Omron 3G3MV-P10CDT-E User Manual
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Omron 3G3MV-P10CDT-E User Manual

Programmable controller option board
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Cat. No. I01E-EN-01
USER'S MANUAL
Programmable Controller
Option Board
Models 3G3MV-P10CDT-E
and 3G3MV-P10CDT3-E
(For SYSDRIVE 3G3MV Multi-function Compact Inverters)

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Summary of Contents for Omron 3G3MV-P10CDT-E

  • Page 1 Cat. No. I01E-EN-01 USER'S MANUAL Programmable Controller Option Board Models 3G3MV-P10CDT-E and 3G3MV-P10CDT3-E (For SYSDRIVE 3G3MV Multi-function Compact Inverters)
  • Page 2 3G3MV-P10CDT PLC Option Unit User’s Manual Revised June 2003...
  • Page 3  OMRON, 2003 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

  • Page 4: Table Of Contents

    TABLE OF CONTENTS PRECAUTIONS ..................viii Intended Audience..............................ix General Precautions..............................ix Safety Precautions ..............................x Maintenance and Inspection Precautions ......................... xi Operation and Adjustment Precautions ........................xi Wiring Precautions..............................xii Application Precautions ............................xii EC Directives ................................. xiv SECTION 1 INTRODUCTION ..................1 3G3MV-P10CDT Features and Functions ......................2...
  • Page 5 APPENDIX B EXAMPLE PROGRAMS.................71 Basic RUN template program ..........................71 Basic Writing Parameter template program ......................71 Basic Read Parameter template program ......................76 Basic Positioning template program ........................79 REVISION HISTORY................97...

  • Page 6: About This Manual

    3G3MV-P10CDT Operation Manual (this manual) and the CPM1/ CPM1A/CPM2A/CPM2C/SRM1(-V2) Programming Manual (W353). (The CPM1/CPM1A/CPM2A/ CPM2C/SRM1(-V2) Programming Manual is referred to as simply the Programming Manual in this manual.) This manual describes the system configuration and installation of the 3G3MV-P10CDT and provides a basic explanation of operating procedures for the Programming Consoles.

  • Page 7: Precautions

    This section provides general precautions for using the Programmable Controller (PLC) and related devices. The information contained in this section is important for the safe and reliable application of the Programmable Controller. You must read this section and understand the information contained before attempting to set up or operate a PLC system.

  • Page 8: Intended Audience

    3G3MV Inverter PLC Option Units. Be sure to read this manual before operation and keep this manual close at hand for reference during operation. It is extremely important that a PLC, and all PLC Units, be used for the WARNING specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life.

  • Page 9: Safety Precautions

    OFF. Doing so may result in a skin burn due to the hot surface. Caution Do not conduct a dielectric strength test on any part of the Inverter. Doing so may result in damage to the product or malfunction.

  • Page 10: Maintenance And Inspection Precautions

    Caution Do not change wiring, disconnect connectors or Operator, or replace fans while power is being supplied. Doing so may result in injury or malfunction. Caution Be sure to wire correctly and securely. Not doing so may result in injury or damage to the product.

  • Page 11: Wiring Precautions

    Failure to abide by the following precautions could lead to serious or possibly fatal injury. Always heed these precautions. • Always ground the system with 100 Ω or less when installing the system, to protect against electrical shock. • Always turn off the power supply to the PLC before attempting any of the following.
  • Page 12 There are sharp leads and other parts on the boards that may cause injury if handled improperly. • Do not attempt to take any Units apart, to repair any Units, or to modify any Units in any way.

  • Page 13: Ec Directives

    EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note).

  • Page 14: Introduction

    This section describes the special features and functions of the 3G3MV-P10CDT, shows the possible system configurations, and outlines the steps required before operation. Read this section first when using the 3G3MV-P10CDT for the first time. Refer to the CPM1/CPM1A/CPM2A/CPM2C/SRM1(-V2) Programming Manual (W353) for details on programming operations.

  • Page 15: 3G3Mv-P10Cdt Features And Functions

    The 3G3MV-P10CDT itself can handle a wide range of machine control applications. In addition, the 3G3MV-P10CDT is capable of communica- tions with devices such as personal computers and OMRON Program- mable Terminals so it is ideal to use to expand or upgrade existing sys- tems. •...
  • Page 16 A typical winder application: The 3G3MV and PLC Option Unit take care of diameter calculation, dancer PID, user input, etc. The other simply run in speed control. This type of appli- cation uses both RS-232C and RS-422 communication. Loss of Inverter functionality...

  • Page 17: Overview Of 3G3Mv-P10Cdt Functions

    Minimum input signal width: 50 µs Input time constant Determines the input time constant for all inputs. (Settings: 1, 2, 3, 5, 10, 20, 40, or 80 ms) Calendar/Clock Shows the current year, month, day of the week, day of the month, hour, minute, and second.

  • Page 18: System Configurations

    1-2-1 Unit types 3G3MV-P10CDT Units Item 3G3MV-P10CDT-E 3G3MV-P10CDT3-E PLC core CPM2C-S CPM2C-S Inputs 6 24 VDC inputs 6 24 VDC inputs Outputs 3 sinking transistor outputs 3 sinking transistor outputs 1 relay output 1 relay output Peripheral port RS-232C port...

  • Page 19: 3G3Mv-P10Cdt Structure And Operation

    ON. It will be necessary to turn the power OFF and then ON again to enable a new setting if the pa- rameter is accessed only when the power is turned ON.

  • Page 20: Operating Modes

    • Checking wiring by force-setting and force-resetting I/O bits Caution The PLC continues to refresh I/O bits even if the PLC is in PROGRAM mode, so devices connected to output points may operate unexpectedly if the corresponding output bit is turned ON by transferring I/O memory or force- setting output bits from a Programming Device.

  • Page 21: Operating Mode At Startup

    Other device PROGRAM mode The default setting for bits 08 to 15 of DM 6600 is 00. If this default setting is used and pin 2 is OFF, the 3G3MV-P10CDT will automatically start operating in RUN mode when the power is turned ON.

  • Page 22: Cyclic Operation And Interrupts

    When Inverter processing is ended by END refresh timing, a maximum of eight data items are read or writen. If the Inverter is currently processing, nothing will be done and it will be checked with the next scan. RS-232C port...

  • Page 23: Comparison With The Cpm2C-S

    Introduction SECTION 1 1-4 Comparison with the CPM2C-S Item CPM2C-S 3G3MV-P10CDT Instruction set Basic instructions Special instructions 105 instructions, 185 variations 105 instructions, 185 variations LD: 0.64 µs LD: 0.64 µs Instruction Basic instructions execution times MOV(21): 7.8 µs MOV(21): 7.8 µs...
  • Page 24 256 I/O points can be controlled. DeviceNet Slave Functions DeviceNet Remote I/O Link Use up to 1,024 I/O points in the I/O Link. Explicit Message Communications Any PLC data area can be accessed from the Master.
  • Page 25 Introduction SECTION 1 Item CPM2C-S 3G3MV-P10CDT Check when registering tar- Same direction, same SV not Same direction, same SV not get value match table possible possible...
  • Page 26 Introduction SECTION 1 Item CPM2C-S 3G3MV-P10CDT High-speed Method used to reference Comparison of all values in the Comparison of all values in the the target value match table, regardless of order of counter table, regardless of order of interrupt table...
  • Page 27 Host Link (with Slave-initiated communications) No-protocol Input time constant Can be set to 1, 2, 3, 5, 10, 20, Can be set to 1, 2, 3, 5, 10, 20, 40, or 80 ms. (Default: 10 ms) 40, or 80 ms. (Default: 10 ms)
  • Page 28 DM 6603 bits 04 to 07 mode DeviceNet Read/Write area DM 6605 bits 00 to 03 (Default or DM 6606 to DM 6609) DeviceNet I/O Link Write Area DM 6606 bits 00 to 07 data area DeviceNet I/O Link Write Area...

  • Page 29: Preparation For Operation

    • Connect the Programming Console. Initial Settings • Set the Communications Switches on the front of the CPU Unit, if nec- essary. (The switches must be set when a device other than the Pro- gramming Console is connected or the standard communications set- tings are not used.)

  • Page 30: Unit Components And Specifications

    SECTION 2 Unit Components and Specifications This section provides the technical specifications of the 3G3MV-P10CDT Units and describes the main components of these Units. Specifications ...............................18 2-1-1 General Specifications ..........................18 2-1-2 Characteristics ..............................18 2-1-3 I/O Specifications............................21 2-1-3-1 Input Specifications..............................21 2-1-3-2 Output Specifications..............................

  • Page 31: Specifications

    320 bits: 20000 to 21915 IR Area 880 bits: IR 00100 to IR 00915 (words IR 001 to IR 009), IR 01100 to IR 02815 (words IR 011 to IR 028), IR 03000 to IR 04915 (words IR 030 to IR 049),...
  • Page 32 Input time constant Only all inputs can be set. (ON response time = (1 ms / 2 ms / 3 ms / 5 ms / 10 ms / 20 ms / 40 ms / 80 ms) OFF response time) Clock function...
  • Page 33 SECTION 2 Note 1. The DM area, HR area, AR area, and counter values are backed up. If the backup battery or capacitor is discharged, the contents of these areas will be lost and the data values will revert to the defaults.

  • Page 34: I/O Specifications

    1 to 80 ms max. Default: 10 ms (See note.) Circuit configuration IN00000 to IN00001 IN00002 to IN00004 IN00005 Note The input time constant can be set to 1, 2, 3, 5, 10, 20, 40, or 80 ms in the PLC Setup.
  • Page 35 IN00002 Z-phase pulse input or hardware reset input (IN00002 can be used as a normal input when it is not used as a high-speed counter input.) The minimum pulse widths for inputs IN00000 (A-phase input) and IN00001 (B-phase input) are as follows:...

  • Page 36: Output Specifications

    OFF delay 15 ms max Circuit configuration Note The service life of relay output contacts shown in the table assumes the worst conditions. The following graph shows the results of Omron’s service life tests at a switching rate of 1,800 times/hour.
  • Page 37 When using OUT01000 or OUT01001 as a pulse output, connect a dummy resistor as required to bring the load current between 0.01 and 0.1 A. If the load current is below 0.1 A, the ON-to-OFF response time will be longer and high-speed pulses (source-type transistor outputs) will not be output.

  • Page 38: Dimensions

    Unit Components and Specifications SECTION 2 2-1-4 Dimensions...

  • Page 39: Unit Components

    Peripheral port settings: DM 6650 to DM 6654 The ports operate with the standard communications settings. • Operating Mode at Startup Pin 2 determines the operating mode at startup only if there isn’t a Program- ming Device connected to the peripheral port. Programming Device...
  • Page 40 Input indicators (yellow) The input indicators are lit when the corresponding input terminal is ON. The status of an input indicator will reflect the status of the input even when that input is being used for a high-speed counter. Note a) When interrupt inputs are used in interrupt input mode, the indicator may not light even when the interrupt condition is met if the input is not ON long enough.
  • Page 41 Termination OFF (down) (default) Disabled ON (up) Enabled Set this switch to ON only for double-ended connection to a Host Link net- work. I/O connector Connects the CPU Unit to external input and output devices. Sinking outputs Connector: WAGO 733-112 (wire cross section 0.08 to 0.50 mm...
  • Page 42 Connects the CPU Unit to an external output devices. Connector: WAGO 734-102 (wire cross section 0.08 to 1.50 mm FE-connection AMP tab to connect functional earth. Internally connected to pin 3 of the RS- 422/485 connector and to the shell of the peripheral connector. Enabled Low battery detection switch (3G3MV-P10CDT3-E only) This switch enables or disables the detection of a low-battery error.

  • Page 44: Installation And Wiring

    SECTION 3 Installation and Wiring This section provides information on installing and wiring a 3G3MV-P10CDT Unit. Be sure to follow the directions and precautions in this section when installing the 3G3MV-P10CDT in a panel or cabinet and wiring I/O. Installation ................................32 Wiring...................................35...

  • Page 45: Installation

    OFF, and after waiting for the time specified on the Inverter front cover. Not doing so may result in electrical shock. Do not damage, pull on, apply stress to, place heavy objects on, or pinch the WARNING cables. Doing so may result in electrical shock, operation stoppage, or burning.

  • Page 46: Mounting Procedure

    SYS-DRIVE 3G3MV Inverter and wait for the CHARGE indicator to turn OFF. Turn OFF the main circuit power supply for the Inverter, wait for at least one minute from the time the LED indicator or the CHARGE indicator goes out, and remove the front cover of the Inverter along with the Operator.

  • Page 47: Installation And Wiring

    Tighten the fixing screws on the upper part of the PLC Unit, to the mounting base attached in step 4. Attach the Operator and the LED hood to the front side of the PLC Unit. Re- move the screw of the Inverter front cover and use it to secure the LED hood...

  • Page 48: Wiring

    WARNING The PLC outputs may remain ON or OFF due to deposits on or burning of the output relay or destruction of the output transistors. External safety measures must be provided to ensure safety in the system. Not providing proper safety measures may result in serious accidents.
  • Page 49 Installation and Wiring SECTION 3 I/O Connector 00000 00001 00002 00003 24VDC 00004 00005 01000 Load 01001 Load 01002 Load COM(-) 24VDC...

  • Page 50: Wiring Communication Cables

    Installation and Wiring SECTION 3 Do not exceed the output capacity or the maximum common current for tran- sistor outputs shown in the following table. Item Specification Output Capacity 200 mA at 24 VDC Cage Clamp Both the relay and I/O-connector make use of cage-clamp technology. The picture below shows how the wires should be inserted.

  • Page 51: Communication, Counter And Pulse

    SECTION 4 Communication, Counter and Pulse This section describes the communication settings and the use of the counter and pulse output functionality of the 3G3MV-P10CDT. PLC-setup Communication..........................39 4-1-1 RS-232C Port Communications Settings...................... 39 4-1-2 Peripheral RS-422/485 Port Communications Settings ................40 High-speed Counters ............................

  • Page 52: Plc-Setup Communication

    DM 6645 00 to 03 Port settings 0: Standard (1 start bit, 7 data bits, even parity, 2 stop bits, 9,600 bps), Host Link unit number: 0 1: Settings in DM 6646 (Any other setting will cause a non-fatal error and AR 1302 will turn ON.)

  • Page 53: Peripheral Rs-422/485 Port Communications Settings

    End code selection for no-protocol communications 0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON AR 1302.)
  • Page 54 End code selection for no-protocol communications 0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON AR 1302.)

  • Page 55: High-Speed Counters

    4-2 High-speed Counters 3G3MV-P10CDT Units have four points for high-speed counters: One point for a high-speed counter with a maximum response frequency of 20 kHz, and three points for interrupt inputs (counter mode). For more details please refer to Programming Manual W353...
  • Page 56 04: Use as pulse synchronization control (300 Hz to 20 kHz) The new settings for the System Setup go into effect when operation begins (when PROGRAM mode is changed to MONITOR or RUN mode), or when the 3G3MV-P10CDT’s power is turned ON.
  • Page 57 Unmask all interrupts Permits all interrupts, including interrupt inputs, interval timer interrupts, high-speed counters, etc. The following table shows the data areas related to high-speed counter con- trol. Word Bits Name Contents...

  • Page 58: Input Interrupts In Counter Mode

    4-3 Input Interrupts In Counter Mode The four built-in interrupt inputs in the 3G3MV-P10CDT Unit can be used in counter mode as inputs of up to 2 kHz. These inputs can be used as either incrementing counters or decrementing counters, triggering an interrupt (i.e., executing an interrupt subroutine) when the count matches the set value.
  • Page 59 00004 mode or counter mode) 2: Quick-response input 08 to 15 Not used. The setting will go into effect when the mode is changed (from PROGRAM to MONITOR/RUN) or when the power supply is turned ON to the 3G3MV- P10CDT.
  • Page 60 Refresh Incrementing Counter SV / Refresh Decrementing Counter SV These functions store the counter’s set values in data areas and refresh them by means of INT(89). In this way, they start the count operation for interrupt inputs (counter mode) and they permit interrupts.

  • Page 61: Pulse Output Functions

    With single-phase pulse outputs, pulse outputs 0 and 1 can each be output independently. Pulse outputs can be accelerated or decelerated in units of 10 Hz every 10 Actual pulses are affected by the transistor output’s ON response time (20 µs...

  • Page 62: Using Single-Phase Pulse Fixed Duty Ratio

    Create a ladder diagram program. PULS(65): For setting the number of pulses. SPED(64): For pulse output control without acceleration and deceleration. INI(61): For stopping pulse outputs and changing the pulse output PV. PRV(62): For reading the pulse output PV and status. Single-phase Pulse Outputs PLC Setup Make the following settings in the PLC Setup.
  • Page 63 04: Use as synchronized pulse control (300 Hz to 20 kHz). If absolute pulses are specified with PULS(65), be sure to set the absolute coordinate system (1). Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM to MONITOR/RUN) or when the power supply is turned ON to the PLC.
  • Page 64 Communication, Counter and Pulse SECTION 4 The following table shows the words and bits related to pulse outputs without acceleration and deceleration (fixed duty ratio). Word Bits Name Contents 00 to 15 Pulse output PV 0, rightmost 4 digits Cannot be used as...

  • Page 65: Using Pulse Outputs With Variable Duty Ratio

    04: Use as synchronized pulse control (300 Hz to 20 kHz). Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM to MONITOR/RUN) or when the power supply is turned ON to the PLC.

  • Page 66: Using Pulse Outputs With Trapezoidal Acceleration/Deceleration

    Stop pulse outputs Stops the pulse outputs. (@)PRV(62) Read pulse output status Reads the pulse output status (during pulse outputs). The following table shows the words and bits related to pulse outputs with variable duty ratio. Word Name Contents AR 11...
  • Page 67 04: Use as synchronized pulse control (300 Hz to 20 kHz). If absolute pulses are specified with PULS(65), be sure to set the absolute coordinate system (1). Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM...
  • Page 68 Read pulse output PV Reads the pulse output PV. Read pulse output status Reads the pulse output status. The following table shows the words and bits related to pulse outputs with trapezoidal acceleration and deceleration (fixed duty ratio). Word Bits...

  • Page 69: Section 5 Inverter Interface

    Transfer command ............................... 61 5-4-1 Parameter Reading ............................62 5-4-2 Parameter Writing............................63 5-4-3 Transfer Timing Chart ..........................64 5-4-4 Transfer Timing Chart in case of Errors...................... 65 5-4-5 Transfer Timing Chart for Cancelling Processing..................66 5-4-6 Transfer Ladder Program ..........................66...

  • Page 70: Inverter Interface

    • Inverter functionality mapped in IR (section 5-2) • Inverter functionality mapped in DM (section 5-3) • Through the Transfer command (section 5-4) 5-2 I/O Allocation IR The contents of the IR area is refreshed and updated with each scan. Word(s) Bit(s) Function...
  • Page 71 002A.3 Multi-function contact output (ON: Output ON) 0009.0 Read/ write Multi-function output 1 (ON: Output ON) 0009.1 Multi-function output 2 (ON: Output ON) 0009.2 03 to 15 Reserved /NetRef 1 (ON: Inverter reference enabled; OFF: PLC enabled) (Note Read/ write...
  • Page 72 When /NetCtrl is turned ON, other sources are controlling the Inverter After power on the this bit is turned OFF (PLC controlling) Caution At power up, the following Inverter status flags toggle before they reflect the actual status of the Inverter: • IR 200.05 Inverter Ready •...

  • Page 73: I/O Allocation Dm

    Inverter Interface SECTION 5 5-3 I/O Allocation DM The contents of the DM area is refreshed and updated with each scan. Word(s) Function Inverter Read/ Register write 2022 Specifies the Inverter operation in case a fatal error occurs in the program.

  • Page 74: Transfer Command

    The analog input can be monitored in DM2034. Outputs By default, outputs can not be controlled in IR. To control the outputs (Bits 0..2 in Ch208) the corresponding output setting (n57..59) must be set to "18". This means that 'communication’ (in this case the 3G3MV-P10CDT) controls the corresponding output.

  • Page 75: Parameter Reading

    5-4-1 Parameter Reading To read the contents of a 3G3MV parameter, the corresponding Inverter reg- ister must be specified in the DM area specified by L (DM2023). Refer to the 3G3MV manual for the Inverter register definitions. A maximum number of 8 data items can be transferred in one operation.

  • Page 76: Parameter Writing

    5-4-2 Parameter Writing To write a 3G3MV parameter, the corresponding Inverter register must be specified in the DM area specified by L (DM2023). Refer to the 3G3MV man- ual for the Inverter register definitions. A maximum number of 8 data items can be transferred in one operation.

  • Page 77: Transfer Timing Chart

    Operation When the Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON one PLC cycle later, and the command specified in the DM Area (L) will be processed. When the Transfer Completion Flag is turned ON, the response is present in the DM Area (K).

  • Page 78: Transfer Timing Chart In Case Of Errors

    Operation When the Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON one PLC cycle later, and the command specified in the DM Area (L) will be processed. When the Transfer Error Flag is turned ON, the error code is present in the DM Area (K).

  • Page 79: Transfer Timing Chart For Cancelling Processing

    The error code (0002) is present in the DM Area (K). When the new Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON, and the command specified in the DM Area (L) will be proc- essed. The Transfer Error Flag will turn OFF.
  • Page 80 Note When the address K (reserved in DM) is not valid, it is not possible to write the error codes. Hence, only the error bit is set.
  • Page 81 Inverter Interface SECTION 5 5-4-8 Operations with Command Bit Combinations The table below shows the behaviour of the system when a command bit of one type (read or write) is set before clearing the previous command bit of the other type.

  • Page 82: Appendix Ainstructions

    Appendix A Instructions The 3G3MV-P10CDT supports 119 basic and special instructions. Ladder Diagram Instructions Data Movement Instructions Name Mnemonic Variations Name Mnemonic Variations LOAD MOVE MOV(21) LOAD NOT LD NOT MOVE NOT MVN(22) BLOCK TRANSFER XFER(70) AND NOT AND NOT...
  • Page 83 Name Mnemonic Variations SUBROUTINE CALL SBS(91) SET CARRY STC(40) SUBROUTINE ENTRY SBN(92) CLEAR CARRY CLC(41) SUBROUTINE RETURN RET(93) Note 1. Expansion instructions with default function MACRO MCRO(99) codes. Interrupt Control Instructions Name Mnemonic Variations INTERRUPT CONTROL STIM(69) INTERVAL TIMER INT(89)

  • Page 84: Appendix Bexample Programs

    Some parameters are not possible to change During Run, etc…. This SAMPLE is changing ramp (n19 - 113h & n20 - 114h) values dynamically at the same time like speed from a sequencing program using a timed state machine sequencer. Also shows the use of the 4 PLC...
  • Page 85 Example Programs Appendix B...
  • Page 86 Example Programs Appendix B...
  • Page 87 Example Programs Appendix B...
  • Page 88 Example Programs Appendix B...

  • Page 89: Basic Read Parameter Template Program

    Appendix B B-3 Basic Read Parameter template program This SAMPLE is reading torque monitor of MV (32h) value. Only Vector. It writes in DM101 as BCD. Compare with DM2026... Although the selection of the transfer zones is free for the user, it is recommended to follow the recommendations..
  • Page 90 Example Programs Appendix B...
  • Page 91 Example Programs Appendix B...

  • Page 92: Basic Positioning Template Program

    B-4-3 Limitations • As the 3G3MV is an open loop inverter, with only P type of controller, inertial loads might not be well handled by the software, leading to oscillation. Lowering P gain can help, but lowers dynamics. It is preferred some kind of frictional load.
  • Page 93 We also need particular settings in the PLC side : In the PLC, following bits have to be cleared : IR209.00=0 and IR209.01=0. In this way we provide full Speed reference and Run command control from the PLC regardless the inverter settings.
  • Page 94 Default values are the default values in the examples provided. Customer can fill its own values. It is recommended to first do a trial run in speed with small reference and check that the counting of the encoder corresponds to speed reference given. If not some wiring might be wrong. Once positive sense...
  • Page 95 (0) so we have the best resolution (0.01Hz). DM24 DWORD (R/W) P_Gain : This is the factor that will generate the final speed reference from the position error quads. If it is too big we will have overshoot. If too low, positioning will be slow. If we have big inertia it might happen that even with small gain we have instability.
  • Page 96 PV_Whole_Turns : Scaled PV with “wrap around” function from DM28 DM46 DWORD (R/W) PV_Angular_Position : Scaled PV with “wrap around” function from DM28 Have a look to the simple User_Application section to check how simple it is to use the positioner program.
  • Page 97 Example Programs Appendix B B-4-9 Programs User_Parameter_Init...
  • Page 98 Example Programs Appendix B...
  • Page 99 Example Programs Appendix B User_Application Pos_Loop...
  • Page 100 Example Programs Appendix B...
  • Page 101 Example Programs Appendix B...
  • Page 102 Example Programs Appendix B...
  • Page 103 Example Programs Appendix B...
  • Page 104 Example Programs Appendix B...
  • Page 105 Example Programs Appendix B...
  • Page 106 Example Programs Appendix B...
  • Page 107 Example Programs Appendix B Pos_Home_Sequence...
  • Page 108 Example Programs Appendix B...
  • Page 109 Example Programs Appendix B...

  • Page 110: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I01E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

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