of the N module 8310 8610 8 PIN LAYOUT B 11 Data input with auxiliary voltage 20 V E Connector o
42. EEE NARE ES 5 2 5 2 Actual value adjustment aeia0a 0 00 ert ecteda cde dna le fala plulan upar hGSUEGlsl go nadas abad 5 3 5 2 1 Incremental encoders s nln ren 5 3 5 2 2 Absolute CNCOJEIS ec ace as ae ot lose ot ae ones vo 5 3 5 3 Preparations for displacing the drive 5 6 5 4 Count direction and voltage polarity nnne 5 8 5 5 Minimum VONTADES is assar cusses adeeseenadedeh sada tededs ches adeeseetadedeh ade 5 10 5 6 Optimization of control parameters ccccceeeeeeeeeeeeeeeeeteeeeeeeeees 5 11 5 6 1 Maximum speed 22 4c suas 2002 iseseddedseepdecchss sects bb vesdeuseseadhdetepdoccescadetebakt 5 11 262 COMO ACTON usada ss SUS ali E E 5 12 5 6 3 Accelerating braking times llllll nene 5 12 5 0 4 BMG RR onte aa O O ere 5 14 5 7 Controller configuration scercee nc beta eee esas csi 5 15 8310 8610 8 i TROUBLE SHOOTING 6 1 Warning and error messages 6 1 6 Trouble shooting 6 1 Warning and error messages Apart from various operating state messages the Controller outputs an appro priate warning or error message in certain operating situations in displays B and C Each message must be acknowledged by pressing any key For warn ing messages requiring a decision the 12 key means confirmation whereas any other key aborts the respective function The following overview in alphabetic order shows the various error messages and the order
43. Unit Axis Description 19 jstart calib X Start signal was preset although the reference measure was not set for all axes to be calibrated refer to storage location 1 2 20 invalid prosram X Start signal was preset although no valid program was selected 21 start amp Pros Par X The started operating state was aborted by the programming of a machine parameter Oe lantaa do Bema Dose X An autom reference search routine was interrupted by the programming of a machine parameter 23 jm Drivel Prog Par X Manual positioning was aborted by the programming of a machine parameter X An autom reference search routine was aborted by the modification and recalculation of machine parameters 24 xi 25 m Brive amp MemEgit X Manual positioning was aborted by the modification or recalculation of a ma chine parameter 26 Fr Stop bit error at the serial interface wrong polarity Low level overrun check X Axis triggered the upper hardware limit switch MAX refer to section 4 11 2 28 amis im X Axis triggered the lower hardware limit switch MIN refer to section 4 11 2 27 er gcom errar Error during serial transmission parity 29 axig in Hi mir 30 invalid sentence X A non existing sentence was selected via the data input or by the JMP sent instruction X More than 5 consecutive jump instruc tions are specified in the program JU
44. V The following figure shows the possible connection of a 5 V encoder to the first count input of module C module C increm encoder Bae Ose 7KO no Ht E180014C 4 5 2 Fault The fault signal at terminal 30 of the 1st module P1 becomes active level changes from High to Low when the following situations occur e the Delta s contouring distance exceeds one of the programmed Smaxs values storage locations 3 42 and 3 43 e a limit switch triggers refer to section 4 11 At the same time the Controller changes into the stop or reset state the separation points in display B are flashing only visible if the corresponding axis is just displayed This state remains until either the start or search for reference signal is applied or the drive will be manually positioned 8310 8610 8 4 10 4 5 Signals FUNCTIONAL DESCRIPTIONS 4 5 3 Zero Delta s Using the zero Delta s signal at terminal 23 of the 1st module P1 a contouring error can be reset that has been built up in the interrupted or reset state The function has been created for the case that e the position loop control is activated for the interrupted state storage location 3 47 active and e EMERGENCY STOP circuits are used that influence the drive system but set the Controller only into the interrupted state In a triggered condition the drive does not follow timely
45. active service mode no password inquiry 8310 8610 8 A 10 STORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 1 _ Reserve Pp cee 18 GEL 8610 E not used for the l i o standard version 21 GEL 8310 1 _ Reserve pe ees 24 GEL 8610 Change to the next programming level via so 0 0 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 11 2 Unit parameters 2nd level 2 1 Batcht number of pieces batch counter and auto start Batch t number of pieces batch counter and auto start Specifies whether the number of pieces nominal value type is to be part of a sentence and or whether individual times for generating an automatic start signal are to be preset If one of the variants 2 or 3 has been activated the time preset by the unit parameter 2 10 will be ignored 0 inactive no number of pieces and no auto start time sentence 1 batch with number of pieces 2 t auto time specification for auto start with each sentence The input format of the times in the nominal value programming mode is the same as that of storage location 2 10 with 0 this sentence will not be automatically started 3 both both possibilities 2 2 m tune Machine tnctons Specifies whether the machine functions nominal value type is to be part of a sentence or not and if so at which optional data output module the machin
46. based voltage spikes gt 2 5 kV 250 Vz 50 60 Hz 2 A mains side height 32 dimensions in mm E6101AH 8310 8610 8 C 8 SPECIFICATIONS Types and coding Format GEL 8 X 1 0 x x x x xIxX xX xX X X 2 3 4 5 6 7 8 9 10 11 12 13 14 place 1 Every X from the 7th place in the coding stands for exactly one module to be specified the total number of the optional plug in modules from the 6th place is limited to 5 GEL 8310 or10 GEL 8610 0 in the type code means that no choice has to be made for this place Basic device aa x xix x o x x x o ol 1 2 3 4 Controller enclosed in a 144x144 mm casing for up to 3 axes with positioning software incl power supply module N e 6 1 0 x x x x x x x x x x 1 2 3 4 Controller enclosed in a 288x144 mm casing for up to 6 axes with positioning software incl power supply module N control inputs 8 3 1 0 amp X outputs 8 6 1 OIX 5 compulsory xlix x olx xX X 0 0 XIX x xlx x x X X X module s without memory card option A for 1 axis P1 B for 2 axes P1 C for 3 axes P1 D for 4 axes P1 P2 E for 5 axes P1 P2 F for 6 axes P1 P2 with memory card option G for 1 axis P1 H for 2 axes P1 J for 3 axes P1 K for 4 axes P1 P2 L for 5 axes P1 P2 M for 6 axes P1 P2 8310 8610 8 SPECIFICATIONS C 9 Analog outputs 8 3 1 0 xX x xX x olx x x 0 o0 8 6 1 olxlxlx
47. connectors E and A Otherwise the external voltage supply will be short circuited causing damages on the module 8310 8610 8 B 12 PIN LAYOUT Data output logic outputs A Connector with aux voltage 20 V Imax 10 mA per output A see table e STE e e 2 o is o ae 21 2 108 5 ue z LINT EAD op 11 0 asa L on da Ot S S ST10 10 22 2 2 20VE 2 7 L104 a fe poa ER Mae es aee g 0 2 20 V6 o RE 2 3 e LINT EXT o E Eo g e ol or 10 Is 2 19 67 20 E e __ 93 8 o 18 et Delano gt gt e oi 10 Y S Yo 7 6 E 20 E lo GS e a7 2 22 o 2 E IMs DO a sor O S 15 3 2 S e ap 2 5 v R4 stop q 3 2 L100 end of program e TP end of block as 20 M1 IM1 IR1 lend of sentence 3 80f 2 8 2 2 3 61 2 9 female connector storage location sional votege inte rio sro sro internal 20 V Address Coding data inputs outputs first module A1 second module A gt third module As fourth module As Ot Sl on Oi Con O ion Te ef ion C oF O Dior Ci or ath O OFF per Ou OHO o aos Ojo co N o N o N o N E E E E E E E n n n N N Yn n n for GEL 86xx only With combined data input and output address encoding applies to both E180047D The power supply for the signals ist preset to internal at the factory With combined data input output connectors E
48. incremental encoder of the treated axis is completed for the time being 5 2 2 Absolute encoders Y Storage location 3 1 code type of logic If you do not know the encoder s logic type with Gray or BCD code you may find it out later on see further below Y Storage location 3 2 count direction The encoder s correct count direction will be set later on i e as soon as the machine can be displaced section 5 4 Y Storage location 3 3 multiplier The position transmitted by the encoder is multiplied by this value before it is shown in the actual value display 8310 8610 8 5 4 5 2 Actual value adjustment COMMISSIONING Example At one revolution the position value changes by 1024 however a value of 1000 should be the result multiplier 0 9766 rounded up the rounding error results in a respective positioning inaccuracy after several revolutions Storage location 3 5 decimal point The number of decimals depends on the requested resolution Example actual 820 DispU required 82 0 actual measuring units mm with a resolution of 1 10 mm decimals 1 2 X X Storage location 3 54 resolution In this case resolution means the bit range of the connected encoder singleturn part multiturn part used parallel inputs of terminal strip W or Y singleturn part for SSI encoders connector S Storage location 3 55 enable signal terminal strip W Y Set the logic level of the signal Determination of the enco
49. input some special characteristics have to be considered refer to section 4 8 1 active 0 inactive 3 9 Man cal Manual calibration functions Certain calibration functions may be performed via the keyboard in the Automatic mode refer to section 4 6 0 inactive no calibration function via the keyboard 1 ref val direct entry of a reference measure via HO 6 the nominal value overwrites the originally programmed value in storage location 3 15 or 3 85 2 auto cal set the search for reference signal via the keyboard 3 val auto both variants 1 and 2 are enabled 8310 8610 8 A 22 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 10 Set ref Setting of the reference measure Specifies the direction of travel for the setting of the reference measure when positioning the drive refer to section 4 6 0 inactive the setting of the reference measure is disabled 1 forward the reference measure will be set when moving the drive in the forward direction 2 reverse the reference measure will be set when moving the drive in the reverse direction 3 forw rev the reference measure will be set irrespective of the direction of travel 3 11 Auto cal Automatic reference search routine Specifies the direction of motion for setting the reference measure for the auto matic reference search routine auto calibration This can on
50. las 6 additionally PC software BB8110 included single user licence L power outputs L R contact relay outputs W as 7 additionally PC software LB Flex for WINDOWS PG 8012 included German Controller type GEL 8x19 V jas W but English Example GEL 8310JCF006RRO0 Positioning controller enclosed in a small casing 8310 with the facility of storing data on a memory card and controlling 3 axes J 3 analog out puts C 1 module with 3 count inputs for incremental encoders 5 V 24 V F 1 serial interface V 24 with real time clock 6 and 2 modules with contact outputs R 8310 8610 8 SPECIFICATIONS Accessories C 11 designation order no Mains transformer 115 230 V 50 60 Hz sec 20 V 25 VA and 27 V 70 VA GEL 89033 Mains transformer 115 230 V 50 60 Hz GEL 89036 sec 20 V 35 VA and 27 V 110 VA Clamping plate for mains transformer GEL 89033 GEL 7922 Mains suppression filter with current compensated chokes 250 VAC GEL 7925 Memory card EEPROM GEL 89001 EPROM set for software updates GEL 89005 Hand terminal Options designation e Communication GEL 131 documentation order no LB2 procedure inserted as standard DS11 89100101 GEL 8910 0101 GEL 131 procedure incl LB2 DS11 89100102 PROFIBUS incl LB2 module U required DS11 89100103 GEL 8910 0103 las before additionally G
51. made via storage locations 3 10 and 3 11 refer to below e when positioning the drive 3 10 e with an automatic reference search routine 3 11 4 6 1 Setting of the reference measure when positioning the drive If the value programmed at storage location 3 10 is unequal to 0 the reference measure can be set during the positioning process or the manual positioning of the machine The storage location determines the direction of travel where 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 6 Reference measure 4 21 the reference measure is to be set for the forward motion forward or the reverse motion reverse or irrespective of the direction forw rev The reference measure is set with the positive or negative edge of the reference fine signal at terminal strip C or Z proximity switch or zero signal of the encoder if at the time of the edge the reference coarse signal is active The edge resp the level of the signals are determined at storage locations 3 12 and 3 13 By setting the reference measure the Controller outputs the signal reference reached This signal is reset at power failure after presetting of the signals e start and e reset or after selecting a storage location in the machine parameters programming mode 4 6 2 Automatic reference search routine If a value unequal to 0 has been programmed at storage location 3 11 and High level is applied to the stop input of the respective unit a referen
52. number storage location 2 7 e manual drive signals storage location 3 19 e hardware limit switches storage location 3 74 e nominal positionlength storage location 3 75 e correction value storage location 3 76 e speedrate storage location 3 77 With the next start signal the BCD data nominal values program and sentence number are taken over by the Controller Nominal values are only effective if a program has already been selected All nominal values must be specified in DispU i e the resolution used is not taken into account e g for a speed rate value of 150 with the resolution of 1 100 i e 150 00 the BCD value 15000 has to be input You will find further explanations at the individual storage location descriptions in appendix A O If identical input positions decades are programmed for different units or 1 axes then the same data will be interpreted differently Therefore you must plan and program the assignment of units axes and data inputs types very carefully Combinations of data groups are possible This allows a more effective use of a data module For instance with the corresponding programming the program numbers for three units or the signals for the manual positioning of six 8310 8610 8 4 28 4 10 External data input output FUNCTIONAL DESCRIPTIONS axes may be preset at a single data input connector you will find a more detailed example performed for the data output at the end of the next se
53. ore prg no byte 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 14 Program flow instructions 4 41 4 14 2 Jump instructions JUMP Pr JMP sent If the Controller encounters the JUMP Pr instruction while processing a program it will directly branch to the program with the indicated number processing starts with sentence no 1 With JMP sent processing will resume at the indicated sentence thus skipping certain sentences In order to avoid endless loops the number of succeeding JUMP instructions is limited to 5 If this number is exceeded me program IS ee at the corresponding position and the error 31 Mare as LPF Is stored in the fault memory can be retrieved with O CALL instructions do not influence the counter of JUMP instructions which RE that they do not interrupt a JUMP chain This counter is however reset to zero by a positioning process or an IF instruction If another program is called from a subroutine CALL with JUMP Pr then after processing the other program a jump is made back to the program that originally contains the CALL instruction processing continues with the sentence following the CALL instruction Input JUMP Pr JMP sent 2 eO e program no 1 99 e sentence no 1 999 Upon the entry the existence of the specified program or sentence is not verified If the program or sentence does not exist the current program is aborted when the JUMP instruction is executed T
54. sentences positions with the nominal piece number of 2 storage location start 1 2 3 4 5 6 7 8 9 0 i 3 56 nom 24 nom 14 7 3 1 2 1 pat 1 m batch nom 2 nom 1 1 2 salle 1 2 1 2 2 batch c nom 25 o nom 1 1 2 1 aor 1 2 1 2 3 sent A nom 2 nom 17 1 2 1 2 i 1 2 1 2 4 sent park nom 2 ima nom 1 1 2 1 2 RS par 1 2 1 2 5 m cycle nom 2 nom 1 1 2 1 2 RS i 1 2 1 2 6 cycle park i 1 2 piece batch counter RS reset E180040A 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 10 External data input output 4 27 4 10 External data input output option O The data modules used must be addressed correctly so that data will be available at the desired module Address coding is performed through particular jumpers on the boards in appendix B you will find the necessary information Note In appendix Y you will find a form where you can put down the actual configuration of your data inputs and outputs 4 10 1 Data input For presetting data BCD and signals up to 4 modules E are available each with 24 logic inputs grouped into 6 decades with 4 bits each and enumerated from 0 to 5 cf appendix B The input data can be unit or axis related Accordingly programming is done either with the unit parameters 2 x or the axis parameters 3 x The following possibilities exist e program number storage location 2 6 e sentence and program
55. signals the actual value counter display A is set to the reference measure the drive is stopped and the reference reached signal is output This process is described in the previous section 4 6 1 During the automatic reference search routine display B shows amp instead of the sentence number The automatic reference search routine can be aborted by a stop or reset signal 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 7 Correction VALUE 4 23 4 7 Correction value To compensate cutting losses or tool wear a positive or negative value can be preset by which each nominal position or nominal length will be corrected taking the sign into account This applies to the system of absolute dimensions storage location 3 44 0 as well as the system of incremental dimensions storage location 3 44 0 a absolute dimensions positions target position programmed nominal position correction value b absolute dimensions lengths floating zero processing target position previous nominal position length programmed length correction value c incremental dimensions counter value at start set to correction value residual value target position programmed nominal length The correction value is programmed at storage location 3 6 either in the machine parameters programming mode or directly in the reset state of the automatic mode precondition storage location 3 7 1 active Direct entry of a correction value
56. stated conditions refer to storage location 3 9 and section 4 6 2nd reference measure 3 85 XXXXXXXX max 8 digits incl sign and decimal point specification of the value in actual measuring units 3 16 Cal spd Auto calibration speed rate Speed rate of the automatic reference search routine up to the reversal point proximity switch refer to section 4 6 XXXXXX max 6 digits incl decimal point value in actual measuring units per second 3 17 Rev spd Reversing speed rate Speed rate of the automatic reference search routine from the reversal point proximity switch towards the reference point refer to section 4 6 XXXXXX max 6 digits incl decimal point value in actual measuring units per second 8310 8610 8 A 24 STORAGE LOCATIONS FOR MACHINE PARAMETERS 8 18 ManOper Operating state for manual positioning Specifies the operating state in which the drive can manually be moved High level must be applied to the corresponding stop input P4 7 10 0 reset the Controller must be in the reset state 1 stop res the Controller must be in the reset or interrupted state 3 19 Man ctrl Manual positioning Specifies the data input refer to section 4 10 1 and the position to which the control signals for the manual positioning of the drive are applied refer to appendix B or if the controlling shall be performed via the keyboard
57. the different instructions is however possible 4 If an instruction is to be cancelled or to be replaced by a normal sentence the corresponding instruction sentence is first to be deleted HZ resp When inserting a normal sentence using 3 resp then the sentence currently being active must also be a normal one i e no instruction sentence Alternatively a normal sentence can be substituted or inserted at the desired position by copying resp see section 3 2 1 Branchings or jumps are only possible inside the unit 4 Each program control instruction causes the generation of an internal start signal regardless of whether or not auto start storage location 2 10 has been activated This means that a program will automatically continue until either a positioning instruction nominal position length or the end of the program is reached 4 A timer function for the delayed processing can be simulated by program ming an auto start time for each sentence refer to storage location 2 1 8310 8610 8 4 40 4 14 Program flow instructions FUNCTIONAL DESCRIPTIONS With a serial data transmission by means of the LB2 protocol dummy values must be transferred after the code for the respective instruction see there for all nominal value types that are contained in a normal sentence e g piece number determined by the programmed sentence structure of the unit even if t
58. the angle of the path change and on the processing speed as well as the programmed maximum values for 8310 8610 8 4 38 4 13 Linear path control FUNCTIONAL DESCRIPTIONS acceleration and speed rate of the involved axes The restriction described in section 4 3 is not valid for this function The following figure shows some typical path courses A B C nominal values programmed S automatic start E180093G 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 14 Program flow instructions 4 39 4 14 Program flow instructions Within the programming mode of nominal values the following additional control functions are available instruction key combination meaning CALL Pr EHO process another program JUMP Pr 6O resume to work with another program JMP sent 33 continue processing at another sentence IF T O aa resume program processing depending on the state at a certain signal input or output General features 4 The instructions can only be activated at the beginning of a sentence and occupy an entire sentence first and ony nomna vawe me same as the end of program The error message Hiri Lu Fe reir is output if an instruction is programmed at a sentence o other than the first one 4 The instructions can not be activated deactivated by the repeated actuation of the corresponding key combination as this is the case at the change over between position and length A change over between
59. the unit Furthermore for the axes to be commissioned the pertaining unit control inputs stop High level and reset must be connected see appendix B Unit parameters For the moment the unit parameters are not yet to be programmed Axis parameters The axis parameters are dealt with in the following sections 8310 8610 8 COMMISSIONING 5 2 Actual value adjustment 5 3 5 2 Actual value adjustment 5 2 1 Incremental encoders Y Storage location 3 1 edge evaluation The type of edge evaluation for the encoder pulses depends on the actual measuring unit used in the installation refer to section 4 1 1 Example existing encoder with 250 pulses revolution desired are 1000 increments revolution 4fold edge evaluation Incr x4 Y Storage location 3 2 count direction The correct count direction of the encoder will be set later on as soon as the machine can be displaced section 5 4 Y Storage location 3 3 multiplier The edge evaluated encoder pulses are multiplied by this value before they are shown as count pulses in the actual value display Example actual 1000 increments revolution desired 820 incre ments revolution multiplier 0 82 Y Storage location 3 5 decimal point The number of decimals depends on the requested resolution Example actual 820 DispU required 82 0 actual measuring units mm with a resolution of 1 10 mm decimals 1 2 X X Now the adjustment of the actual value for the
60. x x x x x x x 6 X outputs module D1 D2 0 A 1 1 B 2 2 C 3 3 D 4 3 1 E 5 3 2 F 6 3 3 G 3 2 1 H 4 2 2 GEL 8610 only J 5 2 3 K 2 1 1 L 3 1 2 M 4 1 3 For example K means that there is one analog output for axis no 1 and one for axis no 4 Actual value 8 3 1 0X inputs 8 6 1 0 module 1 count input 24 V Z 2 count inputs 24 V Z 3 count inputs 24 V Z C C C 1 count input 5 V or 24 V 2 count inputs 5 V or 24 V 3 count inputs 5 V or 24 V nmo ow gt x N Jinput for 1 3 absolute encoders with Low active outputs multiplexed Y P input for 1 3 absolute encoders with High active outputs multiplexed W S 3 inputs for absolute encoders with synchronous serial output SSI 09 8310 8610 8 C 10 SPECIFICATIONS Data inputs 8 3 1 0 xX outputs 8 6 1 olx xlix x olx X X 0 o0 xIx x xlX x X X X 10 11 12 13 14 X module ol 1 data input output inputs High active E A EF data output A 5 data input inputs High active E 6 serial interface RS232C V 24 and serial bus RS422 RS485 with real time clock once possible only V 7 as 6 but without real time clock 8 intelligent interface RS422 for special protocols T 9 intelligent interface RS485 for PROFIBUS applications GEL 8910 0103 option required U B as 7 additionally PC software BB8110 included single user licence C
61. 0 01 depending on the set resolution Y Storage location 3 26 voltage range of the analogue output Fix here whether the displacement voltage should be bipolar or unipolar Y Storage location 3 31 maximum voltage value Umax This value is determined by the maximum speed of the drive Vmax system dependent e g 8 50 V for vmax 3000 rpm Y Storage location 3 32 maximum speed rate Vmax This is a installation specific value and indicates the speed in actual measuring units per second at output voltage Umax For the moment it is sufficient to indicate an estimated value or a value calculated from the installation data Later on the value will be optimized refer to section 5 6 1 Example 1956 rpm 32 6 sect 4 35 sec 7 5 1 machine A BAY OO Pulsesirevol 435sec 2500pulses 4 0 4325 18814 pulses sec 10 V Umax AH edge evaluation 4fold multiplier 0 4325 E010H Y Storage location 3 33 control factor Ksp By programming a value for the control factor which is very small for the beginning the closed loop control is activated Ksp 1 0 Y Storage location 3 34 working speed rate For the moment program a value which is near to vmax approx 95 8310 8610 8 COMMISSIONING 5 3 Preparations for displacing the drive 5 7 Y Storage locations 3 35 to 3 38 values for accelerating and braking These data should already be available from adapting the drive to the machine Should this not be
62. 1 4 axes to the 3rd unit X input of the number of axes with the following possibilities X O no axis assignment to the following units impossible X 1 1 axis 3 4 5 or 6 X 2 2 axes 2 amp 30r4 amp 5or5 amp 6 GEL 8610 only X 3 3 axes 3 to 5 or 4 to 6 GEL 8610 only 3 to 6 GEL 8610 only continued for the GEL 8310 further below 1 6 Unit4 Configuration unit 4 GEL 8610 Assignment of 1 3 axes to the 4th unit GEL 8610 only x input of the number of axes with the following possibilities X 0 no axis assignment to the following units impossible X 1 1 axis 4 5 or 6 X 2 2 axes 4 amp 50r5 amp 6 X 3 3 axes 4 to 6 i 7 units Configuration unit 5 GEL 8610 Assignment of 1 or 2 axes to the 5th unit GEL 8610 only X input of the number of axes with the following possibilities X 0 no axis assignment to the following units impossible X 1 1 axis 5 or 6 X 2 2 axes 5 amp 6 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 7 1 8 Unit Configuration unit 6 GEL 8610 Assignment of 1 axis to the 6th unit GEL 8610 only x input of the number of axes with the following possibilities X 0 no axis X 1 1 axis 6 GEL 8310 1 Memory card GEL 8610 Activation of a write protection for the optional memory card 0 no protection i e data can be stored any time via aA resp 1 protect data cannot be stored
63. 10 8 FUNCTIONAL DESCRIPTIONS 4 11 Limit switches 4 33 Example Limit switches of 1st and 2nd axes are connected to decade O of 8310 8610 8 20 14 i O 2 0 do 15 O O 3 28 16 CO 2 O 2 4 1 2 17 OT 2 O 5 23 18 O 2 1 O 2 6 2 2 19 O 2 O 23 E2 the E2 data input module and the ones of 4th and 5th axes to decade 2 of the same module limit switch MN laxis 1 ay laxis 2 Ey laxis 5 ho laxis 4 E180053C 4 34 4 12 Clock option FUNCTIONAL DESCRIPTIONS 4 12 Clock option With the use of a serial interface module V with battery buffered clock it is possible to indicate the actual date and time as well as the time of the occurrence of a fault The actual date and time can be indicated in each operating state of the automatic mode displays B C by pressing the O key combination resp the key GEL 8610 actual position length year month seconds minutes hours day E180077C For the indication of fault time values refer to paragraph 6 2 As long as the time is indicated no other function can be activated at the Controller The clock function is terminated by means of the key then displays B and C again indicate the normal operating data Setting the clock The clock is set within the programming mode of machine parameters i e immediately after having activated the programming mode after the pass
64. 2 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 Enable signal for absolute encoders 56 57 58 Setting of reference measure Automatic reference search routine Reference fine signal Reference coarse signal Reversing switch signal First reference measure Reference positioning speed rate Reversing speed Operating status for manual positioning Manual positioning Polarity for manual positioning control Slow speed rate forward Fast speed rate forward Slow speed rate reverse Fast speed rate reverse Polarity of the analogue output Voltage range of the analogue output Positive dead range Negative dead range Minimum positive voltage Minimum negative voltage Maximum voltage Maximum speed rate Control factor Operating speed rate Maximum acceleration forward Maximum acceleration reverse Maximum braking forward Maximum braking reverse Jerking time Positive tolerance Negative tolerance Maximum positive contouring error Maximum negative contouring error Measurement system Multiplier for speed rate values Decimal point for speed rate values Position control in the interrupted reset state Control conditions after reaching the nominal position Control of automatic calibration Control of manual positioning Time for opening the brake Time for closing the brake Zero point adjustment for angle encod
65. 2 DE SOOO om DO mi 5 m 5 mi 5 W E 6 Im 6 im 6 DE coca ee oo mE im s 8 8 E SS O OBO MAO ars ge lane UO 10 LM 10 alo 11 12 mm 11 mm 11 6 nE 1g m 12 m2 m 14 ld imi 13 l mm 13 l E 7 15 14 mm 14 m 15 l m 15 E e 16 16 16 E W 17 l E is l m 17 im o imi 18 Im 19 1 im 18 imi 1 ee ee mis HO mo ff m O mm 20 20 E 21 21 E 21 im 22 im 22 L W 22 I W 11 E 23 m23 23 mi 24 im 24 l l L l 1 W 24 mi 12 E 25 mm 25 a W 26 im 26 Iaga l U1 U2 T1 T2 T3 E 13 mm 27 mai 27 m 1 EE II mis o HE mi m 29 1 m 2 1I HE E Imi 30 IO 30 1d 4 E 10 X186003A Modules which may exist several times e g R are marked by a corre sponding index 1 to 4 at max A certain address code is allocated to each index It is achieved via specific jumper positions on the module cards which are indicated at the bottom of each connection diagram The terminal sockets of the modules and the terminals strips supplied are coded and labelled accordingly e g Ra R 8310 8610 8 PIN LAYOUT B 3 Module arrangement of the GEL 8310 back of the Controller Configur
66. 200 coordinates offset absolute to the 300 machine zero point sentence 3 0 coordinates work piece coordi 0 nates sentence 4 300 100 sentence 5 axis 2 axis 2 e With the first starting signal i Te a 100 position P4 is moved to P 0 0 e With the second starting signal 300 pi gt axis 1 the actual values of axis 1 and 0 O 100 200 300 A axis 2 are set to 100 coordinates 200A fP 100 200 offset and then with an internal 100 7109 start the position P2 is moved to with reference to the machine dE zero point the coordinates would 0 100 10 300 400 500 be 200 300 E1800390 Position Ps is moved to with the third starting signal The machine zero point is reactivated with the next reset signal i e the displayed actual values are related to this If in the example above the Controller is reset in Ps then the actual value of axis 1 is set to 500 and the one of axis 2 to 400 1 Programmed positions of software limit switches storage N locations 3 71 73 are related to the actual positions in the current coordinate system In an unfavourable case with CAUTION coordinates offset monitoring can thus become ineffective 2 When using absolute encoders the end of the counting range can be reached by one or several unfavourable coordinates offsets Thus a prohibited actual value jump can appear during positioning 8310 8610 8 4 48 4 15 Coordinates offset FUNCTIONAL DESCRI
67. 23 4 3 5 5 DecPoint Decimalpoit DecPoint Decimal point Decimal places resolution of the nominal and actual position length values in the display and at the input in the programming mode of machine parameters this also applies to the speed rates cf storage locations 3 45 and 3 46 refer to section 5 2 0 X no decimal place X X peme o ooo XxX two decimal places X XXX freer pases ooo X XXXX four decimal places AJOJN 3 6 Corr val Correction value Correction value for the compensation of cutting losses with system of incremental dimensions or tool wear with system of absolute dimensions the value programmed may be changed via direct entry in the Automatic mode refer to storage location 3 7 and section 4 7 0 XXXXXXXX max 8 digits incl sign and decimal point value in actual measuring units 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 21 3 7 Man corr Direct entry of a correction value A correction value can be entered after pressing in the reset state of the Automatic mode it overwrites the originally programmed value in storage location 3 6 refer to section 4 7 direct entry is disabled direct entry is enabled Ro table Rotary table a 8 Bote Rotarytable Re Restriction of the counting range for rotary table applications XXXXXXXX Max 8 digits incl decimal point positive values only for m
68. 310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 31 3 47 47 Reg stop contolinthestophesetstate Reg stop Control in the stop reset state Specifies if the closed loop position control is to be active in the interrupted stop or reset state 0 inactive closed loop control is switched off the release brake and cancel controller lock signals are reset 1 active closed loop control is active the signals release brake and cancel controller lock remain active in this case storage locations 3 48 to 3 50 are internally set to 1 too irrespective of the actual programming 3 48 RegStart Control conditions after reaching the nominal position In the started state the closed loop position control always remains active it has however to be determined if the release brake and cancel controller lock signals are to be reset once the nominal position is reached 0 with sig signals are reset only valid if storage location 3 47 0 1 wosig w o sig signals remain active automatically set with 3 47 1 8 49 Reg cal Control of the automatic calibration Specifies if the reference search routine is to be closed loop controlled or just speed controlled calculated voltage curve 0 inactive without closed loop control only valid if storage location 3 47 0 1 active with closed loop control automatically set with 3 47 1 a 50 Reg man Control of th
69. 6 PIN LAYOUT U Connector Intelligent interface RS 485 for PROFIBUS applications GND RxTx RxTx EN female connector E Insert bridges for terminating resistors at the terminal device female connector E180047C If the module is inserted the description of the Op3 option in appendix O will give you further information T Connector Intelligent interface RS 422 for special protocols 9 bd e7 female connector E180047F A separate description is supplied if the module is inserted For the power supply of the modules there must be a auxiliary voltage fed to terminals 1 and 2 of the N module 8310 8610 8 PIN LAYOUT Appendix B Pin Layout Connector CESIGMANONS 25 crsncar es coda sects set cecee varices ela ede dra ana da aca ia B 1 FermiNal Stip COAN issii niiin aaa ea a i a aa E a B 2 Module arrangement of the GEL 8310 back of the Controller B 3 Module arrangement of the GEL 8610 back of the Controller B 4 Connection diagrams cease ctenontendisenvaincncatasagaantauaestaeasdlehmntadcanontancssnasasennnbaestine B 5 Terminal strip N power supply B 5 Terminal strip P control inputs outputs nn B 6 Terminal strips C Z
70. 8 GEL 8310 or 6416 GEL 8610 storage locations for nominal values available can be devided at will up to 3 6 units 99 programs per unit and 999 sentences per program Units are composed of up to 3 6 axes to be determined via the system parameters see appendix A and have a common start stop and reset input each for the combined axes Each program can consist of a different number of sentences When pro gramming nominal values the end of program has to be defined after the last sentence via a special key combination refer to the following section it is handled within the system like an individual sentence which however only contains the number of program runs cycles to be set If the program shall be extended by some sentences at a later time these must be inserted separately or as a group by copying refer to the following section 3 2 1 to shift the non replaceable end of program backwards On the other hand the end of program will be shifted forward if any sentences are deleted from the program The structure of the sentence is fixed separately for each unit unit para meters see appendix A The following types of nominal values can be part of a sentence in the given order 8310 8610 8 3 10 3 2 Progr mode for nominal values OPERATING MODES AND STATES e position length for each of the combined axes compulsory e number of pieces batch counter e time for auto start e machine functions e speed rate for ea
71. Auto dh amp Error N 1 Sa Na lt d d Y Z f W lt lt gt gt gt n Na lt A A w 4 gt n LD Da gt i x A A A a b function keys reserved S automatic mode switch on TEACH IN operation T U enter search reference measure copy sentence s V enter correction value jump to the beginning end of the W call up fault memory program X go to the beginning of the delete program with security next previous sentence inquiry Y manual operation in combination incremental dimensions _ with z A O U w absolute dimensions Z A fast slow speed reverse continuous sentence processing O U slow fast speed forward define the end of program SHIFT switch over to capital letters for delete sentence plain text input programming mode for nominal w output actual nominal signal values blank character for plain text Re Rn lt gt a rite memory card cursor wri y CU ta pa no left right for plain text input a store and go to next nominal occurrence option value of same type PSr SENENGE b store confirm messages 8310 8610 8 OPERATIONAL CONTROLS 2 3 2 3 Function key combinations The key combinations listed below are related to the Controller standard version valid at the time of printing of this manual If there are one or more functional options inserted in the Controller you will find more information in the special description of the option appendix O More detailed informatio
72. CALL JUMP instruction from another program just started so as to avoid non defined initial positions In this case the program is eee ies Me a tues the Controller remains in the reset state Error 33 g LF t is stored in the fault memory can be retrieved with DO Consequently after a start at least one positioning instruction must sk an IF instruction By chaining several IF conditions logical ANDs or ORs can be implemented refer to the example in the following paragraph Input OO e O number s b mn The I O numbers are coded as follows 1Xx 4xx data input E1 E4 5xx 8xx data output A1 A4 xx 00 23 gt bit number 0 2 23 2 90x actual nominal signal 100x reference reached signal x 1 6 gt axis1 6 Normally the data inputs outputs are grouped into decades counting from bit 2 to 2 each refer to appendix B Concerning the IF instruction a binary devision is performed i e counting is continued with decade 1 with bit 2 instead of 2 up to 2 decade 5 bit 2 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 14 Program flow instructions 4 43 ne evs is pmentored concerning valid value range In case of an error the PPPS Lic er message is output confirm with any key Coding for serial transmission length 4 bytes byte 4 MSB 3 l 2 1 LSB 30h 00h VO no 4 14 4 Examples 1 Logical OR In case of High level at position 2 or 2
73. DESCRIPTIONS 4 4 Drive control 4 7 4 4 Drive control 4 4 1 Principle of regulation Vt Kyu V St Delta_s a Vk E vV We Ua F Ksp 1 a DispU sec KI V 1 sec act value process ing GEL 8x10 E1800078 From the programmed machine parameters of the drive and the specified nominal values of position and possibly speed the Controller calculates a time dependent speed characteristic v and the associated position s At the beginning of each cycle 1 msec per programmed axis the speed value v valid at that time is preset for the drive principle of speed pre control At the same time the actual position is inquired and compared to the value s calculated for this time If the result shows a difference positive negative contouring error Delta_s to be shown in display C then this difference is converted using the proportional action factor Ksp to an equivalent speed value Vx This value is then added to the time dependent nominal speed value v The control dynamics Ksp can be adjusted according to requirements storage location 3 33 The ratio of the speed v to the output voltage Ua Kvu is fixed by the pro grammed values of Umins Umax and Vmax Storage locations 3 29 3 31 and 3 32 After the control preset value has reached the value for the nominal position speed pre control is terminated then the dead range Sgeaqs Sdeaa preset via storage locations 3 27 and 3
74. EL 131 included DS11 89100103 GEL 8910 0102 GEL 8910 0104 e Functions Circular interpolation DS11 89100201 GEL 8910 0201 Synchro control DS11 89100202 GEL 8910 0202 Compact single axis device DS11 89100204 Flying saw DS11 89100205 GEL 8910 0205 Rotating knife DS11 89100207 GEL 8910 0204 GEL 8910 0207 Note The options within a group cannot be combined i e only one option GEL 8910 x1xx and or GEL 8910 x2xx can be inserted at a time Options belonging to different groups can however be combined Descriptions concerning inserted options you will find in appendix O 8310 8610 8 SPECIFICATIONS Appendix C Specifications Operatioital dalaacs E as teed CS eave hea arian ela cele T C 1 DIMENSIONS sons gases a nln hala GS dia Sia C 4 Types and COGMIG PEN ARDE hs ca RA ER RR PR RR RR NR PR RR cade ea ads C 8 PACCOS SONGS aaa iea Ee aera Ee aeai na Ee eeni toaa a tenance C 11 OIG POE NPR RS NON RV ND DR C 11 8310 8610 8 i OPTIONS Appendix O 8310 8610 8 Possible options Op1 Op2 Op3 Op10 Op20 Op40 Op50 Op70 LB2 procedure GEL 131 procedure PROFIBUS Circular interpolation Synchro control Compact single axis device Flying saw Rotating knife FORMS Appendix Y 8310 8610 8 i Key Reference for the Positioning Controllers GEL 8310 8610 valid from standard software version 14 00 Leno
75. HINE PARAMETERS 8 25 Polar O Polarity of the analog output Assignment of the voltage polarity to the direction of motion The polarity may only be changed if the drive does not move mechanically in the desired direction although the electric connection of the drive assembly amplifier motor tacho generator is correct itis mandatory to read sections 4 1 3 and 5 4 WARNING 0 forw positive voltage for forward motion 1 forw negative voltage for forward motion 3 26 Analog O Voltage range of the analog output Specifies whether the analog output voltage is to be bipolar or unipolar 0 10 V__ output voltage is bipolar the sign depends on the direction of travel 1 10 V output voltage is unipolar direction of travel only via the appropriate forward reverse signals at terminal strip D here the programming of storage location 3 25 is without any effect A As long as the drive is within the range fixed by Sdead and Sgeag around the nominal position after the internal control pre set has reached the nominal position value the analog output remains switched off i e 0 000 V is output This also applies to any idle position for activated closed loop position control refer to storage location 3 47 and section 4 4 1 27 S dead Positive dead range 28 S dead Negative dead range Sdead nominal actual difference gt 0 Sdead n
76. LOCATIONS FOR MACHINE PARAMETERS 3 34 Speed Working speed rate Specification of the working speed rate for the positioning processes this value is used if the nominal value type speed is not part of a sentence for the associated unit i e no nominal values are preset for the speed rate per sentence For internal calculation reasons a value must be programmed here also if N presetting the speed rate in the sentence This value must be higher than or equal to the used maximum nominal value since otherwise the times for accelerating and braking could unexpectedly increase thus causing a potential danger WARNING XXXXXX max 6 digits incl decimal point value in actual measuring units per second only positive 35 taccel Max acceleration time forward 36 taccel Max acceleration time reverse 3 37 t brake Max braking time forward 38 t brake Max braking time reverse The times taccel tbrake result from the maximum value of acceleration or braking a b in the respective direction forward positive count direction and are to be deducted from the technical data of the drive system taccel Vmax 4 5 tbrake Vmax b4 refer to sections 5 3 and 5 6 3 Programming of the storage locations 3 36 3 38 is not mandatory The value stored at 3 35 taccel also applies to acceleration in reverse direction and braking in both directions if t
77. MP Pr and or JMP sent refer to section 4 14 Em TORT pa pe wig eee tee oon me a C RR PEE 32 tro mane CALLS X More than 20 nested sub routine calls CALL Pr are specified in the program refer to section 4 14 8310 8610 8 TROUBLE SHOOTING 6 2 Fault memory 6 15 Tip 10 Displays B C Unit Axis Description reget X After a start from a reset state an IF instruction IF I O was executed by the program without performing a previous positioning refer to section 4 14 Controller reset caused by external noise EMC measurements or an internal fault repair is possibly re quired Please evaluate the fault memory if the drive s of an unit cannot be started Surely you will find there the cause for the problem Exceptions no fault message e A parameter error has not been removed refer to section 6 1 ED ome pee th py ery Fr e Axes which are still not associated to a unit system parameters can of course also not be started The following causes no fault message can be the reason why a drive cannot be positioned manually although the corresponding storage locations are correctly programmed e no High level is present at the stop input of the corresponding unit e High level is present at the reset input of the corresponding unit e the unit of the corresponding axis is in the started state e the unit of the corresponding axis is in the inte
78. Mode 2 storage location 2 3 2 The start signal is generated as soon as the control pre set of the position is equal to the programmed nominal value Thus the machine is moved at a constant speed or accelerated to its nominal position i e without braking phase Variant 3 of storage location 2 3 can only be used together with the linear path control refer to below If several axes are combined to one unit refer to storage locations 1 3 to 1 5 resp 1 8 then a continuous sentence processing can be set for each axis The drive that first fulfils the above mentioned condition effects the generation of the internal start signal for all drives of the unit These will then be directly accelerated or decelerated to their next nominal speed by considering the programmed Jerk For active path control refer to section 4 13 the following restriction applies The programmed paths must not show any break points gt use nearly continuous paths Otherwise a step voltage characteristic would be given for the drive or drives that have to run a shorter distance which they naturally cannot follow That would result in an excessive mechanic or electric stress With equal distances only the first drive in the unit will be accelerated or decelerated following the calculated characteristic and the others are erratic This restriction is not valid if variant 3 of storage location 2 3 is pro grammed spline function 8310 8610 8 FUNCTIONAL
79. ONS 225 005 paS e dora sia ser enema te henner ere eran EAEE E AEAEE 3 10 Programming example snnsn een 3 14 Programming mode for machine parameters 3 15 FUNCUONS PRE RR RR RR 3 16 Programming example llllll erre 3 18 8310 8610 8 i FUNCTIONAL DESCRIPTIONS 4 1 Definitions 4 1 4 Functional Descriptions 4 1 Definitions 4 1 1 Actual unit of measurement The actual unit of measurement is the unit of measurement which you use in the equipment e g m cm mm inch degrees With incremental encoders it is determined by the number of pulses and the edge evaluation storage location 3 1 In addition for all encoders by the multiplier storage location 3 3 and the programmed decimal places resolution storage location 3 5 This also implies mechanical converters like measuring wheels or gearings The input of values is made like at a pocket calculator i e for values in whole actual unit of measurement no point needs to be entered The Controller fills missing decimal places automatically with zeroes Example for a resolution of 1 hundredth Value 100mm entered 100 or 100 or 100 0 or 100 00 always indicate 72 707 Position values are always specified in actual unit of measurement Nominal speeds can also be pre defined either in actual unit of measurement per second or in an other unit see section 4 2 4 1 2 Display units DispU In this manual
80. Operating Manual Positioning Controller GEL 8310 8610 GEL 8610 for 1 6 axis applications Jeepi Axi 0009 1200 Je EEE 00000 GEL 8310 for 1 3 axis applications 4 Lenord Bauer Copyright 12 97 by Lenord Bauer amp Co GmbH Subject to change without notice gt Lenord Bauer Lenord Bauer amp Co GmbH DohlenstraBe 32 D 46 145 Oberhausen Telefon 0208 9963 0 e Fax 0208 676292 Internet http www lenord de e E Mail info lenord de OPERATING MANUAL GEL 8310 8610 CONTENTS Introduction 1 1 1 General safety iSWuCOnsa cctsssteiccte els ilectcigteteleieteigicsctaleteiateleliues 1 1 1 2 Designated USO eshte td nd ads aid pla aa Ua leads eels tes Dao Dada na aa 1 3 1 3 Guarantee liability and copyright ii 1 3 1 4 Information on this manual assa ssa nasa iandiianaianaiaiatiatade 1 4 1 5 Characteristics of the Controller GEL 8310 8610 1 6 Operational Controls 2 2 1 Basic KOVDOaR A ss rssanisantads dad Ed a d 2 1 2 2 Additional keyboard of the GEL 8610 2 2 2 3 Function key combinations cecctetiinteeitecte cic teat act sanada unia gua taiias 2 3 Operating Modes and States 3 3 1 A tomatie an o e PREPARA Ne PAD RR ADA E O tre eee em 3 2 Sll lS 4 2 0 9 Loge RRR PRADO RCICR PSEA ITEP RENCE aaa CIT ETP TRC ECP TR 3 4 3 1 2 Displays in the start and stop state rare 3 8 3 2 Programming mode for nominal values 3
81. PTIONS To cut e g individual work pieces from material the data being valid Tip for all work pieces such as relative positions or lengths and other sentence elements e g speed rate with continuous sentence processing could be stored in a program no 2 while the program no 1 to be started contains successively the coordinates offsets for each work piece separated by the Call Pr 2 program flow instruction single processing of the work piece program no 2 Coding for serial transmission length 4 bytes byte absolute oxh E relative ERES value of the offset er O E two s REED If a normal sentence contains further elements such as e g the number of pieces then the values for these will must be transferred following the coordinates offset even if they have no meaning in this case they are undefined There are always so many nominal values per sentence to be transferred as they are determined by the programmed sentence structure of the unit exception last sentence which contains the program end 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 4 Functional DeSCriptions ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeneneeeeees 4 1 4 1 872 Tat Us 9s eee er eit re eet E e nk te a ene ee ee ey ee ee eae ee 4 1 4 1 1 Actual unit of measurement rea 4 1 4 1 2 Display units DISPU css assis paraiso daria bu us odds sei ns 4 1 41 3 SOUND ONG CHON ss oes anna uote neuen elie W
82. S E180062D 8310 8610 8 4 18 4 5 Signals FUNCTIONAL DESCRIPTIONS Listing of the representable signals Display C Description ES inputs outputs 8 or 6 digits ri ig 3 module P1 terminal 10 9 8 7 6 5 4 3 i 18 17 16 15 14 13 12 11 24 23 22 21 20 19 ti 30 29 28 27 26 25 GEL 8610 only module P2 terminals as above drive control 4 digits L module D4 terminals 10 9 8 7 2 20 19 18 17 i 30 29 28 27 signals reference fine 3 digits 1 BEF3 1 module Z1 C1 terminal 29 19 9 axis 3 2 1 GEL 8610 only ere s module Z2 C2 terminal 29 19 9 axis 6 5 4 data out 8 digits module Aj pin 17 4 16 3 15 2 14 1 decades 1 0 21 8 20 7 19 6 18 5 decades 3 2 25 12 24 11 23 10 2 2 9 decades 5 4 module Az pins as above module A3 pins as above GEL 8610 only module A4 pins as above 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals Display C Description data put e Fes module E1 pin 17 4 16 3 15 2 14 1 decades 1 0 21 8 20 7 19 6 18 5 decades 3 2 25 12 24 11 23 10 22 9 decades 5 4 module E2 pins as above 5 9 module E3 pins as above GEL 8610 only module E4 pins as above 8310 8610 8 4 19 4 20 4 6 Reference measure FUNCTIONAL DESCRIPTIONS 4 6 Reference measure When using incremental encoders a reference position t
83. Vy Vpath Vnom ee Vx Vnom f distance sx gt Sy distance sy gt sx E180093A The parameters of the axis with the longer distance are also used for controlling the other axes being part of the linear path control Therefore the parameters maximum speed Vmax Storage location 3 32 working speed v storage location 3 34 as well as accelerating braking taccel tbrake Storage locations 3 35 38 should be programmed equally for all axes with the values of that axis which possesses the most unfavourable parameters The sentences may be continuously processed positioning without stop refer to section 4 3 and the following section Spline A spline function can be used to avoid jerky speed rate changes infinite acceleration with path controlled axes in the case of angular paths and continuous sentence processing Herewith the maximum appearing acceleration for one slave drive is limited to the sum of the accelerations of two drives master and slave here master is always the axis that has to travel the longer distance Activation e storage location 2 3 3 yes 3 precondition storage location 2 5 1 linear Otherwise a Far um arr IS caused The internal start is generated like for mode 1 of the continuous sentence processing refer to section 4 3 The spline function causes the theoretical path to be exited in the area of the knee points more or less far depending on
84. Y S D inputs outputs serial interface E A L R T U V fixed control inputs outputs II P2 14 fixed control inputs outputs P1 8310 8610 8 PIN LAYOUT B 5 Connection diagrams O Inthe following diagrams the internal circuitry of the module cards is sketched on the left The connections to be effected i e the signals their direction and other data are shown on the right With the P E A W Y modules you must determine by means of jumpers if the internal auxiliary supply voltage or an external voltage shall be used for the signals or the encoder supply ATTENTION For this reason check the correct configuration of these jumpers relative to the desired application Using a wrong assignment can cause the module being demaged The jumpers are set to internal INT at the factory N Terminal Power supply strip for internal circuits and for signals auxiliary voltages mains transformer GEL 89033 89036 115 230 V it 20 50 60 Hz 1 l i _ 0 0 alternatively A for auxiliary 1 E 23 28 V AC voltages and Va or H the supply of 2 1 23 30 V DC some modules is e g D 3 JH 16 22 V AC Va for internal 1 or circuits 4 D lt 18 30 V DC wn ce With DC supply in
85. a output decade 10 22 out43 4thdata output decade 10 23 out 4 4 4th data output decade 10 24 out4 5 4thdata output decade 10 8310 8610 8 A 36 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 62 RangeFct Function for range signals Specifies if the values programmed for ranges R1 to R4 start end are to be absolute or relative positions or if the range signals are to be used for the control of fast slow speed drives the individual functions are described in section 4 5 6 0 absolute _ the values identify absolute actual positions the signals can be output in any operating mode and in any operating state of the Controller 1 relative the values identify relative positions in relation to the nominal position nominal actual distance the signals are only output during a positioning process in the started state 2 driveSig as above signals are however negated and used for the control of fast slow speed drives the ranges have the following meaning R1 slow speed linked to R2 R2 fast speed R3 forward direction R4 reverse direction For further explanations see section 4 5 6 under Drive signals 63 R1 Beg Start value of range R1 E 64 R1 End End value of range R1 Specifies the position of the 1st range R1 absolute or relative to the nominal position refer to storage location 3 62 signal output Beg lt End High level startin
86. a the 3rd data input Es decades 10 and 10 8 i3 2 bcd BCD program selection via the 3rd data input E3 decades 10 and 10 9 i3 4 bcd BCD program selection via the 3rd data input Es decades 10 and 10 8310 8610 8 continued on the next page gt A 14 STORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 only continuation 2 6 10 serial program selection via the serial interface GEL 8610 only 10 i4 0 bcd BCD program selection via the 4th data input E4 decades 10 and 10 11 i4 2 bcd BCD program selection via the 4th data input E4 decades 10 and 10 12 i4 4 bcd BCD program selection via the 4th data input E4 decades 10 and 10 13 serial program selection via the serial interface 2 7 Sentence Sentence program selection Specifies if a sentence of a certain program is to be activated via one of the optional data inputs refer to section 4 10 1 new data for the sentence and program are taken over with the next start signal after the current sentence has been processed number of pieces 0 program no sentence selection the processing of the sentence is determined by the normal program execution program selection according to storage location 2 6 1 input 1 sentence program selection via the 1st data input E1 2 input 2 sentence program selection via the 2nd data input E2 3 input 3 sentence program selection via the 3rd data input E3 GEL 8610 only 4 input 4 sen
87. age 2 Power failure security 3 Configuration unit 1 4 Configuration unit 2 5 Configuration unit 3 6 Configuration unit 4 GEL 8610 only 7 Configuration unit 5 GEL 8610 only 8 Configuration unit 6 GEL 8610 only 6 9 Memory card GEL 8310 8610 7 10 Special function with memory card GEL 8310 8610 8 11 Password inquiry for nominal value programming GEL 8310 8610 9 12 Specification of the password GEL 8310 8610 10 13 Keyboard lock terminal P21 GEL 8310 8610 11 14 Serial interface GEL 8310 8610 12 15 Device number GEL 8310 8610 13 16 Protocol GEL 8310 8610 14 17 Service deactivation of passwords GEL 8310 8610 15 18 BSN reserved 21 24 2 Unit parameters 2nd level Number of pieces auto start per sentence Machine functions Speed rate Identification text Path control Program selection Sentence and program selection Sentence and program number to data output Program processing signals to data output 10 Auto start 11 Mode for signal output 12 Program processing signal Reset 13 reserved 14 reserved ee ee ee 3 Axis parameters 3rd level Actual value adjustment Count direction Multiplier Multiplier for actual value display Decimal point Correction value Direct entry of correction value Rotary table Se eS 8310 8610 8 A 2 STORAGE LOCATIONS FOR MACHINE PARAMETERS Manual calibration functions 10 11 12 13 14 15 16 17 18 19 20 21 2
88. ally switched on german english 0 n secur no security 1 n s cal no security but after powering on the equipment must first be calibrated setting the reference measure only with incremental encoders refer also to 3 91 2 security security is provided 3 sec cal security is provided but powering on the equipment must first be calibrated setting the reference measure only with incremental encoders refer also to 3 91 Assignment of 1 6 axes to the 1st unit only axes with subsequent numbers can be grouped starting with the axis always following the last one of the previous unit x input of the number of axes with the following possibilities X 1 1 axis 1 default by manufacturer X 2 2 axes 1 and 2 from here path control is possible X 3 3 axes 1 to 3 cf 2 5 X 4 4 axes 1 to 4 GEL 8610 only X 5 5 axes 1 to 5 GEL 8610 only X 6 6 axes 1 to 6 GEL 8610 only 8310 8610 8 A 6 STORAGE LOCATIONS FOR MACHINE PARAMETERS Assignment of 1 5 axes to the 2nd unit x input of the number of axes with the following possibilities X 0 no axis assignment to the following units impossible 1 1 axis 2 3 4 5 or 6 2 2 axes 2 and 3 path control possible 3 3 axes 2 to 4 3 to 5 or 4 to 6 GEL 8610 only 4 4 axes 2 to 5 or3 to 6 GEL 8610 only 5 2 to 6 GEL 8610 only X X X X X 5 axes E Assignment of
89. and A on a single module this is valid for both input and output common jumpers ST8 and ST9 refer to connector E on the previous page If you use external voltages for the signals you have to change all jumpers ST8 and ST9 as well as ST5 and ST10 according to both tables for connectors E and A Otherwise the external voltage supply will be short circuited causing damages on the module 8310 8610 8 PIN LAYOUT B 13 Terminal Data output power outputs L strip High active sustained short circuit proof ax 500 MA per output Lm 1 4 18 35 Voc mm 2 supply for signals mg 3 2 10 TE mm 5 22 ys Lk m 6 23 ml 7 gt 20 mg 8 gt 21 1 10 mg 9 2 mg 10 23 18 35 VDC i PR supply for signals E gt 20 1 o ieee er ak E gt 22 Vl Hh E gt 23 layout like rm gt 20 data output module A 1 see there E a 2 E 10 E gt 22 E gt 23 21 lt 18 35 VDC mm 22l supply for signals most 20 m 24 gt 214 FS 10 mg 25 22 VSI Hh m 26 23 T
90. at the 1st data input E1 range of values 799 999 799 999 sign decade 10 bit 2 4 Low 3 input 2 data specification without sign at the 2nd data input E2 4 i2 data specification with sign at the 2nd data input E2 5 input3 data specification without sign at the 3rd data input Es 6 i3 data specification with sign at the 3rd data input E3 GEL 8610 only 7 input4 data specification without sign at the 4th data input E4 8 i4 data specification with sign at the 4th data input E4 A 42 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 77 Speed in Ext data input of a speed value Specifies to which data input the speed rate specification is to be applied in BCD code max 6 digits optionally with continuous sentence processing specifier decade 10 bit 2 4 High refer to sections 4 2 4 3 and 4 10 1 0 program no external data specification input 1 data specification without continuous sentence processing at the 1st data input E1 range of values O 999 999 2 td data specification with continuous sentence processing at the 1st data input E1 range of values 0 799 999 3 input 2 data specification without continuous sentence processing at the 2nd data input E2 4 i2 data specification with continuous sentence processing at the 2nd data input E2 5 input3 data specification without continuous sentence processing at the 3rd data input E3 data specif
91. ately the signal output can also be performed with the actual nominal signal refer to storage location 2 11 in appendix A Stop is output if the Controller is in the interrupted or reset operating state As long as the drive is manually positioned or is in the automatic reference search routine the signal is reset for the appropriate unit Reset is only available if the Sent end 1 or BlockEnd 2 variant has been programmed on storage location 2 12 The signal is output if the Controller is in the reset operating state It is reset for the corresponding unit as long as the drive is manually positioned or is in the automatic reference search routine 4 5 6 Range signals These signals are axis related They occupy a certain BCD decade 4 bits ata data output module A L or R which has to be determined using storage location 3 61 refer to the Pin Layout in appendix B For each of the 4 ranges R1 R4 one start value and one end value must be programmed storage locations 3 63 70 The signals can be assigned certain features regarding the interpretation of the programmed values and the function of signals storage location 3 62 e values for the start and end of the range are absolute positions e values for the start and end of the range are relative positions which are related to the difference nominal actual variance e as before but signals are configured for controlling fast slow speed drives The
92. ation example positioning controller for 3 axes with incremental encoders without additional modules demonstrated for devices without C certification N Di Ci Zi P4 W A Go po E ojo Noan A Go po o o o X1860003 1 2 3 4 5 6 7 assign mod le terminal strip ment connector fixed power supply N variable actual value inputs analog outputs data C Z W Y S D inputs outputs serial interface E A L R T U V variable actual value inputs analog outputs data C Z W Y S D inputs outputs serial interface E A L R T U V variable I actual value inputs analog outputs data C Z W Y S D inputs outputs serial interface E A L R T U V variable actual value inputs analog outputs data C Z W Y S D inputs outputs serial interface E A L R T U V variable actual value inputs analog outputs data C Z W Y S D inputs outputs serial inte
93. ations 3 21 24 absolute speed values for the manual drive control Storage locations 3 27 and 3 28 switch off points Sqead for control stabilization in the nominal or inoperative position Storage locations 3 34 final working speed rate for positioning procedures without nominal value setting in the sentence Storage locations 3 40 and 3 41 range of tolerance Tol for the nominal position where the actual nominal signal is output Storage locations 3 42 and 3 43 admissible contouring distance Smax if this value is exceeded the positioning process will be interrupted this value should be derived from the largest operational contouring distance Delta_s including a generous increased factor of safety Smax 10 Delta_s Storage locations 3 45 and 3 46 adaptation to the requested input format for nominal speed values in the sentence Storage locations 3 47 50 control functions for the various modes and states of operation 8310 8610 8 5 16 5 7 Controller configuration COMMISSIONING Storage locations 3 56 60 functions and values for a parking position Storage locations 3 61 70 functions and values for range signals Storage locations 3 71 74 input control monitoring and limit switch functions Now first commissioning is completed 8310 8610 8 COMMISSIONING 5 5 COMMISSIONIAG scooped eee DRE a 5 1 5 1 Standard SOMOS 225 aves cade elle eee oe a eas i AAE
94. ative reduce the control factor accordingly forward forward output voltage reverse reverse Ksp too big good E180016C IS An unstable control behaviour may also be recognized by the Tip displayed value for the output voltage oscillating more intensively when travelling at constant speed 5 6 3 Accelerating braking times The values for taccel taccel tbrake ANA tprake storage locations 3 35 38 have already been programmed section 5 3 Here you should only check whether the settings are correct gt t Too short times negatively influence the faccel tbrake control response and may possibly result in inadmissible mechanical and electrical loads on the drive system The oscillograms below show the behaviour of the output voltage if the times are set too small and in case they are set properly E180011E 8310 8610 8 COMMISSIONING 5 6 Optimization of control parameters 5 13 output voltage accelerating tacce too small good output voltage braking tbrake too small good E180016D By means of a current monitor at the drive amplifier you may find out whether the current limit is reached during the process of acceleration or braking In the affirmative the time programmed is too short Another possibility to find out whether the values are too small is observing the contouring distance De
95. aution might be the consequence gt This symbol denotes in general critical situations or possible material damages gt ATTENTION Where you see this symbol you will be supplied important information for the proper handling of the Controller Should you ignore this information a malfunction might occur in the Controller or the machines connected with the Controller IO Here you are supplied with application hints and other useful Tip information for the optimum use of the Controller 8310 8610 8 INTRODUCTION 1 3 1 2 Designated use The Controllers type GEL 8310 and GEL 8610 are designated to control and regulate drives in industrial and commercial areas They may only be operated in built in condition Special options and devices made to customers specifications may result in an extension resp restriction of the above prescription Should this be the case the specification given in the pertaining descriptions are binding Designated use also encompasses that the instructions in this user manual are followed A differing or exceeding use is deemed not designated In such cases LENORD BAUER amp CO GMBH does not accept any responsibility for damages 1 3 Guarantee liability and copyright Fundamentally our general delivery and payment conditions apply which are available to the user at the latest upon closing contracts Guarantee and liability claims on damages to persons o
96. cal formulas v c 2 1908 c lt 100 cy conversion factor according to Spd mult at storage location 3 45 D desired unit of length or angle per each unit of time for the speed A actual measuring unit per second default unit of the speed DA number of decimal places in the actual value display storage location 3 5 DD number of desired decimal places for the speed storage location 3 46 The following formula can be used for checking v c v v speed in the Controller internal format actual measuring A units sec without decimal point value in DispU vp speed in the desired format value in DispU D 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 2 Speed rates 4 5 Example 1 Example 2 In the equipment the actual measuring unit cm is used with a resolution of 1 100 cm 0 01 cm The speed rates shall be entered in m min with two decimal places D m min 100cm 60sec A cm sec DA DD 2 pota OO See gh 100 et 16667 cm sec cm sec 60 m min Check for e g vp 60m min 6000 DispU va C V 1 6667 6000 DispU 10000 DispU 100 00 cm sec If the speed shall be entered with only one decimal place DD 1 then c 1 6667 10 16 6667 with 3 decimal places DD 3 c 1 6667 10 0 1667 Irrespective of the actual measuring unit used in the equipment e g mm resolution 0 1 mm the speed rates of the drive shall be entered in revolutions min rpm without any decimal places
97. ce at position length when confirming the value entered by pressing the amp key the programming mode is terminated 8310 8610 8 3 14 3 2 Progr mode for nominal values 3 2 2 Programming example OPERATING MODES AND STATES The position of axis 1 in unit 1 2 axes program no 3 sentence no 12 is to be changed from 45 20 to 45 50 EE BaH EG Lo GE wape o With the GEL 8610 key O can be used instead of 2 The password inquiry will only appear if an appropriate arrangement with respect to the machine parameters has been made refer to appendix A system parameters ae dE Pog 8 7 COCO as oe Ho E E Gee ae uz A E183062B G r2 4 0 ee With the GEL 8610 key 2 can be used instead of 2 8310 8610 8 OPERATING MODES AND STATES 3 3 Progr mode for machine parameters 3 15 3 3 Programming mode for machine parameters In this mode the operating of the Controller its adaptation to the plant and other properties are fixed The appropriate machine parameters are enlisted and explained in a table in appendix A The machine parameters are hierarchically divided into 3 categories planes e system parameters plane 1 e unit parameters plane 2 subplanes 1 3 6 e axis parameters plane 3 subplanes 1 3 6 System param
98. ce search routine for the machine can be initiated in the reset state of the automatic mode The storage location determines the direction of travel where the reference measure is to be set when moving forward autoforw or reverse auto rev There are two alternatives to trigger the automatic reference search routine e by a positive signal edge at the search for reference input for the desired axis e via the keyboard In this case the storage location 3 9 must be programmed with 2 auto cal or 3 val auto Start with resp GEL 8610 and enter the axis number If 0 is entered then all axes programmed as mentioned above 3 9 are simultaneously started for the reference search routine 8310 8610 8 4 22 4 6 Reference measure FUNCTIONAL DESCRIPTIONS mechanical Sa r limit fis cs reversing switch lt reference coarse reference fine E1750038 After initiating the machine is driven in such a way that it travels contrary to the direction determined at storage location 3 11 The corresponding speed rate is set at storage location 3 16 When the reversing switch is reached reversing switch signal becomes active logic level determined at storage location 3 14 the direction of travel is reversed and the speed rate is reduced to the value determined at storage location 3 17 The drive now moves towards the reference position Once this point has been passed reference coarse fine
99. ch of the combined axes e identification text for the GEL 8310 only in conjunction with a serial inter face under preparation In addition a path control can be activated see section 4 13 The nominal value type position length may be replaced by another parameter e program flow instruction or coordinates offset cf sections 4 14 and 4 15 e a parameter depending on the inserted option e g radius or angle with the Circular Interpolation option refer to appendix O If the sentence or unit structure is to be changed at a later time yal epee of this unit sl be deleted when you confirm the security inquiry oe with start will cause no action then 3 2 1 Functions The following keys and key combinations are available in the programming mode for nominal values to call up certain functions HO Terminate the programming mode of nominal values and change to automatic mode if modifications have been made all program caa are stored aulomellea y status message in displays B C Aire m this also applies if the programming Jede is left vial Cancel input or leave function and return to the superior selection level waen a a new pregam the security inquiry is 4 will be issued if you confirm with all entries will be ooed see F3 HO further below Change up down to the next previous nominal value a value modified before will not be stored 8310 8610 8 OPERATING MODES AND STATES 3 2 Progr
100. cribed in section 7 3 1 The EPROM is accessible now o MME It will advantageously be removed from the socket by means of a special 7 extractor tool Starting from the fact that this expensive tool is not available in s most cases a U shaped wire is enclosed to the chip as a vehicle to pull it out of the socket GEL 8310 X183003C V Bring the bended ends of the bow under the chip O O press the bow slightly 0 and pull it up 0 X061AH 8310 8610 8 7 8 7 4 Replacing an EPROM MOUNTING INSTRUCTIONS V N jo When inserting the chip notice the correct orientation with respect to the socket For this both paris have special marks illustrated in the figure below by black arrows a o EPROM o GEL 8610 e a skewed corner e atriangle printed on the chip relief in the socket e a round indentation in the bevel of the memory chip X060AH A A wrongly inserted EPROM can cause hardware defects that may not be sensible Therefore check the correct orientation of the chip ATTENTION before assembling the device Y Insert modules and assemble the Controller as described in section 7 3 2 7 4 2 DIL EPROM Fig 2 X180083B Y Remove the module P1 as described in section 7 3 1 8310 8610 8 MOUNTING INSTRUCTIONS 7 4 Replacing an EPROM 7 9 V Lever the EPROM alternately at both sid
101. ction 4 10 2 Data output There are up to 4 different modules available for the output of BCD data and signals e 24 logic outputs plug A e 24 power outputs terminal strip L e 12 relay contacts terminal strip R The logic and power outputs are grouped into 6 decades with 4 bits each and enumerated from 0 to 5 cf appendix B The first three decades are also output at the relay contacts The output of nominal actual values position correction value may include the data ready signal at the most significant bit MSB position if programmed accordingly refer to storage location 3 80 and following Low level will be output as long as the data are not stable data XK data ready min 100 msec abt 20 msec E180033C In addition a sign bit can be specified for the output If not specified the full 6 decades are available for the value In the other case the sign is output as MSB or when evaluating the data ready signal as MSB 1 The value ranges are reduced accordingly A minus sign is assigned High level The output data can be unit or axis related Accordingly programming is performed either at the unit parameters 2 x or at the axis parameters 3 x refer to below O If identical output positions decades are programmed for different units Il or axes all data are logically ORed bit by bit before they are output The following data and signals can be output e machine functions storage location
102. d foremost intended to serve as a kind of reference book however do not fail to read the first section Definitions 8310 8610 8 INTRODUCTION 1 5 chapter 5 How to commission the Controllers though there are quite a number of techniques for the commissioning of the Controller depending on individual experiences please do not fail to consider the information supplied in this chapter chapter 6 The most important warning and error messages shown in form of a chart indicating causes and how to put things right option messages are mentioned where they are described appendix O chapter 7 Instructions on performing cable connections exchanging PCBs modules and replacing an EPROM please note in particular the EMC relevant measures b appendix A A list of all storage locations for machine parameters includ ing brief descriptions in tabular form this survey might be sufficient for the experienced user for programming the Controller appendix B Information on the different Controller modules and their pin layout appendix C Technical data dimensioned drawings and type codes appendix D E Descriptions of software upgrades or modifications only available if required appendix O Description s of employed i e implemented options such as circular interpolation or synchronisation control GEL 8910 xxxx appendix Y A collection of forms and supplementary sheets if
103. data input output modules Module input EL output AL LL RL no 1L 2L 3L 4L de pin resp cade terminal axis BATIDAS ff L 3 4 5 6 R 2 3 4 5 E A 3 16 4 17 L R 7 8 9 10 E A 5 18 6 19 L 13 14 15 16 R 12 13 14 15 E A 7 20 8 21 3 fae E A 9 22 10 23 L 23 24 25 26 E A 11 24 12 25 L 27 28 29 30 Module input EL output AL LL RL no 1L 2L 3L 4L 9 de pin resp cade terminal axis BATIDAS o L 3 4 5 6 R 2 3 4 5 E A 3 16 4 17 L R 7 8 9 10 E A 5 18 6 19 L 13 14 15 16 R 12 13 14 15 3 E A 7 20 8 21 L 17 18 19 20 E A 9 22 10 23 4 1 23 24 25 26 o E A 11 24 12 25 L 27 28 29 30 Please cross what is applicable LENORD BAUER amp CO GMBH 2 2 Module input E de pin resp cade terminal E A 1 14 2 15 L 3 4 5 6 R 2 3 4 5 Supplementary sheet no 1 to operating manual GEL 8310 8610 output AL LL RI no 1LJ2L 3L 4L0 9 E A 3 16 4 17 L R 7 8 9 10 R 12 13 14 15 E A 7 20 8 21 L 17 18 19 20 E A 9 22 10 23 E A 5 18 6 19 L 23 24 25 26 2 L 13 14 15 16 E A 11 24 12 25 L 27 28 29 30 Module input E de pin resp cade terminal E A 1 14 2 15 L 3 4 5 6 R 2 3 4 5 output AL LL RL no 1L 2L 30L 40 9 E A 3 16 4 17 L R 7 8 9 10 L 13 14 15 16 R 12
104. de do not con firm the message with the program is not exited and define the end of program BO resp e An empty program has been selected by mis take confirm message with the program is exited Se p read memory card 8310 8610 8 The GO keys resp have been actuated in order to overwrite the machine parameters and nominal values in the EEPROM of the Controller with the values from the memory card Confirm with or abort with any other key 6 10 Warning or error message reference measure is too high 6 1 Warning and error messages Cause situation i Input monitoring value of the reference measure exceeds the specified Pos max value storage location 3 72 TROUBLE SHOOTING Remedy reaction Enter a lower value or specify Pos max new reference measure is too Se a H Input monitoring value of the reference measure is lower than the specified Pos min value storage location 3 71 A nominal speed value has been entered that is larger than the programmed maximum value storage location 3 32 considering a programmed multiplier and a decimal point for the speed rate input storage locations 3 45 and 3 46 Enter a higher value or specify Pos min new Enter a lower value write memory card The AeA keys resp have been actuated in order to safe the machine para meters and nominal values on the memory card in
105. de 10 GEL 8610 only 19 input4 0 limit switch signals at the 4th data input E4 decade 10 20 input4 1 limit switch signals at the 4th data input E4 decade 10 2 input4 2 limit switch signals at the 4th data input E4 decade 10 22 input4 3 limit switch signals at the 4th data input E4 decade 10 23 input4 4 limit switch signals at the 4th data input E4 decade 10 24 input4 5 limit switch signals at the 4th data input E4 decade 10 8310 8610 8 A 40 STORAGE LOCATIONS FOR MACHINE PARAMETERS 8 75 IPos in Ext data input of a nominal position length Specifies at which data input the nominal position or length is to be applied in BCD code max 6 digits optionally with sign and length specifier refer to section 4 10 1 0 program no external data specification 1 input data specification without sign at the 1st data input E1 range of values O 999 999 2 i1 data specification with sign at the 1st data input E1 range of values 799 999 799 999 sign decade 10 bit 2 2 Low 3 i1 p data specification with length specifier without sign at the 1st data input E1 range of values O 799 999 length decade 10 bit 2 High 4 i1 pl data specification with length specifier and with sign at the ist data input E1 range of values 399 999 399 999 length decade 10 bit 2 sign decade 10 bit 2 in
106. der s type of logic for Gray or BCD code If the encoder has not yet been attached to the drive or may easily be dismounted turn the encoder axis and observe the actual value display does the actual value change erratically the logic reverse must be programmed If this possibility of testing is not given checking must be performed as soon as the machine can be displaced see section 5 4 This requires however that the mechanical zero point of the encoder is outside the displacement area see next item Mechanical zero point The mechanical zero point of an angle encoder should not be inside the area of displacement Should this be the case after all the actual value counter would jump from the maximum to the minimum value during the positioning process or vice versa thus confusing the control completely Therefore the axis of the uncoupled angle encoder must be turned accordingly see following figure and example 8310 8610 8 COMMISSIONING 5 2 Actual value adjustment 5 5 count af the counter a ee ee ee wrong min gt distance zero point of the machine mechan zero point distance of movement j count of the counter A max 4 Ro WRG ER SE REE ee Gee ee en er correct min distance Example E180039A angle encoder with a resolution of 1024x512 19 bits counting range 524 288 DispU multiplier 0 no decimal point mechanical displacement 307 200 DispU 4 300 r
107. e functions MF are to be output see section 4 10 2 and storage location 2 11 With 8 MF input is binary 10010011 MF8 5 2 1 and with 24 MF it is octal 77777777 all MF 273 MF8 6 5 4 2 1 0 no no machine functions EE Soutt 0 8 MF parallel at the 1st data output decades 10 10 8 out1 2 8 MF parallel at the 1st data output decades 10 10 Bouti4 8MF parallel at the 1st data output decades 10 10 8 out2 0 8 MF parallel at the 2nd data output decades 10 10 Bout22 8MF parallel at the 2nd data output decades 10 10 8 out2 4 8 MF parallel at the 2nd data output decades 10 10 Bout30 8MF parallel at the 3rd data output decades 10 10 8 out3 2 8 MF parallel at the 3rd data output decades 10 10 8 out3 4 8 MF parallel at the 3rd data output decades 10 10 continued on the next page gt O MOINIO GA HR OW PP 8310 8610 8 A 12 STORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 only continuation 2 2 10 24 out 1 24 MF parallel at the 1st data output R module 12 MF 11 24 out 2 24 MF parallel at the 2nd data output R module 12 MF 12 24 out3 24 MF parallel at the 3rd data output R module 12 MF GEL 8610 only 10 8 out4 0 8 MF parallel at the 4th data output decades 10 10 11 8out42 8MF parallel at the 4th data output decades 10 10 12 8 out4 4 8 MF parallel at the 4th data output decades 10 10 13 24 o
108. e aborted either manually by specifying the stop or reset signal or automatically if a not too large maximum contouring error value has been programmed storage locations 3 42 and 3 43 Otherwise only an EMERGENCY STOP will help Therefore check whether the direction assignment i e the encoder amplifier connection is correct The measures to be performed for this are described in section 5 4 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 2 Speed rates 4 3 4 2 Speed rates In the machine parameters programming mode speed rates are principally entered in actual measuring units sec taking into account the resolution defined at storage location 3 5 Example Actual measuring unit mm resolution 1 100 speed 45 5 mm sec gt input OOIO S display 45 52 The entry and display of actual speed rates in a sentence are possible in any length and time unit and with another resolution This requires however to program 2 storage locations for the axis parameters accordingly 3 45 and 3 46 The multiplier at storage location 3 45 consists of two components a physical conversion factor between the desired unit e g cm sec and the standard unit e g mm sec 1 cm sec 10 mm sec b correction factor for the desired resolution of the speed values the number of decimal places has to be fixed in storage location 3 46 The following facts apply e For each decimal place by which the speed resolution is higher than the actual measure res
109. e manual positioning Specifies whether the manual positioning of the drive is to be closed loop controlled or just speed controlled calculated voltage curve 0 inactive without closed loop control only valid if storage location 3 47 0 1 active with closed loop control automatically set with 3 47 1 8310 8610 8 A 32 STORAGE LOCATIONS FOR MACHINE PARAMETERS E Brake setting time measured from the release brake signal up to the final release 3 51 or from resetting the signal up to the final engaging of the brake 3 52 after tb open has expired the positioning control is activated start delay after tp close has expired the signal cancel controller lock is reset and the closed loop position control becomes inactive control stop delay refer to section 4 5 4 The higher time value of those specified for each axis is used if several axes are path controlled 51 tb open Brake opening time 52 tbclose Brake closing time X XX range of values 0 9 99 sec 3 53 AE zero Zero adjustment for angle encoders AE Zero shift of the actual value The value to be read for the mechanical zero position origin of the drive has to be entered with reverse sign After the mechanical zero position has been changed the programmed value must be erased first before a readjustment is made refer to section 5 2 2 XXXXXXXX max digits incl sign and decimal point value in actual measu
110. een activated drive is within the admissible range e Low level limit switch has been activated drive is beyond the admissible range O Starting from software version 12 00 the switching levels for the hardware limit switches are inverted previously release at High level 1 now at Low level If therefore with an existing controller the software version 11 xx is replaced by a newer version any possibly built in inverter circuits have to be removed or they now have to be inserted If a limit switch is triggered the Controller reacts as if a software limit switch has been triggered refer to the previous section Furthermore a corresponding error message is stored in the error memory refer to section 6 2 error numbers 28 and 29 The configuration of the signal inputs is determined via the axis parameter 3 74 refer to appendix A The two signals of any 2 axes can be grouped to one decade The numbers of both axes must however not be even or odd This means that the limit switch signals of the two axes 1 and 2 or 1 and 6 can be grouped together but not those of axes 1 and 3 both uneven or 2 and 4 both even The axis with the odd number must always be connected to the less significant connections of the decade 2 and 2 with the signal for the lower counting limit MIN being connected to 2 or 2 and the one for the upper counting limit MAX to 2 or 2 respectively refer to the following example 8310 86
111. een activated at that moment storage location warnine 3 47 0 in order to prevent racing of the drive in case of a wrong travel direction assignment during this mode of operation also refer to section 4 1 3 v Exit the programming mode for machine parameters 2 0 resp 49 Next the count direction of the encoder and the polarity of the voltage output must be checked 8310 8610 8 5 8 5 4 Count direction and voltage polarity COMMISSIONING 5 4 Count direction and voltage polarity Y Ensure that the axis to be adjusted is displayed see section 5 1 Y Displace the drive manually slow speed forward gt The actual value display A must count up Also check in which direction the machine moves If the actual value counts down immediately abort the manual displacement WARNING O Because of the programmed small value for slow speed the drive will not Il start moving immediately but only after the slowly increasing voltage having reached a certain value at the analogue output Umin Then the drive runs at a speed of 1 DispU sec provided that the count direction is correct Otherwise the speed increases continuously Y Proceed as follows If the actual value counts up and the machine however does not move forward as requested exchange the count connections 0 90 of an incremental encoder at the Controller or reverse the count direction storage location 3 2 and
112. er is activated and can now be corrected If the message is acknowl edged with e g 685 i e ignored no unit can be started and the programm ing mode of nominal values cannot be activated In such a case change an arbitrary parameter save it and exit the programming mode Then the invalid pa rameter will be indicated again Enter a lower value or specify Pos max new parking position is too low Input monitoring value of parking position is lower than the specified Pos min value storage location 3 71 Enter a higher value or specify Pos min new 8310 8610 8 TROUBLE SHOOTING Warning or error message 6 1 Warning and error messages Cause situation i Input monitoring value of the nominal posi tion length exceeds the specified Pos max value storage location 3 72 6 9 Remedy reaction Enter a lower value or specify Pos max new Di paor ED agr eae te pee Input monitoring value of the nominal posi tion length is lower than the specified Pos min value storage location 3 71 You tried to redefine the end of program for an already established program O resp 18 Enter a higher value or specify Pos min new Acknowledge the message with any key missing end of program You tried to exit a still empty or newly created program Eso or 2 HO resp amp e Entries have already been ma
113. er 1 parameter 2 paramelor o parameter 1 parameter lt PAARE parameter 1 Parame minal value 7 parameter x nd of program plane 1 plane 2 plane 3 PROGRAMMING MODE PROGRAMMING MODE FOR NOMINAL VALUES FOR MACHINE PARAMETERS E180078A 8310 8610 8 3 2 3 1 Automatic mode OPERATING MODES AND STATES 3 1 Automatic mode This is the normal operating mode of the Controller The nominal actual values of the active sentence may be read in displays B and C by pressing the cursor keys and refer to section 3 1 2 If display B only shows a point the power supply falls short of one of the mini mum values specified at the operational data in appendix C The 3 possible operating states can be activated separately for each con figured unit through appropriate signals at terminal strip P or via the serial inter face PC program BB8110 Started state In this state a defined nominal value program is processed Precondition e High level is applied at the stop input of the respective unit terminal P4 P7 P10 Low level is applied at the reset input of the respective unit terminal P5 P8 P11 Activation positive signal edge at start input P3 P6 P9 e via a serial interface With each further start signal the next sentence of the program or another piece will be processed Within the started state further start signals may also be generated auto matically i e inter
114. er explanations on reference search routine are contained in section 4 6 2 The following diagram assumes that the reference measure is set at forward traversing storage location 3 11 1 search for t reference ae ss reversing switch reference coarse reference ane Ts dios 1 0 1 0 1 0 1 0 R2 1 i j fast speed 0 JET Go 1 0 1 0 1 0 1 0 R4 7 7 reverse dE E R1 slow speed 2 es R3 forward re E reference reached sf vo A speed 0 profile E180010D 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals 4 17 4 5 7 Display of the signal status If you press the key combination 3 and then enter the password 9320 you can display the signal states at the modules in groups of up to 8 signals This is possible for each operating state of the automatic mode The displays show the following information e display A max 8 signal states O Low 1 High e display B text ta tus e display C identification of the module and the connections signals decades Via the keys lyou can scroll through the various display groups will abort the function Example show the signal states at terminals 11 18 of module P1 a E e High level at P4 stop unit 1 E e P7 stop unit 2 e P10 stop unit 3 MIT mm E E PE ra REDE
115. error e You tried to read all para meters although the axis parameters have not been stored on the card in all the previous writing processes e The memory card has been removed while writing or reading e The memory card has not been inserted correctly e A card non formatted by the factory is used occurs when trying to read or write a memory card Use another card Exchange the card or select write instead of read Modify the storage location 1 7 GEL 8610 1 10 accordingly Insert the card again and repeat writing reading insert the memory card correctly use another card 8310 8610 8 TROUBLE SHOOTING Warning or error message 6 1 Warning and error messages 6 7 Cause situation All nominal value storage locations are already used Occurs after entering the last possible nominal value when trying to insert an other sentence or to copy several sentences in the insert mode after trying to create a new program if there is no space left for at least two sentences Remedy reaction Define the end of program in the actual program BOA resp if required delete sen tences in another program in order to free up new memory space at the beginning of the sentence only ip T E E AR in reset state only n For a sentence already begun i e starting with the second or a further nominal value in the actual sentence you tried
116. ers Resolution of absolute encoders Parking function Direct entry of a park position Value of park position 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 3 59 Parking speed rate 60 Machine functions for parking 61 Output of range signals 62 Function for range signals Start and end values of the R1 to R4 ranges 71 Minimum position value 72 Maximum position value 73 Software limit switches 74 Hardware limit switches 75 External data input of a nominal position length 76 External data input of a correction value 77 External data input of a speed rate 78 reserved 79 reserved 80 Data output of nominal positions 81 Data output of actual positions 82 Data output of correction values 83 reserved 84 reserved 85 Value of the second reference measure 86 reserved 89 90 Zero Delta s 91 Calibration after powering on 8310 8610 8 A 4 STORAGE LOCATIONS FOR MACHINE PARAMETERS Parameter format a Parameter with variant selection b Parameter with value input subplane variant here axis 1 number parameter Ee parameter no variant Si axis RR as before number CERB I parameter variant parameter input value For more details refer to section 3 3 The programming mode is activated by pressing 2 7 and entering the password 9228 It is terminated via 2 resp or 69 Explanations on the representation used
117. ers will be actualised in the RAM of the Controller status message in display B i sier this also applies if the programming mode is left via the 3 key J Cancel input or abort selection function and return to the next higher selection or programming plane Confirm the selection made or value entered and change to the next parameter o E Respond to a security inquiry with yes any other key means no Delete a stored or entered value Select the programming plane Change up down to the next previous parameter within the associated programming plane without storing a modified value or performed selection amp F3 Scroll the machine parameter variants forward reverse confirm with IG 8310 8610 8 OPERATING MODES AND STATES 3 3 Progr mode for machine parameters 3 17 FID 8310 8610 8 Clear the total data memory with security inquiry this is only possible directly after entering the programming mode i e only inside of the top selection level stored faults are also deleted Copy axis parameters only possible inside of the axis parameter plane at first the axis whose parameters shall be used has to be selected Source axis the parameters of the active axis whose parameters are just displayed destination axis will be overwritten execute the copy function with or abort with Set the date time with optional serial interface module with real ti
118. es as illustrated in Fig 2 Note for V2 0 modules The two jumpers and the capacitor on the right side of the EPROM Fig 2 must not be bent back into the vertical position as otherwise the module cannot be pushed in V Check if the pins of the new EPROM show the correct angle for the socket If not bend the pins to the required measure according to Fig 3 parts 7 and 2 Fig 3 X180083C Y Insert the EPROM in the socket considering the correct position mark on the left side cf Fig 2 Fig 3 part 3 Please make sure that all pins fit correctly in the contact bushes Y Insert the module and assemble the Controller as described in section 7 3 2 8310 8610 8 mounino INSTRUCTIONS 7 7 Mounting instructions s senna ennenen 7 1 74 Cable connections sara spa so ees cereale Ea da don aaa nan be Sine nara nas aa 7 1 7 2 EMC mMeASUROS sin chet deena COLS SE 7 1 7 3 Replacing modules 2 225 wsegcucessadeesuevedeiss adeue tha tedeusessadsecunvedeveacadee ands 7 4 Fast MDISASSOMMON reece ec nated E eben eel Sia 7 4 Tora CINSSOMADIY ccoscra oco dados ss aves tania dense a senda do a al dad e o Ea do a al 7 5 7 4 Replacing an EPROM Eee ee ene Sn Se dee eee 7 7 Pea PLOGEPROM a O a taba 7 7 PAD DIEPROM sau cones caine sok ue eens CANECAS LD uae uo ee da 7 8 8310 8610 8 i STORAGE LOCATIONS FOR MACHINE PARAMETERS Overview of the storage locations 1 System parameters 1st level 1 Langu
119. eters specify the basic operating mode of the Controller the axes unit configuration etc Unit parameters specify for each unit consisting of one or more axes which nominal values shall be included in a sentence and which other preset values shall apply for all axes of this unit With the axis parameters the Controller is matched to the different drives axes actual value processing calibration control etc To avoid an unauthorised access to the data the programming mode can only be activated after the entry of a certain figure code the password 9 2 2 8 It can be temporarily deactivated via storage location 1 14 GEL 8310 or 1 17 GEL 8610 Once a storage location has been selected the Controller switches into the reset state Display format a Parameter with selection of variants subplane here axis 1 variant number parameter plane here axis parameter number O E A 3 O parameter variant 8310 8610 8 3 16 3 3 Progr mode for machine parameters OPERATING MODES AND STATES b Parameters with value input no variant as before number E180077H parameter input value 3 3 1 Functions The following keys and key combinations are available in the programming mode for machine parameters to call up certain functions 2 O Terminate the programming mode of machine parameters and return to automatic mode if modifications have been made the appropriate paramet
120. evolutions 1 024 DispU 300 Count of the counter in the machine s zero point 250 238 DispU Count of the counter at the end of the displacement area 250 238 307 200 DispU 557 438 DispU This value however is above the counting range and that means the mechanical zero point of the angle encoder is located inside the displacement area Measure the axis of the angle encoder must be turned back by at least 33 150 DispU then the count display would read 217 088 DispU in the machine s zero point and the mechanical zero point of the angle encoder is right at the end of the dis placement area 217 088 307 200 DispU 524 288 DispU Y Storage location 3 53 zero shift Starting from the above example here the value 217 088 should be entered to ensure that in the machine s zero point the actual value counter indicates 0 Now the actual value adjustment for the absolute encoder of the treated axis is competed 8310 8610 8 5 6 5 3 Preparations for displacing the drive COMMISSIONING 5 3 Preparations for displacing the drive Y Storage location 3 19 manual drive control Fix here whether the drive should be controlled via the keyboard or an external data input In the second case the module and the position where the control signals should be read must be determined Y Storage locations 3 21 and 3 23 slow speed forward and reverse To ensure a safe operation these values are first limited to 1 DispU sec 1 or 0 1 or
121. fety measures E STOP limit switches etc These must remain operational in all Controller operating modes so that through disengaging of the safety features no uncontrolled re start of the controlled machine is possible A If danger free operation can no longer be ensured the Controller should be taken out of commission and secured against accidental operation A When servicing make sure that there is no voltage supplied to the whole controller i e including the built in module cards This applies in particular to relay cards used which are operated at high voltages up to 240 VAC When changing modules ensure that good earthing has been performed in the environment to avoid electrostatic charges A Necessary repairs to the Controller are only to be carried out by LENORD BAUER or a Specifically authorised agent Note Some of the auxiliary voltage outputs on several modules are equipped with self resetting thermal fuses PTC overload protection see appendix B In case of release switch off the voltage supply for approx 20 seconds These are persons who in respect of the project are familiar with the safety concepts of automation technology are experienced in the area of EMC have received training in relation to installation and service work are familiar with the operation of the unit and know the pertinent product information contained to ensure faultless and safe operation 8310 8610 8 1 2 INTRODUCTION
122. flow instruction JMP Sent program flow instruction IF O M N clear memory delete unit or program copy sentences define the end of program delete sentence decrement axis for display within the unit jump to the beginning of program jump to the end of program insert sentence SPP NCNECPNCPACOO a D Z 22 gt FP 2 2 2 read memory card option increment axis for display within the unit valid mode A automatic mode N programming mode for nominal values M programming mode for machine parameters 8310 8610 8 OPERATIONAL CONTROLS 2 2 Operational Controls ccccccceseeteeeeeeeeeeeeeeeeeeeeeeeeensneeeeeeeeeeees 2 1 2 1 BASIC KEY OG ANC ai ss camabas cas vacoriae nova aaaiados E canada ne nan 2 1 2 2 Additional keyboard of the GEL 8610 2 2 2 3 Function key combinations ll anna 2 3 8310 8610 8 i OPERATING MODES AND STATES 3 1 3 Operating Modes and States The Controller is designed for three operating modes and three operating states _1 Automatic mode e started state e interrupted state stop e reset state 1 Programming mode for nominal values 1 Programming mode for machine parameters AUTOMATIC MODE F2 0 F2 0 E oa Oj f sentence gt system mi unit 1 6 K axis 1 6 ESC X storage storage storage no no no nominal value 1 paramet
123. following distance and time diagrams show the relation as examples whereas Rx refers to one of the R1 to R4 range signals and start and end characterize the values programmed for this 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals Absolute ranges Storage location 3 62 0 Signals are output in all operating states 4 13 actual O ee position 200 0 100 0 0 0 100 0 200 0 0 Rx start 100 0 end 200 0 1 0 end 100 0 start 200 0 E180010A Relative ranges Storage location 3 62 1 Signals are output in the started state only nominal actual y position 100 0 200 0 300 0 400 0 500 0 variance gt 0 variance lt 0 1 1 d 0 Rx end 200 0 start 100 0 1 0 start 200 0 end 100 0 E180010B 8310 8610 8 4 14 4 5 Signals FUNCTIONAL DESCRIPTIONS Drive signals Storage location 3 62 2 The range signals are used to control fast slow speed drives and have a fixed meaning refer to the following diagrams The values for the start and end are relative and related to the nominal position a Positioning The end value of R3 as well as the start value of R4 are set internally to a maximum value Programmed values are ignored nominal variance gt 0 variance lt 0 actual position l H H l 100 0 200 0 300 0 l 400 0 500 0 start forward reverse R2 1i fast speed 0 4 end 150 0 i start 200 0 R1 1
124. g with Beg to End 1 Beg End no output Low level Beg gt End inverted output Low level starting with End to Beg 1 For the drive control 3 62 2 R1 slow speed signal The signal level of R1 is inverted and internally linked to range signal R2 refer to section 4 5 6 XXXXXXXX max digits incl sign and decimal point value in actual measuring units 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 37 7 65 R2 Beg Start value of range R2 66 R2 End End value of range R2 Specifies the position of the 2nd range R2 absolute or relative to the nominal position refer to storage location 3 62 signal output refer to storage location 3 63 64 For the drive control 3 62 2 R2 fast speed signal The signal level of R2 is inverted refer to section 4 5 6 XXXXXXXX max digits incl sign and decimal point value in actual measuring units E 67 R3 Beg Start value of range R3 68 R3 End End value of range R3 Specifies the position of the 3rd range R3 absolute or relative to the nominal position refer to storage location 3 62 signal output refer to storage location 3 63 64 For the drive control 3 62 2 R3 forward signal The end value is internally set to the maximum positive value possible and can neither be indicated nor changed a value programmed here will be ignored refer to section 4 5 6 XXXXXXXX max digits incl sign and decimal poi
125. ge location 3 73 Counting example for a defined rotary table range of 360 0 actual measuring units counting up gt 359 8 5 359 9 gt 005015025 counting down 20 2 50 1 gt 0 0 gt 359 9 gt 359 8 gt The value to be programmed and the operating value of the rotary table range may differ This is caused by taking a multiplier value at storage location 3 3 into account In addition a four fold edge evaluation is always taken as basis independent of the one programmed at storage location 3 1 applies only to incremental encoders Thus a possible shift of the zero crossing is avoided which can occur due to the internal binary processing of a fractional multiplier for the incoming encoder pulses or absolute positions Operating counting range 4 Programmed range 3 8 Multiplier i Edge evaluation 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 8 Rotary table positioning 4 25 Example of an incremental encoder with 10 000 pulses revolution count range of rotary table in actual measuring units 360 0 edge evaluation 3 1 opere casaca sabias tiras pebiia as read single factor 1 mechanical transmission 1 1 m ltiplier SS rata eine eis tee retreat ner cette a 0 3600 value to be programmed 3 8 360 0 0 3600 4 1 4000 0 Only positive values can be entered for the setting of lengths nominal values In operation negative lengths are however achieved for values that are larger than
126. gic reversal 5 binary parallel absolute encoder binary code 6 binary parallel absolute encoder binary code with logic reversal 7 BCD parallel absolute encoder BCD 8 BCD parallel absolute encoder BCD with logic reversal 9 SSI 25b 25 bits multi turn absolute encoder with serial data output Gray code refer to storage location 3 54 10 SSI 13b 13 bits single turn absolute encoder with serial data output Gray code refer to storage location 3 54 8 2 Directio Count direction Inverting of actual value counting direction It is mandatory to read sections 5 4 and 4 1 3 before performing any changes WARNING 0 no rever no reversal of the count direction 1 reversal reversal of the count direction 8310 8610 8 A 20 STORAGE LOCATIONS FOR MACHINE PARAMETERS a 3 Muttipl 3 Muti Multiple Multiplier for the encoder input for incremental encoders after edge evaluation refer to section 5 2 XX XXXX Input of a value gt 0 and lt 99 9999 O 1 0000 3 4 Disp mul Multiplier for actual value display Multiplier for the display of all values in actual measuring units displays A and C the setting is only effective if at least one decimal place has been programmed 3 5 gt 0 0 x1 display unchanged 1 x0 1 the display is shifted to the right by one digit i e the last digit is removed from the display example with x1 123 45 with x0 1 1
127. gnal is output Tol nominal actual difference is positive Tol nominal actual difference is negative XXXXXXXX max digits incl decimal point only positive value in actual measuring units Once the nominal actual difference exceeds the specified values fault signal is output level at terminal K1 changes from High to Low the Controller changes into the stop state sentence number flashes or into the reset state with manual positioning or reference search routine 42 Smax Max positive contouring error 43 S max Max negative contouring error This state is acknowledged with a start or search for reference signal Can only be recognized if the triggering axis is displayed 0 XXXXXXXX max digits incl decimal point only positive value in actual measuring units with 0 the contouring error monitoring can be deactivated but this is not recommended for safety reasons 8310 8610 8 A 30 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 44 Measure Measurement system Specifies the measurement system the Controller shall work with 0 absolute system of absolute dimensions fixed zero processing position values entered are absolute positions if in the programming mode for nominal values you switch over to lengths FO incremental dimension processing can be obtained for individual sentences 1 relative system of incremental dimension
128. h C certification devices without C certification Y Pull out the desired module preferably grasping one of the still plugged terminal strips y Pull out the metal frame with mounted power supply card V Pull out the desired module Due to the compact construction it may be possible that a card is jamming slightly If this is the case press the card next to it slightly aside or also pull it out partially V Unplug the terminal strips still being plugged on the module All terminal strips are coded and Clearly labelled see appendix B so that they cannot be confused later on 7 3 2 Assembly V Insert the module in the guiding rails and push it in The Controller housing contains each 2 adjacent guiding rails Both power and P1 modules see Fig 1 are to be inserted into the left guiding rails All other modules are to be inserted into the right rails see also appendix B under Module arrangement If a module strucks or blocks during insertion press the module next to it slightly aside or pull it out partially so that both modules can be pushed in together Special notice for module P1 with optional memory card Due to the guide frame for the memory card mounted on the front panel the module might abut against this frame In this case press the card slightly to the left using a flat tool so that it can pass the frame on the left 8310 8610 8 7 6 7 3 Replacing modules MOUNTING INSTRUCTIONS
129. half of the counting range Thus a certain travelling direction can be forced for the drive by an appropriate selection of the nominal length Example with the data from the previous example desired nominal length 100 0 the drive shall move backward by 100 0 nominal value to be entered 360 0 100 0 260 0 gt 360 0 2 8310 8610 8 4 26 4 9 Parking FUNCTIONAL DESCRIPTIONS 4 9 Parking The parking position is an additional nominal position Its value is to be pro grammed at storage location 3 58 either in the machine parameters programming mode or directly in the reset state of the automatic mode precondition storage location 3 57 1 active and 3 56 O inactive Direct entry via 4 and determination of the axis number The parking position is only taken into account if the Controller operates in the system of absolute dimensions storage location 3 44 0 The speed rate for reaching the parking position is to be determined at storage location 3 59 While travelling to the park position and remaining there display B shows m apr instead of the sentence number At the same time the machine functions programmed at storage location 3 60 are output at the fixed data output module refer to appendix A Storage location 3 56 specifies when the parking position is to be reached The following diagram gives an example illustrating the possibilities for a program with two runs cycles consisting of two
130. he Automatic mode and during teach in operation GEL 8610 only 19 input4 0 positioning via the 4th data input E4 decade 10 20 input4 1 positioning via the 4th data input E4 decade 10 21 input4 2 positioning via the 4th data input E4 decade 10 22 input4 3 positioning via the 4th data input E4 decade 10 23 input4 4 positioning via the 4th data input E4 decade 10 24 input4 5 positioning via the 4th data input E4 decade 10 25 keyboard positioning via the keyboard in the Auto matic mode and during teach in operation 3 20 Man pol Polarity for manual drive control Assignment of the positioning direction to the appropriate signals at the optional data input connector or to the keys for the manual positioning 0 b forw positive voltage and forward signal for signals and keys 1 4 forw positive voltage and forward signal for signals and keys O O 3 3 The voltage can also be negative depending on the programming of storage location 3 25 21 speed Slow speed forward 22 bb speed Fast speed forward E 23 4 speed Slow speed reverse 24 44speed Fast speed reverse Speed rates for the manual positioning XXXXXX max 6 digits incl decimal point value in actual measuring units per second e g 100 for 100 00 mm sec 8310 8610 8 A 26 STORAGE LOCATIONS FOR MAC
131. he following units axes e unit 1 axes 1 to 3 GEL 8610 6 e unit 2 axes 2 and 3 For this the variant 1 linear must be selected for storage location 2 5 of the corresponding unit The rotary table positioning must not be activated when using ne path conto Ee location 3 8 O for all axes Otherwise a mr am E is caused There are two methods of presetting the speed rate for the combined axes e separately for each sentence In this case the speed rate nominal value type must be part of the sentence determined at storage location 2 3 The input format or the measuring unit for the speed rate is fixed by the first axis of the unit storage locations 3 45 and 3 46 refer to section 4 2 e identically for all sentences In this case the speed rate nominal value type is not part of the sentence The value is preset via the axis parameter 3 34 of that axis that has to travel the longer distance The path speed consists of the speed components of the combined axes The axis that has to travel the longer distance is always responsible for presetting the speed value The speed rate s of the other axis axes is are adapted accordingly depending on the path angle The following diagram shows an example for two axes left axis 1 X travels the longer distance sy right axis 2 Y travels the longer distance sy 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 13 Linear path control 4 37 i Vis Vpath
132. he storage location 3 38 0 then 3 36 is effective for thrake or 3 35 if 3 36 0 X XXX range of values 0 9 999 sec For internal calculation reasons the following restriction applies laccel brake lt Vmax axes 0 03 taccel brake N milliseconds Vmax in DispU sec value from 3 32 without decimal point axes number of activated axes 1 up to 3 6 If the value entered is too high it is internally reduced to the above maximum value 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 29 8 39 t jerk Jerking time The jerk determines the positioning characteristic of the drive it is defined by the time tjerk in which the maximum acceleration is reached jerk a terk Vmax taccel tjerk the larger tjerk the smoother the accelerating and braking process refer to sections 4 4 2 and 5 6 4 X XXX range of values 0 9 999 sec For internal calculation reasons the following restriction applies tjerk lt Vmax i axes 0 03 taccelt tierk in milliseconds Vmax in DispU sec value from 3 32 without decimal point axes number of activated axes 1 up to 3 6 taccel in milliseconds value from 3 35 without decimal point If the value entered is too high it is internally reduced to the above maximum value 40 Tol Positive tolerance 41 Tol Negative tolerance To keep the actual nominal signal stable a tolerance range may be specified in which the si
133. hen powering on the BO resp a non existent program has been specified as source device you had switched off while the message 7 has been issued the device is defect Enter a correct program number Clear all nominal value storage locations i e carry out the clearing pro cess for each programmed unit then switch the device off and on again If the message is still indi cated the device must be replaced In the other case reprogram the nominal values The Controller cannot be started if the message has been acknowledged with out carrying out the above step s 8310 8610 8 6 6 6 1 Warning and error messages Warning or error message Cause situation e When copying sentences CO resp oj a non existent sentence has been specified as source e When copying in the over write mode destination sentence number has been confirmed with only the number of sen tences within the actual program is lower than that of the sentences to be copied TROUBLE SHOOTING Remedy reaction Enter the correct sentence number Reduce the number of the last sentence to be copied or use the insert mode confirm the sentence number at to with HS resp missing memory card e Memory card used is de fect or has been used so far with another Controller type GEL 8310 o GEL 8610 e You tried to read a card which has not been written yet check sum
134. hey have no meaning in this case they are undefined 4 14 1 Call subroutine CALL Pr If the Controller encounters the CALL Pr instruction while processing a program it will temporarily branch to the program with the indicated number beginning with sentence no 1 This program is then executed as often as specified by its cycles value After the last program execution processing of the original program will be continued starting at the sentence following the CALL instruction Up to 20 CALL instructions can be nested If the number is exceeded the programi is eae at the corresponding position and the error 32 F FY is stored in the fault memory can be retrieved using DO If another program is called from a subroutine CALL with JUMP then after processing the other program a jump is made back to the program that originally contained the CALL instruction processing continues with the sentence following the CALL instruction A subroutine is consequently terminated by a program jump JUMP Pr included in the subroutine Input e aO e program number 1 99 e Upon the input the existence of the specified program is not verified If the program does not exist the current program is aborted when the CALL instruction is execuied CONO GEI is entendo over to the reset state and the error 20 2 aiid fro er em is stored in the fault memory Coding for serial transmission length 4 bytes MSB LSB
135. ication with continuous sentence processing at the 3rd data input E3 input 4 data specification without continuous sentence processing at the 4th data input E4 data specification with continuous sentence processing at the 4th data input E4 78 3 Reserve 79 not used for the standard version 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS mr 81 82 IPos out Pos out Corr out A 43 Data output of nominal position values Data output of actual position Data output of correction value Specifies at which optional output module the data are to be output in BCD code max 6 digits optionally with sign and or data ready DR signal refer to section 4 10 2 0 inactive no data output 1 output 1 data without sign at the 1st data output range of values 0 999 999 2 01 data with sign at the 1st data output range of values 799 999 799 999 sign decade 10 bit 2 4 Low 3 o1 DR data with data ready signal without sign at the 1st data output range of values 0 799 999 DR decade 10 bit 2 2 High 4 ol DR data with data ready signal and with sign at the 1st data output range of values 399 999 399 999 DR decade 10 bit 2 sign decade 10 bit 2 output 2 data without sign at the 2nd data output 02 data with sign at the 2nd data output o2 DR data with data ready
136. ient Counting range Display range Number of axes GEL 8310 GEL 8610 500 mA per output short circuit proof higher loads will cause oscillating 18 35 VDC 240 VAC 1 A spark extinguishing is recommended potential free 10 000 V O 10 000 V 1 22 mV 14 bit D A converter 10 mA sustained short circuit proof 0 7 mV related to 23 C typ 0 20 mV 10 K max 1 00 mV 10 K 2 2 4 9 999 999 99999 999 max 3 1 3 units max 6 1 6 units Storage locations for nominal values GEL 8310 GEL 8610 partition 7168 6416 max 99 programs per unit max 999 sentences per program 8310 8610 8 SPECIFICATIONS Control scan time Power failure safe storing Climatic application class relative humidity operating temperature range storage temperature range EMC by observing the set up instructions noise emission noise immunity Display height display A displays B C Max line cross section terminal strips C Z P terminal strip N terminal strip R Weight incl all components GEL 8310 GEL 8610 Protective class front without slot for memory card front with slot for memory card 8310 8610 8 C 3 typ 1 msec per connected axis EEPROM service life 10 000 write operations per byte or 10 years KWF according to DIN 40040 specification up to 95 no condensation OC 50 C 20 C 80 C for Contro
137. in which they are dealt with The descriptions do not represent the whole range of possibilities Messages valid only for certain options are dealt with at their corresponding descriptions refer to appendix O Messages 8310 8610 8 6 2 6 1 Warning and error messages Warning or error message Cause situation The BHO keys resp were pressed directly after entering the machine parameter programming mode all machine parameters will be reset to O and all storage locations for the nominal values will be cleared After the selection of a program the BO keys resp have been pressed instead of entering the sentence number TROUBLE SHOOTING Remedy reaction Confirm the safety inquiry with or abort function with any other key Confirm safety inquiry with or abort function with any other key e In the nominal value programming mode the BHO keys resp have been pressed after selection of the unit instead of the program number input e In the machine parameter programming mode either the unit axis assignment storage locations 1 3 to 1 5 or the configuration of the nominal value sentence for the unit storage locations 2 1 to 2 5 has been changed all storage locations i e programs of the respective unit are cleared Confirm the safety inquiry with or abort function with any other key As before 8310 8610 8 TROUBLE SHOOTING Warning
138. is ewilened over to the reset sare and oE error So iru i i m and or error 30 2 id Sentence i is stored in the fault memory Coding for serial transmission length 4 bytes byte LSB JUMP Pr oon ra JMP sent sentence no 8310 8610 8 4 42 4 14 Program flow instructions FUNCTIONAL DESCRIPTIONS 4 14 3 Signal dependent branching IF I O The program can be conditionally executed depending on the signal state at certain inputs and outputs I O of the Controller If the condition is true i e the signal state at the called input output is logically 1 High level the program is continued with the sentence immediately following the IF instruction Otherwise logically 0 the program is continued with the next sentence plus one i e the sentence following the IF instruction is skipped Output signals are internally scanned This means that all kinds of output sig nals may be used without the pertaining data output having to be physically existing Consequently it is possible e g to assign program execution signals or machine functions to a fictitious data output A3 and subsequently to scan it When calling input signals the corresponding data input connector must of course be available However an assignment of a function is not required When starting from the reset state it is not possible first to process an IF in struction directly in the first sentence of the started program or via a
139. ition or length see section 4 14 1 8310 8610 8 OPERATING MODES AND STATES 3 2 Progr mode for nominal values 3 13 HO Select program flow instruction JUMP Pr at the beginning of the sentence only in place of the nominal value type position or length see section 4 14 2 ORO Select program flow instruction JMP sent at the beginning of the sentence only in place of the nominal value type position or length see section 4 14 2 DRO Select program flow instruction IF I O at the beginning of the sentence only in place of the nominal value type position or length see section 4 14 3 O Absolute coordinates offset at the beginning of the sentence only in place of the nominal value type position or length see section 4 15 ORO Relative coordinates offset at the beginning of the sentence only in place of the nominal value type position or length see section 4 15 PHO Activate teach in operation this function can only be activated at nominal value type position absolute dimensions and is identified by an appropriate plain text in display C the drive can be moved manually when actuating the amp key the actual value display A is taken over as nominal value and the teach in operation is terminated abort with BHO Define the end of program fixing the number of program runs cycles 0 unlimited Tan this function can only be called up at the beginning of a senten
140. limited the regulation presettings of the Controller for decelerating anymore This results in an increased contouring distance Delta s causing a correspondingly high control voltage Control No fault is generated in the Controller if Delta_s stays below the Smax maximum value storage location 3 42 44 When powering up the drive system the next time the control voltage generated then by the Controller may cause an inadmissible high loading of the drive E180018A To prevent this the contouring distance for the corresponding axis can be set to zero by applying High level to terminal P423 Precondition for the effectiveness of the signal e parameter 3 90 of the corresponding axis is axes are active e unit of the corresponding axis axes is in the interrupted or reset state 4 5 4 Drive control signals The drive control signals include e release brake e cancel controller lock drive enable The signals are output at terminal strip D The following diagram shows the correlation 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 5 Signals 4 11 start manual keys actual nominal analog output release brake cancel controller l lock SARSA th close T E1800053 The values for tp open time to open the brake and tp close time to close the brake are programmed at storage locations 3 51 and 3 52 4 5 5 Program processing signals The program processing signals include
141. ll be shown by means of the following two functions the desired axis can then be select Select an axis for the display increment axis within the active unit only possible if the unit includes more than one axis Select an axis for the display decrement axis within the active unit only possible if the unit includes more than one axis Change into the programming mode for nominal values abort with Change into the programming mode for machine parameters abort with 5 password 9228 8310 8610 8 OPERATING MODES AND STATES 3 1 Automatic mode 3 5 aE ag 19 aw g Eka PHO 8310 8610 8 Direct entry of a reference value for an axis to be selected only possible in the reset state and if the machine parameter 3 9 of that axis has been programmed accordingly cf section 4 6 abort with the value becomes active with the next start signal Start a reference search routine for an axis to be selected only possible in the reset state and if the machine parameters 3 9 and 3 11 of that axis have been programmed accordingly additionally High level must to be applied at stop input P4 7 10 refer also to section 4 6 2 Direct entry of a correction value for an axis to be selected only possible in the reset state and if the machine parameter 3 7 of that axis has been programmed accordingly refer also to section 4 7 abort with _ amp the value becomes active with the next start sig
142. llers with CE certification only according to EN 50081 2 1994 according to EN 50082 2 1995 14 mm seven segments 5 mm dot matrix 5x7 1 5 mm 3 8 mm grid 2 5 mm 5 1 mm grid 2 5 mm 7 6 mm grid approx 1 5 kg approx 3 kg IP 50 IP 20 C 4 SPECIFICATIONS Dimensions Controller GEL 8310 111 E Dada ESC F J o Ma SL fes a E panel cutout i 19 N ado LA dimensions in mm X D183036D F 8310 8610 8 SPECIFICATIONS C 5 Controller GEL 8610 111 panel cutout pm FR e 19 o N Gl WN ca ql oy sy c rr E l 281 5 q E O O oo oo N O O dimensions in mm 8310 8610 8 X D186036D F C 6 SPECIFICATIONS GEL 89033 mains transformer Y 76 terminal strip dimensions in mm E183036G GEL 89036 mains transformer 119 at terminal strip dimensions in mm E186036G 8310 8610 8 SPECIFICATIONS C 7 GEL 7922 clamping plate for GEL 89033 36 mains transformer top hat rail 35 mm dimensions in mm l E6101CH GEL 7925 mains suppression filter for mains
143. lock clock frequency encoder supply 8310 8610 8 C 1 18 30 VDC or 16 22 VAC current consumption max 1 2 A slow blow miniature fuse 2 0 A current consumption max 2 0 A slow blow miniature fuse 3 15 A 23 30 VDC or 23 28 VAC max 2 4 A slow blow miniature fuse 3 15 A max 4 0 A slow blow miniature fuse 6 3 A 115 230 VAC 50 60 Hz also refer to section 7 2 power consumption max 130 VA power consumption max 170 VA opto decoupled Low 24 V 0 5 V High 24 V 15 30 V Low 5 V 0 0 8 V High 5 V 2 5 5 V approx 3 4 KQ at 20 V approx 0 4 kQ at 5 V lt 100 kHz pulse width of the zero signal gt 5 usec 20 V or 5 V switched from 20 V supply 0 9 A opto decoupled response on enable signal max 100 usec 20V 0 9A opto decoupled according to RS 422 specification 200 kHz 20V 0 9A C 2 Digital inputs logic level input resistance auxiliary voltage Digital outputs Imax auxiliary voltage max output voltage SPECIFICATIONS opto decoupled Low O 5 V High 15 30 V approx 5 kQ at 20 V 20 V 0 9 A opto decoupled NPN transistor open Emitter 20 mA data output A 10 mA 20 V 0 9 A 30 V Power outputs terminal strip L opto decoupled Imax external power supply Contact outputs terminal strip R Analog outputs terminal strip D voltage range resolution Imax max offset error offset temperature coeffic
144. lta s major fluctuations during accelerating or braking indicate that the appropriate values are too small Times being too long are uncritical for the control but do however negatively influence the duration of positioning The Controller limits the values to a maximum size which however can only be attained under most unfavourable conditions see storage location 3 35 in appendix A VY Check by manually displacing the drive into both directions at low speed gt and lt in accordance with the information supplied above whether the times are too short or whether they could be reduced higher mechani cal load Y f necessary program other values storage locations 3 35 38 and check again the drive behaviour with these new values 8310 8610 8 5 14 5 6 Optimization of control parameters COMMISSIONING 5 6 4 Jerk time Slight overshoots at the end of the accelerating and braking period see oscillogram above can be minimized by programming a jerk time tr this however at the expense of a slightly increased duration of positioning By means of the jerk time the positioning characteristic of the drive is fixed refer to section 4 4 2 Y Storage location 3 39 jerk time tjerk Set the value by manually displacing at low speed rate working speed in such a way that the drive shows the desired behaviour for the later posi tioning procedures Note Because of internal calculation reasons the jerk time is limited t
145. lta s signal shall be active for resetting a contouring error which has developed during the interrupted stop reset state refer to section 4 5 3 signal is disabled signal is enabled 0 inactive 1 active 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 45 8 91 PowerCal Calibration after powering on Specifies whether the axis is exempted from the calibration mode that is defined in system parameter 1 2 0 asSystem standard i e no exemption 1 inactive no calibration for this axis 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS Appendix A Storage locations for machine parameters Overview of the storage locations aa A 1 Parameter formats r rii ees Sa nEle pa Lap ini Sesi dna ban A 4 Explanations on the representation used seere enennnneennnsnnn A 4 1 System parameters Istlevel erra A 5 2 Unit parameters 2nd level ccccee cece cece eee eee eeeeeeeeeeeeeeeeeeeeeeees A 11 3 Axis parameters 3rd level cccccccccssseeeseeseeeeeeeeeeeeeaseeeeeeeeeeeeeeeaaeans A 19 8310 8610 8 i PIN LAYOUT B 1 Connector designations terminal strip data con module function nector A data output logic outputs 1 to 3 count inputs for incremental encoders 5 24 V 1 to 3 analog outputs 0 10 V E data inputs High level 2 logic 1 data output power outputs power supply
146. ly be initiated in the reset state of the unit and if High level is applied to the corresponding stop input refer to section 4 6 0 inactive search routine is disabled 1 autoforw setting the reference measure in the forward direction 2 auto rev setting the reference measure in the reverse direction 3 12 Fine Reference fine signal Specifies the switching direction of the reference fine signal refer to section 4 6 0 edge negative signal edge High Low is evaluated 1 edge positive signal edge Low High is evaluated 2 es edge both signal edges are evaluated 3 13 Coarse Reference coarse signal Specifies the switching state of the reference coarse signal refer to section 4 6 0 low Low level 4 logical 1 1 high High level 4 logical 1 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 23 8 14 R switch Reversing switch signal Specifies the switching level of the reversing switch signal for the automatic reference search routine refer to section 4 6 0 low Low level 4 logical 1 1 high High level 2 logical 1 8 15 Ref val Value of the 1st reference measure Under the precondition that the reference2 1 signal is not active Low level at P22 the actual value is set to this value as soon as the drive exceeds the reference point the here specified value can also be changed via direct entry in the Automatic mode under the above
147. machine functions with actual nominal 2 sig out program processing signals with actual nominal 3 Mf Sign machine functions and program processing signals with actual nominal 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 17 2 12 ResetOut Program processing signal reset Specifies whether the reset signal is to be output and if so which other program processing signal is to be dropped instead refer to section 4 5 5 0 inactive resetis not used 1 sent end resetis used instead of sentence end 2 blockEnd resetis used instead of block end 13 2 Reserve 14 not used for the standard version 8310 8610 8 A 18 STORAGE LOCATIONS FOR MACHINE PARAMETERS Remarks 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 19 3 Axis parameters 3rd level 3 1 Encoder Actual value adjustment Specification of the used encoder and setting of the edge evaluation of the 0 and 90 tracks at the count input and the coding of the connected encoder refer also to section 5 2 0 incr x1 incremental encoder with 1 fold edge evaluation nominal pulse number 1 incr x2 _ incremental encoder with 2 fold edge evaluation double nominal pulse number 2 incr x4 incremental encoder with 4 fold edge evaluation quadruple nominal pulse number 3 Gray absolute encoder Gray code 4 Gray parallel absolute encoder Gray code with lo
148. me clock only this is only possible directly after entering the programming mode i e inside of the top selection level abort terminate with 65 go on with refer to section 4 12 3 18 3 3 Progr mode for machine parameters OPERATING MODES AND STATES 3 3 2 Programming example The switching level of the reversing switch signal storage location 3 14 for axis 2 shall be inverted change of travel direction at Low signal ST IC OLI _I I I LI l J IILL 1 zl L tod l ee ee E mia ia e p p jo EJ eai fo I 4 IL 7 J l 3 g H4 p Care o e po hm i 8 quo storing a pee Ese i F2 0 E ae r ESC F2 0 Auto Auto z J ILI fm lees opor ae E180062C J ns O me me cm It is assumed that 3 axes are connected and assigned to one unit 1 therefore no other units or axes can be selected 8310 8610 8 OPERATING MODES AND STATES 3 1 3 1 1 3 1 2 3 2 3 2 1 3 2 2 3 3 3 3 1 3 3 2 Operating Modes and States 2 ccceeeceeeeeeeeeeneeeeeeeeeeeeeeees 3 1 AUtOmMatiG AMNODS scr srancarsugao dados N boa cada denade subsea ds 3 2 FUNGOS eses ns teats nrc Raa e O a a Dc A e 3 4 Displays in the start and stop state 3 8 Programming mode for nominal values errereen 3 9 FUNCU
149. mming mode of machine parameters e via a serial interface Standard display actual position length actual position length E1800771 E180077E C BE fe a T axis program output voltage axis output voltage program selection via keyboard program selection via data input module Instead of the output voltage the contouring error or the actual positions of the other axis axes may be displayed depending on which display mode has been selected in the reset state before 8310 8610 8 3 4 3 1 1 3 1 Automatic mode OPERATING MODES AND STATES Functions The following keys and key combinations are available in the automatic mode to call up certain functions a Ge Ge Ce o e e O Scroll the different actual nominal values in displays B and C refer to section 3 1 2 the number of possibilities is determined by the programming of the machine parameters for the respective unit Sentence structure Reset display B to standard display axis program sentence display C does not change once a cursor key is pressed display B will show again the identification text of the value displayed in C cf section 3 1 2 Select a program only possible in the reset state and if the appropriate unit parameter 2 6 0 keyboard Select a unit for the display if the unit includes more than one axis the one with the lowest number wi
150. n 5 1 LI Actual value adjustment section 5 2 Adaptation of the analogue output sections 5 3 to 5 5 Optimization of control parameters section 5 6 I Controller configuration section 5 7 The last four items must be carried out for each connected axis The table of contents on the previous page provides a survey on the com missioning procedure If possible do observe the order Paragraphs describ ing a programming procedure or setting are marked with y Prerequisites initial state O You have already made yourself familiar with the operating and the func tions of the Controller by reading this manual O The electrical connections to the peripheral equipment encoders drive amplifiers initiators etc have already been established according to the connection diagrams in appendix B Motor amplifier and tachometer have already been matched with each other O Supply voltages are available O The machine part to be positioned should be approx in the middle of the positioning area O An EMERGENCY STOP for the drive must be freely and quickly accessible refer to section 4 1 3 O All storage locations of the Controller are reset to O default except the system parameter 1 3 initial state as set at the factory if this is not the case clear the storages see sections 3 2 1 and 3 3 1 keys 637 O All modules are configured properly i e jumpers are set according to the requirements See appendix B
151. n on the listed functions and the key equivalents of the GEL 8610 you will find in chapter 3 BIS IO e mode function M l increment variant gt display time with serial interface with clock only list stored faults enter a reference value absolute coordinates offset relative coordinates offset search for reference enter correction value Teach in operation ON 9 OFF A A N N A A A enter value of park position N A slow speed reverse A slow speed forward N beginning of previous sentence N beginning of next sentence N store and go to the next nominal value of the same type function BOO N M return to automatic mode A enter the programming mode for nominal values A enter the programming mode for machine parameters M copy axis parameters 1 valid mode 8310 8610 8 A automatic mode N programming mode for nominal values M programming mode for machine parameters 2 4 OPERATIONAL CONTROLS mode function fast speed reverse A fast speed forward A write to memory card option aooe function decrement variant display number of actual software version display signal states password 9320 select unit for display floating or fixed zero processing position length be sentence processing speed select program program flow instruction CALL Pr program flow instruction JUMP Pr program
152. nal Direct entry of the park position for an axis to be selected only possible in the reset state and if the machine parameters 3 56 and 3 57 of that axis have been programmed accordingly refer also to section 4 9 abort with 5 the value becomes active with the next start signal Display the signal states cf section 4 5 7 password 9320 Display of stored fault message s abort with 6 scroll with the cursor keys delete message with 9 cf section 6 2 3 6 BHO Q ag a0 Ga BB Wo O Ore 3 1 Automatic mode OPERATING MODES AND STATES Display the actual software version this is possible in all states of the automatic mode example a with standard software b with special software basic device GEL 8619 for 5 axes ate as before f Oe rye C Oo Er tt ale iim NI E p EL k s E E 1 cS s bmo poa Rg S G code for software options standard version number of special software examples for software options cf appendix C Op x1 transmission protocol LB2 Op x2 transmission protocols LB2 GEL 131 Op 1x circular interpolation Op 2x synchro control Display of date time only with serial interface module V with integrated real time clock abort with cf section 4 12 Write data to memory card option storing of operating and machine parameters with security inquiry refer also to storage location 1 6 GEL 8310 or 1 9 GEL 8610 respectively
153. nally e with continuous sentence processing cf section 4 3 e with program flow instructions or coordinates offset cf sections 4 14 and 4 15 e after a preset time has elapsed after the actua nominal signal identically for all sentences within the unit cf storage location 2 10 differently for individual sentences within the unit nominal value preset cf storage location 2 1 Standard display actual position length E180077D active sentence program nominal position length 8310 8610 8 OPERATING MODES AND STATES 3 1 Automatic mode 3 3 Interrupted state stop Here the program processing was stopped temporarily and can be resumed by the next start signal The sentence number shown in display B flashes Activation e Low level at stop input P4 P7 P10 maximum permissible trailing distance has been exceeded cf storage locations 3 42 and 3 43 in appendix A or a limit switch has triggered cf section 4 11 then additionally the fault signal is active and the separation points in display B are flashing cf section 4 5 2 e via a serial interface Reset state In this state several direct entries or an automatic search routine may be performed described in the following section Only if the Controller is in the reset state for all units data can be read from the optional memory card Activation e High level at reset input P5 P8 P11 e selecting a storage location in the progra
154. nt value in actual measuring units r 69 R4 Beg Start value of range R4 70 R4 End End value of range R4 Specifies the position of the 4th range R4 absolute or relative to the nominal position refer to storage location 3 62 signal output refer to storage location 3 63 64 For the drive control 3 62 2 R4 reverse signal The end value is internally set to the maximum negative value possible and can neither be indicated nor changed a value programmed here will be ignored refer to section 4 5 6 XXXXXXXX max digits incl sign and decimal point value in actual measuring units 8310 8610 8 A 38 STORAGE LOCATIONS FOR MACHINE PARAMETERS E These two values are the limits for the input monitoring within the programming mode of nominal values or for the direct entry e g reference measure Additionally they fix the maximum positioning range if the function software limit switch is activated refer to storage location 3 73 71 Pos min Minimum position value 72 Pos max Maximum position value condition Pos min lt Pos max exception Pos min Pos max 0 In this case the input monitoring and software limit switch function are disabled An error message is issued if the entered nominal value is too small or too big refer to section 4 11 1 For rotary table positioning refer to storage location 3 8 Pos min max are preset internally Pos min 0 Pos max programmed coun
155. o a maximum value see storage location 3 39 in appendix A Now the control parameters are properly set or optimized for the drive Finally further machine parameters must be set to configure the Controller for the installation 8310 8610 8 COMMISSIONING 5 7 Controller configuration 5 15 5 7 Controller configuration Since the programming of further machine parameters is rather individual and depending on the application we cannot provide any concrete procedure nor can we give any values We recommend you to take the survey at the beginning of appendix A and the following table to decide on further parameters to be determined You may however browse through the machine parameters at the Controller setting the required functions and values Please do also observe the information on the individual storage locations in appendix A and possibly appendix O Here are some basic points Y Determine among others for each unit of which elements a nominal value sentence should consist and whether the axes should be o in Pal control storage locations 2 1 5 confirm the security inquiry by pressing the 2 key Y Determine among others the following for the axes parameters Storage locations 3 9 17 calibration functions and values if incremental encoders are used Storage location 3 20 adaptation of the keys and or signals for the manual drive control to the installation specific directions Storage loc
156. o which all other positions to be positioned to are related to can must be determined within the working range of the machine Concerning the power failure security storage location 1 2 it can be deter mined whether incremental axes are to be calibrated first after powering up It is possible to exclude individual axes from this calibration refer to storage location 3 91 When setting the reference measure one of two possible values is loaded into the actual value counter display A The signal state at terminal P422 determines the active reference value reference2 1 signal e Low level or not connected 1st reference measure is active value from storage location 3 15 e High level 2nd reference measure is active value from storage location 3 85 The reference measures can either be programmed in the programming mode of machine parameters or directly in the reset state of the automatic mode via the key combination precondition storage location 3 9 1 ref val or 3 val auto Direct entry of a reference measure e Press the key combination resp the amp key GEL 8610 e Enter the axis number and confirm with e Enter the reference value display A and confirm with The input value is stored either into storage location 3 15 or 3 85 depending on the signal state at terminal P422 reference2 1 refer to above There are two possibilities of setting the reference measure The selection is
157. olution the point of the value in a must be shifted to the left i e the value must be divided by 10 e For each decimal place by which the speed resolution is less than the actual measure resolution the point of the value in a must be shifted to the right i e the value must be multiplied by 10 Example 1 In the equipment the actual measuring unit cm is used with a resolution of 1 100 cm 0 01 cm storage location 3 5 2 The speed values shall be input in m min with two decimal places storage location 3 46 storage location 3 5 2 X XX storage location 3 45 1 m min 1 cm sec 100 cm 60 sec 1 cm sec 100 60 1 6667 If the speed is to be entered with only 1 decimal place then storage location 3 45 1 6667 10 16 6667 For 3 decimal places storage location 3 45 has to contain 1 6667 10 0 1667 8310 8610 8 4 4 4 2 Speed rates FUNCTIONAL DESCRIPTIONS Example 2 Irrespective of the actual measuring unit used in the equipment e g mm resolution 0 1 mm the speed rates of the drive shall be entered in revolutions min rpm without any decimal places and with 1 revolution corresponding to a distance of 10 0 mm storage location 3 5 1 X X storage location 3 46 0 X storage location 3 45 1 revolution min 1 mm sec 10 10 mm 60 sec 1 mm sec 10 10 60 10 1 6667 The above facts are represented again for those who prefer to work with mathemati
158. omens enue ad 4 1 4 2 Speed rates ernen canes connie CU coe R 4 3 4 3 Continuous sentence processing positioning without stop 4 6 4 4 Drive control ati eer ite Rhona ns Eitan tt eer ante Semen ne Pent dvd 4 7 4 4 1 Principle Of regulation saca case issasstasies sega ins cieceutavnistolaciecteedalenelees 4 7 4 4 2 Positioning CHALACICNSHO cas auens Ts een essas wanes ers need 4 8 4 5 Soa Lis poe E eee ea beth RN DARREN RR RR aces 4 9 AS ES OTIS ears caine ta crea E et See Mace eRe eaees 4 9 ae Fy O RAGE et ene Re eee A CERT Eee RN a cen Aan Se CERT CT E E 4 9 45 3 Zero Delta iritence ee re Ree ne een 4 10 4 5 4 Drive control signals sacas cos wears urea eters une ass woven uae eduaiee 4 10 4 5 5 Program processing signals 4 11 4 5 6 Range signalS sacras ssa bi adios ees aa a nad 4 12 Absolute ranges masa sutra oie lal orleans notes wale Pale 4 13 Relative ranges c raisoa eee ria recuaentad cece oan 4 13 DIVE SIQINGS eis se eee ais hae SE ae Ns 4 14 4 5 7 Display of the signal status 4 17 4 6 Reference measure a ismalse is err eesis salsa ba reais eden ee tdee ed eenneceent 4 20 4 6 1 Setting of the reference measure when positioning the drive 4 20 4 6 2 Automatic reference search routine 4 21 4 7 Correction value aot A satiate alta slater do ae in 4 23 4 8 Rotary table positioning ssa sas ES a cna assa 4 24 4 9 PRCT RUNG RAR ON ARE RNP a ONA PNR RP PANA RR NEN PR
159. ominal actual difference lt 0 Depending on the multiplier m storage location 3 3 the following condition is valid Sdead 2 1 for m lt 1 Sdead 2 2 for 1 lt m lt 2 Sdead 2 3 for2 lt m lt 3 etc XXXXXXXX max 8 digits incl decimal point only positive value in actual measuring units 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 27 29 Umin Minimum positive voltage 30 Umin Minimum negative voltage Minimum positive negative voltage for the drive amplifier at which it can still control the drive in both forward and reverse direction refer to section 5 5 XX XXX range of values 0 10 000 V resolution is 1 mV 3 31 Umax Maximum voltage Maximum voltage for the drive amplifier generating the admissible maximum speed of the drive for both directions XX XXX range of values 0 10 000 V resolution is 1 mV 3 32 MaxSpeed Maximum speed Max absolute speed rate Vmax of the drive at Umax refer to section 5 6 1 0 XXXXXX max 6 digits incl decimal point value in actual measuring units per second only positive 8 33 Ksp Control factor This Ksp factor specifies the dynamic range of the drive control refer to section 5 6 2 XXX X range of values 0 999 9 the dimension is 1 sec at 0 the closed loop position control is switched off i e the drive is positioned only by the speed pre control 8310 8610 8 A 28 STORAGE
160. only 2 without function 1 a Serial Serial interface SERES 14 GEL 8610 Specifies the transmission rate for all serial interface types with LB2 protocol 0 inactive no serial data transmission 1 1200 Bd 1 200 bits sec 2 2400 Bd 2 400 bits sec 3 4800 Bd 4 800 bits sec 4 9600 Bd 9 600 bits sec 5 19200 Bd 19 200 bits sec 6 28800Bd 28 800 bits sec with RS 422 485 only 7 38400 Bd 38 400 bits sec with RS 422 485 only 8 48000Bd 48 000 bits sec with RS 422 485 only this rate is not supported by the most PCs 9 57600Bd 57 600 bits sec with RS 422 485 only 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 9 1 12 Device Device number GEL 8310 15 GEL 8610 Specifies the device number address of the Controller for use with the RS 422 485 xx __ input of 4 or 2 digits 0 31 0 specifies a single Controller used 13 sh da GEL 8310 1 Protocol Transmission protocol 16 GEL 8610 Specifies the transmission protocol to be used 0 LB2 standard protocol 1 Terminal optional protocol for operating terminal GEL 131 this variant can only be selected if the appropriate option has been ordered GEL 8310 GEL 8610 All passwords of the programming mode for machine parameters and for the display of signal states can be deactivated while servicing 1 Service Deactivation of passwords 0 inactive standard mode with password inquiry 1
161. or error message eo automatic calibration function is inactive 8310 8610 8 6 1 Warning and error messages Cause situation Non correctable error in the memory used by the power failure security see also the info at the beginning of chapter 5 can only occur during nominal value entry or when reading a memory card Non correctable RAM error can only occur if a defect Controller is switched on the message cannot be cleared You tried to start an auto matic reference search routine resp 6 although this function has not been enabled in the machine parameters for the respective axis In the Automatic mode you tried to select a program OHO or to enter a reference value a correction value or a parking position directly EAD resp SE although this function has not been enabled in the machine parameters for the respective unit axis 6 3 Remedy reaction Replace the Controller Replace the Controller Enable this function at the corresponding axis para meter storage location 3 9 Activate program selection or direct input possibilities for the respective unit para meters storage location 2 6 or axis parameters storage location 3 7 9 57 6 4 6 1 Warning and error messages Warning or error message starting the automatic calibration is invalid Cause situation You tried to start an auto matic reference search
162. ow the separation points in display B are flashing only visible if the corresponding axis is just displayed The drive can now be positioned only in the opposite direction max positioning range mechan software software mechan limit switch limit switch E2800059 The same also applies if a 2 start is programmed at storage location 3 73 In addition when specifying a start signal the Controller first tests if the nominal position of the new sentence would be beyond the limit values this is principally only possible for processing nominal lengths or if the limits have been changed after programming of the nominal positions In this case the limit switch will trigger including the effects described above Independent of the programming of storage location 3 73 the limit switch function is always deactivated 8310 8610 8 4 32 4 11 Limit switches FUNCTIONAL DESCRIPTIONS with 3 71 Pos min 3 72 Pos max 0 with rotary table positioning refer to section 4 8 during the first calibration process provided that the variant 1 n s cal or 3 sec cal is programmed at storage location 1 2 power failure security 4 11 2 Hardware limit switch option The signals of mechanical limit switches can be applied to the Controller via one of the optional data input modules E1 E3 GEL 8610 E4 The following signal levels apply e High level limit switch has not b
163. particular to the relay cards R used see WARNING Fig 1 operating voltages up to 240 VAC are possible a R metal angle P1 a AICS OS g a aim Alo Goll E S a m f nf 1 mm af nf nf fm mm ili iii ii ii nf af mf a DO a metal strip a Fig 1 here Controller GEL 8310 without CE certification E183083A 7 3 1 Disassembly Y Remove optional memory card if inserted devices with C certification devices without C certification VY Unplug all connectors from the VY Disconnect earth wire from the modules metal angle blade connector 6 3 mm Y Remove 4 recessed head screws at the corners of the metal frame Y Remove metal angle and strip with the GEL 8610 there are 2 unscrew 4 recessed head screws additional screws in the middle top Fig 1 a with the GEL 8610 and bottom there are 2 additional screws in the middle top and bottom 8310 8610 8 MOUNTING INSTRUCTIONS 7 3 Replacing modules 7 5 devices wit
164. pat 20 V supply for signals and E data gt latch AE1 AE3 se Po J OV 6 do LINT EXT rl gt enable 1 AE 1 axis 1 4 enable 2 AE 2 axis 2 5 enable3 AE 3 axis 3 6 a 20 olo NI OD OA AI OJN 210 3k3 e 2 data AE1 AE2 AE3 e 2 2 axis 1 3 module 1 le 213 axis 4 6 module 2 5V6 Us Pee numa Address Coding first module W1 Y1 com OTON pulsory for GEL 83xx L or second module W2 Y2 O ON for GEL 86xx only o OFF E180025M The encoders used must make available their data within 100 usec after the signal enable has been given 8310 8610 8 PIN LAYOUT B 9 Actual value input for 1 to 3 SSI encoders pe absolute encoders wit synchronous serial data output with aux voltage 20 V power supply for encoder SSI input for axis no k a a ete 0 9 A ie mg i 1 9 17 ipa A m ia hy 20 V encoder E E 3 m11 19 gt supply
165. programs customer type GEL8 unit unit prog sent type value prog sent type value 1 e g P1 position axis 1 L3 length axis 3 PN piece number M machine functions S speed Sf floating sentence processing CALL Pr etc LENORD BAUER amp CO GMBH 2 2 unit __ prog sent type Supplementary sheet no 3 to operating manual GEL 8310 8610 unit ___ value prog sent type value LENORD BAUER amp CO GMBH UPDATE INFORMATION Appendix Z 8310 8610 8 i
166. put 2 data specification without sign at the 2nd data input E2 i2 data specification with sign at the 2nd data input E2 i2 p l data specification with length specifier without sign at the 2nd data input E2 8 i2 pl data specification with length specifier and with sign at the 2nd data input E2 9 input 3 data specification without sign at the 3rd data input E3 10 i3 data specification with sign at the 3rd data input E3 11 i3 p data specification with length specifier without sign at the 3rd data input E3 12 i3 pl data specification with length specifier and with sign at the 3rd data input E3 GEL 8610 only 13 input 4 data specification without sign at the 4th data input E4 14 i4 data specification with sign at the 4th data input E4 15 i4 p data specification with length specifier without sign at the 4th data input E4 16 i4 pl data specification with length specifier and with sign at the 4th data input E4 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 41 3 76 Corr in Ext data input of a correction value 8310 8610 8 Specifies to which data input the correction value is to be applied in BCD code max 6 digits optionally with sign refer to sections 4 7 and 4 10 1 0 program no external data specification 1 input 1 data specification without sign at the 1st data input E1 range of values O 999 999 2 i1 data specification with sign
167. r B 3 Module arrangement of the GEL 8610 back of the Controller B 4 Connection diagrams asa di ind Aa RSS aa gd B 5 Terminal strip N power supply eet sedises cedecctivev insana die tevedev ct pateetigedtativet ine B 5 Terminal strip P control inputs outputs B 6 Terminal strips C Z count input for incremental encoders B 7 Terminal strips W Y input for absolute encoders parallel B 8 Terminal strip S input for absolute encoders SSI ceeeeeeeeeeeeeeeeeeeees B 9 Terminal strip D analog OUtpuIS ccs senscanscinecanece sen ducsenendnetineodusioneodusotesado B 10 Connector E datas sas ea Aa te hohe ere Are itch B 11 Connector A data output logic outputs ceeeeeeeeeeeeeeesseeseeesseseeeeees B 12 Terminal strip L data output power outputs eee eeeeeeteeeeeeeeeeeeeeee B 13 Terminal strip R data output contact outputs ii B 14 Terminal strip Connector V serial interfaCes sssssseeeeeeeeeeeeeees B 15 Connector U intelligent interface RS485 PROFIBUS B 16 Connector T intelligent interface RS485 special protocols B 16 8310 8610 8 iii OPERATING MANUAL GEL 8310 8610 CONTENTS Specifications Operational data cansa nei Desde ada regia dia DIMENSIONS ufon frisar bai risada T
168. r objects are excluded if they can be traced to one or more of the following causes e implementation of the Controller outside the designated use e inappropriate mounting installation and operation of the Controller e operation of the Controller in conjunction with defective or non functional safety equipment in the system e ignoring the instructions in the user manual with regard to storage mount ing installation and operation of the Controller e arbitrary build changes to the Controller e improper repairs e catastrophes due to foreign bodies and higher forces The user manual has been produced with great care However no guarantees can be made for possible errors Copyright for this user manual remains with LENORD BAUER amp Co GMBH The user manual is meant for use only by the user or system builder as well as their employees The instructions guidelines and other information contained are not to be reproduced distributed or otherwise imparted Violations can result in criminal prosecutions 8310 8610 8 1 4 INTRODUCTION 1 4 Information on this manual This manual is applicable to controllers with the standard software version 14 00 and higher Appendix Z supplies information as to whether the software was updated see also the last item of this section Does a Controller not comply with the indicated version the contents may not be regarded as binding We cannot assume any liability for any malfunction
169. ram cycle 6 cycle machine moves to the park position by a start signal at the end of a program cycle after reaching the nominal number of pieces preset in the last sentence of the program 3 57 Dir park Direct entry of a park position A value for the park position can be entered by actuating the 1 keys in the Automatic mode it will overwrite the programmed value at storage location 3 58 0 inactive direct entry disabled 1 active direct entry enabled precondition 3 56 is not inactive 8 58 Park pos Value of the park position The position value programmed at this location can also be overwritten via direct entry in the Automatic mode refer to storage location 3 57 XXXXXXXX max digits incl sign and decimal point value in actual measuring units 8310 8610 8 A 34 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 59 Park spd Parking speed rate Speed rate for moving to the park position XXXXXX_ max 6 digits incl decimal point only positive value in actual measuring units per second 8 60 ParkMfct Machine functions for parking The machine functions programmed here are available while moving to the park position and staying there as long as the Controller is in the started state the output is made as determined by the unit parameter 2 2 see there The parking machine functions are principally unit related They have however one special featu
170. rameters copy axis parameters M fast speed reverse A fast speed forward A write to optional memory card A GEL 8x10 GEL 8610 ENON m keys keys E select previous variant M a 5 E display the version of built in software A F3 HGE display signal states A select the unit for display A BJO process of relat dimens position gt length N process of absol dimens length gt position N Gy continuous sentence processing ON OFF N E3 4 select program A set program flow instruction CALL Pr N set program flow instruction JUMP Pr N Operational key reference GEL 8310 8610 LENORD BAUER GEL 8610 GEL 8x10 function m keys keys S set program flow instruction JMP sent N GAl pes as set rogram flow instruction IF I O N jo aa F3 R 7 clear memory or delete unit program N BR ey NEY M a copy sentences N sas Dor define end of program N BO E a F3 ZA Wy delete sentence N RE A CHO N go to the beginning of program N O lincrement axis no within the unit A ENO O go to the end of program N HO read optional memory card A insert sentence N GEL 8x10 GEL 8610 con m keys keys OO output actual nominal signal manually A Supplementary sheet no 1 to operating manual GEL 8310 8610 1 2 Configuration of the
171. rd Gauer Lenord Baover Copyright 12 97 by Lenord Bauer amp Co GmbH Subject to change without notice Operational key reference GEL 8310 8610 LENORD BAUER GEL 8x10 GEL 8610 tio m keys select next variant M 7N Q display date time option without when A e displaying fault messages PAS display stored fault messages A 00 R A direct input of a reference measure A absolute coordinates offset N search for reference Qi Ae BASS d BABE relative coordinates offset N R 3 direct input of a correction value z 4 direct input of a parking position A z 9 activate teach in mode N O O lt slow speed reverse A go to the beginning of the previous sentence N slow speed forward A OOOH go to the beginning of the next sentence N GO storing and changing to the next nominal value N with the same type E valid mode A Automatic mode N Programming mode for nominal values M Programming mode for machine parameters LENORD BAUER Operational key reference GEL 8310 8610 GEL 8x10 bz GEL 8610 function BH Glo E activate the programming mode for nominal A values return to Automatic mode N M activate the programming mode for machine A pa
172. re the programmed machine functions of all axes which are assigned to one unit are logically OR ed Example with 2 axes and 8 machine functions binary ParkMfctaxisi 1 ParkMfctaxis2 1100 output 00001101 XXXXXXXX max 8 digits binary or octal refer to storage location 2 2 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 35 3 61 Ranges Output of range signals Specifies if range signals are to be output refer to section 4 5 6 and if so at which optional data output refer to section 4 10 2 0 inactive no range signal output 1 out 1 0 1stdata output decade 10 2 out 1 1 1st data output decade 10 3 out 1 2 1st data output decade 10 4 out 1 3 1st data output decade 10 5 out1 4 1stdata output decade 10 6 out 1 5 1st data output decade 10 7 out20 2nddata output decade 10 8 out 2 1 2nd data output decade 10 9 out2 2 2nddata output decade 10 10 out 2 3 2nd data output decade 10 11 out24 2nd data output decade 10 12 out 2 5 2nd data output decade 10 13 out 3 0 3rd data output decade 10 14 out 3 1 3rd data output decade 10 15 out32 3rddata output decade 10 16 out 3 3 3rd data output decade 10 17 out34 3rddata output decade 10 18 out 3 5 3rd data output decade 10 GEL 8610 only 19 out 4 0 4th data output decade 10 20 out4 1 4th data output decade 10 21 out 4 2 4th dat
173. required appendix Z A collection of updating sheets for software upgrades or necessary corrections if available see also last point of this paragraph In general the information given in this operating manual refers to positioning controllers with a maximum possible number of axes 3 axes for the GEL 8310 or 6 axes for the GEL 8610 respectively If equipment with less axes is used mind the respective restrictions in the designs e g for the programming of machine parameters in appendix A In case of terminal designations e g Z8 the letter denotes the terminal strip or connector and the number the pertaining terminal or pin see appendix B If several identical connectors exist an index is added between the letter and the terminal no e g A210 for pin 10 of the 2nd connector A A2 If not expressly mentioned all data listed apply to the standard device resp the standard pin layout of the GEL 8310 8610 8310 8610 8 1 6 INTRODUCTION Numbers of storage locations of machine parameters do have a prefix referring to the respective parameter plane See appendix A 1 x system parameter x 2 x unit parameter x 3 x axiS parameter x A x or X in a numerical expression represents any numeral from the admissible range of values for this expression example GEL 8x10 GEL 8310 and or GEL 8610 Texts printed in italics normally describe input or output signals at the terminal strips see appendix B If function
174. result ing thereof and its consequences Due to the Controllers universality and the multitude of its functions the user manual becomes automatically more extensive since all possible versions and variations must be considered The concept of the present manual is based on selective reading i e you are not supposed to completely study each chapter in order to be able to use the Controller most efficiently This is the reason why because of the absence of an index the table of contents at the beginning of the manual and of each chapter is very detailed thus facilitating the search for a specific information Optional functions are marked as such so that you may ignore this infor mation right from the start if your Controller is not equipped with these special functions For orientation purposes the individual chapters are briefly described below chapter 1 Safety instructions and general information To be studied by all means chapter 2 Brief description survey chart of the operating elements should you operate the Controller via the optional PC program BB81 10 please refer to the respective manual which is supplied separately chapter 3 Survey and description of possible modes and states of operation of the Controller as well as the corresponding applicable functions and keys provides important information especially for familiarizing purposes chapter 4 Detailed functional descriptions is first an
175. rface E A L R T U V fixed control inputs outputs P 8310 8610 8 B 4 PIN LAYOUT Module arrangement of the GEL 8610 back of the Controller Configuration example positioning controller for 6 axes with incremental encoders without additional modules demonstrated for devices without C certification N V Di D2 Ci Z1 C2 Z2 P2 Py 1 2 3 4 5 6 7 8 9 10 11 12 13 14 X1860003 assign module terminal strip ment connector fixed power supply N variable actual value inputs analog outputs data C Z W Y S D inputs outputs serial interface E A L R T U V variable actual value inputs serial interface C Z S T U V variable actual value inputs analog outputs data C Z W
176. ring units 8 54 AE bits Resolution of the absolute encoder AE Number of bits data lines used of the installed AE for AEs with serial data output SSI resolution of the single turn part O x emmo O a 55 AEeble Enable signal for the absolute encoder AE Specifies the logic level of the enable signal the latch signal is always active High for all connected AE Important The used AE must make its data available within 100 usec after the enable signal has become active 0 low Low level 2 logic 1 1 high High level logic 1 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 33 3 56 Park fct Parking function Specifies the mode for moving the to the park position refer to section 4 9 0 inactive machine does not move to the park position direct entry of a position value is disabled 1 batch machine moves to the park position by a start signal before the batch counter is incremented 1st 3rd 5th start 2 batch machine moves to the park position by a start signal after the batch counter has been incremented 2nd 4th 6th start 3 sentence machine moves to the park position by a start signal at the beginning of a new sentence 4 sentence Machine moves to the park position by a start signal after the processing of the current sentence 5 cycle machine moves to the park position by a start signal at the beginning of a new prog
177. rogram processing signals at i e ien decade 3 et o aes eS At E180053A 4 30 4 10 External data input output FUNCTIONAL DESCRIPTIONS For your own entries 25 O o 12 24 5 o 11 eo 23 e 10 e 22 4 e 9 e 21 e 8 e e 3 7 19 0 o 6 eo 18 2 5 eo 17 o 4 eo 16 1 e 3 eo 15 o 2 o o 14 0 X180053B 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 11 Limit switches 4 31 4 11 Limit switches 4 11 1 Software limit switches and input monitoring The positioning range can be limited by programming two special position values at the axis parameters e lower limit 3 71 Pos min e upper limit 3 72 Pos max The Pos min lt Pos max condition must be observed Otherwise this causes a parameter error The programming of the limits effects the activation of the input monitoring of all absolute position values within the programming mode of nominal values and for the direct input modes software limit switch function if storage location 3 73 is programmed accordingly refer to below The actual position is controlled constantly during a positioning or parking process a manual positioning or a reference search routine if a 1 driving is programmed in storage location 3 73 Once the upper or lower limit is exceeded a braking process is initiated the fault signal is output at terminal P430 level changes from High to L
178. rrupted state manual positioning was allowed however for the reset state only storage location 3 18 e machine parameters are just recalculated after a change or serial transmission 8310 8610 8 TROUBLE SHOOTING 6 6 Trouble shooting sas assess La a 6 1 6 1 Warning and error messages l anna nn 6 1 6 2 Fault MEMON eee Cece ee eee Sa a EO ee eee noe eames a ae a 6 12 8310 8610 8 i MOUNTING INSTRUCTIONS 7 1 Cable connections 7 1 7 Mounting instructions 7 1 Cable connections The compact design of the Controller and the variety of modules and connection properties has consequently lead to the use of relatively small dimensioned terminal strips For a good electrical contact and mechanical grip of the cables in the terminal strips as well as for a safe insulation we strongly recommend that stranded cables be fitted with wire end ferrules to DIN 46228 part 4 which are fixed permanently using a special crimping tool If two or more thin cables are to be connected to one terminal the use of twin wire end ferrules will be advantageous O For tightening the terminal screws use a screw driver with the following blade size e 0 4x2 5 mm for terminal strips with a 3 8 mm grid screw M2 as C D P W Y and Z e 0 5x3 5 mm for terminal strips with 5 1 mm and 7 6 mm grids screw M3 as N and R 7 2 EMC measures In order to achieve highest electromagnetic compatibility EMC or to maintain
179. s floating zero process ing position values entered are relative lengths with each start the actual value is set to 0 it is not possible to switch over to the absolute dimension processing for individual sentences within the programming mode for nominal values O 2 residual as above including however the computation of residual values for the compensation of positioning inaccuracies with next start the actual value counter is set with the actual nominal difference value of the previous sentence 3 45 Spd mult Multiplier for speed rate values The nominal values of the speed rate in the sentence can be entered with another measuring unit than the one actually used for the equipment actual measuring units per second the appropriate adaptation is effected by Spd mult refer to section 4 2 XXXXXX input of a value gt O and lt 99 9999 O 1 0000 standard 3 46 DecP spd Decimal point for speed rate values Decimal places of the nominal speed rate values according to the specification for the calculation of the Spd mult multiplier refer to section 4 2 if the standard measuring unit is to be used DecP spd must be programmed as under storage location 3 5 0 X no decimal places X X one decimal place X XX two decimal places X XXX three decimal places fourdecimalplaces S O X XXXX four decimal places AJOJN 8
180. s 3 6 actual nominal axis 1 4 actual nominal axis 2 5 actual nominal axis 3 6 fault module P1 only second module P2 To cane for GEL 86xx only Lo S MopuL unit axis 4 6 Loro E180025J For the Controllers without C certification the EPROM containing the Controller software is located on module P1 With some options the pin layout may be modified refer to appendix O 8310 8610 8 PIN LAYOUT B 7 Count input for 1 to 3 incremental encoders with power supply for 5 24 V encoders C reversible or for 24 V encoders only Z C Terminal Z strip 5 V version TTL level count input for axis no 1 2 3 1st module 4 5 6 2nd module 0 9 A ST7 8 9 m el Re DA RE Eua 5 V encoder supply TT OFFON 5v ier tm 3 13 23 sT Teta mg 4 14 24 sense Ni m 5 15 25 be 0 CA 6 16 26 j 0 X AN lx mM 7 17 27 1 r 90 y z blm 8 18 28 e 1 L 90 2 XXX ar m 9 19 29 zero reference fine vw cm 10 20 30 e zero XX gt 20 V version
181. s are added which normally means that the software version will be given a new number new descriptions will either be attached in form of exchange sheets or as separate annexes appendix D and following In both cases and also if corrections become necessary an updating sheet will be supplied to be added to appendix Z in order to inform about the current software state of the manual 1 5 Characteristics of the Controller GEL 8310 8610 O The menu oriented operating programming is performed using plain text either via the keyboard of the Controller or the optional PC program BB8110 QO single drives axes may be controlled separately or together as a so called unit exact dynamic close loop control with speed pre control very short control sampling time of 1 ms per connected axis path control is possible optional with circular interpolation sequential storage of malfunctions O O O O sentence structure nominal value types can be set differently for each unit combination of axes see para 3 2 O all storage locations are protected against mains failure EEPROM with a warranted service life of 10 years or 10 000 rewrites QO possible data storage on an external data carrier memory card option O optional extension of functions e g synchronisation control or control for a flying saw O maintenance free clean the housing with a wet cloth 8310 8610 8 INTRODUCTION 1 7 The following picture show
182. s exited The inquiry function can be exited at any time using 6 Table of faults No Displays B C Unit Axis Description 1 Pos 2 Pos max X Actual position exceeds the Pos max software limit switch storage location 3 72 refer to section 4 11 1 2 Pos Pos min X Actual position is less than the Pos min software limit switch storage location 3 71 refer to section 4 11 1 3 i Fee gt Foe max X Nominal position exceeds the programmed Pos max maximum value storage location 3 72 refer to section 4 11 1 occurs if Pos max is changed after specifying the nominal value or when processing lengths in the absolute dimensions system 4 Pes lt Pos min X Nominal position is less than the programmed Pos min minimum value storage location 3 71 refer to section 4 11 1 occurs if Pos min is changed after specifying the nominal value or when processing lengths in the absolute dimensions system 5 eltels gt 5 max X Absolute value of the positive control deviation contouring distance is larger than the programmed S max maximum value refer to storage location 3 42 8310 8610 8 TROUBLE SHOOTING 6 2 Fault memory 6 13 Description Absolute value of the negative control deviation contouring distance is larger than the programmed S max maximum value refer to storage location 3 43 12
183. s the basic structure of a 3 axes positioning device with the GEL 8310 Controller and incremental encoders including the possible input and output signals Depending on the software version available and the extension of functions other signals as well might be available For further information please refer to the pin layout in appendix B the description of possible options Annex O or to possibly existing upgrading annexes appendix D E actual pos nominal pos stop a G E L 831 0 reference pos reached 3 forward search for reference a y reverse reversing switch position ng cancel controller lock reference coarse controller release brake reference fine encoder supply 5 20 V reference2 1 gt aux voltage for signals 20 V zero Delta_s gt fault keyboard lock sense 5 V encoder supply opt module s opt module s for data input for data output data signals programmable data signals programmable E1831014 8310 8610 8 INTRODUCTION 1 1 Introductionis DR ase a 1 1 1 1 General safety instructions aaa 1 1 1 2 Designated USC si a Oni ere eee ee eee ene ia 1 3 1 3 Guarantee liability and copyright ceceeeeeeeeeeeeeeeeeeeeeeeeeeeeetteeeeees 1 3 1 4 Information on this manual 1 4 1 5 Characteristics of the Controller GEL 8310 8610
184. sation line with large cross section or cable with double screen where only one end of each screen is to be connected at different ends If inductive loads relays contactors are connected to the logic outputs measures for spark suppression should be provided recovering diode or RC network parallel connected and close to the coil For the power supply of the Controllers without C certification the use of the mains transformer offered as accessory cf appendix C is strictly recommended By use of a mains suppression filter an accessory too you can improve the EMC behaviour in an unfavourable environment To this configuration the following screening and earthing principle is appli cable when using another source of current equivalent measures are to be performed 8310 8610 8 MOUNTING INSTRUCTIONS 7 2 EMC measures 7 3 mains transformer Controller mains suppr 558 filter GEL 7925 gt e GEL 89033 a5 GEL 89036 25 GEL 8x10 mounting plate conductive control lines E1800141 a Mains suppression filter To achieve full functionality of the filter you must fix it to a bright and well earthed mounting plate paying attention to having good contact at both sides The screen earth is to be connected to the special labelled screw terminal on the filter b Mains transformer The transformer is to be fixed
185. sert wire bridge in terminal strip ST3 for devices without C certification ST4 E1800251 For the screening and earthing please refer to section 7 2 under EMC measures 8310 8610 8 PIN LAYOUT Terminal P strip ov iS o I 20V 6 Us 3k3 Address Coding first module P1 com pulsory for GEL 83xx unit axis 1 3 o o NI OD om AJ IN a Ce We dl ie paved tee a SE nannan ryryreer rt te rata 2 MODUL To b 1 MODUL Control inputs outputs with aux voltage 20 V I 20 mA per output max 20 V supply for signals start stop unit 1 4 reset start stop unit2 5 reset start stop unit3 6 reset search for reference reversing switch axis 1 4 reference coarse search for reference reversing switch axis 2 5 reference coarse search for reference reversing switch axis 3 6 reference coarse keyboard lock module P1 only reference2 1 module P1 only zero Delta_s module P1 only reference reached axis 1 4 reference reached axis 2 5 reference reached axi
186. serted Confirm with or abort with any other key You tried to write on a memory card although the write protection has been activated at the machine parameter 1 6 GEL 8610 1 9 Modify the machine para meter accordingly 10 If display B shows a point only the supply voltage remains under the minimum value stated in appendix C under Operational data In this case the Controller stops working because it is in an undefined operat ing state which has to be terminated as quickly as possible Switch off the equipment and perform the necessary measures so that the supply voltage will remain stable inside the limits 8310 8610 8 TROUBLE SHOOTING 6 2 Fault memory 6 11 6 2 Fault memory Up to 20 faults that appeared during the operation are stored successively and non volatile in the memory of the Controller In addition each appearing fault pushes the one at the bottom out of the memory Fault messages can be accessed in every operating state of the Automatic operation mode after pressing EO resp GEL 8610 The finally stored fault is then displayed The no iai message is out put if no fault has appeared yet Representation format example e Display A iu celt t n n u unit or axis which caused the fault 1 3 6 0 system fault cc current number of indicated fault 1 20 t t total count of faults stored 1 20 nn identification no of the fault see table
187. signal without sign at the 2nd data output 8 o2 DR data with data ready signal and with sign at the 2nd data output 9 output 3 data without sign at the 3rd data output 10 03 data with sign at the 3rd data output 11 03 DR data with data ready signal without sign at the 3rd data output 12 o3 DR data with data ready signal and with sign at the 3rd data output GEL 8610 only 13 output 4 data without sign at the 4th data output 14 04 data with sign at the 4th data output 15 04 DR data with data ready signal without sign at the 4th data output 16 04 DR data with data ready signal and with sign at the 4th data output 8310 8610 8 A 44 STORAGE LOCATIONS FOR MACHINE PARAMETERS 3 83 Reserve 84 not used for the standard version 8 85 Ref val2 Value of the 2nd reference measure Under the precondition that the reference2 1 signal is active High level at the corresponding terminal this value is loaded into the actual position counter as soon as the drive exceeds the reference point the value specified at this location can also be changed via direct entry in the Automatic mode refer to storage location 3 9 and section 4 6 1st reference measure 3 15 XXXXXXXX max 8 digits incl sign and decimal point value in actual measuring units 3 86 Reserve not used for the e standard version 89 Reserve DI 8 90 DeltaS 0 Zero Delta s Specifies whether the zero De
188. sssssssssssssssssssssseeeees 4 11 8310 8610 8 i OPERATING MANUAL GEL 8310 8610 CONTENTS 4 5 6 Range SIGMA S vhs cca seid Sheer etatengd la asa fadado sia ne atte meme tenis eeebbenss 4 12 Absolute ranges seres serasa dora at iad eia tad Ted ip O De ga 4 13 Relative rages w c sc2 senses a soe as anal 4 13 Drive SIONAIS n 3 scasabssios safra obaiis Arade s Siete sete sis a biba pais ts ase A etait na 4 14 4 5 7 Display of the signal status eae 4 17 4 6 Reference Measure ras a hehe ke ae ie ised he Ae he Be 4 20 4 6 1 Setting of the reference measure when positioning the drive 4 20 4 6 2 Automatic reference Search routine 4 21 4 7 Correction Valie asas aa a Be Rin nas 4 23 4 8 Rotary table positioning ss fcc cesceecesed de acesas deitada aa ar df ad dae sa fadada 4 24 4 9 SEA ale EEA O RETA Soe ro DR Sai ater adie nae foie E era ve odie Sat erie E 4 26 4 10 External data input output option eee eeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 4 27 E 10 Data inputan a tice ticle ia E ai ira 4 27 4 10 2 Data QUIpUE stss ses ie ce tada oe ca ra SEU Ui Ea ADA ee ee nA Eea ian 4 28 At LIMIBSMI OS ce feces cscs sean a S id eect ee etd aa aia ia ai 4 31 4 11 1 Software limit switches and input monitoring 4 31 4 11 2 Hardware limit switch option 4 32 Az Clock ODM sinc ce ceteeitvecee ceive cov caveat ecstucstavetecives tnaddensivende A iS 4 34 4 13 Linear path COntrol
189. tage value U belonging to the working speed v is constant Remember this value Calculation of Vmax as per following formula U U Vmax Storage location 3 32 V max E v 3 21 3 23 min Unac 3 31 ina 3 29 U display C Y Storage location 3 32 maximum voltage Vmax If the new calculated value differs strongly from the one programmed previously determine also the ratio of both values The value programmed for the working speed storage location 3 34 must be adjusted in the same ratio VY Perform check runs the contouring distance Delta_s select for display is now clearly lower in the range of constant speed An additional reduction may be obtained via the control factor Ksp see next section 8310 8610 8 5 12 5 6 Optimization of control parameters COMMISSIONING 5 6 2 Control factor The purpose of this setting is to make the control dynamics as big as possible via the factor Ksp but not to make it too sensitive It is advisable to use an oscilloscope for the process of optimization to examine the voltage at the analogue output terminal strip D Y Storage location 3 33 control factor Ksp Increase the value step by step i e depending on the dynamics and load of the drive by 0 1 to 0 5 of the used maximum speed rate e g for Vmax 5000 actual measuring units sec AKgp 1 0 5 0 Check by means of the oscillogram whether huntings occur during the entire displacement process In the affirm
190. tence program selection via the 4th data input E4 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 15 2 8 Sent out Sentence program number to data output 2 9 Sig out Program processing signals to data output Specifies at which of the optional data outputs the numbers of the current sentence and program are to be output 0 inactive no output of the sentence program number output 1 sentence program number to the 1st data output 2 output 2 sentence program number to the 2nd data output 3 output 3 sentence program number to the 3rd data output GEL 8610 only 4 output 4 sentence program number to the 4th data output Specifies whether the program processing signals refer to section 4 5 5 are to be output and if so at which optional data output refer also to storage location 2 11 0 inactive no signal output 1 out 1 0 1stdata output decade 10 2 out 1 1 1st data output decade 10 3 out 1 2 1st data output decade 10 4 out 1 3 1st data output decade 10 5 out 1 4 1stdata output decade 10 6 out 1 5 1st data output decade 10 7 out 2 0 2nd data output decade 10 8 out 2 1 2nd data output decade 10 9 out 2 2 2nd data output decade 10 10 out 2 3 2nd data output decade 10 11 out 2 4 2nd data output decade 10 12 out 2 5 2nd data output decade 10 13 out 3 0 3rddata output decade 10 14 o
191. the assigned axes when positioning cf section 4 13 or if an optional function is to be used e g synchro control option A new programming will cause the deletion of all nominal value programs of this unit with safety inquiry 0 1 inactive linear no path control linear path control for the following axes e1 3 6 for unit 1 e2and3 for unit 2 2 6 Program Program selection Specifies if the program is to be selected via the keyboard via one of the optional data inputs BCD or binary refer to section 4 10 1 or via the serial interface In all cases O must be programmed at storage location 2 7 as this is evaluated with priority A program selection can principally be made only in the reset state of the Auto matic mode specified data are taken over with the next start signal 0 keyboard program selection via terminal key combination HO 1 i1 0 bcd BCD program selection via the 1st data input E1 decades 10 and 10 2 if 2 bcd BCD program selection via the 1st data input E1 decades 10 and 10 3 i1 4 bcd BCD program selection via the 1st data input E1 decades 10 and 10 4 i2 0 bcd BCD program selection via the 2nd data input E2 decades 10 and 10 5 i2 2 bcd BCD program selection via the 2nd data input E2 decades 10 and 10 6 i2 4bcd BCD program selection via the 2nd data input E2 decades 10 and 10 7 i3 0 bcd BCD program selection vi
192. the case values must first be estimated e g how much time takes the drive for accelerating from standstill up to the maximum speed tacceis and for braking from the maximum speed down to standstill tbrake These values should rather be too large than too small The mathematical determination of the parameters from the drive data will not be described at this place The assessed values will still be optimized at a later time by means of a current monitor at the drive amplifier or an oscil loscope refer also to section 5 6 3 Note Values must not be programmed for all four times there are even some options not allowing this see corresponding description in appendix O When setting to O the value of another time parameter is used tbrake laccel for 3 38 0 tbrake laccel for 3 37 0 taccel laccel for 3 36 0 Y Storage location 3 42 and 3 43 contouring error Smax A maximum contouring error is to be determined for safety reasons so that the drive can be stopped if a wrong travel direction has been set for the control refer to next section The values should be about 10 of the entire displacement area They will be reduced later according to the prevailing operating conditions Y Storage location 3 50 control for manual displacement For the following settings the closed loop control needs to be activated 3 50 1 active The position loop control in the interrupted or reset condition must not yet b
193. ting range XXXXXXXX measuring units max digits incl sign and decimal point value in actual 3 73 SWswitch Software limit switches If the actual position is above or below the value programmed at storage locations 3 71 and 3 72 the drive is stopped and the fault signal is output High Low change The drive can then be moved only in the opposite direction refer to section 4 11 1 For rotary table positioning refer to storage location 3 8 the limit switch function is deactivated internally this also applies if Pos min Pos max 0 has been programmed refer to storage location 3 71 72 0 inactive limit switch function is disabled 1 pos monitoring of the actual position during moving 2 start aS above however When starting a sentence it is checked if the newly se lected nominal position e g nominal position of the pre vious sentence plus length of the new sentence is still within the admissible range If this is not the case the start will not be effected and the limit switch will trigger 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 39 3 74 74 HWswitch Hardware limit switches Hardware limit switches Specifies at which data input the signals of the limit switches are to be read in refer to sections 4 11 2 and 4 10 1 meaning of the signal levels
194. tion assumes that there are threshold voltages Umin gt 1 mV for the amplifier used whose exact values are not known The Controller specific forward direction gt is here assigned a positive voltage This assignment may have been modified according to the description in the previous section In this case replace the word forward by reverse and vice versa in the following description Umin Y Ensure that the axis to be adjusted is displayed VY The output voltage must be shown in the display select with VY Displace the drive manually slow speed forward gt Now you will observe a slow increase of the positive voltage the actual value in the display staying constant At a certain voltage value the drive will start moving forward which you will recognize by the fact that the actual value display changes by 1 increment sec 1 DispU sec Remember the voltage value and repeat this procedure once or twice Y Return to the programming mode for machine parameters Y Storage location 3 29 minimum positive voltage value Umin Enter the largest of the remembered voltage values without operational sign Umin Y Repeat the procedure described above however with slow speed in reverse direction lt E 0 gt If there is an enormous difference between the two values Umin TIP and Umin it might be advantageous to readjust the offset at the amplifier and to determine the voltage values anew
195. to the mounting plate too Contacting has to be performed with as large a surface area as possible remove a possibly existing coat of lacquer Additionally earth the transformer via a short cable gt 2 5 mm to the mounting plate using the twin blade terminal 6 3 mm on the transformer Connect the mains earth wire resp the screen of the mains cable coming from the filter to the PE labelled terminal Connect the screen of the Controller supply to the twin blade terminal on the transformer c Controller Each inserted module is earthed via a special contact socket in the upper metal angle metal frame with C devices at the back of the Controller Connect the screen of the transformer cable for devices without C certification and the earth cable coming from the switch cabinet door to the twin blade connector on the metal angle frame Screen earthing is performed by connecting the screens to the respective terminal strips or plugs of the individual modules devices without C certification see appendix B resp via the cable clips on the earthing angles screwed down on the metal frame devices with C certification see figure on page 7 2 8310 8610 8 7 4 7 3 Replacing modules MOUNTING INSTRUCTIONS 7 3 Replacing modules Before any service work is carried out at the Controller make sure N that the whole Controller i e including the inserted module is dead This applies in
196. ut 1 24 MF parallel at the 1st data output R module 12 MF 14 24 out2 24 MF parallel at the 2nd data output R module 12 MF 15 24 out 3 lo4 MF parallel at the 3rd data output R module 12 MF 16 24 out4 24 MF parallel at the 4th data output R module 12 MF 2 3 3 Speed Speedrate Speed Speed rate Specifies whether the speed rate nominal value type for each assigned axis is to be part of a sentence or not refer also to section 4 2 0 no no speed rate preset in the sentence value from 3 34 1 yes b1 speed rate is to be set for each sentence and mode no 1 with continuous sentence processing refer to section 4 3 2 yes 2 speed rate is to be set for each sentence and mode no 2 with continuous sentence processing refer to section 4 3 3 yes 43 only in connection with linear path control storage location 2 5 linear otherwise a parameter error is generated speed rate specification in the sentence with continuous sentence processing and spline refer to section 4 13 internal start as for mode 1 2 4 a text o dentificationtext Text Identification text Sp Specifies whether identification text is to be part of a sentence function presently not available yet 8310 8610 8 STORAGE LOCATIONS FOR MACHINE PARAMETERS A 13 2 Interp Interpolation path control Specifies if a path control is to be used for
197. ut 3 1 3rd data output decade 10 15 out 3 2 3rd data output decade 10 16 out 3 3 3rd data output decade 10 17 out 3 4 3rd data output decade 10 18 out 3 5 3rd data output decade 10 8310 8610 8 continued on the next page gt A 16 STORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8610 only continuation 2 9 19 out 4 0 4th data output decade 10 20 out 41 4thdata output decade 10 21 out 4 2 4th data output decade 10 22 out 4 3 4th data output decade 10 23 out 4 4 4th data output decade 10 24 out 4 5 4th data output decade 10 Once the signal actual nominal is given for all axes of the unit the time tauto is active After the programmed value has been counted down a start signal is internally generated for the unit If during this time an axis exits the nominal position tolerance range the timer is reset and thus no start signal is generated refer also to storage location 2 1 XX XX value range 0 99 99 s at 0 the function is inactive 2 11 Out func Mode for signal output Specifies if the machine functions and or program processing signals sentence end block end and program end refer to section 4 5 5 are to be output with the start signal of the sentence standard or only if the actua nominal signal is active for all axes within the unit 2 10 t auto Auto start 0 inactive standard output with start 1 m func
198. word entry e Press the E HC keys resp Display A now indicates the time and display C the date hours minutes seconds 13u 10 Ie 1 Ll th Doe ceva e day month year E180077B Confirm the safety inquiry in display B with The digits for the seconds are flashing now and the disappears 8310 8610 8 FUNCTIONAL DESCRIPTIONS 4 12 Clock option 4 35 Enter new second value and confirm it with or skip the input with A wrong input can be cancelled by means of the key the actual value will then be indicated again The actual input position now shifts to minutes Enter the values for minutes and hours as described above for the seconds After having entered the hours the input position shifts to the calendar day e Enter calendar day month and year as described above After having entered the year the function recommences e Effect further modifications as described above or quit the function with the latter is possible at any time during the setting process 8310 8610 8 4 36 4 13 Linear path control FUNCTIONAL DESCRIPTIONS 4 13 Linear path control The standard software of the Controllers GEL 8310 8610 contains a linear path control for all axes With the Circular interpolation option being present refer to appendix O a circular path control can be activated additionally for the first two axes The linear path control can be activated for t
199. ypes and COCING eeeeeeeeeesseesssesseessssessssssseeeseeeees ACOCSSOTOS cen stats et etn ats nda la et e dad Anis end 8 0 Le ER RN ID REDE RU RR RR SR taladcin ta Extensions modifications corrections etc available only if required Options the content depends on the inserted option s Forms variable content Update Information Appendix C Appendix D E Appendix O Appendix Y Appendix Z please collect here the cover sheets of the updates supplied corrections etc 8310 8610 8 INTRODUCTION 1 1 1 Introduction 1 1 General safety instructions N A The Controllers GEL 8310 8610 have been built according to state of the art technique and in compliance with valid safety regulations However upon using them it might happen that there will be the danger of injury for the user or other persons resp damages to the Controller itself or other material assets Do use the Controller only for the designated use see section 1 2 in perfect technical condition In order to maintain this condition and to ensure operation free from danger installation wiring and service work should be carried out only by qualified specialists under observance of the relevant accident prevention safety guidelines and information in the product documentation A If through a failure or fault of the Controller an endangering of persons or damage to plant is possible this must be prevented using additional sa

L&B Controller - Vollmer America

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L&amp;B Controller - Vollmer America

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L&B Controller - Vollmer America