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MOVIAXIS® MX Multi-Axis Servo InverterVirtual Encoder Technology Function

ManualEdition 05/200711576626 / EN

SEW-EURODRIVE – Driving the world

Virtual Encoder Technology Function – MOVIAXIS® MX Multi-Axis Servo Inverter 3

Contents

Contents1 Notes .................................................................................................................... 4

1.1 Explanation of symbols ............................................................................... 41.2 Safety notes ................................................................................................ 4

2 System Description............................................................................................. 62.1 General information .................................................................................... 6

3 Description of Functions.................................................................................... 73.1 Basic functions of the virtual encoder ......................................................... 73.2 Block circuit diagram of the virtual encoder ................................................ 73.3 Jerk limitation .............................................................................................. 83.4 Extended position output ............................................................................ 93.5 Control via Data Distribution Buffer (DDB).................................................. 93.6 Type and version ID of a data structure in the DDB ................................. 10

4 Parameter Description...................................................................................... 11

5 Operating Modes............................................................................................... 145.1 "Absolute" positioning mode ..................................................................... 145.2 "Relative" positioning mode ...................................................................... 145.3 "Modulo absolute positive" positioning mode............................................ 155.4 "Modulo absolute positive" positioning mode............................................ 155.5 "Modulo absolute negative" positioning mode .......................................... 165.6 "Modulo relative negative" positioning mode ............................................ 165.7 "Modulo absolute short" positioning mode................................................ 175.8 "Modulo relative short" positioning mode.................................................. 175.9 Endless operating modes "Continuous Circular / Continuous Modulo" .... 18

6 Error Messages ................................................................................................. 206.1 Problem description .................................................................................. 20

4 Virtual Encoder Technology Function – MOVIAXIS® MX Multi-Axis Servo Inverter

1 Explanation of symbolsNotes

1 Notes1.1 Explanation of symbols

Always observe the safety and warning instructions in this documentation.

1.2 Safety notes1.2.1 Preliminary information

1.2.2 General safety notes

Electrical hazardPossible consequences: Severe or fatal injuries.

Hazard. Possible consequences: Severe or fatal injuries.

Hazardous situationPossible consequences: Slight or minor injuries.

Harmful situationPossible consequences: Damage to the unit and the environ-ment.

Tips and useful information.

The following safety notes apply to MOVIAXIS® in connection with the Virtual En-coder technology function.Please also observe the supplementary safety notes in the individual sections ofthis manual.

The MOVIAXIS® multi-axis servo inverter with the Virtual Encoder technology functionmust only be installed and taken into operation by electrical specialists observing the rel-evant accident prevention regulations and MOVIAXIS® operating instructions.


1Safety notesNotes

Read through this manual carefully before you start to install and startup MOVIAXIS®with the Virtual Encoder technology function. This manual does not replace the detailedMOVIAXIS® operating instructions. A requirement of fault-free operation and the possi-bility of any rights to claim under guarantee is that you observe the information in theMOVIAXIS® documentation.


2 General informationSystem Description

2 System Description2.1 General information

The virtual encoder is a configurable software counter, which can be used for simulatingthe position signal of a real axis. It enables synchronous travel of several axes, e.g. forelectronic cam and synchronous operation applications. For this purpose, the virtual en-coder offers different operating modes:

For more detailed information on the individual modes, please refer to sec. 5 "OperatingModes".

VEncoderMode:(parameter no. 2) Operating mode

Positioning modes

1 Absolute

2 Relative

3 Modulo Absolute Positive

4 Modulo Relative Positive

5 Modulo Absolute Negative

6 Absolute Relative Negative

7 Modulo Absolute Short

8 Modulo Relative Short

Infinite operation9 Continuous Circular

10 Continuous Modulo


3Basic functions of the virtual encoderDescription of Functions

3 Description of Functions3.1 Basic functions of the virtual encoder

Similar to a real axis, the virtual encoder requires the user to specify values, e.g. for po-sition and speed, which the encoder is going to use. The user can stop and start the vir-tual encoder at any time using the feedforward enable.

The axis that includes the virtual encoder can also synchronize to the virtual encoderposition. The position values of the virtual encoder can be transferred to other axes.

3.2 Block circuit diagram of the virtual encoder

The input and output parameter for the virtual encoder are described in detail in sec. 4"Parameter Description".

Internalposition profile

generator AccelerationMax DecelerationMax

JerkMax

PositionSetpoint

VelocityMaxPos VelocityMaxNeg

VelocitySetpoint PositionModulo PositionExtended Position Velocity Acceleration

VEncoder controller

FeedEnable

UseFeedEnable

UseStrobe

Strobe

VEncoderMode


3 Jerk limitationDescription of Functions

3.3 Jerk limitationThe virtual encoders operates with an internal, jerk limited profile generator. Jerk limita-tion is realized via a mean value filter. The determination is based on the jerk time. Thejerk time is calculated from the parameters "AccelerationMax / DecelerationMax" and"JerkMax", which are set by the user.

The jerk time is calculated anew when the virtual encoder is switched on and when adifferent value is specified for "JerkMax". Jerk time values are internally limited to mini-mum "0 s" and maximum "1 s".

If "JerkMax" or the calculated jerk time is zero, the jerk limitation is deactivated and theprofile generator operates with linear ramps.

t1 Jerk time

JerkTime sAccelerationMax DecelerationMax

s[ ]

max ,min

=( )

×⎡

⎣⎢

⎤1⎦⎦⎥

×⎡

⎣⎢

⎤

⎦⎥JerkMax s

12min

a

t

j=0

a

t

j=0

t1


3Extended position outputDescription of Functions

3.4 Extended position outputFor electronically synchronized axes (e.g. for phase-synchronous operation, eGEAR,electronic cam) it can be useful to work with a higher position resolution. The higherposition resolution has a positive effect on the speed quality of the motor. The variable"PositionExtFactor" can be used to specify a factor for extending the internal position ofthe virtual encoder:

3.5 Control via Data Distribution Buffer (DDB)The user interface for the Virtual Encoder technology function is implemented using theconnected data memory Data Distribution Buffer (DDB). The DDB consists of 4096 in-dices with a data width of 32 bit and is used as a parameter interface.

Each technology function using the DDB as user interface has the parameter "Start ad-dress". Starting with this parameter, the data structure of the corresponding technologyfunction is stored in the DDB.

In addition, the function is activated or deactivated with this parameter:

• Start address = 0

Technology function deactivated.

• Start address ≠ 0

This value determines the start address of the first parameter in the DDB (1...4095)and activates the "Virtual Encoder" technology function.

Write and read access to the DDB is via indexed access with 32 main indexes and 128subindexes.

PositionExtended PositionExtFactor ernal position= × ( )int

Main index Subindex

1 2 3 ... 128

20200 DDB(0) DDB(1) DDB(2) ... DDB(127)

20201 DDB(128) DDB(129) DDB(130) ... DDB(255)

20202 DDB(256) DDB(257) DDB(258) ... DDB(383)

... ... ... ... ... ...

20231 DDB(3968) DDB(3969) DDB(3970) ... DDB(4095)

Please note for read and write access to the DDB that all setpoint and actual values inthe DDB are interpreted by MOVIAXIS® using the resolution of the system units. Userunits, if defined, are not considered here.

Resolution of system units:

· Position [65536 inc / motor revolution]

· Speed n [0.0001 1/min]

· Acceleration / Deceleration [0.01 1/(min × s)]

· Jerk [1/(min × s2)]


3 Type and version ID of a data structure in the DDBDescription of Functions

3.6 Type and version ID of a data structure in the DDBEach data structure in the DDB is clearly identified by a type and version ID and thespecified structure length:

Length: Specifies the length of the data structure

Type_Version: Minor Version: Identification of additional functions

Major Version: Identification of the functionality

Type: Type of data structure

Type 200: Data structure for FCB17 eGEAR

Type 300: Data structure for physical encoder

Type 400: Data structure for virtual encoder

Type 800: Data structure for position setpoint generator


4Type and version ID of a data structure in the DDBParameter Description

4 Parameter Description

Category No. Symbolic name Meaning/function Access

0 Length Length of the virtual encoder block: 38 variables R

Manage-ment

1 Type_Version Bit 0 ... 7 : Minor VersionBit 8 ... 15 : Major VersionBit 16 ... 31 : Type: 400 (400 = virtual encoder)

Mode 2 VEncoderMode VEncoderMode is used to set the operating mode of the virtual encoder (for more information on operating modes, refer to sec. 5). Write a value between 1 and 10 to select one of the following operating modes:1. = Absolute2. = Relative3. = Modulo Absolute Positive4. = Modulo Relative Positive5. = Modulo Absolute Negative6. = Modulo Relative Negative7. = Modulo Absolute Short8. = Modulo Relative Short9. = Continuous Circular10. = Continuous Modulo

W

Control 3 VEncModeControl • Bit 0 SetState0 – 1 edge initializes the position and velocity of the virtual encoder with the values of "PositionIni" and "VelocityIni".

• Bit 1 UseFeedEnable= 0 : Feedforward enable is not used= 1 : Feedforward enable is used

• Bit 2 FeedEnableUse "FeedEnable" to activate or deactivate the feedforward enable. The "FeedEnable" variable only has an effect if "Use-FeedEnable" = 1. If "UseFeedEnable" = 0, feedforward is always enabled= 0 : no feedforward enable, i.e. the virtual encoder is not operating= 1 : Feedforward enable, the virtual encoder operates with the set values for v and a

• Bit 3 UseStrobe= 0 : The target position is transferred without 0 – 1 edge at "VEn-coderModeControl" / bit 4 (strobe)= 1 : The target position is transferred only with an 0 – 1 edge at "VEncoderModeControl" / bit 4 (strobe)

• Bit 4 Strobe0-1 edge for transferring the target position.

R/W

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4 Type and version ID of a data structure in the DDBParameter Description

Status 4 VEncStatus In bits 0 - 4, the setting of "VEncoderModeControl" is reflected.

• Bit 0 SetStatesee also VEncModeControl / bit 0

• Bit 1 UseFeedEnablesee also VEncModeControl / bit1

• Bit 2 FeedEnablesee also VEncModeControl / bit 2

• Bit 3 UseStrobesee also VEncModeControl / bit 3

• Bit 4 Strobesee also VEncModeControl / bit 4

• Bit 8 TargetReached= 0 : Target position not reached yet= 1 : Target position reached

R


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4Type and version ID of a data structure in the DDBParameter Description

Value

5 PositionSetpointTarget position for all modes of the virtual encoder, except for "Continu-ous"Resolution: 65536 inc / motor revolution

W

6 VelocitySetpoint Setpoint speed; resolution: [0.0001 1/min];e.g. -1000.0000 1/min ..... 1000.0000 1/min

7 PositionModulo Current modulo position of the virtual encoder R

8 PositionExtendedThe current position of the virtual encoder multiplied with "PositionExt-Factor" "PositionExtended" = "PositionExtFactor" × "Position"

R

9 Position Actual position of the virtual encoderResolution: 65536 inc / motor revolution

R

10 VelocityCurrent velocity of the virtual encoderResolution [0.0001 1/min]; e.g.: -1000.0000 1/min ..... 1000.0000 1/min

R

11 AccelerationCurrent acceleration of the virtual encoder ; Resolution [0.01 1/min × s]; e.g.: -100000.00 1/min × s ..... 100000.00 1/min × s

R

12 VelocityMaxPos

Maximum positive positioning velocity of the virtual encoder; Resolution [0.0001 1/min];Input ≥ 0Ineffective in the "endless" operating modes

W

13 VelocityMaxNeg

Maximum negative positioning velocity of the virtual encoder; Resolution [0.0001 1/min];Input ≥ 0Ineffective in the "endless" operating modes

W

14 AccelerationMaxMaximum acceleration of the virtual encoder Resolution [0.01 1/min × s]Input > 0

W

15 DecelerationMaxMaximum deceleration of the virtual encoder Resolution [0.01 1/min × s]Input > 0

W

16 JerkMax Maximum jerk of the virtual encoder Resolution [1/(min × s²)]

W

17 PositionIni Initialization value that is written to the current position ("Position") when there is a 0 - 1 edge at "VEncoderModeControl" / bit 0. W

18 VelocityIni Initialization value that is written to the current velocity ("Velocity") with "VEncoderModeControl" / bit 0. W

19 PositionExtFactorMultiplier for the extended current position of the virtual encoder"PositionExtended" = "PositionExtFactor" × "Position"Value range: 1 ... 1000000

W

20 ModuloMax Maximum modulo valueValue range: -1 000 000 000 .... 1 000 000 000

W

21 ModuloMin Minimum modulo valueValue range: -1 000 000 000 .... 1 000 000 000

W

22 ... Reserved ---

... Reserved ---

... 37 Reserved ---


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5 "Absolute" positioning modeOperating Modes

5 Operating Modes5.1 "Absolute" positioning mode

In this operating mode, absolute positioning is enabled if a suitable target position isspecified. When a new target position specification is detected and the feedforward isenabled, the "PositionSetpoint" value is read and transferred to "DestinationPosition" asthe new target.

Example: The actual position is 2 000 000 000 inc and a target position of-2 000 000 000 inc is specified.

The profile generator now runs from 2 000 000 000 inc via 2147483647 inc to-2 000 000 000.

5.2 "Relative" positioning modeWhen a new relative target position specification is detected and feedforward is en-abled, the "PositionSetpoint" value is added to "DestinationPositionOld" and the resultis written to "DestinationPosition":

The memory of the last relative target position "Position Old" is then overwritten with thenew relative target position "PositionSetpoint".

In this operating mode, endless positioning is possible.

Example:

Actual position = 2 000 000 000

Relative target position = 200 000 000

Target position = 2 000 000 000 + 200 000 000 - 232 = -2094967296

2147483647

-2147483648

Actual position

Target positionCounte

r valu

e

23

2

31=2

31=2 -1

Axis position

DestinationPosition PositionSetpo DestinationPositionOl= +int dd

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5"Modulo absolute positive" positioning modeOperating Modes

5.3 "Modulo absolute positive" positioning modeWhen a new absolute modulo target position specification is detected and feedforwardis enabled, the "PositionSetpoint" value is read. The value of "PositionOld" is then sub-tracted from "PositionSetpoint".

If this difference is negative, "ModuloValue" (ModuloValue = -ModuloMax - ModuloMin)is added to obtain a positive positioning distance. This value is then added to "Destina-tionPositionOld". The sum of this is written to the variable "DestinationPosition".

If the absolute modulo target position specification "PositionSetpoint" is smaller than"ModuloMin" or larger than "ModuloMax", error 38 is triggered.

In this operating mode, the virtual encoder can only count in the positive direction.

Example: If the virtual encoder is in position 1000 and receives the target specification0, it will travel via "ModuloMax -1" and "ModuloMin" to 0.

5.4 "Modulo absolute positive" positioning modeWhen a new modulo target position specification is detected and feedforward is en-abled, the "PositionSetpoint" value is added to the "DestinationPositionOld" value andthe result is written to the "DestinationPosition" variable.

The memory of the last relative modulo target position "PositionOld" is then overwrittenwith the new relative modulo target position "PositionSetpoint".

If the relative modulo target position specification "PositionSetpoint" becomes negative,error 38 is triggered. It is permitted to specify relative modulo target position that exceedthe value of "ModuloMax".

ModuloMax-1

ModuloMin

Co

un

ter

va

lue

232

Axis position

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5 "Modulo absolute negative" positioning modeOperating Modes

5.5 "Modulo absolute negative" positioning modeWhen a new modulo target position specification is detected and feedforward is en-abled, the "PositionSetpoint" value is read. The value of "PositionOld" is then subtractedfrom "PositionSetpoint".

If the difference is positive, the value is subtracted from "ModuloValue" (ModuloValue =ModuloMax - ModuloMin) to obtain a negative positioning distance. To this value, thevalue of "DestinationPositionOld" is added. The sum of this is written to "DestinationPo-sition".

The memory of the last absolute modulo target position "PositionOld" is then overwrittenwith the new absolute modulo target position "PositionSetpoint".


In this operating mode, the position profile generator of the virtual encoder only operatesin the negative direction. If, for example, the position profile generator stands at "-1000"and receives the value"0" as target, it will travel in the negative direction via "ModuloMin"and "ModuloMax" to "0".

5.6 "Modulo relative negative" positioning modeWhen a new relative modulo position specification is detected and feedforward is en-abled, the "PositionSetpoint" value is added to the "DestinationPositionOld" value andthe result is written to the "DestinationPosition" variable.


If the relative modulo target position specification "PositionSetpoint" is positive, error 38is triggered.

ModuloMax-1

ModuloMin

Co

un

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va

lue

232

Axis position

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5"Modulo absolute short" positioning modeOperating Modes

5.7 "Modulo absolute short" positioning modeWhen a new absolute modulo target position specification is detected and feedforwardis enabled, the "PositionSetpoint" value is read. The value of "PositionOld" is then sub-tracted from "PositionSetpoint". Then, an alternative value "Xa" is calculated for the dif-ference "X".

If the value of "X" is negative, the value of "ModuloValue" (ModuloValue = ModuloMax- ModuloMin) is added to obtain a positive alternative positioning distance "Xa". Now,the absolute values of "X" and "Xa" are compared and the value with the smaller abso-lute value is chosen.

To this value, the value of "DestinationPositionOld" is added. The sum is written to "Des-tinationPosition" and transferred to the position profile generator. The memory of thelast absolute modulo target position "PositionOld" is then overwritten with the new ab-solute modulo target position "PositionSetpoint".


In this operating mode, the position profile generator of the virtual encoder can operatein both positive and negative direction. This enables positioning in both directions.

Example: The profile generator stands at "ModuloMax -5" and "ModuloMin +5" is spec-ified as a target. Then the position profile generator travels via "ModuloMax -1" and"ModuloMin" to "ModuloMin +5".

5.8 "Modulo relative short" positioning modeWhen a new relative modulo target position specification is detected and feedforward isenabled, the "PositionSetpoint" value is added to the "DestinationPositionOld" value andthe result is written to the "DestinationPosition" variable.


In this operating mode, both positive and negative modulo target positions can be spec-ified.

The modulo target position specifications can also have the following values:

• Value > ModuloMax,

• Value < ModuloMin.

ModuloMax-1

Co

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va

lue

232

Axis position

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5 Endless operating modes "Continuous Circular / Continuous Modulo"Operating Modes

5.9 Endless operating modes "Continuous Circular / Continuous Modulo"In the "Continuous Mode", the target position of the internal profile generator is alwaysmoved further in the positive or negative direction depending on the sign of the velocitysetpoint value ("VelocitySetpoint"), so that it is never reached.

The maximum and the minimum positioning velocity of the internal profile generator isset to the value of "VelocitySetpoint". For acceleration, the value of "AccelerationMax"is effective, for deceleration, the value of "DecelerationMax" is used. The target positionof the internal profile generator is moved very far in the positive or negative direction de-pending on the sign of "VelocitySetpoint". This ensures that, when switching from posi-tioning mode to endless operation, no position or velocity step change occurs.

The jerk limitation function calculates the appropriate limitation from the values of"AccelerationMax", "DecelerationMax" and "JerkMax". If the value of "JerkMax" = 0, thejerk limitation is deactivated. Positioning is performed with linear velocity ramps.

"Continuous Circular" operating modeIn the "Continuous Circular" operating mode, "SetState" can be used to perform an ini-tialization. For this purpose, the value of "Position" is set once to the value of"PositionIni".

"Continuous Modulo" operating modeIf an initialization with "SetState" is performed in the "Continuous Modulo" operatingmode, "Position" and "PositionModulo" are set once to the value of "PositionIni".

Changing the operating modeWhen changing from the operating mode

• "Continuous Circular"

or

• "Continuous Modulo"

to the operating mode

• "ModuloAbsolutePositive" positioning

or

• "ModuloAbsoluteNegative" positioning

or

• "ModuloAbsoluteShort" positioning

the target position of the internal profile generator is calculated. The calculation is basedon the current velocity of the virtual encoder and the value of the "PositionSetpoint"parameter and enables travelling to the target position.

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5Endless operating modes "Continuous Circular / Continuous Modulo"Operating Modes

If the direction of rotation is correct when the operating mode is changed, non-permittedrepositioning is prevented. If the drive would stop beyond the "PositionSetpoint" posi-tion, an additional modulo cycle is added. However, this will only work if the current ve-locity is positive when changing to "ModuloAbsolutePositive" or negative when changingto "ModuloAbsoluteNegative".

For all modulo operating modes applies that "ModuloMax" cannot be travelled to."ModuloMin", however, can be reached.

This means: "ModuloValue" = "ModuloMax" - "ModuloMin".Example: If "ModuloValue" is to be "360 000", "ModuloMin" can be set to "0" and"ModuloMax" to "360 000". The modulo position is then within the range of "0 - 359 999".

If a new target position is specified when the operating mode is changed, this positionis immediately travelled to.

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6 Problem descriptionError Messages

6 Error Messages6.1 Problem description

Errors occurring during the operation of the virtual encoder are shown as "Error 38: Errorin one technology function" (main error). The sub error code offers more information onthe cause of the error.

Main error

Sub error code

Problem Response Remedy

38

100 Data structure exceeds DDB limit. Display only Check structure in the DDB

101 Incorrect virtual encoder block type Display only Check structure in the DDB

102 Virtual encoder block version incompatible with firmware Display only Update firmware

103 Ramp parameters are invalid

Virtual encoder stops;Velocity = 0Acceleration = 0

Check values for "VEncAccelerationMax" and "VEncDecelerationMax", correct if necessary

104 --- --- ---

105 ModuloMin ≥ ModuloMax


Check values for "ModuloMin" and "Mod-uloMax": Reduce value for "ModuloMin" or increase value for "ModuloMax", if nec-essary

106 Target specification not within permitted range


Check value for "PositionSetpoint"

107 Value of "PositionIni" not within permitted range


Check value for "PositionIni"

108 Operating mode not permitted


Check value for "VEncoderMode"

109 The virtual encoder velocity is large enough to exceed "ModuloValue"/2 in 500µs Display onlyCheck values for "ModuloMin" and "Mod-uloMax".

110 "VelocityMaxPos", "VelocityMaxNeg" or "Jerk-Max" is smaller than 0


Check values for "VelocityMaxPos", "VelocityMaxNeg" and "JerkMax"

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1 Notes1.1 Explanation of symbols1.2 Safety notes1.2.1 Preliminary information1.2.2 General safety notes

2 System Description2.1 General information

3 Description of Functions3.1 Basic functions of the virtual encoder3.2 Block circuit diagram of the virtual encoder3.3 Jerk limitation3.4 Extended position output3.5 Control via Data Distribution Buffer (DDB)3.6 Type and version ID of a data structure in the DDB

4 Parameter Description5 Operating Modes5.1 "Absolute" positioning mode5.2 "Relative" positioning mode5.3 "Modulo absolute positive" positioning mode5.4 "Modulo absolute positive" positioning mode5.5 "Modulo absolute negative" positioning mode5.6 "Modulo relative negative" positioning mode5.7 "Modulo absolute short" positioning mode5.8 "Modulo relative short" positioning mode5.9 Endless operating modes "Continuous Circular / Continuous Modulo"

6 Error Messages6.1 Problem description

services - tecnica industriale · 2019. 7. 2. · 3.5 control via data distribution buffer (ddb)...

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