• Informations
• Description
• HMI
• Setup
• Main Page
• Edit Program

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The P1R11FE30 - 001 application, installed on the Qmove J1-R11-FE30, hardware is designed to control a cookies dispensing machine with 4 axes. The salient features of the P1R11FE30 - 001 are described below.

The manual will distinguish between standard characteristics and optional. characteristics.

• Axes MMB, MMC, MCB controlled by PID on space (brushless motors with servo drives or asynchronous motors with vector inverters).
• Axis MT for the conveyor. Only encoder simulation signal is provided.
• Homing functions for axes MMB, MMC, MCB.
• Select the language
• Modbus communication with ESA hmi panel.
• Diagnostics of the inputs and the outputs.
• Messagges for active faults, to assist troubleshooting.
• Help Messagges.
• Backup and restore of the data on non volativle memory (FLASH EPROM).

The standard codes used throughout the operator interface:
1. Values in Yellow can be modified by the operator.
Touch the value and use the keypad to enter a setting, followed by to confirm.

2. Some parameters offer selection by multiple choice. To select a setting, press

On the top of the display, a standard toolbar shows this informations:

• Machine state
• Page name
• Date and hour

The start page shows the customer logo and provides the following functions:

Button	Icon	Description
NEXT		Press on the button to open the next page.

This page allows the operator to choose the section he wants to display:

Button	Icon	Description
MAIN PAGE		Press on the button to open the main page.
PROGAMMATION		Press on the button to open the program edit page.
MACHINE SETUP		Press on the button to open the machine setup section.
ANALOG OUTS CAL		Press on the button to open the analog outputs calibration section.
PID TUNING		Press on the button to open the pid tuning section.
MAIN PAGE		Press on the button to open the I/O diagnostics section.

This page swows the state of all digital and analogic I/O

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

From any page that have the standard toolbar and if the machine is in ALARM state, if pressed icon, will display this page:

All alarms will be reset by pressing .

By pressing it displays hystoric alarm page.

The alarm hystoric archive can contains at max 200 registrations. It's a FIFO type archive, so as soon as an alarm occurs with the historic already full, you will lose the oldest in the list.

It's important that the date and time are set correctly in setup, to allow a diagnostic alarm occurred more quickly and accurately as possible.

: slides back the pages of historical alarms;

: moves along the pages of historical alarms;

: back to ALARM page;

: keep pressed for 3 seconds to reset the archive.

This page allows the operator to choose the setup section he wants to display:

Button	Icon	Description
CONVEYOR		Press on the button to select MT axis setup.
MMB MOTOR		Press on the button to select MMB axis setup.
MCB MOTOR		Press on the button to select MCB axis setup.
MMC MOTOR		Press on the button to select MMC axis setup.

At the bottom of the page date and hour can be set.

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

This page allows the operator to choose the axis calibration section he wants to display:

Button	Icon	Description
MMB MOTOR		Press on the button to select MMB axis calibration.
MCB MOTOR		Press on the button to select MCB axis calibration.
MMC MOTOR		Press on the button to select MMC axis calibration.

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

The calibration section is used to find the offset of the axis and its maximum speed.

Parameter Name	Unit measure	Default	Range	Description
OFFSET	bits	0	-999999 ÷ 999999	Voltage value added to the Analog Axis Out to cancel the offset tension of the motor.
POSITION	mm/bits	-	-	Actual axis position. Display both in UM and in encoder bits. Press to reset values.

To find OFFSET value:

To find OFFSET value
1	Press to activate calibration.
2	Insert value 0 (zero) in VOLTAGE OUTPUT parameter.
3	Increase or decrease OFFSET parameter till POSITION will be almost fixed (or move very slowly).
4	Press to deactivate calibration.

Counter and direction verifying:
with analog voltage over 0 (zero) the axis has to move to positive direction.
1	Press to activate calibration.
2	Insert a positive value in VOLTAGE OUTPUT.
3	Check if POSITION parameter increases.
4	Press to deactivate calibration: axis stops WITHOUT ramp.
5	PAY ATTENTION Invert the rotation sense of the motor on the proper pins of C1-R11 (PHA and PHB) if the direction is incorrect.

Maximum speed:
find the speed corresponding to 10V of the analog output.
1	Press to activate calibration.
2	Insert a positive value in VOLTAGE OUTPUT (if possible close to 10V).
3	Read the value display in VELOCITY.
4	calculate the value of MAX VELOCITY parameter with: $ \text{MAX VELOCITY} = \dfrac{10\cdot \text{VELOCITY}}{\text{VOLTAGE OUTPUT}} $
5	Press to deactivate calibration: axis stops WITHOUT ramp.
6	Insert calculated value in MAX VELOCITY.

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

This page allows the operator to choose the axis tuning section he wants to display:

Button	Icon	Description
MMB MOTOR		Press on the button to select MMB axis tuning.
MCB MOTOR		Press on the button to select MCB axis tuning.
MMC MOTOR		Press on the button to select MMC axis tuning.

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

The PID tuning section is used to find the PID parameters of the axis.

Operator can execute following operations after inserting these parameters in the other setup sections:

• MEASURE/PULSE: set correct axis resolution.
• MAXPOS: insert a big positive value (Es.: 9999 mm)
• MINPOS: insert a big negative value (Es.: - 9999 mm)

To perform any of the settings described above, the following conditions must be met:
Make sure that the emergency button to remove power to the motors so as to be in a safe condition in the event that the machine should move in an uncontrolled way.

Reset the machine from possible emergency conditions by resetting the alarms.

PID parameters:
parameters are: FEEDFORWARD, PROP. GAIN and INTEGRAL TIME. After performing the above steps correctly, continue with:
1	Insert value 100.0% in FEEDFORWARD parameter.
2	Insert minimum value (1) in PROP. GAIN parameter.
3	If FOLLOW ERR is different from 0 (zero), you will see a movement of the axis to reduce that value.
4	Insert a value in POSITION 1 and POSITION 2 parameters and a value in TEST VEL parameter (minus of MAX VELOCITY) parameter.
5	Press START POS 1 button to move axis to target quota POSITION 1 or START POS 2 button to target quota POSITION 2.
6	During these movements it's possible to check FOLLOW ERROR value and set FEEDFORWARD and PROP. GAIN tring to decrease the error as more as possible. The criteria to be followed are: Increase gradually PROP. GAIN value until the axis vibrates excessively at stopping. At that point slightly reduce the value for acceptable behavior. FEEDFORWARD value has to be find out with this rule: Follow err. >0 <0 Direction of movement Forward Increase FEEDFORWARD Decrease FEEDFORWARD Backward Decrease FEEDFORWARD Increase FEEDFORWARD
7	During these movements an high FOLLOW ERR, over the MAX FOLLOW ERR value, doesn't generate an alarm. Simply it's display with symbol. Then you need to be especially careful during this step to editing PID parameters.

Button	Icon	Description
EXIT		Press on the button to return to MAIN MENU page.

This page shows:

• POSITION : can be read actual position of all 4 axis;
• SPEED: can be read the actual master (conveyor) speed. Between square the calculated max advice speed;
• LAST ALARM: on a red back it can be read the last alarm (if the machine state is ALARM);
• CAM STATUS: STOP or EXEC
• HOMING STATUS: NOT OK or OK if done.

Button	Icon	Description
START QUOTAS		Press on the button to move MMB, MCB and MMC axis to homing quota (beginning of the automatic cycle).
EXIT		Press on the button to return to MAIN MENU page.

Example:

VERY IMPORTANT : load + push + rise have to be ALWAYS equal to 61440 bits (total master cam)

VERY IMPORTANT : load + rise have to by a multiple of 7680 (master space for every row)

During the editing a red label on the top of the display inform the operator about the state of the program: