PDrive
Contents
1. Setup Basic setup Basic Setup Power Supply Servo amplifier Regeneration Resistor Hardware Intemal O Extemal Firmware Max Regeneration Power Name W DRIVEO Serial Number Run Time Max Mains Voltage Ambient temperature switch off threshold 2 480 wi Y 65 E Response to Loss of Input Phase 1 Warming v Set Software Enable on Bootup Quick Boot Regeneration resistor PBALRES Internal The internal regeneration resistor is used External An external regeneration resistor connected to the terminals Rpex and Rs is used Ohm PMCtendo DD5 and PMCprotego D only Sets the value of the regeneration resistor in unit Ohm Max Regeneration Power PBALMAX Set the maximum Regen Power Max Mains Voltage VBUSBAL This parameter is used to adjust the regeneration and switch off levels of the servo amplifiers to suit the mains power supply voltage or the system conditions for multi axis systems with parallel connected DC link circuits Response to Loss of Input Phase PMODE Handles the message Phase missing Hardware HVER Display the version and revision level of the servo amplifier hardware Firmware VER Display the version and revision level of the servo amplifier firmware Name ALIAS Here you can assign a name 8 chars max to the servo amplifier Serial Number SERIALNO Display the serial number of the servo amplifier Run Time TRUN Display the2. Max Following Error PEMAX The following error is the maximum difference window between the position setpoint and the actual position that is permitted during processing If the value leaves this window then the position controller generates an error message and brakes the drive using the emergency ramp In Position window PEINPOS Sets the InPosition window Determines at which distance from the set position the InPosition message should be reported The drive moves precisely to the target position Modulo Start Position SRND The SRND parameter is used to define the start of the range of movement for a modulo axis Modulo End Position ERND The ERND parameter is used to define the end of the range of movement for a modulo axis V_max pos PVMAX This parameter is used to adjust the maximum speed of movement to suit the limits of the operative machinery V_max neg PVMAXN The parameter PVMAXN defines the maximum velocity in the negative direction that is permitted for a motion task Page 40 User Manual for Setup Software PDrive 9 Project window a max PTMIN A drive is always so dimensioned that it can provide more power than the application requires This parameter determines the limit for the maximum mechanical acceleration time to v_max that must not be exceeded by the drive 1 Neg SW limit switch 2 Pos SW limit switch SWCNFG Configuration variables for the positi
3. 9 1 8 Position controller Pasition Loop FF Factor Speed 1 Velocity Command Prop Gain Kp_p 0 1 Feedback _ 0 No Feedback Y Count Direction 1 0 negative v 1 Feedback EXTPOS The EXTPOS command defines the feedback source for the drive position control loop Prop Gain Kp_p GP Determines the proportional gain for the position controller J Tn GPTN PMCtendo DD4 only DD4 Determines the integral action time integration time constant for the position controller Prop Gain Kp _v GPV Determines the proportional gain for the speed section of the controller FF Faktor Speed GPFFV Determines the feed forward factor for the position controller J FF Faktor Current GPFFT PMCtendo DD4 only DD4 Position control loop feed forward for the current command 1 1 Count Direction DIR PMCtendo DD5 and PMCprotego D only Protego DD5 The DIR variable defines the count direction for feedback information 1 1 Resolution ENCIN EGEARO EGEARI PMCtendo DD5 and PMCprotego D only Protego DD5 ENCIN sets the resolution number of pulses of the encoder input channel using a digital encoder as feedback unit In case an external feedback system is used the ratio can be set by EGEARI and EGEARO The feedback turn are set by EGEARI the motor turn by EGEARO Page 28 User Manual for Setup Software PDrive 9 Project window 9 1 9 Profaga DD5 5 3 Prolego DD5
4. Plage DD5 Initial voltage as a fraction of the rated voltage TD J Power Factor MCOSPHI PMCtendo DD5 and PMCprotego D with async motor only Protege DD5 Power factor of the asynchronous motor Page 24 User Manual for Setup Software PDrive 9 Project window 9 1 6 DDA Current controller Current Loop A z Ea N e Ipeak pos Proportional Gain Kp_i a A 1 337 Ipeak neg Integral Time Tn_i A A 1 216 ms Homing Ipeak 15 A lims T35 A Ft Waring 80 e Ipeak pos IPEAK Sets the required pulse current r m s value The value that can be entered is limited to the rated peak current of the motor or amplifier the lower of the two values Ipeak neg IPEAKN Sets the intended pulse current r m s value for the negative range Homing lPeak REFIP The REFIP parameter can be used to set the peak current for homing to a stop Irms ICONT PMCtendo DD4 only Sets the rated output current that is required The adjustment is usually made to 10 the standstill current for the motor that is connected The value that can be entered is limited to the rated current of the servo amplifier or the standstill current of the motor lo the lower of the two values Proportional Gain Kp i MLGQ Determines the proportional gain of the current controller Integral Time Tn_i KTN Determines the integral action time integration time constant of the current controller Pt Warning I2TLIM Sets the
5. User Manual for Setup Software PDrive Page 3 3 Symbols Symbols Symbol Meaning This symbol indicates a possible danger hazard risk to life and or health Ignorance may seriously affect health and cause dangerous injuries This symbol indicates an important hint regarding the correct use of the product Ignorance may affect the performance of the machinery and or the surrounding This parameter applies only to a PMCtendo DD4 and PMCprimo Drive2 This parameter applies only to a PMCtendo DD5 and PMCprimo Drive3 This parameter applies only to a PMCprotego D VER Reference to the according command in the onlne help example command VER Emphasis gt see page cross reference Page 4 User Manual for Setup Software PDrive 4 Safety Guidelines 4 Safety Guidelines e When commissioning you must ensure that neither the controllers nor the amplifiers present any risk to persons plant or machinery Appropriate protection and precautionary measures must be put in place To avoid personal injury and material damage only qualified trained personnel should work on the devices Only specialist staff with extensive knowledge of drive technology and control engineering should be permitted to program a running drive online Data stored on data media is not protected from unintended changes by third parties Data must be checked for accuracy before it is loaded on
6. oococococcinoncinononns 52 ACCUN Titi alot tt lates obdanel ita 19 Expansion card PMCprotego S 53 ADD Rito lee 20 EXTPOS ae aN enai eigent eanas 28 AA e A ERN 19 EXTW Dissert tper atipikoa iak iiredas 20 IN IN AA 18 Analog WD vio 32 F ANCNF Giog cis cue thats a aia leven 32 ANDB A E tl arco aa 32 ANDE E Deae naron ie 32 a A aea td 32 FLTMODE es 21 ANOUT A aea et 52 EPOR ET OR 30 52 NOU eit eee a cana Ne ee sao 32 PINOUT ticle seri te ati et tea otc ed 32 A hentai acta cee 27 G ARUP Hecate cos ssh canal ae ase aaa tee 27 A ded tess OE T 32 GEAR Tasas ld 29 PAE ES 32 E A A saat 29 GEARMODE ccococcoconococonococnnonnonoonnonioniocnneninos 29 GEAR Og ld old anes A aes 29 B ted ae old 24 Basi UP i ee eee BOOM wits todas Aa ae venenne 19 GUEED culties Pe ae 28 A A O 28 C GPT IN RO 28 OPN A LA RIES A ee tee Pere 28 ANA A eee ees 2 ee 49 O Ge cee Male ee he 26 CAMT nta ni oR ee ad 49 GVFBT ioniese en oasian meitai 27 CAN FIeIGDUS ccccccccccccccccececceceeccccetecceeee 20 OVER a dido 26 CBAUD ura le di o Nag 20 A S ete E a Ren ENE i anette 27 COMMUNICATION ccccccccccccccccccccccecccccccccececece 12 OVUTNicin EE AAE E E E aera 26 CYCLEMODE it ce el 49 CYCLE A n Oe e 49 H D HVE Roa hota teh ne Tet dl een ied 18 A sete Goal cine tees 50 l A A E E E 49 DO ais taint dies R S paar 20 52 A ene reer ee 25 O eee rs argent crepe ct 2 ES 25 DECR o 34 INIMODE Sea a ead PECL Wane
7. This parameter determines the acceleration ramp steepness depending on the selected units t_dec total This parameter determines the deceleration ramp steepness depending on the selected units Ramp Determines which type of acceleration braking ramp is used to carry out a motion task Trapeze The drive is given a constant linear acceleration deceleration to the target speed Sine To limit any jolting the drive is accelerated decelerated within the acceleration time along an acceleration ramp without any disruptions The resulting speed characteristic corresponds to a sine curve The profile is stored in a table in the servo amplifier variable The acceleration braking ramps can be adjusted Acc Ramp T1 This parameter determines the acceleration time to v_cmd Dec Ramp T2 This parameter determines the deceleration braking time from v_cmd to zero User Manual for Setup Software PDrive Page 45 9 Project window 9 2 3 3 Next Motion Task Select whether a new motion task should be started automatically after the present task is complete The InPosition signal is only enabled when the last motion task no further task is processed You can use the output function 16 Next InPos to generate a signal at a digital output when each target position within a sequence of motion tasks has been reached Next Number The number of the next task which starts automatically after the current task is complete
8. from reference switch from reference switch Positive traverse positive count direction NS gt R N N s PR P N A P SP l ISP Veer 4 a vrer a l 1 Vref MAS ANA NM Initial point at reference switch Initial point in positive direction from reference switch Initial point in negative direction from reference switch The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark User Manual for Setup Software PDrive Page 35 9 Project window 9 2 1 4 Homing type 2 Homing with limit switches without homing switch with feedback zero Negative traverse positive count direction N N ae SP Vret poil If a S Vref H Initial point in positive direction Initial point at limit switch from reference switch Positive traverse positive count direction N P N P f 5 SP SP Vref l Veet pl S S A Vreick Vref l l Initial point in negative direction Initial point at limit switch from reference switch The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit sw
9. 05 2004 Revised version valid from software version 2 06 V5 24 02 2005 Revised version valid from software version 2 07 V6 23 08 2005 Revised version valid from software version 2 08 V7 16 11 2005 Revision V8 03 05 2006 Revised version valid from software version 3 0 V9 12 10 2007 Revised version valid from software version 3 1 V10 18 01 2008 Revised version valid from software version 3 2 Page 2 User Manual for Setup Software PDrive 2 Table of contents 2 Table of contents Pa eee E Ce T UN 1 2 3 A 5 6 Y 8 9 1 1 1 WO O O O O O O O OOOO lo N de cl e de e o a aa General INfOrMmation es cic cocinar tir 2 COP Md A eee ean ee ted eee ee es 2 Noti rusos caleta 2 Previously published editionS ic 1 sec00 cee is 2 Table of Contents ici contain 3 SYMONS ai lia 4 Safety Guideline lid 5 Abo tthis MAA ii 6 Prescribed use Use as directed cccccssecceceseeeeeeseeeseeeeeeeeeseeceeseeeeeeseeseees 7 e a EE EET T TE E TT 8 Hardware require MES iio a Suni dap a ieia a 8 Installation under Microsoft WiNdOWS c ecccceeeeeeeeeeceeeeeeeeeeceaeeeeeeeseeeneaeeeeeeeeeeennaees 8 WS Occhi cin a itec ncn eavDunctheden cia 9 NOLS 2d A ee acatedve E A oe eager Mca aed aah odie 9 GONMECHOM astride heeds soe ores eee rete a ona 9 SCEOM LAV OULE seia AE devs sne lt Ghashcs boevenndseuiesieddyieeacncfudbeacasts sea
10. D DDA Electronic Gearing Electronic Gearing External Gearing Source 6 Sin Encoder 1 v Position Lines per 8192 Revolution Ratio y 4096 8192 External Gearing Source GEARMODE The servo amplifier can be controlled through different interfaces and from various sources Ratio GEARO GEARI You can use the entry fields in this equation to determine the transmission ratio Input Filter GEARFILT PMCtendo DD5 and PMCprotego D only This command GEARFILT can be used to configure the filter and determine the corresponding frequency of the electronic gearing filter Count Direction DIR PMCtendo DD5 and PMCprotego D only The DIR variable defines the count direction for feedback information Lines per Revolution ENCIN PMCtendo DD4 only ENCIN sets the resolution number of pulses of the encoder input channel using a digital encoder as feedback unit User Manual for Setup Software PDrive Page 29 9 Project window 9 1 10 T T Prolego DDS 0 T Prolego DDS DD4 1 DDA D T Prolego DDS 1 DDA 1 DDA Encoder Encoder Emulation Encoder Emulation 2 Ouput SSI v ROD SSI Resolution Baud Rate Lines Rev 0 200 kBaud v Zero Pulse Offset SSI Clock Incr 0 Standard v SSI Code 0 binary v Input Edge 1 falling v SSI Mode 0 Singleturn v Encoder Emulation ENCMODE Selection of the digital encoder channel Resolution ENCOUT Determ
11. level as a percentage value of the r m s current above which a message will be sent User Manual for Setup Software PDrive Page 25 9 Project window 9 1 7 1 DD4 1 y Prolego DD5 1 DDA Speed controller Velocity Loop FIA ee ACE DEC e Speed Limit pos Acc Ramp Pl Plus Prop Gain Kp_v PID T2 6000 rpm ms 0 65 20 1 ms Speed Limit neg Dec Ramp Int Time Tn_v 6000 ipm ms a ms Overspeed Emerg Dec Ramp 6000 1pm 10 ms Count Direction Disable Dec Ramp 1 positiv sj 110 ms Feedback 0 4 ms Speed Limit pos VLIM PMCtendo DD4 only Limits the motor speed The maximum value also depends on the used motor and encoder Speed limit pos VLIMP PMCtendo DD5 and PMCprotego D only Limits the motor speed The maximum value also depends on the used motor and encoder Speed limit neg VLIMN The VLIMN parameter defines the maximum velocity for the negative direction Overspeed VOSPD Determines the upper limit for the motor speed If this limit is exceeded the servo amplifier switches into the fault condition Count direction DIR PMCtendo DD4 only Fixes the direction of rotation of the motor shaft referred to the polarity of the setpoint Acc Ramp ACC Limits the rate of increase of the internal setpoint processing during acceleration to the speed limit valid for both directions A jump or step in the setpoint that is provided will be turned into a smoother more favour
12. of the PMCtendo DD4 5 PMCprimo Drive2 3 and PMCprotego D series The servo amplifier that is connected is commissioned with the aid of the software whereby the drive can be directly controlled by the setup and service functions The characteristic nature of a PC means that these functions are not functionally safe without further measures A PC program might be unexpectedly disturbed or stopped so that in the event of a malfunction any movements that have already been initiated cannot be stopped from the PC The manufacturer of the machine must carry out a hazard analysis for the machine and is responsible for the functional mechanical and personnel safety aspects of the machine This applies especially to the initiation of movements with the aid of functions in the commissioning software Only personnel who have extensive knowledge in the fields of drive technology and control technology are permitted to carry out online parameter setting of a drive that is running Sets of data that are stored on data media are not safe from undesirable alteration by third parties So after you have loaded a set of data you must check all the parameters before enabling the servo amplifier The servo amplifiers are components that are built into electrical equipment or machines and can only be operated as integral components of such equipment The BTB RTO contact must be wired into the safety loop of the system The safety loop and the Stop and Emerge
13. ramp is also valid for jog mode Deceleration Ramp DECR Deceleration ramp for the homing operation This ramp is also valid for jog mode This deceleration ramp is only used if the operating mode allows it For homing to a hardware limit switch the emergency ramp is used Page 34 User Manual for Setup Software PDrive 9 Project window 9 2 1 2 Homing type 0 Sets the reference point to the setpoint position the following error is lost The load does not move 9 2 1 3 Homing type 1 Before starting homing check the safety of the system since the load may move even if the limit switches are disconnected or defective Homing without limit switches with homing switch with feedback zero Negative traverse positive count direction Negative traverse negative count direction SP SP Veet l Veep mo mo No 3 Ss A l Z Vref Vref Homing with limit switches with homing switch with feedback zero Negative traverse positive count direction A a N R P IN PR P IN PR P ag c SP SP l SP il Veet Vrer 4 Ver i i l i i 1 l l l i l 5 Ni oj y Ss A LAW l Vref 1 Vref 1 Vref 1 l LETT A AAA AAN Initial point in positive direction Initial point in negative direction Initial point at reference switch
14. task is interpreted as a relative or an absolute task Absolut movement to an absolute target position relative to the reference point Relativ soll relative to last target setpoint position in connection with motion block changeover e g summing operation Relativ ist relative to actual position at start in connection with motion block changeover e g register control Relativ In Pos when the load is in the InPosition window relative to last target position when the load is not in the InPosition window relative to actual position at start Relativ Latch pos contact our applications department Relativ Latch neg contact our applications department x_cmd This parameter defines the distance or the target position depending on the motion type V_cmd Source The velocity can be defined in the motion block or provided as an analog setpoint digital digital setpoint provision through v_cmd Analog IN1 analog setpoint provision at input An In 1 terminals X3 4 5 is used The value is read at the start of the motion task V cmd This parameter determines the velocity of movement for digital setpoint provision If v_max is set to a value less than v_cmd at a later time the position controller uses the smaller value User Manual for Setup Software PDrive Page 43 9 Project window Page 44 User Manual for Setup Software PDrive 9 Project window t_acc_total
15. there is an active connection the data set is downloaded to the servo amplifier Save data in EEPROM Non volatile storage of the currently valid parameter set in the EEPROM of the servo amplifier In this way you can permanently save all the parameter changes that you have made since the last switch on reset of the servo amplifier Load default parameters to RAM EEPROM Cancel all the parameters that have been set up and load the manufacturer s default values STOP amplifier Stop the currently active service function and disables the power stage ENABLE Enables the power stage DISABLE Disables the power stage RESET amplifier Software reset of the servo amplifier Clear Fault Clear the present errors and warnings User Manual for Setup Software PDrive Page 15 pilz 8 Use 8 3 5 Status bar Current information about the data communication is shown here 8 3 6 Select servo amplifier Servo amplifier selection Drive Standalone CANopen El 11 Primo motion control 1 Channels 10 Version 2 OO7L Jul 3 2007 1 15 59 17 Ser Nr 3001 v 0 1 Primo motion control 16 Channels 20 Version 2 007L Jul 9 2007 15 56 13 Ser Nr 2 1 1 Primo motion control 1 Channels 10 version 2 A1 2 1 Primo motion control drive 3 Channels 10 endo 2 007 Jul 3 2007 15 59 17 Ser Nr 3259 3 1 Primo motion control 2 2 Version 2 007L Jul 9 2007 15 53 10 Ser Nr 102 tendo DDS 5343 at CAN ADDR 2 D5402 In a networ
16. to activate a function this will be recognized by the setup software which will make a reset after a software confirmation request The currently valid data set must be saved in the EEPROM of the servo amplifier in order to be permanently stored So execute the Save Data to EEPROM function on the service bar before you switch off the servo amplifier or quit processing the data set Connection Connect the interface cable to a serial interface on your PC and to the serial interface of the servo amplifier Start PDrive exe and click to the button Connect PC lt gt amplifier PDrive is trying to read data from the servo amplifier If you have never started a communication before you have to configure the communication parameters first PTerm Connect to Choose a connection set the connection parameters and click Use a connection you ve already defined or PEET to Connect create a new connection Ethernet 192 168 1 16 Cancel Modem Serial COM1 Serial COM3 Serial COM 4 Serial Connection with Xon lt off Handshake at 9600 Baud C Automatically connect when program starts Delete Connection parameter Device Baud rate Handshake PMCtendo DD4 PMCprimo Drive2 9600 XON XOFF PMCtendo DD5 PMCprimo Drive3 PMCprotego D 38400 XON XOFF User Manual for Setup Software PDrive Page 9 8 Use PDrive is now reading the actual parameters of the servo amplifier A previousl
17. to the hardware e The installation and operating instructions must be read carefully and all safety regulations observed before installation and initial operation as danger to personnel and damage to machinery may be caused e Only qualified and well trained specialists who are familiar with the transportation installation initial operation maintenance and operation of the units as well as with the relevant standards may carry out the corresponding works e Technical data and indications Type tag and documentation are to be kept absolutely User Manual for Setup Software PDrive Page 5 5 About this manual About this manual This documentation explains the use of the PDrive exe setup software for setting parameters and configuring servo amplifiers of the PMCtendo DD4 5 PMCprimo Drive2 3 and PMCprotego D series The series PMCprimo Drive2 3 differ from the series PMCtendo DD4 5 only in the motion control functionality For this reason the series PMCprimo Drive2 3 is not mentioned furthermore in this manual Parameters for the PMCtendo DD4 are concerning the PMCprimo Drive2 too and parameters for the PMCtendo DD5 the PMCprimo Drive3 Detailed descriptions of functions and parameters are located in the Object Reference Guide The setup software must be installed on a personal computer PC The PC is connected to the servo amplifier by a communication cable The setup software initiates the communication between PC and serv
18. Acc Dec Select the action to be taken when the target position for the present motion task is reached on v 0 The drive brakes to a stop in the target position The next motion task is then started beginning at The drive moves at v_cmd of the present motion task to the target position target position and then accelerates through to v_cmd of the next task complete at The changeover to the next task is brought so far forwards that the v_cmd of target position the next task is already achieved by the time the target of the present motion task has been reached Start Condition immediately The next task is started as soon as the target position is reached 1 0 The next task is started by a signal at a digital input one of the terminals X3 11 14 This is only meaningful with Acceleration Deceleration to v 0 Condition the digital input must have the function 15 Start_MT Next assigned and the target position must have been reached You can pre select the logic with the Start with parameter Time The next task is started with a defined delay after the target position has been reached You can enter the delay time with the Delay time parameter This is only meaningful with Acceleration Deceleration to v 0 1 0 or Time The next task is started by a signal at a digital input one of the terminals X3 11 14 or after a defined delay This is only meaningful with Acceleration
19. Deceleration to v 0 The trigger is the event that occurs first the start signal or the end of the delay time Condition the digital input must have the function 15 Start_MT Next assigned and the target position must have been reached You can pre select the logic with the Start with parameter and enter the delay time with the Delay time parameter Start by I O Edge The logic for the digital input that has the function 15 Start next Motion Task assigned to it LOW level 0 7 V HIGH level 12 3 0 V 7 mA Delay Time The entry in ms for the delay time between reaching the target position and starting the next task Page 46 User Manual for Setup Software PDrive 9 Project window 9 2 4 Position registers Position Registers Enable Positionsregisters Current Position 0 Position Registers disabled v counts No active check Signal if Position No active check Signal if Position 1 3 on oOo NM a amp N a w P1 P2 P35 PA Eo CPE Ee Pa ORS RIO TRIT P2 PIS Pito IRIS PIE 6 6 6 6 6 S 6 6 S GG amp amp Exceeding or falling of up to 16 position values in the motion way can be monitored The actual position is visible as well Enable Positionsregisters WPOS The fast position registers are enabled by WPOS No active 1 16 WPOSE Enable Fast Position Registers 1 16 check WPOSX Mode of Fast Position Registers 1 16 Signal
20. P E hat SP ISP I Vref Vret l mer 2 S Vref Vref Initial point in negative direction from limit switch Initial point at limit switch Page 37 User Manual for Setup Software PDrive 9 Project window 9 2 1 7 9 2 1 8 9 2 1 9 Homing type 5 Behavior for successively repeated starts of Homing 5 The position controller can only hold the motor in the zero position by passing the zero mark by 1 count On a repeated start of Homing 5 depending on the position 1 count in advance of or 1 count behind the zero mark and the count direction the movement may be a full motor turn Homing with limit switches without homing switch with feedback zero Negative traverse positive count direction Positive traverse positive count direction N P N P sp SP Kark l Vret _ 4 s Vos j Vref i Vref l l Homing type 6 Sets the reference point to the actual position the following error is not lost The load does not move Homing type 7 Using this type of homing can damage the mechanical stop on the machine The peak current Ipeak and the continuous current Irms are limited for the duration of the homing run A more severe limiting of the current is possible see parameter Homing Ipeak on screen page Current Loop Mechanical stop without limit switches without homing switch with feedback
21. POSP Polarity of Fast Position Registers 1 16 if Position P1 P16 The variables P1 P16 contain the position values for the position thresholds 1 16 User Manual for Setup Software PDrive Page 47 9 Project window 9 3 9 4 Status Status Error Wamings Error History F20 Slot error F20 Slot error F20 Slot error F20 Slot error F20 Slot error F16 supply BTB F16 supply BTB F05 undervoltage F16 supply BTB F05 undervoltage Actual Errors no Run Time 1591 13 Monitor Monitor Description Ft Drive Et Motor Effective Current Current D Component Current Q Component Bus Voltage Regen Power Heat Sink Temperature Internal Temperature Motor Thermistor Resistance Mechanical Angle of Rotation Angle of Rotation Actual Velocity Velocity Command Position Following Error Analog Input 1 Analog Input 2 ASCII Command 1 ASCII Command 2 ASCII Command 3 ASCII Command 4 ASCII Command 5 hmin 1550 1550 1550 1550 1550 1486 1346 1346 1346 1346 Parameter DI2T MI2T ID 1Q vBus PBAL TEMPH TEMPE TEMPM PRD PRD y YCMD PFB PE ANINI ANIN2 All important parameters are displayed Additionally you can see the value of 5 parameters Fill in the ASCII names of the parameters you want to see Actual Value Error Frequency FO3 following error F04 feedback F05 undervoltage FO6 motor temperature F15 Ft max F16 s
22. User Manual for Setup Software PDrive Page 39 9 Project window 9 2 2 Position Data Position Data Settings Software Limit Switch Axis Type No at Position 4 C1 Neg SW Limit Switch 0 Max Following Error Y max pos C 2 Pos SW Limit Switch 0 262144 counts 10000 ums In Position Window Y max neg 4000 counts 10000 m s Modulo Start Position a max 10239999 counts 10 ms Modulo End Position 10239999 counts Axis type POSCNFG Here you select whether the axis is to be operated as a linear or a rotary axis Linear axis A linear axis is an axis with a limited range of travel A linear axis moves within the traversing limits that are given by the software limit switches both absolutely and relatively A reference point must be set Modulo axis Axis with a limited range of movement The minimum position is SRND and the maximum position is ERND 1 If the maximum position ERND 1 is reached it automatically switches over to SRND The absolute target positions have to be in the defined range If a motion task is started which has a absolute position outside the range a warning n08 is displayed wrong motion task Relative moves are calculated in a way that the target position always is in the defined range A positioning in a axis like this gives two possibilities of direction to the target position DREF gives the possibility to restrict the direction This axis type also needs a homing move
23. able transition Dec Ramp DEC Limits the rate of decrease of the internal setpoint processing during braking to the zero speed valid for both directions A jump or step in the setpoint that is provided will be turned into a smoother more favourable transition Emerg Dec Ramp DECSTOP The breaking ramp for emergency breaking Disable Dec Ramp DECDIS When the output stage is disabled removal of the hardware or software enable the internal speed setpoint is set to 0 using the preset DECDIS ramp PI Plus GVFR With the default setting the speed controller functions as a standard Pl controller with slight overshoot in the step response Prop Gain Kp v GV Determines the proportional gain Int Time Tn_v GVTN Page 26 User Manual for Setup Software PDrive 9 Project window Determines the integral action time integration time constant 1 PID T2 GVT2 PMCtendo DD4 only DDA Affects the proportional gain P gain at medium frequencies J Feedback GVFBT PMCtendo DD4 only DD4 If necessary the time constant for the PT1 filter in the actual speed feedback tachometer smoothing can be altered E LP Frequency ARLPF PMCtendo DD5 and PMCprotego D only Protego DD5 Frequency limit low pass filter HP Frequency ARHPF PMCtendo DD5 and PMCprotego D only Protea DD5 Frequency limit high pass filter User Manual for Setup Software PDrive Page 27 9 Project window
24. ack Filter Mode 2 ON 16 KHz VL v 180 Resolver Signal AK 16384 Angle of Rotation M no overvoltage surveillance C no overflow surveillance C single turn executed as multi tum encoder Warning An incorrect setting can cause the motor to run away even with a speed setpoint n 0 Feedback Type FBTYPE The FBTYPE command is used to select the type of feedback device that is used for the commutation and velocity controller Offset MPHASE Compensates for a mechanical position error of the resolver encoder in the motor Change this only while the amplifier is disabled If an encoder with EnDat or Hiperface is used as a feedback unit the offset is automatically transmitted to the servo amplifier Number of Poles MRESPOLES resolver only Standard resolvers have 2 poles Encoder Lines ENCLINES Hiperface EnDat only ENCLINES sets the resolution number of lines of the encoder input channel using an ENCODER as feedback unit In case of Rotary Motors it is the number of lines per revolution in case of linear Motors it is the number of lines per pole pitch With an ENDAT or Hiperface Encoder ENCLINES is read automatically during the initialization process Count Direction DIR PMCtendo DD5 and PMCprotego D only Defines the direction of rotation of the motor shaft in relation to the polarity of the set value Bandwidth MRESBW With a wide bandwidth the drive will respond more rapidly
25. and PMCprotego D only Protego DD5 Motor thermal time constant to calculate MI2T with MICONT Maximum Speed MSPEED Maximum permissible speed of the motor Limits the entry for the parameter SPEED LIMIT Number of Poles MPOLES The number of motor poles per turn of the motor y k L ML PMCtendo DD5 and PMCprotego D only Protege DD5 Inductance of the motor phase phase You can take this value from the motor manual J L L PMCtendo DD4 only DD4 Inductance of the motor phase phase You can take this value from the motor manual Stator Wind Resistance MRS The parameter describes the stator winding resistance phase phase in Ohm Brake MBRAKE If you want to operate a 24V holding brake in the motor directly from the servo amplifier this parameter can be used to enable the brake function Velocity threshold commutation error VCOMM Defines the velocity threshold for commutation error monitoring J Motor Unit MUNIT PMCtendo DD4 only DD4 Unit for all speed dependent motor parameters User Manual for Setup Software PDrive Page 23 9 Project window Current Advance MTANGLP not for Induction Motor A current dependent phase advance to make use of the reluctance torque for motors with magnets embedded in the rotor Limit Phi MVANGLF not for Induction Motor Velocity dependent Lead Limit Phi Start Phi MVANGLB not for Induction Motor Velocity dependent Lead Start P
26. cne tetsatens 11 WIS Dar co a al 12 MU A E sc ceden oa dese tcc ce cass ead Seances tte 12 OOM Di o aid 14 SONICO Di ia 15 Status Dai 16 Select Servo ampli att 16 Project WIN Wilsicinio ci E A dinaa eiiie daie 17 Project WINdO Wii in 18 A beedeki E A E ebeetealivchoed A E 18 Basic E iT e EEE E PEET E EEE o EE A 18 UNIS pne A a o hee bal eaten a 19 CAN FieldbUS cid 20 FOCOD ACK E eect ao nal cat ii 21 Motor o e Crh ea per a nee a 23 Current controller icovoioscnair a ena i ia 25 Speed controller ieina aan iia pit lic 26 Position controller iii a 28 Electronic Gearing iii des 29 OENCOd6 Ficcion a dde 30 1 Digital WO Lion atando 31 AA wise oat Ween eee es eee eae et len hie 32 POSHIONING iii as 33 HOMING O aa ti a 33 Position Data iarere ean tte aneen eare a ns aeaaeae pheasant cee aaae Raa aaeain cated 40 Motion task ccciiw see a A ay aaa eee 42 Position regisSterS io os a meee ae ia ad 47 A EN A ATE T EAT COEN 48 Moni Missed S E EEE E E E E E E E E E 48 Screen page Expansion Cardi eHre neetna et eei aata eta aieiaieo eE aiidata aea 49 Expansion card DA siseasi iiaii eeni ea i riea iove iniii 49 Expansion Card DW EEE A E E TET 50 Profibus DP Expansion carditis aeaea eaae na an anaE Rar a e Ere aer aaea ieS 51 Expansion card PMO pO r a aa aa a aa aa e aaa e raa ieoten 52 Expansion card PMCprotego S ooociconcccnonoccninoncnnnnnnnnnncnanononnnnnn cnn nano n nn naar nn nr nan n rra nan nnnnnnn nn 53 O A A AE TT 54
27. connection status will be shown connected or not connected 8 3 2 Menu bar New Creates a new parameter file Open Opens a parameter file A parameter data set is read from the data medium hard drive floppy disk If there is an active connection the data set is downloaded to the servo amplifier Save parameters Saves the current parameter data set to a data medium hard disk diskette while keeping the file name if the data set already has a name If the data set has not yet got a name you will be prompted to enter a name and storage location Save parameters as Saves the current parameter data set to a data medium hard disk diskette You will be prompted to enter a name and storage location Export as FB for SoftPLC Exports the actual parameters into a EXP file This file can be imported in the windows program CoDeSys for a Software PLC Print The current data set will be printed out You can choose whether the print data are sent to the system printer or saved to a file Print preview Use these functions in the same way as for any other Windows Print setup software Send Sends the actual data file via E mail Exit Terminates the program Communication Connect Disconnect PC lt amplifier Connect or disconnect PDrive and servo amplifier Save parameters to EEPROM Saves the current parameter data set permanent in the EEPROM of
28. dard Windows operations are available Cut Copy Paste Delete The clipboard operations cut copy and paste are only possible for complete rows so for these operations the appropriate row must be selected A line can be selected either by clicking on the row number or through the keyboard shortcuts lt Shift gt lt Space gt Double clicking a line number in the table opens the screen page for the associated motion task The SW enable is automatically set when the motion task starts The motion task is only started in OPMODE 8 However the SW enable is set in all OPMODEs The drive can be accelerated by an analog setpoint that is applied if the START command is executed in OPMODE 1 or 3 The motion task is not started if the target position is beyond the defined SW limit switches warning messages n06 n07 and n08 Page 42 User Manual for Setup Software PDrive 9 Project window 9 2 3 2 Edit Motion Task Parameters E Motion Task Acc Dec Next Motion Task Number 1 tLacc_total without v 0 ms Unit t_dec_total Next Number Counts v 0 ms Type Ramp Acc Dec Absolute v Trapeze M x_emd Acc Ramp T1 Start Condition 0 counts ms V_emd Source Dec Ramp T2 Start by 140 Edge Digital v ms V_omd ag 4 Delay Time 0 counts 250 ms t Number Displays the active motion task number Unit Unit for path and speed entries See screen page Units Mechanical Type This selection determines whether the motion
29. e ia 23 SAND ui ra defi 40 MPRHASEsun ana aii 21 SORA Mini ca 30 MPOLES ccocccmnc cioorocr lla sit ones ita 23 SN Vivo 30 MRE SB r a e in a aaie Keans 21 SSIMODE seitti sieru t aprenan k uiri e 30 MRESPOLES anena tanda 21 A A A e 30 MAS raoba 23 SSIREVOL cuida sii oa ir 22 30 MSREED cocida ips 23 OOIRAD E TEER T 22 30 MTANGEP ee iz eects etch ait y Seene er ae axes 24 SSITOU T hieronnan T T A ANA RASANE iS 30 MTIME cenene iae ES oietan 23 US cs a 48 MIRA EAEE A A Aas oe nate eee 24 SWGNF Girinio oe aerial beside 41 MTY PE soii 23 SWE dci nacido 41 MUNI ico dos 23 SWE 2 ss rai iria 41 MUR beet cccecectetete pce tne dancer ans 24 SY NCSRG cinco scetdensetestetectdinstbeneeee 20 52 MVANGEB sionista id nea 24 MVANGLE viii 24 MVR in li 24 T TO ui ass 13 N TRUN cuca adi 18 NREF untar a ce drid 34 V O VBUSBAL oia 18 MCOMM inicia a aaier aeie 23 OTMOD Exsel neers ans ag 31 A A ae 4 18 OITRIG Sonica aida 31 MW AE 12 O2MODE ccoo ici tica 31 MEM cti os 26 OMR Gisniinanaira eet ities 31 MLIMN iio iii 26 ORM steel eet Acne tee dene 18 A EOS 26 VEO A i MA ae 21 VOSPD acicate Geet eet 26 P a teen 34 A utes aren EY 32 De AA pe VSCALE2 AAA AI O EAS 32 PALMA 18 i a PBALRES Socia bin 18 PG interfasean iii 10 PENN POS unn das 40 W PEMAX oisedacccecescteecceceteeceecdheecdecety yedeeseneteesetenas 40 PGEAR liaisstcesccpacsk ares Asche Soa anasan 19 WPOS cctv riada 47 PGEARO rr 19 WPOS Ec coito chats dae 47 PMC9rimo 2 0 0 cccceeeeeeceee
30. eRe TE Pe ATA SOR ak REO 31 DECSTOP sssssssesesseeessssereeeeeseesnnnenenceon 26 TTI G A ON 31 Digital 1 0 Ar eee eee Ce eee ere er eee eee eee 31 IN4MODE i nA Ae APELE RENE He on oii cnc ALA At 31 nlio 21 26 28 29 NATRO a NO CREA 31 DREF sees eee conan ono 34 InstallatiON ocococicicicicococociciciconononononcnnnnnos 8 PEC aaa 25 E IPEAKN anera eon en Re 25 Er E aii asia ence hist waaay 32 EGEARI fie ntc ins lie slo cat tae od 28 ISCAL EZ ooconiococconononononnnnnnnnnnnnnnnnnnnn nene nnnnnneso 32 E A ERER 28 Electronic Gearing 29 K ENC CARH a 30 ENCIN iento 28 29 o SER 4 HONE A Tia lets 25 ENCMODE csscsscssessessessessessesseesessttsenseees 30 EN reinante E ET 30 L ENCON 30 ENCZERO as 30 EET EAE EEEE EE TOE 23 Page 54 User Manual for Setup Software PDrive 10 Index M PV MAX Nez cs seeeis ct xstepasceeestesesatewexilct ave teenie 40 MAXTEMPEeeitecicccsscdedscisoneags fede pe dani 19 52 R MBRAKE cdta irte tries 23 MOE Wsniiicninni ctas 24 a EA UA 24 ae la Ga ae iia z MCTR i O E E E Eis 24 ROFF S E any Sal SAA A E 34 MER Zeresan e E a is 2g O AO MICON Teciiocicininir cestos 23 MMR cositas to tessa teta fuen eN haa 24 S Minst lli rip e n 8 MIPEAK aS e aae a a 23 Select servo amplifier oooooooonnnnnnnnnnnncnn 16 A teseteecceeeeteetesnetnedt 23 SERIALNO iii wend ean 18 MEG ciao 25 MOV iii dd 13 A ects eerie eee cried c tetas 48 SOUP ita np cada 18 Moto a n are earo
31. eeeeeeeeeees 4 6 9 13 WROSP toco ota todoo EE octanos 47 PMODE coco iaa 18 WPOS Xian ee ees 47 POSCNE Giona pasen eataa ERN 40 Position register cccccceeeeeeeeeeeeeeeeeeeesees 47 Positioning ccoo i 33 Profibus DP arterne Sean e aaeoa 51 Program Sa e aa e aaa oaaae a aat 12 Project WINGOW ccecceeceeeceeeeeeeeeeeeeeeees 18 PIM Nicosia 41 PUNT id ee ee 19 A E A E 40 User Manual for Setup Software PDrive Page 55 10 Index Page 56 User Manual for Setup Software PDrive 2009 top innovator EN gt KOPROFIT Deutscher Akkreditierungs Rat a Ly DAT I 010 05 TA EN 150 900 A REG NO 2462 gt In many countries we are represented by our subsidiaries and sales partners Please refer to our homepage for further details or contact our headquarters Pilz GmbH amp Co KG Felix Wankel Stra e 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail pilz gmbh pilz de gt www www pilz com gt Technical support 49 711 3409 444 support pilz com pilz 21 511 EN 11 2010 03 Printed in Germany Pilz GmbH amp Co KG 2009
32. elocity Deadband ANDB Suppresses small input signals Analog Output 1 2 ANOUT1 ANOUT2 PMCtendo DD4 only Configuration of the analog outputs Page 32 User Manual for Setup Software PDrive 9 Project window 9 2 9 2 1 gt D D Positioning Homing Homing Homing Direction of Motion 1 positive v Homing Speed 500 ums Reference Offset 0 counts Acceleration Ramp 10 ms Deceleration Ramp 10 ms Reference traversing homing is an absolute task that is used to zero the drive for subsequent positioning operations You can choose between various types of homing After homing the drive reports InPosition and then enables the position controller in the servo amplifier The limit switch functions 2 PSTOP and 3 NSTOP must be activated for digital inputs 3 or 4 to achieve full homing functionality Be sure that the zero point of the machine reference point is in a position that allows the subsequent positioning operations The software limit switches that were set as parameters may be ineffective The axis could move to the hardware limit switch or even the mechanical stop There is a risk of damage If the reference point zero point of the machine is approached with excessive velocity for instance because of high moments of inertia it may be overshot and in the worst case move to the hardware limit switch or even the mechanical stop There is a risk of damage The position co
33. er at X1 is deactivated No overflow surveillance DRVCONFIG Bit 7 Overflow monitoring of a multi turn encoder is switched off Single turn executed as multi turn encoder DRVCONFIG Bit 8 A single turn encoder is treated as a multi turn encoder The absolute position within a revolution is taken on power up A reference run is not required Angle of rotation Shows the mechanical angle of rotation Page 22 User Manual for Setup Software PDrive 9 Project window 9 1 5 Motor Motor Motor Type Current Advance elect 1 Rotary Motor v p 0 a Inmax lo Number of Poles Motor Unit Limit Phi elect 5 A 6 v 0 1 min v Hz lo max L ES A 1 mH Stator Wind Resistance aus 1 i 3000 Maximum Speed Brake wena em 3000 rpm 0 without v Velocity threshold commutation error 1500 rpm Motor Type MTYPE MTYPE sets the amplifier s control algorithms to different motor types lo MICONT The standstill current is the r m s current value that the motor requires at standstill to produce the standstill torque defines the maximum value for the entry of Irms in the current controller lomax MIPEAK The peak current r m s value should not exceed 4 x the rated current of the motor The actual value is also determined by the peak current of the servo amplifier that is used defines the maximum value for the entry of Ipeak in the current controller 1 1 El Therm Time Constant MTIME PMCtendo DD5
34. hi Rated Speed MVR Induction Motor only In asynchronous motor mode the parameter MVR must be set to the rated speed of the motor This is the threshold for the start of field attenuation Rotor Time Constant MTR Induction Motor only Defines the rotor time constant under rated load Tr Lh Rr Lh is die magnetizing inductance and Rr is the rotor resistance Field Level MIMR Induction Motor only Magnetizing Current Induction Motor KP GF Induction Motor only Proportional gain P of the flux controller The flux controller is implemented as a PI controller TN GFTN Induction Motor only Reset I time of the flux controller Field Correct Factor MCFW Induction Motor only Correction factor for field weakening The correction factor compensates for non linearity of the motor inductance with reducing magnetizing current by increasing speed during field weakening Slip Correct Factor MCTR Induction Motor only Correction factor for the rotor armature time constant increases the torque in the field weakening range stationary range Rated Frequency MFR PMCtendo DD5 and PMCprotego D with asynchronous motor only Rated frequency of the asynchronous motor Rated Voltage MUR PMCtendo DD5 and PMCprotego D with asynchronous motor only Rated voltage of the asynchronous motor Initial Voltage Factor VSTART PMCtendo DD5 and PMCprotego D with async motor only
35. igital 1 0 Digital Inputs Function Yars Input 1 Input 2 Input 3 Input 4 Ditital Outputs Function var Dutput 1 D Off v 0 Dutput 2 0 Off mj 0 Input 1 Input 4 IN1MODE IN4MODE The command is used to configure the function of the digital inputs Var x IN1 TRIG IN4TRIG Auxiliary trigger variable for the digital inputs Output 1 Output 2 O1MODE O2MODE You can combine the following standard pre programmed functions with the digital outputs Var x O1TRIG O2TRIG Auxiliary variable for the digital outputs User Manual for Setup Software PDrive Page 31 9 Project window 9 1 12 DDA Analog I O Analog 1 0 Analog Inputs Function 1 Analog In 1 Velocity Cmd Analog In 2 Current Cmd Analog Input 1 Offset 0 mi Analog Output 1 Filter 1 ms Velocity Scale 3000 tpm 10 Current Scale 6 AmO Analog Input 2 Analog Output 2 Offset 0 m Velocity Scale 3000 tpm 10 Current Scale 6 AATOV Velocity Deadband 0 mv Analog Inputs Function ANCNFG The ANCNFG command configure the analog inputs Offset ANOFF1 ANOFF2 Adjust the axis to standstill while the setpoint SW 0V Filter AVZ1 AVZ2 You can enter a filter time constant here for setpoint 1 clock rate 8 kHz 1st order filter Velocity Scale VSCALE1 VSCALE2 Scaling of the speed setpoint value Current Scale ISCALE1 ISCALE2 Scaling of the torque setpoint value V
36. ines the number of increments per turn that are output ROD Zero Pulse Offset ENCZERO Determines the position of the zero marker pulse when A B 1 The entry is referred to the zero crossing of the feedback unit Transmit Timeout SSI SSITOUT PMCtendo DD5 and PMCprotego D only The command SSIOUT sets the monoflop timeout of the SSI transmission No of Bits Multi Single Turn SSIREVOL PMCtendo DD5 and PMCprotego D only Command SSIREVOL sets the number of turns MultiTurn for SSI Transmission Baud Rate SSIOUT PMCtendo DD4 only Determines the serial transmission rate Change this only while the amplifier is disabled SSI Takt SSIINV PMCtendo DD4 only Determines whether the output level is normal or inverted Change this only while the amplifier is disabled SSI Code SSIGRAY Determines whether the output is in binary or GRAY code Change this only while the amplifier is disabled Number of SSI bits to read SSIRXD PMCtendo DD5 and PMCprotego D only Establishes the number of SSI bits to read Input Edge ENCCAPT PMCtendo DD4 only Determines the triggering edge and thus the quiescent level of the clock line Change this only while the amplifier is disabled SSI Mode SSIMODE PMCtendo DD4 only Determines the encoder type Single turn or Multi turn Page 30 User Manual for Setup Software PDrive 9 Project window 9 1 11 Digital I O D
37. it Warning Setpoint actual value m Remote Setpoint reached Limit active Mode dependent Mode dependent Manufacturer specific Manufacturer specific Close On this screen page the bit states are displayed for the control word STW and the status word ZSW The instrument state given by the status word is made visible in the state machine The present state is shown in black All other states are shown in gray In addition the previous state is indicated by accentuation of the number for the corresponding arrow symbol User Manual for Setup Software PDrive Page 51 9 Project window 9 5 4 Expansion card PMCprimo If a PMCprimo MC1P expansion card is installed in the servo amplifier servo amplifier edition PMCprimo Drive2 3 several parameters have to be set on defined values and therefore they cannot be edited by the user When connecting PDrive to the servo amplifier those parameters are checked and set automatically on their defined values After that the access to these parameters is denied for the user The following message appears while saving the parameters on the servo amplifier PDrive E Expansion Card PMCprimo e The primo default parameters have to be loaded The motor must be disabled Yes Load primo default parameters No Connect without loading primo default parameters Cancel Disconnect Nein Abbrechen PMCprimo default values Analog Outputs 1 2 ANOUTx 6 Digi
38. itch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark User Manual for Setup Software PDrive Page 36 9 Project window 9 2 1 5 Homing type 3 Before starting homing check the safety of the system since the load may move even if the limit switches are disconnected or defective Homing with limit switches with homing switch without feedback zero Negative traverse positive count direction In R R R lp N L P N AA P IN Ri P SP SP1 SP Vret Vret 4 HVref i y N SE ROA h A Initial point in positive direction Initial point in negative direction Initial point at limit switch from reference switch from reference switch Positive traverse positive count direction FA h Pb A P i tsp Vret Ver a i 1 s Ss Initial point in positive direction Initial point in negative direction Initial point at limit switch from reference switch from reference switch 9 2 1 6 Homing type 4 Homing with limit switches without homing switch without feedback zero Negative traverse positive count direction N P N P Rg ahd SP or i Vref i Vref i i a S S Vref Vref Initial point in positive direction Initial point at limit switch from limit switch Positive traverse positive count direction N P N
39. k you can change the actual servo amplifier here The following message box appears t Change servo amplifier e After clicking Yes PDrive reads the data of the chosen servo amplifier Page 16 User Manual for Setup Software PDrive 8 Use 8 3 7 Project window In a structure similar to Windows Explorer links to all screen pages are listed that you need for setup optimizing and monitoring of the servo amplifier The selected screen is shown in the main frame T PMCprimo Drive 2 MOTOR3 J Setup Basic Setup Units CAN Fieldbus Feedback Motor Current Loop Velocity Loop Position Loop Electronic Gearing Encoder Digital 1 0 Analog I O EEEEEEEREEEE o Pa o 2 pa oa P Homing Position Data Motion Tasks 3 Position Registers H Expansion Card i Status Monitor E Ea The top level of the tree shows the name of the connected servo amplifier PMCprimo Drive2 MOTOR3 in the example Below there is a summary of all pages for parametrization and setup of the servo amplifier Setup Positioning combines all pages which deal with moving and motion tasks Under Expansion Card you can setup expansion cards Status and Monitor display the current status of the servo amplifier and important parameters User Manual for Setup Software PDrive Page 17 9 Project window 9 1 9 1 1 1 Prol 7 DD5 Project window
40. lifier Load default parameters to RAM EEPROM Reset all parameters and load the default parameters to RAM EEPROM PTerm Starts PTerm exe PScope Starts PScope exe PEdit Starts PEdit exe PMotion Starts PMotion exe PrimoFTP Start primoFTP exe STOP amplifier Stopps the current service function and disables power stage ENABLE Enables power stage DISABLE Disables power stage RESET amplifier Software reset of servo amplifier Clear Fault Clears the current errors and warnings Help topics Starts online help for PDrive Info Displays program information version number and copyright of PDrive Current device In offline mode selection as to whether a DD4 DD5 or PMCprotego D parameter file is to be created In online mode displays whether there is a connection to DD4 DD5 or PMCprotego D User Manual for Setup Software PDrive 8 Use 8 3 4 Service bar cCtawxter GOOG With the service bar you have a direct access to important service functions of the servo amplifier PTerm Starts PTerm exe PScope Starts PScope exe PEdit Starts PEdit exe Save Saves the current parameter motion task data set to a data medium hard drive floppy disk If the data set does not yet have a file name you will be prompted to enter a name and storage location Load Opens a parameter file A parameter data set is read from the data medium hard drive floppy disk If
41. n Drive Standalone CANopen OFFLINE Connect PC lt gt amplifier 12200008 SAVE LOAD SAVE CLEAR Servo amplifier mode Axis Hardware Expansion Card Software 0 Digital Velocity v none Son For Help press Fl The program name and the name of the currently opened document are displayed in the title bar Furthermore the connection status will be shown connected or not connected The typical Windows style buttons can be used for a direct start of individual functions Access to several program functions using Windows menus The main frame allows changing parameters monitoring actual values of the servo amplifier and selecting functions The lower part of this window shows the communication status the operate mode the expansion cards and the axis status In a network the servo amplier can be changed in this window too Service functions for operating the servo amplifier Current information about the data communication is shown here In a structure similar to Windows Explorer links to all screen pages are listed that you need for setup optimizing and monitoring of the servo amplifier The selected screen is shown in the main frame The top level of the tree shows the name of the connected servo amplifier User Manual for Setup Software PDrive Page 11 8 Use 8 3 1 Title bar The program name and the name of the currently opened document are displayed in the title bar Furthermore the
42. ncy Stop functions must fulfil the requirements of EN 60204 EN 292 and VDI 2853 User Manual for Setup Software PDrive Page 7 7 Installation 7 Installation 7 1 Hardware requirements Minimum specification for the PC Operating system Windows 2000 XP Vista or 7 Hardware Minimum requirements of operating system Interface one free serial interface Ethernet interface optional 7 2 Installation under Microsoft Windows US PC interface X6 RS232 of the servo amplifier is connected to the serial interface of the You can order the necessary programming cable from us or make one up yourself The pin assignment can be found in the installation manual of the servo amplifiers Start your PC and insert the Motion Control Tools CD into the CD ROM drive The installation software will start automatically Otherwise start Minstall exe on the CD ROM Click on Install Motion Control Tools and follow the instructions Page 8 User Manual for Setup Software PDrive 8 Use 8 1 8 2 Use Notes The setup software is basically used in the same way as other Windows programs Use a decimal point as the decimal symbol do not use a comma Please note that after an alteration in a parameter on a screen page you must first press Return or select an other parameter on the page so that the parameter is transferred to the RAM of the servo amplifier If a reset of the servo amplifier is necessary
43. ntroller cannot be operated without first making a reference traverse homing A homing reference traverse must be made after the 24 V supply voltage has been switched on The start signal must not be removed during homing The start signal must remain present until the InPosition message appears The SW enable is set automatically when homing starts Homing is only started in OPMODE 8 However the SW enable is set in all OPMODEs The drive can be accelerated by an analog setpoint that is applied if the START command is executed in OPMODE 1 or 3 User Manual for Setup Software PDrive Page 33 9 Project window 9 2 1 1 Homing NREF You can choose which type of reference traverse should be performed No Function Reference point is O Set Home Reference the setpoint position immediately 1 Home Switch and Zero the first feedback zero mark outside the home Pulse switch 2 Limit Switch and Zero Pulse the first feedback zero mark outside the limit switch 3 Home Switch without Zero the edge of the home switch Pulse 4 Limit Switch without Zero the edge of the limit switch Pulse 5 within one Revolution and the next feedback zero mark Zero Pulse 6 Set Ref Point immediately the actual position on Position Command 7 Move to Mechanical Stop the first feedback zero mark outside the mechanical stop Ref Ipeak and Zero Pulse Peak current is limited to Homing Ipeak during the m
44. o amplifier With very little effort you can alter parameters and instantly observe the effect on the servo amplifier since there is a continuous online connection to the amplifier At the same time important actual values are read out from the servo amplifier and displayed on the monitor of the PC Any interface modules expansion cards which may be built into the servo amplifier are automatically recognized and the additional parameters required for position control or motion block definition are made available You can save sets of data on data media archiving and load them again You can also print out the data sets We provide you with default sets of motor specific data for all the reasonable combinations of servo amplifier and motor In most applications you will be able to commission your drive without any problems just by using these default values Knowledge of the Microsoft Windows operating system and the use of a personal computer is assumed You must follow the safety installation and commissioning instructions in the installation manual for the servo amplifier that is used We provide training and familiarization courses on request Page 6 User Manual for Setup Software PDrive 6 Prescribed use Use as directed 6 gt gt D Prescribed use Use as directed The setup software PDrive is intended to be used for altering or storing the operational parameters for the servo amplifiers
45. on register SWCNFG is a binary coded bit variable and is transferred to the ASCII terminal program as a decimal number at Position SWE1 SWE2 The variable contains the position value for the position register User Manual for Setup Software PDrive Page 41 9 Project window 9 2 3 9 2 3 1 1 Prol 1 DDA 1 DD5 Motion task Overview Motion Tasks 0_P D_Y oc O_ACC O_DEC O_TAB O_FN O_FT Type A 10 00 y MM A wN de Ye Current Position counts Number Edit Motion Task Reference Point Delete all For each positioning task you must define motion tasks These motion tasks are selected by a motion task number and stored in the servo amplifier Motion task No Memory Precondition Note 1 180 EEPROM output stage disabled permanently stored 192 255 RAM none volatile storage When the servo amplifier is switched on the RAM motion tasks are automatically initialized with the parameters of the EEPROM motion tasks 1 64 Motion task No Memory Precondition Note 1 200 EEPROM output stage disabled permanently stored 201 300 RAM none volatile storage When the servo amplifier is switched on the RAM motion tasks are automatically initialized with the parameters of the EEPROM motion tasks 1 100 All motion tasks are represented in tabular form All motion task parameters can be entered in the table directly The stan
46. operational time of the servo amplifier saved at 8 min intervals Page 18 User Manual for Setup Software PDrive 9 Project window Ambient temperature switch off threshold MAXTEMPE Definition of the threshold for the maximum permitted ambient temperature If this value is exceeded an error is triggered Set Software Enable on Bootup AENA Definition of the status of the software enable on switching on the instrument or after using Reset to clear errors Quick Boot BOOT This can be used to change the behaviour of the amplifier during the initialisation phase If Quick Boot is activated the internal servo amplifier settings will only be recompiled when changes are made 9 1 2 Units Units User Units Position D Incr v Velocity 0 Standard Mode v Acceleration 0 ms v Mechanical Conversion 1048576 counts Resolution 1 Motor Revs Position PUNIT Definition of the global unit for all position dependent parameters of the position controller Velocity VUNIT Definition of the global dimensional unit for speed and velocity This unit applies to all speed velocity dependent parameters of the speed position controllers Acceleration ACCUNIT Definition of the dimensional unit for acceleration This unit is used for the ramps of the trajectory generator as well as for the braking acceleration ramps of the speed controller Resolution counts Motor Revs PGEARI PGEARO Y
47. ou can use the entry fields in this equation to determine the transmission ratio User Manual for Setup Software PDrive Page 19 9 Project window 9 1 3 CAN Fieldbus CAN Fieldbus Fieldbus Settings Adress Source for fieldbus synchronization 0 0 none v External Watchdog 100 FPGA functionality 0 Digital encoder simulation output x5 v CAN Baud Rate CAN open 500 kBaud v Address ADDR The entry is the station address 1 63 of the servo amplifier This number is required by the fieldbus and for the parameter setting of the servo amplifier in multi axis systems for an unambiguous identification of the servo amplifier within the system External Watchdog EXTWD Definition of the monitoring watchdog time for fieldbus slot communication This monitoring is only active when the value is greater than O and the output stage is enabled Source for fieldbus synchronization SYNCSRC Defines the synchronisation source if the control loop is synchronised via an interface J FPGA functionality FPGA PMCtendo DD4 only DD4 Defines the FPGA program that is to be loaded in the initialisation phase Baud Rate CAN open CBAUD The entry is the transmission rate of the servo amplifier Page 20 User Manual for Setup Software PDrive 9 Project window 9 1 4 D J Prolego DDS 1 DDA Feedback Feedback Feedback Type 0 2 Hiperface v Offset Bandwidth 0 300 Encoder Lines Observer Feedforward 270 8 90 1000 0 5 Feedb
48. ovement see screen page Current Loop 8 Move to an absolute SSI the read position from the SSI input at the Position beginning of the homing 9 Move to Mechanical Stop the actual position when the drive is at the mechanical Ref Ipeak without Zero stop and the following error reaches Pulse 50 of the max allowable following error Peak current is limited to Homing Ipeak during the movement see screen page Current Loop Direction of Motion DREF Determines the direction of motion for homing The setting distance dependent is only relevant for Homing 5 within one turn In this case the direction is chosen to give the shortest distance to the zero mark This parameter also defines the direction of motion for a Modulo type of axis Homing Speed VREF Speed for the homing operation The sign is automatically fixed by the selected direction of motion Reference Offset ROFFS With the reference offset you can assign an absolute position value other than 0 to the reference point With an offset for the reference position you are not actually making a physical change but the offset is used as a reference value within the position control of the servo amplifier Homing to the reference switch does not finish at zero but at the preset reference offset value The reference offset must be set before homing is started Acceleration Ramp ACCR Acceleration ramp for homing operation This
49. pilz Motion Control PMC 1 General Information 1 1 1 2 1 3 General Information Copyright Copyright 2010 Pilz GmbH 8 Co KG All rights reserved The implementation of technical changes which improve the performance of the product is subject to change without prior notification The product or parts of the content may be reproduced or transmitted in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Pilz GmbH 8 Co KG Notice Pilz GmbH 8 Co KG reserves the right to make amendments to this document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Although the utmost care has been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the improvement of our products or documentation We reserve the right to make technical changes which lead to the improvement of the product Previously published editions Version Notes 12 2001 Initial version valid from software version version 2 01 V1 16 07 2002 Revised version valid from software version 2 03 V2 20 11 2002 Revised version valid from software version 2 04 V3 10 06 2003 Revised version valid from software version 2 05 V4 11
50. set length number number of signals in one cycle max 30 Start offset Start position 1 CAM Length CAM length Example CAM1 5 1000 500 Output 01 5 CAM 1 CAM starts at 1000 each CAM 500 units long Number 0 deletes the definition Cycle length CYCLES Defines the whole cam cycle in CYCLES 2 motor cycles Position mode CYCLEMODE 0 normal positioning Rotating direction depends on the actual position 1 shortest positioning The cycle length is considered the axis takes the shortest way to the position only positive positioning The axis moves only in positive direction only negative positioning The axis moves only in negative direction User Manual for Setup Software PDrive Page 49 9 Project window 9 5 2 Expansion card D1 Expansion card D1 Start_MT_Tippx 12 e GND 12 Start_MT_Next 11 244Dc 11 F_Error_Clear 10 2 Reserved 10 e Reference 9 C PosReg4 9 PS ar 8 17 PosReg3 8 AG 7 1 PosReg2 7 gt A5 6 PosReg1 6 5 a 5 o F_Error R e A3 4 HextinPos 4 e Aa 3 InPosition 3 e M 2 gt Start MT Ho x 2 6 ao 1 kd MT Restat 1 o ERR 6 24V This screen is available only if an I O extension card is inserted into the servo amplifier The status of the 14 additional inputs and 8 outputs is displayed here Page 50 User Manual for Setup Software PDrive 9 Project window Profibus DP Expansion card Expansion card Profibus Baud Rate KBaud Addre
51. ss PROFIBUS Interface States Watchdog State DP State Input Output Buffer PKE Output PKE Input PPO Type PNO Ident no PKW PWE PWE M tendo DD4 P Bus Control Interface lt Output in e PZD E Profibus STW HSW PZD3 PZD4 PZD5 PZD6 z5w Hw PZD3 PZD4 PZD5 PZD6 Device Control This screen is available only if a PROFIBUS extension card is inserted into the servo amplifier The PROFIBUS specific parameters the bus status and the data words in the transmit and receive directions as seen by the bus master are displayed on this screen page This page is helpful when searching for errors and commissioning the bus communication The data for input output are only transferred if the threshold monitoring for the servo amplifier is active in the master s hardware configuration Instrument Control Profibus Device Control Control word STW Switch on Inhibit voltage Fast stop switch on i Operation enabled Fast stop inh ramp Pause stop rfg Setpoint enable Reset Fault Jogging on off reserved PZD enable inhibit Start homing run fe Manufacturer specific 010 0 3004200 oo ste eA et A Manufacturer specific Manufacturer specific Manufacturer specific ety gs no State Diagram Status word 25 W dan on oone n 12 11 Ready for switch on Switched on Operation enabled Error Voltage inhibited Fast stop Switch on inhib
52. tal Inputs 1 2 3 4 INxMODE 0 Setpoint Ramp ACC DEC 1 Ambient Temperature Switch off Threshold MAXTEMPE 65 FPGA functionality FPGA 0 Source for fieldbus synchronization SYNCSRC 0 Attention The automatically loading of PMCprimo default values can be deselected in the menu Tools gt Options Changing the PMCprimo default values can cause unexpected effects in the amplifier Page 52 User Manual for Setup Software PDrive 9 Project window 9 5 5 Expansion card PMCprotego S Expansion card PMCprotego S y E t ID No SerialNo Version gts Dupas tO Wl Niece ae 551 SIL3 Reset O Status Interface 552 e STO Ack a Pwer Q STO e sos e E ee cla Run O SLS O cd Config Y Speed SSR e A Fault oO SDI Left a SBT Waming Y SBT 2 SIL3 STO e Error Stack h mm ss No Index CPU Error Pare lt gt In online mode this view displays status information along with the error stack from a built in PMCprotego S expansion card The expansion card is configured using the software PASconfig SDrive If PDrive detects an installation of the PMCprotego S configuration software a button to start activate PASconfig SDrive will automatically be displayed User Manual for Setup Software PDrive Page 53 10 Index 10 Index A ERND ni esti team dentate tet 40 Expansion Card cccessceeeeseeeeeesneeeeeennneeeees 49 Alina as 26 52 Expansion card DA tees 49 A A 34 Expansion card PMCpriMO
53. the servo amplifier Load default parameters to RAM EEPROM Reset all parameters and load the default parameters to RAM EEPROM Toolbar Status bar Service bar Switch to show hide the toolbar above or the service bar and status bar below Programs PTerm PScope PEdit PMotion primoF TP Starts the tools PTerm terminal program PScope scope function PEdit text editor PMotion motion generator or primoFTP PMCprimo FTP program Page 12 User Manual for Setup Software PDrive 8 Use Service STOP amplifier Stops the current service function ENABLE amplifier Enables the servo amplifier by software DISABLE amplifier Disables the servo amplifier by software RESET amplifier Software reset of servo amplifier CLRFAULT Clears the current errors and warnings Options Settings for using the program Show tooltips Default values for PMCprimo Drive User Manual for Setup Software PDrive Page 13 8 Use 00900750 y Tool bar eH A248 08 B ARMe 0000 Sw PmCtendoDDA Y All symbols of the toolbar and their meaning Standard Windows New open save Search print send Connect Disconnect PC lt gt amplifier Reads actual parameters from the amplifier Clicking again diconnects the communication Save parameters to EEPROM Saves the current parameter data set permanent in the EEPROM of the servo amp
54. to control loop deviations gt smaller following error A very wide bandwidth only makes sense with low moments of inertia low KP and very high values of acceleration A narrower bandwidth produces a filter effect The speed and positional control are smoother the encoder emulation is quieter as well Observer Feedforward VLO This parameter applies a dynamic pre control to the actual value detection Luenberger monitor particularly for resolver feedback It reduces the phase shift in the detection of the actual value thus improving the stability of the speed control With VLO 1 the pre control is set to optimum with VLO 0 the monitor is switched off Feedback Filer Mode FLTMODE PMCtendo DD4 only Feedback Filter Mode User Manual for Setup Software PDrive Page 21 9 Project window 1 y Prolego DD5 m y Profago DDS Number of multi turn bits SSIREVOL PMCtendo DD5 and PMCprotego D only Defines the number of multi turn bits in an SSI communication Number of SSI bits to read SSIRXD PMCtendo DD5 and PMCprotego D only Establishes the number of SSI bits to read Resolver Signal RK The RK parameter can be used to correct any amplitude difference that may exist between the sine and cosine signals from the resolver Press the button Calculate RK for automatic calculation No overvoltage surveillance DRVCONFIG Bit 6 Monitoring of the maximum voltage of the sine cosine encod
55. upply BTB F20 Slot error F23 CAN bus off Actual Warnings no Unit Soft Frrrnwn o 3 3 mech Inc tpm 1pm counts counts mv mv Count 42 148 180 11 The actual error status and the run time monitor of the servo amplifier are displayed here Compare to the runtime status you can simply calculate when an error occurs Top left is the error history with the time run time when the error occured Top right is information about the frequency for every error Below these frames the actual errors and warnings are listed You can find a list of all warnings and error messages in the installation manual of the servo amplifier Digital In Outputs IN1 IN2 IN3 IN4 Enable OuT1 DUT2 Page 48 User Manual for Setup Software PDrive 9 Project window 9 5 9 5 1 1 DDA Screen page Expansion Card The design of screen page expansion card depends on the installed expansion card Expansion card DA1 Expansion card DA1 CAM 1 Count 5 Start offset 1000 Lengtt 500 CAM 2 0 0 0 Positioning Mode in in 0 normal positioning E in 0 1048576 um Cycle length 2 x pi um Rev 1048576 Rev The expansion card DA1 is available only for PMCtendo DD4 with a special firmware version For getting information please consult our applications department CAM 1 CAM 2 CAM1 CAM2 Position cams for the digital outputs O1 and 02 Syntax CAMx number Start off
56. y opened data set in PDrive will be overwritten with the new data Connect PC lt gt amplifier Connecting to the servo amplifier Reading parameters from the servo amplifier If there is no communication possible you will receive this message Could not connect to the servo amplifier In this case check the following 1 Is the servo amplifier s 24V supply voltage connected 2 Has the correct PC interface been selected 3 Has the correct servo amplifier interface been selected 4 Has an incorrect connection cable been used 5 Has the correct baud rate been set Find the error rectify it and then restart the connection Page 10 User Manual for Setup Software PDrive 8 Use 8 3 Title bar Tool bar Menu bar Project window Main window Service bar Status bar Title bar Tool bar Menu bar Main view Service bar Status bar Project window Screen layout Jj Demo pdr PDrive not connected File Commypication View Programs Service Tools Sid Bee MFA sB Fe 001000 Y Y Pmctendo DDA 3 p BPMCtendo DD4 DRIVEO a p Setup E Basic Setup E Units ES Can Fieldbus ES Feedback E Motor ES Current Loop ES Velocity Loop E Position Loop E Electronic Gearing E Encoder E Digital 1 0 Analog I 0 Ea Positioning E Homing E Position Data E Motion Tasks E Position Registers a Expansion Card i Status ES Monitor Welcome to PDrive Servo amplifier selectio
57. zero Negative traverse positive count direction Positive traverse positive count direction spr I Vre AAN The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark Page 38 User Manual for Setup Software PDrive 9 Project window 9 2 1 10 9 2 1 11 Homing type 8 Prerequisite an absolute encoder SSI is connected to to the encoder input X1 of the servo amplifier When the homing starts the absolute position is read at connector X1 The reference point is set to this position The load does not move Homing type 9 Using this type of homing can damage the mechanical stop on the machine The peak current Ipeak and the continuous current Irms are limited for the duration of the homing run A more severe limiting of the current is possible see parameter Homing Ipeak on screen page Current Loop Mechanical stop without limit switches without homing switch without feedback zero Negative traverse positive count direction Positive traverse positive count direction The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark
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