Device

Serial Number

Access rights: Root
Description: Serial number of the device
Data: (UInt32) => 0 .. 4294967296

Unit System

Access rights: User
Description: All inputs and outputs of the module use the set unit system. If the unit system is changed from float ([mm](0x00),[m](0x01),[Inch](0x02),[rad](0x03),[Degree](0x04)) to integer [mum](0x06),[muDegree](0x07),[muInch](0x08)),[Milli-degree](0x09)), all time and current values are also interpreted as integers => [s] -> [ms]; [A] -> [mA]. The internal unit system is assigned (0x05).
Data: (5 bits) 0 .. 31

Please note: Changing the unit system affects a number of EPROM parameters, so that they must be adjusted immediately!

Communication Mode

Access rights: User
Description: The active communication system is configured.

• Auto (0x00)
  The communication system is tried to identified and configured automatically. Checked hardware until now.
  
  

  If a module is connected to simultaneously to the RS232 and the Profibus interface, then the Profibus interface (depending on the hardware) will be recognized immediately after the module is switched on. There is no possibility in such cases of communicating via the RS232 interface.

  
  
• RS232 (0x01)
• CAN (0x02)
• Profibus DPV0 (0x03)
• RS232 Silent (0x04)
  Impulse messages deactivated. (inkl. INFO BOOT)

Data: (5 bits) 0 .. 31

Invert Motor

Access rights: Profi
Description: The direction of rotation of the motor is defined.

Please note: Incorrect configuration might result in unexpected machine behavior (module rotating very quickly!).

Data: (Bool) TRUE / FALSE

Invert Position System

Access rights: Profi
Description: The measuring direction of the position measuring system is defined. If the tracks A and B of the encoder are confused, they can be readjusted with the software.

Please note: Incorrect configuration might result in unexpected machine behavior (module rotating very quickly!)

If the direction of rotation of the motor as well as the position measuring system direction are inversed, a left module can become a ,,right'' module, and a ,,positive'' opening gripper can become a ,,positive'' closing gripper.

Data: (Bool) TRUE / FALSE

Positioning Ramp Type

Access rights: Profi
Description: Enter here the ramp type for the position movement.

• Trapezoid (0x00)
  The movement profile is calculated on the basis of a trapezoid. If necessary, this profile is activated with ,,MOVE POS TIME'', ,,MOVE POS TIME REL'', ,,MOVE POS TIME LOOP'' and ,,MOVE POS TIME REL LOOP'' (curved paths). The travel time can be calculated (switching points are time-controlled).
• Jerk (0x01)
  For positioning movements ,,MOVE POS'', ,,MOVE POS REL'', ,,MOVE POS LOOP'' and ,,MOVE POS REL LOOP'' the path is calculated with jerk limitation. The ,,Jerk'' parameter (,,SET TARGET JERK'') is only used with this ramp type. This profile is deactivated for curved paths ,,MOVE POS TIME'', ,,MOVE POS TIME REL'', ,,MOVE POS TIME LOOP'' und ,,MOVE POS TIME REL LOOP'' (This procedure is necessary for computing time reasons.).

  In motors with Resolver ) ,,chatter'' might occur with ,,Positioning ramp type'' ). If this is the case, select a different ,,Positioning ramp type''

  
  
  

• Trapezoid SRU (0x02)
  The movement profile is calculated on the basis of a trapezoid. The travel time cannot be calculated (This is due to the pneumatics, as their effect on the travel time cannot be accurately determined in advance.).

• No Ramp (0x03)
  With this option, no path profile is calculated, but the position jump is set. It can thus be used for the automatic configuration of the controller. If the jump is set as default, the controller parameters must be adjusted accordingly.

Data: (3 bits) 0 .. 7

Trapezoid profile

Jerk limitation

Start Program On Boot

Access rights: Advanced
Description: When the module is switched on, the program stored in the EPROM is started immediately in line ,,0''.

The module might begin to move even if no control system is connected.

The program starts as soon as the communication interface is available, therefore RS232 should be set as a bus system. With all other bus systems, the module begins only to move after an active master has been found.

Data: (Bool) TRUE / FALSE

Endless

Access rights: Profi
Description: The axis can be rotated endlessly.
Data: (Bool) TRUE / FALSE

This option is not recommended for grippers!

Digital In Usage

Access rights: Profi
Description: Digital inputs are used.

• Normal (0x00)
  Digital inputs can be switched externally without affecting the module. They can be queried at any time with ,,CMD DIO''.
• Program (0x01)
  Pre-programmed ,,phrases'' can be executed. Before the very first phrase can be executed, all inputs must be set to ,,low''. Subsequently, up to 7 program phrasescan be selected. Input 1 is used for ,,executing''. The positions of the inputs 2 to 4 are only accepted, if rising edge at input 1 is used. If only input 1 is set, a reference movement is executed.
  

  Switching sequence:
  1. Set all inputs to ,,low''.
  2. Set inputs 2, 3, 4 to a required state (see the table below).
  3. Change input 1 to ,,high''.
  

  	Input 1	Input 2	Input 3	Input 4	Action
  MPC	IN 0	IN 1	IN 2	IN 3
  MCS	DI 1	DI 2	DI 3	DI 4
  	low	low	low	low	Reset (no action)
  	low->high	low	low	low	Referencing
  	low->high	high	low	low	Program phrase 0
  	low->high	low	high	low	Program phrase 1
  	low->high	high	high	low	Program phrase 2
  	low->high	low	low	high	Program phrase 3
  	low->high	high	low	high	Program phrase 4
  	low->high	low	high	high	Program phrase 5
  	low->high	high	high	high	Program phrase 6

  If external switches are activated ,,program'' mode is no longer available

  
  
  

Data: (3 bits) 0 .. 7

Digital Out Usage

Access rights: Profi
Description: Digital outputs are used.

• Normal (0x00)
  Digital outputs can be set with ,,CMD DIO''.

• State + Moving OUT2 (0x01)
  The module status is signalled to the digital outputs. OUT2 indicates a moving module.
  

  	MPC	MCS	Module state when ,,low''
  Output 1	OUT0	DO1	Referenced
  Output 2	OUT1	DO2	Error
  Output 3	OUT2	DO3	Moving
  Output 4	OUT3	DO4	Move end

• State + Position Reached OUT2 (0x02)
  The module status is signalled to the digital outputs. OUT2 indicates that module reaches a target position.
  

  	MPC	MCS	Module state when ,,low''
  Output 1	OUT0	DO1	Referenced
  Output 2	OUT1	DO2	Error
  Output 3	OUT2	DO3	Target position reached
  Output 4	OUT3	DO4	Move end

• State + Brake OUT2 (0x03)
  The module status is signalled to the digital outputs. OUT2 indicates the state of the brake.
  

  	MPC	MCS	Module state when ,,low''
  Output 1	OUT0	DO1	Referenced
  Output 2	OUT1	DO2	Error
  Output 3	OUT2	DO3	State of the brake
  Output 4	OUT3	DO4	Move end

• State + Warning OUT2 (0x04)
  The module status is signalled to the digital outputs. OUT2 indicates a warning.
  

  	MPC	MCS	Module state when ,,low''
  Output 1	OUT0	DO1	Referenced
  Output 2	OUT1	DO2	Error
  Output 3	OUT2	DO3	Warning
  Output 4	OUT3	DO4	Move end

• State + Phrase Mode OUT2 (0x05)
  The module status is signalled to the digital outputs. OUT2 indicates that module is in ''program mode''.
  

  	MPC	MCS	Module state when ,,low''
  Output 1	OUT0	DO1	Referenced
  Output 2	OUT1	DO2	Error
  Output 3	OUT2	DO3	Program mode
  Output 4	OUT3	DO4	Move end

Data: (3 bits) 0 .. 7

Analog OUT Usage

Access rights: Profi
Description: The analog output (0 - 10V) is used.

• None (0x00)
  not used => 0V
• Position (0x01)
  Position is converted to an analog value
  Position 0.0 .. 5V
  Maximum absolute values of minimum and maximum positions are converted to 0V or 10V respectively. Example: minimum position is -5.0, maximum position is +10.0 => position = 0 [V], +10.0 = 10.0 [V], -5.0 = 2.5 [V]
• Speed (0x02)
  velocity is converted to an analog value
  Maximum negative velocity 0V
  Standstill 5V
  Maximum positive velocity 10V
• Current (0x03)
  0A => 0V
  Maximum current = 10V
• Maximum (0x04)
  Analog output 10V

Data: (3 bits) 0 .. 7

Internal Switch Usage

Access rights: Profi
Description: Use of internal digital inputs (hardware stop1 (SW1) and hardware stop2 (SW2))

• No Switch (0x00)
  not used

Data: (2 bits) 0 .. 3

ID

Access rights: User
Description: Unique module identification. See also SET CONFIG.
Data: (UInt8) 0 .. 255

Group

Access rights: User
Description: Unique group identification of the module See also SET CONFIG. With Profibus, the "Real No Add Change" is stored here.
Data: (UInt8) 0 .. 255

RS232 Baud Rate

Access rights: User
Description: Baud rate of RS232. Values: 1200, 2400, 4800, 9600, 19200, 38400. See also SET CONFIG.
Data: (UInt16) 0 .. 65535

CAN Baud Rate

Access rights: User
Description: Baud rate of CAN. Values: 50, 100, 125, 250, 500, 1000. Siehe auch SET CONFIG.
Data: (UInt16) 0 .. 65535

Min. Position

Access rights: Profi
Description: Minimum permissible position (software limit). Is ignored, if ,,endless'' is set. Used for referencing with "stroke monitoring.
Data: (4 bytes) Configured in the preset unit system.

Max. Position

Access rights: Profi
Description: Maximum permissible position (software limit). Is ignored, if ,,endless'' is set. Used for referencing with "stroke monitoring.
Data: (4 bytes) Configured in the preset unit system.

Tow Error

Access rights: Profi
Description: Towing error. This value may not be exceeded during a positioning movement. If the value is exceeded, an error occurs (,,ERROR TOW'').
Data: (4 bytes) Configured in the preset unit system.

Min. Temperature

Access rights: Advanced
Description: Minimum permissible working temperature. If the temperature drops below this value, an error occurs (,,ERROR TEMP LOW'').
Data: (Float) [°C]

Max. Temperature

Access rights: Advanced
Description: Maximum permissible working temperature. If this value is exceeded, an error occurs (,,ERROR TEMP HIGH'').
Data: (Float) [°C]