Document Outline

• Servo position controllers 9300
  • Contents
  • 1 Preface
    • 1.1 How to use this System Manual
      • 1.1.1 Information provided by the System Manual
      • 1.1.2 Document history
      • 1.1.3 Products to which the System Manual applies
    • 1.2 Definition of notes used
  • 2 Configuration
    • 2.1 Configuration with Global Drive Control
    • 2.2 Basic configurations
      • 2.2.1 Changing the basic configuration
      • 2.2.2 Speed control C0005 = 1XXX (1000)
        • Setpoint selection
    • 2.3 Operating modes
      • 2.3.1 Parameter setting
      • 2.3.2 Control
    • 2.4 Change of the terminal assignment
      • 2.4.1 Freely assignable digital inputs
      • 2.4.2 Freely assignable digital outputs
      • 2.4.3 Freely assignable analog inputs
      • 2.4.4 Freely assignable monitor outputs
  • 3 Function library
    • 3.1 Working with function blocks
      • 3.1.1 Signal types
      • 3.1.2 Elements of a function block
      • 3.1.3 Connecting function blocks
      • 3.1.4 Entries into the processing table
    • 3.2 Table of function blocks
    • 3.3 Table of free control codes
    • 3.4 Positioning control (POS)
      • 3.4.1 Dimensions
      • 3.4.2 Machine parameters
        • Position encoder at material path
      • 3.4.3 Positioning modes (C1210)
        • Relative positioning
        • Absolute positioning
        • Absolute positioning with saving
      • 3.4.4 Measuring systems
        • Measuring systems and zero shifts
        • Measuring systems for absolute value encoders
      • 3.4.5 Absolute value encoder
        • Absolute value encoder via encoder connection X8
        • Absolute value encoder via system bus (CAN)
      • 3.4.6 Control structure
      • 3.4.7 Travel range limits
        • End of travel range limit switch
        • Position limit values (C1223, C1224)
      • 3.4.8 Homing
        • Homing
        • Final homing point
        • Homing status (POS-REF-OK)
        • Homing modes 0 and 1
        • Homing modes 2 and 3
        • Homing modes 4 and 5
        • Homing modes 6 and 7
        • Homing modes 8 and 9
        • Homing modes 10 and 11
        • Second homing speed
        • Set homing value
      • 3.4.9 Travel profile generator and setpoints
        • Linear ramps (L profile)
        • S-shaped ramps (S profile)
        • Override
        • New traversing profile parameters during positioning (POS-PARAM-RD)
        • Influence of precontrol values (POS-NOUT-GAIN, POS-MOUT-GAIN)
        • "Target-reached" message (POS-IN-TARGET)
        • Target window (POS-WAITSTATE)
        • Virtual master (output POS-PHI-SET)
        • Setting the actual position value (POS-ABS-SET)
      • 3.4.10 Manual operation
        • Manual positioning
        • Manual jog with intermediate stop
        • Manual homing
      • 3.4.11 Program operation
        • Program control
        • Status of the program control
      • 3.4.12 Variable tables (VT)
      • 3.4.13 Program sets (PS)
        • PS mode
        • Point-to-point positioning
        • Point-to-point positioning with changeover of velocity
        • Touch probe positioning
        • Stand-by operation
        • Set position value
        • Prg. fct. Wait for input"
        • Prg. fct. Switch output before positioning"
        • Prg. fct. Switch output after positioning"
        • Prg. fct. Waiting time"
        • Prg. fct. "Branch 1"
        • Prg. fct. Branch 2"
        • Prg. fct. Repeat function - piece number"
        • Prg fct. Jump to next PS"
      • 3.4.14 POS-TP (Touch-probe saving of the actual position value)
      • 3.4.15 POS-PFI (Program Function Inputs)
      • 3.4.16 POS-PFO (Program Function Outputs)
    • 3.5 Function blocks
      • 3.5.1 Absolute value generation (ABS)
      • 3.5.2 Addition block (ADD)
      • 3.5.3 Automation interface (AIF-IN)
      • 3.5.4 Automation interface (AIF-OUT)
      • 3.5.5 Analog inputs via terminal X6/1, X6/2 and X6/ 3, X6/4 (AIN)
      • 3.5.6 AND operation (AND)
      • 3.5.7 Inverter (ANEG)
      • 3.5.8 Analog output via terminal 62/63 (AOUT)
      • 3.5.9 Arithmetic block (ARIT)
      • 3.5.10 Arithmetic block (ARITPH)
      • 3.5.11 Analog signal changeover switch (ASW)
      • 3.5.12 BCD decade switch (BCD)
        • Data inputs
        • Signal processing
        • "CANCEL" function
        • "RESET" function
        • BCD decade switch
        • Complete BCD reading
        • BCD mode
      • 3.5.13 Holding brake (BRK)
        • Applying the brake
        • Opening the brake (release)
        • Setting controller inhibit
      • 3.5.14 System bus (CAN-IN)
      • 3.5.15 System bus (CAN-OUT)
      • 3.5.16 Comparator (CMP)
        • Function 1: CMP1-IN1 = CMP1-IN2
        • Function 2: CMP1-IN1 > CMP1-IN2
        • Function 3: CMP1-IN1 < CMP1-IN2
        • Function 4: |CMP1-IN1| = |CMP1-IN2|
        • Function 5: |CMP1-IN1| > |CMP1-IN2|
        • Function 6: |CMP1-IN1| < |CMP1-IN2|
      • 3.5.17 Long comparator (CMPPH)
        • Function 1: CMPPH1-IN1 = CMPPH1-IN2
        • Function 2: CMPPH1-IN1 > CMPPH1-IN2
        • Function 3: CMPPH1-IN1 < CMPPH1-IN2
        • Function 4: |CMPPH1-IN1| = |CMPPH1-IN2|
        • Function 5: |CMPPH1-IN1| > |CMPPH1-IN2|
        • Function 6: |CMPPH1-IN1| < |CMPPH1-IN2|
      • 3.5.18 Signal conversion (CONV)
      • 3.5.19 Analog-digital converter (CONVAD)
      • 3.5.20 Analog-phase converter (CONVAPH)
      • 3.5.21 Digital-analog converter (CONVDA)
      • 3.5.22 Phase-analog converter (CONVPHA)
      • 3.5.23 Phase conversion (CONVPHPH2)
      • 3.5.24 Characteristic function (CURVE)
        • Characteristic with two interpolation points
        • Characteristic with three interpolation points
        • Characteristic with four interpolation points
      • 3.5.25 Dead band (DB)
      • 3.5.26 Drive control (DCTRL)
        • Quick stop (QSP)
        • Operation inhibit (DISABLE)
        • Controller inhibit (CINH)
        • TRIP-Set
        • TRIP RESET
        • Controller state
        • Speed threshold nact=0rpm
      • 3.5.27 Master frequency input (DFIN)
      • 3.5.28 Digital frequency output (DFOUT)
        • Output signals on X10
        • Output of an analog signal
        • Output of a speed signal
        • Encoder simulation of the resolver
        • Direct output of X8 (C0540 = 5)
        • Direct output of X9 (C0540 = 4)
      • 3.5.29 Digital frequency ramp function generator (DFRFG)
        • Profile generator
        • Quick stop
        • Ramp function generator stop
        • RESET
        • Detect phase difference
        • Start via touch probe initiator (terminal X5/E5)
        • Correction of the touch probe initiator (terminal X5/E5)
        • Offset setting
      • 3.5.30 Digital frequency processing (DFSET)
        • Setpoint conditioning with stretch and gearbox factor
        • Processing of correction values
        • Synchronising to zero track or touch probe
      • 3.5.31 Delay elements (DIGDEL)
        • On-delay
        • Off-delay
        • General delay
      • 3.5.32 Freely assignable digital inputs (DIGIN)
      • 3.5.33 Freely assignable digital outputs (DIGOUT)
      • 3.5.34 Free analog display code (DISA)
      • 3.5.35 Free phase display code (DISPH)
      • 3.5.36 First order derivative-action element (DT1)
      • 3.5.37 Free piece counter (FCNT)
      • 3.5.38 Free digital outputs (FDO)
      • 3.5.39 Freely assignable input variables (FEVAN)
      • 3.5.40 Fixed setpoints (FIXSET)
        • Release of the FIXSET1 setpoints
      • 3.5.41 Flipflop element (FLIP)
      • 3.5.42 Limiting element (LIM)
      • 3.5.43 Internal motor control (MCTRL)
        • Current controller
        • Additional torque setpoint
        • Torque limitation
        • Speed controller
        • Torque control with speed limitation
        • Speed setpoint limitation
        • Angle controller
        • Quick stop QSP
        • Field weakening
        • Switching frequency changeover
      • 3.5.44 Motor phase failure detection (MLP)
      • 3.5.45 Monitor outputs of monitoring system (MONIT)
      • 3.5.46 Motor potentiometer (MPOT)
      • 3.5.47 Logic NOT
      • 3.5.48 Speed setpoint conditioning (NSET)
        • Main setpoint path
        • JOG setpoints
        • Setpoint inversion
        • S ramp
        • Arithmetic operation
        • Additional setpoint
      • 3.5.49 OR operation (OR)
      • 3.5.50 Oscilloscope function (OSZ)
      • 3.5.51 Process controller (PCTRL1)
        • Control characteristic
        • Ramp function generator
        • Value range of the output signal
        • Evaluation of the output signal
        • Deactivation of the process controller
      • 3.5.52 Signal adaptation for angle signals (PHDIV)
      • 3.5.53 Phase integrator (PHINT)
        • Constant input value
        • Scaling of PHINTx-OUT
      • 3.5.54 Delay element (PT1-1)
      • 3.5.55 CW/CCW/QSP linking (R/L/Q)
      • 3.5.56 Ramp function generator (RFG)
        • Calculation and setting of the times Tir and Tif
        • Loading of the ramp function generator
      • 3.5.57 Sample and hold function (S&H)
      • 3.5.58 Angle value selection (SELPH)
      • 3.5.59 Switching points (SP)
        • Switching points
        • Hysteresis
        • Dead time
        • Filter time constant
      • 3.5.60 Output of digital status signals (STAT)
      • 3.5.61 Control of a drive network (STATE-BUS)
      • 3.5.62 Multi-axis synchronisation (SYNC1)
        • Possible axis synchronisations
        • Cycle times
        • Phase displacement
        • Time slot for synchronisation via terminal
        • Correction value of the phase controller
        • Fault indications
        • Configuration examples
        • Scaling
      • 3.5.63 Teach-in in programming (TEACH)
      • 3.5.64 Edge evaluation (TRANS)
        • Evaluate positive edge
        • Evaluate negative edge
        • Evaluate positive or negative edge
      • 3.5.65 Variable table - acceleration (VTACC)
      • 3.5.66 Variable table Piece number (VTPCS)
      • 3.5.67 Variable table - target position/position values (VTPOS)
      • 3.5.68 Variable table Waiting time (VTTIME)
      • 3.5.69 Variable table - speed (VTVEL)
  • 4 Application examples
    • 4.1 Example 1: Dosing system
    • 4.2 Example 2: Spray nozzle control
    • 4.3 Example 3: Path control
      • 4.3.1 Commissioning of the path control
  • 5 Appendix
    • 5.1 Glossary
      • 5.1.1 Terminology and abbreviations used
    • 5.2 Index