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Isel IMD1 Manual

Dc servo positioning module with canopen interface
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DC servo positioning module with CanOpen interface
UVE8112
IMD10

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Summary of Contents for Isel IMD1

  • Page 1 DC servo positioning module with CanOpen interface UVE8112 IMD10...
  • Page 2 Company: isel Germany AG 2009 All rights reserved. ithout the prior written content of isel Germany AG, no part of this publication may be reproduced, tored in a retrieval system or transmitted in any way whatsoever. o responsibility is accepted for the correctness of the data contained in this manual. Isel Germany AG ompany reserves the right to make changes to the contents hereof without prior notice.

  • Page 3: Table Of Contents

    Positioning module UVE8112, IMD10 Table of contents Table of contents Table of contents...................3 Overview ......................6 Features of the drive module......................6 Scope of application........................6 Operational environment ......................7 Description of the drive module..............8 Settings and status display ......................8 DIP switch ........................
  • Page 4 Table of contents Positioning module UVE8112, IMD10 Menus............................31 Commands of the File menu ................... 31 The New command (File menu) ................31 The Open command (File menu)................. 31 The Save command (File menu)................31 The Save As command (File menu)..............31 The 1, 2, 3, 4 commands (File menu)..............
  • Page 5 Positioning module UVE8112, IMD10 Table of contents Velocity Controller dialogue box................ 54 Direction dialogue box ..................56 Acceleration dialogue box .................. 57 Velocity dialogue box ..................58 Position Controller dialogue box ............... 59 Can Interpolation dialogue box................62 Inputs dialogue box .................... 63 Reference Run dialogue box ................

  • Page 6: Overview

    Overview Positioning module UVE8112, IMD10 Overview The present manual contains all descriptions and documentations required for the wiring, commissioning and control of the drive module. It is intended for qualified personnel with basic knowledge of the control and automation technology as well as of the CAN field bus.

  • Page 7: Operational Environment

    Positioning module UVE8112, IMD10 Overview Operational environment To get the full functionality of the drive module the following environmental conditions should be ensured • Ambient temperature during operation: from +5 C to 40 • Temperature during transport and storage: from -25 C to 55 C and at 70 C for maximum 24...

  • Page 8: Description Of The Drive Module

    Description of the drive module Positioning module UVE8112, IMD10 Description of the drive module Settings and status display On the front (UVE8112) or on the side (IMD10) of the module, a DIP switch is provided for settings concerning the node address, the baud rate and the mode of communication / operation. Furthermore, LEDs show the current mode of operation.

  • Page 9: Modes Of Operation

    Positioning module UVE8112, IMD10 Description of the drive module Modes of operation Here, two groups of modes of operation are available differing from each other mainly in the type of the controller release. In case of the CanOpen modes of operation, the internal state (state machine) is controlled via the Can bus or the serial interface, while there are only two states for the other modes of operation (Enabled, Disabled) which are linked directly with the enabling signal (Input 4).

  • Page 10: Leds Uve8112

    Description of the drive module Positioning module UVE8112, IMD10 LEDs UVE8112 Via the LEDs on the front, it is possible to indicate the existence of the two main supply voltages. Furthermore, the current mode of operation of the module can be viewed here (STS1 and STS2). For this, see: "Status diagram"...

  • Page 11: Leds Imd10

    Positioning module UVE8112, IMD10 Description of the drive module LEDs IMD10 STS1 STS2 24V-80V With the help of the LEDs on the front side, it is possible to indicate the existence of the two main supply voltages. Furthermore, the current mode of operation of the module can be viewed here (STS1 and STS2).

  • Page 12: Hardware Description Uve8112

    Description of the drive module Positioning module UVE8112, IMD10 Hardware description UVE8112 Connector UVE8112 Frame connector on the rear side of the module ← Output 2 ← Output 1 → +24 V (for outputs) → Input 2 → Input 1 24 V GND →...

  • Page 13: Jumper Settings

    Positioning module UVE8112, IMD10 Description of the drive module Jumper settings For the normal operation, no settings via jumpers are required. Only for the loading process of a new software version by means of the bootstrap loader, the corresponding jumper has to be connected. See also "The Firmware Update / via Bootstrap Loader command"...

  • Page 14: Wiring Of The Inputs And Outputs

    Description of the drive module Positioning module UVE8112, IMD10 Wiring of the inputs and outputs Digital inputs 1 to 4 The evaluation of the inputs can be set by means of software. See “Inputs dialogue box” on page 63. VC C Input 1 ...

  • Page 15: Encoder Connections

    Positioning module UVE8112, IMD10 Description of the drive module Encoder connections The drive module is preset for the connection of a quadrature incremental encoder with index signal. The transfer of the signals is carried out according to the RS422 specification. It is recommended to use shielded cables twisted in pairs for the encoder wiring.
  • Page 16 Description of the drive module Positioning module UVE8112, IMD10 For the CAN wiring, it is recommended to use twisted shielded cables with a characteristic impedance of 108 to 132 ohms. In case of very small network extensions, it may be possible to dispense with the connection of the reference potential (CAN ground) (not recommended).

  • Page 17: Hardware Description Imd10

    Positioning module UVE8112, IMD10 Description of the drive module Hardware description IMD10 Connectors All connectors are provided on the front of the drive module. Frame connector X1 – Connection of the operating voltage 24 V-80 V, motor and brake Signal GND_M (power section) →...

  • Page 18: Frame Connector X3 - 20-Pin System Connection

    Description of the drive module Positioning module UVE8112, IMD10 Frame connector X3 – 20-pin system connection Attention technical modification: This frame connector is expanded from 16 to 20 pins. The plug connection is not valid for the 16 pin connector. The standstill monitoring is added (see object index 0x6510 subindex B) Signal Stop 1 IN: standstill monitoring channel 1 input...

  • Page 19: Jumper Settings

    Positioning module UVE8112, IMD10 Description of the drive module Jumper settings For the normal operation, no settings via jumpers are required. Only for the loading process of a new software version by means of the bootstrap loader, the bootstrap jumper has to be connected. See also "The Firmware Update / via Bootstrap Loader command"...

  • Page 20: Wiring Of The Inputs And Outputs

    Description of the drive module Positioning module UVE8112, IMD10 Wiring of the inputs and outputs Digital inputs, limit switches, reference switches, Enable The evaluation of the inputs can be set by means of software. See “Inputs dialogue box” on page 63. Input P2.0 10NF...

  • Page 21: Digital Limit Switch Chain Output

    Positioning module UVE8112, IMD10 Description of the drive module +24V TLP124 Brake output OU T DGND GND_24V Digital Limit Switch Chain output The Limit Switch Chain output is designed as a potential-free contact. It indicates, if both limit switches are not activated (closed potential-free contact). If one or both limit switch(es) is (are) activated, the contact is open.

  • Page 22: Encoder Connections

    Description of the drive module Positioning module UVE8112, IMD10 Encoder connections The drive module is preset for the connection of a quadrature incremental encoder with index signal. The transfer of the signals is carried out according to the RS422 specification. It is recommended to use shielded cables twisted in pairs for the encoder wiring.
  • Page 23 Positioning module UVE8112, IMD10 Description of the drive module For the CAN wiring, it is recommended to use twisted shielded cables with a characteristic impedance of 108 to 132 ohms. In case of very small network extensions, it may be possible to dispense with the connection of the reference potential (CAN ground) (not recommended).

  • Page 24: Data Transfer

    Description of the drive module Positioning module UVE8112, IMD10 Data transfer The data exchange with the drive module can be realised via the two following interfaces: • serial interface RS232 • Can bus The RS232 interface can be found on the front side of the module; the Can lines are led via the rear connector.
  • Page 25 Positioning module UVE8112, IMD10 Description of the drive module The checksum is formed on the basis of the 1 ... n data bytes (not the ASCII characters). It has to be taken into account that the control character is of no importance for the forming of the checksum. This only concerns the “pure”...

  • Page 26: Commissioning

    These parameters are stored as usual in the UVE8112 module. On the basis of the control and motion parameters of the master and slave axis, the ISEL CNC control determines the optimum motion behaviour for the gantry axis during the initialisation phase.
  • Page 27 Positioning module UVE8112, IMD10 Description of the drive module Set the "Modes of operation" (6060 ) parameter via SDO to the value 3. Send Receive Data Data 2F 60 60 00 03 00 00 00 582 60 60 60 00 00 00 00 00 Set the "Control word"...

  • Page 28: Example 2

    Description of the drive module Positioning module UVE8112, IMD10 Example 2: Communication: RS-232 Baud rate: 19200 baud (Can: 20 kBit/s) Node address: 7 (is only of importance for optional Can accesses) Mode of operation: Positioning (profile position mode) Set the "Modes of operation" (6060 ) via RS232 to the value 1.

  • Page 29: Example 3

    Positioning module UVE8112, IMD10 Description of the drive module Launch the absolute motion by setting Bit 4 in Control Word (0x001F). Send Receive Data (ASCII characters) Data C 2B 40 60 00 1F 00 16 B 60 40 60 00 00 Query of the status word (6041 Send Receive...

  • Page 30: Fault States

    Description of the drive module Positioning module UVE8112, IMD10 Fault states If an error occurs, the module switches to the fault state, in which the final stage is switched off. The LEDs on the front side indicate the current error by a blinking sequence. See EMCY on page 74.

  • Page 31: Dcsetup Programme

    Positioning module UVE8112, IMD10 DcSetup programme DcSetup programme Menus Commands of the File menu The New command (File menu) Use this command to create a new DCF file with default parameters. Shortcuts Tool bar: Keyboard: CTRL+N The Open command (File menu) Use this command to open an existing DCF file.

  • Page 32: Commands Of The Connection Menu

    DcSetup programme Positioning module UVE8112, IMD10 Shortcuts Mouse: System menu eyboard: ALT+F4 Commands of the Connection menu Online Mode On/Off command Use this command in order to enable or disable the online mode (see “Online operation” on page 39). In the onli ne mode, all parameters have the same values in the DcSetup programme and in the drive module.

  • Page 33: Commands Of The Commissioning Menu

    After a firmware update via the bootstrap loader has been realised, the module has the default password “ISEL”. Via the menu Tools\Password, it is possible to define a new password at any given point in time.

  • Page 34: The Firmware Update / Normal Command

    DcSetup programme Positioning module UVE8112, IMD10 As long as the default password is valid, the users do not notice during the application of the DcSetup programme that a Password is required. If the password differs from the default password, however, users are required to enter the right password in order to permanently store the parameters in the module.

  • Page 35: Commands Of The View Menu

    Positioning module UVE8112, IMD10 DcSetup programme See “Firmeware-Update” on page 67. mands of the View menu The Tool Bar command By means of this command, you can show or hide the tool bar. The tool bar contains shortcuts for certain menu commands. The Status Bar command Use this command in order to show or hide the status bar.

  • Page 36: Programme User Interface

    DcSetup programme Positioning module UVE8112, IMD10 Programme user interface Tool bar The tool bar offers shortcuts for frequently used menu commands: Opens a new parameter file Opens an existing parameter file Saves the open parameter file Makes a connection to the drive module Chooses CAN as active connection to the module Chooses the serial interface as active connection Indicates the operating state of the module...

  • Page 37: Drive Status

    Positioning module UVE8112, IMD10 DcSetup programme Drive status This display can be used to consult and change the operating state of the drive module in case of an active online mode. The status is queried about 5 times every second via the active connection. The individual states and transfers are defined in the CANOpen DS402 specification for drives.

  • Page 38: Monitor Window For Can Communication

    DcSetup programme Positioning module UVE8112, IMD10 Monitor window for CAN communication CAN address (node nr. 1) CAN data (SDO) CAN message received In this window, CAN data are shown which are exchanged between the DcSetup programme and the selected drive module. For the communication, the CANOpen SDO protocol is used.

  • Page 39: Programme Functions

    Positioning module UVE8112, IMD10 DcSetup programme Programme functions Create a data connection The positioning module UVE8112 can internally store a configurable set of parameters, in which all drive and control settings are included. If no settings have been carried out yet, the parameters contain default values.

  • Page 40: Can Settings

    DcSetup programme Positioning module UVE8112, IMD10 CAN settings With the Connection / CAN Settings command, you open a dialogue box with which you can set the CAN node number, the baud rate, the Can connection and the DII functions library for the CAN connection to the drive module.

  • Page 41: Commissioning / Adjustment Of Parameters

    “Object Directory dialogue box” of the Settings\Object Directory main menu. If the drive module is operated together with the ISEL control card UPMV4/12, the DcSetup programme has to generate an enabling signal so as to ensure that the final stages can be switched on.
  • Page 42 <APPLY> The set of parameters is only transferred to the module. A permanent storing is only carried out automatically, if the default password “ISEL” is in use. Otherwise it is not carried out. The permanent storing of data can always be realised via the <OK>...

  • Page 43: Connection Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Connection dialogue box Here, you can select the active connection and adjust the corresponding settings. Afterwards, the online mode can be activated. During the step-by-step commissioning, the online mode is automatically launched with the <Next> button.

  • Page 44: Operation Mode Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Operation Mode dialogue box The current mode of operation is given in this dialogue box and can be changed, if the DIP switch was not used to set the analogue reference input (current or velocity control preset). In case of the step-by-step commissioning, the number of the following setting dialogue boxes depends on the mode of operation chosen here.

  • Page 45: Offset Calibration Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Offset Calibration dialogue box With the offset calibration of the analogue input and the internal current feedback, all static deviations from the zero point (internal or external) are adjusted. The offset calibration is realised automatically the drive module and launched via the corresponding button.

  • Page 46: Analogue Input Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Analogue Input dialogue box This setting possibility serves to eliminate small zero point deviations and voltage fluctuations on the analogue input. The digitalised voltage value is set to zero in the set area around the zero point. This parameter has only an effect on modes of operation with analogue input.

  • Page 47: Brake Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Brake dialogue box Output 3 is specifically designed for the control of a connected brake. The use of the brake is optional. If a brake does not exist, the manual control mode has to be chosen. In this mode, the application software has to operate the output or brake itself.

  • Page 48: Current Settings Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Current Settings dialogue box The rated current is the maximum admissible or desired continuous current in the motor. It may be briefly exceeded during normal operation. The peak current indicates a value for the maximum admissible current.

  • Page 49: Current Controller Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Current Controller dialogue box The setting of the PI current controller is realised via the parameters kp (proportional amplification) and ki (integral amplification). Based upon the default values, the controller settings can be optimised. In order to facilitate the setting process, an internally generated rectangular signal (three pulses) is applied on the controller’s input for the test.
  • Page 50 DcSetup programme Positioning module UVE8112, IMD10 On the basis of the actual current display, the jump response of the controller can be assessed. Only if the target value is complied with, the set current values for the rated and peak current correspond to the actual currents.

  • Page 51: Encoder Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Encoder dialogue box An operational encoder connection is an essential condition of the commissioning of the velocity and position controller. If the encoder is not connected or not connected correctly, the motor would make uncontrolled movements.

  • Page 52: Transmission Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Transmission dialogue box The conversion of units of length or angular measurement into the internally used Increments format is made in the drive module. For this, the objects of the Factor Group defined in the CANOpen specification DS402 are used.
  • Page 53 Positioning module UVE8112, IMD10 DcSetup programme With the buttons „Point 1” and “Point 2” you can drive to two different points on the axis. Measure the distance of the two points and input the distance in µm in the edit field “Distance of points on the axis”.

  • Page 54: Velocity Controller Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Velocity Controller dialogue box The setting of the PID velocity controller is carried out by analogy with the setting of the current controller (see Current Controller dialogue box). Furthermore, there are the parameters kd (differential amplification) and the related scan time td.
  • Page 55 Positioning module UVE8112, IMD10 DcSetup programme Target position Target speed Overtravel limitation Output= MAX Ground Actual speed Actual position deviation between the target and the actual position cannot be greater than the following limi ta tion, since the target position follows the actual position, if this distance is exceeded. Too great a valu e of an following limitation might lead to a permanent vibration of the axes.

  • Page 56: Direction Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Direction dialogue box Every axis (linear axis, rotary axis) driven with the positioning module should have a defined axis direction.

  • Page 57: Acceleration Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme If the motor is connected correctly, it should rotate to the right in case of a positive direction and to the left in case of a negative direction (viewed from the front). Here, the rotation direction of the motor can be adapted so that it corresponds to the defined axis direction of the connected mechanical facilities.

  • Page 58: Velocity Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 Velocity dialogue box The maximum speed is the limitation for the speed of all motion functions with a ramp (profile velocity mode, profile position mode). I.e. the speed cannot become greater than this value, even if a different parameter (e.g.

  • Page 59: Position Controller Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme Position Controller dialogue box The position controller is a PID controller with velocity feed forward. This is superimposed on the velocity controller, i.e. the velocity controller has to be set first. By default, the I proportion is set to zero in order to avoid an following of the control.
  • Page 60 DcSetup programme Positioning module UVE8112, IMD10 The setting of the regulation parameters can be realised as follows: Load default values. Set test acceleration to maximum acceleration and control the course of speed Increase kp until a considerable following can be noticed. Increase (and / or td) and adapt kp, if necessary, in order to smoothen the course of speed.
  • Page 61 This parameter is not used within the positioning module. A superordinate CNC control such as the ISEL control can read this parameter and use it for the optimisation of the sequence of motions. The kv factor is to be...

  • Page 62: Can Interpolation Dialogue Box

    Concerning the axis type, the axis can either be set as a linear or as rotary axis. The CNC control of ISEL uses this parameter for the display. Otherwise, the axis type is not used. In case of a gantry axis, where two axes are to be moved synchronously, the maximum position error can be freely defined.

  • Page 63: Inputs Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme ition between the two axes is also smaller during the gantry operation. This means: the greater coupling factor, the better the gantry operation. But the regulation on the slave axis is unfortunately “rougher” The user should always apply the default value as initial value and change it by steps of 1 upwards or downwards.

  • Page 64: Reference Run Dialogue Box

    DcSetup programme Positioning module UVE8112, IMD10 used to set an output of the final stage that should be used to separate the limit switch of this axis from the eme rgency stop chain. Reference Run dialogue box The reference run serves to define the zero point of an axis. For this, the axis moves with the “Drive into the switch”...

  • Page 65: Object Directory Dialogue Box

    Positioning module UVE8112, IMD10 DcSetup programme mechanical axis during the reference run. In case of a reference run with index signal first the axis moves after switch off to the index offset without considering the index signal. After this the axis moves as long as it recognizes the index signal.
  • Page 66 DcSetup programme Positioning module UVE8112, IMD10...

  • Page 67: Firmware Update

    Positioning module UVE8112, IMD10 DcSetup programme Firmware update he software of th driv modul is stor in a rewritable Flash memory. Thus, the programme can be loaded easily from the outside into the module, without memory modules having to be replaced. The loading of a new software version can only be realised via the serial interface.

  • Page 68: Canopen Protocol

    CanOpen protocol Positioning module UVE8112, IMD10 nOpen protocol erview The communication in CanOpen networks is based upon CAN data packages the content (max. 8 bytes) and target address of which are used by the CanOpen protocol. The main part of the communication is handled via the communications objects SDO (Service Data Object) and PDO (Process Data Object).
  • Page 69 Positioning module UVE8112, IMD10 CanOpen protocol Principle of the data transfer in the CANOpen network via SDOs and PDOs CANOpen control e.g. PC Parameters and data of the control Control level e.g. target position Object X e.g. target position Object Y (607A object, 32 bit) (607A object, 32 bit) (16 Bit)

  • Page 70: Sdo

    CanOpen protocol Positioning module UVE8112, IMD10 The Service Data Object (SDO) makes it possible to access the object directory of a CanOpen device. An SDO always uses two CAN objects with different IDs, since this protocol is always confirmed. An SDO creates a communications channel between two CanOpen participants. The device the object directory of which is accessed is the server of this SDO.
  • Page 71 Positioning module UVE8112, IMD10 CanOpen protocol Overview of the possible values of the command specifiers in case of the "Expedited Transfer": Requirement (Client) Response (Server) Command specifier Command Number of Read object (upload Content of the object reques (upload response) specifier data bytes 0x40...

  • Page 72: Pdo

    CanOpen protocol Positioning module UVE8112, IMD10 Example 1: ry of t he actua l position (ob ject 60 ). A s a resp se, the value 16 9000 = 0101 DFA0 is sent back. Data Addres 0x40 0x64 0x60 0x00 0x00 0x00 0x00...

  • Page 73: Types Of Transfer

    Positioning module UVE8112, IMD10 CanOpen protocol Procedure for the setting of t he ma pping: The setting of the mapping is carried out via SDO. Th en under sub-inde x 0 in the mapping table defi th number of a ctive objects in the PDO.

  • Page 74: Sync

    CanOpen protocol Positioning module UVE8112, IMD10 pe no. Cycl Acy Sync Description clic hron chron only Transfer to SYNC, but not periodical 1-240 : trans er after eve ry xth SYNC. RPDO: application of the data at the xth SYNC. 241 251 Reserved.

  • Page 75: Network Management - Nmt

    Positioning module UVE8112, IMD10 CanOpen protocol Network management - NMT The network man agement adm inister s the co mmunic tion’s basic func tions of the par ticipants in the CanOpen network. Here, a master-slave configuration is taken as a basis, in which an NMT master co tr n ols a nd regulates the state of all othe...

  • Page 76: Boot-Up Object

    CanOpen protocol Positioning module UVE8112, IMD10 Power ON or hardware reset Reset communication Reset node CS=0x82 CS=0 Initialisation Initialisation com plete utomatic transiti Pre-Operational =0x80 CS=0x80 CS=0x02 Stopped CS=0x01 CS=0x01 CS=0x02 Operational e " e-Operational" state it is not poss le to send r re ceive PDOs.
  • Page 77 Positioning module UVE8112, IMD10 CanOpen protocol The NMT slave replies within the life time (= guard time x life time factor) with the guarding object, ch con tains – i n one data by te - the curren t NMT s te an a toggle bit.

  • Page 78: Object Directory

    CanOpen protocol Positioning module UVE8112, IMD10 Object Directory The object directory contains a ll para meters and var iables of the module that can be read or written via the Can network. The entries in the directory are characterised by a 16-bit index and a 8-bit sub- de .
  • Page 79 Positioning module UVE8112, IMD10 CanOpen protocol Error memory Index Sub Name Type Attrib Map Default Meaning value Pre-defined error Error memory (list of 1003 RECORD field last errors that occur red). 1003 Number of errors Unsigned 8 Number errors occurred. 1003 Standard error field Unsigned 32...
  • Page 80 CanOpen protocol Positioning module UVE8112, IMD10 Hardware version Index Sub Name Type Attrib Map Default Meaning value Manufacturer’s Hardware version Visible string hardw are version number. Soft ware version Index Sub N Type Attrib Map Default Meaning value 100A Manufacturer’s Visible String Software version number.
  • Page 81 Positioning module UVE8112, IMD10 CanOpen protocol • All writable device profile parameters except for Control word, Interpolation Data and Interpo lation-Actual-Buffer-Size. • Manufacturer-specific parameters: o ffset values of the analogue inputs. oad d fau lt p arameters Index Sub Name Type Attrib Map Default...

  • Page 82: Pdo / Mapping Parameters

    CanOpen protocol Positioning module UVE8112, IMD10 SDO parameters Index Sub Name Type Attrib Map D efault Mean alue Server SDO RECORD SDO parameters of the 1200 parameters module. 1200 Number of entries Unsigne CONST Number of entries. 1200 Client- Unsigned 32 0x600 Identifier >Server (rx)
  • Page 83 Positioning module UVE8112, IMD10 CanOpen protocol eceive PDO4 – com munications param eters Index Sub Name Type Attrib Defaul Meaning 1403 R_PDO4 parameters RECORD Comm. parameters. 1403 Number of entries Unsigned 8 CONST Number of entries. 1403 COB ID Unsigned 32 0x500+Node Identifier of the RxPDO4.
  • Page 84 CanOpen protocol Positioning module UVE8112, IMD10 Receive PDO4 – mapping parameters Index Sub Name Type Attrib Map Default Meaning value 1603 R_ PDO4 mapping RECORD Mapping parameters. 1603 No. of obj. in Unsigned 8 Number of objects. 1603 Mapping for 1st obj. Unsigned 32 60400010 Mapping of the 1...
  • Page 85 Positioning module UVE8112, IMD10 CanOpen protocol Transmit PDO3 – communication parameters Index Sub Name Type Attrib Map Default Meaning value 1802 T_PDO3 parameters RECORD Comm. parameters. 1802 Number of entries Unsigned 8 Number of entries. 1802 COB ID Unsigned 32 0x380+Node Identifier of the TxPDO3.
  • Page 86 CanOpen protocol Positioning module UVE8112, IMD10 Tran smit PDO2 – mapping parameters ex Sub Name Type Attrib Map Default Meani value 1A01 T_ PDO2 Mapping RECORD Mapping parameters. 1A01 No. of obj. in PDO Unsigned 8 Number of objects. 1A01 Mapping for 1st obj.

  • Page 87: Device Profile Parameters

    Positioning module UVE8112, IMD10 CanOpen protocol Device profile parameters CanOpen compri ses different device s (e.g. I/O m ules, drives, e ncod ers ...), so -called device profiles, in which pre-defined parameters and modes of operation are available for each device class. According to the functional scope of a device, more or less of these default objects can be...
  • Page 88 CanOpen protocol Positioning module UVE8112, IMD10 • Fault: Final stage blocked. Drive functions blocked. ontrol word Index Sub Name Type Attrib Defaul Meaning 6040 Control w Unsigned 16 0x00 Control of all important drive functions. Meaning of the bits in the control w All modes of Mode of de of...

  • Page 89: Mode Of Operation

    Positioning module UVE8112, IMD10 CanOpen protocol ning of the bits in the status word All modes of Mode of Mode of Mode of Mode of operation operation: operation: operation: operation: “Velocity control” “Profile position “Homing mod e” “Interpolation” mode” Status of the state machine. inal stag e blocke d (no en...

  • Page 90: Current Control

    CanOpen protocol Positioning module UVE8112, IMD10 Disp lay of the mode of operation ex Sub Name Type Attrib Map Default Meaning value Modes of operation Display of the current Signed 8 display mode of operation. Curre nt control The following objects refer to the current settings and the regulation of the motor current.

  • Page 91: Profile Velocity Mode - Velocity Control With Ramp Profile

    Positioning module UVE8112, IMD10 CanOpen protocol Current controller parameters Index Sub Name Type Attrib Map Default Meaning value Torque control Parameters of the current 60F6 RECORD parameters controller. 60F6 Number of entries Unsigned 8 CONST Number of entries. 60F6 Unsigned 16 Proportional amplification.

  • Page 92: Profile Position Mode - Position Control With Ramp Profile

    CanOpen protocol Positioning module UVE8112, IMD10 Velo city sensor selection ex Sub Name Type Attrib Map Default Meaning value Sensor selection: Type velocity Signed 16 sensor (0 = velocity is determined on the basis of the position encoder). Velo city window Index Sub Name Type...
  • Page 93 Positioning module UVE8112, IMD10 CanOpen protocol Via Control word and Status word a handshake is made during the transfer of the segments. In t e following illu stration, 4 m oveme nt segm ents are xecu ed after e ach o ther.
  • Page 94 CanOpen protocol Positioning module UVE8112, IMD10 Final velocity ex Sub Name Type Attrib Map Default Meaning value Velocity at the end of the 6082 End velocity Unsigned 32 movement segment user-defined units / s. Acceleration Index Sub Name Type Attrib Map Default Meaning value...

  • Page 95: Interpolated Position Mode - Position Control With Interpolation

    Positioning module UVE8112, IMD10 CanOpen protocol Following error time window Index Sub Name Type Attrib Map Default Meaning value Following error Time window 6066 Unsigned 16 timeout monitorin g of the following error [milliseconds]. ition controller parameters Inde x Sub Name Type Attrib Map Default...

  • Page 96: Homing Mode - Reference Run

    CanOpen protocol Positioning module UVE8112, IMD10 The length of the SYNC interval in µs has to be entered in the "Communication Cycle Period" (1006 obje ct so as to ma ke sure that the driv e calcu lates the nterim values co rrec tly.
  • Page 97 Positioning module UVE8112, IMD10 CanOpen protocol See "Reference Run dialogue box" on page 64. The type as well as the velocities and acceleration during the search for the zero point can be set. For the execution of the reference run, the module has to be switched to the Homing Mode of operation.

  • Page 98: Moving The Axis Out Of A Limit Switch

    CanOpen protocol Positioning module UVE8112, IMD10 Reference run speeds ex Sub Name Type Attrib Map Default Meaning value Speeds during 6099 Homing speeds RECORD reference run. 6099 Number of entries Unsigned 8 CONST Number of entries. 6099 Speed d uring search Unsign ed 32 10000...

  • Page 99: Factor Group - Conversion Factors

    Positioning module UVE8112, IMD10 CanOpen protocol Fact or Group – Conversion factors The objects in the Factor Group are required for the conversion of the position, velocity and acceleration value from user-defined units (e.g. µm) into internal units (increments). The only object which really is required for the conversion is the conversion factor ( 6093 ).
  • Page 100 CanOpen protocol Positioning module UVE8112, IMD10 Incremental encoder resolution Index Sub Name Type Attrib Map Default Meaning value Position encoder Resolution 608F RECORD resolution cremental encoder. 608F Number of entries Unsigned 8 CONST Number of entries. 608F Encoder increments Unsigned 32 Number coder impulses (4 ti...

  • Page 101: General Parameters

    Positioning module UVE8112, IMD10 CanOpen protocol General parameters Here, those objects are grouped that cannot be allocated to a certain group, since they affect several modes of operation or functional groups. aximum speed Index Sub Name Type Attrib Defaul Meaning alue 607F Max.
  • Page 102 CanOpen protocol Positioning module UVE8112, IMD10 Digital outputs Index Sub Name Type Attrib Map Default Meaning value Actual state of the digital 60FE Digital outputs Unsigned 8 outputs. With elp of the first bit the object 0 0FE, out ut be set or re set for the brake c ontrol.
  • Page 103 Positioning module UVE8112, IMD10 CanOpen protocol Drive data Index Sub Name Type Attrib Map Default Meaning value General parameters 6510 Drive data RECORD the drive module. 6510 Number of entries Unsigned 8 CONST 6510 Digital input1 Unsigned 8 Configuration of the digital configuration input 1.
  • Page 104 CanOpen protocol Positioning module UVE8112, IMD10 The meaning of the bits is internally allocated as follows: Mode of Parameter value operation Bit 0 Negative limit switch Bit 1 Positive limit switch Bit 2 Reference switch Bit 3 Enabling signal The “Mode of brake control” determines how the brake is controlled via output 3. It has to be taken into acco t that th e 0x60FE “Digital outputs”...

  • Page 105: Manufacturer-Specific Parameters

    Positioning module UVE8112, IMD10 CanOpen protocol Manufacturer-specific parameters In the range of 2000 to 5FFF of the object directory, there are those parameters that are not predefined by a CanOpen specification. Can Baud Rate ex Sub Name Type Attrib Map Default Meaning value Can Baud Rate...
  • Page 106 Meaning value 2041 Axis type Unsigned 8 Linear axis. Rotary axis. The CNC control of ISEL uses this parameter for the display. Otherwise, this parameter does not have any particular application purpose. Password Index Sub Name Type Attrib Map Default...
  • Page 107 Check (Dummy) Check (Dummy) With the help of the synchronous control objects given above, the ISEL CNC control realises the operation of the gantry axis. The “Synchronous Mode” object is set during the CNC operation by the control, if applicable. Currently, up to 2 gantry axes are allowed per machine. The CAN node ID of the slave axes are stored in the “Slave minimal node ID”...
  • Page 108 CanOpen protocol Positioning module UVE8112, IMD10 factor” object. It has to be taken into account that these two objects of a slave axis, and not of a master axis, have to be set. Active target value channel Index Sub Name Type Attrib Map Default...
  • Page 109 Positioning module UVE8112, IMD10 CanOpen protocol Offset analogue input Index Sub Name Type Attrib Map Default Meaning value Calibrate analogue Offset adjustment 2064 RECORD analogue inputs. 2064 Number of entries Unsigned 8 CONST Number of Entries. 2064 Calibrate analogue Unsigned 8 A value unequal to zero input launches the adjustment...
  • Page 110 CanOpen protocol Positioning module UVE8112, IMD10 Current control test signal Index Sub Name Type Attrib Map Default Meaning value Torque control test: RECORD Test signal for current 2090 input controllers. 2090 Number of entries Unsigned 8 CONST Number of entries. 2090 Test: input duration Unsigned 8...
  • Page 111 Positioning module UVE8112, IMD10 CanOpen protocol The sub-index 2 helps to carry out the following settings: Configure test Internal mode of operation input Back to normal mode of operation Test signal current control Test signal velocity control Test signal position control Encoder test positive direction Encoder test negative direction Determine maximum velocity...

  • Page 112: Eds / Dcf Files

    Positioning module UVE8112, IMD10 EDS / DCF files The drive module includes a so-called EDS file (Electronic Data Sheet) which contains a description of all objects of a module. This file has a form which is defined in CanOpen so as to make sure that it can be read in by different configuration tools.

  • Page 113: Appendix

    Positioning module UVE8112, IMD10 Appendix Appendix UVE8112 package dimensions...

  • Page 114: Imd10 Package Dimensions

    Appendix Positioning module UVE8112, IMD10 IMD10 package dimensions...

  • Page 115: Glossary

    Positioning module UVE8112, IMD10 Glossary Glossary DCF file Device Configuration File Descriptions of the module’s objects and current value of the objects. EDS file Electronic Data Sheet File Descriptions of the module’s objects. Process Data Object Can message with a defined identifier which contains one or more objects without address information.

  • Page 116: Index

    Index Positioning module UVE8112, IMD10 Index Fault state ..............29 File................30 Firmware update.......... 32, 33, 66 Acceleration.............56 Forward feed constant ..........51 Active connection ............42 Forward feed factor ..........59 Analogue input..........7, 13, 20 Frame connector ..........11, 16 Axis direction ..........55, 100 Axis type..............105 Guarding..............
  • Page 117 Positioning module UVE8112, IMD10 Index PDO ..............71, 81 Short scan time ............48 PDO communications parameters ......72 Speed ............... 57 Peak current .............47 State machine ............86 Position controller..........58, 61 Status diagram ......... 9, 10, 74, 86 Positioning...............88 Status word.............. 87 Pre-Operational............75 Store parameters............

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