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Beckhoff AX2000 Setup Manual

Driver software installation digital servo amplifier
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Setup-Software DRIVE.EXE
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AX2000
Description of parameters and functions
Edition 07/03

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Summary of Contents for Beckhoff AX2000

  • Page 1 Setup-Software DRIVE.EXE AX2000 Description of parameters and functions Edition 07/03...
  • Page 2 Previously published editions : Edition Notes 06/00 First edition 09/01 Contents completely new, identical to online-help Valid from Software Version 4.90, Bode plot description, position output, external trajectory, oscilloscope, various 10/02 minor corrections 07/03 new motion task types, Graphical Motion Tasking added, valid from software version 5.00 PC-AT is a registered trademark of International Business Machines Corp.

  • Page 3: Table Of Contents

    BECKHOFF Contents 07/03 Contents General Information ............5 Contents .
  • Page 4 BECKHOFF Contents 07/03 Contents Screen page "Homing" ........... . 57 21.1...

  • Page 5: General Information

    BECKHOFF General Information 07/03 General Information This help system explains the installation and operation of the setup software DRIVE.EXE for digital servo amplifiers. Contents General Product overview Axis commissioning checklist procedures Servo System Overview Error messages and warnings Related Documents...

  • Page 6: Prescribed Use ("Use As Directed")

    BECKHOFF General Information 07/03 Prescribed use ("Use as directed") Setup Software The setup software is intended to be used for altering or storing the operational parameters for the digital servo amplifiers. The servo amplifier that is connected is commissioned with the aid of the software - whereby the drive can be directly controlled by the setup and service functions.

  • Page 7: Abbreviations Used

    BECKHOFF General Information 07/03 Abbreviations used The abbreviations used are explained in the table below. Abbrev. Meaning AGND Analog ground Restart Lock, option BTB/RTO Ready to operate Fieldbus (CANopen) Communité Europeenne (EC) Clock Serial interface for a PC DGND Digital ground Deutsches Institut für Normung...

  • Page 8: Product Overview

    BECKHOFF Product Overview 07/03 Product Overview What is DRIVE.EXE? DRIVE.EXE is an axis commissioning tool for both single-axis and multi-axis motion control applications. With its graphical user interface and Windows dialogues, DRIVE.EXE provides an easy point-and-click method for configuring servo amplifiers Single-Axis Motion Control In a single axis system, DRIVE.EXE runs on a programming unit (PC) connected to one servo drive.

  • Page 9: Servo System Overview

    BECKHOFF Servo System Overview 07/03 Servo System Overview This topic provides a quick lesson in servo system - an overview of what it is and how it works. What is a Servo System? A servo system essentially comprises an intelligent servo drive and a servo motor that operates with a PLC or CNC to perform complex, specialized moves in one or more directions, or axes.

  • Page 10: Feedback Device

    BECKHOFF Servo System Overview 07/03 Feedback Device Servo motors are available with these feedback units: RESOLVER ® ENDAT compatible Heidenhain encoder ® HIPERFACE compatible Stegmann encoder In a closed-loop feedback system, the innermost loop is the commutation loop, which monitors the motor's rotor and ensures that it keeps spinning.

  • Page 11: Limits And Ranges Of Operation

    BECKHOFF Servo System Overview 07/03 Limits and Ranges of Operation Overview Another important task in achieving best system performance is setting certain motion limits and ranges of operation to protect equipment from damage and to optimize operational efficiency. Two Types of Settings...

  • Page 12: Getting Started

    BECKHOFF Getting Started 07/03 Getting Started Operating systems WINDOWS 95(c) / WINDOWS 98 / WINDOWS 2000 / WINDOWS ME / WINDOWS XP / WINDOWS NT DRIVE.EXE runs under WINDOWS 95(c) / 98 / ME / XP / 2000 or WINDOWS NT 4.0 (service release 3 or higher).

  • Page 13: Rs232 Interface, Pc Connection (X6)

    BECKHOFF Getting Started 07/03 RS232 interface, PC connection (X6) You can carry out the setting up of the parameters for operating, position control, and motion-blocks, by using the setup software on an ordinary personal computer (PC). Connect the PC interface (X6) of the servo amplifier to the serial interface of the PC via a 3-core null-modem cable (do not use a null-modem link cable).

  • Page 14: Installation Under Windows 95(C) / 98 / 2000 / Me / Xp / Nt

    BECKHOFF Getting Started 07/03 Installation under WINDOWS 95(c) / 98 / 2000 / ME / XP / NT You can install the setup software directly from the enclosed CD-ROM (call up SETUP.EXE). Connection to the serial interface of the PC: Connect the interface cable between the serial interface of your PC and the PC-interface (X6) of the amplifier.

  • Page 15: Function Keys

    BECKHOFF Getting Started 07/03 Function keys Function key Function Comment Help Contextual help reserved reserved reserved reserved Starts the Jog Mode. The drive operates under the parameters that Jog Mode are pre-selected on the "Homing" page while the F4 key is pressed.

  • Page 16: Axis Commissioning Checklist Procedures

    BECKHOFF Axis Commissioning Checklist Procedures 07/03 Axis Commissioning Checklist Procedures General This chapter provides you with strategies for the commissioning of the digital servo amplifier and the optimi- zation of its control loops. These strategies cannot be universally valid. You may have to develop your own strategy, depending the speci- fication of your machine.

  • Page 17: Basic Setting

    BECKHOFF Axis Commissioning Checklist Procedures 07/03 Basic setting The servo amplifier remains disabled and the main power supply is switched off. Set up basic parameters (address, ballast details, line/mains supply voltage etc.): - Click on the BASIC SETTINGS button - Alter the fields, if necessary...
  • Page 18 BECKHOFF Axis Commissioning Checklist Procedures 07/03 If you want to use the position control of the servo amplifier, then you must enter the specific parameters for your drive: Axis type: - Click on the POSITION button - Click on the POSITION DATA button - Select the axis type (linear, rotary or modulo) For the axis type MODULO: enter the parameters Modulo-Start-Pos.

  • Page 19: Optimization Of The Control Loops

    BECKHOFF Axis Commissioning Checklist Procedures 07/03 Optimization of the control loops The basic setting must be finished. Preparation OPMODE: Set the OPMODE "1,analog speed" (screen page AMPLIFIER) Setp. function: Set the analog I/O-function to "0,Xsetp=An In 1" (screen page ANALOG-I/O)

  • Page 20: Optimizing The Speed Controller

    BECKHOFF Axis Commissioning Checklist Procedures 07/03 Optimizing the speed controller Screen page SPEED CONTROLLER SETP. -OFFSET: Leave the amplifier enabled. If the axis is drifting, alter the parameter Setp.-Offset until it stands still (or use the function AUTO-OFFSET). SETP. RAMP +/-: The setpoint ramps are used to smooth the setpoint input (filter effect).

  • Page 21: Optimizing The Position Controller

    BECKHOFF Axis Commissioning Checklist Procedures 07/03 Optimizing the position controller Screen page POSITION CONTROLLER Preparation OPMODE: Select OPMODE 8 (screen page AMPLIFIER) Position the load in a middle position: The aim is, to use the Jog Mode function to move the load to approximately the middle of the motion path.
  • Page 22 BECKHOFF Axis Commissioning Checklist Procedures 07/03 Optimization The starting of motion tasks with the aid of commissioning-software functions is only permitted in combination with an interlock device according to EN292-1, that operates directly on the drive circuitry. Start motion task:...

  • Page 23: Screen Layout

    BECKHOFF Screen layout 07/03 Screen layout The program name, station address, and the name of the currently valid data set (amplifier) are displayed in the Title Bar title bar. During offline operation, instead of the station address a number above 100 will be shown, possibly with the storage location (folder + file name) of the data set that has been loaded.
  • Page 24 BECKHOFF Screen layout 07/03 Menu bar FILE A parameter and/or motion task data set is read from the data medium (hard disk, diskette) and Open becomes the currently valid set. The servo amplifier must be disabled to do this. Close The current data set is closed and not saved.

  • Page 25: Screen Page "Communication

    BECKHOFF Screen page "Communication" 07/03 Screen page "Communication" COM1, 2, 3, 4 If one of these interfaces (ports) is available for communication with a servo amplifier, which means that it is not used by other equipment or drivers, then the text label appears in full black and can be selected. Use this interface for the connection to the servo amplifier.

  • Page 26: Screen Page "Amplifier

    BECKHOFF Screen page "Amplifier" 07/03 Screen page "Amplifier" This screen page displays the control loops of the servo drive in a simplified block diagram. A click with the left mouse button on a button on the screen page calls up the corresponding function or screen page.
  • Page 27 BECKHOFF Screen page "Amplifier" 07/03 Basic setup Opens the screen page "BASIC SETUP" Slot / Exp. x Opens the screen page for the built-in expansion card (description: manual for the expansion card). Opens the screen page "ANALOG I/O" Analog I/O Opens the screen page "DIGITAL I/O"...

  • Page 28: Slot

    BECKHOFF Slot 07/03 Slot The screen page depends on the built-in expansion card: I/O expansion card -I/O-14/08- SERCOS PROFIBUS Setup Software...

  • Page 29: Screen Page "Basic Setup

    BECKHOFF Screen page "Basic Setup" 07/03 Screen page "Basic Setup" PC Software Display the version and revision level of the current setup software. Regen Resistor Default: 0 (internal) valid for all OPMODES ASCII: PBALRES Preselection of the regen resistor. If you use an external regen resistor, set "1,external" here. Change this only while the amplifier is disabled.
  • Page 30 BECKHOFF Screen page "Basic Setup" 07/03 Run time ASCII: TRUN Default: - valid for all OPMODES Displays the operational time of the servo amplifier, saved at 8 min. intervals. If the 24V supply is switched off, a maximum of 8 min. operational time will be unregistered.
  • Page 31 BECKHOFF Screen page "Basic Setup" 07/03 Acceleration ASCII: ACCUNIT Default: 0 valid for all OPMODES Definition of the dimensional unit for acceleration. This unit is used for the ramps of the trajectory generator (internal motion blocks, OPMODE 8) as well as for the braking/acceleration ramps of the speed controller.

  • Page 32: Screen Page "Motor" Synchronous

    BECKHOFF Screen page "Motor" synchronous 07/03 Screen page "Motor" synchronous All the parameters that appear on this screen page are defined by the motor default values (internal database in the amplifier), and in most cases it will not be necessary to alter them.
  • Page 33 BECKHOFF Screen page "Motor" synchronous 07/03 Current advance ASCII: MTANGLP Default: 0 °electr. valid for all OPMODES A current-dependent phase advance, to make use of the reluctance torque for motors with magnets embedded in the rotor. Start/Limit Phi ASCII: MVANGLB...

  • Page 34: Screen Page "Motor" Asynchronous

    BECKHOFF Screen page "Motor" asynchronous 07/03 Screen page "Motor" asynchronous All the parameters that appear on this screen page are defined by the motor default values (internal database in the amplifier), and in most cases it will not be necessary to alter them.
  • Page 35 BECKHOFF Screen page "Motor" asynchronous 07/03 Brake ASCII: MBRAKE Default: 0 valid for all OPMODES If you want to operate a 24V holding brake in the motor directly from the servo amplifier, this parameter can be used to enable the brake function.

  • Page 36: Screen Page "Feedback

    BECKHOFF Screen page "Feedback" 07/03 Screen page "Feedback" Feedback Type ASCII: FBTYPE Default: 0 valid for all OPMODES Change this only while the amplifier is disabled + reset. Function Comments It is possible to connect 2, 4 or 6-pole resolvers to the servo amplifier. Cycle Resolver time 62.5 µs.
  • Page 37 BECKHOFF Screen page "Feedback" 07/03 No.of resolver poles ASCII: MRESPOLES Default: 2 valid for all OPMODES This parameter effects only with resolver feedback (FBTYPE = 0 or 3). Standard resolvers have 2 poles. Change this only while the amplifier is disabled.

  • Page 38: Screen Page "Encoder

    BECKHOFF Screen page "Encoder" 07/03 Screen page "Encoder" Cycle time of the encoder emulation: 0.125 µs. Encoder emulation ASCII: ENCMODE Default: 1 valid for all OPMODES Change this only while the amplifier is disabled. Function Comments The interface is used as an input.
  • Page 39 BECKHOFF Screen page "Encoder" 07/03 NI-Offset ROD ASCII: ENCZERO Default: 0 valid for all OPMODES Determines the position of the zero (marker) pulse when A=B=1. The entry is referred to the zero-crossing of the feedback unit. Single / Multi Turn...

  • Page 40: Screen Page "Analog I/O

    BECKHOFF Screen page "Analog I/O" 07/03 Screen page "Analog I/O" Cycle time of the analog I/O-functions: 250 µs. An In 1 is read every 125 µs. The actual values of the analog inputs/outputs are shown in the diagram of the connector X3.
  • Page 41 BECKHOFF Screen page "Analog I/O" 07/03 Setp.-Functions ASCII: ANCNFG Default: 0 valid for all OPMODES Function Xcmd=An In 1 v_cmd=An In 1, Icmd=An In 2 v_cmd=An In 1, Iff=An In 2 Xcmd=An In 1, Ipeak=An In 2 Xcmd=An In 1 + An In 2 Xcmd=An In 1 * An In 2 electr.
  • Page 42 BECKHOFF Screen page "Analog I/O" 07/03 6, electr.gear Correction of the gearing ratio (nominator y, GEARO) of the electrical gearing through An In 2 for OPMODE 4. An In 1 is used as a speed (or torque) setpoint for OPMODE 1 (or 3).

  • Page 43: Analog Outputs An Out1 / An Out2

    BECKHOFF Screen page "Analog I/O" 07/03 15.2 Analog Outputs AN OUT1 / AN OUT2 AN OUT1/2 Default: 1 valid for OPMODES 1+3 ASCII: ANOUTx The analog outputs 1 (ANOUT1, terminal X3/8) and 2 (ANOUT2, terminal X3/9) each provide various analog actual/setpoint values, depending on the selection in the commissioning software.

  • Page 44: Screen Page "Digital I/O

    BECKHOFF Screen page "Digital I/O" 07/03 Screen page "Digital I/O" Cycle time of the digital I/O functions: 1 ms. The states of the digital inputs/outputs are shown. 16.1 Digital inputs DIGITAL-IN1 / DIGITAL-IN2 / PSTOP / NSTOP ASCII: INxMODE Default: 0...

  • Page 45: Description Of The Digital Inputs

    BECKHOFF Screen page "Digital I/O" 07/03 16.1.1 Description of the digital inputs No function. 0, Off Software reset of the servo amplifier in the event of a fault. All the functions and displays are set to the initial 1, Reset status.
  • Page 46 BECKHOFF Screen page "Digital I/O" 07/03 9, MT_No_Bit Here you can select the motion tasks that are stored in the servo amplifier (numbers 1...7) or the homing (0). The motion task number is presented externally at the digital inputs as a logical word, with a width of max. 3bits.
  • Page 47 BECKHOFF Screen page "Digital I/O" 07/03 20, Start_Jog v=x Start of the setup mode "Jog Mode" with a defined speed. After selecting the function, you can enter the speed in the auxiliary variable "x". The sign of the auxiliary variable defines the direction. A rising edge starts the motion, a falling edge cancels the motion.
  • Page 48 BECKHOFF Screen page "Digital I/O" 07/03 27, Emergency Stop The LOW level initiates an emergency-stop phase (motion is canceled and the drive is stopped, using the EMERGENCY RAMP). Regardless of the OPMODE that is currently set, the speed controller is activated during the emergency-stop phase.

  • Page 49: Digital Outputs Digital-Out1 / Digital-Out2

    BECKHOFF Screen page "Digital I/O" 07/03 16.2 Digital outputs DIGITAL-OUT1 / DIGITAL-OUT2 Default: 0 valid for all OPMODES ASCII: OxMODE ASCII: OxTRIG Default: 0 valid for all OPMODES You can combine the following standard pre-programmed functions with the digital outputs DIGITAL-OUT1 (O1MODE, terminal X3/16) or DIGITAL-OUT2 (O2MODE, terminal X3/17).

  • Page 50: Description Of The Digital Outputs

    BECKHOFF Screen page "Digital I/O" 07/03 16.2.1 Description of the digital outputs No function assigned. 0, Off 1, v_act<x As long as the absolute value for the motor speed is lower than a preset value (auxiliary value "x"), a HIGH-signal will be output. After the function has been selected you can enter the speed in rev./min. as the auxiliary value "x".
  • Page 51 BECKHOFF Screen page "Digital I/O" 07/03 10, FError If the position goes outside the preset contouring-error window, this is indicated by a LOW-signal. The width of the following error window is entered in the screen page "Position" for all the valid motion tasks.

  • Page 52: Screen Page "Current

    Screen page "Current" BECKHOFF 07/03 Screen page "Current" Use the default values for the motor. Please do not make any alterations to the settings for the current controller unless they have been discussed with our applications department. Cycle time of the current controller: 62.5 µs...

  • Page 53: Screen Page "Speed

    BECKHOFF Screen page "Speed" 07/03 Screen page "Speed" Use the default values for the motor as a starting point for optimization. Cycle time of the speed controller: 250 µs SpeedLimit ASCII: VLIM Default: 3000 rpm valid for OPMODES 0+1 Limits the motor speed. The maximum value also depends on the used motor and encoder.
  • Page 54 BECKHOFF Screen page "Speed" 07/03 Overspeed ASCII: VOSPD Default: 3600 rpm valid for all OPMODES Determines the upper limit for the motor speed. If this limit is exceeded, the servo amplifier switches into the overspeed fault condition (error message F08).

  • Page 55: Screen Page "Position" (Pi)

    BECKHOFF Screen page "Position" (PI) 07/03 Screen page "Position" (PI) Cycle time of the position controller: 250 µs Subscreens Position Data Opens the screen page "Position Data" Opens the screen page "Homing" Homing Gearing Opens the screen page "Gearing" Ff Factor...

  • Page 56: Screen Page "Position" (P)

    BECKHOFF Screen page "Position" (P) 07/03 Screen page "Position" (P) Cycle time of the position controller: 250 µs Subscreens Position Data Opens the screen page "Position Data" Homing Opens the screen page "Homing" Gearing Opens the screen page "Gearing" Ff Factor...

  • Page 57: Screen Page "Homing

    BECKHOFF Screen page "Homing" 07/03 Screen page "Homing" The reference traverse (homing) is an absolute task, that is used to zero the drive for subsequent positioning operations. You can choose between various types of homing. After homing, the drive reports "InPosition" and then enables the position controller in the servo amplifier.
  • Page 58 BECKHOFF Screen page "Homing" 07/03 Reference traverse ASCII: NREF Default: 0 valid for OPMODE 8 You can choose which type of reference traverse should be performed. A preset zero-point offset (screen page "Encoder" is taken into account for the position output and display.

  • Page 59: Homing 1

    BECKHOFF Screen page "Homing" 07/03 21.1 Homing 1 Homing with reference switch, negative direction of motion, positive rotation, with zero-mark Warning! Before starting homing, check the safety of the system, since the load may move, even if the limit-switches are disconnected or defective.

  • Page 60: Homing 3

    BECKHOFF Screen page "Homing" 07/03 21.2 Homing 2 Homing without reference switch, negative direction of motion, positive rotation, with zero-mark Warning! Hardware limit-switches must be present and connected. 2, PSTOP and 3, NSTOP must be switched on. limit-switch functions Homing without reference switch, positive direction of motion, positive rotation, with zero-mark Warning! Hardware limit-switches must be present and connected.

  • Page 61: Homing 5

    BECKHOFF Screen page "Homing" 07/03 21.3 Homing 3 Homing with reference switch, negative direction of motion, positive rotation, without zero-mark Warning! Before starting homing, check the safety of the system, since the load may move, even if the limit-switches are disconnected or defective.
  • Page 62 BECKHOFF Screen page "Homing" 07/03 21.4 Homing 4 Homing without reference switch, negative direction of motion, positive rotation, without zero-mark Warning! Hardware limit-switches must be present and connected. 2, PSTOP and 3, NSTOP must be switched on. limit-switch functions Homing without reference switch, positive direction of motion, positive rotation, without zero-mark Warning! Hardware limit-switches must be present and connected.
  • Page 63 BECKHOFF Screen page "Homing" 07/03 21.5 Homing 5 Homing without reference switch, negative direction of motion, positive rotation, with zero-mark Homing without reference switch, positive direction of motion, positive rotation, with zero-mark Behavior for successively repeated starts of Homing 5: The position controller can only hold the motor in the zero position by passing the zero mark by ±...
  • Page 64 BECKHOFF Screen page "Homing" 07/03 21.6 Homing 7 Homing to mechanical stop, negative direction of motion, positive rotation, with zero-mark Homing to mechanical stop, positive direction of motion, positive rotation, with zero-mark Warning! Using this type of homing run can damage the mechanical stop on the machine. The peak current Ipeak and the continuous current Irms are limited for the duration of the homing run.

  • Page 65: Jog Mode

    BECKHOFF Screen page "Homing" 07/03 Direction of motion ASCII: DREF Default: 0 valid for OPMODE 8 Determines the direction of motion for homing. The setting "distance-dependent" is only relevant for Homing 5 (within one turn). In this case, the direction is chosen to give the shortest distance to the zero-mark. This parameter also defines the direction of motion for a Modulo type of axis.

  • Page 66: Screen Page "Position Data

    BECKHOFF Screen page "Position Data" 07/03 Screen page "Position Data" For each one of the positioning tasks you must define motion tasks. These motion tasks can be selected by a motion task number, and are stored in the servo amplifier.
  • Page 67 BECKHOFF Screen page "Position Data" 07/03 Axis type ASCII: POSCNFG Default: 0 valid for OPMODE 8 Here you select whether the axis is to be operated as a linear or a rotary axis. Function Comments A linear axis is an axis with a limited range of travel. A linear axis moves within the...
  • Page 68 BECKHOFF Screen page "Position Data" 07/03 Position register A programmable register that can have various functions assigned to it. Make changes only while the amplifier is disabled + reset. Position register Function Comment 1 (SWE1) 2 (SWE2) 3 (SWE3) 4 (SWE4) inactive Pos.
  • Page 69 BECKHOFF Screen page "Position Data" 07/03 Resolution ASCII: PGEARI (numerator) Default: 10000 valid for OPMODE 8 ASCII: PGEARO (denominator) Default: 1 valid for OPMODE 8 The entry for the resolution of the motion tasks is in µm/Revolution. The resolution can be defined at will, through the entries for the numerator/denominator.

  • Page 70: Screen Page "Motion Task Parameters

    BECKHOFF Screen page "Motion task parameters" 07/03 Screen page "Motion task parameters" You can use the ASCII-terminal to completely define motion blocks, with the "ORDER" command. You can obtain further information about this command from our applications department. Number Displays the currently active motion task number.

  • Page 71: Type Motion

    BECKHOFF Screen page "Motion task parameters" 07/03 23.1 Type Motion If the drop down list Trajectory is set to internal, the motion tasks from the internal trajectory generator are used. Trajectory Otherwise entries from the lookup table of the amplifier (can be downloaded over the CAN Download program) are selected.
  • Page 72 BECKHOFF Screen page "Motion task parameters" 07/03 Acceleration/Deceleration Units (acceleration) Default: 0 valid for all OPMODES ASCII: ACCUNIT Select the unit for acceleration and ramp entries. This parameter determines the acceleration time to v_cmd. t_acc_total This parameter determines the deceleration (braking) time from v_cmd to zero.

  • Page 73: Type Delay

    BECKHOFF Screen page "Motion task parameters" 07/03 Next Motion Task Next motion task Select whether a new motion task should be started automatically, after the present task is finished. The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos"...

  • Page 74: Type Comparison Tests

    BECKHOFF Screen page "Motion task parameters" 07/03 23.3 Type Comparison tests Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet Parameter protocol. Test Operator for the comparison test The parameter value must be equivalent to the test value The parameter value must be larger than the test value >...

  • Page 75: Type Modify Parameter

    BECKHOFF Screen page "Motion task parameters" 07/03 23.4 Type Modify parameter Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet Parameter protocol. Value Value, which is to be assigned to the parameter Next Motion Task Select whether a new motion task should be started automatically, after the present task is finished.

  • Page 76: Type Initialize Loop

    BECKHOFF Screen page "Motion task parameters" 07/03 23.5 Type Initialize loop Number of counting steps of the loop initial value Next task Number of the motion task, which is to be processed after setting the counter 23.6 Type Decrement counter Next Motion Task Select whether a new motion task should be started automatically, after the present task is finished.

  • Page 77: Type Loop

    BECKHOFF Screen page "Motion task parameters" 07/03 23.7 Type Loop Number of the motion task, which is to be processed if the counter is larger or smaller than zero if counter <> 0 Number of the motion task, which is to be processed if the counter equals zero If counter = 0 23.8...
  • Page 78 BECKHOFF Screen page "Motion task parameters" 07/03 Next Motion Task Next motion task Select whether a new motion task should be started automatically, after the present task is finished. The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos"...

  • Page 79: Screen Page "Gearing

    BECKHOFF Screen page "Gearing" 07/03 Screen page "Gearing" The servo amplifier receives a position setpoint from another instrument (master servo amplifier, stepper motor control, encoder or similar) and controls the position of the motor shaft in synchronism with this master (control) signal.

  • Page 80: Screen Page "Drive Status

    BECKHOFF Screen page "Drive status" 07/03 Screen page "Drive status" Run time ASCII: TRUN Default: - valid for all OPMODES Display of the operational time of the servo amplifier, saved at 8 minute intervals. If the 24V-supply is switched off, maximum 8 minutes of operation are unregistered.

  • Page 81: Screen Page "Actual Values

    BECKHOFF Screen page "Actual values" 07/03 Screen page "Actual values" Analog In1/2 ASCII: ANIN1 Default: - valid for all OPMODES Default: - valid for all OPMODES ASCII: ANIN2 Displays the actual voltages (in mV) at the setpoint inputs. I²t (Mean value)

  • Page 82: Screen Page "Oscilloscope

    BECKHOFF Screen page "Oscilloscope" 07/03 Screen page "Oscilloscope" Cycle time for the measurement acquisition ³ 250 µs. Various value are graphically displayed in a diagram. You can display up to three variables simultaneously, as a function of time. Start Start recording the data.
  • Page 83 BECKHOFF Screen page "Oscilloscope" 07/03 Service functions Select one of the service functions described below. Click on the "Parameter" button and set the corresponding parameter. Then start the function by using the START button. The function will continue to be performed until you click on the STOP button or press the function key F9.

  • Page 84: Screen Page "Input Service Parameters

    BECKHOFF Screen page "Input Service Parameters" 07/03 Screen page "Input Service Parameters" Service operation parameters Settings of the parameters for the service functions. Setpoint current setpoint for the function Direct current electr. angle phase angle of the electrical field Speed...

  • Page 85: Screen Page "Bode Plot

    BECKHOFF Screen page "Bode Plot" 07/03 Screen page "Bode Plot" This function is reserved for engineers and technicians who are experienced in control technology. We can offer you appropriate training on request. With the aid of the Bode plot you can analyze and optimize the speed control loop, taking into account the mechanical characteristics of the machine.

  • Page 86: Screen Page "Terminal

    BECKHOFF Screen page "Terminal" 07/03 Screen page "Terminal" Communication with the servo amplifier is made through ASCII commands. You can obtain a complete list of the commands from our application department. Commands that are sent to the servo amplifier are marked by "-->", the answers from the servo amplifier appear without any preceding characters.

  • Page 87: Screen Page "Profibus

    BECKHOFF Screen page "PROFIBUS" 07/03 Screen page "PROFIBUS" The PROFIBUS-specific parameters, the bus status, and the data words in the transmit and receive directions, as seen by the bus-master are displayed on this screen page. This page is helpful when searching for errors and commissioning the bus communication.

  • Page 88: Screen Page "Profibus Instrument Control

    BECKHOFF Screen Page "PROFIBUS instrument control" 07/03 Screen Page "PROFIBUS instrument control" On this screen page the bit states are displayed for the control word (STW) and the status word (ZSW). The instrument state that is given by the status word is made visible in the state machine. The present state is shown in black, all other states are shown in gray.
  • Page 89 BECKHOFF Screen Page "PROFIBUS instrument control" 07/03 Transitions of the state machine Event Reset / 24V supply is switched on Transition 0 Action Initialization started Event Initialization successfully completed, amplifier switch-on inhibit Transition 1 Action none Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word Event (command: shutdown).

  • Page 90: Screen Page "Sercos

    BECKHOFF Screen Page "SERCOS" 07/03 Screen Page "SERCOS" Address ASCII: ADDR Default: 0 valid for all OPMODES The address mark the Sercos station address of the drive, within the Sercos communication The address can changed between 0 and 63 in the screen "Basic settings".

  • Page 91: Screen Page "Sercos Service

    BECKHOFF Screen Page "SERCOS SERVICE" 07/03 Screen Page "SERCOS SERVICE" Read IDN ASCII: SERCOS Default: - valid for all OPMODES With this function it is possible to read special Sercos IDN’s witch are not represented by an ASCII parameter. The number of the IDN should be entered into this field and the data can be demanded by the "Transmit Data"...

  • Page 92: Screen Page "I/O Expansion

    BECKHOFF Screen page "I/O expansion" 07/03 Screen page "I/O expansion" Displays the states of the individual channels of the I/O-14/08 expansion card and the overall status of the card. PosReg1-5 The preset function of the corresponding position register (the function of PosReg 1-4 is defined in the screen page "Position Data", PosReg5 only via ASCII) is indicated by a HIGH-signal.

  • Page 93: Error And Warning Messages

    BECKHOFF Error and warning messages 07/03 Error and warning messages 36.1 Error messages Errors that occur are displayed as a coded error number in the LED-display on the front panel, and in the "STATUS" screen page. All error messages result in the BTB/RTO contact being opened and the output stage of the amplifier being switched off (the motor loses all torque).

  • Page 94: Warning Messages

    BECKHOFF Error and warning messages 07/03 36.2 Warning messages Faults that occur, but do not cause a switch-off of the output stage of the amplifier (BTB/RTO contact remains closed), are displayed as a coded warning number in the LED-display on the front panel, and shown in the screen page "STATUS".

  • Page 95: Trouble-Shooting

    BECKHOFF Trouble-Shooting 07/03 Trouble-Shooting The following table should be understood as a "First-aid" box. There may be a wide variety of causes of any fault that occurs, depending on the conditions in your system. In multi-axis systems there may be further hidden causes of a fault.

  • Page 96: Related Documents

    BECKHOFF Related Documents 07/03 Related Documents All the documents listed below can be found on the documentation CD-ROM. Installation manual CANopen manual PROFIBUS manual SERCOS manual Application note Emergency Stop Manuals for several motor series Setup Software...

  • Page 97: Glossary

    BECKHOFF Glossary 07/03 Glossary Clock clock signal Common-mode voltage the disturbance amplitude that can be compensated for by a differential analog input Continuous power of the regen circuit the average power that can be dissipated in the regen circuit Counts...

  • Page 98: Motor Numbers

    BECKHOFF Motor Numbers 07/03 Motor Numbers Motor type Online-Name Number 6SM100K-3000 6SM100K3000 6SM100K-3000-BV 6SM100K30BV 6SM100L-3000 6SM100L3000 6SM100L-3000-BV 6SM100L30BV 6SM100M-3000 6SM100M3000 6SM100M-3000-BV 6SM100M30BV 6SM100S-3000 6SM100S3000 6SM100S-3000-BV 6SM100S30BV 6SM107K-3000 6SM107K3000 6SM107S-3000 6SM107S3000 6SM109L-3000 6SM109L30 6SM109LB-2000 6SM109LB20 6SM109M-3000 6SM109M30 6SM27LL-4500 6SM27LL4500 6SM27M-4000 6SM27M4000...
  • Page 99 BECKHOFF Motor Numbers 07/03 Number Motor series (in preparation) online name DBL/DBK R=Resolver E=Encoder DBK4N00100 DBK4N00100 00259R/E DBK4N00160 DBK4N00160 00441R/E 00374R/E DBK5N00210 DBK5N00210 00647R/E DBL1X00010 DBL1X00010 DBL1X00020 DBL1X00020 00670R/E DBL2H00040 DBL2H00040 00288R/E DBL2H00060 DBL2H00060 00558R/E DBL2H00080 DBL2H00080 00293R/E DBL2M00080 DBL2M00080...

  • Page 100: Index

    Index BECKHOFF 07/03 Index ? ......24 ICONT ....52 ID.
  • Page 101 BECKHOFF Index 07/03 TEMPE....81 fault-frequency ....80 TEMPH.
  • Page 102 Index BECKHOFF 07/03 Mains phase missing ....29 ramp ..... . 72 mains voltage max.
  • Page 103 BECKHOFF Index 07/03 Serial number ....29 T.Setpoint ....40 service .

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