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Saia PCD2.H31x Manual

Motion control modules for servo drives
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SAIA
PCD
Process Control Devices
English edition 26/762 E2
PCD2.H31x
Motion control modules
for servo drives

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Summary of Contents for Saia PCD2.H31x

  • Page 1 PCD2.H31x  SAIA Motion control modules for servo drives Process Control Devices English edition 26/762 E2...
  • Page 2 0662 88 49 10, Fax 0662 88 49 10 11 02 456 06 20, Fax 02 460 50 44 Italy SAIA-Burgess Electronics S.r.l. Hungary SAIA-Burgess Electronics Automation Kft. Via Cadamosto 3 Liget utca 1. I-20094 Corsico MI H-2040 Budaörs 02 48 69 21, Fax 02 48 60 06 92...
  • Page 3 ® SAIA Process Control Devices Motion control modules for servo drives PCD2.H31x SAIA-Burgess Electronics Ltd. 1999. All rights reserved. Edition 26/762 E2 - 11.99 Subject to technical changes  SAIA-Burgess Electronics Ltd.
  • Page 4 Updates Manual : PCD2.H31x - Motion control modules for servo drives - Edition E2 Date Chapter Page Description 12.05.2000 Appendix A A-36 divers corrections  SAIA-Burgess Electronics Ltd.

  • Page 5: Table Of Contents

    Quick start Getting started with IL programming 6.1.1 Entry-level example in IL with wait loop 6.1.2 Entry-level example in GRAFTEC 6.1.3 Simple commissioning program 6-11 Getting started with FUPLA programming 6-13  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 1 (2H3-00-E.DOC)
  • Page 6 Effect of individual factors on controller behaviour 9-14 9.4.7 Simple commissioning program 9-15 Commissioning tool Security aspects Application examples 12.1 Example: 1 axis with homing 12-1 12.2 Example: 1 axis with two velocities 12-9  SAIA-Burgess Electronics Ltd. Page 2 26/762 E2 (2H3-00-E.DOC)
  • Page 7 Reset Status Register A-36 SetIdxPos Set Index Position A-37 SetZero Set Home position A-38 MotConf Motion Configuration A-39 SetPosTol Set Position Tolerance A-40 Appendix B: Summary of all function boxes (FBox)  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 3 (2H3-00-E.DOC)
  • Page 8 Contents PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 4 26/762 E2 (2H3-00-E.DOC)
  • Page 9  Doing this will enable you to join the large group of enthusiastic SAIA PCD users. Summary PCD1/2 series...
  • Page 10 Contents PCD2.H31x Reliability and safety of electronic controllers SAIA-Burgess Electronics Ltd. is a company which devotes the greatest care to the design, development and manufacture of its products: • state-of-the-art technology • compliance with standards • ISO 9001 certification •...

  • Page 11: Introduction

    Block diagram of a servo drive for 1 axis Destination position Position control operation with constant acceleration, delay and slow ad- vance to approach destination position Coordinated, quasi-synchronous operation of 2 axes  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 1-1 (2H3-01-E.DOC)

  • Page 12: Function And Application

    Linear motion is thereby achieved with cartesian axes. PCD2.H31x motion control modules should be plugged into the PCD2.M1xx base unit and not the PCD2.C1xx expansion unit. This is to take account of the relatively high current consumption.

  • Page 13: Main Characteristics

    • Other axis-specific inputs and outputs (such as the limit switches, the reference switch for the PCD2.H311 module, ENABLE for the driver) must be monitored or controlled with a standard I/O module (e.g. PCD2.B100, PCD2.E110/E111 or PCD2.A410).  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 1-3 (2H3-01-E.DOC)

  • Page 14: Typical Areas Of Use

    1.4 Typical areas of use • Handling robots • Automatic placement and assembly machines • Automatic palletizers • Packing machines • Sheet metal working machines • Automatic drilling machines • etc.  SAIA-Burgess Electronics Ltd. Page 1-4 26/762 E2 (2H3-01-E.DOC)

  • Page 15: Programming

    FB has 7 parameters. See section 7.1.2 and appendix A, pages A3/4 Diagnostics and error handling Recognition of incorrect FB parameters (diagnostic register) Timeout monitoring for FB 'Home'. See chapter 8.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 1-5 (2H3-01-E.DOC)

  • Page 16: Operating Modes

    The desired velocity can be changed even during motion. Destination position Position control mode with constant acceleration and delay, plus reduced speed on approach to destination position  SAIA-Burgess Electronics Ltd. Page 1-6 26/762 E2 (2H3-01-E.DOC)

  • Page 17: Commissioning

    This tool offers a simple method whereby all tests and adjust- ments required during commissioning can be carried out or checked on- line. This commissioning tool is available on diskette, order reference: PCD8.H31. See chapter 10 for more details.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 1-7 (2H3-01-E.DOC)
  • Page 18 Introduction PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 1-8 26/762 E2 (2H3-01-E.DOC)

  • Page 19: Technical Data

    (This current additionally loads the 5 V bus of the PCD1/2) *) Balancing output voltage is carried out in the factory. You are there- fore strongly advised not to adjust the tuning potentiometer.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 2-1...
  • Page 20 PCD2.H310 1 axis for encoder 24 VDC PCD2.H311 1 axis for encoder 5 V/RS 422 PCD9.H31E Software library with function blocks (FBs) for programming in IL. PCD8.H31 Commissioning tool in FUPLA  SAIA-Burgess Electronics Ltd. Page 2-2 26/762 E2 (2H3-02-E.DOC)

  • Page 21: Electrical Specifications

    When working with an expansion unit, care should be taken to place the PCD2.H31x modules in the base unit and only to plug “normal” I/O modules into the expansion unit, otherwise the potential drop on the con- necting cable might take on excessively high values.

  • Page 22: Function-Specific Data

    Resolution selectable (depending on machine factor) Sample time 341 µs, programmable proportional, PID controller integral and differential factors. Sample time for differential part can be programmed separately Counting frequency up to 50 kHz  SAIA-Burgess Electronics Ltd. Page 2-4 26/762 E2 (2H3-02-E.DOC)

  • Page 23: Presentation

    5V is the output for the encoder’s 5V supply (300 mA max.) Out is the analogue controller output A, B, IN are the encoder’s 3 non-inverted signals /A, /B, /IN are the encoder’s 3 inverted signals  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 3-1 (2H3-03-E.DOC)
  • Page 24 Other axis-specific inputs and outputs (such as limit switches, the PCD2.H311 module’s reference switch, the driver’s ENABLE) must be monitored or controlled with a standard I/O module (e.g. PCD2.B100, PCD2.E110/E111 or PCD2.A410).  SAIA-Burgess Electronics Ltd. Page 3-2 26/762 E2 (2H3-03-E.DOC)

  • Page 25: Terminals And Meaning Of Leds

    Digital input for reference switch Ausgang: Terminal 6 = "Out": Analogue controller output Speisung: Terminal 8 = + 24 VDC, smoothed Terminal 9 = Do not wire – not for use as a restart point  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 4-1 (2H3-04-E.DOC)
  • Page 26 Encoder signal "/IN" Outputs: Terminal 6 = "Out": Analogue controller output Terminal 7 = "5V": 5V supply for encoder (max. 300 mA) Supply: Terminal 8 = + 24 VDC, smoothed Terminal 9 =  SAIA-Burgess Electronics Ltd. Page 4-2 26/762 E2 (2H3-04-E.DOC)
  • Page 27 These LEDs are "on" when the logic state is "H". LED IN represents the encoder’s index input. This LED is "on" in the active state (negative logic with H310). Caution: This module includes components that are sensitive to electrostatic discharges.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 4-3 (2H3-04-E.DOC)
  • Page 28 Terminals PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 4-4 26/762 E2 (2H3-04-E.DOC)

  • Page 29: Function Description

    • Generator for velocity profile • PID controller • Position decoder and input circuit • Bus interface (CPLD) to PCD bus • D/A converter for the analogue controller output  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 5-1 (2H3-05-E.DOC)

  • Page 30: Generator For The Velocity Profile

    (captured with the encoder) is again conveyed to the PID controller. The latter immediately compensates for speed fluctuations (caused by what- ever disturbance) by making the controller output greater or smaller.  SAIA-Burgess Electronics Ltd. Page 5-2 26/762 E2 (2H3-05-E.DOC)
  • Page 31 This generates a position error message, which can trigger an interrupt or automatic motor stop. The maximum allowable position error is a pro- grammable value.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 5-3 (2H3-05-E.DOC)

  • Page 32: Pid Controller

    The sampling time of the differential portion can be adjusted in steps of 341 µs (max. 256*341 µs). For operation at slow speeds, a greater sampling time should be selected. Integration limit IL : limitation applies to the amount of the expression  SAIA-Burgess Electronics Ltd. Page 5-4 26/762 E2 (2H3-05-E.DOC)

  • Page 33: Position Decoder And Input Circuit

    For the position decoder, signals must demonstrate the exact sequence illustrated in the figure above.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 5-5 (2H3-05-E.DOC)
  • Page 34 The 'reference switch' is used in combination with the 'limit switches' for the 'Home' FB. In both modules (H310 and H311) these limit switches should be carried to a digital I/O module.  SAIA-Burgess Electronics Ltd. Page 5-6 26/762 E2...
  • Page 35 PCD2.H31x Function description Input wiring diagrams and connections PCD2.H310 PCD2.H311  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 5-7 (2H3-05-E.DOC)

  • Page 36: D/A Converter

    Function description PCD2.H31x 5.5 D/A converter Both PCD2.H310 and H311 modules have an analogue output for the motor’s controller output. A 12 bit D/A converter has been used. Analogue output connection:  SAIA-Burgess Electronics Ltd. Page 5-8 26/762 E2 (2H3-05-E.DOC)

  • Page 37: Complementary Information: Homing (Fb Home)

    This position is now defined as the zero position. 5. The module is configured with the original settings (from FB Init) and FB Home is exited.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 5-9 (2H3-05-E.DOC)
  • Page 38 'fHomeErr_x', the diagnostic register 'rDiag' is loaded with code 6 (for parameter 6) in the third byte (for FB Home). Parameter checking takes place as described in chapter 8.  SAIA-Burgess Electronics Ltd. Page 5-10 26/762 E2...

  • Page 39: Quick Start

    1 mm/revolution Incremental shaft encoder: 1000 signals per revolution • 4-quadrant servo amplifier e.g. with Op-Amp LM 12 (National Semiconductor) for details see: http://www.national.com/pf/LM/LM12.html • PG4 from version V2.0.70 and FBs PCD9.H31E  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-1 (2H3-06-E.DOC)
  • Page 40 Despite this, our first example has been de- signed with wait loops to demonstrate the main instruc- tions for driving a PCD2.H31x. In practice a GRAFTEC or (in future) a FUPLA structure should always be chosen for this type of program. (See second example and chapter 10).

  • Page 41: Entry-Level Example In Il With Wait Loop

    Absolute value Exec ; Executable FB Module number LdDestAbs Command: Load Absolute Destination R 100 Absolute Destination register Exec ; Executable FB Module number StartMot Command: Start motion rNotUsed Dummy register  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-3 (2H3-06-E.DOC)
  • Page 42 ; Position reached? l pos2 ; if no - wait (loop) ; load timer for pause 5 sec pause2: sth ; pause elapsed? h pause2 ; if no - wait (loop) ecob $endgroup  SAIA-Burgess Electronics Ltd. Page 6-4 26/762 E2 (2H3-06-E.DOC)
  • Page 43 The user has nothing to do with it.) The directive '$group H310' declares the program code up to '$endgroup' as belonging to PCD2.H31x. In XOB 16 (coldstart block) module initialization takes place. Before FB INIT the 3 registers for machine factor, velocity and acceleration should be loaded.

  • Page 44: Entry-Level Example In Graftec

    Entry-level example in GRAFTEC: INTRO-2.SFC Same example as under section 6.1.1, but in a proper GRAFTEC struc- ture without any program jumps or wait loops. Individual steps and tran- sitions have been edited in IL.  SAIA-Burgess Electronics Ltd. Page 6-6 26/762 E2 (2H3-06-E.DOC)
  • Page 45 Absolute value Exec ; Executable FB Module number LdDestAbs Command: Load Absolute Destination R 100 Absolute Destination register Exec ; Executable FB Module number StartMot Command: Start motion rNotUsed Dummy register  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-7 (2H3-06-E.DOC)
  • Page 46 ;------------------------------- ;Start OK ? I 11 O 12 ;Move forwards Exec ; Executable FB Module number RdActPos Command: Read Actual Position R 90 Actual Position register R 90 ; Display register  SAIA-Burgess Electronics Ltd. Page 6-8 26/762 E2 (2H3-06-E.DOC)
  • Page 47 Exec ; Executable FB Module number RdStatRg Command: Read Status Register Value of Status Register fOnDest_1 ; Position reached? ;------------------------------- ;Pause 2 elapsed ? I 15 ;Pause 2 O 11 $endgroup  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-9 (2H3-06-E.DOC)
  • Page 48 'fOnDest_1' flag is refreshed. To be correct, the position in an experimental set-up should also be read and displayed during pauses, so that carriage status can be viewed even during stabilization.  SAIA-Burgess Electronics Ltd. Page 6-10 26/762 E2 (2H3-06-E.DOC)

  • Page 49: Simple Commissioning Program

    IST should be displayed or even printed out with <Display> <Program> <Step> <10> <CR>. A more convenient commissioning program (commissioning tool) in FUPLA is presented in chapter 10.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-11 (2H3-06-E.DOC)
  • Page 50 When motion is resting: Switch PCD input I 1 on and off. This means that the modified parameters are adopted. By switching on I 0 the new be- haviour can be tried out, etc.  SAIA-Burgess Electronics Ltd. Page 6-12 26/762 E2...
  • Page 51 PCD2.H31x Quick start 6.2 Entry with programming in FUPLA In preparation  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 6-13 (2H3-06-E.DOC)
  • Page 52 Quick start PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 6-14 26/762 E2 (2H3-06-E.DOC)

  • Page 53: Programming

    GRAFTEC, editing the individual steps and transitions in IL with FBs or, in FUPLA, FBoxes. However, user programs can also be written in straight BLOCTEC or FUPLA.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 7-1...

  • Page 54: Programming In Il With Fbs

    • Readme : containing general information This package is provided for use with SAIA PG4 from version V2.0.70. Consult the 'Readme' file for all other PG4 versions. (The package also contains FBs for use with the earlier PG3, see 'Readme').
  • Page 55 ;Base address of module 16 $endgroup The number of PCD2.H31x modules should be specified. The hardware base addresses of PCD2.H31x modules utilized should then be entered. Since the '.mba' file does not appear in the Project Manager, a text editor is required for any adjustments, e.g.
  • Page 56 If everything has been correctly installed, the user program edited and all parameters defined, it is possible with 'Project' - 'Build' to process the program and load it into the PCD.  SAIA-Burgess Electronics Ltd. Page 7-4 26/762 E2 (2H3-07-E.DOC)

  • Page 57: Individual Fbs

    FB with 7 parameters Calling FB "INIT" always has the following presentation: (values entered serve as examples only) init ; Intitialization of a PCD2.H31x module ; Par. 1: Module number (k 1 - k 16) ; Par. 2: Proportional factor ;...
  • Page 58 The figure in the first column (0 - 34) is the absolute value of parameter no. 2 in FB 'Exec'. This figure can be used to interpret the function of FB 'Exec' when viewing the user program in the debugger.  SAIA-Burgess Electronics Ltd. Page 7-6 26/762 E2...
  • Page 59 Representation of reference input '_x' corresponds to the module number Effective element addresses should be taken from the resource list: from Project Manager 'View' - 'Resource List'. A complete, detailed list ap- pears.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 7-7 (2H3-07-E.DOC)
  • Page 60 PCD2.H31x A clear list with absolute addresses, which ought to be adequate for de- bugging, is supplied by the project .map file: SAIA PCD LINKER SP 2.0.83 FILE: test-2h3.pcd LINKED: 06/30/99 10:57 PAGE 3 FOR SAIA'S INTERNAL USE ONLY SYMBOL...

  • Page 61: Programming In Fupla With Fboxes

    PCD2.H31x Programming 7.2 Programming in FUPLA with FBoxes in preparation  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 7-9 (2H3-07-E.DOC)

  • Page 62: Programming In Graftec With Fboxes

    Programming PCD2.H31x 7.3 Programming in GRAFTEC with FBoxes in preparation  SAIA-Burgess Electronics Ltd. Page 7-10 26/762 E2 (2H3-07-E.DOC)

  • Page 63: Error Handling And Diagnosis

    (where the expression 'H310' is generated by $group h310) • If the definition $group H310 is missing, the assembler reports: "Symbol not defined" for every instruction and every register/flag used in the program.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 8-1 (2H3-08-E.DOC)

  • Page 64: Error Handling In Run

    7-8). This can be userful during commissioning with the debugger to locate an error: - Run until flag 'fPar_Err' = H - Display register 'rDiag' hex - Delete flag 'fPar_Err'  SAIA-Burgess Electronics Ltd. Page 8-2 26/762 E2 (2H3-08-E.DOC)

  • Page 65: Error During Homing

    64 input reference switch fHomeErr_3 ; Query home error flag of axis 3 h Errorhandl ; Call (user specific) FBs, in case fHomeErr_3 = H Exec ; Motion 1  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 8-3 (2H3-08-E.DOC)
  • Page 66 Error handling and diagnosis PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 8-4 26/762 E2 (2H3-08-E.DOC)

  • Page 67: Installation And Commissioning

    Block diagram of a motion control drive with the H3 module PCD2.H31x POSITION COUNTER POWER AMPLIFIER REGULATOR DISPLAY 1 2 3 4 5 6 (fak.)  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-1 (2H3-09-E.DOC)

  • Page 68: Installation And Wiring

    (no slippage in coupling), check type and technical data (impulses per revolution). • Ref (for PCD2.H310) wire directly • LS1 / LS2, for PCD2.H311 also Ref, wire to "normal" digital inputs of PCD1/2.  SAIA-Burgess Electronics Ltd. Page 9-2 26/762 E2 (2H3-09-E.DOC)

  • Page 69: Commissioning Drive Without Motion Control Module

    • The drive’s emergency stop limit switches should be set to prevent any damage arising from uncontrolled axis motion. Commissioning of the power stage and motor can now take place ac- cording to the supplier’s instructions.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-3 (2H3-09-E.DOC)

  • Page 70: Drive With Motion Control Module

    Reference switch on the motion control module PCD2.H311: Meaning Behaviour shows the presence of ± 15V: must be on Power yellow Pw 5V yellow 5V supply for encoder: must be on  SAIA-Burgess Electronics Ltd. Page 9-4 26/762 E2 (2H3-09-E.DOC)
  • Page 71 After the flag has responded it is possible to view the cause of the error in the PCD register 'rDiag'. See section 8.2.1. The user is responsible for resetting the 'fPar_Err' flag.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-5...

  • Page 72: Determining Machine Data

    (par. 11) and all values relating to path, break- point, velocity and acceleration throughout the user program for this axis. 4 x In Assume: ------- [impulses/unit of measurement] where impulses/revolution (encoder resolution) path/revolution (spindle gradient and gears)  SAIA-Burgess Electronics Ltd. Page 9-6 26/762 E2 (2H3-09-E.DOC)
  • Page 73 → or 10000 µm/s 10 mm/s Recommendation: 0.01 m/s Before starting any motion, check encoder function by manually moving the axis (amplifier powered off). See also section 9.4.5.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-7 (2H3-09-E.DOC)

  • Page 74: Direction, Path Measurement (Encoder)

    • Negative direction corresponds to the direction moved when a negative setpoint voltage is applied (0...-10V) at the power stage. • If behaviour is the reverse, both phase signals A and B of the encoder should be exchanged.  SAIA-Burgess Electronics Ltd. Page 9-8 26/762 E2 (2H3-09-E.DOC)
  • Page 75 • Encoder signals A, B and IN are not in the order required at the H3 module’s position decoder input. If the order of encoder signals is not known, it must be established with the help of an oscilloscope.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-9 (2H3-09-E.DOC)

  • Page 76: Pid Controller

    +12V or –12V to the controller output. • Check direction, execute section 9.4.4 once again Remedy and make the necessary changes to poling. • Change the H3 module.  SAIA-Burgess Electronics Ltd. Page 9-10 26/762 E2 (2H3-09-E.DOC)
  • Page 77 In a subsequent step, therefore, control factors must be determined which achieve the desired quality of regulation (accuracy and hardness). The set-up rules indicated below have arisen from experience in practical applications and tests.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-11 (2H3-09-E.DOC)
  • Page 78 During motion, if the integration sum adds up to a high value, overshoot can be expected. Action: - Reduce the above parameters. - Limit the integration sum (instruction 'LdIntLim').  SAIA-Burgess Electronics Ltd. Page 9-12 26/762 E2 (2H3-09-E.DOC)
  • Page 79 Optimization of settings: If regulation does not proceed satisfactorily after values have been set as above, a further attempt must be made to vary individual parameters, so that a satisfactory result is achieved.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-13 (2H3-09-E.DOC)

  • Page 80: Effect Of Individual Factors On Controller Behaviour

    A correctly adjusted kd factor stabilizes the system and ensures less overshoot and a shorter settling time. If the kd factor is too high, it pro- duces pulsing in the system.  SAIA-Burgess Electronics Ltd. Page 9-14 26/762 E2 (2H3-09-E.DOC)

  • Page 81: Simple Commissioning Program

    ; if 'Start' not OK, wait R 100 ; Target Position 10000 Absolute value Exec ; Executable FB Module number LdDestAbs ; Command: Load Absolute Destination R 100 Absolute Destination register  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 9-15 (2H3-09-E.DOC)
  • Page 82 ; Display register Exec ; Executable FB Module number RdStatRg Command: Read Status Register Value of Status Register fOnDest_1 ; Position reached? l pos2 ; if no, wait pause2: h pause2 ecob $endgroup  SAIA-Burgess Electronics Ltd. Page 9-16 26/762 E2 (2H3-09-E.DOC)

  • Page 83: Commissioning Tool

    V2.0.70. The program consists of an organization FBox, an FBox for the initializa- tion of a PCD2.H31x, an FBox with a simple path program enabling the online modification of all PID parameters (for the purpose of optimizing control behaviour) and all path parameters, plus a final FBox that allows the creation and online modification of a path program with any 4 se- quences.
  • Page 84 (Stop smooth) or abruptly (Stop abrupt). With 'Set Zero' any position can be declared as the new zero position. It is also possible to switch off the motor control (Motor off) or find the next index position.  SAIA-Burgess Electronics Ltd. Page 10-2 26/762 E2...
  • Page 85 As before, PID parameters are set individually, transferred separately and then activated together with 'Update'. Parameters in the lower section, i.e. those for the path program, are trans- ferred immediately after confirmation.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 10-3 (2H3-10-E.DOC)
  • Page 86 Adjust window of the initialization FBox. Parameters are only transferred after a download. The parameters of this adjust window, therefore, should be set before compiling and before downloading to the PCD.  SAIA-Burgess Electronics Ltd. Page 10-4 26/762 E2 (2H3-10-E.DOC)
  • Page 87 It is also possible to switch the motor control off (Motor off) or to seek the next index posi- tion (Backwards or Forwards). Positions, velocity and acceleration can be set with 'Absolute' or 'Relative' parameters.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 10-5 (2H3-10-E.DOC)
  • Page 88 The adjust window for the FBox with a 4-sequence cycle appears as fol- lows: (The values entered serve only as an example, but work well with the V-PCX 24 demonstration model).  SAIA-Burgess Electronics Ltd. Page 10-6 26/762 E2 (2H3-10-E.DOC)
  • Page 89 ±10V control voltage should also be available, as this is the only way of viewing controller behaviour under the various loads and optimizing its settings. Unfortunately, the present commissioning tool does not include this display.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 10-7 (2H3-10-E.DOC)
  • Page 90 Organization FBox. Must be located at the beginning of a tool page. This FBox has no inputs or outputs and no adjust window either. FBox 'H31-Module' Initialization of PCD2.H31x module. The module base address should be written in the 'Add' window, e.g. O 80. FBox outputs:...
  • Page 91 Actual velocity 'IdX' integer Index register 'Sta' integer Status register adjust window: see page 10-6/7 The 'PIm' output shows the result of multiplying the 'PAc' output value by the 'Mechanical Factor'.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 10-9 (2H3-10-E.DOC)
  • Page 92 Commissioning tool PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 10-10 26/762 E2 (2H3-10-E.DOC)

  • Page 93: Security Aspects

    PCD2.H31x Security aspects 11. Security aspects If a drive unit is triggered with a PCD2.H31x module, particular attention should be paid to the following points: Drive power-up phase When the main supply for the PCD has been switched on, it takes max. 2 seconds before all input/output modules are initialized, the CPU is in RUN and the user program can therefore be processed.
  • Page 94 Always activate the PCD’s watchdog and use the watchdog contact to disconnect the drive directly. X0Bs for PCD hardware errors Program XOBs 0 to 5 and, if necessary, disconnect the drive directly via a digital output.  SAIA-Burgess Electronics Ltd. Page 11-2 26/762 E2 (2H3-11-E.DOC)

  • Page 95: Application Examples

    When fully assembled and wired up, the model has the following presen- tation: Start E110 PCD2 B100 H311 A6 E/A5 E/A4 E/A3 E/A2 E1 EOFF1 EOFF2 Enable +/-10V motor Emergency stop Carriage Servo amplifier  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-1 (2H3-12-E.DOC)
  • Page 96 (+ V) backwards (- V) Carriage The arrangement of switches on the model is roughly in line with the above drawing. During normal program execution the carriage is in the position illustrated.  SAIA-Burgess Electronics Ltd. Page 12-2 26/762 E2 (2H3-12-E.DOC)
  • Page 97 Starting position located to the left of 'LS1'. The carriage travels backwards as defined until the final limit switch. The home po- sition cannot be found. If the final limit switch is not reached within the defined timeout, homing is halted.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-3 (2H3-12-E.DOC)
  • Page 98 After completion of homing the program goes to TR 53, where the start condition of the actual travel program is awaited. Consult section 6.1.2 for a description of the travel program.  SAIA-Burgess Electronics Ltd. Page 12-4 26/762 E2 (2H3-12-E.DOC)
  • Page 99 Derivative term sampling interval Position tolerance Behaviour in case of position error R 1000 Mechanical factor register R 1001 Initial velocity register R 1002 Initial acceleration register ; Delay for Enable 2 sec  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-5 (2H3-12-E.DOC)
  • Page 100 Absolute Destination register Exec ; Executable FB Module number StartMot Command: Start motion rNotUsed Dummy register ;------------------------------- ;Pause 1 I 54 ;Move forwards ended ? O 55 ;Pause 1 elapsed ?  SAIA-Burgess Electronics Ltd. Page 12-6 26/762 E2 (2H3-12-E.DOC)
  • Page 101 ;Home running ? I 11 ;Home O 11 ;Home Exec ; Executable FB Module number RdActPos Command: Read Actual Position R 90 Actual Position register R 90 ; Display register fEndHome_1  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-7 (2H3-12-E.DOC)
  • Page 102 Exec ; Executable FB Module number RdStatRg Command: Read Status Register Value of Status Register fOnDest_1 ; Position reached? ;------------------------------- ;Pause 2 elapsed ? I 16 ;Pause 2 O 12 $endgroup  SAIA-Burgess Electronics Ltd. Page 12-8 26/762 E2 (2H3-12-E.DOC)

  • Page 103: Example: 1 Axis With Two Velocities

    'fBrkPt_x' flag and then, in ST 13 and ST 16, the new velocity is loaded and activated in each case with a 'Start' FB. The modification of other parameters during travel follows the same pattern.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-9...
  • Page 104 In most TRs the actual position is read and output to the display. In prac- tice these parts of the program can be dispensed with or only provided where they seem appropriate.  SAIA-Burgess Electronics Ltd. Page 12-10 26/762 E2...
  • Page 105 Initial velocity register R 1002 Initial acceleration register ; Delay for Enable 2 sec ;------------------------------- I 50 I 57 ;Pause 2 elapsed ? O 51 ;Start OK ? o 71 ; Enable  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-11 (2H3-12-E.DOC)
  • Page 106 R 102 Speed Exec ; Executable FB Module number StartMot Command: Start motion rNotUsed Dummy register ;------------------------------- ;Pause 1 I 53 ;Move forwards ended ? O 54 ;Pause 1 elapsed ?  SAIA-Burgess Electronics Ltd. Page 12-12 26/762 E2 (2H3-12-E.DOC)
  • Page 107 R 102 Speed Exec ; Executable FB Module number StartMot Command: Start motion rNotUsed Dummy register ;------------------------------- ;Pause 2 I 56 ;Move backwards ended ? O 57 ;Pause 2 elapsed ?  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-13 (2H3-12-E.DOC)
  • Page 108 Command: Read Actual Position R 90 Actual Position register R 90 ; Display register Exec ; Executable FB Module number RdStatRg Command: Read Status Register Value of Status Register fOnDest_1 ; Position reached?  SAIA-Burgess Electronics Ltd. Page 12-14 26/762 E2 (2H3-12-E.DOC)
  • Page 109 Exec ; Executable FB Module number RdStatRg Command: Read Status Register Value of Status Register fOnDest_1 ; Position reached? ;------------------------------- ;Pause 2 elapsed ? I 17 ;Pause 2 O 11 $endgroup  SAIA-Burgess Electronics Ltd. 26/762 E2 Page 12-15 (2H3-12-E.DOC)
  • Page 110 Application examples PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page 12-16 26/762 E2 (2H3-12-E.DOC)
  • Page 111 Index modified: Processing time: 15 ms Function description: This FB defines the settings of a PCD2.H31x module and reads the mod- ule base address from the D2H310_B.MBA file. Parameter '1' should be specified as a constant 'K', parameters '9' to '11’...
  • Page 112 Factor containing pa- rameters for the encoder and the system. = 10 Velocity Integer Initial velocity, defined by machine factor. = 11 Acceleration Integer Initial acceleration, de- fined by machine factor.  SAIA-Burgess Electronics Ltd. Page A-2 26/762 E2 (2H3-AA-E.DOC)
  • Page 113 Processing time: max. Timeout Function description: This FB defines the homing settings for the PCD2.H31x module. Parameter 1 should be entered as a constant 'K', parameter 7 as a 'I' input, and all other parameters should be entered as integers.
  • Page 114 Velocity for seeking the velocity reference switch. Timeout Integer 0 – 65535 [s] Time until homing will be halted. Reference input Integer Input to which the refer- ence switch is connected.  SAIA-Burgess Electronics Ltd. Page A-4 26/762 E2 (2H3-AA-E.DOC)
  • Page 115 Processing time: dependent on instruction Function description: This FB is used to send execution instructions to the PCD2.H31x module. The module number (parameter 1) must be a constant (k 1…k 16). The base address is defined in the 'D2H310_B.MBA' file. The FBs support max.
  • Page 116 The number in the first column (0 - 34) is the absolute value of parameter no. 2 in FB 'Exec'. When the user program is being traced in the debug- ger, this number can help to interpret the function of FB 'Exec'.  SAIA-Burgess Electronics Ltd. Page A-6 26/762 E2...

  • Page 117: Start Motion

    The flage 'fOnDest_x', 'fBrkPt_x' and 'fPosErr_x' are only refreshed after a 'StartMot' instruction forllowed by a 'RdStatRg' instruction. Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: StartMot Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-7 (2H3-AA-E.DOC)

  • Page 118: (2H3-00-E.doc) 26/762 E2

    The instruction can be used both in position control and speed control modes. Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: StopUrg Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. Page A-8 26/762 E2 (2H3-AA-E.DOC)

  • Page 119: Stop Motion

    The instruction can be used both in position control and speed control modes. Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: Stop Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-9 (2H3-AA-E.DOC)
  • Page 120 The effect is the same as if the motor supply were removed. Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: MotOff Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. Page A-10 26/762 E2 (2H3-AA-E.DOC)

  • Page 121: Read Actual Position

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: RdActPos PCD register for the integer 31 bit .. +(2 - 1) actual Position  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-11 (2H3-AA-E.DOC)

  • Page 122: Read Actual Velocity

    Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: RdActVel PCD register for integer 30 bit *) dependent on ma- actual velocity chine factor *) Resolution 14 bit  SAIA-Burgess Electronics Ltd. Page A-12 26/762 E2 (2H3-AA-E.DOC)

  • Page 123: Read Integration Sum

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: RdIntSum PCD register for the integer 15 bit 0 .. 32767 integration sum  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-13 (2H3-AA-E.DOC)

  • Page 124: Read Index Register

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: RdIndexRg PCD register for value of integer 31 bit .. +(2 - 1) index register  SAIA-Burgess Electronics Ltd. Page A-14 26/762 E2 (2H3-AA-E.DOC)

  • Page 125: Read Status Register

    1 - 16 Instruction: RdStatRg PCD register for value of integer 31 bit .. +(2 - 1) status register fOnDest_x Flag on destination fBrkPt_x Flag breakpoint reached fPosErr_x Flag excessive position error  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-15 (2H3-AA-E.DOC)

  • Page 126: Read Target Position

    PCD register for target integer 31 bit .. +(2 - 1) position Position Actual position Target position Time This refers to the calculated target position in units of the sample time (341 µs).  SAIA-Burgess Electronics Ltd. Page A-16 26/762 E2 (2H3-AA-E.DOC)

  • Page 127: Read Target Velocity

    30 bit dependent on ma- target velocity chine factor Velocity Actual velocitiy Target velocity Time Sample time This refers to the calculated target velocity in units of the sample time (341 µs).  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-17 (2H3-AA-E.DOC)

  • Page 128: Go Forwards

    'speed control mode' is also selected. Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: GoForw Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. Page A-18 26/762 E2 (2H3-AA-E.DOC)

  • Page 129: Go Backwards

    'speed control mode' is also selected. Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: GoBackw Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-19 (2H3-AA-E.DOC)

  • Page 130: Single Step Forwards

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: SgStpFor Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. Page A-20 26/762 E2 (2H3-AA-E.DOC)

  • Page 131: Single Step Backwards

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: SgStpBak Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-21 (2H3-AA-E.DOC)

  • Page 132: Load Destination Absolute

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdDestAbs PCD register with the integer 31 bit .. +(2 - 1) load value fOnDest_x Flag on destination  SAIA-Burgess Electronics Ltd. Page A-22 26/762 E2 (2H3-AA-E.DOC)

  • Page 133: Load Destination Relative

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdDestRel PCD register with the integer 31 bit .. +(2 - 1) load value fOnDest_x Flag on destination  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-23 (2H3-AA-E.DOC)

  • Page 134: Load Velocity Absolute

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdVelAbs PCD register with the integer 30 bit dependent on ma- load value chine factor  SAIA-Burgess Electronics Ltd. Page A-24 26/762 E2 (2H3-AA-E.DOC)

  • Page 135: Load Velocity Relative

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdVelRel PCD register with the integer 30 bit dependent on ma- load value chine factor  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-25 (2H3-AA-E.DOC)

  • Page 136: Load Acceleration Absolute

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdAccAbs PCD register with the integer 30 bit dependent on ma- load value chine factor  SAIA-Burgess Electronics Ltd. Page A-26 26/762 E2 (2H3-AA-E.DOC)

  • Page 137: Load Acceleration Relative

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdAccRel PCD register with the integer 30 bit dependent on ma- load value chine factor  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-27 (2H3-AA-E.DOC)

  • Page 138: Load Proportional Gain

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdPropG PCD register with the integer 15 bit 0 .. 32767 load value  SAIA-Burgess Electronics Ltd. Page A-28 26/762 E2 (2H3-AA-E.DOC)

  • Page 139: Load Integrative Gain

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdIntG PCD register with the integer 15 bit 0 .. 32767 load value  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-29 (2H3-AA-E.DOC)

  • Page 140: Load Derivative Gain

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdDerG PCD register with the integer 15 bit 0 .. 32767 load value  SAIA-Burgess Electronics Ltd. Page A-30 26/762 E2 (2H3-AA-E.DOC)
  • Page 141 Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdSampInt PCD register with the integer 8 bit 0 .. 255 load value  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-31 (2H3-AA-E.DOC)
  • Page 142 Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: LdIntLim PCD register with the integer 15 bit 0 .. 32767 load value  SAIA-Burgess Electronics Ltd. Page A-32 26/762 E2 (2H3-AA-E.DOC)

  • Page 143: Activate Regulation Factors

    PID control. It is also possible to activate one parameter alone. Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: ActRegFact Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-33 (2H3-AA-E.DOC)
  • Page 144 1 - 16 Instruction: LdBrkPtAbs PCD register with the integer 31 bit .. +(2 - 1) load value Flag 'Breakpoint' This flag is reset fBrkPt_x with instructions 'StartMot' or 'ResStatRg' .  SAIA-Burgess Electronics Ltd. Page A-34 26/762 E2 (2H3-AA-E.DOC)
  • Page 145 Module number 1 - 16 Instruction: LdBrkPtRel PCD register with the integer 31 bit .. +(2 - 1) load value fBrkPt_x Flag 'Breakpoint' This flag is reset with instructions 'StartMot' or 'ResStatRg'.  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-35 (2H3-AA-E.DOC)

  • Page 146: Reset Status Register

    Type Format Value Comment Module number 1 - 16 Instruction: ResStatRg PCD register with reset integer 8 bit 0 .. 255 information fBrkPt_x Flag breakpoint fOnDest_x Flag on destination fPosErr_x Flag position error  SAIA-Burgess Electronics Ltd. Page A-36 26/762 E2 (2H3-AA-E.DOC)

  • Page 147: Set Index Position

    'IN' are low. The 'Home' procedure uses this function to simplify definition of the 'Home' function. Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: SetIdxPos Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-37 (2H3-AA-E.DOC)
  • Page 148 This instruction can be used to set any position to zero. That position then becomes the new 'Home' position. Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: SetZero Empty PCD register or 'rNotUsed'  SAIA-Burgess Electronics Ltd. Page A-38 26/762 E2 (2H3-AA-E.DOC)

  • Page 149: Motion Configuration

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: Mot Conf PCD register for integer 2 bit 0 .. 3 configuration  SAIA-Burgess Electronics Ltd. 26/762 E2 Page A-39 (2H3-AA-E.DOC)

  • Page 150: Set Position Tolerance

    Description of input and output elements concerned: Par. Designation/function Type Format Value Comment Module number 1 - 16 Instruction: SetPosTol PCD register for integer 15 bit 0 .. 32767 position tolerance fPosErr_x Position error flag  SAIA-Burgess Electronics Ltd. Page A-40 26/762 E2 (2H3-AA-E.DOC)
  • Page 151 PCD2.H31x Summary of all FBoxes Appendix B: Summary of all FBoxes for programming in FUPLA In preparation  SAIA-Burgess Electronics Ltd. 26/762 E2 Page B-1 (2H3-AB-E.DOC)
  • Page 152 Summary of all FBoxes PCD2.H31x Notes  SAIA-Burgess Electronics Ltd. Page B-2 26/762 E2 (2H3-AB-E.DOC)
  • Page 153 Address : BA : Electronic Controllers Tel. : Manual PCD2.H31x Date :  If you have any suggestions concerning the SAIA PCD, or have found any errors in this manual, brief details would be appreciated.  SAIA-Burgess Electronics Ltd.
  • Page 154 Your suggestions :  SAIA-Burgess Electronics Ltd.

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