Operating instructions

2 Application manual Positioning 04/08
TABLE OF CONTENTS
1 General Safety Instructions and Information on Use.................................................. 5
1.1 General Information .............................................................................................. 5
1.2 Purpose of the Frequency Inverters...................................................................... 6
1.3 Transport and Storage........................................................................................... 6
1.4 Handling and Installation...................................................................................... 6
1.5 Electrical Connection ............................................................................................. 7
1.6 Information on Use................................................................................................ 7
1.7 Maintenance and Service....................................................................................... 7
2 System description....................................................................................................... 8
2.1 Terminal diagram ACTIVE Cube (ACU) series........................................................ 9
3 Commissioning of the Frequency Inverter................................................................. 10
3.1 Switching on Mains Voltage ................................................................................ 10
3.2 Commissioning of the motor ............................................................................... 11
3.3 Control Inputs and Outputs................................................................................. 12
3.3.1 Factory settings of the digital inputs ...................................................................... 13
3.4 Digital inputs for speed sensor inputs or for other functions ............................. 15
3.5 Positioning - commissioning procedure .............................................................. 16
3.5.1 Getting started .................................................................................................... 18
3.5.1.1 Motor encoder is position encoder at the same time......................................... 18
3.5.1.2 Two different encoders for motor and positioning ............................................ 19
3.5.1.3 No motor encoder, external encoder for positioning ......................................... 20
3.5.1.4 Consider the operation mode settings for speed sensor input............................ 20
3.5.2 Reference system ................................................................................................ 21
3.5.3 Setting up a motion profile ................................................................................... 24
3.5.4 Control via software............................................................................................. 25
3.5.5 Write index and read index for the motion blocks table ........................................... 26
4 Operation Modes of the Positioning........................................................................... 28
4.1 General Issues about Operation Modes .............................................................. 28
4.1.1 Assignment of digital inputs.................................................................................. 29
4.1.1.1 Instructions on MFI1D (multifunction input)..................................................... 30
4.1.2 Operation modes for controlling the positioning operation ....................................... 31
4.1.3 Input and output signals ...................................................................................... 33
4.2 Homing ................................................................................................................ 34
4.2.1 Automatic of manual start of homing..................................................................... 34
4.2.2 Input and output signals for homing...................................................................... 35
4.2.3 Homing mode......................................................................................................37
4.2.4 Home offset ........................................................................................................38
4.2.5 Speed and acceleration of homing operation .......................................................... 38
4.3 Positioning Mode ................................................................................................. 39
4.3.1 Motion block management.................................................................................... 39
4.3.2 VTable................................................................................................................40
4.4 Positioning Mode And Motion Block Data............................................................ 41
4.4.1 Motion Mode .......................................................................................................41
4.4.1.1 Motion mode "absolute".................................................................................44
4.4.1.2 Motion mode "relative" ..................................................................................44
4.4.1.3 Motion mode "touch probe" (sensor) .............................................................. 45
4.4.1.4 Motion mode "velocity".................................................................................. 47
4.4.1.5 Combination with electronic gear.................................................................... 48
Application manual Positioning 04/082