DATASHEET BERGER LAHR TLC511F REV.1.105
OTHER SYMBOLS:
RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław Poland
www.rgbelektronika.pl
[email protected] +48 71 325 15 05 www.rgbautomatyka.pl
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Technical documentation Twin Line Controller 51x Positioning controller for stepper motors
TLC51x Operating system 1.1xx Order No.: 9844 1113 117 Edition: c325, 11.00
A product from: SIG Positec BERGERLAHR GmbH & Co. KG Breslauer Str. 7 D-77933 Lahr Tel. +49 (0) 7821 946 01 Fax +49 (0) 7821 946 313 http://www.sig-berger.de
Advice, Service and Sales: SIG Positec Automation GmbH Breslauer Str. 7 D-77933 Lahr Tel. +49 (0) 7821 946 02 Fax +49 (0) 7821 946 220 http://www.sig-positec.de
9844 1113 117, c325, 11.00
TLC51x
-2
Twin Line Controller 51x
TLC51x
Table of Content
Table of Content Glossaries . . . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Product name . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-6 Written conventions and note symbols . . . . . . . . . . . . . V-8 1 The positioning controller . . . . . . . . . . . . . . . . . . . 1-1 1.1
Scope of supply . . . . . . . . . . . . . . . . . . .
1-1
1.2
Documentation and literature . . . . . . . . . . . .
1-5
1.3
Unit series . . . . . . . . . . . . . . . . . . . . . .
1-6
1.4
Unit overview . . . . . . . . . . . . . . . . . . . .
1-8
1.5
Modules of the positioning controller . . . . . . .
1-10
1.6
Module configuration, operating modes and functions
1-11
Guidelines and standards . . . . . . . . . . . . . Declaration of conformity and CE labelling . . Regulations and standards . . . . . . . . . .
1-13 1-13 1-15
1.7 1.7.1 1.7.2
2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1
Danger categories . . . . . . . . . . . . . . . . . .
2-1
2.2
Safety instructions . . . . . . . . . . . . . . . . . .
2-1
2.3 2.3.1 2.3.2
Use for the purpose intended . . . . . . . . . . . . Ambient conditions . . . . . . . . . . . . . . . . Intended use . . . . . . . . . . . . . . . . . . .
2-2 2-2 2-2
2.4
Qualification of the personnel . . . . . . . . . . . .
2-3
2.5
Safety devices . . . . . . . . . . . . . . . . . . . .
2-3
3 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.1 3.1.1 3.1.2 3.1.3
Mechanical data . . . . . . . . . . Positioning controller TLC51x . positioning controller TLC51xP Accessories for standard unit .
. . . .
. . . .
. . . .
. . . .
. . . .
. . . .
. . . .
. . . .
. . . .
3.2 3.2.1 3.2.2 3.2.3 3.2.4
Electronic data . . . . . . . . . . Positioning controller . . . . . Modules . . . . . . . . . . . UL 508C certification . . . . . Accessories for standard unit
. . . . .
. . . . .
. . . . .
. . . . .
. . . . .
. . . . .
. . . . .
. . . . .
. 3-4 . 3-4 . 3-6 . 3-8 . 3-8
9844 1113 117, c325, 11.00
. . . . .
3-1 3-1 3-2 3-3
Twin Line Controller 51x
V-1
Table of Content
TLC51x
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4.1
Electromagnetic compatibility, EMC . . . . . . . .
4-1
4.2
System components . . . . . . . . . . . . . . . .
4-4
4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5
Mechanical installation . . . . . . . . . . . . . Positioning controller TLC51x mounting . . Mounting the positioning controller TLC51xP Fitting the unit label . . . . . . . . . . . . . Installing accessories to the standard unit . Mounting version P accessories . . . . . .
4.4 4.4.1 4.4.2 4.4.3 4.4.4
Electrical installation . . . . . . . . . . . . . . . . Electrical installation TLC51xP . . . . . . . . . Mains connection . . . . . . . . . . . . . . . . Motor connection TLC51x . . . . . . . . . . . Motor connection with holding brake to TLC51xP Connecting the 24 V supply voltage . . . . . . Connection to the signal interface . . . . . . . Connection to the RS232 interface . . . . . . Connection to the RS422-C module . . . . . . Connection to the PULSE-C module . . . . . . Connection to the RM-C module . . . . . . . . Connection to the PBDP-C module . . . . . . . Connection to the CAN-C module . . . . . . . Connection to the RS485-C module . . . . . . Connection to the IBS-C module . . . . . . . . Connection of accessories to the standard unit
4.4.5 4.4.6 4.4.7 4.4.8 4.4.9 4.4.10 4.4.11 4.4.12 4.4.13 4.4.14 4.4.15 4.5 4.5.1 4.5.2 4.5.3
. . . . . .
. . . . . .
. . . .
4-5 4-6 4-7 4-8 4-9 4-10 4-11 4-12 4-14 4-15 4-17 4-18 4-19 4-26 4-27 4-29 4-32 4-34 4-36 4-38 4-40 4-42
Wiring examples . . . . . . . . . . . . . . . . . . Manual set-up and operation on the field bus . Operation via field bus, configuration via TL HMI or TL CT Operation via field bus, field bus configuration via inputs
4-44 4-44 4-47 4-49
4.6
Function test . . . . . . . . . . . . . . . . . . . . 4-51
4.7
Installation troubleshooting . . . . . . . . . . . . .
4-52
5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . 5-1
V-2
5.1
Commissioning procedure . . . . . . . . . . . . .
5-1
5.2
Safety instructions . . . . . . . . . . . . . . . . .
5-2
5.3 5.3.1 5.3.2 5.3.3
Commissioning tools . . . . . . . . . . . . . . Overview . . . . . . . . . . . . . . . . . . The Twin Line HMI hand-held operating unit Operating software Twin Line Control Tool .
5.4 5.4.1 5.4.2 5.4.3 5.4.4 5.4.5 5.4.6 5.4.7 5.4.8
Commissioning the positioning controller . . . . Commissioning stages . . . . . . . . . . . . Setting phase current and device parameters Starting the positioning controller . . . . . . . Checking the limit switches . . . . . . . . . . Checking the holding brake . . . . . . . . . . Testing the motor under manual movement . Checking inputs and outputs . . . . . . . . . Optimizing the performance of the motor . . .
. 5-3 . . 5-3 . . 5-3 . . 5-5 . . . . . . . . .
. . . . .
5-7 5-7 5-7 5-8 5-9 5-9 5-10 5-12 5-15
Twin Line Controller 51x
9844 1113 117, c325, 11.00
. . . .
TLC51x
Table of Content
6 Operating modes of the positioning controller . . . . . . . . 6-1 6.1 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5
Changing the operating mode . . . . . . . . . Access channels . . . . . . . . . . . . . . . Access control for selecting operating mode or function Selecting the operating mode . . . . . . . . Monitoring the set operating mode . . . . . . Status monitoring in movement mode . . . .
. . . .
6-1 6-1
. . . . . .
6-3 6-4 6-5 6-7
6.2
Manual movement . . . . . . . . . . . . . . . . . .
6-9
6.3
Speed mode . . . . . . . . . . . . . . . . . . . .
6-14
6.4
Point-to-point mode . . . . . . . . . . . . . . . .
6-15
6.5 6.5.1 6.5.2 6.5.3
Electronic gear . . . . . . . . . . . . . . . . . . Gear settings . . . . . . . . . . . . . . . . . . Synchronisation with compensatory movement Offset positioning . . . . . . . . . . . . . . .
6-17 6-19 6-22 6-23
6.6 6.6.1 6.6.2
Referencing . . . . . . . . . . . . . . . . . . . . Reference movement . . . . . . . . . . . . . Dimension setting . . . . . . . . . . . . . . .
6-26 6-26 6-30
7 Functions of the positioning controller . . . . . . . . . . . . 7-1 7.1
List control and list processing
. . . . . . . . . . .
7-1
7.2
Teach-in processing
. . . . . . . . . . . . . . . .
7-7
7.3 7.3.1 7.3.2 7.3.3
Normalisation . . . . . . . . . . . . . . . . . . User-defined units and normalisation factors Setting normalisation factors . . . . . . . . . Residual value in user-defined normalisation
. . . .
7-10 7-10 7-11 7-15
7.4
Ramp function . . . . . . . . . . . . . . . . . . .
7-16
7.5
Quick-Stop function . . . . . . . . . . . . . . . .
7-18
7.6
Reversal of direction of rotation . . . . . . . . . .
7-19
7.7
Fast position capture
. . . . . . . . . . . . . . .
7-20
7.8 7.8.1 7.8.2
Monitoring functions . . . . . . . . . . . . . . . . Monitoring of axis signals . . . . . . . . . . . Monitoring internal signals . . . . . . . . . . .
7-22 7-22 7-25
7.9
Braking function with TL HBC . . . . . . . . . . .
7-26
9844 1113 117, c325, 11.00
8 Diagnosis and error rectification . . . . . . . . . . . . . . . 8-1 8.1
Operational status indicators and transitions . . . .
8-1
8.2
Error display and rectification . . . . . . . . . . . .
8-2
8.3
Malfunctions in movement mode . . . . . . . . . .
8-8
8.4
Table of error numbers . . . . . . . . . . . . . . .
8-9
9 Service, Maintenance and Warranty . . . . . . . . . . . . . . 9-1
Twin Line Controller 51x
9.1
Service address . . . . . . . . . . . . . . . . . . .
9-1
9.2
Shipping, storage and disposal . . . . . . . . . . .
9-2
V-3
Table of Content
TLC51x
10 Accessories and spare part . . . . . . . . . . . . . . . . . . 10-1 10.1
List of accessories . . . . . . . . . . . . . . . . .
10-1
10.2
List of spare parts . . . . . . . . . . . . . . . . .
10-2
10.3
Suppliers . . . . . . . . . . . . . . . . . . . . . .
10-2
11 Unit label . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1 11.1
Illustration of the unit label . . . . . . . . . . . . .
11-1
12 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1 12.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
12-3 12-3 12-4 12-4 12-5 12-6 12-6 12-7 12-7 12-9 12-9 12-10 12-11 12-11 12-12 12-13 12-14 12-14 12-15 12-20
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
9844 1113 117, c325, 11.00
12.2 Parameter groups . . . . . . . . . . . . 12.2.1 Parameter group Settings . . . . . . 12.2.2 Parameter group Commands . . . . . 12.2.3 Parameter group PA . . . . . . . . . 12.2.4 Parameter group Motion . . . . . . . 12.2.5 Parameter group Manual . . . . . . . 12.2.6 Parameter group VEL . . . . . . . . . 12.2.7 Parameter group PTP . . . . . . . . 12.2.8 Parameter group Gear . . . . . . . . 12.2.9 Parameter group Home . . . . . . . . 12.2.10 Parameter group Teach . . . . . . . 12.2.11 Parameter group List . . . . . . . . . 12.2.12 Parameter group L1Data0..L1Data63 12.2.13 Parameter group L2Data0..L2Data63 12.2.14 Parameter group Capture . . . . . . . 12.2.15 Parameter group I/O . . . . . . . . . 12.2.16 Parameter group M1 . . . . . . . . . 12.2.17 Parameter group M4 . . . . . . . . . 12.2.18 Parameter group Status . . . . . . . 12.2.19 Parameter group ErrMem0..ErrMem19
12-1
V-4
Twin Line Controller 51x
TLC51x
Glossaries
Glossaries Abbreviations Abbreviation
Meaning
AC
Alternating current
ASCII
American Standard Code for Information Interchange
COS
Controller Operating System
DC
Direct current
E
Encoder
I/O
Inputs / output
EMV
Electromagnetic compatibility
EG
European Community
EU
European Union
RC
Residual current
HMI
Human-Machine Interface, plug-in hand-held operating unit
Inc
Increment
IT system
I: isolated; T: terre (Fr.), ground. System without potential to ground, not earthed
LED
Light-Emitting Diode
M
Motor
PC
Personal Computer
PELV
Protected Extra-Low Voltage
PLC
Programmable logic controller
Abbreviation
Product designation
Term used
TLC51x
Twin Line Controller 51xstandard unit
Positioning controller
TLC51xP
Twin Line Controller 51x Positioning controller Protection grade version P IP54, second category industrial environment
TL HMI
Twin Line HMI
Human Machine Interface HMI
TL CT
Twin Line Control Tool
Operating Software
TL HBC
Twin Line Holding Brake Controller
Holding Brake Controller
9844 1113 117, c325, 11.00
Product name
Twin Line Controller 51x
V-5
Glossaries
TLC51x
Technical Terms
Actual position of the motor
See Angular position of the motor
Angular position of the motor
The angular position of the motor corresponds to the angular position of the rotor in the motor housing, and refers to the zero point or index point of the position sensor.
CAN-C
Field bus module which connects the positioning controller to a CAN field bus. The selection of a field bus profile defines whether the device works with CAN bus, CANOpen or DeviceNet protocol.
DC-line
The DC-line generates the necessary direct current for operating the motor and provides the amplifier with the necessary energy. The DC-line acts as a buffer to energy fed back by the motor.
Default values
Preset values for the parameters of the Twin Line Unit before the first commissioning, factory settings
Direction of rotation
Rotation of the motor shaft in a clockwise or anticlockwise direction. A clockwise direction of rotation is given when the motor shaft rotates clockwise as the observer faces the end of the protruding shaft.
Drive solution
The drive solution comprises the drive system with its Twin Line Unit and motor, as well as the system mechanics forming an integral part of the chain of motion.
Drive system
The drive system consists of the Twin Line Unit and the motor.
Electronic gear
An input speed is recalculated by the Twin Line Unit using the values of an adjustable gear ratio to produce a new output speed for the motor movement.
Encoder
Sensor for recording the angular position of a rotating element. Mounted on the motor, the encoder signals the angular position of the rotor.
Error class
Reaction of the Twin Line Unit to an operational malfunction corresponding to one of five error classes
Forcing
To change signal states irrespective of the hardware switching status in the unit; with the control tool, for example. The hardware signals remain unchanged.
High/open HMI I2t monitoring
IBS-C Index-impuls Incremental signals Input device
V-6
The actual position of the drive system gives the absolute or relative positions of moved components in the system.
Signal status of an input or output signal; when no signal is present, signal voltage is high (high level). Hand-held operating unit which can be plugged into the Twin Line Unit. HMI: Human-machine interface. Predictive temperature monitoring. On the basis of the motor current, the expecting heating of unit components is calculated in advance. Should a limit value be exceeded, the Twin Line Unit reduces the unit current. Field bus module which couples the positioning controller to an interbus field bus. Encoder signal for referencing the rotor position in the motor. The encoder sends one index pulse per revolution. Angular steps of an encoder in the form of square-wave pulse sequences. The pulses signal changes in position. Input device is the device which can be connected to the RS232 interface for the purpose of commissioning; it is either the HMI handheld operating unit or a PC with the Operating Software. Twin Line Controller 51x
9844 1113 117, c325, 11.00
Actual position of the drive system
TLC51x
Glossaries
Internal unit IT system Limit switch Low/open Module code
Node guarding Optically isolated Parameter PBDP-C Power amplifier
Power controller
The actual position of the drive system gives the absolute or relative positions of moved components in the system. Mains with no ground potential reference, since it is not grounded I: iso-lation ; T: terre (French): ground Switches which signal any overrun on the permissible travel. Signal status of an input or output signal; when no signal is present, signal voltage is low (low level) Internal electronic code (8 bit) which describes the hardware and the functionality of modules. This code is held in an EEPROM in every module. Monitoring function at the RS232 interface Electrical transmission of signals with electrical isolation Device data and values which can be set by the user Field bus module with which the positioning controller can be integrated into a Profibus-DP network This is the unit that controls the motor. The power amplifier generates currents for controlling the motor in accordance with the positioning signals from the control unit. See Power amplifier
Pulse direction signals
Digital signals with variable pulse frequencies which signal changes in position and rotation direction via separate signal wires.
Quick-stop
This function is used in the event of faults, the stop command or in an emergency for rapidly braking a motor.
RS232 interface
Communications interface of the Twin Line unit for the connection of a PC or the HMI hand-held operating unit
RS422-C
The signal status is calculated from the differential voltage of one posi-tive and one inverted negative signal. Two signal wires must therefore be connected for one signal.
RS422 level
The signal status is calculated from the differential voltage of one posi-tive and one inverted negative signal. Two signal wires must therefore be connected for one signal.
RS485-C
RS485 level
9844 1113 117, c325, 11.00
Sense regulation
SMART
Twin Line Controller 51x
Field bus module which enables the field bus to be used via a multipoint connection with serial data transmission. A multipoint connection - in contrast to a point-to-point connection - can swap data with several devices on the bus. The signal status is calculated from the differential voltage of one positive and one inverted negative signal. Two signal wires must therefore be connected for one signal. RS485 signal transmission is bidirectional. The voltage drop on the supply lines is compensated in such a way that the output voltage at the sense terminals has the correct value. The output voltage is only activated once the sense lines have been connected. Operating system software
User units
A user unit corresponds to the maximum precision at which a distance, speed or acceleration value can be input. User units can be set for all normalizable parameters.
Watchdog
Device in the unit which detects internal faults. If a fault occurs, the amplifier is switched off immediately. V-7
Glossaries
TLC51x
Written conventions and note symbols Action symbols „E“
This action symbol is used for step-by-step instructions which can be carried out as they are described. If one of the instructions leads to a noticeable response from the unit, this will be given after the description of the action to be carried out. In this way you will receive direct confirmation that a particular step has been correctly carried out.
Enumeration symbol „•“
The enumeration symbol is used for listing individual points in a given information group in summary form. If the result of steps or sequences is described, the step to be carried out is described first.
Menu paths „➞“
In the Twin Line Control Tool operating software an action is launched via ’Menu ➞ Menu item ➞ ...’. For example, ’File ➞ Save’ in the menu ’File’; under the menu item ’Save’ saves data to the data storage medium.
This symbol is used for general notes which give additional information about the unit.
9844 1113 117, c325, 11.00
Passages which are preceded by this symbol may have to be discussed in more detail with SIG Positec’s customer service. You will find contact addresses for SIG Positec under ’Service address’, page 9-1.
V-8
Twin Line Controller 51x
TLC51x
The positioning controller
1
The positioning controller
1.1
Scope of supply E Check the parts supplied to make sure they are complete. Keep the original packaging in case the unit has to be returned to the manufacturer to be added to or repaired.
Scope of supply of positioning controller standard unit
Modules
The scope of supply of the TLC51x positioning controller includes: No.
Qty.
Designation
Order no.
1
1
TLC511, TLC512
type code
2
1
Hood for front cover
-
3
1 or 2 Shielding terminal SK 14 for motor connection (two shielding terminals in case of units without internal mains filter)
6250 1101 400
4
1
Connector mountings for the terminal strips
-
5
1
Documentation for the TLC51x
9844 1113 117
Option module configurations for the positioning controller: No.
Qty.
Designation
Order no.
6
1
Encoder module RS422-C or Pulse-/direction module PULSE-C
type code
6
1
Rotation monitoring RM-C
type code
6
1
Field bus module PBDP-C, CAN-C, RS485-C type code or IBS-C
5
6
1
RS422-C PULSE-C
in Tw e n Li
RM-C
2
9844 1113 117, c325, 11.00
PBDP-C CAN-C RS485-C IBS-C
4 Fig. 1.1
Twin Line Controller 51x
3
TLC51x and modules
1-1
The positioning controller
Scope of supply of positioning controller version P
Modules
TLC51x
The scope of supply of the TLC51xP positioning controller includes: Item Qty
Designation
Order Number
1
1
TLC511P, TLC512P
Type code
2
1
mains plug (round plug, 4-pin)
-
3
1
shielding terminal SK14 for motor connection 6250 1101 400
4
1
Sub-D cover for RS232 interface
-
5
1
Documentation on the &device type; on CD-ROM, multilingual
9844 1113 138
-
1
Built in holding brake controller HBC (optional)
type code
Optional modules are identical with those of the standard unit.
TLC51xP and Modules
9844 1113 117, c325, 11.00
Fig. 1.2
1-2
Twin Line Controller 51x
TLC51x
The positioning controller
Accessories
Accessories for the standard unit and for version P are:
Item Qty
Designation
Standard unit/ version P (S/P)
Order Number
1
1
operating software with online documentation on data carrier, multilingual
S/P
6250 1101 803
2
1
hand-held operating unit HMI with manual
S/P
6250 1101 503
3
1
connector set for complete assembly
S/P
6250 1519 002
S/P
6250 1317 xxx 1)
2
4
1
motor cable 1.5 mm
5
1
encoder cable for module RM-C
S/P
6250 1440 xxx 1)
6
1
pulse direction cable for module PULSE-C
S/P
6250 1447 yyy 2)
7
1
encoder cable for module RS422-C
S/P
6250 1448 yyy 2)
field bus cable for module CAN-C IBS-C
S/P
8
6250 1446 yyy 2) 6250 1451 yyy 2)
-
1
CAN terminator, 9-pin socket CAN terminator, 9-pin plug
S/P
6250 1518 002 6250 1518 003
9
1
RS232 programming cable 5 m RS232 programming cable 10 m
S/P
6250 1441 050 6250 1441 100
-
1
TL HMI cable
S/P
6250 1442 yyy 2)
10
1
holding brake controller TL HBC
S
6250 1101 606
11
1
external mains filter for units with no internal filter for TLC511 NF, 4A for TLC512 NF, 10A
S 5905 1100 200 6250 1101 900
12
1
terminal angle with top-hat rail TS 15, e.g. for terminal Messrs. Phoenix Contact Typ MBK
P
6250 1102 200
13
1
set grommets, type KDT/Z 3) ( Murrplastic GmbH, see chap. 10.3, Suppliers)
P
6250 1102 202
1) cable length xxx: 003, 005, 010, 020: 3 m, 5 m, 10 m, 20 m, longer cable lengths on request. 2) cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m. 3) The inside diameter of the grommets must match the diameter of the cables used.
9844 1113 117, c325, 11.00
Figures. 1.3 and 1.4 on page 1-4.
Twin Line Controller 51x
1-3
The positioning controller
TLC51x
Accessories for the TLC51x
Fig. 1.4
Special accessories for the TLC51xP
9844 1113 117, c325, 11.00
Fig. 1.3
1-4
Twin Line Controller 51x
TLC51x
1.2
The positioning controller
Documentation and literature Manuals for the positioning controller
Twin Line HMI, Manual for the Human-Machine Interface HMI, Order no.: 9844 1113 091
9844 1113 117, c325, 11.00
Twin Line Control Tool, Manual for the operating software, English Order no.: 9844 1113 096
Twin Line Controller 51x
1-5
The positioning controller
1.3
TLC51x
Unit series The positioning controller TLC51x forms part of SIG Positec’s Twin Line device series for controlling stepper motors and AC servomotors. The positioning controller with built-in control electronics and power amplifier works as a stand-alone amplifier or as part of a field bus configuration. It can operate position control on an AC synchronous servomotor and carry out positioning operations on its own. The positioning controller is available with two power amplifiers with a similar housing design. Electrical connections and functional scope are identical for both units. The positioning controller comes in two versions with identical functions: •
standard unit, TLC51x, for use in a control cabinet
•
version P, TLC51xP, with protection grade IP54, category 2 for use outside the control cabinet close to the motor.
Positioning controller 11P, TLC511 and TLC512
9844 1113 117, c325, 11.00
Fig. 1.5
1-6
Twin Line Controller 51x
TLC51x
The positioning controller
Type code version
The power class of the positioning controller is indicated by the last digit in the device name ’TLC51x’ of the type code. Version P with IP54 protection is designated by an additional "P" for "protected" in the type code device name.
Fig. 1.6
Version P
Type code of the positioning controller TLC51x
There is an option to supply the positioning controller with built-in holding brake control.
9844 1113 117, c325, 11.00
Accessories TL HBC and TL BRC are not suitable for version P, as they only have IP20 protection.
Twin Line Controller 51x
1-7
The positioning controller
1.4
TLC51x
Unit overview
Fig. 1.7
Mains connection
Positioning controller TLC51x
The power supply for the amplifier is connected to the mains. A positioning controller with a built-in mains filter can be operated without any further noise suppression on the supply side. The power supply for control loops and for controlling the fan must be provided by an external 24 VDC power supply.
Motor connection
The positioning controller supplies the power for a permanent-field AC synchronous servomotor via the three-phase connection. The motor connection is short-circuit protected and is checked for ground faults when the amplifier is enabled.
DC-line connection
The device’s DC-line voltage is available at the DC-line terminals. DC-line capacitors can be supported by external capacitors in order to absorb sudden, excess braking energy.
Status display
A seven-segment display provides information about the operating status of the positioning controller. If there is an operating malfunction the display will flash and display an error code.
LEDs for operating signals
1-8
The LED comes on when there is voltage in the DC-line. Five LEDs display the signal states of these adjacent inputs: positive and negative limit switches, motor stop signal, power amplifier enablement and automatic operation.
Twin Line Controller 51x
9844 1113 117, c325, 11.00
LED for DC-line voltage
TLC51x
The positioning controller
Voltage selector switch
The voltage selector switch can be used to run the unit off a mains voltage of 115 V or 230 V. The voltage selector switch is only available for units with no mains filter (NF option). Version P units are always fitted with voltage selection.
Signal interfaces
The input and output signals are routed via the signal interface and an external 24 VDC supply voltage injected for the closed-loop control unit.
RS232 interface
The RS232 connection is the communications interface of the unit and is used for connecting a PC or the HMI hand-held operating unit.
Air outlet and fan
A built-in fan sucks cold air into the unit from below to cool the power amplifier and ballast resistor. It discharges the warmed air through the upper air outlet vents. Temperature sensors on the power amplifier’s heat sink protect the unit from overheating.
Module slots
Four module slots allow the positioning controller to be matched flexibly to your particular area of application. The minimum configuration required to drive an AC servomotor is a module in slot M2. The other slot modules expand the scope of functions of the positioning controller.
Configuration variants
You can choose between several module variants in slots M1, M2 and M4 and thereby configure the positioning controller for a particular arrangement of installations. Slot
Functions when module fitted
Possible modules fitted
M1
External setpoint signals for moving and positioning the motor
PULSE-C or RS422-C
M2
Actual position of an encoder for monitoring rotation of motor
RM-C
M4
Field bus module for integrating into the following field bus systems: Profibus-DP, CAN-Bus, CANOpen, DeviceNet, serial online connection or Interbus-S
PBDP-C, CAN-C, RS485-C or IBS-C
Slot M3 remains free for later extensions. All settings of the positioning controller are administered in a motor data record, two records for control parameters and one for movement parameters. The parameters are stored in the unit, protected against power outages, and can be displayed and changed via the RS232 interface on the PC, via the HMI hand-held operating unit or over the field bus.
Movement parameters
The set of movement parameters contains specific data for the various operating modes of the positioning controller. Should the operating mode change, the controller will switch over to the appropriate set of movement parameters.
9844 1113 117, c325, 11.00
Parameter memory
Twin Line Controller 51x
1-9
The positioning controller
1.5
TLC51x
Modules of the positioning controller The block diagram shows the modules and interface signals of the positioning controller.
Fig. 1.8
Block diagram with modules and interface signals
Module PULSE-C
The PULSE-C pulse-direction module passes on externally injected frequency signals to the controller as reference signals for positioning. The module registers the position data as pulse-direction signal or as pulseforward / pulseback signal.
Module RS422-C
The RS422-C encoder module evaluates externally injected encoder signals as reference signals for positioning. The signals take the form of A/B signals from an encoder, from a higher-ranking controller or from the encoder simulation of a first positioning controller.
Module RM-C
The positioning controller receives A/B signals from the RM-C rotation monitoring module in order to monitor the position of the stepping motor, and also a signal for checking the temperature of the motor. The encoder electronics in the motor receive their power via the rotation monitoring terminals. The rotation monitoring is optional.
Module CAN-C
1-10
The PBDP-C field bus module serves to integrate the positioning controller into the Profibus-DP field bus. The positioning controller works as a command receiver or as a slave device. It executes the control and work commands from a higher-ranking controller. The CAN-C field bus module couples the positioning controller to a CAN-Bus, CANOpen or DeviceNet field bus
Module IBS-C
The IBS-C field bus module allows the positioning controller to be used as a slave device in an Interbus network. The module is designed to Interbus specification version 1.
Module RS485-C
The RS485-C field bus module permits field bus applications via a multipoint connection with serial data transmission. A multipoint connection - in contrast to a point-to-point connection - is able to swap data with several devices. Twin Line Controller 51x
9844 1113 117, c325, 11.00
Module PBDP-C
TLC51x
1.6
The positioning controller
Module configuration, operating modes and functions Overwiew
Depending on the module configuration, the positioning controller functions in one manual and several automatic modes, which can be swapped during travel. •
Manual movement with positioning
•
Speed mode
•
Point-to-point mode
•
Electronic gear
•
Referencing
Fig. 1.9
Operating modes of the positioning controller TLC51x
The following table shows the modules that require to be fitted for each operating mode, and possible configurations for additional functions.
9844 1113 117, c325, 11.00
Minimum module configuration in slot Operating mode
M1
M2
M3
M4
Manual mode, Speed mode, Point-to-point mode, Referencing movement
optional
optional
-
PBDP-C, CAN-C, IBS-C oder RS485-C
Register reference pulses Electronic gear mode
PULSE-C or RS422-C
optional
-
PBDP-C, CAN-C, IBS-C oder RS485-C
Operation with rotation monitoring
optional
RM-C
-
PBDP-C, CAN-C, IBS-C oder RS485-C
Manual movement with positional reference
In manual movement mode the positioning controllermoves the motor a defined distance or in continuous motion at a constant speed. Distance, speed steps and the time for changing from united inching to continuous motion can be set.
Speed mode
In speed mode, the motor is given a set speed and a movement is started with no defined target position. The motor continues to move at this speed until a new speed is set or the mode is terminated.
Twin Line Controller 51x
1-11
The positioning controller
Point-to-point mode
Referencing
TLC51x
In point-to-point mode (also PTP mode), the motor is moved from a point A to a point B by means of a positioning command. The positioning distance is given either in absolute terms with reference to the axis zero point or in relative terms with reference to the current axis position. In referencing mode, an absolute dimension reference is created between the position of the motor and a defined axis position. Referencing can be carried out by a referencing movement or by dimension setting. In a referencing movement, the motor is moved to a defined position, the zero or reference point, on the axis in order to create an absolute dimension reference between the position of the motor and the axis. The reference point is used as the point of reference for all following absolute positioning operations. Dimension setting offers the chance to define the current motor position as the new axis reference point to which all following position data relate.
Field bus mode
The primary area of application of the positioning controller is in field bus operation via a module in slot M4. There are four modules available for field bus operation: •
Profibus-DP with the PBDP-C module
•
CAN-Bus, CANOpen or DeviceNet with the CAN-C module
•
serial RS485 bus with the RS485-C module
•
Interbus-S with the IBS-C module
You will find information on connecting, programming and operating the positioning controller in a field bus in the relevant field bus manuals from SIG Positec.
List control
•
List type for position values and signal values: when the motor reaches a list position, the output signal 'TRIGGER' is set or reset depending on the list entry.
•
List type for position values and speed values: when the motor reaches a position value, the positioning controller switches to the new speed value in the list, and moves the motor at this speed.
Entries can be made in the list with the HMI hand-held operating unit, the operating software or via the field bus. For entering the position values, the positioning controller offers teach-in processing: the motor is moved to successive list positions with respect to the reference point, and these positions are then committed to the parameter memory together with a value for trigger output or speed.
9844 1113 117, c325, 11.00
Teach-In
While the positioning controller is carrying out a movement command, the direction of movement is monitored in the background by means of list control. When a list position is reached, the positioning controllerresponds with the relevant reaction depending on the list type.
1-12
Twin Line Controller 51x
TLC51x
The positioning controller
1.7
Guidelines and standards
1.7.1
Declaration of conformity and CE labelling The EG guidelines define the minimum requirements - particularly safety requirements - applicable to a product and must be complied with by all manufacturers and dealers marketing the product in the member states of the European Union (EU). The EC guidelines describe the main requirements made of a product. The technical details are laid down in the harmonized standards, which for Germany take the form of the DIN EN standards. If there is not yet any EC standard applicable to a particular product area, existing technical standards and regulations will apply.
CE labelling
With the declaration of conformity and the CE labelling of the product the manufacturer certifies that his product complies with all relevant requirements of the EC guidelines. He is permitted to sell and use the product throughout the EC.
Machine guideline
The Twin Line unit is not a machine in the sense of the machines EC guideline (89/392/EEC). It has no function-associated moving parts. The unit may however be a component part of a machine or installation. Provided the rest of the machine complies with the machines guideline and it has been set up in accordance with the EMC testing code of SIG Positec, conformity with the machines guidelines can be certificated.
EMC guideline
The EC guidelines on electromagnetic compatibility (89/336/EEC) applies to units which can cause electromagnetic interference or whose operation can be impaired by such interference. Compliance with the EMC guideline cannot be checked for the Twin Line unit until it has been installed into a machine or installation. The instructions provided under ’Installation’ must be complied with to guarantee the Twin Line unit is EMC-safe when fitted in the machine or installation and before use of the unit is permitted.
Low voltage guideline
The EC guideline on low voltages (73/23/EEC) lays down safety requirements for 'electrical apparatus' as protection against the risks which can originate in such devices and which can be created in response to external influences. As specified by the low voltage guidelines the Twin Line unit conforms to EN 50178 and to the following peripheral conditions: Protection class 1
•
Contamination degree 2 (only standard unit)
The declaration of conformity certificates that the device satisfies the requirements of the EC guideline cited. For the Twin Line unit a declaration of conformity in accordance with the EC low voltages guideline has been issued.
9844 1113 117, c325, 11.00
Declaration of conformity
•
Twin Line Controller 51x
1-13
TLC51x
Fig. 1.10 Conformity as per the EC low voltages guideline
1-14
Twin Line Controller 51x
9844 1113 117, c325, 11.00
The positioning controller
TLC51x
1.7.2
The positioning controller
Regulations and standards
Standards concerning safe operation of the Twin Line units
EN 60204 - (VDE 0113 Part 1: 1998): Electrical equipment of machines, General requirements DIN VDE 0100, Regulations regarding the installation of high-voltage systems with voltages up to 1000 V DIN VDE 0106-100, 1983, Protection against electrical shock; Location of actuation elements in the vicinity of operating resources liable to accidental contact DIN VDE 0470-1,1992, IP protection types EN 954-1: Safety of machines, Safety of components of control devices, Part 1: General design principles
Standards regarding compliance with EMC limit values
EN 61000-4-1 (IEC 1000-4-1: 1992): Testing and measurement procedures, Section 1: Overview of noise immunity testing procedures
9844 1113 117, c325, 11.00
EN 618500-3:1996 and prA11:1999: Speed variable electrical driving units.
Twin Line Controller 51x
1-15
TLC51x
9844 1113 117, c325, 11.00
The positioning controller
1-16
Twin Line Controller 51x
TLC51x
2
Safety
2.1
Danger categories
Safety
Safety notes and general information are indicated by special symbols in the manual. In addition you will find symbols and instructions affixed to your Twin Line unit which warn you of possible dangers and help you to operate the unit safely. Depending on the seriousness of the danger, danger symbols are divided into three danger categories. The symbols shown emphasize the danger situation to which the warning applies. DANGER! This is an indication of direct personal danger. Can lead to serious injuries with fatal consequences if not observed. WARNING! Indication of a recognizable danger. If the warning is ignored, the danger can lead to serious injury with fatal consequences, and to the unit or system parts being permanently damaged. CAUTION! Indication of a danger. If this is ignored, minor personal injury and light damage to the unit or system may be the result.
2.2
Safety instructions DANGER! Electric shock from high voltage! Follow safety rules when working on electrical systems: •
Switch off the power to the unit
•
Make sure the unit cannot be switched on again inadvertently
•
Confirm that no voltage is present
•
Cover or shield neighboring system parts which are live.
9844 1113 117, c325, 11.00
DANGER! Electric shock from high voltage! Before starting work on the connections of the power unit or on the motor terminals, wait for the 4 minutes discharge time and then measure the residual voltage on the DC-line terminals “DC+” and “DC-” . The residual voltage must not be higher than 48 VDC before you work on the connections. If additional DC-line capacitors are fitted, the discharge time increases to up to 10 minutes. Wait for this length of time, and then measure the residual voltage.
Twin Line Controller 51x
2-1
Safety
TLC51x
2.3
Use for the purpose intended
2.3.1
Ambient conditions Transportation and storage temperature
-40 °C to +70 °C
Installation height, operation with no reduction in performance h 0.6
> 0.6
Power loss [W]
≤ 40
≤ 60
Mains buffering [ms]
high
Clockwise direction of rotation Anticlockwise direction of rotation
low / open high
2, 10 DIR
Pulseforward - pulsebackward operating mode
The PV (PULSE) signal is used to execute a movement of the motor in a clockwise direction, and the PR (DIR) signal a movement in an anticlockwise direction.
Pin
Signal
Function
Value
1, 9
PULSE (PV)
PV: Step in a clockward direction of rotation
low -> high
2, 10 DIR (PR)
4-30
PR: Step in anticlockwise direction of low -> high rotation
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Fig. 4.23 Pulseforward/Pulsebackward signal
TLC51x
Installation
The maximum permissible frequency of PULSE (PV) and DIR (PR) is 200 kHz.
ENABLE
The ENABLE signal enables the power amplifier so that the motor can be controlled. Pin
Signal
3, 11 ENABLE
Function
Value
Disable power amplifier Enable power amplifier
low / open high
If there is no operating fault, the ACTIVE output displays operational readiness for approx 100 ms after the power amplifier is enabled.
ACTIVE
The output shows the operational readiness of the positioning controller. Pin
Signal
Function
Value
8
ACTIVE
Power amplifier is disabled Power amplifier is enabled
high low
ACTIVE is an open collector output to GND. The logically negated signal function is available at the ACTIVE_CON output of the signal interface.
Circuit of the signal inputs
It is recommended that signal inputs be switched via the RS422 interface. The diagram shows the circuitry of the signal inputs PULSE (PV), DIR (PR) and ENABLE. Up to 10 inputs of the PULSE-C module can be connected to an RS422-C transmitter.
Fig. 4.24 Circuit of the signal inputs, L: Cable length
9844 1113 117, c325, 11.00
For cable lengths ≤10 m and frequencies ≤50 kHz, Open Collector outputs can be used if interference resistance requirements are low.
Twin Line Controller 51x
4-31
Installation
TLC51x
4.4.10 Connection to the RM-C module The optional encoder interface is only included in units with rotation monitoring.
Module interface
The interface is fitted with a 15-pole, M3 threaded Sub-D socket.
Fig. 4.25 Interface for rotation monitoring, view of motor plug:soldering side Pin
Signal
Colour 1)
Pair
Explanation
I/O
1
A
white
1
encoder signal channel A
I
9
A
brown
1
channel A, inverted
I
12
B
green
2
channel B
I
5
B
yellow
2
channel B, inverted
I
2
5VDC
red
3
Encoder power supply, 5 V, max. 300 mA
O
3
5VGND
blue
3
Encoder power supply, ground
O
10
+SENSE
purple
4
Sense wire positive
2)
I
2)
I
11
-SENSE
black
4
Sense wire negative
13
I
grey
5
Index pulse channel
I
6
I
pink
5
Index pulse channel, inverted
I
7
TEMP_MOT
grey/pink
6
temperature error, inverted
I
4
-
red/blue
6
not assigned
-
8
-
-
-
not assigned
-
14
-
-
-
not assigned
-
15
-
-
-
not assigned
-
1) Colour details refer to the cable available as an accessory. 2) Sense line must be connected for activating the 5VDC.
Cable specification
4-32
•
Shielded cable
•
Minimum cross-section of signal wires 0.25 mm2, 5VDC and 5VGND 0.5 mm2
•
Twisted-pair wires
•
Screen earthed on both sides
•
Maximum cable length 100 m
Twin Line Controller 51x
9844 1113 117, c325, 11.00
For units with a hood, the cable must be led upwards away from the terminals.
TLC51x
Installation
ATTENTION! Destruction of external encoder! Only connect cable when power supply is switched off. Otherwise the encoder can be destroyed.
Function
The connection is used to convey the angular position of the motor incrementally by means of A/B square-wave signals. The unit detects stepping errors by making comparisons with the setpoint and reports a contouring error if the threshold value of 6.4° is exceeded. Monitoring can be switched off via the "Settings.monitorM" parameter, see Chapter entitled ’Setting phase current and device parameters’ from page 5-7.
Fig. 4.26 Time diagram with A, B and index pulse signals, counting forwards and backwards
Monitoring
Pin
Signal
Function
Value
7
TEMP_MOT
Temperature range OK Motor overheating or cable break
high low
In order to use the monitoring function, an encoder with 1000 lines must be fitted.
9844 1113 117, c325, 11.00
Encoder type
The winding temperature of the motor is monitored via the TEMP_MOT signal. The signal also shows whether the encoder is connected.
Twin Line Controller 51x
4-33
Installation
TLC51x
4.4.11 Connection to the PBDP-C module Module interface
The PBDP-C module is fitted with a 9-pole, SUB-D socket, with UNC thread.
Fig. 4.27 Field bus module interface connection Pin
Signal
Colour
Pair
Explanation
I/O
1
-
-
1
not assigned
-
6
5VDC
-
1
power supply, max. 10 mA for terminator
O
2
-
-
-
not assigned
-
7
-
-
-
not assigned
-
3
B_LT
-
2
data line, inverted
I/O
8
A_LT
-
2
data line
I/O
4
RTS
-
3
transmission request
O
9
-
-
3
not assigned
-
5
GND
-
-
ground
-
A bus terminal forms the docking station to the Profibus. Data lines between module and bus terminal are wired up 1:1. Terminals A_LT and B_LT must be connected to wires A and B in the network by way of the minimum wiring requirement.
Cable specification for connection to a bus terminal
•
Screened cable
•
Minimum cross-section of signal wires: 0.14 mm 2
•
Twisted-pair wires
•
Screen grounded at both ends
•
Maximum length 100 m
To protect against interference, the screen for digital cables is connected at both ends. Differences in potential can lead to excessive current in the screen, and these have to be prevented by means of bonding lines. Cable cross-section for lengths up to 200: 16 mm2, for lengths over 200 m: 20 mm2.
4-34
Twin Line Controller 51x
9844 1113 117, c325, 11.00
For units with a hood, the cable must led downwards from the point of connection.
TLC51x
Installation
Function
Using the PBDP-C field bus module, the positioning controller can be connected as a slave device to a Profibus-DP network. The positioning controller receives data and commands from a higherranking device on the bus, or master. By way of acknowledgement the controller sends status information such as device status and processing status back to the master device. The exchange of data is carried out using a special communications protocol. Data are exchanged cyclically between master and slave devices. Each device in the network is identified by means of a unique device address which can be set. The address can be set via the ’M4.addrPbd’ parameter or via inputs ADR_1 to ADR_64 of the signal interface, see page 4-22.
Baud rate
The baud rate is determined by the transmission speed of the master device.
Display
The DATAEXCHANGE LED displays signal connection to the Profibus master device.
Field bus manual
The integration of a Twin Line unit into the field bus is described in the relevant field bus manuals from SIG Positec in the chapters on installation and set-up.
9844 1113 117, c325, 11.00
Setting the address
Twin Line Controller 51x
4-35
Installation
TLC51x
4.4.12 Connection to the CAN-C module Module interface
The CAN-C module is fitted with a SUB-D plug and a SUB-D socket, both 9-pole with UNC thread. Pin assignment is identical for both interface connections.
Fig. 4.28 Interface connections of the field bus module with plug and socket Pin
Signal
Colour 1)
Pair
Explanation
I/O
1
-
-
1
not assigned
-
6
GND
green
1
ground
-
2
CAN_LOW
white
2
Data wire, inverted
I/O
7
CAN_HIGH
brown
2
Data wire
I/O
3
GND
grey
3
ground
-
8
-
pink
3
not assigned
-
4
-
-
-
not assigned
-
9
-
-
-
not assigned
-
5
-
-
-
not assigned
-
1) Colour details refer to the cable available as an accessory – the colours used match the CAN guidelines. ! Remember that the colours do not match the DeviceNet specification.
Cable specification
•
Screened cable
•
Minimum cross-section of signal wires: 0.14 mm2
•
Twisted-pair lines
•
Screen grounded at both ends
•
Maximum length dependent on the number of devices, the baud rate and signal times. The higher the baud rates, the shorter the bus cable has to be.Guide values: 40 m at 1 Mbit/s, 500 m at 100 kbit/s guide values for DeviceNet: 100 m at 500 kbit/s, 500 m at 125 kbit/s
To protect against interference, the screen for digital cables is connected at both ends. Differences in potential can lead to excessive current in the screen, and these have to be prevented by means of bonding lines. Cable cross-section for lengths up to 200: 16 mm2, for lengths over 200 m: 20 mm2 .
4-36
Twin Line Controller 51x
9844 1113 117, c325, 11.00
For units with a hood, the cable must be led downwards from the point of connection.
TLC51x
Installation
Function
With the CAN-C field bus module, the positioning controller can be connected as a slave to the following networks: •
CAN-Bus
•
CANOpen
•
DeviceNet.
The positioning controller receives data and commands from a higherranking device on the bus, or master. By way of acknowledgement the controller sends status information such as device status and processing status back to the master device. The exchange of data is carried out using a special communications protocol. Every device in the network is identified by means of a unique address which can be set.
CAN bus display
The „CAN-OK“ LED on the CAN-C module lights for approx. two seconds when the field bus data have been correctly received.
CANOpen display
The „CAN-OK“ LED on the CAN-C module lights up when a connection to the device exists. If the connection is broken, the LED flashes: 0.5 sec on / 0.5 sec off.
DeviceNet display
The „CAN-OK“ LED on the CAN-C module displays the status of the DeviceNet node: DeviceNet status
Display
OFFLINE
flashes (0.2 sec on / 0.8 sec off)
ONLINE (Duplicate MAC ID flashes (0.8 sec on / 0.2 sec off) Check)
Setting the address
LINK_OK
on
TIMEOUT/FAILURE
flashes (0.2 sec on / 0.2 sec off)
The address can be set via the 'M4.addrCan' parameter (see page 12-14) or via inputs ADR_1 to ADR_64 of the signal interface (see page 4-22). The baud rate can be set with the 'M4.baudCan' parameter (see page 12-14) or via inputs BAUD_1 to BAUD_4 of the signal interface (see page 4-23).
Field bus profile
The field bus profile can be set with the „M4.profilCAN“ parameter (see page 12-14) or via inputs MODE_1 and MODE_2 of the signal interface (see page 4-23).
Terminating resistors
A terminating resistor of 120 Ω must therefore be connected at both ends. You will find an appropriate terminator plug in the chapter entitled „Accessories and spare parts“.
Field bus manual
The integration of a Twin Line unit into the field bus is described in the relevant field bus manual from SIG Positec in the chapter on installation and set-up.
9844 1113 117, c325, 11.00
Baud rate
Twin Line Controller 51x
4-37
Installation
TLC51x
4.4.13 Connection to the RS485-C module Module interface
The RS485-C module is fitted with a SUB-D socket and a SUB-D plug, both 9-pole with UNC thread. Pin assignment is identical for both interface connections.
Fig. 4.29 Field bus module interface connection Pin
Signal
Colour
Pair
Explanation
I/O
1
12VDC
-
1
power supply
O
6
12VDC
-
1
power supply
O
2
GND
-
2
ground for 12VDC power supply
O
7
GND
-
2
ground for 12VDC power supply
O
3
TxD
-
3
Transmitted data
O
8
TxD
-
3
Transmitted data, inverted
O
4
RxD
-
4
Received data
I
9
RxD
-
4
Received data, inverted
I
5
SGND
-
-
ground
-
Only one 12VDC output of the two Sub-D connections may be loaded with a current of max. 150 mA.
Cable specification
•
Screened cable
•
Minimum cross-section of signal wires: 0.14 mm2
•
Twisted-pair wires
•
Screen grounded at both ends
•
Maximum length 400 m
To protect against interference, the screen for digital cables is connected at both ends. Differences in potential can lead to excessive current in the screen, and these have to be prevented by means of bonding lines. Cable cross-section for lengths up to 200: 16 m2, for lengths over 200 m: 20 mm2 .
4-38
Twin Line Controller 51x
9844 1113 117, c325, 11.00
For units with a hood, the cable must be led downwards from the point of connection.
TLC51x
Installation
Function
Using the RS485-C field bus module, the positioning controller can be connected to a serial bus as a slave device. The positioning controller receives data and commands from a higherranking device on the bus, a master device. By way of acknowledgement the controller sends status information such as device status and processing status back to the master device. The exchange of data is carried out using a special communications protocol. Every device in the network is identified by means of a unique address which can be set.
Display Setting the address
Two LEDs on the RS485-C module show the transfer of transmitted and received data. The address can be set via the ’M4.addrSer’ parameter or via inputs ADR_1 to ADR_16 of the signal interface. See page 4-22. The baud rate can be set via the ’M4.baudSer’ parameter or via inputs BAUD_1 to BAUD_4 of the signal interface, see page 4-23.
Field bus manual
The integration of a Twin Line unit into the field bus is described in the relevant field bus manual from SIG Positec in the chapter on installation and set-up.
9844 1113 117, c325, 11.00
Baud rate
Twin Line Controller 51x
4-39
Installation
TLC51x
4.4.14 Connection to the IBS-C module Module interface
The IBS-C module is fitted with a Sub-D plug for remote-in and a Sub-D socket for Remote-out, both 9-pole with UNC thread.
Fig. 4.30 Field bus module interface connection Pin
Signal Remote-In
Signal Colour 1) Remote-Out
Pair
Explanation
I/O
1
TPDO1
TPDO2
white
1
received data
I
6
TPDO1
TPDO2
brown
1
received data, inverted
I
2
TPDI1
TPDI2
green
2
transmitted data
O
7
TPDI1
TPDI2
yellow
2
transmitted data, inverted
O
3
GND
GND
blue
3
ground
-
8
-
-
red
3
not assigned
-
4
-
-
grey
-
not assigned
-
9
-
RBST
pink
-
only for Remote-Out: signal input for further card connect to pin 5 in the cable plug: 5VDC
I
5
-
5VDC
black
-
only for Remote-Out: 5 V, connect to pin 9 in the cable plug: RBST
O
1) Colour details refer to the cable available as an accessory.
Cable specification
•
Screened cable
•
Minimum cross-section of signal wires: 0.14 mm2
•
Twisted-pair wires
•
Screen grounded at both ends
•
Maximum length 400 mm
To protect against interference, the screen for digital cables is connected at both ends. Differences in potential can lead to excessive current in the screen, and these have to be prevented by means of bonding lines. Cable cross-section for lengths up to 200: 16 mm2, for lengths over 200 m: 20 mm2 .
4-40
Twin Line Controller 51x
9844 1113 117, c325, 11.00
For units with a hood, the cable must be led downwards from the point of connection.
TLC51x
Installation
Function
Using the IBS-C field bus module, the positioning controller can be connected to an Interbus network as a slave device. The Interbus is a standardised field bus for data exchange for sensors and actuators. During processing, the positioning controller swaps process data with the master device, e.g. a PLC or PC with Interbus master interface. The master device controls and monitors all connected slave devices. Devices on the Interbus are networked in a ring formation. Connection to the next-door device is made in each case via Remote-In and Remote-Out.
Display
Setting the address Baud rate
LED designa- Colour tion
Explanation, if active
U
green
power supply OK
BA
green
remote bus connection OK
CC
green
remote bus OK
RD
red
remote bus to the next slave device switched off
The address is derived from the position of the Twin Line unit in the network ring. The baud rate is permanently set to 500kBit/s. The integration of a Twin Line unit into the field bus is described in the relevant field bus manual from SIG Positec in the chapter on set-up.
9844 1113 117, c325, 11.00
Field bus manual
The field bus module signals status and diagnostic information through four LEDs:
Twin Line Controller 51x
4-41
Installation
TLC51x
4.4.15 Connection of accessories to the standard unit TL HBC holding brake controller
The brake on motors with a holding brake can be connected directly or via the TL HBC holding brake controller. With the holding brake controller the control signal ACTIVE_CON of the positioning controller is amplified with the result that the brake responds quickly, generating as little heat as possible.
Connection
terminal
connection
colour
U
motor cable
brown (bn)
V
motor cable
blue (bl)
W
motor cable
black (bk)
PE
protective conductor (screen tracer wire) -
Fig. 4.31 Connection of the TL HBC holding brake controller
E Only use square end ferrules to ensure that they do not work loose. E Connect control terminals B+ and B- of the holding brake. E Connect together the control terminals ACTIVE_CON and ACTIVE_GND of the brake controller and signal interface. E Connect the 24 VDC power supply to the holding brake controller.
2
Cable diameter [mm ] max. cable length [m]
1)
TLC511
TLC512
1.5
1.5
20
20
1) longer cable lengths on request
The holding brake controller’s power requirement depends on the switching current for the holding brake:
4-42
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Only use cables with the following specifications:
TLC51x
Installation
Brake controller input current [A] = 0.5 A + switching current [A] E Set the voltage reduction switch to “1”. The voltage reduction function is described in chapter ’Braking function with TL HBC’ on page 7-26.
External capacitors
The power drive can store excess braking energy via the DC-line connection in an external electrolytic capacitor. This allows the increase in the DC-line voltage to be reduced on frequent braking. Only use capacitors with the following specification:
Cable specification
Connection
TLC511
TLC512
Voltage stability
> 450 V
> 450 V
external capacitance
finishing number
UINT16 0...63
63
R/W rem.
List.actList
44:18
–
Last avtivated list number starting number =< active proc.No. =< fin.No.
INT16 -1: no list entry activated 0..63: last activated list entry
0
R/W rem.
List.cntList2
44:12
–
List 2: number of available list UINT16 entries
64
R/– –
List.bgnList2
44:14
–
List 2: starting number, first entry for list data processing starting number < finishing number
UINT16 0...63
0
R/W –
List.endList2
44:15
–
List 2: finishing number, last entry for list data processing finishing number > starting number
UINT16 0...63
63
R/W rem.
Processing list data
List entries in the non-active list can be changed before and during list-driven operation either manually or with the teach-in function. You will find details on teach-in processing further on in this chapter from page 7-7.
7-2
•
The positioning controller stores position values and speed values in user-defined units. This makes the lists independent of the resolution of the connected motor.
•
List entries are selected via list numbers, and processed in ascending order. In the same way, position values must be entered consecutively in ascending or descending order.
•
The list type assigned applies to the whole list. The list type can not be changed within one list.
•
The finishing number in the list can be moved.
Twin Line Controller 51x
9844 1113 117, c325, 11.00
When changing list values, please pay attention to the following:
TLC51x
Functions of the positioning controller
The entries in both lists can be accessed via parameter groups ’L1Data0’ to ’L1Data63’ for list 1 and ’L2Data0’ to ’L2Data63’ for list 2. Parameter
Explanation and unit [ ] Idx:Sidx TL-HMI
L1Data0.typeList1
1100:1
7.3.1.1
List 1: list type for ALL following list entries (1101:x...1163:x)
L1Data0.posList1
1100:2
7.3.2.1 7.3.2.2
L1Data0.signList1
1100:3
L1Data0.velList1
Default- R/W Value
rem.
UINT16 1: pos./signal 2: pos./speed
1
R/W rem.
List 1: position
INT32
0
R/W rem.
7.3.2.3
List 1: signal state
UINT16 0, 1
0
R/W rem.
1100:4
7.3.2.4
List 1: setpoint speed
0 INT32 -’motion.n_max0’ .. .’Motion.n_max0’ setting dependent on operating mode PTP: 0: PTP.Vtarget; 0: stored value VEL: 0: VEL.velocity; 0: stored value
R/W rem.
L2Data0.typeList2
1200:1
7.4.1.1
List 2: list type for ALL follow- UINT16 ing list entries 1: pos./signal (1202:x...1263:x) 2: pos./speed
1
R/W rem.
L2Data0.posList2
1200:2
7.4.2.1 7.4.2.2
List 2: position
INT32
0
R/W rem.
L2Data0.signList2
1200:3
7.4.2.3
List 2: signal state
UINT16 0, 1
0
R/W rem.
L2Data0.velList2
1200:4
7.4.2.4
List 2: setpoint speed
0 INT32 -’motion.n_max0’ .. .’Motion.n_max0’ setting dependent on operating mode PTP: 0: PTP.Vtarget; 0: stored value VEL: 0: VEL.velocity; 0: stored value
R/W rem.
9844 1113 117, c325, 11.00
Group.Name
Range of values
Twin Line Controller 51x
7-3
Functions of the positioning controller
Example of position / signal list
TLC51x
List-driven operation begins with a point-to-point positioning process from the reference position to the 510 mm position at a speed of 100 r.p.m.
01 2 Fig. 7.1
4
3
56
Positioning with position / signal list
E Entering position values in list 1 for list processing between the starting and finishing positions manually or via teach-in. Activated list excerpt for the example: Graphics point
List number 1100:x...1163:x
List type 1xxx:1
Position 1xxx:2
Trigger signal 1xxx:3
Speed 1xxx:4
0
1100
1
10
0
0
1
1101
1
50
1
0
2
1102
1
120
0
0
3
1103
1
200
1
0
4
1104
1
300
0
0
5
1105
1
470
1
0
6
1106
1
490
0
0
-
...
...
...
0
0
E Starting position list number 0 with „List.bgnList1“= 0 (Lst.Nr.1100.x) E finishing position list number 6 with „List.endList1“= 6 (Lst.Nr.1106.x) E Activate list 1 with 'List.startList'=1 E Initiate positioning process.
Triggering the trigger signal
7-4
Two successive trigger signals must be at least 3 ms apart. Smaller intervals are possible; the trigger signal can then be delayed for several milliseconds.
Twin Line Controller 51x
9844 1113 117, c325, 11.00
The trigger signal is changed when the position from the list corresponds to the current position of the motor pick-up.
TLC51x
Functions of the positioning controller
Triggering accuracy
The point at which the trigger signal is switched varies by values which are influenced by hardware and software dependent factors. •
Determined by hardware causes such as temperature, power supply or output load: Jitter: max. +/-20 µs.
•
Determined by software causes: Jitter: max. +/-30 µs, at low speeds +/- 25 Inc.
Trigger signals are shifted by an additional factor during an acceleration or deceleration phase by comparison with the trigger point during a constant speed phase. Example at 10000 rev/(min*s):
Trigger level
Parameter
•
Acceleration: triggering 12 µs later
•
Braking: triggering 12µs earlier
The level of the trigger signal is set via the "I/O.OutTrig" parameter. This is used to set the first trigger level after the start of list processing or after list processing has been interrupted.
Explanation and units [ ]
Gruppe.Name
Idx:Sidx TL-HMI
I/O.OutTrig
34:9
Setting trigger output when signal list inactive
UINT16 0: Low level 1: High level
Default
R/W
value
rem.
0
R/W –
9844 1113 117, c325, 11.00
–
value range
Twin Line Controller 51x
7-5
Functions of the positioning controller
Example of position / speed list
TLC51x
List-driven operation is carried out with an absolute positioning process from the reference point to the 6,000 incs position. The starting speed is 100 r.p.m.
Fig. 7.2
Positioning with position / speed list
E Activate position / speed list with ’L2Data0.typeList2’ = 2, E Enter position values for list-driven operation between starting and finishing position manually or via teach-in. Activated list excerpt for the example: Graphics point
List number 1200:x...1263:x
List type 1xxx:1
Position 1xxx:2
Trigger signal 1xxx:3
Speed 1xxx:4
1
1205
2
1000
0
300
2
1206
2
2800
0
200
3
1207
2
4200
0
10
-
...
...
...
...
0
E Define starting position list number 5 with ’List.bgnList2’= 5 (Lst.Nr.1205.x) E finishing position list number 7 with „List.endList2“=7 (Lst.Nr.1207.x) E Activate list 2 with 'List.startList'=2 E Initiate positioning.
9844 1113 117, c325, 11.00
The change in speed is triggered when the position from the list matches the current set position.
7-6
Twin Line Controller 51x
TLC51x
7.2
Functions of the positioning controller
Teach-in processing Overview
Teach-in processing offers the chance to register current position values by moving the motor, and to copy them to a previously assigned memory area. The size of the available memory depends on the extent of the free list memory. If the list is empty, up to 64 position entries can be stored. Teach-in processing can be carried out via: •
HMI hand-held control unit
•
Operating software
•
Field bus
•
Signal interface inputs
Data are stored in a position / signal list or a position / speed list. List values for speed or signal status can be added to using: •
HMI hand-held control unit
•
Operating software
•
Field bus.
The positioning controller reads the position values as absolute values in user-defined units.
Operation controlled by operating software or HMI hand-held control unit Initiating teach-In processing
The operating software and the HMI unit support this operating function with special dialogue boxes and menu items. You will find details in the operating software and HMI manuals. The following are requirements for initiating teach-in processing: •
Axis position defined by referencing or encoder position recorded on initialization
•
Output switched on and ready
•
Motor in the positioning area
•
Motor at standstill
•
For teach-in via signal interface: 'Settings.IO_Mode'=2
9844 1113 117, c325, 11.00
Before commencing teach-in processing, the list type must be set and the list selected.
Fig. 7.3
Twin Line Controller 51x
List setting
7-7
Functions of the positioning controller
TLC51x
Control of the teach-in process via the signal interface is only possible if the ’Settings.IO_mode’ parameter = 2, and the AUTOM input signal is at low.
Fig. 7.4
Teach-In process
9844 1113 117, c325, 11.00
After each positioning process, the list data can be changed directly or via a connected input device.
7-8
Twin Line Controller 51x
TLC51x
Functions of the positioning controller
Teach-In over field bus
Parameter
Positioning is carried out by means of field bus commands, and the selection of list, list type and list number can be set by means of parameters. Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Teach.storeTeac
43:1
–
Teach.stateTeac
43:2
Teach.memNrTeac
Range of values
Default- R/W Value
rem.
UINT16 Teach-In processing, select memory address, list number 0...63 Bit 0..5: list number for storing position value Example: 000010: list number 2
0
R/W –
–
Acknowledgement: teach-in processing
UINT16 Bit15: teach_err Bit14: teach_end
–
R/– –
43:3
–
List for teach-in processing
UINT16 1: List 1 of list processing 2: List 2 of list processing 3: set data
1
R/W –
Teach.p_actTeac
43:4
–
current motor position in teach-in processing [usr]
INT32
–
R/– –
L1Data0.typeList1
1100:1
7.3.1.1
List 1: list type for ALL following list entries (1101:x...1163:x)
UINT16 1: pos./signal 2: pos./speed
1
R/W rem.
L2Data0.typeList2
1200:1
7.4.1.1
List 2: list type for ALL following list entries (1202:x...1263:x)
UINT16 1: pos./signal 2: pos./speed
1
R/W rem.
Teach-In via signal interface
The motor is positioned for example via manual movement signals. List and list type must be set by means of parameters or a control unit. Before saving the position, the list number must be set via the DATA_1 to DATA_32 inputs. Function
Value
DATA_1 DATA_2 DATA_4 DATA_8 DATA_16 DATA_32
low/open Selection of a list set, bit coded Examples: List number 5=000101: DATA_4=1, DATA_1=1 List number 35=100011: DATA_32=1, DATA_2=1, DATA_1=1 Inputs not given are zero.
9844 1113 117, c325, 11.00
I/O Signal
Twin Line Controller 51x
7-9
Functions of the positioning controller
7.3
TLC51x
Normalisation Overview
Normalisation translates user-defined units into the positioning controller’s internal units and vice versa. The positioning controller stores position, speed and acceleration values in user-defined units. It then applies its own normalisation factor to each value. For this reason neither positional nor speed values need to be recalculated and re-entered if the motor is changed and the new motor has a different resolution.
Fig. 7.5
7.3.1
Normalisation
User-defined units and normalisation factors User-defined units
A user-defined unit corresponds to the maximum resolution with which a position, speed or acceleration value can be entered. User-defined units [usr] are specified during set-up at the following resolutions:
Normalisation factors
•
Position values at the resolution of the motor encoder, for a Sincoder with 16384 incs/rev. ≡ 16384 usr
•
Speed values as a multiple of an r.p.m., at 1 r.p.m. ≡ 1 usr
•
Acceleration values as a multiple of the speed per second, 1 (r.p.m) / s ≡ 1 usr.
You can change the resolution of a user-defined unit with respect to one motor revolution by means of the normalisation factors.
When entering normalisation factors with the operating software or the HMI hand-held control unit, the input field for the denominator is automatically displayed when numerator field is called up.
7-10
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Normalisation factors are set by means of parameters. Each normalisation factor is given as a fraction with numerator and denominator. A new factor is set by specifying the numerator.
TLC51x
Functions of the positioning controller
Parameter
Explanation and unit [ ]
Group.Name
Idx:Sidx TL-HMI
Motion.pNormNum
29:7
4.4.20
Motion.pNormDen
29:8
Motion.vNormNum
Range of values
Default- R/W Value
rem.
Position calibration numerator INT32 2147483648..2147483647
1
R/W rem.
–
Position calibration denominator
INT32 2147483648..2147483647
19200
R/W rem.
29:9
4.4.21
Speed calibration numerator
INT32 1..2147483647
1
R/W rem.
Motion.vNormDen
29:10
–
Speed calibration denominator
INT32 1..2147483647
1
R/W rem.
Motion.aNormNum
29:11
4.4.22
Acceleration calibration numerator
INT32 1..2147483647
1
R/W rem.
Motion.aNormDen
29:12
–
Acceleration calibration denominator
INT32 1..2147483647
1
R/W rem.
After the normalisation factors have been changed, the associated usr values must be adapted to ensure that motor behaviour remains the same. This applies to the system’s non-volatile parameters and user-defined values.
7.3.2
Setting normalisation factors
Normalisation factor, positioning
The positioning normalisation factor links the number of motor revolutions for an axis positioning operation to the number of user-defined units required for it.
Fig. 7.6
Normalisation factor for positioning process
Differentiation can be made between three situations when setting user-defined units: •
User-defined resolution corresponds to motor resolution, e.g. 1 motor revolution ≡ 16384 user-defined units Any motor position can be reached.
•
User-defined resolution is higher than motor resolution, e.g. 1 motor revolution ≡ 16384 increments 1 revolution ≡ 32768 user-defined units Motor will move only if user-defined units change by two.
9844 1113 117, c325, 11.00
•
User-defined resolution is lower than motor resolution, e.g. 1 motor revolution ≡ 16384 increments 1 revolution ≡ 4096 user-defined units Every fourth motor position can be reached.
Twin Line Controller 51x
7-11
Functions of the positioning controller
TLC51x
In order to achieve the same positioning movement from the motor after the positioning normalisation factor has been changed, the following remanent parameters must be adjusted in addition to the user-defined values in the application: For manual movement: ’Manual.dist_Man’ and ’Manual.step_Man’, for referencing ’Home.p_disHome’ and ’Home.p_outHome’. If reference parameters are not adjusted, this can lead to an error in a referencing movement. The safety distance is then not sufficient to leave the switching area of the limit switch or reference switch.
Example 1
Positioning of 1111 user-defined units is to correspond to 3 motor revolutions. This gives: •
1 Motor revolution ≡ 16384 Inc
•
Normalisation factor = 3/1111 [rev./usr].
If you now carry out relative positioning by 900 user-defined units, the motor will move 900 usr * 3/1111 rev/usr = 2,4302 revolutions, corresponding to an internal resolution of 46,661 increments.
Fig. 7.7
Example 2
Example: Positioning
Replacing one stepping motor amplifier with another. Change a stepping motor by a servo motor 1000 Inc/rev.: 1/1000 [rev./usr]
•
Stepping motor resolution 19200 Incr/rev.: normalisation factor 1/ 19200 [rev./usr]
9844 1113 117, c325, 11.00
•
7-12
Twin Line Controller 51x
TLC51x
Functions of the positioning controller
Example 3
Calculation of a normalisation factor for positioning in units of length: 3 motor revolutions correspond to a distance of 1000 µm. Each userdefined unit [usr] is to correspond to a 10 µm step.
Fig. 7.8
Example: Positioning normalisation factor
One user-defined unit moves the motor 3/100 of a revolution.
Normalisation factor, speed
The speed normalisation factor describes the connection between the number of motor revolutions and the time required for them.
Fig. 7.9
Example 1
Normalisation factor for speed
Setting user-defined speed in 1/10 rev./min: •
Normalisation factor = 1/10 rev./min
•
1 user-defined unit ≡ 1/(10 * 60) * 19200 = 32 Inc/s
If you enter a user speed of 52, the motor will turn at 5.2 r.p.m. or 1664 Inc/s.
Example 2
9844 1113 117, c325, 11.00
Normalisation factor, acceleration
Setting corresponding to stepping motor resolution of 1000 Inc/rev. The speed resolution is to be 1 Hz: •
1 user-defined unit ≡ 1Hz = 1 Inc/s = 1/1000 rev./s = 60/1000 rev./min
•
Normalisation factor = 6/100 [rev./min].
The acceleration normalisation factor is used to define the smallest unit for the acceleration setting
Fig. 7.10 Acceleration normalisation factor
Twin Line Controller 51x
7-13
Functions of the positioning controller
Example 1
Example 2
Example 3
TLC51x
Setting the acceleration in steps of 10 rev./(min*s), 1 motor revolution/ s2 ≡ 19200 Inc/s2: •
Normalisation factor = 10 rev./(min*s)
•
1 user-defined unit ≡ 10/(1 * 60) * 16384 = 2731 Inc/s2:
Setting corresponding to stepping motor resolution of 1000 Inc/rev. The acceleration resolution is to be 1 Hz/ms: •
1 user-defined unit ≡ 1 Hz/ms = 1 Inc/(s*ms) = 1000 rev/s2 = 60 rev./(min*s)
•
Normalisation factor = 60/1 [rev./(min*s)].
Setting in rad/s2, 1 rad= 1 rev/(2*π) 1 user-defined unit ≡ 1 rad/s2 = 1 rev/(2*π *s2) = 60/(2*π) rev/(min*s) Normalisation factor = 30/π [rev/(min*s)], (π = 3,141)
9844 1113 117, c325, 11.00
Setting e.g. 300.000 / 31416
7-14
Twin Line Controller 51x
TLC51x
7.3.3
Functions of the positioning controller
Residual value in user-defined normalisation With the exception of the electronic gear operating mode, movement data are given in user-defined units in all operating modes. The positioning controller works internally with the resolution of 19200 inc and heads for the nearest internal position in relation to the user-defined position. Discrepancies can occur between the actual position of the motor and the nearest possible user-defined position due to an interruption to the movement or a change from an operating mode with internal resolution to one with user-defined resolution. The differential value can be interrogated via the ’Status.p_remaind’ parameter.
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Status.p_remaind
31:37
–
Range of values
Residual value of position INT32 calibration of position setpoint p_ref [Inc]
Default- R/W Value
rem.
–
R/– –
In teach-in, residual value = 0 shows that the present position of the motor can be calculated exactly from the stored user-defined position. If the residual value does not equal zero, the nearest user-defined position is stored.
Example of residual value
Motor resolution is 16384 Inc/rev. Resolution of user-defined unit [usr]: 1024 Inc./rev. => 1 usr = 16 Inc The motor follows a change of one user-defined position by rotating 16 increments. If the drive remains on 16005 Inc due to the movement being interrupted, ’Status.p_remaind’ displays the value 5 as the distance to the nearest user-defined unit.
9844 1113 117, c325, 11.00
Fig. 7.11 Residual value after interruption to movement at 16005 Inc
Twin Line Controller 51x
7-15
Functions of the positioning controller
7.4
TLC51x
Ramp function The positioning controller uses the ramp functions to control the acceleration and deceleration behaviour of the motor. The gradient and shape of the ramp describe the ramp function. The ramp gradient shows the motor’s change of speed, and the shape of the ramp the acceleration over time.
Ramp gradient
The ramp gradient for the acceleration and deceleration ramps can be set on the positioning controller by means of the 'Motion.Acc' and 'Motion.Dec' parameters. The positioning controller absorbs excess braking energy during deceleration. If the DC-line voltage exceeds the permissible threshold in this process, the positioning controller switches off the power output and displays error 5 'DC-line overvoltage'. The motor will then run down under no braking. The gradient for the deceleration ramp should be set in such a way that the motor brakes as quickly as possible without causing the output to trip out due to overvoltage.
Fig. 7.12 Acceleration and deceleration ramps
Settings for ramp gradients are given in user-defined units. You will find steps for optimizing the ramp function under ’Optimizing the performance of the motor’ on page 5-15.
Parameter
The positioning controller can use a linear ramp and a motor-optimized ramp for the acceleration and deceleration phases. Explanation and unit [ ]
Group.Name
Idx:Sidx TL-HMI
Motion.n_max0
29:21
4.4.28
Speed limit for travel profile [r.p.m.]
Motion.n_start0
29:22
4.4.10
Motion.acc_type
29:25
Motion.acc Motion.dec
7-16
Range of values
Default- R/W Value
rem.
UINT32 0..3000
3000
R/W rem.
Start-stop speed [usr]
UINT32 1..n_max0
12
R/W rem.
4.4.13
Shape of acceleration curve
UINT16 1: inear 2 : exponential
1
R/W rem.
29:26
4.4.14
Acceleration [usr]
UINT32 60...2000000
600
R/W rem.
29:27
4.4.15
Deceleration [usr]
UINT32 60...2000000
600
R/W rem.
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Ramp shape
TLC51x
Functions of the positioning controller
Jerk filter
The jerk filter is used to smoothe jerky changes in speed in order to produce a smooth, non-jerky change in speed.
Fig. 7.13 Acceleration ramp with and without (dotted line) jerk filter
The jerk filter can be switched off by means of the ’Motion.Flt_jerk’ parameter. Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Motion.Filt_jerk
28:5
Jerk filter
UINT16 0: off 1..65535: filter setting value
Default- R/W Value
rem.
0
R/W rem.
9844 1113 117, c325, 11.00
4.4.26
Range of values
Twin Line Controller 51x
7-17
Functions of the positioning controller
7.5
TLC51x
Quick-Stop function Quick-Stop is an emergency stop function which stops the motor in the event of a malfunction, for example. Quick-Stop can be triggered: •
via the STOP input signal
•
by the stop command issued through a connected input device
•
when limit switches are passed via the LIMP, LIMN input signals
•
when the software limit switch areas SW_LIMP, SW_LIMN are passed
•
by an operational malfunction which necessitates an emergency stop.
Quick-Stop remains active until the motor has come to a halt. In the event of a fault category 1 fault response, the output remains on.
Quick-Stop via Quick-Stop or deceleration ramp
For those signals which trigger Quick-Stop, the 'Settings.SignQstop' parameter can be used to define whether the motor is to be stopped by means of the quick-stop-ramp or the normal deceleration ramp. The deceleration ramp is set under 'Motion.Dec'. Deceleration for the quickstop ramp is set via the 'Settings.dec_Stop' parameter. This does not apply to the Electronic Gear operating mode. Here the delay for the Quick Stop ramp is always set by means of the „Gear.a_maxGear“ parameter.
Parameter
Explanation and unit [ ]
Group.Name
Range of values
Idx:Sidx TL-HMI
Default- R/W Value
rem.
Settings.SignQstop 28:20
4.1.26
Check signals which initiate quick stop 0: Deceleraton ramp 1: Ramp for Quick stop
UINT16 Bit 0 : LIMP Bit 1 : LIMN Bit 2: STOP Bit 3: REF Bit 6: Bit 7: SW_STOP
0
R/W rem.
Settings.dec_Stop
–
Deceleration ramp for quick stop [rev/(min*s)]
UINT32 60..2000000
6000
R/W rem.
28:21
Settings for Quick-Stop
The positioning controller absorbs excess braking energy during a Quick-Stop. If the DC-line voltage exceeds a permissible threshold, the positioning controller switches off the power amplifier and displays error 5 'DC-line overvoltage'. The motor then runs down under no braking. The current for the deceleration torque should be set such that the positioning controller comes to a halt with maximum deceleration but without tripping out.
9844 1113 117, c325, 11.00
If the positioning controller trips out frequently during Quick-Stop displaying error 5 'DC-line overvoltage', the maximum braking current must be reduced or an external load resistor fitted.
7-18
Twin Line Controller 51x
TLC51x
Functions of the positioning controller
Acknowledging Quick-Stop
Quick-Stop must be acknowledged via the FAULT_RESET input signal or via the error confirmation function of an input device. I/O signal
Function
Value
FAULT_RESET
Resets a fault message
low / open -> high
If the motor is brought to a halt by means of Stop, the STOP signal must first be reset. If Quick-Stop has been triggered by limit switch signals LIMN or LIMP, the drive must be moved back into the area of travel in manual mode, see ’Moving the drive out of the limit switch area’ on page 7-24.
7.6
Reversal of direction of rotation If the drive`s direction of rotation must bei reversed, the values of all parameter can bei used unchanged. E Reverse the drive's direction with the parameter „Motion.invertDir“. The drive's direction of rotation can be reversed by means of the parameter 'Motion.invertDir'. At the same time the limit switch connections must be swapped round. The following applies when reversing the direction of rotation:
Parameter
•
Reverse the drive's direction with the parameter „Motion.invertDir“.
•
Limit switch LIMP responds to negative rotation.
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Motion.invertDir
28:6
Inversion of sense of rotation
UINT16 0: no inversion 1: sense of rotation inverted
Default- R/W Value
rem.
0
R/W rem.
9844 1113 117, c325, 11.00
4.4.27
Range of values
Twin Line Controller 51x
7-19
Functions of the positioning controller
7.7
TLC51x
Fast position capture Position values can be recorded via two channels whose parameters can be adjusted. The capture inputs show an input delay of 100µs. This delay fluctuates by max. +/-10 µs. If the drive speed is constant, the jitter is max. +/-5 µs. Parameters ’Capture.TrigSign’ define the signal source of a position value capture. The CAPTURE1 and CAPTURE2 inputs of the signal interface or the index pulse of a position sensor in slot M2. A recording of the position can be triggered by the rising or falling edge of the signal; the edge change is set via the ’Capture.TrigLevl’ parameter.
Initiating position capture
The ’Caputure.TrigStart’ parameter activates a new recording procedure. Any stored position value is first deleted. As soon as a new position value has been recorded, the signal level of the ’Capture.TrigStat’ parameter changes from ’0’ to ’1’. The value remains stored until a new process is triggered for this channel. The positioning controller calculates the position values from the time elapsed and the speed at set and actual positions. The position values can be interrogated via ’Capture.TrigPact1/2’.
Fig. 7.14 Fast position capture, Signal pattern and parameter
Position capture can be carried out once or continuously, as set in bit 15 in ’Capture.TrigStart’: •
Bit 15=0: The position value after the first triggering is stored. Further values are ignored until the process is re-initiated.
•
Bit 15=1: Every triggering updates the position value.
9844 1113 117, c325, 11.00
Continuous position capture
7-20
Twin Line Controller 51x
TLC51x
Functions of the positioning controller
Parameter
Explanation and unit [ ] Idx:Sidx TL-HMI
Capture.TrigSign
20:13
–
Selection of trigger signals for position storage Bit 3..2: Signal - channel 2 (K2) Bit 1..0: Signal - channel 1 (K1) Examples: 4: binary 01 00 => CAPTURE2 (K2), CAPTURE1 (K1) 9: 10 01 => CAPTURE2 (K2), Indexp. Sollpos. (K1)
Capture.TrigLevl
20:15
–
Capture.TrigStart
20:16
Capture.TrigStat
Default- R/W Value
rem.
UINT16 bits 0..1/ bits 2..3 (K1/K2): - 00: CAPTURE1 - 01: CAPTURE2 - 10: index pulse setpoint sensor (with module on M1) - 11: index pulse actual position sensor (fori SM with module on M2)
4
R/W –
Signal level for trigger channels bit state: 0: triggering at 1->0 change 1: triggering at 0->1 change
UINT16 bit 0: set trigger level on channel 1 bit 1: set trigger level on channel 2
1
R/W –
–
start triggering (bits0..1): 0: no change 1: reset triggering and repeat cancel triggering (bit 14=1) repeat triggering (bit15) 0: trigger once 1: trigger continuously
UINT16 bit 0: trig. on channel 1 bit 1: trig. on channel 2 bit 14: cancel trig. bit 15: repeat trig.
0
R/W –
20:17
–
Status of trigger channels
UINT16 bit 0: triggering on channel 1 running bit 1: triggering on channel 2 running
0
R/– –
Capture.TrigPact1
20:18
–
Actual position of motor on triggering on channel 1 [Inc]
INT32
–
R/– –
Capture.TrigPact2
20:19
–
Actual position of motor on triggering on channel 2 [Inc]
INT32
–
R/– –
TrigPref1
20:20
–
Setpoint of electrical gearbox on triggering on channel 1 (inc)
INT32
-
R/– –
TrigPref2
20:21
–
Setpoint of electrical gearbox on triggering on channel 2 (inc)
INT32
-
R/– –
9844 1113 117, c325, 11.00
Group.Name
Range of values
Twin Line Controller 51x
7-21
Functions of the positioning controller
7.8
Monitoring functions
7.8.1
Monitoring of axis signals Positioning limits
TLC51x
The motor can be moved to any point on the axis within the axis positioning range by specifying an absolute positioning process. The axis travel range is specified in internal units in the range -231 to +231 increments. The resolution of the motor encoder in increments is specified as the internal unit.
Fig. 7.15
Positioning range and range overrun
If the motor crosses the positioning limits, the internal monitoring signal for position overrun is set and the work area moved by 2 32 units. The „Status.IntSigSr“ parameter displays a position overrun on bit 2. The monitoring signal remains set when the motor moves back into the valid area. It is reset by a new referencing procedure or by switching the positioning controller off and on. Crossing positioning limits is possible in speed mode, electronic gear mode, referencing and manual mode. In Point to Point positioning, after limits have been crossed, values are used in the new work area. Teach-in processing is not possible after limits have been crossed as positions are no longer defined. Crossing range limits can be prevented by activating software limit switches. Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Status.IntSigSr
29:34
Monitoring signals 0: not active, 1: activated
Default- R/W
UINT32 Bit2: position overflow
Value
rem.
-
R/ – –
9844 1113 117, c325, 11.00
2.3.4
Range of values
7-22
Twin Line Controller 51x
TLC51x
Functions of the positioning controller
Software limit switches
Parameter
The software limit switch position is set via parameters ’Motion.SW_LimP’ and ’Motion.SW_LimN’ and activated via ’Motion.SW_Enabl’. The determining factor for position monitoring of the software limit switch range is the setpoint of the position controller. Depending on the controller setting, therefore, the motor can stop before it reaches the limit switch position. Bits 5 and 6 of the ’Status.IntSigSr’ parameter signal the crossing of the limit switch position. Explanation and unit [ ]
Range of values
Default- R/W
Name
Idx:Sidx TL-HMI
Motion.SW_LimP
29:4
4.4.5
Software limit switch for pos. Position limit LIMP condition: SW_LimP > SW_LimN [usr]
INT32 -2147483648..2147483647
2147483 R/W 647 rem.
Motion.SW_LimN
29:5
4.4.6
Software limit switch for pos. Position limit LIMN condition: SW_LimN > SW_LimP [usr]
INT32 -2147483648..2147483647
-214748 R/W 3648 rem.
Motion.SW_Enabl
29:6
4.4.7
Set monitoring of software limit switches 0: deactivated 1: activated
UINT16 Bit5: SW_LIMP Bit6: SW_LIMN
0
R/W rem.
Status.IntSigSr
29:34
2.3.4
Monitoring signals 0: not active, 1: activated
UINT32 Bit5: SW limit switch, pos. sense of rotation (SW_LIMP) Bit 6: SW limit switch, neg. sense of rotation (SW_LIMN)
–
R/– –
Limit switch signal and STOP signal
Value
rem.
During motion, both limit switches are monitored via input signals LIMN and LIMP. If the drive reaches a limit switch, the positioning controller stops the motor. The triggering of the limit switch is signalled on the input device. Set up the limit switches in such a way that the drive cannot cross the switch restriction. For example, use longer actuator lugs. The STOP input signal stops the motor by means of Quick-Stop. Further processing is possible if: the STOP signal is cancelled and
•
Quick-Stop has been acknowledged and
•
a new movement command is activated.
9844 1113 117, c325, 11.00
•
Twin Line Controller 51x
7-23
Functions of the positioning controller
TLC51x
The ’Settings.SignEnabl’ and ’Settings.SignLevel’ parameters are used to change the enabling of input signalsREF, LIMP, LIMN and STOP and their evaluation at active low or high: Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
Settings.SignEnabl
28:13
4.1.10
Signal enable for monitoring inputs 0: inactive 1: active
Settings.SignLevel
28:14
4.1.11
Signal level for monitoring inputs
Range of values
Default- R/W Value
rem.
UINT16 Bit 0: LIMP Bit 1: LIMN Bit 2: STOP Bit 3: REF
7
R/W rem.
UINT16 Bit 0: LIMP Bit 1: LIMN Bit 2: STOP Bit 3: REF
0
R/W rem.
The REF switch does not have to be enabled for the reference movement. If the REF switch is enabled, it takes on the function of an additional STOP switch.
Moving the drive out of the limit switch area
The drive must be moved out of the limit switch area and back into the valid travel area in manual mode. E If ’Settings.IO_mode’=2, change to manual operation by means of input signal AUTOM. E Activate and hold the manual movement signal in order to move the drive into the permitted area of travel: If limit switch signal LIMP has been triggered, signal MAN_N must be activated, and vice versa.
9844 1113 117, c325, 11.00
If the drive does not move back into the area of travel, check whether manual mode has been activated and the correct manual movement signal held.
7-24
Twin Line Controller 51x
TLC51x
7.8.2
Functions of the positioning controller
Monitoring internal signals Monitoring systems protect motor, power amplifier and load resistors from overheating, and ensure functional and operational safety. You will find a list of all safety devices under ’Safety devices’ on page 2-3. The positioning controller displays error messages and warnings by causing the 7-segment display to blink. In addition a connected operating device displays an error text.
Temperature monitoring
Sensors monitor the temperature of motor and power amplifier. If the temperature of one of these components exceeds the limit, the positioning controller switches off the amplifier and the control loop to protect them from overheating and signals a temperature fault. All temperature thresholds are pre-set and cannot be changed.
Monitoring parameters
The parameters listed in the 'Status' set can be used to monitor unit status and operating status by means of parameters. Among them are •
„Status.FltSig“ (28:17), „Status.FltSig_SR“ (28:18) and „Status.IntSigSr“ (29:34) for monitoring internal unit signals
•
„Status.action_st“ (28:19) for monitoring the operating status
•
„Status.StopFault“ (32:7), with which the cause of the last interruption can be determined.
9844 1113 117, c325, 11.00
You will find information on evaluating the monitoring facilities built into the unit over the field bus under ’Diagnosis and error rectification’, page 8-1.
Twin Line Controller 51x
7-25
Functions of the positioning controller
7.9
TLC51x
Braking function with TL HBC For motors fitted with a holding brake, the brake prevents unintended movement of the motor when not under power. The positioning controller controls the holding brake via the holding brake control system which is available as an accessory.
Holding brake control system
The holding brake control system amplifies the ACTIVE_CON control signal from the signal interface, and controls the brake in such a way that it responds quickly whilst generating as little heat as possible. The brake connection which is in the same cable as the power connections to the motor, is safely separated from the positioning controller’s signal connections in the event of insulation breaks occurring in the motor cable.
Standard unit
For set-up and function test, the holding brake can be released with the push-button switch fitted to the holding brake control system.
Version P
For set-up and function testing the holding brake can be controlled via the TL CT operating software or the TL HMI.
Brake signals
ACTIVE_CON switches to ’high’ and releases the brake as soon as the amplifier is enabled and the motor has holding torque.
Voltage reduction
I/O signal
Function
Value
ACTIVE_CON
Brake disengaged, no braking torque Brake engaged, braking torque
high low / open
ACTIVE_GND
GND connection for ACTIVE_CON
low
The control voltage from the holding brake control system is variable if the voltage reduction function is switched on. The voltage is then 24 V for approx.. 100 ms and afterwards falls back to its holding voltage of 12 V.
When the supply voltage is switched on, the holding brake control system and the switch/Taster function are reset. No voltage is present on the control terminals of the brake, and the control system LED is off.
7-26
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Fig. 7.16 Time diagram, brake function with voltage reduction on
TLC51x
Diagnosis and error rectification
8
Diagnosis and error rectification
8.1
Operational status indicators and transitions Status display in the unit
The D2 LED on the motor plug lights, when voltage is present in the DC-line. The 7-segment display represents the operating states of the positioning controller in coded form. Display Operating status 0
24 V switched on
1
Initialization of the unit electronics
2
The power amplifier is not ready to switch on
3
Switching on the power amplifier is disabled
4
The power amplifier is ready to switch on
6
The device is working in the operating mode selected
7
A quick stop is being executed
8, 9
An error has been detected and the error response activated
9844 1113 117, c325, 11.00
0-A Indicates the error value flashing
Fig. 8.1
Twin Line Controller 51x
Operating states and transitions of the positioning controller
8-1
Diagnosis and error rectification
Operating transitions
TLC51x
The conditions for changing between the operating states displayed and the reactions of the positioning controller to an error follow a fixed sequence. Changing the operating status is controlled via the "Commands.driveCtrl" parameter.
Parameter
Explanation and units [ ]
Gruppe.Name
Idx:Sidx TL-HMI
Commands. driveCtrl
28:1
8.2
-
Control word for status change, default setting Bit0..3=’0’, write access automatically triggers edge change 0->1.
Range of values
UINT16 Bit0: Disable power amplifier Bit1: Enable power amplifier Bit2: Stop (Quick-Stop) Bit3: FaultReset Bit4..15: not assigned
Default
R/W
value
rem.
0
R/ – –
Error display and rectification Error display
The cause of a particular operating malfunction is displayed •
by a flashing number in the seven-segment display
•
by the error response of the positioning controller
•
in the operating software as an error message on the control bar and in the list of the error memory.
•
in the display of the Human-Machine Interface HMI as an error message and in the list of the error memory.
•
bit-coded in the parameters 'Status.FltSig', `Status.FltSig_SR`, Status.IntSigSR`and `Status.Sign_SR`.
The positioning controller reacts to a fault via the the limit switch or STOP signal by initiating a quick stop without displaying an error message on the unit. The cause of the interruption is however recorded in the error memory and can be accessed via the Human-Machine Interface HMI or the operating software. Once the error has been corrected, the message can be reset •
by setting the input signal FAULT_RESET
•
via the operating software with the Reset button
•
by switching off the power supply to the positioning controller.
9844 1113 117, c325, 11.00
Resetting error messages
8-2
Twin Line Controller 51x
TLC51x
Diagnosis and error rectification
Error response
The positioning controller triggers an error response when a malfunction occurs. Depending on the seriousness of the fault, the unit responds in accordance with one of the following error classes: Error class
Reaction
Meaning
0
Warning
Message only, no interruption to movement operations
1
Quick stop
The motor stops with quick stop, the power amplifier and controller stay switched on, stop control is activated.
2
Quick stop with The motor stops with quick stop, the power amplifier switch-off and controller switch off at standstill.
3
Fatal error
The power amplifier and controller switch off The unit cannot be activated until the fault is corrected.
4
Uncontrolled operation
The power amplifier and controller switch off . The error response can only be reset by switching off the unit.
Error rectification Display Error
Error class
Cause
Error rectification
None
No LED display
-
Supply voltage missing
Check supply voltage and fuses
No LED display
-
Supply voltage incorrectly connected
Connect correctly
1
Undervoltage
3
DC-line voltage below threshold value Check mains voltage / check connections for switching off the drive to unit
2
Contouring error
3
Drive blocked, start-stop frequency too high, ramp frequency too high
Maximum motor speed
3
Exceeding the maximum motor speed Reduce vertical loading under shift operation
3
Motor line
3
Short circuit or earth fault in the motor Check the encoder cable or encoder, line or in the motor replace the cable or motor
4
Position sensor
3
Only for TLC51x units with rotation Check the encoder cable or encoder, monitoring: encoder or encoder cable replace the cable or motor faulty
5
Overvoltage
3
DC-line overvoltage
Use external capacitor
7
Overtemperature 3 power amplifier
The power amplifier is overheating
Reduce load, use current reduction to reduce power
Overtemperature 3 motor
Only for TLC51x units with encoder Allow the motor to cool, use higher rated connected: motor overheated, temper- motor, use current reduction to reduce ature sensor not connected or broken power, check/replace encoder cable
Watchdog
4
Internal system error
System error, control system
4
System error e.g. division by 0 or time- Comply with EMC protective measures, out checks, inadequate EMC switch the unit off and back on, contact SIG Positec
9844 1113 117, c325, 11.00
8
A
Short circuit I/O
Twin Line Controller 51x
Short circuit in the digital outputs No 24 V for signal interface
Reduce load or motor torque, check rotary switch position for motor current, NC settings: set start-stop frequency lower, reduce acceleration frequency
Switch the unit off and back on, replace the unit
Check the connections and wiring Supply 24 VDC at pins 7 and 8
8-3
Diagnosis and error rectification
TLC51x
Display Error
Error class
Cause
E
System error, positioning controller, fatal error
3
Cause of error corresponding to error rectification dependent on error number number in error memory
System error, positioning controller, uncontrolled operation
4
Cause of error corresponding to error rectification dependent on error number number in error memory
Limit switch
1
Limit switch overshot
Stop
1
Stop signal activated, line interrupted Check the line for the STOP terminals signal
Node guarding
1
Connection monitoring for the manual control unit activated
Check the RS232 connection at the controller
Time-out
1
Protocol error
Time-out exceeded during exchange of data with the manual control unit, start transmission again
None 1)
Error rectification
Bring the drive into movement zone, match the positioning data to the axis range Special message in the error memory shows the limit switch which is connected incorrectly as regards direction.
1) No error display, operating status continues to be displayed.
Version P
The following error can occur in version P. Display
Cause
Correction
none
functions disabled allow unit to dry and reduce humiditiy due to condensation
9844 1113 117, c325, 11.00
With the operating software TL CT and the TL HMI the current and the last 20 error messages are displayed.
8-4
Twin Line Controller 51x
TLC51x
Diagnosis and error rectification
TL CT: Error display
E Select ’Twin Line ➞ Diagnosis ➞ Error memory’. A dialog box which displays the error messages appears.
Fig. 8.2
Error messages
Error messages are displayed showing status, error class, time when error occurred and a short description. The error number is given as a hexadecimal value. Additional information is given in column Qu.., Qualifier. At the error message „E1855 initialisation error in parameter IxSix -> Qualifier“ the Qualifier identifies the index/sub-index of the parameter, for which the error has been detected. You will find the parameter in the list of parameters in chapter 12. By way of an example, Qualifier is showing 00290023h. This is parameter 29:23 „Motion.v_target0“. A detailed error message is given in the following sumcheck error messages: •
181Bh: „error in processing manual movement ->Qualifier“
•
181Fh: „error in processing reference movement ->Qualifier“
•
181Dh: „error in changing user operating mode ->Qualifier“
9844 1113 117, c325, 11.00
E Acknowledge the current error message with the 'Reset' button on the command bar of the program.
Fig. 8.3
Twin Line Controller 51x
Reset button, 9
8-5
Diagnosis and error rectification
TL HMI: Error display
TLC51x
E Via the menu item ’2.4 Error’ change to the menu items for displaying error messages.
Fig. 8.4
Displaying an error value
You can use the cursor keys to scroll through the error entries: Menu item
Meaning
2.5.1 StopFault
Cause of the last interruption
2.5.2 Error01
1st error entry, oldest message
2.5.3 Error02
2nd.error entry, more recent message, if present
...
...
The meaning of the error values is given in the Human-Machine Interface HMI manual. In field bus operation, device faults are reported as asynchronous errors by the controller’s monitoring facility. An asynchronous error is recognised by the status word 'fb_statusword'. Signal status '1' indicates an error or warning message. Details on the cause of the fault can be determined via parameters.
Fig. 8.5
Error evaluation for asynchronous error
•
Bit 5, 'FltSig': report from internal monitoring signal, e.g. overtemperature in power amplifier.Details via parameters 'Status.FltSig_SR' and 'Status.IntSigSR'
•
Bit 6, 'Sign_SR': report from external monitoring signal, e.g. interruption of movement through STOP input Details via parameter 'Status.Sign_SR'
•
Bit 7, 'warning': warning message from the controller, e.g. I2T error in power amplifier Details via parameters 'Status.FltSig_SR' and 'Status.IntSigSR'
Besides asynchronous errors, synchronous errors are also reported in field bus operation which are triggered by a communication error, e.g. by unauthorised access or an incorrect command. Both error types are described in the controller’s field bus manual.
8-6
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Field bus: evaluating error messages
TLC51x
Diagnosis and error rectification
Error display over the field bus
The positioning controller saves the last 20 error messages in a separate error memory. In addition, the current error cause is saved in the ’Status.StopFault’ parameter. The error messages are arranged in chronological order and can be read via index and sub-index values: Index
Explanation
900:1, 900:2, 900:3, ...
1. error entry, oldest report
901:1, 901:2, 901:3, ...
2. error entry, later report, if present ...
919:1, 919:2, 919:3, ...
20th error entry, if present, the latest error value is found here
Further information on each fault report can be obtained from the sub-index. The additional informations can be read about the „ErrMem0.ErrQual“ parameter. Parameter
Explanation and unit [ ]
Group.name
Idx:Sidx TL-HMI
Status.StopFault
32:7
2.5.1
Cause of last interruption, error number
ErrMem0.ErrNum
900:1
–
ErrMem0.Class
900:2
ErrMem0.Time
Range of values
Default- R/W Value
rem.
UINT16
0
R/– –
Coded error number
UINT16 0...65535
–
R/– –
–
Error class
UINT16 0...65535
–
R/– –
900:3
–
Error moment since power amplifier switched on [ms]
UINT16 0...65535
–
R/– –
ErrMem0. AmpOnCnt
900:4
–
Number of switch-on cycles of UINT16 power amplifier –
–
R/– –
ErrMem0. ErrQual
900:5
–
Additional information for assessing error
UINT16 –
0
R/– –
5.4
Deletion of all entries in the error memory
UINT16 0
0
R/W –
Commands.del_err 32:2
9844 1113 117, c325, 11.00
The error cause for each error message is saved in coded form as an error number under 'Status.ErrNum'. The table from page 8-9 shows error numbers and their explanation.
Twin Line Controller 51x
8-7
Diagnosis and error rectification
8.3
TLC51x
Malfunctions in movement mode Faults
Cause
Correction
The motor jerks briefly
The motor phases are swapped
Check the motor cable and connection: connect motor phases U, V and W in the same way on the motor and unit sides
No motor movement The motor has seized
Release the motor brake Check the motor cable and connection. One or more motor phases are not connected.
No torque
Set the parameters for max. current, max. speed to higher than zero
Incorrect operating mode selected
Set the input signal and parameters for the operating mode you want
9844 1113 117, c325, 11.00
Break in the motor line
8-8
Twin Line Controller 51x
TLC51x
9844 1113 117, c325, 11.00
8.4
Diagnosis and error rectification
Table of error numbers
Error number
Error class
Meaning
E1000
0
First entry
E1001
0
parameter not existing
E1002
0
parameter not existing
E1003
0
parameter not existing
E1004
0
parameter not existing
E1005
0
Communication protocol: unknown service
E1006
0
Communication protocol: invalid service
E1007
0
Communication protocol: segment service not initialized
E1008
0
Parameter not writable
E1009
0
Parameter not readable
E100A
0
Parameter out of range
E100B
0
Communication protocol: parameter- or command processing not finished
E100C
0
Command not allowed while drive is active
E100D
0
Successive table entries have to be different
E100E
0
System: non-volatile memory too small
E100F
0
Non-volatile memory defective
E1010
0
Non-volatile memory booted
E1011
0
Non-volatile memory reading error
E1012
0
Non-volatile memory writing error
E1013
0
No valid parameter set
E1014
0
No data existing, upload not possible
E1015
0
Function not allowed
E1016
0
Write protected against actual user level
E1017
0
maximum allowed current is exceeded
E1018
0
Input value exceeds allowed speed
E1019
0
Operating mode not existing
E101A
0
Communication protocol: servicenot supprted
E101B
0
Password not correct
E101C
0
Download faulty segment
E101D
0
S3 set faulty
E101E
0
Write error flash
E101F
0
S-Record CRC Error
E1020
0
S-Record ID unknown
E1021
0
System: program checksum not correct
E1022
0
Bootstrap address error
E1023
0
Wrong or missing modul
E1024
0
Quick-stop caused by LIMP
E1025
0
Quick-stop caused by LIMN
Twin Line Controller 51x
8-9
Diagnosis and error rectification
Error class
Meaning
E1026
0
Quick-stop caused by STOP
E1027
0
No power amplifier found
E1028
0
Power amplifier not factory-adjusted
E1029
0
Power-amplifier changed, Power amplifier not factory-adjusted
E102A
0
Motor not factory-adjusted
E102B
0
Motor parameter are missing
E102C
0
Non-volatile memory initialized
E102D
0
HIPERFACE modul not adjusted
E102E
0
Flashing not possible while drive is active
E102F
0
No firmware stored in Flash
E1030
0
Absolute position deviation too large
E1031
0
Command not allowed while drive is waiting for reference pulse of SinCoder
E1032
0
Error while deleting Flash (Timeout)
E1033
0
During power-on, motor is rotating
E1034
0
Drive not active
E1035
0
Non-volatile checksum error
E1036
0
Feedback Non-volatile memory new defined
E1037
0
Feedback Non-volatile memory not rigth defined
E1038
0
Analog input +-10V not adjusted
E1039
0
Reference position module not available
E103B
0
Activation of amplifier not permitted
E103C
0
Wrong amplifier type
E1200
0
Communication protocol: parameter- or command processing not finished
E1201
0
Serial interface: buffer overflow
E1202
0
Serial interface: transmission error
E1203
0
Serial interface: transmission error
E1204
0
Serial interface: transmission error
E1205
0
Serial interface: transmission error
E1206
0
Parameter for trace trigger not correct
E1207
0
Trace not completely configured
E1208
0
Parameter out of range
E1209
0
read/write not possible while trace data are being read
E120A
0
Read/write not possible while trace is active
E120B
0
trace buffer too small for confured trace
E120C
0
parameter out of range (table range)
E120D
0
Function not implemented
E120E
0
HIPERFACE serial interface: transmission error
E120F
0
HIPERFACE: data in non-volatile memory of sensor are not correct
E1210
0
No feedback modul found
E1211
0
Warning: feedback modul exchanged
8-10
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Error number
TLC51x
9844 1113 117, c325, 11.00
TLC51x
Diagnosis and error rectification
Error number
Error class
Meaning
E1212
0
Unknown sennsor connected with HIPERFACE module
E1213
0
HIPERFACE: non-volatile memory too small
E1214
0
HIPERFACE-Sensor not adjusted
E1215
0
System: watchdog
E1216
0
System: Illegal Address
E1400
2
power up error
E1401
2
undervoltage DC bus limit 1: quickstop
E1402
3
undervoltage DC bus limit 2: drive erro
E1403
3
ground fault motor outputs
E1404
3
short motor outputs or overcurrent detected
E1405
3
DC bus overvoltage
E1406
3
overtemperature of ballast resistor
E1407
3
overtemperature of motor
E1408
3
overtemperature of power module
E1409
0
I2t supervision error of power module
E140A
0
I2t monitoring Dummy
E140B
0
I2t supervision error of motor
E140C
0
I2t supervision error of dynamic breake
E140D
3
phase error motor outputs
E140E
3
phase error line
E140F
4
system watch dog
E1410
4
internal system fault
E1411
3
Save-Standstill
E1412
0
serial interface transmission error
E1413
3
speed limit error
E1414
3
Slot M1: external setpoint signals not correctly connected
E1415
3
Solt M2: feedback position sensor not correctly connected
E1416
3
Position following error
E1417
4
Linefail 24V
E1418
0
Position following error
E1419
1
I/O error
E141A
1
limit switch not correct installed
E141B
0
Warning overtemperature motor
E141C
0
Warning overtemperature power amplifier
E141F
0
Nodeguarding
E1800
0
parameter not existing
E1801
0
Write protected against actual user level
E1802
0
Password not correct
E1803
0
Serial interface: initialization parameter not correct
E1804
4
Serial interface: no send/receive buffer
Twin Line Controller 51x
8-11
Diagnosis and error rectification
Error number
Error class
TLC51x
Meaning
2
Serial interface: initialization not completed
E1806
0
precondition not met
E1807
0
parameter not existing
E1808
2
Serial interface: send buffer too small
E1809
2
Serial interface: send string not convertable
E180A
2
Serial interface: receive buffer too small
E180B
0
Serial interface: transmission error
E180C
0
Serial interface: transmission error
E180D
0
Serial interface: transmission error
E180E
0
Serial interface: transmission error
E180F
0
Serial interface: error in communication protocol
E1810
0
Serial interface: transmission error
E1811
0
Parameter read/write allowed only during active axis mode
E1812
4
parameter not existing
E1813
0
system: DSP-clock missed once
E1814
4
system: DSP-clock missed totally
E1815
0
Parameter for trace channel not correct
E1816
1
system: function not ready
E1817
0
Parameter out of range
E1818
0
Error while calculating internal values
E1819
0
command- or parameter write, only allowed during motion standstill
E181A
0
Position overflow occured
E181B
0
Error while operation mode manual -> Qualifier
E181C
0
Homing position not defined or homeing prcedure not finished
E181D
0
Operation mode with external reference signals it active -> Qualifier
E181E
0
Drive is blocked or breaked
E181F
0
Error while operation mode reference motion -> Qualifier
E1820
1
Error in position list
E1821
0
Function not implemented
E1822
0
command- or parameter write not allowed while homeing is active
E1823
4
-
E1824
0
-
E1825
0
command- or parameter write not allowed in actual operating mode
E1826
0
SWLIM causes error
E1827
0
Recording position of HW limit switch not def.
E1828
0
homeing error, limit switch not enabled
E1829
0
homeing error at /LIMP
E182A
0
homeing error at /LIMN
E182B
0
-
E182C
0
-
8-12
9844 1113 117, c325, 11.00
E1805
Twin Line Controller 51x
9844 1113 117, c325, 11.00
TLC51x
Diagnosis and error rectification
Error number
Error class
Meaning
E182D
0
-
E182E
0
-
E182F
0
-
E1830
0
-
E1831
0
-
E1832
4
Initializing hardware indicates error
E1833
4
System: too less system memory
E1835
4
Fieldbus module: FIFO timeout
E1836
4
Fieldbus module: error while boot procedure
E1837
4
Fieldbus module: error while initialization
E1838
4
Fieldbus module: communication parameter not correct
E1839
4
Fieldbus module: indicates error
E183A
4
Fieldbus module: timeout
E183B
4
Fieldbus module: unknown FIFO object
E183C
4
Fieldbus module: state machine indicates error
E183D
4
System: internal communication, write request to DSP with error
E183E
4
System: internal communication, read request to DSP with error
E183F
0
-
E1840
4
System: data interface type mismatch
E1841
0
Change of operation mode still active
E1842
4
accelation distance too large
E1843
0
LIMP causes quick-stop
E1844
0
LIMN causes quick-stop
E1845
0
REF causes quick-stop
E1846
0
STOP causes quick-stop
E1847
0
LIMP causes quick-stop, while negative movement
E1848
0
LIMN causes quick-stop, while positive movement
E1849
0
Internal position range exceeded
E184A
4
DSP Bootstraploader Timeout
E184B
4
DSP indicates wrong program version
E184C
3
Non-volatile with invalid data
E184D
4
Internal overflow
E184E
0
command or parameter write is locked from other interface
E184F
0
homeing error at /STOP
E1850
0
homeing error at /REF
E1851
3
Error while calculation electronic gear
E1852
3
DSP Timeout
E1853
3
Gear mode: Change of reference signal too large
E1854
0
Command not allowed while operation mode active(xxxx_end=0)
E1855
2
Initialization error with parameter IxSix -> qualifier
Twin Line Controller 51x
8-13
Diagnosis and error rectification
TLC51x
Error class
Meaning
E1856
0
Command or write parameter not allowed while active drive
E1857
0
Read- or write parameter only allowed while active drive
E1858
0
Quick-stop active
E1859
0
Fault reaction active or fault active
E185A
0
Command or write parameter only allowed in gear mode
E185B
0
Automatic operation active
E185C
0
Manual operation active
E185D
0
Login missing
E185E
0
System: PSOS-task not found
E185F
0
System: profil generation or gear mode breaked
E1860
0
SWLIM causes quick-stop
E1861
0
SWSTOP causes quick-stop
E1862
0
Internal SWSTOP causes quick-stop
E1863
0
Read- or write parameter only allowed while active drive
E1864
0
Reference position module not available
E1865
0
More then one signal HWLIM/REF active
E1866
0
Call with direction bits=0 before new manual motion is required
E1867
0
List-driven operation: finising number set to value smaller than starting number
E1868
0
List-driven operation: position values not in correct ascending or descending order
E1869
0
List-driven operation: current position is behind position of last selected list entry
E186A
0
List-driven operation: signal list is active
E186B
0
Deactivation of current list-driven operation due to change of operating mode
E186C
2
Timeout: drive has not reached standstill window
E186D
1
Error in changing operating mode
E186E
4
device type not defined
E186F
1
Processing in current operating status of status machine not possible
E1870
0
External memory module not present
E1871
1
Illegal set number
E2000
0
FIRST_TLCT_FEHLER
E2001
0
Timeout
E2002
0
Incorrect data received
E2003
0
Incorrect frame received
E200A
0
SCAN-LOGIN has failed
E200C
0
TIMEOUT during SCAN-LOGIN
E200D
0
SCAN-LOGOUT has failed
E200E
0
TIMEOUT during SCAN-LOGOUT
E2015
0
Polling error
E2016
0
Timeout when polling the unit
E2017
0
LOGIN has failed
E2018
0
TIMEOUT during LOGIN
8-14
9844 1113 117, c325, 11.00
Error number
Twin Line Controller 51x
TLC51x
Diagnosis and error rectification
Error class
Meaning
E2019
0
Reading of object list has failed
E201A
0
TIMEOUT while reading object list
E201B
0
Reading control objects has failed
E201C
0
TIMEOUT while reading control objects
9844 1113 117, c325, 11.00
Error number
Twin Line Controller 51x
8-15
TLC51x
9844 1113 117, c325, 11.00
Diagnosis and error rectification
8-16
Twin Line Controller 51x
TLC51x
Service, Maintenance and Warranty
9
Service, Maintenance and Warranty
9.1
Service address Please address questions or problems to your SIG Positec contact person or directly to SIG Positec. SIG Positec will be happy to give you the name of its customer service outlet in your area.
Hardware hotline For questions concerning the unit, service or on-site commissioning Telephone: +49 (07821) 946 257 Fax: +49 (07821) 946 430 Lotus Notes: Hotline, Hardware Internet e-mail:
[email protected]
Software hotline For questions concerning software or field bus Telephone: +49 (07821) 946 360 Fax: +49 (07821) 946 430 Lotus Notes: Hotline, Software Internet e-mail:
[email protected]
RED office Repairs and spare parts service Telephone: +49 (07821) 946 606 Fax: +49 (07821) 946 202 Lotus Notes: RED, Buero Internet, e-mail:
[email protected]
Maintenance
The Twin Line unit requires no maintenance E Check the state of the filter in the switch cabinet ventilator regularly. Checking intervals depend on the ambient conditions on site.
Have repairs to the unit carried out only by SIG Positec to ensure that the unit continues to operate reliably. No warranty claims can be entertained if the unit has been opened.
9844 1113 117, c325, 11.00
Warranty
Twin Line Controller 51x
9-1
Service, Maintenance and Warranty
9.2
TLC51x
Shipping, storage and disposal DANGER! Electric shock from high voltage! Switch off the power supply at the main switch before removing the unit. DANGER! Electric shock from high voltage! Wait the 4 minutes discharge time (TLC538: 6 minutes) before working on the connections to the electronic power system or motor terminals. and then measure the residual voltage at the DC-line terminals DC+ and DC-. The residual voltage may not exceed 48 VDC.
Deinstallation
E Save the parameter settings of the unit: With the operating software select ’File ➞ Save’ to save all values on the PC’s data storage medium. With the Human-Machine Interface HMI select menu ’8.1 Read Param.’ to copy a parameters set into the Human-Machine Interface HMI copy memory E Switch the unit off. E Disconnect the power supply. E Mark all connections to the unit. E Disconnect the motor cable. E Pull out the interface connector. E Remove the unit from the control cabinet.
Shipping Storage
The unit must be protected against impact while in transit. Use the original packaging for this purpose. Store the unit only under the given, permissible ambient conditions for room temperature and humidity. Protect the unit from dust and dirt.
Disposal
The positioning controller is made from various materials which can be recycled or which must be separately disposed of. For recycling purposes, split the unit into the following parts •
Housing, screws and terminals for ferrous metal recycling
•
Cables for copper recycling
•
Connectors, hood for plastics recycling
9844 1113 117, c325, 11.00
Circuit boards and electronic components must be disposed of separately in accordance with the relevant environmental protection laws. Send these parts for special waste disposal.
9-2
Twin Line Controller 51x
TLC51x
Accessories and spare part
10
Accessories and spare part
10.1
List of accessories Accessories
The following accessories are available for standard units and for version P:
Qty
Designation
Standard unit/ version P (S/P)
1
Operating software TL CT with on-line documentation on data carrier, S/P multilingual
6250 1101 803
1
HMI hand-held operating unit with manual
S/P
6250 1101 503
1
Connector set for complete assembly
S/P
6250 1519 002
S/P
6250 1317 xxx 1)
2
Order Number
1
motor cable 1.5 mm
1
encoder cable for RM-C module
S/P
6250 1440 xxx 1)
1
pulse direction cable for PULSE-C module
S/P
6250 1447 yyy 2)
1
Encoder cable for RS422-C
S/P
6250 1448 yyy 2)
1
field bus cable for module CAN-C, IBS-C
S/P
6250 1446 yyy 2) 6250 1451 yyy 2)
1
CAN terminator, 9-pin CAN terminator socket, 9-pin plug
S/P
6250 1518 002 6250 1518 003
1
RS232 programming cable 5 m RS232 programming cable 10 m
S/P
6250 1441 050 6250 1441 100
1
TL HMI cable
S/P
6250 1442 yyy 2)
1
Holding brake controller TL HBC
S
6250 1101 606
1
terminal angle with top-hat rail TS 15, e.g. for terminal from Phonix Contact Typ MBK
P
6250 1102 200
1
set with grommets, type KDT/Z 3) ( Murrplastic GmbH, see chap. 10.3, P Suppliers)
6250 1102 202
1
External mains filter for units with no internal filter for TLC511 NF, 4A for TLC512 NF, 10A
S 5905 1100 200 6250 1101 900
9844 1113 117, c325, 11.00
1) cable length xxx: 003, 005, 010, 020: 3 m, 5 m, 10 m, 20 m, longer lengths of cable on request; 2) cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m 3) The inside diameter of the grommets must match the diameter of the cables used.
Twin Line Controller 51x
10-1
Accessories and spare part
10.2
List of spare parts Positioning controller
10.3
TLC51x
Qty.
Designation
Order no.
1
TLC511, TLC512
type code
1
SK14 shielding terminal
6250 1101 400
1
Connector caps for the terminal strips
6250 1519 002
1
Documentation on the TLC51x
9844 1113 117
Suppliers Grommets: Murrplastic GmbH D-71567 Oppenweier Tel.: +49 (0) 7191 / 482-0
9844 1113 117, c325, 11.00
Fax.: +49 (0) 7191 /482-280
10-2
Twin Line Controller 51x
TLC51x
Unit label
11
Unit label
11.1
Illustration of the unit label
9844 1113 117, c325, 11.00
E Copy the unit label and stick it to the inside of the Twin Line unit’s hood.
Fig. 11.1 Unit label
Twin Line Controller 51x
11-1
TLC51x
9844 1113 117, c325, 11.00
Unit label
11-2
Twin Line Controller 51x
TLC51x
Parameters
12
Parameters
12.1
Overview
9844 1113 117, c325, 11.00
Parameter groups
Twin Line Controller 51x
The parameters of the Twin Line unit are grouped in functional blocks. •
Settings, Page 12-3: Behaviour of the input and output signals of the signal interface, modification of error responses, gear ratios, parameters for the ±10 V interface and general control system settings
•
Commands, Page 12-4: Transmission of parameter sets, system settings for power amplifier
•
PPA, Page 12-4: Parameters of the power amplifier, system settings
•
Motion, Page 12-5 Parameter settings for all operating modes: jerk filter, direction of rotation, software limit switches, normalisation and ramp settings
•
Manual, Page 12-6 Parameter settings for manual mode
•
VEL, Page 12-6 Settings for speed mode
•
PTP, Page 12-7 Settings for point-to-point mode
•
Gear, Page 12-7: Settings for electronic gear mode with offset superimposition
•
Home, Page 12-9 Settings for referencing mode
•
Teach, Page 12-9 Settings for the teach-in operating function
•
List, Page 12-10 Settings for the list-controlled operation function
•
List1Data0..List1Data63, Page 12-11 List data input data
•
List2Data0..List2Data63, Page 12-11 List data input data
•
Capture, Page 12-12: Settings for the operating function for capturing position data
•
I/O, Page 12-13: Switching states of the inputs and outputs of the signal interface
•
M1, Page 12-14: Settings for modules in slot M1
•
M4, Page 12-14 Settings for modules in slot M4
•
Status, Page 12-15: System settings: Device-specific and current parameters such as temperature values of the power amplifier, motor and internal ballast resistor, control loop parameters and setpoint and actual values.
•
ErrMem0...ErrMem19, Page 12-20: Storage of last 20 error messages. Older messages are shifted towards ErrMem0.
12-1
Parameters
Instructions on inputting values
TLC51x
The ’max. current’ and ’max. speed’ values under ’Range of values’ correspond to the lesser maximum values of power amplifier and motor. The unit limits automatically to the lesser value. Temperature in Kelvin [K] = temperature in degree Celsius [°C] + 273, for example: 358 K = 85 °C
What does this mean?
Idx:Sidx: Index and subindex for identifying a parameter, can be input with the operating software in the 'Monitor' window. R/W: Value can be read or written. R/- means the value is read only. rem: The value is retentive; it is retained in the memory even after the unit is switched off. Info page: Further information on the parameter will be found on the page specified. Use the specifications which are relevant for controlling the unit through the particular access channel. Specifications
field bus, signal interface
Idx:Sidx:
TL HMI
menu items under TL-HMI
TL CT
parameter group.individual parameters, e.g. „Settings.SignEnabl“
9844 1113 117, c325, 11.00
Access channel
12-2
Twin Line Controller 51x
TLC51x
12.2
Parameters
Parameter groups
12.2.1 Parameter group Settings
9844 1113 117, c325, 11.00
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
name1
11:1
–
User device name 1
UINT32 0..4294967295
5389762 R/W 12-4 88 rem.
name2
11:2
–
User device name 2
UINT32 0..4294967295
5389762 R/W 12-4 88 rem.
Password
11:3
1.3
Password for configuring with UINT16 a hand-held operating unit 0..9999 0: No password protection
0
R/– 12-4 rem.
I_0
14:10
–
Phase current, standstill (100=1Arms)
–
90
R/W 5-8 rem.
I_acc
14:11
4.1.31
Phase current, acceleration / deceleration (100=1Arms)
UINT16 0...1000
90
R/W 5-8 rem.
I_const
14:12
4.1.32
Phase current, constant movement (100=1Arms)
UINT16 0...1000
90
R/W 5-8 rem.
SM_toggle
14:17
4.1.33
Short minimal motor movement when switching on the amplifier
0: inactive 1: active
1
R/W 12-3 rem.
monitorM
14:18
4.1.35
Motor monitoring, only with module in M2 0: deactivated 1: activated
UINT16 3 Bit 0: rotation monitoring Bit 1: temperature monitoring 0...3
SignEnabl
28:13
4.1.10
Signal enable for monitoring inputs 0: inactive 1: active
UINT16 Bit 0 : LIMP Bit 1 : LIMN Bit 2 : STOP Bit 3 : REF
7
R/W 7-24 rem.
SignLevel
28:14
4.1.11
Signal level for monitoring inputs 0: reaction at 0-level 1: reaction at 1-level
UINT16 Bit 0 : LIMP Bit 1 : LIMN Bit 2 : STOP Bit 3 : REF
0
R/W 7-24 rem.
SignQstop
28:20
4.1.26
Check signals which initiate quick stop 0: Deceleraton ramp 1: Quick stop ramp
UINT16 Bit 0 : LIMP Bit 1 : LIMN Bit 2: STOP Bit 3: REF Bit 6: Bit 7: SW_STOP
0
R/W 7-18 rem.
dec_Stop
28:21
-
Deceleration ramp for quick stop [rev/(min*s)]
UINT32 60..2000000
6000
R/W 7-18 rem.
Flt_pDiff
28:24
4.1.13
Error response to contour error
UINT16 1: Error class 1 2: Error class 2 3: Error class 3
3
R/W 12-3 rem.
xMode
29:1
4.4.2
Axle operating mode to be set UINT16 after power-on 0: PTP-Mode 1: Gear-Mode
0
R/W 12-3 rem.
Twin Line Controller 51x
R/W 5-8 rem.
12-3
Parameters
TLC51x
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
IO_mode
29:31
4.1.4
Significance of I/O signal assignment
Range of values
Default-
R/W Infos
Value
rem. page
0 UINT16 0: setting field bus-parameter via I/O assignment 1: I/O freely available 2: I/O assigned functions
R/W 5-10 rem.
Range of values
Default-
R/W Infos
Value
rem. page
12.2.2 Parameter group Commands Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
eeprSave
11:6
3.9 4.9 6.9
Save parameter values in EEPROM memory 1: Save the range
UINT16 Ranges to be saved: Bit0: Parameters Bit1: Set data Bit2: List data List1 Bit3: List data List2 Bit4: User-def. data
–
R/W 12-4 –
stateSave
11:7
–
Processing state of 'Commands.eeprSave'
UINT16 0: Saving 1: Saving completed
–
R/– –
default
11:8
–
Initialize parameters with default values Factory setting
UINT16 1: Start initialization
–
R/W 12-4 –
stateDef
11:9
–
Processing state param. 'Commands.default'
UINT16 0: Initializing 1: Initialization completed
–
R/– –
driveCtrl
28:1
–
Control word for change of state, presetting Bit 0..3='0', write access automatically triggers change of slope 0->1
UINT16 Bit0: disable amplifier Bit1: enable amplifier Bit2: stop (quick stop) Bit3: FaultReset Bits4..15: not assigned
0
R/W 12-4 –
OnlAuto
29:30
–
Access to the mode setting
UINT16 0: access via local control units or field bus 1: access via field bus only
0
R/W 6-2 –
del_err
32:2
5.4
Deletion of all entries in error memory
UINT16 0
0
R/W 8-7 –
Range of values
Default-
R/W Infos
Value
rem. page
12-4
12-4
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
I_maxPA
16:8
2.2.1
Peak current of the unit [100=1Arms]
UINT16
1000
R/– 12-4 rem.
U_maxDC
16:12
2.2.17
Max. permitted DC-line voltage on the DC-bus [10=1V]
UINT16
–
R/– 12-4 rem.
12-4
Twin Line Controller 51x
9844 1113 117, c325, 11.00
12.2.3 Parameter group PA
TLC51x
Parameters
12.2.4 Parameter group Motion
9844 1113 117, c325, 11.00
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
n_90%
14:15
-
Motor speed with 90% of the standstill momentum [r.p.m]
UINT32 1..3000
-
R/W 5-16 rem.
n_50%
14:16
4.4.31
Motor speed with 50% of the standstill momentum [r.p.m]
UINT32 1..3000
-
R/W 5-16 rem.
Filt_jerk
28:5
4.4.26
Jerk filter
UINT16 0: off 3..30: filter setting value
0
R/W 7-17 rem.
invertDir
28:6
4.4.27
Inversion of sense of rotation
UINT16 0: no inversion 1: sense of rotation inverted
0
R/W 5-8 rem.
SW_LimP
29:4
4.4.5
Software limit switch for pos. Position limit LIMP condition: SW_LimP > SW_LimN [usr]
INT32 -2147483648..2147483647
2147483 R/W 7-23 647 rem.
SW_LimN
29:5
4.4.6
Software limit switch for pos. Position limit LIMN condition: SW_LimN > SW_LimP [usr]
INT32 -2147483648..2147483647
-214748 3648
R/W 7-23 rem.
SW_Enabl
29:6
4.4.7
Set monitoring of software limit switches 0: deactivateD 1: activated
UINT16 Bit5: SW_LIMP Bit6: SW_LIMN
0
R/W 7-23 rem.
pNormNum
29:7
4.4.20
Position calibration numerator INT32 -2147483648..2147483647
1
R/W 7-11 rem.
pNormDen
29:8
–
Position calibration denomina- INT32 tor -2147483648..2147483647
19200
R/W 7-11 rem.
vNormNum
29:9
4.4.21
Speed calibration numerator
INT32 1..2147483647
1
R/W 7-11 rem.
vNormDen
29:10
–
Speed calibration denominator
INT32 1..2147483647
1
R/W 7-11 rem.
aNormNum
29:11
4.4.22
Acceleration calibration numerator
INT32 1..2147483647
1
R/W 7-11 rem.
aNormDen
29:12
–
Acceleration calibration denominator
INT32 1..2147483647
1
R/W 7-11 rem.
n_max0
29:21
4.4.28
Speed limit for travel profile [r.p.m.]
UINT32 0 .. 3000
3000
R/W 5-16 rem.
n_start0
29:22
4.4.10
Start-stop speed [Umin]
UINT32 1...n_max0
12
R/W 5-16 rem.
v_target0
29:23
4.4.11
Setpoint speed [usr]
UINT32 1..n_max0
60
R/W 5-16 rem.
acc_type
29:25
4.4.13
Shape of acceleration curve
UINT16 1: linear 2 : exponential
1
R/W 5-16 rem.
acc
29:26
4.4.14
Acceleration [usr]
UINT32 60...2000000
600
R/W 5-16 rem.
dec
29:27
4.4.15
Deceleration [usr]
UINT32 60...2000000
600
R/W 5-16 rem.
Twin Line Controller 51x
12-5
Parameters
TLC51x
12.2.5 Parameter group Manual Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
startMan
41:1
3.2.1
Start of manual travel with transfer of control bits
UINT16 Bit2: 0:slow 1:fast Bit1: neg. sense of rotation Bit0: pos. sense of rotation
–
R/W 6-10 –
statusMan
41:2
–
Acknowledgement: manual travel
UINT16 Bit0: Error LIMP Bit1: Error LIMN Bit2: Error HW_STOP Bit3: Error REF Bit5: Error SW_LIMP Bit6: Error SW_LIMN Bit7: Error SW_STOP Bit14: manu_end Bit15: manu_err
–
R/– –
typeMan
41:3
3.2.2
Type of manual travel
UINT16 0.: Classical inching 1: Unified inching
0
R/W 6-10 rem.
n_slowMan
41:4
3.2.3
Speed for slow manual travel [usr]
UINT32 1...2147483647
60
R/W 6-12 rem.
n_fastMan
41:5
3.2.4
Speed for fast manual travel [usr]
UINT32 1...2147483647
180
R/W 6-12 rem.
dist_Man
41:6
3.2.5
Inch travel, defined travel per jog cycle on travel-limited inching [usr]
UINT16 1..65535
20
R/W 6-12 rem.
step_Man
41:7
3.2.6
Inch travel, defined travel on manual travel start [usr]
UINT16 0..65535 0: continuous travel
20
R/W 6-11 rem.
time_Man
41:8
3.2.7
Classical waiting time [ms]
UINT16 1..30000
500
R/W 6-11 rem.
Range of values
Default-
R/W Infos
Value
rem. page
–
R/W 6-14 –
6-10
12.2.6 Parameter group VEL Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
velocity
36:1
3.1.2.1
Start of speed change with INT32 transfer of setpoint speed [usr]
stateVEL
36:2
–
– Acknowledgement: speed pro- UINT16 file mode Bit0: error LIMP Bit1: error LIMN Bit2: error HW_STOP Bit3: error REF Bit5: error SW_LIMP Bit6: error SW_LIMN Bit7: error SW_STOP Bit13: sepoint speed reached Bit14: vel_end Bit15: vel_err
12-6
R/– –
6-14
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Parameter
TLC51x
Parameters
12.2.7 Parameter group PTP Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
p_absPTP
35:1
3.1.1.1
Start of absolute positioning INT32 with transfer of absolute target -2147483648...2147483647 position value [usr]
–
R/W 6-4 –
statePTP
35:2
3.2.14
Acknowledgement: PTP posi- UINT16 tioning Bit0: error LIMP Bit1: error LIMN Bit2: error HW_STOP Bit3: error REF Bit5: error SW_LIMP Bit6: error SW_LIMN Bit7: error SW_STOP Bit13: Setposition reached Bit14: motion_end Bit15: motion_err
–
R/– –
p_relPTP
35:3
3.1.1.2
Start of relative positioning with value transfer for travel [usr]
–
R/W 6-16 –
continue
35:4
3.1.1.3
Continuation of interrupted UINT16 positioning with transfer of any value is not relevant for posivalue tioning
–
R/W 6-16 –
v_tarPTP
35:5
3.1.1.5
Setpoint speed of PTP positioning [usr]
INT32 1...2147483647
'Motion. R/W 6-16 v_target0 – '
Range of values
Default-
R/W Infos
Value
rem. page
INT32 -2147483648...2147483647
6-6
12.2.8 Parameter group Gear
9844 1113 117, c325, 11.00
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
startGear
38:1
3.1.3.1
Start of electronic gearbox processing with selection of processing mode
– UINT16 0: deactivated 1: immediate synchronisation 2: synchronisation with compensating movement
stateGear
38:2
-
Acknowledgement: gearbox processing
UINT16 Bit0: Error LIMP Bit1: Error LIMN Bit2: Error HW_STOP Bit3: Error REF Bit5: Error SW_LIMP Bit6: Error SW_LIMN Bit7: Error SW_STOP Bit13: Bit14: gear_end Bit15: gear_err
–
R/– –
n_maxGear
38:5
3.1.3.3
Max. speed [rpm]
INT32 1..12000
3000
R/W 6-19 rem.
a_maxGear
38:6
3.1.3.20 Maximum values for accelera- UINT32 120.. 120000 tion and deceleration in [r.p.m.*s], normalisation of acceleration not taken into account
600
R/W 6-19 –
numGear
38:7
3.1.3.2
1
R/W 6-19 –
Twin Line Controller 51x
Gearbox factor numerator
INT32 -2147483648...2147483647
R/W 6-18 –
6-18
12-7
Parameters
TLC51x
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
INT32 1...2147483647
1
R/W 6-19 –
Name
Idx:Sidx TL-HMI
denGear
38:8
–
Flt_nGear
38:9
3.1.3.21 Parameters for speed filter. 0 = filter deactivated 1..8 = filter activated
UINT16 0..8
4
R/W 6-20 rem
DirEnGear
38:13
–
INT16 1: positiv direction 2: negativ direction 3: both directions
3
R/W 6-20 rem.
Flt_rGear
38:14
3.1.3.22 Switch-off threshold for speed UINT16 filter. 1..100 [motor increments / ms2
15
R/W 6-20 rem
p_absOffs
39:1
3.1.3.6
Start of absolute offset posi- INT32 tioning with transfer of position -2147483648...2147483647
0
R/W 6-25 –
stateOffs
39:2
–
Acknowledgement: offset positioning
–
R/– –
p_relOffs
39:3
3.1.3.7
Start of relative offset position- INT32 ing with transfer of travel value -2147483648...2147483647 [inc]
0
R/W 6-25 –
n_tarOffs
39:5
3.1.3.8
Setpoint speed of offset posi- INT32 tioning [inc/s] -12000..12000
60
R/W 6-25 –
phomeOffs
39:6
3.1.3.9
Sizing in offset positioning [inc]
INT32 -2147483648...2147483647
0
R/W 6-25 –
accOffs
39:7
3.1.3.10 Acceleration ramp for offset positioning [r.p.m/s]
INT32 60..2.000.000
600
R/W 6-25 –
decOffs
39:8
3.1.3.11 Deceleration ramp for offset positioning [r.p.m/s]
INT32 60..2.000.000
600
R/W 6-25 –
Gearbox factor denominator
UINT16 Bit0: Error LIMP Bit1: Error LIMN Bit2: Error HW_STOP Bit3: Error REF Bit5: Error SW_LIMP Bit6: Error SW_LIMN Bit7: Error SW_STOP Bit13: offset set position reached Bit14: offset_motion_end Bit15: offset_motion_err
6-25
9844 1113 117, c325, 11.00
Release of movement direction, Reversing the sense of rotation inverts the movement direction
12-8
Twin Line Controller 51x
TLC51x
Parameters
12.2.9 Parameter group Home Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
startHome
40:1
3.3.1.1 3.3.1.2 3.3.1.3 3.3.1.4 3.3.1.5 3.3.1.6 3.3.1.7 3.3.1.8
– Start of operating mode refer- UINT16 encing 1 : LIMP 2 : LIMN 3 : REFZ neg. sense of rotation 4 : REFZ pos. sense of rotation 5 : LIMP with index pulse 6 : LIMN with index pulse 7 : REFZ neg. sense of rotation with index pulse 8 : REFZ pos. sense of rotaion with index pulse
stateHome
40:2
–
Acknowledgement: referencing
UINT16 Bit0: Error LIMP Bit1: Error LIMN Bit2: Error HW_STOP Bit3: Error REF Bit5: Error SW_LIMP Bit6: Error SW_LIMN Bit7: Error SW_STOP Bit14: ref_end Bit15: ref_err
–
R/– –
startSetp
40:3
3.3.2
Sizing on sizing position (set absolute position) [usr]
INT32 -2147483648...2147483647
–
R/W 6-30 –
v_Home
40:4
3.3.3
Speed for search of reference INT32 switch [usr] -2147483648...2147483647
60
R/W 6-27 rem.
v_outHome
40:5
3.3.4
Speed for processing run-out and safety distance [usr]
INT32 -2147483648...2147483647
6
R/W 6-27 rem.
p_outHome
40:6
3.3.5
Run-out distance, is automati- UINT32 cally approached when refer- 0: Run-out disabled > 0: Run-out distance [usr] ence is found [usr]
0
R/W 6-27 rem.
p_disHome
40:7
3.3.6
Safety distance of switching edge to reference point
UINT32 0...2147483647
200
R/W 6-27 rem.
Range of values
Default-
R/W Infos
Value
rem. page
R/W 6-27 –
6-27
12.2.10 Parameter group Teach
9844 1113 117, c325, 11.00
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
storeTeac
43:1
–
UINT16 Teach-In processing, select memory address, list number Bit 0..5: list number for storing position value (0...63) Example: 000010: list number 2
0
R/W 7-9 –
stateTeac
43:2
–
Acknowledgement: teach-in processing
–
R/– –
memNrTeac
43:3
–
Memory selection for teach-in UINT16 processing 1: List 1 of list processing 2: List 2 of list processing
1
R/W 7-9 –
p_actTeac
43:4
–
current motor position in teach-in processing [usr]
–
R/– –
Twin Line Controller 51x
UINT16 Bit15: teach_err Bit14: teach_end
INT32
7-9
7-9
12-9
Parameters
TLC51x
12.2.11 Parameter group List Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
startList
44:1
3.1.5.1 3.1.5.2 3.1.6.1 3.1.6.2
0 activate new list processing, UINT16 current list-driven operation is 0 :deactivate list driven operafirst deactivated tion 1 : activate List 1 2 : activate List 2
stateList
44:2
–
acknowledgement and status: UINT16 list data processing Bit15: list_err Bit14: list_quit 0: list data processing active 1: lis data processing completed Bit 0,1: - 0 : No list active - 1 : List 1 active - 2 : List 2 active
–
R/– –
7-2
cntList1
44:4
–
List 1: number of available list UINT16 entries
64
R/– –
7-2
bgnList1
44:6
–
List 1: starting number, first entry for list data processing starting number < finishing number
UINT16 0...63
0
R/W 7-2 rem.
endList1
44:7
–
List 1: finishing number, last entry for list data processing finishing number > starting number
UINT16 0...63
63
R/W 7-2 rem.
cntList2
44:12
–
List 2: number of available list UINT16 entries
64
R/– –
bgnList2
44:14
–
list 2 starting number, first entry for list data processing starting number < finishing number
UINT16 0...63
0
R/W 7-2 rem.
endList2
44:15
–
List 2: finishing number, last entry for list data processing finishing number > starting number
UINT16 0...63
63
R/W 7-2 rem.
actList
44:18
–
Last activated list
INT16 0 -1: no list entries activated yet 0..63: last activated list entry
R/W 7-2 –
7-2
9844 1113 117, c325, 11.00
R/– –
7-2
12-10
Twin Line Controller 51x
TLC51x
Parameters
12.2.12 Parameter group L1Data0..L1Data63 specified here: L1Data0: Index 1100 L1Data1 to L1Data63 with index :1101 to 1163 Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
typeList1
1100:1
7.3.1.1
List 1: list type for ALL following list entries (1101:x...1163:x)
UINT16 1: pos./signal 2: pos./speed
1
R/W 7-3 rem.
posList1
1100:2
7.3.2.1 7.3.2.2
List 1: position
INT32
0
R/W 7-3 rem.
signList1
1100:3
7.3.2.3
List 1: signal state
UINT16 0, 1
0
R/W 7-3 rem.
velList1
1100:4
7.3.2.4
List 1: setpoint speed [usr]
INT32 -’motion.n_max0’ .. .’Motion.n_max0’ setting dependent on operating mode PTP: 0: PTP.Vtarget; 0: stored value VEL: 0: VEL.velocity; 0: stored value
0
R/W 7-3 rem.
Default-
R/W Infos
Value
rem. page
12.2.13 Parameter group L2Data0..L2Data63 specified here: L2Data0: Index 1200, L2Data1 to L2Data63 via index 1201 to 1263 Parameter
Explanation and unit [ ]
Range of values
Idx:Sidx TL-HMI
typeList2
1200:1
7.4.1.1
List 2: list type for ALL follow- UINT16 ing list entries 1: pos./signal (1202:x...1263:x) 2: pos./speed
1
R/W 7-3 rem.
posList2
1200:2
7.4.2.1 7.4.2.2
List 2: position [usr]
INT32
0
R/W 7-3 rem.
signList2
1200:3
7.4.2.3
List 2: signal state
UINT16 0, 1
0
R/W 7-3 rem.
velList2
1200:4
7.4.2.4
List 2: setpoint speed [usr]
INT32 -’motion.n_max0’ .. .’Motion.n_max0’ setting dependent on operating mode PTP: 0: PTP.Vtarget; 0: stored value VEL: 0: VEL.velocity; 0: stored value
0
R/W 7-3 rem.
9844 1113 117, c325, 11.00
Name
Twin Line Controller 51x
12-11
Parameters
TLC51x
12.2.14 Parameter group Capture Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Idx:Sidx TL-HMI
TrigSign
20:13
–
Selection of trigger signals for position storage Bit 3..2: Signal - channel 2 (K2) Bit 1..0: Signal - channel 1 (K1) Examples: 4: binary 01 00 => CAPTURE2 (K2), CAPTURE1 (K1) 9: 10 01 => CAPTURE2 (K2), Indexp. Sollpos. (K1)
4 UINT16 Bits 0..1/ Bits 2..3 (K1/K2): - 00: CAPTURE1 - 01: CAPTURE2 - 10: index pulse setpoint sensor (with module on M1) - 11: index pulse actual position sensor (fori SM with module on M2)
R/W 7-21 –
TrigLevl
20:15
–
Signal level for trigger channels bit state: 0: triggering at 1->0 change 1: triggering at 0->1 change
1 UINT16 Bit 0: set trigger level on channel 1 Bit 1: set trigger level on channel 2
R/W 7-21 –
TrigStart
20:16
–
start triggering (bits 0..1): 0: no change 1: reset triggering and repeat cancel triggering (bit 14=1) repeat triggering (bit15) 0: trigger once 1: trigger continuously
UINT16 Bit 0: trig. on channel 1 Bit 1: trig. on channel 2 Bit 14: cancel trig. Bit 15: repeat trig.
0
R/W 7-21 –
TrigStat
20:17
–
Status of trigger channels
UINT16 Bit 0: triggering on channel 1 running Bit 1: triggering on channel 2 running
0
R/– –
7-21
TrigPact1
20:18
–
Actual position of motor on triggering on channel 1 (inc)
INT32
-
R/– –
7-21
TrigPact2
20:19
–
Actual position of motor on triggering on channel 2 (inc)
INT32
-
R/– –
7-21
TrigPref1
20:20
–
Setpoint of electrical gearbox on triggering on channel 1 (inc)
INT32
-
R/– –
7-21
TrigPref2
20:21
–
Setpoint of electrical gearbox on triggering on channel 2 (inc)
INT32
-
R/– –
7-21
9844 1113 117, c325, 11.00
Name
12-12
Twin Line Controller 51x
TLC51x
Parameters
12.2.15 Parameter group I/O Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Idx:Sidx TL-HMI
IW0_act
33:1
2.4.1
Input word 0, With ’forcing’ (e.g. with TL CT): read access shows force state
UINT16 Bit0: LIMP Bit1: LIMN Bit2: STOP Bit3: REF Bit4: MAN_P Bit5: MAN_N Bit6: MAN_FAST Bit7: ENABLE Bit8: AUTOM Bit9: FAULT_RESET Bit10: CAPTURE1 Bit11: FUNCTION
–
R/– –
-
IW1_act
33:4
2.4.2
Input word 1, With 'forcing' (e.g. with TL CT): read access shows force state
UINT16 'Settings.IO_mode'=0/1: - Bit0...Bit15: I_0...I_15 'Settings.IO_mode'=2: - Bit0: MAN_P - Bit1: MAN_N - Bit2: MAN_FAST - Bit3: ENABLE - Bit4: AUTOM - Bit5: FAULT_RESET/ CAPTURE1 - Bit6: CAPTURE2 - Bit7: TEACH_IN - Bit8: DATA1 - Bit9: DATA2 - Bit10: DATA4 - Bit11: DATA8 - Bit12: DATA16 - Bit13: DATA32 - Bit14: - Bit15:
–
R/– –
-
QW0
34:1
2.4.10
Output word 0, With 'forcing' (e.g. with TL CT): read access shows force state
UINT16 'Settings.IO_mode'=0/1: - Bit0 ...Bit4: Q_0...Q_4 'Settings.IO_mode'=2: - Bit0: AUTOM_ACK - Bit1: AXIS_ADD_INFO - Bit2: AXIS_END - Bit3: AXIS_ERR - Bit4: RDY_TSO - Bit5: ACTIVE_CON - Bit6: TRIGGER
–
R/W –
OutTrig
34:9
–
Setting trigger output if signal UINT16 list inactive 0: Low level 1: High level
0
R/W 7-5 –
9844 1113 117, c325, 11.00
Name
Twin Line Controller 51x
12-13
Parameters
TLC51x
12.2.16 Parameter group M1 Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
PULSE-C
21:10
4.5.1
Setting position encoder PULSE-C
Range of values
Default-
R/W Infos
Value
rem. page
UINT16 Bit 2: Max. frequency 0: 200 kHz, 1: 25 kHz Bit 3: Signal shape: 0: PULSE-DIR 1: PV-PR
4
R/W rem.
Range of values
Default-
R/W Infos
Value
rem. page
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
profilSer
24:11
4.5.10
RS485-interface, processing mode incl. Profle selection only readable via field bus
UINT32
0
R/W rem.
baudSer
24:12
4.5.11
RS485-interface, baud rate [baud] only readable via field bus
UINT32 0 = Autobaud 9600 = 9600 Baud 19200 = 19200 Baud 38400 = 38400 Baud
9600
R/W rem.
addrSer
24:13
4.5.12
RS485-interface, address only readable via field bus
UINT16
1
R/W rem.
toutSer
24:14
4.5.13
RS485-interface, monitoring time for a timeout signal [ms] only readable via field bus
UINT16 0...65535 0: monitoring inactive
0
R/W –
profilIbs
24:16
4.5.15
Interbus-S, processing mode incl. Profile selection only readable via field bus
UINT32
0
R/W rem.
baudIbs
24:17
4.5.16
Interbus-S, baud rate (kbaud) UINT32 only readable via field bus
500
R/W rem.
toutIbs
24:18
4.5.17
Interbus-S, timeout time [ms] only readable via field bus
0
R/W rem.
profilPbd
24:20
4.5.20
Profibus-DP, processing mode UINT32 incl. Profile choice only readable via field bus
0
R/W rem.
addrPbd
24:21
4.5.21
Process bus - DP, address only readable via field bus
UINT16 0..126
126
R/W rem.
profilCan
24:23
4.5.25
CAN, processing mode incl. Profile choice only readable via field bus
UINT32
0
R/W rem.
addrCan
24:24
4.5.26
CAN, address only readable via field bus
UINT16 0..127
127
R/W rem.
baudCan
24:25
4.5.27
CAN, baud rate [baud] only readable via field bus
UINT32
125k
R/W rem.
toutCan
24:26
4.5.28
CAN, timeout time [ms]
UINT16 0...65535 0: monitoring inactive
0
R/W rem.
12-14
UINT16 0...65535 0: monitoring inactive
Twin Line Controller 51x
9844 1113 117, c325, 11.00
12.2.17 Parameter group M4
TLC51x
Parameters
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
busDiag
24:30
2.6.5
Bus diagnosis for DeviceNet (DNSTATE)
Range of values
Default-
R/W Infos
Value
rem. page
0: OFFLINE 1: ONLINE 2: LINK_OK 3: FAILURE 4: TIMED_OUT 5: IDLE
-
R/-
Range of values
Default-
R/W Infos
Value
rem. page
-
12.2.18 Parameter group Status Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
serial_no
1:20
2.8.5
Device serial number, max. 9 digits
UINT32
–
R/– -.
p_DifPeak
12:16
2.3.1.9
Max. contouring error reached UINT32 [Inc] write access resets value
0
R/W –
AnalogIn
20:8
2.3.3.1
Analogue input at input ANALOG_IN [mV]
INT16
0
R/– –
5-14
driveStat
28:2
2.3.5.1
Status word for the operational status of the device
– UINT32 Bit0..3: act. operating status: - 1: Start - 2: Not Ready to switch on - 3: Switch on disabled - 4: Ready to switch on - 5: Switched on - 6: Operation enable - 7: Quick-Stop active - 8 Fault reaction active - 9: Fault Bit4: reserved Bit5=1: internal monitoring fault (FltSig) Bit6=1: external monitoring fault (FltSig_SR) Bit 7=1: warning Bit13: x_add_info Bit14: x_end Bit15: x_err Bits16-20: current operating mode (Bits0-4: Status.xmode_act) Bit21: drive is referenced (ref_ok) Bit22: 0
R/– –
6-5
9844 1113 117, c325, 11.00
-
Twin Line Controller 51x
12-15
Parameters
TLC51x
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Idx:Sidx TL-HMI
xMode_act
28:3
2.3.5.5
Current axis operating mode with additional information, bits 0 - 4: List of possible operating modes for your TL unit will be found in the section ’Operating modes’
UINT16 Bit0..4 device-specific: - 0: not used - 1: manual positioning mode - 2: referencing - 3: PTP positioning - 4: speed profile - 5: electronic gear with offset adjustment, position controlled (AC) or with position reference (SM) - 7: Data set mode - 16..31: reserved Bit5=1: drive is referenced (’ref_OK’) Bit6:Bit7: reserved Bit8..15: not assigned
R/– –
6-30
Sign_SR
28:15
2.3.4.1
Saved signal states of external monitoring signals 0: Not active, 1: Activated.
UINT16 Bit 0 : LIMP Bit 1 : LIMN Bit 2 : STOP Bit 3 : REF
–
R/– –
-
9844 1113 117, c325, 11.00
Name
12-16
Twin Line Controller 51x
TLC51x
Parameters
Parameter
Explanation and unit [ ]
Name
Idx:Sidx TL-HMI
FltSig
28:17
Saved monitoring signals 0: Not active, 1: Activated
Default-
R/W Infos
Value
rem. page
– UINT32 Bit 0: Fault, power up Bit 1: DC-line undervoltage Lim1 Bit 2: DC-line undervoltage Lim2 Bit 3: Motor line earth fault Bit 4: Motor line short circuit Bit 5: DC-line overvoltage Bit 6: Overtemperature ballast Bit 7: Overtemperature motor Bit 8: Overtemperature power amplifier Bit 9: I2t power amplifier Bit 10: Reserved Bit 11: I2t motor Bit 12: I2t ballast Bit 13: Phase monitoring motor Bit 14: Bit 15: Watchdog Bit 16: Internal system error Bit 17: Pulse disable Bit 18: Protocol error HMI Bit 19: Max. speed exceeded Bit 20: Cable break reference encoder Bit 21: Cable break actual position encoder Bit 22: Position deviation error Bit 23: Line failure 24 V Bit 24: Contour error Bit 25: Short circuit in the digital outputs Bit 26: Incorrect limit switch Bit 27: Prewarning temperature motor Bit 28: Prewarning Temperature power amplifier Bit29: Bit30: Bit31:
R/– –
-
9844 1113 117, c325, 11.00
2.3.4.3
Range of values
Twin Line Controller 51x
12-17
TLC51x
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
FltSig_SR
28:18
2.3.4.4
Saved monitoring signals
– UINT32 Bit 0: Fault, power up Bit 1: DC-line undervoltage Lim1 Bit 2: DC-line undervoltage Lim2 Bit 3: Motor line earth fault Bit 4: Motor line short circuit Bit 5: DC-line overvoltage Bit 6: Overtemperature ballast Bit 7: Overtemperature motor Bit 8: Overtemperature power amplifier Bit 9: I2t power amplifier Bit 10: Reserved Bit 11: I2t motor Bit 12: I2t ballast Bit 13: Phase monitoring motor Bit 14: Bit 15: Watchdog Bit 16: Internal system error Bit 17: Pulse disable Bit 18: Protocol error HCI Bit 19: Max. speed exceeded Bit 20: Cable break reference encoder Bit 21: Cable break actual position encoder Bit 22: Position deviation error Bit 23: Line failure 24 V Bit 24: Contour error Bit 25: Short circuit in the digital outputs Bit 26: Incorrect limit switch Bit27: Prewarning temperature motor Bit28: Prewarning temperature power amplifier Bit29: Bit30: Bit31:
R/– –
-
action_st
28:19
2.3.4.8
Action word, Saved error class bits
0 UINT32 Bit 0: Error class 0 Bit 1: Error class 1 Bit 2: Error class 2 Bit 3: Error class 3 Bit 4: Error class 4 Bit 5: Reserved Bit 6: Actual speed = 0 Bit 7: Clockwise rotation drive Bit 8: Anticlockwise rotation drive Bit 9: Current limit active Bit 10: Speed limit active Bit 11: Reference = 0 Bit 12: Drive time-delayed Bit 13: Drive accelerated Bit 14: Drive operates constant
R/– –
-
12-18
Twin Line Controller 51x
9844 1113 117, c325, 11.00
Parameters
TLC51x
Parameters
9844 1113 117, c325, 11.00
Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
IntSigSR
29:34
2.3.4.2
Monitoring signals in position- UINT32 ing controller Bit0..1: reserved 0: not active, 1: activated Bit2: position overrun Bit3..4: reserved Bit5: SW limit switch, clockwise sense of rotation (SW_LIMP) Bit6: SW limit switch, anticlockwise sense of rotation (SW_LIMN) Bit7: stop via control word (SWSTOP) Bit8..14: reserved Bit15: amplifier not active Bit16..31: reserved
–
R/– –
7-22
p_ref
31:5
2.3.1.2
Setpoint position of rotor [inc] INT32
–
R/– –
-
n_act
31:9
2.3.2.1
Actual speed [rpm]
INT16
–
R/– –
-
UDC_act
31:20
2.3.3.2
DC-line voltage [10=1V]
INT16
–
R/– –
-
Iu_act
31:21
–
Motor phase current phase U INT16 [100=1A]
–
R/– –
-
Iv_act
31:22
–
Motor phase current phase V [100=1A]
INT16
–
R/– –
-
v_ref
31:28
–
Speed of the rotor position setpoint value p_ref [inc/s]
INT32
–
R/– –
-
p_target
31:30
2.3.1.5
Target position of travel profile INT32 generator [usr]
–
R/– –
-
p_jerkusr
31:31
2.3.1.4
Actual position of travel profile INT32 generator [usr]
–
R/– –
-
p_actusr
31:34
2.3.1.3
Actual position of motor in operator units [usr]
INT32
–
R/– –
-
v_jerkusr
31:35
2.3.2.3
Actual speed of travel profile generator [usr]
INT32
–
R/– –
-
p_remaind
31:37
–
Residual value of position cali- INT32 bration of position setpoint p_ref [inc]
–
R/– –
7-15
v_target
31:38
2.3.2.4
Target speed of travel profile generator
INT32
–
R/– –
-
p_jerk
31:40
–
Setpoint position at jerk filter input [Inc]
INT32
–
R/– –
-
v_refM1
31:43
2.3.2.5
Speed from input value incre- INT32 ments counted on module on -2147483648...2147483647 M1 [Inc/s]
0
R/– –
-
StopFault
32:7
2.5.1
Cause of last interruption, error number
–
R/– –
8-7
Twin Line Controller 51x
UINT16
12-19
Parameters
TLC51x
12.2.19 Parameter group ErrMem0..ErrMem19 ErrMem0: Index 900, ErrMem1 to ErrMem19 via Index 901 to 919 Parameter
Explanation and unit [ ]
Range of values
Default-
R/W Infos
Value
rem. page
Name
Idx:Sidx TL-HMI
ErrNum
900:1
–
Coded error number
UINT16 0...65535
–
R/– –
8-7
Class
900:2
–
Error class
UINT16 0...65535
–
R/– –
8-7
Time
900:3
–
Error moment since power amplifier switched on [ms]
UINT16 0...65535
–
R/– –
8-7
AmpOnCnt
900:4
–
Number of switch-on cycles of UINT16 power amplifier –
–
R/– –
8-7
ErrQual
900:5
–
Additional information for assessing error
0
R/– –
8-7
9844 1113 117, c325, 11.00
UINT16 –
12-20
Twin Line Controller 51x
TLC51x
Index
Index Numerics 7-segment display, See Status display A Access channels to Twin Line devices 6-1 Accessories Installation 4-9 Order nos. 10-1 Scope of supply 1-3 Technical data 3-8 Wiring 4-42 Ambient conditions 2-2 Analogue input 5-14 display 5-14 Display with TL CT 5-14 displaying via field bus 5-14 B Brake controller, see Holding brake controller Brake ramp see deceleration ramps Braking function 7-26 C Cascading, Max. terminal current for 4-18 CE labelling 1-13 Changing the operating mode 6-1 Classical manual movement 6-11 Commissioning software 5-5 Commissioning tools 5-3 Connecting the encoder 4-27 Connecting the interface for rotation monitoring 4-32 Connecting the pulse direction module 4-29 Contouring errors Function 6-20 Control cabinet 4-6 Correcting operating errors 8-8
9844 1113 117, c325, 11.00
D Danger categories 2-1 DC bus, See DC-line connection deceleration ramps setting 7-16 Declaration of conformity 1-13 Deinstallation 9-2 Device series TL 1-6 Diagram A/B signals 4-28, 4-33 Dimension setting 6-30 offset values 6-24 Disposal 9-2
Twin Line Controller 51x
A-1
Index
TLC51x
E EC guidelines 1-13 Electronic gear Offset positioning 6-23 Settings 6-19 EMC guideline 1-13 ENABLE signal Function 4-31 Encoder Function 4-33 Number of lines 4-33 Error class Meaning 8-3 Error display and rectification 8-2, 8-3 Error messages Resetting 8-2 F Fan 1-9 Field bus module CAN-C 4-36 IBS-C 4-40 PBDP-C 4-34 RS485-C 4-38 Fitting the unit label 4-8 Forcing 5-13, 5-14 G Gear ratio 6-19 Global Statusbits, Statusbits 6-5 H HMI hand-held operating unit Displaying signal states of the signal interface 5-13 Error display 8-6 Manual 1-5 Manual movement 5-10 Overview 5-3 Holding brake control system function 7-26 Holding brake controller Dimensions 3-3 Technical data 3-8 Wiring 4-42 Holding brake, Function check 5-9
A-2
9844 1113 117, c325, 11.00
I Intended use 2-2 Interface signal ACTIVE_CON 7-26 FAULT_RESET 7-19 STOP 7-23 TRIGGER 7-1 trigger output 7-1
Twin Line Controller 51x
TLC51x
Index
Interface signals DATA_1..DATA_32 7-9 IT networks, Use in 2-2 J Jerk filter 7-17 L Laying motor cables 4-15 LED for DC-line voltage 1-8 for operating signals 1-8 Limit switch Monitoring function 7-23 Moving drive out 7-24 Limit switches Function check 5-9 Software limit switches 7-23 List control Overview 7-1 Settings 7-1 List of spare parts 10-2 M M1 - M4, See Module slots Mains connection 24 V+ supply 4-18 Mains connection
9844 1113 117, c325, 11.00
Alternating current 4-14 Mains filter, unit designations 4-9 Maintenance 9-1 Malfunctions in movement mode 8-8 Manual movement Movement parameter 6-9 Starting a test run 5-10 Manual set-up and operation on the field bus 4-44 Mode Manual mode 6-9 Point-to-point mode 6-15 Referencing 6-26 Speed mode 6-14 Module CAN-C 1-10, 4-36 for electronic gear 6-17 IBS-C 1-10, 4-40 PBDP-C 1-10, 4-34 PULSE-C 1-10, 4-29 RM-C 1-10, 4-32 RS422-C 1-10, 4-27 RS485-C 1-10, 4-38 Module slots 1-9
Twin Line Controller 51x
A-3
Index
TLC51x
Modules Combinations 1-11 Overview 1-10 Scope of supply 1-1 Signal cables for 1-3 Technical Data 3-6 wiring 4-40 Monitoring functions 7-22 Monitoring parameters 7-25 Motor connection 1-8 Mounting distances 4-6 mounting distances 4-7 mounting, mechanical 4-6 Movement mode Status monitoring 6-7 Movement parameters 1-9 N Normalisation factor acceleration 7-13 positioning 7-11 speed 7-13 normalisation, Residual value in 7-15 O Offset positioning 6-23 Open collector circuit 4-31 Operating modes changing 6-1 Monitoring the status parameter 6-5 Overview 1-11 Selecting the mode 6-4 Operating software Displaying switching states of the signal interface 5-13 Error display 8-5 Manual movement 5-10 Operating states and transitions 8-2 Operation via field bus, field bus configuration via inputs 4-49 Optimizing the performance 5-15
A-4
9844 1113 117, c325, 11.00
P Parameter groups 12-1 Parameter memory 1-9 Parameter sets 6-7 Parameter values Overview of groups 12-1 Values for electronic gear 6-19 PC connection 4-26 Performance of the motor, optimizing 5-15 Position / signal list 7-4 Position / speed list 7-6 Position values recording 7-20 Positioning limits 7-22 Power connection 4-14
Twin Line Controller 51x
TLC51x
Index
Power electronic system 10-2 24 V+ connection wiring 4-18 Connecting the signal interface 4-19 mechanical installation 4-9 Overview 1-8 Power classes 1-7 Scope of supply 1-1, 1-2 Type code 1-7 Wiring up the mains connection 4-14 Profile generator 6-8 Protection type 2-2 Q Qualification of the personnel 2-3 Quick-Stop function 7-18 R Ramp gradient 7-16 Ramp gradients, setting 5-15 Ramp shape 7-16 Reference movement Overview 6-26 to reference switch, Example 6-29 towards limit switch, Example 6-28 Referencing adjusting normalisation factor 7-12 Residual value 7-15 Residual-current circuit-breakers 4-14 Resolution for calculating the gear ratio 6-19 Reversal of direction of rotatio 7-19 RS232 interface 1-9, 4-26
9844 1113 117, c325, 11.00
S Safety devices 2-3 Safety instructions 2-1 Safety notes 2-1 Sense of rotation, reversing 6-19 Service address 9-1 Shipping 9-2 Signal inputs Assignments 4-19 Circuit diagram 4-31 Wiring example 4-44 Signal interface Assignments 4-19 Checking inputs and outputs 5-12 Function 1-9 Wiring examples 4-44 Slots, See module slots Software limit switches 7-23 Start/Stop speed 5-15 Start-up interface, See RS232 interface
Twin Line Controller 51x
A-5
Index
TLC51x
Status display 1-8, 8-1 Stepping motor 2-2 Storage 9-2 T Teach-In Initiating processing 7-7 over field bus 7-9 Overview 7-7 residual value 7-15 via signal interface 7-9 Temperature monitoring 7-25 Time diagram Brake function 7-26 Pulse direction signal 4-30 Pulse forward / backward signal 4-30 TL CT Setting the phase current 5-7 TL HMI Setting the phase current 5-7 Torque characteristic of the motor 5-16 Trigger channels 7-20 Twin Line HMI, see HMI hand-held operating unit Twin Line Unit Mounting 4-6 Mounting distances 4-7 Type code 1-7 U Unit label fitting 4-8 Specimen 11-1 United inching 6-12 User-defined units 7-10 V Voltage reduction 7-26 W Warranty 9-1 Wiring examples 4-44
9844 1113 117, c325, 11.00
X x_end, x_err, x_add_info 6-5
A-6
Twin Line Controller 51x
