Connect Tech CPU manuals

Connect tech CPU Service Manual (650 pages)

Brand: Connect-tech | Category: Software | Size: 4.16 MB |

English

Table of contents

A5E00251798-03

1

Safety Guidelines

2

Qualified Personnel

2

Correct Usage

2

Trademarks

2

Preface

3

Further Support

5

Training Centers

5

Technical Support

6

Contents

7

Extended project data volume

13

2 Application and usage

17

PROFIBUS DP(DRIVE)

19

DP-V0 slaves on DP(DRIVE)

20

Positioning drive POSMO A

20

Operating conditions

21

2.6.1 Hardware components

22

2.6.2 Engineering tools

23

Technology DBs

25

Technology objects

25

Technology DB

27

MCDevice DB

27

Trace DB

27

Application and usage

28

2-12 A5E00251798-03

28

3 Technology objects

29

Special operating modes

30

3.1.2 Axis types

31

3.1.6 Homing

36

Homing modes

37

absolute

38

3.1.8 Data set changeover

39

Operating modes

40

Functions

40

Positioning

41

Synchronization compound

45

Control value coupling

46

Cam disk coupling

46

Superimposing synchronism

47

3.4.3 Gearing

48

= offset

48

3.4.4 Camming

50

Superimposed motion

54

Coordinates

54

Monitoring

55

3.5.1 Normalization

57

3.5.2 Using a cam disk

58

3.5.3 Scaling and Offset

59

3.5.4 Interpolation

59

Interpolation modes

60

Interconnections

61

3.6.1 Position-based cam

63

Switching response

64

Inverted output

64

3.6.2 Switching cams

65

3.6.3 Time-based cam

66

Response

67

Effective direction

67

3-40 A5E00251798-03

68

3.6.5 Hysteresis

69

Hysteresis

70

Enabling / disabling

73

3.7.2 Measuring range

74

Interconnection

75

Examples

75

4 Configuration

77

HW Config

78

4-4 A5E00251798-03

80

Basic procedure

82

Toolbar

88

Working area

88

Starting S7T Config

89

4.4 Using S7T Config

92

Navigator

93

Detail view

94

Title bar

94

Menu bar

94

Status bar

95

4.5 Configuring axes

96

4-22 A5E00251798-03

98

Configuration

100

4-24 A5E00251798-03

100

Configuration

101

4-28 A5E00251798-03

104

Introduction

105

Requirements

105

Adding a new data record

106

4.5.2 Configuration - Axis

109

4.5.4 High resolution

112

4.5.5 Default

113

Stop time

114

Velocity profile

114

4.5.6 Limits

115

Connection

116

Traversing range

116

Release motion

116

Safety range

117

4.5.6.4 Dynamic response

118

4.5.6.5 Fixed end stop

119

Torque over maximum

120

Approach to fixed end stop

120

4.5.7 Homing

121

4.5.7.1 Introduction

121

4.5.7.2 Active homing

121

4.5.7.4 Direct homing

134

4.5.7.5 Position correction

134

4.5.8 Monitoring functions

136

Positioning axis monitoring

137

Positioning monitoring

138

Standstill monitoring

138

4.5.8.4 Standstill signal

140

4.5.9 Control

142

4.5.9.1 Position control

142

Fine interpolator

143

View in the Navigator

147

Further procedure

147

4-74 A5E00251798-03

150

4.6.3 Synchronization

152

Advanced synchronization

156

Retarded synchronization

156

4.6.4 Synchronization

157

Effective immediately and

158

Synchronization direction

159

4.6.5 Desynchronization

161

4.6.6 Monitoring functions

162

4.7 Configuring cam disks

163

4.7.1 Inserting a cam disk

164

4.7.2 Defining cam disks

166

4.7.3.1 Interpolation

168

Correction options

170

Overlapping segments

170

4.7.3.2 Interpolation (2)

171

4.7.3.3 Scaling

172

Example

173

4.7.5 Motion laws to VDI

175

Motion transitions

176

Defining the working ranges

177

Creating motion transitions

177

References

177

4.8 Configuring cams

178

4.8.2 Configuration

180

HW address

181

Logical operation

181

4-110 A5E00251798-03

186

4-112 A5E00251798-03

188

4-114 A5E00251798-03

190

4-116 A5E00251798-03

192

4-118 A5E00251798-03

194

4-120 A5E00251798-03

196

5 Programming

199

Control cycles

200

Runtime model

204

Programming model

205

Acknowledging errors

210

Acknowledging warnings

211

6 Technology functions

217

Technology functions

218

6-2 A5E00251798-03

218

Purpose

219

Applicable to

219

Overriding commands

219

Input parameters

220

Output parameters

220

• DriveEnable

221

• FollowUpControl

221

• Simulation

221

MC_Power, MC_Reset - Example

223

Corresponding signal diagram

224

MC_Power - ErrorIDs

225

6-10 A5E00251798-03

226

Override characteristics

228

MC_Home - Example

232

MC_Home - ErrorIDs

233

6-18 A5E00251798-03

234

MC_Stop - Example

238

MC_Stop - ErrorIDs

239

6-24 A5E00251798-03

240

MC_Halt - Example

244

MC_Halt - ErrorIDs

245

6-30 A5E00251798-03

246

Data record changeover time

249

Encoder calibration

249

MC_ChangeDataset - Example

250

MC_ChangeDataset - ErrorIDs

251

6-36 A5E00251798-03

252

Phase "a"

256

Phase "b"

256

Technology functions

257

Reversal

264

MC_MoveAbsolute - ErrorIDs

266

6-56 A5E00251798-03

272

6-58 A5E00251798-03

274

Current speed > new speed

275

6-60 A5E00251798-03

276

Current speed new speed

277

6-62 A5E00251798-03

278

6-64 A5E00251798-03

280

MC_MoveRelative - ErrorIDs

281

6-66 A5E00251798-03

282

MC_MoveAdditive - Example

286

Signal profile

286

6-72 A5E00251798-03

288

6-78 A5E00251798-03

294

Phase - relative positioning

302

MC_MoveVelocity - ErrorIDs

304

Dynamic parameter Velocity

309

MC_MoveToEndPos - Example

309

6-94 A5E00251798-03

310

MC_MoveToEndPos - ErrorIDs

311

6-96 A5E00251798-03

312

MC_SetTorqueLimit - ErrorIDs

315

6-100 A5E00251798-03

316

Parameter Mode = 1

320

6-108 A5E00251798-03

324

MC_GearIn - ErrorIDs

325

the leading and

329

MC_GearOut - ErrorIDs

330

6-122 A5E00251798-03

338

6-124 A5E00251798-03

340

6-126 A5E00251798-03

342

Sequence

343

MC_CamIn - ErrorIDs

346

MC_CamOut - Example

350

MC_CamOut - ErrorIDs

351

MC_Phasing - Example

355

MC_Phasing - ErrorIDs

356

6-146 A5E00251798-03

362

6-148 A5E00251798-03

364

6-150 A5E00251798-03

366

6-154 A5E00251798-03

370

6-168 A5E00251798-03

384

6-176 A5E00251798-03

392

MC_CamClear - ErrorIDs

394

Relative

399

MC_CamSectorAdd - ErrorIDs

401

6-190 A5E00251798-03

406

MC_GetCamPoint - ErrorIDs

410

MC_CamSwitchTime - ErrorIDs

417

6-202 A5E00251798-03

418

MC_MeasuringInput - ErrorIDs

421

6-210 A5E00251798-03

426

MC_Reset - ErrorIDs

429

6-214 A5E00251798-03

430

MC_WriteParameter - ErrorIDs

440

MC_ReadPeriphery - ErrorIDs

445

MC_WritePeriphery - ErrorIDs

450

MC_ReadRecord - ErrorIDs

453

6-238 A5E00251798-03

454

MC_WriteRecord - ErrorIDs

457

6-242 A5E00251798-03

458

Parameter Data

460

Start value Description

460

6-246 A5E00251798-03

462

6-250 A5E00251798-03

466

Parameter value

469

Meaning

469

Range of REAL values

470

7 Technology DBs

473

Variable ErrorStatus.xxx

474

Variable Statusword.xxx

475

Value Function Comments

486

Variable ActualPosition

490

Value Function

496

Variable DoneFlag[1..32]

499

Variable DIStatus[0..3]

499

Variable DOStatus[0..7]

499

Warnings

502

Technology DBs

503

7-32 A5E00251798-03

504

• The velocity was out of

505

S7T Config*

506

7-38 A5E00251798-03

510

7-40 A5E00251798-03

512

• The velocity was too

512

7-42 A5E00251798-03

514

7-46 A5E00251798-03

518

7-48 A5E00251798-03

520

7-50 A5E00251798-03

522

7-56 A5E00251798-03

528

7-58 A5E00251798-03

530

8.1 Connecting the PG / PC

531

Assignment of system clocks

538

8.6 Testing with breakpoints

540

8.8 Testing with TraceTool

542

8.8.3 Starting TraceTool

543

Function Description

544

"Trace" toolbar

546

Function Control

547

Meaning/description

547

8-18 A5E00251798-03

548

Function Meaning/description

549

8.8.8 "Trace" tab

550

Field / button Description

551

Isochronous recording

551

Comment:

552

Trigger

553

8-24 A5E00251798-03

554

Field Description

558

Name Control

561

Tool Description

564

and overlaying each

565

Command Control

571

Description

571

Warning:

572

A Appendix

575

A.2 FAQs, Tips & Tricks

581

Converting the technology

583

Appendix

584

A-10 A5E00251798-03

584

Appendix

585

Creating new technology DBs

586

A.3.1 Using the Expert list

593

Calling the expert list:

594

Effect of ONLINE changes

595

Effect of OFFLINE changes

595

A.3.2 Axis settings

596

A.3.2.3 Torque settings

598

Extrapolation

599

Filtering

599

Display

600

Actual value smoothing

600

A.3.4 Monitoring functions

604

A.4 Technology parameters

606

Activation

607

A-34 A5E00251798-03

608

A-36 A5E00251798-03

610

A-38 A5E00251798-03

612

A-40 A5E00251798-03

614

A-42 A5E00251798-03

616

3041 Configuration Measuring

617

A-44 A5E00251798-03

618

A-46 A5E00251798-03

620

A-48 A5E00251798-03

622

A-50 A5E00251798-03

624

Technology parameters - Cams

625

A-52 A5E00251798-03

626

TypeOfAxis. Encoder_1

627

A-54 A5E00251798-03

628

Technology parameters – Cams

629

A-56 A5E00251798-03

630

33 7

632

34 16

632

A-60 A5E00251798-03

634

A-62 A5E00251798-03

636

Index-2 A5E00251798-03

650

Connect Tech devices