79-0039-0068-00-TED-ENX-05 - Axis Control PCU310

Axis Control PCU310 Date: 10-10-04 79-0039-0068-00-TED-ENX-05 Name: Tk/Bra Operating Instrukctions Page: 1/49

Voith Turbo Voith Turbo H + L Hydraulic GmbH & Co. KG Schuckertstrae 15 71277 Rutesheim, Germany

www.hl-hydraulic.com [email protected] www.voithturbo.com

Axis Control PCU310 o Intelligent Control for Hydraulic Systems o Real Time Processing of all Sensors / Actors o Process Know-How in Firmware o Data Interface: RS-232, CAN Bus, Profibus, Ethernet o Firmware P0220-xx o Hardware: PCU310-O-RS-CAN-PROF-ETH (250.00479610)

Reserved to change




Contents

1. Document History.................................................................................................................................3 2. Abstract ................................................................................................................................................3 3. General Information .............................................................................................................................4

3.1 Warnings and Terms of Use ............................................................................................................4 3.2 Glossary ...........................................................................................................................................4 3.3 Relevant Documents........................................................................................................................4

4. Functional Overview.............................................................................................................................5 5. Object Directory ...................................................................................................................................6

5.1 Overview ..........................................................................................................................................6 5.2 Legacy Interface ..............................................................................................................................6 5.3 Commands and Generic Interface...................................................................................................7 5.4 Version Information..........................................................................................................................8 5.5 Trace Parameters ............................................................................................................................8 5.6 Hydraulic Axis Parameters...............................................................................................................9 5.7 Command Curve Parameters ........................................................................................................10 5.8 Electric Command Motor Parameters............................................................................................11 5.9 Application Cycle Parameters........................................................................................................12 5.10 Motor / Pump Parameters............................................................................................................14 5.11 CAM parameters..........................................................................................................................16

6. CAM ...................................................................................................................................................17 6.1 CAM Operation ..............................................................................................................................17

6.1.1 CAM Encoder Transformation ..................................................................................................17 6.1.2 Encoder Simulation...................................................................................................................17 6.1.3 CAM_LOOKAHEAD_POS/NEG ...............................................................................................17

7. Commands.........................................................................................................................................18 7.1 Hardware Interface ........................................................................................................................18 7.2 Hardware Commands ....................................................................................................................19 7.3 Legacy Commands ........................................................................................................................20 7.4 Commands.....................................................................................................................................21

7.4.1 Mode Setting.............................................................................................................................21 7.4.2 Cycle Starting............................................................................................................................22 7.4.3 Ramtype....................................................................................................................................22 7.4.4 Trace .........................................................................................................................................22 7.4.5 CAM ..........................................................................................................................................23

8. Machine Cycles..................................................................................................................................24 8.1 Overview ........................................................................................................................................24 8.2 Status information ..........................................................................................................................24 8.3 Machine Cycle Abstracts ...............................................................................................................25

8.3.1 HOME .......................................................................................................................................25 8.3.2 HOME with absolut sensor .......................................................................................................25 8.3.3 SEEK.........................................................................................................................................26 8.3.4 TOGGLE ...................................................................................................................................26 8.3.5 HOVER .....................................................................................................................................26 8.3.6 PUNCH .....................................................................................................................................27 8.3.7 FORM_BASIC...........................................................................................................................27 8.3.8 FORM_FULL.............................................................................................................................27 8.3.9 PRESS_1..................................................................................................................................28 8.3.10 High Pressure Force ...............................................................................................................28 8.3.11 High Pressure Hold.................................................................................................................28

9. Diagnostics.........................................................................................................................................30 9.1 Trace ..............................................................................................................................................30

9.1.1 Frame Format for Linear Amplifier............................................................................................30 9.1.2 Frame Format for PSH..............................................................................................................31

10. Commissioning.................................................................................................................................33 10.1 General ........................................................................................................................................33 10.2 Interface Use................................................................................................................................33 10.3 Interface Configuration.................................................................................................................33




10.3.1 Configuration for Flash Update...............................................................................................33 10.3.2 RS-232 Setup .........................................................................................................................34 10.3.3 Ethernet Setup ........................................................................................................................34 10.3.4 Profibus Setup ........................................................................................................................34 10.3.5 CAN Bus Setup.......................................................................................................................34

11. Hardware..........................................................................................................................................35 11.1 General ........................................................................................................................................35 11.2 Signal Types ................................................................................................................................35 11.3 Pin Assignment ............................................................................................................................36

11.3.1 X40: Power Supply .................................................................................................................36 11.3.2 X41: Digital Output..................................................................................................................36 11.3.3 X42: Digital I/O........................................................................................................................37 11.3.4 X30: Analog Input ...................................................................................................................37 11.3.5 X31: Encoder Input .................................................................................................................38 11.3.6 X50: RS-232 ...........................................................................................................................38 11.3.7 X51: CAN ................................................................................................................................39 11.3.8 X53: Profibus ..........................................................................................................................39

11.4 Connection Guidline.....................................................................................................................40 11.5 Safety Circuit................................................................................................................................41 11.6 PCU Connection Schematic ........................................................................................................42

12. Connecting 3rd Party Components...................................................................................................47 12.1 Baumller BM34xx.......................................................................................................................47

1. Document History

Rev. Date Name Appr. Comments 05 10-10-04 Tk Bra Analog mode, MODE_HPF, MODE_HPH, LINAMP_SIM 04 10-06-24 Tk P0220-04: CAM mode; home with absolute sensor 03 10-04-29 Tk PSH 02 10-03-03 Tk/Bra Contour Monitor, Bmaxx connection, Ethernet adresse adjustable 01 09-11-20 Tk/Bra Tk/Fa 0x2102: MC_ERR; new cmds, X41, X42, hw connection 00 09-11-11 Bra Tk/Fa First release

2. Abstract

This document is related to P0220-05 or higher.




3. General Information

3.1 Warnings and Terms of Use

o Safety warning: Carefully read this manual before commissioning the device. When operating the device, the PE (protective earth) connection must not be disconnected. o The intended use of the device is described in this document. Differing use is not allowed, with the

exception of an agreement of the manufacturer. o Installation, commisioning and operation of the device must be conducted by a trained expert for

electrical/electronical control. Special care must be taken and the local regulations must be adhered to: - Prevention of accidents - EMC (electromagnetic compliance) o Specification and technical data of the device must be followed. Environmental operating conditions must

be met according to this document. o During installation and all other use, the usual ESD protection rules must be followed. o The device is a component in terms of the EMC rules. Adherence to EMC and low voltage regulations

must be assured by taking appropriate shielding and filtering measures. o Software and Firmware (SW/FW) are being developed with great care and effort. Nonetheless, a 100%

error free SW/FW can not be guaranteed, according to the state of the art. Correction of unexpected behaviour or errors is in the judgement of VTHL.

3.2 Glossary

FW / fw firmware software that runs on ebmedded controllers, typically stored in FLASH memory SW sw software, running on PC systems or complex PLC / CNC systems HW / hw hardware PCU Short for Punch Control Unit, stands for PCU in various versions. Axis external hydraulic power rod (linear amplifier). LMS Linear Measuring System. Incremental signal position sensor. CNC Computer Numerical Control. PLC Programmable Logic Control. Inverter Servo motor power amplifier. HP High pressure LP Low pressure TDC Top dead center BDC Bottom dead center 3.3 Relevant Documents

PCU310 hardware: 79-0020-0033-00-TED-ENX-00

Installation requirements: 79-0039-0019-00-TED-ENX-04

Servo Motor and Driver: 79-0056-0006-00-DSH-DEX-00 (when using Baumller devices)

Others: Drawings, specifications, manuals of hydraulic parts and systems

Drawings, specifications, manuals of servo motor and driver

Always ask for latest document revision.




4. Functional Overview

Using fw P0220 on PCU310 will do complete control and monitoring of a hydrailic axis. Complex process control will be off loaded from the CNC/PLC. Only parameters and start signals must be generated by the machine control. Using trace data recording, comprehensive diagnosics are supported.

Connect PCU310:

PC Diagnostics: may be RS-232 or Ethernet. Ethernet preferred for higher speed. CNC/PLC: Digital I/O for process control. Any data interface for parameters and commands. Safety Curcuit: Emergecy stop of axis. Servo Amplifier: Control the pilot motor on the hydraulic axis Position Feedback: necessary for correct machine cycles like PUNCH, etc. Pressure Sensors: Option, depending on hydraulics and specific software

Connect Motor:

Brake: If motor has brake, connect to safety circuit Encoder: Connect to servo amplifier Motor: Connect to servo amplifier




5. Object Directory

5.1 Overview

0x2000 Legacy Interface 0x2100 Commands and Generic Interface 0x2200 Hydraulic Axis Parameters 0x2210 Command Curve Parameters 0x2220 Electric Command Motor Parameters 0x2230 Application Cycle Parameters 0x2240 1st Motor Parameters 0x2241 1st Pump Parameters 0x2242 2nd Motor Parameters 0x2243 2nd Pump Parameters 5.2 Legacy Interface

Addr Index Type Access Name Comment 0x2000 0x00 UWORD rd/wr L_CMD Legacy command 0x2001 0x00 UWORD rd/wr L_PARM0 Legacy parameter 0x2002 0x00 UWORD rd L_RAMPOS Ram position 0x2003 0x00 UWORD rd L_MSTATE Mcycle status 0x2004 0x00 UWORD rd L_STATUS0 Machine status 0x2005 0x00 UWORD rd/wr L_aux0 0x2006 0x00 UWORD rd/wr L_aux1 0x2007 0x00 UWORD rd/wr L_aux1 0x2008 0x00 UWORD rd/wr L_POS1 Tool change 0,01 mm 0x2009 0x00 UWORD rd/wr L_POS2 Top of stroke 0,01 mm 0x200A 0x00 UWORD rd/wr L_POS5 Bottom of stroke 0,01 mm 0x200B 0x00 UWORD rd/wr L_RDYWIN Ready window 0,01 mm 0x200C 0x00 UWORD rd/wr L_POS3 Change speed 0,01 mm 0x200D 0x00 UWORD rd/wr L_TIME2 Bottom time 0,01 mm 0x200E 0x00 UWORD rd/wr L_POS4 Change speed 1 ms 0x200F 0x00 UWORD rd/wr L_FWREVISION - 0x2010 0x00 UWORD rd/wr L_TIME1 Pre cycle delay 1 ms 0x2011 0x00 UWORD rd/wr L_TIME3 Post cycle delay 1 ms 0x2012 0x00 UWORD rd/wr L_SPD1 Tool change mm/s 0x2013 0x00 UWORD rd/wr L_SPD2 See cycle mm/s 0x2014 0x00 UWORD rd/wr L_SPD3 See cycle mm/s 0x2015 0x00 UWORD rd/wr L_SPD4 See cycle mm/s 0x2016 0x00 UWORD rd/wr L_SPD5 See cycle mm/s 0x2017 0x00 UWORD rd/wr L_SPD6 See cycle mm/s




5.3 Commands and Generic Interface

Addr Index Type Access Name Comment 0x2100 0x00 UDWORD rd/wr CMD_CODE Command (see chapter commands) 0x2101 0x00 UBYTE rd/wr CMD_PARM_CNT No. of parameters 0x01 SDWORD rd/wr CMD_PARM0 1. parameter 0x08 SDWORD rd/wr CMD_PARM2 8. parameter 0x2102 0x00 UBYTE rd/wr STATUS_VALUES No. of status values 0x01 UDWORD rd STATUS0 1. status word

Bit [31:19]: future use Bit 18: CAM_ERR Bit 17: CONT_MON_CORR Bit 16: MOTOK Bit 15: REFOK Bit 14: PARMOK Bit 13: HW_READY Bit 12: HW_NOERR Bit 11: HW_INPOS2 Bit 10: HW_INPOS1 Bit 9: HW_INPOS0 Bit 8: RDY_INHIBIT Bit [7:0]: MC_CODE, see chapter 8.2

0x02 UDWORD rd STATUS1 2. status word Bit 31: TARGET_LOOP_SQRT Bit 30: MOTOR_LOOP_SQRT Bit 29: AXIS_LOOP_SQRT Bit 28: AXIS_FBK_ANALOG Bit 27: AXIS_FBK_LMS Bit 26: AXIS_FBK_ABS Bit 25: TRC_MODE_FORWARD Bit 24: TRC_MODE_BACKWARD Bit 23: TRC_TRG_MCYCLE Bit 22: TRC_TRG_HARDWARE Bit 21: ENCODER_DIR (0=neg; 1=pos) Bit 20: CONTOUR_MON_ACTIVE Bit 19: UDSEL_INHIBIT Bit 18: RAMTYPE_VALID Bit 17: ETHERNET_INIT_ERR Bit 16: PROFIBUS_INIT_ERR Bit 15: CANBUS_INIT_ERR Bit 14: RS232_INIT_ERR Bit 13: PSH_MODE_UT_POSITION Bit 12: CAM_MODE Bit 11: HPH_MODE Bit 10: HPF_MODE

0x03 UDWORD rd STATUS2 Antrieb Status Bit 31: MOT_ERR_GLOB Bit 30: MOT_ERR_CURR_HW Bit 29: MOT_ERR_CURR_SW Bit 28: MOT_ERR_SPEED Bit 27: MOT_ERR_DCBUS Bit 26: MOT_ERR_I2T Bit 25: MOT_ERR_SAFETY_RELAY Bit 24: MOT_ERR_AMP_DRV_ENA Bit 23: MOT_ERR_COMMUNICATION Bit 22: MOT_ERR_OVER_TEMP




Addr Index Type Access Name Comment Bit [15:0]: MOT_STS, (BM P0301)

0x04 UDWORD rd STATUS_MCYCLE Mcycle State 0x05 UDWORD rd HW_CONFIG_WORD HW DIL/rotary switches 0x06 UDWORD rd STATUS_MCYCLE_ERR Error Mcycle State 0x07 UDWORD rd STATUS_RAMTYPE Ramtype:

0: RAMTYPE_LINAMP 1: RAMTYPE_PSH 2: RAMTYPE_LINAMP_ANA 3: RAMTYPE_PSH_ANA 4: RAMTYPE_LINAMP_SIM

0x2103 0x00 UBYTE rd DOUT_VALUES No. of digital output values 0x01 UDWORD rd/wr DOUT0 Digital outputs 0x2104 0x00 UBYTE rd/wr DIN_VALUES No. of digital intput values 0x01 UDWORD rd DIN0 Digital inputs 0x2105 0x00 UBYTE rd AOUT_VALUES No. of analog output values 0x01 SWORD rd/wr AOUT0 1. analog output 0x2106 0x00 UBYTE rd AIN_VALUES No. of analog intput values 0x01 SWORD rd AIN0 analog inputs 0x2107 0x00 UBYTE rd ENC_IN_VALUES No. of encoder intput values 0x01 SWORD rd ENC_IN0 encoder input 0 0x02 SWORD rd ENC_IN1 encoder input 1 0x2108 0x00 UBYTE rd ENC_OUT_VALUES No. of encoder outputs values 0x01 SWORD rd ENC_OUT0 encoder output

5.4 Version Information

Addr Index Type Access Name Comment 0x2110 0x00 UBYTE rd VERSION_VALUES No. of versions values 0x01 UWORD rd FW_MAJOR FW major release 0x02 UWORD rd FW_MINOR FW minor release 0x03 UWORD rd BOOT_MAJOR Bootloader major release 0x04 UWORD rd BOOT_MINOR Bootloader minor release 0x2111 0x00 UBYTE rd DEV_NAME_LEN Length of string 0x01 UBYTE rd DEV_NAME[0..n] String with DEVICE_NAME

5.5 Trace Parameters

Addr Index Type Zugriff Name Kommentar 0x2A00 0x00 UBYTE rd TRACE_VAUES No. of Trace Values 0x01 UDWORD rd/wr TRACE_SAMPLE_TIME Sample Time ms 0x02 UDWORD rd/wr TRACE_FRAME_LENGTH Frame length in Byte; future use 0x03 UDWORD rd/wr TRACE_FRAMES_PER_BLOCK Frames per Block 0x04 UDWORD rd/wr TRACE_MAX_FRAMES Max Frames 0x05 UDWORD rd/wr TRACE_STS

Bit0: MODE_HW Bit1: MODE_SW Bit2: MODE_MCYCLE Bit3: MODE_FORWARD Bit4: MODE_BACKWARD Bit5: MODE_FROZEN Bit6: reserve Bit7: reserve Bit8: STS_RUN Bit9: STS_STOP

Status Mode: Hardwareinput Trigger Mode: Software Trigger Mode: MCYCLE Trigger Mode: Mode Forward Mode: Mode Backward Mode: Trigger inhibit Status: Run Status: Stop




Addr Index Type Zugriff Name Kommentar Bit10: STS_BACK_FULL Status: run through Backward Ringbuffer

0x06 UDWORD rd/wr TRACE_FRAME_COUNTER Recorded Frames 0x07 UDWORD rd/wr TRACE_BLOCK_LENGTH Length of Transmission Block 0x08 UDWORD rd/wr TRACE_FRAME_TRIG_DLY Backward Mode: Delay after Trigger in

Frames 0x09 UDWORD rd/wr TRACE_SCOPE_MODE Mode for Scope

1: linear amplifier 2: HRX 3: KBK 4: PCU310T 5: PSH

0x2A01 0x00 UBYTE rd TRC_MAPPING_VALUES No. of trace mapping values 0x01 UDWORD rd/wr TRC_MAP0 Address of trace byte MAP0 0x02 UDWORD rd/wr TRC_MAP1 Address of trace byte MAP1 0x03 UDWORD rd/wr TRC_MAP2 Address of trace byte MAP2 0x04 UDWORD rd/wr TRC_MAP3 Address of trace byte MAP3 0x05 UDWORD rd/wr TRC_MAP_SHIFT0 No. of DWORD shifts, before UBYTE store 0x06 UDWORD rd/wr TRC_MAP_SHIFT1 No. of DWORD shifts, before UBYTE store 0x07 UDWORD rd/wr TRC_MAP_SHIFT2 No. of DWORD shifts, before UBYTE store 0x08 UDWORD rd/wr TRC_MAP_SHIFT3 No. of DWORD shifts, before UBYTE store

5.6 Hydraulic Axis Parameters

Addr Index Type Access Name Comment 0x2200 0x00 UBYTE rd HAXIS_VALUES No. of hydraulic axis values 0x01 SDWORD rd/wr HAXIS_STATUS

Bit 0: HAXIS_INPOS Status of operation

0x02 SDWORD rd/wr HAXIS_RAMPOS Rampos = FBK_RAW - FBK_OFFSET 0x03 SDWORD rd/wr HAXIS_MAX_STROKE Max. stroke m 0x04 SDWORD rd/wr HAXIS_AREA_A Piston A side area mm 0x05 SDWORD rd/wr HAXIS_AREA_B Piston B side area mm 0x06 SDWORD rd/wr HAXIS_PRESSURE_LOW Low pressure mbar 0x07 SDWORD rd/wr HAXIS_PRESSURE_HIGH High pressure mbar 0x08 SDWORD rd/wr HAXIS_FBK_PITCH Linear amplifier feedback pitch m 0x09 SDWORD rd/wr HAXIS_CMD_PITCH Linear amplifier command pitch m 0x0A SDWORD rd/wr HAXIS_FBK_OFFSET Rampos feedback offset m 0x0B SDWORD rd/wr HAXIS_FBK_ABS_RAW Rampos feedback absolut raw data m 0x0C SDWORD rd/wr HAXIS_VALVE_MAX_STROKE Valve spool max stroke m 0x0D SDWORD rd/wr HAXIS_KP_LP Loop gain at low pressure 1/s 0x0E SDWORD rd/wr HAXIS_KP_HP Loop gain at high pressure 1/s 0x0F SDWORD rd/wr HAXIS_SPD_MAX_POS_LP Max speed at low pressure m/s 0x10 SDWORD rd/wr HAXIS_SPD_MAX_NEG_LP Max speed at low pressure m/s 0x11 SDWORD rd/wr HAXIS_ACC_MAX_POS_LP Max. accelleration at low pressure m/s 0x12 SDWORD rd/wr HAXIS_ACC_MAX_NEG_LP Max. accelleration at low pressure m/s 0x13 SDWORD rd/wr HAXIS_SPD_MAX_POS_HP Max speed at high pressure m/s 0x14 SDWORD rd/wr HAXIS_SPD_MAX_NEG_HP Max speed at high pressure m/s 0x15 SDWORD rd/wr HAXIS_ACC_MAX_POS_HP Max. accelleration at high pressure m/s 0x16 SDWORD rd/wr HAXIS_ACC_MAX_NEG_HP Max. accelleration at high pressure m/s 0x17 SDWORD rd/wr HAXIS_POSWIN For HAXIS_INPOS m




5.7 Command Curve Parameters

Addr Index Type Access Name Comment 0x2210 0x00 UBYTE rd CMD_VALUES No. of cmd curve parameter values 0x01 SDWORD rd/wr CMD_MODE

Bit 0: STEP_RESPONSE Bit 1: CURVE_GEN Bit 2: GAIN_ROOT

Mode of operation No interpolation, direct step (speed > 1000) With smooth interpolation (speed < 1000) Use root function in P term (future use)

0x02 rd/wr CMD_STATUS Bit 0: CMD_INPOS

Status of operation

0x03 rd/wr CMD_RESOLUTION Resolution 1 m 0x04 rd/wr CMD_ACCEL Acceleration m/s 0x05 rd/wr CMD_SPD_MIN_POS Min speed, positive m/s 0x06 rd/wr CMD_SPD_MIN_NEG Min speed, negative m/s 0x07 rd/wr CMD_SPD_MAX_POS Max speed, positive m/s 0x08 rd/wr CMD_SPD_MAX_NEG Max speed, negative m/s 0x09 rd/wr CMD_TARGET_POS Target position m 0x0A rd/wr CMD_TARGET_SPD Speed, when reaching target m/s 0x0B rd/wr CMD_OUT_POS Current position output m 0x0C rd/wr CMD_OUT_SPD Current speed optput m/s 0x0D rd/wr CMD_POSWIN For CMD_INPOS m 0x0E rd/wr CMD_KP_POS Gain, for positive error 1/s 0x0F rd/wr CMD_KP_NEG Gain, for negative error 1/s




5.8 Electric Command Motor Parameters

Addr Index Type Access Name Comment 0x2220 0x00 UBYTE rd/wr MOTOR_VALUES No. of motor values 0x01 rd/wr MOTOR_MOTPOS Motpos 0x02 UDWORD rd/wr MOTOR_TYPE

0 none 1 stepper 2 ac asynchronous 3 PMSM

Type of Motor

0x03 rd/wr MOTOR_FBK_TYPE Bit 0 none Bit 1 incremental, digital Bit 2 incremental, sincos Bit 3 HALL encoder Bit 4 Resolver, 2 poles Bit 5 Zero pulse available

Type of Feedback

0x04 MOTOR_STATUS0 Bit 0 MOTOR_INPOS

Status0

0x05 rd/wr MOTOR_FBK_RESOL No. of increments per revolution 0x06 rd/wr MOTOR_ZERO_RESOL No. of zero pulses 0x07 rd/wr MOTOR_PHASES No. of phases 0x08 rd/wr MOTOR_WAVES No. of electrical full waves per rev 0x09 rd/wr MOTOR_CURR_NOM Nominal current mA 0x0A rd/wr MOTOR_CURR_MAX Peak current mA 0x0B rd/wr MOTOR_SPEED_NOM Nominal speed 1/min 0x0C rd/wr MOTOR_ SPEED_MAX Peak current 1/min 0x0D rd/wr MOTOR_TORQUE_NOM Nominal torque mNm 0x0E rd/wr MOTOR_TORQUE_MAX Max torque mNm 0x0F rd/wr MOTOR_INERTIA Motor inertia kgm 0x10 rd/wr MOTOR_BUS_VOLTAGE Motor DC Bus Voltage mV

Addr Index Type Access Name Comment 0x2221 0x00 UBYTE rd/wr MOTOR_STS_VALUES No. of motor status values 0x01 UDWORD rd/wr MOTOR_STS0 Motor status0 (BM P0200) 0x02 UDWORD rd/wr MOTOR_STS1 Motor status1 (BM P0201) 0x03 UDWORD rd/wr MOTOR_STS2 Motor status2 (BM P0202) 0x04 UDWORD rd/wr MOTOR_STS3 Motor status3 (BM P0203) 0x05 UDWORD rd/wr MOTOR_STS4 Motor status4 (BM P0204) 0x06 UDWORD rd/wr MOTOR_STS5 Motor status5 (BM P0205) 0x07 UDWORD rd/wr MOTOR_STS6 Motor status6 (BM P0206) 0x08 UDWORD rd/wr MOTOR_STS7 Motor status7 (BM P0207) 0x09 UDWORD rd/wr MOTOR_STS8 Motor status8 (BM P0208) 0x0A UDWORD rd/wr MOTOR_STS9 Motor status9 (BM P0211) 0x0B UDWORD rd/wr MOTOR_STS10 Motor status10 (BM P0213) 0x0C UDWORD rd/wr MOTOR_STS11 Motor status11 (BM P0214) 0x0D UDWORD rd/wr MOTOR_STS12 Motor status12 (BM P0262) 0x0E UDWORD rd/wr MOTOR_STS13 Motor status13 (BM P0305) 0x0F UDWORD rd/wr MOTOR_STS14 Motor status14 (BM P0306)




5.9 Application Cycle Parameters

Addr Index Type Access Name Comment 0x2230 0x00 UBYTE rd APP_MODE_VALUES No. of application mode values 0x01 SDWORD rd/wr APP_MODE0

Bit 0: Application Mode

0x2231 0x00 UBYTE rd APP_STATUS_VALUES No. of application status values 0x01 SDWORD rd/wr APP_STATUS0

Bit 0: Application status

0x2232 0x00 UBYTE rd APP_POS_VALUES No. of APP_POS values 0x01 SDWORD rd/wr APP_POS1 Home, tool change m 0x02 SDWORD rd/wr APP_POS2 Ready for start m SDWORD rd/wr .. Curve point 0x10 SDWORD rd/wr APP_POS16 Curve point m 0x2233 0x00 UBYTE rd APP_TIME_VALUES No. of APP_TIME values 0x01 SDWORD rd/wr APP_TIME1 For POS1 ms 0x02 SDWORD rd/wr APP_TIME2 For POS2 ms SDWORD rd/wr .. .. 0x10 SDWORD rd/wr APP_TIME16 For POS16 ms 0x2234 0x00 UBYTE rd APP_SPD_VALUES No. of APP_SPD values 0x01 SDWORD rd/wr APP_SPD1 For POS1 mm/s 0x02 SDWORD rd/wr APP_SPD2 For POS2 mm/s SDWORD rd/wr .. .. 0x10 SDWORD rd/wr APP_SPD16 For POS16 mm/s 0x2235 0x00 UBYTE rd/wr PARM_VALUES Parm Values 0x01 SDWORD rd/wr PARM_RDYWIN Window for Ready 0x02 SDWORD rd/wr PARM_WIN_INPOS Inpos Window for Seek 0x03 SDWORD rd/wr PARM_MAX_SPD Maximum Speed 0x04 SDWORD rd/wr PARM_TIMEOUT General cycle timeout 0x05 SDWORD rd/wr PARM_BRAKE_CLOSE_TIME brake close time after FREEZE_DLY_TIME 0x06 SDWORD rd/wr PARM_BRAKE_OPEN_TIME brake open time after UNFREEZE 0x07 SDWORD rd/wr PARM_FREEZE_DLY_TIME delay between FREEZE and brake close 0x08 SDWORD rd/wr PARM_CONT_POS_SLOW Cont Mon: speed reduce 0x09 SDWORD rd/wr PARM_CONT_POS_STOP Cont Mon: stop 0x0A SDWORD rd/wr PARM_CONT_SPD_SLOW Cont Mon: speed reduce 0x0B SDWORD rd/wr PARM_CONT_SPD_STOP Cont Mon: stop 0x0C SDWORD rd/wr PARM_DRV_UNFREEZE_TIME Delay between UNFREEZE and driver enable 0x2236 0x00 UBYTE rd PARM_FAST_VALUES Parm Fast Values 0x01 SDWORD rd/wr PARM_FAST_LDOVER Lower deadpoint motor overdrive 0x02 SDWORD rd/wr PARM_FAST_LDWIN Lower deadpoint axis window 0x03 SDWORD rd/wr PARM_FAST_UDOVER Upper deadpoint motor overdrive 0x04 SDWORD rd/wr PARM_FAST_UDWIN Upper deadpoint axis window 0x2237 0x00 UBYTE rd PARM_SLOW_VALUES Parm Slow Values 0x01 SDWORD rd/wr PARM_SLOW_LDOVER Lower deadpoint motor overdrive 0x02 SDWORD rd/wr PARM_SLOW_LDWIN Lower deadpoint axis window 0x03 SDWORD rd/wr PARM_SLOW_UDOVER Upper deadpoint motor overdrive 0x04 SDWORD rd/wr PARM_SLOW_UDWIN Upper deadpoint axis window 0x2238 0x00 UBYTE rd PARM_HOME_VALUES Home Values 0x01 SDWORD rd/wr PARM_HOME_TIME1 Beruhigungszeit nach Start ms




Addr Index Type Access Name Comment 0x02 SDWORD rd/wr PARM_HOME_TIME2 Zeitinterval fr Stillstands Kontrolle ms 0x03 SDWORD rd/wr PARM_HOME_TIME3 Timeout ms 0x04 SDWORD rd/wr PARM_HOME_TIME_STILL Beruhigungszeit nach Freifahrweg ms 0x05 SDWORD rd/wr PARM_HOME_STROKE_MAX Maximaler Weg bis Anschlag m 0x06 SDWORD rd/wr PARM_HOME_STROKE_FREE Freifahrweg m 0x07 SDWORD rd/wr PARM_HOME_TORQUE Drehmomentbegrenzung % 0x08 SDWORD rd/wr PARM_HOME_SPEED Geschwindigkeit ms 0x09 SDWORD rd/wr PARM_HOME_STROKE_VALVE Reglerweg m 0x0A SDWORD rd/wr PARM_HOME_STROKE_STILL Wegdifferenz fr Stillstandskontrolle m 0x0B SDWORD rd/wr PARM_HOME_MODE HL only 0x0C SDWORD rd/wr PARM_HOME_SPEED_FREE Freifahrgeschwindigkeit; LINAMP: mm/s

PSH: min-1 0x0D SDWORD rd/wr PARM_HOME_TMOUT_FREE Timeout fr Freifahren ms 0x2239 0x00 UBYTE rd APP_PRESS1_VALUES No. of pressure Values Motor 1 0x01 SDWORD rd/wr APP_PRESS1_1 0x02 SDWORD rd/wr APP_PRESS1_2 SDWORD rd/wr 0x08 SDWORD rd/wr APP_PRESS1_8 0x223A 0x00 UBYTE rd APP_PRESS2_VALUES No. of pressure Values Motor 2 0x01 SDWORD rd/wr APP_PRESS2_1 0x02 SDWORD rd/wr APP_PRESS2_2 SDWORD rd/wr 0x048 SDWORD rd/wr APP_PRESS2_8 0x223B 0x00 UBYTE rd PARM_PRESS1_VALUES No. of Parm Values PRESS1 0x01 SDWORD rd/wr PARM_SUCTION_ON_TIME Wait time SCUTION valve on 0x02 SDWORD rd/wr PARM_SUCTION_OFF_TIME Wait time SCUTION valve off 0x03 SDWORD rd/wr PARM_START_RAMP_POS Acceleration pos (min -1/0,5 ms) 0x04 SDWORD rd/wr PARM_START_RAMP_NEG Acceleration neg (min -1/0,5 ms) 0x05 SDWORD rd/wr PARM_INTERPOLATOR_DIFF PID difference 0x06 SDWORD rd/wr PARM_POS3_LDOVER LDOVER POS3 0x07 SDWORD rd/wr PARM_PRESS_WIN Pressure control: pressure window POS5 0x08 SDWORD rd/wr PARM_UT_POS_SPD_WIN Position control: speed win pos speed 0x09 SDWORD rd/wr PARM_SUCTION_ON_PRESS Pressure window SUCTION valve on 0x0A SDWORD rd/wr PARM_SUCTION_OPEN_PRESS Pressure window SUCTION valve open 0x0B SDWORD rd/wr PARM_POS6_DIFF POS6 position difference for pump B 0x223C 0x00 UBYTE rd PARM_LINAMP_ANA_VALUES No. of Linamp Analog Values rd/wr PRAM_ANA_SPD_CMD_OUT Analog speed cmd output rd/wr PARM_ANA_SPD_SCALE_POS Analog speed scaling value pos 32767 rd/wr PARM_ANA_SPD_SCALE_NEG Analog speed scaling value neg -32767 rd/wr PARM_ANA_CMD_DIR Cmd direction: 1 = positive; -1 = negative




5.10 Motor / Pump Parameters

Addr Index Type Access Name Comment 0x2240 0 UBYTE rd MOTOR1_VALUES No. of Motor/Pump Values 1 SDWORD rd/wr MOTOR1_RATED_PWR Rated power 1 W 2 SDWORD rd/wr MOTOR1_RATED_SPEED Rated speed 1 / min 3 SDWORD rd/wr MOTOR1_MAX_SPEED Max speed 1 / min 4 SDWORD rd/wr MOTOR1_CURR_SPEED Current speed 1 / min 5 SDWORD rd/wr MOTOR1_RATED_TORQUE Rated torque 0.001 Nm 6 SDWORD rd/wr MOTOR1_MAX_TORQUE Max torque 0.001 Nm 7 SDWORD rd/wr MOTOR1_RATED_CURRENT Rated current 0.001 A 8 SDWORD rd/wr MOTOR1_MAX_CURENT Max current 0.001 A 9 SDWORD rd/wr MOTOR1_CURR_CURENT Current curent (Iq) 0.001 A 10 SDWORD rd/wr MOTOR1_INERTIA Inertia kgm * 1e-6 11 SDWORD rd/wr MOTOR1_SPD_CMD_MAX_POS Speed cmd pos 16384 12 SDWORD rd/wr MOTOR1_SPD_CMD_MAX_NEG Speed cmd neg -16384 13 SDWORD rd/wr MOTOR1_STATUS Motor Status

Bit 31: MOT_ERR_GLOB Bit 30: MOT_ERR_CURR_HW Bit 29: MOT_ERR_CURR_SW Bit 28: MOT_ERR_SPEED Bit 27: MOT_ERR_DCBUS Bit 26: MOT_ERR_I2T Bit 25: MOT_ERR_SAFETY_RELAY Bit 24: MOT_ERR_AMP_DRV_ENA Bit 23: MOT_ERR_COMMUNICATION Bit 22: MOT_ERR_OVER_TEMP Bit [15:0]: MOT_STS, 16 bit Status code

14 SDWORD rd/wr MOTOR1_SPD_CMD Drehzahlsollwert 1 / min

Addr Index Type Access Name Comment 0x2241 0 UBYTE rd PUMP1_VALUES No. of Motor/Pump Values 1 SDWORD rd/wr PUMP1_RATED_PWR Rated power 1 W 2 SDWORD rd/wr PUMP1_RATED_SPEED Rated speed 1 / min 3 SDWORD rd/wr PUMP1_MAX_SPEED Max speed 1 / min 4 SDWORD rd/wr PUMP1_DISPLACEMENT Displacement / rev. 1 mm 5 SDWORD rd/wr PUMP1_MAX_TORQUE Max torque 0.001 Nm 6 SDWORD rd/wr PUMP1_INERTIA Inertia kgm * 1e-6 7 SDWORD rd/wr PUMP1_SPD_CMD_MAX_POS Spd cmd max pos 1000000 8 SDWORD rd/wr PUMP1_SPD_CMD_MAX_NEG Spd cmd max pos -1000000 9 SDWORD rd/wr PUMP1_SPD_MOT_CMD_MAX_P

OS Spd cmd for MOTOR1_SPD_CMD_MAX_POS

10 SDWORD rd/wr PUMP1_SPD_MOT_CMD_MAX_NEG

Spd cmd for MOTOR1_SPD_CMD_MAX_NEG

11 SDWORD rd/wr PUMP1_SPD_CMD Target speed 1000000 12 SDWORD rd/wr PUMP1_PRESS_CMD Target pressure mBar 13 SDWORD rd/wr PUMP1_PRESS_FBK Pressure fbk mBar 14 SDWORD rd/wr PUMP1_PRESS_FBK_SCALE Pressure sensor scaling mBar/20mA 15 SDWORD rd/wr PUMP1_PRESS_FBK_FILTER Pressure sensor filter (max. 10) 16 SDWORD rd/wr PUMP1_ANA_SPD_CMD_OUT Analog speed cmd output 17 SDWORD rd/wr PUMP1_ANA_SPD_SCALE_POS Analog speed scaling value pos 32767 18 SDWORD rd/wr PUMP1_ANA_SPD_SCALE_NEG Analog speed scaling value neg -32767 PUMP1_ANA_CMD_DIR Cmd direction: 1 = positive; -1 = negative




Addr Index Type Access Name Comment 0x2242 MOTOR2 Same structure as MOTOR1 0x2243 PUMP2 Same structure as PUMP1

Addr Index Type Access Name Comment 0x2244 0x00 UBYTE rd/wr MOTOR1_STS_VALUES No. of motor status values 0x01 UDWORD rd/wr MOTOR_STS0 Motor status0 (see motor) 0x02 UDWORD rd/wr MOTOR_STS1 Motor status1 (see motor) 0x03 UDWORD rd/wr MOTOR_STS2 Motor status2 (see motor) 0x04 UDWORD rd/wr MOTOR_STS3 Motor status3 (see motor) 0x05 UDWORD rd/wr MOTOR_STS4 Motor status4 (see motor) 0x06 UDWORD rd/wr MOTOR_STS5 Motor status5 (see motor) 0x07 UDWORD rd/wr MOTOR_STS6 Motor status6 (see motor) 0x08 UDWORD rd/wr MOTOR_STS7 Motor status7 (see motor) 0x09 UDWORD rd/wr MOTOR_STS8 Motor status8 (see motor) 0x0A UDWORD rd/wr MOTOR_STS9 Motor status9 (see motor) 0x0B UDWORD rd/wr MOTOR_STS10 Motor status10 (see motor) 0x0C UDWORD rd/wr MOTOR_STS11 Motor status11 (see motor) 0x0D UDWORD rd/wr MOTOR_STS12 Motor status12 (see motor) 0x0E UDWORD rd/wr MOTOR_STS13 Motor status13 (see motor) 0x0F UDWORD rd/wr MOTOR_STS14 Motor status14 (see motor) 0x2245 MOTOR2_STS Same structure as MOTOR1_STS_VALUES

Addr Index Type Access Name Comment 0x2400 MOTOR1_PID_LAGE Motor1 (B-Flche) position control 0x2401 MOTOR2_PID_LAGE Motor2 (A-Flche) position control 0x2402 MOTOR1_PID_PRESS Motor1 (B-Flche) pressure control 0x2403 MOTOR2_PID_PRESS Motor2 (A-Flche) pressure control




5.11 CAM parameters

Addr Index Type Zugriff Name Kommentar 0x2500 0x00 UBYTE rd/wr STATUS_VALUES Number of status values 0x01 UDWORD rd STATUS0

1. status value Bit 0: ENABLE_CAM Bit 1: ENABLE_LOOP_SIM Bit 2: CAM_REFOK Bit 3: CAM_REF_EXTERN Bit 4: INTERPOL_READY Bit 5: BUSY_CYCLE Bit 6: ERR_ENC_ZERO Bit 7: ERR_POS_LAG

0x2501 0x00 UBYTE rd CAM_CURVE_X_VALUES Number of CAM curve points (X) 0x01 UWORD rd/wr CAM_CURVE_X_0 Total of max. 255 X points UWORD rd/wr CAM_CURVE_X_[1..255] 0x2502 0x00 UBYTE rd CAM_CURVE_Y_VALUES Number of CAM curve points (Y) 0x01 SDWORD rd/wr CAM_CURVE_Y_0 Total of max. 255 X points in m SDWORD rd/wr CAM_CURVE_Y_[1..255] 0x2504 0x00 SDWORD rd CAM_PARM_VALUES Number of CAM parameters 0x01 SDWORD rd/wr CAM_TABLE_LENGTH CAM number of table data points; equivalent

to 360 degree 0x02 SDWORD rd/wr CAM_ENC_RES_PER_REV CAM encoder resolution (inc per revolution) 0x03 SDWORD rd/wr CAM_CONV_Z Conversion nominator 0x04 SDWORD rd/wr CAM_CONV_N Conversion denominator 0x05 SDWORD rd/wr CAM_PHASE CAM rotation phase; raising of CAM table

index 0x06 SDWORD rd/wr CAM_OFFSET_Y CAM axis Y offset 0x07 SDWORD rd/wr CAM_LOOKAHEAD_POS CAM positive direction look ahead time [ms] 0x08 SDWORD rd/wr CAM_LOOKAHEAD_NEG CAM negative direction look ahead time [ms] 0x09 SDWORD rd/wr CAM_CURVE_LENGTH CAM number of CAM curve data points 0x0A SDWORD rd/wr CAM_MAX_LAG Max difference between fbk pos and sollpos 0x0B SDWORD rd/wr CAM_ENC_MAX_DIFF Encoder monitoring: max diff of zero point 0x2505 0x00 SDWORD rd CAM_OUTPUT_VALUES CAM operating result data 0x01 SDWORD rd CAM_SPEED CAM speed in inc/ms, taken over 100 0x02 SDWORD rd CAM_INDEX CAM table index 0x03 SDWORD rd CAM_POS_CMD CAM resulting axis pos command 0x04 SDWORD rd CAM_TABLE_DATA CAM table data, may be rd-only for FLASH

based table 0x2506 0x00 UBYTE rd ENC_MON_DIAG_VALUES Diagnose; for H+L internal use 0x01 SDWORD rd ENC_MON_ZERO_POINTS Diagnose; for H+L internal use 0x02 SDWORD rd ENC_MON_VALUE Diagnose; for H+L internal use 0x03 SDWORD rd ENC_MON_VALUE_OLD Diagnose; for H+L internal use 0x04 SDWORD rd ENC_MON_FLAG Diagnose; for H+L internal use 0x2507 0x00 SDWORD rd CAM_SIMULATOR_VALUES Number of simulator values 0x01 SDWORD rd/wr CAM_SIM_SPEED Simulator speed 0x02 SDWORD rd/wr CAM_SIM_RESOL Time resolution for simulator speed in ms 0x03 SDWORD rd/wr CAM_SIM_DIRECTION Counter direction (1=pos, -1=neg)




6. CAM

CAM data is defined by a vector of n elements. Using several scaling parameters, the encoder input position is converted into the CAM index n. The Nth element of the vector will be the Y target position for the axis at that encoder input value. Typically, n is a large number (example: 10.000) to gain a good angular resolution of the CAM curve.

It is not necessary to explicitly define all n CAM table elements. It is enough to define the necessary supporting points of the curve. Based on these points, the curve will be generated internally by using linear interpolation or cubic spline interpolation (future option).

Up to 255 supporting points can be defined in CAM_CURVE_X_[n] and CAM_CURVE_Y_[n]. Using the command CAM_INTERPOL_xxx, the HL-COS will generate the full CAM table.

The digram above shows how the curve is generated using the linear interpolation. The example uses a CAM table length of n=10.000 elements.

6.1 CAM Operation

6.1.1 CAM Encoder Transformation

During CAM operation, the axis y position is calculated using the encoder input and the CAM table. Transformation rule is as follows:

CAM_INDEX = ( CAM_ENC_INPUT * CAM_CONV_Z / CAM_CONV_N ) MOD CAM_TABLE_LENGTH

CAM_INDEX = CAM_INDEX + CAM_PHASE

CAM_CMD = CAM_TABLE [ CAM_INDEX ] + CAM_OFFSET_Y

Implementation dependant, all position data will be scaled to 1 m.

6.1.2 Encoder Simulation

For evaluation purpose, the input signal of the encoder can be simulated. The simulation speed (= rotation speed of the CAM) can be set with parameter.

6.1.3 CAM_LOOKAHEAD_POS/NEG

If the encoder value has a positive direction CAM_LOOKAHEAD_POS is active else CAM_LOOKAHEAD_NEG is active. The value is scaled in ms.

The encoder value will be calculated again, depending on this defined time (CAM_LOOKAHEAD_POS/NEG) and the encoder speed. This new encoder value will be calculated to the CAM table how it is described in chapter 6.1.1 encoder transformation. Thus the curve is shifted forward for this adjusted time.




7. Commands

7.1 Hardware Interface

RUN input 0 disable all outputs, clear all data, stop all operation 0-1 init, start operation ENABLE input 1 enable cmd generation and axis motion 1-0 freeze cmd, freeze state machines 0-1 release state machines and command UDSEL input 0 idle at POS1 1 idle at POS2 0-1 move to POS2 1-0 move to POS1 SELCYC0 input cycle type [0..15] SELCYC1 input cycle type [0..15] SELCYC2 input cycle type [0..15] SELCYC3 input cycle type [0..15] START0 input cycle start, edge sensitive START1 input cycle start, level sensitive TRACE input trace trigger AUX0 input aux input 0 AUX1 input aux input 1 AUX2 input aux input 2 AUX3 input aux input 3 AUX4 input aux input 4 AUX5 input aux input 5 NOERR output running on no error READY output ready to receive start INPOS0 output inpos vector [0..7] INPOS[2,1,0] : 0 0 1 when axis in POS1 INPOS1 output inpos vector [0..7] 0 1 0 when axis in POS2 INPOS2 output inpos vector [0..7] 0 1 1 when axis in POS5 0 0 0 when axis in other position DRV_ENA output DRV_ENA = 0 driver can not energize motor, motor can not generate torque DRV_ENA = 1 driver may energize motor, motor will generate torque BRK_REL output BRK_REL = 1 open command motor brake, allow movement BRK_REL = 0 close command motor brake, inhibit movement




7.2 Hardware Commands

START1 START2 SELCYC[3,2,1,0] UDSEL Command

0 0 0 0 0 0 SEEK_POS2 0 0 0 0 0 0 SEEK_POS1 0 0 0 0 0 - PUNCH if TIME2 = 0

FORM_BASIC if TIME2 > 0 0 0 0 0 1 - PRESS_ON 0 0 0 0 1 - PRESS_OFF 0 0 0 1 0 - HOVER_ON 0 0 0 1 1 - HOVER_OFF 0 0 1 0 0 - TOGGLE_ON 0 0 1 0 0 - TOGGLE_OFF 0 0 1 0 1 - FORM_FULL 0 0 1 1 0 - PRESS_1 0 0 0 0 0 - HOME 0 0 0 0 1 - SEEK_POS1 0 0 0 1 0 - SEEK_POS2

Grey print: command not yet available -> rising edge on signal (0-1) -> rising edge on signal (0-1) - -> signal does not matter




7.3 Legacy Commands

Name L_CMD L_PARM0 Comment NOP Future use RESET Future use TAKE_PUNCH Future use TAKE_FORM_BASIC Future use TAKE_FORM_FULL Future use POS_FBK_ANA Future use POS_FBK_INC Future use BAUD_9600 Future use BAUD_19200 Future use BAUD_38400 Future use




7.4 Commands

7.4.1 Mode Setting

CMD_CODE Name Function 0x 00 00 00 00 MODE_NOP NOP 0x 00 01 00 00 MODE_RESET Future use 0x 00 02 00 00 MODE_TAKE_PARM Check and activate new cycle parameters 0x 00 02 00 01 MODE_READ_PARM Future use 0x 00 03 00 00 Reserve 0x 00 04 00 00 Reserve 0x 00 05 00 00 Reserve 0x 00 06 00 00 Reserve 0x 00 07 00 00 Reserve 0x 00 08 00 00 MODE_AXIS_FBK_ABS_ON Axis Feedback absolut sensor: must be set after ramtype cmd! 0x 00 08 00 01 MODE_AXIS_FBK_ABS_OFF Axis Feedback incremental sensor: must be set after ramtype cmd! 0x 00 09 00 00 MODE_CAM_ON Enable CAM Mode (only in RAMTYPE_LINAMP) 0x 00 09 00 01 MODE_CAM_OFF Disable CAM Mode (only in RAMTYPE_LINAMP) 0x 00 0A 00 00 MODE_BOOT_RS232 Switch to boot mode 0x 00 0B 00 00 MODE_CONT_MON_ON Contour monitor on 0x 00 0B 00 01 MODE_CONT_MON_OFF Contour monitor off 0x 00 0C 00 00 MODE_UDSEL_INHIBIT_ON HW signal UDSEL inhibit 0x 00 0C 00 01 MODE_UDSEL_INHIBIT_OFF HW signal UDSEL active 0x 00 0D 00 00 MODE_PSH_UT_POSITION_ON PSH: UT Position regulation on 0x 00 0D 00 01 MODE_PSH_UT_POSITION_OFF PSH: UT Position regulation off 0x 00 0E 00 00 MODE_HPF_ON LA: high pressure force ON 0x 00 0E 00 01 MODE_HPF_OFF LA: high pressure force OFF 0x 00 0F 00 00 MODE_HPH_ON LA: high pressure hold ON 0x 00 0F 00 01 MODE_HPH_OFF LA: high pressure hold OFF 0x 00 F0 00 00 MODE_ENC_DIR_POS Encoder count direction positive 0x 00 F0 00 01 MODE_ENC_DIR_NEG Encoder count direction negative 0x 00 10 00 00 MODE_MOT_REG_START VTHL use only 0x 00 10 00 01 MODE_MOT_REG_CLR_ERR VTHL use only




7.4.2 Cycle Starting

CMD_CODE Name Function 0x 01 00 00 00 CYCLE_HOME seek HOME position, will include INIT 0x 01 01 00 00 CYCLE_SEEK1 seek POS1 0x 01 01 00 01 CYCLE_SEEK2 seek POS2 0x 01 02 00 00 CYCLE_PUNCH start PUNCH cycle 0x 01 03 00 00 CYCLE_TOGGLE_START start TOGGLE, move to POS5 0x 01 03 00 01 CYCLE_TOGGLE_STOP stop TOGGLE, move to POS2 0x 01 04 00 00 CYCLE_FORM_BASIC start FORM basic, with TIME2 0x 01 04 00 01 CYCLE_FORM_FULL start FORM_FULL, with complex parameter set 0x 01 05 00 00 CYCLE_PRESS_ON start PRESS, move to hard stop 0x 01 05 00 01 CYCLE_PRESS_OFF stop PRESS, back to POS2, or POS1 0x 01 06 00 00 CYCLE_PRESS_1 start PRESS_1, complex cycle 0x 01 07 00 00 CYCLE_MARK_ON start MARK operation 0x 01 07 00 01 CYCLE_MARK_OFF stop MARK opertion 0x 01 08 00 00 CYCLE_FREEZE_ON stop any cycle, freeze state 0x 01 08 00 01 CYCLE_FREEZE_OFF restore state, continue with previous cycle 0x 01 09 00 00 CYCLE_HOVER_ON start HOVER, move to POS5 0x 01 09 00 01 CYCLE_HOVER_OFF stop HOVER, move to POS2 0x01 0A 00 00 CYCLE_ABS_FREE_POS Only for AXIS_FBK_ABS: retract axis in positive direction 0x01 0A 00 01 CYCLE_ABS_FREE_NEG Only for AXIS_FBK_ABS: retract axis in negative direction 0x01 0B 00 00 CYCLE_GET_ABS Get absolut value

7.4.3 Ramtype

CMD_CODE Name Function 0x 02 00 00 00 RAMTYPE_LINAMP linear amplifier with Bmaxx3400 0x 02 00 00 01 RAMTYPE_LINAMP_ANA linear amplifier with analog output via Can 0x 02 00 00 02 RAMTYPE_LINAMP_SIM linear amplifier simulation mode 0x 02 01 00 00 RAMTYPE_PSH PSH

7.4.4 Trace

CMD_CODE Name Function 0x 03 00 00 00 TRACE_SW_TRIGGER Start software trigger 0x 03 00 00 01 CMD_TRACE_STOP Trace stop 0x 03 10 00 00 CMD_TRACE_FREEZE Trace freeze 0x 03 10 00 01 CMD_TRACE_UNFREEZE Trace unfreeze 0x 03 10 00 02 CMD_TRACE_MODE_CLEAR Clear all trace mode bits 0x 03 10 00 03 CMD_TRACE_MODE_HW Enable hardware trigger 0x 03 10 00 04 CMD_TRACE_MODE_SW Enable software trigger, via data channel 0x 03 10 00 05 CMD_TRACE_MODE_MCYCLE Enable trigger from MCYCLE 0x 03 10 00 06 CMD_TRACE_MODE_FORWARD Forward Trace (Trace start at Trigger) 0x 03 10 00 07 CMD_TRACE_MODE_BACKWARD Backward Trace (Trace stop at Trigger) 0x 03 2x xx xx CMD_TRACE_READ_BLOCK Transmit block of trace frames

xxxxx = 20 bit frame number No automatic frame wrap at end of buffer !




7.4.5 CAM

CMD_CODE Name Funktion 0x 04 01 00 00 CAM_LOOP_SIM_ON Simulation ON 0x 04 01 00 01 CAM_LOOP_SIM_OFF Simulation OFF 0x 04 02 00 00 CAM_INTERPOL_LINEAR Generate CAM table, linear interpolation between supporting points 0x 04 02 01 00 CAM_INTERPOL_CUBIC_SPLINE Generate CAM table, cubic spline interpolation, future use 0x 04 03 00 00 CAM_ENC_SETPOS_0 Setpos encoder zero point. Status CAM_REFOK will be set. 0x 04 03 01 00 CAM_ENC_REF_EXTERN Set reference point of CAM encoder with digital input CAM_ZERO

(positve flank on digital input). The CAM_ZERO input is used only for setting the reference point and monitoring the encoder signals.




8. Machine Cycles

8.1 Overview

The following scheme shall be used for state encoding in MC_STATE (UWORD) MC_CYCLE_BASIC 0x00xx MC_CYCLE_HOME 0x01xx MC_CYCLE_PUNCH 0x02xx MC_CYCLE_TOGGLE 0x04xx MC_CYCLE_FORM_BASIC 0x05xx MC_CYCLE_FORM_FULL 0x06xx MC_CYCLE_PRESS 0x07xx MC_CYCLE_PRESS_1 0x08xx MC_CYCLE_MARK 0x09xx MC_CYCLE_CAM 0x0Axx MC_CYCLE_FREE 0x0Bxx 8.2 Status information

The following defines are used for MC_CODE in STATUS0.[7:0] STATUS_NONE 0x0000 no special status inducation STATUS_BAD_CMD 0x0001 bad or unkown command STATUS_ERR_PARM 0x0010 parameter error (future use) STATUS_ERR_PARM_x 0x001x parameter error (future use) STATUS_ERR_HOME_MOTOR 0x0020 home error: motor error STATUS_ERR_HOME_TMOUT 0x0021 home error: timeout STATUS_ERR_HOME_FREE 0x0022 home error: timeout free STATUS_ERR_HOME_ABS_OFF 0x0023 home absolut error: negative offset STATUS_ERR_FREE_TMOUT 0x0024 free drive error: timeout STATUS_ERR_PUNCH_DN 0x0030 punch error: PUNCH did not start down STATUS_ERR_PUNCH_UP 0x0031 punch error: PUNCH did not start up STATUS_ERR_PUNCH_TDP 0x0032 punch error: PUNCH did not reach TDP STATUS_ERR_SEEK_TMOUT 0x0040 seek error: SEEK timeout STATUS_ERR_FORM_DN 0x0050 form error: FORM did not start down STATUS_ERR_FORM_UP 0x0051 form error: FORM did not start up STATUS_ERR_FORM_TDP 0x0052 form error: FORM did not reach TDP STATUS_ERR_PRESS1_DN 0x0060 press1 error: PRESS1 did not start down STATUS_ERR_PRESS1_UP 0x0061 press1 error: PRESS1 did not start up STATUS_ERR_PRESS1_TDP 0x0062 press1 error: PRESS1 did not reach TDP STATUS_ERR_PRESS1_DECO 0x0063 press1 error: PRESS1 did not reach deco pressure STATUS_ERR_TOGGLE_DN 0x0070 toggle error: TOGGLE did not start down STATUS_ERR_TOGGLE_UP 0x0071 toggle error: TOGGLE did not start up STATUS_ERR_TOGGLE_TDP 0x0072 toggle error: TOGGLE did not reach TDP STATUS_ERR_CAM_ENC_ZERO 0x0080 CAM error: CAM_ZERO error STATUS_ERR_CAM_POS_LAG 0x0081 CAM error: position difference > CAM_MAX_LAG




8.3 Machine Cycle Abstracts

8.3.1 HOME

Axis will move to the top hard stop of the cylinder.

This cycle performs the following functions:

- Clear any ERROR - Move ram to top hard stop position - Set zero point of position sensor ( LMS)

8.3.2 HOME with absolut sensor

This cycle performs the following functions:

- Clear any ERROR - Read absolut value from sensor - RAMPOS = absolut value - HAXIS_FBK_OFFSET - MOTPOS = RAMPOS The following parameters will be used:

- HOME_TIME1 - HOME_TIME2 - HOME_TIME3 - HOME_TIME_STILL - HOME_STROKE_FREE for CYCLE_ABS_FREE_POS/NEG - HOME_SPEED for CYCLE_ABS_FREE_POS/NEG - HOME_STROKE_VALVE for CYCLE_ABS_FREE_POS/NEG - HOME_STROKE_STILL - HAXIS_FBK_OFFSET Homing sequenz:

- execute cmd home (0x 01 00 00 00) - rampos = 0 + 0,5 mm: execute cmd CYCLE_ABS_FREE_POS - the motor is moving till the axis > HOME_STROKE_FREE - rampos = max - 0,5 mm: execute cmd CYCLE_ABS_FREE_NEG - the motor is moving till the axis > PARM_HOME_STROKE_FREE - execute cmd home (0x 01 00 00 00)




8.3.3 SEEK

8.3.4 TOGGLE

8.3.5 HOVER

Same as Toggle cycle expect Hover cycle use SPD1 for moving. READY will remain 1 (high) during the whole cycle.




8.3.6 PUNCH

8.3.7 FORM_BASIC

8.3.8 FORM_FULL




8.3.9 PRESS_1

Cycle State Operation Pump 1 (A) Pump 2 (B) Suction Valve SPD2 rapid feed passive speed control passive open SPD3 load feed speed control pressure control passive closed SPD4 load feed speed control pressure control passive closed TIME2 press operation pressure control pressure control passive closed DECO decompress oil speed control pressure control passive closed SPD5 leave tool speed control pressure control passive closed SPD6 rapid feed passive speed control active open

8.3.10 High Pressure Force

High pressure force (HPF) mode is only available for cycle type FORM_BASIC and FORM_FULL.

When activated, this mode will use an additional valve to activate HP, regardless of the actual working force that is needed by the process. HP will be activated at the time when the command motor begins to move down and it will be deactivated after TIME2 has elapsed and the command motor begins to move up.

Use commands MODE_HPF_ON and MODE_HPF_OFF to activate and decativate this mode.

Use Status bit STATUS1:HPF_MODE to read the activation status of this mode.

By default, this mode is off.

8.3.11 High Pressure Hold

High pressure hold (HPH) mode is only available for cycle type PUNCH.

When activated, this mode will use an additional valve to enable HP hold after an automatic HP switching has occurred.

When the working force is below HP threshold, the whole cycle will be done with LP and HPH mode will not affect the operation.




When the working force is above HP threshold, the ram will first start moving with LP, until the work force is above the threshold. After automatic HP activation, HP will continue to be active even when the work force will drop below the HP threshold.

When then ram has reached BDC (POS5), the HP hold will be released. Thus, moving up the ram will always be done using LP.

Use commands MODE_HPH_ON and MODE_HPH_OFF to activate and decativate this mode.

Use Status bit STATUS1:HPH_MODE to read the activation status of this mode.

By default, this mode is off.




9. Diagnostics

9.1 Trace

9.1.1 Frame Format for Linear Amplifier

Trace frame consists of 26 byes.

Byte Name Contents Comments 0x00 FBK_POS Feedback position (LMS) 32 bit, signed 0x01 FBK_POS 0x02 FBK_POS 0x03 FBK_POS 0x04 CMD_POS Motor Feedback 32 bit, signed 0x05 CMD_POS 0x06 CMD_POS 0x07 CMD_POS 0x08 MC_STATE Mcycle State STATUS_MCYCLE[7:0] 0x09 MC_STATE STATUS_MCYCLE[15:8] 0x0A DIN0 Digital Inputs D7 SELCYC1

D6 SELCYC2 D5 SELCYC3 D4 UDSEL D3 RUN D2 START2 D1 START1 D0 ENABLE

0x0B DIN1 D7 D_AUX0 D6 D_AUX1 D5 D_AUX2 D4 D_AUX3 D3 D_AUX4 D2 D_AUX5 D1 TRACE D0 SELCYC0

0x0C DOUT0 Digital Outputs D7 DRV_ENA D6 BRK_REL D5 READY D4 reserved D3 INPOS0 D2 INPOS1 D1 INPOS2 D0 NOERR




Byte Name Contents Comments 0x0D DOUT1 D7 -

D6 - D5 - D4 - D3 DO-P3 D2 DO-P2 D1 HIGH_P D0 SUCTION

0x0E AIN0_LO Analog Input 0 16 bit signed 0x0F AIN0_HI 0x10 AIN1_LO Analog Input 1 16 bit signed 0x11 AIN1_HI 0x12 AIN2_LO Analog Input 2 16 bit signed 0x13 AIN2_HI 0x14 AIN3_LO Analog Input 3 16 bit signed 0x15 AIN3_HI 0x16 CAM_ENC_0 Cam encoder value 32 bit, signed 0x17 CAM_ENC_1 0x18 CAM_ENC_2 0x19 CAM_ENC_3 0x20 MAP_0 uncommitted byte Map through TRC_MAP0 0x21 MAP_1 uncommitted byte Map through TRC_MAP1 0x22 MAP_2 uncommitted byte Map through TRC_MAP2 0x23 MAP_3 uncommitted byte Map through TRC_MAP3

9.1.2 Frame Format for PSH

Trace frame consists of 30byes

Byte Name Contents Comments 0x00 FBK_POS Feedback position (LMS) 32 bit, signed 0x01 FBK_POS 0x02 FBK_POS 0x03 FBK_POS 0x04 FBK_SPD1 Pump 1 speed feedback 16 bit, signed [1/min] 0x05 FBK_SPD1 0x06 FBK_SPD2 Pump 2 speed feedback 16 bit, signed [1/min] 0x07 FBK_SPD2 0x08 CMD_SPD1 Pump 1 speed command 16 bit, signed [1/min] 0x09 CMD_SPD1 0x0A CMD_SPD2 Pump 2 speed command 16 bit, signed [1/min] 0x0B CMD_SPD2 0x0C MC_STATE Mcycle State STATUS_MCYCLE[7:0] 0x0D MC_STATE STATUS_MCYCLE[15:8] 0x0E DIN0 Digital Inputs D7 SELCYC1

D6 SELCYC2 D5 SELCYC3




Byte Name Contents Comments D4 UDSEL D3 RUN D2 START2 D1 START1 D0 ENABLE

0x0F DIN1 Digital Inputs D7 D_AUX0 D6 D_AUX1 D5 D_AUX2 D4 D_AUX3 D3 D_AUX4 D2 D_AUX5 D1 TRACE D0 SELCYC0

0x10 DOUT0 Digital Outputs D7 DRV_ENA D6 BRK_REL D5 READY D4 reserved D3 INPOS0 D2 INPOS1 D1 INPOS2 D0 NOERR

0x11 DOUT1 Digital Outputs D7 - D6 - D5 - D4 - D3 DO-P3 D2 DO-P2 D1 HIGH_P D0 SUCTION

0x12 PRESS1_CMD_HI Press1 Cmd 16 bit, signed [0,01 Bar] 0x13 PRESS1_CMD_LO 0x14 PRESS1_FBK_HI Press1 Fbk 16 bit, signed [0,01 Bar] 0x15 PRESS1_FBK_LO 0x16 PRESS2_CMD_HI Press2 Cmd 16 bit, signed [0,01 Bar] 0x17 PRESS2_CMD_LO 0x18 PRESS2_FBK_HI Press2 Fbk 16 bit, signed [0,01 Bar] 0x19 PRESS2_FBK_LO 0x1A MAP_0 uncommitted byte Map through TRC_MAP0 0x1B MAP_1 uncommitted byte Map through TRC_MAP1 0x1C MAP_2 uncommitted byte Map through TRC_MAP2 0x1D MAP_3 uncommitted byte Map through TRC_MAP3




10. Commissioning

10.1 General

Never connect or disconnect any plug while power is on.

The default position for S12, S11, S10 is all zero. Any switch combination which is not noted in ths chapter must default to all zero.

10.2 Interface Use

RS-232 and Ethernet interfaces can be operated simultaneosly, any time.

Additionaly, either CAN or Profibus may be activated through DIL switch configuration.

RS-232, CAN and Profibus will be handled isochronously.

Ethernet will be handled asynchronously.

10.3 Interface Configuration

This PCU top view shows the configuration switches.

10.3.1 Configuration for Flash Update

S12 1 2 3 4 5 6 7 8 9 10

S11 S10 Function

1 1 1 1 1 1 1 1 1 1 0 F Update FW Flash Memory

other other other See other chapters

S12 S11 S10

Front




10.3.2 RS-232 Setup

No config switch setup is necessary for RS-232.

Parameters are:

9600 baud 1 start bit 1 stop bit no no parity

10.3.3 Ethernet Setup

S12 1 2 3 4 5 6 7 8 9 10

S11 S10 Function

0 0 0 0 0 0 0 0 A B Hi Lo Hi/Lo: setting of node number. 01..255 may be used (decimal) A B IP-Adress 0 0 172.29.108.41 1 0 172.29.108.42 0 1 172.29.108.43 1 1 172.29.108.44

Other Other other See other chapters

10.3.4 Profibus Setup

S12 1 2 3 4 5 6 7 8 9 10

S11 S10 Function

0 0 1 0 0 0 0 0 0 0 Hi Lo Profibus will be used Hi/Lo: setting of node number. 01..99 may be used (decimal)

Other other other See other chapters

10.3.5 CAN Bus Setup

S12 1 2 3 4 5 6 7 8 9 10

S11 S10 Function

0 1 0 A B 0 0 0 0 0 Hi Lo CAN Bus will be used Hi/Lo: setting of node number. 01..7F may be used (hexadecimal) A B Baudrate 0 0 100 kBit/s 0 1 250 kBit/s 1 0 500 kBit/s 1 1 1000 kBit/s

Other Other other See other chapters




11. Hardware

11.1 General

Never connect or disconnect any plug while power is on. Do not connect unnamed pins.

11.2 Signal Types

The following table shows the used signal types.

Signal Type Characteristic V0 Common ground for supply and I/O V24 24 V supply, reference: GND V24S 24 V output for a sensor supply, referenced V5S 24 V output for a sensor supply, referenced IV0 0 V potential, isolated to V0 IV5 5 V potential, isolated to V0 DI Digital input, 24V/ 5mA, referenced to V0 DO-L Digital output, 24V / 0.1A, referenced to V0 DO-P Digital output, 24V / 1A, referenced to V0 IDOTTL Digital output, TTL level IDITTL Digital input, TTL level AI1 Analog input, 4-20 mA, referenced to V0 AI2 Analog input, 0..10 V, referenced to V0 P485 RS-485 line, not isolated I485 RS-485 line, isolated I232 RS-232 line, isolated MO Stepper motor connection, referenced to V0 DATA Data bus line (RS-232, RS-485, Profibus, CAN, etc.) CAN1 Can signal line, isolatet




11.3 Pin Assignment

Do not connect unnamed pins.

11.3.1 X40: Power Supply

Pin Type Name Function X40-1 PE PE X40-2 V0 0V X40-3 V24 24V_L Logic supply (CPU, encoder) X40-4 V24 24V_P Power supply (DO-P) X40-5 V24 24V_O Oputput supply (DO-L, sensor supply)

11.3.2 X41: Digital Output

Pin Type Name Function X41-1 DO-P LA: HP_FORCE

PSH: SUCTION High pressure force mode (option) PSH: Open suction valve

X41-2 V0 X41-3 DO-P LA: HP_HOLD

PSH: SAVE_VALVE_A High pressure hold mode (option) PSH: Safety Valve A

X41-4 V0 X41-5 DO-P PSH: SAVE_VALVE_B PSH: Safety Valve B X41-6 V0 X41-7 DO-P X41-8 V0 X41-9 DO-L NOERR X41-10 DO-L INPOS2 X41-11 DO-L INPOS1 X41-12 DO-L INPOS0 X41-13 DO-L reserved (SD1) X41-14 DO-L READY (SD1) X41-15 DO-L BRK_REL

PSH: DRV_ENA_B Brake release (max. 10 W), option

X41-16 DO-L DRV_ENA




11.3.3 X42: Digital I/O

Pin Type Name Function X42-1 DIN ENABLE (SD1) Motion enable X42-2 DIN START1 (SD1) Cycle start X42-3 DIN START2 Cycle start X42-4 DIN RUN Operation enable X42-5 DIN UDSEL Idle at POS1 / POS2 X42-6 DIN SELCYC3 Cycle type selection X42-7 DIN SELCYC2 Cycle type selection X42-8 DIN SELCYC1 Cycle type selection X42-9 DIN SELCYC0 Cycle type selection X42-10 DIN TRACE Trigger trace start / stop X42-11 DIN CAM_ZERO CAM Zero Input X42-12 DIN E_STOP Only PSH: emergency stop X42-13 DIN RESTART Only PSH: restart (Home without moving) X42-14 DIN D_AUX3 reserved X42-15 DIN D_AUX4 reserved X42-16 DIN D_AUX5 reserved

11.3.4 X30: Analog Input

SUB-D 15 female.

Pin Type Name Function X30-1 V24S SENS_24V Output: sensor supply 24V X30-2 V0 0V Common GND X30-9 AI2 AN0 Input: analog signal 4..20 mA X30-10 V24S SENS_24V Output: sensor supply 24V X30-11 V0 0V Common GND X30-3 AI2 AN1 Input: analog signal 4..20 mA X30-4 V24S SENS_24V Output: sensor supply 24V X30-5 V0 0V Common GND X30-12 AI2 AN2 Input: analog signal 4..20 mA X30-13 V24S SENS_24V Output: sensor supply 24V X30-14 V0 0V Common GND X30-6 AI2 AN3 Input: analog signal 4..20 mA X30-7 V24S SENS_24V Output: sensor supply 24V X30-8 V0 0V Common GND X30-15 AI2 AN4 Input: analog signal 4..20 mA




11.3.5 X31: Encoder Input

SUB-D 9 female.

Pin Type Name Function X31-1 IDITTL ENC_A+ Encoder line A: positive X31-2 IDITTL ENC_B+ Encoder line B: positive X31-3 IDITTL ENC_Z+ Optional Input X31-4 V5S ENC_5V Encoder supply output, 5V X31-5 V24S ENC_24V Encoder supply output, 24V X31-6 IDITTL ENC_A- Encoder line A: negative X31-7 IDITTL ENC_B- Encoder line B: negative X31-8 IDITTL ENC_Z- Optional Input X31-9 V0 0V Common GND

11.3.6 X50: RS-232

SUB-D 9 male.

Pin Type Name Function X50-1 - - Dont connect X50-2 DATA RS232_RX RS232 RX line, PCU will receive on this pin X50-3 DATA RS232_TX RS232 TX line, PCU will transmit on this pin X50-4 - - Dont connect X50-5 V0 RS232_GND RS232 GND X50-6 - - Dont connect X50-7 - - Dont connect X50-8 - - Dont connect X50-9 - - Dont connect




11.3.7 X51: CAN

SUB-D 9 male.

Pin Type Name Function X51-1 - - Dont connect X51-2 DATA CAN_L CAN bus X51-3 V0 0V 0V for CAN X51-4 - - Dont connect X51-5 - - Dont connect X51-6 - - Dont connect X51-7 DATA CAN_H CAN bus X51-8 - - Dont connect X51-9 - - Dont connect

11.3.8 X53: Profibus

SUB-D 9 female.

Pin Type Name Function X53-1 - - - X53-2 - - - X53-3 I485 PROF-B Profibus B line X53-4 IDOTTL PB-DIR Profibus direction X53-5 IV0 PB-GND Profibus isolated GND X53-6 IV5 PB-5V Profibus isolated 5V X53-7 - - - X53-8 I485 PROF-A Profibus A line X53-9 - - -




11.4 Connection Guidline

Considerung the flexibility of PCU310 and the possibility to use various hydraulic systems together with various motors and motor driver combinations, it is not possible to give one schematic which will be correct for all these combinations. But, following a few rules, it is easy to find the correct connections.

Power Supply: PCU310 is powered by 24 VDC. Separate inputs may be supplied for: 24V_L = CPU, encoder 24V_P = power for digital outputs (DO-P) 24V-O = power for digital outputs (DO-L) and sensor supply Why use separate inputs ? 24V_L may be on all the time for communication. 24V_P may be shut off separately to cut away energy from safety critical outputs. 24V_O may be shut off separately to cut away energy from safety critical outputs. Digital inputs: Connect to your PLC/CNC outputs. Reference is 0V Digital outputs: Connect to your PLC/CNC inputs. Reference is 0V Encoder: Connect to liear encoder (LMS) mounted on axis. Pin configuration of X31 is 1:1 matching the pin-out of H+L incremental encoders. Driver interface: Use L-CAN (X10) to connect PCU with motor driver. Connect DRV_ENA with motor driver. Function shall be: DRV_ENA = 0 driver can not send current to motor, motor can not generate torque DRV_ENA = 1 driver may send current to motor, motor will generate torque DRV_ENA = 0 will be used to stop the motor in an emergency situation. When the axis is safety critical, this signal should be routed through the safety Circuit of the machine PLC/CNC. Command motor: Connect the servo motor to the servo driver, according to the motor/drivers+ manufacturer manual. Data interface: Use RS-232, G-CAN, Profibus or Ethernet For PC diagnostics, use RS-232 or Ethernet. Ethernet is preferred for speed.




11.5 Safety Circuit

Safety circuit has to fulfill several requirements:

- safely stop the axis in any dangerous situation. - Allow testing of safery features (driver disable, brake test) For the above reasons, the driver enable as well as the brake signal must be accessible both to the PCU310 and also to the PLC/CNC. This goal may be achieved an electrical arrangement according to the machine manufacturers choice. H+L hereby gives a suggestion for one possible implementation of this arrangement. It is fully understood that any signal generating or processing device (like relays etc.) have to meet the full safety and reliability requirements. Signals from PCU310 are generated under firmware control and must be considered potentially not safe.

Entering safe state during normal machine operation:

- ENABLE from PLC must go low for any critical situation (person entering the non-safe area). This will command the PCU to stop the axis. - PLC_BRK_REL must go low 50 ms after ENABLE. This will give the PCU enough time to stop the axis. - PLC_DRV_ENA from PLC must go low 50 ms after PLC_BRK_REL. This will give the motor brake enough time to become effective. Restoring normal operation after emergency stop:

- PLC_DRV_ENA from PLC must go high - PLC_BRK_REL from PLC must go high 50 ms after PLC_DRV_ENA - ENABLE from PLC must go high 50 ms after PLC_BRK_REL After sucessfully restoring normal operation, the previously interrupted cycle will automatically be continued and terminated by the PCU.

See schematic section Safety Circuit.




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1 2 3 4 5 6 7 8 9 10

11

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Local CAN Bus

1 2 3 4 56 7 8 9

X10

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54321 12

11

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