APPLICATION Electronic Cam

(1)

V 5.5

APPLICATION

Electronic Cam

FUNCTIONS

DETAILS

PARAMETER

(2)

Table of Contents

Electronic Cam

www.stoeber.de

STÖBER ANTRIEBSTECHNIK

i

Table of Contents

1. Introduction ... 1

2. Notes on Safety ... 3

2.1 Software

...

8

2.2

Presentation of notes on safety ... 9

3. Function Description ... 10

3.1 Cam

Profiles

...

10

3.2

Table Coupling ... 12

3.3

PLCopen Programming …………... 17

3.3.1 MC_MoveAbsolute ………... 22

3.3.2 MC_MoveRelative ………... 24

3.3.3 MC_MoveAdditive ………... 26

3.3.4 MC_MoveVelocity ………... 28

3.3.5 MC_Stop ………... 30

3.3.6 MC_Home ………... 30

3.3.7 MC_Reset ………... 36

3.3.8 MC_CamIn ………... 36

3.3.9 MC_CamOut ………... 36

3.3.10 MC_MoveSuperimposed ………... 37

3.3.11 End of command ………... 38

3.4 Interface

………..…... 41

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Table of Contents

Electronic Cam

www.stoeber.de

i

4. Additional Functions …………... 42

4.1 Cams

………... 42

4.2

Jogging (Tipping) ………... 44

4.3

Master Slave Coupling ………... 45

4.3.1 External Encoder ………...…... 47

4.3.2 Main drive ………..……….…………..………….….. 48

4.3.3 Virtual Master with Positioning Capability …..……... 49

4.4

Application-Specific Solutions …..……... 53

4.5

Operating indicators …..……... 54

5. Application Examples ………... 56

5.1

Flying Saw ... 56

5.2 Synchronizer/Switching

Cycle

Coupler/Uncoupler ... 59

5.3

Cross Sealing with Welding Bars ... 62

5.4

Printing Mark Offset ………... 63

6. Used Parameters ……..………... 65

6.1

Parameter Legend ... 65

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Table of Contents

Electronic Cam

www.stoeber.de

i

(5)

Introduction

Electronic Cam

www.stoeber.de

01

1 Introduction

The

Electronic Cam

is a drive-based drive architecture. This application

enables you to implement applications such as the

flying saw

or the

rotating

knife

.

Servo motors SSI-Motionbus PO SID R IV E ® M D S 5 00 0 POS ID Y N ® SDS 5000 Fieldbus

SPS

Figure 1-1 Drive-based drive architecture with SDS 5000 and MDS 5000

You can interconnect PLCopen blocks to program the final sequence of

movement. Movements are implemented such as absolute target specification,

relative positioning paths, endless positioning, or synchronous movements.

When the

MC_Camin

block is triggered the "table coupling" between a master

and the axis is activated. This "table coupling" is called the electronic cam. An

electronic cam establishes a unique relationship between a position of the

master drive/master axis and a position of the next/slave axis.

Implementation of an electronic cam in a machine differs from the construction

of the mechanical cam. The electronic cam offers the following advantages

over the mechanical version:

•

No jolting

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Introduction

Electronic Cam

www.stoeber.de

01

•

No excitation from mechanical vibrations

•

No mechanical changes required for format changes

•

Diagnostic capabilities

•

No wear

•

Hygienic design

The cam can be used in many applications, but primarily with packaging

machines, printing presses, robots and the wood industry.

The cam technology function is a standard part of the device firmware and the

POSITool configuration and commissioning software starting with version 5.2.

Prior to commissioning the cam, your participation in the training course

Free

Programming

is required

See the following manuals for more information:

•

Instructions for installing the FDS 5000 (ID 441858) or instructions for

installing the MDS 5000 (ID 441688) or instructions for installing the SDS

5000 (ID 442084).

•

Programming manual (ID 441693) for a detailed description of the system

and the

Free Programming

option.

•

Block description (ID 441692) with the description of the blocks required for

programming.

If you have questions on the use of the devices of the 5th generation of

STÖBER inverters and the POSITool software which are not answered in this

manual, we will be glad to help. Just call us at 07231 582 0.

To make it easier for you to get started with our software applications we offer

courses. Please contact our Training Center at the following address:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG

Trainings Center

Kieselbronner Straße 12

75177 Pforzheim

(7)

Notes on Safety

Electronc Cam

www.stoeber.de

01

2 Notes

on

Safety

When in operation, inverters from STÖBER ANTRIEBSTECHNIK GmbH + Co.

KG may have energized or rotating parts depending on their protection rating.

Surfaces may heat up. For these reasons, comply with the following:

•

The safety notes listed in the following sections and points

•

The technical rules and regulations

In addition, always read the mounting instructions and the short commissioning

instructions.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for

damages caused by non-adherence to the instructions or applicable

regulations. Subject to technical changes to improve the devices without prior

notice.

This documentation is purely a product description. It does not represent

promised properties in the sense of warranty law.

Component part of the product

The technical documentation is a component part of a product.

•

Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of.

•

If the product is sold, disposed of, or rented out, always include the

technical documentation with the product.

Operation in accordance with its intended use

In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE

®

FDS 5000 and MDS 5000 and the POSIDYN

®

SDS 5000 model series

represent the electrical equipment of power electronics for the control of power

flow in high-voltage current systems. They are designed exclusively to power:

•

Servo motors (MDS 5000, SDS 5000)

•

Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000)

Operation for purposes other than the intended use include the connection of

other electrical loads!

Before the manufacturer is allowed to put a machine on the market, he must

have a danger analysis prepared as per machine guideline 98/37/EG. This

analysis establishes the dangers connected with the use of the machine. The

danger analysis is a multi-stage, iterative process. Since this documentation

cannot begin to provide sufficient insight into the machine guidelines, please

carefully study the latest standards and legal situation yourself. After the drive

controller has been installed in machines, it cannot be commissioned until it

has been determined that the machine complies with the regulations of EG

guideline 98/37/EG.

(8)

Notes on Safety

Electronc Cam

www.stoeber.de

01

Ambient conditions

Model series POSIDRIVE

®

FDS 5000 and MDS 5000 and POSIDYN

®

SDS 5000 are products of the restricted sales class as described in IEC

61800-3. This product may cause high-frequency interference in residential zones and

the user may be asked to take suitable measures.

The inverters are not designed for use in public low-voltage networks which

power residential areas. High-frequency interference must be expected when

the inverters are used in such a network.

The inverters are only intended for use in TN networks.

The inverters are only designed for use on supply current networks which can

delivery at the most a maximum of symmetrical rated short circuit current at

480 Volts as per the following table:

Device family

Size

Max. symmetrical rated short circuit

current

FDS 5000,

MDS 5000,

SDS 5000

BG 0 and

BG 1

5000 A

BG 2

5000 A

MDS 5000

SDS 5000

BG 3

10000 A

Install the inverter in a switching cabinet in which the permissible maximum

surrounding air temperature is not exceeded (see mounting instructions).

The following applications are prohibited:

•

Use in potentially explosive areas

•

Use in environments with harmful substances as per EN 60721 (e.g., oils,

acids, gases, fumes, powders, irradiation)

•

Use with mechanical vibration and impact stresses which exceed the

information in the technical data of the mounting instructions

Implementation of the following applications is only permitted when STÖBER

ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission:

•

Use in non-stationary applications

Qualified personnel

Since the drive controllers of the model series POSIDRIVE

®

FDS 5000,

POSIDRIVE

®

MDS 5000 and POSIDYN

®

SDS 5000 may harbor residual risks,

all configuration, transportation, installation and commissioning tasks including

operation and disposal may only be performed by trained personnel who are

aware of the possible risks.

(9)

Notes on Safety

Electronc Cam

www.stoeber.de

01

Personnel must have the qualifications required for the job. The following table

lists examples of occupational qualifications for the jobs:

Activity

Possible occupational qualifications

Transportation and storage

Worker skilled in storage logistics or

comparable training

Configuration

•

Graduate engineer

(electro-technology or electrical power

technology)

•

Technician (m/f) (electro-technology)

Installation and connection

Electronics technician (m/f)

Commissioning (of a standard

application)

•

Master electro technician (m/f)

Programming

Graduate engineer (electro-technology or

electrical power technology)

Operation

•

Master electro technician (m/f)

Disposal

Electronics technician (m/f)

In addition, the valid regulations, the legal requirements, the reference books,

this technical documentation and, in particular, the safety information contained

therein must be carefully:

•

read

•

understood and

•

complied with.

Transportation and storage

Immediately upon receipt, examine the delivery for any transportation

damages. Immediately inform the transportation company of any damages. If

damages are found, do not commission the product.

If the device is not to be installed immediately, store it in a dry, dust-free room.

Please see the mounting instructions for how to commission an inverter after it

has been in storage for a year or longer.

Installation and connection

Installation and connection work are only permitted after the device has been

isolated from the power!

The accessory installation instructions allow the following actions during the

installation of accessories:

•

The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot

can be opened.

•

The housing of the MDS 5000 and SDS 5000 in the bottom slot can be

opened.

(10)

Notes on Safety

Electronc Cam

www.stoeber.de

01

Use only copper lines. For the line cross sections to be used, see table 310-16

of the NEC standard for 60

o

C or 75

o

C.

Protect the device from falling parts (pieces of wire, leads, metal parts, and so

on) during installation or other tasks in the switching cabinet. Parts with

con-ductive properties inside the inverter can cause short circuits or device failure.

The motor must have an integrated temperature monitor with basic isolation in

acc. with EN 61800-5-1 or external motor overload protection must be used.

The permissible protection class is protective ground. Operation is not

permitted unless the protective conductor is connected in accordance with the

regulations.

Comply with the applicable instructions for installation and commissioning of

motor and brakes.

Commissioning, operation and service

Remove additional coverings before commissioning so that the device cannot

overheat. During installation, provide the free spaces specified in the mounting

instructions to prevent the inverter from overheating.

The housing of the drive controller must be closed before you turn on the

supply voltage. When the supply voltage is on, dangerous voltages can be

present on the connection terminals and the cables and motor terminals

connected to them. Remember that the device is not necessarily de-energized

after all indicators have gone off.

When network voltage is applied, the following are prohibited:

•

Opening the housing

•

Connecting or disconnecting the connection terminals

•

Installing accessories

Proceed as shown below to perform these tasks:

1. Disable the enable (X1).

2. Turn off the supply voltage (power pack and controller power supply

as well as any auxiliary voltages for encoder, brake, etc.).

3. Protect the supply voltages from being turned on again.

4. Wait 5 minutes (time the DC link capacitors need to discharge).

5. Determine isolation from the voltage.

6. Short circuit the network input and ground it.

7. Cover the adjacent, voltage-carrying parts.

You can then start your work on the drive controller.

Repairs may only be performed by STÖBER ANTRIEBSTECHNIK GmbH +

Co. KG.

Send defective devices together with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG

Abteilung VS-EL

Kieselbronner Str. 12

75177 Pforzheim

GERMANY

(11)

Notes on Safety

Electronc Cam

www.stoeber.de

01

Disposal

Please comply with the latest national and regional regulations!

Dispose of the individual parts separately depending on their nature and

currently valid regulations such as, for example:

•

Electronic scrap (PCBs)

•

Plastic

•

Sheet metal

•

Copper

•

Aluminum

Residual dangers

The connected motor can be damaged with certain settings of drive controllers.

•

Longer operation against an applied motor halting brake

•

Longer operation of self-cooled motors at slow speeds

Drives can reach dangerous excess speeds (e.g., setting of high output

frequencies for motors and motor settings which are unsuitable for this).

Secure the drive accordingly.

(12)

Notes on Safety

Electronc Cam

www.stoeber.de

01

2.1 Software

Using the POSITool software

The POSITool software package can be used to select the application and

adjust the parameters and signal monitoring of the 5th generation of STÖBER

inverters. The functionality is specified by selecting an application and

transmitting these data to an inverter.

The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG

and is copyrighted. The program is licensed for the user.

The software is only provided in machine-readable form.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a

non-exclusive right to use the program (license) provided it has been legitimately

obtained.

The customer is authorized to use the program for the above activities and

functions and to make copies of the program, including a backup copy for

support of this use, and to install same.

The conditions of this license apply to each copy. The customer promises to

affix the copyright notation to each copy of the program and all other property

notations.

The customer is not authorized to use, copy, change or pass on/transmit the

program for purposes other than those in these regulations. The customer is

also not authorized to convert the program (i.e., reverse assembly, reverse

compilation) or to compile it in any other way. The customer is also not

authorized to issue sublicenses for the program, or to rent or lease it out.

Product maintenance

The obligation to maintain refers to the two latest program versions created by

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program

errors or will provide the customer with a new program version. This choice will

be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual

cases, the error cannot be immediately corrected, STÖBER

ANTRIEBS-TECHNIK GmbH + Co. KG will provide an intermediate solution which may

require the customer to comply with special operation regulations.

A claim to error correction only exists when the reported errors are reproducible

or can be indicated with machine-generated outputs. Errors must be reported in

a

reconstructable

form

and

provide

information

which

is

useful

to

error

correction.

The obligation to correct errors ceases to exist for such programs which the

customer changes or edits in any way unless the customer can prove that such

action is not the cause of the reported error.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid

program versions in an especially safe place (fireproof data safe, bank deposit

box).

(13)

Notes on Safety

Electronc Cam

www.stoeber.de

01

2.2

Presentation of notes on safety

Notice

means that property damage may occur if the stated

precautionary measures are not taken.

Caution

with warning triangle means that minor injury may occur if

the stated precautionary measures are not taken.

Warning

means that there may be a serious danger of death if the

stated precautionary measures are not taken.

Danger

means that serious danger of death exists if the stated

precautionary measures are not taken.

Information

indicates important information about the product or a

highlighted portion of the documentation which requires

special attention.

CAUTION

WARNING

DANGER

NOTICE

(14)

Function Description

Electronic Cam

www.stoeber.de

03

3 Function

Description

This chapter explains terms such as the configuration of a cam profile and

functions such as the integration of table coupling and the PLCopen blocks.

3.1 Cam

Profiles

The relationship of the positions is illustrated in a 2-dimensional system of

coordinates. The horizontal line shows the position of the master axis while the

vertical line shows the position of the slave axis. The master circular length

corresponds to the position circumference of the horizontal line. The position

circumference of the vertical line corresponds to the slave circular length. A

straight line with a slope of 1 corresponds to a 1:1 coupling of master to slave

axis.

Up to 4 different cam profiles can be stored on the inverter with the Electronic

Cam application. You can switch between the cam profiles of congruent cam

sections at any time.

0

y

x

= =

Figure 3-1 Open (red, green)/closed cam profile (blue)

Repeated execution of a cam profile is called cyclic (periodic) processing. Both

open and closed cam profiles are possible (Figure 3-1). Behavior for an open

and a closed cam profile after a master overflow differs. An open cam profile is

when the slave axis is not located at the starting point again after a master

circular length. Open cam profiles are used for endless positioning. Closed cam

profiles are used for axes with a limited position range. Both endless and

limited axis types can be used for the master and slave axis. There are no

restrictions on the combination of axis types between master and slave. You

specify the kind of slave axis type by selecting the application in the

Configuration Assistant.

The axis type of the master is set with the parameter

G30

master axis type

.

Slave

scaling

Master circular length

green red blue

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Electronic Cam

www.stoeber.de

03

The relationship between master and slave can be evaluated absolutely or

relatively. The absolute relationship requires master referencing. It can be

reconstructed so that only a one-time referencing procedure is necessary.

Master referencing is executed via the signal

master reference position

. The

source of the signal is set in parameter

G103

. When the signal has a positive

change in edge the current master position is set to the value entered in the

parameter

G38

master reference position

.

Information

When the master encoder triggers event

37:Encoder

, the In

Reference bit of the master is deleted regardless of the encoder

being used.

After power OFF/ON the position is reconstructed correctly even

though the bit remains deleted. The

In Reference

signal of the

slave is not affected by this (see chap. 3.3).

(16)

Electronic Cam

www.stoeber.de

03

3.2 Table

Coupling

The coordinates of the cams are stored standardized to 2

30

on the device.

Master and slave scaling and master and slave offset are then performed.

0 0 230 230 0 50 -50 [mm] 180 90 270 360 [°]

Figure 3-2 Scaling of a standardized cam

The scaling values are transferred by calling the

MC_CamIn

command. The

values for master and slave scaling are specified on the inputs of the block

(see Figure 3-3).

Figure 3-3 Example of interconnection for

MC_CamIn

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Electronic Cam

www.stoeber.de

03

The respective current values are indicated in the following parameters:

•

G854 Master scaling

•

G855 Master offset

•

G856 Slave scaling

•

G857 Slave offset

Figure 3-4 illustrates how scaling procedures and offset values work.

+ + + -230 230 0 0 G348

Figure 3-4 Calculation of the scaling and offset values

When the

MastrAbs

input of the

MC_CamIn

block is active when a rising edge

occurs on the

Execute

input, the master position is evaluated absolutely and is

used directly for indexing in the cam table. When the input is inactive, indexing

always starts at the beginning of the table.

The

SlaveAbs

input must always be inactive at this time. Remember that this

means that, when the cam starts, the value indicated in

G862

output table

coupling velocity

must match the speed in

I88

. If not, ramping is performed with

I11

maximum acceleration

to the cam speed. This causes a position difference

in the result

If the

Periodic

input is active when there is a rising edge on

Execute

, the curve

is executed cyclically. The prerequisite for this is that the master position must

also be cyclic (i.e., the master type must be

endless position range

). If the input

is inactive when there is a rising edge, the cam is executed before the next

overflow of the master position via the circular length (or underflow under 0).

Input

MstrOffs*

Input MstrScal*

Input SlaveScal*

Input

SlavOffs*

G80

Master

positio

Master-filter

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Electronic Cam

www.stoeber.de

03

If the cam profile is to be changed during the motion

or the scaling is to be modified, always remember to

execute this in cam sections which must be

congruent in both cam profiles to prevent the axis

from jolting.

The position cams in the application can be used for this

purpose.

The master filter is activated by parameter

G340

. When the master filter is

deactivated, the master position is processed unfiltered.

Figure 3-5 shows the setup of the master filter.

+ + + + G348 G344 G343 G342 G341 G349

1

2

n

2

n

2

n

d

dt

Modulo2 PT₁ PT₁ G80

Figure 3-5 Setup of the master filter

The standardized cam disk can be linked in in csv format. Any cam profiles can

be calculated with this by existing table calculation programs (Excel,

OpenOffice, and others) and imported to the POSITool software. Another

option is to create cam profiles with the Optimus Motus

®

software. You will find

the software on the STÖBER Electronics 5000 CD or on the Internet at

www.stoeber.de. You will need a dongle to use this software. This dongle is

available from STÖBER Antriebstechnik GmbH & Co. KG under following

article no.:

Optimus Motus

®

version

Article no.

Introductory packet

49780

Standard packet

49781

Masterfilter

1

Will be considered in due course.

2

Only for circular axes

NOTICE

Master

speed

Masterfilter

increment

multiplier

1

Filtered

master-position

Master

position

Master

period

Over/And

Master

speed

Masterfilter

position

low pass

Masterfilter

speed

low pass

Masterfilter

dead time

compensation

Filtered

master-speed

Filter

dead time

compensation

Master

position

(19)

Electronic Cam

www.stoeber.de

03

After you have installed the software on your PC and connected the dongle,

you can call the software from the wizard Master scaling/Optimus Motus

®

on

the Cams page (see Figure 3-7). For a description of the software, see Online

Help (F1 key). Remember that when you use Optimus Motus

®

, you must

always import the cam tables via Optimus Motus

®

.

Cam profiles exported by POSITool can also be processed. The csv file of an

exported cam is shown below:

Figure 3-6 View of a CSV file in Excel

The first line contains the original source parameters (in Figure 3-6,

G64

and

G65

). These parameters tell you which of the four cam profiles were exported

(in our example, cam table 3). These two values can be disregarded when

importing a cam profile since each of the four cams can be imported with the

Import Assistant.

The position coordinates of master and slave axis which do not have to be

equidistant are listed starting with the second line. On the master side they

must ascend monotonically. In our example point 0 contains the 0 coordinates

for master and slave position.

The first point x

0

is used for values less than 0 on the cam input. The last point

x

n

is used for values greater than 2

30

.

Figure 3-7 shows the page “cams” of the cam table / master scaling assistant.

The first cam profile can be imported and exported on this page. You can

access the other cam profiles from the tabs at the bottom.

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Electronic Cam

www.stoeber.de

03

Figure 3-7 Cam table / master scaling assistant

Information

Cam data can be imported during online operation of POSITool

as long as the number of reference points remains the same. If

the number of reference points changes cam data can only be

imported in offline operation and in configuration mode of

POSITool.

New cam profiles can only be imported in a configuration. Import

in a reverse documentation is not possible. A cam profile can

always be exported.

(21)

Electronic Cam

www.stoeber.de

03

3.3 PLCopen

Programming

The Electronic Cam application offers the following commands:

MC_MoveAbsolute

MC_MoveSuperimposed

MC_MoveRelative MC_Home

MC_MoveAdditve MC_Stop

MC_MoveVelocity MC_Reset

MC_CamIn

MC_CamOut

The PLCopen blocks interface with the system via parameters

I400

ff. When a

PLCopen block is called in the program it uses the parameters starting at

I400

ff to communicate with position control within the application and passes on

such data as command, target position and speed.

The commands change the current state of position control. The following

diagram shows the possible states and state changes

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Electronic Cam

www.stoeber.de

03

4:Continuous Motion 5:Synchronized Motion 3:Discrete Motion 12 14 15 28 29 18 20 21 30 17 22 24 23 26 27 31 25 13 32 35 7:Errorstop 6:Stopping 2:Standstill 8:Homing 7 8 9 3 4 5 19 6 10 16 11 1:Passive 1 2 33 34

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Electronic Cam

www.stoeber.de

03

Description of the transitions

Changeover

Triggering

1 :

Passive

to

Standstill

•

MC_AktivierePositionierung

when the

device is enabled

•

Automatic when

I52

=

active

and when

the device is enabled

2:

Standstill

to

Passive

•

MC_DeaktivierePosi

•

MC_Reset

•

Enable off

3:

Standstill

to

Homing

MC_Home

4:

Homing

to

Standstill

Done

5:

Homing

to

Errorstop

Error

1

6:

Standstill

remains

•

Default

•

With

MC_Stop

"Standstill" is retained

without any other state change

7:

Standstill

to

Errorstop

Error

1

8:

Errorstop

to

Standstill

MC_Reset

when no further quick stop

request is queued. Otherwise Errorstop is

retained.

9:

Stopping

to

Errorstop

Error

1

10:

Errorstop

remains

Default

11:

Stopping

to

Standstill

When the profile generator outputs 0 as

the reference value speed

12:

Standstill

to

Continuous

Motion

•

MC_MoveVelocity

•

Jog +/-

•

MC_Continue

when the command

MC_MoveVelocity

was aborted with

MC_Stop

before

13:

Standstill

to

Synchronized

Motion

MC_CamIn

1

Cause of the error condition:

•

Falling edge on a hardware limit switch (except in the Homing state)

•

Quick stop request from the device state machine

•

Motion jobs rejected because of the following reasons:

•

Impermissible direction

•

Target is outside the software limit switches

•

Absolute motion job in unreferenced state

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Function Description

Electronic Cam

www.stoeber.de

03

Changeover

Triggering

14:

Continuous Motion

to

Errorstop

Error

1

15:

Continuous Motion

to

Stopping

•

MC_Stop

•

Jogging is activated

16:

Stopping

remains

As long as the profile generator outputs a

reference value speed other than 0.

17:

Discrete Motion

to

Standstill

Done

18:

Standstill

to

Discrete Motion

•

MC_MoveAbsolute

•

MC_MoveRelative

•

MC_MoveAdditive

•

TipStep

•

MC_Continue

if

MC_MoveAbsolute

,

MC_MoveRelative

or

MC_MoveAdditive

was aborted by

MC_Stop

before

19:

Homing

to

Stopping

MC_Stop

20:

Discrete Motion

to

Errorstop

Error

1

21:

Discrete Motion

to

Stopping

•

MC_Stop

•

22:

Discrete Motion

remains

•

As long as the motion is moving

•

MC_MoveAbsolute

•

MC_MoveRelative

•

MC_MoveAdditive

23:

Synchronized Motion

to

Discrete Motion

•

MC_MoveAbsolute

•

MC_MoveRelative

•

MC_MoveAdditive

24:

Discrete Motion

to

Synchronized Motion

MC_CamIn

25:

Continuous Motion

remains

As long as no new command is being

executed, no quick stop request is issued

and no software limit switch is reached

.

1

Cause of the error condition:

•

Target is outside the software limit switches

•

Absolute motion job in unreferenced state

(25)

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03

Changeover

Triggering

26:

Continuous

Motion

nach

Synchronized Motion

MC_CamIn

27:

Synchronized Motion

nach

Continuous Motion

•

MC_MoveVelocity

•

MC_CamOut

28:

Discrete Motion

nach

Continuous Motion

MC_MoveVelocity

29:

Continuous Motion

nach

Discrete Motion

•

MC_MoveAbsolute

•

MC_MoveRelative

•

MC_MoveAdditive

30:

Synchronized Motion

nach

Stopping

•

MC_Stop

•

31:

Synchronized Motion

bleibt

As long as no command other than

MC_CamIn

or

MC_MoveSuperimposed

is

being executed, no quick stop request is

issued and no software limit switch is

reached.

32:

Synchronized Motion

nach

Errorstop

Error

1

33: Aus allen Zuständen außer

Errorstop

nach

Passive

MC_Reset

34: In den Zustand

Homing

aus

den Zuständen

Continous Motion

,

Discrete Motion

und

Synchronized Motion

MC_Home

35:

Continuous Motion

nach

Standstill

Software limit switches are reached

The commands will now be described. For a description of the block inputs and

outputs see block description documentation (ID 441692).

1

Cause of the error condition:

•

Target is outside the software limit switches

•

Absolute motion job in unreferenced state

(26)

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03

3.3.1 MC_MoveAbsolute

The

MC_MoveAbsolute

command is triggered via blocks 100257 (with time

stamp) and 100258 (without time stamp). It causes a movement to an absolute

position. The drive must be referenced before the command can be triggered

(see

MC_Homing

below). With an endless axis this command only accepts

target positions which are less than the

circular length I01

. Figure 3-9 shows an

example of the interconnection of two

MC_MoveAbsolut

e

blocks. The time

diagram in Figure 3-10 shows two processing procedures. In the first case the

block with the target position

P00

= 500 mm and the speed

P01

= 5000 mm/s

is started (BE1) and finished. The Done signal of the first block causes the

second motion job with the target position

P02

P04

= 3000 mm/s to be executed. The two separate motion profiles can be

clearly seen.

In the second case the next process block is already started before the target

position of the first process block was reached. This causes the process block

data of the second process block (target position, speed and acceleration

ramps) to become valid at the rising edge of the signal on BE2. The second

motion profile differs from the first case.

(27)

Function Description

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03

1 1 1 1 0 0 0 0 5000 800 3000 500

~ ~

t t t t t t

Figure 3-10 Time diagram for

MC_MoveAbsolute

Actual position [mm] BE2 Done (2nd block) BE1 Speed [mm/s] Done (1st block)

(28)

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03

3.3.2 MC_MoveRelative

The

MC

_MoveRelative

triggers a movement for a specified distance. It is

triggered with the blocks 100266 (with time stamp) and 100267 (without time

stamp). With an endless axis the distance to be traveled may be much greater

than the

circular length I01

.

Figure 3-11 shows an example of the interconnection of two

MC_MoveRelative

blocks. The time diagram in Figure 3-12 shows two processing procedures for

the interconnection. In the first case the left-hand block with the relative target

position

P00

P01

= 5000 mm/s is finished. The Done

signal of the block starts the second block with the relative target position

P02

P04

= 3000 mm/s. The two separate motion profiles

can be clearly seen.

In the second case the second process block is already started before the

target position of the first process block was reached. The relative target

position of 300 is added to the current actual position of the drive.

The end positions of the drive are different in the two cases.

(29)

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03

~ ~

t t t t t t 1 1 1 1 0 0 0 0 5000 800 3000 500 480 180

MC_MoveRelative

Speed [mm/s] Actual position [mm] BE2 Done (1st block) BE1 Done (2nd block)

(30)

Function Description

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03

3.3.3 MC_MoveAdditive

Blocks 100268 (with time stamp) and 100269 (without time stamp) can trigger

the

MC_MoveAdditive

command. The command causes a motion for a

specified distance. In contrast to the

MC_MoveRelative

command the target

position is calculated from the addition of the positioning length specified on the

block and the current reference position.

With an endless axis the distance to be traveled can be much greater than the

circular length I01

.

Figure 3-13 shows an example of the interconnection of two

MC_MoveAdditive

blocks. The time diagram in Figure 3-14 shows two processing cases. In the

first case the left-hand block with the speed

P01

= 5000 mm/s and the

positioning path

P00

= 500 mm are completely processed. The Done signal

triggers the processing of the second block with the speed

P04

= 3000 mm/s

and the positioning path

P02

= 300 mm.

In the second case the first block is interrupted by the signal of BE2. Since the

positioning path is added to the current reference position when

MC_MoveAdditive

is used, the end positions of the drive are the same in both

cases.

Information

If, for example, a rotary attachment is to be repeatedly moved by

60°, the

MC_MoveRelative

command is not suitable since, at

every start, the actual position may differ by several increments

from the reference position. Over time this error can accumulate.

It can be avoided with the command

MC_MoveAdditive

.

(31)

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03

1 1 1 1 0 0 0 0 5000 800 3000 500

~ ~

t t t t t t

MC_MoveAdditive

Speed [mm/s] Actual position [mm] BE2 Done (1st block) BE1 Done (2nd block)

(32)

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03

3.3.4 MC_MoveVelocity

Block 1002736 triggers the

MC_MoveVelocity

command. The command

causes endless positioning at the specified speed. When a second

MC_MoveVelocity

block is triggered with a different speed profile the speed is

adjusted with the specified accelerations (see Figure 3-15 and Figure 3-16).

The

MC_MoveAbsolute

command with the target position

P04

= 0 must be

used to stop a movement such as the one shown in our example.

Figure 3-15 Example of interconnection for

MC_MoveVelocity

and

(33)

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03

1 1 1 0 0 0 5000 3000 100 t t t t t

MC_MoveVelocity

and

MC_MoveAbsolute

BE2 BE1 Speed Actual position BE3 Circular length 100

(34)

Function Description

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03

3.3.5 MC_Stop

The command

MC_Stop

is triggered by block 100275. It decelerates the speed

down to zero with the specified deceleration ramp. The PLCopen state

machine is in the Stopping state. The message 22:abortedX (X = motion block

number of the motion block interrupted by

MC_Stop

) appears on the display.

When the speed 0 is reached the state machine changes to the

Standstill

state.

3.3.6 MC_Home

When the 24 V voltage is turned on the actual position is not known.

Referencing provides a defined original position. Referencing of the slave is

triggered with block 100249 (with time stamp) or 100254 (without time stamp).

Absolute motions can only be executed in the referenced state.

Information

Referencing of the slave axis is triggered by the

MC_Home

command. See chap. 3.1 for how to reference the master axis.

Hardware limit switches do not trigger malfunctions during referencing. When a

hardware limit switch is reached the direction of revolution is reversed and

referencing is continued. However, when reversal is blocked (

I04

move

direction

) for an endless axis, the drive stops at the limit switch.

Reference mode is parameterized in the

Posi Maschine

Assistant with the

parameters

I30

to

I41

.

The next command cannot be started until referencing is concluded or

terminated. Termination is done with

MC_Stop

or

MC_Reset

.

The referenced state is signaled with

I86 in reference

= 1 and can be output via

binary output or a bus system.

When an absolute value encoder is used for position control, the

in reference

signal is retained when the device is switched on and off. When an absolute

value encoder is not used referencing must be performed again every time an

axis is initialized. An axis is initialized when the device starts up and when an

axis is switched.

When absolute value encoders are used and devices are exchanged, the

in

reference

signal can be transferred to the new device by exchanging

Paramodul. Remember that, in this case, the action

A00 Save values

must be

performed before the exchange. When a motor is exchanged new referencing

is always required.

(35)

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03

The primary parameters for referencing will now be discussed.

When the motor encoder triggers the event

37:Encoder, the in reference signal of the drive is

deleted regardless of what encoder is being used.

After power OFF/ON referencing must be performed

again.

Parameter

I30

specifies the required initiators or the functions for binary inputs.

There are three modes of referencing:

0:reference input

,

1: encoder signal 0

and

2:define home

.

When

0:reference input

mode is used, a sensor signal or a signal of a controller

can be used as the reference point, for example. The interface is selected in

parameter

I103

. A limit switch can also be used as the reference input (see

Figure 3-17 examples of referencing, example 4). In this case parameters

I101

or

I102

and

I103

must be set to the same interface (e.g., BE1). The function of

the reference input must be inverse to that of the limit switch (e.g.,

BE1-inverse) since the limit switches are evaluated at LOW-active.

When mode

1:encoder signal 0

is selected, the reference position is set up the

first time the zero signal is reached after start. This setting can only be used

when an encoder with zero signals or zero information (e.g., EnDat

®

, SSI and

resolver) is used.

When

2:define home

mode is selected, the current position is replaced by the

reference position when triggered by the Execute signal. This referencing mode

can be used to reference a drive even in the device states switchon disable,

ready for switchon and fault (for device states, see chap. 3.1 of the application

manual). Referencing mode

2:define home

can also be started during a motion.

When the Execute signal is detected the actual position is set as the reference

position and the drive is then decelerated with ramp

I39

(see below) to a

standstill.

I31

determines the (search) direction when referencing starts. When the

reference (or limit switch) is active the direction is reversed (cf. example further

down). The correct value for

I31

can be checked by positioning the axis by

hand, for example.

Two speeds (

I32

and

I33

) are specified when the reference position must be

approached precisely. Referencing begins with the fast speed

I32

. When the

reference signal is detected the drive decelerates and moves in the opposite

direction at the slow speed (see Figure 3-17 ). The two different speeds are

useful particularly with large linear axes.

When

I32

or

I33

is set to greater than

I10

the referencing speeds are limited to

I10

.

I32

and

I33

can be changed with the Override function (up to

I10

).

When endless axes are being used and the parameter

I04

move direction

only

permits one direction of revolution, the drive uses only the slow speed during

I30 Referenzfahrt-Typ

I31 referencing direction

I32 referencing speed fast and

I33 referencing speed slow

NOTICE

(36)

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03

referencing. When the drive reaches the reference position it stops. A reversal

of revolution direction does not take place.

When the reference point is detected the actual position is set as

I34

reference

position

.

When switch or sensor signals are used as reference points for the machine,

the function of parameter

I35

can be used to increase precision. The drive

travels to the reference switch at the fast speed. The direction of revolution is

then reversed and the slow speed is used. The drive stops when the next

zero-pulse signal is detected (see Figure 3-17 , examples of referencing).

I35

specifies whether the zero track signal of the motor encoder or the position

encoder is to be used. Naturally, this function requires the use of an encoder

with a zero signal.

I37

=

1

starts the referencing process automatically when the axis is initialized.

There are two cases in which axis initialization takes place.

•

At power on if an axis is selected (

A63

and

A64

, no axis active via

A65

, see

chap. 1.2.1).

•

When axes are switched

For referencing types

0:reference input

and

1:Encoder signal 0

referencing is

started as soon as the enable is issued. With type

2:define home

the current

position immediately becomes the reference position.

When a valid position can be reconstructed while the axis is being initialized

(e.g., by using a multi-turn absolute value encoder), automatic referencing does

not take place.

When the setting

I37

=

2:

reconstruct angle is used the current position of the

position encoder is saved for 100 ms after removal of the device enable and

reconstructed after the device is turned off and on. With single-turn absolute

value encoders (e.g., resolvers) when the device is turned on again the position

is only reconstructed when the angle of deviation was less than 5°. With

incremental encoders the position is always reconstructed with

I37

=

2:reconstruct angle

. However, it must be ensured that the axis cannot

move when the device is off.

I34 Reference position I35 referencing on encoder signal 0

I37 automatic referencing during axis initialization

(37)

Function Description

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03

The ramps for referencing can be set separately. When the reference position

is reached the drive decelerates to a standstill. The distance required for

reversal or deceleration is generally:

v²

with

v: Speed

Distance = ---

a: Acceleration (here

I39

).

2a

After conclusion of referencing the drive stops after the required deceleration

distance

I33

2

/ (2*

I39

)

and

does not return to the reference position. The

Override function (see chap. 2.3.3) changes the speed and thus also the

deceleration distance!

When

I39

greater than

I11

is set, referencing acceleration is limited to

I11

.

Example 1

I30

=

0:Ref.Schalter

,

I31

=

0:positiv

Example 2

I30

=

0:Ref.Schalter

,

I31

=

0:positiv

Since the reference switch divides the entire

positioning range into two halves no further

switch is needed.

The direction defined in

I31

is reversed when the

reference switch is active at the beginning!

Example 3

I30

=

0:Ref.Schalter

,

I31

=

0:positiv

Example 4

I30

=

0:Ref.Schalter

,

I31

=

0:positiv

REF END+ END-v

I35

=1

I35

=0

x

The reference switch (cam) only reacts briefly. A

limit switch handles the reversal.

A limit switch can be used for referencing instead

of a reference switch

Æ

I101

= /

I103

Figure 3-17 Examples of referencing

I39 referencing acceleration

Reference switch Fast (I32) Slow (I33) Zero pulses Incremental encoder Ref. direction reversed active Reference switch Fast (I32) Slow (I33) Zero pulses Incremental encoder Fast (I32) Zero pulses Incremental encoder Limit switch + Reference switch Fast (I32) Zero pulses Incremental encoder Limit switch +

(38)

Function Description

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03

These parameters are used to automatically compensate for slip or an

imprecise gear ratio. After the first referencing procedure the actual position

I80

is overwritten with the reference position

I34

over and over again when the

reference switch is traveled over. The distance still to be covered is corrected

and the axis is able to execute any number of relative movements in one

direction without drifting away, even with slip-prone drives.

Information

With continuous referencing, referencing is always performed on

the same side of the reference switch regardless of the current

direction of revolution of the drive.

The side is specified with the parameter

I31

. The side that the

drive reaches first while revolving in the direction

I31

is used.

In our example referencing is performed on side A when

I31

=

0:positive

is set.

Figure 3-18 Sides of the reference switch

I36

=

1:standard

is used when there is a reference switch within the entire

position range or within a circular length

I01

. When the reference switch is

reached

I80

is offset with

I34

reference position

.

When rotary attachment applications are used the circular length

I01

must

correspond as precisely as possible to the distance between two reference

signals. For example, the same position must be indicated again after one belt

rotation. The actual position

I80

must be checked during one rotation at

I36

=

0:inactive

and, if necessary,

I07

adjusted. The distance per revolution

I07

must always be rounded to the next higher number to prevent bothersome

backward motion offsets. If possible the reference switch should not be

triggered during a deceleration ramp since this would cause a negative offset to

be executed for a backwards movement.

The setting

I36

=

2:periodic

is used when several reference switches are located

along the positioning range. The distance between the reference switches is

entered in

I41

reference period

. With this function the device takes along a

potential reference position

which it would expect at the next reference point.

When a signal occurs at the reference point the device compares the distance

of its own actual position with the last and the expected reference position. The

nearest position is selected as the new reference position and is declared the

actual position at the time of the initiator.

I41

is visible in the

POSI Machine

Assistant if

I36

was set to

2:periodic

.

I36 continuous referencing and I41 reference period

A

B

I31=1:negative

Ref. switch signal

(39)

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03

Information

When a referencing procedure is to be performed first during

continuous, periodic referencing (e.g., to specify the machine

zero point), remember that, for continuous periodic referencing,

all reference switches are connected in parallel to one binary

input. The signal evaluated by the inverter cannot differentiate

between the various switches. Referencing (

I30

=

0:reference

switch

) produces correspondingly different machine zero points.

This is why referencing should only be performed with the

referencing type

I30

=

2:define home

.

When I01, I07, I08 or other important positioning

parameters are changed, it is mandatory that the axis

be referenced again for each encoder system so that

the relevant data on the inverter are kept consistent.

Information

1. With slip-prone drives, the target window

I22

must be greater

than the maximum mechanical inaccuracy!

2. With a multi-turn absolute value encoder, referencing is

usually necessary only once during commissioning.

3. To be able to replace the inverter for a referenced drive the

action

A00

save values

must be used to save to Paramodul so

that the referenced state is retained. The device can then be

replaced and the new device uses the old Paramodul. This

means the drive retains its reference.

(40)

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03

3.3.7 MC_Reset

Acknowledging an error with

MC_Reset

in the status Errostop changes the

state to

Standstill

. The command is triggered by block 100276.

It has no effect on device malfunctions. This is a command which resets the

PLCopen positioning controller. Device malfunctions must be reset with the

acknowledgment

signal (for selector

A61

, see chap. 1.2.1; for STÖBER state

machine, see chap. 3 of the application manual).

Note: A

MC_Reset

command resets the current reference position to the

current actual position. A running movement can be interrupted.

3.3.8 MC_CamIn

Block 100813 (with time stamp) triggers the

MC_Camin

command which

causes an electronic cam to be coupled in. For details on the electronic cam,

see chapters 3.1 and 3.2.

3.3.9 MC_CamOut

Block 100814 triggers the

MC_CamOut

command which causes an electronic

cam to be coupled out. The last valid slave speed is retained. The command

(41)

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03

3.3.10 MC_MoveSuperimposed

A permanent reference exists between master and slave position when the

PLCopen state synchronized motion is reached. The reference can be changed

with

MC_MoveSuperimposed

(block 100288). Before the change can be

executed the speeds of the motion profile linked with

MC_MoveSuperimposed

are added to the current speed.

1 250 0 0 100 150 50 t t t

Figure 3-19 Time diagram for the command MC_MoveSuperimposed

When coupled in, slave speed and slave acceleration

are no longer limited to the values in I10 and I11!

The parameter

C01

n-max

is the limit for the speed.

BE1 Additive speed Slave position

NOTICE

(42)

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03

3.3.11 End of command

The Done signal tells you whether a command has been processed or not. You

can read the Done signal in parameter

I189

or

I201

Bit 4.

Condition for

Command

I189 = 0:inactive

I189 = 1:active

MC_MoveAbsolute

MC_MoveRelative

MC_MoveAdditive

MC_Continue

The Done signal becomes

0:inactive

as

soon as you start the command with a

rising edge of the Execute signal. If the

Done signal was already

0:inactive

, this

state does not change.

The command is finished when the

motion profile has been covered and

the difference between reference and

actual position is less than the position

window. Internal state changes can

delay the change of the Done signal to

1:active

by up to 3 cycles (

A150

). Once

the signal is

1:active

, a departure from

the position window can also not cause

the signal to become

0:inactive

again.

MC_MoveVelocity

0:inactive

as

Done signal was already

0:inactive

, this

The command is finished when the

profile generator has reached the

reference speed. Internal state changes

can delay the change of the Done

signal to

1:active

by up to 3 cycles

(

A150

).

MC_Stop

0:inactive

as

0:inactive

, this

The command is finished when the

profile generator has reached the

reference speed 0. Internal state

changes can delay the change of the

Done signal to

1:active

by one cycle

(

A150

).

MC_Home

0:inactive

as

0:inactive

, this

The command is finished when the

referencing procedure is concluded and

the drive has come to a standstill after

the reference positioning. With the "set

reference" type of reference positioning,

the Done signal becomes

1:active

again 6 cycles (

A150

) after the rising

edge of the Execute signal.

MC_Reset

0:inactive

as

0:inactive

, this

(43)

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STÖBER ANTRIEBSTECHNIK

03

Condition for

Command

I189 = 0:inactive

I189 = 1:active

AktivierePosi

—

1:active

as

1:active

, this

DeaktivierePosi —

—

MC_CamIn

0:inactive

as

0:inactive

, this

1:active

when the profile generator reaches the

master speed. This state is also

indicated by I192 Bit 1.

MC_CamOut

—

1:active

as

1:active

, this

MC_Move-Superimposed

0:inactive

as

0:inactive

, this

The command is finished when the

higher-level motion profile was covered.

Internal state changes can delay the

change of the Done signal to

1:active

(44)

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03

3.4 Interface

The interface to the outside is divided into 2 parts.

•

Control word for basic functions (contained in the template)

•

Customer-specific control word for application-specific bits

The control word for the basic functions is located at parameter address

I223

.

The control word is allocated with the following signals:

Bit

Signal

0 In

reserve

1

Hardware limit switch +

2

Hardware limit switch -

3

Ref. switch, axis

4 Jog

enable

5 Jog

+

6 Jog

-

7 TipStep

+

8 TipStep

-

9

Ref. switch, master axis

10-

In reserve

Status word

I200

of the basic functions is set up as shown below:

Bit

Signal

Meaning

0 Limit

switch

Group message of one of the two hardware limit

switches or software limit switch has tripped. See bits 5

... 8 in

I91

profile generator flags

.

1 Rejected

Group message: The last command could not be

executed due to no referencing, software limit switch or

disabled direction of rotation. Error code

I90

is between

1 and 4.

2

Limit

Group message: M-limit, following error, M limit due to i²t

3 Terminated Group

message:

MC_Stop

, enable off, quick stop

4

Constant speed The ramp generator specifies constant speed.

5

In-position

Reference value reached.

6

In-reference

Drive referenced.

7 Standstill

After

PLCopen

I89

=

2

8

Hand or local

mode

Hand is active (also applies to local mode via keyboard).

9

Cam 1

The electrical cam is in the active range (

I60

,

I61

).

10 Switching

point

11

Latch status bit

Bits 10 to 12 are not used by the "electronic cam"

application.

(45)

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03

Bit

Signal

Meaning

12

Latch status bit

13-15

Motion ID bit 0 -

Motion ID bit 2

Identifier of the last processed positioning job (lower 3

bits). The motion ID is specified in Posi control word

I210

/

I222

and is used in status word

I200

for the

unique allocation of the status bits to a certain

positioning job.

To make adjus