Manual Plug Drive Series PDx-I PDx-I 2004 Nanotec®

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Manual Plug Drive Series PDx-I PDx-I 2004 Nanotec®

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PDx-I
Manual
Plug Drive Series
PDx-I
PDx-I
2004 Nanotec® Electronic GmbH Gewerbestr. 85652 Landsham Pliening Tel.: Fax: (089) 686-0 (089) 686-50
Internet: www.nanotec.com rights reserved. This documentation should carefully read before installation commissioning. interests customers, Nanotec® reserves right make technical alterations developments hard- software improve functioning this product without giving special prior notice. This manual been written with necessary care. exclusively intended technical description product give instructions commissioning. according with general terms conditions, warranty extends exclusively repair replacement defective devices. Liability consequential damage sequence errors ruled out. valid standards regulations observed when installing device. criticism, proposals suggestions improvement, please contact address given above send email info@nanotec.de MS-Windows 98/NT/ME/2000/XP registered trademarks Microsoft Corporation.
PDx-I
Contents
Product Description.
1.2.1 1.2.2
General.5 Description Motor- Machine-related Parameters
Motor-related Parameters Machine-related Parameters
1.3.1 1.3.2 1.3.3 1.3.4
Description Mode Operation.7
Position mode Speed mode Flag position mode Clock Direction Mode
Connections
2.1.1 2.1.2 2.1.3
Assignment (D-Sub connector)
Operating Voltage Inputs Outputs
Assignment (RS485 interface D-Sub contact strip).15
Function Inputs Outputs Position Mode.
Assignments Inputs Outputs.16 Signal Characteristics Position Mode.17
Functions Inputs Outputs Speed Mode
Assignments Inputs Outputs.18 Signal Characteristics Speed Mode.19
Functions Inputs Outputs Flag Position Mode
Assignments Inputs Outputs.20 Signal Characteristics Flag Position Mode
Function Inputs Outputs Clock Direction Mode
Assignments Inputs Outputs.22 Signal Characteristics Clock Direction Mode
Reference Travels Limit Switch Behaviour
External Reference travel Limit Switch Behaviour Internal Reference travel Limit Switch Behaviour
Speed Control Programming Software NANOPRO-PDx-I
General.29 Program installation
PDx-I
9.8.1 9.8.2 9.8.3 9.8.4
Program Start.29 Desktop Setting Motor Address Selection Motor Selection Control Commissioning
Setting Step Mode Setting Phase Current Setting Current Reduction Motor Test_
9.10 9.11
Program Machine Settings Setting Reference Switches Description Mode operation.40
General Functions (all modes) Selection Mode Operation Mode operation Position Mode operation Speed Mode operation Flag position Clock Direction Mode Operation_ Entry Reference Travels Data Menu Error Messages_ Setting port
9.11.1 9.11.2 9.11.3 9.11.4 9.11.5 9.11.6 9.11.7 9.11.8 9.11.9 9.11.10
10.1 10.2 10.3
Communication
Overriding Control Data Acceptance PDx-l.63 Commands data
Read Commands_ Writing Commands_ Control Commands_ Unknown Commands
10.3.1 10.3.2 10.3.3 10.3.4
12.1
Technical Data Dimensions
PD4-I57 series.82
PDx-I
Product Description
General
PDx-I (Plug Drive) motors offer, first time, possibility configuring suitable motor according requirements. This compact drive unit most effective quickest solution planners, designers engineers need solve revolution positioning tasks. Assembly, commissioning machine settings possible efforts within cost budget. PDx-I series includes, addition microstep driver micro processor, speed control RS485 interface parametrisation different mode operations. total, motors networked that with small synchronous time-critical multi-axis solutions quickly comfortably realised. PDx-l offers four modes operations: speed, position, flag position clock direction. Machine-related parameters such feed mm/s, frequency speed r.p.m., feed constant mm/revolution well gear reducers reverse clearance using software Nanopro PDx-I. Motor-related parameters such phase current step resolution from 1,8° 0.18° (0.09°) set. Three adjustable reference modes (external internal) allow automatic machine settings, with external reference switched inapplicable with adjustment 360°. Even stepper motors lose steps during normal operation, integrated speed control offers additional safety, e.g. against stalled motors external sources errors. monitoring function recognises stalled motor after full steps (with 1.8° stepper motors) latest. Malfunctions recognised necessary corrective measures shown error output. Description Motor- Machine-related Parameters addition special settings only applying specific mode operation, PDx-l allows generally valid motor machine settings.
PDx-I
1.2.1 Motor-related Parameters Step mode motor operated following step modes: Step mode Full step Half step Quarter step Fifth step Eighth step Tenth step Default: Half step Phase current phase current values between 125% motor nominal current, which seen from type designation PDx-I. Example: Type designation: PD4-I-T5718L3204 Nominal current following settings phase current possible: 125% nominal current Nominal current nominal current nominal current nominal current Default: Nominal current Current reduction reduce power loss automatic power reduction activated during downtimes. following settings current reduction possible: current reduction phase current phase current phase current Default: Current reduction phase current -61.8°Motor 1,8° 0,9° 0,45° 0,36° 0,225° 0,18° Step resolution 0.9°Motor 0,9° 0,45° 0,225° 0,18° 0,1125° 0,09°
PDx-I
1.2.2 Machine-related Parameters Reverse Clearance position mode, PDx-I enables compensation reverse clearance changing direction. With corresponding applications (e.g. spindle drives), position errors compensated during change direction. reverse clearance automatically added nominal position change direction. avoid error position during first start driving profile after switching reference travel necessary made after reverse clearance switching Description Mode Operation PDx-l operated four different modes: Position mode (Default, see1.3.1) Speed mode (see 1.3.2) Flag position mode (see 1.3.3) Clock direction mode (see 1.3.4)
1.3.1 Position mode position mode, motor runs according preset travel profile from Position Position positions defined absolute reference values. addition, this mode offers internal external reference travel (see Chapter travel profiles including reference travels saved PDx-l started corresponding inputs and/or serial interface.
PDx-I
Profile parameters travel profile consists following parameters: Types position Distance Minimum speed Maximum speed Ramp factor Direction Change direction Operations Break Types position There different types position: Relative positioning (default setting) travel profile from current position. Absolute positioning travel profile refers firmly nominal position, independent actual position. Distance Number motor steps 16.777.215 relative positioning +8.388.607 -8.388.608 absolute positioning Default: steps Minimum speed minimum speed starting speed (start/stop frequency) PDxI. avoid losses steps should chosen outside self-resonance ranges motor. minimum speed which high will also lead losses steps. selectable range: steps r.p.m. 6000 r.p.m. full step) Default: Maximum speed maximum speed speed PDx-I. avoid losses steps should chosen outside resonance ranges. maximum speed which high lead losses steps motor standstill. selectable range: steps r.p.m. 6000 r.p.m. full step) Default: 1000
PDx-I
Ramp factor PDx-l ramp (acceleration braking ramp) with frequency jump millisecond. linear alteration this basic ramp possible through ramp factor (e.g. ramp ms). selectable range Default: Direction Direction motor selectable range (right left) Default: relevant absolute position Change direction With activated change direction, direction PDx-l automatically changed, when record activated successively several times. change altered after each activation. selectable range off) Default: relevant absolute position Operations Operations parameter shows often selected travel profile automatically successively without further start command. range Default open entry travel profile permanently used Break break idle time motor, several operations (see run. Range 25.5 Default 1.3.2 Speed mode speed mode accelerates motor with given ramp from start speed (start frequency) maximum speed (maximum frequency). PDx-I different speed profiles stored, change speed through inputs and/or interface possible time.
PDx-I
Profile parameters speed profile consists following parameters: minimum speed maximum speed Ramp factor Direction Minimum speed minimum speed starting speed (start/stop frequency) PDxI. avoid losses steps should chosen outside self-resonance ranges motor. minimum speed which high will also lead losses steps. selectable range: steps 6000 full step (1.9° step angle)) Default: Maximum speed maximum speed nominal speed PDx-I. avoid uneven running, speed should outside resonance ranges. maximum speed which high lead losses steps motor standstill. selectable range: steps 6000 full step) Default: 1000 Ramp factor PDx-l ramp (acceleration braking ramp) with frequency jump default millisecond. linear alteration this basic ramp possible through ramp factor (e.g. ramp ms). selectable range Default:
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PDx-I
Direction Direction motor only relevant when operated serial interface, otherwise direction selected through input selectable range (right left) Default: 1.3.3 Flag position mode Flag position mode offers combination position speed mode. motor first operated speed mode, reaching triggering point, position mode started motor travels nominal position (relative trigger position). addition, this mode offers internal external reference travels (see Chapter travel profiles including reference travels saved PDx-l started corresponding inputs and/or serial interface.
Profile parameters travel profile consists following parameters: Distance Minimum speed Maximum speed Maximum speed Ramp factor Direction Change direction Distance Number motor steps 16.777.215 steps Default: steps
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PDx-I
Minimum speed minimum speed starting speed (start/stop frequency) starting speed PDx-I. avoid losses steps should chosen outside self-resonance ranges motor. minimum speed which high will also lead losses steps. selectable range: steps 6000 full step) Default: Maximum speed maximum speed maximum speeds nominal speeds PDx-I. avoid losses steps they should outside resonance ranges. Maximum speeds which high lead losses steps motor standstill. selectable area: steps rpm. 6000 rpm. full step) Default: 1000 (maximum frequency 2000 (maximum frequency Ramp factor PDx-l ramp (acceleration braking ramp) with frequency jump millisecond. ramp same speed well position mode. linear alteration this basic ramp possible through ramp factor (e.g. ramp ms). selectable range Default: Direction Direction motor selectable range (right left) Default: 1.3.4 Clock Direction Mode Clock Direction Mode PDx-I operated inputs overriding position control (indexer) with clock direction signal. With each clocking impulse, motor step direction stipulated direction input carried out. addition, internal external reference travel (see Chapter manual mode supported.
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PDx-I
Connections
Assignment (D-Sub connector) view
Name Input Input Input Input Input Input Output (0V) Output Output (0V)
Remarks Input Optocoupler Input Optocoupler Input Optocoupler Input Optocoupler Input Optocoupler Operating voltage Input Optocoupler Output overtemperature open collector Input common optocoupler Operating voltage (0V) Operating voltage Output open collector Output open collector Operating voltage (0V)
2.1.1 Operating Voltage permitted operating voltage PDx-I lies range from must exceed and/or fall below under circumstances. charging capacitor least 2200 must provided supply voltage order avoid exceeding permitted operating voltage (e.g. with braking procedure).
Connect charging capacitor 2200µF. Mixing connections destroy output stage. Never disconnect intermediate circuit power supply pull energised plugs! Appropriate power packs charging capacitors available accessories. -13-
PDx-I
2.1.2 Inputs inputs galvanically separated from supply voltage PDx-I optocoupler designed input signals optionally) with input current Circuit
2.1.3 Outputs outputs transistor outputs open-collector circuit switching, max. mA). Circuit
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PDx-I
Assignment (RS485 interface D-Sub contact strip)
Name
Remarks used RS-485 Output RS-485 used used RS-485 RxOutput (0V) RS-485
Circuit RS485 network
RS485 4-wire used pure Master-Slave application, PDx-Is connected parallel slaves. length connection lines (stub lines) short possible should exceed under circumstances. avoid reflections during data transmission, provided with finanl resistance R4). guarantee defined resting level, resistances connected according above figure.
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PDx-I
Function Inputs Outputs Position Mode
Assignments Inputs Outputs Input Start input/ Error reset impulse input starts desired travel profile. Through negative flank error (speed control) reset. Selection travel profile inputs used profile number profile triggered. When activating Input value read corresponding profile loaded started. Selection profile number: Profile Input Outputs: Output Output State Control processes latest command "Ready", motor stands waits command Error (speed control) error switch (normal operation) Reference point (zero position reached) Input Input Input Input
Inputs
External limit switch (see reference travel Chapter 7.1)
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PDx-I
Signal Characteristics Position Mode example, profile then profile then profile reference programmed, Chapter started.
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PDx-I
Functions Inputs Outputs Speed Mode
Assignments Inputs Outputs Input Enable Input starts stops PDX-l. Through negative flank input error (speed control) reset. Direction Input determines direction PDX-l. Speed speed defined inputs condition inputs constantly read output into corresponding speed parameter. motor accelerates brakes nominal speed changes speed using ramp Selection speed Speed Outputs: Output Output State Speed output travels "Ready", motor stands waits command Error (speed control) Zero position reached Input Input Input Input
Input Inputs
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PDx-I
Signal Characteristics Speed Mode example, speed speed and, after change direction, speed activated.
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PDx-I
Functions Inputs Outputs Flag Position Mode
Assignments Inputs Outputs Input Start impulse input starts speed mode. Through negative flank input error (speed control) reset. Input Inputs Trigger impulse input triggers position mode. Profile number inputs used profile number profile run. When activating Input value read corresponding profile loaded started. Selection profile number: Profile Input Outputs: Output Output State Control processes latest command "Ready", motor stands waits command Error (speed control) error switch (normal operation) Reference point reached Input Input Input
External limit switch (see reference travel Chapter 7.1)
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PDx-I
Signal Characteristics Flag Position Mode example, profile started then reference travel (programmed profile made.
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PDx-I
Function Inputs Outputs Clock Direction Mode
Assignments Inputs Outputs Input Enable activation input auto mode selected through inputs started. reference travels started impulse. Through negative flank input error (speed control) reset. Auto mode auto mode (see table) defined inputs setting taken over activation input direction reference travel determined parameters. auto modes (left and/or right) motor makes single steps frequency approx. then accelerates programmed maximum frequency. Selection auto mode: Input Input Auto mode left right internal reference external reference Input Input
Inputs
External limit switch (see external reference travel Direction input signal determines direction motor. signal must longer switched least before clock signal. Clock (external) motor step direction stipulated direction input carried with negative flank input signal Output Output State Control processes latest command Current reduction active Error (speed control) Reference point reached
Input
Outputs:
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PDx-I
Signal Characteristics Clock Direction Mode example, auto modes left right consecutively started then external reference made.
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PDx-I
Reference Travels Limit Switch Behaviour
External Reference travel Limit Switch Behaviour During external reference run, PDx-l runs switch connected reference input (Input mode different, description input output signals corresponding mode). After start external reference travel, motor accelerates with ramp from minimum maximum speed reaching reference switch. reference switch opener closer (has initilised software during programming). behaviour PDx-l when recognising reference switch separately defined normal operation (position flag position mode) reference travel. There four types position behaviour limit switch: ,,Free travel backwards" (reference travel normal operation) motor changes direction recognition limit switch leaves limit switch.
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PDx-I
,,Free travel forwards" (reference travel normal operation) motor continues into same direction recognition limit switch leaves limit switch.
,,Stop" (only normal operation) motor stops immediately recognition limit switch. Then, reference travel carried out, motor have lost steps (overflow).
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PDx-I
,,Disable" (only normal operation) limit switch function. reaching reference position, Input Input simultaneously switched during reference travel well normal operation. Default settings limit switch behaviour: Limit switch ,,opener" reference travel ,,free travel backwards". normal operation "disable" Internal Reference travel Limit Switch Behaviour During internal reference travel PDx-I moves internal reference point with minimum speed. This reference point motor shaft reached anew each full turn motor. internal reference travel only used find actual reference position positioning less than 330°. behaviour PDx-l when recognising reference point defined normal operation (position flag position modes) with external reference travel. During internal reference travel, there four types positioning behaviour reference point (separately initializable reference travel normal operation). ,,Free Travel Backwards" (reference travel normal operation) motor changes direction recognition internal reference leaves reference point.
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PDx-I
,,Free Travel forwards" (reference travel normal operation) motor continues into same direction recognition internal reference point leaves reference point.
,,Stop" (only normal operation) motor stops immediately recognition reference point. Then, reference travel carried out, motor stops internal reference.
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PDx-I
,,Disable" (only normal operation) internal reference function. reaching reference position, Input Input simultaneously switched during reference travel well normal operation. Default setting behaviour internal reference: internal reference travel ,,free travel backwards". normal operation "disable"
Speed Control
PDx-I internal speed control. monitoring motor function messages losses steps. motor loses more than full steps half steps, quarter steps etc. with 1.8° stepper motor) within rotation angle Output shows error. travel will aborted. resolution, speed control cannot replace encoder.
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PDx-I
Programming Software NANOPRO-PDx-I
General NANOPRO-PDx-I software enables configuring programming PDx-I motor series using standard Well-structured surfaces simple test functions enable uncomplicated operation PDx-l facilitate commissioning. software suited MS-Windows 98/NT/ME/2000/XP operating systems; communication, free COM-Port connection RS232/485-Converter necessary. System requirements MSWindows 98/NT/ME/2000/XP CD-ROM drive installation Free port Accessory: RS232/485 converter Program installation Insert installation into drive. Change drive Windows Explorer open Setup directory. Start setup program double clicking file setup.exe. Follow installation instructions setup program.
Program Start program started first time, desktop setting port appears. Select free port Connection drop down menu free port which PDx-I connected RS232/485 converter.
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PDx-I
clicking onto button, setting future program start enabled.
Desktop
Desktop Position Mode
After program start, desktop shown. further parameters functions there. entry fields buttons operated using arrow keys keyboard addition mouse.
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PDx-I
Setting Motor Address enable error-free connection with PDx-I, motor address correctly. PDx-I delivered with preset address ,,1". able operate several motors RS485 network unique address allocated each motor. motor address, activate Motor address submenu Setting menu
alarm message appears confirm that only motor connected interface.
Then motor address desktop:
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PDx-I
This menu offers following functions: Reading current motor address: Activate Readout button read current addresses connected PDx-I. Motor field shows current motor address. Allocation motor address: allocate address connected motor, corresponding address Motor number drop down field confirm with address taken over motor program shows desktop again. Cancel activating Cancel button, program returns desktop without further action. Selection Motor motors addressed parameterised through program. Confirm selection desired motor activating corresponding motor number Motor menu.
settings entries saved motor-related program. When ending program, these settings lost they stored file (see Data menu).
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PDx-I
Selection Control select control use, activate Motor Control submenu Setting menu.
Then program desktop Control shown.
select control used, highlight corresponding control type drop down field Control confirm confirming Readout button, control type automatically read shown.
Commissioning motor-related parameters, activate Commissioning submenu Settings menu.
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PDx-I
Then program desktop Commissioning shown.
right range desktop, current motor number displayed, left area, parameters current record shown. activating Return button, program returns desktop. 9.8.1 Setting Step Mode setting step mode, enter desired step mode Step mode drop down field. pressing Step mode button, PDx-l re-initialised with step mode set.
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PDx-I
9.8.2 Setting Phase Current phase current Phase current drop down field, value relates nominal current PDx-I. pressing Accept phase current button, PDx-I re-initialised with preset phase current.
9.8.3 Setting Current Reduction current reduction Reduction drop down field (75% corresponds reduction phase current). pressing Accept reduction button, current reduction PDx-l taken over.
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PDx-I
9.8.4 Motor Test motor parameters tested connection with current record position mode mode operation. this purpose enter desired record parameter into corresponding fields.
After activating Start button, motor started with preset settings. motor reaches preset position, stops period Break field then started reverse direction. This process constantly repeated until Stop button activated. parameters changed time transferred PDx-l activating Accept parameter button. changed parameters transferred after next change direction. transfer parameters tested into current record, activate Accept settings button. program shows again desktop.
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PDx-I
current test program, speed control responds, following message appears:
confirming this message, speed control reset test program started again. Program Machine Settings order carry special program machine settings confirm Program machine settings submenu Settings menu.
desktop setting program machine parameters shown:
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PDx-I
activating drop-down fields, following program settings desktop made: Display distance steps degree mm/s Display counter reading steps degree
Display speed
units automatically converted after activating button. settings ,,mm" corresponding feed shown Feed constant field:
addition, reverse clearance (see 1.2.2) gear reduction indicated activation corresponding check box.
Press button confirm settings, parameters converted taken over into desktop. activating Escape button, program returns desktop without taking over settings.
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PDx-I
9.10
Setting Reference Switches PDx-I offers different possibilities define behaviour internal external limit switch (see 7.2). these settings, activate Settings submenu Reference travel menu
desktop setting reference switch opened.
following settings made: Type: Setting, whether external limit switch opener closer.
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PDx-I
Behaviour during reference travel: Setting, whether limit switch (external internal) driven forwards (without change direction) backwards opposite direction) released. Behaviour during normal operation: Setting behaviour PDx-I recognition limit switch (external internal) during normal operation reference travel). After confirmation with settings taken over motor program shows desktop again. activating Escape button, program returns desktop without taking over settings. 9.11 Description Mode operation
9.11.1 General Functions (all modes) Readout data activating Readout data button, parameters profile data PDx-l transferred program. Then desktop changes into corresponding mode operation.
Motor Machine Settings right range desktop, selected motor machine settings indicated. settings refer PDx-l with step angle 1.8° program start. adjust settings actual motor, confirm Readout data button (see above). times speed resulting from profile entered well motor number selected also indicated machine setting area. data recalculated when entering data.
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PDx-I
Position: current position motor read using Counter reading button, position shown absolute zero position (see also 9.8, Display counter reading). counter deleted current position becomes zero position activating Reset button.
9.11.2 Selection Mode Operation select mode operation start Mode then corresponding submenu. program changes desktop correspondingly mode.
current mode provided with hook under this menu item.
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PDx-I
9.11.3 Mode operation Position (Position mode, also 1.3.1 following desktop shown position mode:
Distance Type Position Start Speed Maximum Speed Ramp Motor Settings Direction Operations Test Record Store Data Break Change Direction
Record Graphic
this mode, travel profiles defined programmed. enter travel profile, proceed follows: Selection travel profile activation option fields types position entry field distance, desired travel profile selected. entry field distance coloured, Record parameter field, display record number changes.
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PDx-I
Entry type position Select option field relative position and/or absolute position
Display distance Enter absolute relative position selected travel profile Distance field (see also 9.8, Program Machine Settings Display distance). Admissible values absolute position: 8.388.607 steps Admissible values relative position: 16777215 steps
Entry speed ramp: Enter start maximum speeds desired travel profile fields Start Max, ramp steepness Ramp field. Admissible values speeds: 20000 steps, according other units) Admissible values ramp:
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PDx-I
Entry direction (only with relative position): relative position, enter direction travel profile Direction choice field.
Entry operations: Enter number operations Operations field (see 1.3.1
Entry break: Enter required break time between operations Break field (see 1.3.1
Entry change direction (only with relative position): automatic change direction activated Change Direction choice (see 1.3.1
Display route graphics(only with relative position):
Ramp time (starting time) total actuating time travel profile seen route graphics. graphics recalculated which each relevant input.
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PDx-I
Record test: activating Test Record button, current record transferred PDx-l started. parameters stored control unit.
Store data store travel profiles permanently PDx-l, activate Store data button. transfer last some seconds optically shown with bar. Then travel profiles selected started inputs PDx-l.
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PDx-I
9.11.4 Mode operation Speed (Speed mode, also 1.3.2 following desktop shown speed mode:
Start Speed Speed Maximum Speed Ramp Motor Settings Direction
Test Record Store Data
Record Graphic
this mode, different speeds defined programmed. enter speed profile proceed follows: Selection speed select speed, activate corresponding speed number field which then highlighted colour.
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PDx-I
Entry speed ramp: Enter start maximum speeds desired speed profile fields Start Max, ramp steepness Ramp field. Admissible values speeds: 20000 steps, according other units) Admissible values ramp:
Entry direction (only with speed test): program-controlled speed test, enter direction speed profile Direction choice field.
Display route graphics Ramp time (starting time) speed profile selected seen route graphics. graphics re-calculated which each relevant input.
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PDx-I
Speed test: activating Test Record button, current speed profile transferred PDx-l started. parameters stored control unit.
After start, buttons control motor shown. speed increased decreased mouse clicks. speed tests, activate Record stop button.
Store data store speed profiles permanently PDx-l, activate Store data button. transfer last some seconds optically shown with bar. Then speeds selected started inputs PDx-l.
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PDx-I
9.11.5 Mode operation Flag position (Flag position mode, also 1.3.2 following desktop shown flag position mode:
Start Speed Distance Maximum Speed Maximum Speed Ramp Motor Settings Direction Test Record Store Data
Record Graphic
this mode, different flag positions defined programmed. enter travel profile proceed follows: Selection travel profiles: activation entry field distance, desired travel profile selected. entry field coloured Record parameter field, display record number changes current record.
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PDx-I
Display distance Enter nominal position selected travel profile Distance field (relative trigger point) (see also 9.8, Program Machine Settings Display distance). Admissible values position: 16777215 steps (for other units corresponding values admissible)
Entry speed ramp: Enter start maximum speeds speed operation, position operation) desired speed profile fields Start V1/V2, ramp steepness Ramp field (identical both modes operation). Admissible values speeds: 20000 steps, according other units) Admissible values ramp:
Entry direction: Enter direction selected travel profile Direction choice field.
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PDx-I
Display route graphics Ramp time (starting times) travel profile selected seen route graphics. graphics re-calculated which each relevant input.
Profile test: activating Test Record button, current travel profile transferred PDx-l started. parameters stored control unit.
After start, buttons control motor shown. activating Trigger button, trigger set, motor changes into position mode travels nominal position set. activating Stop button, profile test ended.
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PDx-I
Store data store travel profiles permanently PDx-l, activate Store data button. transfer last some seconds optically shown with bar. Then travel profiles selected started inputs PDx-l.
9.11.6
Clock Direction Mode Operation Clock direction mode (see also 1.3.4) following desktop shown clock direction mode:
Start Speed Auto Functions Maximum Speed
Ramp Motor Settings
Test Record Store Data
this mode, different functions auto mode defined programmed.
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PDx-I
program functions proceed follows: Selection function: activation corresponding display field, auto mode function selected. entry field coloured Record parameter field, display record number changes corresponding function.
following auto functions selected: Man. Settings manual travel left Man. Settings manual travel right Ref. int. Settings internal reference travel Ref. ext. Settings external reference travel Entry speeds ramp: Enter start maximum speeds desired auto function fields Start Max, ramp steepness Ramp field. Admissible values speeds: 20000 steps, according other units) Admissible values ramp:
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PDx-I
Entry direction (only with reference travels): Enter direction selected reference travel Direction choice field.
Function test: activating Test (Function) button, current auto mode transferred PDx-l started. parameters stored control unit.
function test activating Stop button, active auto mode ended.
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PDx-I
Store data store parameters auto modes permanently PDx-l, activate Store data button. transfer optically shown with bar. Then modes selected started inputs PDx-l.
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PDx-I
9.11.7
Entry Reference Travels (Reference travels, also Chapter Individual travel profiles programmed reference travel (internal external) position flag position mode. entry reference travel, enter internal reference travel and/or order external reference travel entry field distance.
Internal Reference External Reference
entry speeds, ramp direction similar entry travel profiles.
reference travels started activating Test Record buttons. parameters stored control unit.
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PDx-I
activating Store data button, addition travel profiles entered, parameters reference travels transferred PDx-l selected started inputs.
9.11.8
Data Menu
Data menu settings stored, opened program ended.
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9.11.9 Error Messages Communication error
This message appears when data transmission PDx-l possible. following causes responsible: wrong Port (see Settings COM-Port 9.11.10) communication cable connected interrupted. non-existing motor number power supply PDc-l interrupted Transfer error
This message appears when data transmission PDx-l disturbed (sender receiver disturbed). following causes responsible: wrong laying communication cable laid separately motor supply lines). Cable shielded Rs-485 wires twisted pairs resistances resting levels exist communication line. final resistances exist
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PDx-I
control unit prepared
during output travel profile, inadmissible data tried sent control unit, above shown message appears. pressing button, travel profile stopped PDx-l changes into "Ready" condition. Then data again transferred control unit. activating button, travel profile continued output. control unit active
during output speed profile, reset control unit made switching operating voltage off), change frequency longer possible speed mode, message ,,Control active" shown. After activation button, speed mode started again.
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PDx-I
Position error
button activated when control error mode (position error limit switch normal operation), message "Position error!" shown. error reset activation button. Input active
button activated, when travel profile already completed Input still active, above error message appears. After deactivation input, desired button activated. Motor version
version test failed, version control unit entered (motor entered) differs from currently connected version. version changed confirmation with Yes.
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PDx-I
9.11.10 Setting port
port, select CommPort menu item Communication menu.
Select free port Connection drop down menu free port which PDx-I connected RS232/485 converter.
clicking onto button, setting taken over.
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PDx-I
Communication
PDx-l configured pure slave, sends data only request overriding control.
10.1
Overriding Control Each data packet overriding control consists following components: Start byte Address Command Data (depending command) Start byte Address Address number Command byte Data bytes byte
Each byte consists start byte, data bits stop without parity bit. baud rate permanently 19200 bauds. Start byte address Each communication with PDx-I starts with start byte ,,#" followed motor address. activated address unique when several controls used network avoid collision when several controls answer. Valid addresses values 249, address general address (all PDx-I addressed). Command command byte includes action PDx-l carried out. Data According command, certain number data bytes transferred. prescribed number bytes must adhered control commands followed data bytes. (Carriage Return) Each data packet concluded with <CR>.
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PDx-I
10.2
Data Acceptance PDx-l data packet sent overriding control unit first read into receipt buffer. successful transmission, data taken over PDx-l corresponding command carried out. transmission incorrect, data received rejected. With exception start bytes, other bytes received directly returned sender after receipt echo (exception: commands which general address). reading commands, data bytes attached command byte concluded with Dead time: interruption data packet duration more than seconds, data already received rejected.
10.3
Commands data Note: commands which trigger storage data sent, storing time taken into consideration. After expiry this period, communication with control again enabled.
10.3.1 Read Commands StatusQuery Character,,$" ASCII ASCII
Command: Example (hex): Answer (hex):
<Motor address (1)> <CR>
<Motor address (1)> <Status byte> <CR>
Structure status byte: ready ready Reference position (internal position) reached Position error (speed control limit switch enabled Travel profile ended start input still active Position mode active Speed mode active Flag position mode active Clock direction active (Bit (ready) always set)
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PDx-I
Query Motor Address Character,,M" ASCII ASCII
Command: Example (hex): Answer (hex):
<Global motor address (255)> <CR> <Motor address (255)> <Motor address (001)> <CR>
motor address transmitted data bytes (3-digit address). Sending command only admissible "ready" state. global motor address used with this command, PDx-l only connected overriding control! Reading Stored Data byte Storage Address) Character,,Z" ASCII ASCII
Command: Example (hex): Antwort (Hex):
<Motor address (1)> <Storage address (010)> <CR>
<Motor address (1)> <Storage address (010)> <Data (200)> <CR>
Storage address data: following table shows stored data relevant address (decimal) EEPROM PDx-I. answer packet, first command storage address repeated, then three data bytes (3-digit address content) sent.
Add. Parameter Step mode Motor address Mode operation Phase current Current reduction Limit ext. reference Limit int. reference Limit ext. operation Limit int. operation Limit type external Reverse clearance byte Reverse clearance byte Motor step angle Motor step angle Position type record Steps byte record Steps byte record Add. Parameter Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travel record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record
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PDx-I
Add. Parameter Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Add. Parameter Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record
-65-
PDx-I
Add. Parameter Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record13 Start frequency record Max. record Add. Parameter Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record Position type record Steps byte record Steps byte record Steps byte record Start frequency record Max. record Max. record Ramp factor record Direction record Direction revers. record Break record Travels record
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PDx-I
Sending command only admissible "ready" state. Note: step angle (set address characters: Step angle 1,8° Step angle 0.9° Address ,,1" (Hex Address ,,8" (Hex Address ,,0" (Hex Address ,,9" (Hex
Example: Query step mode: Example (hex): Answer (hex):
<Motor address (1)> <Storage address (000)> <CR>
<Motor address (1)> <Storage address (000)> <Data (001)> <CR>
Data Step mode ,,Full step" Reading Actual Position Byte Position) Character,,C" ASCII ASCII
Command: Example (hex): Answer (Hex):
<Motor address (1)> <CR>
<Motor address (1)> <Position (000001144)>
Position: position sent decimal contents storage three position bytes. Example: position sent 000001144 (see above) converted follows: Byte 65536 Byte Byte 65536 Position:
calculated position value larger than 8.388.607, this negative position. calculated value deducted from possible maximum value 16.777.216. Sending command only admissible "ready" state.
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PDx-I
10.3.2
Writing Commands
motor address bytes motor address) Command: Example (hex): Answer (hex): Character,,m" ASCII ASCII
<Motor address (255)> <Motor address (1)> <CR>
<Motor address (255)> <Motor address (1)> <CR>
value between admissible Motor address. allocated address taken over PDx-l stored. global motor address used with this command, PDx-l only connected overriding control! Sending command only admissible "ready" state. step mode bytes step address) Command: Example (hex): Antwort (Hex): Character,,g" ASCII ASCII
<Motor address (1)> <Step mode (1)> <CR>
<Motor address (1)> <Step mode (1)> <CR>
Explanation step mode: ,,1" (Hex 31): Full step ,,2" (Hex 32): Half step ,,4" (Hex 34): Quarter step ,,5" (Hex 35): Fifth step ,,8" (Hex 38): Eighth step ,,10" (Hex 30): Tenth step step mode stored PDx-I (duration: approx. control again initialised. Sending command only admissible "ready" state.
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PDx-I
phase current (2to bytes phase current) Command: Example (hex): Answer (hex): Character,,i" ASCII ASCII
<Motor address (1)> <Phase current (100)> <CR>
<Motor address (1)> <Phase current (100)> <CR>
Explanation phase current: ,,25" (Hex 35): Phase current nominal current ,,50" (Hex 30): Phase current nominal current ,,75" (Hex 35): Phase current nominal current ,,100" (Hex 30): Phase current nominal current ,,125" (Hex 35): Phase current nominal current phase mode stored PDx-I (duration: approx. control again initialised. Sending command only admissible "ready" state. current reduction bytes current reduction) Command: Example (hex): Answer (hex): Character,,r" ASCII ASCII
<Motor address (1)> <Current reduction (25)> <CR>
<Motor address (1)> <Current reduction (25)> <CR>
Explanation current reduction: ,,25" (Hex 35): Reduction phase current ,,50" (Hex 30): Reduction phase current ,,75" (Hex 35): Reduction phase current ,,100" (Hex 30): current reduction current reduction stored PDx-I (duration: approx. ms).
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PDx-I
mode operation byte mode operation) Command: Example (hex): Answer (Hex): Character,,!" ASCII ASCII
<Motor address (1)> <Mode operation (1)> <CR>
<Motor address (1)> <Mode operation (1)> <CR>
Explanation mode operation: ,,1" (Hex 31): Position mode ,,2" (Hex 32): Speed Mode ,,3" (Hex 33): Flag position mode ,,4" (Hex 34): Clock direction mode operation sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. type position(1 byte position type) Command: Example (hex): Answer (hex): Character,,p" ASCII ASCII
<Motor address (1)> <Position type (1)> <CR>
<Motor addresse (1)> <Position type (1)> <CR>
Explanation position type: ,,1" (Hex 31): Relative position ,,2" (Hex 32): Absolute position ,,3" (Hex 33): Internal reference travel ,,4" (Hex 34): External reference travel type position sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state.
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PDx-I
steps bytes step steps) Command: Example (hex): Answer (hex): Character,,s" ASCII ASCII
<Motor address (1)> <Steps (100)> <CR>
<Motor address (1)> <Steps (100)> <CR>
Steps Max. relative position: Max. absolute position:
16.777.215 8.388.607
absolute position, sign prefixed steps additional byte. Character,,+" Character,,-" ASCII ASCII
steps sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. start frequency bytes start frequency) Command: Example (hex): Answer (hex): Character,,u" ASCII ASCII
<Motor address (1)> <Start frequency (400)> <CR>
<Motor address (1)> <Start frequency (400)> <CR>
Start frequency start frequency transferred data bytes PDx-l. Range: 20000 steps start frequency sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state.
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PDx-I
maximum frequency bytes maximum frequency) Command: Example (hex): Answer (hex): Character,,o" ASCII ASCII
<Motor address (1)> <Max frequency (1000)> <CR>
<Motor address (1)> <Max frequency (1000)> <CR>
Maximum frequency maximum frequency transferred data bytes PDx-l. Range: 20000 steps maximum frequency sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. maximum frequency bytes maximum frequency Command: Example (hex): Answer (hex): Character,,n" ASCII ASCII
<Motor address (1)> <Max frequency2 (2000)> <CR>
<Motor address (1)> <Max frequency (2000)> <CR>
Maximum frequency (only valid flag position mode) maximum frequency transferred data bytes PDx-I. Range: 20000 steps maximum frequency sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state.
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PDx-I
ramp bytes ramp) Command: Example (hex): Answer (hex): Character,,b" ASCII ASCII
<Motor address (1)> <Ramp (5)> <CR>
<Motor address (1)> <Ramp (5)> <CR>
Ramp ramp sent data bytes. Range: ramp sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. direction byte direction) Command: Example (hex): Answer (hex): Character,,d" ASCII ASCII
<Motor address (1)> <Direction (1)> <CR>
<Motor address (1)> <Direction (1)> <CR>
Direction direction sent byte. Range: Character,,0" ASCII Character,,1" ASCII left direction right direction
direction sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state.
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PDx-I
change direction byte change direction) Command: Example (hex): Answer (hex): Character,,t" ASCII ASCII
<Motor address (1)> <Change direction (1)> <CR>
<Motor address (1)> <Change direction (1)> <CR>
Change direction change direction sent byte. Range: Character,,0" ASCII Character,,1" ASCII Change direction Change direction
change direction sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. operations bytes operations Command: Example (hex): Answer (hex): Character,,W" ASCII ASCII
<Motor address (1)> <Operations (2)> <CR>
<Motor address (1)> <Operations (2)> <CR>
Operations operations sent data bytes. Range: Operations travel profile endless. Operations travel profile successive according number operations. operations sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state.
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PDx-I
break bytes break) Command: Example (hex): Answer (hex): Character,,P" ASCII ASCII
<Motor address (1)> <Break (5)> <CR>
<Motor address (1)> <Break (5)> <CR>
Break break sent data bytes. Range: Calculation break time: sent value break break sent taken over into main memory written into EEPROM after command Save record been carried out. Sending command only admissible "ready" state. limit switch behaviour (int. ext.) bytes limit switch behaviour) Command: Example (hex): Answer (hex): Character,,l" ASCII ASCII
<Motor address (1)> <Limit switch behaviour. (i1)> <CR>
<Motor address (1)> <Limit switch behaviour (i1)> <CR>
Limit switch behaviour limit switch behaviour stored PDx-I (duration: approx. ms). Sending command only admissible "ready" state. following settings possible data byte):
,,i" ,,i" ,,e" ,,e" ,,i" ,,i" ,,i" ,,i" ,,e" ,,e" ,,e" ,,e" ,,1" ,,2" ,,1" ,,2" ,,b" ,,b" ,,b" ,,b" ,,b" ,,b" ,,b" ,,b" ,,0" ,,1" ,,2" ,,3" ,,0" ,,1" ,,2" ,,3" Limit switch behaviour return int. reference travel forwards int. reference travel return ext. reference travel forwards ext. reference travel int. limit switch disabled normal operation int. limit switch return normal operation int. limit switch forwards normal operation int. limit switch stop normal operation ext. limit switch disabled normal operation ext. limit switch return normal operation ext. limit switch forwards normal operation ext. limit switch stop normal operation
-75-
PDx-I
Sending command only admissible "ready" state. limit switch type (opener closer) byte limit switch type) Command: Example (hex): Answer (hex): Character ,,e" ASCII ASCII
<Motor address (1)> <Limit switch type (1)> <CR>
<Motor address (1)> <Limit switch type (1)> <CR>
Limit switch type limit switch stored PDx-I (duration: approx. ms). following settings limit switch type possible: Character,,0" ASCII Character,,1" ASCII Limit switch type ,,Opener" Limit switch type ,,Closer"
Sending command only admissible "ready" state. Store record byte record number) Command: Example (hex): Answer (hex): Character,,>" ASCII ASCII
<Motor address (1)> <Record number (1)> <CR>
<Motor address (1)> <Record number (1)> <CR>
Record number data record currently desktop stored EEPROM under record number stated (duration: approx. ms). Range: ,,1" ,,16" (record number Sending command only admissible "ready" state.
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PDx-I
reverse clearance bytes reverse clearance) Command: Example (hex):
<CR>
Character,,z"
ASCII
ASCII
<Motor address (1)> <Reverse clearance (20)>
Answer (hex):
<Motor address (1)> <Reverse clearance (20)> <CR>
Reverse clearance each change direction motor position mode, reverse clearance added distance run. Range: reverse clearance; default) 9999 steps reverse clearance stored PDx-I (duration: approx. ms). Sending command only admissible "ready" state. Reset actual position Command: Example (hex): Answer (hex): Character,,c" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
This command resets actual position PDx-l Sending command only admissible "ready" state.
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PDx-I
10.3.3
Control Commands Start current travel profile Command: Example (hex): Answer (hex): Character,,A" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
(correspondingly mode operation, travel profile stored main memory started) Sending command only admissible "ready" state. Stop travel profile Command: Example (hex): Answer (hex): Character,,S" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
(The currently activated travel profile immediately interrupted) Increase maximum frequency (only speed mode) Command: Example (hex): Answer (hex): Character,,+" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
(The maximum speed increased [according other units]) This command only possible speed mode after start command according 10.3.3
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PDx-I
Reduce maximum speed (only speed mode) Command: Example (hex): Answer (hex): Character,,-" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
(The maximum speed reduced [according other units]) This command only possible speed mode after start command according 10.3.3 Trigger (only flag position mode) Command: Example (hex): Answer (hex): Character,,T" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
command starts trigger flag position mode. Reset position errors Command: Example (hex): Answer (hex): Character ,,D" ASCII ASCII
<Motor address (1)> <CR>
<Motor address (1)> <CR>
command resets position errors. This command possible recognition position error speed control.
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PDx-I
10.3.4 Unknown Commands Undefined commands answered PDx-l with following character: Character,,?" Example (hex): Answer (hex): ASCII ASCII
<Motor address (1)> <unknown command^> <CR>
<Motor address (1)> <unknown command^> <CR>
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PDx-I
Technical Data
Operating voltage Phase current adjustable from nominal current Current reduction 25%, 50%, phase current Step resolution Full step Half step Quarter step Fifth step Eighth step step Step angle: PDx-Ixx09. 0,9° PDx-Ixx18. 1,8° Clock frequency max. Mode clock direction other modes Inputs: Optocoupler Signal delay time: Inputs Input Outputs Open collector max. Signal delay time: Output Output pull Connection type I/O: D-SUB connector Interface: D-SUB contact strip Interface RS-485 wire) Dead time: seconds 19200 Baud start bit, data bits, stop parity max. cooling unit temperature approx during full operation depending operation time, current reduction external cooling surfaces, external ventilation might necessary. max. ambient temperature
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PDx-I
12.1
Dimensions
PD4-I57 series
Type PD4-I5709X3208 PD4-I5709S3208 PD4-I5709L3208 PD4-I5718X3208 PD4-I5718S3208 PD4-I5718L3208 PD4-I5718D3208
Step angle 0,9° 0,9° 0,9° 1,8° 1,8° 1,8° 1,8°
Weight [kg] 0,76 0,96 1,30 0,76 0,96 1,30 2,06
Length [mm] 43,5 52,5 77,5 43,5 52,5 77,5
Length [mm] 191,5
Remarks series with series with Shaft diameter
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PDx-I
Absolut position Address
Motor standstill Motornumber
Network Nominal current
Break
Operating voltage Operations Output
Change direction Change direction Charging capacitor Clock direction mode Clock Direction Mode Clock frequency Command Commissioning Communication error COM-Port Converter Counter Current reduction
Phase current Position Position error reset Position mode Position type Positioniermodus Power loss power pack Profile parameters Program installation Programmino Software
Data Data packet Desktop Direction Distance Driving profile
Ramp Ramp factor Read Commands Reading Commands Record number Record parameter Record test Reference external internal Reference Relative position Reverse clearance Route graphics RS485 profile start stop profiles
Feed Flag position mode Flagposition mode Free
Input Interface
Limit switch
Machine parameter Machine Settings Maximum frequency Maximum speed increase reduce Mode operation Motor address Motor Address Motor number Motor parameter
Speed Speed change Speed control Speed Control Speed mode Speed Mode Speed profile Start byte Start frequency Start speed Status Step angle
-83-
PDx-I
Step losses Step mode Step resolution Steps Store data Trigger
Writing Commands
Temperature Transfer error
-84-

Manual Plug Drive Series PDx-I PDx-I 2004 Nanotec®

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