Nord Drivesystems SK 200E Series Supplementary Manual
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Nord Drivesystems SK 200E Series Supplementary Manual

Posicon positioning control
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BU 0210 – en
POSICON positioning control
Supplementary manual for series SK 200E and SK 250E-FDS

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  • Page 1 BU 0210 – en POSICON positioning control Supplementary manual for series SK 200E and SK 250E-FDS...
  • Page 2 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS BU 0210 en-3117...
  • Page 3 Table of Contents BU 0210 en-3117...

  • Page 4: Table Of Contents

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 3 /Allgemei n/Steuer module/Inhalts verzeic hnis @ 0\mod_1317978518480_388.doc x @ 4078 @ @ 1 Table of Contents === Ende der Liste für T extmar ke Inhalts verz eichnis === Introduction ..............................
  • Page 5 Table of Contents 4.9.3 Setting the speed and position controls ................47 4.9.4 Taking a speed ratio between master and slave into account ..........48 4.9.5 Monitoring functions ......................49 4.9.5.1 Achievable precision of position monitoring 4.9.5.2 Master switch-off on slave error or position slip error 4.9.5.3 Slip error monitoring on the slave 4.9.6 Slave reference point run - Axis in a synchronous application ...........
  • Page 6 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 5 /Allgemei n/Steuer module/Abbil dungs verz eic hnis @ 0\mod_1317978515699_388.doc x @ 3917 @ @ 1 List of illustrations === Ende der Liste für T extmar ke Abbildungs verzeic hnis === Figure 1: Rotary platform positioning with a single-turn application ...............
  • Page 7 List of tables Pos : 7 /Allgemei n/Steuer module/T abell enverz eichnis @ 0\mod_1317978519199_388.doc x @ 4124 @ @ 1 List of tables === Ende der Liste für T extmar ke Tabellenverz eic hnis === Table 1: CANopen encoders approved by NORD ....................22 Table 2: CANopen encoder cycle time dependent on the baud rate ..............

  • Page 8: Introduction

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS 1 Introduction Pos : 11 /Anl eitungen/Elektroni k/Bus s ysteme/1. Einführung/!Abs chnitt Allgemeines @ 8\mod_1441352725095_388.doc x @ 2235719 @ 2 @ 1 1.1 General Pos : 12 /Anl eitungen/Elektroni k/POSIC ON/1. Einl eitung/D okumentation [POSICON ] @ 14\mod_1479987697147_388.doc x @ 2308098 @ 3 @ 1 1.1.1 Documentation BU 0210 Name:...

  • Page 9: Publisher

    1 Introduction Pos : 17 /Anl eitungen/Elektroni k/Bus s ysteme/1. Einführung/Her ausgeber @ 8\mod_1441371998467_388.doc x @ 2235820 @ 3 @ 1 1.1.4 Publisher Getriebebau NORD GmbH & Co. KG Getriebebau-Nord-Straße 1 22941 Bargteheide, Germany http://www.nord.com/ Tel.: +49 (0) 45 32 / 289-0 Fax: +49 (0) 45 32 / 289-2253 Pos : 18 /Anl eitungen/Elektroni k/POSIC ON/1.

  • Page 10: Presentation Conventions

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 22 /Anl eitungen/Elektroni k/Bus s ysteme/1. Einführung/!Abs chnitt Dars tell ungs konventi onen @ 8\mod_1441373607811_388.doc x @ 2235851 @ 2 @ 1 1.3 Presentation conventions Pos : 23 /Anl eitungen/Elektroni k/Bus s ysteme/1.

  • Page 11: Safety

    2 Safety 2 Safety Pos : 26 /Anl eitungen/Elektroni k/POSIC ON/2. Sicherheit/Besti mmungsgemäß e Ver wendung [POSIC ON] @ 14\mod_1479994530918_388.doc x @ 2308242 @ 2 @ 1 2.1 Intended use The POSICON technology function from Getriebebau NORD GmbH & Co. KG is a software-assisted functional extension for frequency inverters manufactured by NORD.

  • Page 12: Safety Information

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 30 /Anl eitungen/Elektroni k/POSIC ON/2. Sicherheit/Sic her hei tshi nweise [POSICON , PLC] @ 14\mod_1479994531814_388.doc x @ 2308316 @ 2 @ 1 2.3 Safety information Only use the technology function POSICON positioning control and the frequency inverter from Getriebebau NORD GmbH &...

  • Page 13: Electrical Connection

    3 Electrical Connection 3 Electrical Connection Pos : 34 /Anl eitungen/Elektroni k/FU und Starter/1. Allgemei nes/Sicherheits- und Installati onshi nweis e/Sic her heitshi nweis e/versc hiedene/WARNUNG - El ektrisc her Sc hlag ( nicht unter Spannung ar beiten) @ 14\mod_1480331381423_388.doc x @ 2308485 @ @ 1 WARNING Electric shock Touching electrically conducting components may cause an electric shock and severe or possibly fatal injury.

  • Page 14: Control Terminal Details

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 42 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/El ektrisc her Ansc hluss /SK 1xxE, SK 2xxE, SK xxxE-FD S/Steuerteil/Details Steuer kl emmen [SK 2xxE] @ 1\mod_1342598807861_388.doc x @ 33651 @ 355 @ 1 3.1.1 Control terminal details Labelling, function Function: Safe stop...
  • Page 15 3 Electrical Connection Size 4 SK 200E SK 210E SK 220E SK 230E Device type (SH) (ASI) (SH+ASI) Labelling 24 V (output) 24 V (output) -/84 ASI+ -/85 ASI- 10 V REF AIN1+ AIN2+ AGND 24 V (input) 24 V (input) DIN1 DIN2 DIN3...
  • Page 16 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 44 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/El ektrisc her Ansc hluss /SK 1xxE, SK 2xxE, SK xxxE-FD S/Steuerteil/Details Steuer ans chl üss e (Sammlung)/Details Steuer ans chl üss e_00_T abell enkopf_[SK 1xxE, SK 2xxE] @ 7\mod_1435561812889_388.doc x @ 228818 @ @ 1 Meaning, Functions Description / Technical data Terminal...

  • Page 17: Connection To Sk 250E-Fds

    3 Electrical Connection Pos : 50 /Anl eitungen/Elektroni k/POSIC ON/3. Elektrischer Ans chl uss/Anschl uss am Gerät SK 250E ... SK 280E [SK 2xxE] @ 14\mod_1480338011049_388.doc x @ 2308626 @ 2 @ 1 3.2 Connection to SK 250E-FDS … SK 280E-FDS frequency inverters Pos : 51 /Anl eitungen/Elektroni k/FU und Starter/2.
  • Page 18 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 54 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/M ontage/FD S [SK xxxE-FDS]/Aus stattungs varianten_04_Konfigur ati on der Opti onspl ätz e der Ansteuer ungs ebene_01 [SK 2xxE-FDS] @ 12\mod_1467125723781_388.doc x @ 334298 @ 5 @ 1 Configuration of option slots on the control level The option slots M1 to M8 are designed for M12 plug connectors.
  • Page 19 3 Electrical Connection The control elements for the FI are located at the option slots H1 and H2. The various types of control elements can be selected. Depending on the combination which is selected, these have an effect on the function of the individual digital inputs. These functions are taken into account in the factory settings of the relevant parameters for the specific frequency inverter.
  • Page 20 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 56 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/M ontage/FD S [SK xxxE-FDS]/Stec kerbelegung M 12- Stec kverbi nder_01 [SK xxxE-FDS] @ 11\mod_1465468996785_388.doc x @ 328455 @ 5 @ 1 Plug connections for M12 plug connectors Depending on the function, 5-pin M12 surface mounted plug connectors with coloured sockets or plug inserts are installed.

  • Page 21: Control Connection Details

    3 Electrical Connection Pos : 59 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/El ektrisc her Ansc hluss /SK 1xxE, SK 2xxE, SK xxxE-FD S/Steuerteil/Details Steuer ans chl üss e [SK xxxE-FDS] @ 11\mod_1466081350464_388.doc x @ 329741 @ 3 @ 1 3.2.2 Control connection details Pos : 60 /Anl eitungen/Elektroni k/FU und Starter/2.

  • Page 22: Encoders

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 66 /Anl eitungen/Elektroni k/POSIC ON/3. Elektrischer Ans chl uss/Dr ehg eber/Drehgeber @ 14\mod_1480434612295_388.doc x @ 2309189 @ 2 @ 1 3.3 Encoders Pos : 67 /Anl eitungen/Elektroni k/POSIC ON/3. Elektrischer Ans chl uss/Dr ehg eber/C ANopen Absol utwertgeber_01 @ 14\mod_1480343643271_388.doc x @ 2308842 @ 3 @ 1 3.3.1 CANopen absolute encoders Connection of an absolute encoder is made via the internal system bus interface.

  • Page 23: Colour And Contact Assignments For The Incremental Encoder (Htl)

    3 Electrical Connection Pos : 72 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/El ektrisc her Ansc hluss /Drehgeber/F arb- und Kontaktbel egung für Inkremental drehgeber (HTL) [SK 2xxE] @ 1\mod_1342601381353_388.doc x @ 33747 @ 3 @ 1 3.3.2 Colour and contact assignments for the incremental encoder (HTL) Wire colours, Function...

  • Page 24: Colour And Contact Assignments For The Incremental Encoder (Htl)

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 75 /Anl eitungen/Elektroni k/FU und Starter/2. M ontage und Ins tall ati on/El ektrisc her Ansc hluss /Drehgeber/F arb- und Kontaktbel egung für Inkremental drehgeber (HTL) [SK 2xxE-FD S] @ 12\mod_1466419046760_388.doc x @ 330439 @ 3 @ 1 3.3.3 Colour and contact assignments for the incremental encoder (HTL) Wire colours, Function...

  • Page 25: Function Description

    4 Function description 4 Function description Pos : 119 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Einführung @ 14\mod_1478004121846_388.doc x @ 2299409 @ 2 @ 1 4.1 Introduction A wide range of positioning and position control tasks can be performed with the positioning function. In order to facilitate the decision as to which configuration provides the optimum solution for the task, the various processes for the setting of setpoints and recording of the actual values are described in the following sections.

  • Page 26: Approach Reference Point

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS The number of revolutions of the encoder are converted into the number of motor revolutions in the frequency inverter with the aid of the parameters P607 "Speed ratio" and P608 "Reduction ratio. * Ü...

  • Page 27: Residual Position

    4 Function description Information Loss of position If an incremental encoder is used for position detection, we recommend that the setting "+ Save position" (function 2 or 4) is used in parameter P604. Otherwise, the actual values (position, reference point) will be lost when the control voltage is switched off.

  • Page 28: Position Detection With Absolute Encoders

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 125 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Lageer fas sung mit Absol utwertgeber @ 14\mod_1478084693396_388.doc x @ 2300325 @ 3 @ 1 4.2.2 Position detection with absolute encoders The absolute encoder transfers the actual position value to the frequency inverter in digital form.

  • Page 29: Table 2: Canopen Encoder Cycle Time Dependent On The Baud Rate

    4 Function description The CAN baud rate set in the encoder must be identical to the parameter P514 "CAN Baud Rate" and all other participants in the bus system. If parameterisation of the encoder is carried out via the frequency inverter, the transmission cycle for the absolute encoder position is simultaneously set via the baud rate.

  • Page 30: Referencing An Absolute Encoder

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 131 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/R eferenzi eren eines Absol utwertgebers @ 14\mod_1478093578008_388.doc x @ 2300468 @ 4 @ 1 4.2.2.2 Referencing an absolute encoder Similarly to an incremental encoder, absolute encoders can be set to the value "0"...

  • Page 31: Encoder Monitoring

    4 Function description Pos : 135 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Geberüber wac hung @ 14\mod_1478099832003_388.doc x @ 2300645 @ 3 @ 1 4.2.3 Encoder monitoring If positioning control is activated (P600, setting ≠ 0) the function of a connected absolute encoder is monitored.

  • Page 32: Linear Or Optimised Path Positioning Method

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 137 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Positionier ungs methode Linear oder Wegopti mal @ 14\mod_1478156842700_388.doc x @ 2300689 @ 3 @ 1 4.2.4 Linear or optimised path positioning method The encoder used for positioning is activated via parameter P604 "Encoder type".

  • Page 33: Optimised Path Positioning

    4 Function description Pos : 142 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Wegopti mal e Positionier ung @ 14\mod_1478159519602_388.doc x @ 2300943 @ 4 @ 1 4.2.4.1 Optimised path positioning For rotary platform applications, the individual positions are distributed around the circumference. Use of linear positioning is not recommended for this, as the frequency encoder would not always select the shortest path the to the selected position (e.g.

  • Page 34: Figure 1: Rotary Platform Positioning With A Single-Turn Application

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 144 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Wegopti mal e Positionier ung _Ergänz ung _01_Beispi el für eine Singletur nanwendung @ 14\mod_1478169580383_388.doc x @ 2301069 @ 5 @ 1 Examples for a "single-turn application"...

  • Page 35: Figure 2: Rotary Platform Positioning With A Multiturn Application

    4 Function description Pos : 146 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Wegopti mal e Positionier ung _Ergänz ung _02_Beispi el für eine M ultiturnanwendung @ 14\mod_1478171703235_388.doc x @ 2301105 @ 5 @ 1 Examples for a "multiturn application" The calculation of the overflow point of a multiturn application is made according to the following equation: The following example is for a speed ratio or reduction ratio of "1".

  • Page 36: Setpoint Specification

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 148 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Soll wertvorgabe @ 14\mod_1478249393869_388.doc x @ 2301369 @ 2 @ 1 4.3 Setpoint specification Setpoints can be specified as follows: •...

  • Page 37: Relative Set Position (Position Increment Array) Via Digital Inputs / Bus Io Bits

    4 Function description Pos : 151 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/R elati ve Sollpositi on (Positionsi nkrementarr ay) über Digital eingänge / BUS IO In Bits @ 14\mod_1478255969156_388.doc x @ 2301441 @ 3 @ 1 4.3.2 Relative set position (position increment array) via digital inputs / BUS IO Bits Positioning with relative set positions is primarily used if there are no fixed positions, but rather relative positions which are approached by the drive unit ("move by x increments").

  • Page 38: Bus Setpoints

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 153 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Bussoll werte @ 14\mod_1478505496031_388.doc x @ 2301480 @ 3 @ 1 4.3.3 Bus setpoints Transfer of the setpoint can be carried out via various field bus systems. The position can be specified in terms of rotations or increments.

  • Page 39: Teach - In" - Function For Saving Positions

    4 Function description Pos : 157 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/„T each – In“ – Funkti on z ur Speic herung von Positi onen @ 14\mod_1478509532831_388.doc x @ 2301624 @ 2 @ 1 4.4 "Teach - In“ – Function for saving positions As an alternative to the direct input, parameterisation of the absolute setpoint position (position array) can also be carried out via the function "Teach-In".

  • Page 40: Speed Ratio Of Setpoint And Actual Values

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 159 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Ü bersetzu ngs ver hältnis der Soll- und Ist werte @ 14\mod_1478512826655_388.doc x @ 2301660 @ 2 @ 1 4.5 Speed ratio of setpoint and actual values Position values are based on the number of rotations of the motor.

  • Page 41: Position Control

    4 Function description Pos : 161 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Lageregel ung @ 14\mod_1478513400378_388.doc x @ 2301696 @ 2 @ 1 4.6 Position control Pos : 162 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Lageregel ung - Varianten der Posi tionier ung (P600) @ 14\mod_1478514186449_388.doc x @ 2301732 @ 3 @ 1 4.6.1 Position control - Position control variants (P600) Four different positioning variants are possible.
  • Page 42 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS • S ramp with setpoint frequency (P600, setting 4) The speed of constant travel is specified via the setpoint frequency. However, in positioning mode, the frequency ramps are operated as S ramps (see previous paragraph). The setpoint frequency can be changed via the analogue input or via a bus setpoint value.

  • Page 43: Position Control - Method Of Operation

    4 Function description Pos : 164 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Lagerergel ung - Funkti ons weis e @ 14\mod_1478515892877_388.doc x @ 2301893 @ 2 @ 1 4.7 Position control – Method of operation The position control functions as a P- feedback loop. The set position and the actual position are continuously compared with each other.

  • Page 44: Remaining Path Positioning

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 166 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/R estwegpositi oni erung @ 14\mod_1478852276300_388.doc x @ 2303121 @ 2 @ 1 4.8 Remaining path positioning Remaining path positioning is a variant of position control.

  • Page 45: Synchronous Control

    4 Function description Pos : 168 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/!Gleic hlaufreg elung @ 14\mod_1478592362656_388.doc x @ 2302189 @ 2 @ 1 4.9 Synchronous control Positioning or synchronised running depends on the fact that all of the relevant devices communicate via a common bus (system bus).

  • Page 46: Communication Settings

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 170 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Kommuni kations einstell ung en_01 @ 14\mod_1478621182729_388.doc x @ 2302566 @ 3 @ 1 4.9.1 Communication settings Establishment of communication between the master and the slave via system bus requires the following settings:...

  • Page 47: Ramp Time And Maximum Frequency Settings On The Slave

    4 Function description Pos : 174 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Ei nstellung Rampenz eit und Maxi malfreq wuenz am Slave @ 14\mod_1478691025699_388.doc x @ 2302645 @ 3 @ 1 4.9.2 Ramp time and maximum frequency settings on the slave In order for the slave to be able to perform the control, the ramp times should be selected somewhat smaller than for the master and the maximum frequency should be selected somewhat higher.

  • Page 48: Taking A Speed Ratio Between Master And Slave Into Account

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 177 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Berüc ksichtigung ei ner Ü bersetzung z wisc hen M aster und Slave @ 14\mod_1478697845744_388.doc x @ 2302717 @ 355 @ 1 4.9.4 Taking a speed ratio between master and slave into account Setting a fixed speed ratio A speed ratio between the master and the slave can be taken into account via the parameters P607...

  • Page 49: Monitoring Functions

    4 Function description Pos : 179 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Über wachungs funkti onen_01 @ 14\mod_1478702983333_388.doc x @ 2302755 @ 3 @ 1 4.9.5 Monitoring functions Pos : 180 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Über wachungs funkti onen_02_Erreic hbare Genauigkeiten / Lageüber wac hung @ 14\mod_1478703014566_388.doc x @ 2302791 @ 4 @ 1 4.9.5.1 Achievable precision of position monitoring The deviation between the master and the slave can be monitored by the slave with the status...

  • Page 50: Slip Error Monitoring On The Slave

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Slave frequency inverter Parameter Value Meaning P481 [-01] Fault P481 [-02] Position reached P502 [-01] Bus IO OUT Bits 0-7 P502 [-02] Actual position in incremental High word P502 [-03] Actual position in incremental Low word Optional parameterisation.

  • Page 51: Slave Reference Point Run - Axis In A Synchronous Application

    4 Function description Pos : 184 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Refer enz punktfahr t der Slave - Ac hs e in ei ner Gl eichl aufanwendung @ 14\mod_1478767349030_388.doc x @ 2302905 @ 3 @ 1 4.9.6 Slave reference point run - Axis in a synchronous application Position detection with absolute encoders typically does not require a reference point run.

  • Page 52: Flying Saw (Extended Synchronous Operation Function)

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 187 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Fliegende Säge_01 ( erweiterte Gl eic hlauffunkti on) @ 14\mod_1478782034773_388.doc x @ 2302977 @ 3 @ 1 4.9.8 Flying Saw (extended synchronous operation function) A special case of synchronous control is the "Flying Saw"...

  • Page 53: Figure 4: Example Of The Flaying Saw Principle

    4 Function description INI – Position = 2 x P613[-63] Slave standby position (saw) Starting point of sawing process Slave drive Initiator: Initiator: "Disable synchronous operation" "Start Flying Saw" P613[-63] Master drive "Start Flying Saw" input "Disable synchronous operation" input "Synchronise flying saw"...

  • Page 54: Determination Of Acceleration Path And Initiator Position

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 190 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Fliegende Säge_03_Besti mmung des Besc hl eunigungsweges und der Ini tiatorpositi on @ 14\mod_1478848625888_388.doc x @ 2303049 @ 4 @ 1 4.9.8.1 Determination of acceleration path and initiator position The distance of the initiator from the point at which the sawing process is to begin corresponds to...

  • Page 55: Diagonal Saw

    4 Function description Pos : 192 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Gleic hlauf/Fliegende Säge_04_Diagonalsäg e @ 14\mod_1478850117652_388.doc x @ 2303085 @ 4 @ 1 4.9.8.2 Diagonal saw The diagonal saw is a special case of the "flying saw". Here, no differentiation is made between the slave and the processing axis.

  • Page 56: Output Messages

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 194 /Anleitungen/El ektr oni k/POSICON /4. F unktions bes chr eibung/Ausgangsmeldungen @ 14\mod_1478522958616_388.doc x @ 2301929 @ 2 @ 1 4.10 Output messages The frequency inverter provides various status messages for the positioning function. These can be output physically (e.g.

  • Page 57: Commissioning

    5 Commissioning 5 Commissioning When commissioning POSICON applications, it is recommended that a specific sequence is adhered to. The individual steps are described in the following. Notes on special fault symptoms  Section 7 "Operating status messages". Pos : 197 /Anleitungen/El ektr oni k/POSICON /5. Inbetri ebnahme/Inbetriebnahme_Sc hritt 1 @ 14\mod_1478529765944_388.doc x @ 2302011 @ 5 @ 1 Step 1: commissioning the axis without control Danger of injury due to unforeseen performance of WARNING...
  • Page 58 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS If the detection of the actual position operates correctly, the position control can be optimised. In principle, with an increase of the P amplification the axis becomes "harder", i.e. the deviation from the set position becomes smaller than with smaller amplifications.

  • Page 59: Parameters

    6 Parameters 6 Parameters The following only lists the specific parameters and display and setting options for the POSICON technology function. For a detailed overview of all available parameters, please refer to the frequency inverter manual (BU0200 / BU0250). Pos : 203 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Allgemei n/Par ameter bes chr eibung _01 [SK 1xxE, SK 2xxE, SK 2xxE-FDS, POSICON , Safety] @ 9\mod_1447147899292_388.doc x @ 261908 @ 2 @ 1 6.1 Description of parameters Pos : 204 /Anleitungen/El ektr oni k/FU und Starter/5.

  • Page 60: Operating Displays

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 207 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/P000- P099/!Betriebsanz eigen P0xx [SK xxxE] @ 9\mod_1447143432046_388.doc x @ 261940 @ 3 @ 1 6.1.1 Operating displays Pos : 208 /Anleitungen/El ektr oni k/FU und Starter/5.

  • Page 61: Control Terminals

    6 Parameters Pos : 217 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/P400- P499/!Steuer klemmen P4xx [SK xxxE] @ 9\mod_1447148337256_388.doc x @ 262037 @ 3 @ 1 6.1.3 Control terminals Pos : 220 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P400 bis P499 (POSICON/safety)/P400 - F kt. Analogei ngang [SK 2xxE, SK 54xE] @ 14\mod_1479118931305_388.doc x @ 2303677 @ @ 1 P400 Function Analog input Arrays...
  • Page 62 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 231 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P400 bis P499 (POSICON/safety)/P420 - Digitalei ngänge [SK 2xxE, SK 54xE, SK 2xxE-FD S] @ 14\mod_1479284298432_388.doc x @ 2304464 @ @ 1 P420 Digital inputs Arrays...
  • Page 63 6 Parameters P434 Digital output function Arrays [-01] … [-02] Scope of Application Description Assignment of functions for the digital output Note The parameters which are assigned to the output for standardisation (P435) or hysteresis P436) do not have any effect for the use of functions which are relevant to POSICON.
  • Page 64 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 250 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P400 bis P499 (POSICON/safety)/P480 - Funkt. Bus IO In Bi ts @ 14\mod_1479301643733_388.doc x @ 2305129 @ @ 1 P480 Function BusIO In Bits Arrays...

  • Page 65: Additional Parameters

    6 Parameters P481 Function BusIO Out Bits Arrays [-01] … [-10] Description Assignment of functions for Bus IO Out Bits. The Bus IO In Bits are treated as digital outputs by the frequency inverter. Setting values Value Meaning Pos : 253 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P400 bis P499 (POSICON/safety)/P434 / P481 - F unktionen Digitalausgang_Einstellwerte @ 14\mod_1479293302685_388.doc x @ 2304814 @ @ 1 The output is not used.
  • Page 66 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS P503 Leading funct. output Description Specification on which bus system the master sends its control word and the leading values (P502) for the slaves which are connected to it Note Relevant for master/slave applications on the master.
  • Page 67 6 Parameters P546 Function Bus setpoint Arrays [-01] … [-03] Scope of Application Description In this parameter, during bus actuation a function is allocated to the setpoint provided. Setting values Value Meaning Pos : 272 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P500 bis P599 (POSICON/safety)/P546 - F kt. Bus- Soll wert_Eins tell werte_01 @ 14\mod_1479723911445_388.doc x @ 2305749 @ @ 1 The bus setpoint is not used.

  • Page 68: Positioning

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 278 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P600 bis P699 (POSICON)/!Positi oni erung P6xx [SK xxxE] @ 14\mod_1479914096331_388.doc x @ 2307904 @ 3 @ 1 6.1.5 Positioning Pos : 279 /Anleitungen/El ektr oni k/FU und Starter/5.
  • Page 69 6 Parameters P605 Absolute encoder Setting range 0 ... 16 Bit Arrays [-01] = Multi-turn resolution - number of possible encoder rotations [-02] = Single-turn resolution - resolution per encoder rotation Factory setting { all 10 } Description Resolution setting of the absolute encoder. Note If a single-turn encoder is used, the value "0"...
  • Page 70 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS P610 Setpoint Mode Setting range 0 … 10 Factory setting { 0 } Description Specification of setpoint position (type and source) Note For detailed information see  Section 4.3 "Setpoint specification", 4.9 "Synchronous control".
  • Page 71 6 Parameters P613 Position Setting range - 50000,000 … 50000,000 rev. Arrays [-01] = Position 1, position array element 1 or position increment array element 1 [-02] = Position 2, position array element 2 or position increment array element 2 …...
  • Page 72 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 307 /Anleitungen/El ektr oni k/FU und Starter/5. Par ameter/Par ameter auflistung (P000 ...)/POSICON/Safety/P600 bis P699 (POSICON)/P616 - Mi nimale Positi on_01 @ 14\mod_1479889737496_388.doc x @ 2307299 @ @ 1 P616 Minimum Position Setting range...
  • Page 73 6 Parameters P631 Slip error. Abs./inc. Setting range 0.00...99.99 rev Factory setting { 0 } Description Permissible deviation of the measured positions between the absolute encoder and the incremental encoder. The error message E14.6 becomes active if the permissible deviation is exceeded. Setting values 0 = Monitoring is disabled Pos : 320 /Anleitungen/El ektr oni k/FU und Starter/5.

  • Page 74: Operating Status Messages

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS 7 Operating status messages The majority of frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the inverter reacts with a warning or an error message.
  • Page 75 7 Operating status messages Pos : 330 /Anleitungen/El ektr oni k/POSICON /7. Stör ungs meldung en/Fehl er E014 [POSICON] @ 14\mod_1478867452286_388.doc x @ 2303239 @ @ 1 14.2 Reference point Error E014 The reference point run was cancelled without a reference point being found.

  • Page 76: Faq Operational Problems

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 338 /Anleitungen/El ektr oni k/POSICON /7. Stör ungs meldung en/FAQ Betriebsstörungen @ 14\mod_1478872151653_388.doc x @ 2303450 @ 2 @ 1 7.2 FAQ operational problems Typical operating errors and sources of error in connection with positioning and speed control are listed below.

  • Page 77: Position Control With Incremental Encoders

    7 Operating status messages Pos : 342 /Anleitungen/El ektr oni k/POSICON /7. Stör ungs meldung en/FAQ Betriebsstörungen_03_Lagereg elung mit Inkr ementalgeber @ 14\mod_1479111638334_388.doc x @ 2303559 @ 3 @ 1 7.2.3 Position control with incremental encoders Symptom Cause • Position drifts away •...

  • Page 78: Technical Data

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS 8 Technical Data The POSICON function essentially has the following technical data. Encoder type Incremental Absolute CANopen Number of positions Absolute Relative Measurement detection 1/1000 position resolution Functionalities •...

  • Page 79: Appendix

    9 Appendix 9 Appendix Pos : 350 /Anleitungen/El ektr oni k/Buss ysteme/Anhang/Ser vice- und Inbetriebnahmehi nweis e @ 8\mod_1473684361605_388.doc x @ 2260259 @ 2 @ 1 9.1 Service and commissioning information In case of problems, e.g. during commissioning, please contact our Service department: ...

  • Page 80: Keyword Index

    POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 354 /Anleitungen/El ektr oni k/POSICON /9. Anhang/Sac hwor tregister @ 14\mod_1479983523863_388.doc x @ 2307990 @ 2 @ 1 9.3 Keyword Index • Absolute encoder, single-turn Rotary encoder, which outputs coded information for each measurement step within a rotation.

  • Page 81: Abbreviations

    9 Appendix Pos : 356 /Anleitungen/El ektr oni k/POSICON /9. Anhang/Abkürzungen @ 14\mod_1479985185335_388.doc x @ 2308026 @ 2 @ 1 9.4 Abbreviations • Abs. Absolute • Analogue input • AOUT Analogue output • Digital input • DOUT Digital output • Frequency inverter •...
  • Page 82 POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS Pos : 359 /Allgemein/Steuer module/Stichwortverzeic hnis @ 0\mod_1317978518730_388.doc x @ 4101 @ @ 1 Key word index === Ende der Liste für T extmar ke Stichwortverzeic hnis === resolution (P301) ........
  • Page 83 Key word index Target window ..........31 Safety information ......... 12 Selection display (P001) ....... 60 Servo mode (P300) ........60 Offset position (P609) ........69 Set position Output messages .......... 56 Absolute ............ 36 Relative ............. 37 Parameters ............ 59 Setpoint Position (P613) ..........

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