If Parameter A100 is programmed for a rotary table, the modulo function is activated and all position data in the vicinity of the 0..modulo value are displayed. Thus it is possible to implement an axis which can move infinitely in one direction. There is no overrunning of the position data.
The modulo value is set via parameter A105, Modulo value.
Note: Modulo processing of position data is allowed only with rotary motors. The motor type is verified when parameter mode is exited, and error message C213 Position data scaling error is issued if necessary.
The following illustration shows the difference in displaying the position data in absolute format and modulo format:
Display Value of the Position Modulo Value
Position Data for Modulo Function
Position Data for Absolute Format
Absolute Position of the Measuring System
Fig. 7-25: Display Value of Positions in Absolute Format and Modulo Format
ECODRIVE03 FLP-01VRS Functions
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INDRAMAT Decade Switch IDS1.1
DKC_IDS_AE.WMF
Fig. 7-26: IDS Connection to DKC
The INDRAMAT Decade Switch "IDS1.1“ enables inputting a feed length with 6 decimal places and a velocity with 2 decimal places.
Communications with the IDS1.1 are activated by increasing the input value to 2 or 3 for the protocol in Parameter B002. With this setting, the interface is always set to the IDS setting in Manual/Automatic Mode. In Parameter Mode, the protocol setting is set back to the original protocol, according to the driver selection in Parameter B002. This reestablishes communication with the BTV04.
Die IDS1.1 operates with the following transmission parameters:
RS232, 2400 Baud, 1 Start bit, 8 Data bits, 1 Stop bit, no parity checking.
A timeout is effective in Automatic Mode. If more than 2 seconds pass without receiving a valid IDS1.1 telegram, the following message is displayed: "E- 01 08 IDS01 timeout." Any positioning function in process is terminated and the NC user program is subsequently stopped.
B002, Protocol Parameter Mode: Manual Mode Automatic Mode
0 SIS SIS SIS
1 ASCII ASCII ASCII
2 SIS IDS IDS
3 ASCII IDS IDS
Fig. 7-27: B002, Protocol Setting
The IDS information that has been read is made available in system variables V015 to V018 and can be accessed there by the user NC program.
The distance between the DKC and the IDS1.1 can be up to 15 m. If power is available directly on the IDS, longer cables can sometimes be used.
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Functions ECODRIVE03 FLP-01VRS7.11 Movement to Positive Stop
The goal is to move a particular distance, within which a positive stop is expected.
If the positive stop is reached within that distance, the torque defined in the user program (refer to MOM command) is applied at the positive stop.
The torque, which should be valid until reaching the positive stop (during movement of the carriage), is also defined in the user program (refer to MOM command).
If the positive stop is not reached within the programmed distance, the movement is equal to the programmed distance. In this case, it is possible to switch the program flow into a user-defined error routine.
When the positive stop is reached, the position is held using the programmed torque, until new motion is initiated using another travel command.
If you only want to turn off the voltage, a POI command with travel distance of zero can be used.
Following are the criteria for recognizing the positive stop:
• Motion is started.
• The positive stop is recognized as soon as:
a) The current torque/force actual value >= torque/force limit value, is defined in the MOM command.
and
b) a drive movement occurs that is smaller than the feedrate set in the PFA/PFI command.
Only one PFI/PFA command can be active at one time.
During an active movement to positive stop, the execution of any other PFI/PFA command in a different program task is impeded until the movement to positive stop is completed.
0100 MOM 1 020 040 00.00.0 400 Torque Limitation To positive stop 20%At positive stop 40%
0101 POA 1 000250.000 999 Initiate movement at maximum speed.
0102 VCC 1 +000200 100 1 1 - Wait until position +200 with v=10% is reached.
0103 PFA 1 +000300.000 100 010 Movement to positive stop until position +300 is reached.
0104 JMP 0200 Jump if positive stop not
recognized.
0105 BCE 0120 I0.00.7 1 Positive stop recognized. Jump if input is 1.
0106 JMP 0105 Wait until input becomes 1.
0120 PSA 1 +000000.000 999 Return to position +0
0121 JST 0100 Jump with stop according to
instruction 0100 (wait for next cycle)
0200 AEA Q0.01.2 1 Set output.
0201 PSA 1 +000000.000 999 Return to position +0
0202 JST 0000 Jump with stop according to
instruction 0000.
ECODRIVE03 FLP-01VRS Functions
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7.12 Encoder Emulation
It is possible, with the help of encoder emulation, to generate positions in both of the standard formats
• TTL format with incremental encoder emulation
• SSI format with absolute encoder emulation.
Using these formats, encoder signals can be sent to other devices.
Incremental encoder emulation means the simulation of a real incremental encoder by a driver controller.
The emulated incremental encoder signals are used to relay information about the traversing velocity of the motor that is connected to the controller to a higher-ranking numeric control (NC) device.
"Absolute encoder emulation" means that the drive controller has the option of simulating a real absolute encoder in SSI data format. The drive controller thus offers the possibility of transmitting the position in SSI data format to a higher-level device. Pertinent Parameters
• C014, Encoder emulation
• C015, Encoder-Emulation Resolution
• C010, Reference, set absolute dimension
For incremental encoder emulation, the following parameter is also used:
• C016, Reference impulse-offset
With absolute encoder emulation, the following parameter is used:
C011, Reference point