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Lenord, Bauer GEL 8310 Operating Manual

Positioning controller
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Operating Manual

Positioning Controller
GEL 8310 / 8610
GEL 8610
for 1...6-axis applications
GEL 8310
for 1...3-axis
applications
©
Copyright 12/97 by Lenord, Bauer & Co. GmbH
Subject to change without notice

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Summary of Contents for Lenord, Bauer GEL 8310

  • Page 1: Operating Manual

    Operating Manual Positioning Controller GEL 8310 / 8610 GEL 8610 for 1…6-axis applications GEL 8310 for 1…3-axis applications © Copyright 12/97 by Lenord, Bauer & Co. GmbH Subject to change without notice...
  • Page 2 Lenord, Bauer & Co. GmbH Dohlenstraße 32 D - 46 145 Oberhausen Telefon (0208) 99 63 - 0 • Fax (0208) 67 62 92 Internet: http://www.lenord.de • E-Mail: info@lenord.de...

  • Page 3: Table Of Contents

    Introduction General safety instructions..............1-1 Designated use ..................1-3 Guarantee, liability and copyright ............1-3 Information on this manual ..............1-4 Characteristics of the Controller GEL 8310/8610 ........1-6 Operational Controls Basic keyboard..................2-1 Additional keyboard of the GEL 8610............2-2 Function key combinations..............2-3 Operating Modes and States Automatic mode ..................3-2...
  • Page 4 G E L 8 3 1 0 / 8 6 1 0 – C O N T E N T S P E R A T I N G A N U A L 4.5.6 Range signals..................4-12 Absolute ranges ..................4-13 Relative ranges ...................4-13 Drive signals..................4-14 4.5.7...
  • Page 5 Appendix B Connector designations ..................B-1 Terminal strip coding................... B-2 Module arrangement of the GEL 8310 (back of the Controller) ......B-3 Module arrangement of the GEL 8610 (back of the Controller) ......B-4 Connection diagrams ..................B-5 Terminal strip N (power supply) ..............B-5 Terminal strip P (control inputs/outputs) ............
  • Page 6 G E L 8 3 1 0 / 8 6 1 0 – C O N T E N T S P E R A T I N G A N U A L Specifications Appendix C Operational data ....................C-1 Dimensions ......................

  • Page 7: Introduction

    1 Introduction 1.1 General safety instructions The Controllers GEL 8310/8610 have been built according to state-of-the- art-technique and in compliance with valid safety regulations. However, upon using them it might happen that there will be the danger of injury for the user or other persons resp.
  • Page 8 NTRODUCTION Concerning the auxiliary voltages, please read the instructions at the beginning of the section ‘Connection diagrams’ in appendix B. The operating data tolerances for the supply voltage stated in appendix C must be strictly observed, since otherwise Controller functions might fail causing dangerous situations (the mains failure monitoring system in the Controller reacts and a started programme might possibly not be continued properly).

  • Page 9: Designated Use

    NTRODUCTION 1.2 Designated use The Controllers type GEL 8310 and GEL 8610 are designated to control and regulate drives in industrial and commercial areas. They may only be operated in built-in condition. Special options and devices made to customers’ specifications may result in an extension resp.

  • Page 10: Information On This Manual

    NTRODUCTION 1.4 Information on this manual & This manual is applicable to controllers with the standard software version 14.00 and higher Appendix Z supplies information as to whether the software was updated (see also the last item of this section). Does a Controller not comply with the indicated version, the contents may not be regarded as binding.
  • Page 11 & In general, the information given in this operating manual refers to positioning controllers with a maximum possible number of axes (3 axes for the GEL 8310 or 6 axes for the GEL 8610, respectively). If equipment with less axes is used, mind the respective restrictions in the designs (e.g.

  • Page 12: Characteristics Of The Controller Gel 8310/8610

    Z in order to inform about the current software state of the manual. 1.5 Characteristics of the Controller GEL 8310/8610 The menu oriented operating/programming is performed using plain text either via −...
  • Page 13 NTRODUCTION The following picture shows the basic structure of a 3-axes positioning device with the GEL 8310 Controller and incremental encoders, including the possible input and output signals. Depending on the software version available and the extension of functions other signals as well might be available. For further information, please refer to the pin layout in appendix B, the description of possible options (Annex O), or to possibly existing upgrading annexes (appendix D, E, ...).
  • Page 15 NTRODUCTION Introduction................1-1 General safety instructions ..............1-1 Designated use................... 1-3 Guarantee, liability and copyright ............1-3 Information on this manual ..............1-4 Characteristics of the Controller GEL 8310/8610 ....... 1-6 8310/8610-8...

  • Page 16: Operational Controls

    PERATIONAL ONTROLS 2 Operational Controls 2.1 Basic keyboard X1830055 Display A: actual value counter, Data keys: to input values in the displays the input of nominal values programming mode and machine data ENTER key: storing of an entered Display B: active operating para- value or operating function, confirming meters, plain text messages of the Controller...

  • Page 17: Additional Keyboard Of The Gel 8610

    PERATIONAL ONTROLS 2.2 Additional keyboard of the GEL 8610 Ä Ö Ü A, G function keys (reserved) automatic mode switch on TEACH-IN operation T, U enter/search reference measure copy sentence(s) enter correction value D, E jump to the beginning/end of the call up fault memory program X, *...

  • Page 18: Function Key Combinations

    PERATIONAL ONTROLS 2.3 Function key combinations The key combinations listed below are related to the Controller standard version (valid at the time of printing of this manual). If there are one or more functional options inserted in the Controller you will find more information in the special description of the option (appendix O).
  • Page 19 PERATIONAL ONTROLS & function mode fast speed reverse fast speed forward write to memory card (option) ° function mode – decrement variant display number of actual software version display signal states (password 9320) select unit for display floating or fixed zero processing (position ↔ length) continuous sentence processing (speed) select program program flow instruction »CALL Pr.«...
  • Page 20 PERATIONAL ONTROLS Operational Controls .............. 2-1 Basic keyboard ................... 2-1 Additional keyboard of the GEL 8610..........2-2 Function key combinations ..............2-3 8310/8610-8...

  • Page 21: Operating Modes And States

    PERATING ODES AND TATES 3 Operating Modes and States The Controller is designed for three operating modes and three operating states: Automatic mode • started state • interrupted state (stop) • reset state Programming mode for nominal values Programming mode for machine parameters AUTOMATIC MODE system axis 1...6...

  • Page 22: Automatic Mode

    3.1 Automatic mode PERATING ODES AND TATES 3.1 Automatic mode This is the normal operating mode of the Controller. The nominal/actual values of the active sentence may be read in displays B and C by pressing the cursor keys (refer to section 3.1.2). If display B only shows a point the power supply falls short of one of the mini- mum values specified at the operational data in appendix C.
  • Page 23 3.1 Automatic mode PERATING ODES AND TATES Interrupted state (stop) Here the program processing was stopped (temporarily) and can be resumed by the next start signal. The sentence number shown in display B flashes. • Activation: Low level at /stop input P4/P7/P10 •...

  • Page 24: Functions

    3.1 Automatic mode PERATING ODES AND TATES 3.1.1 Functions The following keys and key combinations are available in the automatic mode to call up certain functions: Scroll the different actual/nominal values in displays B and C (refer to section 3.1.2); the number of possibilities is determined by the programming of the machine parameters for the respective unit (sentence structure)
  • Page 25 3.1 Automatic mode PERATING ODES AND TATES Direct entry of a reference value for an axis to be selected (only possible in the reset state and if the machine parameter 3/9 of that axis has been programmed accordingly, cf. section 4.6);...
  • Page 26 Write data to memory card (option): storing of operating and machine parameters (with security inquiry, refer also to storage > location 1/6 (GEL 8310) or 1/9 (GEL 8610), respectively) °+; Read data from memory card (option): loading of operating and machine parameters (only possible if the Controller is in <...
  • Page 27 3.1 Automatic mode PERATING ODES AND TATES Manual operation: slow speed reverse (see explanations of slow speed forward) Y+Ä &+^ Manual operation: fast speed reverse (see explanations of slow speed forward) Manual preset of the signal actual = nominal (P27/P28/P29); as this is an axis function, the axis to be controlled first has to °+0 °+!/^...

  • Page 28: Displays In The Start And Stop State

    (GEL 8310: input only via serial inter- face) under preparation voltage at analogue output standard tolerance of position, contouring error...

  • Page 29: Programming Mode For Nominal Values

    Display format: Memory structure The maximum of 7168 (GEL 8310) or 6416 (GEL 8610) storage locations for nominal values available can be devided at will up to 3 / 6 units, 99 programs per unit and 999 sentences per program.

  • Page 30: Functions

    • machine functions • speed rate for each of the combined axes • identification text (for the GEL 8310 only in conjunction with a serial inter- face) – under preparation In addition, a path control can be activated; see section 4.13.
  • Page 31 3-11 3.2 Progr. mode for nominal values PERATING ODES AND TATES Jump to the beginning of the previous sentence Jump to the beginning of the next sentence °+^ Jump to the beginning of program °+! Jump to the end of program (= number of program runs, cycles) Confirm the entry made and change to the next nominal value Respond to a security inquiry with "yes"...
  • Page 32 3-12 3.2 Progr. mode for nominal values PERATING ODES AND TATES °+7 When selecting a sentence: delete all sentences of the asso- ciated program (with security inquiry; only possible if the Controller is in the reset state for all units) °+;...
  • Page 33 3-13 3.2 Progr. mode for nominal values PERATING ODES AND TATES °+2 Select program flow instruction JUMP Pr. (at the beginning of the sentence only: in place of the nominal value type »position « or »length«, see section 4.14.2) °+3 Select program flow instruction JMP sent (at the beginning of the sentence only: in place of the nominal value type »position «...

  • Page 34: Programming Example

    3-14 3.2 Progr. mode for nominal values PERATING ODES AND TATES 3.2.2 Programming example The position of axis 1 in unit 1 (2 axes), program no. 3, sentence no. 12 is to be changed from 45.20 to 45.50: With the GEL 8610, key &+0 be used instead of The password inquiry will only...

  • Page 35: Programming Mode For Machine Parameters

    To avoid an unauthorised access to the data, the programming mode can only be activated after the entry of a certain figure code – the password 9 2 2 8. It can be temporarily deactivated via storage location 1/14 (GEL 8310) or 1/17 (GEL 8610).

  • Page 36: Functions

    3-16 3.3 Progr. mode for machine parameters PERATING ODES AND TATES b) Parameters with value input as before 3.3.1 Functions The following keys and key combinations are available in the programming mode for machine parameters to call up certain functions: &+0 Terminate the programming mode of machine parameters and return to automatic mode;...
  • Page 37 3-17 3.3 Progr. mode for machine parameters PERATING ODES AND TATES °+7 Clear the total data memory (with security inquiry); this is only possible directly after entering the programming mode, i.e., only inside of the top selection level; stored faults are also deleted &+8 Copy axis parameters (only possible inside of the axis parameter plane);...

  • Page 38: Programming Example

    3-18 3.3 Progr. mode for machine parameters PERATING ODES AND TATES 3.3.2 Programming example The switching level of the reversing switch signal (storage location 3/14) for axis 2 shall be inverted (change of travel direction at Low signal): (without storing) E180062C It is assumed that 3 axes are connected and assigned to one unit (#1);...
  • Page 39 PERATING ODES AND TATES Operating Modes and States ..........3-1 Automatic mode.................. 3-2 3.1.1 Functions .................... 3-4 3.1.2 Displays in the start and stop state............. 3-8 Programming mode for nominal values..........3-9 3.2.1 Functions ..................3-10 3.2.2 Programming example ..............3-14 Programming mode for machine parameters ........

  • Page 40: Functional Descriptions

    4.1 Definitions UNCTIONAL ESCRIPTIONS 4 Functional Descriptions 4.1 Definitions 4.1.1 Actual unit of measurement The actual unit of measurement is the unit of measurement which you use in the equipment: e.g. m, cm, mm, inch, degrees. With incremental encoders, it is determined by the number of pulses and the edge evaluation (storage location 3/1).
  • Page 41 4.1 Definitions UNCTIONAL ESCRIPTIONS On start-up: If, with a regulated forward positioning (e.g. with reference positioning or positioning in the Controller-defined forward direction that can also equipment-specifically deviate), the actual value counts downward then the contouring distance increases very quickly and thus the voltage at the analog output. This results in an accelerated and almost no more controllable movement in the wrong direction.

  • Page 42: Speed Rates

    4.2 Speed rates UNCTIONAL ESCRIPTIONS 4.2 Speed rates In the machine parameters programming mode, speed rates are principally entered in actual measuring units/sec taking into account the resolution defined at storage location 3/5. Example: Actual measuring unit: mm, resolution: 1/100, speed: 45.5 mm/sec 45.5;...
  • Page 43 4.2 Speed rates UNCTIONAL ESCRIPTIONS Example 2: Irrespective of the actual measuring unit used in the equipment (e.g. mm, resolution 0.1 mm), the speed rates of the drive shall be entered in revolutions/min (rpm) without any decimal places and with 1 revolution corresponding to a distance of 10.0 mm: storage location 3/5 = 1 (»X.X«) storage location 3/46 = 0 (»X.«)
  • Page 44 4.2 Speed rates UNCTIONAL ESCRIPTIONS Example 1: In the equipment, the actual measuring unit cm is used with a resolution of 1/100 cm = 0.01 cm. The speed rates shall be entered in m/min with two decimal places: / min sec ;...

  • Page 45: Continuous Sentence Processing (Positioning Without Stop)

    4.3 Continuous sentence processing UNCTIONAL ESCRIPTIONS 4.3 Continuous sentence processing (positioning without stop) Requirement: The nominal value type »speed rate« must be part of a sentence (storage location 2/3 ≠ 0). Activation: When entering speed values in the nominal values programming °+0 mode the key combination or the...

  • Page 46: Drive Control

    4.4 Drive control UNCTIONAL ESCRIPTIONS 4.4 Drive control 4.4.1 Principle of regulation nominal value gene- Delta_s rator [DispU] [ V ] [DispU/sec] [1/sec] act. value process- GEL 8x10 E1800078 From the programmed machine parameters of the drive and the specified nominal values of position (and possibly speed), the Controller calculates a time-dependent speed characteristic v and the associated position s...

  • Page 47: Positioning Characteristic

    4.4 Drive control UNCTIONAL ESCRIPTIONS 4.4.2 Positioning characteristic The characteristic of the positioning curve (e.g. soft start) is determined by the jerk parameter, i.e., the jerking time (refer to storage location 3/39). The larger the jerking time is programmed, the smaller is the jerk, i.e., the softer the drive runs during starting and stopping.

  • Page 48: Signals

    4.5 Signals UNCTIONAL ESCRIPTIONS 4.5 Signals 4.5.1 ‘Sense’ The sense line (module C) is a measuring line which measures the voltage drop across the positive line to the incremental encoder. Precondition is that both supply lines have an equal cross section and an equal length resulting in an the equal voltage drop.

  • Page 49: Zero Delta_S

    4-10 4.5 Signals UNCTIONAL ESCRIPTIONS 4.5.3 ‘Zero Delta_s’ Using the zero Delta_s signal at terminal 23 of the (1st) module P contouring error can be reset that has been built up in the interrupted or reset state. The function has been created for the case that •...

  • Page 50: Program Processing Signals

    4-11 4.5 Signals UNCTIONAL ESCRIPTIONS start manual keys actual = nominal analog output b open release brake cancel controller lock b close E1800053 The values for t (time to open the brake) and t (time to close the b open b close brake) are programmed at storage locations 3/51 and 3/52.

  • Page 51: Range Signals

    4-12 4.5 Signals UNCTIONAL ESCRIPTIONS Program end is output with a start signal if the actual number of pieces of the last sentence in the last program run (cycle) has reached its nominal value. If the number of pieces is not part of a nominal value sentence (storage location 2/1 ≠...

  • Page 52: Absolute Ranges

    4-13 4.5 Signals UNCTIONAL ESCRIPTIONS Absolute ranges Storage location 3/62 = 0 Signals are output in all operating states. E180010A Relative ranges Storage location 3/62 = 1 Signals are output in the started state only. E180010B 8310/8610-8...

  • Page 53: Drive Signals

    4-14 4.5 Signals UNCTIONAL ESCRIPTIONS Drive signals Storage location 3/62 = 2 The range signals are used to control fast/slow-speed drives and have a fixed meaning (refer to the following diagrams). The values for the start and end are relative and related to the nominal position. a) Positioning The end value of R3 as well as the start value of R4 are set internally to a maximum value.
  • Page 54 4-15 4.5 Signals UNCTIONAL ESCRIPTIONS b) Manual positioning of the drive Here, the drive signals are directly set with the appropriate control keys or signals. Programmed start and end values are ignored. The manual drive control is only possible in the interrupted or reset state of the automatic mode and during the teach-in operation when programming nominal values.
  • Page 55 4-16 4.5 Signals UNCTIONAL ESCRIPTIONS c) Automatic reference search routine Here, the drive signals are set or reset directly via the appropriate control signals like search for reference , reversing switch and reference fine . Programmed values for the start and end are ignored. Further explanations on reference search routine are contained in section 4.6.2.

  • Page 56: Display Of The Signal Status

    4-17 4.5 Signals UNCTIONAL ESCRIPTIONS 4.5.7 Display of the signal status °+$ If you press the key combination and then enter the password '9320' you can display the signal states at the modules in groups of up to 8 signals. This is possible for each operating state of the automatic mode.
  • Page 57 4-18 4.5 Signals UNCTIONAL ESCRIPTIONS Listing of the representable signals: Display C Description control inputs/outputs (8 or 6 digits) P1.10- 3 module P , terminal 10-9-8-7-6-5-4-3 P1.18-11 18-17-16-15-14-13-12-11 " " P1.24-19 24-23-22-21-20-19 " " P1.30-25 30-29-28-27-26-25 " " P2.10- 3 GEL 8610 only: module P , terminals as above P2.18-11...
  • Page 58 4-19 4.5 Signals UNCTIONAL ESCRIPTIONS Display C Description data input (8 digits) E1.D1/D0 module E , pin 17-4-16-3-15-2-14-1 (decades 1, 0) E1.D3/D2 " 21-8-20-7-19-6-18-5 (decades 3, 2) " E1.D5/D4 " 25-12-24-11-23-10-22-9 (decades 5, 4) " E2.D1/D0 module E , pins as above E2.D3/D2 E2.D5/D4 E3.D1/D0...

  • Page 59: Reference Measure

    4-20 4.6 Reference measure UNCTIONAL ESCRIPTIONS 4.6 Reference measure When using incremental encoders, a reference position to which all other positions to be positioned to are related to can/must be determined within the working range of the machine. Concerning the power failure security (storage location 1/2) it can be deter- mined whether incremental axes are to be calibrated first after powering-up.

  • Page 60: Automatic Reference Search Routine

    4-21 4.6 Reference measure UNCTIONAL ESCRIPTIONS the reference measure is to be set: for the forward motion (»forward«) or the reverse motion (»reverse«) or irrespective of the direction (»forw/rev«). The reference measure is set with the positive or negative edge of the reference fine signal at terminal strip C or Z (proximity switch or zero signal of the encoder) if at the time of the edge the reference coarse signal is active.
  • Page 61 4-22 4.6 Reference measure UNCTIONAL ESCRIPTIONS mechanical travel limit reversing switch reference coarse reference fine E1750038 After initiating, the machine is driven in such a way that it travels contrary to the direction determined at storage location 3/11. The corresponding speed rate is set at storage location 3/16.

  • Page 62: Correction Value

    4-23 4.7 Correction UNCTIONAL ESCRIPTIONS VALUE 4.7 Correction value To compensate cutting losses or tool wear, a positive or negative value can be preset by which each nominal position or nominal length will be corrected taking the sign into account. This applies to the system of absolute dimensions (storage location 3/44=0) as well as the system of incremental dimensions (storage location 3/44 ≠...

  • Page 63: Rotary Table Positioning

    4-24 4.8 Rotary table positioning UNCTIONAL ESCRIPTIONS 4.8 Rotary table positioning The rotary table positioning is activated by programming a value at storage location 3/8. The special feature of this type of positioning is, apart from the restricted counting range for incremental encoders, the path optimization. Here, the Controller itself selects the travel direction depending on the actual position and the next nominal position.
  • Page 64 4-25 4.8 Rotary table positioning UNCTIONAL ESCRIPTIONS Example of an incremental encoder with 10.000 pulses/revolution: count. range of rotary table in actual measuring units:... 360.0 edge evaluation (3/1): ............ single (factor 1) mechanical transmission: ..........1:1 multiplier (3/3): ............... 0.3600 value to be programmed (3/ 8 ) = (360.0 / 0.3600) ∗...

  • Page 65: Parking

    4-26 4.9 Parking UNCTIONAL ESCRIPTIONS 4.9 Parking The parking position is an additional nominal position. Its value is to be pro- grammed at storage location 3/58, either in the machine parameters programming mode or directly in the reset state of the automatic mode (precondition: storage location 3/57 = 1 [»active«] and 3/56 ≠...

  • Page 66: External Data Input/Output (Option)

    4-27 4.10 External data input/output UNCTIONAL ESCRIPTIONS 4.10 External data input/output (option) The data modules used must be addressed correctly, so that data will be available at the desired module. Address coding is performed through particular jumpers on the boards; in appendix B you will find the necessary information.

  • Page 67: Data Output

    4-28 4.10 External data input/output UNCTIONAL ESCRIPTIONS axes may be preset at a single data input connector (you will find a more detailed example performed for the data output at the end of the next section). 4.10.2 Data output There are up to 4 different modules available for the output of (BCD) data and signals: •...
  • Page 68 4-29 4.10 External data input/output UNCTIONAL ESCRIPTIONS • program processing signals (storage location 2/9) • range signals (storage location 3/61) • actual position (storage location 3/81) • nominal position (storage location 3/80) • correction value (storage location 3/82) With an appropriate selection of the decades, you can output different types of data at one single data output.
  • Page 69 4-30 4.10 External data input/output UNCTIONAL ESCRIPTIONS For your own entries: X180053B 8310/8610-8...

  • Page 70: Limit Switches

    4-31 4.11 Limit switches UNCTIONAL ESCRIPTIONS 4.11 Limit switches 4.11.1 Software limit switches and input monitoring The positioning range can be limited by programming two special position values at the axis parameters: • Iower limit: 3/71 (»Pos. min«) • upper limit: 3/72 (»Pos. max«) The »Pos.

  • Page 71: Hardware Limit Switch (Option)

    4-32 4.11 Limit switches UNCTIONAL ESCRIPTIONS − with 3/71 (»Pos. min«) = 3/72 (»Pos. max«) = 0, − with rotary table positioning (refer to section 4.8), − during the first calibration process provided that the variant 1 (»n.s.cal«) or 3 (»sec.cal.«) is programmed at storage location 1/2 (power failure security).
  • Page 72 4-33 4.11 Limit switches UNCTIONAL ESCRIPTIONS Example: Limit switches of 1st and 2nd axes are connected to decade 0 of the E data input module and the ones of 4th and 5th axes to decade 2 of the same module limit switch decade axis 1...

  • Page 73: Clock (Option)

    4-34 4.12 Clock (option) UNCTIONAL ESCRIPTIONS 4.12 Clock (option) With the use of a serial interface (module V) with battery-buffered clock, it is possible to indicate the actual date and time as well as the time of the occurrence of a fault. The actual date and time can be indicated in each operating state of the automatic mode (displays B/C) by pressing the key combination resp.
  • Page 74 4-35 4.12 Clock (option) UNCTIONAL ESCRIPTIONS Enter new second value and confirm it with or skip the input with wrong input can be cancelled by means of the key, the actual value will then be indicated again. The actual input position now shifts to minutes. Enter the values for minutes and hours as described above for the seconds After having entered the hours, the input position shifts to the calendar day.

  • Page 75: Linear Path Control

    UNCTIONAL ESCRIPTIONS 4.13 Linear path control The standard software of the Controllers GEL 8310 / 8610 contains a linear path control for all axes. With the ‘Circular interpolation’ option being present (refer to appendix O), a circular path control can be activated additionally for the first two axes.
  • Page 76 4-37 4.13 Linear path control UNCTIONAL ESCRIPTIONS path path nom. nom. distance s > s distance s > s E180093A The parameters of the axis with the longer distance are also used for controlling the other axes being part of the linear path control. Therefore, the parameters −...
  • Page 77 4-38 4.13 Linear path control UNCTIONAL ESCRIPTIONS acceleration and speed rate of the involved axes. The restriction described in section 4.3 is not valid for this function. The following figure shows some typical path courses: E180093G 8310/8610-8...

  • Page 78: Program Flow Instructions

    4-39 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS 4.14 Program flow instructions Within the programming mode of nominal values, the following additional control functions are available: instruction key combination meaning °+1 CALL Pr. process another program °+2 JUMP Pr. resume to work with another program °+3 JMP sent...

  • Page 79: Call Subroutine (Call Pr.)

    4-40 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS ♦ With a serial data transmission by means of the LB2 protocol, dummy values must be transferred after the code for the respective instruction (see there) for all nominal value types that are contained in a normal sentence (e.g.

  • Page 80: Jump Instructions (Jump Pr., Jmp Sent)

    4-41 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS 4.14.2 Jump instructions (JUMP Pr., JMP sent) If the Controller encounters the JUMP Pr. instruction while processing a program it will directly branch to the program with the indicated number (processing starts with sentence no. 1). With JMP sent processing will resume at the indicated sentence, thus skipping certain sentences.

  • Page 81: Signal-Dependent Branching (If L/O)

    4-42 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS 4.14.3 Signal-dependent branching (IF l/O) The program can be conditionally executed depending on the signal state at certain inputs and outputs (l/O) of the Controller. If the condition is true, i.e. the signal state at the called input/output is logically 1 (High level), the program is continued with the sentence immediately following the IF instruction.

  • Page 82: Examples

    4-43 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS The entry is monitored concerning valid value range. In case of an error, the Invalid entry message is output (confirm with any key). Coding for serial transmission (length = 4 bytes): byte: I/O no. 4.14.4 Examples 1.
  • Page 83 4-44 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS 2. Logical AND Only if High level is present at position 2° and 2 of the 2nd data input, program 2 is to be processed, otherwise program 3. Program 1 (control program): Pos. A 1 initial position sentence 1 IF I/O...
  • Page 84 4-45 4.14 Program flow instructions UNCTIONAL ESCRIPTIONS 3. Simple positioning sequence (principle) Material of differing length is to be pushed forward in a slide, providing the material with borings at a distance of optionally 1000 or 2000, depending on a signal at the 2nd data input, position 2 (1 = length 2000).

  • Page 85: Coordinates Offset

    4-46 4.15 Coordinates offset UNCTIONAL ESCRIPTIONS 4.15 Coordinates offset With units containing only ‘pure’ positioning axes, the origin of coordinates can be offset for each sentence, namely either − absolutely with reference to the machine zero point (angle encoders zero or reference point with incremental systems) or −...
  • Page 86 4-47 4.15 Coordinates offset UNCTIONAL ESCRIPTIONS Enter the desired absolute or relative zero coordinate for the x axis (display The input features for the coordinates offset correspond to the program flow instructions (refer to section 4.14, General features). Positioning example for an unit consisting of two axes: Pos.
  • Page 87 4-48 4.15 Coordinates offset UNCTIONAL ESCRIPTIONS To cut, e.g., individual work pieces from material, the data being valid for all work pieces such as (relative) positions or lengths and other sentence elements (e.g. speed rate with continuous sentence processing) could be stored in a program no. 2 while the program no. 1 to be started contains successively the coordinates offsets for each work piece separated by the ‘Call Pr.
  • Page 88 UNCTIONAL ESCRIPTIONS Functional Descriptions ............4-1 Definitions................... 4-1 4.1.1 Actual unit of measurement..............4-1 4.1.2 Display units (DispU) ................4-1 4.1.3 Count direction ................... 4-1 Speed rates ..................4-3 Continuous sentence processing (positioning without stop)....4-6 Drive control ..................4-7 4.4.1 Principle of regulation .................
  • Page 89 UNCTIONAL ESCRIPTIONS 4.13 Linear path control................4-36 4.14 Program flow instructions ..............4-39 4.14.1 Call subroutine (CALL Pr.)..............4-40 4.14.2 Jump instructions (JUMP Pr., JMP sent).......... 4-41 4.14.3 Signal-dependent branching (IF l/O) ..........4-42 4.14.4 Examples..................4-43 4.15 Coordinates offset ................4-46 8310/8610-8...

  • Page 90: Commissioning

    5 Commissioning The procedure specified in the following for the commissioning of the Controllers GEL 8310 / 8610 can only be a proposal and is just one of various possibilities. Use your experience to optimize this procedure for your special needs and applications.
  • Page 91 5.1 Standard settings OMMISSIONING Does your Controller get its control signals from a PLC or similar auto- mation devices? If so, please check already during trial service whether there are always the same errors being stored in the fault memory of the Controller (cf. section 6.2).

  • Page 92: Actual Value Adjustment

    5.2 Actual value adjustment OMMISSIONING 5.2 Actual value adjustment 5.2.1 Incremental encoders Storage location 3/1: edge evaluation The type of edge evaluation for the encoder pulses depends on the actual measuring unit used in the installation (refer to section 4.1.1). Example: existing encoder with 250 pulses/revolution, desired are 1000 increments/revolution ⇒...
  • Page 93 5.2 Actual value adjustment OMMISSIONING Example: At one revolution the position value changes by 1024, however, a value of 1000 should be the result ⇒ multiplier = 0.9766, rounded up; the rounding error results in a respective positioning inaccuracy after several revolutions! Storage location 3/5: decimal point The number of decimals depends on the requested resolution.
  • Page 94 5.2 Actual value adjustment OMMISSIONING count of the counter max. wrong min. distance zero point of the machine mechan. zero point distance of movement count of the counter max. correct zero shift (3/53) min. distance E180039A Example: angle encoder with a resolution of 1024×512 (19 bits), counting range: 524,288 DispU (multiplier = 0, no decimal point) mechanical displacement: 307,200 DispU = ^ 300 revolutions (1,024 DispU ∗...

  • Page 95: Preparations For Displacing The Drive

    5.3 Preparations for displacing the drive OMMISSIONING 5.3 Preparations for displacing the drive Storage location 3/19: manual drive control Fix here whether the drive should be controlled via the keyboard or an external data input. In the second case, the module and the position where the control signals should be read must be determined.
  • Page 96 5.3 Preparations for displacing the drive OMMISSIONING Storage locations 3/35 to 3/38: values for accelerating and braking These data should already be available from adapting the drive to the machine. Should this not be the case, values must first be estimated, e.g.: how much time takes the drive for accelerating from standstill up to the maximum speed (t ) and for braking from the maximum speed down to...

  • Page 97: Count Direction And Voltage Polarity

    5.4 Count direction and voltage polarity OMMISSIONING 5.4 Count direction and voltage polarity Ensure that the axis to be adjusted is displayed (see section 5.1). Displace the drive manually: slow speed forward (">"). The actual value (display A) must count up. Also check in which direction the machine moves.
  • Page 98 5.4 Count direction and voltage polarity OMMISSIONING If the actual value changes erratically (only possible for absolute encoders with BCD or Gray code), select the appropriate code type on storage location 3/1 with logic reverse. The next step is to determine the minimum voltage values for the drive amplifier which is necessary to start the drive in the forward and reverse direction (if not yet known).

  • Page 99: Minimum Voltages

    5-10 5.5 Minimum voltages OMMISSIONING 5.5 Minimum voltages The following experimental determination assumes, that there are threshold voltages U > 1 mV for the amplifier used whose exact values are not known. The Controller-specific forward direction (">") is here assigned a positive voltage.

  • Page 100: Optimization Of Control Parameters

    5-11 5.6 Optimization of control parameters OMMISSIONING 5.6 Optimization of control parameters 5.6.1 Maximum speed To check or optimize v the drive must be displaceable for a sufficient period of time (e.g. 5 seconds), so that the output voltage for the set (working) speed rate and also the contouring distance (»Delta_s«) can be read in the display.

  • Page 101: Control Factor

    5-12 5.6 Optimization of control parameters OMMISSIONING 5.6.2 Control factor The purpose of this setting is to make the control dynamics as big as possible via the factor K , but not to make it too sensitive. It is advisable to use an oscilloscope for the process of optimization to examine the voltage at the analogue output (terminal strip D).
  • Page 102 5-13 5.6 Optimization of control parameters OMMISSIONING accel accel output voltage accelerating too small good accel brake brake output voltage braking too small good brake E180016D By means of a current monitor at the drive amplifier you may find out whether the current limit is reached during the process of acceleration or braking.

  • Page 103: Jerk Time

    5-14 5.6 Optimization of control parameters OMMISSIONING 5.6.4 Jerk time Slight overshoots at the end of the accelerating and braking period (see oscillogram above) can be minimized by programming a jerk time t , this, jerk however, at the expense of a slightly increased duration of positioning. By means of the jerk time the positioning characteristic of the drive is fixed (refer to section 4.4.2).

  • Page 104: Controller Configuration

    5-15 5.7 Controller configuration OMMISSIONING 5.7 Controller configuration Since the programming of further machine parameters is rather individual and depending on the application, we cannot provide any concrete procedure nor can we give any values. We recommend you to take the survey at the beginning of appendix A and the following table to decide on further parameters to be determined.
  • Page 105 5-16 5.7 Controller configuration OMMISSIONING ♦ Storage locations 3/56...60: functions and values for a parking position ♦ Storage locations 3/61...70: functions and values for range signals ♦ Storage locations 3/71...74: input control/monitoring and limit switch functions ♦ ... Now (first) commissioning is completed. 8310/8610-8...
  • Page 106 OMMISSIONING Commissioning............... 5-1 Standard settings................5-2 Actual value adjustment ..............5-3 5.2.1 Incremental encoders ................. 5-3 5.2.2 Absolute encoders................5-3 Preparations for displacing the drive ..........5-6 Count direction and voltage polarity ........... 5-8 Minimum voltages................5-10 Optimization of control parameters........... 5-11 5.6.1 Maximum speed ................

  • Page 107: Trouble Shooting

    6.1 Warning and error messages ROUBLE SHOOTING 6 Trouble shooting 6.1 Warning and error messages Apart from various operating state messages, the Controller outputs an appro- priate warning or error message in certain operating situations in displays B and C. Each message must be acknowledged by pressing any key. For warn- ing messages requiring a decision, the key means confirmation whereas any other key aborts the respective function.
  • Page 108 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Delete memory ? °+7 Confirm the safety inquiry keys resp. were pressed directly after with or abort function entering the machine with any other key parameter programming mode (all machine parameters will...
  • Page 109 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message EEPROM error Replace the Controller Non-correctable error in the memory used by the power failure security (see also the info at the beginning of chapter 5) (can only occur during nominal value entry or when reading a memory card)
  • Page 110 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Invalid auto cal You tried to start an auto- Reset the Controller for the matic reference search corresponding unit starting the automatic (%+2 calibration is invalid routine resp.
  • Page 111 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Invalid prog.end • You tried to define the end First, enter nominal values or exit the program of program for a program invalid end of program (°+9 that is still empty resp.
  • Page 112 • Memory card used is de- Use another card fect or has been used so far with another Controller type (GEL 8310 ↔ GEL 8610) • You tried to read a card Exchange the card or select ‘write’ instead of which has not been written ‘read’...
  • Page 113 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Memory overflow All nominal value storage Define the end of program locations are already used. in the actual program (°+9 Occurs resp. − after entering the last if required, delete sen- possible nominal value tences in another program...
  • Page 114 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Over 999 sentence • 998 sentences have Terminate the program already been programmed (the end of program does also count as a sentence) and you now tried to enter another nominal value or to insert a sentence •...
  • Page 115 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Position too high Input monitoring: Enter a lower value or value of the nominal posi- specify »Pos. max« new tion/ length exceeds the specified »Pos. max« value (storage location 3/72) Position too low Input monitoring:...
  • Page 116 6-10 6.1 Warning and error messages ROUBLE SHOOTING Warning or error Cause, situation Remedy, reaction message Referenc too high Input monitoring: Enter a lower value or value of the reference specify »Pos. max« new reference measure is too high measure exceeds the specified »Pos.

  • Page 117: Fault Memory

    6-11 6.2 Fault memory ROUBLE SHOOTING 6.2 Fault memory Up to 20 faults that appeared during the operation are stored successively and non-volatile in the memory of the Controller. In addition, each appearing fault pushes the one at the bottom out of the memory. Fault message s can be accessed in every operating stat e of the Automatic resp.
  • Page 118 6-12 6.2 Fault memory ROUBLE SHOOTING If the key is pressed when displaying the last fault, all fault numbers can be removed from memory if the safety inquiry Delete all ? is confirmed with With the action is aborted. The displays are then switched to the normal operating status again, i.e., the inquiry function is exited.
  • Page 119 6-13 6.2 Fault memory ROUBLE SHOOTING Displays B/C Unit Axis Description Delta_s< S max - Absolute value of the negative control deviation (contouring distance) is larger than the programmed »S max -« maximum value; refer to storage location 3/43 stop & auto cal Search for reference signal was preset with Low level at the stop input or the unit being in the interrupted state...
  • Page 120 6-14 6.2 Fault memory ROUBLE SHOOTING Displays B/C Unit Axis Description start calib. Start signal was preset although the reference measure was not set for all axes to be calibrated; refer to storage location 1/2 invalid program Start signal was preset although no valid program was selected start &...

  • Page 121: Watchdog Reset

    6-15 6.2 Fault memory ROUBLE SHOOTING Displays B/C Unit Axis Description IF from reset After a start from a reset state, an IF instruction (‘IF I/O’) was executed by the program without performing a previous positioning (refer to section 4.14) Watchdog Reset Controller reset, caused by external noise (EMC measurements!) or an...
  • Page 123 ROUBLE SHOOTING Trouble shooting ................ 6-1 6.1 Warning and error messages ..............6-1 6.2 Fault memory..................6-12 8310/8610-8...

  • Page 124: Mounting Instructions

    7.1 Cable connections OUNTING INSTRUCTIONS 7 Mounting instructions 7.1 Cable connections The compact design of the Controller and the variety of modules and connection properties has consequently lead to the use of relatively small dimensioned terminal strips. For a good electrical contact and mechanical grip of the cables in the terminal strips as well as for a safe insulation we strongly recommend that stranded cables be fitted with wire end ferrules to DIN 46228 part 4, which are fixed permanently using a special crimping tool.
  • Page 125 7.2 EMC measures OUNTING INSTRUCTIONS Only connectors with metal housings or a housing made of metallized plastic should be used and the screen connected directly to the strain relief of the connector with as large a surface area as possible If the connector does not have special strain relief clamp, it is advised to provide adequate clamping between the two halves of the housing.
  • Page 126 7.2 EMC measures OUNTING INSTRUCTIONS E180014I a) Mains suppression filter To achieve full functionality of the filter you must fix it to a bright and well earthed mounting plate, paying attention to having good contact at both sides. The screen (earth) is to be connected to the special labelled screw terminal on the filter.

  • Page 127: Replacing Modules

    This applies, in particular, to the relay cards R used (see Fig. 1): operating voltages up to 240 VAC are possible! E183083A Fig. 1 (here: Controller GEL 8310 without CE certification) 7.3.1 Disassembly Remove optional memory card, if inserted.

  • Page 128: Assembly

    7.3 Replacing modules OUNTING INSTRUCTIONS devices with certification devices without certification Pull out the desired module preferably grasping one of the (still) plugged terminal strips Pull out the metal frame with mounted power supply card Pull out the desired module Due to the compact construction, it may be possible that a card is jamming slightly.
  • Page 129 7.3 Replacing modules OUNTING INSTRUCTIONS devices with certification devices without certification Place the metal frame with Plug all terminal strips (identical mounted power supply card designations on terminal strip and socket!) Place the metal angle Mind that all earth pins of the modules fit correctly in the associated sockets of the metal frame/angle.

  • Page 130: Replacing An Eprom

    X183003C GEL 8310 Bring the bended ends of the bow under the chip (Œ, ), press the bow slightly (Ž), and pull it up () X061AH...

  • Page 131: Dil-Eprom

    7.4 Replacing an EPROM OUNTING INSTRUCTIONS When inserting the chip notice the correct orientation with respect to the socket. For this, both parts have special marks (illustrated in the figure below by black arrows): X186003C GEL 8610 • a skewed corner •...
  • Page 132 7.4 Replacing an EPROM OUNTING INSTRUCTIONS Lever the EPROM alternately at both sides as illustrated in Fig. 2 Note for V2.0 modules: The two jumpers and the capacitor on the right side of the EPROM (Fig. 2) must not be bent back into the vertical position as otherwise the module cannot be pushed in.
  • Page 134 OUNTING INSTRUCTIONS Mounting instructions ............7-1 Cable connections ................7-1 EMC measures................... 7-1 Replacing modules ................7-4 7.3.1 Disassembly ..................7-4 7.3.2 Assembly .................... 7-5 Replacing an EPROM ................ 7-7 7.4.1 PLCC EPROM..................7-7 7.4.2 DIL-EPROM..................7-8 8310/8610-8...
  • Page 135 GEL 8610 only / 8: Configuration unit 6 GEL 8610 only 6 / 9: Memory card GEL 8310 / 8610 7 / 10: Special function with memory card GEL 8310 / 8610 8 / 11: Password inquiry for nominal value programming...
  • Page 136 TORAGE LOCATIONS FOR MACHINE PARAMETERS 9: Manual calibration functions 10: Setting of reference measure 11: Automatic reference search routine 12: Reference fine signal 13: Reference coarse signal 14: Reversing switch signal 15: First reference measure 16: Reference positioning speed rate 17: Reversing speed 18: Operating status for manual positioning 19: Manual positioning...
  • Page 137 TORAGE LOCATIONS FOR MACHINE PARAMETERS 59: Parking speed rate 60: Machine functions for parking 61: Output of range signals 62: Function for range signals 63:   Start and end values of the R1 to R4 ranges 70:  71: Minimum position value 72: Maximum position value 73: Software limit switches 74: Hardware limit switches...

  • Page 138: Storage Locations For Machine Parameters

    TORAGE LOCATIONS FOR MACHINE PARAMETERS Parameter format a) Parameter with variant selection b) Parameter with value input subplane variant (here: axis 1) number parameter plane parameter no variant (here: axis) number as before number parameter variant parameter input value For more details refer to section 3.3. The programming mode is activated by &+1 &+0 resp.

  • Page 139: System Parameters (1 St Level)

    TORAGE LOCATIONS FOR MACHINE PARAMETERS 1. System parameters (1st level) Language Operating language Determines the language for the display of texts german texts are displayed in German english texts are displayed in English Pow.fail Power failure security Specifies if the actual values and operating states are to be stored so that they will be available again after a power failure and when the equipment is ‘normally’...
  • Page 140 X = 2: 2 axes (2 & 3 or 4 & 5 or 5 & 6, GEL 8610 only) X = 3: 3 axes (3 to 5 or 4 to 6, GEL 8610 only) X = 4: 4 axes (3 to 6, GEL 8610 only) continued for the GEL 8310 further below Unit4 Configuration unit 4 GEL 8610 Assignment of 1…3 axes to the 4th unit (GEL 8610 only)
  • Page 141 Assignment of 1 axis to the 6th unit (GEL 8610 only) input of the number of axes with the following possibilities: X = 0: no axis X = 1: 1 axis (6) GEL 8310 Mem.card Memory card GEL 8610 Activation of a write protection for the optional memory card &+;...
  • Page 142 GEL 8610 Definition of the sequence of digits for the password of the programming mode for nominal values XXXXXXXX input of 1 to 8 digits GEL 8310 Term.P21 Keyboard lock (terminal P21) GEL 8610 Defines the function of the control input P21 ( /keyboard lock ) of the P...
  • Page 143 Specifies the device number (address) of the Controller for use with the RS 422/485 input of 1 or 2 digits (0 ... 31); 0 specifies a single Controller used GEL 8310 Protocol Transmission protocol GEL 8610 Specifies the transmission protocol to be used...
  • Page 144 A-10 TORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 Reserve GEL 8610 • not used • for the • standard version GEL 8310 Reserve GEL 8610 -------- ` ` !/^ ; Change to the next programming level via 8310/8610-8...

  • Page 145: Unit Parameters (2 Nd Level)

    A-11 TORAGE LOCATIONS FOR MACHINE PARAMETERS 2. Unit parameters (2nd level) number of pieces (batch counter) and auto start Batch/t Specifies whether the ‘number of pieces’ nominal value type is to be part of a sentence and/or whether individual times for generating an automatic start signal are to be preset.
  • Page 146 A-12 TORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 only: continuation 2/2 24 out 1 24 MF parallel at the 1st data output (R module: 12 MF) 24 out 2 24 MF parallel at the 2nd data output (R module: 12 MF)
  • Page 147 A-13 TORAGE LOCATIONS FOR MACHINE PARAMETERS Interpolation (path control) Interp. Specifies if a path control is to be used for the assigned axes when positioning (cf. section 4.13) , or if an optional function is to be used (e.g. synchro control option). A new programming will cause the deletion of all nominal value programs of this unit (with safety inquiry).
  • Page 148 A-14 TORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 only: continuation 2/6 serial program selection via the serial interface GEL 8610 only: i4.0 bcd BCD program selection via the 4th data input E decades and 10 i4.2 bcd BCD program selection via the 4th data input E...
  • Page 149 A-15 TORAGE LOCATIONS FOR MACHINE PARAMETERS Sent.out utput Sentence/program number to data o Specifies at which of the optional data outputs the numbers of the current sentence and program are to be output inactive no output of the sentence/program number output 1 sentence/program number to the 1st data output output 2...
  • Page 150 A-16 TORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8610 only: continuation 2/9 out 4.0 4th data output, decade 10 out 4.1 4th data output, decade 10 out 4.2 4th data output, decade 10 out 4.3 4th data output, decade 10 out 4.4 4th data output, decade 10 out 4.5 4th data output, decade 10...
  • Page 151 A-17 TORAGE LOCATIONS FOR MACHINE PARAMETERS ResetOut Program processing signal ‘reset’ Specifies whether the reset signal is to be output and if so which other program processing signal is to be dropped instead (refer to section 4.5.5) inactive reset is not used reset is used instead of sentence end sent.end reset is used instead of block end...
  • Page 152 A-18 TORAGE LOCATIONS FOR MACHINE PARAMETERS Remarks : 8310/8610-8...

  • Page 153: Axis Parameters

    A-19 TORAGE LOCATIONS FOR MACHINE PARAMETERS 3. Axis parameters (3rd level) Encoder Actual value adjustment Specification of the used encoder and setting of the edge evaluation of the 0° and 90° tracks at the count input and the coding of the connected encoder (refer also to sec tion 5.2) incr.
  • Page 154 A-20 TORAGE LOCATIONS FOR MACHINE PARAMETERS Multipl. Multiplier Multiplier for the encoder input (for incremental encoders after edge evaluation); refer to section 5.2 Input of a value ≥ 0 and ≤ 99.9999 XX.XXXX 0 ≡ 1.0000 Disp.mul Multiplier for actual value display Multiplier for the display of all values in actual measuring units (displays A and C);...
  • Page 155 A-21 TORAGE LOCATIONS FOR MACHINE PARAMETERS Direct entry of a correction value Man.corr A correction value can be entered after pressing in the reset state of the Automatic mode; it overwrites the originally programmed value in storage location 3/6; refer to section 4.7 inactive direct entry is disabled active...
  • Page 156 A-22 TORAGE LOCATIONS FOR MACHINE PARAMETERS Setting of the reference measure Set ref. Specifies the direction of travel for the setting of the reference measure when positioning the drive; refer to section 4.6 the setting of the reference measure is disabled inactive forward the reference measure will be set when moving the drive in...
  • Page 157 A-23 TORAGE LOCATIONS FOR MACHINE PARAMETERS R.switch Reversing switch signal Specifies the switching level of the reversing switch signal for the automatic reference search routine; refer to section 4.6 Low level = ^ logical 1 high High level = ^ logical 1 Value of the 1st reference measure Ref.val.
  • Page 158 A-24 TORAGE LOCATIONS FOR MACHINE PARAMETERS Operating state for manual positioning ManOper. Specifies the operating state in which the drive can manually be moved; High level must be applied to the corresponding /stop input (P4/7/10) reset the Controller must be in the reset state stop/res the Controller must be in the reset or interrupted state Manual positioning...
  • Page 159 A-25 TORAGE LOCATIONS FOR MACHINE PARAMETERS GEL 8310 only: continuation 3/19 (%/&+^/!) keyboard positioning via the keyboard in the Automatic mode and during teach-in operation GEL 8610 only: input4.0 positioning via the 4th data input E decade 10 input4.1 positioning via the 4th data input E decade 10 input4.2...
  • Page 160 A-26 TORAGE LOCATIONS FOR MACHINE PARAMETERS Polarity of the analog output Polar. O Assignment of the voltage polarity to the direction of motion The polarity may only be changed if the drive does not move mechanically in the desired direction although the electric connection of the drive assembly (amplifier, motor, tacho generator) is correct (it is mandatory to read sections 4.1.3 and 5.4.) + = forw...
  • Page 161 A-27 TORAGE LOCATIONS FOR MACHINE PARAMETERS Umin + Minimum positive voltage Umin – Minimum negative voltage Minimum positive/negative voltage for the drive amplifier at which it can still control the drive (in both forward and reverse direction); refer to section 5.5 range of values: 0...(+)10,000 V, resolution is 1 mV XX.XXX Maximum voltage...
  • Page 162 A-28 TORAGE LOCATIONS FOR MACHINE PARAMETERS Working speed rate Speed Specification of the working speed rate for the positioning processes; this value is used if the nominal value type ‘speed’ is not part of a sentence for the associated unit, i.e., no nominal values are preset for the speed rate per sentence. For internal calculation reasons, a value must be programmed here also if presetting the speed rate in the sentence.
  • Page 163 A-29 TORAGE LOCATIONS FOR MACHINE PARAMETERS Jerking time t jerk The jerk determines the positioning characteristic of the drive; it is defined by the time t in which the maximum acceleration is reached (jerk = a jerk jerk ∗t ); the larger t the smoother the accelerating and braking process;...
  • Page 164 A-30 TORAGE LOCATIONS FOR MACHINE PARAMETERS Measurement system Measure Specifies the measurement system, the Controller shall work with absolute system of absolute dimensions (fixed zero processing): position values entered are absolute positions; if in the programming mode for nominal values you switch °+0 over to lengths ( ) incremental dimension...
  • Page 165 A-31 TORAGE LOCATIONS FOR MACHINE PARAMETERS Reg.stop Control in the stop/reset state Specifies if the closed loop position control is to be active in the interrupted (stop) or reset state closed loop control is switched off, the release brake and inactive cancel controller lock signals are reset closed loop control is active, the signals release brake and...
  • Page 166 A-32 TORAGE LOCATIONS FOR MACHINE PARAMETERS tb open Brake opening time tb close Brake closing time Brake setting time measured from the release brake signal up to the final release (3/51) or from resetting the signal up to the final engaging of the brake (3/52); after has expired, the positioning control is activated (start delay);...
  • Page 167 A-33 TORAGE LOCATIONS FOR MACHINE PARAMETERS Parking function Park.fct Specifies the mode for moving the to the park position; refer to section 4.9 inactive machine does not move to the park position; direct entry of a position value is disabled machine moves to the park position by a start signal before batch the batch counter is incremented (1st, 3rd, 5th, ...
  • Page 168 A-34 TORAGE LOCATIONS FOR MACHINE PARAMETERS Park.spd Parking speed rate Speed rate for moving to the park position max. 6 digits incl. decimal point, only positive; value in XXXXXX actual measuring units per second ParkMfct Machine functions for parking The machine functions programmed here are available while moving to the park position and staying there (as long as the Controller is in the started state);...
  • Page 169 A-35 TORAGE LOCATIONS FOR MACHINE PARAMETERS Output of range signals Ranges Specifies if range signals are to be output (refer to section 4.5.6) and, if so, at which optional data output (refer to section 4.10.2) inactive no range signal output out 1.0 1st data output, decade 10 out 1.1...
  • Page 170 A-36 TORAGE LOCATIONS FOR MACHINE PARAMETERS Function for range signals RangeFct Specifies if the values programmed for ranges R1 to R4 (start, end) are to be absolute or relative positions or if the range signals are to be used for the control of fast/slow-speed drives (the individual functions are described in section 4.5.6) absolute the values identify absolute (actual) positions, the signals...
  • Page 171 A-37 TORAGE LOCATIONS FOR MACHINE PARAMETERS R2: Beg. Start value of range R2 R2: End End value of range R2 Specifies the position of the 2nd range R2 (absolute or relative to the nominal position, refer to storage location 3/62) signal output: refer to storage location 3/ 63/64 For the drive control (3/62 = 2): R2 = fast speed signal The signal level of R2 is inverted (refer to section 4.5.6).
  • Page 172 A-38 TORAGE LOCATIONS FOR MACHINE PARAMETERS Pos. min Minimum position value Pos. max Maximum position value These two values are the limits for the input monitoring within the programming mode of nominal values or for the direct entry (e.g. reference measure). Additionally, they fix the maximum positioning range if the function software limit switch is activated (refer to storage location 3/73) Pos.
  • Page 173 A-39 TORAGE LOCATIONS FOR MACHINE PARAMETERS HWswitch Hardware limit switches Specifies at which data input, the signals of the limit switches are to be read in (refer to section s 4.11.2 and 4.10.1); meaning of the signal levels: • Low level = limit switch has triggered (corresponds to an open input) •...
  • Page 174 A-40 TORAGE LOCATIONS FOR MACHINE PARAMETERS Ext. data input of a nominal position/length !Pos.in Specifies at which data input the nominal position or length is to be applied (in BCD code, max. 6 digits), optionally with sign and length specifier; refer to section 4.10.1 program no external data specification input1...
  • Page 175 A-41 TORAGE LOCATIONS FOR MACHINE PARAMETERS Ext. data input of a correction value Corr.in Specifies to which data input the correction value is to be applied (in BCD code, max. 6 digits), optionally with sign (refer to sections 4.7 and 4.10.1) program no external data specification input 1...
  • Page 176 A-42 TORAGE LOCATIONS FOR MACHINE PARAMETERS Speed in Ext. data input of a speed value Specifies to which data input the speed rate specification is to be applied (in BCD code, max. 6 digits), optionally with continuous sentence processing specifier ‘ ’...
  • Page 177 A-43 TORAGE LOCATIONS FOR MACHINE PARAMETERS !Pos.out Data output of nominal position values =Pos.out Data output of actual position Corr.out Data output of correction value Specifies at which optional output module the data are to be output (in BCD code, max.
  • Page 178 A-44 TORAGE LOCATIONS FOR MACHINE PARAMETERS Reserve not used for the standard version -------- Value of the 2nd reference measure Ref.val2 Under the precondition that the reference2/1 signal is active (High level at the corresponding terminal) this value is loaded into the actual position counter as soon as the drive exceeds the reference point;...
  • Page 179 A-45 TORAGE LOCATIONS FOR MACHINE PARAMETERS PowerCal Calibration after powering-on Specifies whether the axis is exempted from the calibration mode that is defined in system parameter 1/2 asSystem standard, i.e. no exemption inactive no calibration for this axis 8310/8610-8...
  • Page 181 Appendix A TORAGE LOCATIONS FOR MACHINE PARAMETERS Storage locations for machine parameters Overview of the storage locations ..............A-1 Parameter format ................... A-4 Explanations on the representation used ............A-4 1. System parameters (1st level)..............A-5 2. Unit parameters (2nd level) ..............A-11 3.

  • Page 182: Connector Designations

    AYOUT Connector designations data terminal module / function con- strip nector data output: logic outputs 1 to 3 count inputs for incremental encoders 5/24 V 1 to 3 analog outputs 0...±10 V data inputs (High level = ^ logic 1) data output: power outputs power supply control inputs/outputs...

  • Page 183: Terminal Strip Coding

    AYOUT Terminal strip coding X186003A Modules which may exist several times (e.g. R) are marked by a corre- sponding index (1 to 4 at max.). A certain address code is allocated to each index. It is achieved via specific jumper positions on the module cards, which are indicated at the bottom of each connection diagram.

  • Page 184: Module Arrangement Of The Gel 8310 (Back Of The Controller)

    AYOUT Module arrangement of the GEL 8310 (back of the Controller) Configuration example: positioning controller for 3 axes with incremental encoders, without additional modules (demonstrated for devices without certification) C / Z X1860003 assign- terminal strip, slot module ment connector...

  • Page 185: Module Arrangement Of The Gel 8610 (Back Of The Controller)

    AYOUT Module arrangement of the GEL 8610 (back of the Controller) Configuration example: positioning controller for 6 axes with incremental encoders, without additional modules (demonstrated for devices without certification) C / Z C / Z X1860003 assign- terminal strip, slot module ment connector...

  • Page 186: Connection Diagrams

    AYOUT Connection diagrams In the following diagrams, the internal circuitry of the module cards is sketched on the left. The connections to be effected, i.e. the signals, their direction, and other data, are shown on the right. With the P, E, A, W, Y modules you must determine by means of jumpers if the internal (auxiliary) supply voltage or an external voltage shall be used for the signals or the encoder supply.
  • Page 187 AYOUT Terminal Control inputs/outputs strip with aux. voltage 20 V, I = 20 mA (per output) start stop reset start stop reset start stop reset search for reference reversing switch reference coarse search for reference reversing switch reference coarse search for reference reversing switch reference coarse keyboard lock...
  • Page 188 AYOUT Count input for 1 to 3 incremental encoders Terminal with power supply for 5/24 V encoders (C), reversible, or strip for 24 V encoders only (Z) 5 V version (TTL level) sense reference fine 20 V version reference fine Address Coding E180025K On the C module the encoder supply voltage is preset to 5 V for all three...
  • Page 189 AYOUT Actual value input for 1 to 3 absolute encoders Terminal with parallel data outputs, High-active (W) or Low-active (Y); strip with aux. voltage 20 V (power supply for encoder and data) +20V 20 V (supply for signals and INT EXT −...
  • Page 190 AYOUT Actual value input for 1 to 3 SSI encoders Terminal = absolute encoders wit synchronous serial data output; strip with aux. voltage 20 V (power supply for encoder) Address Coding E180025N 8310/8610-8...
  • Page 191 B-10 AYOUT 1 to 3 analog outputs Terminal 0…±10 V/+10V, 10 mA, potential-free, 1.22 mV resolution, strip sustained short circuit-proof; with aux. voltage 20 V; control outputs: 20 mA at maximum forward reverse cancel controller lock release brake Address Coding E180025C For the power supply of the module there must be a (auxiliary) voltage fed to terminals 1 and 2 of the N module.
  • Page 192 B-11 AYOUT Data input Connector with auxiliary voltage 20 V > >> < << ≈ 4.4 kΩ (@ 24 V) INT EXT 2/7 2/6 3/19 3/74f +20VE see table storage location +20 V male connector INT EXT signal voltage pin 13 internal 20 V + 20 V +20VE...
  • Page 193 B-12 AYOUT Data output (logic outputs) Connector with aux. voltage 20 V, I = 10 mA (per output) see table INT EXT ST10 +20VE +20 V INT EXT stop end of program end of block end of sentence 3/80f 3/61 female connector storage location signal voltage...
  • Page 194 B-13 AYOUT Data output (power outputs) Terminal High-active, sustained short circuit-proof, strip = 500 mA per output layout like data output module A (see there) Address Coding E180025O 8310/8610-8...
  • Page 195 B-14 AYOUT Terminal Data output (contact outputs) strip contacts 240 V~/1 A at maximum operating voltage machine functions range signals operating voltage operating voltage M9 (M1) M10 (M2) M11 (M3) M12 (M4) 3/61 storage location Pay attention to spark extinguishing for relay contacts! Address Coding (data inputs/outputs) first module R...
  • Page 196 B-15 AYOUT Terminal Serial bus RS 422 / RS 485 strip Serial interface RS 232 C / V.24 Connector RS 422 / RS 485 emergency stop 1 emergency stop 2 for hand terminal GEL 131 only (option) NA2b emergency stop 2 NA2a NA1b emergency stop 1...
  • Page 197 B-16 AYOUT Intelligent interface RS 485 Connector for PROFIBUS applications Insert bridges for terminating resistors (at the terminal device) E180047C If the module is inserted the description of the Op3 option in appendix O will give you further information. Intelligent interface RS 422 Connector for special protocols terminating resistor...

  • Page 198: Terminal Strip N (Power Supply)

    Pin Layout Connector designations.................. B-1 Terminal strip coding ..................B-2 Module arrangement of the GEL 8310 (back of the Controller) ....B-3 Module arrangement of the GEL 8610 (back of the Controller) ....B-4 Connection diagrams ..................B-5 Terminal strip N (power supply) ..............B-5 Terminal strip P (control inputs/outputs)............
  • Page 199 PECIFICATIONS Operational data Power requirements – for the Controller circuits 18 ... 30 VDC or 16 ... 22 VAC GEL 8310 current consumption max. 1.2 A (slow-blow miniature fuse 2.0 A) GEL 8610 current consumption max. 2.0 A (slow-blow miniature fuse 3.15 A) –...
  • Page 200 Counting range –2 ... +2 Display range –9 999 999 ... 99 999 999 Number of axes GEL 8310 max. 3 (1 ... 3 units) GEL 8610 max. 6 (1 ... 6 units) Storage locations for nominal values GEL 8310...
  • Page 201 – terminal strip N 2.5 mm (5.1 mm grid) – terminal strip R 2.5 mm (7.6 mm grid) Weight (incl. all components) GEL 8310 approx. 1.5 kg GEL 8610 approx. 3 kg Protective class – front without slot for IP 50 memory card –...
  • Page 202 PECIFICATIONS Dimensions Controller GEL 8310 panel cutout: dimensions in mm X/D183036D..F 8310/8610-8...
  • Page 203 PECIFICATIONS Controller GEL 8610 panel cutout: 281.5 dimensions in mm X/D186036D..F 8310/8610-8...
  • Page 204 PECIFICATIONS GEL 89033 mains transformer dimensions in mm E183036G GEL 89036 mains transformer dimensions in mm E186036G 8310/8610-8...
  • Page 205 PECIFICATIONS GEL 7922 clamping plate for GEL 89033/36 mains transformer dimensions in mm E6101CH GEL 7925 mains suppression filter for mains-based voltage spikes > 2.5 kV, 250 V ≅ , 50/60 Hz, 2 A height 32 dimensions in mm E6101AH 8310/8610-8...
  • Page 206 Every "X" from the 7th place in the coding stands for exactly one module to be specified; the total number of the optional plug-in modules (from the 6th place) is limited to 5 (GEL 8310) or 10 (GEL 8610). "0" in the type code means that no choice has to be made for this place.
  • Page 207 PECIFICATIONS Analog outputs outputs (module D — (–/ –) (1 / –) (2 / –) (3 / –) (3 / 1) (3 / 2) (3 / 3) (2 / 1) (2 / 2) – GEL 8610 only (2 / 3) (1 / 1) (1 / 2) (1 / 3)
  • Page 208 C-10 PECIFICATIONS Data inputs/- outputs module — data input/output, inputs High-active data output data input, inputs High-active serial interface RS232C/V.24 and serial bus RS422/RS485 with real-time clock (once possible only) as 6, but without real-time clock intelligent interface RS422 for special protocols intelligent interface RS485 for PROFIBUS applications...
  • Page 209 C-11 PECIFICATIONS Accessories designation order no. Mains transformer 115/230 V, 50...60 Hz GEL 89033 sec.: 20 V, 25 VA and 27 V, 70 VA Mains transformer 115/230 V, 50...60 Hz GEL 89036 sec.: 20 V, 35 VA and 27 V, 110 VA Clamping plate for mains transformer GEL 89033 GEL 7922 Mains suppression filter with current compensated chokes,...
  • Page 211 Appendix C PECIFICATIONS Specifications Operational data.....................C-1 Dimensions.....................C-4 Types and coding ...................C-8 Accessories ....................C-11 Options ......................C-11 8310/8610-8...
  • Page 212 Appendix O PTIONS Possible options LB2 procedure GEL 131 procedure PROFIBUS Op10 Circular interpolation Op20 Synchro control Op40 Compact single-axis device Op50 Flying saw Op70 Rotating knife Op__ ________________ 8310/8610-8...
  • Page 213 Appendix Y ORMS 8310/8610-8...
  • Page 214 Key Reference for the Positioning Controllers GEL 8310 / 8610 (valid from standard software version 14.00) © Copyright 12/97 by Lenord, Bauer & Co. GmbH Subject to change without notice...
  • Page 215 Operational key reference GEL 8310/8610 LENORD BAUER GEL 8x10 GEL 8610 function keys keys — select next variant display date/time (option; without when displaying fault messages) display stored fault messages direct input of a reference measure — absolute coordinates offset search for reference —...
  • Page 216 Operational key reference GEL 8310/8610 LENORD BAUER GEL 8x10 GEL 8610 function keys keys &+0 M activate the programming mode for nominal values return to Automatic mode &+1 — activate the programming mode for machine parameters &+8 copy axis parameters &+^ Y+Z...
  • Page 217 Operational key reference GEL 8310/8610 LENORD BAUER GEL 8x10 GEL 8610 function keys keys °+3 set program flow instruction »JMP sent« — °+4 set program flow instruction »IF I/O« — °+7 clear memory or delete unit/program °+8 copy sentences °+9 define end of program °+#...
  • Page 218 Supplementary sheet no. 1 to operating manual GEL 8310 / 8610 Configuration of the data input/output modules Module: input E output A no. 1 pin resp. unit/ function cade terminal axis E/A: 1-14-2-15 L: 3-4-5-6 R: 2-3-4-5 E/A: 3-16-4-17 L/R: 7-8-9-10...
  • Page 219 Supplementary sheet no. 1 to operating manual GEL 8310 / 8610 Module: input E output A no. 1 pin resp. unit/ function cade terminal axis E/A: 1-14-2-15 L: 3-4-5-6 R: 2-3-4-5 E/A: 3-16-4-17 L/R: 7-8-9-10 E/A: 5-18-6-19 L: 13-14-15-16 R: 12-13-14-15...
  • Page 220 Supplementary sheet no. 2 to operating manual GEL 8310 / 8610 Configuration of the storage locations customer: GEL 8___________________ type: system parameters unit parameters unit 1 unit 2 unit 3 unit 4 unit 5 unit 6 LENORD, BAUER & CO. GMBH...
  • Page 221 Supplementary sheet no. 2 to operating manual GEL 8310 / 8610 axis parameters axis ____ axis ____ LENORD, BAUER & CO. GMBH...
  • Page 222 Supplementary sheet no. 2 to operating manual GEL 8310 / 8610 axis parameters axis ____ axis ____ LENORD, BAUER & CO. GMBH...
  • Page 223 Supplementary sheet no. 2 to operating manual GEL 8310 / 8610 axis parameters axis ____ axis ____ LENORD, BAUER & CO. GMBH...
  • Page 224 Supplementary sheet no. 3 to operating manual GEL 8310 / 8610 Nominal value programs customer: GEL 8___________________ type: unit ___ unit ___ prog. sent. type value prog. sent. type value e. g. P1 = position axis 1, L3 = length axis 3, PN = piece number, M = machine functions, S = speed, Sf = floating sentence processing, CALL Pr.
  • Page 225 Supplementary sheet no. 3 to operating manual GEL 8310 / 8610 unit ___ unit ___ prog. sent. type value prog. sent. type value LENORD, BAUER & CO. GMBH...
  • Page 226 Appendix Z PDATE NFORMATION 8310/8610-8...

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