BONFIGLIOLI Vectron ACTIVE CUBE Series Applications Manual
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BONFIGLIOLI Vectron ACTIVE CUBE Series Applications Manual

Positioning
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Summary of Contents for BONFIGLIOLI Vectron ACTIVE CUBE Series

  • Page 1 ACTIVE CUBE Application manual - Positioning...
  • Page 3 General Information about the Documentation This application manual complements the configurations described in the operating instructions and the „Quick Start Guide“ of the ACU frequency inverters (ACTIVE Cube series). Configurations 240, 440 and 540, which are described in this applica- tion manual, contain additional positioning functions.

  • Page 4: Table Of Contents

    TABLE OF CONTENTS General Safety Instructions and Information on Use ..........5 General Information ....................5 Purpose of the Frequency Inverters ..............6 Transport and Storage................... 6 Handling and Installation ..................6 Electrical Connection ..................... 7 Information on Use....................7 Maintenance and Service..................
  • Page 5 4.4.2 Motion block data ....................54 4.4.2.1 Target position....................54 4.4.2.2 Speed ......................54 4.4.2.3 Acceleration and Deceleration ................ 55 4.4.2.4 Automatic sequence of motion blocks (next motion block) ........ 55 4.4.2.5 Single motion....................62 4.4.3 Control of motion....................63 4.4.3.1 Selection of motion block via digital signals (motion block change-over).....
  • Page 6 Status word of the positioning ................152 Status word 411 ....................154 Digital Positioning Output Signals..............155 Logic Signal Sources for Positioning ..............156 Positioning Error Messages ................158 Positioning Warning Status ................162 Diagnosis and fault clearance................162 6.8.1 Touch probe: Drive is decelerated or stops ............

  • Page 7: General Safety Instructions And Information On Use

    General Safety Instructions and Information on Use The specifications and instructions contained in the documentation Warning! must be complied with strictly during installation and commissioning. Only qualified staff who has read the documentation and, in particular, the safety instructions carefully is allowed to carry out installation or commissioning work or to operate the frequency inverters.

  • Page 8: Purpose Of The Frequency Inverters

    Purpose of the Frequency Inverters Warning! The frequency inverters are electrical drive components intended for installation in industrial plants or machines. Commissioning and start of operation is not allowed until it has been verified that the machine meets the requirements of the EC Machinery Directive 98/37/EEC and EN 60204.

  • Page 9: Electrical Connection

    Electrical Connection Warning! Before any assembly or connection work, discharge the frequency in- verter. Verify that the frequency inverter is discharged. Do not touch the terminals because the capacitors may still be charged. Comply with the information given in the operating instructions and on the frequency inverter label.

  • Page 10: System Description

    System description Positioning via motion blocks enables movement by a certain distance or to a target position. For each motion block, a separate motion profile can be set, including speed, acceleration and deceleration ramp. When motion blocks are processed au- tomatically, the drive will react according to the parameterized behavior when it reaches the target position.

  • Page 11: Terminal Diagram Active Cube (Acu) Series

    Terminal diagram ACTIVE Cube (ACU) series The terminal diagram shows an example of a linear axis, with standard parameter configuration of digital inputs. The sensor is evaluated using an EM extension mod- ule. ACTIVE Cube RS232 VPlus X210A X210B X410A X410B U V W SMFI1D...

  • Page 12: Commissioning Of The Frequency Inverter

    Commissioning of the Frequency Inverter Warning! Carry out the electrical and mechanical installation according to the operating instructions or the "Quick Start Guide" of the frequency in- verter. Comply with the safety instructions provided there. Frequency inverters of the ACU series feature the "Safe Torque Off" function.

  • Page 13: Commissioning Of The Motor

    Commissioning of the motor During the guided commissioning, comply with the safety instructions in Caution! chapter "General Safety Instructions and Information on Use" and in the Operating Instructions or the "Quick Start Guide" of the frequency inverter. Carry out the guided commissioning procedure of the frequency inverter for one of the configurations listed below.

  • Page 14: Control Inputs And Outputs

    The unit may only be connected with the power supply switched off. Make sure that the frequency inverter is discharged. ACU frequency inverters of ACTIVE Cube series Control terminal X210A X210A.1 +20 V voltage output (I...

  • Page 15: Factory Settings Of The Digital Inputs

    3.3.1 Factory settings of the digital inputs Control input functions Digital Control Control positioning JOG mode / Input terminal Teach-in Digital inputs of frequency inverter: S1IND X210A.3 Digital input STOA for safety function S2IND X210A.4 Start Store actual JOG Clockwise Positioning position value S3IND...
  • Page 16 X210A.5 The drive stops at the current position at deceleration ramp set in Stop Positioning Deceleration 1206. In JOG mode, the drive is moved in negative direction (anti- JOG Anticlockwise clockwise) at an adjustable fixed speed. JOG mode is activated Operation via terminal X210B.6.

  • Page 17: Digital Inputs For Speed Sensor Inputs Or For Other Functions

    X210B.6 JOG-Mode Active Activates JOG mode. JOG clockwise via terminal X210A.4 or JOG anticlockwise via terminal X210A.5 is executed. Operation Mode In teach-in operation modes ( 1221), the JOG function is activated automatically. When a rising signal edge is received, the current position in the Teach-In selected motion block is saved as the target position.

  • Page 18: Positioning - Commissioning Procedure

    Positioning - commissioning procedure Terminal assignment: S1IND (STOA) and S7IND (STOB): LOW signal S2IND (Start positioning): LOW signal S3IND (Stop positioning): LOW signal S4IND and S5IND: encoder track B and track A or for parameterized function S6IND: home switch or encoder zero track Z MFI1D (JOG mode): LOW signal Commissioning of frequency inverter: Comply with chapter "Commissioning of Frequency Inverter",...
  • Page 19 Digital signals for status indication Digital signals can be influenced depending on the status of a motion order. For example, a digital signal can be parameterized such that it signals reaching of the target position or the end of the motion block. JOG mode The drive is operated manually via two digital inputs at a parameterizable, fixed speed.

  • Page 20: Getting Started

    3.5.1 Getting started In order to use the positioning function, you must start the frequency inverter in Configuration 240, 440 or 540. If required, perform a motor measurement. Several functions will be readjusted as soon as you set up the configuration of the position- ing operation.

  • Page 21: Two Different Encoders For Motor And Positioning

    3.5.1.2 Two different encoders for motor and positioning In systems where slip may occur, the motor encoder cannot be used as position encoder at the same time. Due to the slip (e.g. slipping in the case of a wheel/rail system), the motor encoder cannot approach the actual target with sufficient accu- racy.

  • Page 22: No Motor Encoder, External Encoder For Positioning

    3.5.1.3 No motor encoder, external encoder for positioning In some applications the speed control accuracy and the dynamic behaviour of a sensorless motor control are sufficient. Positioning is possible in non-slip and in slip- containing systems via an external encoder. Configuration 30 = 440, only position encoder Encoder 1...

  • Page 23: Reference System

    3.5.2 Reference system The reference system provides the link between the electrical system and the me- Feed Constant chanical system. In parameter 1115, the user units (u) per revolution (U) are entered. By choosing a suitable parameter configuration, the feed constant can consider both the mechanical motion distance and the accuracy (resolution) (see example).
  • Page 24 Example: Linear axis, drive via gearbox Revolutions of gearbox output shaft Gear Box: Driving shaft revolutions 1116 Gear Feed Gear Box: Motor shaft revolutions 1117 Revolutions of motor shaft Feed rate of linear axis: 25 mm per revolution of the output shaft Required positioning accuracy: ±1/100 mm Gear factor: 1/19.75 Feed...
  • Page 25 Gear Driving shaft revolution 2.45 1116 Factor Gear Motor shaft revolution 0.18 1117 Gear Box: Driving shaft revolutions 1116 to 245. Gear Box: Motor shaft revolutions 1117 to 18. ± − ⋅ 3600 ⋅ ± units ≈ ± ° ≈ ±...

  • Page 26: Setting Up A Motion Profile

    3.5.3 Setting up a motion profile For complex motion profiles, e.g. profiles requiring different speeds and accelera- tions, different motion blocks must be created. Example: Motion block 1 Motion block 2 Motion block 3 Motion block 1 Motion block 2 Motion block 3 Approach target pos.

  • Page 27: Control Via Software

    3.5.4 Control via software All parameters of the frequency inverter can be set up via the PC software VPlus. In Configuration 30, set up an operation mode x40 which is suitable for positioning. Now, when data are read from the inverter, all parameters are read and are avail- able for parameterization.

  • Page 28: Write Index And Read Index For The Motion Blocks Table

    3.5.5 Write index and read index for the motion blocks table Via the write and read indices, the index of the motion block table the parameters of which are to be read or written is specified. VTable uses the parameters automati- cally for writing and reading.
  • Page 29 Motion Block Sel. (Writing) Write index/ 1200, Motion Block Sel. (Reading) Read index/ 1201 VPlus Parameter Data Set 0 Motion Block Sel. (Writing) 1200 Motion Block Sel. (Reading) 1201 Target Position / Distance 4096 units 1202 Speed 1203 20000 u/s VTable Motion Blocks Index 1...

  • Page 30: Operation Modes Of The Positioning

    Operation Modes of the Positioning General Issues about Operation Modes The following operation modes are available for positioning. Operation modes: − Positioning mode. Automatic operation for sequence-controlled and repeatable approach to different targets in an application. The target can be selected via an overriding controller (parameter channel of field bus or digital inputs).

  • Page 31: Assignment Of Digital Inputs

    4.1.1 Assignment of digital inputs In the individual operation modes of the positioning, the digital inputs have different inputs. The following table provides an overview of the functions and assigns them to the terminals, as parameterized in the factory settings for the functions. Assign- Configuration ment of terminals S4IND/S5IND depends on Function...

  • Page 32: Instructions On Mfi1D (Multifunction Input)

    4.1.1.1 Instructions on MFI1D (multifunction input) Multi-function input MFI1D is processed, depending on the application or function, as an analog input value or a digital input signal. By default, the positioning function uses multi-function input MFI1D as a digital signal for certain functions. The sampling rate of multi-function input MFI1D is slower than that of digital signals S1IND, S2IND, etc.

  • Page 33: Operation Modes For Controlling The Positioning Operation

    4.1.2 Operation modes for controlling the positioning operation Operation mode Parameter 1221 defines: − Selection of starting record number via parameters or digital inputs − Automatic sequence of motion orders or individual order − Start of teach-in mode Operation mode 1221 Function 0 - Off...
  • Page 34 Operation mode 1221 Sequence mode without restart Operation mode Parameter = 101 or 102 1221 motion motion motion block 1 block 2 block 3 STOP, without restart Sequence mode with restart Operation mode Parameter = 111 or 112 1221 motion motion motion motion...

  • Page 35: Input And Output Signals

    4.1.3 Input and output signals Output signals Input signals Motion blocks Target Position / Distance 1202 Speed 1203 Accelereation 1204 Start Positioning 1222 Ramp Rise Time 1205 Stop Positioning 1223 Deceleration 1206 Resume Motion Block 1230 Ramp Fall Time 1207 Motion block Motion Mode 1208...

  • Page 36: Homing

    Before a positioning operation can be started, the point of reference of Note: the positioning operation must be determined in a homing operation. Otherwise, error message "F1570 – No Homing Done" will be displayed if you try to start a positioning operation. Homing When the drive is started, a defined starting position must be specified.

  • Page 37: Input And Output Signals For Homing

    4.2.2 Input and output signals for homing Terminal assignment for homing Start Stop Home Neg. HW Pos. HW Con- Homing Positio- Switch Limit Limit troller Function release (manual) ning Switch Switch 1139 1235 1223 1137 1138 Off* S3IND* S6IND * S5IND S4IND Drive disabled...
  • Page 38 In most homing operations, a home switch (cam) and a hardware limit switch will be required. Mind wiring and parameter configuration accordingly. Input terminals for homing X210A +20 V/180 mA GND 20 V STOA (safety function) S2IND Pos. HW Limit Switch 1138 S3IND "540 - S4IND inverted (Hardware)"...

  • Page 39: Homing Mode

    Input and output signals for homing Input signals Output signals Homing Assign digital input signals or Homing Mode 1130 logic signals to the parameters. Assign operation mode Homing Modes 1 ... 14: Home switch or limit switch and speed sensor reference signal 17 ...

  • Page 40: Home Offset

    4.2.4 Home offset Home Offset With parameter 1131, the point of reference for positioning can be adjusted to the mechanical system. Home Offset The value adjusted for parameter 1131 is added to the home position. Positive values will cause a shift of the point of reference in positive direction (clockwise), negative values will cause a shift in negative direction (anticlockwise).

  • Page 41: Positioning Mode

    Acceleration Via parameter 1134, the acceleration and deceleration value to be used for homing is adjusted. Ramp Rise Time Parameter 1135 defines the time in which the frequency is to be brought to the acceleration and deceleration ramp adjusted for homing. In this way, a non-linear acceleration and deceleration (S-curve) can be obtained for homing, and the load during acceleration and deceleration of the drive can be reduced, e.g.

  • Page 42: Vtable

    Attention! − After changing motion profiles, you should test the automatic se- quence of motion blocks at reduced speed. The scaled speed func- Speed Override tion can be activated via parameter 1236. For the test, an emergency stop device must be provided in order to be able to stop the drive immediately in the case of extraordinary move- ments.

  • Page 43: Positioning Mode And Motion Block Data

    Positioning Mode And Motion Block Data 4.4.1 Motion Mode The positions are defined either in relation to a fixed reference position (absolute motion mode), in relation to other positions or a touch-probe sensor. Parameter Motion Mode 1208 enables the selection. Motion Mode = 0 - absolute 1208...
  • Page 44 Motion Mode The operation mode of parameter 1208 defines the reference of the target position. Operation modes 10 to 14 are combined with the function of an electronic gear. Motion Mode 1208 Function Target position relates to the fixed reference posi- 0 - absolute tion (point of reference for positioning).
  • Page 45 Motion Mode Function 1208 Operation mode 3 is combined with the electronic Gearing, direct sync., gearing function. The drive is accelerated to the 23 - Touch-Probe: Falling master speed. At the start of a motion block the Edge drive is sychronised with the master drive directly. Like operation mode 4, but the drive moves at the speed profile defined by the electronic gear.

  • Page 46: Motion Mode "Absolute

    4.4.1.1 Motion mode "absolute" Motion Mode Parameter 1208 = "0 – absolute": Target Posi- The target position is the position adjusted in the motion block at tion/Distance 1202. Target position relates to the fixed reference position (point of reference for posi- tioning) which is determined by a homing operation.

  • Page 47: Motion Mode "Touch Probe" (Sensor)

    4.4.1.3 Motion mode "touch probe" (sensor) Activation of motion mode "touch probe": Motion Mode − Parameter 1208 = "2 – touch probe: rising edge" or Motion Mode − Parameter 1208 = "3 – touch probe: falling edge" The rising or falling edge of a digital signal on digital input S3IND (terminal 210A.5) is used for setting a reference point for a relative positioning operation.
  • Page 48 If no touch-probe signal is received within the touch probe window, the settings of Touch-Probe-Error: Next Motion Block parameter 1210 will become effective. Touch-Probe-Error: Next Function Motion Block 1210 Emergency Ramp The drive is stopped via 1179, -3 - Em. stop, error after that, error message "F1573 No touch probe (Minus 3) signal detected"...

  • Page 49: Motion Mode "Velocity

    4.4.1.4 Motion mode "velocity" Motion Mode Parameter 1208 = "4 – velocity": Speed The drive is accelerated to 1203 at the motion profile set in the motion block. Target Position / Distance Settings for 1202 will not be evaluated. The motion block remains active until another motion block is selected.

  • Page 50: Combination With Electronic Gear

    4.4.1.5 Combination with electronic gear Motion Mode Positioning operation modes 10 to 14 and 20 to 24 (parameter 1208) are combined with the electronic gearing function. Operation modes 10 to 14, Operation modes 20 to 24, “Gearing” “Gearing, direct synchronisation” Synchronisation at attaining the master Direct synchronization at the start of a speed...
  • Page 51 Note: If both a motor and a position encoder (two different encoders) are used, the function "Electronic Gear" can only be used via system bus. Direction of movement at the start of the positioning Motion mode Gearing, absolute or relative The initial direction is dependent on the target position Target position is in direction Positive:...
  • Page 52 Motion mode “Gearing”, synchronisation at master speed Activation of motion mode “Gearing”: Motion Mode − Parameter 1208 = “10 - Gearing, absolute” or Motion Mode − Parameter 1208 = “11 - Gearing, relative” or Motion Mode − Parameter 1208 = “14 - Gearing” Acceleration 1.
  • Page 53 Motion mode “Gearing, touch probe”, synchronisation at master speed Activation of motion mode “Gearing, touch probe“: Motion Mode − Parameter 1208 = “12 - Gearing, touch probe: rising edge” or Motion Mode − Parameter 1208 = “13 - Gearing, touch probe: falling edge” Motion mode 12 corresponds to motion mode 2 - “Touch probe: rising edge”, but contains the additional electronic gearing function.
  • Page 54 Positioning mode “Gearing, direct synchronisation“ Activation of motion mode “Gearing, direct synchronisation“ Motion Mode − Parameter 1208 = “20 - Gearing, direct sync., absolute” or Motion Mode − Parameter 1208 = “21 - Gearing, direct sync., relative” or Motion Mode −...
  • Page 55 Attention! During the processing of motion blocks and operation modes with elec- Motion Mode tronic gearing for 1208, the direction of motion of the axis may be reversed. The speed defined by the master is too high in order to reach the target position at the deceleration set in the motion block.

  • Page 56: Motion Block Data

    4.4.2 Motion block data The data of each motion block is saved separately. The motion block data consist of values for: Target Logic Digital signal Position Next motion block Digital signals for indication Speed - Event of status of motion orders Acceleration - Interruption Event Deceleration...

  • Page 57: Acceleration And Deceleration

    4.4.2.3 Acceleration and Deceleration Acceleration Deceleration For parameters 1204 and 1205, the values for the mo- tion to the target position are adjusted. Via the ramp rise time, a non-linear acceleration and deceleration (S-curve) can be obtained, and the load during acceleration and deceleration of the drive can be re- duced, e.g.
  • Page 58 Motion blocks are processed automatically in the following order: − Motion block is selected − Motion block is executed with or without repetition − Interrupt a motion block and jump to the next motion block under configurable conditions according to priority Int.-Event 1: Next Motion Block 1262 Int.-Event 2: Next Motion Block...
  • Page 59 Automatic sequence Logic signal „1“ First motion block via digital inputs: First motion block via parameter: In the settings of In the settings of Operation Mode Operation Mode 1221 1221 Start Positioning 1222 101 - Sequence Mode w/o Restart, 102 - Sequence Mode w/o Restart, 1st Motion Block via Digital Inputs 1st Motion Block via P.
  • Page 60 After completion of the current motion order, a new motion order can be started automatically. As soon as the positioning operation is started with the corresponding logic signal for Start Positioning parameter 1222, the operation is started with the first motion block.
  • Page 61 After interuption of the current motion order, a new motion order can be started automatically. During a running motion block the settings are evaluated for parameters: Interrupt-Event 1 − 1260 Int.-Event 1: Next Motion Block − 1262 Interrupt-Event 2 − 1263 Int.-Event 2: Next Motion Block −...
  • Page 62 Set the next motion block, stop of the drive or error switch-off for an event: By entering one of the listed values for parameters Delay: Next Motion Block − 1213 Event 1: Next Motion Block − 1215 Event 2: Next Motion Block −...
  • Page 63 Example: Start of tne next motion block after delay expiry and by event 1 Delay: Next Motion Motion block 1 Motion block 2 Motion block 5 block deactivated Delay Delay Delay 1000 ms 3000 ms 0 ms 1212 1212 1212 Autom.

  • Page 64: Single Motion

    4.4.2.5 Single motion Start Positioning Starting Record Number A signal on 1222 starts the 1228 (pa- Operation Mode rameter 1221 in setting "202- single motion, motion block from p. Motion Block Change-Over 1 1228") or the motion block set via parameters 1224 Motion Block Change-Over 5 Operation Mode...

  • Page 65: Control Of Motion

    4.4.3 Control of motion 4.4.3.1 Selection of motion block via digital signals (motion block change-over) If the motion blocks are selected via digital signals, motion blocks 1 to 32 can be selected via the motion block change-over function. Operation Mode The motion block selection via digital inputs is active if parameter 1221 is set to one of the following modes: −...
  • Page 66 Input signals for motion block change-over Input signals Motion Block Change-Over Assign digital input signals Operation Mode In the settings of parameter 1221 to the parameters. 101 - Sequence Mode w/o Restart, 1st Motion Block via Digital Inputs 111 - Sequence Mode with Restart, 1st Motion Block via Digital Inputs 201 - Single Motion, Motion Block Sel.

  • Page 67: Motion Block Selection Via Parameter (Starting-Record Number)

    4.4.3.2 Motion block selection via parameter (starting- record number) Starting-Record Number Via parameter 1228, one of the 32 motion blocks can be selected. Operation Mode The motion block selection via parameter is active if parameter 1221 is set to one of the following modes: −...

  • Page 68: Input And Output Signals For Motion Blocks

    4.4.4 Input and output signals for motion blocks The controller enables the execution of individual orders, repetition of motion blocks and automatic sequence of motion blocks. The motion block for the motion order can be selected via digital inputs or parame- ters.

  • Page 69: Starting, Stopping And Resuming

    For controller release of the power component, wiring of the following Note: digital inputs is required: STOA (terminal X210A.3) and STOB (terminal X210B.2). In safety-oriented systems, the documentation "Safe Torque Off" shall be complied with. Note: Before a positioning operation can be started, the point of reference of the positioning operation must be identified in a homing operation.

  • Page 70: Starting And Stopping Positioning

    4.4.5.1 Starting and stopping positioning Start Position- The positioning operation is controlled via signals for both parameters Stop Positioning 1222 and 1223. The parameters can be assigned logic signals or digital inputs. The positioning operation is started with a positive edge on digital Start Positioning input or a logic signal for parameter 1222 (factory setting S2IND).
  • Page 71 A motion block can be started with “Start Positioning” even if the “Holding Time” is not elapsed. Input signals for starting and stopping motion block sequences or single motions Input signals Start and Stop of the positioning: A positioning sequence or a single motion will be executed or stopped Assign digital input signals orlogic signals Operation Mode...
  • Page 72 According to the example above: Reaction of the drive on set “Stop Posi- tioning” and reset “Start Positioning” − Reaction on set “Stop Positioning” (example) Distance-time and velocity-time diagrams Starting-Record Number 1228 Motion Blocks Index 1 Index 2 Index 3 Index 4 Target Position TP 1...
  • Page 73 − Reaction on reset “Start Positioning” (example) Distance-time and velocity-time diagrams Starting-Record Number 1228 Motion Blocks Index 1 Index 2 Index 3 Index 4 Target Position TP 1 TP 2 TP 3 TP 4 Next Motion Block TP: Target Position value Stop Start Position...

  • Page 74: Resuming Interrupted Motion Blocks

    4.4.5.2 Resuming interrupted motion blocks The resume function enables continuing motion blocks after an interruption by an error or by resetting of the "Start Positioning" signal. Resumption is effected as follows: Resume Motion Block 1. Set signal on the input assigned to parameter 1230.

  • Page 75: Digital Signals For Indication Of Status Of Motion Orders

    4.4.6 Digital signals for indication of status of motion or- ders For each motion block, there are 4 digital signals which are influenced depending on the status of the motion order and can be used for indicating the status of motion orders: Digital Signal 1 1218...
  • Page 76 The operation mode is the result of the combination of 3 possible input signals and 3 status changes to produce the required output signal. The unit digit defines the evaluation upon the start of the motion block, the tens digit defines the evaluation as soon as the reference value is reached and the hundreds digit defines the evalua- tion at the end of the motion block.
  • Page 77 Example 1: Digital signal 3 is to indicate that the target position was reached. When the position is reached, the output signal is to be "1". When the position is not reached, the out- put signal is to be "0". As soon as the target position is reached, the output is to be switched on, i.e.

  • Page 78: Jog Mode

    JOG Mode For commissioning and teach-in mode, the drive can also be controlled manually via digital inputs. JOG mode offers various options: − The drive is moved clockwise or anticlockwise, via two digital inputs in each direc- tion − 4 fixed speeds available in each of 4 data sets; selection via reference frequency channel −...
  • Page 79 Standard Terminal Assignment JOG mode Jog- Jog Anti- Neg. HW Pos. HW Control- ler re- Mode Clock- clockwise Limit Limit Function lease Active wise Switch Switch 1233 1231 1232 1137 1138 MFI1D* S2IND* S3IND* S5IND S4IND Drive dis- abled Drive dis- abled JOG mode clockwise...
  • Page 80 Input terminals for JOG mode: X210A +20 V/180 mA Factory settings of the parameters GND 20 V STOA (safety function) Jog Clockwise S2IND = 71 - S2IND „ “ 1232 „ON“=JOG clockwise Jog Anticlockwise 1233 = 72 - S3IND „ “...

  • Page 81: Fixed Speed In Jog Mode

    4.5.1 Fixed speed in JOG mode Four fixed speeds can be used in JOG mode. The fixed speed to be used can be Reference Frequency Source selected via parameter 475 of the reference frequency Reference Frequency Source channel. For parameter 475, an operation mode with fixed speed (FF/fixed frequency) must be selected.
  • Page 82 JOG mode via keypad can be activated: Navigate to the CTRL menu. • • Actuate the ENT-key. Signal CTRL flashes. Actuate the ENT-key again to reach the local operation • mode (stopped). Jog-Speed Keypad • Use the FUN-key to travel with 1174.

  • Page 83: Acceleration And Deceleration In Jog Mode

    4.5.2 Acceleration and Deceleration in JOG Mode In JOG mode separate acceleration and deceleration ramps with S curves (ramp times) are used: Parameter Setting Description Min. Max. Fact. sett. 1175 Acceleration 1 u/s 232-1 u/s 327 680 u/s 1176 Ramp Rise Time 0 ms 2000 ms 0 ms...
  • Page 84 Input signals for teach-in Input signals Teach-In Assign digital input signals or logic signals to the parameters. Selection of the motion block: Operation Mode 1221 = Motion Block Change-Over 1 1224 Motion Block Change-Over 2 1225 301 - Teach-In, Motion Block Sel. via Digital Inputs Motion Block Change-Over 3 1226 Motion Block Change-Over 4...
  • Page 85 Standard terminal assignment in teach-in mode Jog Anti- Teach-In Neg. HW Pos. HW Control- Limit ler re- Clockwise clock- Signal Limit Function Switch lease wise Switch 1232 1239 1137 1233 1138 S2IND* S3IND* MFI1D* S5IND S4IND Drive dis- abled Drive dis- abled JOG mode clockwise...
  • Page 86 Selection of motion blocks for teach-in Selection of motion block where the current position is to be saved as a target posi- tion: Operation mode Selected motion block 1221 301 - Teach-In, The current position is saved as Parameter Motion Block Change-Over Motion 1224 1225...

  • Page 87: Electronic Gear

    Electronic gear Electronic gears are used in many plants where a synchronous operation, either continuous or for a limited period of time, of several drives is required. The function includes: − Activation/deactivation of synchronization of several drives at any time during operation.
  • Page 88 Master Position Source In setting "11 - RxPDO1.Long1 extrapolated" of parameter 1122 the system bus synchronization must be set to 1 or 10 to ensure a reliable Operation Mode function of 1180. Operation mode 1180 0 - Off 1 - RxPDO1 2 - RxPDO2 3 - RxPDO3 10 - SYNC...

  • Page 89: Gear Factor

    4.7.2 Gear factor Gear Factor Numerator Gear Factor Denominator Via parameters 1123 and 1124, the gear factor is set permanently at the frequency inverter of the Slave drive. Gear Factor Numerator 1123 Gear factor Gear Factor Denominato 1124 Parameter Setting Description Min.
  • Page 90 Parameter Factory setting 1128 Start Phasing 7 - Off Input and output signals of phasing function Input signals Output signals Phasing Operation modes for digital outputs: Assign digital input signals or Phasing: Offset 1125 56 - Phasing Done logic signals to the parameter. Phasing: Speed 1126 156 - Inv.
  • Page 91 The phasing function can be cancelled by resetting the Start Phasing signal. The Phasing: Acceleration current speed is reduced at the value of 1127 and signal "56 - Phasing Done" is set. Example of cancellation of phasing function 1. Signal “Start Phasing” is set 2.

  • Page 92: Monitoring Functions

    Monitoring Functions 4.8.1 Travel limits Bumping into the mechanical stops of a limited travel range can be prevented by: − Hardware limit switches − Software limit switches (parameters) Limit switches can be used in order to protect the machine and to limit the travel range.
  • Page 93 For each direction of motion, there is one HW limit switch. The HW limit switches are connected to digital inputs which are assigned to parame- Neg. HW Limit Switch Pos. HW Limit Switch ters 1137 and 1138. Parameter Factory setting Setting, e.g.
  • Page 94 Input signals and error messages /warnings of hardware limit switches: Input signals Failure messages/warnings HW limit switches Assign digital inputs Hysteresis to the parameters. 1149 F1445 Pos. and Neg. HW-Lim Switch Simultaneously Neg. HW Limit Switch 1137 F1446 Limit Switch Incorrect Wired! Pos.

  • Page 95: Hysteresis For Hardware Limit Switch

    4.8.2.1 Hysteresis for hardware limit switch Hysteresis Via parameter 1149, the switching hysteresis of a limit switch (e.g. prox- imity switch) can be considered. In addition, the hysteresis prevents non-defined switching when the axis has stopped at a limit switch position. The drive can be enabled if the distance between the axis and the hardware limit Hysteresis switch exceeds the value of parameter...

  • Page 96: Fault Reaction

    4.8.2.2 Fault reaction Fault Reaction Via parameter 1143, you can define the behavior of the drive when the hardware limit switch is reached. Fault Reaction 1143 Function 0 - Disabled No evaluation of hardware limit switches. Factory setting. The drive is stopped and error mes- 1 - Error-Switch-Off sage "F1447 Pos.

  • Page 97: Software Limit Switches

    Hardware limit switches can also be used for homing. In this case, the hardware Fault Reaction limit switches are not evaluated by parameter 1143 during homing. If evaluation of hardware limit switches is off, external control meas- Warning! ures must be taken to ensure that in dangerous situations, e.g. hard- ware limit switch overrun, safety device open, danger of loads falling down, the drive is switched off immediately and a mechanical brake is triggered, if necessary.
  • Page 98 Error messages/warnings of software limit switches: Failure messages/warnings SW-Endschalter Pos. SW Limit Switch 1145 F1444 Pos. SW-Lim. Switch < Neg. SW-Lim. Switch Neg. SW Limit Switch 1146 Fault Reaction 1144 Assign operation mode 1 - Error-Switch-Off F1442 Pos. SW-Limit Switch 2 - Shutdown, Error F1443 Neg.
  • Page 99 Warnings and error messages of software limit switches Neg. SW Limit Switch Pos. SW Limit Switch 1146 1145 Home position Fault Reaction 1144: 1 - Error-Switch-Off F1443 Neg. SW-Limit Switch 2 - Shutdown, Error F1442 Pos. SW-Limit Switch 3 - Emergency-Stop, Error 10 - Warning A0004 SW-LIM CCW A0002 SW-LIM CW...

  • Page 100: Move Away From Sw Limit Switches

    4.8.3.1 Move away from SW limit switches The axis can be moved to the defined travel range again: − Acknowledge error and move in opposite direction in JOG mode or − Acknowledge error and start positioning in opposite direction Error "F1444 Pos. SW-Lim. Switch < Neg. SW-Lim. Switch" is displayed if parameters Positive SW Limit Switch Negative SW Limit Switch 1145 and...

  • Page 101: Target Window

    4.8.4 Target window The target window monitors the current position after completion of a positioning operation. A positioning operation is complete as soon as the current position is in Target Window the target window. Via parameter 1165, you can define as from which distance from the target position the signal "60 –...

  • Page 102: Contouring Error Supervision

    4.8.5 Contouring error supervision Contouring errors may occur, for example, if the acceleration and deceleration ramps are not adjusted to the moment of inertia of the load and the drive cannot follow the specified reference values. With the contouring error threshold, you can define a maximum deviation between the current position and the required position.
  • Page 103 Contouring error supervision output signals Error messages/warnings Contouring error supervision Operation modes for digital outputs: 61 - Warning Deviation of Position Warning Threshold 1105 161- Inv. Warn. Deviaition of Position Signal source: 604 - Warning Position Controller Error Threshold 1106 Contouring Error Time 1119 Fault Reaction...

  • Page 104: Warning Mask Application

    4.8.6 Warning mask Application The logic signals of monitoring and control functions can be selected via parameter Create Warning Mask 536. For the available options, refer to the operating instruc- tions. The logic signals of different positioning monitoring functions can be selected Create Appl.
  • Page 105 Actual Appl. Warning Mask The current warning mask can be read via parameter Create Appl. Warning Mask 627. The operation modes of parameter 626 are en- Actual Appl. Warning Mask coded in 627. If several warnings are combined, the code can be calculated from the hexadecimal addition of the individual warnings and the corresponding code.

  • Page 106: Speed Override

    Speed Override The positioning function uses the parameterized speeds of the individual motion blocks. Alternatively, the positioning speed can be defined via an external reference value Speed Override source. For this purpose, the 1236 function is enabled. The set values can be changed during operation dynamically, e.g. by a potentiometer on an analog input.

  • Page 107: Position Comparator

    4.10 Position Comparator The position comparator compares the current position and the specified positions. It checks if the actual position is within the specified range (defined by on and off positions). Via the comparator, logic functions can be controlled or activated, de- pending on the current position value.
  • Page 108 Operation Mode Via parameter 1242, you can define the source for the actual posi- tion to be processed by the comparator. Operation mode 1242 Function 9 - Off Comparator is switched off. 606 - Actual position Current position value is processed by comparator. Current position is processed by comparator (for Sensorless Act.

  • Page 109: Rotary Table Application

    4.11 Rotary Table Application A rotary table is a round axis with unlimited travel range. No limit switch required. Unlimited travel ranges. Operation Mode Via parameter 1240, the type of motion to the target position is defined. The direction of rotation and way optimization (shortest way) can be speci- fied.
  • Page 110 Feed Con- Example: Definition of units as degrees (°), setup of reference system ( stant 1115), Feed Constant = 3600 for resolution of 0.1°; revolution distance = 3600 u In order to limit the travel range of a rotary table, it can be configured Note: as a linear axis.
  • Page 111 Example: Operation modes "3 – On /Clockwise Rotation" and 4 – "On / Anticlockwise Rotation" Current Target Direction of rotation position position Operation mode 3 45° 315° clockwise (positive) 45° 315° anticlockwise (negative) Operation mode 4 Operation mode 3 Operation mode 4 Actual position value Target position Target position...

  • Page 112: Position Controller

    4.12 Position Controller The position controller evaluates the positioning operation (target/actual position) and tries to control the drive such that it comes as close as possible to the specifica- tions. For this purpose, an additional frequency is calculated for compensation of position deviations.
  • Page 113 In order to avoid oscillations of the drive while it is at standstill, amplification is re- duced to 50 % of the parameterized value for small position deviations Amplification [%] Control deviation -0.25 0.00 0.25 0.50 -0.50 of position [°] The following behavior may indicate that the controller parameters are not config- ured properly: −...

  • Page 114: Store The Actual Position Value (Latching Function)

    4.13 Store the actual position value (latching function) With the latching function the actual position value of the drive can be stored. With a rising or falling signal edge at digital input S2IND the actual position value is Latched Position stored in the EEPROM and displayed via 1281.

  • Page 115: Wiring Example

    4.14 Wiring Example ACU, device series ACTIVE Cube X210A +20 V/180 mA GND 20 V secure disable input for the safety function STO STOA S2IND Start Positioning JOG Clockwise S3IND Stop Positioning JOG Anticlockwise S4IND Pos. HW Limit Switch Speed sensor 1 track B (HTL) S5IND Neg.
  • Page 116 In configuration 240 S4IND (X210A.6) and S5IND (X210A.7) are parameterized by default as inputs for Encoder 1. Via S6IND (X210B.1), the zero track of a HTL en- coder can be evaluated. Alternatively, the inputs of an optional extension module EM- ENC can be used as encoder inputs.

  • Page 117: List Of Homing Modes

    List of homing modes In the following sections, the homing modes are explained in detail. The sections are organized as follows: • 5.1 Brief description 5.2 Overview table • • 5.3 Graphical overview 5.5 Detailed explanations • The graphic overview and overview table are recommended for experienced users who are already familiar with the functions of the different homing types.
  • Page 118 Homing Mode 1130 Function Neg. Lim.-Sw., Ref.-Sig. right of Homing to home switch with detection of encoder 11 - right Edge of Home-Sw. ref. signal. Homing direction negative (anticlock- wise). Reversal of direction of rotation when nega- Neg. Lim.-Sw., Ref.-Sig. left of 12 - tive HW limit switch is reached.

  • Page 119: Overview Table Of Homing Types

    Overview Table of Homing Types The following table provides an overview of which position is approached and which limit switch is used for reversal of the direction of rotation. Main destination Fine destination Limit Switch ? (Ref. signal) Left Ref. signal right Left limit switch limit switch Right...

  • Page 120: Graphic Overview Of Homing Modes

    Graphic Overview of Homing Modes Negative limit switch Positive limit switch Encoder zero track (Reference signal) Actual position Home switch Home switch Zero track left or right of edge Number of homing mode Destination approached from left upon rising edge. When coming from the right, direction is reversed when passing the edge.

  • Page 121: Terminology

    Terminology To enable a better understanding of the homing modes, the terms used are ex- plained in the following. Home switch active = 1 "High" signal is present inactive = 0 "Low" signal is present not used In this homing mode, no home switch is used Travel limit.

  • Page 122: Description Of Homing Modes

    In some cases, this also causes a speed change. If the other (non-selected) limit switch is actuated, the corresponding error message is triggered). BONFIGLIOLI VECTRON recommends that wire break proof limit Note: switches be used ("0 - active").

  • Page 123: Homing Modes With Ref. Signal

    5.5.1 Homing Modes with Ref. Signal Operation mode 1: Homing to negative limit switch with detection of en- coder ref. signal Dest.: Ref. signal to the right of negative limit switch Home switch not used Search direction Negative direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition...
  • Page 124 Operation mode 3: Homing to positive home switch with detection of en- coder ref. signal, home position is the first ref. signal after the home switch signal has changed Dest.: Ref. signal to left of left edge of positive home switch Home switch inactive Search direction Positive direction...
  • Page 125 Operation mode 4: Homing to positive home switch with detection of en- coder ref. signal, home position is the first ref. signal after the home switch signal has changed Dest.: Ref. signal to right of left edge of positive home switch Home switch inactive Search direction Positive direction...
  • Page 126 Operation mode 5: Homing to negative home switch with detection of en- coder ref. signal, home position is the first ref. signal after the home switch signal has changed Dest.: Ref. signal to right of left edge of negative home switch Home switch active Search direction Positive direction...
  • Page 127 Operation mode 6: Homing to negative home switch with detection of en- coder ref. signal, home position is the first ref. signal after the home switch signal has changed Dest.: Ref. signal to left of right edge of negative home switch Home switch active Search direction Positive direction...
  • Page 128 Operation mode 7: Homing to home switch with detection of encoder ref. signal, homing direction positive (clockwise), reversal of direction of rota- tion when positive HW limit switch is reached Dest.: Ref. signal to left of left edge of home switch Home switch inactive Search direction Positive direction...
  • Page 129 C: Homing direction (search direction) is clockwise toward positive HW limit switch. The home switch is not in search direction. The positive limit switch acts as a revers- ing switch. When the positive limit switch is reached, the direction of rotation is re- versed, and homing is performed in negative direction.
  • Page 130 The homing direction (search direction) depends on the signal status of the home switch. A: Homing direction (search direction) is clockwise toward positive HW limit switch if home switch and limit switch are inactive. The home switch is in search direction. Home position is the first encoder ref.
  • Page 131 Encoder reference signal Home switch Pos. HW Limit Switch A: Homing direction (search direction) is clockwise toward positive HW limit switch if home switch and limit switch are inactive. The home switch is in search direction. Fast Speed Travel to falling edge of home switch is performed at 1132.
  • Page 132 Operation mode 10: Homing to home switch with detection of encoder ref. signal, homing direction positive (clockwise), reversal of direction of rota- tion when positive HW limit switch is reached Dest.: Ref. signal to left of left edge of home switch Home switch inactive Search direction Positive direction...
  • Page 133 C: Homing direction (search direction) is clockwise toward positive HW limit switch. The home switch is not in search direction. The positive limit switch acts as a revers- ing switch. When the positive limit switch is reached, the direction of rotation is re- versed, and homing is performed in negative direction.
  • Page 134 A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switch and limit switch are inactive. The home switch is in search Fast Speed direction. Travel to right edge of home switch is performed at 1132. When the home switch is reached, the direction of rotation is reversed.
  • Page 135 Encoder reference signal Home switch Neg. HW Limit Switch A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switch and limit switch are inactive. The home switch is in search direction. Home position is the first encoder ref. signal after the home switch is rea- Fast Speed ched.
  • Page 136 Operation mode 13: Homing to home switch with detection of encoder ref. signal, homing direction negative (anticlockwise), reversal of direction of rotation when negative HW limit switch is reached Dest.: Ref. signal to right of left edge of home switch Home switch inactive Search direction Negative direction...
  • Page 137 A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switch and limit switch are inactive. The home switch is in search Fast Speed direction. Travel to left edge of home switch is performed at 1132. When the home switch is passed, the direction of rotation is reversed.
  • Page 138 Encoder reference signal Home switch Neg. HW Limit Switch A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switch and limit switch are inactive. The home switch is in search Fast Speed direction. Travel to rising (right) edge of home switch is performed at 1132.

  • Page 139: Homing Modes Without Reference Signal

    5.5.2 Homing modes without reference signal Operation mode 17: Homing to negative HW limit switch without encoder ref. signal. Dest.: Negative limit switch Home switch active Search direction Negative direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Rising edge reversal of direction of rotation...
  • Page 140 Operation mode 19: Homing to positive home switch without encoder ref. signal., falling edge Dest.: Falling left edge of home switch Home switch active Search direction Positive direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Rising edge reversal of direction of rotation home switch Creep Speed...
  • Page 141 Operation mode 20: Homing to positive home switch without encoder ref. signal., rising edge Dest.: Rising left edge of home switch Home switch active Search direction Positive direction Fast Speed Speed 1132 Home switch active Search direction Negative direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition...
  • Page 142 Operation mode 21: Homing to negative home switch without encoder ref. signal., falling edge Dest.: Falling right edge of home switch Home switch active Search direction Positive direction Creep speed Speed 1133 Home switch active Search direction Negative direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition...
  • Page 143 Operation mode 22: Homing to negative home switch without encoder ref. signal., rising edge Dest.: Rising right edge of home switch Home switch active Search direction Positive direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Falling edge reversal of direction of rotation home switch Creep Speed...
  • Page 144 Operation mode 23: Homing to left falling edge of home switch without encoder ref. signal with positive hardware limit switch Dest.: Falling left edge of home switch Home switch active Search direction Positive direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Rising edge...
  • Page 145 Operation mode 24: Homing to left rising edge of home switch without encoder ref. signal with positive hardware limit switch Dest.: Rising left edge of home switch Home switch active Search direction Positive direction Fast Speed Speed 1132 Home switch active Search direction Negative direction Fast Speed...
  • Page 146 Operation mode 25: Homing to right rising edge of home switch without encoder ref. signal with positive hardware limit switch Dest.: Rising right edge of home switch Home switch active Search direction Positive direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Falling edge...
  • Page 147 Operation mode 26: Homing to right falling edge of home switch without encoder ref. signal with positive hardware limit switch Dest.: Falling right edge of home switch Home switch active Search direction Positive direction Fast Speed Speed (before speed change) 1132 Condition Rising edge...
  • Page 148 Operation mode 27: Homing to right falling edge of home switch without encoder ref. signal with negative hardware limit switch Dest.: Falling right edge of home switch Home switch active Search direction Negative direction Fast Speed Speed (before reversal of direction of rota- 1132 tion) Condition...
  • Page 149 Operation mode 28: Homing to right rising edge of home switch without encoder ref. signal with negative hardware limit switch Dest.: Rising right edge of home switch Home switch active Search direction Negative direction Fast Speed Speed 1132 Home switch active Search direction Positive direction Fast Speed...
  • Page 150 Operation mode 29: Homing to left rising edge of home switch without encoder ref. signal with negative hardware limit switch Dest.: Rising left edge of home switch Home switch active Search direction Negative direction Fast Speed Speed (before reversal of direction of rotation) 1132 Condition Falling edge...
  • Page 151 Operation mode 30: Homing to left falling edge of home switch without encoder ref. signal with negative hardware limit switch Dest.: Falling left edge of home switch Home switch active Search direction Negative direction Fast Speed Speed (before speed change) 1132 Condition Rising edge...

  • Page 152: Homing Modes, Only Ref. Signal And Actual Position

    5.5.3 Homing modes, only ref. signal and actual position Operation modes 33 and 34: Homing to first encoder ref. signal Home position is the first encoder ref. signal in negative (operation mode 33) or positive (operation mode 34) direction. Encoder reference signal Operation mode 35: Current position is home position Current position is home position.

  • Page 153: Output Signals And Fault Messages

    6 Output Signals and fault messages Actual positioning values The display of actual values in VPlus is refreshed after the window for parameteriz- ing of motion blocks VTable has been closed. For information on other actual values, refer to the operating instruc- Note: tions of the frequency inverter.

  • Page 154: Status Word Of The Positioning

    Status word of the positioning The positioning offers advanced information via a positioning status word. This sta- Actual Motion Mode tus word is output during operation by parameter 1255. Additional the same information is available for other device functions (system bus, scope) via the signal source “880 - Actual Motion Mode”.
  • Page 155 Decimal Bit-No. Is set in Motion Mode or Operation Mode Gearing. Motion Mode Parameter 1208 of the actual motion block is set to: − “10 - gearing, absolute” or − “11 - gearing, relative” or − “12 - gearing, Touch-Probe: Rising Edge” or −...

  • Page 156: Status Word 411

    Status word 411 Status word Parameter 411 includes two specific bits of the positioning. These bits can be evaluated by the logic control. Note: The applicable status word is dependent on the operation mode cal/Remote 412. The status word is used in most of the operation modes Local/Remote for parameter 412.

  • Page 157: Digital Positioning Output Signals

    Digital Positioning Output Signals OP. Mode Digital Output 1 Parameters 530 of digital output S1OUTD and Mode Digital Output 3 532 of f the relay output link the digital outputs to various functions. The use of the multifunctional output MFO1 as a digital output requires parameter- Operation mode Digital opera- setting...

  • Page 158: Logic Signal Sources For Positioning

    Logic Signal Sources for Positioning Logic signal sources can be assigned to the software functions for further process- ing. In addition to the signals on the digital control inputs, the following signal sources of the positioning functions are available. For information on other signal sources, refer to the operating instructions of the frequency inverter.
  • Page 159 Logic signal Function Message on status of a travel order during a positioning Motion-Block Digital Sig- operation. The conditions set for parameter 891 - Digital Signal 1 nal 1 1218 were fulfilled. Message on status of a travel order during a positioning Motion-Block Digital Sig- 892 -...

  • Page 160: Positioning Error Messages

    Positioning Error Messages The following error messages may occur during positioning operations. For informa- tion on other error messages, refer to the operating instructions of the frequency inverter. Error Error message Description/Action The current contouring error has exceeded the value Error Threshold defined in 1106 for a time longer...
  • Page 161 Error Error message Description/Action Negative hardware limit switch or negative software limit switch reached. After acknowledgement of error it was tried to move in negative direction (anticlock- Anti-Clockwise wise). Negative direction is disabled as long as nega- F1452 Operation Locked tive limit switch is active.
  • Page 162 Error Error message Description/Action Neg. HW Limit Switch 1137 is set to an illegal logic Neg. HW-Lim. signal source or to a digital input of an expansion F1470 Switch: Illegal module (EM-S1IND, EM-S2IND or EM-S3IND) al- Signal Source though no expansion module is installed. The pa- rameter must be set to an available digital input.
  • Page 163 Error Error message Description/Action Homing Mode 1130, an operation mode with Homing : Encoder- zero impulse was selected for setting the reference F1571 Mode w.o. Z- position. However, an operation mode without zero Impulse impulse is selected to evaluate the encoder. Settings of SW limit switches or connections of HW limit switches is not correct.

  • Page 164: Positioning Warning Status

    Positioning Warning Status Warnings of the positioning functions are displayed in the error environment by pa- Application Warning Status rameter 367 and can be used for an early message of a critical operational condition. Combinations of various warnings can be created in Create Appl.

  • Page 165: Touch Probe: Drive Is Decelerated Or Stops

    6.8.1 Touch probe: Drive is decelerated or stops Description: Touch probe input is used in parameterization. As soon as the touch probe input is activated, the drive is decelerated or stopped. Remedy: Stop Positioning Change parameter 1223 to an input other than S3IND. Change wiring accordingly.

  • Page 166: Parameter List

    Parameter List The parameter list is ordered numerically. For better clarity, the parameters are marked with picto- grams. The parameter is available in the four data sets. Parameter value is displayed in VSetup This parameter cannot be written when the frequency inverter is in operation. This parameter can be edited using VTable in VPlus.
  • Page 167 Reference System Description Unit Setting range Fact. sett. Chapter 1115 Feed Constant 1 ... 2 3.5.2 Gear Box: Driving shaft 1116 1 ... 65535 3.5.2 revolutions Gear Box: Motor shaft 1117 1 ... 65535 3.5.2 revolutions Position Controller 1118 Limitation 0 ...
  • Page 168 Master Settings (el. gear) Description Unit Setting range Fact. sett. Chapter 1168 “In-Gear“-Threshold 1 ... 2 4.4.1.5 1169 “In-Gear“-Time 1 … 65535 4.4.1.5 Fixed Speed-Values 1170 Fixed Speed 1 -1) ... 2 163480 4.5.1 1171 Fixed Speed 2 -1) ... 2 327680 4.5.1 1172 Fixed Speed 3...
  • Page 169 Digital inputs Description Unit Setting range Fact. sett. Chapter Selection: 320 – 1224 Motion Block Change-Over 1 4.4.3.1 Logic signal EM-S1IND Selection: 321 – 1225 Motion Block Change-Over 2 4.4.3.1 Logic signal EM-S2IND Selection: 322 – 1226 Motion Block Change-Over 3 4.4.3.1 Logic signal EM-S3IND...

  • Page 170: Parameter List, Sorted By Function

    Parameter list, sorted by function The parameter list is sorted by positioning functions. For the setting and display ranges, refer to nu- merically sorted parameter lists in chapters "Parameter Menu (PARA)" and "Actual Value Menu (VAL)". Chapter Name of parameter Chapter Name of parameter Reference system...
  • Page 171 Chapter Name of parameter Chapter Name of parameter Master Settings (el. gear) Speed Override 4.7.1 1122 Master Position Source 1236 Speed Override 4.7.2 1123 Gear Factor Numerator Rotary table 4.7.2 1124 Gear Factor Denominator 4.11 1240 Operation Mode 4.7.3 Resync. on Change of Gear- 4.11 1241 Units Per Revolution 1142...

  • Page 172: Index

    Index Expansion modules........8 Acceleration Electronic Gear ........48 Factory settings........164 Homing ..........38 Fast speed..........38 JOG ............81 Fault reaction Motion block .......... 55 Hardware limit switches......94 Phasing ..........87 Software limit switches ......96 Actual position source......18, 19 Fixed speed in JOG mode......
  • Page 173 Interrupt ..........55, 59 Parameter list numerical order ........164 sorted by function ........ 168 Phasing ............ 87 JOG mode ..........76 Position comparator......... 105 Acceleration........... 81 Position controller........110 Deceleration .......... 81 Fixed speed ........... 79 Position deviation ........111 Terminal assignment ......
  • Page 174 JOG mode ..........79 Teach-In ..........81 JOG speed keypad ......... 80 Terminal diagram Motion blocks ........54 ACTIVE Cube (ACU) ......... 9 Phasing ..........87 Touch probe ..........45 Speed override........104 Transport and Storage ......... 6 Starting-record number......65 Status of motion........
  • Page 176 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry, mobile machinery and renewable energy applications since 1956. www.bonfiglioli.com Bonfiglioli Riduttori S.p.A. VEC 526 R1 tel: +39 051 647 3111 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com 40012 Lippo di Calderara di Reno...

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