YASKAWA FM 054 Manual
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YASKAWA FM 054 Manual

Vipa system slio motion module - 2xdc
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VIPA System SLIO
FM | 054-1CB00 | Manual
HB300 | FM | 054-1CB00 | en | 18-06
Motion Module - 2xDC - FM 054
www.vipa.com/en/service-support/manuals

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  • Page 1 VIPA System SLIO FM | 054-1CB00 | Manual HB300 | FM | 054-1CB00 | en | 18-06 Motion Module - 2xDC - FM 054 www.vipa.com/en/service-support/manuals...
  • Page 2 VIPA GmbH Ohmstr. 4 91074 Herzogenaurach Telephone: 09132-744-0 Fax: 09132-744-1864 Email: info@vipa.com Internet: www.vipa.com 054-1CB00_000_FM054 2xDC,4,EN - © 2018...

  • Page 3: Table Of Contents

    VIPA System SLIO Table of contents Table of contents General........................5 1.1 Copyright © VIPA GmbH ................. 5 1.2 About this manual..................... 6 1.3 Safety information..................... 7 Basics and mounting..................... 8 2.1 Safety information for users................8 2.2 System conception................... 9 2.2.1 Overview......................
  • Page 4 VIPA System SLIO Table of contents 4.9.1 Objects......................80 4.9.2 Usage as input for encoder................. 80 4.10 Brake control....................83 4.11 In-/Output area....................83 4.12 Acyclic channel..................... 86 4.13 Parameter data..................... 87 4.13.1 Parameter....................87 4.14 Scaling and units..................89 4.15 Monitoring and error reaction...............

  • Page 5: General

    VIPA System SLIO General Copyright © VIPA GmbH General 1.1 Copyright © VIPA GmbH All Rights Reserved This document contains proprietary information of VIPA and is not to be disclosed or used except in accordance with applicable agreements. This material is protected by the copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to VIPA), except in accord- ance with applicable agreements, contracts or licensing, without the express written con- sent of VIPA and the business management owner of the material.

  • Page 6: About This Manual

    Tel.: +49 9132 744-1150 (Hotline) EMail: support@vipa.de 1.2 About this manual Objective and contents This manual describes the FM 054-1CB00 of the System SLIO from VIPA. It contains a description of the structure, project engineering and deployment. Product Order number...

  • Page 7: Safety Information

    VIPA System SLIO General Safety information Supplementary information and useful tips. 1.3 Safety information Applications conforming The system is constructed and produced for: with specifications communication and process control general control and automation tasks industrial applications operation within the environmental conditions specified in the technical data installation into a cubicle DANGER! This device is not certified for applications in...

  • Page 8: Basics And Mounting

    VIPA System SLIO Basics and mounting Safety information for users Basics and mounting 2.1 Safety information for users Handling of electrostatic VIPA modules make use of highly integrated components in MOS-Technology. These sensitive modules components are extremely sensitive to over-voltages that can occur during electrostatic discharges.

  • Page 9: System Conception

    VIPA System SLIO Basics and mounting System conception > Overview 2.2 System conception 2.2.1 Overview System SLIO is a modular automation system for assembly on a 35mm mounting rail. By means of the peripheral modules with 2, 4 or 8 channels this system may properly be adapted matching to your automation tasks.

  • Page 10: Components

    VIPA System SLIO Basics and mounting System conception > Components 2.2.2 Components CPU (head module) Bus coupler (head module) Line extension Periphery modules Accessories CAUTION! Only modules of VIPA may be combined. A mixed operation with third- party modules is not allowed! CPU 01xC With this CPU 01xC, the CPU electronic, input/output components and power supply are integrated to one casing.
  • Page 11 VIPA System SLIO Basics and mounting System conception > Components CAUTION! Bus interface and power module may not be separated! Here you may only exchange the electronic module! Line extension In the System SLIO there is the possibility to place up to 64 modules in on line. By means of the line extension you can divide this line into several lines.

  • Page 12: Accessories

    VIPA System SLIO Basics and mounting System conception > Accessories Electronic module The functionality of a SLIO periphery module is defined by the electronic module, which is mounted to the terminal module by a sliding mechanism. With an error the defective module may be exchanged for a functional module with standing installation.

  • Page 13: Dimensions

    VIPA System SLIO Basics and mounting Dimensions 2.3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x HB300 | FM | 054-1CB00 | en | 18-06...
  • Page 14 VIPA System SLIO Basics and mounting Dimensions Dimensions bus coupler and line extension slave Dimensions line extension master HB300 | FM | 054-1CB00 | en | 18-06...
  • Page 15 VIPA System SLIO Basics and mounting Dimensions Dimension periphery module Dimensions electronic module Dimensions in mm HB300 | FM | 054-1CB00 | en | 18-06...

  • Page 16: Mounting Periphery Modules

    VIPA System SLIO Basics and mounting Mounting periphery modules 2.4 Mounting periphery modules Requirements for UL compliance use – Use for power supply exclusively SELV/PELV power supplies. – The System SLIO must be installed and operated in a housing according to IEC 61010-1 9.3.2 c). There is a locking lever at the top side of the module.
  • Page 17 VIPA System SLIO Basics and mounting Mounting periphery modules Coding There is the possibility to fix the assignment of electronic and terminal module. Here coding pins (order number 000-0AC00) from VIPA can be used. The coding pin consists of a coding jack and a coding plug. By combining electronic and terminal module with coding pin, the coding jack remains in the electronic module and the coding plug in the terminal module.

  • Page 18: Hb300 | Fm | 054-1Cb00 | En

    VIPA System SLIO Basics and mounting Mounting periphery modules Mounting periphery modules Mount the mounting rail! Please consider that a clearance from the middle of the mounting rail of at least 80mm above and 60mm below, respectively 80mm by deployment of shield bus carriers, exist. Mount your head module such as CPU or field bus coupler.

  • Page 19: Wiring Periphery Modules

    VIPA System SLIO Basics and mounting Wiring periphery modules After mounting the whole system, to protect the backplane bus connectors at the last module you have to mount the bus cover, now. If the last module is a clamp module, for adaptation the upper part of the bus cover is to be removed. 2.5 Wiring periphery modules Terminal module terminals CAUTION!
  • Page 20 VIPA System SLIO Basics and mounting Wiring periphery modules Insert a suited screwdriver at an angel into the square opening as shown. Press and hold the screwdriver in the opposite direction to open the contact spring. Insert the stripped end of wire into the round opening. You can use wires with a cross section of 0.08mm up to 1.5mm By removing the screwdriver, the wire is securely fixed via the spring contact to the...

  • Page 21: Wiring Power Modules

    VIPA System SLIO Basics and mounting Wiring power modules 2.6 Wiring power modules Terminal module terminals Power modules are either integrated to the head module or may be installed between the periphery modules. With power modules, terminals with spring clamp technology are used for wiring.
  • Page 22 VIPA System SLIO Basics and mounting Wiring power modules Standard wiring (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area PM - Power module For wires with a core cross-section of 0.08mm up to 1.5mm Pos.
  • Page 23 VIPA System SLIO Basics and mounting Wiring power modules Fusing The power section supply is to be externally protected with a fuse, which corresponds to the maximum current. This means max. 10A is to be protected with a 10A fuse (fast) respectively by a line circuit breaker 10A characteristics Z! It is recommended to externally protect the electronic power supply for head modules and I/O area with a 2A fuse (fast) respectively by a line circuit breaker 2A characteris-...
  • Page 24 VIPA System SLIO Basics and mounting Wiring power modules Power module 007-1AB10 (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area (3) DC 24V for power section supply I/O area (max. 4A) (4) DC 24V for electronic power supply I/O area Shield attachment Shield bus carrier...
  • Page 25 VIPA System SLIO Basics and mounting Wiring power modules Attach the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus. HB300 | FM | 054-1CB00 | en | 18-06...

  • Page 26: Demounting Periphery Modules

    VIPA System SLIO Basics and mounting Demounting periphery modules 2.7 Demounting periphery modules Proceeding Exchange of an electronic Power-off your system. module For the exchange of a electronic module, the electronic module may be pulled for- ward after pressing the unlocking lever at the lower side of the module. For installation plug the new electronic module guided by the strips at the lower side until this engages to the terminal module.
  • Page 27 VIPA System SLIO Basics and mounting Demounting periphery modules Pull the module. For mounting turn the locking lever of the module to be mounted upwards. To mount the module put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.
  • Page 28 VIPA System SLIO Basics and mounting Demounting periphery modules Pull the module group forward. For mounting turn all the locking lever of the module group to be mounted upwards. To mount the module group put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.

  • Page 29: Trouble Shooting - Leds

    VIPA System SLIO Basics and mounting Trouble shooting - LEDs 2.8 Trouble shooting - LEDs General Each module has the LEDs RUN and MF on its front side. Errors or incorrect modules may be located by means of these LEDs. In the following illustrations flashing LEDs are marked by ☼.

  • Page 30: Installation Guidelines

    VIPA System SLIO Basics and mounting Installation guidelines 2.9 Installation guidelines General The installation guidelines contain information about the interference free deployment of a PLC system. There is the description of the ways, interference may occur in your PLC, how you can make sure the electromagnetic compatibility (EMC), and how you manage the isolation.
  • Page 31 VIPA System SLIO Basics and mounting Installation guidelines Proof the correct fixing of the lead isolation. – Data lines must be laid isolated. – Analog lines must be laid isolated. When transmitting signals with small ampli- tudes the one sided laying of the isolation may be favourable. –...

  • Page 32: General Data

    VIPA System SLIO Basics and mounting General data 2.10 General data Conformity and approval Conformity 2014/35/EU Low-voltage directive 2014/30/EU EMC directive Approval Refer to Technical data others RoHS 2011/65/EU Restriction of the use of certain hazardous substances in electrical and electronic equipment Protection of persons and device protection Type of protection IP20...
  • Page 33 VIPA System SLIO Basics and mounting General data Mounting conditions Mounting place In the control cabinet Mounting position Horizontal and vertical Standard Comment Emitted interference EN 61000-6-4 Class A (Industrial area) Noise immunity EN 61000-6-2 Industrial area zone B EN 61000-4-2 8kV at air discharge (degree of severity 3), 4kV at contact discharge (degree of severity 2) EN 61000-4-3...

  • Page 34: Hardware Description

    Hardware description 3.1 Properties 054-1CB00 The FM 054-1CB00 is a motion module for controlling 2 axis drive with DC motor. It can be used for point-to-point positioning and for complex drive profiles with the highest demands on precision, dynamics and speed.

  • Page 35: Structure

    VIPA System SLIO Hardware description Structure 3.2 Structure 054-1CB00 Locking lever terminal module Labeling strip Backplane bus LED status indication DC 24V power section supply Electronic module Terminal module Locking lever electronic module Terminal Connections CAUTION! Danger of injury from electrical shock and damage to the unit! Put the System SLIO in a safe, powered down state before starting instal- lation, disassembly or wiring of the System SLIO modules! You can use wires with a cross section of 0.08mm...
  • Page 36 VIPA System SLIO Hardware description Structure Pos. Function Type Description DC Motor 1 - connection 1 DC Motor 1 - connection 2 I/O1 Digital input/output 1 I/O3 Digital input/output 3 DC Motor 2 - connection 1 DC Motor 2 - connection 2 I/O2 Digital input/output 2 I/O4...
  • Page 37 VIPA System SLIO Hardware description Structure Status indication Description green Bus communication is OK Module status is OK Bus communication is OK Module status reports an error Bus communication is not possible Module status reports an error Error at bus power supply Ä...

  • Page 38: Block Diagram

    VIPA System SLIO Hardware description Block diagram Description Digital input/output 4 has "1" signal not relevant: X 3.3 Block diagram Structure Voltages - DC 24V electronic section supply Power supply for electronic and back plane bus communication - DC 24V power section supply Power supply for the I/O area Area: DC 20.4 ...

  • Page 39: Technical Data

    Ä ‘0x8780-02 - Temperature µ-Controller actual value’ which can be configured. on page 139 3.4 Technical data Order no. 054-1CB00 Type FM 054 Module ID 0982 6800 Current consumption/power loss Current consumption from backplane bus 50 mA Power loss Technical data digital inputs...
  • Page 40 VIPA System SLIO Hardware description Technical data Order no. 054-1CB00 Cable length, unshielded 600 m Rated load voltage DC 20.4...28.8 V Reverse polarity protection of rated load voltage Current consumption from load voltage L+ (without load) Output current at signal "1", rated value 500 mA Output delay of "0"...
  • Page 41 VIPA System SLIO Hardware description Technical data Order no. 054-1CB00 Technical data positioning module Number of channels Input voltage (rated value) DC 24 V Input voltage (permitted range) DC 20.4...28.8 V Motor current 1.5 A Power stage 2x Full bridge PWM Short-circuit protection ü...
  • Page 42 VIPA System SLIO Hardware description Technical data Order no. 054-1CB00 UL certification KC certification in preparation HB300 | FM | 054-1CB00 | en | 18-06...

  • Page 43: Deployment

    VIPA System SLIO Deployment Basics Deployment 4.1 Basics Addressing The System SLIO motion module provides its data, such as "Profiling target position" via an object dictionary. In this object dictionary the objects are organized and addressable a unique number consisting of Index and Subindex. The number is specified as follows: Index (hexadecimal) Subindex (decimal) Example: 0x8400-03...

  • Page 44: Dc Motor Module

    60 bytes! It is recommended to control it via the process image. 4.1.1 DC motor module The FM 054-1CB00 integrates a compact motion control solution for direct control of two DC motors in a very compact design. DC motors are easy to control because the speed is proportional to the voltage.

  • Page 45: Encoder - Signal Evaluation

    VIPA System SLIO Deployment Basics > Encoder - signal evaluation Motor A DC motor is an engine for high-precision positioning. This consists of a fixed stator with permanent magnets and a rotating armature. The current supply to the armature winding happens by means of carbon brushes via the commutator as sliding contact.
  • Page 46 VIPA System SLIO Deployment Basics > Encoder - signal evaluation In a rotational movement of the system, the sensors generate a specific number of pulses. These are a measure of the covered angel or way. With the electrical phase shift of the two signals the direction of rotation can be determined. –...

  • Page 47: Commissioning

    VIPA System SLIO Deployment Commissioning > Start-up of the System SLIO motion module 4.2 Commissioning 4.2.1 Installation Ä Chapter 2 ‘Basics and mounting’ Build your System SLIO and connect it. on page 8. Ä Chapter 4.3 ‘Connecting a motor’ on page 49 Connect your drive.
  • Page 48 VIPA System SLIO Deployment Commissioning > Start-up of the System SLIO motion module Steps of commissioning Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Pay special attention to the use of the current values in the output area! Ä...

  • Page 49: Connecting A Motor

    VIPA System SLIO Deployment Connecting a motor > Connection options 4.3 Connecting a motor 4.3.1 Connection options Connections CAUTION! Danger of injury from electrical shock and damage to the unit! Put the System SLIO in a safe, powered down state before starting instal- lation, disassembly or wiring of the System SLIO modules! You can use wires with a cross section of 0.08mm up to 1.5mm...

  • Page 50: Drive Profile

    4.4 Drive profile 4.4.1 Overview Drive profile CiA 402 The System SLIO motion module FM 054-1CB00 is based largely on the drive profile CiA 402. The drive profile CiA 402 defines state machine, operating modes and objects (parameters) of components for the drive technology.

  • Page 51: States

    VIPA System SLIO Deployment Drive profile > States 4.4.2 States State machine according to CiA 402 Control power on Drive is not supplied with electricity Control and main power on Drive is not supplied with electricity Control and main power on Drive is supplied with electricity xxx..

  • Page 52: Operating Modes

    VIPA System SLIO Deployment Drive profile > Operating modes Bit 3...0: x01x: Command "Quick stop" 7,8,9,12 Bit 3...0: xx0x: Command "Disable voltage" Bit 7: Edge 0-1: Command "Fault reset" Accessing the state At CiA 402 the total control is realized via the following two objects. Both objects are machine mapped in the cyclic data exchange: Ä...

  • Page 53: Homing

    "homing". When referencing you can determine velocity, acceleration, deceleration and type of homing. The FM 054-1CB00 supports the following homing types: Ä Chapter 4.5.1 ‘Homing by means of a homing switch’ on page 55 Ä Chapter 4.5.2 ‘Homing to current position’ on page 57 Ä...
  • Page 54 VIPA System SLIO Deployment Homing Start - Start parameter homing Please note: Ä Chapter 4.2 ‘Commissioning’ on page 47 – – Ä ‘Application data’ on page 53 Ä ‘0x8280-01 - Operating mode requested’ on page 118 6: Homing mode Ä ‘0x8280-02 - Operating mode actual’ on page 119 ) Ä...

  • Page 55: Homing By Means Of A Homing Switch

    VIPA System SLIO Deployment Homing > Homing by means of a homing switch 4.5.1 Homing by means of a homing switch Homing by means of a Homing can only be accessed from the PtP positioning profile mode. homing switch The target position is the reference position, which is maximally moved to. This is to be specified with sign.
  • Page 56 VIPA System SLIO Deployment Homing > Homing by means of a homing switch Ä Chapter 4.2 ‘Commissioning’ on page 47 Proceeding For commissioning Ä Chapter 5.2.11 ‘Homing - 0x8300’ on page 119 Homing objects Ä Chapter 4.4.2 ‘States’ Switch the state machine to state ‘Switch on disabled’ on page 51 –...

  • Page 57: Homing To Current Position

    VIPA System SLIO Deployment Homing > Homing to current position 4.5.2 Homing to current position Proceeding For commissioning Ä Chapter 4.2 ‘Commissioning’ on page 47 Homing objects Ä Chapter 5.2.11 ‘Homing - 0x8300’ on page 119 Ä Chapter 4.4.2 ‘States’ Switch the state machine to state ‘Switch on disabled’...

  • Page 58: Homing By Means Of Current Limitation

    VIPA System SLIO Deployment Homing > Homing by means of current limitation 4.5.3 Homing by means of current limitation Homing by means of cur- Homing can only be accessed from the PtP positioning profile mode. rent limitation If homing is completed, it is returned to the PtP positioning profile mode, again. The target position is the reference position, which is maximally moved to.
  • Page 59 VIPA System SLIO Deployment Homing > Homing by means of current limitation Ä Chapter 4.2 ‘Commissioning’ on page 47 Proceeding For commissioning Ä Chapter 5.2.11 ‘Homing - 0x8300’ on page 119 Homing objects Ä Chapter 4.4.2 ‘States’ Switch the state machine to state ‘Switch on disabled’ on page 51 –...

  • Page 60: Ptp Positioning Profile

    VIPA System SLIO Deployment PtP positioning profile 4.6 PtP positioning profile Overview Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Pay special attention to the Ä...
  • Page 61 VIPA System SLIO Deployment PtP positioning profile Structure Start: Start parameters PtP: PtP positioning profile Limit Velocity: Limitation velocity Position control: Position controller Limit Position: Limitation position PI: PI current controller Limit Current: Limitation current int. PS: Internal power stage Limit Voltage: Limitation voltage M: Motor Vel: Velocity profile...
  • Page 62 VIPA System SLIO Deployment PtP positioning profile Start - Start parameter PtP position profile Please note: Ä Chapter 4.2 ‘Commissioning’ on page 47 – – Ä ‘Application data’ on page 53 Ä ‘0x8280-01 - Operating mode requested’ on page 118 1: PtP positioning profile Ä...
  • Page 63 VIPA System SLIO Deployment PtP positioning profile Velocity control - Velocity control Limit Velocity Limitation velocity Positioning profile Velocity profile generator generator Ä ‘0x8500-01 - Velocity control configura- tion’ on page 128 Ä ‘0x8500-03 - Velocity control set value’ on page 129 à...
  • Page 64 VIPA System SLIO Deployment PtP positioning profile Limit Position - Limitation position Ä ‘0x8480-05 - Software position limit positive direction’ on page 125 Ä ‘0x8480-06 - Software position limit negative direction’ on page 125 Ä ‘0x8480-07 - Range limit positive direc- Position tion’...
  • Page 65 VIPA System SLIO Deployment PtP positioning profile PI - PI current controller Limit Current int. PS Limitation current internal Position power stage control Position controller à à Ä ‘0x8600-03 - Current set value’ Ä ‘0x8600-02 - Current actual value’ on page 132 on page 132 Ä...

  • Page 66: Examples

    VIPA System SLIO Deployment PtP positioning profile > Examples 4.6.1 Examples Symmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 67 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration without – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is not reached, since before deceleration is initiated to reach the target position.
  • Page 68 VIPA System SLIO Deployment PtP positioning profile > Examples Asymmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 69 VIPA System SLIO Deployment PtP positioning profile > Examples Asymmetrical acceleration Setting and deceleration with – Target position reducing the acceleration – Profile velocity during the move – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 70 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position during deceleration. V Velocity A Acceleration P Position...
  • Page 71 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration with – Target position specifying a target posi- – Profile velocity tion, twice – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position, after the previous target position was reached. V Velocity A Acceleration P Position...

  • Page 72: Velocity Profile

    VIPA System SLIO Deployment Velocity profile 4.7 Velocity profile Structure Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Pay special attention to the Ä Chapter 4.11 ‘In-/Output use of the current values in the output area! area’...
  • Page 73 VIPA System SLIO Deployment Velocity profile Start - Start parameter velocity profile Please note: Ä Chapter 4.2 ‘Commissioning’ on page 47 – – Ä ‘Application data’ on page 53 Ä ‘0x8280-01 - Operating mode requested’ on page 118 3: Velocity profile Ä...
  • Page 74 VIPA System SLIO Deployment Velocity profile Velocity control - Velocity control Limit Velocity Limitation velocity Positioning profile Velocity profile generator generator Ä ‘0x8500-01 - Velocity control configura- tion’ on page 128 Ä ‘0x8500-03 - Velocity control set value’ on page 129 à...
  • Page 75 VIPA System SLIO Deployment Velocity profile Position control - Position controller Positioning profile PI current controller generator Ä ‘0x8480-02 - Position actual value’ on page 124 Ä ‘0x8F00-02 - Encoder actual value’ on page 143 Encoder value Ä ‘0x8480-13 - Position control P-part’ Position à...

  • Page 76: Torque Control

    VIPA System SLIO Deployment Torque control Limit Voltage - Limitation voltage Ä ‘0x8680-04 - Power section supply voltage min. warning level’ on page 137 Ä ‘0x8680-05 - Power section supply voltage max. warning level’ on page 137 Ä ‘0x8680-06 - Power section supply voltage min.
  • Page 77 VIPA System SLIO Deployment Torque control Start: Start parameters Limit Current: Limitation current Limit Voltage: Limitation voltage Limit Velocity: Limitation velocity PI: PI current controller int. PS: Internal power stage M: Motor Encoder: Encoder current value Start - Start parameter torque control Please note: Ä...
  • Page 78 VIPA System SLIO Deployment Torque control Limit Current - Limitation current Ä ‘0x8C00-04 - Motor max. current’ on page 141 Limit Ä ‘0x8600-04 - Current limit positive à à direction’ on page 133 Current PI current controller Ä ‘0x8600-05 - Current limit negative direction’...

  • Page 79: Deployment I/O1

    VIPA System SLIO Deployment Deployment I/O1...I/O4 int. PS - Internal power stage, motor, encoder Limit Motor Voltage Encoder Limitation voltage Ä ‘0x8F00-02 - Encoder actual value’ on page 143 à int. PS à Ä ‘0x8680-02 - Power section supply PI current controller voltage actual value’...

  • Page 80: Objects

    VIPA System SLIO Deployment Deployment I/O1...I/O4 > Usage as input for encoder Digital output: DC 24V 500 mA High-side (source) Encoder mode: 24V HTL signal Phase A and B 100 kHz 4-fold evaluation Ä Chapter 4.9.2.2 ‘Encoder - deployment’ on page 81 4.9.1 Objects Structure DIO Control...
  • Page 81 VIPA System SLIO Deployment Deployment I/O1...I/O4 > Usage as input for encoder With 1-fold evaluation one signal edge 0-1 of Track A corresponds to one counter pulse respectively one division of the system to be scanned corresponds to one counter pulse. With 4-fold evaluation one signal edge of Track A and Track B corresponds to one counter pulse.
  • Page 82 VIPA System SLIO Deployment Deployment I/O1...I/O4 > Usage as input for encoder Pos. Function Type Description I/O1 Encoder function drive 1 I/O3 Encoder function drive 1 I/O2 Encoder function drive 2 I/O4 Encoder function drive 2 I: Input Ä Chapter 5.2.5 ‘Digital inputs I/O1...I/O4 - 0x7100’ on page 103 respectively Ä...

  • Page 83: Brake Control

    VIPA System SLIO Deployment In-/Output area 4.10 Brake control Overview You can control a break via a digital input/output channel. For brake control you have the following possibilities: Braking via external brake Quick stop via ramping Braking via external brake You have the possibility to control a brake via a digital input/output channel.
  • Page 84 VIPA System SLIO Deployment In-/Output area Offset Size Area Description Ä ‘0x8500-02 - Velocity control actual value’ on page 128 Drive 1 Ä ‘0x8580-02 - Acceleration/Deceleration actual value’ on page 131 Drive 1 Drive 1 Ä ‘0x8480-10 - Lag error’ on page 126 Ä...
  • Page 85 VIPA System SLIO Deployment In-/Output area Output area Offset Size Area Description Ä ‘0x8100-01 - Control word’ on page 109 Drive 1 Ä ‘0x8280-01 - Operating mode requested’ on page 118 Drive 1 Drive 1 Ä ‘0x8400-02 - Positioning profile target position’ on page 123 Ä...

  • Page 86: Acyclic Channel

    VIPA System SLIO Deployment Acyclic channel Offset Size Area Description reserved *) For each drive, there is an object dictionary whose structures are identical. Please note that the descriptions always relate to drive 1, unless otherwise noted. To access drive 2, you have to add 0x1000 to the corresponding object.

  • Page 87: Parameter Data

    VIPA System SLIO Deployment Parameter data > Parameter DATA0 ... DATA3 - Data Data which are to be transmitted. STATUS - Status Code Name Description 0x00 IDLE Idle - waiting for commands 0x14 READ_ONCE Command READ_ONCE has been recognized, data are valid. 0x24 WRITE_ONCE Command WRITE_ONCE has been recognized, data were accepted.
  • Page 88 VIPA System SLIO Deployment Parameter data > Parameter Name Bytes Function Default DIAG_EN Diagnostic interrupt * 3100h IDX_1 Universal parameter 1: Index 00h 3101h... 3102h SUBIDX_1 Universal parameter 1: Sub- 3103h... index 3104h DATA_1 Universal parameter 1: Value 00h 3105h... 3108h IDX_2 Universal parameter 2: Index 00h...

  • Page 89: Scaling And Units

    VIPA System SLIO Deployment Monitoring and error reaction > Overview For the VIPA SPEED7 Studio and the Siemens SIMATIC Manager there is the block FB 321 - ACYC_DS for simplified access available. More information about the usage of this block may be found in the manual "SPEED7 Operation List"...
  • Page 90 VIPA System SLIO Deployment Monitoring and error reaction > Overview Temperature monitoring The motion module has an internal temperature monitoring of the μ-controller and the power stage. Via the object dictionary limit temperatures can be defined. If the tempera- ture over or under runs the limit values, there is an error reaction of the motion module, Ä...

  • Page 91: Monitoring

    VIPA System SLIO Deployment Monitoring and error reaction > Monitoring 4.15.2 Monitoring Access to 2 drives For each drive, there is an object dictionary whose structures are iden- tical. Please note that the descriptions always relate to drive 1, unless otherwise noted.
  • Page 92 VIPA System SLIO Deployment Monitoring and error reaction > Monitoring Monitoring warning Ä ‘0x8680-02 - Power section supply voltage actual value’ on page 137 Ä ‘0x8680-04 - Power section supply voltage min. warning level’ on page 137 Ä ‘0x8680-05 - Power section supply voltage max.
  • Page 93 VIPA System SLIO Deployment Monitoring and error reaction > Monitoring Monitoring errors Error status - Monitoring errors Ä ‘0x8680-02 - Power section supply voltage actual value’ on page 137 Error Ä ‘0x8680-06 - Power section supply response voltage min. error level’ on page 137 Error reaction Ä...

  • Page 94: Diagnostics And Interrupt

    VIPA System SLIO Deployment Diagnostics and interrupt 4.16 Diagnostics and interrupt Diagnostic data Via the parametrization you may activate a diagnostic interrupt for the module. With a diagnostics interrupt the module serves for diagnostics data for diagnostic interrupt incoming As soon as the reason for releasing a diagnostic interrupt is no longer present, the diag- nostic interrupt automatically takes place.
  • Page 95 VIPA System SLIO Deployment Diagnostics and interrupt MODTYP Module informa- Byte Bit 7 ... 0 tion Bit 3 ... 0: Module class – 1000b: Function module Bit 4: set at channel information present Bit 7 ... 5: reserved CHTYP Channel type Byte Bit 7 ...

  • Page 96: Object Dictionary

    VIPA System SLIO Object dictionary Object dictionary 5.1 Use Addressing The System SLIO motion module provides its data, such as "Profiling target position" via an object dictionary. In this object dictionary the objects are organized and addressable a unique number consisting of Index and Subindex. The number is specified as follows: Index (hexadecimal) Subindex (decimal) Example: 0x8400-03...

  • Page 97: Objects

    VIPA System SLIO Object dictionary Objects > Overview Accessing the object dic- The communication takes place via the I/O area. The main data of the object dictionary tionary are mapped into the I/O area. Ä Chapter 4.11 ‘In-/Output area’ on page 83 Included in the mapping is also the Acyclic Channel through which you can acyclically access the objects of the motion module.
  • Page 98 VIPA System SLIO Object dictionary Objects > Overview Available objects Ä ‘0x1000-00 - Device type’ on page 101 Ä ‘0x1008-00 - Manufacturer device name’ on page 101 Ä ‘0x100A-00 - Manufacturer software version’ on page 101 Ä ‘0x1018-00 - Product - number of entries’ on page 101 Ä...
  • Page 99 VIPA System SLIO Object dictionary Objects > Overview Ä ‘0x8300-07 - Homing velocity V2’ on page 121 Ä ‘0x8300-08 - Homing acceleration’ on page 122 Ä ‘0x8300-09 - Homing deceleration’ on page 122 Ä ‘0x8300-10 - Homing offset value’ on page 122 Ä...
  • Page 100 VIPA System SLIO Object dictionary Objects > Overview Ä ‘0x8580-06 - Deceleration limit’ on page 132 Ä ‘0x8600-00 - CUR current number of entries ’ on page 132 Ä ‘0x8600-02 - Current actual value’ on page 132 Ä ‘0x8600-03 - Current set value’ on page 132 Ä...

  • Page 101: Information About The Product - 0X1000

    VIPA System SLIO Object dictionary Objects > Information about the product - 0x1000...0x1018 5.2.2 Information about the product - 0x1000...0x1018 0x1000-00 - Device type Index-Sub Type Default Value range Unit Description 0x1000-00 0 … Device type 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 97 Here according to CiA 402 the device type is shown.

  • Page 102: Passwords And Security - 0X1100

    VIPA System SLIO Object dictionary Objects > Passwords and security - 0x1100 0x1018-02 - Product ID Index-Sub Type Default Value range Unit Description 0x1018-02 0x534C494F 0 … Product ID 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 97 Here according to CiA 402 the product ID of the motion module can be found: 0x534C494F 0x1018-03 - Revision number...

  • Page 103: System Command - 0X6100

    VIPA System SLIO Object dictionary Objects > Digital inputs I/O1...I/O4 - 0x7100 0x1100-01 - User pass- word Index-Sub Type Default Value range Unit Description 0x1100-01 R/W** 0 … User password 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 97 With this object you can enable a password, which allows to write objects in all states of the state machine.
  • Page 104 VIPA System SLIO Object dictionary Objects > Digital inputs I/O1...I/O4 - 0x7100 0x7100-01...04 - Digital input configuration I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7100-00 Digital inputs - number of entries 0x7100-01 R/W** 0 … 1 Digital input configuration I/O1 0x7100-02 R/W** 0 …...

  • Page 105: Digital Output I/O1

    VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7100-05 - Digital input states I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7100-05* 0 … 0xFF Digital input states I/O1...I/O4 Ä ‘Explanation of the elements’ on page 97 This object contains the current values of the digital inputs I/O1...I/O4.
  • Page 106 VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7200-01...04 - Digital output configuration I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7200-01 R/W** 0 … 1 Digital output configuration I/O1 0x7200-02 R/W** 0 … 1 Digital output configuration I/O2 0x7200-03 R/W** 0 …...
  • Page 107 VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7200-05 - Digital output states I/O1...I/O4 actual states Index-Sub Type Default Value range Unit Description 0x7200-05* 0 … 0xFF Digital output states I/O1...I/O4 actual states Ä ‘Explanation of the elements’ on page 97 This object contains the current values of the digital outputs.

  • Page 108: Driver Command - 0X8100

    VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x7200-06 - Digital output states I/O1...I/O4 requested states Index-Sub Type Default Value range Unit Description 0x7200-06* R/W** 0 … 0xFF Digital output states I/O1...I/O4 requested states Ä ‘Explanation of the elements’ on page 97 This object contains the set values of the digital outputs I/O1...I/O4.
  • Page 109 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-01 - Control word Index-Sub Type Default Value range Unit Description 0x8100-01* R/W** 0 … 65535 Control word Ä ‘Explanation of the elements’ on page 97 Ä Chapter 4.4.2 ‘States’ on page 51 With the Control word you can change the current state of the motor controller respec- tively reset all the error bits.
  • Page 110 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-02 - Status word Index-Sub Type Default Value range Unit Description 0x8100-02* 0 … 65535 Status word Ä ‘Explanation of the elements’ on page 97 Ä Chapter 4.4.2 ‘States’ on page 51 Please consider that the data bits are not latched and may need to be temporarily stored for further processing! Bit 7 ...
  • Page 111 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-03 - Error code Index-Sub Type Default Value range Unit Description 0x8100-03 0 … 65535 Error code Ä ‘Explanation of the elements’ on page 97 Ä Chapter 4.15 ‘Monitoring and error reaction’ on page 89 This object shows the most recent error code, which has occurred in the System SLIO motion module.
  • Page 112 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 Code Description 0xF010 System communication timeout Ä ‘0x6100-10 - System message timeout maximum’ on page 103 Ä ‘0x8100-06 - Error active bits’ on page 115 Bit: 22 0xF011 Command output disable (BASP) is active. Ä...
  • Page 113 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-04 - Limit active bits Index-Sub Type Default Value range Unit Description 0x8100-04 0 … Limit active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 0: Limitation current Ä ‘0x8600-03 - Current set value’ on page 132 > Ä ‘0x8600-04 - Current limit positive direction’ on page 133 –...
  • Page 114 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-05 - Warnings active bits Index-Sub Type Default Value range Unit Description 0x8100-05 0 … Warnings active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 7...0: reserved Bit 8: Warning lag error Ä...
  • Page 115 VIPA System SLIO Object dictionary Objects > Driver command - 0x8100 0x8100-06 - Error active bits Index-Sub Type Default Value range Unit Description 0x8100-06 0 … Error active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 0: Limit current error Ä ‘0x8600-10 - Current actual value winding A’ on page 134 > Ä ‘0x8C00-04 - Motor max. current’ on page 141 –...

  • Page 116: Configure Drive - 0X8180

    VIPA System SLIO Object dictionary Objects > Configure drive - 0x8180 5.2.8 Configure drive - 0x8180 0x8180-00 - Configure drive - number of entries Index-Sub Type Default Value range Unit Description 0x8180-00 Configure drive - number of entries Ä ‘Explanation of the elements’ on page 97 0x8180-02 - Gear factor Index-Sub Type...

  • Page 117: Options - 0X8200

    VIPA System SLIO Object dictionary Objects > Options - 0x8200 5.2.9 Options - 0x8200 0x8200-00 - Options - number of entries Index-Sub Type Default Value range Unit Description 0x8200-00 Options - number of entries Ä ‘Explanation of the elements’ on page 97 0x8200-01 - Configuration quick stop Index-Sub...

  • Page 118: Operating Modes - 0X8280

    VIPA System SLIO Object dictionary Objects > Operating modes - 0x8280 5.2.10 Operating modes - 0x8280 0x8280-00 - Operating mode - number of entries Index-Sub Type Default Value range Unit Description 0x8280-00 Operating mode - number of entries Ä ‘Explanation of the elements’ on page 97 0x8280-01 - Operating mode requested Index-Sub...

  • Page 119: Homing - 0X8300

    VIPA System SLIO Object dictionary Objects > Homing - 0x8300 0x8280-02 - Operating mode actual Index-Sub Type Default Value range Unit Description 0x8280-02* -128 … 127 Operating mode actual Ä ‘Explanation of the elements’ on page 97 In object 0x8280-02 the current operating mode of the motor controller can be read. The following values are supported: Value Description...
  • Page 120 VIPA System SLIO Object dictionary Objects > Homing - 0x8300 Supported homing method Mode Description Ä ‘0x8300-12 - Homing It is referenced in response to the current limitation. trq mode current’ on page 122 It is referenced to a switch at the end of the position area (= homing switch). For the evaluation of the reference switch, a digital input of the System SLIO motion module is used.
  • Page 121 VIPA System SLIO Object dictionary Objects > Homing - 0x8300 0x8300-05 - Homing target position Index-Sub Type Default Value range Unit Description 0x8300-05 R/W** -8388608 … [user] Homing target position 8388607 Ä ‘Explanation of the elements’ on page 97 This object defines the target position for the homing and is signed. If the homing and the mechanical structure are configured correctly, this position should not be reached during homing.
  • Page 122 VIPA System SLIO Object dictionary Objects > Homing - 0x8300 0x8300-08 - Homing accel- eration Index-Sub Type Default Value range Unit Description 0x8300-08 R/W** 1000 … [user] Homing acceleration 10000000 Ä ‘Explanation of the elements’ on page 97 This object specifies the value for the homing acceleration for traversing the initial posi- tion.

  • Page 123: Parameter For The Ptp Positioning Profile - 0X8400

    VIPA System SLIO Object dictionary Objects > Parameter for the PtP positioning profile - 0x8400 0x8300-13 - Homing trq mode distance Index-Sub Type Default Value range Unit Description 0x8300-13 R/W** 1000 0 … 100000 [user] Homing trq mode distance Ä ‘Explanation of the elements’ on page 97 This object specifies a position offset, the motor is moved free, as soon as the current limit is reached with the homing method -1 Ä...

  • Page 124: Positions And Limit Values - 0X8480

    VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8400-04 - Positioning profile target acceleration Index-Sub Type Default Value range Unit Description 0x8400-04* R/W** 10000 300 … [user] Positioning profile target acceleration 100000000 Ä ‘Explanation of the elements’ on page 97 This object specifies the acceleration for traversing to the initial position and is processed as absolute value.
  • Page 125 VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8480-03 - Position set value Index-Sub Type Default Value range Unit Description 0x8480-03 -8388608 … [user] Position set value 8388607 Ä ‘Explanation of the elements’ on page 97 This object specifies the internal value of the target position at the input of the position controller.
  • Page 126 VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8480-07 - Range limit positive direction Index-Sub Type Default Value range Unit Description 0x8480-07 8000000 10000 … [user] Range limit positive direction 8388607 Ä ‘Explanation of the elements’ on page 97 This object defines the positive overflow limit for the processing of position values.
  • Page 127 VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8480-11 - Lag error warning Index-Sub Type Default Value range Unit Description 0x8480-11 R/W** -8388608 … [user] Lag error warning 8388607 Ä ‘Explanation of the elements’ on page 97 This object specifies a limit for the position difference (lag error).

  • Page 128: Velocities And Limit Values - 0X8500

    VIPA System SLIO Object dictionary Objects > Velocities and limit values - 0x8500 0x8480-16 - Position con- trol shift factor Index-Sub Type Default Value range Unit Description 0x8480-16 0 … 24 Position control shift factor Ä ‘Explanation of the elements’ on page 97 This parameter is used to limit the generated speed during the positioning.
  • Page 129 VIPA System SLIO Object dictionary Objects > Velocities and limit values - 0x8500 0x8500-03 - Velocity con- trol set value Index-Sub Type Default Value range Unit Description 0x8500-03 R/W** -10000000 … [user] Velocity control set value 10000000 Ä ‘Explanation of the elements’ on page 97 This object specifies the internal value of the set point velocity at the input of the velocity controller.
  • Page 130 VIPA System SLIO Object dictionary Objects > Velocities and limit values - 0x8500 0x8500-07 - Velocity con- trol limit type for torque mode Index-Sub Type Default Value range Unit Description 0x8500-07 R/W** 0 … Velocity control limit type for torque mode 0xFFFFFFFF Ä...

  • Page 131: Acceleration And Deceleration - 0X8580

    VIPA System SLIO Object dictionary Objects > Acceleration and deceleration - 0x8580 5.2.15 Acceleration and deceleration - 0x8580 0x8580-00 - Acceleration and deceleration - number entries Index-Sub Type Default Value range Unit Description 0x8580-00 Acceleration and deceleration - number entries Ä...

  • Page 132: Currents - 0X8600

    VIPA System SLIO Object dictionary Objects > Currents - 0x8600 0x8580-06 - Deceleration limit Index-Sub Type Default Value range Unit Description 0x8580-06 R/W** 10000 10 … [user] Deceleration limit 100000000 Ä ‘Explanation of the elements’ on page 97 This object indicates the bidirectional limit value for the set point deceleration value. Each set point deceleration value is checked against this limit value.
  • Page 133 VIPA System SLIO Object dictionary Objects > Currents - 0x8600 0x8600-04 - Current limit positive direction Index-Sub Type Default Value range Unit Description 0x8600-04* R/W** 0 … 15000 [mA] Current limit positive direction Ä ‘Explanation of the elements’ on page 97 Ä...
  • Page 134 VIPA System SLIO Object dictionary Objects > Currents - 0x8600 0x8600-09 - Current con- trol filter factor Index-Sub Type Default Value range Unit Description 0x8600-09 R/W** 0 … 7 Current control filter factor Ä ‘Explanation of the elements’ on page 97 To reduce high-frequency interferences at the current sensor, here you can set the filter factor of the low-pass filter for the current sensor.
  • Page 135 VIPA System SLIO Object dictionary Objects > Currents - 0x8600 0x8600-14 - Current offset value winding A Index-Sub Type Default Value range Unit Description 0x8600-14 R/W** -500 … 500 [mA] Current offset value in winding Ä ‘Explanation of the elements’ on page 97 Output voltage Current value Ratio between current and voltage (I/U)

  • Page 136: Voltages - 0X8680

    VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8600-16 - Current voltage ratio winding A Index-Sub Type Default Value range Unit Description 0x8600-16 R/W** 4724 2000 … 6000 Current voltage ratio in winding Ä ‘Explanation of the elements’ on page 97 Output voltage Current value Ratio between current and voltage (I/U)
  • Page 137 VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8680-02 - Power section supply voltage actual value Index-Sub Type Default Value range Unit Description 0x8680-02 0 … 5500 [0.01V] Power section supply voltage actual value Ä ‘Explanation of the elements’ on page 97 This object specifies the level of the actual supply voltage.
  • Page 138 VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8680-07 - Power section supply voltage max. error level Index-Sub Type Default Value range Unit Description 0x8680-07 3000 0 … 5500 [0.01V] Power section supply voltage max. error level Ä ‘Explanation of the elements’ on page 97 This object specifies an upper limit for the supply voltage of the module.

  • Page 139: Temperatures - 0X8780

    VIPA System SLIO Object dictionary Objects > Temperatures - 0x8780 0x8680-12 - Control voltage power stage min. error level Index-Sub Type Default Value range Unit Description 0x8680-12 0 … 4000 [0.01V] Control voltage power stage min. error level Ä ‘Explanation of the elements’ on page 97 This object specifies a lower limit for the control voltage of the power stage.
  • Page 140 VIPA System SLIO Object dictionary Objects > Temperatures - 0x8780 0x8780-03 - Temperature µ-Controller warning level Index-Sub Type Default Value range Unit Description 0x8780-03 -50 … 120 [degC] Temperature µ-Controller warning level Ä ‘Explanation of the elements’ on page 97 This object specifies the temperature limit of the μ-Controller of the motion module.

  • Page 141: Motor Data - 0X8C00

    VIPA System SLIO Object dictionary Objects > Motor data - 0x8C00 0x8780-09 -Temperature power stage error level Index-Sub Type Default Value range Unit Description 0x8780-09 -50 … 120 [degC] Temperature power stage error level Ä ‘Explanation of the elements’ on page 97 This object specifies a temperature limit for the internal power stage.

  • Page 142: Encoder Resolution - 0X8F00

    VIPA System SLIO Object dictionary Objects > Encoder resolution - 0x8F00 0x8C00-07 - Motor max. velocity Index-Sub Type Default Value range Unit Description 0x8C00-07 3000 0 … 32000 [rpm] Motor max. velocity Ä ‘Explanation of the elements’ on page 97 This object specifies the max.
  • Page 143 VIPA System SLIO Object dictionary Objects > Encoder resolution - 0x8F00 0x8F00-01 - Encoder Feed- back configuration Index-Sub Type Default Value range Unit Description 0x8F00-01 0 … 1 Encoder feedback configuration drive 1 Configuration I/O1 and I/O3 Ä ‘Explanation of the elements’ on page 97 With this object the digital in-/outputs I/O1 and I/O3 are physically configured as encoder input.
  • Page 144 VIPA System SLIO Object dictionary Objects > Encoder resolution - 0x8F00 0x8F00-03 - Encoder reso- lution Index-Sub Type Default Value range Unit Description 0x8F00-03 4000 0 … 65535 [inc/rot] Encoder resolution Ä ‘Explanation of the elements’ on page 97 With this object, you can configure the encoder resolution of the connected encoder. The encoder resolution defines the number of pulses per rotation.

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