Technical documentation

Operating software for Twin Line

units

TL CT
Operating system: 1.0xx
Order no.: 0x9844 1113 096
Edition b121, 05.02
 TL CT

0x9844 1113 096, b121, 05.02

-2 Twin Line Control Tool

 TL CT Table of contents

Table of contents

Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . V-3
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . V-3
Product designations . . . . . . . . . . . . . . . . . . . . . . V-3
Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-4

1 Before starting the program

1.1 Twin Line Control Tool operating software . . . . . 1-1
1.2 Writing conventions in the on-line manual . . . . . . 1-3

2 Installation and starting the program

3 Working with the Twin Line Control Tool

3.1 Action window . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Menu bar . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3 Tool bars and status bar . . . . . . . . . . . . . . . 3-3
3.4 Setting program options . . . . . . . . . . . . . . . 3-6
3.5 Data interface and device data . . . . . . . . . . . 3-7
3.6 Off-line and on-line functions . . . . . . . . . . . . 3-8

4 Transferring device data

4.1 File Open... . . . . . . . . . . . . . . . . . . . . 4-1
4.2 File Save . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Connection Establish . . . . . . . . . . . . . . . 4-3
4.4 Connection Disconnect . . . . . . . . . . . . . . 4-4

5 Configuring
5.1 Twin Line Configuring . . . . . . . . . . . . . . 5-1
5.2 Changing parameter values . . . . . . . . . . . . . 5-3

6 Positioning
6.1 Twin Line Positioning . . . . . . . . . . . . . . . 6-2
6.2 Index cards . . . . . . . . . . . . . . . . . . . . . 6-4
6.2.1 Point-to-point operation . . . . . . . . . . . . . . 6-5
6.2.2 Speed mode . . . . . . . . . . . . . . . . . . . 6-6
6.2.3 Electronic gear . . . . . . . . . . . . . . . . . . 6-7
6.2.4 Referencing . . . . . . . . . . . . . . . . . . . . 6-8
6.2.5 Manual movement . . . . . . . . . . . . . . . . 6-9
6.2.6 Set operation . . . . . . . . . . . . . . . . . . . 6-10
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6.2.7 Oscillator mode . . . . . . . . . . . . . . . . . . 6-11

6.2.8 Current control . . . . . . . . . . . . . . . . . . 6-12

Twin Line Control Tool V-1

Table of contents TL CT

7 List and set processing

7.1 Twin Line Position lists Process . . . . . . . . 7-1
7.1.1 Processing list 1 and list 2 . . . . . . . . . . . . . 7-3
7.1.2 Processing set data . . . . . . . . . . . . . . . . 7-4
7.2 Twin Line Position lists Teach In . . . . . . . . 7-5

8 Command processing
8.1 Twin Line Command processing . . . . . . . . . 8-1

9 Recording
9.1 Twin Line Recording . . . . . . . . . . . . . . . 9-1
9.2 Index cards of the 'Recording' window . . . . . . . . 9-2
9.3 Preparing for and starting recording . . . . . . . . . 9-7
9.4 Evaluating recordings . . . . . . . . . . . . . . . . 9-9
9.5 Documenting and exporting recordings . . . . . . 9-11

10 Optimizing
10.1 Controller structure and block diagrams . . . . . . 10-1
10.1.1 Controller structure of a Twin Line unit . . . . . 10-1
10.1.2 Inputting parameters in the block diagram . . . 10-3
10.2 Twin Line Controller Optimize . . . . . . . . 10-4
10.2.1 The 'Optimize' window. . . . . . . . . . . . . . 10-4
10.2.2 Index cards of the 'Optimize' window . . . . . . 10-5
10.2.3 Configuring optimization . . . . . . . . . . . . . 10-6
10.2.4 Starting recording . . . . . . . . . . . . . . . . 10-7
10.3 Algorithm for optimising controllers . . . . . . . . 10-8
10.3.1 Characteristics and conditions . . . . . . . . . 10-8
10.3.2 Carrying out optimisation using the algorithm . . 10-9

11 Diagnosis and error rectification

11.1 Twin Line Diagnosis Device data . . . . . . 11-2
11.2 Twin Line Diagnosis Error log . . . . . . . . 11-3
11.3 Twin Line Diagnosis Device hardware . . . 11-4

12 Commissioning assistant

13 The Twin Line Control Tool menu

14 Service
14.1 Service adress . . . . . . . . . . . . . . . . . . . 14-1

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
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V-2 Twin Line Control Tool

 TL CT Reference

Reference

Abbreviations

Abbreviation Meaning
AC Alternating current
ASCII American Standard Code for Information Interchange
COS Controller Operating System
DC Direct current
E Encoder; incremental encoder
EMC Electromagnetic compatibility
HMI Human machine interface, plug-in hand-held operating
unit
Inc Increments
I/O Inputs / output
LED Light-emitting diode
M Motor
PC Personal Computer
PELV Protected Extra Low Voltage
PLC Programmable logic controller
usr User units

Product designations

Abbreviation Product designation User term

TLDxxx, TLCxxx Twin Line Drive xxx Controller
Twin Line Controller xxx
TL HMI Twin Line HMI Human-Machine Interface
HMI
TL CT Twin Line Control Tool operating software
TL HBC Twin Line Holding Brake Holding brake controller
Controller
TL BRC Twin Line Ballast Resistor Ballast resistor controller
Controller
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Twin Line Control Tool V-3

Reference TL CT

Technical Terms

Actual position of the drive system The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
Actual position of the motor The actual position of the motor corresponds to the angular position of
the rotor in the motor housing, and refers to one revolution of the motor.
Control dynamicism Speed at which a controller reacts to a disturbance or to a change in the
input signal
DC line The DC line generates the necessary voltage for operating the motor
and provides the amplifier with the necessary energy. The DC line acts
as a buffer for energy fed back by the motor.
Default values Preset values for the parameters of the Twin Line unit before the first
commissioning, factory settings
Direction of rotation Rotation of the motor shaft in a clockwise or anticlockwise direction. A
clockwise direction of rotation is given when the motor shaft rotates
clockwise as the observer faces the end of the protruding shaft.
Drive solution The drive solution comprises the drive system with its Twin Line unit and
motor as well as the system mechanics forming an integral part of the
chain of motion.
Drive system The drive system consists of the Twin Line unit and the motor.
Electronic gear An input speed is recalculated by the Twin Line unit using the values of
an adjustable gear ratio to produce a new output speed for the motor
movement.
Encoder Sensor for recording the angular position of a rotating element. Mounted
on the motor, the encoder signals the angular position of the rotor.
Error class Reaction of the Twin Line unit to an operational malfunction correspond-
ing to one of five error classes
ESIM1-C, ESIM2-C Encoder simulation module for the output of motor position data as A/B
signal with index pulse to external control or to a second Twin Line
Device
ESIM3-C Encoder simulation module for the output of motor position data as A/B
signal with index pulse to external control or to a second Twin Line
Device
Forcing To change signal states irrespective of the hardware switching status in
the unit; with the control tool, for example. The hardware signals remain
unchanged.
HIFA-C Module with Hiperface interface for connecting an encoder made by
Messrs Stegmann
HMI Hand-held operating unit which can be plugged into the Twin Line unit.
HMI: Human-machine interface.
I2t monitoring Predictive temperature monitoring. On the basis of the motor current,
the expecting heating of unit components is calculated in advance.
Should a limit value be exceeded, the Twin Line unit reduces the unit
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current.
Incremental signals Angular steps of an encoder in the form of square-wave pulse
sequences. The pulses signal changes in position.
Index pulse Encoder signal for referencing the rotor position in the motor. The
encoder sends one index pulse per revolution.

V-4 Twin Line Control Tool

 TL CT Reference

Input device Input device is the device which can be connected to the RS232 inter-
face for the purpose of commissioning; it is either the HMI hand-held
operating unit or a PC with the operating software.
Internal unit The maximum resolution at which the power amplifier can position the
motor, given in increments.
IOM-C Analog module for providing analog and digital voltage signals and for
recording external analog and digital voltage signals
Limit switch Switches which signal any overrun on the permissible travel.
Module code Internal electronic code (8 bit) which describes the hardware and the
functionality of modules. This code is held in an EEPROM in every mod-
ule.
Node guarding Monitoring function at the RS232 interface when the motor is controlled
by an operating unit.
Off-line operation This means working with the program but without a connection to the
Twin Line unit. Data can be read, edited and saved on the PC but in off-
line mode cannot be transferred to the Twin Line unit.
On-line operation Between the PC running the Twin Line Control Tool and the Twin Line
unit itself there is a data connection which the two devices use to
exhange parameter information. In on-line mode the Twin Line unit can
be operated from the PC.
Optically isolated Electrical transmission of signals with electrical isolation
Parameters Device data and values which can be set by the user
Power controller This is the unit that controls the motor. The power controller generates
currents for controlling the motor in accordance with the positioning sig-
nals from the control unit.
PULSE-C Pulse direction interface for recording external position presets via pulse
direction signals for the positioning of the motor
Pulse direction signals Digital signals with variable pulse frequencies which signal changes in
position and rotation direction via separate signal wires.
Quick-stop Stops the motor with an adjustable braking torque. This function is used
in the event of faults, the stop command or in an emergency for rapidly
braking an AC synchronous servomotor.
RESO-C Resolver module, module for connecting a resolver
Resolver Analog encoder for determining the angular position of the rotor. It is
used for returning the actual position of the motor for phase-accurate
control of the motor.
RS232 interface Serial connection for connecting the Twin Line unit to a PC. Three lines
suffice for transferring data between the two devices.
RS422 level The signal status is calculated from the differential voltage of one posi-
tive and one inverted negative signal. Two signal wires must therefore be
connected for one signal.
RS422-C RS422 encoder module, module for encoder connection for receiving
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external encoder signals with RS422 level for motor positioning.

RS485 level The signal status is calculated from the differential voltage of one posi-
tive and one inverted negative signal. Two signal wires must therefore be
connected for one signal. RS485 signal transmission is bidirectional.
Shortcut This is a direct way to starting an action. Program actions which are fre-
quently used can be launched directly via a key combination and without
going the long way round via the menu.

Twin Line Control Tool V-5

Reference TL CT

Sincoder An encoder for registering the position of the rotor of the servomotor as
an analog sine-cosine signal and as digital position data via the HIFA-C
module. Motor data are held in the Sincoder and are read into the unit
once the Twin Line unit is switched on.
SSI-C Synchronous serial interface for encoder simulation with serial transmis-
sion of absolute position data. The module generates the signals of an
SSI encoder.
User units A user unit corresponds to the maximum precision at which a distance,
speed or acceleration value can be input. User units can be set for all
normalizable parameters.
Watchdog A device in the unit which detects internal faults. In the event of a fault the
Twin Line unit switches off the power amplifier and outputs.
Zero-clamp Taking over the current actual position as the new setpoint position. It is
used with the quick-stop function when the position controller is
switched in at zero speed and set to the current position.

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V-6 Twin Line Control Tool

 TL CT Before starting the program

1 Before starting the program

1.1 Twin Line Control Tool operating software

The Twin Line Control Tool operating software works in conjunction with
the regulatory and control devices of the Twin Line series. The Twin Line
Control Tool is used for rapid start-up and also for troubleshooting. It
does not need configuring first before it can be used with any Twin Line
unit with an RS232 interface.
The functions of the software adapt automatically to the power range
and functions provided by the particular device connected. This means
that it can happen that certain functions of the software cannot be
accessed despite the fact that they are described in the present on-line
manual. These functions are not supported by the device type con-
nected.
The functions of the Software Twin Line Control Tool which can be
launched with all device types are:
• Inputting and displaying device parameters
• Archiving and duplicating the device data
• Manual positioning of the motor with the PC
• Recording, evaluating and archiving movement paths
• Off-line and on-line processing of parameters and positioning jobs
• Diagnosis of operating malfunctions
• Commissioning assistant for rapid start-ups with a Twin Line unit

Depending on the device type which is connected there is also a whole

series of other functions available:
• Optimizing the control response
• Programming positioning jobs
• Processing movement lists and sets
• Reference runs

Hardware requirements The minimum hardware requirements for setting up and running the
software are
• IBM-compatible PC with an 80486 processor and co-processor, or
better a 80586 processor (Pentium)
• 8 MB RAM
• Approx. 5 MB free on the hard disk
• SuperVGA graphics card
• CD-ROM drive
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• For data exchange, a free serial port on the PC and an RS232 data
cable. The cable is available as an accessory.

System requirements The Twin Line Control Tool will run on a PC under Windows 95, Windows
98 or Windows NT.

Twin Line Control Tool 1-1

Before starting the program TL CT

Connecting up to the device 왘 If you are using the Twin Line HMI hand-held operating unit or a unit
with a hood, before you connect up a PC you will need to unplug the
Twin Line HMI or remove the hood cover.

Fig. 1.1 Removing the hood cover or Twin Line HMI

왘 Connect the RS232 cable to the

serial interface connection COM1 or COM2 of the PCs and to the
RS232 connection of the unit. You can plug the connecting cable
into the unit even during movement mode.

Fig. 1.2 Connecting the PC

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1-2 Twin Line Control Tool

 TL CT Before starting the program

1.2 Writing conventions in the on-line manual

The on-line manual contains orientation aids which will help you find
your way more easily around the special information the documentation:
Action symbol 왘 The action symbol 왘 is used for step-by-step instructions which can be
carried out as they are described. If the step leads to a noticeable
response from the program or Twin Line unit, a brief description of this
will be provided. In this way you will receive direct confirmation that a
particular step has been correctly carried out.
Menu paths: ➞ Action steps in the program are described with the complete menu path.
For example 'Twin Line ➞ Controller ➞ Optimize', 'Reference variable'
tab means:
1. Click on the 'Twin Line' menu on the menu bar, 2. Click on the 'Con-
troller' menu item and then on the 'Optimize' menu item 3. Select the
'Reference variable' tab.

Fig. 1.3 Example of a menu selection: 'Twin Line ➞ Controller ➞ Optimize',

'Reference variable' tab
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Twin Line Control Tool 1-3

Before starting the program TL CT

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1-4 Twin Line Control Tool

 TL CT Installation and starting the program

2 Installation and starting the program

2.1 Scope of supply

The Twin Line Control Tool comes supplied on a CD-ROM and with a
printed manual.
In addition to the software package the CD-ROM also contains an on-
line version of the manual with a reading utility. This reading utility makes
it possible for the manual to be displayed on and printed by the PC.

2.2 Installation

왘 Insert the CD-ROM into the CD-ROM drive of your PC.

왘 Launch the Windows application Explorer and click on the drive
which contains the CD.
왘 Select the CD-ROM directory for the language to be used for install-
ing and using the Twin Line Control Tool.
왘 Start installation by double-clicking on the program SETUP.EXE.
왘 Type in the drive and directory in which the operating software
should be installed and start the installation procedure.

Once the Twin Line Control Tool has been installed, it can be started via
the start icon on the Windows task bar. The Twin Line entry will be found
under 'Start Programs Berger Lahr Twin Line'.
The program for reading the on-line document will be found in the 'Acro-
bat Reader' subdirectory of the language directory you selected.
왘 You will need to install Acrobat Reader from the CD-ROM to be able
to read the on-line documentation.

Changing language settings You can change the language setting for the Twin Line Control Tool by
re-installing the software. You do not need to remove the program first.
Any saved files and settings of the program will be retained.
Removal Windows 'registers' the Twin Line Control Tool at the time of installation.
If you wish to remove the Twin Line Control Tool, Windows uses this reg-
istration to delete all of the installed files.
The Windows program for removing an application can be accessed via
the Start icon on the task bar of the Windows interface:
왘 Select 'Start Settings Control panel'. The 'Control panel' win-
dow is displayed.
왘 Start the Windows program for removing the Twin Line Control Tool
via the 'Software' entry.
왘 In the window select the entry for the Twin Line Software and then
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click on the 'Add/Remove' symbol.

The program files and system settings will now be deleted from the hard
disk. Any configuration data and recordings which have been saved will
not be removed.

Twin Line Control Tool 2-1

Installation and starting the program TL CT

Starting the program 왘 Under 'Start' on the Windows task bar select the menu item
'Programs Berger Lahr Twin Line'

Before data can be exchanged with a Twin Line unit the 24 V power sup-
ply of the Twin Line unit must be switched on and the data cable con-
nected.
The program checks to see whether one or more Twin Line units are
connected and displays them in the window for device selection.

Fig. 2.1 Device selection

왘 Select a Twin Line unit and confirm your selection with 'OK' or click
on the button 'Load device data from file' to load a saved file.

The program loads the data from the unit or from the file into the PC
memory. It then displays the action window.
Further information • Detailed information on loading device data will be found under
’Transferring device data’ on page 4-1.

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2-2 Twin Line Control Tool

 TL CT Working with the Twin Line Control Tool

3 Working with the Twin Line Control Tool

3.1 Action window

Fig. 3.1 The Twin Line Control Tool action window

햲 Menu bar
햳 Tools bar
햴 Twin Line bar
햵 Control bar
햶 Status bar
The commands of the operating software can be activated via the menu
bar, via keyboard command or via toolbars.
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Twin Line Control Tool 3-1

Working with the Twin Line Control Tool TL CT

3.2 Menu bar

The menu bar adapts itself flexibly to the current work situation. It shows
only the menus you need for operation. For example, if no device file is
open, the 'Edit' and 'Twin Line' menus will not be displayed as without a
device file nothing can be set or modified.

Fig. 3.2 The menu bar and menu structure

The Twin Line Control Tool expands the menu bar by adding specific
menu entries for the tool which has just been activated. As soon as the
optimization utility, for example, is activated, the Twin Line Control Tool
displays the 'Optimize' menu.

Fig. 3.3 The menu bar with the 'Optimize' menu

Information about all menu entries will be found under ’The Twin Line
Control Tool menu’ on page 13-1.
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Key combinations If a menu item also provides a key combination, the program action con-
nected with this menu item can also be started via the keyboard. You
enter a key combination by holding down one key while briefly pressing
the second key. For example, for the key combination 'Ctrl+S' hold down
the control key 'Ctrl' and press the 'S' key briefly.

3-2 Twin Line Control Tool

 TL CT Working with the Twin Line Control Tool

3.3 Tool bars and status bar

For menu commands which are frequently used you only need click on
the corresponding symbol on the tool bar to start a program action. The
Twin Line Control Tool provides three tool bars in the action window:
• The Twin Line bar with the tools for starting up and running the Twin
Line unit.
• A control bar for communication with the Twin Line unit.
• A tools bar for quick-starting important commands from the 'File',
'Edit' and 'Help' menus.

The tool bars can be situated along the edge of the action window or
placed anywhere as a moveable window. Double-clicking on the edge of
the tool bar is all you need do to change the kind of placing used.
With the 'View' menu you can display or hide each tool bar separately.
The Twin Line bar The icons on the Twin Line bar can be arranged vertically along the edge
of the window in one or more columns.

Fig. 3.4 The Twin Line bar

By clicking on the symbols on the Twin Line bar a program action can be
started or an already open window for the program action brought into
the foreground (on top).
햲 Create and edit lists
햳 Record data, creating and editing
햴 Display the controller structure of the Twin Line unit as a block
diagram
햵 Display and set the parameters of the Twin Line unit
햶 Position the motor with the Twin Line Control Tool; program lists
and sets
햷 Optimize controller functions
햸 Record controller and device data
햹 Launch the commissioning assistant
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Twin Line Control Tool 3-3

Working with the Twin Line Control Tool TL CT

Control bar This bar is used for setting up and clearing down a connection and also
for monitoring the Twin Line unit.

Fig. 3.5 The control bar

햲 Motor STOP with quick stop braking ramp. A message is dis-

played in the Fault field. Before the motor can be enabled the mes-
sage must be acknowledged with FAULT_RESET. Motor stop can
also be activated via the menu item 'Twin Line Stop motor'.
햳 Current value of the 7-segment status display of the connected
Twin Line unit
햴 Establish: Establish a new device connection: the window for
selecting a new device is displayed. This action can also be
launched via the menu item 'Connection Establish'.
햵 Connection established: the address number and name of the
unit is displayed
햶 Disconnect: Disconnect the open device connection to a Twin
Line unit. This action can also be launched via the menu item
'Connection Disconnect'.
햷 Display for connection status: Green fields on a grey back-
ground: no connection to the device Green fields on a yellow back-
ground: connection exists.
햸 Display for power amplifier status: Green: power amplifier ena-
bled, motor under control Red: power amplifier disabled, motor
without holding torque
햹 Displaying and setting the current control parameters set:
FUNCT_IN1: Selection of the parameter set corresponding to the
input signal FUNCT_IN1 at the device interface
Parameter set1: Selection of control parameters set 1
Parameter set2: Selection of control parameters set 2
햺 FAULT_RESET for acknowledging an error message once the
error is corrected. The current report is displayed above the button.
An error message can also be acknowledged via the menu item
'Twin Line FAULT_RESET'.
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3-4 Twin Line Control Tool

 TL CT Working with the Twin Line Control Tool

Tools bar With the tools bar you can access with a single click frequently used
commands in the 'File', 'Edit' and 'Help' menus.

Fig. 3.6 The tools bar

햲 Open a device file

햳 Save the device data in a file
햴 Close an open device file
햵 Cut and move the selected area to the clipboard
햶 Copy the selected area to the clipboard
햷 Paste the contents of the clipboard at the cursor position
햸 Open the dialog box for printing
햹 Open the help window
햺 Display Information
Status bar The status bar provides brief information about the buttons and menu
items and also reports current status information for the program.

Fig. 3.7 Status bar

햲 Brief help, the information comes after the cursor position. In the
graph of a recording, values are displayed here at the cursor posi-
tion.
햳 Lower limit value of the selected parameter
햴 Upper limit value of the selected parameter
햵 Unit of measurement for the selected parameter
햶 'Caps Lock' key activated
햷 'Num Lock' key activated
햸 'Scroll Lock' key activated
Tabs Some dialog boxes of the operating software allow you to access setting
windows with special tabs (or index cards). Hidden tabs can be dis-
played by clicking on the arrow buttons on the right of the tabs.
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Fig. 3.8 Display tabs

Twin Line Control Tool 3-5

Working with the Twin Line Control Tool TL CT

3.4 Setting program options

Connection settings and directory details for accessing the database

should be set during installation of the Twin Line Control Tool. They can
be modified later in the 'Options' window.
Edit Options 왘 Select 'Edit Options' to open the window.

Fig. 3.9 The 'Options' window

왘 Set the values for your software configuration.

• Serial port: the PC connection which is used for the data connec-
tion between the PC and the Twin Line unit.
• Baud rate: the speed at which data is transmitted between the PC
and the Twin Line unit expressed in bits per second. For a fast data
connection you should select the highest value possible. If you
experience transmission errors you will need to reduce this value.
• Parity, stop and data: These are the interface parameters for data
exchange with a Twin Line unit. The default setting is (E)ven, 1 stop
bit, 7 data bits.
• Time for connection monitoring: cycle time in seconds, as set.
During movement mode the data connection to the Twin Line unit is
continuously monitored via the Twin Line Control Tool . Any inter-
ruption to the connection causes the motor to stop immediately.
• Addresses used for the device selection: In order to reduce the
time required for searching when a connection is being established
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in field bus operation you can specify a restricted address range

here. For example: 1, 2, 5-7: addresses 1, 2 and 5 to 7 will be
seached 1-31: all addresses will be searched.
• Under Databases you can specify the access path and name for
the device database with the parameters of all Twin Line units and
the motor database for configuring a motor.
Changes to the settings will not be used until the next time the pro-
gram is started.

3-6 Twin Line Control Tool

 TL CT Working with the Twin Line Control Tool

3.5 Data interface and device data

Data interfaces The connection for exchanging data is set up via the
RS232 interface or via a network interface. The RS232 device interface
is the default commissioning interface and every Twin Line unit is pro-
vided with one. The network interface is available with Twin Line units
which have an RS485 connection.
Log-in Before data can be exchanged with the Twin Line unit a data connection
must be established between the PC and the Twin Line unit. The soft-
ware starts setting up the connection by first logging in. Here it identifies
the connected device and reads in the device data.
Compatible Twin Line units Via device type and device software the Twin Line Control Tool identifies
compatible devices. Only compatible Twin Line devices can exchange
device data with each other. If the device data in the PC memory are not
compatible with a connected Twin Line unit, you will not be able to estab-
lish a connection with the device until you have first closed the device file
which is open on the PC.
The Twin Line Control Tool will tell you if device data are not compatible.
Device data Device data are all of the parameter values of the Twin Line unit which
can be held in the EEPROM memory of the Twin Line unit and which will
still be retained in the event of a power outage.
When the 24 V power supply is switched on the device data are auto-
matically copied from the internal EEPROM memory and into the RAM
memory of the Twin Line unit. The Twin Line unit will now use only the
device data in the RAM memory.
Loading and saving the device file Device data can be loaded into the program from the PC data storage
medium or from the Twin Line unit.
All of the device data are loaded from a single file on the PC data storage
medium: the device file. Should individual parameters be changed and
saved, the Twin Line Control Tool will always transfer the complete
parameters record to the file. Individual device data cannot be saved or
loaded separately.
You do not need to establish a data connection to the Twin Line unit to
edit and save data to the PC data storage medium.
Exchanging device data with a On the other hand you cannot exchange device data with a Twin Line
Twin Line unit unit unless a data connection has been established. If so, the device
data are read into the PC from where they can be transferred complete
or in smaller parameter groups back to the Twin Line unit. Saving the
data requires two steps:
• Transfer to the RAM memory
• Saving in the EEPROM memory.

The Twin Line Control Tool first transfers modified parameters to the
RAM memory of the Twin Line unit. Here they will remain but only until
the 24 V power supply is switched off.
0x9844 1113 096, b121, 05.02

However, to keep the data even after the power supply has been
switched off and back on again, you will need to take the further step of
transferring them into the EEPROM memory of the Twin Line unit.
Details on exchanging parameters will be found under ’Configuring’ on
page 5-1.

Twin Line Control Tool 3-7

Working with the Twin Line Control Tool TL CT

3.6 Off-line and on-line functions

Off-line functions You do not need a connection to the Twin Line unit
• to load device data from a file
• to save device data in a device file
• to edit parameters
• to print device data
• to edit a saved recording, to print it and to save it with the device file

The off-line functions of the software are also available in on-line oper-
ation provided the device data of an open file are compatible with those
in the Twin Line unit.
On-line functions Once a connection with the Twin Line unit has been set up you can also
• load device data from the Twin Line unit
• write device data to the Twin Line unit
• position the motor using the software and the PC
• simulate command processing in field bus mode
• record movement data
• observe and set parameters in the controller structure
• optimize controller settings interactively
• perform device diagnostics
• evaluate and reset error messages

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3-8 Twin Line Control Tool

 TL CT Transferring device data

4 Transferring device data

4.1 File Open...

You do not need a data connection to load any device file into the PC
memory from the data storage medium and edit it. If a data connection
does exist, you will only be able to open a device file when it is compat-
ible with the connected Twin Line unit.
Device files have the file extension '.TLX'.
Opening the device file 왘 Select 'File Open' or click on the 'Load device data from file'
buttin the 'Device selection' window

A dialog box now opens where you can select a device file.

Fig. 4.1 Dialog box for loading a file from the PC

왘 Select a device file and confirm this by clicking on the 'Open' button.
The file is loaded into the PC memory.

Compatible device file If a data connection does exist, the program will check to see whether
the device types in the file are compatible with that in the Twin Line unit.
If this is the case, the new values are read in from the file and the existing
parameter values in the PC memory overwritten.
If the device types are not compatible, the program will display an error
message and abort the loading process without modifying the current
data in the PC memory. Before you repeat the loading process, you
should shut down the data connection to the unit.
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Twin Line Control Tool 4-1

Transferring device data TL CT

4.2 File Save

Device data can be saved in a file on the PC's data storage medium in
order to archive them for service or maintenance purposes or, for exam-
ple, to use the data copy to get other units into operation fast.
After putting your Twin Line unit into operation you should always create
a
back-up file of the device data. This will allow you to get your Twin Line
unit back into operation immediately after repairs.
Backing up the device file 왘 Select 'File Save' or 'File Save as...'.

• 'File Save' updates the contents of an existing file without further

acknowledgement.
• With 'File Save as...' you can back up device data from the PC
memory to a new file. In this case a file dialog box: opens

Fig. 4.2 Dialog box for saving data on the PC

왘 Type in a name for the new device file and confirm this by clicking
on the 'Save' button. The file will now be saved to the data storage
medium.

If the data storage medium already holds a file with the same name, a
message will tell you that the data in the existing file will be overwritten
if you go ahead. You can abort now and save the data under a different
name.
Checking the range of values Before actually saving the data the Twin Line Control Tool checks to see
whether the values fall within the valid range of values.
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4-2 Twin Line Control Tool

 TL CT Transferring device data

4.3 Connection Establish

The device data of a connected Twin Line unit are automatically loaded
into the PC memory as soon as a data connection is established.
Establishing the data connection 왘 Switch on the 24 V power supply to the Twin Line unit. The data
cable must be connected to the PC.
왘 Select 'Connection Establish' or click on the 'Establish' button on
the control bar.

The 'Device selection' window with a list of the connected devices is dis-
played.

Fig. 4.3 Device selection

• The Twin Line Control Tool uses the address to identify the con-
nected units and displays all Twin Line units which return a device
code. Via the RS232 interface you can only set up a connection to a
single device. Various bus addresses are relevant to field bus oper-
ation. The search range for bus addresses can be limited under
'Edit Options'.
• The device type should be specified under type .
• The user device name can be used for identifying a device. This
name may have no more than eight characters and can be specified
with four character in each case in the parameters 'Settings.name1'
and 'Settings.name2'.
• Software code is specified for service purposes.
• The Load from file button opens a file dialog box which allows you
to load device data from a file. See page 4-1.

If no devices are displayed, check to see whether there is a data con-

nection to the Twin Line unit and the 24 V power supply to the unit is
switched on.
0x9844 1113 096, b121, 05.02

왘 Select a Twin Line unit from the list and confirm with 'OK'. The con-
nection to the device will be established and the device data loaded
into the PC memory.

Twin Line Control Tool 4-3

Transferring device data TL CT

Compatible device data If there is already an open file, the program will check to see whether the
device data of the open file are compatible with those of the unit. If so,
the device data will be read in. If the device data are not compatible, the
program will tell you that the current data should be saved before new
data are read into the PC memory from the device.
If the values in the PC memory differ from those in the Twin Line unit, the
values from the PC memory will be retained but will be colour-coded in
the same way as modified parameters.

4.4 Connection Disconnect

Disconnecting the data connection 왘 Select 'Connection Disconnect' or click on the 'Disconnect' but-
ton on the control bar.

Data transmission is interrupted. The data loaded into the PC are

retained.

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4-4 Twin Line Control Tool

 TL CT Configuring

5 Configuring

5.1 Twin Line Configuring

The device data of a Twin Line unit can be changed within the 'Param-
eters' window. No data connection to the unit is required for this. The
parameter values of a file can be modified in off-line mode and trans-
ferred to the unit at a later time.
Opening the parameters window 왘 Open the parameters window with 'Twin Line Configuring' or by
clicking on the parameters button on the Twin Line bar.

Fig. 5.1 The 'Parameters' window with the parameters of a TLD132 Twin Line
unit

The 'Parameters' window shows the device data on the left, subdivided
into parameter groups, and on the right the parameters of the selected
group.
'Parameters' tools bar You can use the icons on the tools bar to control data exchange with the
device. The same commands can also be activated via the 'Parameters'
menu.

Fig. 5.2 Icons for transmitting and setting the parameter groups

햲 Uploading parameter groups: Loads the values of a parameter

group into the PC memory from the device RAM
햳 Downloading parameter groups: Transfers the values of a
parameter group into the device RAM from the PC
햴 Uploading all parameters: Loads all of the device data into the
0x9844 1113 096, b121, 05.02

PC.
햵 Downloading all parameters: Transfers all of the device data into
the device RAM
햶 Loading the factory setting: Resets all parameter values to the
factory setting
햷 Saving to EEPROM: Copies parameter values from the device
RAM into EEPROM.

Twin Line Control Tool 5-1

Configuring TL CT

Parameter groups Which parameter groups are displayed will depend on the device type
and module configuration. With all Twin Line units for controlling AC syn-
chronous servomotors these parameter groups are found
• Settings for the settings of general device functions
• PA for power amplifier: power amplifier parameters
• Servomotor with motor-specific settings
• CtrlBlock1 with settings for control set 1
• CtrlBlock2 with settings for the control set 2

Depending on the modules configuration and device type, parameter

groups for various operating modes and functions are displayed.
• Manual, parameter settings for manual operating mode
• Motion, parameters for normalization, software limit switch and
movement profile curve setting as well as reversal of direction of
rotation
• Gear, parameter for the 'Electronic gearbox' operating mode
• Home, referencing parameters
• List, parameters for list processing
• Record, setting for record mode
• Set, settings for movement data records
• Oscillator, parameter for oscillator mode
• CurrentControl, parameter for current control.

Depending on the modules fitted to the Twin Line unit, the parameter
groups for the modules will also be displayed if the corresponding values
can be set:
• M1, settings for modules in slot M1
• M2, settings for modules in slot M2
• M3, settings for the module in slot M3
• M4, settings for modules in slot M4

The display boxes for parameter groups can be hidden or positioned as

a separate window.
Parameters of a group For the selected parameter group the parameters window shows the val-
ues, the identifiers and the meaning of the parameters.
The value of a parameter can be changed in the 'Value' column. Values
on a grey background are read-only and cannot be changed.
Values which have been changed but not yet transferred to the device
are displayed by the Twin Line Control Tool with a coloured background.
At the same time the corresponding parameter group is marked with an
0x9844 1113 096, b121, 05.02

explanation mark. As soon as the values have been successfully trans-

ferred to the device, these markers are removed.
If there does not appear to be any colour difference
between configurable, modified values or read-only values,
check your Windows default settings for the colours
allocated to the different parts of windows. They must not
be set to the same colours.

5-2 Twin Line Control Tool

 TL CT Configuring

5.2 Changing parameter values

The Twin Line Control Tool provides entry boxes and list boxes to allow
you to change values.

Fig. 5.3 Changing parameter values via entry boxes or list boxes

Entry boxes are used for inputting new parameter values.

왘 Click inside the entry box of a parameter and type in the new value.
The limit values of the parameter will be displayed on the status
line.

List boxes provide you with different ways of setting a value.

왘 Click on the list box of a parameter and select the new value or
switch a selection field on or off.

A modified value is accepted in the PC memory as soon as the cursor

changes the area or the parameter group. Modified parameter settings
are retained after the parameters window is closed.
Checking the range of values Device data are checked before and after transmission. Before data
transmission to the Twin Line unit, the Twin Line Control Tool checks to
see whether the values fall within the valid range of values.
If device data have been transmitted, the Twin Line unit will also check
whether the ranges of values of individual parameters are illegally affect-
ing each other.
In either case the program will inform you and display the parameters in
question. A transmission in progress will be aborted. All parameter val-
ues which have been transferred up until then will be retained updated
in the device RAM.
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Twin Line Control Tool 5-3

Configuring TL CT

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5-4 Twin Line Control Tool

 TL CT Positioning

6 Positioning

With the Twin Line Control Tool you can control the movement of the
motor in different operating modes. Depending on the configuration and
functional scope of the connected Twin Line unit, various operating
modes will be available for positioning.
Automatic operating modes which are implemented via the
pulse / direction interface or the ±10 V analogue output are
controlled by the Twin Line Control Tool via index cards
under 'Twin Line Diagnosis Device hardware'.

Before you can select an operating mode, various conditions must be

met. The controller manual for the Twin Line unit provides information on
device-specific settings in the section on changing operating modes.
The requirement applicable to all devices is:
• There must be a data connection to the Twin Line unit.
• The Twin Line unit is ready. The status display indicates readiness
by displaying '4' and '6'.
• You cannot change an operating mode if the Twin Line unit is being
controlled via a different input device. Activation of the operating
mode via the Twin Line Control Tool is not permitted until movement
is completed.

Depending on the device type, the following applies as well:

• The AUTOM input signal at the Twin Line unit must be set to low for
a manual run and to high level for the other operating modes.
Devices without the AUTOM signal will change between manual
movement and automatic operation without additional signals.
• In the case of field bus devices, the local access authorization must
not be blocked. If it is, the Twin Line Control Tool will not be able to
select an operating mode.
• For absolute positioning in point-to-point mode, a reference point
must first be defined.
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Twin Line Control Tool 6-1

Positioning TL CT

6.1 Twin Line Positioning

For each operating mode the Twin Line Control Tool displays a specific
index card for operating and inputting values. Each operating mode is
implemented via its own index card. The Twin Line Control Tool displays
only index cards for the operating modes supported by the connected
Twin Line unit.
Device monitoring During motion, the software runs a cycle monitoring the data connection
to the device. If the connection cable between device and PC comes
loose, the motor stops within the cycle time. The monitoring cycle time
can be set under 'Process Options'.
Starting positioning 왘 Select 'Twin Line Positioning' or the 'Positioning' icon on the Twin
Line bar. The 'Positioning' window appears.

Fig. 6.1 'Positioning' window, here for TLC5xx device data

The window is divided into three parts:

햲 Index cards for selecting an operating mode or function and for the
settings of specific movement parameters
햳 Buttons for setting controls and parameters, and for selecting lists
or sets in the selected operating mode
햴 Current operating status
You can change between the index cards in the positioning window with-
out this affecting an operating mode which is currently active.
0x9844 1113 096, b121, 05.02

Index cards Every operating mode is selected by means of its own index card. Index
cards and initiating an operating mode are described in the section on
index cards from page 6-4.

6-2 Twin Line Control Tool

 TL CT Positioning

Buttons for positioning The buttons are used for starting an operating mode, stopping the motor,
calling up the parameter group for the operating mode selected and for
activating a list.
Only the buttons relevant for the selected operating mode are displayed.
They are always displayed in the middle of the window.

Fig. 6.2 Buttons in the 'Positioning' window

햲 The Start button triggers a movement command to the automatic

operating mode selected. Values which have been inputted in the
index card entry fields are first transmitted to the device.
햳 The Continue button is displayed in point-to-point positioning for
resuming an interrupted movement.
햴 The Stop button interrupts the current job and stops the motor.
햵 The Parameters button opens the parameter window for the
selected operating mode. Operating mode settings can be
checked, changed and transmitted to the device on the spot.
햶 The selection box List contains all lists actually set in the device.
The listing mode is switched off by selecting the inactive mode.
Current operating status The current operating status of the Twin Line unit is displayed in the bot-
tom section of the window.

Fig. 6.3 Operating status display

The xMode_act field shows the current operating mode.

Sign_SR reports any external monitoring signals which caused a reac-
tion in the device. These include
• LIMP, positive limit switch
• LIMN, negative limit switch
• STOP, stop signal initiated
0x9844 1113 096, b121, 05.02

• REF, reference switch signal activated. The reference switch signal

is only found with Twin Line units with referencing capability.

Twin Line Control Tool 6-3

Positioning TL CT

The signal level of these signals can be reversed with the 'Settings.Sign-
Level' parameter. With 'Settings.SignEnabl' you can switch out the sig-
nals individually.
action_st displays the movement status. Should a device error occur,
the error class of the error will be shown here. All displays for this field
are listed under 'Status.action_st' in the parameter list of the controller
manual.
The Read values field contains the current settings for different move-
ment data in the current operating mode.

Parameters Explanation
display
p_ref Setpoint of the position controller [inc]
p_refJerk Actual position of the movement profile generators [usr]
p_remaind Residual value of the position normalization of the posi-
tion setpoint p_ref [inc]
p_act / p_actusr Motor position [inc]
p_actusr Actual position of the motor [usr]
p_abs Absolute position per motor revolution [inc]
n_act Actual speed [rpm]
p_refOffs Actual position of the offset positioning in the electronic
gearbox [inc]

More information on the parameters will be found in the 'Status' param-

eter group in the parameter list in the controller manual.

6.2 Index cards

The index cards and operating modes are explained on the following
pages:
• Pos index card under ’Point-to-point operation’, page 6-5
• Vel index card under ’Speed mode’, page 6-6
• El. Gear index card under’Electronic gear’, page 6-7
• Reference index card under ’Referencing’, page 6-8
• Set index card under ’Set operation’, page 6-10
• Manual index card under ’Manual movement’, page 6-9
• “Oscillator” tab in ’Oscillator mode’, Page 6-11
• “Current control” tab in ’Current control’, Page 6-12.
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6-4 Twin Line Control Tool

 TL CT Positioning

6.2.1 Point-to-point operation

In point-to-point operation, a positioning command is used to move the
motor from a point A to a point B. The positioning distance is given in
absolute terms with reference to the axis zero point, or in relative terms
with reference to the current position of the axis.
This operating mode is available with Twin Line devices TLC4xx,
TLC5xx and TLC6xx. Details on the operating mode can be found in the
manual in the chapter on operating modes.
Before absolute positioning can be carried out, the reference must be
defined by a referencing process, see page 6-8.
Selecting the operating mode 왘 Click on the 'Pos' tab.

Fig. 6.4 The 'Pos''tab

• You can set the following values on the index card:

• Distance to the Target Position in user-defined units
• Selection of Absolute or Relative positioning
• Setpoint Speed in user-defined units.

By selecting the 'ok' button, you transmit a new value during the posi-
tioning process. The device uses the new value immediately.
Starting a movement command 왘 Switch on automatic mode and enable the amplifier via 'Twin
Line switch on amplifier'.
왘 Enter a value for the distance to the target position, and select the
Absolute or Relative positioning mode.
왘 Enter a value for the setpoint speed, and press 'ok' to send it to the
control unit.
왘 Start the movement by pressing the 'Start' button.

Continuing point-to-point operation A positioning process which has been interrupted on its way to the target
position can be resumed when the cause of the interruption has been
removed.
왘 Click on the 'Continue' button to continue and finish the positioning
operation.
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Twin Line Control Tool 6-5

Positioning TL CT

6.2.2 Speed mode

In speed mode, the motor is given a setpoint speed, and a movement is
initiated with no target position. The motor moves at this speed until it
receives another setpoint speed or the operating mode is terminated.
This operating mode is available with Twin Line devices TLC4xx,
TLC5xx and TLC6xx. Details on the operating mode can be found in the
manual in the chapter on the operating modes.
Selecting the operating mode 왘 Click on the 'Vel' tab.

Fig. 6.5 The 'Vel' tab

Set the new setpoint speed in user-defined units in the Target Speed
field on the index card.
Starting speed mode 왘 Switch on automatic mode and enable the amplifier via 'Twin
Line switch on amplifier'.
왘 Activate the operating mode by pressing the 'Start' button.

Changing speed 왘 Enter a new setpoint speed in user-defined units.

왘 Accept the new speed by pressing the 'Start' button. The motor
responds immediately to the new value.

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6-6 Twin Line Control Tool

 TL CT Positioning

6.2.3 Electronic gear

In the Electronic gear operating mode, the Twin Line device calculates a
new position setpoint for the motor movement from a predefined position
and an adjustable gear ratio. This operating mode is used when one or
more motors are to take their position control from the reference signal
from an NC control unit or encoder.
This operating mode is available with Twin Line devices TLC5xx and
TLC6xx if a module for feeding position setpoints is inserted in slot M1.
Details of the operating mode can be found in the manual in the chapter
on operating modes
Selecting the operating mode 왘 Click on the 'El. gear' tab.

Fig. 6.6 The 'El.Gear' tab

왘 You can set the following values on the index card:

• Gear ratio with numerator and denominator

• the absolute or relative distance in internal units [Inc] for offset posi-
tioning
The Start button activates an offset postioning operation. The cur-
rent positioning operation is not interrupted.

• Setpoint speed for offset positioning

• a new absolute position value as a starting point for an offset posi-
tioning process using Offset Dimension Setting Position.
By pressing the 'ok' button, you transmit the new value which is
immediately used by the device even during a positioning operation.

Initiating the Electronic Gear 왘 Switch on automatic mode, and enable the amplifier via 'Twin
operating mode Line switch on amplifier'.
왘 Activate the operating mode by pressing the 'Start' button, and
enter pulses via the module interface

Offset positioning 왘 Set offset values for position and speed. Select absolute or relative
positioning, and enter an absolute offset position under 'Offset
Dimension Setting Position'.
왘 Activate the superimposed positioning process by pressing the
0x9844 1113 096, b121, 05.02

'Start' button.

Twin Line Control Tool 6-7

Positioning TL CT

6.2.4 Referencing
In the referencing operating mode, an absolute dimension reference is
created between the motor position and the defined axis position. Ref-
erencing can be carried out by reference movement or dimension set-
ting.
This operating mode is available with the Twin Line devices TLC4xx,
TLC5xx and TLC6xx. Details on the operating mode can be found in the
manual in the chapter on operating modes.
Selecting the operating mode 왘 Click on the 'Reference' tab.

Fig. 6.7 The 'Reference' tab

In the Type of Referencing field on the index card, you can choose
between four reference movements with or without an additional refer-
ence movement to the motors index pulse.
• LIMP: Movement to positive limit switch
• LIMN: Movement to negative limit switch
• Movement to reference switch REF with first movement in a positive
direction of rotation
• Movement to reference switch REF with first movement in negative
direction of rotation.

In the Dimension Setting Position field, an absolute position can be

given as a reference point and transmitted to the device by pressing the
'ok' button.
If you select the list value 'Dimension setting the indexer position' in the
Type of Referencing field, you can give an absolute position as a ref-
erence point under Dimension Setting Position. This value is transmit-
ted to the device by pressing the 'ok' button.
Initiating referencing 왘 Switch on automatic mode, and enable the amplifier via
'Twin Line witch on amplifier'.

왘 Select a type of referencing, and activate the operating mode by

pressing the 'Start' button.
or

왘 Enter a value in user-defined units in the 'Dimension Setting Posi-

0x9844 1113 096, b121, 05.02

tion', and transmit it to the device as a new reference point by press-

ing 'ok'.

6-8 Twin Line Control Tool

 TL CT Positioning

6.2.5 Manual movement

The motor is moved at slower or faster manual speeds with the use of
buttons.
Details on the operating mode can be found in the manual in the chapter
on operating modes
Selecting the operating mode 왘 Click on the 'Manual' tab.

Fig. 6.8 The 'Manual' tab

The control buttons for motor movement are displayed:

햲 Fast manual movement with motor turning clockwise
햳 Fast manual movement with motor turning anticlockwise
햴 Slow manual movement with motor turning anticlockwise
햵 Slow manual movement with motor turning clockwise.
Starting manual movement 왘 Switch off automatic operation and enable the power amplifier by
clicking on 'Twin Line Switch on'.
왘 Click on one of the buttons, holding the mouse button down to move
the motor at the slow or fast manual movement speed.
As soon as the button is no longer being activated, the Twin Line
unit brakes the motor to a stop.
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Twin Line Control Tool 6-9

Positioning TL CT

6.2.6 Set operation

Selecting the operating mode The motor is moved in point-to-point or speed mode in accordance with
a previously programed set data list.
This operating mode is available with TLC4xx and TLC6xx Twin Line
devices. Details on the operating mode can be found in the manual in the
chapter on operating modes.
왘 Click on the 'Set' tab

Fig. 6.9 The Set' tab

The movement set with which set operation is to start, is given under Set
Number.
The movement sets must be programed beforehand, see the ’List and
set processing’ chapter from page 7-1.
Initiating set processing 왘 Switch on automatic operation, and enable the amplifier via
'Twin Line witch on amplifier'.
왘 Enter a set number and start set operation by pressing the 'Start'
button.

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6-10 Twin Line Control Tool

 TL CT Positioning

6.2.7 Oscillator mode

You can set a voltage-dependent rpm via the analog input of the moth-
erboard. When the input voltage changes, the drive is accelerated or
slowed down to the new setpoint rpm. Acceleration and deceleration val-
ues are declared in the parameters “Motion.acc“ and “Motion.dec“. Var-
ious parameters are available for the “Oscillator mode“ in the object area
“Oscillator“ (Index: 51).
Operating modes can be selected via the Twin Line devices TLC5xx and
TLC6xx. For detailed information on operating modes refer to the chap-
ter on operating modes in the device user manual.
Selecting the operating mode 왘 Click on the “Oscillator“ tab.

Fig. 6.10 The “Oscillator“ tab

Starting and terminating oscillator In the tab, activate or deactivate the operating mode by clicking on the
mode Enable or Disable button.
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Twin Line Control Tool 6-11

Positioning TL CT

6.2.8 Current control

The “Current control“ mode can be used to influence torque mode.
When you start this operating mode, you can select whether to deter-
mine the setpoint via the analog input (+/- 10 Volt) or via parameter. If
you select the analog input to determine the setpoint, the drive reacts in
current control mode, same as with the Twin Line devices TLD13x. Var-
ious parameters are available for “Current control“ mode in the object
area “CurrentControl“ (Index: 50).
You can select operating modes via the Twin Line devices TLC53x and
TLC63x. For detailed information on operating modes refer to the chap-
ter on operating modes in the device user manual..
Selecting the operating mode 왘 Click on the “Current control“ tab.

Fig. 6.11 The “Current control“ tab

왘 In this tab, you can enter the following values:

• In the Edit Mode selection box, you can determine whether to disa-
ble the operating mode or to determine the setpoint via analog input
or parameters. Click on the disable button if you want to switch off
the current control.
• If the setpoint is to be determined by parameters, you must declare
the parameter value in curr_targ
“CurrentControl.curr_targ“. Confirm your entry with OK.

Starting current control 왘 Select the edit mode. Either enter the parameter value and confirm
your entry with OK or make provisions to ensure that the analog
input receives the correct signal.
왘 click on the “Start“ button to start the current control.
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6-12 Twin Line Control Tool

 TL CT List and set processing

7 List and set processing

Depending on the device type, you can process two different lists with
list and set processing:
List 1 and List 2 for list-driven operation with TLC5xx Twin Line units.
Set data list for set operation with TLC4xx and TLC6xx Twin Line units.
The menu items for list and set processing are only active
when the open device data file supports list-driven
operation or set operation. This applies, for example, to
device data for TLC4xx, TLC5xx and TLC6xx Twin Line
units.

왘 Start list and set processing with the Line Control Tool in the
Twin Line menu via:

• 'Twin Line Position lists Process': Create and process list

entries manually.
• 'Twin Line Position lists Teach In': Enter position data interac-
tively by positioning the motor, and complete missing list data man-
ually.

7.1 Twin Line Position lists Process

Start list processing 왘 Select 'Twin Line Position lists Teach In' or 'Twin Line Posi-
tion lists Process'. In both cases the 'List processing' window is
opened.

Fig. 7.1 'List processing' window

If you have selected the teach-in function via 'Twin Line Position
lists Teach In', the positioning window for interactive capture of posi-
tion values also opens.
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Twin Line Control Tool 7-1

List and set processing TL CT

'List data processing' toolbar“ The functions for list and set processing can be activated via the List
data processing menu or via the List data processing toolbar. You will
find a description of the menu items in the ’The Twin Line Control Tool
menu’ chapter from page 13-1.
The toolbar can be turned on and off via the menu item 'View List
processing toolbar' toolbar.

Fig. 7.2 List data processing buttons

햲 Upload: load list data from Twin Line unit into PC

햳 Download: transfer list data from PC to the Twin Line units RAM
햴 Take over: Take over value of a position which has been
approached via teach-in
햵 Activate List 1
햶 Activate List 2
햷 Set position / signal list
햸 Set position / speed list
햹 Save list data permanently in units EEPROM
햺 Parameter: Display and edit parameter values for the Twin Line
device
'Data set data processing' toolbar“ The functions for list and set processing can be activated via the Data
set data processing menu or via the Data set data processing toolbar.
You will find a description of the menu items in the ’The Twin Line Control
Tool menu’ chapter from page 13-1.
The toolbar can be turned on and off via the menu item 'View List
processing toolbar' toolbar.

Fig. 7.3 List data processing buttons

햲 Upload: load list data from Twin Line unit into PC

햳 Download: transfer list data from PC to the Twin Line units RAM
햴 Take over: Take over value of a position which has been
approached via teach-in
햵 Activate set data list
햶 Set position list
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햷 Set speed list

햸 Save list data permanently in units EEPROM
햹 Parameter: Display and edit parameter values for the Twin Line
device

7-2 Twin Line Control Tool

 TL CT List and set processing

List display The list and set processing values are entered in the list fields and
accepted. The function of the list columns varies according to the type
of list selected. Only the last column, 'Comments', is shown in all list dis-
plays. Use this column to enter brief information on each position value.

7.1.1 Processing list 1 and list 2

왘 Click on the 'List 1' or 'List 2' button

Two lists can be programed for list-driven operation. For each list, the list
type must be specified:
• Position / signal list: The signal interfaces output signal TRIGGER is
switched low or high according to the list entry, when the motor has
reached the programed list position.
• Position / speed list: The speed is changed in accordance with the
list entry when the motor has reached the programed list position.

Selecting the position / signal list 왘 Click on the 'Signal List' button to switch the current list to the posi-
tion / signal list.

Fig. 7.4 Position / Signal list, here for list 2

Select a list position and enter the signal status and position value in
user-defined units.
Selecting position / speed list 왘 Click on the 'Speed list' button to switch the current list to position /
speed list.
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Fig. 7.5 Position / Speed list, here for list 1

왘 Select a list position and enter position and speed value in user-
defined units.

Twin Line Control Tool 7-3

List and set processing TL CT

7.1.2 Processing set data

왘 Click on the 'set data' button

A set data list can be programed for set operation. The set data list type
must be set before values are entered:
• Position list: The programed movement command is processed in
point-to-point operation.
• Speed list: The programed movement command is carried out in
speed operation.

Selecting the position list 왘 Click on the 'Position list' button to enter the movement data for the
point-to-point operation.

Fig. 7.6 Position list for set data

왘 Select a list position and enter position value and setpoint speed in
user-defined units. Specify the dimension system for absolute or
relative positioning.
You can also select one of three acceleration or deceleration ramps.

If a list position shows the speed value '0', the Twin Line unit switches
over to the setpoint speed 'motion.v_target0' (29:23).

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7-4 Twin Line Control Tool

 TL CT List and set processing

Selecting the speed list 왘 Click on the 'Speed list' button to enter the movement data for
speed operation.

Fig. 7.7 Speed list for set data

왘 Select a list position and enter the position value and setpoint
speed.
You can also select one of three acceleration or deceleration ramps.

7.2 Twin Line Position lists Teach In

In the teach-in function, position values can be directly approached and

transferred to the current list fied.
Buttons, menu entries and the various list types all work in the same way
as for list processing described in the last section.
Starting teach-in 왘 Select 'Twin Line Position lists Teach In'. The List processing
and Positioning' windows are displayed.

For the teach-in function, the Twin Line unit must be switched to manual
operation, and the motor moved via the 'Positioning' window or via the
signal interfaces manual movement signals.
왘 Select a list position in the open list.
왘 Switch to the 'Manual' index card in the 'Positioning' window, and
move the motor to the new target position.
왘 Click on the 'Take over' button as soon as the motor has stopped.
The current motor position is transferred to the list.

You can enter the other data on the list position directly or after complet-
ing the teach-in process, and transfer them to the unit.
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Twin Line Control Tool 7-5

List and set processing TL CT

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7-6 Twin Line Control Tool

 TL CT Command processing

8 Command processing

With command processing the Twin Line Control Tool allows you to
exchange transmitted and received data with a Twin Line unit as in field
bus operation.
Information on command processing via the field bus will be found in the
field bus documentation on the Twin Line units. Processing commands
with the Twin Line Control Tool will relieve you of a large part of the work
needed for data preparation.

8.1 Twin Line Command processing

Opening the 'Command processing' 왘 Select 'Twin Line Command processing'. The 'Command
window processing' window now opens.

Fig. 8.1 'Command processing' window

This window is subdivided into four sections:

햲 Command input
햳 Preview: Preview of the encoded command
햴 Request / response: Transmitted and received data
햵 Received data in decoded form
Inputting commands A command is eight bytes long. For a command you must input the three
following data:
• Byte 1: READ initiates a read access, WRITE a write access of the
Twin Line unit
• Bytes 2 and 3: A parameter in the field of the commands is selected
which will be sent as a command to the device. The subindex and
index for the selected command are displayed above the field.
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• Bytes 4 to 8: Values which are passed on with the command. These

could be positioning information or bit codings for an output word.
The length of the value is specified as 32, 16 or 8 bits which means
that the input value can be matched to the length of the field bus
command.

Twin Line Control Tool 8-1

Command processing TL CT

왘 Send your command to the Twin Line unit.with the 'Send' button.

The unit responds by sending an answer back to the PC. The received
data are shown in decoded form in the lower section of the window.

Fig. 8.2 Transmitted and received data

• Byte 1 (here 106): Reception acknowledgement and error informa-

tion
• Byte 2 (here 2): Information on axis operating mode, referencing
and on motor status
• Bytes 3 and 4 (here 47): Status information of the unit
• Bytes 5 up to 8 (here 0): Controller information such as position or
speed data or, in the event of a fault, the error number as reply.

Detailed information on the bit-coding of the individual bytes will be

found in the field bus manual of the Twin Line units in the section on com-
munication on the field bus.

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8-2 Twin Line Control Tool

 TL CT Recording

9 Recording

To allow visualization of device-internal data during movement mode the

Twin Line Control Tool provides the 'Recording' function. The Twin Line
unit reads movement data into the device-internal recording memory for
a defined recording period, transferring the data to the PC once this time
period has lapsed. The data are processed in the PC for graphic display
and can be displayed as a graph or table.
A recording can be saved as a file and archived for documentation pur-
poses or loaded and printed out.
Recording data can also be acquired in a long-term measurement pro-
cedure. Here the Twin Line unit transfers data straightaway to the PC
every measurement cycle.
The topics dealt with in this section are:
• ’Twin Line Recording’, page 9-1
• ’Index cards of the 'Recording' window’, page 9-2
• ’Preparing for and starting recording’, page 9-7
• ’Evaluating recordings’, page 9-9
• ’Documenting and exporting recordings’, page 9-11

9.1 Twin Line Recording

Opening the 'Recording' window 왘 Select 'Twin Line Controller Recording'. The 'Recording' win-
dow opens.
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Fig. 9.1 The 'Recording' window

Twin Line Control Tool 9-1

Recording TL CT

The top part of the window shows the graph with the recording data
while the bottom part shows the index cards for setting all recording
parameters. The index cards can also be opened via the 'Recording'
menu.
Recording data can be displayed as a graph or table. More detailed
information will be found under ’Evaluating recordings’ on page 9-9.
The 'Recording' tools bar The recording functions are activated directly via the tools bar in the
'Recording' window. The tools bar can be placed at the edge of the win-
dow or anywhere on the screen and displayed or hidden via the menu
item 'View Tools bar'.

Fig. 9.2 The recording buttons

햲 Start recording
햳 Abort recording
햴 Display recording data as a table
햵 Place the reference point on the graph
햶 Zoom in on the x-axis
햷 Zoom out on the x-axis
햸 Zoom in on the y-axis
햹 Zoom out on the y-axis
햺 Start the algorithm for controller optimization

9.2 Index cards of the 'Recording' window

The 'Recording' index card The Twin Line Control Tool provides various recording values for simpler
configuring of a recording. These are input into the 'Recording' index
card together with a number of basic settings for a recording.

Fig. 9.3 The 'Recording' index card

• Click on the Select recording values button to open a window for

selecting the recording values. Depending on the device type,
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between four and ten recording values can be selected simultane-

ously.

9-2 Twin Line Control Tool

 TL CT Recording

Fig. 9.4 The window for selecting the recording values

The left-hand half of the window contains the values which are to be
used for the ensuing recording. The recording values which are availa-
ble for selection, which depend on the Twin Line device type, are dis-
played in the two right-hand windows. The top window
Position values displays values which can be recorded in the unit using
a time base greater than or equal to 1 ms. The bottom window
Controller values shows all of the values which can be recorded even
faster than at 1 ms.
You can mark a value in the left-hand or right-hand window and then
move it using the arrow buttons to the opposite window. If you attempt to
activate more recording values than is permitted, the Twin Line Control
Tool will tell you.
Information on the position and significance of the recording values in
the controller structure will be found under ’Controller structure and
block diagrams’ on page 10-1.
• The time base expresses the time interval between two measure-
ments. The minimum interval time is specified by the Twin Line unit.
The smallest value for the time base is 0.25 ms.
You can select the interval time from the list box or type in a time
greater or equal to 1 ms. Values without a unit are given in millisec-
onds.

• Settings under Recording type are only relevant for optimizing the
Twin Line unit. The field is not used for recording movement data.
• The maximum value for the number of measurements depends on
the size of the recording memory in the Twin Line unit and is preset
by the unit. With a smaller value you can reduce the recording dura-
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tion. Recording duration = time base * number of measurements.

• If extended measurement is switched on, the Twin Line unit will
carry out recording on a continuous basis. The values are trans-
ferred directly to the PC after every interval step. The smallest time
interval between two recording cycles is limited by the transmission
time for sending the data to the PC. Under extended measurement
the Twin Line Control Tool changes automatically to the long-term
window view with a variable time axis. It is not possible to save an
extended recording on the data storage medium.

Twin Line Control Tool 9-3

Recording TL CT

• When the 'As loop' field is switched on, the Twin Line unit starts
another recording as soon as the previous recording has been
transmitted to the PC. To stop continuous recording click on the
'Stop recording' button. As soon as a recording has finished, the PC
will load and update the graph data.

The 'Trigger' index card The trigger signal starts a recording and is defined on the 'Trigger' index
card. The index card is not displayed when an extended measurement
has been activated.

Fig. 9.5 The 'Trigger' index card

The trigger signal is defined as a trigger condition with or without a

mask. Recording begins as soon as the specified trigger condition is sat-
isfied. Possible
conditions include:
• immediately: Record immediately the start signal is given.
• = value: Record as soon as the trigger value changes to the speci-
fied numerical value - in the diagram above, this is '1'.
• < value: Recording begins when the trigger value is less than the
specified numerical value.
• > value: Recording begins when the trigger value is greater than
the specified numerical value.
• /= value: Recording begins when the trigger value and specified
numerical value are not equal.

A trigger condition can be expressed as a Boolean operation on the trig-

ger signal and a constant. Let us provide two examples:
• Trigger signal: setpoint speed nref Mask: none or value
0xFFFFFFFF Condition: '> 100'
Recording starts when the setpoint speed 'nref' exceeds the value
of 100 rpm.

• Trigger signal: Input word 0: IW0_act Mask: 0x0000000F Condition:

'= 0x00000008'
Recording starts when the inputs of the device interface to which
bits 0, 1 and 2 are assigned are inactive and the input for bit 3 is
active.
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Assignment of the inputs in the parameter 'I/O.IW0_act' varies

depending on the device type. You will find the assignment for your
Twin Line unit given in the controller manual.

9-4 Twin Line Control Tool

 TL CT Recording

Trigger conditions can be set for simple or repeated recordings. The trig-
ger condition is permanently set in the case of extended recording: an
'immediate' start once recording starts.
• With pre / post-trigger you can shift the starting point for recording
before or after the trigger signal. A negative value starts recording
before the trigger signal, a positive one after the signal. Pre-trigger
settings are not possible with device types TLD1xx and TLD2xx.
• The starting time is expressed as a percentage of the recording
duration. Under time offset
the value is shown converted into milliseconds.
Example: Time base: 15 ms, Number of measurements: 120, Pre-
trigger: -5% Time offset = 15 ms x 120 x -0.05 = -90 ms Recording
starts 90 milliseconds before the trigger signal.

The 'View index card Each recording value transmitted by the Twin Line unit to the PC occu-
pies one transmission channel. The diagrammatic presentation of the
values can be configured with the 'View' index card.

Fig. 9.6 The 'View' index card

• In the
Channel list box you can select the appropriate recording value.
You can only specify recording values which have previously been
selected for a recording.
• The Display button enables presentation as a graph when it is acti-
vated.
• With Colour, Type and Thickness
you can define how the value is to appear in the diagram. Different
kinds of dotted line are only displayed with line thickness '1'.

The 'Scaling' index card You can use the 'Scaling' index card to adjust how recording values are
to be presented should they extend beyond the top or bottom of the dia-
gram or be shown too small. .
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Fig. 9.7 The 'Scaling' index card

• In the Scaling channels field you can select the value to whose
amplitude the diagram is to be scaled.

Twin Line Control Tool 9-5

Recording TL CT

The graph shows measured value between the

0% mark and the100% mark. The measured value can be scaled to any
value between these two limit values.
Example: The graph shows a speed value with the 0% value '0' and
starting at 0 rpm; if the 0% value is '500', this means the graph starts at
500 rpm.
• The graph shows measued values on the X axis in milliseconds. As
regards the Degrees of angle setting, the diagram shows the data
for the time duration of a complete sine cycle in the form of degrees
from 0° to 360°.

Fig. 9.8 Axes and elements of diagrammatic presentation

• Grid lines subdivide the graph with additional vertical lines. This
allows you to read off the measured values very precisely.
• The key
can be displayed on the left of the graph. For every value in the
recording it shows
the abbreviated name
the current value at the position of the cursor in the diagram
the unit of the value.

The 'Additional information' Information about the documentation of the recording is entered on the
index card 'Additional information' index card.
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Fig. 9.9 The 'Additional information' index card

The entries appear in the print-out of the recording and are saved in the
device file.

9-6 Twin Line Control Tool

 TL CT Recording

The 'y=f (channel)' index card The default setting for the horizontal axis is for time to be shown in mil-
liseconds. The functional dependence of several recording values can
be specified on the 'y=f (channel)' index card.

Fig. 9.10 'Y=f (channel)' index card

• If the Show XY field is switched on, a value Y can be selected and

displayed on the vertical axis as a function of the recording value X
on the horizontal axis.
• Click on the Show XY button to switch round the view.

9.3 Preparing for and starting recording

왘 Establish a data connection to the Twin Line unit.

왘 Open the window for recording via 'Twin Line
Controller Recording'.

Preparing for recording 왘 On the Recording index card select the recording values and under
'Time base' specify an interval time for the recording.
왘 Set the mode you want for the recording:
Record once: Specify the number of measurements for one run-
through and switch off the 'Extended measurement' and 'Loop'
fields.
Continuous measurement: Switch on the 'Extended measurement'
field.
Repeated recording: Switch on the 'Loop' field and specify the
number of measurements for one run-through.

왘 Specify the trigger condition on the

Trigger index card. One simple setting is the condition 'Immedi-
ately'. Recording starts as soon as the Twin Line unit receives the
request to record.
왘 On the View index card make sure that every transmission channel
is switched on so that the measured value can be acquired and dis-
played. The colour, line type and thickness of the displayed meas-
ured values are preset and do not need to be changed.
왘 Fill in the fields on the Key index card if you want to save and
archive the recording file.
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Twin Line Control Tool 9-7

Recording TL CT

Starting recording 왘 Click on 'Start' to start the recording.

Fig. 9.11 Starting a recording

The presets for the Twin Line unit are transferred at the start of a record-
ing.
Recording in progress While a recording is in progress the 'Start' button is greyed out and the
'Stop' button highlighted. If a trigger condition has been specified the
unit will hold recording until this condition has been met.

Fig. 9.12 Recording in progress

Recording finished, loading data As soon as the recording is finished both buttons ('Start' and 'Stop') will
be greyed out for the duration of data transmission.

Fig. 9.13 Recording finished, data being loaded

Once the data have been loaded the recording is displayed in the dia-
gram and the 'Start' button changes back to green again. You can now
make another recording.
Use the 'Stop' button to stop extended recordings.
Stopping recording 왘 Click on the 'Stop' button to stop a recording which is in progress.

Fig. 9.14 Stopping a recording

Should an error occur during the recording - for example, a dropped con-
nection - the Twin Line unit will abort recording. The Twin Line Control
Tool displays an error message with a description of the reason for the
error. Once you have corrected the error, start the recording again.
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9-8 Twin Line Control Tool

 TL CT Recording

9.4 Evaluating recordings

To allow you to evaluate a recording the Twin Line Control Tool provides
you with various processing tools in the graph view:
• Zoom in and out on parts of the graph by axis
• Display or hide the key and the measurement curves
• Measure time intervals in the graph
• Show recordings as a table.

Zooming in or out on the graph You can stretch or compress the X and Y axes as you like and independ-
ently of each other.
왘 Use the zoom buttons on the tools bar to activate the zoom func-
tions.

Fig. 9.15 Zoom functions

Displaying and hiding the key and The key on the left of the graph can be displayed or hidden. Measure-
measurement curves ment curves can be hidden separately and each can also be given its
own colour, line thickness and line design.
왘 Select 'Twin Line Controller Recording', 'View' tab to carry out
these actions.

Measuring time intervals On the status bar the Twin Line Control Tool displays time intervals
above a freely definable reference position.
To measure a time interval
왘 In the graph click on a starting position for time measurement. The
current position is indicated by a vertical red line.
왘 Click on the 'Reference cursor' button on the tools bar to select the
current position as the reference position for time measurement.
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Fig. 9.16 The 'Reference cursor' button and the selected position

Twin Line Control Tool 9-9

Recording TL CT

왘 Drag the red line onto a second position. The position of the refer-
ence cursor is shown by a mark on the X axis. The time intervals
are displayed on the status bar.
REF: Time interval from '0' to the starting position
DIFF: Time interval between the starting position and the current
cursor position
ABS: Time interval from '0' to the cursor position

The recording as a table A recording can be shown and edited as a table.

왘 Click on the table icon

Fig. 9.17 The 'Table' button

A window opens with the recording data displayed as a table.

Fig. 9.18 Tabular display of the recording data

Each line contains the values for one recording interval. These values
can be selected and then copied via the clipboard to another Windows
application.
If you do not want to transfer all of the values, set up the table accord-
ingly first. You can move rows and columns in the table, and display or
hide them.
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9-10 Twin Line Control Tool

 TL CT Recording

To shift a row or column:

왘 Select the row or column. This is done by clicking in the grey field at
the head of the row or column.
왘 If you want to select several fields, click on the first field, keep the
Shift key pressed down and then click on the last field. The area
between will now appear as selected.
왘 Move the selected area to its new position by clicking again in the
grey field, holding down the mouse button and moving the cursor to
the new position. The new insertion point is indicated by a red line
as you drag your selection. The rows are then immediately renum-
bered.

To display or hide rows or columns and to change their height or width:

왘 Click between two grey row or column fields and move the cursor in
one direction. You can reveal hidden rows or columns by double-
clicking between the two fields.
왘 You can hide or enlarge several rows or columns simultaneously by
selecting them and then carrying out the previous action beneath
the selected area.

When you close the table window, the rows and columns will be reset to
the default settings.

9.5 Documenting and exporting recordings

Recordings can be saved, loaded, printed out and exported for the pur-
pose of documenting movement curves and device settings, analysing
movement data or restoring the settings of a recording .
In none of these cases do you need a data connection to the Twin Line
unit.
Saving 왘 Select 'File Save as...'. The file dialog box for saving files is now
displayed.
왘 Under file name you should input a name for the recording and click
on the 'Save' button.

All of the data of the recording are saved to a new device file together
with the device data. At the same time the following settings are saved
with the recording:
• All entries on the 'Recording' and 'Additional information' index
cards
• Scaling factors from the 'Scaling' index card.
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Twin Line Control Tool 9-11

Recording TL CT

Loading Recordings can be reloaded with the saved default settings.

왘 Select 'File Open...'. The file dialog box for opening a file will be
displayed.
왘 Select the device file with the recording and click on the 'Open' but-
ton.

The data are loaded into the PC and can then be processed further. You
can also use the loaded recording to carry out new recordings with the
same presets.
Exporting The recording data can be exported in ASCII CSV format to allow the
recorded values to be further processed and analysed in a spreadsheet
program. Tables in ASCII CSV format can be imported by most pro-
grams of this type.
The ASCII CSV format separates each column of a table row with the
semicolon character ';'. Rows of the table are marked by a line break.
To export in ASCII CSV format:
왘 Select 'File Export'. The file dialog box for saving a file is dis-
played. The setting under 'File type' will be the table format '.csv'.
왘 Under 'File name' type in a name for the recording and click on the
'Export' button.

The recording data are saved in the corresponding data format.

To export via the clipboard:
왘 In table view select the rows and columns which you would like to
export and select 'Edit Copy'.

The selected data are copied to the clipboard and can be imported with
the 'Paste' function of your spreadsheet application.
Printing 왘 Configure the printer under 'File Printer set-up...'.
왘 Select 'File Print...'. A selection window for defining printing data
is opened.

Fig. 9.19 Specifying items for the print-out

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9-12 Twin Line Control Tool

 TL CT Recording

왘 Select the items which you would like to print out:

Graph: Outputs the recording as a graph
Measured data: Outputs the recording as a table
Parameters: Prints all device data
Settings: Print details of the settings for a 'Recording'
Additional information: Print details of the author, date and com-
ments as entered on the 'Additional information' index card of the
'Record' window.

왘 Click on 'OK' to open the Windows printing dialogdialog. Start print-

ing from this window by clicking on 'OK'.
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Twin Line Control Tool 9-13

Recording TL CT

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9-14 Twin Line Control Tool

 TL CT Optimizing

10 Optimizing

The motor and Twin Line unit must be adjusted to each other in the sys-
tem in preparation for movement mode. A whole series of factors - such
as the inertia of moving system components or the rigidity of the com-
ponents within the flow of force - affects the operating and movement
characteristics of the Twin Line unit and the motor when they are in oper-
ational use.
The Twin Line Control Tool provides functions for optimizing the Twin
Line unit:
• Display the open- and closed-loop control circuits under ’Controller
structure and block diagrams’, page 10-1
• ’Inputting parameters in the block diagram’, page 10-3
• ’Twin Line Controller Optimize’ page 10-4.

10.1 Controller structure and block diagrams

Opening window 왘 Select 'Twin Line Controller Controller structure' or click on the
'Controller' icon on the Twin Line bar. The 'Controller structure' win-
dow opens.

The block diagram shows the signal structure and the parameters of the
connected Twin Line unit for the current operating mode.

10.1.1 Controller structure of a Twin Line unit

The controller structure of a Twin Line unit for AC servomotors is the
same as the classic cascaded control of a
closed positioning loop with current controller, speed and position con-
troller.
The additional closed-loop control blocks shown in following figure are
incorporated for precontrolling.
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Fig. 10.1 Block diagram of a Twin Line unit for AC servomotors

Twin Line Control Tool 10-1

Optimizing TL CT

Current controller The current controller is used for regulating the drive torque of the motor.
The current controller has been preoptimized with the saved motor data.
Speed controller The speed controller has a decisive influence on the speed at which the
drive reacts. The dynamics of the speed controller depend on
• the moments of inertia of the drive
• the torque of the motor
• the rigidity and elasticity of the elements in the flow of force
• the play in the mechanical drive elements
• friction.

Position controller The position controller reduces the following error to zero. The closed
positioning loop is switched on in the operational function 'Electronic
gearbox' and for the holding control of the quick stop function.
A precondition of good gain in the position controller is an optimized
speed control circuit.
Precontrol The precontroller runs parallel to the speed controller. It compensates
for the acceleration- and speed-dependent torque.
Reference smoothing With the filter time constants of the reference variable filter you can
improve the transient response with optimized speed control.

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10-2 Twin Line Control Tool

 TL CT Optimizing

10.1.2 Inputting parameters in the block diagram

Checking and modifying 왘 In the block diagram click on a parameter. The 'Control parameter'
parameters window showing the parameters of the block is now displayed.

Fig. 10.2 The 'Parameters' window opened by double-clicking on the parame-

ter

왘 Check the settings or change them. Fields with a grey background

are read-only and cannot be changed - as in the 'Parameters' win-
dowWhen you close the window by clicking on 'OK', the modified
parameters are transferred directly to the unit.
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Twin Line Control Tool 10-3

Optimizing TL CT

10.2 Twin Line Controller Optimize

10.2.1 The 'Optimize' window

Opening window 왘 Select 'Twin Line Controller Optimize' or click on the 'Optimize'
icon on the Twin Line bar. The 'Optimize' window opens.

Fig. 10.3 The 'Optimize' window

The 'Optimize' tools bar

Fig. 10.4 The 'Optimize' tools bar

햲 Initiates a reference signal and starts recording

햳 Aborts recording
햴 Displays the values of the recording
햵 Places the reference point on the graph
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햶 Zooms in on the x-axis

햷 Zooms out on the x-axis
햸 Zooms in on the y-axis
햹 Zooms out on the y-axis
햺 Starts the algorithm for controller optimization

10-4 Twin Line Control Tool

 TL CT Optimizing

Recording and optimizing The index card settings and the functions for displaying, evaluating and
documenting measured values closely correspond to those for record-
ing, as described under ’Recording’ on page 9-1.
Any optimization settings which differ from these are dealt with below.

10.2.2 Index cards of the 'Optimize' window

The 'Reference variable' index card The
reference signal of the signal generator is set on the 'Reference variable'
index card. The signal generator is a component of the Twin Line unit
and supports optimization of the Twin Line unit by injecting defined,
'clean' input signals into the selected control loop.

Fig. 10.5 The 'Reference variable' index card

• The type of reference signal is specified under Curve shape. Three

curve shapes are available:
Jump: positive or negative
Square wave: symmetrical, positive or negative
Sine: symmetrical, positive or negative.

Fig. 10.6 Jump, square wave and sine signal shapes

With a positive or negative signal the motor follows the reference signal
only in the specified direction of rotation. With a symmetrical signal the
reference signal moves the motor alternately in the positive and negative
directions of rotation (clockwise and anticlockwise).
• The amplitude defines the height of the reference signal. The value
is given in the unit displayeded:
- Current controller
- amps [A]
- Speed controller
- revolutions per minute [rpm]
- Position controller - increments [inc].
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• Frequency specifies the period of oscillation of the reference signal

in cycles per second [Hz].
• The number of periods is entered under Number of repetitions.
The default value '65535' means an unlimited setting.

Twin Line Control Tool 10-5

Optimizing TL CT

The 'Recording' index card The control loop which is to be optimized is specified on the 'Recording'
index card under recording type:
• Current controller: reference variable to current controller
• Speed controller: reference variable to speed controller
• Position controller: reference variable to position controller.

Extended measurement is not possible for controller optimization.

The 'Trigger' index card The 'Trigger' index card does not include any trigger conditions which
can be set for controller optimization. Recording starts with the refer-
ence signal of the signal generator which is produced when recording
starts.

10.2.3 Configuring optimization

The default values for controller optimization will depend on the device
type. These values will be found in the optimization section of the con-
troller manual for the Twin Line unit.
Setting reference signals 왘 On the 'Reference variable' index card you can set the reference
signal of the signal generator: signal shape, amplitude, frequency
and number of repetitions.
As curve shape select either 'Jump' or 'Square wave'. Only with
these two signal shapes is the entire dynamic behaviour of a control
loop recognizable.

Setting recording signals 왘 On the 'Recording' index card select - the values which are to be
recorded - the time base for the interval between two measure-
ments - under recording type the control loop for optimization
왘 On the 'Recording' index card switch on the recording channels
whose values you wish to view.
왘 The other values on the 'View', 'Scaling', 'Additional information' and
'y=f (channel)' index cards need not be set for optimization.

Entering controller values You can input the values for the control parameters either in the param-
eters window or in the 'Block diagram' window.
To input values in the parameters window:
왘 Open the 'Parameters' window and select the active parameter
group: 'CtrlBlock1' or 'CtrlBlock2'. The group which is active is
shown on the control bar in the 'Parameter set' field.
왘 Enter the control parameters as specified in the controller manual of
the Twin Line unit.

To input values in the 'Block diagram' window:

왘 Open the 'Controller structure' window and click on the 'Controller
structure' icon on the Twin Line bar.
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왘 Click on one of the parameters for which the control loop is set. The
'Control parameter' window opens.
왘 Input the new value in the parameters window in accordance with
the details in the controller manual of the Twin Line unit.

10-6 Twin Line Control Tool

 TL CT Optimizing

10.2.4 Starting recording

Controller optimization can only be started in manual mode.
왘 Switch automatic operation off and with 'Twin Line Switch on
power amplifier' enable the power amplifier.
왘 Click on 'Start' to have the signal generator produce a reference sig-
nal.

Fig. 10.7 Starting the signal generator and a recording

The Twin Line unit performs a motor movement corresponding to the

specified reference variable and at the same time records the values in
the unit. The recording is transferred to the PC as soon as the test run
is finished or aborted.
Aborting recording 왘 Click on 'Stop' to abort a recording in progress. The Twin Line Con-
trol Tool loads the measured values into the PC and displays them
in the diagram.

Fig. 10.8 Stopping a recording

Pressing 'Stop' only stops the recording. The signal generator in the
Twin Line unit continues to carry out optimization but this can be stopped
by switching off the power amplifier.
Should an error occur during the recording, the Twin Line unit will abort
recording. The application reports an error and gives a description of the
cause. Start the test run again once you have corrected the cause of the
error.
Evaluating the recording To evaluate a recording you can use the functions available in the graph
view, as described under ’Evaluating recordings’ page 9-9.
As an aid to evaluating the recording and further optimization you can
refer to the graphs in the controller manual for the Twin Line unit. These
will be found in the section on optimization.
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Twin Line Control Tool 10-7

Optimizing TL CT

10.3 Algorithm for optimising controllers

10.3.1 Characteristics and conditions

The Twin Line Control Tool uses an algorithm to automatically optimise
the controller. When the user calls up the algorithm, it determines the
optimum parameter set for the combination of motor and controller con-
nected.
Optimisation is carried out by approximation using the aperiodic limiting
case method. Theoretical controller settings are calculated based on an
estimated value for the total moment of inertia.
The total moment of inertia Jg calculated by the algorithm
must satisfy the following condition:
0.8*JM < Jg < 20*JM, whereby Jg is the entire moment of
inertia of the system and JM the moment of inertia of the
motor.
If this condition is not met, the system cannot be optimised
with the algorithm.
Please contact your local service department.

Before you can start the optimisation algorithm, you must carry out a
manual movement in order to determine the current which the system
needs to overcome frictional effects. This is necessary as the algorithm
does not automatically determine the amount of friction, but it has to be
known in order to be able to estimate the moment of inertia of the sys-
tem.
The controller cannot be optimised by the algorithm in all mechanical
systems. If the inertia conditions are not right, you will have to optimise
the controller manually as described in the documentation and in the
chapter entitled ’Twin Line Controller Optimize’on page 10-4.

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10-8 Twin Line Control Tool

 TL CT Optimizing

10.3.2 Carrying out optimisation using the algorithm

왘 Use a manual movement at a constant speed of approx. 50 to 100
r.p.m. to determine the current required by the system to overcome
friction. Record the values for Nact and Iact, and determine the Iact
value at which Nact is more or less constant. This Iact value must
later be entered in the dialog box for the optimisation algorithm
under Friction.

In the following example, you can read off a lact value of 0.23 A at a con-
stant speed of 100 r.p.m.

Fig. 10.9 Determination of Iact value to be entered under Friction

왘 Select "Twin Line Controller Optimize", or click on the Optimise

symbol on the Twin Line toolbar. The Optimise window will open.
왘 Click on the controller optimisation algorithm button on the optmisa-
tion window toolbar.

Fig. 10.10 Open the controller optimisation algorithm window

A dialog box will open which will help you to carry out automatic optimi-
sation.
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Twin Line Control Tool 10-9

Optimizing TL CT

Fig. 10.11 "Controller optimisation dialog box

The dialog box is designed to prevent you from carrying out any further
actions with the Twin Line Control Tool while the optimisation algorithm
window is active.
WARNING!
Danger of being crushed and of damage to the system!
Do not carry out optimisation with Z axes or pre-stressed
axes, as the optimisation algorithm does not create suffi-
cient holding torque for additional, one-sided loads.
ATTENTION!
Damage to system parts!
Do not interrupt the algorithm while automatic optimisation
is running, as otherwise the system may be run with insuf-
ficiently optimised parameter sets.
왘 Enter the value which you have determined during manual move-
ment under Friction.
왘 Set the amplitude for the jump to the current controller, if necessary.
왘 Select parameter sets CTRL1 or CTRL2 the values for which you
wish to optimise.
왘 Select symmetrical movements, positive movements or negative
movements from the pull-down menu for optimisation.
왘 Set the amplitude of the speed controller for the drive movement, if
0x9844 1113 096, b121, 05.02

necessary.
왘 Set the frequency of the speed controller for the drive movement, if
necessary.

10-10 Twin Line Control Tool

 TL CT Optimizing

왘 Set the delay for stabilisation of the system after the drive move-
ment, if necessary.

Fig. 10.12 Settings in the controller optimisation window before optimisation

Before starting optimisation with the algorithm, set the

"AUTOM" and "ENABLE" inputs to "low", in order to
produce a defined output status for automatic optimisation.
When optimisation starts, a basic parameter setting is sent
to the device in order to create uniform conditions. This is
only possible if the "AUTOM" and "ENABLE" inputs are not
carrying a signal.

왘 Start optimisation by clicking on the Start optimisation button.

The following individual steps are then carried out; you will have to con-
firm the first steps by clicking on the relevant button:
• Switch off power amplifier
• Load basic setting for controller parameter sets
• Switch power amplifier on again
• Start optimisation
The algorithm calculates the required values and optimises the fil-
ters for current, speed, position controller and reference values. The
values determined and calculated are shown in the dialog box
under Calculated controller values.

• Setting parameters KFDn and KFAp

The effect of KFDn and KFAp on input control is identical. Both
parameters compensate the dynamic component which depends
on the acceleration of the reference value, thereby improving the
dynamics of the system.
KFDn uses the set speed signal as its input signal; the acceleration
signal is determined by means of digital differentiation. KFAp uses
the set acceleration signal directly as its input signal, if it is availa-
ble.
If possible, KFAp should be used, as digital differentiation causes a
marked increase in the level of noise in the system. The system
0x9844 1113 096, b121, 05.02

may even become unstable at standstill.

Twin Line Control Tool 10-11

Optimizing TL CT

ATTENTION!
Damage to system parts!
Only one of the two parameters, KFDn or KFAp, may be
used, and the one not being used must be set to 0.
Controlling the acceleration with one of the two parame-
ters, KFDn or KFAp, increases the jerk in mechanical sys-
tems. Normally these values do not have to be changed by
the user: only if the dynamic demands on the system are
very high, should the values for one of the parameters be
set manually in the Parameter setting window.
• Complete optimisation. The dialog box will display the values which
have been measured or calculated; the status information is all
ticked off.

Fig. 10.13 Controller optimisation dialog box after optimisation has been com-
pleted

After optimisation, the Optimise and Parameters windows are open and
show the optimised graphs and values. This completes the optimisation
process.
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10-12 Twin Line Control Tool

 TL CT Diagnosis and error rectification

11 Diagnosis and error rectification

Overview The Twin Line Control Tool provides diagnostic functions and informa-
tion on troubleshooting in separate windows:
• Diagnostic functions for the unit under
’Twin Line ➞ Diagnosis ➞ Device hardware’ page 11-4
• On-line monitoring of parameters under
’Twin Line ➞ Diagnosis ➞ Device data’, page 11-2
• Error information under ’Twin Line ➞ Diagnosis ➞ Error log’,
page 11-3.

Error display The cause of an operating malfunction is displayed or indicated:

• in the Twin Line unit by a flashing number in the seven-segment dis-
play
• by the error response of the Twin Line unit.
• in the Twin Line Control Tool as an error message on the control bar
and as the last error message in the ’Twin
Line ➞ Diagnosis ➞ Error log’. In addition the seven-segment dis-
play on the control bar shows the error status of the Twin Line unit.

Warning messages are only displayed in the error display of the Twin
Line Control Tool but not in the Twin Line unit.

Fig. 11.1 The control bar with error display and fault reset button at 9

Resetting fault messages Once the fault has been corrected, the message can be reset:
• by setting the input signal FAULT_RESET at the signal interface of
the Twin Line unit
• with the Twin Line Control Tool via the 'FAULT_RESET' button or via
the 'Twin Line FAULT_RESET' menu item
• by switching off the 24 V power supply to the Twin Line unit.
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Twin Line Control Tool 11-1

Diagnosis and error rectification TL CT

11.1 Twin Line ➞ Diagnosis ➞ Device data

All of the parameters and status values of a Twin Line unit are managed
within the unit on the basis of
index and subindex. You can access all of the values of the device via
the index and subindex in the 'Device data' window. Up to ten parameter
values can be monitored continuously.
Starting monitoring 왘 Select 'Twin Line Diagnosis Device data'. The 'Device data'
dialog box is displayed.

Fig. 11.2 The 'Device data' window

• Index indicates the group under which the value is administered

internally. This group assignment does not correspond to the
parameter groups.
• Subindex designates the number of the value in an index group.
• The meaning of the value is shown under Description.
• Raw value, value and unit
show the current value of the parameter or of the status variable
together with the unit of measurement.

The values in the window are read continuously from the unit and the
screen updated. The refresh rate can be configured:
왘 Select 'Device data Time interval'. The 'Time interval' window is
displayed.

Fig. 11.3 The 'Time interval' window

왘 Type in a time interval in milliseconds. The smallest time value

0x9844 1113 096, b121, 05.02

depends on the speed at which data are transmitted from the

device to the PC.

11-2 Twin Line Control Tool

 TL CT Diagnosis and error rectification

11.2 Twin Line ➞ Diagnosis ➞ Error log

Accessing the error display 왘 Select 'Twin Line Diagnosis Error log'. The 'Error log' dialog
box is displayed.

Fig. 11.4 The 'Error log' window

Error messages are displayed with internal Error numbers, with Error
class, Description and Time of occurrence.
Error messages are listed in chronological order. Error 1 is the earliest
of the error messages displayed.
You can delete all error entries by clicking on the Clear error list button.
The Twin Line unit gives an error response when there is an error.
Depending on the severity of the error the Twin Line unit will react in
accordance with an
error class.
An overview of Twin Line unit error messages and error rectification
measures will be found in the section in the controller manual dealing
with diagnosis and error rectification.
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Twin Line Control Tool 11-3

Diagnosis and error rectification TL CT

11.3 Twin Line ➞ Diagnosis ➞ Device hardware

In the 'Device data' window the Twin Line Control Tool provides diagnos-
tic functions for the device and interfaces.
Starting diagnosis 왘 Select 'Twin Line Diagnosis Device hardware'. The 'Device
data' dialog box is displayed.

Fig. 11.5 The 'Device data' dialog box

Depending on the configuration and functional scope of the Twin Line

unit you can select various diagnostic functions via the following index
cards:
• Device information
• Configured modules
• Inputs / outputs
• Pulse / direction
• +/-10 volt

If the Twin Line unit in question does not support one of the diagnostic
functions, the corresponding index card will not be displayed.
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11-4 Twin Line Control Tool

 TL CT Diagnosis and error rectification

The 'Device information' index card The 'Device information' index card shows the system date of the con-
nected Twin Line unit.

Fig. 11.6 The 'Device information' index card

You can access the device information here for service purposes.
The 'Configured module' index card The 'Configured module' index card displays system data about the
device configuration and the modules fitted.

Fig. 11.7 The 'Device hardware' index card'

For each entry you can access further detailed information by double-
clicking on the entry.
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Twin Line Control Tool 11-5

Diagnosis and error rectification TL CT

The 'Inputs / outputs' index card The switching states of all inputs and outputs of the signal interface can
be observed and modified via the 'Inputs / outputs' index card.

Fig. 11.8 The 'Inputs / outputs' index card- in this case for a TLD13x Twin Line
unit

If you have expanded your Twin Line device with an analog

module on slot M1 The module I/O is displayed additionally
in the tab.

The values '0' and '1' indicate what signal voltage is present at the input
or output.
• Value '0': voltage 0 V or signal level low
• Value '1': voltage 24 V or signal level low

Which interface signals are assigned in the Twin Line unit

to the inputs and outputs shown on the index card will vary
depending on the device type. For the assignments
applicable to your particular unit, you should refer to the
controller manual under the section dealing with
commissioning and testing the inputs and outputs.
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11-6 Twin Line Control Tool

 TL CT Diagnosis and error rectification

'Forcing' inputs and outputs If the Force box is checked, you can change the switching states for
inputs and outputs in the device by means of the software. The hardware
signals of the signal interface will then be ignored.
WARNING!
Danger of injury and damage to system parts!
Activating and deactivating inputs and outputs can result in
unexpected switching states and motor movements. Do
not change the settings unless the motor can be run with-
out danger.
왘 Click on the 'Force' box to switch signal states for inputs or outputs
using the Twin Line Control Tool.

The Twin Line Control Tool highlights in colour all switches which can be
set.

Fig. 11.9 Inputs with activated 'Force' box

왘 To change the signal state, click on one of the switches which can
be set.

The Twin Line Control Tool sends the command to the device. As soon
as the Twin Line unit switches the signal over, the software displays the
signal change on the screen.
왘 Start a manual run, for example, by setting the AUTOM signal to '0'
and the input signal MAN_N or MAN_P for manual mode to '1'.
왘 Finish making your entries by unchecking the 'Force' box or closing
the 'Device data' window. The hardware signal states are then re-
activated.

If you change from the 'Inputs / outputs' index card to another index card
or window and do not uncheck the 'Force' box, the 'Force' switching state
0x9844 1113 096, b121, 05.02

will be retained. Not until the connection is disconnected or dropped will

all values be reset to the hardware signal states.

Twin Line Control Tool 11-7

Diagnosis and error rectification TL CT

The 'Pulse / direction' index card The reference signals of the pulse / direction interface can be observed
and modified via the 'Pulse / direction' index card.
The Twin Line unit must be working in the automatic
operating mode 'Electronic gearbox'. In the controller
manual for the Twin Line unit you will find descriptions of
the operating modes and of the conditions for switching
over to 'Electronic gearbox' mode: see the section dealing
with the operating modes.

Fig. 11.10 The 'Pulse / direction' index card

The frequency of the pulse / direction signal is shown in the v_refGear

field, first by the position of the slide bar and beneath this as a value with
its unit [kHz]. The plus or minus prefix shows whether the motor is mov-
ing clockwise or anticlockwise.
The p_refGear field shows the setpoint in increments at the gearbox
input. The position is given as an absolute value which is derived from
the resolution of the position sensor and the starting position:
• Resolution for AC servomotors with Sincoder: 16384 inc/rev
• Resolution for AC servomotors with resolver: 4096 inc/rev
• Resolution for stepping motors 1000 inc/rev

'Forcing' pulse / direction signals If the Force box is checked, you can specify the pulse frequency for the
setpoint via the Twin Line Control Tool.
WARNING!
Danger of injury and damage to system parts!
Changing settings may result in unforeseen motor move-
ments. Do not change the settings unless the motor can be
run without danger.
왘 Click in the 'Force' box.
0x9844 1113 096, b121, 05.02

The current actual value for the pulse frequency is read from the device
and used as initial value.

11-8 Twin Line Control Tool

 TL CT Diagnosis and error rectification

왘 To change the pulse frequency, move the slide bar pointer with the
mouse pointer. The frequency which is set will be displayed simulta-
neously as a number in the entry box.
Alternatively you can type a frequency into the entry box and then
click on the OK button to transfer it to the unit. The slide bar moves
automatically to this value.

With the zero button you can reset the pulse frequency to zero.
왘 Finish making your entries by unchecking the 'Force' box. The pulse
frequency of the interface will now be re-activated.

The Force box is automatically unchecked when you close the 'Device
data' window or switch to another window or index card.
The '+/-10 Volt' index card The reference signals of the analogue interface can be observed and
modified via the the '+/-10 Volt' index card. This index card is only dis-
played with Twin Line units which are equipped with an analogue inter-
face for setpoint input . Automatic mode must be switched on.

Fig. 11.11 The '+/-10 Volt' index card'

If you have expanded your Twin Line device with an analog

module on slot M1 The module I/O is displayed additionally
in the tab.
0x9844 1113 096, b121, 05.02

Fig. 11.12 The '+/-10 Volt' index card' with the analog module

The voltage of the analogue signal is shown in the AnalogIn field, first
by the position of the slide bar and beneath this as a value with its unit
[volts]. The plus or minus prefix shows whether the motor is moving
clockwise or anticlockwise.

Twin Line Control Tool 11-9

Diagnosis and error rectification TL CT

'Forcing' analogue signals If the Force box is checked, you can specify the analogue voltage for the
setpoint via the Twin Line Control Tool.
WARNING!
Danger of injury and damage to system parts!
Changing settings may result in unforeseen motor move-
ments. Do not change the settings unless the motor can be
run without danger.
왘 Click in the 'Force' box.

The actual value of the analog voltage for the respective input is fetched
from the device and applied as start value.
왘 To change the voltage, move the slide bar pointer with the mouse
pointer. The voltage which is set will be displayed simultaneously as
a number in the entry box.

You can also enter a voltage in the input field and transfer it to the device
by confirming the entry with a click on OK. The slider controls of the ana-
log inputs are automatically adjusted to this value. The value entered is
output to the analog outputs.
With the zero button you can reset the voltage to zero.
왘 Finish making your entries by unchecking the 'Force' box. The ana-
logue voltage of the interface will now be re-activated.

The Force box is automatically unchecked when you close the 'Device
data' window or switch to another window or index card.

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11-10 Twin Line Control Tool

 TL CT Diagnosis and error rectification

Register SinCos If you have connected a motor with a multiturn transducer to the HIFA
interface, the Twin Line device reads the absolute position of the motor
from the multiturn transducer and uses this value to set the actual posi-
tion value of and the position setpoint in the Twin Line device. You can
correct the absolute position of the motor in the “SinCos“ tab by trans-
ferring a new absolute position as values of the parameter “M2.SetEnc-
Pos“ to the multiturn transducer.
After you have input the value, it is checked whether it lies
within the permitted value range:

• For single-turn transducers: 0 .. 16383

• For multiturn transducers: 0 .. [(4096 x 16384) - 1].

Fig. 11.13 The “SinCos“ tab

WARNING!
Risk of injury and damage to plant components!
Take the following notes into consideration when you trans-
fer a new absolute position:
• The position change is not validated until after a restart of the
Twin Line device.
• After you have entered the absolute position you must wait 5 sec-
onds before you switch off the device. Otherwise, the input value is
not applied correctly.
• After the restart of the Twin Line device, check the motor position
before you switch on the end amplifier.
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Twin Line Control Tool 11-11

Diagnosis and error rectification TL CT

0x9844 1113 096, b121, 05.02

11-12 Twin Line Control Tool

 TL CT Commissioning assistant

12 Commissioning assistant

12.1 Starting the assistant

The commissioning assistant will guide you step by step through the
commissioning process.
왘 Select '? Commissioning assistant' or the 'Assistant' icon on the
Twin Line bar. The 'Commissioning assistant' dialog box is dis-
played.

Fig. 12.1 The starting window of the Commissioning assistant

Checking the wiring Carry out the following steps when the function in question is relevant to
your particular system layout and the signal connections have been
wired up. Check
• the connections and functioning of the limit switches
• the connections and functioning of the holding brake.

The wiring assignments of the signal interface will vary depending on the
device type. For the input and output assignments applicable to your
particular unit, you should refer to the controller manual.
Selecting the motor data record This step only applies to Twin Line units for AC servomotors with resolv-
ers and not to Twin Line units for stepping motors or Twin Line units for
AC servomotors with a Hiperface connection. Motors with a Hiperface
connection will give the unit the correct motor data as soon as the Twin
Line unit is switched on.
0x9844 1113 096, b121, 05.02

왘 In the 'Parameters' window select the 'Servomotor' parameter

group.
왘 In the 'Motor type' field type in the data set for the resolver motor
which is connected. Information about inputting parameters will be
found under ’Twin Line ➞ Configuring’ page 5-1.

All motor data sets for motors approved by the manufacturer for control-
ler operation are installed at the time when the software is installed. If no

Twin Line Control Tool 12-1

Commissioning assistant TL CT

motor data set appears to be available for your motor, contact your local
service department.
Configuring the Twin Line unit 왘 Set the parameter values for the device as specified in the controller
manual. The values in question will be found in the section dealing
with inputting control parameters.
왘 Perform a function check on the Twin Line unit when you have fin-
ished configuring it and before installing the motor in the system. Do
so by means of a run under manual operation. You can carry out
this manual test run via the inputs of the signal interface - as
described in the controller manual - or use the Twin Line Control
Tool - as described under ’Manual movement’ on page 6-9.

Starting optimization Optimization of the controller setting is described under ’Twin

Line ➞ Controller ➞ Optimize’ on page 10-4. The values set will vary
depending on the device type. They will be found in the controller man-
ual for your Twin Line unit.
왘 When you have finished optimization save all of the device data to
the EEPROM of the Twin Line unit. Document the settings by mak-
ing a print-out and back up a copy of the device file on the PC.

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12-2 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

13 The Twin Line Control Tool menu

The 'File' menu

Fig. 13.1 The 'File' menu

File Open: Device data are loaded from file into the PC. Device files
have the file extension '.TLX'.
This command can also be given via the key combination Ctrl+O.
File Close: This closes an open device file.
If parameter entries have been modified or new parameter or recording
data created and not yet saved, the program will display a warning. You
can then abort and save your changes before going on to close the win-
dow.
File Save: An open device file is saved to the data storage medium
together with its parameter and recording data. The program does not
ask for confirmation.
If a file has not as yet been created on the data storage medium, a file
dialog will open which allows you to type in a name for the new file.
This command can also be given via the key combination Ctrl+S.
File Save as...: An open device file can be saved to the data storage
medium under a new name. A file dialog will open which allows you to
type in a new name for the file. Device files have the file extension '.TLX'.
If the name is already being used for a saved file, the program will dis-
play the corresponding message. You can now save the file under a dif-
ferent name.
File Export...: The recording data can be exported in ASCII CSV for-
mat to allow the recorded values to be further processed and analysed
in a spreadsheet program. Tables in ASCII CSV format can be imported
by most programs of this type.
This menu item only appears when the 'Record' or 'Optimize' window is
activated.
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Twin Line Control Tool 13-1

The Twin Line Control Tool menu TL CT

File Print...: The Twin Line Control Tool prints the data from an open
device file. If a recording has been made, a selection window will open
which allows you to specify printing data before printing:
Diagram: Outputs the recording as a graph
Measured data: Outputs the recording as a table
Parameters: Prints all device data
Settings: Print details of the settings for a 'Recording'
Additional information: Print details of the author, date and comments
as entered on the 'Additional information' index card of the 'Record' win-
dow.
This command can also be given via the key combination Ctrl+P.
File Printer set-up...: The printer is set up for printing from a Win-
dows application. The printer and the paper are set up by size and for-
mat. Depending on which printers you have installed, you can set
special printer functions here, such as colour or grey scale values.
File Last file: If device files have already been edited, the file name
of the files last opened will appear here. They can be opened by clicking
on the corresponding menu item.
File Exit: All program windows are closed, the connection is discon-
nected and the program shut down. If the Twin Line Control Tool detects
parameter values or settings which have been changed but not yet
saved it will warn you about this. You can save your modifications to a file
or simply discard them.
The 'Edit' menu

Fig. 13.2 The 'Edit' menu

Edit Undo: The last modification to an input can be undone.

This command can also be given via the key combination Ctrl+Z.
Edit Cut: The selected area is cut at the current location and moved
to the clipboard.
This command can also be given via the key combination Ctrl+X.
Edit Copy: The selected area is copied and this copy moved to the
clipboard.
This command can also be given via the key combination Ctrl+C.
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Edit Paste: The contents of the clipboard are pasted at the cursor
position
This command can also be given via the key combination Ctrl+V.
Edit Delete: The selected area is deleted.
Edit Options: The 'Options' window is used for inputting the settings
for a connection set-up as well as the directory and file name for data-
base access.

13-2 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

The 'Device data' menu This menu is only displayed when the 'Device data' window has been
activated via 'Twin Line Diagnosis Device data'.

Fig. 13.3 The 'Device data' menu - only appears when the 'Device data' window
is active

Device data Interval: For setting the interval period for the continu-
ous updating of the data in the 'Device data' file.
List data processing menu The menu is only displayed if list data processing has been activated via
'Twin Line Position Lists Teach In' or 'Twin Line Position Lists
Process'.

Fig. 13.4 List data processing menu, only visible when 'List data processing'
window is active

List data processing List 1: Setting List 1 to Position / Signal List or

Position / Speed List.
List data processing List 2: Setting List 2 to Position / Signal List or
Position / Speed List.
List data processing Upload: Load the list values from the Twin
Line unit into the PC.
List data processing Download: Transfer the list values to the Twin
Line unit and save them in RAM.
List data processing Save in EEPROM: Transfer the list values per-
manently to the Twin Line units EEPROM.
List data processing Accept position: Transmit the currently
selected list position value to the Twin Line unit as the new target posi-
tion.
The commands can also be given via the 'List data processing' toolbar
buttons.
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Twin Line Control Tool 13-3

The Twin Line Control Tool menu TL CT

Menü List data processing List1 The sub-menu is only displayed if list data processing has been acti-
and ... List2 Menu vated via 'Twin Line Position Lists Teach In' or 'Twin Line Posi-
tion Lists Process'.

Fig. 13.5 List processing menu, only visible when 'List data processing' window
is active

List data processing List 1 Signal list: Setting List 1 to Position

/ Signal List.
List data processing List 1 Speed list: Setting List 1 to Position
/ Speed List.
The same menu entries apply for List 2.
The commands can also be given via the 'List data processing' toolbar
buttons.
Data set data processing menu The menu is only displayed if data set data processing has been acti-
vated via 'Twin Line Position Lists Teach In' or 'Twin Line Posi-
tion Lists Process'.

Fig. 13.6 Data set data processing menu, only visible when 'Data set data
processing' window is active

Data set data processing Set Data: Setting the list for set data to
Position or Speed list.
Data set data processing Upload: Load the list values from the Twin
Line unit into the PC.
Data set data processing Download: Transfer the list values to the
Twin Line unit and save them in RAM.
Data set data processing Save in EEPROM: Transfer the list values
permanently to the Twin Line units EEPROM.
Data set data processing Accept position: Transmit the currently
selected list position value to the Twin Line unit as the new target posi-
tion.
The commands can also be given via the 'Data set data processing' tool-
bar buttons.
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13-4 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

Data set data processing Set The sub-menu is only displayed if Data set data processing has been
Data activated via 'Twin Line ➞ Position Lists ➞ Teach In' or 'Twin Line ➞
Position Lists ➞ Process'.

Fig. 13.7 Data set data processing menu, only visible if 'Data set data process-
ing' window is active

Data set data processing Set Data Position List: Setting set
processing to position list.
Data set data processing Set Data Speed List: Setting set
processing to speed list.
The commands can also be given via the 'Data set data processing' tool-
bar buttons.
The 'Optimize' menu This menu is only displayed when the 'Optimize' window has been acti-
vated via 'Twin Line Controller Optimize'.

Fig. 13.8 The 'Optimize' menu - only appears when the 'Optimize' window is
active

Optimize Start: This causes the signal generator produce a refer-

ence signal and starts a recording.
The command can also be activated via the 'Start' button on the 'Opti-
mize' toolbar.
Optimize Stop: This aborts the recording.
The command can also be activated via the 'Stop' button on the 'Opti-
mize' toolbar.
Optimize Zoom: This opens a submenu allowing you to change the
diagram resolution gradually, increasing it with X+ and Y+, decreasing it
with X- and Y-.
Optimize Data as table: This opens the table window with the data
for a recording.
Optimize Optimize: This starts the algorithm for optimizing the con-
troller.
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Twin Line Control Tool 13-5

The Twin Line Control Tool menu TL CT

The 'Record' menu This menu is only displayed when the 'Record' window has been acti-
vated via 'Twin Line Controller Record'.

Fig. 13.9 The 'Record' menu - only appears when the 'Record' window is active

Record Start: This transmits the trigger condition – if one is specified

– and starts a recording with the set parameters.
The command can also be activated via the 'Start' button on the 'Record'
toolbar.
Record Stop: This aborts the recording.
The command can also be activated via the 'Stop' button on the 'Record'
toolbar.
Record Zoom: This opens a submenu allowing you to change the
diagram resolution gradually, increasing it with X+ and Y+, decreasing it
with X- and Y-.
Record Data as table: This opens the table window with the data for
a recording.
Record Optimize: This starts the algorithm for optimizing the con-
troller.
The 'Parameters' menu This menu is only displayed when the 'Parameters' window has been
activated via 'Twin Line Controller Configure'.

Fig. 13.10 The 'Parameters' menu

Parameters Upload parameter group: This loads the values of a

parameter group into the PC memory from the device RAM
Parameters Download parameter group: This transfers the values
of a parameter group into the device RAM from the PC
Parameters Upload all parameters: This loads all of the device data
into the PC.
Parameters Download all parameters: This transfers all of the
0x9844 1113 096, b121, 05.02

device data from the PC into the device RAM

Parameters Load defaults: This resets all parameter values to the
factory setting
Parameters Save in EEPROM: This copies parameter values from
the device RAM into EEPROM.

13-6 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

The 'View' menu

Fig. 13.11 The 'View' menu

View Tools bar: The tools bar of the main window is displayed or hid-
den.
View Twin Line bar: The Twin Line bar is displayed or hidden.
View Control bar: The control bar is displayed or hidden.
View 'Parameters: When the 'Parameters' window is activated, the
tools bar of the window is displayed or hidden.
View Parameter groups: When the 'Parameters' window is acti-
vated, the window for selecting a parameter group is displayed or hid-
den.
View 'Record / optimize' tools bar: When the 'Record' or 'Optimize'
window is activated, you can use this to display or hide the tools bar of
the window.
View Settings for recording / optimizing: The window with the
index cards is displayed or hidden.
The 'Connection' menu

Fig. 13.12 The 'Connection' menu

Connection Establish: Via the 'Device selection' window this makes

a connection to the connected Twin Line unit. The device configuration
is read into the PC.
This command can also be activated via the control bar or via the key
combination Ctrl+L.
Connection Disconnect: On-line operation with a Twin Line unit is
terminated immediately.
This command can also be activated via the control bar.
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Twin Line Control Tool 13-7

The Twin Line Control Tool menu TL CT

The 'Twin Line' menu

Fig. 13.13 The 'Twin Line' menu

Twin Line Switch on power amp: The power amplifier is switched

on. The switching status of the ENABLE input signal at the signal inter-
face is ignored until the connection to the device is released.
The green motor icon on the control bar shows that the power amplifier
is switched on.
Twin Line Switch off power amp: The power amplifier is switched
off. The switching status of the ENABLE input signal at the device inter-
face is ignored until the connection to the device is released.
The red motor icon on the control bar shows that the power amplifier is
switched off.
Twin Line Stop motor: The motor is stopped but the power amplifier
is not yet switched off so as to give the motor holding torque.
Twin Line Reset errors: An error message from the Twin Line unit
must be reset before starting movement mode. If there is a data connec-
tion to the unit, the signal can be reset via this menu item.
The command can also be activated via the 'FAULT_RESET' button on
the control bar.
Twin Line Positioning: This opens the 'Positioning' window for con-
trolling a Twin Line unit with the Twin Line Control Tool. Which operating
modes can be selected depends on the connected device type.
The command can also be activated via the 'Positioning' button on the
Twin Line bar.
Twin Line Configuring: This opens the 'Parameters' window for
viewing and for modifying active parameters.
The command can also be activated via the 'Parameters' button on the
Twin Line bar.
Twin Line Command processing: This opens the 'Command
processing' window for simulating a field bus interface. Here you can
send control commands to a Twin Line unit and observe response data
from the Twin Line unit.
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13-8 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

The ' Twin Line Controller'

submenu

Fig. 13.14 The ' Twin Line Controller' submenu

Twin Line Controller Record: This opens the 'Record' window. In

on-line mode, movement parameters and setting values of the Twin Line
unit can be recorded. Recording data can be displayed as a graph or
table. They can be saved, printed out, exported and reloaded for later
evaluation.
The command can also be activated via the 'Record' button on the Twin
Line bar.
Twin Line Controller Controller structure: This opens the 'Con-
troller structure' window. In on-line mode, the controller structure of the
connected Twin Line unit can be displayed. Parameter values for the
control loops displayed can be set in the window.
The command can also be activated via the 'Controller structure' button
on the Twin Line bar.
Twin Line Controller Optimize: This opens the 'Optimize' win-
dow. The device settings are optimized for the safe and efficient opera-
tion of Twin Line units in a system.
To facilitate evaluation of the setting values the program allows you – in
a similar manner to the 'Record' menu item – to display and evaluate the
settings of the Twin Line unit as a graph or table.
The command can also be activated via the 'Optimize' button on the
Twin Line bar.
The 'Twin Line Position lists'
submenu

Fig. 13.15 The 'Twin Line Position lists' submenu

Twin Line Position lists Teach: This opens the 'Teach' window
for programming list or set data.
Twin Line Position lists Edit: Opens the window “Edit list data“
or “Edit data record“ for editing the list/data records which are stored in
the memory.
You can also enable this command via “Edit list data“ and “Edit data
record“ in the Twin Line taskbar.
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Twin Line Control Tool 13-9

The Twin Line Control Tool menu TL CT

The 'Twin Line Diagnosis'

submenu

Fig. 13.16 The 'Twin Line Diagnosis' submenu

Twin Line Diagnosis Device data: Ten status and parameter val-
ues from the connected Twin Line unit can be displayed in the 'Monitor'
window. The values are given with index and subindex angegeben. The
index and subindex make up the code under which all of the device data
of the Twin Line unit are administered.
Twin Line Diagnosis Error log: This displays in the 'Error log'
window the last 20 error and warning messages.
Twin Line Diagnosis Device hardware: This opens the 'Diagno-
sis' window for displaying and setting the device data. Several index
cards are provided for identifying device hardware and installed mod-
ules, for switching interface signals and for setting reference signals for
motor operation mode.
The 'Window' menu

Fig. 13.17 The 'Window' menu

Window Cascading: The program arranges the open windows in

shingled form. The size of the windows is adapted to match the size of
the program window.
Window Tile horizontally: The program arranges the open windows
alongside each other. The size of the windows is adapted to match the
size of the program window.
Window Tile vertically: The program arranges the open windows
one above the other. The size of the windows is adapted to match the
size of the program window.
Window Arrange: Minimized windows appear as buttons at the
lower edge of the action window and above the tool bar.
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13-10 Twin Line Control Tool

 TL CT The Twin Line Control Tool menu

The '?' menu

Fig. 13.18 The Help menu

? Help topics: This opens the Twin Line Control Tool help files and
opens the help window.
This command can also be given via the key combination Shift+F1.
? Commissioning assistant: This opens the 'Commissioning
assistant' window. Commissioning a Twin Line unit can be carried out
here step by step.
Information on installing the the Twin Line unit will be found in the device
manual.
The command can also be activated via the Twin Line bar.
? Information about the Twin Line Control Tool: This opens a win-
dow which shows the version number of the program. If you can access
the intenet from your PC, you can use this to contact web site of the ma-
nufacturer directly.
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Twin Line Control Tool 13-11

The Twin Line Control Tool menu TL CT

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13-12 Twin Line Control Tool

 TL CT Service

14 Service

14.1 Service adress

Contact your local dealer with any questions or problems. Your dealer
will be happy to give you the name of a customer service outlet in your
area.
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Twin Line Control Tool 14-1

Service TL CT

0x9844 1113 096, b121, 05.02

14-2 Twin Line Control Tool

 TL CT Index

Index

Symbols
+/-10 Volt, Displaying and modifying voltage 11-9
A
ABS value 9-10
Absolutposition 11-11
Amplitude for the reference signal under Optimization 10-5
ASCII CSV format 9-12
B
Block diagram 10-1
Bus address 4-3
C
Channel 9-5
Closed positioning loop 10-1
COM1 3-6
COM1, COM2 1-2
Commissioning assistant 12-1
Configuring, Tools bar 5-1
Connection monitoring 3-6
Control bar 3-4
Control parameters
Optimize 10-6
Selecting a parameters set 3-4
Creating a back-up file 4-2
Current controller 10-2
Curve shapes 10-5
D
Degrees of angle 9-6
Device data
Checking the range of values 5-3
Loading into the PC 4-3
Twin Line device memory 3-7
Device monitoring 6-2
Device type 3-7, 4-3
Diagnosis 11-4
Diagnostic functions 11-4
DIFF value 9-10
Displaying and modifying the interface signals 11-6
Displaying device information 11-5
Displaying system information 11-5
Displaying the controller structure 10-1
0x9844 1113 096, b121, 05.02

Displaying the device configuration 11-5

Downloading 5-1
E
EEPROM memory 3-7
Electronic gear 6-7
Entry boxes 5-3
Error classes 11-3, 12-1

Twin Line Control Tool A-1

Index TL CT

Error display 11-1

Error messages
Displaying 11-3
Resetting 11-1
Exporting recording values 9-12
Extended measurement 9-3
F
Filter time constant 10-2
Forcing
+/-10 Volt analogue signals 11-10
Inputs and outputs 11-7
Pulse / direction signals 11-8
Requirements 11-7
G
Graph
Grid lines 9-6
Key 9-6
Measuring time intervals 9-9
X, Y axis values 9-7
Zooming in / out 9-9
Graph view 9-6
H
Holding control 10-2
I
Index value 11-2
Inputs and outputs, Displaying the signal states 11-6
J
Jump signal 10-5
L
Language settings 2-1
List box 5-3
List processing
Position / Signal list 7-3
position / speed list 7-3
Position list for set processing 7-4
speed list for set processing 7-5
Loading recordings 9-12
Log-in 3-7
M
Menu
Connection 13-7
Device data 13-3
Edit 13-2
0x9844 1113 096, b121, 05.02

File 13-1
Help 13-11
Optimize 13-5
Parameters 13-6
Record 13-6
Twin Line 13-8
View 13-7
Window 13-10

A-2 Twin Line Control Tool

 TL CT Index

Menü
Data set data processing 13-4
Data set data processing ? Set Data 13-5
List processing 13-3
List processing ? List1 and ... ? List2 13-4
Menu bar 3-2
Monitoring 11-2
Motor, moving manually 6-1
N
node guarding, monitoring function 3-6
Node guarding, Setting the cycle time 3-6
O
Off-line operations 3-8
On-line operations 3-8
Optimization
Algorithm 10-8
Optimization, Functions 10-1
P
Parameter groups 5-2
Parameters
Changing values 5-3
Colour-coding 5-2
Inputting in the block diagram 10-3
Loading from the device 4-3
Saving to file 4-2
Window 5-2
Point-to-point operation 6-5
Position controller 10-2
Positionieren
Stromregelung 6-12
Positioning
Electronic gear 6-7
Index cards 6-4
Manual movement 6-9
Point-to-point operation 6-5
Referencing 6-8
Set operation 6-10
Speed mode 6-6
Positionsgeber 11-11
Pre- and post-trigger 9-5
Precontrol 10-2
Printing a recording 9-12
Pulse / direction signals, Displaying and modifying 11-8
0x9844 1113 096, b121, 05.02

Twin Line Control Tool A-3

Index TL CT

R
Recording
Cycle time 9-3
Documentation 9-6
Exporting 9-12
Number of measurements 9-3
Preparation 9-7
Presetting values 9-2
Printing 9-12
Saving 9-11
Select mode 9-7
Starting 9-8
Stopping 9-8
Time base 9-3
Trigger conditions 9-4
Recording type, Control loop for optimizing 10-6
REF value 9-10
Reference signal 10-5
Reference smoothing 10-2
Referencing 6-8
RS232 device interface 3-7
S
Selecting motor data records 12-1
Serial interface 1-2
Serial port, Settings 3-6
Service address 14-1
Set data
processing 7-4
Set operation 6-10
Setting the baud rate 3-6
Setting the data bit 3-6
Setting the parity bit 3-6
Setting the stop bit 3-6
Shortcut 3-2
Signal generator 10-5
Signal shapes 10-5
SinCos 11-11
Sine signal 10-5
Specifying addresses for TL units 3-6
Speed controller 10-2
Speed mode 6-6
Square-wave signal 10-5
Starting manual movement 6-9
Status bar 3-5
Stromregelung 6-12
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Subindex value 11-2

A-4 Twin Line Control Tool

 TL CT Index

T
Tabular display 9-10
Teach In
List processing 7-1
starting 7-5
Time interval
for evaluating measured data 9-3
For parameter display with monitor 11-2
Tool bars 3-3
toolbar 'List processing' 7-2
Trigger signal 9-4
Twin Line bar 3-3
Twin Line CT
Hardware requirements 1-1
Installation 2-1
Language settings 2-1
On-line functions 3-8
Removal 2-1
Scope of functions 1-1
Scope of supply 2-1
Setting parameters 5-1
Starting 2-2
System requirements 1-1
Twin Line unit
Connecting 1-2
EEPROM memory 3-7
U
Uploading 5-1
W
Window 'Device data' 11-4
Window 'Monitor' 11-2
Writing conventions 1-3
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Twin Line Control Tool A-5

Index TL CT

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A-6 Twin Line Control Tool