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SCHUNK Motion

1. 98 3284 Brake Point S2X 2 si EE 98 3 2 8 5 KR Valve Undershoot 99 ooo Throw Bak isis reas oe OS 99 3 2 8 7 Delta Position Valve Off 99 3 2 8 8 Max Brake Point Difference 99 3 2 8 9 Hit Back Overshoot 99 32810 Turn Count Factor eos s e 646 ee oe aa 99 3 2 8 11 Manual Mode Factor 100 vii print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 4 MCDemo 4 1 4 2 4 3 4 4 4 5 E EENHEETEN LEE Main window sou a saa EEN NS E Aal Tolar recese t a deer e a Ee EE o dE MEWE lt a aa Ae a A Aer cee ae Ae Output tobe celos EE PES E da a ABA Su DAL a ad a a 2 A ek E AO Preferences lt a WEN ew d E ees ABO Tools eed a ne al ie EE a Module window EEN AAT BURGOS o rite aati a EE e aa 4 4 2 Module configuration AAS Memi oo 8 hae BOS oe we Re RA eA oe ae 4 4 4 Manual Referencing AAS Setup Wizard so se ne e A sde aa d A Set es 2s Be ee ee EE 4 5 1 Supported languages 6 4 5 2 Driver Vector CAN ees EE d 4 5 3 Driver Peak CAN o 4 5 4 Driver Softing CAN o 45 5 lobteriace ESD CAN io tatoa sa a De ee 4 5 6 Interface Siemens Profibus 4 5 7 Automatically display the module status 4 5 8 Open communications interface by starting MCDemo 4 5 9 Data throughput with CAN 4 5 10 Conf
2. 69 INFO TRIGGER 0x0040 69 INFO READY 0x0041 69 INFO GUI CONNECTED 0x0042 2 70 INFO GUI DISCONNECTED 0x0043 70 INFO PROGRAM CHANGED 0x44 70 ERROR WRONG RAMP TYPE 0xC8 70 ERROR CONFIG MEMORY 0xD2 71 ERROR PROGRAM MEMORY 0xD3 71 ERROR INVALID PHRASE 0xD4 71 ERROR SOFT LOW 0xD5 71 ERROR SOFT HIGH 0xD6 71 ERROR PRESSURE 0xD7 71 ERROR SERVICE 0xD8 72 ERROR EMERGENCY STOP 0xD9 72 ERROR TOW 0xDA 72 ERROR TOO FAST 0xE4 72 ERROR MATH 0xEC 72 ERROR VPC3 0xDB 72 ERROR FRAGMENTATION 0xDC 72 ERROR COMMUTATION 0xE4 73 ERROR CURRENT 0xDE 73 ERROR 12T 0xDF 73 ERROR INITIALIZE 0xE0 73 ERROR INTERNAL 0xE1 73 ERROR HARD LOW 0xE2 73 ERROR HARD HIGH 0xE3 74 ERROR TEMP LOW 0x70 74 ERROR TEMP HIGH 0x71 74 ERROR LOGIC LOW 0x72 74 ERROR LOGIC HIGH 0x73 74 ERROR MOTOR VOLTAGE LOW 0x74 74 ERROR MOTOR VOLTAGE HIGH 0x75 75 ERROR CABLE BREAK 0x76 75 ERROR MOTOR TEMP 0x78 75 v print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 3 Configuration data 76 dl ERORI soeia e ar a A a 76 eee EEPROM a da lo a ee a 76 3al Mot lt a aa a A a 77
3. sitions while movements are carried out e g to move along curves use the MOVE POS TIME REL section 2 1 6 command 2 1 5 MOVE POS TIME 0xB1 Code 0xB1 Description The module moves to fixed position The position is set in the configured unit system section 1 4 During the movement new positions can be preset which are then immediately moved to When calculating the path the nominal velocity and acceleration values as well as the actual velocity and acceleration values are taken into account If the time parameter value is en tered the velocity and acceleration values are adjusted in such a way that the position is reached within the specified time without exceeding the preset ve locity and acceleration limits Parameter master gt slave e Position in configured unit system must be specified The position must differ from the start position by at least Delta Position section 3 2 4 6 e Velocity section 2 1 14 optional that must not be exceeded e Acceleration section 2 1 15 optional that must not be exceeded 22 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software e Current section 2 1 17 optional that must not be exceeded during the positioning movement If the controller structure corresponds to CUR RENT SPEED section 3 2 4 7 this value cannot not be transmitted INFO WRONG PARAMETER section 2 8 2 14 e Time section 2 1 18 optional after which the
4. Acceleration section 2 1 15 optional used for the positioning move ment For motion profiles No Ramp section 3 2 5 6 is not relevant Current section 2 1 17 optional that must not be exceeded during the positioning movement If controller structure CURRENT SPEED section 3 2 4 7 is enabled this value must be transmitted as jerk is necessary The value must be set to 0 as signal INFO WRONG PA RAMETER section 2 8 2 14 occurs otherwise Jerk optional used for the positioning movement H a motion profile other than JERK section 3 2 5 6 is to be used this value cannot be transmitted INFO WRONG PARAMETER section 2 8 2 14 Response slave gt master If possible the time required for the module to complete the movement is returned If the time cannot be calculated e g with motion profile No Ramp section 3 2 5 6 the successful request is ac knowledged with OKT 0x4F4B Module executes command Example 20 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x05 OxB0 0x00 0x00 0x20 Move to position 0x41 10 0 mm S gt M 0x05 OxB0 SCD 0xCC 0x04 Position will be 0x41 reached in 8 3 sec Note Impulse response is generated when position CMD POS REACHED section 2 2 3 is reached or if positioning movement MOVE ZERO AFTER REFERENCING section 3 2 3 6 is aborted before this position is reached All parameters must be
5. section 2 1 8 velocity acceleration current time OxBC 188 MOVE POS REL LOOP 4 section 2 1 9 displacement velocity accelera tion current jerk OxBD 189 MOVE POS TIME REL LOOP section 2 1 10 displacement velocity acceleration current time 0xC0 192 SET PHRASE data frame section 2 4 1 0xC1 193 EXE PHRASE phrase number section 2 4 4 0xC2 194 GET PHRASES section 2 4 2 0xC3 195 PRG GOTO phrase number section 2 4 21 0xC4 196 PRG WAIT time section 2 4 22 OxCF 207 PRG EXE program number section 2 4 3 134 print date 8th March 2010 Manual SCHUNK Motion Software Hex Dec Name Parameter Page OxDO 208 EXE PHARSEO section 2 4 5 OxD1 209 EXE PHARSE1 section 2 4 6 0xD2 210 EXE PHARSE2 section 2 4 7 0xD3 211 EXE PHARSES3 section 2 4 8 OxD4 212 EXE PHARSE4 section 2 4 9 OxD5 213 EXE PHARSE5 section 2 4 10 OxD6 214 EXE PHARSE6 section 2 4 11 OxD7 215 EXE PHARSE7 section 2 4 12 0xD8 216 EXE PHARSES section 2 4 13 OxD9 217 EXE PHARSE9 section 2 4 14 DA 218 EXE PHARSE10 section 2 4 15 OxDB 219 EXE PHARSE11 section 2 4 16 OxDC 220 EXE PHARSE12 section 2 4 17 OxDD 221 EXE PHARSE13 section 2 4 18 OxDE 222 EXE PHARSE14
6. 5 0 2 5 V Speed 0x02 velocity is converted to an analog value Maximum negative velocity 0V Standstill 5V Maximum positive velocity 10V Current 0x03 DA gt 0V Maximum current section 3 2 1 8 10V 92 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e Maximum 0x04 Analog output 10V Data 3 bits 0 7 3 2 5 12 Internal Switch Usage Access rights Profi section 1 5 3 Description Use of internal digital inputs hardware stop1 SW1 and hard ware stop2 SW2 e No Switch 0x00 not used Data 2 bits 0 3 3 2 5 13 ID Access rights User section 1 5 1 Description Unique module identification See also SET CONFIG section 2 3 1 Data UInt8 0 255 3 2 5 14 Group Access rights User section 1 5 1 Description Unique group identification of the module See also SET CONFIG section 2 3 1 With Profibus the Real No Add Change is stored here Data UInt8 0 255 3 2 5 15 RS232 Baud Rate Access rights User section 1 5 1 Description Baud rate of RS232 Values 1200 2400 4800 9600 19200 38400 See also SET CONFIG section 2 3 1 Data UInt16 0 65535 3 2 5 16 CAN Baud Rate Access rights User section 1 5 1 Description Baud rate of CAN Values 50 100 125 250 500 1000 Siehe auch SET CONFIG section 2 3 1 Data UInt16 0 65535 93 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 5 1
7. Profi user section 1 5 3 Gear Ratio 0x18 data 4 bytes as float The Gear Ratio 1 section 3 2 2 2 is changed the command has no use 3Used for SRU in teach mode For SRU it must therefore be enabled for USER 4Used for SRU in teach mode For SRU it must therefore be enabled for USER 36 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software with an integer unit system section 1 4 The transferred value is writ ten to the EEPROM and applied immediately bw This function is only accessible on Profi user section 1 5 3 Response slave gt master OK 0x4F4B if successful In order to find out which parameters have been set successfully the parameter code is ap pended as 1 byte to OK Example D Len Cmd Param M gt S 0x03 0x81 0x01 0x0C Will set module ID to 12 S gt M 0x04 0x81 Ox4F 0x4B 0x01 Note To set configuration data quickly use the supplied software tool section 4 If you wish to write all parameters in one single process you must first halt the module 5 2 3 2 GET CONFIG 0x80 Code 0x80 Description A range of configuration data can be read from the module Parameters master gt slave e None Miscellaneous information of the module is read Modul type as text 8 chars Order number UInt32 Firmware version UInt16 Protocol version UInt16 Hardware version UInt16 Firmware create date time a
8. Configured in the setting unit system section 1 4 3 2 1 13 Commutation Table Access rights Root section 1 5 5 Description Hall table valid for block commutation by means of Hall sensors for the respective unit If the value is incorrect the motor fails to move or works only with minimum torque Data UInt16 0 12 3 2 1 14 Offset Phase A Access rights Root section 1 5 5 Description Zero point adjustment of first current sensor This value should be within the range from 1700 to 2200 If this is not the case the hardware might be defective Data UInt16 0 65535 An incorrect value can result in unexpected machine behavior movement in one direction only excessive jerking overspeeding 80 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 1 15 Offset Phase B Access rights Root section 1 5 5 Description Zero point adjustment of second current sensor This value should be within the range from 1700 to 2200 If this is not the case the hardware might be defective Data UInt16 0 65535 An incorrect value can result in unexpected machine behavior movement in one direction only excessive jerking overspeeding 3 2 2 Gear 3 2 2 1 Serial Number Access rights Root section 1 5 5 Description Serial number of the gear system Data UInt32 gt 0 4294967296 3 2 2 2 Gear Ratio 1 Access rights Profi section 1 5 3 Description Gear ratio from Motor to
9. Current Speed this command is not re quired All movement types come with au tomatically adjusted section 2 1 17 current controllers 2 1 12 MOVE VEL 0xB5 Code 0xB5 Description A velocity movement is completed Parameter master gt slave e Velocity in configured unit system must be specified e Current optional that must not be exceeded during the velocity move ment With controller structure CURRENT SPEED section 3 2 4 7 the message INFO WRONG PARAMETER section 2 8 2 14 occurs See also SET TARGET CUR section 2 1 17 Response slave gt master OK 0x4F4B if successful Module executes command Example D Len Cmd Param M gt S 0x05 OxB5 Ox9A 0x99 0x31 Will complete ve 0x41 locity movement with 11 1 S gt M 0x03 OxB5 0x4F 0x4B Note impulse message CMD MOVE BLOCKED section 2 2 2 can be sent if the module fails to move 26 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software 2 1 13 MOVE GRIP 0xB7 Code 0xB7 Description A gripping movement is done Parameter master gt slave e Current in configured unit system section 1 4 must be speciffied e Maz Velocity optional in configured unit system section 1 4 This value can not be exceeded while moving See SET TARGET VEL section 2 1 14 Response slave gt master OK 0x4F4B if successful Module executes command Example D Len Cmd Param M gt 5 0
10. M gt S 02501 0x08 0x15 0x84 0xE5 0x19 0x04 0x9B OxBF OxA4 M gt S 0x501 0x08 Ox0F 0x85 0x70 0x3C 0x42 0x44 0x33 0x22 M gt S 02501 0x08 0x09 0x85 0x11 0xCC OxDD kk OxFF 0x00 M gt S 0x501 0205 0x03 0x86 0x02 OxFE 0xAF S gt M 0x701 0205 OxE4 0x4F 0x4B 0x00 6 1 3 Profibus 6 1 3 1 Referencing 1 Send referencing section 2 1 1 command 2 Have understood referencing command The MsgCount section 1 3 5 is incremented by 1 3 After some time in position 5 792 mm 127 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Data State MsgCount M gt S 0x01 0x92 0x 0x 0x 0x 0x 0x S gt M 0x03 0x92 0x4F 0x4B 0x 0x 0x00 0x01 0x 0x 0x 0x 0x 0x Impulse 0x05 0x93 0x21 0x56 0xB9 0x40 0x61 0x01 6 1 3 2 MOVE POS 10 mm Default positioning section 2 1 3 command l 2 Send command for movement to position 10 mm Message will reach position in 3 358 s Movement is started The MsgCount section 1 3 5 is incremented by 1 After some time An position 9 9969 mm D Len Cmd Data State MsgCount M gt S 0x05 OxBO 0x00 0x00 0x20 0x41 0x 0x S gt M 0x05 OxBO OxEE OxEE 0x56 0x40 0x01 0x02 0x 0x 0x 0x 0x 0x 0x 0x Impulse 0x05 0x94 OxB6 OxF3 0x1F 0x41 0x61 0x02 Ox
11. Micrometer 1000 Integer oder mm Float e Gray value Gray 0 255 Integer or Float e Brightness percentage Brightness Percentage Integer or Float Note Only for SRV image processing sensor 2 6 4 CAMAT TRIGGER 0xFE Code 0xFE Description Triggers an image recording in the SRV image processing sensor and the image processing with the activated program This can take up to sev eral seconds the image recording takes place however at once and is confirmed with OK The actual image processing starts afterwards the result of which is then announced with a spontaneous message CMD INFO INFO TRIGGER section 2 8 2 16 The actual results are transmitted in further CAMAT RES MEASUREMENT BLOCK section 2 6 3 spontaneous messages Afterwards the SRV is not ready again until it has dispatched a concluding CMD INFO INFO READY section 2 8 2 17 spontaneous message Parameter master gt slave None Response slave gt master The image recording takes place at once and is confirmed with OK 0x4F4B Note Only for SRV image processing sensor 2 7 Fragmentation 2 7 1 FRAG ACK 0x87 Code 0x87 Description Acknowledgement of properly processed fragmentation Parameters master gt slave D Len code of the received fragment UInt16 if the control system acknowledges the fragment to the module Response slave gt master D Len code of the received fragment UInt16 62 print date
12. ak 2 8 2 4 11 EXE PHRASE6 0xD6 46 2 4 12 EXE PHRASE 0xD7 lt ias 46 2 4 13 EXE PHRASES 0xD8 46 2 4 14 EXE PHRASES OD 47 2 4 15 EXE PHRASELO IDAS NEE 47 24 16 EXE PHRASE11 0xDB EE EEN a 48 2 4 17 EXE PHRASE12 ODC 48 2418 EXE PHRASEIS 0xDD 2 22 2a hae ENEE 49 24 10 EXE PHRASEI4 0xDE o c e coros 49 2 4 20 EXE PHRASE15 0xDF 50 2421 PRG GOTO MEE cocos he ek pr dos eed 50 2422 PRG WAIT et SN EE aspas 51 Other commands a so se ocres Aa 51 SKI GET STATE 0x95 ce aoee tae a a a E EE ee 51 2 5 1 1 Status response from SRV 54 252 CMD REBOOT 0xEQ iiu i oro ara 48 a a ee 54 250 CMD DIO QQE o EN E EN PAP ee EE es 54 2 54 FLASH MODE ABS irc eenaa ku Peay aa 55 2 5 5 CMD DISCONNECT 0xE6 55 2 5 6 CHANGE USER IOb i o 56 2 5 7 CHECK MC PC COMMUNICATION 0xE4 56 2 5 8 CHECK PC MC COMMUNICATION 0xE5 58 SRV image processing sensor 2 0000005 59 2 6 1 CAMAT CHANGE PROGRAM 0xF8 60 2 6 2 CAMAT SETTINGS CHANGED 0xF9 61 2 6 3 CAMAT RES MEASUREMENT BLOCK 0xFA 61 2 6 4 CAMAT TRIGGER 0OxFE 62 Pragmentell n E Re eee ae paa aa 62 St FRAG ACK 0x87 2 2 62 554 64 4bb bbe be wed 62 272 FRAG START 0x84 ioc ce ee ELE bee 63 273 FRAG MIDDLE 0585 5 502446 ee be ee es 63 2 74 FRAG END 0x66 pbb ep ae eee ea ti 63 Error messa
13. always be complied with 2 8 2 17 INFO READY 0x0041 Code 0x0041 Description The SRV sensor is once again ready Note Only for SRV image processing sensor Is sent in two byte form in Intel format i e the second byte is 0x00 lo The code consists of 2 bytes gt D Len gt 2 d gt if only the D Len Byte is queried then this message will not be interpreted as an error The rule D Len 2 gt error can thus always be complied with 69 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 18 INFO GUI CONNECTED 0x0042 Code 0x0042 Description The user interface GUI of the sensor was connected per USB with the sensor No program change can be triggered via the Motion Protocol for as long as the GUI is connected Note Only for SRV image processing sensor lo The code consists of 2 bytes gt D Len gt 2 7 gt if only the D Len Byte is queried then this message will not be interpreted as an error The rule D Len 2 gt error can thus always be complied with 2 8 2 19 INFO GUI DISCONNECTED 0x0043 Code 0x0043 Description The connection between the user interface GUI of the sensor and the sensor was ended Note Only for SRV image processing sensor hos The code consists of 2 bytes gt D Len gt 2 i gt if only the D Len Byte is queried then this message will not be interpreted as an error The rule D Len 2
14. gt error can thus always be complied with 2 8 2 20 INFO PROGRAM CHANGED 0x44 Code 0x44 Description The sensor has switched over to a new image processing program The program number of the program that is now active is transmitted as an additional pa rameter in the form of a 16 bit integer Intel format Low Byte High Byte Note Only for SRV image processing sensor 2 8 2 21 ERROR WRONG RAMP TYPE 0xC8 Code 0xC8 Description No valid motion profile section 3 2 5 6 has been selected for the positioning movement 70 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 22 ERROR CONFIG MEMORY 0xD2 Code 0xD2 Description The configuration range section 3 2 is incorrect Note Data could not be written to EEPROM or EEPROM is defective 2 8 2 23 ERROR PROGRAM MEMORY 0xD3 Code 0xD3 Description The program memory is defective Note The complete program memory must be cleared 2 8 2 24 ERROR INVALID PHRASE 0xD4 Code 0xD4 Description The programmed phrase to be executed contains errors Note Check program code Check parameter limits 2 8 2 25 ERROR SOFT LOW 0xD5 Code 0xD5 Description The module has exceeded the software limit Note If command byte CMD ERROR section 2 8 1 1 is pending acknowl edge it gt The error is converted to a CMD WARNING section 2 8 1 2 It is now possible to move the module from the software limit range
15. movement new displacement value can be preset which are then immediately moved to When calculating the path the nominal velocity and acceleration val ues as well as the actual velocity and acceleration values are taken into account If the time parameter value is entered the velocity and acceleration values are adjusted in such a way that the position is reached within the specified time 1Due to computing time problems curved paths can only be completed with this profile 23 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software without exceeding the preset velocity and acceleration limits Parameter master gt slave e Displacement in configured unit system must be specified The target position must differ from the start position by at least Delta Position section 3 2 4 6 Velocity section 2 1 14 optional that must not be exceeded Acceleration section 2 1 15 optional that must not be exceeded Current section 2 1 17 optional that must not be exceeded during the positioning movement If the controller structure corresponds to CUR RENT SPEED section 3 2 4 7 this value cannot not be transmitted INFO WRONG PARAMETER section 2 8 2 14 e Time section 2 1 18 optional after which the positioning movement must be completed without exceeding the set velocity and acceleration limits Response slave gt master If possible the time required for the module to comple
16. section 2 4 19 OxDF 223 EXE PHARSE15 section 2 4 20 OxE0 224 CMD REBOOT section 2 5 2 OxE1 225 CMD DIO Out section 2 5 3 0xE2 226 FLASH MODE password section 2 5 4 OxE3 227 CHANGE USER password section 2 5 6 OxE4 228 CHECK MC PC COMMUNICATION section 2 5 7 test data parameter code OxE5 229 CHECK PC MC COMMUNICATION 4 section 2 5 8 Test data parameter code OxE6 230 CMD DISCONNECT password section 2 5 5 OxE7 231 CMD TOGGLE IMPULSE MESS section 2 2 6 SAGE OxF2 242 CMD MSM PARAM READ OxF3 243 CMD MSM PARAM WRITE OxF4 244 CMD MSM CONTROL OxF8 248 CAMAT CHANGE PROGRAM section 2 6 1 OxF9 249 CAMAT SETTINGS CHANGED section 2 6 2 OxFA 250 CAMAT RES MEASUREMENT section 2 6 3 BLOCK OxFE 254 CAMAT TRIGGER section 2 6 4 135 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 6 4 Info and error codes Hex Dec Name Page 0x0001 1 INFO BOOT section 2 8 2 1 0x02 2 INFO NO FREE SPACE section 2 8 2 2 0x03 3 INFO NO RIGHTS section 2 8 2 3 0x04 4 INFO UNKNOWN COMMAND section 2 8 2 4 0x05 5 INFO FAILED section 2 8 2 5 0x06 6 NOT REFERENCED section 2 8 2 6 0x0007 7 INFO SEARCH SINE VECTOR section 2 8 2 7 0x0008 8 INFO NO ERROR section 2 8 2 8 0x09 9 INFO COMMUNIC
17. section 2 8 1 1 occurred e Bit 6 brake applied e Bit 7 motion terminated section 2 2 2 e Bit 8 target position reached section 2 2 3 e Bit 9 16 contain the error code section 2 8 2 Example 1 D Len M gt S 0x06 S gt M 0x0F cycli cally each second Example 2 Cmd 0x95 0x95 Param 0x00 0x00 0x80 0x3F 0x07 0xD6 0xA3 0x70 0x41 0x56 OxC9 0x41 0x40 0x3C 0x41 OxEB 0x3E 0x03 0x00 52 State info is to be sent cyclically each second Position velocity and current are to be sent too Position 0xD6 0x41 Ve locity 0x56 0x40 Cur rent 0x3C 0x3E Mod ule is in motion and ref erenced 0x03 No error 0x00 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK D Len Cmd M gt S 0x01 0x95 S gt M Ox0F 0x95 Example 3 D Len Cmd M gt S 0x06 0x95 S gt M 0x07 0x95 Param 0x0x53 0x63 0xB7 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x61 0xD9 Param 0x00 0x00 0x00 0x00 0x01 0x00 0x00 0x00 0x00 0x20 0x00 Request state info once Last requested parameters will be sent too Position 0x53 0x41 Ve locity 0x00 0x00 Cur rent 0x00 0x00 Mod ule is referenced no move ment brake is on 0x61 Emergency stop executed 0xD9 Request state info once Position is to be sent too Position 0x00 0x00 Module is not referenced brake is off 0x20 No error 0x00 Note If you wish to receive the position velocity and current in a
18. using any movement command section 2 1 2 8 2 26 ERROR SOFT HIGH 0xD6 Code 0xD6 Description The module has exceeded the software limit Note If command byte CMD ERROR section 2 8 1 1 is pending acknowl edge it gt The error is converted to a CMD WARNING section 2 8 1 2 It is now possible to move the module from the software limit range using any movement command section 2 1 2 8 2 27 ERROR PRESSURE 0xD7 Code 0xD7 Description Only for SRU The compressed air pressure dropped suddenly or coupling broken Note Check compressed air system The pressure should be approx 6 bar The pressure drop is detected as it causes an excessive brake point correction section 3 2 8 8 71 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 28 ERROR SERVICE 0xD8 Code 0xD8 Description Module requires maintenance Contact customer service Note SRU must be lubricated 2 8 2 29 ERROR EMERGENCY STOP 0xD9 Code 0xD9 Description The module has been halted with the CMD EMERGENCY STOP section 2 1 20 command 2 8 2 30 ERROR TOW 0xDA Code 0xDA Description A towing error section 3 2 5 19 occurred Note Reduce load of module 2 8 2 31 ERROR TOO FAST 0xE4 Code 0xE4 Description The maximum permissible velocity section 3 2 1 10 has been exceeded during a current motion motor overspeeding Note Reduce current of module 2 8 2 32 ERROR MATH 0
19. 1 8 MOVE POS REL LOOP section 2 1 9 MOVE POS TIME REL LOOP section 2 1 10 while the module is by the software limit section 2 8 1 2 2 8 2 6 NOT REFERENCED 0x06 Code 0x06 Description The module is not referenced and can therefore not execute the command Note In order to carry out a positioning movement the module must first be referenced 2 8 2 7 INFO SEARCH SINE VECTOR 0x0007 Code 0x0007 Description Try to find the start vector for space vector modulation The used current is 60 percent of the max current 67 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Note This is done only once before the first movment command after powering up the device Ko In this case the code consists of 2 bytes gt D Len gt 2 gt if only the D Len byte is queried the message is not interpreted as an error message The rule of D Len 2 gt can thus always be adhered to 2 8 2 8 INFO NO ERROR 0x0008 Code 0x0008 Description No other error messages are pending Note This message is generated immediately after CMD ACK if no other errors are pending and after the module has been removed from the software limit ranges Lo The code consists of 2 bytes gt D Len gt 2 gt if only the D Len byte is queried the mes wm sage is not interpreted as an error message The rule of D Len 2 gt can thus al ways be adhered to 2
20. 11111111111111111111111 infinite 0 11111111 11111111111111111111111 NaN 0 11111111 not all 0 or 1 Macheps 2 2 oder1 192 x 1077 Smallest distinct number 0 01101000 00000000000000000000000 SE 0 00000000 01000000000000000000000 1 3 1 2 Two s complement The two s complement offers a way of displaying negative numbers in the binary system In the module the two s complement is used for the representation of negative integers Integer system section 1 4 Positive numbers are represented as two s components with a leading 0 sign bit They are not further encoded Negative numbers are represented with a leading 1 sign bit and encoded as follows all digits of the corresponding positive figure are negated The value 1 is added to the result Example of the conversion of the negative decimal figure 4qec in a two s complement 5 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 Ignore sign and convert to binary system 4gec 00000100pin 0204hox 2 Invert as the value is negative 11111011pin Or F De 3 Add 1 as figure is negative 11111011 in 00000001 in 11111100pin Ur F Chex dec Or more mathematically Is is a negative number x is represented as a two s complement x with n digits as follows Ly 2 x This means that the following equation applies z lx 2 As the module when set to Integer system section 1 4 always
21. 2 18 and INFO GUI DISCON NECTED section 2 8 2 19 2 5 2 CMD REBOOT 0xE0 Code 0xE0 Description The module is restarted Parameters master gt slave none Response slave gt master Module confirms with OK 0x4F4B Then after successful reboot the module returns JNFO BOOT section 2 8 2 1 Example D Len Cmd Param M gt S 0x01 OxE0 S gt M 0x03 OxEO Ox4F 0x4B Confirmation with ORT S gt M 0x03 0x8A 0x00 0x01 Module restarted successfully 2 5 3 CMD DIO 0xE1 Code 0xE1 Description Digital inputs outputs can be set or read Parameters master gt slave e none The current statuses of the digital inputs outputs are read e 1 byte The 4 high bits can be used to set the 4 digital outputs Response slave gt master In the event of success OK 0x4F4B with attached byte indicating the current status of the digital inputs in the 4 low 54 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software bits and the digital outputs in the 4 high bits Input 1 Bit 1 0x01 Input 2 Bit 2 0x02 Input 3 Bit 3 0x04 Input 4 Bit 4 0x08 Output 1 Bit 5 0x10 Output 2 Bit 6 0x20 Output 3 Bit 7 0x40 Output 4 Bit8 0x80 Example D Len Cmd Param M gt S 0x01 OxE1 S gt M 0x04 OxE1 0x4F 0x4B 0x00 No inputs outputs set 2 5 4 FLASH MODE 0xE2 Code 0xE2 Description The module is being prepared for a firmware upda
22. 2 5 Other commands 2 5 1 GET STATE 0x95 Code 0x95 Description Returns the module status and other information if requested The module can automatically update this status at regular intervals Parameters master gt slave e None The module sends the data once This means that the previously set cyclic sending of data can be disabled Time 4 bytes The module automatically transmits its status at the set intervals in the configured unit system section 1 4 Time 4 bytes Mode 1 byte The module automatically transmits its status at the set intervals in the configured unit system section 1 4 The parameter Mode specifies the data that is to be sent in addition to the status Bit 1 0x01 position Bit 2 0x02 velocity Bit 3 0x04 current Response slave gt master Optional data depending on the code Mode followed by the status 2 bytes which is configured as follows 51 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Referenced Bit 1 0x01 Moving Bit 2 0x02 Program Mode Bit 3 0x04 Warning Bit 4 0x08 Error Bit 5 0x10 Brake Bit 6 0x20 Move End Bit 7 0x40 Position Reached Bit 8 0x80 e Bit 1 module is referenced e Bit 2 module is moving e Bit 3 module is in programming mode internal processing program ac tivated e Bit 4 a warning section 2 8 1 2 has been generated e Bit 5 an error
23. 2 8 2 19 31 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 2 2 CMD MOVE BLOCKED 0x93 Code 0x93 Description The module is standing still Any previous movement is halted and the module is stopped Parameter master gt slave none Response slave gt master Position current position in the configured unit system section 1 4 Example D Len Cmd Param S gt M 0x05 0x93 OxA4 0x70 0x9D Will stand still in 0x3F position 1 23 mm Note This message is generated each time a movement is aborted and the module is blocked for example while gripping an object The requirements for a blocked state are e The module moved with velocity over Motion Threshold section 3 2 6 7 e The velocity was under Motion Threshold section 3 2 6 7 for at least 250 ms e The difference between the measured and the given currents must be under a given threshold value 2 2 3 CMD POS REACHED 0x94 Code 0x94 Description The module is standing still A positioning movement has reached the target position Parameter master gt slave none Response slave gt master Position current position in the configured unoit system section 1 4 Example D Len Cmd Param S gt M 0x05 0x94 OxCD 0xCC 0x2C Have reached posi 0x40 tion 2 7 mm 2 2 4 CMD ERROR 0x88 Code 0x88 Description A serious error requiring operator intervention has occurred Such errors must be acknowledged with
24. 28 2 1 16 SET TARGET JERK 0xA2 28 2 1 17 SET TARGET CUR 0xA3 29 2 1 18 SET TARGET TIME OSAA sonanu an aaau 29 2L19 EMO STOP 0x91 2 254224 ad kao ear E 30 2 1 20 CMD EMERGENCY STOP 0x90 30 22 mpuls messages is a ae EES A 31 221 CMD INFO 0x8A 246454454 hed oe de ee ees EN 2 2 1 1 SRV image processing sensor 31 2 2 2 CMD MOVE BLOCKED 0x93 32 2 23 CMD POS REACHED 0x94 32 224 CMD ERROR 0x88 2 65 pb eee bee eee ee 32 225 GET STATE 0x05 gt o sa s eco ca ede eee ee eed 33 2 2 6 CMD TOGGLE IMPULSE MESSAGE 0xE7 33 2 2 7 CAMAT SETTINGS CHANGED 0xF9 34 2 2 8 CAMAT RES MEASUREMENT BLOCK 0xFA 34 2o SOINS escat ke we EE d g hee Pe eee ee A 34 231 SET CONFIG Os81 iora hee 444 cisne a es 34 232 GET CONFIG 0880 o 2545404 e 37 2 4 Commands for internal programming 40 241 SET PHRASE URCO cocos siria aaa 41 242 GET PHRASES 0x 2 EE ee 41 243 PRG EXE TORES cisco Soe aa dd Kerani 42 244 EXE PHRASE URCI oso a 20 otras 43 245 EXE PHRASEO Gel oie 22 5 654455524 a es 43 2 46 EXE PHRASE 0xD1 43 247 EXE PHRASE 08D2 24 4264 56 baa dada caus 44 2 48 EXE PHRASES 0xD3 44 249 EXE PHRASE ln EN ee ee bs 45 2410 EXE PHRASES 00D5 0 044 044 pa 4484 eo A 45 iii print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 2 5 2 6
25. 3 2 Identification inquiry without parameters Module ID Group ID RS232 baud rate Communication interface Unit system x Integer Micrometers for lengths or milli degrees for angles x Float Millimeters for lengths or degrees for angles e SET CONFIG section 2 3 1 Module ID Group ID 59 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software RS232 baud rate Unit system x Integer Micrometers for lengths or milli degrees for angles x Float Millimeters for lengths or degrees for angles CMD DIO section 2 5 3 TOGGLE IMPULSE MESSAGE section 2 2 6 GET STATE section 2 5 1 Status currently the only information transmitted in Bit 2 is whether the PC application SRV GUI is connected with the SRV sensor via USB This is important because no program change can be initiated via the SCHUNK protocol via RS232 for as long as the connection to the SRV GUI remains in effect Error messages are not transmitted Switching regular messages on and off CMD INFO section 2 2 1 The SRV also understands the following specific commands CAMAT CHANGE PROGRAM section 2 6 1 CAMAT SETTINGS CHANGED section 2 6 2 Only as Slave SRV gt Master response CAMAT RES MEASUREMENT BLOCK section 2 6 3 Only as Slave SRV gt Master response CAMAT TRIGGER section 2 6 4 The upper 3
26. 8 1 4 Risk of injury Modules that are not equipped with a brake might drop as the mo tor is switched off by the emergency stop com mand Emergency stops result in serious mechanical wear to the brake 30 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 2 Impulse messages Upon certain events the module might generate an impulse message These messages are sent through the standard data frame section 1 3 2 D Len CmdCode parameters The user has the option to disable section 2 2 6 im pulse messages With Profibus the MsgCount is not increased by impulse messages as the data is not re quested by the control system 2 2 1 CMD INFO 0x8A Code 0x8A Description The module sends an information message The module is fully operative Example D Len Cmd Param S gt M 0x02 Ox8A 0x10 INFO TIME OUT section 2 8 2 10 Note When quit a error and while booting the module sends information messages too INFO BOOT section 2 8 2 1 INFO NO ERROR section 2 8 2 8 2 2 1 1 SRV image processing sensor The SRV image processing sensor transmits the following information error codes as spontaneous messages e INFO BOOT section 2 8 2 1 e INFO READY section 2 8 2 17 e INFO TRIGGER section 2 8 2 16 e INFO PROGRAM CHANGED section 2 8 2 20 e INFO GUI CONNECTED section 2 8 2 18 e INFO GUI DISCONNECTED section
27. 8th March 2010 Manual SCHUNK SCHUNK Motion Software if the module acknowledges the fragment to the control system Example See examples section 6 1 Note This command is only used in systems with Profibus section 1 3 6 1 and if fragmentation of messages is required 2 7 2 FRAG START 0x84 Code 0x84 Description Indicates that a fragment of a fragmented message is the first fragment Parameters master gt slave none Response slave gt master none Example See examples section 6 1 Note Is directly written behind the D Len byte Does not form part of the D Len as it acts only as a marker 2 7 3 FRAG MIDDLE 0x85 Code 0x85 Description Indicates that a fragment of a fragmented message is the middle fragment Parameters master gt slave none Response slave gt master none Example See examples section 6 1 Note Is directly written behind the D Len byte Does not form part of the D Len as it acts only as a marker 2 7 4 FRAG END 0x86 Code 0x86 Description Zeigt bei einer fragmentierten Nachricht dass es sich um das letzte Fragment handelt Parameters master gt slave none Response slave gt master none Example See examples section 6 1 Note Is directly written behind the D Len byte Does not form part of the D Len as it acts only as a marker 2 8 Error messages In the event of an error D Len in the data frame of the module sent to the contro
28. A eee ee 125 61 22 MOVE POS 10 min 200oo 125 0 128 GET STATE el os kek eee ee eS 126 6 1 2 4 Troubleshooting 126 6 1 2 5 CHECK MC PC COMMUNICATION Float 126 6 1 2 6 CHECK PC MC COMMUNICATION 127 DLS AI 127 Buledal Referencing o oi c caos dor ae ee ee 127 6 132 MOVE POS 10 mm 128 61 43 GET STATE 1 5 4 224 6 22 88 128 6 1 34 Troubleshooting o oo ors 5 eee ees 129 6 1 3 5 CHECK MC PC COMMUNICATION Float 129 6 1 3 6 CHECK PC MC COMMUNICATION 130 6 2 CRCI6 calculation fot R5232 so o secca pertu tek oioi 131 Bo COMS scr a a a EE EEN 133 G4 Into and error codes oo coc we 136 63 Tested hardware ooo mi penter sinsa BGO EE EE 138 7 Contact 139 ix print date 8th March 2010 Chapter 1 General 1 1 Electrical connection The module is equipped with separate input terminals for the motor voltage and the logic control voltage 24V DC We recommend connecting the terminals to two separate power supplies so that the logic control continues to operate even if there is an overload at the motor ensuring that the motor status is known at all times For modules with a motor voltage gt 24V DC the connections must be separated as the logic control voltage must be between 18 and 32V DC Risk of permanent damage to the elec tronics When using separate power supplies provide for potential equalization between the two supply systems connect earth con
29. Encoder with index After powering up modul compares saved positon with saved controll value Are this values equal the saved positon is set to actual position The difference to the index is calculated With the next moving command the calculated distance is compared with the real moved distance to the next index If both values equal the module needs not to be referenced After the first movement command the index must reached in a certain time If an error occures while moving to index the reference is lost When encoder is turned when power is lost it can happen that module moves to next index with wrong position max one motor turn When encoder is rotated exactly one turn when power lost the actual position is the wrong one 16 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 7 Standstill commutation 1 7 1 Requirements e Motor type PMSM section 3 2 1 3 e Encoder with index e Hallelements The movement direction by the block commutation and by the space vector modulation must be the same When the movement direction is different the motor phases are to change and the commutation table section 3 2 1 13 is to adjust Check movment direction from block commutation and sine commutation They must be the same If not change phases and check commutation table section 3 2 1 13 1 7 2 Function If all requirements are fullfilled module will activate standstill commutation Modules wit
30. Integer 0x07 uInch Integer 0x08 Milli degree Integer 0x09 38 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Soft High 0x07 The high software limit is returned 4 bytes observe unit system section 1 4 Soft Low 0x08 The low software limit is returned 4 bytes observe unit system section 1 4 MAx Velocity 0x09 The maximum permissible velocity of the module is returned 4 bytes observe unit system section 1 4 Max Acceleration 0x0A The maximum permissible acceleration of the module is returned 4 bytes observe unit system section 1 4 Max Current 0x0B The nominal current of the module is returned 4 bytes observe unit system section 1 4 Nom Current 0x0C The nominal current of the module is returned 4 bytes observe unit system section 1 4 Max Jerk 0x0D The maximum permissible jerk of the module is returned 4 bytes observe unit system section 1 4 Offset Phase A 0x0E The offset of the current sensor A is returned 2 bytes Offset Phase B 0x0F The offset of the current sensor B is returned 2 bytes Data CRC 0x13 A CRC16 over all variable and not module specified paramenters like serial numeber current offset is returned Reference Offset 0x14 The reference offset is returned 4 bytes observe unit system section 1 4 Serial Number 0x15 The device serial number is returned 4 bytes Order Number 0x16 Th
31. Integral share of the current controller Not required for current limit control section 3 2 4 7 Data Float 3 2 4 3 KR Speed Access rights Profi section 1 5 3 Description Proportional share of the velocity controller Data Float 3 2 4 4 TN Speed Access rights Profi section 1 5 3 Description Integral share of the velocity controller Data Float 3 2 4 5 KR Position Access rights Profi section 1 5 3 Description Proportional share of the position controller Data Float 3 2 4 6 Delta Position Access rights Profi section 1 5 3 Description Position window in which the position control is interrupted depending on brake configuration section 3 2 7 3 the control remains on the brake is applied and the system signals that the position is reached Data 4 bytes Configured in the preset unit system section 1 4 3 2 4 7 Structure Access rights Profi section 1 5 3 Description Design of the controller circuit e Current Speed 0x00 Current and velocity control are independent of each other e Cascade 0x01 Position velocity and current control are cascading gt current controlled position and velocity movements are possible set current is not exceeded e g no need for pre positioning for gripping In this mode the preset 85 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software current SET TARGET CURRENT section 2 1 17 is not exceeded during all p
32. POS TIME LOOP 0xBB Code 0xBB Description A cyclic execution of the command MOVE POS TIME section 2 1 5 The module is moving in loop between the start position and the se lected position 2 1 9 MOVE POS REL LOOP 0xBC Code 0xBC Description A cyclic execution of the command MOVE POS REL section 2 1 4 The module is moving in loop between the start position and the se lected position 2 1 10 MOVE POS TIME REL LOOP 0xBD Code 0xBD Description A cyclic execution of the command MOVE POS TIME REL section 2 1 6 The module is moving in loop between the start position and the selected position 2 1 11 MOVE CUR 0xB3 Code 0xB3 Description A current movement is completed Parameter master gt slave e Current in configured unit system section 1 4 must be specified Response slave gt master OK 0x4F4B if successful Module executes command Example 25 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x05 0xB3 0x00 0x00 0x60 Will complete 0x40 current movement with 3 5 A S gt M 0x03 0xB3 0x4F 0x4B Note impulse message CMD MOVE BLOCKED section 2 2 2 can be sent Due to the applied controller structures the module might run off If it exceeds the con figured maximum velocity section 3 2 1 10 an ERROR TOW section 2 8 2 30 occurs for safety reasons With control structure section 3 2 4 7 other than
33. Profibus Hilscher other interface not verified cards Profibus WoodHead Applicom I O No Profibus CP5611 Yes Profibus Siemens S7 Yes 138 t date 8th March 2010 prin 139 Manual SCHUNK Motion Software SCHUNK Chapter 7 Contact GERMANY HEAD OFFICE SCHUNK GmbH amp Co KG Spann und Greiftechnik Bahnhofstrasse 106 134 D Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com www schunk com a SS GREAT BRTAIN IRELAND SCHUNK Intec Ltd Cromwell Business Centre 10 Howard Way Interchange Park Newport Pagnell MK16 9QS Tel 44 1908 611127 Fax 44 1908 615525 info gb schunk com www gb schunk com ESA gt AUSTRIA SCHUNK Intec GmbH Holzbauernstr 20 4050 Traun Tel 43 7229 65770 0 Fax 43 7229 65770 14 info at schunk com www at schunk com CHINA SCHUNK Precision Ma chinery Hangzhou Co Ltd 6 24th Street HEDA Hangzhou 310018 Tel 86 571 8672 1000 Fax 86 571 8672 8800 info cn schunk com www cn schunk com 140 BELGIUM LUXEMBOURG SCHUNK Intec N V S A Bedrijvencentrum Regio Aalst Industrielaan 4 Zuid II 9320 Aalst Erembodegem Tel 32 53 853504 Fax 32 53 836022 info be schunk com www be schunk com SCHUNK GmbH amp Co KG Shanghai Representative Office 777 Zhao Jia Bang Road Pine City Hotel Room 923 Xuhui District Shanghai 200032 Tel 86 21 64433177 Fax 86 21 64431922 info cn schunk com www c
34. a 86 3 2 5 3 Communication Mode 87 3204 Invert Motor 4 a ae eR nad 87 3 2 5 5 Invert Position System 88 3 2 5 6 Positioning Ramp Type 88 vi print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 310 7 Start Program On Beet EEN a a 89 DAOR Eades coordina bade das 90 3259 Digital In Usage occiso cs 90 3 2 5 10 Digital Out Usage 91 3 2 5 11 Analog OUT Usage o 92 3 2 5 12 Internal Switch Usage 93 A AI 93 ld GUT oa da a a BE A 93 da la R922 Baud Rate exar 93 3 2 5 16 CAN Baud Rate lt lt lt 93 3 2517 Mim Position lt e s s sa csaa bee o A A 94 Seeks Max Fosition 2 o 6 a ak bw ta e 94 32019 Tow Error lt en ao samoesas FH A A we ee 94 3 2 5 20 Min Temperature o 94 3 2 0 0 Max Temperature 0 66 48 ee ee a 94 Positioning AN 94 3 2 6 1 Serial Number EEN 94 Doa De ee a sa epa eee ee Pe 95 Se OUR sici eoep AOR E Ge eee es 95 S264 Parameter ocs 4 0 44404 646 8 6 A 96 S200 Parmeter Zb esor er asa g psa Bs 96 DG AO as ra a o a 96 3 2 6 7 Motion Threshold 2 4 2 5 24 2525 6 97 2208 ADO ONG cake cone ee A Bw ee eS 97 echte lt a ae ee we ee a Bae A ead 97 327 1 Se al Number coccion 97 Gatos A A ee are e 97 mete Brake Usage occiso ra 97 Se II 98 ORU area ada a a a e 98 SEH o Zeien WE E See ee AE ETA 98 3 2 8 2 Service Notification 98 3 2 8 3 Brake Point Coefficient
35. been found Data Bool TRUE FALSE This procedure is necessary for computing time reasons 3This is due to the pneumatics as their effect on the travel time cannot be accurately determined in advance 89 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 5 8 Endless Access rights Profi section 1 5 3 Description The axis can be rotated endlessly Data Bool TRUE FALSE This option is not recommended for grippers 3 2 5 9 Digital In Usage Access rights Profi section 1 5 3 Description Digital inputs are used e Normal 0x00 Digital inputs can be switched externally without affecting the module They can be queried at any time with CMD DIO section 2 5 3 Program 0x01 Pre programmed phrases can be executed Before the very first phrase can be executed all inputs must be set to low Subsequently up to 7 program phrases section 2 4 5 can be selected Input 1 is used for exe cuting The positions of the inputs 2 to 4 are only accepted if rising edge at input 1 is used If only input 1 is set a reference movement section 2 1 1 is executed Switching sequence 1 Set all inputs to low 2 Set inputs 2 3 4 to a required state see the table below 3 Change input 1 to high Input 1 Input 2 Input 3 Input 4 Action MPC IN 0 IN 1 IN 2 IN 3 MCS DI 1 DI 2 DI 3 DI 4 low low low
36. can manage the connections log the com munication with the respective bus system and edit the application settings The main window features Menu bar fig 4 4 Tool bar fig 4 5 Output tabs fig 4 6 Status bar fig 4 7 102 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Starting communication RS232 Generic COM1 at 9600 baud initialized Bus scan started Bus scan done gt Found ID 12 odule 12 gets initialized Module 12 responded GET_CONFIG gt Module Type PG 70 gt Order Number 0 gt Software Version 9 22 gt Protocol Version 3 gt Hardware Version 5 30 10 12 32 Aug 18 2008 responded GET_CONFIG gt Info Figure 4 3 Module window Figure 4 4 Menu bar 103 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software HS DAX Si Figure 4 5 Tool bar Global Info Incoming Data Outgoing Data Starting communication RS232 Generic COM1 at 9600 baud initialized Module 12 booted Module 12 gets initialized Figure 4 6 Output tabs 4 3 1 Toolbar The toolbar contains the most frequently used functionality El Save the EEPROM content of all initialized modules Print the EEPROM content of all initialized modules Initialize a module with a known ID Send an emergency stop section 2 1 20 com S O g Scan the entire bus for modules x mand to all modules B Open or close the selected communication in te
37. commands are available only for the SRV but not for other modules such as gripping or swiveling units 2 6 1 CAMAT CHANGE PROGRAM 0xF8 Code 0xF8 Description Triggers a program change in the SRV image processing sensor This can take up to several seconds which is why the command is confirmed at once with OK The successful program change is then confirmed with a sponta neous message CMD INFO INFO PROGRAM CHANGED section 2 8 2 20 Parameter master gt slave Number of the program as 2 byte integer number 16 bit Intel format Low Byte High Byte 60 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Response slave gt master The command is confirmed immediately with OK 0x4F4B if a program change is permitted If a program change is not possible e g GUI connected see Note then this will be answered with the error code INFO NO RIGHTS section 2 8 2 3 Note Only for SRV image processing sensor A program change is only possible if the PC application SRV GUI the configuration and user interface of the SRV is not con nected with the sensor via USB see INFO GUI CONNECTED section 2 8 2 18 and S INFO GUI DISCONNECTED section 2 8 2 19 2 6 2 CAMAT SETTINGS CHANGED 0xF9 Code 0xF9 Description The spontaneous message from the SRV image processing sensor acknowledges that settings are changed successfully Response slave gt m
38. in detail in the following chapters 111 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK e File Load EEPROM Load configuration data from a file Save EEPROM Save the displayed configuration data in a file Print EEPROM Print the displayed configuration data Print Changes Print changed marked configuration data only Close Close the module window An emergency stop command is sent to the active module e View Actual Values Last received state information is shown Graph Current The current is shown in the form of a graph Graph Velocity The velocity is shown in the form of a graph Graph Position The position is shown in the form of a graph Combined Graph Current velocity and position are shown in a com bined graph Pause Run Graph The graph refreshing can be paused and restarted if necessary e Module Movement x Move with Current Trigger a current movement section 2 1 11 Move with Velocity Trigger a velocity movement section 2 1 12 Move to Position Trigger a positioning movement section 2 1 3 Move to Position Time Trigger a positioning movement curved tracks possible section 2 1 5 Move to rel Position Trigger a relative positioning movement section 2 1 4 Move to rel Position Time Trigger a time controlled relative positioning movement curved tracks possible section 2 1 6 Move t
39. is triggered and the error message MAX CURRENT section 2 8 2 36 is displayed Data 4 bytes 0 00 29 99 A or 0 29999 mA depending on the unit system section 1 4 Incorrect parameter values can cause irrepara ble damage to the module 3 2 1 9 Nom Current Access rights Advanced section 1 5 4 Description Rated current of the motor If this current value is exceeded for a prolonged period of time an I T error section 2 8 2 37 is triggered Typ 4 bytes 0 00 29 99 A or 0 29999 mA depending on the unit system section 1 4 Incorrect parameter values can cause irrepara ble damage to the module 79 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 1 10 Max Velocity Access rights Advanced section 1 5 4 Description Maximum permissible velocity of the system on output side Data 4 bytes Configured in the preset unit system section 1 4 3 2 1 11 Max Acceleration Access rights Advanced section 1 5 4 Description Maximum permissible acceleration of the system on output side Data 4 bytes Configured in the setting unit system section 1 4 3 2 1 12 Max Jerk Access rights Advanced section 1 5 4 Description Maximum permissible jerking of the system on output side The jerk results from a sudden change in acceleration This parameter is only evaluated when a positioning movement with jerk limitation section 3 2 5 6 is carried out Data 4 bytes
40. low Reset no action low gt high low low low Referencing low gt high high low low Program phrase 0 low gt high low high low Program phrase 1 low gt high high high low Program phrase 2 low gt high low low high Program phrase 3 low gt high high low high Program phrase 4 low gt high low high high Program phrase 5 low gt high high high high Program phrase 6 90 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software If external switches are activated program mode is no longer available Data 3 bits 0 7 3 2 5 10 Digital Out Usage Access rights Profi section 1 5 3 Description Digital outputs are used e Normal 0x00 Digital outputs can be set with CMD DIO section 2 5 3 e State Moving OUT2 0x01 The module status is signalled to the digital outputs OUT2 indicates a moving module MPC MCS Module state when low Output 1 OUTO DO1 Referenced Output 2 OUT1 DO2 Error Output 3 OUT2 DO3 Moving Output 4 OUT3 DO4 Move end e State Position Reached OUT2 0x02 The module status is signalled to the digital outputs OUT2 indicates that module reaches a target position MPC MCS Module state when low Output 1 OUTO DOL Referenced Output 2 OUT1 DO2 Error Output 3 OUT2 DO3 Target position reached Output 4 OUT3 DO4 Move end e State Brake OUT2 0x03 The module status i
41. positioning movement must be completed without exceeding the set velocity and acceleration limits Response slave gt master If possible the time required for the module to complete the movement is returned Module executes command Example D Len Cmd Param M gt S 0x05 0xB1 0x00 0x00 0x20 Move to position 0x41 10 0 mm S gt M 0x05 0xB1 0x00 0x00 0xA0 Position will be 0x40 reached in 5 0 sec Note Impulse response is generated when position CMD POS REACHED section 2 2 3 is reached or if positioning movement MOVE ZERO AFTER REFERENCING section 3 2 3 6 is aborted before this position is reached All parameters must be transmitted in the sequence shown here If only the cur rent is preset the velocity and the acceleration must be specified Subsequent parameters do not need to be transmitted All parameters remain stored until they are modified or the system is restarted For these types of movement the motion profile is set to Trapezoid section 3 2 5 6 New position parameters can be entered while a movement is being completed The new d movement is subsequently calculated based on the entered parameter values and the current actual velocity and acceleration values This allows for curved paths 2 1 6 MOVE POS TIME REL 0xB9 Code 0xB9 Description The module is moved relatively from start position The dis placement value is set in the configured unit system section 1 4 During the
42. transmitted in the sequence shown here If only the current is preset the velocity and the acceleration must be specified Subse quent parameters do not need to be transmitted All parameters remain stored until they are modified or the system is restarted If new positioning parameters are entered dur lo ing a movement the motion might be tem i porarily halted If you wish to enter new po sitions while movements are carried out e g to move along curves use the MOVE POS TIME section 2 1 5 command 2 1 4 MOVE POS REL 0xB8 Code 0xB8 Description The module is moved realtiv from start position The displace ment value is set in the configured unit system section 1 4 The relative positioning movement is based on the configured motion profile section 3 2 5 6 Parameter master gt slave e Displacement in configured unit system must be specified e Velocity section 2 1 14 optional used for the positioning movement For motion profiles No Ramp section 3 2 5 6 is not relevant Acceleration section 2 1 15 optional used for the positioning move ment For motion profiles No Ramp section 3 2 5 6 is not relevant Current section 2 1 17 optional that must not be exceeded during the positioning movement If controller structure CURRENT SPEED section 3 2 4 7 is enabled this value must be transmitted as jerk is necessary The value must be set to 0 as signal INFO
43. values for reference movements with internal or ex ternal reference switches for velocity reference movements and manual referenc ing If after referencing the module is to be moved to position 0 0 section 3 2 3 6 the positioning command is executed with the acceleration specified here Data 4 bytes Configured in the preset unit system section 1 4 3 2 3 5 Offset Access rights Profi section 1 5 3 Description Position offset after successful referencing zero point adjust ment Data 4 bytes Configured in the preset unit system section 1 4 3 2 3 6 Move Zero After Referencing Access rights Profi section 1 5 3 Description After successful referencing the module is moved to position 0 0 The specified velocity section 3 2 3 3 and acceleration section 3 2 3 4 are adhered to Data Bool TRUE FALSE 3 2 3 7 Timeout Access rights Profi section 1 5 3 Description Maximum time for the reference movement Data Float s or ms depending on unit system section 1 4 3 2 4 Controller 3 2 4 1 KR Current Access rights Profi section 1 5 3 Description Proportional share of the current controller With current limit control section 3 2 4 7 this value indicates the proportional share for the 84 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software current limit control Data Float 3 2 4 2 TN Current Access rights Profi section 1 5 3 Description
44. works with Int32 4 bytes the byte sequences of negative numbers x e g 112 can be calculated easily as follows y 4294967296 dec x y 4294967296 112dec 4294967184 dec y 0100000000 ex 1 gt y 02100000000nc2 O270 pen 02 EE E FFF 90pex 1 3 2 Data frame The data frame of the motion protocol always contains the following elements e D Len 1 byte e Command Code 1 byte D Len Cmd Data Figure 1 1 Data frame D Len data length indicates the number of subsequent useful data items including the command byte The data frame consists of one byte so that a motion protocol message can consist of maximum 255 data bytes 6 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software The D Len byte is always followed by the command code consisting of one byte The command code is followed by the required parameters if any If necessary a super command is complemented with a sub command All commands are immediately acknowledged with a response acknowledge when they are received by the module This response also conforms to the above described data frame format D Len command code parameters After the request has been processed successfully D Len is always gt 0x02 or 0x01 If the request was not successful D Len is always 0x02 The following bytes indicate the cause of the unsuccessful request section 2 8 2 These modules also issue messag
45. 0 is adjustable with reference velocity section 3 2 3 3 For detailed information see CMD REFERENCE HAND section 2 1 2 116 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 4 4 5 Setup Wizard With this wizard you can adjust some important configuration data step by step and save them to the module finally The tool ist developed mainly to setup PSM and PDU modules installed at a linear axis 4 5 Tips 4 5 1 Supported languages Currently English German French and Russian are supported Changes in languages are implemented using the Settings Language menu The selected language applies after the application has been restarted 4 5 2 Driver Vector CAN If the application cannot find the required library file vcand32 dll then the following is to be noted e Either copy the above named DLL file from the Vector CAN Installation directory into the MCDemo Installation directory e or paste the directory where the DLL file is located into the PATH variable for Windows e or copy the DLL file into the Windows Systems directory Windows Installation system32 4 5 3 Driver Peak CAN If the application cannot find the required library file pcan usb dll then the following is to be noted e Either copy the above named DLL file from the CD supplied with the device into the MCDemo Installation directory e or paste the directory where the DLL file is located into the PATH vari
46. 0 ms 4 5 8 Open communications interface by starting MCDemo In the event of a permanently available communications interface it is recom mendable to have the most recently used interface open automatically when the application is started To accomplish this activate the Initialize last used communication option in the Preferences window 4 5 9 Data throughput with CAN The shortest time interval with the command GET STATE section 2 5 1 can be achieved with the CAN interface The shortest time interval of up to 1 3 ms is possible This means that the application can display signals arriving every 1 to 3 ms without causing an overflow of the internal message buffer 118 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 4 5 10 Configured modules under Profibus To view a list of the modules configured for Profibus one can call up the bus details in the main window in the View menu 4 5 11 Frequent timeouts with RS232 communications Because the RS232 interface is not a true bus data collisions may occur spo radically in the event that several modules are communicating simultaneously The application constantly attempts to handle these data collisions in order to ensure that communications continue running without interruption The probability that timeouts occur i e no answer from the module can be reduced if one e Reduces the time interval of the command GET STATE section 2 5 1 or swit
47. 00 Baud e Communication system reset to default communication system RS232 1 2 2 Booting After successful booting of the module a number of parameters for movements are already set to the start values This allows the operator to start module 3 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software operation without the need to first set all parameters The following parameters are automatically set during booting e TargetVel section 2 1 14 in of mazimum value section 3 2 1 10 gt 10 e TargetAcc section 2 1 15 in of mazimum value section 3 2 1 11 gt 10 e TargetJerk section 2 1 16 in of maximum value section 3 2 1 12 gt 50 TargetCurrent section 2 1 17 Nominal current section 3 2 1 9 e impulse messages section 2 2 6 activated e User is set to User The upper description does not apply for the SRV image processing sensor for which the specific user s manual is to be consulted The present document describes in conjunction with the SRV only the communication with the SCHUNK Motion Protocol via the serial RS232 connection see SRV image processing sensor section 2 6 1 3 Protocol 1 3 1 Data format Data is sent by the modules in Intel format little Endian and interpreted in this format upon reception If there is any uncertainty about the endi Ru anness when setti
48. 0780 0x0D80 OxCB81 0x1980 OxDF81 OxD581 0x1380 0x3180 OxF781 OxFD81 Ox3B80 OxE981 0x2F80 0x2580 0x0140 0xC741 OxCD41 0x0B40 OxD941 0x1F40 0x1540 0xD341 OxF141 0x3740 0x3D40 OxFB41 0x2940 OxEF41 OxE541 OxC301 0x0500 Ox0FOO OxC901 Ox1B00 OxDDO1 OxD701 0x1100 0x3300 OxF501 OxFFO1 0x3900 OxEBO1 0x2D00 0x2700 131 0x03C0 OxC5C1 OxCFC1 0x09C0 OxDBC1 Ox1DCO 0x17C0 OxD1C1 OxF3C1 0x35C0 Ox3FCO OxF9C1 Ox2BCO0 OxEDC1 OxE7C1 0x0280 0xC481 OxCE81 0x0880 OxDA81 0x1C80 0x1680 OxD081 OxF281 0x3480 Ox3E80 OxF881 Ox2A80 OxEC81 OxE681 0xC241 0x0440 Ox0E40 0xC841 Ox1A40 OxDC41 OxD641 0x1040 0x3240 OxF441 OxFE41 0x3840 OxEA41 0x2C40 0x2640 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 0x2200 OxE2C1 OxE381 0x2340 OxE101 0Ox21C0 0x2080 OxE041 OxA001 Ox60C0 0x6180 OxA141 0x6300 OxA3C1 OxA281 0x6240 0x6600 OxA6C1 OxA781 0x6740 OxA501 Ox65C0 0x6480 0xA441 Ox6C00 OxACC1 OxAD81 Ox6D40 OxAFO1 Ox6FCO Ox6E80 OxAE41 OxAAO1 Ox6ACO Ox6B80 OxAB41 0x6900 OxA9C1 OxA881 0x6840 0x7800 OxB8C1 OxB981 0x7940 OxBBO1 Ox7BCO Ox7A80 OxBA41 OxBEO1 Ox7ECO Ox7F80 OxBF41 0x7D00 OxBDC1 OxBC81 0x7C40 OxB401 0x74C0 0x7580 OxB541 0x7700 OxB7C1 OxB681 0x7640 0x7200 OxB2C1 OxB381 0x7340 OxB101 Ox71C0 0x7080 OxBO41 0x5000 Ox90C1
49. 0x 0x 0x M gt S 0x01 0x8B 0x 0x 0x ii 0x 0x S gt M 0x03 0x8B 0x4F 0x4B 0x 0x 0x20 0x03 0x 0x 0x 0x 0x 0x 0x 0x Impulse 0x03 0x8A 0x08 0x00 0x 0x 0x 0x20 0x03 Ox 0x 0x 0x 0x 0x 0x 6 1 3 5 CHECK MC PC COMMUNICATION Float Check communication from module to control with test data section 2 5 7 1 Request test data section 2 5 7 from module floating point value 1 2345 129 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 Test data is sent by module The MsgCount section 1 3 5 is incre mented by 1 D Len Cmd Data State MsgCount M gt S 0x03 OxE4 0x01 0x01 0x 0x 0x 0x S gt M 0x07 OxE4 0x19 0x04 0x9E OxBF 0x20 0x04 0x01 0x01 0x 0x 0x 0x 0x 0x 6 1 3 6 CHECK PC MC COMMUNICATION Check communication from control to module test data section 2 5 7 Frag mentation is required Fragmentation is not mandatory for the oper ation and or testing of the module 1 Send first fragment of test data to module 2 Wait for Best tigung section 2 7 1 Send second fragment of test data to module Wait for Best tigung section 2 7 1 Send third fragment of test data to module Wait for Best tigung section 2 7 1 Send last fragment of test data to module o NN O Oo A Q Module acknowledges receipt of
50. 0x 0x 0x 0x 0x 0x 0x 6 1 3 3 GET STATE 1 s Send every 1 s the actual position 1 2 Command Get State section 2 5 1 1 s only position Actual position and state position 1 011 mm moving no error The MsgCount section 1 3 5 is incremented by 1 Every second new message Actual position and state position 5 054 mm moving no error 128 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Data State MsgCount M gt S 0x07 0x95 0x00 0x00 0x80 0x3F 0x01 0x S gt M 0x08 0x95 0x36 0x89 0x81 0x3F 0x02 0x02 0x03 0x00 0x 0x 0x 0x 0x 0x S gt M 0x08 0x95 mo 0x02 0x03 S gt M 0x08 0x95 0x76 OxBE OxAl 0x40 0x02 0x03 0x02 0x00 0x Ox Ox Ox Ox Ox 6 1 3 4 Troubleshooting An ERROR MOTOR VOLTAGE LOW section 2 8 2 46 error has oc curred 1 Interpret and eliminate error extended diagnostics are supported Switch off power supply to motor gt switch on power supply 2 Acknowledge error with CMD ACK section 2 8 1 4 The MsgCount section 1 3 5 is incremented by 1 3 CMD ACK command confirmed The MsgCount section 1 3 5 is incremented by 1 4 Information message No other errors displayed D Len Cmd Data State MsgCount S gt M 0x02 0x88 0x74 0x 0x 0x 0x 0x30 0x02 Ox 0x 0x 0x
51. 0x9181 0x5140 0x9301 Ox53C0 0x5280 0x9241 0x9601 0Ox56C0 0x5780 0x9741 0x5500 Ox95C1 0x9481 0x5440 Ox9C01 Ox5CCO Ox5D80 Ox9D41 Ox5F00 Ox9FC1 Ox9E81 Ox5E40 Ox5A00 Ox9AC1 Ox9B81 Ox5B40 0x9901 Ox59C0 0x5880 0x9841 0x8801 0x48C0 0x4980 0x8941 0x4B00 Ox8BC1 0x8A81 0x4A40 Ox4E00 Ox8EC1 Ox8F81 0x4F40 Ox8DO1 Ox4DCO 0x4C80 0x8C41 0x4400 0x84C1 0x8581 0x4540 0x8701 0x47C0 0x4680 0x8641 0x8201 0x42C0 0x4380 0x8341 0x4100 0x81C1 0x8081 0x4040 return crc amp OxFFOO gt gt 8 A tbl crc Ox00FF A data amp Ox00FF D 132 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 6 3 Commands Hex Dec Name Parameter Page 0x80 128 GET CONFIG parameter section 2 3 2 0x81 129 SET CONFIG parameter section 2 3 1 0x84 132 FRAG START section 2 7 2 0x85 133 FRAG MIDDLE section 2 7 3 0x86 134 FRAG END section 2 7 4 0x87 135 FRAG ACK D Len section 2 7 1 0x88 136 CMD ERROR error code section 2 8 1 1 0x89 137 CMD WARNING error code section 2 8 1 2 Ox8A 138 CMD INFO error code section 2 2 1 0x8B 139 CMD ACK section 2 8 1 4 0x90 144 CMD EMERGENCY STOP section 2 1 20 0x91 145 CMD STOP section 2 1 19 0x92 146 CMD REFERENCE section 2 1 1 0x93 147 CMD MOVE BLOCKED c
52. 15 Initialize modules manually The option Do not initialize detected modules automatically in the preferences section 4 3 5 is used to disable auto initialize of detected modules No module window will be pop up automatically This option is useful when many modules are to forcefully initialize at the same time and therefore not all modules can be completely initialized 120 print date 8th March 2010 Chapter 5 Troubleshooting 5 1 Module 5 1 1 Connection description for the module As SCHUNK modules come with various connection configurations please refer to the data sheet supplied with your module 5 1 2 Module fails to reference from some positions The maximal allowed referencing current is not sufficient to move the module Try to raise the maz referencing current section 3 2 3 2 5 2 Protocol 5 2 1 Fragmentation not possible The complete module can be properly operated without the need for data frag mentation This applies to all communication interfaces that are supported by the system 5 3 RS232 5 3 1 Data collision occurred e Reduce the number of modules connected to the RS232 Bus e Disable impulse messages with CMD TOGGLE IMPULE MESSAGE sec tion 2 2 6 e Use RS232 Silent interface 121 Manual SCHUNK SCHUNK Motion Software 5 3 2 I encounter problems when connecting several mod ules RS232 is not designed for use as a bus system If you wish to operate several modu
53. 2 8 2 38 ERROR INITIALIZE 0xE0 Code 0xE0 Description The module could not be initialized properly Note Check configuration data section 3 2 2 8 2 39 ERROR INTERNAL 0xE1 Code 0xE1 Description An internal error occurred Note The firmware is in a non defined status This must be prevented If this problem occurs write down how this happened and contact the service department 2 8 2 40 ERROR HARD LOW 0xE2 Code 0xE2 Description Module has reached a hardware limit Note Acknowledge error CMD ACK section 2 8 1 4 If the module is equipped with a brake release it MOVE CUR section 2 1 11 with param eter 0 0 and move the module by hand away from the hardware limit If the module is not equipped with a brake move it by hand away from the hardware limit 73 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 41 ERROR HARD HIGH 0xE3 Code 0xE3 Description Module has reached a hardware limit Note Acknowledge error CMD ACK section 2 8 1 4 If the module is equipped with a brake release it MOVE CUR section 2 1 11 with param eter 0 0 and move the module by hand away from the hardware limit If the module is not equipped with a brake move it by hand away from the hardware limit 2 8 2 42 ERROR TEMP LOW 0x70 Code 0x70 Description The temperature is outside the permissible temperature range section 3 2 5 20 Note Warm up the module
54. 2 8 2 43 ERROR TEMP HIGH 0x71 Code 0x71 Description The temperature is outside the permissible temperature range section 3 2 5 20 Note Let the module cool down reduce the load 2 8 2 44 ERROR LOGIC LOW 0x72 Code 0x72 Description The logic voltage is too low Note Check logic voltage 2 8 2 45 ERROR LOGIC HIGH 0x73 Code 0x73 Description The logic voltage is too high Note Check logic voltage 2 8 2 46 ERROR MOTOR VOLTAGE LOW 0x74 Code 0x74 Description The motor voltage is too low Note Check motor voltage If this error reoccurs frequently the power supply unit of the motor voltage might be underdimensioned or the voltage supply cable to the module is not suitable 74 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 47 ERROR MOTOR VOLTAGE HIGH 0x75 Code 0x75 Description The motor voltage is too high Note Check motor voltage 2 8 2 48 ERROR CABLE BREAK 0x76 Code 0x76 Description The communication cable is defective Note This error is caused by a defective communication cable It is only displayed after the defective cable has been repaired or replaced If this error reoccurs frequently there might be a loose contact in the bus cable 8 2 8 2 49 ERROR MOTOR TEMP 0x78 Code 0x78 Beschreibung The temperature of the motor is outside the permissible tem perature range 8 Works currently only with Profibus Ex firmware V1 20 with CAN Bus an
55. 32 11 Serial Number 2 2 64 a a E TT al MOE oa oe aaa A A AE a 77 Disclose fame secdede aar a wd oe Dok UE he ee 77 Dee BI e Sek Wb ae ee Bek aaa BE eee te 78 Sol Pole PRES a ious e t ee Ath ee te oe 78 3 2 1 6 Ferrule Resistance 78 EA Tnduectante lt a cs ec a ee ee d 78 32 18 Maxs Zanen ke ke aA ha ee ee 79 32 19 Nom Current k eoe a g RA a aai t da 79 3 2 1 10 Max Velocity 2 044 2445 4 ada 80 3 2 1 11 Max Acceleration o rau 80 Al Max JEE 3 6 be a ee A Eer EE 80 3 2 1 13 Commutation Table s a pa iea aana 80 Oa Olbea Phase A o sec epr A NN Ee 80 3 2 1 15 Offset Phase B 2 lt A 81 S2 GER bo EE E EE e a ere eb 81 3 2 2 1 Serial Number s sasoe sssaaa a d 2 81 See Gear Rato loss clon AE a a Bee tas 81 ams Gear Rabo 2 sica Ge PS a es 81 Sle RoE o bs ie ow ely Ae OR Re Ee Re A 81 o TYPE as ee aw Bh he a Re wd Dee wae 81 3 2 3 2 Max Reference Current ER dto VER cad da 84 3 2 3 4 Acceleration 2 66 be coo 84 BS A 84 3 2 3 6 Move Zero After Referencing 84 A A e mana e e ae hee ta 84 3 24 Controller occiso A 84 324 1 KR Current esccicosvxo o 84 aoe TN CUBE e E a eee ee 85 Lis KR Speed sacche a AA a 85 gadd TN Speed EEN ENEE EE 85 e205 KR Poston iaa BR A ae 85 32 6 Delta Position 64444844 88465 es 85 S24 Orucu EE as ew 85 Bee BITS ee nao a a a A a O eas 86 325 1 Serial Number se ocioso 20 02 86 o Wm System ooe ea G EE E e So
56. 7 Min Position Access rights Profi section 1 5 3 Description Minimum permissible position software limit Is ignored if endless section 3 2 5 8 is set Used for referencing section 3 2 3 with stroke monitoring Data 4 bytes Configured in the preset unit system section 1 4 3 2 5 18 Max Position Access rights Profi section 1 5 3 Description Maximum permissible position software limit Is ignored if endless section 3 2 5 8 is set Used for referencing section 3 2 3 with stroke monitoring Data 4 bytes Configured in the preset unit system section 1 4 3 2 5 19 Tow Error Access rights Profi section 1 5 3 Description Towing error This value may not be exceeded during a posi tioning movement If the value is exceeded an error occurs ERROR TOW section 2 8 2 30 Data 4 bytes Configured in the preset unit system section 1 4 3 2 5 20 Min Temperature Access rights Advanced section 1 5 4 Description Minimum permissible working temperature If the tempera ture drops below this value an error occurs ERROR TEMP LOW section 2 8 2 42 Data Float C 3 2 5 21 Max Temperature Access rights Advanced section 1 5 4 Description Maximum permissible working temperature If this value is ex ceeded an error occurs ERROR TEMP HIGH section 2 8 2 43 Data Float C 3 2 6 Positioning 3 2 6 1 Serial Number Access rights Root sec
57. 8 2 9 INFO COMMUNICATION ERROR 0x09 Code 0x09 Description An error in the communication occured 2 8 2 10 INFO TIMEOUT 0x10 Code 0x10 Description A timeout occurred during communication Note The data could not be sent and more data is expected but has not been received within the allocated time 2 8 2 11 INFO WRONG BAUDRATE 0x16 Code 0x16 Description Wrong baud rate in the communication detected 2 8 2 12 INFO CHECKSUM 0x19 Code 0x19 Description The checksum is incorrect gt data is invalid 68 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 13 INFO MESSAGE LENGTH 0x1D Code 0x1D Description D Len does not match the received data 2 8 2 14 INFO WRONG PARAMETER 0x1E Code 0x1E Description One of the specified parameters is outside the permissible range Note If a parameter has been identified as incorrect the old parameter values are retained even if the other transmitted new parameters are valid 2 8 2 15 INFO PROGRAM END 0x1F Code 0x1F Description A processing program has been terminated 2 8 2 16 INFO TRIGGER 0x0040 Code 0x0040 Description The sensor was triggered image processing was initiated Note Only for SRV image processing sensor hi The code consists of 2 bytes gt D Len gt 2 gt if only the D Len Byte is queried then this message will not be interpreted as an error The rule D Len 2 gt error can thus
58. 82 0x1B M gt S 0x05 0x01 0x01 0x8B 0x10 OxFB S gt M 0x07 0x01 0x03 Ox8B 0x4F 0x4B 0x38 0x1 E Impulse 0x07 0x01 0x03 Ox8A 0x08 0x00 Ox1A 0x19 6 1 1 5 CHECK MC PC COMMUNICATION Float Check communication from module to control with test data 1 Request test data section 2 5 7 1 2345 2 Test data is sent by module from module floating point value ID D Len Cmd Data CRC16 M gt S 0x05 0x01 0x03 OxE4 0x01 0x01 OxBD 0xB6 S gt M 0x07 0x01 0x07 OxE4 0x19 0x04 0x9E OxBF 0x74 0x37 0x01 0x01 124 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 6 1 1 6 CHECK PC MC COMMUNICATION Check communication from module to control with test data 1 Send test data section 2 5 7 to module 2 Module acknowledges receipt of test data and identifies the data that has been interpreted incorrectly all data OK ID D Len Cmd Data CRC16 M gt S 0x05 0x01 0x15 OxE5 0x19 0x04 0x9E OxBF 0x89 0xD7 OxA4 0x70 0x3C 0x42 0x44 0x33 0x22 0x11 0xCC 0xDD OxEE OxFF 0x00 0x02 OxFE OxAF S gt M 0x07 0x01 0x04 OxE5 0x4F 0x4B 0x00 OxB6 OxFA 6 1 2 CAN 6 1 2 1 Referencing 1 Send referencing section 2 1 1 command 2 Have understood referencing command 3 After some time in position 5 792 mm ID DLC D Len Cmd Data M gt S 02501 0202 0x01 0x
59. 92 S gt M 02701 0x04 0x03 0x92 0x4F 0x4B Impulse 0x701 0206 0x05 0x93 0x21 0x56 0xB9 0x40 6 1 2 2 MOVE POS 10 mm Default positioning section 2 1 3 command 1 Send command for movement to position 10 mm 2 Message will reach position in 3 358 s Movement is started 3 After some time in position 9 9969 mm ID DLC D Len Cmd Data M gt S 02501 0206 0x05 OxBO 0x00 0x00 0x20 0x41 S gt M 0x701 0x06 0x05 OxBO OxEE OxEE 0x56 0x40 Impulse 02701 0x06 0x05 0x94 OxB6 OxF3 0x1F 0x41 125 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 6 1 2 3 GET STATE 1 s Send every 1 s the actual position 1 Command Get State section 2 5 1 1 s only position 2 Actual position and state position 1 011 mm moving no error 3 Every second new message 4 Actual position and state position 5 054 mm moving no error ID DLC D Len Cmd Data M gt S 0x501 0x07 0x06 0x95 0x00 0x00 0x80 0x3F 0x01 S gt M 02701 0x08 0x07 0x95 0x36 0x89 0x81 0x3F 0x02 0x00 S gt M 02701 0208 0x07 0x95 wi E EE S gt M 02701 0x08 0x05 0x94 0x76 OxBE OxA1 0x40 0x02 0x00 6 1 2 4 Troubleshooting An ERROR MOTOR VOLTAGE LOW section 2 8 2 46 error occurred 1 Interpret and eliminate error Power supply to motor switched off gt switch on power su
60. ATION ERROR section 2 8 2 9 0x10 16 INFO TIMEOUT section 2 8 2 10 0x16 22 INFO WRONG BAUDRATE section 2 8 2 11 0x19 25 INFO CHECKSUM section 2 8 2 12 0x1D 29 INFO MESSAGE LENGTH section 2 8 2 13 0x1E 30 INFO WRONG PARAMETER section 2 8 2 14 0x1F 31 INFO PROGRAM END section 2 8 2 15 0x0040 64 INFO TRIGGER section 2 8 2 16 0x0041 65 INFO READY section 2 8 2 17 0x0042 66 INFO GUI CONNECTED section 2 8 2 18 0x0043 67 INFO GUI DISCONNECTED section 2 8 2 19 136 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Hex Dec Name Page 0x70 112 ERROR TEMP LOW section 2 8 2 42 0x71 113 ERROR TEMP HIGH section 2 8 2 43 0x72 114 ERROR LOGIC LOW section 2 8 2 44 0x73 115 ERROR LOGIC HIGH section 2 8 2 45 0x74 116 ERROR MOTOR VOLTAGE LOW section 2 8 2 46 0x75 117 ERROR MOTOR VOLTAGE HIGH section 2 8 2 47 0x76 118 ERROR CABLE BREAK section 2 8 2 48 0x78 120 ERROR MOTOR TEMP section 2 8 2 49 0xC8 200 ERROR WRONG RAMP TYPE section 2 8 2 21 0xD2 210 ERROR CONFIG MEMORY section 2 8 2 22 0xD3 211 ERROR PROGRAM MEMORY section 2 8 2 23 0xD4 212 ERROR INVALIDE PHRASE section 2 8 2 24 OxD5 213 ERROR SOFT LOW section 2 8 2 25 OxD6 214 ERROR SOFT HIGH section 2 8 2 26
61. CMD ACK section 2 8 1 4 The 32 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software module is not ready for operation The motor is shut down Such error mes sages are sent at regular intervals from the module to the control system every 15 seconds e RS232 the first byte of the message is changed to 0x03 e CAN the first three bits of the identifier are changed to 0x3 e Profibus an extended diagnosis is generated Parameter master gt slave none Response slave gt master Error code section 2 8 2 Example D Len Cmd Param S gt M 0x02 0x88 OxDE An ERROR CUR RENT section 2 8 2 36 occurred Risk of injury Modules that are not equipped with a brake might drop as the mo tor is switched off by the emergency stop com mand 2 2 5 GET STATE 0x95 Code 0x95 Description Returns the module status and other information if requested The module can automatically update this status at regular intervals For de tails see GET STATE section 2 5 1 2 2 6 CMD TOGGLE IMPULSE MESSAGE 0xE7 Code 0xE7 Description This command is used to enable disable impulse messages Parameters master gt slave none Response slave gt master Acknowledge the command with ONT 0x4F 0x4E to enable impulse messages Acknowledge the command with OFF 0x4F 0x46 0x46 to disable impulse messages Example D Len Cmd Param M gt S 0x01 OxE7 S gt M 0x04 OxE7 Ox4F 0
62. E mechanism implemented in Profibus Addresses can be changed at any time with the Get Slave Address SAP 55 service Real No Add Change is stored in the group byte section 3 2 5 14 gespeichert A set Real No Add Change 0xFF can thus be deleted by recon figuring the group byte section 2 3 1 bw If consistent data transfer is not possible the module can be operated as follows 1 Use SYNC UNSYNC mechanism 2 Set D Len to 0 Fill up all data and set D Len when all data is added 10 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 3 6 Fragmentation E During normal operation messages do not need to be fragmented If messages need to be fragmented proceed as follows Frag first frame PAKI D Len 8 start Frag middle Data D Len 5 second frame PAE Frag Data D Len 2 end last frame PS Rap Figure 1 4 Fragmentation At the start of each message the length of the subsequent useful data is transmitted Subsequently a fragmentation code is sent This fragmentation code is not included in the length byte D Len e FragStart gt first fragment section 2 7 2 e FragMiddle gt middle fragment section 2 7 3 e FragEnd gt last fragment section 2 7 4 These individual fragments can thus be recombined to form a complete data frame section 1 3 2 which can be subsequently interpreted 1 3 6 1 Special requirements for Pro
63. Example D Len Cmd Param M gt S 0x01 OxDF Execute phrase 15 S gt M 0x04 OxDF Ox0F 0x00 OxBO Phrase 15 contains a MOVE POS command Note If program line 15 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 21 PRG GOTO 0xC3 Code 0xC3 Description Goes to phrase number Parameters master gt slave Phrase number Response slave gt master none Example Only useful in the context of programming Note Special command required in processing programs Nothing happen when this command is called up directly To program the modules we recom mend using the specially devised programming software section 4 50 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software 2 4 22 PRG WAIT 0xC4 Code 0xC4 Description Waits for the specified time in ms Parameters master gt slave Time ms Response slave gt master none Example Only useful in the context of programming Note Special command required in processing programs If the command is called directly the processor pauses for the specified period of time To program the modules we recommend using the specially devised programming software section 4
64. G_WAIT 2000 MOVE_POS 50 MILLIMETRE PRG_GOTO 1 Figure 4 12 Program editor 108 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 4 4 Module window module 6 70 useri 1 120nine TES File View Module State settings Current A D Velocity mm s 3 25 2 167 _ ani 333 1 083 4 oN 5 417 fy Y To S 0 672 14 843 Position mm 0 2 16 935 68 2 Referenced Reference Moving ii Zi Quit Error O Move End O Position Reached Stop O Warning O Error gt Emergency Stop NO_ERROR Movement Figure 4 13 Module window In the module window fig 4 13 all module relevant data can be viewed and managed From here users can send individual commands to the respective module The State tab shows the current module status The information is updated when a GET STATE section 2 5 1 is received If state request is disabled or if this com mand is not selected in the preferences sec tion 4 3 5 the information on the tab is not K updated However when communicating via Profibus the eight indicators on the left side A are updating with each incoming message from the module The window title is shown as Module lt module type gt lt user rights gt ID lt modul ID gt lt state active inactive gt If there was no reply to a sent com mand the state is changed from active to inactive Using the button
65. HUNK SCHUNK Motion Software 2 1 17 SET TARGET CUR 0xA3 Code 0xA3 Description The current parameter is now set Parameter master gt slave Current in the configured unit system sec tion 1 4 Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x05 0xA3 0xCD 0xCC 0x2C Will set current to 0x40 2 7 A S gt M 0x03 0xA3 Ox4F 0x4B Note After first successful configuration this value remains stored until the module is restarted or the value is changed Required for MOVE POS sec tion 2 1 3 MOVE POS TIME section 2 1 5 MOVE POS REL section 2 1 4 MOVE POS TIME REL section 2 1 6 MOVE POS LOOP sec tion 2 1 7 MOVE POS TIME LOOP section 2 1 8 MOVE POS REL LOOP section 2 1 9 MOVE POS TIME REL LOOP section 2 1 10 MOVE VEL section 2 1 12 Is only evaluated for movements if this is permitted by the controller structure Con troller structure section 3 2 4 7 CUR RENT SPEED does not permit an overlayed current controlling 2 1 18 SET TARGET TIME 0xA4 Code 0xA4 Description The time parameter for the next MOVE POS TIME section 2 1 5 command is now set Parameter master gt slave e Time in the configured unit system section 1 4 Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x05 OxA4 0x66 0x66 0x96
66. Movement is started 3 After some time in position 9 9969 mm ID D Len Cmd Data CRC16 M gt S 0x05 0x01 0x05 OxBO 0x00 0x00 0x20 0x41 0x48 0x80 S gt M 0x07 0x01 0x05 OxBO OxEE OxEE 0x56 0x40 0x7B 0xE4 Impulse 0x07 0x01 0x05 0x94 OxB6 0xF3 0x1F 0x41 0x7E 0xD5 123 Manual SCHUNK Motion Software SCHUNK 6 1 1 3 GET STATE 1 s Send every 1 s the actual position 1 Command Get State section 2 5 1 1 s only position 2 Actual position and state position 1 011 mm moving no error 3 Every second new message 4 Actual position and state position 5 054 mm moving no error ID D Len Cmd Data CRC16 M gt S 0x05 0x01 0x06 0x95 0x00 0x00 0x80 0x3F 0x01 0x54 0x41 S gt M 0x07 0x01 0x07 0x95 0x36 0x89 0x81 0x3F 0x02 0x00 OxF9 0xBC S gt M 0x07 0x01 0x07 0x95 DEE Es S gt M 0x07 0x01 0x07 0x95 0x76 OxBE OxA1 0x40 0x02 0x00 0x38 OxA0 6 1 1 4 Troubleshooting An ERROR MOTOR VOLTAGE LOW section 2 8 2 46 error occurred 1 Interpret and eliminate error Power supply to motor switched off gt switch on power supply 2 Acknowledge error with CMD ACK section 2 8 1 4 3 CMD ACK confirmed 4 Information message No other errors displayed ID D Len Cmd Data CRC16 every 15 s 0x03 0x01 0x02 0x88 0x74 0x
67. NICATION 0xE5 Code 0xE5 Description This command is used to test the communication from the control system to the module Parameters master gt slave e Data can be sent in one block in the following sequence Data type Value HEX Value DEC Float 0x19 0x04 0x9E OxBF 1 2345 Float OxA4 0x70 0x3C 0x42 47 11 Int32 0x11223344 287454020 Int32 OxXFFEEDDCC 1122868 Int16 0x0200 512 Int16 OxAFFE 20482 The data must be fragmented e In order to transfer individual data packets for testing purposes first trans fer the test data and then the code indicating the content of the text data Send floating point value 1 2345 0x19 0x04 0x9E OxBF with af fixed parameter code 0x0101 Send floating point value 47 11 0xA4 0x70 0x3C 0x42 with affixed parameter code 0x0202 Send Int32 value 0x11223344 287454020 with affixed parameter code 0x0303 Send Int32 value OxFFEEDDCC 1122868 with affixed parameter code 0x0404 Send Int16 value 0x0200 512 with affixed parameter code 0x0505 Send Int16 value 0xAFFE 20482 with affixed parameter code 0x0606 Response slave gt master If the respective test value has been in terpreted correctly the module responds with OK 0x4F4B When all test data is transmitted in one block the module responds with OK 0x4F4B and an affixed byte specifying in bit code the data that
68. OxD7 215 ERROR PRESSURE section 2 8 2 27 0xD8 216 ERROR SERVICE section 2 8 2 28 OxD9 217 ERROR EMERGENCY STOP section 2 8 2 29 DA 218 ERROR TOW section 2 8 2 30 OxDB 219 ERROR VPC3 section 2 8 2 33 OxDC 220 ERROR FRAGMENTATION section 2 8 2 34 OxDD 221 ERROR COMMUTATION section 2 8 2 35 OxDE 222 ERROR CURRENT section 2 8 2 36 OxDF 223 ERROR 12T section 2 8 2 37 OxEO 224 ERROR INITIALIZE section 2 8 2 38 0xE1 225 ERROR INTERNAL section 2 8 2 39 OxE2 226 ERROR HARD LOW section 2 8 2 40 OxE3 227 ERROR HARD HIGH section 2 8 2 41 OxE4 228 ERROR TOO FAST section 2 8 2 31 OxEC 236 ERROR MATH section 2 8 2 32 137 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 6 5 Tested hardware Bus system Type Auto detect Remark RS232 PC Intern Yes if real RS232 RS232 USB RS232 converter Yes No depends on manu facture of PC and converter CAN Vector Informatik CAN Yes CardXL PCMCIA CAN Vector Informatik other not verified CAN interface cards CAN esd CAN USB mini Yes CAN esd other CAN interface not verified cards CAN Peak P CAN USB Yes CAN IXXAT CAN iPC Yes 320 PCI VCI driver version 3 CAN IXXAT other CAN cards not verified CAN Softing CAN ACx PCI Yes CAN Softing other CAN cards not verified Profibus Hilscher PCMCIA CIF 60 Yes
69. Read currently set maximum velocity sec tion 2 3 2 Read Max Acceleration Read currently set maximum accelera tion section 2 3 2 Read Max Jerk Read currently set maximum jerk section 2 3 2 Read Offset Phase A Read currently set offset phase A section 2 3 2 Read Offset Phase B Read currently set offset phase B section 23 2 Read Reference Offset Read currently set reference offset sec tion 2 3 2 Read Serial Number Read currently set serial number section 2 3 2 Read Data CRC Read actual CRC of the configuration data section 2 3 2 Read Order Number Read the order number of the module sec tion 2 3 2 EEPROM Write Write EEPROM Write configuration data section 2 3 1 Only the data released for the respective user section 1 5 iswritten Write ID Edit module ID section 2 3 1 Only takes effect after restart Write Group Edit group ID section 2 3 1 Only takes effect after restart Write Communication Mode Change communication interface section 2 3 1 Only takes effect after restart Write Unit System Change unit system section 2 3 1 Only takes effect after restart Write RS232 Baud Rate Change RS232 baud rate section 2 3 1 Only takes effect after restart Write CAN Baud Rate Change CAN baud rate section 2 3 1 Only takes effect after restart 115 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Reference Trigg
70. S 0x01 0xDO Execute phrase 0 S gt M 0x04 0xDO 0x00 0x00 0xBO Phrase 0 contains a MOVE POS com mand Note If program line 0 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 6 EXE PHRASE1 0xD1 Code 0xD1 Description Special command of size 1 byte designed to call up phrase 1 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example 43 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x01 0xD1 Execute phrase 1 S gt M 0x04 0xD1 0x01 0x00 0xBO Phrase 1 contains a MOVE POS com mand Note If program line 1 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 7 EXE PHRASE2 0xD2 Code 0xD2 Description Special command of size 1 byte designed to call up phrase 2 Parameters master gt slave none Response slave gt ma
71. SCHUNK SCHUNK Motion Software At most 8 data bytes can be sent with a CAN message Under certain cir cumstances it might be necessary to combine several CAN messages in a longer data frame D Len gt 7 This can be done with the fragmentation protocol section 1 3 6 Fragmentation is normally not necessary as all commands required for the proper operation N of the modules can be encoded in single CAN messages 1 3 5 Special requirements with Profibus The following must be observed with Profibus PDVO The maximum length of a data packet transferred from the master to a module is 8 bytes This is sufficient for the proper control of the module maximum 7 bytes are required for a message from the master to the module MSG Cmd Data State count Bit O 7 Bit 8 15 Bit 16 110 Bit111 119 Bit 120 127 output data only always byte 14 15 Figure 1 3 Profibus data frame The maximum length of the data packet sent from the module to the master reply is limited to 16 bytes GSD file To send receive larger data packets you might need to use fragmentation section 1 3 6 With 16 bytes the longest message from the module to the master occurring during normal operation 14 bytes can be catered for The remaining 2 bytes that are always found at the end of the Profibus message bytes 14 and 15 indicate 1 the current state section 2 5 1 of the module byte 14 and 2 command counter MsgCoun
72. SCHUNK Motion SCHUNK 8th March 2010 Manual SCHUNK Motion Software SCHUNK Version Date Comment 1 00 03 09 2007 Created 1 01 29 10 2007 Revised 1 15 23 01 2008 Added description SRV 1 16 31 01 2008 Adapted to firmware V1 10 1 17 11 02 2008 Corrected specification of SRV 1 18 18 03 2008 Typos corrected 1 20 18 06 2008 Adapted to firmware V1 20 1 22 29 07 2008 Adapted to firmware V1 22 1 23 05 08 2008 Corrected description of MD SE parameters 1 24 02 09 2008 Revised 1 25 08 10 2008 Adapted to firmware V1 23 1 26 19 11 2008 Adapted to firmware V1 24 1 30 08 05 2009 Adapted to firmware V1 30 1 40 10 12 2009 Adapted to firmware V1 40 1 41 08 03 2010 Adapted to firmware V1 41 i print date 8th March 2010 Contents 1 General Kl 1 2 1 3 1 4 1 5 1 6 1 7 1 Electrical connection oc noemi ea 1 TACEALDES 2 a o ds a a ra a 2 12 1 Factory Settings ooo a ee a 3 122 Boome EE EE hoa a aoe oe EE 3 Protool it ek bee a oe E er Oe Bare eed 4 LS E ce pk we ek Ee Gee a E 4 1 3 1 1 Floating point values 5 13 12 Two s complement a raoa as 88205804 5 LS Deta tame 4 446 44582 eae a 6 1 33 Special requirements with RS232 7 1 3 4 Special requirements with CAN 8 1 3 5 Special requirements with Profibus 9 13 6 Fragmentation as pay cocos 11 1 3 6 1 Specia
73. SCHUNK Motion Software 2 4 11 EXE PHRASE6 0xD6 Code 0xD6 Description Special command of size 1 byte designed to call up phrase 6 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 OxD6 Execute phrase 6 S gt M 0x04 0xD6 0x06 0x00 0xB0 Phrase 6 contains a MOVE POS com mand Note If program line 6 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 12 EXE PHRASE7 0xD7 Code 0xD7 Description Special command of size 1 byte designed to call up phrase 7 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD7 Execute phrase 7 S gt M 0x04 0xD7 0x07 0x00 0xB0 Phrase 7 contains a MOVE POS com mand Note If program line 7 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O s
74. Software CAN Baud Rate 0x04 data 2 bytes The CAN baud rate can be modified Valid values 50 100 125 250 500 800 1000 The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted Communication Mode 0x05 data 1 byte The communication interface is configured Valid values AUTO 0x00 RS232 0x01 CAN 0x02 Profibus DPVO 0x03 RS232 Silent 0x04 The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted Unit System 0x06 data 1 byte The unit system is changed Valid values mm 0x00 m 0x01 Inch 0x02 rad 0x03 Degree 0x04 Intern 0x05 um In teger 0x06 uDegree Integer 0x07 uInch Integer 0x08 Milli degree Integer 0x09 The new settings are immediately stored in the EEPROM but are only applied after the module has been restarted Soft High 0x07 data 4 bytes The high software limit is changed temporarily observe unit system sec tion 1 4 The transferred value is not written to the EEPROM The settings are applied immediately This function is only accessible on Profi user section 1 5 3 Soft Low 0x08 data 4 bytes The low software limit is changed temporarily observe unit system sec tion 1 4 The transferred value is not written to the EEPROM The settings are applied immediately This function is only accessible on
75. U it might occur in situations where the size of the dynamically generated table used to 66 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software record and optimize internal brake points exceeds the size of the available RAM memory 2 8 2 3 INFO NO RIGHTS 0x03 Code 0x03 Description The user does not have the user rights necessary to execute the chosen command Note The diagnostic interface does not allow access to movement data Such commands must be sent through the main interface 2 8 2 4 INFO UNKNOWN COMMAND 0x04 Code 0x04 Description The sent command is unknown Note Check the command code for errors Ensure that you have logged on with the correct user details Certain commands are not known to all users 2 8 2 5 INFO FAILED 0x05 Code 0x05 Description The command failed Note All parameters are correct but the command could nevertheless not be executed This might for example be the case if the module is in emergency stop mode With MOVE POS TIME section 2 1 5 MOVE POS TIME REL section 2 1 6 MOVE POS TIME LOOP section 2 1 8 and MOVE POS TIME REL LOOP section 2 1 10 this message is issued if the parameters are correct but the positions can not be reached with the specified values in the specified time The info message is shown too when executing any loop mooving command MOVE POS LOOP section 2 1 7 MOVE POS TIME LOOP section 2
76. UNK Motion Software The shown value can be interpreted by the SCHUNK Service Parameters master gt slave none Response slave gt master Command 1 byte error code 1 byte data float Example D Len Cmd Param M gt S 0x01 0x96 S gt M 0x07 0x96 0x88 OxD9 0x00 0x00 0x00 0x00 Note If no error is active or no detailed information is available the command is replied with INFO FAILED section 2 8 2 5 2 8 2 Error codes 2 8 2 1 INFO BOOT 0x0001 Code 0x0001 Description The module has been successfully booted Information message section 2 2 1 Note Is triggered upon a complete failure of the logic voltage after a reboot section 2 5 2 or after a restart initiated by the internal WatchDog If this message appears frequently during operation the logic voltage supply should be checked Ensure that the performance driver is working properly o In this case the code consists of 2 bytes gt D Len gt 2 gt if only the D Len byte is queried the message is not interpreted as an error message The rule of D Len 2 gt can thus always be adhered to If the RS232 Silent section 3 2 5 3 interface is selected this message is suppressed 2 8 2 2 INFO NO FREE SPACE 0x02 Code 0x02 Description There is insufficient storage space Note This error might occur during the programming of internal processing programs in cases where the EEPROM memory is used With the SR
77. WRONG PA RAMETER section 2 8 2 14 occurs otherwise Jerk optional used for the positioning movement If a motion profile other than JERK section 3 2 5 6 is to be used this value cannot be transmitted INFO WRONG PARAMETER section 2 8 2 14 21 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Response slave gt master If possible the time required for the module to complete the movement is returned If the time cannot be calculated e g with motion profile No Ramp section 3 2 5 6 the successful request is ac knowledged with OK 0x4F4B Module executes command Example D Len Cmd Param M gt S 0x05 0xB8 0x00 0x00 0x20 Move a distance of 0x41 10 0 mm S gt M 0x05 0xB8 SCD 0xCC 0x04 Target position will 0x41 be reached in 8 3 sec Note Impulse response is generated when position CMD POS REACHED section 2 2 3 is reached or if positioning movement MOVE ZERO AFTER REFERENCING section 3 2 3 6 is aborted before this position is reached All parameters must be transmitted in the sequence shown here If only the current is preset the velocity and the acceleration must be specified Subse quent parameters do not need to be transmitted All parameters remain stored until they are modified or the system is restarted If new positioning parameters are entered dur Lo ing a movement the motion might be tem porarily halted If you wish to enter new po
78. Will set time to 4 7 0x40 s S gt M 0x03 OxA4 0x4F 0x4B Note Is applied for the next command MOVE POS TIME section 2 1 5 MOVE POS TIME REL section 2 1 6 MOVE POS TIME LOOP section 2 1 8 or MOVE POS TIME REL LOOP section 2 1 10 29 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 1 19 CMD STOP 0x91 Code 0x91 Description The module is slowed down and held in the current position For modules with configured brake section 3 2 7 3 this brake is applied Otherwise the module is actively controlled Parameter master gt slave none Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x01 0x91 S gt M 0x03 0x91 0x4F 0x4B Note The command might trigger the impulse message CMD MOVE BLOCKED section 2 2 2 2 1 20 CMD EMERGENCY STOP 0x90 Code 0x90 Description The module is stopped as quickly as possible If it is equipped with a brake that is configured section 3 2 7 3 accordingly this brake is ap plied immediately and the phases of the motor are short circuited The current supply to the motor is interrupted Parameter master gt slave none Example D Len Cmd Param M gt S 0x01 0x90 S gt M 0x02 0x88 0xD9 CMD ERROR ERROR EMER GENCY STOP Response slave gt master The ERROR EMERGENCY STOP section 2 8 2 29 error message is triggered Note Can be reset with CMD ACK section 2
79. able for Windows e or copy the DLL file into the Windows Systems directory Windows Installation system32 4 5 4 Driver Softing CAN If the application cannot find the required library file canL2 dll then the following is to be noted e Either copy the above named DLL file from the CD supplied with the device into the MCDemo Installation directory 117 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e or paste the directory where the DLL file is located into the PATH variable for Windows e or copy the DLL file into the Windows Systems directory Windows Installation system32 4 5 5 Interface ESD CAN The board switches into Bus Off status and remains there for a certain time if it has searched through the interface for active modules without having switched on at least one module while doing so e Switch on at least one module which is ready for the CAN communications e Wait a few seconds e If no module has reported then search through the bus 4 5 6 Interface Siemens Profibus Communications via Profibus boards made by Siemens is relatively slow in MCDemo If MCDemo finds no SMP modules on the bus even though some do exist then it needs to be restarted 4 5 7 Automatically display the module status In the Preferences window activate the option Request on initialize and set the option Default polling rate to a positive number default setting ca 100
80. ameter master gt slave e Acceleration in the configured unit system section 1 4 Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x05 OxAl x33 0x33 0x43 0x41 Will set accelera tion to 12 2 F S gt M 0x03 Al 0x4F 0x4B Note After first successful configuration this value remains stored until the module is restarted or the value is changed Required for MOVE POS section 2 1 3 MOVE POS TIME section 2 1 5 MOVE POS REL section 2 1 4 MOVE POS TIME REL section 2 1 6 MOVE POS LOOP section 2 1 7 MOVE POS TIME LOOP section 2 1 8 MOVE POS REL LOOP section 2 1 9 MOVE POS TIME REL LOOP section 2 1 10 2 1 16 SET TARGET JERK 0xA2 Code 0xA2 Description The jerk parameter is now set Parameter master gt slave Jerk in the configured unit system section 1 4 Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x05 OxA2 0x00 0x00 Ox7A Will set jerk to 0x44 1000 0 E S gt M 0x03 OxA2 0x4F 0x4B Note After first successful configuration this value remains stored until the module is restarted or the value is changed Required for MOVE POS section 2 1 3 MOVE POS REL section 2 1 4 MOVE POS LOOP section 2 1 7 MOVE POS REL LOOP section 2 1 9 motion profile Jerk section 3 2 5 0 28 print date 8th March 2010 Manual SC
81. aster None Note Only for SRV image processing sensor 2 6 3 CAMAT RES MEASUREMENT BLOCK 0xFA Code 0xFA Description Spontaneous message from the SRV image processing sensor for transmitting the results of the image processing Response slave gt master The answer contains a fixed part and a variable part which is dependent on the function type in the activated program of the SRV In the fixed part the following 4 parameters are transmitted as 2 byte integer number 16 bit Intel format Low Byte High Byte e Program ID is the SPS ID of the activated program e Function ID is the ID of the active function 1 Oxff Oxff with program result e Function type The type of the function from the SRV functionality e Result Good 0 bad 1 This is followed by the variable part depending on the function type De pending on the units system set the transmitted values are transmitted either as 4 byte integer number 32 bit Intel format lowestvalue Byte first or as 4 bytesFloat floating point numbers with simple precision 32 Bit TEEE 754 format 61 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e Pattern search Tracking Match Milli percentage Integer or percentage Float Position X Micrometer Integer or millimeter Float Position Y Micrometer Integer or millimeter Float Rotation Micro degrees Integer or Milli degrees Float e Area test Area
82. byte designed to call up phrase 4 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD4 Execute phrase 4 S gt M 0x04 0xD4 0x04 0x00 0xBO Phrase 4 contains a MOVE POS com mand Note If program line 4 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 10 EXE PHRASES 0xD5 Code 0xD5 Description Special command of size 1 byte designed to call up phrase 5 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD5 Execute phrase 5 S gt M 0x04 0xD5 0x05 0x00 0xB0 Phrase 5 contains a MOVE POS com mand Note If program line 5 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 45 print date 8th March 2010 Manual SCHUNK
83. ches it off when status information is not used e or and increases the baud rate of the RS232 interface e or and increases slightly the communications timeout under Preferences in the main window e or and initializes or simultaneously triggers fewer modules if at all possi ble 4 5 12 Modifying individual EEPROM parameters If only individual EEPROM parameters such as the Module ID or the commu nications interface are to be modified then the execution of the corresponding SET CONFIG section 2 3 1 commands is to be recommended These can be found in the module window under the Module EEPROM Write Write menu 4 5 13 Do not maximize the main window The main window should not be maximized because this would mean that module windows that have already been initialized will remain hidden A hidden module window can however be found again with the corresponding menu item View Module wieder finden 4 5 14 Communication mode Auto Some notices for the communication mode Auto of the module e After start the module will send messages not until an active communi cation is detected e Possibly communication via Profibus will be instantly detected as active when the Profibus Host is active 119 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software e There should be the only physical communication interface connected else the module will possibly select a wrong interface 4 5
84. could not be correctly interpreted bit is set to 1 e Bit 1 first floating point value 1 2345 not recognized e Bit 2 second floating point value 47 11 not recognized e Bit 3 first Int32 value 0x11223344 not recognized e Bit 4 second Int32 value OxFFEEDDCC not recognized 58 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e Bit 5 first Int16 value 512 not recognized e Bit 6 second Int16 value OxAFFE not recognized Example See examples section 6 1 Note This command is used to check the integrated drivers This command is not required for normal operation It is possible to test the data exchange from the control system to the module using individually defined values or pre defined data packets that require fragmentation d The code parameter is attached at the end of the response to ensure that the test data is sent to the position at which the real data is stored 2 6 SRV image processing sensor The SRV image processing sensor can receive commands in Motion Protocol format via its serial RS 232 interface On the one hand only a limited selection of Motion Protocol commands are available while on the other hand a small number of commands are available exclusively for the SRV The SRV understand the following Standard commands e CHECK PC MC COMMUNICATION section 2 5 8 e CHECK MC PC COMMUNICATION section 2 5 7 e GET CONFIG section 2
85. ction 1 5 certain data might not be written After successful writing of the data the module is rebooted 34 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software With one s own applications this command should not be used as the structure of the data to be sent is not known The module must be stopped and the con Y troller must be inactive For example execute an emergency stop section 2 1 20 before In such a case the fragmentation proto P s col section 1 8 6 must be used not with RS232 Module ID 0x01 data 1 byte The module ID is changed Valid values 1 255 The new settings are im mediately stored in the EEPROM but are only applied after the module has been restarted pe d Profibus supports Set Slave Address SAP l l 55 Group ID 0x02 data 1 byte Die Gruppe des Moduls wird ge ndert G ltige Werte 0 255 Die neuen Einstellungen werden sofort im EEPROM gespeichert aber erst nach einem Neustart aktiviert With Profibus the Real No Add Change is BR Re stored here Groups are fully supported with the SYNC FREEZE mechanism RS232 Baud Rate 0x03 data 2 bytes The RS232 baud rate can be modified Valid values 1200 2400 4800 9600 19200 38400 The new settings are immediately stored in the EEP ROM but are only applied after the module has been restarted 35 print date 8th March 2010 Manual SCHUNK SCHUNK Motion
86. d In the case of I T monitoring it is assumed that the maximum current is permitted to be present for 3 sec corresponds to 100 If a value lt 100 has been entered then the time will be extended accordingly Values greater than 100 shorten the time accordingly 12T switches off when the value is 0 Data UInt8 gt 0 255 3 2 1 5 Pole Pairs Access rights Root section 1 5 5 Description Electrical poles of the motor Only required for brushless DC motors This parameter affects the calculated velocities positions and commu tation patterns Data UInt16 gt 0 65535 3 2 1 6 Ferrule Resistance Access rights Root section 1 5 5 Description Connection resistance for test functions required for the limita tion of the maximum permissible currents and for automatic controller config uration Data Float Ohm Incorrect parameter values can cause irrepara ble damage to the module 3 2 1 7 Inductance Access rights Root section 1 5 5 Description The inductance is required for the automatic controller configu 78 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software ration Data Float mH Incorrect parameter values can cause irrepara ble damage to the module 3 2 1 8 Max Current Access rights Advanced section 1 5 4 Description Maximum permissible current of the motor If this current value is exceeded for a prolonged period of time ms an emergency stop
87. d Profibus 75 print date 8th March 2010 Chapter 3 Configuration data 3 1 General All configuration data to be permanently stored must be written to an internal EEPROM 3 2 EEPROM The access to the respective elements is controlled with the firmware of the modules A number of different user access levels that are password protected have been set up The user level can be changed with the CHANGE USER section 2 5 6 command The following users are known to the module 1 User Standard user Is automatically activated when the module is switched on The module can be operated without limitations while parameteriation is heavily restricted 2 Diag A secound communication Interface is opend RS232 Bluetooth CAN and useable for diagnosis You can not send any moving commands 3 Profi Profi users can modify all important parameters Incorrect parameteriza tion can cause unexpected machine behavior The module can however not be permanently damaged by incorrect parameter settings 4 Advanced Advanced users can modify all important parameters Incorrect parame terization can cause irreparable damage to the module 76 Manual SCHUNK SCHUNK Motion Software 5 Root Root users have access to all parameters Incorrect parameterization can cause irreparable damage to the module 3 2 1 Motor 3 2 1 1 Serial Number Zugriffsrechte Root section 1 5 5 Description Serial number of the built in motor UI
88. d off can only be activated by switching the logic voltage off and on again 2 5 6 CHANGE USER 0xE3 Code 0xE3 Description The current user of the module is changed Parameters master gt slave e none User User section 1 5 1 is set e Password for the respective user Response slave gt master The command is always acknowledged with OK 0x4F4B A byte indicating the current user is attached 0 User 1 Diag 2 Profi 3 Advanced Example D Len Cmd Param M gt S 0x01 0xE3 lt password gt S gt M 0x04 0xE3 0x4F 0x4B 0x00 User User acti vated Note If an incorrect password is entered User is set After a restart of the module User is activated 2 5 7 CHECK MC PC COMMUNICATION 0xE4 Code 0xE4 Description The communication from the module to the control can be tested Predefined data is sent from the module to the control system The data can be requested individually or in its entirety If individual data is requested there is no need for fragmentation Parameters master gt slave e keine All test data is sent in one block and fragmentation is required 56 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software TEST FLOAT 1 0x0101 The floating point value 1 2345 0x19 0x04 0x9E OxBF is sent with affixed parameter code 0x0101 TEST FLOAT 2 0x0202 The floating point value 47 11 0xA4 0x70 0x3C 0x42 is sent with affixe
89. d parameter code 0x0202 TEST INT32 1 0x0303 The Int32 value 0x11223344 287454020 is sent with affixed parameter code 0x0303 TEST INT32 2 0x0404 The Int32 value 0xFFEEDDCC 1122868 is sent with affixed param eter code 0x0404 TEST INT16 1 0x0505 The Int16 value 0x0200 512 is sent with affixed parameter code 0x0505 TEST INT16 2 0x0606 The Int16 value OxAFFE 20482 is sent with affixed parameter code 0x0606 Response slave gt master If no parameter is transferred the following values must be received by the control system in the sequence indicated here Data type Value HEX Value DEC Float 0x19 0x04 0x9E OxBF 1 2345 Float OxA4 0x70 0x3C 0x42 47 11 Int32 0x11223344 287454020 Int32 OxXFFEEDDCC 1122868 Int16 0x0200 512 Int16 OxAFFE 20482 With the respective parameters only one of the values is transmitted Example Siehe See examples section 6 1 Note This command is used to check the integrated drivers This command is not required for normal operation The data exchange from the module to the control system including fragmentation can be tested with predefined values The code parameter is attached at the end of the response to ensure that the test data is sent to the position at which the real data is stored 57 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 5 8 CHECK PC MC COMMU
90. d through a suitable communication system to the PC The following communication interfaces are currently supported by the software e RS232 CAN CAN CAN CAN CAN cards from VECTOR Informatik cards from esd electronic system design gmbh USB CAN converter PCAN USB from PEAK System Technik GmbH cards from IXXAT Automation GmbH VCI driver version 3 cards from Softing 101 Manual SCHUNK SCHUNK Motion Software e Profibus DPVO cards from Hilscher GmbH e Profibus DPVO Siemens AG CP56xx The respective card must be first installed Follow the instructions of the man ufacturers For more details look in the appendix section 6 5 oven communication A Type R5232 Generic y Cancel Device com y Baud rate en y Figure 4 1 Selection of communication interface After the selection fig 4 1 of the communication interface is completed Za it is opened automatically The bus search g automatically detects all connected and switched on modules If the option Do not initialize detected modules automatically in the preferences section 4 3 5 is checked the module D initialization works manually only Apart from the Main window fig 4 2 a separate module window fig 4 3 is available for each module allowing for the testing of all module functions Press F1 to access the help system for additional assistance 4 3 Main window In the main window fig 4 2 you
91. duc tors With separate power supply lines to the logic control and the motor the control can switch off the power to the motor by means of a relay while the module remains activated through the bus system The motor must be supplied through a power supply unit which provides the current required by the respective module All cables must have the neces sary cross section The voltage drop along the cable can be calculated with the following formula AU reg where I Current consumption of motor l Length of line y Electrical conductivity Cu y 56 3 Qx mm2 Manual SCHUNK SCHUNK Motion Software Al y 355 5 Qx mm 2 A Conductor cross section The upper description does not apply for the SRV image processing sensor for which the specific user s manual is to be consulted The present document describes in conjunction i i with the SRV only the communication with the SCHUNK Motion Protocol via the serial RS232 connection see SRV image processing sensor section 2 6 1 2 Indicators All modules are equipped with 3 LED indicators In some models these indicators are not led to the outside of the housing and are thus only visible when the module is opened The green LED POW LED indicates the motor voltage status Tf the LED is not on or only flickers faintly check the motor supply voltage 24 48 V DC The two other LEDs green and red indicate the status o
92. dule moves from the first reached stop to the fixed stop at the opposite side The traveled distance must be greater than the difference between the software limits section 3 2 5 17 gt referencing successful This referencing method is only recommended for systems with a fixed stop Current Left 0x08 Right 0x09 A current movement is completed The current is increased until the mod ule is set in motion If the current exceeds the maximal referencing current section 3 2 3 2 the system assumes that a fixed stop has been reached This is the reference point This referencing method is only recommended for systems with a fixed stop 82 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Jamming stiffness of mechanical parts or workpieces that are left in the path can also cause the current to exceed the rated current level In such cases the machine assumes that a fixed stop has been reached even if no such stop is installed Current Distance Left 0x0A Right 0x0B In addition to the above referencing procedure the module moves from the first reached stop to the fixed stop at the opposite side The traveled distance must be greater than the difference between the software limits section 3 2 5 17 gt referencing successful This referencing method is only recommended for systems with a fixed stop None 0x0C After the CMD REFERENCE section 2 1 1 command is sent the cur
93. e based on the configured motor voltage and the brake type Data UInt16 0 65535 Incorrect configuration might result in a brake failure 3 2 7 3 Brake Usage Access rights Profi section 1 5 3 Description Brake usage e No Use 0x00 The brake is not used It is only applied in the event of a power failure After the module is started it is automatically released e Error Only 0x01 Brake is only applied after an error occurred Otherwise the drive is controlled continuously without braking 97 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software e Normal 0x02 Brake is automatically applied in the event of a malfunction and at the end of the movement If a brake is configured the pseudo absolute value transmitter section 1 6 is possibly active when other requirements are fulfilled Data UInt16 0 65535 3 2 7 4 Timeout Access rights Profi section 1 5 3 Description Time required for the brake to generate and release the magnetic field indicated in s or ms depending on the unit system section 1 4 Data Float 3 2 8 SRU The following settings must only be made with an SRU and can also only be achieved with an SRU 3 2 8 1 Type Access rights Root section 1 5 5 Description Double or single pressurize Data Bool TRUE FALSE 3 2 8 2 Service Notification Access rights Profi section 1 5 3 Description Activate deactivate the service notification Data B
94. e device order number is returned 4 bytes 39 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Response slave gt master Parameter ID required to determine the data that can be requested followed by the requested data Example 1 D Len Cmd Param M gt S 0x02 0x80 0x06 S gt M 0x03 0x80 0x06 0x00 Example 2 D Len Cmd Param M gt S 0x01 0x80 S gt M 0x28 0x80 0x50 0x52 0x2D 0x37 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x79 0x00 0x03 0x00 0x12 0x02 0x31 0x31 0x3A 0x32 0x32 0x3A Read unit system Unit system is mm Read module info Modul type PR 70 order number 0 firmware version 1 21 protocol version 3 hardware version 5 30 0x32 0x37 0x20 0x20 0x4A firmware created at 0x75 0x6C 0x20 0x20 0x33 11 22 27 Jul 3 2008 0x20 0x32 0x30 0x30 0x38 Note To read configuration data quickly use the supplied software tool section 4 If you wish to read all parameters in one single process you must first halt the module 2 4 Commands for internal programming The modules can be operated based on internal process programs instead of external control section 3 2 5 7 The system also caters for the running of pre viously stored programs that are transferred through digital inputs and outputs so that the module is solely controlled through these digital inputs and outputs To do this the inputs section 3 2 5 9 and outputs section 3 2 5 10 must be configured accordingly I
95. ection 3 2 5 10 s for operation of the module are used 2 4 13 EXE PHRASES 0xD8 Code 0xD8 Description Special command of size 1 byte designed to call up phrase 8 Parameters master gt slave none 46 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD8 Execute phrase 8 S gt M 0x04 0xD8 0x08 0x00 0xB0 Phrase 8 contains a MOVE POS com mand Note If program line 8 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 14 EXE PHRASES 0xD9 Code 0xD9 Description Special command of size 1 byte designed to call up phrase 9 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 OxD9 Execute phrase 9 S gt M 0x04 0xD9 0x09 0x00 OxB0 Phrase 9 contains a MOVE POS com mand Note If program line 9 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is g
96. ed but persists User inter vention is required After the cause of the error is eliminated it is automatically acknowledged Such error messages are sent at regular intervals from the mod ule to the control system every 30 seconds See error codes section 6 4 e RS232 the first byte of the message is changed to 0x03 e CAN the first three bits of the identifier are changed to 3 e Profibus an extended diagnosis is generated Note A warning is issued when the software limits are exceeded In this case an emergency stop is triggered and must be acknowledged Subsequently the module is ready for operation with certain restrictions movement away from the software limit range is possible As soon as the module is moved away from the software limit range the warning is automatically deactivated 2 8 1 3 CMD INFO 0x8A See CMD INFO section 2 2 1 2 8 1 4 CMD ACK 0x8B Code 0x8B Description Acknowledgement of a pending error message Parameters master gt slave none Response slave gt master OK 0x4F4B Example D Len Cmd Param M gt S 0x01 0x8B S gt M 0x03 0x8B 0x4F 0x4B Note If all errors could be acknowledged OK 0x4F4B is sent followed by the INFO NO ERROR section 2 8 2 8 information message 2 8 1 5 GET DETAILED ERROR INFO 0x96 Code 0x96 Description Read detailed information about the active error on the module 65 print date 8th March 2010 Manual SCHUNK SCH
97. enerated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 15 EXE PHRASE10 0xDA Code 0xDA Description Special command of size 1 byte designed to call up phrase 10 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example 47 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x01 OXxDA Execute phrase 10 S gt M 0x04 OxDA Ox0A 0x00 0xBO Phrase 10 contains a MOVE POS command Note If program line 10 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 16 EXE PHRASE11 0xDB Code 0xDB Description Special command of size 1 byte designed to call up phrase 11 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 OxDB Execute phrase ll S gt M 0x04 OxDB 0x0B 0x00 0xB0 Phrase 11 contains a MOVE POS command Note If program line 11 contains PRG EXE the complete subprogram
98. er a referencing movement section 2 1 1 Quit Error Acknowledge an error section 2 8 1 4 Stop Stop a movement section 2 1 19 Emergency Stop Trigger an emergency stop section 2 1 20 Change User Change user section 2 5 6 Requires password Get State Der aktuelle Status des Moduls wird angefordert section 2 5 1 Get Error Info Read detailed information for the active error sec tion 2 8 1 5 Get Module Info Read module information order no software ver sion hardware version device model section 2 3 2 Manual Referencing Start the manual referencing section 4 4 4 Digital I O State Set or read digital inputs outputs section 2 5 3 Reboot Restart module section 2 5 2 Disconnect Disconnect module from the bus system section 2 5 5 Module can only be operated after a module restart Toggle Impulse Message Activate or deactivate impulse messaging section 2 2 6 Setup Wizard Easy installation of a new module section 4 4 5 Update Firmware Update firmware on the module Requires pass word 4 4 4 Manual Referencing Manual Referencing Module 12 Limit Referencing Velocity Reference Reference 50 Cancel 3 lx FAdjust Position co lt lt lt lt lt gt gt gt gt gt CH di Figure 4 16 Manual Referencing After the module is set to the manual referencing mode it is possible to adjust the module position The max moving velocity 10
99. es if there was not previous request The format of these impulse messages also conform to the above data frame The following events trigger impulse messages e A serious error occurred e A motion was completed successfully e Regular status messages section 2 2 if activated 1 3 3 Special requirements with RS232 As the RS232 was not intended as a bus system when devised a number of elements must be added to the data frame in order to enable several modules to communicate through a single serial interface Group ID D Len Cmd Figure 1 2 RS232 data frame The data frame is followed by two bytes group ID indicating the module to be targeted or the module that sent the response Only the first three bits of the first byte are used The second byte constitutes a unique module ID gt up to 255 different modules can be addressed The first three bits of the first byte are encoded as follows e 0x03 Error signal from module e 0x05 Message from master to a module e 0x07 Response from module 7 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software The other statuses are not used The method of uniquely identifying a module with 11 bits has been adopted for the CAN pro tocol In order to ensure reliable data transfer with RS232 a checksum CRC16 gt 2 bytes of all data including group ID D Len and Cmd is attached at the end of the data frame An algorithm for the calculat
100. escription Position from which a detected hit back is treated as an over shoot Observe unit system section 1 4 Data Float 3 2 8 10 Turn Count Factor Access rights Root section 1 5 5 Description Only required for MD SE Conversion of the ticks of the ro tary knob into SRU velocities target_velocity eeprom Motor maxVel x eeprom S RU turnCountF actor a rotary_encoder_dif f time_dif f Usefull values are from 0 5 1 5 the larger the faster negative values invert the move ment direction Data Float 99 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software 3 2 8 11 Manual Mode Factor Access rights Root section 1 5 5 Description Only required for MD SE Offset used to ensure that the soft ware limits are not exceeded Offset for eeprom device minPos and eeprom device max Pos to keep SRU off the soft limits The minimal teachable position is eeprom Device minPos manual M odeF actor the maximum teachable position is eeprom Device max Pos manual M odeF actor Data Float 100 print date 8th March 2010 Chapter 4 MCDemo The software is used for the commissioning and testing of SCHUNK motion modules 4 1 Requirements e Operating system Windows 98SE Windows NT Windows 2000 Win dows XP Windows Vista RAM min 256MB RAM Hard disk space min 8 MB free Graphics 1024x768 with 16 bit colour depth CD ROM 4 2 First steps All modules must be connecte
101. exe cutes the next referencing step Example D Len Cmd Param M gt S 0x01 0x97 S gt M 0x03 0x97 0x4F 0x4B S gt M 0x02 0x89 0x06 Initializing completed M gt S 0x01 0x97 S gt M 0x02 0x97 0x06 Jog mode activated M gt S 0x05 0xB9 SCD OxCC 0x4C Jog movement 0x3E M gt S 0x01 0x97 S gt M 0x03 0x97 0x4F 0x4B Reference mark is set Note The manual referencing mode is cancelable with CMD STOP sec tion 2 1 19 The setting MOVE ZERO AFTER REFERENCING section 3 2 3 6 is ignored The target current is set to nominal After a successful execution of the manual ref erencing the referencing type is set to Man ual 19 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software The manual referencing activity can be eas ily done with MCDemo section 4 4 4 durch f ren The reference mark is still known mostly af ter the module started next time See Pseudo absolute value transmitter section 1 6 2 1 3 MOVE POS 0xBO0 Code 0xB0 Description The module is moved to the preset position The position is set in the configured unit system section 1 4 vorgegeben The positioning movement is based on the configured motion profile section 3 2 5 6 Parameter master gt slave e Position in configured unit system must be specified e Velocity section 2 1 14 optional used for the positioning movement For motion profiles No Ramp section 3 2 5 6 is not relevant
102. f the logical circuits 2 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK LED1 green LED2 red Interpretation continuously on continuously on Module is in flash mode section 2 5 4 or no bus system active continuously on flashing New firmware is programming briefly on then off briefly on then off Module booted on off Module is ready for operation and bus system is active flickering off Data is being exchanged off off No logic control voltage If both LEDs were briefly on booting phase the connected bus system could not be ini tialized Check bus cable Is the master active off on flashing An error section 2 8 1 1 occurred in the module off on on off Profibus is active but not yet in Data Exchange mode or automatic inter face detection running flickering flashing flickering Data is exchanged on the main in terface while the diagnostic interface section 1 5 2 is active so that data is also exchanged through this interface fast off on fast on off Firmware status undefined should never occur 1 2 1 Factory settings If the module is reset to the factory settings the following values in the EEP ROM are overwritten and reset e ID reset to default ID gripper 12 e CAN baud rate reset to default CAN baud rate 500 kBaud e RS232 baud rate reset to default RS232 baud rate 96
103. face can be recorded through this or targeted information can also be called up to a very limited extent Parameter ization of the modules is possible 2 Please note No active control of the modules is possible If the Diagnostics User is activated section 2 5 6 through the primary in terface then a Record is active The command CMD TOGGLE IMPULSE MESSAGE section 2 2 6 can be used to switch the status of the secondary interface from eavesdropping to active The command must be sent via the secondary interface Commands can be sent via the secondary interface when in active status If the module is in fault status then the opportunity exists of registering at the module directly as Diagnostics User section 2 5 6 via the secondary interface The status of the secondary interface is then active With the command CMD TOGGLE IMPULSE MESSAGE section 2 2 6 the sta tus of the secondary interface can be switched from active to eavesdropping 2CAN or PROFIBUS active gt RS232 is also opened RS232 active gt CAN will be opened in addition 14 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 5 3 Profi Is the Professional User who has the complete functional range of user and who can also adjust additional parameters Incorrect parameterization can lead to unanticipated behavior on the part of the module The module cannot how ever be destroyed The standard
104. fibus With Profibus a token is constantly transmitted through the system from which the respective subscribers take the data applicable to them and to which the subscribers write the data for the master each received fragment must be acknowledged with FRAG ACK section 2 7 1 and the D Len byte of the received fragment When a fragmented message is sent to the master each frag ment must be acknowledged by the master with FRAG ACK and the D Len byte of the received fragment so that the module can dispatch the next module If a fragmented message is sent by the master to the module the next fragment can only be dispatched when the module has acknowledged the receipt of the 11 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Frag E first frame PAKI pr Cmd Data D Len 8 Frag Data ACK got data got 3 E second frame RE Frag Data D Len 5 middle a Frag Data data got 6 ACK got lt 4 last frame PAR Gier Data D Len 2 E al Figure 1 5 Fragmentation for Profibus previous one with FRAG ACK and the D Len byte of the received fragment The last fragment must not be acknowledged 1 4 Unit system All parameter data that refer to units are transmitted with reference to the preset unit system section 3 2 5 2 The following unit systems can be set 1 4 1 Float e mm all parameters values are transmitted as float values gt posi
105. fied All displayed data can be copied to other applications Strg C Strg V The individual log elements fig 1 1 are shown in different colours 4 3 4 Status bar The status bar fig 4 7 shows the current communication properties and status as well as the settings of the communication interface and the number and ID of the initialized modules 4 3 5 Preferences e Module Timings Default polling rate If this option is selected a GET STATE section 2 5 1 with preset time is sent when a module is initialized Handshake Timeout Time during which the interface expects a re sponse from the module After this time has lapsed a timeout is triggered 106 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK EPreterenees x Module Timings IV Update position IV Update velocity Y Update current p Leaging Default poling rate ms Global info ES 1000 Jl Cancel Handshake timeout ms Incoming data poo El Standard 2 Dutgoing data Module State El FZ Request on intisize E Delete all log files on startup Miscellaneous TF Open last used communication on startup Figure 4 9 Preferences e Module State T Do not initialize detected modules automatically Request on initialize If this option is selected a GET STATE sec tion 2 5 1 is sent after a module has been initialized Update position The position is reque
106. ges ao o sorces a ee Be ee 63 28 1 Error commands gt e a s od e cor iae bower ee eee 64 2 8 1 1 CMD ERROR 0x88 64 2 8 1 2 CMD WARNING 0x89 64 228 13 CMDINFO 0x8 es ea Be dedas 65 2 8 14 CMD ACK 0x8B ecco a bea ee eee 65 2 8 1 5 GET DETAILED ERROR INFO 0x96 65 SR eweg spe ee eee He a Ee dre 66 2 8 2 1 INFO BOOT 0x0001 66 2 8 2 2 INFO NO FREE SPACE 0x02 66 2 8 2 3 INFO NO RIGHTS 0x03 67 2 8 2 4 INFO UNKNOWN COMMAND 0x04 67 2 8 2 5 INFO FAILED 0x05 67 2 8 2 6 NOT REFERENCED 0x06 67 lv print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 2 8 2 7 2 8 2 8 2 8 2 9 2 8 2 10 2 8211 2 8 2 12 2 8 2 13 2 8 2 14 2 8 2 15 2 8 2 16 2 8 2 17 2 8 2 18 2 8 2 19 2 8 2 20 2 8 2 21 2 8 2 22 2 8 2 23 2 8 2 24 2 8 2 25 2 8 2 26 2 8 2 27 2 8 2 28 2 8 2 29 2 8 2 30 2 8 2 91 2 8 2 32 2 8 2 33 2 8 2 34 2 8 2 35 2 8 2 36 2 8 2 37 2 8 2 38 2 8 2 39 2 8 2 40 2 8 2 41 2 8 2 42 2 8 2 43 2 8 2 44 2 8 2 45 2 8 2 46 2 8 2 47 2 8 2 48 2 8 2 49 INFO SEARCH SINE VECTOR 0x0007 67 INFO NO ERROR 0x0008 68 INFO COMMUNICATION ERROR 0x09 68 INFO TIMEOUT 0x10 68 INFO WRONG BAUDRATE 0x16 68 INFO CHECKSUM 0x19 68 INFO MESSAGE LENGTH 0x1D 69 INFO WRONG PARAMETER 0x1E 69 INFO PROGRAM END 0x1F
107. h absolute value transmitter can move directly with sine commutation Position of sine vector is known Modules with encoder know the sine vector at the index So the module will start with block commutation an switched to sine commutation on the index The position of the sine vector can adjusted with the parameter positioning off set section 3 2 6 6 Setting this value to 0 causes a new sine vector search When starting a sine vector search modul should be free in all directions Module is mov ing up to two motor turns Communication is not possible while sine vector search d 17 print date 8th March 2010 Chapter 2 Commands Each example is illustrated with the data frame The special features and re quirements of the various bus systems are described in chap section 1 3 3 For a number of selected examples the special features of the various bus systems are shown in the beschrieben appendiz section 6 1 All examples are based on the assumption that the unit system mm is set In all examples only the mandatory parameters are shown while the op tional parameters are not shown M stands for master and S stands for slave module 2 1 Motion 2 1 1 CMD REFERENCE 0x92 Code 0x92 Description A reference movement is completed The type of referencing is set in the configuration data section 3 2 3 Parameter master gt slave none Response slave gt master OK 0
108. igured modules under Profibus 4 5 11 Frequent timeouts with RS232 communications 4 5 12 Modifying individual EEPROM parameters 4 5 13 Do not maximize the main window 4 5 14 Communication mode Auto 6 4 5 15 Initialize modules manually 5 Troubleshooting 5 1 5 2 5 3 5 4 5 5 Mane oo csa oh RRA Ae e EE AE 5 1 1 Connection description for the module 5 1 2 Module fails to reference from some positions Protocol ae pa i e E eee ee eee e et s 5 2 1 Fragmentation not possible IAB eg a aa A E ekg 3 3 1 Data collision ocurred c eec bea mois 5 3 2 I encounter problems when connecting several modules 5 3 3 Which RS232 baud rates are supported by the module CRN A a aad e a a a aa e a ea E a a 5 4 1 Which CAN baud rates are supported by the module Pron Dus a a we aa a E AN er a Manual SCHUNK SCHUNK Motion Software 5 5 1 Does the system support SSA Set Slave Address 122 5 5 2 Data transfer is not consistent 122 6 Appendix 123 Gl Example ooo a AR 123 BLU Elo EE a A oe E a 123 A o III 123 6 1 1 2 MOVEPOS 10 mm 123 6113 WET STATE e oee a 25 Ai oie oS Shores 124 6 1 1 4 Troubleshooting 124 6 1 1 5 CHECK MC PC COMMUNICATION Float 124 6 1 1 6 CHECK PC MC COMMUNICATION 125 BLA CAN lt lt ie A RA wR ee ODE AG Ee eS 125 6141
109. ion of a CRC 16 checksum is included in the appendix section 6 2 As RS232 is not a real bus system but can be wired like a bus system there is a risk of data collision if several modules are simultaneously sending data to the master Such collisions can however be easily detected and the necessary measures can be taken in order to clearly identify the status of all modules If a large number of modules are operated on one branch it might be necessary to disable section 2 2 6 impulse message section 2 2 1 3 4 Special requirements with CAN CAN is a message oriented bus system In addition to the data frame it there fore requires identifiers that uniquely identify each message The modules support the standard 11 bit identifier The low 8 bits are thereby used for the unique module ID gt up to 255 different modules can be addressed The remaining unassigned 3 bits are encoded as follows e 0x03 Error signal from module e 0x05 Message from master to a module e 0x07 Response from module The other statuses are not used e A message sent to the module thus contains the following identifier 0x5 XX XX module address in hex format e A message sent by the module contains the following identifier 0x7 XX XX module address in hex format e In the event of an error the messages from the module to the master are equipped with the identifier 0x3XX XX module address in hex format 8 print date 8th March 2010 Manual
110. is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 17 EXE PHRASE12 0xDC Code 0xDC Description Special command of size 1 byte designed to call up phrase 12 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example 48 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x01 0xDC Execute phrase 12 S gt M 0x04 0xDC 0x0C 0x00 0xBO Phrase 12 contains a MOVE POS command Note If program line 12 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 18 EXE PHRASE13 0xDD Code 0xDD Description Special command of size 1 byte designed to call up phrase 13 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 OxDD Execute phrase DEN S gt M 0x04 OxDD 0x0D 0x00 OxB0 Phrase 13 c
111. ith this ramp type This profile is deactivated for curved paths MOVE POS TIME section 2 1 5 MOVE POS TIME REL 88 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software section 2 1 6 MOVE POS TIME LOOP section 2 1 8 und MOVE POS TIME REL LOOP section 2 1 10 2 Ly In motors with Resolver section 3 2 6 y Chatter might occur with Positioning ramp type section 3 2 5 6 If this is the case E d select a different Positioning ramp type sec tion 3 2 5 6 Trapezoid SRU 0x02 The movement profile is calculated on the basis of a trapezoid The travel time cannot be calculated No Ramp 0x03 With this option no path profile is calculated but the position jump is set It can thus be used for the automatic configuration of the controller If the jump is set as default the controller parameters must be adjusted accordingly Data 3 bits Trapezoid profile E limitation 3 2 5 7 Start Program On Boot Access rights Advanced section 1 5 4 Description When the module is switched on the program stored in the EPROM is started immediately in line 0 NM The module might begin to move even if no control system is connected The program starts as soon as the communi cation interface is available therefore RS232 should be set section 2 3 1 as a bus system With all other bus systems the module begins only to move after an active master has
112. l requirements for Profibus 11 Klek ESSE or a a ee a A E 12 A A EN 12 LAZ Integer ccc ese kb aa RA AA 13 Eleng 85 ees ee edel we ee ee ee ee TA 14 Lol User oe oe he a A ee ee oe ete dG 14 Lee DE e Ae AE ha eek RE Rae Waa A 14 Woes Prone ico ee i heeded a ol eS 15 154 Advanced 5665 bake ee ee a ES 15 Lpo ROO s sei oi a he bee ees hae ad ae ales 15 Pseudo absolute value transmitter 4 15 1 6 1 Requirements 15 LOZ reugetage Je DEE E NEE ees 16 16 21 ESSE occ Aen e 16 1 6 2 2 Encoder with index 16 Standstill commutation o 17 LI Requirements sa EEN EE wee ees 17 A a AI 17 ii Manual SCHUNK Motion Software SCHUNK 2 Commands 18 A EE e y a A A E A 18 2 1 1 CMD REFERENCE IO 18 2 1 2 CMD REFERENCE HAND 0x97 19 2L3 MOVE POS URB ooo ca e NERT oe a ee 20 214 MOVE POS REL Gebai cracca rerampen irau 21 215 MOVE POS TIME fOxB co seceded usde cii 22 2 1 6 MOVE POS TIME REL 0xB9 23 217 MOVE POS LOOP 0xBA 04 6 ace bee ee 4 25 2 18 MOVE POS TIME LOOP 0xBB 25 2 19 MOVE POS REL LOOP 0xBC 25 2 1 10 MOVE POS TIME REL LOOP 0xBD 25 2 111 MOVE CUR 0xB3 oc0occ coossirr sss a 25 2112 MOYE VEL BS o cc ee ae ee a 26 2 1 13 MOVE GRIP 0RBT nk eae ee ee ee eS 27 2 114 SET TARGET VEL 0xAD ea ee es 27 2 1 15 SET TARGET ACC OxAl
113. l unit is always assigned value 2 The command byte indicates the command that failed or one of the following error commands The parameter byte contains information regarding the cause of error section 2 8 2 63 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Figure 2 1 Error message 2 8 1 Error commands 2 8 1 1 CMD ERROR 0x88 Code 0x88 Example D Len Cmd Param S gt M 0x02 0x88 0xDA A towing error oc curred ERROR TOW section 2 8 2 30 Description A serious error requiring operator intervention has occurred Such errors must be acknowledged with CMD ACK The module is not ready for operation The motor is shut down Such error messages are sent at regular intervals from the module to the control system every 15 seconds See error codes section 6 4 e RS232 the first byte of the message is changed to 0x03 e CAN the first three bits of the identifier are changed to 0x3 e Profibus an extended diagnosis is generated Risk of injury Modules that are not equipped with a brake might drop as the mo tor is switched off by the emergency stop com mand 2 8 1 2 CMD WARNING 0x89 Code 0x89 Example 64 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param S gt M 0x02 0x89 0xD6 Module is at the upper software limit ERROR SOFT HIGH section 2 8 2 26 Description A serious error has been acknowledg
114. le through one interface you should install a real bus system CAN Profibus If too many subscribers are connected there is a risk of frequent data collision section 5 3 1 If RS232 is used as a bus system the baud rate is limited to maximum 19200 Baud 5 3 3 Which RS232 baud rates are supported by the mod ule 1200 2400 4800 9600 19200 38400 Baud When several modules are on the chain then baud rates up to 19200 Baud are supported 5 4 CAN 5 4 1 Which CAN baud rates are supported by the mod ule 50 100 125 250 500 and 1000 kBit s 5 5 Profibus 5 5 1 Does the system support SSA Set Slave Address Yes 5 5 2 Data transfer is not consistent 1 Set D Len first byte to 0x00 add all data and then reset D Len to desired value 2 Use SYNC FREEZE mechanism 122 print date 8th March 2010 Chapter 6 Appendix 6 1 Examples 6 1 1 RS232 6 1 1 1 Referencing 1 Send referencing section 2 1 1 command 2 Have understood referencing command 3 After some time in position 5 792 mm ID D Len Cmd Data CRC16 M gt S 0x05 0x01 0x01 0x92 0xD1 0x31 S gt M 0x07 0x01 0x03 0x92 Ox4F 0x4B OxE9 0xD9 Impulse 0x07 0x01 0x05 0x93 0x21 0x56 0xB9 0x40 0x4D 0x22 6 1 1 2 MOVE POS 10 mm Default positioning command 1 Send command for movement to position section 2 1 3 10 mm 2 Message will reach position in 3 358 s
115. lso interpreted as integers gt s gt ms 4 gt mA The internal unit system is assigned 0x05 86 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Data 5 bits 0 31 Please note Changing the unit system sec tion 1 4 affects a number of EPROM param eters so that they must be adjusted immedi ately 3 2 5 3 Communication Mode Access rights User section 1 5 1 Description The active communication system is configured e Auto 0x00 The communication system is tried to identified and configured automat ically Checked hardware section 6 5 until now If a module is connected to simultaneously to the RS232 and the Profibus interface then the Profibus interface depending on the hard N ware will be recognized immediately after the module is switched on There is no possibility f in such cases of communicating via the RS232 interface e RS232 0x01 e CAN 0x02 e Profibus DPVO 0x03 e RS232 Silent 0x04 Impulse messages section 2 2 deactivated inkl INFO BOOT Data 5 bits 0 31 3 2 5 4 Invert Motor Access rights Profi section 1 5 3 Description The direction of rotation of the motor is defined Please note Incorrect configuration might result in unexpected machine behavior module rotating very quickly 87 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Data Bool TRUE FALSE 3 2 5 5 Invert P
116. m www sk schunk com USA SCHUNK Intec Inc 211 Kitty Hawk Drive Morrisville NC 27560 Tel 1 919 572 2705 Fax 1 919 572 2818 info us schunk com www us schunk com TURKEY SCHUNK Intec Baglama Sistemleri ve Otomasyon San ve Tic Ltd Sti Kiic kyali Is Merkezi Girne Mahallesi Irmak Sodak A Blok No 9 Tel 90 216 366 2111 Fax 90 216 366 2277 34852 Maltepe Istanbul info tr schunk com www tr schunk com 143 print date 8th March 2010
117. meric Converter A tool section 4 3 6 used to convert the various numerical formats data format section 1 3 1 Program Editor A tool section 4 3 6 for the creation of module programs section 2 4 SCHUNK Motion This documentation MCDemo Help MCDemo documentation About Details regarding the application and version 105 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Global Info Incoming Data Outgoing Data Module 12 responded CMD_ACK Module 12 sent CMD ERROR gt Error ERROR_EMERGENCY STOP Module 12 sent CMD_INFO gt Info INFO_NO_ERROR Global Info Incoming Data Outgoing Data OxDS 0x41 0x0A 8B Ox4F 0x4B 0x15 OxDF 0x08 0x00 0x37 OxD8 Global Info Incoming Data Outgoing Data 0x05 Ox0C 0x01 0x90 OxC1 0x33 0x05 0x0C 0x01 Ox8B 0x81 0x38 Figure 4 8 Output tabs 4 3 3 Output tabs On the Global Info tab all relevant information regarding the individual con nected modules is shown in plain text Each module is thereby shown in a different colour On the Incoming Data tab the data received from the re spective bus system is shown in its raw format On the Outgoing Data tab the sent raw data is shown incoming and outgoing data can be very useful when developing customized applica tions The byte sequences to be sent to the respective bus system and the corresponding responses from the module can be easily iden ti
118. message with CAN use the fragmentation protocol section 1 3 6 zu verwenden With Profibus all information can be compiled into a Profibus message The set mode is maintained and needs therefore not to be reset with each message When the module is switched on mode is set to 0x07 then all available state information is transmitted With Profibus and if all parameters posi tion velocity current are to be transmitted only the low amp bits of the status are displayed They are positioned in byte 14 where the lat est status is submitted in accordance with the Profibus requirements section 1 3 5 Byte 15 contains the MsgCount which overwrites the high 8 bits of the status word With Profibus automated requests should be used with caution Under certain circum stances it might be more useful to poll the data especially if the SYNC FREEZE mech anism is used 53 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 5 1 1 Status response from SRV e Bit 1 2 reserved e Bit 3 Status of the connection of the PC application SRV GUP via USB with the SRV sensor 1 connected 0 not connected e Bit 4 16 reserved As long as the PC application SRV GUI the configuration and user interface of the SRV is connected via USB with the SRV sensor no change of program CAMAT CHANGE PROGRAM section 2 6 1 can take place See also INFO GUI CONNECTED sec tion 2 8
119. n addition the module can be controlled with 2 bytes by starting previously programmed complex processes with special commands section 2 4 5 In order to program the modules the data must be fragmented section 1 3 6 To program the module we recommend using the supplied software tool section 4 via RS232 Programs are always written as complete sets of instructions If you wish to modify a section of the program script it must be read in its entirety amended and then written again to the module 7 SRead processes take a relatively long time to be completed The control system is thereby switched off so movements of the module would be interrupted The program data is compressed in the EEPROM and equipped with checksums so that no changes can be made within the complex data structure 40 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 4 1 SET PHRASE 0xC0 Code 0xC0 Description If this command is added as a prefix to any data frame the respective data frame is stored in the non volatile memory This enables the user to use all available commands for programming In this mode a stored data frame is referred to as a phrase The phrases are automatically incremented by one until the SET PHRASE command is called without parameter data frame This indicates that programming is terminated Parameters master gt slave e none Programming terminated e Valid data frame The phrase is s
120. n schunk com print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK DENMARK SCHUNK Intec A S Storhaven 7 7100 Vejle Tel 45 43601339 Fax 45 43601492 info dk schunk com www dk schunk com INDIA SCHUNK India Branch Office 80 B Yeswanthpur Industrial Suburbs Bangalore 560 022 Tel 91 80 41277361 Fax 91 80 41277363 info in schunk com www in schunk com FRANCE NETHERLANDS SCHUNK Intec SARL SCHUNK Intec B V Parc d Activit s des Trois Speldenmakerstraat 3d Noyers 15 Avenue James 5232 BH s Hertogenbosch de Rothschild Ferri res en Brie Tel 31 73 6441779 77614 Marne la Vall e Fax 31 73 6448025 Cedex 3 info nl schunk com Tel 33 1 64 66 38 24 www nl schunk com Fax 33 1 64 66 38 23 info fr schunk com www fr schunk com ITALY HUNGARY SCHUNK Intec S r l SCHUNK Intec Kft Via Caio Plinio 5 Sz chenyi t 70 22072 Cermenate CO 3530 Miskolc Tel 39 031 770185 Tel 36 46 50900 7 Fax 39 031 771388 Fax 36 46 50900 6 info it schunk com info hu schunk com www it schunk com www hu schunk com 141 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK POLAND SCHUNK Intec Sp z 0 0 Stara Iwiczna ul Sloneczna 116 A 05 500 Piaseczno Tel 48 22 7262500 Fax 48 22 7262525 info pl schunk com www pl schunk com SPAIN SCHUNK Intec S L Foneria 27 08304 Matar Barcelona Tel 34 937 556 020 Fax 34 937 908 692 info es schunk com www es sch
121. ng up the own driver use J CHECK MC PC COMMUNICATION sec tion 2 5 7 or CHECK PC MC COMMU s NICATION section 2 5 8 with predefined test data 4 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 1 3 1 1 Floating point values The IEEE Standard for Binary Floating Point Arithmetic IEEE 754 was developed in the early 1980s in order to cater for consistent floating point repre sentation in different computer architectures If parameters are sent as floating point numbers to from the modules this standard applies A floating point number is thereby represented as a 32 bit value Plus minus sign bit Exponent Mantissa standardized 1 bit bit 32 8 bit bit 23 bit 30 23 bit bit 1 bit 22 s e f As the mantissa is always set to 1 only the decimals are stored as the leading 1 does not need to be recorded A floating point value can thus be calculated as follows 1 x 267127 x 1 f vin Examples Sign Exponent Mantissa 1 bit 8 bit 23 bit 7 4 0 01111111 11000000000000000000000 34 432175 1 10000100 00010011011101010001100 959818 1 10010010 11010100101010010100000 0 0 00000000 00000000000000000000000 0 1 00000000 00000000000000000000000 27126 or1 175 10738 Smallest positive number 0 00000001 00000000000000000000000 2 2723 277 or3 403 x 10 Largest positive number 0 11111110
122. ns Rel Position A relative positioning movement section 2 1 4 is initial ized If the Loop option is selected two positioning movements will be cyclically executed Rel Position Time A time controlled relative positioning movement sec tion 2 1 6 is initialized curved tracks are possible If the Loop option is selected two positioning movements will be cyclically executed Grip A grip movement section 2 1 13 is initialized 110 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 4 4 2 Module configuration Elrtoduie 06 70 user 1 12 omine TE File View Module State Settings Device Reference Positioning Motor Controller Gear Brake Magnetic 24V Normal 0 2 Data CRC D318 Write EEPROM Figure 4 15 EEPROM brake data The view Settings is shown as soon as the module configuration is received On the various tabs fig 4 15 in the area Settings EEPROM entries can be viewed and edited Depending on the user access rights section 1 5 certain entries might only be read but not changed The following tabs can be called up e Device section 3 2 5 e Reference section 3 2 3 e Positioning section 3 2 6 e Motor section 3 2 1 e Controller section 3 2 4 e Gear section 3 2 2 e Brake section 3 2 7 4 43 Menu The menu allows for the testing of all available module commands and the adjustment of advanced settings The menu entries are described
123. nsmitted as integer values gt position uDegree velocity 4Pegres acceleration aPegres current values mA times ms jerk 42egree e Inch values are transmitted as integer values gt position uInch velocity 4 acceleration 3 jerk 2 cur rent values mA times ms e Milli degree values are transmitted as integer values gt D Gg p Milli d p Milli d position Milli degree velocity t acceleration HEN Milli degree ER E jerk current values mA times ms The configuration data section 3 2 and the associated units must also be transmitted with the respective unit system 13 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 5 Users The module is equipped with a user management feature in order to provide par ticular protection for certain actions The users can be switched via CHANGE USER section 2 5 6 The SRV image processing sensor is not equipped with a user management feature all of the functions available here via the Motion Protocol can be accessed without password 1 5 1 User Is the Standard User which is always activated when the module is switched on This can operate the module completely Parameterization is permitted only for the most important parameters section 3 2 1 5 2 Diag Is the Diagnostics User If one logs in this user then a further interface will open Bus traffic on the Primary Inter
124. nt32 gt 0 4294967296 Data UInt32 gt 0 4294967296 3 2 1 2 Voltage Access rights Root section 1 5 5 Description Rated motor voltage This voltage forms the basis for the cal culation of the brake control parameters sensing ratio and the maximum per missible PWM for test purposes The value is also required for the automatic controller configuration Data UInt16 gt 0 65535 Incorrect parameter values can cause irrepara ble damage to the module 3 2 1 3 Type Access rights Advanced section 1 5 4 Description Select the motor type e DC 0x00 Direct current motor with brushes e BLDC 0x01 Electronically commuted brushless direct current motor with block commutation PMSM 0x02 Electronically commuted brushless direct current motor with space vector modulation section 2 8 2 7 e TORQUE 0x03 SCHUNK Torque Motor with space vector modulation section 2 8 2 7 TT print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software E In motors with resolver section 3 2 6 chat d ter might occur with positioning ramp type section 3 2 5 6 Jerk If this is the case select a different positioning ramp type sec tion 3 2 5 6 Data UInt16 gt 0 65535 3 2 1 4 12T Access rights Advanced section 1 5 4 Description The 1 T monitoring can be activated In the event of excessively high load a 1 T Fehler section 2 8 2 37 will be triggere
125. o Grip Trigger a grip movement section 2 1 13 Set Target Current Set the nominal current for the next move ment s section 2 1 17 Set Target Acceleration Set the nominal acceleration for the next movement s section 2 1 15 Set Target Velocity Set the nominal velocity for the next move ment s section 2 1 14 Set Target Jerk Set the nominal jerk of the next movement s section 2 1 16 112 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Set Target Time Set the time for the next positioning command section 2 1 18 Programming Upload Program Transfer a program from a file to a module section 2 4 1 Download Program Read a program stored in a module and save it in a file Erase Program Erase the program memory x Show Program Show a program stored in a module section 242 x Execute Program Execute program section 2 4 3 x Execute Phrase Execute program phrase section 2 4 4 x Execute Phrase 0 Execute program phrase no 0 section 2 4 5 x Execute Phrase 1 Execute program phrase no 1 section 2 4 6 x Execute Phrase 2 Execute program phrase no 2 section 2 4 7 x Execute Phrase 3 Execute program phrase no 8 section 2 4 8 x Execute Phrase 4 Execute program phrase no 4 section 2 4 9 x Execute Phrase 5 Execute program phrase no 5 section 2 4 10 x Execute Phrase 6 Execute program phrase no 6 sec
126. ol to module section 2 5 8 From PC to MC 1 2345 Transfer test data from control to module section 2 5 8 From PC to MC 47 11 Transfer test data from control to mod ule section 2 5 8 From PC to MC 287454020 Transfer test data from control to module section 2 5 8 From PC to MC 1122868 Transfer test data from control to module section 2 5 8 From PC to MC 512 Transfer test data from control to module section 2 5 8 From PC to MC 20482 Transfer test data from control to mod ule section 2 5 8 EEPROM Read Read EEPROM Read all configuration data from the module section 2 3 2 Read ID Read module ID section 2 3 2 Read Group Read group ID section 2 3 2 Read Communication Mode Read currently set communication mode section 2 3 2 Read Unit System Read currently set unit system section 2 3 2 Read RS232 Baud Rate Read currently set RS232 baud rate section 2 3 2 114 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Read CAN Baud Rate Read currently set CAN baud rate sec tion 2 3 2 Read Soft High Read currently set software high limit section 232 Read Soft Low Read currently set software low limit section 230 Read Nom Current Read currently set nominal current sec tion 2 3 2 Read Max Current Read currently set maximum current sec tion 2 3 2 Read Max Velocity
127. on Program is executed Parameters master gt slave e none The program execution starts at line 0 e Program Nr 2 bytes Program with the entered nr will be executed Response slave gt master The program line UInt16 with the command code is sent and the respective phrase is executed Example D Len Cmd Param M gt S 0x01 OxCF Start program at line 0 S gt M 0x01 OxCF Command acknowl edge from module S gt M 0x04 0xC1 0x00 0x00 0x92 Line 0 contains a MOVE POS com mand S gt M 0x04 OxC1 Ox01 Phrases to program end 42 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 4 4 EXE PHRASE 0xC1 Code 0xC1 Description Line of the stored program is executed Parameters master gt slave Program line UInt16 to be executed Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x03 0xC1 0x02 0x00 Execute phrase 2 S gt M 0x04 0xC1 0x02 0x00 0xB0 Phrase 2 contains a MOVE POS com mand Note If the entered program line contains PRG EXE the complete subpro gram is executed automatically 2 4 5 EXE PHRASEO 0xD0 Code 0xD0 Description Special command of size 1 byte designed to call up phrase 0 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt
128. ontains a MOVE POS command Note If program line 13 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 419 EXE PHRASE14 0xDE Code 0xDE Description Special command of size 1 byte designed to call up phrase 14 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example 49 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x01 OxDE Execute phrase y14 S gt M 0x04 OxDE Ox0E 0x00 O0xBO Phrase 14 contains a MOVE POS command Note If program line 14 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 20 EXE PHRASE15 0xDF Code 0xDF Description Special command of size 1 byte designed to call up phrase 15 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent
129. ool TRUE FALSE 3 2 8 3 Brake Point Coefficient Access rights Root section 1 5 5 Description Coefficient0 for brake point calculation Data Float 3 2 8 4 Brake Point S2X Access rights Root section 1 5 5 Description Distance from the end of the movement at which the two valves are switched on Data Float 98 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 8 5 KR Valve Undershoot Access rights Root section 1 5 5 Description Proportional share of the brake point controller Data Float 3 2 8 6 Throw Back Access rights Root section 1 5 5 Description Distance by which the brake point is set back in the event of a hit back SRU reverses direction of rotation or an overshoot Observe unit system section 1 4 Data Float 3 2 8 7 Delta Position Valve Off Access rights Root section 1 5 5 Description Position difference at which compressed air assistance is required Observe unit system section 1 4 Data Float 3 2 8 8 Max Brake Point Difference Access rights Root section 1 5 5 Description Tow error at brake point controller If the brake point correc tion deviates by more than this value it is likely that the compressed air failed or the coupling is disconnected The ERROR PRESSURE section 2 8 2 27 is triggered Observe unit system section 1 4 Data Float 3 2 8 9 Hit Back Overshoot Access rights Root section 1 5 5 D
130. osition System Access rights Profi section 1 5 3 Description The measuring direction of the position measuring system is de fined If the tracks A and B of the encoder are confused they can be readjusted with the software Please note Incorrect configuration might result in unexpected machine behavior module rotating very quickly If the direction of rotation of the motor as well as the position measuring system direction are inversed a left module can become a right module and a positive opening gripper can become a positive closing gripper Data Bool TRUE FALSE 3 2 5 6 Positioning Ramp Type Access rights Profi section 1 5 3 Description Enter here the ramp type for the position movement Trapezoid 0x00 The movement profile is calculated on the basis of a trapezoid If necessary this profile is activated with MOVE POS TIME section 2 1 5 MOVE POS TIME REL section 2 1 6 MOVE POS TIME LOOP section 2 1 8 and MOVE POS TIME REL LOOP section 2 1 10 curved paths The travel time can be calculated switching points are time controlled Jerk 0x01 For positioning movements MOVE POS section 2 1 3 MOVE POS REL section 2 1 4 MOVE POS LOOP section 2 1 7 and MOVE POS REL LOOP section 2 1 9 the path is calculated with jerk limi tation The Jerk parameter SET TARGET JERK section 2 1 16 is only used w
131. ositioning movements Current Speed Limit 0x02 Current control is not activated During velocity and positioning move ments the preset current SET TARGET CURRENT section 2 1 17 is limited In contrast to the cascade structure the current is not con trolled but only limited current limit control e PWM Speed Limit 0x02 Current control is not activated During velocity and positioning move ments the sensing ratio of the PWMs is limited The ratio between current and sensing ratio is determined from the resistance section 3 2 1 6 of the motor Po As the sensing ratio of the PWMs is limited di rectly voltage limit the drive system might be unable to reach its maximum velocity As a re sult positioning movements might take much longer than anticipated Data 3 bits 0 7 If changes are made to the controller struc ture it might be necessary to adjust the con troller parameters 3 2 5 Device 3 2 5 1 Serial Number Access rights Root section 1 5 5 Description Serial number of the device Data UInt32 gt 0 4294967296 3 2 5 2 Unit System Access rights User section 1 5 1 Description All inputs and outputs of the module use the set unit system sec tion 1 4 If the unit system is changed from float mm 0x00 m 0x01 Inch 0x02 rad 0x03 Degree 0x to integer ym 0x06 1Degree 0x07 1Inch 0x08 M illi degree 0x09 all time and current values are a
132. password for the profi rights is Schunk 1 5 4 Advanced Is the Advanced User who has the complete functional range of profi and who can also adjust additional parameters Incorrect operation or an incorrect parameter ization could lead to the destruction of either the electronics or of the motor 1 5 5 Root Is the Root User who has full access to the module All of the parameters can be adjusted and additional functions are accessible for testing purposes Incorrect operation or an incorrect parameter ization could lead to the destruction of either the electronics or of the motor 1 6 Pseudo absolute value transmitter 1 6 1 Requirements Following requirements are needed for pseudo absolute value transmitter e Encoder with index or resolver e brake e FRAM hardware version section 2 3 2 odd 15 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 1 6 2 Function Actual position is saved to non volatile memory evry time brake switched on When loosing logic power module try to save actual position so long enough energy is available 1 6 2 1 Resolver After powering up modul compares saved positon with saved controll value Are this values equal the saved positon value is compared with the actual resolver position If both positions equal no referencing is necessary When resolver is rotated exactly one turn when power lost the actual position is the wrong one 1 6 2 2
133. positioning System Data Float 3 2 2 3 Gear Ratio 2 Access rights Profi section 1 5 3 Description Gear ratio from positioning System to drive side Is only used when positioning system is middle side section 3 2 6 3 Data Float 3 2 3 Reference 3 2 3 1 Type Access rights Profi section 1 5 3 Description Enter here the referencing method to be used e Switch Intern Left 0x00 Right 0x01 The internal reference switches are used for referencing If the reference switch is activated the direction of movement is determined as left or Tight lWhen using encoders with the index track please observe instructions in chapter Pos Type section 3 2 6 2 81 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software e Switch Extern INO Left 0x02 Right 0x03 A external referencing switch can used for referencing This must be connect to the digital input section 3 2 5 9 INO The moving direction when switch is high can be select with left or right Velocity Left 0x04 Right 0x05 A velocity movement is completed for referencing purposes The system detects whether the module moves against a fixed stop This is the refer ence point The direction of rotation is defined as left or right This referencing method is only recommended for systems with a fized stop Velocity Distance Left 0x06 Right 0x07 In addition to the above referencing procedure the mo
134. pply 2 Acknowledge error with CMD ACK section 2 8 1 4 3 CMD ACK confirmed 4 Information message No other errors displayed ID DLC D Len Cmd Data alle 15 s 01301 0203 0x02 0x88 0x74 M gt S 0x501 0x02 Ox01 0x8B S gt M 0x701 0x04 0x03 0x8B 0x4F 0x4B Impulse 0x701 0x04 0x03 Ox8A 0x08 0x00 6 1 2 5 CHECK MC PC COMMUNICATION Float Check communication from module to control with test data section 2 5 7 1 Request test data section 2 5 7 from module floating point value 1 2345 2 Test data is sent by module ID D Len Cmd Data M gt S 027501 0x04 0x03 OxE4 0x01 0x01 S gt M 0x701 0x08 0x07 OxE4 0x19 0x04 0x9E OxBF 0x01 0x01 126 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK 6 1 2 6 CHECK PC MC COMMUNICATION Check communication from control to module with test data section 2 5 7 Fragmentation is required 1 Send first fragment of test data to module 2 Send second fragment of test data to module Fragmentation is not mandatory for the oper ation and or testing of the module 3 Send third fragment of test data to module 4 Send last fragment of test data to module 5 Module acknowledges receipt of test data and identifies the data that has been interpreted incorrectly all data OK ID DLC D Len Cmd Data
135. reach saturation point Data Ulnt16 0 65535 3 2 6 6 Offset Access rights Advanced section 1 5 4 Description Rotational position of the positioning measuring system relative to the motor phases Configured in the preset unit system section 1 4 This value can be calculated automatically see the standstill commutation section 1 7 A space vector section 1 7 search will be started again when the value is set to zero by the user Data Float For a space vector search the module should be movable in all directions The module move fitfully up to two motor rotations In this time no communication with the module is possible 96 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software 3 2 6 7 Motion Threshold Access rights Profi section 1 5 3 Description The value of maximum velocity section 3 2 1 10 If the velocity drops below this value the modul will be handled as not moving Data Float 3 2 6 8 ADC Offset Access rights Root section 1 5 5 Description ADC Offset to center the measured signal Only used for sin cos and resolver measurement systems Data Int16 32767 32767 3 2 7 Brake 3 2 7 1 Serial Number Access rights Root section 1 5 5 Description Serial number of the brake Data UInt32 gt 0 4294967296 3 2 7 2 Type Access rights Advanced section 1 5 4 Description Type of brake The brake voltage is adjusted by means of the softwar
136. rent position is interpreted as the reference position Manual 0x0D With the command CMD REFERENCE section 2 1 1 a simulated referncing move will be executed when the module is referenced already The module is moving to the referencing mark and then depending on the setting section 3 2 3 6 to the positon 0 If the module is not referenced already a manual referencing section 2 1 2 will be started After a successful execution of the manual ref erencing section 2 1 2 the referencing type is set to Manual Daten UInt16 0 65535 3 2 3 2 Max Reference Current Zugriffsrechte Profi section 1 5 3 Beschreibung Current as of the nominal current section 3 2 1 9 The reference current stays below this value Daten UInt8 0 255 83 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 3 3 Velocity Access rights Profi section 1 5 3 Description Rated velocities for reference movements with internal or external reference switches and for velocity reference movements This parameter is true for the manual referencing too and means 100 velocity If after referencing the module is to be moved to position 0 0 section 3 2 3 6 the positioning command is executed with the velocity specified here Data 4 bytes Configured in the preset unit system section 1 4 3 2 3 4 Acceleration Access rights Profi section 1 5 3 Description Acceleration
137. rface Search for installed communication interface Change application preferences section 4 3 5 4 3 2 Menu e File Save Save the EEPROM content of all initialized modules Print Print the EEPROM content of all initialized modules S COMI at 9600 baud Initialized ID 12 E Figure 4 7 Status bar 104 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK e View Exit Close the application Bus Details Global Info shows details regarding the bus system status Set Bookmark Set a bookmark in the output tabs Clear Logs Clear the content of all output windows Module Activate the window of the selected module e Module Initialize by ID Initialize a module with a known ID Close by ID Deinitialize an already initialized module Scan Bus Scan the entire bus for active modules Emergency Stop Send the emergency stop command section 2 1 20 to all initialized modules The function is disabled when SRV modules initialized e Settings Connect Disconnect Open or close the selected communication in terface Open Communication Search for installed communication interfaces Language Change the language of the MCDemo interface Preferences Change application preferences section 4 3 5 e Tools e CRC Calculator section 4 3 6 A tool section 4 3 6 used to cal culate the CRC required for RS232 communication section 1 3 3 Nu
138. s evaluated for all reference movements section 3 2 3 To ensure that an index track is located at the correct position with certain referencing methods the drive might move briefly forward and back or make small movements in the wrong direction The modules also move with reference method None as the next index pulse is searched for Observe Parameter 1 section 3 2 6 4 Data UInt8 0 255 3 2 6 3 Mount Access rights Advanced section 1 5 4 Description The mount type of the positioning system 95 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software e On Input Side The positioning system is mounted the motor e On Output Side The positioning system is mounted the drive side e On Middle Side The positioning system is mount between motor and drive side Data 2 bits 0 3 3 2 6 4 Parameter 1 Access rights Advanced section 1 5 4 Description Parameter 1 for the positioning measuring system e Encoder Ticks in Rotation 4 fold evaluation e Resolver Voltage frequency at the excitation coil in kHz Allowed values 8 kHz 4 kHz 2 kHz 1 kHz Data UInt16 0 65535 3 2 6 5 Parameter 2 Access rights Advanced section 1 5 4 Description Parameter 2 for the positioning measuring system e Encoder not required e Resolver Amplitude of the input voltage at the excitation coil Must be determined by measurement The output voltage at the receiver coils may not
139. s in the right section of the window the main commands can be sent directly to the module After the Movement button has been clicked a sep arate section of the window for the required parameterization of the movement commands fig 4 14 is shown 109 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Rel Position Rel Position Time Grip Velocity Position Position Time 0 2 Position mm 68 2 I Loopback 0 Move Loop I Velocity mm s 0 F Acceleration mm s2 0 I Current A 0 FT Jerk mm s3 fg 0 Figure 4 14 Movement commands 4 4 1 Buttons The following commands are available Reference Move to Nonius Execute the CMD REFERENCE section 2 1 1 Quit Error Execute the CMD ACK section 2 8 1 4 command Stop Execute the Stop section 2 1 19 command Emergency Stop Execute the emergency stop section 2 1 20 Movement The module window is extended with movement controls fig 4 14 Movement commands Velocity A velocity movement section 2 1 12 is initialized Position A positioning movement section 2 1 3 is initialized If the Loop option is selected the module can be moved back and forth between two user defined positions Position A time controlled positioning movement section 2 1 5 is ini tialized curved tracks are possible If the Loop option is selected the module can be moved back and forth between two user defined positio
140. s signalled to the digital outputs OUT2 indicates the state of the brake MPC MCS Module state when low Output 1 OUTO DO1 Referenced Output 2 OUT1 DO2 Error Output 3 OUT2 DO3 State of the brake Output 4 OUT3 DO4 Move end 91 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software State Warning OUT2 0x04 The module status is signalled to the digital outputs OU T2 indicates a warning MPC MCS Module state when low Output 1 OUTO DO1 Referenced Output 2 OUT1 DO2 Error Output 3 OUT2 DO3 Warning Output 4 OUT3 DO4 Move end State Phrase Mode OUT2 0x05 The module status is signalled to the digital outputs OU T2 indicates that module is in program mode MPC MCS Module state when low Output 1 OUTO DOL Referenced Output 2 OUT1 DO2 Error Output 3 OUT2 DO3 Program mode Output 4 OUT3 DO4 Move end Data 3 bits 0 7 3 2 5 11 Analog OUT Usage Access rights Profi section 1 5 3 Description The analog output 0 10V is used None 0x00 not used gt OV Position 0x01 Position is converted to an analog value Position 0 0 5V Maximum absolute values of minimum and maximum positions are con verted to OV or 10V respectively Example minimum position is 5 0 maximum position is 10 0 gt position 0 V 10 0 10 0 V
141. s text 21 chars Modules with an even numbered hardware ver sion have EEPROM with an odd numbered S FRAM See pseudo absolute value transmitter section 1 6 5Write processes take a relatively long time to be completed The control system is thereby switched off so movements of the module would be interrupted 37 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e EEPROM 0xFE All configuration data is read in one process This command should not be used with one s own applications as the structure of the data to be received is not known The module must be stopped and the con troller must be inactive For example execute an emergency stop section 2 1 20 before In such a case fragmentation protocol section 1 3 6 must be used not with RS232 e Module ID 0x01 The ID of the module is read 1 byte e Group ID 0x02 The group data of the module is read 1 byte e RS232 Baud Rate 0x03 The RS232 baud rate is read 2 bytes e CAN Baud Rate 0x04 The CAN baud rate is read 2 bytes e Communication Mode 0x05 The configured communication interface is read 1 byte Valid values AUTO 0x00 RS232 0x01 CAN 0x02 Profibus DPV0 0x03 RS232 Silent 0x04 e Unit System 0x06 The configured unit system is read Valid values mm 0x00 m 0x01 Inch 0x02 rad 0x03 Degree 0x04 Intern 0x05 wm Integer 0x06 uDegree
142. sted upon GET STATE sec tion 2 5 1 Update velocity The velocity is requested upon GET STATE sec tion 2 5 1 Update current The current is requested upon GET STATE section e Logging 2 5 1 e Miscellaneous Global Info File to which the Global Info output is written Incoming Data File to which the Incoming Data output is written Outgoing Data File to which the Outgoing Data output is written Delete all log files on startup All log files are deleted upon applica tion restart Open last used communication on startup The last used communi cation settings are set upon application restart Do not initialize detected modules automatically The module ini 4 3 6 Tools tialization works manually only The CRC calculator fig 4 10 is used to calculate the CRC16 section 6 2 by means of previously entered hexadecimal numbers The numeric converter fig 4 11 is used to convert numerical values of various format The program editor fig 4 12 enables users to create customized programs for modules 107 print date 8th March 2010 SCHUNK Motion Software Manual SCHUNK E CRC Calculator 1234567894BCDEF Figure 4 10 CRC calculator Numeric Converter _ Fees comen Ges Figure 4 11 Numeric converter E Program Editor mm CND REFERENCE PRG_WAIT 100 POS 0 10 100 1000 10000 MILLIMETRE PR
143. ster Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD2 Execute phrase 2 S gt M 0x04 0xD2 0x02 0x00 0xB0 Phrase 2 contains a MOVE POS com mand Note If program line 2 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 8 EXE PHRASES 0xD3 Code 0xD3 Description Special command of size 1 byte designed to call up phrase 3 Parameters master gt slave none Response slave gt master Program line UInt16 containing the com mand code is sent Example D Len Cmd Param M gt S 0x01 0xD3 Execute phrase 3 S gt M 0x04 0xD3 0x03 0x00 0xBO Phrase 3 contains a MOVE POS com mand 44 print date 8th March 2010 Mama SCHUNK SCHUNK Motion Software Note If program line 3 contains PRG EXE the complete subprogram is executed automatically This feature allows for the execution of subprograms with 1 byte only This command is generated internally with the respective phrase number provided that the digital J section 3 2 5 9 O section 3 2 5 10 s for operation of the module are used 2 4 9 EXE PHRASE4 0xD4 Code 0xD4 Description Special command of size 1
144. t byte 15 lIn fragmented messages these two bytes are used for data 9 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Po Only the high 8 bits of the status word are writ ten The error code is omitted For errors Profibus offers extended diagnostics The er ror code section 2 8 1 1 is included in the output data For messages sent by the master to the module a response is sent and the MsgCount is incremented by 1 This ensures that each request is acknowledged event if there are impulse messages Impulse messages section 2 2 do not in crease the MsgCount If the position in which the module is currently found is to be achieved the module replies with command received followed instantly with position reached in the next Profibus cycle As the control system connected with the Profibus might not query data with each Profibus cycle the acknowledge mes sages might be lost during the motion command The MsgCount ensures that an acknowledgment of the request is received The status byte section 2 5 1 byte 14 contains up to date information regarding the status of the module Po The last bit of the MsgCount can be evaluated a as a toggle bit module to master messages For data transfer from the master to the mod ule the not yet used byte 8 can be used as the toggle byte or bit 63 can be used as toggle bit Groups are fully supported by the SYNC FREEZ
145. te section 4 4 3 Parameters master gt slave Flash password Response slave gt master After successful check of the password OK Ox4F 4B Example D Len Cmd Param M gt S Ox OxE2 lt password gt S gt M 0x03 0xE2 0x4F 0x4B Note After entry of the correct password it takes about 30 seconds until the module is automatically set to flash mode green and red LEDs continuously on In a RS232 bus system with several connected modules all other modules bar one must be deactivated CMD DISCONNECT section 2 5 5 Ex firmware V1 20 updating is possible on all available bus systems 2 5 5 CMD DISCONNECT 0xE6 Code 0xE6 Description The module is disconnected from the bus system and deactivated Parameters master gt slave Flash password Response slave gt master After successful check of the password OK 0x4F 4B Example 55 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software D Len Cmd Param M gt S 0x01 OxE6 lt password gt S gt M 0x03 OxE6 0x4F 0x4B Note After the correct password has been entered the module is switched off The LEDs are off exception motor voltage LED If several modules are connected to a RS232 bus system the modules can be switched off by means of the software This is for example necessary for a firmware update only on RS232 where the bus is not to be disassembled only 1 module can be updated at any one time Modules that are switche
146. te the movement is returned Module executes command Example D Len Cmd Param M gt S 0x05 0xB9 0x00 0x00 0x20 Move a distance of 0x41 10 0 mm S gt M 0x05 0xB9 0x00 0x00 0xA0 Target position will 0x40 be reached in 5 0 sec Note Impulse response is generated when position CMD POS REACHED section 2 2 3 is reached or if positioning movement MOVE ZERO AFTER REFERENCING section 3 2 3 6 is aborted before this position is reached All parameters must be transmitted in the sequence shown here If only the cur rent is preset the velocity and the acceleration must be specified Subsequent parameters do not need to be transmitted All parameters remain stored until they are modified or the system is restarted For these types of movement the motion profile is set to Trapezoid section 3 2 5 6 New position parameters can be entered while Po a movement is being completed The new f movement is subsequently calculated based on the entered parameter values and the current actual velocity and acceleration values This allows for curved paths 2Due to computing time problems curved paths can only be completed with this profile 24 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 1 7 MOVE POS LOOP 0xBA Code 0xBA Description A cyclic execution of the command MOVE POS section 2 1 3 The module is moving in loop between the start position and the selected position 2 1 8 MOVE
147. test data and identifies the data that has been interpreted incorrectly all data OK The MsgCount section 1 3 5 is incremented by 1 130 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK D Len Cmd Data State MsgCount M gt S 0x15 0x84 OxE5 0x19 0x04 0x9E OxBF 0xA4 S gt M 0x02 0x87 0x15 Ox Ox 0x Ox Ox Ox Ox 0x 0x Ox Ox 0x20 0x04 M gt S Ox0F 0x85 0x70 0x3C 0x42 0x44 0x33 0x22 S gt M 0x02 0x87 Ox0F 0x Ox Ox 0x Ox 0x Ox Ox Ox Ox Ox 0x20 0x04 M gt S 0x09 0x85 0x11 0xCC 0xDD 0xEE OxFF 0x00 S gt M 0x02 0x87 0x09 Ox Ox Ox Ox Ox Ox 0x Ox 0x Ox Ox 0x20 0x04 M gt S 0x03 0x86 0x02 OxFE OxAF 0x Ox Ox S gt M 0x04 OxE5 Ox4F 0x4B 0x00 Ox Ox 0x 0x Ox Ox 0x20 0x05 6 2 CRC16 calculation for RS232 The CRC16 algorithm shown here is included in the firmware There are other algorithms for the CRC16 calculation without table available on the internet UInt16 CRC16 UInt16 crc UInt8 data const UInti6 tb1 256 0x0000 OxCOC1 OxC601 Ox06CO OxCCO1 Ox0CCO Ox0A00 OxCAC1 OxD801 0x18C0 Ox1E00 OxDEC1 0x1400 OxD4C1 OxD201 0x12C0 OxF001 0x30C0 0x3600 OxF6C1 0x3C00 OxFCC1 OxFA01 Ox3ACO 0x2800 OxE8C1 OxEEO1 Ox2ECO OxE401 0x24C0 0xC181 0x
148. tion 2 4 11 x Execute Phrase 7 Execute program phrase no 7 section 2 4 12 x Execute Phrase 8 Execute program phrase no 8 section Ka x Execute Phrase 9 Execute program phrase no 9 section 2 4 14 x Execute Phrase 10 Execute program phrase no 10 section 2 4 15 x Execute Phrase 11 Execute program phrase no 11 section 2 4 16 x Execute Phrase 12 Execute program phrase no 12 section 2 4 17 x Execute Phrase 13 Execute program phrase no 13 section 2 4 18 x Execute Phrase 14 Execute program phrase no 14 section 2 4 19 113 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Execute Phrase 15 Execute program phrase no 15 section 2 4 20 Test Communication From MC to PC All Values Transfer test data from module to control section 2 5 7 From MC to PC 1 2345 Transfer test data from module to control section 2 5 7 From MC to PC 47 11 Transfer test data from module to con trol section 2 5 7 From MC to PC 287454020 Transfer test data from module to control section 2 5 7 From MC to PC 1122868 Transfer test data from module to control section 2 5 7 From MC to PC 512 Transfer test data from module to control section 2 5 7 From MC to PC 20482 Transfer test data from module to con trol section 2 5 7 From PC to MC All Values Transfer test data from contr
149. tion mm velocity acceleration 44 jerk ZE current values 4 times s e m all parameters values are transmitted as float values gt position m velocity acceleration jerk 4 current values A times s e Inch all parameters values are transmitted as float values gt position Inch velocity 4 acceleration 5 Ruck 25 current values 4 times s 12 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software e rad all parameters values are transmitted as float values gt position rad velocity 14 acceleration 44 jerk 42 current values A times s e Degree all parameters values are transmitted as float values gt position Degree velocity Peres acceleration 2 ZS jerk agree current values A times s H e intern all parameters values are transmitted as float values gt position intern velocity 4422 acceleration 2482 jerk 152 rent values A times s N All data in this unit system is calculated inter nally with a system that is based on the motor Y d revolutions The gear transmission ratios are not taken into account cur Y This system should only be used for testing purposes 1 4 2 Integer e um values are transmitted as integer values gt position ym velocity 47 acceleration 44 jerk 5 current values mA times ms e uDegree values are tra
150. tion 1 5 5 Description Serial number of the position measuring system Data UInt32 gt 0 4294967296 94 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 3 2 6 2 Type Access rights Advanced section 1 5 4 Description The measuring system type is defined here e Encoder 0x00 Encoder measuring system without index track Observe Parameter 1 section 3 2 6 4 Encoder Index 0x01 Encoder with index track The index track is evaluated for all reference movements section 3 2 3 To ensure that an index track is located at the correct position with certain referencing methods the drive might move briefly forward and back or make small movements in the wrong direction The modules also move with reference method NONE as the next index pulse is searched for Observe Parameter 1 section 3 2 6 4 Resolver 0x02 Resolver system where the excitation current must be generated internally Observe Parameter 1 section 3 2 6 4 and Parameter 2 section 3 2 6 5 lo In motors with resolver section 3 2 6 Chatter might occur with positioning ramp type section 3 2 5 6 Jerk If this is the s case select a different positioning ramp type section 3 2 5 6 Encoder Differential 0x06 Differential encoder without index track Observe parameter1 section 3 2 6 4 Encoder Differential Index 0x07 Differential encoder with index track The index track i
151. tored and the phrase counter is incremented by 1 Response slave gt master OK 0x4F4B if the phrase is successfully saved Example D Len Cmd Param M gt S 0x07 0xC0 0x05 0xB1 0x00 Will program move 0x00 0x60 0x40 to position 3 5 mm S gt M 0x03 0xC0 0x06 0x00 Note For programming we recommend using the supplied Software section 4 as it makes the process easier In this case fragmentation protocol section 1 3 6 must be used not with RS232 2 4 2 GET PHRASES 0xC2 Code 0xC2 Description Reads the entire program from the module Parameters master gt slave none Response slave gt master First data frame contains the number of phrases of the program UInt16 Subsequently the content of the program is transferred phrase by phrase Example 41 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK D Len Cmd Param M gt S 0x01 0xC2 S gt M 0x03 0xC2 0x05 0x00 Program contains 5 phrases S gt M 0x05 OxB1 0x00 0x00 0x60 Phrase 0 contains 0x40 a move to posi tion 3 5 mm com mand S gt M 0x05 OxB1 0x00 Phrases to program memory end Note As soon as the command is initiated once the program is transferred line by line For the administration of the programs we recommend using the supplied Software section 4 In this case fragmentation protocol section 1 3 6 must be used not with RS232 2 4 3 PRG EXE 0xCF Code 0xCF Descripti
152. unk com PORTUGAL Sales Representative Victor Marques Tel 34 937 556 020 Fax 34 937 908 692 Mobil 351 963 786 445 info pt schunk com www pt schunk com SWEDEN SCHUNK Intec AB Morabergsv gen 28 152 42 S dert lje Tel 46 8 554 421 00 Fax 46 8 554 421 01 infoQ se schunk com www se schunk com dE 7 SOUTH KOREA SCHUNK Intec Korea Ltd 907 Joongang Induspia 2 Bldg 144 5 Sangdaewon dong Jungwon gu Seongnam si Kyunggi do 462 722 Tel 82 31 7376141 Fax 82 31 7376142 info kr schunk com www kr schunk com SWITZERLAND LICHTENSTEIN SCHUNK Intec AG Soodring 19 8134 Adliswil 2 Tel 41 44 7102171 Fax 41 44 7102279 info ch schunk com www ch schunk com 142 print date 8th March 2010 Manual SCHUNK Motion Software CZECH REPUBLIC SCHUNK Intec s r o Ernsta Macha 1 643 00 Brno Tel 420 545 229 095 Fax 420 545 220 508 info cz schunk com www cz schunk com als CANADA SCHUNK Intec Corp 190 Britannia Road East Units 23 24 Mississauga ON L4Z 1W6 Tel 1 905 712 2200 Fax 1 905 712 2210 info ca schunk com www ca schunk com MEXICO VENEZUELA SCHUNK Intec S A de C V Av Luis Vega y Monroy 332 Fracc Plazas de Sol Santiago de Quer taro Qro 76099 Tel 52 442 223 6525 Fax 52 442 223 7665 info mx schunk com www mx schunk com SLOVAKIA SCHUNK Intec s r o Mostn 62 919 01 Nitra Tel 421 37 3260610 Fax 421 37 6421906 info sk schunk co
153. urrent po section 2 2 2 sition 0x94 148 CMD POS REACHED current posi section 2 2 3 tion 0x95 149 GET STATE time mode section 2 5 1 0x96 150 GET DETAILED ERROR INFO section 2 8 1 5 0x97 151 CMD REFERENCE HAND section 2 1 2 OxA0 160 SET TARGET VEL velocity section 2 1 14 OxAl 161 SET TARGET ACC acceleration section 2 1 15 OxA2 162 SET TARGET JERK jerk section 2 1 16 OxA3 163 SET TARGET CUR current section 2 1 17 0xA4 164 SET TARGET TIME time section 2 1 18 133 print date 8th March 2010 Manual SCHUNK Motion Software SCHUNK Hex Dec Name Parameter Page 0xB0 176 MOVE POS position velocity accel section 2 1 3 eration current jerk OxB1 177 MOVE POS TIME position velocity section 2 1 5 acceleration current time 0xB3 179 MOVE CUR current section 2 1 11 0xB5 181 MOVE VEL velocity section 2 1 12 0xB7 182 MOVE GRIP current section 2 1 13 0xB8 176 MOVE POS REL displacement veloc section 2 1 4 ity acceleration current jerk 0xB9 176 MOVE POS TIME REL displacement section 2 1 6 velocity acceleration current time DA 186 MOVE POS LOOP position velocity 4 section 2 1 7 acceleration current jerk 0xBB 187 MOVE POS TIME LOOP position
154. x05 0xB7 0x00 0x00 0x60 Execute gripping 0x40 with 3 5 A S gt M 0x03 0xB7 0x4F 0x4B Note Current is increased until movement or given current is reached Impulse message CMD MOVE BLOCKED section 2 2 2 can be sent Po Smooth gripping can be done by this command Other possibilities for smooth gripping are ve locity movement section 2 1 12 or position ing movement section 2 1 3 with current control section 3 2 4 7 2 1 14 SET TARGET VEL 0xA0 Code 0xA0 Description The velocity parameter is now set Parameter master gt slave e Velocity in the configured unit system section 1 4 Response slave gt master OK 0x4F4B if successful Example D Len Cmd Param M gt S 0x05 OxA0 0x33 0x33 0x43 Will set velocity to 0x41 12 2 S gt M 0x03 0xA0 0x4F 0x4B Note After first successful configuration this value remains stored until the module is restarted or the value is changed Required for MOVE POS section 27 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 1 3 MOVE POS TIME section 2 1 5 MOVE POS REL section 2 1 4 MOVE POS TIME REL section 2 1 6 MOVE POS LOOP section 2 1 7 MOVE POS TIME LOOP section 2 1 8 MOVE POS REL LOOP section 2 1 9 MOVE POS TIME REL LOOP section 2 1 10 2 1 15 SET TARGET ACC 0xA1 Code 0xA1 Description The acceleration parameter is now set Par
155. x46 0x46 Impulse messages disabled 33 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software Note After a restart impulse messages are always enabled We recommend not disabling impulse mes sages Disabling might however be necessary in RS232 mode if a large number of modules is actuated and if there are frequent collisions With RS232 it is possible to automatically disable section 3 2 5 3 impulse messages af ter restart These messages can be enabled at any time with CMD TOGGLE IMPULSE MESSAGE 2 2 7 CAMAT SETTINGS CHANGED 0xF9 The spontaneous message acknowledges that settings are changed successfully For details see CAMAT SETTINGS CHANGED section 2 6 2 Note Only for SRV image processing sensor 2 2 8 CAMAT RES MEASUREMENT BLOCK 0xFA The spontaneous message conveys the results of an image processing on the part of the SRV image processing sensor For details see CAMAT RES MEA SUREMENT BLOCK section 2 6 3 Note Only for SRV image processing sensor 2 3 Settings 2 3 1 SET CONFIG 0x81 Code 0x81 Description Configuration data is set in the module and permanently stored section 3 2 Parameters master gt slave The configuration data to be written is transferred as parameter e EEPROM 0xFE EEPROM Struktur All configuration data is written in one process complete EEPROM struc ture must be transferred in the data Depending on the type of user se
156. x4F4B if successful Module exe cutes command Example D Len Cmd Param M gt S 0x01 0x92 S gt M 0x03 0x92 0x4F 0x4B 18 Manual SCHUNK SCHUNK Motion Software Note Impulse responses might occur Depending on the referencing method CMD MOVE BLOCKED section 2 2 2 or CMD POS REACHED sec tion 2 2 3 might be transmitted depending on the MOVE ZERO AFTER REFERENCING section 3 2 3 6 flag The set flag triggers a positioning movement after referencing CMD POS REACHED section 2 2 3 2 1 2 CMD REFERENCE HAND 0x97 Code 0x97 Description A manual referencing activity is executed If necessary some initializing movements executed space vector search index track search The next referencing mode is notified with the CMD WARNING section 2 8 1 2 and the code NOT REFERENCED section 2 8 2 6 Send ing CMD REFERENCE HAND again causes the jog mode for the module In this mode the user can use MOVE POS TIME REL section 2 1 6 for adjusting the position to a reference mark The configured referencing accelera tion section 3 2 3 4 and velocity section 3 2 3 3 may not be exceeded This step is to be confirmed by the user with CMD REFERENCE HAND again The actual position will be set to the referencing offset section 3 2 3 5 The manual referencing is completed Parameter master gt slave none Response slave gt master OK 0x4F4B if successful Module
157. xEC Code 0xEC Description A mathematical error happened for example a division by null Note In the majority of cases a controller parameter section 3 2 4 is wrong 2 8 2 33 ERROR VPC3 0xDB Code 0xDB Description The Profibus controller does not work properly Note This problem can only be detected by a DIAG section 1 5 2 user as this message cannot be sent via the Profibus with the defective controller 2 8 2 34 ERROR FRAGMENTATION 0xDC Code 0xDC Description An error occurred in the fragmentation protocol section 1 3 6 Note Data packets have been lost 72 print date 8th March 2010 Manual SCHUNK SCHUNK Motion Software 2 8 2 35 ERROR COMMUTATION 0xE4 Code 0xE4 Description Module fails to commutate Note If this error reoccurs frequently an unsuitable commutation type has been chosen or the Hall sensors for block commutation are defective or not connected With sine commutation there might be a fault in the position measuring system 2 8 2 36 ERROR CURRENT 0xDE Code 0xDE Description The maximum current section 3 2 1 8 has been exceeded Note Reduce the motor load if necessary introduce intermediate steps MOVE VEL section 2 1 12 MOVE CURRENT section 2 1 11 2 8 2 37 ERROR I2T 0xDF Code 0xDF Description An I T error occurred This error only occurs if I T monitoring activated section 3 2 1 4 is selected Note Reduce load of module

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