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описание маш.пар. осей N2X7E PDF
описание маш.пар. осей N2X7E PDF
Parameters
IBM , PC/AT , PC Network , Token Ring Network are registered trade marks of the International
Business Machines Corporation.
VERSION 2
For the versions prior to the ones mentioned under version 3, please refer to N2X
version 2.
VERSION 3
VERSION 4
VERSION 5
VERSION 7
TABLE OF CONTENTS
LICENSE AGREEMENT FOR CYBELEC SOFTWARE ..................................................................3
INDEX.............................................................................................................................................. 55
GENERAL COPYRIGHT
The CYBELEC software is protected by Copyright, and all the copying rights are reserved.
The CYBELEC software may only be installed and used in authorized equipments (PC or DNC).
The user manuals are also covered by copyright, and all rights to use and to copy are reserved.
This document may not, in whole or in part, be copied, photocopied, reproduced, translated or reduced
without prior consent, in writing, from CYBELEC.
WARRANTY
CYBELEC does not warrant that its software products will function properly in every computer and
programming environment.
The limitations of use of a software product and its technical specifications are decided by CYBELEC
only; CYBELEC solely is entitled to decide upon conformity and performance of a given software.
The CYBELEC software does not compensate for incompatibilities in operating system revisions or
versions.
Running the CYBELEC software under various revisions or versions, or switching between different
versions or revisions may result in loss or alteration of data.
TERMINATION
This agreement shall automatically terminate upon any act of bankruptcy by or against licensee, upon any
assignment for the benefit of creditors of the licensee, upon any attachment execution of judgement or
process against licensee or its assets that substantially inhibits its ability to do business, or upon
dissolution of licensee.
CYBELEC has the right to terminate this agreement immediately, should the licensee violate the
aforementioned conditions.
Within 30 days of termination of this agreement for any reason, licensee shall at his option, either:
return to CYBELEC or authorized dealer all existent copies of such software and related materials, or
furnish to CYBELEC evidence satisfactory that the original and all copies of the software, in whole
and in any form, have been destroyed.
LIMITATION OF LIABILITY
The foregoing warranty is instead of all other warranties, expressed or implied.
Licensee further agrees that CYBELEC shall not be liable for any lost profits, lost savings, loss of use, or
other incidental or consequential damages arising from the use or inability to use the software, or for any
claim or demand against licensee by any other party.
In no event shall CYBELEC be liable for consequential damages, even if CYBELEC has been advised of
the possibility of such damages.
CYBELEC does not warrant that the functions contained in the software will meet the licensee's
requirement or that the operation of the software will be totally error free.
Should the software prove defective, the licensee (and not CYBELEC or an authorized dealer or
representative) will assume the entire cost of all necessary service, repair or correction.
CYBELEC warrants the diskettes, EPROMS or other magnetic support or cassettes on which the
programs are supplied to be free of defects in material and workmanship under normal use for a period of
90 days from the date of shipment to the licensee as evidenced by a copy of the packing slip.
GENERAL
The licensee acknowledges that he has read this agreement, understands it and agrees to be bound by its
terms and conditions.
The licensee agrees to hold CYBELEC harmless on all liability associated with licensee's breach of this
agreement including, but not limited to, all reasonable attorney's fees and court costs, if any.
This license agreement shall be governed by Swiss law; place of jurisdiction is Lausanne, Switzerland.
MAINTENANCE
CYBELEC will provide one year of software maintenance.The extent of maintenance, and response time
for furnishing same, shall be at the sole discretion of CYBELEC.Maintenance shall normally include
correction of errors in code, correction of errors in supporting documentation, update versions of the
covered software which may be released by CYBELEC during the maintenance period.
In no event shall CYBELEC be obliged to provide technical support in attempting to resolve problems or
difficulties resulting from licensee's modification of the licensed software; any such modification by
licensee is entirely at licensee's own risk.
2
N2X
E
ENCODER AXIS 0
1
A
B
LED SIGNAL A AXIS 0
I
LED SIGNAL B AXIS 0
LED INDEX AXIS 0
E
2 ENCODER AXIS 1
A
LED SIGNAL A AXIS 1
B
LED SIGNAL B AXIS 1
I
LED INDEX AXIS 1
SP1 8 OUT SIGNAL SP1 AXIS 0
N.C.
1
GND
D0
D1
LED SIGNAL INPUT PAUSE AXIS 0
D3
LED SIGNAL INPUT SERVOAMP. OK AXIS 0
LED SIGNAL INPUT PAUSE AXIS 1
D4
LED SIGNAL INPUT SERVOAMP. OK AXIS 1
AN 1 4 +/-10V ANALOG OUTPUT SIGNAL AXIS 0
B 0V ANALOG AXIS 0
CYBAN
CYBAN
CYBAN
CYBAN
CYBAN
OFFSET ANALOG OUTPUT +/-10V AXIS 0
GND OUTPUT AXIS 0
CYBAN
OFFSET ANALOG OUTPUT +/-10V AXIS 1
GND OUTPUT AXIS 1
CYBAN
OFFSET ANALOG OUTPUT +/-10V AXIS 2
GND OUTPUT AXIS 2
CYBAN
OFFSET ANALOG OUTPUT +/-10V AXIS 3
LED SIGNAL A AXIS 0 GND OUTPUT AXIS 3
LED SIGNAL B AXIS 0
LED INDEX AXIS 0
CYBIO OUTPUT SIGNAL SP AXIS 0
CYBIO OUTPUT SIGNAL SN AXIS 0
AXIS 0 CYBIO OUTPUT SIGNAL HS1 AXIS 0
CONVENTIONS
All times are programmed in seconds.
All voltages are programmed in Volts.
Note: The unit of voltage for the parameters is the Volt (mV) to
facilitate their programming.
The parameters which are programmed in bits (eg index mode and
operating mode) are defined by additioning the values of the chosen
bits:
D0 = data0 = Value 1
D1 2
D2 4
D3 8
D4 16
D5 32
D6 64
D7 128
Example: In a parameter where the bits of the chosen options are D0, D1,
D3 and D6, the programming is as follows: 1+2+8+64 = 75.
SP Positive direction.
SN Negative direction.
HS High speed.
LS Low speed.
Tolerance
SP
Tem po
SP / SN Overrun distance SN+HS
(SRET)
Fig. 1
Fig. 2
This type of positioning is selected by programming the proportional (P22)
and differential (P24) gain parameters at 0.
Fig. 3
Fig. 4
Positioning value
Deceleration
time
Advanced stop
Final approach
speed
Slow speed
distance
Fig. 5
Positioning value
Acceleration Deceleration
time time
Positioning
speed
Fig. 6
D1 Offset recuperation:
The automatic offset compensation is active only at a standstill
when the axis is in the tolerance zone. If the offset is greater
than 100mV, the electric offsets must be regulated.
The N2X surveys the axis offset and will give a voltage in the
opposite direction to the axis movement.
Also functions for an open loop (DATA 0 not programmed). In
this case, the SP and SN outputs are permanently active. It is
not recommended to use this mode on its own but rather put it
with the closed loop regulation (D0 + D1).
Fig. 7
Examples
Lets take a mechanical kit, motor / ball screw directly coupled, to simplify the
examples.
Other method :
Programmed displacement * theoretical resolution
-----------------------------------------------------------------= effective distance
DNC resolution
1000 * 125,984252
--------------------------- = 1000.002 that is a difference of 0.002mm
125,984
AC Axis: With closed loop regulation (P01 = 1), if the axis is located
outside the tolerance zone, it immediately repositions
automatically. This positioning follows the normal positioning
rules for AC mode, that is with overrun. If two way positioning
is chosen (without overrun), the axis "overruns" at the SLOW
SPEED DISTANCE (P06) before repositioning.
The closed loop regulation operates when the axis lies within the tolerance
zone.
But, the axis is considered outside the tolerance zone (seen from the exterior)
the moment it passes the tolerance value.
This parameter can also be used in order to accelerate the end of the
positioning of DC or brushless axes. When programming P03 = P04, the axis
card signals the end of the positioning as soon as the axis has reached the
tolerance zone of the target position.
AC axis
This defines the distance before the advanced stop where the engagement of
the axis is changed from high to slow speed (GV output).
If this parameter is programmed at 0, the positioning of the axis is made with
a single speed.
AC axis
This time corresponds to the axis stabilization time after the (SP/SN)
commands have been cut at the arrival at the advanced stop value.
Effectively, the cutting of the displacement commands being made at an
appreciable speed, the axis will continue, because of its inertia, to move
during a certain time before stabilizing on the positioning value. The P09 is
used to take into account this axis stabilization time before considering that
positioning is finished.
Programming limit :
The following ratio must be respected.
P15
--------- < 0,077
P10*P02
P15 [Volt]
P10 [units/s]
P02 [impulse/unit]
Speed
Lead
voltage
Offset
Minimum voltage
Fig. 8
In this example, the offset voltage (P18) is used to make the two movement
directions symmetrical.
U Ur
Umin
Offset
t
Tolerance zone
Fig. 8a
Note: The automatic offset compensation (D1 P01) is purposeless if
the system requires a minimum voltage.
D3 when taking the index maintains the axis in the index zone. (If
not automatically leaves the index zone).
If this parameter is not programmed, the DNC does not require an index on
the relevant axis.
An error is signalled if at the beginning of indexing, the axis lies on the index
zone, having programmed an index mode with an index zone but without an
automatic outlet from the zone.
AC axes
For the AC axes, on the N2X 102 and 103 boards, a two-speed (GV) function
is not possible unless the index is 5 V, the index zone input being no longer
available (used for the HS output).
As only one Input/output is available per axis, the index zone function can
only be used if the AC axis is not using the HS output for a second speed.
The programming or not of operation with an index zone in this parameter
configurates the board with a "HS output" or an "index zone" input.
The programming of the slow speed distance also decides the utilization of
the output for the HS.
The programming of the minimum and maximum limits and the resolution
encoder is limited to a ratio with the following formula :
(|P28 - P27|)*P02 must be less than 8386608
P28 = LSW+ in units
P27 = LSW- in units
P02 = Resolution encoder in impulses/unit
|P28 - P27| = physical separation between the LSWs
If P28 is programmed at 99999.99 and P27 at -99999.99, the maximum
RESOLUTION ENCODER P02 will be 41.000 imp/unit.
Note: only the overruns (or screw backlash adjustment) programmed in P5
will be able to bypass the electronic limit switches.
a) Program the POSITIONING SPEED (P10) and the MANUAL HIGH SPEED
(P14) to the nominal positioning speed recommended by the
manufacturer.
~8-9V
Fig. 10
c) The lead voltage for the cruising speed should be in the region of 8V
or 9V (8V if important load variations are expected).
Three cases can be observed:
1. The lead voltage is located around the recommended values (Refer
to paragraph "Determination of the positioning speed (c)", page
37). The speed (P10) can be considered as correct.
Fig. 11
b) Program P22 at a value equal to the proportional gain as found above
less 10 to 20%.
Programming this parameter is not usually necessary for all axes fitted with a
currant loop.
In all cases P24 is useful for improving the acceleration / deceleration ramps.
It allows especially to program acceleration times which, without the
differential gain, would have saturated the lead voltage.
a) First program P24 at 1 then progressively increase its value until
either oscillations (vibrations) or an overshoot occur.
P08
~0,5 s
Fig. 12a
b) Decrease progressively the acceleration time until a saturation during
the acceleration ramp appears.
Fig. 12b
c) Program P08 at a value equal to the limit acceleration time as found
above plus 10 to 20%.
Fig. 12c
Proceed with the final adjustment of the parameters (refer to page 44).
This type of positioning is especially useful for the axes which do not support
the PID loop adjustment.
NAX positioning should also be easier to adjust for axes where performance
is not the main criteria.
can be determined, if you wish to use it, in the same way as in chapter
"Determination of the integral gain" (page 40).
Closed loop (DO P01), Tolerance (P02), High speed voltage (P15), etc.
Program the minimum and maximum limits for normal use of the axis.
Finally several positioning (in auto and semi auto) must be made with long,
average and then very short (minimum movement which can be asked of the
axis) movements in both directions. Then regulate (if necessary) certain
parameters to improve the precision or the rapidity of positioning.
For the DC axes, P14 (Vmax/2 by default) can be deleted or programmed at
the desired value.
PROCEDURE
- D0 & D1: Mode 0 (DC Axis +/-10V/SP/SN), mode 1 (AC Axis) et mode 2
(DC Axis with a command voltage of 0 to +10V or 0 to –10V) controlled,
mode 3 non-controlled
- D4 DC Axis (+/-10V / Validation) controlled
- The other bits are not controlled.
- This parameter defines the linear acceleration time of the axis from the
offset voltage to preset voltage (P15).
- This parameter is used for the calculation of the braking ramp in case of
stopping or returning.
- This parameter is used for the voltage calculation of the final approach. At
the end of positioning, the output voltage is limited to the final approach
voltage, even if the calculated voltage is lower.
- this parameter is used for the voltage calculation of the maximum voltage
when indexing.
- These parameters are used for the calculation of the manual voltages SS and
HS.
- Parameter non-controlled.
- Parameter non-controlled.
- Parameter non-controlled.
- Parameter non-controlled.
- Parameter non-controlled.
- This parameter is used for the calculation of the voltage to apply on the
axis. The output voltage is equal to the remaining distance up to the aimed
dimension multiplied by the proportional gain. The resulting voltage is
limited to the final approach voltage and the limitation voltage according to
the movement type.
- Parameter non-controlled.
- Parameter non-controlled.
X3: X3
10 Positioning speed 30.00
11 Fin.approach speed __.__
12 Indexing speed ____.__
13 Manual slow speed ___.__
14 Manual high speed ____.__
15 A priori voltage __.___
16.Maximum voltage
17.Minimum voltage
18 Offset voltage __.___
19.Closed loop toler.
20.Max. follow.error
21.Surveillance time
22 Proportional gain _____
23 Integral gain
The parameters at undef ( __.__ ) allow to improve the adjustment of the axis.
Some parameters have a default value in spite of the fact they are at undef.
See the description in the paragraph N2X Board parameters.
Tolerance
SP
Tem po
SP / SN Overrun distance SN+HS
(SRET)
X2: X2
10 Positioning speed 130.00
11 Fin.approach speed 5.00
12 Indexing speed 50.00
13 Manual slow speed ___.__
14 Manual high speed ____.__
15 A priori voltage +9.400
16.Maximum voltage
17.Minimum voltage
18 Offset voltage __.___
19.Closed loop toler.
20.Max. follow.error
21.Surveillance time
22 Proportional gain 10
23 Integral gain
The parameters at undef ( __.__ ) allow to improve the adjustment of the axis.
Some parameters have a default value in spite of the fact they are at undef.
See the description in the paragraph N2X Board parameters.
INDEX PAGE 55
Polarity, 28
Positioning speed, 26, 37, 41, 49
Positioning tolerance, 48
Preset voltage, 28, 41, 49
Programming limits, 26, 27, 34
Proportional gain, 32, 37, 41, 50
Proportional valves, 36
Resolution, 22, 34
Saturation, 39
Security, 31
Servo-valve, 32
Slow speed distance, 24, 48
SN, 14
SP, 14
SP/SN time, 25, 42, 43
SP/SN Time, 48
Surveillance time, 31
Tolerance, 23, 49
Units, 13
Up/Down counting mode, 21
Values, 11, 13
Vibration, 36, 38, 40
Warranty, 3