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DS30 – DS5x

1. Name Description Input Default Possible Unit Size Allowed values RefVel Speed reference RW 2bytes 0 32768 32767 0 25rpm Velocity Instantaneous speed R 2bytes 0 32768 32767 0 25rpm TargetPos Target position RW 4bytes 0 2147483648 1 128 2147483647 step Position Motor instantanous position RW 4bytes 0 2147483648 1 128 2147483647 step CPosition Seizing of the motor RW 4bytes 0 2147483648 1 128 instantaneous position 2147483647 step MaxVel Maximum rotation speed RW 2bytes 2000 0 12000 0 25rpm Acceleration Allowed maximum acceleration RW 2bytes 1000 1 30000 1rpm s Deceleration Allowed maximum deceleration RW 2bytes 1000 1 30000 1rpm s ControlMode Movement control mode RW 1byte 1 0 1 PhaseCurrent Motor phase current RW 1byte min Imin Imax 0 1Arms StByCurrent Time Delay before current reduction RW 1byte 5 1 100 100ms StByCurrent Percentage Current reduction percentage RW 1byte 50 0 100 TimerA Timer RW 2bytes 0 0 32767 ims CounterA Counter RW 2bytes 0 0 32767 Status Drive status R 1byte 128 127 ControlFlags It contains various control bits RW 1byte 0 128 127 Fault Drive faults R 1byte 128 127 Error Drive errors R 1byte 128 127 bEnable Drive enabling RW bool 0 0 1 bI nPosition In position motor flag R bool 0 0 1 bEnabled Drive enabling status R bool 0 0 1 bInStop In st
2. O SCh__ Humidity no condensing _______________________ _5 LAM Technologies electronic equipment 117 Technical data DS30 DS5x DS3044 DS5x44 Min Typ Max Vp jPowersuppyDCvoltage 11 1 1 20 50 Vdc If Phase current effective current 1 4 Arms Vprp Allowed ripple 100Hz 1 1 21 8 Vpp Vpbrk Permanent breakdown voltage 05 60 vdc Vph jOvervoltage protection intervention 560 575 vdc Vpl Undervoltage protection intervention 185 197 vdc Tchh Thermal protection intervention threshold 85 90 95 Tech Thermal protection restoration threshold 60 65 70 Power lost on the drive o 8 Motor inductance seen by thedrive os 50 Vdi_ Digtalinputvoltagerange 1 1 1 3 28 vdc Vdibrk_ Digital input breakdown voltage 30 30 Vdc Digital input supply current d 4 6 J 8 Vdo Digital output voltage range o 1 1 1 1 30 Vdc Vdobrk Digital output breakdown voltage 05 37 vdc Vdoz Output zener diode voltage 1 1 1 1 1 1 37 3 42 vdc Digital output currentrange 50 Digital output breakdown current 120 Digital output dissipable power Vai Analoginputvolagerange 10 V
3. 05 37 vdc Vdoz Digital output currentrange 50 mA Digital output breakdown current drof Digital output dissipable power 300 Vai _ Analog input voltage range 10 i0 Vaibrk Analog input breakdown voltage 45 45 Analog input impedance 47 A D converter resolution 11 o _ bit A D converter conversion time A D converter start offset_ o ADdoff _ A D converter offset drift o Z o To A D converter linearity eror i To ircui Analog output voltage range Analog output current range D A converter resolution _ 10 bit DAud _ D Aconverterupdate _ _ 10 mec DAsoff D Aconvertrstartoffset I 03 1 fs DAdoff D A converter offset drift J or 03 fs DAline D A converter linearity error 03 15 fs Protections Diagnostics Alarms Over Under voltage Short circuit Overheating Break phase Mechanical specifications FoI Depth 4 j FDw Width 0 1 O FDnw Weight j Fca E If current degrading every 1000m beyond the FCa altitude value FCt oO FCh Vao Humidity no condensing Conditions of storage and transport Sca Altitude
4. 4 J o 1004 mm FDO Depth J J J 1190 mm FDw Width J J P 35 mm FDnw Weight 0 29 g Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o P Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 130 LAM Technologies electronic equipment DS30 DS5x Technical data DS3098 DS5x98 Min Typic Max Vp PowersupplyDC voltage 1 1 1 45 240 vdc If Phase current effective current 4 10 Arms Vprp Allowed ripple 100H2 1 1 0 1 1 30 Vpp Vpbrk Permanentbreakdown voltage 05 265 vdc Vph Over voltage protection intervention 242 255 vdc Vpl Under voltage protection intervention 35 37 vdc Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 c Piss Powerlostonthedrive S 30 w MI Motor inductance seen by the drive 1 1 06 30 mH Vdi Digital input voltage range 1 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 amp 30 vdc
5. J or 03 fs D A converter linearity eror o 03 15 fs DAline Overheating Break phase Mechanical specifications FDh Height J J o 1004 mm FDI Depth o 1190 mm FDw With J 35 mm FDnw Weight 4 29 gr Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o f Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 124 LAM Technologies electronic equipment DS30 DS5x Technical data DS3078A DS5x78A DLL See Min Typ Max Vac Powersupply AC voltage 1 1 1 1 20 65 Vac If Phase current effective current 4 10 Arms Vacbrk Permanent breakdown voltage 11 1 1 T 75 Vac Vach Over voltage protection intervention 69 73 Vac Vacl Undervoltage protection intervention 1 16 186 Vac Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 6 70 vc Piss Power lost on the drive 1 2 24 W MI __ Motor inductance seen by the drive 05 30 mH Vdi Digital input voltage range 1 1
6. Jump to herelfTrue if Position gt 18000 Jump to the instruction block identified by the herelfTrue label if the value of the Position register is greater than 18000 First executed block if the condition is false This represents the first block of the Else case Instruction blocks of the Else case Jump to nextOperation always Unconditional jump which terminates the blocks of the Else case and transfers the execution of the program to the first following block to the If Then Else construct herelfTrue First block executed if the condition is true This represents the first block of the Then case Instruction blocks of the Then case nextOperation First block subsequent to the If Then Else construct executed independently from the test result LAM Technologies electronic equipment DS30 DS5x 6 7 5 Hysteresis Programming When analog values are used it is often necessary to condition the signal with an hysteresis to avoid that continuous little signal fluctuations often due to electric noise produce on the application undesired effects To better comprehend this problem it can be taken as an example the use of an analog input to command the motor position Because of the electrical noise the A D converted value oscillates of some units around the medium value if the converted number is used directly as destination position the motor will cont
7. o 1004 mm FD Depth iso ___ mm FDw Width O FDnw Weight gt J 294 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 125 Technical data DS30 DS5x DS3078 DS5x78 Descrizione Min Tipico Max Vp Power supply DC voltage 1 1 24 90 vac If Phase current effective current 4 10 Arms Vprp__ Allowedripple 100Hz _ 1 1 1 1 15 ve Vpbrk Permanent breakdown voltage 05 105 vac Vph Over voltage protection intervention 95 98 vdc Vpl Under voltage protection intervention 225 235 vdc Tchh Thermal protection intervention threshold 85 290 95 c Tchi Thermalprotection restoration threshold 60 65 70 c Piss Power lost on the drive 1 1 0 15 w MI Motor inductance seen by the drive 05 30 mH Vdi Digital input voltage range 1 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vac Idi Digital input supply current 1 4
8. bit15 Sign extension The most significant byte 0x17 Word 1 bits bit o jifojofrifojrifojojofrifofjrifijoj 1 Rmaining 2 bytes 0x4A2D Es 2 3byte 1270301 OXECODE3 L LL J hiw f j j oj j joj o bit15 Sign extension The most significant byte OxEC Word 1 bitis j foio 1 jojo 1 1 1 0 1 1 1 1 0 0 0 1 1 Remaining 2 bytes 0x9DE3 104 LAM Technologies electronic equipment DS30 DS5x Fieldbus 7 2 4 5 dword The dword type data are represented using two words The first word the one with the minor ID address contains the two most significant bytes of the dword while the second word with address 1 contains the two remaining bytes of the dword Es 1 word 898271058 0x358A8752 Word 0 AR opo bits vito o jojrfifojrijojrififojojojrfofijo Value of the most signigicant bytes 0x358A Word 1 pita vito 1 oj jojo ojz 1 1 0 1 0 1 0 0 1 0 Value of the two most significant bytes 0x8752 Es 2 word 1026521534 0xC2D08642 Word 0 bitis bito a3 fifojofofojifojijifojifofojojo Value of the two most significant bytes OxC2D0 Word 1 bits bit a1 jojofofojrjrjofof
9. FDt Depth D iso mm FDw Width O FDnw Weight gt J 294 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 129 Technical data DS30 DS5x DS3087 DS5x87 Min Typ Max Vp Powersupply DC voltage 1 1 45 160 vdc If Phase current effective current 4 895 Arms Vprp Allowedripple 100Hz _ 0 1 25 v Vpbrk Permanentbreakdown voltage 05 210 vdc Vph Over voltage protection intervention 177 181 vdc Vpl Under voltage protection intervention 26 27 vdc Tchh Thermal protection intervention threshold S 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 c Piss Powerlostonthedrive 1 1 S 20 w MI Motorinducanceseenbythedrive 1 1 06 amp 35 mH Vdi Digital input voltage range 1 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 amp o vdc Idi Digital input supply current d 4 6 8 j mA Vdo Digital output voltage range 1 d 1
10. 03 15 fs DAline Overheating Break phase Mechanical specifications FDh Height 4 J o 1004 mm FDO Depth J J J 1190 mm FDw Width J J P 35 mm FDnw Weight 0 29 g Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o P Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 128 LAM Technologies electronic equipment DS30 DS5x Technical data DS3087A DS5x87A DLL ee Min Typ Max Vac Powersupply AC voltage 1 1 1 1 35 115 Vac If Phase current effective current 4 A J 895 Arms Vacbrk Permanent breakdown voltage 1 1 1 142 Vac Vach Overvoltageprotection intervention J 120 126 Vac Vacl Under voltage protection intervention 31 336 Vac Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 6 70 vc Piss Powerlostonthedrive_____________________ 20 2 36 w MI___ Motor inductance seen by the drive 1 06 35 mH Vdi Digital input voltage range 1 1 1 OJ 3 28
11. DArai D Aconverterresoluion 10 bit DAud JD Aconverterupdate 10 msec DAsoff __ D A converter start offset__ 03 1 9ofs DAdoff X D Acoverteroffset drift_ 01 0 3 9ofs DAline D A coverter linearity error 0 3 15 fs When the drive is supplied only through the UDP30 setting interface the analog output voltage is undetermined LAM Technologies electronic equipment 45 Installation DS30 DS5x 4 4 4 6 Connection examples PNP NPN and Line Driver Below are some examples of valid connection to PLC equipped with PNP and NPN I O type 4 4 4 6 1 Inputs Controller PLC kz V 3 28Vdc CNC ecc with l PNP output Controller PLC V 3 28Vdc CNC ecc with NPN output ov E 3 20 00 EE ev c s Controller PLC CNC ecc with i Line Driver output i 3 28Vdc 46 LAM Technologies electronic equipment DS30 DS5x 4 4 4 6 2 Outputs Controller PLC V 3 28Vdc CNC ecc with PNP output Controller PLC CNC ecc with NPNoutput ES cont equipar Installation 47 Installation DS30 DS5x 4 4 5 Chassis setting 48 Filter In order to contain the electromagnetic emissions and to better shield the drive it is essential to give particular attention to the setting of the chassis The drive must be placed inside a metal case preferably iron made capable to successfully shie
12. MI __ Motor inductance seen by the drive 08 50 mH Vdi Digital input voltage range o 1 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vdc Idi Digital input supply current 1 4 6 a mA Vdo _ Digital output voltage range__________________ _1 30 vac Vdobrk Digital output breakdown voltage 05 37 vdc Ido jDigtalouputcurentrange 1 1 1 ST 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipablepower TT 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 0 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai _ D A converter resolution Z 10 f bit DAud D Aconverterupdate_ 10 msec j DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift J y 01 03 fs DAline D A converter linearity error____________________ 03 15 fs Protectio
13. The information in this manual have been carefully checked and are believed to be accurate however any suggestion to improve it will be highly appreciated LAM Technologies is a registered trade mark Contacts e General information info lamtechnologies com e Technical support support lamtechnologies com e Sales information sales lamtechnologies com DS30 DS5x 1 NOTES TERMS AND WARNINGS 5 35 es oos roo oer ota ro aao aya odon can rees rose arop serae VP aede ages assess ieee eee isse ae sesta osna oses 7 2 RISKS AND izeiagegem 9 3 INTRODUCTION Mer 11 3 1 2PRODUCT DESCRIPTION 5n sors er E Coo Etre tl tie codvesnnes ac iot Era eroe do te bns re uso 11 3 1 1 Available models 2 3 2 5 wg add a ad eMe RI cabida 12 3 1 2 M in Features ugs cade an d eae t oon aded ead iat eae Tad a due dede e ded qa cado lc deed dos Fano 13 3 2 ACCESSORIES 2262286 METRE 14 4 INSTALLATION eec 15 A INSPECTION caia rante lia 4 2 MECHANICAL INSTALLATION ssssccccccccsssesceccccecuenssesceceseceeeuseececesseceecusessecesscuecussssecessceeauansnsecesecsegansnsecesseeeagnssegeness AS AIR COOLING ii D a BANG e o 4 4 1 Power Supply AC models 44 2 Power Supply DC models 4 4 3 Motion 44 4 Control Signals 4 4 4 1 Fiedlbus DS5x series 4 4 4 1 1 DS50 series RS485 Modbus RTU 4 4 4
14. DS30 DS5x Hardware rev 1 20 Firmware rev 1 09 Programmable stepper motor drives with integrated Modbus RTU field bus User s Manual The information in this document replace any other material previously published LAM Technologies reserves the right to change technical specification and price to any product here at any time and without further notice This manual contains reserved and proprietary information All rights are reserved It may not be copied disclosed or used for any purposes not expressly authorized by LAM Technologies LAM Technologies warrants the products herein against defects in materials and workmanship for a period of 12 months This warranty does not apply to defects resulting from an improper use inadequate installation or maintenance This warranty also does not apply in case the products are received modified or integrated with other parts and or products not expressly authorized or provided for by LAM Technologies This warranty also does not apply in case the product s label has been removed or modified Any assistance request must be addressed to the product s purchase source In case of direct purchase from LAM Technologies a returned material authorization number RMA must be obtained from support lamtechnologies com clearly specifying the product code the serial number the problem found and the assistance required The RMA will have to be clearly stated on each shipping documents otherwise the pa
15. Idi Digital input supply current d 4 6 8 J mA Vdo Digital output voltage range 1 d 1 30 vde Vdobrk Digital output breakdown voltage 05 37 vdc Ido Digtalouputcurentrange 1 1 1 1 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipable power 1 1 1 300 mW Vai Analoginputvoltagerange 1 1 1 10 o vdc Vaibrk Analog input breakdown voltage 1 1 1 45 5 vdc Rai Analog input impedance 1 1 da kR j ADrai A D converter resolution _ Z OJo o 11 bit ADst A D converter conversion time 1 1 1 10 X msec ADsoff A D converter start offset J 1 2 fs ADdoff A D converter offset drift 03 05 9efs ADline A D converter linearity error 1 1 1 2 fs Vao Analgoutpttvoltagerange CT o o vdc lao Analog output currentrange 0 1 10 mA ltasc Analgoutputshortciruit curent ST T 20 mA Rao Analog output impedance 1 0 OST 1 1 1 9 DArai _ D A converter resolution Ot DAud D A converter update msec DAsoff D Aconvererstartoffset Bs DAdoff D Aconvertroffsetdrift J or 03 fs DAline D A c
16. Word Number CRC 1 1 2 2 2 1 247 Address 1 247 0x03 2 or 4 0 65535 0x03 Function Code 0 65535 Reply Slave Master Byte WordO Counter Value lor2 Word Value 0 65535 0 65535 CRC 0 65535 Address it is the address of the slave receiver of the command when the data flow is from the master towards the slave or the address of the slave which transmits when the data flow is from the slave to the master reply Function code it is the identification of the function for the reading of registers and program variables 0x03 Word ID it is the ID also called address of the first word to which to access Only some addresses correspond to valid registers and variables see further on The access to non existent registers or variables produces an error reply message from the drive 106 LAM Technologies electronic equipment DS30 DS5x Ex 1 reading of Fieldbus Word number it is the quantity of words on which to operate At most it is possible to operate on 2 words at the time Byte counter it contains the number of bytes which will follow excepted the CRC Its value is the double of the Word Number parameter Word0 value it is the value of the first read word corresponding to the Word ID Wordl Value it is the value of the second read word relative to the Word ID 1 The parameter is indicated between square brackets because it is present only whe
17. 132 LAM Technologies Viale Ludovico Ariosto 492 D 50019 Sesto Fiorentino Firenze ITALY Ph 39 055 4207746 Fax 39 055 4207651 www lamtechnologies com General information info lamtechnologies com Technical support support lamtechnologies com Sales information sales lamtechnologies com rev 1 30
18. 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vac Idi Digtalinptsuppycuret 1 4 6 8 _ mA Vdo _ Digital output voltage range 11111 1 1 1 1 30 vac Vdobrk Digital output breakdown voltage 05 37 vdc Ido jDigtalouputcurentrange 1 1 1 ST 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipablepower TT 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 0 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai D Aconverterresouton o o 10 bit DAud _ D A converter update 10 msec DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift OJ y 01 os 9efs DAline D A converter linearity error Z 03 15 fs Protections Diagnostics Alarms Over Under voltage Short circuit Caratteristiche fisiche FDh Height
19. D A converter offset drift or 03 wefs D A converter linearity eror o Z 03 15 fs DAline Overheating Break phase Mechanical specifications FDh Height 4 J o 1004 mm FDO Depth J J J 1190 mm FDw Width J J P 35 mm FDnw Weight 0 29 g Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o P Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 126 LAM Technologies electronic equipment DS30 DS5x Technical data DS3084A DS5x84A ML See ee Min Typ Max Vac Powersupply AC voltage 1 1 1 1 1 35 115 Vac If Phase current effective current 2 4 Arms Vacbrk Permanent breakdown voltage____________________ __ 142 Vac Vach Overvoltageprotection intervention 120 126 Vac Vacl Undervoltage protection intervention 3 336 Vac Tchh_ Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 6 70 vc Piss Power lost on the drive 1 20 w MI Motor inductance seen by the dr
20. Etc The CounterA register is accessibile both in reading and in writing mode and can assume values included between 0 and 32767 6 3 1 15 Status It is a read only register whose bits give various information about the status of the drive The following table shows the correspondence between the bits and the given information Bit Name Description bit7 bl nPosition It becomes active value 1 when the motor reaches the set position i e when the Position register is equal to the TargetPos register bit6 bl nStop It becomes active value 1 when the motor is in stop state bit5 bEnabled It becomes active value 1 when the motor is enabled bit4 bFault It becomes active value 1 where there is at least one fault in the drive Fault register lt gt 0 bit3 bUVarLoaded Becomes active value 1 when the program variables are successfully loaded from flash memory bit2 bUVarSaved Becomes active value 1 when the program variables are successfully saved to flash memory bit3 bitO Not used Some bits are accessible also as Boolean type independent registers LAM Technologies electronic equipment 75 Programming DS30 DS5x 6 3 1 16 ControlFlags It is a register that controls some functions of the drive The following table shows the correspondence between the various bits and the function performed 6 3 1 17 Fault Bit Name
21. FDt Depth D iso mm FDw Width O FDnw Weight gt J 294 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 123 Technical data DS30 DS5x DS3076 DS5x76 Min Typ Max Vp Powersupply DC voltage 1 24 90 vdc If Phase current effective current 2 6 Arms Vprp Allowed ripple 100H2 11 11 0 0 15 vee Vpbrk Permanentbreakdown voltage 05 105 vdc Vph Over voltage protection intervention 1 95 98 vdc Vpl __ Under voltage protection intervention 225 235 vdc Tchh Thermal protection intervention threshold S 85 90 95 C Tchi Thermal protection restoration threshold 60 65 70 Vdi Vdibrk Vdo Vdobrk Vdoz Vai Vaibrk A D converter startoffset_ OJ 1 2 fs ADdoff A D converter offset drift _ 03 05 A D converter linearity eror OJ f 1 Vao DArai _ D A converter resolution Ot DAud D A converter update msec DAsoff D Aconvererstartoffset Bs DAdoff D Aconvertroffsetdrift
22. which causes a bus voltage rise beyond the Vph value Vach for AC models it is possible to avoid such condition using a braking resistor calibrated to intervene before the bus voltage reaches the Vph value Vach for AC models The power supplies of the DP1xx2 series integrate this functionality and represent a valid solution to solve this problem LAM Technologies electronic equipment 63 Functionality and Configuration DS30 DS5x 5 7 4 Over temperature The over temperature protection intervenes when the drive power stage temperature goes beyond the Tchh value In this condition the drive stops working This intervention ends when the temperature falls below Tchl value When this occurs the alarm signal is removed or not according to the drive configuration see chapter 5 5 Alarms and Protections conditioning LM sb Min Typ Max Intervention threshold of thermal protection 85 90 95 eC Restoration threshold of thermal protection 60 65 70 c Vdc Temperature A A AA Tchl Z____ __ _ N____ p acTIN___7Z___________ ee Intervention of thermal protection 5 7 5 Phase to phase short circuit In case of a motor wirings short circuit on the same phase or on different phases cross phase short circuit the drive stops working and activates the phase to phase short circuit protection This kind of protection requires a careful survey to find the cause of the short circuit Consider that the sho
23. 11 3 DS3073 DS3073A DS3076 DS3076A DS3078 DS3078A DS3084 DS3084A DS3087 AN AN CY UT PA e ajaj n a DS3087A DS3098 DS5x41 DS5x41A DS5x44 DS5x44A elella FE aba RIALS S lala DS5x48 DS5x48A 28 NIN DS5x73 HR HR DS5x73A DS5x76 DS5x76A DS5x78 DS5x78A DS5x84 Ela e I m 00 00 Ele R P Polo A D W W co o0 E Es olala Plojo P D wW ujos 00 a A DS5x84A DS5x87 A DS5x87A DS5x98 Ui UN IN uu unn a OO o 0 0o O OOo me LAM Technologies electronic equipment DS30 DS5x Introduction 3 1 2 Main Features Sy 7 amp 0808 8880080055790 888 088 8 5558 Oe a e a Simple programming at blocks Mathematical functions at 32bit Speed or position control Independent acceleration and deceleration ramps Absolute or relative positioning Resolution up to 3000rpm at 1 128 step rev Quote from 2 147 483 638 to 2 147 483 647 Four digital inputs and two 10V analog inputs Two digital outputs and one 0 10V analog output Optocoupled and differential I O independently NPN or PNP usable Analog inputs at 11bit Digital inputs from 3Vdc up to 28Vdc with current regulator Line driving supported Protective diode for inductive loads on each digital output Automatic current reduction settable from 0 up to 100 with increments of 10 Wide range of power
24. 30 30 Digital input supply current 1 1 4 6 8 Vdo Digital output voltagerange 1 J 30 Vdobrk Digital output breakdown voltage 05 37 i 6o i p T i 300 Vdc Vdc Vdc Vdc Vdc Vdoz Output zener diode voltage 8 Digital output currentrange Digital output breakdown current 120 Digital output dissipable pwer J Vai Vdc Vaibrk Rai Analgginpttimpdane 1 d a ke ADrai__ A D converter resolution 131 bit _ADst A D converter conversiontime J 10 msec ADsoff A Dconvererstartoffset 1 2 fs ADdoff A D converter offset drift J 203 o5 fs ADline A D converter linearity error 1 J 1 2 wefs Vao Analog output voltage range 0 10 vac Tao Analog output currentrange o o S 10 mA Iasc Analog output short circuit curent 20 mA Rao Analog output impedance 1 1 1 1 J 1 e DArai__ D Aconverterresolution dt DAud D A converter update 1 J zo msec DAsoff D Aconvertrstartoffset Jos 1 fs DAdoff D A converter offset drift or 03 wefs D A converter linearity er
25. 30 vde Vdobrk Digital output breakdown voltage 05 37 vdc Ido Digtalouputcurentrange 1 1 1 1 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipable power 1 1 1 300 mW Vai Analoginputvoltagerange 1 1 1 10 o vdc Vaibrk Analog input breakdown voltage 1 1 1 45 5 vdc Rai Analog input impedance 1 1 da kR j ADrai A D converter resolution um bit ADst A D converter conversion time 111 1 10 X msec ADsoff A D converter start offset J 1 2 fs ADdoff A D converter offset drift 03 05 9efs ADline A D converter linearity error 1 1 1 2 fs Vao Analgoutpttvoltagerange CT o o vdc lao Analog output currentrange 0 1 10 mA ltasc Analgoutputshortciruit curent ST T 20 mA Rao Analog output impedance 1 0 OST 1 1 1 9 DArai _ D A converter resolution Ot DAud D A converter update msec DAsoff D Aconvererstartoffset Bs DAdoff D Aconvertroffsetdrift J or 03 fs D A converter linearity eror o 03 15 fs DAline Overheating Break phase Mechanical specifications FDh Height
26. 34 in the decimal notation A detailed description of the Modbus RTU communication goes beyond the purpose of the this manual Following are detailed only some basic notions to help and better comprehend the functioning of the product For an exhaustive description of the Modbus protocol see the official documentation on the site www modbus org LAM Technologies electronic equipment 99 Fieldbus DS30 DS5x 7 2 1 Data structure frame The set of data called frame which pass from the master control device PC PLC or else towards the slave the drive for example and vice versa 1s always organized in the same way and satisfies the following structure Address Function Code Data CRC Address it is the address of the slave receiver of the command when the data flow is from the master towards the slave or the address of the slave which transmits when the data flow is from the slave to the master reply Function Code it identifies the function the master wants the slave to execute when the data flow is from the master towards the slave or the function elaborated by the slave when the data flow is from the slave to the master reply Data specific information about the evoked function transmitted to the slave or received by the same CRC it is the checksum calculated by the sender using all the data of the frame The receiver then calculates the CRC of the received data and compares it with the CRC
27. Description bitO bEnable It allows to enable value 1 or disable value 0 the motor bit1 They allow to enable and define the digitial bit2 input used to store the motor quote for more bit3 details see CPosition register according to the following correspondence bit3 0 bit2 0 bit1 0 gt disabled bit3 0 bit2 0 bitl 1 gt DIO bit3 0 bit2 1 bitl 0 gt DI1 bit3 0 bit2 1 bitl 1 gt DI2 bit3 1 bit2 0 bitl 0 gt DI3 bit4 bit7 Not used Some bits are accessible also as Boolean type independent registers It is a read only register which assumes a value different from 0 each time the drive detects a fault condition The fault cause or causes can be easily determined analyzing the status of the various bits composing the register The correspondence is resumed in the following table Bit Name Description bit7 It becomes active value 1 if the drive detects a break phase condition on A phase bit6 It becomes active value 1 if the drive detects a break phase condition on B phase bit5 It becomes active value 1 when the drive detects a short circuit between a phase and the Vp supply bit4 It becomes active value 1 when the drive detects a short circuit between a phase and the supply negative GND bit3 It becomes active value 1 when the drive detects a short circuit among the motor phases bit2 It becomes active value 1 when the heat sink temperature exceeds the maximum
28. Itis repeated from point 2 until all the frame bytes are processed 7 The CRC value is the checksum It must be considered that the checksum is transmitted in reverse order in respect to the other words The first byte transmitted is the less significant one and the second byte transmitted is the most significant byte Inside the frame the CRC is therefore disposed as follows CRC CRC Lo Hi LAM Technologies electronic equipment 101 Fieldbus 7 2 4 Data organization Inside the drive there are 5 different types of data with different dimensions bit byte word 2 bytes 3byte and dword double word i e 4 7 2 4 1 bit bytes DS30 DS5x Any register or program variable read or written through the Modubus RTU protocol must been formatted inside one or more words Following are detailed the rules with which the data in the various dimensions are or must be formatted and interpreted The binary type data corresponds to the bitO of the word The other bits from bit1 to bit15 remain unused and have value 0 Es 1 bit 0 Word 0 bitl5 bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit value Es 2 bit 1 Word 0 bit 15 bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 Bit value 7 2 4 2 byte 102 The byte type data are present in the lowest 8 bits of the word from bit7 to bitO the higher 8 bits from bitl
29. LED lights up and starts a sequence of flashing related to the kind of problem found The following table shows the association between the number of flashes and the error found LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration Codification of errors signaled by red LED Number of Problem description flashes Under voltage the supply voltage is inferior to Vpl value Over voltage the supply voltage is superior to Vph value Over temperature the heat sink temperature is superior to Tchh Phase to phase short circuit one or two phases are in short circuit short circuit one phase is in short circuit with power suppl nterrupted phase A connection between drive and motor is missing nterrupted phase B connection between drive and motor is missing Phase to ground short circuit GND phase in short circuit with ground If more than a problem occurs contemporaneously the lighting flashes sequences associated to each one of them are cyclically executed If for example the over temperature condition occurs together with the over voltage one the LED will flash twice and then three times alternatively till when the malfunction signaling will be removed The drive features grant at least a visualization cycle for each activated alarm For this reason it is not possible to remove an alarm before the first visualization cycle is finished Observe that each error signals can be removed in differe
30. The above explains why a 4Arms drive 4A effective current is equivalent to a drive with peak current or maximum current equal to 5 6Apk 4 x 1 41 Do consider this while comparing the features of the DS30 DS5x drives with other producers devices The following figures show the phase current supplied by the DS3048 drive calibrated to 5Arms right figure and the current of a competitor s drive calibrated to 5A peak left figure LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration It appears evident how the DS30 DS5x drives which characterize the O current to the effective Arms value supply greater current than those drives which characterize the phase current as peak value or maximum value As above explained the current calibration must be executed according to the motor characteristics declared by the manufacturer however in particular cases it is possible to use an higher current value than the declared nominal one This could be useful to obtain more torque from the motor but it is important to keep in mind that this method leads to an higher motor heating If the motor temperature exceeds the maximum allowed values usually 90 C the motor could be permanently damaged Usually the motor is over supplied only if the working cycle is flat and therefore allows a medium working temperature within the maximum allowed values declared by the manufacturer Because of the saturation phenomena of
31. allowed value bit1 It becomes active value 1 when the power supply voltage exceeds the maximum allowed value bitO It becomes active value 1 when the power supply voltage is inferior to the minimum allowed value 76 LAM Technologies electronic equipment DS30 DS5x 6 3 1 18 Error Value Programming It is a read only register which assumes values different from O each time an error occurs inside the drive In the following table are the possible values assumed by the register and their meaning Description No error Wrong application program checksum 6 3 1 19 bEnable It is a Boolean type register useful to enable or disable the motor When the value described in the register is 1 the motor is enabled when the value is O the motor is disabled The bEnable register is accessible both in reading and in writing mode In the following table are resumed the effects produced by the various values assignable to the register Value Description 0 Disable the motor 1 Enable the motor 6 3 1 20 bInPosition It is a Boolean type read only register which becomes active value equal to 1 when the motor is in position In other words the b nPosition register is activated when the value of the Position register is equal to the one present in the TargetPos register This register is often used together with a conditional jump to suspend the application program execution un
32. and functions are controlled by the value present in a series of variables called system registers The instruction blocks can read all the registers while only some of them can be written For example the TargetPos register which represents the motor final position can be both read and written while the bInPosition status boolean register which indicates when the motor is in position can be only read Besides the system registers the user can create one s program variables defining their name and their size Variables can be created 1 byte 2 bytes 3 bytes or 4 bytes long The last types of available data are the constants or numbers The constants can take any value included between 2 147 483 648 and 2 147 483 647 The firmware inside the drive is multitasking The application program and the motion control algorithm are executed in two different tasks this means that the eventual stop of the application program does not strictly cause a stop to the motor and vice versa The application program is never suspended awaiting for the end of a movement if the application has to wait for an event to continue it is necessary to expressly insert a conditional jump or a wait until block The entire application development takes place inside the UDP Commander software which assists the programmer from the writing of the application program to its compiling to the download of the compiled program into the drive until its test and debug T
33. blocks therefore when a fast reaction is required less than 1ms it is better to execute before the computations storing the result in a temporary variable LAM Technologies electronic equipment 89 Programming DS30 DS5x 6 6 8 Logic operations 90 The logic operation block allows to handle bits of registers or variables O Besides the usual operations in AND OR and XOR it is possible to execute the SHIFT to right or left In the shift operation all the outgoing bits are lost while the new bits are put to 0 result op1 fncl op2 fnc2 op3 The result operand on the left can be a variable or register which has the writing access The opl op2 and op3 operand can be indifferently variables registers or constants The fnc and fnc2 logic functions must be chosen among the following ones Operand Description AND Execute the AND bit by bit The result is 1 if both bit compared are 1 otherwise the result is O OR Execute the OR bit by bit The result is 1 if at least one of the two bit compated is 1 otherwise the result is O XOR Execute the XOR bit by bit The result is 1 if one of the two bits compared is 1 and the other 0 otherwise the result is O if both bits are equal SHIFT R Execute the shift to right of the operand on the left for the number of bits specified in the operand in the right At any shift the less significant bit Isb is lost and the more significant bit msb is put to O
34. connected to earth with a short and not inductive connection The secondary winding voltage is meant without the load with the primary winding supplied at the nominal voltage The rectifier besides supporting the maximum current required by the drive must be able to tolerate the current supplied during the C1 capacitor charge Such current as being essentially limited only by the internal resistor of the transformer secondary winding usually very low and by the wiring can also be of elevated entity even if of short length it exhausts when the capacitor is charged Furthermore the rectifier needs an heat sink able to maintain the temperature within the range defined by the manufacturer usually 70 C The working voltage of the D1 rectifier must be then chosen according to the T1 transformer secondary winding voltage multiplied at least by 2 In the configurations with more than a drive if the drives are not all calibrated to the maximum current and or if the working cycle is not simultaneous the power of the transformer can be considerably reduced In some cases this can also be made when the motors speed is limited LAM Technologies electronic equipment DS30 DS5x 4 4 3 Motor Installation The diagram and the components values refer to a three phase power supply Dimensioning in a different way the components it is possible to realize a mono phase power supply which is not recommended when the required power is greater
35. execution of the Wait for myVar ms application program for the number of milliseconds contained in the myVar variable LAM Technologies electronic equipment 87 Programming 6 6 6 Return 88 DS30 DS5x The Return instruction block has the task to turn back the execution of the program to the instruction block subsequent to the last one which executed a Call jump If the Return instruction block is met in absence of a Call jump the execution return to the first instruction block of the application program block 001 It must be observed that the refence to the return block is overwritten each time a Call jump is executed therefore the Return instruction is always referred to the last Call executed The Return instruction block can also be used to force a return block specifying its label The following are some examples of the Return instruction block Instruction block Description Return The execution of the application program returns to the bloch subsequent to the block which has executed the last Call Set return address to here Set the block identified by the here label as the instruction block which will be executed immediately after the execution of the Return block LAM Technologies electronic equipment DS30 DS5x 6 6 7 Mathematics O Programming The mathematic instruction block is a powerful instrument which is rarely present in driv
36. lost on the drive 1 0 ST 21 W MI Motor inductance seen by the drive 1 05 30 mH Vdi Digital input voltage range 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 X 30 vac Idi Digital input supply current 1 4 6 8 _ mA Vdo _ Digital output voltage range 11111 1 1 1 1 30 vac Vdobrk Digital output breakdown voltage 05 37 vdc Ido jDigtalouputcurentrange 1 1 1 ST 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipablepower TT 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 0 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai _ D A converter resolution Z 10 f bit DAud D Aconverterupdate_ 10 msec j DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift J y 01 03 fs DAline D A
37. motor position also called capture is very fast and it ends in a time inferior to 100us Between one save and the following one there must be at least 2ms otherwise the second save could not happen The uses of the CPosition register are many and go from the products orientation to the labelling to the cutting on the fly etc The digital input which activates the storage is defined in the ControlFlags register see further below The CPosition register is accessibile both in reading and in writing and can be set or assume values bewten 2 147 483 648 and 2 147 483 647 The MaxVel register is useful to set the maximum speed limit at which the motor can rotate The maximum speed value is an absolute value and it is applied for the movements executed by the motor in both directions The speed constrainment occurs when the drive works both in position and in speed control mode If the MaxVel register is dynamically modified with the motor in movement the motor speed adjustment always occurs according to the acceleration and deceleration values present in the Acceleration and Deceleration registers respectively The MaxVel register is accessible both in reading and in writing mode and it can assume values between O and 412000 Each unit corresponds to 0 25rpm consequently setting for example the value 2000 in the MaxVel register the maximum speed is set at 500rpm 6 3 1 7 Acceleration 72 The motor acceleration is controlled by
38. primary and secondary Li L2 DS30 DS5x The power lost on the drive for each model is indicated in the following table DSxx48 DSxx73 Because of the many variables in play it is clear the impossibility to prior indicate an only one kind of dimensioning valid for each application Just for example not to be considered exhaustive and correct for the application see the following electric scheme of an unregulated power supply with a brief indication of the components value Rectifier Also note that the wiring must be star like where the earth connection of the various components ends in one only point electrically connected to the metal chassis and the earth of the plant Also the wiring towards the drives must be star like with the center of the star on C1 capacitor poles As shown in the scheme it is necessary to put in series to the transformer primary winding a filter able to stop the emissions coming from the drive and or present on the main supply Furthermore the filter must be able to support the maximum power required by the drive plus the transformers losses LAM Technologies electronic equipment DS30 DS5x o H o LAM Technologies electronic equipment 31 Installation It is obligatory to provide on each phase of the transformer primary winding a fuse able to intervene in case of short circuit at the supply output or a malfunctioning of its parts It is also obligatory t
39. set composed by the filter and the transformer must be used only to supply voltage to the drives It is advised against deriving other supplies from any of these parts On the contrary it is suggested to get auxiliary supplies using directly the main supply upstream of the filter 4 4 2 Power Supply DC models The DC supply drives need a Vp voltage as specified in the table below In the highest absorption conditions the power supply must grant a ripple voltage inferior to Vprp Min Typ Nominal DC supply voltage Allowed ripple voltage Voltage causing permanent damage Over voltage protection intervention threshold Under voltage protection intervention threshold LAM Technologies electronic equipment Max DSxx41 DSxx44 DSxx48 DSxx73 DSxx76 DSxx78 80 DSxx41 DSxx44 DSxx48 DSxx73 DSxx76 DSxx78 24 DSxx84 DSxx87 140 DSxx98 200 DSxx84 DSxx87 DSxx41 mas psoas DSxx73 DSxx76 DSxx78 0 5 DSxx84 DSxx87 DSxx98 DSxx41 DSxx44 DSxx48 DSxx73 DSxx76 DSxx78 96 DSxx84 DSxx87 170 DSxx98 242 DSxxd1 16 DSxx44 DSxx48 is DSxx73 DSxx76 DSxx78 21 DSxx84 DSxx87DSxx98 41 27 Installation 28 DS30 DS5x The power supply is connected by the red colored 2 poles connector The positive terminal must be connected to the terminal 1 while the negative terminal to the terminal 2 e Terminal
40. tes 6 6 8 LOGIC O PCKAtlONS eee COMMON PROGRAMMING CONSTRUCT 4 572927 222 T dese oo eap eU Yo e ERR Te USE REX a OU eae e a RR ia 6 7 1 LOOD ice de deae A sect added na E de Exi GA ES 6 7 2 Delay without suspend program execution AS o FOR ce NOME a AS AS A A AA AAA td 674 MELIANA tt A A e e e NN eer qo eoa a TA 6 7 5 Hysteresis sessessse 6 7 6 Constraint of a value 6 7 7 Co nterA extension on 32Dits uiu e e dee reel sec de e e degit dena ed co eres dee ax de iia FIELDBUS 98 GENERAEDESCRIPTION niece croce craneo A O eaten a totae aem bue doute e TEE d 98 MODBUS RTU COMMUNICATION PROTOCOL e seen nennen enne nene sten ente tnniii siet etnnenesr stet entere tete seiten ern nr nter eterne nnne 98 Z2 Data structure frame bt edet e tee idee titi 100 72 2 Data processing frame petente Hal eee tes esce Sol wah exist petes a neat 100 7 2 3 Checksum computation CORC aa a a RE A RR E Re Uo Re EET Ba Teen hata ee eek 101 7 2 4 DQEG OF ONIZ ATION P 102 7 2 4 1 je 102 7 2 4 2 Di ree eret meta rera ertet debetis ete din dm dir e e patct tees 102 7 2 4 3 WIG E E 103 DS30 DS5x 7 2 4 4 DO A be rae be Ge PRO cn S 7 2 4 5 dword 7 2 5 Supported functions 7 2 5 1 0x03 Readi
41. than 500W The set composed by the filter the transformer and the power supply must be used only to supply voltage to the drives It is advised against deriving other supplies from any of these parts On the contrary it is suggested to get auxiliary supplies using directly the main supply upstream of the filter The connection between the drive and the motor must be made using shielded cable and connecting the screen to the drive s SHIELD terminal The cable shield on the motor side must be connected to the motor body only if this one is electrically insulated from the structure where it is fastened In case the motor is electrically earth connected for example through a mechanical fastener the motor side shield must not be connected Only if problems connected to electromagnetic emissions occur it is possible to try and connect the shield also from the motor side Because of the possible ground loops which could start it is advised to execute this wiring only when strictly necessary The drive regulates the current in the motor phases through the supply voltage modulation in chopper technique The use of a good quality shielded cable and a correct wiring are essential to better reduce the electromagnetic emissions p Terminal n 1 CN2 Terminal n 5 Shield wiring It must be as much short as possible ea 33 Installation 34 DS30 DS5x Contact n Description O 1 FA negate output phase A
42. the net and load fluctuations which allows to supply the drive even with voltage values near to the allowed maximum ones with an immediate benefit in terms of torque supplied by the motor at high speed The disadvantage of the regulated power supplies is their cost An unregulated power supply is cheaper but it requires the consideration of safety s tolerance during its sizing so that in presence of net and load fluctuations voltage remains however within the acceptable working values A detailed description about the sizing of the power supply is outside of this manual The user who decides to construct its own power supply must be technically qualified to size it to assure its correct working and to fulfill each safety requirements To determine the power supply output voltage it must be considered the maximum net fluctuation expected on worse operating conditions the maximum vacuum voltage and the minimum voltage at full load and to assure that the values result of these components combination are within the range of the maximum and minimum voltage values specified for the chosen drive model The power that the power supply must deliver is given by the one absorbed by the load depending from the torque required to the motor as well as from the rotation speed and by the motor and drive efficiency LAM Technologies electronic equipment 29 Installation Main Supply 30 Fuses Three phase transformer with shield between
43. 1 2 DS52 series RS232 Modbus RTU 4 4 4 1 3 DS54 series USB Modbus RTU c ccccssccssssecessseccesseeccsseecesaeccesseecesseccesaeecesseeeecsseseesaseeeaecaseeeesasesenses 4 4 4 2 Digital inputs 4 4 4 3 Digital outputs 4 4 4 4 Analog inputs 4 4 4 5 Analog outputs 4 4 4 6 Connection examples PNP NPN and Line Driver cccscccssesssseeseeessecseesscecsnecseecssecsseeseeseseessaeseseesseneeeseees 46 4 4 4 6 1 Inputs mo 4 4 4 6 2 DU 47 4 4 5 Al oto aoo aie P NON 48 5 FUNCTIONALITY AND CONFIGURATION eere nennen nnn nnn nnns nnn nsns sa nasa aaa aaa aaa aaa aaa aaa aaa aa anna 51 5 1 GENERAL DESCRIPTION 5 2 PHASE CURRENT 2 2 e SR eec Te ee Rd e to teet de on es eet sd epe EE 5 3 AUTOMATIC CURRENT REDUGTION 25 3 decet eeu eec SE RU otero EUR the chasers awa E CE ERU KL SN Eee IR PR EH UE ERES Qu 5 4 CURRENT WAVEFORM MODIFICATION x 2 52 teorie pere reri E E aia te eas 5 5 ALARMS AND PROTECTIONS CONDITIONING cesses ee eene eene ener nene en eene sten nnne sten te sese nn seen tens st entes ener enne 9167 SIGNALIEEDS 5 i n e P eerte e o nar eere ar sop vog etcetera e M ree eset ores b 5 PROTEGTIONS nica cete ttn er Eva dee tete ee die eae e antes aae AE ra odi ATE DR Aen OSC ERE ed ED aed gs COE IRR 5 7 1 General descriptionzc s s de et ere reat ert dediti A Ai aee dtd epo eke 5 725 jUnderwvoltage eio een cette na eee e atraer nud ae ener das Mese
44. 1000m DS52xx A DS54xx A Suitable for point to point connections Maximum distance between the devices 20m distance between the PC or the Hub and the drive 5m Through the Hub it is possible to connect more drives to a same PC Maximum The Modbus RTU protocol strictly provides for a master slave relation In the net there is always one only master and one or more slave devices Each communication is always generated by the master The slave can send data only further to a command or an inquiry sent by the master The master device PC PLC etc identifies the slave with which to communicate through an address which must be univocal inside the net In other words each s ave must have an address different from all the others The possible addresses vary from 1 to 247 The special address O has the function of broadcast address i e it allows to send a command which will be processed contemporaneously by all the devices in the net The use of the address 0 does not provide any reply by the slaves The set of data which compose a Modbus RTU command includes besides the slave device address also a function code a group of data depending on the function invoked and at last a checksum useful to evaluate the integrity of the received data In the following description the number in hexadecimal notation are anticipated by the suffix Ox The value 0x22 for example indicates the hexadecimal number 22 which corresponds to the value
45. 2 StByCurrent Percentage re OR HR RUN ERE RUEDA ios 74 6 3 1 13 Jul MR TEE 6 3 1 14 Sel C PS 6 3 1 15 eH EUER 6 3 1 16 ControlFlags t EH ER Rn qu eH DI Pm 6 3 1 17 e L 6 3 1 18 O RE 6 3 1 19 bina cee 6 3 1 20 bInPosition 6 3 1 21 binStop 6 3 1 22 bEnabled 6 3 1 23 bFault 6 3 1 24 bUVarLoaded 6 3 1 25 bUVarSaved 6 3 1 26 Digitallnput 0 3 6 3 1 27 Digitallnput 4 5 6 3 1 28 DigitallripUtsA oe e A Ip E EE TER ET ER EE aree ER E EE E ERE DE EAE ets 6 3 1 29 DigitalOutput 0 1 erba tee e ee ba E be ee e i c t hern edid 6 3 1 30 DigitalO tp tsA EE o e time aita re 6 3 1 31 Analoglnput O Dias A id 6 3 1 32 Anal ED UtTpU Olson A AA A A ae tied UE NUNC EE 6 5 CONSTANTS s iio so rea voee eo xe vt exi erri o eoa RE eds dois 66 INSTRUCTION BLOCKS ninas aia sad 6 7 7 1 7 2 6 6 1 Assighmelnt eec ot de cio 6 6 1 1 Unconditional ees EE 6 6 1 2 rote roo REN 6 6 2 FUNCHON x it A Ai An 6 6 2 1 Save Variables in Flash 6 6 2 2 Reset User Program 6 6 3 Jump esee 6 6 3 1 Unconditional jump 6 6 3 2 Conditional jump 6 6 4 Wait UNI ieu tt eut doe eet deo Re du ad en e da Rabe eua eo da eue eadera deus aca ov eed
46. 35 Address it is the address of the slave receiver of the command when the data flow is from the master to the slave or the address of the slave which transmits when the data flow is from the s ave to the master reply Function code it is the identification of the function for the changing of registers and program variables 0x16 Word ID it is the ID also called address of the word on which to operate AND Mask it is the mask of bit put in AND with the register or the program variable indicated by Word ID OR Mask it is the mask of bit put in OR with the register or the program variable indicated by Word ID LAM Technologies electronic equipment 109 Fieldbus 110 DS30 DS5x Ex 1 setting to O of the bitO and setting to 1 of the bit 1 of the register 41473 DigitalOutputsA of the drive with address 1 Function 0x16 Mask Write Registers Transmitted frame structure Possible values Received frame structure Possible values Request Master gt Slave Address Function Word ID AND OR Mask CRC Code Mask 1 0x16 0xA201 OxFFFE 0x0002 0x02A1 Address 1 Risposta Function Code 0x16 Slave gt Maste Word ID OxA201 AND Mask OxFFFE OR Mask 0x0002 CRC Ox02A1 LAM Technologies electronic equipment DS30 DS5x Fieldbus 7 3 Map of the registers and user s variable The following table shows the position of the regist
47. 4 FB negate output phase B 5 SHIELD internally connected with GND Inverting the FA phase with the FA phase or the FB phase with the FB phase the motor rotation direction is inverted making both inversions the rotation does not change The cable section can be dimensioned according to the drive current calibration anyway it is suggested to choose a cable suitable for the maximum current deliverable from the chosen drive It is also advised to connect the motor to the drive with a cable with a length inferior to 10m For cables with a greater length the cable size must be increased to counterbalance the voltage drop The following table indicates the cable section suggested for each drive according to the cable length Cable section mm Cable length lt 10m gt 10m 0 5 1 m Ul 1 5 1 NJ Ui DSxx76 DSxx98 1 1 5 DSxx98 5 2 The cable connecting the drive to the motor can be installed together with the power supply cable but it must be kept separate from the signal ones If difficulties are met to pass compatibility tests it is possible to place in series to each phase an inductor with a value included between 10uH and 100uH and with current adequate to the set phase current The inductor must be placed directly at the drive output LAM Technologies electronic equipment DS30 DS5x Installation 4 4 4 Control Signals The cable used for the control signals wiring must be a sh
48. 4 O0xA108 RW 2 MaxVel Maximum rotation speed 41225 OxA109 RW 2 Do not use it 41226 O0xA10A RW 2 Acceleration Maximum acceleration allowed 41227 OxA10B RW 2 Deceleration Maximum deceleration allowed 41228 OxA10C RW 4 Position Instant position assumed by the motor 41229 OxA10D 41230 OxA10E RW 2 TimerA Timer with base 1ms 41231 OxA10F RW 1 ControlFlags It contains various control bits 41232 OxA110 RW 2 CounterA Hardware counter associated to DIO 41233 OxA111 RW 4 CPosition Capture of the instant position assumed by 41234 0xA112 the motor 41235 0xA113 R 2 Velocity Instant speed of the motor 41473 0xA201 R 1 Digitall nputsA Image of the digital inputs 41474 0xA202 RW 1 DigitalOutputsA Image of the digital outputs 41475 0xA203 R 2 Analogl nput 0 Image of 0 analog input 41476 0xA204 R 2 Analog nput 1 Image of 1 analog input 41477 0xA205 RW 2 AnalogOutput 0 Image of 0 analog output 41729 0xA301 RW 2 RefVel Speed reference 41730 0xA302 RW 4 TargetPos Position of destination 41731 0xA303 t must considered that according to the Modbus specification the registers are allocated starting from 1 while the address effectively transmitted on the bus has base 0 Consequently if for example it is wanted to access to the register DigitalOutputsA it is necessary to compose the frame using the address 0xA201 LAM Technologies electronic equipment 111 Fieldbus 7 3 1 RegTableVe
49. 5 mm FDnw Weit gt 9 O 18 g Rated range of use Fca Altitude S y 200 m poe If current degrading every 1000m beyond the FCa altitude ae i re al value Fct Temperature Z o 1 1 1 0 fS 50 oc FCh Humidity no condensing 5 90 Conditions of storage and transport Sca Altitude J JA J 2400 m sct Temperature S 2 S 70 c SCh Humidity no condensing 5 j 95 Ye LAM Technologies electronic equipment 115 Technical data DS30 DS5x DS3041 DS5x41 Min Typ Max Vp PowersupplyDC voltage 1 1 18 50 Vdc If Phase current effective current 0 3 14 Arms Vprp Allowed ripple 100Hz 1 1 1 8 ve Vpbrk Permanent breakdown voltage 05 56 vdc v Vdc vpl Vdc Tchh 94 Tchl Thermal protection restoration threshold ower lost on the drive 5 Ui o Vdi Vdc Vdc 66 P 5 50 28 30 Vdibrk Digital input breakdown voltage 30 Digital input voltage range 28 7 h m Vdo Vdc Vdobrk Vdc Vdoz Vdc 60 HN Vai Vdc Vaibrk Vdc ADdoff Vao Analog output voltage range Analog output current range Analog output short circuit current Nie ojo 10 DAdoff Yfs fs Overheating Break phase Rated ra
50. 5 to bit8 are instead set to 1 or O following the rule of the extension of the sign if the byte value is gt 0 the bits are set to O if instead it 1s O the are all set to 1 Es 1 byte 58 0x3A Word 0 bit15 LAM Technologies electronic equipment DS30 DS5x Fieldbus Sign extension Byte value 58 Es 2 byte 61 0xC3 Sign extension Byte value 61 7 2 4 3 word The word type data are represented in native mode without any particular format Es 1 word 12384 0x3060 Word 0 bits bit o joj j jojojojojo j j jojojojo j o Word value 0x3060 Es 2 byte 3172 0xF39C Word 0 bitis j foio 3 1 1 1 oj0o 1 1 1 0 0 1 1 1 0 0 Word value 0xF39C 7 2 4 4 3byte The 3bytes data are represented using two words The first word the one with minor address contains in the lowest 8 bits from bit7 to bitO the most significant byte of the data while the superior 8 bits from bit15 to bit8 are set to 1 or O following the rule of the extension of the sign if the byte value is gt 0 the bits are set to O if instead it is lt O they are all set to LAM Technologies electronic equipment 103 Fieldbus DS30 DS5x 1 The second word with address 1 contains the two remaining bytes of the data Es 1 3byte 1526317 0x174A2D Word 0
51. 6 8 mA Vdo Digital output voltage range 1 1 1 1 1 30 vac Vdobrk Digital output breakdown voltage 05 37 vac Ido Digital output currentrange 60 mA Idobrk Digital output breakdown curent 120 mA Pwdo Digital output dissipablepower 300 mW Vai _ Analog input voltagerange 10 0 vac Vaibrk Analog input breakdown voltage 45 5 vac Rai Analgginpttimpdane 1 d a ke ADrai__ A D converter resolution 131 bit _ADst A D converter conversiontime J 10 msec ADsoff A Dconvererstartoffset 1 2 fs ADdoff A D converter offset drift J 203 o5 fs ADline A D converter linearity error 1 J 1 2 wefs Vao Analog output voltage range 0 10 vac Tao Analog output currentrange o o S 10 mA Iasc Analog output short circuit curent 20 mA Rao Analog output impedance 1 1 1 1 J 1 e DArai j D Aconveterresouion o o O10 bt DAud D A converter update 1 J zo msec DAsoff D Aconvertrstartoffset Jos 1 fs DAdoff
52. 7 bit2 Not used bitl Digitallnput 1 1 digital output bitO Digitallnput O O digital output 6 3 1 31 AnalogInput 0 1 It is a read only register which reflects the status of the corresponding analog input It can assume values included between 1024 and 1023 in correspondence with input voltage from 10V to 10V 6 3 1 32 AnalogOutput 0 6 4 Variables It is the register to be used to set the analog output voltage It can be assigned to any value included between 0 and 1023 The AnalogOutput 0 register is accessible both in reading and in writing mode Besides the registers there are available program variables freely configurable by the user both as name and as size The program variables are an essential resource to ensure the maximum flexibility and to allow to realize complex applications The use of the variables allows to realize counters for next cycles mathematic computations etc The variables are always signed integer type and can represent both positive and negative integer numbers The maximum value storable in the variable depends on the size of the variable itself which can be defined as of 1 byte 2 bytes 3 bytes or 4 bytes In the following table are resumed the maximum and minimum values which can be stored in each variable size Size Access Allowed values 1 byte RW 128 4 127 2 bytes RW 32768 32767 3 bytes RW 8388608 8388607 4 bytes R
53. Dconverterconversiontime 10 msec ADsoff A D converter start offset__ 1 2 wofs ADdoff A D converter offset drift 0 3 0 5 fs ADline A Dconverterlinearity eror 1 2 fs When the drive is supplied only through the UDP30 setting interface the analog inputs are not usable 44 LAM Technologies electronic equipment DS30 DS5x Installation 4 4 4 5 Analog outputs On complation of the I O signals set the DS30 DS5x series drives are also provided with an analog output able to supply a voltage between 0 e 10V The connection to the analog output must be made through a shielded cable having care to connect the shield only to the drive side as shown in the following figure Shield to be connected only to the drive side m Terminal n 1 Contact n Description M ME GND analog signals ground internally connected with power round 2 AIO O analog input AIO 1 analog input 4 4 AOO O analog output DO1 DigitalOutput 1 positive 1 digital output 6 DOI DigitalOutput 1 negative 1 digital output The following table resumes the electrical characteristics of the analog output and the D A converter inside the drive ii Vao j Analog outputs operating voltage Analog outputs operating current 10 Iasc Analog outputs short circuit curent 20 mA Analog outputs output impedance 1 9
54. Description 0 Drive correctly working 1 Drive in fault bUVarLoaded It is a Boolean type read only register which becomes active value equal to 1 when the program variables are successfully loaded from flash memory Program variables are loaded from flash memory each time the program is reset and the flash memory contains a valid save or whenever the variables are successfully saved to flash memory see next section for details The following table resumes the meaning according to the values LAM Technologies electronic equipment DS30 DS5x Programming Value Description 0 Variables are initialized to the default value 0 1 Variables are initialized with the values read from flash memory 6 3 1 25 bUVarSaved It is a Boolean type read only register which becomes active value equal to 1 when the program variables are successfully stored in flash memory If the save operation fails the register is set as inactive value is 0 The saving of the variables can automatically occur at shutdown if the corresponding option is selected in the configuration see the UDP Commander users manual or manually through the execution of a specific program block for more information see par 6 6 2 1 Save Variables in Flash Note that the flash memory cannot be written for more than 50 000 times and it is therefore necessary to limit the number of saves to this value Th
55. SHIFT L Execute the shift to left of the operand on the left for the number of bits specified in the operand on the right At any shift the more significant bit msb is lost and the less significant bit Isb is put to 0 The following are some example of the logic operations block Instruction block Description Resolve The DigitalOutput 0 and DigitalOutputsA DigitalOutput 1 digital outputs are DigitalOutputsA XOR 3 inverted if the output was active it becomes inactive and vice versa Resolve The bit2 and bit3 of the myVar myVar myVar AND OxF3 variable are put to O and the bit7 is OR 128 put to 1 It must be observed that the numeric constants can be also written in hexadecimal format Resolve The bit2 bitl and bitO of the myVar myVar Digitall nputsA variable are assigned respectively to SHIFT_R 3 the Digitall nput 5 Digitallnput 4 e Digitall nput 3 digital inputs LAM Technologies electronic equipment DS30 DS5x Programming 6 7 Common programming construct During the writing of an application program some recurrent instruction blocks combinations are often met The following are the examples of the most common ones 6 7 1 Loop This construct is very frequently used Each application program has at least an infinite loop cycle the main loop The main loop of the program is used to transfer the control from the last instruction blo
56. The user must also consider that because of the capacitors inside the drive it is necessary to wait at least for 30 seconds after the power off before acceding to the drive According to the external capacitors eventually mounted on the power supply circuit it is possible the user shall have to wait for a longer time While working the product generates heat which can raise the temperature of some parts as the heat sink for example up to values that can cause burns Such a conditions remains for a long time even after the product has been powered off The user must provide for the appropriate protections and signals must train the operator the technical support and risk maintenance staff and then must indicate it in the service manual of the finished product The high performance drive is able to generate rapid accelerations with high motor torque Never touch any mechanical part while the drive is powered on The user must prearrange the application in order this condition is always granted LAM Technologies electronic equipment 9 Risks and Precautions DS30 DS5x 10 The power supply of the product must be isolated from the electrical net The user must always place a protective fuse in series to the power supply circuit The control signals are isolated from the power supply during normal working anyway during the designing of the application the eventuality that in case of breakdown these lines could reach the same pote
57. Vdibrk voltage limit damages permanently the lt drive e Sometimes the Vdibrk voltage limit can be accidentally overcome because of the currents driven by the inductive loads present in the application and out of the recycle diode in anti parallel If the installation includes electro valves contactor remote control switch electromagnetic brakes etc it is advised to place on each one of them a recycle diode or to adopt a similar solution to avoid the extra voltage produced when the inductive load switched off If the same power supply is used to provide the power and the signal supply for example a 24Vdc device carefully verify that the energy produced by the motor during the braking does not increase the voltage at the ends of the power supply over the Vdibrk limit supported by the input LAM Technologies electronic equipment 41 Installation DS30 DS5x 4 4 4 3 Digital outputs The drive is provided with a total of two digital outputs The DOO output is available on the CN3 connector while the DO1 one on the CN4 connector as shown in the representation below The cable used for the wiring must be shielded type The shielding of the connecting cable must be connected only to the side of the numerical control device PC PLC or other while on the side of the drive it must remain unconnected as shown in the figure below A Terminal n 1 SS CN3 Terminal n 10 DOO Shield to be left unco
58. W 2147483648 2147483647 If it is tried to assign a value greater than the maximum allowed one the variable is automatically limited to the maximum or minimum allowed value Through the drive configuration see the UDP Commander user s manual you can set an autosave feature trigger at the drive shutdown able to make the variables retentive LAM Technologies electronic equipment 81 Programming DS30 DS5x It is also possible to manually save the variables through the execution of a specific program block for more information see par 6 6 2 Save Variables in Flash 6 5 Constants The constants are represented by singed integer numbers The constants can assume any value included between 2 147 483 648 and 2 147 483 647 6 6 Instruction blocks The instruction block is the basic unit of the application program An application program is built putting in sequence more instruction blocks The UDP Commander software is a convenient graphic interface which assists the user during the writing of the application program The following is a detailed description of the available instruction blocks 6 6 1 Assignment The assignment block allows to give a value to a register or to a variable The assignment can be either unconditional or conditional on the occurrence of a particular condition 6 6 1 1 Unconditional The unconditional assignment is always performed and is composed of a left operand that is the destination an
59. al input voltage range 1 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 amp o vdc Idi jDigtalinputsuppycurent d 4 6 8 j mA Vdo Digital output voltage range 1 d 1 30 vde Vdobrk Digital output breakdown voltage 05 37 vdc Ido Digtalouputcurentrange 1 1 1 1 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipable power 1 1 1 300 mW Vai Analoginputvoltagerange 1 1 1 10 o vdc Vaibrk Analog input breakdown voltage 1 1 1 45 5 vdc Rai Analog input impedance 1 1 da kR j ADrai A D converter resolution um bit ADst A D converter conversion time 1 1 1 1 1 10 X msec ADsoff ADconvertrstartoffset 1 2 fs ADdoff A D converter offset drift FT 03 05 fs ADline A D converter linearity error 0 1 1 1 2 fs Vao Analog input voltage range 1 1 o o vdc lao Analog output current range 0 1 10 mA Iasc Analgoutputshortciruit curent ST T 20 mA Rao Analog output impedance 1 0 1 1 1 9 DArai _ D A converter resolution 10 4 bit DAud D Aconverterupdate 1 1 210 msec DAs
60. alue 0x80 Exception Code it is code which gives an indication about the type of problem detected by the s ave CRC it is the checksum calculated by the s ave The possible transmitted Exception Codes are the following Exception Code Description 0x01 It indicates that it is not possible to execute the required function Possible causes are the not implementation of the same function an attempt to write onto an only writing location etc 0x02 It indicates that the location to which there is an attempt to access does not exist 0x03 It indicates that one or more values are beyond the allowed limits 7 2 3 Checksum computation CRC The checksum computation CRC examines the whole frame with the exception of the CRC which is instead calculated The CRC has the size of a word 2bytes and is calculated applying the following algorithm to any byte of the frame 1 The CRC is initialized to the value OXFFFF 2 Itis executed the XOR OR exclusive of the byte with the low byte of the CRC memorizing the result of the CRC 3 It is executed the shift rotation of the CRC of a position one bit towards right and it is set to 0 the bit15 MSB of the CRC 4 If the bitO LSB before the shift was O it return to the point 3 while if the bit0 LSB before the shift was at 1 it is executed the XOR of the CRC with the value OxA001 5 The points 3 and 4 must be repeated 8 times for each byte 8 shifts 6
61. always in hexadecimal notation If for example the value of the FirmwareVer register is 533 in hexadecimal 0x0215 it means that the software version present in the drive is 2 15 LAM Technologies electronic equipment DS30 DS5x Fieldbus 7 3 4 HardwareRev It is a 2 bytes register useful to know the hardware version of the drive The revision number is represented by two number pairs divided by a decimal dot The number pair before the decimal dot is given by the most significant byte represented in hexadecimal notation of the register while the number pair after the decimal dot is given by the less significant byte always represented in hexadecimal notation If for example the value of the register is 259 in hexadecimal 0x0103 the hardware revision of the product is 1 03 7 3 5 SpecialVersion It is a 2 bytes register which assumes a value different from O when the hardware of the product has been personalized and consequently differs from the standard one The special version code is composed by a 4 figures number The first two figures are given by the most significant byte of the resister represented in hexadecimal notation while the second two figures are the less significant byte of the register always represented in hexadecimal notation If for example the value of the register is 802 in hexadecimal 0x0322 this means that the product is the special version code 322 7 3 6 SerialNumber It helps to know the serial nu
62. bered removable terminal block grey color 10 poles LSP4008 5pcs numbered removable terminal block grey color 10 poles 14 LAM Technologies electronic equipment DS30 DS5x 4 Installation 4 1 Inspection Installation Verify that the drive is not damaged the package is intact and all accessories are included Furthermore control that the drive code corresponds to the ordered one eventual special and customized version included In case of problems please address to the product s vendor 4 2 Mechanical Installation The drive is designed to be mounted vertically on a 35mm DIN rail To block the drive on the DIN rail insert first the bracket on the top on the back of the drive over the top of the DIN rail keeping the drive slightly inclined as shown in the picture then push the drive downward to engage the lower section of the rail To verify the correct engagement of the drive try and pull it slightly upward to control that it is still in position Insert first the bracket on the top on the DIN rail section of the rail Push the drive downward to engage the lower To remove the drive from the DIN rail insert a small flat bladed screwdriver into the red colored hook on the bottom on the back of the drive Push the hook downward and pull the drive upward slightly rotating it releasing it from the DIN rail as shown in the picture er 15 Installation DS30 DS5x Insert a small flat bladed screwdriver int
63. brk Digital output breakdown voltage 05 37 vdc Ido Digital output currentrange S S f 60 mA Idobrk Digital output breakdown curent 120 mA Pwdo Digital output dissipable power 300 mW Vai Analog input voltage range_____________________ _10 10 vac Vaibrk Analog input breakdown voltage 45 45 vdc rar arenas A a oa ADrai A D converter resolution 211 _ J bit ADst A D converter conversiontime 10 msec ADsoff A D converter start offset _ 1 1 2 fs o3 05 fs fs A D converter linearity error o 10 vd lao Analog output currentrange ST 10 mA Tasc Analog output short circuit curent O So 20 ma Rao Analog output impedance 0 ST J 1 Qe DArai__ D A converter resolution 2 10 bit DAud D Aconverterupdate 1 J 10 msec DAsoff D Aconvertrstartoffset fs DAdoff D A converter offset drift or 03 fs DAline D A converter linearity error___________________ _____ _ 03 15 fs Overheating Break phase Mechanical specifications FDh Height oS 21004 mm FDO Depth JJ J 1190 mm FDw With 9 J 22
64. ce makes use of the power supply on the USB port to feed the drive digital section making possible the setting and the reading of information therein contained even without the power supply For a more detailed description of the features and installation of the UDP30 and of the UDP Commander software see the dedicated user s manuals LAM Technologies electronic equipment 51 Functionality and Configuration DS30 DS5x 5 2 Phase current 52 NI It is necessary to pay close attention to the phase current setting as a wrong value can damage permanently the motor The phase current must be set in order to correspond to the stepper motor s plate current declared by the manufacturer In the following table are detailed the minimum and maximum current values which can be set according to the various models of drive Current value Arms DSxx41 A DSxx44 A DSxx48 A DSxx76 A DSxx78 A DSxx84 A DSxx87 A DSxx98 Min Max EA SN o wg 8 DSxx73 A 08 3 O 2z o o y e 4 10 2 4 Et 1 385 1 E ES lo It is important to note that the values listed above are expressed as effective current and not as peak current Some manufacturers indicate the Ipk peak current or Imax maximum current To obtain the effective current value it is sufficient to divide the peak current by 1 41 this calculation is not applicable in case of full step or not sinusoid currents given to the motor
65. ck again to the first one for a successive processing Without a main loop the application program would end after the execution of the last instruction block Instruction block Description startLoop First block of the loop The startLoop label is used as input reference to the block Instruction blocks inside the loop Jump to startLoop always Unconditional jump which returns the execution of the program to the beginning of the loop LAM Technologies electronic equipment 91 Programming DS30 DS5x 6 7 2 Delay without suspend program execution 92 When there is the need to realize a wait and it is possible to suspend the execution of the program it is possible to use the Delay block for more information see par 6 6 4 Wait until If on the contrary during the wait the application program must continue to process the instruction blocks for example to control an error condition or a wait cancellation it is possible to use the TimerA to realize an untriggered wait Instruction block Description Assign It is assigned to the TimerA register TimerA 80 the time to be waited 80ms waitHere First block of the loop executed during the wait Further instruction blocks inside the wait loop Jump to waitHere if Jump to the waitHere label until the TimerA lt gt 0 value of the TimerA register automatically decreased reaches the 0 value LAM Technologies electronic equipment DS30 DS5
66. converter linearity error S fs Protections Diagnostics Alarms Over Under voltage Short circuit Mechanical specifications FDh height J J o 1004 mm FDt Depth D iso mm FDw Width O FDnw Weight gt J 294 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 119 Technical data DS30 DS5x DS3048 DS5x48 Min Typ Max Vp PowersupplyDC voltage 1 OJ 20 50 vdc If Phase current effective current 3 8 Arms Vprp Allowed ripple 100H2 1 1 1 1 gt 8 J vee Vpbrk Permanentbreakdown voltage 1 1 1 1 05 60 vdc Vph Over voltage protection intervention 560 575 vdc Vpl Under voltage protection intervention 185 197 vdc Tchh Thermal protection intervention threshold 85 90 95 C Tchi Thermal protection intervention threshold 60 65 70 c Plss Power lost on the drive 1 2 15 W Mi Motorinductance seen by the drive 1 1 05 30 mH Vdi Digit
67. cuit or malfuctioning It is also obligatory to use a fuse on each drives power supply conductor The following table relates the suggested value for some components according to the number of drives present in the application The calculation considers also an oscillation of the main supply voltage included within 10 20 LAM Technologies electronic equipment 25 Installation DS30 DS5x Number of drives Secondary T1 Vac DSxx44A DSxx48A DSxx73A DSxx76A DSxx78A DSxx84A DSxx87A AB E E AB AB AB AB AB I WIN e WIN eR gt WIN eR WIN e gt WIN e WIN eR gt WIN eR DP WIN e ul ul ul ul ul ul ul ul The working voltage of the Tl transformer primary winding must be chosen according to the main supply voltage available during the installation of the application The transformer must have a shield between primary and secondary windings which must be connected to earth with a short and not inductive connection The secondary winding voltage is 26 LAM Technologies electronic equipment DS30 DS5x Installation meant without the load with the primary winding supplied at the nominal voltage In the configurations with more than a drive if the drives are not all calibrated to the maximum current and or if the working cycle is not simultaneous the power of the transformer can be considerably reduced In some cases this can also be made when the motors speed is limited The
68. d a right operand that is instead the source Both of them can be registers and program variables while only the operand on the right can also be a constant a number or a read only register The following are some assignment examples Instruction block Description Assign Assign to the TargetPos register the TargetPos 1500 value 1500 and to the Position Position 0 register the value 0 Assign Put the O digital output in the same DigitalOutput 0 status of the 1 digital input Digitall nput 1 Assign Assign the value of the Position myVar Position register to the myVar variable Each block can contain up to 4 separate assignments Assignments contained in the same block are processed without interruption and the value of the registers is guaranteed unchangeable throughout the execution of the block 82 LAM Technologies electronic equipment DS30 DS5x Programming 6 6 1 2 Conditioning The conditioning assignment allows to assign a value to a register or to a variable only if the result of an expression is true If the result is false the register or variable continue to maintain their value or take a second value declared as alternative else case Instruction block Description Assign Position 12800 if Assign the value 12800 to the Digitall nput 3 1 Position register if the digital input 3 is 1 if the input is active Assign RefVel 1000 if Assign the val
69. dc Vaibrk Analog input breakdown voltage 45 Vdc Analog input impedance 0 NENNEN A D converter conversion time A D converter start offset ADdoff A D converter offset drift A D converter linearity error Vao Analog output voltage range 0 37 120 2 fs 1 fs Analog output short circuit current O D A converter update Sdo D A converter start offset Too 1 wefs DAdoff D A converter offset drift Fs D A converter linearity error CT 03 15 fs Overheating Break phase Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value Ds cp A Temperature Humidity no condensing Conditions of storage and transport Altitude 1 Temperature Humidity no condensing 118 LAM Technologies electronic equipment DS30 DS5x Technical data DS3048A DS5x48A DLL See Min Typ Max Vac Powersupply AC voltage 1 1 1 1 1 18 36 Vac If Phase current effective current 3 8 Arms Vacbrk Permanent breakdown voltage 11 1 11 T 42 Vac Vach Over voltage protection intervention CT 40 42 Vac Vacl Undervoltageprotectionintervenion 14 156 Vac Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 vc Piss Power
70. designed for the programming the debug and diagnostics of the drive Through this special device it is possible to download into the drive the application program to visualize the content of registers I O signals etc The bundled drive software simply and quickly guides the user in all the programming phases and assists him during the diagnostics and application debug Before starting to operate on the product be sure to have the latest software version The use of last generation components and technologies together with the computerized test made on each single unit gives to the product high reliability and economic competitiveness LAM Technologies electronic equipment 11 Introduction DS30 DS5x 3 1 1 Available models 12 The DS30 DS5x family drives are available in a complete range of models diversified according to the power supply voltage and the phase current delivered to the motor Some of them are also available in the AC supply version identified by the letter A at the end of the code for example DSxx44A All the models share the same functional features AC power DC power supply Effective Peak phase supply voltage voltage Vdc phase current current Vac Arms Apk Min Min Max Min Max Min DS3041 18 50 0 3 0 42 2 0 DS3041A 16 36 0 3 0 42 2 0 DS3044 20 50 1 1 4 5 6 DS3044A 18 36 1 1 4 5 6 DS3048 20 50 3 4 2 11 3 DS3048A 18 36 3 4 2
71. digital sources to the analog inputs The voltage threshold used to discriminate the logic 1 from the logic 0 is freely adjustable from 1V to 10V through the configuration of the drive see the UDP Commander user s manual Analog inputs used as digital inputs Number Voltage Active input System Possible range treshold register values 4 28 28Vdc 1 5V Digitall nput 4 0 1 5 28 28Vdc 1 5V Digitall nput 5 0 1 The analog output can also be used to supply little loads as for example potenziometers sensors etc provided that the absorption is inferior to the current delivered by the output itself Analog outputs Number Voltage Output System Possible range current register values 0 0 10Vdc 10mA AnalogOutput 0 0 1023 LAM Technologies electronic equipment 69 Programming 6 3 System registers The drive functionalities are controlled through the system registers Some of them can be only read R others can be both read and written RW DS30 DS5x When trying to assign to a register a value out of the allowed range the register is automatically clamped to the nearest maximum or minimum value If trying to assign the value 35 to a register with range 0 100 then the register will assume the value 0 similarly trying to assign to the same register the value 122 the register will be set at a maximum value of 100 The following table resumes the available registers
72. e ControlMode register description When the drive works in speed control mode the value of the TargetPos register is ignored To command a positioning it is sufficient to write the destination quote value in the register The motor will reach the target quote according to the values of acceleration deceleration and maximum speed present in the Acceleration Deceleration and MaxVel registers respectively The TargetPos registers is accessible both in reading and in writing mode and can assume any value between 2 147 483 648 and 2 147 483 647 Through this register it is possible to know the real time motor position expressed in 1 128 of step The value is constantly updated whether the drive works in position or in speed control mode LAM Technologies electronic equipment 71 Programming 6 3 1 5 CPosition 6 3 1 6 MaxVel DS30 DS5x The Position register besides in reading it is also accessible in writing and this allows to force the motor quote to any value A typical case is the zero procedure where there is the need to put to 0 the motor quote usually when the home sensor is activate The Position register is accessible both in reading and in writing mode and can be set or assume values between 2 147 483 648 and 2 147 483 647 In this register it can be stored the instantaneous position of the motor Position register espressed in 1 128 of step when a predetermined digitial input is activate The save operation of the
73. e chosen in order the motor cables can immediately come out from the case without running long distances inside the case itself Numerical Control The numerical control device PLC or other which generates the driving signals of the drive must be as far as possible from the drives and from the power supply group Moreover the signals wiring must be remain distant from the power supply and motor cables When the distance from the numerical control device and the drive and or the power supply is reduced there must be one or more shielding walls electrically connected to the case The following figure shows a possible setting of the chassis LAM Technologies electronic equipment DS30 DS5x Installation Power supply data Drives control bus etc signals CNC PLC PC etc Shield EEA ee nee ALLE ARA LLLL LAL LLL LL LLL LLL LS Y 7 Y 7 4 Y Y Y oo ool oojoo ooloo 4 4 Y oojoojoojoo oo oo Y 4 A el y y 4 4 Y o o Y Y Y y Y Y Y Y Y Y Y 7 Z 4 4 ui j Y Y FEEK E FZUFF E FE FEEEF F EF EE E FPEFE FE E EP FE EE E PEFEFEF E EFE F EPEFAEF PEPFFEF E E FE FE E8EPE sF g Y Y 4 Y jo oO 4 Y SS SSS 4 4 C c Y 4 LZ Lt A Y 4 lt _ 4 TA o 4 Ayo Q gt A a NOTE Fo oT A OS O SEN SS Bm E SS S Y Y SO oo SS d SN ONAN s V gt ZZZZZZAZZZZZZZZZZZZZON DIZZZZZ 2 2 222 RE 22 2 2 22 2 RR 2 22 PF 2 GgSg Bg EI f Power supply Main supply filter Earth connection Transformer E s
74. e following table resumes the meaning according to the values Value Description 0 Variables save not executed 1 Variables successfully saved to flash memory 6 3 1 26 DigitalInput 0 3 It is a boolean type read only register which reflects the status of the corresponding digital input When the register assumes value 1 it means that the input is supplied active when the value of the register is O the input is disabled inactive Value Description 0 Not supplied input inactive 1 Supplied input active 6 3 1 27 DigitalInput 4 5 It is a Boolean type read only register which reflects the status of the analog input when this is used to acquire digital signals When the register assumes a value equal to 1 it means that to the input it is applied a voltage higher than 1 5V when the value of the register is equal to 0 the voltage is lower than 1 5V LAM Technologies electronic equipment 79 Programming DS30 DS5x The DigitalInput 4 register corresponds to the O analog input while the DigitalInput 5 register to the 1 analog input Value Description 0 Not supplied input inactive 1 Supplied input active 6 3 1 28 DigitalInputsA It is a read only register which includes the status of all the digital inputs from DigitalInput 0 to DigitalInput 5 The correspondence between the bits and the inputs is the following Bit Name Description bit7 bit6 Not used bit5 Digitallnput 5 1 analog i
75. e np Ped que RANA 5 73 Overkwoltage i ee ee dei ort eet o E eee ded Pine RN 5 7 4 Over temperatute et ate d d x E XI A Et eU e A Uie ee Ru V ARE 5 7 5 Phase to phase short circuit 5 7 6 Phase to ground short circuit 5 7 7 Phase to Vp short circuit Vac 5 7 8 Interrupted phase A interrupted phase B 6 PROGRAMMING r5 5 m 67 O A M eda 67 6 2 CONTROL HARDWARE SIGNALS oiga 68 6 30 SYSTEM REGISTERS 25 AE EDI D OE Ee P ER EE LEE DE SEDE UR UR C ME Ere E UE PESE RA UE CLER PEE ERO VE DE SE DAE EN INE EE REQUE ea ER Doe 70 6 3 1 Description of each single register cccscccceessssecesssesenssceceesssseceessessesseseceesssecssssessessssecsesseseceeessessetssseeees 71 6 3 1 1 Dep 6 3 1 2 Velocity coe 6 3 1 3 TargetPos 6 3 1 4 Position esss 6 3 1 5 POSITION RNA 6 3 1 6 E PE oA abe tud i E tdci seat LEAL E er ce tes nec DS30 DS5x 6 3 1 7 A a lab EO qs 72 6 3 1 8 Deceleration uiii e Eee T ae PEE a ERE RR EE Euseb e ar c ve er e aee Ed REX E 73 6 3 1 9 ControlMOde dett hr ty v n i DR ertt tek RA Re eder 73 6 3 1 10 Pas ECU enn 73 6 3 1 11 StByC rrent Time eH BRE HERI A Ei e at ID EU RERO PRINS ER 74 6 3 1 1
76. e this calibration only if the application requires an high static torque to the motor The following figure shows the relation between the motor cycle and the automatic current reduction LAM Technologies electronic equipment 55 Functionality and Configuration DS30 DS5x A Phase current 100 60 Motor in rotation CES 7 OOOC OOS b gt 1049 09 09 0 0 0 0 CX CX X RRA LA AM MMMM ARA ES PS After the stop of the motor the Tir time starts to pass after which the automatic current reduction intervenes reducing the phase current in the example to the 60 of the nominal value i e of the set value 5 4 Current waveform modification The extraordinary flexibility offered by the DS30 DS5x series drive O allows to intervene on the current waveform supplied to the motor to better adapt it to the constructive characteristics of the motor itself and of the application This procedure grants the most rotation homogeneity and the maximum positioning precision The parameters on which it is possible to intervene through the UDP Commander are the Shape and the Offset Shape The Shape parameter allows to modify the current profile changing the sine cosine shape normally used Offset The Offset parameter adds or deducts a DC component to the current waveform applied to the motor 5 5 Alarms and Protections conditioning In order to protect the drive and to make easier the iden
77. eakdown voltage 1 1 1 1 1 30 30 vac Idi Digital input supply current 1 4 6 8 mA Vdo Digital output voltage range________________ _1 30 vac Vdobrk Digital output breakdown voltage TOS 37 vdc Ido jDigtalouputcurentrange 1 1 50 mA Idobrk Digital output breakdown curent 120 mA Pwdo Digital output dissipablepower 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 10 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai _ D A converter resolution Z 10 f bit DAud D Aconverterupdate_ 10 msec j DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift J y 01 03 fs DAline D A converter linearity error S fs Protections Diagnostics Alarms Over Under voltage Short circuit Mechanical specifications FDh height J J o 1004 mm
78. ed errors through transducers such as tachogenerator encoder resolver etc Therefore such a system disposes of a feedback and it is classified as a reactioned system or at closed loop LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration On the contrary the stepper motors can be used without the help of any transducer even granting constant speeds and precise and repeatable positioning This is possible because the stepper motor is a synchronous actuator which follows without shifting the rotating magnetic field generated by the stator windings Till when the load opposes a resistant torque inferior to the one supplied by the motor the rotor remains hooked to the rotating magnetic field while when the load exceeds the available torque the rotor loses the synchronism and the position and the speed are not more granted Therefore it appears evident that for a correct use of the stepper motor it is of primary importance to take care of the sizing of the application so that the request for the load torque remains inferior to the torque supplied by the motor on the whole speed range required When the stepper motor is firm it is often necessary to grant a maintaining torque capable to keep the load in stable position a suspended load for example for this reason the drive supplies current to the motor even when it is motionless However in many cases the current necessary to grant the load stability
79. ed with fieldbus belonging to the DS3x series The DS30 products are not supplied with fieldbus 7 1 General description Through the fieldbus it is possible to access to the drive registers and to the program variables to monitor or control the status of the motor The ability of the drive to execute an own internal program and to O communicate contemporaneously with an external device PC PLC CNC etc offers a great flexibility and infinite applicative possibilities The machine cycle can for example be implemented inside the drive to obtain execution rapidity and parametrized by the control master for example in the times in the repetition numbers in the quotes or speeds of the motor etc also with the motor in rotation A further advantage offered by this kind of approach is to enormously limit the number of messages passing on the bus Inside a structure with decentralized intelligence it is in fact sufficient to send only once the configuration parameters to command the start and eventually to interrogate once in a while the drive to know its status The various I O of the drive both analog and digital allow to locally O control the sensors such as end run home load cells resistors etc as well as actuators like electromagnets proportional valves etc furtherly relieving the control master of the working load and improving the real time reply of the system 7 2 Modbus RTU communication protocol The communication
80. eiver calculates the CRC of the received data and compares it with the CRC received 108 LAM Technologies electronic equipment DS30 DS5x Fieldbus Ex 1 writing of a dword value in the register 41730 TargetPos of the drive with address 1 Function 0x10 Write Multiple Registers Request Master gt Slave Transmitted Address Function Word ID Word Byte WordO Wordl CRC frame structure Code Number Counter Value Value Possible values 1 0x10 0xA301 0x0002 0x0003 OxE800 0X6094 Reply Slave Master Received frame Address Function Word ID Word Number CRC structure Code Possible values 1 0x10 0Xa301 0x0002 0x324C 7 2 5 3 0x16 Changing of the bits of a register Mask Write Registers The command is useful to change only some bits of a register or of a program variable leaving the status of the remaining bits unchanged The following table shows the composition of the frame transmitted to the drive and the relative reply in case of command successfully concluded Function 0x16 Mask Write Registers Request Master gt Slave Transmitted Address Function Word ID AND OR Mask CRC frame structure Code Mask Dimension byte Possible values ave gt Master Received frame Address Function Word ID AND OR Mask CRC structure Code Mask Dimension byte Possible values 1 247 0x16 0 65535 0 65535 0 65535 0 655
81. er Under voltage Short circuit Mechanical specifications FDh height J J o 1004 mm FDt Depth D iso mm FDw Width O FDnw Weight gt J 294 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 127 Technical data DS30 DS5x DS3084 DS5x84 Min Typ Max Vp Powersupply DC voltage 1 1 1 45 160 vdc If Phase current effective current 2 4 Arms Vprp Allowed ripple 100H2 1 1 1 1 25 ve Vpbrk Permanentbreakdown voltage 05 210 vdc Vph Over voltage protection intervention 177 181 vdc Vpl Under voltage protection intervention 26 amp 27 vdc Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 c Piss Power lost on the drive 1 T 15 W MI Motor inductance seen by the drive 1 50 mH Vdi Digital input voltage range 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vdc Idi Di
82. ers inside the addressing space For the program variables it is indicated only the address of start and end of the whole space available as the ID of each single variable depends on how the same variable is declared and positioned The ID of each single variable is shown in the d column in the chart Variables of the UDP Commander software Map of the registers corresponding to RegTableVer 1 ID 3 address Access Register Description Dec Hex byte 40193 Ox9D01 R 2 RegTableVer Version of the registers table 40194 0x9D02 R 2 ProductCode Code of the product 40195 0x9D03 R 2 FirmwareVer Revision of the firmware 40196 0x9D04 R 2 HardwareRev Revision of the hardware 40197 0x9D05 R 2 SpecialVersion Special version 40198 Ox9D06 R 4 SerialNumber Serial number of the product 40199 0x9D07 40961 OxA001 RW Program variables 40993 0xA021 RW Program variables Fault 41217 OxA101 R 1 Faults present in the drive 41218 0xA102 R 1 Error Errors present in the drive 41219 0xA103 R 1 Status Status of the drive 41220 0xA104 RW 1 PhaseCurrent Phase current of the motor 41221 OxA105 RW 1 ControlMode Mode of movement control 41222 0xA106 RW 1 StByCurrent Time Time before the current reduction 41223 OxA107 RW 1 StByCurrent Percentage Percentage of current reduction 4122
83. es belonging to this price range The block resolves the following equation m1 x m2 result C bd The result operand on the left can be a variable or a register which has the writing access The m1 m2 and c operands can be indifferently variables registers or constants The bd division coefficient can be chosen among the powers of 2 included between 2 0 and 2 30 Thanks to the denominator it is possible to simulate computations with decimal coefficients If for example it was necessary to multiply a value by 1 5 it is possible to obtain an identical result multiplying first by 3 and then dividing by 2 2 1 Choosing the correct multiplier divisor combination it is possible to approximate any decimal multiplication or division The following are some examples of mathematic instruction block Instruction block Description Resolve The TargetPos register is set to 10 TargetPos 10 times the value assumed by the 0 Analogl nput 0 analog input Resolve The counter variable is increased by counter counter 1 one unit Resolve The MaxVel register assumes value MaxVel Digitallnput 2 500 when the 2 digital input is 1000 500 inactive value 0 and 1500 when the 2 input is active value 1 Resolve The value contained in the myVar myVar 3 myVar 8 variable is multiplied by a 0 375 3 8 factor The mathematic block has an execution time longer than the other functional
84. f is immediately activated In the following tables are detailed the main characteristics of each signal and the associated system register Digital inputs Number Voltage System Possible range register values 0 3 28Vdc Digitall nput 0 0 1 1 3 28Vdc Digitall nput 1 0 1 2 3 28Vdc Digitall nput 2 0 1 3 3 28Vdc Digitall nput 3 0 1 A digital input is defined active when it is supplied When the input is in the active status the corresponding system register assumes value 1 When the input is not active the register value is 0 Digital outputs Number Voltage System Allowed range register values 0 1 30Vdc DigitalOutput 0 0 1 1 1 30Vdc DigitalOutput 1 0 1 LAM Technologies electronic equipment DS30 DS5x Programming A digital output is active when it allows the current to flow To activate an output the corresponding registers must be set to value 1 Setting a value equal to O the output is inactive The drive is equipped with two analog bipolar inputs converted with resolution 10bit plus sign O Analog inputs Number Voltage Input System Possible range impedance register values 0 10 10Vdc 47K Analoglnput 0 1024 1023 1 10 10Vdc 47K Analoglnput 1 1024 1023 The analog inputs have been designed to work also as digital inputs in the need it is therefore possible to connect
85. gital input supply current d 4 6 8 j mA Vdo Digital output voltage range 1 1 1 1 1 1 30 vde Vdobrk Digital output breakdown voltage 05 37 vdc Ido Digtalouputcurentrange 1 1 1 1 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipable power 1 1 1 300 mW Vai Analoginputvoltagerange 1 1 1 10 o vdc Vaibrk Analog input breakdown voltage 1 1 1 45 5 vdc Rai Analog input impedance 1 1 da kR j ADrai A D converter resolution um bit ADst A D converter conversion time 111 1 10 X msec ADsoff A D converter start offset J 1 2 fs ADdoff A D converter offset drift 03 05 9efs ADline A D converter linearity error 1 1 1 2 fs Vao Analgoutpttvoltagerange CT o o vdc lao Analog output currentrange 0 1 10 mA ltasc Analgoutputshortciruit curent ST T 20 mA Rao Analog output impedance 1 0 OST 1 1 1 9 DArai _ D A converter resolution Ot DAud D A converter update msec DAsoff D Aconvererstartoffset Bs DAdoff D Aconvertroffsetdrift J or 03 fs D A converter linearity eror o
86. he drive connection is made through the DUP port This connection allows to download the application program into the drive to control its execution to read the registers the user variables the I O status etc Through the same port it is then possible to update the firmware inside the drive This last feature deserves particular attention as it allows to maintain the product always updated LAM Technologies electronic equipment 67 Programming DS30 DS5x To connect the DUP port of the drive to the PC it is necessary a little and cost effective interface called UDP30 The UDP30 interface is connected to the PC through the USB port To grant high noise immunity and to safeguard the equipment integrity the connection between the PC and the drive must be of insulated type O In addition the UDP30 interface is able to supply the drive digital section making possible the programming and the reading of the information therein contained even without the power supply For a more detailed description on the features of the UDP30 interface please see the dedicate user s manual 6 2 Control hardware signals Through the control hardware signals the application program interacts with the external equipment 68 The application program reads and or changes the hardware signals through some specialized system registers The I O is updated in real time therefore writing 1 in the register associated to a digital output the output itsel
87. ielded type 4 4 4 1 Fiedlbus DS5x series The information contained in the following chapters apply only to the drives provided with fieldbus DS50 DS52 and DS54 series When the drive is supplied only through the UDP30 the RS485 or the RS232 fieldbus communication ports are not working 4 4 4 1 1 DS50 series RS485 Modbus RTU The DS50 series is equipped with a RS485 hardware interface optoisolated from the power stage and with a Modbus RTU communication protocol The connection to the bus is through a 9 pin female D sub connector as required by the Modbus specifications In the following representation is shown the signals arrangement on the 9 pin connector CN5 Signals disposition Description na signals common it is the reference OV of the DO and D1 signals 2 5v voltage referred to the OV with max current of 10mA not connected not connected 5 DO data line also called A A or TxRx 6 notconeced gt O 8 j notcomnected O 9 Di dataline also called B B orTxRx _______________ For the connection it is suggested the use of a twisted pair cable LAM Technologies electronic equipment 35 Installation DS30 DS5x The connections 1 and 2 can be used to connect the RS485 polarization resistors if needed Keep in mind that the max source current from the pin 2 is 10mA The value suggested for the polarization
88. ijfojojofofijo Value of the two most significant bytes 0x8642 LAM Technologies electronic equipment 105 Fieldbus DS30 DS5x 7 2 5 Supported functions The manipulation of each register or program variable is executed using only three standard functions of the Modbus protocol The function with code 0x03 is useful to read the registers or the variables and allows to contemporaneously read up to 2 words at the time The function 0x10 instead is useful to write both registers and variables and allows to write up to 2 words at the time Finally the function with code 0x16 allows to change only some bits of a register or a variable leaving the remaining bits unchanged 7 2 5 1 0x03 Reading of registers and variables Read Holding Registers The command is useful to read the registers or the program variables Through the parameter Word Number it is possible to choose if reading one only word or two words contemporaneously This last mode is useful to read registers or variables with a dimension of 3 or 4 bytes The following table shows the composition of the frame transmitted to the drive and the relative reply in case of command successfully concluded Function 0x03 Read Holding Registers Request Master Slave Transmitted Frame structure Dimension byte Possible values Received Frame structure Dimension byte Possible values Address Function Code Word ID
89. ing to the model of the drive LAM Technologies electronic equipment 73 Programming 6 3 1 11 6 3 1 12 6 3 1 13 6 3 1 14 74 DS30 DS5x Model Minimum Maximum value value DSxx41 A 3 14 DSxx44 A 10 40 DSxx48 A 30 80 DSxx73 A 8 30 DSxx76 A 20 60 DSxx78 A 40 100 DSxx84 A 20 40 DSxx87 A 40 85 DSxx98 40 100 StByCurrent Time The StByCurrent Time register allows to change the time expected after the motor stop before reducing the phase current Each unit produces a delay of 100ms therefore setting for example the register to the value 15 the motor phase current will be reduced after 1 5 seconds from stop The StByCurrent Time register is accessible both in reading and in writing mode and it can assume the values included between 1 and 100 StByCurrent Percentage It allows to define the phase current reduction percentage set through the PhaseCurrent register passed the time from the motor stop defined in the StByCurrent_Time register The StByCurrent Percentage register is accessible both in reading and in writing mode and it can assume values included between 0 and 100 TimerA The TimerA register has a particular characteristic The value it contains is automatically decreased by the drive of one unit each msec until the 0 value is reached such a value is maintained until the register is not written again The register is normally used to realize delay
90. inuously move around the medium position This may cause mechanical stress and noises and the not intervention of the current reduction function which occurs only if the motor is in stop To avoid this behavior it is sufficient to insert a simple algorithm which realizes an hysteresis on the analog input signal The following example realizes an hysteresis of 3 units in respect to the value read by the analog input It is assumed that the myVar hystHigh and hystLow variables are already declared with a length equal to 2 bytes Instruction block Description readAgain Assign Assign the real time value of the 0 analog input to the myVar Analoglnput 0 myVar program variable Jump to outOfHyst if If the myVar variable is greater than the hysteresis myVar gt hystHigh higher limit hystHigh variable it is updated the operations hysteresis limits and carried out the required Jump to readAgain if This block is reached only if the myVar variable is myVar gt hystLow smaller or equal to the hysteresis positive limit Now it is controlled if the myVar variable is smaller than the hysteresis lower limit hystLow variable in this case it is updated the hysteresis limits and carried out the required operations It must be noted that the test is negate to avoid the unconditional jump block that would be necessary to return to the readAgain label outOfHyst Resolve It is updated the hyste
91. ions LAM Technologies electronic equipment 57 Functionality and Configuration DS30 DS5x 5 6 Signal LEDs 58 On The drive has three signal LEDs the green one called On the yellow LED called Enable Run and the red one called Fault The LED called On lights up when the drive is supplied with a voltage sufficient to allow a correct functioning of the control electronics When the LED is on the drive is able to elaborate the information but it is not necessarily in the working status because for examples the supply voltage is beyond the working limits or the temperature is excessive Enable Run This LED gives contemporaneously various information about the status of the drive When the motor is enabled the LED is fixed lighted up when the motor is disabled the LED is off When the motor is rotating the LED status is inverted for a little while In other words when the motor is enabled and rotating this LED is mainly lighted up with short power offs Relation between the yellow LED and the status of the motor Enable Yellow LED status oe Off Off On je Jl TL On Off This LED lights up each time there is at least an alarm signaling When the LED is lighted up the drive is not operative and the motor is without supply observe that also in this condition the yellow LED continues its own activity as described in the previous chapter In presence of an alarm the red
92. ions see chapter 5 5 Alarms and Protections conditioning When there is at least an alarm signal the drive is not active and the motor is not supplied consequently the torque is null 5 7 2 Under voltage 60 The under voltage alarm intervenes when the drive supply voltage is inferior to the Vp value Vacl for the AC models Such value varies according to the drive model as per the following table A ye te Min Typ Max Se 1 Ir2 DSx73 24 Dsxx76 24 DSxx78 24 DSxxs4 as DSxx87 45 Dsxx98 45 DSx41A 135 Dsxx44a 15 DSxx48A 15 DSxx73A 18 DSxx76A 18 DSx78A 18 DSxx84A 33 DSxx87A 33 LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration The drive constantly verifies the supply voltage value it is sufficient that it goes beyond the Vpl threshold Vacl for the AC models for few instants to generate the under voltage alarm It does not have to be astonishing the fact that the protection intervenes despite the measured voltage is within the functioning limits as it is possible that because of the main supply fluctuations or cables length the voltage that effectively reaches the drive becomes in particular moments for example during the motor acceleration phase inferior to Vpl value Vacl for AC models In order to make a correct measurement
93. is inferior even a lot to the required operating value This is mainly due to two reasons when the motor is firm there are no inertial loads which appear instead during speed changes furthermore the torque speed curve of the motor reaches its utmost just in proximity of zero speed motionless motor In order to limit the motor and drive heating there is a function able to automatically reduce the supplied current after a defined time settable from the stop of the motor The DS30 DS5x drives allow to define accurately both the current reduction percentage and the timing from the motor stop to the reduction intervention The regulation dynamics is extraordinarily wide and allows to change the current between 0 and 100 of the nominal current The reduction intervention time can be set in few milliseconds up to 10 seconds Setting a value equal to 0 the current is completely set off when the motor is firm while setting 10046 the current is always maintained at the nominal value The current reduction percentage must be set considering the real torque required by the application when the motor is firm while the second parameter the time must be set according to the time that the load takes to stable after the stop of the motor or to the application working cycle Observe that removing the current reduction with motor at rest that is to say setting the 100 value the motor and the drive heat more It is therefore suggested to mak
94. is different from the one on the right gt The comparison is true when the operand value on the left is greater than the one on the right gt The comparison is true when the operand value on the left is greater or equal to the one on the right lt The comparison is true when the operand value on the left is smaller than the one on the right lt The comparison is true when the operand value on the left is smaller or equal to the one on the right The following are some examples of conditional jump Instruction block Description Jump to jumpHere if Jump to the instruction block Position gt 12500 identified by the jumpHere label if the value of the Position register is greater than 12500 Jump to startMovement if Jump to the instruction block Digitallnput 0 1 identified by the startMovement label if the value of the O digital input is 1 if the input is active Call noElapse if Jump to the instruction block TimerA lt gt 0 identified by the noElapse label if the value of the TimerA register is different to 0 If during the program execution it is met the Return instruction block the program return to the instruction block successive to this one Jump to doSomething if Jump to the instruction block myVarl lt myVar2 identified by the doSomething label if the value of the myVarl variable is smaller or equal to the value contained in the myVar2 variable LAM Technologies electr
95. it is necessary to act directly on the drive supply terminal blocks using a band pass instrument of at least 10KHz as an oscilloscope for example able to memorize the voltage transients minimum values Vdc Drive supply voltage Under voltage protection intervention If the supply voltage is very near to the drive functioning limit and sporadically the under voltage alarm intervenes it is possible in some cases to solve the problem reducing the distance between the power supply and the drive increasing the cables section or placing an electrolytic capacitor near the drive itself valid only the DC models LAM Technologies electronic equipment 61 Functionality and Configuration DS30 DS5x 5 7 3 Over voltage 62 The over voltage protection intervenes when the supply voltage is superior to the Vph value Vach for the AC models In these conditions the drive protects the power stage turning it off Such value varies according to the drive model as per the following table Vph value Vach ach Unit Min Typ Typ DSxx87 15 Dex98 28 DeSx41lA 32 DSxx4aa 40 DSxx48A 40 DSx73A 7 DSx76A 1 DSx78A nm DSxx84MA 14 DSxx87A 124 The drive constantly controls the supply voltage and when it goes beyond the Vph value Vach for AC models even also for few instants the over voltage protection inter
96. ith adequate voltage These products can also be supplied in DC however take present that the rectifier bridge inside does not allow to recover the energy produced by the motor during the deceleration When supplying in DC a drive provided for the AC input make reference to the parameters of the corresponding DC version for example for the DS3076A refer to the DS3076 considering that the rectifier bridge inside has a total drop of about 3Vdc This means that if for example a drive provided for AC input is supplied with 35Vdc voltage this will act for the purpose of the applied voltage as the corresponding supplied at about 32Vdc The following table resumes the working and breaking effective voltage values considering a sinusoidal waveform DSxx44A DSxx48A DSxx78A 110 DSxx41A DSxx78A DSxx44A DSxx48A 40 DSxx73A DSxx76A 69 120 DSxx41A DSxx41A 12 5 DSxx44A DSxx48A 14 DSxx73A DSxx76A 16 DSxx78A 31 DSxx84A DSxx87A The power supply is connected by the grey colored two poles connector LAM Technologies electronic equipment DS30 DS5x Installation e Terminal n 1 gn CN1 Terminal n 2 Vac CN1 Signal set up AC models Contact n Description Vac AC power supply voltage input Vac AC power supply voltage input The overcoming of the Vacbrk voltage limit damages permanently the drive NIZ Do not install the drive before the wiring is complete For the connection
97. ive 1 1 50 mH Vdi Digital input voltage range 1 1 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 X 30 vdc Idi Digtalinptsuppycuret 1 1 4 6 8 mA Vdo _ Digital output voltage range 11111 1 1 1 1 30 vac Vdobrk Digital output breakdown voltage 05 37 vdc Ido jDigtalouputcurentrange 1 1 1 ST 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipablepower TT 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 0 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai _ D A converter resolution Z 10 f bit DAud D Aconverterupdate_ 10 msec j DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift J y 01 03 fs DAline D A converter linearity error____________________ 03 15 fs Protections Diagnostics Alarms Ov
98. ld the electromagnetic emissions The case must be electrically placed to ground as better described further below The filter must be correctly placed in series to the main supply The ideal position is on the chassis edge in order to have a short wiring coming out from the main supply If on the contrary the main supply cables run inside the chassis they can be invested by electromagnetic interferences making ineffective or much reducing the filter efficiency The filter output earth must be connected to the metallic body of the chassis It is important the connection is of short length and made with a large section and low inductance conductor The point of connection between ground coming from the filter and the chassis constitutes the star center to which all other components earth must be connected Moreover the filter metallic body must be electrically placed in contact with the case Transformer The transformer must be placed close to the filter and must have a shield between the primary and the secondary windings The shield must be ground connected in the star center obtained inside the case Furthermore the transformer metallic body must be electrically connected to the case Power Supply Drive It is best to install the power supply near the transformer The power supply earth usually the negate pole of the filter capacitor must be connected to ground in the star center obtained inside the case The drive position must b
99. ler able to perform accurate motor control both in speed and in position The programming is quick and simple and it is made putting in sequence the various functional blocks available in the UDP Commander development software tool such as assignment blocks conditional jump blocks etc Particularly powerful are the mathematical blocks able to execute additions subtractions multiplications and divisions and which allow to realize even complex applications The connection with the external devices is through 4 inputs and 2 digital outputs each one optocoupled independently PNP or NPN or line driver usable Two 10V analog inputs and one 0 10Vdc analog output complete the available interface signals Suitable for the bi polar mode driving of two phase stepper motors at 4 6 or 8 wires the DS30 DS5x series drives feature an accurate current control which assures a correct and smoothness movement of the motor The use of last generation power components together with the development of an innovative current control technology has made possible to reach high level of efficiency to be compact sized and to reduce drive heating The high technology present in the product has also allowed to overcome the previous full step or fractioned limited step solutions offering at the same price a product able to drive in microstepping mode with an high step frequency The DS30 DS5x drives series is equipped with a special port called DUP
100. librated to a current of 5Arms 10 0 5 On the contrary the parallel configuration requires an higher phase current but it has the advantage to maintain the torque supplied by the motor more constant to the increasing of the speed It happens thanks to an inferior anti electromotive force and inductance exposed towards the drive in respect to a series connection The parallel connection is therefore preferable when the motor working speed is high or when then supply voltage is low When a parallel configuration is used it is necessary to calibrate the drive to the motor phase current multiplied by the coefficient 1 41 when the manufacturer specifies the current value in unipolar mode or multiplied by 2 if the current is specified in relation to a series bipolar connection If for example the motor used has a plate current of 3A phase in unipolar mode with the windings connected in parallel the drive shall have to be calibrated to a current of 4 2Arms 3 1 41 5 3 Automatic current reduction 54 Stepper motor drives work at impressed current i e they always supply the motor at the set nominal current independently from the fact that motor gives torque to the load or not In other types of motor as for example in DC or Brushless motors the drive supplies to the motor the current strictly necessary to maintain the position or the rotation speed required In these cases the drive obtains the information on the position or spe
101. mber of the product It is a 4 bytes register whose decimal value represents directly the SN of the drive If for example the value of the register is 7136335 in hexadecimal notation 0x006CE44F it means that the serial number of the product is 07136335 the serial number is always composed by 8 figures LAM Technologies electronic equipment 113 DS30 DS5x Technical data 8 Technical data The following are the electric physical and mechanical details of each single drive DS3041A DS5x41A Description Value Unit Min Typ Max Vac Power supply AC voltage 1 1 16 36 Vac If Phase current effective current 03 14 Arms Vacbrk Permanent breakdown voltage 42 vac Vach Over voltage protection intervention 365 39 vac Vaci Under voltage protection intervention 125 145 vac Tchh Thermal protection intervention threshold 82 86 9 c Tehi Thermal protection restoration threshold 60 62 66 c Piss Power lost on the drive _ ____ 7 W MI Motor inductance seen by the drive 08 50 mH Vdi Digital input voltage range 1 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vdc Idi Digital input supply current 4 6 8 mA Vdo Digital output voltage range S 1 30 vac Vdo
102. n 1 usen CN1 Terminal n 2 CN1 Signals set up DC models Contact n Description Vp positive DC supply voltage Vp GND negative DC supply voltage Reverse polarity connection damages permanently the drive just as d the overcoming of the Vpbrk voltage limit Do not install the drive before the wiring is complete Never connect the drive with the power supply turned on If the distance between the drive and the power supply is more than 3m it is necessary to place near the drive less than 10cm an electrolytic capacitor whose characteristics are listed below C2 C2 Voltage Capacity Vdc uF DSxx44 63 470 To connect together the power supply the drive and the eventual local capacitor it is necessary to use a conductor with section adequate to the drive s current calibration anyway for safety s reason it is better to use the maximum current supplied by the drive The following table resumes the cable section suggested for each drive LAM Technologies electronic equipment DS30 DS5x Installation Cable section mm eme o 1 2 5 The power supply cable can be installed together with the ones connecting the drive to the motor We recommend not to place the power supply cable nearby the signal ones There are two types of power supplies commonly used regulated and unregulated The regulated power supply maintains a stable output voltage immune to
103. n easy wiring of signal and power cables The use of numbered and colored movable terminal blocks makes easier the Terminal n 1 Connector CN2 Terminal n 1 Connector CN4 Terminal n 1 Connector CN1 6956909008809 Terminal n 1 Connector CN3 All the terminal blocks do not contain iron and are supplied with mobile truck The clamping screw is slotted head sized for screwdriver of 3x0 6mm 20 LAM Technologies electronic equipment DS30 DS5x Installation We recommend to apply a tightening torque of about 0 8Nm Apply a tightening torque of about 0 8Nm All terminals can tighten correctly cables with section between 0 1mm and 2 5mm 24 14 AWG We recommend to skin off the cable for 7 8mm as shown in the figure below Rm 7 8mm Installation DS30 DS5x 4 4 1 Power Supply AC models O Symbol Description Min Nominal AC supply Vac voltage AC supply voltage Vacbrk causing the permanent damage Over voltage Vach protection intervention threshold Under voltage Vacl protection intervention threshold 22 The AC supply drives are identified by the letter A placed at the end of the code ex DS3044A They integrate a rectifier bridge and the filter condensers necessary to rectify and filter the AC power supply voltage Therefore this series of drives does not need an external power supply and can be directly connected to the output of a transformer w
104. n the command is sent with Word Number 2 Differently the Word Value is not received CRC it is the checksum calculated by the sender using all the frame data The receiver calculates the CRC of the received data and compares it with the CRC received the register 41226 Acceleration from the drive with address 1 Function 0x03 Read Holding Registers Request Master Slave Transmitted Address Function Word ID Word CRC frame structure Code Number Transmitted values 0x01 0x03 0xA109 0x0001 0x77F4 Replay Slave gt Master Received frame Function Byte Word0 Wordl CRC structure Code Counter Value Value Received values 0x03 0x02 0x03E8 OxBSFA The value changes according to the real content of the register LAM Technologies electronic equipment 107 Fieldbus DS30 DS5x 7 2 5 2 0x10 Writing of registers and variables Write Multiple Registers The command is useful to write the records or the program variables Through the Word Number parameter it is possible to choose to write one only word or two words contemporaneously This last mode is useful to write registers or variables with a size of 3 or 4 bytes The following table shows the composition of the frame transmitted to the drive and of the relative reply in case of command successfully concluded Function 0x10 Write Multiple Registers Request Master gt Slave Transmitted Address F
105. n the saveCounterA variable as the CounterA register can change during the successive processing because of the pulses applied to the DIO input Jump to calc if savedCounterA gt oldCounterA If the counter has not executed the rollover i e it has not reached 32767 and started again from 0 jump to the instruction block identified by the calc label Resolve This block is reached if the counter has started cntPulse 1 oldCounterA again from O rollover Execute the difference 32768 between 32768 and the previous value of the counter to calculate how many counts are to arrive to 0 Resolve Add the counts executed after the rollover cntPulse cntPulse saveCounterA Jump to acc always calc Unconditional jump to the block identified by the acc label Resolve cntPulse 1 oldCounterA saveCounterA Execute the difference between the currently value of the counter and the previous value saved to obtain the total number of pulses counted in the previous processing acc Resolve new32CounterA new32CounterA cntPulse Add to the new32CounterA the pulses counted in the previous processing Assign Update the oldCounterA variable for the oldCounterA successive processing savedCounterA LAM Technologies electronic equipment 97 Fieldbus DS30 DS5x 7 Fieldbus The information contained in the following chapters apply only to the drives provid
106. nal value Instruction block Description Function Save the program variables in the Save Variables in Flash flash memory if bEnabled 0 LAM Technologies electronic equipment 83 Programming DS30 DS5x 6 6 2 2 Reset User Program This feature is useful to reset the application program The execution of this instruction block generates an immediate reset of the registers to their default values and the initialization of program variables to 0 or to the last value stored in flash if available In addition the program execution resumes from the first block exactly as it happens at drive startup Instruction block Description Function Reset the application program Reset User Program 6 6 3 Jump The jump instructions block allow to change the normal sequential execution flow of the application program The jumps can be unconditional which are always executed or conditioned to the occurring of some particular condition The jump destination is identified by a label inside the program there must be one only instruction block with the same label When the jump is executed the application program execution changes instantaneously from the jump block to the block with the corresponding destination label If the jump is a Call call to a subroutine it is possible to return to the program execution from the instruction block successive to the one which has generated the jump by inser
107. ng of registers and variables Read Holding Registers 106 7 2 5 2 0x10 Writing of registers and variables Write Multiple Registers 108 7 2 5 3 0x16 Changing of the bits of a register Mask Write Registers 109 7 3 MAP OF THE REGISTERS AND USER S VARIABLE seeeee eene enne enne enn nnns ernst nns en resins earns terns earns seinen ESen asserens 111 7 3 1 RegTableVer i eei e esi rr aere abere tee net euo ve daros 112 7 3 2 ProductCode e e ARATRI e ie Hd A a ed n d n id 112 LIZ FitmWOFeV6etE uui etre A M e Ie e aed e lp e Ree C RN ERR RS CARA 112 7 3 4 HardwareRev iaa tau a e ei elec re haec e ERE one sential 113 7 3 5 SpecialVersion x o e net ee eve exta ek tuere eo euo Load oen vendus ed dese acute vd doen eed odo eda dee EE dd eee dades 113 73 65 SOTO INUNDA Wa desde es 113 8 115 DS30 DS5x Notes Terms and Warnings 1 Notes Terms and Warnings In this manual some symbols whose meaning is listed below are used to underline particular arguments There is a dangerous condition which must be accurately evaluated and avoided The not respect of indications marked with this symbol can cause serious damages and injury to people animals and things The subject is very wide and could require a deeper examination with the technical support The non observation of what described could damage the products d 7N Features and functionalities which can
108. nge Drive Input signal The DS30 DS5x drives have on each input a particular current limitation circuit which grants a constant absorption to the varying of the applied voltage This device allows a wide input power supply range from 3Vdc up to 28Vdc without requiring excessive current to the control equipment or external limit resistor A good number of drives nowadays on the market of the same category uses to place in series to the input a simple current limitation resistor which reduces the input working voltage setting and causes moreover high current values when the input voltage is high The DS30 DS5x drives on the contrary maintain an almost constant absorption on the whole working O range as shown in the diagram below mA Input with a simple 3300hm 24 limitation resistor The current rises over 80mA with 28Vdc 18 DS30 DS5x drives the current 12 Fi remains constant to the varying ni of the input voltage 40 LAM Technologies electronic equipment DS30 DS5x Installation Each single input can be used on line driving mode independently from the others The following table resumes the electric characteristics of the control signals Symbol Description Max Vdi Active input voltage n e Inactive input voltage 30 Digital inputs breakdown voltage 30 30 Idi 6 Current absorbed by the digital inputs 24Vdc 4 The overcoming of the
109. nge of use m o O ofs A D converter linearity error Altitude If current degrading every 1000m beyond the FCa altitude 5 value Ds cp A Temperature Humidity no condensing Conditions of storage and transport Altitude 1 Temperature Humidity no condensing 116 LAM Technologies electronic equipment DS30 DS5x Technical data DS3044A DS5x44A A EB TRY Ri o Min Typ Max Vac Power supply AC voltage 1 1 1 1 18 36 vac If Phase current effective current 1 4 Arms Vacbrk Permanent breakdown voltage J 42 vac Vach Over voltage protection intervention 365 39 vac Vaci _ Under voltage protection intervention 125 145 vac Tchh Thermal protection intervention threshold 85 90 95 c Tehi Thermal protection restorartion threshold 60 65 70 c Plss jPowerlstontnedive 1 i w MI Motor inductance seen by thedrive n 08 50 mH Vdi Digital input voltage range______________________ 3 28 vdc Vdibrk Digital input breakdown voltage 30 30 vdc Idi Digital input supply current 1 4 6 8 mA Vdo Digital output voltage range___________________ _ 1 30 vdc Vdobrk Digital output breakdown voltage
110. nnected Contact n DIO Digitallnput 0 positive O digital input DIO Digitall nput 0 negative O digital input DI 1 Digitallnput 1 positive 1 digital input 4 DII1 Digitall nput 1 negative 1 digital input DI2 Digitallnput 2 positive 2 digital input 6 DI2 Digitall nput 2 negative 2 digital input DI 3 Digitallnput 3 positive 3 digital input 8 DI3 Digitall nput 3 negative 3 digital input Shield to be left amp E CN4 unconnected e 0 EA e Terminal n 6 42 LAM Technologies electronic equipment DS30 DS5x Installation Contact n Description 1 GND analog signals ground internally connected with power round AIO O analog input AIO 1 analog input AOO 0 analog output The outputs have a zener diode placed in parallel which allows to connect O the output with medium entity loads for example signal relays without having to use an external recirculating diode 39V Zener Drive diode i Output signal The following table resumes the electrical characteristics of the digital outputs EI I IN IT Min Typ Max Digital outputs operating voltage 1 30 Vdc Vdobrk Digital outputs breakdown EL voltage Vdoz Zener diode voltage placed in Vdc e pH to each output Ido Digital outputs available current sp tp 8H Digital outputs breakdown La current ___Pwdo Digital outputs dissipable power 400 v The outputs are protected again
111. not be easily found in other products A shortcut to reach a target is shown A change or repairing intervention which can be made directly by the user An aspect connected to the temperature or longevity of the product X je electronic equipment 7 Notes Terms and Warnings DS30 DS5x The terms listed below are also used Product The microstepping drive described herein User Who selects and or installs and or uses the product Application The machine the equipment the device etc on which the product is applied 8 LAM Technologies electronic equipment DS30 DS5x Risks and Precautions 2 Risks and Precautions ATTENTION Following are listed the most important warnings to be fully comprehended and applied b the user who in case of non complete comprehension or impossibility to apply them correctl must not use the product at all The DS30 DS5x drives are components It is the user s responsibility as the installer to be sure the product complies with the rules and regulations in force The user must also be trained in the installation of the electronic equipment to fully comprehend the features the calibration parameters and the indications contents of this guide The user must provide for the application of all the local safety laws and regulations in force in the Country and or application in which the product is used The user must provide that the product is inaccessible while powered on
112. nput becomes active Suspend the execution of the application program until the 2 digital Wait Until bl nPosition 1 Suspend the execution of the application program until the motor has reached the trarget position Considering that the Wait until block indefinitely suspends the execution of the program it is suggested to use it only for event that will surely occur otherwise it could block the application program If a event time out is needed the TimerA must be used with the conditional jump 86 LAM Technologies electronic equipment DS30 DS5x Programming 6 6 5 Delay It is an instruction block which suspend the execution of the application program for a predetermined time The time is express in milliseconds and can be set as a numeric constant a register or a variable In these last two cases the delay will be equal to the value contained in the register or in the variable The range can vary from 0 to 32000ms equal to 32s Setting greater or smaller values the delay is in any case limited bewteen O and 32000ms The following are some examples of the Delay instruction block Instruction block Description Suspend the execution of the Wait for 1250 ms application program for 1250 ms i e for 1 25 seconds Suspend the execution of the Wait for AnalogInput 0 ms application program for the milliseconds corresponding to the voltage applied to the O analog input Suspend the
113. nput used as in digital bit4 Digitallnput 4 O analog input used as in digital bit3 Digitallnput 3 3 digital input bit2 Digitallnput 2 2 digital input 1 0 bitl Digitall nput 1 digital input bitO Digitall nput O digital input When the bit assumes a value equal to 1 it means that the corresponding input is supplied active when the value of the register is equal to O the corresponding input is not supplied inactive 6 3 1 29 DigitalOutput 0 1 It is a Boolean type register accessible both in reading and in writing mode Setting the register to 1 the corresponding output is activated and it allows the current flow on the contrary setting the register to 0 the output is deactivated preventing the current flow Value Description 0 Inactive output 1 Active output 6 3 1 30 DigitalOutputsA It is a register that includes the status of all the digital outputs DigitalOutput 0 and DigitalOutput 1 Modifying the status of one bit the corresponding digital output is changed Setting the bit to 1 the output is activated on the contrary setting the bit to 0 the output is deactivated The DigitalOutputsA register is accessibile both in reading and in writing mode 80 LAM Technologies electronic equipment DS30 DS5x Programming The correspondence between the outputs and the bits of the register is the following Bit Name Description bit
114. ns Diagnostics Alarms Over Under voltage Short circuit Mechanical specifications FDh height o 1004 mm FD Depth J iso ___ mm FDw Width O FDnw Weight J 2 2 O Fca If current degrading every 1000m beyond the FCa altitude value FCt o Fch_ Humidity no condensing Conditions of storage and transport SCa_ Altitude SCh Humidity no condensing 5 LAM Technologies electronic equipment 121 Technical data DS30 DS5x DS3073 DS5x73 Min Typ Max Vp Powersupply DC voltage 1 1 1 24 90 vdc If Phase current effective current os 3 Arms Vprp Allowed ripple 100H2 1 1 0 1 1 15 ve Vpbrk Permanentbreakdown voltage 05 105 vdc Vph Over voltage protection intervention 95 98 vdc Vpl __ Under voltage protection intervention 225 235 vdc Tchh Thermal protection intervention threshold S ss 90 95 Tchi Thermal protection restoration threshold 60 65 70 Piss Power lost on the drive 0 Motor inductance seen by the drive 4 0 8 50 Vdi Digital input voltage range 1 1 1 S 3 28 Vdibrk_ Digital input breakdown voltage
115. nt ways according to how the drive s configuration has been made for a close examination see chapter 5 5 Alarms and Protections conditioning For a detailed description on the various alarms and protections see chapter 5 7 Protections When in the drive the Loader an always resident small software necessary f for the firmware update is active the Fault LED remains always on To restore the normal functioning it is sufficient to load a compatible firmware in the drive LAM Technologies electronic equipment 59 Functionality and Configuration DS30 DS5x 5 7 Protections 5 7 1 General description NIZ The drive is equipped with efficient protections which protect its integrity whenever one of the most common problems occurs Furthermore some controls have been implemented which can detect positioning errors even before the motor starts to move In spite of the care and attention used in the development and manufacturing of the drive an installation or an use not in compliance with the indications present in this manual or out of stated maximum limits can damage the drive permanently Through the configuration it is possible to define the drive behavior at the occurring of the various alarm conditions For example it is possible to choose and make permanent an alarm or to set the drive so that it is automatically re enabled as soon the alarm condition is ceased For a detailed description about the various configuration opt
116. ntial as the power supply must be considered to meet safety requirements The product could be permanently damaged by corrosive substances such as gas salts etc liquids or conductive dusts Even a long and constant exposure to strong vibrations could cause the damage During some damage conditions the drive could emit sparks and fire The cabinet and the nearby components must be chosen to tolerate this eventuality and to avoid propagation of flames to the application The products cannot be used in life support applications or where the failure of the products could cause death or injury to people animals or things or economic losses The user not able to assure this condition must not use the products herein described Do not dismantle the product do not try and repair it and do not modify it without being expressly authorized by LAM Technologies If the product is used in any manner that does not comply with the instructions given in this manual then the product could be permanently damaged For example the product could be permanently damaged if power supplied with voltage superior to the allowed one if supply polarity is inverted if the motor is connected or disconnected while the drive is operating and so on LAM Technologies electronic equipment DS30 DS5x 3 Introduction Introduction 3 1 Product description The DS30 DS5x series drives integrate a built in flexible programmable motion control
117. o the red colored hook Push the screwdriver slightly downward and pull the drive upward releasing it from the DIN rail The heat generated by the drive while operating must be dissipated toward the surrounding air To help cooling the drive must be installed vertically in an area with a sufficient air gap of about 50mm above and below the drive itself with no obstructions wiring cables are anyway allowed No space needs to be left on the sides and more drives can be put side by side taking a very compact space According to the drive calibration and to the running cycle the space can be also substantially reduced without compromising the correct working of the drive 16 M Technologies DS30 DS5x Installation COOEPLEEEEEEEEE COOEEEEEEEEEEEE COOEEEEEEEEEEEE COOEELEEEEEEEEE COOEEEEEE EEE EEE gt 50mm COOEEELEEEELEEE s DP S pace requi red for an COOEEEEEEEEEEEE OFOPPPEEEEEEE EE AEREA AAA AAA easy heat cooling OPLOPPPEEEEEEE EE AREA ARA AAA OFOPPPEEEEEEE EE Drive COOEEEPEOEE EE LE JA S pace requ i red fo ran PP FFFFFFFFZPFPFgP CLOEEEEEEE EEE LE CLOEEEPEE EEE ELE easy heat cool ing gt 5 0 m m CLOEEEPEE EET ET CLOEEEPEEE EEE LE COLOEEEEEE EEE EEE COLOEEEEEE EET ESE COLOEEEEEE EEE ELE COOEPPPEOEEE ESE CLOEEEEEEE EEE EE CLOEPPOEO EEE ELE PPP LAM Technologies 17 electronic equipment Installation DS30 DS5x 4 3 Air cooling The product you have purchased has an exce
118. o use a fuse on each drives power supply conductor The reduction level the filter must guarantee can vary a lot according to the laws applied to the field to which the application and or installation belongs The producers of filters SHAFFNER and CORCOM can represent a good reference to find the right filter The following table relates the characteristic values of the main components in the transformer The calculation considers also an oscillation of the main supply voltage included within 10 20 You can also ask to your own vendor to evaluate if the following values are usable for your application Number of Secondary drives T1 Vac Current Voltage Capacity D1 Arms C1 Vdc C1 pF u o UJ N Hd o RI WwW up o UJ N E E AB AB E UJ N N ul ul ul ul ul UJ N Ui Ui UJ N Ui Ui Ui UJ o Installation DSxx78 DSxx84 DSxx87 DSxx98 32 DS30 DS5x The values suggested for the capacitor C1 can also be obtained placing more capacitors in parallel amongst them Eventual approximations must be made in excess The user can add in parallel to the C1 capacitor a resistor opportunely dimensioned to discharge the capacitor more quickly The working voltage of the Tl transformer primary winding must be chosen according to the main supply voltage available during the installation of the application The transformer must have a shield between primary and secondary windings which must be
119. off D Aconvererstartoffset 03 1 9efs DAdoff D Aconvertroffsetdrift J or 03 fs D A converter linearity eror o 03 15 fs DAline Overheating Break phase Mechanical specifications FDh Height 4 J o 1004 mm FDO Depth J J J 1190 mm FDw Width J J P 35 mm FDnw Weight 0 29 g Rated range of use Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o P Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 120 LAM Technologies electronic equipment DS30 DS5x Technical data DS3073A DS5x73A DLL See Min Typ Max Vac Powersupply AC voltage 1 1 1 1 20 65 Vac If Phase current effective current os 3 Arms Vacbrk Permanent breakdown voltage 11 T 75 Vac Vach Over voltage protection intervention 1 69 73 Vac Vacl Undervoltage protection intervention 16 186 Vac Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 vc Piss Power lost on the drive 10 w
120. on register it is set a deceleration equal to 4000rpm s with a multiplication factor xl or 16000rpm s with multiplication factor x4 6 3 1 9 ControlMode The ControlMode register allows to define the motor control mode When the register value is 1 the drive works in speed control mode while when the value is O the drive operates a position control The register is accessible both in reading and in writing mode and it can be dynamically changed also during the movement The following table resumes the possible values Value Description 0 Position control 1 Speed control 6 3 1 10 PhaseCurrent The contents of this register defines the effective current Arms supplied to the motor during the rotation Each unit corresponds to 100mArms therefore setting for example 35 in the PhaseCurrent register the current supplied to the motor will be equal to 3 5Arms The value of the register can be dynamically changed by the application program and this makes possible to adapt the motor torque to the various working phases reducing the current when the motor nominal torque is not necessary or boosting the motor current if a greater torque is required for short times The PhaseCurrent register is accessible both in reading and in writing mode The minimum and maximum limit of the values writeable in the register is not fixed but it varies according to the model of the drive In the following table are listed the limits accord
121. onic equipment 85 Programming 6 6 4 Wait until DS30 DS5x The Wait unitl block has the purpose to suspend the execution of the applicative program until the specified condition becomes true To define the condition there are two different operands and a comparison one Both the right operand and the left one can be a register a variable or a constant Instead the comparison operand must be chosen among the ones in the following table Description Operand The comparison is true when the numeric operand value on the left is equal to the one on the right lt gt The comparison is true when the numeric operand value on the left is different to the one on the right gt The comparison is true when the numeric operand value on the left is greater than the one on the right gt The comparison is true when the numeric operand value on the left is greater or equal to the one on the right lt The comparison is true when the numeric operand value on the left is smaller than the one on the right lt The comparison is true when the numeri operand value on the left is smaller than the one on the right The following are some examples of wait until Position gt 51200 Instruction block Description Wait Until Suspend the execution of the application program until the poistion of the motor Position register has exceeded the value 51200 Wait Until Digitallnput 2 1 i
122. onverter linearity eror o 03 15 fs Protections Diagnostics Alarms Over Under voltage Short circuit Overheating Break phase Mechanical specifications FDh Height 4 J o 1004 mm FDO Depth J J J 1190 mm FDw Width J J P 35 mm FDnw Weight 0 29 g Rated range of use Fca jAtitude n 1 1 200 m mes If current degrading every 1000m beyond the FCa altitude d ee value Fct Temperature O 0 50 ec FCh Humidty nocondening 1 5 90 Conditions of storage and transport Sca J Atitude A ZJ S X Jf 2400 m Sct Temperature O 20 70 c Sch Humidity no condensing 5 95 9e LAM Technologies electronic equipment 131 DS30 DS5x Technical data 100 4 119 0 lt st O m Uu a DS3073A DS3048 DS3048A DS3076 DS3076A DS3078 DS3041A DS5x41 DS3041 DS3044 DS3078A DS3084 DS5x41A DS5x44 DS3073 DS3084A DS3087 DS5x73 DS3087A DS3098 DS5x44A DS5x73A DS5x48 DS5x48A DS5x76 DS5x76A DS5x78 DS5x78A DS5x84 DS5x84A DS5x87 DS5x87A DS5x98 le Drawing not to sca imeters mill in d imensions expresse D aa electronic equipment
123. op motor flag R bool 0 0 1 bUVarSaved Variables stored in flash R bool 0 0 1 bUVarLoaded Variables loaded from flash R bool 0 0 cx Digitall nput 0 O digital input image R bool 0 1 Digitall nput 1 1 digital input image R bool 0 1 Digitall nput 2 2 digital input image R bool 0 1 Digitall nput 3 3 digital input image R bool 0 1 Digitall nput 4 4 digital input image R bool 0 1 Digitall nput 5 5 digital input image R bool 0 1 Digitall nputsA Digital inputs image R 1byte 128 127 DigitalOutput 0 O digital output image RW bool 0 0 1 DigitalOutput 1 1 digital output image RW bool 0 0 1 DigitalOutputsA Digital outputs image R 1byte 128 127 Analog nput 0 0 analog input image R 2bytes 1024 1023 9 77mV Analog nput 1 1 analog input image R 2bytes 1024 1023 9 77mV AnalogOutput 0 0 analog output image RW 2bytes 0 0 1023 9 77mV O 70 The DS30 DS3x series contains an advanced motor control algorithm able to recalculate in real time the motor movement This allows to change in any time the value of the movement control registers without waiting for the motor to stop LAM Technologies electronic equipment DS30 DS5x Programming 6 3 1 Description of each single register 6 3 1 1 RefVel 6 3 1 2 Velocity 6 3 1 3 TargetPos 6 3 1 4 Position The following is a detailed description of the various registers It is the speed reference used in the speed control mode see ControlMode
124. or o Z 03 15 fs DAline Overheating Break phase Mechanical specifications FDh height 1004 mm FDI Depth 1190 mm FDw With J 9 SO 17 5 225forDS5x mm FDnw Weight J J 18 __ g Rated range of use 37 120 300 Altitude If current degrading every 1000m beyond the FCa altitude 5 value 5 N o o o o P Temperature Humidity no condensing Conditions of storage and transport Altitude Temperature Humidity no condensing 123 LAM Technologies electronic equipment DS30 DS5x Technical data DS3076A DS5x76A DLL ee Min Typ Max Vac Powersupply AC voltage 1 1 1 1 20 65 Vac If Phase current effective current 2 6 Arms Vacbrk Permanent breakdown voltage 1 1 1 T 75 vac Vach Over voltage protection intervention 1 69 73 Vac Vacl Undervoltageprotectionintervenion 16 186 Vac Tchh Thermal protection intervention threshold 85 90 95 c Tchi Thermal protection restoration threshold 60 65 70 vc Piss Powerlostonthedrive______________________ ST 20 w MI Motor inductance seen by the drive 1 1 06 40 Vdi Digital input voltage range 1 1 1 1 3 28 vdc Vdibrk Digital input br
125. protocol implemented in the drives belonging to the DS5x series is the industrial standard Modbus RTU The Modbus protocol born in 1979 soon imposed itself as a standard in the industrial field Appreciated for its simplicity and efficiency it is a free protocol which does not require the payment of royalties to be implemented or used Despite the inferior communication speed in comparison to other protocols such as Profibus and CAN it vaunts a great number of installation constantly increasing as it represents a simple and economic solution to realize nets and undernets on the machine It must not be confused the communication protocol with the physical mean used for data conveyance called also layer The protocol in our case the Modbus RTU is the language used by the devices to speak to each other while the communication mean can be different RS485 optical fibre current loop etc 98 LAM Technologies electronic equipment DS30 DS5x o Fieldbus For example it is possible to communicate in Spanish by phone fax e mail etc The phone the fax etc are the physical mean the layer while the Spanish grammar is the protocol The DS5x series drives are available in 3 different physical layers as detailed in the following table Model Physical Layer Notes DS50xx A RS485 It allows to connect more devices to a same communication bus Optimum noise immunity Maximum distance
126. ptional efficiency that often allows the use even in the absence of forced ventilation Whereas the drives is used with high calibration current or at high power supply voltage whereas the working cycle is very heavy or the ambient temperature is high it is possible to apply to forced ventilation to maintain the drive temperature whiting the functioning range values The fan can be positioned over or under the drive A lateral position is not O recommended Thanks to the compact size of the drive one only and economic fan of 120mm x 120mm can supply air circulation sufficient for 6 drives simultaneously models of 18mm wide 4 14 114 l I I I l lg l0 lg I Fan A 120x120mm s ud 105mm 18 LAM Technologies electronic equipment DS30 DS5x Installation In case of a reduced fan size it must be set in a rear position and at about 30mm high from the drive A nearer or more distant position could reduce its effectiveness Not recommended position Correct position Air flow direction It is important to avoid the drive is covered with powder dust or other The buildup of such substances inside the drive could cause the malfunctioning or the breaking of the drive Filters and necessary solutions must be got ready to avoid these damages to occur LAM Technologies electronic equipment 19 Installation DS30 DS5x 4 4 Wiring wiring of the drive All the terminal blocks have 5mm pitch to allow a
127. r IL Dnn Li L2 Main L3 and Supply Command PE PE The above scheme includes a three phase transformer note the distribution of the drives on the three phases If necessary it is also possible to use a mono phase transformer Also note that the wiring must be star like where the earth connections of the various components ends in one only point electrically connected to the metal chassis and the earth of the plant 24 LAM Technologies electronic equipment DS30 DS5x NZ Installation Do not connect the transformer secondary to earth otherwise there is a risk of permanent damage to the drive due to the short circuit created between the transformer secondary and the ground of the drive terminal 5 of connector CN2 As shown in the scheme it is necessary to put in series to the transformer primary winding a filter able to stop the emissions coming from the drive and or present on the main supply Furthermore the filter must be able to support the maximum power required by the drive plus the transformers losses The reduction level the filter must guarantee can vary a lot according to the laws applied to the field to which the application and or installation belongs The producers of filters SHAFFNER and CORCOM can represent a good reference to find the right filter It is obligatory to provide on each phase of the transformer primary winding a fuse able to intervene in case of short cir
128. r DS30 DS5x Many registers detailed in the table have been already described in chapter 6 3 System registers therefore following are reported only the details of the new registers It helps to know the registers map version Future evolutions of the product could bring to a different organization of the registers and it is important that the master device is able to ascertain that the version of the registers table in use is compatible with its own implementation 7 3 2 ProductCode 7 3 3 FirmwareVer 112 It allows to know the type of product connected with This information is useful to validate the net or to automatically adapt oneself to a specific configuration of the machine In the following table is reported the correspondence between the code and the product Code Product Dec Hex 1281 0x0501 DS5x41 A 1280 0x0500 DS5x44 A 1282 0x0502 DS5x48 A 1284 0x0504 DS5x73 A A A A 1286 0x0506 DS5x76 1288 0x0508 DS5x78 1290 0x050A DS5x84 1292 0x050C DS5x87 A 1294 Ox050E DS5x98 It is a 2 bytes register useful to trace the origin of the firmware version present in the drive The version is represented by two number pairs divided by a decimal dot The number pair before the decimal dot is given by the most significant byte of the register represented in hexadecimal notation while the pair after the dot is the less significant byte
129. rcel could be rejected The customer shall be responsible for the packaging and shipping of the defective product to LAM Technologies and the shipment must be made charges prepaid The product inspected repaired or substituted will be available to be collected at LAM Technologies During and within the warranty period LAM Technologies can on its judgment repair or substitute the product The cost of material and labor will not be charged within the warranty period The above warranty also does not apply to the software LAM Technologies shall not be liable for any direct or indirect damages such as but not limited to costs of removal and installation lost profits coming from the use or the impossibility to use the software This manual is intended for skilled technical staff In case the arguments the terms and the concepts should not be clear you can contact support lamtechnologies com It is forbidden to use the products herein described without being sure to have understood characteristics installation and use procedures Even though products described have been designed with extreme care they are not intended or authorized for use as components in applications intended to support or sustain life and in application in which the failure of the product could create a situation where injury or death may occur to people or animals LAM Technologies shall not be liable for any direct or indirect damages coming from the use of its products
130. received 7 2 2 Data processing frame 100 The slave device processes the data which follow the address only if the address itself corresponds to its own or to the address 0 broadcast address In all the other cases the data which follow the address are ignored Once recognized the address the s ave memorizes all the remaining data until it receives the CRC and then calculates the CRC using the received data and compares it with the received CRC If the two values are different the slave ignores the frame and keeps listening again without sending any reply The master device detects this condition as transmission time out lack of reply from the slave If the CRC is correct the s ave tries to execute the command given by the master and if the operation successfully ends the s ave sends the appropriate reply to the master according to the Function Code or no reply if the address was 0 i e broadcast address In the case the slave cannot execute the command given by the master it sends an error reply called Exception Frame composed as follows Address Function Code OR 0x80 Exception Code CRC Address it is the address of the slave which sends the reply LAM Technologies electronic equipment DS30 DS5x Fieldbus Function Code OR 0x80 it is the code of the function which has generated the error with the bit7 the most significant bit or MSB set to 1 it is equivalent to make the OR of the function code with the v
131. register description When the drive works in position control mode the content of the RefVel register is ignored With the register set at 0 the motor stops while at values different from 0 the motor rotates at a speed proportional to the absolute value of the register itself The sign positive or negative of the value written in the RefVel register determines the rotation direction In other words setting the RefVel register at the value 800 or 800 it is obtained an identical rotation speed but in two different directions The motor movement variations always occur according to the acceleration deceleration and maximum speed values present in the Acceleration Deceleration e MaxVel registers respectively The RefVel register is accessible both in reading and in writing mode and can assume values between 32768 and 432767 Each unit corresponds to 0 25rpm consequently setting for example the value 1000 in the MaxVel register it is commanded a speed rotation of 250rpm It is useful to know the instantaneous speed of the motor The value is constantly updated wheather the drive works in position or in speed control mode The Velocity is accessible on in reading Each unit corresponds to 0 25rpm consequently if the motor is rotating at a speed of 700rpm the Velocity register will contain the 2800 value It represents the destination position of the motor expressed in in 1 128 of full step when the position control mode is selected se
132. resis negative limit with a value hystLow myVar 3 3 units lower than the myVar variable that corresponds to the reading of the analog input Resolve It is updated the hysteresis positive limit with a value 3 hystHigh myVar 3 units higher than the myVar variable that corresponds to the reading of the analog input Other operations to execute LAM Technologies electronic equipment 95 Programming DS30 DS5x 6 7 6 Constraint of a value The shown algorithm is used to contain a value between a minimum and a maximum one In the example it is assumed to associate the analog output of the drive to an analog input with the constraint that the analog output reproduces input variations included only between 1 Vdc and 5Vdc It must be noted that these voltages are equivalent to a numeric value converted by the A D of 102 and 512 respectively It is assumed that the myVar variable is already declared with a length equal to 2 bytes Instruction block Description readAgain Assign Assign the real time value of the 0 analog input to myVar Analog nput 0 the myVar program variable Jump to checkHigh if If the myVar variable is higher or equal to the myVar gt 102 allowed minimum one jump to the instruction block for the maximum limit control Assign This block is reached if the value of the myVar myVar 102 variable is lower than the allowed minimum one In this case the minimum value is assigned Jump
133. resistors is between 1Kohm and 4K7ohm If the length of the bus is high usually more than 10m it is sometimes necessary to insert the bus termination resistors The suggested value for the termination resistors is between 120ohm and 3300hm These resistors must be connected bewteen DO and D1 to the extremes of the net In the following picure both termination and polarization resistors can be seen oojoojoojoojoojoo oojoojoojoojoojoo o o o o o o o o o o o o N PLC PC etc DO a pin CNS N5 pin9 Termination resistors 1200hm pind Y SW Polarization resistors 1Kohm 36 LAM Technologies electronic equipment DS30 DS5x Installation 4 4 4 1 2 DS52 series RS232 Modbus RTU The DS52 series is equipped with a RS232 hardware interface optoisolated from the power stage and with a Modbus RTU communication protocol The connection to the bus is through a 9 pin female D sub connector as required by the Modbus specifications In the following representation is shown the signals disposition on the 9 pin connector CN5 Signals disposition Description not connected TXD data transmitted by the drive RXD data received by the drive not connected PENNE signals common it is the reference OV of the TXD and RXD signals 6 netcomneted 8 motcomected 9 jnetcomeced For the connection to the master it is suggested the use of a
134. rive configuration see chapter 5 5 Alarms and Protections conditioning the protection can be removed through a turning off and on cycle or disabling temporarily the drive through the ENABLE signal 5 7 8 Interrupted phase A interrupted phase B If the connection between the drive and the motor is interrupted even if of only a single phase or an inner motor winding is damaged interrupting itself the drive activates the interrupted phase alarm For a more accurate diagnostics the signal is distinguished for the phase A and phase B Take present that the drive executes the interrupted phase control only with the drive enabled and with the motor at rest or with rotation speed inferior to 15rpm LAM Technologies electronic equipment 65 DS30 DS5x Programming 6 Programming 6 1 Overview O The DS30 DS3x series drives allow to execute a program developed by the user driving the motor both in position and or in speed mode The programming is made putting in sequence more instruction blocks An instruction block performs a specific function as for example the variable assignment a conditional jump etc To each instruction block can be given a reference label to be used as jump destination At the beginning the drive executes in sequence the functional blocks starting from the first one block 001 The jump instruction blocks jump or call change the sequential program execution order All the drive parameters
135. rrent If for example the motor relates 3A phase also the drive shall have to be calibrated to 3Arms The 8 wires stepping motors have instead four phases which can be connected in series or in parallel amongst them two by two The current calibration between a connection in series and a connection in parallel is different such as the motor performances as specified further below LAM Technologies electronic equipment 53 Functionality and Configuration DS30 DS5x The series configuration requires a lower phase current but it also exposes a superior anti electromotive force and a phase inductance towards the drive 4 times the single phase one which penalizes the motor torque at high speeds Therefore this kind of connection is used in applications where the motor speed is limited or the supply voltage is sufficiently high When a series configuration is used it is necessary to calibrate the drive to the motor phase current multiplied by the coefficient 0 71 if the manufacturer specifies the current value in unipolar mode or multiplied by 0 5 if the current is specified in relation to a parallel bipolar connection If for example the motor used has a plate current of 3A in unipolar mode with the windings connected in series the drive shall have to be calibrated to a current of 2 1 Arms 3 0 71 Instead if the motor to be used has a plate current of 10A declared for a parallel bipolar use the drive shall have to be ca
136. rt circuit can be apart in the wiring also inside the motor According to the drive configuration see chapter 5 5 Alarms and Protections conditioning the protection can be removed through a turning off and on cycle or disabling temporarily the drive through the ENABLE signal 64 LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration 5 7 6 Phase to ground short circuit The protection starts whenever one of the connections towards the motor creates a short circuit with the drive ground connection GND In these conditions the drive protects itself switching off the supply to the motor and putting itself in an inactive status This intervention of this protection requires a careful survey to find the cause of the short circuit Consider that the short circuit can be apart in the wiring also inside the motor According to the drive configuration see chapter 5 5 Alarms and Protections conditioning the protection can be removed through a turning off and on cycle or disabling temporarily the drive through the ENABLE signal 5 7 7 Phase to Vp short circuit Vac Whenever one of the phase connections motor connections cause a short circuit with the supply voltage positive Vp or Vac for the AC models the phase to Vp short circuit protection starts When this condition occurs the drive protects itself switching off the supply to the motor and putting itself in an inactive status According to the d
137. s or to measure the time between two events The TimerA register is accessible both in reading and in writing mode and it can assume values included between 0 and 32767 CounterA The O digital input DigitalInput O is associated to an hardware counter able to accept pulses up to a maximum frequency of 100KHz The value of the counter is accessible through the CounterA register The counter increase occurs during the active inactive transition of the input reached the value 32767 the count starts again from 0 To execute counts greater than 32767 it is possible to use the user variables and the programming tools to implement one exemption to the CounterA register The hardware counter allows to realize many application as for example LAM Technologies electronic equipment DS30 DS5x Programming Closed loop systems Counting the pulses received from an encoder or from a phonic wheel to verify the correct positioning of the motor Execution of a positioning with ramp starting from a fixed frequency impulse train Associating the counter value to the target position of the motor Speed measurement of a master axis and consequent realization of an electrical axis Verifying the number of pulses received within an unit of time Electronic can Using the counter value to assign the target position to the motor Measurement of the wrapped unwarapped film or tissue Using an idler wheel moved by the film and connected to an encoder
138. shielded cable with a length not superior to 20m LAM Technologies electronic equipment 37 Installation DS30 DS5x 4 4 4 1 3 DS54 series USB Modbus RTU 38 The DS54 series is equipped with an USB Full Speed type hardware interface optoisolated from the power stage and with a Modbus RTU communication protocol The USB interface is particularly suitable to control the drive through a PC The bundled drive software allows to emulate a standard system serial port This solution helps to write the communication program with the drive which will be able to make use of all the provided standard functions to communicate through a system serial port The drives currently supplied are for operating systems such as Windows 98 98SE Me 2K XP Vista and Windows 7 32 or 64 bit The connection is through a standard female USB B connector In the following illustration is shown the signals disposition on the USB B connector CN5 Signals disposition Description Vbus positive power supply coming from the PC 2 D negate data line D data line Ground OV reference for the signals and for Vbus For the connection to the PC it is suggested to use a good quality shielded cable with a length not superior to 5m LAM Technologies electronic equipment DS30 DS5x Installation 4 4 4 2 Digital inputs The drive is provided with a total of 4 digital inputs referring to the CN3 10 poles connector two poles are reser
139. st brief short circuits An extended short circuit or the overcome of the Idobrk current can permanentl damage the output LAM Technologies electronic equipment 43 Installation DS30 DS5x 4 4 4 4 Analog inputs The DS30 DS5x series drives are provided with two analog inputs able to measure voltages inside the range of 10V The breakdown voltage superior to 28Vdc allows to use the analog inputs O as digital inputs as well The connection to the analog inputs must be made through a shielded cable having care to connect the shield only to the drive side as shown in the following representation Shield to be connected only to the drive side T m Terminal n 1 fra us Y Contact n Description NLEE GND analog signals ground internally connected with power ground 2 AIO O analog input 3 AIO 1 analog input 4 AOO 0 analog output DO1 DigitalOutput 1 positive 1 digital output 6 DOI DigitalOutput 1 negative 1 digital output The following table resumes the electrical characteristics of the analog inputs and of the A D converter inside the drive Description Min Typ Max Vai Analoginputs operating voltage 10 10 Vdc Vaibrk Analoginput breakdown voltage 45 45 Vdc Analog inputs impedance 47 X Ko Rai ADrai __ A D converter resolution 11 bit ADst A
140. supply Single power supply voltage for the whole drive Current setting with increments of 0 1 Arms Accurate current control Resonance damping High efficiency low losses and contained heating Colored and numbered removable terminal blocks for easy and fast wiring Complete diagnostics Over under voltage protections Phase to phase short circuit protection both direct and crossed Phase to ground short circuit protection Positive supply short circuit protection Thermal protection Interrupted phase alarm independent for each phase Univocal indication for each anomaly Malfunctioning status LED indicator Motor qualification LED indicator Power supply LED indicator Digital development PC based simple setting PC based diagnostics Compact size Simple and fast DIN rail mounting Low cost LAM Technologies electronic equipment 13 Introduction DS30 DS5x 3 2 Accessories The UDP30 interface is an essential accessory for the setting and diagnostics of the product Each drive is sold complete of the removable terminal blocks anyway in case of loss or breach it is possible to re order them making reference to one of the following codes Code Description UDP30 Setting and diagnostic interface LSP1004 DIN rail kit consisting of hook and spring LSP4002 Terminal blocks kit consisting of 1pc numbered removable terminal block red color 2 poles lpc numbered removable terminal block grey color 5 poles 1pc num
141. tar center ain supply Towards protection and command devices Case Motor connecting cables Drives Shield Supply cables Safety must never be compromised Safety is always of first priority LAM Technologies electronic equipment 49 DS30 DS5x Functionality and Configuration 5 Functionality and Configuration 5 1 General description The configuration of the drive working parameter is made setting the content of the system registers for a more complete description see chapter 6 3 System registers This can be made through the setting or only for the DS5x drives through the fieldbus The drive is equipped with a DUP port which allows to program the drive O to modify the configuration parameters to read the status and the production information and at the end to update the firmware inside the drive This latest feature deserves particular attention as it allows to maintain the product updated with the last implemented functionalities To facilitate the drive setting it has been created a software called UDP Commander designed for Windows platform particularly immediate and easy to use The software makes use of the UDP30 interface to communicate with the DUP port of the drive The UDP30 interface is connected to the PC by the USB port To grant high noise immunity and to protect the equipment integrity the connection between the PC and the drive must be of insulated type The UDP30 interfa
142. the Acceleration register and by the configuration of the drive see the UDP Commander user s manual which allows to apply a multiplication factor equal to 4 It is possible to assign to the register values included between 1 and 30000 and it is allowed to change the value also with the motor in movement The Acceleration register is accessible both in reading and in writing mode Each unit corresponds to lrpm s if in the configuration it is set a multiplication factor equal to 1 or 4rpm s if it is set a multiplication factor equal to 4 For example assigning the value 10000 to the Acceleration LAM Technologies electronic equipment DS30 DS5x Programming register it is set an acceleration equal to 10000rpm s with a multiplication factor x1 or 40000rpm s with multiplication factor x4 6 3 1 8 Deceleration The motor deceleration is controlled by the Deceleration register and by the configuration of the drive see the UDP Commander user s manual which allows to apply a multiplication factor equal to 4 It is possible to assign to the register values included between 1 and 30000 and it is allowed to change the value also with the motor in movement The Deceleration register is accessible both in reading and in writing mode Each unit corresponds to 1rpm s if in the configuration it is set a multiplication factor equal to 1 or 4rpm s if it is set a multiplication factor equal to 4 For example assigning the value 4000 to the Decelerati
143. the magnetic circuit inside the motor which vary from model to model there is not a direct correspondence between torque and phase current when the nominal value is exceeded In other words even doubling the current a double torque is never obtained from a motor For this reason it is usually superfluous to over supply the motor of more than 30 of the nominal current If the motor works in a very hot site or without a mechanic device capable to discharge the heat it is possible it reaches high temperatures even if supplied by the nominal current In this case it is necessary to introduce a forced ventilation on the motor or if the torque margins allow it to reduce the current calibration on the drive Remember that in this case the benefit obtained in terms of temperature will go at the expense of the torque supplied by the motor Moreover consider that when the drive calibration current does not correspond to the motor nominal current the microstepping movement can lose regularity In the same way sometimes it is possible to improve the microstepping movement by slightly modifying the current calibration The DS30 DS5x drives allow to optimize the microstepping movement of O each motor by changing the waveform of the applied current as better described further below Usually a two phase stepping motor disposes of four wires two per each phase In this case the drive current calibration must correspond to the motor plate cu
144. tification of the most common functioning or setting anomalies the DS30 DS5x drives are equipped with many alarms and a complete diagnostics 56 LAM Technologies electronic equipment Motor in stop DS30 DS5x Functionality and Configuration Furthermore the extraordinary flexibility offered by the product allows to singularly configure the operative mode of each alarm choosing among Automatic Permanent Enable or Disable The configuration is made without the necessity to intervene on the drive s hardware without jumper dip switch etc Automatic The drive constantly examines the alarm condition and when this disappears it provides autonomously to remove the signal and to turn back to the operative status Permanent Each alarm condition remains in the drive s memory To remove the signal the drive must be switched off and then switched on again Enable The alarm condition signal remains till the drive is not disabled through the boolean ENABLE input Disable The alarms are disabled and ignored by the drive For security reasons some protections cannot be put in this status In the following table are resumed the various possible settings for each single alarm Alarm type protection Possible setting Automatic Permanent Enable Disable Under voltage Phase to phase short circuit Phase to ground short circuit GND Yes For a complete description of protections and alarms see chapter 5 7 Protect
145. til the motor has reached the position required The bInPosition register is updated only when the position control mode is active In the following table is resumed the meaning expressed by the various values Value Description 0 Motor not in position 1 Motor in position LAM Technologies electronic equipment TT Programming 6 3 1 21 6 3 1 22 6 3 1 23 6 3 1 24 78 DS30 DS5x bInStop It is a Boolean type read only register which becomes active value equal to 1 when the motor is in stop In the following table is resumed the meaning expressed in the various values Value Description 0 Motor in rotation 1 Motor in stop bEnabled bFault It is a Boolean type read only register useful to know if the motor is enabled or not In fact the enable status does not depend only on the bEnable register but also on the status of the drive If for example there are fault conditions the drive disables the motor independently from the value of the bEnable register The purpose of the bEnabled register is to give information about the real status of the motor Value Description 0 Disabled motor 1 Enabled motor It is a Boolean type read only register which becomes active value equal to 1 when there is at least one fault in the drive Fault register lt gt 0 In the following table is resumed the meaning expressed in the various values Value
146. ting a Return instruction block It must be observed that the reference to the return block is overwritten each time a Call jump is executed therefore the Return instruction is always referred to the last Call executed 6 6 3 1 Unconditional jump An unconditional jump is simply coded by declaring the jump destination label The following are some examples of unconditional jumps Instruction block Description Jump to jumpHere always Jump always to the instruction block identified by the jumpHere label Call thisPlace always Jump always to the instruction block identified by the thisPlace label If during the program execution it is met the Return instruction block the program return to the instruction block successive to this one 84 LAM Technologies electronic equipment DS30 DS5x Programming 6 6 3 2 Conditional jump The conditional jumps are characterized by two different operands and a comparison one When the equation result is true the jump is executed otherwise the drive executes the next instruction block Both the right operand and the left one can be a register a variable or a constant Instead the comparison operand must be chosen among the ones in the following table Operand Description The comparison is true when the operand value on the left is equal to the one on the right lt gt The comparison is true when the operand value on the left
147. to upDateAO always Unconditional jump to the analog output update block checkHigh Jump to upDateAO if This block is reached only if the myVar variable is myVar lt 512 higher or equal to the allowed minimum one Now it is controlled if the myVar variable is lower than the maximum limit in this case jump to the analog output update block Assign This block is reached if the value of the myVar myVar 512 variable is higher than the allowed maximum one In this case the maximum value is assigned upDateAO Assign Update the analog output with the value clipped AnalogOutput 0 2 myVar between 102 and 512 Jump to readAgain always Unconditional jump that returns the program execution to the readAgain label 96 LAM Technologies electronic equipment DS30 DS5x Programming 6 7 7 CounterA extension on 32bits The CounterA counts the pulses applied to the DIO input reached the maximum value of 32767 the counter starts again from 0 In some application it could be necessary to have a wider counting capacity The following example extends the CounterA register to 32bits to count up to 2147483647 pulses It is assumed that the savedCounterA oldCounterA and cntPulse variables are already declared with a length equal to 2 bytes and the new32CounterA variable with a length of 4 bytes Instruction block Description Assign savedCounterA CounterA Store the value of the counter i
148. ue 1000 to the RefVel Analogl nput 0 lt 750 else register if the analog input O is less RefVel 300 than 750 otherwise RefVel 300 The entire block is processed without interruption and the value of the registers is guaranteed unchangeable throughout the execution of the block 6 6 2 Function It is an instructions block that launches the execution of a specific function Follows a detailed description of the available functions 6 6 2 1 Save Variables in Flash This feature is useful to store the value of program variables in flash memory The flash memory is able to maintain the stored data even in absence of power and this allows to make the user variables retentive Whenever variables are stored in flash memory the previous value is overwritten Flash memory can be rewritten up to 50 000 times and it is therefore necessary to respect this limit The function is performed only when the motor is disabled bit bEnabled equal to 0 otherwise the instruction block is ignored When saving is finished the function checks the integrity of data stored and if the operation is successful the bUVarSaved bit is set active value equal to 1 In this case the variables are initialized with the values read from the flash memory and also the bit bUVarLoaded is set active value equal to 1 If instead the writing operation fails the bUVarSaved bit is placed inactive value equal to 0 The variables in any case maintain their origi
149. unction Word ID Word Word1 CRC frame structure Code Number Counter Value Value Dimension byte 1 1 2 2 Possible values 0x10 0 65535 102 Reply Slave gt Master Received frame Address Function Word ID Word Number CRC structure Code Dimension byte 1 1 2 2 2 Possible values 0x10 0 65535 0 65535 Address it is the address of the slave receiver of the command when the data flow is from the master to the slave or the address of the slave which transmits when the data flow is from the s ave to the master reply Function code it is the identification of the function for the writing of registers and program variables 0x10 Word ID it is the ID also called address of the first word to which to access Word number it is the quantity of words on which to operate At most it is possible to operate on 2 words at the time Byte Counter it contains the number of bytes which will follow excepted the CRC Its value is the double of the Word Number parameter Word0 Value it is the value of the first written word corresponding to the Word ID Wordl Value it is the value of the second written word corresponding to the Word ID 1 The parameter is indicated between square brackets because it is present only when the command is sent with Word Number 2 Differently the Word Value is not transmitted CRC it is the checksum calculated by the transmitter using all the frame data The rec
150. vdc Vdibrk Digital input breakdown voltage 30 30 vdc Idi Digtalinptsuppycuret 4 6 8 mA Vdo _ Digital output voltage range 11111 1 1 1 1 30 vac Vdobrk Digital output breakdown voltage 05 37 vdc Ido jDigtalouputcurentrange 1 1 1 ST 60 mA Idobrk Digital output breakdown current 120 mA Pwdo Digital output dissipablepower TT 300 mW Vai Analginpttvoltagerange 1 1 1 1 1 10 0 vac Vaibrk Analog input breakdown voltage 1 1 45 5 vdc Rai __ Analog input impedance 1 0 1 47 ke j ADrai ADconvererresouion 211 bit ADst__ A D converter conversion time 10 X msec ADsoff A D converter start offset Z 1 1 1 2 9efs ADdoff A D converter offset drift TS 9efs Vao DArai _ D A converter resolution Z 10 f bit DAud D Aconverterupdate_ 10 msec j DAsoff D Aconvertrstartoffset 1 To 1 fs DAdoff D A converter offset drift J y 01 03 fs DAline D A converter linearity error S fs Protections Diagnostics Alarms Over Under voltage Short circuit Mechanical specifications FDh height J J o 1004 mm
151. ved to a digital output The cable used for the wiring must be shielded type The shielding of the connecting cable must be connected only to the side of the numerical control device PC PLC or other while on the side of the drive it must remain unconnected as shown in the figure below Shield to be left unconnected Contact n Description DI3 DigitalInput 3 negative 3 digital input DOO DigitalOutput 0 positive O digital output DOO DigitalOutput 0 negative O digital output The section of the cable does not have much importance as the circulating currents are meager in the order of few mA therefore choose the section according to the wiring functionality 2 Oo 3 NM HE SERIE 6 8 po gu The control signal cable must not be placed together with the power supply or the motor cables If it happens there is the possibility that the high slew rate voltage and the high rate current could be coupled with the logic level signal and corrupt it LAM Technologies electronic equipment 39 Installation DS30 DS5x The digital inputs of the DS30 DS5x drives can be independently O connected in NPN or PNP logic or in line driving mode Each input lays both the connections making possible mixed settings All inputs are optocoupled amongst them towards the motor and towards the power supply 1K5ohm for DIO and DI1 1Kohm for DI 2 and DI3 Current regulator 6mA for the whole power supply ra
152. venes It does not have to be astonishing the fact that the protection intervenes despite the measured voltage is within drive functioning limits In fact it is possible that in some occasions sudden motor decelerations sudden voltage changes etc the voltage which supplies the drive goes beyond the Vph value Vach for AC models causing the protection intervention In order to make a correct measurement of the effective drive supply voltage it is necessary to act directly on the supply terminal blocks of the drive itself using a band pass instrument of at least 10KHz and able to capture the voltage transients peaks LAM Technologies electronic equipment DS30 DS5x Functionality and Configuration Drive supply voltage Over voltage protection intervention If the supply voltage is very near to the drive functioning limit and the over voltage alarm sporadically intervenes it is possible in some cases to solve the problem reducing the distance between the power supply and the drive increasing the cables section or placing an electrolytic capacitor near the drive valid only for DC models ATTENTION if the supply voltage increases a lot beyond the maximum functioning value and in particular it goes beyond the Vpbrk breakdown voltage Vacbrk for AC models the drive will be irreversibly damaged When the over voltage protection intervenes because of the energy returned from the motor during the deceleration phase
153. with the transformer it is necessary to use a conductor with section adequate to the drive s calibration for safety s it is better to use the max current supplied by the drive The following table resumes the cable sections suggested for each drive Cable section mm DSxx44A DSxx48A a The power supply cable can be installed together with the ones connecting the drive to the motor It is recommended not to place the power supply cable nearby the signal ones While choosing the transformer secondary voltage it is important to take into account the maximum net fluctuation expected in the worst operative conditions the maximum vacuum voltage and the minimum full load voltage and to ensure that the maximum and minimum values result of the combination of these components are within the maximum and minimum voltage values specified for the chosen drive model LAM Technologies electronic equipment 23 Installation DS30 DS5x The power that the transformer must handle is given by the one absorbed by the load depending from the torque required to the motor as well as from the rotation speed and by the motor and drive efficiency The power lost on the drive for each model is indicated in the following table DSxx48A DSxx73A DSxx76A The following is an example of base connection Fuses Three phase transformer Fn with shield between Dr 1 primary and secondary i jtm e 1 iia crede I Dr 2 Filte
154. x 6 7 3 For Next cycle Programming The For Next cycles are useful to execute one or more instruction blocks for a well defined number of times It is assumed that the forNextCnt variable is already declared with a length equal to 2 bytes The following example is valid for cycles repeated at least one time Instruction block Description Assign forNextCnt 1450 It is assigned to the variable used as counter the number of cycles to be execute 1450 startFor First for next cycle block The startFor label is used as block reference Instruction blocks inside the for next cycle Resolve forNextCnt forNextCnt 1 The forNextCnt variable is decreased by one unit Jump to startFor if forNextCnt lt gt 0 Jump to the instruction block identified by the startFor label for next cycle start if the value of the forNextCnt variable is different from O First block executed after the for next cycle is completed forNextCnt variable 0 LAM Technologies electronic equipment 93 Programming 6 7 4 If Then Else Whenever it is necessary to perform an operation conditioned to the occurring of determined conditions it is used the If Then construct if it is then necessary to execute a second operation in the case the required condition is not satisfied it is used the Else structure 94 DS30 DS5x Instruction block Description

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