Lenze E94P PositionServo with MVOB Manual do Utilizador

***************************** HEADER ***************************************;Title: Pick and Place example program;Author: Lenze - AC Technology;Des

8 L PM94H201B_13xxxxxx_ENIntroductionReloadReload the text source file presently stored in the selected drive back into the MotionView Indexer program

98 L PM94H201B_13xxxxxx_ENReferenceTable 53: ON FAULT/ENDFAULTON FAULT/ENDFAULTDefines Fault Handler StatementPurposeThis statement defines the Fault H

PM94H201B_13xxxxxx_EN L 99ReferenceTable 55: RESUMERESUME Resume StatementPurposeThis statement redirects the code execution form the Fault Handler

100 L PM94H201B_13xxxxxx_ENReferenceTable 57: SEND / SEND TOSEND/SEND TO Send network variable(s) StatementPurposeThis statement is used to share the

PM94H201B_13xxxxxx_EN L 101ReferenceTable 59: STOREVARSSTOREVARS EPM access statements STOREVARS StatementPurposeSTOREVARS is the command to store t

102 L PM94H201B_13xxxxxx_ENReferenceTable 61: WAITWAIT Wait StatementPurposeThis statement suspends the execution of the program until logical condit

PM94H201B_13xxxxxx_EN L 103Reference3.2 Variable ListTable 63 provides a complete list of the accessible PositionServo variables. These variables c

104 L PM94H201B_13xxxxxx_ENReferenceTable 63: PositionServo Variable ListIndex Name Type Format EPM Access Description Units1VAR_IDSTRINGN R Drive’s

PM94H201B_13xxxxxx_EN L 105ReferenceIndex Name Type Format EPM Access Description Units29VAR_ENABLE_SWITCH_TYPEW Y R/WEnable switch function 0 - in

106 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units50VAR_SEI_GAINNot used51VAR_VREG_WINDOWvel W Y R/WGains scalin

PM94H201B_13xxxxxx_EN L 107ReferenceIndex Name Type Format EPM Access Description Units70VAR_IP_DHCPW Y R/WUse DHCP 0-manual 1- use DHCP service71V

PM94H201B_13xxxxxx_EN L 9Introduction1.3.3 MotionView Studio - Indexer ProgramThe MotionView Studio provides a tool suite used by MotionView OnBoar

108 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units85VAR_AOUT_FUNCTIONW Y R/WAnalog output function range: 0 - 8

PM94H201B_13xxxxxx_EN L 109ReferenceIndex Name Type Format EPM Access Description Units98VAR_MOVE_NWI1mtnF N WWriting value executes Move negative d

110 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units121VAR_V21Short Name: V21F Y R/WUser variable General purpose

PM94H201B_13xxxxxx_EN L 111ReferenceIndex Name Type Format EPM Access Description Units144VAR_NV4Short Name: NV4F N R/WUser defined Network variable.

112 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units171VAR_NV31Short Name: NV31F N R/WUser defined Network variable

PM94H201B_13xxxxxx_EN L 113ReferenceIndex Name Type Format EPM Access Description Units192VAR_CURRENT_VEL_PPSF N R Set-point (target) velocity in PP

114 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units215VAR_APOSShort Name: APOSF N R/W Actual position UU216VAR_PO

PM94H201B_13xxxxxx_EN L 115ReferenceIndex Name Type Format EPM Access Description Units234VAR_CAN_BAUD_EPMW Y R/WCAN Bus Parameter: Baud Rate: 1 - 8

116 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units247VAR_M_VALIDATE_MOTORW N WInitiate / accept drive motor para

PM94H201B_13xxxxxx_EN L 117ReferenceIndex Name Type Format EPM Access Description Units266VAR_CIP_LINK_B_OUT_CTRLW Y R/WDatalink “B” for output asse

10 L PM94H201B_13xxxxxx_ENIntroductionSet Breakpoint(s) in the program- Select [Indexer Program] in the Parameter (Node) Tree.- Place the cursor in

118 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description UnitsNOTE: PIDs 283 - 309 are for REFERENCE ONLY. These variables a

PM94H201B_13xxxxxx_EN L 119ReferenceIndex Name Type Format EPM Access Description Units315VAR_RPDO_5_COM316VAR_RPDO_6_COM317VAR_RPDO_7_COM318VAR_RPD

120 L PM94H201B_13xxxxxx_ENReferenceIndex Name Type Format EPM Access Description Units357VAR_TPDO_7_COM358VAR_TPDO_8_COM359VAR_TPDO_1_MAP1TPDO Mappi

PM94H201B_13xxxxxx_EN L 121ReferenceIndex Name Type Format EPM Access Description Units397VAR_TPDO_7_COM_ET398VAR_TPDO_8_COM_ET399VAR_TPDO_1_COM_IT4

122 L PM94H201B_13xxxxxx_ENReference3.3 Quick Start ExamplesContained in the following four sections are the connections and parameter settings to q

PM94H201B_13xxxxxx_EN L 123ReferenceTable 65: Parameter Settings for External Torque/Velocity ModeMVOB Folder Sub-Folder SettingParameters --Paramet

124 L PM94H201B_13xxxxxx_ENReference3.3.2 Quick Start - External PositioningTable 66: Connections for External Positioning ModeI/O (P3)Pin Name Func

PM94H201B_13xxxxxx_EN L 125ReferenceTable 67: Parameter Settings for External Positioning ModeMVOB Folder Sub-Folder SettingParameters --Parameter N

126 L PM94H201B_13xxxxxx_ENReference3.3.3 Quick Start - Internal Torque/VelocityTable 68: Internal Torque/Velocity ModeConnections for Internal Torq

PM94H201B_13xxxxxx_EN L 127ReferenceExample Internal Torque Program;Program slowly increases Motor Torque until nominal motor current is reachedVAR_

PM94H201B_13xxxxxx_EN L 11IntroductionBasic Motion ProgramSelect [Indexer program] from the Parameter (Node) Tree. The Parameter View window will di

128 L PM94H201B_13xxxxxx_ENReference3.3.4 Quick Start - Internal PositioningTable 69: Internal PositioningConnections: I/O (P3)Pin Name Function26 I

PM94H201B_13xxxxxx_EN L 129ReferenceExample Internal Positioning Program;********************************************** HEADER *********************

130 L PM94H201B_13xxxxxx_ENReference3.4 PositionServo Reference DiagramsThis section contains the process flow diagrams listed in Table 70. These dia

PM94H201B_13xxxxxx_EN L 131ReferenceMotion Commands, Motion Queue & Trajectory Generator#181, ACCEL#182, DECEL#180, VAR_MAXVEL#183, QDECEL#91, S

132 L PM94H201B_13xxxxxx_ENReferenceCurrent Command --> Motor#30 CURRENT LIMITCurrent CommandCurrent Regulator+Space Vector PWMCurrent Limiter-#31

PM94H201B_13xxxxxx_EN L 133ReferenceEncoder InputsVelocity Estimatorand FilterPEFAULTSEFAULTResolver Track Emulation(”R” Drives Only)#43 ENCODERREPE

134 L PM94H201B_13xxxxxx_ENReferenceAnalog InputsAnalog Inputs FunctionVelocity RegulatorVelocity FeedbackVelocity Demand from Position RegulatorCurr

PM94H201B_13xxxxxx_EN L 135ReferenceAnalog OutputIq CURRENTPHASE CURRENT TPHASE CURRENT PEAKPHASE CURRENT RMSNOT ASSIGNEDMOTOR VELOCITYPHASE CURRENT

136 L PM94H201B_13xxxxxx_ENReferenceDigital Inputs#205 IN11_DEBOUNCE#204 IN10_DEBOUNCE#203 IN9_DEBOUNCE#201 IN7_DEBOUNCE#200 IN6_DEBOUNCE#196 IN2_DEB

PM94H201B_13xxxxxx_EN L 137ReferenceDigital OutputsIN POSITIONBRAKEIN SPEED WINDOWZERO SPEED#66 VAR_OUT1CURRENT LIMITRUN TIME FAULTREADYDigital Outp

12 L PM94H201B_13xxxxxx_ENIntroductionThe program has now been compiled without errors. Select [Load W Source] to load the program to the drive’s mem

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PM94H201B_13xxxxxx_EN L 13Introduction;********************** Initialize and Set Variables ***********************UNITS = 1ACCEL = 75DECEL =75MAXV =

14 L PM94H201B_13xxxxxx_ENIntroductionClick [OK] to dismiss this dialog box. MotionView will then load the selected file to the drive. When complete,

PM94H201B_13xxxxxx_EN L 15IntroductionWhen the “Enable switch function” parameter is set to Inhibit, and Input A3 is on, the drive will be disabled

16 L PM94H201B_13xxxxxx_ENIntroductionWith Fault HandlerAdd the following code to the end of your sample program. When the program is running, switch

PM94H201B_13xxxxxx_EN L 17Introduction1.5 Using Advanced Debugging FeaturesTo debug a program or view the I/O, open the Diagnostic panel by clickin

Copyright © 2013 - 2010 by Lenze AC Tech Corporation.All rights reserved. No part of this manual may be reproduced or transmitted in any form without

18 L PM94H201B_13xxxxxx_ENIntroductionDigital Inputs- The PositionServo has twelve digital inputs that are utilized by the drive for decision making

PM94H201B_13xxxxxx_EN L 19IntroductionRead Digital InputsThe Pick and Place example program has been modified below to utilize the “WAIT UNTIL” state

20 L PM94H201B_13xxxxxx_ENIntroductionTable 5: Bin Location, Inputs & Index ValuesBin Location Input state INDEX ValueBin 1 Input B1 is made 1Bin

PM94H201B_13xxxxxx_EN L 21IntroductionNOTEAny one of the 12 inputs can be assigned as a bit position within the INDEX variable. Only bits 0 through

22 L PM94H201B_13xxxxxx_ENIntroductionFigure 7: Digital IO Folder1.7 EventsA Scanned Event is a small program that runs independently of the main pr

PM94H201B_13xxxxxx_EN L 23Introduction;************************** Events ************************************************EVENT SPRAY_GUNS_ON APOS

24 L PM94H201B_13xxxxxx_ENIntroduction;*************************** Initialize and Set Variables ******************************UNITS = 1 ;Dene u

PM94H201B_13xxxxxx_EN L 25IntroductionIF/ELSE example:This example checks the value of Variable V1. If V1 is greater than 3, then V2 is set to 1. If

26 L PM94H201B_13xxxxxx_ENIntroduction1.10.1 Drive Operating ModesThere are three modes of operation for the PositionServo: Torque, Velocity and Pos

PM94H201B_13xxxxxx_EN L 27IntroductionVelocityTimeTriangular Move ProleSteady State Velocity(Dened by 'DECEL' variable)Acceleration Rate

PM94H201B_13xxxxxx_EN L 1Contents1. Introduction ...

28 L PM94H201B_13xxxxxx_ENIntroductionHere is the user program for the segment move example. The last segment move must have a “0” for the end veloci

PM94H201B_13xxxxxx_EN L 29Introduction1.10.5 S-Curve Acceleration/DecelerationIt is often necessary, particularly for very dynamic applications, to

30 L PM94H201B_13xxxxxx_ENIntroduction;**************************** Main Program ********************************WAIT UNTIL IN_A3 ;Make sure the Ena

PM94H201B_13xxxxxx_EN L 31Introduction1.11.2 LoopsSML language supports WHILE/ENDWHILE block statement which can be used to create conditional loop

32 L PM94H201B_13xxxxxx_ENProgramming2. Programming2.1 Program StructureOne of the most important aspects of programming is developing the program’

PM94H201B_13xxxxxx_EN L 33ProgrammingEvents - Define Event name, Trigger and Program Statements;***************************** Events ****************

34 L PM94H201B_13xxxxxx_ENProgrammingThe Events section contains all scanned events. Remember to execute the EVENT <eventname> ON statement in

PM94H201B_13xxxxxx_EN L 35ProgrammingThere are two types of variables in the PositionServo drive - User Variables and System Variables.User Variable

36 L PM94H201B_13xxxxxx_ENProgramming2.3 Arithmetic ExpressionsTable 7 lists the four arithmetic functions supported by the Indexer program. Constan

PM94H201B_13xxxxxx_EN L 37Programming2.4.2 Boolean OperatorsTable 9 lists the boolean operators supported by the Indexer program. Boolean operators

2 L PM94H201B_13xxxxxx_ENContents2.11 Motion ...

38 L PM94H201B_13xxxxxx_ENProgramming2.7 System Variables Storage OrganizationThe PositionServo drive contains dual variable storage locations, the

PM94H201B_13xxxxxx_EN L 39Programming2.7.2 Memory Access Through Special System VariablesVAR_MEM_VALUE holds the value that will be read or written

40 L PM94H201B_13xxxxxx_ENProgrammingIn the RAM memory access program example, the values of PE (position error) are stored sequentially in the RAM fi

PM94H201B_13xxxxxx_EN L 41ProgrammingWhen retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting

42 L PM94H201B_13xxxxxx_ENProgramming2.8 System Variables and Flags Summary2.8.1 System VariablesSection 3.2 provides a complete list of the system

PM94H201B_13xxxxxx_EN L 43ProgrammingExample:AOUT=100 , AOUT will be assigned value of 10.V0=236VOUT=V0, VOUT will be assigned 10 and V0 will be unc

44 L PM94H201B_13xxxxxx_ENProgramming2.9 Control StructuresControl structures allow the user to control the flow of the program’s execution. Most of

PM94H201B_13xxxxxx_EN L 45Programming2.9.2 DO/UNTIL StructureThe flowchart and code segment in Figure 14 illustrate the use of the DO/UNTIL statemen

46 L PM94H201B_13xxxxxx_ENProgramming2.9.5 GOTO Statement and LabelsThe GOTO statement can be used to transfer program execution to a section of the

PM94H201B_13xxxxxx_EN L 47Programming2.10 Scanned Event StatementsA Scanned Event is a small program that runs independently of the main program. S

PM94H201B_13xxxxxx_EN L 3About These InstructionsThis documentation applies to the programming of the PositionServo drive with model numbers ending

48 L PM94H201B_13xxxxxx_ENProgramming2.11 Motion2.11.1 How Moves WorkThe position command that causes motion to be generated comes from the profile

PM94H201B_13xxxxxx_EN L 49ProgrammingVelocity Trapezoidal movesVelocity Velocity Velocity Velocity Limit (20)Velocity Limit (20)Velocity Limit (20)V

50 L PM94H201B_13xxxxxx_ENProgramming2.11.5 Registration (MOVEDR MOVEPR) MovesMovePR and MoveDR are move commands subject to (modified by) the drive

PM94H201B_13xxxxxx_EN L 51ProgrammingThe profile shown in Figure 20 can be broken up into 8 MDV moves. The first segment defines the distance between p

52 L PM94H201B_13xxxxxx_ENProgramming2.11.8 S-curve Acceleration/DecelerationInstead of using a linear acceleration/deceleration, the motion created

PM94H201B_13xxxxxx_EN L 53Programming2.11.11 Motion Queue and Statement Execution while in MotionBy default when the program executes a MOVE, MOVED

54 L PM94H201B_13xxxxxx_ENProgramming{...Statements} ... MOVED 20,C MDV 10,5 MDV 20,5 MDV 10,0 MOVEP 0,C ... {statements} To Motion Profiler U

PM94H201B_13xxxxxx_EN L 55Programming2.12 System Status Register (DSTATUS register)System Status Register, (DSTATUS), is a Read Only register. Its

56 L PM94H201B_13xxxxxx_ENProgrammingTable 17: Extended Status Bits (Variable #83 EXSTATUS)Bit # Function Comment0 Reserved1 Velocity in specified win

PM94H201B_13xxxxxx_EN L 57ProgrammingFault IDAssociated flags in status registerDescription21 3 Subroutine stack underflow. Executing RETURN statement

4 L PM94H201B_13xxxxxx_ENIntroduction1. Introduction1.1 DefinitionsIncluded herein are definitions of several terms used throughout this programming

58 L PM94H201B_13xxxxxx_ENProgramming2.15 Homing2.15.1 What is Homing?Homing is the method by which a drive seeks the home position (also called th

PM94H201B_13xxxxxx_EN L 59Programming2.15.4 Homing VelocityThere are two homing velocities: fast and slow. These velocity variables are used to find

60 L PM94H201B_13xxxxxx_ENProgramming2.15.8 Homing MethodVAR_HOME_METHOD (#244)The Home Method variable establishes the method that will be used fo

PM94H201B_13xxxxxx_EN L 61Programming2.15.9 Homing MethodsThere are several types of homing methods but each method establishes the:• Homing signa

62 L PM94H201B_13xxxxxx_ENProgramming2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch & Index PulseUsing this method, the initial d

PM94H201B_13xxxxxx_EN L 63Programming2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index PulseUsing this method the initial di

64 L PM94H201B_13xxxxxx_ENProgramming2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index PulseUsing this method the initial dir

PM94H201B_13xxxxxx_EN L 65Programming2.15.9.7 Homing Method 7: Homing on the Home Switch & Index PulseUsing this method the initial direction o

66 L PM94H201B_13xxxxxx_ENProgramming2.15.9.8 Homing Method 8: Homing on the Home Switch & Index PulseUsing this method the initial direction of

PM94H201B_13xxxxxx_EN L 67Programming2.15.9.9 Homing Method 9: Homing on the Home Switch & Index PulseUsing this method the initial direction o

PM94H201B_13xxxxxx_EN L 5Introduction1.2 Programming FlowchartMotionView utilizes a BASIC-like programming structure referred to as SimpleMotion Pr

68 L PM94H201B_13xxxxxx_ENProgramming2.15.9.10 Homing Method 10: Homing on the Home Switch & Index PulseUsing this method the initial direction

PM94H201B_13xxxxxx_EN L 69Programming2.15.9.11 Homing Method 11: Homing on the Home Switch & Index PulseUsing this method the initial direction

70 L PM94H201B_13xxxxxx_ENProgramming2.15.9.12 Homing Method 12: Homing on the Home Switch & Index PulseUsing this method the initial direction

PM94H201B_13xxxxxx_EN L 71Programming2.15.9.13 Homing Method 13: Homing on the Home Switch & Index PulseUsing this method the initial direction

72 L PM94H201B_13xxxxxx_ENProgramming2.15.9.14 Homing Method 14: Homing on the Home Switch & Index PulseUsing this method the initial direction

PM94H201B_13xxxxxx_EN L 73Programming2.15.9.15 Homing Method 17: Homing to Negative Limit Switch (without index pulse)Method 17 is similar to metho

74 L PM94H201B_13xxxxxx_ENProgramming2.15.9.16 Homing Method 18: Homing to Positive Limit Switch (without index pulse)Method 18 is similar to method

PM94H201B_13xxxxxx_EN L 75Programming2.15.9.17 Homing Method 19: Homing to Homing Switch (without index pulse)Using this method the initial directi

76 L PM94H201B_13xxxxxx_ENProgramming2.15.9.18 Homing Method 21: Homing to Homing Switch (without index pulse)Using this method the initial directio

PM94H201B_13xxxxxx_EN L 77Programming2.15.9.19 Homing Method 23: Homing to Homing Switch (without index pulse)Using this method the initial directi

6 L PM94H201B_13xxxxxx_ENIntroduction1.3 MotionView / MotionView StudioThere are two versions of MotionView Software. The current version of MotionV

78 L PM94H201B_13xxxxxx_ENProgramming2.15.9.20 Homing Method 25: Homing to Homing Switch (without index pulse)Using this method the initial directio

PM94H201B_13xxxxxx_EN L 79Programming2.15.9.21 Homing Method 27: Homing to Homing Switch (without index pulse)Using this method the initial directi

80 L PM94H201B_13xxxxxx_ENProgramming2.15.9.22 Homing Method 29: Homing to Homing Switch (without index pulse)Using this method the initial directio

PM94H201B_13xxxxxx_EN L 81Programming2.15.9.23 Homing Method 33: Homing to an Index PulseUsing this method the initial direction of movement is neg

82 L PM94H201B_13xxxxxx_ENProgramming2.15.10 Homing Mode Operation ExampleThe following steps are needed to execute the homing operation from the us

PM94H201B_13xxxxxx_EN L 83Reference3. Reference3.1 Program Statement GlossaryEach programming statement is documented using the tabular format sho

84 L PM94H201B_13xxxxxx_ENReferenceTable 24: ASSIGNASSIGN Assign Input As Index Bit StatementPurposeAssign keyword causes a specified input to be assi

PM94H201B_13xxxxxx_EN L 85ReferenceTable 25: DEFINEDEFINE Define name Pseudo-statementPurposeDEFINE is used to define symbolic names for User Variable

86 L PM94H201B_13xxxxxx_ENReferenceTable 27: DO UNTILDO UNTIL Do/Until StatementPurposeThe DO / UNTIL statement is used to execute a statement or set

PM94H201B_13xxxxxx_EN L 87ReferenceTable 30: EVENTEVENT Starts Event handler StatementPurposeEVENT keyword is used to create scanned events within t

PM94H201B_13xxxxxx_EN L 7Introduction[Discover] button automatically discovers all drives on the network that are available for connection. Once dri

88 L PM94H201B_13xxxxxx_ENReferenceTable 31: ENDEVENTENDEVENT END of Event handler StatementPurposeIndicates end of the scanned event codeSyntaxENDEV

PM94H201B_13xxxxxx_EN L 89ReferenceTable 33: EVENTS ON/OFFEVENTS OFF/ON Globally Disables/re-enables events StatementPurposeEVENTS OFF command when

90 L PM94H201B_13xxxxxx_ENReferenceTable 35: GOSUBGOSUB Go To subroutine StatementPurposeGOSUB transfers control to subroutine.SyntaxGOSUB <subna

PM94H201B_13xxxxxx_EN L 91ReferenceTable 38: HOMEHOME Execute homing routine StatementPurposeUsed to initiate homing.SyntaxHOMERemarksHoming is init

92 L PM94H201B_13xxxxxx_ENReferenceTable 40: IFIF IF/ENDIF StatementPurposeThe IF statement tests for a condition and then executes the specific actio

PM94H201B_13xxxxxx_EN L 93ReferenceTable 42: LOADVARSLOADVARS EPM access statements LOADVARS StatementPurposeLOADVARS is the command to retrieve the

94 L PM94H201B_13xxxxxx_ENReferenceTable 44: MEMGETMEMGET Memory access statements MEMGET StatementPurposeMEMGET provides command for simplified retri

PM94H201B_13xxxxxx_EN L 95ReferenceTable 47: MOTION SUSPENDMOTION SUSPEND Suspend StatementPurposeThis statement is used to temporarily suspend exec

96 L PM94H201B_13xxxxxx_ENReferenceTable 49: MOVEDMOVED Move Distance StatementPurposeMOVED performs incremental motion (distance) specified in User U

PM94H201B_13xxxxxx_EN L 97ReferenceTable 51: MOVEPMOVEP Move to Position StatementPurposeMOVEP performs motion to a specified absolute position in Us