Motrona PS340 User manual

Operating Manual
motrona GmbH, Zeppelinstraße 16, DE - 78244 Gottmadingen, Tel. [phone], Fax [phone], [email protected], www.motrona.com
PS340 and PS641
Single Axis Position Controllers for Low-Cost Solutions
Product features:
Autonomous precision controller for any kind of positioning applications
Easy parameter setting and immediately ready to work with minimum
commissioning time
High accuracy due to high feedback frequency range
(300 kHz with TTL encoders and 200 kHz with HTL encoders)
Extremely smooth motion by optimized S-shape profiles
High dynamic response by means of short cycle time
Various modes of operation for absolute and relative positions (incremental
length), loop operation and positioning on index signals or print marks
Most compact unit including operator panel for direct access and
RS232 interface for remote access
PROFIBUS DP interface available (option)
Available models:
PS340: for more details please refer to chapter 2
PS641: for more details please refer to chapter 2

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Version:
Description:
PS34001a/June 14/TJ/NW
First edition
Ps34001b_oi/May 15/TJ/AG
1. Analog output -20 …+20 mA (instead of 0 … 20 mA). 2. Different spelling
corrections. 3. Design, “Safety Instructions” and “Technical Specifications”
updated. 4. “Legal notices” supplemented.
Legal notices:
All contents included in this manual are protected by the terms of use and copyrights of motrona GmbH.
Any reproduction, modification, usage or publication in other electronic and printed media as well as in the
internet requires prior written authorization by motrona GmbH.
Table of Contents
1Safety Instructions and Responsibility ......................................................... 4
1.1 General Safety Instructions...................................................................................4
1.2 Use according to the intended purpose ................................................................4
1.3 Installation.............................................................................................................5
1.4 Cleaning, Maintenance and Service Notes...........................................................5
2Available Models......................................................................................... 6
3Introduction ................................................................................................. 7
4Electrical Connections ................................................................................. 8
4.1 Power Supply.......................................................................................................10
4.2 Auxiliary Outputs for Encoder Supply..................................................................10
4.3 Impulse Inputs for Incremental Encoders............................................................10
4.4 Control Inputs Cont.1 –Cont.4............................................................................11
4.5 Switching Outputs K1 –K4 .................................................................................11
4.6 Serial Interface....................................................................................................11
4.7 Analog Outputs....................................................................................................11
5Functional description................................................................................ 12
5.1 Principle of operation ..........................................................................................12
5.2 System Configuration..........................................................................................12
6Keypad Operation ...................................................................................... 13
6.1 Normal Operation................................................................................................13
6.2 General Setup Procedure ....................................................................................13
6.3 Direct Fast Access to Incremental Length Setting..............................................14
6.4 Change of Parameter Values on the Numeric Level ...........................................15
6.5 Code Protection against Unauthorized Keypad Access ......................................16
6.6 Return from the Programming Levels and Time-Out Function ............................16
6.7 Reset all Parameters to Factory Default Values .................................................16

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7Menu Structure and Description of Parameters ......................................... 17
7.1 Summary of the Menu.........................................................................................17
7.2 Description of the Parameters ............................................................................19
8Description of Commands and Outputs ...................................................... 30
8.1Commands...........................................................................................................30
8.2 Outputs ................................................................................................................32
8.3 Display of Actual Values .....................................................................................33
8.4 Error Messages ...................................................................................................34
9Steps for Commissioning ........................................................................... 35
9.1 Use of the adjust menu .......................................................................................36
9.2 Set Directions of Rotation...................................................................................37
9.3 Set Directions of Rotation without PC ................................................................37
9.4 Setting of the Proportional Gain .........................................................................37
9.5 Optimization of the controller .............................................................................38
10 Appendix for model PS641......................................................................... 39
10.1 Relay Outputs ......................................................................................................39
10.2 Front Thumbwheel Switches...............................................................................39
11 Technical Specifications ............................................................................ 40
12 Dimensions................................................................................................ 42
12.1 Model PS340: ......................................................................................................42
12.2 Model PS641: ......................................................................................................43

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1Safety Instructions and Responsibility
1.1 General Safety Instructions
This operation manual is a significant component of the unit and includes important rules and
hints about the installation, function and usage. Non-observance can result in damage and/or
impairment of the functions to the unit or the machine or even in injury to persons using the
equipment!
Please read the following instructions carefully before operating the device and observe all
safety and warning instructions! Keep the manual for later use.
A pertinent qualification of the respective staff is a fundamental requirement in order to use
these manual. The unit must be installed, connected and put into operation by a qualified
electrician.
Liability exclusion: The manufacturer is not liable for personal injury and/or damage to property
and for consequential damage, due to incorrect handling, installation and operation. Further
claims, due to errors in the operation manual as well as misinterpretations are excluded from
liability.
In addition the manufacturer reserve the right to modify the hardware, software or operation
manual at any time and without prior notice. Therefore, there might be minor differences
between the unit and the descriptions in operation manual.
The raiser respectively positioner is exclusively responsible for the safety of the system and
equipment where the unit will be integrated.
During installation or maintenance all general and also all country- and application-specific safety
rules and standards must be observed.
If the device is used in processes, where a failure or faulty operation could damage the system or
injure persons, appropriate precautions to avoid such consequences must be taken.
1.2 Use according to the intended purpose
The unit is intended exclusively for use in industrial machines, constructions and systems. Non-
conforming usage does not correspond to the provisions and lies within the sole responsibility of
the user. The manufacturer is not liable for damages which has arisen through unsuitable and
improper use.
Please note that device may only be installed in proper form and used in a technically perfect
condition (in accordance to the “Technical Specifications”, see chapter 11). The device is not
suitable for operation in explosion-proof areas or areas which are excluded by the EN 61010-1
standard.

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1.3 Installation
The device is only allowed to be installed and operated within the permissible temperature range.
Please ensure an adequate ventilation and avoid all direct contact between the device and hot or
aggressive gases and liquids.
Before installation or maintenance, the unit must be disconnected from all voltage-sources.
Further it must be ensured that no danger can arise by touching the disconnected voltage-
sources.
Devices which are supplied by AC-voltages, must be connected exclusively by switches,
respectively circuit-breakers with the low voltage network. The switch or circuit-breaker must be
placed as near as possible to the device and further indicated as separator.
Incoming as well as outgoing wires and wires for extra low voltages (ELV) must be separated
from dangerous electrical cables (SELV circuits) by using a double resp. increased isolation.
All selected wires and isolations must be conform to the provided voltage- and temperature-
ranges. Further all country- and application-specific standards, which are relevant for structure,
form and quality of the wires, must be ensured. Indications about the permissible wire cross-
sections for wiring are described in the “Technical Specifications” (see chapter 11).
Before first start-up it must be ensured that all connections and wires are firmly seated and
secured in the screw terminals. All (inclusively unused) terminals must be fastened by turning the
relevant screws clockwise up to the stop.
Overvoltages at the connections must be limited to values in accordance to the overvoltage
category II.
For placement, wiring, environmental conditions as well as shielding and earthing/grounding of
the supply lines the general standards of industrial automation industry and the specific shielding
instructions of the manufacturer are valid. Please find all respective hints and rules on
www.motrona.com/download.html --> “[General EMC Rules for Wiring, Screening and Earthing]”.
1.4 Cleaning, Maintenance and Service Notes
To clean the front of the unit please use only a slightly damp (not wet!), soft cloth. For the rear no
cleaning is necessary. For an unscheduled, individual cleaning of the rear the maintenance staff
or assembler is self-responsible.
During normal operation no maintenance is necessary. In case of unexpected problems, failures
or malfunctions the device must be shipped for back to the manufacturer for checking, adjustment
and reparation (if necessary). Unauthorized opening and repairing can have negative effects or
failures to the protection-measures of the unit.

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2Available Models
The two models as shown below are available. Both models are fully similar in terms of function
and performance; however there is some difference with the size, the alert outputs and the length
setting.
PS340:
Front size 96 x 48 mm (3.780’’ x 1.890’’)
Incremental length setting by keypad
Analog output 14 bits
4 power transistor outputs (alert)
PS641:
Front size 96 x 96 mm (3.780’’ x 3.780’’)
Incremental length setting by keypad
or by front thumbwheel switches
Analog output 14 bits
4 power transistor alert outputs
4 additional relay alert outputs
Both models are suitable for front panel or operator desk mounting, by means of the included
mounting clamps.
Where you desire to mount the units on DIN rails inside a cabinet, please refer to the mounting
brackets type SM 300 and SM 600 available as accessories.
Figure: SM300 mounting bracket for DIN rail mounting of PS340 units

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3Introduction
The PS340/PS641 units have been designed for the special requirements of single-axis
positioning systems, under consideration of maximum performance and accuracy, with minimum
stress for all mechanical parts. Very short control cycles together with intelligent motion profiles
provide excellent performance under all operating conditions.
This unit is very easy to set up. All settings can be made either by keypad and display at the unit
or by PC, with use of the motrona operator software OS 6.0.
All relevant operational parameters and variables are accessible by RS232/RS485 interface. For
PROFIBUS applications, our PB251 gateway is available. Therefore the user has multiple
possibilities for remote control of all parameters via operator terminals, PC or PLC systems
This manual first provides all basic instructions for operation of model PS340
For operation of relays and thumbwheels with model PS641 see appendix
For PC setup our “OS 6.0” software is available on the CD included to delivery,
or on our homepage www.motrona.com
For communication by PLC or IPC or by a remote operator terminal, please
observe the serial protocol details described in our separate manual “Serpro”.
PROFIBUS communication is possible with use of our gateway PB251.

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4Electrical Connections
17 18 19 20 21 23 24 25 26 27 28 29 30 31 32
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
GND
GND
GND
GND
GND
+Vin
+5,2V aux.out +5,2V aux. out
+24V aux.out +24V aux. out
Encoder, B
Encoder, A
n. c.
n. c. n. c.
n. c.
Encoder, /A
Encoder, /B
K2 out
K1 out K3 out
K4 out
Cont. 1
Cont. 2 Cont. 4
Cont. 3
Com+ (K1-K4)
TxD (RS232)
Ana.out +/-10V
Ana.out 20 mA
RxD (RS232)
PROG
X1
X2
+5
-
n. c.
+5
-
A
/A
B
/B
Cont1
Cont2
Cont3
Cont4
Reset, Start,
Jog
Homing
etc.
RxD
TxD
GND
RS232
-
+24 V DC
Power supply
Com+ (K1 - K4)
K1 out
K2 out
K3 out
K4 out
+24
+24
+/-10V
20 mA
0V, GND
PROG
18
24
23
20
19
22
21
11
12
6
5
27
28
30
3
31 17 1
4
29
26
25
7
8
32
2
16
15
14
13
10
9
  24 V AC
Example shows wiring
for encoders with
5 V power supply and
RS422 line driver output
Speed setpoint
Speed setpoint
Analogue
output
Batch finished
Homing Done
In Position
Moving
Positioning
Drive
n. c.
n. c.
n. c.

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Terminal
Name
Function
01
GND
Common Ground Potential (0V)
02
+5.2 V out
Aux. output 5.2 V/150 mA for encoder supply *)
03
+24 V out
Aux. output 24 V/120 mA for encoder supply *)
04
GND
Common Ground Potential (0V)
05
Encoder, /B
Encoder of the positioning drive, channel /B (B inverted)
06
Encoder, /A
Encoder of the positioning drive, channel /A (A inverted)
07
n. c.
n. c.
08
n. c.
n. c.
09
K4 out
Digital output K4, transistor PNP 30 V, 350 mA
10
K3 out
Digital output K3, transistor PNP 30 V, 350 mA
11
Cont. 4
Programmable control input
12
Cont. 3
Programmable control input
13
(PROG)
(for download of new firmware only, not for general use)
14
RxD
Serial RS232 interface, input (Receive Data)
15
Ana. out 20 mA
Analog output -20 mA …+20 mA (Slave speed reference) **)
16
Ana. out +/-10V
Analog output -10 V …+10 V (Slave speed reference) **)
17
+Vin
Power supply input, +17 …40 VDC or 24 VAC
18
+5.2 V out
Aux. output 5.2 V/150 mA for encoder supply
19
+24 V out
Aux. output 24 V/120 mA for encoder supply
20
GND
Common Ground Potential (0 V)
21
Encoder, B
Encoder of the positioning drive, channel B (non-inverted)
22
Encoder, A
Encoder of the positioning drive, channel A (non-inverted)
23
n. c.
n. c.
24
n. c.
n. c.
25
K2 out
Digital output K2, transistor PNP 30 V, 350 mA
26
K1 out
Digital output K1, transistor PNP 30 V, 350 mA
27
Cont. 2
Programmable control input
28
Cont. 1
Programmable control input
29
Com+ (K1 to K4)
Common positive input for transistor outputs K1 to K4
30
TxD
Serial RS232 interface, output (Transmit Data)
31
GND
Common Ground Potential (0 V)
32
GND
Common Ground Potential (0 V) for DC or AC power supply
*) 120 mA and 150 mA are per output, i.e. total maximum currents are 240 mA and 300 mA
**) In general, the voltage output terminal 16 should be used for the slave speed signal

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4.1 Power Supply
The PS340 controller accepts both, a 17 to 40 VDC power or a 24 VAC power for supply via
terminals 17 and 1. The current consumption depends on the level of the input voltage and some
internal conditions; therefore it can vary in a range from 100 to 200 mA
(auxiliary currents taken from the unit for encoder supply not included).
4.2 Auxiliary Outputs for Encoder Supply
Terminals 2 and 18 provide an auxiliary output with approx. +5.2 VDC (300 mA totally).
Terminals 3 and 19 provide an auxiliary output with approx. +24 VDC (240 mA totally)
4.3 Pulse Input for Incremental Encoders
All input characteristics of the pulse input can be set by the parameter menu. The unit works with
quadrature information (A/B, 90°) only. In theory, any of the following encoder characteristics
would be applicable:
Symmetric differential signals according to RS422 standard, however 1V min. as
differential voltage.
TTL input at a level of 3.0 to 5 V (differential, with inverted signal)
TTL input at a level of 3.0 to 5 V (single-ended) *)
HTL signals at a 10 …30 V level
(alternatively differential A, /A, B, /B, or single-ended A, B only)
Impulses from photocells or proximity switches etc. providing a HTL level (10 …30 V)
Proximity switches according to NAMUR (2-wire) standard
(may need additional remote resistor)
*) requires special settings of the threshold parameters, see “Special parameters F08”
For trouble-free operation it is mandatory to use a quadrature encoder with
channels A and B or with channels A, /A, and B, /B (90° phase displacement).
Where the pulse level is HTL (10 to 30 V) you can use either single-ended
signals (A and B only) or differential signals (A, /A, B, /B)
Where the pulse level is TTL or RS422, it is strictly recommended to use
symmetric differential signals (with inverted channels /A and /B).
Under industrial environment conditions, single-ended TTL signals may cause
serious problems due to insufficient EMC immunity of the signal lines
All encoder input lines are internally terminated by pull-down resistors
(8.5 kOhm). Where encoders with pure NPN outputs are used, corresponding
pull-up resistors must be available inside the encoder or externally to ensure
proper function (1 kOhm to 3.3 kOhm).

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4.4 Control Inputs Cont.1 –Cont.4
These inputs can be configured for remote functions like Reset, Start, Jog, Homing etc. All control
inputs require HTL level. They can be individually set to either NPN (switch to -) or PNP (switch to
+) characteristics. For applications where edge-triggered action is needed, the menu allows to set
the active edge (rising or falling). The Control inputs will also accept signals with Namur (2-wire)
standard.
For reliable operation of the Control Inputs a minimum pulse duration of 50 µs
must be ensured. Especially when using the Z marker pulse of a HTL encoder for
index tracking, please verify that this minimum duration can be kept even with
maximum speed of the machine
4.5 Switching Outputs K1 –K4
PS340 provides four digital outputs to signal control states like Moving, In Position, Homing Done
or Batch Finished. K1 to K4 are fast-switching and short-circuit-proof transistor outputs with a
switching capability of 5 to 30 V/350 mA each. The switching voltage of the outputs must be
applied remotely to the Com+ input (terminal 29)
4.6 Serial Interface
The serial RS232 interface can be used for the following purposes:
Set-up of the unit by PC with use of the OS32 PC software
Remote change of parameters during operation
Remote readout of actual values by PLC or PC
The figure below explains the connection between the PS340 unit and a PC using the standard
Sub-D-9 serial connector
2
3
5
RxD
TxD
GND
screen
PC
PS 340 14
(Sub-D-9)
30
31
TxD
RxD
For details of the serial communication protocol, please refer to the special “Serpro” manual.
4.7 Analog Outputs
The unit provides a voltage output of ±10 V (load = 3 mA), and a current output of ±20 mA
(load = 0 to 270 Ohms), both at a resolution of 14 bits (13 bits + sign).
With most standard applications the voltage output is used as speed set-point signal, connected
to the speed input of the positioning drive.
Important note: “Voltage out” and “Current out” cannot be used together.
Please do never connect mA and V simultaneously!

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5Functional description
5.1 Principle of operation
The drive can move to any relative or absolute position depending on the operating mode (see
section 7.2.2 / parameter F02.002 “Operation Mode”) and therefore cover a great variety of
positioning applications:
Incremental Length: Moving of a certain length from the actual position.
This mode can be used for discontinuous cutting of material in start-
stop mode, i.e. move the material for a certain length and cut during
standstill.
Relative Positioning: Moving of a certain length related to the last target position.
Absolute Positioning: Moving to a preset absolute position.
After switch-on of the machine the drive can move to a defined starting
position with a homing cycle and thereby set a defined reference point
for the absolute positions.
Loop Operation: Moving consecutively to several absolute positions in endless loop
operation
Incremental Operation Relative positioning to a position specified by an index mark.
with print mark control: This mode can be used for discontinuous cutting of pre-printed material
in start-stop mode, i.e. move the material for a certain length and cut
during the standstill on a position determined by a print mark.
5.2 System Configuration
The encoder resolution should be at least 5 times higher than the maximum acceptable position
error.
At maximum positioning speed the input frequency must not exceed the maximum level of 300
kHz (RS422 and TTL differential encoder) or 200 KHz (HTL and TTL single-ended encoders).
It is necessary to adjust the positioning drive to its maximum dynamic response (no internal
ramps, no integral control loop, high proportional gain), because the PS340 and PS641 will
generate the ramps which the drive has to follow with no additional delay
For safety reasons it is mandatory to limit the traveling range of the positioning
drive by independent limit switches at both ends, in order to avoid damage by
overshoot upon failure of the electronic control system!

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6Keypad Operation
An overview of all parameters and explanations can be found under section 7.
The menu of the unit uses four keys, hereinafter named as follows:
PROG
UP
DOWN
ENTER
Key functions depend on the actual operating state of the unit. Essentially we have to describe
three basic states:
Normal operation
General setup procedure
Direct fast access to scaling factors
6.1 Normal Operation
In this mode the unit operates to the settings defined upon setup. All front keys may have
customer-defined functions according to the specifications met in the keypad definition menu F06
(e.g. Display scroll, Jog, Homing or else)
6.2 General Setup Procedure
The unit changes over from normal operation to setup level when keeping the key down for
at least 2 seconds. Thereafter you can select one of the parameter groups F01 to F09.
Setup operation is disabled while the drive is within a positioning cycle.
I. e. the setup procedure cannot be started before the actual positioning cycle has
been finished and the drive has reached the target position.
Inside the group you can now select the desired parameter and set the value according to need.
After this you can either set more parameters or return to the normal operation.
The adjoining sequence of key operations explains how to change
Parameter number 052 of group F06 from the original value of 0 to a new value of 8.
P




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Step
State
Key action
Display
Comment
00
Normal operation
Actual Error
01
> 2 sec.
F01
Display of the
Parameter group
02
Level:
Parameter group

5 x
F02 … F06
Select group # F06
03

F06.050
Confirmation of F06.
The first parameter of this
group is F06.050
04
Level:
Parameter numbers

2 x
F06.051…
F06.052
Select parameter 052
05

0
Parameter 052 appears in
display, actual setting is 0
06
Level:
Parameter values

8 x
1 …. 8
Setting has been modified
from 0 to 8
07
F06.052
Save the new setting (8)
08
Level:
Parameter numbers
F06
Return to level parameter
groups
09
Level:
Parameter groups
Actual Error
Return to normal operation
10
Normal operation
During the general setup procedure all control activities remain disabled. New
parameter settings become active after return to normal operation only.
6.3 Direct Fast Access to Incremental Length Setting
To get to the fast access routine, please press both
and

at the same time
This will access the parameter group F01 right away. To change the settings follow the same
procedure as already described above.
Besides the advantage of direct access, the fundamental difference to general setup is the
following:
Direct fast access is enabled when the drive is within a positioning cycle.
During the fast access procedure all control functions remain fully active.
Access is limited to incremental length and position number setting; no other
parameters can be changed.

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6.4 Change of Parameter Values on the Numeric Level
The numeric range of the parameters is up to 6 digits. Some of the parameters may also include a
sign. For fast and easy setting or these values the menu uses an algorithm as shown
subsequently. During this operation the front keys have the following functions:
PROG
UP
DOWN
ENTER
Saves the actual value
shown in the display and
returns to the parameter
selection level
Increments the
highlighted
(blinking) digit
Decrements the
highlighted
(blinking) digit
Shifts the cursor (blinking
digit) one position to the
left, or from utmost left
to right
With signed parameters the left digit scrolls from 0 to 9 and then shows “–„ (negative) and
“-1“ (minus one). The example below shows how to change a parameter from the actual setting
of 1024 to the new setting of 250 000.
This example assumes that you have already selected the parameter group and the parameter
number, and that you actually read the parameter value in the display.
Highlighted digits appear on colored background.
Step
Display
Key action
Comment
00
001024
Display of actual parameter setting, last
digit is highlighted
01

4 x
Scroll last digit down to 0
02
001020

Shift cursor to left
03
001020

2 x
Scroll highlighted digit down to 0
04
001000

2 x
Shift curser 2 positions left
05
001000

Scroll highlighted digit down to 0
06
000000

Shift cursor left
07
000000

5 x
Scroll highlighted digit up to 5
08
050000

Shift cursor left
09
050000

2 x
Scroll highlighted digit up to 2
10
250000
Save new setting and return to the
parameter number level
P




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6.5 Code Protection against Unauthorized Keypad Access
Parameter group F09 allows to define an own locking code for each of the parameter menus. This
permits to limit access to certain parameter groups to specific persons only.
When accessing a protected parameter group, the display will first show “CODE” and wait for
your entry. To continue keypad operations you must now enter the code which you have stored
before, otherwise the unit will return to normal operation again.
After entering your code, press the ENTER key and keep it down until the unit responds.
When your code was correct, the response will be “YES” and the menu will work normally. With
incorrect code the response will be “NO” and the menu remains locked.
6.6 Return from the Programming Levels and Time-Out Function
At any time the PROG key sets the menu one level up and finally returns to normal operation. The
same step occurs automatically via the time-out function, when during a period of 10 seconds no
key has been touched.
Termination of the menu by automatic time-out will not store new settings, unless they have
already been stored by the PROG key after editing.
6.7 Reset all Parameters to Factory Default Values
Upon special need it may be desirable to set all parameters back to their original factory settings
(e.g. because you have forgotten your access code, or by too many change of settings you have
achieved a complex parameter state). Default values are indicated in the parameter tables shown
later.
To reset the unit to default, please take the following steps:

Switch power off

Press

and

simultaneously

Switch power on while you keep pressing both keys
Where you decide to take this action, please note that all parameters and
settings will be lost, and that you will need to run a new setup procedure again.

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7Menu Structure and Description of Parameters
All parameters are arranged in a reasonable order of functional groups (F01 to F09)
You must only set those parameters which are really relevant for your specific application.
Unused parameters can remain as they actually are.
7.1 Summary of the Menu
This section shows a summary of the parameter groups, with an assignment to the functional
parts of the unit.
Group
Function
Group
Function
F01
Position Setting
F03
Definitions for the Master Encoder
000
Incremental Length
026
Not applicable
001
Position Number
027
Not applicable
F02
Operational Setting
028
Not applicable
002
Operation Mode
029
Reserved
003
Acceleration Ramp
030
Reserved
004
Deceleration Ramp
031
Reserved
005
Emergency Stop Ramp
F04
Definitions for the Slave Encoder
006
Pulses per 1000 LU
032
Encoder Properties
007
Position Window
033
Edge Counting
008
Frequency Max. Speed
034
Counting Direction
009
Positioning Speed %
035
Reserved
010
Home Position/Photo Offset
036
Reserved
011
Homing/Jog Speed
037
Reserved
012
Homing/Jog Ramp
F05
Analog Output Settings
013
Homing Mode
038
Analog Format
014
Ramp Form
039
Offset Correction
015
Pos. 0
040
Gain Correction
016
Pos. 1
041
Max. Correction
017
Pos. 2
042
Offset Total
018
Pos. 3
043
Gain Total
019
Pos. 4
044
Reserved
020
Pos. 5
045
Reserved
021
Pos. 6
022
Pos. 7
023
Pos. 8
024
Pos. 9
025
Batch Quantity

Ps34001b_oi_e.doc / 19.11.15 Page 18 / 43
F06
Command Assignment
F09
Keypad protection codes
046
Key Up Function
072
Protect Group F01
047
Key Down Function
073
Protect Group F02
048
Key Enter Function
074
Protect Group F03
049
Input 1 Configuration
075
Protect Group F04
050
Input 1 Function
076
Protect Group F05
051
Input 2 Configuration
077
Protect Group F06
052
Input 2 Function
078
Protect Group F07
053
Input 3 Configuration
079
Protect Group F08
054
Input 3 Function
080
Protect Group F09
055
Input 4 Configuration
081
Reserved
056
Input 4 Function
082
Reserved
057
Reserved
083
Reserved
F07
Serial communication
084
Reserved
058
Unit Number
085
Reserved
059
Serial Baud Rate
086
Reserved
060
Serial Format
087
Reserved
061
Reserved
062
Reserved
063
Reserved
F08
Special functions
064
Input Filter
065
Trigger Threshold 1
066
Trigger Threshold 2
067
Brightness
068
Frequency Control
069
Length Store Configuration
070
Display Time
071
Default Display
The following schematics shows how in principle the parameter blocks are assigned to the
various elements and functions of the controller.
Encoder
Cont1
Cont2
Cont3
Cont4
Digital
Control
Inputs
RS232
K1 out
K2 out
K3 out
K4 out
Digital Control
Outputs
+/-10V
20 mA
Analogue
Outputs
P ENT
F10
F04
F06 F09
F06
F06
F05
F07
up dn
F08
F01

Ps34001b_oi_e.doc / 19.11.15 Page 19 / 43
7.2 Description of the Parameters
Prior to register setting you must decide which dimensions or length units (LU) you like to use for
preset of the incremental length or absolute positions. This could be 0.1mm or 1mm or 0.001 inch
or any other resolution you desire. All further settings refer to the Length Units you decided to
use. E.g. when you chose to set the length with a 0.1 mm resolution, 1000 LUs will represent a
length of 100.0 millimeters with all further entries.
7.2.1 Position Setting
F01
Range
Default
F01.000
Incremental Length:
Moving length setting for incremental length operation
and relative positioning. In mode 0, 1 or 4 (see parameter
F02.002) the position advances always the same distance
upon each start.
With a PS641 variant, the value can be set by the
thumbwheel switch on the front (see chapter 10.2)
1 to 999999
10000
F01.001
Position Number:
This is a pointer to an absolute position value stored in
parameter F02.015 “Position 0” to F02.024 “Position 9”.
In mode 2 and 3 the position number determines the new
absolute target position.
Attention: In mode 3 (loop operation), this register is
automatically incremented with each start and follows
the branch instructions within a program loop. After an
interruption of a loop cycle, be aware where the pointer
is or set it to start position again.
0 to 9
0
7.2.2 Operational Settings
F02
Range
Default
F02.002
Operation Mode:
This setting selects one of the five general modes of
operation.
See table on the next page for details.
0 to 4
0
F02.003
Acceleration Ramp:
Determines the ramp time in s for acceleration from
standstill to full speed.
0.001 to
10.000
1.000
F02.004
Deceleration Ramp:
Determines the ramp time in s for deceleration from full
speed to standstill.
0.001 to
10.000
1.000
F02.005
Emergency Stop Ramp:
Deceleration ramp time in s from full of speed to
standstill at emergency stop. A setting of 0 will result in
a jump to zero.
0 to 10.000
0.100

Ps34001b_oi_e.doc / 19.11.15 Page 20 / 43
The controller generates ramps of a constant gradient. Therefore, the actual
ramp times depend on the ramp time settings and the positioning speed.
You must only use acceleration and deceleration settings that the drive is
really able to follow. Settings outside of the physical capability of the drive
will result in malfunction or even failure of the whole system.
Please note: When you use S-ramps (see parameter F02.014 Ramp Form), the
maximum acceleration / deceleration at the steepest position of the S-profile
will be 1.25 times higher than with linear ramps
Description of the diverse operation modes:
Mode
F02.002
Function
Description
0
Incremental Length
F01.000 (Incremental Length) defines the next position.
Target position = actual position + F01.000
Positioning direction is always forward. Residual position
error at last target position remain unconsidered
1
Relative Positioning
F01.000 (Incremental Length) defines the next position with
consideration of the actual position error.
Target position = Last target position + F01.000
Position direction is always forward. Actual position error is
considered in the next cycle.
2
Absolute Positioning
Absolute target position is selected by pointer F01.001
(Position Number) from the corresponding position value 0
to 9 (F02.015 to F02.024).
A new target position can be entered either by changing the
value of F01.001 (pointer selects another position value) or
by entering a new position value in the position register
F01.001 is actually pointing to.
3
Loop Operation
F01.001 (Position Number) will define the start position
stored in F02.015 to F02.024 for a numerical sequence with
consideration of branch instructions. F01.001 will be
incremented or set to a branch value with every start
command.
4
Incremental Length
with print mark control
F01.000 (Incremental Length) defines the next position.
When a signal is detected at input “Reference Position” the
position cycle which is actually in progress will not be
affected, but the subsequent target position will be
overwritten by the print mark position, with respect of the
offset set by register F02.010 “Photo Offset”.