?_Þÿÿÿÿ?+ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-/&;)z4ÿÿ@o@ÿÿÿÿ|CONTEXT,K|CTXOMAPó|FONT¦ð|KWBTREEÎ|KWDATArü|KWMAP«|SYSTEM&|TOPIC1'|TTLBTREEý*|bm0[c|bm1‰|bm10kI|bm11,p|bm12âÛ|bm13?k|bm14k©|bm15R·|bm16Æt|bm17|bm18 |bm19Û|bm2á/|bm20© |bm21w |bm22 |bm23º|bm24é|bm25|bm26G|bm27|bm28|bm29U|bm3ÝA|bm30Ø|bm31¦ |bm32t"|bm33B$|bm34˜*|bm35˜:*|bm36ƒJ+|bm37“Ñ+|bm38F4|bm39‚4|bm4 B|bm40´þA|bm41ýSX|bm42mn|bm43à„|bm44 š|bm45#£°|bm46aÎÆ|bm47yüÜ|bm48û%ó|bm49oxÿ|bm5ÔÞ|bm50 º |bm51 r|bm52>|bm531|bm54ø‡#|bm6Ò{|bm7ÐÂ|bm8+ú|bm9&!ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-“Šlp•ËÚ‡ ´ƒ‚ …‚ÿ‚….ƒ1‚ ‡  @†&ÿƒ‰Àÿ¥ÿE “& MathType „û€þ‚–Times New Romanà…- ‡2 `5…2À„û€þ‚ŽPSymbol…-…ð ‡2 `1…×` ‡2 `È…P' †& ÿ…û‚¼"System…-…ð ‡2 «Ë…*À ƒ&°§lp‚‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ àÀ†&ÿƒ‰Àÿ´ÿ€” “& MathType „û€þ‚–Times New Roman„…- ‡2  4…2À„û ÿ‚–Times New Romanÿ?…-…ð ‡2 ô‘‡16pp„û ÿ‚ŽSymbol…-…ð ‡2 ô…-{ †& ÿ…û‚¼"System…-…ð"/&lpŒ‚ —‚ …‚ÿ‚….ƒ1‚ ‡  €†&ÿƒ‰Àÿ©ÿ@É “& MathTypeÀ…ú…-‡=:‡=,„û€þƒ–Times New Romanw…-‡2  L‘RatioêÀkkÀ‡2 «r PulsesOutêÀk•¨•Àk‡2 «g ŸPulsesFOutêÀk•¨•êÀk‡2 ɳ ™PulsesInêÀk•¨•~À„û€þ‚ŽSymbol…-…ð ‡2  ô…=Ó ‡2 « …+Ó„û ÿ‚ŽSymbol…-…ð ‡2 ÿŽ…-{„û€þ‚–Times New Romanw…-…ð ‡2 «$ …(~ ‡2 «S…*À ‡2 «–…)~ ‡2 «¬ …2À„û ÿ‚–Times New Roman…-…ð ‡2 ÿ ‡16pp †& ÿ…û‚¼"System…-…ð/&lpŒ‚ —‚ …‚ÿ‚….ƒ1‚ ‡  €†&ÿƒ‰Àÿ©ÿ@É “& MathTypeÀ…ú…-‡=:‡=,„û€þƒ–Times New Romanw…-‡2  L‘RatioêÀkkÀ‡2 «r PulsesOutêÀk•¨•Àk‡2 «g ŸPulsesFOutêÀk•¨•êÀk‡2 ɳ ™PulsesInêÀk•¨•~À„û€þ‚ŽSymbol…-…ð ‡2  ô…=Ó ‡2 « …+Ó„û ÿ‚ŽSymbol…-…ð ‡2 ÿŽ…-{„û€þ‚–Times New Romanw…-…ð ‡2 «$ …(~ ‡2 «S…*À ‡2 «–…)~ ‡2 «¬ …2À„û ÿ‚–Times New Roman…-…ð ‡2 ÿ ‡16pp †& ÿ…û‚¼"System…-…ð/&lpŒ‚ —‚ …‚ÿ‚….ƒ1‚ ‡  €†&ÿƒ‰Àÿ©ÿ@É “& MathTypeÀ…ú…-‡=:‡=,„û€þƒ–Times New Romanw…-‡2  L‘RatioêÀkkÀ‡2 «r PulsesOutêÀk•¨•Àk‡2 «g ŸPulsesFOutêÀk•¨•êÀk‡2 ɳ ™PulsesInêÀk•¨•~À„û€þ‚ŽSymbol…-…ð ‡2  ô…=Ó ‡2 « …+Ó„û ÿ‚ŽSymbol…-…ð ‡2 ÿŽ…-{„û€þ‚–Times New Romanw…-…ð ‡2 «$ …(~ ‡2 «S…*À ‡2 «–…)~ ‡2 «¬ …2À„û ÿ‚–Times New Roman…-…ð ‡2 ÿ ‡16pp †& ÿ…û‚¼"System…-…ðËÂlpO‚J‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ à†&ÿƒ‰Àÿ´ÿÀ” “& MathType „û€þ‚ŽSymbol…- ‡2  <…-Ó„û€þ‚–Times New Roman€…-…ð ‡2  …2À„û ÿ‚’Times New Roman…-…ð ‡2 ôì‡31pp †& ÿ…û‚¼"System…-…ð×O2ß"ì=‚ ‹‚lpXʇ ±ƒ‚ …‚ÿ‚….ƒ1‚ ‡ à †&ÿƒ‰Àÿ´ÿà” “& MathType „û€þ‚’Times New Roman…- ‡2  4…2À„û ÿ‚–Times New Roman€…-…ð ‡2 ô‡31pp †& ÿ…û‚¼"System…-…ð‚ ÿ…û‚¼¸¯lpO‚$‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ à†&ÿƒ‰Àÿ´ÿÀ” “& MathType „û€þ‚ŽSymbol„…- ‡2  <…-Ó„û€þ‚–Times New Romanÿ?…-…ð ‡2  …2À„û ÿ‚’Times New Roman…-…ð ‡2 ôì‡31pp †& ÿ…û‚¼"System…-…ð `ƒzlpXº‡ ±ƒ‚ …‚ÿ‚….ƒ1‚ ‡ à †&ÿƒ‰Àÿ´ÿà” “& MathType „û€þ‚–Times New Roman{…- ‡2  4…2À„û ÿ‚–Times New Romanf…-…ð ‡2 ô‡31pp †& ÿ…û‚¼"System…-…ðÿ‚Àÿ‚Àÿ…ÀÿÿÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-ÎÅlp¹4‚P‡ Òƒ‚ …‚ÿ‚….ƒ1‚ ‡ `†&ÿƒ‰Àÿ¤ÿ ¤ “& MathType0„û€þ‚ŽPSymbol…- ‡2  =…±Ó„û€þ‚–Times New Roman+…-…ð ‡2  ‡10ÀÀ„û ÿ‚’Times New Roman…-…ð ‡2 ô²…7p †& ÿ…û‚¼"System…-…ð“Times New Roman+‡-!l!,ïO= 800ToolsDanaher Motion © 2002Zmainr@@Z{ secondGf™fQÿÿàÿÿà  îÌ¡¢±²ºîuÉlÉÿÿÿÿ 9ÿÿÿÿE1íÿÿÿÿÿÿÿÿÿÿÿÿEùContents* o' €€’‚€‚ÿd EÓÄ#VC˜ÿ .€€‚€†"€‚ÿ€ €‚ÿ€ €’‚‚‚ÿ$€"€Š’‚€€‚ÿŒ€²’‚‚ã1×ÀJ€‰€‚‚ã‘ñS‚€‰€‚‚ã·]<€‰€‚‚ã‹°A€‰€‚‚‚‚ÿÿÿ CONTENTS800Tools software provides a simple user interface for setting up, tuning and monitoring PC830, PCE830, PC840 and PCE840 drives. This help file documents both the hardware and software of them, PC/PCE800 Drive Wiring Diagram PC/PCE800 Trouble Shooting and Fault Diagnostic Guide Getting Started with 800 Tools Parameter and Variable List For Help on Help, Press F1&où$ €€‚€ÿ> Ó71%ÿÿÿÿ»ÿÿÿÿ7ˆKey Word List9ùp( €"€˜ˆ’‚€‚ÿKey Words ListwN7ç) €€Š’‚€‚‚ÿAll operations, commands, and status information in the PC/PCE800 are accessed through variables referenced by key words. These variables can be divided into six categories depending on their functionality. These categories are defined below and these definitions are available via pop up help screens throughout the help file. pñz €!€’‚€‚‚‚â°ïî?€‰€‚ânl`€‰€‚â¼Æte€‰€‚âp3[€‰€‚â¡øàž€‰€‚âNMz`€‰€‚‚‚ÿEach key word is defined in a separate help entry and is included in the help file search list. To begin browsing through the key word entries use the >> button above.NV Parameter Status Variable Control Variable Mappable Input Function Mappable Output Function Serial Command A list of the key words is given below. Click on the desired key word to jump to it.*ç' €€’‚€‚ÿ6TñQâ#”¨Â­Ú‰Èõ0€€’‚ãï$/z€‰€‚ÿ0€€’‚ã‹F§€‰€‚ÿ0€8€’‚ã=Æf €‰€‚ÿ0€R€’‚ãÂt×€‰€‚ÿ0€d€’‚ãØ=€‰€‚ÿ0€€€’‚ã1Tóh€‰€‚ÿÿÿAccelLmt BlkTypeEnabledIFBMoveDoneReg2ActiveEdgeTr¥ â#”ä­ډÈõ0€€’‚ã–™N¾€‰€‚ÿ0€*€’‚ãgó(€‰€‚ÿ0€@€’‚ãžÞt€‰€‚ÿ0€l€’‚ãvàpP€‰€‚ÿ0€Š€’‚ã¾c—€‰€‚ÿ0€²€’‚ãÐŒ€‰€‚ÿÿÿActiveAccelRateBrakeEncAlignRampICmdIlmtMinusMoveSelectBit0Reg1EncoderPositionUsQú â#”æ­ډÈõ0€€’‚ãÿ÷¯n€‰€‚ÿ0€*€’‚ãÂE‰æ€‰€‚ÿ0€B€’‚ã7ÀZ €‰€‚ÿ0€p€’‚ã$a€‰€‚ÿ0€Œ€’‚ãµc—€‰€‚ÿ0€´€’‚ã“ÿN€‰€‚ÿÿÿActiveDecelRateCCDateEncAlignTestDist IlmtPlusMoveSelectBit1Reg2EncoderPositionPn¥ J â#”Ü­ډÈõ0€€’‚ãH@Ø䀉€‚ÿ0€(€’‚ãw֛怉€‚ÿ0€B€’‚㈟·U€‰€‚ÿ0€f€’‚ã ³£ð€‰€‚ÿ0€€€’‚ã¶c—€‰€‚ÿ0€¨€’‚ã &F³€‰€‚ÿÿÿActiveDistanceCCSNum EncAlignTimeInpMapXMoveSelectBit2Reg1ResolverPositionOmú ™ â#”Ú­ډÈõ0€€’‚〒‚ã¹ÆV€‰€‚ÿ0€Z€’‚ãWNMb€‰€‚ÿ0€v€’‚ãéXk°€‰€‚ÿ0€ž€’‚ãÓl€‰€‚ÿÿÿActiveMoveTypeCwInhExtFaultItThreshMoveXRegSelectUncfgDrv<ZÇCBFâ#”´Â­Ú‰Èõ0€€’‚ãðê7<€‰€‚ÿ0€*€’‚ãªb´H€‰€‚ÿ0€F€’‚ã¯)€‰€‚ÿ0€\€’‚ã®(ü‚€‰€‚ÿ0€z€’‚ã?Ùb€‰€‚ÿ0€ €’‚ãF\¬0€‰€‚ÿÿÿActualILmtMinusDecelLmtFaultItThreshAMoveXRunSpeedVBus<ZE~Gâ#”´Â­Ú‰Èõ0€€’‚ãv´€‰€‚ÿ0€(€’‚ãb{耉€‚ÿ0€H€’‚ãw(ÁŠ€‰€‚ÿ0€f€’‚ã0·€‰€‚ÿ0€v€’‚ã¯fg€‰€‚ÿ0€”€’‚ãÆì™]€‰€‚ÿÿÿActualILmtPlusDigitalCmdFaultCodeIUMoveXTypeVBusThresh/MBF­Hâ#”šÂ­Ú‰Èõ0€€’‚ã î’0€‰€‚ÿ0€€’‚ãž €‰€‚ÿ0€<€’‚ã—tQ€‰€‚ÿ0€\€’‚ã1·€‰€‚ÿ0€l€’‚ãrhÕJ€‰€‚ÿ0€„€’‚ãøiõ,€‰€‚ÿÿÿADF0DigitalCmdFreqFaultResetIVNVLoadVdCmd(F~GÕIâ#”ŒÂ­Ú‰Èõ0€€’‚ã’žJ\€‰€‚ÿ0€€’‚ãxÑT)€‰€‚ÿ0€2€’‚ã®%Ê€‰€‚ÿ0€L€’‚ã2·€‰€‚ÿ0€\€’‚ãá„ÝJ€‰€‚ÿ0€t€’‚ãá›w€‰€‚ÿÿÿADOffsetDM1F0FVelErrIWNVSaveVelCmd(F­HýJâ#”ŒÂ­Ú‰Èõ0€€’‚ã †*þ€‰€‚ÿ0€€’‚ã±ØT)€‰€‚ÿ0€0€’‚ãá¯t×€‰€‚ÿ0€B€’‚ãù¢·*€‰€‚ÿ0€X€’‚ãb¢|€‰€‚ÿ0€r€’‚ãÍ.À‰€‚ÿÿÿAInNullDM2F0FwVKdEncOutMapXVelCmd22PÕI/Lâ#” Â­Ú‰Èõ0€€’‚ã½Cµš€‰€‚ÿ0€€’‚ã+Yž…€‰€‚ÿ0€6€’‚ãb†Ó€‰€‚ÿ0€V€’‚ãس½*€‰€‚ÿ0€l€’‚ã6×€€‰€‚ÿ0€†€’‚ãÜ.À‰€‚ÿÿÿAnalogInDM1GainGearingOn KiEncOutputsVelCmdA1OýJ`Mâ#”žÂ­Ú‰Èõ0€€’‚ã¦66g€‰€‚ÿ0€ €’‚ã܃҅€‰€‚ÿ0€:€’‚ã” Šx€‰€‚ÿ0€Z€’‚ã—Ñt×€‰€‚ÿ0€l€’‚ãVg¤0€‰€‚ÿ0€€€’‚ãÇúq€‰€‚ÿÿÿAnalogILmtDM2GainHallOffsetKiiOutXVelCmdSrc5S/L•Nâ#”¦Â­Ú‰Èõ0€€’‚ãÑnF[€‰€‚ÿ0€(€’‚ãc?ñ€‰€‚ÿ0€@€’‚ã,<£ €‰€‚ÿ0€^€’‚ãžÑt×€‰€‚ÿ0€p€’‚ã“7YÈ€‰€‚ÿ0€Ž€’‚ã8«w€‰€‚ÿÿÿAnalogILmtFiltDM1MapHallStateKipPoleCountVelErr7U`MÌOâ#”ªÂ­Ú‰Èõ0€€’‚ãkG[€‰€‚ÿ0€(€’‚ã—™@ñ€‰€‚ÿ0€@€’‚ã㇙̀‰€‚ÿ0€`€’‚ãÝ1Æ*€‰€‚ÿ0€v€’‚ã I€‰€‚ÿ0€”€’‚ã]àö,€‰€‚ÿÿÿAnalogILmtGainDM2MapHomeSwitchKpEncPosCmdSetVelFB1O•N â#”žÂ­Ú‰ÈõÌO ù0€€’‚ã#À=g€‰€‚ÿ0€ €’‚ãÖt?ñ€‰€‚ÿ0€8€’‚ãkP¯€‰€‚ÿ0€P€’‚ãËÒt×€‰€‚ÿ0€b€’‚ãK<¯!€‰€‚ÿ0€‚€’‚ãԺƀ‰€‚ÿÿÿAnalogOut1DM1OutHSTempKppPosCommandVelLmtHi0NÌO9‚â#”œÂ­Ú‰Èõ0€€’‚ã$À=g€‰€‚ÿ0€ €’‚ãi«@ñ€‰€‚ÿ0€8€’‚ãS¾t×€‰€‚ÿ0€J€’‚ãבŸ0€‰€‚ÿ0€^€’‚ãT¥bÒ€‰€‚ÿ0€€€’‚ãµÔºÆ€‰€‚ÿÿÿAnalogOut2DM2OutHwVKvffPosErrorMaxVelLmtLo.O gƒß#ŽžÂ­Ú‰Èõ0€€’‚ã)S“0€‰€‚ÿ0€€’‚ã#퀉€‚ÿ0€8€’‚ç‚7´€‰€‚ÿ*€V€’‚ãÆÓt׉€‚ÿ0€f€’‚ã49”€‰€‚ÿ0€‚€’‚ãùäJÇ€‰€‚ÿÿÿARF0DriveStatus HWEnable KviPosErrorVelocity3Q9‚š„â#”¢Â­Ú‰Èõ0€€’‚ã S“0€‰€‚ÿ0€€’‚ã'Ÿß€‚ÿ0€4€’‚ã7â9*€‰€‚ÿ0€J€’‚ãÍÓt×€‰€‚ÿ0€\€’‚ãg€‰€‚ÿ0€x€’‚ã‹šŒB€‰€‚ÿÿÿARF1ElecAngTauI2tF0KvpPositionZeroSpeedThreshAgƒ±…Ö#|‚­ډÈõ0€€’‚ã…V“0€‰€‚ÿ0€€’‚ã†{²ù€‰€‚ÿ0€.€’‚ãnPü€‰€‚ÿ0€H€’‚ã.È<‚€‰€‚ÿ0€b€’‚ã÷¯ºš€‰€‚ÿ€~€’‚‚ÿÿÿARZ0ElecRevI2tFiltMechRevPulsesInAš„ȆÖ#|‚­ډÈõ0€€’‚ã|V“0€‰€‚ÿ0€€’‚ãûÔIú€‰€‚ÿ0€,€’‚ãÿ!€‰€‚ÿ0€J€’‚ãùG-+€‰€‚ÿ0€`€’‚ã$»[ý€‰€‚ÿ€~€’‚‚ÿÿÿARZ1EnableI2tThreshModelPulsesOutG±…å‡Ö#|ŽÂ­Ú‰Èõ0€€’‚ãþ-þ™€‰€‚ÿ0€€’‚ã+Æf €‰€‚ÿ0€8€’‚ã¡œœ0€‰€‚ÿ0€L€’‚ç=½-+€‰€‚ÿ0€b€’‚ã˜ù˜€‰€‚ÿ€Š€’‚‚ÿÿÿAxisAddrEnable2 IcmdMotorReg1ActiveEdge,Ȇˆ( €€’‚€‚‚ÿ= å‡Nˆ1妀ÿÿÿÿNˆöˆNV Parameter7ˆ…ˆ( €€˜ˆ’‚€‚ÿNV ParameterqJNˆöˆ' €”€’‚€‚ÿA type of variable stored in the non-volatile (NV) memory on the drive.H…ˆ>‰1ÿÿÿÿ>‰ ŠMappable Input FunctionBöˆ€‰( €4€˜ˆ’‚€‚ÿMappable Input FunctionŒe>‰ Š' €Ê€’‚€‚ÿA function that can be activated by attaching it to an Input point and asserting that Input point.D€‰PŠ1 ÿÿÿÿPŠ‹Mappable Status Bit> ŠŽŠ( €,€˜ˆ’‚€‚ÿMappable Status BitePŠ‹( €Ê€’‚€‚‚ÿA function that can be attached to an Input point to control the logic level of that Input point.IŽŠd‹1“ÿÿÿÿd‹4ŒMappable Output FunctionC‹§‹( €6€˜ˆ’‚€‚ÿMappable Output Functionfd‹4Œ' €Ì€’‚€‚ÿA function that can be attached to an Output point to control the logic level of that Output point.@§‹tŒ1f\ÿÿÿÿtŒšStatus Variable:4Œ®Œ( €$€˜ˆ’‚€‚ÿStatus VariableìÄtŒš( €‰€’‚€‚ÿA variable giving information about the present state of the drive. Most of these variables are Read-Only, meaning that you cannot change them directly, their value is controlled by the drive.A®ŒÛ1ˆ€\ÿÿÿÿÛ"Control Variable;šŽ( €&€˜ˆ’‚€‚ÿControl Variable äÛ"( €É€’‚€‚ÿA variable controlling a particular function on the drive, such as one of the analog output voltages. Control Variables are not non-volatile and are initialized to fixed default values every time that the drive is turned on.?Ža1"eÿÿÿÿaPÀSerial Command9"š( €"€˜ˆ’‚€‚ÿSerial Commandª‚aPÀ( €€’‚€‚ÿA command that can be executed by 800 Tools. These commands šPÀ"are primarily used to manage the Non-Volatile memory on the drive.: šŠÀ1{»e ÿÿÿÿŠÀËÁVariables4 PÀ¾À( €€˜ˆ’‚€‚ÿVariables åŠÀËÁ( €Ë€’‚€‚ÿVariables are used to both control the drive and to monitor the status of the drive. The variables can be categorized as Parameters, Status Variables, Control Variables, Mappable Output Functions and Mappable Input Functions.> ¾À Â1Lÿÿÿÿÿÿÿÿ ÿÿÿÿ ÂÃParameter Set8ËÁAÂ( € €˜ˆ’‚€‚ÿParameter SetÖ¢ ÂÃ4 6€E€’‚€ã‹°A€‰€‚ÿA parameter set is the set of all the non-volatile variables that are stored on the drive. The key word list in 800Tools lists the complete parameter set.< AÂSÃ1fÍ ÿÿÿÿSÆStatus LEDs6ÉÃ( €€˜ˆ’‚€‚ÿStatus LEDs”aSÃÄ3 6€Â€’‚€€€€€‚ÿThe PC/PCE830 has a Power LED and a Fault LED on the front panel to indicate drive status.*‰ÃGÄ' €€Š’‚€‚ÿ±;ÄøÄv#¼€v‹‰ Ö €€’‚€‚ÿ0€€’‚€€€€‚ÿ0€H€’‚€€€€‚ÿÿÿDrive StatusFault LED (Red)Power LED (Green)¦AGÄžÅe#š€‚‹‰ Ö €€’‚€‚ÿ&€€’‚€ €‚ÿ€z€’‚‚ÿÿÿFaultedIf FaultCode < 6, BLINKINGIf FaultCode ³ 6, ONONqøÄÆ^#Œ€&‹‰ Ö €€’‚€‚ÿ€€’‚‚ÿ€€’‚‚ÿÿÿEnabledOFFONxžÅ‡Æ^#Œ€4‹‰ Ö €€’‚€‚ÿ€€’‚‚ÿ€ €’‚‚ÿÿÿDisabledOFFBLINKING#ÆÇ^#Œ€F‹‰ Ö €€’‚€‚ÿ€€’‚‚ÿ€2€’‚‚ÿÿÿUnconfiguredBLINKINGBLINKINGt‡Æ|Ç^#Œ€,‹‰ Ö €€’‚€‚ÿ€€’‚‚ÿ€"€’‚‚ÿÿÿUnpluggedOFFOFF*ǦÇ' €€Š’‚€‚ÿHç|ÇîÉa €Ï€’‚€€€‚€‚€€€€€€‚ƒƒ‚€ €€ €€ €€ €‚ÿNote: If FaultCode < 6, the red LED will blink the FaultCode at a frequency of 1 Hz (on and off in 1 sec) then it will be off for 2 seconds before blinking the sequence again.The PC/PCE840 have a Power LED, a Fault LED and a seven-segment display on the front panel to indicate drive status.SW5 and SW6 are set to ‘F’ to Upgrading ARM FW. When power on, the seven-segment display flashes ‘UPGRADE-FLASH-U’, then display one of the following upgrading statues:µ¦ÇÌe ˜€k€’‚€€ €‚€ €‚€ €‚‚€ €€ €ƒ€ €€ €‚‚€€€€‚ÿU—Ready to load FW.E—Erase non-volatile memory P—ProgramIn a normal operation, the seven-segment display flashes ‘PACSCI-xx-y-z’ when power up, where xx—axis address, yy—baud rate (2,4,8, or 16MB), z -- SERCOS phase(0,1,2,3 or 4) If a fault condition exists, the seven-segment display indicates the error code. Combining the Power LED and Fault LED, the below table shows the meaning of each drive status.îÉ6Ì) "€ €’‚€ƒƒ‚ÿÙKÌÍŽ#쀖‹‰ Ö Ö €€’‚€‚ÿ0€€’‚€€€€‚ÿ0€H€’‚€€€€‚ÿ€v€’‚€‚ÿÿÿDrive StatusFault LED (Red)Power LED (Green)Seven-segment¦26̵Ít#¸€d‹‰ Ö Ö €€’‚€‚ÿ€€’‚‚ÿ€*€’‚‚ÿ€2€’‚‚ÿÿÿFaultedBLINKINGONThe number of Faultcode”!ÍIÎs#¶€B‹‰ Ö Ö €€’‚€‚ÿ€€’‚‚ÿ€€’‚‚ÿ€&€’‚‚ÿÿÿEnabledOFFONSERCOS phase›(µÍäÎs#¶€P‹‰ Ö Ö €€’‚€‚ÿ€€’‚‚ÿ€ €’‚‚ÿ€4€’‚‚ÿÿÿDisabledOFFBLINKINGSERCOS phase«8IÎÏs#¶€p‹‰ Ö Ö €€’‚€‚ÿ€$€’‚‚ÿ€.€’‚‚ÿ€B€’‚‚ÿÿÿSERCOS DisabledOFFBLINKINGAll segments are lit.¤1äÎ?s#¶€b‹‰ Ö Ö €€’‚€‚ÿ€€’‚‚ÿ€2€’‚‚ÿ€F€’‚‚ÿÏ?ÃÿÿUnconfiguredBLINKINGBLINKINGSERCOS phaseŽÏÍs#¶€6‹‰ Ö Ö €€’‚€‚ÿ€€’‚‚ÿ€"€’‚‚ÿ€,€’‚‚ÿÿÿUnpluggedOFFOFFOFF¹r?†G ^€ä€’‚€‚‚ãw(ÁŠ€‰€ã‘ñS‚€‰€€€‚ÿSee FaultCode or Trouble Shooting and Fault Diagnostic Guide for more information on the Fault LED.\+Íâ1 ÿÿÿÿ£ ÿÿÿÿâ™ Trouble Shooting and Fault Diagnostic GuideV.†8( €\€˜ˆ’‚€‚ÿTrouble Shooting and Fault Diagnostic Guide™âú) €3€’‚€‚‚ÿThe table below lists each of the PC/PCE800 faults and gives a link to a more detailed description along with help on correcting the fault condition.d8^I#b€6œo €€’‚€‚ÿ€€’‚‚ÿÿÿFaultCodeFault Meaning€.úÞR#t€\œo 0€€’‚ã·à°€‰€‚ÿ€€’‚‚ÿÿÿ1Velocity feedback (VelFB) over speed*k^IR#t€2œo 0€€’‚ã%:îg€‰€‚ÿ€€’‚‚ÿÿÿ2 Motor Over-TemphÞ±R#t€,œo 0€€’‚ã:Ðu€‰€‚ÿ€€’‚‚ÿÿÿ3 User +5V lowt"I%R#t€Dœo 0€€’‚ãÄq?r€‰€‚ÿ€€’‚‚ÿÿÿ4 Continuous current fault~,±£R#t€Xœo 0€€’‚ã7e£€‰€‚ÿ€€’‚‚ÿÿÿ5 Drive over current (instantaneous)/%$R#t€^œo 0€€’‚ãÅŸñ{€‰€‚ÿ€€’‚‚ÿÿÿ6 Control +/- 12 V supply under voltage[£I#b€$œo €€’‚€‚ÿ€€’‚‚ÿÿÿ7Not assignedˆ6$R#t€lœo 0€€’‚ãW¦ú€‰€‚ÿ€€’‚‚ÿÿÿ9 Bus OV detected by DSP, External Regen Fault\cI#b€&œo €€’‚€‚ÿ€ €’‚‚ÿÿÿ10Not assigned€.ãR#t€\œo 0€€’‚ãž²S€‰€‚ÿ€€’‚‚ÿÿÿ11 Bus UV* (Only if VBus < VBusThresh)qcTR#t€>œo 0€€’‚ãÂÝ,€‰€‚ÿ€€’‚‚ÿÿÿ12 Ambient temp too lowv$ãÊR#t€Hœo 0€€’‚ã`èíø€‰€‚ÿ€€’‚‚ÿÿÿ13 Encoder alignment failed*›ITe R#t€’œo 0€€’‚ã @ý€‰€‚ÿ€€’‚‚ÿÿÿ14 Drive software and non-volatile memory versions not compatible>Êõ R#t€|œo 0€€’‚ã>}Ï€‰€‚ÿ€€’‚‚ÿÿÿ15 Hardware not compatible with drive software versionu#e j R#t€Fœo 0€€’‚㪠¿u€‰€‚ÿ€€’‚‚ÿÿÿ16 Unconfigured drive fault‚0õ ì R#t€`œo 0€€’‚ãÐíI€‰€‚ÿ€€’‚‚ÿÿÿ17 Two AlnNull events too close together…3j q R#t€fœo 0€€’‚ãÄHŽ•€‰€‚ÿ€€’‚‚ÿÿÿ18 Excessive Position Following Error faultt"ì å R#t€Dœo 0€€’‚ã  h쀉€‚ÿ€€’‚‚ÿÿÿ19 Parameter Memory Error*r q W R#t€@œo 0€€’‚ãçÉ€‰€‚ÿ€€’‚‚ÿÿÿ20 Initialization Fault*s!å Ê R#t€Bœo 0€€’‚ãZy&Ç€‰€‚ÿ€€’‚‚ÿÿÿ21 Drive over temperaturekW 5 R#t€2œo 0€€’‚ãK¸L󀉀‚ÿ€€’‚‚ÿÿÿ22 Resolver Faultd/Ê ™ 5 :€^€’‚€‚ã¹ÆV€‰€‚‚ÿ*See ExtFault for further information.S"5 ì 1Y£€ ÿÿÿÿì ²@Velocity Feedback Over Speed Fault\4™ H( €h€˜ˆ’‚€‚ÿVelocity Feedback Over Speed Fault (FaultCode= 1)4Âì ˆ@r ²€…€’‚€â]àö,€‰€‚‚âµÔºÆ€‰€âԺƀ‰€â€Î$€‰€âSµŠ)€‰€â]àö,€‰€‚ÿThe Fault LED Blinking once indicates too large a speed feedback on the VelFB status variable.Possible Causes: Loose or open circuit wiring to the resolver feedback connector J3, actual motor speed exceeded 1.5 * (Max Of | VelLmtLo | or | VelLmtHi|) or 21,000 RPM which is the over speed trip level, or for EncHˆ@™ oder velocity feedback (CommSrc = 1 or 2) check that EncIn is set properly to correctly scale the VelFB units.*H²@' €€’‚€‚ÿLˆ@þ@19Í—ÿÿÿÿþ@ëBMotor Overtemperature FaultW/²@UA( €^€˜ˆ’‚€‚ÿMotor Over Temperature Fault (FaultCode = 2)–eþ@ëB1 0€Ë€’‚€‚‚€ €‚‚ÿThe Fault LED Blinking twice indicates that thermal protection for the motor has tripped.Possible Causes: Loose or open circuit wiring to motor PTC thermal sensor (J3-8 & J3-9), high ambient temperature at motor, insufficient motor heat sinking from motor mounting, operating above the motor’s continuous current rating, or inoperative cooling fan.KUA6C1Þ€Ö‚ÿÿÿÿ6CÉDAuxiliary +5V Supply FaultU-ëB‹C( €Z€˜ˆ’‚€‚ÿAuxiliary +5V Supply Fault (FaultCode = 3)>6CÉD, &€%€’‚€‚‚‚‚‚ÿThe Fault LED Blinking three times indicates that the +5 Volt convenience power supply output voltage on J1-4, J2-14, or J3-10 is too low.Possible Causes: Short-circuited wiring on the output (J1-4, J2-14, or J3-10) or load exceeds the current rating of this supply._.‹C(E1׎…ÿÿÿÿ(EŒHDrive I*t Fault (Excessive Continuous Current)S+ÉD{E( €V€˜ˆ’‚€‚ÿContinuous Current Fault (FaultCode = 4)+(E¦G* "€€’‚€‚‚‚ÿThe Fault LED Blinking four times indicates the drive put out current above its continuous current rating for too long. This fault protects the drive from exceeding its continuous current rating and from running at peak current too long.Possible Causes: Mechanically jammed motor, motion profile accelerations too high, machine load on the motor increased perhaps by a friction increase, problem with wiring between drive and motor yielding improper motion, drive and/or motor under sized for application.æŒ{EŒHZ ‚€€’‚€‚âkP¯€‰€âWNMb€‰€âWNMb€‰€â30€‰€‚‚ÿSee HSTemp, ItFilt, ItThresh , and ItF0 for information on determining the continuous current margin in an application.H¦GÔH1dÖ‚X‡ÿÿÿÿÔHðJDrive Overcurrent FaultR*ŒH&I( €T€˜ˆ’‚€‚ÿDrive Overcurrent Fault (FaultCode = 5)Ê ÔHðJ* "€A€’‚€‚‚‚ÿThe Fault LED Blinking five times indicates drive over-current (instantaneous).Possible Causes: Motor power wiring (TB1-4, 5, or 6) short circuit line-to-ground/neutral, motor power cable length is longer than the data sheet specification to cause excessive motor line to earth ground/neutral capacitance, internal motor winding short circuit, or insufficient motor inductance for output over current faults. Z)&IJK1öŽ…¡ˆÿÿÿÿJKæLControl +/- 12V Supply Undervoltage Faulte=ðJ¯K( €z€˜ˆ’‚€‚ÿControl +/- 12V Supply Under Voltage Fault (FaultCode = 6)7 JKæL+ $€€’‚€‚‚‚‚ÿFaultCode = 6 indicates the internal control logic supply voltage is too low for proper operation. The Fault LED is ON.Possible Causes: Insufficient control AC voltage on voltage on TB1-1 to TB1-2, external short on signal connector, or internal drive failure.Q ¯K7M1“X‡„Šÿÿÿÿ7MyOBus Over Voltage Detected by DSPqIæL¨M( €’€˜ˆ’‚€‚ÿBus Over Voltage Detected By DSP, External Regen Fault (FaultCode = 9)Ñš7MyO7 <€5€’‚€âF\¬0€‰€‚‚‚‚ÿFaultCode = 9 indicates that the digital signal processor has detected an excessively high motor power bus voltage (VBus) or an external regen fault. The Fault LED is ON.Possible Causes: Disconnected external regeneration resistor on TB1, external regeneration resistor ohmage too small for Bus Over Voltage fault, external regeneration resistor short circuit, Motor AC power input voltage too high.B¨M»O1Õ¡ˆìÿÿÿÿ»OABus Voltage FaultM%yO€( €J€˜ˆ’‚€‚ÿBus Voltage Fault (FaultCode»O€yO = 11)-ì»OAA P€Ù€’‚€âÆì™]€‰€âF\¬0€‰€‚‚ÿFaultCode = 11 indicates that the motor power bus voltage dropped below VBusThresh at some time. Check the measured bus voltage VBus and the fault threshold VBusThresh to make sure they are consistent. The Fault LED is ON.R!€“1„Š1ÿÿÿÿ“CƒAmbient Temperature Too Low Fault]5Að( €j€˜ˆ’‚€‚ÿAmbient Temperature Too Low Fault (FaultCode = 12)S“CƒC T€!€’‚€€ €âkP¯€‰€‚‚€ €‚‚ÿFaultCode = 12 indicates that the drive’s measured temperature HSTemp dropped below 0 degrees Centigrade. The Fault LED is ON.Possible Causes: Ambient temperature is below drive specification or the drive’s internal temperature sensor has a wiring problem.T#ð—ƒ1¨ì&ÿÿÿÿ—ƒë…Encoder Commutation Alignment Fault_7Cƒöƒ( €n€˜ˆ’‚€‚ÿEncoder Commutation Alignment Fault (FaultCode = 13)õ¾—ƒë…7 <€}€’‚€â€Î$€‰€‚‚‚‚ÿFaultCode = 13 indicates that the encoder commutation alignment movement failed. This alignment movement is only done once after power up if CommSrc = 1. The Fault LED is ON.Possible Causes: Problems with encoder feedback wiring to J3. Load inertia more than 100 times the motor inertia leading to settling times long compared to the 2 second alignment; artificially extend the alignment time by pulsing the hardware enable (J2-37).],öƒH†1i1ÕÿÿÿÿH†TˆSoftware Incompatible with NV Memory Versionh@ë…°†( €€€˜ˆ’‚€‚ÿSoftware Incompatible with NV Memory Version (FaultCode = 14)¤oH†Tˆ5 8€ß€’‚€âá¯t×€‰€‚‚ÿFaultCode = 14 indicates that the non-volatile parameter memory was written with newer drive software than the drive just powered up with. The drive must be powered off and the drive software version fixed or the drive must be set up with 800Tools again to clear this fault. Check the drive software version via the FwV status variable. The Fault LED is ON.\+°†°ˆ1Ì&Çÿÿÿÿ°ˆ ‹Firmware Version Incompatible with Hardwareg?Tˆ‰( €~€˜ˆ’‚€‚ÿFirmware Version Incompatible with Hardware (FaultCode = 15)à°°ˆ÷Š0 .€a€’‚€€ €‚‚‚ÿFaultCode = 15 indicates that an attempt to upgrade the drive’s software will not work. It is not possible to use the new drive software with the old drive. Contact factory for upgrade details if this fault happens. The Fault LED is ON.Possible Causes: Resolver wiring error. Remove J2 and J3 connectors. Turn AC power OFF and then ON again. If FaultCode = 2, then correct resolver excitation wiring, internal failure.)‰ ‹& €€‚€‚ÿZ)÷Šz‹1bÕ~ ÿÿÿÿz‹‚Attempted to Configure with Drive Enablede= ‹ß‹( €z€˜ˆ’‚€‚ÿAttempted to Configure with Drive Enabled (FaultCode = 16)£zz‹‚) €õ€’‚€‚‚ÿPower and Fault LEDs blinking indicates that an unconfigured drive was fully configured with the drive motor power enable active. If this fault did not happen the drive-motor would have instantly started at the end of the setup download, which may cause damage. This fault can be reset or the control AC power turned OFF and then ON again to get the drive-motor operating.V%ß‹Ø1MÇ€ÿÿÿÿØ ÀTwo AlnNull Events Too Close Togethera9‚9Ž( €r€˜ˆ’‚€‚ÿTwo AlnNull Events Too Close Together (FaultCode = 17)–SØ ÀC T€§€’‚€â †*þ€‰€â’žJ\€‰€‚‚‚‚ÿFaultCode = 17 indicates that the mappable input function AlnNull did not terminate properly and that the new ADOffset may not be valid. The Fault LED is ON.Possible Causes: The AlnNull function was re-activated too soon after going inactive. This can be caused by switch bounce on the input pin mapped to activate AlnNull.9Ž À‚X'9ŽdÀ1ð~ öÿÿÿÿdÀüÂPosition Following Error Overflow Faultd< ÀÈÀ( €x€˜ˆ’‚€‚ÿExcessive Position Following Error Fault (FaultCode = 18) ·dÀÒÂS t€o€’‚€â49”€‰€âT¥bÒ€‰€‚‚‚‚€ãN选€‚ÿFaultCode = 18 indicates that the position loop error PosError has been too large for too long. The value for too large is set by PosErrorMax. The Fault LED is ON.Possible Causes: The motor is either stalled or partially jammed or the value for PosErrorMax is set too sensitive for the loop tuning and commanded motion profiles.Important Note: This fault is disabled if you map PosError Warning to one of the Outputs.*ÈÀüÂ' €€’‚€‚ÿOÒÂKÃ1K€m„ÿÿÿÿKÃGÆParameter Checksum Error FaultZ2üÂ¥Ã( €d€˜ˆ’‚€‚ÿParameter Checksum Error Fault (FaultCode = 19)xBKÃÆ6 :€…€’‚€ã¹ÆV€‰€‚‚‚ÿFaultCode = 19 indicates that the consistency check of the non-volatile parameter memory during power up found an error. This fault cannot be reset. Try powering up the controller multiple times to see if the error goes away. If it persists, then the drive parameters should be restored by down loading from the appropriate parameter file with 840 Tools. See ExtFault status variable for additional information. The Fault LED is ON.Possible Causes: Glitch while last saving the NV parameters, corrupted NV memory contents, or a hardware problem with the NV memory.*¥ÃGÆ' €€’‚€‚ÿEÆŒÆ1öÝ…ÿÿÿÿŒÆYÈInitialization FaultP(GÆÜÆ( €P€˜ˆ’‚€‚ÿInitialization Fault (FaultCode = 20)}HŒÆYÈ5 8€‘€’‚€â¹ÆV€‰€‚‚ÿFaultCode = 20 indicates that the digital signal processor found a problem with the hardware when it performed its power up checks. See the status variable ExtFault for further information about the exact failure. The drive control power must be turned OFF and then ON again to clear this fault. The Fault LED is ON.LÜÆ¥È1Ÿm„«‡ÿÿÿÿ¥ÈøÊDrive Overtemperature FaultX0YÈýÈ( €`€˜ˆ’‚€‚ÿDrive Over Temperature Fault (FaultCode = 21)ûž¥ÈøÊ] ˆ€=€’‚€€ €‚‚€ €‚‚âkP¯€‰€âWNMb€‰€â30€‰€‚‚ÿFaultCode = 21 indicates that the drive’s thermal protection fault has tripped. The Fault LED is ON.Possible Causes: High drive ambient temperature, restriction of cooling air due to insufficient space around unit, operating above the drive’s continuous current rating, or inoperative cooling fan.See HSTemp, ItFilt, and ItF0 for information on measuring thermal margin in an application.?ýÈ7Ë1TÝ…ÿÿÿÿÿÿÿÿ7ËLÌResolver FaultJ"øÊË( €D€˜ˆ’‚€‚ÿResolver Fault (FaultCode = 22)¡z7Ë"Ì' €ô€Š’‚€‚ÿFaultCode = 22 indicates that the resolver signal is lost or intermittent. Check resolver cable. The Fault LED is ON.*ËLÌ' €€’‚€‚ÿ?"Ì‹Ì1Øÿÿÿÿÿÿÿÿ ÿÿÿÿ‹Ì$ÎCurrent Limits9LÌÄÌ( €"€˜ˆ’‚€‚ÿCurrent Limits*‹ÌîÌ' €€’‚€‚ÿ“iÄÌÍ* $€Ò€Š’‚€€‚ÿCurrent Limit Positive: Used to clamp the maximum positive (clockwise) current the drive can supply.£tîÌ$Î/ .€è€’‚€‚€€‚‚ÿCurrent Limit Negative: Used to clamp the maximum negative (counter clockwise) current the drive can supply.@ÍdÎ1Bÿÿÿÿÿÿÿÿ!ÿÿÿÿdÎfÏVelocity Limits:$ΞÎ( €$€˜ˆ’‚€‚ÿVelocity LimitsÈ•dÎfÏ3 4€+€’‚€€‚€€‚‚ÿVelocity Limit High: Used to set a clockwise limit on the velocityVelocity Limit Low: Used to set a counter clockwise limit on the velocityCžÎ©Ï1uÿÿÿÿÿÿÿÿ"ÿÿÿÿ©ÏªAccel/Decel Limits†WfÏ;/ .€®€˜ˆ’‚€‚€€‚ÿAccel/Decel LimitsAccel Limit: Used ©Ï;fÏto limit the acceleration rate of the motor.oD©Ïª+ &€ˆ€’‚€€‚‚ÿDecel Limit: Used to limit the deceleration rate of the motor.@;ê1Rÿÿÿÿÿÿÿÿ#ÿÿÿÿêüGain and Offset:ª$( €$€˜ˆ’‚€‚ÿGain and Offset®SêÒ[ „€§€’‚€‚€€‚€ €ƒƒ‚€ €ƒƒ‚€ €ƒƒ‚€ €ƒƒ‚‚€€‚ÿCmdGain: Used to set the relationship between the differential analog input and the current command to the motor. Units vary depending on the mode of operation.Velocity Mode – Analog Command:kRPM/VoltVelocity Mode – Frequency CommandRPM/HzTorque Mode – Analog CommandAmp/VoltTorque Mode – Frequency CommandAmp/kHzOffset Voltage: There is some error or offset inherent in all analog circuitry. By applying a 0 volt reference to the differential analog input J2-1 and J2-2 and multiplying the value of AnalogIn * -1 you can derive the value for the Offset voltage.*$ü' €€’‚€‚ÿ@Ò<1Zÿÿÿÿÿÿÿÿ$ÿÿÿÿ<VInput Functions:üv( €$€˜ˆ’‚€‚ÿInput Functions*< ' €€Š’‚€‚ÿ¶ŽvV( €€’‚€‚ÿEach of the six digital inputs J2-31, 32, 33, 34, 35, 36 can be configured to be any of the available functions listed in the dropdown box.K ¡1sÿÿÿÿÿÿÿÿ%ÿÿÿÿ¡ÉAnalog Current Limit InputEVæ( €:€˜ˆ’‚€‚ÿAnalog Current Limit Input¹Y¡Ÿ` Ž€³€Š’‚€‚€‚‚€€‚ãkG[€‰€€‚€‚€€‚‚ãÑnF[€‰€€‚ÿFunction: used to limit the current flow to the motor when a voltage is applied with respect to I/O RTN.Gain: Used to set the scale factor for the Analog Current Limit Input (J2-6).See AnalogILmtGain.Filter: Used to set the low-pass filter break frequency on the Analog Current Limit Input (J2-6).See AnalogILmtFilt.*æÉ' €€’‚€‚ÿAŸ 1çÿÿÿÿÿÿÿÿ&ÿÿÿÿ ° Output Functions;ÉE( €&€˜ˆ’‚€‚ÿOutput Functionsk@ ° + $€€’‚€‚‚‚‚ÿEach of the three outputs J2-42, 43, 44 can be configured to be any of the available functions listed in the dropdown box.The relay outputs J2-24, 25 are opened/closed by Out4. The relay output may be general purpose (No Function defined) or can be configured to be any of the available mappable output functions.?Eï 1ìÿÿÿÿÿÿÿÿ'ÿÿÿÿï œ Analog Outputs9° ( ( €"€˜ˆ’‚€‚ÿAnalog Outputs*ï R ' €€Š’‚€‚ÿ ß( r A P€¿€’‚€€‚‚€€‚ƒ‚ƒ‚ƒ‚‚€€‚ÿFunction: Used to select the parameter that is mapped to the Analog Output.Gain: Used to set the gain of the Analog Output. Units vary based on the function selected.For example: If Function is set to Current Feedback, units are Volts/Amp.Analog Out = Current Feedback [Amps] * Gain [Volts/Amp]If Gain = 2, 1 Amp of motor current would result in 2 V on the Analog Output.Low Pass Filter: Used to attenuate any high frequency component on the Analog Output.*R œ ' €€’‚€‚ÿ> r Ú 1iÿÿÿÿÿÿÿÿ(ÿÿÿÿÚ Position Loop8œ  ( € €˜ˆ’‚€‚ÿPosition Loopó½Ú 6 :€{€’‚€‚€€‚€€‚ÿKpp: Sets the proportional gain of the position loop.Kvff: Sets the proportion of velocity feed forward signal added to the velocity command from differentiated position command.>  C1èÿÿÿÿÿÿÿÿ)ÿÿÿÿC @Velocity Loop8{( € €˜ˆ’‚€‚ÿVelocity Loopr*C @H ^€U€’‚€‚€€‚€€‚€€‚€€‚€‚ÿKvi: Sets the integral gain of the velocity loop.Kvp: Sets the proportional gain of the velocity loop.ARF0: First velocity loop compensation anti-resonance low-pass filter corner frequency.ARF1: Second velocity loop compensation anti-resonance low-pass filter corner frequency.{ @6{B@1õÿÿÿÿÿÿÿÿ*ÿÿÿÿB@AUnits0 @r@( €€˜ˆ’‚€‚ÿUnitsgB@A( €Î€’‚€‚‚ÿSelect either English or Metric to determine what units will be used to enter the Motor parameters.Cr@DA1Eÿÿÿÿÿÿÿÿ+ÿÿÿÿDAFCCommutation Source=AA( €*€˜ˆ’‚€‚ÿCommutation Source~VDAÿA( €¬€Š’‚€‚‚ÿSelects the type of feedback device the PC/PCE800 will use to commutate the motor.~WA}B' €®€’‚€‚ÿThe PC/PCE800 can commutate a motor using any one of the following feedback devices::ÿA·B, (€€R’\‚€ ƒ€‚ÿ·ResolverE}BüB, (€2€R’\‚€ ƒ€‚ÿ·Incremental EncoderJ·BFC, (€<€R’\‚€ ƒ€‚ÿ·Comcoder (hall/encoder).LüB’C1ÿÿÿÿÿÿÿÿ,ÿÿÿÿ’C\EEmulated Encoder Line CountFFCØC( €<€˜ˆ’‚€‚ÿEmulated Encoder Line Count*’CD' €€’‚€‚ÿZØC\ET v€ €Š’‚€€€ã˜¡Lú€‰€‚‚€€€€ãSµŠ)€‰€‚ÿIf Resolver is selected as the Commutation Source, the value entered in this field is stored in EncOut.If Incremental Encoder or Comcoder (Hall/Encoder) is selected as the Commutation Source, the value entered in this field is stored in EncIn.HD¤E1öÿÿÿÿÿÿÿÿ-ÿÿÿÿ¤ERFProtective Earth GroundG\EëE( €>€˜ˆ’‚€‚ÿProtective Earth Ground (PE)g?¤ERF( €~€Š’‚€‚‚ÿThis is the Protective Earth Ground (PE) or Chassis Ground.BëE”F1ÿÿÿÿÿÿÿÿ.ÿÿÿÿ”FYGRotary vs. Linear<RFÐF( €(€˜ˆ’‚€‚ÿRotary vs. Linear_7”F/G( €n€Š’‚€‚‚ÿSelect whether you have a rotary or a linear motor.*ÐFYG' €€’‚€‚ÿ; /G”G1øÿÿÿÿÿÿÿÿ/ÿÿÿÿ”GQHMotor Type5 YGÉG( €€˜ˆ’‚€‚ÿMotor TypeˆY”GQH/ .€²€Š’‚€‚€€‚‚ÿSelect the motor model number from the dropdown list. For example select PMA22B. ; ÉGŒH1ßÿÿÿÿÿÿÿÿ0ÿÿÿÿŒH0IDrive Type5 QHÁH( €€˜ˆ’‚€‚ÿDrive Typeo@ŒH0I/ .€€€Š’‚€‚€€‚‚ÿSelect the drive model number. For example select PC833.BÁHrI17ÿÿÿÿÿÿÿÿ1ÿÿÿÿrIgKMode of Operation<0I®I( €(€˜ˆ’‚€‚ÿMode of Operation¹WrIgKb ’€¯€Š’‚€‚‚‚€ €‚€ €‚€ €‚€ €‚€ €‚€ €‚€ €‚€ €‚ÿSelect the mode of operation. Options for this field include:Position Mode – Predefined MovesPosition Mode – Step and DirectionPosition Mode – Electronic GearingVelocity Mode – Analog CommandVelocity Mode – Frequency CommandVelocity Mode – Serial CommandTorque Mode – Analog CommandTorque Mode – Frequency Command> ®I¥K1Ìÿÿÿÿÿÿÿÿ2ÿÿÿÿ¥K3LInertia Ratio9gKÞK( €"€˜ˆ’‚€‚ÿ Inertia RatioU.¥K3L' €\€’‚€‚ÿInertia Ratio = Load Inertia/Motor Inertia.@ÞKsL1ÿÿÿÿÿÿÿÿ3ÿÿÿÿsLLNRemote Feedback;3L®L( €&€˜ˆ’‚€‚ÿRemote Feedback {SsL)M( €¦€’‚€‚‚ÿSelect the source of the feedback signal for the loops.There are three choices:b6®L‹M, (€l€R’\‚€ ƒ€‚ÿ·Resolver velocity and resolver position feedbacka5)MìM, (€j€R’\‚€ ƒ€‚ÿ·Resolver velocity and encoder position feedback`4‹MLN, (€h€R’\‚€ ƒ€‚ÿ·Encoder velocity and encoder position feedbackHìM”N1pÿÿÿÿÿÿÿÿ4ÿÿÿÿ”N¤€PosError Warning OutputBLNÖN( €4€˜ˆ’‚€‚ÿPosError Warning OutputÂŽ”N¤€4 6€€’‚€âT¥bÒ€‰€‚ÿIf this function is mapped to an output then the output will be asserted when there is excess following error for an extended period of time. When this function is mapped to an output the excess following error fault is disabled. The algorithm aÖN¤€LNnd threshold (PosErrorMax) used for excess following error for this warning output is the same as those used for the excess following error fault.= ÖNá€1ÿÿÿÿÿÿÿÿ5ÿÿÿÿá€3‚Use CmdGain27¤€( €€˜ˆ’‚€‚ÿUse CmdGain2Úá€3‚A P€µ€’‚€ây_n΀‰€âå+µ€‰€‚‚ÿIf this function is mapped to an input and the input is asserted then the active value for Command Gain will be CmdGain2. If the input is not asserted then the active value for Command Gain will be CmdGain.K~‚1ÿÿÿÿÿÿÿÿ6ÿÿÿÿ~‚9„Position Mode Input SelectE3‚Â( €:€˜ˆ’‚€‚ÿPosition Mode Input SelectvG~‚9„/ ,€€’‚€€ €‚‚ÿIf this function is mapped to an input and the input is asserted then the active operating mode will be Position Mode. If the input is not asserted then the active operating mode returns to the original operating mode. For example, it is possible to switch between torque and position mode OR velocity and position mode.AÂz„1aÿÿÿÿÿÿÿÿ7ÿÿÿÿz„š…ZeroSpeed Output;9„µ„( €&€˜ˆ’‚€‚ÿZeroSpeed Outputå®z„š…7 <€]€’‚€‚â‹šŒB€‰€‚‚‚ÿIf this function is mapped to an output then the output will be asserted when the motor's speed goes below the speed threshold set by the parameter ZeroSpeedThresh.Z)µ„ô…1ÿÿÿÿÿÿÿÿ8ÿÿÿÿô…ÉIncremental Encoder and Comcoder OverviewV,š…J†* $€X€V˜ˆ‘€‚€‚ÿIncremental Encoder and Comcoder OverviewŽdô…؆* $€È€R‘€‚€‚‚ÿThe PC/PCE800 servo drive can commutate a motor using any one of the following feedback devices:;J†‡- *€€R‘€‚€ ƒ€‚ÿ·ResolverF؆Y‡- *€2€R‘€‚€ ƒ€‚ÿ·Incremental Encoder”b‡í‡2 4€Ä€R‘€‚€ ƒ€‚‚€‚ÿ·Comcoder (hall/encoder).Configuring the PC/PCE800 for a motor with an Incremental Encoder†]Y‡sˆ) "€º€TŠ‘€‚€‚ÿTo use an incremental encoder for primary feedback on the PC/PCE800 perform the following:ŒPí‡ÿˆ< H€ €R‘€‚€ƒ€ € 㬆`Q€‰€‚ÿ1.To connect an incremental encoder please click here: Wiring Diagram¼…sˆ»‰7 <€ €R‘€‚€ƒ€€€€‚ÿ2.Click on the Create New Configuration button. Select the proper motor, drive, and desired mode of operation. Click on Next.‘[ÿˆLŠ6 <€¶€R‘€‚€ƒ€€€€‚ÿ3.Click on the Feedback Tab. Select Incremental Encoder as the Commutation Source.\2»‰¨Š* $€d€R‘€‚€ƒ‚ÿ4.Enter the correct line count of the encoder.yILŠ!‹0 0€’€R‘€‚€ƒ€€‚ÿ5.Using the other tabs, complete the configuration. Click on Next.p@¨Š‘‹0 0€€€R‘€‚€ƒ€€‚ÿ6.Click on Save to File and give the configuration a name.ƒS!‹Œ0 0€¦€R‘€‚€ƒ€€‚ÿ7.Click on Download to Drive to send the complete configuration to the drive.–f‘‹ªŒ0 0€Ì€R‘€‚€ƒ€€‚ÿ8.After the download is complete, click on Yes to save the configuration to non-volatile memory.T*ŒþŒ* $€T€R‘€‚€ƒ‚ÿ9.Turn AC power OFF and then ON again.m6ªŒkŽ7 <€m€Š’‚€‚‚ã´Þn€‰€‚‚ÿIncremental encoders are not absolute feedback devices. Therefore, an alignment procedure must be performed. The motor should perform its encoder alignment check upon power up AND assertion of the hardware enable.See Encoder Alignment Overview for additional information on the alignment procedure.×þŒ., &€/€’‚€‚€‚ÿConfiguring the PC/PCE800 for a motor with a ComcoderTo use a comcoder (hall/encoder) for primary feedback on the PC/PCE800 perform the following:†PkŽ´6 <€ €R‘€‚€ƒãÛcÿ€‰€‚ÿ1.To connect a Comcoder (hall encoder) please click here: Wiring Diagram¼….|À7 <€ €R‘€‚€ƒ€€€€‚ÿ2.Click on the Cre´|Àš…ate New Configuration button. Select the proper motor, drive, and desired mode of operation. Click on Next.•_´Á6 <€¾€R‘€‚€ƒ€€€€‚ÿ3.Click on the Feedback Tab. Select Comcoder (Hall/Encoder) as the Commutation Source._5|ÀpÁ* $€j€R‘€‚€ƒ‚ÿ4.Enter in the correct line count of the encoder.yIÁéÁ0 0€’€R‘€‚€ƒ€€‚ÿ5.Using the other tabs, complete the configuration. Click on Next.p@pÁYÂ0 0€€€R‘€‚€ƒ€€‚ÿ6.Click on Save to File and give the configuration a name.ƒSéÁÜÂ0 0€¦€R‘€‚€ƒ€€‚ÿ7.Click on Download to Drive to send the complete configuration to the drive.–fYÂrÃ0 0€Ì€R‘€‚€ƒ€€‚ÿ8.After the download is complete, click on Yes to save the configuration to non-volatile memory.T*ÜÂÆÃ* $€T€R‘€‚€ƒ‚ÿ9.Turn AC power OFF and then ON again.ŒTrÃRÆ8 >€©€’‚€‚‚‚ƒã¹ÆV€‰€‚ÿWhen the hardware enable is asserted, the motor will initially use the hall signals for commutation. After the first hall sensor transition occurs, the drive will adjust the commutation angle and start commutation off the encoder. To ensure the adjusted commutation angle is within 5 electrical degrees of the correct angle, the PC/PCE800 limits the maximum velocity and maximum acceleration rate until the first hall sensor transition occurs.Guidelines:If the hall encoder commutation algorithm detects a fault, reading the variable ExtFault will return one of the following values:)ÆÃ{Æ& €€’‚€‚ÿ_RÆÚÆG#^€0\›x €€’‚€‚ÿ€€’‚‚ÿÿÿExtFaultExplanationc{Æ=ÇG#^€8\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ23Invalid configurationWÚÆ”ÇG#^€ \›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ24Overspeed`=ÇôÇG#^€2\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ25Invalid hall statee”ÇYÈG#^€<\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ26Invalid hall transitionBôÇÚÈ? N€„€’‚€‚ã” Šx€‰€ã,<£ €‰€‚ÿSee HallOffset, HallState, for additional information.,YÈÉ( €€Š’‚€‚‚ÿNÚÈTÉ1= ÿÿÿÿɇ9ÿÿÿÿTÉOAnalog Current Limit OverviewH ÉœÉ( €@€˜ˆ’‚€‚ÿAnalog Current Limit Overview*TÉÆÉ' €€Š’‚€‚ÿЧœÉ–Ê) €O€’‚€‚‚ÿThe Analog Current Limit Input (J2-6) limits the current flow to the motor (and thus torque output of the motor) when a voltage is applied with respect to I/O RTN.c:ÆÉùÊ) "€t€R‘€‚€‚ÿThe analog current limit input is processed as follows:˜n–Ê‘Ë* $€Ü€R‘€‚€ƒ‚ÿ1.The analog input is read through an 8 bit A/D converter. The range on the analog input is 0 - 10 volts.j@ùÊûË* $€€€R‘€‚€ƒ‚ÿ2.An offset, AnalogILmtOffset, is added to the voltage read.d:‘Ë_Ì* $€t€R‘€‚€ƒ‚ÿ3.The sum is then low-pass filtered by AnalogILmtFilt.-öûËŒÍ7 <€í€R‘€‚€ƒãTÚ]*€‰€‚ÿ4.The filter output is multiplied by a gain, AnalogILmtGain. The input to the multiplier is in volts. The units of AnalogILmtGain are in %Ipeak/volt. And the result is in %Ipeak (percentage of the drive peak output current, see Ipeak).‰__ÌÎ* $€¾€R‘€‚€ƒ‚ÿ5.If the result of part 4 is less than 0, then it is clamped to zero by the negative clamp.~TŒÍ“Î* $€¨€R‘€‚€ƒ‚ÿ6.The analog current limit, AnalogILmt, is set equal to 100% - result of part 5.Ø©ÎkÏ/ ,€S€R‘€‚€ƒ‚ƒ‚ƒ‚ÿ7.The actual (positive and negative) current limits used by the drive are:ActualILmtPlus = min(ILmtPlus, AnalogILmt)ActualILmtMinus = max(ILmtMinus, AnalogILmt).Æ‘“Î=5 8€%€’‚€‚†"€‚‚‚‚ÿ Example: Assume ILmtPlus = 100%, ILmtMinus = 100%, AnalogILmtOffset = 0 volts, AnalogILmtkÏ=ÉFilt = 1000 Hz, and AnalogILmtGain = 10%/volt.gkϤI#b€<¦€ €€’‚€‚ÿ€$€’‚‚ÿÿÿVolts In (J2-6)AnalogILmt8=%I#b€p¦€ €€’‚€‚ÿ€€’‚‚ÿÿÿ0100% - 0% = 100% (full current can flow to motor)_¤„I#b€,¦€ €€’‚€‚ÿ€€’‚‚ÿÿÿ2100% - 20% = 80%_%ãI#b€,¦€ €€’‚€‚ÿ€€’‚‚ÿÿÿ4100% - 40% = 60%_„BI#b€,¦€ €€’‚€‚ÿ€€’‚‚ÿÿÿ6100% - 60% = 40%_ã¡I#b€,¦€ €€’‚€‚ÿ€€’‚‚ÿÿÿ8100% - 80% = 20%€7B!I#b€n¦€ €€’‚€‚ÿ€ €’‚‚ÿÿÿ10100% - 100% = 0% (no current can flow to motor).¡O) "€ €Š’‚€‚‚‚ÿ@!1\ɇü„:ÿÿÿÿ¶FHoming Overview:OÉ( €$€˜ˆ’‚€‚ÿHoming OverviewA * "€/€’‚€‚‚‚ÿTypically motion control applications require the machine to be homed to a predefined starting position, prior to performing its normal operations. Generally, a mechanical home switch or a marker pulse is referenced (off an encoder) to provide the homing reference position.öÉ)) €í€Š’‚€‚‚ÿThe homing functionality of the PC/PCE800 allows the user to establish a home position based on five different home references. The table below lists each of the references used for homing and describes how each establishes the home position.s! œR#t€B›A $€€’‚€€‚ÿ$€$€’‚€€‚ÿÿÿHome referenceDescriptionÂx)^J#d€ð›A €€’‚€‚ÿ€€’‚‚‚ÿÿÿHome SwitchTransition of Home Switch (Requires one of the Digital Inputs to be mapped to the HomeSwitch function.){1œÙJ#d€b›A €€’‚€‚ÿ€€’‚‚‚ÿÿÿMarker PulseInternal resolver marker pulse*—L^pK#f€˜›A €€’‚€‚ÿ€:€’‚‚‚‚ÿÿÿHome Switch + Marker PulseTransition of Home Switch then marker pulse”JÙ J#d€”›A €€’‚€‚ÿ€.€’‚‚‚ÿÿÿUse Present PositionCurrent position is established as home positioná“på N#j€'›A €€’‚€‚ÿ €0€’‚‚€‚ÿÿÿUse Resolver PositionCurrent position is set to resolver position.(Not available in PC830 drives which firmware version are lower than 2.10)*  ' €€’‚€‚ÿÅ›å Ô * "€7€Š’‚€ƒ‚‚ÿMarker pulse using resolverIf using resolver feedback, all home moves to a marker pulse will be based on resolver position equal to zero (ResPos = 0).Õ ç > J€«€’‚€ƒ‚€€€€‚‚€€‚ÿMarker pulse using encoderIf using encoder feedback, all home moves to a marker pulse will be based off the marker pulse output from the encoder.This channel must be physically wired to one of the two dedicated registration inputs, Input 4 (J2-34) or Input 5 (J2-35). Select this input using the Reg Select pull-down tab. The Active Edge (rising edge or falling edge) must also be defined for the registration input.*Note: If using encoder feedback, the physical Z channel from the encoder is used as the marker pulse. Select Reg1 (Inp4) if the encoder Z channel is to be connected to digital Input4 or Reg2(Inp5) when connecting to digital Input5. Make sure the mapping for the input used is set to No Function.8Ô ) "€€’‚€‚‚‚ÿProcedure:U%ç t0 0€J€R‘€‚€ƒ€€‚ÿ1.Select Home as the Move Type..÷¢7 <€ï€R‘€‚€ƒ€€€€‚ÿ2.Select the Homing Mode [Home Switch, Marker Pulse, Home Switch + Marker Pulse, Use Present Position, Use Resolver Position (Not available in PC830 drives which firmware version are lower than 2.10)] to determine the reference for homing._t=@0 0€¾€R‘€‚€ƒ€€‚ÿ3.Select Home Direction of motor rotation ¢=@Ofor home move as clockwise or counterclockwise.£s¢à@0 0€æ€R‘€‚€ƒ€€‚ÿ4.Define the Distance Offset position the motor should move to after the home switch input has been detected.ć=@¤A= H€€R‘€‚€ƒ€€€€€€‚ÿ5.If Home Switch was selected, click on the Digital I/O Tab. Select Home Switch Input as the function for the desired input.g?à@ B( €~€‘€‚€‚ÿHome Position = Position of Home Reference + Distance OffsetN&¤AYB( €L€Š‘€‚€‚ÿPosition = Position - Home PositionmE BÆB( €Š€‘€‚€‚ÿThe motor will then perform an absolute move to the home position.,YBòB) "€€R‘€‚€‚ÿÌÆBòE4 6€™€’‚€‚€‚‚€€‚ÿExample:A motor (with a resolver) drives a load through a 0.5 inch/rev lead screw. To home the machine, the load is required to move at 30 in/min in the clockwise direction. This is in the direction toward a proximity switch (which will be used as the home switch). After the switch is triggered, the load continues to move in the same direction until a marker pulse is seen. In this case, the marker pulse is from the resolver (ResPos = 0).The motor then decelerates to a complete stop to a position beyond the marker pulse and then reverses direction back toward the marker pulse coming to rest at resolver position of ResPos = 10. The drive then activates an output to signal a PLC that the move is done.ĈòB¶F< F€€’‚€€ €‚‚‚†"€‚‚‚ÿFirst calculate the speed of the motor while it’s advancing toward the home switch:Run Speed = 2 rev/in * 30 in/min = 60 rpm FòEüF17ê€;ÿÿÿÿüFíJRegistration Overview@¶F€€R‘€‚€ƒ€€€€‚‚ÿ1.Click on the Create New Configuration button. Select the proper motor, drive, and desired mode of operation. Click on Next.Àˆ‚8 >€€R‘€‚€ƒ€€€€‚‚ÿ2.Click on the Feedback Tab. Select Incremental Encoder as the Commutation Source and enter in the correct encoder line count.…TÁƒ1 2€¨€R‘€‚€ƒ€€‚‚ÿ3.Click on the NVSave button to save these gains to NV (Non-Volatile) memory.»Œ‚Áƒ/ ,€€Š’‚€ƒ€€‚ÿAdvanced:To minimize movement during the encoder alignment, turn the PID loop on by performing the following steps: This is OPTIONAL.,ƒíƒ) "€€TŠ‘€‚€‚ÿ‹ZÁƒx„1 2€´€R‘€‚€ƒ€€‚‚ÿ1.Click on the Edit Drive Configuration Online button and set EncAlignRampIcmd = 1.JíƒÂ…, &€=€R‘€‚€ƒ‚‚ÿ2.Set EncAlignTime = 10000 (20 seconds). This will allow you to plenty of time to watch the response of the system and restart the encoder alignment algorithm by toggling the enable line. After the system is tuned properly, remember to reduce EncAlignTime to a reasonable value.wLx„9†+ &€˜€R‘€‚€ƒ‚‚ÿ3.Set KpEnc = 10, KiEnc = 1, and KdEnc= 200. Leave ElecAngTau = 30000.)îÂ…b‡; D€Ý€‘€‚€€€ €€ €€‚ÿNote: ElecAngTau sets the break frequency of a first order low pass filter. Therefore, a large value for ElecAngTau will ‘turn it off’. Use ElecAngTau as an anti-resonance filter for a system that exhibits a resonance problem.,9†Ž‡) "€€TŠ‘€‚€‚ÿ>b‡̈, &€%€R‘€‚€ƒ‚‚ÿ4.Start the encoder alignment algorithm by enabling the drive and watch the response. If, at any time during the encoder alignment algorithm, you disable the drive, the encoder algorithm will stop. The alignment algorithm will then restart upon re-enabling the drive.ÊžŽ‡–‰, &€=€‘€‚€€‚ÿNote: After the encoder alignment algorithm is completed successfully, the only way to restart it is by turning power OFF and then ON again on the drive.,̈‰) "€€TŠ‘€‚€‚ÿ㖉ъ, &€Ç€R‘€‚€ƒ‚‚ÿ5.By observing the effect of the gains on the system response (this is the easiest way of determining how the gains effect the response), vary the gains until the system motion during the alignment algorithm is acceptable.…T‰V‹1 2€¨€R‘€‚€ƒ€€‚‚ÿ6.Click on the NVSave button to save these gains to NV (Non-Volatile) memory.¨}ÑŠþ‹+ &€ú€’‚€ƒ‚‚‚‚ÿGuidelines:KdEnc should be approximately 20 times larger than KpEnc.If the system tends to be unstable, set KiEnc = 0.¶‚V‹´Œ4 6€€’‚€ã¹ÆV€‰€‚‚ÿIf the encoder alignment algorithm detects a fault, reading the variable ExtFault will return one of the following values:_þ‹G#^€0\›x €€’‚€‚ÿ€€’‚‚ÿÿÿExtFaultExplanationW´ŒjG#^€ \›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ18No motion^ÈG#^€.\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ19Excessive motion_j'ŽG#^€0\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ20Motor not settledcÈŠŽG#^€8\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ21Alignment test failedu.'ŽÿŽG#^€\\›x €€’‚€‚ÿ€ €’‚‚ÿÿÿ22Motion overflow (very excessive motion) ‘ŠŽÀ| Æ€#€’‚€‚ã'Ÿß€ã7ÀZ €‰€ãžÞt€‰€ãˆŸ·U€‰€ãù¢·*€‰€ãس½*€‰€ãÝ1Æ*€‰€‚ÿSee ElecAngTau, EncAlignTestDist, EncAlignRampIcmd, EncAlignTime, KdEnc, KiEnc, KpEnc for additional inÿŽÀíJformation.*ÿŽBÀ' €€’‚€‚ÿ],ÀŸÀ1'"ü„ÿÿÿÿ=ÿÿÿÿŸÀnBOverview of the functionality for 840 drives[0BÀúÀ+ &€`€˜ˆ’‚€€‚ÿOverview of the functionality for 840 drivesÈšŸÀÂÁ. *€5€’‚€‚‚‚€‚ÿPC840 and PCE840 drives contains all the hardware and firmware necessary to connect to a SERCOS network.SERCOS control mode and SERIAL control modeÌúÀÕÃG \€™€˜’‚€€€€ €€ €€ €€ €‚‚ÿIn most of cases, 840 drives are controlled by SERCOS network, it is called ‘SERCOS control mode’ in this software; Occasionally, PC/PCE840 drives are controlled by 800Tools via a PC serial port, it is called ‘SERIAL control mode’.When a PC/PCE840 drive is connected with PC, a switch button in the main screen of 800Tools is shown out and is used to switch control modes, which are SERCOS control mode and SERIAL control mode. It is shown below.5ÂÁ Ä0 0€ €˜’‚€†"€‚ÿ )ÕÃ3Ä& €€˜‚€‚ÿoH Ä¢Ä' €€˜’‚€‚ÿThere are three major functions that this software serves 840 drives:B3ÄäÄ, (€,€R˜’‚€ƒ€‚ÿ1.Update firmware6¢ÄÆ4 6€€˜’‚€ãr¡–r€‰€‚ÿPC/PCE840 drive is a multi-processors control system: a DSP working on motor control, PC communication and so on, and an ARM processor communicating with SERCOS network. The ARM firmware can be upgraded using this software. See Upgrade FW for details.j>äÄ„Æ, (€|€R˜’‚€ƒ€‚ÿ2.Monitor variables and parameters in SERCOS control mode2ñƶÇA P€ã€’‚€ã’ô €‰€ã’ô €‰€‚‚ÿUsing Edit Online function, a part of attributes defined by SERCOS interface can be viewed. The following table lists these attributes and their IDN number. The rest of variables show in Edit Online page belong to drive locally.Ô7„ÆŠÈ# n›ڭ¶›€€’‚€‚ÿ€€’‚‚ÿ€&€’‚‚ÿ€2€’‚‚ÿ€J€’‚‚ÿ€V€’‚‚ÿÿÿNameIDN numbernameIDN numbernameIDN numberB¶ÇŠÉ¾#L„›ڭ¶›0€€’‚ãðê7<€‰€‚ÿ€*€’‚‚ÿ0€8€’‚ã±ØT)€‰€‚ÿ€N€’‚‚ÿ0€\€’‚ã%Ai€‰€‚ÿ€v€’‚‚ÿÿÿActualILmtMinus32887DM2F032811Inputs 34824þ@ŠÈˆÊ¾#L€Â›Ú­¶›0€€’‚ãv´€‰€‚ÿ€(€’‚‚ÿ0€6€’‚ã+Yž…€‰€‚ÿ€P€’‚‚ÿ0€^€’‚ãTÚ]*€‰€‚ÿ€v€’‚‚ÿÿÿActualILmtPlus32886DM1Gain32812Ipeak 110ð8ŠÉx˸#@p›ڭ¶›0€€’‚ã î’0€‰€‚ÿ€€’‚‚ÿ0€"€’‚ã܃҅€‰€‚ÿ€<€’‚‚ÿ$€J€’‚€€‚ÿ€b€’‚‚ÿÿÿADF032808DM2Gain32813ItThresh328299ˆÊÌÞ#Œr›ڭ¶›0€€’‚ã’žJ\€‰€‚ÿ€€’‚‚ÿ0€*€’‚ãc?ñ€‰€‚ÿ€B€’‚‚ÿ€P€’‚ÿ0€R€–‚ç—Ñt×€‰€‚ÿ€f€–‚ÿ€h€’‚‚ÿÿÿADOffset32866DM1Map32814Kii 107÷9xˆ;#Lr›ڭ¶›0€€’‚ã¦66g€‰€‚ÿ€ €’‚‚ÿ0€.€’‚ã—™@ñ€‰€‚ÿ€F€’‚‚ÿ0€T€’‚ãžÑt×€‰€‚ÿ€h€’‚‚ÿÿÿAnalogILmt32882DM2Map32815Kip 106ý?̃ξ#L~›ڭ¶›0€€’‚ãÑnF[€‰€‚ÿ€(€’‚‚ÿ0€6€’‚ã#퀉€‚ÿ€X€’‚‚ÿ0€b€’‚ãËÒt×€‰€‚ÿ€t€’‚‚ÿÿÿAnalogILmtFilt32884DriveStatus135Kpp104ü>†ÍϾ#L|›ڭ¶›0€€’‚ãkG[€‰€‚ÿ€(€’‚‚ÿ0€6€’‚ãSµŠ)€‰€‚ÿ€L€’‚‚ÿ0€Z€’‚ãבŸ0€‰€‚ÿ€n€’‚‚ÿÿÿAnalogILmtGain32883EncIn32828Kvff32840ý?ƒÎˆ¾#L~›ڭ¶›0€€’‚ã "€‚ÿ€,€’‚‚ÿ0€:€’‚ã7¨× €‰€‚ÿψBÀ€T€’‚‚ÿ0€b€’‚ãÆÓt×€‰€‚ÿ€t€’‚‚ÿÿÿAnalogILmtOffset32885EncInF032823Kvi101ö8Ï~¾#Lp›ڭ¶›0€€’‚ã½Cµš€‰€‚ÿ€€’‚‚ÿ0€,€’‚ãq‰Ü €‰€‚ÿ€F€’‚‚ÿ0€T€’‚ãÍÓt×€‰€‚ÿ€f€’‚‚ÿÿÿAnalogIn 34825EncMode32827Kvp100Cˆ¾#L†Â›Ú­¶›0€€’‚ã#À=g€‰€‚ÿ€ €’‚‚ÿ0€.€’‚㘡Lú€‰€‚ÿ€F€’‚‚ÿ0€T€’‚ã=½-+€‰€‚ÿ€l€’‚‚ÿÿÿAnalogOut132880EncOut32816Motor 32837-32838úB~y¸#@„›ڭ¶›0€€’‚ã$À=g€‰€‚ÿ€ €’‚‚ÿ0€.€’‚ãΧLú€‰€‚ÿ€F€’‚‚ÿ$€T€’‚€€‚ÿ€j€’‚‚ÿÿÿAnalogOut232881EncPos34826OutMapX32860-32863;’Þ#Œv›ڭ¶›0€€’‚ã)S“0€‰€‚ÿ€€’‚‚ÿ0€"€’‚ã¹ÆV€‰€‚ÿ€>€’‚‚ÿ€H€’‚ÿ0€J€–‚ç6×€€‰€‚ÿ€f€–‚ÿ€h€’‚‚ÿÿÿARF032843ExtFault129Outputs 34840é7y{²#4n›ڭ¶›0€€’‚ã S“0€‰€‚ÿ€€’‚‚ÿ$€"€’‚€€‚ÿ€<€’‚‚ÿ$€F€’‚€€‚ÿ€`€’‚‚ÿÿÿARF132844FaultCode129PoleCount32807ò:’m¸#@t›ڭ¶›0€€’‚ã…V“0€‰€‚ÿ€€’‚‚ÿ0€"€’‚ã” Šx€‰€‚ÿ€B€’‚‚ÿ$€P€’‚€€‚ÿ€l€’‚‚ÿÿÿARZ032841HallOffset32876PosCommand47ø:{e¾#Lt›ڭ¶›0€€’‚ã|V“0€‰€‚ÿ€€’‚‚ÿ0€"€’‚ã,<£ €‰€‚ÿ€@€’‚‚ÿ0€N€’‚ãg€‰€‚ÿ€l€’‚‚ÿÿÿARZ132842HallState32875Position 51ý?mb¾#L~›ڭ¶›0€€’‚ブ€‰€‚ÿ€€’‚‚ÿ0€*€’‚ã㇙̀‰€‚ÿ€J€’‚‚ÿ0€T€’‚ã–*‡©€‰€‚ÿ€p€’‚‚ÿÿÿCommEnbl32836HomeSwitch400RemoteFB32824÷9eY ¾#Lr›ڭ¶›0€€’‚㛯$€‰€‚ÿ€€’‚‚ÿ0€(€’‚ã7â9*€‰€‚ÿ€>€’‚‚ÿ0€L€’‚ãDÉsj€‰€‚ÿ€d€’‚‚ÿÿÿCommOff32825I2tF032871ResPos32857û=bT ¾#Lz›ڭ¶›0€€’‚ã€Î$€‰€‚ÿ€€’‚‚ÿ0€(€’‚ãnPü€‰€‚ÿ€B€’‚‚ÿ0€P€’‚ã›Ò¥€‰€‚ÿ€l€’‚‚ÿÿÿCommSrc32853I2tFilt32873StopTime32830ü>Y P ¾#L|›ڭ¶›0€€’‚ãuƒ–0€‰€‚ÿ€€’‚‚ÿ0€$€’‚ãÿ!€‰€‚ÿ€B€’‚‚ÿ0€P€’‚ã‰:aÿ€‰€‚ÿ€n€’‚‚ÿÿÿDBG2 32800I2tThresh32870VBusFTime32835õ7T E ¾#Ln›ڭ¶›0€€’‚㌃–0€‰€‚ÿ€€’‚‚ÿ0€$€’‚ã¡œœ0€‰€‚ÿ€8€’‚‚ÿ0€@€’‚ãÆì™]€‰€‚ÿ€`€’‚‚ÿÿÿDBGI 32801Icmd80VbusThresh32831î0P 3 ¾#L`›ڭ¶›0€€’‚ブ0€‰€‚ÿ€€’‚‚ÿ0€$€’‚ãÂt×€‰€‚ÿ€6€’‚‚ÿ0€>€’‚ã6×€€‰€‚ÿ€X€’‚‚ÿÿÿDBGL 32802IFB84VelCmd236÷9E *¾#Lr›ڭ¶›0€€’‚ãb{耉€‚ÿ€ €’‚‚ÿ0€.€’‚ãvàpP€‰€‚ÿ€L€’‚‚ÿ0€T€’‚ã]àö,€‰€‚ÿ€j€’‚‚ÿÿÿDigitalCmd32878IlmtMinus83VelFB40B3 *¾#L„›ڭ¶›0€€’‚ãž €‰€‚ÿ€(€’‚‚ÿ0€6€’‚ã$a€‰€‚ÿ€R€’‚‚ÿ0€Z€’‚ãԺƀ‰€‚ÿ€v€’‚‚ÿÿÿDigitalCmdFreq32879IlmtPlus82VelLmtHi32832 K*B@Á#R–›ڭ¶›0€€’‚ãxÑT)€‰€‚ÿ€€’‚€‚ÿ0€&€’‚ã ³£ð€‰€‚ÿ€R€’‚‚ÿ0€l€’‚ãµÔºÆ€‰€‚ÿ€ˆ€’‚‚ÿÿÿDM1F032810*B@BÀInpMap1-InpMap6 32817-32822VelLmtLo32833**l@' €€˜’‚€‚ÿFB@²@, (€4€R˜’‚€ƒ€‚ÿ3.SERIAL control mode¼Œl@nB0 .€€˜’‚€‚€‚€‚ÿIn SERIAL control mode, PC/PCE840 drive ignores the signals from SERCOS network and is controlled by 800Tools individually. The Velocity and Torque modes are available for the serial control. The software will automatically disable drive from software side when switching the control modes. Note: Strongly suggest to disable the drive from hardware side before switching the control mode.1²@ŸB1^ÿÿÿÿÿÿÿÿ>ÿÿÿÿŸBÌB-nBÌB) "€€˜ˆ’‚€‚‚ÿLŸBC1 ÿÿÿÿâ?ÿÿÿÿC×CPC800 System Wiring DiagramK"ÌBcC) "€D€6˜ˆ¤š‚$€‚ÿPC/PCE800 System Wiring Diagram+CŽC( €€2¤š‚$€‚ÿIcC×C; F€ €"š‚€†"€‚†"€ƒ‚ÿ IŽC D1:­:‚@ÿÿÿÿ DEAnalog Command SchematicN×C­D? N€œ€˜ˆ¤„$€€‚€ããC€‰€€‚ÿAnalog Command Schematic Click here for J2 Wiring Description 8 DåD2 4€€2¤š‚$€‚†"€‚ÿ ,­DE) "€€2¤š„$€‚ÿIåDZE1â‚AÿÿÿÿZE!FAnalog Outputs SchematicOEéE@ P€ž€6˜ˆ¤š„$€€‚€ããC€‰€€‚ÿAnalog Outputs Schematic Click here for J2 Wiring Description 8ZE!F2 4€€2¤š‚$€‚†"€‚ÿ GéEhF1í:‚;ƒBÿÿÿÿhFHEnable Input SchematicŒL!FôF@ P€˜€6˜ˆ¤š„$€€‚€ããC€‰€€‚ÿEnable Input Schematic Click here for J2 Wiring Description 8hF,G2 4€€2¤š‚$€‚†"€‚ÿ ,ôFXG) "€€2¤š„$€‚ÿ{M,GÓG. ,€š€2¤š‚$€€ €‚ÿNote: If the drive’s 24 V supply is being used, connect as shown below.;XGH4 8€€2¤š„$€‚†"€ ‚‚ÿ @ÓGNH1킃CÿÿÿÿNHûHInput Schematics<HÁH7 >€x€6˜ˆ¤š„$€‚ããC€‰€‚ÿInput SchematicClick here for J2 Wiring Description :NHûH3 6€€2¤š‚$€‚†"€ ‚‚ÿ AÁH'§) "€*€6˜ˆ¤š‚$€‚ÿ Wiring a Comcoder…Qi,‚4 8€¤€4Š¤š‚$€‚‚†"€‚‚ÿConnect the PC800 and PCE800 to a Comcoder (Hall/encoder) as shown below: –`§‚6 <€À€r¤š\‚$€ƒ€€€€‚ÿ1.Click on the Edit Drive Configuration Online button and select the variable HallState.Ú¯,‚œƒ+ $€_€r¤š\‚$€ƒ‚ÿ2.With the motor disabled, rotate the shaft in the Clockwise direction, as viewed from the shaft end. HallState should repeat the following sequence: (6, 4, 5, 1, 3, 2).‘g‚-„* $€Î€r¤š\‚$€ƒ‚ÿ3.If HallState does not sequence in this manner, swap any two hall sensor phases and repeat Step 2.O%œƒ|„* $€J€r¤š\‚$€ƒ‚ÿ4.Adjust HallOffset if necessary.,-„¨„) "€€2¤š„$€‚ÿG|„ï„1* Ÿ #† JÿÿÿÿÀTB1 Wiring DescriptionzC¨„i…7 >€†€6˜ˆ¤š„$€‚ã1×ÀJ€‰€ ‚ÿTB1 Wiring DescriptionClick here for system Wiring Diagram.C…0 0€&€2¤š‚$€ ‚€‚€‚ÿTB1 AC POWERc7i…†, (€n€2¤š„$€€‚ÿL1, L2 (TB1-1, 2): 240 VAC / 120 VAC Control PowervE¬……‡1 0€‹€2¤š‚$€‚‚€€‚ÿThese terminals connect the 240/120 VAC power provided by the user to the drive's control voltage power supply.If a single supply is used for bus power and control power, externally connect control L1, L2 (TB1-1,2) to bus power L1, L2 (TB1-4, 5). Control power L1, L2 are NOT connected internally to bus power L1, L2.Q!†Ö‡0 0€B€2¤š„$€‚€€‚ÿPE (TB1-3): CHASSIS GROUNDY*…‡/‰/ ,€U€2¤š‚$€€ €‚ÿConvenience connector point for the user to connect the drive’s control power and bus power to protective earth ground. This pin is directly connected to the chassis and thus to the Chassis Ground Stud. Local electrical code may require using the Earth Ground Chassis stud for this function.,Ö‡[‰) "€€2¤š„$€‚ÿ[0/‰¶‰+ &€`€2¤š‚$€€‚ÿL1, L2, L3 (TB1-4, 5, 6): 240 VAC / 120 VACÞ[‰¾Š* "€½€2¤š„$€‚ÿThese terminals connect the 240/120 VAC power provided by the user to the drive's power output stage bus to drive the motor. For single phase operation, use any two of these terminals and leave the third terminal open.+¶‰éŠ( €€2¤š‚$€‚ÿF¾Š/‹) "€:€2¤š„$€ ‚ÿTB1 REGENERATION INTERFACEg9銖‹. ,€r€2¤š†$ê €€‚ÿ+B, R, -B (TB1-7, 8, 9): + BUS, REGEN RESISTOR, - BUSÜ/‹§Œ5 8€¹€2¤š„$€‚€€€‚‚ÿThese terminals provide the connection points for an external resistor to absorb regenerated energy from the motor. An external regeneration resistor goes from + B to R. –Bus (-B) on TB1-9 is usually left open.D–‹ëŒ) "€6€2 ¤š„$€‚ÿCaution! High Voltages!Ó™§Œ¾: B€3€2¤š„$€€€€€‚€‚ÿDuring normal operation +B, R, and –B operate at the bus power voltages. A 240 Vac system operates at @ 400 Vdc. These are dangerous voltages.@ëŒþ, (€(€2¤š‚$€ ‚€‚ÿTB1 MOTOR POWERO#¾MŽ, (€F€2¤š„$€€‚ÿPE (TB1-10): MOTOR CASE GROUND)øþv1 0€ñ€2¤š‚$€‚‚€€‚ÿThis termination provides a convenient point for the motor ground connection and motor power wire shield. Local electrical code may require using the Earth Ground Chassis stud for this function.U, V, W (TB1-11, 12, 13): MOTOR PHASE U, V, WäºMŽfÀ* "€u€2¤š„$€‚ÿThese three terminations provide the 3-phase power output to the brushless motor. Observe motovfÀ¨„r polarity on these connections. For example, connect U on the drive to U on the motor.+v‘À( €€2¤š‚$€‚ÿ,fÀ½À) "€€2¤š„$€‚ÿF‘ÀÁ1 ®† ÿÿÿÿKÿÿÿÿÁÚÊJ3 Wiring DescriptionL#½ÀOÁ) "€F€6˜ˆ¤š‚$€‚ÿJ3 Wiring Description (Feedback)a,Á°Á5 :€X€2¤š„$€ã1×ÀJ€‰€ ‚ÿClick here for system Wiring Diagram.+OÁÛÁ( €€2¤š‚$€ ‚ÿ;°ÁÂ, (€€2¤š„$€ €‚ÿJ3 FeedbackN#ÛÁdÂ+ &€F€2¤š‚$€€‚ÿ15 Position D Subminiature Male,ÂÂ) "€€2¤š„$€‚ÿV+dÂæÂ+ &€V€2¤š‚$€€‚ÿJ3-1, 2, 3, 4: RESOLVER S1, S2, S3, S42 ÂÃ) "€€2¤š„$€‚ÿINPUTSè¹æÂÄ/ ,€s€2¤š‚$€€ €‚ÿThese connections provide the inputs for the resolver's sine/cosine outputs. Differential inputs with > 75 V micro second common mode impulse range and > 25 kW input impedance.,Ã,Ä) "€€2¤š„$€‚ÿb7ÄŽÄ+ &€n€2¤š‚$€€‚ÿJ3-6, 7: RESOLVER R1 EXCITATION, R2 EXCITATION RTN3 ,ÄÁÄ) "€€2¤š„$€‚ÿOUTPUTSa8ŽÄ"Æ) €q€2¤š‚$€‚ÿThese connections provide the resolver excitation output. 9.2 V rms at 6510.42 Hz 75 mA rms maximum load. These outputs are fully short circuit to I/O COMMON or each other protected at room temperature (25 degrees C), but at ambient temperatures > 50 degrees C shorts longer than 5 minutes may cause damage.,ÁÄNÆ) "€€2¤š„$€‚ÿK "Æ™Æ+ &€@€2¤š‚$€€‚ÿJ3-8, 9: MOTOR PTC, PTC RTN2 NÆËÆ) "€€2¤š„$€‚ÿINPUTSê™ÆæÈ1 0€Õ€2¤š‚$€‚‚€€‚ÿThese two inputs are intended to connect to a positive temperature coefficient thermistor or normally closed thermostatic switch imbedded in the motor windings. When the resistance between these terminals becomes greater than 6.2 kOhm the drive will fault and indicate a Motor Over Temperature fault. This circuit directly interfaces with Pacific Scientific's standard motor PTC. Note that PTC RTN is connected to I/O RTN.J3-12, 13, 14, 15: Encoder Inputs CH A, CH A\,CH B,CH B\,ÈŸËÆ®Ê) €?€4Š¤š‚$€‚ÿThese differential inputs expect quadrature encoder feedback signals. These two input pairs are differential and are detected by 26LS32 type RS-422 compatible line receivers. As differential inputs, the recommended common mode range is 7 V with respect to I/O RTN and the guaranteed differential voltage logic thresholds are 0.2 V. Recommended drivers should be able to source and sink 3 mA to/from these inputs.,æÈÚÊ) "€€2¤š„$€‚ÿF®Ê Ë1y>#† € Lÿÿÿÿ ËÞÇJ2 Wiring DescriptionO&ÚÊoË) "€L€6˜ˆ¤š‚$€‚ÿJ2 Wiring Description (Command I/O)a, ËÐË5 :€X€2¤š„$€ã1×ÀJ€‰€ ‚ÿClick here for system Wiring Diagram.+oËûË( €€2¤š‚$€ ‚ÿ>ÐË9Ì, (€$€2¤š„$€ €‚ÿJ2 COMMAND I/ON#ûˇÌ+ &€F€2¤š‚$€€‚ÿ44 Position D Subminiature Male,9̳Ì) "€€2¤š„$€‚ÿS‡Ì@Í: D€¦€2¤š‚$€€€âJPÅ€‰€‚ÿJ2-1, 2: ANALOG CMD (+), (-) Click here for Analog Command Schematic 2 ³ÌrÍ) "€€2¤š„$€‚ÿINPUTSf@ÍØÏM h€3€2¤š‚$€â’žJ\€‰€â î’0€‰€âå+µ€‰€‚ÿThese inputs accept the analog command from the user. This is a differential input to an A/D. It has a maximum single ended input range with respect to I/O RTN on either input of +21 V and an input impedance of > 50 kOhms. The full scale differential command input range is 13.5 V. The offset (ADOffset) and single pole low pass filter bandwidth (ADF0) this signal is adjustable via a software setup parameter. When used as a motion command the gain from this input is also adjustable via a setup parameter (CmdGain).,rÍ) "€€2¤š„$€‚ØÏÚÊÿPØÏ= J€ €2¤š‚$€€€âul\N€‰€€‚ÿJ2-4, 5: DAC MONITOR 1, 2 Click here for Analog Output Schematic 3 Ð) "€€2¤š„$€‚ÿOUTPUTStKD) €—€2¤š‚$€‚ÿThese analog outputs are general purpose monitor points. The output range is 5 V with a resolution of 10 V/256 = 0.039 V. The source impedance is 1 kOhm, which yields a maximum short circuit to I/O RTN current of 5 mA. These outputs are updated at the VELOCITY LOOP update rate. There is a 10 kHz analog LPF on these outputs.,Ðp) "€€2¤š„$€‚ÿÙtDIe ˜€é€2¤š‚$€â+Yž…€‰€âxÑT)€‰€â܃҅€‰€â±ØT)€‰€âc?ñ€‰€‚ÿEach DAC MONITOR can be mapped by software to be one of a number of internal variables. The scale factor and the frequency of a single low pass filter pole are software adjustable on each output by the DM1Gain, DM1F0 and DM2Gain, DM2F0 software parameters for DAC Monitor 1 and 2 respectively. See DM1Map for a list of the defined signal mappings.,pu) "€€2¤š„$€‚ÿJI¿+ &€>€2¤š‚$€€‚ÿJ2-6: Analog Current LimitŽeuM) "€Ê€4Š¤š„$€‚ÿThis input limits the current flow to the motor when a voltage is applied with respect to I/O RTN.,¿y) "€€2¤š„$€‚ÿHMÁ+ &€:€2¤š‚$€€‚ÿJ2-3, 7, 16, 30: I/O RTNϤy+ $€I€2¤š„$€‚‚ÿThis terminal is signal common for the analog inputs and outputs and the emulated encoder inputs and outputs. These pins are internally connected in the drive.“VÁ#= J€¬€2¤š‚$€€€âù/€‰€€‚ÿJ2-8, 9: CH A OUT, CH A/ OUT Click here for Emulated Encoder Schematic O#r, (€F€2¤š„$€€‚ÿJ2-10, 11: CH B OUT, CH B/ OUT2 #¤( €€2¤š‚$€‚ÿOUTPUTS¾ˆrb 6 :€€2¤š„$€â˜¡Lú€‰€‚ÿThese two output pairs are differential TTL incremental position signals generated by the Resolver feedback electronics. These outputs are quadrature encoder to emulate an optical encoder. The resolution of these signals, i.e. the emulated line count, is set by the EncOut parameter. These outputs are buffered by 26LS31 type RS-422 compatible line drivers. Maximum recommended load current is 20 mA, which corresponds to a minimum line-to-line load resistance of 100 Ohms. This drive capacity corresponds to 10 RS-422 compatible inputs such as the SC900 encoder inputs. These outputs are indefinitely short circuit (to I/O RTN) proof.+¤ ( €€2¤š‚$€‚ÿO#b Ü , (€F€2¤š„$€€‚ÿJ2-12, 13: CH Z OUT, CH Z/ OUTnD J * "€‰€2¤š‚$€‚‚ÿOUTPUTSThese two terminals function as a differential, TTL marker pulse. The output pulse occurs once per motor shaft revolution starting at resolver position = 0 and its width is approximately one quadrature encoder width. This output comes from an 26LS31 type RS-422 compatible line driver. Maximum recommended load current is 20 mA, which corresponds to a minimum line-to-line load resistance of 100 Ohm. This drive capacity corresponds to 10 RS-422 compatible inputs such as the PC/PCE800 encoder inputs. This output is indefinitely short circuit (to I/O RTN) proof.S$Ü  / .€H€2¤š‚$€‚€€‚ÿJ2-14, 15: +5 VDC, +5 VDC RTN2 J Ï ) "€€2¤š„$€‚ÿOUTPUTJ! ) €C€4Š¤š‚$€‚ÿThese two connections provide an auxiliary power supply for the user. This output is 5 Vdc ± 5% and is short circuit protected at 1 A nominal. The maximum load limit for all connections to this supply is 250 mA. The +5 VDC RTN (J2-15) is connected to I/O RTN (J2-3, J2-7, J2-16, J2-30).+Ï D( €€2¤š‚$€‚ÿ•RÙC V€¤€2¤šˆ$êÕ€€ƒƒ€â½OŠ5€‰€€‚ÿJ2-17, 18:CH A IN,CH A/ IN Click here for Encoder Input Schematic ?D$@- *€$€2¤š†$êÕ€Ù$@Úʃƒ‚ÿStep +,Step -FÙj@. ,€0€2¤šˆ$êÕ€ƒƒ‚ÿStep Up +,Step Up -P $@º@0 0€@€2¤š†$êÕ€€ƒƒ‚ÿJ2-19, 20:CH B IN,CH B/ IN>j@ø@. ,€ €2¤šˆ$êÕ€ƒƒ‚ÿDir +,Dir -Dº@0.2 V. Recommended drivers should be able to source and sink > 3 mA to/from these inputs. Each of these inputs have internal bias networks to allow easy connection to single ended sources. When an input is open circuited it will bias itself to between 2.2 and 2.5 V, thus the remaining input pair terminal will have a single ended guaranteed logic low for inputs < 2.0 V and a guaranteed logic high for inputs > 2.7V. These levels are compatible with a TTL driver combined with a pull up resistor. Pull up resistor should be 470W.+7C¯F( €€2¤š‚$€‚ÿ8÷„FçGA P€ï€4Š¤š‚$€€€€â]{ù—€‰€‚‚‚‚ÿJ2-24, 25: Relay Outputs Click here for Relay Schematic These relay outputs are normally open. They are rated for 1 Amp at 30 VDC. These relays may be opened/closed by Out4. When the drive has no control power the relay is open.˜n¯FJ* "€Ý€4Š¤š„$€‚ÿThe relay output is set and read by software every 2 mSec. It can be configured to be any of the available output functions and the configuration can be changed on the fly via digital communications. The user's default configuration is stored in the non-volatile memory. The present state of the relay output can be read via digital communications. The logic polarity of this signal is also software programmable. The relay output can be defined to be active low or active high. For edge triggered functions the active edge is programmable. The relay output is mapped as the Brake/ output as the factory default.+çGªJ( €€4Š¤š‚$€‚ÿQ JûJ1 2€@€2¤š‚$âgó(€‰€‚ÿBrake/ Output Active High:¯†ªJªL) € €4Š¤š‚$€‚ÿThis output is open when the control power is off, or when control voltage is on and the drive is disabled (Enabled = 0). This output is closed otherwise. This output is intended to control a 24 V mechanical brake on the motor shaft for applications that require a positive shaft lock when the servo drive is off. The output closes the circuit between a 24 V supply and the motor brake.+ûJÕL( €€2¤š‚$€‚ÿŸaªLtM> L€Â€2¤š„$€€€âB{¹d€‰€€‚ÿJ2-31, 32, 33, 34, 35, 36: Inputs 1, 2, 3, 4, 5, 6 Click here for Input Schematic 1 ÕL¥M( €€2¤š‚$€‚ÿINPUTSu@tMO5 8€€2¤š„$€€ €‚‚€‚ÿThese six optically isolated I/O connections are user programmable discrete 24 V inputs. These inputs share a floating return (J2-38) with the Enable Input (J2-37). A minimum drive capability of 4 mA is required to fully power the opto. The user must supply 10 – 30 V inputs.Note: 5 V inputs CAN NOT be used.+¥MEO( €€2¤š‚$€‚ÿWOÒ* "€¯€2¤š„$€‚ÿEach of the Inputs is set and read by software every 2 mSec. Each one can be configured to be any of the available functions and the configuratEOÒÚÊion can be changed on the fly via digital communications. The user's default configuration is stored in the non- volatile memory. The present state of each of these lines as well as the state of commanded outputs can be read via digital communications. The logic polarity of these signals is also software programmable. That is, an input can be defined to be active low or active high. For edge triggered functions the active edge is programmable.+EOý( €€2¤š‚$€‚ÿûÅÒø‚6 :€‹€2¤š„$€ã ³£ð€‰€‚ÿThe subset of the available functions and their mapping that are used as the 800Tools defaults for each of the Inputs are listed below. See InpMap1-InpMap6 for a complete list of functions.+ý#ƒ( €€2¤š‚$€‚ÿl3ø‚ƒ9 B€f€2¤š†$n€€â—tQ€‰€‚ÿJ2-31 Input 1 FaultReset Input Active High:yP#ƒ…) €¡€2¤š‚$€‚ÿThis input is used to reset the amplifier following a fault. This input is programmed active high so that an open circuited input does not activate the function. During Fault Reset active the output stage is disabled and the reset condition will be held in hardware for approximately 0.1 sec after Fault Reset is returned inactive.,ƒ4…) "€€2¤š„$€‚ÿe.…™…7 >€\€2¤š‚$€€âCw-)€‰€‚ÿJ2-32 Input 2 CwInh Input Active High:õ4…¸‡* "€ë€2¤š„$€‚ÿThis input prevents further motion in the clockwise shaft motion direction. If the shaft is already moving in the clockwise direction, then the motor will decelerate to zero velocity with the maximum torque allowed by the user set output current limits. This input will have no effect on motion in the counter clockwise direction. This input is programmed active high so that an open circuited input does not activate the function. This input is useful for a clockwise over travel limit switch.+™…ã‡( €€2¤š‚$€‚ÿg/¸‡Jˆ8 @€^€2¤š„$€€ât‹ æ€‰€‚ÿJ2-33 Input 3 CcwInh Input Active High:ˆ`ã‡Òˆ( €À€2¤š‚$€‚ÿAnalogous to the CwInh input above, except that this input prevents counter clockwise motion.,Jˆþˆ) "€€2¤š„$€‚ÿ¨oÒˆ¦‰9 B€Þ€2¤š‚$€€‚ã‘k.a€‰€‚‚ÿJ2-34 Input 4 No Function:May be used as Reg1. See Registration Overview for additional information.§nþˆMŠ9 B€Ü€2¤š„$€€‚ã‘k.a€‰€‚ÿJ2-35 Input 5 No Function:May be used as Reg2. See Registration Overview for additional information.+¦‰xŠ( €€2¤š‚$€‚ÿJMŠŠ, (€<€2¤š„$€€‚ÿJ2-36 Input 6 No Function:+xŠíŠ( €€2¤š‚$€‚ÿ‡EŠt‹B T€Š€2¤š„$€‚€€€â ­€‰€€‚ÿJ2-37: ENABLE Click here for Enable Input Schematic 0튤‹( €€2¤š‚$€‚ÿINPUT Ðt‹­9 @€¡€2¤š„$€€ €‚‚€‚€‚ÿThis optically isolated input is used to enable the drive and is active high. The output stage is disabled when this input is inactive. A minimum drive sink capability of 4 mA is required. The user must supply 10 V – 30 V to drive this input. This input is filtered with a 1 mSec time constant low pass filter to prevent false triggering from noise. The Enable input shares a floating return (J2-38) with the Inputs.Note: 5 V inputs CAN NOT be used.B¤‹ï, (€,€4Š¤š‚$€€‚‚ÿJ2-38: Input RTN*÷­%À3 4€ï€2¤š‚$€‚‚€€‚‚‚ÿThis terminal is the floating common return for the six optically isolated digital inputs and the optically isolated Enable input. Input RTN is not connected internally to I/O RTN.J2-39, J2-40: +24 VDC RTN, +24 VDC (Output)These two connections provide an auxiliary floating power supply for the user. This output is 24 Vdc ± 10 % and is short circuit protected at 100 mA nominal. The maximum load limit for all connections to this supply is 80 mA. + 24 VDC RTN is not ï%ÀÚÊconnected to Input RTN.+ïPÀ( €€4Š¤š‚$€‚ÿr(%ÀÂÂJ b€Q€2¤š‚$€€‚‚‚‚€€€âm_Óû€‰€‚€‚‚ÿJ2-41: Out1, 2, 3 Supply (Input)The PC800 and PCE800 requires an external 12 - 24 VDC power source for the outputs. This power source must be capable of supplying at least 150 mA.J2-42, 43, 44: Outputs Click here for Output Schematic These optically isolated outputs are current sourcing at 0 to 50 mA maximum. External output supply should be limited to 30 V. These outputs are short circuit protected. Current folds back to about 25 mA during a short circuit. The external output supply (J2-41) is shared by the three outputs.,PÀîÂ) "€€2¤š„$€‚ÿ^/ÂÂLÅ/ ,€_€4Š¤š‚$€€ €‚ÿEach of the outputs is set and written to by software every 2 mSec. Each one can be configured to be any of the available functions and the configuration can be changed on the fly via digital communications. The user’s default configuration is stored in the non-volatile memory. The present state of commanded outputs can be read via digital communications. The logic polarity of these signals is also software programmable. That is, an output can be defined to be active low or active high. For edge triggered functions the active edge is programmable.üÅîÂHÆ7 <€‹€4Š¤š‚$€‚ãb¢|€‰€‚‚ÿThe list below describes the subset of the available functions and the mappings used as the factory defaults for each of the outputs. See OutMap1-OutMap6 for a complete list of functions.ì³LÅ4Ç9 @€g€2¤š‚$€â¯)€‰€€‚‚ÿJ2-42 Output 1 Fault/ Output Active High:This output is low when the drive is faulted or has no control power. This line can be used to indicate a problem with the drive.+HÆ_Ç( €€4Š¤š‚$€‚ÿK4ÇÞÇ4 8€–€2¤š‚$€€‚‚€€‚‚ÿJ2-43 Output 2 Output Mapped Off:J2-44 Output 3 Output Mapped Off:F_Ç$È1ø¤ ®† Mÿÿÿÿ$È J1 Wiring DescriptionZ0ÞÇ~È* $€`€6˜ˆ¤š„$€‚ÿJ1 Wiring Description (Serial Communications)`,$ÈÞÈ4 8€X€2¤š‚$€ã1×ÀJ€‰€ ‚ÿClick here for system Wiring Diagram.,~È É) "€€2¤š„$€ ‚ÿIÞÈSÉ+ &€<€2¤š‚$€ €‚ÿSERIAL COMMUNICATIONS PORTP$ É£É, (€H€2¤š„$€€‚ÿ9 Position D Subminiature Female+SÉÎÉ( €€2¤š‚$€‚ÿP$£ÉÊ, (€H€2¤š„$€€‚ÿJ1-2, 3: RS-232 TXD, RS-232 RXD7ÎÉUÊ( €€2¤š‚$€‚ÿOUTPUT/INPUTÚÊYË* "€µ€2¤š„$€‚ÿThese two connections are the RS-232 serial port output and input respectively. The receive signal is logically combined with RS-485 RXD +,-. An open circuited RXD input is biased to correspond to an idle channel.+UÊ„Ë( €€2¤š‚$€‚ÿL YËÐË, (€@€2¤š„$€€‚ÿJ1-4, 5: +5 VDC, +5 VDC RTN2 „ËÌ( €€2¤š‚$€‚ÿOUTPUTS/ÐË1Í+ $€ €2¤š„$€‚ÿThese two connections provide a convenience power supply for the user. This output is 5 VDC +5% and is I/O RTN short circuit protected. This output is the same as that on the J2 Command connector and the maximum load limit from all connections is 200 mA.+Ì\Í( €€2¤š‚$€‚ÿV*1ͲÍ, (€T€2¤š„$€€‚ÿJ1-6, 7: RS-485 TXD+, RS-485 TXD-4 \ÍæÍ) "€€2¤š‚$€‚‚ÿOUTPUTSU)²Í;Î, (€R€2¤š„$€€‚ÿJ1-8, 9: RS-485 RXD+, RS-485 RXD-1 æÍlÎ( €€2¤š‚$€‚ÿINPUTSè;ÎÏ+ $€Ñ€2¤š„$€‚‚ÿThese four connections are the differential RS-485 serial port output and input respectively. The receive signal is logically combined with RS-232RXD. An open circuited RXD+, - input is biased to correspond to an idle channel.,lΫÏ) "€€6˜ˆ¤š‚$€‚ÿ+Ï ( €€4Š¤š‚$€‚ÿ«Ï ÞÇ9«ÏE1J“} NÿÿÿÿEUAccelLmtO" ”- *€D€˜ˆ‚€€€‚ÿAccelLmt (Acceleration Limit)†HE> L€€‚€‚ƒƒâ°ïî?€‰€‚‚ƒƒ‚‚ƒƒ‚‚ÿType:Float, NV Parameter Units:RPM/secRange: 0 to 1e9ØŸ”ò9 @€?€R!ã~‚!€ƒ€ €€ €‚ÿDefault: Parameter value set before last NVSAVE. 800Tools ‘Create New Configuration’ sets its value to a very large number (no acceleration limiting).)& €€‚€‚ÿê¥òE X€K€R!ã~‚!€ƒâÜ.À‰€âá›w€‰€‚ÿPurpose:Slew rate limit on increases of actual velocity command magnitude. See VelCmdA for the VelCmd value of the velocity command after slew limiting.‚M‡5 :€š€‚€‚ƒâªb´H€‰€‚‚ÿGuidelines:See DecelLmt for control of VelCmdA magnitude decreases.¥|,) "€ø€!‚!€‚ÿFor position loop, setting either AccelLmt or DecelLmt to a value is not recommended as it may cause excessive overshoot.)‡U& €€‚€‚ÿ@,•1 ó Oÿÿÿÿ•ÖActiveAccelRate]0Uò- *€`€˜ˆ‚€€€‚ÿActiveAccelRate (Acceleration Rate of Move)嬕×9 @€Y€‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:Float, Read-Only.Units:RPM/secRange:1 to 16,000,000 rpm/secDefault: 0Purpose:ActiveAccelRate indicates the acceleration rate of the selected move.Ö—ò­? L€/€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveAccelRate will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)×Ö& €€‚€‚ÿ@­1} i PÿÿÿÿW ActiveDecelRate]0Ös- *€`€˜ˆ‚€€€‚ÿActiveDecelRate (Deceleration Rate of Move)å¬X9 @€Y€‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:Float, Read-Only.Units:RPM/secRange:1 to 16,000,000 rpm/secDefault: 0Purpose:ActiveDecelRate indicates the deceleration rate of the selected move.Ö—s. ? L€/€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveDecelRate will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)XW & €€‚€‚ÿ?. – 1[ó n Qÿÿÿÿ– ² ActiveDistancek>W  - *€|€˜ˆ‚€€€‚ÿActiveDistance (Incremental or Absolute Position of Move)‹Y– Œ 2 4€²€‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ÿType:Integer, Read-Only.Units:countsRange:-2,147,483,648 to +2,147,483,648ÿÒ ‹ - (€¥€R!ã~‚!€ƒ‚ÿPurpose:ActiveDistance indicates the distance of the selected move. For absolute moves, ActiveDistance is the target position. For incremental moves, ActiveDistance is the index (or incremental) distance.)Œ ´ & €€‚€‚ÿÕ–‹ ‰ ? L€-€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveDistance will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)´ ² & €€‚€‚ÿA‰ ó 1ƒi € Rÿÿÿÿó A@ActiveDistOffsetl?² _ - *€~€˜ˆ‚€€€‚ÿActiveDistOffset (Distance Offset from Commanded Position)…Pó ä 5 :€ €‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ÿType:Integer, Read-Only.Units:countsRange:0 to 65535Default: 0(û_  - (€÷€R!ã~‚!€ƒ‚ÿPurpose:ActiveDistOffset indicates the offset of the selected move. For home moves, ActiveDistOffset is the home offset distance. For registration moves, ActiveDistOffset is the distance to be traveled after the registration mark is encountered.)ä 5& €€‚€‚ÿט @? L€1€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveDistOffset will reflect the value of the selected move ONLY after the move is initiated (StartMove is 5@² asserted).)5A@& €€‚€‚ÿ> @@18n ä Sÿÿÿÿ@yCActiveHomeDirX+A@×@- *€V€˜ˆ‚€€€‚ÿActiveHomeDir (Direction of Home Move)º†@‘A4 6€ €‚€‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚ÿType:Integer, Read-Only.Range:0 or 1Default: 0Purpose:ActiveHomeDir indicates the direction of the selected home move.uK×@B* $€–€R‘€‘€‚€‚ÿIf ActiveHomeDir = 0 then the motor will turn in the positive direction.vM‘A|B) "€š€‚€ƒƒ‚‚ÿIf ActiveHomeDir = 1 then the motor will turn in the negative directionÔ•BPC? L€+€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveHomeDir will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)|ByC& €€‚€‚ÿ?PC¸C1€ ݃ Tÿÿÿÿ¸CˆHActiveHomeModeT'yC D- *€N€˜ˆ‚€€€‚ÿActiveHomeMode (Type of Home Move)¾‰¸CÊD5 8€€‚€‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:Integer, Read-OnlyRange:0, 1, 2, or 3Default: 0Purpose:ActiveHomeMode indicates the home mode of the selected move.~( DHEV#|€PÁ’x €€ ‚€‚ÿ€4€ ‚ÿ€6€‚‚ÿÿÿValue of ActiveHomeModeExplanationwÊD¿Ee#š€$Á’x €€‚ÿ€€ ‚€‚ÿ€ € ‚ÿ€ €‚‚ÿÿÿ0Home Input‚HEAFe#š€:Á’x €€‚ÿ€€ ‚€‚ÿ€ € ‚ÿ€ €‚‚ÿÿÿ1Internal marker pulse’-¿EÓFe#š€ZÁ’x €€‚ÿ€€ ‚€‚ÿ€ € ‚ÿ€ €‚‚ÿÿÿ2Home Input then internal marker pulseŽ)AFaGe#š€RÁ’x €€‚ÿ€€ ‚€‚ÿ€ € ‚ÿ€ €‚‚ÿÿÿ3Present position is home position)ÓFŠG& €€Š‚€‚ÿÕ–aG_H? L€-€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveHomeMode will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)ŠGˆH& €€Š‚€‚ÿ; _HÃH1–ä l… UÿÿÿÿÃHKActiveMoveV)ˆHI- *€R€˜ˆ‚€€€‚ÿActiveMove (Number of Selected Move)¤pÃH½I4 8€à€‚€‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:IntegerRange:0 to 7Default: 0Purpose:ActiveMove indicates the number of the selected move.8óIõJE X€ç€TŠ!ã~‚!€ƒâ¾c—€‰€âoÍpš€‰€‚ÿGuidelines:The value of ActiveMove can be changed by either mapping MoveSelectBit or by writing to it serially. For example, If you change the value of ActiveMove to be 4, then Move #4 will be initiated when StartMove is asserted.)½IK& €€‚€‚ÿ?õJ]K1q݃ 4€#Vÿÿÿÿ]K”ActiveMoveTypeO"K¬K- *€D€˜ˆ‚€€€‚ÿActiveMoveType (Type of Move)¾‰]KjL5 8€€‚€‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:Integer, Read-OnlyRange:0 to 6Default: 0Purpose:ActiveMoveType indicates the type of move that is currently active.~(¬KèLV#|€P¸›7 €€ Š‚€‚ÿ€4€ Š‚ÿ€6€Š‚‚ÿÿÿValue of ActiveMoveTypeExplanationjLiMe#š€8¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ0None. Hold PositionzèLãMe#š€*¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ1Velocity move}iM`Ne#š€0¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ2Incremental movezãMÚNe#š€*¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ3Absolute movev`NPOe#š€"¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ4Home moveŠ%ÚNÚOe#š€J¸›7 €€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ5Incremental Registration move‡"POm€e#š€D¸›7 ÚOm€K€€Š‚ÿ€€ Š‚€‚ÿ€ € Š‚ÿ€ €Š‚‚ÿÿÿ6Absolute Registration move)ÚO–€& €€Š‚€‚ÿÕ–m€k? L€-€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveMoveType will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)–€”& €€Š‚€‚ÿ?kÓ1j4€#ü WÿÿÿÿÓþƒActiveRunSpeedS&”&‚- *€L€˜ˆ‚€€€‚ÿActiveRunSpeed (Velocity of Move)Ú¡Óƒ9 @€C€‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ƒ‚‚ÿType:Float, Read-Only.Units:RPMRange:-5,000,000 to 5,000,000Default: 0Purpose:ActiveRunSpeed is the commanded velocity of the selected move.Õ–&‚Õƒ? L€-€TŠ!ã~‚!€ƒ€€âoÍpš€‰€‚ÿGuidelines:The value of ActiveRunSpeed will reflect the value of the selected move ONLY after the move is initiated (StartMove is asserted).)ƒþƒ& €€Š‚€‚ÿ@Õƒ>„1-œ ‘ Xÿÿÿÿ>„+‡ActualILmtMinus^1þƒœ„- *€b€˜ˆ‚€€€‚ÿActualILmtMinus (Actual CCW Current Limit %))>„Å„& €€Š‚€‚ÿ‰Qœ„N…8 @€¢€R!ã~‚!€ƒânl`€‰€‚ÿType:Float, Status Variable, Read-Only, Attribute in 840 Drive -IDN 32887Ԣń"†2 2€E€‚€‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ÿUnits% (Percentage) of peak current rating of drive.Range:0 to 100Purpose:ActualILmtMinus shows the actual negative current limit used by the drive.‚CN…¤†? N€†€Š‚€ƒâvàpP€‰€â¦66g€‰€‚ÿGuidelines:ActualILmtMinus = max(ILmtMinus, AnalogILmt)^("†‡6 <€P€TŠ‘€‘€‚€ã˜ L€Ø€‚€‚ƒƒâ°ïî?€‰€‚‚ƒƒ‚‚ƒƒ‚‚ÿType:Float, NV Parameter, Attribute in 840 Drive-IDN 32808Units:HertzRange:0.01 to 4.17e7°xÛŠ5Œ8 @€ð€R!ã~‚!€ƒ€ €€ €‚ÿDefault: Parameter value set before last NVSAVE. 800Tools ‘Create New Configuration’ sets its value to 1000 Hz.)…‹^Œ& €€‚€‚ÿq5ŒûŒ, (€â€R!ã~‚!€ƒ‚ÿPurpose:ADF0 is the first-order low-pass filter corner frequency for the analog input channel (J2-1 to J2-2).)^Œ$& €€‚€‚ÿ”[ûŒ¸Ž9 @€·€R!ã~‚!€ƒâ½Cµš€‰€‚ÿGuidelines:ADF0 is the corner frequency in Hz of the single-order low-pass filter. The purpose of the filter is to attenuate the high frequency components from the digitized input signal. Decreasing ADF0 lowers the response time to input changes, but it also increases the effective resolution of AnalogIn by removing more circuit noise.)$áŽ& €€‚€‚ÿr¸ŽS^#Œ€(’›² © €€‚€‚ÿ€€‚‚ÿ€"€‚€‚ÿÿÿADF0AnalogInxáŽË[#†€:’›² © €€‚€‚ÿ€€‚‚ÿ€&€‚‚ÿÿÿEffective BitsLSB SizemSDÀ[#†€$’›² © €€‚€ËDÀSŠ‚ÿ€ €‚‚ÿ€€‚‚ÿÿÿMax141.6 mVm˱À[#†€$’›² © €€‚€‚ÿ€ €‚‚ÿ€€‚‚ÿÿÿ150160.4 mVlDÀÁ[#†€"’›² © €€‚€‚ÿ€ €‚‚ÿ€€‚‚ÿÿÿ10180.1 mV)±ÀFÁ& €€‚€‚ÿ9ÁÁ1" á [ÿÿÿÿÁcÄADOffsetO"FÁÎÁ- *€D€˜ˆ‚€€€‚ÿADOffset (A/D Offset Voltage)¦iÁtÂ= J€Ò€‚€‚ƒƒâ°ïî?€‰€‚‚ƒƒ‚‚ƒ‚‚ÿType:Float, NV Parameter, Attribute in 840 Drive-IDN 32866Units:VoltsRange: -15 to +15ªrÎÁÃ8 @€ä€R!ã~‚!€ƒ€ €€ €‚ÿDefault: Parameter value set before last NVSAVE. 800Tools ‘Create New Configuration’ sets its value to 0.{Rt™Ã) "€¤€‚€‚ƒ‚‚ÿPurpose:ADOffset adjusts the steady-state value of the analog command input.¡iÃ:Ä8 @€Ò€R!ã~‚!€ƒâ½Cµš€‰€‚ÿGuidelines:AnalogIn is equal to the differential voltage between J2-1 and J2-2 plus the ADOffset.)™ÃcÄ& €€‚€‚ÿ8:Ä›Ä1´&€ *† \ÿÿÿÿ›ÄÈAInNullJcÄåÄ- *€:€˜ˆ‚€€€‚ÿAinNull (Offset Nulling)ÿ±›ÄäÅN j€c€‚€‚ƒƒâp3[€‰€‚‚ƒƒ‚‚ƒƒ‚‚ƒâ½Cµš€‰€‚‚ÿType:Integer, Mappable Input Function.Range:0 or 1Default:0 at power up if not mapped to an Input pin.Purpose:Function to null the DC in AnalogIn to 0.–QåÄzÇE X€£€R!ã~‚!€ƒâ î’0€‰€â’žJ\€‰€‚ÿGuidelines:When not mapped to an Input, setting AInNull to 1 starts the nulling function by temporarily setting ADF0 to 1 Hz. When AInNull goes back to 0 for normal operation ADF0 is restored and ADOffset is set to old ADOffset minus AnalogIn sampled at the 1 to 0 transition. This new ADOffset is then stored in NV memory.)äÅ£Ç& €€‚€‚ÿKzÇîÇ7 >€(€R‘€‘€‚€ƒâ’žJ\€‰€‚ÿSee:ADOffset)£ÇÈ& €€‚€‚ÿ9îÇPÈ1¶¥]ÿÿÿÿPÈÍËAnalogInN!ÈžÈ- *€B€˜ˆ‚€€€‚ÿAnalogIn (A/D Voltage Value))PÈÇÈ& €€‚€‚ÿˆPžÈOÉ8 @€ €R!ã~‚!€ƒânl`€‰€‚ÿType:Float, Status Variable, Read-Only, Attribute in 840 Drive-IDN 34825n=ÇȽÉ1 2€z€‚€‚ƒƒ‚‚ƒ‚‚ƒƒ‚‚ÿUnits: VoltsRange: -13.5 to +13.5Default:NoneåOÉÛÊ9 @€Ë€R!ã~‚!€ƒâ î’0€‰€‚ÿPurpose:AnalogIn (Analog input) contains the digitized value of the analog input channel, which is the differential voltage of J2-1 (+) relative to J2-2 (-) after ADOffset is added and passed through ADF0 low-pass filter.)½ÉË& €€‚€‚ÿ tÛʤË, (€è€R!ã~‚!€ƒ‚ÿGuidelines:AnalogIn can be monitored to check the presence and voltage of signals at the analog input terminals.)ËÍË& €€‚€‚ÿ; ¤ËÌ1ìá D‡ ^ÿÿÿÿ̹ÍAnalogILmtS&ÍË[Ì- *€L€˜ˆ‚€€€‚ÿAnalogILmt (Analog Current Limit)õ¿ÌPÍ6 :€€‚€‚ƒƒ‚‚ƒƒ‚‚ƒƒ‚‚ƒ‚‚ÿType:Float, Read-Only, Attribute in 840 Drive-IDN 32882Units:% of IpeakRange:0 to 100Purpose:AnalogILmt shows the current limit set by the Analog Current Limit Input (J2-6).i5[̹Í4 8€j€Š‚€ƒã˜ L€Ø€‚€‚ƒƒâ°ïî?€‰€‚‚ƒƒ‚‚ƒƒ‚‚ÿType:Float, NV Parameter, Attribute in 840 Drive-IDN 32884Units:HertzRange:0 to 1,000,000©qiμÏ8 @€â€R!ã~‚!€ƒ€ €€ €‚ÿDefault:Parameter value set before last NVSAVE. 800Tools ‘Create New Configuration‘ sets its value to 0.)Ï & €€‚€‚ÿ¼Ï ¹Í™m¼Ï¥, (€Ú€R!ã~‚!€ƒ‚ÿPurpose:AnalogILmtFilt sets the low-pass filter break frequency on the Analog Current Limit Input (J2-6).) Î& €€‚€‚ÿi5¥74 8€j€Š‚€ƒã˜