Configuration constants

Configuration constants

(Original Document)

Module level constants

%KW common to the module:

Object	Symbol	Meaning
%KWr.m.0.0	EVT_CONF EVT_ENABLE EVT_NUM	Event configuration Byte 0: masking the event 16#FF no event task 16#00 event task priority 0 16#01 event task priority 1 Byte 1: event task number 16#FF no event task
%KWr.m.0.1	reserved
%KWr.m.0.2	INPUT_CONF INPUT_MOD LINE_FILT DIRECTION_INV MULT4_RESOL LINE_CTRL FORMAT_MEAS_0 FORMAT_MEAS_1 PRESET_MOD_0 PRESET_MOD_1 CAPTS_MOD_0 CAPTS_MOD_1 CAPTS_MOD_2	Configuration of the’axis bit 0, bit 1: Type of encoder = 16#00 : Incremental encoder = 16#01 : SSI link absolute encoder = 16#02 : parallel absolute encoder and TSX ABE7CPA11 bit 2: reserved bit 3 =1 filtering of inputs (disconnection frequency125KHz) bit 4 =1 the axis is rotating in the opposite direction to the encoder bit 5: reserved bit 6 =1 multiplication by 4 of the encoder resolution bit 7 =1 encoder line check bit 8, bit 9 measurement type =16#00 Type 1 (angle) =16#01 Type 2 (angle + cycles) =16#02 Type 3 (linear) bit 10, bit 11 recalibration type =16#00 no recalibration =16#01 recalibration on rising edge of Irec =16#02 recalibration on rising edge of Irec recalibration on falling edge of Irec in REV =16#03 recalibration on rising edge of Z FORWARD and Irec=1 recalibration on falling edge of Z in REV and Irec =1 bit 12, bit 13, bit 14 capture types capture 0: on the rising edge Icapt0 in every case capture 1: =16#00 on falling edge Icapt0 =16#01 on rising edge Icapt1 =16#02 number of points per cycle =16#03 angle value before recalibration =16#04 angle value on rising edge of Z bit 15: reserved
%KWr.m.0.3		reserved
%KWr.m.0.4	ABS_ENC_CONF_0 GRAY WITH_PAR EVEN_PAR WITH_ERR ERROR_LEV	SSI absolute encoder configuration Choice of binary / Gray code bit 0 =0 binary bit 0 =1 Gray bit 1 =1 parity bit present in the frame bit 2 =1 even parity bit 3, bit 4 reserved bit 5 =1 error bit present in the frame bit 6 = 1 logical level of error bit (default for logic 1 ) bit 7 to bit 15 reserved
%KWr.m.0.5	ABS_ENC_ERROR_RANGE	rank of error bit in the status bits value: 16#00, 16#01, 16#02, 16#03, or 16#04
%KWr.m.0.6	ABS_ENC_READ_PERIOD	encoder read period: 16#00 = 50 microseconds 16#01 = 100 microseconds 16#02 = 200 microseconds
%KWr.m.0.7	ABS_ENC_EXTRA_NB BEGIN_NB STAT_NB	number of additional bits supplied by the encoder: Byte 0: number of header bits length of header field before MSB = 4 max Byte 1: number of status bits length of status field before LSB = 4 max
%KWr.m.0.8	ABS_ENC_DATA_NB	Total number of encoder bits length of data field = 25 max
%KWr.m.0.9 to %KWr.m.0.14		reserved
%KWr.m.0.15	CONTROLES_CONF C0_LOCK C0_LOCK PCAM_STAND_ALONE PCAM_IGN_SC OUTS_MAINT SUPPLY_AUX_MSK SUPPLY_ENC_MSK SUPPLY_C0C1_MSK REARM_MOD	Fault configuration bit 0: locking connector 0 bit 0 =1 no power supply monitoring on connector 0 bit 1: locking connector 0 bit 1 =1 no power supply monitoring on connector 1 bit 2 to bit 7 reserved bit 8: Option on switching to PLC communication fault: bit 8 = 0 the cam processor goes to STOP bit 8 = 1 cam processor remains in RUN bit 9: Option to switch to short-circuit fault bit 9 = 0 the cam processor goes to STOP bit 9 = 1 cam processor remains in RUN bit 10: Option on switching to PLC communication fault: bit 10 =0 outputs are set to 0V bit 10 =1 direct commands on maintained outputs bit 11: Option on auxiliary input power supply fault bit 11 =0 sets bit: %Ir.m.0.ERR bit 11 =1 no effect on %Ir.m.0.ERR bit 12: Option on encoder power supply fault bit 12 =0 sets bit: %Ir.m.0.ERR bit 12 =1 no effect on %Ir.m.0.ERR bit 13: Option on CNX0 and CNX1 connectors power supply fault bit 13 =0 sets bit: %Ir.m.0.ERR bit 13 =1 no effect on %Ir.m.0.ERR bit 14: Reactivation of output option bit 14 =0 reactivation on explicit command bit 14 =1 reactivation 10 seconds after tripping bit 15: reserved
%KWr.m.0.16	SPEED_FORMAT	expression of speed 16#00 : speed expressed in pts/ms 16#04 : speed expressed in pts/s
%KWr.m.0.17		reserved

Group level constants

%KWr.m

Object	Symbol	Meaning
%KWr.m.c.18	INVERT_OUTi INVERT_OUTi_0 INVERT_OUTi_1 INVERT_OUTi_7	electric level of track outputs of group "i" Inversion of track output i.0: bit 0 = 0 output i.0 = 24V for a logic state 1 bit 0 = 1 output i.0 = 24V for a logic state 0 Inversion of track output i.1: bit 1 = 0 output i.0 = 24V for a logic state 1 bit 1 = 1 output i.0 = 24V for a logic state 0 the same right up to: Inversion of track output i.7: bit 7 = 0 output i.0 = 24V for a logic state 1 bit 7 = 1 output i.0 = 24V for a logic state 0

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Axis

These are all the external elements that control the movements of the machine (reducer, encoder…).

Encoder

Position sensor accepted by the module It can be incremental, SSI absolute or parallel (via Telefast ABE 7CPA11).

Incremental encoder

Pulse generator with 2 signals offset by 90°. These are produced according to the movement of the axis and are counted by the module.

SSI encoder

Synchronous Series Interface link This is the standard connection protocol for absolute encoders that is used by the module.

The transmission frequency is set by the module according to the following configuration parameters:

Number of bits making up the frame,
Reading period (50, 100 or 200 micro seconds).

Filtering

Filtering allows better environmental handling (for difficult environments). It is a filter that limits the bandwidth of counting signals which come from an incremental encoder.

With filtering the permitted frequency (before multiplying by 4) is 125 KHz, as against 250 KHz without filtering.

Cycle

Area in which the action of the outputs can be programmed.

NOTE: A complete cycle of the machine (machine cycle) must be a whole number of cycles.

Recalibration

This is the module function which is used to adjust the axis in relation to the machine zero or to synchronize the axis in relation to the arrival of a part.

Recalibration forces the position reading to a value which is predefined by the "recalibration value" parameter (included in the pulse field of the cycle).

The module allows recalibration to be carried out systematically for each cycle or for only one cycle. This recalibration is always conditioned to the IREC input.

Capture

A module function that is used to sample the position value of the axis on detection of a precise event (input Icapt0 and/or Icapt1). The capture has no impact on the values of the axis nor on the cam processor.

The implementation of this function allows the application to manage the process better, for example: in monitoring the number of pulses sent by the encoder, the size of the parts, the axis slip, the angle of arrival of the parts.

Pulses per cycle

This is the number of pulses delivered by the axis per cycle.

In relation to the encoder resolution, this adjustment parameter must be considered:

after multiplying by 4 for an incremental encoder
after reducing the resolution for an absolute encoder.

Cam

Logic state which switches to 1 when an angular value in the cycle is overshot and which resets to 0 according to the type of cam.

A cam is systematically associated to one and only one track. Several cams can be associated to one track.

Track

This is the logic state which can be applied to the physical output. The maximum number of tracks is 32.