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1. OV 28 Mar 1996 08 46 27 50 Parker Hannifin S p A Divisione S B C sLVD User s Manual Tek Run 500 S s Hi Res Trig OV 28 Mar 1996 08 47 40 Fig 6 If mechanical parts are used which very easily tend to enter into oscillation we recommend you use very low values of Prl6 In this configuration the SLVD typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations This configuration is shown in figure 7 Tek Run 250 S s Hi Res Trig OV 28 Mar 1996 08 50 13 51 Parker Hannifin S p A Divisione S B C sLVD User s Manual ADJUSTMENT WITHOUT USING INSTRUMENTATION If you do not have an oscilloscope you must A Determine the value of Pr16 as described above B Determine the Pr17 parameter by using the following formula 15341 Pr16 J Nm Pr17 1488 picco where J tot 1 the total inertia motor load expressed in kgm Nm picco is the available torque with the peak current of the converter C Turn on the converter and use the external control to move the axis Move Pr17 to find the value where the axis seems to move best D Estimate the value of Pr18 by using the following formula Pr17 Pr16 Pr18 0 68 If the result is less than 1 Pr18 must be set to 1 If the adjustment is not satisfactory repeat the procedure with lower values of Pr16 52 Parker Hannifin S p A Divisione S
2. NODO 1 NODO n ULTIMO NODO 27 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 12 Cable connections The following pictures show how to realize the cable connections in particular how to connect the cable shields to the ground bars See motor connection y i section i gt Reer f gt E SUnerggupection Rtn My V q 6 le ProtectionbarPE Use the protection only if the power supply output is not protect The electrical cabinet back plate has to be electrically conductive for example galvanized Remove optional painting from the back plate in order to obtain the electrical contact The ground bar has to be on electrical cabinet back plate or a complete electrical connection has to be ensured the ground bar cannot be isolated Divide the routing of the power cables from that of the signal cable Also the 24DC supply voltage cable has to be shielded 28 Parker Hannifin S p A Divisione S B C sLVD User s Manual Use the protection only if the power supply output is not protect lo ete W S EN A D n Vy 7 L A gt gt J VI FAL TEZA LAT pa Ly 7 j c c i LAA z ZA LALLA Gt Gy egg Z T Li ZA Pz gt 7 ZA SS PID IA AL SLL LA Wizz Lizz HIGH FREQUENCY JOR VAT Vga BAR ea LY x A Eu See signal connections TO AXIS CONTROL LILLY i i Soe Nes f section See resolver connection section
3. 35 Parker Hannifin S p A Divisione S B C sLVD User s Manual The following messages may be displayed on the screen in addition to the value of the parameters and the instructions of the pico PLC r XX When the converter is powered on this message indicates which version of the software is installed IdLE When the converter is powered on and corresponding to Pr0 this message indicates that there is no alarm and that the converter is off run When the converter is powered on and corresponding to Pr0 this message indicates that there is no alarm and that the converter is on The motor shaft may be rotating Er Xx Corresponding to PrO this message indicates that the converter has registered an alarm xx indicates the alarm code and has shut off When it registers an alarm the converter is brought to Pr0 displaying the alarm code Pr Xx Indicates the parameter xx whose value can be displayed by pressing the M key Pb Xx Indicates the parameter at bit xx bxx yy Indicates the bit yy of parameter xx By pressing the M key the status of the bit is displayed Hxx yy Indicates bit yy of parameter 1xx By pressing the M key the status of the bit is displayed In xx Indicates instruction xx of the PLC program donE Is displayed for about 1 second whenever a command is sent rESet Is displayed for about 1 second whenever an alarm reset command is sent b99 10 dEF Indicates that the drive is set to default status and
4. H 70 4 2 Programming with MOON WAZ i Losschavies quee t node epa ila 75 S SERESPJINTTERENXC E gat GL Sacer oiu rn siste eU ette 76 5 1 Communication protocol e ee E E E E be eS 76 a EAI D 1 a elem 81 6 1 Description of the fields in real time mode uunc eerte de tee tents 82 6 2 Description of the fields in communication mode 89 6 3 Description of the fields Extended message set 72 9 TACAN OPi lerici e ede cM OE 93 8 Appendix A Mechanical dimensions of the SLVD seen 100 9 Appendix B Hardware features c den lalla te Oda oben o odii RE 101 10 Appendix C Conventions os cipher Gorn edet BP eR ae paa ea eatem tuse cA D geal ok 102 11 Appendix D Software timing cocus coe ena leet pec denas cedes ada uc 103 12 Appendix E Default program for the pico PLC sss 104 13 Appendix E Flash information 1 30 8 ritate balia aa da 105 l4 Appendix G Caras ie ro bi ita re he Delois 106 15 Appendix H external bracking modul sss 107 16 Parker Hannifin Automation Group Errore Il segnalibro non definito 17 Revision history of the User Manual ee tacta ere edet reete eie idc een 109 Parker Hannifin S p A Divisione S B C sLVD User s Manual 1 INTRODUCTION 1 1 General information This manual describes the installation and commissioning of the frequency converter SLVD for brushless motors Read carefully all the section
5. eras P0 o 9 j b150 6 Pr110 111 Din 0 zero encoder C gt b700 hw phase positive edge detector Pr122 123 master positive edge detector positive edge detector sLVD User s Manual opm 14 for sLVD drive slave mod slave to the position loop normalized at 0 10000 1 mod slave mode 256 points selector Pr114 115 3 Pr 102 v cam table Pr126 127 sw engage engaging cam phase bis aT Pr128 129 sw release Pr 101 set to 1 Y release cam phase Pr 100 speed 61 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 11 Position control through the CanBus operating mode 15 If operating mode 15 is enabled the sLVD will execute a position loop of a proportional type with feed forward In this case the generator of profiles is considered external and must send the information about the position and speed reference via CanBus in accordance with the SBCCAN protocol see the section on the CanBus If b70 1 0 feedback is provided by the resolver If b70 1 1 the feedback is provided by the encoder X3 OPERATING MODE 15 PARAMETERS Pr102 Pr103 Pr104 Pr105 Pr114 115 Pr116 117 B150 2 B150 3 B150 4 B150 6 B150 8 B150 10 B150 11 B150 12 62 CanBus commands see the section on the CanBus CanBus status see the section on the CanBus Feed forward speed Unit rpm default 0 range 0
6. PrO Prl Pr2 Pr8 Pr16 Pr17 Pr19 Pr29 Pr32 Pr33 Pr35 Pb99 Actual speed of the motor shaft in rpm revolutions per minute Offset for the main analogue reference Full scale of the analogue reference this is the rpm value that corresponds to a reference voltage of 10 V Value of the acceleration deceleration ramps in seconds per 1000 rpm with a resolution of 1 millisecond If the acceleration deceleration ramps must be set differently you must go to the extended menu in order to access the Pr9 Pr10 e Pr11 parameters Integral gain of the speed regulator Speed regulator damping Peak current supplied by the converter expressed as a percentage of the peak drive rating Number of poles of the motor Rated speed rpm Rated current supplied by the converter which can be maintained indefinitely expressed as rated current of the motor A Instantaneous current required by the motor expressed as a percentage of the peak drive rating Bit parameter for the basic commands The extended menu offers access to all the parameters and instructions of the pico PLC in addition to those specified above Setting the default parameters If you want to set the default values of the converter as it was supplied by the manufacturer do the following power off the converter using the hardware pin 9 of X1 open power the converter on the IdLE message appears on the screen set b99 7 and b99 13 to 0 i
7. Suppose we want to read the reference speed Pr7 and that its value is 2000 Suppose also that the converter has the serial address 1 The message to be sent is the following 7E 81 02 0E 91 The converter responds with the message 7E 21 02 0E D0 07 08 Third example writing a 1 byte parameter Suppose we want to select operating mode 1 Pr31 Suppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 01 3E 01 E3 The converter responds with the message 7E 23 Fourth example writing a 2 byte parameter Suppose we want to set the rated current to 2 5 A Pr33 Suppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 02 42 19 00 00 The converter responds with the message 7E 23 Fifth example setting a bit to 1 Suppose we want to send the command to save the PLC program b99 14 1 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E C0 02 C7 BF 40 88 The converter responds with the message 7E 20 Sixth example setting a bit to 0 Suppose we want to disable the converter via software b40 9 0 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E C0 02 51 FD 00 10 The converter responds with the message 7E 20 Seventh examp
8. 0 uskms iMps 0 125 kbps sooks 1 __ 125 kbps For bus length greater then about 1000 m bridge or repeater devices may be needed All changes in speed address or function mode are activated using the b42 3 command or when the converter is powered on again In the messages via CanBus the node number is identified through Pr27 1 i e with values from 1 to 15 81 Parker Hannifin S p A Divisione S B C sLVD User s Manual 6 1 Description of the fields in real time mode Cyclic message from the master to the SLVD Cyclic data Data length 8 6 4 bytes Field Name Position Reference Speed Reference Pr114 115 32 bit Identifier ID2 Ii mo mio 109 ms ID7 me IDS IDA 1D3 3 526 HE TIERE 2077 215017 1 er e a A0 A3 SLVD slave address Pr27 1 valid values 1 15 Pr102 is used as a command and must be managed by the pico PLC The data type depends on the message length as follows 8 Position reference 4 byte Speed reference Oby ___ Pr102 2 byte 6 Position reference Gbyte Prl02 byte 4 Speed reference 2 byte Prl02 byte Synchronism message from the master to the SLVD Synchronism message Data length 1 byte Field Name Sync Sync type 8 bit Identifier ID2 DI DO Dio D9 ID8 ID7 ine D5 ID4 ID3 Ice e ON REC AE RES He tT nO IE Orci ene ils 0 0 Type 0 synchronism Sync 0
9. Er17 calibration alarm Oxff08 When alarms are reset with b99 10 Error code will be 0x0000 Two additional pop up message not related to alarms can be enabled using command bits and in this case the Err Reg field will contain 0x00 while Error code will be Oxff05 for the target position reached message and Oxff06 for the value drive captured message The Data field in addition to the drive address will in the first case contain the position reached by the motor and in the second case the captured position of the motor on the positive front of the input INI The target position reached message is generated when the motor after the target position 1s changed in operating mode 13 Pb150 0 1 in operating mode 14 Pr102 not zero will go to the target position at less than a tolerance set in Pr55 for at least a time of Pr88 2 048msec When this message is enabled the parameters b70 4 Pr55 and Pr88 are reserved for this task and are no longer available for their standard functions servo error window and PLC program A user message can be sent by setting Pb70 12 to 1 In this case Error Code will be 0xFF09 and the Data field will contain the value in Pr152 153 Pb 70 12 will be reset to 0 once the message has been sent SDO tx rx object Below is a list of the objects in the device dictionary 94 Parker Hannifin S p A Divisione S B C sLVD User s Manual Object dictionary Index 0x1000 Device type 301 RO 0x1001 Er
10. To use the first timer load the time as a number of sampling 6 144 ms into PR92 For example Pr92 100 is equal to 614 milliseconds Pr92 will automatically be decremented as time goes by and the b99 0 bit will remain set to 0 until the timer has expired When Pr92 0 then b99 0 1 The second timer works the same way using the PR93 parameter and the b99 1 bit Pr92 Pr93 b99 0 and b99 1 are updated only before the pico PLC program is scanned The maximum number of instructions is 128 The arithmetic operations occupy the space of two logical operations If they are used the maximum number of instructions accepted is reduced The PLC program must always end with the END instruction The pico PLC program can be edited via serial link or directly using the keyboard In this last case in order to facilitate the modification of the program if you want to delete an instruction go to the instruction to be deleted and hit the M key The type of instruction is then displayed By holding down the M key and pressing the key the instruction will be deleted when both keys are released If you want to add an instruction after the In06 go to the next instruction In07 and hit the M key The type of instruction is then displayed By holding down the M key and pressing the key the FIN instruction will be inserted when both keys are released In this last case make sure that the program does not exceed the maximum limit of the instructions ot
11. if necessary read b40 2 which will remain on zero RESET TYPE 1 DESCRIPTION When the procedure is activated b94 12 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are reset the position loop is enabled by setting b40 2 1 and command b94 12 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At this point the procedure continues as described above RESET TYPE 2 DESCRIPTION When the procedure is activated b94 13 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are programmed with the value of parameter Pr28 the position loop is enabled by setting b40 2 1 and command b94 13 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the
12. section 4 3 1 Excessive supply voltage can damage the converter e Do not ever remove the electrical connections from a live converter e Follow carefully the instructions given in this manual step by step during the installation If you have questions or problems contact our customer assistance service e After power supply has been disconnected and the converter has been off for 60 seconds dangerous voltage levels may persist Do not touch any power cable during this time e Do not ever open the converter This is dangerous and invalidates the warranty The installation and cabling operations must be done when there is absolutely no voltage in the entire electric cabinet Make sure that the power switch on the converter is cut off from the emergency circuit The first time the cabinet is powered up qualified technical personnel must be present Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 2 How to suppress interference For the drive to meet the product requirements regarding electromagnetic compatibility the installation must be carried out according to the following instructions Because of strong PWM voltage fronts undesirable currents of significant force can sometimes circulate through capacitive couplings and grounding systems conducted interference Besides also high frequency interferes in the form of radiation especially through the motor cable in free space are generated radiated interference
13. the field will contain the value of the parameter For bit change the field will contain the mask of the bits to change For data reading the field is insignificant For pico PLC writing it will contain the operating code of the instruction see Serial interface Data Address This field is the address of the parameter involved in the operation parameter number 2 The PLC instructions have addresses in the range 8192 to 8447 The cam table has addresses from 4096 to 4608 Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not use Len 5 7 0 4 Number of significant bytes in the data field 96 Parker Hannifin S p A Divisione S B C SLVD User s Manual Acyclic response to a parameter request message from drive to master PDO 2 Data 32 bit reply data Identifier PDO 5 tx object This is used to generate a message with the data required to implement a reserved function PDO4 tx rx object In this case a parameter exchange function is implemented with the movement related to the logic functions managed by pico PLC In fact for each transmission of PDOA rx from the master to the drive node the bytes contained in the message are interpreted as follows Parameter Pr80 83 write message from master to drive PDO 4 rx Data length 8 bytes Fiel
14. 1 this means that the value master has been captured The user must set the bit to 1 see operating mode 14 Value motor captured If set to 1 this means that the value motor has been captured The user must set the bit to 1 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 8 Torque control operating mode 1 This operating mode does not control the torque in the classic way since the speed control continues to work to control the speed limit The torque reference will be the Pr7 main reference To set up the torque control you must first adjust the speed control in order to establish a stable system and then set Pr31 1 in order to program the operating mode by setting the default values with the command b99 11 Set Pr2 1000 10 V 100 0 of the torque b40 0 0 b40 12 0 b40 2 1 to enable the reserved reference and Pr100 to limit the maximum speed of the motor OPERATING MODE 1 PARAMETERS Pr100 Maximum speed Unit rpm default 3000 range 0 9000 This parameter is used to limit the absolute maximum speed of the motor during the torque function opm I for sLVD drive reserved reference reserved current limit 55 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 9 Digital Lock Positioner operating mode 13 Operating mode 13 includes the Digital Lock dynamic positioner and flow speed functions in order to use them at the same time The tracking function refers to the
15. 2 13 Backup If it is necessary to keep the control electronics of the converter powered up even when there is no current for example to keep the encoder simulation operating it is sufficient to keep power on terminals 9 and 10 of the X4 If the b99 8 bit is set to 1 when power supply is restored the undervoltage alarm will be automatically reset 2 14 Status LED When the programming keyboard is not inserted two LEDs are lit The power LED if on indicates whether there is power for the electronic part The status LED gives a series of information about the status of the converter 29 Parker Hannifin S p A Divisione S B C sLVD User s Manual Ifit is off the converter is shut off without active alarms Ifit is on the converter is on If it blinks quickly 10 Hz the converter is powered on The alarms are not active but the I t control is active If it blinks with a pause after two series of blinks the converter is shut off and an alarm is active The active alarm can be identified by counting the number of blinks between the two pauses 2 15 External braking resistance The drive has an internal braking resistance When a higher braking power is needed it is possible to connect an external braking resistance to the drive The possibility to connect an external braking resistance to the drive is optional for sLVD1 2 e 5 ordering code PR placed at the end of the drive ordering code while it is standard for sLV
16. 29 Railway Avenue Huntingdale 3166 Melbourne Victoria Tel 613 9563 0115 Fax 613 9568 4667 www motion solutions com au sales motion solutions com au ISRAEL AF ELECTRONICS MOTOR CONTROL PO BOX 741 52322 Ramat Gan Israel Tel 972 3 6745457 Fax 972 3 6776342 afmotor zahav net il MALAYSIA PRESTIGE MACHINERY No 46 Jalan Bateri 34 5 Bukit Kemuning Light Industrial Area 42450 Shah Alam Sengalor D E Tel 60 3 5880 9851 Fax 60 3 5880 8364 presmach maxis net my TAIWAN AUTO ACCURACY CO LTD No 18 35RD Taichung Industrial Park Taichung City Tel 886 42 3594847 Fax 886 42 3591083 www autoaccuracy com tw autoauto ms2 hinet net Parker Hannifin S p A Parker Hannifin GmbH Divisione S B C EME Hauser Via Gounod 1 Robert Bosch Str 22 20092 Cinisello Balsamo MI Italia Tel 39 0266012459 Fax 39 0266012808 www sbcelettronica com sales sbc parker com Tel 49 0 781 509 0 Fax 49 0 781 509 98 258 www parker eme com sales hauser parker com D 77656 Offenburg Germania Parker Hannifin plc EME Digiplan 21 Balena Close Poole Dorset BH17 7DX UK Tel 44 0 1202 69 9000 Fax 44 0 1202 69 5750 www parker eme com sales digiplan parker com
17. 70 x o9 NT To create line load burden resistances jumper pins 2 and 6 and pins 4 and 7 on connector X2 of the last drive on the serial line If the PC is a battery powered laptop i e not connected to ground use the following connection layout personal computer X2 sLVD DB9 DB25 o 9 50 ina A I o 1 Lo 2 20 30 ro 3 30 20 T O4 To install MotionWiz open WINDOWS insert the diskette in drive A select the File menu in Program Manager and then the Run option Now run Setup exe on A by typing the following string on the Command line A setup exe or by selecting the file with the Browse button The following installation procedure automatically creates a new icon for MotionWiz Once the program is installed launch it by double clicking the relative icon or select the icon and then press ENTER Set the parameters for activate the serial line e Windows and the Windows logo are registered trade marks or trade marks owned by Microsoft Corporation in the United States of America and or other countries 75 Parker Hannifin S p A Divisione S B C sLVD User s Manual 5 SERIAL INTERFACE The serial communication of the converter is half duplex master slave using an asynchronous RS 485 RS 422 line The converters take control of the line only if interrogated by the master The same serial line can be connected to up to 32 co
18. 9000 The value of this parameter is summed at the output of the position loop in order to obtain the speed request Pr6 Feed forward speed via CanBus This is the feed forward value received via the CanBus When the SYNC Pb150 8 1 is received Pr105 will be copied to Pr104 and will become active Position reference via CanBus This is the position reference received via the CanBus When the SYNC Pb150 8 1 is received Pr114 115 will be copied to Pr60 61 and will become active Motor position via the CanBus When the SYNC Pb150 8 1 is received Pr62 63 will be copied to Pr116 117 and if feedback transmission has been enabled b150 2 1 it will automatically be transmitted via the CanBus Feedback transmission enable Default 0 If 1 when the type 0 SYNC is received Pr116 117 will be transmitted via the CanBus Reply status Default 0 If 0 the cyclic reply uses 16 bit status Pr103 if 1 the cyclic reply status is a byte equal to the first 8 bit of Pr103 Low speed mode Default 0 In the case of Pr48 0 if b150 4 1 the speed of the functioning mode of the CanBus in real time will be set to 500kbps otherwise the same mode will have the speed of 1Mbps Feedback transmission enable Default 0 If 1 when the type 1 SYNC is received Pr116 117 will be transmitted via the CanBus Sync The command via the CanBus of synchronism sets b150 8 to 1 thereby allowing the torque of Pr105 on Pr104 Pr115 114 on Pr61 60 and Pr63 62 on P
19. Emergency message dal Drive al master Emergency message Data length Field Name Identifier ID2 IDI IDO l l IDIO ID9 IDS8 ID7 ID6 IDS5 1D4 ID3 A2 AI AO X x x x x fo o jo j fas AS JA4 JA3 A0 A6 Drive address Pr49 valid values 1 127 An alarm message and two pop up messages are available for this object and each of these can be enabled or disables by setting the appropriate commands Alarm message enabled if b150 1 1 Target position reached enabled if b150 5 1 Value motor captured enabled if b150 7 1 The alarm message if enabled is sent each time that the current alarm status Pr 23 changes so that when a new alarm occurs or when the alarms are reset the value 0x01 is sent to the field Err Reg and the least significant byte of the Data field will contain the drive s alarm code 93 Parker Hannifin S p A Divisione S B C sLVD User s Manual The field Error Code will contain a specific code based on the different drive alarm Er01 over voltage 0x3210 Er02 under voltage 0x3220 Er03 over current 0x2340 Er04 encoder break 0x 7303 Er05 over tempeature motor 0x4110 Er06 over tempeature drive 0x4310 Er07 aux trip 1 Oxff00 Er08 aux trip 2 Oxff01 Erl0 checksum PLC 0x6310 Erl1 checksum Parametri 0x6310 Erl4 bracking resistance alarm 0x7113 Erl5 default Parameter 0x6320 Er16 calibration alarm Oxff03
20. described with a vector composed of 257 elements each of which indicates the position that must be assumed by the controlled axis when the master axis is in the position element number master module 256 The value of the elements of the vector falls within the range 0 9999 where 10000 corresponds to the number of counts set in the slave module parameter The 257 element defines the cam as closed if it 0 or as open if it 10000 The mode selector can be used to select the source for the position loop The possible sources are no source positioning electronic cam and speed POSITIONING The parameters that regulate movement are target pos acc speed Target_pos indicates the absolute position that is to be achieved if it is included in the movement direction module it is given by the sign of the difference between target pos and Pr60 61 Acc is the maximum acceleration allowed during the movement and speed is the maximum speed The path generator will begin its work when the mode selector is set to 1 When the position has been achieved the mode selector automatically returns to 0 Alternatively the positioner module can be used to sum a phase on the master axis by setting target pos based on the actual offset phase position Pr116 117 At the start the calculation of the path will be such as to guarantee continuity with the actual speed of the motor MASTER REPHASING By setting the function b150 8 the user can define the positio
21. figure 2 below torque the formula to be used is the following o 28 where a represents the 48 Parker Hannifin S p A Divisione S B C sLVD User s Manual Tek Run 500 S s Hi Res Trig WU 2 00 Vs 0 M ooms Ch FOV 28 Mar 1996 08 42 16 Fig 2 For increasing values of Pr17 the response of the system will be similar to what is shown in figure 3 below Tek Run 500 S s Hi Res Trig e d H8 OV 28 Mar 1996 08 43 22 The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below 49 Parker Hannifin S p A Divisione S B C sLVD User s Manual Tek Run 500 S s Hi Res Trig E T OV 28 Mar 1996 08 44 37 Fig 4 An overshoot of about 10 must be obtained It is important that after the overshoot an undershoot does not occur Once the optimal value of Pr17 has been established we must analyze the movement of the axis If it moves without vibrations and acoustic noise the adjustment of the system is complete Otherwise we must repeat the preceding procedures with lower values of Pr16 In some applications it is possible to reduce acoustic noise by using a higher value of Pr18 Figure 5 shows that once the optimal adjustment has been achieved there is also an oscillation of the current that can produce acoustic noise and mechanical vibration By raising the value of Pr18 to 3 the situation is much improved fig 6 Tek Run 500 S s Sample DEE
22. for flexible or static installation The cable must be shielded and sized properly in terms of insulation and sections It should be made of reticular polypropylene Once the length is decided upon maximum length is 35 m the conductor conductor capacity cannot exceed 8 Nf The minimum cross section of the conductors must be 1 5 mm Power supply cable The cables cannot be shielded The minimum section of the conductors must be 1 5 mm The fuses at the input must have the following values MODEL Slow blow fuses A sLVDIS 20 A thermo magnetic switch properly chosen depending on the power cables used can be used instead of fuses Resolver cable The cable must consist of three individually shielded and insulated twisted pairs protected by a shield The conductor conductor capacity for the length used cannot exceed 10 Nf and the section cannot be less than 0 22 mm The maximum length is 35 m The 24V Power supply It must deliver at least 1A for each drive connected with 1Vpp max ripple voltage It must be reserved to the drive supply only In fact the use of just one 24V power supplier for e g brakes relays etc may generate electrical noises and or malfunctions 17 Parker Hannifin S p A Divisione S B C sLVD User s Manual Connect of an EMI filter if any If the unit is connected directly to the 230 V mains the length of the cable between the sLVD and the filter cannot exceed 50 cm In order to obtain the maximum ef
23. grounded to a copper bar using the cable clamps connections as shown in the drawing at 360 in order to obtain a good conductivity 10 Parker Hannifin S p A Divisione S B C sLVD User s Manual 360 shield connection In general the shield should be connected at each extremity In certain circumstances however control cable shields may be connected only at one end to eliminate mains hum that could interfere with the control signal Decide case by case as numerous factors must be considered Adopt the following general approach if the screen is solely for shielding connect at both ends If current flowing in the shield interferes with the shielded signals connect at one end only The incoming cable must be connected to an earth terminal by means of a screw to ensure proper contact between screen and earth As far as possible keep the power side drive and control side PLC or NC physically separated by separating the metal mounting plates Inside the electrical cabinet the two plates must be connected through a copper strap General suggestions on cable connections Avoid routing noise emitting cables in parallel with clean cables Avoid parallel cables especially in the vicinity of the filter ensure physical separation Avoid cable loops keep cables as short as possible and close to the common potential In particular keep the main cables separate from motor cables If the motor is of the embedded brake type keep the 24Vd
24. in CAN 156 231 gpl Custom or encoder CAN counter 157 231 951 Custom or encoder CAN counter 158 231 931 Custom or pointer for encoder out via CAN 159 231 o Custom 160 231 21 Custom 161 93 2 Custom 162 23i g Custom 163 231 95 Custom 67 Parker Hannifin S p A Divisione S B C 3 12 7 Feedback from incremental encoder SLVD User s Manual In place of the resolver it is possible to use an incremental encoder which provides feedback for both speed control and space If possible select the feedback from encoder instead of resolver setting Pb42 6 1 Modifications at this bit are available only after restarting of the drive The encoder input signals are on the terminal X3 and made reference to the section frequency input output connection Pb42 0 0 Pb42 1 1 and Pb42 5 1 The encoder can be powered by external supply The phasing procedure must be run upon every drive start up It s possible choose among two type of procedure and it s necessary that the motor must be free to rotate also when the motor is mounted into the system the brake of the motor must be disable During the phasing procedure 1 the drive checks the connections and the movement of the motor is brodest so this procedure is recommended for the first time PROCEDURE 1 Pb94 2 actives this procedure The parameters are shown in the table below Par Description Field Unit Def Type Notes Pb94 2 Command phasing
25. must be programmed with the basic parameters of the motor triP x Indicates that the converter has malfunctioned 3 2 Power on the SLVD for the first time When the sLVD is powered on for the first time or after the load default parameters command is sent the message dEF is displayed to indicate the status of the converter At this point the sLVD is waiting for the basic parameters to be set for the motor that is connected The basic parameters are Pr29 Number of motor poles N Pr32 Rated speed of the motor rpm Pr33 Rated current of the motor A Pr34 Number of resolver poles N Pr46 Phase phase motor resistance ohm Pr47 Phase phase motor inductance mH After setting the parameters that fit the motor the operator must give the save data command b99 15 The drive will calculate the correct values of Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 and save the parameters At this point the basic parameters cannot be modified If you want to modify one of them you must enter b94 3 1 The dEF alarm will be displayed again and after updating the value of the parameter it must be saved by entering b99 15 again 36 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 3 First commissioning of the SLVD The steps to be followed carefully the first time the converter is used are given below 1 Connect the motor to the converter by following carefully the diagrams in the manual 2 Make sure that the converter is shut off pin 9 of
26. of the distance set in Pr136 137 The position of slave axis corresponding to present phase of master axis can be read dynamically in Pr134 135 The 150 11 command is reset when the slave axis starts moving and in the meantime 150 12 is set It is up to the user to ensure that the speed of the slave axis is continuous at the engage phase Three functions are pre defined that can be used to set the cam profile By setting Pr102 5 the function is y x Pr102 6 the function is y x sinx Pr102 7 the function is y sinx where y is rated to 10000 on the 256 points of the cam The compilation of the cam table is done in the background and at the conclusion Pr102 is set to 0 Make sure that if b40 2 0 the parameter Pr102 is nevertheless forced to 0 58 Parker Hannifin S p A Divisione S B C Pr100 Pr101 Pr102 Pr103 Pr104 Pr108 Pr109 Pr110 111 Pr112 113 Pr114 115 Pr116 117 Pr118 119 Pr122 123 Pr124 125 Pr126 127 Pr128 129 Pr132 133 Pr134 135 SLVD User s Manual Speed in speed mode Default 0 range 0 6000 Ramp time for Pr100 Unit s krpm range 0 002 30 000 resolution 0 001s default 0 500 s This is the acceleration ramp that will be used by the speed mode Function selector Default 0 range 0 3 Enables the functioning as a halted motor positioning electronic cam and speed Pointer to the cam table Default 257 range 0 257 Pr103 is used to access the cam table Pr104 wi
27. status of the converter and send commands It consists of only three keys located directly beneath the display The keys are marked M The M key is use to modify the display and consequently the function of the e keys There are two types of display parameter mode and parameter value mode When the converter is powered on if there is no alarm the user sees IDLE or RUN on the screen depending on whether the converter is on or off This 1s also the position of the PrO parameter To view all the parameters press the o keys If you want to verify the value press the M key When the value is displayed it can be modified by using the e keys To return to parameter mode press the M key again The type of display depends on the type of parameter displayed If you need to increment or decrement quickly the value of a parameter you can do this by pressing the M key while the increment key or decrement key is held down SLVD keypad i 56 m5 OO O 00 OG e Mj GO Pb 40 M b40 XX M xx t Q1 mH 5 I CD o A Ga Pb 99 b99 xx M XX 99 00 fg amp v In 00 _ M PLC inst M H 1st oper M 2nd oper M 3rd oper mM 0 ox
28. value corresponding to the module in Pr144 145 Inside the module can be defined 2 further values Pr146 147 and Pr148 149 indicating the position at which the digital output is toggled The user has to initialise the value of the motor position at Pr142 143 and the output status at b91 1 the function is enabled by b70 3 1 and in this case Pr142 143 shows the motor position inside the module An offset for this position may be set at Pr140 The refresh time of the digital output is 512 us The limits for the parameter values are Pr140 range 2P 2 Pr142 143 range 0 2 Pr144 145 range 0 2 Pr146 147 range 0 2 64 Parker Hannifin S p A Divisione S B C sLVD User s Manual Pr148 149 range 0 2 0 lt Pr146 147 lt Pr148 149 lt Pr144 145 3 12 5 Homing function The homing function which is available exclusively with operating modes 13 14 and 15 provides a typical axis reset procedure Before using the homing function perform the following settings connect the homing sensor to digital input 3 setthe homing speed in parameter Pr4 pay attention to the direction of rotation set Pr5 0 b40 12 1 b40 13 0 b40 2 0 To activate the homing procedure set b94 12 1 for a type 1 reset or b94 13 1 for a type 2 reset When the homing procedure is concluded the respective activation bit will be reset If you wish to abort the procedure reset the command bit stop the motor e g by resetting Pr5 and
29. with the value 0x0030 that represents in binary the bits involved in the operation in our case bits 4 and 5 95 Parker Hannifin S p A Divisione S B C sLVD User s Manual Write bytes 0 and 1 of the pico PLC area You will need to write the object by SDO with index sub index 0x2003 0x01 0 1 with the value corresponding to the operating code of the instruction to add For example the instruction LD 90 0 requires the value 0x00 to be written in byte 0 and 0xSa in byte 1 In addition to the objects described above other objects are implemented based on CANopen s Predefined Connection Set although these are not found in the object dictionary These objects can be useful in accessing drive movement parameters PDO tx rx object PDO2 tx rx object A protocol for parameter access pico PLC instructions and drive cam table is implemented by exchanging the 8 8 read write bytes of the PDO2 which when the master receives the message PDO 2 rx interprets the contents of the first 7 bytes in accordance with the following format Acyclic data write message or parameter request from master to drive PDO 2 Acyclic data write or request Data length Field Name Cmd amp Len Data Address 5 bit command and 3 bit 16 bit data address 32 bit data length Identifier ID2 IDI IDO l I miomo ID8 ID7 ID6 IDS je ao x x x Ex Tx jo ft po fo as A0 A6 Drive movement address Pr49 valid values 1 127 Data For data writing
30. 0 1 0 A3 A0 A3 SLVD slave address Pr27 1 valid values 1 15 Note 1 as for the real time mode bit 41 9 is set to 1 every synchronism message receiving via SBCCAN Therefore it is possible to check the communication status between Master and Slave via CanBus through a simple pico PLC program The pico PLC code on the drive be as follows Ld 41 9 Out 41 5 Rst 41 9 If the check of the communication status between Master and Slave via CanBus is implemented into the drive pico PLC the test is executed every 6 144 ms i e minimum execution time of pico PLC program or multiples 92 Parker Hannifin S p A Divisione S B C sLVD User s Manual 7 CAN Open An alternative to the SBCCAN protocol is CANopen to be expressly requested when placing your order the drive may only have one protocol at a time with the following implementations and functions The following objects are available based on CANopen s Pre defined Connection Set Objects Function code COB Ids Index NMT object 0000 0x00 EMERGENCY objec 0001 0x8 1 Oxff 0x1014 SDO tx object 1011 0x581 0x5ff 0x1200 SDO rx object 1100 0x601 0x67f 0x1200 Ro UOI 1100 0x701 0x77f Ox100c Ox100d Node guarding NMT object NMT state machine DS301 NMT Error Control amp Boot Up Protocol Boot Up Node Guarding 39 14 1 for each receipt EMERGENCY object Below is a description of emergency object implementation
31. 1 It s necessary to disable he software Pb40 9 0 enable the hardware Pb41 5 1 and driver OK Pr23 0 The motor executes two movements and the last is about 90 degree electric with control sign of the encoder feedback Introduce the correct number of the motor poles Pr29 Pr 52 Pr 53 Used to normalise the number of encoder pulses on the motor shaft revolutions to the standard value 65536 through the following relation Pr52 Pr53 encoder pulses motor shaft revolutions x4 65536 The sign determines the feedback positive or neg 32767 Pr89 Status 0 if positive result 2 if wrong enabling 3 if positive feedback 4 if wrong motor poles tolerance 22 5 electric degrees 5 if drive not ready Pr23 Z0 or open inr ush Pb41 4 In case of negative result the Pb41 4 remains to zero driver not OK Pb42 6 select the feedback from encoder Pb41 6 Phasing result 1 if positive result of the procedure and necessary condition for drive OK Pb41 4 68 Parker Hannifin S p A Divisione S B C sLVD User s Manual PROCEDURE 2 Pb94 4 actives this procedure The parameters are shown in the table below Par Description Field Unit Def Type Notes Pb94 4 Command phasing 2 It s necessary to disable he 0 software Pb40 9 0 enable the hardware Pb41 5 1 and driver OK Pr23 0 The motor executes a vibration the standing depends to the t
32. 6 ID5 m4 m3 E or em eee qos 179 Or A0 A4 SLVD slave address Pr27 1 valid values 1 31 Broadcast write parameter message from the master to the SLVD Broadcast data write Data length 7 bytes Field Name Cmd amp Len Data Address 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier ID2 m IDO IDIO ID9 ms ID7 me ID5 IDA 103 px eS p Ex XSIER IE 3 8 p Rea Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Not used 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 Data When the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If plc programme is written it contains the instruction code see the section Serial interface 90 Parker Hannifin S p A Divisione S B C SLVD User s Manual Alarm message from the SLVD to the master Data length Field Name Addr Error Pr27 1 Pr23 Identifier ID2 IDO IDIO ID9 ID8 ID7 ID6 IDs ID4 103 o Aa SOT Ase A0 A4 SLVD slave address Pr27 1 valid values 1 31 If the converte
33. 8 1 6 Conformity to EMC standards eese eee eese eee een etta tnnt ta ne ni ziari nici 8 1 7 Salina c D A c i EL iii ale 8 1 8 Data for the UL certifications un e arna a eaa aaa denuo sb aa AT qupd atio 8 INSTATEATION a dine eu m UR ie EER E E ESE 9 2 1 Safety Mis MUCH OMS e ts lillo dee n rt URN OE 9 2 2 How to Suppress Interference ss qe suec orien qe p i rH eir SII RO QI Lr Eee 10 22 Comici T LI LE 10 2 2 2 Mains and motor side bets oes ete rece eedret ees uae DSi at en MieE ue a us aes 13 2 3 Signal connectors voll ira aet ten Gaceta te oen a aca re eens eh a 13 2 3 1 Connectors layout sLVDI sLVD2 sLVDS and sLVD eene 13 2 3 2 Connectors layout sLVD10 and sLVDd15 rolla 15 2 4 CONE CHONG ere epos lella aliena 17 2 5 Line connection CIA STAINS cinri ne de a eRe ER Fo pata ve a 18 2 6 Motor connection diagrams sicilia 23 2 7 Resolver connection diagrams 22 uoto reed uat n eR RES a eae olus iade aetas 24 2 8 Signal cables eontie coti os dence oun bom scum a ade eed 24 2 9 Frequecy input output CONNECTION cc cccssccesscesccessrcesesssecssstessccesaceenssesacsesetenacess 25 210 Serial line cotnectl naunong eee ER Dre an oe RR aed diat 26 211 Can line CONNEC EH Of sche ao euet thm eee quies e v eat ms i pude edi teens t Re qut 27 2 12 Cableconnectons acea eo a t e popa de a RARE dans Aaa X XE AER ER NIME XS 28 2 15 ICT x E lina ola ariana 29 214 Status LED M ERN 29 2 15 Exter
34. AGRAM torque demand speed control Pr 17 user current limit sLVD band width limitator ur Prie A Pr 18 b42 2 Pr 19 motor speed rated current aux reference over voltage under voltage over current resolver brea power stage over temp lt a gt external trip aux trip b 418 default PLC check sum PAR check sum calibra error brake overload thermal image limit SLVD User s Manual trip code present last hardware enable software enable Vout aux b40 9 analog out drive enablec 45 Parker Hannifin S p A Divisione S B C SLVD User s Manual 3 5 Basic commands In order to send the following commands b99 7 must be set to 0 To send the b42 3 and b94 1 commands b99 6 must also be set to 0 B42 3 B94 1 B94 8 B94 9 B94 10 B94 11 B99 10 B99 11 B99 12 B99 14 B99 15 46 Reinitializing the serial line and the SBCCAN Command to initialise serial communication whenever the speed value of the serial line Pr26 has been modified Command to initialise the SBCCAN whenever the address or the function mode has been modified The serial line and the SBCCAN are in any case initialise when the converter is powered on Command to set the main reference offset to 0 This command is used to automatically set the Prl parameter in order to automatically set the voltage offset on
35. B C sLVD User s Manual 3 7 Operating modes Parameter Pr31 default 0 is used to select the operating mode Every operating mode controls speed using parameter Pr6 and can use parameter PR21 to limit the torque at the motor see the block diagram Speed control will use as reference Pr7 or Pr6 depending on the value of b40 2 Before changing Pr31 b40 2 must be set to 0 in order to avoid unwanted movements of the motor Therefore it is possible to set Pr31 to the value that corresponds to the selected operating mode The parameter b99 11 is used to load the default parameters for the selected operating mode By setting b40 2 to 1 the operating mode will be turned on All operating modes need to control the motor in position 13 14 15 by using the position loop described in the diagram in the figure Pb70 gt Pr55 servo window 1 Pb70 n mE I Pr56 servo vindow2 scalatura feed forward abilitazione feed forward abs Pr 106 Pb 70 7 Pb 70 6 target position Pr61 60 Pb70 15 Pr 65 64 caugth position position offset Pr69 68 speed demand l speed limit positive ii letector Pb70 1 iti zero encoder motor gt io es O dinO Pb70 0 master NE E Pr59 58 encoder in postive edge detector P470 14 ene encoder in X3 Pr50 Maximum speed Unit rpm default 3000 ra
36. B U Peak Rms W Q sLVD1 2 5 7 11 0 14 1 2 60 40 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 INSTALLATION e The SLVD converter must be mounted vertically with the power block above using an omega guide e A space of at least 100 mm Must be left free above and beneath the converter 2 1 Safety instructions e Make sure that the converter is sized properly for the motor it will be used with Compare the rated voltages and currents e Connect the cabinet converter motor in accordance with the instructions that are given in this section with the regulations for electromagnetic compatibility and with the safety regulations that are in force e The user is responsible for the protection fuses in the AC power supply of the converter e The power cables and the control cables must be separated by at least 20 cm If they must be crossed they must be crossed at a right angle The motor cables and the power cables can never be parallel e All power cables must have a sufficient section see the table given in paragraph 2 7 and must conform to the IEC227 2 regulation e The cables connected to the converter at the terminal cannot be consolidated with tin lead welding EN60065 Art 15 3 5 e Make sure that the converter and the motor are correctly grounded e Make sure the maximum power at terminals L1 L2 and L3 does not exceed by more than 10 the rated voltage even in the worst case see EN60204 1
37. Contents Identifier ID2 IDI IDO IDIO ID9 ID8 ID7 ID6 ID5 ID4 0 0 0 X 0 0 0 1 0 0 0 Upon receipt of the sync message each drive activates the speed and position references and saves the current motor position If b150 2 1 the drive responds with a message cyclic reply 99 Parker Hannifin S p A Divisione S B C sLVD User s Manual 83 Appendix A Mechanical dimensions of the SLVD 86 140 17 5 64 15 20 sj MN i Fd i Ll L4 3 i Barra Omega 35 3 da i 8 5 i 1 S 2 B 8 ry Ep f e d vl Wi a L 99 23 1 116 Lr weight 1 1Kg 225 101 79 9 55 5 wo I I d 337 344 288 vv Vail TIDE 100 Parker Hannifin S p A Divisione S B C SLVD User s Manual 9 Appendix B Hardware features 7K ohm 5 3 0 3 E PNP open collector mA mA differential ohm V Resolution bit Type differential CMMR gt 40 dB T5 Maximumibo 15 15 10 101 Parker Hannifin S p A Divisione S B C SLVD User s Manual 10 Appendix C Conventions Reference Positive Motor shaft movement motor shaft view Torque Positive Resolver counter teres m Tachometer signal __ signal lu coupleesin 9 ss coupleesin 9 sd sin 9 EM DN Positive
38. D7 10 e 15 The external braking resistance value must be 40 Ohm for sLVD 1 2 5 and 7 for sLVD10 must be 25 Ohm and 16 Ohm for sLVD15 and it is necessary to place a magneto thermal switch or a fuse between the external braking resistance and the drive The minimum cross section of the conductors depends on the drive size and it is equal to the minimum cross section of the conductors between motor and drive see paragraph Power connections It is necessary to minimize the connection cable length In any case the cable length must be less than 3 m The connection of the external braking resistance is shown in the following pictures The bride between IR and CB terminals see pictures enables the internal braking resistance when the external braking resistance is connected between CB and AT terminals the IR CB bridge must be removed It is necessary enable the external braking resistance with the parameter Pr99 4 to 1 and after save the parameter INTERNAL RESISTANCE EXTERNAL RESISTANCE 30 Parker Hannifin S p A Divisione S B C sLVD User s Manual sLVUIO e 15 EXTERNAL RESISTANCE 31 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 PARAMETERS AND PROGRAMMING The torque speed acceleration and position control functions are carried out by special digital electronics In this section we explain how parameters are set and the meaning of each parameter We also provide the function
39. Divisione S B C SLVD SLVD1 sLVD2 sLVD5 sLVD7 sLVD10 sLVD15 User Manual rev 2 6 July 2004 software rel 21 uv 222 DECLARATION OF CONFORMITY The Manufacturer Parker Hannifin S p A Divisione S B C address of the manufacturer via Gounod 1 20092 Cinisello Balsamo Milano Italy declares that the products name of the products SLVD1 sLVD2 sLVD5 sLVD7 sLVD10 sLVD15 satisfy the following product specifications Safety EN50178 EN60065 EMC immunity EN50082 1 EN50082 2 IEC1000 4 2 Level 3 IEC1000 4 3 Level 3 IEC1000 4 4 Level 4 emission EN50081 1 EN50081 2 EN55011 Group 1 Class A Class B Additional notes The products listed meet the requirements of Directive 73 23 EEC amended by 93 68 EEC The products have been verified under a typical configuration The products must be installed keeping strictly to the directions for use explained in their instruction manual Cinisello B Milano the 30th of September 1998 ue Salvalai Parker Hannifin S p A Divisione S B C sLVD User s Manual DANGER HIGH VOLTAGE Some internal circuits of the SLVD converter are subject to voltages that can create serious danger for individuals and they can even cause death The converter must not be accessed when it is powered on Whenever it is necessary to access it be sure it has been powered off for fifteen minutes to allow the condensers to discharge The user must make sure that the de
40. P131 BE SURE THAT b40 2 0 e THE SPEED REFERENCE WILL BE LIMITED TO THE VALUE OF Pr32 e USING THE TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 e TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE 1 e IF YOU CANNOT MODIFY THE READ WRITE PARAMETERS USING THE KEYPAD BE SURE THAT E b99 7 IS 0 IF IT WAS 0 PROBABLY THE SAME PARAMETERS WERE MODIFIED BY THE PLC PROGRAM 105 Parker Hannifin S p A Divisione S B C SLVD User s Manual 14 Appendix G Alarms Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD Error Code sLVD The sLVD s LED display shows decimal points on all characters 106 0 10 11 14 15 16 Drive OK Over Voltage on the D C Link Check the three phase power line Check the break circuit and the braking resistor Under Voltage on the D C Link Check the three phase power line Over current Check for any mechanical blockage and make sure the motor is the appropriate size for its current use Check the motor connections and for any phase phase or phase ground short circuits Check the machine speed and the service cycle Make sure a line trap isn t connected to the motor Resolver Check the connections of the resolver and the connectors on both sides drive motor Drive Over Temperature Check the cooling f
41. T active Indicates that Pr36 has reached the 100 0 value and therefore the converter is limiting the current to the nominal value Converter enabled Bus warning Indicates a momentary communication error on the SBCCAN Bus off error Indicates a permanent communication error on the SBCCAN CanBus watchdog This bit is set to 1 at every sync 0 or 1 reception via SBCCAN Virtual encoder enabled Default 0 1 function enabled See the section Other useful functions Encoder port direction X3 connector Default 0 0 output 1 input Torque control Default 0 If set to 1 the main analogue reference is assumed as the reference for the torque control torque servocontrolled mode Selector to configure analogue output Default 0 If set to 0 the analogue output represents the instantaneous speed of the motor 4 27V at Pr32 speed If set to 1 it represents the instantaneous torque 4 5V at the peek current of the drive The selector is valid only if b40 11 0 Frequency input X3 connector If set to 1 the frequency input is programmed to receive two quadrature phases and this is the default value If set to 0 a frequency direction type of input can be received B42 6 e B42 7 Selection the type of feedback Is possible choose between resolver and B94 3 encoder Basic parameters keylock If set to 1 it is possible to modify the basic parameters see the section Power on the SLVD for the first time 43 Parker Hannifin S
42. The reduction suppression of both conducted and radiated interference can be obtained through grounding shielding and filtering In particular filters reduce the interference conducted in the cables and the return of interference conducted at the source the frequency converter by using paths with the lowest possible impedance In this way other systems connected to the same electrical line can be protected effectively and the frequency converter will also be protected from the interference of other systems Basically the criteria are essentially based on grounding filtering and shielding 2 2 1 Grounding In the electric panels where the drives are usually installed there are two ground systems EMC ground or HF reference high frequency represented by the wall made of non painted metal onto which drives and filters are fixed The safety ground or PE protective earth according to the EN60204 1 standard Fix drive and mains filters the 24Vdc power supply etc on the metal wall making sure that there is a proper electric contact HF connection Carry the safety ground using cables having a minimum section of 10mm Cable connections and shielding With the exception of mains cables to the filter all power and control cables must be shielded and wherever possible kept segregated minimum distance 20 cm If control and power cables must cross the intersection must be at a right angle The shielded cables must be unbroken and
43. User s Manual B40 13 b40 15 B41 0 B41 1 B41 2 B41 3 B41 4 B41 5 B41 7 B41 8 B41 9 B41 10 B41 11 B41 12 B41 13 B41 14 B41 15 B42 0 B42 1 B42 2 B42 4 B42 5 Selector of internal reference Pr5 or frequency reference Pr4 Default 0 If b40 12 1 b40 13 can be used to make the selection If 0 the internal reference can be used If 1 the frequency input encoder in which can be configured as frequency direction or as a quadrature signal by using b42 5 Reserved Overspeed When the absolute value of the motor speed exceeds the value set in Pr13 b41 0 1 Otherwise b41 0 0 In speed If b40 7 0 and if the difference in speed between the motor and the reference is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 Zero speed If the motor speed Pr0 0 b41 2 1 Otherwise b41 2 0 Forward If the motor speed Pr0 is positive b41 3 1 Otherwise b41 3 0 Converter O K If 1 there is no alarm Otherwise 0 Status of hardware enable When hardware enable is present 1 External alarm An alarm that can be used by the user Auxiliary alarm A second alarm that can be used by the user CanBus watchdog This bit is set to 1 at every block sync reception via SBCCAN Saturation of the speed regulator b41 10 1 when the speed regulator is supplying the maximum current E
44. ack The constant 0 12 1s valid for 1 Mbps bus speed Note 1 bit 41 15 can be used in real time mode bit 41 15 is set to 1 every synchronism and multisynchronism message receiving via SBCCAN Therefore it is possible to check the communication status between Master and Slave via CanBus through a simple pico PLC program The pico PLC code on the drive be as follows Ld 41 15 Out 41 5 Rst 41 15 If the check of the communication status between Master and Slave via CanBus is implemented into the drive pico PLC the test is executed every 6 144 ms i e minimum execution time of pico PLC program or multiples Attention both Pr103 Status and Pr102 Command must be set through a specific pico PLC program into each drive Note 2 the Master can send the new reference data only if at least 400 us passed from the last synchronism message or if the response message has already been received The typical timing of the SBCCAN in real time mode is shown in the diagram on the next page 87 Parker Hannifin S p A Divisione S B C sLVD User s Manual SBCCAN Feedback from drive1 Feedback from drive2 Feedback from drive3 Feedback from drive4 cyclic msg to drive1 cyclic msg to drive 2 cyclic msg to drive 3 cyclic msg to drive 4 ITX reference Sync RX Feedback Require Pr of drive X Drive X reply Tx reference 88 Parker Hannifin S p A Divisione S B C sLVD User s Manual 6 2 Description of the fields in communica
45. al block diagram and the description of advanced functions The system is easy to use and flexible In the diagram below the general block diagram of the part of the converter that is controlled by parameters is presented analogue digital l LIMIT SWITCH amp MANAGEMENT internal TORQUE DEMAND OPERATING MODE TORQUE SPEED ALARMS WINDOW Pr31 DIGITAL TORQUE LOCK CONTROL and CAM ELECTR REAL TIME CAN 32 Parker Hannifin S p A Divisione S B C sLVD User s Manual The main block diagram and the diagrams for special functions operating modes are described later in more detail How to associate inputs outputs to the parameters of the converter is described in the chapter The pico PLC The parameters are divided on the basis of their function in the following way From Pr0 to Pr49 From PrS0 to Pr70 From Pr71 to Pr99 From Pr100 to Pr150 Operating mode parameters From Pr151 to Pr163 From In0 to In127 pico PLC instructions The units of measurement and the main resolutions of the parameters are Parameter Unit Resolution type Position 4096 steps revolution 1 4096 of a revolution of the peak current of the converter Below we describe how to interpret the symbols used in the block diagrams The main block diagram describes graphically how the converter works Each rectangular block represents one or more read write parameters The rhomboid blocks re
46. analogue input Unit 8000esimi of 9 76V range 8192 Represents the value of the main analogue input Motor resistance Unit ohm The phase phase resistance of the motor Motor inductance Unit Mh The phase phase inductance of the motor Can bus speed code Default 0 see the section CANBUS Can Open Address The addresss range is from 1 to 127 Default 0 41 Parker Hannifin S p A Divisione S B C sLVD User s Manual BINARY PARAMETERS The binary parameter Pb40 can be read and set and then stored The binary parameter Pb41 provides indications about the status of the system The parameters Pb42 and Pb99 be read and set and then stored B40 0 B40 1 B40 2 B40 3 B40 4 B40 5 b40 6 B40 7 B40 8 B40 9 B40 10 B40 11 B40 12 42 Selection of the first or second full scale of the speed reference Default value 0 If 0 Pr2 will be used to rate the analogue reference If 1 parameter Pr3 will be used Activation of the algorithm to suppress vibration at 0 speed Default 0 If 1 the algorithm is turned on Selection of the reserved user reference If 1 the reserved reference of the operating mode in use is used If 0 the reference selected by b40 0 b40 12 and b40 13 is used Default 0 Reference hold Default 0 If 1 the reference will not be updated and the motor will not follow the variations of the input reference If 0 the reference will follow the variation of the input re
47. and setting the output can vary by 6 144 ms with respect to the physical event If the microprocessor is overloaded with work the operating mode is active there are frequent serial requests and the PLC program is long it may take more than 6 144 milliseconds to scan the entire PLC program All the instructions of the pico PLC with the exception of the arithmetic instructions are single bit instructions The available stack has a depth of only one bit The LD LDN instruction loads the bit defined as the operant on the stack with all the other logical instructions work on the stack itself The arithmetic instructions are executed only if the stack bit is set to 1 The truth table for the logical operations is given below for the convenience of the user AND logical operation OR logical operation The respective negative operations ANDN and ORN follow the same logic except that the negated value of the bit specified will be used 12 bits from b90 4 to b90 15 are reserved on the PLC and can be stored 14 additional bits from b91 2 to b91 15 are available on the PLC but cannot be stored They are always set to 0 when the converter is powered on 10 word parameters are also reserved These are from Pr80 to Pr89 They can be stored and used as 5 double word parameters just as the 13 parameters from Pr151 to Pr163 The pico PLC includes 9 constants for arithmetic operations These are from Pr71 to Pr79 and can be the constants most used by no
48. anings according to the logic implemented in the pico PLC program PDO4 rx 1 Adjourn Pr80 83 Doce tar EE Scanning pico plc Scanning pico plc Send Pr84 87 Send Pr84 87 D D v v 98 Parker Hannifin S p A Divisione S B C sLVD User s Manual PDOI tx rx object Realtime Mode Pr31 15 In the same way as for the SBCCAN protocol a real time mode has been implemented operating mode 15 which for CANopen networks uses PDOI rx tx for cyclical data exchange and the SYNC message for synchronizing the position loops The message COB IDs are different from SBCCAN execution for the purposes of compatibility with CANopen networks Cyclic message from master to drive PDOI rx Data length 8 6 4 bytes Field Name Data position ref 32 bits speed ref 16 bits Pr102 ID2 ID1 IDO ID10 ID9 ID8 ID7 ID6 IDS IDA ID3 LAT AL adr Ret IAS A S A0 A6 Slave drive address Pr49 valid values 1 127 Pr102 is used as a command and must be managed by the pico PLC Based on the length of the message the data received is interpreted in the following way Data length 8 Position reference 4 byte Speed reference 2 byte Pr102 2 byte 6 Position reference 4 byte Pr102 2 byte 4 Speed reference 2 byte Pr102 2 byte Synchronism message from master to drive Synchronism message Data length 0 bytes Field Name
49. ans and for any restrictions to air flow Check the breaking cycle Check the environmental temperature of the electrical control panel where the drive is installed as well as the external room temperature External alarm Auxiliary alarm Check sum PLC Check sum parameter Brake overload Braking resistance use overload Default parameter Calibration error The drive goes in T mode due to an overload it required more current that was available Check Thecables between motor and sLVD there should be no inverted phases Take special care with motors with terminals rather than the connector it s easy to make a mistake Adhere strictly to the wiring diagrams Parker Hannifin S p A Divisione S B C sLVD User s Manual 15 Appendix H external bracking modul TECHNICAL CHARACTERISTICS Resistance value RFE1 40 ohm RFE2 27 ohm IP protection Max power dissipated Max ambient temperature Delta T Weight Ventilation power supply INSTALLATION The RFEI or 2 breaking module must be installed vertically as shown A four pole 4mm cable must be used for the connection The 24v power supply used for the ventilator can cause disturbances It is therefore a good idea not to use the same power line for electronic devices The cable should not be longer than 4m For the connection to the drive see the related chapter in the converter manual and use a 30A thermo magnetic switch Terminal pins REF1 E 24Vdc ve
50. aster for the electrical axis function If 1 it updates directly Pr118 119 to execute the step like function or pulses train Profile direction Read only flag Indicates the direction of the motion of the positioner Profile feed forward Default 0 If 1 the profile feed forward is disabled El Axis engaging release This bit it used to engage 1 and release 0 the axis from the input encoder reference Type 1 reset Command to set all the motor position and reference to 0 Type 2 reset Command that sets the position of the motor shaft Pr62 63 to the main reference Pr60 61 and of the positioner Pr116 117 by setting that of the electrical shaft to 0 Final position evaluation enable disable Pr118 119 Default 1 If 0 eventual modifications to Pr118 119 will not be considered opm 13 for sLVD in progress reset 1 6150 10 mx target position motor position profile generator b150 11 L target position motor reset 2 F N encoder master Pr61 60 a Pr 109 Pr 108 ramps steady time b150 13 target position speed to the position loop reverse forward profile position ratio 57 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 10 Electronic cam operating mode 14 Operating mode 14 was expressly designed to meet the needs of packaging machines that require electronic cams The table of the cam function is
51. auxiliary input lPr22posiive 1 Pr38 positive Positive auxiliary analogue output Encoder In A 7 r Increment counter B frequency A J v Increment counter direction 102 Parker Hannifin S p A Divisione S B C SLVD User s Manual 11 Appendix D Software timing 512 us Fast operating modes management Torque limits management Speed reference management M JBraking resistor management JFIN management management 6 144 ms Thermal motor image digital inputs program scanning pico PLC digital outputs 49 152 ms Speed windows management 103 Parker Hannifin S p A Divisione S B C sLVD User s Manual 12 Appendix E Default program for the pico PLC digital input 0 used to power 90 0 41 5 LD 90 0 E OUT 415 the drive 90 1 40 6 LD 90 1 digital input 1 used for the stop OUT 40 6 function 414 91 0 LD 41 4 digital output 0 indicates that n OUT 91 0 the converter is OK 41 11 Si LD 41 11 digital output 1 indicates that a OUT 91 1 the thermal motor image is END active END j end of the program 104 Parker Hannifin S p A Divisione S B C sLVD User s Manual 13 Appendix F Flash information e TO SAVE USA IL b99 15 PARAMETERS e TOSAVE THE PLC USA IL b99 14 PROGRAM e TO CHANGE THE INSTRUCTIONS PLC b99 13 MUST BE 0 e WHEN THE OPERATING MODE IS CHANGED YOU MUST USE 599 11 TO LOAD THE DEFAULT PARAMETERS b40 2 MUST BE 0 e BEOFRE CHANGING
52. ay the first 5 bits bits 0 4 define the address of the converter from 0 to 31 the remaining 3 bits bits 5 7 define the type of message sent as described in the following table 76 Parker Hannifin S p A Divisione S B C SLVD User s Manual CMD bit7 bit6 bit5 type of message 1 0 0 1 converter response 2 0 1 0 jreading a pico PLC instruction 3 0 1 l writing a pico PLC instruction 4 1 0 0 reading a parameter 5 1 0 1 writing a parameter 6 1 1 0 bit modification 7 l l l writing a parameter to all the slaves BK LUN the LUN field first 3 bits indicates the number of bytes of the data transmitted a parameter or a PLC instruction the values can range from 1 to 4 This value does not include eventual 0 characters 00 which are inserted after the values that coincide with the character of transmission start 7E The length of each parameter is two bytes The BK field is represented by the 5 most significant bits and represents the 5 most significant bits of the parameter address PAR write read address of the parameter or PLC instruction The parameter address is the number of the parameter 2 with 13 bit field PAR represents the least significant eight bits of the address the 5 most significant bits must be written in the BK field The table used by electronic cam starts at the address 4096 The PLC instructions have the address from 0 up to 255 DO Dn data trans
53. be used if a check sum alarm has been indicated In this case it is necessary to set the default parameters reset the alarm and then store the new parameters Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 6 Speed control adjustment SOME IMPORTANT CONCEPTS SPEED LOOP The main task of a converter is to control motor speed so that it follows as faithfully as possible the speed request that is generally known as the REFERENCE Faithfully following the reference means that the motor speed should equal the reference in static conditions and also that the motor speed is as equal as possible to the speed requested during dynamic conditions To carry out this task the converter must know some of the features of the motor used and the mechanical part attached to it This information is communicated to the converter by using the so called ADJUSTMENT PARAMETERS ERROR The error is the difference between the reference speed and the motor speed The size of the error is used by the speed loop in order to evaluate how much current must be supplied to the motor based on the adjustment parameters TORQUE The current that circulates in the windings of the motor is transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the sLVD converter when we speak of gain in this document we refer to the rigidity of the axis better known as the STIFFNESS To better illustrate what stiff
54. c brake cables separate from the other cables resolver and motor 11 Parker Hannifin S p A Divisione S B C sLVD User s Manual mo di Collegamento Riferirsi al capitolo re Schemi di SA e Collegamento alla PA d o m gt jus z be 9 Rete ZA f M gt lt E t D 7 ae j LL o f O x J E O 4 777 VL R LM ZZ F T ESTE 7 LZ Collegamento ca C gt ss PE C 5 The PE bar for power grounding must be mounted directly in contact insulated columns are not to be used The signal cable shields can be connected to a bar HF different from the PE bar or connected directly the metallic cable clamps to electrical cabinet back plate n the Cable connections par it is possible see every detail of this image 12 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 2 2 Mains and motor side filters It is usually necessary to use external filters in addition to internal filters the drive is provided with on the mains input and sometimes on the motor output The mains filter must be mounted as close as possible to the drive and on the same drive panel and must have a large area of contact with the power panel or the mounting plate If distance exceeds 30cm the effect decreases and a screened cable must be used between filter and converter The filter earth terminal must be connected to the earth bar along the shortest possible route Ferrite toroids are
55. d Rpm enc pulses turn 60 Pr5 Internal reference Unit rpm range 9000 default 0 If b40 12 1 and b40 13 0 Pr7 will be equal to Pr5 Pr6 Reserved speed reference read only Unit rpm range 9000 If b40 2 1 this value is used as a reference for the speed regulator The active operating mode will write its speed request in parameter Pr6 Pr7 Main reference read only Unit rpm range 9000 If b40 2 0 is used Pr7 is the reference for the speed regulator In some operating modes Pr7 can be used as a reference for other values torque acceleration and in these cases Pr7 will be expressed in the most suitable unit of measurement Pr8 Acceleration ramp for positive speed Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Positive speed acceleration required by the motor via the speed reference is internally limited so that to achieve an acceleration of 1000 rpm Pr8 seconds are necessary Pr9 Deceleration ramp for positive speed Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Positive speed deceleration required by the motor via the speed reference is internally limited so that to achieve an acceleration of 1000 rpm Pr8 seconds are necessary Pr10 Acceleration ramp for negative speed Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Negative speed acceleration required by the motor via the speed reference is internally limited so that to achieve an accel
56. d Name 16 bit value 16 bit value 16 bit value m2 m moj A0 A6 Slave drive address Pr49 valid values 1 127 Identifier The bytes of the message are written to the corresponding parameters only if the function described is enabled by setting bit b99 5 to 1 and is done immediately prior to the next pico PLC scan cycle every 6 144 msec from the reception of the PDO4 rx message 97 Parker Hannifin S p A Divisione S B C sLVD User s Manual In much the same way as described above the parameters Pr84 87 are sent through PDOA tx by the slave to the master with the following format Parameter Pr84 87 read message from master to drive PDO 4 rx Data send Data length 8 bytes Field Name Pr87 16 bit value 16 bit value 16 bit value 16 bit value Identifier D2 m mo IDIO ID9 ID8 ID7 ID6 ps ID4 ID3 ERE ERES ER RES IRE REO ieee The bytes of the message containing the parameters Pr84 87 are sent to the master only if the function described is enabled by setting bit b99 5 to 1 and is done every Pr161 pico PLC scan cycles every 6 144 msec If Pr161 is set to zero the bytes are not sent even if b99 5 1 The data is sent when the pico PLC program scan is complete The exchange structure implemented by the PDO4 allows access to the parameters Pr80 87 that do not have a predefined function in the converter but can be processed and interpreted with different functions and me
57. d for one drive based on an addressing logic The following table shows which information speed reference Prl05 is sent to which drive based on the AO0 Al group address value A0 A1 Speed reference 0 Speed reference 1 Speed reference 2 Speed reference 3 3 Dii Diea Drives 83 Parker Hannifin S p A Divisione S B C SLVD User s Manual MultiSynchronism message from the master to the SLVD MultiSynchronism message Data length 1 2 3 4 byte Field Name Command 0 Command 1 Command 2 Command 3 Pr102 8bit Pr102 8bit Pr102 8bit Pr102 8bit Identifier Each drive receives and executes the speed reference and saves the actual motor position if b150 2 1 the drive answers with a cyclic reply This message is for several drives The following table shows to which drive the Command Pr102 first 8 bit is sent to YES YES Drives 4 Da Cows T_T Drive6 Der o o De LLL YES YES Dive Den Dies dT Da Des T_T _ Each command is made up of 8 bit Pr102 and it is sent to several drives Each command value is set by the user through the pico PLC of each drive 84 Parker Hannifin S p A Divisione S B C SLVD User s Manual Acyclic data write message or parameter request from the master to the SLVD Acyclic data write or request Data length 7 byte Field Name Cmd amp Len Data Address Data 5 bi
58. d operation When the unit is powered on this is 0 If it is set to 1 the first mathematical operation executed by the pico PLC is done by using three double word type operands After the execution of the operation b94 0 is automatically set to 0 If Pr60 Pr68 Pr110 Pr148 are used the double word formatting is implicit First fast input disable b94 5 1 When the unit is powered on this is 0 Second fast input disable b94 6 1 When the unit is powered on this is 0 Status of the first timer Equal to 1 if Pr92 0 Status of the second timer Equal to 1 if Pr93 0 Equal to 1 if the result of the last PLC operation is negative Equal to 1 if the result of the last PLC operation is 0 PLC status Default 1 If set to 1 the PLC program is executed If 0 the program is not executed but the PLC instructions can be modified 71 Parker Hannifin S p A Divisione S B C PLC INSTRUCTIONS Pa y H rp Pay Pa y I M LDN Pay Pa y 2 OUT Pay Pa y OUTN Pa y Pa y SET Pay Pa RES Pay Pa EN b AND Pay Pa y A ANDN Pa y Pa y OR Pa y Bri ORN Pay Pa Pb Pc ADD Pa Pb Pc AE SUB Pa Pb Pc Pa Pb Pc MUL Pa Pb Pe Pa Pb Pc DIV Pa Pb Pc END FIN y 0 1 T2 sLVD User s Manual loads the y bit of the Pa parameter on the stack loads the negated y bit of the Pa parameter on the stack sets the y bit of the Pa parameter to the value loaded on the stack places the y bit of the Pa parameter to the value
59. data write Data length Field Name Contents Ip mi po impio XE ap i Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Not used 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 Data If the parameter is to be written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If plc programme is written it contains the instruction code see the section Serial interface Alarm message from the SLVD to the master Data length Field Name Addr Error Pr27 1 Pr23 Identifier ID2 mof IDIO ID9 ID8 ID7 1g IDS ID4 ID3 Zu 0 a 50 1 5 A0 A3 SLVD slave address Pr27 1 valid values 1 15 If the converter is in the alarm status it will send this message on the bus alarm 0 no alarm 86 Parker Hannifin S p A Divisione S B C sLVD User s Manual To evaluate the minimum sampling time use the following formula TCmin Nr Nt 5 0 12 where TCmin is the minimum sampling time in milliseconds Nr is the number of SLVDs that receive the reference Nt is the number of SLVDs that transmit the feedb
60. e mode The CanBus can be used to set up a wide band digital link thereby simplifying the cabling of the system Parker Hannifin S p A Divisione S B C sLVD User s Manual 1 3 Identification The converters of the SLVD series are available in six models SLVD1 SLVD2 SLVDS SLVD7 SLVD10 and SLVDIS The number that follows the SLVD abbreviation corresponds to the rated current of the converter in amperes A label is attached on the right side of the SLVD converter that contains all the essential informations to correctly identify the unit It is important to refer to this label before requesting any kind of technical information from Parker Hunnifin S p A Divisione S B C An example of this label is given below Parker Hannifin S p A Divisione S B C Via Gounod 1 20092 Cinisello B Milano Italy sLVD 5 S N 00020365 POWER INPUT POWER OUTPUT 3XA230V 4 6A 3XAC230 5A 50 60 Hz 0 600 Hz READINSTALLATION USE COPPER WIRE RATED INSTRUCTION MANUAL 60 75 C BEFORE INSTALLING Parker Hannifin S p A Divisione S B C sLVD User s Manual 1 4 Main hardware features 0 7 L5 22 Power Stage Dissipation 18 28 45 65 87 120 internal external PR option standard on 7 10 e 15 DN E SE Maximum Output Fundamental Frequency ii Parker Hannifin S p A Divisione S B C 1 5 Main software features SLVD User s Manual The following functions have been implemented in the basic software of the SLVD Speed con
61. e of the document March 2002 Grounding bar instructions revised September 2002 User manual version as Italian version rev 1 0 September 2002 SW rel 19 January 2003 EMC and cable connections modifications Manual version as Italian version rev 1 1 January 2003 SW rel 19 February 2003 Updated the Main Hardware Features table Added address list February 2004 Data for the UL certification External braking resistance March 2004 Declaration of conformity Adjourned figures and drawings connections power motor resolver signal Can Adjourned Pr36 49 40 8 42 6 42 7 99 4 70 7 Adjourned signal connectors layout Adjourned main block diagram Adjourned position loop Adjourned OPM 13 diagram Value capture FBK encoder CAN and incremental encoder Adjourned SBCCAN 109 Parker Hannifin S p A Divisione S B C sLVD User s Manual Adjourned CAN OPEN Adjourned keyboard Motion WIZ Adjourned alarms Rev 2 5 April 2004 Insert new draw about external braking resistance Rev 2 6 July 2004 Adjourned SBCCAN in communication Mode the address is by A0 A4 For other informations log into website www sbcelettronica com Aranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date 110 Darker Divisione S m B C EUROPE BELGIUM LUXEMBURG PROCOTEC BVBA Lieven Bauwensstraat 25A 8200 Bru
62. e stack bit is equal to 1 A mathematical operation can be executed by placing the result in one of the constant parameters Pr71 Pr79 in order to set bit b99 2 and b99 3 If the DIV operation is executed on a double word the most significant part of the result contains the remainder of the division that is if b94 0 1 and the operation DIV 79 77 80 is executed the result will be Pr80 4 and Pr81 96 The FIN instruction Two instructions are available for the fast acquisition of inputs in this case the scanning occurs at the rate of 512us normal scanning is at the rate of 6 144ms If this is used they must be the first instructions of the PLC The first instruction FIN copies digital input 0 to the y bit of the Pb40 parameter the second operand 0 or Pb150 the second operand 1 The second FIN copies digital input 1 to the y bit of the pPb40 parameter second operand 0 or Pb150 second operand 1 If the value 2 is added to the second operand the input must be negated before being copied If an FIN instruction is inserted in a different position it will not have any effect The FIN instructions can be enabled disabled using a bit for each FIN the first FIN is enabled if b94 5 0 the second FIN is enabled if b94 6 0 The FIN instruction inserted in the PLC program after the first two instructions and in any case if it follows any instruction that is not a FIN instruction is ignored The user can make use of two timers Pr92 and Pr93
63. efore protection fuses should be used If many units are installed in parallel a sequential power supply procedure is recommended Mono phase connection If a mono phase connection is used a derating of the power supplied by the SLVD converter is obtained The maximum power supplied by the SLVD with mono phase power is given by the formula Pmax 27 1073 Vsupply2 watt Where Pmax max power out 27 10 costant Vsupply is a voltage supply 22 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 6 Motor connection diagrams sLVD type A Protective earth bar PE power on the galvanized backplateof the electric cabinet MOTOR i P nA A f CLA e e e 23 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 Resolver connection diagrams Protective earth bar PE power on the galvanized backplateof the electric cabinet 2 8 Signal cables connection The cable used for the analogue reference must be a shielded twisted pair The cable used to connect the signals of the simulated encoder must consist of three twisted pairs with a general shield Shielded cables are also recommended for digital inputs and outputs All cables must have a minimum section of 0 22 mm 24 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 9 Frequecy input output connection The frequency input output connector X3 RS 422 can be configured by the software in different functional modes by using t
64. er that can be stored by the user word Pr82 Free parameter A parameter that can be stored by the user word Pr83 Free parameter A parameter that can be stored by the user word Pr84 Free parameter A parameter that can be stored by the user word Pr85 Free parameter A parameter that can be stored by the user word Pr86 Free parameter A parameter that can be stored by the user word Pr87 Free parameter A parameter that can be stored by the user word Pr88 Free parameter A parameter that can be stored by the user word Pr89 Free parameter A parameter that can be stored by the user word 70 Parker Hannifin S p A Divisione S B C sLVD User s Manual b90 X b91 Y Pr92 Pr93 b94 0 b94 5 b94 6 b99 0 b99 1 b99 2 b99 3 b99 13 Status of digital input X If X is greater than 3 this is a bit that can be stored by the user b90 0 converter enabled Status of digital output Y If Y is greater than 1 this is a bit that can be stored by the user Parameter Pb91 is not saved and is set to 0 when the unit is powered on The two digital outputs available can be used as input b90 2 b90 3 in this case the corresponding output is set to 0 b91 0 b91 1 First timer of the PLC Every 6 144 ms if Pr92 is not 0 it is decremented If it is equal to 0 b99 0 is set to 1 Second time of the PLC Every 6 144 ms if Pr93 is not 0 it is decremented If it is equal to 0 b99 1 is set to 1 Force a double word formatte
65. eration of 1000 rpm Pr10 seconds are necessary 39 Parker Hannifin S p A Divisione S B C sLVD User s Manual Pr11 Pr12 Pr13 Pr14 Pr15 Pr16 Pr17 Pr18 Pr19 Pr20 Pr21 Pr22 Pr23 Pr24 40 Deceleration ramp for negative speed Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Positive speed deceleration required by the motor via the speed reference is internally limited so that to achieve an acceleration of 1000 rpm Pr11 seconds are necessary Deceleration ramp for limit switch and stop functions Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration required by the motor for limit switch and stop functions is internally limited so that to achieve an acceleration of 1000 rpm Pr12 seconds are necessary Overspeed limit Unit rpm range 0 13000 default 3500 If the absolute value of the motor speed exceeds the value set in Pr13 b41 0 will be 1 Otherwise it will be 0 High speed limit Unit rpm range 13000 default 20 If b40 7 0 and if the difference of the speed of the motor and the reference is less than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 Low speed limit Unit rpm range 13000 default 20 If b40 7 0 and if the difference of the speed of the motor and the reference is less
66. every SLVD activates the speed references and the position references and stores the actual position of the motor if b150 2 1 the drive answers with a cyclic reply Type 1 synchronism Sync 1 stores the actual position of the motor if b150 6 1 the drive answer with a cyclic reply 82 Parker Hannifin S p A Divisione S B C sLVD User s Manual Cyclic message from the sLVD to the master Cyclic reply Data length 6 7 byte Field Name Status Data Pr27 1 8bit Pr116 117 32 bit Pr103 Identifier ID2 DI mo mi0 ID9 ID8 ID7 ID6 IDs ID4 ID3 a Eee aree A0 A3 sLVD slave address Pr27 1 valid values 1 15 The Pr103 parameter is used as the status if b150 3 0 all the 16 bits are sent if b150 3 1 only the first 8 bits are sent If b150 0 1 the message is 8 byte long and it isn t dependet on b150 3 Pr103 made up of 16 bit When b150 1 1 the message has the following information Byte 1 Byte8 bit 6bit 5bit 4bit 3bit 2bit Ibit Obit 7bit 6bit 5bit Abit 3bit 2bit Ibit Obit MSB In3 In2 In In0 tm MultiCyclic message from master to the sLVD Identifier D2 DI ipo mio 109 ID8 ID7 ID6 IDs D4 193 LO daij aox X X X IX o 0 0 This message contains several data which are sent to several slave drives One data speed reference is addresse
67. f a transformer connected in a star configuration with a primary and secondary electrostatic shield id Protective earth bar PE power n the galvanized backplateof the electric cabinet SLVD type e e e e e e 20 Parker Hannifin S p A Divisione S B C sLVD User s Manual Use of the auto transformer Protective earth bar PE power on the 1 galvanized backplateof the electric cabinet SLVD type Note The EMC filter can be connected upstream or downstream from the auto transformer If it is connected upstream it may be necessary to use a shielded cable between the auto transformer and the sLVD If it is connected downstream the cable between the filter and the sLVD must be as short as possible and it cannot exceed 50 cm Use the following formula to dimension the transformer 1 73 4nc2 where Pt is the power in VA of the transformer Paz is the sum of the rated powers of the motors in W and n is the number of powered drive units Pt Paz 1 7 80 2 Parker Hannifin S p A Divisione S B C sLVD User s Manual Direct connection to 230V power Protective earth bar PE power n the galvanized backplateof the electric cabinet SLVD type Note The cable connecting the filter and the SLVD must be as short as possible and in no case can it exceed 50 cm If the unit is connected directly to the mains currents on the order of 100A may be required when it is powered on for less than 3 ms Ther
68. f feedback encoder With b94 11 1 then b94 9 1 if Pr98 97 gt Pr61 60 This function is run every 6 144 ms If the value comparators functions are not used the Pr95 Pr96 Pr97 Pr98 b94 10 and b94 11 parameters by the PLC program as general purpose registers 3 12 2 Value capture At every positive front of digital input 0 the value of Pr63 62 or Pr66 67 is captured and stored in Pr68 69 and b70 15 is set to 1 to signal the event B70 15 is not reset automatically but must be executed by the pico PLC or the serial line Analogous situation at every positive front of digital input 0 the value of Pr66 67 is captured and stored in Pr58 59 and b70 14 is set to 1 to signal the event B70 14 is not reset automatically but must be executed by the pico PLC or the serial line 3 12 3 Virtual encoder The virtual encoder function is enabled by setting b42 0 1 42 1 0 and 42 5 1 A virtual encoder will be available at the X3 connector and its speed will be as set in Pr3 The set speed has a resolution equal to 1 rpm and a value in the range 3500 and 3500 rpm The output signals phase A phase B will simulate an encoder of Pr44 steps revolution without phase C of 0 After the programming the configuration must be saved and the unit must be powered off and on again 3 12 4 Output cam programmer This function gives a digital output pin 8 X4 according to the present position of the motor in a module The user has to set the
69. f the first byte selects the parameter b4 0 if it refers to Pb40 b4 1 if it refers to Pb150 the sixth bit b5 of the first byte is used for logical negation b5 0 the bit is copied b5 1 the bit is negated before being copied The second byte of the FIN instruction contains the value of y If the FIN instructions are used they must be the first instructions of the program and cannot be more than 2 They occupy the addressed from Oh to 3h If a FIN instruction is inserted beginning at the 4h address or after any other instruction the FIN instruction does not function and is ignored NOP The instructions must follow each other beginning at address Oh and no byte can be left empty There is only one program and it is terminated with the END instruction Examples of using the serial line In order to better understand how to implement the communication protocol on the serial line some examples of each type of message are given below The values indicated are only indicative as examples First example reading a 1 byte parameter Suppose we want to read the value of the parameter Pr25 release software and that its value is 43 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E 80 01 32 B3 79 Parker Hannifin S p A Divisione S B C sLVD User s Manual The converter responds with the message 7E 20 01 32 2B 7E 00 Second example reading a 2 byte parameter
70. fectiveness If an auto transformer is used the filter can be installed either upstream or downstream from the auto transformer In this case the cable used for the connection between the transformer and the sLVD must be shielded Ground connections It is necessary to minimize the length of the individual cables to be grounded For this reason we recommend that a grounding bar be placed as close as possible to the frequency converters The grounding bar must be made of low inductance copper and must be mounted on electrical cabinet back plate pls ensure good electrical contact by removing paint if any The table shows the minimum dimensions vs length Length m Width mm nra EE rei L 15r T 593 G 2 5 Line connection diagrams The sLVD converter can be connected to the power supply in various ways If a transformer with an electrostatic shield between the primary and the secondary is used EMC filters will not have to be installed If an auto transformer a transformer without electrostatic shield or a direct connection to the power network is used EMC filters must be used 18 Parker Hannifin S p A Divisione S B C sLVD User s Manual Use of a transformer connected in a triangle configuration with a primary and secondary electrostatic shield Protective earth bar PE power n the galvanized backplateof the electric cabinet SLVD type 19 Parker Hannifin S p A Divisione S B C sLVD User s Manual Use o
71. ference Left limit switch Default 0 If 1 and the reference selected requires negative speed the reference is set to 0 following the ramp set in Pr12 If 0 no control is made Right limit switch Default 0 If 1 and the reference selected requires negative speed the reference is set to 0 following the ramp set in Pr12 If 0 no control is made Stop function Default 0 If 1 the motor is set to zero speed following the ramp set in Pr12 Selection of the absolute relative speed window Default 0 If 0 the speed window Pr14 Pr15 b41 1 will function in relative mode Otherwise if 1 it will function in absolute mode Analogue torque limit Default 0 If 1 Pr22 will be used and also the auxiliary analogue input in order to limit the torque to the motor The sign of voltage at aux differential analog input doesn t interest Software enable Default 1 If 0 the converter cannot be enabled Reserved Selector for auxiliary analogue output Default 0 If 0 a signal proportional to the torque b42 4 1 or to the speed b42 4 0 supplied by the motor will be present at the auxiliary analogue output If 1 a value proportional to Pr38 will be present Selection of the digital analogue reference Default 0 If 0 the analogue input will be selected as the main reference If 1 the reference will be digital and b40 13 can be used to select parameter Pr4 or parameter Pr5 Parker Hannifin S p A Divisione S B C sLVD
72. generally used for the motor output with multiple turns obtained by winding the 3 motor cables contemporarily 2 3 Signal connectors layout 2 3 1 Connectors layout sLVD1 sLVD2 sLVD5 and sLVD7 13 Parker Hannifin S p A Divisione S B C sLVD User s Manual 10 pole terminal left DB9 female poles X2 links XI ECC DB9 male poles 10 pole terminal right X3 encoder in out X4 ANALOGUE REFERENCE PHA ANALOGUE REFERENCE 0V DIE ME DB9 female poles 7 pole terminal top X5 keyboard X6 power MOTOR PHASE U Connector for MOTOR PHASE V MOTOR PHASE W the programming keyboard 14 Parker Hannifin S p A Divisione S B C 2 3 2 Connectors layout sLVD10 and sLVDd15 X7 7 00000 CI i X7 SLVD User s Manual 2000 00 4 gt 15 Parker Hannifin S p A Divisione S B C sLVD User s Manual 10 pole terminal left DB9 female poles X2 links XI ECC DB9 male poles 10 pole terminal right X3 encoder in out X4 ANALOGUE REFERENCE 4 AUXILIARY ANALOGUE INPUT i INPUT 6 VOUT 8 OUTI IN3 9 24V DB9 female poles 7 pole terminal top X5 keyboard X7 power Connector for the programming keyboard W MOTOR PHASE W BUS INT RES CB COM BRK 16 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 4 Connections Motor cable A choice shall be made between a cable
73. gge Industriezone Waggelwater Tel 32 50 320611 Fax 32 50 320688 www procotec be info procotec be DENMARK SERVOTECH AS Ulvehavevej 42 46 7100 VEJLE Tel 45 7942 8080 Fax 45 7942 8081 www servotech dk servotech servotech dk FRANCE TRANSTECHNIK SERVOMECANISMES S A Z A Ahuy Suzon 17 Rue Des Grandes Varennes 21121 Ahuy Tel 33 380 550000 Fax 33 380 539363 www transtechnik fr infos transtechnik fr GREAT BRITAIN AMIR POWER TRASMISSION LTD Amir House Maxted Road Hemel Hempstead Hertfordshire HP2 7DX Tel 44 1442 212671 Fax 44 1442 246640 www amirpower co uk apt amirpower co uk QUIN SYSTEMS LIMITED Oakland Business Centre Oakland Park Wokingham Berkshire RG41 2FD U K Tel 44 118 9771077 Fax 44 118 9776728 www quin co uk sales quin co uk HOLLAND VARIODRIVE AANDRIJF EN BESTURINGSTECHNIK B V A van Leeuwenhoekstraat 22 3261 LT Oud Beijerland Tel 31 186 622301 Fax 31 186 615228 www variodrive nl sales variodrive nl PORTUGAL SIEPI LDA Parque Industrial do Arneiro Lote 46 Sao Juli o do Tojal 2660 456 Loures Tel 351 21 973733 Fax 351 21 9737339 www gruposiepi com Siepi mail Telepac Pt Worldwide distribution SPAIN INTRA AUTOMATION SL C ALABAU 20 E 46026 Valencia Tel 34 96 3961008 Fax 34 96 3961018 www intraautomationsl com infoGintraautomationsl com SWITZERLAND INDUR ANTRIEBSTECHNIK AG Margarethenstrasse 87 CH 4008 Ba
74. he binary parameters b42 0 b42 1 and b42 5 as given in the table below B42 0 b42 1 b 2 5 Description of the modes Incremental encoder simulation X3 can be programmed in ee The number of pulses rev must be programmed in Pr TR is programmed as quadrature input phases A and B This lE must be used with operating modes 13 and 14 X3 is programmed as frequency sign input The mode must be set when you want to simulate a stepper motor or the pulses train function X3 is programmed as output and the virtual axis function is turned on see the section Additional useful functions N B Configurations not given in this table must be avoided After the programming the configuration must be saved and the unit must be powered off and on again ATTENTION must be paid when X3 programmed as an input b42 1 1 is used Since there is a differential RS 422 connection it is suitable to connect a closed line resistor of 180 ohm between A A and B B If several input ports are connected in parallel this operation must be carried out only on the last unit in the chain Connecting the SLVD to the digital lock X3 sLVD master X3 sLVD 10 20 30 40 70 Secret fesa aretitance 25 Parker Hannifin S p A Divisione S B C sLVD User s Manual In the example given above the connection of two sLVD to the Digital Lock with a master is shown but the diagram could be extended to several converters respecting the serie
75. herwise the last instructions will be lost The pico PLC program can be edited or modified only when the PLC is in stop b99 13 0 74 Parker Hannifin S p A Divisione S B C sLVD User s Manual CROSOFT te Mi ti H i 6 te 4 2 Programming with MotionWiz The sLVD serial kit is supplied to enable communication between a PC and the drive The kit includes an RS 422 RS 232 converter relative 230V power supply and serial connection cable The enclosed communication software supplied free of charge designated MotionWiz has the following HW SW requirements 486 microprocessor or higher Windows 3 1 or more recent version mouse and serial port for drive connections The main features of MotionWiz are serial connection of up to 32 drives reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation O status file storage of parameterisation including pico PLC program uploading of parameterisation including pico PLC program from a file that can be selected from among those previously stored oscilloscope function PC sLVD connection layout sLVD serial kit CL 422 Serial link personal computer RS232 17o O 1 DB9 DB25 50 o 3 30 20 440 02 20 HT ay i X X ci CAS E RS422
76. input frequency signal X3 connector set as an input encoder signal by setting b42 0 0 b42 1 1 and b42 5 This encoder signal is counted at every end of the communication of A and B signals The counter of the motor position is incremented at the rate of 4096 steps per revolution The user can program the ratio between the master and the slave by using parameters Pr52 and Pr53 It is possible to choose the ramp to use during the engaging or release phase Pr103 The main ramps and the internal PLC can be used to program different engaging and release modes with or without phase recovery See the connection diagrams in the section Input frequency connection If you use a digital input for the engaging command the digital input 0 in FAST IN mode must be used in order to minimize phase errors The positioner function follows a trapezoidal profile in which the acceleration and deceleration ramps are defined by Pr109 the full speed by Pr108 and the final position by Pr118 119 one revolution of the motor equals 4096 steps The parameters can be modified at any time The current position of the positioner is given by the parameter Pr116 117 You can add a speed by using Pr104 OPERATING MODE 13 PARAMETERS Pr103 Acceleration and deceleration ramp el Axis Unit s krpm default 500 range 0 30000 resolution one thousandth of a second The acceleration and deceleration required for the motor can be limited in order to achieve a j
77. le writing a PLC instruction Suppose we want to set the first instruction of the PLC as LD 90 4 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E 60 02 00 40 5A FC The converter responds with the message 7E 20 80 Parker Hannifin S p A Divisione S B C sLVD User s Manual 6 CANBUS A CanBus interface based on the physical layer ISO DIS11898 is included on the SLVD converter The Data link layer is the full CAN version 2 0 part A ID 11 bit and a subset of the application layer SBCCAN is used The CanBus on the SLVD has two functional modes The first functional mode is real time mode This is to establish a real time digital link between 15 SLVDs and a control that executes the calculation of the trajectories and sends the position reference the speed reference or both to the SLVDs which can change the actual position of the motors b150 2 1 Real time mode is active when Pr31 15 The second functional mode is communication mode This is used to write or read every parameter of each SLVD connected to the bus maximum of 15 This function is very useful when you want to sue the motion functions that have already been realized in the base software of the SLVD Communication mode is automatically set when Pr31 15 The CanBus node must be set through Pr27 with values from 0 to 14 Transmission speed depends on Pr31 Pr48 e b150 4 as the following table
78. ll be set to 0 during the execution of the alarm reset command b99 10 Parker Hannifin S p A Divisione S B C sLVD User s Manual Pr25 Pr26 Pr27 Pr28 Pr29 Pr30 Pr31 Pr32 Pr33 Pr34 Pr35 Pr36 Pr37 Pr38 Pr43 Pr44 Pr45 Pr46 Pr47 Pr48 Pr49 Software version code read only Indicates the version of the software that has been installed Serial line speed code Default 5 This is the code for programming the transmission speed For more information consult the section on the serial interface Serial line address code Default 0 range 0 31 For more information consult the relevant section Motor shaft position read only Unit steps range 0 4095 Indicates the absolute position of the resolver Number of motor poles Range 2 64 default N A Offset of the resolver position Default 0 Used to correct electronically the mechanical position of the resolver Operating mode Default 0 Used to select the active operating mode The value 0 means that no operating mode has been selected Rated speed Unit rpm range 0 9000 default N A This is the rated speed of the motor The speed that has been set is used to limit the speed request Therefore it should be set to about 10 greater than the maximum operational speed Rated current of the motor Unit range 0 5 5 0A resolution 0 1A default N A The rated current of the motor must be set Number of poles on the resolver ra
79. ll contain the value of the Pr103th element in the table Table element value Default 0 range 0 10000 Pr104 is the value of the Pr103th element in the table Full speed positioner Unit rpm default 1000 range 0 9000 This is the full speed that will be used during the generation of the position profile Acceleration time positioner Unit s krpm range 0 002 30 000 resolution 0 001s default 0 500 s This is the acceleration ramp that will be used during the positioning profile Master axis module Unit steps range 0 2 Default 10000 This is the value of the master axis module Master axis position Unit steps this is the present position of the master axis Slave axis module Unit steps range 0 2 8 Default 10000 This is the value of the slave axis module Master position offset Unit steps range 0 223 default 0 Final position positioner Unit steps the parameter used to set the final position desired for the generator of the trapezoidal profile based on 4096 steps per revolution Master axis phase Unit steps range 0 223 Default 0 If b150 8 1 at the first positive front of digital input 0 or of the zero encoder input see the block diagram the position of the master axis become Pr122 123 Master axis phase captured Unit steps range 0 22 Default 0 At each positive front of digital input 0 or of the zero encoder input see the block diagram the position of the master axis is copied into i
80. m Pb42 1 status The encoder CAN is active in input and accepts the CAN signal with address setting into Pr44 The output encoder CAN is enable if Pb42 1 0 and it generates a encoder signal with the same address to CAN node The CAN node address regarding SBC protocol is the value Pr27 1 If the address of the input encoder Pr44 is setting at the same value of the output address Pr27 1 the axe wich generates the encoder CAN reads input the encoder CAN output signal If the command Pb42 0 is enable is possible to generate a encoder virtual signal But differently to encoder traditional setting B70 10 1 the reference isn t the speed into Pr3 but is the position into the parameter pointed from Pr158 The parameter of the encoder speed input Pr54 is the reference for the encoder traditional if Pb70 9 0 but is the refence for the encoder CAN if PB70 8 1 and Pb70 9 1 The bit Pb39 15 is watchdog bit for encoder CAN and every time that an encoder message arrives the status is 1 66 Parker Hannifin S p A Divisione S B C SLVD User s Manual If the encoder CAN function is activated the number of the free parameter decrease See the next table PAR MIN MAX DEF DESCRIPTION 151 Du yu Custom 152 dE 531 Custom or CANopen user emgy messagge 153 ES 2 Custom or CANopen user emgy messagge 154 2594 951 Custom or ratio numerator encoder in CAN 155 d 951 Custom or ratio denominator encoder
81. mitted CHK 256 module sum of all the fields excluding the STX checksum Message types CMD1 is the response message of the converter to a data request The response message has the following format STX 001 ADDR BK LUN PAR D0 Dn CHK or it can be the confirmation message to a data write or data modify In this case the format is the following STX 001 ADDR where ADDR always identifies which converter is answering CMD2 is the read message of an instruction in the PLC area The message has the following format STX 010 ADDR BK LUN PAR CHK CMD3 is the write message to an instruction in the PLC area The message has the following format STX 011 ADDR BK LUN PAR D0 Dn CHK CMD4 is the read message of a parameter The message has the following format STX 100 ADDR BK LUN PAR CHK CMDS is the write message of a parameter The message has the following format STX 101 ADDR BK LUN PAR D0 Dn CHK 77 Parker Hannifin S p A Divisione S B C sLVD User s Manual CMD6 is the change bit message of a byte parameter The message has the following format STX 110 ADDR BK LUN PAR D0 D1 CHK In this case LUN 2 or else two bytes are sent for the data The first byte is the mask containing the Os in the positions of the bits to be changed and 1s in the other positions while the second byte contains 1s in the positions of the bits that a
82. n of the master Pr122 123 on the positive side of digital input 0 or of the zero trace encoder input selector b70 0 b70 14 indicates that the initialise has been achieved The user must set this flag to 0 For this function b42 0 must be 0 and b42 1 must be see section Frequency input output connection CAM ENGAGING A master phase can be defined to which the selector will automatically be set to position 2 by enabling the cam module A similar procedure can be used for release In this case when the release phase has been programmed the positioner will be enabled to reach the desired position The functioning of operating mode 14 is described in detail in the block diagram It is also possible to engage cam phase with a linear ramp by mean of command 150 11 Using this command it is necessary that the master is running positive way that is to say the master position counter is increasing It is also necessary to set in Pr 132 133 the master position at which the slave axis starts moving the distance to be covered by the slave during the acceleration ramp in Pr 136 137 the position of the master at which the cam is engaged in Pr 126 127 Of course in this case the position reached by the slave axis at the end of the ramp slave starting position pr136 137 should be the same of the position set in the cam table corresponding to master position Pr126 127 that is to say starting position of slave axis must be less than engage cam phase position
83. n Pr124 125 Master axis phase for engaging Unit steps range 0 223 Default 0 If b150 12 1 when the position of the master Pr112 113 exceeds Pr126 127 Pr102 is brought to position 2 and b150 12 returns to 0 to indicate that engaging has been achieved Master axis phase for release Unit steps range 0 223 Default 0 If b150 13 1 when the position of the master Pr112 113 exceeds Pr128 129 Pr102 is brought to position 1 and b150 13 returns to 0 to indicate that the positioner has been enabled and will control the release phase Engage cam with ramp Unit steps range 0 22 default 0 This is the position on which the engage ramp related to the master starts Slave cam position Unit steps range 0 223 Read only parameter that shows the position at the output of the cam 59 Parker Hannifin S p A Divisione S B C SLVD User s Manual Pr136 137 B150 2 B150 3 B150 6 B150 8 B150 10 B150 11 B150 12 B150 13 B150 14 B150 15 60 Engage cam ramp Unit steps range 0 2 5 default 0 This is the step value performed by the slave during the engage ramp the value must be less then an half of the slave axis module Position loop Default 0 If 1 the position loop works on absolute positions otherwise on slave axis module Master phase shift command Default 0 If 1 the positioner module is used to change the phase between the master and the slave or as the generator of the virtual axis When the final
84. nal braking resistance iii 30 PARAMETERS AND PROGRAMM ING Li 32 3 1 Using the keyboard optiotal ste e etis ese UNE oou reves reus 35 3 2 Power on the SLVD for the first tiMme enne 36 3 3 First commissioning of the SL VI credere eie teinte t terr ases souseran 37 3 4 Main parameters sisihanira ease E Pu i aces resina Cop e bed td aA 39 3 5 Basic commmabds 4 usi do mex exa ied hb med bem qula pac ae pte odis EAR 46 3 6 Speed CONE adjusteienit s bu oit iaia 47 3 7 Op rating Modes ione adv ee uec esa abeo e A t ie 33 3 8 Torque control operating mode 1 pescata ote es eon 55 3 9 Digital Lock Positioner operating mode 13 56 3 10 Electronic cam operating mode 4 rulez 58 3 11 Position control through the CanBus operating mode 15 62 3 12 Additional useful functions uote e dei ei te ecd Ede se ad efe oreet 64 342 Vallecompaint arreca 64 5 12 2 Valuegapilie elle lo nai 64 3123 Mart dl elicOder u eb coe HO Ne te bn nt test aeu OR o EDDA 64 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 12 4 Output cam programmer ease Eee rece eere P b Reduce i Mae ms ES 64 2 12 5 Hommsftuneol amp c hill toad oce d OU SORS 65 242 6 NETIC OUST dius scoop send tee amus eL DRM 66 3 12 7 Feedback from incremental encoder 45 eee teo edere tulis 68 4 PROGRAMMING DIGITAL INPUTS AND OUTPUTS eee 70 4 SPC piC jet
85. ness means we can imagine a motor controlled by a converter with a requested speed of 0 The motor shaft will appear immobile but if we apply a torque to the shaft it will demonstrate an angle that is proportional to the torque applied Suppose we apply the rated torque of the motor and measure the stiffness in degrees The measured degrees will be the index of the regulator tuning quality Clearly it is not the only quality index WHAT IS NEEDED To adjust a sLVD converter correctly an oscilloscope with memory must be used A technician who can use it to carry out the operation will also be needed If it is not possible to use an oscilloscope a more approximate but applicable adjustment method will be illustrated at the end of this section 47 Parker Hannifin S p A Divisione S B C sLVD User s Manual BEFORE BEGINNING Study the diagram below carefully Fig 1 Tek Run 500 S s Hi Res Trig NEL A AE Ch273 00 y jac 08 40 26 Fig 1 This diagram shows the response of the system to a square wave speed reference Channel 1 Chl represents the speed and channel 2 Ch2 the current of the motor In practice the probe has been connected to terminal 6 of the X4 Vout The two traces cannot be seen at the same time but the trace to be displayed can be programmed using the binary parameter Pb42 4 The V div scale and the time basis will not be discussed here since they can vary greatly ESTIMATING THE Pr16 Before
86. nge 0 9000 This parameter limits the maximum speed of the motor It can be useful to limit the speed during a sudden link or during a quick change of speed Pr51 Position error Range 32768 32767 Pr52 Reference multiplier Default 1 range 32000 32000 Using this parameter and Pr53 the user can set the ratio desired for the input reference frequency Pr53 Reference divider Default 1 range 32000 32000 Using this parameter and Pr52 the user can set the ratio desired for the input reference frequency 53 Parker Hannifin S p A Divisione S B C SLVD User s Manual Pr54 Pr55 Pr56 Pr57 Encoder in rotation speed read only Unit rpm Indicates the input reference frequency translated into rpm based on 4096 imp revolution Window for servo error 1 Unit steps default 1000 If the position error as an absolute value exceeds the value set in Pr55 b70 4 is set to 1 Otherwise b 70 4 0 Window for servo error 2 Unit steps default 1000 If the position error as an absolute value exceeds the value set in Pr56 b70 5 is set to 1 Otherwise b 70 5 0 Proportional gain for the position regulator Default 100 range 0 32000 Pr58 59 Encoder in captured Unit steps The value encoder master is captured on the positive edge of the selected input see b70 0 Pr60 61 Regulator position reference Unit steps Pr62 63 Motor position resolver Unit steps If incremented b
87. nge 2 4 8 default N A Torque monitor Unit of the torque at peak current resolution 0 1 Indicates the percentage of the torque or of the current that the motor is supplying Thermal image winding read only Unit of the rated temperature Indicates the estimate of the heat in the innermost coils of the motor If this reaches the value of 100 0 equal to the nominal value b41 11 will become 1 and therefore the current will be limited to the nominal value Description if the drive generate the max current starting from 0 current after 2s Pr36 100 and Pb41 11 1 result the drive limits the current at the rated current This situation remains untill the dirve generates 0 current and after 35s Pr36 is 0 again Thermal image of the braking resistor read only Unit 96 of the rated temperature Indicates the estimate of the heat of the braking resistor If the value reaches 120 0 the converter issues an alarm Auxiliary analogue output Unit of 4 5V default 0 range 100 0 resolution 8 bit If b40 11 1 the auxiliary analogue output will be equal to 450 Pr38 100 volts Zero encoder offset Range 0 4095 default 0 This parameter is used to modify the position of the output zero trace for the zero resolver Pr28 Number of pulses per revolution Range 4 8000 default 1024 This is the number of pulses per revolution that is used by the simulation encoder The maximum frequency is 120 kHz Main
88. ntal encoder 69 Parker Hannifin S p A Divisione S B C SLVD User s Manual 4 PROGRAMMING DIGITAL INPUTS AND OUTPUTS 4 1 The pico PLC The internal pico PLC is used to connect the external world inputs outputs with the world of the parameters of the SLVD The PLC can be used to copy digital input to a binary parameter to copy a binary parameter to a digital output and to execute mathematical and Boolean operations The PLC program must be inserted as a list of instructions by using the keyboard or by the serial line using a PC and an interface program A PLC program see Appendix F written to meet the needs of a large number of applications corresponds to the default parameters b99 12 In most cases it is not necessary to program the PLC itself The main features of the pico PLC are program steps 128 scanning time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits fast inputs 2 512 us PLC PARAMETERS Pr71 Constant value 1 Double word Pr72 Constant value 0 Double word Pr73 Constant value 1 Double word Pr74 Constant value 2 Double word Pr75 Constant value 10 Double word Pr76 Constant value 100 Double word Pr77 Constant value 1000 Double word Pr78 Constant value 1024 Double word Pr79 Constant value 4096 Double word Pr80 Free parameter A parameter that can be stored by the user word Pr81 Free parameter A paramet
89. ntilation E ere J 107 Parker Hannifin S p A Divisione S B C 108 300 sLVD User s Manual Sen DI n ey ON 95 97 it 9 ca B eo RE y dz ppp p weh ay i T T m c al im DI lt D Mm 2 aJ a y l 3 Parker Hannifin S p A Divisione S B C SLVD User s Manual 16 Revision history of the User Manual Rev 0 0 Rev 0 1 Rev 0 2 Rev 0 3 Rev 0 4 Rev 0 5 Rev 0 6 Rev 0 7 Rev 0 8 Rev 0 9 Rev 1 0 Rev 1 1 Rev 1 2 Rev 1 3 Rev 2 4 August 1999 Preliminary version January 2000 January 2000 Output cam programmer Additional useful functions April 2000 Operating mode 13 b150 6 CAN Bus Pr48 for bus speed Extended message set 2 August 2000 Position loop new parameters Pr51 Pr58 59 Operating mode 14 new value limits for Pr110 111 Pr112 113 Operating mode 14 new b150 2 September 2000 Max value Pr44 2500 February 2001 New resolver cable requirement insulated and twisted pairs September 2001 Value comparators These functions are enabled ONLY with operating mode 13 and 14 November 2001 Chapter 2 5 Add characteristics of 24V power supply Set and complete the layout structur
90. nverters by setting a different serial address in each to the Pr27 parameter It is also possible to set the transmission speed by using the Pr26 parameter as specified in the table below Pr26 decimal base b s time out ms 0 600 512 1 1200 256 2 2400 128 3 4800 64 4 9600 32 5 9600 32 6 19200 16 7 38400 12 8 57600 8 For the connection diagrams see the section Connecting the serial line 5 1 Communication protocol The column on the right in the table above shows the time out value expressed in milliseconds for each communication speed This is the time within which the message must be sent beginning from the start of each message STX If a message is interrupted after this time the converter ignores what has been received and waits for the beginning of a new message The message consists of several consecutive bits The format of the bits is the following 1 start bit 8 bit of data defined by a following byte enclosed within brackets 1 parity bit even 1 stop bit The structure of the message is the following STX CMD ADDR BK LUN PAR D0 Dn CHK where STX 7E indicator of transmission start If a field in the message different from STX assumes the value 7E this field is followed by a 0 00 so that it will not be interpreted as an STX CMD ADDR command and address of the peripheral device This is never 0 This data is composed in the following w
91. of stack negating it if the stack 1 the y bit of the Pa parameter is set to 1 if the stack 1 the y bit of the Pa parameter is set to 0 if the bit loaded on the stack contains the result of the logical AND operation between itself and the y bit of the Pa parameter the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter the bit loaded on the stack contains the result of the logical OR operation between itself and the y bit of the Pa parameter the bit on the stack contains the result of the logical OR operation between itself and the y bit of the negated Pa parameter if the bit on the stack 1 the addition operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the subtraction operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the multiplication operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the division operation is executed on the parameters in which Pc Pa Pb end of program input with fast scanning Parker Hannifin S p A Divisione S B C sLVD User s Manual FUNCTIONAL DESCRIPTION The pico PLC program is scanned every 6 144 milliseconds With this sampling the input is first read the two timers Pr92 Pr93 b99 0 and b99 1 are updated the user program is scanned and the output is updated For this reason reading the input
92. opposite direction until the homing sensor is freed At this point the procedure continues as described above 65 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 12 6 Encoder Can If this function is enable it is possible to generate and receive the encoder like signals by the CAN line which replaces quadratures signal The running is trasparent respect to the traditional encoder signals the CAN line must be connected instead of quadratures signals and must be considered that every encoder signal is available every 1 024msec over the CAN and the signal has 4byte for data It is possible to have up to a maximun of three encoder signals if the speed of the CAN is 1Mbs and only one encoder signal if the speed is 500kbs sLVD drive needs some bit and parameters about the correct operation Pb70 8 enable the encoder CAN function it activates at the succesive switching on after save the setting of the bit Pb70 9 selects the counter by CAN or encoder input for the OPM Pb70 10 enable the encoder CAN virtual through the parameter pointed from Pr158 Pr154 reduction ratio numerator of the input encoder counting by CAN Pr155 reduction ratio denominator of the input encoder counting by CAN Pr156 157 countig encoder CAN Pr158 pointer to the parameter to send as virtual encoder on the CAN If the encoder CAN function is activated Pb70 8 1 the encoder traditional is setting only as indipendent input fro
93. p A Divisione S B C sLVD User s Manual B99 4 B99 6 B99 7 B99 8 B99 13 44 Enable the external braking resistance Default 0 If 1 the external braking resistance is enable see the section Extended menu enable Default 0 If set to 1 the extended menu is enabled Safety Default 0 If set to 1 parameters cannot be modified UV auto reset Default 0 If set to 1 the under voltage alarm will automatically be set to 0 when power returns Status of the pico PLC Default 1 If set to 1 the PLC program is executed If set to 0 the pico PLC is in stop and the PLC instructions can be modified Parker Hannifin S p A Divisione S B C AID offset Pr 1 full scale ref 1 Pr 2 b40 0 O O Pr 3 H full scale ref 2 ode max fq ref o Ah internal reference b40 13 reserved reference Parametdr Description R W Pr 25 SOFTWARE ISSUE N Pr 26 BAUD RATE Y Pr 27 SERIAL LINK ADDRESS Y Pr 28 SHAFT POSITION N Pr 29 MOTOR POLES Y Pr 30 RES PHASE SHIFT Y Pr 31 OPERATING MODE Y Pr 32 RATED SPEED Y Pr 36 I2T ACCUMULATOR N Pr 37 BRAKE RESISTOR USE N Pr 20 DC BUS VOLTAGE N B40 1 VIBRATION STOP Y B42 0 VIRTUAL ENCODER Y B42 1 ENCODER IN OUT Y B42 5 QUADRATURE FD Y main ref left sw b40 4 1 right sw b40 b40 6 ramps values stop S H ramp value zero speed gt forward over speed MAIN BLOCK DI
94. position Pr118 119 equals Pr116 117 this bit is automatically set to 0 Do not use this command together with Pr102 1 Encoder input enable X3 Default 1 If 1 the reading of the encoder master is enabled Phase master axis enable Default 0 If 1 the copying of parameter Pr122 123 to Pr112 113 to the first front of the rise of input 0 or the zero encoder is enabled Type 1 reset Command to set all the motor positions and references to 0 Cam engaging in phase with ramp Command to engage the cam movement when the master reaches the level of Pr126 127 with a ramp defined by the parameters Pr132 133 and Pr136 137 Electronic cam engaging in phase Command to engage the cam movement when the master reaches the level of Pr126 127 This bit is automatically set to 0 when the command has been enabled Electronic cam release in phase Command to release the cam movement when the master reaches the level of Pr128 129 This bit is automatically set to 0 when the command has been enabled Immediate electronic cam engaging Command to engage the cam movement This bit is automatically set to 0 when the command has been enabled Immediate electronic cam release Command to release the cam movement This bit is automatically set to 0 when the command has been enabled Parker Hannifin S p A Divisione S B C target pos Pr118 119 acc N Pr 109 speed b 150 3 Pr 108 master position mod master master from encoder in n Bok 9
95. present read only parameters You can find other functional blocks in the diagram such as GREATER THAN EQUAL TO LESS THAN logical AND OR For all these functional blocks standard symbols are used Binary parameters are represented as switches and the position in the diagram corresponds to the default value 33 Parker Hannifin S p A Divisione S B C sLVD User s Manual A B C D E F gt UJ 34 Read write of the PrX parameter A value of the PrX parameter Read write of the PrX parameter B value that depends on the values of A and PrX Read only parameter PrX indicates the value of A which can also be binary Read write of binary parameter The position of the switch indicates bx y 0 The value of the binary parameter bx y positions the switch e f A is less than B C 1 true Otherwise C 0 false The value of G is the lowest value of A B C D EF Only if A 1 B 1 and C 1 Otherwise C 0 If A or B is equal to 1 C 1 Otherwise C 0 values coming from the hardware values sent to the hardware the value of A is converted to B For example if in the triangle symbol you see A D this means that the analogue value of A was converted into the digital value B The maximum value of A will be Prx Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 1 Using the keyboard optional The keyboard display module is easy to use It is used to program the functional data control the
96. r is in the alarm status it will send this message on the bus alarm 0 no alarm 6 3 Description of the fields Extended message set 2 The extended message set 2 permits a memory area exchange between the master and the SLVD with both communication and realtime mode The data exchange is synchronous the data transmitted from the master to the SLVD are stored in a temporary buffer when the master sends the synchronous message to all the drives each SLVD copies the temporary buffer onto the writing block area and sends back the reading block area Block send message from the master to the SLVD Block send Data length 8 bytes Field Name 64 bit of data I2 ibi 150 110 1p9 ws ID7 ID6 IDs ID4 103 AJAT ANO SS ee ee ei A0 A3 SLVD slave address Pr27 1 valid values 1 15 9 Parker Hannifin S p A Divisione S B C SLVD User s Manual Synchronism message from the master to the SLVD Block sync Data length FieldName Contents I2 m 1D0 mio m9 ms ID7 ID6 ID5 ID4 m3 occ ere Eo E50 ng Oe il Data received are stored from Pr80 to Pr83 and SLVD sends parameters from Pr84 to Pr87 by the following message Block reply message from SLVD to the master Block reply Data length 8 bytes Field Name Data 64 bit of data m2 wi wo IDIO ID9 108 ID7 we ws ID4 ID3 A2 Al A0 X X X X X 1 0 0 0
97. r117 116 The references of the position control are updated and after this procedure b150 8 is automatically set to 0 Type 1 reset Command to set the motor positions and reference to 0 Type 2 reset Command that sets the motor position and the reference to the position of the motor shaft Pr28 and Pr64 65 to 0 Type 3 reset Command that copies the motor position to the reference and sets Pr64 65 to 0 Parker Hannifin S p A Divisione S B C SLVD User s Manual opm 15 for sLVD drive Pr105 feedforward speed from CanBus feedforward speed position reference from CanBus motor position to CanBus Pr 61 Pr60 position reference Pr 63 Pr62 70 1 motor position Pr 66 Pr67 encoder in reset 1 Pb150 2 enable auto answer sync 0 Pb150 4 realtime mode low speed Pb150 6 enable auto answer sync 1 Pb150 10 target position motor position 0 63 Parker Hannifin S p A Divisione S B C SLVD User s Manual 3 12 Additional useful functions 3 12 1 Value comparators These functions are enabled ONLY with operating mode 13 and 14 The Pr96 95 and Pr98 97 parameters have the alternative function of value comparators With b94 10 0 then b94 8 1 if Pr96 95 gt Pr63 62 or Pr66 67 if feedback encoder With b94 10 1 then b94 8 1 if Pr96 95 gt Pr61 60 With b94 11 0 then b94 9 1 if Pr98 97 gt Pr63 62 or Pr66 67 i
98. re to be set to 1 and Os in the other positions The PAR address is that of the parameter byte where one or more bits are to be modified If the parameter is a word and the bit to be modified is one of the first 8 b0 b7 PAR the parameter address otherwise if the bit to be modified is one of the upper 8 b8 b15 PAR the address parameter 1 CMD7 is the write message of a parameter to all converters connected to the serial line The message has the following format STX 11100000 BK LUN PAR D0 Dn CHK The address of the peripheral device ADDR must be 0 Notes The parameters that are represented on the screen with decimals must be treated as complete values For example a value of 978 5 is read and written as 9785 All values that are receded by the symbol are to be understood as hex numbers The value included inside the brackets identifies the base unit byte of the message All messages must be terminated with a time out which is a function of the speed well defined to be considered valid and must have the exact parity and checksum The converter responds to a request or to a data send only if the message has been received correctly In the case of an error in the message no response is transmitted The only exception is message type 7 that is used to send data with a single message to all the converters connected to the serial line Initializing and managing the serial line The conver
99. rmal applications When the arithmetic operations ADD SUB MUL DIV are used the operators are assumed to be words and are signed If a double word operation is required set b94 0 1 before the operation itself After the operation the PLC will automatically set this bit to 0 The parameters Pr58 Pr69 and Pr110 Pr149 are treated as double words so that in an operation such as ADD 71 72 64 the result 1 will be written in the double word Pr64 65 without having to set b94 0 1 before the operation If Pr80 1 and Pr81 0 the operation ADD 80 72 64 will give the result Pr64 65 1 while the same operation executed with b94 0 1 will assume Pr81 as the high word of the double word Pr80 81 and the result will be Pr64 65 65535 In the first case operators other than Pr58 Pr69 Pr110 Pr149 are treated as words while in the second case they are treated as double words 73 Parker Hannifin S p A Divisione S B C SLVD User s Manual In the mathematical operations on double words the operands and the result are defined as follows the parameter of the operand defines the least significant part while the most significant part is represented by the next word After every arithmetic operation b99 2 0 if the result is positive and b99 2 1 if it is negative In the same way b99 3 1 if the result is 0 and b99 3 0 if it is not 0 These settings remain active until the next arithmetic operation is executed the operation is executed only if th
100. ror register RO 0x1014 COB ID emergency obj RO 0x1018 Identity RO 0x100c Guard time RO 0x100d Life time factor RO 0x1200 Server SDO parameters RO 0x2000 Parameters area RW 0x2001 Parameters area set bit RW 0x2002 Parameters area reset bit RW 0x2003 Pico PLC area RW 0x2004 I table area CAM 0 254 RW 0x2005 II table area CAM 255 256 RW As a general rule sub index 0 of indexes 0x2000 0x2002 represents the number of the sub indexes available and the subsequent 1 N sub indexes represent the parameter number concerned 1 Sub index 1 Pr 0 Sub index 2 gt Pr 1 Sub index n 1 Pr n Example of device memory access by SDO Write Pr80 to the drive You will need to write the object by SDO with index sub index 0x2000 0x51 80 1 If the number of bytes written is greater than two the operation will also change the parameter Pr81 Read Pr60 from the drive You will need to read the object by SDO with index sub index 0x2000 0x3d 604 1 The value returned will have a length of 4 bytes the most significant of which will contain Pr61 If they are not needed they can simply be discarded Set bit 4 of Pr40 You will need to write the object by SDO with index sub inidex 0x2001 0x20 407 1 with the value 0x0010 that represents in binary the bits involved in the operation in our case bit 4 Reset bits 4 and 5 of Pr40 You will need to write the object by SDO with index sub inidex 0x2002 0x29 404 1
101. s connection The line charge resistors must be connected to the last converter The master can be an encoder powered externally or an encoder simulator of another converter The signal of the master encoder must in any case be of differential type SV RS 422 Therefore it is possible to connect a maximum of ten slave sLVD If the master is a sLVD type converter you can connect up to 32 converters to the electrical shaft by using the same signal of the simulated encoder standard RS 422 To program the sL VD see the section Electrical shaft positioner in this manual 2 10 Serial line connection The serial line of the SLVD can be configured as either RS 422 or as RS 485 depending on how the connection is made In both cases you must use termination resistors 150 Q If there are several converters connected to the same line the last node must be terminated as shown in the diagram below The two configurations are shown in the diagram below RS 485 MASTER XX X uf LAST NODE NODE 1 NODE n LAST NODE 26 Parker Hannifin S p A Divisione S B C sLVD User s Manual 2 11 Can line connection There is a Can bus interface on the drive type Physical layer ISO DIS11898 the DATA link is full CAN version 2 0 part A ID 11 bit and a subset used for application layer SBC Can Can bus Master Connettore Can CANL CH a i 8 120 CANH CO CAN_GND
102. s and the history of the revision of the manual on the final page before using it 1 2 Product description The SLVD is a digital frequency converter for brushless motors The operator interface based on parameters makes it easy to configure the converter Configurations of different kinds make suitable it for many applications The power of the 16 bit micro controller is used to control the speed as required for a servo controller and it also offers a series of additional functions that can reduce the control electronics in the application with obvious cost savings The SLVD provides functions as a positioner with a trapezoidal profile electrical shaft electronic cams spindle orientation simulator of a step motor and torque control and it also contains a PLC It uses widely diffused industrial programming standards and guarantees a high degree of freedom in selecting inputs and outputs The SLVD also offers the possibility to develop additional functions that are not included in the basic functionality of the converter such as gain correction for loops based on speed or space monitoring the used torque for tool life control etc The SLVD is equipped with a RS 422 RS 485 serial interface which is used to configure monitor and send commands to up to 32 SLVDs at the same time Standard operator panels can be connected to support the SBC protocol A CanBus interface is also available which can be used in communication mode and also in real tim
103. sel Tel 41 61 2792900 Fax 41 61 2792910 www indur ch info amp indur ch TURKEY SANPA LTD STI Plaj Yolu Ersoy Apt No 14 D 4 81070 Suadiye Istanbul Tel 90 216 4632520 Fax 90 216 3622727 www sanpaltd com sanpa turk net NORTH AMERICA CANADA PARS ROBOTICS GROUP INC 441 Esna Park Drive units 11 12 Markham Ontario LR 1H7 Tel 1 905 4772886 Fax 1 905 4770980 www parsrobotics com pars parsrobotics com UNITED STATES PARKER HANNIFIN CORPORATION COMPUMOTOR DIVISION 5500 Business park Drive Rohnert Park CA 94928 Tel 1 707 5847558 Fax 1 707 5842446 www compumotor com CMR Customer ServiceGparker com CENTRAL AMERICA MEXICO 7 PARKER HANNIFIN DE MEXICO Eje 1 Norte No 100 Parque Ind Toluca 2000 Toluca 50100 Tel 52 722 2754200 Fax 52 722 2790316 www parker com SOUTH AMERICA ARGENTINA CILE PARAGUAY R A no ELECTRONIC IND Y CO Arregui Son 1408 Buenos Aires Tel 54 11 45675543 Fax 54 11 45662870 www raing com ar ra raing com ar BRAZIL AUTOMOTION LTDA Acesso Jose Sartorelli Km2 1 Parque das Arvores 18550 000 Boituva SP Tel 55 15 33639900 Fax 55 15 33639911 www automotion com br coml automotion com br VENEZUELA TEKNOMAQ C A Avenida Manuel Diaz Rodriguez Edif Milano Local C Santa Monica Caracas Tel 58 212 6335657 Fax 58 212 6330466 teknomaq cantv net ASIA AUSTRALIA NEW ZEALAND MOTION SOLUTIONS AUSTRALIA PTY LTD Factory 2 21
104. ssue the command b99 12 save the set up using commands b99 14 and b99 15 38 Parker Hannifin S p A Divisione S B C sLVD User s Manual 3 4 Main parameters The extended menu is used to set all the following parameters This menu is invoked by setting b99 6 to 1 and b99 7 must be set to 0 DECIMAL PARAMETERS Pro Motor speed a read only parameter expressed in rpm the PrO message is not ever displayed on the screen Instead the message indicating the status of the converter is displayed Pri Analogue reference offset Expressed as a count of the input converter The limits are 8000 and 8000 Pr2 First full scale of analogue reference Unit rpm range 10000 default 3000 If b40 0 0 and b40 12 0 the value of Pr7 will be equal to Vin Pr2 9 76 where Vin is the voltage at the analogue input Pr3 Second full scale of the analogue reference Unit rpm range 10000 default 3000 If b40 0 0 and b40 12 0 the value of Pr7 will be equal to Vin Pr2 9 76 where Vin is the voltage at the analogue input If b42 0 1 b42 1 0 and b42 5 1 Pr3 is the speed of the virtual axis Pr4 Full scale of frequency reference connector X3 Unit rpm range 32767 default 3000 If b40 12 1 and b40 13 1 the value of Pr7 will be the following If b42 5 0 Pr7 Fin Pr4 2 2000000 frequency sign signals If b42 5 1 Pr7 Fin Pr4 2 500000 quadrature signals where Fin is the frequency present at the encoder input Fin enc spee
105. t command and 3 bit length 16 bit data address 32 bit data Identifier m2 DI moj io SEO i29 150 Osi Eo ro A0 A3 SLVD slave address Pr27 1 valid values 1 15 Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not use Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 The electronic cam table have the address from 4096 to 4610 Data If the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If the parameter is to be read the field has no meaning If plc programme is written it contains the instruction code see the section Serial interface Acyclic response message to a parameter request from the SLVD to the master Data reply Data length 5 bytes Field Name Addr amp Spare Data Pr27 1 32 bit reply data Identifier ID2 IDO mio ID ID8 ID7 ID6 105 ID4 ID3 Xi 1p 207150 op o OO A A0 A3 SLVD slave address Pr27 1 valid values 1 15 85 Parker Hannifin S p A Divisione S B C SLVD User s Manual Broadcast write parameter message from the master to the SLVD Broadcast
106. ter is delivered with a 0 address Pr27 0 and a speed of 9600 bps Pr26 5 To modify the configuration first set the speed in Pr26 then the serial address in Pr27 and finally initialise it by issuing the command b42 3 Use the b99 15 command to store the configuration Each pico PLC instruction occupies 2 or 4 bytes whose format is the following Since the maximum length of each instruction in 2 bytes and the total area available in the PLC is 256 bytes the PLC program can have at the most 128 instructions 78 Parker Hannifin S p A Divisione S B C SLVD User s Manual Instruction Code Length bytes LD Pa y 0 2 LDN Pay 1 2 OUT Pay 2 2 OUTN Pa y 3 2 AND Pay 4 2 ANDN Pa y 5 2 OR Pa y 6 2 ORN Pay 7 2 ADD Pa Pb Pc 8 4 SUB _ Pa Pb Pc 9 4 MUL Pa Pb Pc 10 4 DIV Pa Pb Pc 11 4 SET Pay 12 2 RES Pay 13 2 FIN Pb40 y Pb150 y 14 2 END 15 2 The first 4 bits b0 b3 of the first byte in each instruction contain the instruction code In the first 8 instructions in the table LD ORN and the SET and RES instructions the remaining 4 bit of the first byte b4 b7 contain the value y while the second byte contains the value Pa In the ADD SUB MUL e DIV instructions the second byte contains the value Pa the third byte the value Pb and the fourth byte the value Pc In the END instruction the second byte is not used In the FIN instruction the fifth bit b4 o
107. than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 Integral gain of the speed regulator Range 0 32767 default N A Damping of the speed regulator Range 0 32767 default N A If Pr16 0 Pr17 is the proportional gain of the speed regulator Band width limiter Unit 128ys range 1 1000 default N A Pr18 is used to set the time constant of a first order filter placed on the digital signal of the torque request The frequency of the filter cut will be 1240 Pr18 Hertz Peak current Unit range 0 100 0 resolution 0 1 default N A This is the maximum current that the converter can supply to the motor It is expressed as a percentage of the peak current of the converter In general it should never exceed three times the rated current of the motor DC bus voltage Unit volt read only parameter Displays the value of the voltage present on the DC bus Torque limiter read only Unit Can be used by the operating modes to limit the torque to the motor Auxiliary analogue reference Unit The value displayed will be Pr22 Vin 100 9 76 The resolution is of 0 2 Alarm code This is the code for the alarm that is present Code 0 represents the absence of alarms Consult the table of alarm codes for more details Latest alarm This parameter contains the latest alarm Pr24 wi
108. the X1 connector open 3 Power the converter on 4 The IdLE message will appear on the screen 5 Set the analogue reference to 0 V pin 1 2 of the X4 connector and power the converter on 24 V at pin 9 of the X1 connector 6 At this point the motor shaft should be stopped Any change in the voltage of the analogue reference should produce a proportional change in the speed of the motor If this does not happen control the cabling The converter comes with default values pre defined that satisfy most applications In the default status the pico PLC in the converter runs the program described in Appendix and the following functions will be set at the input output connectors XI inputs 9 Converter on 24V on 10 Stop Start 24V Stop X4 outputs Drive OK 24V ok 18 Motor Overloaded it 37 Parker Hannifin S p A Divisione S B C sLVD User s Manual Reduced and extended menu When the SLVD is in the default status only a limited number of parameters is displayed These parameters are the only parameters necessary for those applications where the SL VD is used as a simple converter and where the advanced functions of the converter for example if the SLVD is used with a numeric control or with an intelligent axis board are not used To switch between the limited menu and the extended menu enter b99 6 limited menu if equal to 0 extended menu is 1 The parameters in the limited menu are
109. the main analogue reference to 0 This operation can be done only if the absolute value of the offset is less than 200 Mv Value comparator See the section Other useful functions Value comparator See the section Other useful functions Value comparator See the section Other useful functions Value comparator See the section Other useful functions Command to reset alarms This command sets Pr23 and Pr24 to 0 If the alarm continues it is displayed on the screen This command cannot be used if there is a check sum error Pr23 10 11 In this case it is necessary to set the default parameters b99 12 and then reset the alarm Default values of the parameters in operating mode This command sets the operating mode parameters to the default values The command is executed only if b40 2 0 Default values This command sets all parameters to the default values and sets those used by the operating mode to 0 Furthermore it sets the pico PLC program as described in Appendix F There is a check sum alarm Pr23 and Pr24 will be set to 0 thereby permitting the alarm to be reset The command is executed only if b99 13 0 Storing of the pico PLC instructions This command saves the pico PLC program It cannot be used if a check sum alarm has been indicated In this case it 1s necessary to set the default parameters reset the alarm and then store the new parameters Storing of parameters This command stores all parameters It cannot
110. tion mode Write or parameter request message from the master to the SLVD data write or request Data length Contents 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier 110 ID9 ID8 ID ID6 ID5 IDA ID3 IS TP 9 140 10 LE 059 15 9 105297 A0 A4 SLVD slave address Pr27 1 valid values 1 31 Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 The electronic cam table have the address from 4096 to 4610 Data If the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If the parameter is to be read the field has no meaning If plc programme is written it contains the instruction code see the section Serial interface 89 Parker Hannifin S p A Divisione S B C SLVD User s Manual Response to a parameter request message from the SLVD to the master Data reply Data length Field Name Addr amp Spare Data Pr27 1 8bit 32 bit reply data Identifier ID2 m IDO wio ID ID8 ID7 m
111. troller Simulates a stepper motor 1 6 Conformity to EMC standards Immunity EN50082 1 EN50082 2 IEC1000 4 2 ex IEC 801 2 IEC1000 4 3 ex IEC 801 3 IEC1000 4 4 ex IEC 801 4 Compatibility EN50081 1 EN50081 2 EN55011 group 1 class A ENS5011 group 1 class B 1 7 Safety Safety regulation Low voltage regulation Applied regulation Advanced manager of torque limits Management of speed windows Carries out positioning with a trapezoidal speed profile Provides the functions of an electrical shaft with variable ratio and phase correction Provides the functions of an electronic cam Controls the motor torque with the addition of speed control The internal PLC can be programmed to manage inputs and outputs Basic immunity specifications level 3 Immunity for electrostatic charge level 3 Immunity for electromagnetic field level 4 Immunity for fast transmission burst Basic specifications for radio interference Limits of measurement for radio interference Limits of measurement for radio interference EN60065 EN50178 73 23 CEE modified by 93 68 CEE EN60204 1 e Conformity to the residential or industrial environment depends on the installation 1 8 Data for the UL certification The drive could be installed in the environments of type Pollution degree 2 like suitable from the UL norm 508C Par 35 9 4al Data of the nraking resistance DRIVE Max current Amps Max Duty Cycle Power Min resistance D
112. turning the converter on the user should estimate the value of Pr16 The value of Pr16 is what defines the gain of the system To convert the value of Pr16 into grades per rated Pr33 100 Pr16 Ipd stiffness and Ipd is the peak current of the drive Before using the formula Pr33 must be set with the correct value of the rated current of the motor To evaluate the correct value of a let s consider that if the mechanical part to be moved is rigid non elastic and if there is no transmission play the optimal stiffness would be about 4 degrees If the mechanical part is not rigid enough it could be necessary to reduce the gain If the torque of the motor has been sized in order to obtain strong acceleration but during the operation the disturbing torques are very low it is possible to choose stiffness angles of 20 30 or 40 degrees thereby maintaining acceptable performance If it is difficult to choose the proper stiffness angle the user can begin with 10 degrees that is the default adjustment if a motor with the same rated current as the converter s is used At this point let us set the Pr16 to the estimate and turn on the axis with a square wave reference The user must be careful to choose reference ranges and frequencies in order to avoid problems if the axis has a limited course By observing the oscilloscope we will note that as Pr17 varies the response will change For decreasing values of Pr17 the response of the system will be as shown in
113. ump of 1000 rpm that takes Pr103 thousandths of a second This can be useful when the axis is suddenly attached Pr104 Addition speed Default 0 range 0 6000 Pr108 Full speed positioner Unit rpm default 1000 range 0 9000 This is the full speed that will be used during the generation of the position profile Pr109 Acceleration time positioner Unit s krpm range 0 002 30 000 resolution 0 001s default 0 500 s This is the acceleration ramp that will be used during the positioning profile Pr114 115 Actual position electrical shaft Unit steps read only parameter Indicates the actual position with reference to the electrical shaft Pr116 117 Actual position positioner Unit steps read only parameter Indicates the actual position with reference to the trapezoidal profile Pr118 119 Final position positioner Unit steps used to set the final position that is desired for the generator of the trapezoidal profile based on 4096 steps per revolution B150 0 Active positioner During the positioning Pr118 119 Pr116 117 this bit is high B150 2 Engaged electrical shaft During the engaging phase when the ramp Pr103 is not 0 this bit indicates the end of the transitory phase 56 Parker Hannifin S p A Divisione S B C sLVD User s Manual B150 3 B150 4 B150 6 B150 8 B150 10 B150 11 B150 13 Encoder in selection If 0 the encoder input conditioned by Pr52 and Pr53 is used as the m
114. vice has been installed in accordance with the workplace safety regulations currently in force In this regard note that the converter is to be considered a component not a machine Any unauthorized repair or tampering with the device invalidates the warranty immediately The device is under warranty for one year This user manual is for the standard version of the converter Parker Hannifin S p A Divisione S B C declines any responsibility for any type of damage that may be caused by the inappropriate use of the converter Only qualified and trained personnel who have a basic knowledge of electronics may install and carry out maintenance operations on the converter and the devices connected to it Only qualified and trained personnel with a good knowledge of electronics and converter technology is allowed to commissioning Upon request Parker Hannifin S p A Divisione S B C offers training courses The performance of SLVD converter is quaranteed only with synchronous motors with permanent magnets MB and SMB Series that have been manufactured by us ISBN 0407021500 Parker Hannifin S p A Divisione S B C sLVD User s Manual TABLE OF CONTENTS INTRODUCTION rin do Sa dete iia eq ae GUE due vrai tp A ie 5 1 1 General Information Groane 5 12 Pioduct description eoe ela 5 1 3 idntficitioni ili leer 6 1 4 Main hardware features cce edt as ace aas iss eh e be ea 7 1 5 Mam software feature scnasena E re co AY lello asa
115. y 4096 steps per revolution Pr64 65 Position offset Unit steps Pr66 67 Encoder in counter Unit steps Pr68 69 Value captured Value of the position of the motor captured on the positive end of Pr106 B70 0 B70 1 B70 2 B70 4 B70 5 B70 6 B70 7 B70 13 B70 14 B70 15 54 the input X1 10 Unit steps Feed forward scale Default 0 the range is from 0 to 2000 but if Pr106 1000 the feed forward doesn t use the scale Encoder in capture Default 0 If 0 the capture of the value encoder master is made from input 0 X1 9 Otherwise it is made by the input of the zero trace encoder X3 see operating mode 14 Feedback Default 0 If 0 feedback is done by the resolver If 1 feedback is done by the encoder X3 In this last case the parameters Pr52 and Pr53 serve to rate the pulses per revolution at 4096 Feedback direction Default 0 If 1 the rotation of the motor is inverted Only with feedback done by the resolver Servo error B70 4 will be set to 1 if the position error as an absolute value exceeds the value set in Pr55 Servo error B70 5 will be set to 1 if the position error as an absolute value exceeds the value set in Pr56 Feed forward enable If set to 1 the feed forward on the position regulator is enabled Feed forward scale enable If B70 6 1 is possible enable the feed forward scale Monitor error If set to 1 Pr38 Pr51 2 Value master captured If set to
116. ype of the motor and to the load Pr52 Used to normalise the number of encoder pulses on the motor 32767 1 R W Pr 53 shaft revolutions to the standard value 65536 through the M following relation Pr52 Pr53 encoder pulses motor shaft revolutions x4 65536 The sign determines the feedback positive or neg Pr89 Status R 0 if positive result 2 if wrong enabling 5 if drive not ready Pr23 Z0 or open inr ush 6 Pr30 parameter caculated frequency of vibration is different of 25 unit from starting value 7 Pr30 parameter caculated frequency of vibration exceeds 200 unit max value Pb41 4 In case of negative result the Pb41 4 remains to zero driver 0 R not OK Pb42 6 1 select the feedback from encoder 0 M Pb41 6 Phasing result 1 if positive result of the procedure and 0 R necessary condition for drive OK Pb41 4 The calculated value of Pr30 at the end fo the procedure if it is save it permits at the new start up that the procedure starts from this value and if the mechanical conditions don t change is maked only one vibration of standing fixed by Pr30 N B during the phasing procedure the motor must be motionless so if the motor is on vertical axe this system must be motionless without to use the brake the encoder simulation can t use zero encoder track as reference for reset the machine when the system uses a axis control and the FBK is a increme

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