VLT 5000 SyncPos option® 5000/Manual...VLT® 5000 SyncPos option 2 MG.10.J4.02 – VLT is a...

1MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT® 5000 SyncPos optionC

ontents

Chapter 1 Safety ..................................................................... 3

Chapter 2 Introduction .......................................................... 5

Chapter 3 Input/Output terminals ........................................ 9

Chapter 4 Fundamentals of the SyncPos program .......... 19Starting the SyncPos option step-by-step ............ 25Optimizing the PID-Controller ............................... 31

Chapter 5 PC Software interface ......................................... 3 2

Chapter 6 Programming with SyncPos .............................. 5 9Introduction and basics ......................................... 61

Software Reference ............................................ 6 8List of Commands ................................................. 68All commands from ACC to #INCLUDE ............... 70

Parameter Reference ........................................ 125VLT and SyncPos parameter ............................... 125VLT parameters .................................................... 126SyncPos parameters ............................................ 129

Chapter 7 Messages and Error Reference ....................... 155

Chapter 8 Program Samples ............................................. 163

Chapter 9 Appendix ............................................................ 167Glossary terms ..................................................... 168What's new in PC Software 2.0x /Option Card Software 3.00? ................................ 168What's new in PC Software 2.1x /Option Card Software 3.1x? ................................. 169Index .................................................................... 179

VLT® 5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark2

This manual can be used for all VLT 5000 frequencyconverters with SyncPos option software version 3.xx/3.1x andVLT software SyncPos version: 2.1x

VLT 5000 SeriesSyncSyncSyncSyncSynchrhrhrhrhronizing and positioning optiononizing and positioning optiononizing and positioning optiononizing and positioning optiononizing and positioning option

ManualOption card software version: 3.xx/3.1x

VLT software SyncPos version: 2.1x

So

ftw

are

vers

ion

© Danfoss A/S 2000

VLT is a registered Danfoss trademark.IBM is a registered trademark of International Business Machines, Inc.Microsoft, MS, MS-DOS, Microsoft NT, Windows and Wingdings are either registered trademarks ortrademarks of the Microsoft Corporation in the USA and/or other countries.



Chapter 1 Safety .................................................................... 4

Safety



Saf

ety The voltage of the frequency converter

is dangerous whenever the equipmentis connected to mains. Incorrect

installation of the motor or the frequency convertermay cause damage to the equipment, seriouspersonal injury or death.Consequently, the instructions in this manual,as well as national and local rules and safetyregulations, must be complied with.

Safety regulations1. The VLT frequency converter must be discon-

nected from mains if repair work is to be carriedout.Check that the mains supply has been discon-nected and that the necessary time has passedbefore removing motor and mains plugs.

2. The [STOP/RESET] key on the control panel ofthe VLT frequency converter does not discon-nect the equipment from mains and is thus notto be used as a safety switch.

3. Correct protective earthing of the equipmentmust be established, the user must be protec-ted against supply voltage, and the motor mustbe protected against overload in accordancewith applicable national and local regulations.

4. The earth leakage currents are higher than3.5 mA.

5. Protection against motor overload is not inclu-ded in the factory setting. If this function isdesired, set parameter 128 to data value ETRtrip or data value ETR warning.Note: The function is initialised at 1.16 x ratedmotor current and rated motor frequency (seepage 92).

For the North American market: The ETR func-tions provide class 20 motor overload protectionin accordance with NEC.

6. Do not remove the plugs for the motor andmains supply while the VLT frequency converteris connected to mains. Check that the mainssupply has been disconnected and that thenecessary time has passed before removingmotor and mains plugs.

7. Please note that the VLT frequency converterhas more voltage inputs than L1, L2 and L3,when loadsharing (linking of DC intermediatecircuit) and external 24 V DC have beeninstalled.Check that all voltage inputs have been discon-nected and that the necessary time has passedbefore repair work is commenced.

Warning against unintended start1. The motor can be brought to a stop by means

of digital commands, bus commands, referen-ces or a local stop, while the frequency conver-ter is connected to mains.If personal safety considerations make itnecessary to ensure that no unintended startoccurs, these stop functions are not sufficient.

2. While parameters are being changed, the motormay start. Consequently, the stop key [STOP/RESET] must always be activated, followingwhich data can be modified.

3. A motor that has been stopped may start iffaults occur in the electronics of the VLTfrequency converter, or if a temporary overloador a fault in the supply mains or the motorconnection ceases.

Warning:Touching the electrical parts may be fatal - even after theequipment has been disconnected from mains.Also make sure that other voltage inputs have beendisconnected, such as external 24 V DC, load-sharing(linkage of DC intermediate circuit), as well as the motorconnection for kinetic back-up.

Using VLT 5001-5006: wait at least 4 minutesUsing VLT 5008-5500: wait at least 15 minutes


VLT® 5000 SyncPos optionIntroduction

Chapter 2 Introduction ......................................................... 6

Why choose Danfoss? ............................................ 7

Available literature .................................................. 8



About this manual: How is it arranged?Please read these operating instructions in full and,in order to be able to work with the system safelyand professionally, particularly observe the hintsand cautionary remarks.

Indicates a general warning

Indicates something to be noted by thereader

Indicates a high-voltage warning

Chapter Input/output terminalsInformation on the technical data of the optioncard, the allocation of the connecting terminalsand the general connection requirements can befound in this chapter.

Fundamentals of the SyncPos programFirst, let us explain the principle of SyncPos, themacro programming language, to you in brief. Thenyou will learn about the fundamentals of theSyncPos program – this is particularly important ifyou are not familiar with SyncPos or Windows.

Starting the SyncPos-Option step-by-stepThen you will start up the VLT with the 'SyncPosoption step-by-step'. This section offers you aquick general introduction which includes turningon the SyncPos option and familiarizing yourselfwith it, as well as starting operation of the controlunit with the test programs provided and the mostimportant basic settings.

Optimizing the PID-ControllerIn this chapter you learn all about the PID controlparameters and how to optimize the controllerduring one or more test runs, for example, in orderto achieve better positioning results or shortercycle times. Detailed instructions on how to pro-ceed can be found in the section ‘Ten steps foroptimum control’.

Intr

oduc

tion Chapter PC-Software Interface

All menus and functions are described in detail.For example, the development menu to test thenew programs or the Controller menu used tomanage the programs and set the parameters.

Chapter Programming with SyncPos, Softwareand Parameter ReferenceYou can learn everything about programming andabout the commands in these chapters, rangingfrom the basic construction of the commands to adetailed description of all commands from ACC to#INCLUDE and also of the parameters.First look in the general summary - here the com-mands are sorted according to groups, forexample, control commands, commands for velo-city control or for synchronization - and then lookin the alphabetically ordered list where the com-mands are described more precisely.The next section describes all parameters – first inalphabetical order in the summary – and thenindividually with the factory settings and ranges.

Chapter Messages and Error ReferenceIn the chapter for Messages and Error Referencean extra section is dedicated to messages fromthe VLT. The table is arranged according to errornumber in increasing order. It contains detailedinformation on possible errors and troubleshooting.The next section explains the most importantmessages from the SyncPos user interface.

Chapter Program samplesThe manual presents some program samples (youwill find much more in the online help) which youcan use to familiarize yourself with the program orcopy directly into your program.

AppendixThe manual concludes with a short glossary and adetailed index for a direct navigation.Get a quick overview on “What's new in PC-Software 2.1x / Option card Software 3.1x” in theappendix. Plus, the handbook ends with a shortglossary.



ConventionsThe information in this manual follows the systemand uses the typographical features describedbelow to the greatest extent possible:

Menus and functionsMenus and functions are printed in normal textwith capitals, for example: "CONTROLLER" →→→→→"PARAMETERS".....

Commands and parametersCommands and parameter names are written incapitals, for example: AXEND and KPROP;Parameters are printed in bold faced italics, forexample: Proportional factorProportional factorProportional factorProportional factorProportional factor.

VariablesVariables are written in small letters, when they arebeing quoted they are emphasized with italics, forexample: timeout or timeout.

KeysThe names of keys and function keys are emphasi-zed in brackets, for example the control key[CNTL] key (or just [CNTL]), the [ESC] key or the [F1]key.

Cross referencesCross references to other parts of the text are un-derlined in the manual and are also marked incolor in the online help, for example EXECUTE.

Why choose Danfoss?Danfoss manufactured the world's first mass-pro-duced frequency converter back in 1968. We haveset the standard for quality drives ever since. Thatis why our VLT frequency converters are today soldand serviced in more than 100 countries coveringsix continents.

With the new VLT 5000 Series, we are introducingV V CPLUS. This is our new Sensorless Vector DriveSystem for torque and speed control of inductionmotors.

If compared with a standard voltage/frequencyratio control, V V CPLUS offers improved dynamicsand stability, both when the speed reference andthe load torque are changed. In addition, we haveimplemented a fully digitalised protection concept,which ensures reliable operation, even under theworst possible operating conditions. Naturally, theVLT 5000 Series also offers full protection againstshort-circuiting, earthing fault and overload.

Danfoss drives with the V V CPLUS control systemtolerate shock loads throughout their speed rangeand react swiftly to changes in reference.

However, it must also be easy to reach this perfor-mance. Danfoss is convinced that high-technologydrives can be made user-friendly. The VLT 5000Series proves us right. In order to make program-ming simple and easy-to-grasp, we have dividedthe parameters into different groups. The Quickmenu guides users quickly through the program-ming of the few parameters that must be set to getstarted. The control panel is detachable. It featuresa four-line alpha numeric display, enabling fourmeasurements to be displayed at the same time.Via the detachable control panel, the programmedsettings can be copied from one VLT to the next.This means that there is no time to be spent onprogramming when changing drives or integratingan extra drive in the installation.

The entire programming process is easier than everbefore. The VLT 5000 Series makes most adjust-ments automatically.

If you have any questions concerning VLT fre-quency converters, please call us. We have drivespecialists all over the world ready to advise youon applications, programming, training and service.

Why choose D

anfoss?



Ava

ilab

le li

tera

ture Available literature

The chart below gives an overview of the literatureavailable for the VLT 5000 Series.Please note that variations may occur from onecountry to the next.

DesignGuide

MG.50.CX.YYOperatingOperatingOperatingOperatingOperatingInstructionsInstructionsInstructionsInstructionsInstructionsMG.50.AX.YY

InstructionsInstructionsInstructionsInstructionsInstructionsfor VLTfor VLTfor VLTfor VLTfor VLT

5000 Series5000 Series5000 Series5000 Series5000 Series

VLT SoftwareDialog

MG.50.EX.YY

PROFIBUSManual

MG.10.EX.YY

QuickSetup

MG.50.FX.YY

LCP remove-mounting kitMI.50.CX.52

Brakeinstructions

MI.50.DX.YY

LC-filterMI.50.EX.51

IP 20 terminalcover

MI.50.H1.51

SyncPosSyncPosSyncPosSyncPosSyncPosManualManualManualManualManual

MG.10.JX.02MG.10.JX.03

GatewayInterBus-S

MG.10.G1.51

QuickSetup

MG.50.DX.YY

QuickSetup

MG.50.GX.YY

Bookstyle IP 20 Compact IP 20 Compact IP 54

VLT 5000Data sheet

MD.50.AX.YY

Loadsharinginstructions

MI.50.NX.YY

Var. literatureVar. literatureVar. literatureVar. literatureVar. literaturefor VLT 5000for VLT 5000for VLT 5000for VLT 5000for VLT 5000

SeriesSeriesSeriesSeriesSeries

InstructionsInstructionsInstructionsInstructionsInstructionsfor VLT 5000for VLT 5000for VLT 5000for VLT 5000for VLT 5000


CommunicationCommunicationCommunicationCommunicationCommunicationfor VLT 5000for VLT 5000for VLT 5000for VLT 5000for VLT 5000


LonWorksManual

Device NetManual

RCDInstructions

MI.66.AX.YY


VLT® 5000 SyncPos optionInp

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ut terminals

Chapter 3 Input/Output terminalsVLT control card terminals ..................................... 10Option card terminals ............................................ 10Supply voltages ..................................................... 12Option card layout ................................................. 13Dip switch .............................................................. 13Technical data ....................................................... 14Connection examples ............................................ 15



There are two interfaces to the SyncPos option:••••• 36 terminals on the option card••••• 24 terminals on the VLT control card

VLT control card terminalsThe terminals on the control card can be allocatedfor synchronizing and positioning functions if thefollowing parameter settings are made:

Digital inputs 16, 17, 18, 19, 27, 29, 32 and 33:It is always possible to read the status of the digi-tal inputs from the SyncPos application programwith the IN command.If Parameter 300–303 and 305–307 are set to ”Nooperation” (default setting) then the inputs areignored by the control card but they can still beused as inputs to the application program.Parameter 304 can not be set to ”No operation”which means that input 27 always has a stop func-tion. There is one way to avoid this: Leave parame-ter 304 at ”Coast inverse” and select ”Serial port”in parameter 502.

Analogue inputs 53, 54 and 60:It is always possible to read the value on the ana-logue inputs from the SyncPos application programwith the INAD command.If parameters 308, 311 and 314 are set to ”No ope-ration” then the inputs are ignored by the controlcard but they can still be used as inputs to theoption card.

Digital/analogue outputs 42 and 45:Outputs 42 and 45 can be controlled from theSyncPos application program with the OUTDAcommand, when parameters 319 and 321 are setto one of the following four settings:OPTION DIGITAL digital outputOPTION 0 – 20 mA analogue output (default

setting)OPTION 4 – 20 mA analogue outputOPTION 0 – 32000P pulse output

Relay outputs 01 and 04:The relay outputs can be controlled from theSyncPos application program with the OUT com-mand when parameters 323 and 326 are set to thedefault setting

CTRL WORD BIT 11/12

Technical dataTechnical data on the control card terminals canbe found in the VLT 5000 design guide.

Option card terminalsThere are two encoder interfaces which are cove-ring the following functions:

••••• Feedback encoder input••••• Master encoder input / virtual master output

There are 8 digital inputs, 8 digital output and ter-minals for 5 V and 24 V supply. The functions andtechnical data of the terminals are described inthe following.

Terminal descriptionThere are 4 terminal blocks, 2 with 10 poles and 2with 8 poles.(See figure below)

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Digital Inputs Master / Virtual Master

Digital Outputs Feedback



Digital inputsMK3A is a 10pole terminal block with 8 digitalinputs (I1–I8) and 2 terminals for 24 V supply (SeeSupply voltages on page 12).The digital inputs are used by the SyncPos appli-cation program and are therefore free progra-mable. All the inputs can also be assigned func-tions by the following parameters:

I_BREAK I_BREAK I_BREAK I_BREAK I_BREAK (105) interrupt a runningprogram

I_CONTINUE I_CONTINUE I_CONTINUE I_CONTINUE I_CONTINUE (106) restart interruptedprogram

I_ERRCLR I_ERRCLR I_ERRCLR I_ERRCLR I_ERRCLR (107) reset faultI_NEGLIMITSWI_NEGLIMITSWI_NEGLIMITSWI_NEGLIMITSWI_NEGLIMITSW (47) negative limit switchI_POSLIMITSW I_POSLIMITSW I_POSLIMITSW I_POSLIMITSW I_POSLIMITSW (46) positive limit switchI_PRGCHOICE I_PRGCHOICE I_PRGCHOICE I_PRGCHOICE I_PRGCHOICE (104) selection of SyncPos

programI_PRGSTI_PRGSTI_PRGSTI_PRGSTI_PRGSTARARARARART T T T T (103) start of SyncPos programI_REFSWITCH I_REFSWITCH I_REFSWITCH I_REFSWITCH I_REFSWITCH (45) home switch

Only two of the inputs are assigned a specificfunction by parameter:

••••• I5I5I5I5I5 is used as marker input for the Masterwhen “External marker signal” is selected inparameter SYNCMTYPM SYNCMTYPM SYNCMTYPM SYNCMTYPM SYNCMTYPM (60).

••••• I6I6I6I6I6 is used as marker input for the Slave when“External marker signal” is selected in param-eter SYNCMTYPS SYNCMTYPS SYNCMTYPS SYNCMTYPS SYNCMTYPS (61).

Digital outputsMK3C is a 10pole terminal block with 8 digital out-puts and 2 terminals for 24 V supply (See Supplyvoltages on page 12).The digital outputs are controlled by the SyncPosapplication program and are thus freeprogramable.All the outputs can also be assigned functions bythe following parameters:

O_AXMOVEO_AXMOVEO_AXMOVEO_AXMOVEO_AXMOVE (64) axe is movingO_BRAKE O_BRAKE O_BRAKE O_BRAKE O_BRAKE (48) activation of mechanical

brakeO_ERRORO_ERRORO_ERRORO_ERRORO_ERROR (108) fault indication

Encoder interface 1MK3B is a 8pole terminal block with 6 terminalsfor the encoder signals and 2 terminals with 5 Vsupply.(See Supply voltages on page 12).Encoder interface 1 can be used for one of thefollowing 2 functions:

••••• Master encoder input (incremental or abso-lute) for synchronizing.

••••• Virtual master encoder output (incremental).

The table below shows the function of each termi-nal in the 3 possible modes. (See fig. 1)

NB!When using the virtual master function termi-nation must be switched off (sw 1.2-1.4) in all

options except on the first and the last stationconnected in the network. See also connectionexample on page 16 and 17.

Encoder interface 2MK3D is a 8pole terminal block with 6 terminalsfor the encoder signals and 2 terminals with 5 Vsupply(See Supply voltages on page 12).

Encoder interface 2 can be used for one of thefollowing 2 functions:

••••• Slave encoder input (incremental or absolute)for synchronizing.

••••• Feedback encoder input (incremental or ab-solute) for positioning.

The table below shows the function of eachterminal in the 2 possible modes. (See fig. 2, nextpage)

Terminal A1 A1 B1 B1 Z1 Z1Incremental input A in A in B in B in Z in Z inAbsolute input Clk out Clk out Data in Data in Not used Not usedVirtual master A out A out B out B out Z out Z outFig. 1

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Terminal A2 A2 B2 B2 Z2 Z2Incremental input A in A in B in B in Z in Z inAbsolute input Clk out Clk out Data in Data in Not used Not usedFig. 2

Supply voltages:The option card is supplied by the internal 24 VDC supply of VLT 5000, but as the available poweris limited it can be necessary to use an external24 V DC supply.The 24 V DC supply of VLT 5000 can supply a totalof 420 mA including the load on the control card(terminal 12, 13 and output 42 and 45).

The 5 V output on the option card is generatedfrom the 24 V supply. The maximum power on the5 V side is 5 V * 280 mA = 1.4 W, this correspondsto app. 60 mA on the 24 V side.

When an external 24 V DC voltage source is usedthe internal 24 V supply from the control card mustbe disconnected, this is done by openingswitch 1.1 and 1.5.

Each digital input on the option card takes 8 mA.Each digital output on the option card can supplyup to 0.7 A (external 24V-supply) depending on theload.

The load from the 24 V supply (internal or external)can be calculated as follows:

8 mA * number of digital inputs+

Load on digital outputs(mk3 C, O1 – O8)

+load on 5 V supply

(mk3 B/D, 5 V/com)+

Load on control card(24 V supply, terminal 12/13 and

outputs, terminal 42/45)

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Option card layout:Option card layout showing the position of connectors and dip switch.

Dip switch 1.1 – 1.5

Switchdesignation OFF ON

1.1 Option card must be supplied from an Option card is supplied from control cardexternal power supply (24 V) (24 V)

1.2 Terminating resistor not connected (Z channel) Terminating resistor connected (Z channel)1.3 Terminating resistor not connected (B channel) Terminating resistor connected (B channel)1.4 Terminating resistor not connected (A channel) Terminating resistor connected (A channel)1.5 Option card must be supplied from an Option card is supplied from control

external power supply (Common) card (Common)

Default setting of switch 1.1 - 1.5 is ON.SW. 1.2, 1.3 and 1.4 applies only to MK3B (the master encoder interface).

NB!When using the virtual master function termination must be switched off (sw 1.2-1.4) in all optionsexcept on the first and the last station connected in the network. See also connection example on

page 16 and 17.

Input/O

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inals



Technical data

Terminals:Type ................................................................................................................... Plugs with screw connectionsMaximum cable size ............................................................................................................ 1.3 mm2 (AWG 16)

Digital inputs, MK3A:Number of inputs which are used by SyncPos program .............................................................................. 8Terminal designations ............................................................................................................................. I1 – I8Voltage level ................................................................................................ 0 – 24 V DC (PNP positive logic)Voltage threshold logical “0” ................................................................................................................ 6 V DCVoltage threshold logical “1” ............................................................................................................ 13.5 V DCMaximum voltage ................................................................................................................................ 28 V DCInput impedance ...................................................................................................................................... 3 kΩMin. pulse duration (ON INT) ................................................................................................................ 1 msecGalvanic isolation: All digital inputs are galvanically isolated by means of optocouplers,but with the same common as the digital outputs.

Digital outputs, MK3C:Number of outputs which are used by SyncPos program ............................................................................ 8Terminal designations .........................................................................................................................O1 – O8Voltage level ................................................................................................................................. 0 – 24 V DCMaximum load ............................................................................................ 0.7A (with external power supply)Update rate ........................................................................................................................................... 1 msecGalvanic isolation: All digital outputs are galvanically isolated by means of optocouplers,but with the same common as the digital inputs.

External 24 V DC supply:(see VLT 5000 manual, page 10)

Encoder input 1, MK3B (master):Terminal designations ................................................................................................... A1, A1, B1, B1, Z1, Z1.Incremental:Signal level ................................................................................................................................ 5 V differentialSignal type .......................................................................................................................... Linedriver, RS 422Input impedance ............................................................................................. 140 Ω (Dip switch 1.1–4 = ON)....................................................................................................................... 12 kΩ (Dip switch 1.1–4 = OFF)

Maximum frequency .......................................................................................... 220 kHz (at 50 % duty cycle)Phase displacement between A and B ............................................................................................. 90° ±30°Absolute:Signal level ................................................................................................................................ 5 V differentialSignal type ...................................................................................................................................................SSIData coding ..................................................................................................................................... Gray codeData length ............................................................................................................................................... 25 bitParity ......................................................................................................................................................... noneClock frequency ....................................................................................................................... 105 or 260 kHzProtocol ..................................................................................................................................................... GrayMaximum positions per revolution ............................................................................................................ 8192Maximum number of revolutions .............................................................................................................. 4096

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Encoder input 2, MK3D (slave):Terminal designations .................................................................................................. A2, A2, B2, B2, Z2, Z2Incremental:Signal level ................................................................................................................................ 5 V differentialSignal type ........................................................................................................................... Linedriver, RS422Input impedance .................................................................................................................................... 140 ΩMaximum frequency .......................................................................................... 220 kHz (at 50 % duty cycle)Phase displacement between A and B ............................................................................................. 90° ±30°Absolute:Signal level ................................................................................................................................ 5 V differentialSignal type ...................................................................................................................................................SSIProtocol ............................................................................................................................................ Gray codeData length ............................................................................................................................................... 25 bitParity ......................................................................................................................................................... noneClock frequency ....................................................................................................................... 105 or 260 kHzMaximum positions per revolution ............................................................................................................ 8192Maximum number of revolutions .............................................................................................................. 4096

Encoder cable:Cable type .. Twisted pair and screened. Note: Note: Note: Note: Note: Please observe the prescriptions of the encoder supplierCable length ................................................................... Observe the prescriptions of the encoder supplier.Absolute encoder is tested ok up to 150 meter cable at 105 kHz clock and 100 m at 262 kHz clock.(Tested with TR electronic encoder type CE-65 M 8192*4096 and appropriate cable prescribed by TR electronic.)Maximum allowed time delay between clock and data signal measured at the controller terminals ............................................................................................................................................... 105 kHz clock = 9µsec................................................................................................................................ 262 kHz clock = 3.5 µsec

Encoder output, MK3B:Terminal designations .................................................................................................... A1, A1, B1, B1, Z1, Z1Signal type ........................................................................................................................... Linedriver, RS485Maximum frequency ............................................................................................................................ 150 kHzMinimum frequency ............................................................................................................................... 150 HzMaximum number of slaves .......................................................................... 31 (more when using repeaters)Maximum cable length ........................................................................................................................... 400 m

Connection examples

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A2

A2

B2

B2

Z2

Z2

ABSOLUTE ENCODER

Master Slave Master Slave



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The terminating resistors on both end of thebus have to be switch on with dip switchSW 1.2–4.

EXTERNAL SUPPLY / DIGITAL IN/OUTPUT



left: encoder connection for positioningapplications

below: encoder connection for master-/slavesynchronization

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Encoder connections for the synchronizing withvirtual master.

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Chapter 4 Fundamentals of the SyncPos programHow SyncPos functions ......................................... 21Requirements ........................................................ 22The SyncPos Window ............................................ 22Using the mouse .................................................... 23Keyboard ............................................................... 23List of shortcuts ..................................................... 24List of function keys ............................................... 24

Starting the SyncPos option step-by-stepSafety tips .............................................................. 25Installing SyncPos .................................................. 25Starting SyncPos .................................................... 25Setting of VLT parameters ..................................... 26Setting up communication .................................... 26Setting of SyncPos option parameters .................. 27Checking encoder connection anddirection of rotation ............................................... 29Execute the test run program ................................ 30

Optimizing the PID controllerHow the control process works ............................. 31Significance and influence of the controlparameters ............................................................. 31Optimizing your controller settings step-by-step .. 33What to do if … ..................................................... 35Examples of control optimization .......................... 35

Fundam

entals of the S

yncPo

s pro

gram



Fund

amen

tals

of t

he S

yncP

os

pro

gra

m SyncPos is a programming language specially designed for synchronizing andpositioning control which is easy to learn, the commands of which are based onfrequently used control terminology. This macro-language makes it possible torealize complex functions with simple commands even without knowledge of thehardware processes and thus create control programs and general controlprograms in a very short time.The SyncPos software contains all commands and menus necessary for theconfiguration, programming, optimization and, finally, for the transfer ofcommands to the SyncPos option.


VLT® 5000 SyncPos optionFund

amentals o

f the SyncP

os p

rog

ram

How SyncPos functionsLet us explain the basic principle of SyncPos inbrief:

Determining parametersFactory settings are stored in the program for allparameters. These factory settings are active upondelivery and can be re-activated at any time byperforming a reset (see page 42).You can adjust all the parameters for your con-troller. These user parameters are permanentlysaved in the EEPROM and are valid for allprograms.Before you start programming it is necessary todetermine basic parameters of the VLT connected,such as Maximum velocity Maximum velocity Maximum velocity Maximum velocity Maximum velocity VELMAX (1) andShortest ramp Shortest ramp Shortest ramp Shortest ramp Shortest ramp RAMPMIN (31), set the PID filtervalues and define the User factor User factor User factor User factor User factor withPOSFACT_Z (23) and POSFACT_N (26).Within a program you can temporarily alter theparameters with the command SET. After runningthe program these values are once again replacedwith the user parameters which have been saved.

Programming with the SyncPos macro-languageIn the "EDIT" menu you can create and commenton the programs just like in a text program. Allcommands are described in detail in the ChapterSoftware Reference.Each command consists of a COMMAND WORD+ parameterparameterparameterparameterparameter (if necessary), whereas the parametercan be a variable, constant or an array.Comments are written between /* … */ or after //for example:POSA 3000/* axis absolute to actual zero point move toposition 3000 */// axis absolute to actual zero point move toposition 3000

It is particularly easy to write your program byusing the "COMMAND LIST". Once you have se-lected the command, all the necessary input fieldsare immediately opened. After entering the valuesthe syntax is automatically formed and you caninsert the entire command in your program.With teach-in programming you simply move theaxis to the desired position and store the positionwhich has been reached. In this manner you canquickly program the most complicated adjust-ments and sequences of movements.

Running and testing programsIn the "DEVELOPMENT" menu you can test newprograms. The program is loaded into the VLT andstarted only after the "EXECUTE" function has beenactivated. Naturally, you can run the program beingtested in "SINGLE STEPS" or start the program at acertain point and have it executed step-by-step.Before every run a new program is automaticallychecked to ensure that the commands are correct.Or you can start the "SYNTAX CHECK" withoutrunning the program.

Saving programs in the VLTEvery time you Execute a program or start thesyntax check, this program is temporarily stored inthe RAM in an area that is always overwritten withevery subsequent test.Once you have finished writing a program for theSyncPos option, the temporary program can be savedpermanently in EEPROM. It will then be assigned anumber or name and can be tagged with "AUTOSTART"so it automatically will be started after turning on the VLT.This way you can drive the VLT offline.All programs can also be started using the programnumber via the inputs, for example from a PLC. Forthis the inputs must be set accordingly with"CONTROLLER" → → → → → "PARAMETERS" →→→→→ "GLOBAL".

Optimizing the controller with the controlparametersThe position control unit integrated in the SyncPosoption automatically calculates a theoretical setcourse during each sequence of movements andtries to control the VLT or the motor so that thebest possible convergence to the set course isachieved. By means of the control parameters youcan directly influence to what degree and howquickly a deviation from the theoretical set courseis counteracted.These PID filter parameters can also, theoretically,be determined if you have comprehensive know-ledge of the entire drive, including the load con-nected. However, the experimental method withthe functions in the "TESTRUN" menu is conside-rably faster and simpler.After every "TESTRUN" it is also possible to eva-luate the control parameters on the basis of fourgraphics: they show the actual and set curves forthe velocity, the acceleration, the position and thepower curve. Thus, you can successively adjust thePID filter parameters and optimize the controller.

We wish you the best in your work with SyncPos!For questions regarding programming or operatingthe controller, please contact your supplier.



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m RequirementsSyncPos is for use on standard PC’s with operatingsystems Windows 95. We recommend using a 486computer (or higher) with at least 8 MB RAM mainmemory.You should be familiar with the basic functions andterminology of the Microsoft Windows interface, forexample the TTTTTask barask barask barask barask bar and the ExplorExplorExplorExplorExplorererererer. You canfind further information in the correspondingWindows manuals if necessary.

The SyncPos WindowThe following figure serves to explain the mostimportant elements of the SyncPos Windows.

Each window represents a SyncPos program whichcan be connected with a VLT. Thus, you can openat least the same number of edit windows as thenumber of controllers resp. VLTs you haveselected.

Symbol barClick on the icons in the symbol bar to quicklyselect a function.

From left to right: New file, Open file, Save file, Cut,Copy, Paste, Print and Info.

.Title bar shows the names of the SyncPos File, the number and name of the VLTand the error number if applicable.

Open the menus in the Menu bar to select the SyncPos functions.

Menus with the functions which you can mark and select withthe mouse.

Click on the icon in theSymbol bar to quicklyselect a function.

Edit window

The blinking cursorshows where the textto be entered willappear.

Dialog field

Communications win-dow for messagesfrom the controller andthe compiler.

If you want to change the size of the Edit window orthe Communications window, move the cursor to thelower edge of the scrollbar and – as soon as the cur-sor has changed its shape – click and pull the windowin the desired direction.

Use the ScrollBar to scrollthe file up ordown

or left fromleft to right.

The status bar shows the line number andposition where the cursor is located, infor-mation about the function keys andwhether the [NUM lock key] or the [Shiftlock key] have been pressed and are ac-tive.



MenusA check means that the function has been activa-ted, for example in the Window menu it showswhich files are open.Disabled functions are not available until youtrigger a preceding action, for example, when youhave copied something to the notepad and wantto insert it someplace else or "PREPARE SINGLE-STEP" to trigger each "SINGLE-STEP".You can also select most menu commands usingthe keyboard. Press [ALT] and the underlined letterin the menu name and then the underlined letter inthe command name, e.g. [ALT] + [C] + [P] for"CONTROLLER" → "PROGRAMS".

Dialog fieldsOnce you have selected a function, a dialog fieldoften appears in which you can determine certainoptions. If an option is disabled, then it is notavailable for the current process.

Edit windowIn this window you can write your program with theassistance of the functions in the Edit Edit Edit Edit Edit menu justlike in a text editor. Different colors are used todistinguish between comments, program sections,operators, numbers etc. You can alter the colorsusing "SETTINGS" → "COLORS EDITOR".

Changing window size and window iconsIf you want to change the size of the SyncPoswindows, simply move the cursor to an outsideedge of the window and pull - once the cursor haschanged its shape - the window while pressing themouse button until the window is the size youdesire. The icons on the upper right in everywindow do the following ...............

Using the mouseIf you have a mouse with several keys, the leftmouse button is generally the “primary“ key (provi-ded you haven’t changed the configuration).“Click“ means that you press the mouse key for a shortmoment and then immediately release the buttonwithout moving the mouse. If nothing to the contrary isstated then always click with the left, or primary, key.“Pull“ means that you point to the element andhold the mouse button depressed while movingthe mouse.

Keyboard[ESC] keyIn addition to the standard functions of the [ESC]key, you can also use this key at any time to aborta program running under SyncPos.

NB!A rotating drive will slow down with themaximum allowed deceleration!

ArrowsUsing the arrows, [↓ key], [↑ key], [← key] and [→key], you can move the insert marks in a file.

Direction keysWith the direction keys [HOME] and [END] you canmove the cursor to the beginning or end of a lineand with [Page ↑] and [Page ↓] to the beginning orend of a of a screen page. Some direction keyscan also be combined with each other, thus, forexample with [CNTL] + [HOME] the cursor willmove to the beginning of the file.

Number padIf you have an expanded keyboard available, youcan also input numbers via the number pad, onceyou have pressed the [Num lock key] beforeinputting numbers.

Short cutsKeys are often used as shortcuts with other keyseither as a key combination or as a key sequence.For a key combination you have to hold the firstkey depressed while you press the second key,e.g. [SHIFT] + [INSERT], in order to insert the con-tents of the notepad. For key sequences you canpress the keys one after the other, e.g. [ALT] + [E] inorder to open the "EDIT" menu.

Function keysFrequently used functions are allocated to thefunction keys, e.g. with [F9] you can very effectivelycontrol the step-by-step execution of a program:each time you press [F9], one line of the program isrun. Or with [F1] you can access the on-line help.

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Display the window at full screen size

Close the window and store as a symbol in the

Close the SyncPos program

Cascade windows and vice versa (full size)

Close the file, close the dialog window

Close the window and store as a symbol at the



List of shortcuts

Cut, Copy and Paste …Copy the marked text to the notepad [CNTL] + [INSERT] or [CNTL] + [C]Cut and save the text marked in the notepad [CNTL] + [DEL] or [CNTL] + [X]

or [SHIFT] + [DEL]Paste the contents of the notepad [SHIFT] + [INSERT] or [CNTL] + [V]Line open above [CNTL] + [SHIFT] + [N]Delete the (remaining) word to the right of the cursor [CNTL] + [DEL]Delete the (remaining) word to the left of the cursor [CNTL] + [BACKSPACE]Line cut [CNTL] + [Y]

Cursor positioningGo to document end [CNTL] + [END]Go to document start [CNTL] + [HOME]Go to line n [CNTL] + [G]Shift scrollbars up or down line by line [CNTL] + [↑−KEY] resp. [CNTL] + [↓−KEY]

Shift scrollbars to the left or right [CNTL] + [PAGE↑] resp. [CNTL] + [PAGE↓]

Expand the text marked ......by one character to the right [SHIFT] + [→ KEY]...by one character to the left [SHIFT] + [← KEY]…to the end of the word [CNTL] + [SHIFT] + [→ KEY]…to the beginning of the word [CNTL] + [SHIFT] + [← KEY]…to the end of the line [SHIFT] + [END]…to the beginning of the line [SHIFT] + [HOME]…down one line [SHIFT] + [↓KEY]…up one line [SHIFT] + [↑KEY]…to the beginning of the file [CNTL] + [SHIFT] + [HOME] or [SHIFT] + [PAGE↑]…to the end of the file [CNTL] + [SHIFT] + [END] or [SHIFT] + [PAGE↓]Mark the next or the previous command in the menu(when the menu is displayed). [↑ KEY] resp. [↓KEY]Mark the menu on the right or left side, or changesfrom the main menu to the sub-menu if a sub-menuis displayed. [← KEY] resp. [→ KEY]

Further editing toolsUndo the last action [CNTL] + [Z]Redo the last action [CNTL] + [A]Record macro [CNTL] + [SHIFT] + [R]Repeat next command n-times [CNTL] + [R]

List of function keysAbort program [ESC]Access online help [F1]Switches the mouse cursor to context-sensitive help [SHIFT] + [F1]Start "DEVELOPMENT" →→→→→ "EXECUTE" [F5]Select line [CNTL] +[ ALT] + [F8]In the "SINGLE-STEP" mode starts one program lineeach time it is pressed. [F9]Calls up the "COMMAND LIST" [F12]

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Starting the SyncPos option step-by-step

NB!O.ERR 13 will show up right after power upif the VLT is not ready. The VLT is in the

"Not ready" state when:

• it has an alarm (trip),• it is in local mode (parametre 002 = local),• local LCP stop is activated (display flashing),• there is no signal on input 27 (coast).

O.ERR 13 can only be reset using the ERRCLRcommand or with "Break" [Esc] in the PC softwareand only when the VLT is in the "ready" state, whichmeans none of the above may be true.

This section offers you a quick general introductionwhich includes turning on and familiarizing yourselfwith the program, how to set up a VLT 5000 withSyncPos option using the test programs providedand the most important basic settings.

Please follow the step-by-step guideline:1. SyncPos installation and starting2. Setting VLT parameters3. Setting up communication4. Setting of SyncPos option parameters5. Check encoder connection and direction of

rotation6. Execute test run program7. Optimizing the PID controller

Safety tipsThe controller and the motor must beable to be switched off at any time withan EMERGENCY STOP button.

The motor must be able to turn com-pletely freely so that a sudden jolt can notcause damage.

Furthermore, it is absolutely essential to be familiarwith and observe the safety tips in the hardwaremanual.

Installing SyncPosInsert disk 1 in the disk drive, in the task bar clickon "START" and "RUN…" and enter the name ofthe drive and install, for example a: \installa: \installa: \installa: \installa: \install.

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Starting SyncPosTurn on the VLT, however, make surethe motor is not connected or it is notconnected to a power source.

In the task bar, click on "START" →→→→→ "PROGRAMS"→→→→→ SyncPos.

Changing the dialog languageNow the SyncPos window has been opened –English is the standard dialog language.

If you desire another language, click on"SETTINGS" → "LANGUAGE" (before you open afile) and select for example "GERMAN" in the dia-log field which will subsequently appear. "ExitProgram and start SyncPos again.

Master ResetIf you press the CANCELCANCELCANCELCANCELCANCEL key on the VLT duringthe power-up, the SyncPos option card will notstart a program even if the corresponding startconditions are fulfilled (auto recognition / Startinput).The SyncPos option card instead remains in theidle mode and waits for new commands. Error 19User Interruption is triggered at the same time.

Exit SyncPosYou can only abort or end a program with EscEscEscEscEsc. Inorder to do this the file which is linked with thecontroller resp. VLT must be open or re-opened.

Follow the directions given during the installationprogram and list the hard drive on which SyncPosshould be installed. SyncPos and the programsamples included will be installed in the directorylisted.



During booting the VLT parameters are set to thefactory settings. Only the motor parameters remainto be set:Perform AMA (see VLT 5000 manual) or manualoptimizing of the VLT to the connected motor.

Adjust maximum output frequency (par. 202) andmaximum reference (par. 205) according to maxi-mum velocity of the encoder. Note that the maxi-mum output frequency must be higher than thefrequency corresponding to maximum allowed velo-city of the shaft because of the slip of the motor.

Terminal 27 must be connected to 24 V or parame-ter 502 must be set to ”serial port”.Function of inputs and output must be selected inparameter group 3xx according to the requiredfunctions. Note that the default values are differentfrom a drive without option.

Please note that parameter 780 (Dead time com-pensation) is set to OFF (see page 111). This para-meter is to prevent oscillation at standstill.

Setting up communicationBefore you begin...Check whether the baud rate has been set in theVLT (par. 501); for a serial connection the baud rateis permanently set at the factory. In this case set upcommunication in your PC as follows:Open an existing file or create a new one. Click"SETTINGS" →→→→→ "INTERFACE".

The VLT and the baud rate are pre-set. Click onOK.

NB!The baud rate in the VLT (Par 501) and in theprogram must always agree.

"SELECT CONTROLLER"

Click on "DEVELOPMENT" → "SELECTCONTROLLER", in the subsequent dialog fieldmark the VLT that you want to put into operationand click on "OK". . . . . For each VLT you have connec-ted the address set on parameter 500 will automa-tically appear in the dialog field.

In addition to the addresses, you can also enternames for each controller in the menu"CONTROLLER" →→→→→ "PARAMETER" →→→→→ "NAME".

RS485 connectionYou need the RS232 standard interface in the PCor an additional RS232 interface card and anexternal converter for a RS485 connection.

Ending communication SetupA successful connection is reported in the commu-nications window; the number and name of thecontroller is listed in the title bar of the actual filein addition to the file name.

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Setting of SyncPos option parametersThe following parameters must always be checkedand if necessary adjusted. Depending on therequirements of the application it might be neces-sary to adjust other parameters as well.For the other parameters you can use the factorysettings at first and then optimize the controller asneeded at a later point in time with a "TESTRUN".

Click on "CONTROLLER" →→→→→ "PARAMETER" →"AXIS" and select the VLT, of which you are cur-rently adjusting the settings.In the field Parameter Parameter Parameter Parameter Parameter mark the parameter groupthat you wish to define, for example EncoderEncoderEncoderEncoderEncoder, , , , , andenter the values in the corresponding fields.Click on "OK" in order to load the new parametervalues in the VLT and simultaneously save them.

For a detailed description of all global parametersand axis parameters please refer to the sectionParameter Reference in the chapter SoftwareReference; for information concerning the use ofdialog fields refer to Programming with SyncPos inthe section menu "CONTROLLER" →→→→→"PARAMETERS" →→→→→ "AXIS".

Setting of SyncPos option parameters: En-coderENCODERTYPE (27)Define the used type of encoder:0 = Incremental1 = Absolute

ENCODER (2)Resolution of the encoder in pulses per revolution.

The following 2 parameters are only relevant forsynchronizing applications:

MENCODERTYP (67)Define the used master encoder type:0 = Incremental1 = Absolute

MENCODER (30)Resolution of the master encoder in pulses perrevolution.

Setting of SyncPos option parameters: VelocityThis parameters you will find in the parametergroup VVVVVelocity elocity elocity elocity elocity in the menu "CONTROLLER" →→→→→"PARAMETER" →→→→→ "AXIS":

VELMAX (1)Maximum velocityMaximum velocityMaximum velocityMaximum velocityMaximum velocity of the shaft where the encoder

is mounted in RPM.

NB!For synchronizing the setting must be at least

the same as the maximum velocity of the master inorder to be able to synchronize. For positionsynchronizing it must even be higher so that theslave can catch up lost position related to themaster. All velocity commands (VEL, CVEL) arerelated to this value.



RAMPMIN (31)The Shortest ramp Shortest ramp Shortest ramp Shortest ramp Shortest ramp is the time from 0 to maximumvelocity and from maximum velocity to 0. Allacceleration and deceleration commands (ACC.DEC) are related to this value.

Setting of SyncPos option parameters: HomeHoming is not necessary in standard synchroniza-tion applications and applications using an abso-lute encoder.When using an incremental encoder the controllermust be run to home after being switched on.During this process the reference switch definesthe position at which 0 is located and how the VLTfunctions during a home run: input depends on theapplication.

HOME_VEL (7)Home speedHome speedHome speedHome speedHome speed is entered in % relative to themaximum speedmaximum speedmaximum speedmaximum speedmaximum speed of the drive.You can find these values in the description of themotor.

Setting of SyncPos option parameters: SynchronizationThe following parameters are only relevant forsynchronizing applications: Open in the menu"CONTROLLER" →→→→→ "PARAMETERS" →→→→→ "AXIS" theparameter group Synchronization.Synchronization.Synchronization.Synchronization.Synchronization.

SYNCFACTM (49) and SYNCFACTS (50)The Synchronizing factors master Synchronizing factors master Synchronizing factors master Synchronizing factors master Synchronizing factors master and slave slave slave slave slaveSYNCFACTM and SYNCFACTS must be set accor-ding to the gear ratio between master and slaveencoder.

Example: Both encoders has 1024 ppr, master isrunning 305 RPM and slave must run 1220 RPM.SYNCFACTM = 305 andSYNCFACTS = 1220.Alternative: SYNCFACTM = 1

SYNCFACTS = 4.

The following parameters are only relevant whenusing synchronizing with marker correction(SYNCM).Open the parameter group SynchronizationSynchronizationSynchronizationSynchronizationSynchronization in themenu "CONTROLLER" →→→→→ "PARAMETERS" →→→→→"AXIS":

SYNCMARKM (52) and SYNCMARKS (53)Number of master marker pulses and number ofslave marker pulses.SYNCMARKM and SYNCMARKS must be setaccording to the ratio between the number ofmarker signals from master and slave. A ratio of1:1 means that each slave marker will be alignedwith each master marker. A ratio of 2:1 means thateach slave marker will be aligned with eachsecond master marker.

SYNCMPULSM (58) and SYNCMPULSS (59)When using the encoder zero pulse as markersignal the distance between 2 markers is the reso-lution (qc) of the encoder.When external marker signals are used, the markerdistance can be measured by means of the pro-gram sample "Marker count" (see chapter 7) if it isunknown.

SYNCMTYPM (60) and SYNCMTYPS (61)Master marker type and Slave marker type.Master marker signal: Input 5.Slave marker signal: Input 6

Marker signal type must be selected for masterand slave:0 = index pulse (positive flank)1 = index pulse (negative flank)2 = external marker (positive flank)3 = external marker (negative flank)



Checking encoder connection and direction ofrotationIf you have not yet done so, now is the time toconnect and test the encoder.

NB!Remember to turn off the power beforeconnecting the encoder.

Check the encoder connections by means of thetest program ”Drehgtst.m”. In the menu bar clickon "FILE" and "OPEN" the file DrDrDrDrDrehgtst.mehgtst.mehgtst.mehgtst.mehgtst.m, whichis the first test program for starting operation.

In the "DEVELOPMENT" menu click on"EXECUTE" in order to start the test program. Runthe drive forward for example in local mode (Para-meter 002 = ”Local”) then the position must countpositive. If the position is counting negative youmust swap A and B channels from the encoder ortwo motor phases.

The position 0 is registered in the communicationswindow.If you turn the motor by hand (the motor should notbe connected!), you can test whether the encoderfunctions: the position is continuously registered inthe communications window. For a full rotation youshould receive 4 times the value of the resolutionof the encoder, that means 2000 if the Encodercounts per revolution is 500.

Checking encoder for master synchronizing applica-tionsIf there is a master synchronizing applicationchange the test program: replace the commandAPOS by MAPOS in ”Dregtst.m" and run the masterforward then the master position must countpositive as well. If the position is counting negativeyou must swap A and B channel from the masterencoder.

Checking direction of rotationFor this the VLT parameter 002 must also be setand the motor is to be driven with a local set value(Par. 003).By turning the axis it is possible to make sure thatthe direction of rotation is correct. When rotating tothe right, as viewed from the front, looking towardsthe end of the axis, the impulse generator mustcount up.Otherwise the encoder tracks A and B as well asA and B must be exchanged. Often it is easier toswap two motor-phases though.Or you simply use the parameter Positive DirectionPositive DirectionPositive DirectionPositive DirectionPositive DirectionPOSDRCT (28) to invert the evaluation of theencoder information.

Ending the encoder checkEnd the test of the encoder with the [ESC] key andclose the test program with "FILE" →→→→→ "CLOSE". Asuccessful test of the encoder is a requirement forfurther starting up of operations.

If the encoder doesn’t workThis could be a result of incorrect cable installation.Measure the signals coming from the encoder andcompare them to the values listed in the specifica-tions. Check whether the connection was madeaccording to the application.

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Execute the test run programNow connect the motor to the VLT, make sure thatthe motor can turn completely freely.

NB!The motor must be provided with an [EMER-GENCY STOP] button.

Click on "FILE" and "OPEN" the file Fahrtst.m Fahrtst.m Fahrtst.m Fahrtst.m Fahrtst.m.

Click on "DEVELOPMENT" and start the test pro-gram with "EXECUTE" or [F5].The test is successful if the motor runs slowly backand forth and position 500 is registered.End the test with [ESC] and "CLOSE" the "FILE".

If the motor sets off uncontrolled or vibrates heavilyNB!Turn off the motor immediately with theEMERGENCY STOP button if it vibratesheavily or sets off uncontrolled.

If the motor sets off uncontrolled, but the encodertest previously was successful, then decrease theProportional factor Proportional factor Proportional factor Proportional factor Proportional factor (parameter 702). (See Optimi-zing the PID controller)

If the motor doesn’t moveIf the motor doesn’t move at all, then the proportio-nal factor of the PID filter is probably too low orthe VLT has not been enabled.Check the VLT enable (terminal 27 = 24 V) andcheck that the VLT wasn't stopped via the LCP(flashing display). Then increase the ProportionalProportionalProportionalProportionalProportionalfactor factor factor factor factor (parameter 702). (See Optimizing the PIDcontroller)

If the motor vibrates heavily …… then you have to optimize the PID controller andto adjust the other parameters of the controller:reduce either the Proportional factor Proportional factor Proportional factor Proportional factor Proportional factor KPROP (11)or increase the Derivative factor Derivative factor Derivative factor Derivative factor Derivative factor KDER (12).

If a "tolerated position error is exceeded" is reportedIf the drive stops due to a “tolerated position error isexceeded” message it is possible to determinewhether the drive was rotating in the wrongdirection by comparing the curves of the set andactual values.Check the connections of the motor or encoder. Ifthe connections are correct, then it is necessary toincrease the TTTTTolerated position error olerated position error olerated position error olerated position error olerated position error POSERR (15).(See Optimizing the PID controller)

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Optimizing the PID controller

How the control process worksThe "TESTRUN" explained in the chapterPC Software Interface can be used as a tool tooptimize the SyncPos controller settings, therebyoptimizing your system performance. To do thatyou only need to know a few things about the con-trol scheme of SyncPos:

The SyncPos position controller has two parts: 1. The Setpoint Generator interprets the various

positioning commands in SyncPos and gene-rates a series of setpoint positions that even-tually ends with the desired position.Normally, all positioning processes have a tra-peze-shaped velocity curve. That means thatafter a phase of constant acceleration there isa phase with constant velocity and finally aphase with constant deceleration, which endsat the desired target position.

2. The PID controller receives the setpoint posi-tions from the Setpoint generator and in turncalculates the speed reference needed for themotor to follow the current setpoint position.By setting the PID control parameters you candirectly influence to what degree and howquickly a deviation from a theoretical set path(as specified by the setpoint series) should becounteracted.

The following behavior indicate that the control para-meters are not optimally adjusted:

••••• Drive vibrates••••• Drive is loud••••• Frequent occurrence of position errors••••• Poor control accuracy

NB!The control parameters are load-dependent.Thus the drive must be optimized under the

actual conditions of use.In exceptional cases it may be necessary to deter-mine various sets of control parameters while wor-king with heavily changing load conditions and tore-program them in subsequent application pro-grams depending on the motion process.

Significance and influence of the control param-etersThe PID control unit of the SyncPos option trans-fers the necessary output frequency via an internalspeed reference to the VLT. This set value is perio-dically re-calculated with an interval of one milli-second (interval is programmable by the TIMERparameter). The SyncPos option is by default setwith soft 'fit for all' controller parameters.

The PID filter works according to the followingformula: = FFVEL * (Setpoint velocity) = FFACC * (Setpoint acceleration) = KPROP * (Position deviation) = KINT * (Sum of all previous position devia-

tions) (limited by KILIM) = KDER * (Velocity of position deviation) = + +

(limited by BANDWIDTH)

AV is the actual velocityAP is the actual position (calculated from encoder

feedback) in qc (Quad Counts).CP is the current Setpoint position in qc.CV is the Setpoint velocity in qc/ms.(Position deviation) is calculated by CP–AP.

NB!In SYNCV mode the PID controller is workingwith speed deviation instead of position

deviation. Speed deviation is calculated by CV–AV.

The controller in the SyncPos card utilizes twocontrol strategies at the same time: 1. An open-loop feed-forward control. Since the

asynchronous motor inherently has a goodopen loop performance the feed-forward con-trol is a very important part of the controller inmost applications. Benefits from using feed-forwards control is a very fast and accurateresponse to changes in the setpoint reference.

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2. A closed-loop PID control. The PID controllermonitors the difference between the actualposition and the setpoint position. Based onthis information it calculates a control signal tominimize the position deviance. Thus theSyncPos option is able to compensate forchanges in load or friction. The PID controlleris also necessary to compensate for any posi-tion deviance caused by inaccurate setting ofthe open-loop feed-forward controller.

In short: The feed-forward control is used to handlechanges in the setpoint reference (especially im-portant in synchronization applications), while thePID control is used to handle changes in load con-ditions or inaccuracies of the feed-forward control.

Proportional factor KPROP (11)The Proportional factorProportional factorProportional factorProportional factorProportional factor is multiplied with the posi-tion deviance and the result is added to the con-trol signal (the internal speed-reference to the VLT).Since the calculated control signal is proportionalto the position deviance (or error) this kind of con-trol is called proportional control. The behavior ofthe proportional control is similar to that of a spring– the further the spring is extended the strongerthe counter-force it produces.

Influence of the Proportional factorProportional factorProportional factorProportional factorProportional factor:KPROP too small large position deviation due to

non-compensatable load andfrictional moment;

KPROP larger quicker reaction, smallersteady-state deviation, largerovershoot, lesser damping;

KPROP too great heavy vibrations, instability.

Derivative factor KDER (12)The Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor is multiplied with the deriva-tive of the position deviance (the 'velocity' of theposition deviance) and the result is added to thecontrol signal. The behavior of the derivative con-trol is similar to that of an absorber – the faster theabsorber is extended the stronger the counter-force it produces. Thus using the Derivative factorDerivative factorDerivative factorDerivative factorDerivative factorincreases damping in your system.

Influence of the Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor:KDER small no effect;KDER larger better dampening, lesser over-

shoot; if KPROP is increasedsimultaneously: faster reaction tocontrol deviation at the samelevel of vibration;

KDER too large heavy vibrations, instability.

Integral factor KINT (13)The sum of all error is calculated every time thecontrol signal is updated. The Integral factor Integral factor Integral factor Integral factor Integral factor isthen multiplied with the sum of all positioningerrors and added to the overall control signal. Thusin case that steady-state position errors occurs inyour application, make sure you use the integralpart of the controller. Steady-state errors will belevelled out as the summed error increases overtime until the control signal eventually matches theload.It is possible to set a limit for the control signalgenerated by the integral part of the controller (anti-windup).

Influence of the Integral factorIntegral factorIntegral factorIntegral factorIntegral factor:KINT very small steady-state position deviance

is very slowly regulated to zero;KINT larger faster regulation towards zero

steady-state position deviance,larger overshoot;

KINT too large heavy vibrations, instability.

Integration limit KILIM (21)The Integration limitIntegration limitIntegration limitIntegration limitIntegration limit sets a limit for the control sig-nal generated by the integral part of the controller.This helps to prevent the so called "wind-up" pro-blems which typically occurs in applications wherethe overall control signal (the internal speed-refe-rence) is maxed out for long periods of time.This feature is also very helpful in applicationswhere the power to the motor is turned off and onwhile the option card is controlling the VLT. Cuttingof power to the motor (by setting terminal 27 low)while little positioning deviance is present in thecontroller, could result in an enormous controlsignal being generated once the power is turnedback on.

Velocity Feed-forward FFVEL (36)The VVVVVelocity feed-forward elocity feed-forward elocity feed-forward elocity feed-forward elocity feed-forward factor is a scaling factorthat is multiplied with the derivative of the setpointposition (the velocity of the setpoint). The result ofthis operation is added to the overall control signal.This feature is especially useful in applicationswhere there is a good correlation between thecontrol signal (the VLT speed reference), and thespeed of the motor. This is indeed the case withmost applications using an asynchronous motor.

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NB!The scaling of the FFVEL parameter is de-pendent on the correct setting of the maxi-

mum reference (VLT parameter #205) as well as theSyncPos parameters VELMAX (1) and ENCODER(2). A higher setting of VLT parameter #202 requiresa higher setting of the VELMAX parameter sincethey must maintain the same ratio.

Acceleration Feed-forward FFACC (37)The Acceleration feed-forward factor Acceleration feed-forward factor Acceleration feed-forward factor Acceleration feed-forward factor Acceleration feed-forward factor is multipliedwith the 2nd derivative of the setpoint position (theacceleration of the setpoint) and the result isadded to the control signal. This feature should beused to compensate for the torque used to accele-rate/decelerate the system inertia.

NB!Scaling of the FFACC factor is depending onthe setting of the Shortest ramp time Shortest ramp time Shortest ramp time Shortest ramp time Shortest ramp time (31).

You should therefore increase the FFACC accor-dingly when decreasing SyncPos parameterShortest ramp time Shortest ramp time Shortest ramp time Shortest ramp time Shortest ramp time (31) and vice versa.

Sampling time for the entire control algorithm TIMER(14)For particularly slow systems you can slow downthe entire control system by entering multiples of1 ms as the sampling time. However, it is importantto remember that such a change influences all thecontrol parameters!Therefore, normally you should not deviate fromthe value of 1 ms.

BANDWIDTHA Bandwidth Bandwidth Bandwidth Bandwidth Bandwidth of 1000 means that the set value isbeing executed 100%, thus DerivativeDerivativeDerivativeDerivativeDerivative, Proportio-Proportio-Proportio-Proportio-Proportio-nal nal nal nal nal and Integral factorsIntegral factorsIntegral factorsIntegral factorsIntegral factors are effective as defined.But if you are operating a system which could bejeopardized by vibrations, for example, a cranewith a heavy load then you can limit the bandwidthin which the PID controller should function.BANDWIDTH (35) of 300 makes a limitation of 30%possible. The build-up of a vibration is thus pre-vented since the control is only moved to with 30%of the calculated set value.However, then it is necessary also to use the feed-forward part of the controller in order to achievethe corresponding control.

Optimizing your controller settings step-by-stepFor best results use the functions in the testruntestruntestruntestruntestrunmenu for this purpose; these help you to evaluateand optimize the PID controller on the basis ofgraphs of the set and actual curves.However, we recommend only changing one valueat a time and subsequently determining the im-provement with a testrun.....

Click on "CONTROLLER" → "PARAMETER" →"AXIS" and select the VLT, of which you arecurrently adjusting the settings.

Setting controller behaviorBefore you adjust the controller parameters it isimportant to determine which controller behaviorshould be achieved.

NB!The drive elements must never be operatedoutside of the technical specifications. Thus

the maximum acceleration is determined by the“weakest” drive element.

· “Stiff” axis: the fastest reaction possible ismainly influenced by the Proportional factorProportional factorProportional factorProportional factorProportional factor.You can judge the results on the basis of thevelocity graph.

· Damping of vibrations are mainly influencedby the Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor. The results can bestbe assessed in the velocity graph.

· Temporary (static) deviations in position aremainly reduced by the Integral factorIntegral factorIntegral factorIntegral factorIntegral factor andcan best be judged on the basis of the posi-tioning graph.

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Ten steps for optimum controlThe following procedure will optimize your control-ler settings in most applications:

1. Make sure that you have specified correctvalues for VLT parameter #205, as well as theSyncPos parameters VELMAX (1), ENCODER(2) and RAMPMIN (31). If you change thesesettings again at a later point you may need tooptimize the controller again.

2. Set the POSERR (15) parameter to a very highvalue e.g. 1000000 to avoid getting the optionerror no. 8 during the following tests.

NB!To avoid damaging the system, makesure, that you set the POSERR within the

limits of the system, because the position errormonitoring is not active with extremely highvalues.

3. Optimize the VVVVVelocity feed-forwardelocity feed-forwardelocity feed-forwardelocity feed-forwardelocity feed-forward control:Step 1)Execute a "TESTRUN" with KPROP=0,KDER=0, KINT=0, FFACC=0 and FFVEL=100.Step 2)View the velocity profiles: If the actual velocityprofile is lower than the setpoint velocity pro-file, return to the TESTRUN dialog, click"REPEAT" and increase FFVEL. Of course ifthe actual velocity profile is higher than thespecified setpoint velocity you should de-crease FFVEL.Step 3)Run successive TESTRUNs until the two velo-city profiles shown in the TESTRUN graphhave the same maximum value.Step 4)FFVEL is now optimized, save the currentvalue.

4. In systems with large inertia and/or rapidchanges in the reference velocity it is a goodidea to use and optimize the Acceleration feed-Acceleration feed-Acceleration feed-Acceleration feed-Acceleration feed-forwardforwardforwardforwardforward control (make sure the inertial load isconnected when optimizing this parameter):Step 1)Execute a "TESTRUN" with KPROP=0,KDER=0, KINT=0, FFACC=0 and FFVEL at theoptimized value found above. Use the highestpossible acceleration setting. If RAMPMIN (31)is adjusted properly an acceleration value of100 and a deceleration value of 100 should besufficient. Start out with a low setting ofFFACC approx. 10.

Step 2)View the velocity profiles: If during accelera-tion the actual velocity is constantly lower thanthe reference velocity profile, then click"REPEAT" and set a higher value of FFACC.Then execute "TESTRUN" again.Step 3)Run successive TESTRUNs until the two velo-city profiles shown in the TESTRUN graphhave similar ramp-up and ramp-down curves.Step 4)FFACC is now optimized, save the currentvalue.

5. Next step is finding the maximum stable valueof the Proportional factoProportional factoProportional factoProportional factoProportional factor in the PIDcontroller:Step 1)Execute a "TESTRUN" with KPROP=0,KDER=0, KINT=0. Set FFVEL and FFACC atthe optimized values found above.Step 2)View the velocity profile. If the velocity profileisn't oscillating then click "REPEAT" andincrease KPROP.Step 3)Run successive TESTRUNs until the actualvelocity profiles is oscillating mildly.Step 4)Decrease this "mildly" unstable KPROP valueto about 70 %. Save this new value.

6. In order to dampen the oscillations created bythe KPROP-part of the controller, theDerivative factorDerivative factorDerivative factorDerivative factorDerivative factor should now be optimized.Step 1)Execute a "TESTRUN" with KINT=0 andKDER=200. Set FFVEL, FFACC and KPROP atthe optimized values found above.Step 2)Run successive TESTRUNs with increasingvalues of the KDER factor. At first the oscilla-tions will gradually reduce. Stop increasingKDER when the oscillations begin to increase.Step 3)Save the last value of KDER.

7. In any system that requires a zero steady-stateerror, the integration part of the controller mustbe used. Setting this parameter though is atrade-off between achieving zero steady-stateerror fast (which is good) and increasing over-shoot and oscillations in the system (which isbad).

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8. If you are using the integration part of the PIDcontroller, remember to reduce the KILIM asmuch as possible (without losing the KINT-effect of course) in order to reduce oscillationsand overshoot as much as possible.

9. Reduce the BANDWIDTH as much as possib-le. With a properly optimized open-loop con-trol BANDWIDTH could be reduced to as littleas 6 or 12 %.

10. Set the POSERR (15) parameter back to nor-mal e.g. 20000.

"TEST PARAMETER" → "SAVE"Once you have concluded the "TESTRUN" →→→→→"SAVE" the new parameters as the user parameters.Thus, these parameters are saved in the controllerand in the future will be used for all programs.

What to do if...... there is a tendency towards instabilityIn the event of a strong tendency towards instabi-lity reduce the proportional and derivative factorsagain, or reset the integral factor.

... stationary precision is requiredIf stationary precision is required then you mustincrease the integral factor.

... the tolerated position error is exceededIf the test run is constantly interrupted with themessage “position error” set the parameter for theTTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error POSERR (15) – within thetolerable limits– as large as possible.If the position error occur during the accelerationphase that suggests that the set acceleration can-not be achieved under the existing load conditions.Increase the TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error POSERR (15)or determine a maximum acceleration suitable forthe entire system.If position error do not occur until after the accele-ration phase and they can be delayed but not eli-minated by increasing the TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error,,,,,this suggests that the maximum velocity (rpm)chosen is too high. Determine a maximum velocitysuitable for the entire system.

.. the maximum acceleration is not achievedIn general, the technical data for a drive are only va-lid for a freely rotating axle end. If the drive is carryinga load the maximum acceleration is reduced.The theoretical maximum acceleration will also notbe achieved if, for example, the PID controller out-put is too small or the VLT/motor is not sized cor-rectly and therefore does not provide enoughenergy for peak consumption during acceleration.

Examples of control optimization

Dampening of vibrations

The drive vibrates:

By increasing the Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor to 5000 andreducing the Proportional factor Proportional factor Proportional factor Proportional factor Proportional factor to 3000 vibrationduring running and braking is lessened.....

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However, the drive now reacts somewhat slowly tochanges in velocity, which leads to a deviation fromthe set curve at the beginning of the accelerationphase:

Determining the maximum velocity or maximumspeed

The drive does not achieve maximum speed andthus starts to brake too late, since it is trying tocatch up with the position reference.

By reducing the velocity to 90% of the maximumvelocity and increasing acceleration and the decele-ration to 900% the drive can achieve the required2.47 UU/ms.

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Chapter 5 PC Software Interface"FILE" menu ......................................................... 39"NEW" .................................................................... 39"OPEN" .................................................................. 39"CLOSE" ................................................................ 39"SAVE" and "SAVE AS" .......................................... 40Printing and printer settings .................................... 40"EXIT PROGRAM" .................................................. 40Delete File ............................................................... 40"EDIT" menu ........................................................ 41"UNDO" .................................................................. 42"CUT" ..................................................................... 42"COPY" and "PASTE" ............................................ 42"FIND" and "REPLACE" ......................................... 42"DEVELOPMENT" menu..................................... 42"EXECUTE" ............................................................ 42Run programs in several VLTs ................................ 43"BREAK" ................................................................ 43"CONTINUE" program ............................................ 43Preparing and using "SINGLE-STEP" ..................... 43"SYNTAX CHECK" .................................................. 43"BREAK ALL" ......................................................... 43"SELECT CONTROLLER" ...................................... 43"COMMAND LIST" ................................................. 44"CONTROLLER" menu ....................................... 45"PROGRAMS" ........................................................ 45"AUTOSTART" ........................................................ 46"CONTROLLER" →→→→→ "PARAMETERS" .................... 47Global parameters .................................................. 47Axis parameters ...................................................... 47"PARAMETERS" →→→→→ "NAME" ................................. 48"PARAMETERS" →→→→→ "SAVE TO FILE" ..................... 49"PARAMETERS" →→→→→ "RESTORE FROM FILE" ....... 49"MEMORY" →→→→→ "SAVE RAM" ................................. 49"MEMORY" →→→→→ "DELETE EEPROM" ...................... 50"RESET" →→→→→ "PARAMETERS" ................................. 50"RESET" →→→→→ "COMPLETE" ..................................... 50"RESET" →→→→→ "ARRAYS" .......................................... 50"""""TESTRUN" menu ................................................ 51Setting parameters for a "TESTRUN" .................... 51EXECUTE "TESTRUN" ........................................... 52"DISPLAY RECORDING" ....................................... 53Evaluation motion figures ........................................ 53"SETTINGS" menu............................................... 55"COMPILER" .......................................................... 55"INTERFACE" ......................................................... 55"COLORS EDITOR" ............................................... 55"LANGUAGE" ......................................................... 56"WINDOW" menu ................................................ 56"CASCADE"............................................................ 56"TILE VERTICALLY" ............................................... 56"TILE HORIZONTALLY" .......................................... 56"HELP" menu ....................................................... 57

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Following chapter describes the individual menus of the SyncPos user interface. Ifyou are familiar with the Windows interface then, naturally, you can skip thefamiliar menus and immediately move to the SyncPos-specific information.The basic information about program layout, command structure, interrupt,elements of the programming language, arithmetic and User Unit can be found inthe introduction to the software reference. All commands and parameters aredescribed in detail and then alphabetically ordered in the chapters SoftwareReference and Parameter Reference.

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"FILE" menu

The "FILE" menu contains all the commands ne-cessary to create, open, save and print a program.All commands can be used with a mouse click orwith the key combination [ALT] and the underlinedletter, for example [ALT] + + + + + [F] + + + + + [S], if you want to"FILE" →→→→→ "SAVE".

"NEW"In the menu bar click on "FILE" and then on"NEW" or click on the icon in order to write anew program. The edit window is opened with thename “Unnamed Program1“ and you can begin towrite your program.

"OPEN"Click on "FILE" and "OPEN" or on the icon inorder to open a program file. In the menu "FILE"→ → → → → "OPEN" select the file you want with a double-click or by clicking on "OK". If the file you arelooking for is still in the list of files last used (max.9 files) then click on it and open the file in thismanner. Since all SyncPos program files requirethe extension .m, this file type must also beselected. If this is not the case, select the file type.m.m.m.m.m or All files (*.*) All files (*.*) All files (*.*) All files (*.*) All files (*.*) from the List files of typeList files of typeList files of typeList files of typeList files of type.

If you can’t find the file in the left field, click on adifferent directory in the Folders Folders Folders Folders Folders field or click onthe drive which contains the file in the field DrivesDrivesDrivesDrivesDrives.Continue to double-click on the sub-directoriesuntil you can mark the file you are looking for inthe left field. Then click on "OK".

Looking for lost filesIf you have “lost“ a file in the system, you cansearch for all *.m-files with the ExplorExplorExplorExplorExplorererererer.

"CLOSE"

"FILE" → "CLOSE"Click on "FILE" →→→→→ "CLOSE" if you want to closethe program file which has been loaded or written,but don’t want to end the SyncPos program.

NB!If you have not yet saved the newly writtenfile or the changes in the old file, answer the

question which follows with "YES",,,,, otherwise thenew file will not be saved.



"SAVE" and "SAVE AS"

"FILE" → "SAVE"Click on "FILE" →→→→→ "SAVE" or on the icon inorder to save a new or changed program on thecomputer’s hard drive from time to time or beforeclosing the file. If you have not yet saved a newprogram file the corresponding window is automa-tically opened under "FILE" →→→→→ "SAVE AS".

Click on "FILE" →→→→→ "SAVE AS" in order to save anew or altered program under a new name. Allprogram files have the extension .m.m.m.m.m.

NB!You should always save your files on the PC.This is because although the program is also

automatically saved for every execute and for eachsyntax check in the SyncPos-Option, at this pointthe program has already been compiled and thuscan no longer be altered in the computer.For reasons of compatibility between Windows '95and earlier versions of Windows the input of morethan 8 characters for the file names is not allowed.You can save as many program files as will fit inthe free memory on the hard drive of the computer.

Printing and printer settings

"FILE" → "PRINT"To print the file click on "FILE" →→→→→ "PRINT", choosethe area to be printed and the desired number ofcopies and start the printer with "OK".The dialog field that appears is somewhat differentdepending on your operating system – Windows95 or Windows NT. For further information pleaserefer to the Windows help.Click on "PRINT SETUP…" (or "PROPERTIES"), ifyou want to set other factors such as paper formator alignment (horizontal or vertical). These settingscan also be reached by clicking on "PRINTERSETTINGS".Click on →→→→→ "PRINTER SETTINGS", if you want toset the paper size, the output size (scaling) or otheroptions. You can find more information on the pos-sibilities for Window’s "PRINTER SETUP" in theWindows help.

"EXIT PROGRAM"

Ending SyncPosThe SyncPos program can be ended by clickingon "EXIT PROGRAM" or on the icon. If you havenot yet saved a new file or changes to an old file,then you will have the chance to do this.

NB!However, "EXIT PROGRAM" does not end aprogram running in the VLT. You can only

abort or end a program with [ESC]. In order to dothis the file which is linked with the controller resp.VLT must be open or re-opened.

NB!However, if the VLT stops at "FILE" →→→→→ "EXITPROGRAM" then this can be due to the fact

that the VLT is sending PRINT commands whichcan no longer be displayed by the communicationswindow.

Delete fileYou can delete one or more files – as usual inWindows – in the ExplorExplorExplorExplorExplorererererer.

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"EDIT" menu

The "EDIT" menu offers the necessary editing helpfor programming. Most of these commands canalso be reached via certain keys and key combi-nations, as is usual in Windows.When you are writing your program use the tabula-tors and the different colors to visuallystructure your program. The tab increments arepermanently set.

Marking textPoint to the position where the marking should beginand pull the mouse cursor over the text. If only oneword should be marked, simply double-click on thecorresponding word.You can expand marked text in all directions usingthe shortcuts listed; for example, with [SHIFT] + [→]by one character to the right, with [CNTL] + [SHIFT] +[→] key to the end of the word, with [SHIFT] + [END]to the end of the line, etc. The various possibilitiescan be found in the List of shortcuts.

Deleting textSingle characters can be deleted either with the[DEL] key (which deletes character-by-character tothe right of the cursor) or with the [BACKSPACE] key(which deletes character-by-character to the left ofthe cursor). If you are deleting words or lines whichhave been marked, both keys have the same effect.

Line numberWithin your program you can use the line numbersfor orientation purposes. For example, the syntaxcheck not only places the cursor in the correspon-ding line, but also names the line number contai-ning the incorrect command.The current line number can be found in the statusbar, for example 13:1. This means that the cursor islocated in line 13 at position 1.

Recording and calling up macrosFrequently used commands or command chainscan be recorded as a macro. Function keys can beassigned to these and they can be called upcompletely as required.Press [CNTL] + [SHIFT] + [R] and the record macrowindow indicates the start of the recording. You canrecord both command sequences and menucommands. To end the recording click on the closesymbol in the record macro window.

You are requested to assign a function key to themacro. Press F6, for example, and close the dialogwindow with OK. Now you can call up the com-mand sequence any time with F6.

Repeat next command n timesPress [CNTL] + [R] and set the number of repeats inthe following dialogue field:

Context menuClick on the right mouse key and then the "EDIT"menu is available as a context menu with additio-nal functions (only for Windows 95).

Context menus appear in the window at the loca-tion where you are currently working.You can close the context menu by clicking out-side of the context menu without having selected acommand. Or press [ESC].

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"UNDO"Click on "EDIT" and "UNDO", if you want to undothe last command. By clicking on "UNDO" again,you can restore the command which was undone.This can also be accomplished with the key com-bination [CNTL] + [Z] or [ALT] + [BACKSPACE].

"CUT"With "CUT" it is possible to copy and delete text.Mark the desired text fragment and click on "CUT"or on the icon. The text will be temporarilysaved for inserting. With the next copy commandthe text stored in the temporary memory is auto-matically overwritten.The key combination [CNTL] + [DEL] also servesthe same function.

"COPY" and "PASTE"Mark the desired text fragment and click on"COPY" or on the icon, the marked text iscopied to the notepad. Move the cursor to the posi-tion where the text is to be inserted and click on"INSERT" or on the icon.The key combination [CNTL] + [INSERT] serves thesame purpose.

"FIND" and "REPLACE"Find and replace is realized in accordance withthe Windows conventions. Use "EDIT" → "FIND",or "EDIT" → "REPLACE" to replace the foundpassage.

"DEVELOPMENT" menu

With the functions in the "DEVELOPMENT" menuyou can run, abort, continue or run the programsstep-by-step, which is particularly useful whensearching for errors. You should always subjectnewly written programs to a "SYNTAX CHECK" be-fore running them for the first time.However, before you begin it is always necessary toselect a controller resp. a VLT.Several helpful functions can be found in the"COMMAND LIST". First of all, this lists a generaloverview of all SyncPos commands, which can beselected and transferred to the edit window imme-diately. Secondly, you can work here with theteach-in programming.

"EXECUTE"Click on "DEVELOPMENT" →→→→→ "EXECUTE" or press[F5] and the program that is opened and displayedin the editor will be started.In doing so the program is loaded into the VLT butfirst it is complied, or translated into the internalsystem language. The size of a program is reducedconsiderably during compilation and thus thememory of the SyncPos option is used veryefficiently.At the same time the program is loaded into thetemporary sector of the RAM; this is overwrittenwith each subsequent execute command. Thus,when programming you have a quick and uncom-plicated process to test the programs.

NB!However, it is neither possible to move acompiled program back to the computer, nor

to edit the source file on the PC again. Thus, ingeneral, you should also save all programs on thehard drive of the computer.

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Run programs in several VLTsIf you want to load the program into several VLTs, linkthe program with the corresponding VLT and click on→ "EXECUTE".If you want to load a different program in each VLT,open a different edit window for each VLT, thenopen the desired program file and connect it tothe VLT with →→→→→ "SELECT CONTROLLER". Thenstart each program, one after the other, with →→→→→"EXECUTE".

Controller, resp. VLT 3VLT 2

VLT 1

"BREAK"Click on "DEVELOPMENT" →→→→→ "BREAK" or press[ESC] in order to immediately abort the program.When doing so, it is possible that active motionprocesses could be ended prematurely.

NB!Braking is done with the maximumdeceleration permitted.

"CONTINUE" programClick on "DEVELOPMENT" →→→→→ "CONTINUE", inorder to continue a program which was just abor-ted. In doing so any motion processes which wereinterrupted will be completed.If a program with an error message was aborted,you can →→→→→ "CONTINUE" it again with this functiononce you have removed the error and/or erasedthe error message.

Preparing and using "SINGLE-STEP"Single-step processing is particularly suitable fortesting newly developed programs and can be help-ful when searching for errors. With the SyncPoscommand #DEBUG you can exclude certainprogram parts from the single-step processing.Click on "DEVELOPMENT" →→→→→ "PREPARE SINGLE-STEP" and the program which is open and shown inthe editor will be started and processed step-by-step.The program stops after each line of the programand waits for your input. Click on"DEVELOPMENT" →→→→→ "SINGLE-STEP" or press [F9]in order to execute the next step.

"SYNTAX CHECK"Check a newly written program before you start itfor the very first time; click on "DEVELOPMENT"→→→→→ "SYNTAX CHECK" and the program will beaborted as soon as an faulty command is found.The line number and an error description are out-putted to the communications window. The cursoris automatically placed at the exact position of thesyntax error and the program stops at this point..

"BREAK ALL"If you run the programs in several VLTs click on"DEVELOPMENT" →→→→→ "BREAK ALL", to abort theprograms running.

"SELECT CONTROLLER"If you have configured more than one VLT, then use"DEVELOPMENT" →→→→→ "SELECT CONTROLLER" toselect the VLT that you want to use to load andstart the programs. For this, simply mark the num-ber of the VLT and click on "OK".

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"COMMAND LIST"The Command List not only contains allcommands in alphabetical order, but also displaysthe necessary input fields for every command andautomatically constructs the correct syntax foreach command, which you can simply "INSERT"into your program.In addition, it is also possible to program your VLTwith teach-in programming.Move the cursor in the edit window to the positionwhere you want to insert one or more new com-mands, click on "DEVELOPMENT" →→→→→"COMMAND LIST" and select the necessary com-mand in the dialog field, e.g. POSA.

"HELP"You can find detailed information on all commandsin this dialog field. Simply click on "HELP" orpress [F1] and you get information about the mar-ked command.Mark up a command and the preview shows youthe exact syntax of the command. Now you canselect from three alternatives which you can mixrandomly to program the VLT.

"INSERT"Either you can insert the command in your programimmediately: click on "INSERT".

"EXECUTE NOW"Or click on "EXECUTE NOW" and test this com-mand before Inserting it in your program.

NB!Enabled drives start up.

"MOVE TO POSITION"Or you can use the teach-in function and click on"MOVE TO POSITION": in the dialog field theactual position of the axis is displayed. Click onthe forwards > or on the backwards < symbol andmove the drive to the position desired. This can bedone either step-by-step, with individual mouseclicks, or with continuous movement by holding themouse button depressed.

Once the drive has reached the desired position,click on "ACCEPT" and the value is entered in thedialog field for the axis.

NB!In general, the values entered during pro-gramming are not tested whether they are

within the permissible range. Due to the multitude ofpossible applications and various motor sizes this isnot possible nor is it desirable.

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"CONTROLLER" menu

With the functions in the "CONTROLLER" menuyou can manage your programs: You can save ordelete the programs in the option EEPROM andcan mark a program for autostart. In addition, youcan also set all parameters here and make variousresets and assign a name to every VLT connected.

"PROGRAMS"Click on "CONTROLLER" →→→→→ "PROGRAMS" and inthe dialog field you will see all the VLTs in the firstfield. The controller marked is the VLT which iscurrently linked to the program displayed in theedit window. Naturally, you can also mark and editanother VLT.

"PROGRAMS" → "SAVE"Whenever you run a program, that means load aprogram into the controller, it is loaded into atemporary sector in the RAM, which is overwrittenwith each subsequent run. Here you can perma-nently "SAVE" the last temporary prtemporary prtemporary prtemporary prtemporary programogramogramogramogram exe-cuted.

NB!Don’t forget to always save and archive theprogram file on the hard drive of the compu-

ter since you can no longer edit the compiledsource file in the VLT.

Click on "SAVE" and enter a name in the subse-quent dialog field or confirm the file name sugges-ted. The program number will be assigned automa-tically.Click on "SAVE AS" and you can also assign theprogram number (0 to 127) yourself, in addition tothe program name.Using this program number any program can alsobe started over the inputs, for example from a PLC.For this all inputs are to be set accordingly with"CONTROLLER" →→→→→ "PARAMETERS" →→→→→"GLOBAL".

”SAVE” → “INCLUDE SOURCECODE”When the check box is activated, the sourcecoding is protected in VLT, in addition to directlyexecutable and compiled program files. This canbe re-accessed when necessary and saved in afile on a PC.Click on "SAVE AS" and enter a name in the sub-sequent dialog field or confirm the file name. Thesuggested filename contains the date and time tobe safe from overwriting actual files in case ofuploading.

The source coding is saved in Flash EPROM. Ifinsufficient space is available for the sourcecoding in Flash EPROM a message is displayed,and other program files must be erased beforesaving the new program file.All programs saved using source coding aremarked with a '+' sign.

"PROGRAMS" → "START"In this dialog window you can select a programand start it directly.

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”UPLOAD SOURCE“All programs marked with ‘+’ can be read out ofthe control in source coding format and can befiled on your PC for subsequent use.Select the desired program and click on “UPLOADSOURCE“. You can edit or duplicate the file forother VLT's.

"AUTOSTART ON / OFF"With Autostart you can mark a program that, in thefuture, is to be started immediately after the VLT isturned on. Select the desired program and click on"AUTOSTART ON". The program selected will thenbe marked with a *****.If you want to remove an autostart command onceit has been assigned, click on "AUTOSTART OFF"or simply mark another program.If you want to have more than one program runwith autostart, use the parameter PRGPAR (102).This allows you to determine which program shouldbe started after the conclusion of the program runin autostart.If nothing else has been determined in PRGPAR(102) or I_PRGSTART (103), the program markedwith autostart will always be started.

A pre-set "AUTOSTART" has the following effect:If no error is registered after a cold start (excep-tions: tolerated position error is exceeded, endswitch error and SW end switch error) the corres-ponding autostart program will be started.If the autostart program is aborted by the user(SyncPos) it will not start again unless a new coldstart is made. In this case no programs are starteddue to inputs or PRGPAR (102).If the autostart program is aborted due to an error(since no ON ERROR routine was defined) orended normally, then the program subsequentlychecks whether a start is planned through inputsor if the parameter PRGPAR (102) is set. If so, thenthe corresponding program is executed or the pro-gram waits for the start input. If not, the autostartprogram starts over again from the beginning. Itfollows that:One-time execution of the autostart programIf, in principle, you plan to start the programs viathe parameter PRGPAR (102) or via the inputs, thenthe autostart program is only executed once (forexample for HOME functions).

Repeated execution of the autostart programIn all other instances the autostart program isstarted repeatedly.Thus, it is also possible to simply start a programover again with an EXIT command. This is useful if,in an error situation (ON ERROR), you do not wishto continue with RETURN, but rather, for example,wish to force a repeated home run. However, it isimportant to make sure that an error has notoccurred (except for a tolerated position error isexceeded, end switch errors and SW end switcherrors), since otherwise the autostart program willnot be started again.

Linking autostart programsNaturally, starting via the parameter PRGPAR (102)can also be used for linking purposes: After aprogram has been started the program numberdefined by PRGPAR (102) can be converted. Thus,it is possible to determine which program is to beexecuted next.

NB!If no autostart program has been defined,then it is not possible to start a program via

PRGPAR (102); this always requires a terminatedautostart program.

"DELETE ALL"Click on "DELETE ALL" if you want to delete allthe programs in the VLT. Make sure beforehandthat you have saved the programs on the PC or inthe archive for safety reasons.

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"CONTROLLER" → "PARAMETERS"

The parameters in the "CONTROLLER" menu aredivided into two groups: the global parameters andthe axis parameters. Both the general overview andthe details on all parameters and parameternames with the respective factory settings can befound in the chapter Software Reference, sectionParameters.Or simply press [F1] when the mouse cursor is inone of the input fields and you get informationabout the corresponding parameter.

Global parametersThe global parameters include the functions of theinputs and outputs (GLI group) and the standardparameters (GLS group). The corresponding inter-nal parameter number is listed after the name ofthe parameter. With these numbers, which arelisted consecutively in the next chapter, ParameterReference, you can find detailed information onthe global parameters.

Mark the VLT you wish to edit. You can changeeach pre-set value individually. Click on "OK" toload the changes in the VLT as the user para-meters.

With "RESET" →→→→→ "PARAMETERS" in the"CONTROLLER" menu can reset all the factorysettings, however in doing so all parameters,including the axis parameters, are reset to thefactory settings.

Axis parametersThe axis parameters are always valid for all theprograms belonging to one controller. Click on"CONTROLLER" →→→→→ "PARAMETERS" →→→→→ "AXIS"and mark the controller the parameters of whichyou want to view or change in the subsequentdialog window. Also select the type in the field"PARAMETERS":

Encoder AXEHome AXHInputs / Outputs AXIPID-Controller AXRSynchronization AXSVelocity AXV

For example EncoderEncoderEncoderEncoderEncoder or Home:Home:Home:Home:Home:

You can change each parameter and re-load it inthe VLT by clicking on "OK". But you can also im-mediately select another VLT, change the parame-ters and then load all the changes into the VLTsimultaneously with "OK".The units of the parameter values and all otherinformation concerning the parameters can befound in the Software Reference in the sectionParameters. This information is arranged accordingto the internal parameter numbers (in increasingorder).

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Axis parameters with their factory settings

In this parameter group the inputs and outputs areassigned fixed functions – depending on the ap-plication. If necessary it is also possible to define asoftware end switch here.

If you want the standard settings for all axis para-meters, simply click on "CONTROLLER" →→→→→"RESET" →→→→→ "PARAMETERS".

NB!The global parameters will also be reset tothe factory settings if you do this.

"PARAMETERS" → "NAME"

You can also enter a name for each VLT in additionto the number or change an existing name with thisfunction. Click on "CONTROLLER" →→→→→"PARAMETERS" →→→→→ "NAME" and select the VLTthat you want to start in the subsequent dialogfield:

In the field "NAME" enter a name for the VLT (nolonger than 8 characters) or overwrite the existingname and click on "OK".....

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"PARAMETERS" → "SAVE TO FILE"

With "PARAMETERS" →→→→→ "SAVE TO FILE" you savethe user parameters including the arrays in a filewith the extension “.cnf”. This way you can quicklyload the parameters in another VLT or re-load themin the VLT at any subsequent time, for exampleafter deleting the EEPROM.

Click on "SAVE AS" and enter a name in the subse-quent dialog field or confirm the file name. The sug-gested filename contains the date and time to besafe from overwriting actual parameters in case ofrestoring from file.

"PARAMETERS" → "RESTORE FROM FILE"

Click on "PARAMETERS" →→→→→ "RESTORE FROMFILE" and select the VLT in which the data shouldbe loaded.

Then select the file and click on "OPEN". The userparameters saved, including the arrays, are imme-diately loaded in the VLT.

"MEMORY" → "SAVE RAM"

The function save RAM is usually not needed sincethe programs and parameters are automaticallysaved.

With → "SAVE RAM" you can also save the currentarray values in the EEPROM. "SAVE RAM" corre-sponds to the command SAVEPROM, since allprograms, parameters and arrays are saved.

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"MEMORY" → "DELETE EEPROM"

Delete the EEPROM in the SyncPos option if youeither want to undo the array definition or want toreset all parameters to the factory settings.

NB!When you delete the EEPROM all parame-ters are reset to the factory settings.

However, this is only done after the VLT has beenturned off.

NB!Remember the following when you delete theEEPROM:

• Check whether you have saved all the neces-sary programs on the computer so that youcan load these into the VLT again once theEEPROM has been deleted.

• Check whether you have saved the parame-ters for all the VLTs connected in a file on thecomputer.

• Click on "MEMORY" → "DELETE EEPROM".• Re-load the user parameters and the neces-

sary programs in the VLT resp. VLTs.

"RESET" → "PARAMETERS"

With "RESET" →→→→→ "PARAMETERS" all global para-meters and all axis parameters in the SyncPosoption are reset to the factory settings.

"RESET" → "COMPLETE"

With "RESET" →→→→→ "COMPLETE" not only are allparameters, but also the programs and arrays areerased and the SyncPos option is reset to thebasic factory setting ...............

NB!............... and this happens immediately – not onlyafter the controller has been turned on and

off as is the case when you delete EEPROM.

"RESET" →→→→→ "ARRAYS"

With "RESET" → "ARRAYS" you can delete allarrays in the RAM without – as was formerly thecase – deleting the parameters etc. This new com-mand has the same effect as the menu commandDELETE ARRAYS.

NB!If you then carry out SAVE ARRAYS, thearrays in the EEPROM are also overwritten!

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"TESTRUN" menu

The "TESTRUN" menu offers the functions"EXECUTE TESTRUN" from the entry of the testrun parameters up to the graphic representation ofthe test run results.If you have used TESTSETP to define a test runwith different parameters, you can also graphicallydisplay these results after execution (TESTSTART)with "TESTRUN" → "DISPLAY RECORDING".In order to correctly set the controller parameters itis important to choose the correct test parameters.

Setting parameters for a test runClick on "TESTRUN" → "EXECUTE TESTRUN"and enter the test run parameters in the dialogfield:

If possible only change one parameter permeasurement and check the effect this has.

Path of motionSet the path of motion in user units and utilize theentire duration of the measurement as well aspossible:The number of measurement points multiplied bythe time difference between two measurementsresult in the entire duration of measurement andthus determines the graph. For an optimal evalua-tion of the figures the path of motion should beselected so that the end position is reached afterapproximately 80% of the entire recording time.Thus vibrations at the target position are easilyrecognizable.

Example:50 measurements in intervals of 30 ms = 1.5 secrecording time.

Velocity, acceleration and decelerationThe test run parameters of velocity, accelerationand deceleration are entered in percent of therespective maximum value.Complete the measurements with the values mostoften needed for the controller for velocity, accele-ration and deceleration.In order to be able to evaluate the vibration beha-vior of the final velocity you should try to achieve atrapeze-shaped velocity course. For this it may benecessary to increase the sampling interval or re-duce the final velocity.

NB!Before you start to optimize the control be-havior, check whether the maximum velocity

and the maximum acceleration have beenachieved.

Number of readingsThe number of samples and the sample intervaldetermine the entire duration of the measurement.50 to 100 measurement points are sufficient for anoptimal graph.The number of maximum possible measurementpoints is limited by the internal memory of theSyncPos option and also by any programs that arestored there. If the memory is not sufficient for thedesired number of samples then it is necessary todelete the programs stored in the SyncPos optionwith "CONTROLLER" → "PROGRAMS" →"DELETE ALL".

Data sampling intervalSelect a sampling interval which is suitable for thesystem and for the frequency converter, for examp-le 20 to 30 ms.For dynamic applications the sampling interval canbe decreased to 1 ms. The shortest possiblesampling interval should be set for servo-motors.Naturally, to record slower or very long motion pro-cesses the time difference in milliseconds can beincreased, however the maximum is 255 milli-seconds.

NB!The sampling interval mentioned here is theinternal between measurements, not the

controller sample interval.

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"EXECUTE TESTRUN"Before starting a testrun: Safety notesMove the drive to the starting position, it is impor-tant to do this before you open the test window.

NB!While optimizing the controller with thefunction "TESTRUN" the drive is automatically

returned to the starting position after reaching thetarget position.If run in reverse is not allowed, then the REVERS(63) parameter must be set to “no reversing = 2”.Click on “CONTROLLER” →→→→→ “PARAMETERS” →→→→→“AXIS” and change the setting in the parametergroup PID ContrPID ContrPID ContrPID ContrPID Controllerollerollerolleroller.

NB!Make sure that any and all brakes are relea-sed and that there are not any obstacles in

the positioning path.

NB!Improperly adjusted control parameterscan cause the motor and the mechanism

to be damaged. For this reason never optimizecontrols without having an EMERGENCY STOPbutton.

Starting the TestrunClick on "ETESTRUN" → "EXECUTE TESTRUN"and the dialog field with the test run parameters isopened. The test run parameters last saved andthe current axis parameters are already enteredhere:

Begin the test series with 'stable' control parame-ters: If the standard set control parameters causethe drive to vibrate heavily in the starting position,select a low Proportional Proportional Proportional Proportional Proportional and Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor(ca. 20) and set the integral factor to zero. Then,starting from these values, optimize the controller.

If it is at all possible you should optimize the con-troller first with the motor and the drive until thereadings are no longer in the critical range. Thenconnect the mechanical load and complete thefine optimization.

Click on "START": The test run is executed, thecurrent position values, etc. are saved and, at theend of the test run, transferred to the computer forevaluation.

NB!Observe the behavior and temperature of themotor: if there are strong vibrations or an

excessive increase in the motor temperature themotion process must be aborted prematurely withthe EMERGENCY STOP button and different controlparameters must be selected.

After making an EMERGENCY STOP you mustmove the drive back to the starting position beforemaking another test run. Reduce the proportionalfactor, and if necessary also the derivative factor,before starting the next test run or measurement.

After the measurement is complete all measure-ment data is automatically transferred to the com-puter and, during this process, the drive returns tothe starting position at a reduced velocity. Thefigures are plotted automatically.

The dialog field for the test run parameters isopened with "REPEAT".

Saving and loading test run parametersClick on "SAVE", to save the test run parameters inthe VLT. If, during additional test runs, you receivepoorer control results then you can "LOAD" theparameters previously used again.

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"DISPLAY RECORDING"If you have used TESTSETP to define a test run withdifferent parameters, you can also graphically displaythese results after execution (TESTSTART) with"TESTRUN" →→→→→ "DISPLAY RECORDING".Insofar as this is possible with the parameters youhave selected, i.e. that the result can actually bedisplayed with the four graphics.These four diagrams or seven curves are used asfollows:(1) The actual position curve shows the values of

index w1 (see TESTSETP),(2) the set position curve the values of index w2,(3) and the current curve the values of index w3.(4) The actual speed curve shows the difference of

the recorded data to the values of w1; in thecase that position data is being recorded thismeans the change in the position in ms =speed.

(5) The set speed curve shows the difference tothe values of w2; in the case that position datais being recorded this means the change inthe position in ms = speed.

(6) The actual acceleration curve shows thedifference to the values of the actual speed(see 4); in the case that position data is beingrecorded this means the change in the speedin ms = acceleration.

(7) The set acceleration curve shows the diffe-rence to the values of the set speed (see 5); inthe case that position data is being recordedthis means the change in the speed in ms =acceleration.

Evaluating motion figuresCheck the maximum position, the maximum velo-city, the number of “overshoots“ and the durationof the building-up process.

For each graph the most important test runparameters, the corresponding maximum valuesand actual values are displayed:

• velocity in user units/ms,• acceleration in user units/ms2),• the maximum regulation difference which oc-

curred during the process are shown,• the actual position difference at the target,• user units in qc,• data sample interval in ms.

Click on the corresponding input field to view oneof the other graphs, for example for velocity. Youcan also view two or even all four graphs at once.However, then no units are shown on the x-axis.

RepeatIf you click on "REPEAT" then the dialog field forthe test run parameters is opened once again. Youcan change the parameters and start a new testrun.

"TESTRUN" positioning graph

The positioning graph shows the set positions (darkor brown curve) and the positions actuallyachieved (light or red curve).

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"TESTRUN" velocity graphThe yellow (light) curve shows the achieved velocitypath, the brown (dark) curve shows the desiredtrapeze-shaped set curve.

In special instances the trapeze-shaped velocitycurve can degenerate to a triangle shape. Thiseffect occurs when the positioning distance is tooshort to achieve the maximum velocity at thedesired acceleration.

"TESTRUN" acceleration graphThe light green curve shows the actual path ofacceleration, the dark curve shows the desiredtrapeze-shaped set curve during acceleration anddeceleration.

"TESTRUN" current graphThe blue line shows the actual motor current.

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"SETTINGS" menu

This menu offers compiler options and interfacesettings. You can set the colors in the editor as youwish. If you would like to change the language ofthe user interface, please see below.

"COMPILER"The default values for the compiler options are setaccordingly for most applications. Thus, they donot require too much memory and, at the sametime, they allow the necessary input to be made.

Maximum number of variablesThe number of variables has a direct effect on theamount of memory available in the option. It is im-portant to remember that an array also occupiesthe space of a variable.If you need more than 92 variables (incl. arrays)then increase this number.

Maximum number of labelsThe maximum number of labels determines howmuch memory is available for internal hyperlinks.Internal hyperlinks are automatically created for allbranches of the program (GOTO, IF, LOOP,REPEAT, WHILE, GOSUB) during compiling. Therecommended range is between 100 and 500 inter-nal labels.Increase the maximum values permitted if thenumber of labels is not sufficient for text input.

"INTERFACE"You have already determined the interface settingswhile starting the VLT.If you have to change one of the settings, forexample the baud rate, click on "SETTINGS" →→→→→"INTERFACE" and enter the change.

NB!However, it is important to remember that achange in the interface settings can cause

the communication between the PC and the VLT tobe lost.

Scan RangeDefine the range for scanning the connected VLTs.If you add one or more VLTs in the network, youhave to extend the range.

RS485 connectionYou need the RS232 standard interface in the PCor an additional RS232 interface card and anexternal converter for a RS485 connection.

"COLORS EDITOR"In order to provide greater clarity, different colorscan be assigned to the various program sectionssuch as comment, key word, number etc. To dothis, open the "COLORS EDITOR" in menu"SETTINGS." Select the type, e.g. Comment, andselect the desired color. Click OK to store the newsettings.

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"LANGUAGE"If you want to access the "SETTINGS" menu tochange the language, then all dialog windows andedit windows must be closed. To close these win-dows click on the close icon in the upper right-hand corner of the open edit or dialog window.

If you desire another language, click on"SETTINGS" →→→→→ "LANGUAGE" and choose fromEnglish and German in the subsequent dialogfield. "EXIT PROGRAM" and start SyncPos again.

"WINDOW" menuYou can open several edit windows resp. files andeach edit window can be linked with a controller.In order to display a number of editing windowschoose between → "CASCADE", "VERTICAL"(alongside each other) or "HORIZONTAL" (on top ofeach other) in the "WINDOWS" menu.....Click on the full screen symbol, if you do not wantto cascade the windows or display them next toeach other.In general, if you chose to display files as symbolsthey are displayed at the bottom left of theSyncPos window.

"CASCADE"All opened files are listed in the "WINDOW" menu.Click on the file that should be on top when thewindows are cascaded.The files are shown slightly staggered on top ofeach other:

File symbol Full size symbol

"TILE VERTICALLY"If you want to look at a number of programs at thesame time you can choose between differentwindow representations. You can, for example, splitthe SyncPos window and display the files along-side each other.

"TILE HORIZONTALLY"The SyncPos window is divided up and the filesshown on top of each other.

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"HELP" menu

The representation and functionality of the online-help varies, depending on the operating systemused.

"INDEX"Click on "HELP" →→→→→ "INDEX". For example, if youare looking for details on the ACC command,select in the table of contents the topic “AllSyncPos Commands from ACC to #INCLUDE“ andcklick on ACC.

Text retrievalFor text retrieval first click on "SEARCH", so thatthe word list is created. Then enter the search term“acc“, mark an equivalent term and then select thedesired topic from the list displayed.

Search via IndexOr enter “acc“ in the index and select the corres-ponding index entry.

Context-sensitive helpThe "COMMAND LIST" and the parameter dialogfields in the menu "CONTROLLER" offers a directaccess to the online help. Mark a command in the"COMMAND LIST" resp. select one of the inputfields of a parameter and press [F1]. You will getthe corresponding information.

Cross-referencesCross-references to other texts are marked ingreen. Click on the marked cross-reference andthe desired text is displayed. Click next on "BACK"in the menu bar to read again the previous section.Click on the words marked with green dotted lineand the corresponding popup shows images,graphics and explanation from the glossary, forexample MLONG. Click on beside of the popup orpress the Esc-key to close the popup.

Printing or copying help textsYou can print the help text or [INSERT] it in youredit window with "EDIT" →→→→→ "COPY". For example,this can be used to insert complete programstrings from program samples.

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"ABOUT PROGRAM"Here you can find the version numbers of theSyncPos program, the program library and thecompiler.A handbook for the program library is available forC programmers. With this it is possible to link thecontrol program directly to the C program.



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Chapter 6 Programming with SyncPosFundamental Program Layout .............................. 61Fundamental Command Structure ....................... 61Interrupt ................................................................ 62Elements of the Programming Language ............. 64Arithmetic .............................................................. 65User unit ................................................................ 67

Software ReferenceList of Commands ................................................ 68All Commands from ACC to #INCLUDE .............. 70

Parameter ReferenceVLT parameter and SyncPos parameter ............ 125VLT parameters ................................................... 126VLT parameter list ............................................... 128All SyncPos parameters in Alphabetical Order ... 129All SyncPos parameters in Detail ....................... 131

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The following chapters describe how to program using SyncPos. Beginnersshould read the basic explanations on the programming language SyncPos, i.e.program layout, command structure, interrupt, elements of the programminglanguage, arithmetic and user unit. Experienced users should inform themselvesabout the SyncPos-specific basic principles, e.g. user unit or parameters.

All commands are described in the Software Reference, first in a generaloverview and then alphabetically ordered, in detail and complemented with shortexamples. You can reconstruct as many as 50 programs with assistance of theinformation in the example programs in this chapter.

And in chapter Parameter Reference all the parameters are described, first ingeneral and then in detail.

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Programming with SyncPos

Fundamental Program Layout••••• Definitions: Arrays, Interrupts, User

parameters••••• Initializing: Setting parameters, flags and

variables••••• Main program loop

main:–GOTO main

••••• Sub program areaSUBMAINPROG

SUBPROG name–RETURN

ENDPROG

DefinitionsArray DIM send[12], receive[12]

Interrupt ON ERROR GOSUB errhandleON INT –1 GOSUB stopprogON PERIOD 500 GOSUB calcON TIME 10000 GOSUB break

User parametersLINKAXPAR SYNCACCURACY 710"ACCURACY [qc]" 0 100000 0

LINKGPAR 133 716 "Offset [qc]" 0100000 0

InitializingParameters SET POSERR 100000000

SET 133 10000SETVLT 205 50

Flags/variables offset = 0sync_flag = 0

System parameters VEL 100ACC 100DEC 100

Main programmain:IF (IN 3 == 1) THEN/* Go into synchronizing mode, if input 3 = 1 */

GOSUB syncprogELSE

GOSUB speedprog/* If input 3 not = 1, run in speed mode */

GOTO main

Sub programsSUBMAINPROG: SUBPROG syncprog

IF (sync_flag ==0) THEN/* synchronize, if not already synchronized */ SYNCP sync_flag = 1ENDIF

RETURNSUBPROG errhandle WAITI 18 on /* waiting for digital input 18, clear the error */ sync_flag = 0 ERRCLRRETURN

ENDPROG

Sequential command processingIn general a command is processed to the endbefore a new command is begun. This means thatfor position commands the program waits until thetarget position has been reached.Exception: If NOWAIT has been set to ON.

Fundamental Command StructureAll instructions consist of: COMMAND WORD +possible ParameterParameterParameterParameterParameter. . . . . A variable can also be usedas parameter instead of an absolute number.

ExamplePOSA 10000

orpos = 10000POSA pos

Command run timesIf the command execution times are critical in anapplication it is possible to measure the run timesof a command sequence under the different ope-rating conditions using the command TIME.

Tips for Increasing Program Readability ••••• Use of capital and small initial letters (i.e. all

commands capital letters, all variables small). • • • • • Placement of spacing between command

parts. • • • • • Place comments in your program. The com-

ments are between/* … */ or after //…/* Begin COMMENT End */// Begin COMMENT EndInadmissible is nesting comments (/* ............... /*...............*/)

• • • • • Use of line identification within the loop.

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Input valuesAs in other programming languages the valuesinputted are not tested. Thus, it is theprogrammer’s responsibility to ensure that extremevalues do not lead to problems. When searchingfor such potential problems use the #DEBUGcommand.

InterruptIn general there are three types of interrupts:ON INT Interrupt at the edges

of an inputON PERIOD / ON TIME Interrupt after a

certain period of timeON COMBIT / ON STATBIT Interrupt when Bit n is

setON PARAM Interrupt when a para-

meter n is changed

General processing of interrupt proceduresAfter every internal SyncPos command a query ismade whether an interrupt event has occurred. It isimportant to remember that with every internalSyncPos command the compiler creates a com-mand in SyncPos machine code.Thus, for example, a simple command such as:

POSA (target + 1000)is broken down into the following SyncPos machinecode:

MOVE target to register 101MOVE immediate 1000 to register 102ADDREG register 102 plus register 101 to

register 101POSA axis to register 101

Furthermore, for commands which take longer(such as DELAY or WAITAX) the program constantlychecks whether an interrupt event has occurred. Ifthis is the case, the command is interrupted andcontinued once the interrupt has been processed.

NB!Do not use WAITT in connection with inter-rupts since the waiting process starts again

after the interruption.

Use of variables within interrupt proceduresThe example above with the “SyncPos machinecode” clearly shows that it is necessary to use theutmost care when assigning variables within inter-rupt procedures.

If, for example, in the main program the followingassignment is made:

target = target + value – 1000this is broken down into a series of SyncPosmachine code commands and the intermediateresults are stored in temporary registers. Only atthe end of the sequence is the result stored intarget.

If during the execution of this command aninterrupt is triggered and in the correspondingprocedure the following command is executed:

target = 0then, in this instance, problems will arise. This isbecause after processing the interrupt procedurethe program jumps back to the main program andthen the intermediate result which still exists isstored in target: Thus, the 0 in target is overwrittenonce again.

ON PERIODIn contrast, for ON PERIOD functions the timewhen the next call instruction should take place iscalculated at the start of such a function, thus

START_TIME = TIME + PERIOD.

As soon as this time has been reached thefunction is executed and subsequently the nextstart time is calculated with the following formula

START_TIME = START_TIME + PERIOD.

This ensures that the call intervals are really thesame since the execution time does not influencethe calculation. But this means that the user mustmake sure that the period of time is actually longerthan the execution time as otherwise a “jam” iscreated. That means that actually only the ONPERIOD function is executed.

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Response timesThe existence of an interrupt is checked in a spe-cial function which is also used as a watch dogcontrol. For this reason this is generally called up inany procedure which could last somewhat longerand in all loops, etc.This procedure checks every 1 ms whether suchan event exists and, if necessary, sets a correspon-ding flag. At the latest this flag is detected andevaluated after the current APOS machine codehas been processed.The response time is the maximum run time of themachine code or 1 ms, whichever is greater. Forthe VLT it is approx. 1 ms.One exception is the time interrupt (ON TIME / ONPERIOD). This checks whether the time has elap-sed every 20 ms. Thus, it is not logical to define anON PERIOD with less than 20 ms.

NB!Furthermore, in general, it is important tomake sure that interrupt functions do not

last too long. Particularly for ON PERIOD functionsit is important to ensure that the function does notlast longer than the period since otherwise a „jam“of function procedure calls will be created.

PrioritiesIf two interrupt events should occur simultaneouslythen the processing is prioritized as follows:

If two interrupt events should occur simultaneouslythen the processing is prioritized as follows:ON INT comes before ON COMBIT beforeON STATBIT before ON PARAM before ON TIME /ON PERIOD but the other events are not lost.

Within the individual types of interrupts thefollowing is true:

ON INT / ON COMBIT / ON STATBITIf two (input) interrupts occur simultaneously, thenthe one with the lower number is executed first,however the other is not lost. After the interruptprocedure is completed the other is called upaccordingly.If the same input resp. interrupt occurs again whilethe procedure is being executed this is notedagain and subsequently executed.Thus, an interrupt can only be lost if it occurs twiceduring the execution of an interrupt procedure.

ON TIME / ON PERIODAs described above the execution time for everytemporal function is stored in an internal structure.For simultaneous execution times the procedurethat is first on the list will be executed first. Thepriority is thus determined by the sequence of theON PERIOD commands.

ON PARAMIf several of these interrupts occur simultaneously,they are processed according to the sequence ofthe ON PARAM commands in the program.

Interrupt nestingIt is not possible for one interrupt to be suspendedby another. Accordingly, while one interrupt isbeing processed a second interrupt cannot beprocessed. The only exception is the ON ERRORfunction, which is also possible during the proces-sing of interrupts.However, an ON ERROR function cannot be sus-pended by an interrupt.

NOWAIT in interruptsIn general, during an interrupt NOWAIT is set toON, that means that the program does not wait forthe completion of POSA commands.This is necessary since otherwise a POSA com-mand cannot be suspended by an interrupt proce-dure, since this would immediately wait for the arri-val of the axis. Thus, if you wish to wait for thearrival of an axis during an interrupt procedure, thismust be done explicitly with WAITAX.

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Elements of the Programming Language

ConstantsConstants can be used anywhere where parame-ters or values are expected. Constants are usuallyentered in integral numbers, for example:

value = 5000Constants …… are integer number values between -2 to +2

billion,… are valid within the entire program (they are

global),… can be entered as a decimal, hexadecimal

(0x + hexadecimal number), octal (0 + octalnumber) or in ASCII (between apostrophes), forexample:value = 5000 = decimal 5000value = 0x7F = decimal 127value = 0100 = decimal 64value = ‘A’ = decimal 65Hexadecimal and ASCII entries, in particular,avoid many conversions and make the pro-gram more readable, for example:key = ‘A’

The advantage of constants is, that they don'tneed own storage capacity.

Variables ...… can only be used for intermediate data

storage of inquiry and calculation results.… occur via the allocation of a value.… must not be defined separately.… are valid within the whole program, (i.e. they

are global)… contain integer number values between –2 to

+2 billion.… can be used within commands, instead of

constant values.… must be allocated a value before use in a

command.

Variable Identification Names… can be of any length… can consist of letters, numerals and underlines… must not contain any country-specifics, such

as “ä”, “é”… must begin with a letter… can be written in small or capital letters (no

difference!)… may not be identical to a command name

Special VariablesERRNO = A system variable, which contains therelevant error number

ArraysWriting programs with dialog requires user input orpositions to be stored for a longer period of time,for example, even after the VLT has been turnedoff. Usually such input consists of several valueswhich are best stored in fields or arrays.

Arrays are stored in the memory area of the userprogram and are defined globally, that means theyare independent of the current program. The usercan determine how many arrays are defined andhow large the individual arrays should be. Thisdetermination is made with the DIM statement andis then fixed and cannot be changed (except byerasing memory). Each program that is intended touse arrays must contain a corresponding DIMstatement which corresponds to the original defini-tion. Otherwise an error will be indicated.

DIM StatementThe DIM statement has to be the first statement inthe program and must appear before thesubroutine area.

The DIM statement specifies the arrays to be sub-sequently used. If no arrays have been previouslycreated then they will be created now. If arrays hadbeen previously defined then it is important thatthe information corresponds with the originaldefinition.

ExampleDIM target1[20], target2[20], target3[20], plant_offset[50]DIM parameter[10]

With these commands a total of 5 arrays havebeen defined with their corresponding sizes. If thisprogram is executed once then the arrays listedabove will be created in the SyncPos option. If,when the program is re-started, it is determinedthat the definition of the arrays differs from thearrays in the SyncPos option, then this is indicatedas an error. However, it is correct if a second pro-gram only contains the following line:

ExampleDIM target1[20], target2[20], target3[20]

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However, the sequence of definition must alwaysbe the same since the SyncPos option does notstore the names of the arrays but only their posi-tion in the DIM statement. Thus the following pro-gram line is also correct and the xpos array isidentical to the target1 array.

ExampleDIM xpos[20], ypos[20], zpos[20], offs[50]

IndexesThe elements of an array are designated by acorresponding index in square brackets: xpos[5].Indexes are allowed from 1 to the size of the arraydefined. Thus, in the above case for xpos from 1 to20. If an attempt is made to access elementsbefore or after this array then an error message isgenerated since this could lead to data overrunand destruction of the array.

Reading and Writing ArraysAccess to the arrays thus defined is made analogto the use of variables. Thus all of the followingstatements are correct:

Examplexpos [1] = 10000xpos [2] = 20000xpos [3] = 30000i = 1WHILE (i<20) DOypos [i] = i*1000i = i+1ENDWHILEzpos [1] = APOSPOSA xpos [1]offs [1] = (xpos[2]) % 20

Arrays versus VariablesIn general arrays can be used everywhere variablesare also permitted. Furthermore, an array onlyoccupies the location of an internal variable andthus only reduces the number of maximally permit-ted variables by one. The maximum number ofvariables can be set in the menu "SETTINGS" →"COMPILER".

ArithmeticThe compiler offers the following commands andparameters:Operators plus, minus, times, divided

by, XOR, Modulo, Division,Absolute amount

Bit operators and, or, invert, left shift,rightshift, bit, byte, word,long

Comparison Operations greater than, less than,greater than or equal to,less than or equal to, thesame as, not equal

Logical Operations and, or, not

Inform yourself about the type of assignment ope-ration which is structured in accordance with theBit/Byte commands and about the priorities of theoperators and the operations.

NB!All arithmetical operations are integernumber operations.

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s OperatorsSymbol Meaning Syntax / Example Description+ plus 3 + 3 = 6 Addition– minus 9 – 3= 6 Subtraction* times 2 * 3 = 6 Multiplication% divided by 19 % 3 = 6 Division (result is truncated)^ XOR expr1 ^ expr2 Exclusive Or (binary operation)

127 ^ 255 = 128mod modulo expr1 mod expr2 Mathematic modulo (rest of an integer division)

250 mod 16 = 10rnd division expr1 rnd expr2 Division with round-off (opposite to truncating)

250 rnd 16 = 16abs absolute amount Abs(expr) Absolute amount of the expression

abs (-5) = 5

Bit operatorsSymbol Meaning Syntax / Example Description& and 7 & 6 = 6 bit-by-bit relationship| or 2 | 4 = 6 bit-by-bit relationship~ invert ~(–7) = 6 bit-by-bit inversion<< left shift 3 << 1 = 6 bit-by-bit shift to the left>> right shift 12 >> 1 = 6 bit-by-bit shift to the right. Bit expr1.expr2 Returns the Bit expr2 from expr1

7.1 = 17.3 = 17.4 = 0

.b Byte expr1.b expr2 Returns the Byte expr2 from expr10x027F.b1 = 1270x027F.b2 = 2

.w Word expr1.w expr2 Returns the Word expr2 from expr10x0010FFFF.w2 = 16

.l Long expr1.l expr2 Returns the Long expr2 from expr1 (standard)

Comparison Operations and Logical OperationsComparison operations > greater than

< less than≥ greater than or equal to≤ less than or equal to== the same as!= not equal

Logical operations AND andOR orNOT not



User unitAll path information in motion commands aremade in user units and are converted to quad-counts internally. By choosing these scaling unitscorrespondingly it is possible to work with anytechnical measurement unit (for example mm).This factor is a fraction which consists of a nume-rator and denominator.1 User unit = POSFACT_Z / POSFACT_NScaling determines how many quad-counts makeup a user unit. For example, if it is 50375/1000,then one UU corresponds to exactly 50.375 qc.

The user units (UU) corresponds in the standardsetting to the number of quad-counts.ParameterPOSFACT_Z (23) and POSFCT_N (26) = 1

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Assignment OperationValue = 0 Standard assignment to a variable

Field[1] = 0 Standard assignment to an arrayvalue

Value.3 = 1 Bit 3 is set at 1, value = 4Field[1].8 = 1 Bit 8 is set at 1, field[1] = 128Value.b1 = 72 The lowest byte of value is set

at 72Value = 72

Value.b2 = 128 Second byte of value is set at 128Value = 0x00008048

Value.w2 = 15 Second word of value is set at thevalue 15.Value = 0x000F8048

Priority of the Operators and the OperationsOperators in the same line have the same priority,thus they are completed one after the other.The priorities are described in decreasing order:

* % multiplicative+ – additive>> << bit-by-bit shifting≥ ≤ > < relation= = != equality& bit-by-bit and| bit-by-bit inclusive orAND (logical and)OR (logical or)



Software Reference

List of CommandsInitialization of the SyncPos option (INI)Commands to initialize the axis and the SyncPosoption start up and define the zero point(s)

DEFMORIGIN set the current master positionas the zero point for the master

DEF ORIGIN sets the actual position as realzero point

DELETE ARRAYS delete all arrays in the RAMERRCLR clears errorHOME moves to machine zero pointINDEX moves to next index positionMOTOR OFF turns off motor controlMOTOR ON turns on motor controlRST ORIGIN resets temporary zero pointSETMORIGIN set the current position as the

zero point for the masterSET ORIGIN sets temporary zero pointSAVE ARRAYS save arrays in the EEPROMSAVE AXPARS save current axis parameters in

the EEPROMSAVE GLBPARS save current global parameters

in the EEPROMSAVEPROM saves memory in EEPROM

Control Commands (CON)Commands for controlling the program flow andstructuring the programs.

DELAY time delayDIM declaration of a global arrayEXIT desired, premature program

terminationGOSUB calling up a subroutineGOTO jumping within a programIF THEN conditional program execution... ELSE IF THEN .. with conditional alternative

branching... ELSE .. with alternative branching... ENDIF end of the conditional program

executionLOOP repeats loopCONTINUE continues positioning from point

of interruption, for examplefollowing a motor-stop

MOTOR STOP motor-stop with a programmeddelay (with ramp)

NOWAIT ON/OFF on/off switch for waiting for thecommand execution

REPEAT beginning of repeat loopREPEAT... UNTIL conditional loop, with an end

criteria

SUBMAINPROG commencement of thesubroutine definition area

... ENDPROG end of the subroutine definitionarea

SUBPROG begins a subroutine... RETURN ends a subroutineSYSVAR system variable (pseudo array)

reads system valuesWAITAX waits until target position is reachedWAITI waits for inputWAITNDX waits until the next index

position is reachedWAITP waits until a certain position is

reachedWAITT time delay in millisecondsWHILE … DO conditional loop with com-

mencement criteria… ENDWHILE end of the loop#DEBUG compiler directive: program

breakpoint#INCLUDE compiler directive: embedding

further data

Absolute Motion (ABS)Commands for the absolute positioning of the axis

ACC sets accelerationDEC sets decelerationPOSA positions axis absolutelyVEL sets velocity for relative and

absolute motions and set maximumallowed velocity for synchronizing

Speed Control (ROT)Commands to obtain a permanently driving axiswith constant speed

CSTART starts the continuous movementin rpm mode

CSTOP stops the drive in speed modeCVEL sets the velocity for speed

regulation

Input/Output Commands (I/O)Commands for setting and re-setting the outputs,reading the inputs, reading movement information,reading system data and entering and outputtinguser information.

APOS reads actual positionAXEND reads info on status of program

executionCPOS reads set positionMAPOS queries actual position of the

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MIPOS queries last index or markerposition of the master

IPOS queries last index or markerposition of the slave

MAVEL queries actual velocity of themaster

AVEL queries actual velocity of anaxis

TRACKERR queries actual position error ofthe axis

SYNCERR queries actual synchronizationerror of the slave

ERRNO reads error numberIN reads input bit-by-bit (individually)INB reads input by bytes (units of 8)INAD reads analog inputINKEY reads key codes of VLTOUT sets output bit-by-bit (single)OUTAN sets VLT referenceOUTB sets output by bytes (units of 8)OUTDA sets analog output (freely available)PID completes PID calculationPRINT output (display) texts and

variablesSTAT reads axis statusTESTSETP Specify recording data for test runTESTSTART Start the recording of a test runTIME reads internal controller time_GETVEL changes sample time for AVEL

and MAVEL

Interrupt Functions (INT)DISABLE … switches interrupt … offDISABLE ALL switch off all interrupts except

ON ERRORENABLE … switches interrupt … onENABLE ALL switches all interrupts onON COMBIT .. GOSUB

call up a subprogram when Bit n ofthe communication buffer is set

ON ERROR GOSUBcalls subroutine in the event ofan error

ON IN .. GOSUB calls subroutine depending oninput signal

ON PARAM .. GOSUBcall up a subprogram when aparameter is altered

ON PERIOD .. GOSUBcalls subroutine at regular intervals

ON STATBIT call up a subprogram when bit nof the VLT status is set

ON TIME calls subroutine after singletiming

Parameter (PAR)All global and axis parameters with a parametercode can be set and read with the following com-mands. (Parameter code see overview inParameter Reference.)

GET reads SyncPos parametervalues (axis, global and userparameters)

GETVLT reads VLT parameter valuesSET sets SyncPos parameter values

(axis, global and user parameter)SETVLT sets VLT parameter valuesLINKAXPAR links axis parameter with LCP

displayLINKGPAR links global parameter with LCP

displayLINKSYSVAR links system variable with LCP

display

Communication option

COMOPTSEND writes in the Communicationoption buffer

COMOPTGET reads a Communication optiontelegram

PCD pseudo array for direct accessto the fieldbus data area

Relative Motion (REL)Commands for the relative positioning of the axis

ACC sets accelerationDEC sets decelerationPOSR positioning relative to the actual

positionVEL sets velocity

Synchronization (SYN)Commands to synchronize the slave with themaster or the master simulation

MOVESYNCORIGINrelative shifting of the origin ofsynchronization

SYNCV synchronization of velocitySYNCP synchronization of angle/positionSYNCM synchronization of angle/

position with marker correctionSYNCSTAT queries flag for synchronization

statusSYNCSTATCLR resetting of the flags MERR and

MHITPULSACC sets acceleration for the virtual

masterPULSVEL sets velocity for the virtual

master

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Program sampleACC_01.M

APOSThe APOS command can query the absoluteposition of the axis related to the actual zero point.

Summaryreads actual position

Syntaxres = APOS

Return valueres = absolute actual position in user units (UU)

related to the actual zero point

All path information in motion commands aremade in user units and are converted to quad-counts internally. (See also Numerator and Denomi-nator, Parameter 23 and 26.)The user unit (UU) corresponds in standard settingto the number of Quad counts.Parameter POSFACT_Z (23) / POSFACT_N (26) = 1

NB!If a temporary zero point which has been setvia SET ORIGIN exists, then the position

value is relative to this zero point.

Command groupI/O

Cross IndexCPOS, DEF ORIGIN, SET ORIGIN, POSA, POSRParameter: POSFACT_Z (23) and POSFACT_N (26)

Syntax-ExamplePRINT APOS/* display the actual position of axis on the PC */

Program sampleAPOS_01.M,GOSUB_01.M, MOTOR_01.M

All Commands from ACC to #INCLUDEIn the following section all commands are listed inalphabetical order and described in detail withsyntax examples.

ACCThe ACC command defines the acceleration forthe next motion command (speed control, synchro-nizing or positioning). The value will remain validuntil a new acceleration value is set, using the ACCcommand. The value is related to the parametersShortest ramp Shortest ramp Shortest ramp Shortest ramp Shortest ramp RAMPMIN (31) and MaximumMaximumMaximumMaximumMaximumvelocity velocity velocity velocity velocity VELMAX (1) as well as VVVVVelocity resolutionelocity resolutionelocity resolutionelocity resolutionelocity resolutionVELRES (22).

NB!If you work with the SyncPos option cardthen you should always set the ramps via

the option card and not in the VLT. The VLT rampsmust always be set to minimum.

Summarysetting acceleration for motion commands

SyntaxACC a

Parametera = acceleration

NB!If acceleration has not been defined previ-ous to a motion command, then the

acceleration will be the value of parameterDFLTACC(34).

Command groupREL, ABS

Cross IndexDEC, VEL, POSA, POSRParameter: RAMPMIN (31), VELMAX (1), VELRES(22)

Syntax-ExampleACC 10 /* Acceleration 10 */

Exampleminimum acceleration time:1000 msecmaximum velocity: 1500 Rpm (25 Rev./s)velocity resolution: 100

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AVELThis function returns the actual velocity of the axisin User Units per second. The accuracy of thevalues depends on the duration of the measure-ment (averaging). The standard setting is 20 ms,but this can be changed by the user with the_GETVEL command. It is sufficient to call up thecommand once in order to work with anothermeasuring period from then on. Thus, thecommand:

var = _GETVEL 100sets the duration of the measurement to 100 ms,so that you have a considerably better resolution ofthe speed with AVEL and MAVEL, however, in con-trast, quick changes are reported with a delay of amaximum of 100 ms.

Summaryqueries actual velocity of axis

Syntaxres = AVEL

Return valueres = actual velocity of axis in UU/sec, the value is

signed

Command groupI/O

Cross IndexMAVEL, APOS, _GETVEL

Syntax-ExamplePRINT AVEL/* queries actual velocity of axis and display on thePC */

AXENDThe AXEND command gives the actual status ofthe axis or the status of the program execution.This means for example that you can enquire whenthe “position is reached” and a positioningcommand (POSA, POSR) has actually beencompleted. When Bit 1 is set at “0” the positioningprocess is complete and the position reached.If, however, the positioning command has beeninterrupted with MOTOR STOP and continued laterwith CONTINUE, then the following bits would beset at “1”:

the Bit 0 for “motor is at a standstill”the Bit 1 for “positioning process active”the Bit 3 for “motor is at STOP status”the Bit 6 for “axis controller switched off”

The AXEND command is especially suitable fordetermining whether or not a movement in theNOWAIT ON condition is terminated. With the helpof the bit operators, the desired information fromthe axis status can be filtered out.

Summaryreads info on status of program execution

Syntaxres = AXEND

Return valueres = axis status with the following meaning:

Value Bit128 7 1 = Motor is reset, i.e. it is ready

to start and is controlling again,e.g. after ERRCLR, MOTORSTOP, MOTOR ON

64 6 1 = axis controller is OFF, motor isoff

4–5 not in use8 34 Bit 2 1 = speed mode is active2 Bit 1 1 = positioning procedure is active1 Bit 0 1 = target position reached; motor

is not in motion

Command groupI/O

Cross IndexWAITAX, STAT

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Syntax-ExampleNOWAIT ON //do not wait until position is reachedPOSA 100000WHILE (AXEND&2) DO// as long as the positioning process is active,// repeat loop

IF IN1 THEN // if input 01 is setVEL 100 // increase velocityPOSA 100000WAIT IN1 OFF // Wait until input (key) is off

ENDIFENDWHILE // position reached

Syntax-ExampleIF (AXEND&64) THEN/* set output 01, when axis controller is switchedoff */

OUT 1 1ELSE

OUT 1 0ENDIF

Program sampleAXEND_01.M

COMOPTGETCOMOPTGET reads from the Communicationoption buffer the no words and writes them in thearray array, starting with the first element.

Summaryreads a Communication option telegram

SyntaxCOMOPTGET no array

Parameterarray = the name of an array which must be at

least the size of nono = number of words to be read

Portabilitybuilt-in Communication option card

Communication option functionParameters: Read and write parameters is notaffected by the SyncPos option.

Control data:The function of Control word (CTW) and Main Re-ference (MRV) depends on the setting of parame-ter 700; Status words (STW) and Main actual value(MAV) is always active:

Parameter 700 Parameter 700"Enable SyncPos" "Disable SyncPos"

CTW/MRV Disabled ActiveSTW/MAV Active Active

Process data:PCD's 1 – 4 of PPO type 2/ 4 and PCD's 1 – 8 ofPPO type 5 are not assigned a parameter numberby parameter 915 and 916 but are used as a freedata area which can be used in a SyncPosprogram.The command COMOPTGET is copying the datareceived on the communication option into anarray, where each array element contains one dataword (16 bit).The command COMOPTSEND is copying datafrom an array, where each array element containsone data work (16 bit) into the send buffer on thecommunication option, from where it is send viathe network to the master.

Command groupCommunication option

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VLT® 5000 SyncPos optionS

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Cross IndexCOMOPTSEND

Program sampleCOM_OPT

COMOPTSENDCOMOPTSEND writes in the Communicationoption buffer. In doing so the first no values aresent from the array.

Summarywrites in the Communication option buffer

SyntaxCOMOPTSEND no array

Parameterarray = the name of an array which must be at

least the size of nono = number of words to be sent

Portabilitybuilt-in Communication option card

Communication option functionsee command COMOPTGET


Cross IndexCOMOPTGET

Program sampleCOM_OPT

CONTINUEBy using CONTINUE, positioning and speedmotion commands which have been aborted viathe MOTOR STOP command or an error conditionor halted via MOTOR OFF can be resumed.The CONTINUE command can be used especiallyin an error subroutine in connection with theERRCLR command, to enable the correct conti-nuation of a motion procedure following an errorabort.

NB!However CONTINUE does not continueinterrupted synchronization commands.

Summarycontinues positioning from point of interruptedmotion

SyntaxCONTINUE

Command groupCON

Cross IndexMOTOR STOP, ERRCLR, ON ERROR GOSUB

Syntax-ExampleCONTINUE/* continue interrupted motion procedure */

Program sampleMSTOP_01.M



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Summaryreads the actual command position of the axis

Syntaxres = CPOS

Return valueres = Absolute commanded position in User Units

(UU) related to the actual zero point

NB!If a set and active temporary zero point (setvia SET ORIGIN) exists, then the position

value is relative to this zero point.

Command groupI/O

Cross IndexAPOS, DEF ORIGIN, SET ORIGIN, POSA, POSRParameter: POSFACT_Z (23), POSFACT_N (26)

Syntax-ExamplePRINT CPOS/* actual command position of axis */

Program sampleCPOS_01.MGOSUB_01.M

CSTARTThe CSTART command is starting the drive inspeed control mode.Acceleration/deceleration, as well as the speedshould be set via the ACC, DEC and CVEL com-mands prior to starting.CSTART does not contains the command MOTORON which turns on the motor control. When usingCSTART an explicit calling up of MOTOR ON isnecessary after previous use of MOTOR OFF.

Summarystarts the speed mode

SyntaxCSTART

NB!If no speed value has been defined viaCVEL before the beginning of CSTART, thenthe default velocity 0 is used – this means

that the motor will not rotate, but the PID controlleris active.All CVEL commands following the start of speedmode will be carried out immediately, i.e. a corres-ponding speed change will take place immediate-ly, with the defined acceleration or deceleration(ACC/DEC).

Command groupROT

Cross IndexACC, DEC, CVEL, CSTOP

Syntax-ExampleCSTART /* rpm mode start */

Program sampleCMODE_01.M



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CSTOPVia the CSTOP command, the speed mode is ter-minated and the positioning mode is started,whereby a still rotating axis is stopped with thedeceleration defined with DEC and the motor isheld in the stop position.

Summarystops the drive in speed mode

SyntaxCSTOP

NB!A CSTOP command carried out in thepositioning mode can also cause an abrupt

termination of the positioning procedure.

Command groupROT

Cross IndexACC, DEC, CVEL, CSTART

Syntax-ExampleCSTOP /* rpm mode stop */


CVELThe velocity for the next speed controlled motormovement is set with the CVEL command. Thevalue remains valid until a further CVEL commandsets a new velocity.The velocity value to be given will be related to theparameters Maximum velocity Maximum velocity Maximum velocity Maximum velocity Maximum velocity VELMAX (1) andVVVVVelocity resolution elocity resolution elocity resolution elocity resolution elocity resolution VELRES (22).

Summarysets velocity for speed controlled motormovements

SyntaxCVEL v

Parameterv = velocity value (negative value for reversing)

NB!CVEL commands which take place afterCSTART will be carried out immediately i.e.

the velocity will be adapted via the ACC/DEC setacceleration or deceleration to the new value ofCVEL.If a velocity has not been defined before the startof speed control mode (CSTART), then the defaultvelocity is 0, i.e. the motor will not turn, and avelocity input via CVEL will start the movement inspeed control mode.

Command groupROT

Cross IndexACC, DEC, CSTART, CSTOPParameter: VELMAX (1)

Syntax-ExampleCVEL 100




DECThe DEC command defines the deceleration forthe next motion command (speed control, synchro-nization or positioning). The value will remain validuntil a new deceleration value is set with anotherDEC command. The value is related to the para-meters Shortest ramp Shortest ramp Shortest ramp Shortest ramp Shortest ramp RAMPMIN (31) andMaximum velocityMaximum velocityMaximum velocityMaximum velocityMaximum velocity VELMAX (1) as well as VVVVVelocityelocityelocityelocityelocityresolution resolution resolution resolution resolution VELRES (22).



Summarysets deceleration

SyntaxDEC a

Parametera = deceleration

NB!If deceleration is not defined previous to thepositioning command then deceleration will

be the setting (negative) of parameter DefaultDefaultDefaultDefaultDefaultaccelerationaccelerationaccelerationaccelerationacceleration DFLTACC (34).


Cross IndexACCParameter: RAMPMIN (31), VELMAX (1), VELRES(22)

Syntax-ExampleACC 50 /* acceleration: 50, while braking 10 */DEC 10

Exampleminimum acceleration time:1000 msecmaximum velocity: 1500 Rpmvelocity resolution: 100

DEFMORIGINDEFMORIGIN defines the current master positionas the zero point for the master. The masterposition (MAPOS) refers to this zero point until aredefinition takes place using DEFMORIGIN orSETMORIGIN.

SummarySet the current master position as the zero pointfor the master.

SyntaxDEFMORIGIN

Command groupINI

Cross IndexMAPOS, SETMORIGIN

Syntax exampleDEFMORIGIN/* Set current position as the zero point for themaster */

DEF ORIGINWith the DEF ORIGIN command the currentposition is set as the zero point. All absolutepositioning commands (POSA) then refer to thiszero point.

Summarysets the actual position as real zero point

SyntaxDEF ORIGIN

Command groupINI

Cross IndexPOSA

Syntax-ExamplePOSA 80000 /* Absolute positioning */DEF ORIGIN /* define acutal position as

zero point */

Program sampleDORIG_01.M, ORIG_01.M

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DELAYThe DELAY command leads to a defined programdelay. This parameter gives the delay time in milli-seconds.

If an interrupt occurs during the delay time, thenfollowing the processing of the interrupt procedure,the programmed delay will take place after the cor-rect inclusion of the interrupt time. Thus, the DELAYcommand gives a constant delay time, independentof whether various interrupts have to be processedduring the programmed delay time.

If the interrupt requires more processing time thanis available for the delay, then the interruptionprocedure will be carried out to the end, beforethe command following the DELAY instruction iscommenced.

SummaryTime delay

SyntaxDELAY t

Parametert = time delay in milliseconds (maximum MLONG)

Command groupCON

Cross IndexWAITT, WAITI, WAITAX

Syntax-ExampleDELAY 1000 /* 1 second delay */

Program sampleDELAY_01.M

DELETE ARRAYSWith DELETE ARRAYS you can delete all arrays inthe RAM without – as was the case up to now –also deleting the parameters etc. This new com-mand has the same effect as the menu command"CONTROL" → "RESET" → "ARRAYS".

SummaryDelete all arrays in the RAM

SyntaxDELETE ARRAYS

NB!If you then execute a SAVE ARRAYS, thearrays in the EEPROM are also overwritten!

NB!If DELETE ARRAYS is carried out after aDIM assignment in the program, it is then no

longer possible to access the array elements.

NB!If a program contains a DELETE ARRAYScommand, there are no more arrays in the

RAM after the program is exited.

Command groupINI



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Arrays are valid for all programs. If arrays are notyet available in the SyncPos option memory, thenthe arrays are allocated via the DIM instructions.Arrays which are already available in the memoryare checked to see if their size corresponds to themomentary DIM commands. If differences arefound, then an error registration is made. If, addi-tionally to the corresponding arrays, new arrays aredeclared, then these must also be added at theend of the DIM command.

Each array element can later be accessed, similarto a variable, calculation results, characters orother information can be stored.

An array element can be called up via the arrayname and an index. The indices are admissiblefrom 1 to the defined size in the DIM allocation.

An essential difference between variables andarray elements consists in the fact that arrays arestored in the non-volatile memory, and their con-tents are permanent even when the power supplyis switched off – insofar as it is saved withSAVEPROM or SAVE ARRAYS.

In contrast to variables, arrays have a validity notonly for one, but for all programs in the VLT flow.The only condition necessary is that the arraysmust be accessible via a DIM command in thedesired program which enables a data exchangebetween several programs. It is of no importancewhether or not the array is identified with the samename in all the programs. What is important is theorder of the array definitions. This means, forexample, that the first defined array in all programsalways refers to the first stored array in thememory, independent of the array name.

SummaryDefinition of an array

SyntaxDIM array [n]

Parameterarray = name of the arrayn = number of array elements

NB!The DIM command must be the firstinstruction in a program, and must appear

before the subroutines.Indices from 1 to the defined size of the array arepermissible.A defined array size is valid for all programs, andcannot be altered. Only the order of the array defi-nitions (not the names) determines which of thedata-fields will be accessed.Array definitions can only be canceled via erasureof the entire memory.

Command groupCON

Syntax-ExampleDIM xpos[100], ypos[100]/* define array XPOS and YPOS each with 100elements */

Program sampleDIM_01.M



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DISABLE ... interruptsDISABLE switches off all or explicitly specifiedinterrupts – apart from ON ERROR. If the functionDISABLE … is used in the main program, it canprevent interrupts of the corresponding type.This is particularly useful if a variable, which is setin an interrupt procedure, is used in in the mainprogram. To do this you should first switch off thecorresponding (or all) interrupts in the mainprogram DISABLE … alter the variable and thenswitch the corresponding (or all) interrupts back onwith ENABLE …

SummarySwitches interrupts off

SyntaxDISABLE inttyp

NB!DISABLE cannot be called up duringinterrupt procedures. (The system automati-

cally switches back to enabled after an interrupt.)

Parameterinttyp = ALL

INTCOMBITSTATBITPARAMPERIODTIME

NB!DISABLE ALL = all except ON ERRORDISABLE INT = input interrupts are ignored

Command groupINT

Cross IndexON INT, ON COMBIT, ON STATBIT, ON PARAM,ON PERIOD, ON TIME, ENABLE .. Interrupts

Syntax exampleDISABLE ALL /* Switch off all interrupts */DISABLE STATBIT/* Switch off the interrupt for the status bit */

ENABLE ... interruptsENABLE switches all or explicitly specifiedinterrupts on again.

SummarySwitches interrupts on

SyntaxENABLE inttyp

NB!ENABLE cannot be called up duringinterrupt procedures. (The system

automatically switches back to enabled after aninterrupt.)

Parameterinttyp = ALL

INTCOMBITSTATBITPARAMPERIODTIME

Command groupINT

Cross IndexON INT, ON COMBIT, ON STATBIT, ON PARAM,ON PERIOD, ON TIME

Syntax exampleENABLE ALL /* Switch on all interrupts */ENABLE COMBIT /* Switch on the interrupt for

the communication bit */



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ce ERRCLRAn option card error can be cleared via theERRCLR command. However, the cause of theerror must be eliminated first, otherwise the sameerror alarm will occur again. If, in the meantime,another un-corrected error occurs, then only thefirst error will be canceled.

SummaryError cancellation

SyntaxERRCLR

The ERRCLR command should only be used in asubroutine for error handling (see ON ERRORGOSUB).

NB!ERRCLR contains the command MOTORON, which automatically turns on the control

again. (The motor is position controlled at thecurrent position.)

UP TO VERSION 3.00ERRCLR is only resetting option card errors,VLT alarms must be reset via a digital input

or the LCP.NEWAs of Version 3.1x ERRCLR also resets Bit 7 of thecontrol word of the VLT. Then the VLT messages nolonger need to be deleted.

Command groupINI, CON

Cross IndexON ERROR GOSUB, ERRNO, CONTINUE,MOTOR ONMessages and Error reference

Syntax-ExampleERRCLR /* erase actual error alarm */

Program sampleERROR_01.M, IF_01.M, INDEX_01.M

ERRNOERRNO is a system variable which is available inall the programs, and contains the momentary errorcode. All error codes are explained in the chapterMessages and Error Reference.If, at the time of inquiry no error has occurred, thenERRNO will contain a 0.

SummarySystem variable with the actual error code

Syntaxres = ERRNO

Command groupI/O

Cross IndexON ERROR GOSUB, ERRCLRMessages and Error reference

Syntax-Example/* display actual error code */PRINT ERRNO

Program sampleERROR_01.M, IF_01.M, INDEX_01.M



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EXITThe EXIT command ends a program where activepositioning procedures are being carried out to theend.The EXIT command is especially intended for usein an error treatment routine, and permits anunplanned program termination in the case of anun-correctable error occurrence.After an abort with EXIT, programs marked with"AUTOSTART“ will start up again automatically ifSET PRGPAR = –1.

SummaryPremature program termination

SyntaxEXIT

NB!A program should only be terminated in thecase of a serious error, e.g. when reacting to

a limit switch.

Cross IndexON ERROR GOSUBSET PRGPAR"AUTOSTART"

Syntax-ExampleEXIT /* Program termination */

Program sampleEXIT_01.M, ERROR_01.M, GSVEL_01.M

GETReads the value of an axis parameter, a globalparameter or an user parameter of the SyncPosoption.Global and axis parameter are addressed with acode, for example KPROP (11) for the ProportionalProportionalProportionalProportionalProportionalfactorfactorfactorfactorfactor, , , , , KDER (12) for the Derivative Factor Derivative Factor Derivative Factor Derivative Factor Derivative Factor orPOSERR (15) for the TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error. Acomplete list of the codes can be found in theParameter reference.User parameter are addressed with a number, 130– 229. See also the Parameter reference fordetails.

SummaryReads an axis parameter, a global parameter or anuser parameter

Syntaxres = GET par

Parameterpar = parameter identification

Return valueres = parameter value

Command groupPAR

Cross IndexSET, GETVLT, SETVLT, LINKGPAR, LINKAXPARParameter reference

Syntax-ExamplePRINT GET POSLIMIT/* Print-out positive positioning limit */posdiff = GET POSERR/* Read actual setting tolerated position error */

Syntax-ExamplePRINT GET I_BREAK /* reads input for abort */

Program sampleGETP_01.M



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ce GETVLTGETVLT reads VLT parameters and return thecorresponding value. Thus, with GETVLT you haveaccess to the operating data (e.g. motor currentP520) or to the configurations (e.g. max. commandvalue P205) of the VLT.Since only integer values are transmitted, it is ne-cessary to take the conversion index into conside-ration when evaluating the return value.Thus an LCP value of 50.0 Hz (conversion index =–1) is equivalent to a return value of 500.The list of VLT parameters with their respectiveconversion index can be found in the VLT5000operating instructions.

SummaryReads a VLT parameter

Syntaxres = GETVLT par

NB!It is not possible to read parameters withsub indexes. E.g. VLT parameter 606 – 617.

Parameterpar = parameter numberPlease inform you about the parameter number inthe VLT5000 manual.

Return valueres = parameter value

Command groupPAR

Cross IndexSETVLT

Syntax-ExamplePRINT GETVLT 202/* reads parameter 202 output frequency high */

GOSUBThe GOSUB command will call up a subroutine,and the accompanying program will be carried out.The main program will be continued following thecompletion of the last subroutine command(RETURN).

Summarycalls a subroutine

SyntaxGOSUB name

Parametername = subroutine name

NB!The subroutine must be defined at thebeginning or end of a program within the

SUBMAINPROG area.

Command groupCON

Cross IndexSUBMAINPROG…ENDPROG,SUBPROG…RETURNON ERROR GOSUB, ON INT n GOSUB

Syntax-ExampleGOSUB testup /* Call-up the subroutine testup */Command line 1Command line nSUBMAINPROG/* Subroutine testup must be defined */SUBPROG testupCommand line 1Command line nRETURNENDPROG

Program sampleGOSUB_01.MAXEND_01.M, INCL_01.M, STAT_01.M



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GOTOThe GOTO command enables an unconditionaljump to the indicated program position and theprogram processing at this position will be carriedout.The jumped-to position is identified with a label. Alabel can consist of one or more characters andmay not be identical to a variable name or a com-mand word. A label must also be unique, i.e. itmay not be used for different program positions.It is therefore possible to program a continuousloop via the GOTO command.

SummaryJump to a program label

SyntaxGOTO label

Parameterlabel = identification of program target position

NB!The label for the program target positionmust be followed by a colon (:).

Command groupCON

Cross IndexLOOP

Syntax-Exampleendless: /* Label to be jumped to */Command line 1Command line nGOTO endless/* jump command to label endless */

Program sampleGOTO_01.MEXIT_01.M, IF_01.M

HOMEThe HOME command is moving the drive to themachine reference switch, which must be placedat the machine zero or reference position. Velocityand acceleration/deceleration for HOME positio-ning is defined in the parameters HOME_VEL (7)and HOME_RAMP (41).To achieve accurate positioning HOME_VEL (7)should not be higher than 10 % of maximum velo-city.The sign of HOME_VEL (7) determines the direc-tion in which the reference switch is searched.When the HOME position is reached, this positionwill be defined as 0.The reference switch can be approached in 4 dif-ferent ways defined in parameter HOME_TYPE(40):

0 Moves to reference switch, moves in oppositedirection leaving the references switch andstops at the next index pulse (encoder zeropulse or external marker signal).

1 Like 0 but without searching for the index pulse.2 Like 0 but leaving the switch without reversing

the direction.3 Like 2 but without searching for the index pulse.

If HOME is aborted via an Interrupt, HOME will notbe continued automatically at the end of the inter-rupt routine function. Instead the program conti-nues with the next command. This makes it pos-sible for HOME to also be aborted after an error.

SummaryMove to device zero point (reference switch) andset as the real zero point.

SyntaxHOME

PeculiaritiesThe system must be fitted with a reference switch,when possible with an encoder with an indexpulse.

NB!The HOME command will also be carriedout to the end in the NOWAIT ON mode,

before other program processing will be begun.

Please note, that ON PERIOD xx GOSUB xx mustbe disabled during homing.E.g. ON PERIOD n GOSUB x and the resettingafter homing is completed.



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ce Command groupINI

Cross IndexINDEXParameter: HOME_VEL (7), HOME_RAMP (41),HOME_TYPE (40), HOME_FORCE (3)

Syntax-ExampleHOME /* move to reference switch and index */

Program sampleHOME_01.M

IF ..THEN .., ELSEIF .. THEN .. ELSE .. ENDIFConditional program branching can be realizedwith the IF..ENDIF construction.

When the conditions following IF or ELSEIF arefulfilled, then the commands leading to the nextELSEIF, ELSE or ENDIF are carried out – and theprogram will be continued after the ENDIF in-struction.

When the conditions are not fulfilled, then thefollowing ELSEIF branching will be checked and,in as much as the conditions are fulfilled, thecorresponding program part will be carried out,and the program continued after ENDIF.

The branching conditions that are checked after IFor ELSEIF can be made up of one or more com-parison operations.

Any number of ELSEIF branching can occur withinan IF...ENDIF construction – however, only oneELSE instruction should be available. Following theELSE instruction is a program part that must becarried out, in as much as none of the conditionsare fulfilled.

The ELSEIF and ELSE instructions can, but do nothave to be, contained within an IF ENDIFconstruction.

SummaryConditional single or multiple program branching.(When the conditions are fulfilled, then ..............., else ...............)

SyntaxIF condition THEN commandELSEIF condition THEN commandELSE commandENDIF

Parametercondition = Branching criteriacommand = one or mor program commands

NB!After a condition has been fulfilled, theappropriate program part will be carried out

and the program following the ENDIF instructioncontinued. Further conditions will no longer bechecked.

Command groupCON

Cross IndexREPEAT .. .. .. .. .. UNTIL, WHILE ..ENDWHILE

Syntax-Example/* simple branch */IF (a == 1) THEN /* Variable a = 1, then */command line 1command line nENDIF

/* multiple branch */IF (a == 1 AND b != 1) THENcommand linesELSEIF (a == 2 AND b != 1) THENcommand linesELSEIF (a == 3) THENcommand linesELSEcommand linesENDIF

Program sampleIF_01.M; ERROR_01.M, EXIT_01.M, HOME_01.M,IN_01.M, …



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INThe status of a digital input can be read with theIN command. Depending on the signal level, a 0 or1 will be given.

Summaryreads status of digital input

Syntaxres = IN n

Parametern = input numberSyncPos option: 1 … 8VLT control card: 16, 17, 18, 19, 27, 29, 32, 33

Return valueres = input status

0 = Low-level or undefined1 = High-level

NB!The definition of a high or low level, as wellas the input circuit, can be taken from the

chapter Input/output terminals, as well as theVLT5000 manual.

Command groupI/O

Cross IndexINB, OUT, OUTB

Syntax-Examplein4 = IN 4/* store condition input 4 in variable in4 */IF (IN 2) THEN/* If high level on terminal 2, set output 01 */

OUT 1 1ELSE

OUT 1 0ENDIF

Program sampleIN_01.M

INADThe INAD command reads the value of the analoginputs.

Summaryreads analog input

Syntaxres = INAD n

Parametern = number of the analog input: 53, 54 and 60

Return valueres = analog value

NB!The resolution of the analog inputs wasincreased with the introduction of software

version SyncPos VLT 3.12.

For these versions the following return values aretrue:terminal 53/54 –1000 … 1000 = –10 V … 10 Vterminal 60: 0 … 2000 = 0 … 20 mA

For the software version SyncPos VLT2.03 followingreturn value are valid:terminal 53/54 0 … 10 V res = 0 … 100terminal 60: 0 … 20 mA res = 0 … 200

You will find the number of the software version inparameter 624 on the VLT display.

Command groupI/O

Syntax-Examplean1 = INAD 53PRINT “Analog input 53 “ ,an1



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ce INBThe condition of the digital inputs can be read asbyte via the INB command.The values reflect the condition of the individualinputs.

Summaryreads one byte from digital inputs

Syntaxres = INB n

Parametern = input byte

0 = input 1 (LSB) … 8 (MSB)1 = input 33 (LSB) … 16 (MSB)

Return valueres = value of the input byte (0 ... 255)

The least significant bit corresponds to the condi-tion of input 1/33.

NB!The definition of the high and low level, aswell as the input circuit, can be taken from

the chapter Input/output terminal or the VLT5000manual.

Command groupI/O

Cross IndexIN, OUT, OUTB

Syntax-Examplein = INB 0/* store the condition of the first 8 inputs */

ExampleIN1 = low, IN2 = high, IN3 = high,all other inputs are lowres = 2^1 + 2^2 = 6

Program sampleINB_01.M, INB_02.M,OUTB_01.M

INDEXMovement to the index position of the encoder willbe started via the INDEX command. The Indexsearch takes places from the Home velocityHome velocityHome velocityHome velocityHome velocity de-fined in parameter HOME_VEL (7). TheHOME_VEL sign determines the rotational direc-tion in which the Index signal will be searched.

SummaryMove to index position of the encoder

SyntaxINDEX

PeculiaritiesThe utilized encoder must have an index channel.

NB!Only encoders with a low active index pulsecan be used.

If an index pulse is not found within a completerevolution, then an alarm signal occurs.The INDEX command will also be carried out tothe end in NOWAIT ON, before further programprocessing can be begun.

Command groupINI

Cross IndexHOME, POSA, DEF ORIGIN

Syntax-ExampleINDEX /* move to index */

Program sampleINDEX_01.M



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INKEYWith the INKEY command it is possible to read akey signal from the VLT keyboard. The parameterentered with INKEY determines whether the pro-gram waits unconditionally for a key signal, for acertain period of time or not at all.

One key signal is read in per successful INKEYcommand respectively. To input a string of charac-ters it is necessary to repeat the INKEY command(p<>0) in a loop until no further key signals exist.

SummaryRead in a key signal

SyntaxINKEY (p)

Parameterp is the maximum waiting time, defined ...

p = 0 wait for key codep > 0 wait of max. p milli-secondsp < 0 no wait for key code

Return valuekey code for the received characterresp –1 in case no character available

Following key codes are sent back, as long as thekey is pressed. If more than one key were pressedsimultaneously the corresponding sum of thevalues will be sent back:key: value:MENU 1QUICK MENU 2DISPLAY / STATUS 8OK 16CANCEL 32CHANGE DATA 128-key 256-key 512-key 1024-key 2048START 4096FWD. REV. 8192JOG 16384STOP / RESET 32768

Combinations send the corresponding values:OK and CANCEL 48START and -key 4608

NB!The keys keep their VLT-functions, unlessthey are disabled in Parameter 014–017.

A negative parameter must be given in brackets.

Command groupI/O

Cross IndexPRINTChapter Fundamentals of the SyncPos program

Syntax-Exampleinput = INKEY 0/* wait until key signal is read */input = INKEY 5000/* wait max. 5 seconds to input */input = INKEY (-1)/* do not wait for input */

Program sampleINKEY_01.MEXIT_01.M, WHILE_01.M



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ce IPOSThe command IPOS returns the last index ormarker position of the slave absolute to the currentzero point.

Summaryqueries last index or marker position of the slave

Syntaxres = IPOS

Return valueres = last slave position (index or marker) absolute

to actual zero point.The position input is made in user units (UU) andcorresponds in the standard setting (parameterPOSFACT_Z (23) and POSFACT_N (26) = 1) to thenumber of quad-counts.

NB!If a temporary zero point, set and activatedvia SET ORIGIN, exists, then the position is

respective to this zero point.

Command groupI/O

Cross IndexCPOS, DEF ORIGIN, SET ORIGIN, POSA, POSR,MIPOSParameter: POSFACT_Z (23), POSFACT_N (26)

Syntax-ExamplePRINT IPOS/* queries last index position and display on PC */

LINKAXPARWith LINKAXPAR it is possible to link an axis para-meter with the LCP display. Subsequently it is pos-sible to change this parameter via the LCP or readout the set value.When a linked parameter is changed with a SETcommand, the new value is also automaticallytransferred to the LCP, but is not changed in thefactory settings since the SET command only has atemporary effect.If the user changes a linked parameter on the LCP,the new value is accepted and executed. Afterturning the VLT off and then on again the factorysettings or the last user parameter to be stored isactivated.Only after the user has confirmed the parameterwith OK is the new value accepted as the userparameter and saved permanently. (Correspondsto the OK function in the menu "CONTROLLER" →"PARAMETERS" → "AXIS".)

Summarylinks axis parameter with LCP display

SyntaxLINKAXPAR param optpar “text” min max typ

Parameterparam = axis parameter nameoptpar = LCP parameter number (710–779 and

795–799)text = descriptive text for displaymin = minimum value for this parametermax = maximum value for this parametertyp = type of parameter

0 = offline, i.e. changes are only activeafter they have been confirmed with OK.1 = online, that means changes via theLCP display are active at once

Command groupPAR

Cross IndexLINKGPAR, SET, GETUser parameter, Parameter reference

Syntax-ExampleLINKAXPAR POSERR 712 “position error” 3005000 0



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LINKGPARWith LINKGPAR it is possible to link a pre-definedglobal parameter or a free internal user parameterwith the LCP display. Subsequently it is possible tochange this parameter via the LCP or read out theset value.When a linked parameter is changed with a SETcommand, the new value is also automaticallytransferred to the LCP, but is not changed in thefactory settings since the SET command only has atemporary effect.If the user changes a linked parameter on the LCP,the new value is executed. Only after the user hasconfirmed this value with OK is the new valuesaved permanently as a user parameter in theEEPROM.NEW: The command LINKGPAR tests whether thevalue of the user parameter is within the specifiedrange. If not, the corresponding limit is used andthis value saved. This ensures that a displayappears.

Summarylinks global parameter with LCP display

SyntaxLINKGPAR param optpar “text” min max typ

Parameterparam = global parameter name or user parame-

ter number (130–229)optpar = LCP parameter number (710–779 and

795–799)text = descriptive text for displaymin = minimum value for this parametermax = maximum value for this parametertyp = type of parameter

0 = offline, i.e. changes are only activeafter they have been confirmed with OK.1 = online, that means changes via theLCP display are active at once

Command groupPAR

Cross IndexLINKAXPAR, SET, GETUser parameter, Parameter Reference

Syntax-ExampleLINKGPAR I_ERRCLR 710 “ “ 0 33 0/* Predefined global parameter */LINKGPAR 132 711 “name” 0 100000 0/* Free internal user parameter */LINKGPAR PRGPAR 701 “auto-program” –1 10 0/* Define autostart */

LINKSYSVARThe command LINKSYSVAR links the systemvariable SYSVAR[indx] with the VLT Parameter vltno(795-799) and the display text text. This means thatyou can link internal values on the display withoutusing LINKGPAR.If, for example, you are compiling with #DEBUGNOSTOP, link the internal line number with the VLTparameter 795. Then you can selectively observethe program execution.

SummaryLink system variable with LCP display

SyntaxLINKSYSVAR indx vltno "text"

Parameterindx = Index of the system variable SYSVARvltno = LCP-Parameter number (795…799)text = descriptive text for display

NB!The parameter vltnr is updated every 40 ms.Therefore, if five parameters are linked in

this way, it takes at least 200 ms until the sameparameter is updated.

Command groupPAR

Cross IndexLINKGPAR, SYSVARUser parameter, Parameter Reference

Syntax-ExampleLINKSYSVAR 33 795 "internal line number"LINKSYSVAR 30 796 "Motor voltage"// Determine with user parameter 11 and 12: linenumber in// the first display line and motor voltage in thesecond display line



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ce LOOPA single or multiple repetition of a certain programpart can be realized by using the LOOP command.The number of loop repetitions can be given aseither an absolute value or in the form of avariable.The program position to be jumped to is identifiedvia a label. A label can be made up of one or morecharacters, and must not be identical with a va-riable name or a command word. A label must alsobe unique, i.e. the same label may not be usedmore than once for different program positions.

SummaryDefined loop repetition

SyntaxLOOP n label

Parametern = number of loop repetitionslabel = identification of target program position

NB!The label on the target program positionmust be followed by a colon(:).

Because the internal loop counter monitors only atthe end of the loop and then decreases by one,the commands within the loop will be carried outwith one more sequence than keyed in (keyed inloop repetitions 10 = 11 real repetitions).

Command groupCON

Cross IndexGOTO, WHILE…ENDWHILE, REPEAT…UNTIL

Syntax-Examplenext_in: /* jump to label */command line 1command line nLOOP 9 next_in/* repeat loop contents 10 times */

Program sampleLOOP_01.MAPOS_01.M, IN_01.M, MOTOR_01.M, NOWAI_01.M

MAPOSWith the MAPOS command it is possible to querythe actual master position (absolute to the actualzero position).

SummaryQueries current actual position of the master

Syntaxres = MAPOS

Return valueres = master position to absolute actual zero pointin qc

Command groupI/O

Cross IndexCPOS, DEF ORIGIN, SET ORIGIN, POSA, POSRParameter: POSFACT_N (26), POSFACT_Z (23)

Syntax-ExamplePRINT MAPOS/* queries actual master position and print to PC */



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MAVELThis function returns the actual velocity of themaster drive in qc/sec, with qc referring to themaster encoder.The accuracy of the values depends on the dura-tion of the measurement (averaging). The standardsetting is 20 ms, but this can be changed by theuser with the _GETVEL command. It is sufficient tocall up the command once in order to work withanother measuring period from then on. Thus, thecommand:

var = _GETVEL 100sets the duration of the measurement to 100 ms,so that you have a considerably better resolution ofthe speed with AVEL / MAVEL, however, in con-trast, quick changes are reported with a delay of amaximum of 100 ms.

Summaryqueries actual velocity of the master

Syntaxres = MAVEL

Return valueres = actual velocity of the master in qc/sec, the

valve is signed

Command groupAVEL

Cross IndexPRINT MAVEL/* queries actual velocity of the master and print toPC */

MIPOSThe command MIPOS returns the last index ormarker position of the master absolute to thecurrent zero point.

SummaryQuery last index or marker position of the master

Syntaxres = MIPOS

Return valueres = last index or marker position of the masterabsolute to actual zero point in qc

Command groupI/O

Cross IndexCPOS, DEF ORIGIN, SET ORIGIN, POSA, POSRParameter: POSFACT_N (26), POSFACT_Z (23)

Syntax-ExamplePRINT MIPOS/* print to the PC the last index position of themaster */



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ce MOTOR OFFThe motor control can be disabled by using theMOTOR OFF command. After MOTOR OFF, thedrive axis can be moved freely, as long as there isno motor brake. A monitoring of the actual positionwill continue to take place, i.e. the actual position(APOS) can still be queried after MOTOR OFF.

NB!For a restart of a motion process afterMOTOR OFF the command MOTOR ON

must be used. Only the command ERRCLR auto-matically activates MOTOR ON.

Summaryturns off motor control

SyntaxMOTOR OFF

Command groupINI

Cross IndexMOTOR ON

Syntax-ExampleMOTOR OFF/* switch off controller of the axis */

Program sampleMOTOR_01.MPOS_01.M

MOTOR ONThe motor control can be enabled again, followinga previous MOTOR OFF, by use of the MOTOR ONcommand. When carrying out the MOTOR ON, thecommanded position is set to the actual position,i.e. the motor remains at the actual position. Thusthe positioning error is reset at the execution ofMOTOR ON.

Summaryturns on motor control

SyntaxMOTOR ON

NB!The MOTOR ON command is not suitablefor re-activation of position control following

an error. For this purpose, the ERRCLR commandis to be used.

Command groupINI

Cross IndexMOTOR OFF

Syntax-ExampleMOTOR ON/* switch on controller of the axis */

Program sampleMOTOR_01.MPOS_01.M



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MOTOR STOPBy using the MOTOR STOP command, a drive inpositioning, speed or synchronizing mode can bedecelerated with programmed acceleration andarrested at the momentary position.A drive arrested with this command can, at a laterpoint, via the CONTINUE command, resume itsoriginal motion. (Exception: CONTINUE does notcontinue an interrupted synchronization command.)

NB!If MOTOR STOP is executed in a subpro-gram or if NOWAIT is set to ON, then the

next lines in the program are already processedwhile MOTOR STOP is being processed; the bra-king process runs in the background.Therefore, in order to slow the drive down to aspeed of zero it is necessary to ascertain that nonew positioning command is given during braking.

Summarystops the drive

SyntaxMOTOR STOP

Command groupCON

Cross IndexPOSA, POSR, CSTART, CONTINUE, CSTOP

Syntax-ExampleMOTOR STOP /* interrupt motion of the axis */

Program sampleMSTOP_01.M

MOVESYNCORIGINThe command shifts the origin of synchronizationin relation to the master. While SETSYNCPOSOFFS sets the offset position absolutely,MOVESYNCORIGIN always relates to the last oneand shifts the offset position relatively. If you haveto shift the offset position continually, you can pre-vent too large numbers or an overflow in this way.

SummaryRelative shifting of the origin of synchronization

SyntaxMOVESYNCORIGIN mvalue

Parametermvalue = Relative offset in relation to the Master

in qc

NB!Valid for position synchronization SYNCPand position synchronization with marker

correction SYNCM.

Command groupSYN

Cross IndexSET, SYNCPOSOFFS (54)

Syntax exampleMOVESYNCORIGIN 1000



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ce NOWAITThe NOWAIT command defines the program flowfor positioning commands.When NOWAIT OFF is set, the positioning com-mands are carried out in their entirety, i.e. until thetarget position is reached, before any followingcommands will be executed.When starting a positioning command withNOWAIT ON, further command procedures arecontinued and the positioning work takes place inthe background (so to say). In the NOWAIT ONcondition it is thus possible to query the momen-tary position, or to alter the velocity or the targetposition during the positioning procedure.

SummaryWait / Do not wait after a POSA/POSR command

SyntaxNOWAIT s

Parameters = condition:

ON = no wait for positioning till target positionis reachedOFF = wait till positioning achieved

NB!The default condition is NOWAIT OFF, i.e. ifno NOWAIT instruction is contained within a

program, then the positioning procedure is carriedout in its entirety before the processing of the nextcommand is begun.If, when in NOWAIT condition during an activepositioning procedure, a further positioning com-mand follows, then the new target position will betracked without interruption. The HOME as well asthe INDEX commands will be processed to theend in the NOWAIT ON condition, before the nextcommand can be begun.

Command groupCON

Cross IndexWAITAX, AXEND, POSA, POSR, HOME, INDEX

Syntax-ExampleNOWAIT ON/* no waiting after POS-commands */NOWAIT OFF/* wait after POS-commands till target reached */

Program sampleNOWAI_01.M, MSTOP_01.M, OUT_01.M, VEL_01.M

ON COMBIT .. GOSUBThe instruction ON COMBIT is used to call up asubprogram when Bit n of the communicationbuffer is set.

SummaryCall up a subprogram when Bit n of thecommunication buffer is set.

SyntaxON COMBIT n GOSUB name

Parametern = Bit n of communication buffer

–32 <= n<=32, n!= 0name = name of subprogram

NB!ON COMBIT refers to the first 32 Bits of theprocess data memory.

PriorityIf a number of interrupts occur simultaneously, thesubprogram assigned to the lowest bit is workedthrough first. The other interrupts will be processedafterwards. If, during an interrupt subroutine, thesame interrupt occurs (exception: error interrupt),then it will be ignored and thus lost.

PeculiaritiesThe subroutine to be called up must be definedwithin the SUBMAINPROG and ENDPROGidentified program.

NB!During the execution of an ON COMBITsubroutine NOWAIT is set to ON.

PortabilityIn the case of COMOPTGET and COMOPTSEND,the offset of 2 Word is retained for compatibilityreasons.

Command groupINT

Cross IndexSUBPROG…RETURN, COMOPTGET,COMOPTSEND

Syntax-ExampleON COMBIT 5 GOSUB test// set interrupt on fieldbus bit 5



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ON ERROR GOSUBBy using the ERROR GOSUB instruction, asubroutine will be defined, which can be called upin case of error. If an error occurs after thedefinition, then an automatic program abort will nottake place – instead, the defined subroutine willbe called up.Within this subroutine, it is possible to target there-action to the error, to wait for user interventionvia ERRCLR (clear error) or, in the case of non-correctable errors, to abort the program via theEXIT instruction.If the program is not aborted, then the processingwill continue from the point where the interruptionoccurred.By using the CONTINUE command, it is possibleto continue the error-interrupted motion. (Excep-tion: synchronization commands)

SummaryDefinition of an error subroutine

SyntaxON ERROR GOSUB name

Parametername = name of the subroutine

PriorityError subroutines cannot be interrupted throughany other interrupts.

PeculiaritiesThe ON ERROR GOSUB instruction should be atthe start of a program, so that it has validity for theentire program.

The subroutine to be called up must be definedwithin the identified SUBMAINPROG andENDPROG program.

The identification of an error condition and the callup of the corresponding subroutine requires amaximum of 2 milliseconds.

NB!During the execution of an error routineNOWAIT is automatically set to ON.

If the error subroutine is exited with the error stillactive because e.g. ERRCLR was not carried outor another error has occurred, then a new calltakes place.

NB!The ON ERROR GOSUB xx routine doesnot terminate the HOME and INDEX

command. This means they will be executed afterthe error has been cleared. To prevent this an ONTIME 1 can be included in the error routine.

Command groupINT

Cross IndexSUBPROG…RETURN, ERRCLR, ERRNO,CONTINUE, EXIT

Syntax-ExampleON ERROR GOSUB errhandle/* definition of an error subroutine */command line 1command line nSUBMAINPROG/* subroutine errhandle must be defined */SUBPROG errhandlecommand line 1command line nRETURNENDPROG

Program sampleERROR_01.MIF_01.M, INDEX_01.M



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ce ON INT .. GOSUBBy using the ON INT GOSUB instruction, a subrou-tine must be defined which will be called up whenan edge is detected at the monitored input.A maximum of one subroutine per input can bedefined. It is not possible to define an interrupt forthe falling and the rising edges of the same inputThis definition can take place at any time. If, follo-wing this definition, a corresponding interruptoccurs, then the accompanying subroutine iscalled up and processed. After the last subroutinecommand (RETURN), the program will continuefrom the point of interrupt.

SummaryDefining an interrupt input

SyntaxON INT n GOSUB name

Parametern = number of the input to be monitored;

(input area –8 … 8and VLT inputs 16 … 33)positive input numbers (1 … 8) =reaction to the rising edgenegative input numbers (–1 … 8) =reaction to the falling edge

name = subroutine name


PeculiaritiesThe ON INT GOSUB instruction should be at thestart of the program, so that it has validity for theentire program.The subroutine to be called up must be definedwithin the SUBMAINPROG and ENDPROGidentified program.

The identification of an interrupt and the call up ofthe corresponding subroutine requires a maximumof 2 milliseconds.

A minimal signal length of 1 msec is necessary forthe sure identification of a level change! The chap-ter input/output terminal contain more informationconcerning the input circuit and input technicaldata.

NB!The instruction for ON INT GOSUB is edgeand not level triggered.

NB!During the execution of a subroutine calledby an interrupt NOWAIT is automatically set

to ON.

Command groupINT

Cross IndexSUBPROG…RETURN, ON ERROR GOSUB,WAITI

Syntax-ExampleON INT 4 GOSUB posin/* Definition of Input 4 (positive edge) */ON INT -5 GOSUB negin/* Definition of input 5 (negative edge) */ command line 1 command line nsubroutine must be definedSUBMAINPROGSUBPROG posin command line 1 command line nRETURNSUBPROG negin command line 1 command line nRETURNENDPROG

Program sampleONINT_01.MDELAY_01.M, GSVEL_01.M



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ON PARAM .. GOSUBThe instruction ON PARAM can be used torespond when parameters are altered via the VLTdisplay and to call up a subprogram.

SummaryCall up a subprogram when a parameter is altered.

SyntaxON PARAM n GOSUB name

Parametern = 701 … 779name = subroutine name

PriorityIf, during an interrupt subroutine, the same inter-rupt occurs (exception: error interrupt), then it willbe ignored and thus lost.

PeculiaritiesThe subroutine to be called up must be definedwithin the SUBMAINPROG and ENDPROG identi-fied program.

A maximum of 10 ON PARAM functions arepossible.

NB!During the execution of a subroutine calledby an interrupt NOWAIT is automatically set

to ON.

Command groupINT

Cross IndexSUBPROG…RETURN

Syntax-SampleLINKAXPAR POSERR 712 „position error“ 3005000 0ON PARAM 712 GOSUB poserr// when position error is changedSUBMAINPROGSUBPROG poserr

PRINT „New position error: „, GET POSERRRETURN

ON PERIODWith ON PERIOD it is possible to call up a sub-program at regular intervals (time triggered). ONPERIOD works like an interrupt.

Summarycalls up a subroutine at regular intervals

SyntaxON PERIOD n GOSUB name

Parametern > 100 ms = time in ms, after which the

subroutine is called up againn = 0 = switch off the function

NB!The precision with which the time is keptdepends on the remaining program.

Typically the precision is ±1 ms.


NB!During the execution of an ON PERIODsubroutine NOWAIT is set to ON.

Command groupINT

Cross IndexON TIME, GOSUB



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ce ON STATBIT .. GOSUBThe instruction ON STATBIT is used to call up asubprogram when bit n of the VLT status is set.These 32 bits of the VLT status consist of the VLTstatus word, the byte 2 of the internal status (e.g.MOVING) and the bit n of SYNCSTAT.

SummaryCall up a subprogram when bit n of the VLT statusis set.

SyntaxON STATBIT n GOSUB name

Parametern = Bit n of the VLT status

Bit 1…16 VLT status wordBit 17…24 Byte 2 of the internalstatus:Bit 17 = MOVINGBit 18 = Overflow Slave EncoderBit 19 = Overflow Master EncoderBit 20 = POSFLOAT active *)Bit 25…32 SYNCSTATBit 25 = SYNCREADYBit 26 = SYNCFAULTBit 27 = SYNCACCURACYBit 28 = SYNCMMHITBit 29 = SYNCSMHITBit 30 = SYNCMMERRBit 31 = SYNCSMERR

name = subroutine name

*) Explanation: i.e. the axis is within the tolerancerange of the control window REGWINMAX /REGWINMIN. As soon as the control window isset, the axis controller is switched on again.



NB!During the execution of a subroutine calledby an interrupt NOWAIT is automatically setto ON.

Command groupINT

Cross IndexSUBPROG…RETURN

Syntax-ExampleON STATBIT 30 GOSUB markererror/* Interrupt, if error flag Master */SUBMAINPROG

SUBPROG markererrorSYNCSTATCLR 32/* clear error flag SYNCMMERR *//* use value 32 of Parameter SYNCSTATCLR,not the bit-number! */

RETURNENDPROG



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ON TIMEAfter expiration of the time set the correspondingsubroutine is called up. In the meantime the pro-gram flow continues normally.

SummaryOne-time access of a subroutine

SyntaxON TIME n GOSUB name

Parametern = time in ms, after which the subroutine is

called up (maximum MLONG)name = name of the subroutine

NB!The precision with which the time is keptdepends on the remaining program. Typi-

cally the precision is ±1 ms.


NB!During the execution of an ON TIME sub-routine NOWAIT is set to ON.

Command groupINT

Cross IndexON PERIOD, GOSUB

Syntax-ExampleOUT 1 1 /* light on */ON TIME 200 GOSUB off1/* light off again after 200 ms */SUBMAINPROGSUBPROG off1OUT 1 0RETURNENDPROG

OUTThe 8 digital outputs of the SyncPos option andthe 2 relay outputs of the VLT5000 can be set andreset by using the OUT command.

SummarySet or reset digital outputs

SyntaxOUT n s

Parametern = output number

SyncPos option: O1 ... O8Relay O1 = 11Relay O4 = 14

s = condition (0 = OFF, 1 = ON)

NB!After switching on the system, all outputsare OFF.

These outputs, which have pre-defined functionsaccording to the I/O parameter settings, will alsobe influenced by the OUT commands! The actualoutput status remains as it is, even after programend or program abort. The output circuit and maxi-mum load current can be taken from the chapterinput/output terminal and the VLT5000 manual.

Command groupI/O

Cross IndexOUTB, IN, INB

Syntax-ExampleOUT 3 1 /* 03 on */OUT 6 0 /* 06 off */

Program sampleOUT_01.M



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ce OUTANThe OUTAN command can set VLT bus reference(speed or torque reference depending on setting ofVLT parameter 100).

NB!The command MOTOR OFF must be execu-ted previously. Thus, monitoring of the

position error is no longer active.

With OUTAN it is also possible to turn off the con-troller in OPEN LOOP using MOTOR OFF and tooperate the VLT without return as a pure frequencyconverter. In this manner you can use SyncPos todirectly output set values, to read inputs, etc.

Summarysets speed reference

SyntaxOUTAN v

Parameterv = speed referencerange: –0X4000 … 0X4000 = –100 % … 100 %

NB!Remember that with older versions adifferent scale may exist.

Command groupI/O

Cross IndexMOTOR OFFChapter input/output terminal; VLT5000 manual

Syntax-ExampleMOTOR OFFOUTAN 0X2000 /* set speed reference 50 % */

OUTBWith the OUTB command the condition of thedigital outputs can be changed byte-by-byte. Thebyte value transferred determines the condition ofthe individual outputs. The bit with the lowest valuein the byte corresponds to the set condition ofoutput 1.

SummaryAlteration of the condition of a digital output byte

SyntaxOUTB n v

Parametern = output byte (0 = O1 ... O8)v = value (0 ... 255)

NB!After switching on the system, all outputsare OFF. Outputs which have pre-defined

functions according to the I/O parameter settings,will also be influenced by the OUTB command!The actual output status remains as it is even afterprogram end or program abort. Output circuit andmaximum load current see chapter input/outputterminal.

Command groupI/O

Cross IndexOUT, IN, INB

Syntax-ExampleOUTB 0 10/* switch through outputs 2 and 4, disable otherOUTB 0 245outputs *//* disable outputs 2 and 4, switch through all otheroutputs */OUTB 0 128/* switch through output 8 only, disable others */

Program sampleOUTB_01.M



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OUTDAWith the OUTDA command it is possible to set thefreely available analog outputs. Condition is, thatparameter 319 for output 42 resp. parameter 321for output 45 is programmed to option 0 to 20 mA.

Summarysets analog output

SyntaxOUTDA no value

Parameterno = output number (42 or 45)value = value that the output should be set to

If digital output is set:0 … 10 = OFFIf analogue output is set, whereby theVLT parameter 319 resp. 321 defines,how the output is set:0 … 100000 = 0 … 20 mA0 … 100000 = 4 … 20 mA0 … 100000 = 0 … 32 kHz

Command groupI/O

Cross IndexVLT-parameter 319 and 321

Syntax-ExampleOUTDA 42 5000/* set analogue output to 10 mA *//* condition: parameter 319 is set on the range0 up to 20 mA */

PCDYou can directly access the fieldbus data area withthe command PCD without an additionalcommand COMOPTGET or COMOPTSEND. Thecommunications memory is written or read word byword (16-Bit).

SummaryPseudo array for direct access to the fieldbus dataarea

SyntaxPCD[n]n = index


Cross IndexSYSVAR

Syntax-ExampleVariable = PCD[1] // Word 1Variable = PCD[1].2 // Bit 2 of Word 1Variable = PCD[2].b1 // Byte 1 of Word 2PCD[1] = VariablePCD[1].3 = Variable

Program sample_IF (PCD 2 ==256) THEN // compare value_IF (PCD 3.2) THEN // is bit 2 of PCD3 high?



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ce PIDA PID filter can be calculated with this function. ThePID filter works according to the following formula:

u(n) = ( kp * e(n) + kd*(e(n)-e(n–1)) + ki*∑e(n) ) / timer

where the following is true:e(n) error occurring at time nkp proportional factor of the PID controlkd derivative factorki integral factor (limited by Integration

Limit)Timer controller sample time

The corresponding factors can be set with thefollowing commands:SET PID KPROP 1 /* set kp 1 */SET PID KDER 1 /* set kd 1 */SET PID KINT 0 /* set ki 0 */SET PID KILIM 0 /* Integration limit 0 */SET PID TIMER 1 /* Sample time = 1 */

The following syntax examples which also show thedefault allocation of the factors.

Summarycalculates PID filter

Syntaxu(n) = PID e(n)

Parametere(n) = actual deviation (error) for which the PID filter

should be used

Return valueu(n) = result of the PID calculation

Command groupI/O

Syntax-Examplee = INAD 53u = PID ePRINT “input = “,e, “output = “,u

POSAThe axis can be moved to a position relative to theactual zero position.When the POSA command exceeds the softwarelimit switch NEGLIMIT (4) or POSLIMIT (5) theprogram continue with the next command after anerror.

SummaryPositioning in relation to actual zero point

SyntaxPOSA p

Parameterp = Position in user units (UU) absolute to the

actual zero point; the UU corresponds in thestandard setting the number of Quadcounts.

NB!If a temporary zero point, set via SETORIGIN, exists and is active, then the posi-

tion result refers to this zero point.

NB!If an acceleration and/or velocity has notbeen defined at the time of the POSA com-

mand, then the procedure will take place with thevalues of parameter DFLTVEL (33) and DFLTACC(34).

Command groupABS

Cross IndexVEL, ACC, POSR, HOME, DEF ORIGIN, SETORIGINParameter: POSFACT_N (26), POSFACT_Z (23)

Syntax-ExamplePOSA 50000 /* move axis to position 50000 */

Program samplePOS_01.M



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POSRThe axis can be moved to a position relative to theactual position by use of the POSR command.

SummaryPositioning in relation to actual position

SyntaxPOSR d

Parameterd = distance to actual position in user units (UU);

this corresponds in the standard setting forthe number of Quadcounts.

NB!If acceleration and/or velocity has not beendefined at the time of the POSR command,

then the procedure will take place with the valuesof parameter DFLTVEL (33) and DFLTACC (34).

Command groupREL

Cross IndexVEL, ACC, POSAParameter: POSFACT_N (26), POSFACT_Z (23)

Syntax-ExamplePOSR 50000 /* move axis relative 50000 UU */

Program samplePOS_01.M

PRINTCalculation results, variables contents and textinformation can be displayed on the connected PCvia the RS485 communication interface by use ofthe PRINT command, if the SyncPos software isopen and the connection active.To obtain multiple data with a single PRINT com-mand, the individual elements must be separatedwith a comma (,). Text information must be given inquotation marks (“).A line feed is normally created following eachPRINT instruction. This automatic line feed can besuppressed with a semi-colon (;) after the last out-put element.

SummaryInformation output

SyntaxPRINT i or PRINT i;

Parameteri = information, for example, variables, text, CHR(n) separated by commas. The CHR commandreturns the ASCII characters corresponding to acertain number.

NB!If there is no PC connected all prints areacted as a dummy output. But if a PC sends

a XOFF because it is busy or the serialcommunication is not connected the messages arebuffered. When the buffer is full, the next printcommand will wait until the buffer can be writtenagain. That means, that the program stands still.

Command groupI/O

Cross IndexINKEY

Syntax-ExamplePRINT “Information is important !”/* print text information */PRINT “Information is important !”;/* print information without line feed */variable = 10PRINT variable /* print contents of variables */PRINT APOS /* print returned value function */PRINT “Variable“, variable,“Pos.:",APOS/* print mixed information */

Program sampleUses – see all program samples



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ce PULSACCWith PULSACC it is possible to set the accelera-tion/deceleration for the virtual master (encoderoutput).The virtual master signal simulates an encodersignal. To calculate the pulse accelerationPULSACC the parameters Encoder resolutionEncoder resolutionEncoder resolutionEncoder resolutionEncoder resolution,master velocity and the ramp times must be takeninto consideration.Example:The virtual master signal should correspond to anencoder signal of 1024 counts/revolution. The ma-ximum speed of 25 encoder revolutions/s shouldbe achieved in 1 s.

PULSACC = pulse velocity (PULSVEL) [Hz]

t[s]

25 · 1024 counts/turn=1 s

countss

= 25600 = 25600counts Hz

S2

S

The signals generated are evaluated simultaneous-ly as master input so that MAPOS, MIPOS etc.function as they would in an external master.

PULSACC = 0 is the condition for switching off thevirtual master mode.

NB!Changes in the acceleration in PULSACCare only valid after the next PULSVEL

command.

SummarySet acceleration for the virtual master

SyntaxPULSACC a

Parametera = acceleration in Hz/sec

Command groupSYN

Cross IndexPULSVEL

PULSVELWith PULSVEL it is possible to set the velocity forthe virtual master (encoder output).The virtual master signal simulates an encodersignal. To calculate the pulse velocity theparameters Encoder resolutionEncoder resolutionEncoder resolutionEncoder resolutionEncoder resolution and master velocitymust be taken into consideration.Example:The virtual master signal should correspond to anencoder signal of 2048 counts /revolution within aencoder speed of 50 revolutions/sec.

PULSVEL = encoder counts per turn · turnsS

= 2048 · 50 Hz = 102400 Hz

SummarySet the velocity for the virtual master

SyntaxPULSVEL v

Parameterv = velocity in pulses per second (Hz)

Command groupSYN

Cross IndexPULSACC



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REPEAT .. UNTIL ..The REPEAT..UNTIL construction enables anynumber of repetitions of the enclosed programsection, dependent on abort criteria. The abortcriteria consist of one or more comparative proce-dures and are always checked at the end of aloop. As long as the abort criteria are not fulfilled,the loop will be processed repeatedly.

SummaryConditional loop with end criteria(Repeat ... until condition fulfilled)

SyntaxREPEATUNTIL condition

Parametercondition = Abort criteria

NB!Because the abort criteria are checked atthe end of the loop, the commands within

the loop will be carried out at least once. To avoidthe possibility of an endless loop, the processedcommands within the loop must have a direct orindirect influence on the result of the abortmonitoring.

Command groupCON

Cross IndexLOOP, WHILE .......... DO .......... ENDWHILE

Syntax-ExampleREPEAT /* start loop */command line 1command line nUNTIL (A != 1) /* Abort condition */

Program sampleREPEA_01.MDIM_01.M, ONINT_01.M, OUT_01.M, INKEY_01.M

RST ORIGINA previously with SET ORIGIN set temporary zeropoint can be erased by use of the RST ORIGINcommand. This means that all the following abso-lute positioning commands (POSA) again refer tothe real zero point.

SummaryErase temporary zero point

SyntaxRST ORIGIN

Command groupINI

Cross IndexSET ORIGIN, DEF ORIGIN, POSA

Syntax-Example/* reset temporary zero point */RST ORIGIN

Program sampleTORIG_01.M, OUT_01.M, VEL_01.M

SAVE partIf you alter array elements, axis parameters whilethe program is running you can save the alteredvalues in the EEPROM with SAVE ARRAYS. Tosave the range of global parameters and userparameters (130–229) individually in the EEPROM,use the command SAVE GLBPARS.

SummarySave arrays, current axis parameters or globalparameters in the EEPROM

SyntaxSAVE partpart = ARRAYS

AXPARSGLBPARS

Command groupINI

Cross IndexDELETE ARRAYS, SAVEPROM



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ce SAVEPROMWhen changing array elements or user parameters(130–229) while the program is runningSAVEPROM offer the possibility of saving thevalues which have been changed. This must bedone by triggering the command SAVEPROMexplicitly.SAVEPROM triggers the same process, which canalso be started in the menu "CONTROLLER".If you want to save only array elements or onlyglobal and user parameters, use the commandsSAVE ARRAY and SAVE GLBPARS.

Summarysaves memory in EEPROM

NB!The execution time of SAVEPROM dependson the amount of data to be saved. It can

be up to 4 seconds.

NB!Please note that AXE parameters are notsaved by SAVEPROM. To do this you must

use the command SAVE AXPARS.

Command groupINI

Syntax-ExamplePRINT “please wait”SAVEPROMPRINT “Thanks”

SETWith the SET command certain axis and globalparameters can be temporarily changed while theprogram is running.The parameter codes permitted can be found inthe respective overviews of the Parameter refe-rence in the left-hand column, for example,KPROP (11) for the Proportional factorProportional factorProportional factorProportional factorProportional factor, , , , , KDER (12)for the derivative factor derivative factor derivative factor derivative factor derivative factor or POSERR (15) for theTTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error. . . . . Sample for global para-meters: SET PRGPAR (102) for the ActivatedActivatedActivatedActivatedActivatedprogram numberprogram numberprogram numberprogram numberprogram number and SET I_BREAK (105) for theInput for abort.Input for abort.Input for abort.Input for abort.Input for abort.

Summarysets a parameter

SyntaxSET par v

Parameterpar = Parameter identificationv = parameter value

NB!The parameter alterations are only validwhile the program is running. After program

end or abort, the original parameter values arevalid again.The parameter alterations can be made permanentby using the command SAVEPROM.

Command groupPAR

Cross IndexGETParameter-reference

Syntax-ExampleSET POSLIMIT 100000/* set positive positioning limit */SET KPROP 150/* change proportional factor */

Syntax-ExampleSET KPROP 150/* change proportional factor */



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SETMORIGINWith the SETMORIGIN command you can set anyposition as the new zero point for the master.

SummarySet any position as the zero point for the master.

SyntaxSETMORIGIN value

Parametervalue = absolute position

NB!The command SETMORIGIN cancels thecommand DEFMORIGIN.

NB!Thus, to alter the zero point for the masteragain, you have to reset it with

SETMORIGIN or DEFMORIGIN. RST ORIGINdoes not have any effect on the zero point for themaster.

Command groupINI

Cross IndexDEFMORIGIN, MAPOS

Syntax-ExampleSETMORIGIN 10000/* Set the zero point for the master at 10000 */

SET ORIGINAny absolute position can temporarily be set as anew reference point for absolute positioning com-mand (POSA) by use of the SET ORIGIN com-mand. This position is called temporary zero point.

SummarySet absolute position as temporary zero point

SyntaxSET ORIGIN p

Parameterp = absolute position in relation to the real zero

point

NB!It is possible to carry out several SETORIGIN commands without out a previous

RST ORIGIN. The absolute position value alwaysrefers to the real zero point. The last carried outSET ORIGIN command therefore determines theposition of the temporary zero point in relation tothe real zero point.

Command groupINI

Cross IndexRST ORIGIN, DEF ORIGIN, POSA

Syntax-ExampleSET ORIGIN 50000/* set temporary zero point to 50000 */

Program sampleTORIG_01.MOUT_01.M, VEL_01.M



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ce SETVLTWith the SETVLT command VLT parameters can bechanged temporarily and thus the configuration ofthe VLT can also be changed temporarily.Since only integer values can be transmitted theparameter value to be transmitted must be adjus-ted with the associated conversion index.A list of the VLT parameters with the correspondingconversion index can be found in the VLT5000manual.

Summarysets a VLT parameter

SyntaxSETVLT par v

Parameterpar = Parameter numberv = Parameter value

NB!The parameter alterations are only stored inRAM. After power down the original parame-

ter values are restored.

Command groupPAR

Cross IndexGETVLT

Syntax-Example/* change parameter 202 "maximum reference"high to 60 Hz */–Conversion index = –3 (Multiplied with 103 duringtransmission)SETVLT 202 60000

STATThe STAT command reports the actual status of theaxis control unit as well as that of the axis. Forexample, whether the axis controller shuts down,ends the motion or the end switch is active. Thestatus of the program execution cannot be calledup with STAT, but only with AXEND.

The status consists of a total of four bytes.

SummaryQuery axis and control status

Syntaxres = STAT

Return valueres = Axis- and Control status (4-Byte value):Byte 3 MSB

Bit 0 1 = MOVINGBit 1 1 = OVERFLOW Slave EncoderBit 2 1 = OVERFLOW Master EncoderBit 3 1 = POSFLOAT active *)

Byte 2 Status byte of axis controlBit 7 1 = axis control switched offBit 2 1 = position reachedBit 0,1,3-6 has no meaning

Byte 1 not usedByte 0 LSB

Bit 7 1 = limit switch activeBit 6 1 = Reference switch activeBit 2 1 = axis control switched offBit 0,1,3,4 not in use

*) Explanation: i.e. the axis is within the tolerancerange of the control window REGWINMAX /REGWINMIN. As soon as the control window isset, the axis controller is switched on again.

Command groupI/O

Cross IndexAXEND

Syntax-ExamplePRINT STAT /* print status word */

Program sampleSTAT_01.M



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SUBMAINPROG .. ENDPROGThe code word SUBMAINPROG begins the sub-routine section, and the code word ENDPROGends this specific program. The term subroutinemeans command sequences that, via the GOSUBinstructions, can be called up and executed fromvarious program positions.All necessary subroutines must be contained withinthe subroutine section. It is possible to insert asubroutine anywhere within a main program; how-ever, for reasons of clarity, it is advisable to insert iteither at the beginning or end of a program.

SummarySubroutine section definition

SyntaxSUBMAINPROGENDPROG

NB!Only one subroutine area may be insertedwithin a program.

Command groupCON

Cross IndexSUBPROG …RETURN,GOSUB, ON ERROR GOSUB, ON INT n GOSUB

Syntax-ExampleSUBMAINPROG/* Begin the subroutine section */subroutine 1subroutine nENDPROG /* End the subroutine section */

Program sampleGOSUB_01.MAXEND_01.M, ERROR_01.M, INCL_01.M,STAT_01.M

SUBPROG name .. RETURNThe instruction SUBPROG identifies the beginningof a subroutine. The name of the subroutine mustdirectly follow SUBPROG code word. The namecan be made up of one or more characters, andmust be unique, i.e. only one subroutine may havethat name.A subroutine can be called up and executed atany time by use of the GOSUB instruction.A subroutine can have any number of commandlines and can refer to all program variables. Thelast command in each subroutine must be theRETURN instruction, which permits exiting thesubroutine and continuing the program with thecommand following the GOSUB instruction.

SummarySubroutine definition

SyntaxSUBPROG nameRETURN

Parametername = subroutine name

NB!All subroutines must be contained within theSUBMAINPROG and ENDPROG defined

areas. It is not admissible to declare a secondsubroutine within an existing subroutine.

Command groupCON

Cross IndexSUBMAINPROG … ENDPROG,GOSUB, ON ERROR GOSUB, ON INT n GOSUB

Syntax-ExampleSUBMAINPROG /* begin SP-section */SUBPROG sp1 /* begin sp1 */command line 1command line nRETURN /* end sp1 */ENDPROG /* end SP-section */

Program sampleGOSUB_01.M, AXEND_01.M, ERROR_01.M,IF_01.M, STAT_01.M



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ce SYNCERRSYNCERR returns the actual synchronization errorin User Units. This is the distance between theactual master position (converted with drive factorand offset) and the actual position of the slave.

If the parameter SYNCACCURACY (55) is definedby a minus sign, you can also determine whetherthe synchronization is running ahead (negativeresult) or running behind (positive result).

SummaryQueries actual synchronization error of the slave.

Syntaxres = SYNCERR

Return valueres = actual synchronization error of the slave in

UU anda) as an absolute value when the value of

the accuracy window is defined with aplus sign in the parameterSYNCACCURACY;

b) with polarity sign when inSYNCACCURACY the value of thewindow is defined with a minus sign.

NB!SYNCERR only functions in synchronizationmode. As soon as you exit SYNCM or

SYNCP, the pulses are no longer counted.SYNCERR is only up-dated within a SYNCcommand.

Command groupI/O

Cross IndexTRACKERR, MAPOS, APOS,SYNCPOSOFFS (54), SYNCMFACTM (49),SYNCMFACTS (50), SYNCACCURACY (55)

Syntax-ExamplePRINT SYNCERR/* query actual synchronization error of the slave */

SYNCMThe SYNCM command functions just like theSYNCP command by making a angle/position syn-chronization with the master, but also makes amarker correction. Thus, during the starting of syn-chronization the program is synchronized to thenext marker calculated. In this manner it is pos-sible to compensate for differing running beha-viors, for example slippage.Once synchronization has been completed, devia-tion is determined at every marker (or every n-thmarker if the number of markers is not identical forthe master and slave). This is input into the controlas the new offset and the program immediatelyattempts to compensate for this. However, in doingso the values set for velocity, VEL, and accelera-tion, ACC or DEC are not exceeded.

Summaryangle/position synchronization with the master withmarker correction

SyntaxSYNCM

PecularitiesIn addition to the parameters used by SYNCP,SYNCREADY (56) and SYNCFAULT (57) are also ofsignificance.

NB!Since the following parameters could lead tooverdefinition, it is important to ensure that

these values are logical, match one another andare consistent with the information on the gearfactors.SYNCMARKM (52) and SYNCMARKS (53)SYNCMPULSM (58) and SYNCMPULSS (59)SYNCMTYPM (60) and SYNCMTYPS (61)

NB!SYNCM should only be called up once sincethe synchronizing continues until the next

motion or stop command. All additional SYNCMcommands cause the synchronization to start overagain from the beginning and this is not normallyintended, as you reset the actual SYNCERR.

NEWWhen defined in SYNCMSTART (62), thesystem waits for the first evaluation of the

marker pulses on starting SYNCM and only thenthe offset SYNCPOSOFFS (54) is applied.



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Marker signalThe marker can be the zero pulse from theencoder or an external 24 volt signal(I5 = master; I6 = slave).

Command groupSYN

Cross Indexparameter of the AXS group

Syntax-ExampleSYNCM /* synchronization of the position withmarker correction */

Example

Even when both belts are running synchronouslythe lids may not be aligned with the boxes at theright time. With SYNCM the difference betweenmaster and slave is detected by means of theexternal markers and the possible position devia-tion is corrected.

SYNCPThe SYNCP command completes an angle/position synchronization with the master. In doingso the position according to the gear factors to themaster is kept synchronous, that means after anexternal disturbance the program subsequentlytries to recover the corresponding stretch. However,in doing so the values set for velocity, VEL, andacceleration, ACC or DEC are not exceeded.

The following parameters affect the behavior:SYNCFACTM (49), SYNCFACTS (50)

gear factorsSYNCPOSOFFS (54) position offsetSYNCACCURACY (55) accuracy for flagREVERS (63) reverse behavior

During synchronization the program proceeds asfollows:When the SYNCP command is started, the actualmaster position is determined and is retained.From the master velocity, and in consideration ofthe acceleration allowed, the necessary slave velo-city is calculated in order to reach the masterposition. The slave is accelerated so long until thecalculated position has been reached or until it isclose enough to the reference position to reach it.

V

t

Master Velocity

Slave Velocity

Synchronization command

Summaryangle/position synchronization with the master

SyntaxSYNCP

NB!As soon as the deviation between theposition of the slave and master is less than

SYNCACCURACY (55), the ACCURACY flag is set.

If REVERS (63) is set so that it is not possible todrive in reverse, but for some reason the slave isfurther than the master (e.g. because only the masterhas moved in reverse) then the slave will wait atvelocity 0.



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ce In doing so the slave takes its own acceleration timeinto consideration and will start moving if necessarybefore the correct position has been reached if themaster already has a higher velocity.Instead of using this catch-up procedure it is alsopossible to move the slave with CVEL to approxima-tely the same velocity as the master and then triggerSYNCP.A change in the SYNCPOSOFFS (54) during thesynchronization leads to a new synchronizationprocedure with ramps (see above).

NB!SYNCP should only be called up once sincethe synchronizing continues until the next

motion or stop command. All additional SYNCPcommands cause the synchronization to start overagain from the beginning and this is not normallyintended, as you reset the actual SYNCERR.

Command groupSYN


Syntax-ExampleSYNCP/* normal synchronization of the position */CVEL 50/* achieve velocity before synchronization */CSTARTWAITT 500SYNCP

SYNCSTATThe following flags are defined and can be queriedwith SYNCSTAT: READY, FAULT, ACCURACY andMHIT and MERR for both the master and theslave.

SummaryFlag to query synchronization status

Syntaxres = SYNCSTAT

Return valueres = synchronization status with the following

meaning:

Value BitSYNCREADY 1 0SYNCFAULT 2 1SYNCACCURACY 4 2SYNCMMHIT 8 3SYNCSMHIT 16 4SYNCMMERR 32 5SYNCSMERR 64 6

SYNCACCURACYThe controller checks whether SYNCERR <SYNCACCURACY (55) is true every ms. If this istrue, then SYNCACCURACY is set, otherwise theflag is deleted. This check is made for bothSYNCP and SYNCM.This flag is not used with SYNCV.When executing a SYNCP or SYNCM commandthe flag is deleted.

SYNCFAULT / SYNCREADYFor every SYNCP or SYNCM command these flagsare deleted. Subsequently the program checkswhether SYNCACCURACY is set or not at everymarker pulse of the slave (SYNCP) or when a mar-ker pulse of the master and a marker pulse of theslave exist (SYNCM).If it is set the ready counter is increased and thefault counter is set to 0, otherwise the fault counteris increased and the ready counter set to 0.If the ready counter is greater than the valuedetermined by the parameter SYNCREADY (56),then the flag SYNCREADY is set. Otherwise it isdeleted.If the fault counter is greater that the value deter-mined by the parameter SYNCFAULT (57) then theflag SYNCFAULT is set. Otherwise it is deleted.



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SYNCMMHIT / SYNCSMHITSYNCMMHIT and SYNCSMHIT are set, when themaster marker resp. the slave marker is occurred.These flags are deleted for every SYNCM com-mand. Subsequently the flag SYNCMMHIT is setafter the first occurrence of a master marker pulseor after the n-th marker pulse (parametersSYNCMARKM 52).The same is true for SYNCSMHIT with the slave.

NB!This flag is no longer deleted unless SYNCMis started again or explicitly deleted with

SYNCSTATCLR.

SYNCMMERR / SYNCSMERRIf in the marker windowmarker windowmarker windowmarker windowmarker window SYNCMWINM (68) orSYNCMWINS (89) a tolerance range is defined,then SYNCMMERR or SYNCSMERR are set assoon as the maximum distance allowed has beenachieved and no marker was identified.Example:

Distance between two master markersSYNCPULSM (58) = 30000Marker Window SYNCMWINM (68) = 1000The flag is set at 31000 if no marker isidentified.

These flags are deleted for every SYNCMcommand.

If the marker windowmarker windowmarker windowmarker windowmarker window is 0 and thus no tolerancerange is defined, the program checks every markerpulse (or after every n-th pulse) whether the distancebetween the two last markers registered is less than1.8 times the value defined by the parameterSYNCPULSM (58). If not the corresponding flag isset.The same applies analogously for SYNCSMERR inthe slave.

NB!This flag is no longer deleted unless SYNCMis started again or deleted with

SYNCSTATCLR.

Command groupSYN

Cross IndexSYNCSTATCLR

Syntax-ExampleIF (SYNCSTAT & 4) THEN OUT 1 1/* If ACCURACY then set output */ENDIF

SYNCSTATCLRThe corresponding bits can be reset in SYNCSTATwith SYNCSTATCLR value thus resetting the errorflags MERR and the HIT flags MHIT. None of theother flags can be altered.

SummaryResetting of the flags MERR and MHIT

SyntaxSYNCSTATCLR value

The SYNCSTATCLR command should only be usedin a subprogram for dealing with errors. (see ONERROR GOSUB).

Parametervalue = 8 = SYNCMMHIT

16 = SYNCSMHIT32 = SYNCMMERR64 = SYNCSMERR

NB!ERRCLR contains the command MOTORON, which automatically switches the con-

troller on again. (The motor is position-controlled atthe current position.)

Command groupSYN

Cross IndexON STATBIT, ON ERROR GOSUB, ERRNO,CONTINUE, MOTOR ON

Syntax exampleSYNCSTATCLR 32/* clear current error message */



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ce SYNCVWith SYNCV a velocity synchronization with themaster is completed. In doing so only the velocityis taken into consideration and the controller doesnot attempt to recover the position.

V

t

Master velocity

Slave velocity

synchronization command

For synchronization and during the synchronizationprocess neither the pre-set velocity, VEL, nor thepre-set acceleration, ACC or DEC, are exceeded.The parameters of the gear factors used for syn-chronization are: SYNCFACTM (49), SYNCFACTS(50).

Furthermore, the speeds are not simply determi-ned on the basis of the difference between thecurrent position minus the last position (master/slave), rather the values are filtered according tothe settings in SYNCVFTIME (65). This means thefilter for the slave is determined by the maximumspeed. In other words:VELMAX * 5 corresponds to the encoder resolutionfor the filter table, where VELMAX is the speed inqc/ms. (The formula is a result of the assumptionthat the filter table for the encoder resolution wasmade with a maximum speed of 3000 Rpm.)

During the transition from the speed controller tothe position controller this is done as smoothly aspossible. In addition the new set position is defi-ned in such a manner that the following is true:

command_pos = actual_pos + errorold_error, cvel, avel are maintained. Sumerr is alsoaccepted unchanged.

Summaryvelocity synchronization with the master

SyntaxSYNCV

NB!SYNCV should only be called up once sincethe synchronizing continues until the next

motion or stop command. All additional SYNCVcommands cause the synchronization to start overagain from the beginning and this is not normallyintended, as you reset the actual SYNCERR.Command groupSYN




SYSVARThe system variable SYSVAR – a prepared pseudoarray – provides detailed system information. Youalso need this index if you link the system variablewith the LCP display using LINKSYSVAR or specifyrecording data of a test run with TESTSETP.

SummarySystem variable (Pseudo array) reads systemvalues.

SyntaxSYSVAR[n]n = index

System Process Data

Index Description1 Input Byte 0 (I1 … I8)2 Input Byte 1 (VLT input 16 … 33)9 Output Byte 017 Top 2 bytes which are provided by the

SyncPos command STAT22 Value which is also supplied by the

SyncPos command TIME28 Actual motor current30 Motor voltage31 VLT status word32 Actual output frequency33 current line number of the SyncPos pro-

gram in case of #DEBUG NOSTOP

Axis Process Data

Index Description4096 Current position slave in qc (without con-

version to UU) (see APOS)4097 Set position slave in qc (without conver-

sion to UU) (see CPOS)4098 Last slave index position in qc (without

conversion to UU) (see IPOS)4099 Actual velocity in qc/st, where st is the

sample time set by _GETVEL.4100 Current velocity Master (as above)4101 Current position error in qc4102 Contains the number of revolutions of the

encoder after the first overflow of the ab-solute encoder, provided the graduationper revolution is entered correctly in EN-CODER (2).

4103 As above for the master4105 Current master position without conversion

(qc) (see MAPOS)4106 Last Master index position without conver-

sion (qc) (see MIPOS)

4107 Internal current velocity (ACTPOS – lastACTPOS) (qc/1 ms)

4108 Internal Master velocity (see above)4109 Current frequency of the master simulation

(1/1000 Hz) (see PULSVEL)4110 Determines whether the master simulation

is active or not (1 or 0)4111 REG_REFERENCE Actual set value

which is output by the control through theposition controller (between –FFFFF andFFFFF resp. –1048575 and 1048575 deci-mal)

Axis Process Data, Profile generator value

Index Description4218 Returns all 32 flags of the profile generator.

These are:PG_FLAG_BUSY 1L// Flag for busy informationPG_FLAG_COMMANDERR2L// Flag for Command Error occurred (notused)PG_FLAG_POSREACHED 4L// Flag for Position reachedPG_FLAG_INDEX_HIT 8L// Flag for Index observedPG_FLAG_WRAP_OCC 16L// Flag for Wraparound occurred (not used)PG_FLAG_POS_ERR 32L// Flag for Position Error occurredPG_FLAG_BRKPT_RCHD 64L// Flag for Breakpoint reached (not used)PG_FLAG_FLOATING 128L// Flag for MOTOR OFF

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Axis Process Data, Profile generator value

Index Description4218 PG_FLAG_MOVING 1L << 8

// Flag for axes is movingPG_FLAG_OVERFLOWS 2L << 8// Flag for overflow of slave positionPG_FLAG_OVERFLOWM 4L << 9// Flag for overflow of master positionPG_FLAG_POSFLOAT 8L << 8// Flag for floating in pos controlPG_FLAG_INTERNTST 64L << 8// Flag for internal usePG_FLAG_SYNCREADY 1L << 24// Flag for Synchronization readyPG_FLAG_SYNCFAULT 2L << 24// Flag for Synchronization failedPG_FLAG_SYNCACCUR 4L << 24// Flag for Accuracy reached (syn)PG_FLAG_SYNCMMHIT 8L << 24// Flag for master marker hitPG_FLAG_SYNCSMHIT 16L << 24// Flag for slave marker hitPG_FLAG_SYNCMMERR 32L << 24// Flag for master marker distance ex-ceededPG_FLAG_SYNCSMERR 64L << 24// Flag for slave marker distance exceededPG_FLAG_TESTFLAG 128L << 24// Flag for internal use

NB!The values of the system variables areinternal, hardware-dependent values which

may change.

Command groupCON

Cross indexLINKSYSVAR, TESTSETP

TESTSETPAs standard you can use the menu TTTTTestrunestrunestrunestrunestrun totrigger a test run which records desired andcurrent position, speed, acceleration and currentand whose result can be seen in the test rungraphic:

In addition, with the two commands TESTSETPand TESTSTART you can record other or additionalparameters, for example you can record the masterposition. And, in contrast to a test run, you canrecord this data while executing the program.With TESTSETP you determine the parameters ofthe recording (which parameters are to be recor-ded, how often and in which array) and withTESTSTART you then start recording.

SummarySpecify recording data for test run

SyntaxTESTSETP ms vi1 vi2 vi3 arrayname

Parameterms = interval in milliseconds

between two measurementsvi 1…3 = indices of the three values to

be recorded. The agreementsfor the system array apply. Threevalues are always recorded.

array name = Name of the array used for therecording

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Array formatThe values are stored as follows within the array (allvalues 4 Byte):

Designation Content Meaningversion 000 Version of the data

structurems 1 Interval between two mea-

surements in msvi1 i Value, recorded at point 1

(Index)vi2 i Value, recorded at point 2

(Index)vi3 i Value, recorded at point 3

(Index)number nn Specifies how many mea-

surements followdata … Measurement data… … (total nn*3)number 0-mm Number of measurements

(if others are present)data … (see above)

NB!Please make sure that the size of the arrayis sufficient for the recording. You need 6

elements for the header, 1 element for the number,and 3 elements for each measurement. Thus for100 measurements you need 307 elements.

Command groupI/O

Cross indexTESTSTART, DIM, "DISPLAY RECORDING"

Syntax-ExampleDIM tstfahrtarray[307] //Array with 307 elementsTESTSETP 3 4096 4105 4101 tstrunarray// Record current slave position, current master// position and current tolerated position error… Start positioning run …TESTSTART 100 //Start recording

TESTSTARTThis command is used to start the recording of atest run with the contents as defined in TESTSETP.The recorded data can then – as required – begraphically represented using "TESTRUN" →"DISPLAY RECORDING". There are four graphics:Position, Speed, Acceleration and Currentavailable for this.

SummaryStart the recording of a test run

SyntaxTESTSTART no

Parameterno = number of measurements to be carried out

NB!If an array does not have sufficient space forno. measurements, the error O_ERR 71

„Field limits exceeded“ is triggered.

Command groupI/O

Cross referencesTESTSETP, "DISPLAY RECORDING"

Syntax exampleSYNCP // Synchronization of the positionWAITI 1 ON // When the key is pressedTESTSTART 200// Start recording (200 measurements)

Syntax exampleNOWAIT ON// Do not wait until the position is reachedVEL 50POSA 100000// Start positioning with velocity 50%WHILE (APOS<50000) DO// Wait untill position 50000 is reachedENDWHILEVEL 100 // Increase velocity to 100%TESTSTART 200// Start recording (200 measurements)DELAY 20// Wait 20 msPOSA 100000// Start positioning with new velocityNOWAIT OFF// Wait untill positioning is finished

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TIMEThe internal system-time can be read out using theTIME command. The TIME command is most sui-table for calculating the execution time of a com-mand sequence or device cycle time.

Summaryreads system-time

Syntaxres = TIME

Return valueres = system-time in milliseconds after switching on

NB!Please note that after counting up toMLONG the value will change to –MLONG.

Command groupI/O

Syntax-ExamplePRINT TIME /* print current system-time */timestop1 = TIME/* store current entary system-time */

Program sampleACC_01.M, DELAY_01.M, EXIT_01.M, GOSUB_01.M

TRACKERRWith TRACKERR it is possible to query the actualposition error of the axis in User Units (in considera-tion of the signs). This is the difference between theset value (CPOS) and the actual position (APOS).

Summaryqueries actual position error of the axis

Syntaxres = TRACKERR

Return valueres = actual trailing of the axis in UU

Command groupI/O

Cross IndexAPOS, CPOS, POSERR (15)

Syntax-ExamplePRINT TRACKERR/* query actual position error of the axis */

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VELThe velocity for the next absolute and relativepositioning procedures and the maximum allowedvelocity for synchronizing procedures is determi-ned with the VEL command.The value remains valid until a new velocity is setvia another VEL command. The new velocity valuewill be set in reference to the parameters VELMAX(1) and VELRES (22). If the velocity value equalsthe Velocity resolutionVelocity resolutionVelocity resolutionVelocity resolutionVelocity resolution, then the rpm value set inMaximum velocity Maximum velocity Maximum velocity Maximum velocity Maximum velocity VELMAX (1) will be used.

Note: Slave velocity in synchronizing mode is alsolimited by the VEL command.

SummarySet velocity for relative and absolute motion aswell as the maximum allowed velocity for synchro-nizing

SyntaxVEL v

Parameterv = scaled velocity value

NB!If no velocity has been set prior to a positio-ning or synchronizing command, then the

value of parameter DFLTVEL (33) will be used.

If the velocity needs to be altered during positio-ning, it is possible in the NOWAIT ON mode, whenthe VEL command is followed by another POSAcommand targeting to the desired position.The maximum speed allowed can be changed atany time with the command VEL, if a SYNCV,SYNCP or SYNCM follows the VEL command.


Cross IndexACC, POSA, POSRParameter: Maximum velocity VELMAX (1)

Syntax-ExampleVEL 100 /* Velocity 100 */

Program sampleVEL_01.M

WAITAXThe WAITAX command has been designated foruse with an active NOWAIT mode. By use of thiscommand in NOWAIT ON condition, it is possibleto wait for further program processing after a posi-tioning command, until the axis has achieved itsset position.

SummaryWait till target position is achieved

SyntaxWAITAX

Command groupCON

Cross IndexNOWAIT ON/OFF, POSA, POSR, AXEND, STAT,WAITI

Syntax-ExampleWAITAX /* Wait till the axis has ended motion */WAIT AX /* Alternative form */

Program sampleWAIT_01.MVEL_01.M

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WAITIThe WAITI command waits before continuing theprocessing until the specified input has got thedesired signal level.

SummaryWait for defined input condition

SyntaxWAITI n s

Parametern = input number 1 – 8 or 16 – 33s = expected condition: ON = High-Signal

OFF = Low-Signal

NB!If the expected input condition does notoccur, then the program will remain ‘stuck’

at this point. A minimal signal length is required forthe sure identification of a signal condition!The VLT manual and the chapter input/outputterminals give information about the circuit andtechnical data for the inputs.

Command groupCON

Cross IndexON INT GOSUB, DELAY, WAITT, WAITAXVLT5000 manual

Syntax-ExampleWAITI 4 ON/* Wait till High level reached input 4 */WAITI 4 1 /* 3 alternative forms: */WAIT I 4 ONWAIT I 4 1

WAITI 6 OFF/* Wait till Low level reached input 6 */WAITI 6 0 /* 3 alternative forms: */WAIT I 6 OFFWAIT I 6 0

Program sampleWAIT_01.M

WAITNDXWaits for the index while checking timeout. Theprogram waits until either the index of the axis isfound or the time (timeout) is exceeded.

Summarywaits until the next index position is reached

SyntaxWAITNDX t

Parametert = timeout in ms

NB!If the time is exceeded then an error istriggered which can be evaluated with a ON

ERROR function.

Command groupCON

Cross IndexWAITI, WAITP, INDEX

Syntax-ExampleCVEL 1CSTARTWAITNDX 10000OUT 1 1/* Waits a maximum of 10 seconds for the axis toreach the index position */

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WAITPThe WAITP command causes the program to waituntil position p is reached.If, from the speed and the current position, it fol-lows that the point p has already been exceededthen the command is also terminated.

Summarywaits until a certain position is reached

SyntaxWAITP p

Parameterp = absolute position being waited for

NB!Active ON INT or ON PERIOD commandscan affect the precision and reproducibility.

Command groupCON

Cross IndexDELAY, WAITI, WAITAX

Syntax-ExampleNOWAIT ONPOSA 100000WAITP 50000 /* wait on position 50000 */OUT 1 1 /* set output 1 */NOWAIT OFF

WAITTThe WAITT command is suitable for achieval of adefined program time delay. The inputted parame-ter shows the delay time in milliseconds.

SummaryTime delay

SyntaxWAITT t

Parametert = delay time in milliseconds (maximum MLONG)

NB!If an interrupt occurs during the delay time,then the entire delay procedure will be re-

begun following the processing of the interrupt.The DELAY command is preferable to the WAITTcommand, because of its constant time behavior.

Command groupCON

Cross IndexDELAY, WAITI, WAITAX

Syntax-ExampleWAITT 5000 /* wait 5000 seconds */WAIT T 5000 /* Alternative form: */

Program sampleWAIT_01.M

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WHILE .. DO .. ENDWHILEBy using the WHILE. .......... ENDWHILE constructionyou can repeat the enclosed program area one ormore times, dependent on any criteria. The loopcriteria is made up of one or more comparisonoperations, and is always monitored at the start ofa loop. When a negative result already appears atthe first monitoring, this can cause an omission ofthe commands within the loop, and the programwill continue after the ENDWHILE instruction.

SummaryConditional loop with start criteria(While condition is fulfilled, repeat ...)

SyntaxWHILE condition DOENDWHILE

Parametercondition = abort criteria

NB!Depending on the loop criteria, it canhappen that the contents of the loop will

never be processed.To avoid an endless loop, the processed com-mands within the loop must have a direct or in-direct influence on the result of the abort check.

Command groupCON

Cross IndexLOOP, REPEAT .......... UNTIL ..........

Syntax-ExampleWHILE (A != 1 AND B == 0) DOcommand line 1command line nENDWHILE

Program sampleWHILE_01.MINKEY_01.M

_GETVELWith the _GETVEL command it is possible tochange the sampling time for AVEL and MAVEL.AVEL and MAVEL usually work with a samplingtime of 20 ms. With this sampling time the resolu-tion is better. However, a new measurement is onlysampled every 20 ms.The command _GETVEL lasts exactly as long asthe assigned value, e.g._GETVEL 200 ca. 200 ms.

SummaryChanges sample time for AVEL and MAVEL

Syntaxvar = _GETVEL tThe values are displayed in UU/sec for AVEL resp.qc/sec for MAVEL.

Parametert = sample time in msec

Command groupI/0

Cross IndexAVEL, MAVEL

Syntax-Examplevar = _GETVEL 200

Thus, the measurement resolution is considerablybetter; however changes are only seen after adelay of 200 ms.

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#DEBUGThe #DEBUG instruction is not a genuine com-mand, but a command for the translation program,which translates an MPL program into commandcodes for the VLT with the SyncPos option. This iscalled a Compiler Directive.Via the instruction #DEBUG OFF, the instructionsin a step-by-step program will be carried out with-out interruption until the instruction #DEBUG ONis detected.It is thus possible to simplify and accelerate theprogram test via the #DEBUG instruction, as itexcludes program parts or loops which are knownto be error free, as well as any other program part,from step-by-step command processing.Because the #DEBUG instruction has no influenceon the normal program execution, it is not neces-sary to remove it after a program test.

SummaryStep-by-step command processing possible /impossible

Syntax#DEBUG s

Parameters = condition

ON single step possible; the system stopsafter each program line

OFF single step not possible; the program isrun through until the next DEBUG ON

NOSTOPThe system is not stopped, but internalbreak commands update the linenumber when the program is executedincrementally with "DEVELOPMENT" →"SINGLESTEP F9".The line numbers generated in this waycan then be laid on a VLT parameter795-799 with LINKSYSVAR andobserved on the LCP display.

NB!#DEBUG instructions are only of use in thestep-by-step program processing – they are

otherwise ignored.

Command groupCON

Cross IndexLook up user Interface: "DEVELOPMENT" →"EXECUTE" → "SINGLE STEP"

Syntax-Example#DEBUG OFF/* no step-by-step command procedure */command line 1command line n#DEBUG ON/* step-by-step command procedure possible */

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INCLUDEThe #INCLUDE instruction tells the Compiler toinclude the contents of the given file in the corres-ponding program position during the translation ofthe program.The INCLUDE instruction is therefore not a genuinecommand that causes a reaction within the Sync-Pos option, but an instruction for the translationprogram – a Compiler Directive.The #INCLUDE instruction can be placed in anyprogram position, as many times as desired withina program. However, attention must be given to thefact that the data to be included contains com-mands that may be used in the momentary pro-gram position, and that the command syntax iscorrect.The #INCLUDE instruction is especially suitable forstoring frequently used subroutines in separatefiles and to include them in the application withinthe SUBMAINPROG ..ENDPROG area.

SummaryInclusion of file contents in the indicated programposition

Syntax#INCLUDE file

Parameterfile = complete name of the file to be included(path commands inadmissible)

NB!The file to be included must be in the cur-rent directory. The given data names must

end with “.M”. The commands within the file to beincluded must have correct syntax.

Command groupCON

Syntax-Example#INCLUDE INC_UP01.M/* Include contents from file INC_UP01.M */

Program sampleINCL_01.M + INCSTA01.M + INCPOS01.M +INCIN01.M

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Parameter Reference

VLT parameter and SyncPos parameterBasically there are 2 main parameter types: VLTparameters and SyncPos option parameters.The parameters of VLT parameter group 7.. areboth VLT parameters and SyncPos optionparameters.

VLT parameters except groups 7.. , 8.. and 9.. aredescribed in VLT5000 operating instruction(MG.50.Ax.xx), this manual describes changes tothe VLT parameters including group 7.. and theSyncPos option parameters.

VLT parameter groups 8.. and 9.. are only availableif a field bus option is installed and they aredescribed in the manuals covering these optioncards (see field bus option manual).

Factory settings of the parameterAll parameters has a default value called the fac-tory setting. It is possible to reset the parametersto factory setting:VLT parameters can be reset to factory settings bymanual initialization of the VLT or by means of thesetup copy function (see in VLT5000 operatinginstruction for further details).

SyncPos option parameters can be reset to factorysettings in menu ”CONTROLLER” → ”RESET” →”PARAMETERS” or ”CONTROLLER” → ”RESET”→ ”COMPLETE”. Deleting the entire memory inmenu ”CONTROLLER” → ”MEMORY” → ”DELETEEEPROM” will reset the parameters to factorysetting as well.

User parameterThe parameters 710 though 779 and 795 though799 are user parameters which can be definedand used in a SyncPos program.

The user parameters are defined in a SyncPosprogram using the commands LINKAXPAR andLINKGPAR, it is possible to specify a text whichwill be displayed as parameter name in the LCP, aminimum limit, a maximum limit and the way howparameters will be executed:0 = Online executes a changes to the parameter

value immediately after the input in display.1 = Offline change means that a change to the

parameter value is activated when the OK keyis pressed.

An user parameter can be linked to a global optioncard parameter or an axis option card parameter.There are two types of global parameters:••••• Predefined global parameters as for example

I_ERRCLR (107)••••• Free internal parameters which can be acces-

sed from the SyncPos program.Parameters 130–229 are used for this pur-pose.

Syntax examples:/* Predefined global parameter */LINKGPAR I_ERRCLR 710 “ “ 0 33 0/* Free internal parameter */LINKGPAR 132 711 “name” 0 100000 0/* Axis parameter */LINKAXPAR POSERR 712 “position error” 0100000 0

Parameters 795 – 799 are read only parameterswhich can be used for data read out on the LCP.These parameters can be read out in display line 1or 2. You can select which parameters from 795 to799 are displayed at which position on the VLTdisplay in the VLT parameters 9, 10, 11 and 12:User parameter 95 [31]User parameter 96 [32]User parameter 97 [33]User parameter 98 [34]User parameter 99 [35]

Parameter changes and storageVLT parameters changed via the Local ControlPanel and SyncPos option parameter changed viamenu ”CONTROLLER” → ”PARAMETERS” →"AXIS" are saved in an EEPROM and thus retainedat power down.VLT parameters changed from the SyncPos appli-cation program with the command SETVLT are onlystored in RAM and thus lost at power down.SyncPos option parameters changed from theSyncPos application program with the commandSET are only active while the application programis running. SyncPos option parameters changedfrom the application program can be saved in anEEPROM and thus retained at power down bymeans of the command SAVEPROM or press theOK-key on the VLT display.

NB!Please note that an EEPROM has limitedlifetime; but in can be reprogrammed

approximately 10000 times.

Param

eter Reference



Par

amet

er R

efer

ence

Only available ifa field bus optionis installed (seefield bus optionmanual).

0..

1..

2..

3..

4..

5..

6..

7..

8..

9..

VLT par. # Option parameter Parameter Read/Write

LCP access # and name Application program

700 — GETVLT/SETVLT parameter numberEx.: var = GETVLT 700

701 102 PRGPAR702 11 KPROP703 12 KDER704 13 KINT GET/SET parameter name705 21 KILIM Ex.: var = GET KPROP706 35 BANDWIDTH707 36 FFVEL708 37 FFACC709 65 SYNCVFTIME

710-779 130 – 229 GET/SET parameter number

Ex.: var = GET 131

780 — GETVLT/SETVLT parameter number

Ex.: var = GETVLT 780

795-799 130 – 229 GET/SET parameter number

Ex.: var = GET 132

Parameter 009, 010, 011 and 012 (Display line 1 and 2) has got 5 additionalselections: User parameter 95 [31]

User parameter 96 [32]




Parameter 115 (Slip compensation): Factory setting changed from 100% to 0%.

Factory settings changed: From to

Parameter 200 Only clockwise 132Hz [0] Both directions 132 Hz [1]Parameter 203 Min … Max [0] –Max … +Max [1]Parameter 207 Power dependent 0,05 secParameter 208 Power dependent 0,05 sec

Factory settings:

Parameters 300 - 303, 305 - 308, 314 changed to: ”No operation” [0]

Parameters 319 + 321 changed to: ”Option 0 … 20mA” [91]

Parameters 323 + 326 changed to: ”Control word bit 11/12” [33]

4 Additional selections in parameters 319+321: Option digital [90]

Option 0 … 20mA [91]

Option 4 … 20mA [92]

Option 0 … 32000 pulses [93]

VLT parameters



NB!In general it is very important to optimize theVLT parameters to the motor, i.e. by using

AMA, in order to obtain a good control behavior.

Parameter 205Parameter 205, maximum reference must be set inaccordance with maximum velocity (option para-meter #1) before the controller parameters areoptimized.

System Control 700

When "enable SyncPos" is selected the VLT iscontrolled by the SyncPos option.When "disable SyncPos" is selected the VLT is notcontrolled by the SyncPos PID controller. It is thuspossible to control the VLT by traditional inputs orserial interface.

ContentControlled by the option or not

Value range0 … 1 00 = enable SyncPos1 = disable SyncPos

D.TIME CMP.ACT. 780

The active inverter dead time compensation whichis part of the VLT5000 control algorithm (VCC+) iscausing instability at standstill when working inclosed loop control. The purpose of this parameteris switching off the active dead time compensationto avoid instability.Select OFF when the VLT is controlled from theSyncPos option in speed, position or synchronizingcontrol. Select ON if the VLT is operated in openloop speed control. The inverter dead time com-pensation is providing better control performancein open loop control.

Contentactive inverter dead time compensation

Value range0; 1 00 = OFF1 = ON

Param

eter Reference



Changes during operation”Yes” means that the parameter can be changed, while the VLT frequency converter is in operation. ”No”means that the VLT frequency converter must be stopped before a change can be made.

4-Setup”Yes” means that the parameter can be programmed individually in each of the four setup’s, i.e. the sameparameter can have four different data values. ”No” means that the data value will be the same in all foursetup’s.

Conversion indexThe conversion index is used when transferring parameter values with decimals by means of serial commu-nication. Conversion index 0 means that the parameter value is multiplied by 1.

Data typeIndicates the data type of the parameter value. Data type 4Data type 4Data type 4Data type 4Data type 4 is an Integer 32bitInteger 32bitInteger 32bitInteger 32bitInteger 32bit and data type 6data type 6data type 6data type 6data type 6 is anUnsigned 16bitUnsigned 16bitUnsigned 16bitUnsigned 16bitUnsigned 16bit.

1) The maximum range is -232 to 232-1 (-2147483648 to 2147483647) but the actual range is specified when defining a user param-

eter in the application program using LINKGPAR or LINKAXPAR.

PNU Parameter Factory Range Changes 4-Setup Con- Data

description settings during version type

Operation index

700 System control 0 - 1 Yes No 0 6701 Program number -1 -1 - 127 Yes No 0 4702 PID, Proportional factor 30 0 - 65000 Yes No 0 4703 PID, Derivative factor 0 0 - 65000 Yes No 0 4704 PID, Integral factor 0 0 - 65000 Yes No 0 4705 PID, Integral bandwidth 1000 0 - 1000 Yes No 0 4706 PID, BANDWIDTH 1000 0 - 65000 Yes No 0 4707 PID, Velocity Feed-forward 0 0 - 65000 Yes No 0 4708 PID, Acceleration Feed-forward 0 0 - 65000 Yes No 0 4709 PID, Velocity filter 0 0 - 65000 Yes No 0 4710 User parameter 10 0 Defined by user1 Yes No 0 4711 User parameter 11 0 Defined by user1 Yes No 0 4…778 User parameter 78 0 Defined by user1 Yes No 0 4779 User parameter 79 0 Defined by user1 Yes No 0 4780 Activated dead time compensation OFF 0 - 1 No No 0 6795 User parameter 95 (read only) 0 Defined by user1 Read only No 0 4796 User parameter 96 (read only) 0 Defined by user1 Read only No 0 4797 User parameter 97 (read only) 0 Defined by user1 Read only No 0 4798 User parameter 98 (read only) 0 Defined by user1 Read only No 0 4799 User parameter 99 (read only) 0 Defined by user1 Read only No 0 4

VLT parameter list

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Parameter Code Parameter Name VLT- SyncPos Par. Unit FactoryNo. Par.No. Group setting

ACCMAXQC Maximum acceleration 10 AXV qc/ms2 *1/65536

BANDWIDTH Bandwidth within which thePID filter is active 706 35 AXR % 1000

DFLTACC Default acceleration 34 AXV % 50DFLTVEL Default velocity 33 AXV % 50ENCODER Encoder counts per revolution 2 AXE counts/ 500

revolutionENCODERTYPE Encoder type for encoder 0 (Slave) 27 AXE – 0ENDSWMOD Behavior at limit switch 44 AXI – 0ERRCOND Behavior after error 43 AXI – 0ESCCOND Behavior after error 70 AXI – 0FFACC Acceleration feed-forward 708 37 AXR % 0FFVEL Velocity feed-forward 707 36 AXR % 0HOME_FORCE Force HOME? 3 AXH – 0HOME_OFFSET Zero point offset in relation to

machine zero point or index 42 AXH qc 0HOME_RAMP Ramp for home motion 41 AXH % 10HOME_VEL Velocity of home motion 7 AXH % 10HOMETYPE Behavior during home motion 40 AXH – 0I_BREAK Input for abort 105 GLI – 0I_CONTINUE Continue program 106 GLI – 0I_ERRCLR Clear error 107 GLI – 0I_NEGLIMITSW Negative limit switch 47 AXI – 0I_POSLIMITSW Positive limit switch 46 AXI – 0I_PRGCHOICE Input for beginning program choice 104 GLI – 0I_PRGSTART Input for program start 103 GLI – 0I_REFSWITCH Input for reference switch 45 AXI – 0KDER Derivative value for PID control 703 12 AXR – 1

All SyncPos parameters in Alphabetical Order

For a better overview the parameters for the SyncPos program are divided into groups:

Global Parameters GLThe program language is prepared for multi axis applications. Therefore all parameters independent of anaxis such as the Activated Program NumberActivated Program NumberActivated Program NumberActivated Program NumberActivated Program Number PRGPAR (102) and the I/O parameters such as clear errorclear errorclear errorclear errorclear errorI_ERRCLR (107) are combined in the group global parameters (GL).

Axis parameters AX...This group contains all axis-specific parameters which can be processed with the GET and SET commandsand need axis information in the command:AXE Axis parameter encoderAXV Axis parameter velocity (velocity and acceleration values)AXI Axis parameter I/O (I/O configuration)AXH Axis parameter home (parameters affecting home motion)AXR Axis parameter control (everything concerning control behavior) andAXS Axis parameter synchronization

The column parameter group (AXV, AXR etc.) references to the dialog fields "CONTROLLER" →"PARAMETERS" → "AXIS", resp. → "GLOBAL", where you can define and change the parameters.

Param

eter Reference



Parameter Code Parameter Name VLT-SyncPos Par. Unit FactoryNo. Par.No. Group Setting

KILIM Limit value for integral sum forPID control 705 21 AXR – 0

KINT Integral value for PID control 704 13 AXR – 0KPROP Proportional value for PID control 702 11 AXR – 30MENCODER Resolution of the encoder 1 (master) 30 AXE counts/ 500

revolutionMENCODERTYPE Encoder type for encoder 0 (Master) 67 AXE – 0NEGLIMIT Negative software limit switch 4 AXI qc –500000O_AXMOVE Output for motion command active 64 AXI – 0O_BRAKE Output for mechanical brake 48 AXI – 0O_ERROR Output for error 108 GLS – 0POSDRCT Rotational direction 28 AXE – 1POSERR Maximum tolerated position error 15 AXR qc 20000POSFACT_N Denominator user factor 26 AXE – 1000POSFACT_Z Numerator user factor 23 AXE – 1000POSLIMIT Positive software limit switch 5 AXI qc 500000POSUNITS Unit for position display (UU) 29 AXE – 0PRGPAR Activated program number 701 102 GLS – – 1RAMPMIN Shortest ramp 31 AXV msec 1000RAMPTYPE Ramp type 32 AXV 0REGWMAX Size of the control window (activation) 38 AXR qc 0REGWMIN Size of the control window (deactivation) 39 AXR qc 0REVERS Reverse behavior for slave 63 AXR – 0SWNEGLIMACT Negative software limit switch active 19 AXI – 0SWPOSLIMACT Positive software limit switch active 20 AXI – 0SYNCACCURACY Size of the precision window for position synchronization 55 AXS qc 1000SYNCFACTM Synchronization factor master (M:S) 49 AXS qc 1SYNCFACTS Synchronization factor slave (M:S) 50 AXS qc 1SYNCFAULT Marker number for fault 57 AXS – 10SYNCMARKM Marker number for master 52 AXS – 1SYNCMARKS Marker number for slave 53 AXS – 1SYNCMPULSM Marker interval for master 58 AXS qc 500SYNCMPULSS Marker interval for slave 59 AXS qc 500SYNCMSTART Start behavior for marker synchronization 62 AXS – 0SYNCMTYPM Marker type for master 60 AXS – 0SYNCMTYPS Marker type for slave 61 AXS – 0SYNCMWINM Tolerance window for master marker monitoring 68 AXS qc 0SYNCMWINS Tolerance window for lave marker monitoring 69 AXS qc 0SYNCPOSOFFS Position offset for positioning synchronization 54 AXS qc 0SYNCREADY Marker number for ready 56 AXS – 1SYNCVELREL Tolerated deviance of the slave drive

from the master velocity in % 66 AXS % 0SYNCVFTIME Velocity filter 709 65 AXS τ_filt (µsec) 0TESTTIM Time in target window 24 AXI ms 0TESTVAL Limit value for reading in target window 25 AXI qc 1TESTWIN Size of target window 8 AXI qc 0TIMER Sampling time for PID control 14 AXR msec 1VELMAX Maximum velocity 1 AXV Rpm 3000VELMAXQC Maximum velocity (internal parameter) 9 AXV qc/ms *

1/65536VELRES Velocity resolution 22 AXV 100

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1 VELMAX

VELMAX defines the rated speed of the drive. Thisvalue is listed in Rpm and is needed for the calcu-lation of ramps and actual velocities.

NB!The nominal speed refers to the speed ofthe encoder.

ContentRated speed of the drive

Parameter GroupAXV

UnitRpm

Value range1 … 65535 3000

All SyncPos Parameters in DetailThe sequence of parameters is determined by theinternal parameter number. We recommend usingthe overview as a guide; then you will be able tofind detailed information very quickly using the in-ternal parameter number.

General Information on the Parameter ValuesSome limiting values are listed at 1 billion to makethem more easily readable. However, the exactvalue is 1,073,741,824.

NB!The unit defined by the parameter UserUserUserUserUserfactorfactorfactorfactorfactor POSFACT_Z (23) and POSFACT_N

(26) is not used for all path and position parame-ters. For various parameters (for example a soft-ware limit switch like I_POSLIMITSW (46) and theparameter TTTTTolerated position error olerated position error olerated position error olerated position error olerated position error POSERR(15)the quad-count unit (qc) is valid.4 quad-counts correspond to one sensor unit.

AbbreviationFor a description which is not dependent on theversion or the hardware, variables were used in thefollowing section for some limit values: thus thevalue ofMLONG = 1.073.741.824

Factory settingsEach factory setting is marked with .

Input rangeWhether the input range listed is exceeded is notchecked by the program, since due to the largedomain there is no suitable test possibilities.

NB!Even within the areas indicated illogicalinputs can result from the large differences

in performance of the motors and the wide varietyof possible applications. Therefore, it is theresponsibility of the programmer and the user toobserve the performance ranges of the drive andof the system.

Param

eter Reference



2 ENCODER

The parameter Encoder count per revolutionEncoder count per revolutionEncoder count per revolutionEncoder count per revolutionEncoder count per revolutioncontains the position feedback transmitter of theactual encoder (incremental or absolute encoder)in relation to one encoder revolution.The number of quad-counts (qc) per revolution iscalculated from this information. Quadcounts arethe basic units for all path measurements.Quadcounts are generated by extracting of alledges of the A and B tracks. One encoder countcorresponds to four quad-counts.The number of quad-counts per revolution isneeded for the index pulse search during the refe-rence drive and for the conversion of velocity andacceleration to internal units.....The Encoder counts per revolutionEncoder counts per revolutionEncoder counts per revolutionEncoder counts per revolutionEncoder counts per revolution also suppliesinformation whether during a HOME or INDEXmovement the index signal has been missed. Ifmore than a complete revolution is executed with-out registering an index signal then the correspon-ding error message will be made.

ContentEncoder counts per revolution

Parameter GroupAXE

Unitcounts/revolution

Value range1 … MLONG 500

NB!No negative values are allowed. Whetherindex pulses are being used or not is

entered in the parameter HOMETYPE (40).

Limit valuesIn order to guarantee perfect functioning of theSyncPos option the product of the Encoder countsEncoder countsEncoder countsEncoder countsEncoder countsper revolutionper revolutionper revolutionper revolutionper revolution ENCODER (2) and the MaximumMaximumMaximumMaximumMaximumvelocity velocity velocity velocity velocity in encoder revolution/sec of the limitfrequency of the encoder input level (220 kHz) maynot be exceeded.ENCODER * VELMAX [Encoder revolution/sec] ≤ 220 kHz

3 HOME_FORCE

If this parameter is set to yes = 1, then movementto the home position must be completed beforeany other positioning movement can be com-pleted.For a motion command that is not executed with aterminated home run the error O.ERR_6 istriggered.

ContentForced movement to home position

Parameter GroupAXH

Value range0; 1 00 = Homerun is not forced.

After being turned on the current position isvalid as the real index point

1 = Homerun is forced.After turning on the VLT and after changingaxis parameters a forced tracking of the homeposition must be made before a motion com-mand is executed directly or by the program.

Internally the parameters can also contain thevalue 255, which indicates that a forced tracking ofthe HOME position is necessary and has alreadytaken place.

NB!For safety reasons and to avoid false posi-tioning the parameter should always be set

to 1 and thus forcing tracking of the home position.However, in this case it is necessary to considerthat all programs must complete a HOME com-mand before the first motion command in order toreceive perfect functioning.

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4 NEGLIMIT

NEGLIMIT indicates the Negative position limitNegative position limitNegative position limitNegative position limitNegative position limit forall movements. If this value is exceeded then anerror is triggered. NEGLIMIT is only active ifSWNEGLIMACT (19) has been set.If a positioning command is entered whichexceeds the limits set, then it is not executed.

ContentNegative software limit switch

Parameter GroupAXI

Unitqc

Value range0 … –MLONG –500000

NB!When using the command DEF ORIGIN thepath limitation is automatically adapted so

that the original position of the positioning range ismaintained.

5 POSLIMIT

POSLIMIT indicates the Positive position limit Positive position limit Positive position limit Positive position limit Positive position limit forall movement. If this value is exceeded then anerror is triggered. POSLIMIT is only active ifSWPOSLIMACT (20) is set.If a positioning command is entered whichexceeds the limits set, then it is not executed.

ContentPositive software limit switch

Parameter GroupAXI

Unitqc


NB!When using the command DEF ORIGIN thepath limitation is automatically adapted so

that the original position of the positioning range ismaintained.

7 HOME_VEL

HOME_VEL determines the Home velocity Home velocity Home velocity Home velocity Home velocity, withwhich the movement to the reference switch ismade. The velocity statement refers to the ratedspeed and depends on the VELRES (22) parame-ters. Generally this statement is made in % of therated speed.

ContentVelocity for movement to home position

Parameter GroupAXH

Unit% (VELRES = 100)

Value range–VELRES … VELRES 10A negative sign means the search willbe made in the other direction.

NB!Since the program always searches for thereference switch in the same direction of

rotation (depending on sign) this should be set atthe limits of the motion area. Only in this manner isit possible to guarantee that the drive actuallymoves towards the reference switch when movinghome and not away from it. In order to maintain agood repeatability of the reference motion no morethan 10% of the maximum speed should be used.

Param

eter Reference



8 TESTWIN

TESTWIN indicates the size of the target window. Aposition is only viewed as reached when the diffe-rence between the target and the actual position isless than the window. The controller wait to execu-te the next command until the actual position iswithin the target window.If TESTWIN is not active (parameter 0), then thetarget has been reached if the set position is thetarget position. However, this does not necessarilycorrespond with the actual position of the drive.

ContentSize of the target window

Parameter GroupAXI

Unitqc

Value range0 … MLONG 00 = inactiveTESTWIN must always be less than TESTVAL.

NB!If the target window surrounding the endposition is selected to be too small, the

drive could move in a very small area around theend position without reaching the target window.Thus the program would be 'stuck' after the cor-responding positioning command.A target window of 0 deactivates the monitoring ofthe actual position and only monitors the com-mand position.

9 VELMAXQC

VELMAXQC determines the Maximum velocityMaximum velocityMaximum velocityMaximum velocityMaximum velocity. Allstatements made with the assistance of VELRES(22) refer to this speed. The sample time is 1 ms.

VELMAXQC is an internal parameter which cannotbe changed. It is automatically calculated fromVELMAX (1) which the user enters in Rpm. Theseinternal values are decisive for the permitted valuerange. However, in practice these limit values areof no importance since they exceed the encoderinput frequency determined by the hardware byfar.

ContentMaximum velocity

Parameter GroupAXV

Unitqc/ms * 1/65536

Value range1 … MLONG

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10 ACCMAXQC

ACCMAXQC determines the maximum accelera-tion. This is the amount of time the drive needswith a connected load to achieve the maximumrotation. All other statements made with theassistance of the scaling VELRES (22) refer to thisacceleration.This internal parameter – which cannot be chan-ged – is automatically calculated from RAMPMIN(31), which the user enters in ms. These internalvalues are decisive for the value range permitted.However, in practice these limit values are of noimportance.

ContentMaximum acceleration

Parameter GroupAXV

Unitqc/(ms)2 * 1/65536

Value range1 … MLONG

NB!If a starting time is entered which is tooshort, which under the existing mechanical

conditions causes non-achievable acceleration,usually a position error will occur.

11 KPROP (702)

The Proportional factor Proportional factor Proportional factor Proportional factor Proportional factor KPROP indicates thelinear correction factor with which the deviationbetween the current set and actual position isevaluated and a corresponding correction of themotor torque is made.Rule of Thumb:KPROP greater = Drive will become ‘stiffer’KPROP too high = Tendency to overswing

ContentProportional value for PID control

Parameter GroupAXR


12 KDER (703)

The Derivative factorDerivative factorDerivative factorDerivative factorDerivative factor KDER is the correction factorwith which the changing speed of a motor positionerror is evaluated.The derivative factor works against the tendency tooverswing due to a high proportional share and'dampens' the system. However, if the derivativefactor selected is too large this will lead to a'nervous' drive.

ContentDerivative value for PID control

Parameter GroupAXR


13 KINT (704)

The Integral FactorIntegral FactorIntegral FactorIntegral FactorIntegral Factor KINT is the weighting factor,with which at time n the sum of all motor positionerrors are evaluated.The integral factor of the PID filter causes a cor-responding corrective motor torque which increa-ses over time. Through the integral share a staticposition error is reduced to zero, even if a constantload is affecting the motor.However, an integral factor which is too large leadsto a 'nervous' drive.

ContentIntegral value for PID control

Parameter GroupAXR


Param

eter Reference



14 TIMER

The TIMER parameter determines the samplingtime of the control algorithm.For example, increase the value of the factorysettings

• for very low pulse frequency, such as from 1to 2 qc per sampling time. You need at least10 to 20 qc per sampling time.

• Or for very slow systems with a long deadtime. If 1 ms is used here for control, largemotors will vibrate.

ContentSampling time for PID control

Parameter GroupAXR

Unitmsec

Value range1… MLONG 1Accordingly, the value should not be sethigher than 1000 (= 1 s). This would bea very slow control.

NB!Note that is has a direct effect on the PIDloop e.g. if you double the TIMER the

KPROP (11) has twice the effect.

15 POSERR

The maximum TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error POSERRdefines the tolerance allowed between the currentactual position and the calculated command posi-tion. If the value defined with POSERR is excee-ded then the position control is turned off and aposition error is triggered.

ContentMaximum TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error

Parameter GroupAXR

Unitqc


The maximum TTTTTolerated position error olerated position error olerated position error olerated position error olerated position error does notaffect the positioning accuracy, but merely deter-mines how precisely the theoretically calculatedpath of motion must be followed, without an errorbeing triggered.

NB!For safety reasons the maximum TTTTToleratedoleratedoleratedoleratedoleratedposition errorposition errorposition errorposition errorposition error selected should not be too

large since this could be dangerous for both themachine and its operator.On the other hand, if the values for the TTTTToleratedoleratedoleratedoleratedoleratedposition errorposition errorposition errorposition errorposition error are too small this could result infrequent errors. As a guideline, it is wise to set thequadruple of Encoder counts per revolution. Thiscorresponds to one encoder rotation.

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19 SWNEGLIMACT

By setting this parameter (to 1) the VLT is informedthat the negative software limit switch should bemonitored. Then it is checked whether the targetposition is located outside of the permissiblemovement range during every movement. In thiscase an error message is issued and the drivecontrol is switched off.In the positioning mode this means that the corres-ponding positioning process is not started and theerror can be cleared with the ERRCLR command.In the impulse mode an error can only be recog-nized after the limit has been exceeded, thus whenthe error message is issued the drive is alreadyoutside of the permissible area of movement. Inthis case, it is necessary to move the drive, byhand, back to the admissible area, and to erasethe error – or in the menu "CONTROLLER" →"PARAMETERS" → "AXIS" to temporarily turn offthe corresponding Software limit switchSoftware limit switchSoftware limit switchSoftware limit switchSoftware limit switch and thendelete the error.

ContentNegative limit enable

Parameter GroupAXI

Value range0; 1 00 = inactive1 = active

20 SWPOSLIMACT

By setting this parameter (to 1) the VLT is informedthat the positive software limit switch is to be mo-nitored. In this case it is checked whether the tar-get position is located outside of the permissiblemovement range during every movement. If neces-sary an error message is issued and the drive con-trol is switched off.In the positioning mode this means that the cor-responding positioning process is not started andthe error can be cleared with the ERRCLRcommand.In the impulse mode an error can only be recogni-zed after the limit has been exceeded, thus whenthe error message is issued the drive is alreadyoutside of the permissible area of movement. Inthis case, it is necessary to move the drive, byhand, back to the admissible area, and to erasethe error – or in the menu "CONTROLLER" →"PARAMETERS" → "AXIS" to temporarily turn offthe corresponding Software limit switchSoftware limit switchSoftware limit switchSoftware limit switchSoftware limit switch and thendelete the error.

ContentPositive software limit switch active

Parameter GroupAXI

Value range0; 1 00 = inactive1 = active

21 KILIM (705)

The Integration limitIntegration limitIntegration limitIntegration limitIntegration limit KILIM indicates the maxi-mum value that can be inputted into the PID filtervia the integral factor. Thus it can be preventedthat due to a high additive error too strong ofcounter control is used which would cause thesystem to swing.

ContentLimit value for integral sum for PID control

Parameter GroupAXR

Value range0 … 65000 00 = OFF

Param

eter Reference



22 VELRES

The VVVVVelocity resolution elocity resolution elocity resolution elocity resolution elocity resolution VELRES defines a relativesize for the velocity values of the motion com-mands and parameters.The information concerning speed and accelera-tion can then be made in whole numbers in rela-tion to this scaling. The value 100 means that theinformation in the commands are related to 100,thus in percent.

ContentVelocity resolution

Parameter GroupAXV


2 3 POSFACT_Z

All path information in motion commands aremade in user units and are converted to quad-counts internally. By choosing these scaling unitscorrespondingly it is possible to work with anytechnical measurement unit (for example mm).This factor is a fraction which consists of a nume-rator and denominator.1 User unit = POSFACT_Z / POSFACT_NScaling determines how many quad-counts makeup a user unit. For example, if it is 50375/1000,then one UU corresponds to exactly 50.375 qc.

ContentNumerator user factor

Parameter GroupAXE

Value range1 … MLONG 1000The upper limit depends on the maximalnumber of motion commands used withina program. The following context is valid:max. position (UU) * POSFACT_Z < MLONG

24 TESTTIM

Once the target window has been reached the po-sition is read twice and compared with the para-meter TESTVAL (25). If the result is less thanTESTVAL (25), then the position has been reached,otherwise a new reading is taken. TESTTIM indica-tes the time interval between the measurements.

ContentMeasuring time in target window

Parameter GroupAXI

Unitms


2 5 TESTVAL

Once the target window has been reached theposition is read twice with an interval of TESTTIM(24) and the interval is compared with the targettargettargettargettargetwindow limit valuewindow limit valuewindow limit valuewindow limit valuewindow limit value TESTVAL. The result determineswhether the position is viewed as having beenreached or not.

NB!For longer time intervals it must be takeninto consideration that reaching this target

position will be delayed by this amount of time inany case.

ContentLimit value for readings in target window

Parameter GroupAXI

Unitqc

Value range1 … 65535 1TESTVAL must always be set to begreater than TESTWIN.

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26 POSFACT_N

All path information in motion commands aremade in user units and are converted to quad-counts internally. By choosing these scaling unitscorrespondingly it is possible to work with anytechnical measurement unit (for example mm).This factor is a fraction which consists of a nume-rator and denominator.1 User unit = POSFACT_Z / POSFACT_NScaling determines how many quad-counts makeup a user unit. For example, if it is 50375/1000,then one UU corresponds to exactly 50.375 qc.

ContentDenominator user factor

Parameter GroupAXE


27 ENCODERTYPE

This parameter determines the type of encoder:incremental or absolute.

ContentType of encoder for encoder 0 (Slave)

Parameter GroupAXE

Value range0 … 2 00 = Incremental encoder1 = Absolute encoder, standard ca. 262 kHz2 = Absolute encoder, ca. 105 kHz

NB!When selecting 1 or 2 (absolute encoder) thefollowing commands can not be used: DEF

ORIGIN, HOME, INDEX, IPOS, MIPOS andWAITNDX.The use of SYNCM should be avoided as it will notfunction correctly.

28 POSDRCT

POSDRCT defines the positive direction of rotationin relation to the motor axis as seen from behind.By turning the shaft it can be determined whetherthe direction of rotation is correct. In the case of aright-hand rotation looking from the front at theend of the shaft, the encoder must count upwards.Now you can define an increase in the positionduring a right-hand rotation with “1” and an in-crease in the position during a left-hand rotationwith “-1”.If the opposite direction of rotation is the case, youcan now achieve the same effect with “2” and “-2”without, changing the wiring (turning around themotor leads or exchanging the A and B tracks inthe encoder).

ContentDirection of rotation

Parameter GroupAXE

Value range–2 … 2 1When right-hand rotations reports positive values:1 = position increases during right-hand rotation

= a positive desired value results in positiveencoder values,POSA 10000 = position 10000

– 1 = position increases during left-hand rotation =a positive desired value results in positiveencoder values, which, however, are displayednegatively;POSA 10000 = position –10000

When right-hand rotations reports negative values:2 = position increases during right-hand rotation

= a positive desired value results in positiveencoder values,POSA 10000 = position 10000

– 2 = position increases during left-hand rotation =a positive desired value results in positiveencoder values, which, however, are displayednegatively;POSA 10000 = position –10000

Param

eter Reference



30 MENCODER

MENCODER indicates the number of counts ofthe master encoders in pulses counts per revo-lution.

ContentResolution of encoder 1 (master)

Parameter GroupAXE

UnitEncoder counts per revolution


31 RAMPMIN

The RAMPMIN parameter determines the shortestramp (maximum acceleration). It indicates howlong the acceleration phase lasts at the very leastin order to achieve the rated velocity.



ContentShortest ramp

Parameter GroupAXV

Unitmsec


32 RAMPTYPE

RAMPTYPE determines the type of ramp used(trapeze or sinusoidal).

ContentRamp type

Parameter GroupAXV

Value range0 – 1 00 = trapeze1 = sinusoidal

3 3 DFLTVEL

DFLTVEL indicates the default velocity which isalways used when no velocity is defined in the pro-cess set. This value refers to the Velocity resolu-Velocity resolu-Velocity resolu-Velocity resolu-Velocity resolu-tion tion tion tion tion VELRES (22).

ContentDefault velocity

Parameter GroupAXV

Unit1/VELRES;

Standard = 1/100 = %

Value range1 … VELRES 50

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34 DFLTACC

DFLTACC indicates the acceleration used when noexplicit statements have been made. This state-ment is made in relation to RAMPMIN (31) andrefers to the VELRES (22) parameter.

ContentDefault acceleration

Parameter GroupAXV

Unit1/VELRES;

Standard = 1/100 = %

Value range1 … VELRES 50

3 5 BANDWIDTH (706)

You can limit the bandwidth in which the PID con-troller should function, for example to avoid thebuilt-up of a vibration if you are operating a systemwhich could be jeopardized by vibrations.However, then it is necessary to enter considerablyhigher values for the parameters FFVEL (36) andFFACC (37) in order to achieve the correspondingcontrol. A system adjusted in such a manner is notas dynamic as it could be, but is considerablymore stable and tends to experience less uncon-trolled vibrations.

ContentBandwidth within which the PID filter is active

Parameter GroupAXR

Unit%The value 1000 means that the PID filter can out-put the full command value. For a BANDWIDTH of500 only 50 % of the set value is output. Thus,values less than 1000 limit the P-share accordingly.


36 FFVEL (707)

When a control has a limited bandwidth then abase velocity must be set so that it can be ruledout that the control will entirely prevent the drivefrom running due to the limit set. FFVEL indicatesthe value with which the velocity feed-forward iscompleted.When working with a normal PID algorithm theFFVEL must always be the same as the KDERfactor in order to achieve typical dampening.

ContentVelocity feed-forward

Parameter GroupAXR

Unit%


37 FFACC (708)

Set the base velocity whenever you have limitedthe bandwidth. Thus you will prevent the controlfrom not accelerating at all due to the limit set.FFACC indicates the value with which the accele-ration feed-forward is completed.For a normal PID algorithm this value is equal to 0.

ContentAcceleration feed-forward

Parameter GroupAXR

Unit%


Param

eter Reference



38 REGWMAX

The parameters REGWMAX and REGWMIN (39)are used to turn the position control within definedareas (control windows) on and off: REGWMAXindicates the size of the window outside of whichthe control should begin again.

ContentSize of the control window (activation)

Parameter GroupAXR

Unitqc


3 9 REGWMIN

REGWMIN indicates the size of the window insideof which the control is to be deactivated until theREGWMAX (38) control window is reached again.

ContentSize of the control window (deactivation)

Parameter GroupAXR

Unitqc


40 HOMETYPE

Determines behavior during movement to home:0 = Moves to reference switch with HOME velocity

and direction, then reverses and slowly leavesthe switch, subsequently moves to the nextindex impulse.

1 = like 0, but does not search for index impulse2 = like 0 but without reversing, rather continues

movement in the same direction out of theswitch

3 = like 1 but without reversing

ContentBehavior during movement to home

Parameter GroupAXH


41 HOME_RAMP

Acceleration to be used during movement to homeposition. This statement refers to the minimumramp, which is defined under the RAMPMIN (31)parameter. This unit results from the parameterVELRES (22) usually in % of the minimal ramp;50% means half as fast, i.e. twice as long.The following cohesion for HOME_RAMP results:

HOME_RAMP [ms] =VELRES (22)

HOME_RAMP (41) · RAMPMIN (31) [ms]

ContentRamp for home tracking normalized to the unitVELRES (22)

Parameter GroupAXH

UnitVELRES


NB!HOME_RAMP can never have a highervalue than DFLTACC (34).

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42 HOME_OFFSET

HOME_OFFSET indicates an offset in the varianceof the zero point from the reference switch or indexpulse. After moving home, the drive is moved tothe actual position + HOME_OFFSET. At this pointthe zero point is set, too. However, this value doesnot influence the DEFORIGIN command.

ContentZero point offset for machine zero point or index

Parameter GroupAXH

Unitqc

Value range–MLONG … MLONG 0

4 3 ERRCOND

ERRCOND determines the behavior in event of anerror as follows:0 = Standard, i.e. drive moves in COASTING,

control loop is interrupted.1 = like 0, but brake is activated, see O_BRAKE

(48)2 = motor stop with max. deceleration (stop ramp),

subsequently standstill control3 = like 2, brake is activated in addition, but only

after MOTOR STOP.All other activities such as MOTOR OFF etc.must be set in the ON_ERROR routine.

ContentBehavior in event of an error

Parameter GroupAXI


44 ENDSWMOD

ENDSWMOD indicates how the control resp. theVLT should behave when a limit switch has beenreached.Error behavior see ERRCOND (43)

ContentBehavior at limit switch

Parameter GroupAXI

Value range0 – 1 00 = Trigger error1 = Stop motor with max. deceleration

4 5 I_REFSWITCH

I_REFSWITCH determines which input of theoption card should serve as reference switch. It ispossible to react to a positive or negative edge,using a positive or negative number.....Behavior after reaching see HOMETYPE (40).

ContentInput reference switch

Parameter GroupAXI

Value range1 … 8 = Reaction to a positive edge on

input 1 … 80 = no function 0–1 … –8 = Reaction to a negative edge

on input 1 … 8

Param

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46 I_POSLIMITSW

I_POSLIMITSW determines which input should beinterpreted as the positive limit switch.It is possible to react to a positive or negativeedge, using a positive or negative number.....

ContentPositive limit switch

Parameter GroupAXI

Value range1 … 8 = Reaction to a positive edge

on input 1 … 80 = no function 0–1 … –8 = Reaction to a negative edge

on input 1 … 8

47 I_NEGLIMITSW

I_NEGLIMITSW determines which input should beinterpreted as the negative limit switch.It is possible to react to a positive or negativeedge, using a positive or negative number.....

ContentNegative limit switch

Parameter GroupAXI



on input 1 … 8

48 O_BRAKE

O_BRAKE indicates the output with which thebrake can be activated.

NEW: If an output is defined for the brake, thisremains active even when the program isterminated with ESC.

O_BRAKE is activated in the case of an an abortor option error if ERRCOND (43) is set to 1 or 3.A positive number means that the output is high(24 V) when the function is active. A negative num-ber means that the output is low (0 V) when thefunction is active.

NB!The brake output must always be reset byan OUT command in the program.

ContentOutput for brake

Parameter GroupAXI

Value range–8 … 8 and–14, –11, 11, 14 0

ExampleON ERROR GOSUB err_handleSET O_BRAKE –1SET ERRCOND 1/* Main program loop */…SUBPROG err_handle WAITI 1 ERRCLR OUT 1 1RETURN

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49 SYNCFACTM

The synchronization is described with a ratio of qc(Master : Slave); SYNCFACTM determines the syn-chronization factor for the master.SYNCFACTM (49) and SYNCFACTS (50) make thecompensation of different drive factors possible orthe adaptation of the slave speed in relation to themaster speed set.

Example: If the master is to run twice as fast as theslave, then the ratio is 2 : 1 (SYNCFACTM = 2;SYNCFACTS = 1).

ContentSynchronization factor master (M:S)

Parameter GroupAXS

Unitqc


5 0 SYNCFACTS

The synchronization is described with a ratio of qc(Master : Slave); SYNCFACTS determines the syn-chronization factor for the slave.SYNCFACTM (49) and SYNCFACTS (50) make thecompensation of different drive factors possible orthe adaptation of the slave speed in relation to themaster speed set.

ContentSynchronization factor slave (M:S)

Parameter GroupAXS

Unitqc

Value range1 … MLONG/max. master velocity 1

52 SYNCMARKM

SYNCMARKM and SYNCMARKS must be set ac-cording to the ratio between the number of markersignals from master and slave.A ration of 1:1 means that each slave marker willbe aligned with each master marker. A ratio of 2:1means that each slave marker will be aligned witheach second master marker.

ContentMarker number of the master

Parameter GroupAXS


5 3 SYNCMARKS

SYNCMARKM and SYNCMARKS must be setaccording to the ratio between the number of mar-ker signals from master and slave.A ration of 1:1 means that each slave marker willbe aligned with each master marker. A ratio of 2:1means that each slave marker will be aligned witheach second master marker.

ContentMarker number of the slave

Parameter GroupAXS


ExampleThe master marker is an external signal whichreports when a transport article arrives; the corres-ponding slave marker is the index impulse of themotor. If the motor always requires 3 rotations untilthe article arrives, then this means that 3 indeximpulses must elapse before a marker comes.Thus, this results in a ratio of 3 : 1; only every 3rdslave pulse is evaluated.

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54 SYNCPOSOFFS

Defines the offset for position synchronization(SYNCM, SYNCP). The offset is also valid for posi-tion synchronization with marker correction.This position offset can be altered online at anytime during the synchronization with a command.

NB!The offset will be executed immediatelywhen the command SYNCP follows.

NEWWhen SYNCM is started, however, the system waitsfor the first evaluation of the market pulses. Onlythen is the offset applied.

CompatabilityTo avoid compatibility problems you shoulddetermine the start-up behavior of SYNCM withSYNCMSTART.

ContentPosition offset for position synchronization

Parameter GroupAXS

Unitqc

Value range–MLONG … MLONG 0

55 SYNCACCURACY

Defines how large the difference between theactual master and slave position can be during aposition synchronization (SYNCP and SYNCM), sothat the required accuracy is still fulfilled. In con-trast SYNCERR provides the actual synchroniza-tion error of the slave in user units.In the program you can query whetherSYNCACCURACY will be fulfilled using SYNCSTAT.SYNCACCURACY is important for the marker syn-chronization in order to be able to report READY,since otherwise SYNCERR would have to bequeried and compared beforehand.

ContentSize of the accuracy window for positionsynchronization

Parameter GroupAXS

Unitqc

Value range–MLONG … MLONG 10000 … MLONG A plus sign supplies the

absolute value to SYNCERR.–MLONG … –1 A minus sign supplies the syn-

chronization error to SYNCERRwith polarity sign. It is then pos-sible to tell whether thesynchronization is running aheador behind.

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56 SYNCREADY

SYNCREADY defines how often during a markersynchronization (SYNCM) a synchronization evalua-tion with ACCURACY must be completed withaccuracy so that ready is fulfilled.ACCURACY is checked during every correction. IfACCURACY is fulfilled then 1 is added until theset marker number has been achieved.Synchronization evaluation is always executed aftern marker pulses by the master SYNCMARKM (52).ACCURACY and READY can be queried usingSYNCSTAT.

ContentNumber of markers for READY

Parameter GroupAXS


57 SYNCFAULT

Defines how often during a marker synchronization(SYNCM) an inaccuracy may occur during a syn-chronization evaluation before a FAULT is regis-tered.In the program this condition can be queried usingSYNCSTAT.

ContentMarker number for fault

Parameter GroupAXS


58 SYNCMPULSM

SYNCMPULSM indicates how many qc (master) liebetween two master markers.If you use the encoder index impulse as a markersignal, then the distance between two markers isthe resolution (qc) of the encoder.If external marker signals are used, then it is pos-sible to measure the marker distance with theprogram “marker count” (refer to program samplein Chapter 7), if it is unknown.SYNCMPULSM is only valid for marker synchroni-zations (SYNCM).

ContentDistance between two master markers

Parameter GroupAXS

Unitqc


5 9 SYNCMPULSS

SYNCMPULSS defines how many qc (slave) liebetween two markers (slave).SYNCMPULSS is only valid for marker synchroni-zations (SYNCM).

ContentMarker interval slave

Parameter GroupAXS

Unitqc


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60 SYNCMTYPM

Defines the signal resp. the marker type for themaster: Index pulse of the encoder or externalmarker.SYNCMTYPM is only valid for marker synchroniza-tions (SYNCM).Master marker signal: Input 5.

ContentMarker type for master

Parameter GroupAXS

Value range0 … 3 00 = index pulse (positive flank)1 = index pulse (negative flank)2 = external marker (positive flank)3 = external marker (negative flank)

61 SYNCMTYPS

Defines the signal resp. the marker type for theslave: Index pulse of the encoder or externalmarker.SYNCMTYPS is only valid for marker synchroniza-tions (SYNCM).Slave marker signal: Input 6

ContentMarker type slave

Parameter GroupAXS

Value range0 … 3 00 = index pulse (positive flank)1 = index pulse (negative flank)2 = external marker (positive flank)3 = external marker (negative flank)

62 SYNCMSTART

SYNCMSTART defines whether at start the syn-chronization should be made to the leading, sub-sequent or closest marker impulse of the master.SYNCMSTART is only valid for marker synchroniza-tions (SYNCM).

ContentStart behavior for the marker synchronization

Parameter GroupAXS

Value range0 … 5 and 1000 … 1005 00 = Leading marker impulse of the master means

the slave tries to catch up to the latest mastermarker.

1 = Subsequent marker impulse of the master,thus the slave will wait for the next mastermarker.

2 = Closest marker impulse of the master; oncethe master speed is reached, the next twomarkers are taken (may be forwards or back-wards).

3 = Once the master speed is reached it catchesup on the advancing master pulse.

4 = Once the master speed is reached it catchesup on the following master pulse.

5 = Once the master speed is reached the correc-tion is carried out which is lower.

1000 … 1005 = as above, but an existing offset isonly applied at the next marker correction.

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63 REVERS

REVERS determines the behavior while moving inreverse (moving in a negative direction): whetherreverse is allowed, only allowed when the master isreversed or not allowed in general.....REVERSE is always valid even for the positioningerrors VEL and "TESTRUN".In order to prevent automatic reversing during the“TESTRUN” adjust the value to 1 or 2.

ContentReverse behavior for the slave

Parameter GroupAXR

Value range0 … 2 00 = reverse always allowed1 = reverse only allowed when the master is

reversed2 = reverse not allowed

6 4 O_AXMOVE

Set the output number which must be controlledby the AXMOVE function. The output is alwaysactivated as soon as a motion command is active,regardless in which mode (position, velocity orsynchronization command).This function is not suitable for monitoring the mo-tor, since the motor could be standing still althoughthe control is in motion.It is possible to react to a positive or negativeedge.A positive number means that the output is high(24 V) when the function is active. A negative num-ber means that the output is low (0 V) when thefunction is active.

ContentOutput for motion command active

Parameter GroupAXI

Value range–8 … 8 0

65 SYNCVFTIME (709)

This parameter configures the velocity filter whichis used for the velocity synchronization. Since thevelocity synchronization only uses the currentlyactive master velocity and the values can decreaseto very small values (e.g. 2 qc/ms) a small fluctua-tion in velocity can have dramatic effects. In orderto even this out the following filter function isapplied:Cmdvel =Old_Cmdvel + (Actvel – Old_Cmdvel) * ms/τ_filtWith the following:Cmdvel = set velocityOld_Cmdvel = last set velocityActvel = actual velocity of the masterms = sampling time (fixed 1ms)τ_filt = filter time constants

Generally the value for t_filt is taken from a table,depending on the Encoder counts per revolution ofthe master. This value can be overwritten by theSYNCVFTIME parameter and is always used whenSYNCVFTIME is not equal zero.

If the speed filter is defined with a negative num-ber, the corresponding value also applies forangle/position synchronization SYNCP and formarker correction SYNCM.In this case filtering takes place as describedabove, but the errors made are summed up. Thiserror sum is taken into the calculation with1000/(τ*10) in each case, so that no position devia-tion can occur over prolonged periods.The value returned by SYNCERR always containsthe error made so that this is also used for the eva-luation of the synchronicity. In the case of markercorrection the correction value is balanced moreslowly and with the same factor as the error sums.If, for example, a filter factor of –100000 (100 ms) isused, a marker correction is balanced within 1 sec.(100 ms * 10). This allows a “taming” of the syn-chronization without restricting the acceleration.

Contentvelocity filter

SyntaxSET SYNCVFTIME valuevalue = filter time constants

Parameter GroupAXS

Param

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Unitτ_filt (µsec)

Value range–MLONG … MLONG 0-999 … 999 = Standard table

Standard table Encoder resolution t_filt (msec)

250 39500256 38600500 19500512 19000

1000 95001024 93002000 45002048 44002500 35004096 19005000 1400

66 SYNCVELREL

This parameter indicates by how many percent theslave drive can deviate from the velocity of themaster while attempting re-synchronization. Forexample, during changes in SYNCPOSOFFS (54) orat the start of synchronization or during the correc-tion of deviation for marker evaluation. The follo-wing is valid:If the slave need to catch up it runs with the maxi-mum speed allowed; this is either the speed setwithVEL or the master velocity calculated withMAVEL + MAVEL * SYNCVELREL/100depending which of the two is less. (MAVEL is theactual master velocity).

If the slave needs to slow down and wait forthe master it will run with at least thefollowing speed

MAVEL – MAVEL * SYNCVELREL/100.That means, if SYNCVELREL is 50, for example,the slave will not run slower than MAVEL/2.

Contenttolerated deviance of the slave drive from themaster velocity in %

Syntaxset syncvelrel valuevalue = percent value

Parameter GroupAXS

Unit%

Value range0 … MLONG 00 = OFF, i.e. no restriction

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67 MENCODERTYPE

This parameter determines the type of masterencoder: incremental or absolute encoder.

ContentType of encoder for encoder 0 (Master)

Parameter GroupAXE

Value range0 … 2 00 = Incremental encoder1 = Absolute encoder, standard ca. 262 kHz2 = Absolute encoder, ca. 105 kHz

NB!When selecting 1 or 2 (absolute encoder) thefollowing commands can not be used: DEF

ORIGIN, HOME, INDEX, IPOS, MIPOS andWAITNDX.The use of SYNCM should be avoided as it will notfunction correctly.

68 SYNCMWINM

The Marker WMarker WMarker WMarker WMarker Window Master indow Master indow Master indow Master indow Master SYNCMWINM showshow large the permitted tolerance for the occur-rence of the markers is.With the works setting “0” the window is not moni-tored, which means that it is always synchronizedto the next marker even if this has a considerablylarger interval.At every other setting only those markers are ac-cepted which are within the window. If there is nomarker within the tolerance window the correspon-ding flag (SYNCSTAT) is set and no marker correc-tion takes place. The corresponding other markeris also ignored and only corrected the next time –i.e. no catching up to the next marker.When SYNCM is started the monitoring only beginswhen the first marker has been found.

ContentTolerance window for marker monitoring

Parameter GroupAXS

Unitqc

Value range0 … MLONG or. max. Marker intervalSYNCMPULSM (58) 00 = The window is not monitored.1 … MLONG = Only one marker is accepted

within the window. If no markeris within the tolerance window,the corresponding flag(SYNCSTAT) is set and nomarker correction carried out.This flag can be reset with aninterrupt (ON STATBIT).

SampleMarker interval SYNCMPULSM = 30000Tolerance window SYNCMWINM = 1000Only one marker within an interval of 29000 to31000 is accepted.

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The Marker Window Slave SYNCMWINS showshow large the permitted tolerance for the occur-rence of the markers is.With the works setting „0“ the window is not moni-tored, which means that it is always synchronizedto the next marker even if this has a considerablylarger interval.At every other setting only those markers are ac-cepted which are within the window. If there is nomarker within the tolerance window the correspon-ding flag (SYNCSTAT) is set and no marker correc-tion takes place. The corresponding other markeris also ignored and only corrected the next time –i.e. no catching up to the next marker.When SYNCM is started the monitoring only beginswhen the first marker has been found.

ContentTolerance window for slave marker monitoring

Parameter GroupAXS

Unitqc

Value range0 … MLONG or. max. Marker intervalSYNCMPULSS (59) 00 = The window is not monitored.1 … MLONG = Only one marker is accepted

within the window. If no markeris within the tolerance window,the corresponding flag(SYNCSTAT) is set and nomarker correction carried out.This flag can be reset with aninterrupt (ON STATBIT).

70 ESCCOND

With ESCCOND you can determine how the VLTwill react to a program termination using ESC.

ContentCondition on program termination

Parameter GroupAxis Parameters Inputs/Outputs AXI

Value range0 … 2 00 = The motor is stopped with maximum

deceleration, the brake is activated (ifdefined), the master simulation is stopped.The outputs remain in the current status.

1 = As 0, but all outputs including the VLToutputs 11, 14, 42 and 45 are set at „0“.Exception: The brake output – if defined – isalways activated.

2 = As „0“, but all outputs including the VLToutputs 11, 14, 42 and 45 are set at „1“;Exception: The brake output – if defined – isalways activated.



102 PRGPAR (701)

With PRGPAR it is possible to set which programshould be started after the conclusion of a pro-gram executed via autostart (auto identification).This parameter can also be changed and storedwith other programs or via the display.If the program parameters are set within a programwith the command SET, for exampleSET PRGPAR 5 then after the program is run pro-gram no. 5 will be started. Thus it is possible tostart other programs from an SyncPos programand link several programs together.If no program number is activated and no input forthe program start I_PRGSTART (103) is set, thenthe program with auto identification will be started.

NB!If no autostart program is defined then it isnot possible to start a program via PRGPAR

(102); this always requires a terminated autostartprogram.

ContentActivated program number

Parameter GroupGLS

Value range–1 … 127 –1– 1 = Program number is not activated0 … 127 = Program number is activated

103 I_PRGSTART

If the input for I_PRGSTART ≠ 0, then the autostartprogram is run first and then the program waits untilinput I_PRGSTART comes. This is then evaluated rele-vant to the program selection I_PRGCHOICE (104) inorder to determine the number of the program to berun.If no input for the program start I_PRGSTART isset, then the program with auto identification willbe started.

ContentInput for program start

Parameter GroupGLI


104 I_PRGCHOICE

If I_PRGCHOICE > 0 then this parameter indicatesthe input number starting at which the inputs forthe Program selection Program selection Program selection Program selection Program selection are used. This includes allnumbers up to I_PRGSTART (103).

Example:If I_PRGCHOICE = 3 and I_PRGSTART = 7, thenupon activation of input 7 the inputs 3, 4, 5, and 6will be evaluated binary and the result will be usedas a program number.Input Level Binary value3 low 04 high 25 high 22

6 low 0=> program to be started: 6

Thus it is possible to choose between a maximumof 128 programs, identified with the numerals 0 to127.

ContentInput for program selections start number

Parameter GroupGLI


Param

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105 I_BREAK

If this input is defined, then when this input is acti-vated the program running will be aborted imme-diately. Such a program can be continued withCONTINUE. It is possible to react to a positive ornegative edge, using a negative or positive number.

ContentInput for abort

Parameter GroupGLI



on input 1 … 8

106 I_CONTINUE

I_CONTINUE determines which input is used tocontinue aborted programs. It is possible to reactto a positive or negative edge, using a negative orpositive number.

ContentContinue program

Parameter GroupGLI



on input 1 … 8

107 I_ERRCLR

I_ERRCLR determines which input is used to clearan error. It is possible to react to a positive or ne-gative edge, using a negative or positive number.

ContentClear error

Parameter GroupGLI



on input 1 … 8

108 O_ERROR

The output defined by O_ERROR is set when anoption error has occurred. When the error iscleared this output is reset.A positive number means that the output is high(24 V) when the function is active. A negative num-ber means that the output is low (0 V) when thefunction is active.

ContentOutput for error

Parameter GroupGLI

Value range–8 … 8 0

NB!The setting of the O_ERROR parameterdoes not influence the use of the OUT and

OUTB commands. With these commands it is alsopossible to change the outputs which havepredefined functions.

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VLT® 5000 SyncPos optionM

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Chapter 6 Messages and Error ReferenceVLT and SyncPos messages ................................ 156Table of Messages ............................................... 156SyncPos messages in detail ................................ 157VLT software SyncPos messages (PC software) .. 161



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ce VLT and SyncPos option messagesAll messages are shown in the LCP display of theVLT in short and in the SyncPos software in plaintext.You can find brief information on the errormessages in the table or detailed information inthe following section.

Table of MessagesThe tables contain the messages in numericalorder. Letters following a % sign representvariables which can be used in plain text at thecorresponding locations.

O.ERR_ LCP-Display SyncPos message3 AXES NOT IN SYSTEM Axis no. %bu not in system5 ERROR NOT CLEARED Axis no: 1 Error not cleared6 HOME NOT EXECUTED Axis no: 1 Failed to move to HOME position7 HOME_VEL ZERO Axis no: 1 Home vel 08 POSITION ERROR Axis no: 1 Position error9 INDEX NOT FOUND Axis no: 1 Index pulse (encoder) not found10 UNKNOWN COMMAND Unknown command11 SOFTWARE LIMIT ACT. Axis no.1 Software limit switch activated12 ILLEGAL PARAMET. NO Illegal parameter number13 General VLT error General VLT error14 TOO MANY NEST. LOOP Too many nested loops16 PARAM. ERROR EEPROM Parameters in EEPROM are corrupted17 PROGR. ERROR EEPROM Programs in EEPROM are corrupted18 RESET BY CPU Reset by CPU19 USER ABORT User abort25 LIMIT SWITCH ACTIV. Axis no. 1 Limit switch activated51 TOO MANY NEST. GOSUB Too many nested GOSUB commands52 TOO MANY RETURN Too many RETURN commands62 ERROR IN VERIFYING EEPROM: address % defect70 ERROR IN DIM COMMD Error in DIM command71 ARRAYBOUNDS CROSSED Attempt was made to cross arraybounds79 TIMEOUT WAITNDX Timeout while waiting for index84 TOO MANY ONTIME Too many time interrupts87 OUT OF MEMORY (VAR) No more room for variables90 MEMORY locked The program memory is write-protected.xx INTERNAL ERROR Internal error ##



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SyncPos option messages in detailAs in the table above, the messages are in numeri-cal order. Here you can find additional informationabout possible causes and tips on troubleshooting.

O.ERR_3SyncPosAxis no. %bu not in system

CauseAn attempt has been made to find another axiswhich does not exist in the controller. (The programallows for input of axis numbers greater than 1since it is configured for multi-axes applications.)

TipCheck to see if the program axis command has aninvalid number or a general axis command (...X(*)).

O.ERR_5SyncPosAxis no: 1 - Error not cleared

CauseAn attempt has been made to execute a motioncommand, although a momentary error messagehas not been cleared.

O.ERR_6SyncPosAxis no: 1 - Failed to move to HOME position

CauseAccording to the axis parameter HOME_FORCE(3), a forced move to the machine zero-point is de-manded, before other motion commands can beexecuted. This move to the machine zero-point hasnot been executed.

O.ERR_7SyncPosAxis no: 1 - Home vel 0

CauseHOME was executed with HOME_VEL set to zero.

O.ERR_8SyncPosAxis no: 1 - Position error

MeaningThe distance between the set and the real positionwas greater than the TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position errordefined in parameter POSERR (15).

CauseMechanically blocked or overloaded drive,TTTTTolerated position errorolerated position errorolerated position errorolerated position errorolerated position error POSERR (15) too small,commanded speed greater than VLT Parameter202 and 205,commanded acceleration too great,Proportional factor Proportional factor Proportional factor Proportional factor Proportional factor KPROP (11) too small orVLT not enabled.

O.ERR_9SyncPosAxis no: 1 - Index pulse (encoder) not found

MeaningAt reference resp. index search, the encoder indexpulse could not be found within a motor rotation.

CauseAn encoder without an index pulse has been used,index pulse not connected correct,index pulse incorrect (all three channels must havea simultaneous low) orthe parameter ENCODER (2) is set too low.

O.ERR_10SyncPosUnknown command

CauseA communication or program error.

TipThe program must be re-compiled and re-loaded.



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ce O.ERR_11SyncPosAxis no. 1 Software limit switch activated

CauseA motion command will cause / has caused thesoftware limit switch to be activated.

TipIdentification of attainment of software limit at amotion in the speed mode will only be made afterthe current position is identical to the software limitswitch.The control unit will be switched off and the drivemust be manually moved back to within theadmissible area, or the monitoring of the softwarelimit switch must be temporarily de-activated viathe axis parameter SWPOSLIMACT (20) resp.SWNEGLIMACT (19). Only then is it possible toclear the error.In positioning mode, it will be known before motionstart that the target position lies outside the path.In this case, the movement will not be executedand the error message can be cleared.

O.ERR_12SyncPosIllegal parameter number

CauseAn attempt has been made to change a parameter(SET or SETVLT command), which does not exist.

O.ERR_13SyncPosVLT ERROR (STATUS)

CauseVLT is not ready but the PID controller is active. TheVLT status word (Bit 09 and bit 11) is monitoredevery 20msec when the PID controller is active(MOTOR ON state). There is no monitoring inMOTOR OFF state or when parameter 700 is set to"Disable Syncpos".The VLT is in the "Not ready" state when:• it has an alarm,• it is in local mode (parameter 002 = local),• local LCP stop is activated,• there is no signal on input 27 (coast).

O.ERR 13 can only be reset using the ERRCLRcommand or with "Break" [Esc] in the PC softwareand only when the VLT is in the "ready" state, whichmeans none of the above may be true.

NoteO.ERR 13 will show up right after power up if theVLT is not ready.

O.ERR_14SyncPosToo many nested loops

CauseToo many nested loops exist in the executedprogram.O.ERR_16SyncPosParameters in EEPROM are corrupted

MeaningThe parameters in EEPROM are no longer correct.

CauseEEPROM defective orpower outage while saving.

TipYou have to re-initialize the parameter with"CONTROLLER" → "PARAMETERS" → "RESET"and then overwrite these parameters with your ownuser parameters. Otherwise motion programswhich require user parameters will no longerfunction correctly.

O.ERR_17SyncPosPrograms in EEPROM are corrupted

MeaningThe program data stored in EEPROM cannot befound resp. are no longer correct.

CauseEEPROM defective orpower outage while saving.

TipDelete the EEPROM with "CONTROLLER" →"MEMORY" → "DELETE EEPROM" and then re-load the programs and parameters.



essages and

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SyncPosUser-Abort

CauseThe autostart-program has been aborted by theuser.Or the CANCELCANCELCANCELCANCELCANCEL key was pressed during switchingon and a Master Reset triggered.

O.ERR_25SyncPosAxis 1: Limit switch activated

CauseA motion command has caused an axis limit switchto be activated.

TipThrough activation of a limit switch, the controller –depending on the parameter ENDSWMOD (44) – isautomatically switched off and the drive must bemanually moved out of this position, before the errormessage can be cleared.

O.ERR_52SyncPosToo many RETURN commands

CauseThere are either more RETURN than correspon-ding GOSUB commands in the program, or thereis a direct jump from a subroutine with a GOTOcommand.Only one RETURN is allowed per sub-program.It is always better to jump to the beginning of asub-program and then to jump with IF… to a pre-viously defined label.

O.ERR_62SyncPosError in verifying

MeaningAfter saving something in the EEPROM (a programor parameters) an error was detected during veri-fication.

TipDelete the EEPROM with "CONTROLLER" →"MEMORY" → "DELETE EEPROM" and try tosave the program or parameters again. If this is notsuccessful please call the technical servicedepartment.

O.ERR_70SyncPosError in DIM command

MeaningThe definition of an array in a DIM command doesnot correspond to an already existing array in theSyncPos option.

CauseThe fields are from older SyncPos programs. Thecurrent program has other definitions.

TipEither adapt the SyncPos program to the correctarray size or delete the old arrays with"CONTROLLER" → "MEMORY" → "DELETEEEPROM".

NB!Remember to follow the recommendationsconcerning saving programs and parametersbefore deleting the EEPROM.

O.ERR_51SyncPosToo many nested GOSUB commands

CauseIn the program, too many calls from onesubroutine to another subroutine exist.The error usually occurs when there is arecurrent reference to one of the sub-programs ina sub-program.

TipAvoid too many (10 is maximum) opposing sub-routine calls,avoid subroutines which call themselves (recursive subroutine procedures).

O.ERR_18SyncPosReset by CPU

MeaningThe processor has been stopped and a re-sethas automatically been executed (watchdog).

CauseShort term voltage drop,voltage peak orshort circuit.



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MeaningAn attempt was made to describe an array ele-ment that is located outside of the defined arraylimits.

CauseError in the SyncPos program. Array sizing does notagree with the space required (e.g. due to an in-correctly programmed loop).Or the array is too small for the number of test runstriggered by TESTSTART.

TipCheck loop variables.

O.ERR_79SyncPos

Timeout while waiting for index.

MeaningThe command WAITNDX was executed and

the timeout listed was exceeded.

CauseThe timeout is probably too short or the indeximpulse could not found (see also O.ERR_9).

O.ERR_84SyncPosToo many time interrupts

MeaningToo many ON TIME or ON PERIOD commandswere used within the program.

TipA maximum of 12 of these ON TIME and/or ONPERIOD commands are allowed within oneprogram.....



essages and

Erro

r Reference

O.ERR_87SyncPosNo more space for variables

MeaningWhen the SyncPos program is started the spacefor the necessary variables is reserved dynamically.This space is now no longer available.

Cause and tipYou may have selected a maximum number ofvariables which is too high. Reduce the maximumnumber in "SETTINGS" → "COMPILER" (Standard= 92).Or the memory available is occupied with pro-grams or arrays. Delete the programs with"CONTROLLER" → "PROGRAMS" → "DELETEALL"or delete both the programs and arrays, i.e. bydeleting the entire memory with "CONTROLLER"→ "MEMORY" → "DELETE EEPROM".....

NB!Remember to follow the recommendationsconcerning saving programs and parameters beforedeleting the EEPROM.

O.ERR_90SyncPosMEMORY locked

MeaningThe program memory is write-protected andcannot be altered.

TipThis means that autorecognition can neither be setnor deleted and programs can neither be saved ordeleted. Equally, → "RAM SAVE" and →"EEPROM DELETE" will not be executed.

O.ERR_xxSyncPosInternal error ##

MeaningIf such an error should occur, please contact yourdealer and report the error number displayed tothe technical service department.

VLT software SyncPos messagesThe VLT software SyncPos messages are arrangedin alphabetical order. Letters following a % signrepresent variables which can be used in plain textat the corresponding locations.

Compilation error ...SyncPosCompilation error(s): program not saved!

Meaning and tipA file is always compiled first and then saved. Ifyou want to save the program, for example in themenu "CONTROLLER“ →→→→→ "SAVE PROGRAM" anda syntax error is found during compilation thismessage will be displayed.Start the “SYNTAX CHECK” in the menu“DEVELOPMENT”, correct the syntax error andthen save the program.

Connection to ... already exists ...SyncPosConnection to %d already exists [%s] - change tonew Window?

MeaningWhen opening a new window or when trying toconnect a window with a controller that is alreadylinked to a window.Yes The controller is disconnected from the old

window and linked to the new window.No The controller stays connected to the old

window, the new window is not linked to acontroller.

Controller is executing a program ...SyncPosController is executing a program or command!

MeaningWhen the controller is executing a command orprogram it is not available for additional com-mands. You have to →→→→→ "BREAK" the new com-mand and restart it once the previous commandhas been completely executed.



Mes

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ce Error in array ...SyncPosError in array part of file.

MeaningWhen re-saving a configuration ("CONTROLLER"→→→→→ "PARAMETERS" →→→→→ "RESTORE FROM FILE")the computer recognizes that the data in the arrayarea is formatted incorrectly.

CauseIn order to be able to save a file, the followingconditions must be fulfilled:

• Identical software versions• same configuration (e.g. same number of

axes)• In the case that arrays have already been in-

putted, these must match the ones that are tobe saved in terms of type and size.

Error in axis parameter ...SyncPosError in axis parameter part of file.

MeaningWhen re-saving a configuration ("CONTROLLER"→→→→→ "PARAMETERS" →→→→→ "RESTORE FROM FILE")the computer recognizes that the data in the areaof the axis parameters is formatted incorrectly. Theparameter number and the sequence must be cor-rect and numbering must be continuous.

CauseIn order to be able to save a file, the followingconditions must be fulfilled:

• Identical software versions, that providessame number and order of the parameters

• same configuration (e.g. same number ofaxes)



Error in global parameter ...SyncPosError in global parameter part of file.

MeaningWhen re-saving a configuration ("CONTROLLER" →→→→→ "PARAMETERS" →→→→→ "RESTORE FROM FILE") thecomputer recognizes that the data in the area of the global parameters is formatted incorrectly.

CausesIn order to be able to save a file, the following conditions must be fulfilled:

• Identical software versions, that provides same number and order of the parameters• same configuration (e.g. same number of axes)

Lost connection to ...SyncPosLost connection to #%d!

MeaningIf the VLT is turned off or the plug is pulled, etc. the window is disconnected from the VLT and the lostconnection is registered.

Timeout: no reply from VLTSyncPosTimeout: no reply from VLT

MeaningThe VLT does not answer; check the connection.

Pro

gram

samp

les



Pro

gra

m s

amp

les Program samples

Introduction

WARNING!The entire unit must be installed accordingto the installation instructions and the

functionability of the individual components andconnections must be tested.An EMERGENCY STOP must be installed accor-ding to the specific guidelines of the respectivecountry.The program samples may only be used with adrive which can turn freely without a path limi-tation.The drive should be fixed in a stable holdingdevice.When using a linear unit limit switches for pathlimitation must be mounted and connected.When using a linear unit the area of movement ofthe program samples must be calculated roughlyand compared with the paths of movement whichare mechanically permissible.

Cross references to the online help programsamplesIn the online help you will find all the other pro-gram samples, which are mentioned in the chaptersoftware reference. You can copy these programsor parts of them directly into your program.



COM_OPT

/* Program for sending and reveiving 8 bytes of data via a communication option using PPO type 2 */

/* Definition of arrays */DIM send [4]DIM receive [4]

/* Definition of user parameters */LINKGPAR 133 710 “DATA WORD 1” 0 255 0LINKGPAR 134 711 “DATA WORD 2” 0 255 0LINKGPAR 135 712 “DATA WORD 3” 0 255 0LINKGPAR 136 713 “DATA WORD 4” 0 255 0

/* Initialize arrays (all elements = 0) */i = 1WHILE (i<4) DO

receive [i] = 0i = i+1

ENDWHILEj = 1WHILE (j<4) DO

send [j] = 0j = j+1

ENDWHILE

/* Main program loop */main:send [1] = GET 133 /* send array, element 1 = value of par. 710 */send [1] = GET 134 /* send array, element 2 = value of par. 711 */send [1] = GET 135 /* send array, element 3 = value of par. 712 */send [1] = GET 136 /* send array, element 4 = value of par. 713 */

COMOPTGET 4 receive /* Copy 4 words from comm. option to receive array */COMOPTSEND 4 send /* Copy 4 words from send array to communication option */

/* Print data of receive array */print “RECEIVED(4 WORDS)”,” “,receive [1],” “,receive [2],” “,receive [3],” “,receive [4]

GOTO main /* End of program */

Pro

gram

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Pro

gra

m s

amp

les Marker count

/* Measurement of marker distance in connection with SYNCM *//* Master and slave must run when this program is executed */

DIM test[4] /* Definition of array with 4 elements */

/* Definition of variables */dones = 0donem = 0

/* Save last marker position for slave and master */test [1] = IPOStest [2] = MIPOS

/* Start of main program loop */main:/* Monitor the next slave marker and save it’s position */IF (IPOS != test [1] AND dones == 0) THEN

test [3] = IPOSdones = 1res = test [3] - test [1] /* Calculate distance between 2 consecutive slave markers */PRINT “Slave distance “, res /* Print result */

ENDIF/* Monitor the next master marker and save it’s position */IF (MIPOS != test [2] AND donem == 0) THEN

test [4] = MIPOSdonem = 1res = test [4] - test [2] /* Calculate distance between 2 consecutive master markers */PRINT “Master distance “, res /* Print result */

ENDIFGOTO main


VLT® 5000 SyncPos optionA

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Chapter 9 AppendixGlossary terms ..................................................... 168What’s new in PC Software 2.0x /Option Card Software 3.00? ................................ 168What’s new in PC Software 2.1x /Option Card Software 3.1x? ................................. 169Index ..................................................................... 171



Glossary terms

Inverted valuenotA = /A =A

FPGAField programmable gate array

MLONGFor a description which is not dependent on theversion or the hardware, variables were used forsome limit values: thus the value ofMLONG = 1,073,741,824

QuadcountsThe unit defined by the parameter User factorUser factorUser factorUser factorUser factorPOSFACT_Z (23) and POSFACT_N (26) is not usedfor all path and position parameters. For variousparameters (for example a software limit switchlike I_POSLIMITSW (46) and the parameterTTTTTolerated position error olerated position error olerated position error olerated position error olerated position error POSERR (15) the quad-count unit (qc) is valid.4 quad-counts correspond to one sensor unit.

stsample time = 1 ms

User unitsAll path information in motion commands aremade in user units and are converted to quad-counts internally. By choosing these scaling unitscorrespondingly it is possible to work with anytechnical measurement unit (for example mm).This factor is a fraction which consists of a nume-rator and denominator.1 User unit = POSFACT_Z / POSFACT_N

Zero impulse= Index impulse

What's new in PC Software 2.0x / Option cardSoftware 3.00?

Saving and Uploading Source CodeWhen program files are protected not only com-piled but also by source coding, the file can beread back again, edited new, or duplicated forother controls at a later date.

Long TelegramsThe introduction of a different communicationmodule (the use of long telegram types) significant-ly shortens the transmission time of long files (forexample when downloading files, or reading backtest run results).

Total number of VLT addressesFrom version 2.0x more than 32 VLT addresses arepossible.

Parameter 108From version 2.0x, parameter 108 – like all otherparameters – is saved.

Glo

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What's new in PC Software 2.1x / Option cardSoftware 3.1x?

Extension of the user interfaceGreater comfort in the editing windowVarious colors are used to distinguish betweencomments, program sections, operators, numbersetc. You can change the colors with "SETTINGS"→ "COLORS EDITOR".You can also split the window vertically or horizon-tally for the display of a number of files.

Further editing tools and shortcutsThere are new editing commands, key combinat-ions and function keys. The following editing toolshave been added:Unlimited undo and redo, the function find andreplace and the option of recording macros.

If you press the CANCEL key on the VLT whenswitching on, the SyncPos option card will not startany program.

Extension of the compiler, commands andparametersExtension of the compilerIdentification of comments using // analogously tothe programming language C.Further operators, such as XOR and Modulo andfurther bit operators.Assignment Operation

Further interruptsON COMBIT Interrupt when Bit n is setON STATBIT Interrupt when Bit n is setON PARAM Interrupt when a parameter n is

changed

New commandsDEFMORIGIN Set the current master position

as the zero point for the master.DELETE ARRAYS Delete all arrays in the RAM.DISABLE .. inttyp Switches interrupts offDISABLE ALL Switches all interrupts off

(except ON ERROR)ENABLE … Switches interrupts onENABLE ALL Switches all interrupts onLINKSYSVAR Link system variable with LCP

displayMOVESYNCORIGIN

Relative shifting of the origin ofsynchronization

ON COMBIT .. GOSUBCall up a subprogram when Bitn of the communication buffer isset.

ON PARAM .. GOSUBCall up a subprogram when aparameter is altered.

ON STATBIT Call up a subprogram when bitn of the VLT status is set.

PCD Pseudo array for direct accessto the profibus data area

SAVE ARRAYS Save arrays in the EEPROMSAVE AXPARS Save current axis parameters in

the EEPROMSAVE GLBPARS Save current global parameters

in the EEPROMSETMORIGIN Set any position as the zero

point for the master.SYNCSTATCLR Resetting of the flags MERR

and MHITSYSVAR System variable (Pseudo array)

reads system values.TESTSETP Specify recording data for test

runTESTSTART Start the recording of a test run

What's new

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Commands which have been extendedSYNCERRThe return value informs, whether the synchroniza-tion is running ahead (negative result) or behind(positive result), if SYNCACCURACY is set to anegative value.

ERRCLRAs of Version 2.1x ERRCLR also resets Bit 7 of thecontrol word of the VLT. Then the VLT messages nolonger need to be deleted.

LINKGPARThe command LINKGPAR tests whether the valueof the user parameter is within the specified range.If not, the corresponding limit is used and thisvalue saved. This ensures that a display appears.

SYNCMWhen defined in SYNCMSTART (62), the systemwaits for the first evaluation of the marker pulseson starting SYNCM and only then the offsetSYNCPOSOFFS (54) is applied.

#DEBUGIn addition to ON and OFF you can define NOSTOP. The system is not stopped, but internalbreak commands update the line number whenthe program is executed incrementally with"DEVELOPMENT" → "SINGLESTEP F9"The line numbers generated in this way can thenbe laid on a VLT parameter 795-799 withLINKSYSVAR and observed on the LCP display.

New ParametersESCCOND (70)With ESCCOND you can determine how the VLTwill react to a program termination using ESC.

SYNCMWINM (68) / SYNCMWINS (69)The Marker Window Master and Slave shows howlarge the permitted tolerance for the occurrence ofthe markers is.

Parameters which have been extendedPOSDRCT (28)You can invert the evaluation of the encoder infor-mation without changing the wiring (turning aroundthe motor leads or exchanging the A and B tracksin the encoder).

O_BRAKE (48)If an output is defined for the brake, this remainsactive even when the program is terminated withESC.

SYNCPOSOFFS (54)When SYNCM is started – in opposite to SYNCP –the system waits for the first evaluation of themarker pulses. Only then is the offset applied.

SYNCACCUARY (55)Extended input range: A minus sign supplies thesynchronization error to SYNCERR with polaritysign. It is then possible to tell whether the synchro-nization is running ahead or behind.

SYNCMSTART (62)Additional possibilities to define the startconditions of the marker synchronization.

SYNCVFTIME (65)Master filter for SYNCP and SYNCM

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VLT® 5000 SyncPos optionInd

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Index

Symbols

#DEBUG ............................................................. 123#INCLUDE ........................................................... 124_GETVEL ............................................................. 1224-Setup ................................................................ 128

A

Abbreviation ......................................................... 131About Program ...................................................... 57About this manual ................................................... 6ACC ....................................................................... 70Acceleration feed-forward FFACC (37) .......... 33, 141ACCMAXQC (10) .................................................. 135Analog inputs ......................................................... 10Analog outputs ...................................................... 10APOS ..................................................................... 70Arithmetic .............................................................. 65Arrays ..................................................................... 64

Arrays versus Variables ....................................... 65Reading and Writing Arrays ............................... 65reset .................................................................... 50

Assignment Operation ........................................... 67Autostart ................................................................ 46

Linking autostart programs ................................ 46Repeated execution ........................................... 46

AVEL ...................................................................... 71AXEND .................................................................. 71Axis parameters ................................................... 129Axis Process Data ................................................. 115

B

BANDWIDTH (35) .......................................... 33, 141Before you begin ................................................... 22

C

Calling up macros ................................................. 41Changes during operation ................................... 128Colors Editor .......................................................... 55COM_OPT ........................................................... 165Command List ....................................................... 44Command run times .............................................. 61Command Structure .............................................. 61Commands which have been extended ..............170Communication Setup ........................................... 26COMOPTGET ........................................................ 72COMOPTSEND ..................................................... 73Compiler options ................................................... 55Connection examples ............................................ 15Constants ............................................................... 64Context menu ........................................................ 41Context-sensitive help ........................................... 57

CONTINUE ............................................................ 73Controller menu ..................................................... 45

Autostart ............................................................. 46Axis parameters .................................................. 47Delete all programs ............................................ 46Delete EEPROM ................................................ 50Global parameters ............................................. 47Parameter Name ................................................ 48Parameters ......................................................... 47Programs ............................................................ 45Reset .................................................................. 50Restore from file ................................................. 49Save programs ................................................... 45Save RAM ........................................................... 49Start programs.................................................... 45

Conventions ............................................................. 7Conversion index ................................................. 128CPOS ..................................................................... 74Cross-references ................................................... 57CSTART.................................................................. 74CSTOP ................................................................... 75CVEL ..................................................................... 75

D

D.TIME CMP.ACT. 780 .........................................127Dampening of vibrations ....................................... 35Data sampling interval ........................................... 51Data type ............................................................. 128Dead time compensation .....................................127DEC ....................................................................... 76DEF ORIGIN ......................................................... 76DEFMORIGIN ....................................................... 76DELAY.................................................................... 77Delete file .............................................................. 40Derivative factor KDER (12) .......................... 32, 135Determining the maximum velocity ....................... 36Development menu ............................................... 42

Break and break all ........................................... 43Command List .................................................... 44Continue program .............................................. 43Execute ............................................................... 42Execute now ....................................................... 44Insert ................................................................... 44Move to position ................................................. 44Preparing single-step ......................................... 43Select controller .......................................... 26, 43Single-step ......................................................... 43

DFLTACC (34) ........................................................ 141DFLTVEL (33) ....................................................... 140Dialog fields ........................................................... 23Digital inputs .............................................. 10, 11, 14Digital outputs ........................................... 10, 11, 14DIM ........................................................................ 78DIM Statement ...................................................... 64



Ind

ex Dip switch .............................................................. 13DISABLE ... interrupts ............................................ 79Display Recording ................................................. 53

E

Edit menu .............................................................. 41Copy ................................................................... 42Cut ...................................................................... 42Find ..................................................................... 42Paste ................................................................... 42Replace .............................................................. 42Undo ................................................................... 42

ENABLE ... interrupts ............................................ 79Encoder

Connection check .............................................. 29Direction of rotation ............................................ 29Input 1 (master) .................................................. 14Input 2 (slave) ..................................................... 15Output (Virtual master) ....................................... 15

ENCODER (2) ...................................................... 132ENCODERTYPE (27) ........................................... 139ENDSWMOD (44) ................................................ 143ERRCLR ................................................................ 80ERRCOND (43) ................................................... 143ERRNO ................................................................. 80ESCCOND (70) .................................................... 152Evaluating motion figures ...................................... 53Examples of control optimization .......................... 35Execute Testrun ..................................................... 52EXIT ....................................................................... 81Exit program .......................................................... 40Extension of the compiler, commands and param-eters ..................................................................... 169Extension of the user interface ............................ 169External 24 V DC supply ....................................... 14

F

Factory settings ....................................................131Axis parameters .................................................. 48Global parameters ............................................. 47Parameter ......................................................... 125

Factory settings of the parameter ....................... 125Feed-forward Acceleration FFACC (37) ................. 33FFACC (37) ..................................................... 33, 141FFVEL (36) ..................................................... 32, 141FILE menu ............................................................. 39

Close ................................................................... 39Exit program ....................................................... 40New..................................................................... 39Open ................................................................... 39Print .................................................................... 40Save and save as ............................................... 40

Forward Feel Acceleration FFACC( 37) .................141Forward Feel Acceleration FFVEL ( 36) ................141

FPGA ................................................................... 168Function keys ........................................................ 24

G

GET ....................................................................... 81GETVLT .................................................................. 82Global Parameters ............................................... 129GOSUB.................................................................. 82GOTO .................................................................... 83

H

Help in Command list menu ................................. 44Help menu ............................................................. 57

Cross-references ................................................ 57Printing or copying help texts ............................ 57

HOME .................................................................... 83HOME_FORCE (3) ............................................... 132HOME_OFFS (42) ................................................ 143HOME_RAMP (41) ............................................... 142HOME_VEL (7) .................................................... 133HOMETYPE (40) .................................................. 142How SyncPos functions ......................................... 21

I

I_BREAK (105) ..................................................... 154I_CONTINUE (106) ............................................... 154I_ERRCLR (107) ................................................... 154I_NEGLIMITSW (47) ............................................ 144I_POSLIMITSW (46) ............................................. 144I_PRGCHOICE (104) ............................................. 153I_PRGSTART (103) ............................................... 153I_REFSWITCH (45) .............................................. 143IF ..THEN .., ELSEIF .. THEN .. ELSE .. ENDIF .... 84IN ........................................................................... 85INAD ...................................................................... 85INB ........................................................................ 86Include source code .............................................. 45INDEX .................................................................... 86Index ...................................................................... 57Indexes .................................................................. 65Initializing ............................................................... 61INKEY .................................................................... 87Input range ........................................................... 131Input values ........................................................... 62Installing SyncPos .................................................. 25Integral factor KINT (13) ................................ 32, 135Integration limit KILIM (21) ............................. 32, 137Interface Settings

Scan Range ........................................................ 55Interrupt ................................................................. 62

General processing of interrupt procedures ...... 62Interrupt nesting ................................................. 63Use of variables within interrupt procedures ..... 62



ex

Inverted value ...................................................... 168IPOS ...................................................................... 88

K

KDER (12) ..................................................... 32, 135Keyboard ............................................................... 23KILIM (21) ....................................................... 32, 137KINT (13) ....................................................... 32, 135KPROP (11) .................................................... 32, 135

L

Labels, maximum number ..................................... 55Language ............................................................... 56Line number .......................................................... 41LINKAXPAR ........................................................... 88LINKGPAR ............................................................. 89LINKSYSVAR ......................................................... 89List of commands .................................................. 68Literature.................................................................. 8Long Telegrams ................................................... 168LOOP ..................................................................... 90Lost files ................................................................ 39

M

Macros ................................................................... 41MAPOS .................................................................. 90Marker count ....................................................... 166Marker signal ........................................................ 111Marking text ........................................................... 41MAVEL ................................................................... 91Memory

Delete EEPROM ................................................ 50Save RAM ........................................................... 49

MENCODER (30) ................................................. 140MENCODERTYPE (67) .........................................151Menus .................................................................... 23Messages

Attempt was made to cross arraybounds ........ 160Axis no. ... not in system .................................... 157Compilation error ... ...........................................161Connection to ... already exists ... .....................161Controller is executing a program ... .................161Error in array ... ..................................................161Error in axis parameter ... .................................. 161Error in DIM command..................................... 159Error in global parameter ... ............................. 162Error in verifying ................................................ 159Error not cleared ...............................................157Failed to move to HOME position ....................157Illegal parameter number ................................. 158Index pulse (encoder) not found .......................157Internal error ## ................................................ 160Limit switch activated ...................................... 159Lost connection to ... ........................................ 162

No more space for variables ............................ 160Parameters in EEPROM are corrupted ........... 158Position error ..................................................... 157Programs in EEPROM are corrupted .............. 158Reset by CPU ................................................... 158Software limit switch activated ........................ 158Timeout while waiting for index. ....................... 160Timeout: no reply from VLT .............................. 162Too many nested GOSUB commands ............ 159Too many RETURN commands ...................... 159Too many time interrupts ................................. 160Unknown command ..........................................157User-Abort ........................................................ 159

MIPOS ................................................................... 91MK3A ......................................................................11MK3B ......................................................................11MK3C ......................................................................11MK3D ......................................................................11MLONG................................................................ 168MOTOR OFF .......................................................... 92MOTOR ON ........................................................... 92MOTOR STOP ....................................................... 93Move to position .................................................... 44MOVESYNCORIGIN ............................................. 93

N

NEGLIMIT (4) ...................................................... 133New commands................................................... 169New Parameters ................................................... 170NOWAIT ................................................................. 94

in interrupts ........................................................ 63number of VLT addresses.................................... 168

O

O.ERR_3 ... xx ...................................................... 157O_AXMOVE (64) .................................................. 149O_BRAKE (48) ..................................................... 144O_ERROR (108) ................................................... 154ON COMBIT .......................................................... 63ON COMBIT .. GOSUB ......................................... 94ON ERROR GOSUB ............................................. 95ON INT .. GOSUB ................................................. 96ON PARAM ............................................................ 63ON PARAM .. GOSUB ........................................... 97ON PERIOD ............................................. 62, 63, 97

Interrupt .............................................................. 62ON STATBIT ........................................................... 63ON STATBIT .. GOSUB ......................................... 98ON TIME......................................................... 63, 99Optimizing of the PID controller ............................ 31Option card layout ................................................. 13Option card terminals ........................................... 10ORIGINOFFS (42) ................................................ 143OUT ....................................................................... 99



Ind

ex OUTAN ................................................................. 100OUTB ................................................................... 100OUTDA ..................................................................101

P

Parameter 108 ..................................................... 168Parameter 205 ......................................................127Parameter changes and storage ......................... 125Parameter Reference .......................................... 125Parameter Values ..................................................131Parameters which have been extended ..............170Path of motion ....................................................... 51PC Software Interface ........................................... 37PCD ......................................................................101PID ....................................................................... 102PID control parameters ......................................... 31POSA ................................................................... 102POSDRCT (28) ..................................................... 139POSERR (15) ....................................................... 136POSFACT_N (26) .................................................. 139POSFACT_Z (23) .................................................. 138POSLIMIT (5) ....................................................... 133POSR ................................................................... 103PRGPAR (102) ...................................................... 153PRINT .................................................................. 103Printing or copying help texts................................ 57Priorities

Interrupts ............................................................ 63Operators and the Operations ........................... 67

Program Layout ..................................................... 61Definitions ........................................................... 61Initializing ............................................................ 61Main program ..................................................... 61Sub programs ..................................................... 61

Program samples ................................................. 164Programming Language elements ........................ 64Proportional factor KPROP (11) ..................... 32, 135PULSACC ............................................................ 104PULSVEL ............................................................. 104

Q

Quadcounts ......................................................... 168

R

RAMPMIN (31) ..................................................... 140RAMPTYPE (32) ................................................... 140Recording macros ................................................. 41REGWMAX (38) ................................................... 142REGWMIN (39) .................................................... 142Relay outputs ........................................................ 10REPEAT .. UNTIL .. .............................................. 105Repeat next command ......................................... 41Reset Arrays .......................................................... 50Reset parameters .................................................. 50

Response times ..................................................... 63Restore from file .................................................... 49REVERS (63) ....................................................... 149RS485 connection .......................................... 26, 55RST ORIGIN ........................................................ 105Run programs in several VLTs ............................... 43

S

Safety regulations .................................................... 4Safety tips .............................................................. 25Sampling time ....................................................... 33Save

include source code........................................... 45SAVE part ............................................................ 105Save part

ARRAYS ........................................................... 105AXPARS ............................................................ 105GLBPARS ......................................................... 105

Save to file ............................................................. 49SAVEPROM ......................................................... 106Scan Range ........................................................... 55Search via Index .................................................... 57Sequential command processing ......................... 61SET ...................................................................... 106SET ORIGIN ......................................................... 107SETMORIGIN ....................................................... 107Setting of SyncPos option parameters ................. 27

Encoder .............................................................. 27Home .................................................................. 28Synchronization .................................................. 28Velocity ............................................................... 27

Setting of VLT parameters ..................................... 26Setting parameters for a test run

Number of readings ........................................... 51Path of motion .................................................... 51Sampling interval ................................................ 51Velocity, acceleration and deceleration ............. 51

Setting up communication .................................... 26Settings menu ........................................................ 55

Colors Editor ....................................................... 55Compiler ............................................................. 55Interface ............................................................. 55Language ............................................................ 56Maximum number of labels ............................... 55Maximum number of variables .......................... 55

SETVLT ................................................................. 108Shortcuts ................................................................ 24Significance of the control parameters ................. 31Single-step ............................................................ 43Software Reference ............................................... 61Source Code ........................................................ 168Starting SyncPos ................................................... 25STAT ..................................................................... 108Sub programs ........................................................ 61



ex

SUBMAINPROG .. ENDPROG ........................... 109SUBPROG name .. RETURN ............................. 109Supply voltages ..................................................... 12SWNEGLIMACT (19) .............................................137SWPOSLIMACT (20) .............................................137Symbol bar ............................................................ 22SYNCACCURACY (55) ................................. 112, 146SYNCERR ............................................................ 110SYNCFACTM (49) ................................................. 145SYNCFACTS (50) .................................................. 145SYNCFAULT (57) ............................................ 112, 147SYNCM ................................................................. 110SYNCMARKM (52) ............................................... 145SYNCMARKS (53) ............................................... 145SYNCMMERR / SYNCSMERR........................... 113SYNCMMHIT / SYNCSMHIT ............................... 113SYNCMPULSM (58) ..............................................147SYNCMPULSS (59) ..............................................147SYNCMSTART (62) ............................................... 148SYNCMTYPM (60) ................................................ 148SYNCMTYPS (61) ................................................. 148SYNCMWINM (68) ................................................151SYNCMWINS (69) ................................................ 152SYNCP .................................................................. 111SyncPos option messages .................................. 156SyncPos option messages in detail .....................157SyncPos parameters in Alphabetical Order ....... 129SyncPos Parameters in Detail ..............................131SyncPos Window ................................................... 22SyncPos-Parameter ............................................. 125SYNCPOSOFFS (54) ............................................ 146SYNCREADY (55) .........................................112, 147SYNCSTAT ............................................................ 112SYNCSTATCLR ..................................................... 113SYNCV .................................................................. 114SYNCVELREL (66) .............................................. 150SYNCVFTIME (65) ............................................... 149Syntax check ......................................................... 43System Control 700 ..............................................127SYSVAR ................................................................ 115

T

Table of Messages ............................................... 156Technical data ....................................................... 14Terminal description .............................................. 10Terminals................................................................ 14Test run program ................................................... 30Testrun

execute ............................................................... 52Testrun graphs

Acceleration graph ............................................. 54Current graph ..................................................... 54Positioning graph ................................................ 53

Velocity graph ..................................................... 54Testrun menu ......................................................... 51

Evaluating motion figures ................................... 53Loading test run parameters .............................. 52Repeat ................................................................ 53Save test run parameters ............................ 35, 52

TESTSETP............................................................. 116TESTSTART........................................................... 117TESTTIM (24) ....................................................... 138TESTVAL (25) ....................................................... 138TESTWIN (8) ........................................................ 134Text retrieval .......................................................... 57TIME ............................................................. 116, 118TIMER (14) ........................................................... 136Tips for Increasing Program Readability ............... 61tolerated position error is exceeded ..................... 30TRACKERR .......................................................... 118

U

Upload source code .............................................. 46User unit ................................................................ 67Using the mouse .................................................... 23

V

V V CPLUS .............................................................. 7control system ...................................................... 7

Variables ................................................................ 64Maximum number of variables .......................... 55Special Variables ................................................ 64Variable Identification Names ............................ 64

VEL ....................................................................... 119VELMAX (1) .......................................................... 131VELMAXQC (9) .................................................... 134Velocity Forward Feed FFVEL (36) ........................ 32VELRES (22) ........................................................ 138VLT addresses ..................................................... 168VLT control card terminals ..................................... 10VLT parameters ............................................ 125, 126VLT software SyncPos messages ......................... 161

W

WAITAX ................................................................. 119WAITI ................................................................... 120WAITNDX ............................................................. 120WAITP ...................................................................121WAITT ...................................................................121What to do if ...

encoder doesn’t work ......................................... 29maximum acceleration is not achieved ............. 35motor doesn’t move ........................................... 30motor sets off uncontrolled ................................ 30motor vibrates heavily ........................................ 30stationary precision is required .......................... 35there is a tendency towards instability .............. 35



Ind

ex tolerated position error is exceeded .................. 35What's new in PC Software ...

2.0x / Option Card Software 3.00 .................... 1682.1x / Option Card Software 3.1x ...................... 169

WHILE .. DO .. ENDWHILE ................................ 122Window menu ........................................................ 56

Cascade ............................................................. 56Printing or copying help texts ............................ 57Tile vertically ....................................................... 56

Z

Zero impulse ........................................................ 168

VLT 5000 SyncPos option® 5000/Manual...VLT® 5000 SyncPos option 2 MG.10.J4.02 – VLT is a...

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