Saia PCD2.H31x User manual

SAIAPCD
Process Control Devices
PCD2.H31x
Motion control modules
for servo drives
English edition 26/762 E2

SAIA-Burgess Electronics Ltd.
Bahnhofstrasse 18
CH-3280 Murten(Switzerland)
http;//www.saia-burgess.com
BA: Electronic Controllers Telephone 026 / 672 72 72
Telefax 026 /672 74 99
___________________________________________________________________________________________________________________________
SAIA-Burgess Companies
Switzerland SAIA-Burgess Electronics AG
Freiburgstrasse 33
CH-3280 Murten
026 672 77 77, Fax[phone]
France SAIA-Burgess Electronics Sàrl.
10, Bld. Louise Michel
F-92230 Gennevilliers
01 46 88 07 70,Fax[phone]
Germany SAIA-Burgess Electronics GmbH
Daimlerstrasse 1k
D-63303 Dreieich
06103 89 060, Fax [phone]
Nederlands SAIA-Bur
g
ess Electronics B.V.
Hanzeweg 12c
NL-2803 MC Gouda
0182 54 31 54, Fax[phone]
Austria SAIA-Burgess Electronics Ges.m.b.H.
Schallmooser Hauptstrasse 38
A-5020 Salzburg
0662 88 49 10, Fax[phone]
Belgium SAIA-Burgess Electronics Belgium
Avenue Roi Albert1er,50
B-1780 Wemmel
02 456 06 20,Fax[phone]
Italy SAIA-Burgess Electronics S.r.l.
Via Cadamosto 3
I-20094 Corsico MI
02 48 69 21, Fax[phone]
Hungary SAIA-Burgess Electronics AutomationKft.
Liget utca 1.
H-2040 Budaörs
23 501 170,Fax[phone]
Representatives
Great Britain CanhamControls Ltd.
25 Fenlake Business Centre,Fengate
PeterboroughPE1 5BQUK
01733 89 44 89, Fax [phone]
Portugal INFOCONTROL Electronica e Automatismo LDA.
Praceta Cesário Verde, No 10 s/cv, Massamá
P-2745 Queluz
21 430 08 24,Fax[phone]
Denmark Malthe Winje AutomationAS
Håndværkerbyen 57 B
DK-2670 Greve
70 20 52 01, Fax[phone]
Spain Tecnosistemas Medioambientales, S.L.
Poligono IndustrialEl Cabril, 9
E-28864 Ajalvir, Madrid
91 884 47 93,Fax[phone]
Norway Malthe Winje AutomasjonAS
Haukelivn 48
N-1415 Oppegård
66 99 61 00, Fax[phone]
Czech
Republic ICS Industrie Control Service, s.r.o. Modranská 43
CZ-14700 Praha 4
2 44 06 22 79, Fax[phone]
Sweden Malthe Winje AutomationAB
Truckvägen 14A
S-194 52 Upplands Våsby
08 795 59 10,Fax[phone]
Poland SABURLtd.
ul. Druzynowa 3A
PL-02-590 Warszawa
22 844 63 70,Fax[phone]
Suomi/
Finland ENERGEL OY Atomitie 1
FIN-00370 Helsinki
09 586 2066, Fax[phone]
Australia Siemens Building Technologies Pty. Ltd.
Landis & Staefa Division
411 Ferntree GullyRoad
AUS-Mount Waverley,3149 Victoria
Argentina MURTEN S.r.l.
Av.delLibertador184,4°“A”
RA-1001 Buenos Aires
054 11 4312 0172, Fax[phone]
3 9544 2322, Fax[phone]
After sales service
USA SAIA-Burgess Electronics Inc.
1335 BarclayBoulevard
Buffalo Grove,IL 60089,USA
847 215 96 00, Fax[phone]
___________________________________________________________________________________________________________________________
Issue : 22.11.2000
Subjetto change without notice

SAIA-Burgess Electronics Ltd.
SAIA® Process Control Devices
Motion control modules
for servo drives
PCD2.H31x
SAIA-Burgess Electronics Ltd. 1999. All rights reserved.
Edition 26/762 E2 - 11.99
Subject to technical changes

SAIA-Burgess Electronics Ltd.
Updates
Manual : PCD2.H31x - Motion control modules for servo drives - Edition E2
Date Chapter Page Description
12.05.2000 Appendix A A-36 divers corrections

PCD2.H31x Contents
26/762 E2 (2H3-00-E.DOC) SAIA-Burgess Electronics Ltd. Page 1
Contents
Page
1. Introduction
1.1 General 1-1
1.2 Function and application 1-2
1.3 Main characteristics 1-3
1.4 Typical areas of use 1-4
1.5 Programming 1-5
1.6 Operating modes 1-6
1.7 Commissioning 1-7
2. Technical data
2.1 Hardware technical data 2-1
2.2 Electrical specifications 2-3
2.3 Function-specific data 2-4
3. Presentation
4. Terminals and meaning of LEDs
5. Function description
5.1 Operating modes 5-1
5.2 Generator for the velocity profile 5-2
5.3 PID controller 5-4
5.4 Position decoder and input circuit 5-5
5.5 D/A converter 5-8
5.6 Complementary information: homing (FB Home) 5-9
6. Quick start
6.1 Getting started with IL programming 6-2
6.1.1 Entry-level example in IL with wait loop 6-3
6.1.2 Entry-level example in GRAFTEC 6-6
6.1.3 Simple commissioning program 6-11
6.2 Getting started with FUPLA programming 6-13

Contents PCD2.H31x
Page 2 SAIA-Burgess Electronics Ltd. (2H3-00-E.DOC) 26/762 E2
Page
7. Programming
7.1 Programming in IL with FBs 7-2
7.1.1 The IL package (installation of FB) 7-2
7.1.2 Individual FBs 7-5
7.2 Programming in FUPLA with FBoxes 7-9
7.3 Programming in GRAFTEC with FBoxes 7-10
8. Error handling and diagnosis
8.1 Definition error checked by assembler 8-1
8.2 Error handling in RUN 8-2
8.2.1 Incorrect parameters 8-2
8.2.2 Error during homing 8-3
9. Installation and commissioning
9.1 Introduction 9-1
9.2 Installation and wiring 9-2
9.3 Commissioning drive without motion control module 9-3
9.4 Drive with motion control module 9-4
9.4.1 Switching on the supply voltage 9-4
9.4.2 Preparing the user program 9-5
9.4.3 Determining machine data 9-6
9.4.4 Direction, path measurement (encoder) 9-8
9.4.5 PID controller 9-10
9.4.6 Effect of individual factors
on controller behaviour 9-14
9.4.7 Simple commissioning program 9-15
10. Commissioning tool
11. Security aspects
12. Application examples
12.1 Example: 1 axis with homing 12-1
12.2 Example: 1 axis with two velocities 12-9

PCD2.H31x Contents
26/762 E2 (2H3-00-E.DOC) SAIA-Burgess Electronics Ltd. Page 3
Page
Appendix A: Summary of all function blocks (FB)
Init: Initialization FB A-1
Home: Home position FB A-3
Exec: Execution FB A-5
StartMot Start motion A-7
StopUrg Stop motion in urgency A-8
Stop Stop motion A-9
MotOff Motor regulation off A-10
RdActPos Read Actual Position A-11
RdActVel Read Actual Velocity A-12
RdIntSum Read Integration Sum A-13
RdIndexRg Read Index Register A-14
RdStatRg Read Status Register A-15
RdTargPos Read Target Position A-16
RdTargVel Read Target Velocity A-17
GoForw Go Forwards A-18
GoBackw Go Backwards A-19
SgStpFor Single Step Forwards A-20
SgStpBak Single Step Backwards A-21
LdDestAbs Load Destination Absolute A-22
LdDestRel Load Destination Relative A-23
LdVelAbs Load Velocity Absolute A-24
LdVelRel Load Velocity Relative A-25
LdAccAbs Load Acceleration Absolute A-26
LdAccRel Load Acceleration Relative A-27
LdPropG Load Proportional Gain A-28
LdIntG Load Integrative Gain A-29
LdDerG Load Derivative Gain A-30
LdSampInt Load derivative Sampling interval A-31
LdIntLim Load Interactive Limit A-32
ActRegFact Activate Regulation Factors A-33
LdBrkPtAbs Load Breakpoint Absolute A-34
LdBrkPtRel Load Breakpoint Relative A-35
ResStatRg Reset Status Register A-36
SetIdxPos Set Index Position A-37
SetZero Set Home position A-38
MotConf Motion Configuration A-39
SetPosTol Set Position Tolerance A-40
Appendix B: Summary of all function boxes (FBox)

Contents PCD2.H31x
Page 4 SAIA-Burgess Electronics Ltd. (2H3-00-E.DOC) 26/762 E2
Notes

PCD2.H31x Contents
26/762 E2 (2H3-00-E.DOC) SAIA-Burgess Electronics Ltd. Page 5
Important note:
Many detailed manuals have been created to ensure perfect operation of
the SAIAPCD. These are for use by technically qualified staff, who
may also have successfully completed our workshops.
The diverse performance features of the SAIAPCD best become appa-
rent only by following closely all the information and guidelines con-
tained in these manuals regarding assembly, wiring, programming and
commissioning.
Doing this will enable you to join the large group of enthusiastic SAIA
PCD users.
Summary
Hardware
PCD4 Hardware
PCD6
PCD4.H1..
PCD4.H2..
PCD4.H3..
Reference
Guide
(PG3)
PCD8.P1..
PCD7.D1..
PCA2.D1..
PCD7.D2..
Installation
Components
for RS 485-
Networks
FUPLA/
KOPLA
function
families
PCD1/2 series PCD4 series PCD6 series
General
Manuals
*)
*)
*)
*) Adapter module 4'717'4828'0
allows H modules to be used
with the PCD6.
User's
Guide
- PG4
- Modem
-S-Bus
- PROFIBUS
-Remote I/O
PCD4.H4..
Hardware
PCD1
PCD2
Serie xx7
PCD2.M220
PCD2.H110
PCD2.H150
PCD2.H210
PCD2.H31x

Contents PCD2.H31x
Page 6 SAIA-Burgess Electronics Ltd. (2H3-00-E.DOC) 26/762 E2
Reliability and safety of electronic controllers
SAIA-Burgess Electronics Ltd. is a company which devotes the greatest
care to the design, development and manufacture of its products:
•state-of-the-art technology
•compliance with standards
•ISO 9001 certification
•international approvals: e.g. Germanischer Lloyd, UL,
Det Norske Veritas, CE mark ...
•choice of high-quality componentry
•quality control checks at various stages of production
•in-circuit tests
•run-in (burn-in at 85°C for 48h)
Despite every care, the excellent quality which results from this does
have its limits. It is therefore necessary, for example, to reckon with the
natural failure of components. For this reason SAIA-Burgess Electronics
Ltd. provides a guarantee according to the "General terms and conditions
of supply".
The plant engineer must in turn also contribute his share to the reliable
operation of an installation. He is therefore responsible for ensuring that
controller use conforms to the technical data and that no excessive stres-
ses are placed on it, e.g. with regard to temperature ranges, overvoltages
and noise fields or mechanical stresses.
In addition, the plant engineer is also responsible for ensuring that a
faulty product in no case leads to personal injury or even death, nor to
the damage or destruction of property. The relevant safety regulations
should always be observed. Dangerous faults must be recognized by ad-
ditional measures and any consequences prevented. For example, outputs
which are important for safety should lead back to inputs and be monito-
red from software. Consistent use should be made of the diagnostic ele-
ments of the PCD, such as the watchdog, exception organization blocks
(XOB) and test or diagnostic instructions.
If all these points are taken into consideration, the SAIAPCD will pro-
vide you with a modern, safe programmable controller to control, regu-
late and monitor your installation with reliability for many years.