Motrona PS340 Operation Manual
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Motrona PS340 Operation Manual

Single axis position controllers for low-cost solutions
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Operating Manual
Single Axis Position Controllers for Low-Cost Solutions
Product features:
Autonomous precision controller for any kind of positioning applications
Easy parameter setting and immediately ready to work with minimum
commissioning time
High accuracy due to high feedback frequency range
(300 kHz with TTL encoders and 200 kHz with HTL encoders)
Extremely smooth motion by optimized S-shape profiles
High dynamic response by means of short cycle time
Various modes of operation for absolute and relative positions (incremental
length), loop operation and positioning on index signals or print marks
Most compact unit including operator panel for direct access and
RS232 interface for remote access
PROFIBUS DP interface available (option)
Available models:
 PS340: for more details please refer to chapter
 PS641: for more details please refer to chapter
motrona GmbH, Zeppelinstraße 16, DE - 78244 Gottmadingen, Tel. +49 (0) 7731 9332-0, Fax +49 (0) 7731 9332-30, info@motrona.com, www.motrona.com
PS340 and PS641
2
2

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Summary of Contents for Motrona PS340

  • Page 1 Available models:  PS340: for more details please refer to chapter  PS641: for more details please refer to chapter motrona GmbH, Zeppelinstraße 16, DE - 78244 Gottmadingen, Tel. +49 (0) 7731 9332-0, Fax +49 (0) 7731 9332-30, info@motrona.com, www.motrona.com...

  • Page 2: Table Of Contents

    4. “Legal notices” supplemented. Legal notices: All contents included in this manual are protected by the terms of use and copyrights of motrona GmbH. Any reproduction, modification, usage or publication in other electronic and printed media as well as in the internet requires prior written authorization by motrona GmbH.
  • Page 3 10 Appendix for model PS641 ................. 39 10.1 Relay Outputs ...................... 39 10.2 Front Thumbwheel Switches ................39 11 Technical Specifications ................40 12 Dimensions ....................42 12.1 Model PS340: ...................... 42 12.2 Model PS641: ...................... 43 Ps34001b_oi_e.doc / 19.11.15 Page 3 / 43...

  • Page 4: Safety Instructions And Responsibility

    1 Safety Instructions and Responsibility 1.1 General Safety Instructions This operation manual is a significant component of the unit and includes important rules and hints about the installation, function and usage. Non-observance can result in damage and/or impairment of the functions to the unit or the machine or even in injury to persons using the equipment! Please read the following instructions carefully before operating the device and observe all safety and warning instructions! Keep the manual for later use.

  • Page 5: Installation

    Please find all respective hints and rules on www.motrona.com/download.html --> “[General EMC Rules for Wiring, Screening and Earthing]”. 1.4 Cleaning, Maintenance and Service Notes To clean the front of the unit please use only a slightly damp (not wet!), soft cloth.

  • Page 6: Available Models

    Where you desire to mount the units on DIN rails inside a cabinet, please refer to the mounting brackets type SM 300 and SM 600 available as accessories. Figure: SM300 mounting bracket for DIN rail mounting of PS340 units Ps34001b_oi_e.doc / 19.11.15...

  • Page 7: Introduction

    PROFIBUS applications, our PB251 gateway is available. Therefore the user has multiple possibilities for remote control of all parameters via operator terminals, PC or PLC systems  This manual first provides all basic instructions for operation of model PS340  For operation of relays and thumbwheels with model PS641 see appendix ...

  • Page 8: Electrical Connections

    4 Electrical Connections 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 23 24 25 26 27 28 29 30 31 32 Com+ (K1 - K4) Example shows wiring n.
  • Page 9 Terminal Name Function Common Ground Potential (0V) +5.2 V out Aux. output 5.2 V/150 mA for encoder supply *) +24 V out Aux. output 24 V/120 mA for encoder supply *) Common Ground Potential (0V) Encoder, /B Encoder of the positioning drive, channel /B (B inverted) Encoder, /A Encoder of the positioning drive, channel /A (A inverted) n.

  • Page 10: Power Supply

    4.1 Power Supply The PS340 controller accepts both, a 17 to 40 VDC power or a 24 VAC power for supply via terminals 17 and 1. The current consumption depends on the level of the input voltage and some internal conditions; therefore it can vary in a range from 100 to 200 mA (auxiliary currents taken from the unit for encoder supply not included).

  • Page 11: Control Inputs Cont.1 - Cont.4

     Remote change of parameters during operation  Remote readout of actual values by PLC or PC The figure below explains the connection between the PS340 unit and a PC using the standard Sub-D-9 serial connector For details of the serial communication protocol, please refer to the special “Serpro” manual.

  • Page 12: Functional Description

    It is necessary to adjust the positioning drive to its maximum dynamic response (no internal ramps, no integral control loop, high proportional gain), because the PS340 and PS641 will generate the ramps which the drive has to follow with no additional delay...

  • Page 13: Keypad Operation

    6 Keypad Operation An overview of all parameters and explanations can be found under section 7. The menu of the unit uses four keys, hereinafter named as follows: PROG DOWN ENTER Key functions depend on the actual operating state of the unit. Essentially we have to describe three basic states: ...

  • Page 14: Direct Fast Access To Incremental Length Setting

    Step State Key action Display Comment Normal operation Actual Error Display of the > 2 sec. Parameter group Level: F02 … F06 Select group # F06 Parameter group Confirmation of F06.  F06.050 The first parameter of this group is F06.050 Level: F06.051…...

  • Page 15: Change Of Parameter Values On The Numeric Level

    6.4 Change of Parameter Values on the Numeric Level The numeric range of the parameters is up to 6 digits. Some of the parameters may also include a sign. For fast and easy setting or these values the menu uses an algorithm as shown subsequently.

  • Page 16: Code Protection Against Unauthorized Keypad Access

    6.5 Code Protection against Unauthorized Keypad Access Parameter group F09 allows to define an own locking code for each of the parameter menus. This permits to limit access to certain parameter groups to specific persons only. When accessing a protected parameter group, the display will first show “CODE” and wait for your entry.

  • Page 17: Menu Structure And Description Of Parameters

    7 Menu Structure and Description of Parameters All parameters are arranged in a reasonable order of functional groups (F01 to F09) You must only set those parameters which are really relevant for your specific application. Unused parameters can remain as they actually are. 7.1 Summary of the Menu This section shows a summary of the parameter groups, with an assignment to the functional parts of the unit.
  • Page 18 Command Assignment Keypad protection codes Key Up Function Protect Group F01 Key Down Function Protect Group F02 Key Enter Function Protect Group F03 Input 1 Configuration Protect Group F04 Input 1 Function Protect Group F05 Input 2 Configuration Protect Group F06 Input 2 Function Protect Group F07 Input 3 Configuration...

  • Page 19: Description Of The Parameters

    7.2 Description of the Parameters Prior to register setting you must decide which dimensions or length units (LU) you like to use for preset of the incremental length or absolute positions. This could be 0.1mm or 1mm or 0.001 inch or any other resolution you desire.
  • Page 20  The controller generates ramps of a constant gradient. Therefore, the actual ramp times depend on the ramp time settings and the positioning speed.  You must only use acceleration and deceleration settings that the drive is really able to follow. Settings outside of the physical capability of the drive will result in malfunction or even failure of the whole system.
  • Page 21 Range Default F02.006 Pulses per 1000 LU: 1 to 999 999 10 000 This is a scaling factor permitting to set the positions in any kind of length units, independent of the feedback resolution. Set the number of encoder pulses generated by the encoder for a distance of 1000 length units here.
  • Page 22 Homing Mode Homing forward Homing reverse Static homing input (Homing while input homing forw. or homing rev. is set) Reference position defined by proximity switch, Homing sequence without change of moving direction Reference position defined by proximity switch, Approach to reference position in forward direction Reference position defined by proximity switch,...
  • Page 23 Range Default F02.015 Pos. 0: -99 999 to Registers to preset up to 10 fixed positions and to set 100 009 branch (jump) functions for the next target position. When used as a position register, the setting range is -99 999to +99 999. Values from 100 000 to 100 009 serve as branch address for the position targets Pos.
  • Page 24 7.2.3 Definitions for the Master Encoder Range Default F03.026 n. a.= not applicable F03.027 (not used with PS units) F03.028 F03.029 7.2.4 Definitions for the Slave Encoder Range Default F04.032 Encoder properties 0 to 1 Impulses A, /A, B, /B (2 x 90°) incl. inv. Impulses A, B (2 x 90°) without inv.
  • Page 25 7.2.5 Analog output definitions Range Default F05.038 Control characteristics and Analog format 0 to 3 Output scaled for a -10 V to +10 V signal Output scaled for a -10V to +10 V signal Output scaled for a -20 mA to +20 mA signal Output scaled for a -20 mA to +20 mA signal F05.039 Offset Correction: -10.000 to +10.000...
  • Page 26 7.2.6 Key command assignments Range Default F06.046 Function assignment to key „UP“ 0 to 16 No function Reset Start Homing forward Homing reverse n. a. For more details about these Emergency Stop functions see section Store to EEPROM Scroll Display n.a.
  • Page 27 7.2.7 Characteristics and functions of the Control Inputs Range Default F06.049 Switching characteristics of input „Cont.1“ 0 … 7 NPN (switch to -), function active LOW NPN (switch to -), function active HIGH NPN (switch to -), rising edge NPN (switch to -), falling edge PNP (switch to +), function active LOW PNP (switch to +), function active HIGH PNP (switch to +), rising edge...
  • Page 28  Unconnected NPN inputs are always HIGH (internal pull-up resistor)  Unconnected PNP inputs are always LOW (internal pull-down resistor)  The function “Reference Position” can be assigned to inputs “Cont. 1” to “Cont.3”. If this function is used for the homing sequence the corresponding input must operate statically, i.
  • Page 29 7.2.9 Special functions Range Default F08.064 Digital input filter: must be set to “0”. 0 … 3 F08.065 Trigger threshold for encoder1 inputs *) 30 … 250 F08.066 Trigger threshold for encoder2 inputs *) 30 … 250 F08.067 Brightness of the 7-segment LED display 0 …...

  • Page 30: Description Of Commands And Outputs

    8 Description of Commands and Outputs 8.1 Commands No. Command Description Assignment to Keypad Input Reset Sets the internal differential counter and the analog correction signal to zero, i. e. the position control runs in open loop operation. Furthermore this command resets error conditions and clears the corresponding error messages (see also chapter / Error Messages).
  • Page 31 No. Command Description Assignment to Keypad Input Reference In modes 0 – 3, this input receives a signal from a limit Position switch or a proximity to define the reference position. Depending on the selected home mode, the drive will stop here, the output “Homing Done”...

  • Page 32: Outputs

    8.2 Outputs Output Terminal Batch Finished: X2 / 26 The batch counter has reached the value set by parameter F02.025 (Batch Quantity). Homing done: X2 / 25 Upon power up, this output remains low until a homing cycle has been executed and the system has been calibrated by moving to its reference position.

  • Page 33: Display Of Actual Values

    8.3 Display of Actual Values During normal operation it is possible to display an actual value. Two LEDs at the front panel indicate the actual value displayed. You can scroll the actual value on the display by Scroll Display command, which can be assigned either to a key or to an input. Parameter F08.071 “Default Display”...

  • Page 34: Error Messages

    8.4 Error Messages Upon detection of an error, the drive remains in a closed-loop standstill at the actual position. Output “Error” switches to high and the unit displays a flashing error message “Error…” indicating the error number. To clear an error state either set “Reset” command or cycle the power supply of the unit. Please note that the unit will immediately return to the error state if the cause for the error has not been eliminated.

  • Page 35: Steps For Commissioning

    9 Steps for Commissioning For easy and uncomplicated commissioning of the PS340 / 641 controllers you need a PC with the actual operator software OS 6.x. You can download this software and full instructions, free of charge, from our homepage www.motrona.com.

  • Page 36: Use Of The Adjust Menu

    After entry of all parameters click to “Transmit Change” or “Transmit All” followed by “Store EEPROM” to store all parameters to the PS340 or PS641 controller.  At this time, the positioning drive must be adjusted to proper and stable operation over the full speed range.

  • Page 37: Set Directions Of Rotation

    PS340/PS641 units. Moreover, if you are using the speed set-point by PS340/PS641 you can use the displayed frequency value to check the settings of the parameter F02.008 “Frequency Max. Speed”: The displayed encoder frequency must correspond to the speed set by parameter F02.009 “Positioning Speed”.

  • Page 38: Optimization Of The Controller

    9.5 Optimization of the controller It is recommended to carry out several positioning cycles with practical speed settings to check the dynamic stability of the system with the actual parameter settings. In doing so, please observe the positioning error (differential counter) on the PC operating software or on the display of the device: ...

  • Page 39: Appendix For Model Ps641

    K1 to K4. All electrical connections of PS641 are fully similar to PS340, except that with PS641 models the back plane is equipped with an additional terminal strip X3 providing the relay connector: 10.2 Front Thumbwheel Switches...

  • Page 40: Technical Specifications

    11 Technical Specifications Power supply: Input voltage (AC): 24 VAC +/- 10 % Input voltage (DC): 17 … 40 VDC Protection circuit:: reverse polarity protection Consumption: 100 mA at 24 VDC (unloaded encoder supply) Connections: screw terminal, 1.5 mm² Encoder supply: Number of aux.
  • Page 41 Cut out: 89 x 91 mm / 3.50 x 3.59 inch (w x h) Outer dimensions: 110 x 96 x 141 mm resp. 4.33 x 3.78 x 5.55 inch (w x h x d) Protection class PS340: front: IP 65 / rear: IP20 Protection class PS641:...

  • Page 42: Dimensions

    12 Dimensions 12.1 Model PS340: 110,0 (4.331’’) 96,0 (3.780’’) 9,0 (.345) 129,0 (5.079) 140,5 (5.531) Panel cut out: 91 x 44 mm (3.583 x 1.732’’) Ps34001b_oi_e.doc / 19.11.15 Page 42 / 43...

  • Page 43: Model Ps641

    12.2 Model PS641: 110,0 (4.331’’) 96,0 (3.780’’) With optional plexi glass cover for protection class IP65 (motrona part # 64026) 9,0 (.345) 129,0 (5.079) 140,5 (5.531) 18,5 (.728) Panel cut out (b x h): 89 x 91 mm (3.504’’ wide x 3.583’’ high) Ps34001b_oi_e.doc / 19.11.15...

This manual is also suitable for:

Ps641

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