Jetter JetMove 200 Series User Information
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Jetter JetMove 200 Series User Information

At the nano system bus
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JetMove 2xx
at the NANO System Bus
User Information
Article # 60866113 / Edition 2.03.4
March 2005 / Printed in Germany

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Summary of Contents for Jetter JetMove 200 Series

  • Page 1 JetMove 2xx at the NANO System Bus User Information Article # 60866113 / Edition 2.03.4 March 2005 / Printed in Germany...
  • Page 2 JetWeb Revision 2.03.4 Jetter AG reserves the right to make alterations to its products in the interest of technical progress. These alterations need not to be documented in every single case. This user information and the information contained herein have been compiled with due diligence.
  • Page 3 JetMove 2xx at the NANO System Bus How to Contact us: Jetter AG Gräterstraße 2 D-71642 Ludwigsburg Germany Phone - Switchboard: (+49) 7141/2550-0 Phone - Sales: (+49) 7141/2550-433 Phone - Technical Hotline: (+49) 7141/2550-444 Telefax: (+49) 7141/2550-425 E-Mail - Sales: sales@jetter.de...
  • Page 4 Missing or inadequate knowledge of the user information results in the loss of any claim of liability on part of Jetter AG. Therefore, the operating company is recommended to have the instruction of the persons concerned confirmed in writing.
  • Page 5 Illustration of PC and user interface keys. This symbol refers to further information (data sheets, literature, etc.) on the subject or product or the like that is being dealt with. Further, this text provides helpful hints for your guidance through the manual. Jetter AG...
  • Page 6 JetWeb Jetter AG...

  • Page 7: Table Of Contents

    Referencing by Means of Zero Pulse ("Zero Mark") Only 6.12 Referencing by Means of Reference and Limit Switch 6.12.1 Positive direction 6.12.2 Negative direction 6.13 Referencing by only One Limit Switch 6.14 Referencing by Reference Switch Only Positioning Endless Positioning Jetter AG...
  • Page 8 9.11 Current Control Parameters List of Appendices Appendix A: Recent Revisions Appendix B: List of Abbreviations Appendix C: Register Survey - Numerical Sequence Appendix D: Register Survey - Functional Sequence Appendix E: Index of Figures Appendix F: Index Jetter AG...

  • Page 9: Introduction

    This user information describes the functions of the product JetMove 2xx of the operating system version V 2.03. In this manual, connecting the JetMove 2xx to the system bus of Jetter AG and the operation will be described. Additional information on the contents of this document is given in the instructions for the specific sizes of the JetMove 200 series.
  • Page 10 1 Introduction JetWeb Jetter AG...

  • Page 11: Register Numbering

    REG 1xzzz Module Slot Register Number 2 .. X 0 .. 999 only intelligent modules will be counted. X = max. permitted amount of intelligent modules to be connected to the CPU (CPU = slot 1) Jetter AG...
  • Page 12 2 Register Numbering JetWeb Jetter AG...

  • Page 13: Information On Parameter Values

    JetMove 2xx and the controller, have got between 1 and 3 decimal positions. How many decimal places are to be used can be defined via register 870 "Decimal positions for position values". The decimal positions should only be defined once, namely during axis setup. Jetter AG...
  • Page 14 3 Information on Parameter Values JetWeb Jetter AG...

  • Page 15: Brake

    24 V voltage supply to, respectively disconnects it from the brake. If an external switch has been selected, bit 0 of register 574 "Control word 2" must always be set in order to always keep the relay contacts closed. Jetter AG...
  • Page 16 4 Brake JetWeb Jetter AG...

  • Page 17: Axis Setup

    [ms*100] R117 R547 Operating mode 1: Bit 4 = Test of the motor cable R540 Voltage constant [V*min/1000] R505 Torque constant Kt [Nm/ A*100] R616 Pole pair number R123 Encoder type R577 Fig. 1: Motor parameters Jetter AG...
  • Page 18 Possibly, the pole pair number must be adjusted as well. The default value is 3. Example: One Jetter motor has got 6 poles which are energized in pairs; this means there are 3 pole pairs. For further information, please refer to the register description of the motor parameters as of chapter 9.7 "Motor Parameters", page 95.
  • Page 19 96. 5 Setting the torque constant The torque constant is necessary for displaying a valid actual torque in register 621 "Actual torque". If the torque constant equals zero, the actual torque equals zero as well. Jetter AG...

  • Page 20: Step 2: Settings Of The Current Control

    Continuous rated current Actual current *100] *100] R618 R561 Overload factor Actual current [%] R619 R620 Current control Kp Actual torque R503 [Nm*1000] R621 Current control Tn Max. output current R504 *100] R502 Fig. 2: Current control Jetter AG...

  • Page 21: Step 3: Axis Definition

    The mode is set via register 192 "Modulo axis". Software limit switch The software limit switch monitoring is NOT active by default. If software limit switch monitoring is to be carried out, bit 6 of register 540 "Operating mode 1" must be set. Jetter AG...
  • Page 22 5 Axis Setup JetWeb Jetter AG...

  • Page 23: Referencing

    = Speed of switch search switch = Positive limit switch = Speed of search for reference position = Reference switch = Zero pulse ("zero mark") = Starting position = Normal position = Distance = Normal position: distance distance Jetter AG...

  • Page 24: Control Mode

    (by means of command 6, for example), only bit 1 "Stopped" will be set, as soon as the axis has come to a standstill again. Those two bits can be used for continuing the PLC program after starting the reference run. Jetter AG...

  • Page 25: Axis Type

    These values have also been set by default. For neither of the two speed settings, there is a specific limitation. Normally, though, referencing is done in low speed. The speed values will be set once before referencing; they cannot be changed during referencing. Jetter AG...

  • Page 26: Speed Reversal

    Below, referencing for setting a positive rotatory direction will be illustrated. If a negative direction of rotation has been set, the respective graphic referring to positive direction of rotation must be used for illustrating features such as the motion sequence at referencing in negative direction. Jetter AG...

  • Page 27: Reference Position

    "reference and limit switch" and "limit switch only": Fig. 4: Referencing with zero pulse ("zero mark") Fig.: 5will illustrate referencing without zero pulse ("zero mark") for the switch types "reference and limit switch" and "limit switch only": Fig. 5: Referencing without zero pulse ("zero mark") Jetter AG...

  • Page 28: Setting The Specifically Defined Reference Position

    Via register 169 "Normal position - position", the position will be input that is to be set as virtual position after having reached "normal position". The virtual position is set at the reference position, if there is no "normal position" to be driven to; this means that register 168 = 0. Jetter AG...

  • Page 29: Referencing By Means Of Zero Pulse ("Zero Mark") Only

    The reference run with its respective starting positions and directions will be explained below. 6.12.1 Positive direction Die Achse wird durch die automatische Referenzfahrt immer so bewegt, dass die Referenzpunktsuche immer von der negativen Seite des Referenzschalters durchgeführt wird. Jetter AG...
  • Page 30 – The reference position is set to the first zero pulse after having recognized the "Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank. Jetter AG...
  • Page 31 "Reference switch active" flank. Fig. 10: Referencing by reference and limit switch in positive direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the reference switch. Jetter AG...

  • Page 32: 6.12.2 Negative Direction

    – The reference position is set to the first zero pulse after having recognized the "Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank. Jetter AG...
  • Page 33 "Reference switch active" flank. Fig. 13: Referencing by reference and limit switch in negative direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the reference switch. Jetter AG...

  • Page 34: Referencing By Only One Limit Switch

    Fig. 14: Referencing by limit switch only; positive direction, positive rotatory direction, starting position preceeding the positive limit switch. Fig. 15: Referencing by limit switch only; positive direction, positive rotatory direction, starting position on the positive limit switch. Jetter AG...

  • Page 35: Referencing By Reference Switch Only

    This type of referencing is used with a conveyor belt, for example, which is to be reset to zero after each turnover. For the sequence of motions, please refer to chapter 6.12 "Referencing by Means of Reference and Limit Switch", page 29. Jetter AG...
  • Page 36 6 Referencing JetWeb Jetter AG...

  • Page 37: Positioning

    Ptp-positioning endless positioning. Command 57 "Reversing of an endless positioning" will not consider the changes in the positioning parameters, such as speed, which have been made after starting the endless positioning. Jetter AG...
  • Page 38 7 Positioning JetWeb Jetter AG...

  • Page 39: Oscilloscope Function

    • Register 562 "Motor temperature" • Register 563 "Device temperature" • Register 564 "Ballast workload" • Register 565 "Motor shaft position" • Register 566 "Device input current" • Register 567 "Supply voltage" • Register 568 "Controller card temperature" Jetter AG...
  • Page 40 8 Oscilloscope Function JetWeb Jetter AG...

  • Page 41: Register Description

    ATTENTION: When the ramp has been covered, the output stage will automatically be deactivated. Acknowledging an error Search for reference Starting an absolute positioning run Starting an absolute positioning run related to time Changing an absolute target position Jetter AG...
  • Page 42 By means of this register, the status of the outputs can be queried, while other outputs can be set and reset. Meaning of the values: The output has been / will be reset The output has been set / will be reset Jetter AG...
  • Page 43 515 were used. Meaning of the values: The output will not be affected The output is set Meaning of the individual bits: Bit 0: Output 1 Bit 1: Output 2 Bit 2: Output 3 Bit 3: Output 4 Jetter AG...
  • Page 44 Function Description Read Present state value of drive mode 1 Write New state value of drive mode 1 Amplifier status The amplifier must be deactivated Validity Immediately Value range bit-coded, 16 bits Value after reset 0b 00000010 1001x011 Jetter AG...
  • Page 45 Value after reset: 1 Bit 5: Speed reversal By means of this bit, for all axis motions (position, speed and current control), the direction of rotation will be conversed. ATTENTION: Please mind correct assignment of the hardware limit switches Jetter AG...
  • Page 46 JetMove 2xx at the NANO / ConMove ATTENTION: If JetMove 2xx is used together with a NANO-CPU, this bit must always be set. 0 = JetMove 2xx at ConMove 1 = JetMove 2xx at NANO Value after reset: 1 Jetter AG...
  • Page 47 A set current value can be input via register 125 Speed control (current control and speed control are active) A set speed value can be input via register 111 Position control (current control, speed control and position control are active) Jetter AG...
  • Page 48 Bit 0: Manual control of the brake 0 = Lock the brake 1 = Release the brake (A requirement for manual control: In register 540 "Operating mode 1", bit 0 must be set to "Manual operation by the user".) Jetter AG...
  • Page 49 24 bits Value after reset Meaning of the individual bits: Bit 0: Brake 0 = The brake is locked / the relay contacts have been released 1 = The brake has been released / the relay contacts are locked Jetter AG...

  • Page 50: Diagnose Parameters

    (For all commands, register 180, register 181, register 184) Bit 14: The maximum positioning speed has been reached (the axis has driven beyond the range of the ramps) Bit 15: Acceleration ramp Bit 16: Deceleration ramp Bit 17: Bit 18: There is an error or warning Jetter AG...
  • Page 51 The positive limit switch has been found after changing direction at the negative limit switch during a reference run in negative direction. Reference switch type, with reference switch only: The positive limit switch has been found during a reference run in positive direction. Jetter AG...
  • Page 52 In the warnings mask, a definition can be made of which warnings are to be displayed and which are not. The assignment of bits can be taken out of the description of register 581 "Warnings". Meaning of the values: The warning will not be displayed The warning will be displayed Jetter AG...
  • Page 53 "Warnings". The assignment of bits can be taken out of the description of register 581 "Warnings". Meaning of the values: The warning will automatically be reset by the user The warning will automatically be reset by the amplifier Jetter AG...
  • Page 54 F08 Shutdown threshold for motor temp. Bit 9: F09 Encoder error Bit 10: F10 Overspeed Bit 11: F11 Current overrange Bit 12: F12 Earth fault Bit 13: F13 AVR EEPROM failure Bit 14: F14 AVR timeout Bit 15: F15 Pulse enable failure Jetter AG...
  • Page 55 Bit 9: F25 Power supply 15 V failure Bit 10: F26 Power supply 5 V failure Bit 11: F27 Power supply AVR failure Bit 12: F28 Error in power charging circuit (this is only possible with JetMove 215) Jetter AG...

  • Page 56: Positioning Parameters

    The target position of a positioning run that is already in process can be changed. In order to change the target position, the new target position must be written into the register; then, one of the following commands must be issued: Jetter AG...
  • Page 57 Leading over from endless to point-to-point positioning: • Command 10 "Starting an absolute positioning run" The entire positioning will be calculated again. Yet, it is not possible for a running point-to-point positioning to be led to endless positioning. Jetter AG...
  • Page 58 Command 10 "Starting an absolute positioning run" • Command 20 "Starting a relative positioning run" • Command 56 "Starting endless positioning" This is only permitted, if the running positioning is an endless positioning; during a running point-to-point positioning, this command must not be issued. Jetter AG...
  • Page 59 A positioning run started by command 11 can be influenced and altered by changing the positioning parameters and by issuing the respective commands. Jetter AG...
  • Page 60 A sine-square ramp guarantees a soft and jerk-free start. When driving a sine-square ramp, the specified value will be reached in the middle of the acceleration process. If a linear ramp is driven, acceleration will remain constant; the speed will increase in linear mode during the entire acceleration process. Jetter AG...
  • Page 61 Command 11 "Starting an absolute positioning run" • Command 20 "Starting a relative positioning run" • Command 56 "Starting endless positioning" This is only permitted, if the running positioning is an endless positioning; during a running point-to-point positioning, this command must not be issued. Jetter AG...
  • Page 62 The ramp type can be selected by means of register 140 "Ramp type". The sine- square ramp has been set as the default ramp type. A sine-square ramp guarantees soft and jerk-free deceleration. When driving a sine- square ramp, the specified value will be reached in the middle of the deceleration process. Jetter AG...
  • Page 63 If , after positioning, the axis has reached the destination window, bit 2 "Destination window" will be set in register 100 "Status". The bit will not be reset, unless a new positioning (point-to-point positioning) has been started. Jetter AG...
  • Page 64 The "Stopped" bit will be set, as soon as the internal set position (not the actual position) has reached the target position. The settings of the destination window take no effect on the "Stopped" bit. Jetter AG...
  • Page 65 The axis will continue travelling as before. Endless positioning is only permitted for a modulo axis. Jetter AG...
  • Page 66 1,000 [ms] Here, the delay time for setup mode will be specified. The delay time is the duration of waiting at every target position in setup mode, until the next point-to-point positioning towards the other target position is started. Jetter AG...
  • Page 67 [°] or [mm] is assigned to the value. Value after reset 100 [°] Here, position 2 (right position) is specified for the setup mode. Jetter AG...
  • Page 68 Here it is specified, from which direction the target position is to be approached. Meaning of the values: Absolute The axis will never exceed the travel range; it can be operated and positioned like a standard axis Modulo positive Jetter AG...
  • Page 69 When the next endless positioning is started Value range 0, 1 Value after reset This only applies to an endless positioning run: Here, the direction of movement is specified for an endless positioning run. Meaning of the values: positive direction negative direction Jetter AG...
  • Page 70 Value after reset This only applies to relative positioning: Here, the basic position (the position, in relation to which values are counted further) is specified for the next relative positioning run. Meaning of the values: Latest target position Actual position Jetter AG...

  • Page 71: Referencing - Parameters

    0 ... 3 Value after reset Here it is specified, which hardware switches are to be used for referencing. Meaning of the values: No switches, only zero pulse of the encoder Reference and limit switches Only limit switches Jetter AG...
  • Page 72 "reference mark", a specific speed will be set in register 166 "Speed reference search". Which switch is to be used for referencing (reference switch, limit switch, zero pulse) is defined in register 161 "Switch". For this, please also read chapter 6 "Referencing", page 23. Jetter AG...
  • Page 73 1 and 1,000; this means that the least significant decimal positions serve as decimal positions when the internal unit [°] or [mm] is assigned to the value. Value after reset 100,000 [°] Jetter AG...
  • Page 74 Actual search speed Write New search speed Amplifier status No specific status Validity Next referencing Value range 0 ... R184 [°/s] or [mm/s] (the unit depends on the setting of the axis type) Value after reset 100 [°/s] Jetter AG...
  • Page 75 If the maximum distance is exceeded, the axis will be stopped and the error "Max. distance reference search" of bit 17 in register 170 "Error positioning" will be output. For this, please also read chapter 6 "Referencing", page 23. Jetter AG...
  • Page 76 [°] or [mm] is assigned to the value. Value after reset 0 [°] Here, the position is specified, which, at "normal position" is to be set in register 109 as virtual position. Jetter AG...

  • Page 77: Axis Parameters

    The software limit switch monitoring can be activated, respectively deactivated, via register 540 "Operating mode 1", bit 6. The software limit switch monitoring should be active in any case, though, especially when axes are driven in manual mode. Attention! The software limit switch monitoring is deactivated by default. Jetter AG...
  • Page 78 The software limit switch monitoring can be activated, respectively deactivated, via register 540 "Operating mode 1", bit 6. The software limit switch monitoring should be active in any case, though, especially when axes are driven in manual mode. Jetter AG...
  • Page 79 The amplifier must be deactivated Validity Wait for the busy-bit in the status to be reset Value range 0 ... 8,388,607 [°/s³] or [mm/s³] (the unit depends on the settings of the axis type) Value after reset 1,000,000 [°/s³] Jetter AG...
  • Page 80 This means that, at a positioning run, the target position will always be limited to this value, even if a higher value is entered. Via register 192 "Modulo axis", the axis will be set to modulo axis. Jetter AG...
  • Page 81 Here, the maximum speed of the mechanic axis is specified. The amplifier limits the speed to this value, even if a higher speed has been set for positioning. Further, this value is necessary for monitoring the maximum acceleration / deceleration and the maximum jerk. Jetter AG...
  • Page 82 These are the positioning parameters: • Positioning parameter • Speed parameter • Acceleration / Deceleration parameter • Parameter for jerk limitation The units for a linear axis shown in detail: • Unit defining a position: [mm] • Unit defining speed: [mm/s] Jetter AG...
  • Page 83 This means the axis can continue with new positioning values starting from the positive travel range. Consequently, modulo axis haven't got any hardware or software limit switches. Jetter AG...
  • Page 84 If no modulo axis has been set in register 192, the modulo mode is deactivated; this means that the value of this register is not valid and will thus not be calculated as the difference between the values of the travel ranges. Jetter AG...
  • Page 85 In case of a linear axis, the gear ratio, and the additional parameter "Transmission ratio - linear / rotatory" written in register 196, must be specified. "Transmission ratio linear / rotatory" defines the transition from rotatory to linear mode. Jetter AG...
  • Page 86 195 "Transmission ratio - mechanics". The parameters "Transmission ratio - mechanics", register 195, and "Transmission ratio - motor", register 194, must also be specified. Jetter AG...
  • Page 87 Value range bit-coded, 16 bits Value after reset The actual input circuit state of the digital inputs can be read out here. The input circuit state depends on the polarity settings of the digital inputs specified in register 1x510. Jetter AG...
  • Page 88 The position values contain a decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [°] or [mm]. Jetter AG...
  • Page 89 Register 164 "Max. distance switch search" • Register 167 "Max. distance reference search" • Register 168 "Normal position - distance" • Register 169 "Normal position" • Register 182 "Travel limit positive" • Register 183 "Travel limit negative" • Register 193 "Modulo travel range" Jetter AG...

  • Page 90: Amplifier Parameters

    Value range 230 ... 400 [V] Value after reset Dependent on the amplifier type (particulars can be found on the identification plate of the respective device) From here, the rated voltage of the device can be read out. Jetter AG...
  • Page 91 8, 16 [kHz] Value after reset 16 [kHz] for JetMove 203-206 8 [kHz] for JetMove 215 Here, the frequency of the output pulse can be altered. Attention! Only instructed personnel is to make alterations on the register value. Jetter AG...
  • Page 92 Register 564: Ballast load, internal Function Description Read Actual value of the ballast load Write Illegal Value range 0 ... 100 [%] Value after reset 0 [%] Here, the actual load of the internal ballast resistor can be read. Jetter AG...
  • Page 93 The actual input current value of the supply feed can be read out here. Register 568: Temperature Function Description Read Actual value of the board temperature Write Illegal Value range 20 ... 75 [°C] Value after reset 0 [°C] Here, the actual temperature of the controller board can be read. Jetter AG...
  • Page 94 Dependent on the revision state From here, the new number of the operating system software revision can be read out. Interpreting the value: = The revision has been released officially 1 ... 9,999 = Beta revision 1 ... 9,999 Jetter AG...

  • Page 95: Motor Parameters

    4,096 ... 32,768 [Incr./rev.] Value after reset Dependent on the connected encoder This register specifies the internal resolution of a revolution in increments per revolution. This value is dependent on the connected encoder. See register 577 "Encoder type" Jetter AG...
  • Page 96 Value after reset Here, the pole pair number of the motor is entered. This can be taken from the motor parameters. For Jetter motors, the pole pair number usually is 3. This is also the default value. Register 505: Motor voltage constant...
  • Page 97 The predefined value of this parameter may only be altered by experienced users. The following commands have an impact on releasing the brake: • Issuing command 1 - The brake is released. • Setting bit 0 in register 574 "Control word 2" - brake is released. Jetter AG...
  • Page 98 The delay time can differ between various manufacturers or motor types. The following commands have an impact on locking the brake: • Issuing command 2 - The brake is locked • Resetting bit 0 in register 574 "Control word 2" - the brake is locked Jetter AG...
  • Page 99 Write Illegal Value range 1 ... 155 [°C] Value after reset 0 [°C] If a motor with temperature switch is used, 1 °C is displayed for the "locked" state, while 155 °C is displayed for the "released" state. Jetter AG...
  • Page 100 1 ... 3 Value after reset Dependent on the connected encoder By means of this parameter, the encoder type of the connected motor can be specified: 1 = Resolver 2 = HIPERFACE SRS50 (Singleturn) 3 = HIPERFACE SRM50 (Multiturn) Jetter AG...
  • Page 101 Here, the torque constant of the motor will be specified. Specifying the torque constant is necessary for displaying the actual torque in register 621 "Actual torque". If the torque constant is 0, 0 will also be displayed for the actual torque. Jetter AG...

  • Page 102: Monitoring Parameters

    250 [V] for JetMove 203, 206 400 [V] for JetMove 215 Here, the error limit for the minimum DC link voltage is entered. If the DC link voltage exceeds the error limit, error 20 "Undervoltage U " will be triggered. Jetter AG...
  • Page 103 Under fault conditions, which still allow the axis to function (e.g. overtemperature), the axis will be brought to a standstill by this deceleration ramp. If the maximum output current for the deceleration ramp is not sufficient, the ramping time will be increased. Jetter AG...
  • Page 104 Value range 0 ... 255 [°C] Value after reset 110 [°C] Here, the motor temperature warning threshold can be read out. If the motor temperature exceeds this value, warning W02 "Warning threshold for motor temp." will be triggered. Jetter AG...
  • Page 105 Value after reset 100 [%] Here, the shutdown threshold for the ballast resistor load error can be read out. If the load of the ballast resistor exceeds this value, error report F06 "Overload internal ballast resistor" will be triggered. Jetter AG...

  • Page 106: Position Control Parameters

    The actual tracking error should be as small as possible to ensure high accuracy of axis motion. It should be maintained around 0, i.e. should never be only negative or only positive. Jetter AG...
  • Page 107 [°] or [mm] is assigned to the value). Value after reset 0 [°] From here, the position setpoint can be read. For this, the controller operating mode must have been set to position control via register 572 "JetMove set operating mode". Jetter AG...
  • Page 108 In this case, error report F23 "Tracking error" will be triggered. The tracking error window time serves for filtering out the tracking error peaks. Attention! Tracking error monitoring will be deactivated at a tracking error window time of 65,535. Jetter AG...
  • Page 109 The speed feed-forward will add increase the actual set speed by a desired part of it. Then, the position controller with P-gain will ideally only have to control the tracking error by the mechanically caused set value. Jetter AG...

  • Page 110: Speed Control Parameters

    In all other operating modes, the register must not be written into. Register 112: Actual motor speed Function Description Read Actual speed Write Illegal Value range -12,000 ... 12,000 [1/min] Value after reset 0 [1/min] Here, the actual motor speed can be read. Jetter AG...
  • Page 111 Value after reset 3,000 [1/min] Here, the maximum motor speed is entered. This value is the absolute speed limit of the motor. Dependent on the maximum motor speed and the gearbox, the speed of the mechanic axis will be limited. Jetter AG...
  • Page 112 Tn [ms] 16384 8192 4096 2048 1024 Usual Value Range Kp [1] Fig. 26: Value range for K and T of the speed controller Jetter AG...
  • Page 113 This parameter is for compensating the load torque of a suspended load (vertical axis). If the brake is released for an axis, the following effect usually occurs: The load drops until the I-component of the speed controller has been increased to reach the respective value. Jetter AG...
  • Page 114 (when the load is at stillstand and the controller is enabled, read the current setpoint from the parameter "current set point" and use it as preset value). The load can be prevented from dropping by correctly setting this value. Jetter AG...
  • Page 115 Value after reset R502 [Aeff*100] Besides registers 618 "Rated current" and register 619 "Overload factor", an additional limitation of the amplifier output current can be defined by means of this parameter. It serves for dynamically adjusting to temporary conditions. Jetter AG...

  • Page 116: Current Control Parameters

    ) / (2 * T effMotor Motor The following applies to the operands: • = 41.25 µs • * Overload factor effMotor Neff = Nominal motor current of the unit [Aeff] Neff = Inductivity of the motor in the unit [mH] Motor Jetter AG...
  • Page 117 Tn [ms] 131072 65536 32768 16384 8192 4096 2048 1024 Usual Value Range Kp [1] 1/16 1/8 Fig. 27: Value range for K and T of the current control Jetter AG...
  • Page 118 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [Aeff]) Value after reset 0 [Aeff*100] Jetter AG...
  • Page 119 10 ... 1,000 (The respective value contains a decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [Aeff]) Value after reset Jetter AG...
  • Page 120 The display of a valid torque depends on the torque constant of the motor. The torque constant must be written into register 616 "Torque constant Kt". If the torque constant equals zero, the displayed actual torque equals zero as well. Jetter AG...
  • Page 121 Appendices JetMove 2xx at the NANO System Bus Appendices Jetter AG...
  • Page 122 Appendices JetWeb Jetter AG...

  • Page 123: Appendix A: Recent Revisions

    Appendices JetMove 2xx at the NANO System Bus Appendix A: Recent Revisions Appendices List There have been no revisions so far, as this is the first edition of the user information JetMove 2xx-480 operator's manual. Jetter AG...
  • Page 124 Appendices JetWeb Jetter AG...

  • Page 125: Appendix B: List Of Abbreviations

    High Performance Interface Hertz International Electrotechnical Commission International Protection JX2-SBK1 Jetter Extended Module 2 - System BusCable 1. 2 stands for PROCESS-PLC NANO and JetControl 200 Light - Emitting Diode: "Light-emitting diode" Speed Normal Null = Sea Level Protective Earth...
  • Page 126 Appendices JetWeb Jetter AG...

  • Page 127: Appendix C: Register Survey - Numerical Sequence

    Default Value: 500 [°/s²] page 62 Destination window Group of Functions: Positioning Unit: [°] or [mm] Default Value: 1 [°] page 63 Actual position Group of Functions: Positioning Unit: [°] or [mm] Default Value: 0 [°] page 65 Jetter AG...
  • Page 128 Default Value: 3.000 page 111 Tracking error Group of Functions: Position Unit: [°] or [mm] Default Value: 0 [°] page 106 Tracking error limit Group of Functions: Position Unit: [°] or [mm] Default Value: 10.000 [°] page 107 Jetter AG...
  • Page 129 67 Setup mode - position 2 Group of Functions: Positioning Unit: [°] or [mm] Default Value: 100 [°] page 67 Accel/decel ramp type Group of Functions: Positioning Unit: - Default Value: 1 (Sine square ramps) page 68 Jetter AG...
  • Page 130 74 Speed reference search Group of Functions: Referencing Unit: [°/s] or [mm/s] Default Value: 100 [°/s] page 74 Max. distance reference Group of Functions: Referencing search Unit: [°] or [mm] Default Value: 100.000 [°] page 75 Jetter AG...
  • Page 131 Default Value: 2 (rotatory) page 82 Modulo axis Group of Functions: Axis Unit: - Default Value: 0 (no Modulo axis) page 83 Modulo travel range Group of Functions: Axis Unit: [°] or [mm] Default Value: 360 [°] page 84 Jetter AG...
  • Page 132 Group of Functions: Current Unit: - Default Value: 70 page 116 Current control Tn Group of Functions: Current Unit: [ms*100] Default Value: 300 page 118 Motor voltage constant Group of Functions: Motor Unit: [V*min/1,000] Default Value: 0 page 96 Jetter AG...
  • Page 133 Default Value: Dependent on the amplifyer type page 102 DC Link voltage-min. trip Group of Functions: Monitoring Unit: [V] Default Value: Dependent on the amplifyer type page 102 Blocking-tripping time Group of Functions: Monitoring Unit: [ms] Default Value: 5.000 page 103 Jetter AG...
  • Page 134 Ballast load, internal Group of Functions: Amplifier Unit: [%] Default Value: 0 page 92 Shaft position Group of Functions: Motor Unit: [°*100] Default Value: 0 page 100 Input current Group of Functions: Amplifier Unit: [Aeff*100] Default Value: 0 page 93 Jetter AG...
  • Page 135 Group of Functions: Diagnose Unit: - Default Value: 0 page 52 Warnings Group of Functions: Diagnose Unit: - Default Value: page 53 AutoClear mask for Group of Functions: Diagnose warnings Unit: - Default Value: 0b 00000000 00001100 11111111 page 53 Jetter AG...
  • Page 136 Motor torque const. Kt Group of Functions: Motor Unit: [Nm/A*100] Default Value: 0 page 101 Continuous rated current Group of Functions: Current Unit: [Aeff*100] Default Value: R501 page 119 Overload factor Group of Functions: Current Unit: Default Value: 200 page 119 Jetter AG...
  • Page 137 Decimal places for Group of Functions: Axis position values Unit: - Default Value: 0 page 88 The revision state of the Group of Functions: Amplifier operating system Unit: - Default Value: Dependent on the software version page 94 Jetter AG...
  • Page 138 Appendices JetWeb Jetter AG...

  • Page 139: Appendix D: Register Survey - Functional Sequence

    Group of Functions: Control Unit: - Default Value: 0 page 48 Status word 2 Group of Functions: Control Unit: - Default Value: 0 page 49 Diagnose Status Group of Functions: Diagnose Unit: - Default Value: 0 page 50 Jetter AG...
  • Page 140 Default Value: 500 [°/s page 60 Deceleration Group of Functions: Positioning Unit: [°/s ] or [mm/s Default Value: 500 [°/s page 62 Destination window Group of Functions: Positioning Unit: [°] or [mm] Default Value: 1 [°] page 63 Jetter AG...
  • Page 141 Default Value: 0 (latest target position) page 70 Referencing Direction of referencing Group of Functions: Referencing Unit: - Default Value: 0 (positive direction) page 71 Switch type Group of Functions: Referencing Unit: - Default Value: 1 (Reference switch and limit switch) page 71 Jetter AG...
  • Page 142 Unit: [°] or [mm] Default Value: 0 [°] page 76 Normal position Group of Functions: Referencing Unit: [°] or [mm] Default Value: 0 [°] page 76 Referencing / positioning Group of Functions: Referencing error Unit: - Default Value: 0 page 51 Jetter AG...
  • Page 143 Default Value: 0 (no modulo axis) page 83 Modulo travel range Group of Functions: Axis Unit: [°] or [mm] Default Value: 360 [°] page 84 Gear ratio, motor Group of Functions: Axis Unit: [rev] Default Value: 1 [rev] page 85 Jetter AG...
  • Page 144 90 Rated current Group of Functions: Amplifier Unit: [Aeff*100] Default Value: Dependent on the amplifyer type page 91 PWM frequency Group of Functions: Amplifier Unit: [kHz] Default Value: Dependent on the amplifyer type page 91 Jetter AG...
  • Page 145 Default Value: Dependent on the software version page 94 Motor Commutation offset Group of Functions: Motor Unit: [°*100] Default Value: 0 page 95 Encoder resolution Group of Functions: Motor Unit: [Increments/Revolution] Default Value: Dependent on the encoder page 95 Jetter AG...
  • Page 146 DC Link voltage-max. trip Group of Functions: Monitoring Unit: [V] Default Value: Dependent on the amplifyer type page 102 DC Link voltage-min. trip Group of Functions: Monitoring Unit: [V] Default Value: Dependent on the amplifyer type page 102 Jetter AG...
  • Page 147 Default Value: 1.000 page 106 Tracking error Group of Functions: Position Unit: [°] or [mm] Default Value: 0 [°] page 106 Tracking error limit Group of Functions: Position Unit: [°] or [mm] Default Value: 10.000 [°] page 107 Jetter AG...
  • Page 148 Group of Functions: Speed Unit: - Default Value: 1.000 page 112 Speed controller Tn Group of Functions: Speed Unit: [ms*100] Default Value: 2.000 page 113 Speed controller preset Group of Functions: Speed Unit: [Aeff*100] Default Value: 0 page 113 Jetter AG...
  • Page 149 Overload factor Group of Functions: Current Unit: Default Value: 200 page 119 Actual current (%) Group of Functions: Current Unit: [%] Default Value: 0 page 120 Actual torque Group of Functions: Current Unit: [Nm*1000] Default Value: 0 page 120 Jetter AG...
  • Page 150 Appendices JetWeb Jetter AG...

  • Page 151: Appendix E: Index Of Figures

    Fig. 23: Delay time of the motor brake control Fig. 24: Shaft position Fig. 25: Speed Fig. 26: Value range for K and T of the speed controller Fig. 27: Value range for K and T of the current control Jetter AG...
  • Page 152 Appendices JetWeb Jetter AG...

  • Page 153: Appendix F: Index

    Torque constant Parameters Description of Symbols Monitoring Phase monitoring Ptp-Positioning Endless positioning Errors 54, 55 Referencing Error Messages Normal position Limit switch evaluation Status bits Zero pulse ("zero mark") Register Speed reversal Motor cable test Warnings Parameter Amplifier Jetter AG...
  • Page 154 +49 7141 2550-484 Hotline: +49 7141 2550-444 Internet: http://www.jetter.de E-mail: sales@jetter.de Subsidiaries Jetter Asia Pte. Ltd. Jetter AG Switzerland Jetter Automation Inc. 32 Ang Mo Kio Industrial Park 2 Münchwilerstraße 19 165 Ken Mar Industrial Parkway #05-02 Sing Industrial Complex CH-9554 Tägerschen...

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