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ELGO Electric P8721-000-P Series Manual

Single axis position controller
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SERIES P8721-000-P
Single Axis Position Controller
ELGO - ELECTRIC Gerätebau und Steuerungstechnik GMBH
D - 78239 Rielasingen, Postfach 1130, Carl - Benz - Straße 1
Telefon
07731/9339-0, Telefax 07731/28803 e-mail: info@elgo.de
P8721-000-P-SV001.V1.3
− Closed loop Analogue with +/- 10v control and
2 or 3 switched speed operation
− 200 Line programme
− Manual Operation
− Single Operation
− Auxiliary functions
28/99

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Summary of Contents for ELGO Electric P8721-000-P Series

  • Page 1 SERIES P8721-000-P Single Axis Position Controller − Closed loop Analogue with +/- 10v control and 2 or 3 switched speed operation − 200 Line programme − Manual Operation − Single Operation − Auxiliary functions ELGO - ELECTRIC Gerätebau und Steuerungstechnik GMBH D - 78239 Rielasingen, Postfach 1130, Carl - Benz - Straße 1 Telefon 07731/9339-0, Telefax 07731/28803 e-mail: info@elgo.de...

  • Page 2: Table Of Contents

    SHORT DESCRIPTION FUNCTIONS Two speed operation Three speed operation Setting Datum Encoder Monitoring Quantity Counter Auxiliary Functions Fault Monitoring FRONT PANEL Functions of Display Function of the Keypad CONTROLLER IN OPERATION Single Operation Programme Operation (R8/4 = 0) 4.2.1 Selection of a Programme Block 4.2.2 Input of a Programme Table Operation Mode (R8/4 =1)
  • Page 3 OFFSET ADJUSTMENT OF CLOSED LOOP ANALOGUE SYSTEM SETTING OF ANALOGUE PARAMETERS FUNCTIONS OF THE INPUTS (CONNECTOR ST3) FUNCTIONS OF THE OUTPUTS CONNECTIONS TECHNICAL DATA INSTALLATION HINTS ONLY FOR SERVICE ORDERING CODES...

  • Page 4: Short Description

    Short Description Whilst the P8721-000-P with option Analogue-output is specifically designed to provide closed loop (Proportional, Integral, Differential) analogue control of 4 quadrant drives, it also serves the purpose of operating as a 2 or 3 speed controller, as the P8721-000-R. When used as a closed loop controller, it is essential that: - 1.

  • Page 5: Functions

    The performance and accuracy obtained is dependent on the type of drive chosen. The outputs for stepped speed drives are transistors. These outputs can be configured in a number of ways to suit all types of control circuits. Actual position is monitored by an incremental Encoder.

  • Page 6: Setting Datum

    Option Analogue +/- 10v Control (see Section 8 & 9 for full description) The setting is effected using Registers R50 to R66 Speed I - Limit or Demand Speed Time Setting Datum Datum can be set in a variety of ways. The method is selected in Register R8/3 R8 = xx0xxx Datum to R7 Closing input St 3 / 8 transfers the value set in R7 into Actual Position Display...

  • Page 7: Encoder Monitoring

    The speeds for going to Datum are set as follows ;- 1. Analogue control First phase (from start to hitting end limit) Speed set in R67 (rpm) Second phase (from reversal to marker pulse) Speed set in R68 (rpm) 2. Switched speed control First phase (from start to hitting end limit) Speed set in R69 For Creep speed R69 = xxxxx0...

  • Page 8: Fault Monitoring

    Fault Monitoring When a fault occurs, it’s number flashes in the Actual Position Display Fault number 01 = Encoder failure detection 02 = -ve End limit active 03 = +ve End limit active 04 = Actual Position < min software limit (R13) Hand Demand Position <...

  • Page 9: Front Panel

    Front Panel absolute/in sign symbol cremental demand actual selection position position Quantity Auxiliary function TYP P8721 ELGO ELECTRIC Adress > > > > LED 1-4 Hand Hand Single Address number selector Select single / manual Single Prog Select programme Prog Cursor operation P-End...

  • Page 10: Function Of The Keypad

    TYP P8721 ELGO ELECTRIC > > > > Hand Hand Single Single Prog Prog P-End Start Stop Function of the Keypad Hand/ 1. Pressing once will select “Single”. (LED “Single” illuminates) Single A Demand position can be entered. Using Cursor “>” Button enables quantity to also be set.
  • Page 11 TYP P8721 ELGO ELECTRIC > > > > Hand Hand Single Single Prog Prog P-End Start Stop > The Cursor Button selects the next data window sequentially. On completion of a line, the next press will select the next Address line. LED’s 1 –...

  • Page 12: Controller In Operation

    Controller in Operation Switch on conditions: On switch on, the controller assumes the same conditions as at time of switch off. The Actual position is memorised. In “Hand” and “Prog”, the Demand Windows are set to zero. In “Single” the Demand value is made to equal Actual value. When automatic datum routine feature is selected,R8/3 = 2 or 3 the controller will not operate, until the datum routine has been carried out.

  • Page 13: Input Of A Programme

    4.2.2 Input of a Programme The required Programme Block is selected in accordance with section 4.2.1. Press Prog Selects Programme mode Press Nr “01” appears in Nr Window. LED illuminates under Demand Window . Press C Clears existing value. Use Keys 0 – 9 To enter new dimension.

  • Page 14: Hand Operation

    Hand Operation Press T Resets demand windows to zero Use the Button “Hand/Single” to select “Hand”. LED “Hand” illuminates. Buttons 7 8 9 NR can be used to move the Axis forward and backwards at high and low speeds (whilst the button is depressed). The remaining Buttons are inhibited in Manual mode.

  • Page 15: Register Input

    Register Input Unlocking Registers by Security Code The values of Registers R1 to R97 can be changed after the Security Code 250565 has been entered into Register R98. (Note that Register R40/R6/R7 are accessible without the need for the Security Code).

  • Page 16: Locking Of Registers

    Locking of Registers Once all the values have been set, it is necessary to relock the Registers to avoid accidental changes. There are two methods to do so. a)Use Security Code Press R Key in 98 Press > 000000 is displayed Press C Locks Registers Press E...
  • Page 17 Register Function Resolution Suggested Customer initial setting Programme Block selection See para 7.22 Number of lines in Prog Block 1-99 Speed UPM 1-10000 Accel/Decel revs/sec2 P term 1-3000 I term 1-1000 D term 1-1000 I limit 1-1000 Encoder edge multiplier 1,2,4 Encoder pulses per rev 1-10000...

  • Page 18: Description Of Registers

    Description of Registers Slow speed distance Distance to demand position at which the controller switches from high speed to slow speed. The output high speed will be switched off. Creep speed distance Distance to demand position at which the controller switches from slow to creep speed Stop offset distance The over run distance can be programmed to compensate for distance from the switch-off point of the motor to standstill.
  • Page 19 Datum This Register can be accessed without Security Code. The Datum value is stored in this Register. The value is used in different ways, in accordance with setting of P8/3. Input St3/8 initiates loading. System Register 1 This Register sets the basic operating functions of the unit. Backlash 0 = no backlash compensation 1 = negative backlash comp...
  • Page 20 Output Configurations These depend on setting of Register R8/5 Value 0 3 speed operation (Elgo standard default) 3 speeds selected by relays 1,2 & 3 output 4 sets direction reverse OUTPUT ST5/ Creep forwards Slow forwards Fast forwards Creep reverse Slow reverse Fast reverse R1 = Run, R2 = Slow &...
  • Page 21 Value 3 2 speed operation Independent outputs for direction and speed OUTPUT ST5/ Creep forwards Slow forwards Fast forwards Creep reverse Slow reverse Fast reverse Value 4 3 speed operation Forwards – 3 Outputs set speeds Reverse – always fast Output 4 = reverse OUTPUT ST5/ Creep forwards...
  • Page 22 Time position reached At the end of each move, the controller gives an output, to signal “in position”. The length of this pulse is set in R9. Setting 0.0 gives a maintained output. This output St5/14 is active when Actual position = Demand position +/- Tolerance window Backlash dwell time When the machine stops at the end of the over run, it is usually desirable to have a short delay.
  • Page 23 Hand Operation The movement will stop when software limits are reached. If moving at high speed, the drive will drop to creep speed at a distance set in R1 from this limit. This prevents running into the ends of the machine. The end limit values are taken into account for minus the backlash value as set in R4, if R8/6 is selected.
  • Page 24 System Register 2 This Register also sets the functions of the controller. Demand Window Quantity Counter 0 = no quantity Counter 1 = automatic subtracting 2 = automatic adding 3 = manual subtracting 4 = manual adding 5 = automatic add/sub 6 = manual add/sub Option Positioning in Prog...
  • Page 25 Encoder monitoring If after positioning is initiated, no Encoder pulses are sensed after a time set in R19, positioning will be aborted and Fault 01 will be displayed. Setting R19 to 0.0, disables Encoder pulse monitoring. Decimal Point The decimal point is placed in a fixed position and is optical only. It does not change the resolution of the system.
  • Page 26 System Register 3 This Register also sets the functions of the controller. Demand Window Display windows select in single mode 0 = All windows in use 1 = Demand alone 2 = Demand & Quantity Start/Stop Keys disable 0 = all key enabled 1 = stop disabled 2 = start disabled 3 = start and stop disabled...
  • Page 27 Controller switch on mode The value set in this register will determine the mode of operation that The controller assumes on power up Value 0 -same as power off Value 1 - single mode Value 2 - program Value 3 - Hand Start delay time On activating start, the controller calculate the parameters to arrive in position, after a time delay of this Parameter the controller start the analogue output.
  • Page 28 P Term (Proportional Amplification; setting 1 – 3000) During operation, the difference between demand and actual positions will be multiplied by the value of this Register and result in an Analogue output. The greater the proportional amplification, the more responsive (eventually also unstable) will be the system.
  • Page 29 Stop characteristics This Register sets the stop characteristics of the controller in the different stop contitions. Demand Window characteristics of front-panel stop-key Stop characteristics of external stop-input Stop characteristics of limit-switch and software limit Stop characteristics in Hand mode fast Stop characteristics in Hand mode slow Stop...
  • Page 30 Speed of going to Datum – Second phase (in rpm) Speed of going to Datum in First phase, in switched speed control mode System Register 4 This Register sets further basic functions of the controller. Demand Window Incremental error comp 0 = not active 1 = active Start input...
  • Page 31 Inch/mm R97/6 =00000x 0 = mm operation 1 = inch operation. Resolution 1/100 2 = inch operation. Resolution 1/1000 3 = factor operation. As set in R94 Decimal point is set by R20/5 Security Code Enter 250565 to unlock and change Parameters...

  • Page 32: Offset Adjustment Of Closed Loop Analogue System

    Offset Adjustment of Closed loop Analogue system When the position controller is connected to the motor drive, it is possible to come “into position” with an error, due to an analogue offset voltage. This error can be compensated for by adjusting the offset potentiometer of the drive (analogue drives).

  • Page 33: Setting Of Analogue Parameters

    Setting of Analogue Parameters Initial settings :- 1. Enter Encoder Resolution in R57 (max 10000 ppr) 2. Set Edge Multiplier in R56 3. Set the desired speed in R50 (for programme and single) and R60-63 (for Hand) – max 10000 rpm. The product of Encoder Resolution and rpm should not exceed the maximum input frequency of the controller.

  • Page 34: Functions Of The Inputs (Connector St3)

    Functions of the inputs (Connector St3) St3/3 & 7 End Limits External limit switches can be connected Input logic is NPN i.e. input open = end limit activated St3/3 -ve end limit St3/7 +ve end limit Fault monitoring : End limit –ve active = 02 End limit +ve active = 03 N.B If these are not connected to limit switches they need to be connected Normally closed (i.e.

  • Page 35: Functions Of The Outputs

    Functions of the Outputs St5/1-4 Run Signals The functions are selectable. See page 20/21 St5/5 Single Operation This output is set when Single is selected St5/6 Hand Operation This output is set when Hand is selected St5/7 Going to Datum If this feature is selected in R8/3, then on activating start, this output is set.

  • Page 36: Connections

    Connections Output Signals (Push Pull) Input Signals (NPN) Creep These run signals are confi- Slow gurable in a number of ways Fast End limit switch -ve see page 20/21 (these sig- Reverse Start nals are only for R8/5=0 Single selected Incremental -ve Hand selected Incremental +ve...
  • Page 37 12.1 Terminal layout ST 9 115VAC 230VAC Encoder Input Input Signals Output Signals Serial comms. Analogue Signals Power supply (from NG13.0) / ore 115/230 VAC...

  • Page 38: Technical Data

    Technical Data Power Supply +24VDC/ 230/115 VAC 50/60 Hz Consumption 500 mA / 24VDC max Encoder supply +24v dc 130 mA max Input Signals PNP negative logic : connect inputs to 24V (option NPN – if specified at order stage only) minimum time of input signal : 300 mS input current : 10 mA max Output Signals...

  • Page 39: Installation Hints

    Installation Hints Elgo electric controllers are constructed to the latest standards of technology and protected against electrical “noise”. To enable the controller to operate successfully, the following instructions must be carried out. Location The unit must not be mounted in vicinity of high inductive or capacitive powers or static electricity.

  • Page 40: Only For Service

    Only for Service R99 Service Register When R99 is selected, the following functions can be called up:- Security Register R98 must be opened and service Register R90 set. R90 = 000001 Button 4 active R90 = 000002 All buttons active NB: Select R90 before R99 Button 0 Displays state of inputs St3/1-8 in demand window...

  • Page 41: Ordering Codes

    Ordering Codes P 87 2 1 – 000- 230 – 0 – P-XXXXXX P = Position Controller Series P8721 with Programme memory Programme Memory 2 = with Number of Axes Construction 000 = standard 001 = 1 special version Supply voltage 024 = 24 V DC 115 = 115 V AC 230 = 230 V AC...

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