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Jenny Science XENAX Xvi 48V8 Instruction Manual

Compact ethernet servo controller
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Instruction Manual XENAX® Xvi 48V8
Translation of "Anleitung XENAX® Xvi 48V8"
Edition 4. February 2021
Compact Ethernet Servo Controller
Parameterization over Web browser
Th e in t eg rat ed w eb s erv er al lo ws a s etu p
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axis can in s ta n tly b e s e t in mot ion b y c li ck
on th e Qu ic k Star t B u tto n .
Th is XE N A X® Xv i 4 8 V 8 is s ett in g n e w
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Summary of Contents for Jenny Science XENAX Xvi 48V8

  • Page 1 Instruction Manual XENAX® Xvi 48V8 Translation of “Anleitung XENAX® Xvi 48V8” Edition 4. February 2021 Compact Ethernet Servo Controller Parameterization over Web browser Th e in t eg rat ed w eb s erv er al lo ws a s etu p an d p ar a me te ri zat ion o v er w eb b ro ws er .
  • Page 2 Gener al Th e XE N A X ® Xv i 4 8 V8 E t h ern et s e rv o con t rol l er con t ro ls al l s er ies o f th e L IN AX ® lin ear moto r a xes , th e E LA X®...

  • Page 3: Table Of Contents

    4.2.6 OPTIO Pulse/Dir, Second Encoder Channel 4.2.7 PLC I/O 4.3 Internal I/O Circuit 4.4 Output Configuration 5 Configuration Motor Type Jenny Science / Motor customer specific 6 RS232 Serial Interface 6.1 Baud Rate RS232 XENAX® 7 ETHERNET TCP/IP Interface 7.1 Test IP Connection with >IPCONFIG 7.2 Test Connection with >PING...
  • Page 4 9.4.2 Move Axis by Click for ROTAX® Rotary Motor or Third Party Motors 9.5 Move Axis by Command Line 9.6 ASCII Command Set for XENAX® 9.6.1 Power / Reset 9.6.2 Basic Settings 9.6.3 Motor Settings 9.6.4 Controller Settings 9.6.5 Motion Settings 9.6.6 Reference LINAX®...
  • Page 5 9.17.3 Third Party Motors 9.17.4 Position Overflow 9.18 Reference 9.18.1 Reference LINAX® 9.18.2 Reference ELAX® 9.18.3 Reference ROTAX® und Third Party Motors 9.18.4 Reference to Mechanical Stop 9.18.5 Correction Table for LINAX® / ELAX® 9.19 Basic Settings 9.20 Version 9.21 Update Firmware / License 9.21.1 Display the actual license code 9.21.2 Subsequent license ordering 9.21.3 License activation...

  • Page 6: Characteristics Xenax® Xvi 48V8

    1 Characteristics XENAX® Xvi 48V8 1.1 Electronics / Firmware Description Data Interfaces Ethernet, TCP/IP, http web server Puls/direction, Master Encoder, I/O C Master/Slave, Start-up Key RS232 Bus, multi-axis operation EtherCAT (CoE), DS402 Ethernet POWERLINK, DS402 CANopen, DS 402 PROFINET (PROFIdrive) EtherNet/IP, DS402 Ethernet Switch, TCP/IP Operation Modes...

  • Page 7: Dimensions

    Options EtherCAT (CoE) DS402, Beckhoff®, OMRON®, TRIO® MC POWERLINK (CoP) DS402, B&R® CANopen DS402 EtherNet/IP DS402, Allen-Bradley PROFINET (PROFIdrive) SIMATIC, SIMOTION, SINUMERIK Start-up Key ID number for Master Slave and application memory Force Processes Optional with license code. Controllable Motor-Types ELAX®, ROTAX®...

  • Page 8: Controllable Motor Types

    2 Controllable Motor Types 2.1 Linear Motor Axes and Electric Slides LINAX® Linear Motors 3 phase synchronous linear motor with encoder RS422 A/A*, B/B* und Z/Z* and distance-coded reference marks. Special feature: Linear motor identification and temperature monitoring over I C bus.

  • Page 9: Customary Servo Motors

    La fer t , R A x x, RT x x AC-Servo motors with encoder A/A*, B/B* and Z/Z* and hall sensors e.g. AEG B28 D4 0,4Nm, 6000 U/min. Optionally available with brakes for vertical applications. 2.3 Customary Servo Motors Fau lh a b er ®...

  • Page 10: Hardware And Installation

    3 Hardware and Installation 3.1 Environmental Conditions Storage and transport No outdoor storage. Warehouses have to be well ventilated and dry. Temperature from -25°C up to +55°C Temperature while operating 5°C -50°C environment, (above 40°C, nominal current reduced to 6A) Humidity while operating 10-90% non-condensing Air conditioning...

  • Page 11: Electrical Connections

    4 Electrical Connections Note: To disconnect or connect the electrical components at the electrical connectors, the power supply must be disconnected. XENAX® Xvi 48V8 4.1 Plug Arrangement Description Plug Type RS232 USB-B socket Real time Ethernet (optional) 2 x RJ45 socket with status LED CANopen (optional) 9 Pol socket D-Sub Ethernet TCP/IP...

  • Page 12: Motor Plug 3 Phase

    4.2.2 Motor Plug 3 Phase Wago 3 Pole Plug LINAX® / ELAX® Servo motor DC Motor 3 Phase 3 Phase U (white) DC + V (brown) DC - W (green) 4.2.3 Logic and Power Supply Wago 4 Pole Plug 0, GND Adapter logic 24V DC 0, GND...

  • Page 13: Encoder And Hall Signals

    4.2.4 Encoder and Hall Signals 15 pole D-Sub socket Signal Description Together, for encoder and hall 0V supply, only 1 pin 5V Encoder 150 mA for encoder supply Encoder A Pull up 2,7kΩ to 5V, differential input 26LS32 Encoder A* Middle level: pull up 2,7kΩ...

  • Page 14: Optio Pulse/Dir, Second Encoder Channel

    4.2.6 OPTIO Pulse/Dir, Second Encoder Channel The pulse/Dir and second encoder channel are deactivated by default. Both options can be ordered. PULSE/DIRECTION CONTROL Enter settings in menu setup / basic settings: PULSE / DIRECTION CONTROL, MODE 2, optional Parameter MODE and INC PER PULSE Signal D-SUB PLC Cable...

  • Page 15: Plc I/O

    4.2.7 PLC I/O Output Signal D-Sub PLC Cable PLC I/O Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA Pin 1 white Output 1 (0/24V) Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA Pin 2 brown Output 2 (0/24V) Input Pin 3 green Input 1 24V Input, Ri 31k...

  • Page 16: Internal I/O Circuit

    4.3 Internal I/O Circuit INPUT 1-4 INPUT 1-4 24V, Ri = 31kΩ HIGH or LOW ACTIVITY programmable OUTPUT 1-2 TYPE SOURCE TYPE ACTIVITY Output Output Bit-value Bit-value SOURCE HIGH 24V* open* open 4.4 Output Configuration ACTIVITY SOA (Set Output Activity) parameter 2 Bit 1 Bit-value per output Output SOA Bit...

  • Page 17: Configuration Motor Type Jenny Science / Motor Customer Specific

    5 Configuration Motor Type Jenny Science / Motor customer specific The XENAX® Servo Controller differentiates between Jenny Science Motors LINAX® Lx, ELAX® Ex or ROTAX® Rx, and linear motors from other manufacturers. The setting is done on the hardware over a DIP switch.

  • Page 18: Rs232 Serial Interface

    6 RS232 Serial Interface 6.1 Baud Rate RS232 XENAX® The RS232 operates with the following parameters: Baudrate 115'200 Baud Data 8 Bit Parity kein Stop 1 Bit 7 ETHERNET TCP/IP Interface The TCP/IP interface has two essential functions. Firstly, HTML5-WebMotion can be accessed over the Ethernet TCP/IP interface.

  • Page 19: Test Ip Connection With >Ipconfig

    7.1 Test IP Connection with >IPCONFIG IPCONFIG command in DOS window Test TCP/IP address range. IP address has to be in range of 192.168.2.xxx If necessary adjust IP address in computer „network environment“ to e.g. IP 192.168.2.200. xxx = 001 – 255 ≠...

  • Page 20: Ascii Protocol

    8 ASCII Protocol Over Ethernet TCP/IP in the menu move axis / by command line in WebMotion® or via the serial interface e.g. with hyper terminal. The simple ASCII protocol works with the echo principle. The sent characters come back as an echo and can be checked immediately.

  • Page 21: Ascii Protocol Tcp/Ip

    8.1 ASCII Protocol TCP/IP In TCP/IP the cohesive ASCII sequences can be splitted into different telegram packages. This is why a separate receive buffer has to be considered. Please find detailed information in: „ Xvi75_TCP/IP_Socket_ Telegram_Events/Wireshark.pdf” on http://www.jennyscience.de/en/download/. 8.2 Asynchronous Messages (Events) To reduce response time, status or PLC input modifications of the PLC interface can be sent automatically (events).

  • Page 22: Webmotion

    PLC I/O pin no. INPUT no. Example input bits after modification Event general @I Example Event @I “B” Default Settings after Power ON After power on of XENAX® servo controller or application download, default settings are active again: Events OFF EVT=0 PLC Input Events OFF DTI=0...

  • Page 23: Start Webmotion

    9.1 Start WebMotion ® Start your web browser with the IP address number of your XENAX® and add “/xenax.html” as a suffix. IP address is provided on the back side of the XENAX®. Example: http://192.168.2.xxx/xenax.html XENAX® is being started with an automatic system self- check including type designation and version information on firmware and hardware.

  • Page 24: Quick Start (Only With Linax® And Elax® Linear Motor Axes)

    9.2 Quick Start (only with LINAX® and ELAX® linear motor axes) The Quick Start function allows the user to setup the LINAX® or ELAX® linear motor axis with the XENAX® controller simply immediately after receipt of the components. It is completed per mouse click, without parameter settings and without an instruction manual.

  • Page 25: Operation, Status Line

    9.3 Operation, Status Line The status line on the lower edge of WebMotion ® gives an overview of the current condition of XENAX ® and the connected motor at any time. These data cannot be changed and are for the user’s information only.

  • Page 26: Move Axis By Click

    9.4 Move Axis by Click 9.4.1 Move Axis by Click for LINAX®/ELAX® Linear Motors Simple online control for setup and test of the linear motor axes. The orange values behind the empty fields show the current registered values in XENAX®. New values can be entered in the empty fields and registered with <Enter>.
  • Page 27 Go Way (REL) Input of the distance relative to the present position in increments. Sta rt with <Enter>. Go Position (ABS) Input of the position absolute to the zero point in increments. Start with <Enter>. Rep Reverse Endless automatic motion back and forth. Input of the way relative to the present position in increments.

  • Page 28: Move Axis By Click For Rotax® Rotary Motor Or Third Party Motors

    9.4.2 Move Axis by Click for ROTAX® Rotary Motor or Third Party Motors The XENAX® Servo Controller automatically recognizes the ROTAX® rotay motor. If the XENAX® servo controller does not recognize a LINAX® or ELAX® linear motor axis or a ROTAX® rotary axis, XENAX®...

  • Page 29: Move Axis By Command Line

    9.5 Move Axis by Command Line The XENAX® can directly be controlled by a ASCII command set. COMMAND Transmits an ASCII command with <Enter>. Under “Recall commands“ the activated commands are saved and can be reactivated by mouse click RESPONSE shows received characters by WebMotion®.

  • Page 30: Basic Settings

    Phase to Phase Resistance RPH 0-100‘000 / ? Inductance phase to phase of the motor in [µH] Phase to Phase Inductance LPH 0-100‘000 / ? Gear ration of rotary Jenny Science motors (ROTAX) Gear Ratio 9.6.4 Controller Settings DESCRIPTION Short PARAMETER Payload “PAYLOAD”...

  • Page 31: Motion Settings

    Damping coefficient settings in % of Active-Current filter Avoid Vibration Damping AVD 1-50 / ? Max. position deviation in increments “Deviation POS ACT” Deviation Position 1-1’000’000 / ? Permissible target point deviation “Deviation TARGET” Deviation Target Pos. 1-10‘000 / ? Speed filter frequency Filter Frequency Speed 0-, 160-2’000 / ?

  • Page 32: Reference Linax® / Elax

    9.6.6 Reference LINAX® / ELAX® DESCRIPTION Short PARAMETER Home linear motor axis encoder Reference Start direction REF function Direction REF DRHR 0-5 / ? 0 = positive, 1 = negative 2 = Gantry REF positive, motors same direction 3 = Gantry REF negative, motors same direction 4 = Gantry REF positive, motors reverse direction 5 = Gantry REF negative, motors reverse direction 9.6.7 Reference Gantry...

  • Page 33: Move Commands

    Speed for seeking z-mark Speed Z-Mark 0, 10-10’000 Inc/s If there is no z-mark on the encoder, set SPZ = 0 (only possible for 3th party motors, not for ROTAX®) Position of Z-mark in reference to internal home sensor of Rotax Z-Mark Position RXZP 0 / ?

  • Page 34: Program / Application

    Save index type in index for the preselected number with NIX Type of Index TYIX 1,2 / ? (1 = absolute, 2 = relative) (stored in non-volatile memory, still effective after power cycle) Save index type in index for the preselected number with NIX Type of Index Dynamic TYIXD 1,2 / ?
  • Page 35 I_Force Drift Compensation Settings, bitwise coded: I_Force Drift IFDCS 0-7 / ? Bit0: Continuous compensation at disabled power stage Compensation Settings Bit1: Automatic compensation before force calibration Bit2: Continuous compensation at enabled power stage at applicable position (see command PIFDC) Position for I_Force Drift Compensation at enabled power Position I_Force Drift PIFDC...

  • Page 36: Event

    Sector Transition STCX xx / ? Configuration Hexadecimal Bit 15..12 11..8 7..4 3..0 Entry not used Exit not used 4 3 2 Transition. 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 4128 Selecting Drive I_Force number in which parameters shall be Number of Drive I_Force NDIF xx / ?

  • Page 37: Input / Output

    9.6.14 Input / Output DESCRIPTION Short PARAMETER High / Low Activity of PLC outputs Set Output Activity Output Configuration -> refer chapter 4.4 Set PLC output to logic 1 (level according, SOA) Set Output Equivalent to SO, but set all outputs binary coded Set Output Hex Bit 0 = Output 1, Bit 1 = Output 2 Clear output (level according, SOA)

  • Page 38: Correction Table

    Parameter C of input function of with NIF preloaded input Parameter C PCIF number (value depending on input function, according to value described in chapter 9.13.1 Selection of Input Functions) Shows present position captured with input Tell Capture Position Shows the position captured with input 4 Tell Capture Pos.

  • Page 39: Limit Position Elax

    9.6.16 Limit Position ELAX® DESCRIPTION Short PARAMETER Start calibration of the internal mechanical limit stop positive. After Mechanical Limit the calibration the value can be read with DMLPP. Calibration Position of the detected internal mechanical limit position positive Detected Mechanical Limit DMLPP 0, <Stroke ELAX>...

  • Page 40: System Information

    9.6.17 System Information DESCRIPTION Short PARAMETER Present position ± 2*10E9 Tell Position Require actual motor velocity [inc/s] Tell Velocity Motor temperature in degree Celsius Tell Temperature Status: 0 = Power OFF, 1 = Power ON, 2 = In motion, 9 = Error Tell Status New: please use TPSR Binary coded process status, size of return string 4 Bytes in HEX...

  • Page 41: Ethernet

    9.6.18 Ethernet BESCHREIBUNG KÜRZEL PARAMETER Ethernet TCP/IP-Adresse Ethernet TCP/IP Adress xxx.xxx.xxx.xxx / ? Example: EIP192.168.2.100 (Default value) Ethernet NetMask Ethernet Net Mask xxx.xxx.xxx.xxx / ? Example: ENM255.255.255.0 (Default value) Ethernet Gateway Ethernet Gateway xxx.xxx.xxx.xxx / ? Example: EGW192.168.1.10 (Default value) Ethernet Port Nummer Ethernet Port EPRT...

  • Page 42: System Monitoring

    9.6.21 System Monitoring DESCRIPTION Short PARAMETER Switching off or turning on the encoder plausibility test: Encoder Plausibility ENCPD 0-1 / ? 0=Encoder plausibility test on Checking Disable 1= Encoder plausibility test off (for rotary motors only) Watchdog for Serial/Ethernet interface Watchdog 0-60’000 ms / ? 0 = deactivated...

  • Page 43: Move Axis By Forceteq

    9.7 Move Axis by Forceteq® The force processes of the XENAX® Xvi servo controller cover four functionalities: - I_FORCE CALIBRATION: Calibration of the motor through detection of all idle running forces including the payload of the client specific installation on the slide. This creates the basis to precisely determine the external application forces.

  • Page 44: Move Axis Motion Diagram

    9.8 Move Axis Motion Diagram Recording position, speed, IForce and position deviation LOGGING AUTO Recording starts, as soon as the drive has started. The record lasts until the drive and a possible program have ended. LOGGING TIME Recording starts, as soon as the drive has started. The record lasts as long as the time indicated (2-8000ms).
  • Page 45 Command Enter command e.g. starting position of the motor, REF, G0, drive on a position or repeat reverse (RR). CURSOR VALUE Shows the current values at the time of the cursor in the recording. safe file Saves the motion profile on the computer. open file Shows a motion profile which was saved on the computer.

  • Page 46: Index

    9.9 Index An Index is a motion profile and contains acceleration (ACC), speed (SPEED), distance (DISTANCE) and TYPE of distance („ABSOLUTE“ with reference to the zero position or „RELATIVE“ with reference to the present position). The values always refer to increments of the incremental encoder.

  • Page 47: Sector I_Force

    9.10 Drive I_Force A DRIVE I_FORCE is driving with force consisting of acceleration (ACC), speed (SPEED), current (I_FORCE) and driving direction (DIRECTION). Up to 10 DRIVE I_FORCE can be stored. Create new Drive I_Force Parameters of the Drive I_Force ACCx1000 Acceleration (2-1‘000'000'000 x1000 Inc/s SPEED Speed (10-100’000’000 Inc/s)

  • Page 48: Program

    9.12 Program Here you can define program sequences line by line. PROGRAM Select, create, copy or delete a program. LINES In this list all defined program lines of the present program will be shown. Maximum number of lines depends on program mapping (PMAP, default = 0): PMAP = 0 Prog 1-15: 50 lines Prog 16-63: 10 lines...

  • Page 49: Program Commands

    9.12.1 Program commands Description Command Parameter Master / Slave Reference for LINAX®/ELAX® / ROTAX® and third party REFERENCE motors Execute index number xx or change according INDEX xx, yy, zz operation yy with distance zz Operation „EXE“: Drive index No. xx and start a new index after COMPLETION zz% of the actual index command ACTION „=“: Set index distance to zz...

  • Page 50: Notes For Error

    Wait for distance (absolute position – Sector Offset) to WAIT FOR DISTANCE LESS xx, yy, zz be smaller than xx within timeout frame yy, otherwise jump to line zz „error handling“ Wait for process status register Bit xx High within timeout WAIT PROCESS STATUS BIT HIGH xx, yy, zz frame yy, otherwise jump to line zz „error handling“...

  • Page 51: I/O Functions

    Example: Initialization LINAX®/ELAX® This example shows the initialization of a LINAX®/ELAX® linear motor with the command REFERENCE which then drives to a defined starting position (INDEX 1). The start position is free to choose as long as it is within the stroke of the motor. In this example the axis drives to start position 0.

  • Page 52: Selection Of Input Functions

    9.13.1 Selection of Input Functions LINAX®: Reference for LINAX®, travels the distance of REFERENCE two coded reference marks and calculates the absolute position according LINAX® linear motor. ELAX®: Reference for ELAX®, the absolute potion is determined by driving to a mechanical limit. ROTAX®...
  • Page 53 Notes to Input Functions: Except “EMERGENCY EXIT“ and “EMERGENCY EXIT POWER ON“ all input functions must only be parameterized in a Pick & Place Maser or Gantry Master. For rapid deceleration in emergency shut down situations (“LIMIT SWITCH NEGATIVE“, “LIMIT SWITCH POSITIVE“, “EMERGENCY EXIT“, “EMERGENCY EXIT POWER ON“, “STOP IMPULS“, “STOP IMPULS COUNTER“) the special ED (Emergency...

  • Page 54: Selection Output Functions

    9.13.2 Selection Output Functions REFERENCE has been completed REFFERENCE In motion, motor is running IN MOTION End of program END OF PROGRAM Trigger (5ms, defined by TGU, TGD commands) TGIGGER Error pending ERROR Release brake BRAKE In position, within deviation target position (DTP) IN POSITION Limit I_Force reached (command LIF) I FORCE MAX LIMIT...

  • Page 55: Profile (Velocity)

    9.14 Profile (Velocity) Complex motion profiles can be linked with up to seven profile segments. The XENAX® servo controller is able to store up to five profiles. The profile definition includes a start position as well as absolute end-position, end-speed and acceleration of each profile segment.

  • Page 56: Captured Pos

    (Start is Captured Pos 1). Reaction time ~ 4-6μs. (First edge position = Captured Pos 1 etc.) ASCII command: TCPn (n = register number) Function is available over Jenny Science bus module in asynchronous operation, too. Object Sub Idx ASCII...

  • Page 57: State Controller

    9.16 State Controller The closed loop control system consists of a state Consult also the TUTORIAL Video controller with observer. Tutorial 2: Initial XENAX® Xvi state controller setup on our website. In this video you will see the basic ® Basic Settings settings of the XENAX Xvi servo controller for Jenny...
  • Page 58 Auto Gain Sets the gain of position controller based on the entered payload value. This is a theoretically calculated value. A small adjustment might be necessary and can be completed with “GAIN POS”. Noise GAIN CUR Gain of current controller. The reduction of this gain consents a diminution of noise emissions in case of sound-sensitive environments.
  • Page 59 Avoid vibration FREQ Current filter frequency. The filter is best suited for the reduction of vibrations with well pronounced frequencies Typical values are in between 300-500Hz. At a value of 0, the filter is not active. The frequency can be automatically detected with an internal scan function (refer to chapter 9.16.1 F Setting) or eventually with the help of a smartphone app.

  • Page 60: F Setting

    This frequency can be extracted for the “DEVIATION” curve in “Motion Diagram” if the ratio between load and slider load is sufficiently high. If this is not the case, this frequency can be determined with the help of a highspeed camera, an acceleration sensor or a smartphone app for vibration measurements.
  • Page 61 Settings for the Frequency Analysis: Recordable Time: The longer the recording time is, the higher is the frequency resolution, but the smaller is the measurable frequency range. For each recordable 0.4s -> 0 – 5000Hz time, the according measurable frequency range will 0.8s ->...
  • Page 62 Process of a Frequency Analysis: This process shows a typical process of a frequency analysis: Notes to frequency analysis: • The filter frequency might not always be able to clear the oscillation. Especially when the resonance frequency is low, the controller can possibly be affected too much by the filter frequency and the oscillation won’t disappear.

  • Page 63: Motor

    9.17 Motor 9.17.1 Motors LINAX® and ELAX® MOTOR TYPE The connected motor type of LINAX® and ELAX® series will be recognized and shown automatically. I STOP Continuous current limitation in standstill. I RUN Continuous current limitation while moving. NUMBER OF POLE PAIRS LINAX®...

  • Page 64: Motor Rotax

    9.17.2 Motor ROTAX® MOTOR TYPE The connected motor type of ROTAX® series will be recognized and shown automatically. I STOP Continuous current limitation in standstill. I RUN Continuous current limitation while moving. NUMBER OF POLE PAIRS Number of pole pairs of AC / DC / EC brushless servo motors.

  • Page 65: Third Party Motors

    9.17.3 Third Party Motors THIRD PARTY MOTOR Motors that are sold by Jenny Science, are available in the database and can be selected. For parameterization of rotary servo motors, refer to the document XENAX® Servocontroller/General files for XENAX® Xvi/PARAMETERIZATION OF ROTATIVE.zip on https://www.jennyscience.ch/en/products/download...

  • Page 66: Position Overflow

    9.17.4 Position Overflow For ROTAX® servo motor types and Third Party Rotative Motors, which are operated e. g. as rotary tables always in the same direction of rotation, it can occur that the encoder position reaches very high positive or negative values In order to ensure that the position can be continuously incremented in positive or negative direction, a controlled...

  • Page 67: Reference

    9.18 Reference 9.18.1 Reference LINAX® 9.18.1.1 Reference Absolute, According Reference Marks REFERENCE Selection Default, reference over two reference marks on the measuring scale with calculation of the absolute position. This position refers to the mechanical zero point of the LINAX® linear motor axes. DIRECTION Enter start direction of the reference travel direction: POSITIVE (DEFAULT) = Reference direction up.
  • Page 68 9.18.2.1 Reference with Internal Limit If there are no externally mounted limit stops („MLPN“ = 0 and „MLPP“ = 0), the reference will be completed by the internal mechanical limits of ELAX® itself. ASCII command „MLPN“= Mechanical Limit Position Negative ASCII command „MLPP“= Mechanical Limit Position Positive Negative Reference (DRHR = 1) The slide drives in negative direction until the mechanical...

  • Page 69: Reference Rotax® Und Third Party Motors

    9.18.3 Reference ROTAX® und Third Party Motors For ROTAX® and third party motors only, for LINAX® or ELAX® please use directly command „>REF“. CLOCKWISE = clockwise COUNTER CLOCKWISE = counter clockwise REF DIR Defines start direction for searching the external REF sensors 1 = CLOCKWISE, 2 = COUNTER CLOCKWISE REF SPEED Defines speed to search the external...

  • Page 70: Reference To Mechanical Stop

    9.18.4 Reference to Mechanical Stop Selection REFERENCE LIMIT STOP After the ordinary reference of a LINAX® or ELAX®, it is possible drive to a mechanical stop. Important: This function is optional and has no influence to the absolute positioning counter. CREEP DIR POSITIVE (Travel direction positive) NEGATIVE (Travel direction negative)

  • Page 71: Correction Table For Linax® / Elax

    9.18.5 Correction Table for LINAX® / ELAX® Depending on the application’s construction in which a LINAX® or ELAX® linear motor axis is used, it is possible that the encoder position does not correspond to the actual physical position of the linear motor slide (e.g. in cross table or for high cantilevered applications with leverage effect).
  • Page 72 Input the correction values with WebMotion®: With the navigation setup/reference in case of LINAX® or ELAX® INIT Initialize correction table, physical position value = encoder value Correction not active, moving commands refer to encoder position value Correction table active, moving commands refer to physical position value POS START Startposition of correction table.
  • Page 73 ASCII Commands >RES (Reset XENAX®) the correction table status is OFF, encoder values = physical values >CTAB 0 (= OFF) >CTAB 1 (= ON) >CTAB 3 (= INIT) >CTPS 0 (set correction table position start) >CTDP 10000 (set correction table distance points) Setup individual correction table values >CTPO 20000 (preselect absolute encoder...

  • Page 74: Basic Settings

    9.19 Basic Settings General basic settings MODE Choose mode: Standard Electronic Gear Stepper Control INC PER PULSE Inc. pro Pulse, MODE 2, Puls/Direction controlling. SYNC RATIO Ratio of electronic gear CARD IDENTIFIER Master/Slave, CANopen, Powerlink Read form start-up key (2 x binary coded switch) or set manual if there is no start-up key.

  • Page 75: Version

    9.20 Version Overview of hardware and software versions of XENAX® and bus module. XENAX® Overview of firmware, WebMotion®, hardware and MAC-address. BUS-MODULE Optional bus module with version indication and protocol type. Mac-address issue with Profinet / Powerlink and EtherNet/IP If the Mac-address is 0, the Card Identifier is missing. IP address issue with EtherNet/IP...

  • Page 76: Update Firmware / License

    9.21 Update Firmware / License Loading new version of firmware and new WebMotion® to XENAX® or to bus module. Update of License. The matching software components and hardware platforms can be found in the release notes. XENAX FW Xvi48V8 Update of firmware. After switching to the Update GUI, "FIRMWARE"...

  • Page 77: Display The Actual License Code

    WebMotion® is starting. Or under WebMotion® Start-> Operation -> firmware -> version 9.21.2 Subsequent license ordering The MAC-address must be sent to Jenny Science for any subsequent license ordering, WebMotion® Start-> Operation -> firmware -> version Possible licenses: LINAX® Linear motor axis Force processes (Forceteq®)
  • Page 78 Click on XENAX® -> License Code Entry the new given (from Jenny science) license code, in the displayed windows. Click on SET LICENSE CODE WebMotion® is starting new and display the new activated license. By wrong license code introduction, „No Additional Licenses“ would be displayed.

  • Page 79: Save

    9.22 Save Saves applications, which contain all from the client saved parameters, data and programs. to XENAX saves applications from WebMotion® to XENAX®. to file saves applications from WebMotion® to a file on PC/Laptop (Harddisk, Server). to start-up key Saves applications in the start-up key to load faster on other XENAX®.

  • Page 80: Master / Slave

    10 Master / Slave With the master/slave configuration you can control up to 4 axes with one central program. Typical applications are handlings modules (pick&place). The master controls his slave’s autonomously in stand-alone operation and can directly be controlled by a superior system over simple I/O signals. 10.1 Master/Slave Configuration Master and slave devices are absolute identical standard XENAX®...

  • Page 81: Programming Example Pick&Place

    10.2 Programming example Pick&Place X-Axis Master (LOC) Z-Axis Slave (REM ID1) START STOP Please note: All indices and profiles have to be defined exclusively in the master device. After turning on the devices, indices and profiles will be automatically transferred to the slaves.

  • Page 82: Gantry Synchronized Mode

    11 Gantry Synchronized Mode In the gantry mode there are two linear motor axes mounted with the same driving direction. Those two axes have to move synchronously. In this example these are the y-axes marked with the arrows. When switching on the system, these two Y-axes have to be aligned in order to move without mechanical tension.

  • Page 83: Ascii Commands For Gantry Synchronized Mode

    11.2 ASCII Commands for Gantry Synchronized Mode Command Description Can also be triggered as INPUT FUNCTION in the Reference master. GP / G Go Position / Go direct Position Reference, profile and indices can also be invoked in a Go Way program.

  • Page 84: Forceteq® Force Measurement Technology

    12 Forceteq® Force Measurement Technology 12.1 Forceteq® basic current based with self calibrated motor The Forceteq® basic measurement technology is completely integrated in the XENAX® Xvi servo controller. This allows force-monitored control of all Jenny Science linear and rotary motor axes. The force is measured during the production process using the patented Forceteq®...

  • Page 85: Forceteq® Basic Via Realtime Bus

    12.2 Forceteq® basic via Realtime Bus The force values are transmitted as process data objects (PDO) cyclically according to the bus cycle time 12.2.1 CANopen over Ethernet Parameter Objekt (PDO) Description Position Actual [Inc] 6064h Position actual I_Force Actual [mA] 2005h Force-equivalent current actual Limit I_Force [x10mA]...

  • Page 86: Forceteq® Basic Via Xenax

    XENAX® servo controller, the cogging-, load- and friction forces of the iron core LINAX® and ELAX® linear motor axes and the ROTAX® rotary axes from Jenny Science can be detected. This is how it becomes possible to limit, monitor and control forces in processes.

  • Page 87: I_Force Monitoring

    12.3.3 I_Force Monitoring 12.3.3.1 Diagram I_Force In the menu „Diag I_Force“ the way/force diagram can be recorded by which the force progression through the sectors can be verified. 12.3.3.2 Sector I_Force In the WebMotion® program menu „sector i-force“ up to 10 different force sectors can be defined. Example: Once an object is touched the force progression shall be examined in a sector of 150 to 170 Increments.

  • Page 88: I_Force Control

    12.3.4 I_Force Control 12.3.4.1 Program with I_Force Control Commands In the WebMotion® menu „program“ the different force functions of I_FORCE CALIBRATION, I_FORCE LIMITATION and I_FORCE MONITORING can be combined and defined with the use of the according commands. The command can be found in chapter 9.12.1 Program commands 12.3.4.2 Drive I_Force DRIVE I_FORCE is driving with force consisting of...

  • Page 89: Sector Offset For Touching Position

    12.3.5 Sector Offset for Touching Position Typically an object is first touched. All following functions then relate to this touching position. Depending on the size tolerance of the objects, this touching position differs from object to object. The touching position can very simply be detected Touching Position with „Drive I_Force“...

  • Page 90: Application Example

    12.3.6 Application Example A force sensor consisting of a little mounting plate, ceramic and strain gauge elements glued on the top shall be tested upon its functionality. The force sensor measures the external force applied to the small ball (upper left corner in picture). With the ELAX®...
  • Page 91 12.3.6.1 Application as program in XENAX® Input / Output Interface Definition INPUT FUNCTIONS: Input 1 = Program 1, Referencing and drive to position 0 Input 2 = Program 2, Force Calibration of ELAX® linear motor slide Input 3 = Program 3, Entire test process including analysis OUTPUT „STATUS“: No touching position found →...
  • Page 92 ******* Sector I_Force 3 *************** Sector IForce Start = 158 Sector IForce End = 178 IForce Low x10mA = 119 IForce High x10mA = 121 Sector Transit Config = 8320 ******* Sector I_Force 4 *************** Sector IForce Start = 162 Sector IForce End = 182 IForce Low x10mA...
  • Page 93 12.3.6.2 Force Process with ASCII Commands Download the determined sector parameters into XENAX® servo controller. There are 5 sectors all in all. Below you find the description for sector 1. Sectors 2- 5 are structured in the same way. Parameter Sector 1 laden Pre-selection of sector number >NSEC 1 Sector I_Force Start [Inc]...

  • Page 94: Operating Status On 7-Segment Display

    13 Operating Status on 7-Segment Display Description Display No firmware, operating system is active Firmware active, servo controller OFF Servo On, control loop closed Error refer chapter 14Error xx flashing Handling) No power supply logic or none voltage on power supply logic >27VDC...

  • Page 95: Error Handling

    Third party motor not configurated or For Jenny Science Motors (LINAX/ELAX/ROTAX): DIP-switch setting wrong For all Jenny Science motors the DIP-switch has to be set on „LINAX/ELAX/ROTAX“. For third party motors: Please make correct setting for the motor in WebMotion® under setup →...
  • Page 96 Limit I Force reached Force proportional motor current reached “Limit I_Force Value” (LIF). Motor current is limited to “Limit I_Force Value”. A possible detected error 50 (position deviation to large) is suppressed. I_Force Drift Compensation failed Automatic I_Force Drift Compensation drive was blocked or the compensation position could not be held steady for 150ms (e.g., due to vibration) Warnings...
  • Page 97 REF error Push the travel-plate by hand to a “free range” and try “REF” again. Check the values I stop (IS) and I run (IR), maybe you have to increase these values. Z-Mark distance failure The measured distance of coded reference marks is not plausible. Check the value payload (ML).
  • Page 98 XENAX® controller with linear axis setup (DIP Switch)? Or servo controller encoder connector defect. Test encoder: disconnect encoder; if XENAX® starts normally, connector is defect. If still not working, please contact Jenny Science for support. „n“ Level I C Bus C bus response is „nak“...
  • Page 99 14.2 Notes for Error 50 Error 50 means that deviation from position target value to actual position value is higher than „DEVIATION POS ACT“ (→ WebMotion®, setup, state controller). There are different possible causes which lead to this error. Please check the following: Test POSITION Encoder counter Status Display XENAX®...

  • Page 100: Arbitrary Display On 7-Segment

    Test of brushless servo motors for hall signals encoder A/B and motor phase (wiring and colors). There is no common standardization for servo motor connectors. Jenny Science is happy to support you during the setup process. Test if motor is running at low velocity With WebMotion®...

  • Page 101: Defective Firmware

    Jenny Science AG. Jenny Science AG grants no guarantee on, or will be held responsible for, any incidents resulting from false information. Information in this instruction manual is subject to change.

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