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User Manual SWM7

1. annia a 55 Figure 5 28 CAN connection to raise asa sena saa sana as 56 Figure 6 1 SWM7 SETUP main window 60 Figure 6 2 Choose Serial Port example 60 Figure 6 3 SWM Message window example no error r 60 Figure 6 4 Write Parameters to Flash 62 Figure 6 5 Enable Drive and Disable Drive mmm 62 Figure 6 6 Adding parameter Profile Max Acceleration to a section 63 Figure 6 7 Delete measuring window Profile State example 63 Figure 6 8 Add Sheet option a asina anra ns 64 Figure 6 9 Create caption Voltages 64 Figure 6 10 Remove Sheet selection nne sra ns 64 Figure 6 11 Windows
2. 77 10 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual M AG O N MOTION UNDER CONTROL Figure 7 6 CAN Transmit Mode not present in current firmware 77 Figure 7 7 Field Weakening Mode 121 Figure 7 8 Rotor vectors voltage and 122 Figure 7 9 Optimum PID coefficients a sene sane rre as 123 Figure 7 10 PID Control system result arar rssrrrssssssssssssssssssssaa 124 Figure 10 1 DC mains filter SWMTS input filter technology acc chap 10 1 2 138 Figure 10 2 SWM High voltage Controller Supply 139 Figure 10 3 SWMTS cable shield 140 MAC SWM7 UMN prel R05 15 Preliminary 11 M AG O N User Manual MOTION UNDER CONTROL 12 Preliminary MAC SWM7 UMN prel RO05 15 User Manual 1 Introduction M AG O N MOTION UNDER CONTROL 1 Introduction This User Manual describes the SWMTS series of digital servo controllers Handlin
3. a NEEE 51 5 10 Encoder 51 WAC HO l n 51 5 10 11 sine Encoder with Hall 19 52 5 10 12 Encoder with BISS XTT 52 COGS XII 53 5 11 Analog and digital inputs and nnns 54 5 11 1 Analog inputs and OMM dere gage 0s 54 5 11 2 Digital inputs and outputs 54 5 12 RS 232 interface PC connection X2 55 5 13 CAN Intrac 0 56 5 14 T 56 EtherCAT interface E E E Qa 56 5 16 USB interface X39 1 II a A a 56 6 Controller Monitoring with SetUp Tool SWMYT exe a raras ns 57 O TOO 57 6 2 Interfaces and Settings 58 6 3 Using the SWM7 toco
4. 2151110405120 Second speed setpoint CNTRL see Use Alt Command Can be used for fast switching and generating a step behavior lt 2 gt PC Current Command PC Current Command COMMAND INPUT SELECT Current setpoint vector for operation by software Ji ws o Used if Command input is set to PC 7 PC Current D Current setpoint D vector for operation by software o Used if Command input is set to PC E 2 PC Speed Command 5 EE sua sis c d Speed setpoint for operation by software CNTRL Used if Command input is set to PC lt PDCNTRL lt 2 gt Speed Control Actual Speed Speed Control Actual Speed 200 ms Actual speed as derived from active speed sensor position 5 CNTRL lt 0 gt Start Up Enable State Start Up Enable State Disabled Enabled This allows the drive to auto enable on power up This refers to software enabling Additional hardware signals may be required PT D lt 2 gt Use Alt Command COMMAND INPUT SELECT pe YES Switches between the two setpoints 111 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup MACON MOTION
5. a arrrssrssrs sasasa 38 5 5 4 SWM7S 300 600 E 39 ODO P E E E 40 5 6 Power supply X5 a nn ee ee ee eee 40 5 7 Temperature supervision X3 a 40 5 8 Enable and command interface X1 2 41 MAC SWM7 UMN prel R05 15 Preliminary 5 M AG O N User Manual MOTION UNDER CONTROL 5 9 Motor DC1 and brake connection X4 X39 41 5 k u u M 43 5 10 1 Hall sensors Io 43 5 10 2 Resolver X9 m 45 5 10 3 Encoder differential 12 46 5 10 4 Encoder unipolar OX I2 uuu uuu u us sasa 47 5 10 5 Sine Encoder with EnDat 2 2 X11 48 5 10 6 Netzer Encoder TT u u u ass 49 DG TOCO ete nn 49 5 109 TTE uuu ul u AR 49 5 10 8 1 TTL Encoder Dipolar Wiring u LLULLU Ilu nmn 50 5 10 8 2 Encoder Unipolar
6. 137 10 1 External filtering measures a nnn nennen nnns 137 TO Al uuu uuu 137 10 12 DG Mains u u ba 137 10 2 Additional filtering measures nnn 137 JO deve diete Gs E D UO 138 104 Mounting Mevo UNS uu uuu uu 2090 S OE ENAERE 139 8 Preliminary MAC SWM7 UMN prel R05 15 User Manual M AG O N MOTION UNDER CONTROL List of Tables Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab Tab 2 1 SWM7S name plate CxAMPle cccccsecccessecceeeeecessecceueeeceeeceeucecsueeessaesessueeeseeeseeseesseeseeesenss 18 3 1 SWM7S related electrical data eene nnne nnns ans 20 3 2 Inputs outputs and aux voltage supply a r 20 33 OWM colbec lOS tme eee DEAE IM ANM MNA UMEN EIE EM 21 5 1 Connection drawings overview a nnne nane anrea
7. alphabetic order Input values 2 Max Reactive Current Limitation of Reactive Current vector based on the Current ADC range of the motor E rc Current limitation setting D vector Tab 7 5 Control windows in FIELD WEAKENING tab 7 4 3 4 Control windows in PHASE FINDING tab A phase finding cycle is necessary to determine the actual rotor position to apply the correct mo tor currents For non absolute feedback systems phase finding is required after each power up Choose PHASE FINDING tab when no hall sensors and no absolute encoder or resolver are present After first enabling the phase finding result can be used until power off The phase finding can anyway be performed on each enabling The parameters may be optimized to achieve a smoother or shorter phase finding cycle If cur rent values are too low or selected times are too short the convergence quality will get lower Phase finding should result in a quality level of more than 90 lt Control window Explanation lt p in alphabetic order Input values Coarse Tuning Gain Amplitude for coarse tuning cycle Coarse Tuning Time Suggested start value 1000 ms Communication angle manual Can be adjusted manually for special requirements Is set by the phase finding algorithm Convergence
8. OUU 21 3 1 3 Ambient conditions ventilation and mounting position 22 3 1 4 Conductor cross sections rr ras innen ae riesen esae nnus 22 3 1 5 Mechanical data 22 3 1 6 Grounding System 23 3 1 7 Switch on and switch off behavior nennen nnn nnns 23 4 Mechanical Installation m 25 4 1 Safety Instructions a ar arar taeda ibwaeamiundeduensnsnacees 25 4 2 Guide to mechanical installation 25 j DN r O uuu u u diac D E 26 a FBD 26 4 4 1 Base plate 188 x 164 mm 27 4 4 2 Base plate 188 x 189 mm 28 4 4 3 SWM7 300 V 600 V wall mount version high voltage
9. 29 9 aui ue a ETE T ES 31 SESE yi IC ONS MET TT TOTUM 31 5 2 Guide to electrical installation a 31 5 2 1 Sequence for installation a nnns sns nasse nis 32 Mr T 32 T SalelylnsUti6liOlu u uuu 2 uu RP DRRER 32 9 3 2 Goniie6tiopn 32 5 3 3 Shielding connection to the front 33 5 3 4 Motor connector X4 with shielding 33 5 3 5 Technical data for connecting cables 33 5 4 Connector assighrYyleniS UUUULLLULLLL 34 5 5 Connection diagrams Overview a 35 5 5 1 SWM73 48 150 p UU UP 36 5 5 2 SWMT7 48 150 with extended l O a 37 5 5 3 SWM7 48 100 M6 motor connectors
10. mpeg quud ad DH Art S petu Te LLX Loe mod zi SH Ou n pandi yey S LX HAJDINI HiviHS009NS FL ZLIX MZ LLX ENISOO NS HS000NS Hiv LEL FELIX FELIX ETL ache swiss rans sex SL TLL PUE SNIS ELX NOL xl EXIT NIS crang 51 TIHA PUE ANIS LEX Figure 5 4 Connectors for SWM7 48 100 M6 motor connectors MAC SWM7 UMN prel R05 15 Preliminary 38 MOTION UNDER CONTROL 5 Electrical Installation User Manual YOSNAS 00119 YOLOW Aiddngog SNOI123NNOO p SNOLLO3NNOO HOLIMS E um SNOILO3NNOO SNOILO3NNOO HOLIMS TVWH3HLI YOLOW 31v a ans iode 091 NOLLOINN A 7719395 X Texny Si LiX AlddNS 20 20 ApZ AlddNS 20 00 1 a ans pdz 3SV 1TOA AlddNS 9G SX AOL ELNO SOTVNV SZ ZX AOL ZLNO AOL LLNO DOTWNW EZ ZX NYNLIY NI Z SOTWNY ZZ ZX AOL NI Z ONVININOO SOTYNY 1184110 9ASL LINdLNO NI ONVININOO 901TVNY AOL NI L ONVININOO 9OTVNV 318VN3 ZN
11. 33 5 2 SWM7 connector assignments essseesssssesseeee eene seen nenne nnne nnne sai aeria nsa sia sae nans 34 5 3 9 Bier 54 54 CICA OUT OUTS u uuu uuu u u uu a 55 6 1 Definitions for display of parameter measuring and selection windows 62 PIE d PR CS 72 7 2 Lowpass configuration values for resolver operation 76 7 3 Control windows in POSITION CONTROL tab 80 7 4 Control windows in SENSORLESS CONTROL tab 82 7 5 Control windows in FIELD WEAKENING tab 84 7 6 Control windows in PHASE FINDING 86 Control Windows in CAIN Ario 88 Conmol windows I OFFSET uuu u a uuu a eh 89 7 9 Control windows in MOTION SENSOR MONITORING tab 94 7 10 Control windows in SPEED CURRENT CONTROL tab 98 7 11 Control windows in MOTION SENSORS 101 7 12 Control windows in SYSTEM SETUP
12. 13 io u eee x usus ss 14 1 1 2 Structure of this manual a a edunt asa 14 1 1 3 Related documentation u u uuu UU TEST 14 F PC ele eect us s 14 Salely Ins CHONG se uuu uuu uu u uuu u u uu au u uuu uu usss 14 1 4 Typographical CONVenONS r UU UU uuu u u uuu asan sasa 14 2 an Package RETE 17 2 1 Packaging Transport and 2 u 17 2 2 Maintenance and Cleaning 17 s D u u 17 24 Ropar MS WUCUOINS uuu uuu u Q 17 i eo m a mas 18 FAC P E E I Tm 18 PAM ce cepe a ans 18 2 6 2 Nameplate for HW and SW uuu laqhu nai q qaa awa 18 EO E u uuu E 18 VUE 18 uuu u uuu uuu 19 3 1 SWMTS family of digital servo controllers nnne 19 SN E 20 SM NIIS T E
13. a arar 76 7 4 1 Examine parameters 76 7 4 2 Parameter window or measuring window marked in red 77 7 4 3 SWMY control 77 7 4 3 1 Control windows in POSITION CONTROL tab 78 7 4 3 2 Control windows SENSORLESS CONTROL tab 80 7 4 3 3 Control windows in FIELD WEAKENING tab TBD 82 7 4 3 4 Control windows in PHASE FINDING 84 7 4 3 5 Control windows in CAN tab a a 86 7 4 3 6 Control windows in OFFSET tab a nnne senes 88 7 4 3 7 Control windows in MOTION SENSOR MONITORING tab 90 7 4 3 8 Control windows in SPEED CURRENT CONTROL 94 7 4 3 9 Control windows in MOTION SENSORS tab 98 7 4 3 10 Control windows in SYSTEM SETUP 102 7 4 3 11 Control windows in SWM STATUS tab 103 7 4 3 12 Control windows in D
14. 1 5inEncz Voltage SinEnc2 Voltage A Analog voltage of sine channel of sine encoder 2 or resolver Range 32768 to 32767 a MENU LLI 1 SinEne2 Min B BERGU LU un SinEnc2 Min Volt B Negative peak voltage of cosine signal of sine encoder 2 or resolver Range 32768 to 32767 1 5inEnc Offset v MOTION SENSOR MONITORING SinEnc2 Offset A Offset compensation value for sine channel of sine encoder 2 or resolver Set by software Use Sine encoder 2 Resolver offset comp sin to manually adjust offset MAC SWMT7 UMN prel RO05 15 Preliminary 92 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL Control window Explanation ONAORDO in alphabetic order Input values 1 SinEnc2 Offset B SinEnc2 Offset B Offset compensation value for sine channel of cosine encoder 2 A A or resolver Set by software Use Sine encoder 2 Resolver offset comp sin to manually adjust offset amp 1 SinEnc2 Phase SinEnc2 Phase Actual electrical angle of sine 1 signals 0 65535 0 360 15 SinEncz SinEnc2 Max Volt A a Positive peak voltage of sine T signal of si
15. 42 F 5 12 Motor Di AKC A3 uuu uu 42 meom Hall Sensors ERES 43 FOUG odd IRESOIVGE uu uu uuu E TERET ETNEN E EE EE AS 45 Figure 5 15 Encoder differential a 46 Figure 5 16 2 ea aaia aa anaE aai a kasukusqanku 47 Figure 5 17 Encoder wih ENDAL uu uu uuu Na E 48 Fig re 5 19 Netzer ENCOGSM RR 49 IC DO TACO 49 Figure 5 20 TTL Encoder bipolar wiring 50 Figure 5 21 TTL Encoder Unipolar 51 Figure 5 22 SIN COS EHOOGOFL uU a 51 ios TICO uuu uy uu 52 Figure 5 24 Sine Encoder with Hall 52 Figure 5 25 Encoder with BiSS bu dum dus usa Ru 53 Figure 5 26 AMR Encoder X11 aa arar Lans 53 Figure 5 27 PC connection to
16. a a 62 6 4 3 1 Meaning of formatting in the Parameters window 63 6 4 3 2 Meaning of formatting in a parameter display 63 6 4 4 Delete parameter display Of a page a a 63 6 4 5 Creating user defined tabs 64 6 4 6 Deleting user defined tabs nennen nnne nene nnne rne nnns 64 6 4 7 Restoring default GUI layout nnne nnn nnn nnns 64 6 5 Description of menus and windows nnn nnn snis 65 6 5 1 65 SON BENI X P REC 65 6 mr 65 0 9 0 5 POESIE TOES uuu uuu asua EIE 65 6 5 1 4 Service menu P 66 Type ciui MEET 66 0 51 66 6 5 2 Related files GUI layout mac parameter file 66 6 Preliminary MAC SWM 7 UMN prel RO5
17. lt 0 gt Sine Enc 2 7 Resolver offset comp Waiting For Movement Calibrating ni Done Encoder not used Low Amplitude Sine Enc 2 Resolver offset comp State result of automatic offset compensation of analog inputs of sine encoder 2 or resolver lt gt Sine _2 7 Resolver offset comp Start c Sine Enc 2 Resolver offset comp Start Check to start automatic offset calibration of analog inputs of sine encoder 2 also used for resolver lt gt Sine encoder 1 offset compensation Off Waiting For Movement Calibrating Done Encoder not used Low Amplitude 2 ai e 2 Sine encoder 1 offset comp State result of automatic offset compensation of analog inputs of sine encoder 1 lt gt Sine encoder 1 offset compensation cos BHU DU EIEE a Sine encoder 1 offset comp cos Offset compensation value for cosine channel of sine encoder 1 Set by auto compensation algorithm Can also be adjusted manually I Sine encoder 1 offset compensation sin c LLI ea Sine encoder 1 offset comp sin Offset compensation value for sine channel of sine encoder 1 Set by auto compensation algorithm Can also be adjusted manually MAC SWM7 UMN prel R05 15 Preliminary 90 MACON
18. sensor configuration 3 Phases Using 3 hall sensors with 120 degree spacing 2 Phases Using 3 hall sensors with 120 degree spacing 12 Steps for special use only lt 0 gt Hall senzor type None 5 Volt f 15 Volt HALL Hall sensor type Supply voltage of connected hall sensor MAC SWM7 UMN prel RO5 15 Preliminary 98 MACON MOTION UNDER CONTROL 7 System Parameters Setup User Manual MOTION SENSORS MOTION SENSORS lt 0 gt Incremental Encoder Differential f Single ended MOTION SENSORS Control window in alphabetic order 9 W cw Explanation Input values HALL State Signal state and rotating direction of the hall sensors Display only lt gt Incr Enc Lines R v 4344444 1 0 Incr Enc Lines Rev or m Set up the encoder lines per revolution 1 9999999999 Incremental Encoder Type Electrical interface of connected encoder lt 1 gt MaxHallTimeMS MaxHallTimeMS Hall pulse duration for switching between hex step and sine commutation Netzer Coarse Cycles Coarse track cycles of attached Netzer sensor Netzer Coarse offset compensation cos Offset voltage of coarse track
19. Display of actual motor current D vector CURCNTRL D vector of measured motor current E gt Current L Current Display of actual motor current MBA Ugg Q vector CURCNTRL Q vector of measured motor current 4 Estimated Back EMF s Estimated Back FIELD WEAKENING Back as estimated by l B ono 0 0 0 0 operation point and motor data CURCNTRL RMS value of single phase equivalent circuit Field Weakening Mode Auto field weakening mode Il const selection matzcanst IQ const IQ commanded current ID is set by algorithm Imot const current magnitude commanded current ratio between IQ and ID set by algorithm Max Current k hal lt gt E Choose the max current Example If the ext PSU supplies 5 A then the selector enables to choose between 0 5 A CURGNTRL Kl e 2 Max Current Angle Max Current Angle FIELD WEAKENING fe 4H Choose the max current angle C Only relevant for auto field 5 weakening mode 90 Max Reactive Current MAC SWM7 UMN prel RO5 15 Preliminary 82 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL m Control window Explanation
20. give you further assistance with problems Z Wrong cable used Use null modem cable HMI message Cable plugged into wrong position Plug cable into the correct sockets on Communication Fault servo controller or PC the servo controller and PC Wrong PC interface selected Select correct COM port see chap 6 3 1 2 1 Servo controller not enabled apply ENABLE signal Software enable not set Set software enable Break in setpoint cable Check setpoint cable Motor Motor phases swapped Correct motor phase sequence does not rotate Brake not released Check brake control Drive is mechanically blocked Check mechanism Motor pole no set incorrectly Set motor pole no Feedback set up incorrectly Set up feedback correctly 123 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL ak Pesbecmss Memue _ Motor oscillates Feedback cable shielding broken Replace feedback cable AGND not wired up Join AGND to GND Drive reports following error Irms or Ipeak set too low Increase Irms keep within motor ratings Motor overheating Acceleration deceleration ramp is too long Shorten ramp Irms lpeak is set too high Reduce Irms Ipeak Axis drifts at setpoint 0 V Offset not correctly adjusted for analog setpoint provision Adjust offset analog I O AGND
21. 29 Figure 4 4 3D view for SWM7 300 600 high voltage wall mount version 30 Figure 5 1 Connection diagram Overview 35 Figure 5 2 SWM7 8 48 150 36 Figure 5 3 Connectors for SWM7 48 150 with extended I O 37 Figure 5 4 Connectors for SWM7 48 100 M6 motor connectors 38 Figure 5 5 Connectors for 75 300 600 a 39 Figure 5 6 Power supply SWM7 X5 a 40 Figure 5 7 Temperature supervision X9 40 Figure 5 8 Command interface X2 a ar 41 Figure 5 9 Enable internace AT uuu 41 Figure 5 10 motor connection SWM7 X4 42 Figure 5 11 DC1 motor connection X4
22. Control window gt Transmit ID 1 E Explanation in alphabetic order Input values Transmit ID 1 uuu EIEEEI EE CAN identifi identifiers for transmit and ojojojojojojojo ui receive telegrams have to be set H corresponding to master controller lt gt Transmit ID 2 Transmit ID 2 CAN identifiers for transmit and receive telegrams have to be set corresponding to master controller lt 0 gt Transmit period nn _ Transmit period Tab 7 7 Control windows in CAN tab 7 4 3 6 Control windows in OFFSET tab The offsets of analogue inputs phase currents and DC tach input can be calibrated here OFFSET y OFFSET Control window in alphabetic order x 1 Analog Input 1 y a Time between 2 transmit telegrams of ID1 The transmit periods for telegrams 2 and 3 can be indirectly set by multipliers of this value Explanation Input values Analog Input 1 Actual value of analog inputs Standard 0 Range 32768 to 32767 lt 1 gt Analog Input 2 _ a Analog Cmd Input 2 Actual value of analog inputs Standard 0 Range 32768 to 32767 15 Analog Input MEBERG a Analog Input Aux Actual value of analog inputs Standard 0 Range 32768 to 32767 lt
23. Speed for closed loop continuation of speed ramp 2 Acceleration uncontrolled al Acceleration uncontrolled Speed ramp for open loop startup Alignment Delay Alignment Delay l 11 Time for changing parameters from EEE open to closed loop control Amplitude D Gain D gain of PD sensorless current controller in speed mode 79 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL in Control window Explanation EDO CONTROL in alphabetic order Input values Amplitude D Gain nnn Amplitude Gain Amplitude Gain MENNU P gain of PD sensorless current LLLI controller in speed mode Current Control f Field Oriented Current Control Classic lt 2 gt Desired Phase Angle Desired Phase Angle 111 The desired phase angle has to optimized between high torque and a stable operating point A setting of 20 30 el phase angle is suggested Freq Adjust Gain SENSORLESS CONTROL kas 55 gain for motor frequency control lt 2 gt uncontrolled Speed Max uncontrolled Speed Maximum speed for open loop
24. lt 2 gt Desired Phase Angle n E0000 REET E ol oe 2 Amplitude P Gain I MEEEO OO0U e 8515 lt 2 gt Amplitude D Gain lt 2 gt Phase Adjust Gain e J3 lt 2 gt Freq Adjust Gain ol 2 Observer Low Pass HERE 0 wo TA lt 2 gt Minimal Current lal H EE El lt 2 gt Current Control Field Oriented lt 2 gt S L Current Amplitude BHD DU e oe Classic lt 2 gt S L Phase Correction 2 BHHD JUD e e M oe 2 5 1 Freq Correction 2 MENNU DUUU e ol l e 2 S L Phase Angle Error o UU el I Usually you receive a customized and validated parameter set for your sensorless application 7 5 1 4 Speed Current Control BB In this section the control parameters for current and speed loop are adjusted Current Control Auto field weakening mode Field Weakening Mode selection Max Reactive Current Current limitation setting D vector Max Current Angle only relevant for auto field weakening mode Speed Limit Speed limit in current control mode Estimated Back EMF Back EMF as estimated by operation point and motor data Current Command Q Display of actual current
25. see ANAOUTT1 Gain 2 2 Offset 111141 ANAOUT2 Offset 15 used for calibrating the offset voltage of the output lt 2 gt AMAULIT3 Gain nnm NEN 200 III EIE DEBUG ANAOUTS Gain Use the gain setting for scaling the linked signal to the output range see ANAOUT1 Gain lt 2 gt Offset 1 E DEBUG ANAOUT3 Offset Is used for calibrating the offset voltage of the output lt 2 ANAOUT 3 6 Voltage Range fe 10 D ANAOUT3 6 Voltage Range Select 5 V or 10 V range for each group of outputs MAC SWM7 UMN prel R05 15 Preliminary 106 MACON 7 System Parameters Setup User Manual MOTION UNDER CONTROL Control window Explanation ACC DU in alphabetic order Input values DATA ACQUISITION AUX Select Bus Volt Bus Curr Lema UemdD S L Lemd amp ngMad AngleErar S L PhaseLarr SL Corr Envi Env CemdD Ud Ud D ActAngle FwrHb LI FwmHhb v FwrHb w xt X X xc xc Et kx xc DEBUG AUX1 Select Select the signal for assignment to AUX1 which can be choosen by ANAO
26. 1 FPGA Status Flags Enabled EnabDspllser EnabStrser EnabS witch nabs nabs D spewErr D Curr D Curr DSP Timeout STR Timeout 0000000000000 INTERNAL FPGA Status Flags Displays internal enable and error flags For MACCON tech assistance only 21 gt FPGA Status Flags 2 Brake Dn FPGA Status Flags 2 Displays state of brake For MACCON tech assistance only Bus Voltage SYS Max Bus Voltage DC bus voltage limit for generating over voltage error Standard value 80 Volt for 48 V units lt gt Hotor Temperature oia Motor Temperature Actual motor temperature in C F 1 8 C 32 5 Felius Ou RELAIS RELAIS2 STN 15v ENC SINGLE IM OUT FT1 U M Rel Aux Out Internal control flags For MACCON tech assistance only lt gt STR Error Flags latched D Overlemp Drive D verT emp Motor imeout rar Custom Err 1 Custom Err 2 9909 5 Error Flags latched Displays uC error flags Used by MACCON tech support Tab 7 14 Control windows in DATA ACQUISITION tab 109 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL 7 4 3 13
27. Display percentage DSP processing time For MACCON tech assistance only DSP Error Flags liwe D OverCurent 2E aming 2 Errar Overyoltage OverCurent HY OverCurent HW B Undervolt int 0000000000 INTERNAL DSP Error Flags live Displays the DSP error flags For MACCON tech assistance only lt 2 gt DSP 547 Version OM OG DSP SW Version Display of the SW version of DSP For MACCON tech assistance only FPGA Status Flags 2 Brake On Status Flags 2 Displays state of brake For MACCON tech assistance only FPGA Status Flags Enabled EnabDspUser EnabStrUser EnabSwitch DspSWErr SeSwer B B Undo B DSF Timeout INTERNAL Status Flags Displays internal enable and error flags For MACCON tech assistance only lt 1 gt FPGA Version we 0 FPGA Version Display of FRGA code version For MACCON tech assistance only 0 STR Error Flags live B Overlemp Motor Endat CanTimeout B CanMsgError Custom 1 Custom Err 2 INTERNAL STR Error Flags live Displays the uC flags For MACCON tech assistance only 103 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup _TB
28. Hl Zl LX MEG ihre amd gy HOIJ3NNOO SXOBIS3L FEX isrrH 2005 gi WLLOWLNOD SIvTJ3H ALSIYS 0 Z BLX 1 GLX 0DL Ld HOLOW awa NYNLAY 2d siii NHNLIY 20 HOSN3S 00L Ld HOLOMN SNOLLDANNOD BIN eris HOLIMS TWWHSHL HOLON zwi ida 3 vini H a ans NOLLONN4 TvI23dS X AlddNS 20 SX 0016 i S GLX 8 el eooooooo aa elso 177 8X AEN n T GEX H3002NI MIS HAATOSIH BEX S00 BX 73 OND 96X e434 IH GEX 1 yasni g L NIS LS HAATOSIH PENX ONE ONS NYD 502 25 ATOSS ESX T DAGI zTePE gj HOLISZNNOD HOWL ELX Crane od a HOLISNNOD NYI OLX oane BOLOSNNOO BX armonia and HOLOS3NNOD LX DE ZLX OND Ol DI0 IMEONI IND FAL SLL ALX
29. Special format for representing binary numbers Graphical User Interface Holding brake in the motor that can only be used when the motor is at standstill Hall effect sensor magnetic position sensor Integral gain Monitoring of the rms current that is actually required International Electrotechnical Commission Temperature and age dependent alteration of an analog input Position signaling by 2 signals with 90 phase difference i e in quadrature is not an absolute position output Effective value of the peak current The rms value of the continuous current Proportional gain of a control loop Velocity Feed forward Ratio Solder jumper bridge Light emitting diode Maximum value for speed normalization at 10 Switch limiting the traverse path of the machine implemented as n c break contact Sine Wave Monitored servo controller for linear motors e g LWM7 The complete assembly of all connected parts or devices of which at least one is movable Moving Average Filter Motor Housing Data packet with all the position control parameters which are required for a motion task Fuse medium response Machine with several independently driven axes Free movement of air for cooling Optical connection between two electrically independent systems Speed setpoint Proportional gain of a control loop 128 Preliminary MAC SWM 7 UMN prel RO5 15 8 Glossary M AG O N MOTION UNDER CONTROL User Manua
30. 7 3 1 1 Current control P gain gain D gain In SWM7 PID controller calculates an error value as the difference between a measured process variable and a desired setpoint i e in a control loop feedback mechanism see Fig 7 1 P gain SUM Output Motor gain proportional gain integral gain D gain derivate gain Figure 7 4 PID Control system The PID variables are Error term The error term is derived by subtracting the feedback motor speed from the set point set speed This is the error in terms of a number of encoder counts per unit time Proportional term Simple proportional coefficient Kp is multiplied by the error term Provides linear response to the error term Integral term Integral coefficient Ki is multiplied by the error term and added to the sum of all previous integral terms Provides response to accumulated error Derivate term Derivative coefficient Kd is multiplied by the difference between the previous error and the current error Responds to change in error from one PID cycle to the next Tab 7 1 PID variables The PID algorithm for control does not guarantee an optimal control of the system or system sta bility The following factors to consider using the SWM7 software values are example only e PID cycling time 0 3 sec Motor speed 150 rpm 71 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters
31. Control windows in COMMAND INPUT SELECT tab This section describes the command inputs used to set control mode and desired speed posi tion etc Additional hardware enable I O signals can be required If you need additional parameters for your testing refer to chap 6 4 3 page 61 and chap 6 4 5 on page 63 COMMAND INPUT SELECT Control window in alphabetic order lt 0 gt Brake Command Open Brake Close Brake Explanation Input values Brake Command Allows manual brake control Only for connected brake Use Brake Command Close on Disable Brake Mode Brake mode used set by SW CAN Brake Command see above Disable button of the GUI Disable brake will be engaged whenever drive is disabled lt 2 gt Current Limiting Command CAN Current Limiting Command Actual CAN value for current limitation in Usage depends on CAN firmware customer specific lt 2 gt Enable Request Enable o CAN Enable Request Actual status of CAN Enable request Usage depends on CAN firmware customer specific lt 2 gt Command Input PC f Analog Analog 5 CAN HS Command Input Select the desired command channel for operation Use Analog when connecting an external function generator lt 0 gt Drive Cur
32. MACON MOTION UNDER CONTROL Preliminary 21 of May 2015 Torque Linear and Custom Motors Stepper Servo and Traction Motors Drive Electronics and Controllers Actuators and Sensors CAE Tools and Engineering Motion Control Systems SINE WAVE COMMUTATED SERVO MODULE SWMTS standard version and SWM7 300 600 User Manual Introduction Handling and Package Technical Description Mechanical Installation Electrical Installation SetUp Tool SWM7 Operation Glossary ND Oa N lt gt Index EMC Consideration lt a M AG O N User Manual MOTION UNDER CONTROL This handbook is the copyright of MACCON GmbH Munich No part may be reproduced or otherwise disclosed to third parties without written permission The content of this documentation has been worked out and thoroughly investigated by personnel of MACCON Every possible effort has been taken during the preparation of this handbook to avoid errors However should the user recognize mistakes or wish to recommend improvements MACCON will be grateful for such information MACCON also reserves the right to make any corrections to this handbook without prior notification MACCON is not deemed liable for any damage incurring through the application of the SWM7 series of brushless servo drives or this handbook be it through infringement of patents or rights of others or otherwise Some
33. e Site In a closed control cabinet refer to chap 3 1 3 The site must be free from conductive or corro sive materials For the mounting position in the cabinet see on page 26 Ventilation Check that the ventilation of the servo controller is unimpeded and keep within the permitted ambient temperature see chap 3 1 3 Keep the required space clear above and below the servo controller detailed on page 22 e Assembly Assemble the servo controller and power supply close together on the conductive grounded mounting plate in the cabinet Grounding Shielding For EMC compliant shielding and grounding see on page 133 Ground the mounting plate mo tor housing and GND of the control system Notes on connection techniques detailed see chap 10 4 on page 135 MAC SWM7 UMN prel R05 15 Preliminary 25 M AG O N 4 Mechanical Installation User Manual MOTION UNDER CONTROL 4 3 4 4 Dimensions Check the mounting for a maximum air ventilation based on the mechanical data see chap 3 1 5 on page 22 Assembly TBD The SWM modules are mounted on a base plate and are completely sealed Main connections are made via military style Sub D or screw connectors For details see Fig 4 2 to Fig 4 4 The motor power cable consists of four wires Phases U V W and an additional Earth wire PE ground protective earth ground connection Use 4 wire shielded not twisted cable for motor connections se
34. 2 Phases 0 DCMotor Motor Winding Choice between 3 phase brushless 2 phase brushless or 101 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL Control window SEN in alphabetic order Explanation Input values DC motor with brushes Select the motor type Pole Pairs Enter the value according to your motor data sheet Only for rotary motors Pole Pitch Motor Type Linear Enter the value according to your motor data sheet Only for linear motors SYSTEM SETUP Es Ys Y PWM Frequency Sets the PWM frequency of the power stage Frequency FPGA 40 kHz T PWM Frequency FPGA Displays the PWM frequency of the power stage For MACCON tech assistance only Tab 7 12 Control windows in SYSTEM SETUP tab 7 4 3 11 Control windows in SWM STATUS tab Firmware versions and internal status flags are displayed here This information may be needed if queried by MACCON tech support MAC SWMT7 UMN prel RO05 15 Preliminary 102 MACON MOTION UNDER CONTROL 7 System Parameters Setup User Manual _ SWM STATUS Control window in alphabetic order lt 2 gt DSP CPU load 2 Explanation Input values DSP CPU load
35. 57 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 6 Controller Monitoring with SetUp Tool SWM7 exe M AC MOTION UNDER CONTROL 6 3 2 Putting into operation 6 3 2 1 Standby operation without connected motor In this mode you can e check the proper function between PC and connected switched on SWM7 e prepare specific sets of macp files for your HW configuration drive sensors resolvers encoders or ext controls prepare specific sets of mac files for GUI layouts in accordance to your present HW configuration and use cases for operation You need this information concerning the drive components rated mains supply voltage motor type motor data if the motor type is not listed in the motor database then contact MACCON tech support feedback unit built into the motor type poles lines protocol etc moment of inertia of the load Documents User Manual and access to MACCON tech support via internet User Manual this manual Accessories manual CAN communication protocol description optional Procedure 1 Before attempting to install service or maintain this unit always read the manual and the specific safety instructions first Unpack servo controller and accessories and mount the servo controller as described on page 31 Connect the servo controller as described in chap 5 5 for minimum wiring without connected drive Install the software see chap
36. B Curl z Hw D Cur2 OverCurent2 Hw z Undvolt DSF Timeout z 5TA Timeout lt 0 gt STR Error Flags vej a B DuoOerTerp Drive a FPGA Status Flags 2 Overlemp Motor Brake On B CanTimeout lt 9 Custom Err 1 Custom 2 119 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup 7 5 1 6 CAN Will be available in a next version used for MACCON tech support lt gt type Standard 11 Bit Extended 29 Bit lt O lt o ggggggg MACON MOTION UNDER CONTROL lt 0 gt CAN commanded value 7 5 1 7 lt 0 gt Receive ID 1 lt 0 gt Transmit ID 1 lalalalalalala lt 0 gt Bit timing prescaler gU HEX 3 ere lt gt CAN commanded value 2 o 0 Bit timing T2 0 CAN receive count EB 24 BERRO o lt 0 gt CAN transmit count lt 0 gt Transmit ID 2 2151111040 lt 0 gt Bit timing T1 lt 0 gt CAN Max Speed j 000 lt 0 gt Transmit period z lt o 5 Field weakening The SWM includes two field weakening modes Based on set of motor parameters the mea sur
37. Frequency o 4 kHz 15 kHz 20 kHz okHz 30 kHz 40 kHz e h kHz t 10kHz B kHz T k 7 5 1 2 Data Acquisition The tab DATA ACQUISITION is used for data collection and monitoring of important functions of the SWM7 Different internal data mainly concerning the power stage and processor status is summarized in this section Limitations for power stage bus voltage and current can be set The state of digi tal I O as well as processor status flags can be monitored The displayed values Temperature Current and Voltages should be monitored regularly during operation Recommended control windows MAC SWM7 UMN prel RO5 15 Preliminary 116 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL lt 2 gt Bus Voltage lt 2 gt Max Bus Voltage 1 gt FPGA Status Flags 2 DSP Error Flags latched E Enabled OverCurrent lt 1 10424 EnabDspUser I2twaming lt EnabStrUser 2 EnabSwitch OverVoltage lt 2 gt Bus Current Offset D pEnabSw SuEnabSW e DA DspSwEr e Q SuSwEr e DverCurrent Hw 0 Drive T 2 OverCurent2 lt 0 gt Drive Temperature lt gt Motor Temperature x Undvolt UndeiVol int DSP Timeout OR STR Timeout 0 STR Error
38. POSCNTRL Position Control Max Speed General speed limit for position profile mode lt 2 gt Position Control gain 000E POSCHTRL Position Control P gain The position control loop is mainly adjusted via this proportional gain Position Control Speed Command toms POSCNTRL Position Control Speed Command Speed command resulting from position profile generator lt 0 gt Position Sensor Select enot used 5ineEnczl SineEnc lt 2 gt Resolver TTL Enc EnD at SinCos EnD at Digital Hiperface Biss Netzer 55 POSCNTRL Position Sensor Select Defines the feedback system which is used for position control loop Display only 2 Profile State Profile done t a Profile State State of profile generator Display only Profile Acceleration a B lll a rpm sec mm s Profile Max Acceleration Specifies the limits for position profile operating mode POSITION CONTROL 2 Profile Max Deceleration a E lll E n E o rpm sec mm s LLLI Profile Max Deceleration Specifies the limits for position profile operating mode Profile Max Speed Specifies the limits for posi
39. lt 2 gt Current Command D e not inverted not inverted notinverted inverted C inverted 52 inverted BB uu S 212141111 5 lt 2 gt Speed Ramp lt 2 gt Current Command Q ES Sd Use Ramp BHEHU DDD 2 lt 2 gt 14 Current Limit l l l l of Ipeak L lt 2 gt Motor Startup Synchronization On first Enabling only C n each Enabling 0 g 0 0 rpmZsec 22 21215121545 CURCNTRL lt 2 gt Motor Startup Synchronization none for absolute sensors C Phase Finding C Phase Finding Encoder Index C Hall Sensors C Hall Encoder Index MOT1 lt 2 gt Speed Control Actual Speed BHHHHHU 000 mms SPDCNTRL a m o 2 Commutation angle manual tt tit 000 ol 7 5 1 5 SWM status Firmware versions and internal status flags are displayed here This information may be needed if queried by MACCON tech support 2 DSP CPU load Bue lt 2 gt DOP SW Version lt gt STH710 CPU load 1 FPGA Status Flags 2 DSP Error Flags Enabled OverCurrent 9 EnabDepUser I2taming B EnabStrUser I2tErmor EnabSwitch Overvoltage DspEnabSw e SuEnabSw e DspSwErm e SuSwErm e
40. startup lt 2 gt Minimal Current alel a Minimal Current Set the minimal current Setting for sensorless control lt 2 gt Observer Low Pass BEU ue ui 1515 Observer Low Pass Logarithmic setting of position observer gain Each 1 digit doubles the time constant Use 4 as start value for small low inertia motors PC Speed Command Speed setpoint via PC for sensorless control in speed mode lt 2 gt PC Speed Command BHNHNEHNHNHNU Imas ad o a Bin 2 Phase Adjust Gain i SENSORLESS CONTROL ee ae w s P gain for phase angle control SSS LL controlled operation MAC SWM7 UMN prel R05 15 Preliminary 80 M 7 System Parameters Setup MOTION UNDER CONTROL User Manual SENSORLESS CONTROL SENSORLESS CONTROL Control window Explanation in alphabetic order Input values Ramp Time Current ramp time for motor alignment Current Amplitude S L Current Amplitude Monitoring values for optimizing sensorless control 57L Freg Correction SR OOOO S L Freq Correction Monitoring values for optimizing sensorless control S L Phase Angle Error oeoo MS S L Phase Angle Error
41. 0 5 AWG20 150 mA 15 V female Encoder input X6 Sub D 9 pole 0 25 10 mA 0 5 Signal connector X2 Sub D 25 pole 0 25 60 mA 0 5 V female Sine and Serial Encoder X11 Sub D 15 pole 0 25 60 mA 0 5 V Input female Interface for PC RS 232 X2 1 RJ11 4 pole 0 11 AWG27 10 mA 15 V USB X3 1 USB B 4 pole 0 11 AWG27 10 mA 0 5 V Ethernet 4 1 RJ45 0 11 AWG27 10 mA 10 V Test Box TB X1 1 RJ12 0 11 AWG27 10 mA 0 5 V Tab 3 3 SWM 7S connectors 3 1 2 Fusing The fusing depends device type only and accessible after opening the case Opening the device means loss of warranty In SWM7S are present Main fuse placed inside SWM 7 see chap 5 6 Manufacturer Fa Bussmann FWP xx SWM7 48 60 V SWM7 High voltage 12 5A 25LET 12 5A 25 ET 50A 100 LET 25A 56 ET 100A 160 LET 80A 80 ET Fuses may only replaced by MACCON tech support without loss of warranty In the case of no power output e g after a short circuit of the motor lines contact MACCON tech support or via phone 49 89 651220 0 Aux fuse mounting by the user European types gRL or gL 400 500 V e g 10 AT T slow US Types Security classes RK5 CC J T 600 V AC e g 100 time delay MAC SWM7 UMN prel R05 15 Preliminary 21 M 3 Technical Description MOTION UNDER CONTROL User M
42. 1 gt Analog In Aux Offset Analog In Aux Offset Offset voltage for calibration of analog aux input Standard 0 87 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL y y OFFSET _ OFFSET I OFFSET J Control window in alphabetic order Explanation Input values Analog In 1 Offset Offset voltage for calibration of analog input 1 Standard 0 Analog In 2 Offset Offset voltage for calibration of analog input 2 Standard 0 lt 1 gt Tach Input DC TACH 1 Tach Input Actual value of DC Tach input Range 32768 to 32767 DC Tach Offset Offset for calibrating DC Tach input Adjust to get a zero reading on parameter DC Tach Input at standstill CURCNTRL wh Lu Cur Offset U Phase Curr Offset U Offset for calibrating current sensor of motor phase U Set by auto compensation algorithm while drive is disabled CURCNTRL 1 Phase Curr Offset V 4 4 Phase Curr Offset V Offset for calibrating current sensor of motor phase V Set by auto compensation algorithm while drive is disabled 1 Phase Current U Phase Current U ATIT of current sensor of E Range 32768
43. 10 3 Encoder differential X12 MOTION UNDER CONTROL TTL ENCODER X6 5V i AMAA UL iu Figure 5 15 Encoder differential 5 10 4 Encoder unipolar X12 TTL ENCODER suo SWM7 F 1 V m V DGND Figure 5 16 Encoder unipolar 46 Preliminary MAC SWM7 UMN prel RO05 15 User Manual 5 Electrical Installation MACON MOTION UNDER CONTROL 5 10 5 Sine Encoder with EnDat 2 2 X11 Encoder with Endat interface Figure 5 17 Encoder with EnDat SWM7 SIN SIN COS COS AUX1_H AUX1_L AUX2 H AUX2 L 5Vout AGND or DGND MAC SWM7 UMN prel R05 15 Preliminary 47 M AG O N 5 Electrical Installation User Manual MOTION UNDER CONTROL 5 10 6 Netzer Encoder X11 Netzer Encoder X11 COS Tenan 2 0 gu AE AS SIN COS SIN I 15 5V B 12 13 I 9 1 Coarse Fine Figure 5 18 Netzer Encoder 5 10 7 DC Tacho The DC Tachometer input is normalized for 10V max voltage input The controller may be adapted to the signal level of the DC tacho by changing internal resistor values Details can be provided on request SWM7 DC Tach DC Tach HOUSING Figure 5 19 DC Tacho 5 10 8 TTL Encoder general Many motor manufacturers supply servo motors with optical encoders with TTL inputs Depend ing on the application encoders w
44. 12 350 V 24 650 V 24 V aux supply e Auxiliary supply voltage 24 V DC range 12 60 V DC max 25 Watt General industrial CT extended ET temperature versions and MIL types MT available 10 V analog interface for torque or speed control CANbus interface also for positioning purposes CANaerospace ARINC 825 and customized communication profiles available sine ware or block commutation using hall effect resolver or encoder feedback velocity feedback via DC Tach resolver encoder or hall effect devices high efficiency PWM 15 20 25 30 40 kHz with parallel modulation high bandwidth linear current control 12 5 us current loop calculation 100 95 digital set up of drive parameters including current loop multiple digital and analog l O s accordant to CE MIL STD 810 461 462 1275B 48 V versions etc high reliability 20 000 hrs to MIL HDBK 217F NS naval sheltered connector panel adaptable to special connectivity requirements SWM7S short version parameter monitoring and configuration from a PC via the USB RS 232 interface configuration software under Microsoft Windows OS e inputs and Outputs analog set value analog outputs visualization of fundamental signals real time analyzable digital outputs debug enable digital outputs error e Integrated safety external enable signal hardware input e Operation and
45. 133 M AG O N 10 EMC Recommendations User Manual MOTION UNDER CONTROL 1500 2 x AWG8 Power Output 2 x AWG18 DC DC 5 3 4x cs sg os ao O ag Figure 10 1 DC mains filter SWM7S input filter technology chap 10 1 2 10 3 Motor chokes The following motor chokes are available as standard L100 3K 1 mH 45 x 30 mm 0 25 kg Toroid core LO20 6K 0 2 mH 6A 60 x 40 mm 0 6 kg liU 1050 8 0 12mH 60 x 41 mm 0 6 kg LO12 20k 9 12mH 20A 60x41mm 0 6 kg Tab 10 2 Motor chokes optional In case of chokes and filters related questions contact MACCON tech support or phone 49 89 651220 0 134 Preliminary MAC SWM7 UMN prel R05 15 User Manual 10 EMC Recommendations M AG O N MOTION UNDER CONTROL MAIN CONTACTOR DRIVES CONTACTOR RECTIFIER Figure 10 2 SWM HV High voltage Controller Supply 10 4 Mounting Instructions The installation cabinet to be made out of metallic good conductive materials and to intercon nect via low resistance and high surface with all chassis elements and the earthing point or shield equalizer This equalizer must provide at least 6 of cross section all connection cables from and to the SWMT7S servo controller have to be shielded To avoid joined lines signal and load cables have to be arranged separately We recommend a minimum distance of 25 cm Both ends
46. 15 User Manual MACON MOTION UNDER CONTROL EO MeS AO ERIT ce eps L NE asss 67 6 6 1 Handling of RS 232 communication 67 6 6 1 1 Message Transmitting Telegram No Response 67 6 6 1 2 Message COM Error 0 02 67 6 6 2 Errors regarding wrong setup SWM7 GUI 68 6 6 2 1 Invalid combination of feedback sensors 68 6 5 2 2 Missing SEPISOL S ULU na u xmi HUNE 68 6 6 2 3 Incomplete sensor definitions a a nnns 68 6 0 9 Runtime IONS P ME NE 69 Over voltage u uuu 69 9 2 Under Volagere RAEE E 69 I tu 69 6 6 3 4 Over temperature heat sink a nnns nasse nis 69 COSS ETO Dr TGSOINGr uum E TD 69 70 E 70 6 6 4 Other error mess
47. 2 Mechanical Installation The mechanical installation has to be treated and handled carefully in accordance with the tech nical data see chap 3 1 1 and ambient conditions see chap 3 1 3 Safety Instructions A There is a danger of electrical shock by high EMC level which could result in injury if the servo controller the motor isn t properly EMC grounded Do not use painted i e non conductive mounting plates Protect the servo controller from impermissible stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with electronic components and contacts Do not mount devices which produce magnetic fields directly beside the servo controller Strong magnetic fields could directly affect internal components Install devices which produce magnetic field with distance to the servo controllers and or In case of errors hardware problems e g fuses connectors capacitor reforming user specific settings etc or other service related questions contact tech support or phone 49 89 651220 0 The servo controller will switch off itself in case of overheating Ensure that there is an adequate flow of cool filtered air into the bottom of the control cabinet or use a heat exchanger refer to chap 3 1 3 Guide to mechanical installation The following notes should help you to carry out the mechanical installation
48. 290 509 ES 5 190 izah 328 33H His A ele s TH TWH AHAS AWAS PENS 103044 punea x seed 160944 x z OLX Jopyeuuo NYJ Lx 20122uu02 XO81S31 ZWMS Ajddng Menu 2000 A lek iS DO Alddns G uogaauuoca 1 sioqui s p sn UBD sindu JO PUE zez Sa N 2 81015500 Josuas 4 uongoudde uo spuad rj Connection diagram Overview Figure 5 1 35 Preliminary MAC SWM7 UMN prel R05 15 User Manual 5 Electrical Installation MACON MOTION UNDER CONTROL SWM7S 48 150 5 5 1 HOSN3S 00114 HOLOIN AA oval 34W48 Uu A 35 vVHdHO LOIN NHNLSY AlddNS LI GE A vc ne jeuonippy D 1 AIddNS 20 D NHILLSH ATddNS 20 FEX 509 21 ESX 20 Zx 2d 3OVvLIOA Adds xew yore NOLLON 3 TvIO3dS NHOLOJNNOO FX PUE BL A dds
49. 7 6 4 Operational tasks This chapter describes the possibilities for using the SWM7 software The SWM 7 GUI is formatted to distinguish the setup parameters for common applications standard user advanced user and insider or MACCON tech support see details in chap 6 4 3 1 and chap 6 4 3 2 both on page 62 The display for parameter and measuring values is divided into the following see Tab 6 1 Window name Exampe _ Remarks _ Parameter display lt 2 gt t Current Limit BEBE EHU m of Ipeak JAE Using the and keys you adjust the desired parameter value 5 lt gt Index Pulse P Use Index Pulse Use not use parameter Index Pulse Measuring display lt 2 gt Abs Position Valid Valid oz L Display Abs Position is valid green valid 415 Frequency FP Display Pwm Frequency FPGA is TBD yellow TBD lt gt Use Indes Puke Indes Pulse Used POS s Measuring display Index Pulse not used grey not used red TBD pile FPGA Status Flags 2 Brake On E Display FPGA Status Flags 2 grey not used green used activ MAC SWM7 UMN prel RO5 15 Preliminary 60 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manu
50. EL e Abs Position is inside range Display ValidorNot valid lt 2 gt Encoder Offset circular Encoder Offset circular alele Adjust the offset of the connected o ELLE encoder A gt Index Pasitiar F TT POSITION CONTROL TE id Displays the index position 5 Index Pulse Index Pulse oz Use Index Pulse Selection for Use Index Pulse for commutation Choose Use or not used Internal Target Pasitiort Internal Target Position fot Displays the internal target position of x profile generator None X Fostii iti POSITION CONTROL BE Displays the current position wo a None Position Control D Gain Set a position control D gain for 77 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL POSITION CONTROL Control window in alphabetic order Explanation Input values systems with fast load changes lt 2 gt Position Control Feed Fwd POSCHTRL Position Control Feed Fwd Additional control parameter for optimized response and low following error Position Control Max Speed nnnm ell BERRE 000 imm
51. Fig 5 9 e Place the shield over a large area low resistance at both ends to ground Specifically the connection of the motor cable shield connector X4 should lie on both sides of SWM housing or motor housing 5 2 1 Sequence for installation 1 Connect the digital control inputs and outputs Connect the analog input source if required Connect the feedback device Connect the motor cable s Connect shielding to EMC connectors shield connection both ends Use the motor choke 3YL 3YLN if cable gt 25 meters Connect the auxiliary supply Connect the main electrical supply Connect the PC e Final check Final check of the implementation of the wiring against the wiring diagrams that have been used 53 Wiring The installation procedure is described as an example A different procedure may be appropriate or necessary depending on the application of the equipment We provide further know how through training courses on request 5 3 1 Safety Instructions Pay attention to the Safety Instructions to avoid any risk for dangerous voltages temperatures and hardware damage There is a danger of electrical arcing with serious personal injury Only install and wire up the equipment when it is not live 1 when neither the electrical supply nor the 24 V auxiliary voltage nor the supply voltages of any other connected equipment is switched on Take care that the cabinet is safely di
52. Flags latched OverTemp Drive 15 FPGA Status Flags 2 ux ndatt rror 2 Bus Voltage ADC Range zz Brake On CanTimeout Custom 1 Custom 2 2 ANADUT1 Gain 200 2 ANADUT1 Offset 4 4 4 J L 1 11 11 DEBUG DEBUG Optional Select the assignment of signals to analog outputs ANAOUT1 ANAOUT3 analogue outputs for SWM7 6 analogue outputs for SWM7S 117 Preliminary MAC SWM 7 UMN prel R0O5 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL 7 5 1 3 Sensorless control For sensorless motor control the relevant settings can be made here In this tab is possible the sensorless control using Speed input PC Speed Command and Currrent input Start Current lt 2 gt PC Speed Command mm s l a o 2 Start Current DC H Uz lt 2 gt Ramp Time lt 2 gt uncontrolled Speed FERRET 0 3 El lt 2 gt Acceleration uncontrolled J 2 irn re oss 212115151 lt 2 gt Acceleration J lt 2 gt Alignment Delay 2 EUU
53. HOUSING Figure 5 8 Command interface X2 SWM7 Enab Enable switch HOUSING Figure 5 9 Enable interface X1 5 9 Motor DC1 DC3 and brake connection X4 X3 Connect the motor with the SWM7 unit see Fig 5 7 and Fig 5 8 incl the temperature supervision see Fig 5 4 For the use of a holding brake an external auxiliary supply according to the brake voltage has to be provided see Fig 5 9 MAC SWM7 UMN prel R05 15 Preliminary 41 M AG O N 5 Electrical Installation User Manual MOTION UNDER CONTROL for wiring gt 25m E Phase U MOTOR DC3 brushless POWER 3 phases STAGE 2 md iie Motor HOUSING HOUSING Figure 5 10 DC3 motor connection SWM7 X4 for wiring gt 25m Phase V POWER STAGE m amm Gnd RN HOUSING Figure 5 11 DC1 motor connection SWM7 X4 a ae Motor rak brake Brake Brake VOLTAGE e e VOLTAGE CURRENT Figure 5 12 Motor brake X3 42 Preliminary MAC SWM7 UMN prel RO05 15 User Manual 5 Electrical Installation MACON MOTION UNDER CONTROL 5 10 Feedback Every closed servo system will normally require at least one feedback device for sending actual values from the motor to the servo drive Depending on the type of feedback device used information will be fed back to the servo con troller using digital and or analog channels If necessary for
54. MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD _ M MOTION UNDER CONTROL Optimum PID Coefficients P 4 I 0 001 D 4 35 30 25 20 MOTOR SPEED 1 2 3 4 5 6 7 B 9 10 11 12 13 14 15 16 Tf 18 19 2 0 1 SECOND INCREMENTS Figure 7 9 Optimum PID coefficients P gain proportional gain integral gain Figure 7 10 PID Control system result D gain derivate gain 7 7 Save Settings For details see in chap 6 4 1 MAC SWM7 UMN prel RO5 15 Preliminary 122 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL 7 8 Error Messages The message text see Tab 7 10 will be displayed in the status line of the SWM7 GUI in red MACON verVollage The codes for the errors F0 F1 and 2 see error matrix below be read out on the X2 Signal Connector FO X2 9 DIGOUT1 F1 X2 10 DIGOUT2 F2 X2 11 DIGOUT3 7 8 1 Error matrix The following table shows different error numbers FO to F7 and the message text DIGOUT1 0160072 DIGOUT3 0 0 0 FO Noerror 0 0 L F1 Over Voltage 0 L 0 F2 Under Voltage 0 L L F3 Over Current L 0 0 F4 Over temperature heat sink L 0 L F5 Error on resolver or option card L L 0 F6 I twarning L L L F7 t limiting Tab 7 18 Error matrix 7 9 Trouble Shooting tech support
55. MOTION UNDER CONTROL 7 System Parameters Setup User Manual MOTION SENSOR MONITORING MOTION SENSOR MONITORING MOTION SENSOR MONITORING Control window in alphabetic order lt 0 gt Sine encoder 1 offset compensation _ Stat e o Explanation Input values Sine encoder 1 offset comp Start 1 Amplitude _ SinEnc1 Amplitude Actual data for checking operation of sin cos encoder 5 5inEncl Volt A SinEnc1 Max Voltage A o Stored min max values for debugging encoder problems eils SinEncl volt B O LLI oinEnc1 Max Voltage B Positive peak voltage of cosine signal of sine encoder 1 L 15 SinEncl Min SIMENC 1 SinEnc1 Min Volt A Stored min max values for debugging encoder problems d S5inEnc1 wolt B L SINENG1 SinEnc1 Min Volt B Negative peak voltage of cosine signal of sine encoder 1 vy l m n k maqa maqa Lu m IR SINENC1 ES m Emm um E SinEnc1 Offset A Offset compensation value for sine channel of sine encoder 1 Set by software Use Sine encoder 1 offset comp sin to manually adjust offset SinEnc1 Offset B Offset compensation va
56. Monitoring values for optimizing sensorless control lt 2 gt Phase Correction 000 x S L Phase Correction Monitoring values for optimizing sensorless control lt 2 gt Start Current DC SENE Start Current DC Initial current for motor alignment Suggested start value 5 Tab 7 4 Control windows in SENSORLESS CONTROL tab 7 4 3 3 Control windows in FIELD WEAKENING tab TBD The necessary parameters for field weakening operation can be controlled in this section This settings in FIELD WEAKENING tab can be used to drive a motor at a higher speed than nominal for a given DC supply voltage with reduced torque The field weakening effect is achieved by influencing the ID and IQ current vectors 81 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL gt Control window Explanation alphabetic order Input values Curent Command D Current Command D Display of actual current loop MEN 200 command D vector CURGCNTRL D vector resulting from speed controller lt gt Curent Command H Current Command Q Display of actual current loop JupojojoE command Q vector CURCNTRL Q vector resulting from speed controller 22 gt Curent O Current D
57. Offset al S MENMU vv Is used for calibrating the level AAAA El voltage of the output 1 Select Achy act lActD Ctrl C ut LI V Pw w Comm Angle Act Speed Speed Cmd Act Curr Curr Cmd Anal md AnaCmde DeTach ALT AUR AL 4 AL ALIE AL ALS ALS Debug Debug Debug3 ANAOUT 1 Select Select the signal for assignment to the certain output Select the output for SWMT ANAOUT 1 to ANAOUT3 SWM7S ANAOUT 1 to ANAOUT6 xc xc yuy Y xc SWM7 ANAOUT1 ANAOUTS3 SWMT7S ANAOUT1 ANAOUT6 DATA ACQUISITION 105 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL DATA ACQUISITION DATA ACQUISITION Control window in alphabetic order lt 2 gt ANAOGUT1 2 Voltage Range dUV 10 5 e Explanation Input values ANAOUT 1 2 Voltage Range Select 5 V or 10 V range for each group of outputs lt 2 gt 2 Gain ed vor EIEE e zi ta LL a ANAOUT 2 Gain Use the gain setting for scaling the linked signal to the output range
58. SLX ongo L X IX 00000000 000060000 33vw33 a ans 2109 a ans eed 6 rans 31vwa3 a ans 209 HOLO3NNOO 8X HOLO3NNOO OX HOLO3NNOO H3AT10S39MW LX HOLO3NNOO HOWL 01 Z1X xiusoug OL APTS 5 TVLIOIG LX aTywa3 a ans 51 LLL PU 3NIS ZLX NIS a ans s YAGOONS 1VIH3S pue 3NIS LEX Figure 5 3 Connectors for SWM7 48 150 with extended I O 3 Preliminary MAC SWM7 UMN prel R05 15 User Manual 5 Electrical Installation MACON MOTION UNDER CONTROL 5 5 3 SWMT7 48 100 M6 motor connectors IDADI tnDADI LL ELX QL PLX HJI Z NVININCKO SO TRY XC TEN LONINIICKO mO dioere sd amp LidMIOOTgNVY FLX ASO AOL DO TNY LAS OFTEN OTN SSLN ASO IAOLS ELNO ETN ESIN ALS zino SOTENY CASO ADI LINO SO TWA tapuy musuq sod 5119110 SOTvNV SLX NOW OXM bL ZX NOW OXL EZX OND ZEX wu MEX od 1 ZEZSH EULCEX EMEX FEX 4pe En mod s YOLIANNOD BSN LEX QNO YNA EU 5 L LX WOS Hl b L LX aL E L LX
59. Sensor Encoder Offset circular 100000 incr Active Positioning Sensor Increments Rev or m 280000 Active Positioning Sensor Index Pulse Use Index Pulse 7 Loading File V Temp GR SetUp Tool Swm 7Setup Test_MACCON macp Done Save as Save as Figure 7 5 Parameter Preview window Result e in column Found will be displayed YES if the parameter found in SWM firmware e the column M P informs the user which parameter is read write P read only M Using the export function in a csv and or txt file you have more possibilities for searching any parameter caption or value incl to compare two different macp files Parameter window or measuring window marked in red In case that the current firmware does not contain a specific parameter which is part of the cur rent GUI layout see Fig 7 3 this window is marked as Not valid lt 0 gt CAN Transmit Mode f Free Running Figure 7 6 CAN Transmit Mode not present in current firmware SWM 7 control windows In this chapter are described all control windows of the SWM7 GUI see Control windows in POSITION CONTROL tab page 77 Control windows in SENSORLESS CONTROL tab page 79 Control windows in FIELD WEAKENING tab TBD page 81 Control windows in PHASE FINDING tab page 83 Control windows in CAN tab page 85 Control windows in OFFSET tab page 87
60. Setup _ M MOTION UNDER CONTROL Encoder resolution 1 000 rev PWM frequency 15 kHz e Interrupt driven PID trigger eliminates code tuning maintains accurate PID timing Integral windup PWM term overflow PID variable overflow How are these coefficients for P and D determined The behavior of most systems is measured by the system s Step response see Fig 7 2 1 1 5 4 19 Figure 7 2 Display of response 2 channel oscilloscope insert original screenshot TBD text text text MAC SWMT7 UMN prel R05 15 Preliminary 72 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL PID TESTING P 5 1 0 001 D 1 TO 5 MOTOR SPEED 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 0 1 SECOND INCREMENTS Figure 7 3 PID testing Parameter identification by optimization of current step response This practical method of establishing current controller parameters by step response optimiza tion of motor current involves the following steps Operate the motor in current control e Connect a signal generator to the command input using the Test box optional Set frequency to around 100 500 Hz amplitude corresponding to 50 100 of motor current Measure the current in a motor phase with a current probe or by using an analog output View the commanded and the actual motor current on a 2 channel
61. UNDER CONTROL COMMAND INPUT SELECT Control window in alphabetic order lt 2 gt Use Curr Limiting D NO YES CNTRL Explanation Input values Use CAN Curr Limiting Cmd Flag for using CAN value for current limitation Used by MACCON tech support Tab 7 15 Control windows in COMMAND INPUT SELECT tab 7 4 3 14 _ ANALOG INPUT ANALOG INPUT Control windows ANALOG INPUT tab Control window in alphabetic order Explanation Input values Analog Input 1 Analog Cmd Input 1 Output of D A converter of analog input 1 T gt Analog Cmd Input 2 3 Analog Input 2 Output of D A converter of analog input 2 Analog Input amp us Analog Cmd Input Aux Output of D A converter of analog input AUX Analog Lowpass 1 Analog Lowpass PT 1 Lowpass setting for analog commands 2 Analog Adjusted 0084 Analog Cmd1 Adjusted Scaled value of analog input 1 Analog 1 Gain Adjust zi n Analog Cmd1 Gain Adjust Scaling for analog command 1 Analog 2 Adjusted ORO 6412 Analog Cmd2 Adjusted Scaling for analog command 2 lt 2 g
62. alphabetic order Back EMF Const n9 a d v Explanation Input values Back EMF Const EMF constant of single phase circuit The EMF value measured between two motor phases RMS has to be divided by V3 Enter the value according to your motor data sheet lt 2 gt Motor Inductance D Motor Inductance D D component of motor inductance of single phase equivalent circuit Enter the value according to your motor data sheet The inductance measured between two motor phases has to be divided by 2 This parameter is split into Motor Inductance and to improve field weakening capabilities lt 2 gt Motor Inductance 0 Motor Inductance Q D component of motor inductance of single phase equivalent circuit Enter the value according to your motor data sheet The inductance measured between two motor phases has to be divided by 2 see above Motor Inductance D lt 0 gt Motor temp sensor type None Thermo Switch PT100 C PTC 130 C C PT100 2 Motor temp sensor type A fault message and controller turn off result at 130 C when either one of these sensors was selected Select the sensor type used lt 0 gt Motor Rotary Linear MO T1 Motor Type Select the motor type Rotary Linear lt 0 gt Motor Winding 3 Phases M
63. circuits two independent and isolated voltages are used and provided for external uses 5V DIGIN 5V DIGOUT as well For simplicity the digital grounds have a common ground point DIGIN GND DIGOUT GND which is available on X2 14 and X7 1 52 Preliminary MAC SWM7 UMN prel R05 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL Each of the digital supply voltages is capable of delivering up to 150 mA Its not allowed to connect it directly together if higher current capability Is needed use e g diodes for balancing The SWM7 has e 5 digital inputs on X2 and X7 Connection front No 1 X2 DIGIN1 X2 13 1 1 CURRENT CONTROL switches between current and speed control if the SWM7 commanded externally without PC or CAN 2 X2 DIGIN2 X2 15 ENABLE serves as a hardware enable input 3 XT DIGIN3 X7 3 4 XT DIGIN4 X7 4 5 XT DIGINS 7 5 can be configured for customer purposes Tab 5 3 SWM7 digital inputs Properties of digital inputs High level gt 2 5V Low level lt 1V Voltage range 0 24 V recommended 0 5 V Input resistance 4 kOhm e digital outputs on X2 Connection front No 1 X2 DIGOUT1 X2 9 ERROR CODE FO signals failure conditions to external circuits 2 2 DIGOUT2 X2 10 ERROR CODE F1 signals failure conditions to external circuits 3 2 DIGOUT3 X2 11 ERROR CODE F2 signals failure conditions to external circ
64. cos Result of auto offset compensation can be adjusted manually Used by MACCON tech support Netzer Coarse offset compensation Coarse Offset only Coarse Fine Angle only NETZER sin T Offset voltage of coarse track sin Result of auto offset compensation can be adjusted manually Used by MACCON tech support Jobpa sun Ls Netzer Coarse Fine Shift BENNNU i i MEE Phase shift between coarse and fine track Result of auto offset compen sation can be adjusted manually Used by MACCON tech support Netzer Sensor Calibration C Run All Controls automatic Netzer sensor calibration Used by MACCON tech support Pga Gains 99 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL gt Control window SENSES y in alphabetic order 1 Pga Gains e Explanation Input values Gain settings for DC tach input and phase voltage measurement Used by MACCON tech support lt 0 gt Resolver Frequency 10kHz 8 33 kHz 6 25 kHz MOTION SENSORS Resolver Frequency Phase shift compensation for resolver Refer to Tab 7 1 lt 0 gt Resolver Gain medium Setup to motor resolver data sheet Resolver Phase
65. e g optimizing the different drive settings see chap 7 Enable Drive N Disable Drive Figure 6 5 Enable Drive and Disable Drive 6 4 3 Adding parameter displays to a page The menu item Parameters opens a window which allows selecting additional parameters for display Simply move the desired parameter to the certain setup page by drag and drop see be low 61 Preliminary MAC SWM7 UMN prel R05 15 User Manual 6 Controller Monitoring with SetUp Tool SWM7 exe M AC MOTION UNDER CONTROL Parameters amp Active Commutation Sensor Close lt 2 gt Profile Deceleration T Speed Sensor BREE GO msec mm s 21 11 0411 Inputs c Communication amp Current Control 4 Customer Specific Parameters Data Acquisition Parameters 1 0 amp Internal Processor Communication 6 Motor initialization PROF 2 Profile State Profile done n c Position Control c Position Sensors Profile Generator Profile Max Acceleration Profile Max Decele n Profile Max Speed Value 0 Target Position User Class User Profile State FW Name fMaxAccelRamp CAN Target Position Control THUMB Copy of CAN Target Po Properties 7 0 1 0 rpm sec mm s Internal Target Position Checksum A565 Profile Freguency Profile Position Command Profile Speed Command X
66. gt Message window 59 Firmware Update Tool Opens Firmware Maintenance window lt ALT e u gt Permitted only with the express permission of MACCON tech support Upload Controller Flash Upload controller data into a file for MACCON tech support lt ALT e L gt Show Groups Displays parameter groups used by MACCON tech support lt ALT e g gt 6 5 1 5 Type Plate tab Displays and modify the type plate data stored in the drive will be used in a next version 6 5 1 6 About tab Displays the current software version 6 5 2 Related files GUI layout mac parameter file macp The SWM7 Setup tool will work as a single file without installation procedure The software can be operated directly out of your hard disk working directory There are two file types related with SWM7 software 1 MACCON GUI layout file mac contains the specific set of parameter sheets tabs and the parameter layout The menu items File lt Open and Save are related to name mac files On software startup the last used MAC file is loaded 2 MACCON parameter file macp This file contains the values of all parameters for a certain drive setup and is independent of the layout file It is used as back up or to duplicate drive configurations The menu items File Load Parameters and Save Parameters are related to macp files The connection between PC and SWM 7 d
67. oscilloscope Adjust the response of the actual motor current by changing the current controller parameters 4 Care should be taken that the motor shaft does not move If necessary increase signal frequency or reduce amplitude A good setup sequence to optimize the current control response is Set component of current controller to 0 dB nearly zero integral gain Increase P component of current controller gain until the current starts to oscillate Halve the value of the P gain Measure the current in a motor phase with a current probe or by using an analog output Again increase the l component until the current begins to oscillate Halve this value of l gain 73 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL 7 3 2 7 3 2 1 7 3 2 2 7 3 2 3 7 3 2 4 7 3 2 5 Store the optimum current controller values established in Flash memory Max Current Provides a current limit for all operating modes based on the maximum current of the drive Reduce this value to a level according to your motor Commutation Sensor Select Defines the feedback system which is used for phase and current control It may be the same as speed and position sensor I t Limit I t monitoring limit for creating a warning or error Speed Loop It is necessary to match the servo controller to the mechanics of the drive system in order to opti mize p
68. the GUI layout file for your customer specific project in the following naming SWM7 Name of customer or project gt mac Example SWM7 MACCON 01 mac 63 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 6 Controller Monitoring with SetUp Tool SWM7 exe M AC MOTION UNDER CONTROL Then locate on your hard disk the mac file Overwrite this file with the CD ROM s This generates the Delivery Status of your project For all other fall back procedures contact MACCON tech support 65 Description of menus and windows 6 5 1 Menu items The menu items are described in the following You can open the menu items using the mouse pointer or ALT key followed by the underlined letter e g lt ALT f gt to open the File menu 6 5 1 1 File menu Menu item Description lt ALT f gt New Create a blank parameter window Page1 with lt ALT f n gt MACCON configuration Untiteled0 mac Opens window for selection of a configuration lt ALT f o gt Save as Opens a window for lt ALT f a gt saving a new file i e overwrite Untitled0O mac overwrite the present configuration mac file lt ALT f p gt Load Parameters Loads a parameter value file macp Save Parameters as To save overwrite a parameter value file macp lt ALT f v gt Examine Par
69. the application different sensor can be chosen for commutation speed control and or positioning Commutation sensors for DC motors e usage of a brush type motor there is need for a commutation sensor for operation of brushless motors DC3 a commutation sensor is required 5 10 1 Hall sensors X13 The servo controller of the SWM7 family provides interfaces for all common sensors on mar ket The servo controllers are equipped with a high dynamic current loop with a superposed speed controller by default To close the current loop for electrical commutated servo motors DC3 a commutation sensor is necessary Analogous to it a speed sensor to close the speed control loop for all servo motors must be em ployed The simplest sensor for that is a hall effect sensor The connection of this type of sensor is de picted in Fig 5 11 HE SENSORS X13 i SWM7 51 1 5V 5V E at wat x sls Ph YN D V ase 8 s 22k O w 7 5 E 6 x m AGND Figure 5 13 Hall sensors X13 To ensure a smooth initial operation of a motor with hall effects it is A necessary that the switching edge of the sensors is phasing electrical angel to the motor MAC SWM7 UMN prel R05 15 Preliminary 43 M 5 Electrical Installation User Manual MOTION UNDER CONTROL G If the HE sensors are inaccurately m
70. the slower field oriented controller to increase loop bandwidth lt gt Position Sensor Select enot used SineE nice 1 gt rics 2 gt Resolver TTL Enc SineEnc EnD at EnD at Digital Hiperface Biss Netzer y kt Position Sensor Select Defines the feedback system which is used for position control loop Select acc present sensor type Rotatory Speed Rotatory motor Speed as derived from active speed sensor Speed Clipping 95 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL SPEED CURRENT CONTROL Control window in alphabetic order m Speed Llippinig as ug uu CURGNTRL Explanation Input values Displays current reduction caused by overspeed protection See parameter Speed Limit SRR RREO OOO masl Speed Control Actual Speed Actual speed as derived from active speed sensor position lt 2 gt Speed Control D gain DDUD1E 6 SPDCNTRL Speed Control D gain Set D gain only if fast load changes are expected see chap 7 3 1 1 on page 71 lt 2 gt Speed Control gain I l 0001 6 Speed Control gain Set gain only if fast load changes are e
71. to 32767 lt 1 gt Phase Curent w Phase Current V EBENEN co ao of current sensor of Range 32768 to 32767 Tab 7 8 Control windows OFFSET tab MAC SWM7 UMN prel RO5 15 Preliminary 88 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL 7 4 3 7 Control windows in MOTION SENSOR MONITORING tab Different internal signals of certain feedback systems can be watched here For sinusoidal encoders an automatic offset compensation routine is available The compensa tion values can be adjusted manually EnDat sensors are initialized automatically p UN Control window Explanation Qon SENSOR alphabetic order Input values 62 Dig Encoder SEate Dig Encoder State Initialized Display only Mult EnDat Multi Turns Multi turns of connected EnDat x B u E 0 position sensor e E Data are read out from connected EnDat device lt 0 gt EnDat Sensor EnDat Sensor Type D Ratary Linear Incremental Data are read out from Absolute connected EnDat device D Multitum XU EriD at Sine Cycles unm EnDat Sine Cycles Turn or m MOTION SENSOR MONITORING TTT fol Monitoring and debugging parameters derived from the EnDat signal DIGENC Data are read out from conn
72. 04 Achtung Dokument zur ckgezogen 1 new chap 3 see file 3_Description_R01_issue 29th of April pdf 4 RPR check TBD in chap 4 4 Assembly Review_yr RER check TBD in chap 5 5 5 LWM7S 6 RER gr added runtime errors chap 6 6 3 2 to 6 6 3 7 Review_ sf Missing Functional drawings for SWM7 7 Start up Ongoing Review_sf To Do Capacitor reforming l schen alle Reglerstrukturen SWM7 Kap 7 3 1 1 good setup sequence siehe unter Fig 7 2 gilt fur SWM6 Q und D nicht ber cksichtigt vor 7 3 2 Anpassung SWM erforderlich Kap 7 3 2 1 welcher Link englisch http www maccon de en company contact html 8 GLO ree Eintr ge RFR und TBD vor Freigabe l schenpacitor 9 Index Index updated new format added all Control windows for SWM7 14 02a 10 EMC Review_ak Details for Hardware Revisions Rev D4 tbd SWM7 1212a SWM7 EXE file is running under Win2k Windows XP Vista Windows 7 and Windows 8 alle Issue History issue Reason for Update 5 MAC SWM7 UMN prel R05 15 18 05 2015 Preliminary and Start up Chap 7 Preliminary MAC SWM7 UMN prel R05 15 User Manual Table of Content MACON MOTION UNDER CONTROL T Hilo Hi J 13 Tag Manua
73. 1 Bit lt Extended 29 Bit type identifier length must according to master setting I CAN Act Position Scaling CAN Act Position Scaling l 2 lt 0 gt CAM commanded value CAN commanded value Display of commanded setpoint TTT TTT TTY jo referring to current or speed mode dependent for CAN operation lt 0 gt CAH commanded value 2 CAN commanded value 2 Display of commanded setpoint referring to current or speed mode dependent for CAN operation CAN Max Speed Maximum operating speed in CAN control mode lt 0 gt Hecerve ID 1 Receive ID 1 CAN identifiers for transmit and receive telegrams have to be set corresponding to master controller I Hecerve ID 2 Receive ID 2 CAN identifiers for transmit and receive telegrams have to be set corresponding to master controller lt 0 gt Receive timeout Receive timeout This timeout can be used for a security shutdown of the drive if no CAN telegram is received Set to zero to disable timeout detection MAC SWM7 UMN prel R05 15 Preliminary 86 MACON MOTION UNDER CONTROL 7 System Parameters Setup User Manual CAN
74. 138 vHd8HO LOIN HOSN3 amp 00114 n 38vHdHOLON HALIANG TgIWHSH EL HOJ01IN ONS HOLIMS EI L LLX ELX ELL ELE LEX Lik FLEX AOL ELNO SOTWNY ADL DOTVNV AOL 7 SOTWNY NI Z GNVWINO2 SOTWNY AOL NI Z GNVWWO2 Le LO WASI 2451 NYNLSY NI L SOTWNY AOL NI L GNVWWQO2 SOTNV OND WOHLNOD LN3HHIDO 74 3302 eun oed L3 3002 zunoera 04 3302 LNOSH H3OO02N3 nog od sz NHOLO3NNOO TvNOIS iz Ted cans sed sil TvTH35 SNIS LEX 0059 ooooooQ 00000000 LNI SH LNI SH Lnoola ADOS AG PMID EMISIJ AS INO 1 a a ans SL lHOd 03191080190 ZX cu ru ES xa 10838 H ND S00 ps OX AT be Sess ONL ens ONS 4350 ONS ND bagal z
75. 2 or Resolver disables Encoder Input 2 Duplicate Use Of Encoder Input 2 14 02 Enable Drive Disable Drive Figure 6 14 Duplicate Use Of Encoder Input 2 6 6 2 2 Missing motion sensors Additionally the missing sensor is mentioned in the message window see Fig 6 8 No Commutation Sensor defined No Speed Sensor defined or No Positioning Sensor defined Drive Mode Missing Motion Sensors p 220881 Enable Drive Disable Drive e Positioning Sensor define Figure 6 15 Missing Motion Sensors 6 6 2 3 Incomplete sensor definitions Some sensors need additional configuration e g if you select Hall sensors as feedback sen sor you also have to define the hall switch type supply voltage 67 Preliminary MAC SWM7 UMN prel R05 15 User Manual 6 Controller Monitoring with SetUp Tool SWM 7 exe M AC MOTION UNDER CONTROL Otherwise an error message is output Hall Sensor Type defined 3 Positioning Sensor defined Enable Drive Disable Drive 10 Positioning Sensor defined Figure 6 16 No Hall Sensor Type defined 6 6 3 Runtime Errors Runtime errors appear during operation if a safety limit is reached In this case the drive will be disabled immediately The error message is cleared if the cause of the error is removed and the drive is disabled and re enabled by the user 6 6 3 1 Over
76. 6 3 1 Connect the interface cable COM port of PC and X2 1 of the servo controller USB to serial converter can be used if no COM port is available Note An USB interface will be available as a next implementation Switch on auxiliary power supply for the servo controller Double click SWM7 EXE icon on your Windows desktop the SWM 7 SETUP program opens see below MAC SWM7 UMN prel RO5 15 Preliminary 58 M 6 Controller Monitoring with SetUp Tool SWM 7 exe MOTION UNDER CONTROL Figure 6 1 User Manual MACCON SWM7 5 File Settings Parameters Service TypePlate About POSITION CONTROL SENSORLESS CONTROL FIELD WEAKENING PHASE FINDING POSCHTRL lt 0 gt Position Sensor Select 5 5 E 8 Position Control gain 200516 used SineE nce 1 gt SineE nce z gt Resolver TTL Enc o a a a lt 2 gt Position Control D gain BERN 00051 6 SineE nc EnDat SinCos EnD at Digital Hiperface 2 Position Control Feed Fwd Biss Netzer 551 MACCON SWM7 SETUP main window example Wait until the question marks and or the blue progress bar are gone then the communication process via the interface to SWM7 is finished parameters Choose the communication system and the interface wh
77. ATA ACQUISITION tab 106 7 4 3 13 Control windows in COMMAND INPUT SELECT tab 111 7 4 3 14 Control windows in ANALOG INPUT 113 7 5 Operational tasks with SWM7 GUI TBD ssesesseesseeeenenenn nnnm nnne 115 7 5 1 Recommended sequence for operation 115 1 5 1 1 SUC I EP 117 LECM ABI P eersge 117 7 5 11 3 DENSONESS COMUON m 119 7 5 1 4 Speed Current Control TBD 119 7 5 15 EIU S uuu u uuu a So uya pad esc 120 ONO AN uuu una as ve bss 121 FECUNDUS caue 121 Fa Op iii NR emt 122 MAC SWM7 UMN prel R05 15 Preliminary 7 MACON MOTION UNDER CONTROL User Manual UN ss sec uu deh 124 LOEN IWC SS AS u edn cuneate eee e TEE 124 REED tmm 124 7 9 Trouble Shooting ones 125 O en T 128 X 133 10 Recommendations
78. CURRENT alphabetic order Input values 22 gt Curent Command l s Current Command D EEUU HUU Display of actual current loop command D vector Curent Command M Current Command Q E Display of actual current loop command Q vector see in OPERATION chap 7 4 3 3 lt 2 gt Current Control Current Control Field Oriented E Classic z see in OPERATION chap 7 3 1 1 Current Control D gain Parameter identification by optimization of current step response Set D gain only if fast load changes are expected see chap 7 3 1 1 on page 71 Current Control gain Parameter identification by optimization of current step response See chap 7 3 1 1 on page 71 Current Control P gain SPEED CURRENT CONTROL Parameter identification by optimization of current step response see chap 7 3 1 1 on page 71 2 Direction Direction not inverted irecti i Li Direction setting for commutation sensor depending on motor phase sensor orientation LLI e inverted tL Standard not inverted ta I t Current mr t Current Limit lxt monitoring limit for creating a warning error SPEED CURRENT CONTROL lt 2 gt t Limited Current Time Limited Current Time monitoring limit
79. Control windows in MOTION SENSOR MONITORING tab page 89 Control windows in SPEED CURRENT CONTROL tab page 93 Control windows in MOTION SENSORS tab page 97 Control windows in SYSTEM SETUP tab page 101 Control windows in SWM STATUS tab page 102 Control windows in DATA ACQUISITION tab page 105 MAC SWMT7 UMN prel R05 15 Preliminary 76 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL Control windows in COMMAND INPUT SELECT tab page 110 Control windows in ANALOG INPUT tab page 112 All control windows listed in alphabetic sequence also sorted in Index of this User Manual Depending on the SWM configuration and firmware version supplied are not all control windows present or may be arranged differently You can configure the GUI tabs and control windows acc your needs see chap 6 4 3 to 6 4 6 7 4 3 1 Control windows in POSITION CONTROL tab i Control window Explanation P in alphabetic order Input values Abs Circular Abs Circular Position Displays the circular position of the motor LLI 5 1116 07 as None Abs FPusitiorr a Abs Position motor SENS POS SERRE lt Displays the current position of the None lt 2 Abs Position Valid Abs Position Valid P Display the validity of the position i e
80. D _ M MOTION UNDER CONTROL a Control window Explanation SUM alphabetic order Input values lt 0 gt STH710 CPU load STR710 CPU load BED Display percentage of C time utilization SWM STATUS a ca c For MACCON tech assistance only Tab 7 13 Control windows in SWM STATUS tab MAC SWM7 UMN prel R05 15 Preliminary 104 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL 7 4 3 12 Control windows in DATA ACQUISITION tab Different internal data mainly concerning the power stage and processor status is summarized in this chapter Limitations for power stage bus voltage and current can be set The state of digital as well as processor status flags can be monitored You can select the assignment of signals to analog outputs SWM software offers six analogue outputs which can be widely configured to the specific application needs A gt Control window Explanation ale ISI in alphabetic order Input values 2 ANADUT1 Gain ANAOUTA Gain Use the gain setting for scaling 000 vor HAc linked signal to the output range a a ta a Gain 1 0 outputs 10 V 10 Vor Q 5V for signal values of 1 0 1 0 Depends on parameter ANAOUT1 Voltage Range ANAOUT1 Offset lt 2 gt ANAOUT1
81. Device Manager 67 Figure 6 12 Port Settings for the COM port 67 Figure 6 13 Adjust Receive Buffer for COM port sssssssssssssssssseenneen nennen nnne nnn nnn nnns 68 Figure 6 14 Duplicate Use Of Encoder Input 2 a a a a 68 Figure 6 15 Missing Motion Sensors sana 68 Figure 6 16 No Hall Sensor Type defined a nnn nnns 69 Figure 6 17 Over Teio 69 Figure 6 18 Over temperature heat r ar nennen nnne nennen nana nnns 69 Figure 6 19 t warning mE TERI 70 Figure 7 1 PID Control 72 Figure 7 2 Display of response 2 oscilloscope insert original screenshot 73 Figure BEI T ne eee eee ee 74 Figure 7 4 Parameter Tach Lowpass PT1 76 Figure 7 5 Parameter Preview window
82. Error Convergence Error The smaller the error the better the convergence quality lt 2 gt Convergence Quality Convergence Quality Phase Finding j Result of phase finding alqorithm g alg Should be more than 90 s 83 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL End gt Control window Explanation lt B in alphabetic order Input values El Angle ffset El Angle Offset LLI BB Electrical angle between motor phase sensor orientation Display only Fine Tuning Gain Control loop gain for fine tuning cycle Fine Tuning Time Duration of fine tuning cycle Suggested start value 1000 ms lt 2 gt Motor Startup Synchronization Motor Startup Synchronization f for absolute sensors Phase Finding Phase Finding Encoder Index Hall Sensors Encoder Index Choose Phase Finding when no hall sensors and no absolute encoder or resolver are present The parameters may be optimized to achieve a smoother After first enabling the phase shorter phase finding cycle If finding result can be used until current values are too low or power off selected times are too short the The phase finding ca
83. Figure 6 6 Adding parameter Profile Max Acceleration to a section example The parameters can be used simultaneously in several tabs of the GUI 6 4 3 1 Meaning of formatting in the Parameters window In Fig 6 6 are displayed different format settings bold these parameters are used for common tasks i e for standard users normal for advanced users italic for insider User class Debug and MACCON tech support The user classes are visible in the info box see Fig 6 6 6 4 3 2 Meaning of formatting in a parameter display The following formats are used visible in each control window Frame Titein parameter measuring for bold bold common applications standard user bold normal advanced user thin normal insider or MACCON tech support 6 4 4 Delete parameter display of a page You can delete parameters in a section Choose in menu item Service lt gt Modify Then select the control window e g Encoder Offset circular in Fig 6 6 and right click the mouse to delete lt 2 gt Profile State Profile done Delete Figure 6 7 Delete measuring window Profile State example PRO Confirm message Are you sure to delete with OK button The measuring window Profile State is deleted now MAC SWM7 UMN prel RO5 15 Preliminary 62 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manual MOTION UNDER CONTROL 6 4 5 Creating user d
84. IOIG GND LNOSIG GND LNIDIG QN9G 23 3009 ELNODIG L3 3009 ZLNODIG 03 3009 4033 LLno9IG 1n07 H3QO0ON3 17021 H3009N3 H3Q009N3 1nog H3009N3 H3Q000N3 H30O09N3 dens 51 333GOON3 TVINAS 3NIS LEX ZLNOTSY 1 2 ZLNOTSY 1 2 H1nO 3H INI SH LL X INI SH 0L ZX 91n09IG SiNODIG LX 1nOO9IG 9 SNIDIG ZX PNIDIG 2 ENIDIG x NIDIG AS GND 1n09 G QN9 99995 1 eooooj YOLIANNOD NYI OLX YOLIANNOD HOVL bX 1 9X 0 sod o mine Je s ele ele co Vzx FEX e e I 434 9 o g ax ex apd p NO103NNOO ZEZSH Nv2 9 1 HOIO3NNOO XO81S3l FIX ps hem s HO123NNOO 13NH3Hl3 av aans ed 6 370123 a ans 6 rens sod 6 LO LO YOLIANNOD GSN 39 Preliminary Figure 5 5 Connectors for SWM7S 300 600 MAC SWM7 UMN prel R05 15 M AG O N 5 Electrical Installation User Manual MOTION UNDER CONTROL 5 5 5 LWMTS 6 A drive version with a linear non switching power stage is availabl
85. PT1 7 4 7 4 1 7 System Parameters Setup User Manual In case of resolver operation the lowpass has to be configured according to the Tab 7 1 15 20 25 40 so Resolver frequency kHz Lowest filter value or a multiple 10 6 8 10 6 8 10 8 15 10 25 15 10 25 6 6666 18 24 30 18 24 30 5 12 16 20 12 16 20 Tab 7 2 Lowpass configuration values for resolver operation The Fig 7 4 shows the PT1 filter for smoothing the speed cutoff frequency Hz 14 Figure 7 4 Parameter Tach Lowpass PT1 Examine parameters file Shows the parameter values stored in a macp file Display Information SWM7 GUI loop reaction fg fPWM 40kHz fg fPWM 20kHz Choose in menu item File gt Examine Parameter file and select a macp file The result is shown in Fig 7 5 below 19 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL 7 4 2 7 4 3 Parameter Preview Group Value Active Commutaton Sensor Direction not inverted Active Commutation Sensor Increments Rev or m 280000 Active Commutation Sensor Index Offset incr Active Commutation Sensor Index Pulse Use Index Pulse NO Active Commutation Sensor Use Absolute Encoder No Active Positioning Sensor Direction not inverted Active Positioning Sensor Encoder Offset 0 incr Active Positioning
86. Setup acc to motor resolver data sheet 2 n LLI E Resolver Pole Pairs Pole pairs of resolver Setup acc to motor resolver data sheet lt gt Sine Enc 1 Cycles Hev Zm J ERDAN SINENGT Sine Enc 1 Cycles Rev or m Set the resolution in full sinusoidal cycles per revolution lt gt Sine Enc 2 Cycles Heyv or nnnnnnm 10244 MOTION SENSORS SINENG2 Sine Enc 2 Cycles Rev or m Set up the resolution in full sinusoidal cycles per revolution 1 Amplitude Sine Enc2 Amplitude Amplitude of sine encoder 2 or OFF B Standard Hall a 12 Step Hall 1 z resolver Used by MACCON tech support Use DC Use DC Tach e cin DC Tach Used Speed signal is created from DC Tach Display only Use Hla Use Hall Speed signal is created from hall sensors Display only Tab 7 11 Control windows in MOTION SENSORS tab MAC SWM7 UMN prel R05 15 Preliminary 100 MACON MOTION UNDER CONTROL 7 4 3 10 7 System Parameters Setup User Manual Control windows in SYSTEM SETUP tab This chapter specifies the basic description for the used motor type SYSTEM SETUP SYSTEM SETUP Control window in
87. UT x Select For MACCON tech assistance only lt 2 gt Bus Current G o NENLI X a Bus Current Actual DC bus current If wrong readings occur ADC range setting may be wrong Contact MACCON tech support before any adjustments lt 2 gt Bus Current ADC Range Bus Current ADC Range Sets the scaling for ADC converter This value is constant for each device and must not be changed by the user Change only when asked by MACCON tech support lt 2 gt Bus Current Limit al gs O OFF un 1515 Bus Current Limit Limitation for DC bus current If exceeded the motor current will be reduced accordingly Bus Current Offset Sets the calibrating offset for ADC converter Adjust to get zero reading while drive is disabled Change only when asked by MACCON tech support 107 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL DATA ACQUISITION Control window in alphabetic order lt 2 gt Bus Voltage d T DmHD 3v T Explanation Input values Bus Voltage Actual DC bus voltage If wrong readings occur ADC range setting may be wrong Contact MACCON tech support before any adjustments lt 2 gt Bus Yoltage ADC Range Bus Voltage ADC Range Sets the scaling for AD conve
88. Voltage The message Over Voltage appears if the actual bus voltage exceeds the allowed maximum see Fig 6 1 1 SwM 14 024 MACCON Enable Dn i i L rye Disable Drive Dyer Voltage r L U Figure 6 17 Over voltage This may also be caused by a wrong setting of parameter Max Bus Voltage in tab DATA AQUISITION lt 2 gt Bus Voltage 2 Max Bus Voltage nnnm Standard value 80 V 0 V Wrong setting will result an error message 6 6 3 2 Under Voltage This error indicates that the internal SWM7 voltage is under limit 6 6 3 3 Over Current This message indicates that the motor current is over the limitation 6 6 3 4 Over temperature heat sink This messages indicates that the heat sink temperature is over the limit of the used sensor 1 Swe 14 028 Enable Drive i i Disable Drive Over Temp Motor gt Temp Motor Figure 6 18 Over temperature heat sink lt 0 gt Motor temp sensor type Mone Thermo Switch Example Limitation to 130 C for this type of sensor f PT100 2 6 6 3 5 Error on resolver Error in resolver function check cabling and or resolver MAC SWM7 UMN prel RO5 15 Preliminary 68 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manual MOTION UNDER CONTROL 6 6 3 6 6 6 3 7 I t warning The error comes up if in the tab SPPED CURRENT CONTROL the I t limit was
89. ages related SWM7 program 70 7 System Parameters Setup _ 71 7 1 How to use the User 71 f Pu sl t ole 71 T2 erede UU uuu uuu l uu 71 7 3 Speed and Current definition Setup r 71 T 1 O u uuu suyuna 71 7 3 1 1 Current control P gain gain D gain 72 Parameter identification by optimization of current step 74 SS LC OI 75 7 3 2 1 Speed control P gain D gain menn 75 7 3 2 2 Speed Max Acceleration Deceleration 75 3 2 3 SpeegrRGSrpuu uu uu E a ou En Lu ua 75 7 3 2 4 Speed Max Acceleration Deceleration 75 Tach Low q MAF 15 OWS PIL SG G uu 76 7 4 Display Information SWM7 GUI
90. al MOTION UNDER CONTROL Window name Example _ Remarks Selection window lt O gt iem Select In this selection window you can choose t a using the radio buttons one of the 12 SineEnc lt 2 gt displayed Item Resolver TTL Enc Hall 5ineEnc 3Ph EnDat SinCos EnDat Digital Hiperface Biss Netzer f 55 DC Tach ES Direction Direction not inverted or inverted f not inverted Gu inverted Tab 6 1 Definitions for display of parameter measuring and selection windows 6 41 Loading Saving a Parameter Value Set An existing parameter value set can be opened using File lt Load Parameters Parameters values are downloaded automatically to the SWM and have immediate effect All parameter changes are discarded at power off unless saved to flash using the Write to Flash button see in right pane Write Parameters to Flash 7 Figure 6 4 Write Parameters to Flash button As the parameters in the setup tool are always up to date when connected to a device no up load is necessary before saving to disk see menu item File lt gt Save Parameters as lt file name macp gt i e your personnel stored file 6 4 2 Enable drive Disable drive Use the button Enable Drive see Fig 6 5 page 61 to monitor all settings in any parameter measuring window in practice For more details
91. ameter Examines the MACCON parameter file macp in relation to the FW lt ALT f m gt displays present parameter values Parameter Preview window You can export these values ina csv or txt file uu uu a Close the program and ask to save or not lt ALT f e gt 6 5 1 2 Settings tab COM port selection for genuine COM ports and USB to serial adapters 6 5 1 3 Parameters tab The user can select any additional control windows or tab see in chap 6 4 3 and chap 6 4 5 MAC SWM7 UMN prel R05 15 Preliminary 64 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manual MOTION UNDER CONTROL 6 5 1 4 Service menu Menu item Description lt ALT e gt Molly cem If selected active v Modify you can alter lt ALT e m gt the position of any parameter measuring and or add additional parameters or tab sheets Save the new settings in your personnel GUI parameter file Go Offline Disables communication for MACCON tech support lt ALT e o gt Show Communication Displays in the Telegram window the running communication lt ALT e s gt You can Stop or Pause logging or Delete the communication log Show Database Displays the internal data base of controller parameters lt ALT e d gt Re read Parameters Re read the parameter from the connected SWM7 see SWM lt
92. anual 3 1 3 Ambient conditions ventilation and mounting position Storage temperature 0 55 C 1 8 x C 32 Humidity lt 95 Max 2 years Transport temperature 20 70 C l F 1 8 x C 32 PRICEY A lt 95 without condensation Environmental conditions Environmental temperature in operation CT u 0 45 C 1 8 x PC 32 zip aoa acre ace u u 40 65 C with power derating 2 5 40 55 C Humidity rel humidity 85 no condensation Site altitude without derating up to 1 000 m over sea with power derating 1 5 1 000 2 500 m over sea Enclosure protection IP50 acc to IEC 60529 TBD Mounting no restrictions allow for free convection and base plate cooling lt 85 C u ua depends on mounting free convection should be possible 3 1 4 Conductor cross sections The conductor cross sections must be in relation to standards 204 1 VDE 0298 4 compare with these current ratings 3 1 5 Mechanical data The SWM S controllers are mounted o
93. any risk for dangerous voltages temperatures and hardware damage First check the chap Trouble Shooting 7 9 In case of errors hardware problems e g fuses connectors capacitor reforming user specific settings etc or other service related questions contact MACCON tech support or phone 49 89 651220 0 During operation servo controllers may have hot surfaces Since the base plate is used as a cooling element it may reach temperatures up to 85 C i e 185 F Guide to electrical installation e Cable selection Select cables in accordance with IEC 60204 Grounding Shielding For EMC compliant shielding and grounding ground the mounting plate motor housing and GND of the control system Wiring Route power leads and control cables separately Use an stop circuit your installation e Check the allocation of servo controller and motor and compare the rated voltage and current ratings MAC SWM7 UMN prel R05 15 Preliminary 31 5 Electrical Installation MOTION UNDER CONTROL User Manual e Pay attention to proper grounding of the servo controller and motor housing Use for mo tor encoder and control cables shielded cables with sufficient cross section EN 60204 see Fig 5 1 motor cable is used a shielded cable 4 wire cable for DC3 brushless 2 phases motor see Fig 5 8 for DC brush motors needed 3 wire cable only see
94. application Troubleshooting and data acquisition for MACCON tech support Some parameters can only be set adjusted while the drive is disabled like sensor configuration others can be adjusted motor is running like controller gains You can use the Disable and Enable buttons to disable and enable the SWM drive Only professional personnel who have the relevant expertise are permitted to carry out online parameter settings for a drive that is running In case of errors hardware problems or other service related questions contact MACCON tech support In this manual only the default parameters 270 of over 500 possible control windows are described Also the arrangement of the SWM7 tabs and control windows depends the project and may differ from this description 7 5 1 Recommended sequence for operation TBD This chap contains information about the recommended sequence for operation You can follow step by step this sequence or choose any specific operational step The following Tab 7 8 allows quick access to the Operational tasks in the SWM7 tabs and Details i e complete description of each control window Select the desired chap or on page MAC SWM7 UMN prel R05 15 Preliminary 114 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL SWM7 tab Operational Description task control windows pas
95. art Current the start value of 5 0 File names File names and paths are represented by a special font Example Start the SWM7 exe file Install the program in the following directory d NProgramsNSWM7 Variables Place holders for real names and values are represented additionally in italics and angle brack ets Example Use the exe file installation path VSWM7 exe MAC SWM7 UMN prel R05 15 Preliminary 15 User Manual 1 Introduction MACON MOTION UNDER CONTROL MAC SWM7 UMN prel RO5 15 Preliminary 16 User Manual 2 Handling and Package M MOTION UNDER CONTROL 2 Handling and Package Keep the original box for any transport of the device After a storage period of more than 12 months check with MACCON tech support if any capaci tor reforming might be necessary before powering the device 2 1 Packaging Transport and Storage e Max stacking height lt 8 cartons e For transport keep the original box and insert for any transport of the device e Storage temperature 25 to 55 C lt 95 9 2 years Storage only in the manufacturer s original recyclable packaging 2 2 Maintenance and Cleaning No customer maintenance is necessary There are no user serviceable parts inside the device Hints for cleaning If the casing is dirty clean with Isopropanol or similar solvent Do not immerse of wash directly in the fluid Controller and internal parts Re
96. case To prevent potential differences between motor and controller mainly in the case of long ca bles it is necessary to ensure an equipotential bonding for all components Cable strap Remove outer insulation and screen at end of cable over required length Secure wires with cable strap Remove outer insulation over a length of about 30 mm without SWM damaging screen Fix cable with Housing an earthing clip Connect this clip via copper braid to the closely situated earthing screw on the SWM7S housing Figure 10 3 SWMTS cable shield In case of EMC related questions contact MACCON tech support or phone 49 89 651220 0 136 Preliminary MAC SWMT7 UMN prel RO05 15
97. dware requirements The serial interface X2 1 RS 232 of the servo controller is galvanically isolated from internal circuits and is connected to the serial interface of the PC by a Sub D 9 pole to RJ 12 cable Communication interface If the PC is equipped with an RS 232 serial interface COM port you can connect via cable to the servo controller otherwise use the USB to serial adapter Installation under Windows OS The CD ROM contains the SWM7 EXE incl graphical user interface GUI firmware for uC DSP FPGA and optional customer specific parameter files Copy the complete directory with SWM7 EXE to your PC hard disk example D or other free local drive You can create a quick link on your desktop or using an additional entry in Windows OS menu The SWM7 EXE file runs under Win2k Windows XP Vista Windows 7 and Windows 8 6 3 1 2 1 Genuine RS 232 interface If you starts the SWM7 EXE software for the first time you have to select the serial interface see Fig 6 2 6 3 1 2 2 USB to serial adapter 6 3 1 3 Install the drivers for the USB to serial adapter see description on manufacturer s CD ROM Check in the Windows Device Manager that the COM port is preset and note the COM port num ber Set the proper COM port see under Settings C2 port Otherwise you must update the COM port in your Windows OS system see chap 6 6 1 Installation under Linux OS Not possible
98. e che page 1 SYSTEM SETUP 7 5 1 1 116 7 4 3 10 101 2 DATA AQUISITION 7 5 1 2 116 7 4 3 12 105 3 SENSORLESS CONTROL 7 5 1 3 118 7432 79 4 SPEED CURRENT CONTROL 7 5 1 4 118 7 4 3 8 93 5 MOTION SENSORS 7 4 3 9 97 7439 97 6 MOTION SENSORS MONITORING 7 4 3 7 89 7 4 3 7 89 7 FIELD WEAKENING 7 5 1 7 120 7 4 3 3 81 9 5 FINDING 7 434 8 7434 83 9 OFFSET 7 436 87 7 436 87 10 ANALOG INPUT 7 4 3 14 112 7 4 3 14 112 TBD For MACCON tech assistance SWM Status 7 5 1 5 119 7 4 3 11 102 CAN 7 5 1 6 120 7 4 3 5 85 Tab 7 17 Sequence for operational tasks 115 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 7 System Parameters Setup _TBD _ M MOTION UNDER CONTROL 7 5 1 1 System setup This part displays the basic description for the used motor type Using the SetUp tool you can check the current settings or adapt to a new HW Before setup check the present HW motor data sheet sensor type Recommended settings checks Motor Winding Motor Type Motor temp sensor Motor Inductance Back EMF Const Pole Pairs Pole Pitch lt 0 gt Motor Winding fe 3 Phases 2 Phases DC Motor I Motor temp sensor type f Thermo Switch 100 PTC 130 C PT100 2 MOT1 lt gt Motor Rotary Linear Back Const la 11111 au v 1
99. e in the same housing and with the same motor and control interface configurations as the SWM7 The LWMT7S has excel lent linearity around zero current unsurpassed EMC characteristics and jitter It is ideal for critical applications in science and medicine as well as in semiconductor and mag netically sensitive environments e g for positioning with sub nanometer resolutions 5 6 Power supply X5 There is a danger of electrical shock with serious personal injury if the servo controller isn t properly grounded An isolating transformer is required for networks that are asymmetrically grounded or not grounded FUSE extern DC Supply 12 60V 12 60 12 320V for HV DC Supply Return OV HOUSING Figure 5 6 Power supply SWM7 X5 5 Temperature supervision X3 SWM7 PT100 PTC130 Motor temperature switch Figure 5 7 Temperature supervision X3 40 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL 5 8 Enable and command interface 1 2 A hardware HW enable signal is not essentially needed The HW enable signal can be parame terized to digital input 1 or 2 SWM7 Test Box or optional none SWM7 Analog Command1 Analog 1 VOLTAGE CURRENT VOLTAGE CURRENT Analog Command2 LE LO Analog Command2 Analog command signal
100. e motor phase currents Clockwise positive limit switch Counter clockwise negative limit switch Certified Europa Communaut Europ enne Derivative gain Digital to analog converter Rectified and smoothed power voltage Brush DC motor 2 connections Brushless 3 phase synchronous motor Digital ground Direct current Main power supply voltage DC Removal of the ENABLE signal Digital signal processor 3 Phase transformer Electrical connection between a phase and the protective earth PE Enable signal for the servo controller hardware ENABLE signal which can be applied to X2 X1 1 optional Electromagnetic field Electromagnetic compatibility European standard Single phase transformer usually from 230V 50 Hz 110V 60 Hz ENABLE signal for the servo controller consult chap 5 8 page 41 according voltage level Interface CAN MAC SWM7 UMN prel R05 15 Preliminary 127 MACON MOTION UNDER CONTROL 8 Glossary User Manual Final speed limit speed FPGA GRAY code GUI Holding brake Hall HE H E Ki gain It threshold IEC Input drift Incremental encoder interface Ipeak peak current Irms effective current Kp P gain KVFR LB LED Limit speed final speed Limit switch LWM Machine MAF MH Motion block MT Multi axis system Natural convection optocoupler Output P gain Maximum value for the speed normalization at 10V Field Programmable Gate Array
101. e table on chap 3 1 4 Mount the cable shield closest to motor housing and PE ground Connect the other end of the cable shield closest to X5 4 and X5 5 SWMTS see chap 5 5 1 on page 36 X5 4 and 5 5 SWM 48 150 with extended I O see chap 5 5 2 on page 37 M GND SWM7 48 100 see chap 5 5 3 on page 38 GND of the SWM for details see Fig 5 9 26 Preliminary MAC SWM7 UMN prel R05 15 User Manual 4 Mechanical Installation M MOTION UNDER CONTROL 4 4 1 Base plate 188 x 164 mm The device SWM 7S 48 150 is mounted from below six screws according to the drawing below Do not mount screws gt 6 mm material thickness of mounting plate used 185 75 156 89 6 pcs M4 x 6 mm 22 0 162 122 5 34 0 Figure 4 1 Mounting drawing for 188 x 164 mm base plate MAC SWM7 UMN prel R05 15 Preliminary 2f MACON Mechanical Installation User Manual MOTION UNDER CONTROL 4 4 2 Base plate 188 x 189 mm lt pa 185 75 Li Li 171 x 171 156 pa 156 6X 24 5 J3 93 89 2 NN go M4 C O 22 2 27 n f n n 0 H H H H 0 ON sue co En 154 5 Figure 4 2 Mounting drawing for 188 x 189 mm base plate 28 Preliminary MAC SWM7 UMN prel R05 15 MACON MOTION UNDER CONTROL User Manual 4 Mechanical Installation 4 4 3 SWM7 300 V 600 V wall mount version high voltage 3 193 2241 F
102. ected EnDat device 0 Steps Turn or Steps n EnDat Steps Turn or Steps m Resolution of connected EnDat position sensor DIGENC 0 gt Sensor Initialization Sensor Initialization Power On Initialization Done Stuck at Init Step 1 Stuck at Init Step 2 State of running or finished digital sensor initialization EnDat Hiperface BiSS Stuck at Init Step 3 Stuck at Init Step 4 Stuck at Init Step 5 Stuck at Init Step Stuck at Init Step 7 Stuck at Init Step 8 Display only De DIGENC 89 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL MOTION SENSOR MONITORING MOTION SENSOR MONITORING Control window in alphabetic order lt 0 gt Sine Enc 2 7 Resolver offset comp cos 4 Explanation Input values Sine Enc 2 Resolver offset comp cos Offset compensation value for cosine channel of sine encoder 2 or resolver Set by auto compensation algorithm can also be adjusted manually lt 0 gt Sine Enc 2 7 Resolver offset comp sin I H Sine 2 Resolver offset comp sin Offset compensation value for sine channel of sine encoder 2 or resolver Set by auto compensation algorithm can also be adjusted manually
103. ed bus voltage and engine speed and the commanded current value the optimum motor cur rents are determined The current command can also be the output of the speed controller The choice is made with the parameter Field Weakening Mode see below Field Weakening Mode OFF na e mot const Figure 7 7 Field Weakening Mode lQ const In this mode the current setpoint is understood as active current setting IQ Each the operating point of the algorithm adds an additional reactive current ID was added Imot const In this mode the current setpoint is the total engine current Depending on the operating point the algorithm divides this total current in an active current component IQ and a re active current component ID For controlling and monitoring field weakening mode by setup software it is useful to add the fol lowing parameters 1 Active Speed Sensor gt Rotatory speed 2 Command Inputs PC Current Command 3 Command Inputs PC Current Command D Operating principle Shown by a 1 phase diagram with rotor vectors see Fig 7 8 MAC SWM7 UMN prel R05 15 Preliminary 120 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL 7 6 lt AQ Ip Figure 7 8 Rotor vectors voltage and current Setting only an effective current vector IQ the reaction is an output voltage of U1 Should thi
104. efined tabs You have the ability to create your own tabs parameter page s for controlling and monitoring your drive system Choose in menu item Service gt Modify Then right click on a free area in the tool bar to open the context menu see Fig 6 7 SPEED 7 CURRENT CONTROL is Sheet aption Remove Sheet Move Left Move Right Figure 6 8 Add Sheet option Click on Add Sheet and enter a user specific name for this window e g Voltages pean Input Dialog Caption voltage Abbrechen Figure 6 9 Create caption Voltages example Confirm with OK to create the new tab Then you can add your user specific control windows see chap 6 4 3 page 61 At least you need to save your new GUI in the mac file see menu item File gt Save 6 4 6 Deleting user defined tabs You can delete your own tabs parameter page s First choose in menu item Service Modify Then right click on the tab e g VOLTAGE to be deleted and select Remove Sheet CAN Add Sheet Caption Left Move Fight Figure 6 10 Remove Sheet selection At least you need to save your new GUI in the mac file see menu item File gt Save NOTE In case of errors you can fall back see chap 6 4 7 below 6 4 7 Restoring default GUI layout For restoring the default values you need CD ROM contains
105. ehmigung durch MACCON gestattet Ausgenommen sind Arbeitskopien die ausschlie lich eigenen Zwecken dienen Einige in dieser Dokumentation verwendeten technischen Bezeichnungen sind auch eingetragene Warenzeichen und unterliegen als solche den gesetzlichen Bestimmungen Copyright MACCON GmbH 2015 Alle Rechte vorbehalten Herausgegeben von MACCON GmbH Aschauer Str 21 D 81549 M nchen Nur qualifiziertes Fachpersonal darf Arbeiten wie Transport Installation Inbetriebnahme und Instandhaltung ausf hren Qualifiziertes Fachpersonal sind Personen die mit Trans port Aufstellung Montage Inbetriebnahme und Betrieb des Produktes vertraut sind und ber die ihrer T tigkeit entsprechenden Qualifikationen verf gen Das Fachpersonal mu folgende Normen bzw Richtlinien kennen und beachten e 364 bzw CENELEC 384 oder DIN VDE 0100 EC Report 664 oder DIN VDE 0110 e Nationale Unfallverh tungsvorschriften oder 4 Lesen Sie vor der Installation und Inbetriebnahme die vorliegende Dokumentation Eine falsche Bedienung des Servoverstarkers kann zu Personen oder Sachschaden f hren Beachten Sie die technischen Daten und die Angaben zu den Anschluf bedingungen Typenschild und Dokumentation Die Servoverst rker enthalten elektrostatisch gef hrdete Bauelemente die durch unsachgem e Behandlung besch digt werden k nnen Entladen Sie Ihren K rper bevor Sie den Servoverstarker ber hren Vermeiden Sie den Kontakt
106. er TXD User TXD User CAN Low Low Optional CAN High CAN High CAN Gnd Host PC User Gnd User Gnd HOUSING Figure 5 28 CAN connection to SWM7 5 14 Ethernet interface Will be available as a special version in a next implementation o4 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual 5 Electrical Installation 5 15 EtherCAT interface Will be available as a special version in a next implementation 5 16 USB interface X3 1 Will be available as a special version in a next implementation MAGON MOTION UNDER CONTROL MAC SWM7 UMN prel R05 15 Preliminary 55 User Manual 6 Controller Monitoring with SetUp Tool SWM7 exe M AC MOTION UNDER CONTROL 6 Controller Monitoring with SetUp Tool SWM7 exe This chapter describes the e Installation of the setup software SWM7 EXE for the SWM S digital servo controller see chap 6 3 1 Operational tasks see chap 6 4 Menu items see chap 6 5 1 Control windows in SWMT see chap 7 4 3 and Error messages see in chap 6 6 We offer training and familiarization courses on request 6 1 General The setup software is intended to be used for altering and saving the operating parameters for the SWMT series of servo controllers There are two operational modes Working in OFFLINE mode see menu item Service Go Offline or in standalone mode i e SWM7 unit disconnected This is useful for preparing differen
107. ere the servo controller is connected to see below Serial Port cC le te Te Te Figure 6 2 Choose Serial Port example COM3 9 If the communication is started for the first time you have to setup the communication If the communication well established you will see a blue progress bar in the status line of the SWM window Wait until this upload is finished If OK then in the message window will display the current SWM software version see below Disable Drive __ 1 SM 14 2 Error Message if any Uploading Data from Controller ERE RRR Figure 6 3 SWM Message window example no error 10 In case of errors you will see an error message example text added in red To maintain any error message see chap 6 6 11 For operational task see chap 6 4 59 Preliminary MAC SWM7 UMN prel RO5 15 User Manual 6 Controller Monitoring with SetUp Tool SWM 7 exe MACON MOTION UNDER CONTROL 6 3 2 2 Operation with connected drive Connect the drive to X4 see chap 5 5 Using the buttons Enable or Disable the drive will be gone into operation 6 3 3 Guide for setup Follow the instructions given by MACCON tech support Details for firmware update and specific setups are described in chap 6 5 1 4 see on page 65 Restoring the default values is written in 6 4
108. erformance in the velocity control mode Speed control P gain gain D gain This practical method of establishing controller parameters by step response optimization of motor velocity involves the following steps Parameter identification by optimization of velocity step response e Motor is operated in the velocity control mode Connect a frequency generator to the control input possibly using TBD Adjust frequency to around 0 5 10 Hz Adjust the amplitude initially to around 10 of nominal velocity View the command and the actual motor velocities on a 2 channel oscilloscope analog output Adjust motor velocity response by changing the velocity controller parameters Increase the amplitude of the command signal in stages to nominal Check and correct velocity control parameters if necessary Store the established parameters in Flash memory Speed Max Acceleration Deceleration Specify the limits for speed profile operating mode Speed Ramp Activates the speed profile operating mode which limits acceleration and deceleration ramps of the external speed command Speed Max Acceleration Deceleration Specify the limits for speed profile operating mode Tach Lowpass MAF Sets number of taps and cut off frequency of the moving average lowpass for speed sensors not effective for hall sensors or DC tach MAC SWM7 UMN prel RO5 15 Preliminary 74 MACON MOTION UNDER CONTROL 7 3 2 6 Tach Lowpass
109. evice is established via RS 232 link to X2 connector The matching cable is delivered with your device 65 Preliminary MAC SWM7 UM 5 15 User Manual 6 Controller Monitoring with SetUp Tool SWM 7 exe M AC MOTION UNDER CONTROL The COM port can be selected in the Settings menu 66 Error Messages This chap describes some error messages in the status line of the SWM7 GUI 6 6 4 Handling of RS 232 communication errors 6 6 1 1 Message Transmitting Telegram Response Indicates that the SWM unit is not responding Check power supply cabling and COM port set ting 6 6 1 2 Message COM Error 0x02 If you use a build in COM port and frequently get an error message like COM Error 0x02 in the status line of SWM 7 program it is necessary to change the serial port setting This applies to communication chips of type 16C550 Changing the serial port setting 1 Open the Windows device manager and select the used COM port e g COM1 253 Datei Aktion Ansicht le emi i s IvyBridge 4 ird Anschl sse COM amp LPT gt amp Audia Video und Gamecontroller gt 188 Computer Figure 6 11 Windows Device Manager window 2 Then display the properties of the COM port used and click Advanced button Eigenschaften von PCI Serial Port Algemein Port Settings Treiber Details Ressourcen Bi
110. f the motor does not rotate During operation servo amplifiers may have hot surfaces Since the base plate is used as a cooling element it may reach temperatures up to 85 C i e 185 F Never undo any electrical connections to the servo amplifier while it is energized switched on There is a danger of electrical arcing with damage to contacts and serious personal injury Wait at least eight minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment e g contacts or undoing any connections MAC SWM7 UMN prel RO05 15 Preliminary User Manual M AG O N MOTION UNDER CONTROL Der Inhalt dieser Dokumentation wurde von Mitarbeitern der MACCON GmbH mit gro er Sorgfalt erarbeitet und gepr ft MACCON bernimmt jedoch keine Verantwortung f r Schaden die aus Fehlern oder Fehlinterpretationen dieser Dokumentation resultieren Falls Sie Fehler bemerken oder Verbesserungen w nschen so senden Sie diese bitte an MACCON MACCON hat das Recht an den beschriebenen Produkten oder der Dokumentation ohne vorherige Ank ndigung vorzunehmen wenn sie aus Gr nden der Zuverl ssigkeit oder Qualitatssicherung vorgenommen werden oder dem technischen Fortschritt dienen Samtliche Rechte an der Dokumentation liegen bei MACCON Die Weitergabe Dritte und Vervielfaltigung jeder Art auch auszugsweise sind nur mit schriftlicher Gen
111. firmware used The CAN interface will be implemented in a next version no settings needed In case of errors or other service related questions contact MACCON tech support CAN E Control window Explanation in alphabetic order Input values Bit timing prescaler 0 gt Bit timing prescaler Change prescaler for achieving correct baud rate see below Bit timing T1 T2 Bit timing T1 These parameters are used for CAN Baud rate setting Initial Values T1 4 change prescaler for achieving correct baud rate Bit timing T2 These parameters are used for CAN Baud rate setting Initial Values T2 5 change prescaler for achieving correct baud rate lt gt baud rate CAN baud rate Actual CAN baud rate as calculated from bit timing 1 2 and prescaler Display only 0 gt receive count CAN receive count CAN telegram counter for valid B N 0 telegrams receive direction 85 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL Control window Explanation alphabetic order Input values lt 0 gt CAN transmit count CAN Transmit count CAN telegram counter for valid Ty io telegrams in transmit direction lt 0 gt CAN type f Standard 1
112. for creating a warning error sec a e MAC SWM7 UMN prel RO5 15 Preliminary 94 User Manual MACON MOTION UNDER CONTROL 7 System Parameters Setup SPEED CURRENT CONTROL SPEED CURRENT CONTROL Control window in alphabetic order Mt Current Time BB Explanation Input values I t Max Current Time monitoring limit for creating a warning error Max Current Provides a current limit for all operating modes based on the maximum current of the drive Reduce this value to a level according to your motor data lt gt Motor Startup Synchronization 12 f On first Enabling only Lr each Enabling Motor Startup Synchronization After first enabling the phase finding result can be used until power off The phase finding can anyway be performed on each enabling lt 2 gt Motor Startup Synchronization m none for absolute sensors Phase Finding Phase Finding Encoder Index Hall Sensors Hall Encoder Index Motor Startup Synchronization Choose Phase Finding when no hall sensors and no analog encoder are present lt 1 gt Phase Curr P Gain Fast Phase Curr P Gain fast Fast phase current controller used in parallel to
113. g and Package see chap 2 Technical Description see chap 3 Mechanical Installation see chap 4 Electrical Installation see chap 5 SetUp Tool SWM7 exe see chap 6 Operation see chap 7 Glossary in chap 8 EMC Consideration see chap 10 and Index see chap 9 All the operation functionality is accessible via the user friendly and customizable Graphical User Interface GUI including Control windows for display of all operational states parameters and measurement values configuration and optimization for efficient working order searching for malfunctions if any The SetUp Tool SWM7 exe enables set up and fine tuning of connected hardware e g sensors motors etc and software updates The user gets flexible framework so additional functionality can easily and efficiently be imple mented according to the individual needs All the software and User Manual required for the operation of SWMTS is electronically available on CD ROM and if necessary in paper form also Ad Pay attention to the Safety Instructions to avoid any risk for dangerous voltages temperatures and hardware damage First check the chap 7 9 Trouble Shootingg on page 123 In case of errors hardware problems e g fuses connectors capacitor reforming user specific settings etc or other service related questions contact MACCON tech support or phone 49 89 651220 0 1 1 About this manual This User Manual available i
114. iginal packaging to the address given in the dispatch information By a specialized disposal company certified for the disposal of electronic equip ment The controller contains electronic components and PCBs metal parts are made of copper steel or aluminum Package When a controller from the SWMTS series is ordered the following is supplied see chap 2 6 1 Package supplied 1 Drive Servo controller SWM7S CD ROM contain SWMT7S software firmware for microcontroller uC DSP FPGA customer specific parameters optional and the User Manual SWM7S Mating connectors for the motor and the DC auxiliary supply are included in delivery as well as the RS 232 cable The mating SubD connectors are not part of the package 2 Accessories must be ordered separately if required contact MACCON Sales motor cable prefabricated with special shield clamp or both power connectors separately with the motor cable as a cut off length feedback cable prefabricated or both feedback connectors separately with the feedback cable as a cut off length motor choke 3YL 3YLN for motor cables longer than 25 meters communication cable to the PC see chap page 57 and chap 6 6 1 for setting parameters from a PC power cable control cables field bus cables as cut off lengths CANbus activation CAN profile Nameplate for HW and SW On request of MACCON tech support you must identify the present hardware HW and
115. igure 4 3 Mounting drawing for SWM7 300 600 high voltage wall mount version MAC SWMT7 UMN prel R05 15 Preliminary 29 M AG O N 4 Mechanical Installation User Manual MOTION UNDER CONTROL Figure 4 4 3D view for SWM7 300 600 high voltage wall mount version Mounting plate Support Ventilating fan Protective grating M4 Spacer keeps Cylinder head screws M5x10 8 pcs cylinder head screws for for mounting on Pos 1 Cylinder head screws M5x10 Hex nut Position Designation 1 2 3 4 5 6 7 8 30 Preliminary MAC SWM7 UMN prel RO05 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL 5 1 5 2 Electrical Installation This chapter deals with Safety Instructions see below Guide to electrical installation see below Wiring see on page 32 Connector assignments see on page 34 Connection diagrams Overview see on page 35 Power supply X5 see on page 40 Temperature supervision X3 see on page 40 Enable and command interface X1 X2 see on page 41 Motor brake connection X4 see on page 41 Feedback see on page 43 Digital and analog inputs and outputs see on page 52 RS 232 interface PC connection X2 see on page 54 CAN interface X10 see on page 54 Ethernet interface see on page 54 Digital and analog inputs and outputs see on page 55 Safety Instructions Pay attention to the Safety Instructions to avoid
116. ion output stage locked 0 W Analogous index value input resistance 10 V 50 kOhm Current resolution 16 Bit x current vector Max commutation frequency 2 kHz Encoder TTL Incremental encoder A IA B Z IZ Sinus Cosinus AUX1 AUX2 IDX Resolver 16 Bit 5 KHz 6 25 kHz 8 33 kHz 10 kHz Digital index value 15 20 25 30 40 50 KHz PWM 5 V 10 Bit 50 50 or 0 100 impulse rest ratio Tab 3 1 SWM7S related electrical data Interface electrical data SWM048 and SWM300 xxx x Analog inputs 10 V Digital control inputs 5 36 V DC High speed Digital Input HS IN 1 2 3 3 3 V Digital control outputs open collector max 30 V DC 100 mA Relay contacts max 30 V DC max 42 V AC 500 mA Auxiliary supply voltage 12 60 V electrically isolated for 300 V power stage Current without motor brake 1 24 V Min max output current to brake 2 A separated external supply Tab 3 2 Inputs outputs and aux voltage supply 20 Preliminary MAC SWM 7 UMN prel RO5 15 MACON MOTION UNDER CONTROL User Manual 3 Technical Description Designation Designation Connector Type max max max Control Cross section Current Voltage ontrol signals Aux voltage X3 4 1 5 2A 12 60 V Motor X4 FCT 16 0 80 0 600 V Power signals 5 16 0 80A 0 600 V Resolver input X1 Sub D 9 pole
117. ith low 500 1 000 lines or higher up to 18 000 lines resolu tion may be used 48 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL Depending of the type of T TL incremental encoder the SWM servo controller allows connection of either differential or unipolar encoder signals The maximum permissible input frequency is 1MHz 4 MHz edge frequency The maximum per missible velocity is thus 106 60 Resolution For an encoder with 5 000 lines per revolution the motor can be operated up to a speed of 12 000 rpm 5 10 8 1 TTL Encoder bipolar wiring TTL ENCODER X6 2 NII N N N N 5 a A N Co Figure 5 20 TTL Encoder bipolar wiring 5 10 8 2 TTL Encoder unipolar wiring TTL ENCODER Figure 5 21 TTL Encoder unipolar wiring MAC SWMT7 UMN prel R05 15 Preliminary 49 M AG O N 5 Electrical Installation User Manual MOTION UNDER CONTROL 5 10 9 SIN COS Encoder X11 SIN COS Encoder X11 1 f I 34 SIN Figure 5 22 SIN COS Encoder 5 10 10 Tacho X13 SIN COS Encoder X11 u _ O i 4 4 SIN Figure 5 23 Tacho 50 Preliminary MAC SWM7 UMN prel R05 15 MACON User Manual 5 Electrical Installation MOTION UNDER CONTROL 5 10 11 Sine Encoder with Hall X13 HE SENSORS X13 SWM7 150 S
118. l a a aaa 58 6 3 1 Installation of the software lessen nennen nennen nennen nennen nnns 58 6 3 1 1 Hardware requirements r 58 Communication gc Ni 58 6 3 1 2 Installation under Windows 58 6 3 1 2 1 Genuine RS 232 interface 58 6 3 1 2 2 USB to serial 58 6 3 1 3 Installation under Linux OS 58 0 3 Puting Into Sauna ea rum o9 6 3 2 1 Standby operation without connected motor 59 6 3 2 2 Operation with connected drive a 61 63o Gude Tor SE MEMENTO E m 61 6 4 Op raltional MI c NR LE 61 6 4 1 Loading Saving a Parameter Value 5 62 6 4 2 Enable drive Disable drive lesen nnne nnn nnn nnn nnns 62 6 4 3 Adding parameter displays to a page
119. l PE Protective earth P controller Control loop with purely proportional behavior Phase shift ih the lag between the electromagnetic and magnetic PI controller Control loop with proportional and integral behavior Position controller Regulates the difference between the position setpoint and the actual position to Potential isolation Electrically decoupled electrical isolation Power contactor System protection device with phase monitoring PSU Power Supply Unit Powe Por mie Maximum power which can be dissipated in the brake circuit PWRGND Power ground PWM Pulse width modulation R Reset New start of a system Resolver digital converter Conversion of the analog resolver signals into digital information RFR Ready for Final Review Reversing mode Operation with a periodic change of direction Ring core Ferrite rings for interference suppression RMS 5 Root mean square ROD interface Read Out Driver interface Incremental position output RP Potentiometer S Seto e for regulating the speed torque and position of a SGND Signal ground Setpoint ramps Limits for the rate of change of the speed setpoint Short circuit In this manual electrically conductive connection between two phases Speed controller Regulates the difference between the speed setpoint and the actual value to Output current setpoint SSI interface Cyclically absolute serial position output ST Connector ST2 Stepper motor 2 phase ST3 Stepper motor 3 pha
120. leration limit for mm s speed control mode If enabled see amp l parameter Speed Ramp Reduces the slope of the speed command if necessary 2 Tach Lowpass MAF Tach Lowpass MAF gt n For resolver operation 2 53 21 1 The lowpass has be configured according to the following table see chap 7 3 2 5 2 Tach Lowpass FJ Tach Lowpass PT1 SPEED CURRENT CONTROL PT1 filter for smoothing the speed loop reaction PT1 lowpass filter for smoothing the actual speed feedback signal see chap 7 3 2 6 Higher numbers result in lower bandwidth each increment reduces the bandwidth by 0 7 Tab 7 10 Control windows in SPEED CURRENT CONTROL tab 7 4 3 9 Control windows in MOTION SENSORS tab Enter all relevant data for your applicable feedback sensors aa gt Control window Explanation q MOTION 2 alphabetic order Input values lt 2 gt DC Tach Full Scale Speed DC Tach Full Scale Speed z 4444 mm s Speed maximum tach input voltage 1 DE Tach nput DC Tach Input Bis Actual value of DC Tach input Range 32768 to 32767 lt 1 gt DC Tach Offset DC Tach Offset Offset for calibrating DC Tach input Adjust to get a zero reading on parameter DC Tach Input at
121. loop command Q vector Current Command D Display of actual current loop command D vector Speed Control Speed Control D gain Set D gain only if fast load changes are expected Speed Control Speed control feed forward for faster reaction of current controller MAC SWM7 UMN prel RO5 15 Preliminary 118 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL File Settings Parameters Service TypePlate About SPEED CURRENT CONTROL lt 0 gt Commutation Sensor Select N v e a e 3 E a g 5 lt 0 gt Position Sensor Select lt gt Speed Sensor Select C used gt E vee 434 C lt not used gt C SineEnccl ineEnccl z s C SineEnc lt 1 gt SineEncc2 C SineEne lt 2 gt Act cele SineEncc2 Resolver Resolver E C Resolver 4 TTL Enc x TTLEnc Hal 2 Speed Control gain Enc E SineEnc 3Ph C SineEnc 3Ph lalelei TE SineEnc 3Ph EnDat SinCos C EnDat SinCos 5 D DE SinCos EnDat Digital EnDat Digital C EnDat Digital C r Hiperface C Hiperface C Biss r ut 2 Speed Control D gain C Biss C Netzer z z isis C ssi 000 15 C ss 882 322 2 Direction 2 Direction 2 Direction E
122. lue for cosine channel of sine encoder 1 Set by software Use Sine encoder 1 offset comp cos to manually adjust offset 1 SinEncl Phasec 66 SinEnc1 Phase Actual electrical angle of sine encoder 1 sin cos signals Range 0 65535 0 360 deg el 91 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup MACON MOTION UNDER CONTROL Control window 41 SinEnc1 Voltage LL e Explanation Input values SinEnc1 Voltage A Analog voltage of sine channel of sine encoder 1 Range 32768 to 32767 ls SinEncl Voltage B c LLI SinEnc1 Analog of sine channel of cosine encoder 1 Range 32768 to 32767 A 15 5inEncz 5 2 SinEnc2 Min Volt Negative peak voltage of sine signal of sine encoder 2 or resolver Range 32768 to 32767 b 110 SINENC2 1 5inEncz Amplitude SinEnc2 Amplitude Amplitude of sine encoder 2 or resolver Used by MACCON tech support 15 SinEnc Mas Volt B MOTION SENSOR MONITORING u MEN SINENC2 SinEnc2 Max Volt B Positive peak voltage of cosine signal of sine encoder 2 or resolver Range 32768 to 32767
123. mit hochisolierenden Stoffen Kunstfaser Kunststofffolien etc Legen Sie den Servoverstarker auf eine leitfahige Unterlage Wahrend des Betriebes k nnen Servoverstarker ihrer Schutzart entsprechend spannungsf hrende blanke Teile besitzen Steuer und Leitungsanschl sse k nnen Spannung f hren auch wenn sich der Motor nicht dreht Wahrend des Betriebes k nnen Servoverstarker hei e Oberfl chen besitzen Da die Grundplatte als K hlelement verwendet wird kann sie Temperaturen bis zu 85 C erreichen L sen Sie die elektrischen Anschl sse der Servoverstarker nie unter Spannung In ung nstigen Fallen k nnen Lichtbogen entstehen und Personen und Kontakte sch digen Warten Sie nach dem Trennen oder Abschalten der Versorgungsspannungen der Servoverstarker bis die internen Elkos entladen sind mindestens 8 Minuten bevor Sie spannungsf hrende Gerateteile ber hren oder Anschl sse l sen MAC SWMT7 UMN prel RO5 15 Preliminary 3 M AG O N User Manual MOTION UNDER CONTROL Change History Reason for Update Summary Improvement of existing description and support of new features R05 15 issue of the document for this version of the product This document contains 136 pages Details for Document Revisions Chapter Reason for Update 1 RER Review_ sf 2 RER Review_ yr RFR check TBD in chap 3 1 3 Review_km DIN IEC 60529 A1 2010 04 Review_yr 3 old VDE 0470 1 A1 2010
124. n a PDF formatted file can be read and print out by any commercial and freeware PDF reader e g Acrobat Reader or Foxit Reader Some hints and tips for usage The PDF file is fully linked i e you can access to any linked topic v Efficient navigation is possible if you open in the left pane of the PDF reader the Table of Contents or List of Tables Using the Search functionality in the reader software you can find any word item But how to get back to the previous page Use the Previous View button like lt in the status bar or the key buttons lt Alt left gt or lt Alt right gt for Next View like gt MAC SWM7 UMN prel R05 15 Preliminary 13 M AG O N 1 Introduction User Manual MOTION UNDER CONTROL 5 v This User Manual is numbered from the cover page beginning with 1 to n So you can use the numbered pages for a direct print out or navigation in accordance to the number ing e g in Table of Contents or List of Tables v Last not least all colored drawings were tested for a readable print out on a LaserJet Using specific print settings you can print the User Manual on single pages double pages or multiple pages in front view or landscape view Annotations comments or bookmarks in the PDF file can be set and used in relation to the PDF reader features For details see in Online Help of the reader tool If needed you can attach files into the PDF User Manual 1 1 4 Target group O
125. n a base plate and completely sealed to ensure good physical protection and EMC both The dimensions are SWMT7 048 SWM7 048 SWM7 x00 12 5 8 25 SAE 5 amp 25 SWM7 PSU 100 amp 150 AC Length mm 186 254 230 Width 189 181 216 260 218 Height mm 92 5 113 155 125 Weight kg 2 0 2 5 7 5 3 5 forced air cooling SWM7S version with 65 mm height available WC water cooling Dimension heat sink MACCON offers a Power Supply Unit PSU also applicable for SWM7S with dimensions L x W x H 186 x 189 x 92 5 mm 22 Preliminary MAC SWM7 UMN prel R05 15 User Manual 3 Technical Description M AG O N MOTION UNDER CONTROL 3 1 6 Grounding system The grounding system contains the following 1 AGND analog inputs internal analog ground 2 24 V digital inputs outputs optically isolated 3 GND internal digital ground encoder emulation 4 GND separate digital ground for RS 232 and CAN 3 1 7 Switch on and switch off behavior Depending on power on enable state and use of external enable switch the unit can apply mo tor power shortly after connecting the supply The power stage will be disabled in case of internal failure condition MAC SWM7 UMN prel R05 15 Preliminary 23 MACON MOTION UNDER CONTROL 3 Technical Description User Manual 24 Preliminary MAC SWM7 UMN prel R05 15 User Manual 4 Mechanical Installation M MOTION UNDER CONTROL 4 1 4
126. n anyway convergence quality will get lower be performed on each enabling Phase finding should result in a quality level of more than 90 2 Phase Finding Flags Phase Finding Flags Error move 1 Phase Finding b Error move 2 Error sum of moves Indicates state of running or finished phase finding algorithm Display only Running Wrong Commutation e D Success Pulse Time Duration of current pulses applied during coarse tuning cycle Suggested start value 10 ms 2 gt Shake Amplitude Shake Amplitude Displays max motor movement il iel during phase finding Used to optimize coarse tuning current and pulse duration Start Current Phase Finding gt b t Initial pulse amplitude for coarse tuning cycle Suggested start value 5 5 MAC SWM7 UMN prel R05 15 Preliminary 84 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL lt a Ph Control window Explanation D in alphabetic order Input values 2 Final Current Final Current Final pulse amplitude for coarse tuning cycle Suggested final value 10 100 Tab 7 6 Control windows in PHASE FINDING tab 7 4 3 5 Control windows in tab Enter CAN bus baud rate and timing parameters CAN bus usage depends on custom specific
127. nd channel 2 Speed Limit nnnm SERRE v mm s 0 0FF Overspeed protection If exceeded motor current will be gradually reduced CNTRL y in 2 Use ANAIN as ID Command INPUT ae Use ANAIN2 as ID Command C YES Use analog input 2 to set D current To be used in current control mode for manual field weakening operation Tab 7 16 Control windows in ANALOG INPUT tab 113 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup _ _ M MOTION UNDER CONTROL 7 5 Operational tasks with SWM7 GUI TBD Using the SWM7 software you can carry out Monitoring the drive and motor parameters e g temperature velocity current Setup the hardware configuration motor sensor interfaces Speed Control see measuring window Speed Control Actual Speed in SPEED CURRENT CONTROL tab Current Control see in control windows for Current Control gain Current Control gain Current Control D gain in SPEED CURRENT CONTROL tab Phase Finding To detect initial commutation angle if no absolute position sensors like hall sensors resolvers absolute encoders are present Field Weakening mode To set up field weakening to reach higher motor speeds with a given supply voltage Setup and configuration of external interfaces e g analog outputs external enable inputs Optimization of your
128. ne 2 resolver Range 32768 to 32767 MOTION SENSOR MONITORING SinEnc2 Voltage ww B Analog voltage of sine channel of T sine 2 resolver Range 32768 to 32767 Tab 7 9 Control windows in MOTION SENSOR MONITORING tab 7 4 3 8 Control windows in SPEED CURRENT CONTROL tab In this section the control parameters for current and speed loop are adjusted The current and speed loops can be optimized by monitoring the step response of the system e g by applying a square wave voltage as current or speed command It is necessary to match the servo controller to the mechanics of the drive system in order to optimize performance in the velocity control mode p o 9 Control window Explanation N SOURS L 4 alphabetic order Input values Commutation Sensor Select I Commutation Sensor Select znot used Defines the feedback system which 5 lt 1 gt is used for phase and current SineEnccz control Resolver TTL Enc It may be the same as speed and Hall position sensor SineEnc EnD at Sinos EnD at Digital Biss Netzer 55 93 Preliminary MAC SWMT7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD _ M MOTION UNDER CONTROL Po ik Control window Explanation iba
129. nly qualified personnel are permitted to perform activities such as transportation installation commissioning and maintenance 1 1 2 Structure of this manual For further details see in Table of Contents page 5 1 1 3 Related documentation This User Manual serves for detailed view of all applications related to the most used hardware components accessories and software Additional documentation Product data sheet and service information delivered by MACCON Description of accessories e g cables fuses connectors etc Technical data and operational notes of motors servos encoders and interfaces v See on Change History in this manual that all revisions in relation to the hardware com ponents 1 2 Restrictions None 1 3 Safety Instructions Each chapter contains specific instructions to avoid any hazardous situation which if not avoid ed will be result of death serious minor or moderate injury MACCON disclaims all responsibility and guarantee in case of misuse of hardware and failure to comply with the instructions provided in this manual 1 4 Typographical conventions Graphical user interface text Text of the graphical user interface window titles button descriptions etc is placed inside quo tation marks 14 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual 1 Introduction M AG O N MOTION UNDER CONTROL Example In the POSITION CONTROL tab choose in the control window St
130. not joined to the controller GND of the controls Join AGND and controller GND Tab 7 19 Trouble Shooting for different faults examples MAC SWM7 UMN prel RO5 15 Preliminary 124 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL 125 Breliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL MAC SWM7 UMN prel RO5 15 Preliminary 126 User Manual 8 Glossary M AG O N MOTION UNDER CONTROL 8 Glossary A AC AC AGND ARINC 825 B BiSS Brake circuit BL BR C CAN Clock Common mode voltage Counts CPLD Current controller CW CCW CE D Kd D gain D A converter DC bus link DC1 DC3 DGND DC DC Bus Disable DSP DT Earth short Enable EMF EMC EN ET ENABLE F Field bus Alternating current Air cooled Analogue ground Communication protocol no 825 CAN data bus designed by Aeronautical Radio Incorporated Annapolis Maryland Bidirectional Seriell Synchron Open Source interface Converts superfluous energy fed back by the motor during braking regenerated energy into heat Brushless also abbreviated DC3 Plug on jumper Control Area Network an industrial field bus standard Clock signal The maximum amplitude of a disturbance on both inputs which a differential input can eliminate Internal count pulses Complex Programmable Logic Device Regulates th
131. of the load cable shields have to be connected via low resistance and high surface to the chassis earthing point or the shield equalizer of the cabinet Signal cable shields to be connected within same manner at one end to the shield e Shields need to be intact providing a high overlap rate throughout the cables to the shield equalizer or earthing point of the cabinet MAC SWM7 UMN prel R05 15 Preliminary 135 M AG O N 10 EMC Recommendations User Manual MOTION UNDER CONTROL In case there is no shielding bus existing each servo controller has to be connected from the ground screw to the central earthing point of the device by an equalizer minimum 2 5 mm cross section The shield layers have to be connected to the SWM ground screw The line filters to be installed at the cabinet entry point with high surface connection low resistance to the chassis of the cabinet Wiring is not to be laid freely in the cabinet but should rather lead as tightly as possible to the electrically grounded cabinet frame When using a shielding bus attaching the shield layer on the servo controller is not neces sary This requires a short cable length lt 20 cm between grounding bus and servo con troller All outgoing shield layers have to connect to the SWM shielding screw with the greatest pos sible surface the motor sensor connection to the shielding of the signal and load cable is ensured by ap propriate connectors or directly on the
132. ounted switching errors are possible in the case of high velocity as well as in the case of high motor current e Please pay attention to the relation of the rotor magnets to the sensors while mounting cageless motors 44 Preliminary MAC SWMT7 UMN prel RO05 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL 5 10 2 Resolver X9 The resolver is now accepted as the most robust commutation and position feedback device to support DC brushless motors The SWM servo controller allows for the use of a 2 or multi pole resolver The maximum achievable resolution with a resolver is 16 Bit A 2 pole resolver 1 electrical cycle per revolution can deliver a position resolution of 360 65 536 0 0055 0 33 arc minutes Due to the limited Tracking Rate of the Resolver Digital converter used the maximum achiev able position resolution depends on the maximum speed The limits are valid for a 2 pole resolver 16 Bit for lt 1 000 rpm 14 Bit for 4 000 rpm e 12 Bit for 16 000 rpm 10 Bit for lt 64 000 rpm RESOLVER 15 SWM7 17R REF red white REF black white 17R AGND 15V 100pF SIN red 4 24k L SIN black 8 Converter AGND Analog Digital 100pF COS blue 3 COS yellow u 24k E AGND Figure 5 14 Resolver X9 MAC SWM7 UMN prel R05 15 Preliminary 45 M A O N 5 Electrical Installation User Manual 5
133. parameter setting completely digital controlled current velocity position parameterization control loops configuration of feedback sensors configuration of inputs and outputs SWMTS family of digital servo controllers A drive version with a linear non switching power stage is available in the same housing and with the same motor and control interface configurations as the SWM7 The LWM7S has excel lent linearity around zero current unsurpassed EMC characteristics and no PWM jitter It is ideal for critical applications in science and medicine as well as in semiconductor and mag netically sensitive environments e g for positioning with sub nanometer resolutions MAC SWM7 UMN prel R05 15 Preliminary 19 M 3 Technical Description User Manual MOTION UNDER CONTROL 3 1 1 Technical data The Tab 3 1 below shows all SWM versions Rated electrical data SWM048 and SWM300 xxx x Rated supply voltage 48 V DC 48 V DC 300 V DC Maximum supply voltage 60 V DC 320 V DC Logic supply voltage 12 60 V DC Switching threshold over voltage SWM048 80 V SWM150 xxx x 360 V Rated phase current SWM048 12 5 Arms 25 Arms 50 Arms 100 Arms SWM300 xxx x 5 Arms 12 5 Arms 25 Arms Form factor output current lt 1 01 Bandwidth current control gt 3 kHz Clock frequency output stage linear 20 40 kHz configurable by SWM7 software Power dissipat
134. port 7 1 How to use the User Manual For details see chap 1 1 7 1 1 Target group Only qualified personnel are permitted to perform activities such as transportation installation commissioning and maintenance The SWM 7 GUI allows a distinction according to different use tasks for details see in chap 6 4 3 1 and 6 4 3 2 7 2 Motor Definitions MACCON delivers a complete configured SWM software adjusted for the present motor and use cases If needed the user can change apply e g new feedback hardware or change inter faces In this case and also for fine tuning the user can apply the SWM software for adjusting T changing the motor or other hardware written in the project sheet or errors hardware problems e g fuses connectors capacitor reforming user specific settings etc or other service related questions contact MACCON tech support or phone 49 89 651220 0 7 3 Speed and Current definition Setup 7 3 1 Current Loop An optimum matching of the current controllers to the motor ensures good torque control and a good servo response This also reduces losses in the motor MAC SWM7 UMN prel R05 15 Preliminary 70 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL The current loop is optimized adjusting mainly the Current Control P gain gain and D gain Depending on the customer specific firmware version the D gain is not present in the SWM7 software
135. rated directly from the mains supply The power supply for the device is realized via an appropriate transformer rectifier and a filter unit Despite good damping characteristics of transformers with respect to line conducted interference we recom mend the use of input filters in the primary supply of the transformer A selection of different types of filters can be found in Tab 10 1 AC Mains filter Manufacturer Fa Schaffner Filter type Nominal Power current eee FN351 5 29 3 x 400 V 3 Phases 1 1kg 48 12 5 25 FN351 8 29 3x400V 3Phases 8A 7W 0 8kg 48 50 100 351 16 29 23x400V 3Phases 16 8W 1 3kg 48 50 100 351 25 33 3x400V 3Phases 25A 8W 1 4 kg 300 25 FN350 8 29 1x250V 8A 5 2 W 0 7 kg FN350 12 29 1 250 12 6 1 W 0 7 kg Tab 10 1 AC Mains filter before the transformer DC Mains filter For details refer to Tab 10 2 Additional filtering measures At the motor output of the servo controller connected in series with the motor connection cables motor chokes may be used near the servo controller needs common ground used for SWM7S only These filters are special RF filters to be installed near the servo controller and ask here for common ground reference Chassis housing to PE This type of filter is particularly recommended for long motor cables gt 25 m MACCON GmbH provides the filter types acc Tab 10 2 MAC SWM7 UMN prel R05 15 Preliminary
136. rent Speed Position Linear Position Circular Sensorless B peed Sensorless Curent UA Current UY CNTRL Drive Mode Select the required drive mode COMMAND INPUT SELECT DSP Drive Current Speed Position Linear Position Circular Sensorless Speed Sensorless Curent Current CNTRL DSP Drive Mode Confirmation of the actually selected mode as set in the DSP Used by MACCON tech support External Drive Mode Switch MAC SWM7 UMN prel R05 15 Preliminary 110 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL ___ Control window Explanation COMMAND INPUT SELE in alphabetic order Input values lt gt External Drive Mode Switch To use digital input to change mode operation f DIGINT p DIGIN2 J nal 5 Usage depends firmware customer specific External Enable Switch Testbox RJ 12 External Enable Switch none used Selection of digital input as enable f DIGINI switch DIGIN2 DIGIN3 lt 2 gt Invert Command Speed UV Invert Command IQ Speed U V ND a OnE Inverts polarity of speed or current command lt 2 gt Alt Speed Command 5
137. rter This value is constant for each device and must not be changed by the user Change only when asked by MACCON tech support Current ADC Range peak 3 This value is constant for each device and must not be changed by the user Current ADC Range peak Motor current ADC range sets the scaling for AD converter Change only when asked by MACCON tech support x1 Digital Ir v IN4 m m um m un H52 00000000000 IM OUT Digital In Status display of digital inputs For customer specific applications only lt 1 gt Digital Out DS P 5 DLIT2 OUT3 0014 OUTE lt OUTS Digital Out DSP Status display of digital outputs as commanded by DSP For MACCON tech assistance only DATA ACQUISITION Drive Temperature Actual drive temperature on C F 1 8 x C 32 MAC SWM7 UMN prel R05 15 Preliminary 108 MACON MOTION UNDER CONTROL 7 System Parameters Setup User Manual DATA ACQUISITION ACQUISITION ACQUISITION Control window in alphabetic order Explanation Input values DSP Error Flags latched Displays DSP error flags latched For MACCON tech assistance only
138. s T ND Yu IEH IDAG MZ E3CIOONS SS3COONS Lire aed HOLO3HNOO ZEZSH H3COONS HOLOSMNOO 51 sere HOLISNNOD L3NHdH13 aei wr Cen spa 51 zw cran sped s ond ei HOLISNNOD NYI OLX tO LU NNOO HOVL HOLISANNOO IX HOLISNNOD SSN Figure 5 2 SWM 7S 48 150 connectors MAC SWM7 UMN prel R05 15 iminary Prel 36 5 Electrical Installation User Manual 5 5 2 SWMT 48 150 with extended I O 1OAQL ZL PLX xiusoug apd 71 AS 0 01 91 9OTVNV AS 0 01 4 DOWNY GNSVNV AS 0 AOL 1 DOWNY AS 0 AOL ELNO DOWNY AS 0 01 ZLNO DOWNY AS 0 JAOL LLNO SOTWNY xtu oud g SLNdLNO 9OTVNV SEX aed p zira aed 9 xiusoug apod p LNdLNO 1 14 6LX 96 HOSN3S 00114 YOLOW NYNL3Y ATddNS 2 YOSNAS 00 18 HOLON HOLIMS TWWYSHL HOLIMS TVW3HI HOLOW SH a ans 095 a ans 9 SH a ans 1008 SOVLIOA AlddNS 20 SX 4 TVI93dS HOLO3NNOO
139. s voltage get higher than the bus voltage no further current can be supplied and the motor speed reaches its limit Adding a reactive current Ip the inductive loss of voltage UdD leads to the output voltage U2 which is lower With this effect the motor speed can be further increased For automatic monitoring of additional reactive current in the Field Weakening Mode two algo rithms are implemented IQ is defined by the current setpoint ID is zero at the beginning When the bus voltage back EMF limit is reached additional reactive current ID is applied the absolute value of the effective current stays unchanged lo const This results in nearly constant torque the motor current gets higher than commanded IQ is defined by the current setpoint ID is zero at the beginning When the bus voltage back EMF limit is reached additional reactive current iD is applied the absolute value of the effective current is reduced Hereby the torque is reduced the motor current stays at the commanded value const Manual control of field weakening operation can be achieved by the following procedure Increase Q current until maximum speed is reached Start increasing D current and watch increasing speed Generally IQ component can be reduced proportionally to the speed increase as this is equal to the reduced torque which is available Optimization Result of an optimization see Fig 7 9 below 121 Preliminary
140. s parameter setting yourself on the servo controller but on a PC with the as sistance of the SWM setup software The PC is connected to the servo controller by a specific MACCON cable with RJ 11 connector serial see chap 5 12 The setup software provides the communication between the PC and SWMT You can find the setup software on the accompanying CD ROM and in the download area of our website see MACCON download area With very little effort you can alter settings and instantly observe the effect on the drive since there is a continuous online connection to the servo controller MAC SWMT7 UMN prel R05 15 Preliminary 56 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manual MOTION UNDER CONTROL 6 2 6 3 6 3 1 6 3 1 1 6 3 1 2 You can save sets of data archiving the parameter values in a macp file the GUI layout of your SWM application without parameter values in a mac file and load them again also print out the data sets On CD ROM are stored motor specific default sets of data for the most common combinations of servo controller and motor In most applications you will be able to use these default values as a starting point to get your drive running Interfaces and Settings The interfaces and settings are described in chap 6 3 1 1 and chap 6 3 1 2 and for trou bleshooting see chap 6 6 1 Using the SWM7 SetUp tool Installation of the software Har
141. sconnected with a lock out warning signs etc Only professional staff who are qualified in electrical engineering are allowed to install the servo controller 5 3 2 Connection diagrams For details of the connection drawings see on Table 5 1 32 Preliminary MAC SWM 7 UMN prel RO5 15 User Manual 5 Electrical Installation M MOTION UNDER CONTROL Denomination seeon Overview page 35 Motor page 41 Feedback page 43 Digital and analog inputs and outputs page 52 CAN interface page 54 USB interface page 55 Ethernet interface page 54 Tab 5 1 Connection drawings overview 5 3 3 Shielding connection to front panel For details see Fig 5 1 5 3 4 Motor connector X4 with shielding connection For details see Overview Fig 5 1 page 35 DC3 motor Fig 5 7 on page page 40 and e 1 motor Fig 5 8 on page 41 5 3 5 Technical data for connecting cables For further information on the chemical mechanical and electrical characteristics of the cables please refer to the accessories manual or contact our customer service Observe the rules in the section Conductor cross sections on page 22 To reach the max permitted cable length you must use cable material that matches the recom mended capacitance requirements of lt 150 pF m MAC SWM7 UMN prel R05 15 Preliminary 33 MACON MOTION UNDER CONTROL 5 Electrical Installation User Manual 54 Connec
142. se SWM Sine Wave Monitored servo controller for servo motors e g SWM7 Supply filter Device to divert interference on the power supply cables to PET T Tachometer voltage Voltage proportional to the actual speed TB Test Box optional TBD To be defined editorial notes for PRELIMINARY issue Thermal control Temperature sensitive device built into the motor winding usually a PTC Tn l integration time Integral component of a control loop W WC Water cooled MAC SWM7 UMN prel R05 15 Preliminary 129 M 8 Glossary User Manual MOTION UNDER CONTROL Output once per turn from incremental encoder used to zero the Z Zero pulse Hisce uC Microcontroller MCU 130 Preliminary MAC SWM7 UMN prel R05 15 User Manual 8 Glossary M AG O N MOTION UNDER CONTROL MAC SWM7 UMN prel R05 15 Preliminary 131 User Manual 9 Index M AG O N MOTION UNDER CONTROL 9 Index MAC SWM7 UMN prel RO5 15 Preliminary 132 User Manual 10 EMC Recommendations M MOTION UNDER CONTROL 10 10 1 10 1 1 10 1 2 10 2 EMC Recommendations To meet the requirements of the EMC regarding emission and noise immunity internal filter measures are implemented in the SWM S servo controllers In addition external filtering and shielding measures are recommended These measures must comply with to the overall concept of your design and machine External filtering measures The SWMTS servo controller not be ope
143. set to 20 of Ipeak and this value has been exceeded but lower then max current in parameter display win dow Current see 6 4 t Current Limit xl of Ipeak l m 2 m E Figure 6 19 warning I t error The l t current is higher then the max current see see 6 4 The SWM7 unit turns off automatically 6 6 4 Other error messages related to SWM7 program In the case of specific errors displayed in the status line then contact MACCON tech support Opening the device means loss of warranty 69 Preliminary MAC SWMT7 UMN prel R05 15 MACON MOTION UNDER CONTROL User Manual 7 System Parameters Setup 7 System Parameters Setup The complete chapter 7 is in editorial status Start up and Not tested You can use this chapter for a first information only This User Manual describes the operational tasks for the SWM series of digital servo con trollers Ad Pay attention to the Safety Instructions to avoid any risk for dangerous voltages temperatures and hardware damage All the software and User Manual required for the operation of is electronically available on CD ROM and if necessary in paper form also Q First check the chap 7 9 Trouble Shooting on page 123 In case of errors hardware problems e g fuses connectors user specific settings etc or other service related questions contact MACCON tech sup
144. software SW Hardware The name plate see Tab 2 1 and is placed on the back of the SWM7S housing The version part number serial no and option is assigned by the product administration system T ype SWMTS 048 50 E T Supply 48 60V Modification n a Version Rev D4 Option D2 12 0251 Serial No Tab 2 1 SWM7S name plate example Software To identify the present PC SW version see in About tab The firmware consists of three separate modules for uC DSP and FPGA Regarding the DSP and FPGA firmware select the tab SWM STATUS see control window DSP SW Version and control window FPGA Version The uC firmware version is reported as first message after start up in the message window 18 Preliminary MAC SWM 7 UMN prel RO5 15 User Manual 3 Technical Description M AG O N MOTION UNDER CONTROL 3 1 Technical Description The SWMTS is used for the current feed and control of servo motors Sine Wave Monitored servo controller and represents the culmination of 20 years of development and application experience in industrial military and vehicle servo systems This motor controller family offers the benefits of modern digital and power electronics technology Some of the special features of this motor controller are e Power section power stage for DC brush 3 phase brushless DC and AC induction motors various voltage supply ranges 12 60 V
145. standstill Sine Enc 1 Cycles Rev 97 Preliminary MAC SWM7 UMN prel R05 15 User Manual 7 System Parameters Setup _TBD_ M MOTION UNDER CONTROL MOTION SENSORS MOTION SENSORS MOTION SENSORS Control window in alphabetic order lt 0 gt Sine Enc 1 Cycles Hev o HERRERO 121151511 a Explanation Input values Resolution of Sine Encoder 1 sine cycles per revolution or sine cycles per meter for linear sensors Set acc to used sine encoder 1 gt EXE Burst Freq EXE Burst Freq Parameter for emulation of an incremental encoder which may be used to drive an external position controller Maximum pulse frequency for encoder output EXE Divider Scaling factor for encoder output depends on position sensor resolution The emulated incremental encoder has a resolution of the sensor used for commutation as shown in the parameter COMM_SENS Increments Rev or m divided by this factor 1 Hall Observer Gain Observer Gain Gain of the hall position observer loop lt 1 gt Hall Observer Gain HEX El Hall Observer P Gain P gain of the hall position observer loop lt 0 gt Hall Phases 3 Phases 2 Phases 12 Steps zi T Phases
146. t Analog Cmd Gain Adjust nnm omo 1515 55101 Analog Cmd2 Gain Adjust Scaling for analog command 2 MAC SWM7 UMN prel RO5 15 Preliminary 112 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL Control window Explanation q y in alphabetic order Input values Analog In 1 Offset Offset setting for calibration of analog input 1 Adjust to set Analog Cmd Input 1 to zero at 0 V input voltage Analog In 2 Offset Offset setting for calibration of analog input 2 Adjust to set Analog Input 2 to zero at 0 V input voltage Analog In Aux Offset Offset setting for calibration of analog Aux input Adjust to set Analog AUX to zero at 0 V input voltage Analog PWM Full Scale Current ANALOG INPUT Set desired current command at maximum input voltage Also used for digital command input m e Analog PWH Full Scale Speed Analog PWM Full Scale Speed PPM mms Set desired current command at maximum input voltage Also used for digital command input ce CHTRL lt 2 gt Invert Command Speed U ZV Invert Command IQ Speed U V f WO YES Inverts the command channel 1 Invert Command 2 ID Inverts the comma
147. t parameter files gt macp files preconfigured for different motors sensors or speed settings i e enter setpoints in offline mode To save use the menu item File gt Save as new name macp file The user can now upload in OFFLINE mode a specific new 1 gt file for the present hardware configuration see menu item Service gt Go ONLINE Working in ONLINE mode you can choose the specific macp file for the specific hard ware motor sensor configuration The attached servo controller can be set up and during this procedure the drive can be con trolled directly by the service functions see buttons Enable Drive and Disable Drive Only professional personnel who have the relevant expertise are permitted to carry out online parameter settings for a drive that is in operation In case of errors hardware problems e g fuses connectors capacitor reforming user specific settings etc or other service related questions contact MACCON tech support or phone 49 89 651220 0 Sets of data that have been stored on data media are not safe against unintended alteration by other persons Unexpected move could be the result if you use unchecked data After loading a set of data you must therefore always check all parameters before enabling the servo controller The servo controllers must be adapted to the requirements of your machine Usually you will not have to carry out thi
148. tab ar 103 7 13 Control windows SWM STATUS tab rr 105 7 14 Control windows in DATA ACQUISITION 110 7 15 Control windows in COMMAND INPUT SELECT tab 113 7 16 Control windows in ANALOG INPUT tab 114 7 17 Sequence for operational tasks a nnne nan nns 116 Fa Fo Mi idiot i ERE 124 7 19 Trouble Shooting for different faults examples 125 10 1 AC Mains filter before the 1 137 10 2 Motor chokes optional rara rara nnn nnne nnne nnn nnns 138 MAC SWM7 UMN prel RO5 15 Preliminary 9 M AG O N User Manual MOTION UNDER CONTROL List of Figures Figure 4 1 Mounting drawing for 188 x 164 mm base plate 27 Figure 4 2 Mounting drawing for 188 x 189 mm base plate 28 Figure 4 3 Mounting drawing for SWM7 300 600 high voltage wall mount version
149. technical terms used in this documentation are registered trade marks With this they are liable to legal conditions Copyright MACCON GmbH 2015 All rights reserved Issued by MACCON GmbH Aschauer Str 21 D 81549 Munchen Only qualified personnel are permitted to perform activities such as transportation installation commissioning and maintenance Qualified personnel are persons who are familiar with the transport assembly installation commissioning and operation of the product and to their job have the qualifications The qualified personnel must know the following standards and guidelines and note iEC 364 bzw CENELEC HD 384 or DIN VDE 0100 664 or DIN VDE 0110 e National accident prevention regulations or 4 Read before installing and commissioning the present documentation Incorrect operation of the servo amplifier can lead to personal injury or property damage Observe the technical data and information on connection requirements nameplate and documentation The servo controller contains electrostatically sensitive components which can be damaged by improper handling Discharge your body before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface During operation servo amplifiers to their protection can have live bare parts Control and lead terminals may be live even i
150. tion profile MAC SWM7 UMN prel R05 15 Preliminary 78 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL u NUN Control window Explanation uu ESSEN in alphabetic order Input values operating mode Profile Position L ommand Profile Position Command PROF Speed setpoint for sensorless control in speed mode m s Profle Speed NA lt gt Profile Speed Comman Profile Speed Command PROF Target Position Target Position POSITION CONTROL 4 TTT lots Target position of the profile Use Index Pulze Use Index Pulse lao Index Pulse Used oz lu Displays state of index pulse Displays Index Pulse Used if Use Index Pulse was selected Tab 7 3 Control windows in POSITION CONTROL tab 7 4 3 2 Control windows in SENSORLESS CONTROL tab For sensorless open loop motor control the relevant settings can be made here Usually you receive by MACCON a customized and validated parameter set for your sensorless application LUN Control window Explanation SISOS So CONTROL in alphabetic order Input values 2 Acceleration Acceleration 111111 D oo
151. tor assignments The following table details the connector assignments SWM7S 048 XX XX SWM7S 300 600 XX SWM7 048 100R ET CT AMR option Communication RS 232 X2 1 X2 1 X2 1 USB X3 1 X3 1 X3 1 CAN X10 X10 X10 Ethernet 4 1 4 1 4 1 Power amp Motor Thermo Brake X3 X3 X3 Motor X4 SubD HS 8 Phoenix 4 pole M6 Screw DC PWR Control X5 SubD HS 5 X5 SubD HS 2 ctrl X5 SubD HS 5 Phoenix 3 pole PWR Feedback Resolver X1 X1 X1 Encoder X6 X6 X12 AUX supply 5 Out X8 Sine Serial X11 X11 X11 Sine serial AMR Sine serial AMR Sine serial AMR Sine TTL X12 Tach Hall X13 X13 X13 Standard Test Box X1 1 X1 1 X1 Digital Analog EncOut X2 X2 X8 Digital In Out Rel Optoisol X7 X7 extended 1 1 Analog In X14 Analog Out 15 Digital In HS 16 Digital In 17 Digital Out 18 Out 19 Safety Relay 20 Tab 5 2 SWM7 connector assignments Connectors in bold type standard connector Other connectors optional 34 Preliminary MAC SWM7 UMN prel R05 15 5 Electrical Installation User Manual Connection diagrams Overview 5 5 SHOSNZS TOO qiru Aka 502
152. ts per second Data bits 8 Paty None Stop bits 1 Flow control None gt Restore Defaults Figure 6 12 Port Settings for the COM port default MAC SWM7 UMN prel RO5 15 Preliminary 66 M 6 Controller Monitoring with SetUp Tool SWM 7 exe User Manual MOTION UNDER CONTROL 3 Reduce settings for receive buffer to 4 E NM E m V Use FIFO buffers requires 16550 compatible UART Select lower settings to comect connection problems Select higher settings for faster performance Receive Buffer Low 1 High 14 4 Transmit Buffer Low 1 rm 16 16 COM Port Number Figure 6 13 Adjust Receive Buffer for COM port 4 Click OK to close all device manager windows 5 Restart Windows to make these changes become effective Now the warnings should not show up anymore 6 6 2 Errors regarding wrong setup in SWM7 GUI This chapter shows some examples for wrong system setup in SWM7 GUI The error messages are cleared as soon as the setup is adjusted properly 6 6 2 1 Invalid combination of feedback sensors Due to hardware restrictions some combinations of feedback sensors are not possible E g you can not use Sine encoder 2 and Endat at the same time In case of invalid sensor settings one of the following error messages is output see Fig 6 9 Duplicate Use Of Encoder Input 1 Duplicate Use Of Encoder Input
153. turn to manufacturer for cleaning and testing 2 3 Disassembling Observe the sequence below if a servo amplifier has to be disassembled e g for replacement 1 Electrical disconnection Switch off the main switch of the switch gear cabinet and the fuses that supply the system Wait at least eight minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment e g contacts or undoing any connections To be sure measure the voltage in the DC supply and wait until it has fallen below 40 V Remove the connectors Disconnect the earth ground connection at last 2 Check temperature During operation the heat sink of the servo amplifier may reach temperatures above 80 176 Before touching the device check the temperature and wait until it has cooled down below 40 C 104 3 Disassembling Disassemble the servo amplifier reverse of the procedure described in chap 4 2 4 Repair Instructions Repair of the servo amplifier must be done by the manufacturer Opening the devices means loss of warranty In case of service related questions contact MACCON tech support or phone 49 89 651220 0 MAC SWM7 UMN prel R05 15 Preliminary 17 M 2 Handling and Package User Manual MOTION UNDER CONTROL 2 5 2 6 2 6 1 2 6 2 2 6 2 1 2 6 2 2 Disposal Disassemble the equipment as described in chap 2 4 and send it in the or
154. uits 4 DIGOUT4 XT T DIGOUTS5 7 8 DIGOUT6 X7 9 can be configured for customer purposes Tab 5 4 SWM7 digital outputs Properties of digital outputs Error codes are actively driven TTL outputs DIGOUTA4 5 6 are open collector outputs with max 40 V 80 mA MAC SWM7 UMN prel R05 15 Preliminary 53 MACON MOTION UNDER CONTROL 5 Electrical Installation User Manual 5 12 RS 232 interface PC connection X2 Operating position control and motion block parameters can be set up by using the setup soft ware on an ordinary commercial PC Q Connect the PC interface X6 of the servo controller to a serial interface on the PC while the supply to the equipment is switched off This interface is galvanically isolated SWM7 TxD TXD MON RxD RXD MON COM Port GND MON GND HOUSING Figure 5 27 PC connection to SWM7 The interface is selected and set up in the setup software Further details see on page 58 5 13 CAN interface X10 This interface will be available in the next implementation The baud rate of the interface for connection to the CAN bus is configurable The integrated CAN communication profiles are customer specific or MACCON standard The CAN GND is isolated from other grounds and is the same for the second serial interface User TXD RXD The analog setpoint inputs can still be used SWM7 RXD User RXD Us
155. upply 1 E 45V ag 1 E Phase U 9 SYN U Phase V 8 Phase W Gnd Figure 5 24 Sine Encoder with Hall 5 10 12 Encoder with BiSS X11 Encoder with BiSS interface L MA Figure 5 25 with BiSS l V V V SYN W _ x 470pF AGND X11 5 4 MAC SWM7 UMN prel RO5 15 Preliminary 51 M AG O N 5 Electrical Installation User Manual MOTION UNDER CONTROL 5 10 13 AMR Encoder X11 AMR Encoder Figure 5 26 AMR Encoder X11 5 11 Analog and digital inputs and outputs These inputs and outputs are used mainly for customer specific applications and for trou bleshooting read out of error codes 5 11 1 Analog inputs and outputs Inputs 2 different inputs ANACMD 1 2 on the X2 reference for the analog inputs is AGND available at e g X2 1 e Differential input range max 10 V Common mode range max 13 V e Differential input resistance 20 kOhm Sampling rate gt PWM frequency sec Outputs analog outputs available ANALOG OUT1 2 3 on the X2 The reference for the analog outputs is AGND available at e g X2 1 Output range is max 10V Sink source capability max 10 mA e Update rate gt PWM frequency sec 5 11 2 Digital inputs and outputs Internally the digital inputs and outputs have its own grounds which are galvanically isolated from the other grounds To supply the digital
156. xpected see chap 7 3 1 1 on page 71 lt 2 gt Speed Control KVFR SPDCNTR E LER Speed Control KVFR Speed control feed forward for faster reaction of current controller see chap 4 3 8 on page 93 2 Speed Control P gain BEBE 00051 6 SPDCNTRL Speed Control P gain P gain of speed control loop see chap 7 3 1 1 on page 71 SPEED CURRENT CONTROL Speed Limit Speed limit in current control mode Use Ramp Speed Ramp Check to enable slope control of internal soeed command see parameters Speed Max Acceleration and Speed Max Deceleration Speed Sensor Select Defines the feedback system which is used for speed control loop Selection acc present sensor type lt 2 gt Speed Max Acceleration al z TTT TT ogo rpm sec mm s7 2 5155101 Speed Acceleration Specify the acceleration limit for speed control mode If enabled see parameter Speed Ramp Reduce the slope of the speed command if necessary Speed Max Deceleration MAC SWMT7 UMN prel R05 15 Preliminary 96 M 7 System Parameters Setup User Manual MOTION UNDER CONTROL uU OON Control window Explanation Qu CURRENT CONTROL inalphabatie orden Input values are Specify the dece

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