Jetter JetMove 200 Series Operation manual

Article # 60866113 / Edition 2.03.4 March 2005 / Printed in Germany
JetWeb
JetMove 2xx
at the NANO System Bus
User Information

JetWeb
2Jetter AG
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.
© Copyright 2005 by Jetter AG. All rights reserved.

JetMove 2xx at the NANO System Bus
Jetter AG 3
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: [phone]
Telefax: (+49) 7141/2550-425
E-Mail - Sales: [email protected]
E-Mail - Technical Hotline: [email protected]
Internet address: http://www.jetter.de

JetWeb
4Jetter AG
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

JetMove 2xx at the NANO System Bus
Jetter AG 5
Description of Symbols
Danger
This sign is to indicate a possible impending danger of serious physical damage
or death.
Caution
This sign is to indicate a possible impending danger of light physical damage.
This sign is also to warn you of material damage.
Important!
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
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.

JetWeb
6Jetter AG

JetMove 2xx an NANO-Schnittstelle Inhalt
Jetter AG 7
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

Inhalt JetWeb
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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

JetMove 2xx at the NANO System Bus 1.1 Product Description
Jetter AG 9
TableofContents 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 JX6-
SB-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

1 Introduction JetWeb
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JetMove 2xx at the NANO System Bus 2.1 NANO-B/C/D
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2 Register Numbering
2.1 NANO-B/C/D
The following rules for register numbering apply to the controllers NANO-B, NANO-
C 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
Register Number
0 .. 999
only intelligent
modules will be
counted.
X = max. permitted
amount of intelligent
modules to be
connected to the CPU
(CPU = slot 1)

2 Register Numbering JetWeb
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JetMove 2xx at the NANO System Bus 3.1 Decimal Positions
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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 Aeff ) = 3.25
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.
3.2 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.

3 Information on Parameter Values JetWeb
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JetMove 2xx at the NANO System Bus
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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.

4 Brake JetWeb
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JetMove 2xx at the NANO System Bus 5.1 Step 1: Motor Settings
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5 Axis Setup
5.1 Step 1: Motor Settings
Fig. 1: Motor parameters
Setpoint values Actual values
Operating mode 1:
Bit 0 = Motor brake -
operating mode R540
Motor temperature [°C]
R562
Control word 2:
Bit 0 = Motor brake -
control R574
Position of the motor
shaft [°*100] R565
Delay at closing the
motor brake [ms*100]
R548
Status word 2:
Bit 0 = Motor brake -
position R575
Delay at releasing the
motor brake [ms*100]
R547
Encoder resolution
R117
Operating mode 1:
Bit 4 = Test of the motor
cable R540
Voltage constant
[V*min/1000] R505
Torque constant Kt [Nm/
A*100] R616
Pole pair number
R123
Encoder type
R577

5 Axis Setup JetWeb
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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:
Via control word 2, bit 0, the brake can be controlled the same way as in manual
mode:
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 = 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.
Bit 0: 0 = Lock the brake
1 = Release the brake
Bit 0: 0 = Brake is closed
1 = Brake has been released

JetMove 2xx at the NANO System Bus 5.1 Step 1: Motor Settings
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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:
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.
Bit 4: 0 = Motor cable monitoring is deactivated by default
1 = Motor cable monitoring is activated

5 Axis Setup JetWeb
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5.2 Step 2: Settings of the Current
Control
Fig. 2: Current control
Setpoint
values
Actual values
Continuous rated current
[Aeff*100]
R618
Actual current
[Aeff*100]
R561
Overload factor
R619
Actual current [%]
R620
Current control Kp
R503
Actual torque
[Nm*1000] R621
Current control Tn
R504
Max. output current
[Aeff*100] R502
Current Limitation [Aeff*100]
R127
Current Setpoint [Aeff*100]
R125
Kp
R503
Tn [ms*100]
R504