BONFIGLIOLI Active Cube Instruções de Operação

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8 Application manual Positioning 04/08 2 System description Positioning via motion blocks enables movement by a certain distance or to a target

98 Application manual Positioning 04/08 4.8.3.1 Move away from SW limit switches The axis can be moved to the defined travel range again: −Ackno

04/08 Application manual Positioning 99 4.8.4 Target window The target window monitors the current position after completion of a positioning ope

100 Application manual Positioning 04/08 4.8.5 Contouring error supervision Contouring errors may occur, for example, if the acceleration and de

04/08 Application manual Positioning 101 Contouring error supervision output signals Warning Threshold 1105Contouring Error Time 1119Error Thres

102 Application manual Positioning 04/08 4.8.6 Warning mask Application The logic signals of monitoring and control functions can be selected vi

04/08 Application manual Positioning 103 The current warning mask can be read via parameter Actual Appl. Warning Mask 627. The operation modes of

104 Application manual Positioning 04/08 4.9 Speed Override The positioning function uses the parameterized speeds of the individual motion bloc

04/08 Application manual Positioning 105 4.10 Position Comparator The position comparator compares the current position and the specified positio

106 Application manual Positioning 04/08 Via parameter Operation Mode 1242, you can define the source for the actual posi-tion to be processed by

04/08 Application manual Positioning 107 4.11 Rotary Table Application A rotary table is a round axis with unlimited travel range. No limit switc

04/08 Application manual Positioning 9 2.1 Terminal diagram ACTIVE Cube (ACU) series The terminal diagram shows an example of a linear axis, w

108 Application manual Positioning 04/08 Example: Definition of units as degrees (°), setup of reference system (Feed Con-stant 1115), Feed Cons

04/08 Application manual Positioning 109 Example: Operation modes "3 – On /Clockwise Rotation" and 4 – "On / Anticlockwise Rota

110 Application manual Positioning 04/08 4.12 Position Controller The position controller evaluates the positioning operation (target/actual pos

04/08 Application manual Positioning 111 In order to avoid oscillations of the drive while it is at standstill, amplification is re-duced to 50 %

112 Application manual Positioning 04/08 4.13 Store the actual position value (latching function) With the latching function the actual position

04/08 Application manual Positioning 113 4.14 Wiring Example ACU, ACTIVE Cubedevice series2nd secure disable input for the safety function STOS1

114 Application manual Positioning 04/08 In configuration 240 S4IND (X210A.6) and S5IND (X210A.7) are parameterized by default as inputs for Enco

04/08 Application manual Positioning 115 5 List of homing modes In the following sections, the homing modes are explained in detail. The secti

116 Application manual Positioning 04/08 Homing Mode 1130 Function 11 - Neg. Lim.-Sw., Ref.-Sig. right of right Edge of Home-Sw. 12 -

04/08 Application manual Positioning 117 5.2 Overview Table of Homing Types The following table provides an overview of which position is ap

10 Application manual Positioning 04/08 3 Commissioning of the Frequency Inverter Warning! Carry out the electrical and mechanical installatio

118 Application manual Positioning 04/08 5.3 Graphic Overview of Homing Modes Home switch2726252829302324Home switch22212019Positive limit s

04/08 Application manual Positioning 119 5.4 Terminology To enable a better understanding of the homing modes, the terms used are ex-plained

120 Application manual Positioning 04/08 5.5 Description of Homing Modes Application example setup: Motor and speed sensorMSHome SwitchPos

04/08 Application manual Positioning 121 5.5.1 Homing Modes with Ref. Signal Operation mode 1: Homing to negative limit switch with detectio

122 Application manual Positioning 04/08 Operation mode 3: Homing to positive home switch with detection of en-coder ref. signal, home positio

04/08 Application manual Positioning 123 Operation mode 4: Homing to positive home switch with detection of en-coder ref. signal, home position

124 Application manual Positioning 04/08 Operation mode 5: Homing to negative home switch with detection of en-coder ref. signal, home positio

04/08 Application manual Positioning 125 Operation mode 6: Homing to negative home switch with detection of en-coder ref. signal, home position

126 Application manual Positioning 04/08 Operation mode 7: Homing to home switch with detection of encoder ref. signal, homing direction posit

04/08 Application manual Positioning 127 C: Homing direction (search direction) is clockwise toward positive HW limit switch. The home switch i

04/08 Application manual Positioning 11 3.2 Commissioning of the motor Caution! During the guided commissioning, comply with the safety instr

128 Application manual Positioning 04/08 The homing direction (search direction) depends on the signal status of the home switch. A: Homing

04/08 Application manual Positioning 129 999ABCvfvfvcvcvcvcPos. HW Limit SwitchHome switchEncoderreference signal A: Homing direction (searc

130 Application manual Positioning 04/08 Operation mode 10: Homing to home switch with detection of encoder ref. signal, homing direction posi

04/08 Application manual Positioning 131 C: Homing direction (search direction) is clockwise toward positive HW limit switch. The home switch i

132 Application manual Positioning 04/08 A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switc

04/08 Application manual Positioning 133 121212ABCvcvfvfvcvcvcNeg. HW Limit SwitchHome switchEncoderreference signal A: Homing direction (sea

134 Application manual Positioning 04/08 Operation mode 13: Homing to home switch with detection of encoder ref. signal, homing direction nega

04/08 Application manual Positioning 135 A: Homing direction (search direction) is anticlockwise toward negative HW limit switch if home switch

136 Application manual Positioning 04/08 141414ABCvfvfvcvcvcNeg. HW Limit SwitchHome switchEncoderreference signal A: Homing direction (sear

04/08 Application manual Positioning 137 5.5.2 Homing modes without reference signal Operation mode 17: Homing to negative HW limit switch wit

12 Application manual Positioning 04/08 3.3 Control Inputs and Outputs The modular structure of the frequency inverters enables a wide spec

138 Application manual Positioning 04/08 Operation mode 19: Homing to positive home switch without encoder ref. signal., falling edge Dest.

04/08 Application manual Positioning 139 Operation mode 20: Homing to positive home switch without encoder ref. signal., rising edge Dest.:

140 Application manual Positioning 04/08 Operation mode 21: Homing to negative home switch without encoder ref. signal., falling edge Dest.

04/08 Application manual Positioning 141 Operation mode 22: Homing to negative home switch without encoder ref. signal., rising edge Dest.:

142 Application manual Positioning 04/08 Operation mode 23: Homing to left falling edge of home switch without encoder ref. signal with positiv

04/08 Application manual Positioning 143 Operation mode 24: Homing to left rising edge of home switch without encoder ref. signal with positive

144 Application manual Positioning 04/08 Operation mode 25: Homing to right rising edge of home switch without encoder ref. signal with positiv

04/08 Application manual Positioning 145 Operation mode 26: Homing to right falling edge of home switch without encoder ref. signal with positi

146 Application manual Positioning 04/08 Operation mode 27: Homing to right falling edge of home switch without encoder ref. signal with negati

04/08 Application manual Positioning 147 Operation mode 28: Homing to right rising edge of home switch without encoder ref. signal with negativ

04/08 Application manual Positioning 13 3.3.1 Factory settings of the digital inputs Control input functions DigitalInput Controlterminal Con

148 Application manual Positioning 04/08 Operation mode 29: Homing to left rising edge of home switch without encoder ref. signal with negativ

04/08 Application manual Positioning 149 Operation mode 30: Homing to left falling edge of home switch without encoder ref. signal with negativ

150 Application manual Positioning 04/08 5.5.3 Homing modes, only ref. signal and actual position Operation modes 33 and 34: Homing to first

04/08 Application manual Positioning 151 6 Output Signals and fault messages 6.1 Actual positioning values The display of actual values in VPlus

152 Application manual Positioning 04/08 6.2 Status word of the positioning The positioning offers advanced information via a positioning statu

04/08 Application manual Positioning 153 Decimal Bit-No. Is set in Motion Mode or Operation Mode256 8 Gearing. Parameter Motion Mode 1208 of the ac

154 Application manual Positioning 04/08 6.3 Status word 411 Parameter Status word 411 includes two specific bits of the positioning. These bits

04/08 Application manual Positioning 155 6.4 Digital Positioning Output Signals Parameters OP. Mode Digital Output 1 530 of digital output S1OUT

156 Application manual Positioning 04/08 6.5 Logic Signal Sources for Positioning Logic signal sources can be assigned to the software function

04/08 Application manual Positioning 157 Logic signal Function891 - Motion-Block Digital Signal 1 Message on status of a travel order

14 Application manual Positioning 04/08 X210A.5 Stop Positioning The drive stops at the current position at deceleration ramp set in De

158 Application manual Positioning 04/08 6.6 Positioning Error Messages The following error messages may occur during positioning operations. Fo

04/08 Application manual Positioning 159 Error Error message Description/ActionF1452 Anti-Clockwise Operation Locked Negative hardware limit switc

160 Application manual Positioning 04/08 Error Error message Description/ActionF1470 Neg. HW-Lim. Switch: Illegal Signal Source Neg. HW Limit Swi

04/08 Application manual Positioning 161 Error Error message Description/ActionF1571 Homing : Encoder-Mode w.o. Z-Impulse For Homing Mode 1130, an

162 Application manual Positioning 04/08 6.7 Positioning Warning Status Warnings of the positioning functions are displayed in the error enviro

04/08 Application manual Positioning 163 6.8.1 Touch probe: Drive is decelerated or stops Description: Touch probe input is used in parameterizat

164 Application manual Positioning 04/08 7 Parameter List The parameter list is ordered numerically. For better clarity, the parameters are mark

04/08 Application manual Positioning 165 Reference System No. Description Unit Setting range Fact. sett. Chapter 1115 Feed Const

166 Application manual Positioning 04/08 Master Settings (el. gear) No. Description Unit Setting range Fact. sett. Chapter 1168

04/08 Application manual Positioning 167 Digital inputs No. Description Unit Setting range Fact. sett. Chapter 1224 Motion Block Change-Ov

04/08 Application manual Positioning 15 X210B.6 JOG-Mode Active Activates JOG mode. JOG clockwise via terminal X210A.4 or JOG anticlock

168 Application manual Positioning 04/08 7.3 Parameter list, sorted by function The parameter list is sorted by positioning functions. For the s

04/08 Application manual Positioning 169 Chapter No. Name of parameter Master Settings (el. gear) 4.7.1 1122 Master Position Source 4.7.2 1123

170 Application manual Positioning 04/08 IndexAAcceleration Electronic Gear ... 48 Homing ...

04/08 Application manual Positioning 171 IInterrupt ...55, 59 JJOG mode ...

172 Application manual Positioning 04/08 JOG mode ... 79 JOG speed keypad ...

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16 Application manual Positioning 04/08 3.5 Positioning - commissioning procedure Terminal assignment: S1IND (STOA) and S7IND (STOB): LOW sign

04/08 Application manual Positioning 17 Digital signals for status indication Digital signals can be influenced depending on the status of a moti

18 Application manual Positioning 04/08 3.5.1 Getting started In order to use the positioning function, you must start the frequency inverter

04/08 Application manual Positioning 19 3.5.1.2 Two different encoders for motor and positioning In systems where slip may occur, the motor enc

20 Application manual Positioning 04/08 3.5.1.3 No motor encoder, external encoder for positioning In some applications the speed control accu

04/08 Application manual Positioning 21 3.5.2 Reference system The reference system provides the link between the electrical system and the me-

22 Application manual Positioning 04/08 Example: Linear axis, drive via gearbox GearRevolutions of gearbox output shaftRevolutions of motor sh

04/08 Application manual Positioning 23 18245 0.182.45G ===11171116srevolution shaft Motor:Box Gearsrevolution shaftDriving :Box GearFactor

24 Application manual Positioning 04/08 3.5.3 Setting up a motion profile For complex motion profiles, e.g. profiles requiring different spee

04/08 Application manual Positioning 25 3.5.4 Control via software All parameters of the frequency inverter can be set up via the PC software V

26 Application manual Positioning 04/08 3.5.5 Write index and read index for the motion blocks table Via the write and read indices, the index

04/08 Application manual Positioning 27 Write index/Motion Block Sel. (Writing) 1200, Read index/Motion Block Sel. (Reading) 1201 Target Positio

04/08 Application manual Positioning 1 General Information about the Documentation This application manual complements the configurations de

28 Application manual Positioning 04/08 4 Operation Modes of the Positioning 4.1 General Issues about Operation Modes The following operation

04/08 Application manual Positioning 29 4.1.1 Assignment of digital inputs In the individual operation modes of the positioning, the digital in

30 Application manual Positioning 04/08 4.1.1.1 Instructions on MFI1D (multifunction input) Multi-function input MFI1D is processed, depending

04/08 Application manual Positioning 31 4.1.2 Operation modes for controlling the positioning operation Parameter Operation mode 1221 defines

32 Application manual Positioning 04/08 a11a12a22a31 a32tt2vv1v2v3motion block 1motion block 2motion block 3a21a11a12a22a31 a32tt2vv1v2v3motion b

04/08 Application manual Positioning 33 4.1.3 Input and output signals Single motionSequence modeTeach-InTouch Probe at S3IND (fixed)Motion bloc

34 Application manual Positioning 04/08 Note: Before a positioning operation can be started, the point of reference of the positioning operatio

04/08 Application manual Positioning 35 4.2.2 Input and output signals for homing Terminal assignment for homing Function Con-troller release St

36 Application manual Positioning 04/08 In most homing operations, a home switch (cam) and a hardware limit switch will be required. Mind wiring

04/08 Application manual Positioning 37 Input and output signals for homing Homing Mode 1130Operation Mode 1220HomingHome-Offset 1131Fast Speed

2 Application manual Positioning 04/08 TABLE OF CONTENTS 1 General Safety Instructions and Information on Use...

38 Application manual Positioning 04/08 4.2.4 Home offset With parameter Home Offset 1131, the point of reference for positioning can be adjus

04/08 Application manual Positioning 39 Via parameter Acceleration 1134, the acceleration and deceleration value to be used for homing is adjuste

40 Application manual Positioning 04/08 Attention! − After changing motion profiles, you should test the automatic se-quence of motion blocks at

04/08 Application manual Positioning 41 4.4 Positioning Mode And Motion Block Data 4.4.1 Motion Mode The positions are defined either in rela

42 Application manual Positioning 04/08 The operation mode of parameter Motion Mode 1208 defines the reference of the target position. Operation

04/08 Application manual Positioning 43 Motion Mode 1208Function 23 - Gearing, direct sync., Touch-Probe: Falling Edge Operation mode 3 is combine

44 Application manual Positioning 04/08 4.4.1.1 Motion mode "absolute" Parameter Motion Mode 1208 = "0 – absolute": The ta

04/08 Application manual Positioning 45 4.4.1.3 Motion mode "touch probe" (sensor) Activation of motion mode "touch probe":

46 Application manual Positioning 04/08 If no touch-probe signal is received within the touch probe window, the settings of parameter Touch-Prob

04/08 Application manual Positioning 47 4.4.1.4 Motion mode "velocity" Parameter Motion Mode 1208 = "4 – velocity": The dri

04/08 Application manual Positioning 3 4.4.2 Motion block data ...

48 Application manual Positioning 04/08 4.4.1.5 Combination with electronic gear Positioning operation modes 10 to 14 and 20 to 24 (parameter

04/08 Application manual Positioning 49 Note: If both a motor and a position encoder (two different encoders) are used, the function "Electr

50 Application manual Positioning 04/08 Motion mode “Gearing”, synchronisation at master speed Activation of motion mode “Gearing”: −Parameter

04/08 Application manual Positioning 51 Motion mode “Gearing, touch probe”, synchronisation at master speed Activation of motion mode “Gearing,

52 Application manual Positioning 04/08 Positioning mode “Gearing, direct synchronisation“ Activation of motion mode “Gearing, direct synchron

04/08 Application manual Positioning 53 Attention! During the processing of motion blocks and operation modes with elec-tronic gearing for Motion

54 Application manual Positioning 04/08 4.4.2 Motion block data The data of each motion block is saved separately. The motion block data consi

04/08 Application manual Positioning 55 4.4.2.3 Acceleration and Deceleration For parameters Acceleration 1204 and Deceleration 1205, the value

56 Application manual Positioning 04/08 Motion blocks are processed automatically in the following order: − Motion block is selected − Motion b

04/08 Application manual Positioning 57 Automatic sequenceLogic signal „1“Repetitions are possible for the settings of parameter :1 - relativ2

4 Application manual Positioning 04/08 6.2 Status word of the positioning ...

58 Application manual Positioning 04/08 After completion of the current motion order, a new motion order can be started automatically. As soon

04/08 Application manual Positioning 59 After interuption of the current motion order, a new motion order can be started automatically. During a

60 Application manual Positioning 04/08 Set the next motion block, stop of the drive or error switch-off for an event: By entering one of the li

04/08 Application manual Positioning 61 Example: Start of tne next motion block after delay expiry and by event 1 Event 11214S4INDDelay 1212Moti

62 Application manual Positioning 04/08 4.4.2.5 Single motion A signal on Start Positioning 1222 starts the Starting Record Number 1228 (pa-ra

04/08 Application manual Positioning 63 4.4.3 Control of motion 4.4.3.1 Selection of motion block via digital signals (motion block change-over

64 Application manual Positioning 04/08 Input signals for motion block change-over Motion Block Change-OverMotion Block selectionInput signal

04/08 Application manual Positioning 65 4.4.3.2 Motion block selection via parameter (starting-record number) Via parameter Starting-Record Num

66 Application manual Positioning 04/08 4.4.4 Input and output signals for motion blocks The controller enables the execution of individual orde

04/08 Application manual Positioning 67 Note: For controller release of the power component, wiring of the following digital inputs is required:

04/08 Application manual Positioning 5 1 General Safety Instructions and Information on Use Warning! The specifications and instructions conta

68 Application manual Positioning 04/08 4.4.5.1 Starting and stopping positioning The positioning operation is controlled via signals for both p

04/08 Application manual Positioning 69 A motion block can be started with “Start Positioning” even if the “Holding Time” is not elapsed. Inpu

70 Application manual Positioning 04/08 According to the example above: Reaction of the drive on set “Stop Posi-tioning” and reset “Start Posit

04/08 Application manual Positioning 71 − Reaction on reset “Start Positioning” (example) Distance-time and velocity-time diagrams a) b)tv01

72 Application manual Positioning 04/08 4.4.5.2 Resuming interrupted motion blocks The resume function enables continuing motion blocks after an

04/08 Application manual Positioning 73 4.4.6 Digital signals for indication of status of motion or-ders For each motion block, there are 4 digita

74 Application manual Positioning 04/08 The operation mode is the result of the combination of 3 possible input signals and 3 status changes to p

04/08 Application manual Positioning 75 Example 1: Digital signal 3 is to indicate that the target position was reached. When the position is re

76 Application manual Positioning 04/08 4.5 JOG Mode For commissioning and teach-in mode, the drive can also be controlled manually via digital

04/08 Application manual Positioning 77 Standard Terminal Assignment JOG mode Function Control-ler re-lease Jog-Mode Active1231 JogClock-wise1232

6 Application manual Positioning 04/08 1.2 Purpose of the Frequency Inverters Warning! The frequency inverters are electrical drive compone

78 Application manual Positioning 04/08 Input terminals for JOG mode: STOB (safety function)S1OUTMFO1A+10 V/4 mA MFI1DGND 10 V1234567X210A+20

04/08 Application manual Positioning 79 4.5.1 Fixed speed in JOG mode Four fixed speeds can be used in JOG mode. The fixed speed to be used can b

80 Application manual Positioning 04/08 JOG mode via keypad can be activated: •Navigate to the CTRL menu. • Actuate the ENT-key. Signal CTRL

04/08 Application manual Positioning 81 4.5.2 Acceleration and Deceleration in JOG Mode In JOG mode separate acceleration and deceleration ramps

82 Application manual Positioning 04/08 Input signals for teach-in Teach-InTeach-In-Signal 1239Move to the position which should be saved as ta

04/08 Application manual Positioning 83 Standard terminal assignment in teach-in mode Function Control-ler re-lease JogClockwise 1232 Jog Anti-cl

84 Application manual Positioning 04/08 Selection of motion blocks for teach-in Selection of motion block where the current position is to be

04/08 Application manual Positioning 85 4.7 Electronic gear Electronic gears are used in many plants where a synchronous operation, either contin

86 Application manual Positioning 04/08 In setting "11 - RxPDO1.Long1 extrapolated" of parameter Master Position Source 1122 the system

04/08 Application manual Positioning 87 4.7.2 Gear factor Via parameters Gear Factor Numerator 1123 and Gear Factor Denominator 1124, the gear fa

04/08 Application manual Positioning 7 1.5 Electrical Connection Warning! Before any assembly or connection work, discharge the frequency i

88 Application manual Positioning 04/08 Parameter Factory setting 1128 Start Phasing 7 - Off Input and output signals of phasing function

04/08 Application manual Positioning 89 The phasing function can be cancelled by resetting the Start Phasing signal. The current speed is reduced

90 Application manual Positioning 04/08 4.8 Monitoring Functions 4.8.1 Travel limits Bumping into the mechanical stops of a limited travel ran

04/08 Application manual Positioning 91 For each direction of motion, there is one HW limit switch. The HW limit switches are connected to digita

92 Application manual Positioning 04/08 Input signals and error messages /warnings of hardware limit switches: Fault Reaction 1143Hysteresis

04/08 Application manual Positioning 93 4.8.2.1 Hysteresis for hardware limit switch Via parameter Hysteresis 1149, the switching hysteresis of a

94 Application manual Positioning 04/08 4.8.2.2 Fault reaction Via parameter Fault Reaction 1143, you can define the behavior of the drive when

04/08 Application manual Positioning 95 Hardware limit switches can also be used for homing. In this case, the hardware limit switches are not eva

96 Application manual Positioning 04/08 Error messages/warnings of software limit switches: Pos. SW Limit Switch 1145Neg. SW Limit Switch 1146F

04/08 Application manual Positioning 97 Warnings and error messages of software limit switches Home positionPos. SW Limit Switch 1145Neg. SW Lim