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Digital controller RK 4004

Correction

path

established correctionpath

depending on thecorrection path

Control deviation

Proportional range

.1.3. prop range

2,0

3 4

Correction path

.4.5. prop stroke

15 mm

20 mm

Set position

(Sensor measuring range center) Control deviation of

1.5 mm

In this example a maximum correction path of 15 mm or 20 mm was

set with a proportional range of 2 mm.

Given a correction path of 15 mm (20 mm) the correction path is ap-

prox. 11 mm (15 mm) given a control deviation of 1.5 mm.

The values may also be calculated arithmetically:

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

Correction path = control deviation * amplification (G)

Example 1: Example 2:

G = 15/2 = 7.5 G = 20/2 = 10.0

V K = 1.5 m m * 7.5 VK = 1.5 mm * 10.0

VK = 11.25 mm VK = 15.0 mm

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.4.6. foto auto offset

During the actuator initialization run the offset is set to zero. A de

fault offset value can only be set with controller type 1 (parameter

".9.2. controller type").

With a follow-up control/tool control the actuator follows up the actual

web position proportionally.

To specify the required set position of the unwinder/tool the offset

between the "center" position and the required set position must beentered.

Manual o f fset speci f icat ion:

The entry of the offset value is in 1/10 mm. Depending on the pre-

sign of the entry the set position of the actuator will be displaced to

the right or left of the center position. For the manual default setting

parameter "1.2.4. position l-Part" must show value "0".

Automat ic of fset speci f icat ion:

In the case of automatic specification the web must be located in the

sensor scanning range and the actuator manually moved to the re

quired set position. The offset is calculated and saved via the "setup"

and "automatic" key combination. For the automatic default, the func

tion "enable AG Foto" must be selected in parameter ".9.7. >function

config 1".

Automat ic of fset ad justment:

In the "automatic" mode the offset is adjusted automatically if the

value in parameter "1.2.4. position l-part" is >0.

If an adjusting support is used this values corresponds to the edge

position after the search run. This is possible only with a CAN-Data-

protocol PR 1

.4.7. speed control ler

Parameter block for setting the speed controller.

.4.8. max. motor speed

The motor speed at maximum terminal voltage (22 V) is set here.

The speed value may be found in the table in chapter 6. The speed

value is set at 22 V motor voltage.

.4.9. act. speed

The actual motor speed of the DC actuator at that moment is dis

played .

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.5.0. speed_P

.5.1. speed_l

Please refer to the table in chapter 6 for the P and I components of

the various device types.

The values must not be changed. They have already been optimized

at the factory.

A change to these 2 parameters impairs the optimum function of

the guider. A change to these values may range from guiding im

pairment to the system ceasing to function.

.5.2. accel. t ime

II This function is only possible in "manual offset" mode.

In manual mode the actuator is positioned with the positioning veloc

ity set in parameter ".1.8. velocity jog".

With this ramp function ".5.2. accel. time" an acceleration time of 0 to

the maximum motor speed may be entered. The actuator drive thus

reaches its maximum motor speed after a set time. The motor speed

is increased linearly. Equally, the actuator comes to a standstill after

the same ramp function.

In the fig. opposite the motion speed progression of an actuator is

displayed with a set ramp function of 3 seconds. The key for the

manual offset has been pressed for 5 seconds in this example. The

broken line progression indicates the positioning velocity progression

without ramp function.

.5.3. I-PWM

The actual l-PWM value (pulse-width-modulated) is displayed. Thedisplay is only of significance for internal tests.

.5.4. set speed

The actual motor set speed is displayed.

.5.5. current control ler

Parameter block for setting the current controller.

.5.6. cut-off current

Once the set value is exceeded the motor output stage is switched

off. This value should be twice as much as the motor nominal current

(parameter ".5.7. motorcurrent").Error display 3 is output as error in parameter ".6.9. system error".

If the current fails to reach the set value the motor output stage will

be re-enabled.

Positioning velocity

Positioning without ramp functi on

Positioning velocity

with ramp function

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.5.7. motorcurrent

The motor nominal current specified on the DC actuator drive type

plate should be set here. If set too high the motor current may over

load or even destroy the DC actuator drive. Please also refer to the

table in chapter 6 in order to establish the current value.

.5.8. dyn. currentfactor

.5.9. the rm, t imecon st .

.6.0. l imited current

This time-limited excess current is used to increase the dynamics of

the DC actuator drive (shorter acceleration time)

Current

in mA Pos. 1 Pos. 2

i

600i I 1 internali

600 t / current limit

500 \1 / actual permissible

400I

\1

/motor current

3 0 0 -1 / V \ / nom. motor

current

200 , - . - * ' 1 11

\motor current

100 1

1

1

1

1 1 L 1 1 1Time

| |

1 2 3 41

51 1 1 1 1 16 7 8 9 10 11

12 ' n S

For a short time a DC actuator drive may be operated with a higher

motor current. The factor is determined here. The internal current

limit is calculated on the basis of the nominal motor current in param

eter ".5.7. motorcurrent" and the factor from parameter ".5.8. dyn.

currentfactor". The duration of the excess current is set in parameter

".5.9. therm, timeconst.".

Excess current functions according to the following principle:

If the motor current input is less than the nominal motor current the

permissible motor current will be increased within the set time (.5.9.

therm, timeconst.) to the internal current limit. This actual permissible

motor current is displayed in parameter ".6.0. limited current".

If the motor current input (pos. 1) is greater than the nominal motor

current (.5.7. motorcurrent) the permissible motor current will thenbe reduced again within the set time (.5.9. therm, timeconst.) to the

nominal motor current. As soon as the motor current is again drops

below the nominal motor current (pos. 2) increasing of the current

limit is resumed.

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Once the operating voltage is supplied the permissible motor cur

rent begins at the nominal motor current.

The current limit is upwardly limited by the maximum output stage

current (see technical data).

If a support beam VS 50.. / VS 60.. is operated using the con

trol card, a current increase must not be set. The value in the

parameter " .5.8. dyn. currentfactor" must be 100.

.6.1. act. current

The actual motor current of the DC actuator drive is displayed.

.6.2. current_P

. 6 . 3 . c u r r e n t j

The P and I components of the current controller may be found in the

table in chapter 6.

The values may not be changed. The values are already optimized at

the factory.

IChanging these 2 parameters impairs optimum guider operation.

Changing these values may result in guiding impairment to loss of

system function.

.6.4. set curre nt

The current internal set current is displayed. Only of significance for

E+L service personnel.

.6.5. reserved 65Not assigned at present.

# .6.7.

t

1011 12 "(ms)

.6.6. current di ther

An a.c. component may be superimposed on the motor current. The

motor breakaway torque is thus reduced and the actuator responds

with greater sensitivity. Guiding in the lower speed range is improved.

.6.7. di ther cyclet ime

Entry of the cycle time for the a.c. component.

.6.8. diagnostics

Parameter block for displaying the system status.

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.6.9. system error

The following error messages are possible:

1 = supply voltage under 20 V DC

2 = supply voltage over 30 V DC

3 = the guider cut-off curren t has been exceeded

4 = the heat sink tempera ture is over 70 C

5 = the incremental encoder is defect ive

6 = the incremental encoder is inverted (signal lines confused)7 = no message from the right sensor

8 = no message from the left senso r

10 = the motor line is interrup ted

12 = the motor output stage is defect ive

13 = the motor is blocked at max imum motor current

14 = several reference switch switching points

15 = the end position proximi ty switches are confused

16 = the external voltage supply of the control card is overloaded

for further attached devices.

23 = If the motor blocks longer than for 10 seconds the motor cur

rent for this direction of rotation is switched off and the defect

display "13" changes to "23". If the direction of rotation is re

versed the motor protection will be cancelled.

.7.0. reserved 70

Not assigned at present.

.7 .1. reset counter

The number of control card starts is displayed.

.7.2. running t ime meter

The operating hours of the control card are displayed here.

.7.3. supplyvol tage 24 DC

The current supply voltage of the controller card is displayed.

.7.4. temperature case

The current temperature of the controller card case is displayed here.

.7.5. temp, case max.

The controller card stores the highest measured temperature of the

heat sink. This stored temperature is displayed.

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.7.6. reserved 76

.7.7. reserved 77


.7.8. mainloops/sec.

For internal evaluations only.

.7.9. I/O configuration

Parameter block for programming the digital inputs.

.8.0. >digi input status

The current status of the digital controller card inputs is displayed

here.

.8.1. >usage output X 20.4

The following functions can be assigned to the digitale output (seeconnection diagram).

Value Application Signal at active output

1 sytem o.k. System operational

2 motor limits The actuator has reached the limit of the positioning range.

4 sensor limits The web edge is outside of the sensor measuring range.

.8.2. >usage input X 4.1



.8.5. >usage input X20.2


The digital inputs (see wiring diagram) may be assigned functions.

II Each function may only be assigned once.

The following table illustrates the possible function options:

Value Application Signal at active input

0 no usage no function of this input

1 Motor lock motor is stopped in each operating mode

-1 Motor unlock motor is enabled in each operating mode

2 Automat ic lock motor is only stopped in automatic mode

-2 Automatic unlock motor is only enabled in automatic mode

3 Reference with speed- reference switch switches at negative motor direction of rotation (see example 1)

-3 Reference with speed+ reference switch switches at positive motor direction of rotation (see example 1)

4 Spee d lock at signal 1 the motor direction of rotation is blocked. Which direction of rotation is inhib

ited is only determined in co njunction with the reference switch, (see example 1)

-4 Spee d unlock at signal 0 the motor direction of rotation is blocked. Which direction of rotation is inhib

ited is only determined in conjunction with the reference switch, (see example 1)

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Value Application Signa l at active input

5 Speed + lock at signal 1 the positive motor direction of rotation is stopped (see example 2)

-5 Speed + unlock at signal 0 the positive motor direction of rotation is stopped (see example 2)

6 Speed - lock at signal 1 the negative motor direction of rotation is stopped (see example 2)

-6 Spee d - unlock at signal 0 the negative motor direction of rotation is stopped (see example 2)

7 Auto Center switching-over between automatic and centering

-7 Center Auto switching-over between centering and automatic

8 Oscilation ON oscillation ON

-8 Oscilation Off oscillation OFF

9 Weboffset Remot e extern al web offset RE 1721 (only possible on termi nal X 3.2!)

9- - not assigned

10 Webspe ed Measure web speed measuring (only possible on terminal X 3.2!)

-10 - not assigned

11 Manual Key "Manual" key

12 Right Key "Rig ht" key

13 Left Key "Left " key

14 Auto Key "Auto" key

15 Center Key "Center" key

16 Latch weber ror Only possibl e with "integr al" type of contro l.

The current web position deviation is saved at signal " 1 " and an appropriate correction

position a dded to the current AG position at signal "0". This guiding m ode is required if

the web position is only available at certain times as a valid value (e.g. label scanning,

broken lines etc.).

17 ATL switch R In case of a 1 signal the positive actuating mov eme nt is supp ress ed and a chang e made

to the opposite negative actuating movement. The actuating speed for the negative actu

ating movement is set in parameter ".1.9. velocity defect".

18 ATL swit ch L In case of a 1 signal the negative actuating mov emen t is suppr essed and a change made

to the opposite positive actuating movement. The actuating speed for the positive actuat

ing movement is set in parameter ".1.9. velocity defect".

19 Edge Search key "Edge Search" key

20 Sensor Free key "Senso r Free" key

21 Foto key Trigger get guiding set point

22 Foto zero key Reset of the start of the guiding proces s to "0"

23 Desel. all sensors All sensoren in this equipment group will be deselected.

24 Sel Line Sensor The color line sensor is select for control (only with data protocol PR 2)

25 Zero Guide Target The "guide target" (set position of the web) is set to "0"

(only with data protocol PR 2) ^

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R+

L

L(")- -R(+)

X 4.6

24 V DC

X4.4 X4.7

-3 -4

Example 1:

The positioning range is to be limited by two series-connected break

contacts.

The inputs X 4.4 (reference switch) and X 4.7 (end positions) should

be assigned as follows:

Input X4.4 is assigned the value -3. The switching point is reached

via the positive motor direction of rotation.

Input X 4.7 is assigned the value -4 (break contact).

R+ L(-)-

X4.3 X4.424 V DC -6

rR(+)P 7

X4.6 X4.724 V DC -5

Example 2:

The positioning range is to be limited by two separate break contacts.

The inputs X 4.4 and X 4.7 should be assigned as follows:

Input X4.4 is assigned the value -6. At signal 0 the negative motor

direction of rotation is stopped.

Input X 4.7 is assigned the value -5. At signal 0 the positive motor di

rection of rotation is stopped.

If the circuit is set up with make contacts, value 5 or 6 must be set.

.8.7. guide config.

Parameter block for external guiding specification.

.8.8. guide target

The external data master transmits the set web position. The set po

sition value is displayed here.

.8.9. reserved 89


.9.0. reserved 90


.9 .1. system conf ig .

Parameter block for application adaptation.

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.9.2. >co ntrol ler type

This parameter is used to determine which type of guider will be

used.

Propor t ional actuatorPivoting frame

Steering roller

Turn rod

Winding stationPush roller

S s n l l

n = speed

n

i s .= a ctual spee d

n s o l l= set spee d

s = web set positionAS = we b deviatio n

S i s t= actual position

S s e t= set position

Integral actuatorPivoting roller

Segmented guide rollers

Edge spreading device

Spreading devicePositioning control

Follow-up control

Three- level mode

S ,s t s t e i g t e d J f S s o i , s t a l i g t e o

6 t ]A S A .

S l s t B ahn

S f i o l l B ahn

n i s tactual speed

n s o l lset speed

Q =

s o l l S t e l l g li e dactuator

set positionC -

" i s t S t e l l g l i e dactuator

actual position

AS web deviationC =w i s t B a h n actual web

positionC =

" - " s o i l B a h nset web

position

SROII

AS

SL .

web deviation

actual position

set position

0=on a proportional guider a specific motion speed is output to cor

rect the guiding difference in the event of a deviation of the actual

position from the set position.

1 = on an integral actuator a specific actuator position is output to cor

rect the guiding difference.

3= for applications with an actuator with three-level action

(e.g. reversing contactor).

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.9.3. controller operate

In the case of web center guiding systems with motor-driven sensor

following-up (hybrid) value 1 must be set.

.9.4. >auto address

The controller card features automatic sensor addressing.

Sensor addressing is only performed after a reset and is only pos

sible for sensors that are directly connected to the controller card

at connectors X 5/X 6. Furthermore, the sensors must feature the

appropriate software for automatic sensor addressing.

The following sensor addressing options are possible.

0 = The sensor address/es is/are only displayed in parameters

"connector X5" and "connector X6". The address is manually

set on the sensor or via the command device.

1 = Device number 1 is automatically assigned to the sensor at

terminal X5 and device number 2 to the sensor at terminal X6.

The sensor device group is identical with the controller card

group. Address setting according to the sensor description isthus unnecessary.

2 = The sensor at terminal X5 (X6) is assigned the address set in

the "connector X5" ("connector X6) parameter. In the event of

sensor replacement (defective sensor) the new sensor is auto

matically assigned the right address.

.9.5. CAN connector Right

.9.6. CAN connector Left

The address setting of the sensor at terminal X5 (X6) is displayed.

.9.7. >function config 1

Certain functions may be activated or deactivated.

The following table indicates the possible functions:

Function Value Description

[X] framelimit Check 0001 h Monitors both position range limits. This function must be switched of on actuators with

out end positions (e.g. tube slitters)!

[ ] N~ / M cont rol 0002 h No function at present

[ ] Cente r direct 0004 h In this case moving to center position is performed without additional calibration of the

position counter in "center position" operating mode.

[ ] ref on Power on 00 08 h Once operating voltage is supplied the reference switch is first of all approached in or

der to calibrate the position counter. Then the operating mode is selected that was set

before the operating voltage was switched off.

[ ] watch webe dge R 0 01 oh

In the motor-driven positioning of fork-type sensors the right web edge is monitored.

If the sensor scanning range is fully covered, motor-driven positioning is interrupted.

Damaging of the web edge by the fork-type sensor is thus prevented.

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[ ] watch webe dge L 0020 h In the motor-driven positioning of fork-type sensors the left web edge is monitored.

If the sensor scanning range is fully covered, motor-driven positioning is interrupted.

Damaging of the web edge by the fork-type sensor is thus prevented.

[ ] enable AG-Fo to 00 40 h The actual mo tor position is saved as the set position for automatic mode. Displaying

is in parameter ".4.6. foto auto offset". This function can only be used with controller

type 1 (integral actuator), see also parameter ..3./value 13.

[ ] sens. er r> Center 008 0 h In the case of an invalid sensor signal the actuator is moved to the stored center posi

tion. If this function is not activated the actuator will only be blocked in the event of aninvalid sensor signal.

[ ] MCP active 0100 h Activation of the MCP (MasterContro leProcesso r). If no controller card is featured in a

group with the address x.5 (master) this function must therefore be set.

[ ] Apl. deactive 02 00 h Switching-off of all web guider applications.

[ ] support 2 motor 04 00 h If on one support beam, two positioning carriages are featured that are to be moved

independently of one another, this function must be selected for the purpose of collision

monitoring. This function is automatically set during support beam initialisation.

[X] weboff set 1/10 mm 08 00 h On pred ecessor controller cards the web offset is always transmitted in 1/10 mm. C on

troller card RK 4004 transmits in 1/100 mm. To assure that controller card RK 4004 is

compatible to older models this function must be set.

[ ] weboff set invers 1000 h The effective direction of the web offset is inverted.

This inversion is only possible if the signal for the web offset is received over an interface (e.g. Profi-Bus, Interbus-S, etc.).

[ ] defect detect ion 2000 h If the edge error exceeds the set proportional range (e.g. due to web displacement,

adhesive point, web tear etc) the motion speed is reduced to the set motion speed in

parameter ".1.9. velocity emergence".

[ ] ext. system mode 40 00 h The system mode is expanded for future applications. Various operating modes may

then be performed simultaneously with the modified command stations.

[ ] RE 1721 invers 80 00 h Turning the potentiometer in a clockwise direction (to the right) must also effect a web

offset to the right. If the web offset is in the opposite direction (to the left) this function is

used to invert the effective direction of the command station.

The functions may be directly selected with a CANMON program or

command station DO 200..

If these two options are not available the sum of the required func

tions must be formed and this sum value entered in this parameter.

Sum formation must be performed in the hexa-decimal system.

Example 1:

The "Watch webedge R" and "Watch webedge L" functions are re

quired.

Sum value = 0010h + 0020h = 0030h

Parameter value = 30

Example 2:

The "enable Pho to" an d "Sens. err.> Cente r" functions are required.

Sum value = 0040h + 0080h = 00C0h

Parameter value = CO

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.9.8. >function config 2

Certain functions may be activated or deactivated. The following

table illustrates the functions:

In the case of the curved brackets () only one function may be se

lected.


(*) no controler output 00 00 h None of the following 5 values is output via the CAN channel

() N-target -> CAN 0001h

Output of the set speed value

() delta N -> CAN 0002 h Output of the speed difference

() Pos-target -> CAN 000 3 h Output of the set position value

() delta Pos -> CAN 0004 h Output of the position difference

() l-target -> CAN 0005 h Output of the set current value

[ ] disable l-controle 0008 h If no motor is connected to the controller card, this setting must be used to switch off

the current circuit.

[ ] POS-TXD: targetpos 00 10 h Instead of the DC actuator drive actual position the set position of the DC actuator

drive is transmitted as a CAN message. The following losses with a follow-up control

ling system are thus reduced.

[ ] lock webspeedlim 00 20 h If the set web speed fails to be reached (parameter 1.1.5.) automatic mode is blocked

[X] AUTO: start slow 0040 h If the web is outside of the proportional range when the operating mode "automatic"is selected, the positioning speed will be reduced to the positioning speed set for the

manual mode. This reduction will be made only once and it will be made after the "au

tomatic" mode has been selected.

[] AU TO : Clear l-part 0080 h On selecting "Automatic" mode the set l-part of parameter

"1.2.4. position l-part" is reset to 0.

[] Pos-TXD: 50->10ms 010 0 h The cycle time for transmitting the actual position to the CAN-bus may be reduced

from 50 ms to 10 ms . This minimizes the lag error for the chasing system.

[ ] AG-Foto with sens. 020 0 h The current motor position is saved as set position for automa tic mode. The sensor

value is also taken into account during calculation in addition to the set position.

[ ] deselect all sens. 0400 h Automatic mode is performed without taking the sensor signals into account

(e.g. oscillation without sensor).

[ ] pos-CMD: no photo 08 00h

In the case of motor positioning commands via interface no guiding criterion photo istriggered.

[ ] trigger control 10 00 h Each time a new actual position of the web is received, the actual web position is

saved and a corresponding correction position added to the current AG position. This

type of guiding is required if the actual position of the web is sent with t > 5 ms.

Attention! The "latch weberror" function for the programmable inputs must not be se

lected.

[ ] high prior Manu al 20 00 h In the "Automatic" mode, the actuator can be moved using the "web offset" keys.

When the key is released, the web guider returns to the "Automatic" operating mode.

The "web offset" function cannot be used.

[ ] no weboffse t limit 40 00 h The web offset limit on the sensor measuring range is removed.

[ ] list-res 0.1 mm -> 1 mm 80 00 h Changes the parameter resolution. With paths greater than 3200.0 mm the values

can no longer be displayed or entered in the related parameters. For this reason the

resolution must be changed from V 1 0 mm to 1 mm.Attention! A reset and a rescan must then be performed.

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The functions may be directly selected with a CANMON program or

command station DO 200. .



Example :

The "I target-> CAN" and "Disable I Loop" functions are required.

Sum value = 0005h + 0008h = 000Dh

Parameter value = 000D

.9.9. >operatorkey config

This parameter is used to activate or deactivate certain functions.

The table below lists the functions:


[ ] AUTO: sel. all sens 0001 h In "automatic" mode all edge sensors featured in this group are selected.

[ ] sel. valid sensor 0002 h It is only possible to select sensors with a valid sensor signal (sensor status "gultig/

valid") via a corresponding command station.

This setting is of significance in the case of a camera or color line sensor, as thesesensors support the status "gultig/valid" or "ungultig/invalid".

[ ] force support free 0004 h When the "park sensor" key is pressed or signal supplied to the input of the same

name on a digital interface the sensors are moved to their outer position and main

mode set to "SystemLocked". The system is only enabled once the "park sensor" key

is released or signal no longer supplied to the input of the same name on a digital

interface.

[ ] Center -> sup. free 0008 h In "center position" mode the positioning carriages/sensors are moved to their outer

position. In "automatic" m ode the positioning carriages/sensors move to their origin

position or in "hybrid" mode so that they are symmetrical to the machine center.

[ ] unused sup. free 0 01 o h In "automatic" mode non-selected sensors mounted on a motor-driven positioning

carriage, are moved to their outer position (not active at present).

[ ] no edge -> sup. free 00 20 h If, during "search for edge" mode the inner end position of the positioning carriage is

reached, "park sensor" mode is automatically switched to. This value must be set inthe controller card X.5 (Master). If no controller card with address X.5 is featured, the

function must be set on the controller card with activated MCP (MasterControlProces-

sor) (see parameter .9.7. function config 1/value 0100).

[ ] sens sel. direct 0040 h Without this setting "manual" mode will always be switched to when a sensor is se

lected. If this function is set the selected operating mode is retained when a sensor is

selected.

[ ] emergency sensor L 0080 h Emergency guiding with left sensor

[ ] emergency sensor R 0100 h Emergency guiding with right sensor

[ ] Foto @ AUTO 0200 h The guiding set point is obtained using the "automatic" key

[ ] Foto @ AUTO + Setup 0400 h The guiding set point is obtained using the "automatic" and "setup" key

[ ] Foto @ hostco mmand 08 00 h The guiding set point is obtained using a Host command

[ ] No Foto @ CEN TER ED 100 0 h The guiding set point is not obtained in the "center position" operating mode

[ ] Unused sup. search 2000 h If, on a two-motor support beam, only one support beam is selected, the second (not

selected) support beam continuously follows the web edge. As a result it is possible to

measure the width of the web despite single-sided edge operation.

(*) lost web 0000 h On the loss of the web edge no change to the operating mode is performed.

() lost web: Center 40 00 h On the loss of the web edge "center position" mode is switched.

() lost web: Manual 8000 h On the loss of the web edge "manual" mode is switched.

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The functions may be selected directly with a CANMON program or

command station DO 200..



Example 1:

The "Auto: use all sens" and "force support free" functions are re-

quired.

Sum value = 0001h + 0004h = 0005h

Parameter value = 5

Example 2:

The "Sens sel. direct" "emergency sensor L" and "emergency sensor

R" functions are required.

Sum value = 0040h + 0080h + 0100h = 01C0h

Parameter value = 7 CO

1.0.0. >function config 3

The following functions are possible:


[ ] desel. VS'XX to sensor 0001 h If a color line sensor is used in conjunction with a motorized support beam, the

"Search for edge", "Web offset using support beam" etc. functions are not possible.

On the selection of the color line sensor, the selection of all support beams in this

device group is cleared automatically. The support beam can only be positioned using

correspondin g commands from an interface.

1.0.1. delaytime 1

1.0.2. delaytime 2

On the loss of the guiding criterion when a color line sensor an op

tion is available of switching to what is termed an emergency sensor.

Emergency guiding is activated in parameter ".9.9. operatorkey con

fig". The periods after which switching-over takes place are set via

the two "delaytime" parameters.

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Switching-over is performed according to the following principle:

Main sensor(Color l ine sensor)

Emergency sensor(Edge sensor)

Status

Color line sensor

Parameter

Operating mode automatic

Sensor selection

(D (D

CD At this point the color line sensor loses its guiding criterion. The

web guider is blocked and the delay time set in parameter "1.0.1.

delaytime 1" started.

On expiry of the set time swi tching to the emergency sensor takes

place and the web guider is enabled. Automatic mode is continued. At the same time the controller card adopts the current actual

web position as the set position for the emergency sensor.

The guiding cri terion is available again and the delay time in pa

rameter "1.0.2. delaytime 2" starts. Guiding is still performed by

emergency sensor.

Once the set time has elapsed the system switches back to the

color line sensor.

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1.0.3. subsystem 0 adress




Controller card RK 40.. features a serial bus connection. Up to 4

modules (e.g. a command station, several logic cards etc.) may be

serially connected via this serial bus. The addresses of the serial devices are entered automatically in ascending order beginning in pa

rameter 1.0.3., (1st slot = address in parameter 1.0.3., 2nd slot = ad

dress in parameter 1.0.4. etc). In the event of double addressing, the

address must be changed in the appropriate parameter. The place

in front of the dot specifies the group number and the place after the

dot the device number.

Example:

Device number: A 9 F C

Group number: 0 0 3 7

Entry in parameter 0.A 0.9 3.F 7.C

1.0.7. cal ibration

Parameter block for calibrating the controller card.

1.0.8. calib. UDC

Scaling of operating voltage measuring and display. This parameter

is automatically set during the test run at E+L.

1.0.9. offset, l-act

Motor current offset measuring. This parameter is automatically set

during the test run at E+L.

1.1.0. calib. l-act

Scaling of motor current measuring and display. This parameter is

automatically set during the test run at E+L.

Q

Template

375 mm I 375 mm

J I I I U l_

}Center of machine/reference line

1.1.1. template posi t ion

This parameter is only relevant for a support beam.For the automatic calibration of the system offset using parameter

"..3. start service, value 15", the distance between the middle of the

machine (reference line) and the edge of the template must be en

tered. The sign for the entry is dependent on the direction of travel of

the web . If the edge of the template is to the left of the center of the

machine (reference line) in the direction of travel of the web, a nega

tive value must be entered.

The value determined is given in parameter ".3.2. system offset" after

the calibration.

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% factor

i i

250

200

1.2.1. 4 tin1.2.1.

100

1.2.0. 5 0 - _ _ i _ ^

i | ^ m/min

$ 10 15 20 25

I i

1.1.5. 1.1.4.

t2 5 0

1.2.1. - 2 9 0

1 5 0 ! \1 0 0

1.2.0.- - 5 0 - -

i \

' i | 15 30 45 60 75

1 1.5. 1.1.4.

1.2.0.f

^ s o

ys5 0

1.2.1. - - 2 5 I

-t -

6 10 15 2? 25

I

1 1.5. 1.1.4.

1.1.2. webspeed config.

Parameter block for setting web speed measuring.

1.1.3. webspeed constant

In order to calibrate the web speed measuring function in the control

ler card the no. of pulses that are generated per running meter of the

web must be entered here.

1.1.4. webspeed max.

1.1.5. webspeed limit

1.2.0. max webspeed ratio

1.2.1. Mm webspeed ratio

These parameters are only significant if one of the four functions

is activated in parameter "1.1.8. adaptive function".

The guider proportional range or actuator speed may be influenced

depending on the web speed.

The two vertices for the characteristic curve are determined via thefollowing parameters. Depending on the current web speed, a per

cent factor is produced on the basis of the characteristic curve with

which the proportional range or motion speed may be influenced.

1.1.4. = Entry of the maximum web speed

1.2.0. = Entry of the accompanying per cent value

1.1.5. = Entry of the minimum web speed

1.2.1. = Entry of the accompanying per cent value

Example 1:

The set proportional range (. 1.3.) should be 200% at minimum web

speed and 50% at maximum web speed. The minimum web speed is

15 m/min, the maximum web speed 60 m/min.

The corresponding per cent factor for the proportional range at a

specific web speed may be deduced from the characteristic curve

opposite.

Example 2:

The maximum positioning velocity in "automatic" mode (. 1.6.) shouldbe 25%> at minimum web speed and 100%> at maximum web speed.

The minimum web speed is 5 m/min, the maximum web speed 20 m/

min.

The corresponding per cent factor for the positioning velocity at a

specific web speed may be deduced from the characteristic curve

opposite.

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BEA--2 50482 -EN-2 3 J Page 59

The reduction of the positioning velocity does not have any effect

on the sensitivity of the control loop.

1.1.6. actual webspeed

The actual web speed is displayed in m/min.

1.1.7. adaptive controlParameter block for process-dependent setting of the control param

eters.

1.1.8. adaptive function

An adaptive guider setting is available for adapting the web guider

control loop to changing process variables (e.g. web speed). Which

guider setting is to be influenced by which process variable must be

set with one of the following values.

0 = Adaptive controlling without function.

1 = The guider proport ional range (.1.3.) is influenced depend ingon an external CAN signal.

2 = The guider propor tional range (.1.3.) is influenced depending

on the web speed.

4 = The motion speed in automatic mode (.1.6.) is influenced de

pending on an external CAN signal.

8 = The motion speed in automatic mode (.1.6.) is influenced by

the web speed.

16 = The correction path (.4.5.) is influenced by an external CAN

signal.

32 = The correction pa th (.4.5.) is influenced by the web speed .

1.1.9. adaptive ratio

Display of the current control loop amplification.

1.2.0. max webspeed rat io

See parameter 1.1.4. .

1.2.1. Mm web spe ed rat io

See parameter 1.1.5. .

1.2.2. reserved 122


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1.2.3. reserved 123


1.2.4. position l-part

If, in the case of integral actuators (e.g. segmented guider roller)

controller type 1 (parameter .9.2.) is used, a permanent guiding devi

ation results due to technical guiding reasons. To reduce or avoid thisguiding deviation an automatic offset of the operating point may be

set via parameter "1.2.4. position l-part". The larger the value set, the

faster the guiding deviation will be compensated. There is however a

danger that the actuator may begin to oscillate. In this case the value

must be reduced.

To assure that the operating point is reset to "0" on selecting auto

matic mode, the "AUTO clear l-part" must be selected in parameter

".9.8. function config 2".

1.2.5. !! Service !!

This parameter serves only as a parameter title for the following pa

rameters that are grouped together due to their function. The param

eter itself has no function.

1.2.6. service off/on

For E+L service personnel only.

Service mode is started via value " 1 " . Following a reset the value is

automatically reset to "0".

1.2.7. >service mode


2 = Square current controller test

3 = Delta current controller test

4 = Square speed controlle r test

5 = Delta speed controlle r test

6 = PWM square bridge signal

7 = PWM delta bridge signal

8 = Square position set value

9 = Delta position set value

1.2.8. testvalue 1


1.2.9. testvalue 2


1.3.0. testcycletime


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Digital controller RK

5.2.2 Explanation of param- ..0. edit device

eters "Extended DCS" e d i t g r o u p

(only for RK 4004-8003)..2. reset settings

..4. Add. DCS Config.

See parameter explanation "Standard"

..5. >function config

The following functions are possible:


[ ] check workspa ce 0001 h If in the "web center" control type the web leaves the field of view of a camera (s

status "ungultig/invalid"), the "automatic" operating mode in a standard control sy

is interrupted and the controller inhibited.

If this function is selected, the controller is not inhibited in the situation stated ab

The set position of the web is changed via the controller such that the web is bro

back into the field of view of the camera . Wh en the web is back in the field of vie

both cameras, the original set position for the web is adopted.

[ ] emergency guide 0002 h If in the "web center" control type a camera loses its guiding criterion (sensor sta

"ungultig/invalid"), the "web edge" control type is selected and the existing guidinterion used for control. The position of the existing guiding criterion at this mome

cached as the set position until the lost guiding criterion is available again.

..6. mid target limit

Limit for the set position of the web, for the slave controller.

In the case of lamination, the set position of the web for the slav

controller is defined by the master web. In some circumstances

set position can vary to such a large amount that the slave cont

can no longer mechanically follow this position.

Using this parameter the set position for the slave controller is l

to the value set..

II With the value "0" the limit is deactivated.

..7. auto offset limit

The web offset is limited to this value set.

II With the value "0" the limit is deactivated.

..8. target change speed

If a new set position for the web is defined via an interface, a st

change may result in a web tear.

To prevent this situation, a web set point ramp can be set using

parameter.

II With the value "0" the ramp is deactivated.

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For control card applications as a three position controller the

value 32 must be entered in parameter "..3. start service" during

control card commissioning. This loads the three position control

ler parameter record. The three position controller parameters that

differ from the norm are described below.

No. Name Default Min. Max. Unit Description

.1.3. puis range 2.0 0.0 2000.0 mm Switching threshold for transition

Stop at pulse output

.1.4. slow range 4.0 0.0 2000.0 mm Switching threshol d for transition

Pulse output to permanent signal

.1.5. fast range 6.0 0.0 2000.0 mm Switching threshol d for transition

Permanent signal to fast signal

.1.6. hysteresis 1.0 0.0 2000.0 mm Hysteresis of the individual switching thresholds

.1.7. pulse ON-t ime 1.0 0.0 10.0 sec. Switch-on time of pulse signal

.1.8. pulse OFF-t ime 1.0 0.0 10.0 sec. Switch-off time of pulse signal

.1.9. jog with fast 0 0 1 Jog mode with fast signal

.2.0. dig. I/O adress 0 0 7F hex Address of digit, output card for the positioning signals

. 2 . 1 . act. control out Display of the current positioning signal

.1.3. pulse range (switching threshold 1)

.1.4. slow range (switching threshold 2)

.1.5. fast range (switching threshold 3)

The three position controller software features 3 switching thresh

olds.

Switching threshold 1 pulsed "Right" or "Left" output

Switching threshold 2 "Right" or "Left" output duration

Switching threshold 3 "Fast" output duration

The "Fast" output is switched to threshold 2.

The switching thresholds should be entered in the appropriate pa

rameters. The entered value corresponds to the unit mm .

If a switching point is not required, the value "0" must be set in the

I appropriate parameter.

5.3 "Three position controller

upgrade

Address XX .

L K 4 2 0 3

Usage 15

.2.0. dig. I/O

address

Output:

- "right"

- "left"

- "fast"

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No hysteresis set:

on and off switching point at

0.4 mmi

24

Ii

24

-0,8 -0,6 -0 4 -0,20,2 0,4 0,6 0,8

Hysteresis of 0.1 set:

Switch-on point at 0.4 mm and

switch-off point at 0.3 mm

t

-0,8 -0,6 -0,4 -0,2 0,2 0,4 0,6 0,8

.1.6. hysteresis

A hysteresis may be set for the three existing switching thresholds

(pulsed, continuous and fast). The hysteresis allows the switching-off

point to lie below the switching-on point by the amount of the hyster

esis.

The set value is applicable to all three switching thresholds.

The hysteresis must not be set higher than the smallest distance

between two switching thresholds or from one switching thresholdto "0".

Switch-on duration

parameter .1.7.

- t ( s )

Switch-off duration

parameter .1.8.

.1.7. pulse ON-time

.1.8. pulse OFF-time

The switch-on and off duration may be set separately for switching

threshold 1 (parameter ".1.3. pulse range "). The switch-on duration

is entered in parameter .1.7. and the switch-off duration in parameter

.1.8. .

.1.9. jog with fast

In jogging mode the fast output may be additionally switched to the

left or right output. The value " 1 " must be entered in order to activatethe fast output.

.2.0. dig. I/O address

The device address of logic card LK 4203 must be entered here to

the output signals "Left", "Right" and "Fast". The address is specified

in the block diagram.

IIn logic card LK 4203 the value 15 (3 position controller) must be

set in parameter "..5. >IO card usage".

.2.1. act. control out

The current positioning signal is displayed for internal purposes.

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