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9400 Technology applications | Table positioning Overview of the technical documentation for Servo Drives 9400 Overview of the technical documentation for Servo Drives 9400 Project planning, selecting & ordering Legend: 9400 Hardware Manual Printed documentation Catalogue / electronic catalogue (DSC - Drive Solution Catalogue) Online documentation (PDF/Engineer online help) Mounting & wiring Abbreviations used: MA 9400 StateLine/HighLine BA Operating Instructions MA for communication
9400 Technology applications | Table positioning Inhalt Inhalt 1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9400 Technology applications | Table positioning Inhalt 4 5.14 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.14.1 ActualSpeedScaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.14.2 ApplicationError1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.14.3 ApplicationError2 . . . . . . . . . . .
9400 Technology applications | Table positioning About this documentation 1 About this documentation This documentation contains information about the technology application "Table positioning" for the Servo Drives 9400 series. Note! This documentation supplements the mounting instructions supplied with the controller, the hardware manual and the software manual for the controller.
9400 Technology applications | Table positioning About this documentation Conventions used 1.1 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Writing Examples/notes Numbers Decimal separator Point The decimal point is always used. Example: 1234.56 Text Program name »« Window pane Italics The Message window... / the Options dialog box... Control element Bold The OK button... / The Copy command...
9400 Technology applications | Table positioning About this documentation Definition of notes used 1.
9400 Technology applications | Table positioning Brief description 2 Brief description The technology application "table positioning" enables the drive to execute parameterisable travel profiles. The sequence is controlled by a superimposed control (e.g. PLC). Note! With the exception of the sequence table, the functionality of the table positioning is identical to the positioning sequence control.
400 Technology applications | Table positioning Brief description Required license/delivery Available in every license stage. The technology application can be selected in the »Engineer« application catalog. EDS94TA10050xxxx EN 1.
9400 Technology applications | Table positioning Introduction 3 Introduction Positioning means to move a workpiece/tool or a piece of material from a starting position n to a defined targeto. For this purpose a travel profile is to be provided in the controller, for which at least the following profile parameters are required: v [m/s] A B C D t [s] Symbol Profile parameters A Position Target position or path distance to be traversed.
9400 Technology applications | Table positioning Application example 4 Application example Master control Sequence control for machine (PLC) Positioning control PROFIBUS Drive 1 [4-1] Drive 2 Table positioning Table positioning Firmware Firmware Motion Control - basic drive functions: • Positioning • Homing • Manual jog • etc. Motion Control - basic drive functions: • Positioning • Homing • Manual jog • etc.
9400 Technology applications | Table positioning Parameter setting & configuration Basic signal flow 5 Parameter setting & configuration 5.1 Basic signal flow The functional core of the table positioning is the profile data management which transmits the required profile data to the basic drive function "Positioning". The true sequence control is carried out by a master control (e.g. PLC) which communicates with the application via predefined ports.
9400 Technology applications | Table positioning Parameter setting & configuration Assignment of the I/O terminals 5.2 Assignment of the I/O terminals 5.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the "Table positioning" technology application.
9400 Technology applications | Table positioning Parameter setting & configuration Assignment of the I/O terminals 5.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the "Table positioning" technology application. The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
9400 Technology applications | Table positioning Parameter setting & configuration Basic settings 5.3 Basic settings 5.3.1 Machine parameters The machine parameters describe e.g. the motor end of the mechanics used. M The setting of the machine parameters in the »Engineer» is carried out on the Application parameters tab in the dialog level Overview Machine parameters.
9400 Technology applications | Table positioning Parameter setting & configuration Basic settings 5.3.2 Traversing range By setting the traversing range the machine type/measuring system is set: Traversing range Unlimited The drive can traverse optionally in both directions without reaching limitations. • Positioning here generally is effected in the positioning modes "Relative with/without TP" or "Speed with/ without TP".
9400 Technology applications | Table positioning Parameter setting & configuration Basic settings 5.3.3 Position control In the dialog level Overview LS_Positioner and the subordinate dialog levels, you can adapt the parameters for the position control, if necessary. Parameter Lenze setting Value Unit C00254 Phase controller gain 20.00 1/s C02553 Position controller gain 20.00 1/s C02556 Position controller limitation EDS94TA10050xxxx EN 1.2 - 03/2010 L 214748.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management 5.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management Symbol Profile parameters (Standard) profile Profile data set (profile no. 1 ... 75) in which the profile data are stored. Mode Selection of the positioning mode. Positioning modes ( 22) A Position Target position or path distance to be traversed. The position is either indicated as absolute or relative position.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management Symbol Profile parameters S-ramp time When the S-ramp time is selected for a profile, it is executed with S-shaped ramps, e.g. acceleration and deceleration processes are started smoothly to reduce the jerk and thus prevent the drive components from damage. • The acceleration/deceleration specified in the profile are only reached after the defined S-ramp time has elapsed.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management 5.4.2 Variable tables To simplify parameter handling, the four most important physical sizes for profile parameters are stored in separate "variable tables". Unit VTPOS Positions VTSPEED Speeds VTACC Acceleration/ deceleration VTJERK S-ramp times unit unit/s unit/s2 s Data format Memory locations Code For profile parameters DINT with four decimal positions 75 50 50 50 C04711/1...
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management If e.g. in case of a profile linkage, several profiles are to be executed with the same speed, the corresponding profile parameters "speed" can all refer to the same table position. For an easier assignment and identification of the entered values, each table position can be optionally provided with a comment in the »Engineer«. 5.4.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management Positioning mode 7 Speed Continuous constant travel. • Only possible with "unlimited" and "limited" traversing range • This mode does not approach a defined position, but follows the profile. • Acceleration and deceleration are based on profile values. • The traversing direction is defined by the sign of the traversing speed. • Stopped through break signal.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management 5.4.4 Positioning with final speed If a positioning process with a final speed other than zero is carried out, a velocity changeover / overchange can be realised, i.e. a second positioning process is started immediately once the target position is reached, and the drive does not come to a standstill at the first target position.
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management 5.4.5 Touch probe positioning In the touch probe positioning mode, the profile is first executed according to the Profile parameters set. If a touch probe is detected during the process, it is automatically changed to the profile specified in the profile parameter "Sequence profile with TP".
9400 Technology applications | Table positioning Parameter setting & configuration Profile data management 5.4.6 "Teach" function The "Teach" function of the profile data management enables the teaching of positions, speeds, accelerations and S-ramp times. The basic function "Manual jog" serves, for instance to approach the desired position manually and transmits it via "Teaching" to the variable table for positions.
9400 Technology applications | Table positioning Parameter setting & configuration Speed/acceleration override 5.
9400 Technology applications | Table positioning Parameter setting & configuration Following error monitoring 5.6 Following error monitoring In the Lenze setting a two-stage following error monitoring is active. j n Switching threshold o Hysteresis [5-9] If the parameterisable switching threshold 1 is exceeded, a warning appears. If the higher-set switching threshold 2 is exceeded, a "warning locked" appears.
9400 Technology applications | Table positioning Parameter setting & configuration Manual jog 5.7 Manual jog For the setting-up operation and "Teaching" of positions the basic function "Manual jog" is available. Basic drive functions LS_Homing LS_Stop n LS_Brake internal status machine Manual jog is controlled via parameters (e. g. via HMI). -100 0 100 200 t Manual jog can always be carried out if the sequence control is not active and no other basic function and no error status are active.
9400 Technology applications | Table positioning Parameter setting & configuration Quick stop 5.8 Quick stop The basic function "Quick stop" brakes the drive to standstill within the deceleration time set for the quick stop function after a corresponding request independent of the setpoint selection. The sequence control is interrupted.
9400 Technology applications | Table positioning Parameter setting & configuration Limiter 5.9 Limiter Status machine (basic drive functions) The basic function "Limiter" monitors the travel range limits via limit switches and parameterisable software limit positions and after an according request from the safety module can lead the drive into defined limit ranges. Furthermore higherlevel limit values for travel profiles can be entered and activated.
9400 Technology applications | Table positioning Parameter setting & configuration Limiter Parameter Lenze setting Value Unit For manual jog only C02713 Max. manual jog distance 360.0000 unit Limited speed 1 ... 4 (only for homing, positioning, and manual jog) C02708/1 Limited speed 1 C02710/1 Delay lim. speed 1 C02711/1 S-ramp time lim. speed 1 C02708/2 Limited speed 2 C02710/2 Delay lim. speed 2 3600.0000 unit/s 0.0100 unit/s2 7200.0000 unit/s 0.0100 unit/s2 C02711/2 S-ramp time lim.
9400 Technology applications | Table positioning Parameter setting & configuration Brake control 5.10 Brake control The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. LS_Brake In the simplest case, an optionally available brake module is used. Status machine (basic drive functions) Alternatively the holding brake can also be controlled and monitored via the digital inputs/outputs.
9400 Technology applications | Table positioning Parameter setting & configuration Brake control Control/setpoint inputs of the function Lenze setting Signal configuration Control/setpoint input FALSE Open brake (release) C03165/1 FALSE Activate starting torque 2 C03165/2 FALSE Brake status signal C03165/4 FALSE Keep open brake at standstill C03165/3 FALSE Activate brake test C03165/5 0 % Additional torque C03166 FALSE Grind brake 34 (Multiplexer parameters) L C03165/6 EDS9
9400 Technology applications | Table positioning Parameter setting & configuration Control of the program flow via predefined ports 5.11 Control of the program flow via predefined ports For a sequence control by a higher-level control (e.g. PLC) the application is provided with predefined ports the signals of which are linked with the setpoint and control inputs of the application via multiplexer parameters.
9400 Technology applications | Table positioning Parameter setting & configuration Signal configuration 5.12 Signal configuration 5.12.1 Drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured by parameterising the assigned multiplexer parameters.
9400 Technology applications | Table positioning Parameter setting & configuration Signal configuration 5.12.2 Output ports If required, the preset signal configuration of the output ports can be easily reconfigured by parameterising the assigned multiplexer parameters. Output port "LPortAxisOut1" The output port LPortAxisOut1 is intended for the connection with a following axis.
9400 Technology applications | Table positioning Parameter setting & configuration Signal configuration Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control.
9400 Technology applications | Table positioning Parameter setting & configuration Application error messages 5.13 Application error messages For the output of application-specific error messages, the FB instances ApplicationError1 and ApplicationError2 of the function block L_DevApplErr are available in the network. Via the boolean inputs up to 16 different application error messages with parameterisable module ID, error ID and error response can be released by the application.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14 Parameterisable function blocks This subchapter lists all relevant parameterisable function blocks of the technology application and the corresponding parameters in alphabetical order. 5.14.1 5.14.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14.3 ApplicationError2 Is an instance of Function L_DevApplErr Error handling Application error messages ( 39) Parameter Possible settings C05903 980 C05904/1...8 0 Information 999 Module ID • Initialisation: 998 65535 Error ID • Initialisation: 8011 ... 8018 C05905/1...
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14.6 5.14.7 HysteresisFollowingError2 Is an instance of Function L_SdSetPosition Conversion of the following error hysteresis 2 selected in the real units of the machine via C03920 into a position in [increments]. Following error monitoring ( 28) Parameter Possible settings C03920 -214000.0000 C03921 String of digits C03922 -2147483647 Information unit 214000.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks Parameter Possible settings C04704/1...50 -2147483.648 Information s C04705/1 2147483.648 VTJERK: variable S-ramp times • For selecting the S-ramp times for the profiles. DIS:bPosTeach • Display of the input signal bPosTeach. 0 FALSE 1 TRUE C04705/2 DIS:bSpeedTeach • Display of the input signal bSpeedTeach.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks Parameter Possible settings C04710/1...75 (subcode 1 ... 75 ≡ profile no. 1 ... 75) 1 Absolute 2 Absolute TP Information Positioning mode • For absolute positioning, the home position must be known. 5 Relative 6 Relative TP 7 Speed 8 Speed TP 11 Absolute CW 12 Absolute CW TP 13 Absolute CCW 14 Absolute CCW TP 15 Absolute ShortestWay 16 Absolute ShortestWay TP C04711/1...75 (subcode 1 ...
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks Parameter Possible settings C04717/1...75 (subcode 1 ... 75 ≡ profile no. 1 ... 75) 1 VTPOS position 1 (C04701/1) 2 VTPOS position 2 (C04701/2) ... ... 75 VTPOS position 75 (C04701/75) C04718/1...75 (subcode 1 ... 75 ≡ profile no. 1 ... 75) 1 VTPOS position 1 (C04701/1) 2 VTPOS position 2 (C04701/2) ... ... 75 VTPOS position 75 (C04701/75) C04719/1...75 (subcode 1 ... 75 ≡ profile no.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14.8 L_SdSwitchPoint1 Is an instance of Function L_SdSwitchPoint Position switch points (cams) Parameter Possible settings Information C04395/1...8 State of switching range 1 ... 8 • Read only 0 Switch is off 1 Switch is on C04396 String of digits Position unit • Read only C04397/1...8 -2147483648 unit 2147483648 Switch-on position switching range 1 ... 8 C04398/1...
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14.11 Parameter Possible settings Information C03915 String of digits Position unit • Read only C03916 -2147483647 2147483647 State • Read only MonitFollowError1 Is an instance of Function L_LdMonitFollowError Following error monitoring ( 28) Parameter Possible settings C03960 -214748.3647 C03961 String of digits Information unit 214748.
9400 Technology applications | Table positioning Parameter setting & configuration Parameterisable function blocks 5.14.13 PosStarted Is an instance of Function L_TbTransition Edge generation for resetting the "drive at the target" state Parameter Possible settings Information C04000 Trigger edge 0 Rising edge Lenze setting 1 Falling edge 2 Both edges C04001 48 0.001 s L 60.000 Pulse duration • Initialisation: 0.001 s EDS94TA10050xxxx EN 1.
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