10.2 Inputs Inputs and and outputsoutputs
10.2.1 List
10.2.1 List of inputs aof inputs and outputsnd outputs 10.2 Inputs and outputs
X1.1 24VDC X1.2 0V X2.1 Switch limitation + X2.2 Switch limitation - X2.3 Switch slow X2.4 Switch vane X2.5 Switch 0 V X3.1 Output channel A X3.2 Output channel/A X3.3 Output channel B X3.4 Output channel/B X3.5 Output channel 0 X3.6 Output channel/0 X3.7 Supply X3.8 Ground X5.1 Manual driving
X5.2 Approach reference point X5.3 Position
X5.4 Forwards/Reverse X5.5 Required speed value (1) X5.6 Required speed value (2) X5.7 Required speed value (4) X5.8 Required speed value (8) X5.9 Enable/Stop
X5.10 Execute/Hold X5.11 Set actual value Suppy
Enco er input Axis switc
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10.2 Inputs and outputs
10.2.2 Supply 10.2.2 Supply
The UNIPOS is supplied with 24 VDC, unstabilized, via terminal X1. 24 VDC X1.1
0 V X1.2
10.
10.2.2.3 Axis switches3 Axis switches
The axis switches are connected to terminal X2.
The switches used may be of any type with a supply voltage of 24 VDC and positively switching outputs.
Switch limitation + X2.1 Switch limitation - X2.2 Switch slow X2.3 Switch vane X2.4 Switch 0 V X2.5 X4.1 Required value X4.2 0V X4.3 Screen X6.1 Drive running X6.2 End ramp X6.3 End vane X6.4 End limitation X6.5 Switch limitation + X6.6 Switch limitation - X6.7 Switch slow X6.8 Switch vane X6.9 Ready X6.10 - X6.11 - X6.12 Required value/Ranges X6.13 Range 1/Required value (1) X6.14 Range 2/Required value (2) X6.15 Range 3/Required value (4) X6.16 Range 4/Required value (8) X6.17 +24 VDC (common) X6.18 0V
Para e outputs Require vaue ou tput
10.2.4 Encoder 10.2.4 Encoder
An incremental encoder is connected to terminal X3, as a distance measuring system. All incremental encoders with a supply voltage of 10 - 30 V and RS422 output driver can be used.
The maximum line length should not exceed 100 m.
For effective noise suppression in the entire system, encoder lines should be screened and should be locally isolated from power lines and interference-generating devices. With simple screening, the screen is connected at one end to the encoder housing. Although the screening of the entire system is thus interrupted, earth loops are
reliably avoided in this way. Output channel A X3.1 Output channel/A X3.2 Output channel B X3.3 Output channel/B X3.4 Output channel 0 X3.5 Output channel/0 X3.6 Supply X3.7 Ground X3.8
10.2.5 Required speed value 10.2.5 Required speed value
The required speed value of +-10 V is output via a 12 bit D/A converter to terminal X4.
Required value X4.1
Ground X4.2
Screen X4.3
The cable length should not exceed 5 m. The screen is connected at one end to the UNIPOS.
The servo amplifier used must have differential inputs. 10.2 Inputs and outputs
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10.3 Parallel command interface 10.3 Par
10.3 Parallel allel command intecommand interfacerface
The parallel signal exchange with the UNIPOS is via terminals X5.
10.3.1 10.3.1 InputsInputs
The input signals must be present as positively switched 24 VDC voltage values. The supply is external.
- X5.17
Inputs 0 V (common) X5.18 Function selection
Function selection
The first four inputs define the function Manual driving X5.1 Approaching reference points X5.2
Positioning X5.3
Forwards/Reverse X5.4
The following input combinations are permitted:
*) Not yet supported
Function/Input X5.1 X5.2 X5.3 X5.4
Manual travel forwards 1 0 0 1 Manual travel backwards 1 0 0 0 Approach reference point forwards 0 1 0 1 Approach reference point backwards 0 1 0 0 Incremental positioning forwards 0 0 1 1 Incremental positioning backwards 0 0 1 0
Absolute positioning 0 0 1 -
Vane travel forwards * 0 1 1 1 Vane travel backwards* 0 1 1 0 Vane travel absolute * 0 1 1 -
Speed selection Speed selection
The maximum travel speed is stipulated with inputs 5-8 (16 configurable speeds). Required speed value (1) X5.5
Required speed value (2) X5.6 Required speed value (4) X5.7 Required speed value (8) X5.8 Drive commands
Drive commands
Inputs 9-12 are the actual drive commands.
Setting input 9 activates the position controller and enables the UNIPOS to execute drive commands.
When input 9 is reset, the position controller is blocked, required value 0 V is output and any ongoing drive command is immediately stopped.
When input 10 is set, the preselected drive command is executed. On premature resetting of input 10, the drive command is terminated with a hold ramp.
Input 11 permits “setting of a floating actual value”. With the positive flank of this signal, the actual value register is set to the selected required position value. With input 12, it is possible to switch between required position value output and actual position value output.
Enable/Stop X5.9
Execute/Hold X5.10
Set actual value X5.11
Required position value/Actual position value X5.12 Selection of required position value
Selection of required position value
The required position value is selected via inputs 13-16 (16 configurable required position values, either absolute or incremental (in steps)
Required position value (1) X5.13 Required position value (2) X5.14 Required position value (4) X5.15 10.3 Parallel command interface
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10.3 Parallel command interface 10.3.2
10.3.2 OutputsOutputs
The output signals are positively switched. The current load per output may not exceed 0.3 A. The supply is external.
+24 VDC (common) X6.17 0
V X6.18
Position status Position status
The first four outputs show the position status Drive running X6.1 End ramp X6.2 End vane X6.3 End limitation X6.4 Switch status Switch status
The output signals 5-8 show the switch status Switch limitation+ X6.5 Switch limitation- X6.6 Switch slow X6.7 Switch vane X6.8 Module status Module status
The outputs 9-11 show the module status Ready X6.9
- X6.10
- X6.11
- X6.12
Actual position value Actual position value
If input 12 is not set, the configured actual value ranges 1-4 are output at outputs 13-16 (cam gear function). If input 12 is set, the currently selected required position value is output at outputs 13-16.
Range 1 or required position value (1) X6.13 Range 2 or required position value (2) X6.14 Range 3 or required position value (4) X6.15 Range 4 or required position value (8) X6.16
10.4 CAN c
10.4 CAN command interfaceommand interface
The UNIPOS can be controlled via SELECAN by mounting the intermediate module DIOCAN.
10.4.1 Input 10.4.1 Input
Bit 0 Required position value (1) Bit 1 Required position value (2) Bit 2 Required position value (4) Bit 3 Required position value (8) Bit 4 Required position value (16) Bit 5 Required position value (32) Bit 6 Required position value (64) Bit 7 Required position value (128) Bit 8 Required position value (256) Bit 9 Required position value (512) Bit 10 Required position value (1024) Bit 11 Required position value (2048) Bit 12 Required position value (4096) Bit 13 Required position value (8192) Bit 14 Required position value (16384) Bit 15 Required position value (32768) Bit 16 Required position value (65536) Bit 17 Required position value (131072) Bit 18 Required position value (262144) Bit 19 Required position value (524288) Bit 20 Enable/Stop
Bit 21 Execute/Hold Bit 22 Set actual value
Bit 23 Required position value/Actual position value Bit 24 Manual driving
Bit 25 Approach reference point Bit 26 Position
Bit 27 Forwards/Reverse Bit 28 Speed selection (1) Bit 29 Speed selection (2) 10.4 CAN command interface
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10.4 CAN command interface 10.4.2 Output
10.4.2 Output
Bit 0 Actual position value (1) Bit 1 Actual position value (2) Bit 2 Actual position value (4) Bit 3 Actual position value (8) Bit 4 Actual position value (16) Bit 5 Actual position value (32) Bit 6 Actual position value (64) Bit 7 Actual position value (128) Bit 8 Actual position value (256) Bit 9 Actual position value (512) Bit 10 Actual position value (1024) Bit 11 Actual position value (2048) Bit 12 Actual position value (4096) Bit 13 Actual position value (8192) Bit 14 Actual position value (16384) Bit 15 Actual position value (32768) Bit 16 Actual position value (65536) Bit 17 Actual position value (131072) Bit 18 Actual position value (262144) Bit 19 Actual position value (524288) Bit 20 Actual position value (1048576) Bit 21 Actual position value (2097152) Bit 22 Actual position value (4194304) Bit 23 Actual position value (8388608) Bit 24 Drive running
Bit 25 End ramp Bit 26 End vane Bit 27 End limitation Bit 28 Switch limitation + Bit 29 Switch limitation - Bit 30 Switch slow Bit 31 Switch vane