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Digital controller RK 4004

5.1.2 Paramete r list "Extended DCS"

The following parameters can only be edited using a CANMON pro- gram,

 

(only on

RK 4004-8003)

 

No.

Name

De-

Min.

Max.

Unit

Description

 

fault

 

0.

edit device

5

 

1

F

hex

Select device number See block diagram for device number

 

1.

edit group

0

 

0

7

hex

Select group number See block diagram for group number

 

2.

reset settings

0

 

0

2

 

Works settings

 
 

0 no function

=

1 restore customer settings

=

2 restore internal basic settings

=

4.

Add. DCS Config.

4.X

4.0

5.5

 

Software version

 

5.

>function config

0000

0000

FFFF

hex

Configuration

 

[

]

check workspace

0x0001

[

]

emergency guide

0x0002

6.

mid target limit

0.0

-3250.0

3250.0

mm

Limit for reference variable during lamination

 

7.

auto offset limit

0.0

-3250.0

3250.0

mm

Limit for web offset

 

8.

target change

0

 

0

120

mm/s

Rate of change of reference variable

 

speed

   
   

If the following sign ">" is set in front of the parameter it may be edited with the help of a paramete r value list (selection list) in CANMON or DO

 

T

0.3(FE5002)

 

•—Search

••. >Ho Restrictio n

Range

Mode

 

(

(

(*>Restr. during Time

!>Always Restrictio n

Auto & Time

>Restr.

Editing with Canmon:

 

Parameter value list (selection list)

Select the "Value" field and ope n the paramete r list via the enter key. Select the required parameter value with the cursor keys, to mark the parameter value press the space bar.

Editing with command station DO 200.:

Select the required parameter value via the "increase value"/ "decrease value" keys, to mark the parameter value press the ac- knowledge key.

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Digital controller RK 4004

5.2

Explanation of parameter s

5.2.1

Explanation

of

"Standard"

parameter s

0.

edit device

1

.

edit grou p

The device address consists of the device and group numbers. Each device with a CAN connection (serial or parallel) possesse s its own device addres s that may only be assigned once in the entire CAN network .

In order for a specific device to be addresse d in the control loop the

device number must be set in parameter "

group number in parameter "

numbers are specified in the block diagram for each device with a

CAN address.

0.

edit device" and the

1

. edit group". The device and group

2. reset settings

In the event of incorrect functioning or parameter entries, the E+L ba- sic settings or default values may be reloaded. The following settings are possible:

1

=

perform customer settings. This customer setting is only pos- sible on compact system s set by E+L prior to delivery wher e all parameter settings were saved in a backup list. The setting val- ues are thus reloaded.

2

=

perform basic settings. The default values specified in the pa- rameter list ar e loaded. The default values are however only loaded for the currently selected device. No parameter values are changed on the remaining devices.

3.

start service

Use this parameter to start various processes that are particularly required on commissioning the system. The following functions are possible:

1

=

Reset guider In this reset all paramete r value s for the selected device ar e saved and a restart performed. Every time parameter values are changed setup mode should always be quit via 1 to assure that all change d paramete r value s are saved .

2

=

Sav e parameters Function 2 is identical to function 1, the only difference is that no restart is performed for the selected device.

10

=

Actuator initialisation run (with specification of the motion path) Prior to the initialization run the actual positioning path must be established and entered in parameter ".2.5. total motion range". The actuator initialization run is started by entering the value 10. Prior to starting the actuator should be located in its center position for this start position is saved as the new center posi- tion. The latter may also be corrected manually at any time via parameter ".3.1. center offset".

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Digital controller RK 4004

11

=

Initialisation run suppor t beam By entering value 11 the initialization run for all support beam s featured in this group is performed.

12=

Initialisation

run actuator (with specification of motor and

gear data) In this initialization run by first entering the motor and gear data (parameter .3.47.3.57.3.6. and .3.7.) the maximum positioning path is established and entered in parameter ".2.5. total motion range".

13=

Capture of guiding criterion

photo

On follow-up control systems the position of the actuator/tool is controlled according to the detected web position. In order to calibrate the offset, a guiding criterion photo of the actua- tor must be taken. To this end, the actuator is moved to the required location manually. While the actuator guiding criterion photo is being taken, the offset is calculated on the basis of the current actuator position and the web position and entered in parameter ".4.6. foto auto offset".

15=

Calibrate syste m offset (only with data protocol PR 2) If the control card is used for a support beam, the system offset must be calibrated. During the calibration of the system offset, the support beam position is calibrated to the middle of the machine (reference line). The parameter "1.1.1. template position" must be set be- fore the calibration can be performed.

20

=

Calibrate the zero point for the motor current measure - ment A zero calibration for the motor current measurement is per- formed. The offset determined during this process is saved in parameter 1.0.9.

22=

Sav e syste m

parameter s

 

The parameter values of certain parameters are additionally stored and not deleted in the case of possible data memory de- letion. The following parameters are saved: .8.2. / .8.3. / .8.4. / .8.5. / .8.6. / .9.2. / .9.7. / .9.8. and

23=

Save the calibration data for the controller card RK 4004

The values saved are displayed in parameter 1.0.8. to

30 =

general we b guider basic parameter setting

31 =

VS 35

suppor t beam basic parameter setting

32 =

3 position controller basic parameter setting

33=

Basic parameter setting for DR 11

/ DR

12

34=

VS 50

suppor t beam

basic parameter setting

The device-specific parameters are preset for the specified de- vices by entering the appropriate value.

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Digital controller RK 4004

4 2 =

Expande d setup-mod e In setu p mod e all existing parameter s may be selected and the parameter values viewed. Some of the parameter values may be changed immediately. The protected parameters may only be changed once value 42 has been entered. This entry furnishes access to what is known as "expanded setup-mode". In expande d setu p mod e all parameter s that can be changed, may be changed.

44

=

Sav e custome r settings In this form of saving all paramete r settings are stored in a

 

backup list. If necessary, all customer-specific settings may be

reloaded using parameter "

2.

reset settings".

55

=

Delete reset counter and running hour s meter The internal reset counter and running hours meter are reset to zero.

56

=

Delete maximum temperature The maximum heat sink temperature saved is deleted.

57

=

Set calibration values to default The calibration values are reset to the default values.

98

=

Delete error memor y This command should only be used by E+L service personnel. The controller card can store up to 100 errors that have oc- curred. If the number of errors exceeds the 100 mark, the error message s are pushed out at the back of the error memory and are thus deleted.

99

=

Delete data memor y This command should be used by E+L service personnel. The entire data memory of the controller card is deleted. Once the controller card is switched on the default values are automati- cally loaded.

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I No command s are performed been executed!

until a parameter chang e has

Number

CAN dat a protocol

1.X to 3.X

PR 1

4.X to 6.X

PR 2

7.X to 9.X

PR 1 + PR 2

Number

Software version

1.0

A

1.1

B

etc.

etc.

1.9

J

2.0

K

2.1

L

etc.

etc.

4. RK 4004

Digital controller RK 4004

The actual CAN data protocol and the software version are dis- played.

The number before the point indicates the CAN data protocol used by the software.

The number after the point indicates the software version.

5. webedg e offset

Parameter block for setting the web offset.

Sensor zero point

Web offset to the right in the direction of web travel

6. weboffset

The web offset permits the displacement of the set web position

to the left or right during automatic mode . Th e offset is set directly in this parameter by a command station or via a digital interface.

The step width for web offsetting may be set in parameter "

width". The offsetting of the set position is displayed on the command

station in mm. A set web offset is preserved, even when the operat- ing voltage is switched off, until a new entry is saved .

7.

step

In the cas e of fixed sensor s or a single motor support beam with two positioning carriages the web offset is limited to 75 % of the senso r measuring range. For the remaining applications with sup- port beams and cameras the web offset may be increased to the maximum parameter value .

7.

ste p width

The step width of the web offset per key push may be set in V 1 0 0 mm. The web offset is changed by this set value by pressing a key on the command station.

by this set value by pressing a key on the command station. Oscillation stroke ? 8.
by this set value by pressing a key on the command station. Oscillation stroke ? 8.

Oscillation stroke

?

8. osc . amplitude

During the oscillation stroke it is determined by how far to the left and right the actuator will swing in oscillation mode . Th e oscillation stroke may be entered directly in this parameter or via a command station with oscillation feature. Entering is performed in V 1 0 mm.

In the cas e of fixed sensor s or a single motor support beam with two positioning carriages the oscillation stroke is limited to 75 % of the sensor measuring range.

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Digital controller RK 4004

Digital controller RK 4004 Oscillation time t J P a g e 2 6 N BEA-250482-EN-23

Oscillation time t

Digital controller RK 4004 Oscillation time t J P a g e 2 6 N BEA-250482-EN-23

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N

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9. osc . cycl. time

Cycle-dependent:

The cycle time (oscillation time t c ) for an oscillation period is estab- lished here. The longer the period, the slower the actuator oscillates. Entry may be directly in the parameter or via a command station with oscillation function.

Path-dependent:

In path-dependent oscillation the oscillation period is determined by path-dependent, external pulses. The oscillation period is divided up into n-sections. The maximum number of pulses must not exceed 20 pulses per second.

The number of pulses to be set may be calculated as follows:

1. Establish path length per oscillation period

as follows: 1. Establish path length per oscillation period s = web length per oscillation period

s = web length per oscillation period

2. Establish maximum oscillation frequency

V f cma x = maximum oscillation frequency (1/s)

f

c

max

g x

60

V m a x = maximum

s = web length per oscillation period (m)

web speed (m/min)

3. Establish no. of pulses

The maximum number of pulses per period is limited by the maxi-

mum input frequency off

20 Hz.

f ema x = maximum input frequency 20 Hz f C max = oscillation frequency (Hz)

n

max

1

P

=

= no. of pulses per period

c max The no. of pulses n is entered in the parameter.

Dimensioning of the external pulse generator may be determined as follows:

f a ma x = maximum pulse generator output frequency (Hz)

f = -

1

s

a max

s

n

= web length per oscillation period (m)

= no. of pulses per period

The external pulse generator must emit the calculated no. of pulses

L

m =vat maximum web speed. ~

a max

"5"

"5"

/

\

 

\

\

r

r

"95"

"95"

s

 

]

 

.1.0. osc . wave form

Digital controller RK 4004

Oscillation mode determines the oscillation course. By entering a value of between 5 and 95 oscillation progression may be changed from square to delta wave.

5

=

Square-wav e (steep rise/drop of the oscillation signal, long

 

dwelling period in the oscillation end position

95

=

Delta-wave (shallow rise/drop of the oscillation signal, short dwelling period in the oscillation end position

.1.1. >osc. triggermode

Depending on the command station featured, oscillation may be started in different manners. In addition, the differentiation must be made of whether cycle or path-dependent oscillation is concerned.

In the case of cycle-dependent oscillation the duration of an oscilla- tion cycle depends on the set time and in the cas e of path-dependent

oscillation on the external pulses time").

(see parameter "

9.

osc. cycl.

On switching-off oscillation the cycle in progress is continued to the next zero pass. In the case of path-dependent oscillation the corresponding pulses must be supplied up to the zero pass. For

path-dependent oscillation the digital input

grammed to "web speed measuring" (see parameter .8.6.).

X 3.2 must be pro-

The following table illustrated the various setting options:

Parameter value:

Explanation:

Explanation:

Cycle

Path

dependent

dependent

0

4

Oscillation is switche d on togethe r with automatic mod e or off via a comman d statio n with oscillation key or digital interface (command code), independently of the automatic key.

1

5

If no command station with oscillation key is featured, oscillation may in this case be switche d on or off via th e automatic key. After startin g automati c mode , by pressin g th e automatic key oscillation is started or stopped while the actuator always remains in "auto- matic" mode.

2

6

Oscillation is generally switched off. Even if an oscillation key is featured, oscillation cannot be started.

3

7

Oscillation is always active. Automatic mode without oscillation is not possible. Oscillation is started together with automatic mode!

.1.2. webedg e controller

Paramete r block for setting the web guider.

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Digital controller RK 4004

.1.3. prop range +/-

On proportional actuators the amplification of the position con- troller is set via the two parameters ".1.3. Prop range ±" and ".1.6. velocity auto". On integral actuators amplification is set via the two parameters ".1.3. Prop range ±" and ".4.5. prop stroke". With regard to the following considerations please always take into accoun t that a chang e to on e of the two parameter s will al- ways influence amplification.

^Amplification too high

r,

iff,

/ Amplification right

/ Amplification too low

Amplificatio n i s correctl y se t if, afte r brie f overshootin g th e erro r i s corrected. If the position controller is set with too great a degree of sensitivity, th e guider will overshoot as well. In the cas e of too little amplification the control loop will be too slow. Optimum amplification may be determined with a characteristic curve tracer. In practice, am- plification may also be determined by trial and error.

Proportional actuator:

The smaller the set proportional range at a constant maximum po- sitioning velocity (Parameter ".1.6. velocity auto") is, the greater the amplification of th e we b guider will be.

A negative proportional range causes negative amplification, the effective direction is thus inverted in automatic mode.

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Proportional range .1.3. prop range ± 2,0 3,5

Velocity correction

range .1.3. prop range ± 2,0 3,5 Velocity correction established correction velocity depending on proportional

established correction velocity depending on proportional range

correction velocity depending on proportional range Positioning velocity .1.6. velocity auto 20 mm/s Set
correction velocity depending on proportional range Positioning velocity .1.6. velocity auto 20 mm/s Set

Positioning velocity .1.6. velocity auto 20 mm/s

Set position (sensor measuring range center)
Set position
(sensor measuring range center)

Control deviation of 1.5 mm

Digital controller RK 4004

By reducing the proportional rang e the characteristic curve (se e fig.) will becom e steeper. Th e steepe r the characteristic curve the greater the positioning velocity will be in the cas e of a control deviation and the system thus more sensitive. The positioning velocity of the actua- tor may be determined on the basis of the characteristic curve re- gardless of the control deviation.

In this example a proportional range of 2 mm or 3.5 mm has been assumed at a maximum motion speed of 20 mm/s.

Given a control deviation of 1.5 mm the positioning velocity is 15 mm/ s for a proportional range of 2 mm and 8.0 mm/ s for a pro- portional range of 3.5 mm.

The values may also be calculated arithmetically:

Amplification (G) = parameter .1.6. / Parameter .1.3.

Correction velocity (VK) = control deviation * amplification (G)

Example 1:

G = 20/2

1.5

VK = 15 mm/s

VK =

mm *

=

10 V,

10 V,

Example 2:

G = 20/3.5 = 5.71

VK =

VK =

V,

1.5 mm * 5.71

8.6

mm/ s

V,

Proportional actuator optimisation:

Reduce the proportional range by small steps only. Following each change of the parameter value a web deviation should be produced manually in automatic mode so that oscillation may be detected im- mediately.

Reduc e the proportional range until the guider starts to oscillate. The increase the proportional range again until no more oscillation may be observed.

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Digital controller RK 400 4

Integral actuator:

The smaller the set proportional range is for the maximum correction path of the actuator (parameter ".4.5. prop stroke ±"), the greater the amplification of the web guider.

A negative proportional range causes negative amplification, the effective direction in automatic mode is thus inverted.

Correction

positioning path

Proportional range

.1.3. prop range ±

2.0 3.5
2.0
3.5

established correction path depending on proportional range

established correction path depending on proportional range Set position (Sensor measuring range center) C o n

Set position (Sensor measuring range center)

range Set position (Sensor measuring range center) C o n t r o l d e

Control deviation of 1.5 mm

By reducing the proportional range the characteristic curve (se e fig.) becomes steeper. The steeper the characteristic curve the greater the positioning path of the actuator given a control deviation and the more sensitive the system becomes. The correction path of the actuator may be established on the basis of the characteristic curve independently of the control deviation.

In this example a proportional range of 2 mm or 3.5 mm has been assume d with a correction path of 25 mm.

Given a control deviation of 1.5 mm the correction path amount s to approx. 18 mm with a proportional range of 2 mm and with a propor- tional range of 3.5 mm approx. 10.5 mm .

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Digital controller RK 4004

The values may also be calculated arithmetically:

Amplification (G) = parameter .4.5. / parameter .1.3.

Correction path (SK) = control deviation * amplification (G)

Example 2:

G = 25/3.5 = 7.14

SK =

VK = 10.71 mm

Example 1:

G = 25/2

SK =

1.5

=

12.5

mm *

12.5

1.5

mm * 7.14

VK = 18.75 mm

Integral actuator optimisation:

Reduce the proportional range by small steps only.

change of the parameter value the a web deviation should be pro- duced manually in automatic mode so that oscillation may be de- tected immediately.

Reduc e the proportional range until the guider starts to oscillate. The increase the proportional range again until no more oscillation may be observed.

Following each

.1.4. dual-rate width

.1.5. dual-rate level

If the web edge is subject to certain fluctuations (uneven edges) these two parameters may be used to determine a range in which, given a deviation from the set position, the correction velocity of the actuator is reduced in the case of proportional guiders.

Given a web edge progression as illustrated opposite, the actuator would normally try to correct the deviation according to the broken line. The actuator would only oscillate and the control result would not be satisfactory. The broken line represents the controller amplifi- cation (parameter .1.3./.1.6.).

Within the set window width ".1.4. dual-rate width" the positioning velocity is reduced in the case of a control deviation. The positioning velocity reduction is set in parameter ".1.5. dual-rate level". Potential oscillation due to edge errors may thus be reduced. If the edge error exceed s the set window width range the positioning velocity is in- crease d (se e fig. on left).

Both parameter values are % entries and are related to the set val- ues of parameter ".1.3. prop range ±" and ".1.6. velocity auto"

Example:

The following values are set in the parameters.

10.0 mm

.1.3. prop range ± .1.6. velocity auto

20

mm/s

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Digital controller RK 4004

.1.4.

dual-rate width

:

50 %

.1.5.

dual-rate level

70 %

Window width = 10.0 mm * 50 % /10 0

Reduced pos. velocity = 20 mm/s * 70 % /10 0

Within ±5 mm of the set web position a web error is corrected at a maximum motion speed of 14 mm/s.

=

5

mm

=1 4 mm/s

I This function is being deactivated when value "100" is entered into parameter ".1.5. dual-rate level".

.1.6. velocity auto

The greater the set maximum positioning velocity is given a constant proportional range (parameter ".1.3. prop range ±"), the greater the amplification of the we b guider will be in automatic mode .

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Correction

velocity

mode . J Page 32 BEA-250482-EN-23 Correction velocity Proportional range .1.3. prop range ± 2.0 established

Proportional range .1.3. prop range ±

2.0

established correction velocity depending on the positioning velocity

correction velocity depending on the positioning velocity 3 4 20 mm/s Set position (Sensor measuring range
3 4 20 mm/s
3 4
20 mm/s

Set position (Sensor measuring range center)

Con{ro

|

devjatjo

n

Positioning velocity .1.6. velocity auto 15 mm/s

t j o n Positioning velocity .1.6. velocity auto 15 mm/s o f 1.5 mm By

o f

1.5 mm

By increasing the maximum positioning velocity the characteristic curve become s steeper (see fig.). The steeper the characteristic curve the greate r th e positioning velocity will be given a control de -

viation and the mor e sensitive the syste m will become . Th e

ing velocity with which the actuator tries to correct the error may be

deduced from the characteristic curve.

position-

Digital controller RK 4004

In this example a maximum positioning velocity of 15 mm/s or

20 mm/s has been assume d with a proportional range of 2 mm.

Given a maximum positioning velocity of 15 mm/s the positioning velocity amounts to approx. 11 mm/s with a control deviation of

1.5 mm and approx. 15 mm/s with a maximum positioning velocity of

20 mm/s.

The values may also be calculated arithmetically:

Amplification (G) = parameter .1.6. / parameter .1.3.

Correction velocity (VK) = control deviation * amplification (G)

Example 1:

G

VK=1.5mm*7. 5 V

=

15/2

= 7.5

V s

s

VK = 11.25 mm/s

Example 2:

G

= 20/2

VK =

=

10.0 V s

*

1.5 mm

10.0 1 / c s

VK = 15.0 mm/s

If the positioning velocity is too high the we b guider will begin to os - cillate.

The maximum positioning velocity must be set higher than the maximum error velocity, yet must not exceed the nominal position- ing velocity the DC actuator.

.1.7. velocity po s

Th e positioning velocity is determined in this paramete r for the fol- lowing operating modes:

- actuator "center position"

- support beam "park sensor"

- actuator / support beam "positioning commands"

The step width of the speed setting is 1 mm/s.

.1.8. velocity jog

The positioning velocity with which the actuator or support beam is positioned in "manual" mod e may be set in this parameter with a step width of 1 mm/s.

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Digital controller RK 4004

".2.2. defect range ±" Switching threshold for reducing the

positioning velocity

Switching threshold for reducing the positioning velocity ".1.9. velocity emergence" Value of the reduced

".1.9. velocity emergence" Value of the reduced position- ing velocity

emergence" Value of the reduced position- ing velocity .1.9. velocity defect So that, in the event

.1.9. velocity defect

So that, in the event of a web displacement (e.g. seam joint) the

actuator no longer follows up at maximum positioning velocity in "au-

tomatic" mode, the positioning velocity may be reduced to a required value.

From which degree of control deviation (web offset) onwards the re- duction is activated, must be set in parameter ".2.2. defect range ±".

In the case of a support beam this velocity setting is determined in

"search for edge " mode.

This parameter is only active if "defect detection" is selected in pa-

I rameter .9.7

"defect detection" is selected in pa- I rameter .9.7 .2.0. derated velocity Not assigned at present.

.2.0. derated velocity

Not assigned at present.

.2.1. reserved 21

Not assigned at present.

.2.2. defect range ±

If th e set value is exceeded , the positioning velocity will be reduced to th e value se t in paramete r ".1 .-9. velocity defect". In the event of a sudde n we b displacemen t (sea m joint) this prevents the actuator fol- lowing up at maximum positioning velocity which might lead to a web tear.

This parameter is only active if "defect detection" is selected in pa- rameter

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.2.3. serv o configuration

Paramete r block for setting the motor data.

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.2.4. motion direction

Digital controller RK 4004

The positioning direction of the DC actuator drive may be inverted via this parameter.

of the DC actuator drive may be inverted via this parameter. I Following inversion of the

I

Following inversion of the positioning direction an initialization run

must be

performed.

.2.5. motion range total

The actual positioning path (dimension K) covered by the actuator at the outfeed (transfer roller) must be entered in this parameter. As on certain actuators (e.g. pivoting frames) the actuator positioning path is not identical to that of the DC actuator drive, the exact value must be entered.

The mechanical ratio (".3.7. mech. gear factor") is determined via this setting during the initialization run and the motor gear constant cal- culated. The latter effects the normalization of the positioning speed and path.

.2.6. positionrange +

.2.7. positionrange -

Via th e position rang e limit the DC actuator drive is prevented from reaching its mechanical spindle stop or the actuator its mechanical stop.

On compact systems the maximum actuator positioning path (see parameter ".2.5. total motion range") is shortened at the factory by approx. 2 mm. In the case of on-site mounting of the DC actuator drive the position rang e limit must be se t by the customer.

Especially in the case of large moved masses, please ensure that the actuator does not come to a standstill at once. The positioning range must be reduced accordingly.

The set values are always in relation to the set center.

The positioning path must entered for both sides (right/left) of the center position in parameter .2.6. and .2.7. of the positioning range.

Thes e position range limits must not be used as safeguards for persons or appliances. For the safety of persons or appliances the end position limits must be fitted with additional limit switches or a suitable mechanical stop.

.2.8. alarm limit %

If necessary a range may be defined that, once exceeded, triggers the output of a limit alarm. Th e value is entered in % and is in rela- tion to the two parameters ".2.6. positionrange +" and ".2.7. position- rang e -". If the actuator exceed s this calculated value the "End posi- tion early warning" messag e is output. The "End position reached" messag e is only output at th e two end positions. The limit for "End position early warning" always relates to the center of the actuating range set. The warning is output for both sides (positive and nega- tive).

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Digital controller RK 4004

\ I i l i i\ f .2.6. = 15 mm |L .2.7 = 15
\
I
i
l
i
i\
f
.2.6. = 15 mm
|L
.2.7
= 15 mm

11.25 mm end position early warning in relation to theoretical center

S

1

1 I 1

H \

.

i

i

:

ti

2.6. = 15 mm

.2.7. = 10 mm

9.375 mm end position early warning in relation to theoretical center

Example:

Entered value

in

parameter

.2.8.

75%

Entered value

in

parameter

.2.6.

/ .2.7.

15

mm

15 mm

*

75/100

=

11.25 mm

If the actuating range of 11.25 mm is exceeded,

 

the

"End position

 

early warning" message

is

output.

If the

actuating

range

of

15

mm

is

reached,

the

"End

position

reached"

message

is

output.

If the value s differ in parameter s .2.6. / .2.7. a theoretical center will

be deduced from the sum of the two values. The end position early warning is in relation to this center.

Example:

Entered value in parameter .2.8.

=

75%

Entered value in parameter .2.6.

=

15 mm

Entered

value i n parameter

.2.7.

=1

0

m m

(15mm + 10 mm) /2 * 75/100 = 9.375 mm

.2.9. hybrid offset

If a support beam is operated with two drives in what is termed hy- brid mod e the two positioning carriages move symmetrically to the support beam center. This support beam center (center of the guided web) should match the machine center. The support beam center may be matched to the machine center via this parameter (.2.9. hy- brid offset).

In the case of mechanically coupled support beams (one drive, two positioning carriages) this offset is not possible.

This parameter is only necessary on a two-motor support beam in device X.7.

.3.0.

reference offset

In this parameter the distance between the reference switch switch- ing point and the center of the DC actuator drive is set.

To calibrate the internal position counter the actuator move s first to the reference switch, their center position (neutral position) in "center position" operating mode .

To assure that the positioning movement is as slight as possible in "center position" mode the reference switch switching point should be the same as neutral position.

This parameter is automatically determined and entered during the actuator initialization run.

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DC actuator

drive center

Center

offset

Actuator neutral position

.3.1. center offset

Digital controller RK 4004

What is termed the "center offset" is the difference between the DC actuator drive center and the actuator neutral position. If this neutral position deviates from the positioning path center the former may be changed by entering the "center offset". In the cas e of a pivoting frame, neutral position mean s that the positioning roller is parallel to the guide roller.

If the guider is in "center position" mode while the "center offset" is changed , th e chang e of paramete r value will be performed immedi- ately by the DC actuator drive. Checking of the actuator neutral posi- tion is possible at once.

.3.2. syste m offset

If the DC actuator is located in the center of its positioning range the actual position value "0" will be transmitted via the CAN bus. For spe - cial applications an offset value may be set in this parameter which is added to the transmitted actual position value.

.3.3. total resolution

The motor gear constant is displayed in this parameter. It is calcu- lated on the basis of the following four parameters:

.3.4. encoder resolution, .3.5. rotation gear, .3.6. linear gear, .3.7. mech. gear factor;

.3.4.

.3.5. rotation gear

.3.6. linear gear

.3.7. mech. gearfactor

encode r resolution

The motor gear constant is calculated via these parameters.

encode r resolution The motor gear constant is calculated via these parameters. BEA-250482-EN-23 J P a

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Digital controller RK 400 4

The values for the three parameters .3.47.3.5./.3.6. mined using the table in chapter 6.

must be deter-

The mechanical ratio is specified in parameter ".3.7. mech. gear fac- tor".

The ratio may be established as follows:

Measure distance S 1

tor drive securing point. Equally, measure distance S 2 between the center of rotation and the outfeed point. These two values are set in relation to one another and the value calculated produces the me- chanical ratio (parameter .3.7.).

between the center of rotation and DC actua-

Example:

measured distance

S

1

450

mm

measured distance

S 2

850

mm

850 mm / 450 mm

=

1.89

In

this

example

the

entry in

parameter .3.7.

is

1.89.

During the initialization run (parameter

3.

/ value 10) parameter

".3.7. mech. gearfactor" is established automatically.

.3.8. encode r filter

For a dynamic speed control the encoder impulses should be filtered as little as possible. Too small a filter value will caus e an unsteady motor speed.

.3.9. pos . controller

Paramete r block for setting the positioning control loop.

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s (mm) Set position Actual position without

25 +

20

dead zone

15 +

10

5

/

/ \

J\

\i

A

\

/

\

1 2

3

H 4

5 h

r

6 7

t(3)

s (mm)

^

Set position

25

20

15 +

TcT

5 +

Actual position with dead zone

3

4.0. death zone ±

 

H

1

1

1

h

t(s)

1

2

3

4

5

6

7

Positioning velocity

1 2 3 4 5 6 7 Positioning velocity ^ Position e a I T erro
1 2 3 4 5 6 7 Positioning velocity ^ Position e a I T erro

^ Position

e

a

IT erro

r

6 7 Positioning velocity ^ Position e a I T erro r Maximum positioning velocity in

Maximum

positioning velocity

in

automatic

(parameter .1.6.)

Position control-

ler proportional

range

(Parameter .4.1.)

.4.0. death zon e ±

Digital controller RK 4004

If, i n application s wit h a stiff mechanis m o r larg e move d masses , there are problems with the position control loop (e.g. oscillation around the set position), a dead zone can be set taking into account the necessary positioning accuracy. There is no actuating movement within the range set.

.4.1. po s prop ±

If the position error is greater than the set "position controller pro- portional range" the correction velocity will thus correspond to the maximum positioning velocity. If the position error is within the set "position controller proportional range" a lesser positioning velocity according to the one of the characteristic curves is produced.

Via this parameter the P component of the actuator drive position controller is indirectly set.

Example:

A web set position deviation of 1 mm produces an actuator set posi- tion of 15 mm based on the set values (parameter .1.3. and .4.5.). The DC actuator drive covers the first 10 mm at maximum positioning velocity as these values are outwith the grey range. Once the 10 mm ar e passed , only 5 mm remain. Thes e 5 mm lie within the grey range and the velocity is tfius reduced linearly to 0 until the 15 mm position range is reached.

In the cas e of uneven edge s (textile) this parameter may be in- creased to dampen the DC actuator drive position controller. The static precision of the web guider is hereby preserved.

The value of parameter .4.1. should amount at most to half of the

sensor scanning

range.

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Digital controller RK 400 4

.4.2. act position

The actual position of the actuator at the outfeed, in relation to the set center, is displayed.

.4.3. se t position

The set position of the actuator at the outfeed, in relation to the set center, is displayed.

at the outfeed, in relation to the set center, is displayed. .4.4. In the cas e

.4.4.

In the cas e of follow-up controlling (master/slave) a second actuator (slave) without sensor scanning precisely follows up a freely select- able actuator (master). The device address of the master's guider must be entered on the controller card of the second actuator (slave).

Example:

Th e master's addres s is 1.5

The slave's address is 2.5

Value 15 (address 1.5) must be entered in parameter .4.4. of the slave controller card (address 2.5).

po s sourc e adres s

.4.5. prop stroke ±

In the case of integral actuators the correction path is set in relation to the set proportional range (parameter ".1.3. prop range ±").

This parameter ha s no function for proportional actuators.

Th e greater the set correction path is for a constant proportional range (parameter ".1.3. prop range ±"), the greater the amplification (steep characteristic curve) of the web guider in automatic mode.

The steeper the characteristic curve the longer the correction path in the event of a control deviation and thus the more sensitive the sys- tem will become . Th e correction path use d by the actuator to try to correct an error may be seen in the characteristic curve.

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