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Setup of Camming S400-S600

The servo amplifier offers 6 position registers SWE0...SWE5 for supervision of position values. The registers can be configured: 

  • SWE1...SWE4 with configuration parameters SWCNFG
  • SWE0 and SWE5 with configuration parameters SWCNFG2

In addition to the position registers SWE0...SWE5 cam registers SWE0N...SWE5N are implemented. These registers are used only in case of activated cam function.

The cam function is activated with the cam bits (Bit 3/7/11/15 of SWCNFG and Bit 3/7 of SWCNFG2). With set cam bit a cam message is reported, if the current position is between SWEx and SWExN (x=0...5).
Polarity of the cam message can be defined with the polarity bit (Bit 1/5/9/13 of SWCNFG and Bit 1/5 of SWCNFG2).

Activation of different cams with the ASCII command SWEx and SWExN

Switch on and switch off limits for cams of the position register 0 are set with the commands SWE0 and SWE0N. With other registers the commands are SWE1 / SWE1N ... SWE5 / SWE5N.

Activation of different cams with the ASCII command SWCNFG

Configuration bits for SWE1...SWE4

SWE1
Bit 0 =0 Position/Cam Register SWE1 not active
  =1 Position/Cam Register SWE1 active
Bit 1 =0

Message if position is exceeded (PFB > SWE1)
Message if SWE1 < PFB < SWE1N with active Cam function

  =1

Message if position falls short of (PFB < SWE1)
Message if  SWE1 > PFB > SWE1N with active Cam function

Bit 2   Reserve
Bit 3 =1 Cam function for SWE1/SWE1N
SWE2
Bit 4 =0 Position/Cam Register SWE2 not active
  =1 Position/Cam Register SWE2 active
Bit 5 =0

Message if position is exceeded (PFB > SWE2)
Message if SWE2 < PFB < SWE2N with active Cam function

  =1

Message if position falls short of (PFB < SWE2)
Message if  SWE2 > PFB > SWE2N with active Cam function

Bit 6   Reserve
Bit 7 =1 Cam function for SWE2/SWE2N
SWE3
Bit 8 =0 Position/Cam Register SWE3 not active
  =1 Position/Cam Register SWE3 active
Bit 9 =0

Message if position is exceeded (PFB > SWE3)
Message if SWE3 < PFB < SWE3N with active Cam function

  =1

Message if position falls short of (PFB < SWE3)
Message if  SWE3 > PFB > SWE3N with active Cam function

Bit 10   Reserve
Bit 11 =1 Cam function for SWE3/SWE3N
SWE4
Bit 12 =0 Position/Cam Register SWE4 not active
  =1 Position/Cam Register SWE4 active
Bit 13 =0

Message if position is exceeded (PFB > SWE4)
Message if SWE4 < PFB < SWE4N with active Cam function

  =1

Message if position falls short of (PFB < SWE4)
Message if  SWE4 > PFB > SWE4N with active Cam function

Bit 14   Reserve
Bit 15 =1 Cam function for SWE4/SWE4N

ASCII command SWCNFG2

Configuration bits for SWE0 and SWE5

SWE0
Bit 0 =0 Position/Cam Register SWE0 not active
  =1 Position/Cam Register SWE0 active
Bit 1 =0

Message if position is exceeded (PFB > SWE0)
Message if SWE0 < PFB < SWE0N with active Cam function

  =1

Message if position falls short of (PFB < SWE0)
Message if  SWE0 > PFB > SWE0N with active Cam function

Bit 2   Reserve
Bit 3 =1 Cam function for SWE0/SWE0N
SWE5
Bit 4 =0 Position/Cam Register SWE5 not active
  =1 Position/Cam Register SWE5 active
Bit 5 =0

Message if position is exceeded (PFB > SWE5)
Message if SWE5 < PFB < SWE5N with active Cam function

  =1

Message if position falls short of (PFB < SWE5)
Message if  SWE5 > PFB > SWE5N with active Cam function

Bit 6   Reserve
Bit 7 =1 Cam function for SWE5/SWE5N

Report of position messages via digital outputs

I/O expansion card (not available with S400!)

If an I/O expansion card is installed, the position messages are reported via these outputs:

SWE0: Next-InPos X11B.4
SWE1: PosReg1 X11B.6
SWE2: PosReg2 X11B.7
SWE3: PosReg3 X11B.8
SWE4: PosReg4 X11B.9
SWE5: Reserve X11B.10

The functions "Next-InPos" and "SWE0 Message" use for output the same digital output X11B.4, that means they cannot be used at the same time.

Base PCB

If no I/O expansion card is available, the position messages can be evaluated with the digital outputs of the base PCB.

SWE0: OxMODE=28 x=1,2
SWE1: OxMODE=12 x=1,2
SWE2: OxMODE=13 x=1,2
SWE3: OxMODE=14 x=1,2
SWE4: OxMODE=15 x=1,2
SWE5: OxMODE=29 x=1,2

Cam status request with the ASCII command DRVSTAT

All position messages are buffered in a status register, independent from the digital output function. The messages can be read from the status register via the serial interface or CAN-/PROFIBUS interfaces.

SWE0: Bit 21 (0x00200000) of DRVSTAT
SWE1: Bit 22 (0x00400000) of DRVSTAT
SWE2: Bit 23 (0x00800000) of DRVSTAT
SWE3: Bit 24 (0x01000000) of DRVSTAT
SWE4: Bit 25 (0x02000000) of DRVSTAT
SWE5: Bit 27 (0x08000000) of DRVSTAT

Logical connection of several cams to one digital output with the ASCII command O1MODE or O2MODE

Function of the digital output OUT1 (OUT2) can be configured with the command O1MODE (O2MODE). When this parameter has been changed, the amplifier must be switched off and on again.
These funtions are possible:

Mode Function Description
O1MODE=36 OR Logic Digital output 1 shows the result of an OR operation with the bit variable DRVSTAT and a bit mask out of auxiliary variable O1TRIG
O1MODE=37 AND Logic Digital output 1 shows the result of an AND operation with the bit variable DRVSTAT and a bit mask out of auxiliary variable O1TRIG

Application example

With a traverse from 0 to 1000 the digital ouput 1 should react as described:

The settings below can be done by using the terminal located in the setup software.

If this message appears during data input,

click NO.

ASCII Command
Description
DIS
Disable amplifier by software
SWE1 500
Cam start limit
SWE1N 550
Cam stop limit
SWE2 700
Cam start limit
SWE2N 750
Cam stop limit
SWE3 800
Cam start limit
SWE3N 850
Cam stop limit
SWCNFG 2457
Switch on register 1...3 with cam function, logic level not inverted
O1MODE 36
Switch on OR logic for register at digital input 1
O1TRIG 29360128
Define logic Bit 21...23 von DRVSTAT = 1
SAVE
Save parameter
COLDSTART
Activate new configuration