operating manual gel 8110

Lenord, Bauer & Co. GmbH, 2002-07 Subject to change without notice

GEL 8110Positioning Controller

Operating Manual

Lenord, Bauer & Co. GmbHDohlenstrasse 32 46 145 Oberhausen • GermanyPhone: +49 208 99 63-0 • Fax: +49 208 67 62 92Internet: http://www.lenord.de • E-Mail: [email protected]

OP E R A T I N G MA N U A L GEL 8110 – CONTENTS

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1 Introduction 1-1

1.1 General safety instructions

1.2 Designated use

1.3 Guarantee, liability and copyright

1.4 Information on this manual

1.5 Characteristics of the EcoController GEL 81xx 5

2 Installation 2-1

2.1 Assembly

2.2 Connections

2.2.1 Terminal strips

2.2.2 EMC measures

2.2.3 Supply voltage

2.2.4 Serial interface

2.3 Communication

3 Commissioning 3-1

Prerequisites, initial state

3.1 Basic settings

3.2 Actual value adjustment

3.2.1 Incremental encoders

3.2.2 Absolute encoders

3.3 Preparations for displacing the drive

3.4 Count direction and voltage polarity 3-8

3.5 Minimum voltages

3.6 Optimization of control parameters

3.6.1 Maximum speed

3.6.2 Control factor

3.6.3 Accelerating/braking times

3.6.4 Jerk time

3.7 Controller configuration

4 Functional Description 4-1

4.1 Definitions

4.1.1 Actual unit of measurement

4.1.2 Display units (DispU)

4.1.3 Count direction

4.2 Internal memory structure


ii 8110-4

4.3 Operating states

4.3.1 Started state

4.3.2 Interrupted state (stop state)

4.3.3 Reset state

4.3.4 Manual positioning

4.4 Speed rates

4.5 Continuous sentence processing (positioning without stop)

4.6 Drive control

4.6.1 Principle of regulation

4.6.2 Positioning characteristic

4.7 Signals

4.7.1 ‘Sense’

4.7.2 ‘Fault’

4.7.3 ‘Zero Delta_s’

4.7.4 Drive control signals

4.7.5 Program processing signals

4.7.6 Range signals Absolute rangesRelative rangesDrive signals

4.8 Reference measure

4.8.1 Setting of the reference measure when positioning the drive

4.8.2 Automatic reference search routine

4.9 Correction value

4.10 Rotary table positioning

4.11 Parking

4.12 External data input/output

4.12.1 Data input

4.12.2 Data output

4.12.3 ECO bus

4.13 Limit switches

4.13.1 Software limit switches and input monitoring

4.13.2 Hardware limit switches (option)

4.14 Linear path control

4.15 Program flow instructions

4.15.1 Call subroutine (CALL Pr.)

4.15.2 Jump instructions (JUMP Pr., JMP sent)

4.15.3 Signal-dependent branching (IF l/O)

4.15.4 Examples

4.16 Coordinates offset


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5 Trouble shooting 5-1

5.1 Status display

5.2 Warning and error messages

5.3 Fault memory

6 Serial Data Transfer 6-1

6.1 Hardware

6.1.1 Ser1 port

6.1.2 Ser2 port

6.1.3 Ser3 port

6.1.4 Specifications

6.2 LB2 protocol

6.2.1 General

6.2.2 Basic telegram structure

6.3 Functions00h: Select device 01h: Read actual data 02h: Write operational data 10h, 11h, 12h: Read the nominal values of a program18h … 1Bh/5Bh: Create/overwrite a nominal value program20h/60h: Modification of a nominal value program 30h: Read machine parameters 31h, 32h, 34h: Write machine parameters 33h: Read parameter error 40h: Read device type 41h…43h: Read software version 50h…53h: Read/delete faults 57h: Delete all programs

6.4 Error codesCommunication errors Function parameter errors Operating errors

7 GEL 8810.xx1 Operator Terminal (option) 7-1

7.1 Basics

7.2 Basic settings

7.3 Operating modes

7.3.1 Automatic mode Functions

7.3.2 Programming mode for nominal values Functions Programming example

7.3.3 Programming mode for machine parameters


iv 8110-4

Functions Programming example

7.3.4 Survey of functional keys

Appendix A: Storage locations for machine parameters A-1

Overview

Parameter format

Explanations on the representation used

System parameters (1st level)

Unit parameters (2nd level)

Axis parameters (3rd level)

Appendix B: Pin Layout B-1

Connections (designations and functions)

Connector arrangement

Terminal strip coding

DIP switch arrangement (rear side of the device)

Connection diagrams Terminal strip N (Voltage supply and analogue output) Connector Z (Input for incremental and SSI encoders) Terminal strip J (Control inputs for unit/axis 1 / data input) Terminal strip K (Control outputs for axis 1) Terminal strip G (Control inputs for unit/axis 2 / data input) Terminal strip H (Control output for axis 2 / data output) Terminal strip F (8 bit data input/output) Connector E (24 bit data input) Connector A (24 bit data output) Connector B (RS 485 and RS 422 serial interfaces) Connector C (RS 232 C serial interface and CAN bus)

Appendix C: Specifications C-1

Operational data

Dimensions

Type coding

Accessories

Information on programming nominal values are to be found in− chapter 7: Operator Terminal− a separate document: PC program BB 8110 (operating and observing)

INTRODUCTION 1-1

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1 Introduction

1.1 General safety instructions

The EcoControllers GEL 81xx have been built according to state-of-the-art-technique and in compliance with valid safety regulations. However, uponusing them it might happen that there will be the danger of injury for theuser or other persons resp. damages to the Controller itself or other materialassets. Do use the Controller only

− for the designated use (see Section 1.2)

− in perfect technical condition. In order to maintain this condition and to ensure operation free from danger,

installation, wiring and service work should be carried out only by qualifiedspecialists1, under observance of the relevant accident prevention, safetyguidelines and information in the product documentation.

If through a failure or fault of the Controller an endangering of persons ordamage to plant is possible, this must be prevented using additional safetymeasures (E-STOP, limit switches etc.). These must remain operational inall Controller operating modes, so that through disengaging of the safetyfeatures no uncontrolled re-start of the controlled machine is possible.

If danger free operation can no longer be ensured, the Controller shouldbe taken out of commission and secured against accidental operation.

Necessary repairs to the Controller are only to be carried out byLENORD+BAUER or a specifically authorised agent.

Note: Some of the inputs/outputs are equipped with self-resetting thermalfuses (PTC overload protection, see Appendix B). In case of release,switch off the voltage supply for approx. 20 seconds.

The operating data tolerances for the supply voltage stated in Appendix Cmust be strictly observed, since otherwise Controller functions might failcausing dangerous situations (the mains failure monitoring system in theController reacts and a started programme might possibly not be continuedproperly). If required, provide for an E-STOP circuit reacting to this.

Prior to start carrying out any positioning procedures using the Controller,it is imperative that you read Section 4.1.3 and the hints on commissioningsupplied in Chapter 3 (especially Sections 3.3 and 3.4).

1 These are persons, who

− in respect of the project are familiar with the safety concepts of automation technology,− are experienced in the area of EMC,− have received training in relation to installation and service work,− are familiar with the operation of the unit and know the pertinent product information contained to

ensure faultless and safe operation.

1-2 INTRODUCTION

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Further special information on danger causing injury or material damagesand any other information are marked in this manual by special symbols:

This symbol denotes an imminent danger to life and health of persons.Should you ignore these warnings severe damages to health or even life-threatening injuries might be the consequence.

Symbolises a possible danger for life and health of a person.Should you ignore these warnings severe damages to health or even life-threatening injuries might be the consequence – or may cause severematerial damages.

This symbol denotes a possibly dangerous situation.Should you ignore these warnings slight injuries or material damagesmight be the consequence.

This symbol denotes in general critical situations or possible materialdamages.

, Where you see this symbol you will be supplied important information forthe proper handling of the Controller.Should you ignore this information a malfunction might occur in theController or in the machines the Controller is connected to.

Here you are supplied with application hints and other usefulinformation for the optimum use of the Controller.

1.2 Designated use

The EcoControllers type GEL 81xx are designated to control and regulatedrives in industrial and commercial areas.

Special options and devices made to customers’ specifications may result in anextension resp. restriction of the above prescription. Should this be the case,the specification given in the pertaining descriptions are binding.

Designated use also encompasses that the instructions in this user manual arefollowed.

A differing or exceeding use is deemed not designated. In such cases LENORD,BAUER & CO. GMBH does not accept any responsibility for damages.

1.3 Guarantee, liability and copyright

Fundamentally our general delivery and payment conditions apply, which areavailable to the user at the latest upon closing contracts. Guarantee andliability claims on damages to persons or objects are excluded, if they can betraced to one or more of the following causes:

• Implementation of the Controller outside the designated use

INTRODUCTION 1-3

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• Inappropriate mounting, installation and operation of the Controller

• Operation of the Controller in conjunction with defective or non functionalsafety equipment in the system

• Ignoring the instructions in the user manual with regard to storage, mount-ing, installation and operation of the Controller

• Arbitrary build changes to the Controller

• Improper repairs

• Catastrophes due to foreign bodies and higher forces

The user manual has been produced with great care. However no guaranteescan be made for possible errors.

Copyright for this user manual remains with LENORD, BAUER & CO. GMBH. Theuser manual is meant for use only by the user or system builder as well as theiremployees. The instructions, guidelines and other information contained arenot to be reproduced, distributed or otherwise imparted.

Violations will be prosecuted.

1.4 Information on this manual

This manual is applicable to Controllers with the standard firmware

version 15.06 and higher

Does a Controller not comply with the indicated version, the contents may not beregarded as binding. We cannot assume any liability for any malfunction result-ing thereof and its consequences.

Due to the Controller’s universality and the multitude of its functions theuser manual becomes automatically more extensive, since all possibleversions and variations must be considered.

The concept of the present manual is based on selective reading, i.e., youare not supposed to completely study each chapter in order to be able touse the Controller most efficiently. This is the reason why – because of theabsence of an index – the table of contents at the beginning of the manualis very detailed thus facilitating the search for a specific information.

Optional functions are marked as such so that you may ignore this infor-mation right from the start, if your Controller is not equipped with thesespecial functions.

For orientation purposes, the individual chapters are briefly describedbelow:

Chapter 1: Safety instructions and general information; to be studied byall means!

1-4 INTRODUCTION

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Chapter 2: Details on the installation and programming of the EcoCon-trollersPlease note in particular the EMC relevant measures.

Chapter 3: How to commission the EcoControllersThough there are quite a number of techniques for the commissioning ofthe EcoController depending on individual experiences, please do not failto consider the information supplied in this chapter.

Chapter 4: Detailed description of all functionsIs first and foremost intended to serve as a kind of ‘reference book’;however, do not fail to read the first section ‘Definitions’.

Chapter 5: The most important warning and error messages shown inform of a chart indicating causes and how to put things right (messages ofextended functions are mentioned where they are described: separatedocuments)

Chapter 6: Description of the serial interfaces and the protocol LB2

Chapter 7: Survey of all displays and keys of the optional operatingterminal GEL 8810Should you operate the EcoController via the optional PC programBB8110, please refer to the respective manual which is suppliedseparately.

Appendix A: A list of all storage locations for machine parameters includ-ing brief descriptions – in tabular formThis survey might be sufficient for the experienced user for programmingthe Controller.

Appendix B: Layout Information on the different connectors and terminalstrips of the Controller

Appendix C: Technical data, dimensioned drawings and type codes

Separate documents: Description(s) of employed, i.e. implemented,special functions such as circular interpolation (GEL 8115) orsynchronisation control (GEL 8140)

For the description of operating or setting procedures key designationsand displays are used referring to the optional operating terminal GEL 8810(see Chapter 7).

For terminal designations (e.g. K5) the letter denotes the terminal strip /connector and the number the pertaining terminal / pin (see Appendix B). Ifseveral identical connectors exist, an index is added between the letter andthe terminal no. (e.g. Z210 for pin 10 of the 2nd connector Z [Z2]). If not

INTRODUCTION 1-5

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expressly mentioned, all data listed apply to the standard device resp. thestandard pin layout of the GEL 8110.

Numbers of storage locations of machine parameters do have a prefixreferring to the respective parameter plane (see Appendix A):

1/x = system parameter x 2/x = unit parameter x3/x = axis parameter x

A ‘x’ or ‘X’ in a numerical expression represents any numeral from theadmissible range of values for this expression (example: GEL 811x =GEL 8110 and/or GEL 8115).

Texts printed in italics normally describe input or output signals at theterminal strips (see Appendix B).

If functions are added, which normally means that the firmware versionwill be given a new number, new descriptions will be attached as separatedocuments. Please make sure that all addendums stay together with thepresent manual.

1.5 Characteristics of the EcoController GEL 81xx

The menu oriented operating/programming is performed using plain texteither via

− an optional operating terminal GEL 8810 operated at the serial interfaceor

− the optional PC program BB8110

Single drives (axes) may be controlled separately or together as a so-calledunit. The maximum of 6 axes can be operated via the optional CAN bus, 2axes can be operated via the RS 485 serial interface (ECO bus, Ser2: seeAppendix B), and the 1st + 2nd axis can be controlled via hardware I/O.

Exact and dynamic close-loop position control with speed precontrol

Very short control sampling time of 1 ms per connected axis

Path control is possible (optional with circular interpolation)

Sequential storage of malfunctions

Sentence structure (nominal value types) can be set differently for each unit(combination of axes)

All storage locations are protected against mains failure (flash memory witha service life of 20 years or 100,000 rewrites)

Optional extension of functions, e.g. synchronisation control or control for aflying saw

Maintenance-free (clean the housing with a wet cloth)

1-6 INTRODUCTION

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The following picture shows the basic structure of a 2-axes positioning devicewith the GEL 8110 Controller and incremental encoders, including the possibleinput and output signals. Depending on the software version available and theextension of functions other signals as well might be available; for further infor-mation, please refer to the pin layout in Appendix B and to separate descrip-tions of special functions.

E1811014

INSTALLATION 2.2 Connections 2-1

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2 Installation

2.1 Assembly

The EcoController is designed to be mounted on top hat rails. It is fixed via the2 mounting straps on the back of the device: Insert the straps in the top of therail and press the device at its bottom. Disassembly is carried out in reverseorder (pull the device off at the bottom first).

For fixing the Controller to a mounting plate (wall mounting) the necessaryaccessories as angles and screws are attached (see dimensioned drawing inAppendix C).

2.2 Connections

2.2.1 Terminal strips

For a good electrical contact and mechanical grip of the cables in theterminal strips as well as for a safe insulation we strongly recommend thatstranded cables be fitted with wire end ferrules to DIN 46228 part 4, which arefitted permanently using a special crimping tool. If two or more thin cables areto be connected to one terminal, the use of twin wire end ferrules will beadvantageous.

For tightening the terminal screws (M2) use a screw driver with the blade sizeof 0.4 × 2.5 mm.

2.2.2 EMC measures

To maintain the certified electromagnetic compatibility (EMC) the followingassembly instructions must be adhered to:

Keep earthing connections as short as possible and with a large cross-section (e.g. low-inductance braided cable, flat-band conductor)

Earth mounting plates as well as the switch cabinet well

Keep all unscreened cables as short as possible

Connect screens at both cable ends with as large a surface area aspossible

The power supply must comply with installation class 0 or 1 according topoint B.3 of the EN61000-4-5 from 1995

2-2 2.2 Connections INSTALLATION

8110-4

Only use connectors with metal housings or a housingmade of metallized plastic and connect the screen directly tothe tension relief of the connector with as large a surfacearea as possible

If the connector does not have special tension relief, it isadvised to provide adequate clamping between the twohalves of the housing. If necessary widen the cable withshrink-sleeve before folding over the screen.

The same applies to the cables at the screw terminals:

X181014J

Lay signal and control lines separated from the power cables

Should potential differences exist or occur between machine- and elec-tronic-earth connections, take adequate measures so that no compensat-ing currents can flow through the screen (e.g. potential equalisation linewith large cross-section or cable with double screen, where only one end ofeach screen is to be connected at different ends)

If inductive loads (relays, contactors) are connected to the logic outputs,measures for limitation of the interrupting voltage (spark suppression)should be provided (recovering diode or RC network in parallel and close tothe coil)

2.2.3 Supply voltage

The EcoController is supplied with a voltage of

♦ 15…23 VAC at terminal N1 and N2 or

♦ 18…30 VDC at terminal N2 (+) and N3 (-).

The inputs are equipped with self-resetting thermal fuses (PTC overloadprotection). In case of release, switch off the supply voltage for approx. 20seconds. Furthermore, voltage-dependent resistors limit the input voltage toapprox. 30 V (see appendix B, terminal strip N).

X035AH

INSTALLATION 2.2 Connections 2-3

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At terminals N4 (+) and N5/6 (-) an auxiliary voltage for the supply of signaldevices etc. is made available. The voltage falls approx. 1.5 V below the one ofthe DC supply (voltage drop at the rectifier diode). At N5/6 is the internal refer-ence ground, which is also supplied to other terminals (e.g. J9), for the purposeof coupling potentials.

For installation purposes do only connect the supply voltage, first.

2.2.4 Serial interface

For programming the EcoController, i.e. itsadaptation to the machine (see Chapter 3,‘Commissioning’), connect

− an Operator Terminal GEL 8810(optional, see Chapter 7) to socket B ofthe RS485 interface (Ser3) or

− a PC to interface socket C (Ser1 – RS 232 C) or socket B (Ser1 – RS 485).

In the second case setting is carried out via the BB8110 program.

All the serial interfaces are terminated by built-in resistors which are sized insuch a way that up to 31 EcoControllers can be operated on a bus. If theresistance should be too high using less devices or a single device (increasedinterference liability) an adaptation has to be carried out externally.

For a single-drop communication PC–EcoController you may use the RS 232C interfaces of both devices. But for a multi-drop communication a RS 485interface must be used (also valid for a distance >15 m). If your PC does nothave an internal RS485 inter-face, a RS232C/RS485 con-verter is necessary, such asthe GEL 89010 available asaccessory. Dependant onwhether the PC interface hasa 25-pin or 9-pin connector this one is,

− connected directly to the PC or

− connected via a D-subminiature adapter (e.g. accessory GEL 89025) or

− via a nullmodem cable (without DTR/DSR crossed) connected to this:

9

GEL 8810

B9

GEL 89019B

Operator

Terminal

E181026D

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X181026E

2-4 2.2 Connections INSTALLATION

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male(25-channel)

converterGEL 89010/GEL 89011

PC (COMx)

female(9-channel)

13

7

3

2

1

25

20

15

14

"DCE"

1

2

3

4

5

6

7

8

9

DTR

GNDTxD RxDRxD TxD

E050H

Do keep in mind the number of the serial interface used (COM1, COM2, …) forestablishing a connection later on.

The EcoController and the converter may, e.g., be connected by means of thecable GEL 89015 (5 m) which is available as accessory. The two 9-pin con-nectors are not pin-compatible! Therefore, please check for correct sides(marked with ‘K’ and ‘B/R’):

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,

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E181026A

Refer to Chapter 6 for more information on the serial interfaces.

2.3 Communication

To establish a connection between the PC and the EcoController via theBB8110 program proceed as follows:

Do connect all devices according to the information supplied in thepreceding paragraph; when you use the GEL 89010/89011 converter plug itsmains adapter into a standard mains socket (230 VAC, 50 Hz)

Start the PC program (see operating instructions of the BB8110)

If the PC interface had not been initialised, do initialise it now (menucommand Init), e.g. for COM1:

COM type = RS 232 CIRQ = IRQ4

INSTALLATION 2.3 Communication 2-5

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baud rate = 9600 baud (default value for new EcoControllers)compatibility = Phoenix PSM … (if a GEL 89010/89011 is concerned)

For the correct number of the interrupt (IRQ) use a utility program whichinforms about the system settings of your PC; as standard IRQ4 is assignedCOM1 and IRQ3 COM2 (please check).

Open the Controller file (create new one)

Chose the device type and the correct interface from the Controller options(menu item Controller)

Select the Controller for transmission (menu item T&R, Search for device);should the Controller found not be the requested one, continue the searchby selecting Continue

If a Controller cannot be found, i.e., a connection cannot be established, itcould have the following causes:

♦ In case of self-manufactured connecting cables: incorrect pin layout

♦ If you use an interface converter (GEL 89010/89011)

• the converter cable GEL 89015 is connected laterally reversed (checkthe connector for its identification marking)

• the converter is not supplied with voltage (check mains adapter)

• the sliding switch is not in the correct position (see cable connectiondiagram above)The position “DTE” should be selected if RxD and TxD are both con-nected 1:1, as is the case of a D-subminiature adapter – different tothe illustrated cable.

On some commercially available interface cables, not only TxD andRxD are crossed, but also DTR and DSR. Such a cable cannot beused, since the converter requires the control line DTR at Pin 20.

♦ The wrong interface was selected (BB8110: controller options undermenu item Controller)

♦ Incorrect baudrate and/or device no.These values may once have been changed in the Controller. To checkthe device do either− have it searched for by the program (menu item T&R) or− set the hardware to the standard values 9600

baud and device no. 0; this is the case aslong as High level is applied to all 8 inputs ofterminal strip J at the same time.

♦ With linked devices: DIP switch SW1.1 is notclosed (interconnection of the interface ground connections at plugs B1and B2)

♦ PC interface defective; check this by using a device which had alreadybeen properly functioning at another interface (e.g. the PC mouse)

/ 01

X181026J

2-6 2.3 Communication INSTALLATION

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If communication functions, save the controller file and use it for the settingof the machine parameters later on

To complete the installation, carry out all other signal wirings as shown inappendix B. Then the EcoController will be adapted to the machines to becontrolled (refer to Chapter 3 “Commissioning”).

COMMISSIONING 3-1

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3 Commissioning

The procedure specified in the following for the commissioning of theEcoControllers GEL 8110…8140 can only be a proposal and is just one ofvarious possibilities. Use your experience to optimize this procedure for yourspecial needs and applications.

Commissioning basically includes the following steps:

Standard settings (section 3.1)

Actual value adjustment (section 3.2)

Adaptation of the analogue output (sections 3.3 to 3.5)

Optimization of control parameters (section 3.6)

Controller configuration (section 3.7)

The last four items must be carried out for each connected axis.

The table of contents on the previous page provides a survey on the com-missioning procedure. If possible, do observe the order. Sections describing aprogramming procedure or setting are marked with » «.

Prerequisites, initial state

You have already made yourself familiar with the operating and the func-tions of the Controller by reading this manual.

The electrical connections to the peripheral equipment (encoders, driveamplifiers, initiators etc.) have already been established according to theconnection diagrams in appendix B. Motor, amplifier and tachometer havealready been matched with each other.

Supply voltages are available.

The machine part to be positioned should be approx. in the middle of thepositioning area.

An EMERGENCY STOP (for the drive) must be freely and quicklyaccessible.

All storage locations of the EcoController are reset to 0 (default), except thesystem parameters 1/3 and 1/16 (both set to 1).

The Controller is configured properly, i.e., the DIP switches are set accord-ing to the requirements (see appendix B).

The keys and displays mentioned in the following refer to the optionaloperating terminal GEL 8810 (see chapter 7).

If you use the optional PC editor BB 8110, the storage locations must beprogrammed accordingly at the PC and sent to the Controller (actual valuedisplays and mode of operations can be made visible on the screen using

3-2 3.1 Basic settings COMMISSIONING

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the service function; see separate manual of the PC program).

The abbreviation DispU often used in this manual means display units; forfurther explanations see section 4.1.

3.1 Basic settings

Activate the programming mode for machine parameters: —+1, 9228,;.

System parameters

Storage locations 1/3 to 1/8: units

Combine the axes available into units according to the installationrequirements. Confirm the security inquiry Delete unit? issuedupon reprogramming by pressing the ; key.When commissioning the individual axes in Automatic mode, these must beshown in the display each:

˜+0 to select the unit ˜+^/! to select the axiswithin the unit

Furthermore, for the axes to be commissioned the pertaining unit controlinputs /stop (High level) and reset must be connected (see appendix B).

Unit parameters

For the moment the unit parameters are not yet to be programmed.

Axis parameters

The axis parameters are dealt with in the following sections.

COMMISSIONING 3.2 Actual value adjustment 3-3

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3.2 Actual value adjustment

The actual value is either derived from the pulse pattern that is provided by anincremental encoder at connector Z, or it is made available as codedabsolute value by a SSI encoder at connector Z, too.

Instead of the Z1 and Z2 inputs, the serial ECO bus Ser2 may be used foracquiring the actual value of an axis. For this, one of the variants 11…13 hasto be programmed in storage location 3/1 of the concerning axis. ‘Provider’ ofthe actual value may be, e.g., the axis of a second EcoController, which has tooutput the actual position of that axis on the ECO bus: program one of thevariants 19…21 in storage location 3/81 of the concerning axis in the secondEcoController.

For the further adjustment proceed as described subsequently.

The optional CAN bus provides additional features (separate description).

3.2.1 Incremental encoders

Storage location 3/1: edge evaluation

The type of edge evaluation for the encoder pulses depends on the actualmeasuring unit used in the installation (refer to section 4.1.1).Example: existing encoder with 250 pulses/revolution, desired are 1000

increments/revolution ⇒ 4fold edge evaluation: »Incr. x4«

Storage location 3/2: count direction

The correct count direction of the encoder will be set later on, as soon asthe machine can be displaced (section 3.4).

Storage location 3/3: multiplier

The edge-evaluated encoder pulses are multiplied by this value, beforethey are shown as count pulses in the actual value display.Example: actual = 1000 increments/revolution, desired = 820 incre-

ments/revolution ⇒ multiplier = 0.82

Storage location 3/5: decimal point

The number of decimals depends on the requested resolution.Example: actual = 820 DispU, required = 82.0 actual measuring units (mm)

with a resolution of 1/10 mm ⇒ decimals = 1 = »X.X«

Now the adjustment of the actual value for the incremental encoder of thetreated axis is completed for the time being.

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3.2.2 Absolute encoders

Storage location 3/1: code/ type of logic

If you do not know the encoder’s logic type (with Gray or BCD code), youmay find it out later on (see further below).

Storage location 3/2: count direction

The encoder’s correct count direction will be set later on, i.e., as soon asthe machine can be displaced (section 3.4).

Storage location 3/3: multiplier

The position transmitted by the encoder is multiplied by this value before itis shown in the actual value display.Example: At one revolution the position value changes by 1024, however, a

value of 1000 should be the result ⇒ multiplier = 0.9766,rounded up; the rounding error results in a respective positioninginaccuracy after several revolutions!

Storage location 3/5: decimal point

The number of decimals depends on the requested resolution.Example: actual = 820 DispU, required = 82.0 actual measuring units (mm)

with a resolution of 1/10 mm ⇒ decimals = 1 = »X.X«

Storage location 3/54: resolution

In this case resolution means the bit range of the connected encoder(singleturn part for SSI encoders).

Determination of the encoder’s type of logic (for Gray or BCD code)

If the encoder has not yet been attached to the drive or may easily be dis-mounted, turn the encoder axis and observe the actual value display: doesthe actual value change erratically, the logic reverse must be pro-grammed. If this possibility of testing is not given, checking must be per-formed as soon as the machine can be displaced (see section 3.4). Thisrequires, however, that the mechanical zero point of the encoder is outsidethe displacement area (see next item).

Mechanical zero point

The mechanical zero point of an angle encoder should not be inside thearea of displacement. Should this be the case after all, the actual valuecounter would jump from the maximum to the minimum value during thepositioning process or vice versa, thus confusing the control completely.Therefore, the axis of the uncoupled angle encoder must be turnedaccordingly (see following figure and example).

COMMISSIONING 3.2 Actual value adjustment 3-5

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max.

min.

count of the counter

zero point of the machine

distance

max.

min.zero shift (3/53)

wrong

correct

0

distance of movement

mechan. zero point

count of the counter

distance

E180039A

Example: angle encoder with a resolution of 1024×512 (19 bits), countingrange: 524,288 DispU (multiplier = 0, no decimal point)

mechanical displacement: 307,200 DispU = 300 revolutions(1,024 DispU ∗ 300)

The count of the counter in the machine’s zero point would read:250,238 DispU.

At the end of the displacement area the count of the counterwould read 250,238 + 307,200 DispU = 557,438 DispU; thisvalue, however, is above the counting range and that means: themechanical zero point of the angle encoder is located inside thedisplacement area!

Measure: the axis of the angle encoder must be turned back byat least 33,150 DispU; then the count display would read217,088 DispU in the machine’s zero point and the mechanicalzero point of the angle encoder is right at the end of the dis-placement area (217,088 + 307,200 DispU = 524,288 DispU).

Storage location 3/53: zero shift

Starting from the above example, here the value –217,088 should beentered to ensure that in the machine’s zero point the actual value counterindicates 0.

Now the actual value adjustment for the absolute encoder of the treated axis iscompleted.

3-6 3.3 Preparations for displacing the drive COMMISSIONING

8110-4

3.3 Preparations for displacing the drive

Storage location 3/19: manual drive control

Fix here whether the drive should be controlled via the terminal’s keyboardor an external data input. In the second case, the connector and the posi-tion where the control signals should be read must be determined.

Storage locations 3/21 and 3/23: slow speed forward and reverse

To ensure a safe operation these values are first limited to 1 DispU/sec (1or 0.1 or 0.01, depending on the set resolution).

Storage location 3/26: voltage range of the analogue output

Fix here whether the displacement voltage should be bipolar or unipolar.

Storage location 3/31: maximum voltage value Umax

This value is determined by the maximum speed of the drive vmax (system-dependent, e.g. 8.50 V for vmax = 3000 rpm).

Storage location 3/32: maximum speed rate vmax

This is a installation-specific value and indicates the speed in actualmeasuring units per second at output voltage Umax.

For the moment, it is sufficient to indicate an estimated value or a valuecalculated from the installation data. Later on the value will be optimized(refer to section 3.6.1).Example:

,2) -3

%%

$+-4*+

%1-

*

2-2%*

-4*%%%*4

##

E010H

Storage location 3/33: control factor Ksp

By programming a value for the control factor (which is very small for thebeginning) the closed-loop control is activated: Ksp = 1.0.

Storage location 3/34: working speed rate

For the moment, program a value which is near to vmax (approx. 95%).

COMMISSIONING 3.3 Preparations for displacing the drive 3-7

8110-4

Storage locations 3/35 to 3/38: values for accelerating and braking

These data should already be available from adapting the drive to themachine. Should this not be the case, values must first be estimated, e.g.:how much time takes the drive for accelerating from standstill up to themaximum speed (taccel+/-) and for braking from the maximum speed down tostandstill (tbrake+/-)? These values should rather be too large than too small.The mathematical determination of the parameters from the drive data willnot be described at this place. The assessed values will still be optimized ata later time (by means of a current monitor at the drive amplifier or an oscil-loscope, refer also to section 3.6.3).

Note: Values must not be programmed for all four times (there are evensome special functions not allowing this, see corresponding sepa-rate descriptions). When setting to 0 the value of another timeparameter is used:

tbrake- = taccel- for 3/38 = 0 tbrake+ = taccel+ for 3/37 = 0taccel- = taccel+ for 3/36 = 0

Storage location 3/42 and 3/43: contouring error Smax+/-

A maximum contouring error is to be determined for safety reasons so thatthe drive can be stopped if a wrong travel direction has been set for thecontrol (refer to next section). The values should be about 10% of the entiredisplacement area. They will be reduced later according to the prevailingoperating conditions.

Storage location 3/50: control for manual displacement

For the following settings the closed-loop control needs to be activated:3/50 = 1 (»active«).

The position loop control in the interrupted or reset conditionmust not yet been activated at that moment (storage location3/47 = 0) in order to prevent racing of the drive in case of a wrongtravel direction assignment during this mode of operation (alsorefer to section 4.1.3).

Exit the programming mode for machine parameters (—+0).

Next the count direction of the encoder and the polarity of the voltage outputmust be checked.

3-8 3.4 Count direction and voltage polarity COMMISSIONING

8110-4

3.4 Count direction and voltage polarity

Ensure that the axis to be adjusted is displayed (see section 0).

Displace the drive manually: slow speed forward (ö). The displayedactual value must count up. Also check in which direction the machinemoves.

Because of the programmed small value for slow speed the drivewill not start moving immediately, but only after the slowly increas-ing voltage having reached a certain value at the analogue output(Umin). Then the drive runs at a speed of 1 DispU/sec providedthat the count direction is correct, otherwise the speed increasescontinuously. Therefore:

If the actual value counts down, immediately abort the manualdisplacement.

Proceed as follows:

If the actual value counts up and the machine, however, does not moveforward as requested,

− exchange the count connections 0°/90° of an incremental encoder atthe Controller or

− reverse the count direction (storage location 3/2)

and

− exchange the connections of the amplifier input or analogue output(only feasible, if the amplifier inputs of the several axes are not inter-connected through a joint earth line, see terminal strip N in appendixB) or

− reverse the polarity of the analogue output (storage location 3/25).

If the actual value counts down and the machine, however, movesforward as requested,

− exchange the count connections 0°/90° of an incremental encoder atthe Controller or

− reverse the count direction (storage location 3/2).

If the actual value counts down and the machine does not moveforward as requested,

− exchange the connections of the amplifier input or analogue output(only feasible, if the amplifier inputs of the axes are not intercon-nected through a joint earth line, see terminal strip N in appendix B)or

− reverse the polarity of the analogue output (storage location 3/25).

COMMISSIONING 3.4 Count direction and voltage polarity 3-9

8110-4

If the actual value changes erratically (only possible for absoluteencoders with BCD or Gray code), select the appropriate code type onstorage location 3/1 with logic reverse.

The next step is to determine the minimum voltage values for the driveamplifier which is necessary to start the drive in the forward and reversedirection (if not yet known).

3-10 3.5 Minimum voltages COMMISSIONING

8110-4

3.5 Minimum voltages

The following experimental determination assumes, that there are thresholdvoltages Umin > 1 mV for the amplifier used whose exact values are not known.The controller-specific forward direction (">") is here assigned a positivevoltage. This assignment may have been modified according to the descriptionin the previous section. In this case, replace the word ‘forward’ by ‘reverse’ andvice versa in the following description.

Umin+

Ensure that the axis to be adjusted is displayed.

The output voltage must be shown in the display (select with !/^).

Displace the drive manually: slow speed forward (ö).

Now you will observe a slow increase of the (positive) voltage, the actualvalue in the display staying constant. At a certain voltage value the drivewill start moving forward, which you will recognize by the fact that the actualvalue display changes by 1 increment/sec (= 1 DispU/sec). Remember thevoltage value and repeat this procedure once or twice.

Return to the programming mode for machine parameters.

Storage location 3/29: minimum positive voltage value Umin+

Enter the largest of the remembered voltage values without operationalsign.

Umin-

Repeat the procedure described above, however, with slow speed inreverse direction (ä).

If there is an enormous difference between the two values Umin+

and Umin-, it might be advantageous to readjust the offset at theamplifier and to determine the voltage values anew.

Storage location 3/30: minimum negative voltage value Umin-

Enter the largest of the remembered voltage values without operationalsign.

The next step is the optimization of the coarsely adjusted control parameters.

COMMISSIONING 3.6 Optimization of control parameters 3-11

8110-4

3.6 Optimization of control parameters

3.6.1 Maximum speed

To check or optimize vmax the drive must be displaceable for a sufficient periodof time (e.g. 5 seconds), so that the output voltage for the set (working) speedrate and also the contouring distance (»Delta_s«) can be read in the display.

Storage locations 3/21 and 3/23: slow speed forward and reverse

Now values are entered for the slow speed rate which are in the order ofthe later positioning speed rate (in actual measuring units per second); thedefinite values for the manual displacement control will be determined later(section 3.7).If this speed cannot be maintained long enough (because the displacementarea is too small) smaller values must be programmed, accordingly. Itmust, however, be considered in this connection that potential nonlineari-ties in the drive system can lead to major control deviations when position-ing later on.

Exit the programming mode for machine parameters.

Ensure that the axis to be adjusted is displayed.

The display must show the output voltage (select with !/^).

Move the drive – at slow speed forward or reverse – until the voltage value(U) belonging to the (working) speed (v) is constant. Remember this value.

Calculation of vmax as per following formula:

= ∗−

−+

+

vmax storage location 3/32v : " 3/21, 3/23Umax : " 3/31Umin+ : " 3/29U : display

Storage location 3/32: maximum voltage vmax

If the new calculated value differs strongly from the one programmedpreviously, determine also the ratio of both values. The value programmedfor the working speed (storage location 3/34) must be adjusted in the sameratio.

3-12 3.6 Optimization of control parameters COMMISSIONING

8110-4

Perform check runs: the contouring distance (Delta_s, select for display) isnow clearly lower in the range of constant speed. (An additional reductionmay be obtained via the control factor Ksp, see next section.)

3.6.2 Control factor

The purpose of this setting is to make the control dynamics as big as possiblevia the factor Ksp, but not to make it too sensitive. It is advisable to use anoscilloscope for the process of optimization to examine the voltage at theanalogue output (terminal strip N).

Storage location 3/33: control factor Ksp

Increase the value step by step, i.e., depending on the dynamics and loadof the drive by about 0.1% of the used maximum speed rate (e.g. for vmax =5000 actual measuring units/sec → ∆Ksp ≈ 5.0).

Check by means of the oscillogram, whether huntings occur during theentire displacement process. In the affirmative, reduce the control factoraccordingly:

outputvoltage

forward

reverse

Ksp too big good

forward

reverse

E180016C

An unstable control behaviour may also be recognized by thedisplayed value for the output voltage oscillating more intensivelywhen travelling at constant speed.

3.6.3 Accelerating/braking times

The values for taccel+, taccel-, tbrake+ and tbrake-

(storage locations 3/35...38) have alreadybeen programmed (section 3.3). Here youshould only check whether the settings arecorrect.

Too short times negatively influence thecontrol response and may possibly result ininadmissible mechanical and electrical

v

t

vmax

v

taccel tbrake

0

E180011E

COMMISSIONING 3.6 Optimization of control parameters 3-13

8110-4

loads on the drive system. The oscillograms below show the behaviour of theoutput voltage if the times are set too small and in case they are set properly.

outputvoltage

accelerating

taccel too small good

Umax Umax

taccel

outputvoltage

braking

good

Umax

tbrake

Umax

00

00

00

00

tbrake

taccel

tbrake too small

E180016D

By means of a current monitor at the drive amplifier you may find out whetherthe current limit is reached during the process of acceleration or braking. In theaffirmative, the time programmed is too short.

Another possibility to find out whether the values are too small is observing thecontouring distance Delta_s: major fluctuations during accelerating or brakingindicate that the appropriate values are too small.

Times being too long are uncritical for the control but do, however, negativelyinfluence the duration of positioning. The Controller limits the values to amaximum size, which, however, can only be attained under most unfavourableconditions (see storage location 3/35 in appendix A).

Check by manually displacing the drive into both directions at low speed(">" and "<") in accordance with the information supplied above, whetherthe times are too short or whether they could be reduced (higher mechani-cal load!).

3-14 3.6 Optimization of control parameters COMMISSIONING

8110-4

If necessary, program other values (storage locations 3/35...38) and checkagain the drive behaviour with these new values.

3.6.4 Jerk time

Slight overshoots at the end of the accelerating and braking period (seeoscillogram above) can be minimized by programming a jerk time tjerk, this,however, at the expense of a slightly increased duration of positioning. Bymeans of the jerk time the positioning characteristic of the drive is fixed (referto section 4.6.2).

Storage location 3/39: jerk (time) tjerk

Set the value by manually displacing at low speed rate (working speed) insuch a way, that the drive shows the desired behaviour for the later posi-tioning procedures.Note: Because of internal calculation reasons the jerk time is limited to a

maximum value (see storage location 3/39 in appendix A).

Now the control parameters are properly set or optimized for the drive. Finally,further machine parameters must be set to configure the Controller for theinstallation.

3.7 Controller configuration

Since the programming of further machine parameters is rather individual anddepending on the application, we cannot provide any concrete procedure norcan we give any values.

We recommend you to take the survey at the beginning of appendix A and thefollowing table to decide on further parameters to be determined.

You may, however, browse through the machine parameters at the Controller(operating terminal BB8810) or on the screen (PC program BB8110) settingthe required functions and values. Please do also observe the information onthe individual storage locations in appendix A (and possibly separate descrip-tions of special functions).

Here are some basic items:

COMMISSIONING 3.7 Controller configuration 3-15

8110-4 3-15

Determine, among others, for each unit of which elements a nominal valuesentence should consist and whether the axes should be operated in pathcontrol: storage locations 2/1...5; confirm the security inquiry Deleteunit? by pressing the ; key.

Determine, among others, the following for the axes parameters:

♦ Storage locations 3/9...17: calibration functions and values, if incrementalencoders are used.

♦ Storage location 3/20: adaptation of the keys and/or signals for themanual drive control to the installation-specific directions

♦ Storage locations 3/21...24: absolute speed values for the manual drivecontrol

♦ Storage locations 3/27 and 3/28: switch-off points Sdead+/- for controlstabilization in the nominal or inoperative position

♦ Storage locations 3/34: final working speed rate for positioningprocedures without nominal value setting in the sentence

♦ Storage locations 3/40 and 3/41: range of tolerance Tol+/- for the nominalposition, where the actual=nominal signal is output

♦ Storage locations 3/42 and 3/43: admissible contouring distance Smax+/-;if this value is exceeded the positioning process will be interrupted; thisvalue should be derived from the largest operational contouring distance(Delta_s), including a generous increased factor of safety (Smax+/- ≈ 10 ∗Delta_s)

♦ Storage locations 3/45 and 3/46: adaptation to the requested inputformat for nominal speed values in the sentence

♦ Storage locations 3/47...50: control functions for the various modes andstates of operation

♦ Storage locations 3/56...60: functions and values for a parking position

♦ Storage locations 3/61...70: functions and values for range signals

♦ Storage locations 3/71...74: input control/monitoring and limit switchfunctions

♦ ...

Now (first) commissioning is completed.

3-16 COMMISSIONING

8110-4

Notes:

FUNCTIONAL DESCRIPTION 4.1 Definitions 4-1

8110-4

4 Functional Description

4.1 Definitions

4.1.1 Actual unit of measurement

The actual unit of measurement is the unit of measurement which you use inthe equipment: e.g. m, cm, mm, inch, degrees. With incremental encoders, it isdetermined by the number of pulses and the edge evaluation (storagelocation 3/1). In addition, for all encoders by the multiplier (storage location3/3) and the programmed decimal places (= resolution, storage location 3/5).This also implies mechanical converters like measuring wheels or gearings.

The input of values is made like at a pocket calculator, i. e. for values in wholeactual unit of measurement no point needs to be entered. The Controller fillsmissing decimal places automatically with zeroes.

Example for a resolution of 1 hundredth:

Value: 100 mm ⇒ entered: 100 or 100. or 100.0 or 100.00

⇒ always indicate: 100.00

Position values are always specified in actual unit of measurement. Nominalspeeds can also be specified either in actual unit of measurement per secondor in an other unit (see section 4.4).

4.1.2 Display units (DispU)

In this manual, display units abbreviated to DispU mean a sequence of digitswithout decimal point as it is shown in the display of the Operator TerminalGEL 8810. With incremental encoders, this is the number of count incrementsafter edge evaluation and multiplier. Example:

Value in display: 1234.00 ⇒ DispU: 123400 (actual unit of measure-ment: 1234)

4.1.3 Count direction

When specifying a direction (e. g. automatic reference positioning forward), theController and/or the regulation expects a determined behaviour of the actualvalue counter. Basically, the following assignment is valid:

forward ⇒ incrementing of the actual value, e. g .… -157 … -1 0 1 … 123 …

reverse ⇒ decrementing of the actual value, e. g.… 123 … 1 0 -1 … -157 …

4-2 4.1 Definitions FUNCTIONAL DESCRIPTION

8110-4

On start-up:

If, with a close-loop controlled forward positioning (e. g. withreference positioning or positioning in the Controller-definedforward direction that can also differ from the equipment-specificforward direction), the actual value counts downward then thecontouring distance increases very quickly and thus the voltage atthe analogue output. This results in an accelerated and almost nomore controllable movement in the wrong direction.Correspondingly, this is also valid for reverse positioning withupward counting.

On the supposition that the position loop control is disabled forthe interrupted and reset state (storage location 3/47 = 0), then thisprocess can be aborted either manually by applying the stop orreset signal or automatically if a not too large maximum contouringerror value has been programmed (storage locations 3/42 and3/43). Otherwise, only an EMERGENCY STOP will help!

Therefore, check whether the direction assignment i.e. theencoder/amplifier connection is correct. The measures to beperformed for this are described in section 3.4.

FUNCTIONAL DESCRIPTION 4.2 Internal memory structure 4-3

8110-4

4.2 Internal memory structure

The maximum 6416 storage locations being available for nominal values canbe arbitrarily divided into up to 6 units, 99 programs per unit and 999sentences per program.

Units are formed by up to 6 axes (determined via system parameters, refer toAppendix A). Thereby, the two first units have a common start, stop and resetinput (terminal strips J and G) for the combined axes.

Each program can consist of a different number of sentences.

When programming nominal values, the program end must be defined afterthe last sentence (with the ˜+9 key combination for the GEL 8810 OperatorTerminal). This is treated system-internally like a single sentence that howeversolely contains the pre-defined number of program execution cycles.

At a later point in time, a program can be extended by some sentences. Thesesentences can be inserted either individually or can be pasted in altogether.The non-overwriteable program end is thereby relocated further to the end. Onthe other hand, the program end "moves" accordingly to the front if sentencesare deleted from the program.

The sentence structure is separately determined for each unit (Unit para-meters, refer to Appendix A). The following nominal value types can beelement of a sentence (in the indicated sequence and valid for the standarddesign):

• position/length for each combined axis (compulsory)

• number of pieces (batch counter)

• time for automatic start

• machine functions

• speed rate for each combined axis

• descriptive text – in preparation

In addition, a path control can be activated; refer to section 4.14.

The position/length nominal value type can be replaced by other parameters:

• program flow instructions (refer to section 4.15)

• coordinates offset (refer to section 4.16)

• parameters depending on an inserted special function (refer to sepatedescription)

If the unit or sentence structure is changed a later point in time (with thesystem or unit parameters) then all programs of the concerned unit will bedeleted (start remains without effect) when pressing ; at the Deleteunit? message.

4-4 4.3 Operating states FUNCTIONAL DESCRIPTION

8110-4

4.3 Operating states

Within the Automatic operation mode, the EcoController can be in one of 5different operating states:

• started state

• interrupted state (stop)

• reset state

• automatic reference positioning of a drive (refer to section 4.8.2)

• manual positioning of a drive

Together with the optional GEL 8810 Operator Terminal, two additionalprogramming modes can be activated for programming− machine parameters or− nominal values(see chapter 7).

4.3.1 Started state

Here, a defined nominal value program is processed.

Requirements: • High level at the /stop input of the concerned unit(unit 1: terminal J2; unit 2: terminal G2)

• Low level at the reset input of the concerned unit(unit 1: terminal J3; unit 2: terminal G3)

Activation: • positive signal edge at the start input of the concerned unit(unit 1: terminal J1; unit 2: terminal G1)

• via a serial interface (LB2 protocol)

With each further starting signal, the respectively next sentence or pieces areprocessed.

Within the started state, further starting signals can also be automaticallygenerated (internally):

• with continuous sentence processing (refer to section 4.5)

• with program flow instructions or coordinates offset (refer to section 4.15 and4.16)

• after the expiration of a programmed time starting with the nominal=actualsignal for− all sentences within the unit at the same time (refer to storage location

2/10)− individual sentences within the unit at different times (nominal value

specification; refer to storage location 2/1)

FUNCTIONAL DESCRIPTION 4.3 Operating states 4-5

8110-4

4.3.2 Interrupted state (stop state)

Here, the program processing was stopped (short-term) and can be continuedwith the next starting signal. The sentence number shown in the display of theOperator Terminal GEL 8810 flashes.

Activation: • Low level (for a short-term) at the /stop input of the con-cerned unit (unit 1: terminal J2; unit 2: terminal G2)

• maximum contouring error was exceeded (see storagelocations 3/42 and 3/43 in Appendix A) or a limit switch hasbeen activated (refer to section 4.13) then also the /faultsignal is active (refer to section 4.7.2)


4.3.3 Reset state

Here, various direct inputs can be made (via the optional Operator TerminalGEL 8810) and e. g. an automatic reference search routine (automaticreferencing) can be performed (refer to section 4.8.2). Machine parametersand nominal values can be programmed via the serial interface only if theEcoController is in the reset state for all units.

Activation: • High level (short-term) at the reset input of the concernedunit (unit 1: terminal J3; unit 2: terminal G3)


• selection of a storage location in the machine parametersprogramming mode (only via Operator Terminal)

4.3.4 Manual positioning

A drive can be manually positioned in the interrupted and/or reset statedepending on the programming of the storage location 3/18 (requirement: Highlevel at the /stop input, Low level at the reset input).

The execution is made either via the keyboard of the optional GEL 8810Operator Terminal (refer to chapter 7) or via one of the Ex data entries (refer toAppendix B) depending on the programming of the storage location 3/19. (TheBB 8810 PC program offers a further possibility.)

Further storage locations for manual positioning:

• 3/20: direction assignment

• 3/21…24: values for the fast/slow speed rates

• 3/50: activating the loop control

4-6 4.4 Speed rates FUNCTIONAL DESCRIPTION

8110-4

4.4 Speed rates

In the machine parameters programming mode, speed rates are principallyentered in actual measuring units/sec taking into account the resolutiondefined at storage location 3/5.

Example:

Actual measuring unit: mm, resolution: 1/100, speed: 45.5 mm/sec ⇒ input: 45.5;, display: 45.50

The entry and display of actual speed rates in a sentence are possible in anylength and time unit and with another resolution. This requires, however, toprogram 2 storage locations for the axis parameters accordingly: 3/45 and3/46.

The multiplier at storage location 3/45 consists of two components:

a) physical conversion factor between the desired unit (e.g. cm/sec) and thestandard unit (e.g. mm/sec): 1 cm/sec = 10 mm/sec

b) correction factor for the desired resolution of the speed values; the numberof decimal places has to be fixed in storage location 3/46. The followingfacts apply:

• For each decimal place by which the speed resolution is higher than theactual measure resolution, the point of the value in a) must be shifted tothe left, i.e. the value must be divided by 10.

• For each decimal place by which the speed resolution is less than theactual measure resolution, the point of the value in a) must be shifted tothe right, i.e. the value must be multiplied by 10.

Example 1: In the equipment, the actual measuring unit cm is used with aresolution of 1/100 cm = 0.01 cm (storage location 3/5=2). Thespeed values shall be input in m/min with two decimal places:

storage location 3/46 = storage location 3/5 = 2 (»X.XX«)

storage location 3/45 = (1 m/min) / (1 cm/sec) == (100 cm/60 sec) / (1 cm/sec) == 100 / 60 = 1,6667

If the speed is to be entered with only 1 decimal place thenstorage location 3/45 = 1.6667 ∗ 10 = 16.6667. For 3 decimalplaces, storage location 3/45 has to contain = 1.6667 / 10 =0.1667.

Example 2: Irrespective of the actual measuring unit used in the equipment(e.g. mm, resolution 0.1 mm), the speed rates of the drive shall beentered in revolutions/min (rpm) without any decimal places andwith 1 revolution corresponding to a distance of 10.0 mm:

storage location 3/5 = 1 (»X.X«)

FUNCTIONAL DESCRIPTION 4.4 Speed rates 4-7

8110-4

storage location 3/46 = 0 (»X.«)

storage location 3/45 = (1 revolution/min) / (1 mm/sec) ∗ 10 == (10 mm/60 sec) / (1 mm/sec) ∗ 10 == 10 / 60 ∗ 10= 1,6667

The above facts are represented again for those who prefer to work withmathematical formulas:

= <−

cv: conversion factor according to »Spd.mult« at storage location 3/45D: desired unit of length or angle per each unit of time for the speedA: actual measuring unit per second (default unit of the speed)DA: number of decimal places in the actual value display (storage location 3/5)DD: number of desired decimal places for the speed (storage location 3/46)

The following formula can be used for checking: = ∗

vA: speed in the Controller-internal format (actual measuringunits/sec without decimal point: value in DispU)

vD: speed in the desired format (value in DispU)

Example 1: In the equipment, the actual measuring unit cm is used with aresolution of 1/100 cm = 0.01 cm. The speed rates shall beentered in m/min with two decimal places:

= = = = =

= = = =−

Check for e.g. = = $ : = = = = $

If the speed shall be entered with only one decimal place (DD=1)then = = ;

with 3 decimal places (DD=3): = =− .

4-8 4.4 Speed rates FUNCTIONAL DESCRIPTION

8110-4

Example 2: Irrespective of the actual measuring unit used in the equipment(e.g. mm, resolution 0.1 mm), the speed rates of the drive shall beentered in revolutions/min (rpm) without any decimal places.This corresponds to a distance of 10.0 mm with 1 revolution:

= = = = =

= = = =−

$

Check for e.g. = = $ : = = = = $

Do not forget: Program the desired decimal places in storage location 3/46 !

FUNCTIONAL DESCRIPTION 4.5 Continuous sentence processing 4-9

8110-4

4.5 Continuous sentence processing (positioning without stop)

Requirement: The nominal value type »speed rate« must be part of asentence (storage location 2/3 ≠ 0).

Activation via the Operator Terminal:When entering speed values in the nominal values programming mode the°+0 key combination is to be pressed (an arrow is shown in the display ofthe optional Operator Terminal). The function is switched off again by pressing°+0 once more.

For "normal" positioning, the drive is accelerated according to a calculatedcharacteristic, run at constant (working) speed and then decelerate to reachthe exact position. For continuous sentence processing, a start signal isinternally generated and the drive is accelerated or decelerated directly to thenext nominal speed. Two modes are available for this, depending on theprogramming of storage location 2/3:

• Mode 1 (storage location 2/3 = 1 or 3)The start signal is generated as soon as the Controller normally would enterthe braking phase

• Mode 2 (storage location 2/3 = 2)The start signal is generated as soon as the control pre-set of the position isequal to the programmed nominal value. Thus, the machine is moved at aconstant speed or accelerated to its nominal position, i. e., without brakingphase

Variant 3 of storage location 2/3 can only be used together with the linear pathcontrol (refer to below).

If several axes are combined to one unit (refer to storage locations 1/3 to 1/8),then a continuous sentence processing can be set for each axis. The drive thatfirst fulfils the above-mentioned condition effects the generation of the internalstart signal for all drives of the unit. These will then be directly accelerated ordecelerated to their next nominal speed by considering the programmed jerk.

For active path control (refer to section 4.14), the following restriction applies:

The programmed paths must not show any break points (⇒ use nearlycontinuous paths). Otherwise, a step voltage characteristic would be givenfor the drive or drives that have to run a shorter distance which theynaturally cannot follow. That would result in an excessive mechanic orelectric stress. With equal distances only the first drive in the unit will beaccelerated or decelerated following the calculated characteristic, and theothers are erratic.

This restriction is not valid if variant 3 of storage location 2/3 is pro-grammed (spline function).

4-10 4.6 Drive control FUNCTIONAL DESCRIPTION

8110-4

4.6 Drive control

4.6.1 Principle of regulation

Ksps

v

[DispU][DispU/sec]

v U[ V ]

GEL 8x10

[1/sec]

Kvu

t

t vk avU

Delta_s

nominalvaluegene-rator

act. valueprocess-

ing

E1800078

From the programmed machine parameters of the drive and the specifiednominal values of position (and possibly speed), the Controller calculates atime-dependent speed characteristic vt and the associated position st.

At the beginning of each cycle (1 msec per programmed axis), the speed valuevt valid at that time is preset for the drive (principle of speed pre-control). At thesame time, the actual position is inquired and compared to the value stcalculated for this time. If the result shows a difference (positive/negativecontouring error = Delta_s, to be displayed via the Operator TerminalGEL 8810), then this difference is converted using the proportional actionfactor Ksp to an equivalent speed value vk. This value is then added to thetime-dependent nominal speed value vt. The control dynamics (Ksp) can beadjusted according to requirements (storage location 3/33).

The ratio of the speed v to the output voltage Ua (KVU) is fixed by the pro-grammed values of Umin+, Umax and vmax (storage locations 3/29, 3/31 and3/32).

After the control preset value has reached the value for the nominal position(speed pre-control is terminated then), the dead range (Sdead+/Sdead-) presetvia storage locations 3/27 and 3/28 becomes effective: as long as Delta_s iswithin this range, Ua = 0 remains unchanged. This also applies to activeposition loop controlling in the interrupted or reset state (storage location 3/47).

4.6.2 Positioning characteristic

The characteristic of the positioning curve (e.g. soft start) is determined by thejerk parameter, i.e., the jerking time (refer to storage location 3/39).

The larger the jerking time is programmed, the smaller is the jerk, i.e., thesofter the drive runs during starting and stopping. The following diagram illus-trates these relations by the example of 3 different jerking times (tj):

FUNCTIONAL DESCRIPTION 4.6 Drive control 4-11

8110-4

s [DispU]

speed

positionnom.

t 2t 1 t 3

: example 1 for t: example 2 for t: example 3 for t

j1

j2

j3

t < t < tj1 j2 j3

v [DispU/sec]

jerk

accelerating,braking

a

1

2jj

3j

+

b+

j [DispU/sec ]3

a, b [DispU/sec ]2

v(max)

t j2

(jerk > jerk > jerk )1 2 3

t

E180016B

4-12 4.7 Signals FUNCTIONAL DESCRIPTION

8110-4

4.7 Signals

4.7.1 ‘Sense’

The sense line (connector Z) is a measuring line which measures the voltagedrop across the positive line to the incremental encoder. Precondition is thatboth supply lines have an equal cross section and an equal length resulting inan the equal voltage drop. The output voltage of the Controller is then adjustedso that 5 V are applied to the encoder terminals.

If the sense input is not wired then the regulator supplies a stabilized outputvoltage of 5 V.

4.7.2 ‘Fault’

The /fault signal at terminal K1 becomes active (level changes from High toLow) when the following situations occur:

• the »Delta_s« contouring distance exceeds one of the programmed Smax+/-

values (storage locations 3/42 and 3/43)

• a limit switch triggers (refer to section 4.13)

At the same time

− the Controller changes into the stop or reset state,

− the flashing behaviour of the red LED L1 is reversed (duty cycle 5% →95%).

This state remains until either the start or search for reference signal is appliedor the drive will be manually positioned.

4.7.3 ‘Zero Delta_s’

Using the zero Delta_s signal at terminal J8 (1st axis) or G8 (2nd axis), acontouring error can be reset that has been built up in the interrupted or resetstate.

The function has been created for the case that

• the position loop control is activated for the stop state (storage location 3/47= »active«) and

• EMERGENCY STOP circuits are used that influence the drive system butset the Controller only into the stop state.

In a triggered condition, the drive does not follow (timely-limited) the regulationpresettings of the Controller for decelerating anymore.

FUNCTIONAL DESCRIPTION 4.7 Signals 4-13

8110-4

This results in an increased contouring distance(Delta_s) causing a correspondingly high controlvoltage.

No fault is generated in the Controller if Delta_sstays below the Smax maximum value (storagelocation 3/42/44). When powering-up the drivesystem the next time, the control voltage generatedthen by the Controller may cause an inadmissible high loading of the drive.

To prevent this, the contouring distance for the corresponding axis can be setto zero by applying High level to terminal J8/G8.

Precondition for the effectiveness of the signal:

• parameter 3/90 of the corresponding axis is/axes are »active«

• unit of the corresponding axis (axes) is in the interrupted or reset state

4.7.4 Drive control signals

The drive control signals include

• release brake

• cancel controller lock (drive enable)

The signals are output at terminal strip K (1st axis) and H (2nd axis). Thefollowing diagram shows the correlation:

tb open

Start

Manual key

Analogue output

Cancel controller lock

tb close

t

E1800053

The values for tb open (time to open the brake) and tb close (time to close thebrake) are programmed at storage locations 3/51 and 3/52.

E180018A


8110-4

4.7.5 Program processing signals

The program processing signals include

• sentence end

• block end

• program end

• stop

• (reset)

These signals are unit-related. They occupy a BCD decade (4 bits) at a certainAx data output position which has to be determined (refer to the Pin Layout inAppendix B). They are programmed using storage location 2/9.

The signal reset can only be output in lieu of the signal sentence end or blockend.

Sentence end is output with a start signal if the actual number of pieces isequal to the nominal number of pieces. If the number of pieces is not part of anominal value sentence (storage location 2/1 ≠ 1 or 3) then the signal is outputat the start of each sentence, i.e., the signal remains always set.

Block end is output with a start signal if the actual number of pieces of the lastsentence within a program run (cycle) has reached its nominal value. If thenumber of pieces is not part of a nominal value sentence (storage location2/1 ≠ 1 or 3) then the signal is output at the start of the last sentence.

Program end is output with a start signal if the actual number of pieces of thelast sentence in the last program run (cycle) has reached its nominal value. Ifthe number of pieces is not part of a nominal value sentence (storage location2/1 ≠ 1 or 3) then the signal is output at the start of the last sentence in the lastprogram run.

All 3 signals remain also set in the interrupted (stop) state but not in the resetstate. Alternately, the signal output can also be performed with the actual =nominal signal (refer to storage location 2/11 in Appendix A).

Stop is output if the Controller is in the interrupted or reset operating state. Aslong as the drive is manually positioned or is in the automatic reference searchroutine, the signal is reset for the appropriate unit.

Reset is only available if the »Sent.end« (1) or »BlockEnd« (2) variant hasbeen programmed on storage location 2/12. The signal is output if theController is in the reset operating state. It is reset for the corresponding unit aslong as the drive is manually positioned or is in the automatic reference searchroutine.


8110-4

4.7.6 Range signals

These signals are axis-related. They occupy a BCD decade (4 bits) at a certainAx data output position that has to be determined (refer to the Pin Layout inAppendix B). They are programmed using storage location 3/61.

For each of the 4 ranges R1…R4, one start value and one end value must beprogrammed (storage locations 3/63...70).

The signals can be assigned certain features regarding the interpretation of theprogrammed values and the function of signals (storage location 3/62):

• values for the start and end of the range are absolute positions

• values for the start and end of the range are relative positions which arerelated to the difference ‘nominal – actual’ (variance)

• as before but signals are configured for controlling fast/slow-speed drives

The following distance and time diagrams show the relation as exampleswhereas Rx refers to one of the R1 to R4 range signals and ‘start’ and ‘end’characterize the values programmed for this.

Absolute ranges

Storage location 3/62 = 0

-200.0 -100.0 0.0 100.0 200.0

start (-100.0)

Rx

actual position

1

0

end (200.0)

E180010A

Relative ranges


100.0 200.0 300.0 400.0 500.0

nominal

Rx

actualposition

1

0

variance > 0

start (-100.0)end (200.0)

variance < 0

E180010B


8110-4

Drive signals


The range signals are used to control fast/slow-speed drives and have a fixedmeaning (refer to the following diagrams). The values for the start and end arerelative and related to the nominal position.

a) Positioning

The end value of R3 as well as the start value of R4 are set internally to amaximum value. Programmed values are ignored.

100.0 200.0 300.0 400.0 500.0

nominal

R2fast speed

actual position

1

0

(variance < 0)

1

0start

(variance > 0)

forward reverse

R1slow speed

1

0start (-100.0)end (50.0)

R3forward

1

0start (20.0)

R4reverse

1

0end (-50.0)

(end: +∞)

(start: -∞)

end (150.0) start (-200.0)

v

speedprofile 0

E180010C

Storage location assignment:

slow speed 3/63 (R1:Beg.) = -100.0 3/64 (R1:End) = 50.0fast speed 3/65 (R2:Beg.) = -200.0 3/66 (R2:End) = 150.0forward 3/67 (R3:Beg.) = 20.0 3/68 (R3:End) = — reverse 3/69 (R4:Beg.) = — 3/70 (R4:End) = -50.0


8110-4

b) Manual positioning of the drive

Here, the drive signals are directly set with the appropriate control keys orsignals.

Programmed start and end values are ignored.

The manual drive control is only possible in the interrupted or reset state ofthe automatic mode and during the teach-in operation when programmingnominal values.

The following diagram is based on the fact that the polarity for manualcontrolling has not been changed (storage location 3/20 = 0).

1

0key or signal ">>"

R1slow speed

1

0

R3forward

1

0

R2fast speed

1

0

R4reverse

1

0

1

0

1

0

t

key or signal ">"

key or signal "<"

1

0key or signal "<<"

E180010E


8110-4

c) Automatic reference search routine

Here, the drive signals are set or reset directly via the appropriate controlsignals like search for reference, reversing switch and reference fine.

Programmed values for the start and end are ignored.

Further explanations on reference search routine are contained in section4.8.2.

The following diagram assumes that the reference measure is set atforward traversing (storage location 3/11 = 1).

1

0search forreference

v

speedprofile 0

referencereached

1

0

R1slow speed

1

0

R3forward

1

0

R2fast speed

1

0

R4reverse

1

0

1

0

referencefine

1

0

reversingswitch

t

1

0

referencecoarse

E180010D

FUNCTIONAL DESCRIPTION 4.8 Reference measure 4-19

8110-4

4.8 Reference measure

When using incremental encoders, a reference position to which all otherpositions to be positioned to are related to can/must be determined within theworking range of the machine.

Concerning the power failure security (storage location 1/2) it can be deter-mined whether incremental axes are to be calibrated first after powering-up. Itis possible to exclude individual axes from this calibration (refer to storagelocation 3/91).

When setting the reference measure, one of two possible values is loaded intothe actual value counter. The signal state at terminal J7 (1st axis) or G7 (2ndaxis) determines the active reference value (reference2/1 signal):

• Low level (or not connected): 1st reference measure is active, value fromstorage location 3/15

• High level: 2nd reference measure is active, value from storage location3/85

Using the GEL 8810 Operator Terminal (refer to chapter 7), the referencemeasures can be directly programmed in the reset state of the automatic modevia the %+1 key combination (precondition: storage location 3/9 = 1[»ref.val.«] or = 3 [»val/auto«]). Depending on the signal state of reference2/1,the entered value is stored in storage location 3/15 or 3/85 (refer to above).

There are two possibilities of setting the reference measure. The selection ismade via storage locations 3/10 and 3/11 (refer to below):

• when positioning the drive (3/10)

• with an automatic reference search routine (3/11)

4.8.1 Setting of the reference measure when positioning the drive

If the value programmed at storage location 3/10 is unequal to 0, the referencemeasure can be set during the positioning process or the manual positioning ofthe machine. The storage location determines the direction of travel wherethe reference measure is to be set: for the forward motion (»forward«) or thereverse motion (»reverse«) or irrespective of the direction (»forw/rev«).

The reference measure is set with the positive or negative edge of thereference fine signal (proximity switch or zero signal of the encoder at Pin 8 ofthe Z1 and/or Z2 connector) if at the time of the edge the reference coarsesignal (terminal J6 and/or G6) is active. The edge or level of the signals aredetermined at storage locations 3/12 and 3/13.

By setting the reference measure, the Controller outputs the signal referencereached at terminal K7 and/or H7. This signal is cancelled

− at power failure,

4-20 4.8 Reference measure FUNCTIONAL DESCRIPTION

8110-4

− after presetting of the signals• start and• reset or

− after selecting a storage location in the machine parameters programmingmode using the GEL 8810 Operator Terminal.

4.8.2 Automatic reference search routine

If a value unequal to 0 has been programmed at storage location 3/11 andHigh level is applied to the stop input of the respective unit, a reference searchroutine for the machine can be initiated in the reset state of the automaticmode. The storage location determines the direction of travel where thereference measure is to be set: when moving forward (»autoforw«) or reverse(»auto rev«).

There are two alternatives to trigger the automatic reference search routine:

• by a positive signal edge at the search for reference input for the desiredaxis (terminal J4 or G4)

• via the keyboard of the optional Operator Terminal. In this case, the storagelocation 3/9 must be programmed with 2 (»auto cal«) or 3 (»val/auto«). Startwith %+2 and enter the axis number. If 0 is entered then all axes pro-grammed as mentioned above (3/9) are simultaneously started for thereference search routine.

mechanicallimit

reversing switch

reference coarse

reference fine

travel

E1750038

After initiating, the machine is driven in such a way that it travels contrary to thedirection determined at storage location 3/11. The corresponding speed rate isset at storage location 3/16.

When the reversing switch is reached (reversing switch signal, logic level atstorage location 3/14), the direction of travel is reversed and the speed rate isreduced to the value determined at storage location 3/17.

The drive now moves towards the reference position. Once this point has beenpassed (reference coarse/fine signals), the actual value counter is set to the

FUNCTIONAL DESCRIPTION 4.8 Reference measure 4-21

8110-4

reference measure, the drive is stopped and the reference reached signal isoutput at terminal K7 and/or H7. This process is described in the previoussection 4.8.1.

The reference search routine can be aborted by a /stop or reset signal.

4-22 4.9 Correction value FUNCTIONAL DESCRIPTION

8110-4

4.9 Correction value

To compensate cutting losses or tool wear, a positive or negative value can bepreset by which each nominal position or nominal length will be correctedtaking the sign into account. This applies to the system of absolute dimensions(storage location 3/44=0) as well as the system of incremental dimensions(storage location 3/44 ≠ 0):

a) absolute dimensions, positions

target position = programmed nominal position + correction value

b) absolute dimensions, lengths (floating zero processing)

target position = previous nominal position/length + programmed length + correction value

c) incremental dimensions

counter value at start set to: - correction value (- residual value), target position = programmed nominal length

The correction value is programmed at storage location 3/6. Using theGEL 8810 Operator Terminal (refer to chapter 7), the value can be directlyprogrammed at storage location 3/6 in the reset state of the automatic modevia the %+3 key combination (precondition: storage location 3/7 = 1[»active«]).

A correction value can also be entered via the Ex data inputs (refer to storagelocation 3/76 and chapter 2).

FUNCTIONAL DESCRIPTION 4.10 Rotary table positioning 4-23

8110-4

4.10 Rotary table positioning

The rotary table positioning is activated by programming a value at storagelocation 3/8.

The special feature of this type of positioning is, apart from the restrictedcounting range for incremental encoders, the path optimization. Here, theController itself selects the travel direction depending on the actual positionand the next nominal position. Thus, always the shorter distance is travelled.

The rotary table function does not work together with the

• path control (storage location 2/5),

• system of incremental dimensions (storage location 3/44).

A parameter error message is displayed at the GEL 8810 Operator Terminal ifone of these functions has been programmed.

For the input monitoring of the nominal positions/lengths, the minimum valueis internally set to zero and the maximum value to ‘rotary table range - 1 DispU’independent of the values programmed at storage locations 3/71 and 3/72. Inaddition, the software limit switch function will be ignored if it is activated(storage location 3/73).

Counting example for a defined rotary table range of, e. g. 360.0 actualmeasuring units:

counting up: … → 359.8 → 359.9 → 0.0 → 0.1 → 0.2 → …counting down: … → 0.2 → 0.1 → 0.0 → 359.9 → 359.8 → …

The value to be programmed and the operating value of the rotary tablerange can differ. This is caused by taking a multiplier value at storage location3/3 into account. In addition, a four-fold edge evaluation is always taken asbasis independent of the one programmed at storage location 3/1 (applies onlyto incremental encoders). Thus, a possible shift of the zero crossing is avoidedwhich can occur due to the internal binary processing of a fractional multiplierfor the incoming encoder pulses or absolute positions.

Programmed range (3/8) = Operating counting range

Multiplier ∗ 4

Edge evaluation

Example of an incremental encoder with 10.000 pulses/revolution:

count. range of rotary table in actual measuring units: edge evaluation (3/1): mechanical transmission: multiplier (3/3):

value to be programmed (3/8) = (360.0 / 0.3600) ∗ (4 / 1) = 4000.0

4-24 4.10 Rotary table positioning FUNCTIONAL DESCRIPTION

8110-4

Only positive values can be entered for the setting of lengths nominal values.In operation, negative lengths are, however, achieved for values that are largerthan half of the counting range. Thus, a certain travelling direction can beforced for the drive by an appropriate selection of the nominal length.

Example with the data from the previous exampIe:

desired nominal length: -100.0 (the drive shall move backward by 100.0)

nominal value to be entered: 360.0 – 100.0 = 260.0 (> 360.0 / 2 !)

FUNCTIONAL DESCRIPTION 4.11 Parking 4-25

8110-4

4.11 Parking

The parking position is an additional nominal position. Its value is to be pro-grammed at storage location 3/58. Using the GEL 8810 Operator Terminal(refer to chapter 7), the value can be directly programmed at storage location3/58 in the reset state of the automatic mode via the %+4 key combination(precondition: storage location 3/57 =1 [»active«] and 3/56 ≠ 0 [»inactive«]).

The parking position is only taken into account if the Controller operates in thesystem of absolute dimensions (storage location 3/44 = 0).

At storage location 3/59, the speed rate is determined with which the parkingposition is to be reached.

The machine functions programmed at storage location 3/60 (refer to thisdescription) are output at the defined Ax data output while travelling to theparking position and remaining there.

Storage location 3/56 specifies when the parking position is to be reached. Thefollowing diagram gives an example illustrating the possibilities for a programwith two runs (cycles) consisting of two sentences (positions) with the nominalpiece number of 2:

nom.2nom.1

park

nom.2nom.1

park

nom.2nom.1

park

nom.2nom.1

park

nom.2nom.1

park

nom.2nom.1

park

1 2 3 4 5 6 7 8 9 10 11

1 2 1 2 1

1 2 1 2 1

1 2 1 2 1 2

1 2 1 2 1 2

1 2 1 2 1 2 1 2

1 2 1 2 1 2 1 2

1

start

po

sit

ion

2

1

2

RS

RS

1, 2 = piece (batch counter) RS = reset

storage location 3/56 =

1 ( batch)

2 (batch )

3 ( sent.)

4 (sent. )

5 ( cycle)

6 (cycle )

E180040A

4-26 4.12 External data input/output FUNCTIONAL DESCRIPTION

8110-4

4.12 External data input/output

4.12.1 Data input

The F, G, and J terminals can be used as data input E1 for presetting (BCD-)data and signals (the use of J is restricted – refer to Appendix B). In addition, 2optional Sub-D connectors are available as data inputs E2 and E3 with 24 logicinputs each. The inputs are grouped into 6 decades (in practice, these are only4 for E1). The decades are numbered from 0 to 5 (refer to Appendix B). Onefurther data input E4 can only be accessed by software applications(PROFIBUS or LB2 protocol), there is no physical connection to the outside.

The input data can be unit- or axis-related. Accordingly, programming is per-formed either with the unit parameters (2/x) or the axis parameters (3/x). Thefollowing possibilities exist:

• program number (storage location 2/6)

• sentence and program number (storage location 2/7)

• drive signals (storage location 3/19)

• hardware limit switches (storage location 3/74)

• nominal position/length (storage location 3/75)

• correction value (storage location 3/76)

• speed rate (storage location 3/77)

With the next start signal, the BCD data (nominal values, program andsentence number) are taken over by the Controller. Nominal values are onlyeffective if an existing program has already been selected.

All nominal values must be specified in DispU, i.e., the used resolution is nottaken into account (e.g., for a speed rate value of 150 with the resolution of1/100, i.e.150.00, the BCD value 15000 has to be input). You will find furtherexplanations at the individual storage location descriptions in Appendix A.

If identical input positions (decades) are programmed for different units oraxes then the same data will be interpreted differently. Therefore, youmust plan and program the assignment of units, axes and datainputs/types very carefully.

Combinations of data groups are possible. This allows a more effective use ofa data input. For instance, with the corresponding programming, the programnumbers and the signals for the manual positioning of two units/axes may beperformed at a single data input (you will find a more detailed example per-formed for the data output at the end of the next section).

FUNCTIONAL DESCRIPTION 4.12 External data input/output 4-27

8110-4

4.12.2 Data output

The F and H terminals can be used as data output A1 for outputting (BCD-)data and signals. In addition, 2 optional Sub-D connectors are available asdata outputs A2 and A3 with 24 logic outputs each. The outputs are groupedinto 6 decades (in practice, these are only 4 for A1). The decades arenumbered from 0 to 5 (refer to Appendix B). One further data output A4 canonly be accessed by software applications (e. g. as flags for IF I/O conditionsand with PROFIBUS and LB2 protocol). There is no physical connection to theoutside.

The output of nominal/actual values (position, correction value) may includethe data ready signal at the most significant bit (MSB) position if programmedaccordingly (refer to storage location 3/80 and following). Low level will beoutput as long as the data are not stable:

min. 100 msec

data

data ready

abt. 20 msec

E180033C

In addition, a sign bit can be specified for the output. If not specified, the full 6decades are available for the value. In the other case, the sign is output asMSB or when evaluating the data ready signal as MSB–1. The value rangesare reduced accordingly. A minus sign is assigned High level.

The output data can be unit- or axis-related. Accordingly, programming isperformed either at the unit parameters (2/x) or at the axis parameters (3/x)(refer to below).

If identical output positions (decades) are programmed for different unitsor axes all data are logically ORed (bit-by-bit) before they are output.

The following data and signals can be output:

• machine functions (storage location 2/2)

• program and sentence number (storage location 2/8)

• program processing signals (storage location 2/9)

• range signals (storage location 3/61)

• actual position (storage location 3/81)

• nominal position (storage location 3/80)

• correction value (storage location 3/82)

4-28 4.12 External data input/output FUNCTIONAL DESCRIPTION

8110-4

With an appropriate selection of the decades, you can output different types ofdata at one single data output. This allows a more effective use.

Example: Four machine functions, program and sentence number (the latterwith two digits, at maximum: 99) and the program processing signalsof one unit shall simultaneously be available at the second dataoutput A2.

Programming:

storagelocation

variant meaning

2/2 5»8 out2.2«

8 machine functions at decades 2 + 3

2/8 2»output 2«

sentence and program number at decades0...2, 4 + 5

2/9 10»out 2.3«

program processing signals at decade 3

Output:

a) sentence and program number atdecades 0 + 1 and 4 + 5; the 3rddigit of the sentence number atdecade 2 must be zero

b) lower four machine functionsM1...M4 at decade 2; the upperfour machine functions M5...M8 atdecade 2 must not beprogrammed (=0)

c) program processing signals atdecade 3

*

%

$

#

,

+

*

*

%

$

#

,

+

--5

))*))

-5

5

6

)#

)

*

%

E181053A

FUNCTIONAL DESCRIPTION 4.12 External data input/output 4-29

8110-4

For your own entries:

13

12

11

10

9

8

7

6

5

4

3

2

1

25

24

23

22

21

20

19

18

17

16

15

14

5

4

3

2

1

0

A_X180053B

4.12.3 ECO bus

Via the ECO bus (serial interface Ser2) the actual value of one axis can bemade available to another axis. The receiving axis can be

− external, i.e., it is located in another EcoController (⇒ cable connection,refer to section 6.1.2) or

− internal (no cable connection); for this, the interface must be configured asRS 485: SW5 → ON.

The actual value may be transferred as an absolute value or as a relativeactual value (= 2 least significant bytes of the actual position resp. actual countwith incremental encoders – i.e. without multiplier and using the 4-fold edgeevaluation). This is to be determined by Axis Parameter 3/81 of the desiredaxis in the transmitting device. The receiving device is to be configured throughAxis Parameter 3/1 of the desired axis, accordingly.

With the “internal” variant, 2 (or 3) axes may be connected in parallel in a way,thus achieving the double (triple) number of range signals, for example.

4-30 4.13 Limit switches FUNCTIONAL DESCRIPTION

8110-4

4.13 Limit switches

4.13.1 Software limit switches and input monitoring

The positioning range can be limited by programming two special positionvalues at the axis parameters:

• Iower limit: 3/71 (»Pos. min«)

• upper limit: 3/72 (»Pos. max«)

The »Pos. min« < »Pos. max« condition must be observed. Otherwise, thiscauses a parameter error.

The programming of the limits effects the activation of the

− input monitoring of all position values within the programming mode ofnominal values and for the direct entry via the Operator Terminal (not forlengths),

− software limit switch function if storage location 3/73 is programmedaccordingly (refer to below).

The actual position is controlled constantly during a positioning or parkingprocess, a manual positioning, or a reference search routine if a 1 (»driving«)is programmed for storage location 3/73. Once the upper or lower limit isexceeded,

− a braking process is initiated,

− the /fault signal is output at terminal K1 (level changes from High to Low),

− the flashing behaviour of the red LED L1 changes, i. e. the duty cyclechanges from 5% to 95%.

The drive can now be positioned only in the opposite direction.

max. positioning range

limit switchsoftwaremechan. mechan.software

limit switch

E2800059

The same also applies if a 2 (»^ start«) is programmed at storage location 3/73.In addition, when specifying a start signal it is calculated first if the nominalposition of the new sentence would be beyond the limit values (this isprincipally only possible for processing nominal lengths or if the limits havebeen changed after programming of the nominal positions). In this case, thelimit switch will trigger including the effects described above.

Independent of the programming of storage location 3/73, the limit switchfunction is always deactivated

− with 3/71 (»Pos. min«) = 3/72 (»Pos. max«) = 0,

FUNCTIONAL DESCRIPTION 4.13 Limit switches 4-31

8110-4

− with rotary table positioning (refer to section 4.10),

− during the first calibration process provided that the variant 1 (»n.s.cal«) or 3(»sec.cal.«) is programmed at storage location 1/2 (power failure security).

4.13.2 Hardware limit switches (option)

The signals of mechanical limit switches can be applied to the EcoControllervia one of the data inputs E1 ... E3.

The following signal levels apply:

• High level ⇒ limit switch has not been activated (drive is within theadmissible range)

• Low level ⇒ limit switch has been activated (drive is beyond the admissiblerange)

If a limit switch is triggered, the EcoController reacts as if a software limitswitch has been triggered (refer to the previous section). Furthermore, acorresponding error message is stored in the error memory (refer to section5.3, error numbers 28 and 29).

The configuration of the signal inputs is determined via the Axis Parameter3/74 (refer to Appendix A).

The two signals of any 2 axes can be grouped to one decade. The numbers ofboth axes must, however, not be even or odd! This means that the limit switchsignals of the two axes 1 and 2 or 1 and 6 can be grouped together but not thelimit switch signals of axes 1 and 3 (both uneven) or 2 and 4 (both even).

The axis with the odd number must always be connected to the less signi-ficant connections of the decade (20 and 21), with the signal for the lowercounting range (MIN) being connected to 20 or 22 and the one for the uppercounting range (MAX) to 21 or 23, respectively (refer to the following example).

4-32 4.13 Limit switches FUNCTIONAL DESCRIPTION

8110-4

Example: Limit switches of 1st and 2nd axes are connected to decade 0 ofthe E2 data input and the ones of 4th and 5th axes to decade 2 ofthe E2 data input

0

1

2

E2

1

2

3

4

5

6

14

15

16

17

18

19

decadeMINMAXMINMAX

axis 1

axis 2

MINMAXMINMAX

axis 5

axis 4

limit switch222222222222

0

1

2

3

0

1

2

3

0

1

2

3

E180053C

FUNCTIONAL DESCRIPTION 4.14 Linear path control 4-33

8110-4

4.14 Linear path control

The standard software of the EcoController contains a linear path control forall axes.

With the ‘Circular interpolation’ function being present (refer to separate docu-ment), a circular path control can be activated additionally for the first two axes.

The linear path control can be activated for the following units/axes:

• unit 1: axes 1 and 2 or axes 1 to 6 together with the CAN bus option

• unit 2: axes 2 and 3 together with the CAN bus option

For this, the variant 1 (»linear«) must be selected for storage location 2/5 of thecorresponding unit.

The rotary table positioning must not be activated when using the pathcontrol (storage location 3/8 = 0 for all axes). Otherwise, a parameter error iscaused.

There are two methods of presetting the speed rate for the combined axes:

• separately for each sentence

In this case, the ‘speed rate’ nominal value type must be part of thesentence, determined at storage location 2/3.

The input format or the measuring unit for the speed rate is fixed by the firstaxis of the unit (storage locations 3/45 and 3/46; refer to section 4.4).

• identically for all sentences

In this case, the ‘speed rate’ nominal value type is not part of the sentence.The value is preset via the Axis Parameter 3/34 of that axis that has to travelthe longer distance.

The path speed consists of the speed components of the combined axes. Theaxis that has to travel the longer distance is always responsible for presettingthe speed value. The speed rate(s) of the other axis (axes) is (are) adaptedaccordingly, depending on the path angle. The following diagram shows anexample for two axes (left: axis 1 = X travels the longer distance sx; right:axis 2 = Y travels the longer distance sy):

Vpath

Vx = Vnom.

VyVpathVy =

Vnom.

Vx

distance sx > sy distance sy > sx

E180093A

4-34 4.14 Linear path control FUNCTIONAL DESCRIPTION

8110-4

The parameters of the axis with the longer distance are also used forcontrolling the other axes being part of the linear path control. Therefore, theparameters

− maximum speed (vmax, storage location 3/32),

− working speed (v, storage location 3/34) as well as

− accelerating/braking (taccel, tbrake, storage locations 3/35...38)should be programmed equally for all axes with the values of that axis whichpossesses the most unfavourable parameters.

The sentences may be continuously processed (positioning without stop),refer to section 4.5 and the following section.

Spline

A spline function can be used to avoid jerky speed rate changes (infiniteacceleration) with path controlled axes in the case of angular paths andcontinuous sentence processing. Herewith, the maximum appearingacceleration for one (Slave) drive is limited to the sum of the accelerations oftwo drives (Master and Slave; here, Master is always the axis that has to travelthe longer distance).

Activation:

• storage location 2/3 = 3 (»yes (3)«)

precondition: storage location 2/5 = 1 (»linear«). Otherwise, a parametererror is caused.

The internal start is generated like in mode 1 of the continuous sentenceprocessing (refer to section 4.5).

The spline function causes the (theoretical) path to be exited in the area of theknee-points more or less far, depending on the angle of the path change andon the processing speed as well as the programmed maximum values foracceleration and speed rate of the involved axes. The restriction described insection 4.5 is not valid for this function.

The following figure shows some typical path courses:

FUNCTIONAL DESCRIPTION 4.14 Linear path control 4-35

8110-4

677'4---8.4-

6

'

6

'. .

6

'

.

6

'

.

E180093G

4-36 4.15 Program flow instructions FUNCTIONAL DESCRIPTION

8110-4

4.15 Program flow instructions

The following additional entry possibilities are available within the programmingmode of nominal values (using the GEL 8810 Operator Terminal):

instruction key combination meaning

CALL Pr. ˜+1 process another program

JUMP Pr. ˜+2 resume to work with anotherprogram

JMP sent ˜+3 continue processing atanother sentence

IF I/O ˜+4 resume program processingdepending on the state at acertain signal input or output

General features:

♦ The instructions can only be activated at the beginning of a sentence andoccupy an entire sentence (first and only nominal value, the same as theend of program). The error message Only for s.begin is outputif an instruction is programmed at a sentence position other than the firstone.

♦ The instructions can not be activated/deactivated by the repeated actuationof the corresponding key combination as this is the case at the change-overbetween position and length. A change-over between the differentinstructions is, however, possible.

♦ If an instruction is to be cancelled or to be replaced by a ‘normal’ sentence,the corresponding instruction sentence is first to be deleted (˜+#). Wheninserting a normal sentence (using ˜+;) then the sentence currently beingactive must also be a normal one, i. e., no ‘instruction’ sentence.Alternatively, a ‘normal’ sentence can be substituted or inserted at thedesired position by copying (˜+8, refer to chapter 7).

♦ Branchings or jumps are only possible inside the unit.

♦ Each program control instruction causes the generation of an internal startsignal regardless of whether or not auto start (storage location 2/10) hasbeen activated. This means that a program will automatically continue untileither a positioning instruction (nominal position/length) or the end of theprogram is reached.

♦ A timer function for the delayed processing can be simulated by program-ming an auto start time for each sentence (refer to storage location 2/1).

♦ With a serial data transmission by means of the LB2 protocol, dummyvalues must be transferred after the code for the respective instruction (see

FUNCTIONAL DESCRIPTION 4.15 Program flow instructions 4-37

8110-4

there) for all nominal value types that are contained in a normal sentence (e.g. piece number, determined by the programmed sentence structure of theunit) even if they have no meaning in this case (they are undefined).

4.15.1 Call subroutine (CALL Pr.)

If the Controller encounters the CALL Pr. instruction while processing aprogram it will temporarily branch to the program with the indicated number(beginning with sentence no. 1). This program is then executed as often asspecified by its cycles value. After the last program execution, processing ofthe original program will be continued starting at the sentence following theCALL instruction.

Up to 20 CALL instructions can be nested. If the number is exceeded, theprogram is interrupted at the corresponding position and the error # 32 (Toomany CALLs) is stored in the fault memory (can be retrieved using–+0).

If another program is called from a subroutine (CALL) with JUMP then afterprocessing the other program a jump is made back to the program thatoriginally contained the CALL instruction (processing continues with thesentence following the CALL instruction). A subroutine is consequentlyterminated by a program jump (JUMP Pr.) included in the subroutine.

Input:

˜+1 program number (1 ... 99)

;Upon the entry, the existence of the specified program is not verified. If theprogram does not exist the current program is aborted when the CALLinstruction is executed (Controller is switched over to the reset state) and theerror # 20 (Invalid program) is stored in the fault memory.

Coding for serial transmission (length = 4 bytes):

byte: 4 (MSB) 3 2 1 (LSB)

10h 00h 00h prg. no.

4.15.2 Jump instructions (JUMP Pr., JMP sent)

If the Controller encounters the JUMP Pr. instruction while processing aprogram it will directly branch to the program with the indicated number(processing starts with sentence no. 1). With JMP sent processing willresume at the indicated sentence, thus skipping certain sentences.


8110-4

In order to avoid endless loops, the number of succeeding JUMP instructionsis limited to 5. If this number is exceeded, the program is interrupted at thecorresponding position and the error # 31 (More as 5 JUMPs) isstored in the fault memory (can be retrieved with –+0). CALL instructions donot influence the counter of JUMP instructions which means that they do notinterrupt a JUMP chain. This counter is, however, reset to zero by a positioningprocess or an IF instruction.

If another program is called from a subroutine (CALL) with JUMP Pr. thenafter processing the other program a jump is made back to the program thatoriginally contains the CALL instruction (processing continues with thesentence following the CALL instruction).

Input:

JUMP Pr. JMP sent

˜+2 program no. (1 ... 99)

;

˜+3 sentence no. (1 ... 999)

;

Upon the entry, the existence of the specified program or sentence is not veri-fied. If the program or sentence does not exist the current program is abortedwhen the JUMP instruction is executed (Controller is switched over to the resetstate) and the error # 20 (Invalid program) and/or error # 30(Invalid sentence) is stored in the fault memory.



JUMP Pr. 20h 00h 00h prg. no.

JMP sent 40h 00h sentence no.


8110-4

4.15.3 Signal-dependent branching (IF l/O)

The program can be conditionally executed depending on the signal state atcertain inputs and outputs (l/O) of the Controller.

If the condition is true, i.e. the signal state at the called input/output is logically1 (High level), the program is continued with the sentence immediatelyfollowing the IF instruction. Otherwise (logically 0), the program is continuedwith the next sentence plus one, i.e. the sentence following the IF instruction isskipped.

Output signals are internally scanned. This means that all kinds of output sig-nals may be used without the pertaining data output having to be physicallyexisting. Consequently, it is possible, e.g., to assign program execution signalsor machine functions to a fictitious data output A3 and subsequently to scan it.When calling input signals, the corresponding data input connector must ofcourse be available. However, an assignment of a function is not required.

When starting from the reset state, it is not possible first to process an IF in-struction (directly in the first sentence of the started program or via aCALL/JUMP instruction from another program just started) so as to avoidnon-defined initial positions. In this case, the program is immediately aborted(in a way, the EcoController remains in the reset state). Error # 33 (IFfrom reset) is stored in the fault memory (can be retrieved with –+0).Consequently, after a start at least one positioning instruction must precede anIF instruction.

By chaining several IF conditions, logical ANDs or ORs can be implemented(refer to the example in the following paragraph).

Input:

˜+4 I/O number (s. b.)

;

The l/O numbers are coded as follows:

1xx ... 4xx data input E1 ... E4

5xx ... 8xx data output A1 ... A4

xx = 00 ... 23 bit number 0 (20) ... 23 (223) 1

90x actual = nominal signal100x reference reached signalx = 1 ... 6 axis 1 ... 6

The entry is monitored concerning valid value range. In case of an error, theInvalid entry message is output (confirm with any key). 1 Normally the data inputs/outputs are grouped in decades (counting from bit 20 to 23 each), refer toappendix B. Concerning the IF instruction, a binary devision is performed, i. e. counting is continuedwith decade 1, with bit 24 instead of 20, up to 223 (= decade 5, bit 23).


8110-4



30h 00h I/O no.

4.15.4 Examples

1. Logical OR

In case of High level at position 20 or 21 of the 2nd data input, program 2 is tobe processed, otherwise program 3.

Program 1 (control program):

sentence 1: Pos. A 1 0 initial positionsentence 2: IF I/O 200 bit 20 = 1?sentence 3: JMP sent 8 yes (⇒ process program 2)sentence 4: IF I/O 201 no; bit 21 = 1?sentence 5: JMP sent 8 yes (⇒ process program 2)sentence 6: CALL Pr. 3 no; process program 3sentence 7: JMP sent 2 ready; back to the first scansentence 8: CALL Pr. 2 process program 2sentence 9: JMP sent 2 ready; back to the first scansentence 10: Cycles 0 end of program

2. Logical AND

Only if High level is present at position 2° and 21 of the 2nd data input,program 2 is to be processed, otherwise program 3.

Program 1 (control program):

sentence 1: Pos. A 1 0 initial positionsentence 2: IF I/O 200 bit 20 = 1?sentence 3: JMP sent 5 yes (⇒ next scan)sentence 4: JMP sent 7 no (⇒ process program 3)sentence 5: IF I/O 201 bit 21 = 1?sentence 6: JMP sent 9 yes (⇒ process program 2)sentence 7: CALL Pr. 3 no; process program 3sentence 8: JMP sent 2 ready; back to the first scansentence 9: CALL Pr. 2 process program 2sentence 10: JMP sent 2 ready; back to the first scansentence 11: Cycles 0 end of program


8110-4

3. Simple positioning sequence (principle)

Material of differing length is to be pushed forward in a slide, providing thematerial with borings at a distance of optionally 1000 or 2000, depending on asignal at the 2nd data input, position 21 (1 = length 2000). Using another signal(2nd data input, position 22) the end of the material is determined and the slideis move to position 0. The sentences include a machine function (output withactual=nominal ). They are automatically started (e.g. every 5 sec). Theprocess enable is scanned in a waiting loop (signal at position 20 of the 2nddata input, 1 = start enabled).

Program 1:

sentence 1: Pos. A 1M. funct

00

beginning of materialdo not drill

sentence 2: IF I/O 200 start permitted?sentence 3: JMP sent 5 yes (⇒ next scan)sentence 4: JMP sent 2 no; repeated scan (waiting loop)sentence 5: IF I/O 202 end of material?sentence 6: JMP sent 1 yes (⇒ initial position)sentence 7: IF I/O 201 no; distance 2000?sentence 8: JMP sent 11 yes (⇒ distance = 2000)sentence 9: Leng.A 1

M. funct1000

1no; distance = 1000drill

sentence 10: JMP sent 2 ready; back to first scansentence 11: Leng.A 1

M. funct2000

1distance = 2000drill

sentence 12: JMP sent 2 ready; back to first scansentence 13: Cycles 0 end of program

4-42 4.16 Coordinates offset FUNCTIONAL DESCRIPTION

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4.16 Coordinates offset

With units containing only ‘pure’ positioning axes, the origin of coordinates canbe offset for each sentence, namely either

− absolutely with reference to the machine zero point (angle encoders zero orreference point with incremental systems) or

− relatively to the just valid origin.

The following diagram demonstrates these possibilities.

%% %% *%% %% %% +%% ,%% #%%

%%

*%%

%%

%%

%%

%

%

%% %%

%% %%

%%

%%➊

➋

➌

➊ C.abs A14%% C.abs A24*% C.rel A14%% C.rel A24*%

➋ C.rel A14%% C.rel A24%

➌ C.abs A14+%% C.abs A24%%

E180039B

If a sentence is started with a coordinates offset, only the actual valuecounter of the concerned axes is changed. No positioning process is in-volved. Then, the next sentence is started with an internally generated signal. Ifit contains the nominal length 0 for all axes then here also no positioning is per-formed.

Requirements for all involved axes:

• system of absolute dimensions (storage location 3/44 = 0 [»reference«])

• no rotary table function (storage location 3/8 = 0)

Activation:

press at the beginning of a sentence (instead of the position for the first axisin the unit) the key combination

− –+1 for an absolute offset of the origin(display: C.abs Ax, x = no. of the axis) or

− –+2 for a relative offset of the origin(display: C.rel Ax, x = no. of the axis)

FUNCTIONAL DESCRIPTION 4.16 Coordinates offset 4-43

8110-4

Enter the desired absolute or relative zero coordinate for the x axis.The input features for the coordinates offset correspond to the program flowinstructions (refer to section 4.15, General features).

Positioning example for an unit consisting of two axes:

sentence 1: Pos. A 1Pos. A 2

100200

coordinates = machine coordinates

sentence 2: C.abs A1C.abs A2

200300

coordinates offset absolute to themachine zero point


00

coordinates = work piece coordi-nates


300100

sentence 5: ... ...

%% %% *%% %% %% %

%%

*%%%

%%

%%

%% %% *%%

%%

9%%7%%%%7%%

9**%%7%%

:

9%7%

E180039C

• With the first starting signalposition P1 is moved to.

• With the second starting signal,the actual values of axis 1 andaxis 2 are set to -100 (coordinatesoffset) and then with an internalstart, the position P2 is moved to(with reference to the machinezero point the coordinates wouldbe (200, 300)).

• Position P3 is moved to with thethird starting signal.

The machine zero point is reactivated with the next reset signal, i. e. thedisplayed actual values are related to this. (If, in the above-mentionedexample, the Controller is reset in P3 then the actual value of axis 1 is set to500 and the one of axis 2 to 400.)

1. Programmed positions of software limit switches (storagelocations 3/71…73) are related to the actual positions in thecurrent coordinate system. In an unfavourable case, withcoordinates offset monitoring can thus become ineffective!

2. When using absolute encoders, the end of the counting rangecan be reached by one or several unfavourable coordinatesoffsets. Thus, a prohibited actual value jump can appearduring positioning.

To cut, e. g., individual work pieces from material, the data being validfor all work pieces such as (relative) positions or lengths and othersentence elements (e. g. speed rate with continuous sentence

4-44 4.16 Coordinates offset FUNCTIONAL DESCRIPTION

8110-4

processing) could be stored in a program no. 2 while the program no. 1to be started contains successively the coordinates offsets for eachwork piece separated by the ‘Call Pr. = 2’ program flowinstruction (= single processing of the work piece program no. 2).



absolute Exh xxh xxh xxh

relative Dxh xxh xxh xxh

value of the offset (negative: two’s complement)

If a ‘normal’ sentence contains further elements (such as e. g. the number ofpieces), then the values for these will (must) be transferred following thecoordinates offset, even if they have no meaning in this case (they areundefined). There are always so many nominal values per sentence to betransferred as they are determined by the programmed sentence structure ofthe unit (exception: last sentence which contains the program end).

TROUBLE SHOOTING 5.1 Status display 5-1

8110-4

5 Trouble shooting

5.1 Status display

The EcoController signals its internal operating states via 2LEDs: L1 (red) and L2 (green).

L1 (red) L2 (green) Status

On 1:20 On Ready for operation

On 20:1 On Fault (e. g . initiated by the contouring errormonitoring, /fault signal active; refer to section4.7)

On / Off On • Power-up initialization

• Low supply voltage

• Internal hardware fault (repair required)

Off Off No supply voltage present

F

N

L1

L2

X1810003#

5-2 5.2 Warning and error messages TROUBLE SHOOTING

8110-4

5.2 Warning and error messages

Apart from various operating state messages, the controller outputs an appro-priate warning or error message in certain operating situations when using theoperating terminal (GEL 8810). Each message must be acknowledged bypressing any key. For warning messages requiring a decision, the ; keymeans confirmation whereas any other key aborts the respective function.

The following overview in alphabetic order shows the various error messages(and the order in which they are dealt with). The descriptions do not representthe whole range of possibilities. Messages valid only for certain functionoptions are dealt with at their corresponding descriptions (refer to separatedocument).

Listed messages: Delete memory ?Delete program?Delete unit ?EEPROM errorFatal error 1Inactive auto calInactive entryInvalid auto calInvalid deleteInvalid entryInvalid piecesInvalid prog.endInvalid programInvalid sentenceLoad memory ?Memory overflowOnly for s.beginOnly in resetOver 999 sentenceParam. errorParkpos. too highParkpos. too lowPosition too highPosition too lowProg.end existsProg.end missedReferenc too highReferenc too lowSave memory ?Speed too high

TROUBLE SHOOTING 5.2 Warning and error messages 5-3

8110-4

Warning or errormessage

Cause, situation Remedy, reaction

Delete memory ? The ˜+7 keys werepressed directly afterentering the machineparameter programmingmode

(all machine parameters willbe reset to 0 and all storagelocations for the nominalvalues will be cleared)

Confirm the safety inquirywith ; or abort functionwith any other key

Delete program? After the selection of aprogram the ˜+7 keyshave been pressed (insteadof entering the sentencenumber)

Confirm safety inquiry with; or abort function withany other key

Delete unit ? • In the nominal valueprogramming mode, the˜+7 keys have beenpressed after selection ofthe unit (instead of theprogram number input);

Confirm the safety inquirywith ; or abort functionwith any other key

• In the machine parameterprogramming mode, either

− the unit/axisassignment (storagelocations 1/3 to 1/5) or

− the configuration of thenominal value sentencefor the unit (storagelocations 2/1 to 2/5) hasbeen changed

(all storage locations, i.e.,programs of the respectiveunit are cleared)

As before

EEPROM error Non-correctable error in thememory used by the powerfailure security

(can only occur duringnominal value entry)

Replace the Controller


8110-4



Fatal error 1 Non-correctable RAM error

(can only occur if a defectcontroller is switched on; themessage cannot be cleared)

Replace the Controller

Inactive auto cal

automatic calibration functionis inactive

You tried to start an auto-matic reference searchroutine (–+2) although thisfunction has not been en-abled in the machine para-meters for the concernedaxis

Enable this function at thecorresponding axis para-meter (storage location 3/9)

Inactive entry In the automatic mode, youhave tried

− to select a program(˜+1) or

− to enter a referencevalue, a correction value,or a parking positiondirectly (–+1/3/4),

although this function hasnot been activated with themachine parameters for therespective axis.

Activate program selectionor direct input possibilitiesfor the respective unit para-meters (storage location2/6) or axis parameters(storage location 3/7/9/57)

Invalid auto cal

starting the automaticcalibration is invalid

You tried to start an auto-matic reference searchroutine (–+2) although theunit of the correspondingaxis has not been reset

Reset the controller for thecorresponding unit

Invalid delete You tried to delete (˜+#)− the only nominal value

sentence of a program or

− the end of the programitself

Acknowledge with any key


8110-4



Invalid entry • In the automatic mode youtried

− to change the program(˜+1), or

− the direct entry of areference value, acorrection value, or aparking position wasactivated(–+1/3/4)

although the unit of therespective axis has notbeen reset

Reset the controller for therespective unit

• In the nominal valueprogramming mode, youhave entered an invalid l/Onumber for an IF command

Enter a valid l/O number(refer to section 4.15)

Invalid pieces

invalid number of pieces

0 was entered for thenominal number of pieces

Enter the correct piecenumber

Invalid prog.end

invalid end of program

• You tried to define the endof program for a programthat is still empty (˜+9)

First, enter nominal valuesor exit the program

• You tried to insert a sen-tence when the end ofprogram is displayed(˜+;)

Scroll back to the sentenceafter which a new sentenceis to be inserted


8110-4



Invalid program • When copying sentences(˜+8), a non-existentprogram has beenspecified as source

Enter a correct programnumber

• When powering on thedevice:

− you had switched offwhile the messageSavingprogram has beenissued, or

− the device is defect

Clear all nominal valuestorage locations (i.e.,carry out the clearingprocess for eachprogrammed unit); thenswitch the device off andon again.If the message is still indi-cated, the device must bereplaced. In the other case,reprogram the nominalvalues.The controller cannot bestarted if the message hasbeen acknowledged with-out carrying out the abovestep(s)

Invalid sentence • When copying sentences(˜+8) a non-existentsentence has been speci-fied as source

Enter the correct sentencenumber

• When copying in the over-write mode (destinationsentence number hasbeen confirmed with ;only), the number of sen-tences within the actualprogram is lower than thatof the sentences to becopied

Reduce the number of thelast sentence to be copiedor use the insert mode(confirm the "to" sentencenumber with ˜+;)

Load memory ? The ˜+; keys have beenpressed in order to overwriteall machine parameters andnominal values in the FlashMemory saved before(Restore)

Confirm the message with; or abort function withany other key


8110-4



Memory overflow All nominal value storagelocations are already used.Occurs

− after entering the lastpossible nominal valuewhen trying to insert an-other sentence or to copyseveral sentences in theinsert mode

− after trying to create anew program if there isno space left for at leasttwo sentences

Define the end of programin the actual program(˜+9);

if required, delete sen-tences in another programin order to free-up newmemory space

Only for s. begin

at the beginning of thesentence only

For a sentence alreadybegun, i.e., starting with thesecond or a further nominalvalue in the actual sentence,you tried

− to define the end ofprogram (˜+9), or

− to set a program flowinstruction at this position(˜+1 … ˜+4)

First, enter the remainingnominal values of theactual sentence

Only in reset

in reset state only

You tried

− to copy sentences(˜+8) or

− to delete (˜+#) or toinsert a sentence(˜+;)

although there is still at least1 unit in the started orinterrupted state

Reset the Controller for allunits


8110-4



Over 999 sentence • 998 sentences havealready been programmed(the end of program doesalso count as a sentence)and you now tried to enteranother nominal value or toinsert a sentence

Terminate the program

• When copying in the insertmode, too many sentenceshave been selected so thatthe sum of the sentencesexisting and still to becopied would exceed thevalue 998

Reduce the number ofsentences to be copied

Param. error

parameter error

An inadmissible value hasbeen entered for a machineparameter

(occurs when trying to exitthe programming mode ofmachine parameters)

Confirm the message with;; the invalid parameter isactivated and can now becorrected

If the message is acknowl-edged with (e.g.) e, i.e.ignored, no unit can bestarted and the programm-ing mode of nominal valuescannot be activated. Insuch a case, change anarbitrary parameter, save it,and exit the programmingmode. Then, the invalid pa-rameter will be indicatedagain.

Parkpos. too high

parking position is too high

Input monitoring:value of parking positionexceeds the specified »Pos.max« value (storage location3/72)

Enter a lower value orspecify »Pos. max« new

Parkpos. too low

parking position is too low

Input monitoring:value of parking position islower than the specified»Pos. min« value (storagelocation 3/71)

Enter a higher value orspecify »Pos. min« new


8110-4



Position too high Input monitoring:value of the nominal posi-tion/ length exceeds thespecified »Pos. max« value(storage location 3/72)


Position too low Input monitoring:value of the nominal posi-tion/ length is lower than thespecified »Pos. min« value(storage location 3/71)


Prog. end exists

end of program already exists

You tried to redefine the endof program for an alreadyestablished program(˜+9)

Acknowledge the messagewith any key

Prog. end missed

missing end of program

You tried to exit a still emptyor newly created program(e or —+0)

• Entries have alreadybeen made: do not con-firm the message with ;(the program is notexited) and define theend of program (˜+9)

• An empty program hasbeen selected (by mis-take): confirm messagewith ; (the program isexited)

Referenc too high

reference measure is too high

Input monitoring:value of the referencemeasure exceeds thespecified »Pos. max« value(storage location 3/72)


Referenc too low

reference measure is too

Input monitoring:value of the referencemeasure is lower than thespecified »Pos. min« value(storage location 3/71)



8110-4



Save memory ? The —+; keys have beenpressed in order to save allmachine parameters andnominal values into a powerfailure-safe memory(Backup)

Confirm the message with; or abort function withany other key

Speed too high A nominal speed value hasbeen entered that is largerthan the programmedmaximum value (storagelocation 3/32) considering aprogrammed multiplier and adecimal point for the speedrate input (storage locations3/45 and 3/46)

Enter a lower value

TROUBLE SHOOTING 5.3 Fault memory 5-11

8110-4

5.3 Fault memory

Up to 20 faults that appeared during the operation are stored successively andnon-volatile in the memory of the EcoController. In addition, each appearingfault pushes the one at the bottom out of the memory.

If the GEL 8810 operating terminal is used, error messages can be accessedin every operating state of the Automatic operation mode after pressing the–+0 keys (with the BB8110 PC program, the faults are displayed in theservice mask).

The finally stored fault is then displayed. The no error message is outputif no fault has appeared yet.

Representation format (example):

Contr: 1 GEL 8110 2. 4.11. 9 start & auto cal

2. 4.11. 9

Unit or axis that has caused the fault (1 … 6);0 = system fault

2. 4.11. 9

running number of the displayed fault (1 … 20)

2. 4.11. 9

number of the stored faults (1 … 20)

2. 4.11. 9

number of the fault (refer to the following table)

From this example it can be seen thatan automatic reference search routine was triggered for an axis of the 2ndunit although the unit was just in the started state. A corresponding faultnumber (9) was stored since this (wanted) action remained ineffective.This was the 4th fault of altogether 11 which have appeared up to thepoint in time of the fault inquiry.

The !/^ keys can be used to scroll through the messages if several faultnumbers are present in memory.

If the ! key is pressed when displaying the last fault, all fault numbers can beremoved from memory if the following safety inquiry Delete all ? isconfirmed with ;. With e the action is aborted. The displays are thenswitched to the normal operating status again, i.e., the inquiry function isexited.

An individual error message can be deleted when it is displayed, ; ispressed and the Delete this ? safety inquiry is also confirmed with

plain text of the fault

5-12 5.3 Fault memory TROUBLE SHOOTING

8110-4

;. With e the action is aborted. The number of faults and the running numberof the faults above the deleted are then reduced by 1. If both were previously 1then the displays are switched to the normal operating state again, i.e., theinquiry function is exited.

The inquiry function can be exited at any time using e.

Table of faults:

No. Display (GEL 8810) Unit Axis Description

1 = Pos. > Pos. max X Actual position exceeds the »Pos.max« software limit switch (storagelocation 3/72); refer to section 4.13.1

2 = Pos. < Pos. min X Actual position is less than the »Pos.min« software limit switch (storagelocation 3/71); refer to section 4.13.1

3 ! Pos. > Pos. max X Nominal position exceeds theprogrammed »Pos. max« maximumvalue (storage location 3/72), refer tosection 4.13.1; occurs if »Pos. max« ischanged after specifying the nominalvalue or when processing lengths inthe absolute dimensions system

4 ! Pos. < Pos. min X Nominal position is less than theprogrammed »Pos. min« minimumvalue (storage location 3/71), refer tosection 4.13.1; occurs if »Pos. min« ischanged after specifying the nominalvalue or when processing lengths inthe absolute dimensions system

5 Delta_s> S max + X Absolute value of the positive controldeviation (contouring distance) islarger than the programmed»S max +« maximum value; refer tostorage location 3/42

6 Delta_s< S max - X Absolute value of the negative controldeviation (contouring distance) islarger than the programmed»S max -« maximum value; refer tostorage location 3/43

7 stop & auto cal X Search for reference signal was presetwith Low level at the stop input or theunit being in the interrupted state

8 reset & auto cal X Search for reference signal was presetwith High level at the reset input


8110-4


9 start & auto cal X Search for reference signal was presetwith the unit being in the started state

10 m.Drive& auto cal X Search for reference signal was presetduring manual positioning of the drive

11 ProgPar& auto cal X Search for reference signal was presetduring the programming of machineparameters

12 MemEdit& auto cal X Search for reference signal was presetduring the recalculation of machineparameters, i.e., directly after terminat-ing the programming operation

13 stop & start X Start signal was preset with Low levelat the stop input

14 reset & start X Start signal was preset with High levelat the reset input

15 autoCal& start X Start signal was preset although atleast one axis of the unit performs anautomatic reference search routine

16 m.Drive& start X Start signal was preset during manualpositioning of a drive of the unit

17 ProgPar& start X Start signal was preset during theprogramming of machine parameters

18 MemEdit& start X Start signal was preset during aprogram structure change(inserting or deleting of nominal valuesentences/programs and serial trans-mission of already existing programsand of machine parameters)

19 start calib. X Start signal was preset although thereference measure was not set for allaxes to be calibrated; refer to storagelocation 1/2

20 invalid program X Start signal was preset although novalid program was selected

21 start & Prog.Par X The started operating state wasaborted by the programming of amachine parameter

22 autoCal& Prog.Par X An autom. reference search routinewas interrupted by the programming ofa machine parameter

5-14 5.3 Fault memory TROUBLE SHOOTING

8110-4


23 m.Drive& Prog.Par X Manual positioning was aborted by theprogramming of a machine parameter

24 autoCal& MemEdit X An autom. reference search routinewas aborted by the modification andrecalculation of machine parameters

25 m.Drive & MemEdit X Manual positioning was aborted by themodification or recalculation of a ma-chine parameter

26 framing error Stop bit error at the serial interface(wrong polarity: Low level)

27 ser.com. error Error during serial transmission (parity,overrun, check)

28 axis in HW-max X Axis triggered the upper hardware limitswitch (MAX) (refer to section 4.13.2)

29 axis in HW-min X Axis triggered the lower hardware limitswitch (MIN) (refer to section 4.13.2)

30 invalid sentence X A non-existing sentence was selectedvia the data input or by the ‘JMP sent’instruction

31 more as 5 JUMPs X More than 5 consecutive jump instruc-tions are specified in the program(‘JUMP Pr.’ and/or ‘JMP sent’, refer tosection 4.15)

32 too many CALLs X More than 20 nested sub-routine calls(‘CALL Pr.’) are specified in theprogram (refer to section 4.15)

33 IF from reset X After a start from a reset state, an IFinstruction (‘IF I/O’) was executed bythe program without performing aprevious positioning (refer to section4.15)

36 Watchdog Reset Controller reset, caused by externalnoise (EMC measurements!) or aninternal fault (repair is possibly re-quired)

37 Short C. output A short-circuit appeared at one orseveral outputs of the F, H or Kterminals; see appendix B

38 CAN bus error X Interference or interruption ofcommunication on the CAN bus


8110-4


39 Additional error messages arepossible according to the built-incommunication and/or technologyfunctions; they are dealt with in therelated document(s)

Please evaluate the fault memory if the drive(s) of an unit cannot bestarted. There, you will find surely the cause for the problem.Exceptions (no fault message):

• A parameter error was not removed (refer to section 5.2, Param.error)

• Axes which are still not associated to a unit (system parameters)can, of course, also not be started

The following causes (no fault message!) can be the reason why adrive cannot be positioned manually although the correspondingstorage locations are correctly programmed:

• no High level is present at the stop input of the corresponding unit

• High level is present at the reset input of the corresponding unit

• the unit of the corresponding axis is in the started state

• the unit of the corresponding axis is in the interrupted state, manualpositioning was allowed, however, for the reset state only (storagelocation 3/18)

• machine parameters are just recalculated after a change or serialtransmission

5-16 TROUBLE SHOOTING

8110-4

Notes:

SERIAL DATA TRANSFER 6.1 Hardware 6-1

8110-4

6 Serial Data Transfer

6.1 Hardware

The EcoController contains 3 serial interfaces for different applications. Forthis, three 9-pin Sub-D connectors B1 and B2 (identical with the exception ofpins 1) and C are available (see Appendix B).

Ser1: RS 485 or RS 232 C

Ser2: RS 422/485

Ser3: RS 485

6.1.1 Ser1 port

This port is DC-isolated via photocouplers. Two versions are available: RS485 and RS 232 C (with identical potential), however, only one may be used atthe same time. The port is intended for the usage with a PC e.g. together withthe BB8110 operating program. In this case, the LB2 transmission protocol isused (see description below).

When cascading several EcoController type devices (see the following sec-tion), the DIP switch SW1.1 (cf. Appendix B) has to be closed i.e. set to ‘ON’.

Storage locations:1/14: transmission rate (1,200…57,600 baud)1/15: device number (0 for only one Controller, otherwise 1…31)

6.1.2 Ser2 port

This port is not DC-isolated. It is intended for the functional networking ofseveral devices of the GEL 81xx EcoController family (cascading). Throughthis bus, the actual values

− of up to 2 external axes are read in for processing in the EcoController(actual value acquisition) or

− of up to 2 internal axes are transmitted to another EcoController (data out-put),

e.g. in conjunction with the GEL 8140 Synchro Controller.

Especially for this port, two cable types are offered where the two other portsare 1:1 connected:

6-2 6.1 Hardware SERIAL DATA TRANSFER

8110-4

a) 1 transmitter and 1 receiver

*

+

,

#

$

-

!"#$%+.!;-

-

*

+

,

#

$

'2%'2&<'2&<0'2<&'2<0&0

'(2&<'(2&<0

5=

E181026C

b) 2 receivers

*

+

,

#

$

!"#$%+!!;

*

+

,

#

$

'2%'2&<'2&<0

'2&'2&0'(2&<'(2&<0

-

-

5=

E181026B

Storage locations:1/25: transmission rate (150…375 KBaud)3/1: actual value acquisition (variants 11…13)3/81: actual position data output (variants 19…21)

6.1.3 Ser3 port

Like Ser1, this port is DC-isolated via photocouplers. It is intended forconnecting operating means like the GEL 8810 Operator Terminal as well asstandard PCs.

For the GEL 8810 Operator Terminal, a special protocol is implemented.Otherwise, the LB2 transmission protocol is used (see description below).

When cascading several EcoController type devices (see the previous sec-tion), the DIP switch SW1.1 (cf. Appendix B) has to be closed i.e. set to ‘ON’.

Storage locations:1/15: device number (0 when using only one Controller, otherwise 1…31)1/16: transmission protocol (LB2 or Terminal)1/26: transmission rate (4,800…57,600 baud)

Additional (connection-)information are contained in sections 2.2.4 and 2.3.

SERIAL DATA TRANSFER 6.1 Hardware 6-3

8110-4

6.1.4 Specifications

Transmission rateSer1Ser2Ser3

1,200...57,600 baud150…375 KBaud4,800...57,600 baud

Maximum cable length

RS 232 C 15 m, screened

RS 422/485 1000 m, twisted in pairs and screened

Bus principle

RS 232 C 1 Master and 1 Slave (single-drop)

RS 422/485 1 Master and up to 31 Slaves (single/multi-drop)

Possible bus topologies point-to-point, line

Transmission protocolsSer1Ser2Ser3

LB2 or free (via LB-Flex operating system)internalLB2, Terminal or free (via LB-Flex)

Transfer parametersSer1Ser3

LB2: 8E1; free: 8E1, 8N1, 7E18E1 = 1 start bit, 8 data bits, 1 parity bit (even/

odd/none), 1 stop bit

Electrical characteristics

RS 232 C according to the EIA-232 standard

RS 422/485 according to the EIA-485 standard

6-4 6.2 LB2 protocol SERIAL DATA TRANSFER

8110-4

6.2 LB2 protocol

6.2.1 General

The communication is binary with

1 start bit + 8 data bits + 1 parity bit (even) + 1 stop bit.

The protocol operates entirely without hardware handshake.

Notes:

• The figures represented in this section are generally hexadecimal andlabeled with the 'h' suffix.

• If not specified in detail, reading or receiving means that the Master (PC,SPC, etc.) receives data from the Controller. Writing or transmittingmeans the transfer of data from the Master to the Controller:

writing/transmitting: Master → Controllerreading/receiving: Master ← Controller

6.2.2 Basic telegram structure

Header Data Check byte

2 bytes n bytes 1 byte

Header

1st byte = 82h (LSB)2nd byte = 96h (MSB)

Data 1st byte: number of all following bytes (including the check byte)

2nd byte: function3rd to nth byte: data

Check byte

Logical bit-by-bit XOR operation of all data bytes

This results in the following structure for Transmitting and Receiving of data:

Header Number Function Data Check byte

T 82h 96h …

R 82h 96h …

SERIAL DATA TRANSFER 6.2 LB2 protocol 6-5

8110-4

Important programming notes:

For multi-byte data words, the least significant byte (LSB) is transmitted firstand then the most significant byte (MSB).

If a data byte or the check byte contains the value 82h then it is directlytransmitted a second time. Thus, it cannot be misinterpreted as first headerbyte.

This additional byte is neither included in the number of bytes (first data byte)nor in the check byte. This must be taken into account by the transfer programof the Master when transmitting and receiving data.

If in the following a maximum value for the data bytes to be transmitted isspecified the real value may be higher by the number of possibly 82h repeti-tions.

If a time-out is initiated by the Master, e.g. because the Controller is expectingthe transmission of further data due to a transmission error, the Master canabort the last function by a communication reset. The Controller will thenignore the data transmitted by this function. It is recommended to always carryout this reset at the beginning of a transmission sequence.

Communication reset: 82h 00h 82h 00h

The time-out time is function-dependent (when writing to the EEPROM it islonger than writing to the RAM). It is at last 30 seconds.

Operational values are always transmitted in the integer format. A decimalpoint shown in the display of the Controller must be ignored, i.e., the value ismeasured in DispU. Example: 50.83 actual measuring units = 5083 DispU =000013DBhex (transmission: DBh 13h 00h 00h).

Error messages of the Controller show the following telegram structure:


R 82h 96h 03h FFh error code ??h

The possible error codes (1 byte) are described in section 6.3.1.

6-6 6.3 Functions SERIAL DATA TRANSFER

Function 0

8110-4

6.3 Functions

In the following, the functions of the LB2 protocol are described in theirnumerical order. The table of contents at the beginning of this chapter presentsa survey and assists you in quickly find the function you are looking for.

00h: Select device


T 82h 96h 03h 00h device number ??h

R 82h 96h 03h 00h device number ??h

♦ device number (1 byte)

00h ... 1Fh: device 0 ... 31

Please note: The device number is entered at storage location 1/15. A time-out is initiated by the Master if there is no device with the speci-fied number.Exception: A Controller with the device number 0 always re-sponds (also even another Controller has been selected).Therefore, device number 0 must not be programmed at anydevice if several Controllers are connected to the serial interface(bus operation)!

Example: Controller no. 2 shall be selected

Transmit: | 82h 96h || 03h | 00h | 02h || 01h |Receive: | 82h 96h || 03h | 00h | 02h || 01h |

SERIAL DATA TRANSFER 6.3 Functions 6-7

Function 1

8110-4

01h: Read actual data


T 82h 96h 05h 01h type start number ??h

R 82h 96h ??h 01h n bytes ??h

♦ type (1 byte)

00h = actual position (axis) 01h = nominal position (axis) 02h = actual number of pieces (unit) 03h = nominal number of pieces (unit) 4 bytes (all values in DispU)04h = nominal speed rate (axis) 05h = Delta_s (axis) 20h = ext. data output (data module) 3 bytes (LSB: 101 + 100)21h = ext. data input (data module)

40h = sentence number (unit) 2 bytes41h = voltage (axis)

60h = program number (unit) 61h = unit operating state (unit) 1 byte62h = axis operating state (axis)

♦ start (1 byte)01 h = Axis 1, Unit 1 or Data Module 102h = Axis 2, Unit 2 or Data Module 203h = Axis 3, Unit 3 or Data Module 304h = Axis 4, Unit 4 or Data Module 405h = Axis 5 or Unit 506h = Axis 6 or Unit 6

♦ number (1 byte)

01 h...06h: number of values to be read, counted from start (example for 5axes: start = 02h, number = 03h ⇒ the Controller transmitssuccessively type for Axis/Unit/Data Module 2, 3, and 4)

Please note: The length of the received data depends on the selected type(1, 2, 3, or 4 bytes)!

The individual bits of the operating state bytes (type 61h and 62h) have thefollowing meaning:


Function 1

8110-4

a) Unit operating state (61 h) (61h)7 6 5 4 3 2 1 0

b) Axis operating state (62h)7 6 5 4 3 2 1 0

Example: Read actual positions of axes 2, 3, and 5

actual position Axis 2: 1050 [DispU] = 0000041Ahactual position Axis 3: 40066 [DispU] = 00009C82hactual position Axis 5: -20512 [DispU] = FFFFAFEOh (two's

complement)

(In the following representations, the 'h' suffix is not indicated in thehexadecimal figures.)

Transmit (I): | 82 96 || 05 | 01 | 00 | 02 | 02 || 04 |

Receive (I): | 82 96 || 0A | 01 | 1A 04 00 00 82 82 9C 00 00 || 0B |–– 2nd axis –– –––– 3rd axis –––

Transmit (II): | 82 96 || 05 | 01 | 00 | 05 | 01 || 00 |

Receive (II): | 82 96 || 06 | 01 | E0 AF FF FF || 48 |–– 5th axis –––

1 = reset1 = stop1 = start1 = ‘param. error’, ‘invalid program’1 = sentence end1 = block end1 = program end1 = fault

1 = manual positioning1 = move to park position1 = automatic reference search routine1 = reference reached1 = actual=nominal1 = actual pos. < min. pos. (SW limit switch)1 = actual pos. > max. pos. (SW limit switch)1 = fault


Function 2

8110-4

02h: Write operational data


T 82h 96h ??h 02h type start values ??h

R 82h 96h 02h 02h — 00h

♦ type (1 byte)60h = program number (unit)61 h = unit operating state (unit)62h = axis operating state (axis)

♦ start (1 byte)01 h = Axis 1 or Unit 102h = Axis 2 or Unit 203h = Axis 3 or Unit 304h = Axis 4 or Unit 405h = Axis 5 or Unit 506h = Axis 6 or Unit 6

♦ values (n bytes)

Please note:

The length of values is always 1 byte.

Presetting a program number (type 60h) only leads to the selection of anew program if the »serial« variant is programmed at storage location 2/6. Ifnot, the Controller will signal error code 15h.

The individual bits of the operating state bytes (type 61 h and 62h) have thefollowing meaning:

a) Unit operating state (61 h)7 6 5 4 3 2 1 0

1 = reset1 = stop1 = start


Function 2

8110-4

b) Axis operating state (62h)7 6 5 4 3 2 1 0

The commands for the manual positioning of a drive are only acceptedby the Controller if the »LB2« protocol has been specified for the Ser3interface (System parameter 1/16 = 0; in addition: 3/19 = 25 = »key-board«). Thus, it is prevented that a drive is simultaneously positionedby an Operator Terminal and a PC.

Use a baud rate of > 9600 bit/s for manual positioning of the drive toprevent a jerky displacing of the drive.

Example: Program selection for units 1, 2, and 4

Unit 1: program no. 5 (= 05h)Unit 2: program no. 12 (= 0Ch)Unit 4: program no. 20 (= 14h)

A two-step communication has to be carried out as no preset ismade for Unit 3 (I: Units 1 + 2, II: Unit 4).

Transmit (I): | 82h 96h || 06h | 02h | 60h | 01h | 05h 0Ch || 6Ch |

Receive (I): | 82h 96h || 02h | 02h || 00h |

Transmit (II): | 82h 96h || 05h | 02h | 60h | 04h | 14h || 77h |

Receive (II): | 82h 96h || 02h | 02h || 00h |

1 = search for reference

1 = slow speed forward (>)1 = fast speed forward (>>)1 = slow speed reverse (<)1 = fast speed reverse (<<)


Functions 10 – 11 – 12

8110-4

10h, 11h, 12h: Read the nominal values of a program


T 82h 96h 08h 10h unit progr. sent. number ??h

R 82h 96h – see the following text (items a .. c) – ??h

♦ unit (1 byte)01h = Unit 102h = Unit 203h = Unit 304h = Unit 405h = Unit 506h = Unit 6

♦ progr. (1 byte)01h ... 63h: program number 1 ... 99

♦ sent. (2 bytes)00 01 h ... 03 E7 h: sentence number 1 ... 999

♦ number (2 bytes)0001 h ...1C00h: number of the nominal values to be read (max. 6416

(1910h)), starting with the nominal position/length of theselected sentence and ending either with the valuedetermined by number or the end of the program (=number of cycles); the nominal value sequence dependson the programmed unit structure

Please note:

To avoid misinterpreting of the received data, inform yourself and yourprogram about the sentence structure of the corresponding unit before youcall the function (e.g. read the Unit parameters via function 30h).

The Controller must be in the Automatic mode when calling the functions.

Each received nominal value has a length of 4 bytes.

A maximum of 62 (3Eh) nominal values (= 248 bytes without 82h repetitions)can be read within a telegram, i.e. at one time.

Position/length nominal value type: this value is internally multiplied by 2 bythe Controller. In case of a length it will be additionally incremented by 1,i.e. the value will be odd. When reading this nominal value type an appro-priate inquiry and conversion must be made.

Speed rate nominal value type: this value is internally multiplied by 2 by theController. If continuous sentence processing has been activated it will be



8110-4

additionally incremented by 1, i.e. the value will be odd. An appropriateinquiry and conversion must be made when reading this nominal value type.

With program flow instructions (see Section 4.15) and coordinatesoffset (see Section 4.16), after the code of the corresponding instruction(see there) for all nominal values which are part of a 'normal' sentence (e.g.piece number, determined by the sentence structure of the unit) dummyvalues are transmitted; they have no meaning and are undefined.

The response of the Controller depends on the number of the requestednominal values and the position of the end of program:

a) number ≤ 3Eh and the end of program is not included in the data block oris located exactly at the end of the block:

R 82h 96h ??h 10h max.62 nominal values with 4 bytes each ??h

b) number ≤ 3Eh, but the end of program is included in the data block:

R 82h 96h ??h 12h x nominal values with 4 bytes each ??hx < number

Note: This also applies to multi-step block transmissions (refer to item cand the following example) if the number of nominal values up to theend of program is less than the number of values still to be read.

c) number > 3Eh and the end of program is not included in the data block:

R 82h 96h FAh 11h 62 nominal values with 4 bytes each ??h

Hence, the Controller transmits a block of 62 nominal values. By the functionnumber 11h, it signals the Master that there are further values to be read.During this time it is not possible to change the operating mode of theController.

The Master accepts the continuation of the nominal value transmissionwith function 11h, too:



8110-4

T 82h 96h 02h 11h — 13h

Then, the Controller writes the next (max. 62) nominal values. This processis repeated until either all data are read (termination with function 10h) or theend of program is reached (termination with function 12h).

Example: The 3rd program of Unit 2 shall be read. The unit is assigned oneaxis for which the position and the speed rate are preset. Theprogram contains 42 sentences. This fact, however, is unknown atthis moment. Therefore, an arbitrary value of 120 is preset.

unit = 2progr. = 3sentence = 1number = 120 (= 78h)

Transmit: | 82h 96h || 08h | 10h | 02h | 03h | 01h 00h | 78h 00h || 60h |

Receive: | 82h 96h || FAh | 11h | 62 nominal values/4 bytes each || ??h |

Transmit: | 82h 96h || 02h | 11h || 13h |

Receive: | 82h 96h || 19h | 12h | 23 nominal values/4 bytes each || ??h |(23rd nominal value = end of program)

It has not been possible to readthe demanded 120 nominalvalues, because the end ofprogram has prematurelyterminated the reading process(⇒ function 12h!): program 3contains 42 sentences ∗ 2nominal values = 84 nominalvalues, then the end of programfollows as the 85th ‘nominalvalue’.

prog

ram

3

end

prg.

Ypr

g. X

1234

6263

8384

end1

T(1)10h

R(1)11h

T(2)11h

R(2)12h

(con

tinue

d)

62 n

om. v

alue

s

120

nom

inal

val

ues

22 n

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nd

E180078C


Functions 18 – 19/59 – 1A – 1B/5B

8110-4

18h … 1Bh/5Bh: Create/overwrite a nominal value program

Depending on the type of storing the transmitted nominal values, it isdifferentiated between the functions 1xh and 5xh:

a) Functions 19h and 1Bh:

All values are stored in non-volatile Flash memory.

b) Functions 59h and 5Bh:

All values are temporarily stored in the RAM of the Controller preservingthe original nominal values. If you enter any nominal value at the Controlleritself then all nominal values in RAM will be saved in the Flash memory.

This possibility is recommended if nominal values must be written very often.Thus, on the one hand the number of writing processes to the Flash memorycan be reduced increasing the service life, and on the other hand theresponse time of the Controller decreases at the end of the transmissionprocess.

Please note:

The Controller must be in the Automatic mode when calling thesefunctions.

Overwriting of an existing program is only possible if the Controller is inthe reset state for all units. Otherwise, the Controller signals error code 41h.

Each nominal value to be transmitted must have a length of 4 bytes.

A maximum of 62 (3Eh) nominal values (= 248 bytes without 82h repetitions)can be transmitted within a telegram, i.e. at the same time.

Position/length nominal value type: this value must be multiplied by 2. If itis to be interpreted as length it must be additionally incremented by 1.

Speed rate nominal value type: this value must be multiplied by 2. Ifcontinuos sentence processing is to be activated it must be additionallyincremented by 1.

Here, the input monitoring of nominal values (max./min. position and max.speed rate) has no effect. Therefore, keep the reliability of the values inmind (refer to storage locations 3/32, 3/71, and 3/72).

With program flow instructions (see Section 4.15) and coordinatesoffset (see Section 4.16), after the code of the corresponding instruction(see there) for all nominal values which are part of a 'normal' sentence (e.g.piece number, determined by the sentence structure of the unit) dummyvalues must be transmitted.

The function number to be used depends on the number of the nominalvalues to be transmitted and on the position of the end of program. Thefollowing diagram presents an overview:


Functions 18 – 19/59 – 1A – 1B/5B

8110-4

-

-

-+

-+*

-

-

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-

-

-

-+

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3

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-

-

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3

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E181078B

Multiple-block transmission of nominal values

a) Function 18h: start of the communication with the first max. 62 nominalvalues without the end of program


T 82h 96h ??h 18h unit progr. values ??h

R 82h 96h 02h 18h — 1Ah


♦ progr. (1 byte)01h ... 63h: program number 1 ... 99;

if a program with the nominal number already exists in RAMthis will first be deleted; then, a new one will be created

♦ values (max. 248 bytes without 82h repetitions)


Functions 18 – 19/59 – 1A – 1B/5B

8110-4

The Controller expects further values to be transmitted. During this time it isnot possible to change the operating mode of the Controller. The communi-cation must be either continued with function 1Ah or be terminated with1Bh or 5Bh. Otherwise, the Controller transmits error code 42h.

In case of a memory overflow error (error code 44h), the Controller ignoresthe function, i.e. the data transmitted by it. A program stored in the Flashmemory remains unchanged. However, a program with the same number inRAM has now been deleted and can therefore not be selected any more.

b) Function 1Ah: continuation of the communication with max. 62 furthernominal values without the end of program


T 82h 96h ??h 1Ah values ??h

R 82h 96h 02h 1Ah — 18h


In case of a memory overflow error (error code 44h), the Controller ignoresthe functions 18h and 1Ah, i.e. the data transmitted in this sequence. Aprogram stored in the Flash memory remains unchanged. However, aprogram with the same number in RAM has now been deleted and cantherefore not be selected any more.

c) Function 1Bh / 5Bh: termination of the communication with max. 62nominal values including the end of program


T 82h 96h ??h 1B / 5B h values ??h

R 82h 96h 02h 1B / 5B h — 19 / 59 h


The last nominal value transmitted is the end of program, i.e., it presets thenumber of program executions (cycles). It must have the correct positionwithin the sentence structure (first and only ‘nominal value’ of the lastsentence).

From this moment, the program is stored in the memory of the Controllerand can be selected.

In case of a memory overflow error (error code 44h), or if the end of program


Functions 18 – 19/59 – 1A – 1B/5B

8110-4

has not the correct position (error code 45h), the Controller ignores thefunctions 18h, 1Ah, and 1Bh/5Bh, i.e. the data transmitted in this sequence.A program with the same number in RAM is deleted now and can thereforenot be selected any more. The same applies to a program in the Flashmemory if the function 1Bh has been used.

Single-block transfer of nominal values

d) Function 19h / 59h: single transfer of max. 62 nominal values includingthe end of program


T 82h 96h ??h 19 / 59 h unit progr. values ??h

R 82h 96h 02h 19 / 59 h — 1B / 5B h

♦ unit, progr., and values as for function 18h (refer to this description.)

As soon as the Controller confirms the function, the program is stored in thememory (19h: Flash memory, 59h: RAM) and can be selected.

In case of a memory overflow error (error code 44h), or if the end of programhas not the correct position (error code 45h), the Controller ignores thefunction, i.e. the transmitted data. A program with the same number in theRAM is deleted now and can therefore not be selected any more. The sameapplies to a program in the Flash memory if function 19h has been used.

Example: A new program no. 3 consisting of 50 sentences is to be created inthe RAM. The higher level Unit 2 is assigned two axes, for which theposition and machine functions are preset. Hence, the sentenceconsists of 3 nominal values, i.e., 150 nominal values and the end ofprogram (number of cycles) are to be transmitted

unit = 2progr. = 3


Transmit: | 82 96 || FC | 18 | 02 | 03 | 62 nom. values/4 bytes each || ?? |

Receive: | 82 96 || 02 | 18 || 1A |

Transmit: | 82 96 || FA | 1A | 62 nominal values/4 bytes each || ?? |

Receive: | 82 96 || 02 | 1A || 18 |


Functions 18 – 19/59 – 1A – 1B/5B

8110-4

Transmit: | 82 96 || 6E | 5B | 27 nominal values/4 bytes each || ??h |(27th nominal value = end of program)

Receive: | 82 96 || 02 | 5B || 59 |

124 of the 150 nominal values are transmitted with the first twosequences. The third sequence terminates the communication sinceonly 26 nominal values plus the number of cycles value areremaining. The last transmitted value is the end of program. If,instead of the 27 values, 20 would be transmitted the end of programwould not have the correct position and the Controller would respondwith an error number (| 82 96 || 03 | FF | 45 || B9 |).


Function 20/60

8110-4

20h/60h: Modification of a nominal value program

Depending on the type of storing the transmitted nominal values, it is differen-tiated between the functions 20h and 60h:

a) Function 20h:All values are stored in the non-volatile Flash memory

b) Function 60h:All values are temporarily stored in the RAM of the Controller preservingthe original nominal values. If you enter any nominal value at the Controlleritself then all nominal values in the RAM will be saved in the Flash memory.

This possibility is recommended if nominal values must be written veryoften. Thus, on the one hand the number of writing processes to the Flashmemory can be reduced increasing the service life, and on the other handthe response time of the Controller decreases at the end of the trans-mission process.


T 82h 96h ??h 20 / 60 h unit progr. sent. values ??h

R 82h 96h 02h 20 / 60 h — 22 / 62 h


♦ progr. (1 byte)01h ... 63h: program number 1 ... 99

♦ sent. (2 bytes)00 01 h ... 03 E7 h: sentence number 1 ... 999


Please note:

The Controller must be in the Automatic mode when calling thesefunctions.

The program must already exist.

New sentences cannot be inserted.

Each nominal value to be transmitted must have a length of 4 bytes.


Function 20/60

8110-4

A maximum of 62 (3Eh) nominal values (= 248 bytes without 82h repetitions)can be transmitted within a telegram, i.e. at the same time.

Sentence limits are ignored, i.e., the nominal values must be transmittedwith the correct number and order according to the sentence structuredefined at the Unit parameters. For a standard Controller, the first nominalvalue of a transmission is always the position/length value of the first axiswithin the unit, a program flow instruction or a coordinates offset.

Position/length nominal value type: this value must be multiplied by 2. If itis to be interpreted as length it must be additionally incremented by 1.

Speed rate nominal value type: this value must be multiplied by 2. If acontinuos sentence processing is to be activated it must be additionallyincremented by 1.

Here, the input monitoring of nominal values (max./min. position and max.speed rate) has no effect. Therefore, the values must be reliable (refer tostorage locations 3/32, 3/71, and 3/72).

With program flow instructions (see Section 4.15) and coordinatesoffset (see Section 4.16), after the code of the corresponding instruction(see there) for all nominal values which are part of a 'normal' sentence (e.g.piece number, determined by the sentence structure of the unit) dummyvalues must be transmitted.

In case of an error (refer to section 6.3.1), the original nominal values of theprogram are maintained.

Example: The sentences 5 and 6 of program no. 3 are to be changed in RAM.The higher level Unit 2 is assigned two axes for which the positionand machine functions are preset. Hence, the sentence consists of 3nominal values. Thus 6 nominal values are to be transmitted.

unit = 2progr. = 3sentence = 5

(In the following representations, the 'h' suffixis not indicated in the hexadecimal figures.)

Transmit: | 82 96 || 1E | 60 | 02 | 03 | 05 | 00 | 6 nom. values/4 bytes each || ?? |

Receive: | 82 96 || 02 | 60 || 62 |


Function 30

8110-4

30h: Read machine parameters


T 82h 96h 05h 30h range start number ??h

R 82h 96h ??h 30h max. 62 parameter/4 bytes each ??h

♦ range (1 byte)00h = system01h = Unit 1 07h = Axis 102h = Unit 2 08h = Axis 203h = Unit 3 09h = Axis 304h = Unit 4 0Ah = Axis 405h = Unit 5 0Bh = Axis 506h = Unit 6 0Ch = Axis 6

♦ start (1 byte)01h ... : start storage number

♦ number (1 byte)01h ... 3Eh: number of the storage contents to be read (see below)

Please note:

The Controller must be in the Automatic mode when calling this function.

The length of the received data (parameters) is always 4 bytes.

A maximum of 62 (3Eh) parameters (= 248 bytes without 82h repetitions)can be read simultaneously.

The maximum number of the parameters to be scanned is defined by thespecified range (when exceeded, the Controller transmits error code 47h):

System: 30Unit: 20Axis: 130

Example: The sentence structure of the programs of Unit 1 is to be examined.

For this purpose, first the number of axes assigned to Unit 1 (Systemparameter) and then the nominal value types making up thesentences (Unit parameters) are scanned. Hence, 2 read processesmust be carried out.

Assumption: Unit 1 consists of 2 axes; machine functions and speedrate are activated



Function 30

8110-4

Transmission I:

range = 0 (System parameters)start = 3 (Parameter 1/3 = »unit1«)number = 1 (only this one)

Transmit: | 82 96 || 05 | 30 | 00 | 03 | 01 || 37 |

Receive: | 82 96 || 06 | 30 | 02 00 00 00 || 34 | (2 axes)

Transmission II:

range = 1 (Unit 1 parameters)start = 1 (from Parameter 2/1 = »batch/t« …)number = 5 (… up to 2/5 = »Interp.«)

Transmit: | 82 96 || 05 | 30 | 01 | 01 | 05 || 30 |

»batch/t« »M.func.« »Speed«

Receive: | 82 96 || 16 | 30 | 00 00 00 00 04 00 00 00 01 00 00 0000 00 00 00 00 00 00 00 || 23 |

»Text« »Interp.«

Hence, the sentence consists of 5 nominal values:

• 2x position/length (the unit contains two axes)

• 1x machine functions (variant 4: »8 Out2.0«)

• 2x speed (variant 1 = »yes (1)«)).

It contains no number of pieces, no text, and no path control.


Functionen 31 – 32 – 34

8110-4

31h, 32h, 34h: Write machine parameters

Depending on the type of storing the machine parameters, it is differentiatedbetween the functions 32h and 34h:

a) Function 32h:All values are stored in the non-volatile Flash memory

b) Function 34h:All values are temporarily stored in the RAM of the Controller preservingthe original parameters. If you change any parameter value at the Con-troller itself then all parameters in the RAM will be saved in the Flashmemory.

The transmission of machine parameters always consists of calling function31h (once or multiple times) and then calling function 32h/34h (validation).

Please note:

The Controller must be in the reset state for all units and in the Automaticmode when calling these functions.

The length of each parameter is always 4 bytes.

A maximum of 62 (3Eh) parameters (= 248 bytes without 82h repetitions)can be written simultaneously.

The total number of parameters to be written is limited depending on thespecified range: system = 30, unit = 20, axis = 130.

The communication started with function 31h must be terminated withfunction 32h or 34h (for the values to become effective).

All programs of the unit concerned will be deleted in the RAM andFlash memory (no safety inquiry!) if you change the unit or sentencestructure.



8110-4

a) Function 31h: (Multiple) transmission(s) of max. 62 machine parameters


T 82h 96h ?? h 31h range start values ??h

R 82h 96h 02h 31h — 33h

♦ range (1 byte)00h = system01h = Unit 1 07h = Axis 102h = Unit 2 08h = Axis 203h = Unit 3 09h = Axis 304h = Unit 4 0Ah = Axis 405h = Unit 5 0Bh = Axis 506h = Unit 6 0Ch = Axis 6

♦ start (1 byte)01h ... : start storage number


After the transfer, the Controller expects further values. During this time it isnot possible to change the operating mode of the Controller. The communi-cation has to be continued with either function 31h or 32h/34h). Otherwise,the Controller transmits error code 42h.

b) Function 32h/34h: Validation of the transmitted machine parameters


T 82h 96h 02h 32h/34h — 30h/36h

R 82h 96h 02h 32h/34h — 30h/36h

All previously transmitted values are now activated, i.e. partially recalculated,loaded into the RAM of the Controller, and are simultaneously checked fortheir validity. The process is the same as when leaving the programmingmode of machine parameters at the Controller itself (e.g. using the OperatorTerminal, Loader display).

If invalid values have been transmitted, the Controller issues error code 48h(= Param. error). The Controller cannot be started then. Usingfunction 33h, the faulty parameters can be determined and evaluated.


Functionen 31 – 32 – 34

8110-4

Example: New speed rates are to be specified for the manual positioning ofAxis 2 (storage locations 3/21 ... 3/24):

– slow speed forward (3/21): 15.00 actual measuring units/sec– fast speed forward (3/22): 80.00 actual measuring units/sec– slow speed reverse (3/23): 10.00 actual measuring units/sec– fast speed reverse (3/24): 52.50 actual measuring units/sec

range = 8start = 21 = 15h

values: 15.00 → 1500 = 05DCh80.00 → 8000 = 1F40h10.00 → 1000 = 03E8h52.50 → 5250 = 1482h

(In the following representations, the 'h' suffix is not indicated inthe hexadecimal figures.)

Transmit: | 82 96 || 14 | 31 | 08 | 15 | DC 05 00 00 40 1F 00 00E8 03 00 00 82 82 14 00 00 || C3 |

Receive: | 82 96 || 02 | 31 || 33 |

Transmit: | 82 96 || 02 | 32 || 30 |

Receive: | 82 96 || 02 | 32 || 30 |


Function 33

8110-4

33h: Read parameter error

Using this function, invalid programmed storage locations can be determined ifthe Controller sends the error code 48h (subsequent to a transmission usingfunctions 31h/32h).


T 82h 96h 02h 33h — 31h

R 82h 96h 05h 33h level no. param. ??h

♦ level (1 byte)1 = System parameters2 = Unit parameters3 = Axis parameters

♦ no. (1 byte)Number of the Unit or Axis (1…6); not defined for System parameters

♦ param. (1 byte)Number of the parameter, i. e . storage location

Example: For the Axis parameter 3/31 (Umax) of the first axis, 95,000 was sentinstead of 9,500 (9.500 V) although only 10,000 max. is allowed

Transmit: | 82h 96h || 02h | 33h || 31h |

Receive: | 82h 96h || 05h | 33h | 03h | 01h | 1Fh || 2Bh |

SERIAL DATA TRANSFER 6.3 Functions 6-27Function 40

8110-4

40h: Read device type

This function can be used to identify e.g. the different devices on a (LB2)network or to limit the number of units and axes to the type-dependent values.Function 42h provides further type information (this applies specially to theGEL 8110 EcoController where special functional extensions influence the typedesignation, e.g. GEL 8140 for an Eco Synchro Control).


T 82h 96h 02h 40h — 42h

R 82h 96h 05h 40h device axes ??h

♦ device (2 bytes)

1FA4h = (GEL) 8100 EcoController2076h = (GEL) 831021A2h = (GEL) 8610…

♦ axes (1 byte)01h ... 06h: max. number of axes

Example: GEL 8110 positioning Controller for 6 axes (8110-6 is shownwhen reading the software version via the Operator Terminal)

Transmit: | 82h 96h || 02h | 40h || 42h |

Receive: | 82h 96h || 05h | 40h | A4h 1Fh | 06h || F8h |


Functions 41…43

8110-4

41h…43h: Read software version

a) Function 41h: Read version number of the standard software


T 82h 96h 02h 41h — 43h

R 82h 96h 06h 41h version revision ??h

♦ version (2 bytes)

Version number preceding the separation point (e.g. 13.xx)

♦ revision (2 bytes)

Revision number following the separation point (e.g. xx.02)

Example: The number of the used software is 13.02 (V. 13.02 will beshown when requesting the software version via the OperatorTerminal)

Transmit: | 82h 96h || 02h | 41h || 43h |

Receive: | 82h 96h || 06h | 41h | 0Dh 00h | 02h 00h || 48h |

b) Function 42h: Read option or functional extension number


T 82h 96h 02h 42h — 40h

R 82h 96h 0Ah 42h op1 op2 … op7 op8 ??h

♦ op1 ... op8 (1 byte each)Options or functional extension numbers as ASCII characters (e.g. ‘1’ = 31h)op1 = communication

1 = LB2 protocol (standard)2 = LB2 protocol + Terminal3 = LB2 protocol + PROFIBUS…

Op2 = additional functions (refer also to appendix C, ‘Type coding’)0 = Positioning (standard)1 = Circular interpolation2 = Synchro control5 = Flying saw7 = Rotating knife…

Op3 ...op8 are not defined yet.


Functions 41…43

8110-4

Example: Implemented options/functional extensions are ‘Terminal’ (op1 = 2)and ‘Circular interpolation’ (op2 = 1 )

Transmit: | 82h 96h || 02h | 42h || 40h |

Receive: | 82h 96h || 0Ah | 42h | 32h | 31h | 00h | 00h | 00h | 00h |00h | 00h || 4Bh |

c) Function 43h: Read the version number of special software


T 82h 96h 02h 43h — 41h

R 82h 96h 06h 43h version revision ??h

♦ version (2 bytes)

Version number preceding the separation point (e.g. 74.xx)

♦ revision (2 bytes)

Version number following the separation point (e.g. xx.11)

If no special software is implemented: 00 00 00 00.

Example: The number of the implemented special software is 74.11(S. 74.11 is shown when requesting the software version viathe Operator Terminal)

Transmit: | 82h 96h || 02h | 43h || 41h |

Receive: | 82h 96h || 06h | 43h | 4Ah 00h | 0Bh 00h || 04h |


Functions 50…53

8110-4

50h…53h: Read/delete faults

a) Function 50h: Read faults


T 82h 96h 02h 50h — 52h

R 82h 96h ??h 50h faults ??h

♦ faults (max. 20 ∗ 2 bytes)Structure:1st byte = unit or axis causing the fault (1…6, 0 = system fault)2nd byte = number of the fault (refer to the ‘Table of faults’ in section 5.3)

The data field is empty if no fault is stored in the Controller (number =02h).

Example: For the first unit, a start signal was twice applied to the Controlleralthough the reset signal is still present. Two faults with the errornumber 14 (0Eh) are stored.

Transmit: | 82h 96h || 02h | 50h || 52h |Receive: | 82h 96h || 06h | 50h | 01h 0Eh 01h 0Eh || 56h |

b) Function 52h: Read the number of the presently stored faults


T 82h 96h 02h 52h — 50h

R 82h 96h 03h 52h number ??h

♦ number (1 byte)00h…14h: Number of the stored faults (none … max. 20)


Functions 50…53

8110-4

c) Function 53h: Delete all stored faults


T 82h 96h 02h 53h — 51h

R 82h 96h 03h 53h number ??h

♦ number (1 byte)00h…14h: number of the deleted faults (none … max. 20)


Function 57

8110-4

57h: Delete all programs


T 82h 96h 02h 57h — 55h

R 82h 96h 02h 57h — 55h

All nominal value programs in the Controller will be deleted.

Please note: The Controller must be in the reset state of the Automaticmode when calling this function. Otherwise, the error code 40hor 41h is returned.

SERIAL DATA TRANSFER 6.4 Error codes 6-33

8110-4

6.4 Error codes

In case of an error, the Controller transmits an error message with the followingtelegram structure instead of the confirming function number


R 82h 96h 03h FFh xxh ??h

xxh = error code (1 byte) with the following meaning:

Communication errors

xxh Meaning Remarks

01h parity error Different parities have been set for the transmitter andthe receiver or general communication error

02h frame error Stop bit has the wrong polarity (Low level)

03h overrun error Characters in the transmission buffer are overwrittenbefore they could be read; reduce the transmissionrate if this error occurs

04h check error Check byte incorrect or other transmission error

Function parameter errors

xxh Meaning Remarks Parameter Function

10h wrong functionnumber

Function undefined — —

11h wrong type Data type undefined type 01h, 02h

12h wrong axis number Axis does not exist or isundefined

start, number 01h, 02h

13h wrong unit number Unit does not exist or isundefined

start, number

unit

01h, 02h

10h…12h,18h…1B/5Bh,

20/60h

14h wrong modulenumber

Data I/O does not exist oris undefined

start, number 01h

15h wrong programnumber

Program selection notallowed;number too large or 0 orprogram does not exist

type (60h)

progr.

02h

10h…12h,18h…1B/5Bh,

20/60h

6-34 6.4 Error codes SERIAL DATA TRANSFER

8110-4

xxh Meaning Remarks Parameter Function

16h wrong sentencenumber

Number to large or 0 orsentence does not exist

sentence 10h…12h,20/60h

17h wrong range Parameter range undefinedor does not exist

range 30h, 31h

18h wrong storagenumber

Parameter storage locationdoes not exist

start 30h, 31h

Operating errors

xxh Meaning Remarks Function

40h wrong operatingmode

Controller must be in the Automaticmode

10h…12h,18h…1B/5Bh,

20/60h,30h, 31h

41h wrong operatingstate

Controller must be in the reset state(for all units)

31h,18h...1B/5Bh

42h sequence not ter-minated

Instead of a continuation or termina-tion function for the communicationanother writing function was sent

after 11hor 18h, 1Ah;

after 31h

43h sequence notstarted

A continuation or termination functionwas sent for the communicationalthough no corresponding startfunction has been transmitted

11h,1Ah, 1B/5Bh,

32/34h

44h memory overflow Too many nominal values have beentransmitted; corresponds to theController Memory overflowerror message

18h...1B/5Bh

45h program endmissing

The last transmitted nominal value(end of program) does not have thecorrect memory position for the be-ginning of a sentence

19/59h,1B/5Bh

46h program endexceeded

More nominal values than still re-maining in the program to be modifiedhave been transmitted

20/60h

47h too manyparameters

More machine parameters are to beread or transmitted than are allowedfor the defined range:− System: ≤ 30− Unit: ≤ 20− Axis: ≤ 130

30h, 31h

SERIAL DATA TRANSFER 6.4 Error codes 6-35

8110-4

xxh Meaning Remarks Function

48h parameter error When activating the transmittedmachine parameters the Controllerevaluates that one or more parame-ters are incorrect (with the OperatorTerminal, Param. errorwould be output when leaving theprogramming mode)

32/34h

6-36 SERIAL DATA TRANSFER

8110-4

Notes:

OPERATOR TERMINAL 7.1 Basics 7-1

8110-4

7 GEL 8810.xx1 Operator Terminal (option)

7.1 Basics

For the pin assignment and other technical data refer to a separate docu-ment concerning the GEL 8810.

After energizing the terminal, a routine first tries to establish a link to aconnected Controller (automatic scan):

LENORD + BAUER Bedienterminal GEL 8810 V2.0Select Contr. : 25 .

If a Controller is detected, i.e., communication is established, the OperatorTerminal switches to the standard display of the Automatic operating mode,e. g .

Contr: 1 GEL 8110 61948.1.12.--- 0

Using the e key, the scan procedure can be interrupted. Now, the followingdisplay appears:

COMMUNICATION OFFLINE

Select Contr. : AUTO

The following selections can be made:

a) Manual specification of the controller number

press the delete key # or the ˜ key enter the controller number

Controller number type of Controller

sentence no. or operating state

program no.

active axis

actual position

type and software versionof the Operator Terminal

status display (flashing): attempt toestablish a communication

status display: running number(0…31) used for the com-

munication with a Controller

7-2 7.1 Basics OPERATOR TERMINAL

8110-4

press the ; keyNow, the Operator Terminal tries to establish the communication with theController owning the specified number (the decimal point beside thecontroller number flashes; e. g . Select Contr. : 15 .). Theterminal remains in this state until a link could be established. Otherwise: press e for a new controller selection enter the new controller number or switch to ‘AUTO’ using the ˜ key.

b) Continue the automatic scan

press the ; key

c) Changing the basic settings of the Operator Terminal (refer to Section 7.2)

press the ! or ^ key

The following display is shown if the established communication link isinterrupted or disturbed:

COMMUNICATION TIME OUT

Select Contr. : 1 .

The Operator Terminal continues to re-establish the link with the displayedController.

Press the e key for selecting another controller (same procedure asdescribed above)

Simultaneous pressing of the –+˜+# keys initiates a software reset in theOperator Terminal.

By means of —+# the display contrast can be reset to its default value (0).

OPERATOR TERMINAL 7.2 Basic settings 7-3

8110-4

7.2 Basic settings

Selecting the basic settings menu:

a) With the terminal being in the automatic scan or after a time-out

press the e key

b) From the standard display

press –+— simultaneously

The parameter to be set is displayedin the bottom line, e.g.:

Contr: 1 GEL 8110 61948.1.12.--- 0Select Contr. : 15

Select the parameter to be set using the !/^ keys:

1. Controller selection Device no. :

Range: 0…31, AUTOKeys: 0…9, ˜, ä/ö

2. Terminal signals Term. A9. .A6 :

Only for displaying the signal states at the terminals A9 to A6 (LSB)Range: 0000…1111 (1 = High level)

3. Display contrast Contrast :Range: -49 … 0 … 49Keys: ä/ö, —+# (= default setting 0)

4. Backlighting Backlight :

Range: on, offKeys: ä/ö

5. Language Language :

Range: English, deutschKeys: ä/ö

6. Device type & software version GEL 8810.xx1 V 3.05

Display only

Exit the basic settings with e.

7-4 7.3 Operating modes OPERATOR TERMINAL

8110-4

7.3 Operating modes

Three operating modes are available:

Automatic mode

Programming mode for nominal values

Programming mode for machine parameters

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E180078A

(You will find detailed information in the following sections.)

OPERATOR TERMINAL 7.3.1 Automatic mode 7-5

8110-4

7.3.1 Automatic mode

This is the standard working operating mode for the EcoController with thefollowing default displays (refer to Section 4.3 for possible operating states):

Contr: 1 GEL 8110 61948.1.12. 5 15500

The sentence number is only displayed in the started state and in theinterrupted state (flashing). Additional possibilities are:

1.12.--- in the reset state1.12.Man during manual positioning1.12.Ref with automatic reference search routine1.12.Par when approaching the park position (& remaining there)

In the started/interrupted state, the various nominal and actual values of thecurrently active sentence and further parameters can be selected for display byusing the ! and ^ cursor keys. The displayed data is shown in the followingsequence:

! pos. 15500 nominal position

!-= pos. -46448 nominal/actual difference of the position

! piece 200 nominal number of pieces1

= piece 12 actual number of pieces1

!-= pcs. 188 nominal/actual difference of the number ofpieces1

M.func. 11001 machine functions1

! speed 3650 nominal speed1

Voltage 8.354 voltage at the analog output2

Delta_s -11 contouring error (control deviation of theposition) 2

! Cycles 10 nominal number of program executions

1 These parameters can only be selected if the appropriate types of nominal values are part

of the sentence (determination at the Unit parameters).

2 These parameters can also be displayed in the reset state.

sentence no. (or operating state)

nominal position

program no.active axis

actual position

flashing points indicate a fault (refer to Section 4.7)

7-6 7.3.1 Automatic mode OPERATOR TERMINAL

8110-4

= Cycles 6 actual number of program executions

!-=Cycl. 4 nominal/actual difference of the programexecutions

1234.5 actual position of the second (and third)axis2 (refer to the following note)

Remark for the display of multiple actual positions:The actual position of the 1st…3rd axis can be displayed. The represen-tation position depends on the axis selected for display (using the ˜+0 or˜+!/^ keys – see below):

Contr: 1 GEL 8110 61948. 342 1234.5

Using the e and !/^ keys, the display can be switched between therepresentation types ‘parameter text’ (left half of the display) and‘axis/program/sentence number’.

Functions

In the Automatic mode, the following keys and key combinations are available:

^, ! Cursor keys: Scroll through the different nominal/actual values(refer to the previous section)

The number of possibilities is determined by the programming ofthe machine parameters for the respective unit.

e Reset the left part of the 3rd display line to the defaultrepresentation ('axis.program.sentence')

Once a cursor key is pressed, the display shows again theidentification text of the value displayed on the right part of thedisplay (refer to the previous section).

axis 2 / 3 / 1

axis 1 / 2 / 3

axis 3 / 1 / 2


8110-4

˜+0 Select a unit for the displayIf the unit includes more than one axis the one with the lowestnumber will be shown; by means of the following two functions,the desired axis can then be selected.

˜+! Select an axis for the display: increment within the active unit(only possible if the unit includes more than one axis)

˜+^ Select an axis for the display: decrement within the active unit(only possible if the unit includes more than one axis)

—+0 Change into the programming mode for nominal values; abortwith e

—+1 Change into the programming mode for machine parameters;abort with e; password: 9228

˜+1 Select a program (only possible in the reset state and if theappropriate Unit parameter 2/6 = 0 = »Keyboard«)

–+1 Direct entry of a reference measure (only possible in the resetstate and if the machine parameter 3/9 for the axis to be selectedhas been programmed accordingly, refer to Section 4.8);

abort with e; the value is activated with the next search forreference signal

–+2 Start the automatic reference search routine for the axis to beselected (only possible in the reset state and if the machine para-meters 3/9 and 3/11 have been programmed accordingly andHigh level is applied to the corresponding /stop input; refer also toSection 4.8.2)

–+3 Direct entry of a correction value for the axis to be selected(only possible in the reset state and if the machine parameter 3/7has been programmed accordingly; refer to Section 4.9);

abort with e; the value is used with the next start signal

–+4 Direct entry of the park position for the axis to be selected (onlypossible in the reset state and if the machine parameters 3/56and 3/57 have been programmed accordingly; refer to Section4.11);

abort with e; the value is activated with the next start signal

7-8 7.3.1 Automatic mode OPERATOR TERMINAL

8110-4

˜+$ Display the signal states

password: 9320 abort with e

The logic states of two decades of the E1…4 data inputs andA1…4 data outputs as well as the two reference fine inputs at theZ2 and Z1 connectors are displayed. 1 = High level, 0 = Low level;counting is made from right to left (MSB ← LSB).

The following assignment is valid (refer also to Appendix B):A1.D1/D0: terminal strip F E1.D1/D0: terminal strip FA1.D3/D2: terminal strip H E1.D3/D2: terminal strip GA1.D5/D4: terminal strip K E1.D5/D4: terminal strip JA2. … : connector A2 E2. … : connector E2A3. … : connector A3 E3. … : connector E3A4. … : only virtual E4. … : only virtualZ .RF2-1: connector Z2/Z1 (pin 8)

MSB LSB

Example: 01000001Status A1.D5/D4

data output A1, decades 4 and 5 (terminal strip K);signals: /fault (K1) and reference reached (K7) forAxis 1

Additional variants are provided for the PROFIBUS option(‘PB…’), see separate description.

–+0 Display of fault message(s);

abort with e, scroll with the !/^ cursor keys, delete messagewith ;; refer to Section 5.3

˜+. Display the actual software version (this is possible in all statesof the Automatic mode)example:a) with standard software

Contr: 1 GEL 8110 8110-6Standard V. 15.06

V.: standard software code

8110-6:EcoController as positioning con-troller for max. 6 axes (refer to thetype code in Appendix C)

b) with special software

Contr: 1 GEL 8110-6S. 21.13 V. 0

S.: special software code


8110-4

—+; Backup: Copy all nominal values and machine parameters into apower failure-safe memory bank (with security inquiry, refer alsoto storage location 1/9)

˜+; Restore: Reload all nominal values and machine parameters(which have been saved before) into the Flash Memory (withsecurity inquiry, refer also to storage location 1/9)

ö Manual positioning: slow speed forwardRequirements:

• interrupted or reset state of the Automatic mode or teach-inoperation

• System parameter 1/16 must be set to »Terminal« and Axisparameter 3/19 to »Keyboard« (refer to storage locations3/18...24)

• the axis to be controlled must be displayed (see further above:˜+0, ˜ + !/^

• High level must be applied to the /stop input of the respectiveaxis

ü Manual positioning: fast speed forward(refer to slow speed forward)

ä Manual positioning: slow speed reverse(refer to slow speed forward)

z Manual positioning: fast speed reverse(refer to slow speed forward)

7-10 7.3.2 Programming mode for nominal values OPERATOR TERMINAL

8110-4

7.3.2 Programming mode for nominal values

In this mode, the position and control data required for the operation of theinstallation can be entered.

The programming mode can be protected against unauthorized data access bya password to be defined (refer to Appendix A, System parameters 1/11, 1/12,and 1/17).

The operating mode is selected by the —+0 key combination. The followingexample display is shown after entering the unit number, program number andsentence number (all 1):

Contr: 1 GEL 8110 15000.P 1.S 1 Pos. A 1

Note on entry and output of machine functions:

When using up to 8 outputs (determined via storage location 2/2) format isbinary and the following assignment occurs:

decade: 10x+1 10x

display: 1 1 1 1 1 1 1 1weight: 23 22 21 20 23 22 21 20

Functions

The following keys and key combinations are available in the programmingmode for nominal values:

—+0 Exit the programming mode for nominal values and change toAutomatic modeif modifications have been made all program data are storedautomatically (status message: Saving program) thisalso applies if the programming mode is left via e

e Cancel input or exit function and return to the higher selectionlevelWhen creating a new program the safety message ProgEndmissing is displayed (all inputs are ignored if confirmed with;; refer to ˜+9 further below).

nom. value ‘position’ for axis 1sentence no.

program no.

value of thenominal position

OPERATOR TERMINAL 7.3.2 Programming mode for nominal values 7-11

8110-4

^, ! Change to the previous/next nominal value in the program(a value modified before will not be saved)

–+^ Jump to the beginning of the previous sentence

–+! Jump to the beginning of the next sentence

˜+^ Jump to the beginning of program

˜+! Jump to the end of program (= number of program executions,cycles)

; Confirm the entry made and change to the next nominal value

Respond to a safety inquiry with ‘yes’ (any other key means ‘no’)

–+; Confirm the entry made and change to the next nominal value ofthe same type within the program (quick input)Thus, you can enter all positions (e.g.) directly one after the otherskipping other nominal values (only for now).

# Delete a value or an entered input

˜+# Delete a sentence (without safety inquiry; only possible if thecontroller is in the reset state for all units)The numbers of the following sentences are decremented by 1.

˜+7 During program selection: delete all programs of the associatedunit (with safety inquiry; only possible if the controller is in thereset state for all units)

During a sentence selection: delete all sentences of theassociated program (with safety inquiry; only possible if thecontroller is in the reset state for all units).

˜+; Insert a sentence (only possible if the controller is in the resetstate for all units)The numbers of the next sentences are incremented by 1. Thenew sentence is inserted after the actual one and contains thedata of the current sentence as default values.


8110-4

˜+8 Copy sentences within a unit (only possible if the controller is inthe reset state for all units)

The sentence range and the program are to be selected assource. The actual program is the destination. The sentences arecopied either in the overwrite or insert mode, depending on thecompletion of the sentence end number entry with

– ; : overwrite the sentences following the actual one,

– ˜+; : insert the sentences before the actual one

In the first case, there must still be as many sentences after theactual sentence in the destination program as shall be copied;otherwise, an error message will be issued.

˜+0 Changing between position and length: the entered positioningvalue is interpreted either as absolute position (absolutedimensions processing, fixed zero) or as relative length(incremental dimension processing, floating zero)Changing is only possible before the value entered is confirmedby pressing the ; key, and only with storage location 3/44=0(system of absolute dimensions).

Floating sentence processingThis function can only be activated with ‘speed’ nominal valuetype and is marked by an arrow (), e. g . Spe.A 1; refer toSection 4.5.

˜+1 Program flow instruction: CALL Pr.

This function can only be selected at the beginning of thesentence: instead of the ‘position’ or ‘length’ nominal value type,refer to Section 4.15.

˜+2 Program flow instruction: JUMP Pr.


˜+3 Program flow instruction: JMP sent


˜+4 Program flow instruction: IF l/O

This function can only be selected at the beginning of the

OPERATOR TERMINAL 7.3.2 Programming mode for nominal values 7-13

8110-4

sentence: instead of the ‘position’ or ‘length’ nominal value type,refer to Section 4.15.

–+1 Absolute zero offsetThis function can only be selected at the beginning of thesentence: instead of the ‘position’ or ‘length’ nominal value type,refer to Section 4.16.

–+2 Relative zero offsetThis function can only be selected at the beginning of thesentence: instead of the ‘position’ or ‘length’ nominal value type,refer to Section 4.16.

–+9 Activate teach-in operationThis function can only be activated for the ‘position’ nominal valuetype (absolute dimension). It is identified by an appropriate plaintext in the display. The drive can be positioned manually. Whenpressing the ; key, the displayed actual value is taken over asnominal value and the teach-in operation is exited. Abort with e.

˜+9 Define the end of program: specifying the number of programexecutions (cycles, 0 = unlimited)This function can only be inserted at the beginning of a sentence(at ‘position’ or ‘length’). The programming mode is exited byconfirming the entered value with the ; key.


8110-4

Programming example

The position of the first axis in the first unit (2 axes), program no. 3, sentenceno. 15 is to be increased from 8700 to 8900. Also the number of programexecutions is to be increased from 5 to 10:

Initial situation:Automatic operation is started

Contr: 1 GEL 8110 61948.1.12. 5 15500

Activate the programming mode:

—+0 Contr: 1 GEL 8110

Unit __

Unit no. 1:

1; U 1. Progr.__

Program no. 3:

3; U 1.Pr 3 Sent.___

Sentence no. 15:

15; 8700.P 3.S 15 Pos. A 1

New nominal position:

8900; 123.00P 3.S 15 Pos. A 2

Jump to the end of program:

+! 5P 3.End Cycles

New number of cycles:

10; 10Saving program

The programming is thus finished.

Contr: 1 GEL 8110 15500.1.12. 5 15500

OPERATOR TERMINAL 7.3.3 Programming mode for machine parameters 7-15

8110-4

7.3.3 Programming mode for machine parameters

In this mode the operating of the EcoController, its adaptation to the equipmentand other properties are specified. The appropriate machine parameters arelisted and explained in a table in Appendix A.

The machine parameters are hierarchically divided into 3 categories (levels):

• System parameters (1st level)

• Unit parameters (2nd level, sub-levels 1...6)

• Axis parameters (3rd level, sub-levels 1...6)

System parameters specify the basic operating mode for the controller (a. a.the axes/unit assignment).

For each unit consisting of one or more axes, the Unit parameters specify thenominal values to be included in a sentence and which other nominal valuesshall apply for all axes of this unit.

With the Axis parameters, the controller is matched to the different drives(axes): actual value acquisition, calibration, control, etc.

To avoid an unauthorized access to the data, the programming mode can onlybe accessed after entering a certain figure code (password): 9 2 2 8 (cantemporary be disabled for service purposes via storage location 1/17).

Once a storage location has been selected, the controller changes into thereset state if it is not already in this state.

This operating mode is entered via the —+1 key combination. The followingexample displays are shown after selecting the parameter level (!/^, here2nd axis) and a storage location (here, no. 5 and no. 3):

Contr: 1 GEL 81103. 2. 5. 2DecPoint X.XX

Contr: 1 GEL 81103. 2. 3.Multipl. 0.9450

The left representation applies to parameters with variant selection and theright for parameters with value input.

parameter level (here: axes)

sub-level (here: axis 2)

parameter number

variant number

parameter variant input value

no variant no.

7-16 7.3.3 Programming mode for machine parameters OPERATOR TERMINAL

7-16 8110-4

Functions

The following keys and key combinations are available in the programmingmode for machine parameters:

—+0 Exit the programming mode for machine parameters and changeto Automatic mode

If modifications have been made the appropriate parameters willbe updated in the RAM of the controller (brief status message:Loader). This also applies if the programming mode is exitedvia the e key.

e Cancel input or exit the selection function and return to thenext higher programming level

; Confirm the selection made or value entered and change tothe next parameter

Respond to a safety inquiry with ‘yes’ (any other key means ‘no’)

# Delete a stored or entered value

^, ! Select the programming level

Change to the previous/next parameter within the activeprogramming level (without storing a modified value or performedselection)

–, ˜ Scroll the machine parameter variants forward/backward forthe selection (confirm with ;)

˜+7 Clear the entire memory (with safety inquiry – only possibledirectly after entering the programming mode, i.e., only within thetop selection level)

Stored fault messages are also deleted.

—+8 Copying of Axis parameters (selectable only in the Axisparameter level)The axis the parameters of which are to be used (source axis)must be selected.The currently displayed parameters of the active axis (target axis)are overwritten.

Use ; to execute the copy function or e to abort it.

OPERATOR TERMINAL 7.3.3 Programming mode for machine parameters 7-17

8110-4

Programming example

The switching level of the reversing switch signal (storage location 3/14) for the2nd axis 2 shall be inverted (change of the travel direction with Low signal):

Initial situation:Reset state of the Automatic mode

Contr: 1 GEL 8110 61948.1.12.___ 0

Enter the programming mode:

—+1 Contr: 1 GEL 8110 61948.Password _

Enter the password:

9228; Contr: 1 GEL 8110

Param. system

Select axis no. 2 (there is only 1 unit with 2 axes):

!!! Param. axis 2

Confirm:

; axis 2 m.loc:__

Specify the storage location:

14; 3. 2. 14. 1R.switch high

Select a new variant:

– / ˜ 3. 2. 14. 0R.switch low

Confirm:

; 3. 2. 15.Ref.val. 0.00

Exit the programming mode:

—+0 3. 2. 15.Loader

or:

eee Contr: 1 GEL 8110 61948.1.12.___ 0

7-18 7.3.4 Survey of functional keys OPERATOR TERMINAL

7-18 8110-4

7.3.4 Survey of functional keys

Key Function Mode

ö Slow speed forward A 1

ä Slow speed reverse A

ü Fast speed forward A

z Fast speed reverse A

; Confirm input, selection or message all

e Cancel input or selection, terminate function all

# Clear value or input all

^ Browse backward all

! Browse forward all

Keys Function Mode

– Select next variant M

–+0 Call fault messages (cancel with e) A

–+1 Input reference measure directly

Shift coordinates absolutely

A

N

–+2 Start reference search routine

Shift coordinates relatively

A

N

–+3 Input correction value directly A

–+4 Input park position directly A

–+9 Start Teach-In mode (cancel with e) N

–+^ Go to start of previous sentence N

–+! Go to start of next sentence N

–+; Store and go to next nominal value of same type N

1 valid modes: A = Automatic mode

N = Programming mode for nominal valuesM = Programming mode for machine parameters

OPERATOR TERMINAL 7.3.4 Survey of functional keys 7-19

8110-4

Keys Function Mode

—+0 Enter programming mode for nominal values

Return to automatic mode

A

N, M

—+1 Enter programming mode for machine parameters A

—+8 Copy axis parameters M

—+; Save data (backup) A

Keys Function Mode

˜ Select previous variant M

˜+. Show firmware version A

˜+$ Display signal states (cancel with e) A

˜+0 Select unit for display

Switch to floating or fixed zero processing (position ↔ length)

Continuous sentence processing On/Off

A

N

N

˜+1 Select program

Select program flow instruction CALL Pr.

A

N

˜+2 Select program flow instruction JUMP Pr. N

˜+3 Select program flow instruction JMP Satz N

˜+4 Select program flow instruction IF E/A N

˜+7 Clear memory/unit/program N, M

˜+8 Copy sentences N

˜+9 Define end of program N

˜+# Delete sentence N

˜+^ Decrement axis no. in unit

Go to start of program

A

N

˜+! Increment axis no. in unit

Go to end of program

A

N

˜+; Restore data

Insert sentence

A

N

7-20 OPERATOR TERMINAL

7-20 8110-4

Notes:

STORAGE LOCATIONS FOR MACHINE PARAMETERS A-1

8110-4

Appendix A: Storage locations for machine parameters

Overview

1. System parameters (1st level) A-5

1: Language2: Power failure security3: Configuration Unit 14: Configuration Unit 25: Configuration Unit 36: Configuration Unit 47: Configuration Unit 58: Configuration Unit 69: Data protection

10: — (reserved)11: Password inquiry for nominal value programming12: Specification of the password13: Keyboard lock (Operator Terminal GEL 8810)14: First serial interface Ser115: Device number16: Protocol for Ser317: Deactivation of passwords18: Station address (PROFIBUS)19: Consistency of data (PROFIBUS)20: — (reserved)21: Mode for data input E122: Mode for data input E223: Mode for data input E324: Mode for data input E425: Second serial interface Ser226: Third serial interface Ser327: LEDs for data input/output28:

— (reserved)30:

2. Unit parameters (2nd level) A-13

1: Number of pieces/auto start per sentence2: Machine functions3: Speed4: Identification text5: Path control6: Program selection7: Sentence and program selection8: Sentence and program number to data output9: Program processing signals to data output

10: Auto start11: Mode for signal output12: Program processing signal 'Reset'13 … 20: — (reserved)

A-2 STORAGE LOCATIONS FOR MACHINE PARAMETERS

8110-4

3. Axis parameters (3rd level) A-21

1: Actual value adjustment2: Count direction3: Multiplier4: Multiplier for actual value display5: Decimal point6: Correction value7: Direct entry of correction value8: Rotary table9: Manual calibration functions

10: Setting of reference measure11: Automatic reference search routine12: Reference fine signal13: Reference coarse signal14: Reversing switch signal15: First reference measure16: Reference positioning speed17: Reversing speed18: Operating status for manual positioning19: Manual positioning20: Polarity for manual positioning control21: Slow speed, forward22: Fast speed, forward23: Slow speed, reverse24: Fast speed, reverse25: Polarity of the analogue output26: Voltage range of the analogue output; CAN bus27: Positive dead range28: Negative dead range29: Minimum positive voltage30: Minimum negative voltage31: Maximum voltage32: Maximum speed33: Control factor34: Operating speed35: Maximum acceleration, forward36: Maximum acceleration, reverse37: Maximum braking, forward38: Maximum braking, reverse39: Jerking time40: Positive tolerance41: Negative tolerance42: Maximum positive contouring error43: Maximum negative contouring error44: Measurement system45: Multiplier for speed values46: Decimal point for speed values47: Position control in the interrupted/reset state48: Control conditions after reaching the nominal position49: Control of automatic calibration50: Control of manual positioning51: Time for opening the brake

STORAGE LOCATIONS FOR MACHINE PARAMETERS A-3

8110-4

52: Time for closing the brake53: Zero point adjustment for absolute encoders54: Resolution of absolute encoders55: Enable signal for absolute encoders (not used)56: Parking function57: Direct entry of a park position58: Value of park position59: Parking speed60: Machine functions for parking61: Output of range signals62: Function for range signals63:

Start and end values of the R1 to R4 ranges70: 71: Minimum position value72: Maximum position value73: Software limit switches74: Hardware limit switches75: External data input of a nominal position/length76: External data input of a correction value77: External data input of a speed value78: — (reserved)79: — (reserved)80: Data output of nominal positions81: Data output of actual positions82: Data output of correction values83: — (reserved)84: — (reserved)85: Value of the second reference measure86:

— (reserved)89: 90: Zero Delta_s91: Calibration after powering-on92:

— (reserved)96: 97: Actual value assignment98: CAN bus with EcoServ ND 31: separate encoder99:

— (reserved)130:

A-4 Explanations STORAGE LOCATIONS FOR MACHINE PARAMETERS

8110-4

Parameter format

a) Parameter with variant selection

Programming by selecting an itemof a fixed list

b) Parameter with value input

Programming by entering a value

Explanations on the representation used

Note: In the following description, the shown key symbols and displays referto the optional GEL 8810 Operator Terminal.

Example:

1 1 Language Languages

Determine the language for the display of texts

0 german texts are displayed in German

1 english texts are displayed in English

Number of parameter level (in the 2nd display line of the Operator Terminal):1 = System parameters, 2 = Unit parameters, 3 = Axis parameters

Number of parameter storage location within the level (in the 2nd display line ofthe Operator Terminal), scrolling with !/^

Short designation of the parameter (in the 3rd display line of the OperatorTerminal)

Designation/function of the parameter

Explanations on the parameter

Number of parameter variant (in the 2nd display line of the Operator Terminal),scrolling with –/˜. If no digit is indicated, a value must be entered for the variant.Initially, all variants and values are set to zero (exception: System parameters1/3 = 1/16 = 1)

Short designation of the parameter variant (in the 3rd display line of the OperatorTerminal); characters in italics indicate the input format of a value

Function of the variant

STORAGE LOCATIONS FOR MACHINE PARAMETERS System A-5

8110-4

System parameters (1st level)

1 1 Language Operating language

Determine the language for the display of texts

0 german texts are displayed in German

1 english texts are displayed in English

1 2 Pow.fail Power failure security

Specifies if the actual values and operating states are to be stored so that they willbe available again after a power failure and when the equipment is ‘normally’switched on

0 n.secur. no security

1 n.s.cal. no security, but after energizing, the equipment must firstbe calibrated (setting the reference measure; only withincremental encoders, refer also to 3/91)

2 security security is provided

3 sec.cal. security is provided, but after energizing, the equipmentmust first be calibrated (setting the reference measure; onlywith incremental encoders, refer also to 3/91)

1 3 Unit1 Configuration Unit 1

Assignment of 1…6 axes to the 1st unit; only axes with subsequent numbers canbe grouped starting with the axis always following the last one of the previous unit

X input of the number of axes with the following possibilities:X = 1: 1 axis (1, default by manufacturer)X = 2: 2 axes (1 and 2, path control possible, cf. 2/5)X = 3: 3 axes (1 to 3, path control possible)X = 4: 4 axes (1 to 4)X = 5: 5 axes (1 to 5)X = 6: 6 axes (1 to 6)

A-6 System STORAGE LOCATIONS FOR MACHINE PARAMETERS

8110-4


Assignment of 1…5 axes to the 2nd unit

X input of the number of axes with the following possibilities:X = 0: no axis (assignment to the following units impossible)X = 1: 1 axis (2, 3, 4, 5 or 6)X = 2: 2 axes (2 and 3, path control possible)X = 3: 3 axes (2 to 4, 3 to 5 or 4 to 6)X = 4: 4 axes (2 to 5 or 3 to 6)X = 5: 5 axes (2 to 6)


Assignment of 1…4 axes to the 3rd unit

X input of the number of axes with the following possibilities:X = 0: no axis (assignment to the following units impossible)X = 1: 1 axis (3, 4, 5 or 6)X = 2: 2 axes (2 & 3 or 4 & 5 or 5 & 6)X = 3: 3 axes (3 to 5 or 4 to 6)X = 4: 4 axes (3 to 6)


Assignment of 1…3 axes to the 4th unit

X input of the number of axes with the following possibilities:X = 0: no axis (assignment to the following units impossible)X = 1: 1 axis (4, 5 or 6)X = 2: 2 axes (4 & 5 or 5 & 6)X = 3: 3 axes (4 to 6)


Assignment of 1 or 2 axes to the 5th unit

X input of the number of axes with the following possibilities:X = 0: no axis (assignment to the following units impossible)X = 1: 1 axis (5 or 6)X = 2: 2 axes (5 & 6)


8110-4


Assignment of 1 axis to the 6th unit

X input of the number of axes with the following possibilities:X = 0: no axisX = 1: 1 axis (6)

1 9 Memory Data protection

All machine parameters and nominal values can be copied into an internal powerfailure-safe memory (—+;) and be reloaded (˜+;); in both cases a securityinquiry prevents data from being overwritten erroneously

0 inactive no data protection

1 inactive no data protection

2 onlyLoad data can be reloaded only (Restore)

3 onlySave data can be saved only (Backup)

4 LoadSave Backup + Restore possible

1 10 Reserved

1 11 Password Password inquiry for nominal value programming

Specifies if the programming mode of nominal values is to be accessible via apassword only (only in connection with the GEL 8810 Operator Terminal)

0 inactive no password inquiry

1 active with password inquiry (define the password at the followingstorage location)

1 12 Password: Specification of the password

Definition of the sequence of digits for the password of the programming mode ofnominal values (only in connection with the GEL 8810 Operator Terminal)

XXXXXXXX input of 1 to 8 digits


8110-4

1 13 Key lock Keyboard lock

With Operator Terminal GEL 8810 only: Function of the control input A7 of the GEL8810 (\Keyboard lock signal)

0 inactive no function

1 keyboard all keys are disabled with Low level

2 m.param. only the programming mode for machine parameters isdisabled with Low level

1 14 Ser1 First serial interface Ser1 (PC bus)

Specifies the transmission rate for the first serial interface RS 485 or RS 232 C

0 9600 Bd 9,600 bits/s (default value)

1 1200 Bd 1,200 bits/s

2 2400 Bd 2,400 bits/s

3 4800 Bd 4,800 bits/s

4 9600 Bd 9,600 bits/s

5 19200 Bd 19,200 bits/s

6 28800 Bd 28,800 bits/s

7 38400 Bd 38,400 bits/s

8 48000 Bd 48,000 bits/s (this rate is not supported by the most PCs)

9 57600 Bd 57,600 bits/s

1 15 Device no Device number

Specifies the device number (address) of the Controller

XX input of 1 or 2 digits (0, 1 ... 31; 0 only if you use one singleController)


8110-4

1 16 Protocol Protocol for Ser3

Specifies the transmission protocol to be used for the third serial interface (RS 485)

0 LB2 standard protocol for a PC connection

1 Terminal standard protocol for an Operator Terminal connection (e.g.GEL 8810);this is the factory-set default that cannot be changed duringthe terminal operation

1 17 Service Deactivation of passwords

All passwords of the programming mode for machine parameters and for thedisplay of signal states can be deactivated while servicing (only in connection withthe GEL 8810 Operator Terminal; individual display design under preparation)

0 inactive standard mode, with password inquiry

1 active service mode, no password inquiry

2 inactivT special mode with individual display, with password inquiry(manual drive control not possible)

3 activeT special mode with individual display, no password inquiry(manual drive control not possible)

1 18 PStation Station address with PROFIBUS

Specifies the station address (= device no.) of the Controller in a PROFIBUSapplication

XXX input of 1 to 3 digits: 0 … 126;

0 ≡ default address = 126

1 19 Consist. Consistency of useful data with PROFIBUS-DP

Useful data are transmitted and expected in the SINEC L2 format. They areevaluated as single words or as data record consisting of 16 words (object length)

0 word data acquisition word by word

1 whole data acquisition record by record


8110-4

1 20 Reserved

1 21 Input 1 Mode for data input E1

Specifies the source of the data assigned to data input E1

0 parallel data input only via the parallel wiring (terminals)

1 Profibus data input only via PROFIBUS (Long 1 of the PDU)

2 par/LB2 data input via the parallel wiring OR-linked (bit by bit) withdata from LB2 protocol in preparation

3 par/PB data input via the parallel wiring OR-linked (bit by bit) withdata from the PDU of PROFIBUS-DP, Low-switchingsignals are AND-linked



0 parallel data input only via the parallel wiring (E2 connector)

1 Profibus data input only via the PROFIBUS (Long 2 of the PDU)


3 par/PB data input via the parallel wiring OR-linked (bit by bit) withdata from the PDU of PROFIBUS-DP



0 parallel data input only via the parallel wiring (E3 connector)



3 par/PB data input via the parallel wiring OR-linked (bit by bit) withdata from the PDU of PROFIBUS-DP


8110-4



0 inactive no data input


2 LB2 data input via LB2 protocol in preparation

1 25 Ser2 Second serial interface Ser2 (ECO bus)

Specifies the transmission rate for the second serial interface (RS 422/485)

0 375 kBd 375 kilobits/s (default value)

1 250 kBd 250 kilobits/s



1 26 Ser3 Third serial interface Ser3

Specifies the transmission rate for the third serial interface (RS 485)

0 9600 Bd 9,600 bits/s (default value)

1 4800 Bd 4,800 bits/s

2 9600 Bd 9,600 bits/s

3 19200 Bd 19,200 bits/s

4 28800 Bd 28,800 bits/s

5 57600 Bd 57,600 bits/s


8110-4

1 27 LEDS LED display for data I/O

Specifies the data I/O the signal states of which shall be shown using the LED row(optional, only with present A or E connectors); refer to appendix B, ‘Connectorarrangement’

0 Output 1 1st data output A1 (F – H – K terminal strips)

1 Output 2 2nd data output (A2 connector)

2 Output 3 3rd data output (A3 connector)

3 Output 4 4th data output (only virtual)

4 Input 1 1st data input E1 (F – G – J terminal strips)

5 Input 2 2nd data input (E2 connector)

6 Input 3 3rd data input (E3 connector)

7 Input 4 4th data input (only virtual)

1 28 Reserved

•••

1 30 Reserved

STORAGE LOCATIONS FOR MACHINE PARAMETERS Unit A-13

8110-4

Unit parameters (2nd level)

2 1 Batch/t number of pieces (batch counter) and auto start

Specifies whether the ‘number of pieces’ nominal value type is to be part of asentence and/or whether individual times for generating an automatic start signalare to be preset.If one of the variants 2 or 3 has been activated the time preset by the Unitparameter 2/10 will be ignored.

0 inactive no number of pieces and no auto start time/sentence

1 batch with number of pieces

2 t auto time specification for auto start with each sentence

The input format of the times in the nominal valueprogramming mode is the same as that of storage location2/10; with 0 this sentence will not be automatically started.

3 both both possibilities

2 2 M. func. Machine functions

Specifies whether the 'machine functions' nominal value type is to be part of asentence or not, and, if so, at which optional data output module the machinefunctions (=MF) are to be output (see section 4.12.2 and storage location 2/11).With 8 MF, the input is binary (10010011 = MF8/5/2/1 ) and with 24 MF it is octal(77777777 = all MF; 273 = MF8/6/5/4/2/1).

0 no no machine functions

1 8 out1.0 8 MF parallel at the 1st data output, decades 100+101



4 8 out2.0 8 MF parallel at the 2nd data output, decades 100+101



7 8 out3.0 8 MF parallel at the 3rd data output, decades 100+101



continued on the next page

A-14 Unit STORAGE LOCATIONS FOR MACHINE PARAMETERS

8110-4

Continuation 2/210 8 out4.0 8 MF parallel at the 4th data output, decades 100+101 (only

virtual)

11 8 out4.2 8 MF parallel at the 4th data output, decades 102+104 (onlyvirtual )

12 8 out4.4 8 MF parallel at the 4th data output, decades 104+105 (onlyvirtual)

13 24 out 1 24 MF parallel at the 1st data output

14 24 out 2 24 MF parallel at the 2nd data output

15 24 out 3 24 MF parallel at the 3rd data output

16 24 out 4 24 MF parallel at the 4th data output (only virtual)

2 3 Speed Speed value

Specifies whether the ‘speed’ nominal value type (for each assigned axis) is to bepart of a sentence or not (refer also to section 4.4)

0 no no speed preset in the sentence (value from 3/34)

1 yes (1) speed is to be set for each sentence, and mode no. 1 withcontinuous sentence processing (refer to section 4.5)

2 yes (2) speed is to be set for each sentence, and mode no. 2 withcontinuous sentence processing (refer to section 4.5)

3 yes (3) only in connection with linear path control (storage location2/5 = »linear«; otherwise, a parameter error is generated):

speed specification in the sentence with continuoussentence processing and spline (refer to section 4.14);internal start as for mode 1

2 4 Text Identification text

Specifies whether identification text is to be part of a sentence

0 -------- function presently not available yet


8110-4

2 5 Interp. Interpolation (path control)

Specifies if a path control is to be used for the assigned axes when positioning (cf.section 4.14), or if an extended function is to be used (e.g. synchro control option).A new programming will cause the deletion of all nominal value programs of thisunit (with safety inquiry).

0 inactive no path control

1 linear linear path control for the following axes:

• 1 … 6 for unit 1

• 2 and 3 for unit 2

2 6 Program Program selection

Specifies if the program is to be selected via an Operator Terminal or via one of theoptional data inputs (BCD or binary, refer to section 4.12.1) or via the serialinterface. In all cases, 0 must be programmed at storage location 2/7 as this isevaluated with priority.

A program selection can principally be made only in the reset state of the Auto-matic mode; specified data are taken over with the next start signal.

0 keyboard program selection via terminal, key combination ˜+1

1 i1.0 bcd BCD program selection via the 1st data input E1, decades100 and 101



4 i2.0 bcd BCD program selection via the 2nd data input E2, decades100 and 101



7 i3.0 bcd BCD program selection via the 3rd data input E3, decades100 and 101





8110-4

Continuation 2/610 i4.0 bcd BCD program selection via the 4th data input E4, decades

100 and 101 (only virtual)

11 i4.2 bcd BCD program selection via the 4th data input E4, decades102 and 103 (only virtual)

12 i4.4 bcd BCD program selection via the 4th data input E4, decades104 and 105 (only virtual)

13 serial program selection via the serial interface

14 i1.0 bin program selection binary via the 1st data input E1, decade100

15 i1.1 bin binary program selection via the 1st data input E1, decade101





20 =prg.1 program number determined to 1

2 7 Sentence Sentence/program selection

Specifies if a sentence of a certain program is to be activated via one of theoptional data inputs (refer to section 4.12.1); new data for the sentence andprogram are taken over with the next start signal after the current sentence hasbeen processed (number of pieces!)

0 program no sentence selection, the processing of the sentence isdetermined by the normal program execution (programselection according to storage location 2/6)

1 input 1 sentence/program selection via the 1st data input E1

2 input 2 sentence/program selection via the 2nd data input E2

3 input 3 sentence/program selection via the 3rd data input E3

4 input 4 sentence/program selection via the 4th data input E4 (onlyvirtual)


8110-4

2 8 Sent.out Sentence/program number to data output

Specifies at which of the data outputs the numbers of the current sentence andprogram are to be output

0 inactive no output of the sentence/program number

1 output 1 sentence/program number to the 1st data output A1

2 output 2 sentence/program number to the 2nd data output A2

3 output 3 sentence/program number to the 3rd data output A3

4 output 4 sentence/program number to the 4th data output A4 (onlyvirtual)

2 9 Sign.out Program processing signals to data output

Specifies whether the program processing signals (refer to section 4.7.5) are to beoutput and if so at which data output; refer also to storage location 2/11

0 inactive no signal output

1 out 1.0 1st data output A1, decade 100






7 out 2.0 2nd data output A2, decade 100






13 out 3.0 3rd data output A3, decade 100








8110-4

Continuation 2/919 out 4.0 4th data output A4, decade 100 (only virtual)

20 out 4.1 4th data output A4, decade 101 (only virtual)





2 10 t auto Auto start

Once the signal actual=nominal is given for all axes of the unit, the time tauto. isactive. After the programmed value has been counted down, a start signal isinternally generated for the unit. If, during this time, an axis exits the nominalposition tolerance range, the timer is reset and thus no start signal is generated(refer also to storage location 2/1).

XX.XX value range : 0...99.99 s

at 0 the function is inactive

2 11 Sig.out Mode for signal output

Specifies if the machine functions and/or program processing signals (sentenceend, block end, and program end; refer to section 4.7.5) are to be output with thestart signal of the sentence (standard) or only if the actual=nominal signal is activefor all axes within the unit

0 inactive standard output (with start )

1 m. func. machine functions with actual=nominal

2 sig. out program processing signals with actual=nominal

3 Mf/Sign. machine functions and program processing signals withactual=nominal


8110-4

2 12 ResetOut Program processing signal ‘reset’

Specifies whether the reset signal is to be output and if so which other programprocessing signal is to be dropped instead (refer to section 4.7.5)

0 inactive reset is not used

1 sent.end reset is used instead of sentence end

2 blockEnd reset is used instead of block end

2 13 Reserved

•••

2 20 Reserved


8110-4

Notes:

STORAGE LOCATIONS FOR MACHINE PARAMETERS Axis A-21

8110-4

Axis parameters (3rd level)

3 1 Encoder Actual value adjustment

Specification of the used encoder and setting of the edge evaluation of the 0° and90° tracks at the count input and the coding of the connected encoder (refer also tosection 3.2)

0 incr. x1 incremental encoder with 1-fold edge evaluation (nominalpulse number)

1 incr. x2 incremental encoder with 2-fold edge evaluation (doublenominal pulse number)

2 incr. x4 incremental encoder with 4-fold edge evaluation (quadruplenominal pulse number)

3 Gray not used

4 /Gray not used

5 binary not used

6 /binary not used

7 BCD not used

8 /BCD not used

9 SSI 25b 25 bits multi-turn absolute encoder with serial data outputGray code, refer to storage location 3/54

10 SSI 13b 13 bits single-turn absolute encoder with serial data output,Gray code, refer to storage location 3/54

11 ECOa 4By serial 4-byte absolute value from the ECO bus Ser2 (cf.3/81)

12 ECOr lsw serial 2-byte relative value from the ECO bus Ser2 (cf. 3/81)

13 ECOr msw serial 2-byte relative value from the ECO bus Ser2 (cf. 3/81)

14 CAN-Bus serial absolute value via the CAN bus (option)

3 2 Direction Count direction

Inverting of actual value counting direction

It is mandatory to read sections 3.4 and 4.1.3 before performing anychanges!

0 no rever no reversal of the count direction

1 reversal reversal of the count direction

A-22 Axis STORAGE LOCATIONS FOR MACHINE PARAMETERS

8110-4

3 3 Multipl. Multiplier

Multiplier for the encoder input (for incremental encoders after edge evaluation);refer to section 3.2

XX.XXXX Input of a value ≥ 0 and ≤ 99.9999

0 ≡ 1.0000

3 4 Disp.mul Multiplier for actual value display

Multiplier for the display of all values in actual measuring units (e. g . when using theGEL 8810 Operator Terminal);

the setting is only effective if at least one decimal place has been programmed(3/5 > 0)

0 x1 display unchanged

1 x0.1 the display is shifted to the right by one digit, i.e., the lastdigit is removed from the display (example: with »x1«123.45, with »x0.1« 123.4)

3 5 DecPoint Decimal point

Decimal places (resolution) of the nominal and actual position/length values in thedisplay and at the input, in the programming mode of machine parameters, this alsoapplies to the speed values (cf. storage locations 3/45 and 3/46); refer to section3.2

0 X. no decimal place

1 X.X one decimal place

2 X.XX two decimal places

3 X.XXX three decimal places

4 X.XXXX four decimal places


8110-4

3 6 Corr.val Correction value

Correction value for the compensation of cutting losses (with system of incrementaldimensions) or tool wear (with system of absolute dimensions); the valueprogrammed may be changed via direct entry in the Automatic mode (refer tostorage location 3/7 and section 4.9

0 XXXXXXXX max. 8 digits incl. sign (-) and decimal point; value in actualmeasuring units

3 7 Man.corr Direct entry of a correction value

A correction value can be entered after pressing the %+3 keys in the reset stateof the Automatic mode; it overwrites the originally programmed value in storagelocation 3/6; refer to section 4.9

0 inactive direct entry is disabled

1 active direct entry is enabled

3 8 Ro.table Rotary table

Restriction of the counting range for rotary table applications

XXXXXXXX max. 8 digits incl. decimal point, positive values only; for theinput some special characteristics have to be considered,refer to section 4.10

3 9 Man.cal. Manual calibration functions

Certain calibration functions may be performed via the keyboard in the Automaticmode; refer to section 4.8

0 inactive no calibration function via the keyboard

1 ref.val. direct entry of a reference measure via %+1 keys; thenominal value overwrites the originally programmed valuein storage location 3/15 or 3/85

2 auto cal set the search for reference signal via the keyboard %+2)

3 val/auto both variants 1 and 2 are enabled


8110-4

3 10 Set ref. Setting of the reference measure

Specifies the direction of travel for the setting of the reference measure whenpositioning the drive; refer to section 4.8

0 inactive the setting of the reference measure is disabled

1 forward the reference measure will be set when moving the drive inthe forward direction

2 reverse the reference measure will be set when moving the drive inthe reverse direction

3 forw/rev the reference measure will be set irrespective of thedirection of travel

3 11 Auto cal Automatic reference search routine

Specifies the direction of motion for setting the reference measure for the auto-matic reference search routine (auto calibration). This can only be initiated in thereset state of the unit and if High level is applied to the corresponding stop input;refer to section 4.8

0 inactive search routine is disabled

1 autoforw setting the reference measure in the forward direction

2 auto rev setting the reference measure in the reverse direction

3 12 Fine Reference fine signal

Specifies the switching direction of the reference fine signal; refer to section 4.8

0 edge negative signal edge (High → Low) is evaluated

1 edge positive signal edge (Low → High) is evaluated

2 edge both signal edges are evaluated

3 13 Coarse Reference coarse signal

Specifies the switching state of the reference coarse signal; refer to section 4.8

0 low Low level = logical 1

1 high High level = logical 1


8110-4

3 14 R.switch Reversing switch signal

Specifies the switching level of the reversing switch signal for the automaticreference search routine; refer to section 4.8

0 low Low level = logical 1

1 high High level = logical 1

3 15 Ref.val. Value of the 1st reference measure

Under the precondition that the reference2/1 signal is not active (Low level at thecorresponding terminal), the actual value is set to this value as soon as the driveexceeds the reference point; the here specified value can also be changed viadirect entry in the Automatic mode under the above stated conditions (refer tostorage location 3/9 and section 4.8, 2nd reference measure: 3/85)

XXXXXXXX max. 8 digits incl. sign (-) and decimal point; specification ofthe value in actual measuring units

3 16 Cal. spd. Auto calibration speed

Speed of the automatic reference search routine up to the reversal point (proximityswitch); refer to section 4.8

XXXXXX max. 6 digits incl. decimal point; value in actual measuringunits per second

3 17 Rev.spd. Reversing speed

Speed of the automatic reference search routine from the reversal point (proximityswitch) towards the reference point; refer to section 4.8

XXXXXX max. 6 digits incl. decimal point; value in actual measuringunits per second


8110-4

3 18 ManOper. Operating state for manual positioning

Specifies the operating state in which the drive can manually be moved; High levelmust be applied to the corresponding stop input

0 reset the Controller must be in the reset state

1 stop/res the Controller must be in the reset or interrupted state

3 19 Man.ctrl Manual positioning

Specifies the data input (refer to section 4.12.1) and the position, the controlsignals for the manual positioning of the drive are applied to (refer to appendix B) orif the controlling is performed via the keyboard

0 inactive manual controlling is disabled

1 input1.0 positioning via the 1st data input E1, decade 100








8110-4

Continuation 3/197 input2.0 positioning via the 2nd data input E2, decade 100

8 input2.1 positioning via the 2nd data input E2, decade 101





13 input3.0 positioning via the 3rd data input E3, decade 100






19 input4.0 positioning via the 4th data input E4, decade 100 (virtual)






25 keyboard positioning via the keyboard of the GEL 8810 OperatorTerminal in the automatic operating mode and duringteach-in (1/16=1) or via the BB8110 PC program (1/16=0)

3 20 Man.pol. Polarity for manual drive control

Assignment of the positioning direction to the appropriate signals at the data inputconnector or to the keys for the manual positioning.

0 = forw positive voltage *) and forward signal for signals and keysö, ü

1 = forw positive voltage *) and forward signal for signals and keysä, z

*)The voltage can also be negative depending on the programmingof storage location 3/25.


8110-4

3

21222324

speed speed speed speed

Slow speed, forward

Fast speed, forward

Slow speed, reverse

Fast speed, reverse

Speed values for the manual positioning

XXXXXX max. 6 digits incl. decimal point; value in actual measuringunits per second (e.g. ‘100’ for 100.00 mm/s)

3 25 Polar. O Polarity of the analog output

Assignment of the voltage polarity (speed value with CAN bus) to the direction ofmotion

The polarity may only be changed if the drive does not movemechanically in the desired direction although the electric connection ofthe drive assembly (amplifier, motor, tacho generator) is correct (it ismandatory to read sections 3.4 and 4.1.3.)

0 + = forw positive voltage for forward motion

1 − = forw negative voltage for forward motion

3 26 Analog O Voltage range of the analog output; CAN bus

Specifies the nominal value output mode; the variants 3 to 5 are only applicable tothe extended CAN bus option (GEL 81xx x x xx x 2 x)

0 +/−10 V output voltage is bipolar (the sign depends on the directionof travel)

1 +10 V output voltage is unipolar (direction of travel only via theappropriate forward / reverse signals);

here, the programming of storage location 3/25 is withoutany effect

2 CAN-Bus nominal speed for ND 31 via CAN bus

3 CAN_1 nominal speed via CAN bus, Extension 1




8110-4

32728

S dead +S dead –

Positive dead rangeNegative dead range

As long as the drive is within the range fixed by Sdead+ and Sdead- around thenominal position (after the control pre-set has reached the nominal position value),the analog output remains switched off, i.e., 0.000 V is output. This also applies toany (idle) position for activated closed loop position control (refer to storagelocation 3/47 and section 4.6.1).

Sdead+: ‘nominal – actual’ difference > 0, Sdead-: ‘nominal – actual’ difference < 0

Depending on the multiplier m (storage location 3/3), the following condition is valid:Sdead ≥ 1 for m ≤ 1, Sdead ≥ 2 for 1 < m ≤ 2, Sdead ≥ 3 for 2 < m ≤ 3 etc.

XXXXXXXX max. 8 digits incl. decimal point, only positive; value inactual measuring units

32930

Umin +Umin –

Minimum positive voltageMinimum negative voltage

Minimum positive/negative voltage for the drive amplifier at which it can still controlthe drive (in both forward and reverse direction); refer to section 3.5

XX.XXX range of values: 0...(+)10,000 V, resolution is 1 mV

3 31 Umax Maximum voltage

Maximum voltage for the drive amplifier generating the admissible maximum speedof the drive (for both directions)

XX.XXX range of values: 0...(+)10,000 V, resolution is 1 mV

3 32 MaxSpeed Maximum speed

Max. absolute speed (vmax) of the drive at Umax; refer to section 3.6.1

0 XXXXXX max. 6 digits incl. decimal point; value in actual measuringunits per second, only positive


8110-4

3 33 Ksp Control factor

This Ksp factor specifies the dynamic range of the drive control; refer to section3.6.2

XXX.X range of values: 0...999.9, the dimension is 1/s

at 0 the closed loop position control is switched off, i.e., thedrive is positioned only by the RPM pre-control

3 34 Speed Working speed

Specification of the working speed for the positioning processes; this value is usedif the nominal value type ‘speed’ is not part of a sentence for the associated unit,i.e., no nominal values are preset for the speed per sentence.

For internal calculation reasons, a value must be programmed here also ifpresetting the speed in the sentence. This value must be higher than orequal to the used maximum nominal value since otherwise the times foraccelerating and braking could unexpectedly increase thus causing apotential danger.

XXXXXX max. 6 digits incl. decimal point; value in actual measuringunits per second, only positive


8110-4

3

35363738

t accel+t accel-t brake+t brake-

Max. acceleration time, forwardMax. acceleration time, reverse

Max. braking time, forwardMax. braking time, reverse

The times taccel+ ... tbrake– result from the maximum values of acceleration orbraking a+ ... b– in the respective direction (+ = forward = positive count direction)and are to be derived from the technical data of the drive system:taccel+/- = vmax/a+/-, tbrake+/- =vmax/b+/- (refer to sections 3.3 and 3.6.3).

A programming of the storage locations 3/36 ... 3/38 is not mandatory. The valuestored at 3/35 (taccel+) also applies to acceleration in reverse direction and brakingin both directions; if the storage location 3/38 = 0 then 3/36 (tbrake-) is effective(and/or 3/35 if 3/36 = 0).

X.XXX range of values: 0...9.999 s

For internal calculation reasons, the following restriction applies:

taccel, brake ≤ (vmax ∗ axes2) / 0.03

taccel, brake in millisecondsvmax in DispU/s (value from 3/32 without decimal point)axes = number of activated axes (1 up to 6)

If the value entered is too high, it is internally reduced to theabove maximum value.

3 39 t jerk Jerking time

The jerk determines the positioning characteristic of the drive; it is defined by thetime tjerk in which the maximum acceleration is reached (jerk = a+/tjerk =vmax/(taccel+∗tjerk); the larger tjerk the smoother the accelerating and braking process;refer also to sections 4.6.2 and 3.6.4

X.XXX range of values: 0...9.999 s

For internal calculation reasons, the following restriction applies

tjerk ≤ (vmax ∗ axes3) / (0.03 ∗ taccel+)

tjerk in millisecondsvmax in DispU/s (value from 3/32 without decimal point)axes = number of activated axes (1 up to 6)taccel+ in milliseconds (value from 3/35 without decimal point)

If the value entered is too high, it is internally reduced to theabove maximum value.


8110-4

34041

Tol. +Tol. –

Positive toleranceNegative tolerance

To keep the actual=nominal signal stable, a tolerance range may be specified inwhich the signal is output;Tol.+: ‘nominal – actual’ difference is positive, Tol.–: ‘nominal – actual’ difference isnegative

XXXXXXXX max. 8 digits incl. decimal point, only positive; value inactual measuring units

34243

S max +S max –

Max. positive contouring errorMax. negative contouring error

Once the ‘nominal – actual’ difference exceeds the specified values,

− /fault signal is output (level at terminal K1 changes from High to Low),− the Controller changes into the stop state or into the reset state (with manual

positioning or reference search routine).

This state can be acknowledged with a start or search for reference signal.

0 XXXXXXXX max. 8 digits incl. decimal point, only positive; value inactual measuring units;

with 0 the contouring error monitoring can be deactivatedbut this is not recommended for safety reasons!

3 44 Measure Measurement system

Specifies the measurement system, the Controller shall work with

0 absolute system of absolute dimensions (fixed zero processing):position values entered are absolute positions;if in the programming mode for nominal values you switchover to lengths (˜+0) incremental dimension processingcan be obtained for individual sentences

1 relative system of incremental dimensions (floating zero process-ing): position values entered are relative lengths (alwaysstart with actual value 0);it is not possible to switch over to the absolute dimensionprocessing for individual sentences within the programmingmode for nominal values (˜+0)

2 residual as above, including, however, the computation of residualvalues for the compensation of positioning inaccuracies


8110-4

3 45 Spd.mult Multiplier for speed values

The nominal values of the speed in the sentence can be entered with anothermeasuring unit than the one actually used for the equipment (actual measuringunits per second); the appropriate adaptation is effected by »Spd.mult«, refer tosection 4.4

XX.XXXX input of a value ≥ 0 and ≤ 99.9999

0 ≡ 1.0000 (standard)

3 46 DecP.spd Decimal point for speed values

Decimal places of the nominal speed values according to the specification for thecalculation of the »Spd.mult« multiplier, refer to section 4.4); if the standardmeasuring unit is to be used »DecP.spd« must be programmed as under storagelocation 3/5

0 X. no decimal places

1 X.X one decimal place

2 X.XX two decimal places

3 X.XXX three decimal places

4 X.XXXX four decimal places

3 47 Reg.stop Control in the stop/reset state

Specifies if the closed loop position control is to be active in the interrupted (stop)or reset state

0 inactive closed loop control is switched off, the release brake andcancel controller lock signals are reset

1 active closed loop control is active, the signals release brake andcancel controller lock remain active;

in this case storage locations 3/48 to 3/50 are internally setto 1, too, irrespective of the actual programming


8110-4

3 48 RegStart Control conditions after reaching the nominal position

In the started state, the closed loop position control always remains active; it has,however, to be determined if the release brake and cancel controller lock signalsare to be reset once the nominal position is reached

0 with sig. signals are reset (only valid, if storage location 3/47 = 0)

1 w/o sig. signals remain active (automatically set with 3/47 = 1)

3 49 Reg.cal. Control of the automatic calibration

Specifies if the reference search routine is to be closed-loop-controlled or justspeed-controlled (calculated voltage curve)

0 inactive without closed loop control (only valid, if storage location3/47 = 0)

1 active with closed loop control (automatically set with 3/47 = 1)

3 50 Reg.man. Control of the manual positioning

Specifies whether the manual positioning of the drive is to be closed-loop-controlledor just speed-controlled (calculated voltage curve)

0 inactive without closed loop control (only valid, if storage location3/47 = 0)

1 active with closed loop control (automatically set with 3/47 = 1)

35152

tb opentb close

Brake opening timeBrake closing time

Brake setting time measured from the release brake signal up to the final release(3/51) or from resetting the signal up to the final engaging of the brake (3/52); aftertb open has expired, the positioning control is activated (start delay); after tb close hasexpired, the signal cancel controller lock is reset and the closed loop positioncontrol becomes inactive (control stop delay); refer to section 4.7.4.

The higher time value of those specified for each axis is used if several axes arepath controlled

X.XX range of values: 0...9.99 s


8110-4

3 53 AE-zero Zero adjustment for absolute encoders (AE)

Zero shift of the actual value

The value to be read for the mechanical zero position (origin) of the drive has to beentered with reverse sign. After the mechanical zero position has been changed,the programmed value must be erased first before a readjustment is made; refer tosection 3.2.2.

XXXXXXXX max. 8 digits incl. sign (-) and decimal point; value in actualmeasuring units

3 54 AE-bits Resolution of the absolute encoder (AE)

Absolute SSI encoders:

Resolution in bits of the single-turn part

CAN bus:

Desired resolution in bits (max. 15) to be used of the resolver (e.g 12 = 32768 stepsper revolution of the motor)

XX max. 2 input digits

3 55 AE-e'ble Enable signal for (parallel) absolute encoders (AE)

not used


8110-4

3 56 Park.fct Parking function

Specifies the mode for moving the drive to the park position; refer to section 4.11

0 inactive drive does not move to the park position; direct entry of aposition value is disabled

1 batch drive moves to the park position by a start signal before thebatch counter is incremented (1st, 3rd, 5th, ... start)

2 batch drive moves to the park position by a start signal after thebatch counter has been incremented (2nd, 4th, 6th, ... start)

3 sentence drive moves to the park position by a start signal at thebeginning of a new sentence

4 sentence drive moves to the park position by a start signal after theprocessing of the current sentence

5 cycle drive moves to the park position by a start signal at thebeginning of a new program cycle

6 cycle drive moves to the park position by a start signal at the endof a program cycle (after reaching the nominal number ofpieces preset in the last sentence of the program)

3 57 Dir.park Direct entry of a park position

A value for the park position can be entered by actuating the %+4 keys in theAutomatic mode; it will overwrite the programmed value at storage location 3/58

0 inactive direct entry disabled

1 active direct entry enabled (precondition: 3/56 is not »inactive«)

3 58 Park.pos Value of the park position

The position value programmed at this location can also be overwritten via directentry in the Automatic mode (refer to storage location 3/57)



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3 59 Park.spd Parking speed

Speed for moving to the park position

XXXXXX max. 6 digits incl. decimal point, only positive; value inactual measuring units per second

3 60 ParkMfct Machine functions for parking

The machine functions programmed here are available while moving to the parkposition and staying there (as long as the Controller is in the started state); theoutput is made as determined by the Unit parameter 2/2 (see there).

The parking machine functions are principally unit-related. They have, however,one special feature: the programmed machine functions of all axes which areassigned to one unit are logically OR-ed.

Example with 2 axes and 8 machine functions (binary):

ParkMfctaxis1 = 1, ParkMfctaxis2 = 1100 ⇒ output: 00001101

XXXXXXXX max. 8 digits, binary or octal (refer to storage location 2/2)

3 61 Ranges Output of range signals

Specifies if range signals are to be output (refer to section 4.7.6) and, if so, at whichoptional data output (refer to section 4.12.2)

0 inactive no range signal output















8110-4

Continuation 3/6113 out 3.0 3rd data output A3, decade 100












3 62 RangeFct Function for range signals

Specifies if the values programmed for ranges R1 to R4 (start, end) are to beabsolute or relative positions or if the range signals are to be used for the control offast/slow-speed drives (the individual functions are described in section 4.7.6)

0 absolute the values identify absolute (actual) positions, the signalscan be output in any operating mode and in any operatingstate of the Controller

1 relative the values identify relative positions in relation to thenominal position (‘nominal – actual’ distance), the signalsare only output during a positioning process (in the startedstate)

2 driveSig as above, signals are, however, negated and used for thecontrol of fast/slow-speed drives;

the ranges have the following meaning:

R1: slow speed (linked to R2)R2: fast speedR3: forward directionR4: reverse direction

For further explanations see section 4.7.6, Drive signals.


8110-4

36364

R1: Beg.R1: End

Start value of range R1

End value of range R1

Specifies the position of the 1st range R1 (absolute or relative to the nominalposition, refer to storage location 3/62)

signal output:Beg. < End ⇒ High level starting with Beg. to End – 1Beg. = End ⇒ no output (Low level)Beg. > End ⇒ inverted output: Low level starting with End to Beg.– 1

For the drive control (3/62 = 2): R1 = slow speed signal

The signal level of R1 is inverted and internally linked to range signal R2 (refer tosection 4.7.6).


36566

R2: Beg.R2: End



Specifies the position of the 2nd range R2 (absolute or relative to the nominalposition, refer to storage location 3/62)

signal output: refer to storage location 3/63/64

For the drive control (3/62 = 2): R2 = fast speed signal

The signal level of R2 is inverted (refer to section 4.7.6).


36768

R3: Beg.R3: End



Specifies the position of the 3rd range R3 (absolute or relative to the nominalposition, refer to storage location 3/62)


For the drive control (3/62 = 2): R3 = forward signal

The end value is internally set to the maximum positive value possible and canneither be indicated nor changed; a value programmed here will be ignored (referto section 4.7.6).



8110-4

36970

R4: Beg.R4: End



Specifies the position of the 4th range R4 (absolute or relative to the nominalposition, refer to storage location 3/62)


For the drive control (3/62 = 2): R4 = reverse signal

The end value is internally set to the maximum negative value possible and canneither be indicated nor changed; a value programmed here will be ignored (referto section 4.7.6).


37172

Pos. minPos. max

Minimum position valueMaximum position value

These two values are the limits for the input monitoring within the programmingmode of nominal values or for the direct entry (e.g. reference measure). But theyalso fix the maximum positioning range if the function software limit switch isactivated (refer to storage location 3/73)

condition: Pos. min < Pos. max

exception: Pos. min = Pos. max = 0

In this case, the input monitoring and software limit switch function are disabled.

An error message is issued if the entered nominal value is too small or too big(refer to section 4.13.1).

For rotary table positioning (refer to storage location 3/8), Pos. min/max are presetinternally (Pos. min = 0, Pos. max = programmed counting range).

XXXXXXXX max.8 digits incl. sign (-) and decimal point; value in actualmeasuring units


8110-4

3 73 SWswitch Software limit switches

If the actual position is above or below the value programmed at storage locations3/71 and 3/72, the drive will be stopped and the /fault signal is output (High → Lowchange). The drive can then be moved only in the opposite direction (refer tosection 4.13.1).

For rotary table positioning (refer to storage location 3/8), the limit switch function isdeactivated internally; this also applies if »Pos. min« = »Pos. max« = 0 has beenprogrammed (refer to storage location 3/71/72).

0 inactive limit switch function is disabled

1 pos. monitoring of the actual position during moving

2 start as above, however:

When starting a sentence, it is checked if the newly se-lected nominal position (e.g. nominal position of the pre-vious sentence plus length of the new sentence) is stillwithin the admissible range. If this is not the case, the startwill not be effected and the limit switch will trigger

3 74 HWswitch Hardware limit switches

Specifies at which data input the signals of the limit switches are to be read in (referto sections 4.13.2 and 4.12.1); meaning of the signal levels:

• Low level = limit switch has triggered (corresponds to an open input)

• High level = ready to operate

0 inactive no reading in of the hardware limit switches

1 input1.0 limit switch signals at the 1st data input E1, decade 100






7 input2.0 limit switch signals at the 2nd data input E2, decade 100








8110-4

Continuation 3/7413 input3.0 limit switch signals at the 3rd data input E3, decade 100

14 input3.1 limit switch signals at the 3rd data input E3, decade 101





19 input4.0 limit switch signals at the 4th data input E4, decade 100

(only virtual)


(only virtual)


(only virtual)


(only virtual)


(only virtual)


(only virtual)


8110-4

3 75 !Pos.in Ext. data input of a nominal position/length

Specifies at which data input the nominal position or length is to be applied (in BCDcode, max. 6 digits), optionally with sign and length specifier; refer to section4.12.1. A nominal value program must already exist and be selected.

0 program no external data preset

1 input1 data preset without sign at the 1st data input E1 (range ofvalues: 0 ... 999,999)

2 i1 +/- data preset with sign at the 1st data input E1 (range ofvalues: –799,999 ... +799,999;sign: decade 105, bit 23; + = Low)

3 i1 p/l data preset with length specifier without sign at the 1st datainput E1 (range of values: 0 ... +799,999;length: decade 105, bit 23 = High)

4 i1 +- pl data preset with length specifier and with sign at the 1stdata input E1 (range of values: –399,999 ... +399,999;length: decade 105, bit 23; sign: decade 105, bit 22)

5 input 2 data preset without sign at the 2nd data input E2

6 i2 +/- data preset with sign at the 2nd data input E2

7 i2 p/l data preset with length specifier without sign at the 2nddata input E2

8 i2 +- pl data preset with length specifier and with sign at the 2nddata input E2

9 input 3 data preset without sign at the 3rd data input E3

10 i3 +/- data preset with sign at the 3rd data input E3

11 i3 p/l data preset with length specifier without sign at the 3rd datainput E3

12 i3 +- pl data preset with length specifier and with sign at the 3rddata input E3

13 input 4 data preset without sign at the 4th data input E4 (onlyvirtual)

14 i4 +/- data preset with sign at the 4th data input E4 (only virtual)

15 i4 p/l data preset with length specifier without sign at the 4th datainput E4 (only virtual)

16 i4 +- pl data preset with length specifier and with sign at the 4thdata input E4 (only virtual)


8110-4

3 76 Corr.in Ext. data input of a correction value

Specifies to which data input the correction value is to be applied (in BCD code,max. 6 digits), optionally with sign (refer to sections 4.9 and 4.12.1)


1 input 1 data preset without sign at the 1st data input E1 (range ofvalues: 0 ... 999,999)

2 i1 +/- data preset with sign at the 1st data input E1(range of values: –799,999 ... +799,999;sign: decade 105, bit 23; + = Low)

3 input 2 data preset without sign at the 2nd data input E2

4 i2 +/- data preset with sign at the 2nd data input E2

5 input 3 data preset without sign at the 3rd data input E3

6 i3 +/- data preset with sign at the 3rd data input E3

7 input 4 data preset without sign at the 4th data input E4 (onlyvirtual)

8 i4 +/- data preset with sign at the 4th data input E4 (only virtual)


8110-4

3 77 Speed in Ext. data input of a speed value

Specifies to which data input the speed value is to be applied (in BCD code, max. 6digits), optionally with continuous sentence processing specifier ‘’ (refer to sections4.4, 4.5, and 4.12.1)


1 input 1 data preset without continuous sentence processing at the1st data input E1 (range of values: 0 ... 999,999)

2 i1 data preset with continuous sentence processing at the 1stdata input E1 (range of values: 0 ... +799,999; specifier: decade 105, bit 23 = High)

3 input 2 data preset without continuous sentence processing at the2nd data input E2

4 i2 data preset with continuous sentence processing at the2nd data input E2

5 input 3 data preset without continuous sentence processing at the3rd data input E3

6 i3 data preset with continuous sentence processing at the 3rddata input E3

7 input 4 data preset without continuous sentence processing at the4th data input E4 (only virtual)

8 i4 data preset with continuous sentence processing at the 4thdata input E4 (only virtual)

3 78 Reserved

3 79 Reserved


8110-4

3 80 !Pos.out Data output of nominal position values

Specifies at which optional data output, the nominal position is to be output (in BCDcode, max. 6 digits), optionally with sign and/or data ready (DR) signal (refer tosection 4.12.2)

0 inactive no data output

1 output 1 data without sign at the 1st data output (range of values:0 ... 999,999)

2 o1 +/- data with sign at the 1st data output (range of values:-799,999 ... +799,999;sign: decade 105, bit 23; + = Low)

3 o1 DR data with data ready signal without sign at the 1st dataoutput (range of values: 0 ... +799,999;DR: decade 105, bit 23 = High)

4 o1 +- DR data with data ready signal and with sign at the 1st dataoutput (range of values: -399,999 ... +399,999;DR: decade 105, bit 23; sign: decade 105, bit 22)

5 output 2 data without sign at the 2nd data output

6 o2 +/- data with sign at the 2nd data output

7 o2 DR data with data ready signal without sign at the 2nd dataoutput

8 o2 +- DR data with data ready signal and with sign at the 2nd dataoutput

9 output 3 data without sign at the 3rd data output

10 o3 +/- data with sign at the 3rd data output

11 o3 DR data with data ready signal without sign at the 3rd dataoutput

12 o3 +- DR data with data ready signal and with sign at the 3rd dataoutput

13 output 4 data without sign at the 4th data output (only virtual)

14 o4 +/- data with sign at the 4th data output (only virtual)

15 o4 DR data with data ready signal without sign at the 4th dataoutput (only virtual)

16 o4 +- DR data with data ready signal and with sign at the 4th dataoutput (only virtual)

17 o5 PB reserved for PROFIBUS applications (option)



8110-4

3 81 =Pos.out Data output of actual position

Specifies at which optional data output the actual position is to be output (in BCDcode, max. 6 digits), optionally with sign and/or data ready (DR) signal; refer also tosection 4.12.2. Alternatively, serial output to Ser2 interface is possible to provide thevalue to another axis as nominal value, e. g . for a synchro control application (referto storage location 3/1).

0 inactive no data output

1 output 1 data without sign at the 1st data output (range of values: 0... 999,999)

2 o1 +/- data with sign at the 1st data output (range of values: –799,999 ... +799,999;sign: decade 105, bit 23; + = Low)

3 o1 DR data with data ready signal without sign at the 1st dataoutput (range of values: 0 ... +799,999;DR: decade 105, bit 23 = High)

4 o1 +- DR data with data ready signal and with sign at the 1st dataoutput (range of values: –399,999 ... +399,999;DR: decade 105, bit 23; sign: decade 105, bit 22)

5 output 2 data without sign at the 2nd data output

6 o2 +/- data with sign at the 2nd data output

7 o2 DR data with data ready signal without sign at the 2nd dataoutput

8 o2 +- DR data with data ready signal and with sign at the 2nd dataoutput

9 output 3 data without sign at the 3rd data output

10 o3 +/- data with sign at the 3rd data output

11 o3 DR data with data ready signal without sign at the 3rd dataoutput

12 o3 +- DR data with data ready signal and with sign at the 3rd dataoutput

13 output 4 data without sign at the 4th data output (only virtual)

14 o4 +/- data with sign at the 4th data output (only virtual)

15 o4 DR data with data ready signal without sign at the 4th dataoutput (only virtual)

16 o4 +- DR data with data ready signal and with sign at the 4th dataoutput (only virtual)



8110-4

Continuation 3/8117 o5 PB reserved for PROFIBUS applications (option)


19 ECOa 4By serial data output to the ECO bus Ser2: 4 bytes absolute

20 ECOr lsw serial data output to the ECO bus Ser2: 2 bytes relative(actual value difference)

21 ECOr msw serial data output to the ECO bus Ser2: 2 bytes relative(actual value difference)

3 82 Corr.out Data output of a correction value

Specifies at which optional data output the correction value is to be output (in BCDcode, max. 6 digits), optionally with sign and/or data ready (DR) signal (refer tosection 4.12.2)

Variants as for the data output of nominal position values (storage location 3/80)

3 83 Reserved

3 84 Reserved

3 85 Ref.val2 Value of the 2nd reference measure

Under the precondition that the reference2/1 signal is active (High level at thecorresponding terminal) the actual value is loaded with this value as soon as thedrive exceeds the reference point; the value specified at this location can also bechanged via direct entry in the Automatic mode (refer to storage location 3/9 andsection 4.8); 1st reference measure: 3/15



8110-4

3 86 Reserved

•••

3 89 Reserved

3 90 DeltaS=0 Zero Delta_s

Specifies whether the zero Delta_s signal shall be active for resetting a contouringerror which has developed during the interrupted (stop) reset state (refer to section4.7.3)

0 inactive signal is disabled

1 active signal is enabled

3 91 PowerCal Calibration after powering-on

Specifies whether the axis is exempted from the calibration mode that is defined inSystem parameter 1/2

0 asSystem standard, i.e. no exemption

1 inactive no calibration for this axis

3 92 Reserved

•••

3 96 Reserved


8110-4

3 97 RealVal. Actual value assignment

Specifies which input connector Z1 and Z2 is assigned to which axis.Programming can only be performed for the 1st and 2nd axes; otherwise, aparameter error is caused.

(This setting option is used to obtain certain actual value input combinations which are notoffered by the order codes.)

The function of this storage location has been retained for compatibility reasons;please do not use it with EcoControllers containing a firmware version ≥ 13.

0 standard Z1 → actual value of the 1st axis,Z2 → actual value of the 2nd axis

1 Z1 / S1 for the 1st axis: Z1 → actual value of the 1st axis (default);for the 2nd axis: Z1 → actual value of the 2nd axis

2 Z2 / S2 for the 1st axis: Z2 → actual value of the 1st axis;for the 2nd axis: Z2 → actual value of the 2nd axis (default)

3 98 I /motor CAN bus: resolution of a separate encoder

Number of steps or increments per revolution of the motor, if the actual value of aseparate encoder (determined at 3/1) shall be used instead of the one given by theresolver on CAN bus. This possibility only exists for Axes 1 and 2.

XXXXXXXX max. 8 digits (positive value only)

3 99 Reserved

•••

3 130 Reserved

PIN LAYOUT B-1

8110-4

Appendix B: Pin Layout

Connections (designations and functions)

Terminalstrip

D-Sub-conn. Function Page

A2, A3 Data output with 24 outputs each (6 decades) B-13

B1,2 RS 422/485 serial interface for different applications(two connectors)

B-14

C RS 232 C serial interface and CAN bus B-14

E2, E3 Data input with 24 inputs each(6 decades, High level = logical 1)

B-12

F Data input (E1) or data output (A1)(8 I/O, decades #0 and #1)

B-11

G 8 control inputs for the 2nd unit/axis; or: data input(E1, decades #2 and #3)

B-9

H 8 control outputs for the 2nd axis; with 1 axis only:data output (A1, decades #2 and #3)

B-10

J 8 control inputs for the 1st unit/axis; or: data input(E1, decades #4 and #5)

B-7

K 8 control outputs for the 1st axis B-8

N Power supply; 1 or 2 analog outputs 0...±10 V(option)

B-5

Z1, Z2 Count input for one incremental encoder 5 / 24 V andinput for an absolute encoder with serial data output(SSI)

B-6

B-2 PIN LAYOUT

8110-4

Connector arrangement

The following diagram applies for a fully equipped controller (refer also to thetype codes in Appendix C).

F H K

N G J

L1

L2

E2 A2

E3 A3

Z1 Z2

C B2B1

X1810003

LED row (optional):

decade: 0 1 2 3 4 52 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3

(see storageloc. 1/27)

inp. (E1): F 2 3 4 5 6 7 8 9 G 1 2 3 4 5 6 7 8 J 1 2 3 4 5 6 7 8

outp. (A1): F 2 3 4 5 6 7 8 9 H 1 2 3 4 5 6 7 8 K 1 2 3 4 5 6 7 8

E2, E3,A2, A3

pin: 1 14 2 1

5 3 16 4 1

7 5 18 6 1

9 7 20 8 2

1 9 22

10

23

11

24

12

25

L1, L2: see Section 5.1.

PIN LAYOUT B-3

8110-4

Terminal strip coding

To prevent confusion, the different terminal strips in the controller and thecorresponding connectors are factory-set coded according to the followingscheme:

* + , # $%

* + , # $% * + , # $

* + , # $

* + , # $

* + , # $

& '

X181003A

B-4 PIN LAYOUT

8110-4

DIP switch arrangement (rear side of the device)

SW9

SW5.1 SW5.2

SW5 SW1

SW8 SW7

X181003B

Switch Function

SW1.1 Interconnects the pins #1 of connectors B1 and B2 for cascading ofControllers (ground Ser1 = ground Ser3); refer to connector B

SW1.2 Terminates the optional CAN bus; refer to connector CSW5 Changes the serial interface Ser2 from RS 422 to RS 485 (‘ON’); refer to

connector BSW7 Changes the signal voltage supply (+24 V) for the data outputs A2 and

A3 from external to internal (‘ON’)SW8 Changes the encoder voltage supply from 5 V to 24 V (= ‘ON’); refer to

connector ZSW9 Determines the voltage level of the reference sensor (reference fine

signal); refer to connector Z (incremental)

Switch SW1.2 to ‘ON’ if the EcoController is the last device on the bus.SW5, SW7: Both switch elements (.1 and .2) must show the sameposition.SW8, SW9: Switch element .1 → Axis 2, switch element .2 → Axis 1.

PIN LAYOUT B-5

8110-4

Connection diagrams

In the following connection diagrams, the internal wiring is pointed out onthe left side. The connections to be made, i.e. the signals, their directionand other information are represented on the right side.

NTerminal

stripVoltage supply and

analog output (option)

1

2

3

4

5

6

7

8

9

10

0 V (Axis 1)0 V (Axis 2)±10 V (Axis 1)±10 V (Axis 2)

DA

DA

N 1 2 3 4 5 6 7 8 9 10

H

G

K

J

F

2 x 1.35 A

analogue output(optional)

2 x 30 VAC: 15...23 V~ or

DC: 18...30 V=

0.9 A

supplyvoltage (UB)

supply for signals, encoders etc. (400 mA at max.)

AC version: UB 1.4DC version: UB 1.5 V

Uint.

E181125N

B-6 PIN LAYOUT

8110-4

Z1,Z2

Connector Input for an incremental or SSI encoderwith supply voltage 5 or 24 V

1

2

3

4

5

6

7

8

9

female

0°+ 5 / 24 V 1)

0° 2)

Sense90°Zero 3)

90° 2)

Zero 2)

0 V

1) Change with DIP switch SW8.2 (Axis 1) or SW8.1 (Axis 2), 24 V = 'ON' (voltage value as at N4, 26 V max.)2) Do not connect if not used3) Alternative: sensor signal for reference fine function; if you use different voltage levels for the encoder (5 V) and the sensor (24 V) adjust with SW9.2 (Axis 1) resp. SW9.1 (Axis 2) accordingly: 24 V = 'ON'

Ri 3 k

Incremental encoder (storage location 3/1 = 0, 1 or 2)

1

2

3

4

5

6

7

8

9

Clock++ 5 / 24 V 1)

Clock-

Data+

Data-

0 V

SSI encoder (storage location 3/1 = 9 or 10)

1) see above

Signal level: 5 V

E181047Z

PIN LAYOUT B-7

8110-4

JTerminal

stripControl inputs for the 1st unit/axis or

8 bit data input

Unit/Axis 1

HH

G 1 2 3 4 5 6 7 8 9

N

F K

1) Alternative usage as data input E1, Decades 4 + 5; assignment as for terminal strip F (Decades 0 + 1)

StartStopResetSearch for referenceReversing switchReference coarseReference2/1Zero Delta_s(s. term. strip K)

1

2

3

4

5

6

7

8

9 1)

104

105

0.9 A(internal)

E1

Ri 12 k

E181125J

The alternative use as data input is suited for such cases where the standardcontrol signals are not required. Nevertheless, if a combined use of controlsignals and data is desired great care has to be taken in the planing phase toprevent conflicts between the two (the inputs always maintain their controlfunction).

In connection with the serial data transmission this terminal strip has a specialfunction (see end of Section 2.3).

B-8 PIN LAYOUT

8110-4

KTerminal

stripControl outputs for the 1st axis or

8 bit data output

Axis 1

HH

N

F

G

1 2 3 4 5 6 7 8 9

J

9

8

7

6

5

4

3

2

1

8...30 V=Actual = nominalReference reachedRelease brakeCancel controller lockReverseForward

Fault

9

J0 V

2)

0.9 A

30 V

(internal)

1)

105

104

A1

1) Adresse for status display and PROFIBUS applications2) Reverse battery protection (external power supply)

Signals are always output

E181125K

If you use relays containing a protective RC network, note that the ohmic resis-tor (R) is dimensioned so high that the current at make does not exceed themaximum load current of 300 mA for longer than 1 µs. If this is the case theprotective circuit will trigger, thus causing the output to fail.

PIN LAYOUT B-9

8110-4

GTerminal

stripControl inputs for the 2nd unit/axis or

8 bit data input

Unit/Axis 2

HH

1 2 3 4 5 6 7 8 9N

F K

J

1) Alternative usage as data input E1, Decades 2 + 3; assignment as for terminal strip F (Decades 0 + 1)

StartStopResetSearch for referenceReversing switchReference coarseReference2/1Zero Delta_s(s. term. strip H)

1

2

3

4

5

6

7

8

9 1)

102

103

0.9 A(internal)

E1

Ri 12 k

E181125G

The alternative use as data input is suited for such cases where the standardcontrol signals are not required. Nevertheless, if a combined use of controlsignals and data is desired great care has to be taken in the planing phase toprevent conflicts between the two (the inputs always maintain their controlfunction).

B-10 PIN LAYOUT

8110-4

HTerminal

stripControl outputs for the 2nd axis or

8 bit data output

Axis 2

H 1 2 3 4 5 6 7 8 9

N

F

G

K

J

9

8

7

6

5

4

3

2

1

8...30 V=Actual = nominalReference reachedRelease brakeCancel controller lockReverseForward

9

G0 V

2)

0.9 A

30 V

(internal)

1)

103

102

A1

1) Alternative usage as data output A1, Decades 2 + 3, if Axis 2 is not activated2) Reverse battery protection (external power supply)

E181125H

If you use relays containing a protective RC network, note that the ohmic resis-tor (R) is dimensioned so high that the current at make does not exceed themaximum load current of 300 mA for longer than 1 µs. If this is the case theprotective circuit will trigger, thus causing the output to fail.

PIN LAYOUT B-11

8110-4

F Terminalstrip

8 bit data output

N

F 1 2 3 4 5 6 7 8 9 10

H

G

K

J

+8...30 V=

0 V

10

9

8

7

6

5

4

3

2

1

M8

M7

M6

M5

M4

M3

M2

M1

Stop

Program end

Block end

Sentence end

Stop

Program end

Block end

Sentence end

B4

B3

B2

B1

B4

B3

B2

B1

Data output A1, Decades 0 + 1

101

100

2/2 3/61 2/9

10

9

8

7

6

5

4

3

2

1

Data input E1, Decades 0 + 1

<<

<

>>

>

<<

<

>>

>

Pro

gram

(bi

nary

: 1...

15)

Pro

gram

(B

CD

: 1...

99)

Max

Min

Max

Min

Max

Min

Max

Min

23

20

23

20

(x1)

(

x10)

3/19 3/74 2/6

and/or

0 V

101

100

1) Reverse battery protection (external power supply)

1)

forw

.

rev

.

E1

A10.9 A

30 V

(internal)

30 V

(internal) 0.9 A

cf. storage location

Ri

12

k

forw

.

rev

.

cf. storage location

E181125F

Additional input/output functions may be realized according to connectorsE2,3 / A2,3 (see there). A combined data input/output (decade-by-decade) ispossible (take care of voltage and signal/logic levels!).

If you use relays containing a protective RC network, note that the ohmicresistor (R) is dimensioned so high that the current at make does not exceedthe maximum load current of 300 mA for longer than 1 µs. If this is the casethe protective circuit will trigger, thus causing the output to fail.

B-12 PIN LAYOUT

8110-4

E2,E3

Connector 24 bit data input

male

(0 V) 23 1)

22

21

20

23

22

21

20

23

22

21

20

23

22

21

20

23

22

21

20

23

22

21

20

105

104

103

102

101

100

10 k

3 k

13

12

11

10

9

8

7

6

5

4

3

2

1

25

24

23

22

21

20

19

18

17

16

15

14S

ente

nceN

omin

al v

alue

sMaxMinMaxMin

trav

ersi

ng s

igna

ls

Pro

gram

<<<>>>

hard

war

e lim

it sw

itch

3/75 f 2/7cf. storage location 2/6 3/19 3/74

(internal)

(x1)

Pro

gram

(x1

0)

1) Positive voltage is possible on request (as for data output A2/A3: external or internal).

1)

forw

. r

ev.

E1:

T

erm

inal

str

ip F

T

erm

inal

str

ip G

Ter

min

al s

trip

J

E181147E

PIN LAYOUT B-13

8110-4

A2,A3

Connector 24 bit data output (logic outputs)Imax = 20 mA/output, max. 200 mA total

female

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

20

21

22

23

20

21

22

23

20

21

22

23

20

21

22

23

20

21

22

23

20

21

22

23

(0 V) / +8...30 V

Uint.

100

101

102

103

104

105

Sen

tenc

eP

rogr

am

mac

hine

func

tions

nom

inal

/act

ual v

alue

s

M1

M24

M8

M1 B1

B4

Sentence endBlock endProgram endStop

rang

e si

gnal

s

prog

ram

pro

cess

ing

sign

als

3/80 f 2/8cf. storage location 2/2 3/61 2/9

(N5)

SW7.1 SW7.2

0.9 A(internal)

A1:

T

erm

inal

str

ip K

Ter

min

al s

trip

H T

erm

inal

str

ip F

E181147A

Setting the supply voltage to internal or external via DIP switchSW7 at the rear side of the device always applies to both connectorsA2 and A3. With external supply (default setting), positive voltage isapplied to Pin 13. With internal supply (SW7 set to ‘ON’), zeropotential is applied to Pin 13 ⇒ danger of short-circuiting whenconnecting a positive voltage.

B-14 PIN LAYOUT

8110-4

BConnector

(in duplicate)3 RS 485 / RS 422 serial interfaces

for various applications

1

2

3

4

5

6

7

8

9

0 V1RxTx-RxTx+

Tx-Tx+Rx-Rx+

RxTx-RxTx+

➀ Ser 1: RS 485, DC-isolated (default PC connection)

➁ Ser 2: RS 422/485 (for EcoController cascading)

➂ Ser 3: RS 485, DC-isolated (default GEL 8810 Operator Terminal connection)

1) Switch both SW5 elements to 'ON' for configuring the Ser2 as RS 485 (default: RS 422).2) Switch SW1.1 to 'ON' when cascading several EcoControllers.

➀

➁

➂

+5 V(1) 7k32k87k3

(1)

female

7k3

2k8

7k3

+5 V(3)

(3)

+5 V(internal)

(int.)

7k3

2k8

7k3 SW5 1)

.2

.1

B1

1

B2

SW1.1 2)

0 V3

E181047B

The connectors B1 and B2 are identical, apart from the assignment of pins #1.

C Connector RS 232 C serial interface and CAN bus

1

2

3

4

5

6

7

8

9

female

0 VRxD

CAN_HTxD

CAN_LDTR

0 V (identical with 0 V at B11)

1) Switch SW1.2 to 'ON' for terminating the last device on the bus.

RS 232 CSer1

CAN bus 1)

E181047C

SPECIFICATIONS Operational data C-1

8110-4

Appendix C: Specifications

Operational dataSupply voltage(terminal strip N)

Input 18 … 30 V DC (UB=) or 15 … 23 V AC (UB~)(abs. maximum values: 32 V DC / 23 V AC)

Current consumption approx. 300 mA (without load)Protection electronically 1.35 A (PTC overload protected)

Output approx. UB= – 1.5 V or UB ∼ ∗ 1.4(see circuit principle at terminal strip N)

Load current maximum 400 mA (including 24 V encodersupply)

Count inputs(connectors Z)

max. 2 incremental encoders

Logic levels 24 V Low: 0 …+5 VHigh: +15 …+30 V

5 V Low: 0 ... +0.8 VHigh: +2.5 ... +5 V

Input resistance > 2.5 kΩ at 24 V (push-pull: >5 kΩ),> 3 kΩ at 5 V (push-pull: >6 kΩ)

Input frequency ≤ 200 kHz,pulse width of zero signal ≥ 2.5 µs

Encoder supply24 V approx. UB= – 1.5 V or UB ∼ ∗ 1.4,

total encoder load < 400 mA 5 V 5 V ± 5% stabilized at the encoder (return by

Sense line, max. 6.5 V at the output),total encoder load ≤ 600 mA (≤ 400 mA for asingle encoder)

SSI inputs (connector Z) max. 2 absolute encoders (serial data)Data, clock according to RS 422 specificationClock frequency max. 300 kHz (max. cable length: 60 m)Encoder supply approx. UB= – 1.5 V or UB∼ ∗ 1.4,

total encoder load < 400 mA

Logic inputs(terminal strips F, G, J)

Level Low: 0 …+5 VHigh: +15 …+30 V

Input resistance > 10 kΩ

C-2 Operational data SPECIFICATIONS

8110-4

Logic outputs(terminal strips F, H, K)

Imax 300 mA per output,8 outputs together 600 mAsustained short circuit-proof

Overload response time ≥ 1 µsSupply voltage external 8…30 V DC (abs. maximum value:

35 V DC)

Analogue outputs(terminal strip N, option)

2

Voltage range -10.000 V … 0 … +10.000 V, potential-freeResolution 1.22 mV (14-bit D/A converter)Imax 6 mA, sustained short circuit-proof

Maximum offset error ± 0.7 mV with reference to 23 °COffset temperaturecoefficient

typ. 0.20 mV / 10 K, max. 1.00 mV / 10 K

Data inputs(optional connectors E2, E3)

Inputs 2 × 24Level Low: 0 …+5 V

High: +15 …+30 VInput resistance > 10 kΩ

Data outputs(optional connectors A2, A3)

Outputs 2 × 24Imax 20 mA per output; with internal supply:

200 mA totally for all 48 outputsSupply voltage internal: approx. UB= – 1.5 V or UB∼ ∗ 1.4 or

external: 8…30 V DC (abs. maximum value:35 V DC)

Serial interfaces(connectors B, C)

3

Ser1 RS 485 or RS 232 C, DC-isolated by photo-couplers

Ser2 RS 422, configurable as RS 485Ser3 RS 485, DC-isolated by photocouplers

Counting range ± 231

Control scan time typical 1 ms per controlled axis

SPECIFICATIONS Operational data C-3

8110-4

Nominal value storagelocations

6416

Partition maximum 99 programs per unitmaximum 999 sentences per program

Power failure security storage Flash memory with a service life of 100,000write cycles or 20 years

Climatic application class KWF (according to DIN 40040)Relative humidity up to 95%, no condensationOperating temperaturerange

0 °C ... 50 °C

Storage temperaturerange

-20 °C ... +80 °C

EMC (by observing the set-upinstructions)

Noise emission according to EN 50081-1Noise immunity according to EN 50082-2

IndicatorsStandard 2 LEDs (refer to Section 5.1)Optional 24 LEDs (red) for the display of the switching

condition at a data input or output to be de-termined (refer to Appendix B, ‘Connectorarrangement’)

Max. connection cross-section 1.5 mm2 (terminal grid dimensions 3.81 mm)

CaseMaterial steel sheet (Zincor), powder-lacquered blackMounting snap-in mounting on top hat rail according to

EN 50022-35 or screwing on mounting plateWeight approx. 1.2 kg

Protection class IP 20

C-4 Dimensions SPECIFICATIONS

8110-4

Dimensions

EcoController GEL 8110 for top hat rail mounting

140

41

8210

4

40

65

80

166

X181036E

EcoController GEL 8110 for wall mounting

74

184

90

79

172

5.5

X181036D

Dimensions in mm

SPECIFICATIONS Dimensions C-5

8110-4

GEL 7923 mains transformer

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#

+ ,

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,+

%*%

*

%%6

%%6

*%

GEL 7922 clamping plate forGEL 7923 mains transformer

)

+%

,#

+%%

)

(

X6203EH E6101CH

GEL 7925 mains suppression filterfor mains-based voltage spikes > 2.5 kV, 250 V≅, 50/60 Hz, 2 A

%*$%

#

#

*#

(

E6101AH

Dimensions in mm

C-6 Type coding SPECIFICATIONS

8110-4

Type coding

Basic version GEL 8 1 X X X X X X X X 0

1 2 3 4

XX Type

10 Positioning15 Positioning with circular interpolation30 Flying saw35 Rotating knife40 Synchro control

Control I/O GEL 8 1 X X X X X X X X 0

5

X Type terminal strip

A 16 logic inputs G, J16 logic outputs (300 mA) H, K8 logic inputs or outputs (300 mA) F

Analogue outputs GEL 8 1 X X X X X X X X 0

6

X Type

0 withoutB 2 analogue outputs 0…±10 V, 14 bit

Actual value inputs GEL 8 1 X X X X X X X X 07: axis # 1; 8: axis # 2 7 8

X Type connectors Z1+Z2

0 withoutA incremental count input 24 VB incremental count input 5 VS synchronized serial interface for SSI encoder

SPECIFICATIONS Type coding C-7

8110-4

Data I/O GEL 8 1 X X X X X X X X 0

9

X Type connector

0 without6 48 data inputs (High = logical 1), 48 data

outputs and 24 LEDs E2 + E3 + A2 + A3

8 InterBus-S (specific case variant)9 Intelligent RS 485 interface for PROFIBUS

applications

Additional bus GEL 8 1 X X X X X X X X 0

10

X Type connector C

0 without1 CAN bus2 CAN bus, extended

C-8 Accessories SPECIFICATIONS

8110-4

Accessories

Designation Order no.

2×20 V, 2×20 VA mains transformer GEL 7923

Clamping plate for mains transformer GEL 7922

Mains filter with current-compensated chokes, 250 V~ GEL 7925

V24/RS485 converter incl. power supply

• DC-isolated

• not DC-isolated

GEL 89011

GEL 89010

Connecting cables

• RS 232 C interfaces PC — EcoController (5 m)

• V24/RS485 converter — EcoController (5 m)

• GEL 8810 Operator Terminal — EcoController (2.5 m)

• EcoController — EcoController (0.5 m) ECO bus− transmitter/receiver− receiver/receiver

GEL 89022

GEL 89015

GEL 89021

GEL 89016SEDGEL 89016EED

D-Sub adapters

• 25-pin connector to 9-pin female connector

• 25-pin connector to 25-pin connector

• 9-pin connector to 9-pin connector

GEL 89025

GEL 89026

GEL 89027

Bus terminal connector for PROFIBUS GEL 89030

PC software supplying operating and observing features BB8110

Internet: http://www.lenord.de Tel.: +49 (0)208 9963-0 Lenord, Bauer & Co. GmbHE-Mail: [email protected] Fax: +49 (0)208 676292 Dohlenstrasse 32

46145 Oberhausen, Germany

Technical information version 11.04

Operating and ObservingOperator Terminal GEL 8810for GEL 8000 and GEL 8100

DS22-8810(11.04)2 Lenord +Bauer

ConceptThe operator terminal was designed as a controlan display unit for up to 31 Controllers of theseries GEL 8000 and GEL 8100.It permits to edit and visualize nominal values andmachine parameters and to display actual values.The interface software can be adjusted by Lenord+Bauer upon request.

DesignThe housing of the operator’s terminal is made ofiron plate and was designed for being used in acontrol panel, its front size being 160 mm X 160 mmand a front-to-back size of 57 mm.

Hardware descriptionTechnical data

Technical data

The touch sensitive keyboard is highly user-friendly, since its 18 mm x 18 mm shortstrokekeys can be labelled in accordance with theuser ‘s requirements. A large LCD guaranteesa good legibility, even if the lighting conditionsare bad. The LCD of the GEL 8810 0XX has abackground lighting as additional feature.The user can adjust the contrast according tohis individual requirements.

Serial InterfacesTwo serial Interfaces, i. e. RS 232 or RS 485,are available.

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Pin layouts

Terminal strip A

E288125N

Plug B (RS 485 interface)

E288147B

GEL 89019(connecting cable to the Mini/EcoController)

E288126A

GEL 89020(connecting cableto the MiniController, single cores)

E288126B

Plug B (RS 232 C interface)

E288147C

1

2

3

4

5

6

7

8

9

female

RxTx-RxTx+

SW2.1 1) SW2.2

+5 V 470180470

1) switch SW2 set to 'ON' (standard setting) for terminating resistor at terminal unit

1

2

3

4

5

6

7

8

9

female

RxD

TxD

DTR

GND

1

2

3

4

5

6

7

8

9

10

background lighting *

key locking**

not connected

not connectedsignal inputs' supply(same as terminal 4)

voltage supply:15...26 V~ or 18...30 V= (US)

voltage output: US - 1 V, max. 200 mA

U

U

2 x 0.9 A

2 x 30 V

U

10 k

3 k

* only GEL 8810 0XX** not valid for MiniController

female

1

2

3

4

5

6

7

8

9

5: RxTx+9: RxTx-

female

1

2

3

4

5

6

7

8

9

operator terminalGEL 8810(plug B)

MiniController GEL 8000(plug R)

EcoController GEL 8100(plug B)

male

brn

wht

1

2

3

4

5

6

7

8

9

terminal strip Hterminal 4 (RxTx-)

terminal 3 (RxTx+)

potentialcompensation rail

5: RxTx+9: RxTx-

operator terminalGEL 8810(plug B)

MiniController GEL 8000

DS22-8810(11.04)4 Lenord +Bauer

Type code

Type code, Dimensioned drawing

Available types

GEL 8810 0 D 1 IP 65, background lighting,galvanically separated RS 485,communication software forEcoControllerGEL 81XX

GEL 8810 0 D 2 IP 65, background lighting,galvanically separated RS 485,communication software forMiniController GEL 8010

GEL 8810 0 D 3 IP 65, background lighting,galvanically separated RS 485,communication software forMiniController GEL 8080/85

GEL 8810 0 D 5 P 65, background lighting,galvanically separated RS 485,communication software forEco- and MiniController,flash memory

GEL 8810 0 D 6 IP 65, background lighting,galvanically separated RS 485,communication software forMiniController GEL 8010,incl. option: start/stop keys

GEL 8810 A 0 2 IP 54, RS 485,communication software forMiniController GEL 8010

GEL 8810 A 0 3 IP 54, RS 485,communication software forMiniController GEL 8080/85

GEL 8810 A 0 6 IP 54, RS 485,communication software forMiniController GEL 8010,incl. option: start/stop keys

Accessoriesconnecting cableto the Eco/MiniController, 2.5 m GEL 89019connecting cable to the MiniController(single cores), 2.5 m GEL 89020mains transformer GEL 7923

Dimensioned drawing

160

150

46.5

4

21.5

25

A B C

control panel cut-out 151 mm.

Subject to technical modifications and typographical errors.For the latest version please visit our web site : www.lenord.de.

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