Warp let-off / take-up - 慧聪网img00.b2b.hc360.com/pic-0/handbook-pic-1/0-1-696901.pdf · General description 10 Warp let-off / take-up Doc. no. 00 4411 13 139 NOTE The devices

EquipmentWDP3-Servotex, PR602.00

Warp let-off / take-up

Id. No. : 00 4411 13 139

Author : Roland SchaumburgEdition : December 1999

Safety Precautions

Read the following safety information prior to installation, operation, maintenance and repair of theunit.

• The unit may only be used for the purposes described in the chapter "Application" of thismanual.

• Installation, maintenance and repair may only be performed by a trained technician.Observe the applicable local and state legislation of your country:– Guidelines on the prevention of accidents– Installation of electrical and mechanical facilities– Noise suppression

• The unit should only be operated by trained staff. SIG POSITEC offers special training.

• The warranty will be void if you change the unit without prior consent of the manufacturer, ifyou open it or if you tamper with it in any other way.

• Always contact your SIG POSITEC technical consultant before adding or installingaccessories.

• Always observe the safety symbols in this manual and the safety labels attached to thedevice.

Description of symbols/labels

ATTENTIONInformation on risks to the device or parts of the unit; may imply dangerto users.DANGERInformation on immediate danger to user.

DANGERDanger due to high voltage at component.

NOTEImportant or additional information concerning the device or the manual.

Contents

Warp let-off / take-up Doc. no. 00 4411 13 139

Contents

1 GENERAL DESCRIPTION ............................................................................................... 6

1.1 Application .............................................................................................................................................. 6

1.2 System description ................................................................................................................................ 61.2.1 Preface .............................................................................................................................................. 61.2.2 Function............................................................................................................................................. 61.2.3 Controls, indicators and connectors WDP3-Servotex....................................................................... 7

1.3 Specifications ......................................................................................................................................... 91.3.1 Electrical data.................................................................................................................................... 91.3.2 Regulations ..................................................................................................................................... 111.3.3 Mechanical data .............................................................................................................................. 111.3.4 Environment conditions................................................................................................................... 11

2 INSTALLATION.............................................................................................................. 12

2.1 Supplied components.......................................................................................................................... 12

2.2 Mounting ............................................................................................................................................... 12

2.3 Wiring .................................................................................................................................................... 132.3.1 Mains connection ............................................................................................................................ 132.3.2 Motor connection............................................................................................................................. 152.3.3 Motor encoder interface .................................................................................................................. 162.3.4 Main shaft encoder- and CAN-interface.......................................................................................... 172.3.5 Signal interface ............................................................................................................................... 17

3 OPERATION................................................................................................................... 19

3.1 Switching on/off.................................................................................................................................... 19

3.2 General .................................................................................................................................................. 19

3.3 I/O signals ............................................................................................................................................. 20

3.4 Software download .............................................................................................................................. 213.4.1 Basic domain protocol for software download via CAN .................................................................. 21

3.5 Read and write drive parameters........................................................................................................ 233.5.1 Multiplexed domain protocol for initialisation parameter................................................................. 233.5.2 Product identification....................................................................................................................... 253.5.3 Software version ............................................................................................................................. 263.5.4 Customer identification.................................................................................................................... 263.5.5 Log message selection ................................................................................................................... 263.5.6 Motor specific .................................................................................................................................. 273.5.7 Loom mechanic parameter ............................................................................................................. 283.5.8 Setup speed for manual and automatic movement ........................................................................ 283.5.9 Setup densities and sensor references........................................................................................... 283.5.10 Adjustment of the warp tension regulation (let off only) .................................................................. 303.5.11 Drive internal settings...................................................................................................................... 333.5.12 Duration of block take up function................................................................................................... 353.5.13 Service and fabric counters............................................................................................................. 35

Contents

Warp let-off / take-up Doc. no. 00 4411 13 139

3.5.14 Start mark compensation.................................................................................................................363.5.15 Examples for compensation of start marks .....................................................................................39

3.5.15.1 Start mark compensation by position offset for the fabric in µm.................................................393.5.15.2 Start mark compensation by position offset for the fabric in % of density ..................................403.5.15.3 Start mark compensation by warp tension offset (as beam position offset in µm) .....................413.5.15.4 Start mark compensation by warp tension offset (as beam position offset % of density............42

3.5.16 Adjustment of movement in slow motion .........................................................................................433.5.17 Master/Slave mode (let off driven with 2 motors) ............................................................................44

3.6 Drive status............................................................................................................................................46

3.7 Actual warp tension..............................................................................................................................48

3.8 Loom start/stop.....................................................................................................................................493.8.1 Loom start ........................................................................................................................................493.8.2 Loom stop ........................................................................................................................................49

3.9 Set density and sensor reference .......................................................................................................50

3.10 Manual movement.................................................................................................................................51

3.11 Automatic movement ...........................................................................................................................523.11.1 Move fabric to position in mm..........................................................................................................523.11.2 Move beam to a sensor level...........................................................................................................523.11.3 Start mark compensation: prepare weft 0 for start ..........................................................................53

3.12 Block take up.........................................................................................................................................55

3.13 Fabric counter .......................................................................................................................................56

3.14 Service counter .....................................................................................................................................56

3.15 Drive internal CAN object.....................................................................................................................56

4 ERROR HANDLING........................................................................................................ 57

4.1 LEDs at the drive...................................................................................................................................57

4.2 Watchdog...............................................................................................................................................57

4.3 Operation errors....................................................................................................................................58

4.4 Creating a log file for error analysis ...................................................................................................59

4.5 Error code ..............................................................................................................................................594.5.1 Nuova Vamatex error code..............................................................................................................604.5.2 Sulzer Tessile error code.................................................................................................................614.5.3 Explanation to errors........................................................................................................................62

5 APPENDIX ...................................................................................................................... 65

5.1 Module Data Sheet - Part B ..................................................................................................................67

5.2 Module Data Sheet - Part C ..................................................................................................................73

General description

6 Warp let-off / take-up Doc. no. 00 4411 13 139

1 General description

1.1 Application

The electronic let off and take up are made to drive the warp beam and take up roller on looms:• let off keeps the tension of warp constant• take up realize a precise and on the fly changeable weft density• relax the tension during loom stop time• manual move for easy change of warp beam and cloth• compensation of start marks• lanceé function (temporary stop of take up)

1.2 System description

1.2.1 Preface

This manual is made for specification, installation, use and trouble shooting of electronic let off / takeup application.

System overview

1.2.2 Function

Electronic let off and take up work as gearboxes with adjustable gear ratio. The gear is set betweenthe main shaft and the warp beam resp. take up roller. It manages the motion of warp and cloth. Thegear ratio of take up is changed with the weft density and -in case of start marks- during the startingperiod to compensate mechanical transient effects of the loom. The gear ratio of let off additionally ischanged on each weft for regulation of warp tension. Manual and automatic motion is available forrelax the tension or changing cloth or warp beam: let off and take up works as speed controlledpositioning system. All parameter for motion (acceleration, speed, distance) are user adjustable.

Take upWarp control

Encoder Clutch

Comb

Shafts

Shed

TensionsensorSpring

Compensatorroller

CAN

Warp beam Clothbeam

Let off

Take upLet offmotor

Take upmotorMain

motor

Let off drive

Take up drive

A/B/I

Loom control

General description

Warp let-off / take-up Doc. no. 00 4411 13 139 7

1.2.3 Controls, indicators and connectors WDP3-Servotex

ERROR / READY green LED ready / red LED error

REF.ENC. reference position encoder (15p Sub-D-female connector)with CAN

MOT.ENC motor encoder (15p Sub-D-female connector)

SIGNAL signals (I/O's) (15p Sub-D-female connector)24VDC 24VDC supply

POWER green power LED

U, V, W, PE motor connection (4p terminal)

DC+, DC-, PE DC power supply (3p terminal)

Front view

U

V

W

DC+

DC-

PE

SIGNAL

24V DC

MOT. ENC.

REF. ENC.

ERROR / READY

POWER

WDP3 SERVOTEX

PE

General description


READY / ERROR green LED readiness / red LED errorREADY (gn) indicates, that the drive is ready to work.ERROR (rd, flashing) indicates a pending fatal error.Note: during software download the LEDs are used for different functions.

REF.ENC. reference position encoder (15p Sub-D-female connector) with CANThe CAN interface is the communication line to the loom main control and other CAN connecteddevices. The main shaft encoder monitors the position of the loom including a zero degrees signal.

MOT.ENC. motor encoder (15p Sub-D-female connector)The motor encoder monitors the position of the servomotor working in closed loop.

SIGNAL, 24VDC signals (I/O's), 24VDC supply (15p Sub-D-female connector)The drive address is coded by 2 digital inputs. The drive control is supplied by 24VDC

POWER green power LEDIndicates the DC power supply for the motor.

U,V,W, DC-,DC+,PE motor connection (4p terminal), DC power supply (3p terminal)Connection to motor and power supply from 325VDC

General description


1.3 Specifications

1.3.1 Electrical data

Mains connectionSupply voltage nom: 325VDC min. 260VDC max. 360VDC

NOTEWhen rising the supply voltage the undervoltage protection will trip at appr.195VDC. When switching off the undervoltage protection will trip atappr.175VDC. During braking operation of the drive the overvoltage protectionwill trip at appr. 435V.

Power loss max. 100W

NOTEThe power loss depends on the motor current. At rated nominal load (6Nm) it isappr. 100W. The over temperatur protection will shut off the power stage atappr. 70°C. It is measured at the mounting flange of the power transistors.

Overvoltage stability acc. to DIN VDE 0160 Class 1

Nominal power consumption:

Power Consum ption (Exam ple)

0

500

1000

1500

2000

2500

3000

3500

50 100 200 500 1000 2000 3000 4000

RPM

W

6 Nm

4 Nm

2 Nm

1 Nm

The power consumption of the drive depends on the demanded power (speed ∗ torque).The table above shows one measurement.

Leakage currents On the driver, there is a capacitor of 6.8nF connected between DC- and earth.

External fuse 13A at AC-Input of ext. Powersupply

Cable-Length max. 0,5 m twisted pair, a minimum capacitor of1500µF must be connected in parallel to the supplyvoltage.

General description


NOTEThe devices may only be operated with fuse protection as specified above.If necessary, use r.c.c.b. protection according to DIN VDE 0664 part 1/10.85

System supply via signal interfaceSupply voltage 20 VDC to 30 VDCPower consumption max. 0,8 ARipple voltage < 2 Vcc

NOTEThe 24 V voltage supply must meet the specifications of the DIN standard VDE 0160 on safetyextra-low voltage.

Motor connectionPhase current max. 32A, 8A continiousMotor voltage 3 x 325 VDC (connected to mains)Motor cable (observe EN 60204 standard)Length max. 5 mWire cross-section ≥ 1.5 mm²Shield connection on both sides

DANGERThe motor cable and the Hall-encoder cable inside the motor shall be definitelyseparated. In case of short-circuit the device will be destroyed.

Signal interface inputsPolarity reversal protected, hardware debounce (settling time 0.8 ms to 1.5 ms)Signal voltage level Uhigh 15 VDC to 30 VDCSignal voltage level Ulow < 5 VDCInput current at 24 VDC 7 mA

ATTENTIONThe signal inputs and the 24 VDC supply voltages at the signal connection must bedefinitely isolated from mains.

Signal interface outputs Q1 - Q3 (optional)Inductive loadability, short-circuit protectedMaximum output voltage 30 VDCMaximum switching current 50 mAVoltage drop at 50 mA 2 VLeakage current 0,2VSignal interface output Q0 (optional)Maximum Relays output voltage 30VMinimum Relays switching current 1 mAMaximum Relays switching current 1 A

Motor encoder + hall - interfaceSignal inputs A, B, RS 422 -levelPower supply output 5 VDC ± 10%Maximum current 200 mAMaximum cable length 5 mWire cross-section 2x0.5mm² and 6x2x0.25 mm²

Hall - signalsPower supply output 5 VDC ± 10%Maximum current 55 mAMaximum cable length 5 m

General description


Shield connection on both ends

Main shaft encoder interfacesignal inputs A, B, I, RS 422 - levelPower supply not provided by the driveShield connection on both ends

Device protectionProtection and monitoring circuits: Power amplifier overtemperature, motor lead short-circuit,undervoltage and overvoltageType of protection IP 20 acc. to EN 60529: 1991

1.3.2 Regulations

Machinery directiveInsofar as the machinery corresponds to the machinery directive 89/392/EEC and the configurationmeets the EMC test conditions specified by SIG POSTEC BERGER LAHR, conformity with themachinery directive is hereby certified.

EMC directiveIn a configuration which meets the EMC test conditions specified by SIG POSTEC BERGERLAHR, conformity with the following standards can be certified in accordance with the EMCdirective 89/336/EEC:Radio interference suppression according to EN 50081-2: 1993(when using a mains filter)Static discharge according to EN 60801-2: 1993, class 4Burst according to IEC 801-4: 1988, class 4

Low-voltage equipment directivePursuant to the low-voltage equipment directive 73/23/EEC, the products are conformity with thefollowing standards:Protection class 1 acc. to prEN 50178: 1994Overvoltage Category III acc. to prEN 50178: 1994Contamination Grade 2 acc. to prEN 50178: 1994

1.3.3 Mechanical data

Dimensions 270 x 178 x 52 mmWeight approx. 3200 g

1.3.4 Environment conditions

Ambient temperature 0°C to +50°CStorage temperature -25°C to +70°C

Installation


2 Installation

2.1 Supplied components

Check the supplied components for completeness.

The delivery contains one or more of the components listed:- Drive WDP3-Servotex ID: 635 938 00 109 (for VAMATEX)

ID: 653 938 00 209 (for SULZER)- Motor SER 3111S ID: 569 270 19 000 (for VAMATEX)

ID: ___ ___ __ ___ (for SULZER)– Motor SER 31117 ID: 569 280 15 600 (for VAMATEX)

ID: 569 280 19 100 (for SULZER)- This manual ID 00 4411 13 139

2.2 Mounting

DANGERThe supply voltage must be disconnected whenever assembly work is carried out.

ATTENTIONReference to a danger for the device or components, possibly resulting in theendangering of human lifeDANGERReference to a direct endangering of human life.

The unit should be installed vertically in a control cabinet and may have to be ventilatedexternally.Fasten some ground strap supplied at the bottom front of the unit with screws and connect it to agrounded part of the control cabinet.

ATTENTIONClean air supply must be ensured in the control cabinet.

VentilationThe WDP3-Servotex positioning controller can be operated without ventilation up to medium phasecurrent of 3.7 A and an ambient temperature of 50°C. If this values are exceeded or if an errormessage indicates overtemperature, the unit must be ventilated externally.

Accessory fanThe fan on the WDP3-Servotex unit must be mounted at the bottom. The airstream must passthrough the unit from bottom up. The arrow on the fan indicates the direction of the airstream if thefan is connected correctly (red = 24 VDC, black = 0 V).Fasten the fan with 4 screws at the bottom of the unit after having cut out the grille. Connect the fanto the external 24 VDC voltage supply.

NOTEEnsure that the airstream in and around the unit is unobstructed.

Installation


2.3 Wiring

DANGERThe supply voltage must be disconnected whenever wiring work is carried out.The motor connection is internally linked to the supply connection (325VDC).

ATTENTIONWiring work may only be carried out in accordance with DIN standard VDE 0105 bytrained personnel.Run and shield power, motor and signal cables separately.Free, unassigned pins must not be wired.NOTESee chapter 1.3 for technical data of the individual connections and interfaces.

NOTEShield connection on both ends ensures optimum protection against interference for digitalsystems. However, it must be noted that differential potentials (in particular in case ofsupply from different sources) may cause inadmissible currents in the shields. Suchinterfering currents can be avoided by using 16 mm² Cu for bonding lines.

2.3.1 Mains connection

1. Provide cable ends with wire end ferrules

2. Screw down lead wires and check if correctly fastened: DC+ Intermediate circuit voltage + DC- Intermediate circuit voltage - PE Protective conductor

NOTEThe supply cable must be twisted, max. length 0.5m.

DANGERIf wiring tasks are executed no voltage shall be applied. The connector of the motor isconnected with the connector of the supply (325V).

ATTENTIONMotor cables and signal cables shall be layed and shielded separately. The power driveshall be protected by means of an external fuse.Mains power cable and motor cable shall be correctly screwed down at the device.

DC+

DC-

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2.3.2 Motor connection

DANGERIf wiring tasks are executed no voltage shall be applied. The connector of the motor isconnected with the connector of the supply (325V).Never dismantle motors!Ensure that connector screw locking ring is tightened!For safty reasons and in order to guarantee interference suppression, the motor has tobe connected to a ground conductor!Motors heat up during operation. Therefore, please ensure sufficient heat dissipation!When mounting the pinion, pulley etc. on the shaft please support the shaft from behind!When connecting or disconnecting the motor, the driver must be switched off!

Device end:

1. Provide cable ends with wire end ferrules

2. Screw down lead wires and check if correctly fastened:U Motor phaseV Motor phaseW Motor phasePE Protective conductor

Motor end:

Pin Designation1 U2 V3 W4 nc5 nc

Shield tracer

U

V W

WPE

VU

Installation


ATTENTIONConnect the shield on both the motor end and the device end. Take care that the shieldat the motor end covers the power lines completely.Motor cables and signal cables shall be layed and shielded separately.The power drive shall be protected by means of an external fuse.Mains power cable and motor cable shall be correctly screwed down at the device

2.3.3 Motor encoder interface

1. Solder the wirings to the connector according to wiring diagram.

Pin MOT.ENC.connector(15 pol. Sub-Dmale con.)

Note

1 A for RS422 transmitter inside the motor encoder2 5VDC 5 V supply for encoder (0,5mm²)3 5VGND for encoder (0,5mm²)45 /B B inverted for RS422 transmitter inside the motor encoder6 HALL_GND7 TEMP_MOTN bimetal switch (normal closed)8 R Hallsensor9 /A A inverted for RS422 transmitter inside the encoder101112 B for RS422 transmitter in the encoder13 S Hallsensor14 TEMP_MOTP bimetal switch (normal closed)15 T Hallsensor

2. Push back shield and fix it with cable tie.3. Insert two threaded bolts into connector shell4. Insert connector into one half of the connector shell5. Screw down cable and shield with strain relief at the connector shell

ATTENTIONA good electric connection between shield and connector shell has to be establihed.The cables shall be shielded on both sides !Take care that the shield covers the signal lines completely.

ATTENTIONThe 5V supply voltage for the motor encoder is not short-circuit protected !

6. Fasten both halfs of the connector shell with two screws7. Screw down connector on front panel

NOTEThe female connector of the device has a M3 screwing.Voltage supply for Hall sensors and encoder 5V (±10%), Iccmax 200mA is short-circuitprotected for 3 s, no overload protection.In case of a short-circuit all control functions will break down (communication, saving ofdata, motor,...).The shield of the signal cable is connected to the connector shell of devices and motor.The signal cables of complementary signals are twisted in pairs.The cable diameter of the encoder supply has to be 0.5mm².

Installation


2.3.4 Main shaft encoder- and CAN-interface


Pin REF.ENC.connector(15 pol. Sub-Dfem. con.

Note

1 A for RS422 transmitter inside the reference encoder23 5VGND GND for encoder and CAN45 /B B inverted for RS422 transmitter inside the reference encoder6 /I I inverted for RS422 transmitter inside the reference encoder78 CAN_L CAN low (serial communication network)9 /A A inverted for RS422 transmitter inside the reference encoder101112 B B for RS422 transmitter inside the reference encoder13 I I inverted for RS422 transmitter inside the reference encoder1415 CAN H CAN high (serial communication network)


ATTENTIONA good electric connection between shield and connector shell has to be establihed.The cables shall be shielded on both sides !


NOTEThe female connector of the device has a M3 screwing.There is no voltage supply for external unit.CW-rotation at leading / trailing A-edge and before leading / trailing B-edge.The shield of the signal cable is connected to the connector shell.The signal cables of complementary signals are twisted in pairs.

2.3.5 Signal interface


Pin SIGNAL 24VDCconnector(37 pol. Sub-Dfem. con.

Note

10 ADDRESS 21 node address MSB (chapter 3.3)16, 17 24VDC supply voltage for drive controller18, 19 IO24VDC supply voltage for I/O (address signals)29 ADDRESS 2° node address LSB (chapter 3.3)35, 36 24VGND supply ground

Installation



ATTENTIONA good electric connection between shield and connector shell has to be establihed.The cables shall be shielded on both sides !Free, unassigned pins must not be wired.


NOTEThe female connector of the device has a M3 screwing.The shield of the signal cable is connected to the connector shell.Connect system supply voltage ground to protective ground at one point only to avoidground loops.The 24 V voltage supply must meet the specifications of the DIN standard VDE 0160 onsafety extra-low voltage.Supply voltage: min. 20 V, max. 30 V, ripple voltage < 2 VssInputs: nom. current <15mA at 24V, low at <3V or currents <1mA, high at >15V (max.30V)

DANGERAll signal connections must be definitely isolated from mains. The voltage towardsground must not exceed 60 VDC. All signal circuits are internally grounded via a1 MOhm bleed resistor.

Operation


3 Operation

3.1 Switching on/off

Switching on

1. Switch on the mains voltage for the drives.

2. Switch on the 24VDC supply for the drives.

3. The drives perform a self-test (takes about 3 seconds).When no error was found during the self test, the green READY-LED and the green POWER-LEDare on. In case of error see chapter 4.1.

Switching off

Switch off the mains voltage for the drives and the 24V supply.

ATTENTIONThe motor connected to a drive is de-energised when the mains voltage or the 24Vsupply voltage is switched off, i.e. the motor no longer has a holding torque.

3.2 General

The Servotex drive is a fieldbus based system. All the communication to the loom main control isbased on CAN (Controller Area Network). There is no I/O except 2 inputs for the drive address. Thecommunication via CAN follows the standard CAL (CAN Application Layer). In this standard all objectsare described, which are used from the loom software. For software design on the loom maincontroller this document is useful:Title: CAN Application Layer for Industrial Applications

CiA Draft Standard 201 ... 207 Version 1.1Author: CAN in Automation (CiA) International Users and Manufacturers Group e.V.

Am Weichselgarten 26, D-91058 Erlangen, Phone: +49 9131 69086,Fax: +49 9131 6908670, Internet: www.can-cia.de

More information about CAN you can find at:www.stzp.de www.ixxat.de www.vector-informatik.de

State machine:

The software control is realised in a state machine. After power on the hardware is checked. Thisneeds about 3 seconds. The communication works, when the drive status is INIT. The drive initialisesthe data and changes the status to IDLE. After reception of the start-message (chapter 3.8.1) thestatus is RUNNING. After reception of the stop-message (chapter 3.8.2) the status returns to IDLE.Alternative the status switches to MANUAL respective AUTOMOVE when a corresponding message isreceived (chapter 3.10 resp.3.11). When the manual- resp. automatic movement is finished, the statereturns to IDLE. In case of a fatal error, i.e. an error which forces the motor to block, the statusswitches to ERROR. The only way to reach status IDLE coming from ERROR is to switch off and onthe power.

Operation


INIT0

IDLE1 2nd let off only

MANUAL RUNNING AUTOMOVE MASTER/SLAVE3 2 4 6

ERROR5

Status name Status No.INIT 0IDLE 1RUNNING 2MANUAL 3AUTOMOVE 4ERROR 5MASTER/SLAVE 6

Note: higher status no. are intermediate status, which remain temporarily.

3.3 I/O signals

The only I/O-signals are the address inputs. The node address indentifies the drive as take up, 1st letoff, 2nd let off or 3rd let off:

drive nodeaddress

37pin con.pin 10

37pin con.pin 29

take up 0 0V 0Vlet off 1 1 0V 24Vlet off 2 2 24V 0Vlet off 3 3 24V 24V

NOTEInput voltage level Uhigh ("24V") 15 VDC to 30 VDCInput voltage level Ulow ("0V") < 5 VDCOpen inputs are read as "low"

Operation


3.4 Software download

The drives are delivered with an operating system software which allows a download of an applicationsoftware like the loom specific software which is described here.Optional the loom software is already downloaded by the producer.

You can see if the drive contains the loom software from the green READY- and the red ERROR-LED:

State READY(green LED)

ERROR(red LED)

without loom software on flashingwith loom software, no error on offwith loom software, error found off flashing

For download the 24VDC power supply and the CAN must be connected. Via CAN the download ismanaged by the Basic Domain Protocol described in the CAN Application Layer from CiA.The LEDs shows the actual state:


ERROR(red LED)

download busy flashing offdownload finished on on

After the download the drive is ready with the next power on.

3.4.1 Basic domain protocol for software download via CAN

The CAN object are messages, sent to the bus (11bit identifier, max. 8 data bytes). The identifiers,used for the software download are:

COB ID(CAN Object Identifier)

take up let off 1 let off 2 let off 3

Id client (used by loommain control)

0x711 0x712 0x713 0x714

Id server (used byServotex drives)

0x71A 0x71B 0x71C 0x71D

Note: the leading "0x" indicates a hexadecimal valueFor example, the Id 711 is used by the loom main controller, when it sends an object to take upand take up answers using 71A for identifier.

The loom main controller first initiates the download and the drive confirmes this request.After confirmation the loom main controller sends one data segment after the other and waits forconfirmation after each segment until the last segment is sent.In case of error loom main control respective the drive sends an "Abort Domain Transfer"- message.The loom software, which has to be downloaded is saved in the data file "0promaw.fli".

1. Initiate download domain

Client0 1 4 77..5 ccs=1 4..1 x 0 s reserved lsb n msb

ccs = 1: initiate download requests = 1: data size indicatedn : datalength (number of bytes from the file 0promaw.fli)x : not used, always 0

Initiate download request:byte0 0x21

Operation


byte1 0x00byte2 0x00byte3 0x00byte4 datalength byte3 (lsb)byte5 datalength byte2byte6 datalength byte1byte7 datalength byte0 (msb)

Datalength is the number of bytes from the file 0promaw.fli.

Server0 1 77..5 scs=3 4..0 x reserved

scs = 3 : initiate download responsex : not used, always 0

Initiate download response:byte1 = 0x60

It takes some seconds to send back the response message, because after receiving the request, thedata of flashprom will be erased.

2. Download domain segment

Client0 1 77..5 ccs=0 4 t 3..1 n 0 c seg-data

Server0 1 77..5 scs=1 4 t 3..0 x reserved

ccs = 0 : download segment requestscs = 1 : download segment responseseg-data : at most seven bytes of segment data to be downloaded.n : indicates the number of bytes in seg-data that do not contain segment data.c : indicates whether there are still more segments to be downloaded.

0 = more segments to be downloaded1 = no more segments to be downloaded

t : toggle bit. This bit must alternate for each subsequent segment that is downloaded.The first segment will have the toggle-bit set to 0. The toggle will be equal for therequest and the response message.

x : not used, always 0

Example (n=0: byte 1 ... 7 used for segment data):

Client Server----------------------byte1 = 0x00------------------------->Download Domain Segment (t=0, c=0)<--------------------byte1 = 0x20-------------------------------------------------byte1 = 0x10------------------------->Download Domain Segment (t=1,c=0)<--------------------byte1 = 0x30-------------------------------------------------byte1 = 0x00------------------------->Download Domain Segment (t=0,c=0)<--------------------byte1 = 0x20---------------------------

|||

------byte1 = 0x01 or byte1 = 0x11------------------->Download Domain Segment (t=?,c=1)<----byte1 = 0x20 or byte1 = 0x30---------------------

Operation


3. Abort domain transfer

If during download an error occurs the download is stopped by the abort message.Client/Server0 1 2 77..5 cs=4 4..0 x f d

cs = 4 : abort domain transferf = 128 : d contains application specific information about the reason for the abortd : error numbers:

0x22: flash checksum error0x23: flash write error0x24: flash sector erase error0x25: flash timeout error0x26: flash bytecount error0x27: flash program fail

0x80: domain toggle bit error0x81: wrong header (byte1) received0x82: numbers of data not correct0x83: protokoll error ( bit c in download domain segment not correct )

Example (abort, because the numbers of data is not correct)Abort domain transfer:

byte1 = 0x80byte1 = 0x80byte1 = 0x82

NOTEIf the download was stopped by abort from the drive, there is no valid loom software in thedevice.

3.5 Read and write drive parameters

Some machine parameters like the ratio of the gear boxes and diameter of beam and take up rollermust be initialised. Further some textile parameters like density must be initalised.Each drive is server for a table of parameters. This parameters, which are normally not changedduring running of the loom are accessable (read/write) by a "Multiplexed Domain Protocol". Thisprotocol uses two COB's (CAN Objects) for each drive, one for each direction of transmittion. Using anindex (16bit) and a subindex (8bit), a nearly unlimited count of different data are accessable withresponse at each access and with only one transmittion in each direction. (This philosophy follows theidea of CANopen.)The access is possible at drive status IDLE (most of them read and write). Some parameters areaccessible also at other stati.The multiplexor data type is a struct of unsigned(16) #index, unsigned(8) #subindex. The data type isdifferent for each parameter.

Note, that some of the parameters are read only (e.g. Software-Version) and some are write only (e.g.for manual movement) and some are without valid data, just to trigger some function (e.g. erroracknowledgement).

3.5.1 Multiplexed domain protocol for initialisation parameter

Two COB's (CAN Objects) are used for each drive, one for transmittion by the loom control and onefor transmittion by the drive:

COB name (CAN Object name):

Operation


take up let off 1 let off 2 let off 3#take_data #let1_data #let2_data #let3_data

Note: in this manual the 4 object names are summarized in the name #unit_data.

COB ID (CAN Object Identifier):

take up let off 1 let off 2 let off 3Id client (used by loommain control)

0x171 0x172 0x173 0x174


0x17A 0x17B 0x17C 0x17D

Note: the leading "0x" indicates a hexadecimal valueFor example, the Id 171 is used by the loom main controller, when it sends an object to take upand take up answers using 17A for identifier.

Write of parameter: the loom main controller initiates the download by an expedited transfer containingthe address of the parameter (index, subindex) and the data. The drive confirmes.Read of parameter: the loom main controller initiates the upload by an expedited transfer containingthe address of the parameter (index, subindex). The drive confirmes, containing the data.Beside the Initiate Domain Download and Upload Protocol in expedited transfer mode no otherProtocol (Segment, Abort) is used.

1. Initiate domain download in expedited transfer

Client0 1 3 4 77..5 ccs=1 4 x 3 .. 2 n 1 e 0 s ind. subind. lsb d msb

ccs = 1: initiate download requestx : not used, always 0n : number of bytes in d that do not contain datae = 1 expedited transfer (i.e. object contains the data)s = 1 data size is indicatedind. : multiplexor. index (ind.) addresses the parameter groupsubind. : multiplexor. subindex (subind.) addresses the parameter number inside a parameter groupd : d contains the data (1 byte if n=3; 2 bytes if n=2; 3 bytes if n=1; 4 bytes if n=0)

Initiate download request (2 byte data):byte0 0x2Bbyte1 index (msb; 0x00 if index < 256)byte2 index (lsb)byte3 subindexbyte4 data (msb)byte5 data (lsb)

Initiate download request (1 byte data):byte0 0x27byte1 index (msb; 0x00 if index < 256)byte2 index (lsb)byte3 subindexbyte4 data

Server0 1 3 4 77..5 scs=3 4..0 x ind. subind. reserved

scs = 3 : initiate download responsex : not used, always 0ind. : multiplexor. index (ind.) addresses the parameter groupsubind. : multiplexor. subindex (subind.) addresses the parameter number inside a parameter group

Initiate download response:byte1 = 0x60

Operation


byte2 index (lsb)byte3 subindex

2. Initiate domain upload in expedited transfer

Client0 1 3 4 77..5 scs=2 4..0 x ind. subind. reserved

scs = 2 : initiate upload requestx : not used, always 0ind. : multiplexor. index (ind.) addresses the parameter groupsubind. : multiplexor. subindex (subind.) addresses the parameter number inside a parameter group

Initiate upload request:byte1 = 0x40byte2 index (lsb)byte3 subindex

Server0 1 3 4 77..5 ccs=2 4 x 3 .. 2 n 1 e 0 s ind. subind. lsb d msb

ccs = 2: initiate upload responsex : not used, always 0n : number of bytes in d that do not contain datae = 1 expedited transfer (i.e. object contains the data)s = 0 data size is not indicatedind. : multiplexor. index (ind.) addresses the parameter groupsubind. : multiplexor. subindex (subind.) addresses the parameter number inside a parameter groupd : d contains the data (1 byte if n=3; 2 bytes if n=2; 3 bytes if n=1; 4 bytes if n=0)

Initiate upload response (2 byte data):byte0 0x4Abyte1 index (msb; 0x00 if index < 256)byte2 index (lsb)byte3 subindexbyte4 data (msb)byte5 data (lsb)

Initiate upload response (1 byte data):byte0 0x4Ebyte1 index (msb; 0x00 if index < 256)byte2 index (lsb)byte3 subindexbyte4 data

3.5.2 Product identification

index subind. parameter, type range unit default remarks0x0000 0x00 MID unsign16 1 ... 255 - 1 read only

PID unsign16 1 ... 255 - 1 read only

MID (manufactor ID)Indicates the manufactorer for the drive. 1 = BERGER LAHR

PID (product ID)Indicates the productname. 1 = SERVOTEX

Operation


3.5.3 Software version

For settings, which depends on the software version of let off / take up it is useful to read the softwareversion code.

index subind.

parameter, type range unit default remarks

0x00CA 0x03 VER unsign16 1001 ... 1999 - read only

VER (version)Beside the software number (e.g. 602.00), which is the product identification for the software, theversion code shows the version and revision of the software. The meaning of the numbers are:<version>.<documentation revision><sw-revision><sw-revision> The version is the first number. Therevision is counted up beginning from 001 for the very first official revision. The first number of therevision counts up, when the documenation is changed. All versions less than 1.001 are for specialtests only and not for the series.

3.5.4 Customer identification

index subind. parameter, type range unit default remarks0x00CA 0x01 KUN unsign8 0, 1 - 0

KUN (customer)Selection of customer specific features is done by the parameter KUN. To avoid error messages e.g."unknown function" set this parameter at the beginning of the installation.KUN=0: Nuova VamatexKUN=1: Sulzer Tessile

3.5.5 Log message selection

index subind. parameter, type range unit default remarks0x00CA 0x02 PRN unsign8 0 ... 255 - 0

PRN (print mask)The print mask is used by the drive to select the protocol information, which is generated duringprocess as ASCII based text. The text is put to CAN and an optional connected client can built up alog file. This is useful for to check the correct behaviour of the drive. Chapter 4.4.

Each bit of PRN select one kind of information:

bit no. binary information about ...0 0000 0001 drive initialisation (parameters)1 0000 0010 error messages2 0000 0100 drive status (IDLE, RUNNING, AUTOMOVE, MANUAL, ...)3 0000 1000 actions durinng running the loom and other movements4 0001 0000 manual movements (CAN-object #manual_move)5 0010 0000 automatic movements (CAN-object #move_fabric, -tension, -weft0)6 0100 0000 CAN objects7 1000 0000 motor tests and warp tension regulation

The single bits may be added to adjust the information.

Example:To get information about the initialisation parameters and the actions at manual movements the binary0000 0001 has to be added to 0001 0000 to the result 0001 0001, which is decimal 17. So setPRN=17, to get the required information.

Operation


3.5.6 Motor specific

Identification and regulation parameters of the used motor:

index subind. parameter, type range unit default remarks0x00CA 0x00 MI unsign8 0 ... 4 - 0

0x01 KI unsign8 0 ... 100 19.89∗A/rad.sec

0

0x02 KV unsign16 10 ... 400 rad/sec 1500x03 KD unsign16 20 ... 4000 18.9∗10-6∗

Asec/rad700

MI (motor identifier)There are actual two types of motors available to work with the units: the smaller SER31112 and thebigger SER31117. For internal adjustment the motor type is used.MI=0: 31117 (old motor)MI=3: SER31117MI=4: SER31112

KI (regulation parameter)Constant for the integrating part of the closed-loop-regulation for motor position control.

KV (regulation parameter)Constant for the proportional part of the closed-loop-regulation for motor position control.

KD (regulation parameter)Constant for the proportional part of the closed-loop-regulation for motor speed control.

Operation


3.5.7 Loom mechanic parameter

index subind. parameter, type range unit default remarks0x0066 0x00 RAT signed16 -215 ... +215-1 - 1

0x01 ENC unsign16 360 ... +215-1 - 3600x02 DMIN unsign16 150 ... 2000 mm 500x03 DMAX unsign16 150 ... 2000 mm 20000x04 DIA unsign16 DMIN ... DMAX mm DMAX

RAT (mechanical gear ratio of the gear box x10)10 times of the total gear ratio from the motor to the take up roller respective let off beam (10 times thenumber of revolution of the motor for one revolution of roller/beam)The sign of the control RAT is usedto define the forward direction of fabric: + for motor cw, - for motor ccw.The gear ratio is i. RAT is defined as RAT = 10 × i. e.g. the gear box of take up has a gear ratio of1234,5 and to move forward the fabric the motor has to rotate counterclockwise. In this case RAT =-12345.

ENC (encoder)Number of pulses a round, the main shaft encoder puts to the line. This parameter is used forconfiguration of the electronic gear mode.

DMIN, DMAX (diameter min. / max.)The diameter min., max. of the warp beam is used for to limit the speed (resp. the gear ratio) of the letoff motor when the warp tension is not at the target and the motor is on the way to reach the target.For take up it is not used.

DIA (beam diameter)To set the parameter DIA is not absolutely necessary for warp beam. To set the beam diameterapproximately ensures a proper start of warp tension regulation on the very first start.For take up the diameter of take up roller must be set precisely to ensure a correct density.

3.5.8 Setup speed for manual and automatic movement

index subind. parameter, type range unit default remarks0x0068 0x00 MAN unsign8 1 ... 255 mm/s 2

0x01 AUT unsign8 1 ... 255 mm/s 40x02 ACC unsign8 1 ... 255 mm/s² 1

MAN (speed for manual movement)MAN resp. AUT, i.e. the speed for manual and automatic movement must be set to the same value foreach unit to ensure that the fabric is not stressed during manual- or automatic movement.

AUT (speed for automatic movement)AUT must be set minimum 20% higher than MAN to keep place for regulation of speed, when let offhas to follow take up.

ACC (acceleration)During manual- and automatic movement the fabric is moved with selectable speed (see parameterMAN and AUT). ACC selects the acceleration of this movements. It must be set to the same value foreach unit to ensure that the fabric is not stressed during manual- or automatic movement.

3.5.9 Setup densities and sensor references

index subind. parameter, type range unit default remarks0x0070 0x00 D0 unsign16 10 ... 65535 weft/dm 1000

0x01 D1 unsign16 10 ... 65535 weft/dm 1000

Operation


......

......

...0x0F D15 unsign16 10 ... 65535 weft/dm 1000

D0 ... D15 (density)The value for D0 ... D15 represents the number of weft/dm of fabric, e.g. for a density of 30 weft/cm avalue of 300 is correct.

index subind. parameter, type range unit default remarks0x006C 0x00 S0 unsign16 0 ... 10000 mV 5000 let off only

0x01 S1 unsign16 0 ... 10000 mV 5000 let off only...

......

......

0x0F S15 unsign16 0 ... 10000 mV 5000 let off only

S0 ... S15 (sensor reference)The value for S0 ... S15 represents the target voltage for the warp tension regulation during runningthe loom.This data are for let off only.

In accordance with the table of densities, the sensor reference voltage is selected. For selection theobject #style_select, sent by the loom control via CAN, is used (chapter 3.9). The table entry isactivated with the zero pulse (main shaft encoder) following to the selection.

NOTEThe software limit of 10 weft/dm does not garantee that the motors can realisethis density. There are some other conditions like speed of the loom, mechanicgear ratio, beam diameter and force of the warp.

index subind. parameter, type range unit default remarks0x006E 0x00 AMIN signed8 0 ... -100 % -50

0x01 AMAX signed8 0 ... +100 % +50

AMIN, AMAX (sensor alarm limit)The sensor voltage is allowed to verify in the specified range. AMIN is the low limit in percent of thetarget sensor voltage. AMAX is the high limit.E.g.: low limit -50% (2500mV); target 5000mV; high limit +50% (7500mV)The range of the warp tension sensor is 0V to 10V. Inside this range AMIN/AMAX is valid. Duringrunning the loom is stopped when one of the limits is reached for any reason.During manual movement the AMIN/AMAX limit is watched for let off movements only and themovement is stopped when the "high warp tension" limit of AMIN/AMAX is reached:

NOTEIn case of a manual movement, were the let off follows the take up, the let offspeed is controlled in order to keep the sensor voltage at the start of themovement. If the deviation is closer to the absolute sensor limits (0V resp. 10V)than 2V, i.e. not in the range of about 2V...8V,the warp tension control is notsafe.

Manualmovement

low warp tensionlimit (AMIN orAMAX)

high warptensionlimit (AMINor AMAX)

absolute sensor limitat low warp tensionend (0V or 10V)

absolute sensor limitat high warp tensionend (0V or 10V)

Take up only no stop no stop no stop no stopLet off wind no stop stopped no stop stoppedLet unwind no stop no stop no stop no stopTake up winds andlet off follows

if KUN=1: no stopelse: stopped

stopped stopped stopped

Take up unwindsand let off follows

if KUN=1: no stopelse: stopped

stopped stopped stopped

The "high warp tension" limit is defined by the following table:

Operation


sign of KPS(page 30)

sign of RAT(page 28)

"high warptension" limit

motor turns(page 31)

- + AMAX and 10V ccw+ - AMAX and 10V cw- - AMIN and 0V cw+ + AMIN and 0V ccw

3.5.10 Adjustment of the warp tension regulation (let off only)

This data are for let off only.- During running the loom the motor is moved like a gear box, were the loom main shaft encoder is theinput and the gear ratio is adjustable. The gear ratio is regulated depending on the tension sensorsignal information. For this regulation the parameters KPG, KIG, KDG are necessary for eachmounted let off. If the mechanic and sensor are the same for 1st and 2nd let off the parameter shouldbe the same. The sign of the parameters depends on the direction of motor rotation.- When loom is stopped a manual movement command (#manual_move) may move the take upforward or backward meanwhile the let off follows to keep the voltage of the sensor constant. Furtheranother command (#move_tension) allows to move the let off to a certain position of the back rest.Both commands are processed in speed mode using a PID regulation algorithm.

index subind. parameter, type range unit default remarks0x00CE 0x00 KPS unsign16 -215 ... +215-1 - 0

0x01 KDS unsign16 -215 ... +215-1 - 00x02 KIS unsign16 -215 ... +215-1 - 00x03 KPG unsign16 -215 ... +215-1 - 00x04 KDG unsign16 -215 ... +215-1 - 00x05 KIG unsign16 -215 ... +215-1 - 0

KPG, KDG, KIG (controls for geared mode)Useful values are:parameter valueKPG ±100KIG ±10KDG 0

Sensor

VccSignal (0V ... 10VDC)GND

10µF

24kOhm

To adjust the regulation parameters a storage oscilloscope, a capacitor 10µF and a resistor 24kΩ isnecessary: the oscilloscope has to be connected to the low pass filtered sensor signal.

The correct sign of the regulation parameters depends on the direction of motor rotation and on thebehaviour of the sensor voltage:motor has to rotate sensor voltage sign of regulation parameterspositive (clock wise) increases with tension pluspositive decreases with tension minusnegative (counter clock wise) increases with tension minusnegative decreases with tension plus

Operation


Counting on every pulse edge

CW rotation on rising/falling A edgebefore rising/falling B edge.CCW rotation on rising/falling B edgebefore rising/falling A edge.

f (A or B) = 125 kHzmax

Setup time 1.5 s≥ µ1

1 1 1 1

A

B

1 2 3 4 5 6 67 5 4 3

Clockwise Counterclockwise

Definition of cw and ccw

Before test and adjustment of the regulation parameters it must be ensured, that the mechanic gearratio and the target value for the sensor voltage are set correctly.

Procedure for adjustment of the regulation parameters KPG and KIG:Set KIG to 0.Set KPG to 100 resp. -100.Set parameter P2 (chapter 3.5.11) to 0.The following steps have to be done after changing a regulation parameter:1. Move near to the target value for the sensor voltage.2. Start the loom watching the sensor signal on oscilloscope (1V/div, 1s/div) in storage mode. KPG is

well adjusted, when the difference between the target voltage (e.g. 5V) and the actual voltage iscontinuously about 1V (depending on the sensibility of the sensor). In case of drifting without limit,check the correct sign of KPG again. Increasing KPG means decreasing the difference. A lowerKPG means a bigger difference between target and actual voltage. On the other hand it means astable, little oscillating signal. A bigger KPG means a smaller difference, but a bigger oscillation.Find a good compromise near the limit what is possible to weave. Repeat step 1 and 2 until theresult is satisfactory.

3. Set KPG to the value which was found before and KIG to 100.4. Set the beam diameter to a value, which is far from the actual value (minimum or maximum).5. Start the loom watching the sensor signal on oscilloscope (1V/div, 10s/div) in storage mode. KIG is

well adjusted, when the sensor voltage needs about 1,5min to reach the target voltage. IncreasingKIG means shorter time but more oscillation. Decreasing KIG longer time but less oscillation. Finda good compromise again. Repeat step 4 and 5 until the result is satisfactory.

NOTEIt is not the most important quality to reach the target voltage as soon aspossible. Normally the target is never left. The most important quality is, toreach the target in a way, which is not visible on the fabric and that means notabruptly and hurried but leisurely and unhurried always taking care that theabsolute voltage difference never is too big for weaving.

Operation


500 weftstart

sensorvoltage5.5V

5V

500 weftstart

500 weftstart 500 weftstart

normal

more KPGnormal

less KIGsensorvoltage5.5V

5V

sensorvoltage5.5V

5V

sensorvoltage5.5V

5V

Influence of KPG and KIG to the sensor signal

KPS, KDS, KIS (controls for speed mode)Useful values are:parameter valueKPS ±100KIS 0KDS ±100

Procedure for adjustment of the regulation parameters KPS, KDS and KIS:1. Set the regulation parameters as described in the table above.2. Move the let off to a sensor voltage about 0,5V different from the actual voltage using the automatic

movement command watching the oscilloscope (0,2V/div, 1s/div). The parameters are welladjusted, when the voltage moves with about 1V/s to the target and does oscillate maximum onetime. Note, that there is a timeout when it needs more than 3s for processing the command. Aftermodifying the parameters repeat step 2 until the result is satisfactory.

10s

sensorvoltage5.5V

5V

10s

10s 10s

more KPS, KDS (KPS = KDS)normal

more KDS (KPS < KDS)

sensorvoltage5.5V

5V

sensorvoltage5.5V

5V

sensorvoltage5.5V

5V

m ore KIS

Timeout after 3s !

"move to 5,5V"

"move to 5,5V"

"move to 5,5V"

"move to 5,5V"

Influence of KPS, KDS and KIS to the sensor signal

Operation


3.5.11 Drive internal settings

There are 16 parameters for adjustment of some characteristics of the software:

- the weight of the regulation parameters in speed- and gear mode,- the no. of weft before the regulation is activated after start,- the criterion of a "found warp beam diameter",- the digital filter of the sensor signal,- the warp tension regulation characteristic,- the no. of weft before the regulation is activated after the end of "block take up" function,- the warp tension regulation characteristic during the "block take up" function,- the filter of printed protocol information

index subind. parameter, type Mnemonic range default remarks0x00D0 0x00 P0 unsign16 DenomSpeed -215 ... 215-1 2

0x01 P1 unsign16 DenomGear " 190x02 P2 unsign16 CountDown " 00x03 P3 unsign16 DiameterFound " 10x04 P4 unsign16 BufferLength " 200x05 P5 unsign16 WeightOfFirst " 820x06 P6 unsign16 NowLinear " 500x07 P7 unsign16 NoRegLancee " 00x08 P8 unsign16 WeightLancee " 10x09 P9 unsign16 MSmode " 00x0A P10 unsign16 MSidentifier " 2500x0B P11 unsign16 - "0x0C P12 unsign16 - "0x0D P13 unsign16 - "0x0E P14 unsign16 - "0x0F P15 unsign16 - "

NOTEAll parameter are for adjustment of the internal application software P0-P15should be modified by qualified personnel only.

P0 (Denominator for speed regulation constants)The values for KPS, KDS, KIS are divided by 2<P0> before they are used from the PID speed regulationin order to put the KPS, KDS, KIS constants into the range of a signed 16-bit value.

P1 (Denominator for gear regulation constants)The values for KPG, KDG, KIG are divided by 2<P1> before they are used from the PID gear regulationin order to put the KPG, KDG, KIG constants into the range of a signed 16-bit value.

P2 (Count down after start of the loom before the warp tension regulation is activated)In some condition, during the first few weft after start of the loom the warp tension sensor signal is notuseful, because it has to pass a low pass filter and so the filter output does not show the real average.If the sensor voltage before start is very different from the average during running, it may be useful todelay the regulation for some weft. P2 is valid only, if the calculated beam diameter is correct.Otherwise the regulation is active immediately after start.

P3 (Definition of the criterion for "beam diameter is correct")The criterion for "beam diameter is correct" is reset to "not correct" after the diameter is set by theparameter DIA (chapter 3.5.7) and after a manual movement (chapter 3.10). It is set to "correct" duringrunning when the proportional part of controller output is less than <P3> % of the integrating part ofthe controller output, i.e. when the value of the integrating part (from which the diameter is calculated)does keep the warp tension constant on the right level.

P4 ("Time" constant of the low pass filter for the sensor signal)The digital low pass filter for the sensor signal is a fifo cue of values. Each value is the average of thesensor voltage during one loom revolution (0° to 0°). P4 defines the number of values for the filter.

Operation


P5 (Weigth of the newest sensor value in %)The characteristic of the low pass filter for the warp tension sensor is exponential like a simple RC-filter. To adjust the filter "time" constant the values in the digital filter cue must be weighted. P5 definesthe weigth of the newest sensor value in %.

P6 (Value (mV) of the regulation difference, from which on the regulation characteristic is linear)The characterictic of the proportinal part for the warp tension regulation, i.e the amplification factor isnot constant over all the input range: for low deviation (up to ±<P6>mV) the amplification increaseswith the deviation. For a deviation, which is bigger than ±<P6>mV, the amplification is constant.

P7 (Count down after a block take up function before the warp tension regulation is reactivated)In some condition, during the first few weft after a block take up function (chapter 3.12) the warptension sensor signal is not useful, because it has to pass a low pass filter and so the filter output doesnot show the real average. If the sensor voltage during the block take up function is very different fromthe average during normal running, it may be useful to delay the regulation for some weft.

NOTETake care that the regulation is active for enough weft during normal, flatweaving, before the next block take up function follows.

P8 (Denominator for gear regulation constants during an active block take up function)The value for KPG (KDG, KIG are not used during block take up) is divided by P10 before it is usedfrom the PID gear regulation. P10 gives the possibility to decrease the amplification factor during anactive block take up function.

P9 (defines the mode for the 2nd let off)The 2nd let off can be used as a slave drive of the 1st let off, i.e. the motor of the 2nd let off movessynchronously to the motor of the 1st let off. This can be used at very long looms were one motor is notenough to move the beam.P9= 0: normal 2nd let off, no dependency on the 1st let offP9= 1: Master-Slave mode: motor of 2nd let off turns synchronously to the motor of the 1st let offP9= 2: Master-Slave mode: motor of 2nd let off turns synchronously to the motor of the 1st let off,

but into the opposite directionP9= 4 Starts a set point movement of the motors in order to find a position, were the torsion of the

beam is a minimum. (chapter 3.5.17).

P10 (defines the CAN-object ID, which is used for communication of the 1st- to the 2nd let off in Master-Slave mode. (see P9 above).

P11 (reserved)

P12 (reserved)

P13 (reserved)

P14 (reserved)

P15 (reserved)

Operation


3.5.12 Duration of block take up function

For special cloth design take up and let off are stopped during loom running for some count of weft.The result is a maximum density for these count of weft. The function is actuated by the uncontolledevent #block_takeup, sent via CAN by the loom main control. The "block take up" request is sampledat loom 0°. If there is a request switched on, take up and let off are stopped resp. restarted if therequest is switched off. It is possible to define a delay (in loom-degrees) on the stop or on the restart oftake up and let off:

index subind. parameter, type range unit default remarks0x0072 0x00 ONSTOP unsign8 0, 1 - 0

0x01 BLOCK unsign16 0 ... 359 ° 0

ONSTOP (1=delay on motor stop; 0=delay on motor restart)The request for activate the block take up function is sampled at 0° of the loom.ONSTOP =1: if the request is switched on, take up and let off stop after the loom degrees defined inthe parameter BLOCK. If the request is switched off, take up and let off restart on the next 0° of theloom.ONSTOP =0: if the request is switched on, take up and let off stop on the next 0° of the loom. If therequest is switched off, take up and let off restart after the loom degrees defined in the parameterBLOCK.

BLOCK (delay in loom degrees)The duration of the block take up function is adjusted with the parameter BLOCK. The delay works oneither the stop or on the restart of take up and let off (see parameter ONSTOP above). The quantity ofdelay is defined in loom degrees.

3.5.13 Service and fabric counters

index subind. parameter, type range unit default remarks0x006A 0x00 SRLD unsign16 1 ... 215-1 - 10³mio. write triggers reload

0x01 SCNT signed16 -215 ... +215-1 -0x02 FRLD unsign16 1 ... 215-1 dm +215-1 write triggers reload0x03 FCNT unsign16 0 ... +215-1 dm

SRLD (service reload value), SCNT (counts down to service request)Each drive counts down the motor revolutions (in revolutions/10³). The drive data contains the reloadvalue SRLD (service reload) and the actual value SCNT (service count). When the count 0 is reached,the countdown goes on to negative values and sends the uncontrolled event #unit_srv_req via CANwithout data (chapter 3.14).

FRLD (fabric reload value), FCNT (counts down to end of fabric)The take up counts down in dm each movement of take up roller. The drive data contains the reloadvalue FRLD (fabric reload) and the actual value FCNT (fabric count). On each underflow the take upsends the uncontrolled event #take_len0 via CAN without data and reloads the counter (chapter 3.13).

Operation


3.5.14 Start mark compensation

NOTEThis operation requires, that the beam diameter is known. The beam diameteris found during running the loom and remembered until the diameter is set byuser control. This operation is not done at the first start after a manualmovement and after setting the beam diameter.

During start process the movement on cloth can be modified for up to the first 10 weft after start.Basically the movement is following loom's main shaft in a geared mode. This movement can beoverloaded by modifying the position of weft and the tension of warp at weft insertion point (loom 0°)for up to the first 10 weft.

-1 0 1 2 3 4

-0,6m m 0,2m m 0,2m m 0,2m m

linear com pensation for 3 w eft, start w ith -0,6m mw eft w ithout correctionw eft w ith correction

Compensation of start marks

The figure shows an open start mark between the last weft before stop and the first weft after start. Toclose the gap, the first weft must be inserted nearer to the last weft before stop. This additionalmovement is leaded back during the following weft. The sum of all additional movements has to bezero, because the original density has to be produced in result. How much the wefts have to bemoved, has to be find out experimental. The right correction depends on the kind of cloth, the warptension, kind of stop (weft- or warp stop), temperature, moisture and also on the mechanic vibrationsof the reed and other parts of the loom during start process.

NOTEIn case of a second stop immediately after the first the compensation is donewith the first start and remembered for the second start. This ensures, that thecompensation is done only one time.

Operation


Command structure for the compensation of start marks

Examples chapter 3.5.15 on page 39.

Examples chapter 3.5.15.1 on page 39.

chapter 3.5.15.1 on page 39.












chapter 3.5.15.4 on page 41



There are two groups of adjustment: one to adjust the position of cloth moves let off and take upsynchronously; the other group for adjustment of the warp tension moves let off only. Both groupshave 2 subgroups: one for adjustment instruction with dimension mm on cloth; the other for instructionwith dimension % of weft density. Each subgroup consists of 3 methods for leading back the additionalmovement: absolute movement weft by weft individual, in linear function or in exponential function.

The definition of the compensation movement is done in up to 16 different tables. Each table definesthe compensation movements for one motor during loom start. The right compensation movements,which are good enough to solve the start mark problem, have to be find experimental. Since the rightmovements are different for different stop situations (weft- , warp- , hand- or mechanic stop) the table

rebuild in absolute values

with cloth movement

with unit mm

compensate start marks

rebuild in linear function

rebuild in exponential function


with unit % of weft density




with warp tension adjustment

with unit mm




with unit % of weft density



Operation


which is used depence on the data, which is sent by CAN at the loom stop with the #loom_stopmessage, were data=0 means: "no compensation" (chapter 3.8.2).

index subind. parameter, type range unit default remarks0x0074(table1)...0x0083(table16)

0x00 CU unsign8 0, 1 0=µm1=%

1 (KUN=0)0 (KUN=1)

0x01 CC unsign8 0 ... 2 - 1 (KUN=0)0 (KUN=1)

0x02 CN unsign8 0 ... 8 - 00x03 C0 signed16 ±300%, ±5000µm %, µm 00x04 C1 signed16 ±300%, ±5000µm %, µm 00x05 C2 signed16 ±300%, ±5000µm %, µm 00x06 C3 signed16 ±300%, ±5000µm %, µm 00x07 C4 signed16 ±300%, ±5000µm %, µm 00x08 C5 signed16 ±300%, ±5000µm %, µm 00x09 C6 signed16 ±300%, ±5000µm %, µm 00x0A C7 signed16 ±300%, ±5000µm %, µm 0

CU (compensation unit)0: selects C0 ... C7 are values in micrometer (µm).1: selects C0 ... C7 are percentage values of the actual density (%).

CC (compensation course)0: selects absolute function i.e. each weft position is defined individual. Values for C0 ... Cn have tobe defined weft by weft individual.1: selects linear function i.e. the position of the first weft after start (C0) has to be defined only. Thedefined position offset is rebuild to zero in equidistant steps during the first n weft after start (CN).2: selects exponential function i.e. the position of the first weft after start (C0) has to be defined only.The defined position offset is rebuild to zero in exponential getting smaller steps during the first n weftafter start (CN).

CN (compensation number of weft)0: clears the compensation table, compensation is disabled for the selected table.>0: number of weft the compensation works.

C0: (compensation value for weft no. 0 i.e. the first weft after start)Position offset of weft no. 0.Range: -5000µm ... +5000µm (CU=0)resp. -300% ... +300% of actual density (CU=1)

C1 ... C7 (comp. value for weft no. 1 up to weft no. 7 i.e. the first ten weft after start)Valid in case of absolute function only (CC=0).Position offset of weft no. 1 up to weft no. 7Range: -5000µm ... +5000µm (CU=0)resp. -300% ... +300% of actual density (CU=1)

NOTEThe drive is ready to start immediately after reception. The correction for thefirst weft (chapter 3.11.3) and the rebuild of a relaxed warp tension (chapter3.11.1) has to be done before the start-message in state IDLE.

Operation


3.5.15 Examples for compensation of start marks

3.5.15.1 Start mark compensation by position offset for the fabric in µm

-1 0 1 2 3 4

-0,5m m 0,36m m 0,11m m 0,03m mw eft w ithout correctionw eft w ith correction

-1 0 1 2 3 4

-0,6m m 0,2m m 0,2m m 0,2m m

-1 0 1 2 3 4

-1,0m m 0,8m m 0,3m m -0,1m m

exponential com pensation for 3 w eft, start w ith -0,5m m

linear com pensation for 3 w eft, start w ith -0,6m m

absolute com pensation for 3 w eft, start w ith -1,0m mthan 0,8m m 0,3m m -0,1m m

w eft w ithout correctionw eft w ith correction


Start mark compensation by position offset for the fabric in µm.

Absolute movement (unit µm) with rebuild in exponential function:table parameters sent to let off and take up:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 2 (exp.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µmposition of weft 1 to 7 C1 ... C7: don't careJust before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the fabric is moved to the position: 1/density- <C0> ∗ ( 1 - e ( n / <CN> ∗ ln ( 0.02 ) ) ) were n is the count of weft after start. This is repeated until n= <CN>. After this the movement is 1/density as normal.

Absolute movement (unit µm) with rebuild in linear function:table parameters sent to let off and take up:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 1 (lin.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µmposition of weft 1 to 7 C1 ... C7: don't careJust before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of the weft 0 (first weft after start) the fabric is moved for the distance: 1/density - <C0> /<CN>. This movement is repeated until <CN> is reached. After this the movement is 1/density asnormal.

Absolute movement (unit µm) with rebuild in absolute values:table parameters sent to let off and take up:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 0 (abs.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µm

Operation


position of weft 1 to 7 C1 ... C7: -5000µm ... +5000µmJust before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the fabric is moved for the distance: 1/density + <C1>. Afterinsertion of the weft 1 the fabric is moved for the distance: 1/density + <C2> and so on until <CN> isreached. After this the movement is 1/density as normal.

3.5.15.2 Start mark compensation by position offset for the fabric in % of density

-1 0 1 2 3 4

-30% 22% 6% 2%

-1 0 1 2 3 4

-30% 20% 20% 20%

-1 0 1 2 3 4

-30% 24% 9% -3%

exponential com pensation for 3 w eft, start w ith -30%

linear com pensation for 3 w eft, start w ith -30%

absolute com pensation for 3 w eft, start w ith -30% ,than 24% , 9% , -3%




Start mark compensation by position offset for the fabric in % of density.

Absolute movement (unit % of density) with rebuild in exponential function:table parameters sent to let off and take up:unit of C0 ... C7 CU: 1 (% of density)function of rebuild CC: 2 (exp.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: don't careJust before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the fabric is moved to the position: 1/density- <C0> ∗ ( 1 - e ( n / <CN> ∗ ln ( 0.02 ) ) ) were n is the count of weft after start. This is repeated until n= <CN>. After this the movement is 1/density as normal.

Absolute movement (unit % of density) with rebuild in linear function:table parameters sent to let off and take up:unit of C0 ... C7 CU: 0 (% of density)function of rebuild CC: 1 (lin.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: don't careJust before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of the weft 0 (first weft after start) the fabric is moved for the distance: 1/density - <C0> /<CN>. This movement is repeated until <CN> is reached. After this the movement is 1/density asnormal.

Absolute movement (unit % of density) with rebuild in absolute values:table parameters sent to let off and take up:unit of C0 ... C7 CU: 0 (% of density)

Operation


function of rebuild CC: 0 (abs.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: -300% ... +300%Just before start, the fabric is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the fabric is moved for the distance: 1/density + <C1>. Afterinsertion of the weft 1 the fabric is moved for the distance: 1/density + <C2> and so on until <CN> isreached. After this the movement is 1/density as normal.

3.5.15.3 Start mark compensation by warp tension offset (as beam position offset in µm)

-1 0 1 2 3 4

-5m m 3,6m m 1m m 0,3m m

-1 0 1 2 3 4

-6m m 2m m 2m m 2m m

-1 0 1 2 3 4

-10m m 8m m 3m m -1m m

exponential com pensation for 3 w eft, start w ith -5m m ,let off only

linear com pensation for 3 w eft, start w ith -6m m ,let off only

absolute com pensation for 3 w eft, start w ith -10m mthan 8m m , 3m m , -1m m , let off only




Start mark compensation by warp tension offset (as beam position offset in µm)Fehler!Verweisquelle konnte nicht gefunden werden..

Absolute movement (unit µm) with rebuild in exponential function:table parameters sent to let off only:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 2 (exp.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µmposition of weft 1 to 7 C1 ... C7: don't careJust before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the warp beam is moved to the position: 1/density- <C0> ∗ ( 1 - e ( n / <CN> ∗ ln ( 0.02 ) ) ) were n is the count of weft after start. This is repeated until n= <CN>. After this the movement is 1/density as normal.

Absolute movement (unit µm) with rebuild in linear function:table parameters sent to let off only:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 1 (lin.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µmposition of weft 1 to 7 C1 ... C7: don't careJust before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of the weft 0 (first weft after start) the warp beam is moved for the distance: 1/density - <C0>/ <CN>. This movement is repeated until <CN> is reached. After this the movement is 1/density asnormal.

Operation


Absolute movement (unit µm) with rebuild in absolute values:table parameters sent to let off only:unit of C0 ... C7 CU: 0 (µm)function of rebuild CC: 0 (abs.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -5000µm ... +5000µmposition of weft 1 to 7 C1 ... C7: -5000µm ... +5000µmJust before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the warp beam is moved for the distance: 1/density + <C1>.After insertion of the weft 1 the warp beam is moved for the distance: 1/density + <C2> and so on until<CN> is reached. After this the movement is 1/density as normal.

3.5.15.4 Start mark compensation by warp tension offset (as beam position offset % of density

-1 0 1 2 3 4

-30% 22% 6% 2%

-1 0 1 2 3 4

-30% 20% 20% 20%

-1 0 1 2 3 4

-30% 24% 9% -3%

exponential com pensation for 3 w eft, start w ith -30%

linear com pensation for 3 w eft, start w ith -30%

absolute com pensation for 3 w eft, start w ith -30% ,than 24% , 9% , -3%




Start mark compensation by warp tension offset (as beam position offset % of density.

Absolute movement (unit % of density) with rebuild in exponential function:table parameters sent to let off only:unit of C0 ... C7 CU: 1 (% of density)function of rebuild CC: 2 (exp.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: don't careJust before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the warp beam is moved to the position: 1/density- <C0> ∗ ( 1 - e ( n / <CN> ∗ ln ( 0.02 ) ) ) were n is the count of weft after start. This is repeated until n= <CN>. After this the movement is 1/density as normal.

Absolute movement (unit % of density) with rebuild in linear function:table parameters sent to let off only:unit of C0 ... C7 CU: 0 (% of density)function of rebuild CC: 1 (lin.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: don't careJust before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). After

Operation


insertion of the weft 0 (first weft after start) the warp beam is moved for the distance: 1/density - <C0>/ <CN>. This movement is repeated until <CN> is reached. After this the movement is 1/density asnormal.

Absolute movement (unit % of density) with rebuild in absolute values:table parameters sent to let off only:unit of C0 ... C7 CU: 0 (% of density)function of rebuild CC: 0 (abs.)number of adjusted weft CN: 1 ... 7position of weft 0 C0: -300% ... +300%position of weft 1 to 7 C1 ... C7: -300% ... +300%Just before start, the warp beam is moved to <C0> position, if the table is selected (COMP>0). Afterinsertion of weft 0 (first weft after start) the warp beam is moved for the distance: 1/density + <C1>.After insertion of the weft 1 the warp beam is moved for the distance: 1/density + <C2> and so on until<CN> is reached. After this the movement is 1/density as normal.

3.5.16 Adjustment of movement in slow motion

When loom is not running it is possible to adjust the relation of movement between loom and let offresp. take up. The electronic gear ratio is modified as a percentage part of the normal (when loomruns) gear ratio.

index subind. parameter, type range unit default remarks0x0084 0x00 G0 signed16 -215... +215-1 % 0

0x01 G1 signed16 -215... +215-1 % 0...

......

......

0x0F G15 signed16 -215... +215-1 % 0

G0 ... G15 (percentage gear)Percentage value for the adjustment of the electronic gear ratio when loom is in slow motion.The parameter (G0 ... G15), which is used depence on the data, which is sent by CAN at loom stopwith the #loom_stop message.

Normally the take up and let off beam follows exactly the movement of the main shaft, i.e. when theloom winds slowly, take up and let off turns forward too, respective when the loom unwinds, take upand let off turns backward tooThis movement can be modified by a percentage value in order to adjust the movement, i.e. when thevalue -50% is entered, the take up and let off follows the main shaft with half the speed than normal. Incase of a value -100% take up and let off doesn't move, they are stopped. Positive values result in afaster movement.The adjustment can be done different for wind and unwind movements.

NOTEThe adjustment is active, when the loom is in slow motion only, i.e. after the #loom_stopmessage and before the #loom_start message and when the main shaft is turning.

3.5.17 Master/Slave mode (let off driven with 2 motors)

The 2nd let off can be used as a slave drive of the 1st let off, i.e. the motor of the 2nd let off movessynchronously to the motor of the 1st let off. This can be used at very long looms were one motor is notenough to move the beam.

index subind. parameter, type Mnemonic range default remarks0x00D0 0x09 P9 unsign16 MSmode −215 .. +215-1 0

0x0A P10 unsign16 MSidentifier −215 .. +215-1 250

P9 (defines the mode for the 2nd let off)P9= 0: normal 2nd let off, no dependency on the 1st let offP9= 1: Master-Slave mode: motor of 2nd let off turns synchronously to the motor of the 1st let off

Operation


P9= 2: Master-Slave mode: motor of 2nd let off turns synchronously to the motor of the 1st let off,but into the opposite direction

P9= 4 Starts a set point movement of the motors in order to find a position, were the torsion of thebeam is a minimum. (see the following).

P10 (defines the CAN-object ID, which is used for communication of the 1st- to the 2nd let off in Master-Slave mode. (see P9 above).

NOTESince the drive configuration is totally different in Master/Slave mode than in normal mode,it is necessary to power off/on the drives after switching from one mode to the other. Thenew mode is actice from the next power on.

Set point movementThe set point movement of the 2nd let off motor in order to find a position, were the torsion of the beamis a minimum.All the actions for this procedure are done by the drives automatically. The loom main controller initiatethe procedure by writing 4 to P9. The procedure is finished, when let off 1 is in IDLE and let off 2 is inMASTER-SLAVE respective ERROR mode (chapter 3.2). The max. time is 2 minutes. For asuccessful procedure it is neccessary, that the 2 motors are connected mechanically by the beam. Thebeam must be without warp tension:

The idea to find the low torsion position for the motors is to find the motor positions, were the phasecurrent is a minimum. Since the motors are servo motors, i.e. position regulated in closed loop, theminimum current position should be the minimum torsion position. When one of the motors is fixed, theother should have a position-current relation like a bathtub:

At the beginning of the procedure the slave is locked to keep the position. The master winds with 2rounds per sec. until the phase current reaches the nominal current. The master stops and remembersthe position (M1). Then the master unwinds until the phase current reaches the nominal current again,stops, remembers the position (M2) and winds again to the middle position (M1+M2) / 2. If M1 or M2 isnot found in a range of ±30 rounds from the starting point, the procedure is stopped with error"ERR_MS_DISTANCE".After the master has found ist middle position the slave does the same, until the position (S1+S2) / 2 isfound. The found position realizes a minimum torsion on the beam.At the end of the procedure both drives are synchronized and switched to electronic gear mode.

M1+M22

M1motorposition

motorcurrent

let off 1motor

let off 2motor

gearbox

gearboxbeam

master slave

nominal current

low torsion position

M2

Operation


3.6 Drive status

The drive software is realized as a state machine (chapter 3.2). Each drive is server for its statusinformation. The stored event data in the CAN-controller are updated on change by the server. Themessage includes an error-code (0: no error), the unsigned(8) actual drive status (0:INIT, 1:IDLE,2:RUNNING, 3:MANUAL, 4:AUTOMOVE, 5:ERROR, 6:SLAVE). On change of error-code or actualdrive status the event is sent from the server. Let off data includes the signed(16) actual beamdiameter; take up the setted roller diameter. The access to the components of the stored eventvariable is possible at each drive status.Stored event means, that it is possible to send the COB from the drive and it is possible to read thedata from the loom main control.

One COB (CAN Object) is used for each drive:


take up let off 1 let off 2 let off 3#take_status #let1_status #let2_status #let3_status

Note: in this manual the 4 object names are summarized in the name #unit_status.





0x11A 0x11B 0x11C 0x11D

Data:

data parameter, type unit range default remarkspending error (0=no error) ERR unsign8 - 0 ... 255 0status 0=INIT 1=IDLE2=RUNNING 3=MANUAL4=AUTOM. 5=ERROR6=SLAVE(2nd let off only)

STAT unsign8 - 0 .. 6 0

actual beam diameter DIA signed16 mm DMIN ... DMAX DMAX

Format:0 1 2 3ERR STAT DIA

Example:byte0 0x00 no errorbyte1 0x01 status IDLEbyte2 0x03 actual beam diameter 800mm (msb)byte3 0x20 (lsb)

ERR (error)0: no error, all working well>0: oldest error, which was not cleared. Each error is stored with its code in a pipeline. The oldest oneis received with this value. After acknowledge it has to be cleared (chapter 4.3). With the next requestthe next error code is received.

Operation


STAT (drive status)The software control is realised in a state machine. After power on the hardware is checked. Thisneeds about 3 seconds. The communication works, when the drive status is INIT. The drive initialisesthe data and changes the status to IDLE. After reception of the start-message (chapter 3.2) the statusis RUNNING. After reception of the stop-message (chapter 3.8.2) the status returns to IDLE.Alternative the status switches to MANUAL respective AUTOMOVE when a corresponding message isreceived (chapter 3.10 resp. 3.11). When the manual- resp. automatic movement is finished, the statereturns to IDLE. In case of a fatal error, i.e. an error which forces the motor to block, the statusswitches to ERROR. The only way to reach status IDLE coming from ERROR is to switch off and onthe power.Note: higher status no., which are not explained are intermediate status, which remain temporarily.

DIA (diameter)For let off the received value shows the actual found diameter, which is calculated from the electronicgear ratio for a stable regulation of the warp tension and all the mechanic parameter.For take up the received value is the set diameter.

Operation


3.7 Actual warp tension

Each let off is server for the warp tension. The write only variable is updated by the loom main controlat least every 10ms when loom is not running. It is used from the let off units for the regulation of thewarp tension during manual movement of all the drives. Further it is used during manual movement towatch the warp tension and to stop the movement in case of high warp tension.When loom is running the variable is updated by the loom main control each loom revolution. Thevalue is the voltage average over 360°, starting from 0°. The variable is used on loom 0° for theregulation of the warp tension.

COB name (CAN Object name): #warp_tension

COB ID (CAN Object Identifier): 0x140 (used by loom main control)

Data:

data parameter, type unit range default remarksactual tension beam 1 SENS1 signed16 mV 0 ... 10000 -actual tension beam 2 SENS2 signed16 mV " -actual tension beam 3 SENS3 signed16 mV " -

Format:0 2 4 5actual tension beam 1 actual tension beam 2 actual tension beam 3

Example:byte0 0x13 actual tension beam 1 5000mV (msb)byte1 0x88 (lsb)byte2 0x0B actual tension beam 2 3000mV (msb)byte3 0xB8 (lsb)byte2 0x00 actual tension beam 3 0000mV (msb)byte3 0x00 (lsb)

SENS1, SENS2, SENS3 (actual voltage from warp tension sensor)The value (mV) informs the drive about the actual sensor voltage of the warp tension sensor.

NOTEOne possible solution to generate the voltage average from 0° to 0° is to use anU/f-converter (voltage to frequency converter). A following counter is started at0° and restarted at the next 0° just after reading out the counter value. Thecounter value is divided by the converting time (one loom revolution). The resultis the sensor voltage average.

Operation


3.8 Loom start/stop

3.8.1 Loom start

The start of the loom is notified by the #loom_start message. Each drive is client for the uncontrolledevent with data for the movement mode. The event is relevant at drive status IDLE. After the receptionof the start-message with data for running mode, the electronic gear ratio for the IDLE state isswitched to the right one for the RUNNING state. The loom is enabled to start when the drive status isswitched to RUNNING.

NOTEThe drive is ready to start immediately after reception. The correction for thefirst weft (chapter 3.11.3) and the rebuild of a relaxed warp tension (chapter3.11.1) has to be done before the start-message in state IDLE.

COB name (CAN Object name): #loom_start


Data:

data type unit range default remarksaction type 0=RUN, ≠0 ignored unsign8 - 0 ... 255 -

Format:0action type

Example: byte0 0x00 action type RUN; loom is going to run

3.8.2 Loom stop

Before the loom stops let offs have to 'freeze' the warp tension regulation. Each drive is client for theuncontrolled event with data for the stop reason. The event is relevant at drive status RUNNING.When the next zero pulse is received, the electronic gear ratio is switched to a value of the table forgear adjustment in slow motion mode, which is part of the drive data (chapter 3.5.16). The table entryis taken from stop reason. After the gear ratio is established the state is switched to IDLE.

COB name (CAN Object name): #loom_stop


Data:

data type unit range default remarksstop reason unsign8 - 0 ... 16 -

Format:0stop reason

Example: byte0 0x00 stop reason 0; electronic gear is set to table entry 0 for percentage gear; nostart mark compensation at the next start.

Operation


3.9 Set density and sensor reference

The definition of the densities resp. the sensor references is part of the drive parameter. There isdefined a table of 16 entries for the density and 16 entries for the sensor reference (chapter 3.5.9).The selection of the actual density and sensor reference is done by the #style_select message. Theaccess is possible in all states except INIT. The write only variable is updated by the loom main controlon demand. It is used from the drives to set the density and the sensor reference for warp tensionregulation. The variable is used from the next 0° on.

COB name (CAN Object name): #style_select

COB ID (CAN Object Identifier): 0x1D0 (used by loom main control)

Data:

data type unit range default remarkstable entry for densityand sensor reference

unsign8 - 0 ... 15 0

Format:0table entry

Example:byte0 0x02 table entry 2; from the next 0° on, density D2 and sensor reference S2 are used

(chapter 3.5.9).

Operation


3.10 Manual movement

Let off and take up can be moved separately or synchronously. Speed and acceleration is useradjustable (chapter 3.5.8).The manual movement is possible to start in status IDLE. It continues in status MANUAL and ends inIDLE again (respective ERROR). The movement is triggered by the #manual_move message withdata for selection of direction (wind, unwind, stop) and selection of drive (take up only, let off 1 to 3, alldrives, all letoff). The write only variable is updated by the loom main control during manual movementat least every 300ms.

NOTEFor security reason the message must be repeated at least every 300msbefore stop to avoid timeout. If not, the motors are stopped and an errormessage is created.For let off motor the sensor alarm limit is controlled. When the limit for highwarp tension is reached, the motors are stopped and an error message iscreated. There is no stop when the limit for low warp tension is reached, tomake possible to install take up and let off even when the warp tension is low.When take up is moved only, there is no control of the warp tension. Theoperator should take care about the warp tension.

COB name (CAN Object name): #manual_move


Data:

data type unit range default remarksdirection unsign8 - 0 ... 2 2 (stop)drive unsign8 - 0 ... 4 4 (all drives)

Format:0 1direction drive

direction0=unwind1=wind2=stop

drive0=take up1=let off 12=let off 23=let off 34=all drivesif KUN=0: 5= all let offif KUN=1: 5= let off 1 and let off 2

Example:#move_manual repeated at least every 300ms during manual movement:byte0 0x01 windbyte1 0x04 all drives, i.e. take up and all let off moves into direction of production, i.e. take up

winds and all let off unwinds.

#move_manual with data for stop sent one time at the end of manual movement:byte0 0x02 stopbyte1 0x04 all drives

Operation


3.11 Automatic movement

The automatic movement is possible to start in status IDLE. The drive switches to status AUTOMOVEduring the movement and ends in IDLE again (resp. ERROR). The movement is triggered by thecorresponding messages with data. The write only variables are updated by the loom main controlwhen the automatic movement is started. The movements are limited in time. They should take 3seconds maximum. Otherwise a timeout error is reported.

3.11.1 Move fabric to position in mm

To relax warp during stop time of the loom or for other reason it is possible to move the take up roller,the beam(s) or both to a certain position. The movement is triggered by the #move_fabric messagewith data for the position in mm.

COB name (CAN Object name): #move_fabric

COB ID (CAN Object Identifier): 0x1A0 (used by loom main control)

Data:

data type unit range default remarksmm position take up signed16 mm/10 -5.0 .. +5.0 mm 0mm position let off 1 signed16 KUN=0: mm

KUN=1: mm/10-50.0 .. +150.0 mm 0

mm position let off 2 signed16 KUN=0: mmKUN=1: mm/10

-50.0 .. +150.0 mm 0

mm position let off 3 signed16 KUN=0: mmKUN=1: mm/10

-50.0 .. +150.0 mm 0

Format:0 2 4 6mm position take up mm position let off 1 mm position let off 2 mm position let off 3

Example:#move_fabric sent after stop in order to relax the warp tension at a double beam loom (KUN=0):byte0 0x00 position take up: 0.0 mm (msb), i.e. no movement for take upbyte1 0x00 (lsb)byte2 0x00 position let off 1: +20 mm (msb); i.e. 1st let off unwinds for 20 mmbyte3 0x14 (lsb)byte4 0x00 position let off 2: +20 mm (msb); i.e. 2nd let off unwinds for 20 mmbyte5 0x14 (lsb)byte6 0x00 position let off 3: 0 mm (msb); i.e. no movement for 3rd let off (not installed)byte7 0x00 (lsb)

#move_fabric sent before start in order to tighten the warp for weaving:byte0 0x00 position take up: 0.0 mm (msb), i.e. take up: go to position at loom stopbyte1 0x00 (lsb)byte2 0x00 position let off 1: 0 mm (msb); i.e. 1st let off: go to position at loom stopbyte3 0x00 (lsb)byte4 0x00 position let off 2: 0 mm (msb); i.e. 2nd let off: go to position at loom stopbyte5 0x00 (lsb)byte6 0x00 position let off 3: 0 mm (msb); i.e. 3rd let off: go to position at loom stopbyte7 0x00 (lsb)

3.11.2 Move beam to a sensor level

This object is for let off only.For test of the regulation parameters KPS, KDS and KIS (chapter 3.5.10) or other use, it is possible tomove the warp beam to a specified sensor voltage. The movement is triggered by the #move_tensionmessage with data for the tension roller position in mV.

Operation


NOTEFor security reason the movement has to take max. 3 seconds. If it takes more,the motors are stopped and an error message is created.For let off motor the sensor alarm limit is controlled. When the limit for highwarp tension is reached, the motors are stopped and an error message iscreated. There is no stop when the limit for low warp tension is reached,because there is no danger for the warp.

COB name (CAN Object name): #move_tension

COB ID (CAN Object Identifier): 0x1B0 (used by loom main control)

Data:

data type unit range default remarksmV target let off 1 unsign16 mV 0 ... 10000mV 0mV target let off 2 unsign16 mV 0 ... 10000mV 0mV target let off 3 unsign16 mV 0 ... 10000mV 0

Format:0 2 4mV target let off 1 mV target let off 2 mV target let off 3

Example:actual situation:drive actual sensor voltagelet off 1 4912 mVlet off 2 5124 mVlet off 3 not installed

#move_tension sent in order to check the regulation parameter for manual movements:

byte0 0x17 mV target let off 1: 6000 mV (msb), i.e. move let off 1st to sensor level 6000 mV.byte1 0x70 (lsb)byte2 0x14 mV target let off 2: 5124 mV (msb); i.e. no movement for 2nd let off.byte3 0x04 (lsb)byte4 0x00 mV target let off 2: 0 mV (msb); (3rd let off not installed)byte5 0x00 (lsb)

#move_tension sent in order to check the regulation into the opposite direction:

byte0 0x0F mV target let off 1: 4000 mV (msb), i.e. move let off 1st to sensor level 4000 mV.byte1 0xA0 (lsb)byte2 0x14 mV target let off 2: 5124 mV (msb); i.e. no movement for 2nd let off.byte3 0x04 (lsb)byte4 0x00 mV target let off 2: 0 mV (msb); (3rd let off not installed)byte5 0x00 (lsb)

3.11.3 Start mark compensation: prepare weft 0 for start

If a start mark has to be compensated, this is done by the #move_weft0 message to move the firstweft after start (weft no. 0). The compensation for the second weft and all the following weft aredefined in the start mark compensation tables (chapter 3.5.14) and are executed automatically afterstart.The start mark compensation for the first weft is executed by this #move_weft0 message, normallywith the data taken from the compensation tables (C0). This gives the loom main control the possibilityto modify the data C0 with an offset, e.g. to add a little compensation movement depending on theloom stop time (long time stop). The algorythm for to build the offset is implemented in the loomcontrol.

Operation


NOTEFor security reason the movement has to take max. 3 seconds. If it takes more,the motors are stopped and an error message is created.

COB name (CAN Object name): #move_weft0

COB ID (CAN Object Identifier): 0x1C0 (used by loom main control)

Data:

data type unit range default remarksweft 0 position for take up signed16 % of density ±300 0weft 0 position for let off 1 signed16 % of density ±300 0weft 0 position for let off 2 signed16 % of density ±300 0weft 0 position for let off 3 signed16 % of density ±300 0

Format:0 2 4 6weft 0 positionfor take up

weft 0 positionfor let off 1



Example:

#move_weft 0 sent before start in order to compensate an open start mark, which is 150% of thenormal density. The complete fabric (take up and let offs are moved 50% of density backwards inorder to close the open mark:

byte0 0x17 weft 0 position for take up: -50%(msb), i.e. move take up backwards for ½ weft.byte1 0x70 (lsb)byte2 0x14 weft 0 position for 1st let off: -50%(msb), i.e. move 1st let off backwards for ½ weft.byte3 0x04 (lsb)byte4 0x00 weft 0 position for 1st let off: 0% (msb), (3rd let off not installed)byte5 0x00 (lsb)

Operation


3.12 Block take up

For special cloth design take up and let off are stopped during loom running for some count of weft.The result is a maximum density for these count of weft.The loom degrees where the take up (let off follows) has to stop is defined in the drive data. The takeup is stopped from 0° to 0°. It is possible to define a delay for either the stop or the restart of the takeup. The drive data BLOCK defines the delay and ONSTOP defines wether the delay works on thebeginning or the end of the stop phase (chapter 3.5.12). The function is activated only, when theuncontrolled event #block_takeup without data is received. The "block take up" request is sampled atloom 0°. If there is a request switched on, take up and let off are stopped resp. restarted, consideringthe defined delay.

COB name (CAN Object name): #block_takeup


No data.

Example: ↑ = #block_takeup received------- = take up stopped:

0° 0° 0° 0° loom degrees↑ ------------------ ONSTOP=X BLOCK=0°↑ ----------------------- ONSTOP=0 BLOCK=90°↑ -------------- ONSTOP=1 BLOCK=90°↑ ------------↑---------------↑--------------------- ONSTOP=X BLOCK=0°↑ ------------↑---------------↑--------- ONSTOP=0 BLOCK=90°↑ --------↑---------------↑--------------------- ONSTOP=1 BLOCK=90°

X= does not care

Operation


3.13 Fabric counter

The take up supplies a function to count the quantity of the produced fabric. The counter counts downstarting from the value set (chapter 3.5.13). When the counter reaches the value 0 the uncontrolledevent #take_len0 without data is sent and the counter is reloaded.

COB name (CAN Object name): #take_len0

COB ID (CAN Object Identifier): 0x310 (used by take up drive)

No data.

3.14 Service counter

The drives supply a function to count the motor revolutions. This can be used to define some serviceperiod, e.g. for to exchange the oil of the mechanic gear box. (The motor itself needs no service.) Thecounter counts down starting from the value set (chapter 3.5.13). When the counter reaches the value0 the uncontrolled event #unit_srv_req without data is sent and the counter is reloaded.



take up let off 1 let off 2 let off 3#take_srv_req #let1_srv_req #let2_srv_req #let3_srv_req

Note: in this manual the 4 object names are summarized in the name #unit_srv_req.





0x341 0x342 0x343 0x344

No data.

3.15 Drive internal CAN object

When some motors are moving synchronously and one of them stopps for any reason, it is neccessaryto stop all motors to avoid stress on the fabric. For this reason the drives uses the uncontrolled event#stop_motor without data. This COB is used by the drives only.

COB name (CAN Object name): #stop_motor

COB ID (CAN Object Identifier): 0x180 (used by the drives)

No data.

Error handling


4 Error handling

4.1 LEDs at the drive

The drives are delivered with or without the loom specific software. You can see if the drive containsthe loom software from the green READY- and the red ERROR-LED:


ERROR(red LED)

missing 24VDC power supply off offwithout loom software on flashingwith loom software, no error on offwith loom software, error found off flashing

In case of a download which is just busy there are two more states:


ERROR(red LED)

download busy flashing offdownload finished (switch off/on) on on

4.2 Watchdog

To ensure, that the loom main control notice a fatal error of the drive were the drives software does notwork, each drive sends his uncontrolled event #unit_watch without data cyclical. The loom controllershould watch this events to stop the loom for error reason, when one of the installed drives stopssending this event.



take up let off 1 let off 2 let off 3#take_watch #let1_watch #let2_watch #let3_watch

Note: in this manual the 4 object names are summarized in the name #unit_watch.





0x1E1 0x1E2 0x1E3 0x1E4

No data.

Timing:The COB is sent about each 80ms. For security it is recommended to stop the loom for error reason,when this event is missing from one of the installed drives for more than 300ms (i.e. max. 3 weftwithout control at a loom speed of 600RPM).

Error handling


4.3 Operation errors

A possible pending error is notified in the component ERR of the stored event variable #unit_status ofeach drive (chapter 3.6). In case of a coming up error (ERR≠0), the #unit_status is sent immediately.On the other hand it can be read any time.

A pending error is cleared with a write access to the drive data EACK ("Error ACKnowledgement").

NOTESince the coming up errors are stored in a pipeline, each write access to the parameterEACK cleares the oldest error. When the user wants to clear the error, it is recommendedto write to EACK in a loop, until the variale ERR in the #unit_status is zero (no error). Doingthis, it is ensured, that the user gets the right error code, when a new error is coming up.

In case of an error coming up during movement not only the #unit_status with the error code is sentbut also the uncontrolled event #unit_stopreq with the error code is sent in order to stop the loomimmediately:



take up let off 1 let off 2 let off 3#take_ stopreq #let1_ stopreq #let2_ stopreq #let3_ stopreq

Note: in this manual the 4 object names are summarized in the name #unit_ stopreq.





0x121 0x122 0x123 0x124

Data:

data parameter, type unit range default remarkspending error ERR unsign8 - 1 .. 255 0

Format:0ERR

Example:byte0 0x1E error code decimal 30 (chapter 4.5.1)

ERR (error)Error code for the reason of the stop request. For the meaning of the error codes see chapter 4.5.3.

Error handling


4.4 Creating a log file for error analysis

When the drive is working, each function performed with all the used parameter of each drive arerecorded as ASCII based text. The information, which is recorded, is selected with the drive data PRN.Each bit of PRN, which is set, enables a certain kind of information (chapter 3.5.5). Each drive isserver for an uncontrolled event #unit_record with 8 ASCII data byte. An optional connected device(e.g. Personal Computer with CAN interface) may work as client to build up a printfile for this record.



take up let off 1 let off 2 let off 3#take_record #let1_record #let2_record #let3_record

Note: in this manual the 4 object names are summarized in the name #unit_record.





0x51A 0x51B 0x51C 0x51D

Data:

data type unit range default remarks8 ASCII based characters array of unsign8 - 1 .. 255 0

Format:0 1 2 3 4 5 6 7'S' 'E' 'R' 'V' 'O' 'T' 'E' 'X'

Example:byte0 0x53 ASCII for Sbyte1 0x45 ASCII for Ebyte2 0x52 ASCII for Rbyte3 0x56 ASCII for Vbyte4 0x4F ASCII for Obyte5 0x54 ASCII for Tbyte6 0x45 ASCII for Ebyte7 0x58 ASCII for X

Not used bytes are filled with 0x00. The client should create an carridge-return and line-feed afterreceiving 0x00 (end of string).

4.5 Error code

All errors names begins with ERR_... . The internal error name is transformed into a customer specificerror code (set with parameter KUN, chapter 3.5.4).To find some explanation about the meaning of an error code look for the error name in chapter 4.5.1respective 4.5.2. With the error name look for some explanation in chapter 4.5.3.

Error handling


4.5.1 Nuova Vamatex error code

Take the error name and look for some explanation in chapter 4.5.3.

error code error name5 ERR_PAR_DIA6 ERR_DRIVE_NOTREADY7 ERR_PAR_SPEED8 ERR_PAR_TENSION_LOW9 ERR_PAR_TENSION_HIGH

11 ERR_DRIVE_TEMP12 ERR_MOTOR_TEMP13 ERR_DRAGERR15 ERR_PAR_DENSITY_LOW16 ERR_PAR_DENSITY_HIGH17 ERR_PAR_TENSION_MIN18 ERR_PAR_TENSION_MAX20 ERR_EEPROM21 ERR_ACIA31 ERR_STATE32 ERR_STOP34 ERR_RETRIGGER35 ERR_ENABLE36 ERR_COMMAND37 ERR_HFK38 ERR_PSOS39 ERR_INTERN40 ERR_HWSTOP41 ERR_FATAL51 ERR_SENSOR52 ERR_SHAFTENCODER53 ERR_OVERVOLT54 ERR_UNDERVOLT55 ERR_MOTORSHORT57 ERR_AMP_NOCON58 ERR_MOTORENCODER59 ERR_ISQUARET88 ERR_MAXSPEED92 ERR_SHAFT

101 ERR_AUTOMOVE103 ERR_PAR138 ERR_LANCEE139 ERR_TENSION_TIMEOUT150 DLL_RXOVR151 DLL_COVR152 DLL_TXOVR153 DLL_ALLG154 DLL_NOTALLOWED155 DLL_PARAMETER156 DLL_OBJECT160 MS_DISTANCE

Error handling


4.5.2 Sulzer Tessile error code

Take the error name and look for some explanation in chapter 4.5.3.

error code error name1 ERR_DRIVE_NOTREADY2 ERR_DRIVE_TEMP3 ERR_MOTOR_TEMP4 ERR_DRAGERR5 ERR_HFK6 ERR_PSOS7 ERR_INTERN8 ERR_HWSTOP9 ERR_FATAL

21 ERR_STATE22 ERR_STOP24 ERR_RETRIGGER25 ERR_ENABLE26 ERR_COMMAND27 ERR_SENSOR28 ERR_SHAFTENCODER29 ERR_MAXSPEED30 ERR_SHAFT31 ERR_AUTOMOVE32 ERR_PAR33 ERR_LANCEE34 ERR_PAR_DIA35 ERR_PAR_SPEED36 ERR_PAR_TENSION_LOW37 ERR_PAR_TENSION_HIGH40 ERR_PAR_TENSION_MIN41 ERR_PAR_TENSION_MAX42 ERR_GEBER43 ERR_EEPROM44 ERR_ACIA48 ERR_PAR_DENSITY_LOW49 ERR_PAR_DENSITY_HIGH53 ERR_OVERVOLT54 ERR_UNDERVOLT55 ERR_MOTORSHORT57 ERR_AMP_NOCON58 ERR_MOTORENCODER59 ERR_ISQUARET60 ERR_TENSION_TIMEOUT

150 DLL_RXOVR151 DLL_COVR152 DLL_TXOVR153 DLL_ALLG154 DLL_NOTALLOWED155 DLL_PARAMETER156 DLL_OBJECT160 MS_DISTANCE

Error handling


4.5.3 Explanation to errors

ERR_ACIA Hardware CAN controller not found.Change unit (by qualified electrician only).

ERR_AMP_NOCON Power drive: no communicationCommunication from controller to drive does not work. Check mains. Ensure, that the mains is notswitched off, while the systems power supply (24VDC) is still on.

ERR_AUTOMOVE Automatic move timeoutAn automatic movement (#move_tension page 52 or #move_fabric page 52) takes longer than3 seconds. Check parameter for automatic speed (chapter 3.5.8) and all mechanical adjustmentparameters (chapter 3.5.7).

ERR_DLL_ALLG internal fatal error by CANCAN totally canceled. Power on again.

ERR_DLL_COVR Hardware CAN controller overrun of received messages by CANCheck if the CAN objects are sent without inhibit time. Note, that the drive needs time to processreceived messages. Increase time between messages sent.

ERR_DLL_NOTALLOWED internal error by CAN softwareService not allowed by the actual node state. Can happen during internal initialisation of the CANsoftware only.

ERR_DLL_OBJECT internal error by CAN softwareObject not defined, no more memory. Can happen during internal initialisation of the CAN softwareonly.

ERR_DLL_PARAMETER internal error by CAN softwareInvalid parameter. Can happen during internal initialisation of the CAN software only.

ERR_DLL_RXOVR Software buffer overrun of received messages by CANCheck if the CAN objects are sent without inhibit time. Note, that the drive needs time to processreceived messages. Increase time between messages sent.

ERR_DLL_TXOVR Software buffer overrun for CAN objects to sentIt is not possible to sent to CAN. Check if there is a CAN overload or always active level on theCAN.

ERR_DRAGERR Motor overloadCheck motor encoder and wiring of motor encoder interface (chapter 2.3.4). Reduce anyexcessive mechanical load and friction moment. Check all parameters from chapter 3.5.6 and3.5.7. If happens during start mark compensation, reduce excessive compensation parameters. Ifnecessary, employ more powerful motor.

ERR_DRIVE_NOTREADY Drive not ready.Combined message for power controller fault: ERR_DRIVE_TEMP, ERR_MOTOR_TEMP,ERR_DRAGERR, ERR_UNDERVOLT, ERR_OVERVOLT. For more detailed information refer tothe seperate error explanations. It is necessary to switch off the unit.

ERR_DRIVE_TEMP Drive temperature too high.Let the power drive cool down while the motor is at standstill. Ensure clean air supply to the unit. Ifnecessary, install a fan to the unit (ask our sales department).

ERR_EEPROM Hardware EEPROM (power fail safe memory) not found.Change unit or change the main plate D953.5x (by qualified electrician only).Note, that the EEPROM is checked at power on if it contains valid data. For this reason the errormessage happens at the very first power on in the life of the drive even if there is no error.

ERR_FATAL see ERR_HFK

Error handling


ERR_GEBER Hardware modul Z-RS422IN (encoder interface) not found.Change unit or change the modul at connector 22 (by qualified electrician only).

ERR_HFK, ERR_PSOS, ERR_INTERN, ERR_FATALInternal errors - never should happen -. Possible reason: A strange constalation of parameteradjustment. To get more detailed information use a CAN-monitor to record the protocol messages(chapter 4.4) and send the printout to us (use last page of this document).

ERR_HWSTOP Motor was stopped by internal #stop_motor messageOne unit recognized an error and stopped the other units. For error information look to the errormessage coming from the other unit (chapter 3.15).

ERR_INTERN see ERR_HFK

ERR_ISQUARET Motor overloadReduce any excessive mechanical load and friction moment. If necessary, employ more powerfulmotor.

ERR_LANCEE Lancee active for more than 30 weftChange design; it is not allowed to block take up for more than 30 weft. Check #block_takeupmessage (chapter 3.12). Check if it is sent on each weft.

ERR_MAXSPEED Manual- or automovespeed too highThe calculated speed for the motor exceeds 3600RPM. Decrease manual- resp. automove speed(chapter 3.5.8). Check all mechanical adjustment parameters (chapter 3.5.7).

ERR_MOTOR_TEMP Motor temperature too high or fault on motor shaft encoder lineCool down motor. Reduce any excessive mechanical load and friction moment. Ensure, that themotor is mounted in free air condition and that the flange works as a good heat sink. If necessary,employ more powerful motor.Check motor shaft encoder line connection (chapter 2.3.3 signal TEMP_MOTN).

ERR_MOTORENCODER Inconsistant motor encoder signalsSignals,coming from the motor encoder are faulty. Check connector MOT.ENC. on the unit, motorencoder cable and motor encoder connector on the motor end. Ensure a closed skin shieldconnection from motor to the unit. (chapter 2.3.3).

ERR_MOTORSHORT Power drive: motor shortFaulty connection in connector, cable or motor: phase to phase or phase to ground. Switch offpower supply and check connection of motor phases U, V, W and ground; change motor cable ormotor.

ERR_MS_DISTANCE Set low torsion point procedure not successfully finishedRefer to chapter3.5.17.

ERR_OVERVOLT Power drive: over voltageSupply voltage higher than 395V. Check mains. If happens after manual- or automatic movementdecrease accelleration (chapter 3.5.8). If necessary, connect an external bleed resistor (ask oursales department).

ERR_PAR Value out of rangeA parameter is out of range; the command was refused. Check the parameters relating to thererange. Refer to the concerning chapter.

ERR_PAR_DENSITY_HIGH Setted density too highRefer to chapter 3.5.9.

ERR_PAR_DENSITY_LOW Setted density too lowRefer to chapter 3.5.9.

ERR_PAR_DIA Setted diameter out of rangeRefer to chapter 3.5.7.

Error handling


ERR_PAR_SPEED Automove speed must be 20% higher than manual speedRefer to chapter 3.5.8.

ERR_PAR_TENSION_HIGH Setted tension too highRefer to chapter 3.5.9.

ERR_PAR_TENSION_LOW Setted tension too lowRefer to chapter 3.5.9.

ERR_PAR_TENSION_MAX Sensor alarm high-limit too lowRefer to chapter 3.5.9.

ERR_PAR_TENSION_MIN Sensor alarm low-limit too highRefer to chapter 3.5.9.

ERR_PSOS see ERR_HFK

ERR_RETRIGGER Manual command retrigger timeoutFor safety reason (broken wire), the command for manual movement (chapter 3.10) has to berepeated every 0,5s. The command was not repeated. Check serial connection (chapter 2.3.4).

ERR_SENSOR Sensor out of rangeThe voltage of the sensor has left the specified range. Move the let off manual, to get a sensorvoltage of the target voltage (chapter 3.5.9). Check the specified range for the alarm limit andensure a stabel working let off regulation (chapter 3.5.9). Ensure correct adjustment of all themechanic parameters (gear box, diameter of beam, density, reference tension; chapters 3.5.x).Ensure that the let off regulation is started with the #loom_start message, when loom is going torun (chapter 3.8.1).

ERR_SHAFT Zero degrees signal timeoutWhen the #loom_start message was sent and afterwards the #unit_state message was sent withthe drive status RUNNING in order to enable the loom to run, the first zero pulse from main shaftencoder was not received before 6 seconds or -during running- the zero pulse was missing formore than 600ms. Check main shaft encoder and cable (chapter 2.3.4). Check, if the #loom_stopmessage is not sent when loom stops (chapter 3.8.2).

ERR_SHAFTENCODER Inconsistent main shaft encoder signalsThe expected encoder signal looks as shown in the diagram on page 31. Note that there is theadditional signal "zero puls" expected one time a round. Check the main shaft encoder cable(chapter 2.3.4). Ensure that there are no electrical and magnetic interferences. Use shielded cableand connector housing. Connect the shield to ground on both ends. Use twisted wire for thesignals and there inverted partners.

ERR_STATE Command not allowed in actual stateThe activated command comming from the console is not accepted in this situation. Most of theparameters from chapter 3.5 are allowed in IDLE state only. Even the manual- and automaticmovements and the start of the loom is allowed from IDLE state only (see flow chart on page 20).

ERR_STOP Motor didn't stopMotor does not stand still before 0.5s after stop event. If happens after manual- or automaticmovement, increase acceleration ACC (chapter 3.5.8).

ERR_UNDERVOLT Power drive: low voltageSupply voltage lower than 200V. Check mains. Ensure, that the mains is not switched off, whilethe systems power supply (24VDC) is still on.

ERR_VOLTAGE_TIMEOUT Sensor voltage not receivedCheck cable connection to CAN (chapter 2.3.4). Refer to chapter 3.7.

Appendix


5 Appendix

The data sheet B and C on the next pages are for take up and let off.The layout is according to CiA Draft Standard 206.

Some messages are named #unit_.... .The part unit has to be replaced by take, let1, let2 or let3.Some COB's are ending with xh or yh (e.g. 17xh or 17yh).The x and y has to be replaced by:

unit: take let1 let2 let3x: 1 2 3 4y: A B C D

How to edit the #unit_data___ COB (hex coded):

Write a byte:COB-ID 1. byte 2. byte 3. byte 4. byte 5. byte17x 27 <index,MSB> <index,LSB> <subindex> <data>Example: Set parameter PRN (Print mask) for let off 1 to FF, i.e. print all available information172 27 00 CA 02 FF

Write a word:COB-ID 1. byte 2. byte 3. byte 4. byte 5. byte 6. byte17x 2B <index,MSB> <index,LSB> <subindex> <data,MSB> <data,LSB>Example: Set parameter KPG (prop. regulating constant) for let off 1 to –400 (dec.)172 2B 00 CE 03 FE 70

Read a byte or word:COB-ID 1. byte 2. byte 3. byte 4. byte17x 40 <index,MSB> <index,LSB> <subindex>Example: Get parameter KPG (prop. regulating constant) for let off 1172 40 00 CE 03

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pag

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Warp

let-

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take

-up

Doc.

no.

00

44

11

13

13

96

6

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e 3

0)

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pag

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8)

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Doc.

no.

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44

11

13

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Doc.

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44

11

13

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--2

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let-

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take

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Doc.

no.

00

44

11

13

13

97

2

11

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11

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12

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Doc.

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00

44

11

13

13

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Re

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ks

Warp

let-

off /

take

-up

Doc.

no.

00

44

11

13

13

97

6

17

0p

rogr

am

re

visi

on

dow

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W: cy

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about

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00m

s

SIG Positec Automation GmbHApplication

Breslauer Str. 7P.O. box 1180

D-77933 Lahr

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Warp let-off / take-up - 慧聪网img00.b2b.hc360.com/pic-0/handbook-pic-1/0-1-696901.pdf · General description 10 Warp let-off / take-up Doc. no. 00 4411 13 139 NOTE The devices