Sew Eurodrive IPOS plus Control System Manuals

Manuals and User Guides for Sew Eurodrive IPOS plus Control System. We have 1 Sew Eurodrive IPOS plus Control System manual available for free PDF download: Manual

Sew Eurodrive IPOS plus Manual

Sew Eurodrive IPOS plus Manual (384 pages)

Positioning and Sequence Control System

Brand: Sew Eurodrive | Category: Control Systems | Size: 16 MB

Table of Contents

Table of Contents
3
1 General Information

14
- Structure of the Safety Notes
  14
- Liability for Defects
  15
- Exclusion of Liability
  15
- Copyright
  15
2 Safety Notes

16
- General Information
  16
- Designated Use
  17
- Target Group
  17
- Programming Errors
  17
3 System Description

18
- Introduction
  18
  - Scope of this Documentation
    18
  - Creating Programs
    19
- IPOS Plus® - Features
  19
- Controlling IPOS Plus® Units
  22
  - Active Control Signal Source
    22
- Technology Options / Application Modules
  22
  - Technology Options
    22
  - Application Modules
    23
- Technical Data
  25
  - Movidrive ® B
    25
  - Movitrac ® B
    25
  - Mqx
    26
- Reference Documents
  27
4 IPOS Variables

28
- Introduction
  28
- Overview of the System Variables
  29
5 Task Management and Interrupts

40
- Introduction
  40
- Task Management for MOVIDRIVE ® a and B
  40
- Tasks for MOVIDRIVE ® a
  43
- Tasks for MOVIDRIVE ® B
  43
  - Processing Time for Task 1 / Task 2
    43
  - Task 3
    44
  - Implementation Information
    44
  - Example
    45
- Interrupts
  45
  - Example
    46
- Interrupts for MOVIDRIVE ® a and B
  46
  - Interrupt Activation
    46
  - Error Interrupt
    46
  - Touch Probe DI02 Interrupt
    47
  - Timer0 Interrupt
    48
- Variable Interrupts with MOVIDRIVE ® B
  49
  - Calling up the Variable Interrupt
    49
  - IPOS Access to the Internal Interrupt Control
    50
6 Position Detection and Positioning

53
- Encoder Evaluation
  53
- Motor Encoder (X15)
  54
- Encoder Combinations
  54
- External Encoder (X14)
  57
  - Positioning on External Encoder (X14)
    57
  - Slip Compensation with External Encoder
    57
- SSI Absolute Encoder (DIP)
  60
- Referencing
  63
- Modulo Function
  73
  - Introduction
    73
  - Operating Principle
    74
  - Travel Strategies
    77
  - Project Planning
    80
  - Project Planning Examples
    80
  - Frequently Asked Questions
    83
- Cam Controllers
  84
  - Standard Cam Controller
    85
  - Expanded Cam Controller
    89
7 Position Detection Via Binary Inputs

96
- Types of Built-In Encoders
  96
- Principle of the Position Detection
  96
- Position Detection with MOVIDRIVE ® B
  97
- Position Detection with MOVITRAC ® B
  98
- Position Detection with Mqx
  99
  - Proximity Sensor Evaluation
    99
  - DI0 and DI1 Terminal Assignments
    99
  - Position Detection with Built-In Encoder
    100
  - Encoder Monitoring
    100
  - Storing the Actual Position
    100
  - Counter
    101
  - Connecting the Built-In Encoders
    101
8 Ipos

102
- Plus® and Fieldbus
  102
- Introduction
  102
- Binary Inputs and Outputs
  103
- Cyclical Process Data
  103
- Acyclical Communication
  105
- Special Features of Communication Via Sbus
  105
- Special Features of Communication Via RS-485
  106
- Fieldbus Control Words and Fieldbus Status Words
  106
9 Ipos

107
10 IPOS Plus® for MOVITRAC ® B - Characteristics

118
- Requirements
  118
- Functionality
  119
11 IPOS Plus® for Mqx - Characteristics

120
- Introduction
  120
- Starting the Programming Tool
  121
- Sequence Control System
  121
- Digital Inputs and Outputs
  121
- Values of the DIAG11 Variable for the Error IPOS ILLOP
  122
12 P9Xx IPOS Parameters

123
- P90X IPOS Reference Travel
  123
  - P900 Reference Offset
    123
  - P901 Reference Speed 1
    124
  - P902 Reference Speed 2
    124
  - P903 Reference Travel Type
    124
  - P904 Reference Travel to Zero Pulse
    126
  - P905 Hiperface Offset X15
    126
  - P906 Cam Distance
    126
- P91X IPOS
  127
  - P91X Iposplus ® Parameters
    127
  - P910 Gain X Controller
    127
  - P911/912 Positioning Ramp 1/2
    127
  - P913/P914 Travel Speed CW/CCW
    127
  - P915 Velocity Precontrol
    127
  - P916 Ramp Type
    128
  - P917 Ramp Mode
    130
  - P918 Bus Setpoint Source
    130
- P92X IPOS Monitoring
  131
  - P920/P921 SW Limit Switch CW/CCW
    131
  - P922 Position Window
    131
  - P923 Lag Error Window
    131
  - P924 Positioning Interruption Detection
    131
- P93X IPOS
  132
  - Plus® Special Functions
    132
  - P930 Override
    132
  - P931 IPOS CTRL.W Task 1
    132
  - P932 IPOS CTRL.W Task 2
    132
  - P933 Jerk Time
    132
  - P938 Speed Task 1
    132
  - P939 Speed Task 2
    133
    
    Plus® Encoder
    134
  - P940 IPOS Variable Edit
    134
  - P941 Actual Position Source
    134
  - P942/P943 Encoder Factor Numerator/Denominator
    134
  - P944 Encoder Scaling Ext. Encoder
    135
  - P945 Synchronous Encoder Type (X14)
    135
  - P945 Synchronous Encoder Counting Direction (X14)
    136
  - P947 Hiperface Offset X14
    136
  - P948 Automatic Encoder Replacement Detection
    137
- P95X Absolute Encoder (SSI)
  138
  - P950 Encoder Type
    138
  - P951 Counting Direction
    138
  - P952 Cycle Frequency
    139
  - P953 Position Offset
    139
  - P954 Zero Offset
    139
  - P955 Encoder Scaling
    139
  - P956 CAN Encoder Baud Rate
    139
- P96X IPOS
  140
  - Plus® Modulo Function
    140
  - P960 Modulo Function
    140
  - P961 Modulo Numerator
    140
  - P962 Modulo Denominator
    140
  - P963 Modulo Encoder Resolution
    140
- P97X IPOS Synchronization
  141
  - P970 DPRAM Synchronization
    141
  - P971 Synchronization Phase
    141
13 Compiler - Editor

142
- Technical Features
  142
- First Steps
  143
- Settings for the IPOS Plus® Compiler
  154
- Search Function
  157
- Creating a New Project
  158
  - Project Properties
    158
  - Defining the Program Structure
    159
- Saving a Project
  161
- Setting up a Project Management Structure
  162
- Opening a Project
  164
- Handling Projects with MOVIDRIVE ® B
  164
- Compiling a Project
  166
- Compiling and Downloading
  167
- Starting a Program
  167
- Stopping a Program
  167
- Comparison with Unit
  167
- Debugger
  168
- Variable Window
  169
- Program Information
  171
- Entering Instructions
  172
- Comments
  173
- Overview of the Icons
  174
14 Compiler - Programming

175
- Preprocessor
  176
- Preprocessor Statements
  176
- Include
  178
- Include Folders
  179
- Define
  179
- Undef
  180
- Declare
  181
- SEW Standard Structures
  182
- User-Defined Structures
  184
- Long
  186
- Initial Long
  186
- Pragma
  187
- Explanation of Const.h and Io.h / Constb.h and Iob.h
  188
- Identifiers
  190
- Constants
  190
- Iposplus Variables in the Compiler
  191
  - Example
    191
- Declaration of Global Variables
  191
- Indirect Addressing - Pointer
  192
- Numof()
  193
15 Compiler - Operators

194
- Order of Priority of Operators
  194
- Unary Operators
  195
- Binary Operators
  196
  - Example
    196
- Ternary Operators
  196
16 Compiler - Constructions

197
- Syntax
  197
- For
  198
  - Syntax
    198
- While
  199
  - Syntax
    199
  - Syntax
    200
- Do...while
  200
- Switch
  202
  - Syntax
    202
- Return
  203
17 Compiler - Functions

204
- User-Defined Functions
  204
- Overview of Commands for Standard Functions
  205
  - Standard Bit Functions
    205
  - Standard Communication Functions
    206
  - Standard Positioning Functions
    206
  - Standard Program Functions
    206
  - Standard Setting Functions
    207
  - Special Standard Unit Functions
    207
- Standard Functions
  208
  - Axisstop
    208
  - Bitclear
    209
  - Bitmove
    209
  - Bitmoveneg
    209
  - Bitset
    210
  - Copy
    210
  - Faultreaction
    210
  - Getsys
    211
  - Go0
    217
  - Goabs
    218
  - Gorel
    219
  - Inputcall
    220
  - Memorize
    221
  - Movilink
    222
  - Movcommdef
    227
  - Movcommon
    229
  - Nop
    229
  - Sbuscommdef
    230
  - Sbuscommon
    234
  - Sbuscommstate
    234
  - Setinterrupt
    235
  - Setsys
    236
  - Settask
    238
  - Settask2
    239
  - Setvarinterrupt
    240
  - Systemcall
    241
  - Touchprobe
    242
  - Wait
    243
  - Waitinput
    243
  - Waitsystem
    244
  - Wdoff
    244
  - Wdon
    245
18 Compiler - Examples

246
- Setting Bits and Output Terminals
  246
- Clearing Bits and Output Terminals
  247
- Querying Bits and Input Terminals
  248
  - Testing Single Bits
    248
  - Testing Several Bits
    248
- Querying an Edge
  249
  - Example 1
    249
  - Example 2
    251
- Value of a Number
  252
- Movilink Command
  253
  - Reading an Internal Unit Parameter
    253
  - Writing a Variable Via Sbus
    254
  - Reading a Parameter Via Sbus
    255
- SCOM Communication
  256
  - Receiver
    256
  - Sender
    257
- Touch Probe Interrupt Processing
  258
- State Machine, Fieldbus Control with Emergency Mode
  261
  - Mode 0
    265
  - Mode 1
    265
  - Mode 2
    265
  - Mode 3
    265
- Compiler Programming Frame
  266
19 Compiler - Error Messages

275
20 Assembler - Introduction

276
- Setting the User Travel Units
  276
  - Travel Distance Factors NUMERATOR/DENOMINATOR
    276
  - Unit
    278
- First Steps
  279
  - Starting the IPOS Plus® Assembler
    279
  - Creating a New Program
    280
  - Compiling and Starting the Program
    281
21 Assembler - Editor

282
- Example
  283
- Creating Programs
  283
  - Inserting Command Lines
    283
- Compiling and Downloading
  284
- Starting/Stopping Programs
  285
  - Variable Window
    285
- File/Unit Comparison
  285
- Debugger
  285
  - Execute to Cursor
    286
  - Single Step
    286
- Loading the Program from the Inverter
  287
- Overview of the Icons
  287
22 Assembler - Programming

288
- Basics
  288
  - Program Header
    288
  - Task 1 / Task 2 / Task 3
    288
  - Comments
    288
  - Program Branches
    288
  - Subroutine System
    288
  - Program Loops
    289
  - Positioning Commands
    289
  - Binary/Analog Inputs/Outputs
    289
  - Access to System Values/Parameters
    289
  - Variables
    290
  - Program Line
    290
- Binary Inputs/Outputs
  291
  - Binary Inputs
    291
  - Binary Outputs
    293
- Analog Inputs/Outputs
  296
  - Reading Analog Inputs/Outputs
    296
  - Setting Analog Outputs
    296
23 Assembler - Commands

297
- General Information
  297
- Overview of Commands
  297
  - Arithmetic Commands
    297
  - Bit Commands
    298
  - Communication Commands
    298
  - Positioning Commands
    299
  - Program Commands
    299
  - Set Commands
    300
  - Special Unit Commands
    300
  - Comparison Commands
    301
- Arithmetic Commands
  302
- Bit Commands
  307
  - Bit Commands BSET/BCLR/BMOV/BMOVN
    307
- Communication Commands
  309
  - Movlnk
    309
  - Movcom
    314
  - Movon
    315
  - Scom
    316
  - Scomon
    321
  - Scomst
    322
- Positioning Commands
  323
  - Reference Travel GO0
    323
  - GOA Absolute Positioning / GOR Relative Positioning
    325
- Program Commands
  329
  - Program Command END
    329
  - Subroutine Call CALL
    329
  - Jump Commands JMP
    330
  - Loop Commands LOOP
    332
  - No Operation NOP / Remark REM / Return RET / TASK / TASK2 / Wait WAIT
    333
- Set Commands
  336
- Special Unit Commands
  349
  - Astop / Mem / Touchp / Wdoff / Wdon
    349
- Comparison Commands
  355
  - Comparison Operations CPEQ / CPGE / CPGT / CPLE
    355
    
    Cplt / Cpne
    355
  - Logical Operations ANDL / ORL / NOTL
    358
24 Assembler - Examples

360
- Flashing Light" Sample Program
  360
  - Sample "Controller
    360
  - Sample "Positioning
    361
- Hoist" Sample Program
  362
  - Characteristics
    362
  - Settings
    362
  - Schematic Structure
    363
  - Terminal Wiring
    364
  - Setting Parameters Relevant to the Example
    365
  - Calculating the IPOS Plus® Parameters
    365
  - Input Terminals
    366
  - Output Terminals
    366
  - Program Source Code (with Remarks)
    367
- Jog Mode" Sample Program
  368
  - Characteristics
    368
  - Settings
    368
  - Input Terminals
    369
  - Output Terminals
    369
  - Program Source Code (with Remarks)
    370
  - Characteristics
    372
- Table Positioning" Sample Program
  372
  - Settings
    373
  - Input Terminals
    374
  - Output Terminals
    374
  - Program Source Code (with Remarks)
    375
Index

378

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