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user manual setup software version i/o ba-100040

1. GND 244 DC PosReg 3 Low PosReg 2 High PosReq1 Low Sw_limit 2 Low Sw_limit1 Low FError High Output PosReg 4 Next InPos High InPos A Start_MT No x Low MT_Restart Low Start_Jog v x Low Input Start_MT Next Low FError_clear Low Reference High Low lalala 2202092900 2232322232 m D a Addressing time min 4 ms Start delay max 2 ms The states of the digital inputs outputs are shown in the diagram of the connector X11A B 2 6 1 Digital inputs and outputs expansion card X11A B The functions have been defined High functions interface terminal Low functions interface terminal Connector X11A Terminal Function Designation 1 On AO 2 On A1 3 On A2 4 On A3 5 On A4 6 On A5 7 On A6 8 On A7 9 On Reference 10 On FError_clear 11 On Start_MT Next 12 On Start_Jog v x Connector X11B Terminal Function Designation 1 On MT_ReStart 2 On Start_MT No x 3 Off InPos 4 Off PosReg4 Next InPos 5 Aus FError 6 Off Limit switch 1 7 Off Limit switch 2 8 Off PosReg1 9 Off PosReg2 10 Off PosReg3 11 Various 24V DC 12 Various 1 O GND Control edge Rising Rising Rising Rising Rising Rising Rising Rising Rising Rising Settable chapter 2 4 3 Rising Control edge logic Rising Rising High active High active Low aktiv High active High active High active High active High aktiv The function message is
2. Next task Next task Next task Next task v4 no 1 no 2 no 3 no 4 el J Time 2 t 0 gt a lt a IAS Signal change at the start of the next Signal between two Next InPosition following tasks active behaviour 1 El l 7 Signal change at the InPosition end of a motion task behaviour ed sequence if the qa a shies InPosition window has a Specified delay time or waiting for digital input been reached Next InPosition behaviour 0 Signal change at the Next InPosition end of the following task behaviour 2 2 43 Setup Software Version I O Version 04 08 2 16 3 Operation mode OPMODE Use OPMODE to set the operation mode basic function of the amplifier This mode can be switched at any time via field bus interface or digital I O OPMODE A B gt chapter 2 7 1 1 The following settings are possible Code Function Comment 4 Position of electrical gearing Position controller pulse follower Operation mode of slave axes master slave operation 6 SERCOS position control Position control with SERCOS expansion card Is used only in conjunction with the SERCOS option 8 Position of motion blocks Position control via stored motion blocks Standard operation mode Warning AN OPMODE can be switched with the drive in motion This can lead to dangerous acceleration Switch OPMODE while the drive is in mot
3. Designation Heat sink temperature Overvoltage Following error Feedback Undervoltage Motor temperature Auxiliary voltage Overspeed EEPROM Flash EPROM Brake Motor phase Internal temperature Output stage 12t max Mains BTB A D converter Regen Mains phase Slot error Handling error Earth fault CAN bus inactive Reserved System fault Explanation Heat sink temperature is too high Limit has been set to 80 C by the manufacturer Overvoltage in the DC link circuit Limit depends on the mains supply voltage Message from the position controller Cable break short circuit short to ground Undervoltage in the DC link Limit has been set to 100V by the manufacturer Temperature sensor faulty or motor temperature too high Limit has been set to 145 C by the manufacturer Internal auxiliary voltage not OK Motor running away speed is higher than is permissible Checksum error Checksum error Broken cable short circuit short to ground SVA only Motor phase is missing broken cable or similar Internal temperature in the amplifier is too high Fault in the power output stage t max value exceeded 2 or 3 supply phases are missing Error in the analog digital conversion Regen circuit faulty or setting incorrect A supply phase is missing Hardware error on the expansion card Software error on the expansion card Inactive Communication interrupted by CAN bus Reserved System software not responding correctly The
4. 2 42 Ein id 2 42 Criar 2 43 decae ie ata 2 44 ER 2 44 2 45 2 46 A 2 47 A AE 2 48 2 49 Setup Software Version I O Version 04 08 1 General 1 1 Introduction This manual explains the installation and handling of the setup software for the digital servo amplifier Version I O The information is broadly arranged as follows e Chapter 1 General information installation screen layout operation e Chapter 2 Parameter description e Chapter 3 Glossary index This manual forms part of the complete documentation of the SERVOLINE products The complete documentation consists of the following documents Description Ref No e Connection to automation systems version I O BA 100038 e Setup software version I O BA 100040 e Servo amplifier version I O BA 100039 e Mechanical design of the SERVOLINE products miscellaneous The documentation is available in the following language versions German English French Italian Spanish and Swedish the servo amplifier can lead to personal injury or material damage and render the warranty void It is vital that you keep to the technical data and information on connection requirements e Please read this documentation before commencing with setup Incorrect handling of e A basic knowledge of the operating system WINDOWS and of the use of a personal computer is assumed Strictly observe all instructions relating to safety installation and setu
5. Start a motion task via the setup software Irrespective of the signal present the selected motion task is started at the digital inputs X11A1 to X11A8 and X11B2 3 chapters 2 6 1 1 and 2 6 1 2 This mode can be started when the reference point has been set and the motion tasks have been specified During setup the velocity can be limited with v_limit without changing the motion task settings Enter the number of the motion task to be started Start the motion task whose number appears in the field No Stop the current motion task n Caution e Assembly installation wiring and final check have been carried out according to the operator manual for the servo amplifier e Assembly installation and final check have been carried out according to the operator manual for the servo axis Ensure that nobody is present within working range of the axis During operation keep all covers protective devices and switchgear cabinet doors closed Failure to do so may result in life threatening or severe personal injuries or material damage 2 4 6 Message Servoline AN Function is active This message appears if a drive order is started with the software via the drive order field after the reference traverse This message is also displayed if a drive order was executed with Start drive order and then a reference traverse is started via the software After this message has been acknowledged the stop key should be pressed so that the
6. po pow po ja 2 4 1 Field Status messages Upper field Shows the enable status of the amplifier Enable No Hardware Enable No Software Enable No Enable Offline Lower field Shows the error status of the amplifier e Status OK e Error e Warning 2 13 Setup Software Version I O Version 04 08 2 4 2 Table Motion tasks For each of the positioning tasks you will need to specify a motion task These motion tasks can be selected via a motion task number and are stored in the servo amplifier The motion task No 0 is a direct order and can be described or executed only via field bus systems Motion task number Stored in Comments 1 180 EEPROM 0 181 255 RAM None Precondition for storing Output stage disabled Permanently stored Volatile storage Entries in the table can only be made after activating the Enter key To complete the entry press the Enter key again The data are stored in the EEPROM only after you click on the Accept button The following functions are available for editing motion tasks Functions Keyboard Menubar Mouse Select line Ctri A Edit gt Select line Right mouse key gt Select line Cut Ctrl X Edit gt Cut Right mouse key gt Cut Copy Ctrl C Edit gt Copy Right mouse key gt Copy Paste Ctrl V Edit gt Paste Right mouse key gt Paste Delete Ctrl K Edit gt Delete Right mouse key gt Delete
7. Nr Motion task number Type This selection determines whether the motion task is interpreted as a relative or an absolute task ABS movement to an absolute target position in relation to the reference point REL cmd relative to the last target setpoint position in connection with motion block changeover e g summing operation REL act relative to the actual position at start in connection with motion block changeover e g register control REL InPos when the load is in the InPosition window relative to the last target position when the load is not in the InPosition window relative to the actual position at start s_cmd um This parameter determines the distance to be travelled v_cmd m s acc mm s dec mm s Next motion task F Nr This parameter determines the velocity of movement If v_limit is later set to a value that is less than v_cma the position controller will use the smaller value This parameter determines the acceleration in mm s Acceleration ramp sine shaped This parameter determines the deceleration in mm s Deceleration ramp sine shaped Select whether a new motion task should be started automatically after the present task is finished The InPosition signal Terminal X11B 3 is only enabled when the last motion task no further task has been processed Reaching each target position of a motion task sequence can be queried using the function Next InPos chapter 2 6 1 2
8. Since the jog mode is processed via the internal position controller OPMODE 8 is the prerequisite for this mode The speed is specified in um s Start of a motion task that is stored in the servo amplifier with definition of the motion task number which is present in bit coded form on inputs AO to A7 Motion task number 0 starts the reference traverse homing A rising edge starts the motion task Warning The motion task does not stop automatically if the start signal is removed The motion task needs to be stopped in one of the following ways e via a falling edge on a digital input with the function Start_MT No x e via the ASCII command STOP e via the STOP function of the setup software 2 28 Setup Software Version I O Version 04 08 24 OPMODE A B A 25 Zero_latch 27 Emerg Stop 32 Brake A Switches the operation mode from Electrical gearing OPMODE to Positioning OPMODE 8 with slave horizontal axes without holding brakes This function is used for initialising Zeroing the slave axis in the case of mechanically non connected master slave applications Since in their disabled state horizontal axes are without torque a reference traverse homing must be carried out after each disable Auxiliary value Operation mode see chapter 2 16 3 State of DIGITAL INx Auxiliary value High Low Hex Input dec Operation mode 8 Operation mode 4 position of mot
9. following error or 04 response monitoring occurs as well as when a hardware or software limit switch is activated or if the drive has been disabled The maximum emergency brake ramp has been set as follows factory default SHA 470 20 000 mm s2 SHA 340 20 000 mm s2 SHX 470 10 000 mm s2 SHX 340 8 000 mm s2 SHY 470 10 000 mm s2 SHY 340 20 000 mm s2 SVA 130 10 000 mm s2 SHE 130 10 000 mm s2 SVE 130 10 000 mm s2 Sets the level as a percentage value of the r m s current above which a message will be sent to one of the programmable outputs DIGITAL OUT1 2 X3 16 or X3 17 The default is 85 Effects Value too low message appears too soon drive is not fully utilised Value too high limiting occurs at the same time as the message Following error refers to the maximum difference window between the position setpoint and the actual position that is permitted during processing If the value moves outside this window then the position controller generates an error message and brakes the drive using the emergency stop ramp The following values have been set factory default SHA 470 60 000 um SHA 340 50 000 um SHX 470 60 000 pum SHX 340 60 000 um SHY 470 60 000 um SHY 340 50 000 um SVA 130 30 000 um SHE 130 20 000 um SVE 130 20 000 um Effects Value too low the acceleration process will be interrupted Value too high a following error will not be recognised The actual followin
10. of the current indication The sign that is displayed is negative in regenerative operation motor under braking Shows the DC link DC bus voltage in V produced by the amplifier Shows the actual regenerative power in W Shows the temperature in degrees Celsius of the heat sink in the servo amplifier Shows the temperature in degrees Celsius inside the servo amplifier Shows the actual angle of rotation of the rotor only for speeds n lt 20 min in degrees and number in relation to the mechanical zero point of the measuring system Shows the actual rotational speed of the motor in min Shows the currently set speed in min Shows the present following contour error in mm Shows the present position mm Shows the actual effective load in per cent of the preset effective current lm Shows whether or not a reference point has been set 2 35 Setup Software Version I O Version 04 08 2 10 Screen page Info Hardware Firmware Software PC Serial number Run time Name Data set Version level of the servo amplifier hardware Version level of the servo amplifier firmware Version level of the current operator software Serial number of the servo amplifier The number of operating hours of the enabled servo amplifier i e output stage active Saved at 6 min intervals If the 24V supply is switched off a maximum of 6 min operating time may be lost Name of the servo ampl
11. 3 4 Inactive Pos 1 overshot threshold Pos 1 not reached threshold Within pos 1 and pos 2 cam Outside pos 1 and pos 2 cam Register state Actual position X11B 8 X11B 9 X11B 10 X11B 4 No function allocated Reports overshooting of pos 1 The position is entered in um Reports failure to reach position 1 The position is entered in um A signal is sent as soon as the drive is between position 1 and position 2 The positions are entered in um A signal is sent as soon as the drive is outside position 1 and position 2 The positions are entered in um This output is linked to the output terminal X11B 4 See the explanation in Chapter 2 6 1 2 PosReg 4 Next InPos Shows the state of the register high or low Shows the actual position of the slide in um 2 22 Setup Software Version I O Version 04 08 Teach in F7 Taking over position 1 or position 2 of the respective position register Procedure e Reference point has been set e Position field has been marked mouse pointer or tabulator function e Activate teach in key mouse or function key F7 Take over position value key Take over Pos 1 Pos 2 max O Distance S Pos 1 overshot Pos 1 not reached Within Pos 1 and Pos 2 Outside Pos 1 and Pos 2 2 23 Setup Software Version I O Version 04 08 2 6 Screen page I O digital X11
12. A Low signal on the input terminal NSTOP terminal X3 14 inhibits the negative direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the l component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch 2 27 Setup Software Version I O Version 04 08 4 PSTOP Intg off 5 NSTOP Intg off 6 PSTOP NSTOP 7 P NstoptIntg off 12 Reference 15 Start_MT Next 18 Ipeak2x 20 Start_JOG x 23 Start2_MT No x A Limit switch function A Low signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill without the l component under proportional control mechanical delimitation stop is permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch Limit switch function A Low signal on the input terminal NSTOP terminal X3 14 inhibits the negative direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill without the l component under proportional control mechanical delimitation stop is permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch Limit switch function STOP regardless of the directio
13. at the digital output terminal X11B 4 Displays the number of the next motion task 2 14 Setup Software Version I O Version 04 08 2 4 3 Screen page Next motion task Next motion task x Nr Motion Task Start Condition fi 140 z Nr next Motion Task Start by High Level y zd Delay time pp Acc Dec val Jon v 0 y Cancel No Motion task Displays the current motion task number No Next motion task Displays the number of the next motion task On completion of the present task the next motion task is automatically started meeting the following conditions Start condition Immediately The next task is started as soon as the target position is reached V O The next task is started by a signal at a digital input FStart_Next terminal X11A 11 Condition Target position must have been reached You can preselect the logic with the Start with parameter Time The next task is started with a specified delay after the target position has been reached You can enter the delay time via the Delay time parameter I O or time The next task is started by a signal at a digital input FStart_Next terminal X11A 11 or by a specified delay The event that occurs first the start signal or the end of the delay time provides the trigger Condition The target position must have been reached You can preselect the logic with the Start with parameter and enter the delay time
14. drive order can be started 2 20 Setup Software Version I O Version 04 08 2 4 7 Field Reference traverse Reference Traverse Ref Offset um vw m s a mm s Reference Point Stop Start o isoo00 5000 ae The reference traverse homing is an absolute task which is used for zeroing the drive for subsequent positioning operations After homing the drive reports InPosition thus enabling the position controller in the servo amplifier Warning e The position controller cannot be operated without first carrying out a reference traverse homing e After the 24V auxiliary voltage has been switched on a reference traverse has first to be carried out e During homing the start signal FStart_Nrx must not be removed The start signal must be present until the InPosition message appears The reference point is set to the first zero crossing point of the feedback unit resolver after the reference switch transition has been detected The two pole resolver has exactly one zero crossing per revolution thus positioning on the zero mark is unambiguous within a motor revolution Ref Offset um With the reference offset an absolute position value other than O can be assigned to the reference position With an offset for the reference position you are not actually making a physical change but the offset is used as a reference value within the position control of the servo amplifier Homing to the ref
15. the page If a reset of the servo amplifier is necessary to activate a function this is recognised by the software which will carry out a reset after a software confirmation request The currently valid data set must be saved in the EEPROM of the servo amplifier in order to be permanently stored Therefore execute the Save Data to EEPROM function on the Linear axis page gt chapter 2 3 before the servo amplifier switches off or before processing of the data set has been completed 1 7 2 Function keys Function key Function Comment F1 Help Contextual help in preparation F2 Not used Not used F3 Not used Not used F4 Not used Not used F5 Not used Not used F6 Teach in F6 Teach in function for e Positioning data gt motion task position s_cmd um F7 Teach in F7 Teach in function for e Threshold function cam function gt positions 1 and 2 e Limit values gt Software limit switch positions 1 and 2 F8 Not used Not used F9 STOP Off Emergency stop F10 Not used Not used F11 Not used Not used F12 Disable Disable the output stage via software Shift F12 Enable Enable the output stage via software Setup Software Version I O Version 04 08 1 8 Software structure MONTECH Setup software Open area Motion task data Limit values Password protected area Digital I Os Basic settings Setup mode Open area The open area of the software provides the user of the linear axis with the option of
16. with reference to the run time Frequency Displays the frequency of occurrence of all faults that caused the servo amplifier to switch off Actual errors Displays the errors currently reported by the servo amplifier according to error messages F01 to F32 in the LED display on the front panel of the amplifier See chapter 2 8 1 for a list of error messages Actual warnings Displays the errors currently reported by the servo amplifier according to warnings n01 to n32 in the LED display on the front panel of the amplifier See chapter 2 8 2 for a list of warning messages Reset Software reset warm start of the servo amplifier The servo amplifier must be disabled Present errors are deleted the servo amplifier software is re initialised and communication is established anew 2 32 Setup Software Version I O Version 04 08 2 8 1 Error messages Errors that occur are displayed via a coded error number in the LED display on the front panel and on the screen page STATUS All error messages result in the following action the BTB contact terminals X3 2 and X3 3 opens the drive switches off in a managed way braking with emergency ramp and the output stage of the amplifier switches off motor loses all torque The holding brake of the motor is activated SVA 130 only Number Fo1 F02 F03 F04 F05 F06 F07 F08 F09 F10 F11 F12 F13 F14 F15 F16 F17 F18 F19 F20 F21 F22 F23 F24 F31 F32
17. 00 um stroke 5 000 um stroke 5 000 um stroke 2000 um stroke 2000 um stroke 2000 um stroke 2000 um stroke 1000 um The drive brakes with the emergency ramp and remains at standstill under torque Position of the software limit switches SHA FP SVA Legend Reference traverse Load MA1 Machine stop left top i Motion task Load NI Zero pulse initiator homing E1 Software limit switch 1 Ti E2 Software limit switch 2 MA2 Machine stop right bottom ti Positive count direction Negative count direction MA1 El Z NI E2 MA2 2 40 Setup Software Version I O Version 04 08 2 15 2 Limit values v_max ym s a_max mm s Maximum permissible traversing rate for position data factory default SHA 470 2 300 000 m s SHA 340 2 000 000 m s SHX 470 1 500 000 m s SHX 340 1500000 m s SHY 470 1 500 000 m s SHY 340 2 000 000 m s SVA 130 1 300 000 um s SHE 130 1 000 000 um s SVE 130 1 000 000 wum s Maximum permissible acceleration for position data factory default SHA 470 100000 mm s SHA 340 10 000 mm s SHX 470 3750 mm s SHX 340 4 000 mm s SHY 470 5000 mm s SHY 340 10 000 mm s SVA 130 5 000 mm s SHE 130 6 500 mm s SVE 130 7 500 mm s Emergency brake ramp Braking ramp for emergency braking This braking ramp is used if the Pt message Following error Following error actual message n03
18. 2000 Da Output SWE1 x11 B 6 Output SWE2 x11 B 7 Low X17 B 6 low 11 B 7 USE ile Limits v_max um s a_max mms fi 5e 006 froooa OK Emerg Ramp mm s Ft Message 20000 eo Apply Max Following Error um Act Following Error 50000 o Cancel 2 15 1 Software limit switches 1 and 2 The software limit switches form part of the monitoring functions of the position controller e SW limit switch 1 Monitoring takes place whether the actual position value is lower than the preset value the negative direction of rotation is now inhibited Move out of limit switch 1 in positive direction The state of limit switch 1 can be queried via interface terminal X11B 6 Enter the distance between the limit switch position and the reference point in um Default values SHA 470 5 000 um SHA 340 SHX 470 5 000 um SHX 340 SHY 470 5 000 um SHY 340 SVA 130 2 000 um SHE SVE 20000 um 2000 um 2000 um 130 1000 um e SW limit switch 2 Monitoring takes place whether the actual position value is higher than the preset value the positive direction of rotation is now inhibited Move out of limit switch 2 in negative direction The state of limit switch 2 can be queried via interface terminal X11B 7 Enter the distance between the limit switch position and the reference point in um Default values SHA 470 SHX 470 SHY 470 SHA 340 SHX 340 SHY 340 SVA 130 SHE SVE 130 stroke 5 0
19. 4 1 Microsoft WINDOWS Vista XP 2000 NT ME 98 95 cesescsseseeseeescsseseescaseaeeecnseaeeeenseaeereneeaeers 1 3 1 4 2 DOS O82 WINDOWS Vico iii A bute to eves con debonbans E TEPEE 1 3 1 5 Hardware requirements 1 3 1 6 Installation under Microsoft WINDOWS Vista XP 2000 NT ME 98 95 1 4 1 7 Software operation 1 5 1 7 1 A teter eee facta Gene EEE E Cased vee E a ade dn a Cab Cate Ts O bei tee Cink dete feo tec A 1 5 1 7 2 FunctiGin Kid 1 5 1 8 Software structure 1 6 1 9 Screen layout 1 7 2 PARAMETERS AND FUNCTIONS ooooococcccccccccooococcccnccccccncnnnnnannnnnnnnnnnnnnnnannnnnnnos 2 9 2 1 Screen page Communication 2 9 2 2 Software structure open area 2 10 2 3 Screen page Linear axis 2 11 2 4 Screen page Position data 2 13 2 4 1 Field Status MESS as 2 13 2 4 2 Table Motion task r r Ea a e E eS E NELERE 2 14 2 4 3 Screen page Next motion task ccccecsesscssscessceseeeeceecesecesecaecseecseeeseeeseceeeeeeeeeeeeereeseeeeeeesereenaes 2 15 2 4 4 Field Setup ad de eal tes el ace ela ld a E aes obs 2 17 2 4 5 Field Motion tasky ii is 2 20 2 4 6 ME a N S 2 20 2 4 7 Field Reference traverse ida ds iE ansi 2 21 2 5 Screen page Threshold cam function 2 22 2 5 1 MAA a a a eteeetece sounded es a ESS 2 22 2 6 Screen page I O digital X11 2 24 2 6 1 Digital inputs and outputs expansion card X1 LA B wo eee eececeseesseeseeeeeeeeceeeeseceeees
20. MONAFECH Handling Components SERVOLINE USER MANUAL SETUP SOFTWARE VERSION I O BA 100040 Edition 04 08 Setup software Version I O Version 04 08 Change index Editions issued so far Edition Comments Order number English version 02 01 First edition valid from software version 2 00 507002 07 01 Title page new Edition 07 01 507002 07 01 Header new Edition 07 01 07 01 Page 2 22 Chapter 2 5 1 Additional text under Outside pos 1 and pos 2 07 01 Page 2 24 Chapter 2 6 1 Plug X11B terminal 4 new PosReg 4 Next InPos Plug X11B terminal 5 new FError negated Plug X11B terminal 10 new PosReg 3 High aktive 07 01 Page 2 25 Chapter 2 6 1 2 4 PosReg 4 Next InPos additional text 5 new Ferror negated 07 01 Page 2 26 Chapter 2 6 1 2 New 8 10 PosReg 1 3 07 02 Chapter 2 4 4 1 Motion task is ABS or REL 507002 Chapter 2 6 1 2 4 If Outside pos 1 and pos 2 is active then the function Next InPos on X11B 4 is inactive Chapter 2 15 1 Changes and new software limit switches values Chapter 2 15 2 Changes and new values Chapter 2 16 4 New default values Chapter 2 18 2 SSI code function is binary or GRAY 02 06 New article number BA 100040 04 08 New Vista BA 100040 A Setup software Version I O Version 04 08 12 GENERAL 25 sd 1 1 1 1 Introduction 1 1 1 2 Use as directed 1 2 1 3 Software description 1 2 1 4 Operating systems 1 3 1
21. STOP Intg off M Low active x NSTOP Intg off M Low active x PSTOP NSTO q Low active x P Nstop Intg of M Low active x Reference A x x x x ROD SSI High Low x x x Xx Start_MT Next Can be set x x x x Ipeak2x A of Ipeak x x X x Start_JOG x a v in um s x x x x Start2_MT No x a x x x x OPMODE A B High Low see descrip x x x x Zero_latch a x x x x Emerg Stop A x x x x Brake a Xx Xx X x Description of the digital inputs X3 No function Software reset of the servo amplifier in the event of a fault All the functions and displays are set to the initial status Parameters that are not stored in the EEPROM are deleted the parameter set which is stored in the EEPROM is loaded If any of the error messages F01 F02 F03 F05 F08 F13 F16 or F19 chapter 2 8 1 are present then no software reset will be carried out instead just the error message will be deleted This means that for example the encoder output signals are stable and can continue to be evaluated by the control system Limit switch function A Low signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the l component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch Limit switch function
22. alues Current drive data 2 37 Setup Software Version I O Version 04 08 2 12 Enter password Procedure Open device info window Activate key combination Ctrl Alt Shift Click the mouse on the motor image 3 Administrator access window opens Enter password default no password The following additional buttons appear on the Linear axis page Erase EEPROM Change password Limit values Settings 2 38 Setup Software Version I O Version 04 08 2 13 Screen page Linear axis password protected area Linear Axis 0 DRIVE O wo o s Ju By left clicking the mouse on the respective buttons you can call up the associated screen pages or functions The EEPROM of the servo amplifier is cleared and a safe data set is loaded To operate the linear axis a default data set window Settings first needs to be loaded Change password Open the screen page Change password gt chapter 2 14 Limit values Open the screen page Limit values gt chapter 2 15 Settings Open the screen page Settings gt chapter 2 16 2 14 Screen page Change password Change Password Ea j Change the password for the protected area ag es 2 39 Setup Software Version I O Version 04 08 2 15 Screen page Limit values Limits 0 DRIVEO m Software Limit Switches SW Limit Switch 1 pm SW Limit Switch 2 um Actual Position pm 2000 60
23. cally absolute signals from the resolver or encoder This information is used to create incremental encoder compatible pulses max 250 kHz Pulses are emitted at the connector X5 as two signals A and B with a 90 electrical phase difference and a zero pulse 2 SSI SSl encoder emulation In the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create a position output in a format that is compatible with the standard SSI absolute encoder format 24 bits are transmitted with the upper 12 bits being fixed to ZERO and the lower 12 bits containing the position information For 2 pole resolvers the position value refers to one revolution of the motor 2 46 Setup Software Version I O Version 04 08 2 18 1 ROD Encoder 0 DRIVEO0 Resolution ROD Ink Umdr Encoderemulation Aufl sung ROD 1023 NI Offset 0 Incr dl Apply Determines the number of increments per motor revolution that are output Change this setting only while the amplifier is disabled NI Offset Increments per motor revolution for feedback Resolution Resolver EnDAT 256 256 256 512 512 512 1024 1024 1024 2048 2048 4096 4096 8192 8192 SHA 130 up to v 1 1 m s SVA 130 up to v 0 9 m s 16384 16384 SHA 130 up to v 0 5 m s SVA 130 up t
24. changing any of the relevant operation specific data while meeting the limit values defined by the equipment manufacturer This can be the case when setting up the equipment for a different product The user of the equipment is thus able to carry out the required changes The following changes may be made e Opening and saving data on a hard disk diskette Only data of the respective type of linear axis can be loaded Motion task data Input values within the limit values specified in the pasword protected area Setup operation Threshold function and cam function Function of the digital I Os Password protected area In the password protected area of the software the equipment manufacturer can define equipment specific limit values The operator of the equipment is thus unable either not to reach or to exceed the limit values The following additional changes can be made e Erasure of the EEPROM e Loading default data or special solutions from hard disk diskette e Limit values maximum traversing rate acceleration emergency stop ramp following errror and I2tmessage e Software limit switch positions e Operation mode master slave or position mode encoder emulation electrical gearing feedback system in position behaviour Setup Software Version I O Version 04 08 1 9 Screen layout Title bar Status bar Title bar The program name the station address as well as the name of the currently vali
25. d data set amplifier are displayed in the title bar Toolbar Typical Windows style buttons provide direct access to individual functions Status bar Shows current information on data communication Setup Software Version I O Version 04 08 Menubar FILE Open A parameter or motion task data set is read from the data medium hard disk diskette Only data of the same type of linear axis can be opened Close The current data set is closed and not saved Save Saves the current parameter and or motion task data set to a data carrier hard disk diskette while keeping the file name if the data set already has a name If the data set has yet not been named you will be prompted to enter a name and storage location Save as Saves the current parameter and or motion task data set to a data carrier hard disk diskette You will be prompted to enter a name and storage location Print The current data set will be printed out You can choose whether to send the print data to the system printer or save it to a file Print preview Print setup Use these functions in the same way as for any other Windows software Exit Terminates the program COMMUNICATION COM1 COM2 If one of these interfaces ports is available for communication with a servo amplifier i e if it is not being used by any other equipment or drivers then the text label appears in black and can be selected Select this i
26. data gt chapter 2 4 Opens the screen page Threshold cam function gt chapter 2 5 Opens the screen page I O digital X11 gt chapter 2 6 Opens the screen page I O digital X3 gt chapter 2 7 Opens the screen page Status gt chapter 2 8 If a fault is present the text of the button changes e Status OK e Error e Warning Shows the enable status of the amplifier Enable No Hardware Enable No Software Enable No Enable Offline Disables or enables the servo amplifier via the software This signal is logically And linked inside the servo amplifier with the hardware enable terminal X3 15 Disabling and enabling can also be undertaken via the function key F12 or Shift F12 disable the servo amplifier so as to ensure personnel safety the enable signal terminal X3 15 must be removed and the line mains power must be switched off This function does not ensure personnel safety To Ends processing of the current parameter set If you have made any changes you will be asked if you want to save the data 2 12 Setup Software Version I O Version 04 08 24 Screen page Position data Position Data 0 DRIVEO FEO pul T FE EE ES ed EA E EN EMH HIE EA EE H EG EL EH NN E an kiemen task Ea 0 10000 Without 150000 10000 Without 300000 10000 Without
27. eceaeensecseeeaeeeneenes 2 24 2 7 Screen page digital I O X3 2 26 2 7 1 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP ee ceecceeceeeeceseeeteeeseeneeeeeeneeees 2 27 21 2 Digital outputs DIGITAL OUT1 DIGITAL OUT2 eee eccceeeecseeseecseeeeeeceeeaeeeceenaeeeceeaeeeeeeeees 2 30 2 8 Screen page Status 2 32 2 8 1 ETFOTMESSASES ENA E ET A E EE T A E T 2 33 2 8 2 O AT EA E E 2 34 2 9 Screen page Actual values 2 35 2 10 Screen page Info 2 36 2 11 Software structure password protected area 2 37 2 12 Enter password 2 38 2 13 Screen page Linear axis password protected area 2 39 2 14 Screen page Change password 2 39 2 15 Screen page Limit values 2 40 DAS Software lamit switches seve cwstsceesesdecuetess covegceceascesseedeces tee ceseueeedes 2 40 ZII Sica aaa 2 41 Setup software Version I O Version 04 08 2 16 Screen page Settings 2 16 1 A ieee See ee rahe SER 2 16 2 InPosition behaviour ccceecceesseeseeeseeesceeeceseeeseenaeceeceeeeeeneeses 2 16 3 A 2 16 4 Loading default values 0 0 0 ee eecceeceseeeeceeeceeeceecsseceeeeneeeeeeseenes 2 17 Screen page Electrical gearing 2 18 Screen page Encoder emulation RISI ROD cizivies ces E A A itcekees E EA E cocesdee inastecscssobebaieuetendcveesdeatossboteces 2 19 Screen page Feedback 3 APPENDIX nee er Ren Een 3 1 Abbreviations and acronyms 3 2 Glossary 3 3 Index
28. erence switch will then not finish at zero but instead at the set reference offset value The reference offset must be set before homing is started Any change to the offset will only become effective after a new homing operation The reference offset is entered in mm v um s Determines the speed for the reference traverse Factory default is maximum speed a mm s Specifies the acceleration for homing Enter the value in mm s The ramp also applies to jog mode A maximum value has been set as a factory default Reference point Indicates whether or not a reference point has been set Start Button to start homing Stop Button to stop homing After a reference traverse the stop key must be pressed so that a drive order can be initiated 2 21 Setup Software Version I O Version 04 08 2 5 Screen page Threshold cam function Threshold Cam Function 0 DRI VEO Position Register Position 1 um Position 2 um Register State 5o00 A EA Actual Position um o Teach Ih Er Cancel Apply OK 2 5 1 Position registers These are programmable registers which can have various functions assigned to them Make changes only while the output stage is disabled and then reset If a particular position value is exceeded or not attained this can be reported via the position registers Their function is shown in the flow diagram Message via interface terminal Position register 1 2
29. g error is displayed in um 2 41 Setup Software Version I O Version 04 08 2 16 Screen page Settings m Field Bus Address Baudrate CAN Bus Name i 500 kB al PRIVEO r In Position behaviour Delay time ms At the start of a motion task the In position message is 50 delayed by the set delay time In Position window pun In Position Next In Position 1000 High K17B 3 DigitalX3 Next InPos Next In Position behaviour C O After the start of a next motion task invert the output 1 After the start of a next motion task set output to low at the end of a next motion task set it to high C 2 Atthe end of a motion task sequence invert the output ere eee Opmode OK _ Encoder Emulation fa Position Motion Tasks El Gearing Load Default Values EEN as SHa 130 600 TE Encoder emulation Opens the screen page Encoder emulation gt chapter 2 18 Electrical gearing Opens the screen page Electrical gearing gt chapter 2 17 Feedback Opens the screen page Feedback 3 chapter 2 19 2 16 1 Field bus Address Enter the station address 1 63 of the amplifier This number is required by the field bus CANopen PROFIBUS DP SERCOS etc and for the parameter setting of the servo amplifier in multi axis systems for unambiguous identification of the servo amplifier within the system The address is displayed in the setup software in the title bar of ever
30. ifier Shows the data set loaded and the type designation of the Montech linear axis 2 36 Setup Software Version I O Version 04 08 2 11 Software structure password protected area In the password protected area of the software the equipment manufacturer can define equipment specific limit values The operator of the equipment is thus unable either not to reach or to exceed the limit values The following additional changes can be made Erasure of the EEPROM Loading default data or special solutions from hard disk diskette Limit values maximum traversing rate acceleration emergency stop ramp following errror and I2tmessage Software limit switch positions Operation mode master slave or position mode encoder emulation electrical gearing feedback system in position behaviour Communication COM1 2 Offline Linear axis Main window INFO Enter password for protected area Limit values for positioning data Encoder emulation Electrical gear mechanism Feedback Positioning data I O digital X11 Clear EEPROM Motion tasks Signal state Save data Reference traverse I O digital X3 Parameters and or Set up operation Configurable motion tasks Signal state Open file Default values Status Parameter and or Next motion task a motion jaske Threshold cam Warnings carers O function STOP 4 ragisters Stop all motion tasks jog mode etc Actual v
31. ifier are read into the PC e Adialog window keeps you up to date Offline In preparation Deactivate This deactivates access to the setup software from interfaces COM1 and COM2 interfaces Setup Software Version I O Version 04 08 2 2 Software structure open area The open area of the software provides the user of the linear axis with the option of changing any of the relevant operation specific data while meeting the limit values defined by the equipment manufacturer This can be the case when setting up the equipment for a different product The user of the equipment is thus able to carry out the required changes The following changes may be made e Opening and saving data on a hard disk diskette Only data of the respective type of linear axis can be loaded Motion task data Input values within the limit values specified in the pasword protected area Setup operation Threshold function and cam function Function of the digital I Os Communication COM1 2 offline Linear axis Main window Actual values Current drive data Positioning data Motion tasks VO digital X11 Store data Signal state Parameters and or motion tasks Reference traverse Set up operation INFO 1 O digital X3 Open file Enter password Default values Configurable Parameters and or for protected area Signal state motion tasks Next motion task Threshold cam Status Store in Dee EEPROM function Errors RAM gt EEPROM 4 registe
32. igh signal on the respective interface terminal Low functions The presence of the function that is set is indicated by a Low signal on the respective interface terminal ID Function Logic Auxiliary value x 0 Off 1 Vv lt x High Velocity in um s 2 V gt x High Velocity in m s 5 SW_limit High 6 Pos gt x High Position in um 8 _act lt x High Current in mA 9 _act gt x High Current in mA 11 lt High 16 Next InPos High 17 Error Warn High 18 Error High 19 DC_Link gt x High Voltage in V 20 DC_Link lt x High Voltage in V 21 ENABLE High 22 Zero_pulse High 24 Ref OK High 2 7 2 1 Description of the digital output functions X3 0 Off No function assigned 1 v lt x As long as the value for the velocity is less than a preset value auxiliary value x a High signal will be output After the function has been selected the speed v in mm s can be entered in auxiliary value x 2 V gt x As long as the value for the velocity is less than a preset value auxiliary value x a High signal will be output After the function has been selected the speed v in mm s can be entered in auxiliary value x 5 SW_limit When a software limit switch SW limit switch 1 or SW limit switch 2 has been reached this is indicated by a High signal 6 Pos gt x If the position of the slide exceeds a preset value auxiliary value x a High signal will be output After the function has been se
33. ion only if the drive application allows this 2 16 4 Loading default values The data sets of the axis to be used can be loaded from the SERVOLINE database If an encoder is used as a feedback unit the motor number will automatically be reported to the servo amplifier Changes can be made only while the amplifier is disabled The following data records can be selected e SHA 340 400 e SHX 340 1200 e SHY 470 1800 e SHA 340 600 e SHX 470 800 e SHY 470 2200 e SHA 340 800 e SHX 470 1200 e SVA 130 200 e SHA 340 1000 e SHX 470 1600 e SVA 130 400 e SHA 340 1200 e SHX 470 2000 e SVA 130 600 e SHA 470 800 e SHX 470 2400 e SHE 130 100 e SHA 470 1200 e SHY 340 400 e SHE 130 200 e SHA 470 1600 e SHY 340 600 e SHE 130 300 e SHA 470 2000 e SHY 340 800 e SVE 130 100 e SHA 470 2400 e SHY 340 1000 e SVE 130 200 e SHX 340 400 e SHY 340 1200 e MONTRAC lift motor top e SHX 340 600 e SHY 470 600 e MONTRAC lift motor bottom e SHX 340 800 e SHY 470 1000 e Special data record e SHX 340 1000 e SHY 470 1400 e If a type of linear axis other than the one already present in the EEPROM is loaded NA all motion task data will be cleared e All parameters will be overwritten by the default parameter record of the SERVOLINE database Special data record Use this option to load special solutions from a hard disk diskette 2 44 Setup Software Version I O Version 04 08 2 17 Screen page Electrical gearing Gearing 0 DRIVEO R
34. ion position of electrical 804 2052 blocks gearing Operation mode 4 Operation mode 8 position of electrical position of motion 408 1032 gearing blocks Warning Use only in the case of mechanically non connected slave axes Setting the ROD zero pulse offset With the rising edge on the digital input the current position is converted depending on the set ROD resolution and entered in the variable NI Offset chapter 2 18 1 Then the new setting must be saved in the serial EEPROM chapter 2 3 This function makes it possible for the ROD zero pulse to be issued always at the current position within a revolution The low level initiates an emergency stop phase cancels a motion and stops the drive via the emergency stop ramp Irrespective of the operation mode OPMODE set the speed controller is activated during the emergency stop phase A high level at the digital input releases the brake SVA 130 only The function of this input is only active with the output stage disabled and with the BTB closed no amplifier error Warning The load of the vertical axis must be held by an appropriate device 2 29 Setup Software Version I O Version 04 08 2 7 2 Digital outputs DIGITAL OUT1 DIGITAL OUT2 The following standard pre programmed functions can be combined with the digital outputs DIGITAL OUT1 terminal X3 16 or DIGITAL OUT2 terminal X3 17 High functions The presence of the function that is set is indicated by a H
35. issued by a High signal at the respective The function message is issued by a Low signal at the respective 2 24 Setup Software Version I O Version 04 08 2 6 1 1 Description of digital inputs X11A X11B 1 8 AO A7 9 Reference 10 FError_clear 11 Start_MT Next 12 Start_Jog v x 1 MT_Restart 2 Start_MT No x Motion block numbers 2 to 2 LSB MSB Polls the reference switch zero pulse initiator A rising edge at the digital input clears any warning that may be present following error response monitoring The next motion task specified in the motion block screen page Next motion task chapter 2 4 3 with the setting Start via I O is started The target position of the present motion block must have been reached before the next motion task can be started Start jog mode The speed of movement is specified on the screen page Motion tasks chapter 2 4 5 A rising edge starts the motion task a falling edge cancels the motion task Use two inputs to move in both directions see digital I O X3 Continues the last cancelled motion task Start of a motion task stored in the servo amplifier indicating the motion task number which is present in bit coded form at inputs AO to A7 Motion task number 0 starts the reference traverse homing A rising edge starts the motion task a falling edge cancels the motion task 2 6 1 2 Description of digital outputs X11B 3 InPos When the ta
36. l hve no 1 no 2 to target 2 gt s Distance Target position Motion task no 1 2 16 Setup Software Version I O Version 04 08 2 4 4 Field Setup Setup Aerea Teach In F6 Ist Position pun J 22338 Default values Open the screen page Default values gt chapter 2 4 4 1 Teach in Take over the actual position as s_cmd position of a motion task gt chapter 2 4 4 2 Actual position um Shows the actual slide position in um 2 4 4 1 Screen page Default values Default Values for Motion Tasks 0 DRIVEO Art aps v_emd m s 1500000 ace mm s fro000 dec mm s fi 0000 Next Motion Task without The default values are used to enter a position or teach in of a motion task which has previously not been specified The position value entered is automatically supplemented by the default value gt Motion task specified Motion task data already specified will not be overwritten X OK Cancel Type This selection determines whether the motion task is to be interpreted as a relative or an absolute task ABS movement to an absolute target position in relation to the reference point REL cmd relative to the last target setpoint position in connection with motion block changeover e g summing operation REL act relative to the actual position at start in connection with motion block changeover e g regi
37. lected the signalling position in mm can be entered in auxiliary value x 2 30 Setup Software Version I O Version 04 08 8 l_act lt x 9 l_act gt x 11 Pt 16 Next InPos 17 Error Warn 18 Error 19 DC_link gt x 20 DC_link lt x 21 ENABLE 22 Zero_pulse 24 Ref_OK The output is a High signal as long as the absolute r m s value of the actual current is lower than a specified value in mA auxiliary value x After the function has been selected you can enter the value of the current in auxiliary value x The output is a High signal as long as the absolute r m s value of the actual current is higher than a specified value in mA auxiliary value x After the function has been selected you can enter the value of the current in auxiliary value x If the preset I t monitoring threshold is reached screen page Limit values gt chapter 2 15 this is indicated by a High signal Use this function only if position register no 4 I O version is used For a description of signal behaviour refer to chapter 2 16 2 Settings The output produces a High signal if an error or a warning message is signalled by the servo amplifier For a list of warning messages and error messages refer to chapter 2 8 1 and 2 8 2 The output produces a High signal if an error is signalled by the servo amplifier For a list of error messages refer to chapter 2 8 1 A High signal is outpu
38. low voltage PSTOP Limit switch input clockwise rotation RAM Volatile memory ROD Inkrementelle Positionsausgabe SPS Programmable logic controller PLC SSI Synchronous serial interface VAC Alternating voltage VDC Direct voltage VDE Association of German electrical engineers VDI Verein deutsch Ingenieure 3 50 Setup Software Version I O Version 04 08 3 2 Glossary E EEPROM Electrically Erasable and Programmable Read Only Memory Electrically erasable memory in the servo amplifier Data stored in the EEPROM is not lost when the auxiliary voltage is switched off E PROM See EEPROM Enable Enable signal for the servo amplifier 24 Ipeak peak current Effective value of peak current Irms effective current Effective value of continuous current Reset Restart of the micro processor ROD interface Incremental position output C Current controller Controls the difference between current setpoint and actual value of the current to 0 G GRAY format Special form of binary code with only one bit changing between sequential numbers H Holding brake Motor brake which must only be applied with the motor at a standstill 1 It Monitoring of the effectively required root mean square RMS current Intermediate circuit Rectified and smoothed output voltage M Motion block Data packet with all position control parameters which are required fo
39. lver The linear axes have two pole hollow shaft resolvers fitted as standard Cycle time 62 5 ps The settings have been made at the factory 4 EnDat As an option the linear axes are available with high resolution absolute encoders multi turn with EnDat interfaces Heidenhain as feedback Cycle time 125 us The settings have been made at the factory Offset If an encoder with EnDat is used as a feedback unit the offset is automatically transmitted to the servo amplifier 2 49 Setup Software Version I O Version 04 08 3 Appendix 3 1 Abbreviations and acronyms The table below shows abbreviations and acronyms used in this manual Abbreviation acronym Explanation BTB RTO Ready for operation CE Communit Europ enne European Community CENELEC European electrotechnical standards coordinating committee COM Serial interface of a PC AT DIN German technical standards organisation Deutsches Institut fur Normung Disk Magnetic storage diskette hard disk EEPROM Electrically erasable and programmable read only memory EMV Electromagnetic compatibility EN European standard IEC International Electrotechnical Commission ISO International Standardisation Organisation LED Light Emitting Diode MB Megabyte MS DOS Operating system for PC AT NI Zero impulse NSTOP Limit switch input anticlockwise rotation PELV Protective
40. n of rotation A Low signal on the input terminal PSTOP terminal X3 13 inhibits both directions of rotation The motor brakes with the emergency stop ramp and comes to a standstill with the I component under control mechanical delimitation stop is not permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch Limit switch function STOP regardless of the direction of rotation A Low signal on the input terminal PSTOP terminal X3 13 inhibits both directions of rotation The motor brakes with the emergency stop ramp and comes to a standstill without the I component under proportional control mechanical delimitation stop is permitted A falling edge initiates the braking process Servo horizontal axes SHA do not require a hardware limit switch Polls the reference switch zero point initiator The following task which is specified in the motion block screen page Following task chapter 2 4 3 with the setting Start via I O is started The target position of the present motion block must have been reached before the following task can be started Switch over to a second lower peak value of current Scaled to x 0 100 of the peak current of the instrument After the function has been selected you can enter the percentage value in Auxiliary value x A rising edge starts jog mode setup mode endless motion The speed is specified in Auxiliary value x
41. nterface and use it for connecting to the servo amplifier Offline In preparation Deactivate interfaces This deactivates access to the setup software from interfaces COM1 and COM2 chapter 2 1 Multi drive EDIT Undo Select line Cut Copy Paste Delete Use these functions in the same way as for any other Windows software VIEW Toolbar Status bar Switch to show or hide the toolbar top or the status bar bottom on the screen WINDOW Cascade Tile vertically Arrange icons Use these functions in the same way as for any other Windows software SERVICE Stops any motion task functions that are currently active STOP F9 Device information Setup Software Version I O Version 04 08 2 Parameters and functions This chapter describes all the parameters that can be accessed via the setup software 2 1 Screen page Communication WAME Disconnect Interfaces COM1 COM2 If one of these interfaces ports is available for communication with a servo amplifier i e if it is not being used by other equipment or drivers then the text label appears in full black and can be selected Use this interface for connecting to the servo amplifier e Select the interface which you are using e The status bar shows the status of communication with the servo amplifier e If communication is working properly the parameters stored in the servo ampl
42. o v 0 4 m s SHA 470 up to v 1 1 m s FP 130 x axis up to v 1 1 m s y axis up to v 0 5 m s The resolution in the control system can be increased by quadruple evaluation of the increments Determines the position of the zero marker pulse when A B 1 The entry relates to the zero crossing of the feedback unit 2 47 Setup Software Version I O Version 04 08 2 18 2 SSI Encoderemulation Baudrate ss 200 kBaud El SSI Takt Single Tur standard SSI Code binary OK Cancel so Determines whether single turn or multi turn signals are to be emitted Change this setting only while the amplifier is disabled Baud rate Determines the serial transmission rate Change this setting only while the amplifier is disabled ID Function 0 200 kBaud 1 1 5 MBaud SSI Clock Determines whether the output level is normal or inverted Change this setting only while the amplifier is disabled ID Function 0 Standard 1 Inverted SSI Code Determines whether the output is in binary or GRAY code Change this setting only while the amplifier is disabled ID Function 0 binary 1 GRAY 2 48 Setup Software Version I O Version 04 08 2 19 Screen page Feedback Feedback Type 0 Resolver X Offset o Do To confirm changes reet the amplifier Feedback type ID Function Comments 0 Reso
43. off the power supply L1 L2 L3 for the controller e f several positions are to be entered at the same speed or acceleration the speed or acceleration can be entered as a default in the default values window gt chapter 2 4 4 1 Existing motion task data will not be overwritten e Slide the load to the desired position e Select a motion task for which a teach in is to be carried out Highlight the motion task number 6 7 gt i i Teach In F6 Ist Position um e Carry out a teach in by pressing the teach in key F6 or by pressing function key F6 on the PC keyboard The current actual 22338 position of the slide is taken over to become the command position for the selected motion task and is displayed accordingly e The remaining data of the motion task is taken from the default value settings D ABS 22338 1000000 10000 10000 Ohne without e Store the data in the EEPROM by activating the key Take over 2 18 Setup Software Version I O Version 04 08 2 4 4 2 2 Teach in with the output stage enabled Warning AN e Assembly installation wiring and final check have been carried out according to the user manual of the servo amplifier e Assembly installation and final check have been carried out according to the user manual of the servo horizontal axis e Ensure that nobody is present within working range of the axis e During operation keep all covers protective devices and
44. oftware parties After a set of data has been loaded all parameters must always be checked A Sets of data that are stored on data media are not safe from unintended alteration by third before the servo amplifier is enabled Servo amplifiers are components that are built into electrical equipment or machinery they must only be operated as integral components of such equipment The BTB contact must be wired into the safety loop of the system The safety loop as well as the stop and emergency stop functions must comply with the requirements of EN60204 EN292 and VDI2853 Before operating the servo axes all work is to be carried out as specified in the operator manuals of the servo amplifier and the Servoline axes Strictly observe all safety regulations e Assembly installation wiring and final check have been carried out according to the operator manual for the servo amplifier e Assembly installation wiring and final check have been carried out according to the operator manual for the servo axes 13 Software description The servo amplifier has to be adapted to the conditions of the application target position acceleration speed etc Such parameterisation is not carried out on the amplifier itself but on a PC by means of the setup software The PC is connected in series to the servo amplifier via a null modem cable The setup software establishes communication between the PC and the servo amplifier With very little effort yo
45. oltages amplifier and PC have been switched off On the CD you will find an installation program with the name SETUP EXE which makes it easier for you to install the setup software on your PC Connection to the serial interface of the PC Connect the interface cable to a serial interface of the PC COM1 or COM2 and to the PC interface X6 of the servo amplifier Switch on Switch the PC and the monitor on When the boot phase has finished the Windows user interface appears on screen Installation Click on START taskbar then on Run Enter the program call a setup exe where a is the correct drive letter Confirm by pressing OK and follow the instructions Setting up the graphics card font size Click on the desktop with the right mouse button The dialog window Properties appears Select the file card Settings Set the font size to Small fonts Follow the instructions provided by the system Setup Software Version I O Version 04 08 1 7 Software operation 1 7 1 General The setup software is basically used in the same way as other Windows programs Note that after any parameter alteration on a screen page you must first click on APPLY so that the parameter is transferred to the RAM of the servo amplifier Pressing the Return key after altering a parameter value also has the effect of transferring the parameter set to the RAM of the servo amplifier Only then should you leave
46. otary direction negative y Input Pulses per Turn fi es o 1024 fi Ratio 1024 Pulses 1 Turn The servo amplifier obtains a position setpoint value from another device master servo amplifier and controls the position of the motor shaft synchronous to this master guidance signal Cycle time of the electrical gearing is 250 us a value averaged over 1000 us is used Direction of rotation Determines the direction of rotation of the motor shaft in relation to the polarity of the setpoint value The setting is used to change the direction of the slave axis during master slave operation Make changes only while the amplifier is disabled and then reset ID Function 0 Negative 1 Positive Input pulses motor revolution y Gearing ratio el x z x Input pulses in increments motor revolution x must correspond to the setting of the master axis encoder emulation ROD ylz Gearing down of the axis Must be lt 1 2 45 Setup Software Version I O Version 04 08 2 18 Screen page Encoder emulation Encoder 0 DRI VEO Encoderemulation Input OK if Apply Cycle time of encoder emulation 0 5 ps ID Function Comments 0 Input The interface is used as an input Setting the slave axis master slave operation 1 ROD Incremental encoder emulation In the servo amplifier the position of the motor shaft is calculated from the cycli
47. out hardware limit switch Inactive Expansion card not functioning correctly Inactive Inactive Reserved Firmware version has not been released RESET is present at DIGITAL IN1 These warning messages lead to a controlled shut down of the drive braking with the emergency ramp 2 34 Setup Software Version I O Version 04 08 2 9 Screen page Actual values Monitor 0 DRIVEO Electricity Current RMS 0 061 A Current D Component 0 005 A Current O Component 0 054 4 Bus Voltage 565 Y ow Max regen power Temperatures Heat Sink Temperature 99 ME Intemal Temperature 49 C Angle of Rotation 0 1 mech 1 a5 Anzahl Speed Actual Value O rpm Setpoint D pm Other Following Error D um D um Position Ft Average Value 8 Reference Point set Electrical system Effective current Current D comp Current Q comp Bus voltage Regen power Temperatures Heat sink temperature Internal temperature Angle of rotation Angle of rotation Speed Actual speed Setpoint speed Other Following error Position Pt Reference point Shows the value in amperes of the actual current indication Arms value always positive Shows the value in amperes of the current D component Id reactive current of the current indication Shows the value in amperes of the current Q component lq active current
48. p e Only properly qualified personnel are permitted to perform activities such as installation setup and maintenance Properly qualified persons are those who are familiar with the assembly installation setup and operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe the following standards or guidelines IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National accident prevention regulations or VBG4 Setup Software Version I O Version 04 08 1 2 Use as directed The setup software is intended to be used for altering or storing the operational parameters of the servo amplifier of the SERVOLINE products The servo amplifier that is connected is commissioned by means of the software whereby the drive can be directly controlled by the setup and service functions Due to the characteristic nature of a PC these functions do not provide operational safety without further measures A PC program might unexpectedly be disturbed or stopped so that in the event of a malfunction any movements that have already been initiated can no longer be stopped from the PC The equipment manufacturer is obliged to prepare a hazard analysis of the equipment and is also responsible for functional mechanical and personal safety aspects in relation to the machine This applies especially to the initiation of movements by way of functions in the setup s
49. r a motion task O Optical coupler Optical connection between two electrically independent systems P Position controller Controls the difference between position setpoint and actual value to 0 R RAM Random Access Memory Volatile memory in the servo amplifier Data stored in RAM are lost if the auxiliary voltage is switched off S SSI interface Cyclically absolute serial position output Z Zero pulse Is issued once per revolution by incremental transmitters it is used for zeroing the machine 3 51 Setup Software Version I O Version 04 08 3 3 Index 3 52 MONAECH more than technology MONTECH AG Gewerbestrasse 12 CH 4552 Derendingen Fon 41 32 681 55 00 Fax 41 32 682 1977 info montech com www montech com
50. rget position InPosition window for a motion task has been reached this is signalled by the output of a High signal For all valid motion tasks the size of the InPosition window is entered on the screen page Motion tasks chapter 2 16 If a number of motion tasks are automatically executed in sequence the message is issued that the final position of the motion task target position of the last motion task has been reached When the target position for a motion task sequence has been reached this can be signalled by function 4 Next_InPos 4 PosReg 4 Next InPos This function is linked to the setting of position register 4 see page 2 22 5 FError 6 SW_limit 1 7 SW_limit 2 Chapter 2 5 1 Position register If Outside pos 1 and pos 2 is active then the function Next InPos on X11B 4 is inactive If Outside pos 1 and pos 2 is inactive the function PosReg 4 on X11B 4 is active PosReg 4 The set function of position register 4 the function is defined on the screen page Limits Chapter 2 5 is indicated by a high signal Next InPos When the target position InPosition window for each motion task in an automatic sequence of motion tasks has been reached this is signalled by the output of a High signal For all valid motion tasks the size of the InPosition window is entered on the screen page Motion tasks chapter 2 16 At the start of each individual motion task within a sequence of motion tasks the input iss
51. rs Warnings STOP Stop all motion tasks jog mode etc 2 10 Setup Software Version I O Version 04 08 2 3 Screen page Linear axis inear Axis 0 DRIVEO wafer 8 8 5 MONTE OE ANETTE Click with the left mouse button on a button on the screen page to call up the respective function or screen page Saves current parameters to a data carrier hard disk diskette It is possible to save control El parameters and motion task parameters in separate files Loads a parameter file or motion task file from a data carrier hard disk diskette Only data records of the respective linear axis can be loaded Opens the screen page Actual values to display the actual drive status gt chapter 2 9 Non volatile storage of the currently valid parameter set in the EEPROM of the servo amplifier In this way all the parameter changes made since the last switch on reset of the servo amplifier can be permanently saved 7 amp Stops cancels motion functions motion task homing i Opens the screen page Instrument info to display the hardware and software versions gt chapter 2 10 2 11 Setup Software Version I O Version 04 08 Threshold Cam Function MO Fas J 10 FON x3 erne OK rs Y inear Axis ENABLED Software Disable Enable Sw C Disable F12 Enable Shift F12 l End processing Quit Opens the screen page Position
52. se error messages can be cleared without resetting the amplifier If only one of these errors is present and the RESET button or the I O function RESET is used then too only the error is cleared 2 33 Setup Software Version I O Version 04 08 2 8 2 Warnings Faults that occur but do not cause a switch off of the amplifier output stage BTB contact remains closed are displayed as a numerical warning code in the LED display on the front panel and on the screen page STATUS Warnings that are recognised by the supply monitoring system will only be reported after the servo amplifier has been enabled Number n01 n02 n03 n04 n05 n06 n07 n08 n09 n10 n11 n12 n13 n14 n15 n16 n31 n32 A ee Designation lt Regen power FError Response monitoring Mains phase SW limit switch 1 SW limit switch 2 Motion task_error No reference point PSTOP NSTOP Default values Expansion card HIPERFACEO Table error Reserved Firmware beta version Reset Explanation 1 t message threshold exceeded Preset regen power reached Preset following error window exceeded Response monitoring field bus active Mains phase missing Software limit switch 1 exceeded Software limit switch 2 exceeded A faulty motion task was started No reference point set at start of task Hardware limit switch PSTOP activated servo axes without hardware limit switch Hardware limit switch NSTOP activated servo axes with
53. ster control REL InPos when the load is in the InPosition window relative to the last target position when the load is not in the InPosition window relative to the actual position at start v_cmd m s acc mm s dec mm s Next motion task This parameter determines the distance to be travelled If at a later stage v_limit is set to a value that is less than v_cmd the position controller will use the smaller value This parameter determines the acceleration in mm s acceleration ramp sine shapea This parameter determines the delay in mm s acceleration ramp sine shaped Select whether on completion of the current motion task a new motion task should be started automatically 2 17 Setup Software Version I O Version 04 08 2 4 4 2 Teach in With this function the current position value can be taken over as a position of a motion task Teach in The desired position can either be reached manually by sliding the load or via the motor jog mode 2 4 4 2 1 Teach in with the output stage disabled SHA and FP only contactor is switched off e Ensure that the supply voltage cannot be switched on by others e Failure to adhere to these safety measures may result in life threatening or severe personal injuries or material damage e Disconnect the supply voltage from the servo amplifier The main switch or mains Procedure e Disable the output stage function key F12 e Switch
54. switchgear cabinet doors closed Failure to do so may result in life threatening or severe personal injuries or material damage Procedure e f several positions are to be entered at the same speed or acceleration the speed or acceleration can be specified as a default in the default window gt chapter 2 4 4 1 Existing motion task data will not be overwritten e Enable the output stage power supply is On and Enable input is set to High level e Via jog mode 3 chapter 2 7 1 1 function 20 Start_JOGx move to the command position e Disable the output stage function key F12 e Select the motion task for which a teach in is to be carried out Highlight the motion task number EA 7 a ues Teach In F6 e Carry out a teach in by pressing the Teach in key F6 or by Ist Position um pressing the function key F6 on the PC keyboard The current 22 actual position of the slide is taken over to become the command ee position for the selected motion task and is displayed accordingly e The remaining data of the motion task is taken from the default settings D ABS 22338 1000000 10000 10000 Ohne without 8 e Store the data in RAM by activating the key Take over 2 19 Setup Software Version I O Version 04 08 2 45 Field Motion task m Motion Task _limit ums 1 5e 006 Nr fo Start Motion Task Stop v_limit um s No Start motion task Stop
55. t if the actual value of the DC link voltage is higher than a specified value in volts auxiliary value x After the function has been selected you can enter the voltage value in auxiliary x A High signal is output if the actual value of the DC link voltage is lower than a specified value in volts auxiliary value x After the function has been selected you can enter the voltage value in auxiliary x A High signal is output if the servo amplifier is enabled To obtain enable the external enable signal on terminal X3 15 must be present the Enable status must be set in the setup software and no error must be present that would cause automatic internal disabling of the servo amplifier see chapter 2 8 1 for error messages The zero pulse High signal of the encoder emulation is indicated This function is only useful at very low speeds The output signals High if a reference point is available A reference traverse homing has been carried out or a reference point has been set 2 31 Setup Software Version I O Version 04 08 2 8 Screen page Status Status 0 DRIVEO Run time 2090 2 Fault History H MIN Fault Frequency No Actual Errors Actual Warnings Ho No Reset Run time Time in hours during which the servo amplifier has been operating with the output stage enabled Last 10 errors Displays the last 10 errors that have occurred together with the time of their occurrence
56. to the PLC Next InPosition behaviour With this setting the function of the interim message can be configured in a sequence of motion tasks The function Intermediate message in a motion task sequence Next InPos is available if an I O expansion card is used terminal X11B 4 or if a digital output of the base card has been configured with the function Next In Pos gt chapter 2 7 2 At the start of the first motion block of a sequence of motion blocks the output Next InPos is always set to 0 The behaviour of the output when carrying out the sequence of motion blocks depends on the setting 0 The output is inverted during the start of a following motion block 1 At the start of a motion block the output is set to 0 on completion of a motion block the output becomes High 2 The output is inverted at the end of a motion block During a sequence of motion tasks in which the motion tasks are started immediately only the settings 0 or 2 are useful At a setting of 1 the High state is so brief that it may well not be registered by the external control system If a next motion block is to be started by means of an I O INXMODE 15 then setting 2 or 1 should be used In this setting the end of a motion block is signalled by the high state 1 or by the change of state 2 at the Next InPos output After this via the input Start next motion task the external control system can initiate the next motion task to be continued
57. u can alter parameters and instantly see the effect on the drive since there is a permanent online connection to the amplifier Important process values actual values are simultaneously read out from the amplifier and displayed on screen You can store archive sets of data on a data carrier and load them again The data set currently in use can be printed Setup Software Version I O Version 04 08 1 4 Operating systems 1 4 1 Microsoft WINDOWS Vista XP 2000 NT ME 98 95 The setup software runs under Microsoft WINDOWS Vista XP 2000 NT ME 98 95 1 4 2 DOS OS2 WINDOWS 3 xx The setup software will not run under DOS OS2 or Windows 3 xx Emergency operation is possible with ASCII terminal emulation no user interface Interface settings 9600 baud 8 bit 1 stop bit no parity no handshake 1 5 Hardware requirements Minimum specifications of the PC Processor Intel Pentium or higher Operating system Microsoft WINDOWS Vista XP 2000 NT ME 98 95 Graphics card Windows compatible colour Resolution 800 x 600 pixels minimum Drives CD drive Hard disk 5 MB free space Main memory 8 MB minimum Interface One free serial interface COM1 or COM2 The interface must not be used by any other software driver or similar Setup Software Version I O Version 04 08 1 6 Installation under Microsoft WINDOWS Vista XP 2000 NT ME 98 95 AN Connect or disconnect the interface only if all the supply v
58. ues a Low signal If the position moves outside the preset contouring error window screen page Limit values chapter 2 15 this is signalled by a Low signal When the software limit switch on the drive side has been reached this is signalled screen page Limit values chapter 2 15 When the software limit switch on the deflection side has been reached this is signalled screen page Limit values chapter 2 15 2 25 Setup Software Version I O Version 04 08 8 10 PosREG 1 3 The preset function of the respective position register the function is specified on the screen page Limit values chapter 2 5 is indicated by a High signal 2 7 Screen page digital I O X3 170 digital 0 DRIVE O Cycle time of the digital I O functions approx 1 ms The states of the digital inputs outputs are shown in the diagram of the connector X3 2 26 Setup Software Version I O Version 04 08 2 7 1 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP The terminals DIGITAL IN1 2 PSTOP and NSTOP X3 11 12 13 14 can be used in combination with internal functions Changes can only be made if the output stage is disabled followed by a reset 2 7 1 1 0 Off 1 Reset 2 PSTOP 3 NSTOP Function can be combined with Function Active edge Auxiliary DIGITAL DIGITAL PSTOP NSTOP X3 11 X3 12 Off x x x x Reset A x PSTOP YM Low active x NSTOP X Low active x P
59. with the Delay time parameter Start with Logic for the digital input terminal X11A 11 that has the function FStart_Next Low level 0 7V High level 12 30V 7mA Delay time Enter the delay time in ms between reaching the target position and starting the next task 2 15 Setup Software Version I O Version 04 08 Start_MT Next X11B 11 Accel decel Motion task Next task Next task Next task Next task no 1 no 2 no 3 no 4 no 5 vti B Time 2 2 t vf Start with Time Immediately I O High level 1 O Low level t Select the action to be taken when the target position for the present motion task is reached On v 0 The drive brakes and comes to a stop in the target position The next motion task is then started From target The drive moves at v_cmd of the present motion task to the target position and then accelerates through to v_cmd of the next task Not yet selectable function v o is carried out To target The changeover to the next task is brought so far forward that v_cmd of the next task has already been reached by the time the target of the present motion task has been reached Not yet selectable function v o is carried out Motion task Next task no 1 no 2 vt Accel decel ES E to v 0 gt s Distance Motion task Next task Accel decel Av no 1 no 2 from target 3 E z s Distance Motion task Next task Accel dece
60. y screen page as long as you are working online Baud rate CAN bus Enter the baud rate 10 20 50 100 125 250 333 500 666 800 1000 kBaud of the amplifier This transmission rate is required by the field bus CANopen as well as for the parameter setting of servo amplifiers in multi axis systems Name Here you can assign a name 8 characters max to the servo amplifier This makes it easier for you to allocate a function within the system to the servo amplifier The name is displayed in the setup software in the title bar of every screen page In offline mode the name provides an indication as to the origin of the currently active data set 2 42 Setup Software Version I O Version 04 08 2 16 2 InPosition behaviour Delay time Delay time for the InPosition message in ms When a motion task is started the InPosition message is withdrawn and monitoring of the InPosition window is only activated after the set time has elapsed This function is particularly important with position activities within the InPosition window In any case it is ensured that the InPosition message is withdrawn for a specified time InPosition window Sets the InPosition window um Determines at what distance from the setpoint position the message InPosition is to be issued The drive moves exactly to the target position Effects Value too low time for positioning increases no InPosition message Value too high InPosition is signalled

user manual setup software version i/o ba-100040

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