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PDF - Harmonic Drive AG

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2. 5 Motion profile 5 1 Scaling 5 1 1 Standard DS 402 Profile 5 1 2 USER scaling without scaling wizard 5 2 Basic setting 5 2 1 Control location control source Set control and Reference 5 2 2 Profiles 5 2 3 Profile Generator Interpolated position mode 5 2 4 Speed control via the Profile Generator PG mode 5 2 5 Speed control via IP mode 5 2 6 Position control via the Profile Generator PG mode 5 2 7 Position control via IP mode 5 2 8 Smoothing and Speed offset 5 3 5 0 eed b v a E RU ER a 107 5 4 Homing 5 4 1 Drive controlled homing via field bus 5 5 Jog mode 5 6 Reference table 5 7 Measuring switch function Touch probe 6 Inputs outputs 6 1 Digital inputs 6 1 1 Settings for digital inputs 15000 15006 6 1 2 Hardware enable ISDSH STO Safe Torque Off 6 1 3 Hardware enable and autostart 6 1 4 Manual drive control via digital inputs 6 2 Digital outputs 6 3 Analog inputs 6 3 1 Analog channel ISAO0x 6 3 2 Reference input via analog inputs IP PG mode 6 3 3 Function block Analog inputs 6 3 4 Weighting of analog inputs 7 Limits 7 1 Control limitation 711 Torque limitation torque force limits 7 1 2 Speed limitation Speed Velocity 71 3 Position limitation position limit 7 1 4 Powerstage 7 1 5 Software limit switches 8 Diagnostics 8 1 Error sta
3. pa9j YM 04 2015 1003374 Friction torque It is advisable to compensate for higher friction torques in order to minimize tracking error when reversing the speed of the axis The drive controller permits compensation for Coulomb friction components by means of a signum function dependent on the reference speed The speed controller can compensate for the other e g viscous friction components because of their lower change dynamism The compensation can be effected step by step as a percentage of the rated motor torque by means of P 386 CON SCON The following graph shows a good match between the feedforward torque reference and the actual torque value Illustration 671 Graph of feedforward torque reference and actual torque value m Masa MAMMA nref 1 min rpm mre FF Nm mact Nm 04 2015 1003374 67 Table 68 1 P no Value Function P 0351 12ms Speed controller filter time P 0360 30000 Position controller gain P 0372 12ms Filter time for position controller feedforward P0374 0 125 ms Delay time for position control feedforward 0375 100 96 Speed control feedforward scaling factor P 0376 100 96 Torque control feedforward scaling factor P0386 5 96 Compensation of friction torques P1516 0 00014 2 Mass inertia 4 5 Asynchronous motor field weakening For field weakening of asynchronous motors
4. Gear ratio if encoder is not fitted at the motor 1 1 Signal correction GPOC OFF 0 Na correction v Illustration 22 2 Encoder configuration based on example of channel 1 OFF P 0540 P 0545 0 551 1 Absolute EnDat2 1 2 Position Interface Hiperface 0505 Positionvalue Encoder Channel 1 SinCos X7 0549 0542 OFF Signal Setting Puls SinCos 1 correction per revolution 22 P 0510 P 0511 Control gear ratio fs 1003374 04 2015 Table 231 Overview of parameters for channel 1 Parameter name P no Designation in DM5 Function settings 0505 ENC_CH1_Sel Encoder Channel 1 Select Configuration of the incremental interface 0 OFF No evaluation E High resolution SinCos encoder with fine 1 SinCos 4 interpolation 2 SSI Purely digital encoder via serial communication 3 TTL Setting of the incremental number of lines For encoders with EnDat2 1 and Hiperface protocols the Encoder Channel 1 Number of Lines 0542 ENC_CH1_Lines lines per revolution are read out of the encoder and SinCos Encoder automatically parameterized 1 65535 1 65535 Determining the protocol type When starting the Encoder Channel 1 Absolute Position device and after changing the encoder parameters P0540 CH1 Abs Es Interface the absolute position of an incremental measuring system is read out via a digital interface Purely incremental encoder without a
5. Motor type PSM 1 Permanent synchrononous motor x Motor movement ROT 0 rotative motor x Calculate control settings subject to motor name plate data Calculate control settings subject to motor data identification Identification Motor protection J Further settings 04 2015 1003374 7 Identification Illustration 81 Indetification of Motor data Calculate control settings subject to motor data identification lt Motor name Motori Name plate data Rated voltage V Rated current 476 Rated speed 3000 Rated frequency Rated torque 6 1 Nm 1 9148 Inm Inertia Motor inertia 0 00035 kg m m V Hold brake applied Statt i Show motor parameters Enter motor data lick the Start identification button This initiates Current controller tuning The current controller is automatically optimized The motor impedances are automatically measured Calculation of operating point Calculation of current speed and position control parameters V F characteristic boost voltage rated voltage rated frequency Note To start identification the hardware enables ENPO ISDSH must be switched and the DC link voltage must be present The identification may take a few minutes Illustration 8 2 Calculation of Motor data Calculation of control settings for PS motor E Name plate d
6. P 0 336 3 t s During basic setting of the speed controller by means of the calculation assistant P 1515 SCD_ConDesign a singlemass system observer with medium dynamism has already been calculated The observation algorithms are calculated as soon as the selector P 0350 Index 115 set to Filter 1 The PT1 filter and the selected observer type are then calculated in parallel Feedback via the PT1 filter or via the observer can then be toggled by the selector P 0350 index 1 04 2015 53 Observer optimization The mass moment of inertia must be determined correctly The dynamism is set via the equivalent time constant P 0353 Index 0 which behaves in a similar way to the actual speed filter time constant Increasing the time constant enhances the noise suppression but also reduces the dynamism Bywriting the calculation assistant P 0354 Def the observer is reconfigured This change takes effect online An optimization can be made iteratively in steps by adapting the equivalent time constant linked with rewriting of the calculation assistant Table 541 Parameters P no Parameter name Settings Designation in DM5 Function Selection of Speed calculation Selection of speed calculation 0350 CON_SCALC_SEL method method 0 SEL_ObserverMethod Signal from observer system Filter 0 PT Filter actual value filter activated OBS1 1 One mass observer Single mass observer Observer with acce
7. Table 771 Selection of commutation method Parameter name P no Designation in DM 5 Function settings Selection of commutationfind P0390 CON ICOM Selection of the commutation method ing method OFF 0 Function off off Autocommutation IENCC 1 with motion A method that is easy IENCC 1 Current injection to parameterize but which causes the rotor to move as much as half a revolution or half a pole pitch with 1 2 Autocommutation LHMES 2 with braked machine LHMESS 2 Saturation of inductance During autocommutation the machine must be blocked by a suit evaluated able brake The occurring torques and forces may attain the rated torque and force of the machine IECSC 3 Not implemented Not implemented Autocommutation IENCC 4 with minimized motion IECON 4 Current injection minimized In this case too the rotor must be able to move However with movement suitable parameterization the rotor movement can be reduced to just a few degrees mm HALLS 5 Not implemented yet as from V 3 0 The IENCC 1 method movement of shaft permitted With IENCC the rotor aligns in direction of the injected current and thus in a defined position The relatively large movement up to half a rotor revolution must be taken into consideration This method cannot be used near end stops or limit switches It is advisable to use the rated current I for the injected current The time should be set so that the rotor is at rest during
8. 240 240 0 600 360 240 S 240 d 04 2015 Response of relative positioning jobs Relative positioning jobs always relate to the last target position even if it has not yet been reached such as when activated during positioning In the case of relative positioning jobs paths greater than the circumference are possible if the target position is greater than the circumference Example Circumference 360 relative target position 800 start position 0 Here the drive performs two full revolutions 720 and stops on the third revolution at 80 800 720 Response of infinite positioning jobs In the case of infinite positioning jobs the drive is moved at a preset speed A target position contained in this driving set is irrelevant Infinite positioning jobs move at preset speed without taking into account the circumference On switching to the next driving set absolute or relative the new target position is approached in the current direction of movement Any preset path optimization is ignored SERCOS profile When using the SERCOS profile the term weighting is used in defining the units The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position speed torque and acceleratio
9. A Attention Parameters of the Autocommutation subject area must only be changed by qualified personnel If they are set incorrectly the motor may start up in an uncontrolled manner Note It is advisable to parameterize speed tracking error monitoring with the Power stage off error response This moni toring feature reliably prevents the motor from racing 4 8 Commissioning 4 8 1 Autotuning The drive controller is able to automatically determine the moment of inertia reduced to the motor shaft by means of a test signal However this requires that the mass moment of inertia only fluctuates very little or not at all during motion The moment of inertia has the following effect on the control response It is taken into account when calculating the speed controller gain In feedforward the moment of inertia is used to translate the acceleration into force torque or q current With a parameterized observer it represents a model parameter and the calculation of the observer gain is based on the adjusted value To determine the mass inertia the drive controller generates a pendulum movement of the connected motor complete with the mechanism and uses the ratio of acceleration torque to speed change to determine the mass inertia of the overall system 79 After the control has been started determination of the mass inertia is activated by setting the control word P 1517 SCD_AT_JsumCon to the value Start 2 T
10. Type 5 6 Negative reference cam and zero pulse The initial movement is towards the positive right hardware limit switch and the reference cam is active see symbol A in figure 115 1 With type 5 the first zero pulse after the falling edge corresponds to the zero When the reference cam becomes inactive the direction of movement with type 6 will be reversed and the first index pulse after the rising edge corresponds to the zero point The initial movement is towards the negative left hardware limit switch and the reference cam is inactive see symbol B in 115 1 With type 5 the direction of movement is reversed as soon as the reference cam becomes active and the first zero pulse after the falling edge corresponds to the zero For type 6 the first index pulse after the rising edge corresponds to the zero point Illustration 1151 Type 5 6 Negative reference cam and zero pulse vi v2 v2 Zero pulse Reference cam l l 04 2015 1003374 15 Homing method for increment coded encoders Type 6 move negative direction for distance coded encoder Type 7 move positive direction for distance coded encoder Type 7 to 10 Reference cam zero pulse and positive limit switch The initial movement is in direction of the positive right hardware limit switch It and the reference cam are inactive see symbol A in illustration 1171 Type 7 reverses the direction of movement after an active re ference cam Th
11. AC Servo Controller YukonDrive M I A move iH le QUICKLINK www harmonicdrive de 1100 Fer Content ICIP ORGY SHOES cic samen ca WO vi du etu SEI 5 the power stage parameters uncertain iR 5 24 Loading motor data 24 1 Motor selection 2 2 Data sets for third party motors 2 2 1 Determining the data set for a rotary synchronous machine 2 3 Linear motor 2 4 Asynchronous motor 2 4 1 Electrical data 2 4 2 Saturation characteristic for main inductance 2 5 Motor protection 3 Encoder 3 1 SinCos X7 channel 1 3 1 1 Zero pulse evaluation via encoder channel 1 3 1 2 Overflow shift in multiturn range 3 1 3 Use of a multiturn encoder as a singleturn encoder 3 1 4 Encoder correction GPOC 3 2 Resolver X6 channel 2 3 3 Optional encoder module X8 channel 3 3 4 Encoder gearing 3 5 Increment coded reference marks 3 6 Pin assignment for X6 and X7 X8 3 7 Axis correction 4 Control 4 1 Control basic setting 4 2 Current control 4 24 Detent torque compensation Anti cogging 4 2 2 Advanced torque control 4 2 3 Current control with defined bandwidth 4 3 Speed control 4 4 Position control 4 5 Asynchronous motor field weakening 4 6 Synchronous motor field weakening 4 7 Autocommutation 4 8 Commissioning 4 8 1 Autotuning 4 8 2 Test signal generator TG 4 9 Motor test via V F characteristic
12. Key features Data transfer using two wire twisted pair cable RS 485 Optionally 9 6 K 19 2 K 45 45 K 93 75 187 5 K 500 K 1 5 M 3M 6 Mor 12 MBaud Automatic baud rate detection PROFIBUS address can be set using the rotary coding switches or alternatively using the addressing parameters Cyclic data exchange reference and actual values using DPVO Acyclic data exchange using DPV1 Synchronization of all connected drives using freeze mode and sync mode Reading and writing drive parameters using the PKW channel or DPV1 Note For a detailed description of the PROFIBUS field bus system refer to the separate Profibus User Manual 04 2015 1003374 167 9 4 SERCOS Short description of the YukonDrive SERCOS interface The basis for implementing SERCOS in the YukonDrive is the document titled Specificati on SERCOS Interface Version 2 2 Key features Data transfer by fibre optic cable Optional y 2 4 8 or 16 MBaud Automatic baud rate detection Transmission power adjustable by DIP switches SERCOS Cyclic da SERCOS address programmable via buttons and display a exchange of references and actual values with exact time equidistance sampling time of 125 us to 65 ms multiples of 125 ps programmable Multi axis synchronization between reference action times and actual value measurement times of all drives in the oop Full sync Free configuration of telegram content hronizati
13. 0 SD03 HOMSW 10 Homing switch P 0104 0 0 004 21 Enable selected table indexP 0105 0 o 5005 TABO 23 Binary table index 270 P 0105 0 5006 1 24 Binary table index 2 1 0106 0 o Enable power stage hardware ENPO OFF 0 Hardware enable powerstage P 0100 0 v Show status of digital inputs 04 2015 1003374 Digital Filter 0 ms 9 ms 0 ms 0 ms 9 ms o ms 0 ms P0118 1 7 P 0118 0 0 ms Options 125 Illustration 126 1 Set contr Control Reference via Motor Profile Profile mode Profile type Example for Start function ol and reference via TERM 1 via terminals TAB 3 table ontrol start condition DFF 0 Switch off drive first in case of power or fault reset PG 0 setpoint effects to profile generator 0 Linear ramp trapeziodal profile Seven digital inputs 15000 to 15006 can be assigned a wide variety of functions via parameters P 0101 to P 0107 The two inputs ISDSH STO Safe Torque Off and ENPO Enable Power are reserved for the hardware enable For the touch probe function the two fast inputs 15005 and 15006 are provided Table 126 2 Overview of function selectors Parameter name JEMEN Designation 5 Function Settings 0100 MPRO_INPUT_FS_ENP
14. 1 RatioError synchronization and or speed control 0 6100 1 0 8000 time do not match 163 Table 164 1 Emergency P bea Errorregister Errorcode Error name Error location Description of error code P0030 DS 402 SERCOS 05 402 38 Brake chopper monitoring 1 BC Overload Braking chopper overload 0x4210 1 0x0000 39 TwinWindow Monitoring of speed and torque m Speed deviation between Master and 1 TwinWindow Speed Slave Torque deviation between Master 2 TwinWindow_Torque and Slave 40 Twin Sync Module Communication fault TECH option 1 TOPT_TWIN_CommLost 0 7300 1 0 8000 2 TOPT TWIN SwitchFreq 0x7300 1 0x8000 Error in Twin Sync technology option 3 TOPT TWIN ModeConflict 0x7300 1 0x8000 4 TOPT TWIN RemoteError 0x7300 1 0x8000 41 fast discharge DC bus Maximum period for fast discharge Maximum period for fast discharge 1 FastDischarge_Timeout 0x7300 1 0 8000 355 EtherCAT Master Implemen 42 Error EtherCat Master tation 1 Location can t specified DAT Communication error EtherCat Master 0x6100 1 0x8000 CommError 43 Ethernet interface Error in Ethernet configuration 1 Ethernet_Init Initialization error TCP IP communication 0 6100 1 0 8000 44 wire break detected No consumer on output X13 motor 1 WireBreak MotorBrake h 0x6100 1 0 8000 holding brake 45 LERR LockViolate Movement requested which was limited 1 by reversing lock li
15. 4 ParameterAdd Registration of a parameter 0x6320 1 0x1 5 ParameterCheck Check of current parameter list values 0x5530 1 0x1 6 ParameterLis gt Management of parameter list 0x6320 1 0 1 tAdmin Non resetable errors from PowerStage 7 ParaList_PST 0x5400 1 0 1 EEPROM data error Error in power stage initialization selected 8 ParaList_PST_VL 0 6320 1 Ox1 device voltage not supported 3 OFF 1 Off_MON_Device Undervoltage 0x3120 1 0x200 4 OverVoltage 1 OverVoltage_ Overvoltage 0 3110 1 0x100 MON_Device 5 OverCurrent 1 OverCurrent_Hard Overcurrent shut off by hardware 0x2250 1 0x80 warelrap 2 OverCurrent_ ie Overcurrent shut off fast by software 0x2350 1 0x80 3 OverCurrent_ Measuring range of AD converter exceeded 0x2350 1 0x80 4 OverCurrent_ Short circuit test on initialization 0x2350 1 0x80 WireTest 5 OverCurrent DC Fast Overcurrent shut off below 5 Hz 0x2350 1 0x80 6 OverCurrent_ Total current monitoring 0x2350 1 0x80 Zero 7 OverCurrent 2 Fast xt at high overload 0x2350 1 0x80 1275 6 OvertempMotor 1 OvertempMotor_ Calculated motor temperature above threshold 0x4310 1 0 4 MON_MotTemp value 2 OvertempMotor_ PTC to 0x4310 1 0 4 MON_Device_DIN1 3 OvertempMotor_ PTCto DIN2 0x4310 1 0 4 MON_Device_DIN2 4 OvertempMotor_ PTC to DIN3 0x4310 1 0 4 MON_Device_DIN3 7 Overtempinverter 1 OvertempInverter Heat sink temperature too hig
16. Limitation of rated motor current Note Information on motor temperature and current limitation is given in the Motor and Encoder sections l xt 150 04 2015 DC failure reaction If the value of the DC link voltage drops below the value set in parameter P 0747 MON_PF_OnLimit the error ERR 34 Power failure detected is reported and the parameterized error reaction is triggered By parameterizing a quick stop as the error reaction with a sufficiently steep deceleration ramp the DC link voltage can be maintained above the undervoltage threshold power failure bridging This reaction lasts until the drive has been braked to a low speed The default setting is 0 V function disabled 71 5 Software limit switches The software limit switches are only applicable in positioning mode and are only activated once homing has been completed successfully Table 151 1 P no Parameter name Settings Designation in DM 5 Function 607DH DS 402 Software Posi Positive and negative software P2235 MPRO_402_SoftwarePosLimit tion Limit limit switch 1 Software Position Limit Min position lim Negative limit switch 2 Software Position Limit Max position lim Positive limit switch The response to reaching a SW limit switch depends on the preset error response see parameter P 0030 Error reac tion Table 151 2 Positioning mode Reaction Absolut Before enabling an absolute motion task a check is made whether the ta
17. P0335 CON SCON DirLock Direction lock for speed reference value Directional lock left and right Scaling to the rated speed in P 0458 Motor P0328 CON_SCON_Max Speed control maximum speed rated speed P 0333 CON_SCON_S_MaxNeg Motor speed scaling of negative limit Speed limitation in negative direction P 0334 CON_SCON_S_MaxPos Motor speed scaling of positive limit Speed limitation in positive direction P 0337 CONSCON_S_MaxScale Motor speed scaling Percentage speed weighting default 100 P 0740 MON_SpeedThresh Monitoring speed threshold Setting of threshold for maximum speed P0744 MON_SDiffMax Monitoring speed difference threshold Setting of threshold for maximum tracking error 0167 MPRO_REF_OVR Motionprofile speed override factor Setting of override factor 71 3 Position limitation position limit Table 150 2 Parameter name Designation in DM 5 Function settings P 0743 MON UsrPosDiffMax Monitoring position difference threshold Limit value for the maximum permissible tracking error in USER units P0746 MON UsrPosWindow Position window for target reached Standstill window for position reached status 71 4 Powerstage Table 150 3 Parameter name 3 Designation in DM 5 Function settings Voltage limit for power fail F P 0747 MON_PF_ONLimit Voltage threshold for power failure response reaction P 0749 MON Def OverVoltage Overvoltage DC Link Voltage treshold for DC bus overvoltage
18. Setting of speed override dependent on the maximum preset reference value only in PG mode P0335 Reversing lock 5 2 3 Profile Generator Interpolated position mode The Profile Generator calculates the motion profile in two stages 1 Speed Profile Generator Calculation of the speed profile taking into account awa and v followed by integration of the speed to get the travel profile 2 Mean value filter In order to limit the jerk time a mean value filter is used to smooth the travel profile of the speed Profile Genera tor The jerk time is proportionate to the filtering depth of the mean value filter The longer the jerk time the lower the resulting jerk A jerk time of 0 means that the max permissible acceleration can be directly used for starting or braking the mean value filter is inactive 5 2 4 Speed control via the Profile Generator PG Mode To use the Profile Generator in speed control mode the two parameters P 0301 0 and P 0300 SCON 2 must be set When the reference source has been selected the reference is scaled to the matching user unit The reference is transferred in increments to the Profile Generator motion profile and passes via the fine interpolator basic settings to the speed controller 04 2015 102 Illustration 1031 Speed control in PG mode Speed Control with PG Mode P 0301 PG 0 Speed Control P 0300 SCON 2 P
19. TTLencoders TTL encoder with commutation signals For more information on the technology options please refer to the corresponding manuals 10 2 SinCos module The SinCos module enables evaluation of high resolution encoders A track signal period is interpolated at a 12 bit resolution fine interpolation 10 3 TTL module With the TTL module the following operation modes are possible Evaluation of a TTL encoder Simulation of a TTL encoder signals from other encoders are converted into TTL signals and made available as output signals for a slave axis TTL repeater evaluation and transmission of incoming TTL signals for additional axes 10 4 TTL encoder with commutation signals With this module the evaluation of incremental encoders providing rectangular position signals and additional rec tangular commutation signals is possible 11 Process controller 111 Function controller structure setup The process controller function enables a measured process variable to be controlled to a reference setpoint value Examples of applications are print dancer controls etc Process controller calculation in speed controller cycle Process controller as PI controller with Kp adptation Process controller actual value selectable via selector Filtering and offset correct of reference and actual values Process controller output can be connected to different points in the general control structure Process cont
20. the controller is not active Rated speed of the motor 1003374 04 2015 4 6 Synchronous motor field weakening Synchronous motors can also be operated above their rated speed at rated voltage by reducing their voltage consump tion based on injection of a current component The following conditions must be met 1 To effectively reduce the voltage demand the magnitude of P 0471 stator inductance multiplied by P 457 rated current must be large enough relative to P 0462 rotor flux Equation 731 Bedingung n Chom gt Factor Flux D P 0457 P0471 gt Factor P 0462 Reference Factor 0 2 A Attention 2 If the speed achieved by field weakening is so high that the induced voltage exceeds the overvoltage threshold of the device for 400 V devices approximately 800 V for 230 V devices approximately 400 V this will result in DESTRUCTION of the servocontroller if no additional external safety measures are applied Equation 73 2 Condition Rotor flux Speed in rad s noe 800 V 400 V device 0462 apr PUI S Y3 lt 400 V 230 V device 6 3 In contrast to field weakening of asynchronous motors synchronous motors can also be operated the field weakening range with full rated torque at the nominal value of the q current Power beyond the rated power output can therefore be drawn from the machine in field weakening mode even at rated current This must be take
21. triggering by falling edge The value is always written to this object As there is no 100 percent match with 05402 here P 2081 60BA Position value in user units 124 1003374 04 2015 6 Inputs outputs 6 1 Digital Inputs All digital inputs of the controller are set by way of a function selector By this selector a unique function can be assigned to each input Other settings can be made by clicking the gt Options button Function selector for the digital inputs Illustration 1251 Function selector Digit Inputs ISDxx Hardware enable Digit Inputs Settings OFF 0 No function 0101 15000 START 1 Start motor control P 0102 ISDO1 Terminal 2 not defined pows mus EDO Soo P 0105 15004 S P 0106 15005 0107 18006 TAB1 24 Binary table index 2 1 TAB2 25 Binary table index 2 26 siartableindek2 Hardware enable Terminal digital OFF 0 Hardware enable powerstage Inputs START 1 P 1158 Oe es dig ISDSH 0 Activate Safety Torque Oft STO Inputs P 0108 050 81 Illustration 125 2 Screen for the digital inputs Digital standard inputs Low active 5000 1 Start motor control 0101 0 0 spot E_EXT 11 External error 0102 0 5002 HOMST 3 Start homing Po103 0
22. 0x7307 1 0x20 EncObs_20c monitoring 4 EncCH3lnit EnDat2 1 Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 NoEnDat2 1 No EnDat2 1 encoder encoder may be SSI 0x7307 5 EncCH3lnit Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1 Lines Plausibility check Lines from encoder 6 EncCH3Init Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1 Multiturn Plausibility check Multiturn from encoder 7 EncCH3lnit _ Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1_Singleturn Plausibility check Singleturn from encoder 8 EncCH3Init_ Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1 CrcPos CRC error position transfer 9 EncCH3lnit Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1 CrcData CRC error data transfer 10 EncCH3lnit EnDat2 1 Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 WriteToProt An attempt was made to write to the protection cells in the encoder 11 EncCH3lnit _ Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 EnDat2 1_SscTimeout Timeout on SSC transfer 12 EncCH3lnit EnDat2 1 Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 StartbitTimeout Timeout no start bit from encoder 13 EncCH3lnit_EnDat2 1_ Encoder channel 3 initialization EnDat2 1 0x7307 1 0x20 PosConvert Position data not consistent 14 EncCH3Init_SSI_Lines Encoder channel 3 initialization SSi Error 0x7307 0 20 initializing SSI inter
23. 61 Illustration 621 Position gain after read in of a standard motor data set E Qo oc eL LLa kakaa E n 7 8 j 5 8 S i i EN 148 ze 55 5 5 a 55 3 5 855 5 a8 3 aaa ALLLLLLLLHLILILTTIILILITI E 53 B E 100t udi 62 1003374 04 2015 Illustration 631 Optimized position gain KP position from 4000 to 7538 Optimized posistion gain 04 2015 0 5 ms Oms P 0372 Speed feedforwaward filter time constant P 0360 Position control gain 7538 P 0374 Delay position reference 1003374 finer CON_PCON_PosDiff nact rpm nref 1 min 200 4 100 4 300 4 63 Feedforward of speed torque force The feedforward of the acceleration torque relieves the strain on the speed controller and optimizes the control response of the drive To feedforward the acceleration torque the mass inertia reduced to the motor shaft must be known If the parameter for the overall mass inertia of the system P 1516 has a value unequal to 0 that value will be automatically used to feedforward the acceleration torque The feedforward of the speed reference is preset by default to 100 via parameter P 0375 CON_IP_SFF_Scale This value should not be changed The acceleration torque feedforward can be optimized wi
24. Motor e mute i commutation 0 OFF 1 Ch1 1 SinCos X7 oqo P0521 2 Speed Info 2 Ch2 2 Resolver X6 e 3 Ch3 3 Option X8 Feedback Speed 0 OFF 1 Ch1 1 SinCos X7 P 0522 I Position Info e 7 2 Ch202 Resolver 3 Ch3 3 Option X8 Feedback oe Position Illustration 20 2 Screen for setting the encoder channel Encoder selection Encoder for commutation and torque control loop Set encoder Encoder offset 0 deg Detect Encoder for speed control loop CH2 2 Channel 2 Resolver x6 Set encoder Encoder for position control loop CH2 2 Channel 2 Resolver x6 v Set encoder 20 1003374 04 2015 Assignment of encoder information to control Table 211 Assignment of encoder information to control Parameter name gt Description in DM5 Function settings Encoder Channel Select for Motor Selection of encoder channel for commutation angle 0520 _ Commutation feedback signal for field oriented control Encoder Channel Select for Speed Selection of encoder channel for speed configuration 0521 _5 feedback signal for speed control Encoder Channel Select for Position Selection of encoder channel for position information P0522 ENC_PCon Control feedback signal for position
25. Nonlinear stator inductance due to saturation of the motor 100 X 0 x 100 z Stator inductance 100 x Rated current od 33 mH at of 476 100 200 100 300 X 04 2015 1003374 45 In the lower area of the screen the values for the interpolation points are entered On the left are the inductance values and on the right the values for the overload gt 100 96 of rated current Illustration 461 Example of current control adaptattion Scaleing of q stator inductance L 0 100 1 90 0472 Interpolation 2 68 points Index 0 3 3 30 _ Scaling In 96 In x15 Inx 7 In x 4 6 P 0472 Interpolations pointes Index 4 7 Table 46 2 Parameter name no Description in DM 5 Function settings n q Stator inductance variation 0472 MOT_LsigDiff Scaling of q stator inductance in 96 of MOT Lsig Scaling of q stator inductance in 96 0 3 10096 Lsig_q 0 3 j t interpolation points 0 3 Scaling of rated motor current in 96 47 100 Current 0 3 Interpolation points 4 7 Note Between the interpolation points the scaling factor is interpolated in linear mode The current scaling of the inductance is plotted in the scope variable Is ActVal under Control Flux Model Observer Current Calculation To increase the current control dynamism and reduce the tendency to oscillation there is a so called observer It predicts the
26. OFF 0 1 2 Motion profile Motion profile Refernce Value in ication 798 User units Trees Profil Generator not defined 4 PG m PLC CiA DS402 Stop Ramps SERCOS Smoothing PARA User Filter DS402 7 amp SERCOS 8 PROFIBUS 9 VARAN 10 104 im BUS Sampling time 1 ms 1003374 04 2015 5 2 7 Position control via IP mode In position control mode in IP mode position references are set at a sampling time specified by the higher level control The drive controller sampling time can be matched to the sampling time of the PLC using parameter P 0306 CON_Ip RefTS For more information on the sampling time refer to the field bus documentation The position references are then transferred to the fine interpolator The resulting pre control values for speed and acceleration are switched to the control loops Illustration 1051 Position control in IP mode Position Controll with IP Mode P 0301 IP 1 P 0300 PCON 3 P 0165 Sampling Time OFF 0 ANAO 1 Controll 2 Motion profile Basic settings 3 Feed forward controll isq_ref ref TABG reference Standardisation Interpolator it jassistent i n rel Lr not defined 4 User units in Uncrements E nre Picts cia 05402 EET MT SERCOS eps ref c
27. PT2 PT3 filters 10 Magnitude dB 2000 20 30 40 1 1 0 200 400 600 800 1000 1200 1400 1600 1800 Frequency Hz 0 50 Oo 5 7100 m a 150 200 1 1 0 200 400 600 800 1000 1200 1400 1600 1800 Frequency Hz Illustration 572 Notch filter Blocking frequency 500 Hz and bandwidths 25 50 75 and 100 Hz 2000 Magnitude dB EN 1 M 300 400 500 600 700 800 900 1000 Frequency Hz 100 50 Oo 5 g i amp _50 199 0 500 1000 1500 Frequency Hz 04 2015 57 Note that the filters not only have an effect on the amount but also on the phase of the frequency response At lower frequencies higher order filters PT3 PT4 should not be used as the phase within the control bandwidth is negatively influenced Note The coefficients can also be specified directly via parameter P 0327 CON SCON FilterPara They take effect directly so changing them is only recommended when the control is switched off Procedure Scope setting Isq unfiltered torque forming current Set shortest sampling time Create scope plot without notch filtering Click Mathematical functions gt FFT Fourier analysis icon From the following pop up menu choose isq Disturbance frequency is displayed Select filter Select f
28. Torque reference P0419 CON_SCON_ActTorque Actual torque Actual torque 0700 MON_CurrentRMS Actual current r m s Actual current mean value P0702 MON_State Device status word Status word Power stage temperature of cooling P0703 MON_PowerStage_TKK ELA Heat sink temperature oc P0704 MON Device Tint Power stage temperature of interior Interior temperature P0734 MON MotorTemp Motor temperature Motor temperature P0742 MON UsrPosDiffHistory Monitoring maximum position difference Position tracking error in user units Further actual values can be found in field parameter P 0701 Table 178 2 Parameter name Setting DesignationinDM5 Function AEN Display of motor and controller P0701 MON_ActValues Monitoring actual values of motor and inverter actual values Actual values of l xt integrator for motor Actual value of the xt integrator for 0 xt Motor 1 protection motor protection Actual values of l xt integrator for inverter Actual value of the xt integrator for 1 lxt Inverter protection controller protection Actual value of motor current 2 Phasor Actual motor current amplitude i amplitude A UM Actual amplitude value of 3 Imag Actual magnetization d current amplitude magnetizing current 4 Km Actual torque constant Torque constant 178 100 04 2015 Interpolation method Table 179 1 P0370 CON IP Interpolation method in IP mode 0 NOIp 0 No interpolation 1
29. acceleration and braking ramps jerk smoothing are implemented Internal generation always takes place with a sampling time of 1 ms 1 IP 1 Setpoint effects directly to control loop IP 1 The reference assignment of the higher level without ramp control leads directly to the fine interpolator Adaptation of the sampling time between the PLC and the drive controller is essential 0 A Adaptation of Sampling Time between ext Control P 0306 CON_IpRefTS Sampling time for interpolation and drive controller 0 25 ms 1000 ms P 0370 CON IP Interpolation type control Selection of interpolation method The interpolation methods are described in section 0 Nolp 0 No interpolation 15 1 Lin 1 Linear interpolation Linear interpolation 2 SplineExtFF 2 Interpolation with external feed forward Interpolation with external pre control value 3 Splinell 3 Cubic spline interpolation Cubic spline interpolation 4 NonIPSpline 4 Cubic spline approximation Cubic spline approximation 04 2015 10 101 5 2 1 Control location control source Set control and Reference P 0159 Selection of control location P 0165 Selection of reference source P 0144 Selection of controller start condition Autostart 5 2 2 Profiles P0301 Selection of reference processing via Profile Generator or interpolated position mode P2243 Setting of different smoothing curves only in PG mode P0166 Setting of smoothing time only in PG mode P0167
30. defined Not defined 5 PLC Profile via PLC definition Reference from PLC 6 PARA Profile via parameter definition Reference via parameter 7 05402 Profile via 05402 definition Reference via 14402 1E1131 8 SERCOS Profile via SERCOS definition Reference via SERCOS 9 PROFI Profil via PROFIBUS definition Reference via PROFIBUS Table 129 2 Required parameters P no Parameter name settings Designation in DM 5 Function P 0101 P 0107 MPRO INPUT FS ISDOO 15006 Function of digital input Set digital input to MAN 14 The control mode must not be changed when 0159 MPRO_CTRL_SEL Motion control selection switching reference source P0164 MPRO_REF_SEL_MAN Motion profile selection Target reference source 0165 MPRO_REF_SEL Motion profile selction Reference source 0300 CON CfeCon Select control mode Control mode must not be changed When a digital input set to MAN 14 is activated the control location 0159 MPRO REF SEL is set to TERM lel the reference source is set to the reference selected via paramater switch to TERM is not displayed in DM5 In para 0164 MPRO REF SEL MAN Additionally the start signal must be connected to a digital input ISDxx Start The control mode P 0300 CON CfgCon cannot be switched MAN 14 mode is displayed in the remote bit in the CIA 402 129 Note Itis not possible to switch to MAN mode when the power stage is activated system state
31. interpolation point pitch x number of interpolation points table values start position only if start position z 0 04 2015 33 Table 34 1 Required parameters Parameter name settings Designation in DM 5 Function 0530 0531 0590 0591 ENC_Encoder1Sel ENC_Encoder2Sel ENC_ACOR_Sel ENC_ACOR_PosStart ENC Channel selection as SERCOS encoder 1 ENC Channel selection as SERCOS encoder 2 Axis Correction Select Axis Correction Start Position P 0592 ENC_ACOR_PosEnd Axis Correction End Position Channel selection for the 1st encoder Channel selection for the 2nd encoder Selection of the encoder whose actual positi on value is to be changed Setting range 0 1 151 encoder 2 2nd encoder Definition of correction range The range is defined by parameters P 0591 Start Position and P 0592 End Position The start position is user specified the end position is determined on the device side from the maximum value of correction table interpolation points used P 0595 P 0596 and the interpolation point pitch P 0593 0593 P0594 0595 0596 34 ENC ACOR PosDelta ENC ACOR Val ENC_ACOR_VnegTab ENC_ACOR_VposTab Axis Correction Delta Position Axis Correction Actual Position Value Axis Correction Table for neg speed Axis Correction Table for pos speed Interpolation point pitch The positio
32. is successful the torque control is adequately configured An adjustment to the machine mechanism and to the motion profile is also required Enter motor data Click the Start identification button llustration 111 Motor identification Calculation of control settings for AS motor Motor name Name plate data Rated voltage 330 Rated current 35 Rated speed 3000 rpm Rated frequency 100 Hz Rated torque 47 Nm OR F 19145 Inertia Motor inertia 0 00035 kg m m Total inertia 0 00035364 kg m m Motor impedances Stator resistance 2 3 Ohm Leakage inductance 55 mH 100 Rotor resistance 0 m 0 Ohm x 1902 Start calculation Show motor parameters Illustration 11 2 Electrical data of the asynchronous machine AS motor electrical parameters Motor name lt Pole pairs 5 Rated flux 0120 Vs Motor impedances Stator resistance 23 Ohm Leakage inductance 55 mH 100 Rotor resistance 0 Ohm x 100 Magnetisation characteristic Magnetisation curent 0 mei 100 Rated main inductance 1 09 mH 04 2015 1003374 Ti Table 12 1 Parameter name P no Designation in DM5 Function settings P0490 MOT IsLinMot ROT 0 Motor selection Selection for rotary or linear motor P0451 MOT_Type Motor type Motor ty
33. motion profile SERCOS Via PROFIBUS DPV motion 7 PROFIBUS 7 PROFIBUS profile 0144 MPRO_DRVCOM_Auto_start DriveCom Auto start of system Autostart function Normal operation The drive is stopped by Switch off drive first in case of 0 Off 0 cancelling the start condition or in the event of power or fault reset an error The drive automatically starts immediately on Start Restart drive automaticly i 1 ON 1 completion of initialization provided the mains in case of power or fault voltage is connected 100 1003374 04 2015 Table 1011 Parameter name P no Designation in DM 5 Function Settings P 0165 MPRO REF SEL Motion profile selection Selection of reference source 0 OFF 0 No setpoint No reference selected 1 1 Via analog channel ISAO Analog input ISAO 2 ANA1 2 Via analog channel ISA1 Analog input ISA1 3 TAB 3 Via table Table values 4 PLC4 Basic Library PLC open CoDeSys IPLC 5 PLC 5 Via IEC 61131 program CoDeSys IPLC 6 PARA 6 Via Parameterdefinition The reference is preset by parameter 7 CiA 402 7 Via CiA CiA 402 motion profile 05402 8 SERCOS 8 Via SERCOS motion profile SERCOS 3 PROFIBUS 9 Via PROFIBUS DPV motion profile PROFIBUS 0301 Con_Ref_Mode Select Reference Mode Selection of interpolation mode 0 PG 0 Setpoint effects to profile generator 0 The internal reference is generated by the Profile Generator In it all ramp functions such as
34. motor via contactor 22 PLC PLC sets output Use output via PLC program 23 WARN Warning Collective warning message 24 WUV Warning undervoltage Warning undervoltage in DC link 25 Warning overvoltage Warning voltage overload in DC link 26 WIT Warning l xt power stage Warning l xt power stage protection threshold reached Warning overtemperatur 7 27 WOTM Warning motor temperature motor Warni ti t 28 WOTI d S Warning heat sink temperature of inverter rive Warning overtemperatur cee iv 29 WOTD Warning internal temperature in inverter motor Warni t threshold 30 WLIS MS ULL Warning apparent current limit value exceeded reaction Warning speed threshold 31 WLS A EUR Iss Warning speed limit value exceeded reaction Warning 12 motor 32 WIT P Warning I xt motor protection threshold protection Warning ti e fo 33 WLTQ EA Warning torque limit value exceeded 34 TBACT Table positioning active Table positioning in AUTO and activated state 35 TBO Actual table index 2 Significance 2 36 TB1 Actual table index 2 Significance 2 37 TB2 Actual table index 22 Significance 2 38 TB3 Actual table index 2 Significance 2 39 54 CM1 CM16 Cam switch 11016 Cam group as from V 2 0 55 SH_S Safe Standstill activ STO function activated 56 BC Fail Brake chopper failure signet Braking chopper error Warnings warning thresholds are set via P 0730 MON_WarningLevel Out
35. of the mechanically dictated P 0213 MPRO BRK LiftTime Motor brake lift time opening time of the brake An applied reference will only be activated when this timer has elapsed The Closetime starts after removing the start condition or P0214 MPRO CloseTime Motor brake close time in case of a fault It is the mechanically dictated time which a brake takes to close PE dw The rise time is the rise of the ramp to build up the reference 0215 MPRO_RiseTime Motor brake torque rise time torque Mref The fade time is the descending ramp to reduce the refer 0216 MPRO_FadeTime Motor brake torque fade time ence torque Mref to 0 If the loads change on restarting a restart with the Last Torque torque on shutdown is recommended In this case Motor brake factor for applica the actual value parameter is applied with a factor 1 100 0217 MPRO_BRK_LastTorqFact tion of last torque 9 0 off Note On the very first power up a StartTorque P 0218 must be set If the moving load always remains constant M is set by way of parameter P 0218 StartTorque lasttorque lasttorque factor starttorque When following the formula and setting the LastTorq factor Motor brake contstant initial 0 one only uses the StartTorque setting If StartTorque P 0218 MPRO BRK StartTorq torque Ois set the Last Torque is also used On the very first operation there is no LastTorque though In this case StartTorque is set 0 and Las
36. of the speed controller To activate step responses the controller should be operated in speed control mode SCON The important factor here is that the speed controller shows low level signal response which means that the q current reference does not reach the limitation during the step In this case the magnitude of the reference step P 0402 must be reduced Table 491 Parameters Parameter name Settings Designation DM5 Function 0165 MPRO_REF_SEL TAB 3 via table Selection of reference source P0300 CON Cfge Con SCON 2 Speed control activated P 0320 CON SCON Kp Speed controller gain P0321 CON SCON Tn Speed controller lag time P 0322 CON SCON KpScale 100 96 Gain scaling P0328 CON SCON SMax Speed limitation Recommended setting 0 6 P 0351 CON SCALC TF Actual speed filter to1 2ms P0402 CON_SCON_AddSRef Speed reference Speed reference 04 2015 10 49 Execution via Manual mode window The reference steps necessary for optimization can be executed in a user friendly way via the Manual mode window The following settings are required for the manual mode window and the oscilloscope Illustration 501 Optimizing the speed controller Manual mode Servodrive v 9X Control mode SCON 2 Speed control mode Standard mode Jog mode Reverse mode Motion profile Acceleration 0 rev min s Deceleration 1000 rev min s Refere
37. quantities for a linear motor P 0490 LIN 1 the parameter automatically sets the number of pole pairs for the motor to 0463 1 As a result a North to North pole pitch corresponds to one virtual revolution P 0492 PS Linear motor Illustration 91 PS Linear motor screen Calculation of control settings for linear PS motor Motor name Name plate data Rated voltage Maximum speed dms Rated force 290 N Weight Motor weight coil Motor impedances Stator resistance 23 SO um Start calculation 04 2015 1003374 Rated current Magnet pitch NN Total weight Stator inductance 55 mH MM Show motor parameters The following values are calculated Translation of the linear nominal quantities into virtual rotary nominal quantities Default values for autocommutation Encoder lines per virtual revolution Calculation of current speed and position control parameters The default value for speed tracking error monitoring corresponds to 50 96 of the nominal speed V F characteristic boost voltage rated voltage rated frequency Table 101 Parameters linear motor Parameter name 1 no Designation in DM5 Function settings Selection if linear rotatory Selection for rotary or linear P0490 MOT_IsLinMot gt LIN 1 motor data are valid motor P0450 MOT_Type gt PSM Motortype Motor t
38. response acceleration is again possible in the old Control active state Table 108 1 P2218 Designation in DM 5 Function POFF 0 0 0 Disable power stage drive function Disable power stages the drive coasts to a stop The drive brakes with the programmed deceleration ramp then the SDR 1 1 1 Slow down on slow down ramp A power stage is disabled Braking with quick stop ramp then the power stage is disabled The factory setting QSR 2 incorporates use of a holding brake If the settings QSR 2 2 2 Slow down on slow quickstop ramp differ from the factory setting the possible use of a holding brake needs to be taken into account Braking with max dynamism at the current limit The speed reference CLIM 3 3 3 Slow down on current limit bare value is set equal to 0 then the power stage is disabled Reserve 4 Reserve SDR_05 S 5 5 Slow down on slow down ramp and Braking with programmed deceleration ramp The drive remains in the stay in quickstop quick stop state current is applied to the axis at zero speed O5R O5 6 6 6 Slow down on quickstop ramp and stay Braking with emergency stop ramp The drive remains in the quick stop quickstop state current is applied to the axis at speed 0 PE Braking with max dynamism at the current limit The speed reference is 7 7 Slow down on current limit and stay CLIM_QS 7 2 set equal to 0 The drive remains in in quickstop the quick stop state current is appl
39. start the drive Illustration 1281 Power up sequence for control Power up sequence Command System state 1 ISDSH STO STOISDSH 2 Starting lockout 0 ENPO STO 1 STO _____ ENPO Enable Power 3 Ready for starting 2 25 pj e START 1 i ada aia 0 FS ISDXX or Start BIT START 1 4 Switched on Time span is depending e Control active on the motor 1 m 0 xt control active 5 Control active 128 1003374 04 2015 If the power up sequence as shown in figure 100 is followed the drive starts with a rising edge of the digital input parameterized to START or when the corresponding Start bit is set via a bus system The reference polarity determines the direction of rotation 5 1 4 Manual drive control via digital inputs Setting a digital input to MAN 14 allows a change of control location to the reference source selected in P 0164 MPRO REF SEL MAN This enables fast switching to manual control for setup or emergency running mode for example Table 129 1 P no Parameter name settings Designation in DM 5 Function P0164 MPRO INPUT FS ISDx Function of digital input Function selection 0 OFF No profile selected No profile selected 1 ANAO Profile via channel analog 0 Reference value ok analog input ISAO 2 Profile via channel analog1 Reference yale ch input ISA1 3 TAB Profile via table positioning Reference from table 4 4 Not
40. step This can be identified by its assuming a con stant value over a certain time during the acceleration phase In this case either the maximum torque P 0329 CON SCON_TMax Tmax must be increased or the level of the reference reduced 04 2015 1003374 51 Illustration 521 Speed step 600 rpm Speed step 600U min Recording time 85 ms Stiffness 100 708 317 pa e 4 o n T it TR a i METTE nat Pi rale cia 1 303 Uber T T 7 T ar T T nref 1 min nact rpm 0 CON SCON ActTorque Nm inl T2 Differenz Zeit s 0 0 033 0 039 V Reference speed summed 1 min 48 856 600 551 144 act speed from filter rpm 5 806 601 993 607 799 V Istdrehmoment Nm 0 151 0 307 0 156 Scaling the control parameters The parameters for gain lag time and actual speed filter time can be set by way of the scaling factor P 0322 CON_SCON_KpScale The default setting of the scaling factor is 100 A change in scaling causes a change in the three variable at an appropriate ratio The recommended setting of the actual speed filter 0351 CON_SCALC_TF for a synchronous motor is 0 6 to 1 2 ms Speed controller gain reduction at low rotation speeds To avoid standstill oscillations with a simultaneously highly dynamic speed control setting during a short positioning cycle the speed control gain can be adapted at
41. stiffness of the control By setting of a value in percent the stiffness and phase margin of the speed control loop is affected With the values for stiffness as given in P1515 the moment of inertia and the speed filter time constant P0351 the PI speed controller P0320 P0321 and the P position controller P0360 will be set Also the observer for a single mass system is set but not yet activated Speed feedback still is linked via the delaying digital filter 4 2 Current control By optimizing the current controller it can be adapted to the special requirements of the drive task For dynamic applications it is highly advisable to design the current controller as dynamically as possible with a short rise time For noise sensitive applications aless dynamic setting with a longer rise time is recommended 40 1003374 04 2015 Current controller optimization In order to optimize the current control loop two rectangular steps must be preset The first step stage 1 time 1 moves the rotor to a defined position The second step stage 2 time 2 is used to assess the current control step response This should correspond to the rated current of the motor The Start Test Signal button opens a screen containing a safety notice before the step response can be generated The necessary setting of the scope function is made automatically by the wizard The time base can be set manually Illustration 411 04 2015 Field cont
42. the driving set parameters the units and scaling must first be checked Selection of driving Table 122 2 Activation sets Setting Description Triggering via terminal _ 1 0 configuration Triggering via terminal _ 1 0 configuration Triggering via field bus system Triggering via field bus system 122 control word Input ISDxx TBEN Input ISDxx TABO to TAB3 Cross check Execute motion task bit with Activate follow up task bit Check adjustment with control word Enabling a selected driving set The selection of a new motion task always interrupts an ongoing positioning or follow up task logic The binary significance 2 2 22 2 results from the TABx assignment The setting has the lowest significance 2 and the TAB3 the highest 22 A Logical 1 level at the input activates the significance Enabling a selected driving set The selection of anew motion task always interrupts an ongoing positioning or follow up task logic The binary significance 2 21 22 23 results from the TABx assignment ofthe control word The TABO setting has the lowest significance 2 and the TAB3 the highest 23 100 04 2015 Table settings dependent on control mode Table 123 1 Control mode Table reference Acceleration ramp Braking ramp Speed Positioning mode Torque 0195 0193 0194 5 0198 0196 P 0197 Position P0202 P0199 P0200 P0
43. the measurement For control purposes the commutation process can be recorded with the DriveManager Scope function The IECON 4 method movement of shaft not permitted The motor shaft motion can be minimized by a shaft angle controller The structure and parameters of the speed controller are used for the purpose The gain can be scaled via parameter P 0391 CON_ICOM_KpScale This therefore means that the speed control loop must already be set 77 Increasing the gain results in a reduction of the motion Anexcessively high gain will result in oscillation and noise In both methods 1 and 4 the flux forming current Isdref is injected as a test signal the characteristic of which is shown in the diagram The diagram illustrates the IECON 4 method Illustration 78 1 Schematic for the IENCC 1 and IECON 4 methods IECON Method Isdref I 1 P 0393 n CON_ICOM Current P 0392 gt CON_ICON t 0 42 time Table 78 2 Parameter setting P no Setting Function P 0391 0 10000 Scaling of dynamism P 0392 0 10000 ms Measuring time 0 500 ms Ramp time t 0 1 500 ms Injected current time t 1 2 500 ms Ramp time t 2 3 500 ms Injected current time t 3 P 0393 Preferential value 0 If Rated current lom Step 1 1 121 Rated current Step 2 For linear motors the values for time and current adjust automatically when calculating the data set Note Inexperienced use
44. the motor parameters must be known very precisely This applies in particular to the dependency of the main inductance on the magnetizing current It is essential to carry out a motor identification for field weakening mode In the process default values for the control circuits and the magnetic operating point are set based on the rated motor data and the magnetizing current presetting in P340 CON FM Imag Two variants are available for operation in field weakening mode 68 04 2015 Illustration 691 Asynchronous machine field weakening J043uo JUSIND vursbeui wd NoD 0 LvEOd vurisbewi wt NOD 0 LpEO d 53s14932e1eu U L peyipoui 2hsHe eJeu U L ei iz jueueA queue Buluayeam pjay snouoJupu sy 69 1003374 04 2015 Variant 1 recommended setting Combination of feedforward via 1 n characteristic voltage controller The motor identification sets the voltage controller so that the voltage supply in a weakened field is adequate If the drive controller is at the voltage limit it reduces the d current and thus the rotor flux Since the controller has only limited dynamism and starts to oscillate if larger eain factors are set there is a second option Variant 2 Combination of feedforward with modified 1 n characteristic isd f n voltage controller This characteristic descri
45. value is approached from the current position 04 2015 1003374 121 Table 122 1 Parameter name Index Designation in DM 5 Function Settings n Max time for position or With follow up tasks Wait time until execution of the next P0204 0 15 MPRO TAB Wait time speed control motion task 0205 MPRO TAB Mode Operation mode Selection of table values Control via parameter 0 0 Selection of a table value via P 0207 P0207 1 TERM 1 Control via terminals Selection of a table value via terminal 2 AUTO 2 Control via timer P0204 Selection of a table value via timerr 0204 3 BUS 2 Control via fieldbus Selection of a table value via field bus system Setting for number of table values to be worked through in sequence from top to bottom Example If this value is P0206 MPRO TAB Maxldx Max Index im AUTO Mode set to 6 the first six reference values from the table are worked through in sequence This process is repeated until the table is disabled or the start contact is removed P 0207 MPRO TAB Actldx Actual Index Display of the currently selected motion task Note Before a driving set can be executed the data set is first selected Then it must be read in If the activation is via terminal this is done with a digital input parameterized to TBEN A motion task is selected via field bus by setting the corresponding bits see field bus user manual Note Before configuring
46. with the aid of a looped back shift register Illustration 831 PRBS signal in time and frequency range PRBS Time range P 1509 SCD_TSIG_PRBS_Amp pRBS SCD TSIG PRBS Time Su o A DON _ PRBS Frequence range ies el OS e 27 o EOS Am ox pngs pres Np Apres PRBS Table 84 1 Test signal generator parameters P no Parameter name Settings Designation in DM 5 Function P1500 SCD TSGenCon Testsignal generator control word Control word of test signal generator Testsignal generator output signal 1501 SCD_TSIG_OutSel Test signal generator output selector selector P1502 SCD_TSIG_Cycles Number of Testsignal Cycles Number of cycles 1503 SCD_TSIG_Offset Testsignal generator Offsets Level of square signal Testsignal generator times for rectan 2 1504 SCD_TSIG_Time Period of square signal gular waves Testsignal generator amplitude of oa P1505 SCD_TSIG_Amp A Amplitude of sine signal sinusoidal wave Testsignal generator frequence of 24 P1506 SCD TSIG Freq i Frequency of sine signal sinusoidal wave Testsignal generator initial phase for Start phase of current space vector in VFCON P1507 SCD_TSIG_SetPhase rotating current vector and ICON mode Testsignal generator PRBS minimum A P1508 SCD_TSIG_PRBSTime PRBS signal generator sampling time toggle time Testsignal generator PRBS sign
47. zero Start the power stage via START motion control Start stop homing mode 60 Motion profile PG 0 setpoint effects to profile generator Acceleration 10000 rev min s Deceleration 10000 rev min s Speed rev min Mode absolute relative to actual speed controlled reference Reference 3800000 mDegree Motor control Quick stop Halt operation Stat L Star Start Activate manual mode Manual mode off Select standard mode Set ramps Specify position reference Activate scope function see Scope screen Start motion 1003 3 74 04 2015 Illustration 611 Oscilloscope settings Open scope Channel Hand operating trigger CH 0 speed reference 6 nref CH1 actual speed 13 nact Status Off CH 2 tracking error in user units 279 UsrPosDiff Container Trigger Trigger signal Speed reference 6 nref New Rising edge Level 30 rpm Channels Trigger Time Options Pretrigger 10 Time Heference speed summed Samplingtime base time 0 l min 6 25E 0 5 s Recording time 1 0 s aci speed from fiter 0 24476 rpm Position facking error in user units The position controller gain When a standard motor data set is read in the position controller gain is also adopted The setting equates to a controller with a medium rigidity Note In the default setting no smoothing is selected 04 2015 1003374
48. 0 unction can be found in the documentation Description of the safety function STO Digit Outputs 0122 05000 0123 05001 P 0124 05002 0126 RELOUT1 0142 0 C Low active C Low active C Low active C Low active Options Options Options Options Table 131 1 Parameter name settings Designation in DM 5 Description P0122 UD MPRO OUTPUT FS OSDOx Function of digital output Function selection 0 OFF 0 No function Output off 1 ERR 1 Error Collective error message Output becomes active in accordance with the holding 2 BRAKE 2 Motor brake brake function see section 4 6 Motor brake Power stage active and closed loop open loop control 3 ACTV 3 Power activ in function au ae Output is activated when the device is initialized after 4 S_RDY 4 Device initialized power on Output is activated when the device is Ready to switch on T based on setting of the ENPO signal and no error message 5 C RDY 5 Control initialized has occurred Device ready ReadyToSwitchOn in DriveCom status word set in states 3 4 5 6 7 The preset reference has been reached dependent on 6 REF Target reached control mode 7 HOMATD Homing attained Homing complete 8 E FLW Following error Tracking error 9 ROT_R Rotation right Motor in standstill window when running clockwise 10 ROT L Rotation left Motor in standstill window when running anti clockw
49. 0165 Sampling Time OFF 0 ANAO 1 ANAOQ Motion profile Motion profile Basic settings Standardisation no Referncevalue lassistent Referencevalue Profil Generator Interpolator not defined 4 in User units in Increments PG m Picts CiA DS402 Stop Ramps EGE SERCOS Smooth Interpolation PARA 6 a ames e CIA DS402 7 g SERCOS 8 PROFIBUS 9 1 VARAN 10 5 2 5 Speed control via IP mode L BUS Sampling time 1 ms Current 7 Control In speed control via IP mode Interpolated Velocity mode the reference values from the reference source are scaled always interpolated in linear mode and switched to the control loops No pre control values are generated Illustration 103 2 Speed control in IP mode P 0165 OFF 0 1 2 TAB 3 not defined 4 PLC 5 PARA 6 0540207 SERCOS 8 PROFIBUS 9 VARAN 10 04 2015 Reference Value in User units Motion profile Speed Control with IP Mode P 0301 IP 1 0300 SCON 2 Sampling Time Standardisation assistent CiA DS402 SERCOS User Basic settings Reference value in Interpolator Increments Select Interpolation Mode n_ref Speed Control Current BUS Sampling time 1 ms Control 103 5 2 6 Position control via the Profile Generator PG mode In position control mode in PG m
50. 120 04 In the following cases additional limitations of the torque may occur so that the parameterized limit torque is not reached Possible parameterization error Ratio of rated current to rated torque incorrect The torque constant of the motor parameterized by way of the flux for a synchronous machine or the magnetizing current for an asynchronous machine does not match the ratio of rated current and rated torque If the torque constant is less than this ratio the motor current is limited in order to prevent excessively high motor current These parameterization error is avoided by using an original motor data set or by generating the motor data using the servocontroller s calculation wizard Maximum power stage current too low The maximum current resulting from the torque limitation is greater than the maximum current of the power stage The field forming d current is not equal to zero In the field weakening range the field forming current isd becomes unequal to 0 for the synchronous machine The q current component isq a remaining for the torque is reduced correspondingly so that the maximum current is is not exceeded In the upper field weakening range for asynchronous machines the speed is then more than 3 to 5 times the rated speed the slip is limited to the pull out slip by reducing the torque limit ax 71 2 Speed limitation Speed Velocity The following illustration shows the structure of speed limitation The s
51. 173 2 P no Parameter name Settings Function P2672 CON PRC OUTSEL Selector for the additive reference values 0 OFF 0 No reference selected 1 Additive torque reference 1 Additive torque reference must be given in Nm 2 Additive speed reference 2 Additive speed reference must be given in rpm 4 Additive position reference 3 Additive position reference must be given in increments 5 Value for MotionProfile P 2678 is the parameter to which the control variable can be written in order 2678 CON_PRC_OUTSEL_MOPRO to be subsequently used in the motion profile 04 2015 100 173 Note The scaling of internal units to user specific units is set out in section 6 Motion profile Scope signals for visualization of the process control loop Table 174 1 Number Scope variable Description 2666 Ref prc Process controller reference P 2666 CON PRC REFVAL 78 Cdiff prc Control difference of the process controller P2675 CON PRC CDIFF 2676 Actuating var prc Control variable of the process controller 2676 CON PRC OUTVAL 2673 Raw actual prc Actual value of the selected actual value source P 2673 CON PRC RAW ACTVAL A Actval nit Momentary actual value of the process controller after filtering and scaling P 2674 CON _ 174 ACTVAL 04 2015 Appendix Drive status The Drive status window displays the current device status In an error state the green rectangle at the top turns red The re
52. 2 The current of the test signal generator is automatically set when the motor data is entered Optimize speed controller step responses section 4 4 Determine mass inertia J Section 4 1 1 Basic settings Adjust speed filter P 0351 FS 0 6 ms Recommended SinCos encoder 0 2 ms 0 6 ms Resolver 0 6 ms 1 5 ms Adjust rigidity Section 4 1 1 Basic settings Scaling IO s field buses etc see parameter table section 2 2 P0731 P 0732 0 1 P 0733 0 6 1503 0 1 P0320 P0321 P0322 P1517 P0351 P1515 P1516 183 Germany Harmonic Drive AG 14 65555 Limburg Lahn T 49 6431 5008 0 49 6431 5008 119 info harmonicdrive de www harmonicdrive de Subject to technical changes 1003374 04 2015
53. 201 P0203 Reference setting Motion Control provides references in user defined travel units These values must be converted into internal units This is done by way of the scaling block Standardisation units There are three options for scaling of the drive controller The selection is made via P0283 MPRO_FG_Type for more information see Scaling section Speed The speed can be specified signed A negative setting is only evaluated in case of infinite positioning It is limited by arameter P 0328 CON_SCON_SMax tarting and braking The acceleration values for starting and braking can be parameterized irrespective of each other The input must not be zero Accelerations are controlled by the limitations Follow up task The positioning jobs from zero up to the Number of follow up tasks to be processed set in P 0206 are continuously processed Once the driving set in P 0206 is finished the first data set is restarted Processing is only stopped by removing the start contact If a task has the setting REL at once the driving set can be aborted and a new one can be started immediately Driving sets in speed control Each driving set either for speed or torque has an acceleration and a braking ramp Table 123 2 P no Index Parameter name Settings Designation in DM 5 Function P 0196 0 15 MPRO TAB SAcc Speed mode acceleration Acceleration ramp P 0197 0 15 MPRO TAB SDec Speed mode deceleration Braking ram
54. 2015 Mains supply During initial commissioning the mains voltage setting must first be checked and adjusted as necessary via parameter P 0307 CON_VoltageSupply The combination of voltage value and switching frequency corresponds to a stored power stage data set A Attention Any changes to parameters must be saved in the device The setting is only applied on the device after a power off on cycle If the power stage parameters are changed the rated currents overload values and braking chopper thresholds may also change Switching frequency As another power stage parameter the switching frequency can also be set via P 0302 CON_SwitchFreq It is advisable to operate the drive controller with the default setting Increasing the switching frequency can be useful to improve the control dynamism Temperature related derating may occur Switching frequency noise decreases as the switching frequency rises audible range lt 12 kHz For an overview of the currents dependent on the switching frequency refer to the Operation Manual 2 Motor In general permanently excited synchronous motors can be driven as well as asynchronous motors In the case of motors from third party manufacturers basic suitability for operation with Harmonic Drive controllers must be verified on the basis of the motor data and the data of any installed encoder The values of the parameters for adaptation of the control device must be determined specifically for
55. C_ACTOFFSET Offset for actual value calibration P 2670 CON_PRC_ACTTF Filter time for actual value filter P2671 CON_PRC_ACTSCALE Scaling for the filtered process actual value P2672 CON PRC OUTSEL Selection parameter for the process controller output 0 OFF 0 Off 1 REFTORQUE 1 Additive torque reference 2 REFSPEED 2 Additive speed reference 3 REFPOS 3 Additive position reference 4 MOPRO 4 Value for MotionProfile CON_PRC_OUTSEL_MOPRO ID 2678 2673 CON_PRC_RAW_ACTVAL Actual value of the selected actual value source Daisy CON_PRC_ACTVAL Momentary actual value of the process controller after filtering and scaling P2675 CON_PRC_CDIFF Control difference of the process control loop 2676 CON_PRC_OUTVAL Process controller control variable P2677 CON PRC ACTVAL FIELDBUS Parameter to which an actual value can be written from the field bus Pam CON PRC OUTSEL Parameter to which the control variable can be written in order to be subsequently used in the motion profile P2680 CON_PRC_RateLimiter Steepness limitation of the control variable Steepness limitation in standard process controller operation unit x ms Karate Steepness limitation to reduce the process controller component unit X ms 04 2015 1 Table 172 1 P no Parameter name Settings Function P2681 CON_PRC_CtrlWord Control word of the process controller 0 PRC_CTRL_ON Switch on process controller PRC_C
56. D s Table 140 2 Parameter name P no Designation DM 5 Function settings 0173 MPRO ANAO Scale Scale factors Scaling weighting P0183 0 TScale Scale factor for torque reference Scaling for the torque reference Nm 10 V 1 SScale Scale factor for speed reference Scaling for the speed reference rpm 10 V 2 PScale Scale factor for position reference Scaling for the position reference user unit 10 V P0174 MPRO ANA1 OFF Offset Reference offset Nm 0184 0 TOffset Offset for torque reference Offset for the torque reference Nm 1 SOffset Offset for Speed reference Offset for the speed reference rpm 2 POffset Offset for position reference Offset for the position reference user unit 0175 MPRO ANAT Thresh Threshold Dead travel P0185 0 TThreshold Threshold for torque reference Dead travel for the torque reference Nm 1 SThreshold Threshold for speed reference Dead travel for the speed reference rpm 2 PThreshold Threshold for position reference Dead travel for the position reference user unit 0176 Acceleration ramp 0 and deceleration MPRO_ANAO_TRamp Acceleration ramp 0 braking ramp 1 P 0186 ramp 1 0 TRamp Torque acceleration ramp Torque acceleration ramp 1 TRamp Torque deceleration ramp Torque braking ramp P0177 Speed mode acceleration 0 and MPRO_ANAO_SRamp Acceleration and braking ramp P0187 deceleration 1 0 SRamp Speed acceleration ramp Speed acceleration ramp 1 SRamp Spe
57. F Motor actual speed 14 TC ON Cooler power electronics temperature Heat sink temperature reached 15 TC OFF Cooler power electronics temperature 16 Tint ON Internal control electronics temperature Housing internal temperature reached 7 Tint OFF Internal control electronics temperature 18 MotorTemp ON Motor temperatur Motor temperature reached 19 MotorTemp OFF Motor temperatur 166 9 Field bus systems Note For a detailed description of the field bus system refer to the separate documentation for the field bus 9 1 CANopen CANopen functionality of the YukonDrive The CANopen Communication Profile is documented in the DS 301 and regulates how communication is executed It differentiates between Process Data Objects PDOs and Service Data Objects SDOs The communica tion profile additionally defines a simplified network management system Based on the communication services of DS 301 Rev 4 01 the device profile for variable speed drives DSP402 was created It describes the operation modes and device parameters supported 9 2 EtherCAT EtherCAT is featured by outstanding performance easy cabling and its openness for other protocols EtherCAT sets new standards where conventional field bus systems comes to their limits 9 3 PROFIBUS DP Short description of the YukonDrive PROFIBUS DP interface Reference to PROFIdrive specification The implementation in the YukonDrive is based on the PROFIdrive profile
58. FG Reverse Direction of rotation False clockwise 1 875 U s entspr 1mm s P0274 MPRO FG SpeedFac Speed factor 1 32 mm 0 03125 rps 0 03125 rps 60 s 1 875 rps 1 32 mm 0 03125 rps P0275 MPRO_FG_AccFac Acceleration factor corresponding to 1 mm s 99 5 2 Basic setting Selection screen for the required motion profile Setting of control location reference source start condition profiles and a possible directional limitation Illustration 1001 Selection screen for control and reference Set control and reference Control via TERM 1 via terminals i Reference via TAB 3 table Motor control start condition QFF Q Switch off drive first in case of power fault reset v Profile Profile mode PG 0 setpoint effects to profile generator v Profile type 0 Linear ramp trapeziodal profile v Speed override w x Direction barrier 0 No locking Table 100 1 P no Parameter name Settings Designation in 5 Function P 0159 MPRO_CTRL_SEL Motion control selection Selection of control location 0 OFF 0 No control selector defined No control location selected 1 TERM 1 Via terminals Control via terminal 2 PARA 2 Via parameter interface via parameter 3 3 Not defined Not defined 4 PLC 4 Via IEC 61131 program IEC 1131 Via CiA 402 motion profile 5 CiA 402 5 05402 CANopen EtherCAT 6 SERCOS 6 Via SERCOS
59. Function settings Select current control P0432 CON CCONMode Voltage limitation of us us ef limitation mode id Hard Change over of 0 PRIO 0 S Hard switch from d priority motorized to q priority regenerative priority Expert mode Switch from d priority motorized to q priority Priority with reserve CON regenerative 1 PRIO_RES 1 CCON_VLimit A portion of the voltage is held reserve the amount can be specified via parameter P 0431 CON CCON_VLimit 2 Phase 2 CON CCONOV Mode Phase Phase correct limitation 3 HEX PHASE 3 Hexagon modulation Hexagon modulation with phase correct limitation More voltage is limitation with correct available for the motor The current exhibits a higher ripple at high phase angle voltages however Adaptation of current control Gain scheduling In the high overload range saturation effects reduce the inductance of many motors Consequently the current controller optimized to the rated current may oscillate or become unstable As a remedy it can be adapted to the degree of magnetic saturation of the motor The eain of the current controller can be adapted to the load case over four interpolation points Illustration 45 2 DM5 screen for adaptation to current controller PS motor electrical parameters Motor name Motori Pole pairs 5 Rated flux 0120 Vs Motor impedances Stator resistance 0 905 Ohm Stator inductance 93 mH
60. LT the Reference reached message is not sent in this phase The message only appears after the actual target position has been reached 133 Output function Switch motor contactor OSDxx ENMO 21 The motor cable must always be switched with the power cut otherwise problems such as burnt out contactor contacts overvoltage or overcurrent shut off may occur In order to assure de energized switching the contacts of the motor contactor must be closed before the power stage is enabled In the opposite case the contacts must remain closed until the power stage has been switched off This can be achieved by implementing the corresponding safety periods for switching of the motor contactor into the control sequence of the machine or by using the special ENMO software function of the drive controller A power contactor in the motor supply line can be directly controlled by the drive controller via parameter P 0125 MPRO OUTPUT FS MOTO ENMO By way of the timer P 0148 MPRO DRVCOM ENMO Ti the on and off delay of the power contactor can be taken into account This ensures that the reference will only be applied after the start enable when the contactor is closed or if the motor is isolated from the position controller via contactor when the power stage is inactive Note The MPRO DRVCOM ENMO Titimer time should allow additional times for typical contactor bounce They may be several hundred ms depending on contactor Motor brake output
61. Lin 1 Linear interpolation 2 Spline Ext FF 2 Interpolation with external pre control 3 Splinell 3 Cubic spline Interpolation 4 NonIPSpline 4 Cubic spline approximation NoIP 0 No interpolation The values are transferred 1 1 to reference processing in 1 ms cycles LIN 1 Linear interpolation Illustration 179 2 Linear interpolation Reference value Sollwerte A PS P9 P4 P3 P2 P10 P1 gt time 125 us 125 us Zeit E 500 us 1 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen With the linear interpolation method the acceleration between two points is generally zero Pre control of the acceleration values is thus not possible and speed jumps are always caused Application This method is used mainly for test purposes and for initial commissioning 179 SplineExtFF 2 Cubic spline interpolation with ext pre control value This method enables highly accurate adaptation of the position profile The expected result should exhibit high contouring accuracy and low reference actual value deviation Splinell 3 Cubic Spline Interpolation Illustration 180 1 Cubic Spline interpolation P 0305 125 us cycle Reference value Sollwerte A time 125 us asus Zeit 500 us 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen In this method inte
62. Mern 1800 rpm 3 130 100 4 lrag eff 100 140 30 5 150 70 6 160 55 7 170 0 04 2015 70 Table 711 P0340 P0341 P0342 P 0343 Voltage controller parameters Parameter name settings CON FM Imag CON FM ImagSLim CON FM SpeedTab CON FM ImagTab Designation in DM5 Magnetization current r m s Only valid for ASM Speed values for mag current scaling Mag current scaling vs speed Function Effective value of the rated current for magnetization Field weakening activation point as of P 0348 MOT SNom This effects the switch to the 1 n characteristic P 0341 0 For 0341 0 the field weakening works via the modified characteristic isd f n For a synchronous machine this value must be set to 0 Speed values scaled as of P 0458 to populate the modified table d current scaled as of P 0340 lnag eff to populate the modified table The voltage controller is overlaid on the selected characteristic When using the voltage controller a portion of the available voltage is used as a control reserve The more dynamic the running the more con that the controller starts to oscillate The PI vo rol reserve is required In this case it may be that the voltage for rated operation is not sufficient and also tage controller can be optimized by adaptation of the P eain P 0345 the lag time P 0346 and the filter time constant for the motor
63. NC CH2 Info Encoder information ch2 Encoder name 0506 ENC_CH2_Sel Encoder Channel 2 Select Interface configuration OFF 0 No evaluation RES 1 Resolver evaluation SinCos 2 Resolver excitation shut off evalu ation of a SinCos encoder or Hall sensor possible 0512 ENC_CH2_Num ENC CH2 Gear Numerator Numerator of transmission ratio P0513 ENC_CH2_Denom ENC_CH2 Gear Denominator Denominator of transmission ratio Encoder Channel 2 Number 0560 ENC_CH2_Lines Parameterization of number of pole pairs of resolver of Pole Pairs ENC_CH2 Signal correction 0561 ECC_CH2_Corr Activation of encoder correction function GPOC type Correction of phase shift in the case of line lengths gt 0565 ENC_CH2_LineDelay Line delay compensation 50m Only following consultation with Harmonic Drive AG Correction of a resolver signals phase shift In the case of lone resolver lines a phase shift occurs between the exciter signal and tracks A B due to the line inductance This effect reduces the amplitude of the resolver signals after demodulation and inverts their phase in the case of very lone line lengths The phase shift can be equalized with parameter P 0565 ENC CH2 LineDelay AN Attention Approvals have been issued for lines up to max 50 m Longer line lengths are only permitted following explicit approval by Harmonic Drive AG 3 3 Optional encoder module X8 channel 3 With the optional channel 3 it is possible to evalua
64. O Function of digital input ENPO Setting of hardware input ENPO Hardware enable OFF 0 powerstage The digital input ENPO terminal 10 on x4 is reserved for hardware enable In its default setting OFF itonly executes the Hardware enable function Apart from this it can also be assigned the START function In combina tion with parameter P 0144 DRVCOM AUTO START START 1 LEVEL autostart mode is active If STO is active activation of the hardware enable ENPO via terminal 10 on X4 is sufficient to switch on the drive control section 6 1 4 P 0101 MPRO INPUT FS ISDOO Function of digital input ISDOO P0102 MPRO INPUT FS 15001 Function of digital input 15001 Settings for the digital inputs 15000 15006 are listed in P 0103 MPRO_INPUT_FS_ISD02 Function of digital input 15002 the following table 0104 MPRO INPUT FS ISD03 Function of digital input 15003 P 0105 MPRO INPUT FS ISD04 Function of digital input 15004 n Settings for the digital inputs ISDOO ISDO6 are listed in P 0106 MPRO INPUT FS ISD05 Function of digital input 15005 the following table P 0107 MPRO INPUT FS ISD06 Function of digital input 15006 mo Reserved for STO Safe Torque Off see also Inputs P0108 MPRO_INPUT_FS_ISDSH Function of digital input ISDSH outputs section P0109 MPRO_INPUT_FS_ISA00 Function of analog input ISAOO Analog input ISAOO see Analog inputs section P0110 MPRO INPUT FS ISAO1 Function of analog input ISA01 Analog input ISA01 see Ana
65. RCOS g Undervoltage 10 Reserved for SERCOS 1 Reserved for SERCOS 12 Reserved for SERCOS 13 Reserved for SERCOS 14 Reserved for SERCOS 15 Reserved for SERCOS 16 xt integrator device exceeded 7 Monitoring of apparent current 18 Overvoltage 19 Protection of braking chopper warning threshold exceeded 20 Overtorque 21 Reserve 20 Reserve 23 Reserve 24 Speed reference limitation active 25 Current reference limitation 26 Right limit switch active 27 Left limit switch active 28 External warning via input 29 Reserve 30 Reserve 31 Reserve 165 The ON and OF F options enable suitable on and off thresholds switching hysteresis to be defined for the following warnings Table 166 1 Parameter name MON Meaning of Warning 0730 X Warnings Warning Level Level 0 UnderVoltage_ON DC link undervoltage Undervoltage 1 UnderVoltage_OFF DC link undervoltage 2 OverVColtage_ON DC link overvoltage Undervoltage B OverVoltage OFF DC link overvoltage 4 Current ON Motor current Motor current 5 Current OFF Motor current 6 Device I2t ON Pt internal device protection l xt device protection 7 Device 2t_OFF Pt internal device protection 8 Motor 121 ON Pt Motor protection lxt motor protection 9 Motor I2t__OFF Pt Motor protection 10 Torque ON Motortorque Torque limit reached Torque OFF Motor torque 12 Speed ON Motor actual speed Speed limit reached 13 Speed OF
66. RELOUT1 Output P 0125 MPRO OUTPUT FS Motor Brake should be used in conjunction with a brake If the output is set to BRAKE 2 the brake can be configured by way of the option field Illustration 1341 Brake output Motor brake details Torque rise time P 0215 0 0 ms 8 Break lift time P 0213 0 0 ms b Break close time P 02140 0 ms 0 Torque fade time P 0216 0 0 ms d Torque bias Constant start value P 0218 0 D Nm M soll Constant start value x Factor Factor last torque bias p 9217 0 0 1 1 3 apply break t 2 release break 134 1003374 04 2015 An optional holding brake built in to the motor provides protection against unwanted motion when the power is cut and in case of error If the brake is mounted on the axle mechanism and not directly on the shaft undesirably severe torsional forces may occur on sudden engagement of the brake A Attention Please check the settings of the stop ramps if use of a holding brake is specified Motion profile section Stop ramps The brake response can be adapted to the requirements of the application as shown in the following illustration and using the parameters listed This function can be used in both speed as well as position controlled operation 04 2015 1003374 135 Brake response Brake output RELOUT1 Illustration 136 1 un pezsnbio 90 1 bOd J oum yi ye
67. TRL_ResetiReady Reset via ramp after parameter 2680 subindex1 2 bis 7 PRC_CTRL_FREE Reserve P2882 CON_PRC_StatWord Status word of the process controller 0 PRC_STAT_On PSwitch on process controller 1 PRC STAT ResetlReady component of the process controller is reduced 2 0 PRC STAT FREE Reserve P2683 CON PRC REFSEL Selection of reference source P2684 CON PRC REFVAL User User input of process control reference Procedure 172 Set process controller reference P 2666 CON REFVAL Reference input in user units this parameter can be written cyclically over a field bus Scaling of the process controller reference P 2667 CON PRC REFSCALE The reference P2666 can be scaled taking into account the user units see Applica tion Manual Scaling Select actual value sources P 2668 CON PRC ACTSEL The actual value source must be set to the desired reference source e g field bus The field bus writes the actual value to parameter P 2677 CON PRC ACTVAL Fieldbus Select offset optional P 2669 CON PRC ACTOFFSET Setting of an offset for actual value calibration Scaling of the process controller actual value P 2670 CON PRC ACTSCALE filter time for the actual value filter ms The actual value is smoothed via the integral action time P 2670 gt 0 ms of the PT 1 filter Taking into account the user units Inversion of the control difference P 2665 CON PRC CDIFFSIGN Adaptation of control di
68. Test mode is activated by parameter P 0541 ENC CH1 Np 1 Encoder initialization is triggered manually by P 0149 MPRO DRVCOM Init 1 Homing runs can also be carried out during test mode When homing is completed or if an error has occurred detection is aborted even though parameter P 0541 1 To reactivate test mode parameter P 0541 must be reset from 0 to 1 and re initialized To view the zero pulse with the scope function the variable CH1 np 2 index pulse length 1 ms can be recorded on the digital scope A Attention The pulse width of the scope signal does not match the pulse width of the actual zero pulse The representation on the scope appears wider 1 ms when using variable CH1 np 2 enabling better detection of the zero pulse The decisive factor here is the rising edge of the scope signal 3 1 2 Overflow shift in multiturn range With this function the multiturn range can be shifted in absolute value initialization so that no unwanted overflow can occur within the travel The function is available for encoder channels 1 and 3 Table 241 Parameters Parameter name Description in DMS Function settings Input of multiturn position MTBase in revolutions 0547 ENC_CH1_MTBase ENC CH1 incl gearing for channel_1 Input of multiturn position MTBase in revolutions P0584 ENC_CH3_MTBase ENC CH3 incl gearing for channel_3 24 1003374 Illustration 25 1 Overflow shift into the multiturn range In
69. Time t1 1 s 1504 D Time t2 1 s P 1504 1 uH P 1501 1 ee ee pigi Output Signal Selection OFF Q off v Duration of testsignal N t1 12 25 Start Stop The duration of a test signal sequence results from the parameterized times t1 t2 1504 0 1 The number of test cycles P 1502 for the square signal sequence is set via P 1502 Number of cycles Ncyc Square signal sequence The signal level is set via P 1503 0 1 SCD TSIG Offset and the times via P 1504 0 1 SCD TSIG Time Sine generator with presetting of amplitude P 1505 SCD TSIG Amp and frequency P 1506 SCD TSIG Freq A PRBS Pseudo Random Binary Sequence noise signal with presettine of amplitu de P 1509 SCD TSIG PRBSAmp and sampling time P 1508 SCD TSIG PRBSTime This enables different frequency responses to be plotted Illustration 82 2 Addition of sine and rectangle signal Addition of sine and Rectangle signal Output 4 Amplitude P 1505 SCD_TSIG_Amp 1503 1 SCD TSIG Offset 1 P 1503 0 SCD TSIG Offset 0 5 d 1504 0 1504 1 l SCD_TSIG_Time 0 SCD_TSIG_Time 1 1506 Period time SCD_TSIG_Freq rt di 82 1003374 04 2015 The PRBS signal is suitable for achieving a high bandwidth system excitation with a test signal A binary output sequence with parameterizable amplitude P 1509 SCD_TSIG_RBSAmp and a random alternating frequency is generated
70. _ VFC VBoost at 0 Hertz As from the rated frequency P 0314 CON VFC FNom the output voltage remains constant An asynchronous machine is thus automatically driven into field weakening as the frequency rises The linked voltages phase to phase voltages are specified under voltages The internal voltage reference space vector variable is thus Equation 85 2 CON VFC VNom usdref sqrt 2 3 x x ref CON VFC FNom Table 85 3 Parameters P no Parameters Function Description Boost voltage atzero P 0313 CON VFC VBoost Boost voltage at standstill frequency 0314 CON_VFC_FNom Nominal frequency Rated frequency 0315 CON_VFC_VNom Voltage at nominal frequency Voltage at rated frequency Note Default reference value via manual mode 04 2015 100 85 5 Motion profile Drive parameterization starts with setting up the reference interface between motion profile and control The basic settings can be made on the screen Illustration 86 1 Reference interface Interface between Motion profile and control motionprofil Illustration 86 2 Motion profile screen Standardisation units Basic settings Stop ramps Homing Jog mode Electronic gear 86 Position unit Speed unit Control via Reference via Profile mode Method standardisation basic setting reference value selector control selector autostart epr
71. a 80d f eunesuenbioi i i SIZO d 1 1 1 1 1 1 1 1 1 1 i i yams 5 8v10 d i 8bL0d dt 1 Ts ee Npe i 81203 41003 61204 1 215 96001 X 5 NENNEN BANDE pu b 7 juawubisse 32U93J9J9J pesoj e eJq ayeiq pesop 2 e1q1010lA 5 N 136 Table 1371 Parameter name of ne P no Designation in DM 5 Function Settings Output for use of a motor holding brake If brake is used MPRO_OUTPUT_FS_MO Setting of analog output from P 0125 the output be used for a wide variety of other functions TOR_BREAKE OFF 0 to _ 56 section 6 2 P0147 MPRO_DRVCOM_EPCHK CHECK EnablePower Power up condition 0 OFF NO CHECK ENPO is set via Hardware enable is switched via the motor ENMO function contactor CHECK ENPO is set via A 1 ON ENPO must be switched via a digital input terminals The timer ENMO Enable Motor Contactor generates an Time out in Ready to switch On Off delay of the motor contactor and thus of the power P 0148 MPRO_DRVCOM_ENMO AE On to enable motor switch stage The effect is active when setting and resetting the START command and in case of error The lift time takes account
72. ached Restart Determining the direction of movement Position control The direction of movement is produced when the time related change in position reference speed feedforwar value has exceeded the amount of the standstill window in the positive or negative direction Speed control The direction of movement is produced when the speed reference has exceeded the amount of the standstill window in the positive or negative direction 04 2015 100 35 Illustration 36 1 Correction value formation from the defined correction interpolation correction correction value 4 corrected actual positionvalue clockwise epon gt uncorrected actual positionvalue startposition 0591 gt correction value 1 2 3 4 5 250 250 table values pos direction interpolation point pitch zn values neg directori P 0593 P 0596 correction value interpolated legend Note correction value neg direction neg direction correction value correction value interpolated pos direction pos direction Parameterization is carried out in the selected user unit for the position as integer values Note It is advisable to use the same number of correction interpolation points for the positive and negative directions The first and last correction values in the table must be zero in order to avoid instability step changes of the actual posi tion value Differing correction value
73. al 1509 SCD_TSIG_PRBSAmp PRBS signal generator amplitude amplitude In DriveManager only the first seven characters can be changed As from the eighth character the number is rounded to zero Only values up to 8388608 exactly can be preset as a matter of principle After that the number format dictates that rounding is applied 4 9 Motor test via V F characteristic In V f mode it is possible to run a simple test indicating to the user whether a motor is connected correctly and moving in the right direction of rotation linear drive movement to the right left If the direction has been reversed the motor is stopped or executing uncontrollable movements the termination and the motor data must be checked Illustration 84 2 V f open loop control for test purposes 84 Boost voltage at zero frequency Voltage at nominal frequency Nominal frequency 04 2015 As atest mode a voltage frequency control system is implemented in such a way that the closed loop speed control circuit is replaced by open loop control So the reference in this case is also the speed reference the actual speed is set equal to the reference The feed frequency fref is calculated by way of the number of pole pairs of the motor P 0463 PolePairs Equation 85 1 _ Nref fret Go P0463 motor polepair A linear characteristic with two interpolation points is implemented with a fixed boost voltage setting P 0313 CON
74. aluated at a time The evaluation is made via connectors X6 and X7 They are part of the controller s standard on board configuration A third channel X8 can be ordered as an optional encoder input The screen illustration 20 1 is used to set the encoders for torque speed and the position Determining the encoder offset The Encoder offset Detect option accesses a wizard to define the current encoder offset For the definition the motor is run in Current control mode For a correct definition it is necessary for the motor to be able to align itself freely A Attention The motor shaft must be able to move A connected brake is automatically vented if connected to the brake output The process takes about 10 seconds Then the current value of the offset is entered in the display field and the original parameter setting is restored Note For servo actuators from Harmonic Drive AG an encoder offset detection is only necessary for actuators of the LynxDrive xxC series with feedback code MKE Note For servo actuators of the FHA C mini series the use of the technology option TTL encoder with com mutation signals is recommended For encoder input X8 has to be used 04 2015 19 Interfaces between encoder and control Illustration 201 Interface configuration between encoder channels and control OFF 60 1 Ch1 1 SinCos X7 i os Singleturn P 2 Ch2 2 Resolver X6 information 3 Ch3 3 Option X8
75. arks multiple reference marks are distributed evenly across the entire travel distance The absolute position information relative to a specific zero point of the measurement system is determined by counting the individual measuring increments between two reference marks The absolute position of the scale defined by the reference mark is assigned to precisely one measuring increment So before an absolute reference can be created or the last selected reference point found two reference marks must be passed over To determine reference positions over the shortest possible distance encoders with increment coded reference marks are supported e g HEIDENHAIN ROD 280C The reference mark track contains multiple reference marks with defined increment differences The tracking electronics determines the absolute reference when two adjacent reference marks are passed over that is to say after just a few degrees of rotation Illustration 29 2 Circular graduations with increment coded reference marks rotary system 29 Rotary measurement system Basic increment reference measure A small increment e g 1000 corresponding to parameter P 0610 ENC_CH1_Nominalincrement A Basic increment reference measure B large increment e g 1001 corresponding to parameter P 0611 ENC_CH1_Nominal Increment B The number of lines is entered in parameter P 0542 ENC CH1 Lines A sector pitch difference of 1 and 2 is supported One mechanical revolu
76. ata Rated voltage 320 v Rated current 416 Rated speed 3000 ipm Rated frequency 250 Hz Rated torque 61 Nm or 1 8145 Info Inertia Motor inertia 0 00035 kg m m Total inertia 0 00035364 kg Info Motor impedances Stator resistance 0 305 Ohm Stator inductance 93 mH Show motor parameters 8 1003374 04 2015 Click the Calculation button The motor data relevant to the calculation must be entered manually from the data sheet Click the Start calculation button This initiates Current controller tuning The current controller is automatically optimized Calculation of operating point Calculation of current speed and position control parameters V F characteristic boost voltage rated voltage rated frequency A Attention All previous speed and position control parameters are overwritten Recommended Itis advisable to use motor identification to determine the motor data The motor impedances do not need to be known for this as they are measured in this procedure If motor identification fails or if the motor is physically not present motor calculation provides an additional method of determining the motor data set 2 3 Linearmotor The motor data of a PS linear motor is always determined by calculation To make the calculations based on the char acteristic
77. aten Unit Weighting factor 0 Weighting exponent 1N Preferential weighting Rotary Torque polarity The polarity is switched 04 2015 100 Nm outside of a controlled 1 2 0 01Nm system at the input and output A positive torque reference differ ence and non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 97 5 1 2 USER scaling without scaling wizard No wizard is available for USER scaling and it should only be used when scaling using the wizard is not possible The following schematic is provided as an aid to parameter setting Calculation of the factors P 0271 P 0272 for the position P 0274 for speed and P 0275 for acceleration is dependent on the selected User Unit and the feed constant or gear ratio Illustration 981 Schematic of user scaling User Standardisation P 0270 MPRO FG PosNorm P0271 MPRO FG Num Pos incr P 0272 MPRO_FG_Den Position Pos Unit 0273 MPRO_FG_Reverse Speed Speed Unit E b Speed rev min L P 0274 MPRO_FG_SpeedFac Acceleration Acc Unit Acc rev fs C P 0275 MPRO FG AccFac Scaling examples for USER scaling Rotary motor scaling Presetting 1 motor revolution corresponds to 360 or 1048576 increments Speedin rpm Acceleration in rpm s Positioning in degrees Example Given Pos Unit P 0284 um Speed Unit P 0287 m s Ac
78. ation KTY 1 KTY84 130 sensor KTY84 130 PTC 2 PTC with short circuit proof as per DIN 44081 with short circuit monitoring TSS 3 Switch Klixon Klixon switch PTC as per DIN 44081 without short circuit PTC1 4 PTC1 without short circuit proof NA monitoring Not used 5 Not used 6 Not used 7 Not used 8 1 contact Sensor connection Connection variant 5 0 Motortemperatur connector 5 Connection of the sensor to terminal X5 Via Resolver connector X6 or sincos uu X6 X7 1 Sensor connection is routed in encoder cable connector X7 0733 MON Motorl2t Motor I2t protection parameters Pt characteristic setting 0 Rated current FNom Rated current of the motor First current interpolation point of motor protection 1 ll Rated current 0 Hz characteristic Maximum permissible standstill current Second current interpolation point of motor protection 2 In Rated current f1 characteristic referred to maximum characteristic current 04 2015 1003374 15 Table 16 1 Parameter name ae 1 P no Designation in DM5 Function settings 3 f Interpolation point only ASM First frequency interpolation point of motor protection characteristic 4 im Nominal frequenzy Rated frequency 5 a Motor maximum currrent Max overload current referred to rated motor current 6 ire Motor maximum currrent Overload timet at With the YukonDrive the temperature sensor cable can be connected to both X6 and X7 The temp
79. ation 171 left Constant characteristic Illustration right Characteristic with interpolation points VA WE I A il M Sub Id00 Iy Sub Id 00 B W rkseinstellung SubldO2 d SubldOl l 0 f fy gt q fH SubldO3 Sub Id 04 N Sub Id 00 Beispiel Sub Id 05 150 x In Sub Id 06 f r 120s Table 17 2 Frequency Motor current 9 0 Hz 30 von f 25Hz 80 von y 50 Hz jy 100 The shut off point to VDE 0530 for IEC asynchronous standard motors is 150 x IN for 120 s For servomotors it is advisable to set a constant characteristic The switch off point defines the permissible current time area up to switching off Note For servomotors always refer to the motor manufacturers specifications Note The limits are specified in the servocontroller as percentages of the rated quantities e g current torque speed so that following calculation logical default settings are available The default settings refer to 10096 of the rated values and the parameters must thus be adapted to application and motor 04 2015 1003374 7 Characteristic setting for a synchronous motor PSM A synchronous motor by design has lower loss than the ASMs because permanent magnets replace the magnet izing current It is normally not internally cooled but discharges its heat loss by internal convection For that reason it has a different characteristic to an asynchronous motor The following diagram shows a
80. bes the magnetizing current as a percentage of the nominal value of P 0340 CON FM Imag dependent on the speed The choice between the modified 1 n characteristic and the static characteristic is based on parameter P 0341 CON FM ImagSLim P 0341 0 signifies selection of the 1 n characteristic default P 0341 0 signifies selection of the modified 1 n characteristic isd f n Following a motor identification the voltage controller is always active as the controller parameters are preset P 0345 0 deactivates the voltage controller Parameterizing of Variant 2 Setting the d current dependent on the speed The speed is specified relative to the rated speed in P0458 MOT SNom the d current relative to the magnetizing current in parameter P 0340 CON FM Imag Up to the field weakening speed a constant magnetizing current is injected P 0340 Procedure P0341 0 selection of modified characteristic voltage controller Approach desired speeds slowly Adjust scope Isdref SORT2 Imae value of speed The maximum amount of the field weakening d current is defined by parameter CON FM P340 specifi cation of effective value Enter values in table P 0342 Example Table 701 Example P 0343 0 7 Index P 0348 Rated speed P 0342 0 7 Magnetizing current in field weakening mode 0 7 P03401 eff Field weakening speed in 9 0 100 100 1 110 100 2 120 100
81. bsolute value 0 OFF i information 1 SSI Serial communication to Heidenhain SSI protocol 2 EnDat2 1 Heidenhain EnDat 2 1 protocol 3 Hiperface Stegmann Hiperface protocoll Encoder Channel 1 Index Pulse P0541 ENC CH1 Np Zero pulse evaluation Test Mode Setting of the incremental number of lines For 1 Encoder Channel Number of Lines encoders with EnDat2 1 and Hiperface protocols the P0542 ENC CH1 Lines SinCos Encoder lines per revolution are read out of the encoder and automatically parameterized Encoder Channel 1 Number of P0543 ENC_CH1_MultiT Multiturn Bit width setting MultiTurn Bits Encoder Channel 1 Number of P0544 ENC_CH1_SingleT Singleturn Bit width setting SingleTurn Bits P0545 ENC_CH1_Code Encoder Channel 1 Code Select Selection of coding Gray binary 04 2015 10 23 3 1 1 Zero pulse evaluation via encoder channel 1 The zero pulse evaluation via encoder channel CH1is only set active for SinCos encoders with no absolute value interface Setting P 0505 ENC_CH1 Sel setting SinCos encoder P 0540 1 Abs setting OFF Incremental encoder with zero pulse Sin Cos encoders only ever output a zero pulse when no absolute value interface is present TTL encoders always have a zero pulse Resolvers output no zero pulse Zero pulse evaluation only works by selecting the intended homing types see Homing in Motion profile section Test mode for zero pulse detection
82. c Unit P 0290 m s2 Feed Constant 1mm 10 rev Gearing 1 drive revolution 3 motor revolutions 98 1003374 04 2015 Parameterization Pos Unit 1 um 1 1000 mm 10 1000 rev output side 30 1000 rev motor P 0271 30 or P 0271 3 P 0272 1000 or 0272 100 Speed Unit 1m s 1000 mm s 10 000 rev s output side 30 000 rev s motor 60 min 1800 000 rev min P 0274 1800 000 Acc Unit 1m s 1000 mm s 10 000 rev s output side 30 000 rev s motor 60 s min 1 800 000 rev min s 0275 1800 000 Table 991 Parameters Parameter name P no Function Default setting for rotary motor Internal unit settings Increments per 7 0270 MPRO_FG_PosNom 1048576 incr rev revolution P 0271 MPRO FG Nom Numerator 3 rev Pos 1 P 0272 MPRO FG Den Denominator 360 POS Position per revolution 0273 MPRO FG Reverse Reverse direction False clockwise P 0274 MPRO FG SpeedFac Speed factorr 1 rpm rpm P 0275 MPRO FG AccFac Acceleration factor 1 60 0 01667 rpm s U s Linear motor scaling Example Scaling of the linear motor Given Travel in um Speed in mm sec Acceleration in mm s One revolution corresponds to 32mm pitch See P 0274 P 0275 Table 99 2 Parameter name P no Description Default setting for linear motor settings P0270 MPRO_FG_PosNorm Increments revolution 1048576 P0271 MPRO_FG_Num Numerator 1 P0272 MPRO FG Den Denominator 32000 um P 0273 MPRO
83. ce sourcing via terminal can be selected as the reference The unit corresponds to the selected user unit It is possible to select fast and slow jog speeds in both directions For jogging in positive and negative direction two digital input parameters must be set to INCH_P 7 Jog and INCH_P 8 Jog For jogging at different speeds both switches must be activated If the Jog left switch is activated first and then switch two quick jog mode left is started If the Jog right switch is activated first quick jog mode right is started Illustration 1201 Screen for jog mode settings 0168 1 _ Slow jog speed 10 degree s Quick jog speed 100 degrees P 0168 0 It is also possible to move the drive by way of the manual mode window in jog mode The jog speeds in the manual mode window are oriented to the values of the upper screen Jog mode settings Illustration 120 2 Screen for jog mode in manual mode window Standard mode Homing mode Jog mode Reverse _ Slow Quick jog 5 6 Setpoint table Fixed speeds fixed torques or fixed positions can be preset by way of a table A travel profile is generated internally using the Profile Generator The 16 table values can be selected using the on screen slider Reference input for fixed positions Each position value is assigned a speed and acceleration and braking ramps 120 1003374 04 2015 Illustration 1211 Reference table scre
84. ck stop Quick stop block power stage secure against 5 ServoStopAndLock disable power stage protect against e switching on restart 6 ServoHalt Notify error disable power stage Block power stage Notify error block power stage 7 ServoHaltAndLock 6 Block power stage block enable protect against restart Notify error block power stage and RE Block power stage reset only by switching the 24 8 WaitERSAndReset reset only via switching off on control voltage 24 V 8 1 2 Error details Alarm amp warning details V control voltage off and back on Table 153 2 P no Error name Error Mv Emergency code Error register A Description of error Error code SERCOS P0030 location 05402 05402 0 0 no error No error OxFFOO 1 0 000 1 1 RunTimeError Runtime error 0x6010 1 0 1 2 RunTimeError_ Internal error in device 0 6010 1 0 1 DynamicModules initialization 3 RunTimeEr Error in flash initialization 0x6010 1 0 1 ror_Flashmemory 4 RunTimeError_PLC PLCruntime error 0x6010 1 0 1 2 ParaList 1 Parameterlnit Error in parameter initialization 0x6320 1 0 1 2 Parameter Basic parameter initialization 0x6320 1 0 1 VirginInit factory setting 153 Table 154 1 Emergency a no Error name Error Error register Error code A Description of error code P0030 location DS 402 SERCOS DS 402 3 ParameterSave Parameter data backup 0x5530 1 0x1
85. commended for the zero balancing A zero offset can be set via parameter P 0525 ENC_HomingOff Zero pulse evaluation If a reference motion is selected which requires an index pulse evaluation this evaluation will automatically be star ted in the background and automatically stopped when homing is completed It is possible to plot the zero pulse on the scope for diaenostic purposes Scope channel Encoder Position Channel 1 3 Np Reference cam limit switch The reference cam signal can be optionally linked to one of the digital inputs Inputs 15000 to 15006 are available In homing to a limit switch the digital input must be selected with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 110 1003374 04 2015 Table 111 Parameter name Designation in DM 5 Function Setting P 0101to P 0107 m P2261 MPRO_402_HomingMethod Digital inputs MPRO_INPUT_FSISDxx 2 Move positive direction for Homing method for increment coded encoder for positive distance coded encoder direction 6 Move negative direction for Homing method for increment coded encoder for negative distance coded encoder direction Act position homing offset 5 h Homing absolute value encoder multiturn encoder 4 Not defined 3 Not defined No homing mode act position 2 No ho
86. control Parameter setting applies to 0520 0521 0522 0 Off No encoder selected No function 1 Channel1 For SinCos Encoder to X7 Channel 1SinCos X7 2 Channel 2 For resolver to X6 Channel 2 Resolver X6 3 Channel 3 For SinCos SSI TLL Encoder Channel 3 Option X8 Note When an encoder channel is selected and an encoder physically connected to the controller the wire break detector is automatically activated 3 1 SinCos X7 channel 1 Encoder channel 1 is used for evaluation of high resolution encoders The following encoders are supported Incremental encoders SinCos TIL Absolute encoders with digital interface Hiperface SSI EnDat only with SinCos signals EnDat 2 2 full digitall Purely digital SSI encoders without SinCos signals Note When using incremental TTL encoders on channel 1 there is no interpolation over time between the TTL lines The combined method pulse count time measurement is only available on channel 3 for TTL encoders The signal resolution over one track signal period is 12 bit in the case of multi turn and 13 bit in the case of single turn 0 1 2015 21 Illustration 221 Screen for setting channel 1 Encoder configuration channel 1 X7 Select from Database Encodemame Cyclic position via DFF 0 No function w Absolut interface OFF O Incremental encoder with zero puls w
87. ctangles at the bottom turn from transparent to green as soon as a condition high is met stration 175 1 Drive status window Switch on disabled Alarm messages Target reached 8 Reference limited Standstill Xj Movement right Movement left Z3 Homing Alog mode active Z3 Homing attained HALT state Motor brake closed Left limit switch E Right limit switch EJ Waning Status bits Illustration 175 2 Status bits windoe 04 Status bits Servodr w X Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Motor activ Warning Target reached Safety hold request Brake activ Halt activ Homing attained Homing jog mode activ Drive configurable Drive operation enabled Drive ready to switch on 2015 1003374 Internal reference limitat As soon as error is detected the status indicator at the top of the window turns red Detailed information on the error and on previous errors can be viewed by clicking the Error history button At the bottom of the window the current states are displayed A green light signifies active The Status bits window displays the current system states The basis of those states is the DriveCom state machine The active states are displayed in green A schematic view is presented in figure A 3 and in figure 5 36 in
88. current 46 1003374 04 2015 Table 471 Parameter name Settings Designation in DM 5 Function Select current observer 0433 CON_CCON_ObsMod Switching the observer on and off for current control mode 0 OFF 0 Observer not used The currents determined from the observer are used for the Use observer design 1 Time Const 1 motor control The configuration is based on setting of a filter time contant time constant in P 0434 index 0 n Use observer preset of Kp Direct parameterization of the observer feedback via P 0434 2 Direct 2 and Tn 4 2 3 Current control with defined bandwidth index 1 KP and 2 Tn It is possible based on the bandwidth to carry out a current controller draft design In this the controller gains can be determined by activating test signals Autotuning The calculations and the relevant autotuning are carried out in the drive controller The advanced settings are made in parameters P 1530 P 1531 and P 1533 Table 47 2 Optionskarte PROFIBUS P no Parameter name Settings Designation in DM5 Funktion Selection of standard motor P1530 SCD SetMotorControl control design method Setting 3 CalcCCon PI Calculation of the Design current control for given 3 3 SCD_SetCCon_by Bandwidth current controller parameters based on the bandwidth motor data and the specified bandwidth This setting parameterizes a dead beat controller T
89. cuted according to the CANopen drive profile DSP 402 as from V 2 0 Note These drive controlled homing runs with the corresponding parameters also used in the case of control via the SERCOS and PROFIBUS field buses and in conjunction with internal reference generation 5 4 1 Drive controlled homing via field bus Since relative sensor systems are used the drive must be homed triggered by bit 11 in control word 1 As soon as this bit is set by the master the drive performs a position controlled homing run using an internal Profile Generator taking into account homing speed homing acceleration and the strategy stored in the homing method Homing speed The homing speed is preset via parameter P 2262 MPRO_402_HomingSpeeds in DriveManager In this the user has the possibility to specify two different homing speeds Table 110 1 P2262 MPRO_402_HomingSpeeds Designation in DM 5 Function 0 SpeedSwitch 0 Speed during search for switch Speed on the way to the limit switch 1 SpeedZero 1 Speed during search for zero Speed during travel to zero point Homing acceleration The homing acceleration is preset via P 2263 MPRO_402_HomingAcc in DriveManager Zeroing offset Absolute encoders e g 55 encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders therefore requires no movement and under certain condi tions no current to the drive Homing type 5 is re
90. data transfer s Encoder channel 1 initialization EnDat2 1 10 EncCH1Init_EnDat2 1_ 1 attempt was made to write to the 0x7305 i 0x20 WriteToProt protection cells in the encoder 11 EncCH1Init EnDat2 1 Encoder channel 1 initialization EnDat2 1 0x7305 1 0x20 SscTimeout Timeout on SSC transfer 12 EncCHnit_EnDat2 1_ Encoder channel 1 initialization 21 0x7305 1 0x20 StartbitTimeout Timeout no start bit from encoder 13 EncCH1Init EnDat21 Encoder channel 1 initialization EnDat2 1 0x7305v 1 0x20 PosConvert Position data not consistent Encoder channel 1 initialization SSI Plau 14 EncCH1lnit SI Lines ES n 0x7305 1 0x20 sibility check Lines from encoder 15 EncCH1lnit SSI Encoder channel 1 initialization SSI Plau 0x7305 1 0x20 Multiturn sibility check Multiturn from encoder 16 EncCHIlnit SSI Encoder channel 1 initialization 551 Plau 0x7305 il 0x20 Singleturn sibility check Singleturn from encoder 17 EncCH1Init SSI Encoder channel 1 initialization SSI Par 0x7305 1 0x20 ParityPos ity error position transfer 18 EncCH1nit_SSI_ Encoder channel 1 initialization 551 0x7305 1 0x20 SscTimeout Timeout on SSC transfer 19 EncCH1lnit SSI Encoder channel 1 initialization SSI Posi 0x7305 1 0x20 PosConvert tion data not consistent 20 EncCH1lnit SSI Encoder channel 1 initialization SSI 0x7305 il 0x20 EncObs Encoder monitoring bit 21 EncCH1Init_Hiperface_ Encoder channel 1 error initia
91. disable the characteristic and run solely with the voltage controller Selection of modified 1 n characteristic voltage controller P 0435 1 Activate table P0341 0 P0435 CON FM FWMode 1 Select table Approach desired speeds slowly Adjust scope Isdref SQU2 Imag field weakening speed The maximum amount of the field weakening d current is defined by parameter CON_FM_Imag P 0340 specification of effective value Enter values in table P 0342 Table 75 2 Example P 0343 0 7 Index P 0348 Rated speed P 0342 0 7 n Flux forming current 0 7 P03401 _eff Field weakening speed in a gt j laret mod in field weakening mode in 0 100 0 1 110 55 2 120 70 3 130 90 1800 rpm 4 eff 10095 140 100 mag 5 150 100 6 160 100 7 170 100 75 AN Attention The speeds in P 0342 CON FM SpeedTab must continuously increase from index 0 7 If only low dynamism is required the table should be deactivated P 0345 0 Voltage controller the voltage controller oscillates the eain must be reduced If substantial variations between the q current reference and actual values occur during run up to reference speed in the field weakening range the drive may be at the voltage limit In this case a check should first be made as to whether the preset maximum value P 0340 has already been reached and can be increased If the maximum value has no
92. e compensation is effected with the averaged table values Compensation referred to one mechanical motor revolution Compensation on dependent on 2 ABSPOS n Example Three pole pairs motor The table in P absolute Position h 0380 is populated once within one mechanical motor revolution The characteristic of the q current is averaged Anti Cogging recorded currents at n P 0383 CON TCogeTeach1 teati by a special filter and imported into the table of eachin parameter P 0383 CON_TCoggTeach1 P 0385 CON TCogeTeachCon Anti Cogging teach control word Start of teach function to fill table 4 2 2 Advanced torque control There are additional functions to improve the control performance of current and speed controllers Here the Limitation Gain Scheduling and Observer functions are described Illustration 44 2 Block diagram of current and speed control Speed control 44 Current conl Id uie isdret Flux control REM Current control lq O SYN PWM Power Stage NL LZ usqret isq isq E 04 2015 Limitation Limitation of the voltage components usqref and usdref This also enables so called overmodulation limitation to hexagon instead of circle in order to make better use of the inverter voltage Table 45 1 Parameter name P no Description in DM 5
93. e digital filters Select Filter NOTCH PT2 5 1 filter notch 2 filter PT2 1 Filter center cut off 100 Hz 3 dB width 10 Hz 2 Filter ter cut off center cut 100 Hz cut off f width 10 Hz wi Coefficients b0 kK 0 0014532 b1 x k 1 8 9592 06 al s k 1 3 87513 b2 x k 2 0 0028884 a2 x k 2 5 63893 b2 3 8 9592E 06 a3 s k 3 3 65169 4 4 00014532 a4 x k 4 0 88793 With parameter P 0326 CON_SCON_FilterAssi it is possible to select a filter type to suppress unwanted frequencies The blocking frequency and bandwidth are required for this When writing the parameter the corresponding coefficients of the transfer function in P 0327 are changed For parameterization of standard filters field parameter P 0325 CON SCON FilterReq is provided to specify limit frequencies and bandwidths 04 2015 1003374 55 Settings for assistance parameter P 0326 CON SCON FilterAssi Table 56 1 P no Parameter name Settings DescriptioninDM5 Function P0325 CON_SCON_FilterFreq Filter frequencies of digital filter Limit frequencies 0 1 8000 Hz 1st center cutoff 1 Mid blocking frequency 1 1 1000 Hz 1st width Width 2 1 8000 Hz 2 nd center cutoff 2 Mid blocking frequency 3 1 1000 Hu 2 nd width Wide 0326 CON_SCON_FilterAssi Digital filter design assistant 0 OFF 0 Reset amp switch off filter No f
94. e last 20 errors When the 21st error occurs the oldest error in the list is overwritten Illustration 152 2 Error history storage of last 20 errors Fehlerprotokoll Servodrive Servodrive USB 0 Servodrive Nr Eintrag Zeitstempel Ursache Abhilfe 1 Fehler 16 1 2755 9 8 speed difference detected Check your parameter data set 2 Fehler 3 1 2749 6 14 wurde Unterspannung ermittelt 3 Fehler 0 0 0 0 0 152 1003374 04 2015 811 Error reactions Each of the errors listed in parameter P 0033 sub ID 0 47 can be assigned one of the error reactions listed below However not every error has every selection option Table 153 1 Parameter name RA 5 P no B Description in DM 5 Error reactions Settings P 0030 Error Programmable reaction in case of Error response Sub Id 0 8 Reactions failure 0 Ignore Ignore error The error is ignored m Notify error reaction is forced by A specific error reaction can be 1 Specifict internal PLC function block programmed via PLC m Notify error reaction is forced by 2 2 Error reaction external external control unit 3 FaultReaction Notify error reaction as given by fault The error reaction is based on the value set in OptionCode reaction option codes object 605Eh Fault reaction option code Notify error execute quick stop and 5 4 ServoStop Quick stop waiting for restart of control wait for restart of control Notify error execute qui
95. e zero corresponds to the first zero pulse after a falling edge With type 8 the zero corresponds to the first zero pulse with an active reference cam Type 9 reverses the direction of movement if the reference cam has been zero corresponds to the first zero pulse after the rising edge With type 10 the reference cam is overrun zero pulse after that corresponds to the zero The initial movement is in direction of the negative left hardware limit switch The positive limit switc and the reference cam is active see symbol B in illustration 117 1 With type 7 the zero point corresponds to the first index pulse after falling edge of the reference cam Ty overrun The and the first his inactive pe 8 reverses the direction of movement after a falling edge of the reference cam The zero point corresponds to the first index pulse after the rising edge of the reference cam The initial movement is in direction of the positive right hardware limit switch It is inactive and the re is active see symbol C in illustration 117 1 Type 9 changes the direction of movement if the reference cam is inactive The zero corresponds to the erence cam first zero pulse after the rising edge With type 10 the first zero pulse after a falling edge of the reference cam is the zero point The initial movement is in direction of the positive right hardware limit switch It and the reference cam are inactive As soon as the positive limi
96. each motor by Calculation or Identification The difference between the two methods is that when calculating a motor data set the impedances must be taken from the data sheet The electrical data is determined automatically during identification Designs Rotary motors Linear motors To start up a system quickly and easily and attain good overall performance we recommend using Harmonic Drive standard motors and encoders from the catalogue Note In order to simplify the commissioning the controllers YukonDrive are already set up for the specific actuator ordered prior to delivery There is no necessity to change any parameters in the subject fields of motor and encoder Note Each motor can only be operated if its field model and the control parameters are correctly set Note Appendix B Quick Commissioning at the end of the Application Manual presents a short commissioning guide for rotary and linear drive systems respectively 2 1 Loading motor data You can obtain the data sets of all Harmonic Drive standard motors from the website Using the right motor data set ensures that the electrical data of the motor is known the motor protection is correctly set the control circuits of the drive are preset the torque controller is optimally set so no further adaptations are required for test running of the motor 2 1 1 Motor selection Selection of the desired motor data set via Motor select
97. eck Transfer Bits of 0x7305 1 0x20 TransferBits transfer Encoder channel 1 initialization NP 40 EncCH1Init_Np_ X Plausibility check Lines and Nominal 0x7305 1 0x20 Nominallncrement Increment 41 EncChilnit Endat21 Com Encoder channel 1 initialization Endat21 0x7305 1 0 20 Interface gen error 7 Encoder channel 1 initialization SSI 42 EncChiInit_SS _Common 0x7305 1 0x20 Interface gen error 43 EncChiInit_Sincos_ Encoder channel 1 initialization Sincos 0x7305 1 0 20 Interface gen error 160 1003374 04 2015 Table 1611 Emergency Errorreg Error code Error name Error location Description of error code ister P0030 SERCOS 05 402 DS 402 23 EncChannel2Init Encoder channel 2 initialization Res 1 EncCH2Init_Res_Lines Plausibility check Lines from PRam_ENC_ 0x7306 1 0x20 CH1 Lines 2 EncCH2Init Res ABS Encoder channel 2 initialization Res Get 0x7306 1 0x20 quareSum TimeOut ting AB SquareSum Timeout Encoder channel 2 initialization Res 3 EncCH2Init Res EncObs 0 7306 1 0 20 Encoder monitoring resolver 24 EncCH3lnit 1 EncCH3Init Module Encoder channel 3 initialization RAE 4 0x7307 1 0x20 IdentificationFailed module inserted or wrong module 2 EncCH3Init_Com Encoder channel 3 initialization General 0 7307 1 0 20 mon EO Error EO error encoder option 3 EncCH3lnit SSI Encoder channel 3 initialization Encoder
98. ed deceleration ramp Speed braking ramp P0405 CON ANA FiltO Filter time Filter time for the analog input 0 100 ms The reference can be filtered via parameter P 0405 CON ANA FiltO 140 04 2015 6 3 3 Function block Analog inputs Switching PG IP Analog channel and weighting Illustration 1411 Analog inputs function block PG IP switching Analog channel and Weighting Analog Input ISA00 ISA01 aktual value P 0407 0 4 0407 0 OVR 3 10V 0406 ISAOx 0405 80 a REFV 2 MB t In Out P 0109 P0110 not defined 1 4 weighting analog input ee Output V 04 2015 100 4 0167 MPRO_REF_OVR y SRamp TRamp Threshold Scale P 0332 CON_SCON_TMaxScale 4 Analog Channel ISAO ISA1 P 0183 bis P 0187 ISA01 di P 0173 bis P 0177 ISAO0 digitale function 1 26 24V gt 04V Threshold digit Function Analog Channel Mage Profilegenerator e Sale e TRampe Offset e Sfampe Threshold Control 141 Analog setting options 4 to 1 Table 1421 Parameter name P no Designation in DM 5 Function Settings 0109 MPRO INPUT FS ISA00 Function of anlalog input 5 0 Function selection P 0110 ISA01 Online torque scaling 0 to 10 V corresponds to 0 100 of the ma
99. en Control mode TERM 1 controlviateminals ___________________ 26 Set number Reference Speed P 0202 0 Mode po203 0 P0201 0 360 Acceleration P 0199 0 Deceleration 0200 0 P 0202 1 P 0203 1 P 0201 1 P 0199 1 P 0200 1 Time delay in amp uto mode o ms P 0204 0 table index in Auto mode 0 P 0206 0 Actual table index 0207 0 There are 16 driving sets 0 15 6 ms PO0204 1 Table 121 2 Parameter name no Index Designation in DM 5 Function Settings P0199 0 15 MPRO TAB PAcc Position mode acceleration Acceleration ramp 0200 0 15 MPRO TAB PDec Position mode deceleration Braking ramp P 0201 0 15 MPRO TAB PSpd Position mode speed Speed P 0202 0 15 MPRO TAB PPos Position mode reference position Reference 0203 0 15 MPRO TAB PMode Position mode Positioning mode 0 ABS 0 Absolut Absolute positioning Relative positioning after target position 1 REL 1 Relative after target reached reached The current motion task is interrupted and 2 REL at once 2 Relative at once anew pending task is directly accepted and executed Infinite motion SPD infinite motion task If a table value is set to SPD an infinite motion task is transmitted If a table value with the setting 3 SPEED 3 Endless Speed controlled ABS or REL is additionally selected the infinite task is quit and the newly selected table
100. er a higher level control system is pre installed or not All that is required is for the hardware to be enabled first STO and ENPO When the manual mode window is closed all the original settings are restored The drive motion can be plotted with the scope function permitting analysis of the control performance for example AN Attention Before this function is started a controller must first have been commissioned into operation as specified in the Operation Manual When the Control window is opened the parameter settings in the connected device are auto matically changed and are then restored when the window is closed Communication should not be interrupted such as by a power failure unplugging the connecting cable or suchlike while the Control window is active DANGER Manual mode causes the axis to execute movements The connected control system is not active and cannot intervene in the movement It must be ensured that no hazard is posed to people or machinery In an emergency the drive can be stopped at any time by cancelling the hardware enable ENPO STO In the case of lifting applications it must be ensured that a mechanical brake is installed Note If a drive cannot be moved by way of the Control window check the following points Controller system state Motor data Possibly safety switch Quick stop active Hardware enable via STO and ENPO Monitoring functions Actual values Table 1771 P
101. erature sensors must be equipped with basic insulation when connected to X5 and with reinforced insulation according to EN 61800 5 1 when connected to X6 or X7 Current time monitoring by the l xt characteristic The I xt monitor protects the motor against overheating throughout the speed range When set correctly the l xt monitor replaces a motor circuit breaker The characteristic can be adapted to the operating conditions by way of the interpolation points Characteristic setting for an asynchronous motor ASM The following diagram shows a typical characteristic setting for an internally cooled asynchronous machine For third party motors the motor manufacturer s specifications apply Illustration 16 2 xt protection ASM Ft monitoring Permitted continuous current Rated motor current IN 100 amp Rated motor frequency 50 Hz 1 current interpol point 10 30 2 current interpol point 11 80 2 frequency interpol point F1 250 Hz F1 fu f Hz Point of switch off 266 66 IN for 5 s Error reactions Warning level It is necessary to adapt the l t characteristic because the factory settings mostly do not exactly map the current motor The difference between factory setting and the characteristic configured above is shown in the following illustration 16 1003374 04 2015 Illustr
102. f FF gt gt 24 4 Friction 05 ms 10 ale ref input ef FF Motion a 10 IP SFFTF O CON_IP_SFFScale 7 10 CON_SCON_TFric 4 Speed V P 2 mS 0 ms 7000 1 min A A 0 CON IP EpsD apwe actdela tg CON M gt 0 0 CON PCON Ko Torque Speed Control epsact LLL Note When adjusting the stiffness feedforward will be aligned accordingly 04 2015 1003374 59 Position controller optimization The reference values for the necessary reference steps for controller optimization can be easily preset by way of a reference table or the Control window see also Motion profile section Reference via manual mode window Illustration 601 Setting for Control window and scope in position controller optimization Control mode PCON 3 Position control mode Standard mode Homing mode Jog mode Reverse mode Homing method Type 464 Homing mode type 22 with continuous referen Control mode of Position control mode Standard mode Homing mode Jog mode Reverse mode Start Stop Motor control Quick stop Halt operation C L Sta Control mode PCON Manual mode off Select homing method 1 Type 1 sets the current position as the
103. face 15 EncCH3Init_SS _Mul Encoder channel 3 initialization SSi Plausi 0x7307 1 0x20 titurn bility check Multiturn from encoder 16 EncCH3Init SSI Sin Encoder channel 3 initialization SSi Plausi 0x7307 1 0x20 gleturn bility check Singleturn from encoder 17 EncCH3lnit SSI Pari Encoder channel 3 initialization SSi Parity 0x7307 1 0x20 tyPos error position transfer 04 2015 161 Table 162 1 Emergency Error Jv Error register Error code Description of error code P0030 location DS 402 SERCOS DS 402 18 EncCH3Init SSI Encoder channel 3 initialization SSi 0x7307 1 0x20 SscTimeout Timeout on SSC transfer 19 EncCH3Init_SSI_ Encoder channel 3 initialization SSi 0 7307 0 20 PosConvert Position data not consistent 20 EncCH3Init_SSI_ Encoder channel 3 initialization SSi 0 7307 1 0 20 EncObs Encoder monitoring bit Encoder channel 3 initialization 38 EncCH3init_ ees EnDat2 1 Plausibility check Position 0 7307 1 0 20 EnDat2 1_PositionBits Bits from encoder Encoder channel 3 initialization 39 EncCH3Ilnit EnDat2 1 Plausibility check Transfer 0x7307 1 0x20 EnDat2 1 TransferBits Bits of transfer Encoder channel 3 initialization 40 EncCH3Init Np n i NP Plausibility check Lines and 0 7307 1 0 20 Nominallncrement Nominal Increment 41 EncCH3Init Endat21 Encoder channel 3 initialization 0x7307 1 0x20 Common EnDat21 Interface ge
104. ferences via analog input analog channel ISA00 and ISA01 138 ISA00 Wighting P 0301 0 ISA01 P 0405 DE Ny e Control PG Mode function select Polog e TMA e OVRC3 LS _ REFV 2 m not defined 1 OFF 0 dig Funk 1 26 Analogchannel Filter Scale Profilegenerator TRamp P 0176 0 1 P 0186 0 1 Control P 0177 0 1 P 0187 0 1 0133 P 0132 P 0131 Index 0 1 Index 0 1 Index 0 4 1003374 04 2015 Parameters for reference processing are available for all control modes torque speed and position control The scaling weighting an offset and a threshold dead travel are programmable The parameters are described in the following sections The reference can also be filtered via parameters P 0405 CON ANA FiltO and P0406 CON _ ANA _Filt1 Note For additional information on PG and IP modes refer to the Motion control section 5 2 3 Profile generator Interpolated mode 6 3 2 Reference input via analog inputs IP PG mode Parameter 0301CON REF Mode is used to determine whether the analog references are specified via the ramp generator setting PG 0 or directly setting IP 1 If direct input via IP mode is selected only the input filters are active T
105. fference sign Activate process controller P2681CON CtrlWord Control word Bit 1 process controller active Optimization of controller setup P 2659 CON Controller gain 2660 CON KP SCALE Scaling of gain 2661CON Tn TN integral action time If the integral action time is set to the permissible maximum value the I component of the controller is inactive 10000 ms off Offset for the process controller output P 2662 CON PRC REFOFFSET Then the totalled variable is connected via a limitation to the output of the process control loop The user can parameterize the limitation via parameter P 2663 CON PRC LIMPOS for the positive limit and P 2664 CON LIMNEG for the negative limit 04 2015 RateLimiter Downstream of the control variable limiter there is another limitation which limits the changes to the control variable per sampling segment By way of field parameter P 2680 CON_PRC_RateLimiter the limitation of the control variable steepness per millisecond can be parameterized The subindex zero is for limitation in standard process controller operation Selecting subindex 1 activates reduction of the I component Table 1731 P no Parameter name Settings Function P2680 CON PRC RateLimiter Steepness limitation of the control variable 0 RateLimiter Steepness limitation in standard process controller operation unit X ms 1 RateLimiter Steepness limitation to reduce the process c
106. h 0x4210 1 0 2 154 _MON_Device Table 155 1 Emergency t PAP Error register Error code Error name Error location Description of error code P0030 DS 402 SERCOS DS 402 8 OvertempDevice 1 OvertempDevice_MON_Device Interior temperature evaluation 0x4210 1 0x40 9 I2tMotor xt integrator has exceeded 1 PtMotor MON 121 motor protection limit value 0x2350 1 0 1 permissible current time area 10 PowerAmplifier 3 lxt power stage protection limit 1 PtPowerAmplifier MON Device 0x2350 1 0 1 value exceeded 11 External 1 External_MPRO_INPUT External error message OxFFO 1 0 8000 12 1 ComOptCan_BusOff CAN option BusOff error 0x8140 1 0x8000 2 ComOptCan Guarding CAN option Guarding error 0x8130 1 0 8000 CAN option Unable to send 3 ComOptCan_MsgTransmit 0x8100 1 0x8000 message 4 ComOptCan HeartBeat CAN option Heartbeat error 0x8130 1 0x8000 5 ComOptCan Addr CAN option Invalid address 0x8110 1 0 8000 6 ComOptCan_PdoMappingError Mapping error 0x8200 1 0 8000 CAN option Synchronization 7 ComOptCan_SyncTimeoutError 0x8140 1 0x8000 error 13 SERCOS 1 ComOptSercos Hardwarelnit SERCOS Hardware initialization OxFFOO 1 0x1000 SERCOS Invalid communication 2 ComOptSercos_IllegalPhase OxFFOO 1 0 1000 phase 3 ComOptSercos_CableBreak SERCOS Cable break OxFFOO 1 0x1000 SERCOS Disturbed data 4 ComOptSercos DataDisturbed OxFFOO 1 0 1000 t
107. h type 13 the zero corresponds to the first zero pulse with an active reference cam Type 14 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse after a falling edge Illustration 1181 Type 11 to 14 Reference cam zero pulse and negative limit switch I 11 l Reference cam i 1 l l 1 Type 15416 These homing methods are not defined Type 17 to 30 reference cams The homing method types 17 to 30 are similar to types 1 to 14 Determination of the zero point does not depend on the zero pulse but solely on the reference cam or the limit switches 118 1003374 04 2015 Illustration 1191 Type 17 to 30 Reference cam i vi v2 9 va v2 Reference cam o Type comparison for the individual homing methods Table 119 2 Type 1 corresponds to type 17 zero pulse Type 12 corresponds to type 28 zero pulse Type 4 corresponds to type 20 zero pulse Type 14 corresponds to type 30 zero pulse Type 8 corresponds to type 24 zero pulse Type 31 32 These homing methods are not defined Type 33 34 Zero pulse The zero corresponds to the first zero pulse in the direction of movement Illustration 119 3 Type 33 34 Zero pulse Zero pulse A L i Type 35 The current actual position corresponds to the zero 119 5 5 Jog mode Jog mode enables the drive to be moved manually A bus system or referen
108. he analog values are in this case scanned and filtered in the current control cycle and then directly transferred as references for the speed or torque control This is the operation mode to be set for example if the position controller or speed controller is implemented in a higherlevel control and transfers the speed references or torque references to the drive controller via the analog input With the two analog inputs ISAO0 and ISA01 the analog references input signals are processed and filtered Four analog functions are available Illustration 1391 Setting the analog inputs Standard Analogeingange 15400 Function 2 Analog command 15400 fiter time ISA01 Function OFF 0 No function Optionen ISAD Scale offset dead travel function ramps At start of configuration the 10 V is assigned Scale to the maximum reference value e g 3000 rpm Component spread is compensated by way of the offset function and the Dead travel setting defines a dead travel range The setting for specifying torque references is made via the analog channel as in speed control The braking and accelera tion ramp corresponds to the ramp for torque rise and fall 04 2015 1003374 139 Illustration 140 1 Options Scaling 10 V correspond to Offset D Backlash B Motion profile Acceleration ramp Deceleration ramp 6000 SPEED 1U ddd rev min rev min 1000 SPEED s 1000 SPEE
109. he drive brakes with the programmed deceleration ramp then the power able of the drive function Reaction to Halt The Halt state brakes an ongoing movement for as stage is disabled ong as the state is active During braking the drive can be acceler ated back to the previous state When deactivated the programmed acceleration ramp is again applied Table 109 2 P2221 Designation in DM 5 Function SDR 1 1 1 Slow down on slow down ramp The drive brakes with a programmed deceleration ramp QSR 2 2 2 Slow down on slow quickstop ramp Braking with emergency stop ramp S3 claw current init Braking with max dynamism at the current limit The speed reference is set equal to 0 Frei 4 not implemented Reaction to Fault Reaction Table 109 3 P2222 DesignationinDM5 Function Disabled drive motor is free to rotate Disable power stages the drive coasts to a stop SDR 1 Slow down on slow down ramp The drive brakes with a programmed deceleration ramp QSR 2 Slow down on quickstop ramp Braking with emergency stop ramp Braking with max dynamism at the current limit The speed reference is set equal to 0 4 4 not implemented Braking ramp for Quick stop Table 109 4 P2242 Settings MP_QuickStopDec 0 3000 Setting of quick stop ramp in rev min s 109 5 4 Homing The drive controlled homing runs are exe
110. he drive executes a short pendulum movement by accelerating several times with the parameterized torque P 1519 SCD AT SConHysTorq to the parameterized speed P 1518 SCD AT SConHys Speed If the torque and speed have not been parameterized setting zero the process uses default values determined on the basis of the rated speed and nominal torque The mass moment of inertia determined for the entire system is calculated after the end of the test signal and entered in parameter P 1516 SCD Jsum Table 801 Parameters P no Parameter name Settings Designation in DM 5 Function P1515 SCD_ConDesign Speed and position control dynamic stiffness Rigidity of the mechanism Mass moment of inertia motor P1516 SCD_Jsum Total inertia of motor and plant and load Automatic estimation of mass P1517 SCD_AT_JsumCon Autotuning for Jsum estimation control word inertia control word P1518 SCD_AT_SConHysSpeed Autotuning Jsum hysteresis speed control speed limit Limitation of speed Autotuning Jsum hysteresis speed control torque 7 1519 SCD_AT_SConHysTorq Limitation of torque limit 4 8 2 Test signal generator TG The TG is a function for optimization of the control loops over a protracted period of motion with a reference value sequence The is particularly well suited to current controller optimization Various signal forms can be generated with the possibility of overlaying different signal forms Table 80 2 P no Parame
111. he set combination of voltage controller and map entails the highest commissioning commitment but it enables the best stationary behaviour highest torque relative to current and the best dynamic response to be achieved A Attention When configuring projects it must be ensured that the speed NEVER exceeds the value of P 0458 nax In such cases the induced no load voltage reaches the overvoltage limit 76 1003374 04 2015 4 7 Autocommutation For field oriented regulation of permanently excited synchronous machines with a purely incremental measuring system the commutation position must be determined once when the control is started adjustment of current rotor position to encoder zero Encoder offset This procedure is executed by the Autocommutation function after initial enabling of the control when the mains voltage has been switched on for the first time It can also be forced during commissioning by changing a parameter which causes a complete controller initialization e g change of autocommutation parameters change of control mode etc Owine to the differing requirements arising from the applications various commutation methods are provided The selection is made via the selector P 0390 CON ICOM For synchronous machines with no absolute measuring system the two methods IENCC 1 and IECON 4 are recommended Use of the much more complex LHMESS 2 commutation method requires prior consultation with Harmonic Drive AC
112. he structure is switched to feedback with observer the observer is designed to 4 SCD_SetCCon_Deadbeat Design dead beat current control NM 2 specific equivalent time constant for setting see parameter CON_CCON_ObsPara index 0 and the current controller gains are calculated accordingly Selection of commisioning P1531 SCD Action Sel method Setting 6 TuneCCon Tune current control for given Activation of sinusoidal test signals and adap 6 SCD_Action_Sel_TuneCCon bandwidth tation of the current controller parameters based on the specified bandwidth Desired bandwith for control Bandwidth specification for current control 1533 SCD_AT_Bandwidth design loop Setting range 10 4000 Hz 04 2015 47 4 3 Speed control If the travel range is not limited it is advisable to optimize the speed controller by means of step responses In this the motor model must be adapted precisely to the individual motor In the standard motor data set the speed controller is preset for a moderately stiff mechanism The speed controller may still need to be adapted to the moment of inertia and the stiffness of the mechanical system For load adaptation the coupled mass moment of inertia of the system is equal to the motor s moment of inertia load to motor ratio 1 1 The screen figure 34 can be used to set the control parameters of the speed controller Gain Lagtime Gain scaling Filter time Low value for speed filter high co
113. he teach in Open manual mode window Set speed control Set parameter P 0385 to TeachTab 1 Start control Move the motor at low speed until table P 0383 has been completely populated Set parameter 0385 to CalCorrTab 3 This imports all values into the compensation table Stop control Import compensation table values with P 0382 EPSRS 1 Electrical angle or ABSPOS 2 Absolute position into the device Save device data The interpolation between the table values is linear The characteristic is not saved automatically it must be saved manually The progress of the teach process and the compensation can be tracked on the scope The signal isqCogeTeach indicates the current output value of the teach table during teach mode while isqCoegAdapt contains the current value from the compensation table 04 2015 10 43 The following parameters are available to activate this process Table 44 1 Option card PROFIBUS Parameter Settings DMS description Function Anti Cogging compensation current P0380 CON_TCoggAddTab bi Table with compensated values table 0 Compensated table values imported into the P0382 CON_TCoggComb Anti Cogging compensation on off control Compensation referred to electrical angle Compensation on dependent on Example three pole pairs motor The table in P q EPSRS el angle 0380 is populated three times within one mechanical motor revolution Th
114. his there are the special deceleration ramps to the CiA 402 standard listed below The ramp functions are only effective in certain system states The required settings can be selected from the screen Clicking the Error fault reactions button directly accesses the screen for the error responses Illustration 1071 Stop ramps screen Stop ramps Reaction at control off shutdown QSOPC 1 According Quickstop option code always disable drive function Reaction at disable reference disable SDR 1 Slow down with slow down ramp disable of the drive function v Reaction at halt command SDR 1 Slow down on slow down ramp Reaction at quick stop command QSR 2 Slow down on quickstop ramp Quick stop ramp 3000 rev min s Reaction at fault POFF 0 Disable drive motor is free to rotate v Error fault reactions The following ramp options are available Table 107 2 System state Stop ramps Preferred setting P2218 Quick stop MP_QuickStopOC 2 P2219 Control off MP ShutdownOC SDR 5228 Transition from Operation Enable to MC DisabledOpOC SDR Switch on P2221 Stop feed HaltOC SDR P2222 Error MP_FaultReactionOC QSR P2242 Braking ramp for quick stop MPRO_402_QuickStopDec 04 2015 1003374 107 Reaction to Quick stop The quick stop brakes a running movement The drive controller is in the Quick stop system state During braking and depending on the
115. ied to the axis at speed 0 Reserve 8 Reserve Transition to the state Ready for switching on is only possible by resetting the quick stop request In the Quick stop state cancelling the Start closed loop control drive signal has no effect as long as the quick stop request is not reset as well Reaction to Shutdown The condition transition Control off is passed through when the power stage is switched off The control can be switched off via one of the various control channels terminals bus PLC Table 108 2 P2219 Designation in DM 5 Function In the event of a Shutdown command the stop variant selected in QSOPC 1 According Quickstop option code Response to quick stop P 2218 is executed POFF 0 Disable power stage drive function Disable power stages the drive coasts to a stop SDR Slow down with slow down ramp disable of The drive brakes with a programmed deceleration ramp Then the holding 108 the drive function brake if fitted engages according to its parameter setting 1003374 04 2015 Reaction to Disable Operation The disable operation option code parameter determines which action is to be executed at the transition from Operation enable to Switched on 4 and 5 Table 109 1 P 2220 Designation in DM 5 Function POFF 0 0 0 Disable power stage drive function Disable power stages drive coasts to a stop SDR 1 1 Slow down with slow down ramp dis T
116. ies can be found in the field bus documentation 04 2015 181 Quick commissioning Rotary motor system Table 1821 Instruction Action no Selection of motor Decision whether to use a synchronous motor PSM or an asynchronous P0450 section 2 1 3 Motor motor ASM Selection of motor motion Decision whether to use a rotary or linear motion system P0490 section 2 1 3 Motor The identification only needs to be carried out if the motor s electrical data P0470 is missing P0476 P0471 Motor identification Identification sequence P0474 section 2 1 3 Motor Measurement of stator rotor resistance stray leakage inductanc P0462 Current controller tuning P0340 Calculation of nominal flux Setting of lxt monitoring selection of temperature sensor characteristic set P 0731 Motor protection section 2 2 3 Encoder setup section 3 Encoder System test via manual mode DMS Online Help Manual mode window Control setup Optional settings 182 ting The desired encoders and their channels must be selected Open manual mode window Control mode Vfc open loop mode Move motor at low speed Check direction Optimize current controller test signal generator section 4 2 The current of the test signal generator is automatically set when the motor data is entered Optimize speed controller step responses section 4 4 Determine mass inertia J Section 4 1 1 Basic settings Ad
117. ilter center cutoff Enter disturbance frequency width Enter the bandwidth of the disturbance frequency the width has no effect when using PTx filters Create scope plot with notch filtering Note A higher bandwidth results in less attenuation of the blocking frequency because of the filter structure Illustration 581 Oscillation of a motor shaft under current at standstill without filter je rit ral LAL ncn nues quadrature axis actual current 04 2015 58 Oscillation suppression by a notch filter Illustration 591 Motor shaft under current at standstill with activated notch filter width f 40Hz mid frquency f 420 Hz al prune quadrature axis actual current 4 4 Position control The higher the dynamism of the speed controller the more dynamically the position controller can be set and the tracking error minimized In order to improve the dynamism and performance of the position controller the parameters listed in the screen below are available to optimize the speed and acceleration feedforward Illustration 59 2 Position controller setup screen Back Configuration of position controller and feed forward control 0 ms qw0 x CON_IP_ACCFFTF 0 CON_IP_TFFScale me
118. ilter active Direct write parameter CON 1 USER 1 manualy write of filter coefficient DigFilCoeff Selection of a notch filter with the blocking 1 filter notch 2 Notch 2 frequency from 0325 0 and the bandwidth 2 filter OFF from P 0325 1 Selection of a notch filter with the blocking frequency from P 0325 0 and bandwidth from 1 filter notch 3 NOTCH_NOTCH 3 P 0325 1 in series with a notch filter with the 2 filter notch blocking frequency from 0325 2 and bandwidth from P 0325 3 1 filter notch NOTCH PT1 4 und NOTCH PT2 5 Ein 4 NOTCH_PT1 4 2 filter PT1 Notchfilter mit der Sperrfrequenz in P 0325 0 und Bandbreite in P 0325 1 in Reihe mit einem 5 NOTCH PT2 5 Tiefpassfilter mit der Grenzfrequenz 2 filter PT2 P 0325 2 1 filter OFF 6 PT1 6 2 filter PT1 1 filter OFF PT1 6 PT2 7 PT3 8 4 9 A low pass filter 7 PT2 7 2 filter PT2 with limit frequency in P 0325 2 For lower frequencies the use of higher order 1 filter OFF 8 PT3 8 filters PT3 PT4 is not recommended 2 filter PT3 9 PT4 9 1 filter OFF 2 filter PT4 P0327 CON SCON FilterPara Coefficients of digital filter Coefficients of the digital filter 0 a0 x k 1 USER al x k 1 2 USER 32 x k 2 3 USER a3 x k 3 4 USER a4 x k 4 5 USER b1 y k 1 6 USER b2 y k 2 7 USER b3 y k 3 8 USER b4 y k 4 56 1003374 04 2015 Illustration 571 Frequency responses of PT1
119. imit switches 0 8612 1 0 8000 itSwitchInterchanged interchanged Q Homing Limit switch MotionControl MC HOMING Unexpected A 0x8612 1 0 8000 home switch event tripped unexpectedly 3 MotionControl MC HOMING Er Homing Limit switch error 0 8612 1 0 8000 rorLimitSwitch Homing Wrong homing 4 MotionControl MC HOMING Un method homing method 0x8612 1 0x8000 knownMethod not available 5 MotionControl MC_HOMING_Meth Homing Homing method OxFFOO 1 0 8000 odUndefined available but not defined 6 MotionControl_MC_HOMING_Drive Homing Drive not ready for OxFFOO 1 0x8000 NotReadyHoming homing 7 MotionControl MC HOMING Drive Homing Drive not ready for OxFFOO 1 0x8000 NotReadyJogging jog mode 8 MotionControl MC HOMING Homing Control mode does y OxFFOO 1 0x8000 WrongConMode not match homing method 9 MotionControl MC HOMING Enco Homing Encoder initializa OxFFOO 1 0 8000 derlnitFailed tion error 10 MotionControl MC HOMING Homing Homing travel OxFFOO 1 0x8000 MaxDistanceOverrun exceeded Max permissible tracking 11 MotionControl_MPRO_REF_Enable error on Start control OxFFOO 1 0 8000 dOperationFailed exceeded 12 MotionControl_MPRO_REF_SSP_ Memory overflow for table OxFFOO 1 0 8000 StackOverflow values 13 MotionControl MC HOMING Error initializing last actual OxFFOO 1 0 8000 RestoreBackupPos position after restart 157 Table 158 1 Emergenc
120. in position Homing to block or zero balancing of the system is performed as follows Enter zero offset 0 Homine Start homing delivers the absolute position of the encoder Move drive to reference position machine zero Then enter the zero offset the value by which the position is to be changed Repeat homing Start homing Save setting zero offset At power on the system is automatically homed Manual homing is no longer necessary Type 4 Not defined Type 3 Not defined Type 2 No homing is performed No homing is performed The current position is added to the zero offset The first time the power stage is switched on the Homing completed status is set This method is suitable for absolute encoders as long as no zero balancing is required For zero balancing please select type 5 12 1003374 04 2015 Type 1 Actual position 0 The actual position corresponds to the zero point it is set to 0 i e the closed loop control runs an actual position reset The zero offset is added Type 0 Not defined Type 1 Negative limit switch and zero pulse The initial movement is as shown in illustration 113 1 towards the negative left hardware limit switch which is inactive and the direction of movement is reversed when the edge is active The first zero pulse after the falling edge corresponds to the zero Illustration 1131 Type 1 Negative limit switch and zero pulseFigure pulse Zero pul
121. ing Permitted continuous current Rated motor current IN 100 Z Rated motor frequency lH 1 current interpol point 10 a0 2 current interpol point 1 80 2 frequency interpol point F1 aa Hz F1 fu f Hz Point of switch off 266 66 IN for 5 Parameters for temperature monitor setting P0732 0 selects the matching motor temperature sensor P 0732 1 selects the matching wiring variant P0731 0 If thermal protection is implemented by way of a KTY the trigger temperature is set via this parameter P0734 0 is the actual value parameter for the momentary motor temperature The readout is only active when a KTY is used When using a PTC PTC1 or TSS monitoring is active but the momentary temperature value is not displayed The actual value is displayed as 0 14 1003374 04 2015 Illustration 151 Temperature monitor setting Temperature monitoring OFF O No motor temperature sensor Maximum temperature deg only KTY84 Temperature monitoring connected via 50 Motor temperatur connector Table 15 2 Parameter name M Designation in DM5 Function settings max motor temperature switch P0731 MON MotorTemMax _ Shut off threshold for KTY off value 0 0 1000 Default setting 100 C P 0732 MON_MotorPTC Select motor temperature sensor Selection of sensor type 0 OFF 0 No sensor No evalu
122. initialization Exces 0 7300 1 0 20 Tolerance sive tolerance 22 Encoder CH1Init Encoder channel 1 initialization Encoder channel 1 initialization 1 EncCH1Init Sincos Lines Sincos Plausibility check Lines from 0x7305 1 0x20 PRam ENC CH1 Lines 2 EncCH1Init Sincos ABS Encoder channel 1 initialization Sin 0x7305 1 0x20 quareSum cos Getting AB SquareSum Timeout Encoder channel 1 initialization 3 EncCH1lnit Sincos EncObs 0x7305 1 0x20 SinCos Encoder monitoring Sincos Encoder channel 1 initialization 4 EncCH1Init EnDat2 1 EnDat2 1 No EnDat2 1 encoder 0x7305 1 0x20 158 NoEnDat2 1 encoder may be 551 Table 159 1 Emergency Error Error code Error name Error location Description of error code register P0030 SERCOS 05 402 DS 402 Encoder channel 1 initialization EnDat2 1 5 EncCH1lnit EnDat2 1 Line5 4 0x7305 1 0x20 Plausibility check Lines from encoder Encoder channel 1 initialization EnDat2 1 6 EncCH1Init EnDat2 1 Mul RA A Plausibility check Multiturn from 0x7305 1 0x20 titurn encoder Encoder channel 1 initialization EnDat2 1 7 EncCH1Init_ NS Plausibility check Singleturn from 0x7305 1 0x20 EnDat2 1_Singleturn encoder 8 EncCH1lnit EnDat2 1 Crc Encoder channel 1 initialization EnDat2 1 0x7305 1 0x20 Pos CRC error position transfer 9 EncCH1Init EnDat2 1 Encoder channel 1 initialization EnDat2 1 0x7305 1 0x20 CrcData CRC error
123. ion possibly Harmonic Drive AG website All necessary parameters e g motor protection control parameters are read in With the motor selection the complete motor data set name parameter motion mode is loaded Preset param eters are overwritten Motor data must be saved in the device Note Note that the encoder data must be set manually or loaded as an encoder data set see sections 3 and 4 2 2 Data sets for third party motors In the case of motors from third party manufacturers basic suitability for operation with Harmonic Drive AG controllers must first be verified on the basis of the motor data and the data of any installed encoder The values of the parameters for adaptation of the control device must be determined specifically for each motor by Calculation or Identification Each motor can only be operated if its field model and the control parameters are correctly set 2 2 1 Determining the data set for a rotary synchronous machine There are two methods of determining the motor data set for a rotary synchronous motor The first method is identification the second is calculation The differences are explained in the following section Motor Data Set Illustration 71 Motor data rotary system 2 Jac Motor configuration Motor data and control settings Motor name Show motor data Select motor data and control setting from database Motorselection Manual control data setting
124. irrelevant Acceleration in translational and rotary mode LSB Unit Factor Exponent Preferential translational weighting distance unit time unit Weighting method Unit Weighting factor Weighting exponent Preferential weighting Translational m s 1 6 0 001 mm s Preferential rotary weighting Weighting method Unit Weighting factor Weighting exponent Preferential weighting Rotary rad s 1 3 0 001 rad s 96 1003374 04 2015 Weighting of torque an Illustration 971 d force data Weighting method for torque and force data Schematic 4 Torque Force Data Weighting of force torque In percentage weighting the permanently permissible standstill torque of the motor is used ast rica translational weighting force rotational weighting torque at load at motor at load at motor at load at motor preferrential parameter preferrential parameter weighting weighting weighting weighting N N Nm Nm LSB 1 0 N Mire LSB 10 E 2 Nm rud data is given in with one decimal place LSB Unit Exponent Preferential translational Weighting method weighting of force data Unit Weighting factor Weighting exponent he reference value All torque force Preferential weighting Translational Rotatorische Vorzugswich Weighting method tung der Kraftd
125. irst zero pulse after that corresponds to the zero The initial movement is in direction of the negative left hardware limit switch It is inactive and the reference cam is active see symbol B in illustration 118 1 Type 13 changes the direction of movement if the reference cam is inactive The zero corresponds to the first zero pulse after the rising edge With type 14 the first zero pulse after a falling edge of the reference cam is the zero point The initial movement is in direction of the positive right hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol C in illustration 118 1 With type 11 the zero point corresponds to the first index pulse after falling edge of the reference cam Type 12 reverses the direction of movement after a falling edge of the reference cam The zero point corresponds to the first index pulse after the rising edge of the reference cam 04 2015 17 The initial movement is in direction of the negative left hardware limit switch It and the reference cam are inactive As soon as the negative limit switch becomes active the direction of movement is reversed see symbol D in illustra tion 118 1 With type 11 the reference cam must be overrun then the first zero pulse corresponds to the zero Type 12 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge Wit
126. ise 11 ROT_O Motor stand still Motor in standstill window depending on actual value 12 STOP Drive in Quickstop The drive is in the quick stop state The display system is in HALT state activated via DS 402 profile input or PROFIBUS IntermediateStop SERCOS 13 HALT Drive in halt from V 2 0 Reaction according to HALT Option Code P 2221 MPRO 402 HaltOC AE The output function LIMIT 14 detects when a reference 14 LIMIT Reference limitation reaches its limitation In this case the output is set Nact greater than Nx where Nx value in P 0740 15 N GT Nx Speed greater than Nx MON SpeedThresh Nact less than Nx where Nx value 0740 MON _ 16 N LT Nx Speed less than Nx SpeedThresh Position reference limited e g with parameterized 17 P_LIM_activ Position setpoint limited n software limit switches from V 2 0 18 N_LIM_activ Speed setpoint limited Speed reference limitation active Warnings warning thresholds are set via P0730 MON_WarningLevel 04 2015 10 131 Table 132 1 Parameter name P no A Designation in DM 5 Description Settings P 0122 MPRO_OUTPUT_FS_ Functi f digital output lecti P 0127 OSDOx unction of digital outpu unction selection 19 LIM activ Current setpoint limited Current reference active Set vi icati 20 COM e EE CHOR Set output via COM option from V 2 0 profile Q1 ENMO Motor contactor output Activate motor contactor wiring of
127. isod m vape sda 09604 50 d 3 920 d YIM uonisod 9 0d 04 2015 1003374 38 Note Synchronous and asynchronous machines and also synchronous linear motors ironless iron core can be controlled The following sequence should always be observed in order to optimize controllers 1 Current control loop For Harmonic Drive AG motors with motor encoder optimization of the current controller is not needed because the corresponding control parameters are transferred when the motor data set is loaded For linear motors and third party motors the motor must be calculated or identified section 3 2 Speed controller The settings of the speed controller with the associated filters are dependent firstly on the motor parameters mass moment of inertia and torque force constant and secondly on mechanical factors load inertia mass friction rigidity of the connection Consequently either a manual or automatic optimization is often required 3 Position control loop The position control loop is dependent on the dynamism of the underlying speed controller on the setpoint reference type and on the jerk acceleration and interpolation methods Basic settings are made on the following screen Illustration 391 Basic settings screen for selection of the control parameters Control mode PCON 3 Po
128. itialisation range MT Base Default gt 2048 0 2048 Example If a portion of the travel distance is to the left of the threshold MT Base it is appended to the end of the travel range to the right of the 2048 via parameter P 0547 ENC_CH1 for encoder channel 1 or P 0584 ENC_CH3 for encoder channel 3 unit encoder revolutions incl gearing MT Base Initialisation range 2048 0 2048 4096 3 1 3 Use of a multiturn encoder as a singleturn encoder By way of parameters P 0548 ENC CH1 MTEnable 1 and P 0585 CH3 MTEnable 1a multiturn encoder can be run as a singleturn encoder 314 Encoder correction GPOC For each channel the correction method GPOC Gain Phase Offset Correction can be activated for the analog track signals This enables the mean systematic gain phase and offset errors to be detected and corrected GPOC weights the amplitude of the complex pointer described by the track signals by special correlation methods The dominant errors can thereby be determined very precisely with no interference from other encoder errors and then corrected There are two GPOC variants to use Track signal correction can be used with stored values CORR or with online tracked values ADAPT Where multiple encoders are in use it is advisable to apply the method for the encoder used to determine the speed signal 04 2015 1003374 25 Table 26 1 Parameters Parameter name AA 3 no Designati
129. just speed filter P 0351 FS 0 6 ms Recommended SinCos encoder 0 2 ms 0 6 ms Resolver 0 6 ms 1 5 ms Adjust rigidity Section 4 1 1 Basic settings Scaling IO s field buses etc P 0732 0 1 P 0733 0 6 P 1503 0 1 0320 0321 0322 1517 0351 1515 1516 Linear motor system Table 183 1 Instruction Action P no Selection of motor The parameter is automatically set to PSM if parameter section 2 2 Motor P 0490 LIN 1 is set Selection of motor motion Selection for a linear motion system with P 0490 LIN 1 P0490 section 2 2 PS linear motor Motor data set calculation section 2 2 PS linear motor Motor protection section 2 2 3 Encoder setup section 3 Encoder System test via manual mode DM5 Online Help Manual mode window Control setup Optional settings 04 2015 10 Data set calculation Fill out Calculation of control setup for linear PS motors screen form and start calculation See calculated values section 2 2 Setting of l xt monitoring selection of temperature sensor charac teristic setting The desired encoders and their channels must be selected Open manual mode window Control mode VFC open loop mode section 4 7 Move motor at low speed Motor will jerk as it is in open loop mode Check direction Optimize current controller test signal generator section 4
130. l inertia of motor and plant Reduced mass inertia of motor and machinet 64 1003374 04 2015 A Attention When using linear interpolation feedforward is inactive Note The overall mass moment of inertia in P 1516 must not be changed to optimize the feedforward because this would also have an effect on other controller settings A Attention In multi axis applications requiring precise three dimensional axis coordination such as in the case of machine tools the delay of the position signal must be equally set on all axes via parameter P 0374 IP_EpsDly Otherwise the synchronization of the axes may suffer leading to three dimensional path errors The value in P 0372 CON_IP_SFFFT for the PT1 filter to delay the speed feedforward value should be chosen slightly larger than the value for the actual speed value filter P 0351 CON SCALC_TF Useful values for floating mean value filters to delay the position reference setpoint are between 0 0625 ms and 1 5 ms 04 2015 1003374 65 Illustration 661 Prediction with feedforward PCON ON PosDil inci daba a Eas Lada da La La Lab ada da Lala uwy L rou pasod NOI udi peu 4 SW 0 uonisod Jo JO eur p 0d SW Z Jejojuoo uonisod jo Joj Jed 22203 8292 uonisod 9
131. leration Observer with acceleration OBSACC 2 sensor sensor OBS2 3 Two mass observer Dual mass observer 1 SEL_FeedbackMethod 085 0 Feedback from Observer method Filter 1 Feedback from Filter CON_SCALC_Obs n Equivalent time constant of P 0353 Observer design parameters DesignPara observer 0 TF Time constant of observer Time constant 1 ms 1 Alpha Damping coefficient 2 Load point Load torque is applied as V3 0 3 TF1 Time constant of speed filtering asV3 0 Time constant of load torque 4 TF2 asV3 0 adaption Time constant of oscillation 5 TFosc asV3 0 adaption 6 AccGain Acceleration measurement gain asV3 0 Calculation assistant for P0354 CON SCALC ObsDesienAssi Observer design assistent observer 0 USER User definied design as V3 0 ee Default design for selected Start calculation with default observer design rule 2 DR Observer design by double ration as V3 0 Observer design by time 3 TIMES as V3 0 54 constant 04 2015 Digital filter To suppress potential disturbance frequencies resonances which might cause a system to oscillate it is possible to activate two filter types For this there are two general digital filter with the following time discrete transfer function is implemented in the forward branch of the speed controller B 4 x k 4 B 3 x k 3 B 2 x k 2 B 1 x k 1 B Q x k A 4 x k 4 3 3 A 2 y k 2 A 1 y k 1 Illustration 551 Screen for setting th
132. liable High Level and Low Level are high 2 4 V low 0 4 V 142 1003374 04 2015 6 3 4 Weighting of analog inputs It is possible to change the weighting of the two inputs With the two parameters P 0428 and P 0439 the input gain and input offset can be changed Reasons for changing the weighting Change to input voltage range of analog torque scaling Change to input voltage range of speed override function Change to switching threshold of a digital input function The illustration shows how the weighting function works With the specified formulas the gain and offset can be defined Illustration 1431 Weighting of analog inputs Analog Output V A Output Output 10 V Analog I Input mak 10V Output min OUT V OUTmin Gain P0428 0 1 INmax IN min 1 i Offset 9 OUT V Nin VD x 8 P 0429 0 1 Output 04 2015 10 143 Example Analog torque weighting Default setting standard controller function An input voltage range of the torque scaling from 0 V to 10 V corresponds to 0 100 10 V to 0 V corresponds to 100 to 096 Correction of input and offset gain The entire 10 V input voltage range is to be used 10 V corresponds to 096 10 V corresponds to 100 of the torque scaling The following settings are required for this 10 V input voltage I
133. lizing 0x7305 1 0x20 NoHiperface Hiperface interface 22 EncCHIlnit Hiperface Encoder channel 1 initialization Hiper 0x7305 1 0x20 Common face Interface gen Error 23 EncCHIlnit Encoder channel 1 initialization Hiper 0x7305 1 0x20 Hiperface Timeout face Interface Timeout TARN Encoder channel 1 initialization Hiper 24 EncCH1Init_Hiperface_ 4 4 face Encoder impossible COMMAND 0x7305 1 0 20 CommandMismatch response 25 EncCH1Init_Hiperface_ES Encoder channel 1 initialization Hiper 0x7305 1 0x20 tatResp Crc face CRC error in error status response 159 Table 160 1 Emergency i P no foe Error register Errorcode Error name Error location Description of error code P0030 DS402 SERCOS DS 402 FN Encoder channel 1 initialization Hiperface 26 EncCH1Init_Hiperface_ Error status response returns communica 0 7305 1 0x20 EStatResp_Com tion error no Encoder channel 1 initialization Hiperface 27 EncCH1Init_Hiperface_ Error status response returns technology 0x7305 1 0x20 EStatResp Tec or process error 28 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 1 0x20 EStatResp None Error status response returns no 29 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 i 0x20 Response Crc CRC error in response Encoder channel 1 initialization Hiperface 30 EncCH1Init_Hipe
134. log inputs section 126 1003374 04 2015 6 11 Settings for digital inputs 15000 15006 Table 1271 P no Parameter name n Function P 0101 P 0107 settings 0 OFF Input off Start of closed loop control motor is energized The direction of rotation depends on the 1 START reference 2 2 Not defined 3 STOP Quick stop according to quick stop reaction Low active see Reaction to quick stop WAIT The running movement of the axis is interrupted according to the STOP reaction see Reaction to Halt Feed and continued when reset Limit switch evaluation without override protection The response to limit switch activa 5 LCW tion and to interchange limit switches is programmable see Error reactions alarms warnings section Limit switch evaluation without override protection The response to limit switch activa 6 LCCW tion and to interchange limit switches is programmable see Error reactions alarms warnings section 0 In manual positioning the axis can be moved in creep speed or in rapid positive motion jog mode In manual positioning the axis can be moved in creep speed or in rapid negative motion 8 INCH_N jog mode According to the homing method parameterized in P 02261 MPRO_402_Homing 9 HOMST Method 10 HOMSW Reference cam for zero point definition in positioning n 26 Error messages from external devices cause an error message with the reaction determined Sexe in paramete
135. low speeds speed zero especially effective with TTL encoders Speed gain reduction at low speeds Prevents or rough running 52 1003374 04 2015 Table 531 Parameters Parameter name P no Designation in DM5 Function settings P CON SCON KpScaleSpeed Adaptation of speed control gain Reduction of speed controller gain at low speeds 0336 Zero zero speed or speed 0 Y Weighting of the speed controller gain reduction 0 Index 0 96 Gain for low zero speed in percent Definition of the speed limit to detect Weighting of the speed controller gain reduction 1 Index 1 rpm zero speed inrpm Filter time for change from zero to 2 Index 2 ms 3 Filter time for the speed transition from 0 to n higher speed Filter time for change from higher to zero 3 Index 3 ms speed filter time for change from higher Filter time for the speed transition from to 0 to zero speed Illustration 53 2 Speed controller gain reduction n Rpmi Kp Scale 96 P0281 nics P 0336 0 100 von P 0322 Reduction of the speed gain at low speeds Actual speed Gain speed CON_SCON_KpScaleSpeed 0336 0 40 P 0 336 2 Single mass observer to determine actual speed value With the single mass system observer the phase displacement over time in the feedback branch generated by the jitter filter can be reduced thereby considerably enhancing speed controller performance
136. ming only an offset adjustment is made homing offset Reference position homing ah 1 Actual position Zero offset parameter HOOFF 0 Not defined No homing 1 LCCW Neg end switch zero pulse Homing negative limit switch and zero pulse 2 LCW Pos end switch zero pulse Homing positive limit switch and zero pulse Pos reference cams zero pulse Homing to cam negative edge positive direction zero 3 HOMSW at RefNock Low pulse Pos reference cams zero pulse DIT ND 4 HOMSW Homing to cam positive edge positive direction zero pulse at RefNock High Neg reference cams zero pulse Homing to cam negative edge negative direction zero 6 HOMSW at RefNock Low pulse Neg reference cams zero pulse Homing to cam positive edge negative direction zero 6 HOMSW at RefNock High pulse Left reference cam polarity zero 7 bis 14 HOMSW Various homing runs to cam pulse at RefNock Low 15 16 Not defined Reserved 17 LCCW Neg end switch Homing negative limit switch 18 LCW Pos end switch Homing positive limit switch Pos reference cams Stop at 19 HOMSW Homing to cam negative edge positive direction RefNock Low Pos reference cams Stop at hae 20 HOMSW Homing to cam positive edge positive direction RefNock High Neg reference cams Stop at 3 gt A A 21 HOMSW Homing to cam negative edge negative direction RefNock Low Neg reference cams Stop at 22 HOMSW Homing to cam p
137. mit switch or refer 0x8612 1 0x8000 ence setpoint limitation Movement requested which was limited by reversing lock limit switch or refer 2 0x8612 1 0x8000 ence setpoint limitation Lock active in both directions 46 LERR positionLimit T M Negative software limit switch ap 1 Position Limit neg 0x8612 1 0x2000 proached v nb Positive software limit switch ap 2 Position Limit pos 0x8612 1 0x2000 proached es Reference setpoint outside software 3 Position Limit_Overtravel n 0 8612 1 0 2000 limit switches 47 LERR_FSAFE Reserved 164 8 1 3 Warnings In order to get timely information on excessive or inadequate values via an external controller or the drive s internal PLC warning thresholds can be freely parameterized with P 0730 Each warning is assigned on and off thresholds This enables parameterization of a hysteresis When a warning is triggered the corresponding bit is entered in parameter P 0034 ERR WRN State The binary value enables a status interrogation Warnings can also be programmed onto digital outputs see section 6 I O s The following warning thresholds are supported by the parameter Table 165 1 P0034 Warning thresholds BIT number xt integrator motor warning threshold exceeded 1 Heat sink temperature 2 Motor temperature 3 Interior temperature 4 Reserved for SERCOS P0034 Overspeed 5 Overspeed 6 Reserved for SERCOS 7 Reserved for SERCOS 8 Reserved for SE
138. n 10 V corresponds to 0 V output voltage Out 0 V corresponds to 0 torque scaling 10 V input voltage In a 10 V corresponds to 10 V output voltage OUT 0 V corresponds to 100 torque scaling Based on the formula this results in Gain G 0 5 Offset 5 V 7 Limits 71 Control limitation To protect the device motor and machine plant it is necessary to limit some variables The different limitations are described in the following They take effect independently of other limitations within the motion profile In addition the servocontroller offers the possibility to set the limits for positive and negative values asymmetrically and or to change the limits online The limits are specified as percentages of the rated quantities current torque speed so that following calculation logical default settings are available The default settings refer to 100 of the rated values and the parameters must thus be adapted to application and motor 711 Torque limitation torque force limits To protect against overspeed a speed controller becomes activated when the maximum speed defined in P0329 is reached and speed is limited to this max value It is possible to limit negative P0330 as well as the positive P0331 torque online independent from each other 144 Torque limitation without field weakening Illustration 145 1
139. n error 42 EncCH3lnit SSI Com Encoder channel 3 initialization SSi 0x7307 1 0 20 Interface gen error 43 EncCH3Init_ Encoder channel 3 initialization 0 7307 1 0 20 Sincos_Common Sincos Interface gen error Encoder channel 3 initialization 50 EncCH3Init TOPT cfe 0x7307 0x20 interface gen error 25 EncoderCycl EncoderCycl 1 EncoderCycl_CON_ Encoder general cyclic Autocommuta OxFFOO 1 0 20 ICOM Epsdelta tion Excessive motion 2 EncoderCycl_CON_ Encoder general cyclic Autocommuta OxFFOO 1 0x20 ICOM Tolerance tion Excessive tolerance 26 EncChiCycl 1 EncCH1Cycl_Np_ Encoder channel 1 cyclic NP Plausibil 0x7305 1 0x20 Distance ity CounterDistance 2 EncCH1Cycl Np Encoder channel 1 cyclic NP Delta 0x7305 1 0x20 DeltaCorrection correction not possible Encoder channel 1 cyclic NP Plausibility 3 EncCH1Cycl Np Delta 0x7305 0x20 CounterDelta 27 EncCh2Cycl 1 EncCH2Cycl_NoLo Not used 0x7306 1 0x20 cation 28 EncCh3Cycl 1 EncCH3Cycl NoLo Not used 0x7307 1 0x20 cation 29 TC TriCore 1 TC ASC TriCore ASC 0x5300 1 0x8000 2 TC ASC2 TriCore ASC2 0x5300 1 0 8000 162 04 2015 Table 163 1 Emergency Error name Error CN Errorregister Errorcode Description of error code P0030 location Ds 402 SERCOS DS 402 3 TC_FPU TriCore floating point error 0x5300 1 0x8000 4 TC FPU NO RET TriCore floating point error no retu
140. n into consideration when configuring the motor 04 2015 1003374 73 Illustration 741 Synchronous machine field weakening i 1070W snouoJupu g 04 2015 1003374 74 There are also two variants for field weakening of synchronous motors The choice of variant 1 or 2 is made via Designation in DM5 Function parameter P0435 FWMode Table 75 1 Parameter name P no settings P0435 CON_FM_FWMode 0 1 Table 2 Calc Note Fieldweakening mode for synchrounus motors Fieldweakening is disabled Isd set by PI Controller and table parameter Isd set by PI Controller and motor parameters Selection mode for field weakening of synchronous motors Field weakening is off regardless of other settings Field weakening is effected by way of a characteristic which specifies the d current dependent on the speed isd f n parameters P 0342 and P 0343 Field weakening is effected by way of a characteristic which is set internally via the motor parameters The d current reference is then calculated dependent on the speed and the required q current The inaccuracies with regard to the motor parameters the available voltage etc can be compensated by way of the Scale parameters P 0436 In mode 1 and mode 2 the voltage controller can be overlaid It is also possible in mode 1 to
141. n is reset to 0 how ever The clockwise direction is locked Absolute reference values are corrected to anti clockwise Illustration 911 Anti clockwise rotation Processing format absolut modulo rotary table modulo value 360 deg Position option linear like left direction right direction shortest way Illustration 91 2 Clockwise rotation Processing format absolut modulo rotary table modulo value 360 deg Position option O linear like left direction right direction shortest way 04 2015 1003374 91 Path optimized movement With Path optimization activated an absolute target position is always approached by the shortest path Table 921 Travel range Effect Target position less than circumference 120 lt 360 Target position circumference 120 120 Target position greater than circumference 600 1 360 240 800 2x 360 80 Illustration 92 2 Path optimization Without path optimization x Q 5 120 P 120 240 240 92 The drive moves to the specified target position The drive stops The drive moves to the position within the circumference target position n x circumference With path optimization 120 senna 120 0
142. n weighting Illustration 931 Weighting wizard for SERCOS Weighting via the SERCOS profile SERCOS interface Units Position unit degree Velocity unit 1 min 1 s Torque force unit cNm Acceleration unit rad s 2 This is the start screen of the SERCOS scaling wizard in which the settings for position speed torque and acceleration can be made From this screen the user is navigated through the scaling parameters So as not to have to display all individual screens the following schematic views are presented Schematic 1 Position data weighting method Schematic 2 Speed data weighting method Schematic 3 Force torque weighting method Schematic 4 Weighting method for acceleration 04 2015 1003374 93 Weighting of position data Illustration 941 Position data weighting method Schematic 1 Position data Weighting of position data translational mode rotary mode Load Motor Load Motor Load Motor Preferentioal Pi Preferentioal Pi translational baie translational cl Piel weighting Waging weighting weighting Meter Meter Grad Grad LSB 10 7 m LSB variabel fgsolution 260009 58 variabel Position resolution in translational mode LSB Unit Exponent Preferential translational weighting Preferential Weighting method Unit Weighting factor Weighting exponent weighting Linear m 1 7 0 1 um Posi
143. nce 1000 rev min Stop Motor control Quick stop Halt operation Activate manual mode Illustration 50 2 Setting the channels on the oscilloscope Hand operating trigger Status Off Container New Channels Trigger Time Beference speed summed 0 l min Acfual forque 0 Nm 50 Open control window Make settings Control mode SCON Speed controlled Acceleration ramp 0 Open scope Setting Channels CH 0 speed reference nref CH 1 actual speed nact CH 2 actual torque mact Trigger Trieger signal Speed reference nref Mode Rising edge Level 30 rpm Pretrigger 0 Time Samplingtime base time 6 25E 0 5 s Recording time 0 2 s 1003374 04 2015 Illustration 511 Small signal response Speed step 100 rpm Small signal Speed step 100U min Recording time 85 ms 100 stiffness uN 1132 14 0115 T T T y 0 1 1 0 05 i 1 0 CON SCON ActTorque Nm 15 T2 Differenz Zeit s 0 0022 0 022 Reference speed summed 1 min 32 755 100 67 245 act speed from filter rpm 0 003 101 839 101 842 lstdrehmoment Nm 0259 0178 0 08 This view shows a typical speed step response n 100 rpm with a rise time of 5 ms and an overshoot of approxima tely 13 The reference of the current must not reach the limit during the
144. ng for position speed acceleration Units Position 0 w X deg 2 Degree v gt degree Speed 0 v Eo Revolutions per minute gt rev min ms 1 Meters per second Acceleration 0 x mmin 2 Meters per minute gt rev min s deg s 3 Degrees per second deg min 4 Degrees per minute 5 Revolutions per second ievolutions per minute revs 5 7 Increments per second inc min 8 Increments per minute 04 2015 1003374 87 Definition of direction Referred to the motor the positive direction is clockwise as seen when looking at the motor shaft A side bearing plate Illustration 88 1 Polarity of command values Polarity of command values Position control modes clockwise anti clockwise Speed control modes o clockwise anti clockwise Illustration 88 2 Feed constant gear ratio process format Feed constant deg 1 rev of driving shaft Gear ratio if available Input revolutions motor shaft 1 rev Output revolutions driving shaft 1 rev Position encoder resolution 1048576 incr 1 rev motor Processing format absolut modulo rotary table 88 1003374 04 2015 Feed constant Feed constant defines the ratio of the feed rate to the output revolution Equation 89 1 Feed forward feedconstant revolution gear output side Gear ratio defines the ratio of a motor revolu
145. no Parameter name Setting Designation in DM 5 Function P0276 MPRO FG UsrActPos Actual position in user units Current position in user units 0277 MPRO FG UsrRefPos Reference position in user units Reference position in user units P0278 MPRO FG UsrCmdPos Position command in user units Position command in user units P0279 MPRO_FG_UsrPosDiff Tracking error in user units Tracking error in user units 04 2015 1003374 177 Table 178 1 P no Parameter name Setting Designation in 5 Function P0280 MPRO_FG_UsrRefSpeed Reference speed in user units Speed reference in user unit P0281 MPRO_FG_UsrActSpeed Actual speed in user units Actual value in user units P0282 MPRO_FG_UsrCmdSpeed Speed command in user units Speed command in user units Actual motor voltage rms phase to P0312 CON_CCON_VMot Actual motor voltage phase 0410 CON_ACT_VDC Actual DC link voltage Actual DC link voltage P0412 CON_PCON_ActPosition Actual position in increments Actual position value in increments P0413 CON_PCON_RefPosition Reference position in increments Position reference in increments Actual position difference RefPosition Difference between actual and reference P0414 CON_PCON_PosDiff ActPosition position 0415 CON_SCALC_ActSpeed Actual speed Actual speed P0416 CON_SCON_RefSpeed Reference speed Reference speed Difference between actual and reference P0417 CON_SCON_SDiff Speed difference RefSpeed ActSpeed speed P0418 CON_SCON_RefTorque Reference torque
146. ns at which the correction inter polation points are plotted are defined via parameters P 0593 Interpolation point pitch and P 0591 Start position Between the correction interpolation points the correction values are calculated by cubic spline interpolation Actual position Values of the correction table for negative direction of rotation in user units Values of the correction table for positive direction of rotation in user units Execution With P 0530 channel selection for SERCOS 1st encoder With P 0531 channel selection for SERCOS 2nd encoder Selection of the encoder whose actual position value is to be changed with P 0590 Enter interpolation point pitch in P 0593 The correction values are determined using a reference measurement system e g laser interferometer The in terpolation points for the various directions within the desired correction range are approached one after another and the corresponding position error is measured The interpolation point specific correction values are entered manually in tables P 0595 pos direction and P 0596 nec direction Save data Restart P0592 now shows the position end value of the correction range Start control in position control execute homing and then move to any position The momentary correction value is written to P 0594 This value is subtracted from the approached position value This applies to all positions being appro
147. nt Nro 0x2350 1 0 8000 initialization 2 Parameter MON I2t Motor protection 0x2350 1 0x8000 Autocommutation Plausibility 3 Parameter CON ICOM OxFFOO 1 0 8000 tolerance exceeded 4 Parameter_CON_FM Field model OxFFOO 1 0 8000 5 Parameter_CON_Timing Basic initialization of control OxFFOO 1 0 8000 6 Parameter_MPRO_FG Error calculating user units 0x6320 1 0 8000 7 Parameter_ENC_RATIO Error initializing encoder gearing 0x6320 1 0 8000 8 Parameter_Nerf Speed detection observer 0 8400 1 0 8000 9 Parameter_ObsLib Error in matrix library OxFFOO 1 0 8000 10 Parameter_CON_CCON Current control 0x8300 1 0 8000 11 Parameter_reserved1 Not used reserved OxFFOO 1 0 8000 12 Parameter Inertia Moment of inertia is zero OxFFOO 1 0 8000 PARA_WatchDog in open loop 13 Parameter_MPRO OxFFOO 1 0 8000 control via DM5 DV INIT Error in system 14 Parameter DV INIT OxFFOO 1 0 8000 156 initialization Table 1571 Emergency Errorreg Error name Error location Description of error code ister Error code SERCOS 05402 05402 16 5 Speed tracking error above 1 SpeedDiff_MON_SDiff 0 8400 1 0x8000 threshold value Current speed above maxi 2 SpeedDiff_MON_NAct 0 8400 1 0 8000 mum speed of motor 17 PositionDiff Position tracking error 1 PositionDiff_MON_ActDelta 0x8611 0x8000 too large 18 Motion control 1 MotionControl MC HOMING Lim Homing L
148. ntification the hardware enables ENPO ISDSH must be switched and the DC link voltage must be present The identification may take a few minutes A Attention All existing motor parameters are overwritten 2 4 2 Saturation characteristic for main inductance The main inductance is frequently determined inaccurately in particular for higher powered motors An improvement of this value can be achieved at high speed with no load on the machine if possible by way of a measurement process Procedure Run motor at 50 90 nominal speed e g via Manual Mode Tuning is started when P 1531 Tune Lmag chracteristics 4 Sequence The main inductance is determined with varying magnetization The results are written to parameters P 0473 MOT_LmagTab P 0474 MOT LmagldMax The operating point is recalculated 04 2015 13 2 5 Motor protection Temperature monitor setting The device can evaluate different temperature sensors With P 0732 the sensor fitted in the motor and the wiring variant are set sensor cable routed in resolver or separate In an evaluation via KTY the shut off threshold of the motor temperature can additionally be set Illustration 141 Temperature monitor setting Temperature monitoring OFF 0 No motor temperature sensor Maximum temperature TI only KTY84 degC Temperature monitoring connected via 5 0 Motor temperatur connector Ft monitor
149. ntrol dynamism High value for speed filter control dynamism lower smooth running quality improves Speed limitation Illustration 48 1 Speed controller screen Pl Speed Controller P 0322 0 P0320 0 0 005465 Nm rpm 100 x 0 CON SCON Kp 0 CON SCON KpScale Postion and ge Feedforward FF 0321 0 175825 oed 0 17 5825 ms 0 CON SCON Tn nef pcon Y igel Torque gt 7 gt Digital t Current Control t ssqref_scon Speed observer and State space Control Analysis of Speed Control 0351 0 05 ms Encoder EXE Interface 0 CON SCALC TF P 0350 1 Feedback Selection am 085 0 Feedback from observer method xj P 0350 0 Observer Method FILTER O iter parameters take effect online The scaling parameter P 0322 is transferred in defined real time according to the speed controller sampling time With this the gain can be adapted via the field bus or an internal PLC to respond to a variable mass moment of inertia By selecting the scaling there is always a refer back to the reference setting of 100 48 1003374 04 2015 Speed controller optimization using step responses The speed controller is always set up using step responses They are recorded with the oscilloscope and used to analyze the setup quality
150. ode the positioning commands are transmitted to the internal Profile Generator The setting is made in the motion pro A positioning command consists of Ref_Position Ref_Position Target position Ref_Speed Maximum positioning speed Maximum acceleration Maximum deceleration Wi h the additional information on jer file Basic setting subject area k P 0166 MPRO REF and an override factor P 0167 MPRO REF OVR for the positioning speed the Profile Generator generates a time optimized trajectory for the position reference taking into account all limitations in order to reach the target position The position reference values are then fine interpolated in the interpolator The position references are used to generate pre control values for speed and acceleration These are scanned at the sampling time of the position controller normally 125 us and switched to the control loops For information on how to generate positioning commands with bus systems refer to the field bus documentation Illustration 104 1 Configuration of position control in PG mode Position Control with PG Mode P 0301 PG 0 P 0300 PCON 3 Sampling Time Basic settings Interpolator Selct Interpolation Mode isq ref n ref eps ref Controll Feed forward controll ref Feed forward controll Position Current Controll Controll gt P 0165
151. ofilegenerator control Reference type jog mode 1 degree acceleration unit 1 rev min s 1 rev min Torque force unit 1 TERM 1 via terminals TAB 3 via table 0 setpoint effects to profile generator Type 4 4 Pos reference cams zero pulse at RefNock 1003374 04 2015 5 1Scaling By way of Motion Control reference values must be preset in user defined travel units These values are then converted into internal units A wizard is provided for scaling in the standard CiA DS402 and SERCOS profiles To start it click the Standardisation units button Scaling via USER is only possible by way of the Parameter Editor Illustration 871 Selection of scaling mode Normalization profile Standard DS402 Sercos User Table 87 2 P no Parameter name Setting Designation in DM 5 Function 0283 MPRO_FG_Type Factor group Type selection Scaling source Scaling is based on the parameters 0 STD_DS402 Standard acc To CANopen DS402 ae specified in the CIA 402 profile Scaling is based on the parameters 1 SERCOS Units acc To SERCOS Saa specified in the SERCOS profile V Scaling is based on parameters P 270 2 User specific User defined units toP275 5 11 Standard 05 402 Profile Definition of the units for position speed and acceleration The scaling is entered using the Exponent syntax Illustration 873 Scali
152. on in DM5 Function settings 0549 7 M ENC CH1 2 Corr Encoder Channel 1 2 Signal Correction Selection of correction method 0 No reaction No method 1 CORR Correction with saved values Activate correction with stored values 2 ADAPT Auto correction Auto correction 3 RESET Reset correction values Reset values P 0550 ENC_CH1 Encoder Channel 1 2 Signal Correction Signal correction P0562 2_CorrVal Values 0 Offset Offset track Defined offset of track signal 1 Offset B Offset track B Defined offset of track signal B Determined gain correction factor for track 2 GainA Gain track A signalA Defined gain correction factor for track 3 Gain B Gain track B d signal B Calculated phase correction between track 4 Phase Phase signals A andB Carrying out encoder correction Open the open loop control window and set speed controlled mode Set the optimization speed Resolver approx 1000 to 3000 rpm SinCos encoder approx 1to 5 rpm Adjust scope Plot actual speed value Switch to ADAPT during operation and wait about 1 3 minutes for the compen sation algorithms to reach their steady state The speed ripple should decrease after about 1 minute observed with scope Apply setting and save secure against mains power failure 1 Procedure Access the stored values with CORR or 2 Procedure Use current correction values with ADAPT With the Reset setting the values are res
153. on of all connected drives with the master control system Maximum configurable data volume in MDT 20 bytes Maximum configurable data volume in DT 20 bytes Programmable parameter weighting and polarity for position speed acceleration and torque Modulo weighting Additive speed and torque references Fine interpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control Servicec hannel for parameter setting and diagnosis Support for touch probes 1 and 2 Support for configurable real time status and control bits Support for configurable signal status and control word Supported commands 5 0 0099 Reset state class 1 5 0 0127 Preparation for switch to phase 3 5 0 0128 Prepare switch to phase 4 5 0 0148 Drive controlled homing 5 0 0152 Position spindle command 5 0 0170 Touchprobe command 5 0 0262 Parameter initialization to defaults command 5 0 0263 Parameter initialization to backup values command S 0 0264 Save current parameter values command Note For a detailed description of the SERCOS field bus system refer to the separate SERCOS User Manual 168 10 Technology option 10 1 General It is possible to use one of the following encoder types by way of option slot 3 High resolution sine cosine with or without absolute interface
154. ontroler 6 gt User CiA 054020 g SERCOS 8 PROFIBUS 9 VARAN 10 BUS Sampling time 1 ms 5 2 8 Smoothing and Speed offset Table 105 2 Parameter name P no Designation in DM 5 Function Settings P 0166 MPRO REF JTIME Motion profile jerk time Setting of smoothing time jerk limitation The reference is weighted in percent dependent on the P 0167 MPRO REF OVR Motion profile speed override factor Xx maximum specified reference value Due to the jerk limitation the acceleration and deceleration times rise by the smoothing P 0166 The smoothing settings field appears on the screen only when JerkLin 3 Jerk limited ramp is set in parameter P 2243 Profile type With speed override P 0167 the maximum preset speed reference can be scaled in percent 04 2015 105 Illustration 1061 Without smoothing Red actual speed value Grey actual position Position mir Verschliff 2000ms 25 Position ohne Verschliff x Qik ai amp lefty XY 0 443 1401 Positionierung ohne Verschliff Illustration 106 2 With smoothing of 2000 ms Red actual speed value Grey actual position value Position Verschliff 2000ms vx Ae Qd Q lefty 1 225 470 9 Positionierung mit einem Verschliff von 2000ms 106 1003374 04 2015 5 3 Stop ramps Each reference source has its own acceleration and braking ramps In addition to t
155. ontroller component unit X ms P0270 MPRO_FG_PosNorm Internal position resolution incr rev The process controller is to deliver an additive position reference P 2672 CON_PRC_OUTSEL 3 Then the possible change in the control variable is to be limited by way of the rate limiter The control variable change each time interval by the process controller results in a speed change on the motor shaft Example The amount of the process controller to change the speed on the motor shaft should not be higher than 100 revolutions per minute To achieve this the value of parameter CON_PRC_RateLimiter ID 2680 subindex 0 must be parameterized with a value corresponding to the user unit The unit of this parameter is x ms The x stands for the respective unit of the process controller output variable In this example the control variable additive position reference has the unit Increments see also parameter P 270 MPRO_FG_PosNorm This parameter indicates how many increments correspond to one motor revolution In the following the conversion of revolutions per minute into increments per millisecond is calculated Example CON_PRC_RateLimiter 0 P 2680 inc ms 100 rpm P 0270 inc rev 1 60 min s 1 1000 s ms To reduce the I component the same procedure is applicable CON_PRC_RateLimiter 1 Inc ms If a change in control variable is not desired CON PRC RateLimiter must be parameterized with the value zero Table
156. ormation and specifications may be subject to change at any time Please visit www harmonicdrive de for details of the latest versions 4 1003374 04 2015 1 Power stage 11 Setting the power stage parameters The YukonDrive can be operated with different voltages and switching frequencies for the power stage To operate the controller generally the power stage must be adapted to the local voltage conditions It must be ensured that the switching frequencies and voltage match DMS setup screen Illustration 5 1 Switching frequency Voltage supply Power stage screen 8 2 3 8 kHz switching frequency Table 5 2 Parameter table Parameter name 3x230 AC 1 3 x 230 V mains Optionen P no Designation DMS Description settings P0302 CON_SwitchFreq Switching frequency Power stage switching frequency setting It is advisable to operate the drive controller with the default setting Increasing the switching frequency can be useful to improve the 2 kHz 16 kHz Switching frequency control dynamism Temperature related derating may occur Switching dependent on device frequency noise decreases as the switching frequency rises audible range lt 12 kHz 0307 CON VoltageSupply Voltage supply mode Adaptation to the voltage conditions 1 230 V 0 3x 230 V 1 3x 400 V 2 3x 460 V 3 Votage supply mode Adjustable voltage range 3x480 V 4 Safety low voltage 5 04
157. ositive edge negative direction RefNock High 04 2015 11 Table 1121 P no Parameter name Setting DesignationinDM5 Function P 0101 bis P 0107 T P2261 MPRO_402_HomingMethod Digitale Eing nge MPRO_INPUT_FSISDxx 23 bis 30 HOMSW Various homing runs to cam S 31 32 Not defined Reserved 33 Next left zero pulse Zero pulse in negative direction 34 Next right zero pulse Zero pulse in positive direction Actual position Reference E e 35 e Zero is current position position Homing method The homing method is selected via parameter P 2261 MPRO 402 HomingMethod type 5 to type 35 The following describes the different homing methods The individual reference points corresponding to the zero are numbered in the diagrams The different homing speeds V1 SpeedSwitch V2 SpeedZero and the directions of movement are also shown Type 5 Absolut Encoder This type is suitable for absolute encoders e g SSI Multiturn encoders Homing is performed immediately after power on It can also be activated with the power disconnected The current position complies with the zero point The zero position is calculated on basis of the absolute encoder position zero offset According to this homing with zero point offset 0 supplies the absolute position of the SSl encoder e g in ope ration of a SSI Multiturn Encoder Another homing run with unchanged setting of the zero offset does not cause a change
158. p P0198 0 15 MPRO TAB SRef Speed mode reference value Reference Driving sets in torque control Table 123 3 P no Index Parameter name Settings DesignationinDM5 Function P 0193 0 15 MPRO_TAB_TAcc Torque mode acceleration Acceleration ramp P 0194 0 15 MPRO TAB TDec Torque mode deceleration Braking ramp 0195 0 15 MPRO_TAB_TRef Torque mode reference value Reference 04 2015 123 5 7 Measuring switch function Touch probe Using the two fast digital inputs 15005 06 a position value can be recorded and processed during ongoing operation A positive or negative switching edee optionally triggers recording of a measured value After enabling the relevant measuring switch a value is only recorded on the first trigger Prior to any further measure ment the measuring switch must be enabled again P 2279 Bit 0 one time measurement Table 124 1 CANopenObjekt Setting Function P2285 2 CiA DS402 motion profile partial 60B8 P2279 0101 hex Digital input 15005 triggering by a rising edge control word 0202 hex Digital input 15005 triggering by a falling edge 0304 hex Digital input 15006 triggering by a rising edge 0408 hex Digital input 15006 triggering by a falling edge 5089 P2280 0101 hex Digital input 15005 triggering by a rising edge status word 60B9 P2280 0202 hex Digital input 15005 triggering by a falling edge status word 0304 hex Digital input 15006 triggering by a rising edge 0408 hex Digital input 15005
159. pe P0451 MOT Name Motor name Motor name P0452 MOT CosPhi 2 Cos phi P 0455 MOT FNom Motor nominal frequency P0456 MOT VNom 2 Motor rated voltage P0457 MOT CNom Motor rated current Rated current P0458 _5 2 Motor rated speed P0459 _ 2 Rated motor power P0460 MOT_TNom 2 Motor rated torque P0461 MOT J Motor mass inertia P0470 MOT Rstat Stator resistance Primary section inductance P0471 MOT Lsig Stator resistance Secondary section inductance paz MOT LmagNom Display of actual nominal inductance This value is taken from table P 0473 and relates to the preset magnetizing current P 0340 P0492 MOT_MagnetPitch 2 Pole pitch NN P 0493 MOT SpeedMax 2 Maximum speed P0494 MOT ForceNom 2 Rated force P0496 MOT MassMotor Mass of motor carriage P0497 MOT MassSum 2 Total mass to be moved P0498 MOT EncoderPeriod 2 Encoder signal period The parameters are only of informative nature but should be set for a complete motor data set 9 The parameters are used for calculation of controller settings and have a direct effect on the response of the servocontroller 12 This initiates Current controller tuning The current controller is automatically optimized The motor impedances are automatically measured Calculation of operating point Calculation of current speed and position control parameters V F characteristic boost voltage rated voltage rated frequency Note To start ide
160. peed can be symmetrically limited in relation to the rated speed by the scaling parameter P 0328 SCON SMax Asymmetric limiting is possible via parameters 0333 CON SCON SMaxNeg and P 0334 CON SCON SMaxPos An activated reversing lock P 0337 CON SCON DirLock also has an effect on the limitations with respect to the reference speeds for the control The setting POS locks the positive references and NEG the negative references With P 0745 MON RefWindow the standstill window is set for the speed Note Parameters P 0337 CON SCON SMaxScale 0328 CON SCON SMax and P 0335 CON SCON DirLock are not changeable online Parameters P 0333 SCON_SCON_SMaxNeg P 0334 CON SCON SMaxPos are changeable online 148 z sod xeuru sod xeuru z Deu 149 uonoeujqng wns uolyeywul Lu NODS v 0 d uw P XEeINS NOOS 8c 0 d e WONS 8St0 d a 34 uw NOOS 15509 L2 B NXENS NOOS 80 d pesce JPod NODS NOO SEEOd Speed limitation Illustration 149 1 peeds NOOS NOD Ut uonejui peeds uonesi eniu N 04 Table 1501 Parameters Parameter name 5 Designation in DM 5 Function settings
161. put function Reference reached REF 6 P 0122 to P 0127 OSDxx REF 6 For torque and speed control as well as positioning the setting REF 6 can be used to define a range in which the actual value may deviate from the reference without the Reference reached REF message becoming inactive Reference fluctuations caused by reference input e g via analog inputs can thus be taken into account 132 Illustration 133 1 REF setting Reference reached window for speed control via analog input n 1 min 130 U min 50 U min i 0 ISAOx REF 6 Output function LIMIT 14 The output function LIMIT 14 detects when a reference value reaches its setpoint reference limit In this case the output is set The limit values for maximum torque and maximum speed depend on the control system A detailed description is given in the Limits section Torque control Limit value monitoring becomes active when the torque reference exceeds the max torque Speed control Limit value monitoring becomes active when the speed reference exceeds the max speed Positioning Limit value monitoring becomes active when the speed reference exceeds the max speed or the torque reference exceeds the max torque Infinite positioning speed mode Monitoring is activated in infinite positioning speed mode when the speed reference has been reached If an ongoing positioning operation is interrupted with HA
162. r P 0030 Error Reaction Sub Index 11 12 WARN External collective warning 13 RSERR Error messages are reset with a rising edge if the error is no longer present 4 SAN In field bus operation switching of the reference source P 0165 CON CfeCon and the control location P 0159 MPRO_CTRL to Term can be set via a digital switch 15 PROBE Only adjustable for the fast inputs 15005 and 15006 16 PLC Input can be read by PLC program 17 PLC IR Interruption of the PLC program 18 18 Not defined 19 19 Not defined 20 20 Not defined Q1 TBEN Import and execution of selected table driving set 22 TBTBA Teach in for position driving set table 23 TABO Binary driving set selection Bit 0 significance 20 for speed 24 TABI Binary driving set selection Bit 1 significance 21 for speed or positioning 25 TAB2 Binary driving set selection Bit 2 significance 22 for speed or positioning 26 TAB3 Binary driving set selection Bit 3 significance 23 for speed or positioning 04 2015 127 6 1 2 Hardware enable ISDSH STO Safe Torque Off For the function Save Torque Off STO according to EN 954 1 Category 3 under due consideration of the require ments specified in EN 61508 concerning the fulfilment of the systematic integrity for SIL 2 the drive controllers are equipped with an integrated circuit with feedback contact The logic cuts the power supply to the pulse ampli fiers to activate the power stage Combined
163. ransmission 5 ComOptSercos_MasterSync SERCOS Faulty synchronization OxFFOO 1 0x1000 6 ComOptSercos MasterData SERCOS Data telegrams missing OxFFOO 1 0x1000 7 ComOptSercos_Address Double SERCOS Duplicate address OxFFOO 1 OxFFOO SERCOS Faulty phase switching 8 ComOptSercos_PhaseSwitchUp OxFFOO 1 OxFFOO Up shift 04 2015 1 155 Table 156 1 Emergency Errorreg P no Error code Error name Error location Description of error code ister P 0030 SERCOS 05402 DS 402 SERCOS Faulty phase switching 3 ComOptSercos_PhaseSwitchDown OxFFOO 1 0 1000 Down shift SERCOS Faulty phase switching 10 ComOptSercos_PhaseSwitchAck AA OxFFOO 1 0 1000 missing acknowledgement SERCOS Faulty initialization of 11 ComOptSercos_InitParaList OxFFOO 1 0 1000 SERCOS parameter lists 12 ComOptSercos RunTimeError SERCOS Various runtime errors OxFFOO 1 0x1000 13 ComOptSercos Watchdog SERCOS Hardware watchdog OxFFOO 1 0 1000 SERCOS Error in parameteriza 14 ComOptSercos_Para tion selection of OP mode IP OxFFOO 1 0 1000 times etc 14 EtherCat EtherCat 1 ComOptEtherCat_Sm_WatchdogO 0x8130 4 0 8000 Watchdog EtherCat Parameter error 2 ComOptEtherCat_Wrong EepData 4 0x8130 1 0 8000 parameter data implausible EtherCat Internal RAM 3 ComOptEtherCat RamkError 0x8130 3l 0x8000 error amp itx91 15 Parameter 1 Error in current monitoring 1 Parameter MON Device Curre
164. rface_ Response with error bit Status returns 0x7305 1 0x20 Response Com n communication error d Encoder channel 1 initialization Hiperface 31 EncCH1Init_Hiperface_Re x Response with error bit Status returns 0x7305 1 0x20 sponse Tec technology or process error P Encoder channel 1 initialization Hiperface 32 EncCH1Init_Hiperface_ Response with error bit Status returns 0x7305 1 0x20 Response None no error nt Encoder channel 1 initialization Hiperface 33 EncCH1Init_Hiperface_ Status telegram reports communication 0x7305 1 0x20 Status Com error MAT Encoder channel 1 initialization Hiperface 34 EncCH1Init Hiperface Status telegram returns technology or 0x7305 1 0x20 Status Tec process error 35 EncCHIlnit Hiperface Ty Encoder channel 1 initialization Hiperface Ad 0x7305 1 0x20 peKey Type identification of encoder unknown Encoder channel 1 initialization Hiperface 36 EncCH1Init_Hiperface_ 4 5 attempt was made to write to the 0x7305 1 0x20 WriteToProt protection cells in the encoder 37 EncCH1Init TTL Encoder channel 1 initialization TTL Con i 0x7305 1 0x20 IncompatibleHardware trol pcb does not support TTL evaluation Encoder channel 1 initialization EnDat2 1 38 EncCH1Init_EnDat2 1_Po EM i Do Plausibility check Position Bits from 0x7305 1 0x20 sitionBits encoder Encoder channel 1 initialization EnDat2 1 39 EncCH1Init EnDat2 1 He x Plausibility ch
165. rget is in the valid range that is within the software limit Relativ switches If the target is outside no motion task is signalled and the programmed error response as per P 0030 is executed The drive travels until a software limit switch is detected Then the nfinite programmed error response as per speed controlled 0030 is executed 04 2015 151 8 Diagnostics 8 1 Error status Warning status Errors are shown on the drive controller display for D1 2 display see Operation Manual and in parallel in the DriveManager When a new error occurs the window below opens indicating the error name location and cause In addition the green rectangle in the Drive Status switches to red Illustration 152 1 Current error display Device error occured Error 18 6 x Axis gt USB gt 0 gt Servodrive Fault Homing error Drive not ready missing moto Alarm messages Error history Target reached Reference limited Homing error Drive not ready missing motor standstill Check motor standstill and its parameter Standstill Movement right Movement left No additional Info 0 source MC_HOMING c line 1292 Homing Jog mode active Homing attained Quiterrornow Quitlater Negative limit switch Positive limit switch HALT state Motor brake closed i Clicking the Error history button in the Drive Status window calls up a buffer memory log listing th
166. rn 0x5300 1 0x8000 ADDR address available 30 InitCon 1 InitCon Analnput Initialization error analog input 0x5300 1 0x8000 Initialization error calculating motor 2 InitCon_FM_GetKM 0x5300 1 0x8000 torque constant 3 InitCon FM ASM Initialization error asynchronous motor 0x5300 1 0x8000 4 InitCon FM ASM Initialization error asynchronous motor in 0x5300 1 0x8000 FW field weakening 31 PLC 1 PLC Location User specific Errors generated in PLC OxFFOO 1 0 8000 0 65536 program 32 Profibus 1 ComOptDp_Timeout PROFIBUS DP Process data Timeout OxFFOO 1 0 8000 33 Timing Task overflow 1 Timing_ADCTask_ ADC task automatically interrupted 0x5300 1 0 8000 ReEntry 2 Timin_ControlTask Control task exceeded scan time 0x5300 1 0x8000 34 PowerFail Power failure detection Power failure detection supply voltage PowerFail 0x3220 1 0 8000 35 EncObs Encoder cable break 1 EncObs_CH1_Sincos Cable break Encoder channel 1 OxFFOO 1 0 20 2 EncObs_CH2_ Cable break Encoder channel 2 OxFFOO 1 0x20 Resolver 3 EncObs CH3 Sincos Cable break Encoder channel 3 OxFFOO 1 0x20 4 EncObs_CH1_SSI Cable break Encoder channel 1 OxFFOO 1 0x20 36 VARAN 1 ComOptVARAN_ Error in hardware initialization VARAN 0 5300 1 0 8000 InitHError option 2 ComOptVARAN_ Bus off error no bus communication 0x5300 1 0 8000 BusOffError VARAN option Syncronization 37 controller The ratios between interpolation
167. rol 3 Speed control _ Screen for the current control loop Details of Torque and Current Control 0 CON_CCON_Kp Po310 20 V A 0 CON CCON Ti 0 _Tn 0 2 3 ms por sg isdref Step 1 P 01503 0 Step 1 043 Time t1 015040 1 s Set Default Step response of current control Step 2 Trigger t kae P 01503 1 Step 2 215 Time t2 1 4 1504 1 Record transfer function P 1509 0 Noise Amplitude 0 var Cycletime 5 ms Set Default Record time 0 05 Test Signal Generator 1003374 Start Test Signal Stop Test Signal 41 Illustration 421 Step response to rated current 1 dar Ae ee ERE The faster the actual value approaches the setpoint reference the more dynamic is the controller setting During settling the overshoot of the actual value should be no more than 5 10 96 of the reference setpoint The current controller can also be set by way of the test signal generator This controller optimization method is described in more detail in section 4 7 Commissioning Determining the mass inertia of the motor Openthe Loop control screen Activate hardware enable ISDSH ENPO Click the Basic setting b
168. roller is usable in all control modes 04 2015 1003374 169 Control structure of the process controller Illustration 170 1 6992 d 9 8992 d NOD 7 97 d gt O 7192 d 0 NOD 0192 d L192 d dau Wu Dud usa 338 ue Dud M ree T EE ud 0892 d 7992 d 1992 d S992 d 992 d 0992 d 6592 d 2997 d 011 102 SS5320Jd 999 d 4992 d 170 Table 171 1 P no Parameter name Settings Function P2658 CON_PRC_ENABLE Starting the process controller P2659 CON_PRC_Kp P gain of the process controller P2660 CON_PRC_KP_SCALE Adaptation of the P gain P2661 CON_PRC_Tn Process controller integral action time P2662 CON_PRC_REFOFFSET Offset for the process controller output P2663 CON_PRC_LIMPOS Positive process controller limitation 2664 CON_PRC_LIMNEG Negative process controller limitation P2665 CON_PRC_CDIFFSIGN Adaptation of control difference sign 2666 CON_PRC_REFVAL Process control reference value 2667 CON_PRC_REFSCALE Scaling factor for the process controller reference P2668 CON_PRC_ACTSEL Selection of the actual value source 0 15400 0 Analog input 0 1 1SA01 1 Analog input 1 2 FIELDBUS 2 Field bus parameter CON PRC ACTVAL Fieldbus ID 2677 3 REFSPEED 3 Actual speed rpm 4 REFPOS 4 Actual position increments 5 ISQREF 5 Reference value from speed control P2669 CON_PR
169. rpolation is effected between the interpolation points of the control P1 P5 P9 P10 by means of cubic splines The trajectory is guided precisely by the control based on the specified points This may cause a slight jerk at those points noticeable in the form of noise Application High contouring accuracy slight noise is possible Noise refers to mathematical anomalies which cannot be entirely eliminated by the computing methods applied 180 NonIPSpline 4 Cubic Spline Approximation Illustration 18111 Cubic Spline Approximation P 0305 125 ps cycle Reference value Sollwerte Target A Zielposition Startposition time 125 us m usas Zeit 500 ps 500 ps 500 us 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen With this method the interpolation points are approximated by means of B Splines The trajectory normally does not run exactly through the points specified by the control The deviation is normally negligibly small In the interpolation points the transitions are continuous with regard to acceleration which becomes apparent by minor noise In start and target position the interpolation points always match the trajectory Application Minimizing noise smoother motion restrictions on contouring Note Further information on how to generate motion commands using the field buses or internal possibilit
170. rs should always choose the rated motor current amplitude as the current and a time of at least 4 seconds The motor may possibly move jerkily during autocommutation The coupled mechanical system must be rated accordingly If the axis is blocked i e the rotor is unable to align itself the method will not work correctly As a result the com mutation anele will be incorrectly defined and the motor may perform uncontrolled movements 78 Description of the LHMES 2 method with a braked machine With this method saturation effects in stator inductance are evaluated Two test signal sequences are used for this purpose whereby the position of the rotor axis is known after the first sequence and the direction of movement after the second This method is suitable for determining the rotor position with braked rotors or motors with a relatively high mass inertia Precondition The rotor must be firmly braked so that the motor is unable to move even when rated current is applied The stator of the machine must be iron core Table 791 Parameterization of a test signal example Frequency of test signal f 333Hz P1506 Amplitude 1A P1505 Number of periods 50 P1508 Direct component 31A P1503 In most cases a good result is achieved with a test signal frequency of 333 Hz an amplitude of the magnitude of one quarter of the rated current evaluation of 50 oscillations and a direct component equivalent to the rated current 31A
171. s 1 2 3 or when the drive in the DM5 is operated via the Control window Alevel triggered START P 0144 MPRO DRVCOM AUTO START LEVEL 1 is ignored MAN mode After activation of MAN mode the START input must be When MA 6 2 Digital Output The digital standard outputs 05000 to 05002 can also 0124 The relay output P 0125 MPRO RELOUT1 is intended for the motor brake It can also be assigned other functions via function se mode is ended the motor control also s ectors P 0122 to P 0124 if necessary reset ops be assigned corresponding functions via selectors P 0122 to P The digital output RELOUT2 is set to the STO SH H function and its setting cannot be changed Additional informati on on the STO Illustration 1301 Function block for adaptation of the digital outputs digital 05000 0500 05002 Relay outputs Digit Outputs OSDxx RELOUT1 Settings No function OFF 0 oe Error ERR 1 Motor brake BRAKE 2 Terminal Powerstage active ACTIVE 3 digital Value Inputs 3 S Safe torque off STO active SH S 55 falis Sorel cie BC Fail 56 Illustration 130 2 Screen for digital outputs Digital standard outputs OFF 0 No function P0122 0 v 0 No function P 0123 0 OFF 0 No function P 0124 0 v OFF 0 No function P0126 0 v RELOUT1 Show status of digital outputs 13
172. s for the positive and negative directions at the same interpolation point will lead to instability in the associated actual position value when the direction is reversed and so possibly to a step response adjustment to the reference position 36 04 2015 4 Control Control basic setting A servocontroller works on the principle of field oriented regulation In the motor the current is injected so that the magnetic flux is at the maximum and a maximum torque can be generated on the motor shaft or on the carriage of a linear motor Specified properties Constant speed synchronism Positioning accuracy absolute and repeatable Hygh dynamism Constant torque Disturbance adjustment When using a standard motor data set the control parameters are preset for the specific motor model If using third party motors a manual setting must be made for the drive by way of the motor identification or by calculation in order to get the appropriate control parameters for the motor model see Motor section The individual controllers for position speed and current are connected in series The matching control loops are selected by the control mode 04 2015 37 Illustration 381 Control structure Bip 193114 nue 18 0 d 2 yoesda uon
173. se Negative limit switch Type 2 Positive limit switch and zero pulse The initial movement is as shown in illustration 113 2 towards the positive right hardware limit switch which is inac tive and the direction of movement is reversed when the edge is active The first zero pulse after the falling edge corresponds to the zero Illustration 113 2 Type 2 Positive limit switch and zero pulse vi Zero pulse 1 Positive limit switch _ L 04 2015 1003374 T3 Type 3 4 Positive reference cam and zero pulse The initial movement is as shown in illustration 114 1 towards the positive right hardware limit switch if the reference cam is inactive see symbol A in illustration 114 1 As soon as the reference cam is active the type 3 direction is reversed The first zero pulse after the falling edge corresponds to the zero For type 4 the first index pulse after the rising edge corresponds to the zero point The initial movement is towards the negative left hardware limit switch and the reference cam is active see symbol B in illustration 1141 If the reference cam becomes inactive the first index pulse of type 3 will correspond to the zero point With type 4 the direction reverses as soon as the reference cam becomes inactive The first zero pulse after the rising edge corresponds to the zero Illustration 114 1 Type 3 4 Positive reference cam and zero pulse Zero pulse ee Reference cam __ n4
174. sition control mode P0300 v Parameter P 0300 CON CFG Con specifies the control mode with which the drive is to be controlled This parameter takes effect online Uncontrolled online switching can cause an extreme jerk a very high speed or an overcurrent which may cause damage to the system Selection of control mode Current control TCON 1 Speed control SCON 2 Position control PCON 3 04 2015 1003374 39 The basic settings include Setting the mass moment of inertia of the plant Setting the rigidity and scaling the speed controller Setting the current speed position control gain factors Setting the speed filters Illustration 40 1 Basic setting screen 01500 Jsum 0 kgm m 0 SCD AT SCo 1500 rpm 100 80 x m 0 CON SCON KpScale 01500 AT SCo 1 525 NmN Control design by stiffness Kom Control design Gain Adaption by inertia 0 CON_PCON_Kp 7000 1 min D CON SCON Kp 0 012182 Nm rpm epsref 0 _5 Tn 10398 ms 0 Position Control 0 Torque and Feedforward Speed Control 12 caren ontrol asi m CON SCALE TF lt Encoder Speed Filter interface Adjustment to the stiffness of the mechanics The adaption to the stiffness of the mechanics can be done after successful determination of the moment of inertia P1516 by setting the parameter P1515 for the
175. t switch becomes active the direction of movement is reversed see symbo tion 1171 With type 7 the first zero pulse after overrunning the reference cam corresponds to the zero Type 8 reverses the direction of movement if the reference cam has been overrun The zero corresponds zero pulse after the rising edge With type 9 the zero corresponds to the first zero pulse with an active reference cam Din illustra to the first Type 10 changes the direction of motion after the active reference cam The zero corresponds to the first zero pulse after a falling edge 116 1003374 04 2015 Illustration 1171 Type 7 to 10 Reference cam zero pulse and positive limit switch I 1 Reference 1 L l l Positive limit switch M 11 to 14 Reference cam zero pulse and negative limit switch The initial movement is in direction of the negative left hardware limit switch It and the reference cam are inactive see symbol A in illustration 118 1 Type 11 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse after a falling edge With type 12 the zero corresponds to the first zero pulse with an active reference cam Type 13 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 14 the reference cam is overrun and the f
176. t yet been reached the voltage controller is not dynamic enough and the gain P 0345 must be increased no suitable compromise can be found the voltage threshold as from which the voltage controller intervenes must be reduced by the scaling parameter P 0347 CON FM VRef This then also quadratically reduces the torque available the response with voltage controller is unproblematic and no particular demands are made in terms of dynamism he available torque can be optimized by setting P 0347 to values up to 98 96 Selection of calculated map voltage controller P 0435 2 In the case of very rapid speed or load changes in the field weakening range the setting P 0435 FM FwMode 2 is selected A characteristic for a higher control dynamism is calculated internally Features of this method Very fast adaptations with high dynamism are possible open loop control method Motor parameters must be known quite precisely A badly set table can result in continuous oscillation If continuous oscillation occurs it should first be determined whether the drive is temporarily at the voltage limit The preset negative d current value is then not sufficient In this case the scaling parameter P 0436 can be used to evaluate the map at higher speeds P 0436 gt 100 96 The voltage controller is overlaid on the evaluation of the map The voltage controller can be set in the same way as described above for setting 1 T
177. tTorque factor unequal to 0 and then the control is started The last torque applied is adopted This parameter is only a display parameter In it the last Motor brake torque samples at d E P 0219 MPRO BRK LastTorq m torque applied is entered on shutdown and the scale factor last closing time T A 4 0217 is applied to it as a percentage where necessary Only for testing By setting this parameter the brake can be P0220 MPRO_BRK Lock Lock brake 5 applied during operation 04 2015 137 6 3 Analog inputs 6 3 1 Analog channel ISAOx To be able to specify reference setpoints for the control via the two analog inputs ISAO and ISAT the following function selectors must be set accordingly Setting of analog input 5 0 1 0109 0110 must each be set to REV 2 The functions usable in analog mode are indicated by a mark see 1 0 configuration section Table 138 1 P no Parameter name Settings Designation in DM 5 Function P 0109 Function of analog input MPRO INPUT FS 15A00 01 Function of the analog input P 0110 15A00 01 The analog reference can be passed on to the REFV 2 Analog command control P 0165 MPRO REF SEL Motion profile selection Reference selector 1 ANA1 2 Via analog channel ISA01 Selection of the analog reference source Depending on the parameterized control mode P 0300 CON_CfgCon a speed or a torque can be set as the reference Structure diagram Illustration 138 2 Re
178. te encoder types such as EnDat2 1 SinCos TTL and 551 For details please refer to the specification of the optional encoder module Note When using the optional encoder interface channel 3 the speed feedback encoder should be connected to channel 1and the position encoder to channel 3 3 4 Encoder gearing For channels 1 and 3 one gear ratio each can be set for the encoder Adaptation of a load side encoder to the motor shaft Inversion of the encoder information With encoder channel 2 it is assumed that the resolver is always mounted on the motor shaft The adjustment range is therefore limited to 1 or 1 i e the encoder signal can only be inverted 04 2015 28 Table 29 1 Parameters of encoder gearing Parameter Settings Designation in DM5 Function P0510 ENC CH1 Num Encoder Channel 1 Gear Nominator Denominator in channel 1 0511 ENC_CH1_Denom Encoder Channel 1 Gear Denominator Nominator in channel 1 P0512 ENC CH2 Num Encoder Channel 2 Gear Nominator Denominator in channel 2 P0513 ENC_CH2_Denom Encoder Channel 2 Gear Denominator Nominator in channel 2 Parameter Settings Designation in DM5 Function P0514 ENC CH3 Num Encoder Channel 3 Gear Nominator Denominator in channel 3 0515 ENC_CH3_Denom Encoder Channel 3 Gear Denominator Nominator in channel 3 3 5 Increment coded reference marks In the case of incremental encoders with increment coded reference m
179. ter name Settings Designation in DM 5 Function P0400 CON FM AddIsdRef Additional d current d current reference Additional torque force refer P0401 CON SCON AddTRef Torque force reference ence value Additional speed reference P0402 CON SCON AddSRef Speed reference without ramps value direct without ramp Additional position reference P0403 CON IP AddEpsRef Position reference value Additional speed reference P0404 CON_SCON_AddSRamp Speed reference with ramp value via ramp generator Note By additive reference values pay attention for the control mode 04 2015 80 Structure of the test signal generator Illustration 811 jueuuno b uonisod psi juauno p 40jeJeuec Mold NOOS d LOE uonejod uonisod 00 Ldi jousda p jouw Z JO1pst 1 HO 0 les 9151 109 d er 330 009 5159 81 1003374 04 2015 Illustration 821 Screen for the test signal generator e t a t 1 Step 2 Step 1 0 1503 0 Amplitude 0 var P 1505 Amplitude 2 0 var P 1509 Step 2 0 varP 1503 1 Frequenzy f 0 Hz P 1506 Cycletime 5 5 ms P 1508
180. th P 0376 CON_IP_TFF_Scale Reducing this reduces the feedforward value conversely increasing this value also increases the feedforward value The position tracking error can be further reduced by predictive torque and speed feedforward that is in advance of the position reference setting Owing to the time discrete mode of operation of the control circuits and the limited dynamism of the current control circuit this prediction is necessary to prevent the individual control circuits from oscillating against one another Prediction in feedforward is achieved by delaying the speed and position controller reference setpoints Table 641 Feedforward parameters Parameter name no Designation 5 Function Settings P0360 CON_PCON_KP Position control gain Gain of position controller Speed feedforward filter time for P 0372 CON IP SFFTF EE Filter time for position controller feedforward position control P 0374 CON IP EpsDly Position delay time Delay time for position control feedforward P 0375 CON IP SFFScale Speed feedforward scaling factor Speed control feedforward scaling factor Torque Force feedforward scaling 0376 CON_IP_TFFScale Face Torque control feedforward scaling factor actor Acceleration feed forward filter P0378 CON IP ACC FFTF Filter time for acceleration feedforward ime Friction compensation scaling E P0386 CON SCON TFric Scaling factor for friction compensation factor P1516 SCD Jsum Tota
181. the Motion profile section 175 State machine State machine of the drive controller The system states of the controller are recorded in the bordered boxes Red arrows designate the individual state transitions oriented to 402 Changeable state transitions are bordered in grey Illustration 1761 State machine of the drive controller Quick stop active System status 6 9 Quick stop 10 Quick stop actived deactived 12 Standstill detected Control active System status 5 4 Controller 5 Controller enabled blocked 13 Error y 6 Power stage blocked Switched on System status 4 Error response active System status 7 3 Power stage switched on 6 Power stage 14 Error response blocked ended Error System status 8 7 Spin out of true or quick stop activated Ready to switched on System status 3 1 2 Quick stop 7 Quick stop t Switched on blocked System status 2 11 Spin out of true activated 15 Error acknow ledgement o 16 Hardware enable blocked 1 UZK OK 8 UZK to low Y Not ready to switch on System status 1 1 0 Start Hardware enable blocked System initialisation running System status 0 04 2015 176 Manual mode Manual mode enables a controller to be controlled in different modes regardless of wheth
182. tion in translational mode Distance Unit LSB Unit Factor Exponent Time Unit Preferential translational weighting Weighting method Unit Weighting factor Weighting exponent Preferential weighting Linear m min 1 6 0 001 mm min Preferential rotary weighting Weighting method Unit Weighting factor Weighting exponent Preferential weighting Rotary 1 min 1 4 0 0011 min Rotary 1 5 1 6 0 0000011 s Speed polarity The polarity of the speed data preceding sign can be inverted according to the application A positive speed refe rence difference indicates clockwise rotation looking at the motor shaft 04 2015 1003374 95 Weighting of acceleration data Illustration 96 1 Weighting method for acceleration data Schematic 3 Acceleration data Weighting of acceleration data off translatorisch rotativ Load Motor Load Motor Load Motor Preferentioal Preferentioal translational translational weighting weighting weighting weighting 2 3 2 2 3 2 3 57 or s 5 or s 57 s 57 5 Meter Meter Grad Grad pBEIOES Variabel 1581210 ES Variabel m s LSB Wieght m s LSB Wieght All acceleration data reference actual and limit values are subject to the preset weighting If no weighting is selected the weighting factor and weighting exponent are
183. tion is precisely one whole multiple of the basic increment A Example of a rotary measurement system Table 30 1 Number of Basic increment Nominal Basic increment Nominal Number of lines P0542 reference marks Increment AP 0610 Increment BP 0611 18 basic marks 18 coded Reference measure A 1000 Reference measure 18 x 1000 lines marks 236 lines corresponding to 20 1001 lines Linear measurement system Illustration 30 2 Schematic view of a linear scale with increment coded reference marks Linear measurement system smal distance for after next Reference mark P 0630 ENC CH3 Nominal Increment A Increment coded reference mark 30 division period dp P0572 ENC_CH3_Number oflines Referece marks swide distance for after next Refernce mark P 0631 CH3 Nominal Incement Increment coded reference mask B 1003374 04 2015 3 6 Pin assignment for X6 and X7 X8 Table 311 Pin assignment connector X6 X6 PIN Resolver Description 1 Sin 52 Analog differential input track A 2 Refsin S4 Analoe differential input track A 3 Cos S1 Analoe differential input track B US max 150 mA In the case of a Hiperface encoder on X7 that is when 5 4 5V Us Switch is jumpered via X7 7 and X7 12 12V 100mA is connected E 12V X6 4 E 5 94 PTC KTY Klixon 6 Ref R1 Analog excitation at 8 kHz 7 V 7 Ref R2 Analog excitation 8 Refcos S3 Analog differential inp
184. tion resolution in rotary mode 1revolution 360 degree LSB ep rotative resolution 3 600 000 Preferential rotary weighting Weighting Preferential Unit Rotary position resolution Weighting exponent method weighting Rotary Degrees 3600 000 7 0 0001 Degrees Modulo weighting If Modulo indexing table application is selected the number range of the position data modulo value must be entered When the modulo value is exceeded the position is reset to 0 Position polarity The polarity of the position data preceding sign can be inverted according to the application A positive position reference indicates clockwise rotation looking at the motor shaft 94 1003374 Weighting of speed data Illustration 951 Weighting method for speed data Schematic 2 Speed data Weighting of speed data off translational mode rotative mode T Load Motor Load Motor Load Motor Preferentioal Preferentioal translational Paremeter translational Parameter weighting weighting weighting weighting min min oder s min 5 min oder 5 Meter Meter LSB 158 variabel see DB 1 LSB variabel 10 E 6 m min 10 4 1066 57 If no weighting is selected the weighting factor and weighting exponent are irrelevant Position resolu
185. tion upstream of the gearing to the number of revolutions on the gear output side Equation 89 2 Motor revolution gear ratio Revolution gear output side Position encoder resolution defines the encoder resolution in increments per motor revolution Equation 89 3 Encoder Incremente Position encoder resolution Motor revolution 04 2015 89 Indexing table Modulo The indexing table function is set up in the Motion Profile Standardisation subject area To be able to use the func tion a limit value must be entered for the upper position specifying the point at which a revolution is complete Linear mode define position range Example The position limit is set to 240 direction clockwise When the 240 position is reached the position is set to 0 and 240 is approached in the anti clockwise direction It is not necessary to preset a negative reference for the reversal of direction This application applies to linear and rotary drive systems Illustration 901 90 Defining the position range Processing format absolut modulo rotary table 240 deg modulo value Position option linear like left direction O right direction shortest way 240 240 Positonlimit 240 04 2015 Example The position limit value is set to 360 The drive can perform more than one revolution There is no limit switch When 360 is passed the positio
186. tional the setting can be made via P 0330 negative direction and P 0331 positive direction The limitation of the torque reference always corresponds to the parameter with the lowest value 146 1003374 04 2015 Dependence in case of field weakening and or limitation by power stage Illustration 1471 uonejuul xew b z uno Ajuo Buluayeampyjaly WSY N 5 xew uonejui uljes xeuru id uu 291 8 uononuyjsul uing uone idniniw aw xew peeds LEEO d OEEO d Jeups 854 Bunsseduy yor wy uno 21405 WOND LOW x NODS 62608 l uu joguoo id sodxeW1 NODS NOOS NOD gt cEEO d NODS NOD ajeos WON LOW 0900 d xsejoquo sui uone noje2 euiuo sug uoneniuur enbJo uang 147 01
187. tored to their factory defaults Note The setting made with ADAPT applies only to the motor with which the function was executed If the motor is replaced by another of the same type this method must be applied again 26 1003374 04 2015 3 2 Resolver X6 channel 2 Channel 2 evaluates the resolver Functions of encoder channel 2 A 12 bit fine interpolation over one track signal period takes place The pole pairs are set via P 0560 ENC CH2 Lines Use of a SinCos encoder Hall sensor via encoder channel 2 By way of resolver input X6 a low track up to 128 lines SinCos encoder or Hall sensor can be evaluated Points to note The interface assignment in this case is different to that for the resolver section 3 6 Pin assignment Resolver excitation must be disabled via parameter P 0506 ENC CH2 Sel 2 5 Analog Hall sensors with 90 offset sinusoidal signals are supported corresponding to a low track SinCos encoder Illustration 271 Screen for setting channel 2 Bacl Configuration of resolver input X6 channel 2 Encoder configuration channel 2 X6 Select from Database Encodemame Encoder type RES 1 Resolver Number of pole pairs 1 Gear ration if encoder is not fitted at the motor Signal correction GPOC 0 No correction 04 2015 1003374 27 Table 28 1 Parameter name Settings Description in DM5 Function P0564 E
188. tus Warning status 8 1 1 Error reactions 8 1 2 Error details Alarm amp warning details BAS WarnliGs Ee 9 Field bus systems 9 1 CANopen 9 2 EtherCAT 9 3 PROFIBUS DP hort 10 Technology option 10 2 SinCos module 10 3 TTL Modul 10 4 TTL encoder with commutation signals essent entente rnnt tnter en 169 11 Process controller 11 1 Function controller structure setup Appendix Drive status Status bits State machine Manual mode Monitoring functions Interpolation method Quick commissioning Rotary motor system Linear motor system 04 2015 1003374 3 The modularity of the YukonDrive family ensures optimum integration of the servo axis into the machine process Whether in high speed field bus communication with a central machine controller or with distributed motion control intelligence in the servo controller the YukonDrive is a master of both We reserve the right to make technical changes The content of our Operation Manual was compiled with the greatest care and attention and based on the latest information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Inf
189. typical setting for the permanently excited synchronous machine Illustration 18 1 xt protection PSM Ft monitoring Permitted continuous current Rated motor current IN 100 2 Rated motor frequency 4 250 Hz 1 current interpol point 10 133 33 2 current interpol point 11 100 2 frequency interpol point F1 250 Hz F1 Point of switch off 266 66 4 IN for 5 5 It is necessary to adapt the l xt characteristic because the factory settings mostly do not exactly map the current motor The difference between factory setting and the characteristic configured above is shown in the following illustration Illustration 18 2 Characteristic of PSM A 1 IA lo W erkseinstellung In h f Hz fy Sub Id 04 fto gt Table 19 1 Frequency Motor current 0Hz 1 133 33 von f 250 Hz 100 von Iy y 250 Hz 100 96 If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in parameter P 0701 0 3 Encoder A range of encoder variants are available to measure the position and speed The encoder interfaces can be flexibly selected for a specific application Selection of encoder channels CH1 CH2 CH3 Up to three encoder channels can be ev
190. ut track B 9 9 PTC KTY Klixon Table 31 3 Pin assignment connector X6 for SinCos encoder HalL sensor X6 PIN Resolver Pin assignment X6 for SinCos encoder Hall sensor 1 Sin B p Sin B 3 Cos A US u 5 V max 150 mA 5 4 5V 12 V max 100mA a 12 V 2 5 94 PTC KTY Klixon 5 reserved WARNING Do not connect 7 GND 8 Cos A 9 g PTC KTY Klixon max 150 mA together with X7 In the case of a Hiperface encoder on X7 that is when US Switch is jumpered via X77 and X712 12 V is connected to X6 4 rather than 5 V The Sin is applied negated 04 2015 31 Table 321 Pin Belegung Steckverbindung X7 x7 Absolute encoder SinCos Absolute encoder HIPERFACEO PIN SSI EnDat 2 1 1 COS A A REFCOS 2 COS A A COS Jumper between pins 7 and 12 3 5V max150 5V max150 mA produces a voltage of 12V 100 mA on X7 3 4 R Data Data 5 R Data Data 6 SIN B B REFSIN 7 Us Switch o o 8 GND GND GND 5 2 9 9 5 10 94 Ti SIN B B SIN 12 Sense Sense Us Switch 13 Sense Sense 14 CLK 15 CLK Attention A jumper between X7 7 and 12 delivers a voltage rise up to 11 8 V on X7 3 only for use of a Hiperface encoder A Attention Encoders with a 5 V 5 voltage supply must have a separate Sense cable connection The sense cables are required to measure a supply
191. utton the screen in figure 27 opens up Click the Automatic determination of mass inertia button hardware enable required The new value of the mass inertia is displayed in P 1516 SCD Jsum Save setting in device N Attention The motor shaft may move jerkily 42 1003374 04 2015 4 2 1 Detent torque compensation Anti cogeing In order to compensate for detent torques caused by non sinusoidal EM curves the torque forming q current is entered a table and taught in for one pole pitch division After elimination of the offsets compensated table the q current is inverted and fed in as the feedforward value of the control see figure 4 6 m The compensation function can be described by means of compensating currents q current scope signal isqref dependent on a position electrical angle scope signal epsrs A teach in run imports the values into a table with 250 interpolation points Parameter 0382 CON_TCoggComp activates the function ON OFF Illustration 431 Schematic for detent torque compensation anti cogging P 0380 P 0383 Compensation current Tab ore 0 0 1 0 n Teaching ON OFF Compensation ON OFF P 0382 P 0385 isqref Position isqref nreg Current Controller Controller Teach in The teach in run is initiated via parameter 0385 CON TCogegTeachCon The teach procedure to determine the detent torque characteristic is as follows Performing t
192. voltage drop on the encoder cable Only use of the sensor cables ensures that the encoder is supplied with the correct voltage Always connect the Sense cables If a SinCos encoder is not delivering Sense signals connect pins 12 and 13 Sense to pins 3 and 8 5 V GND on the encoder cable end 32 1003374 04 2015 3 7 Axis correction The actual position value delivered by the encoder system and the real actual position value on the axis may vary for a number of reasons Possible causes Inaccuracy of the measuring system Transfer inaccuracies in mechanical elements such as the gearing coupling feed screw Thermal expansion of machine components Illustration 33 1 Axis correction Such non linear inaccuracies can be compensated by axis correction use of position and direction dependent correction values For this a correction value table is populated with values for each of the two directions The respective correction value is produced from the current axis position and the direction of movement by means of cubic jerk stabilized interpolation The actual position value is adapted on the basis of the corrected table Both tables contain 250 interpolation points The correction range is within the value range delimited by parameters P 0591 Start position and P 0592 End position correction The start position is preset on the user side the end position is determined on the drive side Equation 33 2 End position
193. voltage feedback P 0344 Parameter P 0347 sets the voltage reference though the threshold control A certain ocesses 100 96 needs to be reduced in response to rising demands as this maintains a kind of voltage reserve for dynamic voltage reserve is necessary for stable operation It is specified by way of parameter P347 CON FM VRef The value should be set high 90 96 where there are high demands in terms of dynamism For less dynamic response the maximum attainable torque can be optimized by higher values gt 90 96 Note If the control reserve is too small the inverter typically shuts off with an overcurrent error 04 2015 10 Table 721 Parameters Parameter name P no settings P0344 CON FM VConTF 0345 CON_FM_VConKp 0346 CON_FM_VConTn 0347 CON_FM_VRef P0458 MOT_SNom Table 72 2 Default values P0344 CON M VConTf P 0345 CON FM VConKp P0346 CON FM VCon Tn 0347 CON_FN_VRef 72 Designation in DM5 Voltage control filter time constant Voltage control gain Voltage control integration time constant Voltage control reference scaling of max voltage Motor rated speed 10 ms 100 ms 90 96 Function Time constant of the voltage controller actual value filter r Voltage controller gain factor Kp Voltage controller lag time Tn Voltage controller reference as of the current DC link voltage If the value 0 is set
194. with the ENPO controller enable a two channel block is placed on the occurrence in the power circuit of a pulse pattern suitable to generate a rotating field in the motor Function testing The STO function protection against unexpected starting must essentially be checked to ensure it is operative During initial comissioning After any modification of the system wiring After replacing one or more items of system equipment Cancelling one of the two signals ISDSH or ENPO disables the control and the motor runs down unregulated The drive controller has its own relay contact for feedback terminal RSH on x4 A Attention The machine manufacturer is responsible for determining the safety category required for an application minimizing risk 6 1 3 Hardware enable and autostart The digital input ENPO terminal 10 on X4 is reserved for hardware enable In its default setting OFF it only executes the Hardware enable function Apart from this it can also be assigned the START function In combination with parameter P 0144 DRVCOM AUTO_START ON autostart mode is active If the Safe Stop function is active the activation of the hardware enable ENPO via terminal 10 on X4 suffices to switch on the drive control When the ENPO is cancelled the drive runs down freely Power up sequence Regardless of which control mode was selected the power up sequence must be followed in order to
195. ximum set torque The torque scaling is recorded directly after the 4 TLIM 4 Analog Torque limit 0 100 analog filter and before the dead travel threshold offset The analog input describes the parameter P 0332 SCON TMaxScale torque limitation The dead travel is therefore not effective for these functions 0 to 10 V corresponds to 0 100 Scaling of the configured speed during positioning The override is tapped directly after the analog filter and before Speed Override 0 100 at 3 OVR 3 ROS the dead travel At this point the system branches off to ositionin 5 3 parameter P 0167 Profile Speed override factor The dead band threshold offset is thus without any effect for these functions Reference input 10 V Observe the scaling and adapt the 2 RERFV 2 Analog command reference structure by means of the reference selector 1 Not defined 1 Not defined Not assigned 0 OFF 0 No function No function START REFANAEN Corresponds to the settings for 1 26 The settings 1 26 can be used as digital inputs Attention 1 26 digital inputs 15000 to 15006 By switching parameter P 0301 from PG 0 to IP 1 mode an analog input can be used as a fast input The sampling time set in parameter P 0306 for the interpolation takes effect Note The two analog inputs ISAO0 and ISA01 can also be used as digital inputs function 1 28 The switching thresholds for re
196. y Error P no Error code Error name Error location Description of error code register P 0030 SERCOS DS 402 DS 402 19 FatalError Non resettable error 1 FatalError_PowerStage_ T PST Data index too large 0x5400 1 0x8000 Limit Idx 2 FatalError PowerStage _ PST Error in switching frequencyde 0x5400 1 0 8000 SwitchFreq pendent data 3 FatalError_PowerStage_ PST Invalid EEPROM data 0x5400 1 0 8000 Datalnvalid 4 FatalError_PowerStage_CRC PST CRC error 0x5400 1 0x8000 5 FatalError_PowerStage_ PST Error reading power stage data 0x5400 1 0x8000 ErrorReadAccess 6 FatalError PowerStage _ a PST Error writing power stage data 0x5400 1 0x8000 ErrorWriteAccess Current in braking resistor even 7 FatalError MON Chopper i 0x5420 1 0 8000 though transistor switched off 8 FatalError_HW_ Hardware identification error 0x5300 1 0x8000 Identification 9 FatalError_FlashMemory Error in flash memory 0x5300 1 0x8000 20 HardwareLimitSwitch 1 HardwareLimitSwitch MUT Limit switches interchanged 0 8612 1 0 8000 Interchanged 2 HardwareLimitSwitch_LCW Hardware limit switch LEW 0x8612 1 0x8000 3 HardwareLimitSwitch Hardware limit switch LCCW 0 8612 1 0x8000 LCCW General encoder initialization loca 21 Encoderlnit tions which cannot be assigned to achannel 1 Encoderlnit CON ICOM Encoder general initialization Exces 0x7300 1 0x20 EpsDelta sive motion 2 Encoderlnit CON ICOM Encoder general
197. yp P0451 MOT_Name Motorname Motor name P0457 MOT_CNom2 Motor rated current Rated current 0492 MOT MagnetPitch Width of one motor pole NN Pole pitch NN Maximum nominal motor P0493 _5 Maximum speed speed P0494 MOT_ForceNom 2 Nominal force of motor Rated force P0496 MOT MassMotor Mass of motor slide Mass of motor carriages Mass of total mass moved by P0497 MOT MassSum Total mass to be moved the motor P0498 MOT EncoderPeriod 2 Period of line signals Encoder signal period Motor stray stator P0470 MOT Lsig Primary section inductance inductance P0471 MOT Rstat Motor stator resistance Stator resistance The parameters are only of informative nature but should be set for a complete motor data set 9 The parameters are used for calculation of controller settings and have a direct effect on the response of the servocontroller A Attention The parameters of the encoder used must be set manually as per the Encoder section or be read from the encoder database 10 2 4 Asynchronous motor 2 41 Electrical Data For commissioning of third party motors the rated data and characteristic variables of the motor must be known and be entered manually in the relevant screen Click the Identification button to calculate the basic setting for the control based on those values The impedances stator and stray impedances are obtained by measurement If the identification

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