JX2-SV1 Module
Contents
1. 3 6 Register Overview JX2 SV1 Module General registers 1xy00 Status register 0 23 Bit R W 1xy01 Command register 0 255 R W 1xy02 Setpoint position 8388608 8388607 R W 1 xy03 Setpoint speed 0 32767 R W 1xy04 Input polarities 0 7 Bit R W 1xy05 Acceleration ramp 1 32767 R W 1xy06 Deceleration ramp 1 32767 R W 1xy07 Destination window 0 8388607 R W 1xy08 Digital offset 0 2047 R W 1xy09 Actual position 8388608 8388607 R W 1xy10 P gain 0 32767 R W 1xy11 Setpoint speed of the po 32768 32767 R W sition controller 1xy12 Actual speed 32768 32767 Ro 1xy13 Time basis for the meas 0 32767 Ro urement of the actual speed 1xy14 Positive software limit 8388608 8388607 R W switch 1xy15 Negative software limit 8388608 8388607 R W switch 1xy16 Digital offset 2048 2047 R W 1xy17 Encoder line count 0 10000 R W 1xy18 Maximum speed of the 0 32767 R W servo amplifier motor combination 1xy19 Tracking error 8388608 8388607 Ro 1xy20 Tracking error limit 0 8388607 R W 1xy21 Reference value for 0 32767 R W Register 03 Maximum setpoint speed 25 3 Servo Controller Module JX2 SV1 JetWeb Register for the digital speed controller 1xy24 P gain of the 0 32767 R W digital speed controller 1xy25 Curr2. Module 1 Module 2 Module 3 Module 4 Input Axis 21 Input Axis 31 and 101 108 201 208 axis 32 Jetter AG JX2 SV1 Module Number assignment of the modules in the case of axes Jetter AG 3 5 Software Description 3 5 2 Register Numbering Using the example of the register REG 1xyzz the method by which the axis numbering is performed is demonstrated The registers are addressed via five digit numbers The first digit is 1 The second digit x is obtained from the module number at which the N SV1 module is located The third digit y corresponds to the number of the axis which is addressed via the register in the case of module JX2 SV1 it is always 1 The digits four and five zz define the actual register number whereby zz correspond to the register numbers 0 to 99 Note To determine the module number only the intelligent modules and no non intelligent modules are counted See the table below Module 1 Module 2 Module 3 Module 4 Input Register Input Register 101 108 numbers 201 208 numbers 1212z 1312z 23 3 Servo Controller Module JX2 SV1 JetWeb Mode 0 Mode 1 Mode 2 Mode 3 24 3 5 3 Position Control Modes Mode 0 1 2 3 The JX2 SV1 module can be operated in 4 different position control modes All position control modes require the basic register as the basis for control see Section 3 7 Registers of the JX2 SV1 Module page 28 I
3. Bit 22 Bit 23 3 7 Registers of the JX2 SV1 Module not assigned not assigned not assigned Error recognised on a digital output Tracking error correction deactivated Setting the bit deactivates the correction 29 3 Servo Controller Module JX2 SV1 30 JetWeb Function Description Read Present or most recently processed command Value following a reset 0 Write Starts the execution of a new command Value range 0 255 Writing values between 0 and 79 into this register starts one of the following commands The axis stops with the Deceleration ramp Switches the controller ON and issues a release The relay is switched off and controller remains active The reference point is set at the present position of the axis At the same time the actual and setpoint position of the axis are set to 0 The reference is searched for again The next coincidence of the reference switch and the KO signal of the incremental en coder references the axis again Use of command 4 is not necessary if the commands 9 to 12 are used The axis is stopped and the position is controlled AXARR command The axis is stopped and the position is not controlled analog output 0 V The position is controlled in the target point The position is not controlled in the target point Automatic machine referencing with the speed entered into register 1xy03 Start in the positive direction attention must imme
4. nore the reference switch Turn round there move in the neg ative direction and observe the reference switch at the same time If the negative limit switch is actuated machine referencing is ended and an error Bit 12 is signalled in the status register 1xy00 Automatic machine referencing with the speed contained in register 1xy03 Start in the negative direction to the negative limit switch and ignore the reference switch Reverse there move in the posi tive direction and observe the reference switch at the same time If the positive limit switch is actuated machine referencing is ended and an error is signalled in the status register Axis control at limit switch position OFF 0 V is output when the limit switch is reached Axis control at limit switch position ON When a limit switch is reached the axis is kept in this position Reserved Relative positioning refers to the last setpoint position not to the reference position Absolute positioning refers to the reference position Interrupted positioning is continued with the AXARR com mand Relative position with start input ON Relative position with start input OFF 31 3 Servo Controller Module JX2 SV1 32 22 23 24 25 26 27 28 29 30 31 41 42 43 44 45 46 47 48 49 50 51 52 55 56 57 58 69 70 71 72 73 74 JetWeb Stop at reference point ON during the mac
5. 11 not assigned not assigned 12 not assigned not assigned 13 not assigned not assigned 14 not assigned not assigned 15 not assigned not assigned 19 3 Servo Controller Module JX2 SV1 JetWeb Male connector PIN 24 Volt encoder 5 Volt differential SUB D 15 pins voltage X61 1 GND GND 10 2 KO KO e 9 es 3 not assigned KO 4 K1 K1 70 OF 5 not assigned K1 6 K2 K2 7 not assigned K2 8 not assigned not assigned 9 not assigned not assigned 10 not assigned 5 Volt 5 encoder supply with max 50 mA input current 11 not assigned not assigned 12 not assigned not assigned 13 not assigned not assigned 14 not assigned not assigned 15 not assigned not assigned Ey Important To prevent functional problems or destruction of the module JX2 SV1 and supplied with current voltage externally 20 gt an encoder connected to Pin 1 and Pin 10 and supplied with 5 Volt must not consume more than maximum 50 mA current gt encoders with higher power consumption must be connected externally Jetter AG JX2 SV1 Module 3 4 Description of LEDs 3 4 Description of LEDs The eight LEDs of the JX2 SV1 module light up in various operating states whereby e the first four LEDs indicate output states controlled via the software e the second four LEDs indicate the unit state LED Li The positive limit switch is or was active LED Li The negative limit switch is or
6. Present value of the given parameter Value following a reset 0 1 min Illegal Function Read Write Value range Function Read Write Value range 32768 32767 To calculate the actual speed with the module JX2 SV1 quote in this register the physical line number of the incremental encoder used Four fold evaluation occurs i e counting is performed four times per graduation Example Present speed 42 Number of counts x constant Time constant x line count Number of counts x 30000 Register 1xy13 x Register 1xy17 Jetter AG JX2 SV1 Module 3 7 Registers of the JX2 SV1 Module Function Description Read Present value of the given parameter Value following a reset 6 3ms Write New time basis Value range 0 32767 Function Description Read Present value of the given parameter Value following a reset 8388607 Write New value for the positive software limit switch Value range 8388608 8388607 The status of the two software limit switches can be checked in the status register 1xy00 Bit 7 A set Bit 7 means that one of the two software limit switches has been activated With Bit 14 of the status register it is possible to switch on the function Software limit switch The numerical value in increments at which the positive software limit switch becomes active is defined in the register 1xy14 The axis then stops in
7. coder installed Write New word size Value range 3 25 Function Description Read Present offset to the reference position Value following a reset 0 Write Defines a new offset Value range 8388608 8388607 Note The reference position of the axis relative to the zero position of the absolute value encoder is defined with this register but not for the incremental encoder The following relationship applies Axis position Absolute value encoder position Register 1xy65 49 3 Servo Controller Module JX2 SV1 50 N Cai A JetWeb Function Description Read Present value of the given parameter Value following a reset 0 Write Defines a new value of the given parameter Value range bit oriented 24 Bit If an absolute value encoder should use a smaller range than the bit number for the word size of the hardware this range can be defined with the aid of the register 1xy66 In this way for example a 24 Bit encoder can be operated as a 12 Bit single turn encoder The number of bits which should actually be used is stated in register 1xy66 In this case the register 1xy66 must be written after register 1xy64 Function Description Read Present value of the given parameter Value following a reset 0 Write Defines a new value of the given parameter Value range 8388608 8388607 Note The value in the register 1xy67 indicates by how many increment
8. direction reversal Lower half of table or the entire table Upper half of table Deactivate function Set output 1 inactive and activate the following function Output 1 becomes active as soon as the actual position becomes less than the value in Reg 1xy77 the Bit is then deleted again Deactivate function Set output 1 inactive and activate the following function Output 1 becomes active as soon as the actual position becomes greater than the value in Reg 1xy77 the Bit is then deleted again Digital outputs 0 active Digital outputs 1 active Jetter AG JX2 SV1 Module 3 7 Registers of the JX2 SV1 Module Function Description Read Presently valid value for acceleration ramp Value following a reset 1000 ms Write Transfer of a new value for the given parameter Value range Transfer of a new value for the given parameter If the register 1xy05 is written into during a positioning this has no effect on the ongoing positioning Only at the start of the next positioning the new value for the acceleration ramp is used i e when writing into register 1xy02 or in the case of the POS command Uy 10V 0 1000 2000 3000 4000 Time ms Fig 3 Acceleration ramp Jetter AG 37 3 Servo Controller Module JX2 SV1 JetWeb Description Presently valid value for deceleration ramp Value following a reset 1000 ms Transfer of a new value for the given parameter Functi
9. l l Travel range l l oes i i Fig 2 System interconnect diagram Note S A The relay is a NO contact and must be connected potential free Jetter AG 17 3 Servo Controller Module JX2 SV1 18 JetWeb Controller Shielding Specification max length 9 pole Maximum SUB D connector cable length X62 20m shield TES e Connect shield with the grea test possible surface area Use a metallised housing 1 Gnd Voltage supply 2 not assigned 3 Relay contact 1 Release max 30 V max 1 A 4 Relay contact 2 Servo amplifier 5 not assigned 6 not assigned 7 not assigned 8 Gnd for 9 9 Speed setpoint value 10V 10V max 5 mA floating contact Jetter AG JX2 SV1 Module Jetter AG 3 3 Connection Diagram Controller Shielding Cable specification max length 15 pole Maximum cable length SUB D connector X61 lt 5 V differential voltage he 100 m shield 1 5 24 V 20 m 8 Connect shield with the grea test possible surface area Use a metallised housing 1 Gnd Voltage supply 2 KO Input 3 KO Input 4 K1 D SSI Input 5 K1 D SSI Input 6 K2 Input 7 K2 Input 8 Clock SSI Output 9 Clock SSI Output 10 DC 5 V 50mA Voltage supply
10. the positive direction Function Description Read Present value of the given parameter Value following a reset 8388608 Write Defines a new value for the given parameter Value range 8388608 8388607 The status of the two software limit switches is checked in the status register 1xy00 Bit 7 A set Bit 7 means that one of the two software limit switches has been activated The function Software limit switch is activated with Bit 14 of the status register The numerical value in increments with which the negative software limit switch is activated is defined in the register 1xy15 This stops the axis in the negative direction Jetter AG 43 3 Servo Controller Module JX2 SV1 44 JetWeb Function Description Read Present value of the given parameter Value following a reset 0 Write New value for the given parameter Value range 2048 2047 in 5mV steps The analog offset of the servo amplifier is compensated with this register The value entered into this register is added to the output voltage of the position controller algorithm Function Description Read Present value of the given parameter Value following a reset 500 Write Defines a new value for the given parameter Value range 0 10000 Function Description Read Present value of the given parameter Value following a reset 3000 rpm Write Defines a new value
11. 1xy99 Version number 8388607 Ro R W means Read Write Ro means Read only 27 3 Servo Controller Module JX2 SV1 JetWeb 28 3 7 Registers of the JX2 SV1 Module Function Description Read Present status of the axis Value following a reset Bit 10 set Write defines a new status Value range bit oriented 24 Bit Meaning of the individual bits Bit 0 Reference set Bit 1 AXARRz Position was reached The bit is deleted and set at the start of the positioning as soon as the destination window is reached Bit 2 not assigned Bit 3 Tracking error recognised in the case of REG 1xy19 gt REG 1xy20 Bit 4 Negative limit switch active Bit 5 Positive limit switch active Bit 6 Reference switch active Bit 7 Software limit switch was active Bit 8 Limit switch was active Bit 9 Position controller switched on Bit 10 Switched on following AXARR Bit 11 Relay switched on Bit 12 Machine referencing error Bit 13 BUSY applies only to commands 9 to 12 and command 42 as well as to register 1xy43 Bit 14 Software limit switch switched on Entering 1 into this bit activates this function Bit 15 Speed controller active Bit 16 Axis is in the deceleration ramp Bit 17 Do not switch off if tracking error is recognised Entering 1 into this bit activates this function Bit 18 Print mark not found Jetter AG JX2 SV1 Module Jetter AG Bit 19 Bit 20 Bit 21
12. H 2 acc to IEC 61131 2 Contamination level II acc to IEC 61131 2 Oscillation fatigue limit IEC 61131 2 Protective system IP20 Category of protection Il acc to IEC 61131 2 ESD Level ESD 4 acc to IEC 61131 2 Important Measures to avoid damages in transit and storage gt The packaging material and the storage location must be selected so that the values in the table above are maintained Jetter AG JX2 SV1 Module 3 1 Mounting Dimensions 3 Servo Controller Module JX2 SV1 The intelligent extension module JX2 SV1 is designed for the control systems NANO JetControl and JetNode It is used to control external servo axes A 10 V analog signal is provided as the output Incremental or absolute value encoder signals SSI can be evaluated as the feedback value 3 1 Mounting Dimensions 3 1 1 Front View OUTPUT Jeter ENCODER AALS IN SVva Jetter AG 13 3 Servo Controller Module JX2 SV1 JetWeb 3 1 2 Side View 115 4 14 Jetter AG JX2 SV1 Module 3 2 Technical Data 3 2 Technical Data Positioning range 8388608 8388607 Max encoder frequency K1 K2 100 kHz Resolution 12 Bit Positioning accuracy 1 increment Acceleration Deceleration ramp sine square steepness programmable Interface to the servo controller Speed setpoint value analog 10V 10V Inputs Limit switch left right 24V NC or NO contact Reference switch 24V NC or NO contact Output
13. JetWeb JX2 SV1 Operator s Manual Article No 608 632 89 March 2002 Printed in Germany JetWeb Edition 1 1 JETTER AG reserves the right to make alterations to its products in the interest of technical progress These alterations need not to be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assumes no liability for printing errors or damages arising from such errors The brand names and product names used in this manual are trade marks or registered trade marks of the respective title owner Jetter AG JX2 SV 1 Module Jetter AG How to Contact us Jetter AG GraterstraBe 2 D 71642 Ludwigsburg Germany Phone Switchboard 49 7141 2550 0 Phone Sales 49 7141 2550 530 Phone Technical Hotline 49 7141 2550 444 Telefax 49 7141 2550 425 E Mail Sales sales jetter de E Mail Technical Hotline hotline jetter de URL http www jetter de This Operator s Manual is an Integral Part of the JetWeb Module JX2 SV1 Type Serial Year of construction Order To be entered by the customer Inventory Place of operation Copyright 2002 by Jetter AG All rights reserved JetWeb Significance of this user s manual This manual forms part of the JX2 SV1 module e and must be kept in a way that it is always at hand until the module will be disposed of Ifthe module is sold transferred o
14. Servo controller Servo amplifier Single turn encoder Slave TASK Timeout Token Appendix A program or a part of it A related sequence of steps carried out by program Level of a system overriding the field level A functional resistor generating defined states for measurements and evaluations Such a resistor pulls up the potential to a high level in contrast to a pull down transistor pulling down the potential to the ground A high speed memory for a group of bits placed in a microprocessor or in another electronic device where data can be buffered for a specific purpose At Jetter AG usually these are 24 bit wide storage positions ina remanent RAM The feedback of a part of the system output to the input of the same system In most cases feedback is intentionally used in a system but it can also be unwanted In electronics feedback is used for monitoring control and in amplifier circuits Setpoint actual difference of the position The part of a servo mechanism which controlled by the control circuit of the servo mechanism produces the actual mechanical output variable A control system the output variable of which is a mechanical movement A servo mechanism based ona control circuit for controlling the position velocity or acceleration of a mechanical element Controls a servo amplifier Controller and drive unit for a servo motor or hydraulics Absolute value encoder for 1 rotation A devi
15. V1 Module 25 3 7 Registers of the JX2 SV1 Module 28 3 7 1 Registers for Mode 2 Full Position Control 42 3 7 2 Registers for Mode 1 and 3 Digital Speed Control 47 4 Putting a servo controller axis into operation 55 4 1 Putting the speed control loop into operation 55 4 2 Putting the position control loop into operation 56 4 3 Position Controller Mode 2 Complete Position Control 57 5 Differences Between Modules JX2 SV1C and JX2 SV1 59 List of Appendices Appendix A Glossary 64 Appendix B List of abbreviations 66 Appendix C Index of Illustrations 67 Appendix D Index 68 Jetter AG 5 Table of Contents JetWeb 6 Jetter AG JX2 SV 1 Module Jetter AG 1 Safety Instructions 1 Safety Instructions The JX2 SV1 module reflects the present state of the art The JX2 SV1and JX2 SV1C modules fulfill the applicable safety regulations and standards Special emphasis was given to the safety of the users Only the term JX2 SV1 module will be used below for the modules JX2 SV1 and JX2 SV1C Differences will be explicitly described Of course the following regulations apply to the user e relevant accident prevention regulations e the generally recognised technical safety regulations e EC guidelines and other country specific regulations Usage as agreed upon Usage as agreed upon includes operation in accordance with the operating instructions The JX2 SV1 module is used to control machinery such as conveyors produ
16. age or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings You will be informed of various possible applications and will receive further useful suggestions Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow Illustration of PC and user interface keys Jetter AG JX2 SV 1 Module 1 Safety Instructions Ensure your own safety Isolate the JX2 SV1 module from the mains if maintenance works have to be carried out By doing so you will prevent accidents resulting from electric voltage and moving parts Instructions on EMI The noise immunity of a system corresponds to the weakest component of the system For this reason correct wiring and shielding of the cables is important Ey Important Jetter AG Measures for increasing immunity to interfering D gt The shielding must be fitted on both sides gt The entire circumference of the shielding must be pulled back behind the insulation and then extensively clamped under a strain relief gt When the signal is connected to terminal screws The strain relief must be directly and extensively connected to an earthed surface a Whe
17. anguage cf compare e g for example 66 Jetter AG JX2 SV1 module Appendix Appendix C Index of Illustrations Fig 1 Shielding in conformity with the EMC standards 10 Fig 2 System interconnect diagram 17 Fig 3 Acceleration ramp 37 Fig 4 Deceleration ramp 38 Fig 5 Destination window 39 Fig 6 Digital offset 40 Jetter AG 67 Appendix 68 Appendix D Index A Absolute value encoder SSI 26 Analog output 18 C Connection servo controller X1 X2 X3 15 D Digital outputs 16 E ENC inputs 20 Encoder frequency 15 Encoder with 15 pole SUB D connector 19 N N SV 1 C module 59 N SV 1 module 13 Number assignment of the modules 22 O Operating conditions 12 P Position controller mode 0 24 Position controller mode 1 24 Position controller mode 2 24 Position controller mode 3 24 R Register 1x560 60 1x561 61 1x562 61 1x563 61 1xy00 28 1xy01 30 1xy02 34 1xy03 35 JetWeb 1xy04 36 1xy05 37 1xy06 38 1xy07 39 1xy08 40 1xy09 41 1xy10 41 1xy11 42 1xy12 42 1xy13 43 1xy14 43 1xy15 43 1xy16 44 1xy17 44 1xy18 44 1xy19 45 1xy20 45 1xy21 46 1xy24 47 1xy25 47 1xy26 47 1xy27 47 1xy28 48 1xy29 48 1xy43 48 1xy64 49 1xy65 49 1xy66 50 1xy67 50 1xy68 51 1xy71 51 1xy80 51 1xy81 52 1xy85 52 1xy95 52 1xy96 53 1xy98 53 1xy99 54 Relative positioning 26 S Servo controller register 25 Shielding in conformity with the EMC standards 10 T Technical Data 15 Jetter AG
18. bit in one position The numbers in the gray code deviate from the usual binary numbers both codes being based on 0 and 1 The gray code is used for fault reduction when showing unit measurements as the individual ascending numbers differ only in one bit Integral component of a controller A rotary encoder which measures the position change Machine referencing is required here ahead of the measurement The minimum amount by which a digital variable increases Also referred to as an integral number or whole number A positive or negative whole number e g 37 50 or 764 In programming integer designates a data type which represents whole numbers Calculations with integers are considerably faster than calculations with floating point numbers Therefore integers are commonly used for counting and numbering procedures Integers can have a leading sign positive or negative or be unsigned positive In addition to this distinction is made between long and short integers depending on the number of bytes they occupy in the memory Short integers comprise a smaller range of numbers e g 32 768 to 32 767 than long integers do e g 2 147 483 648 to 2 147 483 647 At Jetter AG 24 Bit 8388608 to 8388607 Proportional component of a controller Jetter AG JX2 SV1 module Jetter AG Process Process level Pull Up resistors Register Feedback Tracking error Servo Servo mechanism
19. case of technical enquiries e g 116 Version 1 16 Jetter AG JX2 SV1 module 4 4 1 Putting the speed control loop into operation Putting a servo controller axis into operation Preparatory work eo VY w7 V 4 1 Jetter AG Disconnect the motor mechanically Check the function of the Emergency Stop switch Check the function of the limit switch Check the axis direction Check the function of the incremental encoder Adjust the servo amplifier in accordance with the manufacturer s description The following framework conditions must be met here e P gain 0 e Speed factor 0 e Offset factor 0 Putting the speed control loop into operation Disconnect the speed setpoint value input on the servo controller input voltage 0 V and enable the servo amplifier by way of a command with the register 1xy01 1 gt Relay on If the motor now turns at a high speed the tacho controller has reverse polarity After correct polarity is restored the motor stops or continues to drift slowly Now the motor shaft remains in this position and can be hardly moved out of it If the motor is oscillating the gain on the servo amplifier is set too high Now cancel the Enable signal with the register 1xy01 2 Relay off and connect the speed setpoint value input 55 4 Putting a servo controller axis into operation JetWeb 56 4 2 Yy Putting the position control loop into operation Defin
20. ce e g a JetControl 241 controller which is controlled or influenced by another device called Master e g a JetControl 243 controller An individual application or sub program which can be executed as an independent unit The amount of time the system will wait for a peripheral device to respond before it detects and reports this as an error An unambiguous structured data object or a message which continuously circulates between the node of a token ring network and describes the current state of the network 65 Appendix JetWeb Appendix B List of abbreviations A D Analogue Digital AC Alternating Current ADC Analogue to Digital Converter CPU Central Processing Unit D A Digital Analogue DAC Digital to Analogue Converter EMC Electro Magnetic Compatibility ENC Encoder Coder encryption unit ESD Electro Statical Discharge Gnd Ground GROUND O Input Output IEC International Electrotechnical Commission LC Liquid Crystal LCD Liquid Crystal Display LED Light Emitting Diode Li Limit Switch ms Millisecond NUM 25 Keyboard module for LCD 16 user interface PID Proportional Integral Differential controller PWM Pulse width Modulation SELV Safe Extremly Low Voltage Voltage up to 60 V galvanically separated from the network PLC Programmable Logical Controller SSI Syncronous Serial Interface SUB D Type name of a plug in connector SYMPAS Symbolische Programmablaufsprache symbolic program sequence l
21. ction machines and handling machines The JX2 SV1 module can logically be operated and controlled only with the basic modules of the NANO control system Power supply of the JX2 SV1 module must be made through the SELV module exclusively The use of other power supply modules is not admissible Usage other than agreed upon The JX2 SV1 module must not be used in technical systems which to a high degree have to be fail save e g ropeways and aeroplanes If the N SV1 module is to be operated under ambient conditions which differ from those stated in chapter 2 Operating Conditions page 11 consult the manufacturer first Who is permitted to operate the JX2 SV1 module Only instructed trained and authorised persons are permitted to operate the JX2 SV1 module Mounting and backfitting may only be carried out by specially trained personnel as specific know how will be required Maintenance of the JX2 SV1 module The JX2 SV1 module is maintenance free Therefore for the operation of the module no inspection or maintenance are required Shutting down and disposing of the JX2 SV1 module Decommissioning and disposal of the JX2 SV1 module are subject to the environmental legislation of the respective country in effect for the operator s premises 1 Safety Instructions Danger Caution IS Important JetWeb Descriptions of symbols This sign is to indicate a possible impending danger of serious physical dam
22. diately be paid to the reference switch If the positive limit switch is actuated the rotation direction of the axis is reversed and it continues to rotate in the negative direction until e The reference switch is found whereby the actual and setpoint positions are then set to 0 e The negative limit switch is actuated whereby the machine referencing ends the setpoint position is set the same as the actual position the controller is switched off and an error Bit 12 is reported in the status register 1xy00 Jetter AG JX2 SV1 Module Jetter AG 10 11 12 13 14 15 16 17 18 19 20 21 3 7 Registers of the JX2 SV1 Module Automatic machine referencing with the speed contained in register 1xy03 Start in the negative direction and immediately pay attention to the reference switch If the negative limit switch is actuated the rotation direction of the axis is reversed and it continues to rotate in the positive direction until e The reference switch is found and the actual and setpoint positions are then set to 0 e The positive limit switch is actuated whereby the machine referencing ends the setpoint position is set the same as the actual position the controller is switched off and an error Bit 12 is reported in the status register 1xy00 Automatic machine referencing with the speed contained in register 1xy03 Start in the positive direction to the positive limit switch and ig
23. e the polarities of the limit switches in the register 1xy04 Enter the encoder line count into register 1xy17 This realises the speed measurement Enter the maximum speed of the motor in the register 1xy18 An approximate value is sufficient in the first instance In the offset adjustment first enter the command 3 and then the command 1 into the register 1xy01 Define the positioning with the speed 0 Register 1xy03 0 Speed 0 Register 1xy02 500000 Position forwards OV is now present at the output of the servo amplifier The motor now rotates slowly Now adjust the servo amplifier with the offset potentiometer zero point so that the motor shaft comes to a standstill Applies only to direct current To define the rotation direction increase the speed to 300 with the register 1xy03 300 The motor must now rotate in the positive direction If it does not the connections on the motor and on the tacho generator must be swapped round Rearrange the Plus Minus cable on the motor and the Plus Minus cable on the tacho generator To adjust the speed increase the speed to 100 with the register 1xy03 1000 If the motor rotates rapidly in the positive direction set the required maximum speed of the motor with the potentiometer Speed on the servo amplifier The actual speed of the motor can be read off in the register 1xy12 The set value can now be entered into the register 1xy18 as well as also later in the initia
24. ective immedi ately Value range 0 2047 with 5 mV steps per bit Note oa The parameter Digital Offset is required to overcome friction OFFSET O OFFSET 1 OFFSET 10 Uy Uy 50 mV SmvV OV OV Uy 10V 10 100 1000 Travel increments 10V Fig 6 Digital offset 40 Jetter AG JX2 SV1 Module Jetter AG 3 7 Registers of the JX2 SV1 Module Function Description Read Present actual position of the axis in increments Value following a reset 0 Write Defines a new actual position The reference is lost Value range 8388608 8388607 Example WHEN REG 1xy09 gt 2000 THEN A 3 Function Description Read Presently valid value of the given parameter Value following a reset 750 Write Transfer of a new P gain output value of the po sition controller The new value is valid immedi ately i e also during a positioning cycle Value range 0 to 32767 The P gain is calculated with the following formula Output value A we nn REG 1x 10 Setpoint value Actual value y x 4 88mV 16 x 128 41 3 Servo Controller Module JX2 SV1 JetWeb 3 7 1 Registers for Mode 2 Full Position Control Description Present value of the parameter Value following a reset 0 Illegal 32768 32767 with the unit RPM if the register 1xy18 is correctly set Description
25. ed New value of the parameter Filter Frequency Function Read Write Value range 0 7812 1000000 0 7812 Hz bis 1 MHz This register allows filtering of transmitted signals of an incremental value encoder Signals with a higher frequency than stated in this register are not evaluated Jetter AG 61 5 Differences Between Modules JX2 SV1C and JX2 SV1 JetWeb 62 Jetter AG JX2 SV1 module Appendix Appendices Jetter AG 63 Appendix 64 Absolute value encoder Analogue Digital Electro Magnetic Compatibility Gray Code I component Incremental encoder Increment Integer P component JetWeb Appendix A Glossary Rotary encoder which completely measures the momentary position and not just the position change A parameter e g voltage which is steplessly adjustable Contrasted with digital Presentation of a parameter e g time in the form of characters or figures This parameter in digital representation can be changed in given steps only Contrasted with analogue Definition according to the EMC regulations EMC is the ability of a device to function in a satisfactory way in electro magnetic surroundings without causing electromagnetic disturbances itself which would be unbearable for other devices in these surroundings Also called cyclical binary code A binary method of representing numbers in which each number differs from the one before only in one unit
26. ent setpoint value 2048 2047 Ro 1xy26 I component of the speed 0 32767 R W controller 1xy27 Current limitation within 0 2047 R W the speed controller 1xy28 Present l component of 30000 30000 R W the speed controller 1xy29 Limitation of the I compo 0 30000 R W nent within the speed con troller Register for the absolute value encoder SSI 1xy64 Word size of the 1 24 R W absolute value encoder 1xy65 Offset to the reference 8388608 8388607 R W position 1xy66 Bit number for the 1 23 R W word size Relative positioning 1xy67 Relative position in the rel 8388608 8388607 R W ative mode 1xy68 Last setpoint position in 8388608 8388607 R W the relative mode 1xy71 Move reference point 8388608 8388607 R W 1xy80 Move deceleration ramp 0 8388607 R W Incremental Other registers 1xy43 Axis slave receives actu 21 22 31 41 42 R W al position 102 116 1xy78 Time basis table mode in 0 32767 R W 0 5 ms 1xy81 Switch off outputs below 0 2047 0 10 V R W an output value 1xy85 Absolute maximum posi 0 7490000 R W tion endless positioning relative positioning 26 Jetter AG JX2 SV1 Module Jetter AG 3 6 Register Overview JX2 SV1 Module 1xy95 Present position of the 8388608 8388607 Ro Master 1xy96 Present speed of the Mas 32768 32767 Ro ter 1xy98 Endless positioning and 0 3 R W relative positioning mode
27. ers Acceleration Ramp Deceleration Ramp and Digital Offset by way of trial positioning To do so carry out several positioning cycles back and forth Position Controller Mode 2 Complete Position Control In contrast to the mode 0 the SV module in mode 2 provides complete position control This requires the value 2 to be written into register 1xy98 when the unit is stationary In this case the positioning must function in the same way as in the mode 0 The P gain of the position control is now also set through register 1xy10 If the positioning runs unevenly or if the axis oscillates the value in the register 1xy10 must be reduced Otherwise to adjust the register the value is increased until the axis begins to run unevenly or oscillate Now reduce the value in the register 1xy10 so that the axis runs smoothly 57 4 Putting a servo controller axis into operation JetWeb 58 Jetter AG JX2 SV1 module Jetter AG 5 Differences Between Modules JX2 SV1C and JX2 SV1 JX2 SV1 module JX2 SV1C module Max encoder frequency K1 K2 Max encoder frequency K1 K2 fixed 100 kHz 24 Volt with max 500 kHz 5 Volt with max 1 MHz An additional counter module for evaluating incremental encoders and absolute value encoders is used in module JX2 SV1C This extends the functionality of the module by e Filtering incremental encoder signals in a value range of 7812 Hz up to 1 MHz Single and double eva
28. for the given parameter Value range 0 32767 The maximum speed which can be reached by the servo controller motor combination is to be entered into this register Important The product from the registers 1xy17 and 1xy18 must not exceed the value 15 359 000 as a higher value causes malfunctions of the servo module Jetter AG JX2 SV1 Module Jetter AG 3 7 Registers of the JX2 SV1 Module Note If the setpoint speed of 3000 rpm should be reached for an application set a value of e g 3200 rpm on the servo amplifier and in the register 1xy18 so that there is a reserve in mode 2 and mode 3 for compensating the tracking error Function Description Read Present value of the given parameter Value following a reset 0 increments Write Illegal Value range 8388608 8388607 The value of the register indicates by how many increments the axis deviates from the position of the virtual axis This functions only in modes 2 and modes 3 Function Description Read Present value of the given parameter Value following a reset 8388607 increments Write Defines a new value for the tracking error limit Value range 0 8388607 This register defines the value from which the tracking error recognition function reacts and signals a tracking error in the status register Bit 3 1 A tracking error is recognised when the amount of the value in register 1x
29. gal Value range 2048 2047 Is calculated by the tachometer Function Description Read Present value of the given parameter Value following a reset 1000 Write Defines a new value Value range 0 32767 Function Description Read Present value of the given parameter Value following a reset 2047 corresponds to an output value of 10 V Write Defines a new value Value range 0 2047 Jetter AG 47 3 Servo Controller Module JX2 SV1 JetWeb Function Description Read Present value of the I component Value following a reset 0 Write Defines a new value Value range 30000 30000 Function Description Read Present I component limitation Value following a reset 30000 Write Defines a new value for limitation of the l component Value range 0 30000 Function Description Read Present module number of the Masters only intelligent modules are taken into account Value following a reset 0 Write New module number of the Master Value range 21 42 The Master is an intelligent module 102 106 The Master is a CNT module Jetter AG JX2 SV1 Module N Jetter AG 3 7 Registers of the JX2 SV1 Module Function Description Read Present word size Value following a reset 0 no absolute value en
30. hine referencing cycle the axis stops at the reference point Stop at reference point OFF the axis does not stop at the reference point during a machine referencing cycle instead it continues to travel to the setpoint Reserved Activate the print mark recognition mode Deactivate the print mark recognition mode Machine referencing coarse ON Machine referencing coarse OFF Master axis in servo controller mode this command is given in the Master Reserved Switch off function of command 30 and register 1xy43 This command can be used in both the Master and the Slave Reserved Servo controller ON Servo controller OFF Servo controller mode via table ON Servo controller mode via table OFF Clockwise rotation Always move to the right when using single turn rotary encoders Counter clockwise rotation Always move to the left when using single turn rotary encoders Optimised path When using single turn rotary encoders al ways move to position on the shortest path The commands 48 to 50 for using single turn rotary encoders are deactivated Reserved Endless positioning in the positive direction is started and is only valid for this single positioning cycle Endless positioning in the negative direction is started and is only valid for this single positioning cycle Reserved Unipolar DAC output Bipolar DAC output Reserved Digital output 1 ON Jetter AG JX2 SV1 Module 3 7 Registers
31. ion Description Read Value of the last deceleration ramp shift Value following a reset 0 Write Defines a new value of the given parameter Value range 0 8888607 increments With this register it is possible to shift the deceleration ramp towards the start position The remaining travel is then traversed with the analog output value which corresponds to the value in the register 1xy08 In certain circumstances this can be of interest for positioning with a frequency converter 51 3 Servo Controller Module JX2 SV1 JetWeb Function Description Read Value of the last default value for the lower limit Value following a reset 0 Write Defines a new value of the given parameter Value range 0 2047 0 10V When travelling with a unipolar DAC output both digital outputs become inactive if the DAC output value falls below the value in this register This enables e g a frequency converter to be rapidly switched to braking operation if its speed setpoint value becomes too low Function Description Read Present value of the given parameter Value following a reset 7490000 Write Defines a new value of the given parameter Value range 0 7490000 For the relative or endless positioning the value of register 1xy85 is set to 0 as soon as the absolute position has exceeded the maximum value 7490000 of register 1xy85 Fu
32. lisation part of the program Define the counting direction of the incremental encoder Cancel the Enable signal of the servo amplifier with the command 2 With the command 3 set the reference point and turn the motor shaft in the positive direction If the incremental encoder counts in the positive direction in the case of register 1xy09 the incremental encoder is correctly connected Otherwise the connections K1 and K2 must be swapped round K1 and K2 must also be swapped round in the case of the differential inputs Now again issue the command 1 to set the setpoint and actual positions to the same value Again issue the Enable signal with the command 3 The motor is now stationary If it oscillates the gain factor in the register 1xy10 must be reduced Jetter AG JX2 SV1 module Jetter AG 4 3 4 3 Position Controller Mode 2 Complete Position Check the limit and reference switches Activate the positive limit switch To do this Bit 5 must be set in the status register 1xy00 and deleted again if the positive limit switch is no longer actuated Depending on the bit status and the corresponding limit switch state it is possible to examine the correctness of the polarity definition in the register 1xy04 The same procedure applies to the negative limit switch with status bit 4 and the reference switch with the status bit 6 Reconnect the motor mechanically and readjust the servo gain if necessary Define the paramet
33. luation of the signal encoders e Variation of the clock frequency of the SSI interface between 55 kHz and 1 MHz This is important for different cable lengths of the module JX2 SV1 to the absolute value encoder The standard clock frequency has a fixed value of 333 kHz without the extensions of the JX2 SV1C module e Option to change between binary and gray code in the case of the SSI absolute value encoder e Using the test bit of the SSI absolute value encoder Note Additional registers and commands are required in order to use the additional counter These registers are defined with the number 5 at the third point in the register designation When using the JX2 SV1C module the additionally installed counter is automatically used Use of the counter is indicated by Bit 7 of the register 1x560 59 5 Differences Between Modules JX2 SV1C and JX2 SV1 JetWeb Description Present value of the given parameter Value following a reset 11 4 fold evaluation of the incremental value encoder Gray Code for SSI without test bit Defines the values for the counter calibration Function Read Write Value range bit oriented 7 bit 0 59 Meaning of the individual bits Bit 1 0 Bit 2 Bit 3 Bit 4 Bit 5 Bit 5 Bit 7 60 Evaluation of the incremental value encoder 00 01 10 11 0 0 ll O ol O ll Pulse direction mode Single evaluation Double eval
34. n male connectors are used Only use metallised connectors e g SUB D with metallised housing Please take care of direct connection here as well gt On principle separate signal and voltage connections spatially 1 Safety Instructions JetWeb Male female SUB D connectors 9 15 or 25 pins with metallised housing Fig 1 Shielding in conformity with the EMC standards ES Important To avoid malfunctions the following must be ensured gt The shielding must be extensively clamped under a strain relief gt The connection between the housing and the shielding must be electrically conductive The distance between unshielded conductor ends must be as short as possible Modifications and alterations to the module Due to safety reasons no modifications and alterations to the JX2 SV1 module and its functions are allowed Any modifications to the module JX2 SV1 not expressly authorised by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specifically designed for the JX2 SV1 module Parts and equipment of other manufacturers are not tested on our part and are therefore not released by us The installation of such parts may impair the safety and the proper functioning of the JX2 SV1 module For any damages resulting from the use of non original parts and equipment any claims with respect to liability of Jetter AG are excluded 10 Jetter AG JX2 SV 1 Module Jette
35. n the case of Mode 0 the axis moves outside the Acceleration and Deceleration Ramps with a constant default speed Register 1xy03 towards the target point When the target point is reached the position is controlled to the target position to achieve this the difference between the setpoint and actual positions is multi plied by the gain factor Register 1xy10 The output setpoint voltage is calculated on the basis of the following formula A Setpoint value Actual value REG 1xy10 Output value 16 138 x 4 88mV Mode 1 includes Mode 0 and also uses the digital speed control see Mode 3 Mode 2 realises a full position control over the full distance The current setpoint position is calculated for each time and the setpoint actual difference is formed The product with the gain factor defines the speed setpoint value Calculation of the current setpoint position is performed with a software or virtual axis which mathematically runs the required speed profile see Section 3 7 1 Registers for Mode 2 Full Position Control page 42 for details This corresponds to the track ing error monitoring Mode 3 includes Mode 2 and also uses the digital speed control The requirement is The speed controller in the servo amplifier must be bypassed See Section 3 7 2 Registers for Mode 1 and 3 Digital Speed Control page 47 Jetter AG JX2 SV1 Module Jetter AG 3 6 Register Overview JX2 SV1 Module
36. nction Description Read Present value of the given parameter Value following a reset 0 Write Illegal Value range 8388608 8388607 52 Jetter AG JX2 SV1 Module Jetter AG 3 7 Registers of the JX2 SV1 Module Function Description Read Present value of the given parameter Value following a reset 0 Write Illegal Value range 8388608 8388607 Function Description Read Present mode of the JX2 SV1 module Value following a reset 0 Write Defines a new mode with which the JX2 SV1 mo dule works Value range bit oriented 2 Bit Note The JX2 SV1 module can be operated in various modes Register 1xy98 0 Register 1xy98 1 Register 1xy98 2 Register 1xy98 3 Position control only for AXARR Mode P with digital controller Full position control without digital speed con troller Full position control with digital soeed controller with BitO 1 tachometer in the JX2 SV1 module is addressed Bit 1 1 full position control and tracking error recognition are enabled 53 3 Servo Controller Module JX2 SV1 54 JetWeb Function Description Read Present version number Value following a reset Version of the operating system Write Illegal Value range 23 bit signed integer The version number of the operating system can be read out of this register by the JX2 SV1 module The version number must be stated in the
37. of the JX2 SV1 Module 75 Digital output 1 OFF 76 Digital output 2 ON 77 Digital output 2 OFF 78 Linear ramps 79 Sine square ramps Default setting after Reset Jetter AG 33 3 Servo Controller Module JX2 SV1 JetWeb 34 Function Description Read Present value of the given parameter Value following a reset 0 Write Defines a new setpoint position for the axis and at the same time starts the positioning to this set point position Value range 8388608 8388607 Examples 1 THEN LOAD_REGISTER 1xy02 with 10000 Starts the positioning of the axis to the absolute position 10000 increments 2 THEN DISPLAY_REG 0 cp 1 Reg 1xy02 Shows the momentary setpoint position of the axis in the top left corner on user interface LCD9 LCD10 or LCD12 3 THEN Starts the positioning in absolute mode of the axis to the relative position 100 i e continue 100 increments Note This register can also be changed at any time during positioning The positioning process then refers to the new value The axis does not stop in this positioning process and a reversal of the axis rotation direction takes place jerkily Jetter AG JX2 SV1 Module 3 7 Registers of the JX2 SV1 Module Function Description Read Present setpoint speed of the axis Value following a reset 300 0 Write Transfer of a new setpoint speed for the axis Value range 0 32767 the u
38. on Read Write Value range 1 32767 If the register 1xy06 is written into during a positioning this has no effect on the ongoing positioning Only at the start of the next positioning the new value for the deceleration ramp is used i e when writing into register 1xy02 or in the case of the POS command Wit Dwu 3000 1000 0 1000 2000 3000 _ _ _ _ _ _ _1 _ _ _ _ _ _ _ _ _ _ 3000 2000 1000 0 Time ms 10V Fig 4 Deceleration ramp Jetter AG 38 JX2 SV1 Module 3 7 Registers of the JX2 SV1 Module Function Description Read Presently valid value of the given parameter Value following a reset 0 increments Write 0 8388607 Value range 0 8388607 Using the parameter destination window area accelerates the program sequence as the condition for progression WHEN is then fulfilled before the exact target position is reached Despite this the exact target position is still aimed for Reg 1xy00 Bit 2 ey 0 ht 90 95 100 105 110 Travel Setpoint position l Destination window l Reg 1xy07 l Fig 5 Destination window Jetter AG 39 3 Servo Controller Module JX2 SV1 JetWeb Function Description Read Presently valid value of the given parameter Value following a reset 0 Write Transfer of a new value for the given parameter This new value is saved and is eff
39. pper limit is defined with the register 1xy21 Default 1000 The value is immediately valid and results in e Presently no movement of the axis The new value is saved for the next positioning cycle e Positioning currently running The new setpoint speed is accepted The speed change does not take place suddenly The change takes place with the acceleration ramp defined in the register 1xy05 This applies to the increase or reduction of the setpoint speed Examples 1 THEN LOAD_REGISTER 1xy03 with 20 Results in travel at creep rate with approx 2 of the maximum speed value 2 THEN REG 1xy03 REG 1xy03 80 Increases the speed of the axis to 10 of the maximum speed value Jetter AG 35 3 Servo Controller Module JX2 SV1 JetWeb Description Present value of the given parameter Value following a reset 131 Defines a new setting of the inputs for reference switches and limit switches Function Read Read Value range bit oriented 7 Bit Meaning of the individual bits Bit 0 0 1 Bit 1 0 1 Bit 2 0 1 Bit 3 0 1 Bit 4 0 1 Bit 5 0 1 Bit 6 0 1 Bit 7 0 1 36 Reference input O0V active Reference input 24V active Limit switch 0V active NC contact Limit switch 24V active NO contact KO input high active KO input low active Standard rotation direction rotation direction depends on the encoder connection Rotation
40. r AG 1 Safety Instructions Malfunctions Malfunctions or other damages are to be reported to an authorised person at once Safeguard the JX2 SV1 module against misuse or accidental use Only qualified experts are allowed to carry out repairs Safety and protective devices e g the barrier and cover of the terminal box must not in any case be shunted or by passed Dismantled protective equipment must be reattached prior to commissioning and checked for proper functioning Information signs and labels Writings information signs and labels always have to be observed and kept readable Damaged or unreadable information signs and labels are to be exchanged Residual dangers Danger resulting from electric shock If the JX2 SV1 module is not isolated from the mains for example during maintenance and repair works you can suffer from an electric shock Please observe the following measures in order to avoid injuries muscle cramps burns as well as possibly unconsciousness and respiratory standstill gt Disconnect the JX2 SV1 module from the power mains pull out the mains plug when working on the controller D gt Have works on the electric and electronic system performed by qualified personnel only 11 2 Operating Conditions 12 JetWeb 2 Operating Conditions Condition Comment Ambient Temperature 0 4 50 C Storing temperature 10 70 C Air humidity 5 95 R
41. r lent this manual must be handed over In any case you encounter difficulties to clearly understand the manual please contact the manufacturer We would appreciate any kind of suggestions and contributions on your part This will help us to produce manuals that are more user friendly and to address your wishes and requirements From this JX2 SV1 module may result inherent residual risks to persons and physical assets For this reason any person who has to deal with the operation transport installation maintenance and repair of the JX2 SV1 module must have been familiarised with it and must be aware of these dangers Therefore this person must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing Jetter AG JX2 SV 1 Module Table of Contents Table of Contents 1 Safety Instructions 7 2 Operating Conditions 12 3 Servo Controller Module JX2 SV1 13 3 1 Mounting Dimensions 13 3 1 1 Front View 13 3 1 2 Side View 14 3 1 3 Top View 14 3 2 Technical Data 15 3 3 Connection Diagram 17 3 4 Description of LEDs 21 3 5 Software Description 22 3 5 1 Axis Numbering 22 3 5 2 Register Numbering 23 3 5 3 Position Control Modes Mode 0 1 2 3 24 3 6 Register Overview JX2 S
42. s 2 digital outputs Housing Aluminium powder coated black see Section 5 Differences Between Modules JX2 SV1C and JX2 SV1 page 59 0 V X10 Gnd 24 V X10 Voltage supply logic 24 V X31 Power supply Output 1and output 2 1 X31 Digital output positive direction 2 X31 Digital output negative direction Li X21 Positive limit switch Li X21 Negative limit switch Ref X21 Reference switch Jetter AG 15 3 Servo Controller Module JX2 SV1 16 JetWeb Type of outputs Transistor pnp Nominal voltage DC 24 V Voltage range 20 30 V Load current max 0 5 A output Electrical isolation None Protective circuit Overload overvoltage overtemperature Protection against inductive loads yes Signal voltage ON typ Vsupply 1 5V Jetter AG JX2 SV1 Module 3 3 Connection Diagram 3 3 Connection Diagram Incremental encoder Incremental 5V encoder Gnd 15 pole KI Sub D connector K2 KO K1 K2 KO Incremental encoder 24V Incremental Gnd encoder KI KUL 15 pole K2 K2 LLP Sub D connector KO KO pL Enable Setpoint value setpoint value 9 pole Sub D connector Differential input Servo controller M Mains connection X3 Limit switch Ref switch Limit switch Mechanical end stop Mechanical end stop l l i l ez Negative sk Positive gt
43. s the axis should continue to be positioned if 24 Volts are applied to the start input and the axis is in the AXARR state Jetter AG JX2 SV1 Module Jetter AG 3 7 Registers of the JX2 SV1 Module Function Description Read Value of the last setpoint position Value following a reset 0 Write Defines a new value of the given parameter Value range 8388608 8388607 If the process was interrupted during the relative positioning by a AXARR command the absolute setpoint position of the last positioning can be read in the register 1xy68 in order to recommence the positioning With the command 19 the axis moves to the absolute position value given in registers 1xy68 1xy67 or registers 1xy68 1xy02 It is then possible to continue with normal relative positioning Function Description Read Value of the last reference point shift Value following a reset 0 Write Defines a new value of the given parameter Value range 8388608 8388607 Register 1xy71 at the same time writes into register 1xy02 Setpoint Position and register 1xy09 Actual Position without an axis movement having to be carried out If write access is made to register 1xy71 the value is transferred directly to the setpoint position The actual position is shifted by the difference between the old and the new setpoint postion so that the setpoint actual difference is maintained Funct
44. uation 4 fold evaluation Setpoint adjustment Adjustment binary code for evaluation of the SSI absolute value encoder Adjustment gray code for evaluation of the SSI absolute value encoder No use of the test bit for the SSI absolute value encoder Use of the test bit for the SSI absolute value encoder Uneven test bit when Bit 4 1 is set Even test bit when Bit 4 1 is set No function Additional counter active Additional counter Jetter AG JX2 SV1 module Description Present value of the parameter Test Bit Counter Value following a reset 0 Illegal Function Read Write Value range 8388608 8388607 If an SSI absolute value encoder is used with a test bit and if the bit 4 of register 1x560 is set the register 1x561 is displayed in the case of a test bit error The register 1x561 must be reset by the application program Description Present value of the parameter Clock Generator Frequency Value following a reset 75000 75 kHz New value of the parameter Clock Generator Frequency Function Read Write Value range 55000 1000000 55 kHz bis 1 MHz The register allows transfer of a clock frequency in the range 55 kHz to 1 MHz toa SSI absolute value encoder Description Present value of the parameter Filter Frequency of the Incremental Value Encoder Value following a reset 0 filter deactivat
45. was active LED Pos The axis has reached the position The LED lights up as soon as the axis has reached the destination window The LED goes out as soon as a new positioning is started X flashes when an update of the operating system is being load ed K1 Encoder channel 1 K2 Encoder channel 2 KO Encoder channel 0 5V 5V Logic voltage of the servo module is OK The LEDs for the limit switches have four display modes e lights up continuously The axis is at the limit switch the limit switch is active e even flashing The limit switch was active is no longer active and no new positioning was started e uneven flashing The software limit switch was triggered e even flashing of the LED Pos Tracking error recognised Jetter AG 21 3 Servo Controller Module JX2 SV1 Number assignment of the modules 22 JetWeb 3 5 Software Description 3 5 1 The example of the xy axis is used to explain the axis numbering system Axis Numbering e The first digit defines the number of the module at which the module JX2 SV1 is located x Module number e The second digit defines the number of the axis which is to be addressed on the module y Axis number In the case of module JX2 SV1 the axis number is always 1 and in the case of module JX2 SM2 it is either 1 or 2 Note To determine the module number only the intelligent modules and no non intelligent modules are counted See the table below
46. y19 becomes greater than the value in register 1xy20 If a tracking error is recognised enabling of the axis can be cancelled and the axis can be deenergised with Bit 17 of the status register Bit 17 0 Tracking error recognition cancels axis enabling 45 3 Servo Controller Module JX2 SV1 46 N oa oa JetWeb Function Description Read Present value of the given parameter Value following a reset 1000 Write Defines a new reference value for the values in Register 1xy03 Value range 0 32767 Value Comment 1000 The details in register 1xy03 are per mil figures of the maximum setpoint speed 1000 corresponds to the maximum speed of the axis 100 The details in register 1xy03 are percentages of the maximum setpoint speed 100 corresponds to the maximum speed of the axis 1xy21 1xy18 The values in the register 1xy03 are given in rpm Note Other reference values can be defined accordingly in the register 1xy21 Jetter AG JX2 SV1 Module 3 7 Registers of the JX2 SV1 Module 3 7 2 Registers for Mode 1 and 3 Digital Speed Control Function Description Read Present value of the given parameter Value following a reset 70 Write Defines a new value of the given parameter Value range 0 32767 Function Description Read Present value of the given parameter Value following a reset 0 Write Ille
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