This chapter describes the user-entered parameters required for the DLC to perform the motion control operation. The user adapts the DLC to his machine and the mechanical characteristics of the application by entering values for various parameters. These parameters permit a standard control system to conform to different but similar applications. It also assures that all application parameters are written with a uniform data format. The user must enter parameter values into the DLC memory prior to the operation and programming of the DLC control.
Note: All values for parameters must be known before an application program can be written. If a function is programmed or
attempted which would exceed the bounds established by the parameters, the control will halt and a diagnostic error will be displayed.
4.1 Description of Parameter Sets
The DLC includes the following sets of parameters.
Parameter Set A (Axis Parameters):
This axis parameter set (A100 through A125) includes the axis operating values for Automatic and Manual Mode operation. These parameters allow the user to configure the DLC for the motor and drive package that the DLC is controlling. They also allow the user to set the various factors of the motion profile, as required for the material and application. These include the resolution of the feed, acceleration rate, feed rate in different modes, etc.
Parameter Set B (System Parameters):
This system parameter set establishes the operating arrangement of the DLC. It allows the user to configure the DLC for various options such as the language that shows on the display (English, German, Spanish French, Italian, or Portuguese); selecting control interface options, such as the IDS or SOT; selecting and configuring other optional features like synchronization, measuring wheel operation, multi-tasking, etc.
Parameter Set C (Drive Parameters):
This parameter set allows drive tuning through the DLC. Drive parameters can be tuned using the CTA keypad or RS232 serial interface. Default drive parameters can be set only by using the CTA keypad. Processing must not occur simultaneously over the CTA keypad and RS232 serial drive interface. Drive parameters are viewed and edited in the same manner as for A and B parameters. C parameters are administered in the drive. With each new power-up, the C parameters are sent from the drive to the DLC.
DOK-CONTRL-DLC*A+DLC*G-AW03-AE-P • 12/99
4.2 Parameter List
Table 4-1 lists all of the parameters for the DLC A and the DLC 01.1-G with software versions DA01.1-XX.X or D01.1-G01.1-XX.X.
Parameter Set A Parameter Set B (Continued)
A100 Max Velocity B007 Language
A101 Jog Velocity B008 M-Function: I/O (DG only)
A102 Accel Rate B009 M-Function: Timer (DG only)
A103 Position Gain B010 Free
A104 Encoder Resolution B011 Manual Vector
A105 Free B012 Interrupt Vector
A106 Position Tol B013 Override
A107 Pos Pre-signal B014 Restart Vector
A108 Feed Constant B015 Cycle Time
A109 Direction B016 External Encoder 1
A110 Homing Setup B017 External Encoder 1 Lines/Rev
A111 Homing Offset B018 External Encoder 1Feed Constant
A112 Homing Ack B019 External Encoder 1 Offset
A113 Min Travel B020 External Encoder 2
A114 Max Travel B021 External Encoder 2 Lines/Rev
A115 Special Funct. B022 External Encoder 2Feed Constant
A116 Rotary Table B023 External Encoder 2 Offset
A117 Knee Point
A118 Free
A119 Free Parameter Set C
A120 Feed Angle Monitor C000 Analog Output 1
A121 Max. Speed (RPM) C001 Analog Output 2
A122 Monitor Window C002 Overload Factor
A123 Follow Axis C003 Position Data Scaling A-Output
A124 Free C004 Velocity Data Scaling A-Output
A125 Jerk C005 Velocity Loop Monitoring
A126 Position Window C006 Position Velocity Window
C007 Absolute Encoder Reference Position
Parameter Set B C008 Error Reaction
B000 Enable Axis 2 C009 Current Loop P-Gain
B001 System Inputs (DG only) C010 Velocity Loop P-Gain
B002 User I/O (DG only) C011 Velocity Loop I-Reaction Time
B003 Serial Interface C012 Smooting Time Constant
B004 Serial Interface C013 External Brake Release
B005 Memory Display C100 Set to Standard Parameter
B006 Start Task 2 & 3 C101 Set Absolute Position
Table 4-1: Parameter List
4.3 Entering the Parameters
The DLC must be in Parameter Mode to enter or edit parameters on the CTA keypad. The E-Stop signal must be present (+24 Vdc at DEA 4 connector X17, pin 3). The Parameter Mode is normally selected via a keyswitch on the user control panel, to prevent unauthorized changes to the parameter values.
Parameters are entered or changed by writing over any previous data and pressing the Store Key. These changes are made through the CTA keypad (or via a serial interfaced host device). A Lithium backup battery assures this memory is retained when the DLC is powered down or if the system experiences a power loss.
In Parameter Mode, the display shows the parameter name, number and data value of the parameter selected, as illustrated below.
When selecting Parameter Mode, the display shows the first parameter of the A set of parameters (A100), unless a fault exists, as described later in this section. The parameter display appears with the cursor on the first digit of the parameter data field. Use the right / left arrow keys to move the cursor in the field. Enter or change a parameter's data by writing over any previous data stored. Press the Store key to save the data change.
The display automatically changes to the next parameter number in the parameter set.
The following conditions will cause a parameter data change to revert back to the values last saved, if performed BEFORE pressing the Store key:
1. Pressing the CL key (clear entry), 2. Scrolling to another parameter, 3. Exiting Parameter Mode.
Always maintain an accurate listing of your parameter entries for reference when troubleshooting or changing parameters for a different application.
To select other parameters to display, first move the cursor onto the parameter number by pressing the CR key. If the cursor is within the data field, pressing CR once will cause it to move to the beginning of that field.
Press it again to move the cursor to the beginning of the parameter number. The left and right arrow keys will also move the cursor within and between fields.
To change from one parameter set to another, move the cursor to the “A, B or C” parameter number and press the up or down arrow key. You can also press the Blank key below the Block Store key to scroll through the different parameter sets.
Max Velocity A100
00050.000
DOK-CONTRL-DLC*A+DLC*G-AW03-AE-P • 12/99 3. Verify data changes are correct in the display.
4. Press the Store key to save the new parameter values (displayed data) into memory. The display automatically changes to the next parameter.
5. Repeat this procedure to change each parameter required by your application. Maintain a current list of parameter entries. Appendix E provides work sheets which show the organization of each parameter and provide spaces to list each entry.
Note: Should the displayed message appear in a language other than the language desired by the user, enter the B Parameter Set and scroll to B007. Change the display to the desired language, as explained for parameter B007 in this chapter (field entry of 01xxxxxx will cause a display in English).
The DLC checks the parameter values each time it is powered ON, as well as each time parameters are read in. If there are parameters that are incorrect or missing, an appropriate error message will be displayed.
Upon exit from the Parameter Mode, if any parameters have been changed, internal buffers that are dependent on parameter values will be re-calculated. During that time the display will show the message "Please Wait!" If you have entered a value higher or lower than the limits of the parameter, the display will show the error message "Is INVALID.” The invalid parameter description and number will display.
By switching back to Parameter Mode, the invalid parameter will be displayed. Enter correct values for the parameter (within limits).