Home

Programming Manual

1. Index Name Type Format EPM Access Description Units 397 VAR_TPDO 7 COM ET 398 VAR TPDO 8 COM ET 399 VAR 1 COM IT 400 VAR TPDO 2 COM IT 401 VAR TPDO 3 COM IT 402 VAR 4 COM IT 403 VAR 5 COM IT 404 VAR TPDO 6 COM IT 405 VAR TPDO 7 COM IT 406 VAR 8 COM IT CAN Heartbeat rate 0x1017 VAR CAN HEARTBEAT org 407 Range 0 65335 milliseconds 408 VAR_PBUS_ STATUS R PROFIBUS Status 409 VAR_PBUS MASTER TIMEOUT VAL R W Timeout Value for PROFIBUS master Data Exchange Timeout for PROFIBUS VAR_PBUS DATA EXCHANGE TIMEOUT a0 RAW Range 0 327680 milliseconds 411 VAR_PTC_RX R PTC resistance in ohms PROFIBUS firmware revision hex number 412 VAR PBUS FIRMWARE REV 157 word major Least word minor Example 0x00010001 rev 1 1 PROFIBUS timeout action Bits encoded as Data Exchange Timeout Bit 1 Fault Bit 0 0 No Action 413 VAR PBUS TIMEOUT ACTION CFG Y Master Monitor Timeout Bit 1 2 1 Fault Bit 1 2 O No Action Module Timeout card not present Bit 2 1 Fault Bit 2 0 No Action 433 VAR BRAKE RELEASE DELAY DAN Range 0 1000 milliseconds Default OmS mS i NOTE PIDs 311 406 are for REFERENCE ONLY Do NOT use directly These variables are used by MotionView for non volatile settings of CAN TPDO RPDO Lenze PM94H201A 121 Reference 3 3 Quick Start Examples Contained in the following fo
2. Lenze PM94H201A 107 Reference Index Name Type Format EPM Access Description Units 85 VAR_AOUT FUNCTION R W Analog output function range 0 8 0 Not assigned 1 Phase Current RMS 2 Phase Current Peak Value 3 Motor Velocity 4 Phase Current R 5 Phase Current S 6 Phase Current T 7 1 current 8 Id current 86 VAR AOUT VELSCALE R W Analog output scale for velocity quantities Range 0 10 mV Rpm 87 VAR AOUT CURSCALE R W Analog output scale for current related quantities Range 0 10 V A 88 VAR_AOUT Short Name AOUT Analog output value Used if VAR 85 is set to 0 no function Range 0 10 89 VAR AIN1 DEADBAND R W Analog input 1 dead band Applied when used as current or velocity reference Range 0 100 mV 90 VAR AIN1 OFFSET R W Analog input 1 offset Applied when used as current velocity reference Range 10 000 to 10 000 mV 91 VAR_SUSPEND MOTION R W Suspend motion Suspends motion produced by trajectory generator Current move will be completed before motion is suspended 0 motion suspended 1 motion resumed 92 VAR_MOVEP mtn Target position for absolute move Writing value executes Move to position as per MOVEP statement using current values of acceleration deceleration and max velocity UU 93 VAR_MOVED mtn
3. uonisod 2 O D uonisog TIWNHGINI Droen 3GOW3AlHQ FEH MOGNIM 93HA 19 NIVO Sti d vri 13930 1399V 924 1303071300 5 SdH WNH3LX3 7TIVNH3INI 37998 ALIOOTAA 9 33ul HF 3GOW3AlHG KE NIV 228 1993340 NIV 16 BY 1 3ON3H323H C lt NIY 68 3199 SE ei indui 09 Sc k OCH 0000000000000000009000 9c CIS 0 1 397103109 d L anduy uonounJ sindu Bojeuy Lenze PM94H201A 134 Reference Analog Output 09 9 PI D 1 3SVHd LNSYYND ASWHd H 3SVHd DO DOC 9c DI H3T10H1NO9 Ed EE 1ndino HOLOW 3SVHd SWH LN3HHfO 3SVHd GANDISSV LON NOILONNA LNOV S8 8 ATVOSHND LNOV HVA 8 5
4. 43 2 9 Control Gtruchures 44 2 9 1 ee Te EE A4 2 9 2 DO UNTIL 45 2 9 3 VT He TEE 45 2 9 4 WAIT Statement ssc 45 2 9 5 GOTO Statement and Labele 46 2 9 6 _ ______ 46 2 10 Scanned Event Statements 47 94 201 Contents 2 11 MOO BEE 48 2 11 1 How em 48 2 11 2 Incremental MOVED and Absolute Motion 48 2 11 3 Incremental MOVED Motion 49 2 11 4 Absolute MOVEP Move 49 2 11 5 Registration MOVEDR MOVEPR Moves 50 2 11 6 Segment Oe 50 2 11 7 MDV 50 2 11 8 S curve Acceleration Deceleration nennen nennen 52 2 11 9 Motion SUSPEND RESUME AA 52 2 11 10 Conditional Moves MOVE WHILE UNTIL nennen 52 2 11 11 Motion Queue and Statement Execution while in Motion 53 2 12 System Status Register DSTATUS 55 213 Fault Codes DFAULTS register A 56 2 14 Limitations and Hesttctons AA 57 215 T 58 2 15 1 What 1S OMING tem 58 2 15 2 The Homing FUNCUON 58 2 15 3 Home en 58
5. Velocity RMS Distance Units Figure 13 Sequential Move To use S curve acceleration deceleration MOVED MOVEP or MDV statement requires only the additional S at the end of the statement Examples MOVED 56 10 S MDV 10 20 5 10 0 5 1 10 6 Motion Queue The PositionServo drive executes the User Program one statement at a time When a move statement MOVED or MOVEP is executed the move profile is stored to the Motion Queue The program will by default wait on that statement until the Motion Queue has executed the move Once the move is completed the next statement in the program will be executed By default motion commands other than MDV statements effectively suspend the program until the motion is complete In order for subsequent program statements to be executed during a motion command Move MoveD MoveP an additional line argument can be used C placed on the end of the move statement for example MoveP 0 C or MoveD 100 C will continue user program execution while those motion commands are executed Continuous program execution during a move allows for additional move commands or motion profiles to be stored to the Motion Queue The Motion Queue has a limit of 32 profiles and exceeding this will result in a Motion Stack Overflow The Continue argument is used when it is necessary to trigger an acti
6. R W ition UU Short Name TPOS EE 215 R W Actual ition UU Short Name APOS DEER 216 W R error EC Short Name PERROR oic 217 bono d CR F N RH Set point target velocity demanded value UU S Short Name TV et po arget velocity demanded value VAR CURRENT ACCEL 1 218 as Set point target acceleration demanded UU S Short Name TA value Target position advance Every write to this variable adds value to the Target position VAR TPOS ADVANCE summing point Value gets added once per 219 W N os EC Short Name TPOS ADV write This variable useful when loop is driven by Master encoder signals and trying to correct phase Value is in encoder counts VAR IOINDEX Same as INDEX variable in user s program 220 hone a 777 N DAN See INDEX in Language Reference section ne Saee of this manual 221 VAR PSLIMIT PULSES Y R W Positive Software limit switch value in EC Encoder counts 222 VAR NSLIMIT PULSES Y R W Negative Software limit switch value in EC Encoder counts Soft limit switch action code 0 no action 1 Fault 223 VARL SLS MODE K 4 RAN 2 Stop and fault When loop is driven by trajectory generator only With all the other sources same action as 1 224 VAR_PSLIMIT F Y DAN as var 221 but value in User Units UU 225 VAR_NSLIMIT F Y R W as var 222 but value in User Units UU 226 VAR SE APOS PULSES SE
7. V5 V7 will be stored in memory in the order of increasing memory index as follows RAM file memory VO V3 V5 V6 V7 He index increase For comparison V5 V7 VO V3 will have the same storage order as the above list regardless of the order in which the variables are listed 40 PM94H201A Lenze Programming When retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting from the one with lowest index in the list to the last with highest index Consider the list for the MEMGET statement V2 V5 V7 V3 RAM file memory Data1 Data2 Data3 Data4 Data5 Data6 Di index increase Here is how the data will be assigned to variables V2 lt Data V3 lt Data2 V5 lt Data3 V6 lt Data4 V7 lt Data5 2 7 4 Store and Retrieve Variables from the EPM The EPM access statements LOADVARS and STOREVARS are provided to store retrieve the values of the user variables VO V31 to from the EPM The LOADVARS statement loads the stored values of the users variables VO V31 from the EPM Variable values VO V31 be previously stored via the interface or the STOREVARS statement The STOREVARS statement stores the values of the user variables VO V31 to the EPM Variable values VO V31 can be later retrieved via the interface or the LOADVARS statement Refer to the Program Statement Glossary in section 3 1 f
8. statements Move Distance 3 units Delay 2 NO seconds DO MOVED 3 WAIT TIME 2000 gf input A3 ON UNTIL IN A3 Statements Figure 14 DO UNTIL Code and Flowchart 2 9 3 WHILE Structure The flowchart and code segment in Figure 15 illustrate the syntax for the WHILE instruction This statement is used if you want a block of code to execute while a condition is true WHILE condition Statements ENDWHILE Start Statements WHILE IN A3 MOVED 3 WAIT TIME 2000 ves ENDWHILE Mi ege 3 seconds statements End Figure 15 WHILE Code and Flowchart 2 9 4 WAIT Statement The WAIT statement is used to suspend program execution until or while a condition is true for a specified time period delay or until motion has been completed The simplified syntax for this statement is WAIT UNTIL lt condition gt WAIT WHILE lt condition gt WAIT TIME time WAIT MOTION COMPLETE Lenze PM94H201A 45 Programming 2 9 5 GOTO Statement and Labels The GOTO statement can be used to transfer program execution to a section of the Main Program identified by a label This statement is often executed conditionally based on the logical result of an If Statement The destination label may be above or below the GOTO statement in the application program Labels must be an alphanumeric string of up to 64 characters in length ending with a colon and containing no spaces
9. ZLNO 99 DG Cd v1no 1no 17 9v d 2100 BAS bred gt ved Jouuog 1ndino NOILONNA LLANO HVA 902 NOILISOd NI ave INIL IN2 H MOGNIM 5 NI 9334 ouaz HVA 99 137 PM94H201A Lenze Lenze AC Tech Corporation 630 Douglas Street e Uxbridge MA 01569 USA Sales 800 217 9100 Service 508 278 9100 www lenzeamericas com PM94201A
10. Syntax ICONTROL ON Enables Interface control ICONTROL OFF Disables interface control Remarks After reset interface control is enabled by default See Also Example EVENT LimitSwitch IN A1 RISE limit switch event Jump LimitSwitchHandler jump to process limit switch ENDEVENT V0z20 VO will be used to indicate fault condition EVENT LimitSwitch ON Turn on event to detect limit switch activation Again HALT System controlled by interface and Events LimitSwitchHandler EVENTS OFF off all events ICONTROL OFF disable interface control STOP MOTION QUICK DISABLE DISABLE 0 1 jindicate fault condition to the interface ICONTROL ON Enable Interface Control EVENTS ON jturn on events turned off by EVENTS OFF GOTO AGAIN Lenze PM94H201A 91 Reference Table 40 IF IF IF ENDIF Statement Purpose The IF statement tests for a condition and then executes the specific action s between the IF and ENDIF statements if the condition is found to be true If the condition is false no action is taken and the instructions following the ENDIF statement are executed Optionally using the ELSE statement a second series of statements may be specified to be executed if the condition is false Syntax IF lt condition gt statements 1 ELSE statements 2 ENDIF Remarks See Also WHILE DO Example APOS gt 4 If actual position is greater than 4 units V0 2 ELSE otherwise actual position equal or less than 4
11. VO P3 Pin Name Function 1 Master Encoder A Step input 2 MA Master Encoder A Step input 3 MB Master Encoder B Direction input 4 MB Master Encoder B Direction input 5 GND Drive Logic Common 6 45V 5V Output max 100mA 7 Buffered Encoder Output Channel A 8 BA Buffered Encoder Output Channel A 9 BB Buffered Encoder Output Channel B 10 BB Buffered Encoder Output Channel B 11 BZ Buffered Encoder Output Channel 7 12 BZ Buffered Encoder Output Channel Z 26 IN_A_COM Digital input group A COM terminal 27 IN A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 41 RDY Ready output Collector 42 RDY Ready output Emitter 43 OUT1 C Programmable output 1 Collector 44 OUT1 E Programmable output 1 Emitter 45 OUT2 C Programmable output 2 Collector 46 OUT2 E Programmable output 2 Emitter 47 OUT3 C Programmable output 3 Collector 48 OUT3 E Programmable output 3 Emitter 49 OUT4 C Programmable output 4 Collector 50 0114 Programmable output 4 Emitter Note 1 Connections highlighted in BLUE are mandatory necessary for operation in this mode Note 2 Connections highlighted in GREEN are frequently required in applications of this type 124 PM94H201A Reference Table 67 Parameter Settings for External Positioning Mode MVOB Folder Sub
12. gt jopoou3 Mog puooes 4 5 QNOO3S 5 18 Y Z814 A 0 1x3 lt SASINd uouussod AS 222 5041 j 5 eos b 71NI AdALLNANIGALS 3AV1S 5 084 a HBLSVW OILVHSOW eis A pet HOHHSOd 9128 16 lt d 4 Vom 19 ee 535104 SOdv 35 922 LIATTd 5 d egeu3 L o Y aere SOdV 9128 061 SS o ep 5 Mi senua A H3009N3 jepoou3 1v3d3H EE pue 1 H3A1083u 65 Apoa 4 ALIDO TA COON 8 tL Ed o 2o 9o 9o 8 Jepoou3 Jepoou3 133 94 201 Reference Analog Inputs oeqpee J 5
13. LNOV HVA 28 5 LNOV HVA 28 d1vosuno LNOV 8 FIVOSHND LNOV HVA 28 AIVOSTAN LNOV HYVA 98 AIVOSHND LNOV 48 5 LNOV HVA 28 LNOV HVA 88 135 PM94H201A Reference een SUDAN S9 SOdv SOdu 212 212 Digital Inputs een 0 5 SLAANI SoH NI SN ejqeuiueibojg 2951 LINI 802 vO NI 59 SLAdNI HVA S94 1SN SUDAN HVA S9st va NI Joen SLANT Gg 8 NI 195 een 165 ejqeuurei amp og S9 FV NIeigeu3 YYA 25 V NI H ung S9 yne4 p d uonounJ ejqeu3 62 yne4 dois 2 dois Joen ine3 dois pesn 10N 0 uonounJ YMS qur 8 owed
14. safety information contained in these Programming Instructions is formatted with this layout including an icon signal word and description Signal Word Characterizes the severity of the danger Safety Information describes the danger and informs on how to proceed Table 1 Pictographs used in these Instructions Icon Signal Words Warning of hazardous DANGER Warns of impending danger electrical voltage Consequences if disregarded Death or severe injuries Warning of a general WARNING Warns of potential very hazardous situations danger Consequences if disregarded Death or severe injuries Warning of damage to STOP Warns of potential damage to material and equipment equipment Consequences if disregarded Damage to the controller drive or its environment Information NOTE Designates a general useful note Gb If the note is observed then handling the controller drive System is made easier Related Documents The documentation listed in Table 2 contains information relevant to the operation and programming of the PositionServo drive To obtain the latest documentation visit the Technical Library at http www lenzeamericas com Table 2 Reference Documentation Document i Description 94H201 PositionServo with MVOB User Manual PM94H201 PositionServo with MVOB Programming Manual P94MODO1 Position Servo ModBus RTU a
15. Figure 2 MotionView OnBoard Parameters Display MotionView is the universal programming software used to communicate with and configure the PositionServo drive The MotionView platform is segmented into three windows The first window is the Parameter Tree Window This window is used much like Windows Explorer The various parameter groups for the drive are represented here as folders or files Once the desired parameter group file is selected all of the corresponding parameters within that parameter group will appear in the second window the Parameter View Window The user can then enable disable or edit drive features or parameters from the Parameter View Window The third window is the Message Window This window is located at the bottom of the screen and will display communication status and errors 1 To run MotionView OnBoard MVOB on a OS run the PC emulation tool first 1 3 1 Main Toolbar The most commonly used functions of MotionView are accessible via the Main Toolbar as illustrated in Figure 3 If a function icon is greyed out that denotes the function is presently unavailable A function may be unavailable because a drive is not physically connected to the network or the present set up and operation of the drive prohibits access to that function Use the pull down menu in the top right hand corner to select the language English is the default language MotionView OnBoard 4
16. R W User defined Network variable Short Name NV9 Variable can be shared across Ethernet network 150 VAR NV10 F N R W User defined Network variable Short Name NV10 Variable can be shared across Ethernet network 151 VAR NV11 F N R W User defined Network variable Short Name NV11 Variable can be shared across Ethernet network 152 VAR NV12 F N R W User defined Network variable Short Name NV12 Variable can be shared across Ethernet network 153 VAR NV13 F N R W User defined Network variable Short Name NV13 Variable can be shared across Ethernet network 154 VAR NV14 R W User defined Network variable Short Name NV14 Variable can be shared across Ethernet network 155 VAR_NV15 F N R W User defined Network variable Short Name NV15 Variable can be shared across Ethernet network 156 VAR_NV16 F N R W User defined Network variable Short Name NV16 Variable can be shared across Ethernet network 157 VAR_NV17 F N R W User defined Network variable Short Name NV17 Variable can be shared across Ethernet network 158 VAR_NV18 F N R W User defined Network variable Short Name NV18 Variable can be shared across Ethernet network 159 VAR_NV19 F N R W User defined Network variable Short Name NV19 Variable can be shared across Ethernet network 160 VAR_NV20 F N R W User defined Network variable Short Name NV20 Variable can be shared across Ethernet network 161 VAR_NV21 F N R W User defined Network variable Short Name NV21
17. 0 ENDIF If V1 lt gt V2 amp amp V3 gt V4 If V1 doesn t equal V2 AND V3 is greater than V4 2 9 ENDIF Table 41 JUMP JUMP Jump to label from Event handler Statement Purpose This is a special purpose statement to be used only in the Event Handler code When the EVENT is triggered and this statement is processed execution of the main program is transferred to the lt label gt argument called out in the JUMP statement The Jump statement is useful when there is a need for the program s flow to change based on some event s Transfer of program execution is to the instruction following the label When a Jump statement is executed within an event processing of subsequent events is suspended until the next event time cycle Syntax JUMP label label is any valid program label Remarks Can be used in EVENT handler only See Also EVENT Example EVENT ExternalFault INPUT IN A4 RISE activate Event when IN 4 goes high JUMP ExecuteStop redirect program to lt ExecuteStop gt ENDEVENT StartMotion EVENT ExternalFault ON ENABLE MOVED 20 MOVED 100 statements END ExecuteStop STOP MOTION Motion stopped here DISABLE drive disabled Wait Until IN 4 Wait Until Input A4 goes low GOTO StartMotion PM94H201A Lenze Reference Table 42 LOADVARS LOADVARS EPM access statements LOADVARS Statement Purpose LOADVARS is the command to retrieve the values of the user variables VO V31 from the drive s EPM U
18. RESUME lt label gt lt label gt Label in User Program to recommence program execution ON FAULT Main Program Section statements FaultRecovery statements END Fault Handler Section ON FAULT Once fault occurs program is directed here statements code to deal with fault RESUME FaultRecovery Execution of RESUME ends Fault Handler and directs execution back the FaultRecovery label in the User Program ENDFAULT RESUME is omitted the program will terminate here Fault routine must end with a ENDFAULT statement Table 56 RETURN RETURN Return from subroutine Statement Purpose This statement will return the code execution back from a subroutine to the point in the main program Syntax See Also Example from where the subroutine was called If this statement is executed without a previous call to subroutine GOSUB fault 21 Subroutine stack underflow will result RETURN GOSUB Main Program Section statements GOSUB MySub Program jumps to Subroutine MySub MOVED 10 END Move to be performed once the Subroutine has executed statements main program end Subroutine Section MySub Subroutine called out from User Program statements Code to be executed in subroutine RETURN Returns execution to the line of code under the GOSUB command MOVED 10 statement Lenze PM94H201A 99 SEND SEND TO Purpose Syntax See Als
19. ENDIF Start Statements on IF IN A2 Yes OUT2 1 Pd Set Output 2 ON MOVED 3 Move Distance 3 ENDIF ums NO statements Ga N C End E Figure 17 IF Code and Flowchart IF ELSE The flowchart and code segment in Figure 18 illustrate the use of the IF ELSE instruction The IF ELSE statement is used to execute a statement or a block of statements one time if a condition is true and a different statement or block of statements if condition is false The simplified syntax for the IF ELSE statement is IF condition Statement s ELSE Statement s ENDIF C Start 5 statements 2 lt input 2 Yes OUT2 1 MOVED 3 ELSE Move Distance 3 OUT2 0 units MOVED 5 Set Output 2 OFF Move Distance 5 ENDIF units statements _ N J Figure 18 IF ELSE Code and Flowchart 44 PM94H201A Lenze Programming 2 9 2 DO UNTIL Structure The flowchart and code segment in Figure 14 illustrate the use of the DO UNTIL statement This statement is used to execute a block of code one time and then continue executing that block until a condition becomes true satisfied The difference between DO UNTIL and WHILE statements is that the DO UNTIL instruction tests the condition after the block is executed so the conditional statements are always executed at least one time The syntax for DO UNTIL statement is DO statements UNTIL condition Start
20. If an incremental move is repeated e g MoveD 10 then a subsequent move will result as motion is relative to the position of the shaft at the point the motion is initiated If an absolute move is repeated e g MoveP 10 then only one motion is executed as the subsequent target position commanded is already equal to the motor shaft s current position Lenze PM94H201A 49 Programming 2 11 5 Registration MOVEDR MOVEPR Moves MovePR and MoveDR are move commands subject to modified by the drive registration input C3 activating They are defined as registration moves as their function is to capture a position based on a sensor input and then move to a subsequent position determined by the captured position plus an offset Registered move commands contain two motion arguments the first defining the initial move to attempt detection of registration and the second defining the modified motion to complete subject to registration being detected The difference between MoveDR and MovePR is that MoveDR is incremental and performs the initial move subject to its current position while checking for registration MovePR is absolute so initial target position motion is referenced to the absolute zero position If registration is not detected during a MoveDR or MovePR command then the initial move commanded by the first motion argument will be completed and the registration flag will not be set If registration is detected then both MoveDR or MovePR
21. Programming 2 7 2 Memory Access Through Special System Variables VAR MEM VALUE holds the value that will be read or written to the RAM file VAR MEM INDEX points to the position in the RAM file 0 to 32767 that data will be read from or written to and VAR MEM INDEX INCREMENT holds the value that will be modified after the read or write operation is completed The RAM memory access is illustrated with the example program herein User s program to read write to RAM file Advance index after writing reading by 1 Record position error to RAM file every 100 ms for 10 seconds 10 0 1 100 locations are needed DEFINE IndexStart 0 DEFINE MemIncrement 1 DEFINE RecordLength 100 DEFINE PElimit 0 1 user unit VAR_MEM_INDEX IndexStart set start position VAR MEM INDEX INCREMENT MemIncrement set increment EVENT StorePE TIME 100 VAR MEM VALUE VAR POSERROR Store in RAM file ENDEVENT PROGRAMSTART EVENT StorePE ON Start some motion activity wait until data collection is over WHILE VAR MEM INDEX IndexStart RecordLength ENDWHILE EVENT StorePE Off turn off storage Analyze data collected If PE PElimit then signal system has low performance VAR MEM INDEX IndexStart WHILE VAR MEM INDEX IndexStart RecordLength IF VAR_MEM VALUE gt PElimit GOTO Label SignalBad ENDIF ENDWHILE LabelSignalBad Signal that PE out of limits END Lenze PM94H201A 39 Progra
22. Scanned events are used to record events and perform actions independent of the main body of the program For example if the programmer wants output 3 to come ON when the position is greater then 4 units or if he needs to turn output 4 ON whenever inputs 4 and 1 are ON he could use the following scanned event statements EVENT PositionIndicator APOS gt 4 OUT3 1 ENDEVENT EVENT InputsLogic IN A4 amp IN Bl OUT4 1 ENDEVENT Scanned events may also be used with a timer to perform an action on a periodic time basis The program statements contained in the scanned event code cannot include any that are related to the command of Motion from the motor or that result in a delay to program execution A full list of illegal event code statements is given in section 3 1 Syntax for defining Events is as follows EVENT lt name gt INPUT lt inputname gt RISE This scanned event statement is used to execute a block of code each time a specified input lt gt changes its state from low to high EVENT lt name gt INPUT lt inputname gt FALL This scanned event statement is used to execute a block of code each time a specified input inputname changes its state from high to low EVENT name TIME timeout This scanned event statement is used to execute a block of code with a repetition rate specified by the timeout argument The range for timeout is 0 50 000ms milliseconds Specifying a timeout period of
23. lt statements gt If Index 0 If neither IN B1 or IN B2 is on MoveP 0 Move to Absolute Position 0 Endif If Index 1 If IN B1 is on and IN B2 is off MoveP 10 Move to Absolute Position 10 Endif If Index 2 e Ne e PM94H201A Lenze Reference Table 25 DEFINE DEFINE Define name Pseudo statement Purpose DEFINE is used to define symbolic names for User Variables constants and Digital I O for programming convenience Define statements greatly enhance program understanding by allowing the user to program using symbolic strings names relevant to their application DEFINE can be used also to substitute a symbolic string Syntax DEFINE lt name gt lt synonym gt name any symbolic string synonym User Variable constant or Digital I O Flag that symbolic string will represent Remarks DEFINE statements can be located anywhere within the user program with the exception of events and the fault handler Normally practice however is to place definitions at the start of the program prior to any executable code See Also Example Define Start Button IN B1 Define a Digital Input Define System Stop Out2 Define a Digital Output Define Loop Counter V5 Define a User Variable Define Loop Increment 1 Define a Constant Value Program Start Label Program Start If Start Button If input B1 is off Disable Disable Servo System Stop 1 Turn on Output 2 Else Otherwise System Stop 0 Turn off Ou
24. sae Use the Save button to save the configuration of variables listed in the watch window to a file on the PC Configuration can then easily be restored using the Load button Diagnostic 192 168 124 120 Variable Name Short Name Hexadecimal Decimal Variable Name Short Name Variables i6 E 165 VAR INPUTS INPUTS Variable Rw 186 VAR OUTPUTS OUTPUTS RW 194 VAR INO DEBOUNCE List Load RW 195 VAR_IN1_DEBOUNCE I O Status RW 196 IN2 DEBOUNCE i Set RW 197 VAR_IN3_DEBOUNCE Indicators Rw 198 VAR IN4 DEBOUNCE RW 199 INS DEBOUNCE RW 200 VAR IN6 DEBOUNCE CEE Rw 201 VAR_IN7_DEBOUNCE JEE RW 1202 INS DEBOUNCE Inputs C1 C4 QOO RW 203 IN9 DEBOUNCE RW 204 VAR IN10 DEBOUNCE Rw 1205 INI DEBOUNCE RW 1206 FUNCTION 1207 OUTI FUNCTION RW 208 VAR_OUT2_FUNCTION RW 209 VAR_OUT3_FUNCTION VAR_IOINDEX INDEX VAR_BrakeEngageDelay Add Figure 6 Variable Diagnostic Display NOTE D Write only variables cannot be read Attempts to either display write only variable the diagnostic panel to read a write only variable via network communications can show erroneous data 1 6 Inputs and Outputs Analog Input and Output The PositionServo has two analog inputs These analog inputs
25. 25 Event will trigger as position passes 25 in pos dir OUT3 Output On Turn on the spray guns out 3 on ENDEVENT End event EVENT SPRAY GUNS OFF APOS gt 75 Event will trigger as position passes 75 in pos dir OUT3 Output Off off the spray guns out 3 off ENDEVENT End even Main Program Define the motion and I O handling of the machine OEC e e ee he he he he e e e e e e he he he he e e e ee e e Main Program kkkkkkxkkkkkkkkkkkkkkkkkkkkkkkkkxk RESET_DRIVE Place holder for Fault Handler Routine WAIT UNTIL IN_A3 Make sure the ENABLE input is made before continuing ENABLE OUT1 0 Initialize Pick Arm Place in Retracted Position WAIT UNTIL IN_A4 Check Pick Arm is in Retracted Position EVENT SPRAY GUNS ON Enable the Event EVENT SPRAY GUNS OFF ON Enable the Event PROGRAM START MOVEP 0 Move to position 0 to pick part OUT1 Output On Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 1 Check input to make sure Arm is extended OUT2 Output On Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 Output Off Turn off output 1 to Retract Pick arm WAIT UNTIL IN A4 1 Check input to make sure Arm is retracted MOVED 100 Move to Place position OUT1 Output On Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 Check input to make sure Arm is extended OUT2 Output Off Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part
26. Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the rising edge of the homing switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the falling edge of the homing switch is detected position 25 This is the home position excluding offset NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative continuing motion until it sees the rising edge of the homing switch The axis will then stop and follow the procedure as detailed above Homing Switch Var Home Switch Input Figure 44 Homing Method 25 78 PM94H201A Lenze Programming 2 15 9 21 Homing Method 27 Homing to Homing Switch
27. OLNI 0 lt ETNI eta 02 29 NI BNI LONI ZNI 02 DK DOEN ea NI Less 08 HH 9 0 0 BH 6614 lt NI NE EC HH 9 p YNI 861 lt EH oo 5 5 HH 61 Le H gu oo Hu HH 3ONnO83d ZNI 96 lt V see L 0 1 3311084409 Ed S61 2v NI ECH v6 H iv Ni ied Lenze PM94H201A 136 Reference Digital Outputs 09 9c O I d NOILONNA 602f NOILISOd NI ave AQvaud INIL NnH MOGNIM 9334 NI 03395 0832 HVA 99 DLCLOOCOCCOCDCLCOCCOCOCCCEGU CEGI GG 311031409 Ed NOILONN ELNO YYA 802 NOILISOd NI AQvau An v INIL LNAYYND MOGNIM 93395 NI 43385 ouaz ELNO HVA 99s NOILONNA 2100 HVA 202 NOILISOd NI AQvau INIL MO LNAYHND MOGQNIM 9334 NI 9334 0832
28. There are two homing velocities fast and slow These velocity variables are used to find the home switch and to find the index pulse How the two velocities are implemented within the homing routines depends on the homing routine selected Refer to section 2 5 9 VAR_HOME_FAST_VEL 242 VAR_HOME_SLOW_VEL 243 2 15 5 Homing Acceleration Homing acceleration establishes the velocity ramp rate to be used for all accelerations and decelerations within the standard homing modes Note that in the pre defined homing methods it is not possible to program a separate deceleration rate VAR_HOME_ACCEL 239 2 15 6 Homing Switch The homing switch variable enables the user to select the PositionServo input used for the Home Switch connection The Homing Switch Input Assignment range is 0 11 Inputs A1 A4 are assigned 0 to 3 respectively inputs B1 B4 are assigned 4 to 7 respectively and inputs C1 C4 are assigned 8 to 11 respectively VAR_HOME_SWITCH_INPUT 246 WARNING Setting inputs A1 and A2 as the home switch even in methods that do NOT use limit switches can cause the drive to behave in an unexpected manner Input is a dedicated hardware enable input and should never be assigned as the homing switch input Input can be used as the homing switch input only in methods that do not home to an index pulse 2 15 7 Homing Start There are two methods of starting pre defined homing operation the
29. GOTO TestInputs Statements TestInputs Statements IF IN_A1 GOTO TestInputs Table 13 provides a short description of the instructions used for program branching Table 13 Program Branching Instructions Name Description GOTO Transfer code execution to a new line marked by a label DO UNTIL Do once and keep doing until conditions becomes true IF and IF ELSE Execute once if condition is true RETURN Return from subroutine WAIT Wait fixed time or until condition is met WHILE Execute while a condition is true GOSUB Go to Subroutine 2 9 6 Subroutines A subroutine is a group of SML statements that is located at the end of the main body of the program It starts with a label which is used by the GOSUB statement to call the subroutine and ends with a RETURN statement The subroutine is executed by using the GOSUB statement in the main body of the program Subroutines can not be called from an EVENT or from the FAULT handler When a GOSUB statement is executed program execution is transferred to the first line of the subroutine The subroutine is then executed until a RETURN statement is met When the RETURN statement is executed the program s execution returns to the program line in the main program following the GOSUB statement A subroutine may have more than one RETURN statement in its body Subroutines may be nested up to 32 times Only the main body of the program and subroutines may contai
30. HOME command and the Var_Start_Homing variable When Homing is initiated from the user program the HOME command should always be used The HOME command is a blocking instruction that prevents further execution of the Main Program until homing operation is completed Any events that are enabled whilst homing is carried out will continue to process WARNING If using firmware prior to 4 50 then execution of homing functionality does not prevent simultaneous execution of subsequent programming statements and it is required to immediately follow the HOME command with the following code line WAIT UNTIL VAR EXSTATUS 4 0x400000 0x400000 Doing this ensures no further lines of code will be executed until homing is complete The home start variable Var_Start_Homing is used to initiate pre defined homing functionality from a host interface It should not be used if the drive contains or is executing a user program Var_Start_Homing range is 0 or 1 When set to 0 no action occurs When set to 1 the homing operation is started VAR_START_HOMING 245 Lenze PM94H201A 59 Programming 2 15 8 Homing Method VAR_HOME_METHOD 244 The Home Method variable establishes the method that will be used for homing All supported methods are summarized in Table 21 and described in sections 2 15 9 1 through 2 15 9 25 These homing methods define the required operation of the drive in location of the home position The zero position is a
31. Home Switch Input Figure 45 Homing Method 27 Lenze PM94H201A 79 Programming 2 15 9 22 Homing Method 29 Homing to Homing Switch without index pulse Using this method the initial direction of movement is negative if the homing switch is inactive The home position is the leading edge of the homing switch Axis will accelerate to fast homing velocity in the negative direction and continue until the homing switch selectable via Var Home Switch Input Variable is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until the falling edge of the homing switch is detected position B where the axis will decelerate to O velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the rising edge of the homing switch is detected position C where the axis will decelerate to O velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the falling edge of the homing switch is detected position 29 This is the home position excluding offset NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negat
32. Incremental position Writing value executes Incremental move as per MOVED statement using current values of acceleration deceleration and max velocity UU 94 VAR_MDV_DISTANCE Distance for MDV move UU 95 VAR_MDV_VELOCITY mtn Velocity for MDV move Writing to this variable executes MDV move with Distance value last written to variable 94 UU 96 VAR_MOVE_PWI1 mtn Writing value executes Move in positive direction while input true active Value specifies input 0 3 1 A4 4 7 B1 B4 8 11 C1 C4 97 VAR MOVE PWIO mtn Writing value executes Move in positive direction while input false not active Value specifies input 0 3 A1 A4 4 7 B1 B4 8 11 C1 C4 108 PM94H201A Lenze Reference Index Name Type Format EPM Access Description Units Writing value executes Move negative direction while input true active Value 98 VAR MOVE NWI1 N w ape don i 4 7 B1 B4 8 11 C1 C4 Writing value executes Move negative direction while input false not active Value 99 VAR MOVE NWIO A F N w bos E 4 7 B1 B4 8 11 C1 C4 100 See P Y PW Ce ere user defined variable T Mid NR V1 F i SE birra user defined variable NS ic md V2 F H SCH erer user defined variable 193 F y RW aa NN user defined vari
33. KKK KKK KKK KKK KKK KKK kk 1 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk kkkkkkxk Sub Routines Enter Sub Routine code here RRR RRR RRR RRR RRR Fault Handler Routine xokokkek kk k kkk kkk ke de ke ek ek kk k k P Enter Fault Handler code here ON FAULT No Fault Handler is currently defined in this program ENDFAULT Saving Configuration File to PC The Configuration File consists of all the parameter settings for the drive as well as the User Program Once you are done setting up the drive s parameters and have written your User Program you can save these setting to your computer To save the settings select Save AII from the Main toolbar Then simply assign your configuration file a name e g Basic Motion and click Save in the dialog box The configuration file has a dcf xml extension and by default will be saved to the My Documents folder Loading Configuration File to the Drive There are times when it is helpful to import a a complete set up or drive configuration to another drive To load the configuration file from the PC to the drive select Load AII from the Main toolbar Select the configuration file to load and click Open in the dialog box MotionView will open the selected configuration file set all parameters within the drive to the values contained within that file and then extract compile and download the saved user program When the process is complete the Compilation Complete dialog box will appear
34. Lenze 116 PM94H201A Reference Index Name Type Format EPM Access Description Units Datalink for output assembly 209 VAR CTE DINE w EUM Refer to Ethernet IP manual for details a Datalink for output assembly Ww ii WW Refer to Ethernet IP manual for details 3 Datalink D for output assembly VAR E Ww Y DUM Refer to Ethernet IP manual for details Data format control for Ethernet IP 269 VAR CIP DAT REG CTRL W Y R W assemblies Refer to Ethernet IP manual for details Control register for control via Ethernet IP pa Refer to Ethernet IP manual for details Status register 2 Fromat for Ethernet IP ap v E lii R Refer to Ethernet IP manual for details 272 VAR_CIP_HEART_BEAT W R W CIP Heart beat Ethernet IP 273 EIP MCACT TTL R W Ethernet IP multicast time to leave parameter 274 EIP MCAST CTRL W Y R W Multicast enable disable control register Ethernet IP 275 EIP_MCAST ADDRESS R W Multicast address Default 239 192 15 32 DeviceNet polled 10 data scale factor SE Y pM Refer to DeviceNet manual for details 277 REPLY DELAY W R W reply delay value 278 RESERVED Do NOT use 279 RESERVED Do NOT use 280 RESERVED Do NOT use 281 RESERVED Do NOT use
35. OUT1 Output Off Retract Pick arm WAIT UNTIL IN A4 1 Check input to make sure Arm is retracted GOTO PROGRAM START END Sub Routine All Sub Routine code should reside here pOECKCkc kc kckckckckckckckckckckckckckckckck kc ko Sub Routines kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkxkkk Enter Sub Routine code here Fault Handler Define what the program should do when a fault is detected PRK KKK KKK Handler Routine KERR KKK KKK KKK KKK KKK KKK KK KK Enter Fault Handler code here ON FAULT ENDFAULT The header section of the program contains description information program name version number description of process and programmers name The I O List section of the program contains a listing of all the I O used within the application The Initialize and Set Variables section of the program defines the names for the user variables and constants used in the program and provides initial setting of these and other variables Lenze PM94H201A Programming The Events section contains all scanned events Remember to execute the EVENT lt eventname gt ON statement in the main program to enable the events Please note that not all of the SML statements are executable from within the EVENT body For more detail reference EVENT ENDEVENT in Section 3 of the manual The GOTO statement can not be executed from within the Event body However the JUMP statement can be used to jump to code in the main program body This
36. Remarks This statement is convenient when writing event driven programs See Also RESET JUMP EVENT Example Statements HALT halt main program execution and wait for event 90 PM94H201A Lenze Reference Table 38 HOME HOME Execute homing routine Statement Purpose Used to initiate homing Syntax HOME Remarks Homing is initiated from the user program using the HOME command The HOME command is a blocking instruction that prevents further execution of the Main Program until homing operation is completed Any events that are enabled while homing is carried out will continue to process WARNING If using firmware prior to 4 50 then execution of homing functionality does not prevent simultaneous execution of subsequent programming statements and it is required to immediately follow the HOME command with the following code line WAIT UNTIL VAR EXSTATUS amp 0x400000 0x400000 See Also Example Statements HOME initiate homing routine Table 39 ICONTROL ON OFF ICONTROL ON OFF Enables interface control Statement Purpose Enables Disables interface control Effects bit 27 in DSTATUS register and system flag F ICONTROLOFF All interface motion commands and commands changing any outputs will be disabled See Host interface commands manual for details This command is useful when the program is processing critical states example limit switches and can t be disturbed by the interface
37. W N 58 Short Name OUTPUTS ii Output 1 BitO Output 2 Bit 1 Output 3 Bit 2 Output 4 Bit 3 Ethernet IP address IP address changes at GA x RUN next boot up 32 bit value Ethernet IP NetMask Mask changes at next SB VAR MASK SCH boot up 32 bit value Ethernet Gateway IP address Address Oo ee BAW changes at next boot up 32 bit value 106 PM94H201A Lenze Reference Index Name Type Format EPM Access Description Units 70 VAR IP DHCP Ww R W Use DHCP 0 1 use DHCP service 71 VAR_AIN1 Short Name AIN1 Analog Input AIN1 current value 72 VAR_AIN2 Short Name AIN2 Analog Input AIN2 current value 73 VAR_BUSVOLTAGE Bus voltage current value 74 VAR_HTEMP Heatsink temperature Returns 0 for temperatures lt 40C and actual heat sink temperature for temperatures gt 40C c 75 VAR ENABLE ACCELDECEL vel R W Enable Accel Decel function for velocity mode 0 disable 1 enable 76 VAR_ACCEL LIMIT System variable for ramp parameters in MotionView vel R W Accel value for velocity mode Range 0 1 5000000 Rpm Sec 77 VAR_DECEL LIMIT System variable for ramp parameters in MotionView vel R W Decel value for velocity mode Range 0 1 5000000 Rpm Sec 78 VAR_FAULT_RESET R W Fault Reset configuration 1 on deactivati
38. without index pulse Using this method the initial direction of movement is negative The home position is the negative edge of the homing switch Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the rising edge of the homing switch is detected position B where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the falling edge of the homing switch is detected position 27 This is the home position excluding offset NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction positive continuing motion until it sees the rising edge of the homing switch The axis will then stop and follow the procedure as detailed above Homing Switch Var
39. 0 Turn off output 1 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 O Retract Pick arm GOTO PROGRAM START END pkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Sub Routines RRR KEK k k Ek E KR ke 7 Enter Sub Routine code here PRK RRR RRR KEK RR KEK KR KEK KK KK ek Rault Handler Routine ke RRR KKK KEK KR KER KEK KR KEK KKK RK k k k RK Enter Fault Handler code here ON FAULT ENDFAULT Lenze PM94H201A 129 Reference 3 4 PositionServo Reference Diagrams This section contains the process flow diagrams listed in Table 70 These diagrams are for reference only Table 70 PositionServo Process Flow Diagrams Drawing Description 999 Position and Velocity Regulator 1000 Motion Commands gt Motion Queue gt Trajectory Generator 1001 Current Command gt Motor 1002 Encoder Inputs 1003 Analog Inputs 1004 Analog Outputs 1005 Digital Inputs 1006 Digital Outputs Position and Velocity Regulators Position Feedback gt Kff term Kff is automatically calculated iti ad 8 P term omman Biquad L e D term gt gt Convergence Filter term term Limit and Q 41 Second Encoder unit wind up To Torque Amplifie
40. 0 ms will result in the event running every event cycle 512us EVENT name expression This scanned event statement is used to execute a block of code when the expression evaluates as true EVENT name ON OFF This statement is used to enable disable a scanned event Table 14 contains a summary of instructions that relate to scanned events Refer to Section 3 Language Reference for more detailed information Table 14 Scanned Events Instructions Name Description EVENT name ON OFF enable disable event EVENT name INPUT inputname RISE Scanned event when input name goes low to high EVENT name INPUT inputname FALL Scanned event when input name goes high to low EVENT name TIME value Periodic event with value repetition rate EVENT name expression Scanned event on expression true Lenze PM94H201A 47 Programming 211 Motion 2 11 1 How Moves Work The position command that causes motion to be generated comes from the profile generator or profiler for short The profile generator is used by the MOVE MOVED MOVEP MOVEPR MOVEDR and MDV statements MOVE commands generate motion in a positive or negative direction while or until certain conditions are met For example you can specify a motion while a specific input remains ON or OFF MOVEP generates move to specific absolute position MOVED generates incremental distance moves i e move some distance
41. 2 15 4 Homing EE 59 2 15 5 din iain a ei 59 2 15 6 Homing SWITCH EE 59 2 15 7 ROMINA n 59 2 15 8 Homing EE 60 2 15 9 Homing Methods E 61 2 15 9 1 Homing Method 1 Homing on the Negative Limit Switch amp Index Pulse 62 2 15 9 2 Homing Method 2 Homing on the Positive Limit Switch amp Index Pulse 62 2 15 9 3 Homing Method 3 Homing on the Positive Home Switch amp Index Pulse 63 2 15 9 4 Homing Method 4 Homing on the Positive Home Switch amp Index Pulse 63 2 15 9 5 Homing Method 5 Homing on the Negative Home Switch amp Index Pulse 64 2 15 9 6 Homing Method 6 Homing on the Negative Home Switch amp Index Pulse 64 2 15 9 7 Homing Method 7 Homing on the Home Switch amp Index 65 2 15 9 8 Homing Method 8 Homing on the Home Switch amp Index 66 2 15 9 9 Homing Method 9 Homing on the Home Switch 4 Index 67 2 15 9 10 Homing Method 10 Homing on the Home Switch amp Index 68 2 15 9 11 Homing Method 11 Homing on the Home Switch amp Index 69 2 15 9 12
42. 3 An intermittent home switch is one that is only active for a limited range of travel 60 PM94H201A Lenze Programming 2 15 9 Homing Methods There are several types of homing methods but each method establishes the e Homing signal positive limit switch negative limit switch home switch or index pulse e Direction of actuation and where appropriate the direction of the index pulse The homing method descriptions and diagrams in this manual are based on those in the CANopen Profile for Drives and Motion Control DSP 402 As illustrated in Figure 24 each homing method diagram shows the motor in the starting position on a mechanical stage The arrow line indicates direction of motion and the circled number indicates the homing method the mode selected by the Homing Method variable The location of the circled method number indicates the home position reached with that method The text designators A B indicate the logical transition required for the homing function to complete it s current phase of motion Dashed lines overlay these transitions and reference them to the relevant transitions of limit switches homing sensors or index pulses Definitions Positive home switch goes active at a set position and remains active for all positions greater than the set position Negative home switch goes active at a set position and remains active for all positions less than the set position Intermittent home switch is one that
43. 31 Reserved Checks if drive is controlled by EthernetIP master Use bit 24 and bit 25 to process loss of connection condition if needed in the user s program Checks if connection with Ethernet IP master is lost Use bit 24 and bit 25 to process loss of connection condition if needed in the user s program 2 13 Fault Codes DFAULTS register Whenever a fault occurs in the drive a record of that fault is recorded in the Fault Register DFAULTS In addition specific flags in the System Status Register will be set helping to indicate what class of fault the current fault belongs to Table 18 summarizes the fault codes Codes from 1 to 16 are used for DSP subsystem errors Codes above that range are generated by various subsystems of the PositionServo Table 18 DFAULTS Register Fault Associated flags Description ID in status register 1 1 3 Over voltage 2 1 3 Invalid Hall sensors code 3 1 3 Over current 4 1 3 Over temperature 5 1 3 The drive is disabled by the ISO 13849 1 Safety Function 6 1 3 Over speed Over speed limit set by motor capability in motor file 7 1 3 Position error excess 8 1 3 Attempt to enable while motor data array invalid or motor was not selected 9 1 3 Motor over temperature switch activated 10 1 3 Sub processor error 11 13 Reserved 14 1 3 Under voltage hardware revision 1 15 1 3 Hardware current trip protect
44. 32 EVENT ON OFF EVENT ON OFF Turn events on or off Statement Purpose Turns ON or OFF events created by an EVENT statement Syntax EVENT lt name gt ON EVENT lt name gt OFF lt name gt Event name Remarks See Also EVENT Example td NDEVENT Events Section VENT InputRise IN_B4 RISE V0O V04 1 Main Program VENT InputRise ON statements VENT InputRise OFF PM94H201A Lenze Reference Table 33 EVENTS ON OFF EVENTS OFF ON Globally Disables re enables events Statement Purpose EVENTS OFF command when executed will disable any events currently enabled running EVENTS ON Command re enables any events previously disabled through the EVENTS OFF command EVENTS ON is not a global enable of all declared events Events status is indicated through bit 30 of the DSTATUS register or by system F_EVENTSOFF EVENTS OFF ON allows for easy disable and re activation of events in sections of the main program or subroutines that the programmer doesn t want interrupted by event code Syntax EVENTS OFF Disables execution of all events EVENTS ON Restores execution of previously enabled events Remarks Events are globally disabled after a program reset is made or a fault occurs Events are re enabled by executing the individual EVENT lt name gt ON statement following either a Reset or a Fault Condition See Also EVENT Example kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk
45. Folder Setting Parameters Parameter Description Drive Mode Set to Position for Position Mode Reference Set to External for external Position Mode Step Input Type Set to either Step and Direction or Master Encoder to match the Position Controller System to Master Ratio Set Electronic Gear Ratio for Reference Signal to the PositionServo Motor Output Enable Switch Input Set to Run to allow Enable Disable of the PositionServo to be controlled via Input A3 Dedicated Enable Resolver Track If using Resolver Feedback set value that represents the pulses per revolution required on the PositionServo simulated encoder 0 1024ppr 1 256ppr 2 360ppr 3 400ppr 4 500 5 512 6 720ppr 7 800ppr 8 1000ppr 9 1024ppr 10 2000ppr 11 2048ppr 12 2500ppr 13 2880ppr 14 250ppr 15 4096ppr 10 Digital 10 Parameter Name Description Output 1 Function Output indicates Digital Output No 1 4 Output 2 Function Set value to select Output Functionality Output Function Values 1 Not Assigned 2 Zero Speed Output 3 Function 3 In Speed Window 4 Current Limit 5 Run Time Fault 6 Ready Output 4 Function 7 Brake 8 In Position Hard Limit Switches Action Set to Enable Inputs A1 and A2 to act as System Hard Limit Switches and define functionality in the event of an active input Limits Position Limits Parameter Name Description Position Error Set Position Error Limit at which Position Error Timer starts counting Max E
46. H 1 VELOCITY 1 CURRENT SZ REGULATOR 5 Ed TO MODULA INTERNAL M i Ee IREF Figure 9 Reference Arrangement Diagram 1 10 2 Point To Point Moves The PositionServo supports two types of moves absolute and incremental The statement MOVEP Move to Position is used to make an absolute move When executing an absolute move the motor is instructed to move to a known position The move to this known position is always referenced from the motor s home or zero location For example the statement MOVEP 0 will cause the motor to move to its zero or home position regardless of where the motor is located at the beginning of the move The statement MOVED Move Distance makes incremental or relative moves from its current position For example MOVED 10 will cause the motor to move forward 10 user units from it current location MOVEP and MOVED statements generate what is called a trapezoidal point to point motion profile A trapezoidal move is when the motor accelerates using the current acceleration setting ACCEL to a pre defined top speed MAXV it then maintains that speed for a period of time before decelerating to the end position using the deceleration setting DECEL If the distance to be moved is fairly small a triangular move profile will be used A triangular move is a move that starts to accel
47. Handler is a section of code which is executed when a fault occurs in the drive The Fault Handler program must begin with the ON FAULT statement and end with the ENDFAULT statement If a Fault Handler routine is not defined then the User Program will be terminated and the drive disabled upon the drive detecting a fault Subsequently if a Fault Handler is defined and a fault is detected the drive will be disabled all scanned events will be disabled and the Fault Handler routine will be executed The RESUME statement can be used to redirect the program execution from the Fault Handler back to the main program If this statement is not utilized then the program will terminate once ENDFAULT statement is executed Defines Fault Handler Statement The following statements can t be used in fault handler DO UNTIL ENABLE EVENT ON OFF EVENTS ON OFF GOTO GOSUB HALT HOME JUMP MDV MOTION RESUME MOTION SUSPEND MOVE MOVED MOVEP MOVEDR MOVEPR STOP MOTION QUICK VELOCITY ON OFF WAIT and WHILE ENDWHILE Syntax ON FAULT statements ENDFAULT See Also RESUME Example statements User program FaultRecovery Recovery procedure statements END ON FAULT Once fault occurs program is directed here statements code to deal with fault RESUME FaultRecovery Execution of RESUME ends Fault Handler and directs execution back to User Program ENDFAULT If RESUME is omitted the program wil
48. Homing Method 12 Homing on the Home Switch amp Index 70 2 15 9 13 Homing Method 13 Homing on the Home Switch amp Index 71 2 15 9 14 Homing Method 14 Homing on the Home Switch amp Index 72 2 15 9 15 Homing Method 17 Homing to Negative Limit Switch without index pulse 73 2 15 9 16 Homing Method 18 Homing to Positive Limit Switch without index pulse 74 2 15 9 17 Homing Method 19 Homing to Homing Switch without index 75 2 15 9 18 Homing Method 21 Homing to Homing Switch without index 76 2 15 9 19 Homing Method 23 Homing to Homing Switch without index 77 2 15 9 20 Homing Method 25 Homing to Homing Switch without index 78 2 15 9 21 Homing Method 27 Homing to Homing Switch without index 79 2 15 9 22 Homing Method 29 Homing to Homing Switch without index 80 2 15 9 23 Homing Method 33 Homing to an Index Pulse AAA 81 2 15 9 24 Homing Method 34 Homing to an Index Pulse AAA 81 2 15 9 25 Homing Method 35 Using Current Position as Home 81 2 15 10 Homing Mode
49. INPOSLIM F ENABLED Set when drive is enabled F EVENTSOFF Events Disabled Status ON OFF 30 in DSTATUS register F MCOMPLETE R DE a dud and there are no motion commands F MQUEUE FULL R Motion Queue full F MQUEUE EMPTY R Motion Queue empty F FAULT R Set if any fault detected F ARITHMETIC FLT R Arithmetic fault Set when registration mark is detected Contents of the RPOS F REGISTRATION R variable valid when this flag is active Flag reset by any registration moves MOVEPR MOVEDR or by command REGISTRATION ON F MSUSPENDED R Set if motion suspended by statement MOTION SUSPEND Flag logic is shown herein IF TPOS INPOSLIM APOS Outl 1 ELSE Outil 0 ENDIF amp amp APOS lt TPOS INPOSLIM For VELOCITY mode F MCOMPLETE and F MQUEUE EMPTY flags are ignored and assumed TRUE Lenze PM94H201A amp amp F MCOMPLETE amp amp F MOUEUE EMPTY 43 Programming 2 9 Control Structures Control structures allow the user to control the flow of the program s execution Most of the control and flexibility of any programming language comes from its ability to change statement order with structure and loops 2 9 1 IF Structure The flowchart and code segment in Figure 17 illustrate the use of the IF statement The IF statement is used to execute an instruction or block of instructions one time if a condition is true The simplified syntax for the IF statement is IF condition statement s
50. Lenze Reference Current Command gt Motor YOLOW MOTOR 4d 1 SONVISISAY Old ma TVWH3HL 3ONVISIS3HO1dHOLOMW 190310Hd IVAH3H1HO LOW 65 LIATTLN3HHTOMV3d Zap En HVA EES sanding JO OW M N JoyeinBay Juano mom 9 9 N393H ALNONADAY crit sna 5 EIN INMd 101A A y9vg0334 1Naduno 881 Juano eum LN3YYNO 05 Lenze PM94H201A 132 Reference Encoder Inputs ommno DE 8 Ed jutog Aioyeles Old OL 5 Seen
51. Lenze PM94H201A 13 Introduction Click OK to dismiss this dialog box MotionView will then load the selected file to the drive When complete a second dialog box will appear indicating indexer program compiled and downloaded successfully Click OK too clear this message Load of the configuration file is now complete Motion source Reference The PositionServo can be set up to operate in one of three modes Torque Velocity or Position The drive must be given a command relative to its mode of operation before it can initiate any motion The source for commanding this motion is referred to as the Reference With the PositionServo you have two methods of commanding motion or two types of References When the drive s reference signal is from an external source for example a PLC or Motion Controller it is referred to as an External Reference When the drive is being given its reference from the User program or through one of the system variables it is referred to as an Internal Reference Table 3 Setting the Reference Reference Parameter Setting Mode External Internal Torque Analog input AIN1 System variable IREF Velocity Analog input AIN1 System variable IREF Position Step Direction Inputs User Program Interface Master Encoder Pulse Train Inputs Trajectory generator Units All motion statements in the drive work with User units The statement on the first line of the test p
52. MOVE statement the program is able to monitor the input while executing the motion profile Without this modifier the program would be suspended until all motion is complete After the motor has traveled the full distance it then returns back to its initial position and the process repeats Figure 21 illustrates the structure and operation of the Motion Queue All moves are loaded into the Motion Queue before they are executed If the move is a standard move MOVEP 10 or MOVED 10 then the move will be loaded into the queue and the execution of the User Program will be suspended until the move is completed If the move has the continue argument e g MOVEP 10 C or MOVED 10 or if itis an MDV move then the moves will be loaded into Motion Queue and executed simultaneously with the User Program Lenze 94 201 53 Programming To Motion Profiler Queue Empty flag Queue locations MDV 10 5 User Program MDV 20 5 MDV 10 0 Statements MOVED 20 2 10 5 20 5 Queue INPUT pointer 10 0 OC Pointer always positions pm to next available location statements 31 EMPY Queue Full flag Figure 21 Motion Queue The Motion Queue can hold a maximum of 32 motion statements The System Status Register contains bit values that indicate the state of the Motion Queue Additionally system flags representing
53. OUT3 E Programmable output 3 Emitter 49 OUT4 C Programmable output 4 Collector 50 OUT4 E Programmable output 4 Emitter Note 1 Connections highlighted in BLUE are mandatory necessary for operation in this mode 122 PM94H201A Reference Table 65 Parameter Settings for External Torque Velocity Mode MVOB Folder Sub Folder Setting Parameters E Parameter Description Drive Mode Set to Torque for Torque Mode Velocity for Velocity Mode Analog Input Current Scale Torque Mode Only Set to Required Amps per Volt Analog Input Velocity Scale Velocity Mode Only Set to Required RPM per Volt Enable Accel Decel Limits Velocity Mode Only Set to Enable to switch on velocity ramp rates Set to Disable to switch OFF accelerate at current limit Accel Limit Velocity Mode Only Set Acceleration Limit in RPM Sec Decel Limit Velocity Mode Only Set Deceleration Limit in RPM Sec Reference Set to External for external Torque Velocity Mode Enable Switch Input Set to Run to allow Enable Disable of the PositionServo to be controlled via Input A3 Dedicated Enable 10 Digital 10 Parameter Name Description Output 1 Function Output indicates Digital Output No 1 4 Output 2 Function Set value to select Output Functionality p Output Function Values 1 Not Assigned 2 Zero Speed Output 3 Function 3 In Spe
54. RS485 drive ID Range 0 254 Baud rate for ModBus operations 2 9600 3 19200 173 VAR MODBUS BAUDRATE W R W 4 38400 5 57600 6 115200 174 VAR_MODBUS_ DELAY w y ModBus reply delay in mS mS Range 0 1000 Rs485 configuration 175 VAR RS485 CONFIG W R W 0 normal IP over PPP 1 ModBus RS232 485 normal mode baud rate VAR_PPP_BAUDRATE 2 9600 3 19200 17 W H NOTE Does NOT apply to M 4 38400 MVOB 5 57600 6 115200 177 VAR MOVEPS A F N w Same as variable 92 but using S curve acceleration deceleration 178 VAR MOVEDS A F N Same as variable 93 but using S curve acceleration deceleration Velocity for MDV move using S curve accel A deceleration Writing to this variable executes 179 VAR_MDVS_VELOCITY N W move with Distance value last written UU mtn to variable 494 unless motion is suspended by 91 VAR MAXVEL 180 Short R W Max velocity for motion profile UU S VAR ACCEL 1 H 2 181 Short Name ACCEL F N R W value for indexing UU S VAR DECEL H 1 2 182 Short Name DECEL F N R W value for indexing UU S VAR QDECEL A 183 Short Name QDECEL F N R W Quick decel value UU S VAR INPOSLIM 184 Short INPOSLIM W N R W Sets window for In Position Limits UU 185 R W Velocity reference for Profiled velocit UU S Short Name VEL VAR UNITS 3 186 Shor
55. Set if byte code or system or DSP at any fault 4 Set if drive has a valid source code 5 Set if motion completed and target position is within specified limits 6 Set when scope is triggered and data collected 7 Set if motion stack is full 8 Set if motion stack is empty 9 Set if byte code halted 10 Set if byte code is running 11 Set if byte code is set to run in step mode 12 Set if byte code has reached the end of program 13 Set if current limit is reached 14 Set if byte code at fault 15 Set if no valid motor selected 16 Set if byte code at arithmetic fault 17 Set if byte code at user fault 18 Set if DSP initialization completed 19 Set if registration has been triggered 20 Set if registration variable was updated from DSP after last trigger 21 Set if motion module at fault 22 Set if motion suspended 23 Set if program requested to suspend motion 24 Set if system waits completion of motion 25 Set if motion command completed and motion Queue is empty 26 Set if byte code task requested reset 27 If set interface control is disabled This flag is set clear by ICONTROL ON OFF statement 28 Set if positive limit switch active 29 Set if negative limit switch active 30 Events disabled All events disabled when this flag is set After executing EVENTS ON all events previously enabled by EVENT EventName ON statements become enabled again PositionServo variable 83 provides Extended Status Bits the encoding of which is listed in Table 17 Lenze P
56. Variable can be shared across Ethernet network 162 VAR_NV22 F N R W User defined Network variable Short Name NV22 Variable can be shared across Ethernet network 163 VAR_NV23 F N R W User defined Network variable Short Name NV23 Variable can be shared across Ethernet network 164 VAR_NV24 F N R W User defined Network variable Short Name NV24 Variable can be shared across Ethernet network 165 VAR_NV25 F N R W User defined Network variable Short Name NV25 Variable can be shared across Ethernet network 166 VAR_NV26 F N R W User defined Network variable Short Name NV26 Variable can be shared across Ethernet network 167 VAR_NV27 F N R W User defined Network variable Short Name NV27 Variable can be shared across Ethernet network 168 VAR_NV28 F N R W User defined Network variable Short Name NV28 Variable can be shared across Ethernet network 169 VAR_NV29 F N R W User defined Network variable Short Name NV29 Variable can be shared across Ethernet network Lenze PM94H201A 111 Reference Index Name Type Format EPM Access Description Units 170 VAR_NV30 E N R W User defined Network variable Short Name NV30 Variable can be shared across Ethernet network 171 VAR_NV31 F N R W User defined Network variable Short Name NV31 Variable can be shared across Ethernet network 172 VAR_SERIAL ADDRESS W Y DAN
57. and save it as Pick and Place with I O then compile download and test the program ASSIGN amp INDEX Using inputs to generate predefined indexes INDEX is a variable on the drive that can be configured to represent a specified group of inputs as a binary number ASSIGN is the command that designates which inputs are utilized and how they are configured Below the Pick and Place program has been modified to utilize this INDEX function The previous example program simply picked up a part and moved it to a place location For demonstration purposes we will add seven different place locations These locations will be referred to as Bins What Bin the part is placed in will be determined by the state of three inputs B1 B2 and Bin 1 Input B1 is made Bin2 Input B2 is made Bin3 Inputs B1 and B2 are made Bin4 Input B3 is made Bin5 Inputs B1 and B3 are made Bin6 Inputs B2 and B3 are made Bin7 Inputs B1 B2 and B3 are made The ASSIGN command is used to assign the individual input to a bit in the INDEX variable ASSIGN INPUT input name AS BIT bit gt Initialize and Set Variables x kkk kkk kkk kkk ASSIGN INPUT IN B1 AS BIT 0 Assign the Variable INDEX to equal 1 when IN B1 is made ASSIGN INPUT IN B2 AS BIT 1 Assign the Variable INDEX to equal 2 when IN B2 is made ASSIGN INPUT IN B3 AS BIT 2 Assign the Variable INDEX to equal 4 when IN B4 is made Lenze PM94H20
58. are utilized by the drive as System Variables and are labeled AIN1 and AIN2 Their values can be directly read by the User Program or via a Host Interface Their value can range from 10 to 10 and correlates to 10 volts analog input The PositionServo has one analog output This analog output is utilized by the drive as a System Variable and is labeled AOUT It can be directly written by the User Program or via a Host Interface Its value can range from 10 to 10 which correlates to 10 volts analog input NOTE H If an analog output is assigned to any special function from MotionView writing to AOUT from the User Program will have no effect If an analog output is set to Not assigned then it can be controlled by writing to the AOUT variable PM94H201A 17 Introduction Digital Inputs The PositionServo has twelve digital inputs that are utilized by the drive for decision making in the User Program Example uses travel limit switches proximity sensors push buttons and hand shaking with other devices Each input can be assigned an individual debounce time via MotionView From the Parameter Tree select IO Then select the Digital Input folder The debounce times will be displayed in the Parameter View Window Debounce times can be set between 0 and 1000 ms 1ms 0 001 sec Debounce times can also be set via variables in the user program The twelve inputs are separated into three groups A B and C Each group has
59. defined functionality The program execution will stop and any motion commands will be terminated Lenze 94 201 15 Introduction With Fault Handler Add the following code to the end of your sample program When the program is running switch the ENABLE input IN A3 to the off state This will cause the drive to generate F_36 fault Hardware disable while drive enabled in inhibit mode and put the drive into a Fault Mode From this point the Fault Handler Routine will take over F PROCESS WAIT UNTIL IN A4 1 Wait until reset switch is made WAIT UNTIL IN A4 and then released before GOTO RESET DRIVE returning to the beginning of the program END pOECKCkck kc kc kckckckckckc kc kc kc kkk k kkk Sub Routines kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Enter Sub Routines here XCk kk ck k kk kk kk kk Fault Handler Routine X XkXkkk kk kk kkk kk ck ck ck ck ck kkk kkk ON FAULT Statement starts fault handler routine Motion stopped drive disabled and events no longer scanned while executing the fault handler routine OUT2 0 Output 1 off to Disengage gripper This will drop the part in the gripper OUT1 0 Retract Pick arm to make sure it is up and out of the way RESUME PROCESS program restarts from label F PROCESS ENDFAULT fault handler MUST end with this statement H NOTE The following statements can not be used inside the Fault Handler Routine ENABLE WAIT MOVE MOVED MOVEP MOVEDR
60. during segment segment 1 3 56 2 3 12 3 4 16 4 2 57 5 2 5 57 6 3 11 7 5 20 8 5 0 Lenze PM94H201A 27 Introduction Here is the user program for the segment move example The last segment move must have a 0 for the end velocity MDV 5 0 Otherwise fault F_24 Motion Queue Underflow will occur Segment moves LOOP WAIT UNTIL IN 4 0 Wait until input A4 is off before starting the move MDV 3 56 Move 3 units accelerating to 56 User Units per sec MDV 3 12 Move 3 units decelerating to 12 User Units per sec MDV 4 16 Move 4 units accelerating to 16 User Units per sec MDV 2 57 Move 2 units accelerating to 57 User Units per sec MDV 2 5 57 Move 2 5 units maintaining 57 User Units per sec MDV 3 11 Move 3 units decelerating to 11 User Units per sec MDV 5 20 Move 5 units accelerating to 20 User Units per sec MDV 5 0 Move 5 units decelerating to 0 User Units per sec WAIT UNTIL IN A4 Wait until input A4 is on before looping GOTO LOOP END NOTE When an MDV move is executed the segment moves are stored to a Motion Queue A maximum of 32 moves MDV segments can be held on the Motion Queue at any one time When a move or segment is completed it is cleared from the Motion Queue If the program attempts to place more than 32 moves in the Motion Queue because motion is complex or the program continuously loops on itself then a fault 23 E 23 will occur to indic
61. executes a MOVE MOVED or MOVEP statement it waits until the motion is complete before going on to the next statement This effectively will suspend the program until the requested motion is complete Note that EVENTS are not suspended however and continue executing in parallel with the User Program The Continue C argument is very useful when it is necessary to trigger an action handle I O while the motor is in motion Below is an example of the Continue C argument This program monitors I O in parallel with motion START MOVED 100 C start moving max 100 revs WHILE MCOMPLETE 0 while moving IF IN A2 if sensor detected OUT1 1 turn ON output WAIT TIME 500 500 mS OUT1 0 turn output OFF WAIT TIME 500 wait 500 ms ENDIF ENDWHILE MOVED 100 Return back WAIT TIME 1000 wait time GOTO START and start all over END This program starts a motion of 100 revolutions While the motor is in motion input A2 is monitored If Input A2 is made during the move then output 1 is turned on for 500ms and then turned off The program will continue to loop in the WHILE statement monitoring input A2 until the move is completed If input 2 remains ON or made during the move then Output 1 will continue to toggle On and Off every 500ms until the move is complete If input A2 is only made while the motion passes by a sensor wired to the input then output 1 will stay on for 500ms only By adding the Continue argument to the
62. executing the User Program while a motion profile is being processed If a new motion profile is requested while the drive is processing a move the new motion profile will be loaded into the Motion Stack The Motion Stack is 32 entries deep If the queue becomes full or overflows then the drive will generate a fault S curve optional modifier specifies S curve acceleration deceleration MOVE MOVEP MOVEPR MOVED MDV MOTION SUSPEND MOTION RESUME This example moves the motor 3 user units while checking for the registration input If registration isn t detected then the move is completed If registration is detected the registration position is recorded and the displacement value of 2 is added to the recorded registration position to calculate the new end position Statements MOVEDR 3 2 Statements PM94H201A Lenze Reference Table 51 MOVEP MOVEP Move to Position Statement Purpose MOVEP performs motion to a specified absolute position in User Units This statement will suspend the program s execution until the motion is completed unless the statement is used with the C modifier If the S modifier is used then an S curve acceleration deceleration is performed during the move Syntax MOVEP lt absolute position gt S C C ontinue The C argument is an optional modifier which allows the program to continue executing while the motion profile is being executed If the drive is in the process of ex
63. flags in an expression If an expression is evaluated as TRUE then the output will be turned ON Otherwise it will be turned OFF 1 turn OUT1 ON 10 any value but 0 turns output ON 0 turn OUT3 OFF 5 gt 3 amp amp APOS lt 10 ON when position within window otherwise OFF PM94H201A 21 Introduction MotionView Onboard 4 401 240 04 Amp 192 160 124 120 STOPPED em Stop And Faul Inhibit 110 Figure 7 Digital IO Folder 1 7 Events A Scanned Event is a small program that runs independently of the main program An event statement establishes a condition that is scanned on a regular basis Once established the scanned event can be enabled and disabled in the main program If condition becomes true and EVENT is enabled the code placed between EVENT and ENDEVENT executes Scanned events are used to trigger the actions independently of the main program In the following example the Event GUNS ON will be setup to turn Output on when the drive s position becomes greater than 25 Note the event will be triggered only at the instant when the drive position becomes greater than 25 It will not continue to execute while the position remains greater than 25 i e the event is triggered by the transition in logic from false to true Note also that the main program does not need to be interrupted to perform this action KR KK KR KR k k RRR RRR RRR RRR k k ck k k k k k k K
64. four inputs and share one common Acom Bcom and Ccom respectfully The inputs are labeled individually as IN_A1 IN_A4 IN_B1 IN_B4 and _ 1 _ In addition to monitoring each input individually the status of all twelve inputs can be represented as one binary number Each input corresponds to 1 bit in the INPUTS system variable Use the following format System Variable PULS 11 10 9 8 7 6 5 4 3 2 1 0 Input C4 C3 C2 C1 B4 B3 B2 B1 M A3 A2 Some inputs can be configured for additional predefined functionality such as Travel Limit switch Enable input and Registration input Configuration of these inputs is done from MotionView or through variables in the user program Input special functionality is summarized in the table below and in the following sections Table 4 summarizes the special functions for the inputs Table 4 Input Functions Input Name Special Function Input A1 Negative limit switch Input A2 Positive limit switch Input A3 Inhibit Enable input Input A4 N A Input B1 N A Input B2 N A Input B3 N A Input B4 N A Input C1 N A Input C2 N A Input C3 Registration sensor input Input C4 N A The current status of the drive s inputs is available to the programmer through dedicated System Flags or as bits of the System Variable INPUTS PM94H201A Lenze Introduction Read Digital Inputs The Pick and Place exampl
65. from its current position MOVEPR and MOVEDR are registration moves MDV commands are used to generate complicated profiles Profiles generated by these commands are put into the motion stack which is 32 level By default when one of these statements except for MDV is executed the execution of the main User Program is suspended until the generated motion is completed Motion requests generated by an MDV statement or by MOVE statement with the C modifier do not suspend the program All motion statements are put into the motion stack and executed by the profiler in the order in which they where loaded The Motion Stack can hold up to 32 moves The SML language allows the programmer to load moves into the stack and continue on with the program It is the responsibility of the programmer to check the motion stack to make sure there is room available before loading new moves This is done by checking the appropriate bits in the System status register or the appropriate system flag 2 11 2 Incremental MOVED and Absolute MOVEP Motion MOVED and MOVEP statements are used to create incremental and absolute moves respectively The motion that results from these commands is by default a trapezoidal velocity move or an S curved velocity move if the S modifier is used within the statement For example MOVEP 10 will result a trapezoidal move But MOVEP 10 5 will result in an S curved move In the above example MOVEP 10 the length o
66. index pulse to the negative side of the position where the homing switch becomes active Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var Home Switch Input Variable is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until first the falling edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 7 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative following the procedure as detailed above but moving negative instead of positive and without stopping on detection of the homing switch rising edge Index Pulse via Input C3 Homing Switch Var Home Switch Input Figure 31 Homing Method 7 Lenze 94 201 65 Programming 2 15 9 8 Homing Method 8 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is negative if the homing switch is active The home positio
67. individual bits of the status register are available for ease of programming If the possibility of motion queue overflow exists the programmer should check the Motion Queue full flag before executing any MOVE statements especially in programs where MOVE statements are executed in a continuous cycle Attempts to execute a motion statement while the Motion Queue is full will result in fault 23 MDV statements don t have the C option because the program is never suspended by these statements If the last MDV statement in the Queue doesn t specify a return to 0 velocity then a Stack Underflow Fault 24 will occur The MOTION SUSPEND and MOTION RESUME statements can be utilized to help manage the User Program and the Motion Queue If the motion profiles loaded into the queue are not managed correctly the Motion Queue can become overloaded which will cause the drive to fault 54 PM94H201A Lenze Programming 2 12 System Status Register DSTATUS register System Status Register DSTATUS is a Read Only register Its bits indicate the various states of the PositionServo s subsystems Some of the bits are available as System Flag Variables and previously summarized in Table 12 Table 16 DSTATUS Register Bit in register Description 0 Set when drive enabled 1 Set if DSP subsystem at any fault 2 Set if drive has a valid program 3
68. location label called out in the RESUME command will determine where the program will commence ENDFAULT statement will cause the user program to be terminated While the Fault Handler is being executed Events are not being processed and detection of additional faults is not possible Because of this the Fault Handler code should be kept as short as possible If extensive code must be written to process the fault then this code should be placed in the main program and the RESUME statement should be utilized Not all SML statements can be utilized by the Fault Handler For more details reference FAULT ENDFAULT in Section 3 1 Program Statement Glossary of this manual Comments are allowed in any section of the program and are preceded by a semicolon They may occur on the same line as an instruction or on a line by themselves Any text following a semicolon in a line will be ignored by the compiler 2 2 Variables Variables can be System or User User variables do not have a predefined meaning and are available to the programmer to store any valid numeric value System variables have a predefined meaning and are used to configure control or monitor the operations of the PositionServo Refer to paragraph 2 6 for more information on System Variables All variables can be used valid arithmetic expressions All variables have their own corresponding index or identification number Any variable can be acc
69. n Enter Fault Handler code here E ON FAULT Le ENDFAULT Zeg MotionWiew OnBoard PositionServo with MVOB Programming Manual Valid for Hardware Version 2 Copyright 2010 by Lenze AC Tech Corporation All rights reserved No part of this manual may be reproduced or transmitted in any form without written permission from Lenze AC Tech Corporation The information and technical data in this manual are subject to change without notice Lenze AC Tech Corporation makes no warranty of any kind with respect to this material including but not limited to the implied warranties of its merchantability and fitness for a given purpose Lenze AC Tech Corporation assumes no responsibility for any errors that may appear in this manual and makes no commitment to update or to keep current the information in this manual MotionView PositionServo and all related indicia are either registered trademarks or trademarks of Lenze AG in the United States and other countries Lenze Contents Tele EE A 1 1 te A 1 2 Programming El Ve E 5 1 3 Motion MotionView Studio 6 1 3 1 pP 6 1 3 2 ege ee 7 1 3 3 MotionView Studio Indexer Program 9 1 4 Programming BASICS vasa Hire Ovx d ae EE a Ced cet e zc eas ei a ed iMt 10 1 5 Using Advanced Debugging Feature
70. position encoder EC 227 VAR SE POSERROR PULSES W N R j2nd encoder position error in encoder counts EC Parity for Modbus Control 0 No Parity 228 VAR MODBUS PARITY R W 1 Odd Parity 2 Even Parity Number of Stopbits for Modbus Control 229 VAR_MODBUS_STOPBITS R W e 2 2 0 Induction Motor Nominal Velocity 230 VAR M NOMINALVEL F Y R W Range 500 20000 RPM RPM 231 VAR M COSPHI F Y R W Induction Motor Cosine Phi Range 0 1 0 Induction Motor Base Frequency 232 VAR_M BASEFREQUENCY F Y R W Range 0 400Hz Hz 233 VAR M SERIES Induction Motor Series Lenze 114 PM94H201A Reference Index Name Type Format EPM Access Description Units 234 VAR CAN BAUD EPM CAN Bus Parameter Baud Rate 1 8 1 10k 2 20k 3 5Ok 4 125k 5 250 6 500k 7 800k 8 1000k 235 VAR CAN ADDR EPM CAN Bus Parameter Address 1 127 236 VAR CAN OPERMODE EPM CAN Bus Parameter Boot up Mode 0 2 Operational State Control 0 enters into pre operational state 1 enters into operational state 2 pseudo NMT sends NMT Start Node command after delay set by variable 237 237 VAR CAN OPERDELAY EPM CAN Bus Parameter pseudo NMT mode delay time in seconds refer to variable 236 sec 238 VAR CAN ENABLE CAN Bus Parameter Mode Control 0 1 2 0 Disable CAN interface 1 Enable CAN interface in 05301 mode Concurrent
71. reading from the RAM volatile or from the EPM non volatile copy of the variable LOADVARDS AND STOREVARD commands can be used to move user variables VO V31 between RAM and EPM memory The column Access lists the user s access rights to a variable R read only write only R W read write Writing to an R read only variable or reading from a W write only variable is not permitted and many result in erroneous data The column Units shows units of the variable Units unique to this manual that are used for motion are UU user units EC encoder counts S seconds PPS pulses per sample Sample time is 512us servo loop rate PPSS pulses per sample per sample Sample time is 512us servo loop rate Lenze PM94H201A 103 Reference Table 63 PositionServo Variable List Index Name Type Format EPM Access Description Units 1 VAR IDSTRING N identification string 2 VAR NAME Y R W Drive s symbolic name 3 SERIAL NUMBER jDrive s serial number 4 VAR MEM INDEX R W Position pointer in RAM file 0 32767 5 VAR MEM VALUE R W Value to be read or written to the RAM file 6 VAR MEM INDEX INCREMENT R W Holds value the MEM_INDEX will increment once the R W operation is complete VAR_VELOCITY ACTUAL F N R measured motor velocity UU sec 8 VAR_RSVD_
72. this method the initial direction of movement is positive The home position is the leading edge of the Positive limit switch Axis will accelerate to fast homing velocity in the positive direction and continue until Positive Limit Switch A2 is activated rising edge shown at position A Axis then decelerates to zero velocity If the positive limit switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until the falling edge of the positive limit switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the rising edge of the positive limit switch is detected position C where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity divided by 100 in the negative direction Motion will continue until the falling edge of the positive limit switch is detected position 18 This is the home position excluding offset E B Positive Limit Switch Input A2 Figure 40 Homing Method 18 74 PM94H201A Lenze Programming 2 15 9 17 Homing Method 19 Homing to Homing Switch without index pulse Using this method the initial direction of movement is positive if the homing switch is inactive The home positio
73. this new target position This statement suspends the execution of the program until the move is completed unless the statement is used with the C modifier If the S modifier is used then S curve acceleration deceleration is performed during the move Syntax MOVEPR lt distance gt lt displacement gt S C C ontinue The argument is an optional modifier which allows the program to continue executing the User Program while a motion profile is being processed If a new motion profile is requested while the drive is processing a move the new motion profile will be loaded into the Motion Stack The Motion Stack is 32 entries deep If the queue becomes full or overflows then the drive will generate a fault S curve optional modifier specifies S curve acceleration deceleration See Also MOVE MOVEP MOVEDR MOVED MDV MOTION SUSPEND MOTION RESUME Example This example moves the motor to the absolute position of 3 user units while checking for the registration input If registration isn t detected then the move is completed If registration is detected the registration position is recorded and the displacement value of 2 is added to the recorded registration position to calculate the new end position Statements MOVEPR 3 2 Statements Lenze PM94H201A 97 Reference Table 53 ON FAULT ENDFAULT ON FAULT ENDFAULT Purpose This statement defines the Fault Handler section of the User Program The Fault
74. to True or False lt time delay gt time delay expressed in milliseconds Remarks Events that have been declared and enabled will continue to process while the main program executes a WAIT statement Events containing a JUMP statement could interrupt a WAIT statement and cause an immediate jump to another point in the main program See Also Example WAIT UNTIL 5 gt 2 amp amp APOS lt 3 Wait until Apos is gt 2 and APOS lt 3 WAIT WHILE APOS lt 2 amp amp APOS gt 1 Wait while Apos is 2 and gt 1 WAIT TIME 1000 Wait 1 Sec 1 Sec 1000mS WAIT MOTION COMPLETE Wait until motion is done Table 62 WHILE ENDWHILE WHILE ENDWHILE While Statement Purpose The WHILE lt expression gt executes statement s between keywords WHILE and ENDWHILE repeatedly while the expression contained in the WHILE statement evaluates to TRUE Syntax WHILE lt expression gt statement s ENDWHILE Remarks WHILE block of statements has to end with ENDWHILE keyword See Also DO UNTIL Example WHILE APOS 3 Execute the statements while Apos is 3 statement s ENDWHILE 102 PM94H201A Lenze Reference 3 2 Variable List Table 63 provides a complete list of the accessible PositionServo variables These variables can be accessed from the user s program or any supported communications interface protocol From the user program any variable can be accessed by either its variable name or by its index value using the syn
75. translated into binary machine code and downloaded to the drive Compiling the program is done by selecting the Compile button from the toolbar located within the indexer program folder The user can also compile and download the program at the same time by selecting the Load W Source button from the toolbar Once downloaded the compiled program is stored in both the PositionServo s EPM memory and the internal flash memory Figure 1 illustrates the flow of the program preparation process Lenze Prepare User Program Compile Program Fix program errors NO Load compiled program to PositionServo drive Start Execution in debug environment or at next power up Figure 1 Program Preparation PM94H201A Introduction 1 3 MotionView MotionView Studio There are two versions of MotionView Software The current version of MotionView resides inside the drive s memory and is referred to as MotionView on Board or MVOB Previous versions were supplied as a PC installed software package and were referred to simply as MotionView This manual refers only to the MotionView OnBoard software MVOB drives are identified by the model number ending in either an S or an EI Parameter View Window Parameter Node Tree Window Ss Gamm lime 102000 0000 120000 TEKH Peak Current Led 10 2000 A 000 100500 RPMI Set D 5000000 0000 01000 5000000 0000 Message Window
76. variables whose w N Ww identifier starts with VAR_M_xxxxxx 0 No Action 1 Validate Motor Data 248 VAR M I2T F Y R W Not used Indicates type of ABS encoder for models 249 VAR M EABSOLUTE F Y R W with ABS encoder support Otherwise currently not active Motor Encoder Feedback B leads A 250 VAR M ABSWAP F Y DAN 0 No Action 1 Bleads A for forward checked active Motor Encoder Feedback Halls 251 VAR M HALLS INVERTED F Y R W 0 No Action 1 Inverted Halls Box checked active 252 RESERVED Do NOT use 253 RESERVED Do NOT use 254 RESERVED Do NOT use 255 RESERVED Do NOT use 256 RESERVED Do NOT use 257 RESERVED Do NOT use 258 RESERVED Do NOT use Resolver Emulation Track Number Range 0 15 0 1024 1 256 2 360 3 400 4 500 5 512 259 RESOLVER EMU TRK R W Oe 8 1000 9 1024 10 2000 11 2048 12 2500 13 2880 14 250 15 4096 260 RESERVED Datalink A for input assembly 20T VAR OTP DINE ACIN CERI w Y R W Refer to Ethernet IP manual for details Xi Datalink for input assembly 202 Vee ee i Y BAY Refer to Ethernet IP manual for details E Datalink for input assembly 209 eee Ww Y PANN Refer to Ethernet IP manual for details E _ Datalink for input assembly wW x RUM Refer to Ethernet IP manual for details 265 LINK A OUT CTRL w nrw E A for output assembly z Refer to Ethernet IP manual for details
77. will modify target position to the captured registration position stored in the RPOS variable plus the second motion argument If registration is detected then the registration flag will be set to true 1 MOVEPR and MOVEDR are used to move to position or distance respectively just like MOVEP and MOVED The difference is that while the statements are being executed they are looking for a registration signal or registration input C3 If during the motion a registration signal is detected then a new end position is generated With both the MoveDR and MovePR statements the drive will increment the distance called out in the registration argument This increment will be referenced from the position where the registration input has detected Example MOVEDR 5 1 Statement moves a distance of 5 user units or registration position l user units if registration input is activated during motion There are two exceptions to the behavior of registration moves Exception one The move will not be modified to Registration position displacement if the registration was detected while sys tem was decelerating to complete the initial motion command Exception two Once the registration input is detected there must be enough distance set by the second argument to allow for the motor to decelerate to a stop using the profiled Decel Value If the modified registration move is smaller than the distance necessary to come to a stop then the motor wil
78. 000 37 N C1 Digital input C1 38 N C2 Digital input C2 139 VAR IREF N R W Internal ref Current or Velocity mode 39 N C3 Digital input C3 192 VAR CURRENT VEL PPS N R Current velocity in PPS pulses per sample 40 N C4 Digital input C4 193 VAR CURRENT ACCEL PPSS N R Current acceleration demanded value value 41 RDY Ready output Collector 217 VAR_CURRENT_VEL N R Current velocity demanded value 42 RDY Ready output Emitter 218 VAR_CURRENT_ACCEL N Current acceleration demanded value 43 OUT1 C Programmable output 1 Collector 44 OUTI E Programmable output 1 Emitter Positional Mode Language Reference Enable Disable 45 OUT2 C Programmable output 2 Collector Command Syntax Long Name 46 OUT2 E Programmable output 2 Emitter DISABLE DISBALE Turns OFF Servo output 47 OUT3 C Programmable output 3 Collector ENABLE ENABLE Turns ON Servo output 48 OUT3 E Programmable output 3 Emitter 49 OUT4 C Programmable output 4 Collector 50 0074 Programmable output 4 Emitter Note 1 Connections highlighted in BLUE are mandatory necessary for operation in this mode 126 PM94H201A Lenze Reference Example Internal Torque Program Program slowly increases Motor Torque until nominal motor current is reached VAR_DriveMode 0 Set Drive to Torque mode VAR_Reference 1 Set Reference to Internal control Program Start IREF 0 Reset Torque Reference to 0 Amps Wait While In A3 Wait while Enable input is OFF Enable Enab
79. 05 240V 04 Amp 192 168 124 120 STOPPED Lenze AC Tech English v MURE Disconnect _ Load Connection Save Configuration Load Configuration Restore Defaults Stop Reset Figure 3 Main Toolbar Build a connection list of the drive s to communicate with on the network Build the connection list by using any one of these three methods 6 PM94H201A Introduction Discover button automatically discovers all drives on the network that are available for connection Once drives have been discovered they are listed in the Connect to drive list box To connect one or more drives highlight their IP address in this window and press the Connect button The Ctrl key on the keyboard can be used to select multiple drives for connection Connection Connected Connect to drive 192198124120 If the IP address of the drive be connected is known enter it the Address dialog box and then select Connect to access the drive If a drive has previously been assigned a name or text label within its Drive IP Address Connect Name _ Findtyname Name parameter then this name can be used to subsequently connect to that drive Enter the drive name into the dialog box and select Find by name The IP address for that drive will then appear in the Connect To Drive list The drive can now be connected by highlighting the IP address and pressing the
80. 10 values from RAM memory and storing them in 10 user variables using the system variables would normally require 10 separate program statements Vx Var Mem Value With the MEMGET statement all 10 user variables can be read in one program statement The format of MEMSET MEMGET is as follows MEMSET offset varlist MEMGET offset lt varlist gt offset any valid expression that evaluates to a number between 32767 to 32767 This specifies the offset in the RAM file where data will be stored or retrieved lt varlist gt any combinations of variables VO V31 Examples for offset expression 5 constant 1042341 constant expression VO variable Must hold values in 32767 to 32767 range 0 1 3 expression Must evaluate to 32767 to 32767 range Example lt offset gt 5 RAM file memory 0 1 2 3 4 5 6 address increase data data data data data data data Examples for lt varlist gt instruction 0 single variable will be stored retreived V0 V3 V2 variables VO V3 V2 will be stored retrieved V3 V7 variables V3 to V7 inclusively will be stored retrieved V0 V2 V4 V8 variables VO V2 V4 through V8 will be stored retrieved Storage Retrieval order with MEMSET MEMGET Variables in the list are always stored in order the variable with lowest index first and the variables with highest index last regardless of the order they appear in the varlist argument Example
81. 1A 19 Introduction Table 5 Bin Location Inputs amp Index Values Bin Location Input state INDEX Value Bin 1 Input B1 is made 1 Bin 2 Input B2 is made 2 Bin 3 Inputs B1 and B2 are made 3 Bin 4 Input B3 is made 4 Bin 5 Inputs B1 and B3 are made 5 Bin 6 Inputs B2 and B3 are made 6 Bin 7 Inputs B1 B2 and B3 are made 7 The Main program has been modified to change the end place position based on the value of the INDEX variable poke ak ak ak ak ek IR Main Program EE ENABLE OUTL 0 Initialize Pick Place in Retracted Position WAIT UNTIL IN_A4 Check Pick Arm is in Retracted Position PROGRAM START MOVEP 0 Move to ABS to Pick position OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 1 Arm extends OUT2 2 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 0 Turn off output 1 to Retract Pick arm WAIT UNTIL IN A4 Make sure Arm is retracted IF INDEX 1 this area we use the If statement to GOTO BIN 1 check and see what state inputs B1 B2 amp B3 ENDIF are in IF INDEX 2 INDEX 1 when input B1 is made GOTO BIN 2 INDEX 2 when input B2 is made ENDIF i INDEX 3 when input Bl amp B2 are made INDEX 4 when input B3 is made INDEX 5 when input Bl amp are made S i INDEX 6 when input B2 amp B3 are made IF INDEX 7 IND
82. 2 9 VAR_DFAULT R Drive faults register Holds current trip fault Short Name DFAULTS code 10 VAR_M_ID mtr R W Motor ID 11 VAR_M_MODEL mtr DAN Motor model 12 VAR M VENDOR mtr R W Motor vendor Motor Feedback Resolver Positive for CW 13 VAR M ESET mtr Y DAN 1 Positive for CW 0 negative for clockwise Hallcode index 14 VAR M HALLCODE mtr Y RW Range 0 5 15 VAR M HOFFSET mtr Y DAN Reserved Resolver Offset 16 VAR M ZOFFSET mtr Y RW Range 0 360 17 VAR M ICTRL mtr Y DAN Reserved Motor moment of inertia Jm 18 VAR M JM mtr Y R W Range 0 0 1 Kgm2 Motor voltage or back EMF constant Ke M 19 VAR M KE mtr Y R W Range 1 500 V Krpm Motor torque or force constant Kt 20 VAR_M_KT mtr Y R W Range 0 01 10 Nm A Motor phase to phase inductance Lm 21 VAR M LS mtr Y R W Range 0 1 500 mH Motor phase to phase resistance Rm 22 VAR M RS mtr Y R W Range 0 01 500 Ohm Motors max current RMS 23 VAR_M_MAXCURRENT mtr Y R W Range 0 5 50 A mp Motor s max velocity 24 VAR_M_MAXVELOCITY mtr Y RW Range 500 20 000 RPM Motor s poles number 25 VAR M NPOLES mtr Y RW Rnage 2 200 Encoder resolution 20 ENCODER mtr Y RAW Range 256 65536 12 Npoles PPR Nominal Motore terminal voltage 27 VAR_M_TERMVOLTAGE mtr Y R W Range 50 800 V olt Feedback type 28 VAR_M_FEEDBACK mtr Y R W 1 Encoder 2 Resolver These are all R W variabl
83. 282 RESERVED Do NOT use Lenze PM94H201A 117 Reference Index Name Type Format EPM Access Description Units NOTE PIDs 283 309 are for REFERENCE ONLY These variable s are set through MotionView Do NOT use directly 283 PBUS ADDR W R W Profibus address 284 PBUS SIZE W Y R W Ee EEN Data Out channels 285 PBUS DIN SIZE R W e P angi Data In channels 286 PBUS OUT LINK1 W DAN Profibus Data Out Channel link 1 PID map 287 PBUS OUT LINK W R W Profibus Data Out Channel link 2 PID map 288 PBUS OUT LINK3 W DAN Profibus Data Out Channel link PID map 289 PBUS OUT _LINK4 W R W Data Out Channel link 4 PID map 290 PBUS_OUT_LINK5 W Y DAN Profibus Data Out Channel link 5 PID map 291 PBUS OUT LINK6 W R W Data Out Channel link 6 PID map 292 PBUS OUT LINK7 W DAN Profibus Data Out Channel link 7 PID map 293 PBUS OUT LINKS W R W Data Out Channel link 8 PID map 294 PBUS OUT LINK9 W DAN Profibus Data Out Channel link 9 PID map 295 PBUS OUT LINK10 Ww Y R W Profibus Data Out Channel link 10 PID map 296 PBUS OUT LINK11 W DAN Profibus Data Out Channel link 11 PID map 297 PBUS OUT LINK12 W R W Profibus Data Ou
84. 3 off ENDEVENT End event ERR kk kk k k k k k kk k k k k kc kc k k k kk KK Main Program ckckck ck ck WAIT UNTIL IN A3 Make sure the Enable input is made before continuing ENABLE OUT1 0 Initialize Pick Arm Place in Retracted Position WAIT UNTIL IN A4 Check Pick Arm is in Retracted Position EVENT SPRAY GUNS ON ON Enable the Event EVENT SPRAY GUNS OFF ON Enable the Event PROGRAM START MOVEP 0 Move to position 0 to pick part OUT1 Output_On Turn on output 1 to extend Pick arm WAIT UNTIL 1 1 Check input to make sure Arm is extended OUT2 Output On Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 Output Off Turn off output 1 to Retract Pick arm WAIT UNTIL IN A4 Check input to make sure Arm is retracted MOVED 100 Move to Place position OUT1 Output On Turn on output 1 to extend Pick arm WAIT UNTIL IN 1 Check input to make sure Arm is extended OUT2 Output Off Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 Output Off Retract Pick arm WAIT UNTIL IN A4 1 Check input to make sure Arm is retracted GOTO PROGRAM START END 1 9 IF ELSE Statements An IF ELSE statement allows the user to execute one or more statements conditionally The programmer can use an IF or IF ELSE construct Single IF example This example in
85. All position related variables are valid in this mode Syntax VELOCITY ON VELOCITY OFF Remarks The VELOCITY ON statement has to be implemented when the drive is enabled If the VELOCITY ON statement is executed while the drive is disabled fault 27 Motion Attempted While Drive Disabled will occur Execution of any motion related profiles while the drive is in Velocity mode will be loaded into the Motion Queue When the VELOCITY OFF statement is executed the drive will default back to Position mode and any motion commands contained in the Motion Queue will execute in sequence Please note that the VEL variable can be set on the fly allowing dynamic control of the velocity See Also Example VEL 0 Set velocity to 0 VELOCITY ON Turn on Velocity Mode VEL 10 Set velocity to 10 statements VELOCITY OFF Turn off Velocity Mode Lenze PM94H201A 101 Reference Table 61 WAIT WAIT Wait Statement Purpose This statement suspends the execution of the program until logical condition or conditions are met Conditions can include logical expressions time expiration or completion of motion commands Syntax WAIT UNTIL lt expression gt wait until expression becomes TRUE WAIT WHILE lt expression gt wait while expression is TRUE WAIT TIME lt time delay gt wait until lt time delay gt in mS is expired WAIT MOTION COMPLETE wait until last motion in Motion Queue completes lt expression gt Logical expression evaluating
86. Connect button Disconnect Terminate connection to the drive selected highlighted in the Parameter Node Tree Save the connection parameters for all drives currently listed in the Parameter Node Tree window This function saves MVOB communications setup for the project only for quick reconnect of all project drives at a later date it does not save the individual parameter and programming configuration of each drive Save Connection Connect Reconnect to project Opens a previously saved connection file and automatically Load Connection mS connects to all drives listed within that file provided they are available Print a configuration report for the currently selected drive containing all parameter set up and programming information Print Saves the configuration file of the selected drive All parameters indexing program E configuration and compensation gains will be saved within this file Load All Load a saved configuration to the drive Default All Set drive parameters back to factory default values Note has no effect on motor data or drive IP address Stop Reset Stops the drive execution and resets the drive Upgrade Launches firmware upgrade utility 1 3 2 Program Toolbar To view the Program Toolbar click on the Indexer Program folder in the Parameter Node Tree This section contains a brief description of the programming tools Compile Load with Source Load Without
87. EX 7 when input B1 B2 amp B3 are made GOTO BIN 7 We can now direct the program to one of seven ENDIF locations based on three inputs BIN 1 Set up for Bin 1 MOVEP 10 Move to Bin 1 location GOTO PLACE PART Jump to place part routine BIN 2 Set up for Bin 2 MOVEP 20 Move to Bin 2 location GOTO PLACE PART Jump to place part routine BIN 7 Set up for Bin 7 MOVEP 70 Move to Bin 7 location GOTO PLACE PART Jump to place part routine PLACE PART OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN A4 1 Arm extends OUT2 0 Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUTL 0 Retract Pick arm WAIT UNTIL IN 4 0 Arm is retracted GOTO PROGRAM START END NOTE with all digital inputs B1 B3 off none of the If statements to detect place position are true and the program defaults to placing the part it has picked into bin location 1 20 PM94H201A Lenze Introduction NOTE Any one of the 12 inputs can be assigned as a bit position within the INDEX variable Only bits 0 through 7 can be used with the INDEX variable Bits 8 31 are not used and are always set to 0 Unassigned bits in the INDEX variable are set to 0 BITS 8 31 not used A1 0 A2 A4 0 0 0 Limit Switch Input Functions Inputs A1 and A2 can be configured as special purpose inputs from the Digital IO folder in MotionView They can be set to on
88. Emitter 47 OUT3 C Programmable output 3 Collector 48 OUT3 E Programmable output 3 Emitter 49 OUT4 C Programmable output 4 Collector 50 0114 Programmable output 4 Emitter Language Reference Enable Disable Command Syntax Long Name DISABLE DISBALE Turns OFF Servo output ENABLE ENABLE Turns ON Servo output Program Structure Command Syntax Long Name STOP MOTION STOP MOTION Stop AA Motion Clear STOP MOTION QUICK STOP MOTION QUICK Motion Slack WAIT WAIT MOTION COMPLETE Wait Move Motion Commands Command Syntax Long Name MOVE MOVE BACK UNTIL lt condition gt C Move MOVED MOVED lt distance gt S C Move Distance MOVEP MOVEP absolute position C Move to Position MOVEDR MOVEDR distance displacement C Registered Distance Move MOVEPR MOVEPR distance displacement C Registered Position Move MDV MDV lt segment distance gt lt segment final velocity S Segmented Move MOTION SUSPEND MOTION SUSPEND Temporarily Suspend Motion MOTION RESUME MOTION RESUME Statement Resumes Motion PM94H201A Lenze Reference Example Internal Positioning Program RRR ee che REE REE e he e EERE he e he e he e he e he e he e HEADER k xkxkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Title Pick and Place example program Author 940 Product Managem
89. Lenze P Ee Title Pick and Place example program Author Lenze AC Technology Description This is a sample program showing a simple sequence that i picks up a part moves to a set position and drops the part ZE T 0 List II ICICI CII II III III III II Input 1 not used Input A2 not used Input Enable Input Input A4 not used Input 1 not used Input B3 not used Input B4 not used Input 1 not used Input C2 not used Input not used 2 Input not used Output 1 Pick Arm Output 2 Gripper E Output 3 not used d 5 Output 4 not used I Initialize and Set Var E UNITS 1 ACCEL 75 DECEL 75 MAXV 10 GE 7V2 a GEET pues CoO Set Events handling here EEN Main Program ini ELI o RESET DRIVE Place holde x WAIT UNTIL IN A3 Make sure continuing ENABLE PROGRAM START 5 1 n MOVEP 0 Move to Pic T 24 1 Turn on out WAIT TIME 1000 Delay 1 sec 1 OUT2 1 Turn on out WAIT TIME 1000 Delay 1 sec 0 Turn off ou MOVED 10 Move 10 REV i 1 Turn on out WAIT TIME 1000 Delay 1 sec F PROGRAM RUN OUT2 0 Turn off ou WAIT TIME 1000 Delay 1 sec P4 0 Retract Pic GOTO PROGRAM_START END Sub Routines qeeceecer Enter Sub Routine code here 2 Fault Handler Routine
90. M94H201A 55 Programming Table 17 Extended Status Bits Variable 83 EXSTATUS Bit Function Comment 0 Reserved 1 Velocity in specified window Velocity in limits as per parameter 59 VAR_VLIMIT_SPEEDWND 2 4 Reserved 5 Velocity at 0 zero Velocity 0 Zero defined by parameter 58 VAR_VLIMIT_ZEROSPEED 6 7 Reserved Utilized to indicate drive is operating from 24V keep alive and a valid DC 8 Bus voltage below under voltage limit bus voltage level is not present 9 10 Reserved Drive regeneration circuit is active Drive will be dissipating power through 11 Regen circuit is on the braking resistor if fitted 12 20 Reserved 21 Set if homing operation in progress Drive executing Pre defined homing function see section 2 15 22 Set if system homed Drive completed Pre defined homing function see section 2 15 User can set this bit to retain fault code on the display until re enabled It is If set then last fault will remain on the useful if there is a fault handler routine When the fault handler is exited the display until re enabled fault number on the display will be replaced by current status usually DiS if bit 23 is not set Setting bit 23 retains diagnostics on the display 23 Set if EIP IO exclusive owner 24 connection is established Cleared if closed Set if EIP IO exclusive owner 25 connection times out Cleared if exc owner conn exsists 26
91. MOTOR IN MOTIONVIEW eme Program If the motor is not property set up or the tuning hasn t property done tne fault code F PE may be observed Area when tne drive is enabled VO Ust Input A1 not used Input A2 not used Input A3 Enabled Input not used Input not used input B2 not used input B3 not used Input 84 not used Input C1 not used D input C2 not used gression green input c3 not used Input CA not used m Successiutty connected is deve 804010014100000_ 192 188 124 120 Figure 5 MotionView OnBoard Studio Indexer Program Display PM94H201A Introduction 1 3 3 MotionView Studio Indexer Program The MotionView Studio provides a tool suite used by MotionView OnBoard to enter compile load and debug the user program To view and develop the user program select the Indexer Program folder in the Parameter Node Tree window Once selected the program text editor screen and program toolbar are displayed The program displayed in the text editor window is uploaded from the drive when the indexer folder is selected any data not compiled to the drive or saved to PC file will be lost once this window is exited Click anywhere in the Parameter View Window to edit the Indexer program Common Programming Actions Load User program from the PC to the MotionView Indexer Program folder text editor window Select Indexer Program in the Parameter Node Tree Select Import on the program toolbar Select the p
92. MOTORPTCRESISTANCE F y paw Motor thermal protection PTC cut off Ohm resistance in Ohms Second encoder 41 VAR_SECONDENCODER R W 0 Disabled 1 Enabled m 42 VAR REGENDUTY w y R W Regen circuit PWM duty cycle in Range 1 100 Selects source for repeat buffers 0 Model 940 Encoder Port P4 43 VAR_ENCODERREPEATSRC Y R W 0 Model 941 2nd Encoder Option Bay 1 Model 940 2nd Encoder Option Bay 1 Model 941 Resolver Port VAR VP GAIN Velocity loop Proportional gain short Name VGAIN P ye W Y RW enger 0 32767 VAR VI GAIN Velocity loop Integral gain 45 Name VGAIN I vel W Y RW anger 0 32767 VAR PP GAIN Position loop Proportional gain 6 Short Name i diii Range 0 32767 VAR PI GAIN Position loop Integral gain d Short Name PGAIN I w K 22 Range 0 16383 VAR PD GAIN Position loop Differential gain s Short Name PGAIN D W x RUN Range 0 32767 VAR PI LIMIT Position loop integral gain limit iii Short Name PGAIN ILIM X p Range 0 20000 Lenze PM94H201A 105 Reference Index Name Type Format EPM Access Description Units 50 VAR SEI GAIN Not used Gains scaling coefficient 51 VAR VREG WINDOW vel W Y R W Pange 81944 Software Enable Disable 52 VAR ENABLE 0 disable 1 enable Drive reset Disables drive halts program 53 VAR
93. MOVEPR MDV MOTION SUSPEND MOTION RESUME GOTO GOSUB JUMP VELOCITY ON OFF WHILE ENDWHILE DO UNTIL EVENT ON OFF EVENTS ON OFF HOME HALT STOP MOTION QUICK Refer to section 2 1 for additional details and the Language Reference section for the statement ON FAULT ENDFAULT 16 PM94H201A Lenze Introduction 1 5 Using Advanced Debugging Features To debug a program or view the open the Diagnostic panel by clicking on the Tools in the Parmeter Node Tree list then click on the Parameter amp View button The Diagnostic panel will open This panel allows the programmer to monitor and set variables and to view status of drive digital inputs and outputs Use the up button to move the blue highlighted bar up through the variable list and select a parameter adi Use the Add button to open the Parameters dialog box Select the variable s to add by clicking on the box adjacent to the variable When finished selecting variables click Add in the Parameter dialog box to add these variables to the watch window gt Use the right arrow button to remove highlighted variable from the watch window Use the down V button to move the blue highlighted bar down through the variable list and select a parameter Use the Clear button to clear all the parameters listed in the watch window Load Use the Load button to load a set of previously saved variables to the watch window Watch
94. MotionView software in PositionServo drives with a part number ending in ES RS EM or RM SimpleMotion Language SML SML is the programming language utilized by MotionView The SML interface within the MotionView software provides a very flexible development environment for creating solutions to motion applications The SML programming statements allow the programmer to create complex and intelligent motion process I O perform complex logic decision making execute program branching utilize timed event processes as well as a number of other functions common to the majority of motion control and servo applications User Program or Indexer Program This is the SML program developed by the user to describe the programmatic behavior of the PositionServo drive The User Program can be stored in a text file on your PC as well as in the PositionServo s EPM memory The User Program needs to be compiled translated into binary form with the aid of the MotionView Studio tools before the PositionServo can execute it MotionView Studio MotionView Studio is the front end programming interface of the MotionView platform It is a tool suite containing all the software tools needed to program and debug the PositionServo These tools include a full screen text editor a program compiler status and monitoring utilities an online oscilloscope and a debug function that allows the user to step through the program during program development WARNING Haz
95. O 1 1 RPDO Mapping 320 VAR RPDO 1 MAP2 321 VAR RPDO 1 MAP3 322 VAR RPDO 1 323 VAR RPDO 2 1 324 VAR RPDO 2 MAP2 325 VAR RPDO 2 MAP3 326 VAR RPDO 2 327 VAR RPDO 3 1 328 VAR RPDO 3 MAP2 329 VAR RPDO 3 MAP3 330 VAR RPDO 3 331 VAR RPDO 4 1 332 VAR RPDO 4 MAP2 333 VAR RPDO 4 MAP3 334 VAR RPDO 4 335 VAR RPDO 5 1 336 VAR RPDO 5 MAP2 337 VAR RPDO 5 MAP3 338 VAR RPDO 5 339 VAR RPDO 6 MAP1 340 VAR RPDO 6 MAP2 341 VAR RPDO 6 MAP3 342 VAR RPDO 6 343 VAR RPDO 7 1 344 VAR RPDO 7 MAP2 345 VAR RPDO 7 MAP3 346 VAR RPDO 7 347 VAR RPDO 8 348 VAR RPDO 8 MAP2 349 VAR RPDO 8 MAP3 350 VAR RPDO 8 351 VAR TPDO 1 COM Transmit PDO 352 VAR TPDO 2 COM 353 VAR TPDO 3 COM 354 VAR TPDO 4 COM 355 VAR TPDO 5 COM 356 VAR TPDO 6 COM Lenze 94 201 119 Reference Index Name Type Format EPM Access Description Units 357 VAR TPDO 7 COM 358 VAR TPDO 8 COM 359 VAR TPDO 1 1 TPDO Mapping 360 VAR TPDO 1 MAP2 361 VAR TPDO 1 MAP3 362 VAR
96. OTION SUSPEND MOTION RESUME Example Statements MOVE MOVE MOVE MOVE MOVE UNTIL V0 3 Move until VO is less than 3 BACK UNTIL 0 gt 4 Move back until VO is greater than 4 WHILE V0 3 Move While VO is less than 3 BACK WHILE 0 gt 4 Move While is greater than 4 WHILE V0 3 C Move While lt 3 continue program execution Lenze PM94H201A 95 96 MOVED Purpose Syntax Remarks See Also Example Reference Table 49 MOVED Move Distance Statement MOVED performs incremental motion distance specified in User Units This statement will suspend the program s execution until the motion is completed unless the statement is used with the modifier If the S modifier is used then S curve acceleration deceleration is performed during the move MOVED lt distance gt S LC C ontinue The C argument is an optional modifier which allows the program to continue executing while the motion profile is being executed If the drive is in the process of executing a previous motion profile the new motion profile will be loaded into the Motion Stack The Motion Stack is 32 entries deep If the queue becomes full or overflows then the drive will generate a fault S curve optional modifier specifies S curve acceleration deceleration Maximum variable size is 2432 Units QPPR This is the max value for Var_APOS_Pulses Maximum distance is then this maximum value that can be hel
97. Operation Exvample nennen nen 82 PATON rmt 83 3 1 Program Statement Glossary KREE 83 3 2 V EH 103 3 3 Quick Start Examples 3 2 EES 122 3 3 1 Quick Start External Torque Velocity eese 122 3 3 2 Quick Start External 124 3 3 3 Quick Start Internal Torque Velocity eese 126 3 3 4 Quick Start Internal Positioning A 128 3 4 PositionServo Reference Diagrams eene nennen enne nne 130 PM94H201A Lenze About These Instructions This documentation applies to the programming of the PositionServo drive with model numbers ending in S or M This documentation should be used in conjunction with the PositionServo User Manual Document S94H201 that shipped with the drive These documents should be read in their entirety as they contain important technical data and describe the installation and operation of the drive Safety Warnings Take note of these safety warnings and those in the PositionServo User Manual and related documentation WARNING Hazard of unexpected motor starting When using MotionView or otherwise remotely operating the PositionServo drive the motor may start unexpectedly which may result in damage to equipment and or injury to personnel Make sure the equipment is free to operate and that all guards and covers are in place to protect personnel
98. Purpose The DO UNTIL statement is used to execute a statement or set of statements repeatedly until a logical condition becomes true The Do Until statements enclose the program code to be repeatedly executed with the UNTIL statement containing the logical statement for exit of the loop Syntax DO statement s UNTIL condition statement s any valid statement s condition The condition to be tested Remarks The statement or statements contained within a DO UNTIL loop will always be executed at least once because the logical condition to be tested is contained within the UNTIL statement in the last statement of the loop See Also WHILE IF Example 0 Set to Value 0 Create Loop to perform Move command 12 times DO Start of Do Loop 1 Add 1 to Variable VO Moved 5 Move incremental distance 5 Until VO 12 Loop back to DO Statement Repeat Until Logic True Table 28 ENABLE ENABLE Enables the drive Statement Purpose Enable turns on drive output to the motor Drive shows Run on display when in the enabled state Syntax ENABLE Remarks Once a drive is enabled motion can be commanded from the user program Commanding motion while the drive is disabled will result in fault trip F_27 See Also DISABLE Example Start Button 0 If input Bl is off Disable Disable Servo Else Otherwise Enable Enable Servo MoveD 10 Move increment Distance 10 Endif Table 29 END END END program
99. R k k k k DEEL EVENT SETUP EVENT SPRAY GUNS ON APOS gt 25 OUT3 1 ENDEVENT ee he he he e e e e EERE he he e e e e ee he he he he e e EKER he he ERE e e e e kk kk he e e kkk kkk kkk kkk kk he he e he e e e e e Enter the Event code in the EVENT SETUP section of the program To Setup an Event the EVENT command must be entered This is followed by the Event Name GUNS ON the triggering mechanism gt 25 After that a sequence of programming statements can be entered once the event is triggered In our case we will turn on output 3 To end the Event the ENDEVENT command must be used Events can be activated turned on and deactivated turned off throughout the program To turn on an Event the EVENT command is entered followed by the Event Name SPRAY ONT This is completed by the desired state of the Event ON or OFF Refer to Section 2 10 for more on Scanned Events EVENT SPRAY GUNS ON PRR Two Scanned Events have been added to the Pick and Place program below to trigger a spray on and off The Event will be triggered after the part has been picked up and is passing in front of the spray guns
100. RESET w N reset active fault 0 no action 1 reset drive VAR STATUS 54 m W N R Drive s status register Short Name DSTATUS 55 VAR SIZE W program Byte code size Bytes User s program autostart flag 0 program has to be started manually 56 VAR_AUTOBOOT R W MotionView or interface 1 program started automatically after drive power up Network group ID 57 VAR GROUPID R W Range 1 32767 Zero Speed window e 58 VAR_VLIMIT_ZEROSPEED Y R W Range 0 100 At Speed window 59 VAR_VLIMIT SPEEDWND F Y R W Range 10 10000 Rpm Target Velocity for At Speed window 60 VAR VLIMIT ATSPEED F Y R W Range 10000 10000 Rpm Position error 61 VAR PLIMIT POSERROR R W Range 1 32767 EC Position error time time which position error 62 VAR PLIMIT ERRORTIME F Y R W to remain to set off position error fault mS Range 0 25 8000 Second encoder Position error 63 VAR PLIMIT SEPOSERROR W R W Range 1 32767 EC Second encoder Position error time time 64 PLIMIT SEERRORTIME R W which position error has to remain to set off mS position error fault Range 0 25 8000 65 VAR_INPUTS W N R Digital inputs status variable A1 occupies Short Name INPUTS 0 A2 Bit 1 C4 bit 11 Digital outputs status variable Writing to this variable sets resets digital outputs except outputs which have been assigned special VAR OUTPUT function
101. Source Reload Export Import Run Reset Pause Step Step Over and Clear For detailed descriptions of the program toolbar functions refer to paragraph 1 4 Load W Source Load WIO Source Reset Steer Figure 4 Program Toolbar Perform compilation and check for syntax errors for the indexer program currently selected in the List View window Compile and Load Binary program and text source file to the PositionServo drive listed in the Parameter Node Tree Compile and Load Binary program only excluding text source file to the PositionServo Load WO Source drive listed the Parameter Node Tree Lenze 94 201 7 Column Breakpoint Program Prp iS Reload Export Import Reset Pause Step Clear Introduction Reload the text source file presently stored in the selected drive back into the MotionView Indexer program folder Export text source file User program Saves a copy of the program from the Indexer Program folder as a text file on the PC Import text source file User program Loads a program from a text file stored on the PC to the Indexer Program folder Start Continue Program execution Refer to section 1 4 for full description and prior to operation Reset Drive Disable drive stop program execution and return program processing to the beginning Program will not restart program execution automatically Stop program execution on completi
102. Statement Purpose This statement is used to terminate finish user program and its events Syntax END Remarks END can be used anywhere in program See Also DISABLE Example END user program PM94H201A Lenze Reference Table 30 EVENT EVENT Starts Event handler Statement Purpose EVENT keyword is used to create scanned events within the user program Statement also sets one of 4 possible types of events Syntax Any one of the 4 syntax examples herein may be used 1 EVENT lt name gt INPUT lt inputname gt RISE 2 EVENT lt name gt INPUT lt inputname gt FALL 3 EVENT lt name gt TIME lt period gt 4 EVENT lt name gt lt expression gt name any valid alphanumeric string inputname any valid input IN A1 IN C4 period any integer number Expressed in ms expression any arithmetic or logical expression The following statements can not be used within event s handler MOVE MOVED MOVEP MOVEDR MOVEPR MDV MOTION SUSPEND MOTION RESUME STOP MOTION DO UNTIL GOTO GOSUB HALT VELOCITY ON OFF WAIT WHILE ENDWHILE ASSIGN END ON FAULT END FAULT RESUME RETURN While GOTO or GOSUB are restricted a special JUMP statement can be used for program flow change from within event handler See JUMP statement description in Language Reference section Program labels are also not permitted within event code Remarks For syntax 1 and 2 The Event will occur when the input defined by the name transition from low to high fo
103. TION SUSPEND If motion was not previously suspended this has no effect on operation Syntax MOTION RESUME Remarks Any motion command executed in the user program while motion is suspended will be placed in the motion queue but not executed Motion commands accumulated on the motion stack will be performed in the order they were loaded to the motion queue on execution of the Motion Resume statement See Also MOVE MOVEP MOVEDR MOVED MOVEPR MDV MOTION SUSPEND Example statements MOTION RESUME Motion is resumed from first command in motion Queue if any statements 94 PM94H201A Lenze Reference Table 47 MOTION SUSPEND MOTION SUSPEND Suspend Statement Purpose This statement is used to temporarily suspend execution of motion The Motion Suspend command does not flush the Motion Queue of any accumulated motion commands but will suspended further motion until the Motion Resume command is processed If this statement is executed while a motion profile is already being processed then the motion will not be suspended until after the completion of of the current motion profile If executing a series of segment MDV moves motion will not be suspended until after all the MDV segments have been processed Any subsequent motion statement will be loaded into the queue and will remain there until the Motion Resume statement is executed Any motion statements executed without the C modifier except MDV statements while m
104. TPDO 1 363 VAR TPDO 2 1 364 VAR TPDO 2 MAP2 365 VAR TPDO 2 MAP3 366 VAR TPDO 2 367 VAR TPDO 3 1 368 VAR TPDO 3 MAP2 369 VAR TPDO 3 MAP3 370 VAR TPDO 3 371 VAR TPDO 4 1 372 VAR TPDO 4 MAP2 373 VAR TPDO 4 MAP3 374 VAR TPDO 4 375 VAR TPDO 5 MAP1 376 VAR TPDO 5 MAP2 377 VAR TPDO 5 MAP3 378 VAR TPDO 5 379 VAR TPDO 6 MAP1 380 VAR TPDO 6 MAP2 381 VAR TPDO 6 MAP3 382 VAR TPDO 6 383 VAR TPDO 7 1 384 VAR TPDO 7 MAP2 385 VAR TPDO 7 MAP3 386 VAR TPDO 7 387 VAR TPDO 8 MAP1 388 VAR TPDO 8 MAP2 389 VAR TPDO 8 MAP3 390 VAR TPDO 8 391 Er H VAR TPDO 1 COM 392 VAR TPDO 2 COM Er H 393 VAR TPDO 3 COM Er H 394 VAR TPDO Q Pi 395 Di 4 396 4 VAR TPDO 5 COM VAR TPDO 6 Q E NOTE PIDs 311 406 REFERENCE ONLY Do use directly These variables are used by MotionView for non volatile settings of TPDO RPDO 120 PM94H201A Lenze Reference
105. This data might represent more complex Pick and Place coordinates complicated trajectory coordinates or sets of gains limits specific for given motion segments RAM memory is also utilized in applications that require data collection during system operation At the end of a period of time the collected data can be acquired by the host controller for analysis For example position errors and phase currents collected during the move are then analyzed by the host PLC PC to qualify system tolerance to error free operation Implementation There are 256K 262 144 bytes provided as RAM file for data storage Since the basic data type in the drive is 64 bit 8 bytes 32 768 data elements can be stored in the RAM file The file is accessible from within the User s program or through any external communications interface Ethernet ModBus CAN etc Two statements and three system variables are provided for accessing the RAM file memory The RAM file is volatile storage and is intended for per session usage The data saved in the RAM file will be lost when the drive is powered off The three system variables provided to support file access are VAR_MEM_VALUE PID 4 VAR_MEM_INDEX PID 5 VAR_MEM_INDEX_INCREMENT PID 6 In addition two statements are provided to allow access and storage to the RAM file direct from the user program The statements MEMSET MEMGET are described in paragraph 2 7 3 and Tables 44 amp 45 38 PM94H201A Lenze
106. Windows My Documents folder by default Run User program in drive Select Indexer Program in the Parameter Node Tree Select Run on the program toolbar Note all warnings contained within product manuals prior to running the user program Step Through the User program Select Indexer Program in the Parameter Node Tree Select Step on the program toolbar If Step is selected the drive will execute the program one step at a time including subroutines For the Step function to be used the drive must be in a Indexer program Stopped condition If Indexer program is running then Step functions are disabled If the user program displayed in the Indexer program window does not match the program currently residing within the drive last compiled and downloaded then Step functions are also disabled Statement execution is tracked by a pointer located in the progression column of the program editor The pointer indicates the next line of code to be executed At each Step the pointer will disappear until the statement has been fully executed and will then reappear at the next statement Lenze 94 201 9 Introduction Set Breakpoint s in the program Select Indexer Program in the Parameter Node Tree Place the cursor in the Breakpoint Column next to the line number on which a breakpoint is to be added Right click and select Add Breakpoint or Clear Breakpoint A convenient way to debug a user prog
107. able 5 V4 F X SE er user defined variable 109 ict ems V5 j PAY user defined variable 106 S ane V6 x p er E user defined variable bud Sco en V7 E M AT user defined variable 108 nens V8 x PUNY user defined variable ie ics F Ba user defined variable 110 V10 E RON user defined variable Si S ume V11 F bi iln user defined variable V12 i EE user defined variable m cr V13 F Y PAY user defined variable De V14 5 ZS RAN user defined variable V15 eier user defined variable ie oe V16 H RUN user defined variable T Scc V17 5 C user defined variable ue S eme V18 F H user defined variable 113 V19 j H SH user defined variable 120 GE V20 F y FRAN p user defined variable Lenze PM94H201A 109 Reference Index Name Type Format EPM Access Description Units VAR V21 User variable 1 el Short Name V21 E Y pM General purpose user defined variable VAR V22 User variable 122 m Short Name V22 F Y p General purpose user defined variable VAR V23 User variable es Short Name V23 Y R W General purpose user defined variable VAR_V24 User variable es Short Name V24 f x RAY General purpose user defined variable VAR_V25 User variable 188 Sh
108. ard of unexpected motor starting When using the MotionView software or otherwise remotely operating the PositionServo drive the motor may start unexpectedly which may result in damage to equipment and or injury to personnel Make sure the equipment is free to operate safely and that all guards and covers are in place to protect personnel e Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the internal printed circuit boards or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait 60 seconds before servicing drive Capacitors retain charge after power is removed NOTE D To run MotionView OnBoard MVOB on OS run the PC emulation tool first 4 PM94H201A Lenze 1 2 Introduction Programming Flowchart MotionView utilizes a BASIC like programming structure referred to as SimpleMotion Programming Language SML SML is a quick and easy way to create powerful motion applications With SML the programmer describes his system s motion I O processing and process flow using the SML structured code The programming language includes a full set of arithmetic and logical statements that allow the user to perform mathematical calculations and comparisons of variables and apply the results within their application Before the PositionServo drive can execute the user s program the program must first be compiled
109. at the same time as the main body of the application program Header Enter in program description and title information pk e e e ehe he he he e e KEE he he he he e e e e e e e he kk kk HEADER X xkckckokckckckckckck ck ck ck ckckckckck ck ck ck ck kk kk Title Pick and Place example program Author Lenze Description This is a sample program showing a simple sequence that picks up a part moves to a set position and drops the part List Define what I O will be used e e e e e e he he he e he e e e e e he kk kk I O List kkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Input Al not used Input A2 not used Input Enable Input Input A4 not used S Input Bl not used Input B2 not used Input B3 not used Input B4 not used Input Cl not used Input C2 not used Input C3 not used Input not used Output 1 Pick Arm Output 2 Gripper Output 3 not used Output 4 x not used Initialize and Set Variables Define and assign Variables values RRR KEKE KEKKEK Initialize and Set Variables xddoxexkex UNITS 1 ACCEL 75 DECEL 75 MAXV 10 V2 DEFINE Output_on 1 DEFINE Output_off 0 32 PM94H201A Lenze Programming Events Define Event name Trigger and Program Statements RRR e e e e e e he he e e he he he he e e he he KEKE Events 5 e kkkkckckckckckckckckckckckckckckckckckckckckckckckckckckck kk kk EVENT SPRAY GUNS ON APOS
110. ate motion queue overflow Since a series of MDV segments need to be loaded quickly to the Motion Queue the Step debugging feature can not be used 1 10 4 Registration Both absolute and incremental motion can be used for registration moves The statements associated with these moves are MOVEPR and MOVEDR These statements have two arguments The first argument specifies the commanded move distance or position The second argument specifies the move made after the registration input is detected If the registration move is an absolute move for MovePR the first argument is absolute referenced to the O position the second argument is relative to the registration position For MoveDR both arguments are relative The first is relative to the shaft position when motion is started and the second is relative to the registration position Position Registration Registration Move Input is made EM 1 28 Commanded Move Registration Move Figure 12 Registration Move PM94H201A Lenze Introduction 1 10 5 S Curve Acceleration Deceleration It is often necessary particularly for very dynamic applications to smooth transition between periods of acceleration deceleration and steady state velocity A smoothing of this transition could improve the results of tuning and hence improve overall performance of the system Additionally smoothing the ramp rates can have the effect of minimizing wea
111. bles can hold any numeric value including logic Boolean 0 FALSE and non 0 TRUE values They can be used in any valid arithmetic or logical expressions Variables can be shared across Ethernet network with use of statements SEND and SENDTO Since SML is a typeless language there is no special type for Boolean type variables variables that can be only 0 or 1 Regular variables are used to facilitate Boolean variables Assigning a variable a FALSE state is done by setting it equal to 0 Assigning a variable a TRUE state is done by assigning it any value other than 0 Scope SML variables are accessible from several sources Each of the variables can be read and set from the user program or Host communications interface at any time There is no provision to protect a variable from change This is referred to as global scope Volatility User variables are volatile i e they don t maintain their values after the drive is powered down After power up the values of the user variables are set to 0 Loading or resetting the user program doesn t reset variables values Two programming statements are provided should the programmer wish to implement some non volatile memory storage within their application the LoadVars and StoreVars Statements refer to section 3 1 In addition to the user variables system variables are also provided System variables are dedicated variables that contain specific information relative to the set up an
112. chnology Motion byte code compiler version 3 00 message box I Compilation completed without errors Output created should appear Important Message Compilation completed without errors PM94H201A 11 Introduction The program has now been compiled without errors Select Load W Source to load the program to the drive s memory Click OK to dismiss the dialog box To Run the program input A3 must be active to remove the hardware inhibit Select the Run icon on the program toolbar The drive will start to execute the User Program The motor will spin 10 revolutions in the CCW direction and then 10 revolutions in the CW direction After all the code has been executed the program will stop and the drive will stay enabled To Restart the program select the Reset icon on the program toolbar This will disable the drive and reset the program to execute from the start The program does not run itself automatically To run the program again select the Run icon on the toolbar Program Layout When developing a program structure is very important It is recommended that the program be divided up into the following 7 segments Header The header defines the title of the program who wrote the program and description of what the program does It may also include a date and revision number List The I O list describes what the inputs and outputs of the drive are used for For example input A1 might be use
113. commanded position advance Feedback Pls 189 TPOS_PLS R W Theoretical commanded position Feedback Pls 217 TV R Commanded velocity in User Units Sec 186 UNITS R W User Units scale UserUnits Rev 185 VEL R W _ Set Velocity when in velocity mode User Units Sec 44 VGAIN P R W Velocity loop P gain 45 VGAIN R W Velocity loop I gain 100 131 VO V31 R W User Variables 1 When a 0 zero value is assigned to the variable UNITS then USER UNITS is set to QUAD ENCODER COUNTS 2 Any value outside 10 range assigned to AOUT will be automatically trimmed to that range 42 PM94H201A Lenze Example Programming AOUT 100 AOUT will be assigned value of 10 0 236 VOUT VO VOUT will be assigned 10 and VO will be unchanged 2 8 2 System Flags Flags don t have an Index number assigned to them They are the product of a BIT mask applied to a particular system variable within the drive and are available to the programmer only from the User s program Table 12 lists the System Flags with access rights and description Table 12 System Flags Name Access Description IN_A1 4 IN_B1 4 IN_C1 4 R Digital inputs TRUE if input active FALSE otherwise OUT1 OUT2 OUT3 OUT4 OUT5 Digital outputs OUTPUT1 OUTPUT5 F ICONTROLOFF R Interface Control Status ON OFF 27 in DSTATUS register IN POSITION R sce E is within limits set by
114. crements a counter Variable V1 until the Variable V1 is greater than 10 Again 1 1 1 V1 gt 10 1 0 GOTO Again END 24 PM94H201A Introduction IF ELSE example This example checks the value of Variable V1 If V1 is greater than 3 then V2 is set to 1 If V1 is not greater than 3 then V2 is set to 0 IF V1 gt 3 V2 1 ELSE V2 0 ENDIF Whether you are using an IF or IF ELSE statement the construct must end with ENDIF keyword 1 10 Motion Figure 8 illustrates the Position and Velocity regulator of the PositionServo drive is automatically calculated Kff term Position S P term Command T SS d Position Feedback Biquad P D term Convergence Filter 0 8 I term term Limit and unit wind up lt 41 Second Encoder To Torque Amplifier Biquad Velocity Command gt P term arent gt Convergence Current Command Filter MAG gt Velocity Window Dterm term Limit and unit wind up Velocity Mechanical Velocity Feedback Estimator er cage Figure 8 PositionServo Position and Velocity Regulator s Diagram The Position Command as shown in the regulator s diagram Figure 9 is produced by a Trajectory Generator The Trajectory Generator processes the motion commands
115. d as a Start Switch Init amp Set Var Initialize and Set Variables defines the drives settings and system variables For example here is where acceleration deceleration and max speed might be set Events An Event is a small program that runs independently of the main program This section is used to define the Events Main Program The Main Program is the area where the main process of the drive is defined Sub Routines This is the area where all sub routines should reside These routines will be called out from the Main Program with a GOSUB command Fault Handler This is the area where the Fault Handler code resides If the Fault handler is utilized then this code will be executed when the drive detects a fault condition The following is an example of a Pick and Place program divided up into the above segments ckckckckckckckckckckckckckckck ck ck kk k k kk kkkk k HEADER Title Pick and Place example program Author Lenze AC Technology Description This is a sample program showing a simple sequence that i picks up a part moves to a set position and places the part PRR RRR kkk kk kkk kkk kc kc kc kkk kk kkk I O List kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Input Al not used Input A2 not used Input A3 Enable Input Input A4 not used Input Bl not used Input B2 not used Input B3 not used Input B4 not used I
116. d in a variable divided by the feedback pulses So assume a 4096 ppr encoder Post quad 16384 Max distance before register overflow 131072 For resolver 32768 For MoveD absolute position is not a concern If overloaded the register will simply roll over MOVE MOVEP MOVEPR MOVEDR MDV MOTION SUSPEND MOTION RESUME Statements MOVED 3 moves 3 user units forward MOVED BACK 3 moves 3 user units backward MOVED 3 moves 3 user units backward MOVED V5 moves distance direction determined by value in v5 Statements Table 50 MOVEDR MOVEDR Registered Distance Move Statement Purpose Syntax See Also Example MOVEDR performs incremental motion specified in User Units in search of the registration input If during the move the registration input becomes activated goes high then the current position is recorded and the displacement value the second argument in the MOVEDR statement is added to the captured registration position to form a new target position The end of the move is then altered to this new target position This statement suspends execution of the program until the move is completed unless the statement is used with the C modifier If the 5 modifier is used then S curve acceleration deceleration is performed during the move MOVEDR lt distance gt lt displacement gt S C C ontinue The C argument is an optional modifier which allows the program to continue
117. d operation of the drive For example APOS variable holds actual position of the motor shaft For more details refer to Section 2 9 Resolution and Accuracy Any variable can be used as a condition in a conditional expression Variables are often used to indicate that some event has occurred logic state of an input has changed or that the program has executed to a particular point Variables with non 0 values are evaluated as TRUE and variables with 0 value are evaluated as FALSE Variables are stored internally as 4 bytes double word for integer portion and 4 bytes double word for fractional portion Every variable in the system is stored as 64 bit in 32 32 fixed point format Maximum number can be represented by this format is 2 147 483 648 Variable resolution in this format is 2 3E 10 Lenze PM94H201A 35 Programming 2 3 Arithmetic Expressions Table 7 lists the four arithmetic functions supported by the Indexer program Constants as well as User and System variables can be part of the arithmetic expressions Examples V1 V1 V2 Add two user variables V1 V1 1 Subtract constant from variable V2 V1 APOS Add User and System actual position variables APOS 20 Set System variable V5 V1 V2 V3 5 3 Complicated expression Table 7 Supported Arithmetic Expressions Operator Symbol Addition Subtraction Multiplication 5 Division Register variab
118. dge Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 9 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative following the procedure as detailed above but ignoring the initial move in the positive direction 4 4 4 Index Pulse via Input C3 Homing Switch Var_Home_Switch_Input Figure 33 Homing Method 9 Lenze PM94H201A 67 Programming 2 15 9 10 Homing Method 10 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is positive The home position is the first index pulse to the positive side o
119. e edge of an intermittent home switch Location of first index pulse is on the negative side of the negative edge of an intermittent home switch Reserved for future use Reserved for future use The edge of a negative limit switch The edge of a positive limit switch 5 The edge of a positive home switch 20 Reserved for future use 21 The edge of a negative home switch 22 Reserved for future use 23 Positive edge of an intermittent home switch 24 Reserved for future use 25 The negative edge of an intermittent home switch 26 Reserved for future use 27 Negative edge of an intermittent home switch 28 Reserved for future use 29 The positive edge of an intermittent home switch 30 Reserved for future use 31 Reserved for future use 32 Reserved for future use 33 The first index pulse on the negative side of the current position 34 The first index pulse on the positive side of the current position 35 Current position becomes home position Home offset is also active and will be added to current position to set the zero position 1 A positive home switch is one that goes active at a set position and remains active for all positions greater than the set position 2 A negative home switch is one that goes active at a set position and remains active for all positions less than the set position
120. e of three settings The Not assigned setting designates the inputs as general purpose inputs which can be utilized by the User Program The Fault setting will configure A1 and A2 as Hard Limit Switches When either input is made the drive will be disabled the motor will come to an uncontrolled stop and the drive will generate a fault If the negative limit switch is activated the drive will display an F 33 fault If the positive limit switch is activated the drive will display an F32 fault The Stop and fault setting will configure A1 and A2 as End of Travel limit switches When either input is made the drive will initiate a rapid stop before disabling the drive and generating an F34 or F35 fault refer to section 2 15 for details The speed of the deceleration will be set by the value stored in the System Variable e NOTE The Stop and Fault function is available in position mode only Drive mode is set to Position In all other cases the Stop and Fault function will act the same as the Fault function To set this parameter select the IO folder from the Parameter Tree Then select the Digital IO folder From the Parameter View Window use the pull down menu next to Hard Limit Switches Action to select the status Not Assigned Fault or Stop and Fault Digital Outputs Control OUT1 OUT2 OUT3 OUT2 Lenze The PositionServo has 5 digital outputs The RDY or READY output is d
121. e program has been modified below to utilize the WAIT UNTIL statement in place of the WAIT TIME statement IN A1 and IN A4 will be used as proximity sensors to detect when the pick and place arm is extended and when it is retracted When the arm is extended IN A1 will be in an ON state and will equal 1 When the arm is retracted IN A4 will be in an ON state and will equal 1 pEKCk kc kc kc kc kk kkk kk kc kc kc kk kk Main Program kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk RESET_DRIVE Place holder for Fault Handler Routine WAIT UNTIL IN A3 Make sure that the Enable input is made before continuing ENABLE OUT1 0 Initialize Pick Arm Place in Retracted Position WAIT UNTIL IN_A4 Check Pick Arm is in Retracted Position PROGRAM START MOVEP 0 Move to Pick position OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 1 Arm extends OUT2 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 0 Turn off output 1 to Retract Pick arm WAIT UNTIL IN A4 1 Make sure Arm is retracted MOVED 10 Move 10 REVs to Place position OUT1 1 Turn on output 1 on to extend Pick arm WAIT UNTIL IN A1 Arm is extended OUT2 0 Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 0 Retract Pick arm WAIT UNTIL IN A4 Arm is retracted GOTO PROGRAM START END Once the above modifications have been made export the program to file
122. ecuting a previous motion profile the new motion profile will be loaded into the Motion Stack The Motion Stack is 32 entries deep If the queue becomes full or overflows then the drive will generate a fault S curve optional modifier specifies S curve acceleration deceleration Remarks Maximum variable size is 2432 Units QPPR This is the max value for Var APOS Pulses Maximum distance is then this maximum value that can be held in a variable divided by the feedback pulses So assume 4096 ppr encoder Post quad 16384 Max distance before register overflow 131072 For resolver 32768 This matters because if the register overflows then the absolute position is flipped up side down See Also MOVE MOVED MOVEPR MOVEDR MDV MOTION SUSPEND MOTION RESUME Example Statements MOVEP 3 moves to 3 user units absolute position MOVEP 3 moves to 3 user units absolute position MOVEP V5 moves to absolute position determined by value in v5 Statements Table 52 MOVEPR MOVEPR Registered Distance Move Statement Purpose MOVEPR performs absolute position moves specified in User Units in search of the registration input If during a move the registration input becomes activated goes high then the current position is recorded and the displacement value the second argument in the MOVEPR statement is added to the captured registration position to form a new target position The end of the move is then altered to
123. ed Window 4 Current Limit 5 Run Time Fault 6 Ready Output 4 Function 7 Brake 8 In Position 10 Analog 10 Parameter Name Description Analog Input Dead Band Set Zero Speed Dead Band in mV for Torque Velocity Reference on Analog Input 1 Analog Input Offset Set Torque Velocity Reference Input Offset on Analog Input 1 to match Controller Offset Adjust Analog Input Zero Offset Tool to automatically learn the Analog Input Offset of Analog Input 1 Limits Velocity Limits Parameter Name Description Zero Speed Velocity Mode Only Set a bandwidth around ORPM for activation of the Zero Speed Output Flag Set digital output function to 2 At Speed Velocity Mode Only Set a Target Speed for activation of the At Speed Output Flag Speed Window Velocity Mode Only Set a bandwidth around At Speed parameter for activation of the At Speed Output Flag Set digital output function to 3 Compensation T7 Parameter Name Description Velocity P Gain Velocity Mode Only Set P Gain for Velocity Loop Velocity I Gain Velocity Mode Only Set I Gain for Velocity Loop Gain Scaling Velocity Mode Only Apply Scaling Factor to Velocity Gain Set Vote 1 Parameters highlighted in BLUE are mandatory necessary for operation in this mode PM94H201A 123 Reference 3 3 2 Quick Start External Positioning Table 66 Connections for External Positioning Mode
124. edicated and will only come on when the drive is enabled i e in RUN mode The other outputs are labeled OUT1 OUTA Outputs can be configured as Special Purpose Outputs If an output is configured as a Special Purpose Output it will activate when the state assigned to it becomes true For example if an output is assigned the function Zero speed the assigned output will come on when the motor is not in motion To configure an output as a Special Purpose Output select the IO folder from the Parameter Tree Then select the Digital IO folder From the Parameter View Window select the Output function parameter you wish to set 1 2 3 or 4 Outputs that are configured as Not assigned can be activated either via the User Program or from a host interface If an output is assigned as a Special Purpose Output neither the user program nor the host interface can overwrite its status The Systems Variable OUTPUTS is a read write variable that allows the User Program or host interface to monitor and set the status of all four outputs Each output allocates 1 bit in the OUTPUTS variable For example if you set this variable equal to 15 in the User 1111 in binary format then all 4 outputs will be turned on The example below summarizes the output functions and corresponding System Flags To set the output write any 0 value TRUE to its flag To clear the output write 0 value FALSE to its flag You can also use
125. elocityStepRPS Else Velocity Inc Dec 1 Set Variable to start decreasing velocity Endif Else Speed Decreasing If REF 1 MaxVelocityRPS If Current Motor Velocity gt MaxVelocityRPS IREF IREF VelocityStepRPS Then decrease Velocity by VelocityStepRPS Else Velocity Inc Dec 0 Set Variable to start increasing velocity Endif Endif Goto Velocity Loop Loop to next Velocity Increase Decrease END End Code Never Reached On Fault Fault Handler Resume Program Start Resume at Program Start EndFault PM94H201A 127 Reference 3 3 4 Quick Start Internal Positioning 128 Table 69 Internal Positioning Connections 1 0 Pin Name Function 26 IN_A_COM Digital input group A COM terminal 27 IN A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 30 IN_A4 Digital input A4 31 IN_B_COM Digital input group B COM terminal 32 IN_B1 Digital input B1 33 IN_B2 Digital input B2 34 IN_B3 Digital input B3 35 IN_B4 Digital input B4 36 IN_C_COM Digital input group C COM terminal 37 IN_C1 Digital input C1 38 IN_C2 Digital input C2 39 IN_C3 Digital input C3 40 IN_C4 Digital input C4 41 RDY Ready output Collector 42 RDY Ready output Emitter 43 OUT1 C Programmable output 1 Collector 44 OUT1 E Programmable output 1 Emitter 45 OUT2 C Programmable output 2 Collector 46 OUT2 E Programmable output 2
126. ement can only be accepted if input A3 is made If at any time while drive is enabled A3 deactivates then the fault F36 Drive Disabled will result This is a hardware safety feature 10 PM94H201A lenze Introduction Basic Motion Program Select Indexer program from the Parameter Node Tree The Parameter View window will display the current User Program stored in the drive Note that if there is no valid program in the drive s memory the program editing window will be empty WARNING This program will cause motion The motor should be disconnected from the application free to rotate or if a motor is connected the shaft must be free to spin 10 revs forward and reverse from the location of the shaft at power up Also the machine must be capable of 10 RPS and an accel decel of 5 RPSS In the program area clear any existing program save if required and replace it with the following program Program Compile Resultant MotionView OnBoard Messages UNITS 1 DeviceNet CIP ACCEL 5 7 UNITS 1 set user units to revolutions Enter the Beie Ge DECEL 5 10 important M program then l velocity Limits 11 d 10 t C m il Position Limits 12 MOVED 10 Compilation error Check output window for details ENABLE se O Compensation 13 E MOVEDISTANCE 10 on the 2 14 B 15 MOVED 10 toolbar Afte
127. engage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 0 Retract Pick arm WAIT UNTIL IN A4 Arm is retracted GOTO PROGRAM START END 1 8 User Variables and the Define Statement In the previous program for the pick and place machine constant values were used for position limits to trigger the events and turn the spray gun ON and OFF If limits must be calculated based on some parameters unknown before the program runs like home origin material width etc then this system data can be stored in user variables The PositionServo provides 32 User Variables VO V31 and 32 User Network Variables NVO NV31 Network variables have an additional function associated to them refer to Send Command but can for most purposes be considered as user variables in the same way as the standard user variables VO 31 Hence 64 user variables or data storage locations are available to the programmer In the program following the example DEFINE statements the limit APOS actual position is compared to V1 for an ON event and V2 for an OFF event The necessary limit values could be calculated earlier in the program or supplied by an HMI or host PC The DEFINE statement can be used to assign a name to a constant variable or drive Input Output In the program below constants 1 and 0 are defined as Output On and Output DEFINE is a pseudo statement i e it is not executed by the program interpreter but rather substitutes expressions in the subs
128. ent Description This is a sample program that shows a simple application that picks up part moves to a set position and drops the part PRR RRR RR RK RRR KR KK RR KR KKK RR KR KR RK RR KK KEK I O List kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk nput Al not used 7 nput A2 not used nput Enabled nput 4 not used nput B1 not used H nput B2 not used H nput not used B4 not used nput Cl not used H nput C2 not used nput not used nput C4 not used Output 1 Pick Arm A Output 2 Gripper Output 3 not used Output 4 not used OOO OR eka Initialize and Set Variables 9d dk k k Kok k joke k k k A A A keel K K UNITS 1 ACCEL 75 DECEL 75 MAXV 10 APOS 0 DATE Set Events handling here OI IO II I IO III IO ag Main Program rk I k kk I IO I I IO I TOO I ee RESET DRIVE WAIT UNTIL IN A3 Check the Enable Inhibit switch is made before continuing ENABLE Enable the Drive PROGRAM START MOVEP 0 Move to Pick position QUTI 1 Turn on output 1 on to extend Pick arm WAIT TIME 1000 Delay 1 sec to extend arm OUT2 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUTIL 0 Turn off output 1 to Retract Pick arm MOVEP 100 Move to Place position OUT1 1 Turn on output 1 on to extend Pick arm WAIT TIME 1000 Delay 1 sec to extend arm OUT2
129. equent program at the time of compilation Examples of the DEFINE statement Definition of Constant Values DEFINE Move 1 100 DEFINE BallScrewPitch 0 357 Definition of Inputs Outputs DEFINE System Run IP In B1 DEFINE Process Run OP 1 Definition User Variables DEFINE Distance Travelled V2 DEFINE Network Healthy NV10 Programming the following statement Distance Travelled Move 1 BallScrewPitch Is now the equivalent of writing V2 100 0 357 Lenze PM94H201A 23 Introduction Initialize and Set Variables x d dw d i i d i d kk k EE A UNITS 1 Define units for program l revolution of motor shaft ACCEL 5 Set Acceleration rate for Motion command DECEL 5 Set Deceleration rate for Motion command MAXV 10 Maximum Velocity for Motion commands Vil 25 Set Variable V1 equal to 25 M2 m T5 Set Variable V2 equal to 75 DEFINE Output On 1 Define Name for output On DEFINE Output Off 0 Define Name for output Off Ekk kkk kkk kkk kkk kkk kkk kkk k kk EVENTS ko ko EVENT SPRAY GUNS ON APOS gt V1 Event will trigger as position passes 25 in pos dir OUT3 Output On Turn on the spray guns out 3 on ENDEVENT End event EVENT SPRAY GUNS OFF APOS gt V2 Event will trigger as position passes 75 in pos dir OUT3 Output Off Turn off the spray guns out
130. er Program will wait until that move profile is complete before continuing on Because motion has been suspended the move will never be complete and the program will hang on this instruction 2 11 10 Conditional Moves MOVE WHILE UNTIL The statements MOVE UNTIL lt expression gt and MOVE WHILE lt gt will both start their motion profiles based on their acceleration and max velocity profile settings The MOVE UNTIL expression statement will continue the move until the expression becomes true The MOVE WHILE lt gt will also continue its move while it s expression is true Expression can be any valid arithmetic or logical expressions or their combination Examples MOVE WHILE 5 lt 20 Move while the position is less then 20 then Stop with current deceleration rate MOVE UNTIL APOSsV1 Move positive until the position is greater than the value in variable V1 MOVE BACK UNTIL APOS lt V1 Move negative until the position is less than the value in variable V1 MOVE WHILE IN A1 Move positive while input A1 is activated MOVE WHILE IN A1 Move positive while input A1 is not activated The exclamation mark in front of IN A1 inverts negates the value of IN Al This last example is a convenient way to find a sensor or switch 52 PM94H201A Lenze Programming 2 11 11 Motion Queue and Statement Execution while in Motion By default when the program
131. erate toward the Max Velocity setting but has to decelerate before ever achieving the max velocity in order to reach the desired end point 26 PM94H201A Lenze Velocity 1 10 3 Segment Moves Acceleration Rate Defined by ACCEL variable Deceleration Rate Triangular Move Profile Introduction Trapezoidal Move Profile Steady State Velocity Defined by DECEL variable Defined by DECEL variable Acceleration amp Deceleration Rates Only Defined by ACCEL and DECEL variables Time Figure 10 Trapezoidal Move MOVED and MOVEP commands facilitate simple motion to be commanded but if the required move profile is more complex than a simple trapezoidal will allow then the segment MDV move can be used The profile shown in Figure 11 is divided into 8 segments or 8 MDV moves An MDV move Move Distance Velocity has two arguments The first argument is the distance moved in that segment This distance is referenced from the motor s current position in User Units The second argument is the desired target velocity for the end of the segment move That is the velocity at which the motor will run at the moment when the specified distance in this segment is completed 70 o 60 a 50 gt 40 9 Qo 30 gt 20 10 Segment seamen apen 5 10 15 20 25 30 Distance User Units Figure 11 Segment Move Table 6 Segment Move Segment Number Distance moved Velocity at the end of
132. es that only become active after variable 247 is set 104 PM94H201A Lenze Reference Index Name Type Format EPM Access Description Units Enable switch function 29 VAR ENABLE SWITCH TYPE R W 0 inhibit only Bit 1 Run 30 VAR_CURRENTLIMIT F R W Current limit 31 VAR_PEAKCURRENTLIMIT16 R W Peak current limit for 16 2 operation A mp 32 VAR_PEAKCURRENTLIMIT F R W Peak current limit for 8 2 operation A mp PWM frequency selection 33 VAR_PWMFREQUENCY R W 0 16kHz 1 8kHz N WARNING You change operating modes Drive mode when required during program 34 DRIVEMODE Ww R W 0 torque execution but do not change 1 velocity modes on the fly with drive 2 position enabled as this may cause unexpected behavior of the motor 35 VAR CURRENT SCALE F y R W Analog iriput 1 current reference scale AN Range model dependent Analog input 1 velocity reference scale 36 VAR VELOCITY SCALE vel F Y R W Range 10 000 to 10 000 RPM V Reference selection 37 VAR_REFERENCE W 1 internal source 0 external External Position Input configuration 38 VAR STEPINPUTTYPE W R W 0 Quadrature inputs 1 Step amp Direction Motor thermal protection function 39 VAR MOTORTHERMALPROTECT R W 0 disabled 1 enabled 40 VAR
133. essed by their identification number from the User s program or from a Host Interface In addition to identification numbers all of the variables have predefined names and can be accessed by that name from the user program The following syntax is used when accessing variables by their identification number 9102 20 set variable 102 to 20 988 9100 copy value of variable 100 to variable 88 Variable 102 has the variable name V2 Variable 88 has the variable name and Variable 100 has the variable name VO Hence the program statements above could be written as V2 20 VAR AOUT VO Using variable names rather than identification numbers creates code that is more easily read and understood 34 94 201 Lenze Programming There are two types of variables in the PositionServo drive User Variables and System Variables User Variables are a fixed set of variables that the programmer can use to store data and perform arithmetic calculations All variables are of a single type Single type variables i e typeless variables relieve the programmer of the task of remembering to apply conversion rules between types thus greatly simplifying programming User Variables 0 31 User defined variables Variables can hold any numeric value including logic Boolean 0 FALSE and non 0 TRUE values They can be used in any valid arithmetic or logical expressions NVO NV31 User defined network variables Varia
134. f the move is determined by the argument following the MOVEP command 10 This argument can be a number a variable or any valid arithmetic expression The maximum velocity of the move is determined by setting the system variable MAXV The acceleration and deceleration are determined by setting the system variables ACCEL and DECEL respectively If values for velocity acceleration and deceleration for a specified distance are such that there is not enough time to accelerate to the specified velocity the motion profile will result in triangular or double S profile Full Stop The following code extract generates the motion profiles shown in Figure 19 ACCEL 200 DECEL 200 MAXV 20 MOVED 4 Move 1 MOVED 1 5 Move 2 MOVED 4 S Move 3 MOVED 1 5 5 Move 4 48 PM94H201A Lenze Programming MOVE 1 MOVE 2 Velocity Velocity Velocity Limit 20 Velocity Limit 20 Move 1 4 Units Time Move 2 1 5 units Trapezoidal moves MOVE 3 MOVE 4 Velocity Velocity Velocity Limit 20 Velocity Limit 20 Move 3 4 units with S curve Time Move 4 1 5 units with S curve Time S curve moves Figure 19 Move Illustration All four of the moves shown in Figure 19 have the same Acceleration Deceleration and Max Velocity values Moves 1 and 3 have a larger value for the move distance than Moves 2 and 4 In Moves 1 and 3 the distance is long enough to allow the motor to accelerate to the profiled max velocity and maintai
135. f the position where the homing switch becomes inactive Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will continue running at fast homing velocity in the positive direction until the rising edge of the first index pulse position 10 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative continuing motion until it sees the rising edge of the homing switch The axis will then stop and follow the procedure as detailed above gt gt ma 4 Index Pulse Input C3 Homing Switch Var_Home_Switch_Input Figure 34 Homing Method 10 68 PM94H201A Lenze Programming 2 15 9 11 Homing Method 11 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is negative if the homing switch is inactive The home position is the f
136. g switch becomes inactive Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will continue running at fast homing velocity in the negative direction until the rising edge of the first index pulse position 14 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction positive continuing motion until it sees the rising edge of the homing switch The axis will then stop and follow the procedure as detailed above Index Pulse Input C3 Homing Switch Var Home Switch Input Figure 38 Homing Method 14 72 PM94H201A Lenze Programming 2 15 9 15 Homing Method 17 Homing to Negative Limit Switch without index pulse Method 17 is similar to method 1 except that the home position is not dependent on the index pulse but only on the negative limit switch translation Using this method the initial direction of movement is negative The h
137. gaged 34 3 21 Attempt at positive motion with engaged positive limit switch 35 3 21 Attempt at negative motion with engaged negative limit switch 36 3 Hardware disable enable input not active when attempting to enable drive from program or interface 37 3 Under voltage hardware revision 2 38 3 EPM loss 39 3 21 Positive soft limit reached 40 3 21 Negative soft limit reached 41 3 Attempt to use variable with unknown ID from user program 45 1 3 Second encoder position error excess 49 1 3 Illegal manipulation of APOS variable 2 14 Limitations and Restrictions Communication Interfaces Usage Restrictions Simultaneous connection to the RS485 port is allowed for retransmitting conversion between interfaces WARNING Usage of the RS485 simultaneously with Ethernet may lead to unpredictable behavior since the drive will attempt to perform commands from both interfaces concurrently Motion Parameters Limitation Due to a finite precision in the calculations there are some restrictions for acceleration deceleration and max velocity for a move If the programmer receives arithmetic faults during his program s execution it is likely due to these limitations Min Max values are expressed in counts or counts sample where the sample is a position loop sample interval 512 Table 19 Motion Parameter Limits Parameter MIN MAX Units Accel Decel 65 2 32 512 counts sample 2 MaxV maximum velocity 0 2048 count
138. ge 0 1000 mS Input B4 de bounce time in mS 201 VAR_IN7_DEBOUNCE W Y R W Range 0 1000 mS 202 VAR IN8 DEBOUNCE w y pw 1 de bounce time in mS mS Range 0 1000 203 VAR IN9 DEBOUNCE w y 2 de bounce time in mS mS Range 0 1000 204 IN10 DEBOUNCE w y pyw de bounce time in mS mS Range 0 1000 205 VAR IN11 DEBOUNCE y pyw 4 de bounce time in mS mS Range 0 1000 Programmable Output function 0 Not Assigned 1 Zero Speed 2 In Speed Window 206 VAR OUT1 FUNCTION Ww Y R W 3 Current Limit 4 Run time fault 5 Ready 6 Brake 7 In position Programmable Output Function See range PON Y RUN settings for Variable 4206 Programmable Output Function See range Y RAN settings for Variable 206 Programmable Output Function See range dh settings for Variable 4206 Current hall code Bit Hall 1 210 VAR HALLCODE W N Bit 1 Hall 2 Bit 2 Hall 3 211 VAR ENCODER Ww N jPrimary encoder current value EC VAR RPOS PULSES 212 W N R jRegistration position in encoder pulses EC Short Name RPOS PLS VAR RPOS 213 R Registration position UU Short Name RPOS Lenze PM94H201A 113 Reference Index Name Type Format EPM Access Description Units 214
139. gured When first getting started with PositionServo programming it is recommended that the following parameters be set within MotionView parameter folders to aid initial program creation Parameter setup Select Parameter folder in the Parameter Node Tree window and set the following parameters Set the Drive Operating Mode Select Drive mode from the Parameter View Window Select Position Velocity or Torque from the drop down menu depending on the mode the drive is to be operated in In order to execute the examples contained in this section of the manual the drive will need to be in Position mode Set the Reference to Internal Select Reference from the Parameter View Window Select Internal from the pull down menu to select the user program as the source of the Torque Velocity or Position Reference Select Digital 10 folder in the Parameter Node Tree window and set the following parameter Set the Enable switch function to Inhibit Select Enable switch function from the Parameter View Window Select Inhibit from the menu to allow the user program control of the enable disable status of the drive Input A3 will now act as a hardware inhibit Configuration Input A3 is the Inhibit Enable special purpose input Refer to the PS User Manual 894H201 for more information Before executing any motion related statements the drive must be enabled by executing ENABLE statement ENABLE stat
140. have a predefined meaning They give the programmer user access to drive parameters and functions Some of these variables can also be set via the parameters in MotionView In most cases the value of these variables can be read and set in the user program or via a Host Interface Variables are either read only write only or read and write Read only variables can only be read and can t be set For example INPUTS 5 is an illegal action because you can not set an input Conversely write only variables cannot be read Reading a write only variable by either the variable watch window or network communications can result in erroneous data System Flags are predefined bits that are used by a program either to remember something or to signal some condition Flags are binary values so contain only values 1 or 0 True or False For example IN A1 is the system flag that reflects the state of digital input A1 Since inputs can only be ON or OFF then the value of IN A1 can only be O or 1 Lenze PM94H201A 37 Programming 2 7 System Variables Storage Organization The PositionServo drive contains dual variable storage locations the operational memory RAM that is the volatile operating memory and the EPM memory that is the non volatile configuration memory When the PositionServo is turned on it copies the retained settings from the EPM non volatile memory into the RAM memory for use during program execution When a system variable is changed during
141. ing edge shown at position A Axis then decelerates to zero velocity If the homing switch is already inactive when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in positive direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 4 is detected Index Pulse via Input C3 Homing Switch Home Switch Input Figure 28 Homing Method 4 Lenze 94 201 63 Programming 2 15 9 5 Homing Method 5 Homing on the Negative Home Switch amp Index Pulse Using this method the initial direction of movement is negative if the homing switch is inactive The home position is the first index pulse to the positive side of the position where the homing switch becomes active Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in positive direction Motion will continue until first the falling edge of the Homing switch is detected position B and then the rising edge of the firs
142. interface Syntax STOREVARS Vx Vy any number from 0 31 Remarks Values that are stored in EPM memory for the User Variables VO V31 using StoreVars command automatically transferred into operational memory at power up a LoadVar statement is not required Should a User Variable be altered by the user program it is altered only in the operational memory of the drive and can be restored back to its EPM value using the LoadVars statement Care must be taken with the STOREVAR statement not to exceed EPM write capacity of 1 million cycles See Also LOADVARS Example statements V1 12 Set V1 12 in drives operational memory volatile statements STOREVARS V1 Store V1 variable to EPM Memory non volatile statements LOADVARS V1 Restore value of V1 from EPM memory END End main program Example to specify multiple variables list in a single STOREVARS statement STOREVARS V0 V1 V5 V20 Store values of VO V1 V5 V20 Table 60 VELOCITY ON OFF VELOCITY ON OFF Velocity Mode Statement Purpose The VELOCITY ON statement enables the drive to simulate velocity mode operation while remaining in internal position mode This allows the drive to transition between internal velocity and position mode while the drive is still enabled The VELOCITY OFF statement disables velocity mode and returns drive to position mode The velocity value for this mode is set by writing to the System Variable VEL
143. ion 16 Reserved 18 16 Division by zero 19 16 Arithmetic overflow 20 3 Subroutine stack overflow Exceeded 32 levels subroutines stack depth 56 PM94H201A Lenze Programming Fault Associated flags Description ID in status register 21 3 Subroutine stack underflow Executing RETURN statement without preceding call to subroutine 22 3 Variable evaluation stack overflow Expression too complicated for compiler to process 23 21 Motion Queue overflow 32 levels depth exceeded 24 21 Motion Queue underflow Last queued MDV statement has non 0 target velocity 25 3 Unknown opcode Byte code interpreter error Occurs when program is missing END statement Unknown byte code Byte code interpreter error Occurs when RETURN statement missing from 50 g subroutine or when EPM data is corrupted at run time 27 21 Drive disabled Attempt to execute motion while drive is disabled 28 16 21 Accel Decel too high Motion statement parameters calculate Accel Decel value above system capability 29 16 21 Accel Decel too low Motion statement parameters calculate Accel Decel value below system capability 30 16 21 Velocity too high Motion statement parameters calculate a velocity above the system capability 31 16 21 Velocity too low Motion statement parameters calculate a velocity below the system capability 32 3 21 Positive limit switch engaged 33 3 21 Negative limit switch en
144. ion is the first index pulse to the negative side of the position where the homing switch becomes inactive Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already inactive when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 12 is detected NOTE if it the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction positive following the procedure as detailed above Index Pulse via Input C3 Homing Switch Var_Home_Switch_Input Figure 36 Homing Method 12 70 PM94H201A Lenze Programming 2 15 9 13 Homing Method 13 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is negative The home position is the first index pulse to the positive side of the position where the homing switch becomes inactive on its posi
145. irst index pulse to the positive side of the position where the homing switch becomes active Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until first the falling edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 11 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction positive following the procedure as detailed above but moving positive instead of negative and without stopping on detection of the homing switch rising edge Index Pulse via Input C3 Homing Switch Var_Home_Switch_Input Figure 35 Homing Method 11 Lenze PM94H201A 69 Programming 2 15 9 12 Homing Method 12 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is positive if the homing switch is active The home posit
146. is only active for a limited range of travel Mechanical Stage Limits E Starting Position Direction of Motion Index Pulse Positions _ IL Negative Limit Switch E ee Number Homing Method Number Switch active high Switch inactive low Position of the number indicates the home position Switch transition Figure 24 Homing Terms NOTE D In the homing method descriptions negative motion is leftward and positive motion is rightward BLUE lines indicate fast velocity moves GREEN lines indicate slow velocity moves RED lines indicate slow velocity 100 moves Lenze PM94H201A 61 Programming 2 15 9 1 Homing Method 1 Homing on the Negative Limit Switch amp Index Pulse Using this method the initial direction of movement is negative if the negative limit switch is inactive here shown as low The home position is at the first index pulse to the positive side of the position where the negative limit switch becomes active Axis will accelerate to fast homing velocity in the negative direction and continue until Negative Limit Switch A1 is activated rising edge shown at position A Axis then decelerates to zero velocity If the negative limit switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until first the falling edge of the negative limit switch is detec
147. ive limit switch A1 Upon activating the negative limit switch the axis will change direction positive following the procedure as detailed above but ignoring the initial move in the negative direction Homing Switch Var Home Switch Input Figure 46 Homing Method 29 80 PM94H201A Lenze Programming 2 15 9 23 Homing Method 33 Homing to an Index Pulse Using this method the initial direction of movement is negative The home position is the first index pulse to the negative side of the shaft starting Position Axis will accelerate to fast homing velocity in the negative direction and continue until the rising edge of the first index pulse position 33 is detected 9 4 SS teg m m Se Index Pulse via Input C3 Figure 47 Homing Method 33 2 15 9 24 Homing Method 34 Homing to an Index Pulse Using this method the initial direction of movement is positive The home position is the first index pulse to the positive side of the shaft starting Position Axis will accelerate to fast homing velocity in the positive direction and continue until the rising edge of the first index pulse position 34 is detected a EN e 4 T U 1 1 Index Pulse via Input C3 Figure 48 Homing Method 34 2 15 9 25 Homing Method 35 Using Current Position as Home Using thi
148. kkkkkkkkkkkkkkkkkkkkkk EVENT SKIPOUT IN B4 RISE check for rising edge of input B4 JUMP TOGGLE redirect code execution to TOGGLE ENDEVENT end the event EVENT OVERSHOOT IN B3 RISE check for rising edge of input B3 JUMP SHUTDOWN redirect code execution to SHUTDOWN ENDEVENT end the event kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk EVENT SKIPOUT ON EVENT OVERSHOOOT ON kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk EEA User codes EVENTS OFF turns off all events User code EVENTS ON turns on any event previously activated Table 34 FAULT FAULT User generated fault Statement Purpose Allows the user program to set a custom system fault This is useful when the programmer needs to define a fault code and fault process for custom conditions like data supplied by interface out of range etc Custom fault numbers must be in region of 128 to 240 decimal Syntax FAULT lt FaultNumber gt Sets system fault lt FaultNumber gt constant in range 128 240 Remarks Custom fault will be processed in the same way as a system fault There will be a record in the fault log Variables are not allowed in this statement See Also ON FAULT Example FAULT 200 Sets fault 200 Lenze PM94H201A 89 Reference Table 35 GOSUB GOSUB Go To subroutine Statement Purpose GOSUB transfers control to subroutine Syntax GOSUB lt subname gt lt s
149. l bits but lowest 4 IF INPUTS amp 0x3 check inputs 0 and 1 Vl V1 Oxff set lowest 8 bits V1 INPUTS OxF invert inputs 0 3 IN Al invert input A1 36 PM94H201A Lenze Programming 2 4 2 Boolean Operators Table 9 lists the boolean operators supported by the Indexer program Boolean operators are used in logical expressions Table 9 Supported Boolean Operators Operator Symbol AND amp amp OR Examples APOS gt 2 amp amp APOS lt 6 APOS gt 10 amp amp APOS lt 20 statements if true ENDIF The above example checks if APOS actual position is within one of two windows 2 to 6 units or 10 to 20 units In other words If APOS is more than 2 AND less than 6 OR If APOS is more than 10 AND less then 20 THEN the logical expression is evaluated to TRUE Otherwise it is FALSE 2 5 Comparison Operators Table 10 lists the comparison operators supported by the Indexer program Table 10 Supported Comparison Operators Operator Symbol More gt Less lt Equal or more gt Equal or less lt Not Equal lt gt Equal Examples IF APOS lt 10 If Actual Position equal or less than 10 IF APOS 20 Actual Position greater than 20 IF 0 equal to 5 V1 2 amp amp V2 lt gt 4 If V1 less than 2 And V2 doesn t equal 4 2 6 System Variables and Flags System variables are variables that
150. l overshoot the programmed registration position Over shoot of the target position is not rectified automatically either realistic arguments must be entered for the registered move command and deceleration rate or a comparison statement used to detect and rectify over shoot 2 11 6 Segment Moves In addition to the simple moves that can be generated by MOVED and MOVEP statements complex profiles can be generated using segment moves A segment move represents one portion of a complete move A complete move is constructed out of two or more segments starting and ending at zero velocity 2 11 7 MDV Segments Profiles are created using a sequence of MDV statements The simplified syntax for the MDV Move Distance with Velocity statement is distance velocity The distance is the total distance completed during the segment move The velocity is the target velocity for the end of the segment move The starting velocity is either zero or the final velocity of the previous segment The final segment in a complete profile must have a velocity of zero If the final segment has a velocity other than zero a motion stack under flow fault will occur E 24 50 PM94H201A Lenze Programming The profile shown in Figure 20 can be broken up into 8 MDV moves The first segment defines the distance between point 1 and point 2 and the velocity at point 2 So if the distance between point 1 and 2 was 3 units and the velocity at point 2
151. l terminate here Fault routine must end with an ENDFAULT statement Table 54 REGISTRATION ON REGISTRATION ON Registration On Statement Purpose This statement arms the registration input input IN_C3 When the registration is armed and the registration input activated the Flag F REGISTRATION is set and the current position is captured and stored to the HPOS System Variable The REGISTRATION ON statement when executed will reset the F REGISTRATION flag ready for detection of the next registration input Syntax REGISTRATION ON Flag F REGISTRATION is reset and registration input is armed See Also MOVEDR MOVEPR Example Moves until registration input is activated and then returns to the sensor position statements REGISTRATION ON Arm registration input MOVE UNTIL F REGISTRATION Move until registration flag is activated triggered by registration input to C3 sensor hit Drive will decelerate to stop beyond Sensor position MOVEP RPOS Absolute move back to the position of the sensor statements 98 PM94H201A Lenze RESUME Purpose Syntax See Also Example Reference Table 55 RESUME Resume Statement This statement redirects the code execution form the Fault Handler routine back to in the User Program The specific line in the User Program to be directed to is called out in the argument lt label gt of the RESUME statement This statement is only allowed in the fault handler routine
152. le overflow for and operations will cause arithmetic overflow fault F 19 Register variable overflow underflow for and operations does not cause an arithmetic fault 2 4 Logical Expressions and Operators Bitwise Boolean and comparison operators are referred to as Logical Operators Bitwise operators are used to change individual bits within an operand variable Bitwise operation works at the binary level of the variables changing specified bits or bit patterns within those variables Boolean operators are used to combine simple or complex expressions within a single logic statement They are used to define a condition that ultimately equates to either True or False Comparison operators are used to perform a test between two values and to return a result indicating whether or not the test Comparison evaluates to true or false 2 4 1 Bitwise Operators Table 8 lists the bitwise operators supported by the Indexer program Table 8 Supported Bitwise Operators Operator Symbol AND amp OR XOR Both User or System variables be used with these operators In order to perform a bitwise Boolean operation the value often easier in entered in hexadecimal format To enter a number in hexadecimal use the characters Ox immediately prior to the hexadecimal number Example bit 22 alone would be referenced as 0x400000 Examples V1 V2 amp OxF clear al
153. le Drive Torque Loop Wait Time 500 Set time between step increases in Torque If REF VAR CurrentLimit Set Torque lt Motor Nominal Torque IREF IREF 0 1 Then increase by 0 1 Amps GOTO Torque Loop Loop to next torque increase Else Goto Program Start Else restart program Endif END Example Internal Velocity Program Program slowly increases and decreases Motor Velocity between Maximum Velocity Forward direction and Maximum Velocity Reverse direction producing a saw tooth velocity profile Define MaxVelocityRPS 60 Enter Maximum Velocity RPS value here Define VelocityStepRPS 1 Define Velocity INC DEC per Step Program Loop RPS Define VelocityStepTime 200 Define Time for Velocity Steps in mS Define Velocity Inc Dec VO Define a Variable to identify if Velocity is currently INC DECreasing VAR DriveMode 1 Set Drive to Velocity mode VAR Reference 1 Set Reference to Internal control VAR Enable AccelDecel 1 Enable Accel Decel Ramps VAR Accel Limit 3000 Set Accel Rate required in RPS 2 VAR Decel Limit 3000 Set Decel Rate required in RPS 2 Program Start IREF 0 Reset Velocity Reference to 5 Wait While In A3 Wait while Enable input is OFF Enable Enable Drive Velocity Loop Wait Time VelocityStep Time Set Time between Step Increases Decreases in Velocity mS If REF MaxVelocityRPS If Current Motor Velocity lt MaxVelocityRPS IREF IREF VelocityStepRPS Then increase Velocity by V
154. lways the home position adjusted by the homing offset Table 21 Homing Methods Method Home Position 0 No operation reserved An attempt to execute 0 will result in execution of method 1 Location of first index pulse is on the positive side of the negative limit switch Location of first index pulse is on the negative side of the positive limit switch Location of first index pulse is on the negative side of a positive home switch Location of first index pulse is on the positive side of a positive home switch Location of first index pulse is on the positive side of a negative home switch Location of first index pulse is on the negative side of a negative home switch Location of first index pulse is on the negative side of the negative edge of an intermittent home switch Location of first index pulse is on the positive side of the negative edge of an intermittent home switch Location of first index pulse is on the negative side of the positive edge of an intermittent home switch Location of first index pulse is on the positive side of the positive edge of an intermittent home switch Location of first index pulse is on the positive side of the positive edge of an intermittent home switch Location of first index pulse is on the negative side of the positive edge of an intermittent home switch Location of first index pulse is on the positive side of the negativ
155. mming In the RAM memory access program example the values of PE position error are stored sequentially in the RAM file every 100ms for 10 seconds 100 samples After collection is done the data is read from the file one by one and compared with limit value set Variable VAR MEM INDEX is incremented every read or write by the value stored in VAR MEM INDEX INCREMENT This could be any value from 32767 to 32767 This allows for decrement through storage locations in the RAM file in addition to Increment If the value is O zero no increment decrement is produced Var Mem Index is a modular variable it wraps around it maximum or minimum values Le if the next increment or decrement of Var Mem Index results in a value beyond the modulus 32767 or 32767 then the variable will wrap around to the opposite end of the variable range This allows for the creation of circular arrays This feature can be used for diagnostics when certain parameter s are stored in the memory continuously and then if the system fails the data array can be examined to simplify diagnostics 2 7 3 Memory Access Through MEMSET MEMGET Statements The memory access statements MEMSET and MEMGET are provided for simplified transfer of data between the RAM memory and the user variables VO V31 Using these statements any combinations of variables VO V31 can be stored retrieved with a single statement This allows for efficient access to the RAM memory area For example reading
156. n a GOSUB statement Refer to Section 3 1 for more detailed information on the GOSUB and RETURN statements The flowchart and code segment in Figure 16 illustrate the use of subroutines Start statements Se GOSUB CalcMotionParam che MOVED VI CalcMotionParam Paton Statements Statements END S CalcMotionParam lest 1 V3 2 V4 Y VI wen RETURN Figure 16 GOSUB Code and Flowchart 46 PM94H201A Lenze Programming 2 10 Scanned Event Statements A Scanned Event is a small program that runs independently of the main program SCANNED EVENTS are very useful when it is necessary to trigger an action i e handle I O while the motor is in motion or other tasks within the Main Program are executing When setting up Events the first step is to define both the action that will trigger the event as well as the sequence of statements to be executed once the event has been triggered Events are scanned every 512us Before an Event can be scanned however it must be enabled Events can be enabled or disabled from the user program or from another event see explanations below Once the Event is defined and enabled the Event will be constantly scanned until the trigger condition is met this scan rate is independent of the main program s timing Once the trigger condition is met the Event statements will be executed independently of the user program
157. n is the first index pulse to the positive side of the position where the homing switch becomes inactive Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already inactive when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 8 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative following the procedure as detailed above Index Pulse via Input C3 Homing Switch Var Home Switch Input Figure 32 Homing Method 8 66 PM94H201A Lenze Programming 2 15 9 9 Homing Method 9 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is positive The home position is the first index pulse to the negative side of the position where the homing switch becomes inactive on its negative e
158. n is the leading edge of the homing switch Axis will accelerate to fast homing velocity in the positive direction and continue until the homing switch is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until the falling edge of the homing switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the rising edge of the homing switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the falling edge of the homing switch is detected position 19 This is the home position excluding offset Homing Switch Var_Home_Switch_Input Figure 41 Homing Method 19 Lenze PM94H201A 75 Programming 2 15 9 18 Homing Method 21 Homing to Homing Switch without index pulse Using this method the initial direction of movement is negative if the homing switch is inactive The home position is the leading edge of the homing switch Axis will accelerate to fast homing velocity in the negative direction and continue un
159. n that velocity before decelerating down to a stop In Moves 2 and 4 the commanded distance is so small that the calculated point of deceleration occurs before the motor has reached the profiled Maximum velocity On reaching the calculated deceleration point the drive will start decelerating the motor in order to arrive at the commanded target position 2 11 3 Incremental MOVED Motion Incremental motion is defined as a move of some distance from the current position Move four revolutions from the current position is an example of an incremental move MOVED is the statement used to create incremental moves The simplified syntax is MOVED lt distance gt sign will tell the drive in which direction to move the motor shaft 2 11 4 Absolute MOVEP Move Absolute motion is defined as motion that is always specified relative to the same known location The location that each move is specified relative to is termed the zero 0 position For example an absolute move of 20 will result in a move to a position that is 20 user units from the zero position regardless of whether the current shaft location is less than or greater than this commanded position required motion is forward or reverse The Zero position is normally established during a homing cycle performed after power up where the programmer specifies using a switch or other device a known point within the system mechanics from where they will reference all further motion
160. n the DECEL variable If the QUICK modifier is used then the deceleration value will come from the QDECEL variable The main use for this command is to control an emergency stop or when the End Of Travel sensor is detected Note that the current position will not be lost after this statement is executed Syntax STOP MOTION Stops using DECEL deceleration rate STOP MOTION QUICK Stops using QDECEL deceleration rate Remarks Drive output is not disabled following a STOP MOTION QUICK command Also Motion is not suspended after a STOP MOTION QUICK so any motion command processed subsequently will be loaded to the Motion Queue and will be executed See Also MOTION SUSPEND Example statements DECEL QDECEL 100 10000 statements STOP MOTION QUICK 100 PM94H201A lenze Reference Table 59 STOREVARS STOREVARS EPM access statements STOREVARS Statement Purpose STOREVARS is the command to store the values of the user variables VO V31 to the drive s EPM Using this statement any combinations of variables VO V31 can be stored to the EPM with a single statement Stores the values of the user s variables 1 to the EPM The purpose of the STOREVARS command is to store user variables from the drives operational memory to the EPM memory so they are retained on power down or so they can be restored back to the operational memory should their values be altered during the execution of the user program or by host
161. nce an MDV sequence must have at least two segments The MDV statement doesn t suspend execution of the main program Each segment is loaded into the Motion Queue and the sequence executed sequentially If the last segment in the Motion Queue doesn t have a final velocity of 0 the drive will generate a Motion Stack fault 24 If the S modifier is used in the statement then the velocity acceleration deceleration will be S curved as opposed to linear Syntax MDV segment distance gt lt segment final velocity gt S LS optional modifier specifies S curve acceleration deceleration See Also MOVE MOVEP MOVEPR MOVED MOVEDR MOTION SUSPEND MOTION RESUME Example Statements MDV 5 10 Move 5 user units and accelerate to velocity of 10 MDV 10 10 Move 10 user units and maintain a velocity of 10 MDV 10 5 Move 10 user units and decelerate to velocity of 5 MDV 5 0 Move 5 user units and decelerate to velocity 0 The last must have a final velocity of 0 Statements Lenze PM94H201A 93 Reference Table 44 MEMGET MEMGET Memory access statements MEMGET Statement Purpose MEMGET provides command for simplified retrieval of data from the drives RAM memory file through transfer of data to the variables 1 Using this statement any combinations of variables VO V31 can be retrieved from the RAM file with a single statement Syntax MEMGET offset varlist offset
162. nd 100 is the argument Remarks The remark field contains additional information about the use of the statement See Also This field contains a list of statements that are related to the purpose of the keyword Example The example field contains a code segment that illustrates the usage of the keyword Lenze PM94H201A 84 Reference Table 24 ASSIGN ASSIGN Assign Input As Index Bit Statement Purpose Assign keyword causes a specified input to be assigned to a particular bit of system variable INDEX Up to 8 digital inputs can be assigned to the first eight bits bits 0 7 of the INDEX system variable in any order or combination The purpose of the Assign Keyword and INDEX system Variable is to allow the creation of a custom input word for inclusion in the user program Good examples of it s use are for implementing easy selection of preset torque velocity or position values within the user program Syntax ASSIGN INPUT lt input name gt AS BIT lt bit gt Input name IN_A1 IN_A2 etc Bit INDEX variable bit number from 0 to 7 Remarks Assign statements typically appear at the start of the program Initialize and set Variables section but can be included in other code sections with the exception of Events and the Fault Handler See Also VAR_IOINDEX Variable 220 Example ASSIGN INPUT IN B1 AS BIT 0 index bit 0 state matches state of input B1 ASSIGN INPUT IN B2 AS BIT 1 index bit 1 state matches state of input B2 Program Start
163. nd ModBus TCP IP P94CANO1 PositionServo CANopen Communications Reference Guide P94DVNO1 PositionServo DeviceNet Communications Reference Guide P94ETHO1 PositionServo EtherNet IP Communications Reference Guide P94PFBO1 PositionServo PROFIBUS DP Communications Reference Guide Lenze PM94H201A 3 Introduction 1 Introduction 1 1 Definitions Included herein are definitions of several terms used throughout this programming manual and the PositionServo user manual PositionServo The PositionServo is a programmable digital drive motion controller that can be configured as a stand alone programmable motion controller or as a high performance torque velocity or position amplifier for centralized control systems The PositionServo family of drives includes the 940 Encoder based drive and the 941 Resolver based drive MotionView MotionView is a universal communication and configuration software that is utilized by the PositionServo drive family Starting with revision 4 xx drives will have MotionView OnBoard MVOB built into the drive MotionView has an automatic self configuration mechanism that recognizes what drive it is connected to and configures the tool set accordingly The MotionView platform is divided up into three sections or windows the Parameter Tree Window the Parameter View Window and the Message Window Refer to Section 1 3 for more detail MotionView OnBoard MVOB MotionView OnBoard is the embedded version of
164. nisms also exist for operation in these modes from within the internal user program Position mode is used when the command comes from the drives User Program or from an external device drive fed from encoder or step direction signal Setting the drive s mode is done from the Parameter folder in MotionView To command motion from the user program the drive must be configured to internal reference mode When the drive is in position mode it can be placed into a simulated velocity mode without the need to change operating mode to Velocity Velocity profiling from Positioning mode can be turned on and off from the User Program Executing the VELOCITY ON statement is used to activate this mode while VELOCITY OFF will deactivate this mode This mode is used for special case indexing moves When in Velocity simulation mode the target position is constantly advanced with a rate set in the VEL system variable The Reference arrangements for the different modes of operation are illustrated in Figure 9 37 Reference MA NB inputs i INTERNAL 214 189 Gearing ER 79 80 Master to System ratio Trajectory User s program Generator POSITION REGULATOR 0 Torque 35 VELOCITY SCALE 1 Velocity 34 DRIVEMODE 55 2 Position Dead Band Analog input 1 BN INTERNAL i e mo 014 90 Offset
165. normal program execution its value is changed only in the RAM memory and subsequently these values are lost following power down System variables that are changed through the MotionView parameter set are stored in both EPM and RAM memory so changes have both immediate effect and are retained after power down The StoreVars command Refer to section 3 1 can be used to store the user variables 1 from RAM memory into the EPM memory during program execution so the programmer has the oppertunity to retain these after power down Host Interfaces have the capability of changing all of the system variable values through any one of the adopted communications protocols available for PositionServo Communications protocols contain mechanisms to write to RAM memory only or to RAM memory and EPM memory NOTE e 1 memory is specified for a limited number of write cycles approximately 1 million Care must be taken not to excessively write to the EPM memory or not to exceed the maximum write cycle count 2 7 1 RAM File for User s Data Storage In addition to the standard user variables 1 amp NVO NV31 MotionView OnBoard drives have a section of RAM memory 256k allocated as data storage space and available to the programmer for storage of program data The RAM file data storage is often required in systems where it is desirable to store large amounts of data prepared by a host controller PLC HMI PC etc
166. nput C1 not used Input C2 not used Input C3 not used Input not used Output 1 Pick Arm Output 2 Gripper Output 3 not used Output 4 not used 12 PM94H201A Lenze Introduction RRR RRR RRR RR RRR Initialize and Set Variables x d dxd xd kdekdek ek ek ek ek UNITS 1 ACCEL 75 DECEL 75 MAXV 10 1 V2 Events FER KKK KKK KEK KK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK Set Events handling here No events are currently defined in this program Main Program kkkkxkkxkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk RESET_DRIVE Place holder for Fault Handler Routine WAIT UNTIL IN Make sure that the Enable input is made before continuing ENABLE Enable output from drive to motor PROGRAM START Place holder for main program loop MOVEP 0 Move to Pick position OUT1 1 Turn on output 1 to extend Pick arm WAIT TIME 1000 Delay 1 sec to extend arm OUT2 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 0 Turn off output 1 to Retract Pick arm MOVED 10 Move 10 REVs to Place position OUT1 1 Turn on output 1 to extend Pick arm WAIT TIME 1000 Delay 1 sec to extend arm OUT2 0 Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 0 Retract Pick arm GOTO PROGRAM START Loop back and continuously execute main program loop END
167. o Example Reference Table 57 SEND SEND TO Send network variable s Statement This statement is used to share the value of Network Variables between drives on an Ethernet network Network Variables are variables NVO through NV31 The variables to be sent out or synchronized between drives are called out in the SEND statement For example SEND NV5 will take the current value of variable NV5 in the drive executing the command and load it into the NV5 variable of every other drive on the network The SENDTO statement only updates network variables of the drives set with the same group ID given in the command SEND NVa NVb NVx NVy SENDTO GroupID NVa NVb NVx NVy a b x y Any number from 0 to 31 GroupID GroupID of the drives whose variables will be affected synchronized statements NV1 12 Set 1 equal to 12 SEND NV1 Set the NV1 variable to 12 in every drive in the Network SEND NV5 NV10 Sets the NV5 through NV10 variables in all drives on the Network NV20 25 Set NV20 equal to 25 SENDTO 2 NV20 Set the NV20 variable to 25 only in drives with GroupID 2 statements END End main program Table 58 STOP MOTION STOP MOTION Quick Stop Motion Statement Purpose This statement is used to stop all motion When the STOP MOTION statement is executed all motion profiles stored in the Motion Queue are cleared and motion will immediately be stopped via the deceleration parameter set i
168. ode on VAR IREF Internal Reference Torque or Velocity mode RPS 139 short Name TREF F N W Set value in Amps for Torque mode Amas Set Value RPM Velocity Mode H 140 VAR_NVO F N R W User defined Network variable Short Name NVO Variable can be shared across Ethernet network 141 VAR_NV1 R W User defined Network variable Short Name NV1 Variable can be shared across Ethernet network 142 VAR_NV2 F N R W User defined Network variable Short Name NV2 Variable can be shared across Ethernet network 143 VAR_NV3 R W User defined Network variable Short Name NV3 Variable can be shared across Ethernet network Lenze 110 PM94H201A Reference Index Name Type Format EPM Access Description Units 144 VAR_NV4 R W User defined Network variable Short Name NV4 Variable can be shared across Ethernet network 145 VAR NV5 F N R W User defined Network variable Short Name NV5 Variable can be shared across Ethernet network 146 VAR_NV6 F N R W User defined Network variable Short Name NV6 Variable can be shared across Ethernet network 147 VAR_NV7 R W User defined Network variable Short Name NV7 Variable can be shared across Ethernet network 148 VAR_NV8 F N R W User defined Network variable Short Name NV8 Variable can be shared across Ethernet network 149 VAR_NV9
169. of subsequent programming statements and it is required to immediately follow the HOME command with the following code line WAIT UNTIL VAR EXSTATUS amp 0x400000 0x400000 Doing this ensures no further lines of code will be executed until homing is complete The home start variable Start Homing is used to initiate pre defined homing functionality from a host interface It should not be used if the drive contains or is executing a user program Var Start Homing range is O or 1 When set to 0 no action occurs When set to 1 the homing operation is started Program i i UNITS 1 rps 1 1000 Decel 1000 MaxV 20 Some program statements i Homing specific set up VAR HOME FAST VEL 10 rps VAR HOME SLOW VEL 1 rps VAR HOME ACCEL 100 rps sec 2 VAR HOME OFFSET 0 no offset from sensor VAR HOME SWITCH INPUT 4 input B1 0 A1 1 A2 3 A4 4 81 11 4 VAR HOME METHOD 4 see table 21 ENABLE HOME Start homing sequence The statement below MUST be included immediately after the Home command on drives containing firmware releases prior to version 4 50 WAIT UNTIL VAR EXSTATUS amp 0x400000 0x400000 wait for homing complete Drive homed Program statements END 82 PM94H201A Lenze Reference 3 Reference 31 Program Statement Glossary Each programming statement is documented using the tabular format shown in Tables 22 and 23 The individual program statement
170. ome position is the leading edge of the Negative limit switch Axis will accelerate to fast homing velocity in the negative direction and continue until Negative Limit Switch A1 is activated rising edge shown at position A Axis then decelerates to zero velocity If the negative limit switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until the falling edge of the negative limit switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the rising edge of the negative limit switch is detected position C where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity divided by 100 in the positive direction Motion will continue until the falling edge of the negative limit switch is detected position 17 This is the home position excluding offset Negative Limit Switch Input A1 Figure 39 Homing Method 17 Lenze PM94H201A 73 Programming 2 15 9 16 Homing Method 18 Homing to Positive Limit Switch without index pulse Method 18 is similar to method 2 except that the home position is not dependent on the index pulse but only on the Positive limit switch translation Using
171. on e g handle I O while the motor is in motion The following Pick and Place Example Program has been modified to utilize the Continue C argument Lenze PM94H201A 29 Introduction pk dece ee he che he e e e e e e e he Main Program kkkkxkkkkkkkkkkkkkkkkkkkkkkkkkkkxk WAIT UNTIL IN_A3 Make sure the Enable input is made before continuing ENABLE OUT1 0 Initialize Pick Arm Place in Retracted Position WAIT UNTIL IN_A4 Check Pick Arm is in Retracted Position PROGRAM START MOVEP 0 Move to position 0 to pick part OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN 1 1 Check input to make sure Arm is extended 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 0 Turn off output 1 to Retract Pick arm WAIT UNTIL IN A4 1 Check input to make sure Arm is retracted MOVED 100 C Move to Place position and continue code execution WAIT UNTIL APOS gt 25 Wait until pos is greater than 25 OUT3 1 Turn on output 3 to spray part WAIT UNTIL APOS gt 75 Wait until pos is greater than or equal to 75 OUT3 0 Turn off output 3 to shut off spray guns WAIT UNTIL APOS gt 95 Wait until move is almost done before extending arm OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 Check input to make sure Arm is extended OUT2 0 Turn off output 2 to Disengage gripper WAIT TIME 1000 Delay 1 sec to Place part OUT1 0 Re
172. on of Enable Inhibit input 0 on activation of Enable Inhibit input 79 VAR_M2SRATIO MASTER R W Master to system ratio Master counts range 32767 32767 Value will be applied upon write to PID 80 Write to this PID followed by writing to PID 80 to apply new ratio pair 80 VAR_M2SRATIO_SYSTEM R W Master to system ratio System counts range 1 32767 Writing to this PID also applies value currently held in PID 79 If you need to change both values Set 79 first then write to this PID desired value to apply new ratio 81 VAR S2PRATIO SECOND R W Secondary encoder to prime encoder ratio Second counts range 32767 32767 Value will be applied upon write to PID 82 Write to this PID followed by writing to PID 82 to apply new ratio pair 82 VAR_S2PRATIO PRIME R W Secondary encoder to prime encoder ratio Prime counts range 1 32767 Writing to this PID also applies value currently held in PID 81 If you need to change both values Set 81 first then write to this PID desired value to apply new ratio 83 VAR_EXSTATUS Short Name DEXSTATUS Extended status Lower word copy of DSP status flags 84 VAR_HLS R W Hardware limit switches 0 not used 1 stop and fault 2 fault 1 NOTE When the Limit Switches are activated the drive will remember this state until the drive is disabled or a fault occurs
173. on of the current statement being executed WARNING Pause button does not place the drive in a disable state or prevent execution of motion commands waiting on the motion stack Execute each line of code in the program sequentially following on each press of the Step button Include step to instructions contained within subroutines Reserved for future use Clears the Indexer code WARNING Load W O Source will delete the text source file from both the indexer screen and the drive memory The user must ensure they save a copy of the text source file to their PC before proceeding with this operation OnBoard 4 06 EMI 7407 04 Amp 192 168 124 120 STOPPED Lenze Tech Main Toolbar conne EMP MOV 04 Amp 192 168 124 See Rn REECH REECH J Reload arameters Communication Ethernet Modbus TOP gs e Emechiegp EADE 85488 Pick and Place example program oolbar Modbus ATU Author 340 Product Apps amp CAN Description This is Sample program for Ine traning class tat snows simple program tat CANopen picks up part moves to a set postion and drops the part DeviceNet bi xxeececc PLEASE NOTE THAT ALL MOTORS NEED BE TUNED BEFORE OPERATION User T Digitat 10 oeren PLEASE REFER TO THE USER S MANUAL FOR TUNNING INSTRUCTIONS Analog IO BEFORE RUNNING THIS PROGRAM PLEASE SET UP YOUR
174. or syntax and example details NOTE At Bootup variables VO V31 are automatically retrieved from the EPM NOTE EPM memory is specified for a limited number of write cycles approximately 1 million Care must be taken not to excessively write to the EPM memory or not to exceed the maximum write cycle count Lenze PM94H201A 41 Programming 2 8 2 8 1 System Variables Section 3 2 provides a complete list of the system variables Every aspect of the PositionServo can be controlled by the manipulation of the values stored in the System Variables All System Variables start with a VAR_ followed by the variable name Alternatively System Variables can be addressed as an NUMBER where the number is the variable System Variables and Flags Summary Index The most frequently used variables also have alternate names as listed in Table 11 Table 11 System Variables Index Variable Access Variable Description Units 181 ACCEL R W _ Acceleration for motion commands User Units Sec 71 AIN1 R Analog input Scaled in volts Range from 10 to 10 volts V olt 72 AIN2 R Analog input 2 Scaled in Volts Range from 10 to 10 volts V olt 88 AOUT DAN Analog output Value in Volts Valid range from 10 to 10 V Volt 215 APOS R W Actual motor position User Units 190 APOS_PLS R W Ac
175. ort V25 F RW General purpose user defined variable VAR_V26 User variable 126 Short Name V26 x RA General purpose user defined variable VAR V27 User variable 127 Short Name V27 d Y PAN General purpose user defined variable VAR V28 User variable 12 m 8 Short Name V28 F x PUNY General purpose user defined variable VAR V29 User variable 12 S Short Name V29 ii PAN General purpose user defined variable VAR V30 User variable 1 22 Short Name V30 F x AY General purpose user defined variable VAR V31 User variable ei Short Name V31 F i General purpose user defined variable Registered move distance Incremental VAR MOVEDR DISTANCE 155 m S NY motion as per MOVEDR statement 59 A Registered move displacement 133 VAR_MOVEDR_DISPLACEMENT F N W Writing to this variable executes the move UU min MOVEDR using value set by 132 Registered move distance Absolute motion 134 VAR MOVEPR DISTANCE 3 Ww as per MOVEPR statement A Registered move displacement 135 VAR_MOVEPR_DISPLACEMENT F N W Writing to this variable makes the move UU min MOVEPR using value set by 134 Stops motion 136 VAR STOP MOTION W N W 1 stops motion 0 no action Starts user program 137 VAR START PROGRAM W N W 1 starts program 0 no action Turns on Profile Velocity for Internal Position 138 VAR VEL MODE ON W N Mode Acts as statement VELOCITY ON gt 0 normal operation 1 velocity m
176. osition 22 ACOM Analog common 37 VAR REFERENCE Y R W Reference source set to 1 internal for internal torque or 23 A01 Analog output internal velocity mode 24 AINT Positive of Analog signal input 44 VAR VP GAIN Y RW Velocity loop Proportional gain Range 0 32767 25 Negative of Analog signal input 45 VAR VL GAIN Y RAW Velocity loop Integral gain Range 0 16383 26 IN A COM Digital input A COM terminal zu eee SA 51 VAR VREG WINDOW Y RAW Gains scaling coefficient Range 5 4 27 Ai Digital input A1 TE 52 VAR ENABLE N W Software Enable Disable 0 disable 1 enable 28 N A2 Digital input A2 29 Digital input A3 58 VAR_VLIMIT_ZEROSPEED R W Zero Speed value Range 0 100 30 A Digital input A4 59 VAR VLIMIT SPEEDWND Y RAW Speed window Range 10 10000 31 IN B COM Digital input group B COM terminal 60 VAR VLIMIT ATSPEED Y R W Target speed for velocity window Range 10000 10000 32 N B1 Digital input B1 71 VAR AIN1 N R Analog Input AIN1 current value 33 N B2 Digital input B2 72 VAR AIN2 N Analog Input AIN2 current value 34 N B Digital input B3 75 VAR ENABLE ACCELDECEL Y RW Enable Accel Decel velocity mode 0 disable 1 enable 35 N B4 Digital input B4 76 VAR_ACCEL_LIMIT R W Accel value for velocity mode Range 0 1 5000000 36 IN_C_COM Digital input group C COM terminal ee 7 VAR_DECEL_LIMIT R W Decel value for velocity mode Range 0 1 5000
177. otion is suspended will lock up the User Program Syntax MOTION SUSPEND Remarks Performing any MOVEx commands without modifier will lock up the user program The programmer will be able to unlock program execution only by performing a Reset or by issuing a Motion Resume command from a host interface See Also MOVE MOVEP MOVEDR MOVED MOVEPR MDV MOTION RESUME Example statements MOTION SUSPEND Motion will be suspended after current motion command is finished statements Table 48 MOVE MOVE Move Statement Purpose There are two variations to the Move command Move Until and Move While MOVE UNTIL performs motion until a logical condition becomes TRUE MOVE WHILE performs motion while a logical condition stays TRUE The statement suspends the programs execution until the motion is completed unless the statement is used with C modifier Syntax MOVE BACK UNTIL condition C MOVE BACK WHILE condition LC BACK Changes direction of the move to negative C optional C ontinue modifier allows the program to continue while motion is being performed If a second motion profile is executed while the first profile is still in motion the second profile will be loaded into the Motion Stack The Motion Stack is 32 entries deep If the queue becomes full or overflows then the drive will generate a fault condition The condition to be tested See Also MOVEP MOVED MOVEPR MOVEDR MDV M
178. position greater than 25 Once the part is in position output 3 is turned on to activate the spray guns When the part has passed by the spray guns position greater than 75 output 3 is turned off deactivating the spray guns 22 PM94H201A Introduction PRR KR KEKE KEKE k k k k k k k k k k k k k k Events EVENT SPRAY GUNS ON APOS gt 25 Event will trigger as position passes 25 in pos dir OUT3 1 Turn on the spray guns out 3 on ENDEVENT End event EVENT SPRAY GUNS OFF APOS gt 75 Event will trigger as position passes 75 in pos dir OUT3 0 Turn off the spray guns out 3 off ENDEVENT End event PRR RR RRR ke kkk kkk k ke e k ke e k k e e k k Main Program kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk WAIT UNTIL Make sure the Enable input is made before continuing ENABLE OUT1 0 Initialize Pick Arm Place in Retracted Position WAIT UNTIL IN 4 1 Check Pick Arm is in Retracted Position EVENT SPRAY GUNS ON ON EVENT SPRAY GUNS OFF ON PROGRAM START MOVEP 0 Move to Pick position OUTI 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN A1 Arm extends OUT2 1 Turn on output 2 to Engage gripper WAIT TIME 1000 Delay 1 sec to Pick part OUT1 0 Turn off output 1 to Retract Pick arm WAIT UNTIL IN 4 Make sure Arm is retracted MOVEP 100 Move to Place position OUT1 1 Turn on output 1 to extend Pick arm WAIT UNTIL IN Al extends OUT2 0 Turn off output 2 to Dis
179. produced by the User s program to calculate the position increment or decrement also referred to as the index value for every servo loop This calculated target or theoretical position is then supplied to the Regulator input The main purpose of the Regulator is to set the motors position to match the target position created by the Trajectory Generator This is done by comparing the input from the Trajectory Generator with the position feedback from the primary motor feedback resolver or encoder to control the torque and velocity of the motor There will always be some error in the position following Such error is referred to as Position Error and is expressed as follows Position Error 2 Target Position Actual Position When the actual Position Error exceeds a certain threshold value for greater than the predefined time limit a Position Error limit fault E PE will be generated The Position Error limit and Position Error time can be set under the Parameter Node Tree Limits Position Limits in MotionView The Position Error time specifies how long the actual position error can exceed the Position Error limit before the fault is generated Lenze PM94H201A 25 Introduction 1 10 1 Drive Operating Modes There are three modes of operation for the PositionServo Torque Velocity and Position Torque and Velocity modes are generally used when the command reference is from an external device via analog input 1 however mecha
180. r Biquad m Pterm Current gt Convergence Velocity Command Limiter Filter 9 Velocity Window term Limit and D term a unit wind up Velocity Mechanical Velocity Feedback Estimator 130 PM94H201A Current Command Secondary Primary Encoder Encoder Lenze Reference Motion Commands Motion Queue amp Trajectory Generator puewag Sdd DA 1N3HHfO 812 uonisod SLINN 991 TAA iN3uuno 212 219114 Sdd LNAYHNO 6L4 A 595709 HOHH3SOd 3S 200 Houuasod 912 LOLH Id 6 NIVO 8 27 Je joJd Aiopeafer pepueuieq Sdd TAA 1N3HHfO 6Ls eouenbes NIVO dd 9 anano enuey 0 a3Wnsa3u aNadshs Lex NOILOW 401 9 Li 681 TAAXVW HVA 081 13030 13007 181 131 94 201
181. r Faults be MOVEDISTANCE 10 compilation Successfully connected to drive 808440200400000_192 168 124 120 END is done a Geer Maton byte cade compiler version 3 00 Compilation Compilation failed Error message will appear Click OK to dismiss the Compliation error dialog box The cause of the compilation error will be displayed in the Message window located at the bottom of the MotionView OnBoard screen MotionView will also highlight the program line where the error occurred In the example program above in the green Program Progression column there is a red box next to the MOVEDISTANCE 10 statement The problem in this example is that MOVEDISTANCE is not a valid command Change the text MOVEDISTANCE to MOVED Program Compile Resultant MotionView OnBoard Messages UNITS 1 DeviceNet CIP 6 7 UNITS 1 set user units to revolutions es After editing the i lt s DECEL 5 Limits 10 Important program select Velocity Limits 11 GE a Position Limits 12 MOVED 10 Compilation completed without errors Compile on th MOVED 10 GE GH H GE ee program toolbar Tok a 7 After compilation END Seen Ge Successfully connected to drive B08440200400000_192 168 124 120 Technology Motion byte code compiler version 3 00 SE ete Te
182. r and tear on the system s mechanical components With normal straight line ramp rates the axis is accelerated or decelerated to the target velocity in a linear fashion With S curve acceleration deceleration the motor ramp rate changes slowly at the first and then slowly stops accelerating decelerating as it reaches the target velocity In order for the overall or average ramp rate to remain the same as specified in the ACCEL DECEL variables the slow rates of change at the beginning and the end of the S curve are compensated by a faster ramp rate in the middle section of the ramp Maximum ramp rate occurring in the mid point of the S curve is twice that of using straight line ramps and of the values entered in the ramp rate variables With straight line ramp rates the acceleration deceleration changes can be abrupt at the beginning of the ramp period and again once the motor reaches the target velocity With S curve ramp rates the ramp rate gradually builds to the peak value then gradually decreases to no acceleration deceleration The disadvantage with S curve acceleration deceleration is that for the same accel decel distance the peak acceleration deceleration is twice that of straight line acceleration deceleration which often requires twice the peak torque Note that the axis will arrive at the target position at the same time regardless of which acceleration deceleration method is used
183. r syntax 1 RISE and from high to low for syntax 2 FALL For syntax 3 The Event will occur when the specified period period of time has expired This event can be used as periodic event to check for some conditions For syntax 4 The Event will occur when the expression expression evaluates to be true The expression can be any valid arithmetic or logical expression or combination of the two This event can be used when implementing soft limit switches or when changing the program flow based on some conditions Any variable user and system or constants can be used in the expression The event will only trigger when the logic transitions from False to True Further occurrence of the event will not occur while the condition remains true See Also ENDEVENT EVENT ON OFF EVENTS ON OFF Example EVENT InEvent IN A1 RISE VO 0 1 VO increments by 1 each time IN Al transitions from low to high ENDEVENT EVENT period TIME 1000 1000 ms 1Sec V3zV0 V1 Event subtracts V1 from and stores result in V3 every second ENDEVENT EVENT InEvent Statements in main program to turn individual events on EVENT period ON program statements END Lenze PM94H201A 87 88 Reference Table 31 ENDEVENT ENDEVENT of Event handler Statement Purpose Indicates end of the scanned event code Syntax ENDEVENT Remarks See Also EVENT EVENT ON OFF EVENTS ON OFF Example EVENT InputRise IN B4 RISE V0 V0 1 ENDEVENT Table
184. ram is to insert breakpoints at critical junctions throughout the program These breakpoints are marked by a red plus sign and stop the drive from executing further program statements once a breakpoint is reached but do not disable the drive and the position variables Once the program has stopped the user can continue to run the program step through the program or reset the program Pause program execution Select Indexer Program in the Parameter Node Tree Select Pause on the program toolbar The program will stop after completing the current statement Select Run or use Step functions to resume the program from the same point IMPORTANT The Pause button only stops the execution of the program code It does not stop motion or disable the drive Reset Program execution Select Indexer Program in the Parameter Node Tree Select Reset on the program toolbar The program will be reset and the drive will be disabled Variables within the drive are not cleared reset when program execution is reset It is important that any variables used by the programmer are set to safe values at the start of the user program 1 4 Programming Basics The user program consists of statements which when executed will not only initiate motion but will also process the drives I O and make decisions based on drive variables calculations and comparisons Before motion can be initiated certain drive and UO parameters must be confi
185. rogram UNITS 1 sets the relationship between programming units and motor revolutions For example if UNITS 0 5 the motor will turn 1 2 of a revolution when commanded to move 1 Unit When the UNITS variable is set to zero programming units for motion will be in motor feedback pulses User units set to 1 divided into motor feedback pulses Time base Time base for motion is always in seconds i e all time related values are set in USER UNITS SEC Time Base for programming statements such as wait statements are always in milliseconds Enable Disable Inhibit drive Set Enable switch function to When the Enable switch function parameter is set to Run and the Input A3 is made the drive will be enabled Likewise toggling input A3 to the off state will disable the drive Select IO then Digital IO from the Parameter Tree Window Select Enable switch function from the Parameter View Window Select Run from the drop down menu This setting is primarily used when operating without any user pro gram in torque or velocity mode or as position follower with Step amp Direction Master Encoder reference Set Enable switch function to Inhibit In the example of the Enable switch function being set to Run the decision on when to enable and disable the drive is determined by the logic status of input A3 typically controlled by an external device PLC or Motion controller The PositionServo s User Program allow
186. rogram to import from the PC folder where it is located This procedure loads the program from the file to the editor window It doesn t load the program to the drive s memory Compile program and Load to the drive Select Indexer Program in the Parameter Node Tree Select Load WO Source on the program toolbar to compile the program and load the compiled binary code to the PositionServo drive A copy of the original source code is not stored to the drive s memory and therefore cannot be obtained from the drive subsequently This feature can be used to protect the program from copy but the programmer must ensure that a copy of the program is safely stored to his PC Select Load W Source on the program toolbar to compile the program and load the source code and the compiled binary file to the PositionServo drive The original source code contained in the drive can be viewed whenever the drive is accessed through MotionView and the Indexer Program folder is opened Select Compile to check syntax errors without loading the program to the drive If the compiler finds any syntax error further compilation is halted Errors are reported in the message window at the bottom of the screen Save User program from MotionView to PC Select Indexer Program in the Parameter Node Tree Select Export on the program toolbar Provide a name and folder location for the source file to be stored under The program will be saved to the
187. rror Time Set Maximum Error Time for Position Error Correction before position error trip occurs Compensation 9 Description Velocity P Gain Set P Gain for Velocity Loop Velocity I Gain Set I Gain for Velocity Loop Position P Gain Set P Gain for Position Loop Position I Gain Set I Gain for Position Loop Position D Gain Set D Gain for Position Loop Position I Limit The Position I Limit will clamp the Position I Gain compensator to prevent excessive torque overshoot caused by an over accumulation of I Gain Gain Scaling Apply Scaling Factor to Velocity Gain Set Note 1 Parameters highlighted in BLUE are mandatory necessary for operation in this mode PM94H201A 125 Reference 3 3 3 Quick Start Internal Torque Velocity Table 68 Internal Torque Velocity Mode Connections for Internal Torque Velocity 1 0 Variable References for Internal Torque Velocity Pin Name Function Index Name EPM R W Description 20 AIN2 Positive of Analog signal input 29 VAR_ENABLE_SWITCH_TYPE Y R W Enable switch function 0 inhibit only 1 Run 21 AIN2 Negative of Analog signal input 34 VAR_DRIVEMODE R W Drive mode selection 0 torque 1 velocity 2 p
188. s 17 1 6 Inputs and Kei ie EE 17 1 7 22 1 8 User Variables and the Define Statement 23 1 9 IF ELSE OCCHI 24 ES ORT Le ET 25 1 10 1 Drive Operating Mode AA 26 1 10 2 Point To dear eed 26 1 10 3 Segment Oe 27 1 10 4 RE LE DEE 28 1 10 5 S Curve Acceleration Deceleration eese eene 29 1 10 6 Motion QUEUE 29 1 11 UE 30 1 11 1 Slice eege eege deed teen 20 1 11 2 ele 31 e el une E 32 2 1 Program Structure 32 2 2 Vie 34 2 3 Arithmetic EXpressions nore e eei m o deep bea ee 36 2 4 Logical Expressions and Operators nene nennen nnne 36 2 4 1 Bitwise Operators 36 2 4 2 Boolean Operalots ipe EUH EX RR REUS ee Lan RR enia EENS desch 37 2 5 Comparison Operators nennen nennen entren nennen 37 2 6 System Variables and Flag 37 2 7 System Variables Storage Organization esses 38 2 7 1 RAM File for User s Data Storage nennen nennen nnne 38 2 7 2 Memory Access Through Special System Variables sse 39 2 7 3 Memory Access Through MEMSET MEMGET Statements 40 2 7 4 Store and Retrieve Variables from the EDM 41 2 8 System Variables and Flags Summary eene nnns 42 2 8 1 System Variables c 42 2 8 2 System
189. s are listed in this section in alphabetical order with detailed descriptions in Tables 24 through 62 Table 22 Language Format KEYWORD Description Type Purpose Syntax KEYWORD lt ARGUMEMTS gt MODIFIERS Remarks See Also Example Table 23 Field Descriptions Field Descriptions KEYWORD The KEYWORD is the name of the programming statement as it would appear in a program Description description is an interpretation of the keyword For example MOVEP is the keyword and Move to Position would be a description The description is provided only as an aid to the reader and may not be used in a program Type The type field will identify the Keyword as either a Statement or a Pseudo statement Statements are actual instructions converted to machine code by the compiler and form executable commands within the drive programming Pseudo statements add convenience to the programmer but do not form instructions in their own right They are therefore not executable code and are effectively removed when the program is compiled to it s native state by the compiler Purpose Purpose or Function of the Keyword Programming Statement Syntax This field shows proper usage of the keyword Arguments will be written in lt gt brackets Optional arguments will be contained within brackets Arguments The data that is supplied with a statement that modifies the behavior of the statement For example MOVED 100 MOVED is the statement a
190. s method the current position of the axis is taken as the home position There is no motion of the motor shaft during this procedure Any offset specified via the Var_Home_Offset Variable will be added to the shaft s present position to create the home zero position eee DES OV Figure 49 Homing Method 35 Lenze 94 201 81 Programming 2 15 10 Homing Mode Operation Example The following steps are needed to execute the homing operation from the user program or under interface control 1 Set Fast homing speed Variable 242 2 Set Slow homing speed Variable 243 3 Set Homing accel decel Variable 239 4 Set home offset a In User Units Variable 240 b In encoder pulses Variable 241 5 Set Home Switch Input Variable 246 6 Select Home Method Variable 244 To start execute the HOME command Refer to the example herein There are two methods of starting pre defined homing operation the HOME command and the Var_Start_Homing variable When Homing is initiated from the user program the HOME command should always be used The HOME command is a blocking instruction that prevents further execution of the Main Program until homing operation is completed Any events that are enabled whilst homing is carried out will continue to process WARNING using firmware prior to 4 50 then execution of homing functionality does not prevent simultaneous execution
191. s sample Max move distance 0 2 81 counts Stacks and Queues Depth Limitations Lenze Table 20 Stack Depth Limit Stack Queue Motion Queue Subroutines Stack Number of Events Depth 32 32 32 PM94H201A 57 Programming 2 15 Homing 2 15 1 What is Homing Homing is the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of achieving this using e limit switches at the ends of travel or adedicated home switch or e Index Pulse or zero reference from the motor feedback device or e a combination of the above Predefined firmware based homing functionality is available on PositionServo drives with firmware 3 03 or later In addition custom homing functionality can be created by the programmer within the user program by utilizing the programming command set available Examples of custom homing routine creation as well as user program code to replicate each of the predefined homing routines is available from technical support 2 15 2 The Homing Function The homing function provides a set of trajectory parameters to the position loop as shown in Figure 22 They are calculated based on user supplied variable values as listed below VAR_HOME_OFFSET VAR_HOME_METHOD VAR_HOME_SWITCH_INPUT VAR_HOME_FAST_VEL VAR_HOME_SLOW_VEL VAR_HOME_ACCEL VAR_START_HOMING Home Offset Trajectory Posi
192. s the programmer to define control within their program the enable and disable of the drive through execution of program statements The drive will execute the User Program whether the drive is enabled or disabled however if a motion statement is executed while the drive is disabled an F27 fault will occur If the user program commands the drive to enable and Input A3 hardware enable is not present or Input A3 is removed and the drive is enabled through programming then the drive will trip on Fault 36 14 PM94H201A lenze Introduction When the Enable switch function parameter is set to Inhibit and Input A3 is on the drive will be disabled and remain disabled until the ENABLE statement is executed by the User Program Select IO then Digital IO from the Parameter Tree Window Select Enable switch function from the Parameter View Window Select Inhibit from the popup menu Faults When a fault condition has been detected by the drive the following actions will occur Drive will Immediately be placed in a Disabled Condition Motion Stack will be flushed of any Motion Commands Execution of the user program will be terminated and program control will be handed over to the Fault Handler section If no Fault handler is described then program execution will terminate See fault handler section A fault code defining the nature of the drive trip will be written to the DFAULTS system variable and can be accessed by
193. seful because it is much smoother at the beginning and end of the segment however the peak acceleration deceleration of the segment will be twice as high as the acceleration deceleration used in the linear acceleration deceleration segment 2 11 9 Motion SUSPEND RESUME At times it is necessary to control motion by preloading the motion stack with motion profiles and then executing them consecutively based on the user program and or some logical condition being detected The statement MOTION SUSPEND will suspend motion until the statement MOTION RESUME is executed While motion is suspended any motion statement executed by the User Program will be loaded into the motion stack When the MOTION RESUME statement is executed the preloaded motion profiles will be executed in the order that they were loaded Example MOTION SUSPEND MDV 10 2 in stack MDV 20 2 placed in stack MDV 2 0 placed in stack MOVED must use C modifier Otherwise program will hang MOTION RESUME Caution should be taken when using MOVED MOVEP and MOVE statements If any of the MOVE instructions are written without the C modifier the program will hang or lock up The MOTION SUSPEND command effectively halts all execution of motion In the example as the program executes the MDV and MOVED statements those move profiles are loaded into the motion stack If the final MOVED is missing the modifier then the Us
194. sing this statement any combinations of variables VO V31 can be retrieved from the EPM with a single statement Loads the values of the user s variables VO V31 from EPM to the drive operating memory Syntax LOADVARS Va Vx Vy any number from 0 31 Remarks Values that are stored EPM memory for the User Variables VO V31 using host interface or StoreVars command are automatically transferred into operational memory at power up a LoadVar statement is not required Should a User Variable be altered by the user program it is altered only in the operational memory of the drive and can be restored back to its EPM value using the LoadVars statement See Also STOREVARS Example statements 1 12 STOREVARS V1 Store V1 variable to EPM memory statements LOADVARS V1 Retrieve V1 variable statements END End main program Example to specify multiple variables list in a single LoadVar Statement LOADVARS V0 V1 V5 V20 load values of VO V1 V5 V20 Table 43 MDV MDV Segment Move Statement Purpose MDV Move Distance Velocity defines individual motion segment by specifying distance and final velocity for each segment in User Units Acceleration or deceleration is calculated automatically based on these two parameters This technique allows complicated moves to be created that consist of many segments Each MDV sequence series of MDV segments must start and end with a velocity of 0 he
195. sitive Home Switch amp Index Pulse Using this method the initial direction of movement is positive if the homing switch is inactive The home position is the first index pulse to the negative side of the position where the homing switch becomes active Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in negative direction Motion will continue until first the falling edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 3 is detected Index Pulse via Input C3 Homing Switch Var Home Switch Input Figure 27 Homing Method 3 2 15 9 4 Homing Method 4 Homing on the Positive Home Switch amp Index Pulse Using this method the initial direction of movement is negative if the homing switch is active The home position is the first index pulse to the positive side of the position where the homing switch becomes inactive Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var Home Switch Input Variable is deactivated fall
196. specifies offset in RAM file where data will be retrieved Range 32767 to 32767 lt varlist gt any combinations of variables VO V31 See Also MEMSET Example 5 VO Single variable will be retrieved from location 5 MEMGET V1 V0O V3 V2 variables V0 V3 V2 will be retrieved from memory location starting at value held in V1 MEMGET 10 V3 V7 variables V3 to V7 inclusively will be retrieved MEMGET V1 VO V2 V4 V8 variables 0 2 V4 through V8 will be retrieved Table 45 MEMSET MEMSET Memory access statements MEMSET Statement Purpose MEMSET provides command for simplified storage of data to the drives RAM memory file through transfer of data from variables VO V31 Using this statement any combinations of variables 0 31 can be stored in the RAM file with a single statement Syntax MEMSET offset varlist offset specifies offset in RAM file where data will be stored Range 32767 to 32767 lt varlist gt any combinations of variables VO V31 See Also MEMGET Example MEMSET 5 VO Single variable will be stored in location 5 MEMSET V1 VO V3 V2 variables V0 V3 V2 will be stored in memory location starting at value held in V1 MEMSET 10 V3 V7 variables V3 to V7 inclusively will be stored MEMSET V1 VO V2 V4 V8 variables 0 2 V4 through V8 will be stored Table 46 MOTION RESUME MOTION RESUME Resume Motion Statement Purpose Statement resumes motion previously suspended by MO
197. sult in F_23 There are 3 MDV statements that are executed 10 times totaling 30 moves Then the condition set on the repetitions variable makes the program execute the above another 4 times 4 x 30 120 The 120 moves with no waits anywhere in the program will most likely produce an F_23 fault Motion Queue overflow Where the possibility exists to overflow the Motion Queue additional code should be used to detect Motion Queue Full condition and to wait for space on the Motion Queue to become available Lenze PM94H201A 31 Programming 2 Programming 2 1 Program Structure One of the most important aspects of programming is developing the program s structure Before writing a program first develop a plan for that program What tasks must be performed And in what order What things can be done to make the program easy to understand and allow it to be maintained by others Are there any repetitive procedures Most programs are not a simple linear list of instructions where every instruction is executed in exactly the same order each time the program runs Programs need to perform different functions in response to external events and operator input SML contains program control structures and scanned event functions that may be used to control the flow of execution in an application program Control structure statements are the instructions that cause the program to change the path of execution Scanned events are instructions that execute
198. t Channel link 12 PID 298 PBUS IN LINK1 W DAN Profibus Data In Channel link 1 PID map 299 PBUS IN LINK2 W Y R W Profibus Data In Channel link 2 PID map 300 PBUS IN LINK3 W R W Profibus Data In Channel link PID map 301 PBUS IN LINK4 W Y R W Profibus Data In Channel link 4 PID map 302 PBUS IN LINK5 W DAN Profibus Data In Channel link 5 PID map 303 PBUS IN LINK6 W R W Profibus Data In Channel link 6 PID map 304 PBUS IN LINE W Y R W Profibus Data In Channel link 7 PID map 305 PBUS IN LINKS8 W R W Profibus Data In Channel link 8 PID map 306 PBUS IN LINK9 W R W Profibus Data In Channel link 9 PID map 307 PBUS IN LINK10 W R W Profibus Data In Channel link 10 PID map 308 PBUS IN LINK11 W Y R W Profibus Data In Channel link 11 PID map 309 PBUS IN LINK12 W R W Profibus Data In Channel link 12 PID map SOS DE W Y RW Reter to Profibus Manual P94PFB01 NOTE PIDs 311 406 are for REFERENCE ONLY These variables are set through MotionView Do NOT use directly 1 These variables are used MotionView for non volatile settings of TPDO RPDO 311 VAR_RPDO 1 COM Receive PDO 312 VAR RPDO 2 COM 313 VAR_RPDO 3 COM 314 VAR RPDO 4 COM 118 PM94H201A Lenze Reference Index Name Type Format EPM Access Description Units 315 VAR RPDO 5 COM 316 VAR RPDO 6 COM 317 VAR RPDO 7 COM 318 VAR RPDO 8 COM 319 VAR RPD
199. t Name UNITS F Y R W User units VAR MECOUNTER 187 Short Name MECOUNTER R W inputs reference counter value Count VAR PHCUR 188 Short Name PHCUR F N R Phase current A VAR POS PULSES ME 189 Short TPOS PLS W N R W position in encoder pulses EC VAR APOS PULSES TP 190 Short Name APOS PLS W N R W position in encoder pulses EC Lenze 112 PM94H201A Reference Index Name Type Format EPM Access Description Units VAR POSERROR PULSES S 191 Short Name PERROR PLS W N R Position error in encoder pulses EC 192 VAR CURRENT VEL PPS F N Set point target velocity in PPS PPS 193 VAR CURRENT ACCEL PPSS F N R Set point target acceleration demanded PPSS value value m Input A1 de bounce time in mS 194 VAR INO DEBOUNCE W Y R W Range 0 1000 mS 1 TAn Input A2 de bounce time in mS 195 VAR_IN1_DEBOUNCE W Y R W Range 0 1000 mS Ge Input de bounce time mS 196 VAR_IN2_DEBOUNCE W Y R W Range 0 1000 mS 1 Input 4 de bounce time in mS 197 VAR_IN3_DEBOUNCE W Y R W Range 0 1000 mS m Input B1 de bounce time in mS 198 VAR INA DEBOUNCE W Y R W Range 0 1000 mS E T Input B2 de bounce time in mS 199 VAR IN5 DEBOUNCE W Y R W Range 0 1000 mS E Input B3 de bounce time in mS 200 VAR IN6 DEBOUNCE W Y R W Ran
200. t index pulse position 5 is detected Index Pulse via Input C3 Homing Switch Var Home Switch Input Figure 29 Homing Method 5 2 15 9 6 Homing Method 6 Homing on the Negative Home Switch amp Index Pulse Using this method the initial direction of movement is positive if the homing switch is active The home position is the first index pulse to the negative side of the position where the homing switch becomes inactive Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch selectable via Var_ Home Switch Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already inactive when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in negative direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 6 is detected Index Pulse via Input C3 Homing Switch Var Home Switch Input Figure 30 Homing Method 6 64 PM94H201A Lenze Programming 2 15 9 7 Homing Method 7 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is positive if the homing switch is inactive The home position is the first
201. tax lt VARINDEX gt where VARINDEX is the variable index from Table 63 From the communications interface any variable can be accessed by its index value The column Type indicates the type of variable mtr Motor denotes a motor value mtn Motion writing to an mtn variable could cause the start of motion AN vel Velocity denotes a velocity or velocity scaling value The column Format provides the native format of the variable W 32 bit integer F float real When setting a variable via an external device the value can be addressed as floating or integer The value will automatically adjusted to fit it s given form The column EPM shows if a variable has a non volatile storage space in the EPM memory Y Variable has non volatile storage Space in EPM N Variable does not exist in EPM memory The user s program uses a RAM volatile copy of the variables stored on the EPM At power up all RAM copies of the variables are initialized with the EPM values The EPM s values are not affected by changing the variables in the users program When the user s program reads a variable it always reads from the RAM volatile copy of the variable Communications Interface functions can change both the volatile and non volatile copy of the variable If the host interface requests a change to the EPM non volatile value this change is done both in the user program s RAM memory as well as in the EPM Interface functions have the choice of
202. technique allows the program flow to change based on the execution of an event For more detail reference JUMP in Section 3 1 Program Statement Glossary of this manual The main program body of the program contains the main part of the program which can include all motion and math statements labels commands and subroutine calls The main body should be finished with an END statement however if the program loops indefinitely then the END statement can be omitted Subroutines are routines that are called from the main body of the program When a subroutine is called GOSUB the program s execution is transferred from the main program to the called subroutine It will then process the subroutine until a RETURN statement occurs Once a RETURN statement is executed the program s execution will return back to the main program at the line of code immediately following the GOSUB statement Fault handler is the section of code that is executed when the drive detects a fault This section of code begins with the ON FAULT statement and ends with an ENDFAULT statement When a fault occurs the normal program flow is interrupted motion is stopped the drive is disabled Event scanning is stopped and the statements in the Fault Handler are executed The Fault handler can be exited in two ways RESUME statement will cause the program to end the Fault Handler routine and return the execution to the main program The
203. ted position B and then the rising edge of the first index pulse position 1 is detected P i Index Pulse via Input C3 Negative Limit Switch Input A1 Figure 25 Homing Method 1 2 15 9 2 Homing Method 2 Homing on the Positive Limit Switch amp Index Pulse Using this method the initial direction of movement is positive if the positive limit switch is inactive here shown as low The position of home is at the first index pulse to the negative side of the position where the positive limit switch becomes active Axis will accelerate to fast homing velocity in the positive direction and continue until Positive Limit Switch A2 is activated rising edge shown at position A Axis then decelerates to zero velocity If the positive limit switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until first the falling edge of the positive limit switch is detected position B and then the rising edge of the first index pulse position 2 is detected ee IND end Index Pulse via Input C3 Positive Limit Switch Input A2 Figure 26 Homing Method 2 62 PM94H201A Lenze Programming 2 15 9 3 Homing Method 3 Homing on the Po
204. the drive s first reaction to a fault condition While it executes the drive will not respond to any I O interface commands or program events Therefore the user should use the fault handler to manipulate time critical and safety related I O and variables and then exit the Fault Handler Routine either by executing a RESUME statement or by executing the EndFault statement and ending program execution The Resume statement permits program execution to leave the fault handler and resume back in the main program section of the user code Use the Resume statement to jump back to a section of the main program that designates the recovery process for the fault Wait statements within the fault handler for I O state change or for interface command is not allowed If a wait statement is required for example from a fault reset input then this must be done subsequent to the Resume command when program execution is handed back to the main program Without Fault Handler To simulate a fault restart the Pick and Place example program While the program is running switch the ENABLE input IN A3 to the off state This will cause the drive to generate an F_36 fault Hardware disable while drive enabled in inhibit mode and put the drive into Fault Mode While the drive is in Fault Mode any digital output currently active will remain active and any output deactivated will remain deactivated excluding the dedicated ready output and any output that has been assigned pre
205. the fault handler Refer to section 2 13 for a list of fault codes The fault code will will be displayed on the drive display Dedicated Ready Enabled output will turn off provided drive was in enable state prior to fault detection Any Output with assigned special function Fault will turn on Output with assigned special function ready enabled will turn off provided drive was in enable state prior to fault detection The enable status indicator on the drive display will turn off indicating drive in disabled state Clearing a fault condition can be done in one of the following ways Select the Reset button from the toolbar Execute the RESUME statement at the end of the Fault Handler routine see Fault Handler example This permits the continuation of program execution at the discretion of the programmer and when the fault does not present an issue to the safety or integrity of the system Send Reset command over the Host Interface Cycle power hard reset Fault Handler The Fault Handler is a code segment that will be executed immediately on the drive detecting a fault condition The fault handler allows the programmer to analyze the type of fault and when necessary define a recovery process for the drive Full stop While the drive is executing the Fault Handler Routine the drive is disabled and therefore will not be able to detect any additional faults that might occur Fault handler code is
206. til the homing switch is activated rising edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until the falling edge of the homing switch is detected position B where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the rising edge of the homing switch is detected position where the axis will decelerate to 0 velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the falling edge of the homing switch is detected position 21 This is the home position excluding offset Homing Switch Var_Home_Switch_Input Figure 42 Homing Method 21 76 PM94H201A Lenze Programming 2 15 9 19 Homing Method 23 Homing to Homing Switch without index pulse Using this method the initial direction of movement is positive if the homing switch is inactive The home position is the leading edge of the homing switch Axis will accelerate to fast homing velocity in the positive direction and continue until the homing switch selectable via Var Home Switch Input Variable is activated rising edge shown at position A Axis then decelerates to
207. tion Homing Method Homing Parameter Trajectory Demand Position Homing Speeds Function Generator Loop Home Velocity Fast Slow Homing Acceleration Figure 22 Homing Function Homing Function Monitoring The extended drive status variable 83 EXSTATUS variable contains bit values for monitoring the homing function over a communications interface Bit 21 of EXSTATUS indicates homing procedure in progress and is set to logic 1 while homing is being executed Bit 22 of EXSTATUS indicates homing complete It is set to 1 upon the successful completion of the homing routine 2 15 3 Home Offset The home offset is the difference between the zero position for the application and the machine home position found during homing During homing the home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position All subsequent absolute moves are made relative to this new zero position This is illustrated in Figure 23 Offset can either be set in User Units UU by writing to variable 240 or in encoder counts by writing to variable 241 Setting a value for either variable 240 or 241 will result in value automatically being calculated and stored in the respective variable VAR_HOME_OFFSET 240 VAR_HOME_OFFSET_PULSES 241 home_offset Figure 23 Home Offset 58 PM94H201A Lenze Programming 2 15 4 Homing Velocity
208. tive edge Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch selectable via Var_Home_Switch_Input Variable is deactivated falling edge shown at position A Axis then decelerates to zero velocity If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases Axis will then accelerate to fast homing velocity in the positive direction Motion will continue until first the rising edge of the Homing switch is detected position B and then the rising edge of the first index pulse position 13 is detected NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction positive following the procedure as detailed above but ignoring the initial move in the negative direction Index Pulse via Input C3 Homing Switch Var_Home_Switch_Input Figure 37 Homing Method 13 Lenze PM94H201A 71 Programming 2 15 9 14 Homing Method 14 Homing on the Home Switch amp Index Pulse Using this method the initial direction of movement is negative The home position is the first index pulse to the negative side of the position where the homin
209. tput 2 Enable Enable Servo MoveD 10 Move increment Distance 10 Loop Counter Loop Counter Loop Increment Increment Variable V5 by 1 Endif Goto Program Start Goto Label Program Start Table 26 DISABLE DISABLE Disables the drive Statement Purpose DISABLE turns OFF the drive output to the motor Drive shows Dis on display when in a disabled state Syntax DISABLE Remarks Once the DISABLE statement is executed the power to the motor is turned off and the motor can move freely When disabled the drive will continue to monitor feedback and the actual position variable APOS will continue to update with the current position of the motor The target position variable TPOS will be updated with the value of the actual position variable APOS on Enable to prevent unexpected motion from the motor shaft See Also ENABLE WARNING Work should not be carried out on the drive system without the drive first being isolated from its mains supply The disabled condition is not an indication that the motor or system is safe to work on as an Enable run condition could result from execution of the programmers programming code from a host interface or controller Example If Start Button If input B1 is off Disable Disable Servo Else Otherwise Enable Enable Servo MoveD 10 Move increment Distance 10 Endif Lenze PM94H201A 85 86 Reference Table 27 DO UNTIL DO UNTIL Do Until Statement
210. tract Pick arm WAIT UNTIL IN 4 Check input to make sure Arm is retracted GOTO PROGRAM START END When the C argument is added to the standard MOVED and MOVEP statements program execution is not interrupted by the execution of the motion command Note with an MDV move the execution of the program is never suspended Generated motion profiles are stored directly to the Motion Queue and are then executed in sequence If the MOVED and MOVEP statements don t have the C modifier then the motion profiles generated by these statements go to the motion stack and the program is suspended until each profile has been executed 1 11 Subroutines and Loops 1 11 1 Subroutines Often it is necessary to repeat a series of program statements in several places in a program Subroutines are typically used where code is used multiple times and within various sections of the main program Subroutines are placed after the main program i e after the END statement and must start with the subname label where subname is the name of subroutine and must end with a statement RETURN Note that there can be more than one RETURN statement in a subroutine Subroutines are called using the GOSUB statement 30 PM94H201A Lenze Introduction 1 11 2 Loops SML language supports WHILE ENDWHILE block statement which can be used to create conditional loops Note that IF GOTO and DO UNTIL statements can also be used to create loops The following e
211. tual Motor Position Encoder Counts 182 DECEL R W Deceleration for motion commands User Units Sec 83 DEXSTATUS R Drive Extended Status Word 54 DSTATUS R Status flags register DFAULTS R Fault code register 245 HOME Start Homing pre defined homing INDEX R Lower 8 bits are used See ASSIGN statement for details 184 INPOSLIM R W Maximum deviation of position for INPOSITION Flag to remain set User Units 65 INPUTS R Digital Inputs states The first 12 bits correspond to the 12 drive inputs 139 IREF Internal Reference Velocity Torque RPS A 187 MECOUNTER R Master Encoder Counts Master Encoder Input Encoder Counts 180 MAXV R W Maximum velocity for motion commands User Units Sec 140 171 NVO NV31 R W User Network Variables 66 OUTPUTS R W Digital outputs Bits 0 to 4 represent outputs 1 through 5 216 PERROR R Position Error Feedback Pls 191 PERROR_PLS R Position Error User Units 48 PGAIN_D R W Position loop D gain 47 PGAIN I R W Position loop Loan 49 PGAIN ILIM R W Position loop gain limit 46 PGAIN P R W Position loop P gain 188 PHCUR R Motor phase current A mpere 183 QDECEL R W Quick Deceleration for STOP MOTION QUICK statement User Units Sec 213 RPOS R Registration position Valid when system flag F REGISTRATION set User Units 212 RPOS PLS R Registration position Feedback Pls 218 TA R Commanded acceleration User units Sec 214 TPOS R W Theoretical commanded position User Units 219 TPOS ADV Theoretical
212. ubname gt a valid subroutine name Remarks After return from subroutine program resumes from next statement after GOSUB See Also GOTO JUMP RETURN Example DO GOSUB CALCMOVE MOVED V1 Go to CALCMOVE Subroutine Move distance calculated in Subroutine UNTIL END SUB CALCMOVE 1 V2 V3 2 Subroutine statement Calculates value for V1 RETURN Return to main program execution Table 36 GOTO GOTO Go To Statement Purpose Transfer program execution to label following the GOTO instruction Syntax GOTO label Remarks Label must be a valid program reference label alphanumeric string 64 characters in length and ending with a colon contained within the user program The GOTO statement can be located either above or below the program label in the user code See Also GOSUB JUMP Example GOTO Label2 Statements Label2 Statements Table 37 HALT HALT Halt the program execution Statement Purpose Used to halt main program execution Events are not halted by the HALT statement Event code can restart main program execution by issuing the RESET statement or by executing a JUMP to a Main Program Label from the EVENT handler With the RESET statement Main Program execution will recommence on the code line immediately following the HALT Statement With a Jump command program execution is forced to the program label defined within the argument of the JUMP command Syntax HALT
213. ur sections are the connections and parameter settings to quickly setup a PositionServo drive for External Torque Velocity External Positioning Internal Torque Velocity and Internal Positioning modes These Quick Start reference tables are NOT a substitute for reading the PositionServo User Manual Observe all safety notices in the PositionServo User and Programming Manuals 3 3 4 Quick Start External Torque Velocity Table 64 Connections for External Torque Velocity Mode 1 0 P3 Pin Name Function 5 GND Drive Logic Common 6 5V 5V Output max 100 7 BA Buffered Encoder Output Channel A 8 BA Buffered Encoder Output Channel A 9 BB Buffered Encoder Output Channel B 10 BB Buffered Encoder Output Channel B 11 BZ Buffered Encoder Output Channel Z 12 BZ Buffered Encoder Output Channel Z 22 ACOM Analog common 23 A01 Analog output 24 AIN1 Positive of Analog signal input 25 AINT Negative of Analog signal input 26 IN_A_COM Digital input group A COM terminal 27 IN A1 Digital input A1 28 IN A2 Digital input A2 29 Digital input 41 RDY Ready output Collector 42 RDY Ready output Emitter 43 OUT1 C Programmable output 1 Collector 44 OUT1 E Programmable output 1 Emitter 45 OUT2 C Programmable output 2 Collector 46 OUT2 E Programmable output 2 Emitter 47 OUT3 C Programmable output 3 Collector 48
214. user s program execution possible 2 Enable CAN interface in 05402 mode Concurrent user s program execution possible 3 Enable DeviceNet 4 Enable PROFIBUS DP 239 VAR HOME ACCEL Homing Mode ACCEL rate 0 10000000 0 UU sec 240 VAR HOME OFFSET Homing Mode Home Position Offset Range 32767 to 432767 UU 241 VAR HOME OFFSET PULSES Y R W Homing Mode Home Position Offset in encoder counts Range 2 147 418 112 EC 242 VAR_HOME_FAST_VEL Homing Mode Fast Velocity Range 10 000 to 10 000 UU sec 243 VAR HOME SLOW VEL Y R W Homing Mode Slow Velocity Range 10 000 to 10 000 UU sec 244 VAR_HOME METHOD Homing Mode Homing Method Range 1 35 245 VAR_START_HOMING Short Name HOME Homing Mode Start Homing 0 1 0 No action 1 Start Homing 246 VAR_HOME_SWITCH_INPUT Homing Mode Switch Input Assignment Range 0 11 0 3 A1 A4 4 7 B1 B4 8 11 C1 C4 Warning using A1 A2 or refer to the homing section Do not use input A3 as homing switch Lenze PM94H201A 115 Reference Index Name Type Format EPM Access Description Units Initiate accept drive motor parameters entered in motor data PIDs Motor parameters are
215. was 56 Units S the command would be MDV 3 56 The second segment gives the distance between point 2 and 3 and the velocity at point 3 and so on O Velocity 25 5 10 15 20 25 30 Distance units Figure 20 MDV Segment Example Table 15 lists the supporting data for the graph in Figure 20 Table 15 MDV Segment Example Segment Number Distance moved during segment Velocity at the end of segment 1 3 56 2 3 12 3 4 16 4 2 57 5 2 5 57 6 3 11 7 5 20 8 5 0 Segment moves D 3 DO lt lt lt 55555555 lt NM M bi Z 56 12 16 57 57 11 20 0 The following equation be used to calculate the acceleration deceleration that results from segment move V 2 D Final velocity Starting velocity Distance Accel V Vo D Lenze PM94H201A 51 Programming 2 11 8 S curve Acceleration Deceleration Instead of using a linear acceleration deceleration the motion created using segment moves MDV statements can use S curve acceleration deceleration The syntax for MDV move with S curve acceleration deceleration is lt distance gt lt velocity gt S Segment moves using S curve acceleration deceleration will take the same amount of time as linear acceleration deceleration segment moves S curve acceleration deceleration is u
216. xample illustrates calling subroutines as well as how to implement looping by utilizing WHILE ENDWHILE statements pO RRR RR RR RR Initialize and Set Variables d d xd KKK k kkk kkk kk k UNITS 1 Units in Revolutions R ACCEL 15 15 Rev per second per second RPSS DECEL 15 15 Rev per second per second RPSS MAXV 100 100 Rev per second RPS 6000RPM APOS 0 Set current position to 0 absolute zero position DEFINE LOOPCOUNT V1 DEFINE LOOPS 10 DEFINE DIST V2 DEFINE REPETITIONS V3 REPETITIONS 0 pk e e ee he he he kk e e e e e e he he he e e e ee e e he kk kk Main Program kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk WAIT UNTIL Make sure the Enable input is made before continuing ENABLE PROGRAM START MAINLOOP LOOPCOUNT LOOPS Set up the loopcount to loop 10 times DIST 10 Set distance to 10 WHILE LOOPCOUNT Loop while loopcount is greater than zero GOSUB MDS Call to subroutine WAIT TIME 100 Delay executes after returned from the subroutine LOOPCOUNT LOOPCOUNT 1 decrement loop counter ENDWHILE REPETITIONS REPETITIONS 1 outer loop IF REPETITIONS lt 5 GOTO MAINLOOP Wait Motioncomplete Wait for MDV segments to be completed ENDIF END d KKKKKKK pOECKCkck kc kc kckckckckckckckckckckckckckckckckckckckckckckck ko Sub Routines 9 N X kkkk kk kk kk kk kk kk kk kk k kk MDS V4 dist 3 MDV V4 10 MDV V4 10 MDV V4 0 RETURN Note Execution of this code will most likely re
217. zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed Axis will then accelerate to fast homing velocity in the negative direction Motion will continue until the falling edge of the homing switch is detected position B where the axis will decelerate to O velocity Axis will then accelerate to slow homing velocity in the positive direction Motion will continue until the rising edge of the homing switch is detected position C where the axis will decelerate to O velocity Axis will then accelerate to slow homing velocity in the negative direction Motion will continue until the falling edge of the homing switch is detected position 23 This is the home position excluding offset NOTE if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction negative following the procedure as detailed above but ignoring the initial move in the positive direction Homing Switch Var Home Switch Input Figure 43 Homing Method 23 Lenze PM94H201A 77 Programming 2 15 9 20 Homing Method 25 Homing to Homing Switch without index pulse Using this method the initial direction of movement is positive The home position is the negative edge of the homing switch

Programming Manual

Contents

Download Pdf Manuals

Related Search

Related Contents