digivex motion
Contents
1. uf3 program 9999 e Vision terminal address e page number for display e acceleration value e speed of displacement in manual mode Conversational e question script Displacement e type of displacement absolute or relative e speed of displacement e position to be reached or relative displacement value e speed of displacement e stop distance the sign indicates the direction of motion 4 1 Common Values PROG99 The header of the motion_block bdm program is the general variable initialisation program The parameters of this program 99 must be specified using the application values The numerical values must be replaced by the desired values However the program must not be modified by deleting lines or changing the names of variables PROG99 x default values for user variables uf0 0 default value of uf0 keyboard value of block 10 uf1 0 default value of ufl keyboard value of block 11 uf2 0 default value of uf2 keyboard value of block 12 uf3 0 default value of uf3 keyboard value of block 13 ui0 32 keyboard address uil 1 page number for display uf 4 100 acceleration value in Units s uf5 100 speed for manual mode in Units s RETURN SENDPROG 10 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 2 Brake Controls Blocks 1 amp 2 There is no parameter specification for t2. SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes CYBER 2000 NC 1 to 2 axes VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM gt POWER SINGLE AXIS DPM gt MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX MOTION BLOCK POSITIONING application software CONTENTS List of published DIGIVEX MOTION manuals PRODUCT RANGE 1 GENERAL POINTS 2 COMMISSIONING STAGES 2 1 2 2 2 3 2 4 2 5 2 6 2 7 Wiring the mains supply motor and resolver Wiring the drive logic inputs and outputs Connecting a PC with the CRS232 or CIM03 module Energising the auxiliary power supply Loading the drive parameters and settings anrnanenR A SN N Loading the block positioning application program and specifying parameters5 Testing 3 INSTRUCTIONS FOR USE 3 1 3 1 1 3 1 2 3 1 3 3 2 3 3 Logic Inputs Outputs over Sub D Connector Inputs Definition of levels Outputs Manual and teach mode operation Automatic Operation 4 INITIALISING BLOCKS 4 1 4 2 4 3 4 4 4 5 4 6 4 7 Common Values PROG99 Brake Controls Blocks 1 amp 2 Origin Setting Block 3 Transmitting Messages to the Vision Terminal Blocks 4 9 Entering Values via the Terminal Blocks 10 13 Displacement Blocks Blocks 14 62 Position Stop Block Block 63 5 BRAKE CONTROL 6 FAULT RESETTING 1 PVD 3519 GB 11 2003 5
3. 0 Speed to be used in Units s uf7 ud14 distance in Units RETURN ENDPROG 8 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 3 3 Automatic Operation Automatic operation is selected if the manual_sel input is at 0 e The user must select a block numbered 0 63 with the sel1 to sel6 inputs see table below e The user must then validate the selection by a rising edge on the start input it is acceptable for the code and start to rise at the same time The end_of_block output then switches to 0 indicating the block is being executed and the start signal can fall again It is best to test the end_of_block output state before asking for a new block This output must be at 1 when a new block is to be selected If the start input switches to 1 rising edge when a block is being executed the block request is ignored e When execution of the block is completed the end_of_block output switches back to 1 indicating execution of the block is complete and the device waits for a new block to be selected e When the system reaches an electrical or software limit switch block execution is halted and cannot be resumed and current motion stops with deceleration ramp the stop position becomes the current position Only movement away from the limit switch is then authorized e A 0 state on the block_enable input inhibits acknowledgement of the start input no block can then be sele
4. LOGIC CHART Select Block 4 9 start end_of_block 3 6ms _ gt __ 50 ms 13 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 5 Entering Values via the Terminal Blocks 10 13 Blocks 10 13 are for Asking a question via the Vision terminal and entering a numerical value Testing the numerical value entered by the operator Using the value entered as a position or speed in the motion blocks Block call up routine When the block is called the drive sends the message defined in the block maximum 15 characters script in Quotation marks in the program to the uVision terminal screen The end_of_block output switches to 0 The operator must then key in a numerical value and validate it with the ENTER key When the value reaches the drive the drive records the datum in a variable variable uf0 for block 10 uf1 for block 11 uf2 for block 12 and uf3 for block 13 The drive then tests the variable and checks that it is contained within the interval defined by uf8 upper limit and uf9 lower limit If the test fails the ERROR message is displayed on the Vision terminal for 1 s and then the drive sends the message again and awaits a response If the test is successful the end_of_block output switches back to 1 PROG10 Kk ok operator message block10 response stored as uf0 ucO text block10 L1 smessage to be dis
5. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX MOTION application software BLOCK POSITIONING PVD 3519 GB 11 2003 Pavey lt G PRODUCT RANGE TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery gt NX HX HXA 1to 320 N m gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 Nm Varied geometrical choice short motors range HS LS 3 3 to 31 Nm gt or small diameter motors HD LD 9to 100 N m Voltages to suit different mains supplies gt 230V three phase for s rie L NX 400V 460V three phase for s rie H NX e DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS gt SINGLE AXIS DSD gt COMPACT SINGLE AXIS DuD DLD gt POWER SINGLE AXIS DPD gt MULTIPLE AXIS DMD e PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kw up to 60 000 rpm e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e AXEM RS SERIES SERVOMOTORS 0 08 to 13 Nm RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere e AXL COMPACT SERIES
6. cted e During execution of the block with motion blocks 3 and 14 63 if the block_enable input switches to O then block execution is halted permanently motion stop with deceleration ramp and the stop position becomes the current position The end_of_block output is reset to 1 when all motion has stopped completely The user can access the following functions by selecting the appropriate code eae ea e no P oO oO oO o o 0 0 Noeffect blockunused 1 oO oO f oO jo fo 1 f Open br ke 2 o 0 oO o 1 0 Close brake 1 0 Display operator message _ Display operator message 0 Conversational variable uf 0 Conversational variable uf2 0 Es E Absolute or relative motion Absolute or relative motion Absolute or relative motion Position stop triggered by fly_index input 1 1 1 1 Conversational variable uf3 1 N B Once the end_of_block disappears state 0 it is best to zero reset the start input Before motion ends the block number may also be changed to prepare the next block as it will only be validated by a rising edge on the start input 9 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 INITIALISING BLOCKS To set the application parameters the user must complete the following internal variables Block Type Internal Variables Used General initialisation e initialise variables uf0
7. dules convert the PC s RS232 link into a CAN link so connecting the PC to the CAN network For further information see the DIGIVEX MOTION uVision CRS232 CAN DADOS PVD 3518 Manual 2 4 Energising the auxiliary power supply The control section of the drive is energised and a connection with the PC can be established The motor is not powered up 4 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 2 5 Loading the drive parameters and settings Follow the instructions in the PME DIGIVEX MOTION PVD 3516 Setting and Adjustment Manual which explains the various parameter setting options choice of operating mode motor etc and servo control adjustment The following options must be validated for this application program to work e enable program execution Operating Mode environment Options tab Enable program execution upon energizing Wait for power up before crossing PROGO START address e enable torque Operating Mode environment Options tab Enable torque upon energizing e Enable motion Operating Mode environment Options tab Enable motion upon energizing e drive mode position control Operating Mode environment Options tab Position control e Input In14 must not be assigned Input Output environment Logic Input tab in14 not assigned e Output out0 must be assigned to the home made system variable Input Output environment Logic Output tab e Output out2 must be assi
8. ection inputs be scanned upon energising the auxiliary supply option selected when specifying the drive parameters see Section 2 5 The user has a manual_sel input for selecting either manual operation motion controlled visually or automatic operation blocks selected by combining logic inputs inputs may be controlled by a plc 3 1 Logic Inputs Outputs over Sub D Connector 3 1 1 Inputs The logic inputs assignments are defined as follows Associated Type Variable fly_index position stop trigger rising edge manual_p manual direction state manual_m manual direction state state pulse sen blockcodeweight1 state sel2 block code weight2 state sel3 block code weight4 state sel4 blockcodeweight8 _ state sel5 block code weight16_ __ state sel6 block codeweight32 _ state hardp_input state hardm_input state switchO_input state state edge The block_enable input must be set to 1 for motion and block selection to be possible e In manual mode setting this input to O inhibits acknowledgement of manual_p and manual_m inputs and stops current motion with deceleration ramp Motion can only be resumed if this input goes back to 1 e In automatic mode setting this input to 0 stops current motion with deceleration ramp and the current block is considered to have been completed The start input is no longer acknowledged and no new block can be selected 3 1 2 Definition of le
9. either of two modes e Manual and teach mode Motion can be controlled with push buttons e Automatic Mode The different movements and processing routines are defined in advance and stored in blocks numbered 1 63 To initiate block execution just select the block number by a combination of logic inputs and then validate the selection with the start input Once the block has been executed the drive switches the end_of_block output state indicating the block has been completed The blocks perform the following functions e absolute or relative motion e tab positioning controlled by an interrupt input e message display on the Vision terminal e value entry via the Vision terminal e ancillary functions motor braking control origin setting 3 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 2 COMMISSIONING STAGES 2 1 Wiring the mains supply motor and resolver Wiring information is given in the relevant DIGIVEX MOTION User Manual DSM DPM or DMM 2 2 Wiring the drive logic inputs and outputs Wiring information is given in the relevant DIGIVEX MOTION User Manual DSM DPM or DMM See Section 3 1 of this Manual for how to assign functions to inputs and outputs 2 3 Connecting a PC with the CRS232 or CIM03 module A PC is required for specifying the drive parameters and programming the drive The PC is to be connected to the drive via either a CRS232 module or a CIM03 module These mo
10. gned to the fault system variable Input Output environment Logic Output tab If the drive has hard limit switches e validate these contacts Operating Mode environment Origin Setting tab Hard limits active e assign inputs In11 and In12 to these contacts Input Output environment Logic Input tab e int1 hardp_input e ini2 hardm_input If an origin switch is used e validate the origin switch Operating Mode environment Origin Setting tab Origin switch acknowledged e assign input In13 to the origin switch Input Output environment Logic Input tab in13 switchO_input 2 6 Loading the block positioning application program and specifying parameters See the instructions in Section 4 of this Manual The application program is in the directory C Parvex Pme App_Parvex Samples Motion_Block and is named block bdm To recopy in C Parvex PME App_User The program must be edited with the program editor the parameters specified with the values and types of motion to be performed and then loaded into the drive All these operations are carried out with PME software 2 7 Testing Manual mode is a simple mode for checking whether the unit is operating correctly See Section 3 of this Manual on how to activate manual mode 5 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 3 INSTRUCTIONS FOR USE Once loaded the application program is ready for use The program requests the block sel
11. he brake control blocks There is therefore no PROG1 or PROG2 If the brake is declared as being controlled by the program and the system is in automatic mode manual_sel input at 0 then Block 1 controls brake opening Block 2 control brake closure N B For both blocks the end_of_block output is maintained at O for 50 ms so any external plc has time to acknowledge it If the brake is declared open in the parameters when powered up these two instructions are unused LOGIC CHART Select block 1or2 start end_of_block 3 6ms gt _ 50 ms 11 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 3 Origin Setting Block 3 There is no parameter specification for block 3 which controls origin setting There is therefore no PROG3 The origin setting options are defined in the drive parameters PME DIGIVEX MOTION Setting and Adjustment Manual To request origin setting block 3 must be selected automatic mode therefore manual_sel 0 When origin setting is requested end_of_block switches to 0 At the end of origin setting end_of_block switches back to 1 as does the home_made out0 output indicating the origin has been set The home made output switches to 1 as soon as the origin is encountered while the end_of_block output only switches back to 1 when the axis is stopped again The switching time delay between these two outputs is related to the brak
12. ing time N B If origin setting is interrupted by block_enable 0 When the Block_enable input switches to zero causes e stoppage with ramp e after stopping the end_of_block signal is reset to 1 e conversely the home_made signal remains at 0 e no action on the brake To resume origin setting block 3 must be selected again LOGIC CHART Select Block 3 start home_made end_of_block 13 6ms 12 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 4 Transmitting Messages to the Vision Terminal Blocks 4 9 Blocks 4 9 are used to send a message to the uVision terminal Parameters can be specified for each block defining the messages to be displayed on line 1 and line 2 The message displayed is the script in Quotation marks This script can contain a maximum of 15 characters The remainder of the program must not be modified SPROG4 Operator message block4 LA uc0 text block4 L1 message to be displayed on line 1 ucl text block4 L2 message to be displayed on line 2 RETURN SENDPROG PROGI operator message block9 ucO text block9 L1 smessage to be displayed on line 1 ucl text block9 L2 message to be displayed on line 2 RETURN SENDPROG N B For blocks 4 9 the end_of_block output is maintained at O for 50 ms so any external plc has time to acknowledge it
13. ng at distance uf7 If this must be avoided select uf7 gt uf6 acceleration LOGIC CHART rising edge of in0 Select block fly_index end_of_block 3 6ms Programmed distance uf7 1 Speed N B If block_enable switches to 0 during execution of the block movement stops the block is discontinued and end_of_block switches to 1 17 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 5 BRAKE CONTROL The 24 V brake is energised or de energised e By the external 24 V BRAKE SUPPLY of terminal block B1 This 24 V supply is controlled by the external plc e Once the 24 V is established an internal relay is used to close or open the brake depending on the brake control blocks the drive operating mode Caution This relay is not available on DMM drives N B General brake operation is explained in the PME DIGIVEX MOTION Setting and Adjustment Manual 6 FAULT RESETTING The fault output at 1 indicates a drive fault see the relevant DIGIVEX MOTION Drive Manual DSM DPM or DMM In this event e The current block is interrupted and motion stopped the interrupted block is considered to have been completed The fault diagnosis is indicated on the 7 segment drive display e For serious faults the OK relay is opened Resetting the device by switching the RESET input to 1 on the front panel of the drive terminal 1 2 of terminal block B5 e clears electrical or
14. o OD 10 11 12 13 14 15 17 18 18 DIGIVEX MOTION BLOCK POSITIONING application software Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com 2 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software List of published DIGIVEX MOTION manuals DIGIVEX Single Motion DSM User Manual DSM PVD3515 DIGIVEX Power Motion DPM User Manual DPM PVD3522 DIGIVEX Multi Motion DMM User Manual DMM PVD3523 DIGIVEX Motion CANopen PVD3518 DIGIVEX Motion Profibus PVD3554 PME DIGIVEX Motion Adjustment Manual PVD3516 DIGIVEX Motion Directory of Variables PVD3527 DIGIVEX Motion Programming PVD3517 DIGIVEX Motion Cam Function PVD3538 PME Tool kit User and Commissioning Manual PVD3528 CANopen CAN Bus Access via CIM03 PVD3533 CANopen Remote control using PDO messages PVD3543 Block Positioning Application Software PVD3519 Fly shear linear cutting software application PVD3531 Rotary blade cutting software application PVD3532 1 GENERAL POINTS Block Positioning software is a predefined application program for positioner drive control with 24V logic orders from a plc or manual switches This software is only for DIGIVEX Motion with CAN open communication interface It can operate in
15. page with deceleration ramp Only manual operation away from the limit switch is then authorized e Setting the block_enable input to 0 inhibits acknowledgement of manual_p and manual_m inputs and halts current motion with deceleration ramp The end_of_block output is set to 1 when all movement has come to a halt The manual_p and manual_m inputs are then only acknowledged if this input is set to 1 again 7 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software LOGIC CHART manual_sel manual_p manual_m Speed TEACH Teach mode is activated by setting input In15 to 1 It is valid in manual mode only This functionality allows 64 absolute positions to be stored for subsequent re use in motion blocks in automatic mode blocks 14 62 A rising edge on input In15 teach_in stores the absolute position of the axis So the position can be precisely read and stored it is recommended that the axis be at rest at the moment input In15 is activated The axis position is stored in a user variable ud depending on the block number selected inputs sel1 sel6 when input In15 is set to 1 e ud0 for block 0 e ud_1 for block 1 e ud63 for block 63 The ud variable may then be assigned to the uf7 variables of motion blocks 14 62 see Section 4 6 of these instructions PROG14 motion block 14 absolute or relative movement ub0 1 1 absolute 0 relative uf6 10
16. played on line 1 uf8 0 supper limit of keyboard value uf9 0 lower limit of keyboard value RETURN SENDPROG PROG13 Operator message block13 response stored as uf3 ucO text block13 L1 smessage to be displayed on line 1 uf8 0 supper limit of keyboard value uf9 0 smower limit of keyboard value RETURN SENDPROG 14 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 6 Displacement Blocks Blocks 14 62 Blocks 14 to 62 are positioning blocks For each block used the user simply introduces e the mode of displacement absolute or relative e the displacement value e the displacement speed N B Values assigned to speed or displacement may be e either numerical values e or variables ufO uf1 uf2 or uf3 entered through blocks 10 13 e a variable udO ud63 entered in teach mode for an absolute movement SPROG14 e motion block 14 absolute or relative movement kkk ub0 1 1 absolute 0 relative uf6 100 speed to be used uty 125 distance RETURN SENDPROG SPROG62 motion block 62 absolute or relative movement KKK ubo 0 1 absolute 0 relative uf6 uf2 speed to be used uf7 uf3 distance RETURN SENDPROG 15 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software DISPLACEMENT BLOCK LOGIC CHART Select block end_of_block INTERRUPTING A DISPLACEMENT BLOCK If a block is in
17. terrupted by the block_enable input switching to 0 e braking occurs with ramp e after stopping the end_of_block signal is set to 1 again e there is no action on the brake The interrupted block is considered to have been completed Several possibilities arise e f the block was programmed in absolute mode the block_enable signal can be set to 1 again and the block reactivated by the start input to complete the trajectory e f the block was programmed in relative mode the interrupted block cannot be completed If the block were to be reactivated the system would perform the full relative displacement 16 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 4 7 Position Stop Block Block 63 e Block 63 is a position stop type block stoppage at a programmed distance after sensor action on an interrupt input e This block starts motion at the speed declared by uf6 The direction of motion is given by the displacement sign uf7 e When the fly_index input is triggered a rising edge on this input is acknowledged motion stops at a distance uf7 after the input signal stoppage in the direction of motion SPROG63 motion block 63 stop after interrupt A uf6 100 speed to be used uf7 0 distance RETURN SENDPROG Caution if distance uf7 is too short shorter than the braking distance required for speed uf6 the motion will overshoot and back up before stoppi
18. thermal faults if the causes of the faults have been remedied e closes the OK relay allowing power to be restored to the drive if the causes of the faults have been remedied e resets the fault output to 0 18 PVD 3519 GB 11 2003
19. vels Level 1 Command or logic state corresponding to a potential close to the 24 V supply voltage Level 0 Command or logic state corresponding to an open circuit or potential close to OV 6 PVD 3519 GB 11 2003 DIGIVEX MOTION BLOCK POSITIONING application software 3 1 3 Outputs Logic outputs are assigned in a fixed way Name men associated Variabie Drive fault info A home_made output tells the user whether the origin has been set This output is set to 1 when the origin has been successfully set It is set to 0 on energising the appliance and at the start of the origin setting cycle Pes The end_of_block output when at 1 indicates that no block and no motion is currently being executed The fault output switches to 1 to indicate a fault with the drive see the list of faults in the relevant DIGIVEX MOTION Drive Manual DSM DPM or DMM 3 2 Manual and teach mode operation Manual operation is selected if the manual_sel input is at 1 e Maintaining state 1 on the manual_p input moves the axis in the positive direction e Maintaining state 1 on the manual_m input moves the axis in the negative direction e Maintaining state 1 or O on both manual_m and manual_p inputs stops motion deceleration ramp e The end_of_block output is set to 0 when a manual displacement is underway and is set to 1 otherwise e Motion stops when the system reaches an electrical or software limit switch stop
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