Lenord, Bauer GEL 8310, GEL 8610 Operating Manual

 Copyright 12/97 by Lenord, Bauer & Co. GmbH Subject to change without notice

Operating Manual

Positioning Controller

GEL 8310 / 8610

GEL 8610 for 1…6-axis applications

GEL 8310 for 1…3-axis

applications

Lenord, Bauer & Co. GmbH
Dohlenstraße 32
D-46145 Oberhausen
Telefon [phone] • Fax [phone]
Internet: http://www.lenord.de • E-Mail: [e-mail]

OPERATING MANUAL GEL 8310/8610 – CONTENTS

8310/8610-8 i

Introduction 1

1.1 General safety instructions......................................................................1-1

1.2 Designated use .......................................................................................1-3

1.3 Guarantee, liability and copyright............................................................1-3

1.4 Information on this manual......................................................................1-4

1.5 Characteristics of the Controller GEL 8310/8610....................................1-6

Operational Controls 2

2.1 Basic keyboard........................................................................................2-1

2.2 Additional keyboard of the GEL 8610......................................................2-2

2.3 Function key combinations......................................................................2-3

Operating Modes and States 3

3.1 Automatic mode ......................................................................................3-2

3.1.1 Functions.................................................................................................3-4

3.1.2 Displays in the start and stop state .........................................................3-8

3.2 Programming mode for nominal values...................................................3-9

3.2.1 Functions...............................................................................................3-10

3.2.2 Programming example ..........................................................................3-14

3.3 Programming mode for machine parameters........................................3-15

3.3.1 Functions...............................................................................................3-16

3.3.2 Programming example ..........................................................................3-18

Functional Descriptions 4

4.1 Definitions................................................................................................ 4-1

4.1.1 Actual unit of measurement.....................................................................4-1

4.1.2 Display units (DispU)...............................................................................4-1

4.1.3 Count direction........................................................................................ 4-1

4.2 Speed rates.............................................................................................4-3

4.3 Continuous sentence processing (positioning without stop).................... 4-6

4.4 Drive control............................................................................................4-7

4.4.1 Principle of regulation..............................................................................4-7

4.4.2 Positioning characteristic.........................................................................4-8

4.5 Signals.....................................................................................................4-9

4.5.1 ‘Sense’.....................................................................................................4-9

4.5.2 ‘Fault’.......................................................................................................4-9

4.5.3 ‘Zero Delta_s’........................................................................................4-10

4.5.4 Drive control signals..............................................................................4-10

4.5.5 Program processing signals..................................................................4-11

OPERATING MANUAL GEL 8310/8610 – CONTENTS

ii 8310/8610-8

4.5.6 Range signals........................................................................................4-12

Absolute ranges ..................................................................................4-13

Relative ranges ...................................................................................4-13

Drive signals........................................................................................4-14

4.5.7 Display of the signal status....................................................................4-17

4.6 Reference measure...............................................................................4-20

4.6.1 Setting of the reference measure when positioning the drive................4-20

4.6.2 Automatic reference search routine.......................................................4-21

4.7 Correction value....................................................................................4-23

4.8 Rotary table positioning.........................................................................4-24

4.9 Parking..................................................................................................4-26

4.10 External data input/output (option)........................................................4-27

4.10.1 Data input..............................................................................................4-27

4.10.2 Data output............................................................................................4-28

4.11 Limit switches........................................................................................4-31

4.11.1 Software limit switches and input monitoring.........................................4-31

4.11.2 Hardware limit switch (option) ...............................................................4-32

4.12 Clock (option).......................................................................................4-34

4.13 Linear path control................................................................................. 4-36

4.14 Program flow instructions......................................................................4-39

4.14.1 Call subroutine (CALL Pr.).....................................................................4-40

4.14.2 Jump instructions (JUMP Pr., JMP sent)...............................................4-41

4.14.3 Signal-dependent branching (IF l/O) .....................................................4-42

4.14.4 Examples...............................................................................................4-43

4.15 Coordinates offset.................................................................................4-46

Commissioning 5

5.1 Standard settings ....................................................................................5-2

5.2 Actual value adjustment..........................................................................5-3

5.2.1 Incremental encoders..............................................................................5-3

5.2.2 Absolute encoders...................................................................................5-3

5.3 Preparations for displacing the drive.......................................................5-6

5.4 Count direction and voltage polarity........................................................5-8

5.5 Minimum voltages .................................................................................5-10

5.6 Optimization of control parameters........................................................5-11

5.6.1 Maximum speed....................................................................................5-11

5.6.2 Control factor.........................................................................................5-12

5.6.3 Accelerating/braking times ....................................................................5-12

5.6.4 Jerk time................................................................................................5-14

5.7 Controller configuration .........................................................................5-15

OPERATING MANUAL GEL 8310/8610 – CONTENTS

8310/8610-8 iii

Trouble shooting 6

6.1 Warning and error messages..................................................................6-1

6.2 Fault memory ........................................................................................6-12

Mounting instructions 7

7.1 Cable connections...................................................................................7-1

7.2 EMC measures........................................................................................7-1

7.3 Replacing modules..................................................................................7-4

7.3.1 Disassembly............................................................................................7-4

7.3.2 Assembly.................................................................................................7-5

7.4 Replacing an EPROM.............................................................................7-7

7.4.1 PLCC EPROM.........................................................................................7-7

7.4.2 DIL-EPROM ............................................................................................ 7-8

Storage locations for machine parameters Appendix A

Overview of the storage locations....................................................................... A-1

Parameter format................................................................................................ A-4

Explanations on the representation used............................................................A-4

1. System parameters (1st level)........................................................................A-5

2. Unit parameters (2nd level)...........................................................................A-11

3. Axis parameters (3rd level)...........................................................................A-19

Pin Layout Appendix B

Connector designations ...................................................................................... B-1

Terminal strip coding...........................................................................................B-2

Module arrangement of the GEL 8310 (back of the Controller) ......................... B-3

Module arrangement of the GEL 8610 (back of the Controller) ......................... B-4

Connection diagrams..........................................................................................B-5

Terminal strip N (power supply)................................................................... B-5

Terminal strip P (control inputs/outputs)...................................................... B-6

Terminal strips C/Z (count input for incremental encoders)......................... B-7

Terminal strips W/Y (input for absolute encoders, parallel) .........................B-8

Terminal strip S (input for absolute encoders, SSI)..................................... B-9

Terminal strip D (analog outputs)............................................................... B-10

Connector E (data input)............................................................................ B-11

Connector A (data output: logic outputs)................................................... B-12

Terminal strip L (data output: power outputs)............................................ B-13

Terminal strip R (data output: contact outputs).......................................... B-14

Terminal strip/Connector V (serial interfaces)............................................ B-15

Connector U (intelligent interface RS485: PROFIBUS)............................. B-16

Connector T (intelligent interface RS485: special protocols)..................... B-16

OPERATING MANUAL GEL 8310/8610 – CONTENTS

iv 8310/8610-8

Specifications Appendix C

Operational data .................................................................................................C-1

Dimensions ......................................................................................................... C-4

Types and coding................................................................................................C-8

Accessories.......................................................................................................C-11

Options..............................................................................................................C-11

Extensions, modifications, corrections, etc. Appendix D, E, …

available only if required

Options Appendix O

the content depends on the inserted option(s)

Forms Appendix Y

variable content

Update Information Appendix Z

please collect here the cover sheets of the updates supplied (corrections etc.)

INTRODUCTION 1-1

8310/8610-8

1 Introduction

1.1 General safety instructions

▲ The Controllers GEL 8310/8610 have been built according to state-of-the-

art-technique and in compliance with valid safety regulations. However,
upon using them it might happen that there will be the danger of injury for
the user or other persons resp. damages to the Controller itself or other
material assets. Do use the Controller only

− for the designated use (see section 1.2)

− in perfect technical condition.

In order to maintain this condition and to ensure operation free from danger,

installation, wiring and service work should be carried out only by qualified

specialists

1

, under observance of the relevant accident prevention, safety

guidelines and information in the product documentation.

▲ If through a failure or fault of the Controller an endangering of persons or

damage to plant is possible, this must be prevented using additional safety

measures (E-STOP, limit switches etc.). These must remain operational in
all Controller operating modes, so that through disengaging of the safety
features no uncontrolled re-start of the controlled machine is possible.

▲ If danger-free operation can no longer be ensured, the Controller should

be taken out of commission and secured against accidental operation.

▲ When servicing make sure that there is no voltage supplied to the whole

controller, i.e. including the built in module cards. This applies, in particular,
to relay cards used which are operated at high voltages (up to 240 VAC)!
When changing modules ensure that good earthing has been performed in
the environment to avoid electrostatic charges.

▲ Necessary repairs to the Controller are only to be carried out by

LENORD+BAUER or a specifically authorised agent.

Note

: Some of the auxiliary voltage outputs on several modules are

equipped with self-resetting thermal fuses (PTC overload protection,
see appendix B). In case of release, switch off the voltage supply for
approx. 20 seconds.

1

These are persons, who

− in respect of the project are familiar with the safety concepts of automation technology,

− are experienced in the area of EMC,

− have received training in relation to installation and service work,

− are familiar with the operation of the unit and know the pertinent product information contained to

ensure faultless and safe operation.

1-2 INTRODUCTION

8310/8610-8

Concerning the auxiliary voltages, please read the instructions at the
beginning of the section ‘Connection diagrams’ in appendix B.

▲ The operating data tolerances for the supply voltage stated in appendix C

must be strictly observed, since otherwise Controller functions might fail
causing dangerous situations (the mains failure monitoring system in the
Controller reacts and a started programme might possibly not be continued
properly). If required, provide for an E-STOP circuit reacting to this.

▲ Prior to start carrying out any positioning procedures using the Controller,

it is imperative that you read section 4.1.3 and the instructions on
commissioning supplied in chapter 5 (especially sections 5.3 and 5.4).

▲ Further special information on danger causing injury or material damages

and any other information are marked in this manual by special symbols:

DA NG ER

This symbol denotes an imminent danger to life and health of persons.

Should you ignore these warnings severe damages to health or even life­threatening injuries might be the consequence.

WA RNI NG

Symbolises a possible danger for life and health of a person.

Should you ignore these warnings severe damages to health or even life­threatening injuries might be the consequence – or may cause severe
material damages.

CA UTI ON

This symbol denotes a possibly dangerous situation.

Should you ignore these warnings slight injuries or material damages
might be the consequence.

AT TE NTI ON

This symbol denotes in general critical situations or possible material
damages.

,

Where you see this symbol you will be supplied important information for
the proper handling of the Controller.

Should you ignore this information a malfunction might occur in the
Controller or the machines connected with the Controller..

Ti p

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

INTRODUCTION 1-3

8310/8610-8

1.2 Designated use

The Controllers type GEL 8310 and GEL 8610 are designated to control and
regulate drives in industrial and commercial areas. They may only be operated
in built-in condition.

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

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

A differing or exceeding use is deemed not designated. In such cases L

ENORD,

B

AUER & CO. GMBH does not accept any responsibility for damages.

1.3 Guarantee, liability and copyright

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

• implementation of the Controller outside the designated use

• inappropriate mounting, installation and operation of the Controller

• operation of the Controller in conjunction with defective or non functional

safety equipment in the system

• ignoring the instructions in the user manual with regard to storage, mount­ing, installation and operation of the Controller

• arbitrary build changes to the Controller

• improper repairs

• catastrophes due to foreign bodies and higher forces

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

Copyright for this user manual remains with L

ENORD, BAUER & CO. GMBH.

The user manual is meant for use only by the user or system builder as well as
their employees. The instructions, guidelines and other information contained
are not to be reproduced, distributed or otherwise imparted.

Violations can result in criminal prosecutions.

1-4 INTRODUCTION

8310/8610-8

1.4 Information on this manual

& This manual is applicable to controllers with the standard software

version 14.00 and higher

Appendix Z supplies information as to whether the software was updated

(see also the last item of this section).

Does a Controller not comply with the indicated version, the contents may not be
regarded as binding. We cannot assume any liability for any malfunction result­ing thereof and its consequences.

& Due to the Controller’s universality and the multitude of its functions the

user manual becomes automatically more extensive, since all possible
versions and variations must be considered.

The concept of the present manual is based on selective reading, i.e., you

are not supposed to completely study each chapter in order to be able to
use the Controller most efficiently. This is the reason why – because of the
absence of an index – the table of contents at the beginning of the manual
and of each chapter is very detailed thus facilitating the search for a
specific information.

Optional functions are marked as such so that you may ignore this infor-

mation right from the start, if your Controller is not equipped with these
special functions.

For orientation purposes, the individual chapters are briefly described

below:
➧ chapter 1

: Safety instructions and general information

To be studied by all means!

➧ chapter 2: Brief description survey chart of the operating elements

should you operate the Controller via the optional PC program BB8110,
please refer to the respective manual which is supplied separately

➧ chapter 3: Survey and description of possible modes and states of

operation of the Controller as well as the corresponding applicable
functions and keys

provides important information especially for familiarizing purposes

➧ chapter 4: Detailed functional descriptions

is first and foremost intended to serve as a kind of ‘reference book’;
however, do not fail to read the first section ‘Definitions’

INTRODUCTION 1-5

8310/8610-8

➧ chapter 5: How to commission the Controllers

though there are quite a number of techniques for the commissioning of
the Controller depending on individual experiences, please do not fail to
consider the information supplied in this chapter

➧ chapter 6: The most important warning and error messages shown in form

of a chart indicating causes and how to put things right (option messages
are mentioned where they are described: appendix O)

➧ chapter 7

: Instructions on performing cable connections, exchanging

PCBs (modules) and replacing an EPROM

please note in particular the EMC-relevant measures

➧ appendix A: A list of all storage locations for machine parameters includ-

ing brief descriptions – in tabular form

this survey might be sufficient for the experienced user for programming
the Controller

➧ appendix B: Information on the different Controller modules and their pin

layout

➧ appendix C

: Technical data, dimensioned drawings and type codes

➧ appendix D, E, ...

: Descriptions of software upgrades or modifications

(only available, if required)

➧ appendix O

: Description(s) of employed, i.e. implemented options such as

‘circular interpolation’ or ‘synchronisation control’ (GEL 8910.xxxx)

➧ appendix Y

: A collection of forms and supplementary sheets (if required)

➧ appendix Z

: A collection of updating sheets for software upgrades or

necessary corrections (if available; see also last point of this paragraph)

& In general, the information given in this operating manual refers to

positioning controllers with a maximum possible number of axes (3 axes
for the GEL 8310 or 6 axes for the GEL 8610, respectively). If equipment
with less axes is used, mind the respective restrictions in the designs (e.g.
for the programming of machine parameters in appendix A).

& In case of terminal designations (e.g. Z8) the letter denotes the terminal

strip or connector and the number the pertaining terminal or pin (see
appendix B). If several identical connectors exist, an index is added
between the letter and the terminal no. (e.g. A

210 for pin 10 of the 2nd

connector A [A

2]). If not expressly mentioned, all data listed apply to the

standard device resp. the standard pin layout of the GEL 8310/8610.

1-6 INTRODUCTION

8310/8610-8

& Numbers of storage locations of machine parameters do have a prefix

referring to the respective parameter plane (see appendix A):

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

3/x = axis parameter x

& A ‘x’ or ‘X’ in a numerical expression represents any numeral from the

admissible range of values for this expression (example: GEL 8x10 =
GEL 8310 and/or GEL 8610).

& Texts printed in

italics

normally describe input or output signals at the

terminal strips (see appendix B).

& If functions are added, which normally means that the software version

will be given a new number, new descriptions will either be attached in form
of exchange sheets or as separate annexes (appendix D and following). In
both cases, and also if corrections become necessary, an updating sheet
will be supplied to be added to appendix Z in order to inform about the
current software state of the manual.

1.5 Characteristics of the Controller GEL 8310/8610

❍ The menu oriented operating/programming is performed using plain text

either via

− the keyboard of the Controller or

− the optional PC program BB8110

❍ single drives (axes) may be controlled separately or together as a so-called

unit

❍ exact, dynamic close-loop control with speed pre-control
❍ very short control sampling time of 1 ms per connected axis
❍ path control is possible (optional with circular interpolation)
❍ sequential storage of malfunctions
❍ sentence structure (nominal value types) can be set differently for each unit

(combination of axes); see para. 3.2

❍ all storage locations are protected against mains failure (EEPROM with a

warranted service life of 10 years or 10,000 rewrites)

❍ possible data storage on an external data carrier (memory card, option)
❍ optional extension of functions, e.g. synchronisation control or control for a

flying saw

❍ maintenance-free (clean the housing with a wet cloth)

INTRODUCTION 1-7

8310/8610-8

The following picture shows the basic structure of a 3-axes positioning device
with the GEL 8310 Controller and incremental encoders, including the possible
input and output signals.
Depending on the software version available and the extension of functions
other signals as well might be available. For further information, please refer to
the pin layout in appendix B, the description of possible options (Annex O), or
to possibly existing upgrading annexes (appendix D, E, ...).

axis 3
axis 2
axis 1

3

3

3

3

3

3

3

(3)

start
stop

reset

search for reference

reversing switch

reference coarse

reference fine

reference2/1
zero Delta_s

keyboard lock

sense (5 V encoder supply)

actual pos. = nominal pos.
reference pos. reached
forward
reverse
cancel controller lock
release brake

encoder supply (5/20 V)
aux. voltage for signals (20 V)

fault

GEL 8310

positioning

controller

3

3

3

3

3

3

3

opt. module(s)

for data input

opt. module(s)
for data output

data/signals (programmable)data

/signals

(programmable)

E1831014

INTRODUCTION 1

8310/8610-8 i

1 Introduction............................................................................. 1-1

1.1 General safety instructions................................................................. 1-1

1.2 Designated use................................................................................... 1-3

1.3 Guarantee, liability and copyright....................................................... 1-3

1.4 Information on this manual................................................................. 1-4

1.5 Characteristics of the Controller GEL 8310/8610............................... 1-6

OPERATIONAL CONTROLS 2-1

8310/8610-8

2 Operational Controls

2.1 Basic keyboard

1

2

4

3

5

6

11

10

9

8

7

X1830055

1 Display A: actual value counter,

displays the input of nominal values
and machine data

2 Display B: active operating para-

meters, plain text

3 Display C: nominal/actual values,

plain text

4 ESCAPE key: cancel a function and

return to the next higher functional
level

5 Function keys: activation of a certain

function in combination with another
key (see section 2.3)

6 Slot for memory card (option): to

read or write operating data

7 Data keys: to input values in the

programming mode

8 ENTER key: storing of an entered

value or operating function, confirming
messages of the Controller

9 FORWARD cursor key: scrolling

forward through value and function
lists

10 REVERSE cursor key: scrolling

reverse through value and function
lists

11 CLEAR key: resetting of a pro-

grammed or entered value to zero

2-2 OPERATIONAL CONTROLS

8310/8610-8

2.2 Additional keyboard of the GEL 8610

G

A

M

S

Y

B

H

N

T

Z

C

I

O

U

Ä

D

J

P

V

Ö

E

K

Q

W

Ü

*

X

R

L

F

a b

X1860055

A, G function keys (reserved)
B switch on TEACH-IN operation
C copy sentence(s)
D, E jump to the beginning/end of the

program

F delete program (with security

inquiry)
H incremental dimensions
I absolute dimensions
J continuous sentence processing
K define the end of program
L delete sentence
M programming mode for nominal

values
N select unit
O, P increment/decrement axis no.
Q inquire date&time of error

occurrence (option)
R insert sentence

S automatic mode
T, U enter/search reference measure
V enter correction value
W call up fault memory
X, * go to the beginning of the

next/previous sentence

Y manual operation (in combination

with [Z], [Ä], [Ö], [Ü], [ ])
Z, Ä fast/slow speed reverse
Ö, Ü slow/fast speed forward

SHIFT switch-over to capital letters for

plain text input

output

actual=nominal

signal;
blank character for plain text
input

§, ©

read/write memory card; cursor
left/right for plain text input

a

store and go to next nominal
value of same type

b

store; confirm messages

OPERATIONAL CONTROLS 2-3

8310/8610-8

2.3 Function key combinations

The key combinations listed below are related to the Controller standard
version (valid at the time of printing of this manual). If there are one or more
functional options inserted in the Controller you will find more information in the
special description of the option (appendix O).

More detailed information on the listed functions and the key equivalents of the
GEL 8610 you will find in chapter 3.

%

mode

1

function

–

M increment variant

.

A display time (with serial interface with clock only)

0

A list stored faults

1

A enter a reference value

1

N absolute coordinates offset

2

N relative coordinates offset

2

A search for reference

3

A enter correction value

4

A enter value of park position

9

N

Teach-in operation ON (

` = OFF)

^

A slow speed reverse

!

A slow speed forward

^

N beginning of previous sentence

!

N beginning of next sentence

;

N store and go to the next nominal value of the same type

&

mode

1

function

0

N, M return to automatic mode

0

A enter the programming mode for nominal values

1

A enter the programming mode for machine parameters

8

M copy axis parameters

1

valid mode: A = automatic mode, N = programming mode for nominal values;

M = programming mode for machine parameters

2-4 OPERATIONAL CONTROLS

8310/8610-8

&

mode

1

function

^

A fast speed reverse

!

A fast speed forward

;

A write to memory card (option)

°

mode

1

function

–

M decrement variant

.

A display number of actual software version

$

A display signal states (password 9320)

0

A select unit for display

0

N

floating or fixed zero processing (position ↔ length)

0

N continuous sentence processing (speed)

1

A select program

1

N program flow instruction »CALL Pr.«

2

N program flow instruction »JUMP Pr.«

3

N program flow instruction »JMP Sent«

4

N program flow instruction »IF I/O«

7

M, N clear memory, delete unit or program

8

N copy sentences

9

N define the end of program

#

N delete sentence

^

A decrement axis for display (within the unit)

!

A increment axis for display (within the unit)

^

N jump to the beginning of program

!

N jump to the end of program

;

N insert sentence

;

A read memory card (option)

1

valid mode: A = automatic mode, N = programming mode for nominal values;

M = programming mode for machine parameters

OPERATIONAL CONTROLS 2

8310/8610-8 i

2 Operational Controls.............................................................. 2-1

2.1 Basic keyboard................................................................................... 2-1

2.2 Additional keyboard of the GEL 8610................................................. 2-2

2.3 Function key combinations................................................................. 2-3

OPERATING MODES AND STATES 3-1

8310/8610-8

3 Operating Modes and States

The Controller is designed for three operating modes and three operating
states:

❏

Automatic mode

• started state

• interrupted state (stop)

• reset state

❏

Programming mode for nominal values

❏

Programming mode for machine parameters

password

password

system

storage

no.

parameter 1
parameter 2
parameter 3

unit

program

sentence

AUTOMATIC MODE

PROGRAMMING MODE

FOR NOMINAL VALUES

program p

sent. x

sent. y

program n

nominal value

1

nominal value

2

end of program

nominal value 1
nominal value 2

axis 1...6

unit 1...6

storage

no.

parameter 1
parameter 2
parameter 3

parameter x

storage

no.

parameter 1
parameter 2
parameter 3

plane 1 plane 2 plane 3

n

x

3 x 1

PROGRAMMING MODE

FOR MACHINE PARAMETERS

E180078A

3-2

3.1 Automatic mode

OPERATING MODES AND STATES

8310/8610-8

3.1 Automatic mode

This is the

normal

operating mode of the Controller. The nominal/actual values
of the active sentence may be read in displays B and C by pressing the cursor
keys

! and ^ (refer to section 3.1.2).

If display B only shows a point the power supply falls short of one of the mini­mum values specified at the operational data in appendix C.

The 3 possible operating states can be activated separately for each con­figured unit through appropriate signals at terminal strip P or via the serial inter­face (PC program BB8110).

Started state

In this state a defined nominal value program is processed.
Precondition

: • High level is applied at the /stop input of the respective

unit (terminal P4/P7/P10)

• Low level is applied at the reset input of the respective unit

(terminal P5/P8/P11)

Activation

: • positive signal edge at start input P3/P6/P9

• via a serial interface

With each further start signal the next sentence of the program or another
piece will be processed.

Within the started state further start signals may also be generated auto­matically i.

e. internally:

• with continuous sentence processing (cf. section 4.3)

• with program flow instructions or coordinates offset (cf. sections 4.14 and

4.15)

• after a preset time has elapsed after the

actual=nominal

signal

− identically for all sentences within the unit (cf. storage location 2/10)

− differently for individual sentences within the unit (nominal value preset,

cf. storage location 2/1)

Standard display

:

active sentence

program

axis

nominal position/length

actual position/length

E180077D

C

B

A

OPERATING MODES AND STATES

3.1 Automatic mode

3-3

8310/8610-8

Interrupted state (stop)

Here the program processing was stopped (temporarily) and can be resumed
by the next start signal. The sentence number shown in display B flashes.

Activation

: • Low level at /stop input P4/P7/P10

• maximum permissible trailing distance has been exceeded (cf.

storage locations 3/42 and 3/43 in appendix A) or a limit switch
has triggered (cf. section 4.11); then, additionally, the

/fault

signal is active and the separation points in display B are
flashing (cf. section 4.5.2)

• via a serial interface

Reset state

In this state several direct entries or an automatic search routine may be
performed (described in the following section). Only if the Controller is in the
reset state for all units

, data can be read from the optional memory card.

Activation

: • High level at reset input P5/P8/P11

• selecting a storage location in the programming mode of

machine parameters

• via a serial interface

Standard display

:

axis output voltage

actual position/length

program

E180077I

C

B

A

program selection via keyboard

axis output voltage

actual position/length

E180077E

C

B

A

program selection via data input module

Instead of the output voltage, the contouring error or the actual positions of the
other axis (axes) may be displayed, depending on which display mode has
been selected in the reset state before.

3-4

3.1 Automatic mode

OPERATING MODES AND STATES

8310/8610-8

3.1.1 Functions

The following keys and key combinations are available in the automatic mode
to call up certain functions:

^, !

Scroll the different actual/nominal values in displays B and C
(refer to section 3.1.2);
the number of possibilities is determined by the programming
of the machine parameters for the respective unit (sentence
structure)

`

Reset display B to standard display ('axis.program.sentence'),
display C does not change;

once a cursor key is pressed, display B will show again the
identification text of the value displayed in C (cf. section 3.1.2)

°+1

Select a program (only possible in the reset state and if the
appropriate unit parameter 2/6 = 0, »keyboard«)

°+0
N

Select a unit for the display;
if the unit includes more than one axis the one with the lowest

number will be shown; by means of the following two functions,
the desired axis can then be select

°+!
O

Select an axis for the display: increment axis within the
active unit (only possible if the unit includes more than one
axis)

°+^
P

Select an axis for the display: decrement axis within the
active unit (only possible if the unit includes more than one
axis)

&+0
M

Change into the programming mode for nominal values;
abort with

`

&+1

Change into the programming mode for machine parameters;
abort with

`; password: 9228

OPERATING MODES AND STATES

3.1 Automatic mode

3-5

8310/8610-8

%+1
T

Direct entry of a reference value for an axis to be selected
(only possible in the reset state and if the machine parameter
3/9 of that axis has been programmed accordingly, cf. section

4.6);
abort with

`; the value becomes active with the next start

signal

%+2
U

Start a reference search routine for an axis to be selected
(only possible in the reset state and if the machine parameters
3/9 and 3/11 of that axis have been programmed accordingly;
additionally, High level must to be applied at /stop input
P4/7/10; refer also to section 4.6.2)

%+3
V

Direct entry of a correction value for an axis to be selected
(only possible in the reset state and if the machine parameter
3/7 of that axis has been programmed accordingly; refer also to
section 4.7);

abort with

`; the value becomes active with the next start

signal

%+4

Direct entry of the park position for an axis to be selected
(only possible in the reset state and if the machine parameters
3/56 and 3/57 of that axis have been programmed accordingly;
refer also to section 4.9);

abort with

`; the value becomes active with the next start

signal

°+$

Display the signal states (cf. section 4.5.7);
password: 9320

%+0
W

Display of stored fault message(s);
abort with

`, scroll with the cursor keys, delete message with

;; cf. section 6.2

3-6

3.1 Automatic mode

OPERATING MODES AND STATES

8310/8610-8

°+.

Display the actual software version (this is possible in all
states of the automatic mode);

example:
a) with standard software b) with special software

basic device GEL 8610 for 5 axes at max.

code for software options standard version

as before

number of special software

E180077J

examples for software options (cf. appendix C):

Op x1 : transmission protocol LB2
Op x2 : transmission protocols LB2 + GEL 131
Op 1x : circular interpolation
Op 2x : synchro control

%+.
Q

Display of date/time (only with serial interface – module V –
with integrated real time clock);

abort with

`; cf. section 4.12

&+;
>

Write data to memory card (option): storing of operating and
machine parameters (with security inquiry, refer also to storage
location 1/6 (GEL 8310) or 1/9 (GEL 8610), respectively)

°+;
<

Read data from memory card (option): loading of operating
and machine parameters (only possible if the Controller is in
the reset state for all

units and the card has at least already

once been written, with security inquiry)

%+!
Y+Ö

Manual operation: slow speed forward (only possible in the
interrupted or reset state of the automatic mode and during
teach-in operation; cf. storage locations 3/18...24);

as this is an axis function, the axis to be controlled first has to
be displayed (see further above:

°+0 and °+!/^);

High level must to be applied at the /stop input for the
respective axis (P4/P7/P10)

&+!
Y+Ü

Manual operation: fast speed forward
(see explanations of slow speed forward)

OPERATING MODES AND STATES

3.1 Automatic mode

3-7

8310/8610-8

%+^
Y+Ä

Manual operation: slow speed reverse
(see explanations of slow speed forward)

&+^
Y+Z

Manual operation: fast speed reverse
(see explanations of slow speed forward)

Y+_

Manual preset of the signal

actual = nominal

(P27/P28/P29);

as this is an axis function, the axis to be controlled first has to
be displayed (see further above:

°+0 and °+!/^)

3-8

3.1 Automatic mode

OPERATING MODES AND STATES

8310/8610-8

3.1.2 Displays in the start and stop state

E180062A

standard display
display B: axis.program.sentence
display C: position/length nom. value

nominal position/length
variance of position/length

nominal number of pieces

1

actual number of pieces

1

variance of number of pieces

1

machine functions

1

nominal speed rate

1

identification text for the selected axis
(GEL 8310: input only via serial inter­face)

1

under preparation

voltage at analogue output

2

standard tolerance of position,
contouring error

2

nominal cycles

actual cycles
variance of the cycles

act. values of 3 connected axes (here:
display A = axis 2, display C = axis 3,
display B = axis 1)

2

1

These parameters can only be selected if the appropriate types of nominal values have
been activated at the unit parameters, i.e., if they are part of a sentence.

2

These parameters can also be selected in the reset state.

OPERATING MODES AND STATES

3.2 Progr. mode for nominal values

3-9

8310/8610-8

3.2 Programming mode for nominal values

In this mode the position and control data required for the operation of the
installation can be entered..

The programming mode can be protected against unauthorised data access by
fixing a password (refer to appendix A, system parameters).

Display format

:

sentence number

program number

nominal value

(here: position of axis 1)

input value (here: nominal position)

E180077F

C

B

A

Memory structure

The maximum of 7168 (GEL 8310) or 6416 (GEL 8610) storage locations for
nominal values available can be devided at will up to 3 / 6 units, 99 programs
per unit and 999 sentences per program.

Units are composed of up to 3 / 6 axes (to be determined via the system
parameters, see appendix A) and have a common start, stop, and reset input
each for the combined axes.

Each program can consist of a different number of sentences. When pro­gramming nominal values the end of program has to be defined after the last
sentence via a special key combination (refer to the following section); it is
handled within the system like an individual sentence which, however, only
contains the number of program runs (cycles) to be set.

If the program shall be extended by some sentences at a later time, these
must be inserted separately or as a group by copying (refer to the following
section 3.2.1) to shift the non-replaceable end of program backwards. On the
other hand, the end of program will be shifted forward if any sentences are
deleted from the program.

The structure of the sentence is fixed separately for each unit (unit para­meters, see appendix A). The following types of nominal values can be part of
a sentence (in the given order):

3-10

3.2 Progr. mode for nominal values

OPERATING MODES AND STATES

8310/8610-8

• position/length for each of the combined axes (compulsory)

• number of pieces (batch counter)

• time for auto start

• machine functions

• speed rate for each of the combined axes

• identification text (for the GEL 8310 only in conjunction with a serial inter-

face) –

under preparation

In addition, a path control can be activated; see section 4.13.
The nominal value type position/length may be replaced by another

parameter:

• program flow instruction or coordinates offset (cf. sections 4.14 and 4.15)

• a parameter depending on the inserted option (e.g. »radius« or »angle« with

the Circular Interpolation option, refer to appendix O)

If the sentence or unit structure is to be changed at a later time, all programs of
this unit will be deleted when you confirm the security inquiry Delete
unit ? with

; (

start

will cause no action then).

3.2.1 Functions

The following keys and key combinations are available in the programming
mode for nominal values to call up certain functions:

&+0
S

Terminate the programming mode of nominal values and
change to automatic mode;

if modifications have been made all program data are stored
automatically (status message in displays B/C: Saving
program); this also applies if the programming mode is left
via

`)

`

Cancel input or leave function and return to the superior
selection level;

when creating a (new) program the security inquiry
Prog.end missed will be issued (if you confirm with

; all entries will be ignored; see °+9 further below)

^, !

Change up/down to the next/previous nominal value (a value
modified before will not be stored)