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JX2-SM2 User`s Manual

1. JetWeb Appendix A Recent Revisions Chapter Comment Revised Added Deleted Introduction Revision history v Chapter Headings v Chapter 1 2 Ensure your own safety v Chapter 1 2 2 Information signs v Chapter 2 Words of advice v Chapter 3 Side view v Chapter 4 Specifications modified to v reflect UL conformity Chapter 9 Value ranges of register v 1xy01 1xy43 1xy85 and 1xy86 revised Description of register v 1xy07 Destination window Chapter 9 10 Variable changed to v register Sample programs in v v JetSymST Chapter 11 Sample programs in v JetSymST Appendix C Abbreviations v Jetter AG JX2 SM2 Module Jetter AG Appendices Appendix B Glossary Absolute positioning Amplifier Analog Bipolar winding Bus loading Clock generator Counter Digital Drive EC Low Voltage Directive Electrical isolation Electro Magnetic Compatibility Encoder Reference point Position of the reference switch Power supply for the motor A parameter e g voltage which is steplessly adjustable In contrast to digital The part windings are internally connected in the motor Other than in unipolar windings only two connections per phase will be needed For triggering a bridge circuit will be needed In case of high bus loading a great amount of information will be exchanged among the bus participants A clock generator creates impulses with an adjustable frequency A counter acqu
2. 8 388 607 Value after reset 0 The value written in this register is incremented at each change of layers Yet it will not be reset by the operating system except for reset The register may respectively must be pre occupied by the user Slave register 1xy91 Counter of windings Function Description Read Number of windings applied Write Initial value of the counter of windings Value range 8 388 608 8 388 607 Value after reset 0 This variable is incremented at each further winding It must be pre occupied after activation of the winding mode Slave register 1xy89 Changing the winding gradient at the edge of the coil Function Description Read Latest set value respectively zero if the value has been taken over Write New winding gradient to be taken over at the next edge Value range 0 8 388 607 Value after reset 0 If during a winding process a value that is greater than zero is written into this register it will be taken over into register 1xy56 at the next edge of the coil The travel distance of the traversing axis changes accordingly during one spindle revolution Calculation of the traversing direction will be carried out automatically 90 Jetter AG JX2 SM2 Module Jetter AG 10 2 The Winding Mode The value written in register 1xy89 will be reset to zero after being taken over Only positive values may be written
3. 65 535 Hz 4 ms Value after reset 65 535 Hz 4 ms no limitation Jetter AG JX2 SM2 Module 10 1 Follower 10 1 2 Speed pre control The speed pre control that can be activated and deactivated by setting bit 23 in the status register of the slave serves for the adjustment of the follower controller Deactivating the pre control Status bit 23 1 The pre control is active Status bit 23 0 It is the objective of programming that the slave axis follows the master axis fast and directly For this purpose a position feedback controller proportional controller has been implemented into the slave The set frequency set speed for the slave is combined of the following constituents _ Set pos Actpos x Reg 1xy10 1 000 000 Reg 1xy56 128 Set frequ q Regixy52 Reg 1xy57 Reg1xy96 x 1xy56 1xy57 Register 1xy10 P gain of the Position Controller Register 1xy96 Master speed Register 1xy52 Adjustment of the PPR count Register 1xy56 Factor of the transmission ratio between master and slave Register 1xy57 Divisor of the transmission ratio between master and slave Set pos Masterpos x The speed control component is to determine for the slave the best speed possible when following the master If now a deviation from the ideal value has occurred the speed will be increased or decreased accordingly Speed pre control is generated as follows 1 000 000 _ Reg 1xy56 SPE CUR ie COMO
4. Jetter AG 17 3 Physical Dimensions JetWeb Fig 4 Top View Design Connection to the basic unit via Jetter Male connector SUB D 9 pins system bus Dimensions HxWxD in mm 114 x 105 x 69 Housing bottom Aluminium powder coated Housing cover Steel sheet metal coated with AlZn Weight 470g Installation DIN rail EN 50022 35 x 7 5 18 Jetter AG JX2 SM2 Module Jetter AG 4 Technical Data Technical Data Positioning range 8 388 608 8 388 607 steps Stepping rate max 250 kHz Maximum start stop frequency 5 kHz Acceleration deceleration ramp linear with programmable gradient 1 32 767 Hz 4 ms Machine Referencing max stepping rate 1 000 Hz During the reference run the reference switch is queried every 500 us When referencing at stepping rates gt 1 000 Hz the resolution exceeds one step i e the accuracy will reduce Supply Voltage DC 24 V 20 30 V residual ripple lt 5 filtered Connection to the controller module via system bus SUB D female connector 9 pins Terminals Power supply limit and reference switches Screw terminals Interface between module and amplifier Female connector SUB D 9 pins Interface between module and amplifier Open collector RS422 Enclosure Metal Dimensions HxWxD 115 x 105 x 69 mm In
5. The negative limit switch is actuated Then referencing will be terminated by internally setting set position actual position The reference run error will be reported in status register 1xy00 by setting bit 12 Automatic referencing is carried out by the stepping rate loaded in register 1xy03 For command 22 the value must not be greater than the maximum start stop frequency Basically the start stop frequency should not be greater than 1 kHz as otherwise referencing cannot be carried out in accurate steps Jetter AG 47 9 Description of Software JetWeb The stepper motor controller JX2 SM2 is equipped with the following commands 10 11 48 Automatic reference run mode 2 The reference is cleared The status register bit 0 register 1xy00 will be reset to 0 Start referencing in negative direction up to the reference switch If the negative limit switch is actuated before the reference switch the axis reverses the direction of motion and continues to travel in negative direction until The reference switch is actuated Referencing depends on whether command 22 or command 23 has been given last Command 22 Default The axis will stop at the reference point The actual and set position will be set to 0 while the status register bit 0 register 1xy00 will be set to 1 Command 23 The axis actuates the reference switch When actuating the reference switch the actual position is set to 0 while t
6. 2000 m above sea level DIN EN 61131 2 Jetter AG JX2 SM2 Module Operating Parameters Mechanical Data Parameter Value Reference Free Falls Withstanding Test Height of fall units within packing 1m DIN EN 61131 2 DIN EN 60068 2 32 Vibration Resistance 10 Hz 57 Hz with an amplitude of 0 0375 mm for continuous operation peak amplitude of 0 075 mm 57 Hz 150 Hz 0 5 constant acceleration for continuous operation 1 g constant acceleration occasionally 1 octave min 10 sinusoidal frequency sweeps all 3 spatial axes DIN EN 61131 2 DIN EN 60068 2 6 Shock Resistance 15 g occasionally 11 ms sinusoidal half wave 2 shocks in all three spatial axes DIN EN 61131 2 DIN EN 60068 2 27 Class of protection IP20 rear IP10 DIN EN 60529 Mounting position Any position snapped on DIN rail Operating Parameters Electrical Safety Parameter Value Reference Protection class DIN EN 61131 2 Dielectric Test Voltage Functional ground is connected to chassis ground internally DIN EN 61131 2 Overvoltage Category DIN EN 61131 2 Jetter AG 21 4 Technical Data 22 JetWeb Parameter Operating Parameters EMC Emitted Interference Value Reference Enclosure Frequency band 30 230 MHz limit 30 dB V m at 10 m distance 230 1 000 MHz lim
7. 8 388 607 Ro Automatic shift of the reference point 1xy71 New position value after 8 388 608 8 388 607 R W shifting the reference point Jetter AG 43 9 Description of Software 9 3 JetWeb Register Description For each register the following information will be given Function of the register resulting from a read access i e an instruction of the following kind REGISTER_LOAD 220 1xyzz Function of the register resulting from a write access i e an instruction of the following kind REGISTER_LOAD 1xyzz with 220 Value range i e valid numerical values for the registers Value of the register shortly after the JetControl module has been switched on or following reset Example of the use of the register with a description of the effect resulting from the given instruction Register 1xy00 Status register Function Description Read Feedback of the status of the module JX2 SM2 Write It is possible to write bits 14 and 23 Value range 8 388 608 8 388 607 bit coded Value after reset Depending on the present state Meaning of the individual status register bits Bit 0 Bit 1 Bit 2 Bit 4 44 Referenced 1 Reference has been set The reference switch has been found or manual referencing has been carried out after giving command 3 0 Reference has been cleared Automatic referencing is being carried out or the statu
8. If the JX2 SM2 module is sold alienated or loaned this manual must be handed over In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us This will help us to produce manuals that are more user friendly and to address your wishes and requirements This manual contains important information on how to transport erect install operate maintain and repair the JX2 SM2 module Therefore this person must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing History Revision Comment 1 00 Original issue 1 1 JetNode images replaced with JetControl images Chapter 3 Images of physical dimensions Chapter 5 Images showing LEDs 1 2 Chapter 1 Safety Instructions Residual Dangers Instructions on EMC Chapter 4 Operating parameters Chapter 5 Picture Chapter 6 Pin assignment of stepper motor Chapter 7 1 Section Important Chapter 7 2 new Chapter 8 2 sub chapters have been deleted Chapter 9 Chapter numbering Chapter 11 Example Referencing Cycle 1 14 1 Introduction History has be
9. If the counter module JX2 CNT is the master there will be a fixed overflow position between 8 388 608 and 8 388 607 increments incremental encoder Master register 1xy85 Overflow position for endless and relative positioning Function Description Read Present overflow position Write Value of the new overflow position Value range 0 8 388 607 Value after reset 7 490 000 Jetter AG JX2 SM2 Module 10 1 Follower For endless positioning the value of master register 1xy85 will be written into slave register 1xy44 Slave register 1xy44 Overflow position for endlesspositioning the value is taken out of master register 1xy85 Function Description Read Present overflow position Write Value of the new overflow position Value range 0 8 388 607 value from master register 1xy85 Value after reset 7 490 000 Module JX2 CNT with an incremental encoder connected to it is the master Entry in slave register 1xy44 8 388 607 Jetter AG 77 10 Further Functions JetWeb 10 1 4 Follower Function in Table Mode If one axis is to follow another in a variable transmission ratio a table must be defined The follower will follow the values written in the table Slave register 1xy53 Pointer to a table element Function Description Read Table line that is presently referred to Write New table line to be referred to Value range
10. around this manual JetWeb Jetter AG JX2 SM2 Module Jetter AG Table of Contents Table of Contents Ee E E E re E S ee S OonRWN KR w Ni Nh A Ww 6 1 6 2 6 3 7 1 7 2 8 1 8 2 9 1 9 2 9 3 10 Safety Instructions General Words of Advice Usage as agreed upon Usage Other Than Agreed Upon Who is Permitted to Operate the JX2 SM2 Module Modifications and Alterations to the Module Repairing and Maintaining the JX2 SM2 Module Decommissioning and Disposal of the JX2 SM2 Module Ensure Your Own Safety Malfunctions Information Signs and Labels Residual Dangers Instructions on EMI Word of Advice on this Manual Physical Dimensions Technical Data Meaning of LEDs Description of Connections Power supply of the module Control inputs Outputs Connection diagram Open Collector RS422 Facts worth knowing about stepper motor controls What is a stepper motor Acceleration and deceleration Description of Software Axis Numbering System Overview of Registers Register Description Further Functions 33 33 36 39 39 41 44 65 Table of Contents 10 1 10 1 1 10 1 2 10 1 3 10 1 4 10 2 10 2 1 10 2 2 10 2 3 10 3 10 4 10 5 11 Follower General Information Speed pre control Follower with a fixed transmission ratio Follower Function in Table Mode The Winding Mode Function Realisation Special Functions Relative Positioning with Start Input Captu
11. reset it might be possible that register 1xy52 of the traversing axis must be written in order to adjust the speed values The value is calculated by the following formula 60 000 000 SlaveRegister 1xy52 _90 000 000_ aveRegister 1xy IncrementsPerSpindleRotation If an incremental encoder on the spindle axis has for example got 500 encoder lines and if values are read out of module JX2 SV1 with quadruple evaluation value 30 000 must be written into slave register 1xy52 If the spindle axis is driven by module JX2 DIMA the resolver resolution is 4 096 value 14 648 must be entered into slave register 1xy52 Note For layered winding the tracking error correction must be deactivated 95 10 Further Functions 96 JetWeb Overflow of the Spindle Position The spindle axis is driven by the module JX2 SV1 JX2 DIMA JX2 SM2 oder JX2 SM1D The spindle position is read in as well It is possible that a value of 7 490 000 is exceeded For this reason the following conditions must be considered Absolute positioning of the spindle There are no conditions to be considered Relative positioning and endless positioning of the spindle The value in register 1xy85 has not been changed There are no conditions to be considered The value in register 1xy85 has been changed The value of master register 1xy85 must be written into slave register 1xy44 This way the slave will be informed of when
12. 0 7 499 Value after reset 0 Slave register 1xy54 Value of the table element Function Description Read Present value of the table element Write New value of the table element Value range 8 388 608 8 388 607 Value after reset 0 Slave register 1xy55 Total number of table elements Function Description Read Present total number of table elements Write New total number of table elements Value range 1 7 500 Value after reset 0 78 Jetter AG JX2 SM2 Module 10 1 Follower Slave register 1xy58 Maximum position in positive direction of the master axis Function Description Read Present positive maximum position of the master axis Write New positive maximum position of the master axis Value range 8 388 608 8 388 607 Value after reset 8 388 607 ES Important Before the follower function in table mode is started by calling up command 46 values must already be written into the table then The table is cleared of its contents when the power supply of the module is switched off First communication between master and slave must be set up see chapter 10 1 1 General Information page 65 The function Follower in table mode is activated by giving command 46 in the slave The function Follower in table mode is terminated by giving command 47 in the slave At the same time the AXARR instruction
13. 2 The Winding Mode Slave register 1xy96 Speed of the master axis Function Description Read Present speed of the master axis Write Illegal Value range 32 768 32 767 rom Value after reset 0 Step 2 Configuring of the winding process concerning the traversing axis Slave register 1xy93 Positive edge Function Description Read Present positive edge Write Definition of a new edge Value range 8 388 608 8 388 607 Value after reset 8 388607 If the following set position of the traversing axis is greater than or equal to the value written in register 1xy93 the sense of rotation of the traversing axis will be changed Slave register 1xy94 Negative edge Function Description Read Present positive edge Write Definition of a new edge Value range 8 388 608 8 388 607 Value after reset 8 388608 If the following set position of the traversing axis is less than or equal to the value written in register 1xy94 the sense of rotation of the traversing axis will be reversed Jetter AG 10 Further Functions JetWeb XS Note Recognition of the edge is dependent on the direction If the traversing axis is movving in positive direction only the positive edge will be recognized The same applies to the negative edge This way it is possible to start the winding process from a position for example which is in an
14. Do not apply a voltage to the JX2 SM2 module that is higher than the specified operating voltage 1 1 2 Usage Other Than Agreed Upon The JX2 SM2 module must not be used in technical systems which to a high degree have to be fail save e g ropeways and aeroplanes If the JX2 SM2 module is to be run under ambient conditions which differ from the conditions mentioned in chapter 4 Technical Data page 19 the manufacturer is to be contacted beforehand 1 1 3 Whois Permitted to Operate the JX2 SM2 Module Only instructed trained and authorised persons are permitted to operate the JX2 SM2 module Transport Only by personnel with knowledge in handling electrostatically sensitive components Installation Only by specialists with training in electrical engineering Commissioning Only by specialists with extensive knowledge of and experience with electrical engineering drive technology 1 Safety Instructions 10 JetWeb 1 1 4 Modifications and Alterations to the Module Due to safety reasons neither any alterations to the JX2 SM2 module nor any modifications of its functions are permitted Any modifications to the JX2 SM2 module not expressly authorized by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specially designed for the JX2 SM2 module Parts and equipment of other manufacturers are not tested on our part and are therefore not released by us The install
15. Follower Master register 1xy23 Resolution of drive system Function Description Read Present parameter value Write Resolution of drive system Value range 0 32 767 Value after reset 0 Meaning If the JX2 SM2 module is master it must be informed of the drive resolution in order to forward the correct speed value to the slave To do so the following formula is used Factor Divisor x ActpositionMaster Set position Slave Jetter AG 71 10 Further Functions 72 JetWeb 10 1 3 Follower with a fixed transmission ratio Set position Slave pester x ActpositionMaster Slave register 1xy56 Factor between master and slave Function Description Read Present factor Write A new factor is defined Value range 0 32 767 Value after reset 1 Slave register 1xy57 Divisor between master and slave Function Description Read Present divisor Write A new divisor is defined Value range 0 32 767 Value after reset 1 First communication between master and slave must be set up see chapter 10 1 1 General Information page 65 When the slave has received the first position value from the master it will calculate the corresponding set position of the slave axis with the help of the defined transmission ratio Then the speed by which the axis will move towards this position will be calculated by the slave In order to carr
16. JX2 SM2 Input JX2 SM2 Controller module Module position Module position 2 Module position Module position 4 1 3 Input Register numbers Input Register numbers 101 108 121zz 122zz 201 208 131zz 132zz Note The register numbering system described here applies to the control systems NANO B C D and JC 24x Jetter AG JX2 SM2 Module Jetter AG 9 2 Overview of Registers 9 2 Overview of Registers R W Read Write Ro Read only Wo Write only Reg i Type of register Ro Wo 1xy00 Status register 8 388 608 8 388 607 R W 1xy01 Instruction Register 0 69 R W 1xy02 Set Position 8 388 608 8 388 607 R W 1xy03 Set Speed Stepping Rate 1 250 000 R W 1xy04 Polarities 0 7 RW 1xy05 Acceleration ramp 0 32 767 R W 1xy06 Deceleration ramp 0 32 767 R W 1xy07 Destination window 0 8 388 607 R W 1xy08 Start stop frequency 1 5 000 R W 1xy09 Actual position 8 388 608 8 388 607 Ro 1xy11 Present stepping rate 0 250 000 Ro 1xy14 Positive software limit switch 8 388 608 8 388 607 R W 1xy15 Negative software limit switch 8 388 608 8 388 607 R W 1xy21 Scaling 1 255 RW Max stepping rate 1xy67 Relative positioning in the 8 388 608 8 388 607 R W mode Relative positioning with starting input 1xy68 Absolute positioning of the 8 3
17. OH 44147 2950 Phone 1 440 8380860 Fax 1 440 8380861 E Mail bschulze jetterus com Intenet www jetterus com 118
18. Start 2 Stop 2 Fig 18 The timing of positioning with start input 97 10 Further Functions 98 JetWeb Example With the help of the start input relative positioning is to be started This is quite useful for applications where fast reaction to irregular signals is necessary e g there are parcels to be transported from one assembly line to another Transfer of command 20 relative positioning with sStart input to module JX2 SM2 CONST RelposWithoStartinput 20 Declaring constants END_CONST VAR AX Kommando INT AT VL 12101 Declaring variables AX RelSetPosition INT AT VL 12167 END_VAR Enabling relative positioning with start input AX_Kommando RelposWithStartinput Transferring the relative set position to module JX2 SM2 AX_RelSetPosition 8000 Now the axis will move 8000 steps in positive direction once the start input has been activated Each time 24 V are applied to the start input and if the axis is not moving positioning by 8 000 steps will be started independently of the CPU Register 1xy68 Absolute position of the latest positioning cycle Function Description Read Absolute position of the latest positioning cycle Write Makes no sense Value range 8 388 608 8 388 607 steps Value after reset 0 steps Meaning Register xy168 serves as an internal auxiliary register for carrying out relative positio
19. command 5 is carried out The slave axis is internally given a set position which equals its actual position which causes the slave axis to stand still If command 42 is given to either master or slave they will terminate their respective part of communication between master and slave After giving this command status bit 13 BUSY must be queried The waiting period lasts until the value of the status bit is zero If module JX2 CNT is used as a master output xx03 must be set to zero In this case status bit 13 BUSY of the slave must be queried too Jetter AG 79 10 Further Functions 80 Example of setting up a table JetWeb Slave table register 1xy55 20 Present master position Register 1xy58 1 000 Register 1xy53 0 Register 1xy54 0 25 25 Register 1xy53 1 Register 1xy54 10 26 75 Register 1xy53 2 Register 1xy54 20 76 125 Register 1xy53 3 Register 1xy54 30 126 175 Register 1xy53 4 Register 1xy54 40 176 225 Register 1xy53 5 Register 1xy54 50 226 275 Register 1xy53 6 Register 1xy54 60 276 325 Register 1xy53 7 Register 1xy54 70 326 375 Register 1xy53 8 Register 1xy54 80 376 425 Register 1xy53 9 Register 1xy54 90 426 475 Register 1xy53 10 Register 1xy54 100 476 525 Register 1xy53 11 Register 1xy54 90 526 575 Register 1xy53 12 Register 1xy54 80 576 625 Regi
20. into the variable Slave register 1xy79 Increased resolution of the winding gradient Function Description Read Presently set resolution Write New resolution of the winding gradient Value range 0 8 388 607 Value after reset 1 The gradient in a higher resolution is defined in register 1xy79 that belongs to the traversing axis The values of 1xy56 respectively 1xy89 can now be multiplied by the value of register 1xy79 This way a non integer gradient value can also be defined _ 1xy56 resp 1xy89 fe ee A ERS Aal creer 1xy57 x 1xy79 Example 1 Value in register 1xy79 1 Value in register 1xy56 56 steps Actual travel distance during one spindle revolution 56 steps Example 2 Value in register 1xy79 10 Value in register 1xy56 56 steps Actual travel distance during one spindle revolution 5 6 steps 91 10 Further Functions JetWeb Slave register 1xy88 Void increments Function Description Read Present number of void increments Write New number of void increments Value range 0 8 388 607 Value after reset 0 Void increments can be applied to the edge The traversing axis will stand still at the edge until the spindle has covered this number of increments as defined in register 1xy88 which are calculated as starting from the edge If the traversing axis is not to delay at the start register 1xy88 must not be written into before start up The spi
21. position that has been loaded remains unchanged Establishing of communication between 2 modules not CPUs The master e g the module JX2 SM2 starts sending the position value to the slave via system bus This command is issued to the master In the follower and in winding mode it is necessary for the sake of of saving time that master and slave communicate directly not via CPU This command can be cancelled by issuing command 42 It applies to the modules JX2 SV1 JX2 DIMA JX2 SM2 or JX2 SM1D Reserved End of communication between 2 modules not CPUs Jetter AG JX2 SM2 Module Jetter AG 9 3 Register Description The stepper motor controller JX2 SM2 is equipped with the following commands The master respectively the slave terminate their individual part in communication This command is to be given both to the master and the slave It applies to the modules JX2 SV1 JX2 DIMA JX2 SM2 or JX2 SM1D 43 Reserved 44 Follower ON The follower function is activated A slave and a master are synchronized Synchronisation is carried out in a fixed transmission ratio see registers 1xy56 and 1xy57 Function Electric gearbox This command is issued to the slave and can be cancelled by issuing command 45 45 Follower OFF The follower function by a fixed transmission ratio is deactivated The axis is stopped by issuing command 5 This command is given to the slave 46 Follower via table ON The slave foll
22. the overflow takes place Only then the overflow data can be acquired correctly The spindle position is read by module JX2 CNT The spindle position can exceed respectively fall below value 8 388 607 Entry in slave register 1xy44 8 388 607 Jetter AG JX2 SM2 Module Jetter AG 10 3 Relative Positioning with Start Input 10 3 Relative Positioning with Start Input Starting relative positioning using command 20 When this command is issued relative positioning with start input is started Terminating relative positioning using command 21 When this command is issued relative positioning with start input is terminated Register 1xy67 Relative Positioning with Start Input Function Description Read Present relative position for the mode Relative positioning with start input Write A new value is defined Value range 8 388 608 8 388 607 Schritte Value after reset 0 steps Meaning The start input is the REF input While 24 V are applied to this input and the axis is in the AXARR condition relative positioning will be started Before the target position is reached 0 V must be applied to input REF Otherwise the axis will not stop yet another positioning process will be started The relative positioning value has been loaded into register 1xy67 24V 1xy67 8000 Start Input OV Position j pop _ _ p 1000 9000 17000 17000 25000 Steps Start 1 Stop 1 Start3 Stop 3
23. 0 while the status register bit 0 register 1xy00 is set to 1 The set position that has been loaded remains unchanged The axis will travel on up to the negative limit switch Jetter AG JX2 SM2 Module 9 3 Register Description The stepper motor controller JX2 SM2 is equipped with the following commands The negative limit switch is actuated Then referencing will be terminated by internally setting set position actual position The reference run error will be reported in status register 1xy00 by setting bit 12 Automatic referencing is carried out by the stepping rate loaded in register 1xy03 If command 22 is to be given the value must not be greater than the maximum start stop frequency Basically the start stop frequency should not be greater than 1 kHz as otherwise referencing cannot be carried out in accurate steps 12 Automatic reference run mode 4 The reference is cleared The status register bit 0 register 1xy00 will be reset to 0 Start referencing in negative direction up to the negative limit switch The reference switch is ignored first At the negative limit switch the axis reverses its direction and moves in positive direction until the reference switch is actuated Referencing depends on whether command 22 or command 23 has been given last Command 22 Default The axis will stop at the reference point The actual and set position will be set to 0 while the status register bit 0 register 1
24. 1xy03 it will be stopped by issuing command 0 or 5 AXARR The movement will also be stopped when the positive limit switch is reached the POS command is issued or a value is entered into register 1xy02 Start endless motion in negative direction The axis will move in negative direction with the stepping rate written in register 1xy03 it will be stopped by issuing command 0 or 5 AXARR The movement will also be stopped when the negative limit switch is reached the POS command is issued or a value is entered into register 1xy02 Starting the winding mode The winding mode is activated A slave and a master are synchronized This command is given to the slave and can be cancelled by giving command 67 Stopping the winding mode The winding mode is deactivated The axis is stopped as with command 5 This command is given to the slave Layer traversing in winding mode After each single revolution of the spindle the traversing axis will be moved on by the number of steps written in register 1xy56 Continuous layering in the winding mode default The traversing axis is moving continuously in a fixed ratio to the spindle Jetter AG JX2 SM2 Module ES Jetter AG 9 3 Register Description Reg 1xy02 Set Position Function Description Read Set position of the axis Write Starts a new positioning process Value range 8 388 608 8 388 607 steps Value after reset 0 steps Imp
25. 200 Full step mode m 400 Half step mode 5 phase motor m 500 Full step mode m 1 000 Half step mode More exact step resolutions can be realized by electronic means This is called micro step function With the help of a finer mathematical gradation the 1 4 step 1 8 step 1 16 step etc can be realized If the number of steps per time unit is increased the jerking motion of the motor shaft turns into a more and more regular continuous rotating motion Jetter AG JX2 SM2 Module Jetter AG 8 1 What is a stepper motor The speed can be calculated as follows Speed 60 stepping rate step resolution Speed in revolutions per minute Stepping rate in Hz Step resolution in steps per revolution The moments of inertia of rotor and load result in smoother motion The stepper motor can both move towards defined discrete positions and drive a load with a predefined speed It is an interesting fact that the stepper motor exhibits torque even at standstill this kind of torque is called holding torque The mechanical system permitting the holding torque can be decreased by current reduction during standstill A typical motion profile normally consists of a starting phase with the start stop frequency an acceleration phase a phase of constant speed a deceleration phase and a stop at last 35 8 Facts worth knowing about stepper motor controls JetWeb 8 2 Acceleration and deceleration The stepper motor is a
26. 43 AX_Slave MasterNo Master AchsNo The slave is now in standby Entering the master axis into slave register 1xy43 Has the slave received the position and speed value from the master WHEN BIT CLEAR AX_Slave Status Busy CONTINUE Reading the slave position and speed by the master ri_Position AX Slave MasterPos ri_Speed AX Slave MasterSpeed J oe Slave register 1xy96 Speed of the master axis Function Description Read Present speed of the master axis Write Illegal Value range JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D is master 32 768 32 767 rom JX2 CNT is the master 8 388 608 8 388 607 Hz Value after reset 0 Jetter AG 67 10 Further Functions 68 Limitation of acceleration JetWeb When the axis is running in the operating mode follower or winding mode it will be adjusted to a master axis Jerking motions of the master axis may require an amount of acceleration which the slave as a stepper motor cannot perform In this case the motor may skip steps or else the motor will just come to a standstill In order to avoid this an acceleration limitation can be set In consequence the change of step frequency will never go beyond this value Slave register 1xy60 Limitation of acceleration Function Description Read Present limitation of acceleration Write New value for the accelerating ability of the motor load combination Value range 0
27. 88 608 8 388 607 Ro latest positioning in the mode Relative positioning with start input 1xy69 Pulse length of STEP signal 8 65 535 R W 1xy85 Overflow position for endless 0 8 388 607 R W and relative positioning 1xy95 Actual position of master axis 8 388 608 8 388 607 R W 1xy96 Velocity Ro Master Axis Modules JX2 DIMA JX2 SV1 JX2 SM1D JX2 SM2 32 768 32 767 rpm Counter module JX2 CNT 8 388 608 8 388 607 Hz 1x199 Software version 0 8 388 607 Ro 41 9 Description of Software 42 JetWeb Reg Type of register Ro a Wo Follower Control 1xy10 P gain of the Position 0 32 767 R W Controller 1xy23 Resolution of drive system 0 32 767 R W 1xy43 Number of the master axis R W Module JX2 SM1D 0 21 31 41 51 61 71 Modules JX2 DIMA JX2 SV1 JX2 SM2 0 21 22 31 32 41 42 51 52 61 62 71 72 Counter module JX2 CNT 102 124 1xy44 Overflow position for endless 0 8 388 607 R W positioning the amount is taken from master register 1xy85 1xy52 Adjustment of the number of 0 8 388 607 R W increments per revolution 1xy53 Pointer to a table element 0 7 499 R W 1xy54 Value of the table element 8 388 608 8 388 607 R W 1xy55 Total number of table 0 7 500 R W elements 1xy56 Factor between master and 0 32 767 R W slave 1xy57 Divisor between mas
28. Circuit configuration with a RC or LC component in order to achieve more smoothness or a lower ripple of the DC voltage Type of a serial interface The signal and the inverted signal are transferred via separate lines This symmectrical transmission method is for detecting interferences during transmission The stepping rate ist inversly proportional to the time interval between two subsequent steps The steps are applied to a stepper motor with a certain stepping rate The stepper is turning An individual application or sub program which can be executed as an independent unit Jetter AG JX2 SM2 Module Tracking error Vibration resistance Jetter AG Appendices In case of a low tracking error the slave axis will follow the master axis fast and precisely The device can permanently or shockwise be exposed to a vibration defined in the standard 111 Appendices JetWeb Appendix C List of Abbreviations Q Ohm electric resistance M Torque symbol used in formulas per cent C degrees centigrade temperature unit uF Microfarad 1 uF 10 F us microsecond 1 us 10 s A Ampere electric current AC Alternating Current approx approximately betw between CE Communaut s Europ ennes European Union cf compare Cl Class cor correspondingly dB Dezibel logarithmic unit for damping resp amplification DC Direct Current e g lat exempli gratia for example EMC Electro Magnetic C
29. EF Sia ee e SOEegse GS Li 1 REF 1 Li 2 Li 2 REF 2 Reference switch Axis 2 Reference to GND Terminal X10 0 V DC 24 V 2 8 kQ 28 Jetter AG JX2 SM2 Module 6 3 Outputs 6 3 Outputs Assignment of the 9 pin female SUB D connectors X61 X62 Terminals X61 Pin Signal Comment X62 DRIVE1 DRIVE2 Pin 1 Step RS422 EA es Pin 2 Dir RS422 FN Pin 3 Step Open Collector Pin 4 OV lt lt Pins 5V output 50 mA x61 x62 Pin 6 Step RS422 Pin 7 Dir RS422 Pin 8 Dir Open Collector Pin 9 OV Jetter AG 29 6 Description of Connections JetWeb 30 Jetter AG JX2 SM2 Module 7 1 Open Collector 7 Connection diagram 7 1 Open Collector JX2 SM2 Stepper motor controller 24V 0V Reference Switch Limit Switch Limit Switch Power amplifier Fig 6 Connection Diagram Open Collector ES Important Pull up resistor rating of open collector signal lines STEP and DIR in Fig 6 marked with asterisk e Ata voltage of 24 V the rating of the pull up resistor must not fall below 1 KQ e Atavoltage of 5 V the rating of the pull up resistor must not fall below 220 KQ The voltage must not exceed 30 V Jetter AG 31 7 Connection diagram JetWeb 7 2 RS422 JX2 SM2 Stepper motor controller 24V 0V v Reference Switch Limit Switch Limit Switch Power amplifier Fig 7 Connecti
30. JetWeb JX2 SM2 User Manual Jetter Article 608 632 88 Edition 1 14 3 March 2007 Printed in Germany JetWeb Rev 1 14 3 Jetter AG reserves the right to make alterations to its products in the interest of technical progress These alterations need not be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names used in this document are trademarks or registered trademarks of the respective title owner Jetter AG JX2 SM2 Module Jetter AG How to Contact us Jetter AG Graterstrake 2 D 71642 Ludwigsburg Germany Phone Switchboard 49 7141 2550 0 Phone Sales 49 7141 2550 433 Phone Technical Hotline 49 7141 2550 444 Telefax 49 7141 2550 484 E Mail Sales sales jetter de E Mail Technical Hotline hotline jetter de Internet address http Awww jetter de This Manual is an Integral Part of the Module JX2 SM2 Type Serial Year of construction Order To be entered by the customer Inventory Place of operation Copyright 2007 by Jetter AG All rights reserved JetWeb Significance of this User Manual This manual is an integral part of the JX2 SM2 module and e must be kept in a way that it is always at hand until the JX2 SM2 module will be disposed of
31. Switch Function The limit switch function software and hardware limit switch in the traversing axis is also active in the winding mode If a limit switch has been actuated the winding mode will automatically switch to the normal position control mode This limit switch recognition will not be recognized by the spindle axis though Tracking Error Correction In winding mode follower control between spindle and traversing axis will be carried out with the help of a proportional controller In principle the tracking error will be decreased when the P gain slave register 1xy10 of the controller is increased If the selected value is too high though the traversing axis will start chattering Especially for a stepper motor this is a disadvantage Further a tracking error correction in the shape of a speed precontrol is active see chapter 10 1 2 Speed pre control page 69 It is possible that by deactivating the speed pre control status bit 23 of slave register 1xy00 has been set the traversing axis can follow the spindle more easily This can be the case if the encoder resolution of the spindle is low or if the time interval during transmission is too short When the sense of rotation is reversed at the edge the tracking error must be cleared and built up again If the spindle position is read by module JX2 DIMA JX2 SV1 JX2 SM1D or JX2 SM2 If the speed pre control is active status bit 23 in slave register 1xy00 has been
32. The master will receive command 30 command register Module JX2 CNT is master Output xx03 must be set xx stands for the number of the module position for module JX2 CNT From this moment module JX2 CNT will transmit the position value and the time that has elapsed between two position values transmitted Register 3yy5 of the module JX2 CNT Time interval for transmitting the position Function Description Read Present parameter value Write New time interval Value range 0 5 multiple of 300 us Value after reset 0 2 yy Module number 2 Register value Time interval 0 300 us 1 600 us 2 900 us 3 1 200 us 4 1 500 us 5 1 800 us 85 10 Further Functions 86 JetWeb From this register the JX2 CNT module will be informed on the time intervals by which the position of the master axis is to be transmitted via the bus The higher the value the smaller will be the bus load Besides that the resolution of the speed value will be the finer The slave will calculate this speed value by the change in position during this interval of time When the set time interval is too long new position values for precise value adjustment will not be transmitted to the slave often enough For this reason values between 300 us and 1 800 us are useful When the number of the spindle axis master axis is written into slave register the slave traversing axis will receive th
33. arameter deceleration ramp Write New value for the parameter deceleration ramp Value range 1 32 767 Hz 4 ms Value after reset 10 Hz 4 ms Important Effects of writing this value 1 During standstill of the axis The new value will be saved for the next positioning run 2 If positioning is being carried out at that moment Attention The new value will have an effect on the present positioning process If the deceleration ramp is changed when the motor is decelerating through this ramp high deceleration may result If this is the case the motor may skip steps Do not enter values into register 1xy06 when positioning is in progress 56 Jetter AG JX2 SM2 Module 9 3 Register Description Meaning Hz 10000 Reg 1xy08 2000 Reg 1xy06 2000 Reg 1xy03 10000 Reg 1xy21 1 AOD ips tetera 6 a 9996 10000 ms Fig 14 Deceleration through a deceleration ramp In the classical case the stepper motor must be decelerated from its operating speed until the start stop frequency has been reached The motor decelerates through a linear deceleration ramp The gradient of the ramp results from the change of the stepping rate over a set time In the given case the time is 4 ms ES Important The parameter value to be set must be adjusted to the individual stepper motor drive If the deceleration ramp is too steep position inaccuracies will occur or else the stepp
34. ation of such parts may impair the safety and the proper functioning of the JX2 SM2 module Any liability on the part of Jetter AG for any damages resulting from the use of non original parts and equipment is excluded 1 1 5 Repairing and Maintaining the JX2 SM2 Module The JX2 SM2 module must not be repaired by the operator itself The JX2 SM2 module does not contain any parts which can be repaired by the operator If the JX2 SM2 module needs repairing please send it to Jetter AG The JX2 SM2 module is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of the module 1 1 6 Decommissioning and Disposal of the JX2 SM2 Module Decommissioning and disposal of the JX2 SM2 module are subject to the environmental legislation of the respective country in effect for the operator s premises Jetter AG JX2 SM2 Module 1 2 Ensure Your Own Safety 1 2 Ensure Your Own Safety ye Disconnect the JX2 SM2 module from the mains to carry out maintenance work By doing so you will prevent accidents resulting from electric voltage and moving parts ye Protection and safety components such as guards as well as terminal box covers must not be shunted or bypassed y _Dismantled protective equipment must be reattached prior to commissioning and checked for proper functioning 1 2 1 Malfunctions y Malfunctions or other damages are to be reported to an authorised person at once Safeg
35. by the operating system of module JX2 SM2 will be used These two example take as a basis a positioning range where the reference switch is placed very close to the negative limit switch see Fig 20 T ZZ ZZZZZZ777777777777 QE7Z77777777777777777777777777777777 IZZA Li REF Li Fig 20 Positioning range for the referencing cycle In both examples referencing is carried out as follows e Approaching the limit switch in negative direction Passing the reference switch e Approaching the reference switch in positive direction e Stop at the reference switch Jetter AG JX2 SM2 Module Example 1 Starting an individually programmed referencing cycle Approaching the negative limit switch and stopping Destination is a negative position which will not be reached before the limit switch has been approached The controller automatically stops the axis once the negative limit switch has been reached CONST X_Axis 21 Declaring constants ReferenceOK 0 NegLimitSwitch ClearReference END_CONST VAR AX_ Status INT AT VL 12100 Declaring variables AX_Command INT AT VL 12101 END_VAR 4 4 SUB su_ERROR 1 FORWARD FORWARD Declaration UP TASK 0 POS X_Achse 8380000 1000 Once the axis has reached the negative limit switch position WHEN BIT SET AX Status NegLimitSwitch CONTINUE AX_Command ClearReference When the reference switch is actuat
36. d position value Function Description Read Position value acquired last Write It can be pre occupied by any value Value range 8 388 608 8 388 607 Value after reset 0 Jetter AG 101 10 Further Functions JetWeb 10 5 Automatic shift of the reference point It is possible to get a jerk free shift of the reference point of the axis by accessing this register Example The axis is in a certain actual position e g 2 000 steps distant from the zero position reference point The entry in register 1xy71 is to determine the following The present actual axis position is not to be 2 000 steps for example but 3 000 steps distant from the zero position reference point To do so enter the following value into register 1xy71 3 000 What will be the results In this example the reference point has been shifted by 1 000 steps in negative direction The axis has not moved Any further movements refer to the newly defined reference point Register 1xy71 New position value after shift of the reference point Function Description Read Position value entered last Write Definition of a new position value Value range 8 388 608 8 388 607 Value after reset 0 ES Important Only apply this function if the axis is in AXARR position and if it is not in an interpolation mode 102 Jetter AG JX2 SM2 Module 11 Machine Referencing If positioni
37. e TASK JetWeb The Jetter system bus allows a cable length of max 30 m and a high data transfer rate of 1 Mbit s In addition to this the Jetter system bus is highly immune to interferences Therefore the Jetter system bus is an excellent choice for field bus applications JX2 module are interconnected through this system bus To be considered when using electric devices of a rated voltage between AC 50 and 1000 V and between DC 75 and 1500 V As shown in Fig 6 the output stage of this circuit arrangement has only an npn transistor with the emitter connected to ground Such outputs can easily be connected in parallel and be provided with a common collector resistor pull up resistor The pull up resistor is located between the transistor collector and the positive voltage source The voltage may range between 5 V and 30 V The change in the counter value at this position is greater than 1 See Bipolar winding For a stepper motor control a phase corresponds to a motor winding Another definition Phase of a supply voltage L1 L2 L3 The position controller tries to keep the axis in a certain set position The proportional action controller possesses a constant amplification factor P amplification There will always remain a difference between set value and actual value Refer to open collector Reference point Value of the latest set position Ripple Superimposed AC of a direct voltage Filtering
38. e 8 388 608 8 388 607 Value after reset 0 The winding mode is started by writing into master register 1xy92 The spindle will start rotating The value written in register 1xy92 is related to the position reached to last The following relation must apply to the maximum value 1xy92 Spindle x 1xy57 latest set pos lt 2 147 483 647 If the spindle is to be positioned via register 1xy92 the value of register 1xy57 of the spindle axis must be equal to the value of register 1xy57 93 10 Further Functions 94 JetWeb After writing the set acceleration ramp into master register 1xy92 the spindle axis will change its direction Then it will continue travelling by the step frequency defined in register 1xy03 and stop after reaching the set number of windings by the set deceleration ramp Yet the spindle can also be moved by giving another positioning instruction e g the POS instruction writing into register 1xy02 Note For pre positioning please be careful to only turn the spindle in winding direction Reason When the edge is to be recognized the former sense of rotation of the spindle axis is decisive If consequently a wrong sense of rotation is recognized an edge will be recognized at the wrong point of time as well This will in consequence lead to wrong positioning of the traversing axis Jetter AG JX2 SM2 Module Jetter AG 10 2 The Winding Mode 10 2 3 Special Functions Limit
39. e in the POS command can be entered only from 0 through 65 535 A higher speed can also be achieved by entering a value directly into register 1xy03 In this case values may exceed 65 535 The command is REGISTER_LOAD 12103 100 000 Reg 1xy04 Polarities Function Description Read Present setting of polarities Write New setting of reference and limit switch polarities Value range 0 7 Value after reset 7 reference switch and limit switch NO contact DIR level This register is bit coded Bit 0 0 Reference switch 0 V active NCC 1 Reference switch 24 V active NOC Bit 1 0 Limit switch 0 V active NCC 1 Limit switch 24 V active NOC Bit 2 DIR level 0 Low open collector output for positive direction High RS422 ouput for positive direction 1 High open collector output for positive direction Low RS422 ouput for positive direction 24 V active If24V are applied to the REF input referencing will be carried out at the present position 0 V active If O V are applied to the REF input referencing will be carried out at the present position Jetter AG JX2 SM2 Module 9 3 Register Description Reg 1xy05 Acceleration ramp 1 Function Description Read Presently effective value of the parameter acceleration ramp Write New value for the parameter acceleration ramp Value range 1 32 767 Hz 4 ms Value after res
40. e value of the spindle position The slave will then be informed of which master to communicate with After writing into register 1xy43 an enquiry must be made whether status bit 13 has been reset Then it is guaranteed that both the present position and the speed of the master axis have been read at least once each Slave register 1xy43 Number of the master axis Function Description Read Present number of the master axis Write Definition of a new master axis Value range For the master axis module JX2 SM1D 0 21 31 41 51 61 71 For the master axis modules JX2 DIMA JX2 SV1 JX2 SM2 0 21 22 31 32 41 42 51 52 61 see 62 71 72 For counter module JX2 CNT 102 124 Value after reset 0 This is only possible with NANO D and JetControl 246 Possible only with JetControl 246 The last two figures denote the module number of JX2 CNT e g 105 module number 05 Addresses 117 through 124 are possible only with NANO D and JetControl 246 When communication has been established the spindle position can be read out of register 1xy95 while the speed of the spindle can be read out of register 1xy96 Slave register 1xy95 Actual position of the master axis Function Description Read Present actual position of the master axis Write Illegal Value range 8 388 608 8 388 607 Value after reset 0 Jetter AG JX2 SM2 Module 10
41. ed Jetter AG JX2 SM2 Module Jetter AG 10 1 Follower 10 Further Functions 10 1 Follower 10 1 1 General Information The functioning principle of the follower is based on the slave axis directly following the master axis One or more slave axes can follow a master axis This following behaviour can be defined in two different ways ina fixed transmission ratio electric gearbox by values defined in a table dynamic transmission ratio Note The slower axis should be run as a slave in order to avoid control problems in the follower controller In order to determine the position of the master axis the modules JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D can be used In such a case these modules will even drive the master axis by themselves For a separately driven axis counter module JX2 CNT can be used as well In this case an incremental encoder or an absolute encoder SSI is placed on the master axis The output signal of the rotary encoder will be recorded by a counter module JX2 CNT The present position value is stored to a counting register within the JX2 CNT module The register description applies to the individual case that the slave axis is driven by module JX2 SM2 Master and slave communicate via system bus Both position and speed of the master axis are transmitted to the slave in cyclic mode via system bus Note If counter module JX2 CNT is the master the following exception will apply In
42. ed again the reference point of the axis will be set by the module For this purpose the axis moves in positive direction POS X_Axis 8380000 1000 If command 22 Reg 1x101 default has been set the axis stops at the reference switch Waiting until referencing is completed Then status bit 0 will be set WHEN MAX 100 su_ERROR BIT _SET AX_ Status ReferenceOK CONTINUE END_TASK SUB su_ERROR 1 In case of timeout DISPLAY TEXT 0 1 ReferencingError END_SUB Jetter AG 105 11 Machine Referencing JetWeb 106 Example 2 Starting an Automatic Referencing Cycle CONST X_Axis 21 RefError 12 Busy 13 ReferencingStartNeg 12 END_CONST VAR AX_Status INT AT VL 12100 Declaring variables AX_Command INT AT SVL 12101 AX_Speed INT AT SVL 12103 END_VAR TASK 0 Setting speed used for referencing Stepping rate 1 kHz AX_Speed 1000 Starting automatic referencing with command 12 AX Command ReferencingStartNeg Waiting until referencing has been completed For this purpose status register 13 is scanned WHEN BIT_CLEAR AX Status Busy CONTINUE IF BIT SET AX_Status RefError THEN DISPLAY TEXT 0 1 Referencing Error ELSE DISPLAY TEXT 0 1 Referencing OK END_IF Tae END_TASK Jetter AG JX2 SM2 Module Appendices Appendix Jetter AG 107 Appendices 108
43. egularly The axis has recognized the limit switch yet it does not stand on the limit switch any more flashing irregularly The axis has recognized the software limit switch Jetter AG 25 5 Meaning of LEDs JetWeb LEDs of JX2 SM2 Module Software related LEDs Designation Function Li The negative limit switch is or was active ON The axis stands on the limit switch flashing regularly The axis has recognized the limit switch yet it does not stand on the limit switch any more flashing irregularly The axis has recognized the software limit switch POS AXARR status ON The axis stands in position X1 special function Flashing for example during operating system update LEDs of JX2 SM2 Module Hardware related LEDs Designation Function 5V Power supply of the module is ok STEP ON Is lit as long as a step pulse is output i e the higher the frequency the more brightly the LED will be lit DIR Indicates the polarity of the DIR output is lit when the open collector signal is low or respectively when the RS422 signal is high 26 Jetter AG JX2 SM2 Module Jetter AG 6 1 Power supply of the module 6 Description of Connections 6 1 Power supply of the module Specification of the terminal e 2 pin screw terminal for PC board connection Allowed conductor size 0 14 2 5 mm Bladed scre
44. en added Chapter 4 Technical Data Chapter 9 Various modifications Chapter 10 Various modifications Chapter 11 Program has been adapted to JetSym Appendix Recent Revisions has been added 1 14 2 Chapter 9 2 Register 1xy69 Chapter 9 3 Register 1xy69 1 14 3 See Recent Revisions on page 108 Jetter AG JX2 SM2 Module Warning Caution Important Jetter AG Description of Symbols This sign is to indicate a possible impending danger of serious physical damage or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies requirements necessary to ensure faultless operation You will be informed of various possible applications and will receive further useful suggestions It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow PC and user interface keys This symbol informs you of additional references data sheets literature etc associated with the given subject product etc It also helps you to find your way
45. er 1x287 irrespective of value in register 1x286 Once an input signal has been detected and the given positions have been saved the register 1xy86 assigned to the corresponding input is set to zero Thus the function is deleted until it is again called up Register 1x186 Enable of the capture function Function Description Read Present register value Write Enable and disable of the capture function Value range 0 3 bit coded Value after reset 0 Meaning The significance of individual bits in register 1x186 Bit 0 Once a signal is applied to REF 1 the actual position of axis 1 is stored to register 1x187 1 enable 0 disable Bit 1 Once a signal is applied to REF 1 the actual position of axis 2 is stored to register 1x287 1 enable 0 disable Jetter AG JX2 SM2 Module 10 4 Capture Function Register 1x286 Enable of the capture function Function Description Read Present register value Write Enable and disable of the capture function Value range 0 3 bit coded Value after reset 0 Meaning The significance of individual bits in register 1x286 Bit 0 Once a signal is applied to REF2 the actual position of axis 2 is stored to register 1x287 1 enable 0 disable Bit 1 Once a signal is applied to REF2 the actual position of axis 1 is stored to register 1x187 1 enable 0 disable Register 1xy87 Acquire
46. er motor will just stop Reg 1xy07 Destination window Function Description Read Presently effective value of the parameter destination window range Write New value for the parameter destination window range Value range 0 8 388 607 steps Value after reset 0 steps Jetter AG 57 9 Description of Software JetWeb Effects of writing this value 1 During standstill of the axis The new value will be saved for the next positioning process 2 If positioning is being carried out at that moment The new value will be taken over immediately If the axis has not been in the destination window yet the new value will be made use of If the axis has reached the destination window already the new value has practically not got any effect to the present positioning run Meaning Reg 1x100 Bit 2 Set Position 100 o fF 1___ 0 i _ eee 90 95 100 105 110 Steps Ipestination Windgwl Reg 1x107 6 Fig 15 Presentation of the destination window The AXARR bit in the status register is already set once the destination window has been reached and not only when the exact set position has been reached CONST X_Achse 21 Declaring constants END_CONST TP ake WHEN AXARR X_Achse CONTINUE Once the axis has reached the destination window the AXARR bit in the status register is set However the axis continues to move until the destination will be reached If
47. et 10 Hz 4 ms Important Effects of writing this value During standstill of the axis The new value will be saved for the next positioning run If positioning is being carried out at that moment Attention The new value will have an effect on the present positioning process If the acceleration ramp is changed when the motor is accelerating through this ramp high acceleration may result If this is the case the motor may skip steps gt Do not enter values into register 1xy05 when positioning is in progress Meaning 2000 fe Reg 1xy21 1 Reg 1xy08 2000 Reg 1xy05 3000 Reg 1xy03 10000 O 4 ms Fig 13 Acceleration through an acceleration ramp In the classical case the stepper motor must be accelerated until the start stop frequency has been exceeded and the operating speed has been reached Jetter AG 55 9 Description of Software JetWeb Motor acceleration is accomplished by means of a linear acceleration ramp The gradient of the ramp results from the change of the stepping rate over a set time In the given case the time is 4 ms Important The parameter value to be set must be adjusted to the individual stepper motor drive If the acceleration ramp is too steep position inaccuracies will occur because of a load angle shift or else the stepper motor will just stop Reg 1xy06 Deceleration ramp Function Description Read Presently effective value of the p
48. even further negative spot than the negative edge It will be of no effect when the axis while moving towards the positive edge passes the position of the negative edge The negative edge will not be considered before the sense of rotation is reversed at the positive edge Slave register 1xy56 Travel distance of a traversing axis during one spindle revolution Function Description Read Present travel distance Write Definition of a new travel distance Value range 32 768 32 767 steps Value after reset 1 In continuous winding mode the traversing axis will travel by the number of steps written here during one spindle revolution The speed corresponds to the ratio of the distance covered by the traversing axis and one spindle revolution Yet the speed will never be greater than the value of the maximum step frequency written in register 1xy03 Module JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D is master Value in register Latest sense of Applying the first 1xy56 spindle revolution layer positive positive in positive direction negative positive in negative direction positive negative in negative direction negative negative in positive direction 88 Jetter AG JX2 SM2 Module Jetter AG 10 2 The Winding Mode Module JX2 CNT is master Value in register Sense of spindle Applying the first 1xy56 revolution layer positive positive in counting direction of the spi
49. f burst 113 Appendices JetWeb Units V Volt electric voltage Var Variable W Watt electric active power 114 Jetter AG JX2 SM2 Module Jetter AG Appendices Appendix C List of Illustrations Fig 1 Shielding of SUB D connectors in conformity with the EMC standards 13 Fig 2 Side View 17 Fig 3 Front View 17 Fig 4 Top View 18 Fig 5 LEDs of JX2 SM2 Module 25 Fig 6 Connection Diagram Open Collector 31 Fig 7 Connection Diagram RS422 32 Fig 8 Feeding power to the motor windings 33 Fig 9 Commutating the rotor 34 Fig 10 Start stop operation 36 Fig 11 Acceleration via linear ramp 36 Fig 12 Usage of the ramps in the speed range 37 Fig 13 Acceleration through an acceleration ramp 55 Fig 14 Deceleration through a deceleration ramp 57 Fig 15 Presentation of the destination window 58 Fig 16 Start stop frequency 59 Fig 17 Application of print marks 76 Fig 18 The timing of positioning with start input 97 Fig 19 Cyclic scan of the reference switch 104 Fig 20 Positioning range for the referencing cycle 104 115 Appendices 116 Appendix D Index C Commands 46 Cyclic query of the reference switch 104 D Description of Symbols 5 11 Design 18 Disposal 10 E Electrical Data 19 F Functioning of the follower 65 M Machine Referencing 103 Maintenance 10 Malfunctions 11 Master slave communication 66 Mechanic force 12 Modifications 10 N Noise immunity 13 O Overview of Regis
50. f direction the maximum negative position of the master axis must be written into slave register 1xy59 Slave register 1xy59 Maximum position in negative direction of the master axis Function Description Read Present parameter value Write New negative maximum position of the master axis Value range 8 388 608 8 388 607 Value after reset 8 388 608 If the actual position of the master axis exceeds one of the two variable values the actual position will be decreased by the value of register 1xy58 or 1xy59 in most cases it will be set to zero The set axis position will also change in relation to the transmission ratio A new cycle will be started 75 10 Further Functions 76 JetWeb The application of print marks in certain distances to a product that is transported by an conveyor may serve as a practical example The conveyor is driven by the master axis The position of the conveyor is evaluated by an encoder A wheel for applying print marks is turned by the slave axis see Fig 17 Distance in Master Increments Print Mark Reg 1x158 Slave Axis Encoder of Master Axis Fig 17 Application of print marks When a certain distance has been covered the overflow position of the master axis counter will be reached If the master axis is driven by module JX2 SV1 JX2 DIMA JX2 SM1D or JX2 SM2 the overflow position must be entered into register1xy85 of the master
51. he status register bit 0 register 1xy00 is set to 1 The set position that has been loaded remains unchanged The axis will travel on up to the positive limit switch The positive limit switch is operated Then referencing will be terminated by internally setting set position actual position The reference run error will be reported in status register 1xy00 by setting bit 12 Automatic referencing is carried out by the stepping rate loaded in register 1xy03 For command 22 the value must not be greater than the maximum start stop frequency Basically the start stop frequency should not be greater than 1 kHz as otherwise referencing cannot be carried out in accurate steps Automatic reference run mode 3 The reference is cleared The status register bit 0 register 1xy00 will be reset to 0 Start referencing in positive direction up to the positive limit switch The reference switch is ignored first At the positive limit switch the axis reverses the direction of motion and travels in negative direction until the reference switch is actuated Referencing depends on whether command 22 or command 23 has been given last Command 22 Default The axis will stop at the reference point The actual and set position will be set to 0 while the status register bit 0 register 1xy00 will be set to 1 Command 23 The axis actuates the reference switch When actuating the reference switch the actual position is set to
52. ion of a stepping frequency Faulty design of a stepper motor drive will usually lead to an overdimensioned system which means it is too expensive or the performance will not meet the requirements in limiting cases malfunctions can occur sporadically In order to gain a reliable system knowledge of the load to be driven and of other components involved is absolutely necessary Thanks to its characteristic features the JX2 SM2 module can be applied in many ways The JX2 SM2 can be connected to the controller or other JX2 modules via Jetter system bus The advantages of the plain text high level languages JetSym JetSymST and JstSymSTX especially of the POS and AXARR instructions can be made use of Positioning is exclusively controlled and monitored by module JX2 SM2 Thus the controller is relieved and can carry out other tasks 15 2 Word of Advice on this Manual JetWeb 16 Jetter AG JX2 SM2 Module 3 Physical Dimensions _ al a P Fi D A 68 3 Fig 2 Side View 109 8 8 0 105 0 A vs o A Tomm 2 ganar Fig 3 Front View
53. ires the changes of state edge of a digital signal At each change of state the counter will increment increase or decrement decrease a variable value which then will be evaluated by the controller Binary presentation of a parameter e g time This parameter in digital representation can be changed in given steps only that is in binary mode Contrast to analog A stepper motor is an electric motor An electric motor belongs to the line of the drives To be considered when using electric devices of a rated voltage between 50 and 1000 V AC and between 75 and 1500 V DC With potential separation the sensor mat is electrically isolated from the internal ground GND of the controller Definition according to EMC regulations EMC is the ability of a device to function in a satisfactory way in an electro magnetic environment without causing electromagnetic disturbances itself which would be unbearable for other devices in this environment A rotary encoder which senses a rotation It converts the rotating motion into a digital signal by impulses which can be acquired by a counter Changes of position can be identified this way 109 Appendices 110 JETTER System Bus Low Voltage Directive Open collector open collector Overflow position Phase Position controller Proportional action controller Pull up resistor Relative Positioning Ripple Smoothing Filtering RS422 Stepping rat
54. it 37 dB uV m at 10 m distance class B DIN EN 50081 1 DIN EN 50081 2 DIN EN 55011 Operating Parameters EMC Enclosure Parameter Value Reference Magnetic Field with Mains 50 Hz DIN EN 61000 6 2 Frequency 30 A m DIN EN 61000 4 8 RF Field amplitude Frequency band 26 DIN EN 61131 2 modulated 1 000 MHz DIN EN 61000 6 2 Test field strength 10 V m DIN EN 61000 4 3 AM 80 with 1 kHz Criterion A ESD Discharge through air DIN EN 50082 2 Test peak voltage 8 kV Contact Discharge Test peak voltage 4 kV Criterion A DIN EN 61131 2 DIN EN 61000 4 2 Jetter AG JX2 SM2 Module Jetter AG Parameter Value Operating Parameters EMC Signal Ports Reference Asymmetric RF amplitude modulated Frequency band 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source impedance 150 Ohm Criterion A DIN EN 61000 6 2 DIN EN 61000 4 6 Burst fast transients Test voltage 1 kV tr tn 5 50 ns Repetion frequency 5 kHz Criterion A DIN EN 61131 2 DIN EN 61000 6 2 DIN EN 61000 4 4 Surge voltages asymmetrical line to earth tr tn 1 2 50 us No load voltage 1 kV DIN EN 61000 6 2 DIN EN 61000 4 5 Operating Parameters EMC Process measuring and control lines Parameter Value Reference Asymmetric RF amplitude modulated Frequency band 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Sou
55. ition Continuing the interrupted positioning run The positioning run that has been interrupted by issuing command 0 or 5 AXARR with or without deceleration ramp is continued Absolute positioning The set position has been loaded into register 1xy02 Relative positioning The new position value results from the sum of values loaded into registers 1xy68 and 1xy02 Relative positioning with start input The new position value results from the sum of values loaded into registers 1xy68 and 1xy67 Relative positioning with start input ON The start input is the REF input If 24 V have been attached to this input if the axis is at standstill while status bit 1 1 relative positioning will be started Before the target position is reached 0 V must be attached to input REF Otherwise the axis will not stop yet another positioning run will be started The relative positioning value has been loaded into register 1xy67 Relative positioning with start input OFF Default Stop at the reference point ON Default During referencing the axis will stop at the reference point The actual and set position will be set to 0 while the status register bit O register 1xy00 will be set to 1 Stop at the reference point OFF During referencing the axis actuates the reference switch When actuating the reference switch the actual position is set to 0 while the status register bit 0 register 1xy00 is set to 1 The set
56. le Red yO Ssg as Red 1xyST Register 1xy96 Master speed Register 1xy52 Adjustment of the PPR count Register 1xy56 Factor of the transmission ratio between master and slave Register 1xy57 Divisor of the transmission ratio between master and slave Slave register 1xy52 Adjustment of the PPR count Function Description Read Present parameter value Write New value for the calculation of the encoder adjustment Value range 0 8 388 607 Value after reset 1 000 000 Jetter AG 69 10 Further Functions JetWeb If the master axis is driven by module JX2 SV1 JX2 DIMA JX2 SM1D or JX2 SM2 encoder adjustment must be carried out in register1xy52 according to the following formula 60 000 000 NumberOfMasterlncrementsPerRotation If JX2 CNT is used as master register 1xy52 must not be used Slave Register 1xy52 Slave register 1xy10 P gain of the Position Controller Function Description Read Present parameter value Write New value for the P amplification of the position feedback controller The new value will be valid immediately which means even during a positioning run Value range 0 32 767 Value after reset 750 7 Note N P P Normally the value chosen for the p gain for stepper motors can be much higher than 750 If the value is too high the axis will not run smoothly any more or it will oscillate 70 Jetter AG JX2 SM2 Module 10 1
57. leration ramp 1 The axis is in the deceleration ramp Not assigned Not assigned Speed pre control during follower or winding mode 1 Deactivate 45 9 Description of Software 46 JetWeb Note The status bits can be queried set or reset in a simple way by using the BIT_SET and BIT_CLEAR instructions Example with regard to the status register This program part waits until the BUSY bit is reset This BUSY bit is reset once a previously started reference run is completed CONST Busy 13 Declaring constants END_CONST VAR AX Status INT AT VL 12100 Declaring variables END_VAR WHEN BIT CLEAR AX Status Busy CONTINUE Register 1xy01 Command Register Function Description Read Instruction currently being executed or the last executed instruction Write Starts the execution of a new instruction Value range 0 57 Value after reset 0 The stepper motor controller JX2 SM2 is equipped with the following commands 0 Stop with deceleration ramp Slow down by the set deceleration ramp 3 Set the reference Is only useful during standstill of the axis Jetter AG JX2 SM2 Module 9 3 Register Description The stepper motor controller JX2 SM2 is equipped with the following commands The actual and set position will be set to zero while the status register bit O register 1xy00 will be set to 1 This way the reference point is set at the present axi
58. mands 3 9 10 11 and 12 Jetter AG JX2 SM2 Module 9 3 Register Description Register 1xy11 Present stepping rate Function Description Read Present stepping rate Write Read only Value range 0 250 000 Hz Value after reset 0 Hz Meaning Register 1xy11 contains as its value the present step frequency in Hz by which the stepper motor is being controlled at that moment The present step frequency serves for measuring the present speed of the motor Register 1xy14 Position of the positive software limit switch Function Description Read Present position of the positive software limit switch Write A new value is defined Value range 8 388 608 8 388 607 steps Value after reset 8 388 607 steps Meaning Register 1xy14 contains as its value the final position in positive direction With the help of setting bit 14 of status register 1xy00 the function software limit switch is enabled If now the value written in register 1xy14 is exceeded by the actual axis position the software limit switch function will be activated The hardware limit switch function will remain uninfluenced by this The status of the two software limit switches can be queried out of status register 1xy00 Bit 7 1 The positive or negative software limit switch is active Bit7 1 and Bit5 1 The positive software limit switch is active Bit 7 1 and Bit4 1 The negative sof
59. master axis Function Description Read Present parameter value Write New positive maximum position of the master axis Value range 8 388 608 8 388 607 Value after reset 8 388 607 As during Follower in table mode operation the master axis may only be run in the positive positioning range slave register 1xy59 will not be needed There are 2 additional commands available Command 54 Resetting the actual slave position is not carried out here Please mind that the value at the beginning and at the end of the table are approximately the same Command 55 When the end of the table has been reached the actual slave position is reset to the first table value set position of the slave The function of master register 1xy85 and slave register 1xy44 is the same here as in chapter 10 1 3 Follower with a fixed transmission ratio page 72 Jetter AG JX2 SM2 Module Jetter AG 10 1 Follower Setting a position by a clock generator time table mode Setting a position need not always be based on the actual value of a motor axis It can also be set by a clock generator In multiples of 0 5 ms register 1xy95 will be incremented by one The time will be set in register 1xy78 Slave register 1xy78 Increasing the value of register 1xy95 by multiples of 0 5 ms Function Description Read Present parameter value Write New setting of time Value range 1 65 535 mul
60. mediately send the data mentioned above to the slave Everything else will be carried out by the slave The slave will read the data of the master spindle it will evaluate the speed of the spindle and execute the traversing process In the traversing mode the axis will drive in proportion to the spindle position transmission ratio no table until the spindle will have reached the first position at the edge Starting from this position the axis will go on in the inverted transmission ratio This will cause a change into the opposite sense of rotation while the speed remains the same This way the second position at the edge will be reached where the sense of rotation will be changed again The sense of rotation will be changed without a ramp in order to avoid gathering too much material at the edges Therefore the maximum traversing speed must not be greater than the maximum start stopp frequency of the motor The start stop frequency is the step frequency by which the motor will start and stop faultlessly and without a ramp Switching between layered and continuous winding by command is possible Jetter AG JX2 SM2 Module Jetter AG 10 2 The Winding Mode 10 2 2 Realisation Step 1 Establish data connection between master spindle and slave traversing axis The master is to transfer both position and speed of the spindle to the slave in cyclic mode Module JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D is master
61. ndle motion negative positive in opposite direction to counting direction of the spindle motion positive negative in opposite direction to counting direction of the spindle motion negative negative in counting direction of the spindle motion It is also possible to change the laying width register 1xy56 in one layer In order to change the laying width a positive value must be written into register 1xy56 The laying direction will be kept in spite of the positive sign This will also apply to negative laying direction Note Before the winding mode is activated the sign must be considered for setting the laying width Reason When the laying width is set the first time the sense of rotation is evaluated by the controller Register 1xy57 Number of spindle axis increments referred to one spindle revolution Function Description Read Number of set increments Write New setting of the number of set increments Value range 1 32 767 increments Value after reset 1 By writing into this variable the two axes are informed of how many increments are being covered during one spindle revolution Register 1xy57 must be written into both in master and slave 89 10 Further Functions JetWeb Slave register 1xy90 Counter of layers Function Description Read Number of layers applied Write Initial value of the counter of layers Value range 8 388 608
62. ndle must already have covered the number of increments that is to be written into register 1xy88 Step 3 Commands Starting the winding mode by issuing command 66 The winding mode is started by issuing this command If the spindle is in motion the traversing axis will follow the motion according to the configuration of the winding process Terminating the winding mode by issuing command 67 active after reset The winding mode is terminated by issuing this command At the same time the AXARR instruction command 5 is carried out The slave axis is internally given a set position which equals its actual position which causes the slave axis to stand still Then spindle and traversing axis can be operated independently of each other again Terminating the communication between master and slave by issuing command 42 Master If command 42 is issued to the master it will terminate its respective part of communication between master and slave After issuing this command status bit 13 BUSY must be queried The waiting period lasts until the value of the status bit is zero If module JX2 CNT is used as a master output x03 must be set to zero In this case status bit 13 BUSY of the slave must be queried too Slave If command 42 is issued to the slave it will terminate its respective part of communication between master and slave 92 Jetter AG JX2 SM2 Module Jetter AG 10 2 The Winding Mode In the slave the
63. ng is carried out with the help of stepper motors there is no actual position feedback from the motor For this reason a reference run must be carried out after power up of the plant in order to report the present axis position to the controller There are several possibilities of carrying out a referencing cycle 4 different modes have been stored as stepper motor control commands for automatic referencing cycles The referencing cycle is started by uploading the respective command into command register 1xy01 e Itis also possible with the help of the programming instructions to write an individual program for carrying out referencing cycle ES Important As there is no feedback from the motor module JX2 SM2 will calculate the total number of steps transmitted to the motor The amount is stored in register 1xy09 After powering up the module JX2 SM2 the value in register 1xy09 will be zero If the axis is not in the reference position by chance there is no defined axis position at all at that moment Machine referencing must be carried out prior to the first positioning cycle After this the axis will be in reference position The stepping rate of the reference cycle must be smaller than or equal to the maximum start stop frequency if the axis is meant to stop at the reference point During referencing the reference switch is scanned every 500 us This will result in a reference point that will always remain the same if
64. ning In this register the absolute set position of the latest positioning cycle has been stored The JX2 SM2 stepper motor control adds this value to the value of the relative position defined by the user registers 1xy02 or 1xy67 in order to get the new target position If an interrupted relative positioning is to be resumed the original target can be calculated again this way command 19 Jetter AG JX2 SM2 Module Jetter AG 10 3 Relative Positioning with Start Input If the axis reaches the position written into register 1xy85 the set and actual value will be reset to zero in the relative positioning mode Register 1xy85 Overflow position for endless and relative positioning Function Description Read Present overflow position Write Value of the new overflow position Value range 0 8 388 607 Value after reset 7 490 000 99 10 Further Functions 100 JetWeb 10 4 Capture Function This function grants fast storing of the present axis position in a register when a hardware signal has been given The positions are stored during a time of 500 us max Once a positive 24 V signal is applied to input REF 1 the position of axis 1 is stored to register 1x187 or position of axis 2 to register 1x287 irrespective of value in register 1x186 Accordingly once a positive 24 V signal is applied to input REF2 the position of axis 1 is stored to register 1x187 or position of axis 2 to regist
65. ompatibility EN Europ ische Norm that is European Standard EU European Union F Farad electric capacity Fig Figure g gram GND Ground Gr Group HxWxD Height x Width x Depth Hz Hertz Electric Current symbol used in formulas i e Latin id est that is IEC International Electrotechnical Commission 112 Jetter AG JX2 SM2 Module Jetter AG kQ kHz L1 LED max MHz min mm mm ms neg NN PE pos respectively RPM s SELV SetPos Speed SUB D Appendices International Protection Moment of inertia symbol used in formulas a thousand ohms 1 KQ 10 Q Kilohertz 1 kHz 10 Hz Outer conductor conductor between current source and consumer Light Emitting Diode Meter maximum Megahertz 1 MHz 10 Hz minimum Millimeter 1 mm 10 m square millimeter millisecond 1 ms 10 s Neutral conductor negative Normal Null Sea Level Protective Earth positive respectively revolutions per minute second Safe Extra Low Voltage Voltage which under all operating conditions will not exceed a peak or DC voltage of 42 4 V This voltage is either measured between two conductors or between one conductor and earth The circuit in which this voltage occurs must be separated from the mains power supply by a safety isolating transformer or some equivalent Set Position Speed Type name of a plug in connector Half life period Total duration of burst Rise time o
66. on Diagram RS422 Jetter AG JX2 SM2 Module Jetter AG 8 1 What is a stepper motor 8 Facts worth knowing about stepper motor controls 8 1 What is a stepper motor A stepper motor is an electric motor consisting like most of the other electric motors of a stator and a rotor Generally the rotor consists of two soft magnetic toothed pole shoes with permanent magnets placed in between The stator also consists of soft magnetic toothed metal sheets It accomodates the drive coils When power is fed to specific drive coils phases see Fig 8 the north and south poles will rotate in the stator taking the rotor with them see Fig 9 Phase 1 Phase 2 Initial position Step 1 45 Step 2 90 Step 3 135 Step 4 180 Step 5 225 Fig 8 Feeding power to the motor windings 33 8 Facts worth knowing about stepper motor controls JetWeb 34 Rotor Stator Fig 9 Commutating the rotor The rotating motion is not continuous but the shaft is rotating step by step by a certain angle a After m steps the shaft has carried out exactly one complete rotation In that way the motor can be turned a precise angle and have a definite and reproducable rotor position by counting the steps The step resolution m depends on the motor construction and on the characteristics of the electrical controller Classic stepper motors have got the following natural step resolutions 2 phase motor m
67. ortant A new value written into register 1xy02 will have an immediate effect on positioning The target position will change immediately positioning starts If the maximum stepping rate is greater than the start stop frequency a change of direction or stopping of the axis suddenly caused by a new target position will lead to a loss of steps Reg 1xy03 Maximum stepping rate Function Description Read Maximum stepping rate of the axis Write New maximum stepping rate of the axis The new value will be effective immediately Value range lt Reg 1xy08 gt 290 000 in Hz Value after reset 10 Hz The smallest value to be set can be read out of register 1xy08 Effects of writing this value 1 During standstill of the axis The new value will be saved for the next positioning run 2 If positioning is being carried out at that moment The new value will be taken over as the new maximum set speed In case the maximum value is greater than the start stopp frequency the change of speed towards the peak value will not be carried out in jerks but will increased or decreased through the acceleration ramp 53 9 Description of Software Ss 54 JetWeb Important The actual set stepping rate maximum value results from the product of the values in registers 1xy103 and 1xy21 Actual set stepping rate lt Reg 1xy03 gt lt Reg 1xy21 gt The reason for this is that the speed valu
68. ows setpoints that have been stored in a table The setpoints have been stored depending on the master position in the table This command is given to the slave and can be cancelled by giving command 47 47 Function Follower via Table OFF 48 51 Reserved 52 Time table mode ON The slave follows setpoints that have been stored in a table The table is processed on a time base This command is given to the slave and can be cancelled by giving command 53 53 Time based table mode OFF 54 At the end of the table the actual slave position is not set to the first table value When the end of the table has been reached the actual slave position is not reset to the first table value set position of the slave This command is to be used in operating mode Follower via Table if the setpoint values at the end of the table correspond to the values at its beginning 55 Resetting the actual slave position to the first table value default When the end of the table has been reached the actual slave position is reset to the first table value set position of the slave This command must be used in the operating mode follower mode via table 56 Start endless motion in positive direction 51 9 Description of Software 52 JetWeb The stepper motor controller JX2 SM2 is equipped with the following commands 57 66 67 68 69 The axis will move in positive direction with the stepping rate written in register
69. ple physical separation should be maintained between signal and voltage lines We recommend spacings greater than 20 cm Cables and lines should cross each other at an angle of 90 D Shield cables on both ends gt The entire shield must be drawn behind the isolation and then be l clamped under an earthed strain relief with the greatest possible surface area When male connectors are used Only use metallised connectors e g SUB D with metallised housing Make sure that the strain relief is directly connected with the housing here as well see Fig 1 Fig 1 Shielding of SUB D connectors in conformity with the EMC standards D gt The JX2 SM2 module must only be connected to the Jetter system bus by directly plugging it into a JX2 module not through a cable The system bus can be extended by means of a cable Jetter AG 13 1 Safety Instructions JetWeb 14 Jetter AG JX2 SM2 Module Jetter AG 2 Word of Advice on this Manual In this operator s manual the possbilities offered by the JX2 SM2 module will be described For making use of the possibilities offered by the stepper motor and for accordingly design a drive relatively precise knowledge of the stepper motor characteristics above all the ones connected with controlling the stepper motor will be needed Thus the running smoothness and the performance of a stepper motor is to a great extend dependent on its control both regarding performance and creat
70. rce impedance 150 Ohm Criterion A DIN EN 50082 2 DIN EN 61000 4 6 Burst fast transients Test voltage 2 kV tr tn 5 50 ns Repetion frequency 5 kHz Criterion A DIN EN 50082 2 DIN EN 61131 2 DIN EN 61000 4 4 23 4 Technical Data 24 JetWeb Operating Parameters EMC DC Power Supply Inputs and Outputs Parameter Value Reference Asymmetric RF Frequency band 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Source impedance 150 Ohm Criterion A DIN EN 61000 6 2 DIN EN 61000 4 6 Bursts Test voltage 2 kV tr tn 5 50 ns Repetion frequency 5 kHz Criterion A DIN EN 61000 6 2 DIN EN 61131 2 DIN EN 61000 4 4 Surge voltages asymmetrical line to earth symmetrical line to line tr tn 1 2 50 us No load voltage 0 5 kV DIN EN 61000 6 2 DIN EN 61000 4 5 Jetter AG JX2 SM2 Module 5 Meaning of LEDs se Jee OV DC24V0 1A POWER Jeter JX A O un O i2 DRIVE 1 DRIVE 2 Ou te O Post O Pos2 is aS On Ox eo So On Or o o of os swr sm2 m S SZ pre ore Ow Xoz INPUT Li Li REF Lit Li REF e0999 99 waa Fig 5 LEDs of JX2 SM2 Module LEDs of JX2 SM2 Module Software related LEDs Designation Function Li The positive limit switch is or was active ON The axis stands on the limit switch flashing r
71. re Function Automatic shift of the reference point Machine Referencing List of Appendices Appendix A Recent Revisions Appendix B Glossary Appendix C List of Abbreviations Appendix C List of Illustrations Appendix D Index JetWeb 65 65 69 72 78 84 84 85 95 97 100 102 103 108 109 112 115 116 Jetter AG JX2 SM2 Module Jetter AG 1 1 General Words of Advice 1 Safety Instructions 1 1 General Words of Advice The JX2 SM2 module complies with the applicable safety regulations and standards Special emphasis was given to the safety of the users Of course the following regulations apply to the user e pertinent accident prevention regulations e accepted safety rules e EC guidelines and other country specific regulations 1 1 1 Usage as agreed upon Usage as agreed upon includes operation in accordance with these operating instructions The JX2 SM2 module is used as drive module for a stepper motor amplifier for positioning a stepper motor It is integrated into machinery such as conveyors production plants and handling machines An axis consists of stepper motor controller amplifier and motor The supply voltage of the JX2 SM2 module is DC 24 V This operating voltage is classified as SELV Safety Extra Low Voltage The JX2 SM2 module is therefore not subject to the EU Low Voltage Directive The JX2 SM2 module may only be operated within the limits of the stated characteristics
72. s Numbering System Axis Numbering System Description of Software By way of example Axis xy will be demonstrated how axes are numbered e The first digit specifies the module number x Module number The second digit specifies the number of the axis which is to be addressed by the module 1 or 2 y Axis number Note The axis numbering system described here applies to the control systems NANO B C D and JC 24x In order to determine the module number only intelligent modules are taken into account but not digital and analog input and output modules or counter modules An example is given in the following table Basic Controller JX2 SM2 JX2 ID8 Input module JX2 SM2 Module position 1 Module position 2 Module position 3 Module position 4 Input 101 108 Axis 21 and 22 Input 201 208 Axis 31 and 32 39 9 Description of Software 40 Register Number JetWeb By way of example REG 1xyzz will be demonstrated how the registers are numbered e The registers are addressed with the help of five digit numbers e The first digit is always 1 e The second digit x specifies the module number e The third digit y is the number of the axis on the module 1 or 2 e The digits four and five zz specifiy the actual register number with the letters zz corresponding to the register numbers from 0 to 99 Basic JX2 ID8
73. s has been reset either by giving command 4 or by giving the reset instruction AXARR 1 AXARR The axis has reached the destination window or else it has been stopped by giving an AXARR instructionor by giving command 0 Has the axis reached the destination window 1 Yes Is the negative limit switch active 1 The negative limit switch is active Jetter AG JX2 SM2 Module 9 3 Register Description Meaning of the individual status register bits Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 12 Bit 13 Bit 14 Bit 15 Bit 16 Bit 17 Bit 18 Bit 23 Jetter AG It is active as long as the axis has triggered the limit switch Is the positive limit switch active 1 The positive limit switch is active It is active as long as the axis has triggered the limit switch Reference switch 1 The reference switch is active It is active as long as the axis has triggered the reference switch Is or was the software limit switch active 1 Yes It will be active until the next positioning is started Is or was the hardware limit switch active 1 Yes It will be active until the next positioning is started Not assigned Not assigned Reference run error 1 Reference run error BUSY for commands 9 to 12 42 and register 1xy43 1 BUSY A command is being processed Software limit switch enable 1 Software limit switch function is activated Not assigned The axis is in the dece
74. s position 4 Clear the reference The reference is cleared The status register bit 0 register 1xy00 will be reset to 0 Only then the axis will set another reference after operating the reference switch Through referencing actual and set position will be set to 0 Status register bit 0 is set to 1 If commands 9 to 12 are given command 4 will not be needed 5 Stop the axis The axis is stopped without deceleration ramp This is only possible without losing steps at stepping frequencies below the maximum start stop frequency 9 Automatic reference run mode 1 The reference is cleared The status register bit 0 register 1xy00 will be reset to 0 Start referencing in positive direction up to the reference switch If the positive limit switch operated before the reference switch the axis movement will reverse to negative direction until the reference switch is found Referencing depends on whether command 22 or command 23 has been given last Command 22 Default The axis will stop at the reference point The actual and set position will be set to 0 while the status register bit 0 register 1xy00 will be set to 1 Command 23 The axis actuates the reference switch When actuating the reference switch the actual position is set to 0 while the status register bit 0 register 1xy00 is set to 1 The set position that has been loaded remains unchanged The axis will travel on up to the negative limit switch
75. slow acting device It will just not be able to accelerate or decelerate too quickly Position inaccuracies will occur or else the stepper motor will just stop In order to prevent this please mind For starting and stopping the stepper motor must not be controlled at any higher step frequency than the start stop frequency The start stop frequency is the step frequency at which the motor including its load will faultlessly start and stop Hz Reg 1x108 2000 Reg 1x103 2000 Reg 1x121 1 2000 pees Start Stop t Fig 10 Start stop operation Typically though higher operating speed is required which means that the stepper motor must be accelerated at a rate exceeding the start stop frequency until the operating speed has been reached Motor acceleration is accomplished by means of a linear acceleration ramp A linear ramp results in constant acceleration of motor and load For this purpose a constant motor torque is required The degree of a possible acceleration depends on the available torque Start Stop t Fig 11 Acceleration via linear ramp With the help of the module JX2 SM2 the linear acceleration respectively deceleration ramp can be realized 36 Jetter AG JX2 SM2 Module 8 2 Acceleration and deceleration Fig 12 Usage of the ramps in the speed range Jetter AG 37 8 Facts worth knowing about stepper motor controls JetWeb 38 Jetter AG JX2 SM2 Module Jetter AG 9 9 1 9 1 Axi
76. stallation DIN rail EN 50022 35 x 7 5 Power dissipation of logic circuit Py 2 Watt Electrical Data Power Supply Unit DC 20V 30V 5W Residual ripple lt 5 filtered Reference switch REF limit switch positive L and negative L DC 20 V 30 V 2 8kQ internal reference to GND Terminal X 10 10V NCC or NOC is possible Delay time approx 3 ms 19 4 Technical Data 20 JetWeb Operating Parameters Power Supply Parameter Value Reference Power Rating DC 20V 30V 5W Residual ripple lt 5 filtered Voltage dips Duration of voltage dips lt 10ms Time interval between two voltage dips gt 1 s DIN EN 61131 2 Operating Parameters Environmental Data Parameter Value Reference Operating Temperature Range 0 C through 50 C Storage Temperature Range 25 C through 70 C DIN EN 61131 2 DIN EN 60068 2 1 DIN EN 60068 2 2 Air Humidity Humidity Rating 10 to 95 No condensing DIN EN 61131 2 Pollution Degree 2 DIN EN 61131 2 Corrosion Immunity Chemical Resistance No special protection against corrosion Ambient air must be free from higher concentrations of acids alcaline solutions corrosive agents salts metal vapours or other corrosive or electroconductive contaminants General specification Atmospheric pressure max
77. stead of the speed the time that has elapsed between the position value transmitted last and theposition value being transmitted at the moment will be transferred to the slave The slave calculates its speed values by generating the quotient of the difference of the two position values and the time value 65 10 Further Functions 66 JetWeb When does the master start communicating with the slave Module JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D is master The master will receive command 30 command variable From this moment the position value will be transmitted by the master via system bus to the slave Module JX2 CNT is master Output x03 must be set x stands for the module number of the module JX2 CNT From this moment module JX2 CNT will transmit the position value and the time value via system bus to the slave When the number of the master axis has been entered into slave register 1xy43 the slave will receive the position value of the master axis The slave will enter the position value into register 1xy95 and the speed value into register 1xy96 After this the slave will reset bit 13 in its status register After writing into register 1xy43 an enquiry must be made whether status bit 13 has been reset Then it is guaranteed that both the present position and the speed of the master axis have been read at least once each Slave register 1xy43 Number of the master axis Function Description Read Present n
78. ster 1xy53 13 Register 1xy54 70 626 675 Register 1xy53 14 Register 1xy54 60 676 725 Register 1xy53 15 Register 1xy54 50 726 775 Register 1xy53 16 Register 1xy54 40 776 825 Register 1xy53 17 Register 1xy54 30 826 875 Register 1xy53 18 Register 1xy54 20 876 925 Register 1xy53 19 Register 1xy54 10 926 975 Entering table values Slave is axis 2 of module JX2 SM2 located in slot 3 CONST Tab Number 20 Master MaxPos 1000 END_CONST VAR AX_Slave_ TabIndex AX_Slave_ TabValue AX_Slave TabElementNumber AX_Slave TabMaxPosMaster INT AT VL 13258 END_VAR Total number of table elements AX_Slave TabElementNumber Tab Number Setting the pointer to the first table element AX_Slave TabIndex 0 Value of the first table element AX_Slave Value 0 Declaring constants Nariablen deklarieren INT AT SVL 13253 INT AT SVL 13254 INT AT SVL 13255 Jetter AG JX2 SM2 Module 10 1 Follower Setting the pointer to the second table element AX_Slave TabIndex 1 Value of the second table element AX_Slave Value 10 Setting the pointer to the third table element AX_Slave TabIndex 2 Value of the third table element AX_Slave Value 20 ete This way a value can be assigned to every table element After assigning the highest position value of the master axis which is 1000 in
79. ter and 0 32 767 R W slave 1xy58 Maximum position in positive 8 388 608 8 388 607 R W direction of the master axis 1xy59 Maximum position in negative 8 388 608 8 388 607 R W direction of the master axis 1xy60 Limitation of acceleration 0 65 535 Hz 4 ms R W 1xy78 Increasing the value of 1 65 535 R W register 1xy95 by multiples of 0 5 ms Jetter AG JX2 SM2 Module 9 2 Overview of Registers Reg Type of register Ro Wo Winding mode 1xy56 Travel distance of a 32 768 32 767 R W traversing axis during one spindle revolution 1xy57 Numberofincrements carried 1 32 767 R W out by the spindle axis referring to one spindle revolution 1xy79 Increased resolution of the 0 8 388 607 R W winding gradient 1xy88 Void increments 0 8 388 607 R W 1xy89 Changing the winding 0 8 388 607 Wo gradient at the edge of the coil 1xy90 Counter of layers 8 388 608 8 388 607 R W 1xy91 Counter of windings 8 388 608 8 388 607 R W 1xy92 Number of windings to be 8 388 608 8 388 607 R W carried out in relation to the last spindle position 1xy93 Positive edge 8 388 608 8 388 607 R W 1xy94 Negative edge 8 388 608 8 388 607 R W Capture function 1xy86 Enable of the 0 3 RW Capture function 1xy87 Acquired position value 8 388 608
80. ter giving this command status bit 13 BUSY must be queried The waiting period lasts until the value of the status bit is zero If module JX2 CNT is used as a master output xx03 must be set to zero In this case status bit 13 BUSY of the slave must be queried too Important Before start up set and actual slave position should be adjusted to the present master position Please mind the transmission ratio as well 73 10 Further Functions JetWeb Important It is not advisable to change the transmission ratio during motion The reason is that in the follower mode the axis is controlled towards the position value of the master A change in the transmission ratio leads to a sudden setpoint change of the slave axis The stepper motor will get out of step 74 Jetter AG JX2 SM2 Module Jetter AG 10 1 Follower Endless Positioning If two axes are to be driven by the follower controller in the same direction in endless mode the following configuration must be carried out in addition For positive sense of direction the maximum positive position of the master axis must be written into slave register 1xy58 Slave register 1xy58 Maximum position in positive direction of the master axis Function Description Read Present parameter value Write New positive maximum position of the master axis Value range 8 388 608 8 388 607 Value after reset 8 388 607 For negative sense o
81. ters 41 R Referencing Example 1 105 Referencing Example 2 106 Register 1xy88 92 Register s 1xy10 70 1xy23 71 1xy43 66 86 1xy44 77 1xy52 1xy53 1xy54 1xy55 1xy56 1xy57 1xy58 1xy60 1xy67 1xy68 1xy71 1xy78 1xy79 1xy85 1xy86 1xy87 1xy89 1xy90 1xy91 1xy92 1xy93 1xy94 1xy95 1xy96 3yy5 Registers 1xy00 1xy01 1xy02 1xy03 1xy04 1xy05 1xy06 1xy07 1xy08 1xy09 1xy11 1xy14 1xy15 1xy21 1xy59 1xy69 1xy99 Repair Residual Dangers T Jet Web 72 88 72 89 75 79 82 66 86 67 87 The reference point remains the same 103 Jetter AG JX2 SM2 Module Appendices U W Usage as agreed upon 9 Winding mode 84 Usage Other Than Agreed Upon 9 Jetter AG 117 Jetter Subsidiaries Jetter Asia Pte Ltd 32 Ang Mo Kio Industrial Park 2 07 03 Sing Industrial Complex Singapore 569510 Phone 65 6483 8200 Fax 65 6483 3881 E Mail sales jetter com sg Internet www jetter com sg Jetter AG A Jetter Jetter AG Gr terstrasse 2 D 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Phone Sales 49 7141 2550 433 Telefax Sales 49 7141 2550 484 Hotline 49 7141 2550 444 Internet http www jetter de E Mail sales jetter de Jetter AG Switzerland M nchwilerstrasse 19 CH 9554 T gerschen Phone 41 719 1879 50 Fax 41 719 1879 69 E Mail info jetterag ch Internet www jetterag ch Jetter Automation Inc 165 Ken Mar Industrial Parkway Broadview Heights
82. the referencing cycle is carried out by a frequency that is smaller than or equal to 1 kHz and if the reference switch is always approached to from the same direction and always at the same stepping rate Fig 19 demonstrates this In this case only modes 3 command 11 and 4 command 12 are useful for an automatic referencing cycle except for the case that a defined position has been approached before switching off Jetter AG 103 11 Machine Referencing JetWeb 104 During referencing the reference switch is scanned cyclically every 500 usec Step pulse Reference point ate of J has been recognized rence switch Reference switch is actuated Fig 19 Cyclic scan of the reference switch The reference switch is placed on the positioning range between the two limit switches normally it is close to a limit switch Sometimes a limit switch is used as a reference switch For this purpose a limit switch input must be bridged with the reference switch input The polarities of the limit and reference switch that are to be set are different from each other Immediately after leaving the limit switch position referencing is carried out In this case half of the positioning range is available Note Below the programming instructions needed for referencing will be described In example 1 individually designed programming of a referencing cycle will be shown In example 2 the mode of an automatic referencing offered
83. this example is written into register 1xy58 The step size of the master axis is calculated as follows MaximumPositionValue _ Reg 1xy58 StepSize MaximumPositionValue _ _ Reg 1xy58 ep gt 1z2 TotalNumberOflableElements Reg 1xy55 In our example the step size is 50 When the master axis is at position 0 25 step size divided by 2 the slave axis will move towards position zero The position of the master axis has been written into the right column of the table while the respective set position of the slave axis has been written into the middle column of the table _7 Note N If there is no endless positioning The highest positive position value of the master axis must be smaller than the x value written in slave register 1xy58 The reason is as follows Otherwise the range of the table will be exceeded if positions vary around zero or the maximum value of the table 7 Note A Basically the master may only be run in the positive range of positions The sense of rotation of the master axis may be both positive or negative Jetter AG 81 10 Further Functions 82 Endless Positioning JetWeb If two axes are to be driven in the same direction in endless mode via table the following configuration must be carried out in addition The maximum positive position of the master axis must be written into slave register 1xy58 Slave register 1xy58 Maximum position in positive direction of the
84. this can be tolerated faster program processing can be achieved that way Jetter AG JX2 SM2 Module 9 3 Register Description Reg 1xy08 Start Stop frequency Function Description Read Presently effective value of the parameter Start Stop frequency Write New value for the parameter Start Stop frequency Value range 1 5 000 Hz Value after reset 10 Hz CES Important Effects of writing this value 1 During standstill of the axis The new value will be saved for the next positioning run 2 If positioning is being carried out at that moment Attention The new value will have an effect on the present positioning process Changes in the start stop frequency may result in high acceleration or deceleration If this is the case the motor may skip steps gt Do not enter values into register 1xy08 when positioning is in progress Meaning For starting and stopping the stepper motor must not be fed at any higher step frequency than the start stop frequency The start stop frequency is the stepping rate at which the motor will faultlessly start and stop A start stop frequency that has been set too low will impair the starting behaviour long delays Hz Reg 1x108 2000 Reg 1x103 2000 Reg 1x121 1 Fig 16 Start stop frequency Jetter AG 59 9 Description of Software JetWeb 60 Important The parameter value to be set must be adjusted to the indi
85. tiple of 0 5 ms Value after reset 4 2ms The time table mode is started by issuing command 52 At the same time command 46 starting the follower function via table and command 54 when the end of the table has been reached the actual slave position will be set back to the first table value will be issued The time table mode is deactivated by command 53 The speed pre control will also be de activated 83 10 Further Functions 84 JetWeb 10 2 The Winding Mode 10 2 1 Function The spindle of a winding machine is driven by a motor The position will be registered by the following means Module JX2 DIMA JX2 SV1 JX2 SM2 or JX2 SM1D The motor is directly driven by these modules Anencoder system e g incremental encoder absolute encoder The output signal of the rotary encoder will be recorded by a counter module JX2 CNT The traversing axis is driven by a stepper motor the phase current of which is set by module JX2 SM2 The module that acquires the spindle position is the master The module by which the traversing motor is driven is the slave Here the same principles as in chapter 10 1 1 General Information page 65apply Master and slave communicate via system bus Both the position of the master axis and a time signal that will be needed for calculating the speed of the master axis are transmitted to the slave in cyclic mode via system bus When the master has received command 30 it will im
86. tware limit switch is active Jetter AG 61 9 Description of Software JetWeb 62 Register 1xy15 Position of the negative software limit switch Function Description Read Present position of the negative software limit switch Write A new value is defined Value range 8 388 608 8 388 607 steps Value after reset 8 388 608 steps Meaning Register 1xy15 contains as its value the final position in negative direction With the help of setting bit 14 of status register 1xy00 the function software limit switch is enabled If the actual axis position now falls below the value in register 1xy14 the software limit switch function will be activated The hardware limit switch function will remain uninfluenced by this The status of the two software limit switches can be queried from of status register 1xy00 Bit 7 1 The positive or negative software limit switch is active Bit7 1 and Bit5 1 The positive software limit switch is active Bit 7 1 and Bit4 1 The negative software limit switch is active Jetter AG JX2 SM2 Module Jetter AG 9 3 Register Description Register 1xy21 Scaling of the maximum step frequency Function Description Read Presently valid scaling for the maximum step frequency Write A new scaling is defined Value range 1 255 Value after reset 1 Meaning The set speed maximum stepping rate results from the product of the val
87. uard the JX2 SM2 module against misuse or accidental use 1 2 2 Information Signs and Labels gt Writings information signs and labels always have to be observed and l kept readable ye Damaged or unreadable information signs and labels are to be exchanged Jetter AG 11 1 Safety Instructions JetWeb 1 3 Residual Dangers During Operation Danger of injuries caused by mechanic force The stepper motor control serves for running a stepper motor which is to move mechanic parts of parts with sharp edges Deshalb k nnen Versagen bzw Therefore failure or malfunctioning of the module JX2 SM2 may result in damages to persons or the manufacturing plant This should be prevented by installing additional safety devices e One safety precaution is to install a second set of limit switches to interrupt the power supply of the motor e Another safety precaution would be installing a guard o Caution 12 Jetter AG JX2 SM2 Module 1 4 Instructions on EMI 1 4 Instructions on EMI The noise immunity of a system corresponds to the weakest component of the system For this reason correct wiring and shielding of the cables is important ES Important Measures for increasing immunity to interference D gt Follow the instructions given in Application Note 016 EMC Compatible Installation of the Electric Cabinet published by Jetter AG The following instructions are excerpts from Application Note 016 D gt On princi
88. ues in registers 1xy103 and 1xy21 Actual set speed lt 1xy03 gt lt 1xy21 gt Select the value for register 1xy21 scaling in a way that the speed that is necessary for the application can be set A compromise must be made between resolution and maximum value Note With the help of the makro instruction POS of the controller a value of 65 535 max can be loaded into speed register 1xy03 63 9 Description of Software JetWeb 64 Register 1xy69 Pulse length of STEP signal Function Description Read Currently valid pulse length of STEP signal Write A new pulse length is defined Value range 8 65 535 Value after reset 64 8 us Meaning The pulse length of the STEP signal can be changed in this register The minimum pulse length is determined through the input circuitry of the stepper motor drive In this register the pulse length is specified in multiples of 0 125 us Register 1x199 Version number Operating system of JX2 SM2 module Function Description Read Software version Write Illegal Value range 0 8 388 607 Value after reset Present version 100 Meaning The version number of the operating system of the JX2 SM2 module software can be read from this register Example Version 1 02 of the operating system is loaded lt Reg 1x199 gt 102 Note When submitting technical support queries the version number must be specifi
89. umber of the master axis Write Definition of a new master axis Value range For JX2 SM1D JX2 DIMA JX2 SV1 as 0 21 31 41 51 61 71 master axis For JX2 SM2 as master axis 0 21 22 31 32 41 42 51 52 61 62 71 72 For JX2 CNT as master axis 102 124 Value after reset 0 This is only possible for NANO C and JetControl 246 The last two figures denote the module number of JX2 CNT e g 105 module number 05 Slave register 1xy95 Actual position of the master axis Function Description Read Present position of the master axis Write Illegal Value range 8 388 608 8 388 607 Value after reset 0 Jetter AG JX2 SM2 Module 10 1 Follower Example Starting communication between master and slave Master is axis 1 of module JX2 SM2 located in slot 2 Slave is axis 2 of module JX2 SM2 located in slot CONST Send _Actpos 30 Declaring constants Master AxisNo 21 Busy 13 END_CONST VAR ri_Position INT AT VL 200 Declaring variables ri_Speed INT AT VL 201 AX_Master Instruction INT AT SVL 12101 AX_Slave Status INT AT SVL 12200 AX_Slave MasterNo INT AT SVL 12243 AX_Slave MasterPos INT AT SVL 12295 AX_Slave MasterSpeed INT AT VL 12296 END_VAR Issueing instruction 30 to master AX Master Instruction Send_Actpos From now on the master is sending Entering master axis into slave register 1xy
90. value of register 1xy43 will be set to zero At the same time the AXARR instruction command 5 is carried out The slave axis is internally given a set position which equals its actual position which causes the slave axis to stand still After issuing this command status bit 13 BUSY must be queried The waiting period lasts until the value of the status bit is zero Only then can the axis be moved to a new position Layered winding after issuing command 68 The traversing axis will only move once and for a short time on one spot at the beginning of the spindle When the spindle has rotated once the traversing axis will be moved on by the number of steps which has been written into register 1xy56 This is carried out by the step frequency set in register 1xy03 Then the traversing axis will delay its motion until the spindle has made another rotation This function must be selected before the winding mode is activated that is before command 66 is issued Continuous winding after issuing command 69 active after reset The traversing axis is moving continuously in a fixed ratio to the spindle The ratio is determined by the value written in register 1xy56 Step 4 New set position of the spindle Master register 1xy92 Number of windings to be carried out in relation to the last spindle position Function Description Read Present number of windings to be applied Write New number of windings to be applied Value rang
91. vidual stepper motor drive If the start stop frequency is too high position inaccuracies will occur or else the stepper motor will just stop It is necessary to optimize the settings with the help of practical tests This test should be carried out using the maximum load the steepest ramps and highest speeds which occur later during operation The start stop frequency will be increased gradually after this the stepper motor will be checked on fault free positioning The value range must not be exceeded Value 0 cannot be set for the start stop frequency The axis has come to a standstill when the set position is equal to the actual position Reg 1xy09 Present actual position Function Description Read Actual position of the axis Write Illegal Value range 8 388 608 8 388 607 steps Value after reset 0 steps Meaning R 1xy09 contains the present actual position as its value Important The present actual position reflects the internal count of the axis as no feedback will be given by the motor The stepper motor drive has been properly designed if the present axis position corresponds to the value of this variable After power up of the stepper motor drive and before the first positioning run parameter initialisation and referencing will generally be needed After successful referencing the value of register 1xy09 will be set to zero This will be done after executing com
92. w driver 0 6 x 3 5 x 100 mm Specification of the connecting cable Not needed Cable Shielding Not needed Contact assignment of the 2 pin screw terminal X10 Terminal X10 Pin Signal Comment POWER LOGIC OV GND connected to the ground potential amp 24 V 24 V x10 OV DC24V0 1A POWER Important Please mind the correct connection of the power supply This module is not protected against polarity reversal 27 6 Description of Connections 6 2 Control inputs Specification of the terminal e 3 pin screw terminal for PC board connection e Diameter of the cable apt for connecting 0 14 2 5 mm e Bladed screw driver 0 6 x 3 5 x 3 94 in Specification of the connecting cable Not needed Cable Shielding Not needed JetWeb Contact assignment of the 6 pin screw terminal X21 Signal Comment Positive limit switch Axis 1 Reference to GND Terminal X10 0 V DC 24 V 2 8 kQ Negative limit switch Axis 1 Reference to GND Terminal X10 0 V DC 24 V 2 8 kQ Reference switch Axis 1 Reference to GND Terminal X10 0 V DC 24V 2 8kQ Positive limit switch Axis 2 Reference to GND Terminal X10 0 V DC 24 V 2 8 kQ Negative limit switch Axis 2 Reference to GND Terminal X10 0 V DC 24 V 2 8 kQ Terminal X21 Pin INPUT Li 1 INPUT 1 2 Li Li REF Li Li R
93. xy00 will be set to 1 Command 23 The axis actuates the reference switch When actuating the reference switch the actual position is set to 0 while the status register bit 0 register 1xy00 is set to 1 The set position that has been loaded remains unchanged The axis will travel on up to the positive limit switch The positive limit switch is actuated Then referencing will be terminated by internally setting set position actual position The reference run error will be reported in status register 1xy00 by setting bit 12 Automatic referencing is carried out by the stepping rate loaded in register 1xy03 If command 22 is to be given the value must not be greater than the maximum start stop frequency Basically the start stop frequency should not be greater than 1 kHz as otherwise referencing cannot be carried out in accurate steps 13 16 Reserved 17 Relative positioning ON The value loaded into register 1xy02 as a set position refers to the latest set position stored in register 1xy68 not to the reference position The new position value results from the sum of values loaded in registers 1xy68 and 1xy02 18 Absolute positioning ON Default Jetter AG 49 9 Description of Software 50 JetWeb The stepper motor controller JX2 SM2 is equipped with the following commands 19 20 21 22 23 30 31 41 42 The value loaded into register 1xy02 as set position refers to the reference pos
94. y out these steps command 44 written into command register 1xy01 must be given to the slave Then synchronization between master and slave will be started Slave is axis 2 of module JX2 SM2 located in slot 2 CONST Start_Sync 44 Declaring constants Busy 13 END_CONST VAR AX Slave Status INT AT VL 12200 Declaring variables AX Slave Command INT AT VL 12201 END VAR Jetter AG JX2 SM2 Module Jetter AG 10 1 Follower Issueing command 44 to the Slave JX2 SM2 AX_Slave Kommando Start Sync Waiting until command has been executed WHEN BIT CLEAR AX_Slave Status Busy CONTINUE Command 45 with the slave will terminate synchronization At the same time the AXARR instruction command 5 is carried out The slave axis is internally given a set position which equals its actual position which causes the slave axis to stand still Slave is axis 2 of module JX2 SM2 located in slot 2 CONST Stop Sync 45 Declaring constants Busy 13 END_CONST VAR AX_Slave Status INT AT SVL 12200 Declaring variables AX_Slave_ Command INT AT SVL 12201 END VAR Issueing command 45 to the slave JX2 SM2 AX_Slave Command Stop Sync Waiting until command 45 has been executed WHEN BIT CLEAR AX_Slave Status Busy CONTINUE If command 42 is given to either master or slave they will terminate their respective part of communication between master and slave Af

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