Lenze PM94P01C Manuel d'utilisateur

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

PM94P01C8Introduction1.3.2 Program ToolbarTo view the Program Toolbar, click on the [Indexer Program] folder in the Node Tree. Click anywhere inside

PM94P01C98ReferenceTable 53: ON FAULT/ENDFAULTON FAULT/ENDFAULT Defines Fault Handler StatementPurposeThis statement initiates the Fault Handler sectio

PM94P01C 99ReferenceTable 55: RESUMERESUME Resume StatementPurposeThis statement redirects the code execution form the Fault Handler routine back to

PM94P01C100ReferenceTable 57: SEND / SEND TOSEND/SEND TO Send network variable(s) StatementPurposeThis statement is used to share the value of Network

PM94P01C 101ReferenceTable 59: VELOCITY ON/OFFVELOCITY ON/OFF Velocity Mode StatementPurposeThe VELOCITY ON statement enables velocity mode in the dri

PM94P01C102ReferenceTable 61: WHILE / ENDWHILEWHILE/ENDWHILE While StatementPurposeThe WHILE <expression> executes statement(s) between keywords

PM94P01C 103Reference3.2 Variable ListTable 62 provides a complete list of the accessible PositionServo variables. These variables can be accessed fr

PM94P01C104ReferenceTable 62: PositionServo Variable ListIndex Name Type Format EPM Access Description Units1VAR_IDSTRINGN R Drive’s identification str

PM94P01C 105ReferenceIndex Name Type Format EPM Access Description Units29VAR_ENABLE_SWITCH_TYPEW Y R/WEnable switch function 0 - inhibit only 1 - Ru

PM94P01C106ReferenceIndex Name Type Format EPM Access Description Units49VAR_PI_LIMITShort Name: PGAIN ILIMW Y R/WPosition loop integral gain limit Ra

PM94P01C 107ReferenceIndex Name Type Format EPM Access Description Units70VAR_IP_DHCPW Y R/WUse DHCP 0-manual 1- use DHCP service71VAR_AIN1Short Name

PM94P01C 9Introduction1.3.3 MotionView Studio - Indexer ProgramThe MotionView Studio provides a tool suite used by MotionView to enter, compile, load

PM94P01C108ReferenceIndex Name Type Format EPM Access Description Units85VAR_AOUT_FUNCTIONW Y R/WAnalog output function range: 0 - 8 0 - Not assigned

PM94P01C 109ReferenceIndex Name Type Format EPM Access Description Units98VAR_MOVE_NWI1mtnF N WWriting value executes Move negative direction while in

PM94P01C110ReferenceIndex Name Type Format EPM Access Description Units120VAR_V20Short Name: V20F Y R/WUser variable General purpose user defined varia

PM94P01C 111ReferenceIndex Name Type Format EPM Access Description Units142VAR_NV2Short Name: NV2F N R/WUser defined Network variable. Variable can be

PM94P01C112ReferenceIndex Name Type Format EPM Access Description Units169VAR_NV29Short Name: NV29F N R/WUser defined Network variable. Variable can be

PM94P01C 113ReferenceIndex Name Type Format EPM Access Description Units190VAR_APOS_PULSESShort Name: APOS PLSW N R/W Actual position in encoder pulse

PM94P01C114ReferenceIndex Name Type Format EPM Access Description Units213VAR_RPOSShort Name: RPOSF N R Registration position UU214VAR_POSShort Name:

PM94P01C 115ReferenceIndex Name Type Format EPM Access Description Units234VAR_CAN_BAUD_EPMW Y R/WCAN Bus Parameter: Baud Rate: 1 - 81 - 10k2 - 20k3 -

PM94P01C116ReferenceIndex Name Type Format EPM Access Description Units248VAR_M_I2TF Y R/W Motor249VAR_M_EABSOLUTEF Y R/WIndicates type of ABS encoder

PM94P01C 117Reference3.3 Quick Start ExamplesContained in the following four paragraphs are the connections and parameter settings to quickly setup a

PM94P01C10IntroductionStop program execution- Select [Indexer Program] in the Node Tree.- Select [Stop] on the program toolbar.The program will stop

PM94P01C118ReferenceTable 64: Parameter Settings for External Torque/Velocity ModeMV Folder Sub-Folder SettingParameters --Parameter Name DescriptionD

PM94P01C 119Reference3.3.2 Quick Start - External PositioningTable 65: Connections for External Positioning ModeI/O (P3)Pin Name Function1 MA+ Master

PM94P01C120ReferenceTable 66: Parameter Settings for External Positioning ModeMVOB Folder Sub-Folder SettingParameters --Parameter Name DescriptionDri

PM94P01C 121Reference3.3.3 Quick Start - Internal Torque/VelocityTable 67: Internal Torque/Velocity ModeConnections for Internal Torque/Velocity: I/O

PM94P01C122ReferenceExample Internal Torque Program;Program slowly increases Motor Torque until nominal motor current is reachedVAR_DriveMode = 0 ;Se

PM94P01C 123Reference3.3.4 Quick Start - Internal PositioningTable 68: Internal PositioningConnections: I/O (P3)Pin Name Function26 IN_A_COM Digital

PM94P01C124Reference3.4 PositionServo Reference DiagramsThis section contains the process flow diagrams listed in Table 69. These diagrams are for ref

PM94P01C 125ReferenceMotion Commands, Motion Queue & Trajectory Generator#181, ACCEL#182, DECEL#180, MAX VEL#183, QDECEL#91, SUSPEND/RESUME#136, S

PM94P01C126ReferenceCurrent Command --> Motor#30 CURRENT LIMITCurrent CommandCurrent Regulator+Space Vector PWMCurrent Limiter-#31 PEAKCURRENTLIMIT

PM94P01C 127ReferenceEncoder InputsVelocity Estimatorand FilterPEFAULTSEFAULTResolver Track Emulation(”R” Drives Only)#43 ENCODERREPEAT SOURCEEncoder

PM94P01C 11IntroductionBasic Motion ProgramSelect [Indexer program] from the Node Tree. The Parameter View window will display the current User Progra

PM94P01C128ReferenceAnalog InputsAnalog Inputs FunctionVelocity RegulatorVelocity FeedbackVelocity Demand from Position RegulatorCurrent Command#7 VEL

PM94P01C 129ReferenceAnalog OutputIq CURRENTPHASE CURRENT TPHASE CURRENT PEAKPHASE CURRENT RMSNOT ASSIGNEDMOTOR VELOCITYPHASE CURRENT RPHASE CURRENT S

PM94P01C130ReferenceDigital Inputs#205 IN11_DEBOUNCE#204 IN10_DEBOUNCE#203 IN9_DEBOUNCE#201 IN7_DEBOUNCE#200 IN6_DEBOUNCE#196 IN2_DEBOUNCE#195 IN1_DEB

PM94P01C 131ReferenceDigital OutputsIN POSITIONBRAKEIN SPEED WINDOWZERO SPEED#66 VAR_OUT1CURRENT LIMITRUN TIME FAULTREADYDigital Output Control#206 VA

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PM94P01C12IntroductionThe program has now been compiled without errors. Select [Compile & Load W Source] to load the program to the drive’s memory

PM94P01C 13Introduction;********************** Initialize and Set Variables ***********************UNITS = 1ACCEL = 75DECEL =75MAXV = 10;V1 = ;V2 = ;*

PM94P01C14IntroductionMotion source (Reference)The PositionServo can be set up to operate in one of three modes: Torque, Velocity, or

PM94P01C 15IntroductionFaultsWhen a fault condition has been detected by the drive, the following actions will occur:- Drive will Immediately be plac

PM94P01C16IntroductionWith Fault HandlerAdd the following code to the end of your sample program. While the program is running, switch the ENABLE inpu

PM94P01C 17Introduction1.5 Using Advanced Debugging FeaturesTo debug a program or view the I/O, open the Diagnostic window by clicking on the [Tools]

Copyright ©2005 by AC Technology Corporation.All rights reserved. No part of this manual may be reproduced or transmitted in any form without written

PM94P01C18IntroductionDigital Inputs- The PositionServo has twelve digital inputs that are utilized by the drive for decision making in the User Prog

PM94P01C 19IntroductionRead Digital InputsThe Pick and Place example program has been modified below to utilize the “WAIT UNTIL” inputs statements in p

PM94P01C20IntroductionTable 6: Bin Location, Inputs & Index ValuesBin Location Input State INDEX ValueBin 1 Input B1 is made 1Bin 2 Input B2 is ma

PM94P01C 21IntroductionNOTEAny one of the 12 inputs can be assigned as a bit position within the INDEX variable. Only bits 0 through 7 can be used wit

PM94P01C22IntroductionFigure 7: Digital IO Folder1.7 EventsA Scanned Event is a small program that runs independently of the main program. An event s

PM94P01C 23Introduction;*********************** Events ********************************************EVENT SPRAY_GUNS_ON APOS>25 ;Event will trigg

PM94P01C24Introduction;*********************** Initialize and Set Variables **********************UNITS = 1 ;Define units for program, 1=revoluti

PM94P01C 25IntroductionIF/ELSE example:This example checks the value of Variable V1. If V1 is greater than 3, then V2 is set to 1. If V1 is not greate

PM94P01C26Introduction1.10.1 Drive Operating ModesThere are three modes of operation for the PositionServo: Torque, Velocity and Position. Torque and

PM94P01C 27IntroductionVelocityTimeTriangular Move ProfileTop VelocityCurrent accel valueTrapezoidal Move ProfileFigure 10: Trapezoidal Move1.10.3 Se

PM94P01C 1Contents1. Introduction ...

PM94P01C28IntroductionHere is the user program for the segment move example. The last segment move must have a “0” for the end velocity, (MDV 5 , 0).

PM94P01C 29Introduction1.10.5 S-Curve AccelerationVery often it is important for acceleration and deceleration of the motor to be as smooth as poss

PM94P01C30Introduction;**************************** Main Program ********************************PROGRAM_START: ;Place holder for main program loopEN

PM94P01C 31Introduction1.11.2 LoopsSML language supports WHILE/ENDWHILE block statement which can be used to create conditional loops. Note that IF-G

PM94P01C32Introduction2. Programming2.1 Program StructureOne of the most important aspects of programming is developing the program’s structure. Bef

PM94P01C 33IntroductionEvents - Define Event name, Trigger and Program Statements;***************************** Events ********************************

PM94P01C34ProgrammingThe Events section contains all scanned events. Remember to execute the EVENT <eventname> ON statement in the main program

PM94P01C 35ProgrammingThere are two types of variables in the PositionServo drive - User Variables and System Variables.User Variables are a fixed

PM94P01C36Programming2.3 Arithmetic ExpressionsTable 8 lists the four arithmetic functions supported by the Indexer program. Constants as well as Use

PM94P01C 37Programming2.4.2 Boolean OperatorsTable 10 lists the boolean operators supported by the Indexer program. Boolean operators ar

PM94P01C2Contents2.11 Motion ...

PM94P01C38Programming2.6 System Variables and FlagsSystem variables are variables that have a predefined meaning. They give the programmer

PM94P01C 39Programming2.7.2 Memory Access Through Special System VariablesMEM_INDEX holds the value that will be read or written to the RAM file. MEM_

PM94P01C40ProgrammingIn the RAM memory access program example, the values of PE (position error) are stored sequentially in the RAM file every 100ms fo

PM94P01C 41ProgrammingWhen retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting from the one with

PM94P01C42ProgrammingIndex Variable Access Variable Description Units188 PHCUR R Motor phase current A(mpere)183 QDECEL R/W Quick Deceleration for STO

PM94P01C 43ProgrammingFlag logic is shown herein.IF TPOS-INPOSLIM < APOS < TPOS+INPOSLIM && F_MCOMPLETE && F_MQUEUE_EMPTY F

PM94P01C44ProgrammingThe flowchart and code segment in Figure 15 illustrate the syntax for the WHILE instruction.WHILE <condition> …statementsE

PM94P01C 45Programming2.9.4 IF StructureThe “IF” statement is used to execute an instruction or block of instructions one time if a condition is true

PM94P01C46Programming2.9.6 WAIT StatementThe WAIT statement is used to suspend program execution until or while a condition is true, for a specified t

PM94P01C 47ProgrammingScanned events may also be used with a timer to perform an action on the periodic time basis.The program statements contained in

PM94P01C 3About These InstructionsThis documentation applies to the programming of the PositionServo drive with model numbers ending in “EX” and “RX”.

PM94P01C48Programming2.11 Motion2.11.1 How Moves WorkThe position command that causes motion to be generated comes from the profile gene

PM94P01C 49ProgrammingVelocity Trapezoidal movesVelocity Velocity Velocity Velocity = 20Velocity = 20max velocity < 20max velocity < 20TimeTimeT

PM94P01C50Programming2.11.5 Registration (MOVEDR MOVEPR) MovesMOVEPR and MOVEDR are used to move to position or distance respectively just lik

PM94P01C 51Programming6555453525155510 1520 2530Point 1Point2Point4Point 3Point8Point9Point 6Po nt 5Point 7Distance (units)S824Figure 20: MDV Segment

PM94P01C52Programming2.11.8 S-curve AccelerationInstead of using a linear acceleration, the motion created using segment moves (MDV statements) can u

PM94P01C 53Programming2.11.11 Motion Queue and Statement Execution while in MotionBy default when the program executes a MOVE, MOVED or MOVEP stateme

PM94P01C54Programming{...Statements} ... MOVED 20,C MDV 10,5 MDV 20,5 MDV 10,0 MOVEP 0,C ... {statements} To Motion Profiler User Program EMPTY

PM94P01C 55Programming2.12 System Status Register (DSTATUS register)System Status Register, (DSTATUS), is a Read Only register. Its bits indicate the

PM94P01C56ProgrammingTable 18: Encoding for Extended Status Bits (Variable #83 EXSTATUS):Bit # Function Comment0 Reserved1 Velocity in specified window

PM94P01C 57ProgrammingFault IDAssociated flags in status registerDescription20 3 Subroutine stack overflow. Exceeded 16 levels subroutines stack depth.2

PM94P01C4Introduction1. Introduction1.1 DefinitionsIncluded herein are definitions of several terms used throughout this programming manual and the Po

PM94P01C58Programming2.15 Homing2.15.1 What is Homing?Predefined (firmware based) homing functionality is available on PositionServo drives

PM94P01C 59Programming2.15.3 Home OffsetThe home offset is the difference between the zero position for the application and the machine home position

PM94P01C60Programming2.15.8 Homing MethodVAR_HOME_METHOD (#244)The Home Method establishes the method that will be used for homing. All support

PM94P01C 61Programming2.15.9 Homing MethodsThere are several types of homing methods but each method establishes the:• Homing signal (positive limit

PM94P01C62Programming2.15.9.1 Homing Method 1: Homing on the Negative Limit SwitchUsing this method, the initial direction of movement is negative if

PM94P01C 63Programming2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index PulseUsing this method the initial direction of moveme

PM94P01C64Programming2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index PulseUsing this method the initial direction of movemen

PM94P01C 65Programming2.15.9.7 Homing Method 7: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is pos

PM94P01C66Programming2.15.9.8 Homing Method 8: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is nega

PM94P01C 67Programming2.15.9.9 Homing Method 9: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is pos

PM94P01C 5Introduction1.2 Programming FlowchartMotionView utilizes a BASIC-like programming structure referred to as SimpleMotion Programming Languag

PM94P01C68Programming2.15.9.10 Homing Method 10: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is po

PM94P01C 69Programming2.15.9.11 Homing Method 11: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is n

PM94P01C70Programming2.15.9.12 Homing Method 12: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is po

PM94P01C 71Programming2.15.9.13 Homing Method 13: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is n

PM94P01C72Programming2.15.9.14 Homing Method 14: Homing on the Home Switch & Index PulseUsing this method the initial direction of movement is ne

PM94P01C 73Programming2.15.9.15 Homing Method 17: Homing without an Index PulseMethod 17 is similar to method 1, except that the home position is not

PM94P01C74Programming2.15.9.16 Homing Method 18: Homing without an Index PulseMethod 18 is similar to method 2, except that the home position is not

PM94P01C 75Programming2.15.9.17 Homing Method 19: Homing without an Index PulseUsing this method the initial direction of movement is positive (if th

PM94P01C76Programming2.15.9.18 Homing Method 21: Homing without an Index PulseUsing this method the initial direction of movement is negative (if the

PM94P01C 77Programming2.15.9.19 Homing Method 23: Homing without an Index PulseUsing this method the initial direction of movement is positive (if th

PM94P01C6Introduction1.3 MotionView / MotionView StudioThere are two versions of MotionView Software: one which resides inside the drive’s memory, re

PM94P01C78Programming2.15.9.20 Homing Method 25: Homing without an Index PulseUsing this method the initial direction of movement is positive. The ho

PM94P01C 79Programming2.15.9.21 Homing Method 27: Homing without an Index PulseUsing this method the initial direction of movement is negative. The h

PM94P01C80Programming2.15.9.22 Homing Method 29: Homing without an Index PulseUsing this method the initial direction of movement is negative (if the

PM94P01C 81Programming2.15.9.23 Homing Method 33: Homing to an Index PulseUsing this method the initial direction of movement is negative. The home p

PM94P01C82Programming2.15.10 Homing Mode Operation exampleThe following steps are needed to execute the homing operation from the user program or und

PM94P01C 83Reference3. Reference3.1 Program Statement GlossaryEach statement, system variable or operand is documented using the tabular format show

PM94P01C84ReferenceTable 25: ASSIGNASSIGN Assign Input As Index Bit StatementPurposeAssign keyword causes a specified input to be assigned to a particu

PM94P01C 85ReferenceTable 26: DEFINEDEFINE Define name Pseudo-statementPurposeDEFINE is used to define symbolic names for User Variables, constants, and

PM94P01C86ReferenceTable 28: DO UNTILDO UNTIL Do/Until StatementPurposeThe DO / UNTIL statement is used to execute a statement or set of statements re

PM94P01C 87ReferenceTable 31: EVENTEVENT Starts Event handler StatementPurposeEVENT keyword is used to create scanned events within the user program.

PM94P01C 7IntroductionTable 3a: Main Menu Text Pull-Down FoldersMain MenuNode Project Tools View HelpNew configuration file New project Browse motor dat

PM94P01C88ReferenceTable 32: ENDEVENTENDEVENT END of Event handler StatementPurposeIndicates end of the scanned event codeSyntaxENDEVENTRemarksSee Als

PM94P01C 89ReferenceTable 34: EVENTS ON/OFFEVENTS OFF/ON Globally Disables/enables events StatementPurposeEVENTS OFF command when executed will disabl

PM94P01C90ReferenceTable 36: GOSUBGOSUB Go To subroutine StatementPurposeGOSUB transfers control to subroutine.SyntaxGOSUB <subname><subname

PM94P01C 91ReferenceTable 39: HOMEHOME Execute homing routine StatementPurposeUsed to initiate homing.SyntaxHOMERemarksThis statement is convenient wh

PM94P01C92ReferenceTable 41: IFIF IF/ENDIF StatementPurposeThe IF statement tests for a condition and then executes the specific action(s) between the

PM94P01C 93ReferenceTable 43: MDVMDV Segment Move StatementPurposeMDV defines individual motion segment by specifying distance and final velocity (for e

PM94P01C94ReferenceTable 45: MEMSETMEMSET Memory access statements MEMSET StatementPurposeMEMSET provides command for simplified storage of data to the

PM94P01C 95ReferenceTable 48: MOVEMOVE Move StatementPurposeMOVE UNTIL performs motion until condition becomes TRUE. MOVE WHILE performs motion while

PM94P01C96ReferenceTable 50: MOVEDRMOVEDR Registered Distance Move StatementPurposeMOVEDR performs incremental motion, specified in User Units. If duri

PM94P01C 97ReferenceTable 52: MOVEPRMOVEPR Registered Distance Move StatementPurposeMOVEPR performs absolute position moves specified in User Units. If