Document Outline

• SW−HB 13.0002−EN
  • Document history
  • Contents
    • 1 Preface and general information
      • 1.1 About this Manual
      • 1.2 Terminology used
      • 1.3 Notes used
    • 2 Safety instructions
    • 3 Installation
      • 3.1 Validity information
      • 3.2 System requirements
      • 3.3 Software installation
    • 4 User interface
      • 4.1 Building up serial communication
      • 4.2 Starting SDC / user interface
        • 4.2.1 Standard buttons
        • 4.2.2 Numerical input fields
        • 4.2.3 Control elements
        • 4.2.4 Display of setpoints and actual values
        • 4.2.5 Standard control windows
        • 4.2.6 Directories
        • 4.2.7 Communication via communication objects
        • 4.2.8 Exiting the program
    • 5 Commissioning
      • 5.1 Important notes
        • 5.1.1 Default parameter set (931E)
        • 5.1.2 Default parameter set (931K)
      • 5.2 Speed control
        • 5.2.1 Functions available
        • 5.2.2 Commissioning steps
        • 5.2.3 Selecting a motor from the motor database (only 931E)
        • 5.2.4 Activating the operating mode
        • 5.2.5 Input configuration
        • 5.2.6 Setpoint selection via setpoint selectors
        • 5.2.7 Optimising the speed controller
        • 5.2.8 Setting the controller enable logic
        • 5.2.9 Making the controller ready for operation
      • 5.3 Torque control
        • 5.3.1 Functions available
        • 5.3.2 Commissioning steps
        • 5.3.3 Selecting a motor from the motor database (only 931E)
        • 5.3.4 Activating the operating mode
        • 5.3.5 Input configuration
        • 5.3.6 Setpoint selection via setpoint selectors
        • 5.3.7 Setting the controller enable logic
        • 5.3.8 Making the controller ready for operation
      • 5.4 Positioning mode
        • 5.4.1 Functions available
        • 5.4.2 Commissioning steps
        • 5.4.3 Selecting a motor from the motor database (only 931E)
        • 5.4.4 Activating the operating mode
        • 5.4.5 Input configuration
        • 5.4.6 Global positioning settings
        • 5.4.7 Target parameterisation
        • 5.4.8 Setting the controller enable logic
        • 5.4.9 Approaching targets
        • 5.4.10 Setting digital outputs
      • 5.5 Course program
        • 5.5.1 Functions available
        • 5.5.2 Commissioning steps
        • 5.5.3 Selecting a motor from the motor database (only 931E)
        • 5.5.4 Activating the operating mode
        • 5.5.5 Input configuration
        • 5.5.6 Global positioning settings
        • 5.5.7 Target parameterisation
        • 5.5.8 Creating the course programs
        • 5.5.9 Type of command - Position branch
        • 5.5.10 Type of command - Branch (Line)
        • 5.5.11 Type of command - Level test
        • 5.5.12 Type of command - End of Program
        • 5.5.13 Setting the controller enable logic
        • 5.5.14 Debugging the course program
        • 5.5.15 Application examples
      • 5.6 Extending the function of the digital inputs by Jogging & Teaching (only 931K)
        • 5.6.1 Teaching positions
      • 5.7 Incremental encoder emulation via DOUT1 and DOUT2
    • 6 Homing
      • 6.1 Parameterisation of homing
    • 7 Digital outputs and analog inputs and outputs
      • 7.1 Digital outputs DOUT1, DOUT2
      • 7.2 Holding brake DOUT3
      • 7.3 Analog inputs AIN
      • 7.4 Analog outputs AMON
    • 8 Using the oscilloscope function
      • 8.1 Oscilloscope settings
      • 8.2 Oscilloscope window
    • 9 Troubleshooting and fault elimination
      • 9.1 Error monitorings in the 931E/K
        • 9.1.1 Overcurrent and short-circuit monitoring
        • 9.1.2 Monitoring the DC-bus voltage
        • 9.1.3 Monitoring the logic supply
        • 9.1.4 Monitoring the heatsink temperature
        • 9.1.5 Monitoring the motor
        • 9.1.6 Monitoring the sequence of motions
        • 9.1.7 Other internal monitoring functions
        • 9.1.8 Elapsed time meter
      • 9.2 Error message
      • 9.3 Error window
      • 9.4 Error management
    • 10 Appendix
      • 10.1 Parameterisation of outside motors
        • 10.1.1 Motor data
        • 10.1.2 Angle encoder
        • 10.1.3 Motor temperature monitoring
        • 10.1.4 Selecting the safety parameters
        • 10.1.5 Limit switch settings
        • 10.1.6 Power stage
        • 10.1.7 DC-bus monitoring
        • 10.1.8 Current controller
        • 10.1.9 Setting and optimising the position controller
        • 10.1.10 General configuration settings
        • 10.1.11 Display unit settings
        • 10.1.12 User-defined display unit settings
        • 10.1.13 Direct entry of distance, speed and acceleration units
        • 10.1.14 Defining the input limits
      • 10.2 Communication interfaces
        • 10.2.1 Control via CAN bus
        • 10.2.2 Control via the serial interface
        • 10.2.3 Control via the technology interface
      • 10.3 Serial communication protocol
      • 10.4 Communication object list
        • 10.4.1 Base units
        • 10.4.2 Bit assignment of command word / status word / error word
      • 10.5 Timing charts
        • 10.5.1 Switch-on sequence
        • 10.5.2 Positioning / target reached
        • 10.5.3 Speed message
        • 10.5.4 Error acknowledgement
        • 10.5.5 Limit switches
      • 10.6 Parameter set management
        • 10.6.1 General information
        • 10.6.2 Loading and saving of parameter sets
        • 10.6.3 Printing parameter sets
      • 10.7 Offline parameterisation
      • 10.8 Info window
      • 10.9 Quick access via toolbar
      • 10.10 Firmware download to the 931E/K / firmware update
        • 10.10.1 Firmware download
    • 11 Index