Page 1 Industrial Electric Drives Linear Motion and Service Mobile Hydraulics and Controls Assembly Technologies Pneumatics Automation Hydraulics Rexroth OptiFeed-FS EcoDrive 03 R911296265 with Integrated NC Control Edition 01 FLP04VRS Functional Description...
Page 2 Date FWA-ECODR3-FLP-04VRS-MS 8/2003 First release  2003 Bosch Rexroth AG Copyright Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1).
Page 3: Table Of Contents
ECODRIVE03-FL*-04VRS Table of Contents Table of Contents System Overview ECODRIVE03 - The Universal Drive Solution for Automation............1-1 ECODRIVE03 – A Family of Drives ....................1-1 Drive Controllers and Motors ......................1-2 Function Overview: FWA-ECODR3-FLP-04VRS-MS..............1-3 Command Communications Interface ..................1-3 Supported Motor Types ......................
Page 4 Table of Contents ECODRIVE03-FL*-04VRS Basic Parameter/Basic Load....................4-6 Quick Setup Instructions ....................... 4-7 Downloading the Firmware ...................... 4-8 Diagnostic Message Options ......................4-9 Overview of Diagnostic Message Options ................4-9 Drive-internal Diagnostic Message Generation ............... 4-9 Diagnostic Message Composition ................... 4-9 Language Selection ........................
Page 5 ECODRIVE03-FL*-04VRS Table of Contents APZ - Byte Set / Clear and Count..................6-19 BAC - Branch Conditional on Count ..................6-19 BCE - Branch Conditional on Bit.................... 6-20 BIC - Branch Conditional on Bit Field Value ................6-20 BIO - Branch Conditional on Byte Compare ................6-22 BPA - Branch Conditional on Byte..................
Page 6 Table of Contents ECODRIVE03-FL*-04VRS SET - Set Variable Value ....................... 6-60 SRM - Search for Registration Mark..................6-61 SRP - Print Mark Registration....................6-63 TXT - Text Row........................6-66 VCC - Velocity Change ......................6-67 VEO - Velocity Override......................6-69 VMC - Virtual Master (Test Mode) ..................
Page 7 ECODRIVE03-FL*-04VRS Table of Contents Vector Programming ........................8-19 Manual Vector ........................8-19 Interrupt Vector ........................8-19 Multitasking ..........................8-20 Master Encoder and motion type Cam ..................8-22 Overview ..........................8-22 Slave Axis ..........................8-24 Positioning Command Pxx with Pre-Set Cam ............... 8-25 Synchronization by Precise Positioning.................
Page 8 Table of Contents ECODRIVE03-FL*-04VRS A105 Modulo Value........................ 9-8 A106 Maximum Velocity ......................9-8 A107 Jog Velocity ........................9-9 A108 Bipolar Acceleration...................... 9-9 A109 Acceleration / Deceleration ..................9-9 A110 Bipolar Jerk Limiting Time Constant................9-10 A111 Switching Threshold ....................9-11 A112 Reserved Stop Window....................
Page 9 ECODRIVE03-FL*-04VRS Table of Contents B009 Serial I/O Control for BTV04..................9-39 B010 System Control ......................9-40 B011 Fieldbus Cycle Time....................9-41 B012 Fieldbus Baudrate ...................... 9-41 B013 Fieldbus Format......................9-42 B014 EMD Configuration ..................... 9-42 Encoder Parameters ........................9-43 C000 Working Polarity ......................9-43 C001 Interface Feedback 1 (Motor)..................
Page 10 VIII Table of Contents ECODRIVE03-FL*-04VRS CM06 Moment of Inertia of the Rotor .................. 9-63 CM07 Holding Brake Type....................9-63 CM08 Holding Brake Current....................9-63 CM09 Motor Temperature....................9-64 CM10 Motor Inductance....................... 9-64 CM11 Commutation Setting....................9-64 CM12 Commutation Offset ....................9-64 PLS Parameters..........................
Page 11 ECODRIVE03-FL*-04VRS Table of Contents 11.1 Parallel Interface ......................... 11-1 Diagnostic LED for Parallel Interface..................11-1 11.2 Profibus ............................11-2 Fieldbus Parameters......................11-3 Process Data Channel ......................11-3 Service Data Channel ......................11-9 Inputs X1 and X3 ......................... 11-17 Assignment of Profibus Connector X30................11-17 Diagnostic LED for Profibus....................
Page 12 Table of Contents ECODRIVE03-FL*-04VRS F408 Fatal error of the interface card .................. 12-16 F411 Double SST failure shutdown ..................12-16 F434 Emergency-Stop ......................12-17 F629 Positive travel limit exceeded ..................12-17 F630 Negative travel limit exceeded..................12-18 F634 Emergency-Stop ......................12-18 F643 Positive travel limit switch detected ................
Page 13 ECODRIVE03-FL*-04VRS Table of Contents C212 Invalid amplifier data ....................12-34 C213 Position data scaling error..................12-34 C214 Velocity data scaling error ..................12-34 C215 Acceleration data scaling error................... 12-35 C216 Torque/force data scaling error .................. 12-35 C217 Feedback 1 data reading error................... 12-35 C218 Feedback 2 data reading error...................
Page 14 Table of Contents ECODRIVE03-FL*-04VRS A013 Ready for power on ....................12-45 A102 Position mode with encoder 1 ..................12-45 A103 Position mode with encoder 2 ..................12-45 A104 Position mode without position lag (following error), encoder 1......... 12-46 A105 Position mode without lag, encoder 2 ................ 12-46 12.5 Diagnostic Messages for Basic Initialization and Fatal System Errors........
Page 15 XIII ECODRIVE03-FL*-04VRS Table of Contents F- 0212 Program run without power ................... 12-53 F- 0213 Measuring Wheel Difference .................. 12-53 F- 0214 Wrong BCD information ..................12-53 F- 0215 FOL Factor > Max....................12-53 F- 0216 V > 999 Per Mil ....................... 12-53 F- 0217 HOM not allowed ....................
Page 16 Table of Contents ECODRIVE03-FL*-04VRS E- 0104 System control offline .................... 12-63 E- 0105 No serial I/O ......................12-63 E- 0106 Jog, Position < Limit ..................... 12-64 E- 0107 Jog, Position > Limit ..................... 12-64 E- 0108 IDS01 – Timeout ....................12-64 E- 0109 Load default values ....................
Page 17 ECODRIVE03-FL*-04VRS Table of Contents 15 EMD Module (EcoX-Bus) 15-1 15.1 Digital Input/Output Module ......................15-1 System Setup......................... 15-1 15.2 Technical Data ..........................15-3 EcoX Bus System Data......................15-3 Input/Output Module Data...................... 15-3 15.3 Important Notes........................... 15-5 Appropriate Use ........................15-5 Inappropriate Use ........................
Page 18 Table of Contents ECODRIVE03-FL*-04VRS DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 19: System Overview
ECODRIVE03-FL*-04VRS System Overview System Overview ECODRIVE03 - The Universal Drive Solution for Automation The ECODRIVE03 universal automation system is an especially cost- effective solution for open and closed-loop control tasks. The ECODRIVE03 servo drive system features: • a very broad range of applications •...
Page 20: Drive Controllers And Motors
System Overview ECODRIVE03-FL*-04VRS Drive Controllers and Motors The ECODRIVE03 family of drives is at present made up of eight different Available Controllers units. They differ primarily in terms of which interface is used for machine control (e.g. SPS, CNC). The drive controllers are available in three different rating classes with peak currents of 40A, 100A and 200A.
Page 21: Function Overview: Fwa-Ecodr3-Flp-04Vrs-Ms
ECODRIVE03-FL*-04VRS System Overview Function Overview: FWA-ECODR3-FLP-04VRS-MS Command Communications Interface The following interfaces are supported: • Profibus-DP Interface (DKC 3.3) • Parallel Interface 2 (DKC 21.3) Supported Motor Types • MKD • MHD • MKE • • • • LSF (linear synchronous kit motor) •...
Page 22: Firmware Functions
System Overview ECODRIVE03-FL*-04VRS Firmware Functions • 1 NC axis Data • units can be defined in mm, inches and degrees • dimensions can be programmed as incremental or absolute • preselection of velocity in ‰ of Vmax • Parameter Operating Modes •...
Page 23 ECODRIVE03-FL*-04VRS System Overview Functions • extensive diagnostic options • basic parameters that can be called up to set the parameters to their default settings • operation time counter • three-language support for parameter and command names, as well as for diagnostic messages •...
Page 24 System Overview ECODRIVE03-FL*-04VRS • homing • set absolute distance • analog output • analog inputs • probe function • detect marker position • piece counter • encoder emulation incremental encoder emulation DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 25: Important Directions For Use
(e.g. lubricants in machine tools) which may interact with our controls and drives, it cannot be completely ruled out that any reactions with the materials used by Bosch Rexroth might occur. For this reason, before using the respective material a compatibility test has to be carried out for new lubricants, cleaning agents etc.
Page 26: Areas Of Use And Application
Important directions for use ECODRIVE03-FL*-04VRS Areas of use and application ECODR3-FLP Rexroth defines appropriate use as for precision motion control of one axis. Control and monitoring of (the) Ecodrive03 may require additional sensors and actors. Note: ECODR3-FLP may only be used with the accessories and parts specified in this document.
Page 27: Safety Instructions For Electric Drives And Controls
If you do not have the user documentation for your equipment, contact your local Bosch Rexroth representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment.
Page 28: Hazards By Improper Use
Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS Hazards by Improper Use High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! DANGER High electrical voltage due to wrong...
Page 29: General Information
ECODRIVE03-FL*-04VRS Safety Instructions for Electric Drives and Controls General Information • Bosch Rexroth AG is not liable for damages resulting from failure to observe the warnings provided in this documentation. • Read the operating, maintenance and safety instructions in your language before starting up the machine.
Page 30 Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS • Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems".
Page 31: Protection Against Contact With Electrical Parts
ECODRIVE03-FL*-04VRS Safety Instructions for Electric Drives and Controls Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 50 Volts. Touching live parts with voltages of 50 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock.
Page 32: Protection Against Electric Shock By Protective Low Voltage (Pelv)
Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS To be observed with electrical drive and filter components: High electrical voltage on the housing! High leakage current! Danger to life, danger of injury by electric shock! ⇒ Connect the electrical equipment, the housings of all DANGER electrical units and motors permanently with the safety conductor at the ground points before power is...
Page 33: Protection Against Dangerous Movements
ECODRIVE03-FL*-04VRS Safety Instructions for Electric Drives and Controls Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: • improper or wrong wiring of cable connections • incorrect operation of the equipment components •...
Page 34 Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! ⇒ Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures DANGER integrated in the installation. Unintended machine motion is possible if monitoring devices are disabled, bypassed or not activated.
Page 35: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting
ECODRIVE03-FL*-04VRS Safety Instructions for Electric Drives and Controls ⇒ Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - cleaning of equipment - long periods of discontinued equipment use ⇒...
Page 36: Protection Against Contact With Hot Parts
3-10 Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS Protection Against Contact with Hot Parts Housing surfaces could be extremely hot! Danger of injury! Danger of burns! ⇒ Do not touch housing surfaces near sources of heat! Danger of burns! CAUTION ⇒...
Page 37: 3.11 Battery Safety
3-11 ECODRIVE03-FL*-04VRS Safety Instructions for Electric Drives and Controls 3.11 Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. Risk of injury by incorrect handling! ⇒ Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization).
Page 38 3-12 Safety Instructions for Electric Drives and Controls ECODRIVE03-FL*-04VRS Notes DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 39: General Instructions For Start-Up
ECODRIVE03-FL*-04VRS General Instructions for Start-Up General Instructions for Start-Up Explanation of Terms So that the terms used in this document will be better understood, some explanations are provided below. Communication Display The 2-digit, 7-segment H1 display on the programming module indicates the current status of the unit.
Page 40: Data Storage
General Instructions for Start-Up ECODRIVE03-FL*-04VRS Address Function Parameter Parameter B002 Para. Para. S3 S2 B001 B009 B010 ASCII-Protocol 9600 Baud NO Parity 09600 1 05 1 1 0 1 0 004 0 200 (MotionManager) SIS-Protocol 9600 Baud EVEN Parity 09600 2 05 0 1 0 0 0 000 0 200 ( BTV04)
Page 41: Operating Modes
ECODRIVE03-FL*-04VRS General Instructions for Start-Up Operating Modes There are three operating modes: • Manual • Automatic • Parameter They are specified via system DKC21.3 inputs, via the fieldbus for DKC3.3, or via the BTV04 (Parameters B009-B013). Parameters The drive displays "PA" on the H1 display. You must switch to Parameter Mode to change parameters and to operate the Logic Task program.
Page 42: Inputs / Outputs / Marker Flags
General Instructions for Start-Up ECODRIVE03-FL*-04VRS Inputs / Outputs / Marker Flags Designation The designation of the inputs, outputs and marker flags. M2.02.0 M = Marker Flag Byte = Input Q = Output Source Fig. 4-2: Structure of the Inputs / Outputs / Marker Flags e.g.
Page 43: Faults
ECODRIVE03-FL*-04VRS General Instructions for Start-Up Faults A number of monitoring functions are performed depending on the operating modes and parameter settings. An error message is generated if a condition is discovered which no longer allows proper operation. Error Classes Errors can be divided into four error classes. The error class The error class is apparent from determines the drive error reaction.
Page 44: Basic Parameter/Basic Load
General Instructions for Start-Up ECODRIVE03-FL*-04VRS Basic Parameter/Basic Load Basic Parameters When the drive is ready for delivery, the factory-set basic values are written to the parameters. The Load Basic Parameters During Active Parameter Mode function can be invoked using the S1 key and the address setting 98 or 99.
Page 45: Quick Setup Instructions
ECODRIVE03-FL*-04VRS General Instructions for Start-Up Quick Setup Instructions For safety reasons, the drive should be disconnected from the mechanical components for initial startup. If this is not possible, before the initial startup of the individual components, it must be insured that the E-STOP sequence functions completely and without problems.
Page 46: Downloading The Firmware
General Instructions for Start-Up ECODRIVE03-FL*-04VRS Downloading the Firmware The firmware is already included in a new unit when it is delivered. The firmware version which the unit contains can be read sequentially via Status Message 19. If the unit contains the wrong firmware version, the correct firmware can be downloaded using DOLFI software.
Page 47: Diagnostic Message Options
ECODRIVE03-FL*-04VRS General Instructions for Start-Up Diagnostic Message Options Overview of Diagnostic Message Options The diagnostic message options are divided into 2 groups: • Options generating priority-based, drive-internal diagnostic messages for identifying the current operating state • Collective messages for diverse status messages Additionally, there are parameters for all important operating data that can be transmitted via both the command communications hardware (Profibus, ...) and the parameter-entry interface (RS-232/485 using the...
Page 48: Language Selection
4-10 General Instructions for Start-Up ECODRIVE03-FL*-04VRS H1 Display The diagnostic message number appears in the two-digit seven-segment display. The display format is shown in the graphic " Diagnostic Message Priority Diagram ". With the help of this display, it is possible to quickly determine the current operating state without using a communication interface.
Page 49: Firmware Update Using The Dolfi Program
4-11 ECODRIVE03-FL*-04VRS General Instructions for Start-Up Firmware Update using the DOLFI Program With the help of the DOLFI program it has become possible to update the firmware for a drive controller via the serial interface. This program can be ordered from Rexroth with the designation: -SWA-DOL*PC-INB-01VRS-MS-C1,44-COPY or with the Material Number: 279804 A detailed description of the program is also included.
Page 50 4-12 General Instructions for Start-Up ECODRIVE03-FL*-04VRS Address Register Card • Enter the address set with the S2 and S3 dials on the drive controller. Language Register Card • Select language. 3. Press Connect button and wait for connection to be made. If no connection is made, the baud rate and address can be determined by using Serial/Scan.
Page 51: Firmware Update In Btv04/05
4-13 ECODRIVE03-FL*-04VRS General Instructions for Start-Up Firmware Update in BTV04/05 Serial transmission to X3 takes place via the RS 232 port. The communications parameters of the DOLFI program must be set as follows: Options Å Com-Port Connect baud rate 9600 Download baud rate 38400 Options Å...
Page 52: Error Message In The Firmware Loader
4-14 General Instructions for Start-Up ECODRIVE03-FL*-04VRS Error Message in the Firmware Loader If a firmware update is performed via the serial interface (using the SIS protocol), it is possible that the drive will generate error messages. These messages are displayed both by DOLFI, as shown in the figure below, and by the drive on its 7-segment display: Dolfi_FLx_AE.bmp Fig.
Page 53 4-15 ECODRIVE03-FL*-04VRS General Instructions for Start-Up Note: While the firmware is being updated, the 7-segment display of the drive reads "dL". 0x9002 (dL / 00) Firmware was cleared a) The FBC boot kernel module or FIL firmware loader is to be Description: programmed.
Page 54 4-16 General Instructions for Start-Up ECODRIVE03-FL*-04VRS 0x9103 Restart not allowed in phase 3 The drive is in phase 3 and the drive firmware must be restarted. This Description: operation is possible only in Parameter Mode. Switch the drive to Parameter Mode. Clearing the Error: 0x9104 Restart not allowed in phase 4 The drive is in phase 4 (manual/automatic) and the drive firmware must...
Page 55: Additional Problems When Loading Firmware
4-17 ECODRIVE03-FL*-04VRS General Instructions for Start-Up 0x96FF (dL / 09) Error during write access to RAM An error occurred during programming. Write access to a memory cell in Description: the RAM was unsuccessful. Check whether the target address is actually in the RAM. If the error Clearing the Error: continues to appear, it can only be cleared by replacing the ESF02.1 firmware module.
Page 56 4-18 General Instructions for Start-Up ECODRIVE03-FL*-04VRS DOLFI Cannot Establish a Connection a) A baud rate other than that in DOLFI was set in Parameter B001. B001, Baud rate RS-232/485 Baud rates possible [baud] 09600 19200 It is recommended that Parameter B001 be set to 09600 baud for the "Connect”...
Page 57 4-19 ECODRIVE03-FL*-04VRS General Instructions for Start-Up Select the Download Baud Rate Depending on the length of the serial interface cable, there is a physical limit to the maximum baud rate at which serial communications will proceed without errors. The factory recommends a maximum download baud rate of 19.2 kBaud. The baud rate can be increased considerably in some applications, however, which helps achieve a reduction in the time needed for a firmware update.
Page 58 4-20 General Instructions for Start-Up ECODRIVE03-FL*-04VRS Notes DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 59: Motor Configuration
ECODRIVE03-FL*-04VRS Motor Configuration Motor Configuration Characteristics of the Motor Types The following motor types can be used: The individual motor types all have one characteristic in common. • The presence of data memory in the motor encoder for all motor- specific parameters The individual motor types have the following characteristics Motor-...
Page 60: Temperature Monitoring
Motor Configuration ECODRIVE03-FL*-04VRS Temperature Monitoring The following parameters are used to monitor the motor temperature: The power-off threshold of the Motor warning temperature motor-temperature monitoring system is fixed for MHD, Motor shutdown temperature MKD, MKE motors. For MHD, MKD and MKE motors, the parameter default values are fixed at the following values: Motor warning temperature = 145.0°C Motor shutdown temperature = 155.0°C...
Page 61: Synchronous Motors
ECODRIVE03-FL*-04VRS Motor Configuration Synchronous Motors This drive firmware can be used to run the following Rexroth housing motors • MHD • MKD and MKE motors plus rotary and linear synchronous kit motors, types MBS and LSF. Rexroth housing motors have the stator, rotor, bearings and encoder factory-installed in the housing.
Page 62: Setting The Motor Holding Brake Type
Motor Configuration ECODRIVE03-FL*-04VRS Setting the Motor Holding Brake Type The motor holding brake type can be set using Parameter CM07, Holding brake type. The following are stipulated: • self-releasing or self-holding brake • Spindle brake or servo brake 0 = self-holding brake 0V at the brake, brake applied 1 = self-releasing brake 24V at the brake, brake applied...
Page 63 ECODRIVE03-FL*-04VRS Motor Configuration Activation of the brake takes place Behavior with Servo Brake • as soon as the velocity drops below 10 RPM during the error reaction CM07, Holding brake type Braking time < A119 • after the maximum deceleration time has elapsed at the latest. Correctly set braking time: Sv5082fl_AE.WMF Fig.
Page 64: Setting Maximum Braking Time
Motor Configuration ECODRIVE03-FL*-04VRS Setting Maximum Braking Time The Maximum Braking time is used to monitor the braking time and activate the motor holding brake if the theoretical braking time is exceeded due to an error. The motor holding brake is activated once the time (set in A119, Best possible deceleration) since the start of the error reaction has elapsed.
Page 65: Writing The User Program
ECODRIVE03-FL*-04VRS Writing the User Program Writing the User Program Overview of All User Commands Command Code and Definition Page Number ACC - Acceleration Change 6-15 AEA - Bit Set / Clear 6-16 AKN - Acknowledge Bit 6-16 AKP - Acknowledge Byte 6-17 APE - Byte Set / Clear 6-18...
Page 66 Writing the User Program ECODRIVE03-FL*-04VRS LAE - End: for Synchronization by Precise Positioning 6-41 - Length: for Synchronization by Precise Positioning 6-41 LAR - Raster: for Synchronization by Precise Positioning 6-42 MAT - Mathematics 6-43 MOM - Torque Limitation 6-44 NOP - No Operation 6-45 PBK - Stop Motion...
Page 67: General Information
ECODRIVE03-FL*-04VRS Writing the User Program General Information The basic programming is pre-set, and the user has no external access to The programming language for the user program is a code similar to the BASIC programming language and was developed especially for use with this program.
Page 68: Starting The User Program
Writing the User Program ECODRIVE03-FL*-04VRS Starting the User Program The user program can be started only in Automatic Mode. One exception is the ‘manual vector.’ The program start address for Task 1 is reset to '0000' after each change of operating mode or system restart. The start addresses for Task 2 and Task 3 is set in Parameter AA00.
Page 69: Variables
ECODRIVE03-FL*-04VRS Writing the User Program Variables The commands contain data which are subsets of the instruction. These constants can also be changed on-line via the serial interface, but not from the user program. Using variables is an alternative for using constants. They can be programmed in place of the constants, so that this data can also be edited from the user program.
Page 70: User-Programmable Variables
Writing the User Program ECODRIVE03-FL*-04VRS User-Programmable Variables The following variables can be used for programming in the NC user programs: V600 to V999 General System Variables The system variables can only be read. Definition V000 Cycle counter 1 Data size 0 -99999999 V001 Cycle counter 2 only in Automatic Mode...
Page 71: Axis-Related System Variables
ECODRIVE03-FL*-04VRS Writing the User Program Axis-Related System Variables The axis variables are read-only. Definition V100 Absolute position of motor encoder (actual coordinate system) V101 Position Command Value V102 Reserved (Free) V103 Lag Distance V104 Actual Velocity in IU/s V105 Processed Material Length [meters] V106 Average Velocity in IU/s (see FUN command)
Page 72 Writing the User Program ECODRIVE03-FL*-04VRS System Variable V014 "Feed Angle Load": The time required by a positioning operation is set as a ratio with the time that is available for the positioining operation. (Signal bit for Feed Angle Monitoring – Parameter A116 = 1) The result is output as a percent (without decimal places).
Page 73 ECODRIVE03-FL*-04VRS Writing the User Program System Variable V020 "Hour Counter, Automatic Mode": Start-up time of the unit in Automatic Mode. The value is output as modulo 100,000 hours. System Variable V021 "Actual Position Value 2 [IU]": Output of the Actual Position Value for the optional encoder. System Variable V022 "Actual Position Value, SSI Encoder [degrees]": Output of the Actual position value for an SSI encoder at Connector X9.
Page 74 6-10 Writing the User Program ECODRIVE03-FL*-04VRS System Variable V035 "Length Measurement Encoder 1, stored measured value": Output of the stored measured value of the Length Measurement Encoder 1 [IU] System Variable V036 "Length Measurement Encoder 2, current value": Output of the current value of the Length Measurement Encoder 2 [IU] System Variable V037 "Length Measurement Encoder 2, stored measured value": Output of the stored measured value of the Length Measurement...
Page 75 6-11 ECODRIVE03-FL*-04VRS Writing the User Program System Variable V107 "Slip in Measuring Wheel Mode": The slip between the optional Encoder 2 and Motor Encoder [%] (only in Measuring Wheel Mode) is issued. Encoder Difference after Rev. Measuring Wheel Slip Measuring Wheel Feed Rate...
Page 76: Indexed Variables
6-12 Writing the User Program ECODRIVE03-FL*-04VRS Indexed Variables In order to address variables with indexes in program loops, two variable fields of the same type have been defined. Eight indexed variables are available. The function within the variable field is assigned and enables a calculation of a variable address using the formula: calculated Variable...
Page 77 6-13 ECODRIVE03-FL*-04VRS Writing the User Program Variables Definition <V500> + <V508> * <V509> <V501> + <V508> * <V509> <V502> + <V508> * <V509> <V503> + <V508> * <V509> <V504> + <V508> * <V509> <V505> + <V508> * <V509> <V506> + <V508> * <V509> <V507>...
Page 78: Additional Variable Definitions
6-14 Writing the User Program ECODRIVE03-FL*-04VRS Additional Variable Definitions Variable Fields in Parameters: AA11 Tool Wear Variable Fields in Commands: Counter Counter If the target piece count is programmed through a variable for the COU and BAC commands, the current piece count is automatically assigned to the variable with the number higher by 1.
Page 79: Description Of Commands
6-15 ECODRIVE03-FL*-04VRS Writing the User Program Description of Commands ACC - Acceleration Change ACC 1 V600 V601 ACC 1 Deceleration in ‰ of the value programmed in Parameter A109 Acceleration in ‰ of the value programmed in Parameter A109 Axis: 1 Acceptance of the new acceleration and deceleration value is immediate.
Page 80: Aea - Bit Set / Clear
6-16 Writing the User Program ECODRIVE03-FL*-04VRS AEA - Bit Set / Clear AEA Q1.02.3 V600 AEA Q1.02.3 0 = Off - Clear bit (for variables, the variable value must be 0) 1 = On - Set bit (for variables, the variable value must be <> 0) Bit: M2, M3, M4 ,M8 DKC21.3 :...
Page 81: Akp - Acknowledge Byte
6-17 ECODRIVE03-FL*-04VRS Writing the User Program AKP - Acknowledge Byte AKP M2.02 11022001 Bit Field Byte: M0 – M5, M8 I0 - I4 Q0 - Q2 This command represents an extension of the 'AKN' command. It can be used to verify that conditions have been met for a particular byte. The program proceeds to the next instruction if all bytes have met their conditions.
Page 82: Ape - Byte Set / Clear
6-18 Writing the User Program ECODRIVE03-FL*-04VRS APE - Byte Set / Clear APE M2.02 21022001 Bit Field Byte: M2, M3, M4 ,M8 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 This command represents an extension of the ’AEA’ command. It can be used to switch the bits in a byte.
Page 83: Apz - Byte Set / Clear And Count
6-19 ECODRIVE03-FL*-04VRS Writing the User Program APZ - Byte Set / Clear and Count APZ 21022001 Bit Field (see Parameter AA11) Using this command, the status of up to 8 bits of the byte defined in Parameter AA11 (Tool Wear) can be controlled. For each of up to 8 bits, a separate counter is incremented by one whenever the bit status changes from ’0’...
Page 84: Bce - Branch Conditional On Bit
6-20 Writing the User Program ECODRIVE03-FL*-04VRS BCE - Branch Conditional on Bit BCE V602 M0.02.3 V600 BCE 0100 M0.02.3 0 = Jump when status is ’0’ 1 = Jump when status is ’1’ Bit: M0 – M5, M8 I0 - I4 Q0 - Q2 Target Instruction The jump is executed if the programmed bit has met the preselected...
Page 85 6-21 ECODRIVE03-FL*-04VRS Writing the User Program M2.03 M2.02 Binary Evaluation Examples: Start Bit: Current Status: 1) Input: BIC 0500 11 M2.02.4 5 0 Selected Bits: Binary Scaling: Equiv. decimal value: 16 8 Total Scaling: (16 + 0 + 4 + 2 + 0) = 22 Target Instruction: 22 * 11 + 500 = 0742...
Page 86: Bio - Branch Conditional On Byte Compare
6-22 Writing the User Program ECODRIVE03-FL*-04VRS BIO - Branch Conditional on Byte Compare BIO V600 M2.02 Q1,01 01201201 BIO 0123 M0.12 Q1.01 01201201 Assigned Bit Field Compare Byte 2 : M0 – M5, M8, I0 - I4, Q0 - Q2 Compare Byte 1 : M0 –...
Page 87: Bpa - Branch Conditional On Byte
6-23 ECODRIVE03-FL*-04VRS Writing the User Program BPA - Branch Conditional on Byte BPA V600 M2.02 21112212 BPA 0123 M2.02 21112212 Assigned Bit Field Compare Byte : M0 – M5, M8, I0 - I4, Q0 - Q2 Target Instruction Here, the byte is checked for a met condition. At the same time, the condition can be stipulated separately for each bit.
Page 88: Cid - Change Variable Value
6-24 Writing the User Program ECODRIVE03-FL*-04VRS CID - Change Variable Value CID V600 0 + V601 CID V600 1 +000000.100 Operand Operational Sign: + = Operand is added to target variable - = Operand is subtracted from target variable Assignment: 0 = Addition or subtraction 1 = Addition or subtraction;...
Page 89: Cio - Copy Bit Field
6-25 ECODRIVE03-FL*-04VRS Writing the User Program CIO - Copy Bit Field CIO M2.02.3 Q0.01.3 V123 CIO M2.02.3 Q0.01.3 Number of bits to be copied: (0 – 16) Copy Target : Start Bit : M2, M3, M4 ,M8 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 Copy Source :...
Page 90: Clg - Cam Shaft: Stroke
6-26 Writing the User Program ECODRIVE03-FL*-04VRS CLG - Cam Shaft: Stroke CLG 1 +V700 CLG 1 +000010.000 Stroke, Feed Length in IU (editable on-line) Cam: Curve stroke Synchronization by Precise Positioning: Acceleration path If 000000.000 is input, the acceleration path is automatically calculated (=A106 / 2*A109) Axis = 1 (always 1)
Page 91 6-27 ECODRIVE03-FL*-04VRS Writing the User Program Kurven_Bilder_AE.WMF Fig. 6-12: Pre-Defined Cams DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 92: Con - Continuous Operation
6-28 Writing the User Program ECODRIVE03-FL*-04VRS CON - Continuous Operation CON 1 V601 +V602 CON 1 +999_ Velocity in ‰ (001 to 999) of the programmed maximum velocity (parameter A106) Direction: + = forward / - = back (variable value with operational sign) 0 = continuous operation OFF 1 = continuous operation ON Axis: 1...
Page 93 6-29 ECODRIVE03-FL*-04VRS Writing the User Program Example: 0000 CLC 0002 0001 AEA Q0.00.4 0 0002 COU +00000 Q0.00.4 000010 0003 PSI 1 +000050.000 999 0004 WAI 01.000 0005 BCE 0002 Q0.00.4 0 0006 JST 0001 Positioning is executed ten times. Then, output Q0.00.4 is set and the system waits for a new start signal.
Page 94: Cpj - Compare And Jump
6-30 Writing the User Program ECODRIVE03-FL*-04VRS CPJ - Compare and Jump CPJ V600 V602 V603 > CPJ V600 = +12345.123 1234.12 0400 > Target Instruction Tolerance Range Compare Operand 2 Operational Sign for Compare Operand 2 Compare Conditions equal to (with tolerance range) >...
Page 95: Cpl - Clear Position Lag
6-31 ECODRIVE03-FL*-04VRS Writing the User Program CPL - Clear Position Lag CPL 1 Axis: 1 The position lag of the axis is set to zero on a one-time basis. Normally, this action is useful only for special tasks such as moving to a positive stop.
Page 96: Cst - Clear Subroutine Stack
6-32 Writing the User Program ECODRIVE03-FL*-04VRS CST - Clear Subroutine Stack CST 1 1 0 = Clear the subroutine stack 1 = Correct the subroutine stack by 1 level 2 = Correct the subroutine stack by 2 levels and so on until 9 = Correct the subroutine stack by 9 levels 0 = Task 1 and Task 2 1 = Task 1...
Page 97: Csy - Cam Shaft: Activation
6-33 ECODRIVE03-FL*-04VRS Writing the User Program CSY - Cam Shaft: Activation CSY 1 0 0 0 00.00.0 Reserved (Free) Reserved (Free) Reserved (Free) Reserved (Free) 0 = Off 1 = On (real master axis) 2 = Activation status unchanged 3 = Shutoff when the cam passes the zero point The program continues after the time period of one cycle.
Page 98 6-34 Writing the User Program ECODRIVE03-FL*-04VRS Marker Bit Number Value Comment Flag 7654 3210 M2.00 0010 0001 After decimal point M2.01 0100 0011 After decimal point M2.02 0110 0101 After decimal point M2.03 0010 0001 Before decimal point M2.03.0 indicates if value is even or odd. M2.04 0100 0011 Before decimal point...
Page 99: Fak - Length Scaling Factor
6-35 ECODRIVE03-FL*-04VRS Writing the User Program FAK - Length Scaling Factor FAK 1 V601 FAK 1 1.234567 Multiplication Factor Input: from 0.000000 to 1.999999 Axis: 1 Positioning travel of the ’POA,’ ’POI,’ ’PSI’ and ’PSA’ commands is always the result of a preselected linear value or position and a multiplication factor.
Page 100: Fol - Follow Master
6-36 Writing the User Program ECODRIVE03-FL*-04VRS FOL - Follow Master FOL 1 V600 – V601 FOL 1 1 –01.123456 Slave Factor Input of 0.000000 to 99.999999 Direction, with reference to Master Axis + or ` ´= in the same direction = in the opposite direction Slave Axis Mode 0 = Slave Axis OFF...
Page 101: Fun - Functions
6-37 ECODRIVE03-FL*-04VRS Writing the User Program Start/Stop and Interrupt are only active in Mode 2 when the slave axis is switched on. When an E-STOP occurs, the axis is no longer synchronized. equipment stopped using "Best possible deceleration.“ See also Section 8, 'Slave Axis.' The program proceeds to the next instruction following the time period of one cycle.
Page 102: Hom - Home Axis
6-38 Writing the User Program ECODRIVE03-FL*-04VRS The system variables V030 to V039 are not monitored for overflow The following values should not be exceeded ±214748 or ± 11796479 for Encoder 3 for length measurement: ±99999999 for time measurement: The program continues after the time period of one cycle. HOM - Home Axis HOM 1 Axis 1...
Page 103: Jmp - Jump Unconditional
6-39 ECODRIVE03-FL*-04VRS Writing the User Program JMP - Jump Unconditional JMP V601 JMP 0123 Target Instruction When it reaches this user command, the program jumps to the specified target location. This allows the programmer to jump directly to another part of the program.
Page 104: Jst - Jump And Stop
6-40 Writing the User Program ECODRIVE03-FL*-04VRS JST - Jump and Stop JST V611 JST 0123 Target Instruction With this command, the program jumps to the specified target location. However, program execution stops there. The program continues only when the voltage changes from '0' to '1' at the system input ‘Start.’ With the new start signal, the program continues at the target location.
Page 105: Lae - End: For Synchronization By Precise Positioning
6-41 ECODRIVE03-FL*-04VRS Writing the User Program LAE - End: for Synchronization by Precise Positioning LAE 1 End Synchronization Slave Axis: 1 Synchronization disabled decelerated using current deceleration value (Parameter A109 or ACC Command). Proceeding to the next instruction occurs when the axis has stopped. LAL - Length: for Synchronization by Precise Positioning LAL 1 000100.000 00.00.0...
Page 106: Lar - Raster: For Synchronization By Precise Positioning
6-42 Writing the User Program ECODRIVE03-FL*-04VRS LAR - Raster: for Synchronization by Precise Positioning LAR 1 000100.000 00.00.0 00.00.0 oder LAR 1 V600 I0.01.0 00.00.0 Raster Input "Start Synchronization“: Bit: M0 – M5 I0 - I4 Q0 - Q2 I4.00.3 / I4.00.4 = Fast Inputs (are currently evaluated just like standard inputs!) 00.00.0 = Immediate Synchronization occurs Inputs ee:...
Page 107: Mat - Mathematics
6-43 ECODRIVE03-FL*-04VRS Writing the User Program MAT - Mathematics MAT V600 = V601 - + V602 MAT V600 = V601 - +123456.987654 operand Operational sign of the 2 operand Operation : Subtract Multiply Divide operand (is always a variable) Result (is always a variable) The addition and subtraction functions require an NC cycle (2ms).
Page 108: Mom - Torque Limitation
6-44 Writing the User Program ECODRIVE03-FL*-04VRS MOM - Torque Limitation MOM 1 V600 V601 M2.02.3 V602 MOM 1 123 M2.02.3 Continuous torque limit in %. (100% corresponds to motor current level at standstill; Parameter CM02) input range of 000%…500% Warning: The Parameter A115 monitoring function remains active. 500% = torque limiting is turned off.
Page 109: Nop - No Operation
6-45 ECODRIVE03-FL*-04VRS Writing the User Program NOP - No Operation This command has no function and functions like a blank block. It can be used as a placeholder. While executing the program in Automatic Mode, this command is processed like any other command. The program proceeds to the next instruction following the time period of one cycle.
Page 110: Pfa - Positioning, Absolute To Positive Stop
6-46 Writing the User Program ECODRIVE03-FL*-04VRS PFA - Positioning, Absolute to Positive Stop 9601 010 PFA 1 +9600 PFA 1 +123456.789 123 010 Standstill window in ‰ (001 to 999) of the maximum velocity (Parameter A106). Feedrate in ‰ (001 to 999) of the maximum velocity. Absolute position given in IUs Axis 1 For functioning of the command, see PFI command.
Page 111 6-47 ECODRIVE03-FL*-04VRS Writing the User Program So that the motor is not overloaded, the torque values should be set by the MOM command. The start of the positioning move generally occurs 150 ms after the command is loaded. Note: Before invoking commands PFA and PFI, the torque limit values must be set by invoking the MOM command.
Page 112: Poa - Positioning, Absolute
6-48 Writing the User Program ECODRIVE03-FL*-04VRS POA - Positioning, Absolute POA 1 + V600 V601 POA 1 +123456.789 Feedrate in ‰ (001 to 999) of the maximum velocity given in the parameter (Parameter A106) Absolute position given in IUs Operational sign of the position (+/-) Axis 1 From its current position, the drive is moved to the programmed absolute position referenced to the zero point.
Page 113: Poi - Positioning, Incremental
6-49 ECODRIVE03-FL*-04VRS Writing the User Program POI - Positioning, Incremental POI 1 +V600 V601 POI 1 +123456,789 999 Feedrate in ‰ (001 to 999) of the maximum velocity given in the parameter (Parameter A106) Feed length in IU (input units) Direction of movement (+ = forward / - = back) Axis 1 The position setpoint is incremented or decremented by the amount of the...
Page 114: Psa - Positioning, Absolute With In-Position
6-50 Writing the User Program ECODRIVE03-FL*-04VRS PSA - Positioning, Absolute with In-Position PSA 1 + V600 V601 PSA 1 +123456.789 Feedrate in ‰ (001 to 999) of the maximum velocity given in the parameter (Parameter A106) Absolute position given in IUs Operational sign of the position (+/-) Axis 1 This command corresponds to the 'POA' command.
Page 115: Psi - Positioning, Incremental With In-Position
6-51 ECODRIVE03-FL*-04VRS Writing the User Program PSI - Positioning, Incremental with In-Position PSI 1 + V600 V601 PSI 1 +123456.789 Feedrate in ‰ (001 to 999) of the maximum velocity given in the parameter (Parameter A106) Feed length in IU Direction of movement (+ = forward / - = back) Axis 1 This command corresponds to the 'POI' command.
Page 116: Rep - Registration Position Limit
6-52 Writing the User Program ECODRIVE03-FL*-04VRS REP - Registration Position Limit REP V600 1 V601 REP 0100 1 123456.789 Maximum search path for ’SRM’ command in IU Axis 1 Jump to target location if search distance is exceeded This command is a supplement to the SRM command. It permits limits to be placed on the search distance needed to find a reference marker.
Page 117: Rts - Return From Subroutine
6-53 ECODRIVE03-FL*-04VRS Writing the User Program RTS - Return from Subroutine As described for the ’JSR’ command, a subroutine must be concluded with an ’RTS’ return command. If several subroutine levels have been accessed in one program cycle, a return from a higher subroutine level leads first to the next lower subroutine level rather than directly back to the main program.
Page 118: Sa1 - Set Analog Output 1
6-54 Writing the User Program ECODRIVE03-FL*-04VRS SA1 - Set Analog Output 1 SA1 0 +V600 V601 V602 M2.12 SA1 0 +9.999 0 1000 M2.12 Marker Flag Field (M2) Startup Time in ms Time for stroke voltage to go from 0 to 10V Scaling factor (Variables V600 –...
Page 119 6-55 ECODRIVE03-FL*-04VRS Writing the User Program Startup Time: This time is always expressed in relation to the stroke voltage of the output from 0 to 10V and is input in ms. Marker Flag Field: In the specified marker flag field, the following information is available, with reference to Analog Output 1: M2.xx.4 Output value = 0...
Page 120: Sac - Set Absolute Position Counter
6-56 Writing the User Program ECODRIVE03-FL*-04VRS SAC - Set Absolute Position Counter SAC V601 0 +V600 SAC 1 0 +123456.789 Absolute position or offset in IU Mode: 0 = Absolute zero offset relative to the home position. 1 = Set new absolute position. 9 = Clear ‘Homed’...
Page 121 6-57 ECODRIVE03-FL*-04VRS Writing the User Program Motion type = 0 Parameters "A103, Negative travel limit" and "A104, Positive travel (rotary) limit" are not valid. Axis is not homed: • Modes 0 and 1: The actual position is set to the value found in the SAC command. This way, the axis is homed.
Page 122 6-58 Writing the User Program ECODRIVE03-FL*-04VRS Motion Type = 1 Axis is not homed: (linear) • Modes 0 and 1: The axis cannot be homed using the SAC command. Beforehand, the axis must homed using command. The error message "F- 03 05 - n. referenced" is issued. See also Section 8, Functions/Homing.
Page 123 6-59 ECODRIVE03-FL*-04VRS Writing the User Program Motion Type = 2 Parameters "A103, Negative travel limit" and "A104, Positive travel (Rotary Table) limit" are not valid. An offset of the initial coordinate system by a particular value > Parameter A105; Modulo value can lead to erroneous positioning moves.
Page 124: Set - Set Variable Value
6-60 Writing the User Program ECODRIVE03-FL*-04VRS SET - Set Variable Value SET V600 = + V601 SET V600 = +12345678.123456 Value Operational Sign Target Variable Using this command, variables can be set from the program or copied from another variable. Valid inputs for ’Target Variable’...
Page 125: Srm - Search For Registration Mark
6-61 ECODRIVE03-FL*-04VRS Writing the User Program SRM - Search for Registration Mark SRM 1 + V600 +V601 I0.01.0 SRM 1 +123456.123 + 123 I0.01.0 Input Bit Reference Mark (Input:Probe1 when 00.00.0 is input) M0...M5 , I0...I4, Q0...Q2 Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned parameter (A106) Search Direction (The operational sign of the variable helps determine the direction)
Page 126 6-62 Writing the User Program ECODRIVE03-FL*-04VRS Example: The maximum velocity is 200 IU/s. The cycle time is 2 ms. A normal input with a debouncing time of the time period of one cycle is selected. 0000 1 +000000.000 +500 I0.01.0 The search velocity is 200 IU/s * 500 ‰...
Page 127: Srp - Print Mark Registration
6-63 ECODRIVE03-FL*-04VRS Writing the User Program SRP - Print Mark Registration SRP 1 1 0 V600 M2.13 Marker Flag Byte (M2) Start Point of the Variable Field (V600-V990) 0 = Evaluation of rising edge Mode: 0 = disable the functionality 1 = automatic correction with following movement 2 = automatic correction in current movement 3 = detect raster position...
Page 128 6-64 Writing the User Program ECODRIVE03-FL*-04VRS Vxxx+2 = maximum correction value in IUs. (positive values only) The difference between Vxxx+0 and Vxxx+1 can be limited to a maximum measurement with these variable. Vxxx+3 = Beginning of search in IUs (measured from the start position of the command) Vxxx+4 = End of search in IUs (measured from the start position of the command) Vxxx+4 = 000 (no monitoring of search distance)
Page 129 6-65 ECODRIVE03-FL*-04VRS Writing the User Program V601 = 20 Distance to End Position V602 = 10 Maximum Correction V604 = 0 No Search Monitoring V700 = +100 Desired Positioning V701 = +V700 Calculated Positioning V702 = 0 Interim Value 1 3 0 V600 M2.02 Start 1 +V701 999 Feed Command...
Page 130: Txt - Text Row
6-66 Writing the User Program ECODRIVE03-FL*-04VRS TXT - Text Row TXT 0 ABCDEFGHIJKLMNOP Text with 16 characters Mode: 0 = Text can be requested via Status 63. 1 = Text can be requested via Status 53 (diagnostic). 2 = Text is no longer output as a diagnostic (Status 53). 3 = Text can be requested via Status 25.
Page 131: Vcc - Velocity Change
6-67 ECODRIVE03-FL*-04VRS Writing the User Program VCC - Velocity Change VCC 1 + V600 V601 0 V602 VCC 1 +123456.789 999 0 Mode: 0 = Start of the velocity change 1 = Velocity reached Switching Point:0 = Distance traveled (based on startposition) 1 = Absolute Position New velocity in ‰...
Page 132 6-68 Writing the User Program ECODRIVE03-FL*-04VRS b) Switching Point = Absolute Position The switching point is referenced to the actual coordinate system. Note: The axis must be homed to zero! Otherwise, the error message "F- 03 05 – n. referenced" is issued. Velocity Change at the Switching Point Mode 1 : a) Switching Point = Distance Traveled:...
Page 133: Veo - Velocity Override
6-69 ECODRIVE03-FL*-04VRS Writing the User Program VEO - Velocity Override VEO 1 1 0 V600 1 VEO 1 1 0 500 1 Function 0 = Override as factor 1 = Override as limit Override value in ‰ (from 001 to 999) This value is significant only in mode 4 0 = Read in new override value in each controller cycle (2 milliseconds)
Page 134 6-70 Writing the User Program ECODRIVE03-FL*-04VRS Examples: ’VEO’ - Velocity Override 0000 0004 M2.02 22222201 Program Selection ; Jump to Program A 0001 0006 M2.02 22222210 Program Selection ; Jump to Program B 0002 0008 M2.02 22222211 Program Selection ; Jump to Program C 0003 0000 Wait Loop...
Page 135 6-71 ECODRIVE03-FL*-04VRS Writing the User Program 2) Program B – velocity limited to 70% by instruction number 0006 Veo2_bef_AE.WMF Fig. 6-40: VEO Command – Limit Velocity to 70% 3) Program C - Multiplication by factor of ’500’ from instruction number 0008 Veo3_bef_AE.WMF Fig.
Page 136: Vmc - Virtual Master (Test Mode)
6-72 Writing the User Program ECODRIVE03-FL*-04VRS VMC - Virtual Master (Test Mode) VMC 1 +999 VMC 1 +V600 V601 Acceleration: Acceleration of the virtual Master in per mil (‰) from Parameter A109. This value is retrieved when the command is read. Velocity: Velocity of the virtual Master in per mil (‰) of the maximum velocity (Parameter A106).
Page 137: Logic Task
ECODRIVE03-FL*-04VRS Logic Task Logic Task General Information The Logic Task program is written into a line-by-line memory that contains 1000 lines. It is saved in a buffered area and it can be edited via the serial interface. After turning on the unit, the program is interpreted by the built- in compiler and processed without a start signal.
Page 138: Description Of Commands
Logic Task ECODRIVE03-FL*-04VRS Description of Commands Terminology Definitions: "TRUE“ describes the logical condition "1.“ "FALSE“ describes the logical condition "0.“ All operands are bit operands. Load and Save Commands: Loads the value of the operand Loads the negated value of the operand Assigns the current value to the operand Assigns the negated value to the operand Set and Reset Commands:...
Page 139: And Logic
ECODRIVE03-FL*-04VRS Logic Task AND Logic: AND logic of the current value with the value of the operand ANDN AND logic of the current value with the negated value of the operand AND( AND logic of the current value with the logical value of the following term ANDN( AND-logic of the current value with the negated logical value of the term that follows.
Page 140: Or Logic
Logic Task ECODRIVE03-FL*-04VRS OR Logic: OR logic of the current value with the value of the operand OR logic of the current value with the negated value of the operand OR logic of the current value with the logical value of the following term ORN( OR logic of the current value with the negated logical value of the term that follows.
Page 141: Xor Logic
ECODRIVE03-FL*-04VRS Logic Task XOR Logic: Exclusive OR logic of the current value with the value of the operand XORN Exclusive OR logic of the current value with the negated value of the operand XOR( Exclusive OR logic of the current value with the logical value of the following term XORN( Exclusive OR logic of the current value with the negated logical value of...
Page 142: Other Assignments
Logic Task ECODRIVE03-FL*-04VRS Other Assignments: No Command (can be used as a placeholder) End of the assignment list End of a term Operands: Source Operand For the load assignments and the logical assignments, the bits of Groups M0, M1, M4 - M6, M8, Q0 - Q3, I0 - I4 and C0 and C1 are allowed as operands.
Page 143: Program Examples
ECODRIVE03-FL*-04VRS Logic Task Program Examples Example 1: M6.00.0 M6.00.1 M6.01.0 M6.00.2 M6.00.3 M6.01.1 ] / [ M6.01.3 M6.00.4 M6.01.2 ≥1 M6.00.0 & M6.00.1 M6.01.0 M6.00.2 & M6.01.1 M6.00.3 M6.01.3 & M6.00.4 M6.01.2 M6.00.2 M6.00.3 M6.00.0 M6.00.1 M6.01.0 M6.01.1 M6.01.3 M6.00.4 M6.01.2 DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 144 Logic Task ECODRIVE03-FL*-04VRS Example 2: Spurious pulse, positive starting edge M6.00.0 = Input M6.00.1 = Result M6.00.4 = Intermediate flag M6.00.0 & M6.00.1 M6.00.4 M6.00.0 & M6.00.4 M6.00.0 ANDN M6.00.4 M6.00.1 M6.00.0 M6.00.4 Example 3: Spurious pulse, negative starting edge M6.00.0 = Input M6.00.1 = Result M6.00.4 = Intermediate flag...
Page 145 ECODRIVE03-FL*-04VRS Logic Task Example 4: M6.00.2 M6.00.0 M6.00.1 M6.00.2 M6.00.4 M6.00.1 M6.00.3 M6.00.4 M6.00.3 M6.00.5 M6.00.5 M6.00.0 M6.00.6 M6.00.6 M6.00.2 & ≥1 M6.00.4 M6.00.1 & M6.00.3 & M6.00.5 ≥1 M6.00.6 M6.00.0 DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 146 7-10 Logic Task ECODRIVE03-FL*-04VRS Example 5: M6.00.2 M6.00.0 M6.00.1 M6.00.2 ANDN M6.00.4 OR ( M6.00.1 M6.00.3 M6.00.4 M6.00.1 ANDN M6.00.3 M6.00.5 ANDN M6.00.5 M6.00.0 M6.00.6 M6.00.6 M6.00.2 & ≥1 M6.004 M6.00.1 & M6.003 & M6.005 ≥1 M6.00.6 M6.00.0 DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 147: Functions
ECODRIVE03-FL*-04VRS Functions Functions Operating Modes Parameter Mode Programming the parameters and the logic task is possible only in this operating mode. When this mode is exited, the parameter interactions are reviewed and the logic task program is tested. In Parameter Mode, the power is turned off and all tasks are halted. The outputs and non-retained marker flags are cleared.
Page 148: Pertinent Parameters
Functions ECODRIVE03-FL*-04VRS Pertinent Parameters • A100, Function of encoder 2 • AA07, Measuring wheel mode • CR10, Actual position filter time constant for measuring wheel mode Functioning • The optional encoder must be set in Parameter A100, Function of Requirements encoder 2 as a measuring wheel encoder.
Page 149: Diagnostic Messages
ECODRIVE03-FL*-04VRS Functions Setting the Measuring Wheel Encoder Parameters Note: Difference monitoring can be activated when a measuring wheel is used. This occurs using Parameter A117, Encoder difference monitoring. The following parameters are set for the measuring wheel encoder: • C007, Feed rate constant 2 •...
Page 150: Pertinent Parameters
Functions ECODRIVE03-FL*-04VRS Pertinent Parameters The following parameters are available for execution of this function: • C009, Homing configuration • C010, Homing • C011, Reference distance • C012, Home switch offset • C013, Distance-coded reference offsets In addition, the following parameter is used: •...
Page 151: Overview Of The Type And Configuration Of Reference Marks Of Incremental Measuring Systems
ECODRIVE03-FL*-04VRS Functions Overview of the Type and Configuration of Reference Marks of Incremental Measuring Systems For better understanding, the measuring systems can be divided into 4 different groups according to the type and configuration of their reference marks. • Type 1: Measuring systems with an absolute single-turn range, such as the single-turn DSF or resolver.
Page 152: How Drive-Controlled Homing Works In Incremental Measuring Systems
Functions ECODRIVE03-FL*-04VRS How Drive-Controlled Homing Works in Incremental Measuring Systems To establish congruency between the coordinate systems of the drive (measuring system) and machine, it is necessary for the drive to have precise information about its relative position within the machine coordinate system.
Page 153: Sequence Control For "Homing
ECODRIVE03-FL*-04VRS Functions Sequence Control for "Homing" The command value profile depends on parameter: • C009, Homing configuration The following diagram explains this: Sv5038fj_AE.WMF Fig. 8-2: Position Command Value Profile for Homing Velocity and Homing Acceleration Executing the movement required for homing incremental encoders can Executing Movement consist of up to three subprocesses: •...
Page 154: Initial Startup With "Evaluation Of Reference Mark/Home-Switch Signal Edge
Functions ECODRIVE03-FL*-04VRS Initial Startup with "Evaluation of Reference Mark/Home-switch Signal Edge" If the encoder does not have distance-coded reference marks (types 1 to 3), then in C009, Homing configuration select whether • the home switch should be evaluated and/or • the reference marks should be evaluated. The following must also be stipulated: •...
Page 155 ECODRIVE03-FL*-04VRS Functions Homing of a motor encoder with 1 reference mark per revolution Example: Ap5047f1_AE.WMF Fig. 8-3: Selection of a Reference Mark Depending on the Homing Direction If home switch evaluation is activated, the drive searches first for the positive edge of the home switch signal. If the home switch has not been actuated when the command is invoked, the drive moves in the preset homing direction.
Page 156 8-10 Functions ECODRIVE03-FL*-04VRS Command Value Profile with Home Switch Actuated If the home switch has already been activated when the command is started, the drive generates command values in the opposite direction to move away from the home switch. As soon as a 1-0 edge of the home switch signal is detected, the drive reverses its direction and continues as if the starting point were outside the home switch range.
Page 157: Initial Startup With "Evaluation Of Distance-Coded Reference Marks
8-11 ECODRIVE03-FL*-04VRS Functions Sv5071f2_AE.WMF Fig. 8-8: Critical and Optimal Distance Between Home Switch and Reference Mark The optimum distance between the home-switch signal edge and the reference mark is: 0.5 * distance between reference marks To avoid having to mechanically shift the home-switch signal edge, this procedure can be taken over by the software in parameter C012, Home switch offset.
Page 158 8-12 Functions ECODRIVE03-FL*-04VRS Pi5005fj_AE.WMF Fig. 8-10: Distance-coded Measuring System Specified with Greater and Lesser Distances The greater distance is entered in C013, Distance-coded reference offset 1, the lesser distance in C013, Distance-coded reference offset 2. The unit for these two distances is the grating period. Typical values for a linear scale with distance-coded reference marks are 20.02 mm for the greater distance and 20.00 mm for the lesser distance with a resolution of 0.02 mm.
Page 159 8-13 ECODRIVE03-FL*-04VRS Functions The further steps are outlined below. ⇒ Verify the corresponding position encoder type parameter (C002/C005) for the correct settings ⇒ Set parameter C011, Reference distance to 0. ⇒ Set parameter C009, Homing velocity and C009, Homing acceleration to low values. ⇒...
Page 160: Starting, Interrupting And Completing The "Homing" Function
8-14 Functions ECODRIVE03-FL*-04VRS If the home switch is evaluated, the drive automatically starts traveling in Home Switch Evaluation the opposite homing direction as long as the home switch has already been activated when the command is invoked. Therefore, the home switch must be mounted in such a way that it covers at least the max.
Page 161: Placement Of The Home Switch
8-15 ECODRIVE03-FL*-04VRS Functions • C604 Homing of absolute encoder not possible The encoder to be homed is an absolute encoder. "Homing" was started without first starting the "Set absolute dimension" command. (see Parameter C010 "Set absolute dimension") • C606 Reference mark not detected With incremental encoders, the actual position value is determined through detection of the reference mark.
Page 162: Velocity Override
8-16 Functions ECODRIVE03-FL*-04VRS Velocity Override The override function permits an infinitely variable reduction in the currently programmed velocity in Manual and Automatic Modes (exception: homing). Override via Analog Input The override is controlled by applying a voltage to E1 (X3/12 and X3/13). The graph below shows the relationship between the applied voltage and the override factor.
Page 163: Override Via Gray-Code Inputs
8-17 ECODRIVE03-FL*-04VRS Functions Override via Gray-Code Inputs The override velocity can also be set using a step switch programmed with Gray code. This switch must be connected to I0.01.1 – I0.01.4. This function is activated in Parameter AA04 or using the `VEO´ program command.
Page 164: Override Via Binary-Code Inputs
8-18 Functions ECODRIVE03-FL*-04VRS Override via Binary-Code Inputs The evaluation is handled via inputs I0.00.6 through I0.01.4. This function is activated in parameter AA04 or using the VEO program command. Input Number I0.01.4 I0.00.6 binary value decimal value 64 32 16 8 The decimal values of all of the above inputs set to 1 are added together.
Page 165: Vector Programming
8-19 ECODRIVE03-FL*-04VRS Functions Vector Programming Manual Vector This makes it possible to run a user program in Manual Mode. The vector program must be concluded with an RTS command (the stack is not changed). Note: In the manual vector program, no feeds can be programmed. When the operating mode is changed from `Manual´...
Page 166: Multitasking
8-20 Functions ECODRIVE03-FL*-04VRS Multitasking The control can process 3 cycles simultaneously (Task). The user can enter a program in each of these 3 tasks. In each task, one instruction (command) is processed within the NC cycle time. When programming Tasks 1 through 3, take note of the following: •...
Page 167 8-21 ECODRIVE03-FL*-04VRS Functions Task 3 is also enabled in Parameter AA00, as is the start instruction. Task 3 Program execution of Task 3 begins automatically immediately after power-up (even in Manual Mode). Task 3 is deactivated only in Parameter Mode. Task 3 continues to run in the event of a fault or emergency stop.
Page 168: Master Encoder And Motion Type Cam
8-22 Functions ECODRIVE03-FL*-04VRS Master Encoder and motion type Cam Overview Slave Axis The axis follows the positions pre-set by the master axis encoder exactly. Positioning Command Pxx with Pre-Set Cam The motion path of the axis is determined by a cam for motion commands POI, PSI, POA and PSA.
Page 169 8-23 ECODRIVE03-FL*-04VRS Functions Incremental SSI Encoder Evaluation Absolute SSI Encoder Evaluation Incremental Optional Encoder Evaluation Absolute Optional Encoder Evaluation A100 Motion Type = Continuous Incr. A100 Motion Type = Rotary A100 Motion Type = Rotary Table A100 Function of Encoder 2 = 0 A100 Function of Encoder 2 = 1 or 3 AA09 Feed-To-Length Monitoring Modulo Value...
Page 170: Slave Axis
8-24 Functions ECODRIVE03-FL*-04VRS Slave Axis The axis follows the positions pre-set by the master axis encoder exactly. With the FOL command, this function can be turned on or off. In addition, a gear can be edited with this command, even during operation, by changing a factor value.
Page 171: Positioning Command Pxx With Pre-Set Cam
8-25 ECODRIVE03-FL*-04VRS Functions Positioning Command Pxx with Pre-Set Cam The positioning commands POI, PSI, POA, PSA are executed with a ramp generator. The process can be influenced by the values for acceleration, deceleration and jerk. If this shape does not meet customer needs, the axis can be positioned using a cam.
Page 172: Synchronization By Precise Positioning
8-26 Functions ECODRIVE03-FL*-04VRS Synchronization by Precise Positioning This function is for synchronizing the slave axis for a material sequence that is moving in one direction. The motion of the material sequence is detected with a relative master encoder. Using the LAL and LAR commands, the synchronization location on the material can be defined.
Page 173 8-27 ECODRIVE03-FL*-04VRS Functions The following functions can also be set in the LAL/LAR command: Under the following conditions, synchronization can be immediately "Immediate Cut" initiated with a rising edge at the "Immediate Synchronization" input, during processing of the LAL or LAR command: 1.
Page 174 8-28 Functions ECODRIVE03-FL*-04VRS Parameters: Set parameters for master encoder. When selecting "Function of Encoder 2" equal to Direct Measurement or Measuring Wheel Mode, it is only possible to use an SSI encoder! System Marker Flags: M1.02.0 = "Axis is synchronized" M1.02.1 = "Synchronization not possible.“...
Page 175 8-29 ECODRIVE03-FL*-04VRS Functions Program Example: Start with Signal Description Syntax Home slave Assign master / Cam shape 1 00 01 1 0 Set acceleration path 1 10.000 1 2 2 2 00.00.0 Turn function on 1 50.000 I0.00.6 Wait for starting point Loop I4.00.3 Axis_Synchron.
Page 176: Axis Motion With Cam Absolute Master Encoder (Ssi)
8-30 Functions ECODRIVE03-FL*-04VRS Axis Motion with Cam Absolute Master Encoder (SSI) Moving a particular length using a cam in a defined angle range for the SSI encoder. Processing the cam occurs each time the angle range is entered, in case this function is not deactivated using the CSY command. Outside of this range, it is possible to move the axis using normal positioning commands.
Page 177: Axis Motion With Cam (Incremental Master Encoder (Optional Encoder 2))
8-31 ECODRIVE03-FL*-04VRS Functions Axis Motion with Cam (Incremental Master Encoder (optional Encoder 2)) Movement over a length from a start signal, using a cam. With each activation of this function using the CSY command, the position counter for the master is set to 0. The movement over the length then occurs within a defined angle range.
Page 178: Application: Flying Cutoff
8-32 Functions ECODRIVE03-FL*-04VRS Application: Flying Cutoff With the "Synchronization" function, "Flying Cutoff" can be programmed into the user program. The following functions can be implemented: • Processing of lengths • Cut inhibit with messaging output • Immediate cut • Moving away using the PSI/POI command •...
Page 179: Parameters
8-33 ECODRIVE03-FL*-04VRS Functions Parameters The parameters for the motion axis are normally input according to the mechanical and dynamic assignments. In addition, the input of measuring wheel data into the parameters occurs: C004 – C007. All further indications for this function are issued in the command structure in the user program.
Page 180: Immediate Cut / Cut Inhibit
8-34 Functions ECODRIVE03-FL*-04VRS Immediate Cut / Cut Inhibit The following functions can be activated in the LAL command: Under the following conditions, synchronization can be immediately "Immediate Cut" initiated with a rising edge at the "Immediate Synchronization" input, during processing of the LAL or LAR command: •...
Page 181 8-35 ECODRIVE03-FL*-04VRS Functions Part Length with Raster Pulse LAR 1 000100.000 00.00.0 00.00.0 LAR 1 V600 I0.01.0 00.00.0 Raster Input "Start Synchronization“: Bit: M0 – M5 I0 - I4 Q0 - Q2 I4.00.3 / I4.00.4 = Fast Inputs (are currently evaluated just like standard inputs!) 00.00.0 = Immediate Synchronization occurs Inputs ee:...
Page 182 8-36 Functions ECODRIVE03-FL*-04VRS CLG 1 000050.000 CLG 1 V600 Acceleration Distance [IU] Slave Axis: 1 Note: Before calling this command, the mode must be defined using the CMM command! Processing Program with Movement Away If the tool is to be moved to the processing location during processing, this can be done using a POI/PSI command.
Page 183 8-37 ECODRIVE03-FL*-04VRS Functions Virtual / Real Master Using the CMM command, the assignments for the master axis are made. In production, this is always the measuring wheel as a real master. For Test Mode, it is possible to activate a virtual master in the CMM command.
Page 184 8-38 Functions ECODRIVE03-FL*-04VRS VMC 1 +999 VMC 1 +V600 V601 Acceleration a: Acceleration of the virtual Master in per mil (‰) from Parameter A109. This value is retrieved when the command is read. Velocity v: Velocity of the virtual Master in per mil (‰) of the maximum velocity (Parameter A106).
Page 185 8-39 ECODRIVE03-FL*-04VRS Functions Jerk Using jerk, the material pulses and the axis movement are smoothed at the same time. Therefore, the axis position is shifted to the position of the processing location. It consists of: Parameter current Fig. 8-21: Shifting the Position using Jerk Monitoring When re-loading the length using the LAL command, it is subtracted from the value in Variable V113.
Page 186: 8.10 Control Loop Settings
8-40 Functions ECODRIVE03-FL*-04VRS 8.10 Control Loop Settings The control loop settings in a digital drive controller are important in terms of the characteristics of the servo axis. Determining the control loop settings requires expert knowledge. For this "Optimizing" the controller reason, application-specific controller parameters are available for all settings is generally not Rexroth digital drives.
Page 187 8-41 ECODRIVE03-FL*-04VRS Functions fp5007fj_AE.WMF Fig. 8-22: Control Loop DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 188: Setting The Current Controller
8-42 Functions ECODRIVE03-FL*-04VRS Setting the Current Controller The parameters for the current loop are set by Rexroth and cannot be adjusted for specific applications. The parameter values set at the factory are activated by the Basic Load command for MKD/MHD motors or can be found on the motor data sheet.
Page 189 8-43 ECODRIVE03-FL*-04VRS Functions The controller settings must be selected for the start of parameterization Start Settings as follows: CR02, Velocity loop proportional gain = default value of the connected motor. CR03, Velocity loop integral action time = 6500 ms (no integral gain) CR04, Smoothing time constant = minimum value (= 500 µs) CR06, Rejection bandwidth velocity loop = 0 Hz (deactivated) Definition of the Critical Proportional Gain and...
Page 190 8-44 Functions ECODRIVE03-FL*-04VRS Velocity Loop Velocity Loop Mode: Proportional Integral Action Remarks: Gain: Time: Feed axis on standard machine tool Good rigidity and good command response Kp = 0.5 x • Kpcrit Tn = 2 • Tncrit Feed axis on perforating press or turret High proportional gain;...
Page 191 8-45 ECODRIVE03-FL*-04VRS Functions Sv5052f1_AE.WMF Fig. 8-24: Amplitude Response of the Rejection Filter as a Function of Bandwidth (Qualitative) To set the bandpass filter, we recommend proceeding as follows: First set rejection filter to inactive Presets ⇒ Set parameter CR06, Rejection bandwidth Velocity loop to 0. ⇒...
Page 192 8-46 Functions ECODRIVE03-FL*-04VRS If the step response displays the same behavior, then: ⇒ Check the resonance frequency analysis. - or - ⇒ Increase the value of CR06, Rejection bandwidth velocity loop by a much larger amount. ⇒ Using the pre-optimized values for CR05, Rejection frequency Optimize Rejection Filter or Velocity Loop velocity loop and CR06, Rejection bandwidth velocity loop,...
Page 193: Velocity Control Loop Monitoring
8-47 ECODRIVE03-FL*-04VRS Functions Velocity Control Loop Monitoring If the velocity control loop monitor detects an error in the velocity control loop,, the error message • F878 Velocity loop error is entered. Reasons for Triggering of Monitor The velocity control loop monitor is designed to monitor for those faults that could lead the motor to begin turning in the wrong direction.
Page 194: Position Control Loop Monitoring
8-48 Functions ECODRIVE03-FL*-04VRS Determining the Critical Position Loop Gain • Move axis slowly, i.e., using jog function on connected NC control (rotary motors: 10...20 rpm, linear motors: 1...2 m/min). • Raise the K -factor until instability appears. • Reduce the K -factor until the sustained oscillation ends by itself.
Page 195 8-49 ECODRIVE03-FL*-04VRS Functions 7_0001_AE.WMF Fig. 8-26: Operating Principle of Position Loop Monitor Note: For accurate monitoring, the actual feedback value from the position loop is always used. This means that for position control with the motor encoder, position feedback value 1 is used;...
Page 196: Setting The Acceleration Feedforward
8-50 Functions ECODRIVE03-FL*-04VRS Setting the Acceleration Feedforward For servo applications requiring high precision at high speeds, it is possible to greatly improve the precision of an axis during the acceleration and deceleration phases by activating the acceleration feed forward. Typical applications for the use of the acceleration feed forward: •...
Page 197: 8.11 Mechanical Data
8-51 ECODRIVE03-FL*-04VRS Functions 8.11 Mechanical Data Mechanical Transmission Elements Mechanical transmission elements are gearboxes and feed mechanisms between the motor shaft and the load. These data must be entered in order to perform the load-side conversion of the physical parameters for position, velocity and acceleration.
Page 198: Modulo Function
8-52 Functions ECODRIVE03-FL*-04VRS Example: Ap5030f1_AE.WMF Fig. 8-29: Feed Constant Parameters Example: In the illustration above, the feed module would cover 10 mm per output revolution of the gear. The proper parameter settings for this would be : A101, Feed constant = 10 mm/rev Modulo Function If Parameter A100 is programmed for a rotary table, the modulo function is activated and all position data in the vicinity of the 0..modulo value are...
Page 199: 8.12 Movement To Positive Stop
8-53 ECODRIVE03-FL*-04VRS Functions 8.12 Movement to Positive Stop The assignment is to move a particular distance, within which a positive stop is expected. If the positive stop is reached within that distance, the torque defined in the user program (refer to MOM command) is applied at the positive stop. The torque, which should be valid until reaching the positive stop (during movement of the carriage), is also defined in the user program.
Page 200: 8.13 Encoder Emulation
8-54 Functions ECODRIVE03-FL*-04VRS Example Program: Instruction Command Command Contents Comment 0100 1 020 040 00.00.0 400 Torque Limitation To positive stop 20% At positive stop 40% 0101 1 000250.000 999 Initiate movement at maximum speed. 0102 1 +000200 100 1 1 Wait until position +200 with v=10% is reached.
Page 201: Activating Encoder Emulation
8-55 ECODRIVE03-FL*-04VRS Functions Activating Encoder Emulation It is possible to control the behavior of the function with the help of parameter C014, Encoder emulation type. C014 Encoder Emulation Configuration 0 0 0 Select Emulation 0 = no output 1 = incremental encoder emulation 2 = absolute encoder emulation Dead-Time Compensation 0 = is deactivated...
Page 202 8-56 Functions ECODRIVE03-FL*-04VRS Incremental encoders do not have an automatic method of Incremental Encoder determining an unambiguous position after powering up and must be homed. Homing uses the incremental encoder emulator zero pulse. With incremental encoders (e.g., sine encoders, gearwheel encoders), the following occurs automatically each time manual or automatic mode is engaged (in other words, each time the drive controller is powered up): •...
Page 203: Diagnostic Messages With Incremental Encoder Emulation
8-57 ECODRIVE03-FL*-04VRS Functions Between position measurement and pulse output, there is a deadtime Compensation for Delay (delay) of about 1 ms. If the deadtime compensation is set to 1 in (Deadtime) Between Real and Emulated Positions parameter C014, Encoder emulation type, then this time is compensated for in the drive.
Page 204: Operating Principle: Absolute Encoder Emulation
8-58 Functions ECODRIVE03-FL*-04VRS Operating principle: Absolute Encoder Emulation SSI Format The following illustration shows the format for SSI data transmission. Ap5002d1_AE.WMF Fig. 8-33: SSI Format as Pulse Diagram Note: The Power Failure Bit is not evaluated in the drive! Emulated position reference Emulation of the signals for "Position of the motor encoder,"...
Page 205 8-59 ECODRIVE03-FL*-04VRS Functions Position Jumps at the Display Limits of Absolute Encoder Emulation Using SSI emulation, it is possible to represent 4096 revolutions as an absolute measurement. When the display limits are reached with SSI emulation, small position fluctuations will lead to large jumps in the emulated SSI position.
Page 206: 8.14 Indexed Variables In Nc Commands
8-60 Functions ECODRIVE03-FL*-04VRS 8.14 Indexed Variables in NC Commands Two variable fields of the same type have been assigned, to communicate indexes to variables, even within program loops. Eight indexed variables are available. The function within the variable field is assigned and enables a calculation of a variable address using the formula: calculated...
Page 207 8-61 ECODRIVE03-FL*-04VRS Functions All NC commands using Variables V500-V507 or V510-V517, are executed in their indexed form. If access to a variable outside of the range V600 to V999 is made, (besides system variables), the error message "F- 02 23 – Wrong variable index"...
Page 208 8-62 Functions ECODRIVE03-FL*-04VRS Example 2: V500 Basic Variable 1 "Length“ V501 Basic Variable 2 "Velocity“ V502 Basic Variable 3 "Acceleration“ V508 V600 Product 1 Length V610 Product 1 Velocity V620 Product 1 Acceleration V601 Product 2 Length V611 Product 2 Velocity V621 Product 2...
Page 209: Logic Task Controlled Diagnostics For Status Message 25
8-63 ECODRIVE03-FL*-04VRS Functions 8.15 Logic Task Controlled Diagnostics for Status Message 25 The issuance of Status Message 25 can be affected by the Logic Task program, if the drive diagnostic is "HA" or "AU." For control of this output, marker flags M6.37.0 to M6.39.7 are used, with which 24 different messages can be output.
Page 210 8-64 Functions ECODRIVE03-FL*-04VRS "88EMERGENCY STOP! " "8BMotor Has Overheated! " "8CDrive Stalled! " "93Drive Watch Dog Error " "96Drive Error, See H1 Display! " If a marker is set, but there are no text commands written to the corresponding instruction area, the text "No text block nn" (’nn’ = text field number) is displayed.
Page 211 8-65 ECODRIVE03-FL*-04VRS Functions high Text Field No. NC Instruction Diagnostic Marker Bit Numbers Text-Field 1 xxxx+00 TXT 0 ABC.. M6.39.7 xxxx+01 TXT 0 EFG xxxx+02 TXT 0 HIJ.. xxxx+03 TXT 0 KLM Text-Field 2 xxxx+04 ... xxxx+07 M6.39.6 Text-Field 3 xxxx+08 ...
Page 212: 8.16 Pls
8-66 Functions ECODRIVE03-FL*-04VRS 8.16 PLS A maximum of 11 PLS positions that are output over 8 PLS outputs can be programmed. Multiple PLS positions can be assigned to each output. The outputs can be controlled within the entire PLS range, or set only as a timer.
Page 213: Parameters
ECODRIVE03-FL*-04VRS Parameters Parameters PARAMETERS..................9-1 ................9-3 ASIC NFORMATION Online Changeable Parameters ..............9-4 Input Unit ....................9-4 ............... 9-5 YSTEM ARAMETERS A100 Application Type................9-5 A101 Feed Constant.................9-6 A102 Gearing ...................9-6 A103 Negative Position Limit..............9-7 A104 Positive Position Limit ..............9-7 A105 Modulo Value ..................9-8 A106 Maximum Velocity ................9-8 A107 Jog Velocity..................9-9 A108 Bipolar Acceleration ................9-9...
Page 214 Parameters ECODRIVE03-FL*-04VRS C002 Position Feedback 1 Type ............9-45 C003 Feedback 1 Resolution (Motor)............9-46 C004 Interface Feedback 2 ..............9-46 C005 Position Feedback 2 Type ............9-47 C006 Feedback 2 Resolution ..............9-47 C007 Feed Constant 2 ................9-48 C008 Reserved..................9-48 C009 Homing Configuration ..............9-48 C010 Homing..................9-49 C011 Reference Distance ..............9-49 C012 Home Switch Offset ..............9-49...
Page 215: Basic Information
ECODRIVE03-FL*-04VRS Parameters Basic Information In this chapter, the parameters are described. They are used to define and adjust the system components and to activate hard-coded operations. Except for the CRxx Parameters and PLS Parameters N111 - N131, the parameters can only be modified in Parameter Mode via the serial interface.
Page 216: Online Changeable Parameters
Parameters ECODRIVE03-FL*-04VRS Online Changeable Parameters Changeable Parameters • A110 Bipolar Jerk Limiting Time Constant • AA15 ... AA18 Signal Controlbit 1 ... 4 • B006 ... B008 Analog Output 2 • CRxx All Controller Parameters Conditionally Changeable Parameters Can be changed, if no SA1 command is active in the program: •...
Page 217: System Parameters
ECODRIVE03-FL*-04VRS Parameters System Parameters A100 Application Type Function of Encoder 2 (optional): 0 = None 1 = Direct Measurement 3 = Measuring Wheel Motion Type: 0 = rotary (continuously rotating) 1 = linear (finite travel) 2 = Rotary Table Motion Type: For rotary motion, the drive unit normally turns continuously in one direction.
Page 218: A101 Feed Constant
Parameters ECODRIVE03-FL*-04VRS A101 Feed Constant 0100.0000 Feed Constant in IU Note: This is where the IU is defined IU = Input Unit This parameter describes the conversion from rotary to linear motion. It is defined as the linear displacement of the load during one revolution of the gear output shaft.
Page 219: A103 Negative Position Limit
ECODRIVE03-FL*-04VRS Parameters A103 Negative Position Limit ±000100.000 Negative Position Limit in IU The negative position limit defines the maximum travel distance in the negative direction whenever the type of motion is 1 (“linear motion,” Parameter A100) and all position data have been referenced to the home position, i.e., the drive unit has been homed.
Page 220: A105 Modulo Value
Parameters ECODRIVE03-FL*-04VRS A105 Modulo Value 000000.000 0 Rotary Table Mode: 0 = direction programmed within command 1 = shortest distance Modulo value in IU When the modulo format is set, the modulo value determines the numeric value at which the position data overflow to 0. This parameter is used only with motion type 2 (Rotary Table, Parameter A100) and normally indicates the circumference of the table.
Page 221: A107 Jog Velocity
ECODRIVE03-FL*-04VRS Parameters A107 Jog Velocity 000100.000 Jog velocity in IU/s With the velocity entered here, the drive motion is ‘Jog forward‘ or ‘Jog reverse.' A107 ” $ Additionally: Input min.: 0.001 Input max.: 200000.000 depending on the drive and the amplifier output A108 Bipolar Acceleration 001000 Acceleration in IU/s...
Page 222: A110 Bipolar Jerk Limiting Time Constant
9-10 Parameters ECODRIVE03-FL*-04VRS A110 Bipolar Jerk Limiting Time Constant 0.000 Time Constant for acceleration [s] Min. = 0 (no jerk) Max. = 1.024 s The time constant is processed only in 2 values Jerk1_AE.WMF Fig. 9-4: Jerk Parameter A110 can be written in all operating modes. Bei nicht stehender Achse kann es bei Änderung dieses Parameters zu ruckartigen Bewegungen kommen.
Page 223: A111 Switching Threshold
9-11 ECODRIVE03-FL*-04VRS Parameters A111 Switching Threshold M2.02.2 000.100 Switching Threshold in IU Output Bit: Position Reached M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 Output Bit: This bit is set when the remaining distance to travel from the last feed command is within the monitoring window (switching threshold) range.
Page 224: A113 In-Position Window
9-12 Parameters ECODRIVE03-FL*-04VRS A113 In-Position Window M2.02.2 0001.000 “In Position” - Window in IU Output Bit: Axis in Last Programmed Position 00.00.0 = function not active M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 The last target position specified via a feed command or homing is stored and then continually compared with the actual position value.
Page 225: A115 Monitoring
9-13 ECODRIVE03-FL*-04VRS Parameters A115 Monitoring 0 010 M2.02.2 Output Bit: Position Deviation > max. Position Deviation M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 00.00.0 = Output bit inactive max. Position Deviation [%] max. = 300 8 = Position Loop Monitoring = OFF <>...
Page 226: A116 Feed Angle Monitoring
9-14 Parameters ECODRIVE03-FL*-04VRS A116 Feed Angle Monitoring M2.02.1 M2.02.2 0 Mode in Manual Mode: 0 = Feed Angle Monitoring active 1 = Feed Angle Monitoring inactive Input Bit : Interruption M0 – M5 ; M8 ; I0 – I4 ; Q0 – Q3 Input Bit : Feed Angle Monitoring M0 –...
Page 227: A117 Encoder Difference Monitoring
9-15 ECODRIVE03-FL*-04VRS Parameters A117 Encoder Difference Monitoring 000 = no monitoring Monitoring window in ‰ (per thousand) referencing C007 (Function of Encoder 2 (A100) Measuring Wheel Mode) Monitoring window in ‰ (per thousand) referencing A101 (Function of Encoder 2 (A100) Direct Measurement) If Measuring Wheel Mode is active, the motion of the motor and the measuring wheel is monitored.
Page 228: A119 Best Possible Deceleration
9-16 Parameters ECODRIVE03-FL*-04VRS A119 Best Possible Deceleration 0 0 000 P-0-0256 Reserved Maximum Braking Time in s 0 = 5 s (Default value) Reaction: 0 = Velocity (rotary) command value set to zero 1 = Switch to torque-free state 2 = Velocity (linear) command value set to zero This parameter specifies how the drive will be decelerated in the event of •...
Page 229: Function Parameters
9-17 ECODRIVE03-FL*-04VRS Parameters Function Parameters AA00 Tasks 2 & 3 0100 0200 1 Reserved Task 3 - Start Block If ’0000’ appears here, Task 3 is not enabled. max.: 0999 Task 2 – Start Block If '0000' appears here, Task 2 is not enabled. max.: 0999 For further details, see Section 8.7, 'Multitasking.' AA01 Manual Vector...
Page 230: Aa02 Interrupt Vector
9-18 Parameters ECODRIVE03-FL*-04VRS AA02 Interrupt Vector M2.02.2 1 0 0200 Start Block Interrupt Vector Program 0 = a positioning motion in progress is not interrupted 1 = a positioning motion in progress is interrupted (the drive decelerates to a complete stop) 0 = the vector is inhibited during a subroutine (JSR) (leading edge of pulse) 1 = the vector is always active (leading edge of...
Page 231: Aa05 Open Feed Roll I
9-19 ECODRIVE03-FL*-04VRS Parameters AA05 Open Feed Roll I M2.02.1 M2.02.2 M2.02.3 000 0 0 = Open mechanically 1 = Open electrically (in preparation) Delay in ms (0 - 999) Open Feed Roll OFF Å Meas. Wheel ON Input Bit : Rolls Closed (Acknowledgement) 00.00.0 = Delay Activated M0 –...
Page 232: Aa06 Open Feed Roll Ii
9-20 Parameters ECODRIVE03-FL*-04VRS AA06 Open Feed Roll II This function is only valid in conjunction with Parameter AA05. M2.02.1 M2.02.2 Input Bit : Open Feed Roll in Manual Mode 00.00.0 = no opening possible in Manual Mode M0 – M5 ; M8 ; I0 – I4 ; Q0 – Q3 Input Bit : Enable Function (only in Automatic Mode) 00.00.0 = No separate enable possible...
Page 233: Aa07 Measuring Wheel Mode
9-21 ECODRIVE03-FL*-04VRS Parameters AA07 Measuring Wheel Mode Only in Automatic Mode M2.02.3 “Activate Measuring Wheel” Input Bit Input status = 0 : Control using motor encoder Input status = 1 : Control using measuring wheel encoder M0 – M5; M8 ; I0 - I4 ; Q0 - Q3 00.00.0 = no input programmed.
Page 234: Aa09 Feed-To-Length Monitoring
9-22 Parameters ECODRIVE03-FL*-04VRS AA09 Feed-To-Length Monitoring 00.00.0 00.00.0 Output Bit: Acceleration > 90% of A108 M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 Output Bit: Velocity > 90% of A106 M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7...
Page 235: Aa10 Setup Mode
9-23 ECODRIVE03-FL*-04VRS Parameters AA10 Setup Mode M2.00.2 I0.00.4 M2.02.0 Output Bit: In Start Position Bit+1 In End Position M2, M3, M4 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 Input Bit :"Jog forward" Bit+1 "Jog reverse" M0 – M5; M8 ; I0 - I4 ; Q0 - Q3 Input Bit :Setup Mode active 00.00.0 = no Setup Mode M0 –...
Page 236: Aa11 Tool Wear
9-24 Parameters ECODRIVE03-FL*-04VRS AA11 Tool Wear Q3.00 M8.02 Number of the first variable of the "Counter" variable field Number of output bits to be counted Marker Byte, degree of wear reached M2-M4, M8 Output Byte M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD:...
Page 237: Aa12 Press: Signal Offset
9-25 ECODRIVE03-FL*-04VRS Parameters AA12 Press: Signal Offset M2.02.2 M2.02.3 00 00 = Press off for feed angle falling edge 01 = Press off for feed angle rising edge Output Bit: Press (Continuous Operation) M2, M3, M4 Q3.00.0-Q3.03.7 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 Input Bit :...
Page 238: Aa13 Press: Signal, Intermittent
9-26 Parameters ECODRIVE03-FL*-04VRS AA13 Press: Signal, Intermittent M2.02.2 M2.02.3 Output Bit: Press (Intermittent) M2, M3, M4 Q3.00.0-Q3.03.7 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 Input Bit : Press, Intermittent/Continuous (0/1) 00.00.0 = Function Off M0 – M5 ; M8 ; I0 – I4 ; Q0 – Q3 This function is only valid as an option when Parameter AA12 is programmed.
Page 239: Aa14 Signal Control: Enable
9-27 ECODRIVE03-FL*-04VRS Parameters AA14 Signal Control: Enable M2.02.2 M2.02.3 Output Bit: Output Fault (Warning) M2, M3, M4 DKC21.3: Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 EMD: Q3.00.0-Q3.03.7 Input Bit : Enable Signal Control M0 – M5; M8 ; I0 – I4 ; Q0 – Q3 With this input, each signal that is programmed to be monitored is activated at the next rising edge of the test range.
Page 240: Aa15 Signal Control Bit 1
9-28 Parameters ECODRIVE03-FL*-04VRS AA15 Signal Control Bit 1 AA15 Signal Control Bit 2 AA15 Signal Control Bit 3 AA15 Signal Control Bit 4 M2.02.2 M2.02.3 00 Signal change test assignment can be edited on-line via RS Input Bit : Signal to be tested M0 –...
Page 241 9-29 ECODRIVE03-FL*-04VRS Parameters SIC_2_AE.WMF Fig. 9-12: Signal Control DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 242: Aa19 Press: Time Monitoring
9-30 Parameters ECODRIVE03-FL*-04VRS AA19 Press: Time Monitoring 99 M2.02.2 Output Bit: "Timeout – Time expired.“ M2, M3, M4 : Q3.00.0-Q3.03.7 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 Timeout in min. 00 = function inactive Note: The input bit "Press" in Parameter AA12 must be programmed.
Page 243: General Parameters
9-31 ECODRIVE03-FL*-04VRS Parameters General Parameters B000 Display 00 0 reserved reserved Write Protection: 9 = for NC and Logic Task Language 0 = German 1 = English 2 = French Language All texts are output in the selected language. The language selection becomes active immediately after saving these parameters.
Page 244: B002 Serial Interface Parameter 2
9-32 Parameters ECODRIVE03-FL*-04VRS B002 Serial Interface Parameter 2 0 0 0 0 0 000 Response Delay Time in ms in RS485 Mode 000 = no delay (0 – 200) 1 = in the event of a fault, an error message is sent automatically via the interface (in preparation).
Page 245: B003 Analog Output 1, Signal Select
9-33 ECODRIVE03-FL*-04VRS Parameters B003 Analog Output 1, Signal Select S 0 0001 Signal Number S 0 0000 = unassigned The B003 parameter can be used to assign a signal number to the analog AK1 output channel of the drive controller. The content of these signals can be viewed using an oscilloscope.
Page 246: B004 Analog Output 1, Expanded Signal Select
9-34 Parameters ECODRIVE03-FL*-04VRS B004 Analog Output 1, Expanded Signal Select 00000000 Hex Value Expanded signal selection is possible for representing signals as an analog voltage, a function which is not included in the B003 list. This function is activated if no parameter is assigned to the analog output via B003, Analog Output 1, Signal Select.
Page 247 9-35 ECODRIVE03-FL*-04VRS Parameters The outputs are not scaling dependent and are always referenced to the motor shaft for the position and velocity data. 2) Byte Output With this option, it is possible to directly output data memory storage location as an analog voltage. However, this is only useful if the data storage structure is known.
Page 248: B005 Analog Output 1, Scaling Per 10V Full Scale
9-36 Parameters ECODRIVE03-FL*-04VRS B005 Analog Output 1, Scaling per 10V Full Scale 00001.0000 Scaling / Bit Number The resolution of the selected signal can be varied using Parameter B005, Analog Output 1 Scaling per 10V Full Scale. If a number is assigned via B003, Analog Output 1, Signal Select, scaling always uses the same unit as the parameter with the assigned ID number.
Page 249: B007 Analog Output 2, Expanded Signal Select
9-37 ECODRIVE03-FL*-04VRS Parameters B007 Analog Output 2, Expanded Signal Select 00000000 Hex Value Expanded signal selection is possible for representing signals as an analog voltage, a function which is not included in the B006 list. This function is activated if no parameter is assigned to the analog output via B006, Analog Output 2, Signal Select.
Page 250 9-38 Parameters ECODRIVE03-FL*-04VRS 2) Byte Output With this option, it is possible to directly output data memory storage location as an analog voltage. However, this is only useful if the data storage structure is known. Since this structure differs from version to version, this function can only be used by developers.
Page 251: B008 Analog Output 2, Scaling Per 10V Full Scale
9-39 ECODRIVE03-FL*-04VRS Parameters B008 Analog Output 2, Scaling per 10V Full Scale 00001.0000 Scaling / Bit Number The resolution of the selected signal can be varied using Parameter B008, Analog Output 2 Scaling per 10V Full Scale. If a signal number is assigned via B006, Analog Output 1, Signal Selection, scaling always uses the same unit as the parameter with the assigned ID number.
Page 252: B010 System Control
9-40 Parameters ECODRIVE03-FL*-04VRS B010 System Control Mode: 0 – Standard – System control 1 – Serial system control 2 – System control via the EMD module 4 – System control via the Logic Task Note: The serial system control can only be accessed with Adress 5 when using the BTV04 and FWA-BTV04*-ELC firmware.
Page 253: B011 Fieldbus Cycle Time
9-41 ECODRIVE03-FL*-04VRS Parameters B011 Fieldbus Cycle Time Valid only for DKC3.3 with Profibus 05000 Maximum Cycle Time [ms] Cyclic transmission of the process data via the fieldbus is monitored. If no new message is received within the maximum cycle time, the control unit generates one of the following warning or error messages: •...
Page 254: B013 Fieldbus Format
9-42 Parameters ECODRIVE03-FL*-04VRS B013 Fieldbus Format Valid only for DKC3.3 with Profibus 0 1 0 0 Profile: 0 = Standard 1 = Expanded (with drive enable in the control word) 0 = Word Evaluation 1 = Byte Evaluation (in preparation) 0 = Intel 1 = Motorola Format:...
Page 255: Encoder Parameters
9-43 ECODRIVE03-FL*-04VRS Parameters Encoder Parameters C000 Working Polarity 0 = Motor turns clockwise 1 = Motor turns counterclockwise ‘Right-hand motor rotation = motor turns in clockwise direction‘ (viewed facing the motor shaft end) C001 Interface Feedback 1 (Motor) Measurement System In motors with feedback memory, these parameters are written automatically.
Page 256: C002 Position Feedback 1 Type
9-44 Parameters ECODRIVE03-FL*-04VRS C002 Position Feedback 1 Type 00 0 0 0 Encoder Type 0 = rotary 1 = linear Distance-Coded Measurement System: 0 = no distance-coded measurement system 1 = distance-coded reference marks Direction: 0 = not inverted 1 = inverted Absolute Measurement: x0 = no absolute measurement possible 01 = absolute measurement possible and active...
Page 257: C003 Feedback 1 Resolution (Motor)
9-45 ECODRIVE03-FL*-04VRS Parameters C003 Feedback 1 Resolution (Motor) 00005000 Pulses/Revolution (rotary encoders) 000,05000 mm / Graduation Mark (linear encoders) Input is in 0.00001 mm In motors with feedback memory, these parameters are written automatically. Depending on parameter CM00, Motor type (rotary or linear motors), C003, Resolution, position encoder 1 stipulates the motor encoder resolution.
Page 258: C005 Position Feedback 2 Type
9-46 Parameters ECODRIVE03-FL*-04VRS C005 Position Feedback 2 Type 00 0 0 0 Encoder Type 0 = rotary 1 = linear Distance-Coded Measurement System: 0 = no distance-coded measurement system 1 = distance-coded reference marks Direction: 0 = not inverted 1 = inverted Absolute Measurement: x0 = no absolute measurement possible 01 = absolute measurement possible and active...
Page 259: C007 Feed Constant 2
9-47 ECODRIVE03-FL*-04VRS Parameters C007 Feed Constant 2 0500.0000 Feed Constant in IU Encoder 2 is used as an optional encoder, measuring wheel axis or master axis. This parameter is read out only with rotary encoders. This parameter describes the conversion from rotary to linear motion. It is defined as the linear displacement of the load during one revolution of the measuring wheel encoder shaft.
Page 260: C010 Homing
9-48 Parameters ECODRIVE03-FL*-04VRS C010 Homing I0.01.1 Q0.00.6 00 76 = Set Absolute Position The command is executed after exiting Parameter Mode. Output Bit: Homed M2, M3, M4 DKC21.3 : Q0.00.4-Q0.01.3 DKC 3.3 : Q2.02.0-Q2.05.7 : Q3.00.0-Q3.03.7 Input Bit : Start Homing in Manual Mode M0 –...
Page 261: C013 Distance-Coded Reference Offsets
9-49 ECODRIVE03-FL*-04VRS Parameters C013 Distance-Coded Reference Offsets 1001 1000 Distance-Coded Reference Offset 2 the smaller distance between 2 reference markers Distance-Coded Reference Offset 1 the larger distance between 2 reference marks This parameter is used for inputting the encoder-specific distances between two reference marks for measuring systems with distance-coded reference marks.
Page 262: C015 Encoder Emulation Resolution
9-50 Parameters ECODRIVE03-FL*-04VRS C015 Encoder Emulation Resolution 02500 Resolution: For incremental encoder emulation up to 65536 For absolute encoder emulation 8 – 24 bits If incremental encoder emulation is selected as the actual position output, the number of graduation marks used by the emulated incremental encoder must be entered here.
Page 263: C017 Ssi Encoder (Press Encoder)
9-51 ECODRIVE03-FL*-04VRS Parameters C017 SSI Encoder (Press Encoder) 2 0 00 12 0 PFB (Encoder monitoring) 0 = off 1 = on Resolution in Bits: 9 - 12 for multi-turn format (tree) 9 - 24 for single-turn format Number of Revolutions in Bits: (0 to 12) Direction: 0 = forward 1 = reverse...
Page 264: C018 Ssi Encoder Homing
9-52 Parameters ECODRIVE03-FL*-04VRS C018 SSI Encoder Homing 00.00.0 00.00.0 76 76 = Set Absolute Encoder The command is executed after exiting Parameter Mode. Reserved : Reserved : Set Absolute Position: If 76 is entered in this parameter, the absolute value is set to the value stored in Reference distance, Parameter C019, upon exiting Parameter Mode.
Page 265: Control Parameters
9-53 ECODRIVE03-FL*-04VRS Parameters Control Parameters The CRxx Parameters, except für CR09, can also be edited in Manual/Automatic Mode. Thus, it is possible to change the settings while the machine is running. Changing the values defined by Rexroth or the machine builder can result in damage to the motor, the drive controller, or the machine mechanics.
Page 266: Cr02 Velocity Loop Proportional Gain
9-54 Parameters ECODRIVE03-FL*-04VRS CR02 Velocity Loop Proportional Gain 6553.5 A s/rad (A min/m) This parameter contains the value for the velocity loop proportional gain of the velocity loop. The proportional gain unit depends on the motor type of the connected motor.
Page 267: Cr03 Velocity Loop Integral Action Time
9-55 ECODRIVE03-FL*-04VRS Parameters CR03 Velocity Loop Integral Action Time 0015.0 [ms] The velocity loop forms a current command value from the difference between the velocity command value and the velocity feedback value (= speed regulation deviation). This current command value consists of a proportional component and an integral component.
Page 268: Cr04 Velocity Loop Smoothing Time Constant
9-56 Parameters ECODRIVE03-FL*-04VRS CR04 Velocity Loop Smoothing Time Constant 00500 [µs] 00000 = Function disabled The time constant that can be activated in this parameter affects the output of the velocity loop. It can be used to suppress quantization effects and limit the bandwidth of the velocity loop.
Page 269: Cr06 Rejection Bandwidth Velocity Loop
9-57 ECODRIVE03-FL*-04VRS Parameters CR06 Rejection Bandwidth Velocity Loop ±000 Bandwidth [Hz] To suppress the mechanical resonance frequency, a band-pass filter can be activated at the output of the velocity loop. The parameters for this function are CR05, Rejection Frequency Velocity Loop and CR06, Rejection Bandwidth Velocity Loop.
Page 270: Cr08 Acceleration Feedforward Gain
9-58 Parameters ECODRIVE03-FL*-04VRS CR08 Acceleration Feedforward Gain 0000.0 [mA/rad/s The acceleration feedforward helps to reduce the following error during the acceleration in lagless mode. To do this, the current acceleration command value is multiplied by the "acceleration feedforward gain" and added to the current command value of the velocity loop.
Page 271: Cr09 Switching Frequency
9-59 ECODRIVE03-FL*-04VRS Parameters Recommended Input Value: Moment Inertia [kgm CR08 1000 Torque Cinstand [Nm/A] The moment of inertia is the total sum of the rotor and the reflected load inertia. The factor 1000 is needed because of the unit mA. Fig.
Page 272: Motor Parameters
9-60 Parameters ECODRIVE03-FL*-04VRS Motor Parameters CM00 Motor Type Motor Type The motor type can be selected with this parameter. The following motor types are supported: • 1: MHD • Not allowed (2AD / 1MB with NTC temperature sensor) • 3: LSF •...
Page 273: Cm02 Motor Peak Current / Stall Current
9-61 ECODRIVE03-FL*-04VRS Parameters CM02 Motor Peak Current / Stall Current 0023.0 0005.1 Stall Current [A] Peak Current [A] The “Motor Peak Current” specifies the maximum current which may flow through the motor for a short period without damaging it. If the motor's peak current is less than the amplifier's peak current, the maximum output current will be automatically limited to the motor's peak current.
Page 274: Cm04 Number Of Pole Pairs/Pole Pair Distance
9-62 Parameters ECODRIVE03-FL*-04VRS CM04 Number of Pole Pairs/Pole Pair Distance 0003 Number of Pole Pairs (rotary motor) 0750 Pole Pair Distance (linear motor) Input is in 0,1 mm For rotary motors, the number of pole pairs per motor revolution is indicated here.
Page 275: Cm06 Moment Of Inertia Of The Rotor
9-63 ECODRIVE03-FL*-04VRS Parameters CM06 Moment of Inertia of the Rotor 0.00003 [Kgm This parameter indicates the moment of inertia of the rotor without load. For motors with feedback memory (e.g. MKD), it is saved in the feedback memory. Input min.: 0.00001 Input max.: 1.00000...
Page 276: Cm09 Motor Temperature
9-64 Parameters ECODRIVE03-FL*-04VRS CM09 Motor Temperature 145 155 Motor Shutdown Temperature [°C] Motor Warning Temperature [°C] CM10 Motor Inductance 003.70 [mH] CM11 Commutation Setting +0000.0000 Probe Value [mm] In preparation CM12 Commutation Offset 00100 Commutation Offset DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 277: Pls Parameters
9-65 ECODRIVE03-FL*-04VRS Parameters PLS Parameters See also functional description for PLS. N100 PLS 0 360.00 Feed Constant 0 = PLS Off 1 = PLS On The PLS must be activated, and a feed constant that references one encoder revolution must be programmed. Currently, the only possible input is 360.00.
Page 278: N109 Ssi Encoder Monitoring
9-66 Parameters ECODRIVE03-FL*-04VRS N109 SSI Encoder Monitoring 3000 04 000 000 Hysteresis Spacing All Negative Direction Hysteresis Spacing All Positive Direction Filter Time [4ms] Maximum Encoder Velocity Input 0-9999 [1/min] Encoder Velocity: If a maximum velocity not equal to 0 is pre-set, the encoder velocity is monitored.
Page 279: N111 Function Of Output Channel 1
9-67 ECODRIVE03-FL*-04VRS Parameters N111 Function of Output Channel 1 1 00 00 000 Timer Run Time Switch Off Lead Time in ms Switch On Lead Time in ms Output Function 0 = Output 1 off 1 = Output 1 on 2 = Output 1 set as timer Output Function: The output function determines whether or not the output is used,...
Page 280: N121 Switch 1
9-68 Parameters ECODRIVE03-FL*-04VRS N121 Switch 1 1 270 090 Off Position On Position Number of the Output Channel (1 – 8) Number of the Output Channel: The number determines which output (Parameter N101 – N108) is assigned to the PLS position. On Position: The point at which the output is turned on is defined by the on position.
Page 281: List Of Flp Parameters
9-69 ECODRIVE03-FL*-04VRS Parameters List of FLP Parameters Software : _ _ _ _ _ _ _ _ _ _ _ Com. No. : _ _ _ _ _ _ _ _ _ _ _ Date : _ _ _ _ _ _ _ _ _ _ _ Client/End Cl.: _ _ _ _ _ _ _ _ _ _ _ Prep.
Page 282 9-70 Parameters ECODRIVE03-FL*-04VRS Tasks 2 & 3 AA00 Manual Vector AA01 Interrupt Vector AA02 Reserved AA03 Override AA04 Open Feed Roll I AA05 Open Feed Roll II AA06 Measuring Wheel Mode AA07 Various Functions AA08 Feed-To-Length Monitoring AA09 Setup Mode AA10 Tool Wear AA11...
Page 283 9-71 ECODRIVE03-FL*-04VRS Parameters Working Polarity C000 Interface Feedback 1 (Motor) C001 Position Feedback 1 Type C002 Feedback 1 Resolution (Motor) C003 Interface Feedback 2 C004 Position Feedback 2 Type C005 Feedback 2 Resolution C006 Feed Constant 2 C007 Reserved C008 Homing Configuration C009 Homing...
Page 284 9-72 Parameters ECODRIVE03-FL*-04VRS Motor Type CM00 Bipolar Torque/Force Limit Value CM01 Motor Peak Current / Stall Current CM02 Maximum Motor Speed CM03 Number of Pole Pairs/Pole Pair Distance CM04 Torque/Force Constant CM05 Moment of Inertia of the Rotor CM06 Holding Brake Type CM07 Holding Brake Current CM08...
Page 285: Interface
10-1 ECODRIVE03-FL*-04VRS Interface Interface 10.1 Inputs / Outputs / Marker Flags Designation The designation of the inputs, outputs and marker flags. M2.02.0 M = Marker Flag Byte I = Input Q = Output Source Fig. 10-1: Structure of the Inputs / Outputs / Marker Flags e.g.
Page 286 10-2 Interface ECODRIVE03-FL*-04VRS Outputs The outputs are designated with ’Q.’ They can be programmed and processed in the parameters, commands, and in the Logic Task. They are processed at the beginning of each cycle (every 2 ms) or at the start of the Logic Task.
Page 287: System Inputs
10-3 ECODRIVE03-FL*-04VRS Interface Bytes 8 inputs, outputs or marker flags are grouped together (to form bytes). The bit designates in individual input, output or marker flag within a byte. Numbering is from 0 to 7. System Inputs Connector X210 or Fieldbus DKC21.3 X210 / 1 ( I0.00.0 )
Page 288 10-4 Interface ECODRIVE03-FL*-04VRS DKC21.3 X210 / 4 ( I0.00.3 ) Stop DKC3.3 Control Word ( I2.00.3 ) If the signal at the STOP input is lost, execution of both tasks 1 and 2 stops immediately. If the drive is in motion, it immediately decelerates to a standstill via the programmed acceleration command.
Page 289 10-5 ECODRIVE03-FL*-04VRS Interface Connector X1 X1/4 (I4.00.0) RF (Drive Enable) The RF (Drive Enable) input RF activates the drive via a 0-1 (rising) signal edge. If the signal drops out, the “Best possible deceleration mode” (Parameter A119) is activated. The BB contact remains closed. X1 / 3 ( I4.00.1 ) AH (Drive Stop)
Page 290: System Outputs
10-6 Interface ECODRIVE03-FL*-04VRS System Outputs Connector X210 or Fieldbus Manual DKC21.3 X210 / 17 ( Q0.00.0 ) DKC3.3 Status Word ( Q2.00.0 ) If manual mode is preselected and there are no faults, this output is set. Automatic DKC21.3 X210 / 18 ( Q0.00.1 ) DKC3.3 Status Word...
Page 291: Parallel Interface Dkc21.3 Programmable Inputs/Outputs
10-7 ECODRIVE03-FL*-04VRS Interface Parallel Interface DKC21.3 Programmable Inputs/Outputs Inputs Inputs I0.00.6 through I0.01.7 Connector X210 / Pin No.: 07 to 16 There are, therefore, 10 available inputs. The inputs are user-programmable within all NC Tasks and in the Logic Task. Moreover, these programmable inputs can be used for various functions which have been activated in the parameters.
Page 292: Profibus Interface Dkc 03.3 Programmable Inputs/Outputs
10-8 Interface ECODRIVE03-FL*-04VRS Profibus Interface DKC 03.3 Programmable Inputs/Outputs Profibus Inputs 32 inputs, I2.02.0 to I2.05.7, are available. Profibus Outputs 32 outputs, Q2.02.0 to Q2.05.7, are available. See also Section 11.2 Profibus BTV04 Programmable Inputs/Outputs These inputs and outputs are only available if a BTV04 is being used as an operator console.
Page 293 10-9 ECODRIVE03-FL*-04VRS Interface Accessing System Inputs and Outputs from the BTV04 If Parameter B010 is set to 1, serial system control becomes active via the BTV04 keys. Caution: The system inputs and outputs of the DKC21.3 on connector X210 are no longer queried or set. They can be used freely from the user programs! If a fault output or the operating modes are nevertheless to be assigned to a hardware output (Connector X210), this can be programmed in the...
Page 294: Marker Flags
10-10 Interface ECODRIVE03-FL*-04VRS Marker Flags The marker flags can be distinguished as follows: Source Bytes Function 00...05 System Marker Flags (Inputs) 00...03 System Marker Flags (Outputs) 00...19 NC Marker Flags 00...07 Saved NC Marker Flags 00...09 NC Transfer Marker Flags Å Logic Task 10...13 NC Transfer Marker Flags Å...
Page 295 10-11 ECODRIVE03-FL*-04VRS Interface M0.01 All bits in this byte are reserved. M0.02 These marker flags are only valid if the function is enabled in the designated parameter. Status of the Function Inputs Function Source Interrupt Parameter A116 Feed Angle Monitoring Parameter A116 Manual Vector Parameter AA01...
Page 296 10-12 Interface ECODRIVE03-FL*-04VRS M1.01 Status of Generating Position Command Values Bit Function Position Command Value: Command Position reached and Command Velocity = 0 Position Command Value: Acceleration Phase Position Command Value: Deceleration Phase Position Command Value: Constant Velocity Position Command Value: Negative Velocity Inhibited Movement: Stop, Interrupt, Feed Angle Monitoring, Movement to Positive Stop Axis in Home Position of the last Positioning Command...
Page 297 10-13 ECODRIVE03-FL*-04VRS Interface M2.00 - M2.19 NC Marker Flags These marker flags can be read and written via NC commands. These marker flags are cleared when exiting Automatic Mode, losing power or when a fault occurs. M3.00 - M3.07 Saved NC Marker Flags These marker flags can be read and written via NC commands.
Page 298: 10.2 Serial Interface
10-14 Interface ECODRIVE03-FL*-04VRS 10.2 Serial Interface Overview The drive controller is equipped with a serial interface. This interface is used to program the drive. The following can be exchanged via this interface: • Parameter • Programs • Logic Task • •...
Page 299 10-15 ECODRIVE03-FL*-04VRS Interface Setting the drive address using the S2 button and the S3 button is only Setting the Drive Address required when communicating via the RS485 bus (e.g. BTV04). The addresses can be set from 1 to 32, and for Profibus from 2 to 32. Fp5032f1_AE.WMF Fig.
Page 300: Communications Via Rs232 Interface
10-16 Interface ECODRIVE03-FL*-04VRS Communications via RS232 Interface Features: The RS232 interface is intended for use when connecting a PC with the MotionManager startup program. • Transmission rates of: 2400 baud ASCII 4800 baud ASCII 9600 baud ASCII / SIS 19200 baud ASCII / SIS •...
Page 301: Communications Via Rs485 Interface
10-17 ECODRIVE03-FL*-04VRS Interface Communications via RS485 Interface Features Communication via the RS485 interface makes it possible to implement a serial bus with the following data: • Up to 8 drives can be connected to one bus master. • Transmission rates of: 2400 baud ASCII...
Page 302: Ascii Protocol
10-18 Interface ECODRIVE03-FL*-04VRS ASCII Protocol The first control character indicates the beginning of a data transmission: First Control Character in the Data String: Hexadecimal 3F / character for data query If the control receives a ’?,’ requested information (Program Instruction, Parameter, Status Message, Variable, Logic Task, Cam) is output.
Page 303 10-19 ECODRIVE03-FL*-04VRS Interface Hexadecimal 54 / character for a table value. The information following the ’T’ is interpreted as a table value. Other Control Characters: Hexadecimal 24 / character for checksum. The two characters that follow are interpreted as a checksum. Hexadecimal value / checksum These two characters represent the result of the checksum for a piece of information.
Page 304: Generating The Checksum
10-20 Interface ECODRIVE03-FL*-04VRS Generating the Checksum Examples: 1. #_N0000_POI _ 1_ _ _ _ +123456,789_123_ $ #5N0123_NOP _ _$ ∑ Hex ∑ Hex Character Character Fig. 10-16: Generating the Checksum • The sum of all ’ASCII’ characters is calculated, from the first control character to the last character before the ’$.’...
Page 305: Interface Confirmation
10-21 ECODRIVE03-FL*-04VRS Interface Interface Confirmation Data transmission via the serial interface is monitored. If erroneous data are present, an error message (Status 01) is sent via the serial interface. If the interface confirmation feature is activated in Parameter B002 and if the control has completely and correctly received and processed the data, a confirmation is sent: Format:...
Page 306 10-22 Interface ECODRIVE03-FL*-04VRS The data formats are stipulated for each command and must be complied with! Command Data Data ACC_1_ _ _ _234_ _567_ _ ACC_1_ _ _ _V600 _V601_ AEA_Q1.01.1_1_ _ _ _ AEA_Q1.01.0_V600_ AKN_M1.02.3_1_ _ _ _ AKN_M2.02.3_V600_ AKP_M2.02_01201201_ AKP_M2.02_01201201_ APE_Q0.01_01201201_...
Page 307 10-23 ECODRIVE03-FL*-04VRS Interface PBK 1 PBK_1_ _ _ _ PBK_1_ _ _ _ PFA_1_ _ _ _+123456.789_123_ _ PFA_1_ _ _ _+V600_ _ _ _ _ _ _V601_ PFI_1_ _ _ _+123456.789_123_ _ PFI_1_ _ _ _+V600_ _ _ _ _ _ _V601_ POA_1_ _ _ _+123456.789_123_ _ POA_1_ _ _ _+V600_ _ _ _ _ _ V601_ POI_1_ _ _ _-123456.789_123_ _...
Page 308: Parameter
10-24 Interface ECODRIVE03-FL*-04VRS Parameter Parameters can be read out in any operating mode. Read Out Parameters: Format: ? s K _ x x y y _ $ h h C R L F In response to this query, the contents stored in the queried parameter ’xxyy’...
Page 309 10-25 ECODRIVE03-FL*-04VRS Interface Parameter Data A100 A100_1_1_ A101 A101_1234.5678_ A102 A102_1000_2000_ A103 A103_+123456.789_ A104 A104_+123456.789_ A105 A105_123456.789_0_ A106 A106_123456.789_ A107 A107_123456.789_ A108 A108_123456_ A109 A109_123_456_ A110 A110_1.024_ A111 A111_M2.02.2_123.456_ A112 Reserved (Free) A113 A113_M2.02.0_1234.567_ A114 A114_M2.02.2_1.5_0050_ A115 A115_1_100_M2.02.0_ A116 A116_M2.02.0_M2.02.1_0_ A117 A117_123_ A118...
Page 310 10-26 Interface ECODRIVE03-FL*-04VRS B000 B000_1_0_00_0_ B001 B001_09600_1_05_ B002 B002_0_0_0_0_0_000_ B003 B003_S_0_0001_ B004 B004_12345678_ B005 B005_00001.0000_ B006 B006_S_0_0001_ B007 B007_12345678_ B008 B008_00001.0000_ B009 B009_0_123_ B010 B010_0_ B011 B011_12345_ B012 B012_123456.7_ B013 B013_0_1_0_0_ B014 B014_0_0_0_0_ C000 C000_1_ C001 C001_01_ C002 C002_01_0_0_0_ C003 C003_00005000_ C004 C004_01_...
Page 311 10-27 ECODRIVE03-FL*-04VRS Interface CM00 CM00_1_ CM01 CM01_040_ CM02 CM02_0100.0_0070.0_ CM03 CM03_10500.000_ CM04 CM04_0003_ CM05 CM05_000.20_ CM06 CM06_0.00003_ CM07 CM07_0_0_ CM08 CM08_010.000_ CM09 CM09_123_123_ CM01 CM10_000.00_ CM11 CM11_+0000.0000_ CM12 CM12_00000_ N100 N100_0_360.00_ N101 N101_Q0.00.6_010_020_ through N108 N108_Q0.00.7_010_020_ N109 N109_3000_04_003_005_ N110 Reserved (Free) N111 N111_1_02_03_000_ N119...
Page 312: Variables
10-28 Interface ECODRIVE03-FL*-04VRS Variables Variables can be read out in any operating mode. Read Out Variables: Format: ? s V x x x _ $ h h C R L F In response to this query, the contents stored in the queried variable ’xxx’ are sent.
Page 313 10-29 ECODRIVE03-FL*-04VRS Interface Notes About the Index Variables: Access to the indicated variables (V500 to V519) is direct. Via a variable number that is higher by 20 allows access to the same variables, but also to the contents of the indicated target variable. Displayed Index Variable Number of the Target Variable 500 to 507...
Page 314: Logic Task
10-30 Interface ECODRIVE03-FL*-04VRS Logic Task Logic Task instructions can be read out in any operating mode. Read Out Logic Task Format: ? s P x x x x _ $ h h C R L F In response to this query, the contents stored in the queried Logic Task instruction ’xxxx’...
Page 315: Cam
10-31 ECODRIVE03-FL*-04VRS Interface Examples: Readout Query Response ? 5 P 0 0 0 6 _ $ h h C R L F P 5 0 0 0 6 _ O R N ( _ _ M 2 . 0 2 . 0 _ $ h h C R L F ? 5 P 0 1 0 1 _ $ h h C R L F P 5 0 1 0 1 _ A N D _ _ _ M 2 .
Page 316 10-32 Interface ECODRIVE03-FL*-04VRS It is not possible to transfer table values in Automatic Mode. Write Table Values The cam must begin with the value $00000000 in Element 0000, and the last value in Element 1023 must be $7FFFFFFF. Format: # s T n n _ e e e e _ p p p p p p p p $ h h C R L F Meaning of the characters used: s = Station Number n = Table Number (00 only)
Page 317: Readout Of Status Information
10-33 ECODRIVE03-FL*-04VRS Interface Readout of Status Information The following status messages can be queried via the serial data interface: Status ’00’ Actual Position in IU Status ’01’ Transmission error, interface Status ’04’ Counter Status ’05’ Firmware version Status ’08’ Current instructions and return instruction numbers of tasks 1 through 3 Status ’09’...
Page 318 10-34 Interface ECODRIVE03-FL*-04VRS Status 01 Transmission error, interface The control sends this status information automatically if an error occurs in the transmission. Status 01 can not be queried. In the event of a transmission error, the control delivers the following message: X s 0 1 _ f f _ t t t t t t t t t t t t t t t t t t t t _ $ h h C R L F Meaning of the characters used:...
Page 319 10-35 ECODRIVE03-FL*-04VRS Interface Status 04 Counter The status query: ? s X _ _ 0 4 _ n n n n _ C R L F produces the message: X s 0 4 _ n n n n _ i i i i i i _ z z z z z z _ _ _ _ _ _ $ h h C R L F Meaning of the characters used: n = Block number = Actual quantity...
Page 320 10-36 Interface ECODRIVE03-FL*-04VRS In the case of tasks that have not been enabled, an appropriate number of blank spaces is output. If a task is not located in a subroutine, only the current instruction number is output. Status 09 Measuring Wheel Mode: Current Measuring Wheel Position and Current Motor Encoder Position The status query: ? s X _ _ 0 9 _ C R L F...
Page 321 10-37 ECODRIVE03-FL*-04VRS Interface Status 19 Hardware and firmware version The status query: ? s X _ _ 1 9 _ C R L F produces the following message, e.g.,: X s 1 9 D K C 2 1 . 3 _ _ _ _ _ _ _ _ _ E C O D R 3 - F L P - x x V x x $ h h C R L F Firmware version max.
Page 322 10-38 Interface ECODRIVE03-FL*-04VRS Soft Fault: "66Feed Angle Lost During Feed! " "6AInvalid Mode Selection! " Hard Fault: "77Parameter Invalid! Select P-mode! " "81Parameters Lost! Clear to Cont " "86Parameters Lost! Select P-mode! " Drive Error: "00System is Ready " "3DA: Stop/Wait for start "...
Page 323 10-39 ECODRIVE03-FL*-04VRS Interface Status 53 Diagnostic / Error Message The status query: ? s X _ _ 5 3 _ C R L F produces the message: X s 5 3 _ x x x x x x _ t t t t t t t t t t t t t t t t t t $ h h C R L F t = Fault message in plain text (max.
Page 324 10-40 Interface ECODRIVE03-FL*-04VRS Status 62 Controller Type or Type of Connected Motor The status query: ? s X _ _ 6 2 _ a _ C R L F produces the message: X s 6 2 _ a n . . . n _ $ h h C R L F a = selection 0 = Controller type 1 = Reserved...
Page 325 10-41 ECODRIVE03-FL*-04VRS Interface Status 66 Output of a word for the Markers / Inputs / Outputs Two bytes at a time are output. The display of the data can be set to binary, decimal or hexadecimal. The status query: ? s X _ _ 6 6 _ q t . n n m _ C R L F produces the message: X s 6 6 _ q t .
Page 326: Interface Commands
10-42 Interface ECODRIVE03-FL*-04VRS Interface Commands Note: For all commands, it is necessary for the checksum to transmitted independently from Parameter B002! Clear Fault Message: ! s C L E A R _ $ h h C R L F ! s C C L E A R _ $ h h C R L F Clears a fault message.
Page 327 10-43 ECODRIVE03-FL*-04VRS Interface The NOP command is written to all NC program instructions. Write NOP to NC Instructions Format: ! s C N O P N C $ h h C R L F Write NOP command to NC program instructions. Format: ! s C N O P N C v v v v b b b b $ h h C R L F vvvv = beginning with NC instruction number...
Page 328 10-44 Interface ECODRIVE03-FL*-04VRS Variables V600 to V999 and the indexed Variables V500 to V519 are Clear NC Variables: cleared. Format: ! s C C L V A R $ h h C R L F Clear a variable range. Format: ! s C C L V A R v v v v b b b b $ h h C R L F vvvv = starting with variable number (0600...0999)
Page 329 10-45 ECODRIVE03-FL*-04VRS Interface Change a byte from a saved marker flag group. Write Saved Marker Flags: Format: ! s C S E T M B _ M g . n n _ x x x x x x x x _ $ h h CR LF Bit7 Bit0 With g: Marker Flag Group (3, 6 or 8)
Page 330: Polling Query
10-46 Interface ECODRIVE03-FL*-04VRS The PLS is initialized using the current PLS parameter data. Re-Initialize PLS Format: ! s C I N I T N $ h h C R L F Note: The command is accepted only in Manual or Automatic Mode. An answer of Yes occurs immediately after acceptance of the command.
Page 331: Command Communications
11-1 ECODRIVE03-FL*-04VRS Command Communications Command Communications 11.1 Parallel Interface DKC21.3 Three connectors serve as the parallel interface. X1, X3 and X210 See also the Project Planning Manual and Section 13. Diagnostic LED for Parallel Interface For diagnosing the parallel interface, four LEDs are available on the front of the card.
Page 332: 11.2 Profibus
11-2 Command Communications ECODRIVE03-FL*-04VRS 11.2 Profibus Rexroth provides advanced drive technology with a user-friendly interface. For example, jogging was defined as an individual function. Rexroth has provided this functionality (as also defined in the ProfiDrive) as bits in the control word, and thus can now offer an interface that is easier to use. The slave address is set on the plug-in module.
Page 333: Fieldbus Parameters
11-3 ECODRIVE03-FL*-04VRS Command Communications Fieldbus Parameters Several parameters must be programmed for the fieldbus. The parameters are part of the group B0xx. B011 Fieldbus Cycle Time B012 Fieldbus Baudrate B013 Fieldbus Format The following information is supplied by the Profibus •...
Page 334 11-4 Command Communications ECODRIVE03-FL*-04VRS Profile 0 I/O Status Word (DKC Output) Definition Designation Manual Mode Q2.00.0 Automatic Mode Q2.00.1 Fault Q2.00.2 Q2.00.3 Ready Q2.00.4 Warning Q2.00.5 Parameter Q2.00.6 In Position (Switching Threshold) Q2.00.7 Reserved (Free) Q2.01.0 Reserved (Free) Q2.01.1 Reserved (Free) Q2.01.2 Reserved (Free) Q2.01.3...
Page 335 11-5 ECODRIVE03-FL*-04VRS Command Communications Profile 1 I/O Status Word (DKC Output) Definition Designation Manual Mode Q2.00.0 Automatic Mode Q2.00.1 Fault Q2.00.2 Q2.00.3 Ready Q2.00.4 Warning Q2.00.5 Parameter Q2.00.6 In Position Q2.00.7 Reserved (Free) Q2.01.0 Reserved (Free) Q2.01.1 Reserved (Free) Q2.01.2 Reserved (Free) Q2.01.3 Reserved (Free)
Page 336 11-6 Command Communications ECODRIVE03-FL*-04VRS Profibus: User-Configurable I/O DKC Input I2.02 in one word when received I2.03 I2.04 in one word when received I2.05 are the addresses of the available words DKC Output Q2.02 in one word when sent Q2.03 Q2.04 in one word when sent Q2.05 are the addresses of the available words...
Page 337 11-7 ECODRIVE03-FL*-04VRS Command Communications Write Status Word / Read Status Word Bits Function 0..9 Variable Number 10..13 Format / Error Number Error Bit Handshake Bit toggles to the Status Word Fig. 11-12: Status Word for Variable Write Control Word / Read Control Word Bits Function 0..9...
Page 338 11-8 Command Communications ECODRIVE03-FL*-04VRS The variables have a fixed format: +99999999.999999 While transmitting the variables via the Profibus interface, a signed 32-bit number (1 Long) with an operational sign, that is interpreted according to its Format selection, is transmitted. The data capacity of the variable is reduced.
Page 339: Service Data Channel
11-9 ECODRIVE03-FL*-04VRS Command Communications Service Data Channel All the programs, parameters, variables and status information can be sent to the slave or read out via this channel. The data exchange occurs after the ASCII Data Protocol of the ’Serial Interface.’ The checksum and ’CR LF’ at the end of the protocol were disregarded.
Page 340 11-10 Command Communications ECODRIVE03-FL*-04VRS The status word is sent in the direction of slave to master. It is 16 bits Status Word wide and the individual bits are defined as follows: Bit 0 - 3: Format Bit 4 - 7: Length Bit 8: Toggle Bit 9: Reserved Bit 10: Last Bit...
Page 341 11-11 ECODRIVE03-FL*-04VRS Command Communications Communication Between Master and Slave A general description of the communication relationships is illustrated in the following graphic. The following two services are shown from the perspective of the master: • Read Request (Readout of the requested data) (Readout of the response telegram) •...
Page 342 11-12 Command Communications ECODRIVE03-FL*-04VRS Reading a Value The master clears the R-Bit to signal a request. In this example, an NC instruction is read out. The length of the control word is set to 8, which indicates the valid length of the data in bytes, not counting the control word.
Page 343 11-13 ECODRIVE03-FL*-04VRS Command Communications Status Word Service Data Length Format Data Data Data Data Data Data Data Data Data Data S 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 1 Fig. 11-22: "Read Response" From the Slave (First Fragment) Now, the master must switch the toggle bit to show the slave that it is ready to receive new data.
Page 344 11-14 Command Communications ECODRIVE03-FL*-04VRS The slave responds with a "Read Response" that contains no data. This response indicates to the master that the slave is again ready to receive additional data. Each time, the status word is a copy of the control word, for which the length was set to 0 and the L-Bit was set.
Page 345 11-15 ECODRIVE03-FL*-04VRS Command Communications Error Messages If the slave detects an erroneous message, it generates an error message. This message contains an error code as a 16-bit value that indicates the source of the error. The error message has the following structure: Status Word Service Data...
Page 346 11-16 Command Communications ECODRIVE03-FL*-04VRS If a 0x01nn error is present, this error can be read out again as "plain text." Status/Control Word Service Data Data Data Data Data Data Data Data Data Data Data Length Format M 0 0 0 0 0 1 0 1 1 0 0 0 1 0 1 1 S 0 0 1 0 0 1 0 1 0 0 1 0 1 0 1 1 M 0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 1 S 0 0 0 1 0 1 0 0 1 0 1 0 1 0 1 1...
Page 347: Inputs X1 And X3
11-17 ECODRIVE03-FL*-04VRS Command Communications Inputs X1 and X3 The following hardware inputs must be assigned to the DKC3.3: • E-Stop X3/6 • Limit + X3/2 • Limit - X3/3 • X1/3 Additionally only when using Profile 0: • X1/4 Assignment of Profibus Connector X30 Signal Assignment for X30 Profibus Connector Rexroth Signal...
Page 348 11-18 Command Communications ECODRIVE03-FL*-04VRS Notes DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 349: Diagnostic Message Descriptions
12-1 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions Diagnostic Message Descriptions 12.1 Overview of the Diagnostic Message Descriptions Diagnostic Message Types Each operating state of the drive controller is identified with a diagnostic message. Distinctions are made between: • Diagnostic Error Messages • Diagnostic Warning Messages •...
Page 350 12-2 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS H1 Display The H1 display visually displays the diagnostic message on the drive controllers. H1-Display FA5047f1.fh7 Fig. 12-2: H1 Display The diagnostic message number appears in the two-digit seven-segment display. See the "Diagnostic Message Priority Diagram" for the display format.
Page 351 12-3 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions If more than one diagnostic message is active, then the message with the Diagnostic Message Output highest priority will be displayed. If more than one diagnostic message is Priority active, then the message with the highest priority will be displayed. The following graphic classifies the operating states in order of importance.
Page 352: 12.1 Error Diagnostics For Amplifier F
12-4 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS 12.1 Error Diagnostics for Amplifier F. .. F208 UL The motor type has changed This message is displayed when the unit is powered up for the first time with a new motor. The regulator settings for the current, velocity and position loops are stored in the feedback memory on the motor.
Page 353: F218 Amplifier Overtemp. Shutdown
12-5 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F218 Amplifier overtemp. shutdown The temperature of the amplifier’s heatsink is monitored. If the heatsink is too hot, the drive will power down in order to protect against damage. Cause: Ambient temperature is too high. The specified performance data apply up to an ambient temperature of 45°C.
Page 354: F220 Bleeder Overload Shutdown
12-6 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F220 Bleeder overload shutdown The regenerative energy coming from the machine mechanism via the motor has overloaded the braking resistor (bleeder). When the maximum braking energy is exceeded, the drive shuts down after braking. The bleeder is thus protected against destruction due to overheating.
Page 355: F228 Excessive Deviation
12-7 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F228 Excessive deviation When the position loop is closed, the drive monitors whether it is able to follow the specified command value. This is done by calculating a model position value in the drive and comparing that value with the actual feedback value.
Page 356: F234 Emergency-Stop
12-8 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F234 Emergency-Stop Cause: The emergency stop function was initiated by switching off the +24V present at the emergency stop input. The drive controller was brought to a standstill according to the set error response. Remedy: Correct the problem that caused the +24V signal present at the emergency stop input to be switched off.
Page 357: F237 Excessive Position Command Difference
12-9 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F237 Excessive position command difference Cause: The position command values created by the position loop must be monitored. If two position command values received in succession request the drive to produce a velocity that is greater than or equal to the value in Parameter A106, Maximum Velocity, the position command value monitoring function is activated.
Page 358: F245 Encoder 2 Failure: Quadrant Error
12-10 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F245 Encoder 2 failure: Quadrant error The evaluation of the additional optional encoder (encoder 2) is active. In the evaluation of the sinusoidal input signals of the optional encoder, a plausibility check is performed between these signals and the counter fed by these signals.
Page 359: F253 Incr. Encoder Emulator: Frequency Too High
12-11 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions Malfunction in the control of motors and moving elements Equipment damage can occur. Turn off the power supply. Make sure the equipment is CAUTION not switched back on. Replace the battery while the control voltage is turned on. If the control voltage is turned off while the battery is out, the absolute reference point will be lost.
Page 360: F276 Absolute Encoder Out Of Allowed Window
12-12 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F276 Absolute encoder out of allowed window When turning off the drive controller with an absolute encoder motor (multiturn), the actual feedback position will be stored. When powered up, the absolute position determined by the encoder evaluation is compared with this stored position.
Page 361: F288 Error During Firmware Update Of Emd Module Firmware
12-13 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F288 Error during firmware update of EMD Module firmware Description: An error occurred during the Firmware update for the EMD Module. After checking the remedy in the drive controller, clear the error and switch from Parameter to Manual Mode again and check if the error recurs. Cause: •...
Page 362: F292 Overtemperature In Emd Module
12-14 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F292 Overtemperature in EMD Module The temperature of the EMD Module has risen to an unacceptable level. As soon as the temperature error threshold is exceeded, the outputs are immediately turned off and the error is generated in the base unit. Cause: •...
Page 363: F296 Number Of Ecox Slaves Incorrect
12-15 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F296 Number of EcoX Slaves incorrect In Parameter B014, EMD Configuration the number of EcoX slaves has to be entered. If the master notices that the number of EcoX slaves does not correspond with the parameterized value when scanning the slaves, warning E296 Number of EcoX slaves incorrect is generated.
Page 364: F407 Error During Initialization Of Master Communication
12-16 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F407 Error during initialization of master communication An error occurred during initialization and verification of command communications card (DIO1.1/PBK2). Cause: • No command communications card is inserted • Wrong command communications card is inserted • Wrong Firmware is loaded Remedy: •...
Page 365: F434 Emergency-Stop
12-17 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F434 Emergency-Stop Actuating the emergency stop switch has caused the drive to execute the emergency stop function set via Parameter A119, Best possible deceleration. Cause: The emergency stop switch was detected. Remedy: Eliminate the malfunction that has caused the emergency switch to be activated, and clear the error.
Page 366: F630 Negative Travel Limit Exceeded
12-18 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F630 Negative travel limit exceeded A command was executed which resulted in an axis position outside the negative travel range. The axis has been brought to a standstill with the error response "Set velocity command value to zero." Cause: Parameter A103, Negative travel limit exceeded.
Page 367: F644 Negative Travel Limit Switch Detected
12-19 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F644 Negative travel limit switch detected The negative travel limit switch has been activated. The axis has been brought to a standstill with the error response "Set velocity command value to zero." Cause: The negative travel limit switch has been activated. Remedy: Reset the error.
Page 368: F860 Overcurrent: Short In Power Stage
12-20 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS Example: Ucos = -6.5V Usin = 6.5V − erlength )² )² Note: The error cannot be cleared in the (manual/automatic) operating mode. Switch to parameter mode before clearing the error. Causes: Defective encoder cable Disruption of feedback signal transmission Defective encoder Remedy: Check the measurement system cable.
Page 369: F873 Power Supply Driver Stages Fault
12-21 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions Remedy: For 1. Check cables for control voltages and/or connections and replace if necessary. For 2. Check the 24-V supply voltage at the power supply unit. For 3. Check the power supply unit. For 4. Check the emergency stop circuit for a short-circuit. Note: The error can be reset only in Parameter Mode.
Page 370: F895 4-Khz Signal Wrong
12-22 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F895 4-kHz signal wrong The 4-kHz signal for generating the resolver signals is synchronized with the processing of the software. This error message is generated if there is a lack of synchronization. Cause: The error can be caused by an electrostatic discharge. Synchronization between the resolver excitation voltage and the software is not correct.
Page 371: 12.2 Warning Diagnostics For Amplifier E
12-23 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.2 Warning Diagnostics for Amplifier E. .. E221 Warning, Motor temp. surveillance defective The temperature monitoring system checks to see if the measured motor temperature is within reasonable bounds. If it finds that the temperature is lower than -10°C, then it is assumed that the measuring unit is defective.
Page 372: E250 Drive Overtemp. Prewarning
12-24 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS E250 Drive overtemp. prewarning The temperature of the heatsink in the drive controller has reached the maximum permissible temperature. The drive controller complies with the command value input for a period of 30 seconds. This makes it possible to bring the axis to a standstill via the control system without disruption of the process (e.g., close the operation, leave the collision area, etc.).
Page 373: E256 Torque Limit = 0
12-25 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions E256 Torque limit = 0 Cause: For protection against mechanical overloading, the MOM command can be used to limit the maximum torque. If the current value is equal to 0, the motor does not develop torque and does not comply with the stipulated command values.
Page 374: E261 Continuous Current Limit Prewarning
12-26 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS E261 Continuous current limit prewarning Digital drives are monitored via a continually operating temperature model. Continuous current limiting is activated shortly after the thermal load capacity reaches 100%. At 90%, the continuous-current-limiting prewarning is issued prior to this torque reduction.
Page 375: E288 Firmware Update Of Emd Module Active
12-27 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions E288 Firmware update of EMD Module active If the Firmware of the drive controller has been replaced and the Firmware of the EMD module has changed, the Firmware is automatically updated when progressing from phase 2 to phase 3. During this time warning E288 is displayed.
Page 376: E291 Timeout In Emd Module
12-28 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS E291 Timeout in EMD Module Description: The EMD Modules send the inputs to the base unit in a cyclic telegram. If this telegram is not sent for 2 cycles, Warning E291 is generated. The following is valid: Cycle Time = (number of slaves +1) ms.
Page 377: E300 Processor Watchdog Timer
12-29 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions Remedy for...: 1. Check the wiring of the EcoX bus 2. Check parameterization 3. Check EcoX bus 4. Check supply voltage of the EMD modules E300 Processor watchdog timer The processor in the drive controller is equipped with a watchdog timer. The processor must regularly signal it internally.
Page 378: E411 Double Sst Failure
12-30 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS E411 Double SST Failure The EcoX master cyclically sends the synchronization and command value telegram (SST). If it fails for 2 cycles, warning E411 is generated. The cycle time for the SST is 500 µs. If controller enable has been set and the SST fails for 2 cycles, error F411 is generated instead of warning E411.
Page 379: E826 Undervoltage In Power Section
12-31 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions E826 Undervoltage in power section Undervoltage is handled as a "fatal warning“ and the motor is switched off. If the drive enable signal is present and the DC bus voltage status signal is lost, the drive displays this warning. Cause: Power supply unit is switched off or power grid failure occurs when the drive enable signal is set.
Page 380: Command Diagnostics C
12-32 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS 12.3 Command Diagnostics C.. ., D. .. C100 Communication phase 3 transition check The C100 Communication phase 3 transition check command has been activated. C200 Communication phase 4 transition check Definition The C200 Communication phase 4 transition check command has been activated.
Page 381: C204 Motor Type Parameter Cm00 Incorrect
12-33 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions C204 Motor type Parameter CM00 incorrect An MHD, MKD or MKE motor is installed, however the corresponding abbreviation ("MHD," "MKD" or "MKE") was not found in the motor feedback memory. Cause: Incorrect parameter set for type of motor. The motor feedback memory cannot be read.
Page 382: C212 Invalid Amplifier Data
12-34 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS C212 Invalid amplifier data During drive initialization, the operating software accesses data from an EEPROM in the drive controller. This error message is generated if the attempt to read the data has failed. Cause: Defective hardware in the drive controller. Remedy: Replace the drive controller.
Page 383: C215 Acceleration Data Scaling Error
12-35 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions C215 Acceleration data scaling error Cause: The drive-internal format of the acceleration data is dependent on the motor encoder and the encoder resolution. The factor for converting the acceleration data from the drive-internal format to the display format and vice versa is outside of the possible range.
Page 384: C218 Feedback 2 Data Reading Error
12-36 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS C218 Feedback 2 data reading error If the measurement system to be initialized has an intrinsic memory, this memory is read when the manual/automatic operating mode is switched on. The C218 Feedback 2 data reading error message is generated if an additional optional encoder (encoder 2) is present and being evaluated (Parameter C004, Interface, feedback 2 is not set to "0"), and if an error is discovered while reading the data.
Page 385: C221 Feedback 2 Initializing Error
12-37 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions C221 Feedback 2 initializing error Several checks are performed during the initialization of an optional encoder. An error was detected during this process. This error may be: • an error reading the angle rectification data •...
Page 386: C228 Wrong Controller Type
12-38 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS C228 Wrong controller type In preparing for the communications Phase 4 transition check, first check whether the heat-sink temperature model data stored in the resident memory of the amplifier are valid. If an error is detected, the drive responds with the error message C228 Wrong controller type.
Page 387: C302 Absolute Measuring System Not Installed
12-39 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions C302 Absolute measuring system not installed The command in Parameter C010, Homing "Set absolute encoder" was initiated with no absolute measurement system installed. The command can be executed only if an absolute measurement system is installed. Cause: The command should not have been activated.
Page 388: C602 Distance Home Switch - Reference Mark Erroneous
12-40 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS C602 Distance home switch – reference mark erroneous Cause: The evaluation of the home switch signal has been activated. The distance between the positive edge of the home-switch signal and the reference mark to be interpreted is outside the valid range. Remedy: Change the value in Parameter C012, Home switch offset.
Page 389: C701 Basic Load Not Possible With Drive Enable
12-41 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions C701 Basic load not possible with drive enable Cause: Basic load cannot be executed if the drive enable function is set. Remedy: Turn off drive enable. Reinitiate command. See also functional description for: "Causes of error in executing the ‘Basic load’...
Page 390: C800 Default Parameter Load
12-42 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS C800 Default parameter load Initiating the command: This command can be initiated in 2 ways: 1. By pressing the S1 key when "PL" is displayed on the drive controller (appears after a change in firmware version). 2.
Page 391: D302 Torque/Force Too Small For Movement
12-43 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions D302 Torque/force too small for movement The command D3 Commutation Setting was initialized. For this to occur, the motor must be moving. However, it is not moving. Cause: 1. The torque is too small to overcome the mechanical resistance (friction or weight load).
Page 392: D800 Command Measuring Wheel Mode
12-44 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS D800 Command Measuring Wheel Mode Definition: The command is active. The position loop is closed using Encoders 1 and 2. Control loop monitoring is deactivated. Cause: Measuring Wheel Mode was activated. See also "Measuring Wheel Mode" in the Chapter entitled Functions. "d8"...
Page 393: 12.4 Diagnostic Status Messages For Amplifier A
12-45 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.4 Diagnostic Status Messages for Amplifier A. .. A002 Communication phase 2 Parameter Mode. A003 Communication phase 3 Preparation for communications phase 4 (manual/automatic) A010 Drive HALT The input Drive HALT is for stopping an axis using a defined acceleration and a defined jerk.
Page 394: A104 Position Mode Without Position Lag (Following Error), Encoder 1
12-46 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS A104 Position mode without position lag (following error), encoder 1 The drive is in position control mode. Within the drive, the position control loop is closed via a position encoder. The control system only sets the position command value sequence;...
Page 395: Diagnostic Messages For Basic Initialization And Fatal System Errors
12-47 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.5 Diagnostic Messages for Basic Initialization and Fatal System Errors Diagnostic Message Display: -0 The writable data storage area of the drive controller is tested for functionality. If an error occurs, E2 is shown in the display. Diagnostic Message Display: -1 The hardware of the amplifier is being initialized.
Page 396: Diagnostic Message Display: E1
12-48 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS Diagnostic Message Display: E1 Cause: Processor fault caused by voltage surge, programming error or hardware fault. More information is available via a terminal connected to the RS232 port. Remedy: Switch amplifier off and on again; if error is still present, replace hardware.
Page 397: 12.6 Operation Status
12-49 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.6 Operation Status The possible operating states are listed alphabetically below. These states are displayed on the H1 display of the unit. "Ready for operation" (betriebsbereit) See also: A013 Ready for power on "Drive is ready" (Antrieb bereit) See also diagnostic message: A012 Control and power sections ready for operation.
Page 398 12-50 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS "Phase 2" The control is in parameter mode and is checking the parameter data. The power cannot be switched on. See also status message A002. "Phase 3" The control is transitioning from Phase 2 to Phase 4 (Manual or Automatic Mode).
Page 399: 12.7 Nc Error Diagnostics F
12-51 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.7 NC Error Diagnostics F- ..F- 0200 Parameter and automatic input simultaneously If the ’Parameters’ input is activated in Automatic Mode, the following error message is issued. The ’Automatic’ input is not monitored in Parameter Mode.
Page 400: F- 0207 Invalid Destination Task Number
12-52 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0207 Invalid destination task number The number of the destination task in the JTK command is not within the range 1 to 3. F- 0208 Per mil value in ACC command > 999 The value for acceleration and/or deceleration is greater than 999 per mil. Cause: •...
Page 401: F- 0212 Program Run Without Power
12-53 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F- 0212 Program run without power Power is not on! • In Automatic Mode, a start is triggered without the power being turned • While the program is running in Automatic Mode, the power was switched off.
Page 402: F- 0217 Hom Not Allowed
12-54 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0217 HOM not allowed Calling the HOM command is not permitted. Cause: 1. The motion type "continuous" is set in Parameter A100. 2. The motor encoder is evaluated as an absolute encoder (value "01“ in Parameter C002 Position Encoder Type 1).
Page 403: F- 0222 Sa1 Not Allowed
12-55 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F- 0222 SA1 not allowed The output of an analog value with the SA1 command via the analog channel AK1 is not possible, because the channel was already set for one output signal of the drive. See Parameters B003 to B005. Remedy: Use either the ’SA1’...
Page 404: F- 0227 Control Signal Bit 2 Fault
12-56 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0227 Control signal bit 2 fault The function was activated in Parameters AA14 and AA16, to compare PLS positions with a particular state of an input signal. The state of the input signal from Parameter AA16 did not correspond to the PLS position. Check input signal and PLSs.
Page 405: F- 0302 Nc Instruction Number Illegal
12-57 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions F- 0302 NC instruction number illegal The destination instruction number indicated in an NC instruction does not fall within the programmed range (instruction 0 to 999). Cause: • For constants: Data loss. • For variables: Value of the destination variable is too large or negative.
Page 406: F- 0308 At Failure
12-58 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0308 AT Failure The initialization of communication between the drive and NC is not o.k. Cause: • Data loss. • Firmware update was executed. Previously, a different firmware or a different version was loaded. Remedy: If possible, pre-select Parameter Mode and clear the error message.
Page 407: F- 0311 Stack Correction Value > 9
12-59 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions • B009: No ’Serial inputs/outputs’ are set in the parameters, but ’serial system control’ is pre-selected in B010. • B014: No ’EMD modules’ are set in the parameters, but ’system control via EMD module’ is pre-selected in B010. •...
Page 408: F- 0314 Instruction Offset Greater Than 999
12-60 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0314 Instruction offset greater than 999 The value for the instruction offset in the ’BIC’ command is greater than 999. Cause: • For constants: Data loss. • For variables: Value of the destination variable is too large or negative.
Page 409: F- 0319 Nc Cycle Time Exceeded
12-61 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions Remedy: • BTV04: • Check grounding of all cables on the DKC. • Ground BTV04 housing. • Use shielded cables (Motor / Serial Interface). • Increase maximum cycle time in Parameter B009. • Possibly reduce the ’Answer Delay Time’ value (Default = 4ms) in the BTV04.
Page 410: F- 0324 Function Terminated
12-62 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS F- 0324 Function terminated • NC program was stopped during an active cam. • Mode change was executed during an active cam. F- 0325 Mode unauthorized Calling the ’CMM’ command is not permitted, because • a function is already active in a different mode.
Page 411: 12.8 Nc Warning Diagnostics E
12-63 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.8 NC Warning Diagnostics E- ..E- 0100 Velocity = 0 "Jog forward" or "Jog reverse" is active. Cause: Using Velocity Override, a velocity of 0 is pre-set by: • Override activation in Parameter AA04. •...
Page 412: E- 0106 Jog, Position < Limit
12-64 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS E- 0106 Jog, Position < Limit Reverse jogging is not possible. The ’negative position limit value’ has been reached or exceeded. Remedy: Move the axis with the signal ’jog forward’ into the motion range. E- 0107 Jog, Position > Limit Forward jogging is not possible.
Page 413: 12.9 Nc- Status Diagnostics A
12-65 ECODRIVE03-FL*-04VRS Diagnostic Message Descriptions 12.9 NC- Status Diagnostics A- ..A- 0007 Stop is active No voltage at the Stop input X210/4 or the automatic program was stopped using a Stop command (JST). A- 0008 Manual vector program is active The Manual Vector program in Parameter AA01 is currently being processed.
Page 414: A- 0028 Control Signal Bit 3 Invalid
12-66 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS A- 0028 Control signal bit 3 invalid The function was activated in Parameters AA14 and AA17, to compare PLS positions with a particular state of an input signal. The state of the input signal from Parameter AA17 did not correspond to the PLS position. Check input signal and PLSs.
Page 415: Connectors
13-1 ECODRIVE03-FL*-04VRS Connectors Connectors 13.1 DKC21.3 Ap5164fe_1_AE.WMF Fig. 13-1: X210 Connector for DKC21.3 with IKS4037 Cable Colors Inputs Outputs I0.00.0 Parameters Q0.00.0 Manual I0.00.1 Manual/Automatic Q0.00.1 Automatic I0.00.2 Start Q0.00.2 Fault I0.00.3 Stop Q0.00.3 I0.00.4 Jog forward Q0.00.4 Output 1 I0.00.5 Jog reverse Q0.00.5...
Page 416: 13.2 Dkc21.3 And Dkc3.3
13-2 Connectors ECODRIVE03-FL*-04VRS 13.2 DKC21.3 and DKC3.3 ELC1_X3_1_AE.WMF Fig. 13-2: Connector X3 DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 417: 13.3 Press Encoder
13-3 ECODRIVE03-FL*-04VRS Connectors 13.3 Press Encoder Abb031_DKC_Press_geb_CR_en.WMF Fig. 13-3: Press Encoder DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 418 13-4 Connectors ECODRIVE03-FL*-04VRS Notes DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 419: Display
14-1 ECODRIVE03-FL*-04VRS Display Display 14.1 BTV04 The control will be programmed using the serial interface. For this purpose, two different accessories are available. MotionManager PC-Windows Program BTV04 – Operator Console A specific user program can be created, or a BTV04 preconfigured with the firmware FWA-BTV-ELC-01VRS and the functions described below can be used.
Page 420: Parameter Settings
14-2 Display ECODRIVE03-FL*-04VRS Parameter Settings BTV04 Basic Settings Pressing "Shift + F6" enters the parameter setting function of the BTV04. Pressing F1 sets the serial interface parameters. F2 Serial Port X2 (RS 485) Baud Rate 9600 (19200) Parity Protocol SIS Master F3 Serial Port X3 (RS 232) Address Baud Rate...
Page 421: Btv04 Key Descriptions
14-3 ECODRIVE03-FL*-04VRS Display BTV04 Key Descriptions Keys Symbol Definition F1 to F6 are function keys which are used to select menus or display levels. The arrow keys enable navigation inside a screen or activation of input fields. When inputting parameters, they also perform additional functions for scrolling through parameter groups.
Page 422 14-4 Display ECODRIVE03-FL*-04VRS Key Combinations with SHIFT Symbol Definition SHIFT+F6 Calls the BTV Parameter Menu. For details, see "BTV Parameters“ SHFIT+ESC Causes a re-boot of the BTV04. This key combination is equivalent to turning the BTV04's 24V power supply off and then on again.
Page 423: 14.2 Programming Displays
14-5 ECODRIVE03-FL*-04VRS Display 14.2 Programming Displays BTV04 Display Menu MAIN-MENU F1 MONITOR_MENU F1 Position F2 I/O-Menu F1 Input F2 Output F3 COUNTER F2 SETUP-MENU F1 NC-Program (Level 2) F2 Parameter (Level 1) F3 PLC-Program (Logic-Task) (Level 1) F4 Variables (Level 3) F5 Flags M8 (Level 2) F3 STATUS-MENU...
Page 424: Main Menu
14-6 Display ECODRIVE03-FL*-04VRS Main Menu F W A -B T V 0 4 E L C 0 1 V 0 8 E L C / F L P A D D R E S S M A I N - M E N U ( O K ) After startup, the BTV04 always first asks for Control Address 5.
Page 425 14-7 ECODRIVE03-FL*-04VRS Display Position M a n u a l V E L O C I T Y : + 0 0 0 0 . 0 9 Axis position R E L A T I V E P O S I T I O N + 0 8 4 2 2 5 .
Page 426 14-8 Display ECODRIVE03-FL*-04VRS M a n u a l O U T P U T S Q 0 . 0 0 0 0 0 0 0 0 0 0 Q 0 . 0 1 0 0 0 0 0 0 0 0 Q 1 .
Page 427: Setup Menu
14-9 ECODRIVE03-FL*-04VRS Display Setup Menu M a n u a l S E T U P - M E N U N C - P R O G R A M ( F 1 ) P A R A M E T E R ( F 2 ) P L C - P R O G R A M ( F 3 )
Page 428 14-10 Display ECODRIVE03-FL*-04VRS Parameters M a n u a l P A R A M E T E R Parameter Number A p p l i c a t i o n T y p e Parameter Description M a n u a l P A R A M E T E R Parameter Number M o t i o n T y p e...
Page 429 14-11 ECODRIVE03-FL*-04VRS Display PLC Program (Logic Task) M a n u a l P L C - P R O G R A M ’H’ 0 0 0 0 L D _ _ _ I 4 . 0 0 . 1 >0 0 0 1 S T _ _ _ Q 2 .
Page 430 14-12 Display ECODRIVE03-FL*-04VRS Marker Flag M8 M a n u a l F L A G S I N P U T M 8 M 8 . 0 1 0 1 0 1 0 1 0 1 x = 0 x = 1 x = x x = x...
Page 431: Diagnostic Messages
14-13 ECODRIVE03-FL*-04VRS Display Diagnostic Messages The current system status and the current data are displayed. It is not possible to change the data. M a n u a l S T A T U S - M E N U I / O / F M E N U ( F 1 ) P R O G R A M - S T A T U S...
Page 432 14-14 Display ECODRIVE03-FL*-04VRS M a n u a l O U T P U T S Q 0 . 0 0 0 0 0 0 0 0 0 0 Q 0 . 0 1 0 0 0 0 0 0 0 0 Q 1 .
Page 433 14-15 ECODRIVE03-FL*-04VRS Display Various Functions M a n u a l M I S C E L L A N E O U S P O S I T I O N - L A G ( F 1 ) M a n u a l P O S I T I O N L A G + 0 0 0 0 0 0 .
Page 434: Special Displays
14-16 Display ECODRIVE03-FL*-04VRS Special Displays This display is called up when the Help key is pressed from the Parameter menu. M a n u a l P A R A M E T E R – H E L P P A R .
Page 435: 14.3 User Interface
14-17 ECODRIVE03-FL*-04VRS Display 14.3 User Interface Introduction Using the TXT command, one simple user screen/interface can be created in the NC program. To do this, the BTV04 hardware with the BTV04-ELC-01V08 firmware or higher is required. Example: M a n u a l Status Line M A I N - M E N U Line 1...
Page 436: Text Programming
14-18 Display ECODRIVE03-FL*-04VRS Definition Assignment Function Example: Display Text N0500 TXT 0 0-0-2-00-20-ABCD N0501 TXT 0 EFGHIJKLMNOPQRST Display Variable N0500 TXT 0 1-0-2-00-100-183 Display Marker N0500 TXT 0 1-1-2-00-M2.00.0 Variable Value Editable N0500 TXT 0 2-0-2-00-600-183 Draw Line N0500 TXT 0 3-100-50-120-30 Draw Box N0500 TXT 0 4-100-50-120-30 Number of Lines...
Page 437 14-19 ECODRIVE03-FL*-04VRS Display Programming the Text for Example Fig 14-5 Text Main Menu N0500 0-0-1-05-10-MAIN -MENU Text Machine 2345 0-0-2-04-12-MACH INE 2345 Text : Actual Position: 0-0-3-00-07-ACTP Text : Length: 0-0-4-00-07-LENG Text : mm 0-0-4-19-02-MM Text : Velocity: 0-0-5-00-09-VELO CITY: Text : Pieces: 0-0-6-00-08-PIEC DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 438: Data Display
14-20 Display ECODRIVE03-FL*-04VRS Data Display Display Variable The contents of the programmed variable are written to the display cyclically. The contents of all variables can be displayed. The number of places before and after the decimal can be designated. N0500 TXT 0 1-0-2-00-100-183 Display of the Actual Position with Places Before the Decimal Parameter Description...
Page 439: Variable Value Editable
14-21 ECODRIVE03-FL*-04VRS Display Variable Value Editable N0500 TXT 0 2-0-2-00-600-183 Parameter Description min. max. Assignment: Variable Contents Reserved Line 6(7) Position Variable Number Format 0 = Without operational sign 1 = With operational sign Number of Places Before Decimal Number of Places After Decimal Fig.
Page 440: Graphic Elements
14-22 Display ECODRIVE03-FL*-04VRS Graphic Elements Draw Line N0500 TXT 0 31-100-50-120-30 Parameter Description min. max. Assignment: Draw Line 0 = White Line 1 = Black Line 2 = Dotted Line X Starting point of the line Y Starting point of the line X End point of the line Y End point of the line Fig.
Page 441: Number Of Lines
14-23 ECODRIVE03-FL*-04VRS Display Number of Lines In the default settings, the number of available lines is set to 6. Using this command, the number can be increased to 7. Note: With 7 preselected lines, for fields with an editing function, the topmost pixels of the following line are overwritten! Note: The number of lines should always be programmed first.
Page 442: Display Example
14-24 Display ECODRIVE03-FL*-04VRS Display Example M a n u a l M A I N - M E N U M A C H I N E 2 3 4 5 A C T P O S : + 0 0 0 0 0 1 2 3 . 1 2 3 L E N G T H : 0 0 0 1 .
Page 443: Emd Module (Ecox-Bus)
15-1 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) EMD Module (EcoX-Bus) 15.1 Digital Input/Output Module System Setup Using the digital input/output module described in this documentation, the Functionality and number of digital inputs (16 per module) and outputs (16 per module) can Communication be increased for drive controllers in the ECODRIVE03 family.
Page 444 15-2 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Made in Germany EMD-B16.1-DC024N S.No. 123456-00001 A01 LISTED 22ZA F-Nr.: 12345678901234567890 B-Nr.: 12345678 BA-Nr.: 12345678 10 11 12 13 14 15 16 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 17 18 25 26...
Page 445: 15.2 Technical Data
15-3 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) 15.2 Technical Data EcoX Bus System Data max. number of drive controllers max. number of input/output modules bus conductor Rexroth cable assembly Type IKB 0036 maximum conductor length bus connection 9-pole D-SUB connector transmission rate 1 MBaud Fig.
Page 446 15-4 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Outputs Number Connections triple-conductor External Power Supply total with power supply clamps 24 V, 0 V and ground clamp by group with power supply clamps for each group of 8 outputs Rated Voltage V [DC] Rated Current maximum per output maximum per group...
Page 447: 15.3 Important Notes
15-5 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) 15.3 Important Notes Appropriate Use Introduction Rexroth products represent state-of-the-art developments manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the manner that is defined as appropriate.
Page 448: Inappropriate Use
15-6 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Areas of Use and Application The equipment described in this documentation is intended for use while connected to a digital drive controller with a corresponding interface. Using this equipment, additional digital inputs/outputs are added to a drive controller.
Page 449: 15.4 Installation
15-7 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) 15.4 Installation Dimensions and Installation Measurements mb5059f1_AE.WMF Fig. 15-6: EMD Unit Dimensions and Installation Space Note: To ensure adequate ventilation of the input/output module and to avoid overheating, please adhere to the required installation space shown in Fig 15-6. Please also note that the required installation space of 150 mm is required at the front.
Page 450 15-8 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS PUSH PUSH LISTED 22ZA 10 1 12 13 14 15 16 10 1 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 17 18 25 26 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48...
Page 451: Installation/Removal
15-9 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) Installation/Removal The required installation space and the unit dimensions can be found in Required Installation Space and Measurements the Section "Dimensions and Installation Measurements" The input/output module is designed for mounting on a top-hat or Mounting Materials mounting rail.
Page 452 15-10 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS eb0008f1_AE.WMF Fig. 15-9: Installing the Base Module Removing the base module requires a 6 mm x 1 mm screwdriver. Removing the Base Module Remove the base module by placing the tip of the screwdriver on the release clip of the base module.
Page 453 15-11 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) Installation and Removal of the Electronic Module Damage by live parts! ⇒ Turn off the power to the base module before installing or removing the electronic module, so the electronic module is not damaged. CAUTION No tools are required to install or remove the electronic module.
Page 454: 15.5 Electrical Connection
15-12 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS 15.5 Electrical Connection Before You Begin For operation, an input/output module must be supplied with power. In addition, note the following: Electrical components will be damaged by electrostatic discharge! ⇒ When handling electrical components, ensure that you and any equipment are appropriately grounded.
Page 455 15-13 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) A 2.5 mm x 0.5 mm screwdriver is required for connecting a conductor Clamp Handling shows where the screwdriver is to be placed and Fig. 15-13 shows how to  attach a conductor with CAGE CLAMP connectors.
Page 456: Position Of Connections
15-14 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Position of Connections ek5044F1_AE.WMF Fig. 15-14: Position of Connections Power Supply, Protection and Grounding Power Supply The input/output module must be supplied with 24 Volts DC power using the clamps labeled as "unit supply" in Fig 15-14: Green clamp: Grounding Red clamp:...
Page 457: Input Signals
15-15 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) Protection The electronic module is protected from short circuiting by the F1 plug-in fuse on the base module. Note: Please take note of the technical data for the plug-in fuse. When power is supplied via the input/output module, the electrical Actors protection of the actors is ensured by the F1 plug-in fuse on the module.
Page 458: Power Supply Of The Outputs
15-16 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Power Supply of the Outputs For power supply to the outputs, four red clamps are available in the area labeled "actuator connections" in Fig. 15-14. Each set of 2 clamps is assigned for the power supply to 8 outputs. The left clamp in each pair connects the 24 V input voltage, and the right clamp is connected to the outputs.
Page 459: Fieldbus Connectors
15-17 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) The positive connection of a load must be connected to the gray connection clamp and the negative connection must be connected to the blue connection clamp. ap5374f1_AE.WMF Fig. 15-17: Connection of the Actuators Fieldbus Connectors Note: For the first and the last unit along an EcoX bus, a bus terminationmust be attached to the end of the conductor.
Page 460: Connection Of Input/Output Modules
15-18 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS AZ0001f2_AE.WMF Fig. 15-18: Assignment of the Pre-Assembled Cable (IKB0036), for the Connection Between Drive Controller and EMD Module Note: Switching between input/output module 1 (inputs/outputs 0 to 15) and module 2 (inputs/outputs 16 to 31) is done via a bridge in the EcoX connector on the input/output module.
Page 461 15-19 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) Example for the Structure of an EcoX-Bus The following examples should clarify the basic structure of an EcoX bus. Note: Please note the types of cable assemblies used and the requirements for the bus termination resistance! EMD_Fl2.WMF Fig.
Page 462: 15.6 Initial Startup
15-20 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS 15.6 Initial Startup Setting the Module Address For an input/output module and a drive controller to be able to communicate, identical (unit) addresses must be set for both units. The input/output module address is set using address switches S2 and S3.
Page 463: 15.7 Faults And Messages
15-21 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) 15.7 Faults and Messages Display Position of the Displays Display of general status messages and input/output status messages is integrated on the electronic module. The following figure shows the electronic module and the position of all its displays. ek5043F1_AE.WMF Fig.
Page 464 15-22 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS Color Status Definition Error-Clearing correct power supply for the input/output module Undervoltage in the input/output module Check of the 24V power supply input/output module is configured as Module 1 (I/O 0...15) green input/output module is configured as Module 2 (I/O 16…32) blinking watchdog, error executing firmware...
Page 465: 15.8 Replacement Of A Unit
15-23 ECODRIVE03-FL*-04VRS EMD Module (EcoX-Bus) 15.8 Replacement of a Unit Damage by live parts! ⇒ Turn off the power to the input/output module before installing or removing it, so it is not damaged. CAUTION Following is a short list of items that must be considered when a unit is replaced.
Page 466: 15.9 Factory Settings And Identifying The Components
15-24 EMD Module (EcoX-Bus) ECODRIVE03-FL*-04VRS 15.9 Factory Settings and Identifying the Components Identifying the Components The base module and the electronic module are clearly marked with a typecode. Tl0215f1_AE.WMF Fig. 15-24: Typecode for the Electronic or Base Module DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 467: Ids Accessories
16-1 ECODRIVE03-FL*-04VRS IDS Accessories IDS Accessories 16.1 INDRAMAT Decade Switch IDS1.1 51_ids.WMF Fig. 16-1: IDS Indramat Serial Decade Switch DKC_IDS_AE.WMF Fig. 16-2: IDS Connection to DKC The INDRAMAT Decade Switch "IDS1.1“ enables inputting a feed length with 6 decimal places and a velocity with 2 decimal places. Communications with the IDS1.1 are activated by increasing the input value to 2 or 3 for the protocol in Parameter B002.
Page 468 16-2 IDS Accessories ECODRIVE03-FL*-04VRS • Die IDS1.1 operates with the following transmission parameters: • RS232, 2400 Baud, 1 Start Bit, 8 Data Bits, 1 Stop Bit, no parity check. • A timeout is effective in Automatic Mode. If more than 2 seconds pass without receiving a valid IDS1.1 telegram, the following message is displayed: "E- 01 08 IDS01 timeout."...
Page 469 16-3 ECODRIVE03-FL*-04VRS IDS Accessories IDS_mas_AE.WMF Fig. 16-5: :IDS Dimensions DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 470 16-4 IDS Accessories ECODRIVE03-FL*-04VRS Notes DOK-ECODR3-FL*-04VRS**-FK01-EN-P...
Page 471: Index
17-1 ECODRIVE03-FL*-04VRS Index Index ) 7-1 +24Volt DC error 12-20 0x9002 (dL / 00) Firmware was cleared 4-15 0x9003 Loading not allowed in phase 3 4-15 0x9004 Loading not allowed in phase 4 4-15 0x9102 (dL / 03) Firmware was cleared 4-15 0x9103 Restart not allowed in phase 3 4-16 0x9104 Restart not allowed in phase 4 4-16 0x9200 (dL / 06) Read error 4-16...
Page 472 17-2 Index ECODRIVE03-FL*-04VRS APZ 6-19 APZ not allowed 12-55 ASCII Protocol 10-16 Assignment of Profibus Conector X30 11-17 AT Failure 12-58 AU 12-49 Automatic execution of the "Load basic parameter " function 4-6 Automatic input 10-3 Automatic Setting of the Motor Type for Motors with Feedback Memory 5-2 Axis-Related System Variables 6-7 BAC 6-19 Bandpass Filter 8-45...
Page 473 17-3 ECODRIVE03-FL*-04VRS Index Splicing Protection 15-12 Connector X3 13-2 Continuous current limit active 12-25 Continuous current limit prewarning 12-26 Control and power sections ready for operation 12-45 Control signal bit 1 fault 12-55 Control signal bit 1 invalid 12-65 Control signal bit 2 fault 12-56 Control signal bit 2 invalid 12-65 Control signal bit 3 fault 12-56 Control signal bit 3 invalid 12-66...
Page 474 17-4 Index ECODRIVE03-FL*-04VRS DOLFI Signals Timeout 4-18 Double SST Failure 12-16, 12-30 Drive address 10-15 Drive Controllers and Motors 1-2 Drive enable 10-5 Drive Error Reaction 4-5 Drive HALT 12-45 Drive not ready for commutation command 12-42 Drive overtemp. prewarning 12-24 Drive Stop 10-5 Drive-controlled homing 8-3 Drive-controlled homing procedure command 12-39...
Page 475 17-5 ECODRIVE03-FL*-04VRS Index Excessive position feedback difference 12-8 Explanation of Terms 4-1 FAK 6-35 Fatal error of the interface card 12-16 Faults 4-5 Features 10-16, 10-17 Feed Angle 9-14 Feed angle loss 12-52 Feed Angle Monitoring 9-14 Feed Constant 8-51 Feed rolls open 12-65 Feedback 1 data reading error 12-35, 12-36 Feedback 1 initializing error 12-36...
Page 476 17-6 Index ECODRIVE03-FL*-04VRS I/O Control Word 11-4, 11-5 I/O Fieldbus 11-17 I/O status illegal 12-56 I/O Status Word 11-4, 11-5 IDS01 – Timeout 12-64 Inappropriate use 2-2 Consequences, Discharge of liability 2-1 Incorrect number of EcoX Slaves 12-15, 12-28 Incr. encoder emulator: pulse frequency too high 12-11 Incremental encoder emulation 8-54, 8-55 Indexed Variables 6-12, 8-60 INDRAMAT Decade Switch IDS1.1 16-1...
Page 477 17-7 ECODRIVE03-FL*-04VRS Index Load default values 12-64 Load error LCA 12-33 Loading not allowed in phase 3 4-14 Loading not allowed in phase 4 4-14 Load-side motor encoder with inductance motor only 12-38 Locked with password 12-41, 12-42 Logic Task 7-1 Logic Task Diagnostic 8-63 Logic Task instructions with NOP 10-43 Logic Task Program error 12-54...
Page 478 17-8 Index ECODRIVE03-FL*-04VRS NOP 6-45, 7-1 not homed 12-57 Number of EcoX Slaves 12-28 Offset dimension too small 12-56 Open Feed Roll I 9-19 Operating Modes 8-1 OR 7-1 OR( 7-1 ORN 7-1 ORN( 7-1 Output Automatic Mode 10-6 Output Fault 10-6 Output Manual Mode 10-6 Output Ready 10-6 Output Warning 10-6...
Page 479 17-9 ECODRIVE03-FL*-04VRS Index Position mode with encoder 1 12-45 Position mode with encoder 2 12-45 Position mode without lag, encoder 2 12-46 Position mode without position lag (following error), encoder 1 12-46 Position of the zero pulse relative to the motor position 8-55 Positive travel limit exceeded 12-17 Positive travel limit switch detected 12-18 Power Failure Bit 8-58...
Page 480 17-10 Index ECODRIVE03-FL*-04VRS SA1 not allowed 12-55 SAC 6-56 Safety Instructions for Electric Drives and Controls 3-1 Select controller type 10-40 Select motor type 10-40 Select Parameter Mode 12-59 Select the Download Baud Rate 4-19 Serial Communication 10-14 Serial I/O Error 12-60 Service Data Channel 11-9 SET 6-60, 7-1 Set absolute distance 9-48...
Page 481 17-11 ECODRIVE03-FL*-04VRS Index V016 _Feed length of the IDS1.1-2_ 6-8 V017 _Feed length of the IDS1.1-3_ 6-8 V018 _Velocity of the IDS1.1-x_ 6-8 V019 _Hour Counter_ 6-8 V020 _Hour Counter, Automatic Mode_ 6-9 V021 _Actual Position Value 2_ 6-9 V022 _Actual Position Value, SSI Encoder_ 6-9 V023 _Actual Position Value Master Encoder Cam_ 6-9 V024 _Actual Velocity of the optional encoder_ 6-9 V027 _Actual Velocity of the SSI encoder_ 6-9...
Page 482 17-12 Index ECODRIVE03-FL*-04VRS Draw Box 14-22 Draw Circle 14-22 Draw Line 14-22 NC Start Instr. Number 14-16 Number of Lines 14-23 Text Programming 14-18 Variable Value Editable 14-21 User Interface Specification 14-18 User-Programmable Variables 6-6 V > 999 Per Mil 12-53 V107 8-3 Variable Channel 11-6 Variable Datum 11-6...
Page 483: Service & Support
18-1 ECODRIVE03-FL*-04VRS Service & Support Service & Support 18.1 Helpdesk Unser Kundendienst-Helpdesk im Hauptwerk Lohr Our service helpdesk at our headquarters in Lohr am am Main steht Ihnen mit Rat und Tat zur Seite. Main, Germany can assist you in all kinds of inquiries. Sie erreichen uns Contact us 49 (0) 9352 40 50 60...
Page 484: Kundenbetreuungsstellen - Sales & Service Facilities
C A L L E N T R Y C E N T E R H O T L I N E ERSATZTEILE / SPARES Bosch Rexroth AG MO – FR MO – FR verlängerte Ansprechzeit Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357...
Page 485 - Italien Netherlands – Niederlande/Holland Netherlands - Niederlande/Holland Bosch Rexroth S.p.A. Bosch Rexroth S.p.A. Bosch Rexroth B.V. Bosch Rexroth Services B.V. Via Mascia, 1 Viale Oriani, 38/A Kruisbroeksestraat 1 Technical Services 80053 Castellamare di Stabia NA 40137 Bologna (P.O. Box 32)
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Page 490 Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 93 52-40-50 60 +49 93 52-40-49 4 1 service.svc@boschrexroth.de www.boschrexroth.com Printed in Germany R911296265 DOK-ECODR3-FL*-04VRS**-FK01-EN-P...

Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

1 System Overview

2 Important Directions for Use

3 Safety Instructions for Electric Drives and Controls

4 General Instructions for Start-Up

5 Motor Configuration

6 Writing the User Program

7 Logic Task

8 Functions

9 Parameters

Quick Links

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Summary of Contents for Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS