Equipment for Machine Tools

Transcription

1 Equipment for Machine Tools WF 725/WF 726 Positioning modules Planning Instructions Part 3 Description of the Interface for the Standard Software I-726, II-726 and III-726 Edition December 1991

2 This publication was produced on the Siemens 5800 Office System. Subject to change without prior notice. The reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved. Siemens AG 1990 All Rights Reserved

3 Notes 0 Overview 1 Main operating mode Traversing: The submodes 2 Main operating mode Traversing: Data transfer 3 Main operating mode Programming 4 Main operating mode Machine data 5 The Service Mode 6 Linking Standard I, II and III-726 into the user program 7 Technical data for the Standard Software I, II, III 8 Appendix 9

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5 Index Page 0 Notes Overview Structure of the Standard software I-726, II-726 and III-726 without Schale Structure of the Standard software with Schale Specification of terminology Main modes and submodes General definitions Basic principle of the data transfer Main Operating Mode Traversing: The submodes Interface bits and mode selection Mode selection Control and acknowledge bits during Traversing (Mode 0) Operating submode 1: JOG Operating submode 2: REFERENCE POINT APPROACH Operating submode 3: MANUAL DATA INPUT (MDI) Operating submode 4: FOLLOW UP SUBMODE Operating submode 5: VELOCITY CONTROL Operating submode 6: AXIS CLAMPED Operating submode 7: SETTING OF ACTUAL VALUE Operating submode 8: SINGLE BLOCK Operating submode 9: AUTOMATIC CYCLE Operating submode A: AUTOMATIC SINGLE STEP Operating submode B: AUTOMATIC BUFFER (only WF 726) Rapid buffer change Loading the buffer during motion Simulation of traversing programs Special operating conditions Main Operating Mode Traversing: Data transfer Data identifiers Data transfer Input and output with strobe control Data output in the cyclic program (only from RAM) Description of data identifiers Additional possibilities with the WF Simultaneous output for several axes via interface Acknowledging movement alarms Input of movement information for MDI Reloading the buffer with DPR Special notes for use of Standard III

6 4 Main Operating Mode Programming Transferring traversing blocks (Mode 1) Special routines (Mode 1) Traversing blocks (Mode 1) Main Operating Mode Machine data Transferring Machine data (Modus 3) General Machine data The Service mode Linking Standard I, II and III-726 into the user program Information about the function blocks Clarifying the nomenclature Explanation of the alarms Standard I Interface S5 WF 725/WF Start-up FB 211: ANL FB 209: RET/LAD Cyclic Operation FB 210: MOD Call-up example Standard I Standard I-726 comfort version FB 218: PRUEF-VS FB 219: NACHLAD FB 221: MD-TR FB 222: TR-BETR FB 223: WZKORR FB 229: TR:PROGR FB 179: ARCHIV Memory organisation Memory organisation in the SIMATIC S FB 224: VERF-S FB 225: V:S5-WF FB 165: WF SPV Memory organisation with the WF FB 226: VERF FB 227: SATZ-UEB Standard II Interface S5 WF 785/WS FB 176: ANLAUF Input interface DBAZ FB 170: S5-MELD FB 174: ACHS-ZU FB 175: PG-MELD FB 177: WF-AUFTR Details for entering programs Call-up example for a module WF Standard III Interface S5 WF 470 (Standard I- und III-726) Start-up FB 212: ANL:SIII The cyclic Operation FB 228: VERF-WF Programming example for S5 155 U with serial keyboard interface

7 8 Technical Data for the Standard-Software I, II, III Lists Blocks and variables Overview of function blocks Execution times for Standard blocks Execution times for Standard I-726 in SIMATIC controls Execution times for Standard II-726 in SIMATIC controls Execution times for Standard III-726 in SIMATIC controls Times needed for data transmission Allocation of the Data words and the Data blocks (interface WF 725/WF 726) Appendix WF Loading the Standard III masks Loading the WF 470 (PG 675) Loading the WF 470 (PG 685) Adaption of the text list to the machine Loading the link file into the WF Alarm processing Documentation for WF 725/WF

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9 0 Notes This description deals with the following: the positioning module WF725A/B and WF726A/B/C the operating panel WF780 the interface module WF785 screen and keyboard with WF470 and the STEP 5 standard software packages Standard I-726 Standard II-726 Standard III-726 The application of the WF module in the various SIMATIC S5 programmable logic controllers is handled in this description. The relevant WF725/726 documentation is listed in chapter 9.3. The standard software Overlay (Schale) has been developed to simplify the use of the interface. It is not possible to mix software Standard 1 (Order number 6FM1725-7A.00) with Standard II-726 or Standard III-726. It is not possible to use the operating panel WS700G in conjunction with the WF726 module. For this, the WS780 operating panel should be used. The disc for Standard III WF470 Masks : A data transfer area must be generated in the system data list on the WF470 Standard masks disc using the picture generation software. A DB, with any number, is used for the data transfer area and its length must be at least 20 data words. The WF470 transfers the status of the function keys into DW10 of the data transfer area. For correct processing in flag words, the left and right data bytes must be exchanged. After this data word has been read out it should be set to zero by the user program. Siemens AG 1990 All Rights Reserved 6ZB GL02 0-1

10 Notes for using WF470 with Standard III- 726 Mixing colors when using monochrome monitor No. of color: %-value for green Text lists in the case of machine faults There is enough vacant space in the diagnosis mask DIA to accommodate a further mask for displaying machine faults. Cursor function By pressing the cursor key, the cursor can be positioned in the text area or in the V-field (it functions like a flip-flop). The STEP 5-program is in german version in the program examples. 0-2 Siemens AG 1990 All Rights Reserved 6ZB GL02

11 1 Overview 1.1 Structure of the software Standard I-726, II-726, III-726 without Overlay (Schale) Standard STEP 5 software is available to simplify the programming of the WF725/WF726. Like the hardware, the software is modular in form (see fig. 1.1). It is possible to mix WF725's and WF726's with the new software. Fig. 1.1 Data flow between the I/O medium and the WF 725/726 WF-Module I/O medium SIMATIC S5 Standard I-726 Interface I/O S5 Interface S5 WF User program DB Progr. DB Axis DB VZ DB WF725X DB WF726Y DBWF Standard I-726 DBWF DB Axis Standard III-726 DB 203 WF 785 WF 470 Standard I-726 Machine control panel (Control inputs and status outputs) Operating panel WS 780 Display with keyboard WS 400 DB 204 Standard II-726 WF 725 Module X WF 726 Module Y Siemens AG 1990 All Rights Reserved 6ZB GL02 1-1

12 1.2 Structure of the software Standard I-726,II-726 and III-726 with the Overlay Overlay without Standard II and/or Standard III COM 726 SIMATIC S5 Standard-Software II-726 Standard-Software III-726 Software Schale Standard-Software I-726 WF 785 / Serial communications card WF 470 VDU display system PG Serial communications card Customer application machine control panel WS 780 Operator panel WS Operator panel WF 725/WF 726 Positioning modules Standard I-726 is not on the diskettes for Standard II-726 and Standard III-726. Standard I-726 must be ordered separately. It is not possible to mix software Standard 1 (Order number 6FM1725-7A.00) with Standard II-726 or Standard III Siemens AG 1990 All Rights Reserved 6ZB GL02

13 1.3 Specification of terminology Main modes and submodes The WF725/WF726 has the following main operating modes: Operating mode Traversing Operating mode Programming Operating mode Service Operating mode Machine data These main modes apply to the entire WF module and to all axes on that module, i.e. the WF interface to the S5 is switched when the operating mode is changed. The selection of the main modes is described in chapter 2. When the main mode is changed the positions of the limit and pre-limit switches are read out of the EEPROM store. Only these four main modes are allowed with their respective identification codes. If any other code is issued to the WF module, a fault message will be written into DBWF DW 39. The following submodes all come under the main operating mode Traversing and can be selected separately for each axis. - Operating submode 1: Jog - Operating submode 2: Referencing - Operating submode 3: Manual data input (MDI) - Operating submode 4: Follow up - Operating submode 5: Velocity control - Operating submode 6: Axis clamped - Operating submode 7: Setting of actual value - Operating submode 8: Single block - Operating submode 9: Automatic cyclic - Operating submode 10: Automatic single step - Operating submode 11: Automatic buffer (only WF 726) Siemens AG 1990 All Rights Reserved 6ZB GL02 1-3

14 1.3.2 General definitions In order to simplify this description the following system has been adopted: To identify the axes, they have been given the letters A,B,C. On the machine, the axes may have numbers to identify them: Axis 1 on the module = axis A Axis 2 on the module = axis B Axis 3 on the module = axis C Resolution: This is the distance represented by one encoder (increment); 1= 1 µm per increment 2= 10 µm per increment 3= 100 µm per increment 1.4 Basic principle of the data transfer The data transfer with the WF725/WF726 is the same whether machine data, movement instructions or other data are to be transferred. The user needs to select the interface DB and to write the data into the DB and finally to set the strobe. The actual transfer is done by standard FB's. The user does not need to bother about the data handling in the dual port RAM (such as transfer reqest, acknowledgement etc.). A strobe signal may only be set when a preceding data transfer has been completed, that is after the strobe signal has been reset by FB210. The strobing is edge-triggered. Therefore, it is always important to check that the strobe signal is indeed reset before attempting a transfer. The strobe signal will only be recognized when the correct operating mode identification has been entered. If this is not the case there will be no reaction from the standard FB. Since the entire DB interface acts as a data channel, without buffer store in the SIMATIC S-5 only one value of a data type can be transferred in each direction at one time (or one data block in the case of movement blocks). 1-4 Siemens AG 1990 All Rights Reserved 6ZB GL02

15 When FB210 acknowledges a data transfer it will reset the strobe. Other identification data (e.g. BCD or binary format) will not be changed by the FB210 and does not have to be rewritten when another data transfer is started. When data is being read out a further step must be inserted into the data handling: Because more than one data input medium may be present (screen with softkeys, operating panel etc.), it is necessary for the Standard I to have a so-called data out bit to signal when data output is ready. The user has to program as follows: yes Are both the strobe bit and the Data out bit reset to zero? Set the strobe signal fot the data output Is the data output completed? yes The FB210 writes the data into the required channel, resets the strobe bit and sets the Data out bit User can fetch the data User resets the data out bit to complete the data output* * This enables the interface for a new data exchange It is not possible to read out any data without first resetting the data out bit, although data can be read in. The data out bit still has to be reset even when an error message is issued. Fig.1.4 Reading data out The STEP 5 standard software shell is superimposed on the Standard I-726. Thus the interface SIMATIC S-5 to the WF725/WF726 is considerably simplified. The interface can be organised by setting parameters to function blocks. Siemens AG 1990 All Rights Reserved 6ZB GL02 1-5

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17 2 Main operating mode Traversing: The submodes 2.0 Interface bits and mode selection Mode selection Although the three axes of a module can operate completely independently of each other, there are certain functions which apply to the entire module, that is to all three axes. This division is made with a mode identifier, which acts as a higher level operating mode for the module. Four mode identifiers are possible: 0 = Traversing 1 = Programming 2 = Service 3 = Machine data input/output Before a new operating mode can be selected, various starting conditions must be generated for the new operating mode. Before the operating mode Traversing is selected the control commands must be cancelled for that particular axis, otherwise the control bytes would be overwritten in the WF725/WF726. The common operating submodes such as Automatic, Reference point approach, Jog etc are selected for each axis. They do not have to be the same for each axis. Only the four numbers given are allowed as mode identifiers. An error code will be written in DBWF DW39 if any other code is given. The mode identifier is written into DBWF DL19 for each module separately. If the identifier is to be changed, FB210 checks if a data transmission is currently running,in which case this will be allowed to finish. Only then will the change be accepted. As acknowledgement for the new operating mode, FB210 writes the code for the new mode in DBWF DR19. Data words 19 and 39 in DBWF DW-N Mode select request Mode selected 39 Error during mode select Control and acknowledge bits during Traversing (mode 0) A prerequisite for these signals is that the mode Traversing is selected for the entire module. The control bits are sent every cycle to the WF module, however the plausibility of the bits is not checked. The signals are transferred from the DB interface to the WF module. In the same way, the acknowledge bits are transferred from the WF module into the interface DB. Siemens AG 1990 All Rights Reserved 6ZB GL02 2-1

18 Important! The signals from the FB210 to the WF 725/WF726 are not checked, therefore it is necessary to check that data is supplied to the DB interface in the correct order. It is particularly important, when the mode Traversing is selected that the control bits of the individual axes are immediately issued. Before the mode change is requested the correct control bits must be written into the DB interface,and only then should the mode change be requested. All program numbers or block numbers are integrated by the WF726/WF725 as hexadecimal. Control bits for the DB "Achse" DW N Program-/, block-/ buffer number or voltage (16 0 ) 10 1 (16 0 ) 10 1 GLAC GLAB Operating submode request to WF GLTZ RESET EEPR RAM reserved acknowl edge X1 X2 X3 Cancel remain. distance START STOP X4 Servo enable Operatingde request to WF (hexadecimal) Operating submode X1 X2 X3 X4 0 no operating submode 1 Jog jog + 2 Reference point approach 3 Manual input MDI Selection of the fixed increment Jog Direction command + Direction command Direction command + for rotary axis Direction command for rotary axis 4 Follow up 5 Velocity control voltage positive Increment for voltage Voltage negative 6 Axis clamped 7 Preset 8 Single block 9 Automatic cyclic A B C till F Automatic single move Automatic buffer no operating submode Direction command + for rotary axis Direction command + for rotary axis Direction command + for rotary axis Block skip Block skip Direction command for rotary command Direction command for rotary axis Direction command for rotary axis BERO Reference point cam Read in enable Read in enable GLAB: Synchronised axes A and B (only valid in axis A MD 27 = 0) GLAC: Synchronised axes A and C (only valid in axis A MD 27 = 0) GLTZ: Master slave tolerance check (active if bit 2.7 is set) 2-2 Siemens AG 1990 All Rights Reserved 6ZB GL02

19 Reset DW 2, Bit 6 1-Signal: The selected axis is put in its basic setting In doing this, the following operations are executed: The current operation is cancelled Synchronization is deleted All faults are deleted Desired and actual position are brought to its basic setting (with absolute encoders, signals of synchronization) Check back in basic setting Controller release is deleted The program pointer is set on demand Override is set on 100% EEPROM / RAM DW 2, Bit 5 1-Signal: 0-Signal: Program or block data from the EEPROM-area are used. Program or block data from the RAM-area are used. Acknowledgement M-Function DW 2, Bit 4 1-Signal: In relation to the MD 8 (Machine data: Type of output M-Function), an M-Function can be acknowledged during execution of a traversing block. Start *) M Function strobe M Function number 1. M Fct. 2. M Fct. Acknowledgement M Function Output of the first M Function Valid -Signal of the first M Function Acknowledgement of M Function Deleting the M Function number and the M-Function strobes through the WF 725, 726 The acknowledgement signal can be reset After resetting the acknowledgement signal another M function number can be read out. Siemens AG 1990 All Rights Reserved 6ZB GL02 2-3

20 Delete residual path DW 2, Bit 3 1-Signal: When positioning is interrupted the residual path is deleted. With different submodes the following details should be considered: Manual input: The momentary position information and speed information will be newly processed. Single block: With Start, the momentary block will be processed completely new. A new block number (independently of Delete residual path ) will always be processed. Automatic submode/ After Stop, the traversing rest of the momentary Single Step block will be deleted. With Start, operation of the next block is started. Start (Read-in enable) Start enable Del. residual path Check back: Axis is traversing current operation Take away Start (and Read-in enable ) If Start release = 1, then set Start (Read-in enable) and Delete residual path If check back Axis is traversing = 1, then reset Start (Read-in enable) and Delete residual path When Start enable = 1, then the next traversing block can be processed. 2-4 Siemens AG 1990 All Rights Reserved 6ZB GL02

21 Start DW 2, Bit 2 1-Signal: 0-Signal: Operation is started with the change of 0 to 1. But the signal Start enable has to be awaited first. With the change from 1 to 0, the operation is aborted. Controller release DW 2, Bit 0 1-Signal: The axis is released; Output of 24 V 0-Signal: The axis is blocked; Output of 0 V Siemens AG 1990 All Rights Reserved 6ZB GL02 2-5

22 Check back bits DB axis DW-N M- Change Axis synchro nized Fault Strobe Limit switch Pre-limit switch Error / M function n. / Speed level Submode- (16 0 ) 10 1 (16 0 ) 10 1 Ckeck back of WF Operation is working Axis travers. back Start- Enable Axis Position travers. reached forw. Y3 Speed Level/ Ext.St M-Change DW 3, Bit 7 1-Signal: The number of the M function in the DL 4 (2-numbered BCD-value) is valid. Axis synchronized DW 3, Bit 6 1-Signal: The axis has been synchronized with the submode reference point approach. When absolute encoders are used, the signal will be set with the start. In the submode Set actual value, the signal is set with the start. Fault Strobe DW 3, Bit 5 1-Signal: The number of the Traversing error in the DL 4 (2-numbered BINARY-value) is valid. Start up of limit switch DW 3, Bit 4 1-Signal: The axis is out of the limited traversing range (compare: MD12, MD14). Start up of pre-limit switch DW 3, Bit 3 1-Signal: The axis is out of the traversing range which is limited through the pre-limit switch (compare: MD11, MD13). 2-6 Siemens AG 1990 All Rights Reserved 6ZB GL02

23 Axis traverses backwards DW 3, Bit 2 1-Signal: The axis is traversing in the negative direction. Axis traverses forwards DW 3, Bit 1 1-Signal: The axis is traversing in the positive direction. Position reached DW 3, Bit 0 1-Signal: The axis has reached the PEH-window at the end of a set positioning range. The signal is effective in the following submodes: Manual input Single block Automatic cycle Automatic single-step Reference point approach Automatic buffer With the change of blocks in the automatic submode this signal will not be read-out. Fault number, M function number, Speed level DW 4, Bit 8 to 15 The contents of this value is validly explained through the signals: M Change (Format of the value: BCD) Fault strobe (Format of the value: BINARY) Speed level (Turn-off point version) (Format of the value: BCD) Check back of the submode DW 4, Bit 4 to 7 The check back shows that the pre-set submode has been taken over from the WF 725 / 726. Siemens AG 1990 All Rights Reserved 6ZB GL02 2-7

24 Operation is working DW 4, Bit 3 1-Signal: 0-Signal: Block or program operation is working. Block or program operation has ended. This signal remains also set when the axis is standing because of stop or M00 (in the program). Start enable DW 4, Bit 2 1-Signal: 0-Signal: The axis is ready to receive a start signal. The axis cannot be started at the moment. Dwell time active DW 4, Bit 1 1-Signal: The axis remains in a position because of a block information. Speed level /(Ext.St) External Start Enable DW4, Bit 0 1-Signal: 0-Signal: The corresponding turn-off speed level (MD 42, MD 43 or MD 44) is entered in DL 4 ( Speed level ) and declared valid. The start signal is enabled externally (open loop) End of positioning or stop. The signal remains set when a new speed level is chosen. 2-8 Siemens AG 1990 All Rights Reserved 6ZB GL02

25 2.1 Operating submode 1: JOG Description: In the operating submode Jog the movement of the axes is controlled from the axis keys on the machine control panel. There are two preset speeds available which can be also selected at the machine control. The numerical values are entered via the operating panel or via the keypanel and screen. The programmed velocities used in automatic are not applicable here. The maximum velocity is specified in machine data 3. The feed rateoverride switch is active. The position control loop is active to control the drive. The movement of the axes can be followed in the position display on the operating panel or screen. The axes can be moved by giving the signals +jog and -jog. One of the two velocity levels can be selected with the signals Velocity level 1 or 2. TEACH IN: The current positions of the axes can be taken into the program. The velocities and auxilliary functions can be added later in the mode Programming. Siemens AG 1990 All Rights Reserved 6ZB GL02 2-9

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28 Comments: Velocity level 1 and 2 The velocity levels 1 and 2 can be accessed with data indentifier 06 and 07 together with the Read in/read out bit. With the EEPROM bit it is possible to use possibly different values in the RAM and EEPROM. When the data is read in only the RAM value will be changed. At switch on the values for the velocity level stored in EEPROM will be loaded into RAM. Only the RAM values can be used for movement. Teach In If the operating panel WS 780 or the WF470 screen and keyboard are used, then teach in is always implemented via standard masks. For more information see the operating instructions for the WS780 and WF470. If Standard I-726 is used the identifier F is to be used for Teach in (see chap. 3) Siemens AG 1990 All Rights Reserved 6ZB GL02

29 Acknowledgement: Inputs: [Op. mode] [Jog+] [Jog-] [Vel. level] [Op. mode] [Forwards] [Backwards] [Start Enable] [Program - 4,3 running] Limit switch reached Pre-limit switch reached Axis referenced Reset Jog direction Jog direction Axis moves forwards Axis moves backwards error bit Start enable Velocity level select Program running DW NO. Time Timing diagram Bit pattern presentation Error number / Velocity level G... Velocity level (only open-loop version) Inputs: DW1 and DW2 Outputs: DW3 and DW4

30 Explanation of the timing diagram: Inputs: Acknowledgement: 1) The user writes 0001 into DW1 to select operating mode After a small reaction time the WF 725/WF 726 confirms the Traversing operating mode (0001 into DW4) and sets bit 4.2 (Start enable) since bits (Jog+) and (Jog-) are zero. 2) If the servo enable is set (bit 2.0) the axis will start to move with the The Start enable is reset, Programm running is set, bit 3.1 Jog+ signal with velocity level 1 (bit 1.2 = 0). (Forwards is also set and the axis accelerates to speed). 3) The axis decelerates with the negative edge of Jog+. As soon as the axis comes to rest, the bits 3.1 (Forwards) and 4.3 (Program running) will be reset and bit 4.2 (Start enable) will be set. 4) Jog- and velocity level 2 are selected. The axis resets the Start enable and travels with the preset velocity until Jog- is reset. Bit 1.2 (velocity level 1 or 2) is only read when either Jog+ or Jog- is set. 5) The axis decelerates when Jog- is reset. The WF 725/WF 726 resets the bits 3.2 (Reverse) and 4.3 (Program running) and bit 4.2 (Start enable) will be set. 6) Jog+ is set again with Velocity level 1. Program running and Forwards will be set. 7) Jog- has also been set and the axis stops due Program running and Forwards will be reset. to the conflicting situation. 8) For the same reason the axis stays stationary when both Start enable is reset. Jog+ and Jog- are set with active Start enable. 9) Only when both Jog+ and Jog- are zero. Start enable will be set again. 10) If the operating submode is changed everything that is currently happening will be stopped and the axis comes to rest. Bit 1.2 (Velocity level) will remain unchanged.

31 2.2 Operating submode 3: REFERENCE POINT APPROACH (only with incremental encoder) Description: It is necessary to reference the actual axis to the position control system. For this reason each axis has a reference point. After the start signal the axis moves in the preset direction with referencing velocity 1. The axis speed reduces to referencing velocity 2 when the BERO (inductive switch) is reached. When the axis moves clear of the BERO on the other side the axis decelerates to referencing velocity 3. This velocity remains until the next zero marker from the encoder has passed and the distance of the shift has been traversed. When the axis is referenced the software limit switches are activated and the signal Axis referenced is sent to the PLC. The signal from the BERO can get to the WF either via the PLC-WF interface as a normal input or via one of the rapid inputs (specification via machine data 15) NM N NMR Reference cam closes opens M V rap R V red V slow MR C A NMR MR NM N R C M A V rap V red V slow Fig. 2.2: Zero marker for reference point Reference point coordinate Encoder zero pulses Position of cam Machine zero point Shift from encoder zero Reference velocity 1 (rapid traverse) Reference velocity 2 (reduced speed) Reference velocity 3 (slow speed) Referencing the axis with incremental encoders Siemens AG 1990 All Rights Reserved 6ZB GL

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36 Additional description of the procedure from the cam to the reference point. At the start the axis is already on the reference cam. (BERO): With the Start signal the axis moves in the direction specified by MD7 up to the next zero marker after the cam. Effect of machine data 7 (reference approach direction from cam): Possibility 1 : MD 7 = 1 Possibility 2 : MD 7 = 2 BERO + - BERO Encoder zero The axis starts to decelerate and the reference point is eventually reached. The reference point coordinate and the signal SYN are set. Effect of machine data 17 (reference point shift): Case 1 : MD 17 = Distance needed to stop from reference velocity 3 Signals PEH and SYN are set here BERO Encoder zero MD 17 Case 2 : MD 17 < Distance needed to stop from reference velocity 3 V 3 BERO MD 17 Case 3 : MD 17 > Distance needed to stop from reference velocity 3 BERO For all these diagrams the following is valid: MD 17 X axis= time Y axis= velocity 2-18 Siemens AG 1990 All Rights Reserved 6ZB GL02

37 Additional description of the procedure up to the reference cam At the start the axis is not on the reference cam. (BERO). The user must ensure that the axis sets off in the correct direction to be able to reach the reference cam. Thereis no hardware monitor that the direction is correct. MOVE + active MD 7 = 1 MD 7 = 2 V 1 V 2 V 1 V 2 BERO BERO or The procedure from the cam to reference point starts here Braking distance > length of referencecam V 1 V 2 V 1 V 2 BERO BERO MOVE - active MD 7 = 1 MD 7 = 2 V 1 V 1 V 2 V 2 BERO BERO or Braking distance > length of reference cam V 2 V 1 V 2 V 1 BERO BERO Siemens AG 1990 All Rights Reserved 6ZB GL

38 Terminology: a) Reference velocities 1,2,3 The WF725/WF726 has three reference approach velocities which are stored in the WF. The velocities can be accessed by using the data identifiers 08 Hex, 09 Hex,0A Hex (see chap. 3.1). It is possible to use two different values for each by using the bit EEPROM/RAM. When the data are being read in either the RAM or the RAM and EEPROM value will be changed. With switch-on the value in EEPROM is loaded into the RAM. Only the RAM value is used in operation. Reference velocity 1: Reference velocity 2: Reference velocity 1: Velocity before the reference cam Velocity on the reference cam Velocity after the reference cam (zero marker / shift) b) Machine data for referencing MD7 MD15 MD16 MD17 Approach direction for reference point from the reference cam. This machine data specifies whether the signal from the reference BERO comes via the Standard I interface or via the rapid inputs on connector x7. Reference point coordinate is the actual position value which corresponds to the reference point. Reference point shift has the distance from the encoder zero to the actual reference point. It can be either positive or negative. c) Simulation of the zero marker In the simulation mode, the 1/0 edge of the reference BERO signal is understood as the encoder zero. The reaction from here is the same as after the zero marker in the position control mode. The axis moves the distance of the reference point shift and then the reference point coordinate is loaded into the actual value register. d) Zero marker check When the axis leaves the reference cam the actual value at that position is stored away in a register. The WF then continually checks the difference between the actual value and the stored value and compares it with the contents of machine data 34 (number of pulses per encoder revolution). Error 9 will be issued if the difference exceeds the value of machine data 34, before a zero marker comes along unless the check has been switched off with machine data 41. (See also Installation instruction lists) Siemens AG 1990 All Rights Reserved 6ZB GL02

39 e) Reference cam signal Normally the rapid inputs I1, I2 or I3 should always be used instead of the BERO bits for the reference cam signal i.e. as inputs via the S5/WF interface. If the reference cam signal is passed on as the BERO bit from the S5 with MD15=1, then the user must ascertain that the time or distance between recognition of the trailing edge of the BERO signal and the trailing edge of the inverted zero marker is bigger than the brake distance from reference velocity 1 to 2 plus the distance between an S5 cycle in reference point velocity 2. It is only possible to have one axis at a time in the reference submode with firmware levels below 2 and MD15= 2 (only one interrupt controller for all three axes) f) The operating submode Reference approach is not allowed when: - absolute encoders are used - roll feed is selected (MD 4=1, MD 42=1) In these cases the WF does not give any operating submode acknowledgement to DW Operating submode 3 : MANUAL DATA INPUT (MDI) Description: In this submode it is possible to enter a distance or coordinate together with a velocity and to execute the move with Start. ( Current data : position, velocity, G function) If the distance is entered as incremental (G91) then the move will be repeated each time Start is pressed. In this submode no M functions are issued and dwell times and tool offsets are not allowed. G90 is written into the first G group as soon as the submode is selected. Only G90 and G91 are allowed. It is also possible with firmware level 0.7 for the WF726 to enter into the 2nd group an acceleration value. With the G functions G30 thru G39 it is possible to programfor that current block a percentage acceleration of the maximum stored in machine data. G % G % to G % Siemens AG 1990 All Rights Reserved 6ZB GL

40 Limit switch reached Pre-limit switch reached Axis referenced RESET Jog direction Jog direction BERO Start Stop Axis moves forwards Axis moves backwards Error bit Start enable Program running DW NO. Bit pattern presentation Error number / Velocity [Op. mode] = [Start/Stop]- 2.2 [BERO] [Encoder zero markers] Sequence: Axis is already on the BERO Inputs: Acknowledgements: [Op. mode] = [Start enable] [pos./neg.] MD 7/17 [PEH] [REFD Signal] [Program running] Timing diagram (in pos. control)

41 Explanation of the timing diagram (from the cam to the reference point): Inputs: Acknowledgement: 1) The user writes 0010 into DW1 to select operating mode The user writes 0010 into DW1 to select operating mode Reference point approach. Reference point approach. 2) The user sets Start. The Start enable is reset, Programm running is set. Since the axis is already standing on the referencing cam, it accelerates to velocity Reference velocity 2 in either positive or negative direction, depending on machine datum 7. The corresponding signal Forwards or Reverse will be set. 3) The axis leaves the reference cam. The WF 725/WF 726 decelerates to Reference velocity 3 and seeks the next encoder zero. 4) The zero marker from the encoder comes along. The WF 725/WF 726 continues to move for the length of the reference point shift. 5) The signals are PEH and Referenced are set. 6) The reference point approach is restarted with Start. Same reaction as under 2). PEH is reset as soon as the PEH tolerance is exceeded. The axis remains referenced. 7) The axis is still calibrated as long as the reference point shift has not yet been completed. Even if the motion is interrupted by issuing a Stop. 8) The axis leaves the reference cam and the next encoder The SYN bit is reset. The axis is no longer referenced and the zero comes along. software limits are no longer active. 9) The operator issues a Stop, while the reference point The axis is no longer calibrated and the software limits are no shift is being traversed. longer active. The axis has to be re-referenced. 10) The operating mode is changed. Same reaction as under 9).

42 Timing diagram (from the cam to the reference point) Acknowledgement: [Op. mode] = [Start/Stop]- 2.2 [BERO] [Jog+] -1.3 [Jog - ] -1.1 Axis is not initially on the Reference cam Inputs: [Op.mode] = [Start enable] [Forwards] -3.1 [Backwards] [Program- 4.3 running]

43 Explanation of the timing diagram (up to the cam): Inputs: Acknowledgement: 1) The user writes 0010 into DW1 to select operating mode. After a short reaction time the WF 725/WF 726 confirms the operating Reference point approach mode (0010 into DW4) and sets bit 4.2 (Start enable) since Start is not set. 2) The user sets Start. Since the axis is not on the cam (i.e. the BERO is inactive) and no direction was specified, the axis does not move. Instead an error message is issued and Start enable is reset. 3) The error is acknowledged and Stop is set. The Start enable is set again. 4) The user sets Start but both Move + The WF 725/WF 726 issues another error message and resets Start and Move - are also set. enable. 5) Only one of the move signals + or - is active and Start is set. Start enable is reset, Progam running and either Forwards or Reverse are set. The WF 725/WF 726 accelerates to reference velocity 1 and moves in the selected direction searching for the reference cam. 6) The other move direction signal is set. The axis stops and an error message is issued. Program running and either Forwards or Reverse are reset. 7) The user selects either Move+ or Move - and Start. Start enable is reset, Progam running and either Forwards or Reverse are set. The WF 725/WF 726 accelerates to reference velocity 1 and moves in the selected direction searching for the reference cam. 8) The axis reaches the reference cam and the BERO becomes active. The WF 725/WF 726 decelerates to Reference velocity 2. If the axis is moving already in the direction given by MD7 the procedure described on page 2-9 begins. If the direction is not the same as that in MD7 the axis changes direction and then starts with the procedure on page 2-9.

44 Additional description: As can be seen in chapter 3.1 (data identifiers) it is possible to read or enter only the current block. To enter or alter a block the identifiers are 15 (1st G function),16 (2nd G function), 19 (Position), 1A (Velocity). This data can be read in simultaneously with the WF726 and dual port RAM length 32/64 byte. (See the interface in chapter ) The block data has to be read in anew after every change of the operating submode. Move direction + or - It is possible with circular axes to specify the direction of rotation. If none is specified the shortest path will be traversed. Cancel remaining distance: If, during execution of a block, a new block is transmitted,then the new block can be started by: issuing a Stop setting the signal Cancel remaining distance setting Start again Siemens AG 1990 All Rights Reserved 6ZB GL02

45 2.4 Operating submode 4: FOLLOW UP MODE Function description: This operating submode allows the controlling of the axis from some external source. The axis remains referenced.the movement of the axis can be monitored in the display. The closed loop is switched off (command value = 0). The required position is set equal to the actual position so that the following error and thus the command value remain at zero. The WF tracks the movement of the axis. Activating the operating submode: a) Selecting operating submode 4 and issuing Start or, b) Setting the Start and then selecting the operating submode. In this case the DAC voltage jumps to zero and the motor is decelerated with maximum current. Siemens AG 1990 All Rights Reserved 6ZB GL

46 2-26 Siemens AG 1990 All Rights Reserved 6ZB GL02

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48 Additional information: For other operating submodes, the reaction to traversing errors <60 is like the activated Follow up submode. When such an error is acknowledged or when the Stop signal is given, the closed loop is reactivated Siemens AG 1990 All Rights Reserved 6ZB GL02

49 2.5 Operating submode 5: VELOCITY CONTROL Description: The closed loop is switched off in this operating submode. The block number pre-select inputs on the machine control panel are used to generate a constant voltage which is fed to the drive amplifier as a velocity command. The voltage lies between +/- 10V. The sign of the voltage is set by the bits positive/negative voltage. The following voltage ranges are possible: a) 0V mv in 10 mv steps bit b) 0V... 9,9 V in 100 mv steps bit The voltage is read as a BCD value (0.. 99) into DL2. The voltage is activated with Start. If the BCD value is altered or the voltage range is altered, the change will be immediately effective. The movement of the axis can be checked with the actual value display. Siemens AG 1990 All Rights Reserved 6ZB GL

50 2-30 Siemens AG 1990 All Rights Reserved 6ZB GL02

51 Acknowledgement: Inputs: Limit switch reached Pre-limit switch reached Axis referenced RESET Jog direction - Jog direction Start Stop Cancel remaining distance Axis moves forwards Axis moves backwards Error bit Start enable DW N. Time [Op. mode]= [Start/Stop] [Op. mode]= [Start enable] [positive/negative] / 3.2 [Program running] [PEH] -3.0 Timing diagram Bit pattern presentation Error number / Velocity G... Velocity level (only open loop) Inputs: DW 1 and DW 2 Outputs: DW 3 and DW 4 Program running

52 Explanation of the timing diagram: Inputs: Acknowledgement: 1) The user writes 0011 into DW1 to select operating After a short reaction time the WF 725/WF 726 confirms the operating submode MDI. submode (0011 into DW4) and sets bit 4.2 (Start enable). 2) The user sets the Start signal. Start enable is reset and Progam running and one of the directions Forward or Reverse will be set. 3) As soon as the position is reached PEH will be issued, Forwards or Reverse and Program running will be reset. 4) The user sets the Stop signal. The axis sets the Start enable. 5) The user sets Start again. Start enable and PEH are reset. Progam running and one of the directions Forward or Reverse will be set. If however the axis is already at the position (G90) neither Forward/Reverse or Program running will be set and PEH stays set. 6) The axis decelerates if Stop is set during the movement. Forwards/Reverse will be reset and Start enable will be set. 7) If Start is entered again only the remaining distance will As soon as the position is reached PEH will be issued, Forwards or be travelled. Reverse and Program running will be reset. 8) If the operating submode is changed during movement the Forwards or Reverse and Program running will be reset. axis will stop. When MDI is reselected the remaining distance is lost and must be reentered. The signal Cancel remaining distance has the same effect.

53 Acknowledgement: Inputs: Limit switch reached Pre-limit switch reached Axis referenced RESET Start Stop Error bit Start enable Program running DW N. Time [Op. mode]= [Start/Stop] [Op. mode]= [Start enable] [Program running] Timing diagram Bit pattern presentation Error number Inputs: DW 1 and DW 2 Outputs: DW 3 and DW 4

54 Explanation of the timing diagram: Inputs: Acknowledgement: 1) The user writes 0100 into DW1 to select operating submode After a small reaction time the WF 725/WF 726 confirms the Follow up mode. operating submode (0100 into DW4). 2) As soon as the user sets the Start signal the closed loop Start enable is reset and Progam running is set. will be switched off. 3) The closed loop is switched on again with Stop. Program running will be reset and Start enable will be set. 4) If Start is already set when the operating submode is selected. Program running will be set. then the closed loop will be switched off. (Command position = Actual position) 5) If the operating submode is deselected the closed loop will be Program running will be reset. switched back on.

55 Acknowledgement: Inputs: Limit switch reached Pre-limit switch reached Axis referenced RESET Voltage negative + Voltage positive Start Stop Axis moves forwards Axis moves backwards Error bit Start enable * 100 * 10 DW N. [Op. mode] = [Jog+] [Jog - ] *100 / * Voltage level DL 2 [Start / Stop] [Op. mode] = [Forwards] [Backwards] [Start enable] [Program running] Timing diagram Bit pattern presentation Error number G... Velocity level (only open loop) Voltage level (BCD-Value 0 bis 99) Time Inputs: DW 1 and DW 2 Outputs: DW 3 and DW 4 Program running

56 Explanation of the timing diagram: Input: Acknowledgement: 1) The user writes 0101 into DW1 to select operating submode After a short reaction time the WF 725/WF 726 confirms Voltage control. the operating submode (0101 into DW4) and sets bit 4.2 (Start enable) since Start is not set. 2) The user enters Start but nothing happens, since neither Start enable will be reset and the error bit will be set. Move+ nor Move - are active. The error number will be displayed in DL4. 3) Start is entered again but nothing happens because both As for 2). Move+ and Move - are set. 4) This time a voltage will be issued along with the positive Start enable will be reset. Program running and Forwards signal since only Move+ and Start are set. will be set. (Voltage value = voltage level *10). 5) The user resets Move+ and sets Move -. The sign of Forwards will be reset and Reverse will be set. the output voltage will be changed. 6) The user changes the voltage range from 10 mv to 100mV. (Voltage value = voltage level *100). 7) The user issues a new voltage into DL2. 8) Bit 2.2 is set to Stop. The closed loop is switched on again. Program running and Reverse will be reset. Start enable is reset. 9) While the axis is moving, the user deselects the operating After a short delay, the WF 725/WF 726 resets Forwards, submode. The closed loop is switched on. Program running and the operating submode in DW4.

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58 Additional information: The closed loop is only switched off when the Start command is given. The selected voltage is issued without any checks. No brake ramp is given out if the overtravel is reached. The command value jumps to 0V. The digital voltage is also supplied to the DAC in Simulation mode Siemens AG 1990 All Rights Reserved 6ZB GL02

59 2.6 Operating submode 6: Axis clamped Function description : After the operating submode has been selected and Start has been given the closed loop will be switched off. (Command voltage output = 0 volt). No command value will be issued to offset the movement of the axis. The WF725/WF726 checks that the axis drift does not exceed the clamping tolerance (MD32). Error 23 will be issued and operating submode Follow up mode will be selected if the axis drifts out of tolerance. Siemens AG 1990 All Rights Reserved 6ZB GL