79-0039-0068-00-TED-ENX-05 - Axis Control PCU310

Axis Control PCU310
79-0039-0068-00-TED-ENX-05
Operating Instrukctions
Date:
10-10-04
Name: Tk/Bra
Page: 1/49
Voith Turbo
Voith Turbo H + L Hydraulic GmbH & Co. KG

Schuckertstrae 15
71277 Rutesheim, Germany
Axis Control PCU310

o
Intelligent Control for Hydraulic Systems
Real Time Processing of all Sensors / Actors
Process Know-How in Firmware
Data Interface: RS-232, CAN Bus, Profibus, Ethernet
Firmware
P0220-xx
Hardware:
PCU310-O-RS-CAN-PROF-ETH (250.00479610)
Reserved to change
www.hl-hydraulic.com
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79-0039-0068-00-TED-ENX-05
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Contents
1. Document History................................................................................................................................. 3
2. Abstract ................................................................................................................................................ 3
3. General Information ............................................................................................................................. 4
3.1 Warnings and Terms of Use ............................................................................................................ 4
3.2 Glossary ........................................................................................................................................... 4
3.3 Relevant Documents........................................................................................................................ 4
4. Functional Overview............................................................................................................................. 5
5. Object Directory ................................................................................................................................... 6
5.1 Overview .......................................................................................................................................... 6
5.2 Legacy Interface .............................................................................................................................. 6
5.3 Commands and Generic Interface ................................................................................................... 7
5.4 Version Information.......................................................................................................................... 8
5.5 Trace Parameters ............................................................................................................................ 8
5.6 Hydraulic Axis Parameters............................................................................................................... 9
5.7 Command Curve Parameters ........................................................................................................ 10
5.8 Electric Command Motor Parameters............................................................................................ 11
5.9 Application Cycle Parameters........................................................................................................ 12
5.10 Motor / Pump Parameters............................................................................................................ 14
5.11 CAM parameters.......................................................................................................................... 16
6. CAM ................................................................................................................................................... 17
6.1 CAM Operation .............................................................................................................................. 17
6.1.1 CAM Encoder Transformation .................................................................................................. 17
6.1.2 Encoder Simulation................................................................................................................... 17
6.1.3 CAM_LOOKAHEAD_POS/NEG ............................................................................................... 17
7. Commands......................................................................................................................................... 18
7.1 Hardware Interface ........................................................................................................................ 18
7.2 Hardware Commands .................................................................................................................... 19
7.3 Legacy Commands ........................................................................................................................ 20
7.4 Commands..................................................................................................................................... 21
7.4.1 Mode Setting ............................................................................................................................. 21
7.4.2 Cycle Starting............................................................................................................................ 22
7.4.3 Ramtype.................................................................................................................................... 22
7.4.4 Trace ......................................................................................................................................... 22
7.4.5 CAM .......................................................................................................................................... 23
8. Machine Cycles.................................................................................................................................. 24
8.1 Overview ........................................................................................................................................ 24
8.2 Status information .......................................................................................................................... 24
8.3 Machine Cycle Abstracts ............................................................................................................... 25
8.3.1 HOME ....................................................................................................................................... 25
8.3.2 HOME with absolut sensor ....................................................................................................... 25
8.3.3 SEEK......................................................................................................................................... 26
8.3.4 TOGGLE ................................................................................................................................... 26
8.3.5 HOVER ..................................................................................................................................... 26
8.3.6 PUNCH ..................................................................................................................................... 27
8.3.7 FORM_BASIC........................................................................................................................... 27
8.3.8 FORM_FULL............................................................................................................................. 27
8.3.9 PRESS_1 .................................................................................................................................. 28
8.3.10 High Pressure Force ............................................................................................................... 28
8.3.11 High Pressure Hold................................................................................................................. 28
9. Diagnostics......................................................................................................................................... 30
9.1 Trace .............................................................................................................................................. 30
9.1.1 Frame Format for Linear Amplifier............................................................................................ 30
9.1.2 Frame Format for PSH.............................................................................................................. 31
10. Commissioning................................................................................................................................. 33
10.1 General ........................................................................................................................................ 33
10.2 Interface Use................................................................................................................................ 33
10.3 Interface Configuration................................................................................................................. 33
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10.3.1 Configuration for Flash Update............................................................................................... 33

10.3.2 RS-232 Setup ......................................................................................................................... 34
10.3.3 Ethernet Setup ........................................................................................................................ 34
10.3.4 Profibus Setup ........................................................................................................................ 34
10.3.5 CAN Bus Setup....................................................................................................................... 34
11. Hardware.......................................................................................................................................... 35
11.1 General ........................................................................................................................................ 35
11.2 Signal Types ................................................................................................................................ 35
11.3 Pin Assignment ............................................................................................................................ 36
11.3.1 X40: Power Supply ................................................................................................................. 36
11.3.2 X41: Digital Output.................................................................................................................. 36
11.3.3 X42: Digital I/O........................................................................................................................ 37
11.3.4 X30: Analog Input ................................................................................................................... 37
11.3.5 X31: Encoder Input ................................................................................................................. 38
11.3.6 X50: RS-232 ........................................................................................................................... 38
11.3.7 X51: CAN ................................................................................................................................ 39
11.3.8 X53: Profibus .......................................................................................................................... 39
11.4 Connection Guidline..................................................................................................................... 40
11.5 Safety Circuit................................................................................................................................ 41
11.6 PCU Connection Schematic ........................................................................................................ 42
12. Connecting 3rd Party Components................................................................................................... 47
12.1 Baumller BM34xx....................................................................................................................... 47
1. Document History
Rev.
05
04
03
02
01
00
Date
10-10-04
10-06-24
10-04-29
10-03-03
09-11-20
09-11-11
Name
Tk
Tk
Tk
Tk/Bra
Tk/Bra
Bra
Appr.
Bra
Tk/Fa
Tk/Fa
Comments
Analog mode, MODE_HPF, MODE_HPH, LINAMP_SIM
P0220-04: CAM mode; home with absolute sensor
PSH
Contour Monitor, Bmaxx connection, Ethernet adresse adjustable
0x2102: MC_ERR; new cmds, X41, X42, hw connection
First release
2. Abstract
This document is related to P0220-05 or higher.
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Schuckertstrae 15
3. General Information
3.1 Warnings and Terms of Use
o
Safety warning:
Carefully read this manual before commissioning the device. When operating the device, the
PE (protective earth) connection must not be disconnected.
o
o
o
o
o
o
The intended use of the device is described in this document. Differing use is not allowed, with the
exception of an agreement of the manufacturer.
Installation, commisioning and operation of the device must be conducted by a trained expert for
electrical/electronical control. Special care must be taken and the local regulations must be adhered to:
- Prevention of accidents
- EMC (electromagnetic compliance)
Specification and technical data of the device must be followed. Environmental operating conditions must
be met according to this document.
During installation and all other use, the usual ESD protection rules must be followed.
The device is a component in terms of the EMC rules. Adherence to EMC and low voltage regulations
must be assured by taking appropriate shielding and filtering measures.
Software and Firmware (SW/FW) are being developed with great care and effort. Nonetheless, a 100%
error free SW/FW can not be guaranteed, according to the state of the art. Correction of unexpected
behaviour or errors is in the judgement of VTHL.
3.2 Glossary
FW / fw
SW sw
HW / hw
PCU
Axis
LMS
CNC
PLC
Inverter
HP
LP
TDC
BDC
firmware software that runs on ebmedded controllers, typically stored in FLASH memory
software, running on PC systems or complex PLC / CNC systems
hardware
Short for Punch Control Unit, stands for PCU in various versions.
external hydraulic power rod (linear amplifier).
Linear Measuring System. Incremental signal position sensor.
Computer Numerical Control.
Programmable Logic Control.
Servo motor power amplifier.
High pressure
Low pressure
Top dead center
Bottom dead center
3.3 Relevant Documents

PCU310 hardware:
79-0020-0033-00-TED-ENX-00
Installation requirements: 79-0039-0019-00-TED-ENX-04

Servo Motor and Driver: 79-0056-0006-00-DSH-DEX-00 (when using Baumller devices)
Others:
Drawings, specifications, manuals of hydraulic parts and systems

Drawings, specifications, manuals of servo motor and driver
Always ask for latest document revision.
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Axis Control PCU310

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Schuckertstrae 15
4. Functional Overview
Using fw P0220 on PCU310 will do complete control and monitoring of a hydrailic axis. Complex process control
will be off loaded from the CNC/PLC. Only parameters and start signals must be generated by the machine
control. Using trace data recording, comprehensive diagnosics are supported.
Connect PCU310:
PC Diagnostics:
may be RS-232 or Ethernet. Ethernet preferred for higher speed.
CNC/PLC:
Digital I/O for process control. Any data interface for parameters and commands.
Safety Curcuit:
Emergecy stop of axis.
Servo Amplifier:
Control the pilot motor on the hydraulic axis
Position Feedback:
necessary for correct machine cycles like PUNCH, etc.
Pressure Sensors:
Option, depending on hydraulics and specific software
Connect Motor:
Brake:
Encoder:
Motor:
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If motor has brake, connect to safety circuit

Connect to servo amplifier
Connect to servo amplifier
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5. Object Directory
5.1 Overview
0x2000
0x2100
0x2200
0x2210
0x2220
0x2230
0x2240
0x2241
0x2242
0x2243
Legacy Interface
Commands and Generic Interface
Hydraulic Axis Parameters
Command Curve Parameters
Electric Command Motor Parameters
Application Cycle Parameters
1st Motor Parameters
1st Pump Parameters
2nd Motor Parameters
2nd Pump Parameters
5.2 Legacy Interface

Addr
Index
Type
Access
Name
0x2000
UWORD
rd/wr
L_CMD
Legacy command
0x2001
0x00
0x00
UWORD
rd/wr
L_PARM0
Legacy parameter
0x2002
0x00
UWORD
rd
L_RAMPOS
Ram position
0x2003
0x00
UWORD
rd
L_MSTATE
Mcycle status
0x2004
0x00
UWORD
rd
L_STATUS0
Machine status
0x2005
0x00
UWORD
rd/wr
L_aux0
0x2006
0x00
UWORD
rd/wr
L_aux1
0x2007
0x00
UWORD
rd/wr
L_aux1
0x2008
0x00
UWORD
rd/wr
L_POS1
Tool change
0x2009
0x00
UWORD
rd/wr
L_POS2
Top of stroke
0,01 mm
0x200A
0x00
UWORD
rd/wr
L_POS5
Bottom of stroke
0,01 mm
0x200B
0x00
UWORD
rd/wr
L_RDYWIN
Ready window
0,01 mm
0x200C
0x00
UWORD
rd/wr
L_POS3
Change speed
0,01 mm
0x200D
0x00
UWORD
rd/wr
L_TIME2
Bottom time
0,01 mm
0x200E
0x00
UWORD
rd/wr
L_POS4
Change speed
1 ms
0x200F
0x00
UWORD
rd/wr
L_FWREVISION
0x2010
0x00
UWORD
rd/wr
L_TIME1
Pre cycle delay
1 ms
0x2011
0x00
UWORD
rd/wr
L_TIME3
Post cycle delay
1 ms
0x2012
0x00
UWORD
rd/wr
L_SPD1
Tool change
mm/s
0x2013
0x00
UWORD
rd/wr
L_SPD2
See cycle
mm/s
0x2014
0x00
UWORD
rd/wr
L_SPD3
See cycle
mm/s
0x2015
0x00
UWORD
rd/wr
L_SPD4
See cycle
mm/s
0x2016
0x00
UWORD
rd/wr
L_SPD5
See cycle
mm/s
0x2017
0x00
UWORD
rd/wr
L_SPD6
See cycle
mm/s
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Comment
0,01 mm
Axis Control PCU310

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Schuckertstrae 15
5.3 Commands and Generic Interface

Addr
Index
Type
Access
Name
Comment
0x2100
0x00
UDWORD
rd/wr
CMD_CODE
Command (see chapter commands)

No. of parameters
0x2101
0x2102
0x00
UBYTE
rd/wr
CMD_PARM_CNT
0x01
SDWORD
rd/wr
CMD_PARM0
0x08
SDWORD
rd/wr
CMD_PARM2
0x00
UBYTE
rd/wr
STATUS_VALUES
No. of status values
0x01
UDWORD
rd
STATUS0
1. status word
Bit [31:19]: future use
Bit 18:
CAM_ERR
Bit 17:
CONT_MON_CORR
Bit 16:
MOTOK
Bit 15:
REFOK
Bit 14:
PARMOK
Bit 13:
HW_READY
Bit 12:
HW_NOERR
Bit 11:
HW_INPOS2
Bit 10:
HW_INPOS1
Bit 9:
HW_INPOS0
Bit 8:
RDY_INHIBIT
Bit [7:0]:
MC_CODE, see chapter 8.2
0x02
UDWORD
rd
STATUS1
2. status word
Bit 31:
TARGET_LOOP_SQRT
Bit 30:
MOTOR_LOOP_SQRT
Bit 29:
AXIS_LOOP_SQRT
Bit 28:
AXIS_FBK_ANALOG
Bit 27:
AXIS_FBK_LMS
Bit 26:
AXIS_FBK_ABS
Bit 25:
TRC_MODE_FORWARD
Bit 24:
TRC_MODE_BACKWARD
Bit 23:
TRC_TRG_MCYCLE
Bit 22:
TRC_TRG_HARDWARE
Bit 21:
ENCODER_DIR (0=neg; 1=pos)
Bit 20:
CONTOUR_MON_ACTIVE
Bit 19:
UDSEL_INHIBIT
Bit 18:
RAMTYPE_VALID
Bit 17:
ETHERNET_INIT_ERR
Bit 16:
PROFIBUS_INIT_ERR
Bit 15:
CANBUS_INIT_ERR
Bit 14:
RS232_INIT_ERR
Bit 13:
PSH_MODE_UT_POSITION
Bit 12:
CAM_MODE
Bit 11:
HPH_MODE
Bit 10:
HPF_MODE
0x03
UDWORD
rd
STATUS2
Antrieb Status
Bit 31:
MOT_ERR_GLOB
Bit 30:
MOT_ERR_CURR_HW
Bit 29:
MOT_ERR_CURR_SW
Bit 28:
MOT_ERR_SPEED
Bit 27:
MOT_ERR_DCBUS
Bit 26:
MOT_ERR_I2T
Bit 25:
MOT_ERR_SAFETY_RELAY
Bit 24:
MOT_ERR_AMP_DRV_ENA
Bit 23:
MOT_ERR_COMMUNICATION
Bit 22:
MOT_ERR_OVER_TEMP
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1. parameter
8. parameter
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79-0039-0068-00-TED-ENX-05
Addr
Index
Type
Access
Name
0x04
UDWORD
rd
STATUS_MCYCLE
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Schuckertstrae 15
Comment
Bit [15:0]:
0x2103
0x2104
0x2105
0x2106
0x2107
0x2108
MOT_STS, (BM P0301)
Mcycle State
0x05
UDWORD
rd
HW_CONFIG_WORD
HW DIL/rotary switches
0x06
UDWORD
rd
STATUS_MCYCLE_ERR
Error Mcycle State
0x07
UDWORD
rd
STATUS_RAMTYPE
Ramtype:
0:
1:
2:
3:
4:
RAMTYPE_LINAMP
RAMTYPE_PSH
RAMTYPE_LINAMP_ANA
RAMTYPE_PSH_ANA
RAMTYPE_LINAMP_SIM
0x00
UBYTE
rd
DOUT_VALUES
0x01
UDWORD
rd/wr
DOUT0
No. of digital output values

Digital outputs
0x00
UBYTE
rd/wr
DIN_VALUES
No. of digital intput values
0x01
UDWORD
rd
DIN0
Digital inputs
0x00
UBYTE
rd
AOUT_VALUES
No. of analog output values
0x01
SWORD
rd/wr
AOUT0
1. analog output
0x00
UBYTE
rd
AIN_VALUES
No. of analog intput values
0x01
SWORD
rd
AIN0
analog inputs
0x00
UBYTE
rd
ENC_IN_VALUES
No. of encoder intput values
0x01
SWORD
rd
ENC_IN0
encoder input 0
0x02
SWORD
rd
ENC_IN1
encoder input 1
0x00
UBYTE
rd
ENC_OUT_VALUES
No. of encoder outputs values
0x01
SWORD
rd
ENC_OUT0
encoder output
Comment
5.4 Version Information

Addr
Index
Type
Access
Name
0x2110
0x00
UBYTE
rd
VERSION_VALUES
No. of versions values
0x01
UWORD
rd
FW_MAJOR
FW major release
0x02
UWORD
rd
FW_MINOR
FW minor release
0x2111
0x03
UWORD
rd
BOOT_MAJOR
Bootloader major release
0x04
UWORD
rd
BOOT_MINOR
Bootloader minor release
0x00
UBYTE
rd
DEV_NAME_LEN
Length of string
0x01
UBYTE
rd
DEV_NAME[0..n]
String with DEVICE_NAME
5.5 Trace Parameters

Addr
Index
Type
Zugriff
Name
Kommentar
0x2A00
0x00
0x01
0x02
0x03
0x04
0x05
UBYTE
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
rd
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
TRACE_VAUES
TRACE_SAMPLE_TIME
TRACE_FRAME_LENGTH
TRACE_FRAMES_PER_BLOCK
TRACE_MAX_FRAMES
TRACE_STS
Bit0: MODE_HW
Bit1: MODE_SW
Bit2: MODE_MCYCLE
Bit3: MODE_FORWARD
Bit4: MODE_BACKWARD
Bit5: MODE_FROZEN
Bit6: reserve
Bit7: reserve
Bit8: STS_RUN
Bit9: STS_STOP
No. of Trace Values

Sample Time
ms
Frame length in Byte; future use
Frames per Block
Max Frames
Status
Mode: Hardwareinput Trigger
Mode: Software Trigger
Mode: MCYCLE Trigger
Mode: Mode Forward
Mode: Mode Backward
Mode: Trigger inhibit
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Status: Run
Status: Stop
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79-0039-0068-00-TED-ENX-05
Addr
0x2A01
Index
Type
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Schuckertstrae 15
Zugriff
Name
Kommentar
Status: run through Backward Ringbuffer
Recorded Frames
Length of Transmission Block
Backward Mode: Delay after Trigger in
Frames
0x06
0x07
0x08
UDWORD
UDWORD
UDWORD
rd/wr
rd/wr
rd/wr
Bit10: STS_BACK_FULL
TRACE_FRAME_COUNTER
TRACE_BLOCK_LENGTH
TRACE_FRAME_TRIG_DLY
0x09
UDWORD
rd/wr
TRACE_SCOPE_MODE
Mode for Scope

1:
linear amplifier
2:
HRX
3:
KBK
4:
PCU310T
5:
PSH
0x00
UBYTE
rd
TRC_MAPPING_VALUES
No. of trace mapping values
0x01
UDWORD
rd/wr
TRC_MAP0
Address of trace byte MAP0
0x02
UDWORD
rd/wr
TRC_MAP1
0x03
UDWORD
rd/wr
TRC_MAP2
0x04
UDWORD
rd/wr
TRC_MAP3
0x05
UDWORD
rd/wr
TRC_MAP_SHIFT0
No. of DWORD shifts, before UBYTE store
0x06
UDWORD
rd/wr
TRC_MAP_SHIFT1
0x07
UDWORD
rd/wr
TRC_MAP_SHIFT2
0x08
UDWORD
rd/wr
TRC_MAP_SHIFT3
5.6 Hydraulic Axis Parameters

Addr
Index
Type
Access
Name
Comment
0x2200
0x00
UBYTE
rd
HAXIS_VALUES
No. of hydraulic axis values
0x01
SDWORD
rd/wr
HAXIS_STATUS
Bit 0:
HAXIS_INPOS
Status of operation
0x02
SDWORD
rd/wr
HAXIS_RAMPOS
Rampos = FBK_RAW - FBK_OFFSET
0x03
SDWORD
rd/wr
HAXIS_MAX_STROKE
Max. stroke
0x04
SDWORD
rd/wr
HAXIS_AREA_A
Piston A side area
mm
0x05
SDWORD
rd/wr
HAXIS_AREA_B
Piston B side area
mm
0x06
SDWORD
rd/wr
HAXIS_PRESSURE_LOW
Low pressure
mbar
0x07
SDWORD
rd/wr
HAXIS_PRESSURE_HIGH
High pressure
mbar
0x08
SDWORD
rd/wr
HAXIS_FBK_PITCH
Linear amplifier feedback pitch
0x09
SDWORD
rd/wr
HAXIS_CMD_PITCH
Linear amplifier command pitch
0x0A
SDWORD
rd/wr
HAXIS_FBK_OFFSET
Rampos feedback offset
0x0B
SDWORD
rd/wr
HAXIS_FBK_ABS_RAW
Rampos feedback absolut raw data m
0x0C
SDWORD
rd/wr
HAXIS_VALVE_MAX_STROKE
Valve spool max stroke
0x0D
SDWORD
rd/wr
HAXIS_KP_LP
Loop gain at low pressure
1/s
0x0E
SDWORD
rd/wr
HAXIS_KP_HP
Loop gain at high pressure
1/s
0x0F
SDWORD
rd/wr
HAXIS_SPD_MAX_POS_LP
Max speed at low pressure
m/s
0x10
SDWORD
rd/wr
HAXIS_SPD_MAX_NEG_LP
Max speed at low pressure
m/s
0x11
SDWORD
rd/wr
HAXIS_ACC_MAX_POS_LP
Max. accelleration at low pressure m/s
0x12
SDWORD
rd/wr
HAXIS_ACC_MAX_NEG_LP
Max. accelleration at low pressure m/s
0x13
SDWORD
rd/wr
HAXIS_SPD_MAX_POS_HP
Max speed at high pressure
m/s
0x14
SDWORD
rd/wr
HAXIS_SPD_MAX_NEG_HP
Max speed at high pressure
m/s
0x15
SDWORD
rd/wr
HAXIS_ACC_MAX_POS_HP
Max. accelleration at high pressure m/s
0x16
SDWORD
rd/wr
HAXIS_ACC_MAX_NEG_HP
Max. accelleration at high pressure m/s
0x17
SDWORD
rd/wr
HAXIS_POSWIN
For HAXIS_INPOS
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5.7 Command Curve Parameters

Addr
Index
Type
Access
Name
0x2210
0x00
UBYTE
rd
CMD_VALUES
Comment
No. of cmd curve parameter values
0x01
SDWORD
rd/wr
CMD_MODE
Bit 0:
Bit 1:
Bit 2:
Mode of operation
No interpolation, direct step (speed > 1000)
With smooth interpolation (speed < 1000)
Use root function in P term (future use)
STEP_RESPONSE
CURVE_GEN
GAIN_ROOT
0x02
rd/wr
CMD_STATUS
Bit 0:
CMD_INPOS
Status of operation
0x03
rd/wr
CMD_RESOLUTION
Resolution
1 m
0x04
rd/wr
CMD_ACCEL
Acceleration
m/s
0x05
rd/wr
CMD_SPD_MIN_POS
Min speed, positive
m/s
0x06
rd/wr
CMD_SPD_MIN_NEG
Min speed, negative
m/s
0x07
rd/wr
CMD_SPD_MAX_POS
Max speed, positive
m/s
0x08
rd/wr
CMD_SPD_MAX_NEG
Max speed, negative
m/s
m
0x09
rd/wr
CMD_TARGET_POS
Target position
0x0A
rd/wr
CMD_TARGET_SPD
Speed, when reaching target
m/s
0x0B
rd/wr
CMD_OUT_POS
Current position output
m
m/s
0x0C
rd/wr
CMD_OUT_SPD
Current speed optput
0x0D
rd/wr
CMD_POSWIN
For CMD_INPOS
0x0E
rd/wr
CMD_KP_POS
Gain, for positive error
1/s
0x0F
rd/wr
CMD_KP_NEG
Gain, for negative error
1/s
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Date:
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Voith Turbo

Schuckertstrae 15
5.8 Electric Command Motor Parameters

Addr
Index
Type
Access
Name
0x2220
0x00
UBYTE
rd/wr
MOTOR_VALUES
No. of motor values
rd/wr
MOTOR_MOTPOS
Motpos
rd/wr
MOTOR_TYPE
0 none
1 stepper
2 ac asynchronous
3 PMSM
Type of Motor
rd/wr
MOTOR_FBK_TYPE
Bit 0
none
Bit 1
incremental, digital
Bit 2
incremental, sincos
Bit 3
HALL encoder
Bit 4
Resolver, 2 poles
Bit 5
Zero pulse available
Type of Feedback
MOTOR_STATUS0
Bit 0 MOTOR_INPOS
Status0
0x01
0x02
UDWORD
0x03
0x04
Comment
0x05
rd/wr
MOTOR_FBK_RESOL
No. of increments per revolution
0x06
rd/wr
MOTOR_ZERO_RESOL
No. of zero pulses
0x07
rd/wr
MOTOR_PHASES
No. of phases
0x08
rd/wr
MOTOR_WAVES
No. of electrical full waves per rev
0x09
rd/wr
MOTOR_CURR_NOM
Nominal current
0x0A
rd/wr
MOTOR_CURR_MAX
Peak current
mA
0x0B
rd/wr
MOTOR_SPEED_NOM
Nominal speed
1/min
0x0C
rd/wr
MOTOR_ SPEED_MAX
Peak current
1/min
mA
0x0D
rd/wr
MOTOR_TORQUE_NOM
Nominal torque
mNm
0x0E
rd/wr
MOTOR_TORQUE_MAX
Max torque
mNm
0x0F
rd/wr
MOTOR_INERTIA
Motor inertia
kgm
0x10
rd/wr
MOTOR_BUS_VOLTAGE
Motor DC Bus Voltage
mV
Comment
Addr
Index
Type
Access
Name
0x2221
0x00
UBYTE
rd/wr
MOTOR_STS_VALUES
No. of motor status values
0x01
UDWORD
rd/wr
MOTOR_STS0
Motor status0 (BM P0200)
0x02
UDWORD
rd/wr
MOTOR_STS1
0x03
UDWORD
rd/wr
MOTOR_STS2
0x04
UDWORD
rd/wr
MOTOR_STS3
0x05
UDWORD
rd/wr
MOTOR_STS4
0x06
UDWORD
rd/wr
MOTOR_STS5
0x07
UDWORD
rd/wr
MOTOR_STS6
0x08
UDWORD
rd/wr
MOTOR_STS7
0x09
0x0A
0x0B
0x0C
0x0D
0x0E
0x0F
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
MOTOR_STS8
MOTOR_STS9
MOTOR_STS10
MOTOR_STS11
MOTOR_STS12
MOTOR_STS13
MOTOR_STS14

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Date:
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Voith Turbo

Schuckertstrae 15
5.9 Application Cycle Parameters

Addr
Index
Type
Access
Name
0x2230
0x00
UBYTE
rd
APP_MODE_VALUES
No. of application mode values
0x01
SDWORD
rd/wr
APP_MODE0
Bit 0:
Application Mode
0x2231
0x2232
0x2233
0x2234
0x2235
0x2236
0x2237
0x2238
Comment
0x00
UBYTE
rd
APP_STATUS_VALUES
No. of application status values
0x01
SDWORD
rd/wr
APP_STATUS0
Bit 0:
Application status
No. of APP_POS values
0x00
UBYTE
rd
APP_POS_VALUES
0x01
SDWORD
rd/wr
APP_POS1
Home, tool change
0x02
SDWORD
rd/wr
APP_POS2
Ready for start
SDWORD
rd/wr
..
Curve point
0x10
SDWORD
rd/wr
APP_POS16
Curve point
0x00
UBYTE
rd
APP_TIME_VALUES
No. of APP_TIME values
0x01
SDWORD
rd/wr
APP_TIME1
For POS1
ms
ms
0x02
SDWORD
rd/wr
APP_TIME2
For POS2
SDWORD
rd/wr
..
..
0x10
SDWORD
rd/wr
APP_TIME16
For POS16
ms
0x00
UBYTE
rd
APP_SPD_VALUES
No. of APP_SPD values
0x01
SDWORD
rd/wr
APP_SPD1
For POS1
mm/s
0x02
SDWORD
rd/wr
APP_SPD2
For POS2
mm/s
SDWORD
rd/wr
..
..
0x10
SDWORD
rd/wr
APP_SPD16
For POS16
0x00
UBYTE
rd/wr
PARM_VALUES
Parm Values
0x01
SDWORD
rd/wr
PARM_RDYWIN
Window for Ready
0x02
SDWORD
rd/wr
PARM_WIN_INPOS
Inpos Window for Seek
0x03
SDWORD
rd/wr
PARM_MAX_SPD
Maximum Speed
mm/s
0x04
SDWORD
rd/wr
PARM_TIMEOUT
General cycle timeout
0x05
SDWORD
rd/wr
PARM_BRAKE_CLOSE_TIME
brake close time after FREEZE_DLY_TIME

brake open time after UNFREEZE
0x06
SDWORD
rd/wr
PARM_BRAKE_OPEN_TIME
0x07
SDWORD
rd/wr
PARM_FREEZE_DLY_TIME
delay between FREEZE and brake close
0x08
SDWORD
rd/wr
PARM_CONT_POS_SLOW
Cont Mon: speed reduce
0x09
SDWORD
rd/wr
PARM_CONT_POS_STOP
Cont Mon: stop
0x0A
SDWORD
rd/wr
PARM_CONT_SPD_SLOW
Cont Mon: speed reduce
0x0B
SDWORD
rd/wr
PARM_CONT_SPD_STOP
Cont Mon: stop
0x0C
SDWORD
rd/wr
PARM_DRV_UNFREEZE_TIME
Delay between UNFREEZE and driver enable
0x00
UBYTE
rd
PARM_FAST_VALUES
Parm Fast Values
0x01
SDWORD
rd/wr
PARM_FAST_LDOVER
Lower deadpoint motor overdrive
0x02
SDWORD
rd/wr
PARM_FAST_LDWIN
Lower deadpoint axis window
0x03
SDWORD
rd/wr
PARM_FAST_UDOVER
Upper deadpoint motor overdrive
0x04
SDWORD
rd/wr
PARM_FAST_UDWIN
Upper deadpoint axis window
0x00
UBYTE
rd
PARM_SLOW_VALUES
Parm Slow Values
0x01
SDWORD
rd/wr
PARM_SLOW_LDOVER
Lower deadpoint motor overdrive
0x02
SDWORD
rd/wr
PARM_SLOW_LDWIN
Lower deadpoint axis window
0x03
SDWORD
rd/wr
PARM_SLOW_UDOVER
Upper deadpoint motor overdrive
0x04
SDWORD
rd/wr
PARM_SLOW_UDWIN
Upper deadpoint axis window
0x00
UBYTE
rd
PARM_HOME_VALUES
Home Values
0x01
SDWORD
rd/wr
PARM_HOME_TIME1
Beruhigungszeit nach Start
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Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Addr
0x2239
0x223A
0x223B
0x223C
Date:
10-10-04
Name: Tk/Bra
Page: 13/49
Voith Turbo

Schuckertstrae 15
Index
Type
Access
Name
0x02
SDWORD
rd/wr
PARM_HOME_TIME2
Comment
Zeitinterval fr Stillstands Kontrolle
0x03
SDWORD
rd/wr
PARM_HOME_TIME3
Timeout
ms
0x04
SDWORD
rd/wr
PARM_HOME_TIME_STILL
Beruhigungszeit nach Freifahrweg
ms
0x05
SDWORD
rd/wr
PARM_HOME_STROKE_MAX
Maximaler Weg bis Anschlag
ms
0x06
SDWORD
rd/wr
PARM_HOME_STROKE_FREE
Freifahrweg
0x07
SDWORD
rd/wr
PARM_HOME_TORQUE
Drehmomentbegrenzung
%
ms
0x08
SDWORD
rd/wr
PARM_HOME_SPEED
Geschwindigkeit
0x09
SDWORD
rd/wr
PARM_HOME_STROKE_VALVE
Reglerweg
0x0A
SDWORD
rd/wr
PARM_HOME_STROKE_STILL
Wegdifferenz fr Stillstandskontrolle
0x0B
SDWORD
rd/wr
PARM_HOME_MODE
HL only
0x0C
SDWORD
rd/wr
PARM_HOME_SPEED_FREE
Freifahrgeschwindigkeit;
0x0D
SDWORD
rd/wr
PARM_HOME_TMOUT_FREE
Timeout fr Freifahren
No. of pressure Values Motor 1
0x00
UBYTE
rd
APP_PRESS1_VALUES
0x01
SDWORD
rd/wr
APP_PRESS1_1
0x02
SDWORD
rd/wr
APP_PRESS1_2
SDWORD
rd/wr
0x08
SDWORD
rd/wr
APP_PRESS1_8
0x00
UBYTE
rd
APP_PRESS2_VALUES
0x01
SDWORD
rd/wr
APP_PRESS2_1
0x02
SDWORD
rd/wr
APP_PRESS2_2
SDWORD
rd/wr
0x048
SDWORD
rd/wr
APP_PRESS2_8
LINAMP: mm/s
-1
PSH: min
ms
No. of pressure Values Motor 2
0x00
UBYTE
rd
PARM_PRESS1_VALUES
0x01
SDWORD
rd/wr
PARM_SUCTION_ON_TIME
No. of Parm Values PRESS1

Wait time SCUTION valve on
0x02
SDWORD
rd/wr
PARM_SUCTION_OFF_TIME
Wait time SCUTION valve off
0x03
SDWORD
rd/wr
PARM_START_RAMP_POS
Acceleration pos (min /0,5 ms)
0x04
SDWORD
rd/wr
PARM_START_RAMP_NEG
Acceleration neg (min /0,5 ms)
-1
-1
0x05
SDWORD
rd/wr
PARM_INTERPOLATOR_DIFF
PID difference
0x06
SDWORD
rd/wr
PARM_POS3_LDOVER
LDOVER POS3
0x07
SDWORD
rd/wr
PARM_PRESS_WIN
Pressure control: pressure window POS5
0x08
SDWORD
rd/wr
PARM_UT_POS_SPD_WIN
Position control: speed win pos speed
0x09
SDWORD
rd/wr
PARM_SUCTION_ON_PRESS
Pressure window SUCTION valve on
0x0A
SDWORD
rd/wr
PARM_SUCTION_OPEN_PRESS
Pressure window SUCTION valve open
0x0B
SDWORD
rd/wr
PARM_POS6_DIFF
POS6 position difference for pump B
0x00
UBYTE
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rd
PARM_LINAMP_ANA_VALUES
No. of Linamp Analog Values
rd/wr
PRAM_ANA_SPD_CMD_OUT
Analog speed cmd output
rd/wr
PARM_ANA_SPD_SCALE_POS
Analog speed scaling value pos
rd/wr
PARM_ANA_SPD_SCALE_NEG
Analog speed scaling value neg -32767
rd/wr
PARM_ANA_CMD_DIR
Cmd direction: 1 = positive; -1 = negative
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79-0039-0068-00-TED-ENX-05
Date:
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Name: Tk/Bra
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Voith Turbo

Schuckertstrae 15
5.10 Motor / Pump Parameters

Addr
Index
Type
Access
Name
0x2240
UBYTE
rd
MOTOR1_VALUES
Comment
No. of Motor/Pump Values
SDWORD
rd/wr
MOTOR1_RATED_PWR
Rated power
1W
SDWORD
rd/wr
MOTOR1_RATED_SPEED
Rated speed
1 / min
SDWORD
rd/wr
MOTOR1_MAX_SPEED
Max speed
1 / min
SDWORD
rd/wr
MOTOR1_CURR_SPEED
Current speed
1 / min
SDWORD
rd/wr
MOTOR1_RATED_TORQUE
Rated torque
0.001 Nm
SDWORD
rd/wr
MOTOR1_MAX_TORQUE
Max torque
0.001 Nm
SDWORD
rd/wr
MOTOR1_RATED_CURRENT
Rated current
0.001 A
0.001 A
SDWORD
rd/wr
MOTOR1_MAX_CURENT
Max current
SDWORD
rd/wr
MOTOR1_CURR_CURENT
Current curent (Iq)
0.001 A
10
SDWORD
rd/wr
MOTOR1_INERTIA
Inertia
kgm * 1e-6
11
SDWORD
rd/wr
MOTOR1_SPD_CMD_MAX_POS
Speed cmd pos
16384
12
SDWORD
rd/wr
MOTOR1_SPD_CMD_MAX_NEG
Speed cmd neg
-16384
13
SDWORD
rd/wr
MOTOR1_STATUS
Motor Status
Bit 31:
MOT_ERR_GLOB
Bit 30:
MOT_ERR_CURR_HW
Bit 29:
MOT_ERR_CURR_SW
Bit 28:
MOT_ERR_SPEED
Bit 27:
MOT_ERR_DCBUS
Bit 26:
MOT_ERR_I2T
Bit 25:
MOT_ERR_SAFETY_RELAY
Bit 24:
MOT_ERR_AMP_DRV_ENA
Bit 23:
MOT_ERR_COMMUNICATION
Bit 22:
MOT_ERR_OVER_TEMP
Bit [15:0]:
MOT_STS, 16 bit Status code
14
SDWORD
rd/wr
MOTOR1_SPD_CMD
Drehzahlsollwert
Addr
Index
Type
Access
Name
Comment
0x2241
UBYTE
rd
PUMP1_VALUES
No. of Motor/Pump Values
SDWORD
rd/wr
PUMP1_RATED_PWR
Rated power
1W
SDWORD
rd/wr
PUMP1_RATED_SPEED
Rated speed
1 / min
SDWORD
rd/wr
PUMP1_MAX_SPEED
Max speed
1 / min
SDWORD
rd/wr
PUMP1_DISPLACEMENT
Displacement / rev.
1 mm
SDWORD
rd/wr
PUMP1_MAX_TORQUE
Max torque
0.001 Nm
SDWORD
rd/wr
PUMP1_INERTIA
Inertia
kgm * 1e-6
SDWORD
rd/wr
PUMP1_SPD_CMD_MAX_POS
Spd cmd max pos
1000000
-1000000
1 / min
SDWORD
rd/wr
PUMP1_SPD_CMD_MAX_NEG
Spd cmd max pos
SDWORD
rd/wr
PUMP1_SPD_MOT_CMD_MAX_P
OS
Spd cmd for

MOTOR1_SPD_CMD_MAX_POS
10
SDWORD
rd/wr
PUMP1_SPD_MOT_CMD_MAX_N
EG
Spd cmd for

MOTOR1_SPD_CMD_MAX_NEG
11
SDWORD
rd/wr
PUMP1_SPD_CMD
Target speed
1000000
12
SDWORD
rd/wr
PUMP1_PRESS_CMD
Target pressure
mBar
13
SDWORD
rd/wr
PUMP1_PRESS_FBK
Pressure fbk
mBar
14
SDWORD
rd/wr
PUMP1_PRESS_FBK_SCALE
Pressure sensor scaling
mBar/20mA
15
SDWORD
rd/wr
PUMP1_PRESS_FBK_FILTER
Pressure sensor filter (max. 10)
16
SDWORD
rd/wr
PUMP1_ANA_SPD_CMD_OUT
Analog speed cmd output
17
SDWORD
rd/wr
PUMP1_ANA_SPD_SCALE_POS
Analog speed scaling value pos
18
SDWORD
rd/wr
PUMP1_ANA_SPD_SCALE_NEG
Analog speed scaling value neg -32767
PUMP1_ANA_CMD_DIR
Cmd direction: 1 = positive; -1 = negative
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Addr
Index
Type
Access
Date:
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Name: Tk/Bra
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Voith Turbo

Schuckertstrae 15
Name
Comment
0x2242
MOTOR2
Same structure as MOTOR1
0x2243
PUMP2
Same structure as PUMP1
Comment
Addr
Index
Type
Access
Name
0x2244
0x00
UBYTE
rd/wr
MOTOR1_STS_VALUES
No. of motor status values
0x01
UDWORD
rd/wr
MOTOR_STS0
Motor status0 (see motor)
0x02
UDWORD
rd/wr
MOTOR_STS1
0x03
UDWORD
rd/wr
MOTOR_STS2
0x04
UDWORD
rd/wr
MOTOR_STS3
0x05
UDWORD
rd/wr
MOTOR_STS4
0x06
UDWORD
rd/wr
MOTOR_STS5
0x07
UDWORD
rd/wr
MOTOR_STS6
0x08
UDWORD
rd/wr
MOTOR_STS7
0x09
0x0A
0x0B
0x0C
0x0D
0x0E
0x0F
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
UDWORD
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
MOTOR_STS8
MOTOR_STS9
MOTOR_STS10
MOTOR_STS11
MOTOR_STS12
MOTOR_STS13
MOTOR_STS14

MOTOR2_STS
Same structure as MOTOR1_STS_VALUES
0x2245
Addr
Name
Comment
0x2400
Index
Type
MOTOR1_PID_LAGE
Motor1 (B-Flche) position control
0x2401
MOTOR2_PID_LAGE
Motor2 (A-Flche) position control
0x2402
MOTOR1_PID_PRESS
Motor1 (B-Flche) pressure control
0x2403
MOTOR2_PID_PRESS
Motor2 (A-Flche) pressure control
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Voith Turbo

Schuckertstrae 15
5.11 CAM parameters

Addr
Index
Type
Zugriff
Name
0x2500
0x00
UBYTE
rd/wr
STATUS_VALUES
Number of status values
0x01
UDWORD
rd
STATUS0
1. status value
Bit 0: ENABLE_CAM
Bit 1: ENABLE_LOOP_SIM
Bit 2: CAM_REFOK
Bit 3: CAM_REF_EXTERN
Bit 4: INTERPOL_READY
Bit 5: BUSY_CYCLE
Bit 6: ERR_ENC_ZERO
Bit 7: ERR_POS_LAG
0x2501
0x2502
0x2504
0x2505
0x2506
0x2507
Kommentar
0x00
UBYTE
rd
CAM_CURVE_X_VALUES
Number of CAM curve points (X)
0x01
UWORD
rd/wr
CAM_CURVE_X_0
Total of max. 255 X points
UWORD
rd/wr
CAM_CURVE_X_[1..255]
0x00
UBYTE
rd
CAM_CURVE_Y_VALUES
Number of CAM curve points (Y)
0x01
SDWORD
rd/wr
CAM_CURVE_Y_0
Total of max. 255 X points in m
SDWORD
rd/wr
CAM_CURVE_Y_[1..255]
0x00
SDWORD
rd
CAM_PARM_VALUES
Number of CAM parameters
0x01
SDWORD
rd/wr
CAM_TABLE_LENGTH
CAM number of table data points; equivalent

to 360 degree
0x02
SDWORD
rd/wr
CAM_ENC_RES_PER_REV
CAM encoder resolution (inc per revolution)
0x03
SDWORD
rd/wr
CAM_CONV_Z
Conversion nominator
0x04
SDWORD
rd/wr
CAM_CONV_N
Conversion denominator
0x05
SDWORD
rd/wr
CAM_PHASE
CAM rotation phase; raising of CAM table

index
0x06
SDWORD
rd/wr
CAM_OFFSET_Y
CAM axis Y offset
0x07
SDWORD
rd/wr
CAM_LOOKAHEAD_POS
CAM positive direction look ahead time [ms]
0x08
SDWORD
rd/wr
CAM_LOOKAHEAD_NEG
CAM negative direction look ahead time [ms]
0x09
SDWORD
rd/wr
CAM_CURVE_LENGTH
CAM number of CAM curve data points
0x0A
SDWORD
rd/wr
CAM_MAX_LAG
Max difference between fbk pos and sollpos
0x0B
SDWORD
rd/wr
CAM_ENC_MAX_DIFF
Encoder monitoring: max diff of zero point
0x00
SDWORD
rd
CAM_OUTPUT_VALUES
CAM operating result data
0x01
SDWORD
rd
CAM_SPEED
CAM speed in inc/ms, taken over 100
0x02
SDWORD
rd
CAM_INDEX
CAM table index
0x03
SDWORD
rd
CAM_POS_CMD
CAM resulting axis pos command
0x04
SDWORD
rd
CAM_TABLE_DATA
CAM table data, may be rd-only for FLASH

based table
0x00
UBYTE
rd
ENC_MON_DIAG_VALUES
Diagnose; for H+L internal use
0x01
SDWORD
rd
ENC_MON_ZERO_POINTS
0x02
SDWORD
rd
ENC_MON_VALUE
0x03
SDWORD
rd
ENC_MON_VALUE_OLD
0x04
SDWORD
rd
ENC_MON_FLAG
0x00
SDWORD
rd
CAM_SIMULATOR_VALUES
Number of simulator values
0x01
SDWORD
rd/wr
CAM_SIM_SPEED
Simulator speed
0x02
SDWORD
rd/wr
CAM_SIM_RESOL
Time resolution for simulator speed in ms
0x03
SDWORD
rd/wr
CAM_SIM_DIRECTION
Counter direction (1=pos, -1=neg)
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Voith Turbo

Schuckertstrae 15
6. CAM
CAM data is defined by a vector of n elements. Using several scaling parameters, the encoder input position is
converted into the CAM index n. The Nth element of the vector will be the Y target position for the axis at that
encoder input value. Typically, n is a large number (example: 10.000) to gain a good angular resolution of the
CAM curve.
It is not necessary to explicitly define all n CAM table elements. It is enough to define the necessary supporting
points of the curve. Based on these points, the curve will be generated internally by using linear interpolation or
cubic spline interpolation (future option).
Up to 255 supporting points can be defined in CAM_CURVE_X_[n] and CAM_CURVE_Y_[n]. Using the
command CAM_INTERPOL_xxx, the HL-COS will generate the full CAM table.
The digram above shows how the curve is generated using the linear interpolation. The example uses a CAM
table length of n=10.000 elements.
6.1 CAM Operation

6.1.1 CAM Encoder Transformation
During CAM operation, the axis y position is calculated using the encoder input and the CAM table.
Transformation rule is as follows:
CAM_INDEX = ( CAM_ENC_INPUT * CAM_CONV_Z / CAM_CONV_N ) MOD CAM_TABLE_LENGTH
CAM_INDEX = CAM_INDEX + CAM_PHASE
CAM_CMD = CAM_TABLE [ CAM_INDEX ] + CAM_OFFSET_Y
Implementation dependant, all position data will be scaled to 1 m.
6.1.2 Encoder Simulation
For evaluation purpose, the input signal of the encoder can be simulated. The simulation speed (= rotation
speed of the CAM) can be set with parameter.
6.1.3 CAM_LOOKAHEAD_POS/NEG
If the encoder value has a positive direction CAM_LOOKAHEAD_POS is active else CAM_LOOKAHEAD_NEG
is active. The value is scaled in ms.
The encoder value will be calculated again, depending on this defined time (CAM_LOOKAHEAD_POS/NEG)
and the encoder speed. This new encoder value will be calculated to the CAM table how it is described in
chapter 6.1.1 encoder transformation. Thus the curve is shifted forward for this adjusted time.
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Voith Turbo

Schuckertstrae 15
7. Commands
7.1 Hardware Interface
RUN
input
0
0-1
disable all outputs, clear all data, stop all operation

init, start operation
ENABLE
input
1
1-0
0-1
enable cmd generation and axis motion

freeze cmd, freeze state machines
release state machines and command
UDSEL
input
0
1
0-1
1-0
idle at POS1
idle at POS2
move to POS2
move to POS1
SELCYC0
SELCYC1
SELCYC2
SELCYC3
input
input
input
input
cycle type [0..15]

cycle type [0..15]
cycle type [0..15]
cycle type [0..15]
START0
input
cycle start, edge sensitive
START1
input
cycle start, level sensitive
TRACE
input
trace trigger
AUX0
AUX1
AUX2
AUX3
AUX4
AUX5
input
input
input
input
input
input
aux input 0
aux input 1
aux input 2
aux input 3
aux input 4
aux input 5
NOERR
output
running on no error
READY
output
ready to receive start
INPOS0
INPOS1
INPOS2
output
output
output
inpos vector [0..7]

inpos vector [0..7]
inpos vector [0..7]
INPOS[2,1,0] : 0 0 1
010
011
000
when axis in POS1

when axis in POS2
when axis in POS5
when axis in other position
DRV_ENA output
DRV_ENA = 0 driver can not energize motor, motor can not generate torque
DRV_ENA = 1 driver may energize motor, motor will generate torque
BRK_REL
BRK_REL = 1 open command motor brake, allow movement

BRK_REL = 0 close command motor brake, inhibit movement
output
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Schuckertstrae 15
7.2 Hardware Commands
START1
0
0
START2
0
0
0
SELCYC[3,2,1,0]
0000
0000
0000
UDSEL
0
0
0
0
0
0
0
0
0
0
0001
0001
0010
0011
0100
0100
0101
0110
0000
0001
0010
Command
SEEK_POS2
SEEK_POS1
PUNCH
FORM_BASIC
PRESS_ON
PRESS_OFF
HOVER_ON
HOVER_OFF
TOGGLE_ON
TOGGLE_OFF
FORM_FULL
PRESS_1
HOME
SEEK_POS1
SEEK_POS2
Grey print: command not yet available
->
->
->
rising edge on signal (0-1)

rising edge on signal (0-1)
signal does not matter
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if TIME2 > 0
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7.3 Legacy Commands

Name
L_CMD
L_PARM0
Comment
NOP
Future use
RESET
Future use
TAKE_PUNCH
Future use
TAKE_FORM_BASIC
Future use
TAKE_FORM_FULL
Future use
POS_FBK_ANA
Future use
POS_FBK_INC
Future use
BAUD_9600
Future use
BAUD_19200
Future use
BAUD_38400
Future use
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Schuckertstrae 15
7.4 Commands
7.4.1 Mode Setting

CMD_CODE
Name
0x 00 00 00 00
MODE_NOP
Function
NOP
0x 00 01 00 00
MODE_RESET
Future use
0x 00 02 00 00
MODE_TAKE_PARM
Check and activate new cycle parameters
0x 00 02 00 01
MODE_READ_PARM
Future use
0x 00 03 00 00
Reserve
0x 00 04 00 00
Reserve
0x 00 05 00 00
Reserve
0x 00 06 00 00
Reserve
0x 00 07 00 00
Reserve
0x 00 08 00 00
MODE_AXIS_FBK_ABS_ON
Axis Feedback absolut sensor: must be set after ramtype cmd!
0x 00 08 00 01
MODE_AXIS_FBK_ABS_OFF
Axis Feedback incremental sensor: must be set after ramtype cmd!
0x 00 09 00 00
MODE_CAM_ON
Enable CAM Mode (only in RAMTYPE_LINAMP)
0x 00 09 00 01
MODE_CAM_OFF
Disable CAM Mode (only in RAMTYPE_LINAMP)
0x 00 0A 00 00
MODE_BOOT_RS232
Switch to boot mode
0x 00 0B 00 00
MODE_CONT_MON_ON
Contour monitor on
0x 00 0B 00 01
MODE_CONT_MON_OFF
Contour monitor off
0x 00 0C 00 00
MODE_UDSEL_INHIBIT_ON
HW signal UDSEL inhibit
0x 00 0C 00 01
MODE_UDSEL_INHIBIT_OFF
HW signal UDSEL active
0x 00 0D 00 00
MODE_PSH_UT_POSITION_ON
PSH: UT Position regulation on
0x 00 0D 00 01
MODE_PSH_UT_POSITION_OFF
PSH: UT Position regulation off
0x 00 0E 00 00
MODE_HPF_ON
LA: high pressure force ON
0x 00 0E 00 01
MODE_HPF_OFF
LA: high pressure force OFF
0x 00 0F 00 00
MODE_HPH_ON
LA: high pressure hold ON
0x 00 0F 00 01
MODE_HPH_OFF
LA: high pressure hold OFF
0x 00 F0 00 00
MODE_ENC_DIR_POS
Encoder count direction positive
0x 00 F0 00 01
MODE_ENC_DIR_NEG
Encoder count direction negative
0x 00 10 00 00
MODE_MOT_REG_START
VTHL use only
0x 00 10 00 01
MODE_MOT_REG_CLR_ERR
VTHL use only
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Schuckertstrae 15
7.4.2 Cycle Starting

CMD_CODE
Name
0x 01 00 00 00
CYCLE_HOME
Function
seek HOME position, will include INIT
0x 01 01 00 00
CYCLE_SEEK1
seek POS1
0x 01 01 00 01
CYCLE_SEEK2
seek POS2
0x 01 02 00 00
CYCLE_PUNCH
start PUNCH cycle
0x 01 03 00 00
CYCLE_TOGGLE_START
start TOGGLE, move to POS5
0x 01 03 00 01
CYCLE_TOGGLE_STOP
stop TOGGLE, move to POS2
0x 01 04 00 00
CYCLE_FORM_BASIC
start FORM basic, with TIME2
0x 01 04 00 01
CYCLE_FORM_FULL
start FORM_FULL, with complex parameter set
0x 01 05 00 00
CYCLE_PRESS_ON
start PRESS, move to hard stop
0x 01 05 00 01
CYCLE_PRESS_OFF
stop PRESS, back to POS2, or POS1
0x 01 06 00 00
CYCLE_PRESS_1
start PRESS_1, complex cycle
0x 01 07 00 00
CYCLE_MARK_ON
start MARK operation
0x 01 07 00 01
CYCLE_MARK_OFF
stop MARK opertion
0x 01 08 00 00
CYCLE_FREEZE_ON
stop any cycle, freeze state
0x 01 08 00 01
CYCLE_FREEZE_OFF
restore state, continue with previous cycle
0x 01 09 00 00
CYCLE_HOVER_ON
start HOVER, move to POS5
0x 01 09 00 01
CYCLE_HOVER_OFF
stop HOVER, move to POS2
0x01 0A 00 00
CYCLE_ABS_FREE_POS
Only for AXIS_FBK_ABS: retract axis in positive direction
0x01 0A 00 01
CYCLE_ABS_FREE_NEG
Only for AXIS_FBK_ABS: retract axis in negative direction
0x01 0B 00 00
CYCLE_GET_ABS
Get absolut value
7.4.3 Ramtype
CMD_CODE
Name
Function
0x 02 00 00 00
RAMTYPE_LINAMP
linear amplifier with Bmaxx3400
0x 02 00 00 01
RAMTYPE_LINAMP_ANA
linear amplifier with analog output via Can
0x 02 00 00 02
RAMTYPE_LINAMP_SIM
linear amplifier simulation mode
0x 02 01 00 00
RAMTYPE_PSH
PSH
7.4.4 Trace
CMD_CODE
Name
Function
0x 03 00 00 00
TRACE_SW_TRIGGER
Start software trigger
0x 03 00 00 01
CMD_TRACE_STOP
Trace stop
0x 03 10 00 00
CMD_TRACE_FREEZE
Trace freeze
0x 03 10 00 01
CMD_TRACE_UNFREEZE
Trace unfreeze
0x 03 10 00 02
CMD_TRACE_MODE_CLEAR
Clear all trace mode bits
0x 03 10 00 03
CMD_TRACE_MODE_HW
Enable hardware trigger
0x 03 10 00 04
CMD_TRACE_MODE_SW
Enable software trigger, via data channel
0x 03 10 00 05
CMD_TRACE_MODE_MCYCLE
Enable trigger from MCYCLE
0x 03 10 00 06
CMD_TRACE_MODE_FORWARD
Forward Trace (Trace start at Trigger)
0x 03 10 00 07
CMD_TRACE_MODE_BACKWARD
Backward Trace (Trace stop at Trigger)
0x 03 2x xx xx
CMD_TRACE_READ_BLOCK
Transmit block of trace frames

xxxxx = 20 bit frame number
No automatic frame wrap at end of buffer !
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Schuckertstrae 15
7.4.5 CAM
CMD_CODE
0x 04 01 00 00
0x 04 01 00 01
0x 04 02 00 00
0x 04 02 01 00
0x 04 03 00 00
0x 04 03 01 00
Name
CAM_LOOP_SIM_ON
CAM_LOOP_SIM_OFF
CAM_INTERPOL_LINEAR
CAM_INTERPOL_CUBIC_SPLINE
CAM_ENC_SETPOS_0
CAM_ENC_REF_EXTERN
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Funktion
Simulation ON
Simulation OFF
Generate CAM table, linear interpolation between supporting points
Generate CAM table, cubic spline interpolation, future use
Setpos encoder zero point. Status CAM_REFOK will be set.
Set reference point of CAM encoder with digital input CAM_ZERO
(positve flank on digital input). The CAM_ZERO input is used only for
setting the reference point and monitoring the encoder signals.
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Schuckertstrae 15
8. Machine Cycles
8.1 Overview
The following scheme shall be used for state encoding in MC_STATE (UWORD)
MC_CYCLE_BASIC
MC_CYCLE_HOME
MC_CYCLE_PUNCH
MC_CYCLE_TOGGLE
MC_CYCLE_FORM_BASIC
MC_CYCLE_FORM_FULL
MC_CYCLE_PRESS
MC_CYCLE_PRESS_1
MC_CYCLE_MARK
MC_CYCLE_CAM
MC_CYCLE_FREE
0x00xx
0x01xx
0x02xx
0x04xx
0x05xx
0x06xx
0x07xx
0x08xx
0x09xx
0x0Axx
0x0Bxx
8.2 Status information

The following defines are used for MC_CODE in STATUS0.[7:0]
STATUS_NONE
STATUS_BAD_CMD
0x0000
0x0001
no special status inducation

bad or unkown command
STATUS_ERR_PARM
STATUS_ERR_PARM_x
0x0010
0x001x
parameter error (future use)

parameter error (future use)
STATUS_ERR_HOME_MOTOR
STATUS_ERR_HOME_TMOUT
STATUS_ERR_HOME_FREE
STATUS_ERR_HOME_ABS_OFF
STATUS_ERR_FREE_TMOUT
0x0020
0x0021
0x0022
0x0023
0x0024
home error: motor error

home error: timeout
home error: timeout free
home absolut error: negative offset
free drive error: timeout
STATUS_ERR_PUNCH_DN
STATUS_ERR_PUNCH_UP
STATUS_ERR_PUNCH_TDP
0x0030
0x0031
0x0032
punch error: PUNCH did not start down

punch error: PUNCH did not start up
punch error: PUNCH did not reach TDP
STATUS_ERR_SEEK_TMOUT
0x0040
seek error: SEEK timeout
STATUS_ERR_FORM_DN
STATUS_ERR_FORM_UP
STATUS_ERR_FORM_TDP
0x0050
0x0051
0x0052
form error: FORM did not start down

form error: FORM did not start up
form error: FORM did not reach TDP
STATUS_ERR_PRESS1_DN
STATUS_ERR_PRESS1_UP
STATUS_ERR_PRESS1_TDP
STATUS_ERR_PRESS1_DECO
0x0060
0x0061
0x0062
0x0063
press1 error: PRESS1 did not start down

press1 error: PRESS1 did not start up
press1 error: PRESS1 did not reach TDP
press1 error: PRESS1 did not reach deco pressure
STATUS_ERR_TOGGLE_DN
STATUS_ERR_TOGGLE_UP
STATUS_ERR_TOGGLE_TDP
0x0070
0x0071
0x0072
toggle error: TOGGLE did not start down

toggle error: TOGGLE did not start up
toggle error: TOGGLE did not reach TDP
STATUS_ERR_CAM_ENC_ZERO
STATUS_ERR_CAM_POS_LAG
0x0080
0x0081
CAM error: CAM_ZERO error

CAM error: position difference > CAM_MAX_LAG
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8.3 Machine Cycle Abstracts
8.3.1 HOME
Axis will move to the top hard stop of the cylinder.
This cycle performs the following functions:
- Clear any ERROR
- Move ram to top hard stop position
- Set zero point of position sensor ( LMS)
8.3.2 HOME with absolut sensor
This cycle performs the following functions:
- Clear any ERROR
- Read absolut value from sensor
- RAMPOS = absolut value - HAXIS_FBK_OFFSET
- MOTPOS = RAMPOS
The following parameters will be used:
- HOME_TIME1
- HOME_TIME2
- HOME_TIME3
- HOME_TIME_STILL
- HOME_STROKE_FREE for CYCLE_ABS_FREE_POS/NEG
- HOME_SPEED for CYCLE_ABS_FREE_POS/NEG
- HOME_STROKE_VALVE for CYCLE_ABS_FREE_POS/NEG
- HOME_STROKE_STILL
- HAXIS_FBK_OFFSET
Homing sequenz:
- execute cmd home (0x 01 00 00 00)
- rampos = 0 + 0,5 mm: execute cmd CYCLE_ABS_FREE_POS
- the motor is moving till the axis > HOME_STROKE_FREE
- rampos = max - 0,5 mm: execute cmd CYCLE_ABS_FREE_NEG
- the motor is moving till the axis > PARM_HOME_STROKE_FREE
- execute cmd home (0x 01 00 00 00)
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Axis Control PCU310

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Schuckertstrae 15
8.3.3 SEEK
8.3.4 TOGGLE
8.3.5 HOVER
Same as Toggle cycle expect Hover cycle use SPD1 for moving. READY will remain 1 (high) during the whole
cycle.
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8.3.6 PUNCH
8.3.7 FORM_BASIC
8.3.8 FORM_FULL
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Axis Control PCU310

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Schuckertstrae 15
8.3.9 PRESS_1
Cycle State
SPD2
SPD3
SPD4
TIME2
DECO
SPD5
SPD6
Operation
rapid feed
load feed
load feed
press operation
decompress oil
leave tool
rapid feed
Pump 1 (A)
passive
speed control
speed control
pressure control
speed control
speed control
passive
Pump 2 (B)
speed control
pressure control
pressure control
pressure control
pressure control
pressure control
speed control
Suction Valve
passive open
passive closed
passive closed
passive closed
passive closed
passive closed
active open
8.3.10 High Pressure Force

High pressure force (HPF) mode is only available for cycle type FORM_BASIC and FORM_FULL.
When activated, this mode will use an additional valve to activate HP, regardless of the actual working force that
is needed by the process. HP will be activated at the time when the command motor begins to move down and
it will be deactivated after TIME2 has elapsed and the command motor begins to move up.
Use commands MODE_HPF_ON and MODE_HPF_OFF to activate and decativate this mode.
Use Status bit STATUS1:HPF_MODE to read the activation status of this mode.
By default, this mode is off.
8.3.11 High Pressure Hold
High pressure hold (HPH) mode is only available for cycle type PUNCH.
When activated, this mode will use an additional valve to enable HP hold after an automatic HP switching has
occurred.
When the working force is below HP threshold, the whole cycle will be done with LP and HPH mode will not
affect the operation.
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When the working force is above HP threshold, the ram will first start moving with LP, until the work force is
above the threshold. After automatic HP activation, HP will continue to be active even when the work force will
drop below the HP threshold.
When then ram has reached BDC (POS5), the HP hold will be released. Thus, moving up the ram will always be
done using LP.
Use commands MODE_HPH_ON and MODE_HPH_OFF to activate and decativate this mode.
Use Status bit STATUS1:HPH_MODE to read the activation status of this mode.
By default, this mode is off.
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Schuckertstrae 15
9. Diagnostics
9.1 Trace
9.1.1 Frame Format for Linear Amplifier

Trace frame consists of 26 byes.
Byte
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0A
Name
FBK_POS
FBK_POS
FBK_POS
FBK_POS
CMD_POS
CMD_POS
CMD_POS
CMD_POS
MC_STATE
MC_STATE
DIN0
0x0B
DIN1
0x0C
DOUT0
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Contents
Feedback position (LMS)
Comments
32 bit, signed
Motor Feedback
32 bit, signed
Mcycle State
STATUS_MCYCLE[7:0]
STATUS_MCYCLE[15:8]
D7 SELCYC1
D6 SELCYC2
D5 SELCYC3
D4 UDSEL
D3 RUN
D2 START2
D1 START1
D0 ENABLE
D7 D_AUX0
D6 D_AUX1
D5 D_AUX2
D4 D_AUX3
D3 D_AUX4
D2 D_AUX5
D1 TRACE
D0 SELCYC0
D7 DRV_ENA
D6 BRK_REL
D5 READY
D4 reserved
D3 INPOS0
D2 INPOS1
D1 INPOS2
D0 NOERR
Digital Inputs
Digital Outputs
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Schuckertstrae 15
Byte
0x0D
Name
DOUT1
Contents
0x0E
0x0F
0x10
0x11
0x12
0x13
0x14
0x15
0x16
0x17
0x18
0x19
0x20
0x21
0x22
0x23
AIN0_LO
AIN0_HI
AIN1_LO
AIN1_HI
AIN2_LO
AIN2_HI
AIN3_LO
AIN3_HI
CAM_ENC_0
CAM_ENC_1
CAM_ENC_2
CAM_ENC_3
MAP_0
MAP_1
MAP_2
MAP_3
Analog Input 0
Comments
D7 D6 D5 D4 D3 DO-P3
D2 DO-P2
D1 HIGH_P
D0 SUCTION
16 bit signed
Analog Input 1
16 bit signed
Analog Input 2
16 bit signed
Analog Input 3
16 bit signed
Cam encoder value
32 bit, signed
uncommitted byte
uncommitted byte
uncommitted byte
uncommitted byte
Map through TRC_MAP0

Contents
Feedback position (LMS)
Comments
32 bit, signed
Pump 1 speed feedback
16 bit, signed [1/min]
Pump 2 speed feedback
Pump 1 speed command
Pump 2 speed command
Mcycle State
STATUS_MCYCLE[7:0]
STATUS_MCYCLE[15:8]
D7 SELCYC1
D6 SELCYC2
D5 SELCYC3
9.1.2 Frame Format for PSH

Trace frame consists of 30byes
Byte
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0A
0x0B
0x0C
0x0D
0x0E
Name
FBK_POS
FBK_POS
FBK_POS
FBK_POS
FBK_SPD1
FBK_SPD1
FBK_SPD2
FBK_SPD2
CMD_SPD1
CMD_SPD1
CMD_SPD2
CMD_SPD2
MC_STATE
MC_STATE
DIN0
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Digital Inputs
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Schuckertstrae 15
Byte
Name
Contents
0x0F
DIN1
Digital Inputs
0x10
DOUT0
Digital Outputs
0x11
DOUT1
Digital Outputs
0x12
0x13
0x14
0x15
0x16
0x17
0x18
0x19
0x1A
0x1B
0x1C
0x1D
PRESS1_CMD_HI
PRESS1_CMD_LO
PRESS1_FBK_HI
PRESS1_FBK_LO
PRESS2_CMD_HI
PRESS2_CMD_LO
PRESS2_FBK_HI
PRESS2_FBK_LO
MAP_0
MAP_1
MAP_2
MAP_3
Press1 Cmd
Comments
D4 UDSEL
D3 RUN
D2 START2
D1 START1
D0 ENABLE
D7 D_AUX0
D6 D_AUX1
D5 D_AUX2
D4 D_AUX3
D3 D_AUX4
D2 D_AUX5
D1 TRACE
D0 SELCYC0
D7 DRV_ENA
D6 BRK_REL
D5 READY
D4 reserved
D3 INPOS0
D2 INPOS1
D1 INPOS2
D0 NOERR
D7 D6 D5 D4 D3 DO-P3
D2 DO-P2
D1 HIGH_P
D0 SUCTION
16 bit, signed [0,01 Bar]
Press1 Fbk
Press2 Cmd
Press2 Fbk
uncommitted byte
uncommitted byte
uncommitted byte
uncommitted byte

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Schuckertstrae 15
10. Commissioning
10.1 General
Never connect or disconnect any plug while power is on.
The default position for S12, S11, S10 is all zero. Any switch combination which is not noted in ths chapter
must default to all zero.
10.2 Interface Use
RS-232 and Ethernet interfaces can be operated simultaneosly, any time.
Additionaly, either CAN or Profibus may be activated through DIL switch configuration.
RS-232, CAN and Profibus will be handled isochronously.
Ethernet will be handled asynchronously.
10.3 Interface Configuration
This PCU top view shows the configuration switches.
Front
S12
S11
S10
10.3.1 Configuration for Flash Update
S12
1 2 3 4 5 6 7 8 9 10
1 1 1 1 1 1 1 1 1 1
other
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S11
S10
Function
0
F
Update FW Flash Memory
other other See other chapters
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10.3.2 RS-232 Setup

No config switch setup is necessary for RS-232.
Parameters are:
9600
1
1
no
baud
start bit
stop bit
no parity
10.3.3 Ethernet Setup

S12
1 2 3 4 5 6 7 8 9 10
0 0 0 0 0 0 0 0 A B
Other
S11
S10
Function
Hi
Lo
Hi/Lo:
A B
0 0
1 0
0 1
1 1
Other other See
setting of node number.

01..255 may be used (decimal)
IP-Adress
172.29.108.41
172.29.108.42
172.29.108.43
172.29.108.44
other chapters
10.3.4 Profibus Setup

S12
1 2 3 4 5 6 7 8 9 10
0 0 1 0 0 0 0 0 0 0
Other
S11
S10
Hi
Lo
S11
S10
Hi
Lo
Function
Profibus will be used

Hi/Lo:
01..99 may be used (decimal)
other other See other chapters
10.3.5 CAN Bus Setup

S12
1 2 3 4 5 6 7 8 9 10
0 1 0 A B 0 0 0 0 0
Other
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Function
CAN Bus will be used

Hi/Lo:
01..7F may be used (hexadecimal)
A B
Baudrate
0 0
100 kBit/s
0 1
250 kBit/s
1 0
500 kBit/s
1 1
1000 kBit/s
Other other See other chapters
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Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Date:
10-10-04
Name: Tk/Bra
Page: 35/49
Voith Turbo

Schuckertstrae 15
11. Hardware
11.1 General
Never connect or disconnect any plug while power is on. Do not connect unnamed pins.
11.2 Signal Types
The following table shows the used signal types.
Signal Type
V0
V24
V24S
V5S
IV0
IV5
DI
DO-L
DO-P
IDOTTL
IDITTL
AI1
AI2
P485
I485
I232
MO
DATA
CAN1
Characteristic
Common ground for supply and I/O
24 V supply, reference: GND
24 V output for a sensor supply, referenced
24 V output for a sensor supply, referenced
0 V potential, isolated to V0
5 V potential, isolated to V0
Digital input, 24V/ 5mA, referenced to V0
Digital output, 24V / 0.1A, referenced to V0
Digital output, 24V / 1A, referenced to V0
Digital output, TTL level
Digital input, TTL level
Analog input, 4-20 mA, referenced to V0
Analog input, 0..10 V, referenced to V0
RS-485 line, not isolated
RS-485 line, isolated
RS-232 line, isolated
Stepper motor connection, referenced to V0
Data bus line (RS-232, RS-485, Profibus, CAN, etc.)
Can signal line, isolatet
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Axis Control PCU310

79-0039-0068-00-TED-ENX-05
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Voith Turbo

Schuckertstrae 15
11.3 Pin Assignment

Do not connect unnamed pins.
11.3.1 X40: Power Supply
Pin
X40-1
X40-2
X40-3
X40-4
X40-5
Type
PE
V0
V24
V24
V24
Name
PE
0V
24V_L
24V_P
24V_O
Function
Logic supply (CPU, encoder)

Power supply (DO-P)
Oputput supply (DO-L, sensor supply)
11.3.2 X41: Digital Output
Pin
X41-1
Type
DO-P
X41-2
X41-3
V0
DO-P
X41-4
X41-5
X41-6
X41-7
X41-8
X41-9
X41-10
X41-11
X41-12
X41-13
X41-14
X41-15
V0
DO-P
V0
DO-P
V0
DO-L
DO-L
DO-L
DO-L
DO-L
DO-L
DO-L
X41-16
DO-L
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Name
LA: HP_FORCE
PSH: SUCTION
Function
High pressure force mode (option)
PSH: Open suction valve
LA: HP_HOLD
PSH: SAVE_VALVE_A
High pressure hold mode (option)

PSH: Safety Valve A
PSH: SAVE_VALVE_B
PSH: Safety Valve B
NOERR
INPOS2
INPOS1
INPOS0
reserved
(SD1)
READY
(SD1)
BRK_REL
PSH: DRV_ENA_B
DRV_ENA
Brake release (max. 10 W), option
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Axis Control PCU310

79-0039-0068-00-TED-ENX-05
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Voith Turbo

Schuckertstrae 15
11.3.3 X42: Digital I/O
Pin
X42-1
X42-2
X42-3
X42-4
X42-5
X42-6
X42-7
X42-8
X42-9
X42-10
X42-11
X42-12
X42-13
X42-14
X42-15
X42-16
Type
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
DIN
Name
ENABLE
START1
START2
RUN
UDSEL
SELCYC3
SELCYC2
SELCYC1
SELCYC0
TRACE
CAM_ZERO
E_STOP
RESTART
D_AUX3
D_AUX4
D_AUX5
(SD1)
(SD1)
Function
Motion enable
Cycle start
Cycle start
Operation enable
Idle at POS1 / POS2
Cycle type selection
Trigger trace start / stop
CAM Zero Input
Only PSH: emergency stop
Only PSH: restart (Home without moving)
reserved
reserved
reserved
11.3.4 X30: Analog Input

SUB-D 15 female.
Pin
X30-1
X30-2
X30-9
X30-10
X30-11
X30-3
X30-4
X30-5
X30-12
X30-13
X30-14
X30-6
X30-7
X30-8
X30-15
Type
V24S
V0
AI2
V24S
V0
AI2
V24S
V0
AI2
V24S
V0
AI2
V24S
V0
AI2
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Name
SENS_24V
0V
AN0
SENS_24V
0V
AN1
SENS_24V
0V
AN2
SENS_24V
0V
AN3
SENS_24V
0V
AN4
Function
Output: sensor supply 24V
Common GND
Input: analog signal 4..20 mA
Common GND
Common GND
Common GND
Common GND
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Voith Turbo

Schuckertstrae 15
11.3.5 X31: Encoder Input

SUB-D 9 female.
Pin
X31-1
X31-2
X31-3
X31-4
X31-5
X31-6
X31-7
X31-8
X31-9
Type
IDITTL
IDITTL
IDITTL
V5S
V24S
IDITTL
IDITTL
IDITTL
V0
Name
ENC_A+
ENC_B+
ENC_Z+
ENC_5V
ENC_24V
ENC_AENC_BENC_Z0V
Function
Encoder line A: positive
Encoder line B: positive
Optional Input
Encoder supply output, 5V
Encoder supply output, 24V
Encoder line A: negative
Encoder line B: negative
Optional Input
Common GND
Name
RS232_RX
RS232_TX
RS232_GND
-
Function
Dont connect
RS232 RX line, PCU will receive on this pin
RS232 TX line, PCU will transmit on this pin
Dont connect
RS232 GND
Dont connect
Dont connect
Dont connect
Dont connect
11.3.6 X50: RS-232

SUB-D 9 male.
Pin
X50-1
X50-2
X50-3
X50-4
X50-5
X50-6
X50-7
X50-8
X50-9
Type
DATA
DATA
V0
-
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11.3.7 X51: CAN

SUB-D 9 male.
Pin
X51-1
X51-2
X51-3
X51-4
X51-5
X51-6
X51-7
X51-8
X51-9
Type
DATA
V0
DATA
-
Name
CAN_L
0V
CAN_H
-
Function
Dont connect
CAN bus
0V for CAN
Dont connect
Dont connect
Dont connect
CAN bus
Dont connect
Dont connect
Name
PROF-B
PB-DIR
PB-GND
PB-5V
PROF-A
-
Function
Profibus B line
Profibus direction
Profibus isolated GND
Profibus isolated 5V
Profibus A line
-
11.3.8 X53: Profibus

SUB-D 9 female.
Pin
X53-1
X53-2
X53-3
X53-4
X53-5
X53-6
X53-7
X53-8
X53-9
Type
I485
IDOTTL
IV0
IV5
I485
-
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Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Date:
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Voith Turbo

Schuckertstrae 15
11.4 Connection Guidline

Considerung the flexibility of PCU310 and the possibility to use various hydraulic systems together with various
motors and motor driver combinations, it is not possible to give one schematic which will be correct for all these
combinations. But, following a few rules, it is easy to find the correct connections.
Power Supply:
PCU310 is powered by 24 VDC. Separate inputs may be supplied for:

24V_L = CPU, encoder
24V_P = power for digital outputs (DO-P)
24V-O = power for digital outputs (DO-L) and sensor supply
Why use separate inputs ?
24V_L may be on all the time for communication.
24V_P may be shut off separately to cut away energy from safety critical outputs.
24V_O may be shut off separately to cut away energy from safety critical outputs.
Digital inputs:
Connect to your PLC/CNC outputs. Reference is 0V
Digital outputs:
Connect to your PLC/CNC inputs. Reference is 0V
Encoder:
Connect to liear encoder (LMS) mounted on axis.

Pin configuration of X31 is 1:1 matching the pin-out of H+L incremental encoders.
Driver interface:
Use L-CAN (X10) to connect PCU with motor driver.

Connect DRV_ENA with motor driver. Function shall be:
DRV_ENA = 0 driver can not send current to motor, motor can not generate torque
DRV_ENA = 1 driver may send current to motor, motor will generate torque
DRV_ENA = 0 will be used to stop the motor in an emergency situation.
When the axis is safety critical, this signal should be routed through the safety
Circuit of the machine PLC/CNC.
Command motor:
Connect the servo motor to the servo driver, according to the motor/drivers+
manufacturer manual.
Data interface:
Use RS-232, G-CAN, Profibus or Ethernet

For PC diagnostics, use RS-232 or Ethernet. Ethernet is preferred for speed.
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Voith Turbo

Schuckertstrae 15
11.5 Safety Circuit

Safety circuit has to fulfill several requirements:
-
safely stop the axis in any dangerous situation.

Allow testing of safery features (driver disable, brake test)
For the above reasons, the driver enable as well as the brake signal must be accessible both to the PCU310
and also to the PLC/CNC. This goal may be achieved an electrical arrangement according to the machine
manufacturers choice. H+L hereby gives a suggestion for one possible implementation of this arrangement. It is
fully understood that any signal generating or processing device (like relays etc.) have to meet the full safety
and reliability requirements. Signals from PCU310 are generated under firmware control and must be
considered potentially not safe.
Entering safe state during normal machine operation:
-
ENABLE from PLC must go low for any critical situation (person entering the non-safe area).
This will command the PCU to stop the axis.
PLC_BRK_REL must go low 50 ms after ENABLE. This will give the PCU enough time to stop
the axis.
PLC_DRV_ENA from PLC must go low 50 ms after PLC_BRK_REL. This will give the motor brake
enough time to become effective.
Restoring normal operation after emergency stop:

-
PLC_DRV_ENA from PLC must go high
PLC_BRK_REL from PLC must go high 50 ms after PLC_DRV_ENA
ENABLE from PLC must go high 50 ms after PLC_BRK_REL
After sucessfully restoring normal operation, the previously interrupted cycle will automatically be continued and
terminated by the PCU.
See schematic section Safety Circuit.
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Safety Signals
Z03-01-4.SCH
Sales-RUT@voith.com
J: \T UR BO\ .. \Z 03- 01 -0 .PR J
St.
Geprft
Bemerkung
Projekt
Untergruppe
Bezeichnung
Zeichn.-Nr.
Blatt
First issue
START/READY
Voith Turbo H+L Hydraulic GmbH & Co. KG

Schuckertstrae 15
D-71277 Rutesheim
2009-11-05/Bra
2009-11-16/Bra
Erstellt
:
:
:
:
:
PCU310
PCU310
Punch Control Unit
79-0039-0068-00-Z03-ENX-01
VON 5
1
11.6 PCU Connection Schematic
Fi le :
SCHUTZVERMERK NACH DIN 34 BEACHTEN

BAUTEILWERTE NUR ZUR ORIENTIERUNG:
ES GILT DIE STCKLISTE/BESTCKUNGSREFERENZ
Communication: RS-232, global CAN, Profibus, Ethernet
Axis: Encoder, Analog and local CAN
Z03-01-2.SCH
Z03-01-3.SCH
Digital and Power Section
Z03-01-1.SCH
Date:
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Overview
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Voith Turbo

Schuckertstrae 15
www.voithturbo.com
1
2
3
4
5
6
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8
9
10
11
12
13
14
15
16
1
2
3
4
5
PCU310
Sales-RUT@voith.com
Fi le :
J: \T UR BO\ .. \Z 03- 01 -1 .SC H
[PE]
[V0]
[V24]
[V24]
[V24]
Power Supply
Digital Input
Mini-COMBICON-3.5
ENABLE [DIN]
START1 [DIN]
START2 [DIN]
[DIN]
RUN
UDSEL [DIN]
SELCYC3 [DIN]
SELCYC2 [DIN]
SELCYC1 [DIN]
SELCYC0 [DIN]
TRACE [DIN]
[DIN]
n/c
[DIN]
n/c
[DIN]
n/c
[DIN]
n/c
[DIN]
n/c
[DIN]
n/c
X42-A
Mini-COMBICON-3.5
PE
0V
24V_L
24V_P
24V_O
X40-A

The following signals may connect

to the safety circuit:
ENABLE
Digital Input:
Connect to control outputs of PLC/CNC.
Signals are referenced to 0V.
Power Supply:
All supply is referenced to common 0V.
Use separate fuses for each supply.
See hw manual.
X41
St.
Projekt
Untergruppe
Bezeichnung
Zeichn.-Nr.
Blatt
First issue
START/READY
Bemerkung
:
:
:
:
:
The following signals connect

to the safety circuit:
DRV_ENA
BRK_REL
PCU310
PCU310
Punch Control Unit
79-0039-0068-00-Z03-ENX-01
VON 5
2
Digital Output:
Connect status signals to your PLC/CNC.
Signals are referenced to 0V.
Connect power outputs to actuators
and valves, when needed. Use local
0V pins for actuators and valves.

Schuckertstrae 15
D-71277 Rutesheim
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15
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Erstellt
Mini-COMBICON-3.5
[DO-P] SUCTION
[V0]
0V
[DO-P] HIGH_P
[V0]
0V
[DO-P]
n/c
[V0]
0V
n/c
[DO-P]
[V0]
0V
[DO-L] NOERR
[DO-L] INPOS2
[DO-L] INPOS1
[DO-L] INPOS0
[DO-L]reserved
[DO-L] READY
[DO-L] BRK_REL
[DO-L] DRV_ENA
Digital Output
Date:
10-10-04
Name: Tk/Bra
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Power and Digital I/O
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Voith Turbo

Schuckertstrae 15
www.voithturbo.com
1
9
2
10
3
11
4
12
5
13
6
14
7
15
8
1
6
2
7
3
8
4
9
5
Sales-RUT@voith.com
Fi le :
J: \T UR BO\ .. \Z 03- 01 -2 .SC H
Encoder Input
Analog Input
D-Sub 15 female
SENS-24V
AIN0
0V
SENS-24V
AIN1
0V
SENS-24V
AIN2
0V
SENS-24V
AIN3
0V
SENS-24V
AIN4
0V
X30-A
D-Sub 9 female
ENC1-A+
ENC1-AENC1-B+
ENC1-BENC1-Z+
ENC1-ZENC1-5V
ENC1-0V
ENC1-24V
X31-A
PCU310

Analog Input:
Connect 4-20 mA transducer.
Use SENS-24V as supply.
Use 0V for 3-wire transducers.
Use ANx as signal input.
Encoder:
Connect to axis position encoder.
H+L LMS pinout is connecting 1:1.
For cable extensilon, use 1:1 extension
with shielded cable, shields connected
to metal plug housings.
St.
L-CAN_L
L-CAN_H
L-0V
X10-A
Projekt
Untergruppe
Bezeichnung
Zeichn.-Nr.
Blatt
First issue
-
Bemerkung
:
:
:
:
:
PCU310
PCU310
Punch Control Unit
79-0039-0068-00-Z03-ENX-01
VON 5
3
CAN Bus:
Connect according to your CAN Bus requirement.
Use shielded cable. Connect cable shield to
metal plug housing on both sides.
Use 120 Ohm termination on both cable ends.

Schuckertstrae 15
D-71277 Rutesheim
Geprft
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6
2
7
3
8
4
9
5
2009-11-05/Bra
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Erstellt
D-Sub 9 male
Local CAN Bus
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Feedback and Drive Interface
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Schuckertstrae 15
A
Voith Turbo
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1
6
2
7
3
8
4
9
5
1
6
2
7
3
8
4
9
5
RS-232
CAN Bus
D-Sub 9 female
G-CAN_L
G-CAN_H
G-CAN-0V
X51-A
D-Sub 9 female
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Fi le :
J: \T UR BO\ .. \Z 03- 01 -3 .SC H
Projekt
Untergruppe
Bezeichnung
Zeichn.-Nr.
Blatt
First issue
-
Bemerkung
:
:
:
:
:
PCU310
PCU310
Punch Control Unit
79-0039-0068-00-Z03-ENX-01
VON 5
4
Ethernet:
Connect according to your host computer requirement.
Use approved CAT6 cable.
Profibus:
Connect according to your Profibus requirement.
Use Profibus approved cable and plugs.
Activate termination on both ends of bus line.

Schuckertstrae 15
D-71277 Rutesheim
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9
5
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Erstellt
RJ45
RX-
TX+
TXRX+
Ethernet X52
St.
D-Sub 9 female
PB-GND
RS-0V
PB-5V
X53-A
PB-B
PB-A
PB-DIR
Profibus
RS-RXD
RS-TXD
X50-A
PCU310

CAN Bus:
Connect according to your CAN Bus requirement.
Use shielded cable. Connect cable shield to metal
plug housing on both sides.
Use 120 Ohm termination on both cable ends.
RS-232:
Connect according to your host computer requirement.
Use shielded cable. Connect cable shield to metal
plug housing on both sides.
For PC connection, use a null-modem cable
with D-sub 9 female on both sides:
2 - 3
3 - 2
5 - 5
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Communication
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Schuckertstrae 15
A
Voith Turbo
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ENABLE
Functions defined by firmware.

Output signals not safe.
PCU310
Sales-RUT@voith.com
Fi le :
J: \T UR BO\ .. \Z 03- 01 -4 .SC H

PLC_BRK_REL
ENABLE
Signal from device arrangemen

to generate ENABLE=0,
whenever there is danger of
human damage or machine
damage.
Signal to release motor

brake by PLC/CNC.
PLC_DRV_ENA
PLC_DRV_ENA=0 will immediatel

stop the motor current.
Same function as ENABLE.
PLC_DRV_ENA should follow
ENABLE with a delay of 50..10
to allow PCU310 to gracefully
ramp down the motor.
Machine CNC/PLC
St.
0V
Bemerkung
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Bezeichnung
Zeichn.-Nr.
Blatt
First issue
-
:
:
:
:
:
0V
PCU310
PCU310
Punch Control Unit
79-0039-0068-00-Z03-ENX-01
VON 5
5
BRAKE=0 must
stop motor
Motor Brake
Signal to drive command motor

power amplifier.
When DRIVER-ENABLE=0, the
amplifier must stop motor
current by safe circuit.
Drive Motor Amplifier
MOT_BRK_REL
AMP_DRV_ENA
Safety Relay
T2
0V
De-energized: 1-2
3
Safety Relay
Geprft
T1
De-energized: 1-2
4

Schuckertstrae 15
D-71277 Rutesheim
2009-11-05/Bra
2009-11-16/Bra
Erstellt
BRK_REL
DRV_ENA
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Safety Circuit
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Schuckertstrae 15
A
Voith Turbo
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Date:
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Name: Tk/Bra
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Voith Turbo

Schuckertstrae 15
12. Connecting 3rd Party Components

12.1 Baumller BM34xx
Any information given in this chapter is based on Baumller inverter documentation. This information is subject
to change according to Baumller information. Any details given in this chapter is for information only. Inverter
engineering (external schematic) must be confirmed by Baumller. VTHL takes no responsibility for functionality
and/or correctness given herein.
Baumller BM34xx is a preferred servo amplifier for PCU310 and H+L hydraulic axis. Generally, the
manufacturers documentation has to be followed. The goal of this chapter is to allow a quick start with these
components. In case of doubt, the manufacturers documents shall overrule the information given herein.
(Source: BM34xx Manual, subject to correctness of Baumller documents).
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Voith Turbo

Schuckertstrae 15
Machine switch cabinet:

It is assumed that the circuit is PELV:
0V
24V
= signal 0VDC
= signal 24VDC
24V Supply:
For digital outputs
X26-5 (24VIO)
X26-12 (GNDIO)
24VDC
0VDC
General:
X100-6 (-24V)
X100-1 (+24V)
0VDC
24VDC
Motor cable:
Use the manufacturers pre configured motor cable. On the motor side, the cable will have the proper connector,
matching the connector of the motor. On the driver side, the cable will have free leads to connect U,V,W and the
optional temperature sensor MT+ and MT-.
According to the manufacturers motor manual, the marking scheme of the cable is as following:
Wire marking
U
VV
WWW
red
black
white
yelllow
green/yellow
wire function
motor U
motor V
motor W
brake+
brakethermo sensor+
thermo sensorprotective earth
Motor Brake:
Connect the brake to you safety circuit:
brakebrake+
0VDC
MOT_BRK_REL
Encoder cable:
Using a resolver is the preferred option for motors in a n H+L hydraulic axis. The manufacturers cable will have
ready to use connectors on both ends. (X24 on BM34xx).
Braking Resistor:
Your system may use internal, external or no braking resistor:
Internal braking resistor:
connect:
External braking resistor:
connect resistor to X205:Ba+ and X205:Ba-
No braking resistor:
no connection on X205
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X205:BaI
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<--> X205-2:Ba-
Axis Control PCU310

79-0039-0068-00-TED-ENX-05
Date:
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Name: Tk/Bra
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Voith Turbo

Schuckertstrae 15
CAN Bus:
The servo amplifier must have CAN bus to communicate with PCU. CAN on BM34xx is on X45 (double RJ-45).
Pin No.
1
2
3
4
5
6
7
8
Signal
CAN_H
CAN_L
CAN_GND
SYNC+
SYNCn/c
GND
n/c
SYNC not used by PCU. Connect CAN_H, CAN_L, CAN_GND (pin 3). Do not forget to apply 120R termination
to both cable ends (CAN_H, CAN_L). Special cables for this are available through Baumller (BM4-CAN-T01).
The CAN node id and baud rate must be setup using the manufacturers PC tool Pro-Drive:
CAN node: 1
Baud rate: 1 Mbit/s
Safety Stop Function:

Connect:
X26-11 (IF)
X26-10 (SH)
AMP_DRV_ENA
24VDC (not used)
Safety Relay:
When BM34xx is equipped with safety relay: see chapter 6.15 of inverter manual.
X102-4
X102-3
X102-1
X102-2
0VDC
AMP_DRV_ENA
use for function check of safety relay by PLC
use for function check of safety relay by PLC
www.voithturbo.com
Sales-RUT@voith.com

79-0039-0068-00-TED-ENX-05 - Axis Control PCU310

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Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

Axis Control PCU310

Intelligent Control for Hydraulic Systems

Real Time Processing of all Sensors / Actors

Process Know-How in Firmware

Data Interface: RS-232, CAN Bus, Profibus, Ethernet

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

10.3.1 Configuration for Flash Update............................................................................................... 33

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

3.3 Relevant Documents

Installation requirements: 79-0039-0019-00-TED-ENX-04

Drawings, specifications, manuals of hydraulic parts and systems

Always ask for latest document revision.

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

may be RS-232 or Ethernet. Ethernet preferred for higher speed.

Emergecy stop of axis.

Control the pilot motor on the hydraulic axis

necessary for correct machine cycles like PUNCH, etc.

Option, depending on hydraulics and specific software

If motor has brake, connect to safety circuit

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

5.2 Legacy Interface

Pre cycle delay

Post cycle delay

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

5.3 Commands and Generic Interface

Command (see chapter commands)

No. of status values

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

MOT_STS, (BM P0301)

Error Mcycle State

No. of digital output values

No. of digital intput values

No. of analog output values

No. of analog intput values

No. of encoder intput values

No. of encoder outputs values

5.4 Version Information

No. of versions values

Bootloader major release

Bootloader minor release

String with DEVICE_NAME

5.5 Trace Parameters

No. of Trace Values

Axis Control PCU310

Voith Turbo H + L Hydraulic GmbH & Co. KG

Mode for Scope

No. of trace mapping values

Address of trace byte MAP0

Address of trace byte MAP1

Address of trace byte MAP2

Address of trace byte MAP3

No. of DWORD shifts, before UBYTE store

No. of DWORD shifts, before UBYTE store

No. of DWORD shifts, before UBYTE store