Jetter JetMove 200 Series User Information

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JetMove 2xx

at the NANO System Bus

User Information

Article # 60866113 / Edition 2.03.4 March 2005 / Printed in Germany

JetWeb

Revision 2.03.4

Jetter AG reserves the right to make alterations to its products in the interest of technical progress. These alterations need not to be documented in every single case.

This user information and the information contained herein have been compiled with due diligence. Jetter AG shall not be liable for errors contained herein or for incidental or consequential damage in connection with the furnishing, performance, or use of this material.

The brand names and product names used in this manual are trade marks or registered trade marks of the respective title owner.

2 Jetter AG

JetMove 2xx at the NANO System Bus

How to Contact us:

Jetter AG Gräterstraße 2 D-71642 Ludwigsburg Germany

Phone - Switchboard: (+49) 7141/2550-0 Phone - Sales: (+49) 7141/2550-433 Phone - Technical Hotline: (+49) 7141/2550-444

Telefax: (+49) 7141/2550-425 E-Mail - Sales: sales@jetter.de E-Mail - Technical Hotline: hotline@jetter.de Internet address: http://www.jetter.de

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Significance of this User Information

In any case you encounter difficulties to clearly understand this user information, please contact the manufacturer. We would appreciate any kind of suggestion and contributions on your part and would ask you to inform us or to write us. This will help us to produce manuals that are more user-friendly and to address your wishes and requirements.

Missing or inadequate knowledge of the user information results in the loss of any claim of liability on part of Jetter AG. Therefore, the operating company is recommended to have the instruction of the persons concerned confirmed in writing.

History

Edition Comment

2.03.4 First edition

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JetMove 2xx at the NANO System Bus

Description of Symbols

This sign is to indicate a possible impending danger of serious physical damage or death.

Danger

This sign is to indicate a possible impending danger of light physical damage. This sign is also to warn you of material damage.

Caution

This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings. This symbol also points to conditions, which must be by all means be given heed

Important!

to, in order to guarantee faultless functioning.

Note!

· / -

You will be informed of various possible applications and will receive further useful suggestions. Further, it points to tipps and advice for efficient use of the device and for optimization of the corresponding software, in order to save you extra work.

Enumerations are marked by full stops, strokes or scores.

Operating instructions are marked by this arrow.

Automatically running processes or results to be achieved are marked by this arrow.

Illustration of PC and user interface keys.

This symbol refers to further information (data sheets, literature, etc.) on the subject or product or the like that is being dealt with. Further, this text provides helpful hints for your guidance through the manual.

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JetMove 2xx an NANO-Schnittstelle Inhalt

Table of Contents

1 Introduction 9

1.1 Product Description 9

1.2 System Requirements 9

2 Register Numbering 11

2.1 NANO-B/C/D 11

3 Information on Parameter Values 13

3.1 Decimal Positions 13

3.2 Decimal Positions in Position Values 13

4 Brake 15

5 Axis Setup 17

5.1 Step 1: Motor Settings 17

5.2 Step 2: Settings of the Current Control 20

5.3 Step 3: Axis Definition 21

6 Referencing 23

6.1 Control Mode 24

6.2 Starting the Reference Run 24

6.3 Interrupting the Reference Run 24

6.4 Status Information 24

6.5 Axis Type 25

6.6 Modes of Referencing 25

6.7 Settings of Speed 25

6.8 Speed Reversal 26

6.9 Reference Position 27

6.10 Setting the Specifically Defined Reference Position 28

6.11 Referencing by Means of Zero Pulse ("Zero Mark") Only 29

6.12 Referencing by Means of Reference and Limit Switch 29

6.12.1 Positive direction 29

6.12.2 Negative direction 32

6.13 Referencing by only One Limit Switch 34

6.14 Referencing by Reference Switch Only 35

7 Positioning 37

7.1 Endless Positioning 37

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Inhalt JetWeb

8 Oscilloscope Function 39

9 Register Description 41

9.1 Control Parameters 41

9.2 Diagnose Parameters 50

9.3 Positioning Parameters 56

9.4 Referencing - Parameters 71

9.5 Axis Parameters 77

9.6 Amplifier Parameters 90

9.7 Motor Parameters 95

9.8 Monitoring Parameters 102

9.9 Position Control Parameters 106

9.10 Speed Control Parameters 110

9.11 Current Control Parameters 116

List of Appendices

Appendix A: Recent Revisions 125 Appendix B: List of Abbreviations 127 Appendix C: Register Survey - Numerical Sequence 129 Appendix D: Register Survey - Functional Sequence 141 Appendix E: Index of Figures 153 Appendix F: Index 155

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JetMove 2xx at the NANO System Bus 1.1 Product Description

Table of Contents 1Introduction

This user information describes the functions of the product JetMove 2xx of the operating system version V 2.03.

In this manual, connecting the JetMove 2xx to the system bus of Jetter AG and the operation will be described. Additional information on the contents of this document is given in the instructions for the specific sizes of the JetMove 200 series.

1.1 Product Description

The JetMove 200 series by Jetter offers modern servo amplifers for being applied with synchronized servo motors.

1.2 System Requirements

The JetMove 200 amplifiers can be operated by NANO controllers and by the JX6SB-I submodule. This document is valid as of version 2.03 of JetMove 2xx.

The JetMove 2xx amplifiers can directly be connected to the Jetter system bus. It is still possible to simultaneously operate all non-intelligent JX2-IO and all intelligent JX2 slave expansion modules made by Jetter AG at the system bus. The following table shows the minimum required software versions supporting operation of JetMove 2xx on the Jetter system bus.

Software versions of controllers

and the JX6-SB-I submodule

Control Minimum Software Version

NANO-B, NANO-C, NANO-D no limitation

JX6-SB-I 2.10

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1 Introduction JetWeb

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JetMove 2xx at the NANO System Bus 2.1 NANO-B/C/D

2 Register Numbering

2.1 NANO-B/C/D

The following rules for register numbering apply to the controllers NANO-B, NANOC and NANO-D:

The registers are addressed with the help of five-digit numbers. The first two digits are made up of the slot number of the JetMove 2xx module plus value 10. Below, the pattern of register numbering will be illustrated.

REG 1xzzz

1x zzz

Module Slot

2 .. X

only intelligent modules will be counted.

X = max. permitted amount of intelligent modules to be connected to the CPU (CPU = slot 1)

0 .. 999

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2 Register Numbering JetWeb

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JetMove 2xx at the NANO System Bus 3.1 Decimal Positions

3 Information on Parameter Values

3.1 Decimal Positions

All parameter values that are exchanged between JetMove 2xx and the controller are integer values. Integer values are values without decimal positions. Nevertheless, internal decimal positions, such as position definitions in [°] or [mm]. In order to make this possible, the integer value that is read by, respectively written to, the parameter, will contain 1 to 3 decimal positions. The post-comma positions are noted as the one to three decimal positions of lowest value.

Whether there are decimal positions contained in the parameter value, and how many there are, can be taken from the register description. The SI unit of parameters having been set to an SI unit will be noted together with a decimal multiplier.

Example

Parameter "Current Limitation", register 127, unit [Aeff*100]:

Example value: 325 [Aeff*100]

Value applied internally (scaled to an SI-unit A Value read by the controller = 325 Value written by the controller = 325

If in formulas quoted in this manual a register has been specified as an operand, the value must generally be used the way for which it has been scaled internally. This means that in the example quoted above, the value would be 3.25.

) = 3.25

eff

3.2 Decimal Positions in Position Values

Position values, such as software limit switch position or target position, have been scaled internally to the unit [°] (mechanic degrees) or to the unit [mm]. Which unit is used depends on the settings of the axis type, on register 191 "Axis Type" (linear or rotatory).

Independent of the respective unit, the integer position values that are exchanged between JetMove 2xx and the controller, have got between 1 and 3 decimal positions. How many decimal places are to be used can be defined via register 870 "Decimal positions for position values". The decimal positions should only be defined once, namely during axis setup.

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3 Information on Parameter Values JetWeb

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JetMove 2xx at the NANO System Bus

4 Brake

For the description of connections and electrical data, please refer to the JetMove 2xx operator's manual.

The brake is controlled by means of a relay placed in the amplifier. The following parameters for handling the brake are available:

• Register 540 "Mode of operation 1"

• Register 548 "Delay at closing the motor brake"

• Register 547 "Delay at releasing the motor brake"

• Register 574 "Control word 2"

• Register 575 "Status word 2"

Via register "Mode of operation 1", a choice can be made between automatic and manual operation of the brake.

If the default values are kept, automatic operation will be set. While selecting the mode of operation, the brake will always be controlled at activating and deactivating the amplifier. At switching on, the relay contacts will be closed; at switching off, the relay contacts will be released again.

If there is no brake, automatic mode can be set. This would mean, though, that the relay will always be controlled via the amplifier. Else, you can select the manual mode to prevent the relay from being controlled.

The control state of the brake can be read out of register 575 "Status word 2" in bit 0 at any time.

If manual mode has been selected, the brake can either be controlled via register 574 "Control word 2" by bit 0 (in automatic mode, setting and resetting the bit is of no effect), or it can be controlled via an external switch which connects the 24 V voltage supply to, respectively disconnects it from the brake.

If an external switch has been selected, bit 0 of register 574 "Control word 2" must always be set in order to always keep the relay contacts closed.

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4 Brake JetWeb

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JetMove 2xx at the NANO System Bus 5.1 Step 1: Motor Settings

5 Axis Setup

5.1 Step 1: Motor Settings

Setpoint values Actual values

Operating mode 1: Bit 0 = Motor brake operating mode R540

Control word 2: Bit 0 = Motor brake control R574

Delay at closing the motor brake [ms*100] R548

Delay at releasing the motor brake [ms*100] R547

Operating mode 1: Bit 4 = Test of the motor cable R540

Motor temperature [°C] R562

Position of the motor shaft [°*100] R565

Status word 2: Bit 0 = Motor brake position R575

Encoder resolution R117

Voltage constant [V*min/1000] R505

Torque constant Kt [Nm/ A*100] R616

Pole pair number R123

Encoder type R577

Fig. 1: Motor parameters

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5 Axis Setup JetWeb

1 Defining the motor parameters for motors from other manufacturers

This only applies if no Jetter motor, but motors from other manufacturers are used

The default commutation offset value is 0. For a motor made by another company it must possibly be adjusted. If required, an appropriate value must be set by Jetter AG.

Possibly, the pole pair number must be adjusted as well. The default value is 3.

Example:

One Jetter motor has got 6 poles which are energized in pairs; this means there are 3 pole pairs. For further information, please refer to the register description of the motor parameters as of chapter 9.7 "Motor Parameters", page 95.

2 Defining the brake parameters

Only for motors equipped with a brake

Selecting the operating mode of the brake via operating mode 1. Via bit 0 of operating mode 1, the operating mode of the brake can be set as follows:

Bit 0: 0 = Manual operation of the brake by the user

(via register 574 "Control word 2")

1 = Automatic operation of the brake by the amplifier

(The brake will automatically be released, respectively closed, when the amplifier is released, respectively closed)

The automatic mode is set by default.

Via control word 2, bit 0, the brake can be controlled the same way as in manual mode:

Bit 0: 0 = Lock the brake

1 = Release the brake

In order to control the brake by control word 2, manual operation must first be set by means of operating mode 1.

Status word 2, bit 0, will indicate the status of the brake as follows:

Bit 0: 0 = Brake is closed

1 = Brake has been released

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JetMove 2xx at the NANO System Bus 5.1 Step 1: Motor Settings

Release and lock times of various brakes differ dependent on the respective motor manufacturers and motor types. For this reason, it might be necessary to adjust the delay times for releasing and closing the brake to your requirements. For this, please refer to delay at releasing the motor brake and delay at locking the motor brake as of page 97.

3 Setting the motor cable monitoring parameters

Setting the motor cable monitoring via operating mode 1. Via bit 4 of operating mode 1, motor cable monitoring can be set as follows:

Bit 4: 0 = Motor cable monitoring is deactivated by default

1 = Motor cable monitoring is activated

Monitoring is activated by default If motor monitoring is active, a motor cable test will be carried out at switching on the axis after hardware reset. If the motor cable is defect, error F03 will be displayed. Possible error causes can be breakage of, or ground fault on the motor cable.

If long motor cables are used, error F03 can be recognized through the monitoring function, although none of the listed error causes applies. Only in this case, deactivating the monitoring function is useful.

4 Setting the voltage constant

If highly dynamic drives are used, the parameter voltage constant should be adjusted. For this, please refer to the motor data sheet or the rating plate of the motor. For further information, please refer to the register description of the parameters as of page 96.

5 Setting the torque constant

The torque constant is necessary for displaying a valid actual torque in register 621 "Actual torque". If the torque constant equals zero, the actual torque equals zero as well.

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5 Axis Setup JetWeb

5.2 Step 2: Settings of the Current Control

Current Limitation [Aeff*100] R127

Setpoint values

Continuous rated current [A

*100]

eff

R618

Overload factor R619

Current control Kp R503

Current Setpoint [Aeff*100] R125

Kp R503

Actual values

Actual current [A

*100]

eff

R561

Actual current [%] R620

Actual torque [Nm*1000] R621

Tn [ms*100] R504

Current control Tn R504

Fig. 2: Current control

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Max. output current [A

*100] R502

eff

JetMove 2xx at the NANO System Bus 5.3 Step 3: Axis Definition

1 Setting the maximum output current

The maximum output current, stored in register 502, is set by input of the continuous rated current, register 618 (continuous rated current put together of the motor parameters, as shown on the rate plate, for example), and the overload factor, register 619. The maximum output current can range between 200 % and 50 % of the continuous rated current of the amplifier as stored in register 501. The maximum output current is the product of continuous rated current and the overload factor.

Note!

At value input, please mind the value standardization of individual registers, see register description.

2 Setting the controller parameters Kp and T

The proportional amplification Kp , register 503, and the integral-action time Tn , register 504, of the current control must be calculated and input. Formulas for parameter calculation can be found in the register description.

5.3 Step 3: Axis Definition

Setting the axis type

First, the axis type must be set via register 191 "Axis type".

Setting the motion mode

In the motion mode, the definition is made, whether the axis is a standard or a modulo axis. The mode is set via register 192 "Modulo axis".

Software limit switch

The software limit switch monitoring is NOT active by default. If software limit switch monitoring is to be carried out, bit 6 of register 540 "Operating mode 1" must be set.

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5 Axis Setup JetWeb

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JetMove 2xx at the NANO System Bus

6 Referencing

Attention!

The axis could crash into the mechanical limits!

In the following cases, a limit switch will NOT be considered:

• During reference run "With zero pulse only"

• If the axis is positioned on the reference switch

• From the moment of starting the search for the reference position

(reference search) to finding it.

In case of reverse polarity of the hardware limit switches, the limit switch being positioned in the direction of the reference run will be ignored; this will cause the axis to crash into the mechanical limits.

Before referencing is started for commissioning, proper functioning of the hardware limit switches and of the reference switch must be ensured. For this, please mind correct polarity and assignment to either negative or positive limit switch. The polarity is defined via register 510 "Digital inputs: Input polarity".

Definitions

Zero pulse Zero-crossing of the resolver, reset pulse of the

incremental encoder

"Reference switch active" flank

"Reference switch deactived" flank

Switch search The first part of referencing: Searching for the

Searching for the reference position

Key to the following illustrations:

N = Negative limit

switch

P = Positive limit switch V

The reference switch signal will change from logical zero to logical one

The reference switch signal will change from logical one to logical zero

reference switch, respectively for a limit switch

The second part of referencing, after having found the reference or limit switch: Searching for the reference position, respectively for the zero pulse

ref

= Speed of switch search

= Speed of search for

reference position

R = Reference switch ZM = Zero pulse ("zero mark")

SP = Starting position NP = Normal position

s = Distance NP

distance

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= Normal position: distance

6 Referencing JetWeb

6.1 Control Mode

For referencing, the position control mode must be set. This is done via register 572 "JetMove set operating mode".

6.2 Starting the Reference Run

A reference run is started by means of command 9:

...

REGISTERLOAD (rCommando, zkRefSearch)

WHEN BIT_CLEAR (rStatus, zbBusy) THEN

...

Attention:

During the reference run, command 9 "Search for reference" cannot be given again.

If the parameters for referencing are changed while a reference run is in process, they will at first have no effect on this reference run. As of the next reference run, the alterations will be effective.

6.3 Interrupting the Reference Run

The user can interrupt a reference run by means of the following commands:

• Command 5

• Command 6

• Command 7

6.4 Status Information

If bit 0 "RefOK" of register 100 "Status" is set at starting the reference run, it will be reset. Bit 1 "Stopped" of register 100 will also be reset.

If referencing has been completed and correct, both bits will be set. If referencing has been stopped due to an error or by the user (by means of command 6, for example), only bit 1 "Stopped" will be set, as soon as the axis has come to a standstill again.

Those two bits can be used for continuing the PLC program after starting the reference run.

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JetMove 2xx at the NANO System Bus 6.5 Axis Type

Error Messages

Referencing errors are output in register 170 "Positioning errors". They will not be displayed at the amplifier by means of F and error number. If a referencing error occurs, bit 0 "RefOK" of register 100 "Status" will not be set. Bit 1 "Stopped" of register 100 will be set in case of an error, as soon as the axis has come to a standstill.

6.5 Axis Type

Referencing is possible without any restrictions both with settings for a linear axis and with settings for a rotatory axis via register 191 "Axis type". If a modulo axis has been set in register 192 "Modulo axis", there are no restrictions for referencing either.

6.6 Modes of Referencing

There are various modes of referencing to choose from:

• Referencing by means of zero pulse only

• Referencing by means of reference and limit switch

• Referencing by means of limit switch (there is no reference switch, for example)

• Referencing by reference switch only

The mode of referencing is selected by means of the switch type parameter of register 161 "Switch type". The modes of referencing will be explained below.

6.7 Settings of Speed

Two different speed values can be set for referencing:

• Speed of the reference switch search set in register 162 "Speed of switch search".

• Speed of searching for the reference position set in register 166 "Speed of reference search".

The speed setting for switch search will also be used for driving back to the normal position, see "Setting the Specific Reference Position" below.

Referencing will be started by the speed of switch search. When the switch has been found, the speed of the reference point search will be set for driving to the reference position.

Normally, the speed of the reference point search is lower than the speed of the switch search. These values have also been set by default.

For neither of the two speed settings, there is a specific limitation. Normally, though, referencing is done in low speed.

The speed values will be set once before referencing; they cannot be changed during referencing.

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6 Referencing JetWeb

Fig.: 3 shows a typical motions sequence of various speeds:

- V

ref

Fig. 3: Referencing by various speeds

6.8 Speed Reversal

Besides setting the direction of referencing via register 160 "Direction of referencing", the rotational direction of the axis can be set via register 540 "Operating mode 1", bit 5 "Change of rotation". This value applies to all axis motions, not only to referencing.

Below, referencing for setting a positive rotatory direction will be illustrated. If a negative direction of rotation has been set, the respective graphic referring to positive direction of rotation must be used for illustrating features such as the motion sequence at referencing in negative direction.

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JetMove 2xx at the NANO System Bus 6.9 Reference Position

6.9 Reference Position

The reference position can either be the position of the zero pulse ("zero mark") or the position of the switch flank, if referencing is being carried out without zero pulse.

Zero pulse ("zero mark") or switch flank

In register 165 "Reference mark" it is defined, whether the reference point is to be the position of the zero pulse ("zero mark") or the position of the switch flank.

We recommend setting the zero pulse ("zero mark") as home position ("reference mark"). Referring to the zero pulse ("zero mark") offers a much greater repeat accuracy.

Fig.: 4will illustrate referencing with zero pulse ("zero mark") for the switch types "reference and limit switch" and "limit switch only":

- V

ref

Fig. 4: Referencing with zero pulse ("zero mark")

Fig.: 5will illustrate referencing without zero pulse ("zero mark") for the switch types "reference and limit switch" and "limit switch only":

ref

- V

ref

Fig. 5: Referencing without zero pulse ("zero mark")

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6 Referencing JetWeb

6.10 Setting the Specifically Defined Reference Position

There is the possibility of driving to another position in the travel range immediately after finding the reference position (register 168 "Normal position - distance"). This position is called normal position.

For "normal position", any position value can be chosen (register 169 "Normal position - position").

In the following illustration Fig.: 6, the motion sequence of the axis when driving towards normal position will be shown (NP = normal position, NP distance = normal position - distance):

ref

- V

ref

Fig. 6: Driving towards "normal position"

The speed by which the axis is driving towards normal position is the speed of the switch search; it is set in register 162 "Speed switch search".

Via register 168 "Normal position - distance", the distance to be covered from reference to normal position will be input. A negative value causes the axis to move in negative direction, seen from the reference position.

Via register 169 "Normal position - position", the position will be input that is to be set as virtual position after having reached "normal position". The virtual position is set at the reference position, if there is no "normal position" to be driven to; this means that register 168 = 0.

NP distance

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JetMove 2xx at the NANO System Bus 6.11 Referencing by Means of Zero Pulse ("Zero

6.11 Referencing by Means of Zero Pulse ("Zero Mark") Only

For this reference run, the axis will start in the set referencing direction by the set reference search speed. When the zero pulse ("zero mark") has been recognized, the axis will return towards the position of the zero pulse ("zero mark").

During this travel, the motor will make one rotation as a maximum. The setting of the reference position in register 1x165 "Reference mark" does not take effect here.

Please mind:

During this reference run, limit switches will not be monitored.

ref

- V

ref

Fig. 7: Referencing only by means of zero pulse ("zero mark") in positive direction; the rotatory direction is positive; the starting position is on the negative side of the zero pulse.

6.12 Referencing by Means of Reference and Limit Switch

Prerequisites for this reference run are a reference switch, as well as the positive and negative limit switch.

The reference run with its respective starting positions and directions will be explained below.

6.12.1 Positive direction

Die Achse wird durch die automatische Referenzfahrt immer so bewegt, dass die Referenzpunktsuche immer von der negativen Seite des Referenzschalters durchgeführt wird.

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6 Referencing JetWeb

Starting from the positive side of the reference switch

– The axis will start by "Speed switch search" in positive direction.

– When the positive limit switch has been recognized, the axis will reverse and

continue in negative direction by "Speed switch search".

– The axis will cross the reference switch, until the "Reference switch deactivated"

flank has been recognized.

– There, the axis will reverse again to drive in positive direction by "Speed reference

search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

- V

ref

Fig. 8: Referencing by reference and limit switch in positive direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the positive side of the reference switch.

Starting from the negative side of the reference switch

– The axis will start in positive direction by "Speed switch search".

– When the reference switch active flank has been recognized, the axis will drive

back in negative direction by "Speed switch search", until it reaches the position, where the reference switch active flank has been recognized.

– There, the axis will reverse again to drive in positive direction by "Speed reference

search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

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JetMove 2xx at the NANO System Bus 6.12 Referencing by Means of Reference and Limit

- V

ref

Fig. 9: Referencing by reference and limit switch in positive direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the negative side of the reference switch.

Starting on the reference switch

– The axis will start in negative direction by "Speed switch search".

– When the reference switch has become deactivated, the axis will reverse and

continue in positive direction by "Speed reference search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

- V

ref

Fig. 10: Referencing by reference and limit switch in positive direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the reference switch.

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6 Referencing JetWeb

6.12.2 Negative direction

During automatic referencing, the axis will always be moved so that reference search is being carried out from the positive side of the reference switch.

Starting from the positive side of the reference switch

– The axis will start in negative direction by "Speed switch search".

– When the reference switch active flank has been recognized, the axis will drive

back in positive direction by "Speed switch search", until it reaches the position, where the "Reference switch active" flank has been recognized.

– There, the axis will reverse again to drive in negative direction by "Speed

reference search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

ref

- V

ref

Fig. 11: Referencing by reference and limit switch in negative direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the positive side of the reference switch.

Starting from the negative side of the reference switch

– The axis will start in negative direction by "Speed switch search".

– When the negative limit switch has been recognized, the axis will reverse and

continue in positive direction by "Speed switch search".

– The axis will cross the reference switch, until the "Reference switch deactivated"

flank has been recognized.

– There, the axis will reverse again to drive in negative direction by "Speed

reference search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

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JetMove 2xx at the NANO System Bus 6.12 Referencing by Means of Reference and Limit

- V

ref

Fig. 12: Referencing by reference and limit switch in negative direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the negative side of the reference switch.

Starting on the reference switch

– The axis will start in positive direction by "Speed switch search".

– When the reference switch has become deactivated, the axis will reverse and

continue in negative direction by "Speed reference search".

– The reference position is set to the first zero pulse after having recognized the

"Reference switch active" flank again. For referencing without zero pulse ("zero mark"), the reference position is set to the position of the "Reference switch active" flank.

- V

ref

Fig. 13: Referencing by reference and limit switch in negative direction; the rotatory direction is positive; with zero pulse ("zero mark"), the starting position is on the reference switch.

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6 Referencing JetWeb

6.13 Referencing by only One Limit Switch

If the limit switch has been found when driving in referencing direction, the axis will be referenced there.

The limit switch being positioned in negative direction will be ignored, until the axis has reversed on the limit switch positioned in positive direction. When the axis has reversed and the limit switch being positioned in the new direction has been recognized, the axis will be stopped and an error will be output in register 170 "Positioning Error" (bit 18 "Reference: Limit switch positive" or bit 19 "Reference: Limit switch negative").

Starting in positive direction

- V

ref

Fig. 14: Referencing by limit switch only; positive direction, positive rotatory direction, starting position preceeding the positive limit switch.

- V

ref

Fig. 15: Referencing by limit switch only; positive direction, positive rotatory direction, starting position on the positive limit switch.

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JetMove 2xx at the NANO System Bus 6.14 Referencing by Reference Switch Only

Starting in negative direction

- V

ref

Fig. 16: Referencing by limit switch only; negative direction, positive rotatory direction, starting position preceeding the negative limit switch.

- V

ref

Fig. 17: Referencing by limit switch only; negative direction, positive rotatory direction, starting position on the negative limit switch.

6.14 Referencing by Reference Switch Only

The axis drives to the reference switch to be referenced there. When, during the reference run, the limit switch being positioned in the referencing direction has been recognized, the axis will be stopped and an error will be output in register 170 "Positioning Error" (bit 18 "Reference: Limit switch positive" or bit 19 "Reference: Limit switch negative"). The limit switch being positioned in negative direction will be ignored.

This type of referencing is used with a conveyor belt, for example, which is to be reset to zero after each turnover.

For the sequence of motions, please refer to chapter 6.12 "Referencing by Means of Reference and Limit Switch", page 29.

Jetter AG 35

6 Referencing JetWeb

36 Jetter AG

JetMove 2xx at the NANO System Bus 7.1 Endless Positioning

7 Positioning

7.1 Endless Positioning

Attention!

Endless positioning is only allowed, if the axis is set to modulo mode.

Transition can be made from endless positioning to Ptp-positioning. Yet, it is not possible to make transition from a running Ptp-positioning endless positioning.

Command 57 "Reversing of an endless positioning" will not consider the changes in the positioning parameters, such as speed, which have been made after starting the endless positioning.

Jetter AG 37

7 Positioning JetWeb

38 Jetter AG

JetMove 2xx at the NANO System Bus

8 Oscilloscope Function

The following registers can be used for oscilloscope recording in JetSym both as recording and as trigger parameters:

• Register 109 "Actual position"

• Register 111 "Set speed value"

• Register 112 "Actual motor speed"

• Register 119 "Actual tracking error"

• Register 125 "Set current value"

• Register 129 "Actual mechanic speed"

• Register 130 "Set position value"

• Register 560 "DC link voltage"

• Register 561 "Actual current value"

• Register 562 "Motor temperature"

• Register 563 "Device temperature"

• Register 564 "Ballast workload"

• Register 565 "Motor shaft position"

• Register 566 "Device input current"

• Register 567 "Supply voltage"

• Register 568 "Controller card temperature"

Jetter AG 39

8 Oscilloscope Function JetWeb

40 Jetter AG

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

9 Register Description

9.1 Control Parameters

Function Description

Read Latest command

Write Issuing a new command

Amplifier status No specific status

Validity Wait for the busy-bit in the status to be reset

Value range 0 ... 32.767

Value after reset 0

ATTENTION:

When a command has been issued, the PLC program cannot make another access to the amplifier, unless the busy-bit in the status register has been reset by the amplifier.

Commands:

The following commands are available:

1 Activating the output stage

2 Deactivating the output stage

3 Set the reference (actual position = the target position has been set, also

considering the tracking error)

5 Stop positioning by the maximum deceleration rate that is permitted (see

R180)

6 Stop positioning by the deceleration ramp (R106)

7 Stopping an axis motion by the emergency stop ramp (R549)

ATTENTION:

When the ramp has been covered, the output stage will automatically be deactivated.

8 Acknowledging an error

9 Search for reference

10 Starting an absolute positioning run

11 Starting an absolute positioning run related to time

12 Changing an absolute target position

Jetter AG 41

9 Register Description JetWeb

The following commands are available:

13 Changing a speed value

15 Changing an acceleration value

16 Changing a deceleration value

20 Starting a relative positioning run

22 Changing a relative target position

32 Starting the setup mode

33 Stopping the setup mode

(The stop will not be made unless the next target position has been reached)

56 Starting an endless positioning run

ATTENTION:

Endless positioning is only allowed, if the axis is set to modulo mode. The direction of rotation is defined via register 142.

57 Reversing an endless positioning run

PLEASE NOTE:

Command 57 is used in order to reverse an endless positioning run that has already been started. This means that the actual motion direction will be reversed.

Function Description

Read Value of the actual switch status

Write New value of the switch status

Amplifier status No specific status

Validity Immediately

Value range bit-coded, 24 bits

Value after reset 0

This only applies to JetMove 215/208

By means of this register, the status of the outputs can be queried, while other outputs can be set and reset.

Meaning of the values:

0 : The output has been / will be reset

1 : The output has been set / will be reset

42 Jetter AG

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

Meaning of the individual bits:

Bit 0: Output 1

Bit 1: Output 2

Bit 2: Output 3

Bit 3: Output 4

Function Description

Read Value set last

Write New set value

Value range bit-coded, 24 bits

Value after reset 0

This only applies to JetMove 215/208

By means of this register, only outputs can be set. If only individual outputs are to be set, this register will make faster setting of outputs possible than if register 515 were used.

Meaning of the values:

0 : The output will not be affected

1 : The output is set

Meaning of the individual bits:

Bit 0: Output 1

Bit 1: Output 2

Bit 2: Output 3

Bit 3: Output 4

Jetter AG 43

9 Register Description JetWeb

Function Description

Read Latest reset value

Write New reset value

Value range bit-coded, 24 bits

Value after reset 0

This only applies to JetMove 215/208

By means of this register, only outputs can be reset. If only individual outputs are to be reset, this register will make faster resetting of outputs possible than if register 515 were used.

Meaning of the values:

0 : The output will not be affected

1 : The output will be reset

Meaning of the individual bits:

Bit 0: Output 1

Bit 1: Output 2

Bit 2: Output 3

Bit 3: Output 4

Function Description

Read Present state value of drive mode 1

Write New state value of drive mode 1

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range bit-coded, 16 bits

Value after reset 0b 00000010 1001x011

44 Jetter AG

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

ATTENTION: If JetMove 2xx is used together with a NANO-CPU, bit 9 must always be set. The bit has been set by default. In order to prevent important bits from being reset unintentionally, we recommend to set, respectively reset, the bits one by one.

Meaning of the individual bits:

Bit 0: Automatic control of the brake by means of the amplifier

0 = Manual control by the user (via register 574, bit 0)

1 = Automatic control by the amplifier

Value after reset: 1

Bit 1: Automatic control of the ventilator placed in the amplifier

0 = The ventilator is always switched on

1 = Depending on the respective temperature, the ventilator will

automatically be switched off or switched on

Value after reset: 1

Bit 2: Reserved

Bit 3: Phase monitoring

Here, the decision is made, whether, in 3-phase-mode, phase monitoring is to be activated or not. If phase monitoring has been activated, yet not all three phases are pending, error message F02 will be output.

0 = Phase monitoring has been deactivated

1 = Phase monitoring has been activated

Value after reset for JetMove 215: 1

Value after reset for JetMove 203, 206: 0

Bit 4: Motor cable test

Here, a decision is made, whether the motor cable test is to be carried out or not. Switching off might be necessary in case of long motor cables. When the motor cable test has been activated, and if a ground fault of the motor or a motor cable break have been detected, error message F03 will be output.

0 = Motor cable test has been deactivated

1 = Motor cable test has been activated

Value after reset: 1

Bit 5: Speed reversal

By means of this bit, for all axis motions (position, speed and current control), the direction of rotation will be conversed.

ATTENTION:

Please mind correct assignment of the hardware limit switches

Jetter AG 45

9 Register Description JetWeb

Meaning of the individual bits:

0 = Positive direction of rotation (clockwise rotation of the motor shaft,

looking at the shaft from the A-side; the set values are positive)

1 = Negative direction of rotation (counterclockwise rotation of the motor

shaft, looking at the shaft from the A-side; the set values are positive)

Value after reset: 0 (Positive direction of rotation)

Bit 6: Software limit switch

0 = The software limit switch evaluation has been deactivated

1 = The software limit switch evaluation has been activated

Value after reset: 0

Bit 7: Hardware limit switch

0 = The hardware limit switch evaluation has been deactivated

1 = The hardware limit switch evaluation has been activated

Value after reset: 1

Bit 8: Reserved

Bit 9: JetMove 2xx at the NANO / ConMove

ATTENTION:

If JetMove 2xx is used together with a NANO-CPU, this bit must always be set.

0 = JetMove 2xx at ConMove

1 = JetMove 2xx at NANO

Value after reset: 1

46 Jetter AG

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

display

Function Description

Read Number of the actual operating mode

Write New number of the operating mode

Value range 0 ... 1

Value after reset 0

See JetMove 2xx operator's manual

Meaning of the values:

0 : Normal operation

1 : Installation

Function Description

Read Number of the presently set operating mode

Write Number of the newly set operating mode

Amplifier status The amplifier must be deactivated

Validity When the amplifier is activated again

Value range 101, 102, 103

Value after reset 103

Here, the operating mode is set, in which the controller is to be run.

Meaning of the values:

101 : Current control (only the current control is active)

A set current value can be input via register 125

102 : Speed control (current control and speed control are active)

A set speed value can be input via register 111

103 : Position control (current control, speed control and position control

are active)

Jetter AG 47

9 Register Description JetWeb

Function Description

Read Value of the actual operating mode

Write Illegal

Value range 100 ... 103

Value after reset 100

Here, the actual operating mode the controller had when the output stage was switched on last, can be read.

Meaning of the values:

100 : The output stage has not been activated yet

101 : Current control (only the current control is active)

102 : Speed control (current control and speed control are active)

103 : Position control (current control, speed control and position control

are active)

Function Description

Read Value of the actual control word

Write New value of the control word

Value range bit-coded, 24 bits

Value after reset 0

Meaning of the individual bits:

Bit 0: Manual control of the brake

0 = Lock the brake

1 = Release the brake

(A requirement for manual control: In register 540 "Operating mode 1", bit 0 must be set to "Manual operation by the user".)

48 Jetter AG

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

Function Description

Read Value of the actual status word

Write Illegal

Value range bit-coded, 24 bits

Value after reset 0

Meaning of the individual bits:

Bit 0: Brake

0 = The brake is locked / the relay contacts have been released

1 = The brake has been released / the relay contacts are locked

Jetter AG 49

9 Register Description JetWeb

9.2 Diagnose Parameters

Function Description

Read Present status

Write Illegal

Value range bit-coded, 24 bits

Value after reset 0

From here, the amplifier status can be read. It contains information on the most important amplifier parameters.

Meaning of the individual bits:

Bit 0: RefOK

Bit 1: Stopped

Bit 2: Destination window

Bit 3: -

Bit 4: Hardware limit switch negative

Bit 5: Hardware limit switch negative

Bit 6: Reference switch

Bit 7: Software limit switch, negative

Bit 8: Software limit switch, positive

Bit 9: -

Bit 10: The power section is ready for operation

Bit 11: Power has been released

Bit 12: Setup mode active

Bit 13: Busy bit:

(For all commands, register 180, register 181, register 184)

Bit 14: The maximum positioning speed has been reached (the axis has driven

beyond the range of the ramps)

Bit 15: Acceleration ramp

Bit 16: Deceleration ramp

Bit 17: -

Bit 18: There is an error or warning

50 Jetter AG

JetMove 2xx at the NANO System Bus 9.2 Diagnose Parameters

Meaning of the individual bits:

Bit 19: Errors

Bit 20: Danger

Bit 21: The pulse has been released (hardware release)

Function Description

Read Actual errors

Write Illegal

Value range bit-coded, 24 bits

Value after reset 0

Actual errors can be read here during referencing or positioning.

Attention!

A number of these errors will NOT be shown on the display of the JetMove 2xx.

Meaning of the individual bits:

Bit 16: Referencing: Max. distance reference search

The permitted maximum distance of reference search has been exceeded. The distance can be set via register 167 "Max. distance reference search".

Bit 17: Referencing: Max. distance switch search

The permitted maximum distance of switch search has been exceeded. The distance can be set via register 164 "Max. distance switch search".

Bit 18: Referencing: Positive limit switch

Reference switch type consisting of reference and limit switch:

The positive limit switch has been found after changing direction at the negative limit switch during a reference run in negative direction.

Reference switch type, with limit switch only:

The positive limit switch has been found after changing direction at the negative limit switch during a reference run in negative direction.

Reference switch type, with reference switch only:

The positive limit switch has been found during a reference run in positive direction.

Jetter AG 51

9 Register Description JetWeb

Meaning of the individual bits:

Bit 19: Referencing: Negative limit switch

Reference switch type consisting of reference and limit switch:

The negative limit switch has been found after changing the direction at the positive limit switch during a reference run in positive direction.

Reference switch type, with limit switch only:

The negative limit switch has been found after changing direction at the positive limit switch during a reference run in positive direction.

Reference switch type, with reference switch only:

The negative limit switch has been found during a reference run in negative direction.

Function Description

Read Actual warnings mask

Write New warnings mask

(this can only be changed with an expert's access authorization, see register 576)

Value range bit-coded, 24 bits

Value after reset 0b 00000000 00000000 00111111

In the warnings mask, a definition can be made of which warnings are to be displayed and which are not. The assignment of bits can be taken out of the description of register 581 "Warnings".

Meaning of the values:

0 : The warning will not be displayed

1 : The warning will be displayed

52 Jetter AG

JetMove 2xx at the NANO System Bus 9.2 Diagnose Parameters

Function Description

Read Actual Warnings

Write Warnings are reset

Value range bit-coded, 24 bits

Value after reset 0

Meaning of the individual bits:

Bit 0: W00 Warning threshold for ballast

Bit 1: W01 Warning threshold for device temp.

Bit 2: W02 Warning threshold for motor temp.

Bit 3: W03 Overload PFC

Bit 4: W04 Input overcurrent

Bit 5: W05 Warning threshold for board temp.

Function Description

Read Actual AutoClear mask

Write New AutoClear mask

Value range bit-coded, 24 bits

Value after reset 0b 00000000 00000000 00111111

Definitions to be made via AutoClear mask:

• Which warnings are to be automatically reset by the amplifier itself, as soon as

they are not relevant any more

• Which warnings are to be manually reset by the user

Manual resetting is carried out by writing into the respective bit in register 581 "Warnings". The assignment of bits can be taken out of the description of register 581 "Warnings".

Meaning of the values:

0 : The warning will automatically be reset by the user

1 : The warning will automatically be reset by the amplifier

Jetter AG 53

9 Register Description JetWeb

Function Description

Read Actual errors numbered 00 through 15

Write Illegal

Value range bit-coded, 16 bits

Value after reset 0

Meaning of the individual bits:

Bit 0: F00 Hardware error

Bit 1: F01 Internal voltage supply error

Bit 2: F02 One mains phase has failed

Bit 3: F03 Motor or cable fault

Bit 4: F04 DC link overvoltage U

Bit 5: F05 Current overload

Bit 6: F06 Overload internal ballast resistor

Bit 7: F07 Shutdown threshold for device temp.

Bit 8: F08 Shutdown threshold for motor temp.

Bit 9: F09 Encoder error

Bit 10: F10 Overspeed

Bit 11: F11 Current overrange

Bit 12: F12 Earth fault

Bit 13: F13 AVR EEPROM failure

Bit 14: F14 AVR timeout

Bit 15: F15 Pulse enable failure

54 Jetter AG

JetMove 2xx at the NANO System Bus 9.2 Diagnose Parameters

Function Description

Read Actual errors numbered 16 through 31

Write Illegal

Value range bit-coded, 16 bits

Value after reset 0

Meaning of the individual bits:

Bit 0: F16 Input overcurrent

Bit 1: F17 Software limit switch

Bit 2: F18 Limit switch hardware error

Referencing: The same hardware limit switch is pressed twice within a short time.

Bit 3: F19 Timeout ext. error reaction Errors

Bit 4: F20 U

Bit 5: F21 U

Bit 6: F22 Drive blocked

Bit 7: F23 Tracking error

Bit 8: F24 Power supply 24 V failure

Bit 9: F25 Power supply 15 V failure

Bit 10: F26 Power supply 5 V failure

Bit 11: F27 Power supply AVR failure

Bit 12: F28 Error in power charging circuit (this is only possible with JetMove

215)

, DC link voltage min. trip

, DC link voltage max. trip

Jetter AG 55

9 Register Description JetWeb

9.3 Positioning Parameters

Function Description

Read Actual target position

Write New target position

Amplifier status No specific status

Validity At the next positioning run or at command 12

Value range R183 ... R182 [°] or [mm]. The unit depends on

the setting of the axis type. The value contains an adjustable decimal factor between 1 and 1,000; this means that the least significant decimal positions serve as decimal positions when the internal unit [°] or [mm] is assigned to the value.

Value after reset 0 [°]

Here, the target position for the next point-to-point positioning is specified. Here, the point-to-point positioning can be either absolute or relative. The register can be written into during a positioning run.

The target position is used at the following commands:

• Command 10 "Starting an absolute positioning run"

• Command 11 "Starting an absolute positioning run related to time"

• Command 12 "Changing an absolute target position"

• Command 20 "Starting a relative positioning run"

• Command 22 "Changing a relative target position"

Attention!

Positioning is not started yet by writing into the target position. Only the respective command will cause the positioning run to be started.

The target position of a positioning run that is already in process can be changed. In order to change the target position, the new target position must be written into the register; then, one of the following commands must be issued:

56 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

Point-to-point positioning - absolute

• Command 10 "Starting an absolute positioning run"

The entire positioning will be calculated again. New general conditions can change the behaviour, e.g. speed, of the new positioning run compared to the former one.

• Command 11 "Starting an absolute positioning run related to time"

The entire positioning will be calculated again. New general conditions can change the behaviour, e.g. speed, of the new positioning run compared to the former one.

• Command 12 "Changing an absolute target position"

Positioning will only be newly calculated regarding the new target position. New general conditions will not be considered; speed, for example, remains unchanged.

Point-to-point positioning - relative

• Command 20 "Starting a relative positioning run"

The entire positioning will be calculated again. New general conditions can change the behaviour, e.g. speed, of the new positioning run compared to the former one.

• Command 22 "Changing a relative target position"

Positioning will only be newly calculated regarding the new target position. New general conditions will not be considered; speed, for example, remains unchanged.

Leading over from endless to point-to-point positioning:

• Command 10 "Starting an absolute positioning run"

The entire positioning will be calculated again.

Yet, it is not possible for a running point-to-point positioning to be led to endless positioning.

Jetter AG 57

9 Register Description JetWeb

Function Description

Read Actual target speed

Write New target speed

Amplifier status No specific status

Validity At the next positioning run or at command 13

Value range 0 ... R184 [°/s] or [mm/s]

(The unit is dependent on the axis type)

Value after reset 0 [°/s]

Here, the target speed for all positioning runs, point-to-point positioning and endless positioning is specified. The register can be written into during a positioning run.

The target speed is used at the following commands:

• Command 10 "Starting an absolute positioning run"

• Command 13 "Changing a speed"

• Command 20 "Starting a relative positioning run"

• Command 56 "Starting endless positioning"

Attention!

If, during a positioning run, a register is written into, the new target speed will not be of any effect, unless the respective command has been issued.

The target speed of a positioning run that is already in process can be changed. For this purpose, the new target speed must be written into the register, and command 13 "Changing a speed" must be issued.

Changing a target speed value is also considered, when, during a positioning run already in process, the following commands are given:

• Command 10 "Starting an absolute positioning run"

• Command 20 "Starting a relative positioning run"

• Command 56 "Starting endless positioning" This is only permitted, if the running positioning is an endless positioning; during a running point-to-point positioning, this command must not be issued.

58 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

Function Description

Read Actual positioning time

Write New (set) positioning time

Amplifier status No specific status

Validity Next positioning started by command 11

Value range 0 ... 32,767 [s]

Value after reset 0 [s]

Instead of issuing a speed via register 103, it is also possible to set a time for pointto-point positioning. Then, the speed will result from the actual position, the target position, the content of register 2, and the time set for this.

The amplifier will enter the calculated speed into register 103 "Target Speed"; it will be used at the following positioning run, if the contents of register 103 are not changed.

Positioning related to time is started by issuing command 11 "Starting an absolute positioning run related to time".

The target speed of a positioning run that is already in process can be changed. For this purpose, the new positioning time must be entered into the register and command 11 must be issued. It is insignificant, whether the positioning running at that moment has been started by issuing command 11 or not. Please mind, though, that the speed of the new positioning run can be different from the former one.

A positioning run started by command 11 can be influenced and altered by changing the positioning parameters and by issuing the respective commands.

Jetter AG 59

9 Register Description JetWeb

Function Description

Read Actual acceleration

Write Set acceleration

Amplifier status No specific status

Validity At the next positioning run or at command 15

Value range 0 ... R180 [°/s²] or [mm/s²]

(The unit is dependent on the axis type)

Value after reset 500 [°/s²]

Here, the acceleration for individual positioning runs is specified. The acceleration value is used for starting a positioning run and for the change of speed during a positioning run. This means that, even if, during positioning, the speed is being decelerated, still the acceleration value is used for this deceleration. The deceleration value of register 106 will only be used for deceleration when driving towards the target position and for carrying out command 6 "Stop positioning (user ramp)".

The target speed is used at the following commands:

• Command 10 "Starting an absolute positioning run"

• Command 11 "Starting an absolute positioning run related to time"

• Command 15 "Changing an acceleration value"

• Command 20 "Starting a relative positioning run"

• Command 56 "Starting endless positioning"

Attention!

A low value results in a long ramp, while a great value results in a short ramp.

Two ramp types can be selected for acceleration:

• sine-square ramp (sine-square shaped speed profile)

• linear ramp (linear speed profile)

The ramp type can be selected by means of register 140 "Ramp type". The sinesquare ramp has been set as the default ramp type.

A sine-square ramp guarantees a soft and jerk-free start. When driving a sine-square ramp, the specified value will be reached in the middle of the acceleration process.

If a linear ramp is driven, acceleration will remain constant; the speed will increase in linear mode during the entire acceleration process.

60 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

In the illustration below, various settings for acceleration by sine-square ramp will be shown.

v in 1/min

6,000

The set acceleration value is reached here

1,000 3,000

2,000

4,000

t in ms

Fig. 18: Acceleration process

The acceleration rate of a positioning run that is already in process can be changed. For this purpose, the new acceleration rate must be written into the register, and command 15 "Changing a speed" must be issued. Yet, this change will not take effect on the actual acceleration ramp, but on the ramp that is to follow.

Changing an acceleration value is also considered, when, during a positioning run already in process, the following commands are given:

• Command 10 "Starting an absolute positioning run"

• Command 11 "Starting an absolute positioning run"

• Command 20 "Starting a relative positioning run"

• Command 56 "Starting endless positioning"

This is only permitted, if the running positioning is an endless positioning; during a running point-to-point positioning, this command must not be issued.

Jetter AG 61

9 Register Description JetWeb

Function Description

Read Actual delay

Write Set delay

Amplifier status No specific status

Validity At the next positioning run or at command 16

Value range 0 ... R180 [°/s²] or [mm/s²]

(The unit is dependent on the axis type)

Value after reset 500 [°/s²]

Here, the deceleration rate when driving towards the target for positioning runs is specified. The deceleration value will only be used for driving towards the target position and for carrying out command 6 "Stop positioning (user ramp)". For a change of speed during positioning, the acceleration value specified in register 105 will be used. This means that, even if, during positioning, the speed is being decelerated, still the acceleration value is used for this deceleration.

The deceleration for driving towards the target is used at the following commands:

• Command 6 "Stop positioning (user ramp)"

• Command 10 "Starting an absolute positioning run"

• Command 11 "Starting an absolute positioning run related to time"

• Command 16 "Changing a deceleration value"

• Command 20 "Starting a relative positioning run"

Attention!

A low value results in a long ramp, while a great value results in a short ramp.

Two ramp types can be selected for deceleration when driving towards the target:

• sine-square ramp (sine-square shaped deceleration profile)

• linear ramp (sine-square shaped speed profile)

The ramp type can be selected by means of register 140 "Ramp type". The sinesquare ramp has been set as the default ramp type.

A sine-square ramp guarantees soft and jerk-free deceleration. When driving a sinesquare ramp, the specified value will be reached in the middle of the deceleration process.

62 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

When driving a linear ramp, the deceleration when driving towards the target (not the deceleration profile) has got a sine-square-shaped speed profile. This way, soft and jerk-free deceleration will be guaranteed as well. When driving a sine-square ramp, the specified value will also be reached in the middle of the deceleration process.

In the illustration below, various settings for deceleration by sine-square ramp when driving towards the target will be shown.

v in 1/min

6,000

The set deceleration value will be reached here

1,000

2,000

3,000

4,000

t in ms

Fig. 19: Deceleration process when driving towards the target

Function Description

Read Present destination window

Write New destination window

Amplifier status No specific status

Validity At the next positioning run or after changing the

target position

Value range 0 ... 8,388,607 [°] or [mm] (the unit is dependent

on the settings of the axis type. The value contains an adjustable decimal factor between 1 and 1,000; this means that the least significant decimal positions serve as decimal positions when the internal unit [°] or [mm] is assigned to the value.

Value after reset 1 [°]

Here, the destination window for the target area of a point-to-point positioning can be set. If , after positioning, the axis has reached the destination window, bit 2 "Destination window" will be set in register 100 "Status". The bit will not be reset, unless a new positioning (point-to-point positioning) has been started.

Jetter AG 63

9 Register Description JetWeb

Destination window 5 mm around destination position 100 mm

100

105

s in mm

Fig. 20: Example of a destination window

Attention!

If a point-to-point positioning is stopped before the axis has reached the destination window, the destination window bit will not be set. In this case, bit 1 "Stopped" can be used in register 100 "Status".

Faster program flow can be achieved by using the destination window range. The program can be continued, as soon as the axis has reached the destination window.

The general progression condition would be as follows:

... REGISTER_LOAD (rmTargetPosition, 90000) // Target position 90000

// (° or mm)

REGISTER_LOAD (rmCommand, 10) // Start ptp positioning

WHEN BIT_CLEAR (rmStatus, 13) THEN // Wait, until busy-bit

// has been reset

WHEN BIT_SET (rmStatus, 2) THEN // Wait, till dest. wind. bit

// has been set

...

Difference between destination window bit and "Stopped" bit

The destination window bit is set, as soon as the actual position of the axis has reached the destination window. The "Stopped" bit will be set, as soon as the internal set position (not the actual position) has reached the target position. The settings of the destination window take no effect on the "Stopped" bit.

64 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

Function Description

Read Actual position

Write Illegal

Value range R183 ... R182 [°] or [mm] (The unit depends on

Value after reset 0 [°]

From here, the actual axis position can be read out. This parameter is often used as a progression condition.

Example:

... WHEN REG rmActPosition > 10000 THEN // Wait, until the actual

// pos. is greater than 10000

// (° or mm) OUT 101 // Set output 101 ...

If the axis has not been set to modulo mode in register 192 "Modulo axis", the actual position will not exceed the travel range, which has been set via register 182 "Travel range limit positive" and register 183 "Travel range limit negative". Neither will there be an overflow. At the limits of the travel range, the axis will be stopped automatically. Endless positioning is not permitted here.

If the axis has been set to modulo mode in register 192 "Modulo axis", there will be an overflow of the actual position, when the travel range limits have been exceeded; the actual position will be continued at the value of the other travel range limit. The axis will continue travelling as before. Endless positioning is only permitted for a modulo axis.

Jetter AG 65

9 Register Description JetWeb

Function Description

Read Actual mechanical speed

Write Illegal

Value range -R184 ... R184 [°/s] or [mm/s]

(The unit is dependent on the axis type)

Value after reset 0 [°/s]

From here, the actual axis speed can be read out.

Function Description

Read Present delay value

Write New delay value

Amplifier status No specific status

Validity Immediately

Value range 1 ... 65,535 [ms]

Value after reset 1,000 [ms]

Here, the delay time for setup mode will be specified. The delay time is the duration of waiting at every target position in setup mode, until the next point-to-point positioning towards the other target position is started.

66 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

Function Description

Read Actual position 1

Write New position 1

Amplifier status No specific status

Validity At the next start into the direction of position 1

Value range R183 ... R133 [°] or [mm] (The unit depends on

Value after reset 0 [°]

Here, position 1 (left position) is specified for the setup mode.

Function Description

Read Actual position 2

Write New position 2

Amplifier status No specific status

Validity At the next start into the direction of position 2

Value range R132 ... R182 [°] or [mm] (The unit depends on

Value after reset 100 [°]

Here, position 2 (right position) is specified for the setup mode.

Jetter AG 67

9 Register Description JetWeb

Function Description

Read Actual ramp type

Write New ramp type

Amplifier status No specific status

Validity At the next positioning run

Value range 0, 1

Value after reset 1

Here, the ramp type will be set for all positioning runs. The ramp type will only be considered when a new positioning run is started; then, it will be valid during the entire positioning process.

Meaning of the values:

0 : Linear ramps

1 : Sine-square ramps

Function Description

Read Actual positioning mode

Write New positioning mode

Amplifier status No specific status

Validity At the next positioning run or after changing the

target position

Value range 1 ... 4

Value after reset 1

The following only applies to modulo axis:

Here it is specified, from which direction the target position is to be approached.

Meaning of the values:

1:Absolute

The axis will never exceed the travel range; it can be operated and positioned like a standard axis

2:Modulo positive

68 Jetter AG

JetMove 2xx at the NANO System Bus 9.3 Positioning Parameters

The axis will always approach the target position from positive direction

3:Modulo negative

The axis will always approach the target position from negative direction

4:Modulo auto

The axis will always approach the target position over the shortest possible distance

Function Description

Read Actual direction of movement

Write New direction of movement

Amplifier status No specific status

Validity When the next endless positioning is started

Value range 0, 1

Value after reset 0

This only applies to an endless positioning run:

Here, the direction of movement is specified for an endless positioning run.

Meaning of the values:

0 : positive direction

1 : negative direction

Jetter AG 69

9 Register Description JetWeb

Function Description

Read Actual basic type

Write New basic type

Amplifier status No specific status

Validity When the next relative positioning run is started,

or when the target position of a relative positioning is changed

Value range 0, 1

Value after reset 0

This only applies to relative positioning:

Here, the basic position (the position, in relation to which values are counted further) is specified for the next relative positioning run.

Meaning of the values:

0 : Latest target position

1 : Actual position

70 Jetter AG

JetMove 2xx at the NANO System Bus 9.4 Referencing - Parameters

9.4 Referencing - Parameters

Function Description

Read Actual direction of referencing

Write New direction of referencing

Amplifier status No specific status

Validity Next referencing

Value range 0, 1

Value after reset 0

Here, the direction of referencing will be specified. Referencing will then be started by issuing command 9.

Meaning of the values:

0 : Positive direction

1 : Negative direction

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual switch type

Write New switch type

Amplifier status No specific status

Validity Next referencing

Value range 0 ... 3

Value after reset 1

Here it is specified, which hardware switches are to be used for referencing.

Meaning of the values:

0 : No switches, only zero pulse of the encoder

1 : Reference and limit switches

2 : Only limit switches

Jetter AG 71

9 Register Description JetWeb

3 : Only reference switches

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual search speed

Write New search speed

Amplifier status No specific status

Validity Next referencing

Value range 0 ... R184 [°/s] or [mm/s] (the unit depends on the

setting of the axis type)

Value after reset 500 [°/s]

Here the speed is specified, by which the axis starts referencing by switch search. When the switch has been found, the "reference mark" will be searched for. For searching the "reference mark", a specific speed will be set in register 166 "Speed reference search".

Which switch is to be used for referencing (reference switch, limit switch, zero pulse) is defined in register 161 "Switch".

For this, please also read chapter 6 "Referencing", page 23.

72 Jetter AG

JetMove 2xx at the NANO System Bus 9.4 Referencing - Parameters

Function Description

Read Actual acceleration

Write Set acceleration

Amplifier status No specific status

Validity Next referencing

Value range 0 ... R180 [°/s²] or [mm/s²] (the unit depends on

the settings of the axis type)

Value after reset 1,000 [°/s²]

Here, the acceleration for referencing is specified. This acceleration value applies to starting and stopping the reference run and to changes of speed. The changes of speed result from various speed settings for the switch search, see register 162 "Speed switch search", and to the search for the "reference mark", see register 166 "Speed reference search".

Attention!

If referencing has been interrupted by issuing command 6, the axis will be brought to a standstill by the deceleration defined in register 106 "Deceleration".

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual maximum distance

Write New maximum distance

Amplifier status No specific status

Validity Next referencing

Value range -8,388,708 ... 8,388,607 [°] or [mm] (the unit is

dependent on the settings of the axis type. The value contains an adjustable decimal factor between 1 and 1,000; this means that the least significant decimal positions serve as decimal positions when the internal unit [°] or [mm] is assigned to the value.

Value after reset 100,000 [°]

Jetter AG 73

9 Register Description JetWeb

Hier wird der maximale Weg angegeben, innerhalb der das Auftreten des Schaltersignals erfolgen muss. The distance will be measured from the starting position of the reference run. If the maximum distance is exceeded, the axis will be stopped and the error "Max. distance switch search" of bit 17 in register 170 "Error positioning" will be output.

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual reference mark

Write New reference mark

Amplifier status No specific status

Validity Next referencing

Value range 1, 2

Value after reset 1

Meaning of the values:

1 : Referencing by means of zero pulse

2 : Referencing without zero pulse (this means the reference position

will only be the switch flank of the reference switch, respectively of the limit switch)

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual search speed

Write New search speed

Amplifier status No specific status

Validity Next referencing

Value range 0 ... R184 [°/s] or [mm/s] (the unit depends on the

setting of the axis type)

Value after reset 100 [°/s]

74 Jetter AG

JetMove 2xx at the NANO System Bus 9.4 Referencing - Parameters

Here, the speed will be specified, by which the axis approaches the reference position. When the switch signal has been recognized, the reference position will be searched for. The reference position can either be the position of the zero pulse ("zero mark") or the position of the switch flank, if referencing is being carried out without zero pulse.

The switch is searched for by the speed, which has been set in register 162 "Speed of switch search".

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Actual max. distance reference search

Write New max. distance reference search

Amplifier status No specific status

Validity Next referencing

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 1,000 [°]

Within this maximum distance, the reference mark must be active. The distance will be measured from the starting position of the reference search. If the maximum distance is exceeded, the axis will be stopped and the error "Max. distance reference search" of bit 17 in register 170 "Error positioning" will be output.

For this, please also read chapter 6 "Referencing", page 23.

Jetter AG 75

9 Register Description JetWeb

Function Description

Read Actual acceleration

Write Set acceleration

Amplifier status No specific status

Validity Next referencing

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 0 [°]

Here, the distance between the virtual normal position and the found reference position is specified. After a successfully completed reference run, the axis is to come to a standstill at the so-called normal position. By "distance", the space is specified, which the axis, after having got to the reference position, must still cover in order to reach "normal position".

For this, please also read chapter 6 "Referencing", page 23.

Function Description

Read Present virtual position

Write New virtual position

Amplifier status No specific status

Validity Next referencing

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 0 [°]

Here, the position is specified, which, at "normal position" is to be set in register 109 as virtual position.

76 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

After a successfully completed reference run, the axis comes to a standstill at the socalled "normal position". For this, please also refer to the description of register 168 "Normal position: distance".

Please also read chapter 6 "Referencing", page 23.

9.5 Axis Parameters

Function Description

Read Present value of the virtual software limit switch

Write New value of the software limit switch

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 100,000 [°]

This parameter contains the position at which the software limit switch in positive direction becomes active. When the limit switch is activated, the axis will be stopped and error F17 will be displayed. Further, bit 8 is set in register 100 "Status".

The software limit switch monitoring can be activated, respectively deactivated, via register 540 "Operating mode 1", bit 6. The software limit switch monitoring should be active in any case, though, especially when axes are driven in manual mode.

Attention!

The software limit switch monitoring is deactivated by default.

Jetter AG 77

9 Register Description JetWeb

The following figure shows the positions of the software limit switches:

Emergency

Stop

Hardware Limit Switch

Software Limit Switch

Reference

Switch

Travel Range

Negative Travelling Direction

Emergency Stop

Mechanical End Stop

“0”

Reference

Position

Fig. 21: Position of the software limit switches

Function Description

Software Limit Switch

Travelling

Direction

Hardware Limit Switch

Positive

Emergency

Stop

Emergency Stop

Mechanical End Stop

Read Present value of the virtual software limit switch

Write New value of the software limit switch

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range -8.388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset -100,000 [°]

This parameter contains the position at which the software limit switch in negative direction becomes active. When the limit switch is activated, the axis will be stopped and error F17 will be displayed. Further, bit 7 is set in register 100 "Status".

78 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

Attention!

The software limit switch monitoring is deactivated by default.

The figure regarding register 114 "Position of the software limit switch" illustrates the positions of the respective software limit switches.

Function Description

Read Actual acceleration value

Write New acceleration value

Amplifier status The amplifier must be deactivated

Validity Wait for the busy-bit in the status to be reset

Value range 0 ... 8,388,607 [°/s²] or [mm/s²] (the unit depends

on the settings of the axis type)

Value after reset 100,000 [°/s²]

Here, the maximum acceleration / deceleration of an axis is specifed. The amplifier will limit each acceleration, respectively deceleration, to the specified value, even if a greater value has been specified for positioning purposes. Acceleration / deceleration will only be limited for positioning by means of position control.

The axis will also be decelerated according to this parameter, if you issue command

Function Description

Read Value of the actual jerk

Write New value of the jerk

Amplifier status The amplifier must be deactivated

Validity Wait for the busy-bit in the status to be reset

Value range 0 ... 8,388,607 [°/s³] or [mm/s³] (the unit depends

on the settings of the axis type)

Value after reset 1,000,000 [°/s³]

Jetter AG 79

9 Register Description JetWeb

Here, the maximum permitted jerk for the specific axis is specified. The amplifier will limit the jerk to this value when one kind of motion follows the other one. Jerk limiting is important, especially when linear ramps are applied. The jerk will only be limited for positioning by means of position control.

Function Description

Read Value of the present limit

Write New value of travel limit

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 100,000 [°]

Here, the positive modulo travel range limit of a modulo axis will be specified. The modulo travel range defined in register 193 "Modulo travel range" will automatically be calculated as the difference between the positive and the negative travel range.

If your axis is not a modulo axis, this parameter will limit the absolute axis motion in positive direction. This means that, at a positioning run, the target position will always be limited to this value, even if a higher value is entered.

Via register 192 "Modulo axis", the axis will be set to modulo axis.

80 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

Function Description

Read Value of the present limit

Write New value of travel limit

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset -100,000 [°]

Here, the negative modulo travel range limit of a modulo axis will be specified. The modulo travel range defined in register 193 "Modulo travel range" will automatically be calculated as the difference between the positive and the negative travel range.

If your axis is not a modulo axis, this parameter will limit the absolute axis motion in negative direction. This means that, at a positioning run, the target position will always be limited to this value, even if a higher value is entered.

Via register 192 "Modulo axis", the axis will be set to modulo axis.

Function Description

Read Value of the actual maximum speed

Write New value of the maximum speed

Amplifier status The amplifier must be deactivated

Validity Wait for the busy-bit in the status to be reset

Value range 0 ... 8,388,607 [°/s] or [mm/s] (the unit depends

on the setting of the axis type)

Value after reset 18,000 [°/s]

Here, the maximum speed of the mechanic axis is specified. The amplifier limits the speed to this value, even if a higher speed has been set for positioning. Further, this value is necessary for monitoring the maximum acceleration / deceleration and the maximum jerk.

Jetter AG 81

9 Register Description JetWeb

The greatest value that can be input here, is limited by the value in register 118 "Maximum motor speed" and by the values of the registers for setting the gearbox factors: Register 194 "Transmission ratio - motor", register 195 "Transmission ratio mechanics, and register 196 "Transmission ratio - linear / rotatory".

The value must not be greater than the result of the following formula:

greatest value R184 = R118 * R196 * R195 / (R194 * 60)

Function Description

Read Actual value of the virtual axis type

Write New value of the virtual axis type

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 1, 2

Value after reset 2 (rotatory)

Here, the motion of the axis is defined: either linear or rotatory.

Meaning of the values:

1 : Linear

2 : Rotatory

Usually, a machine consists of two kinds of axes:

• Linear axes

• Rotatory axes

In case of a linear axis, the load is moved in linear direction; all positioning parameters have been specified in the [mm] unit. In case of a rotatory axis, the load will be moved on a circular path; for this reason, all positioning parameters have been specified in the [°] unit.

These are the positioning parameters:

• Positioning parameter

• Speed parameter

• Acceleration / Deceleration parameter

• Parameter for jerk limitation

The units for a linear axis shown in detail:

• Unit defining a position: [mm]

• Unit defining speed: [mm/s]

82 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

• Unit defining acceleration / deceleration: [mm/s²]

• Unit defining jerk: [mm/s³]

The units for a rotatory axis shown in detail:

• Unit defining a position: [°]

• Unit defining speed: [°/s]

• Unit defining acceleration / deceleration: [°/s²]

• Unit defining jerk: [°/s³]

If in register 192 "Modulo axis" the axis type is set to modulo axis, a linear axis cannot be selected out of this register.

Function Description

Read Present setting

Write New value

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0, 1

Value after reset 0

Here it is defined, whether the axis is a modulo axis or not.

Meaning of the values:

0 : No modulo axis

1 : Modulo axis

What is a modulo axis?

The positioning values of a modulo axis are always within a defined modulo travel range (in order to make possible endless positioning, for example), see register 193 "Modulo travel range".

If the axis moves in positive direction and reaches the positive travel limit, the position will be set back to the value of the negative travel limit. This means the axis can continue with new positioning values starting from the negative travel range.

If the axis moves in negative direction and reaches the negative travel limit, the position will be set back to the value of the positive travel limit. This means the axis can continue with new positioning values starting from the positive travel range.

Consequently, modulo axis haven't got any hardware or software limit switches.

Jetter AG 83

9 Register Description JetWeb

The following figure will illustrate an endless axis motion in positive direction by a modulo travel range of 200,000 ° (negative travel limit = 0 °, positive travel limit = 200,000 °).

Position

200,000

150,000

100,000

50,000

Positioning cycle 1

Positioning cycle 2

Positioning cycle 3

Fig. 22: Example of a modulo axis motion

Function Description

Read Actual value of the virtual travel range

Write Illegal

Value range -8,388,608 ... 8,388,607 [°] or [mm] (the unit is

Value after reset 360 [°]

Time t

The modulo travel range will automatically be calculated as the difference between the positive travel range, register 182, and the negative travel range, register 183.

Attention!

If no modulo axis has been set in register 192, the modulo mode is deactivated; this means that the value of this register is not valid and will thus not be calculated as the difference between the values of the travel ranges.

84 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

Function Description

Read Actual number of motor revolutions

Write New number of motor revolutions

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 1 ... 8,388,607 [rev]

Value after reset 1 [rev]

In case of a rotatory axis, the following parameter will be used for calculating the gear ratio:

If, for example, the mechanics rotate once, while the motor rotates ten times, the number of motor revolutions must also be set to 10, while the number of load revolutions is set to 1.

In case of a linear axis, the gear ratio, and the additional parameter "Transmission ratio - linear / rotatory" written in register 196, must be specified. "Transmission ratio linear / rotatory" defines the transition from rotatory to linear mode.

Number of motor revolutions (R194)

--------------------------------------------------------------------------------------------------------------- -=

Number of mechanics/load revolutions (R195)

Jetter AG 85

9 Register Description JetWeb

Function Description

Read Actual number of load revolutions

Write New number of load revolutions

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 1 ... 8,388,607 [rev]

Value after reset 1 [rev]

Here, the latest rotatory transmission unit must be specified; see description of register 194 "Transmission ratio - motor".

Function Description

Read Actual transmission ratio

Write New transmission ratio

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 1 ... 8,388,607 [° * 1,000/Umdr.] or [µm/rev.]

Value after reset 360,000 [°*1,000/rev]

The transmission ratio linear /rotatory is only needed for a linear axis; it describes the linear motion of the axis related to a rotation of the latest rotatory transmission unit written in register 195 "Transmission ratio - mechanics".

The parameters "Transmission ratio - mechanics", register 195, and "Transmission ratio - motor", register 194, must also be specified.

86 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

Function Description

Read Value of the actual input polarity

Write New value of the input polarity

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range bit-coded, 16 bits

Value after reset 0b 00000001 00001111

Here, the polarity of the digital inputs can be specified.

Meaning of the values:

0:0 V active

1 : 24 V active

Meaning of the individual bits:

Bit 0: Enable (cannot be altered)

Bit 1: Positive hardware limit switch

Bit 2: Negative hardware limit switch

Bit 3: Reference switch

Bit 8: Interrupt (special applications)

Function Description

Read Value of the actual input circuit state

Write Illegal

Value range bit-coded, 16 bits

Value after reset 0

The actual input circuit state of the digital inputs can be read out here. The input circuit state depends on the polarity settings of the digital inputs specified in register 1x510.

Jetter AG 87

9 Register Description JetWeb

Meaning of the values:

0:Not active

1 : Activated

Meaning of the individual bits:

Bit 0: Enable (cannot be altered)

Bit 1: Positive hardware limit switch

Bit 2: Negative hardware limit switch

Bit 3: Reference switch

Bit 8: Interrupt (special applications)

Function Description

Read Values of the actual decimal positions

Write New values of the decimal positions

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0 ... 3

Value after reset 0

Here, the decimal positions for all positioning parameters will be set. This should be done during axis setup and not be changed after this any more.

0 = No decimal positions

The position values contain a decimal factor of 1, which means that the internal unit [°] or [mm] will directly be displayed and written.

1 = 1 decimal position

The position values contain a decimal factor of 10, which means that the least significant decimal position of the integer value is the decimal position for standardizing the value to have the internal unit [°] or [mm].

2 = 2 decimal positions

The position values contain a decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [°] or [mm].

88 Jetter AG

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

3 = 3 decimal positions

The position values contain a decimal factor of 1,000, which means that the three least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [°] or [mm].

Attention!

If decimal positions are altered after setup of the axis, there might occur the danger of position details not being displayed correctly. This could happen, if a parameter of 0 decimal positions, for example, already causes 8,000,000 to be displayed. If the decimal positions are increased then, a negative value will be displayed, as the maximum positive limit of the value range, which is 8,388,607, will have been exceeded.

The settings of the decimal positions relate to the following registers:

• Register 102 "Target position"

• Register 107 "Destination window"

• Register 109 "Actual position"

• Register 114 "Pos. software limit switch"

• Register 115 "Neg. software limit switch"

• Register 119 "Actual tracking error"

• Register 120 "Tracking error limit"

• Register 130 "Set position value"

• Register 132 "Setup mode - position 1"

• Register 133 "Setup mode - position 2"

• Register 164 "Max. distance switch search"

• Register 167 "Max. distance reference search"

• Register 168 "Normal position - distance"

• Register 169 "Normal position"

• Register 182 "Travel limit positive"

• Register 183 "Travel limit negative"

• Register 193 "Modulo travel range"

Jetter AG 89

9 Register Description JetWeb

9.6 Amplifier Parameters

Function Description

Read Value of the latest version

Write Illegal

Value range 0 ... 9,999

Value after reset Dependent on the software version

Here, the latest software version can be read. Interpreting the value:

290 = Version 2.90

Attention!

When submitting technical support queries the number of the software version must be quoted.

In connection with register 999 "Revision status of the operating system", it can be specified, whether the software version is a beta version or not.

Function Description

Read Value of the actual rated voltage

Write Illegal

Value range 230 ... 400 [V]

Value after reset Dependent on the amplifier type (particulars can

be found on the identification plate of the respective device)

From here, the rated voltage of the device can be read out.

90 Jetter AG

JetMove 2xx at the NANO System Bus 9.6 Amplifier Parameters

Function Description

Read Value of the actual rated voltage of the device

Write Illegal

Value range 300 ... 1,500 [Aeff*100]

(The respective value contains a decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [Aeff]).

Value after reset Dependent on the amplifier type (particulars can

be found on the identification plate of the respective device)

From here, the continuous rated current of the device can be read out.

Function Description

Read Value of the actual PWM frequency

Write New value of the PWM frequency

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 8, 16 [kHz]

Value after reset 16 [kHz] for JetMove 203-206

8 [kHz] for JetMove 215

Here, the frequency of the output pulse can be altered.

Attention!

Only instructed personnel is to make alterations on the register value.

Jetter AG 91

9 Register Description JetWeb

Function Description

Read Actual DC link voltage

Write Illegal

Value range 0 ... 640 [V]

Value after reset 0 [V]

Here, the latest DC link voltage can be read.

Function Description

Read Actual value of the device temperature

Write Illegal

Value range 1 ... 95 [°C]

Value after reset 0 [°C]

Here, the actual internal temperature of the device can be read.

Function Description

Read Actual value of the ballast load

Write Illegal

Value range 0 ... 100 [%]

Value after reset 0 [%]

Here, the actual load of the internal ballast resistor can be read.

92 Jetter AG

JetMove 2xx at the NANO System Bus 9.6 Amplifier Parameters

Function Description

Read Actual input current

Write Illegal

Value range 0 ... 2,550 [Aeff*100] (The value has got a

decimal factor of 100, which meanst that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [Aeff])

Value after reset 0 [Aeff*100]

The actual input current value of the supply feed can be read out here.

Function Description

Read Actual mains voltage

Write Illegal

Value range 0 ... 460 [Veff]

Value after reset 0 [Veff]

The actual input current value of the supply feed can be read out here.

Function Description

Read Actual value of the board temperature

Write Illegal

Value range 20 ... 75 [°C]

Value after reset 0 [°C]

Here, the actual temperature of the controller board can be read.

Jetter AG 93

9 Register Description JetWeb

Function Description

Read Actual access authorization

Write Specify new access authorization

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0 ... 65,535

Value after reset 0

In this register, access authorization for the register interface is defined. There are two kinds of access authorization:

0 = Standard user access authorization 1 = Expert user access authorization

In order to specify expert user access authorization, a respective code must be written into this register. If a new user access authorization has been specified successfully, the respective number, as quoted above, will be read out. Certain registers can only be modified, if the user has got the expert access authorization. If for changing the value of a register expert user access authorization is needed, this will be pointed out in the register description.

Assigning access authorization is a safety precaution for the protection of persons and assets.

system

Function Description

Read Value of the actual revision state

Write Illegal

Value range 0 ... 9,999

Value after reset Dependent on the revision state

From here, the new number of the operating system software revision can be read out. Interpreting the value:

0 = The revision has been released officially

1 ... 9,999 = Beta revision 1 ... 9,999

94 Jetter AG

JetMove 2xx at the NANO System Bus 9.7 Motor Parameters

9.7 Motor Parameters

Function Description

Read Value of the actual offset

Write New value of the offset

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range -18,000 ... 18,000 [°*100] (The value has got a

decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [°])

Value after reset 0 [°*100]

Here, the commutating offset of the motor will be specified. This machine parameter has been reserved for special applications. If required, the parameter is defined by the manufacturer.

Function Description

Read Value of the present resolution

Write Illegal

Value range 4,096 ... 32,768 [Incr./rev.]

Value after reset Dependent on the connected encoder

This register specifies the internal resolution of a revolution in increments per revolution. This value is dependent on the connected encoder. See register 577 "Encoder type"

Jetter AG 95

9 Register Description JetWeb

Function Description

Read Actual pole pair number

Write New pole pair number

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 1 ... 12

Value after reset 3

Here, the pole pair number of the motor is entered. This can be taken from the motor parameters. For Jetter motors, the pole pair number usually is 3. This is also the default value.

Function Description

Read Value of the actual voltage constant

Write New value of the voltage constant

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0 ... 120 [V*min/1,000]

Value after reset 0 [V*min/1,000]

Here, the voltage constant of the motor is entered. The value of the voltage constant can be taken from the motor parameters. The voltage constant of the Jetter motor has also been specified on the nameplate: Jetter motors of the type JL3-300-25-3 have got a voltage constant of 25 V*min/ 1,000.

If highly dynamic drives are used, this parameter should be adjusted.

96 Jetter AG

JetMove 2xx at the NANO System Bus 9.7 Motor Parameters

Function Description

Read Actual delay time

Write New delay time

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0 ... 65,535 [ms]

Value after reset 0 [ms]

Only for motors equipped with a brake. Here, the delay time is specified which passes (after issuing a command, e.g. command 1 "Activate output stage"), until the brake has really been released. When this time has passed, the brake is in the "Brake has been released" state. Not before this time has expired, the axis will be controlled. The delay time can differ between various manufacturers or motor types.

Attention!

The predefined value of this parameter may only be altered by experienced users.

The following commands have an impact on releasing the brake:

• Issuing command 1 - The brake is released.

• Setting bit 0 in register 574 "Control word 2" - brake is released.

Jetter AG 97

9 Register Description JetWeb

Delay time at releasing the brake

0 ms (default setting)

Release control

To rq u e

Brake

Force (at the brake)

releasing

locking

Delay time at locking the brake

100 ms (default setting)

Fig. 23: Delay time of the motor brake control

Function Description

Read Actual delay time

Write New delay time

Amplifier status The amplifier must be deactivated

Validity Immediately

Value range 0 ... 65,535 [ms]

Value after reset 100 [ms]

Only for motors equipped with a brake:

Here, the delay time is specified which passes (after issuing a command, e.g. command 2 "Deactivate output stage"), until the brake has really been locked. When this time has passed, the brake is in the "Brake has been locked" state.

Up to then, the axis will still be controlled.

The delay time can differ between various manufacturers or motor types.

The following commands have an impact on locking the brake:

• Issuing command 2 - The brake is locked

• Resetting bit 0 in register 574 "Control word 2" - the brake is locked

98 Jetter AG

JetMove 2xx at the NANO System Bus 9.7 Motor Parameters

Please also see the time diagram in the manual referring to register 547 "Delay time at releasing the motor brake".

Function Description

Read Actual motor temperature

Write Illegal

Value range 1 ... 155 [°C]

Value after reset 0 [°C]

If a motor with temperature switch is used, 1 °C is displayed for the "locked" state, while 155 °C is displayed for the "released" state.

Jetter AG 99

9 Register Description JetWeb

/+180

Function Description

Read Actual position of the shaft

Write Illegal

Value range -18,000 ... 18,000 [°*100] (The value has got a

decimal factor of 100, which means that the two least significant decimal positions of the integer value are the decimal positions for standardizing the value to have the internal unit [°])

Value after reset 0 [°*100]

The present position of the motor shaft can be read out by means of this parameter.

0°

-90°

Fig. 24: Shaft position

+90°

Function Description

Read Actual encoder type

Write Illegal

Value range 1 ... 3

Value after reset Dependent on the connected encoder

By means of this parameter, the encoder type of the connected motor can be specified:

1 = Resolver 2 = HIPERFACE SRS50 (Singleturn) 3 = HIPERFACE SRM50 (Multiturn)

100 Jetter AG

Jetter JetMove 200 Series User Information

Specifications and Main Features

Frequently Asked Questions

User Manual

JetMove 2xx

JetMove 2xx at the NANO System Bus 1.1 Product Description

1.2 System Requirements

JetMove 2xx at the NANO System Bus 2.1 NANO-B/C/D

2 Register Numbering

JetMove 2xx at the NANO System Bus 3.1 Decimal Positions

3 Information on Parameter Values

3.2 Decimal Positions in Position Values

4 Brake

JetMove 2xx at the NANO System Bus 5.1 Step 1: Motor Settings

5 Axis Setup

5.2 Step 2: Settings of the Current Control

JetMove 2xx at the NANO System Bus 5.3 Step 3: Axis Definition

6 Referencing

6.1 Control Mode

6.2 Starting the Reference Run

6.3 Interrupting the Reference Run

6.4 Status Information

JetMove 2xx at the NANO System Bus 6.5 Axis Type

6.6 Modes of Referencing

6.7 Settings of Speed

6.8 Speed Reversal

JetMove 2xx at the NANO System Bus 6.9 Reference Position

6.10 Setting the Specifically Defined Reference Position

6.11 Referencing by Means of Zero Pulse ("Zero Mark") Only

6.12 Referencing by Means of Reference and Limit Switch

6.12.1 Positive direction

6.12.2 Negative direction

6.13 Referencing by only One Limit Switch

JetMove 2xx at the NANO System Bus 6.14 Referencing by Reference Switch Only

JetMove 2xx at the NANO System Bus 7.1 Endless Positioning

7 Positioning

8 Oscilloscope Function

JetMove 2xx at the NANO System Bus 9.1 Control Parameters

9 Register Description

9.2 Diagnose Parameters

9.3 Positioning Parameters

JetMove 2xx at the NANO System Bus 9.4 Referencing - Parameters

JetMove 2xx at the NANO System Bus 9.5 Axis Parameters

9.6 Amplifier Parameters

JetMove 2xx at the NANO System Bus 9.7 Motor Parameters