gefran POS-MINI SIEIDrive Instruction Manual
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gefran POS-MINI SIEIDrive Instruction Manual

gefran POS-MINI SIEIDrive Instruction Manual

One-axis positioner
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ONE-AXIS POSITIONER
POS-MONO
.....
Instruction Manual

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Summary of Contents for gefran POS-MINI SIEIDrive

  • Page 1 ONE-AXIS POSITIONER POS-MONO ..Instruction Manual...
  • Page 2 (including recording and photocopying) without a written consent of GEFRAN S.p.A. GEFRAN S.p.A. is not responsible for those mistakes that may be found in this manual and for the damages that they may cause. Before the inverter installation, wiring, commissioning and inspection, read the instruction section carefully.

  • Page 3: Table Of Contents

    One-axis positioner Table of contents Introduction ........................ 7 1. Commands ......................7 1.1. Command Single Parameter ...................... 7 1.2. Zero Cycle ..........................8 1.3. Jog Commands ......................... 8 1.4. IncrJog Commands ........................8 1.5. Move1 Command........................9 1.6. Move2 Command........................10 1.7.
  • Page 4 GEFRAN 5.1.3. Phase 2: Check of the Set Parameters ................28 5.1.3.1. Operation Sequence ......................28 5.1.3.2. First Steps ........................28 5.1.3.3. Check of the Incremental Encoder..................28 5.1.3.4. Check of the Absolute Encoder ..................28 5.1.3.5. Check that the axis remains stopped and closed in the position loop ....... 28 5.1.3.6.
  • Page 5 One-axis positioner Appendix A: Configuration of the DGFC Standard Parameters ....... 42 Appendix B: Profibus Communication Configuration ..........43 Appendix C: List of the Positioner Specific Alarms ..........46 Appendix D: List of the Command Error Codes ............47 —————— Instruction manual ——————...
  • Page 6 GEFRAN —————— Instruction manual ——————...

  • Page 7: Introduction

    One-axis positioner INTRODUCTION This manual describes the functioning methods, the configuration and the use of an independent positioner. This positioner is suitable for DGFC mounted on AVy drives with a 1.xxx firmware version, on TPD32 from 8.000 firmware version and on AMV32 from 4.100 firmware version. 1.

  • Page 8: Zero Cycle

    GEFRAN 1.2. ZERO CYCLE When started, the control unit does not know the real position of the controlled axis; it happens indepen- dently of the used position transducer (incremental or absolute encoder). The real position can be known only at the end of the zero cycle. The zero cycle can be performed with different methods according to the used transducer type;...

  • Page 9: Move1 Command

    One-axis positioner The axis stops in three conditions: 1. When the IncrJog+ or IncrJog- command is disabled. 2. When it reaches the maximum limit switch, for the IncrJog+command, or when it reaches the minimum limit switch, for the IncrJog- command. 3.

  • Page 10: Move2 Command

    GEFRAN The speed, acceleration and jerk values performing the speed profile are stated via the following parameters: • Speed name: SpeedMove1 ipa: 1086 • Acceleration name: AccelMove1 ipa: 1089 • Jerk name: JerkMove1 ipa: 1094 The specific parameter controlling Move1 is the following:...

  • Page 11: Moven Command

    One-axis positioner 1.7. MOVEN COMMAND The MoveN command moves the axis towards one of the specified Sets. Each Set is made of three para- meters: position, speed and acceleration. This command is active on the Positive level. It is active only after the zero cycle has been completed. The axis stops: 1.

  • Page 12: Functions

    GEFRAN 2) Command performed via the serial line Configuration: 1. SelIoSel (ipa 1319) = 0. 2. MoveNSel (ipa 1280) = 0. Execution: 3. SelectorSer (ipa 1305) = number of position Sets 4. moveN (ipa 1279) = 1 command 3) Command performed via I/Os Configuration: 1.

  • Page 13: Configurator

    One-axis positioner 3. CONFIGURATOR The configurator is a tool allowing to configure and run the position control. 3.1. MAIN PAGE The commands available on this page are the following: • Command it enables the manual command page. • Set 01-12 it enables the page aimed at setting the position Sets from 01 to 12 •...

  • Page 14: Command Page

    GEFRAN 3.2. COMMAND PAGE 1. It controls the zero cycle execution. It shows also the present state of the zero initialization. 2. It controls the execution of the Jog+ and Jog- movements, allowing to set the specific speed, accelera- tion and jerk values.

  • Page 15: Position Set

    One-axis positioner 3.3. POSITION SET From 01-12 Set pages to 61-64 Set pages it is possible to set the position Sets with their specific speeds and accelerations. 1. This column shows the Set number; 2. This column shows the value stored into the Set. Such value can be set automatically or by hand; 3.

  • Page 16: Area

    GEFRAN 3.4. 01-04 AREA This page allows to set the reference Sets of the area function. 1. This column shows the area number; 2. This column shows the area stored value. Such value can be set only by hand; 3. This column allows to set the area value by hand;...

  • Page 17: Digital Input Configuration 1

    One-axis positioner 3.5. DIGITAL INPUT CONFIGURATION 1 This is the first page which allows to combine the digital inputs with the positioner commands. 1. It configures the hold command. 2. It configures the positioner enabling command. 3. It configures the Jog+ command. 4.

  • Page 18: Digital Output Configuration

    GEFRAN 3.6. DIGITAL OUTPUT CONFIGURATION This page allows to configure the digital outputs. 1. It selects the output PAD. 2. It configures the digital outputs. —————— Instruction manual ——————...

  • Page 19: Command Configuration

    One-axis positioner 3.7. COMMAND CONFIGURATION This page allows to configure some commands. 1. It configures the Move 1 command. 2. It configures the Move 2 command. 3. It configures the Move N command. 4. It loads the parameters contained in a PC file onto the DGFC. 5.

  • Page 20: Move 2 Command Configuration

    GEFRAN 3.7.2. Move 2 Command Configuration 1. Value to be reached. 2. Speed of the MOVE 2 command. 3. Acceleration of the MOVE 2 command. 4. Jerk of the Move 2 command. 5. It selects the source of the Move 2 command.

  • Page 21: Axis Configuration

    One-axis positioner 3.8. AXIS CONFIGURATION This page allows the positioner configuration. Ideal value. Position error. Real value. Real value from the absolute encoder. The parameter meaning is contained in the table “Description of the Axis Configuration Para- meters”. Refer to chapter 5 for the axis configuration mode. ——————...

  • Page 22: Encoder Configuration

    GEFRAN 3.9. ENCODER CONFIGURATION This page allows to perform the encoder configuration. 1. It selects the encoder (Enc 1, Enc 2) 2. It sets the encoder initialization registers. 3. It configures the Override. 4. It selects the Target Pos 1 source.

  • Page 23: Absolute Encoder Configuration

    One-axis positioner 3.10. ABSOLUTE ENCODER CONFIGURATION This page allows the absolute encoder configuration. 1. Card availability flag. 2. Counting values for the absolute encoder. 3. Absolute encoder enabling/disabling. 4. Reserved. 5. Absolute encoder reference value and bit number per revolution. 6.

  • Page 24: About Application

    GEFRAN 3.11. ABOUT APPLICATION... This page contains the information about the application version. —————— Instruction manual ——————...

  • Page 25: Description Of The Axis Configuration Parameters

    One-axis positioner 4. DESCRIPTION OF THE AXIS CONFIGURATION PARAMETERS Name Unit Description 5051 Pulses Number of pulses contained in one encoder revolution. 5061 DltDisp Axis swing for Revol encoder revolutions. 5071 Revol Number of encoder revolutions for which the axis performs a movement equal to DltDisp units. It is usually set at 1. 5161 MaxSpd dis/sec Axis maximum speed.

  • Page 26: Configuration Examples

    GEFRAN 5. CONFIGURATION EXAMPLES 5.1. CONFIGURATION EXAMPLE OF A LINEAR MOVED AXIS WITH ABSOLUTE ENCODER 5.1.1. Axis Features 5.1.1.1. Absolute Encoder • Bit/revolution EA_Bit/Revolution = 8192 bits • Number of revolutions EA_RevolutionNumber = 4192 revolutions 5.1.1.2. Incremental Encoder • Pulses/revolution = 512 EI_Pulses/Revolution = 512 pulses •...

  • Page 27: Parameter First Configuration

    One-axis positioner 5.1.2.2. Parameter First Configuration Name Unit Real unit of Value Description measure 5051 Pulses EI_Pulses/Rev.= 512 Pulses/Rev. of the incremental encoder. 5061 DltDisp 34.90658503989 Space covered by the axis during an encoder revolution. See DltDisp calculation. 5071 Revol Number of encoder rev.

  • Page 28: Maxspd Calculation

    GEFRAN 5.1.2.4. MaxSpd Calculation Calculation of the axis speed when the motor rotates at the maximum speed. The speed is stated in millime- ters/second. MaxSpd = ( MO_Max.Rev./ 60 ) * DltDisp = ( 3000 / 60 ) * 34.90658503989 = 1745.329251995 mm/sec 5.1.2.5.

  • Page 29: Check Of The Manual Commands

    One-axis positioner 5.1.3.6. Check of the manual commands During this phase of the axis configuration procedure the electronic limit switches ARNING are disabled; be careful while using the manual commands. • Set a JOG speed equal to 10% of the maximum speed. •...

  • Page 30: Detection Of The Electronic Limit Switches

    GEFRAN 5.1.3.10. Detection of the Electronic Limit Switches • Place the axis on the minimum electronic limit switch. • Write in the Minimum parameter the ideal value detected in this point. • Place the axis on the maximum electronic limit switch.

  • Page 31: Tuning Of The Proportional Gain

    One-axis positioner The axis must acquire the following values: Positive direction Mechanical Mechanical Minimum Maximum Preset = 0 track lower track upper -250.34 +1399.66 Baseori = - 250.34 limit limit Lower limit switch Upper limit switch Mechanical reference Software lower limit switch Software upper limit switch AXIS quota 1000...

  • Page 32: Automation Of The Zero Cycle Procedure

    GEFRAN This function is useful in case of mechanical structures, whose movements are subject to strong frictions. If the axis does not return to the threshold within the specified time, the control unit generates a Warning and not a serious alarm condition.

  • Page 33: Phase 1: Preliminary Calculation Of The Axis Parameters

    One-axis positioner 5.2.2. Phase 1: Preliminary Calculation of the Axis Parameters 5.2.2.1. Operation Sequence · Take the DGFC card to the IDLE status. · Set the positioner configuration parameters according to the information stated in the paragraph “Parameter first configuration”. ·...

  • Page 34: Dltdisp Calculation

    GEFRAN 5.2.2.3. DltDisp Calculation Calculation of the Pinion circle and therefore of the millimeters covered by the axis during a pinion revolution. PinionCircle = MR_PinionDiameter * 3.14 = 10 * 3.14 = 314.159265359 millimeters Calculation of the millimeters covered by the axis during a motor revolution.
  • Page 35 One-axis positioner The following table shows the different options: QualfCnf ZeroSpd Scheme Notes The axis moves in a positive direction. The sequence ends when it reaches the first zero index. The axis moves in a negative direction. The sequence ends when it reaches the first zero index. The axis moves in a positive direction.

  • Page 36: Phase 2: Check Of The Set Parameters

    GEFRAN 5.2.3. Phase 2: Check of the set parameters 5.2.3.1. Operation sequence After ending the phase 1 and setting the calculated parameters, it is possible to check the calculation results. 5.2.3.2. First steps • Take the DGFC card first to the READY status and afterwards to the RUN status.

  • Page 37: Zero Cycle Execution

    One-axis positioner 5.2.3.7. Zero Cycle execution ARNING in case you are working with a drive type Avy 1.x, Tpd32 or Amv32, remember to enable the Enable ind store drive parameter (ipa = 911 + 8192) from the Configuration \ Motor spd fbk menu. The zero cycle sequence is the following: Case 1: •...
  • Page 38 GEFRAN Case 2: • Starting point: QualCnf = 2 or 3, the axis is engaging the zero cam. 1. Zero cycle start. 2. The axis moves with a ZeroSpd speed so as to disengage the zero cam. If the axis movement is opposite to the zero cam direction: stop the axis and set the zero speed with –ZeroSpd.

  • Page 39: Detection Of The Electronic Limit Switches

    One-axis positioner 5.2.3.8. Detection of the Electronic Limit Switches • Place the axis on the minimum electronic limit switch. • Write in the Minimum parameter the ideal value detected in this point. • Place the axis on the maximum electronic limit switch. •...

  • Page 40: Calibration Of The Ideal Value

    GEFRAN 5.2.3.11. Calibration of the ideal value This operation is aimed at setting the ideal value as compared to the axis position. We can therefore imagine that during this configuration phase the axis is configured as follows: Positive direction Mechanical...

  • Page 41: Tuning Of The Maximum Dynamic Error

    One-axis positioner 5.2.3.14. Tuning of the maximum dynamic error The dynamic error is given by the difference between the ideal and the real value while the axis is moving. According to the used control method (without an integrative correction), an error is always present when the axis is moving.
  • Page 42 GEFRAN APPENDIX A: CONFIGURATION OF THE DGFC STANDARD PARAMETERS The parameters described inside this appendix are common for all the applications and they must be set as stated in the table. The standard parameter file of the application configures these parameters according to the table data. The user can not change these parameters;...
  • Page 43 One-axis positioner APPENDIX B: PROFIBUS COMMUNICATION CONFIGURATION The positioner can be controlled via the Profibus-DP field bus. This appendix describes the format of the application interface towards Profibus-DP. Some of the bytes used for the Profibus-DP communication can be read and written also via a normal configuration serial channel by stating the suitable IPA.
  • Page 44 GEFRAN Byte 4 dInAs2:1271 0 Reset Faults Alarm reset ResetByte Byte 5 ProcessDataInByte 5 Byte 6 dInAs3:1272 ProcessDataIntByte 6 Byte 7 ProcessDataInByte 7 OUTPUT from DGFC Process Data Channel Bit description Function description Byte 0 dOutAs0:12730 Feedback position (Bit 0) Active set point array index.
  • Page 45 One-axis positioner Byte 2 dOutAs1:1274 0 Area Change Point 1 Working area output PositionStatusByte Area Change Point 2 Area Change Point 3 Area Change Point 4 Move OK = 1 Value= 1 when the ideal value corresponds to the active set point value Not Moving = 1 Value=1 when the axis is stopped Moving = 1...
  • Page 46 GEFRAN APPENDIX C: LIST OF THE POSITIONER SPECIFIC ALARMS ALARM_VOID = 0, no alarm ALARM_QUOTA = 1, wrong ideal value alarm ALARM_ERR_DIN = 2, overcome dynamic error alarm ALARM_ERR_STAT = 3, overcome static error alarm ALARM_ERR_POS = 4, positioning error alamr...
  • Page 47 One-axis positioner APPENDIX D: LIST OF THE COMMAND ERROR CODES CMD_VOID = 0, /* no command CMD_OK = 0, /* successfully performed command CMD_IN_PROGRESS = 1, /* command in progress UNKNOWN_CMD = 2, /* unknown command MACHINE_BUSY = 3, /* busy machine SEQ_BUSY = 4, /* busy sequencer...
  • Page 48 MANUALE PosMono -EN Rev. 0.1 / 16.2.2011 1S5E73...

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