Canopen interface module for mc800 motion controller, canopen slave compliant to cia ds301 v 4.02, process data communication with 4 receive-pdos and 4 transmit-pdos, galvanically isolated bus electronics, supports all standard baud rates, easy plug-in mo (18 pages)
High performance low cost controller for control tasks with flying shears and saws (49 pages)
Summary of Contents for Motrona CT 701.04
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CT 701.04 Motion Control Firmware for Rotary “Guillotine” Shears with MC700 Controllers Easy parameter setting instead of sophisticated programming, immediately ready to work with minimum commissioning time Synchronous cutting process, with cosine-compensated motion profile during penetration of the cutting tool ...
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- Errors and omissions excepted – Version: Description: CT701 04A/ TJ/ Feb. 2006 Outputs “Homing Done” and “Automatic Operation” added; Diagnosis output “Ana Out 1” added CT701 04B/ TJ/ Aug. 2008 Motrona version CT70104B_e.doc / Nov-15 Page 2 / 29...
Table of Contents 1. Preamble: ....................4 2. General remarks about functions of this firmware ........5 3. Download Procedure ..................7 4. How to use the operator software ............... 9 4.1. I/Os (Inputs and Outputs) ..................9 4.2. General Parameters ..................... 12 4.3.
MC700xxx.pdf (hardware description, connections, specifications) and CT701xxx.pdf (description of the firmware as actually at hand) All of above files are also available for free download from our homepage: www.motrona.de 1. MC700 / MC720 Hardware 3. motrona CD 2. PC Firmware, Parameter Test functions OS5.1 PC software,...
2. General remarks about functions of this firmware This firmware is suitable, together with motrona controllers of type MC700 or MC720 and an appropriate servo drive, to generate and control an optimized speed profile for rotary guillotine cutting systems. Line encoder and measuring wheel...
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ß Line Line Line Line Zone c Zone c Line circ ß Also it is required to have a smooth profile with no angles and edges, where all values of acceleration and deceleration are reduced to the possible physical minimum. As a result of these requirements we find a speed profile as follows: Typical profile of the rotational speed with a cutting cycle at cutting length "L"...
3. Download Procedure Ex factory, all MC 700- and MC 720 controllers have loaded the MCBase firmware, which was used for factory testing purposes. To download an application firmware, please take the following steps: Connect the PC to the controller, using a RS232 cable (see 3.8 of the hardware manual).
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The PC now requests you to set the controller to the “boot mode”. To do this, slide the front switch from the “Run” position to the “Program” position and push the Reset button located behind the front plate, by means of a pen or a small screw driver ...
4. How to use the operator software The OS5 software uses a clear structure of register cards and the contents automatically adapt to the firmware of the controller. 4.1. I/Os (Inputs and Outputs) This register card shows the logical state of all digital inputs and outputs. 4.1.1.
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On the connector plate of the MC700 hardware, the inputs are accessible via terminals “In1” to “In16” and the sequence from up to down corresponds to the same layout as visible on the PC screen. Meaning and function of the input signals: = static operation = dynamic operation, rising edge Ser/Bus = Activation by serial command or by field bus only.
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Command 16 Ser Bus … Not in use Command 28 Ser Bus Store to EEPROM Stores all actual parameters and variables to the EEPROM Starts the Adjust program for testing and commissioning Ser Bus Adjust Program (Will be set automatically by PC operator software when you select “Adjust…”...
4.2. General Parameters This register card holds the essential variable settings of general nature Length1 Preset of the desired cutting length 1 scaled in length units according to user definition (active with input “Length Selection” = LOW) Length2 Preset of the desired cutting length 2 scaled in length units according to user definition (active with input “Length Selection”...
4.3. Parameter Blocks This field contains more parameters and machine specifications, separated to clearly arranged blocks. 4.3.1. Circs/ Pulses This block defines the mechanical dimensions and associated ppr numbers of the encoders. Circ1 Circumference of the measuring wheel or the feed roll of the material line (Master) Scaling: Length units PPR1 Number of incremental encoder pulses with one revolution of the...
4.3.2. Index Settings: This register card defines origin and evaluation of the index signals Mode Currently not used, reserved for future use. Index Mode The cutting pulse necessary with every cut (mandatory) and a print mark or index pulse from the line (optional) can be applied as a HTL/24V signal to the digital inputs, or as a TTL/RS422 signal to the SUB-D-connector of the corresponding encoder input: Ind.
4.3.5. Jog/Home This register card specifies the Jog and Homing functions: Jog Speed Jog speed for manual movement of the cutter drive Jog Ramp Ramp time for acceleration and deceleration when using the Jog function Fast Homing speed. Home Speed Hi Every homing cycle will start with this speed.
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Ser. Unit Address Serial unit address. Range 11 ... 99. Address numbers containing zeros like 01, 02, 03, ..., 10, 20, etc. are not permitted because these are reserved for broadcast messages (collective addressing of several units) Factory default address is always 11. Ser.
4.3.9. Setup Settings: These settings define all important hardware properties of inputs and outputs of the MC700 controller. You must only make settings for these functions that are really used and wired with this application (see 2.). Mode Counter Determines the number of edges counted from the four incremental encoder (1–4) inputs: 0 = (x1), 1 = (x2) 2 = (x4)
5. Function of the LED indicators There are 6 red LEDs mounted to the connector plate of the unit, for display of the actual positional error of the tool position with regard to the scheduled position. The LEDs are scaled in encoder increments and the update cycle is less than one millisecond.
6. Steps for Commissioning For setup and commissioning of all drives, the “Adjust” menu is available under “Tools” in the main menu of the screen. At this time, all drives must be adjusted to a proper and stable operation over the full speed range.
6.1. Preparations Before starting the procedure, the following settings should be done: Frequency Preset: Set the virtual line speed that you would like to use for adjusting. This setting is directly in Hz of Master encoder frequency and the default value is 10% of the maximum frequency you have set before (= recommended speed for adjustments).
6.3. Tuning the analogue output Start the drive again by clicking “Up”. Now switch the Reset to OFF by clicking to the Reset key showing actually “Reset On”. This activates the closed loop control. Observe the colour bar and the differential counter in the field “Differential Error”. There are two possibilities: a.
7. Process data (actual values) You can follow all real process data assigned to this firmware, when you open the register card “Process data”. These actual values are updated continuously. You find a description of the actual process data values in the corresponding table of chapter 9. CT70104B_e.doc / Nov-15 Page 22 / 29...
8. Hints for controller type MC720 with integrated operator terminal Controllers type MC720 are equipped with a keypad and a LCD display, providing all entries and operations of the controller. Please note that this solution does not support change of parameters “on the Fly”, but only in standstill.
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There are totally 4 LCD windows accessible (0 – 3) and the actual window number appears in the blue head line. To change from one window to another, use the keys “Next LCD window” or “Previous LCD window”. Each window allows displaying two actual values with two text comments. The line with asterisks ******* serves as space holder for the values displayed later on the LCD.
9. Parameter Tables General Parameters Serial Code Description Unit Minimum Maximum Default (Hex) (Dec) Length 1 Length units 0000 999999 1000 Length 2 Length units 0001 999999 1500 Max. Frequency 0002 500000 100000 Virt. Master Speed 0003 500000 10000 Gap Overspeed 0004 1000 Min.
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Ramps Serial Code Description Unit Minimum Maximum Default (Hex) (Dec) Ramp 0140 10.0 (Block03 1) 0141 … (Block03 31) 015F Control Loop Serial Code Description Unit Minimum Maximum Default (Hex) (Dec) Gain Correction 0160 999.9 10.0 Sampling Time 0161 Gain Torque 0162 9999 (Block04 3)
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Communication Settings Serial Code Description Unit Minimum Maximum Default (Hex) (Dec) Can Unit Address 02C0 Can Baud Rate 02C1 Can Config. 02C2 Can Tx Par 02C3 Can Rx Par 02C4 Ser Unit Address 02C5 Ser Baud Rate 02C6 Ser Data Format 02C7 (Block 15 8) 02C8...
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Process Data (Aktuelle Istwerte) Serial Code Nr. Description Unit Explanation (Hex) (Dec) 0 Mode Control 0800 2048 Internal program status 1 Ramp Status 0801 2049 Internal status value DAC1 Value Digital output voltage value (scaled in DAC- 5 mV 0802 2050 increments: -2000 = -10V, +2000 = +10V) 3 Master Counter...
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Inputs (Commands) Ser. Code for Explanation Bit No. in Hardware-Input single command Description ”Serial Commands” see chapter X6 “Cont.In“ (Hex) (Dec) (0B01) Reset 0900 2304 In 1 Start 0901 2305 In 2 Printmark 0902 2306 In 3 Cutting Pulse 0903 2307 In 4...
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