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Application Manual - Harmonic Drive AG

1. Hardware enable el OFF 0 Hardware enable powerstage P 0100 S STAFIT Hager arabia eite Terminal digital ISDSH 0 Activate Safety Torque Of f STO P 0108 E NDA Figure 97 Function selector Screens for the digital inputs Digital standard inputs Low active Digital Filter p START 1 Start motor control Po101 v D 0 me spot E EXT 11 Extemal error PO102 v D 0 ms ISD02 HOMST 3 Start homing Po103 0 gt v O ms SD05 HOMSW 10 Homing switch P0104 0 v o 0 ms Onions SDD4 TBEN 21 Enable selected table indexP 0105 0 v oO ms SDD5 TABO 23 Binary table index 2 0 P0105 0 v Fl ms SD06 TAB1 24 Binary table index 2 1 P 0106 0 v o ms P 0118 1 7 Enable power stage hardware P 0118 0 ENPO OFF 0 Hardware enable powerstage P 0100 0 gt ms Options Show status of digital inputs Figure 98 Screen for the digital inputs 124 Harmonic Drive AG YukonDrive 1003374 01 2012 Set control and reference Control via Reference via Motor control start condition Profile Profile mode Back Setting of control and setpoint channel cy O scaling of motion profile _ _ _ TERM 1 via terminals v TAB 3 via table v OFF Q Switch off drive first in case of power or fault reset v PG 0 setpoint effects to profile generator v LinR amp 0 Linear ramp trapeziodal profile v
2. Stator resistance 0 905 Ohm Stator inductance 33 mH Start calculation Show motor parameters Figure4 Calculation of Motor data Harmonic Drive AG YukonDrive 1003374 01 2012 m Enter motor data m Click the Calculation button The motor data relevant to the calculation must be entered manually from the data sheet figure 3 This initiates m Current controller tuning The current controller is automatically optimized m Calculation of operating point m Calculation of current speed and position control parameters m V F characteristic boost voltage rated voltage rated frequency A Attention All previous speed and position control parameters are overwritten Recommended It is advisable to use motor identification to determine the motor data The motor impedances do not need to be known for this as they are measured in this procedure If motor identification fails or if the motor is physically not present motor calculation provides an additional method of determining the motor data set 2 3 Linear motor The motor data of a PS linear motor is always determined by calculation To make the calculations based on the char acteristic quantities for a linear motor P 0490 LIN 1 the parameter automatically sets the number of pole pairs for the motor to P 0463 1 As a result a North to North pole pitch corresponds to one virtual revolution P 0492 PS Linearmotor Calculation of control settings for
3. 154 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency Error P no n e a Error code FError name Error location Description of error code register P 0030 SERCOS DS 402 DS 402 9 ComOptSercos PhaseSwitch SERCOS Faulty phase switching I R OxFFOO 0x1000 Down Down shift d SERCOS Faulty phase switching u 0 ComOptSercos_PhaseSwitchAck gee OxFFOO 0x1000 missing acknowledgement N SERCOS Faulty initialization of w 1 ComOptSercos_InitParaList i OxFFOO 0x1000 SERCOS parameter lists 2 ComOptSercos RunTimeError SERCOS Various runtime errors OxFFOO 0x1000 3 ComOptSercos_Watchdog SERCOS Hardware watchdog OxFFOO 0x1000 SERCOS Error in parameteriza 4 ComOptSercos_Para tion selection of OP mode IP OxFFOO 0x1000 times etc 14 EtherCat 1 ComOptEtherCat_Sm_Watch EtherCat Sync Manager0 0x8130 0x8000 dogO Watchdog 2 ComOptEtherCat Wrong EtherCat Parameter error gt 0x8130 0x8000 EepData parameter data implausible EtherCat Internal RAM 3 ComOptEtherCat_RamError 0x8130 0x8000 error amp x91 15 Parameter Error in current monitoring 1 Parameter MON Device Current 0x2350 0x8000 initialization 2 Parameter MON I2t Motor protection 0x2350 0x8000 Autocommutation Plausibility 3 Parameter CON ICOM OxFFOO 0x8000 tolerance exceeded 4 Parameter CON FM Field model OxFFOO 0x8000 5 Parameter CON Timing Basic initialization of control OxFFOO 0x8000 6 Parameter
4. P 0165 Sampling Time OFF 0 ew Controll ANAO Motion profile Basic settings l wiwa isq_ref isq ref TAB 3 ReferenceValuei Normierungs erermcevalue Interpolator Feed forward controll User units assistent in Uncrements n_ref n_ref not defined 4 Pici CiA DS402 peus M Convo SERCOS eee eps_ref NI controler PARA 6 User CiA DS402 7 SERCOS 8 PROFIBUS 9 VARAN 10 BUS Sampling time 1 ms Figure 82 Position control in IP mode 5 2 8 Smoothing and Speed offset Parameter name gt n k P no Designation in DM 5 Function Settings P 0166 MPRO_REF_JTIME Motion profile jerk time Setting of smoothing time jerk limitation I The reference is weighted in percent dependent on the P 0167 MPRO_REF_OVR Motion profile speed override factor maximum specified reference value Due to the jerk limitation the acceleration and deceleration times rise by the smoothing P 0166 The smoothing settings field appears on the screen only when JerkLin 3 Jerk limited ramp is set in parameter P 2243 Profile type With speed override P 0167 the maximum preset speed reference can be scaled in percent 104 Harmonic Drive AG YukonDrive 1003374 01 2012 Position mir Verschliff 2000ms Position ohne Verschliff x e C Q 2 d l amp Q Lefty gt XY 0 443 1401 Positionierung ohne Verschliff Figure 83 Without smoothing Red actual speed value Grey actual position 2 Position mir Verschliff 2000
5. Application Manual AC Servo Controller YukonDrive Harmonic Drive AG 1003374 01 2012 Contens 1 Power stage 1 1 Setting the power stage parameters 2 Motor 2 1 Loading motor dat 2 1 1 Motor selection 2 2 Data sets for third party motors 2 2 1 Determining the data set for a rotary synchronous machin 2 3 Linear motor 2 4 Asynchronous motor 2 4 Electrical data 2 4 2 Saturation characteristic for main inductance 2 5 Motor protection 3 Encoder cesses 3 1 SinCos X7 channel 1 3 1 1 Zero pulse evaluation via encoder channel 1 3 1 2 Overflow shift in multiturn range 3 1 3 Use of a multiturn encoder as a singleturn encode 3 1 4 Encoder correction GPOC 3 2 Resolver X6 channel 2 3 3 Optional encoder module X8 channel 3 3 4 Encoder gearing 3 5 Increment coded reference marks 3 6 Pin assignment for X6 and X7 X8 4 Contrel enaena 4 1 Control basic setting 4 2 Current control 4 2 1 Detent torque compensation Anti cogging 4 2 2 Advanced torque control 4 2 3 Current control with defined bandwidth 4 3 Speed control 4 4 Position control 4 5 Asynchronous motor field weakening 4 6 Synchronous motor field weakening 4 7 Autocommutation 4 8 Commissioning 4 8 1 Autotuning 4 8 2 Test signal generator TG 4 9 Motor test via V F characteristi 4 10 Axis correction 5 Motion profile 5N Stalinga teta 5 1 1 Standard DS 402 Profile 5 1 2 USER s
6. 10 EncCH1Init_EnDat2 1_ An attempt was made to write to the 0x7305 0x20 WriteToProt K protection cells in the encoder 11 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 s 0x7305 0x20 SscTimeout imeout on SSC transfer 12 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 ims A 0x7305 0x20 StartbitTimeout Imeout no start bit from encoder 13 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 ote 2 0x7305v 0x20 PosConvert Position data not consistent s Encoder channel 1 initialization SSI Plausi 14 EncCH1Init_SSI_Lines S HU 0x7305 0x20 ility check Lines from encoder 15 EncCHIInit SSI Encoder channel 1 initialization SSI Plausi i 0x7305 0x20 Multiturn bility check Multiturn from encoder 16 EncCHTInit SSI Encoder channel 1 initialization SSI Plausi m 3 n 0x7305 0x20 Singleturn bility check Singleturn from encoder 17 EncCHIInit SSI Encoder channel 1 initialization SSI Parity n 0x7305 0x20 ParityPos error position transfer 18 EncCH1Init_SSI_ Encoder channel 1 initialization SSI 0x7305 0x20 SscTimeout Timeout on SSC transfer 19 EncCH1Init_SSI_ Encoder channel 1 initialization SSI Posi I 0x7305 0x20 PosConvert tion data not consistent 20 EncCH1Init_SSI_ Encoder channel 1 initialization SSI a 0x7305 0x20 EncObs Encoder monitoring bit 21 EncCH1Init_Hiperface_ Encoder channel 1 error initializing Hiper E N 0x7305 0x20
7. aktual value P 0407 0 TUM CN P 0332 CON SCON TMaxScale 5 P 0407 0 OVR 3 4 P 0167 MPRO REF OVR 10V P 0406 ISAO P 0405 Analog Channel ISA0 ISA1 Analog Channel Profilegenerator r REFV 2 sr ma Offset Scale E CONES m t gt P0183 bis P 0187 ISA01 9 esa crm Control In Out P 0109 P 0178 bis P 0177 ISAQ0 eof esfampe P 0110 m not defined 1 ge ee weighting Loro analog input digitale function 1 26 24V Threshold digi Function Figure 109 Analog inputs function block PG IP switching Analog channel and Weighting 140 Harmonic Drive AG YukonDrive 1003374 01 2012 Analog setting options 4 to 1 Parameter name A T f P no A Designation in DM 5 Function Settings P 0109 MPRO_INPUT_FS_ E Y Function of anlalog input ISAOx Function selection P0110 ISA00 ISA01 Online torque scaling 0 to 10 V corresponds to 0 100 of the maximum set torque The torque scaling is recorded directly after the 4 TLIM 4 Analog Torque limit 0 100 analog filter and before the dead travel threshold offset The analog input describes the parameter P 0332 SCON TMaxScale torque limitation The dead travel is therefore not effective for these functions 0 to 10 V corresponds to 0 100 96 Scaling of the configured speed during positioning The override is tapped directly after the analog filter and before 3 OVR 3 egest OH 9 109 oat the dead travel At this po
8. In der Start und Zielposition stimmen die St tzstellen mit der Trajektorie immer berein In start and target position the interpolation points always match the trajectory Application Minimizing noise smoother motion restrictions on contouring NOTE Further information on how to generate motion commands using the field buses or internal possibilities can be found in the field bus documentation 180 Harmonic Drive AG YukonDrive 1003374 01 2012 Quick commissioning Rotary motor system section 2 2 3 Encoder setup section 3 Encoder System test via manual mode DM5 Online Help Manual mode window Control setup Optional settings The desired encoders and their channels must be selected Open manual mode window Control mode Vfc open loop mode Move motor at low speed Check direction Optimize current controller test signal generator section 4 2 The current of the test signal generator is automatically set when the motor data is entered Optimize speed controller step responses section 4 4 Determine mass inertia J Section 4 1 1 Basic settings Adjust speed filter P 0351 FS 0 6 ms Recommended SinCos encoder 0 2 ms 0 6 ms Resolver 0 6 ms 1 5 ms Adjust rigidity Section 4 1 1 Basic settings Scaling 10 s field buses etc Instruction Action P no Selection of motor Decision whether to use a synchronous motor PSM or an asynchronous P0450
9. CAO 19 HOMSW Homing to cam negative edge positive direction RefNock Low Pos reference cams Stop at T EREE 20 HOMSW H Homing to cam positive edge positive direction RefNock High Neg reference cams Stop at N E 21 HOMSW Homing to cam negative edge negative direction RefNock Low Neg reference cams Stop at ee a T 22 HOMSW Homing to cam positive edge negative direction RefNock High 110 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Parameter name Setting Designation in DM 5 Function P 0101 bis P 0107 AERE P 2261 MPRO 402 HomingMethod Digital inputs MPRO INPUT FSISDxx 23 bis 3 A HOMSW Various homing runs to cam 30 31 32 _ Not defined Reserved 33 _ Next left zero pulse Zero pulse in negative direction 34 _ Next right zero pulse Zero pulse in positive direction Actual position Reference n 35 ae Zero is current position position Homing method The homing method is selected via parameter P 2261 MPRO_402_HomingMethod type 5 to type 35 The following describes the different homing methods The individual reference points corresponding to the zero are numbered in the diagrams The different homing speeds V1 SpeedSwitch V2 SpeedZero and the directions of movement are also shown Typ 5 Absolute encoder This type is suitable for absolute encoders e g SSI Multiturn encoders Homing is performed immediately after power on It can also be activa
10. DFF D No motor temperature sensor Maximum temperature only KTY84 degC Temperature monitoring connected via X5 0 Motor temperatur connector X5 Ft monitoring Permitted continuous current Rated motor current IN x 100 Rated motor frequency fN s Hz 1 current interpol point 10 3830 x 2 current interpol point 11 glz 2 frequency interpol point F1 250 He Fl f fIHZ gt Figure 10 xt protection ASM It is necessary to adapt the l xt characteristic because the factory settings mostly do not exactly map the current motor The difference between factory setting and the characteristic configured above is shown in the following illustration 16 Harmonic Drive AG YukonDrive 1003374 01 2012 1A i A susu Ny Sub Id 00 I i Wearkseinstellung sub Id02 h SubldOl Ip 0 f fy f H gt yep SubldO3 Sub Id 04 N Sub Id 00 Beispiel Sub Id 05 150 x In Sub Id 06 fiir 120s Figure 11 Figure left Constant characteristic Figure right Characteristic with interpolation points Frequency Motor current f 0 Hz 30 von f 25 Hz 1 80 von f 50 Hz 100 The shut off point to VDE 0530 for IEC asynchronous standard motors is 150 96 x IN f r 120 s For servomotors it is advisable to set a constant characteristic The switch off point defines the permissible current time area up
11. P no Parameter name Settings Designation in DM5 Function P0514 ENC CH3 Num Encoder Channel 3 Gear Nominator Denominator in channel 3 P 0515 ENC_CH3_Denom Encoder Channel 3 Gear Denominator Nominator in channel 3 3 5 Increment coded reference marks n the case of incremental encoders with increment coded reference marks multiple reference marks are distributed evenly across the entire travel distance The absolute position information relative to a specific zero point of the measurement system is determined by counting the individual measuring increments between two reference marks The absolute position of the scale defined by the reference mark is assigned to precisely one measuring increment So before an absolute reference can be created or the last selected reference point found two reference marks must be passed over To determine reference positions over the shortest possible distance encoders with increment coded reference marks are supported e g HEIDENHAIN ROD 280C The reference mark track contains multiple reference marks with defined increment differences The tracking electronics determines the absolute reference when two adjacent reference marks are passed over that is to say after just a few degrees of rotation Figure 20 Circular graduations with increment coded reference marks rotary system 01 2012 1003374 YukonDrive Harmonic Drive AG 29 Rotary measurement system Basic increment reference
12. Pos Unit 1 um 1 1000 mm 10 1000 rev power take off 30 1000 rev motor P 0271 30 or P 0271 3 P 0272 1000 or P 0272 100 Speed Unit 1 m s 1000 mm s 10 000 rev s power take off 30 000 rev s motor 60 min 1 800 000 rev min P 0274 1 800 000 Acc Unit 1 m s2 1000 mm s 10 000 rev s power take off 30 000 rev s2 motor 60 min 1 800 000 rev min P 0275 1 800 000 Parameters Parameter name 8 P no d Function Default setting for rotary motor Internal unit Settings Increments per 3 P0270 MPRO FG PosNom 1048576 incr rev revolution P0271 MPRO FG Nom Numerator I rev Pos 1 P0272 MPRO FG Den P0273 MPRO FG Reverse P0274 MPRO FG SpeedFac P0275 MPRO FG AccFac Linear motor scaling Denominator Reverse direction Speed factor Acceleration factor Example Scaling of the linear motor Given Travel in um Speed in mm sec Acceleration in mm s One revolution corresponds to 32mm pitch See P 0274 P 0275 360 POS False clockwise T rpm 1 60 0 01667 rpm s Position per revolution rpm U s P no Parameter name Settings Description Default setting for linear motor P0270 MPRO FG PosNorm Increments revolution 1048576 P0271 MPRO FG Num Numerator 1 P0272 MPRO FG Den Denominator 32000 um P0273 MPRO FG Reverse Direction of rotation False clockwise 1 875 rps corresponding to Imm s P0274 MPRO
13. 5nsuaoejeu U L peyipoui YUM piewuojp j ig ueueA Buluayeam pjay 1070W snouoJupu sy Figure 52 Asynchronous machine field weakening 65 Harmonic Drive AG 1003374 YukonDrive 01 2012 Variant 1 recommended setting Combination of feedforward via 1 n characteristic voltage controller The motor identification sets the voltage controller so that the voltage supply in a weakened field is adequate If the drive controller is at the voltage limit it reduces the d current and thus the rotor flux Since the controller has only limited dynamism and starts to oscillate if larger gain factors are set there is a second option Variant 2 Combination of feedforward with modified 1 n characteristic isd f n voltage controller This characteristic describes the magnetizing current as a percentage of the nominal value of P 0340 CON_FM_ Imag dependent on the speed The choice between the modified 1 n characteristic and the static characteristic is based on parameter P 0341 CON_FM_ImagSLim P 0341 0 signifies selection of the 1 n characteristic default P 0341 0 signifies selection of the modified 1 n characteristic isd f n Following a motor identification the voltage controller is always active as the controller parameters are preset P 0345 0 deactivates the voltage controller Parameterizing variant 2 Setting the d current dependent on the speed The speed is specified relative to the rated speed i
14. FG SpeedFac Speed factor 1 32 mm 0 03125 rps 0 03125 rps 60 s 1 875 rps 1 32 mm 0 03125 rps P0275 MPRO FG AccFac Acceleration factor N corresponding to 1 mm s 98 Harmonic Drive AG YukonDrive 1003374 01 2012 5 2 Basic setting Selection screen for the required motion profile Setting of control location reference source start condition profiles and a possible directional limitation lt Back Set control and reference Control via Reference via Motor control start condition Profile Profile mode Profile type Setting of control and setpoint channel of motion profile TERM 1 via terminals TAB 3 via table OFF 0 Switch off drive first in case of power or fault reset PG D setpoint effects to profile generator LinRamp 0 Linear ramp trapeziodal profile Speed override 100 Direction barrier OFF 0 No locking Figure 78 Selection screen for control and reference P no Parameter name Settings Designation in DM 5 Function P0159 MPRO CTRL SEL Motion control selection Selection of control location 0 OFF 0 No control selector defined No control location selected 1 TERM 1 via terminals Control via terminal 2 PARA 2 via parameter interface via parameter 3 3 not defined Not defined 4 PLC 4 via IEC 61131 program IEC 1131 via DS402 motion profile 5 CiA 402 5 DS402 CANopen EtherCAT 6 SERCOS 6
15. I 0x5300 0x8000 BusOffError VARAN option Syncronization GU 2 controller The ratios between interpolation 1 RatioError synchronization and or speed control 0x6100 1 0x8000 time do not match 162 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency Error P no n TS x Error code Error name Error location Description of error code register DS P 0030 SERCOS DS 402 402 38 Brake chopper monitoring 1 BC_Overload Braking chopper overload 0x4210 1 0x0000 39 TwinWindow Monitoring of speed and torque RI Speed deviation between Master and 1 TwinWindow_Speed Slave ae Torque deviation between Master 2 TwinWindow_Torque and Slave 40 Twin Sync Module Communication fault TECH option 1 TOPT_TWIN_CommLost 0x7300 1 0x8000 2 TOPT_TWIN_SwitchFreq 0x7300 1 0x8000 Error in Twin Sync technology option 3 TOPT TWIN ModeConflict 0x7300 1 0x8000 4 TOPT TWIN RemoteError 0x7300 1 0x8000 41 fast discharge DC bus Maximum period for fast discharge j Maximum period for fast discharge 1 FastDischarge_Timeout 0x7300 1 0x8000 exceeded 35s EtherCAT Master Implemen 42 Error EtherCat Master tation 1 Location can t specified EN Communication error EtherCat Master 0x6100 0x8000 CommkError 43 Ethernet interface Error in Ethernet configuration Initialization error TCP IP communica Ethernet Init 0x6100 0x8000 tion 44 wire break detected N No consumer o
16. Isd set by PI Controller and calculated dependent on the speed and the required q current 2 Calc 2 motor parameters he inaccuracies with regard to the motor parameters the available voltage etc can be compensated by way of the Scale parameters P 0436 NOTE In mode 1 and mode 2 the voltage controller can be overlaid It is also possible in mode 1 to disable the characteristic and run solely with the voltage controller Selection of modified 1 n characteristic voltage controller P 0435 1 TDeactivate table P0341 0 P 0435 CON FM FWMode 1 Select table Approach desired speeds slowly Adjust scope Isdref SQU2 Imag field weakening speed The maximum amount of the field weakening d current is defined by parameter CON FM Imag P 0340 specification of effective value m Enter values in table P 0342 Example Index P 0348 Rated speed P 0342 0 7 P 0343 0 7 Flux forming current 0 7 P0340 I 8eff Field weakening speed in laret mod in field weakening mode in 0 00 0 1 10 55 2 20 70 3 n 1800 rpm 30 90 4 lnag CFF 100 40 100 5 50 100 6 60 100 7 70 100 Attention The speeds in P0342 CON_FM_SpeedTab must continuously increase from index 0 7 01 2012 1003374 YukonDrive Harmonic Drive AG 71 Recommended With low control dynamism Deactivate table and voltage controller If only low dynamism is required the table should be deactiv
17. MPRO FG Error calculating user units 0x6320 0x8000 7 Parameter ENC RATIO Error initializing encoder gearing 0x6320 0x8000 8 Parameter Nerf Speed detection observer 0x8400 0x8000 9 Parameter ObsLib Error in matrix library OxFFOO 0x8000 10 Parameter CON CCON Current control 0x8300 0x8000 11 Parameter reserved Not used reserved OxFFOO 0x8000 12 Parameter Inertia Moment of inertia is zero OxFFOO 0x8000 PARA WatchDog in open loop 13 Parameter MPRO I OxFFOO 0x8000 control via DM5 DV INIT Error in system Es 14 Parameter DV INIT OxFFOO 0x8000 initialization 01 2012 1003374 YukonDrive Harmonic Drive AG 155 p Emergency Error no P0030 Error name Error location Description of error code register Error code SERCOS DS 402 DS 402 16 SpeedDiff Speed tracking error above 1 SpeedDiff MON sDiff peed tracking error above ox8400 1 0x8000 threshold value Current speed above maxi 2 SpeedDiff_MON_NAct 0x8400 1 0x8000 mum speed of motor 17 PositionDiff 2 Position tracking error 1 PositionDiff MON ActDelta 0x8611 0x8000 too large 18 Motion control 1 MotionControl_MC_HOMING_Lim Homing Limit switches EM 0x8612 0x8000 itSwitchInterchanged interchanged 2 Homing Limit swi g Limit switch MotionControl MC HOMING Unex inped di 0x8612 0x8000 pected home switch event tripped unexpectedly 3 MotionControl MC HOMING Er 3 E ON
18. Note Note that the encoder data must be set manually or loaded as an encoder data set see sections 3 and 4 2 2 Data sets for third party motors In the case of motors from third party manufacturers basic suitability for operation with Harmonic Drive AG controllers must first be verified on the basis of the motor data and the data of any installed encoder The values of the parameters for adaptation of the control device must be determined specifically for each motor by Calculation or Identification Each motor can only be operated if its field model and the control parameters are correctly set 2 2 1 Determining the data set fora rotary synchronous machine There are two methods of determining the motor data set for a rotary synchronous motor The first method is identifica tion the second is calculation The differences are explained in the following section Motor Data Set Back Motos configuration Motor data and control settings Motor name wa TEE Show motor data Select motor data and control setting from database Motorselection Manual control data setting Motor type PSM 1 Permanent synchrononous motor Motor movement ROT O rolalive molor Calculate control settings subject to motor name plate data Calculate control settings subject to motor data identification a Cii 7 Identification Motor protection J Further settings Figure 2 Motor da
19. P2221 Stop feed HaltOC SDR P2222 Error MP FaultReactionOC QSR P2242 Braking ramp for quick stop MPRO 402 QuickStopDec 106 Harmonic Drive AG YukonDrive 1003374 01 2012 Reaction to Quick stop The quick stop brakes a running movement The drive controller is in the Quick stop system state During braking and depending on the response acceleration is again possible in the old Control active state P2218 Designation in DM 5 Function POFF 0 Disable power stage drive function Disable power stages the drive coasts to a stop The drive brakes with the programmed deceleration ramp then the SDR 1 Slow down on down ramp m power stage is disabled Braking with quick stop ramp then the power stage is disabled The factory setti SR 2 inc tes use of a holding brake If the setti QSR 2 Slow down on quickstop ramp ory setting QSR 2 in orpora su a holding bra e settings differ from the factory setting the possible use of a holding brake needs to be taken into account ae Braking with max dynamism at the current limit The speed reference CLIM 3 Slow down on current limit MM value is set equal to 0 then the power stage is disabled Reserve 4 Reserve SDR OS 5 Slow down on slow down ramp and stay in Braking with programmed deceleration ramp The drive remains in the quickstop quick stop state current is applied to the axis at zero speed QSR OS 6 Slow down on quickstop ramp and stay in Braking with emergency st
20. Profile type Figure 99 Example for Start function Seven digital inputs ISDOO to ISDO6 can be assigned a wide variety of functions via parameters P 0101 to P 0107 The two inputs ISDSH STO Safe Torque Off and ENPO Enable Power are reserved for the hardware enable For the touch probe function the two fast inputs ISDO5 and ISDO6 are provided Overview of function selectors Parameter name 3 n P no A Designation in DM 5 Function Settings P 0100 MPRO_INPUT_FS_ENPO Function of digital input ENPO Setting of hardware input ENPO Hardware enable EM OFF 0 The digital input ENPO terminal 10 on x4 is reserved powerstage i for hardware enable In its default setting OFF it only executes the Hardware enable function Apart from this it can also be assigned the START function In combina tion with parameter P 0144 DRVCOM AUTO START START 1 LEVEL autostart mode is active IF STO is active activation of the hardware enable ENPO via terminal 10 on X4 is sufficient to switch on the drive control section 6 1 4 P 0101 MPRO_INPUT_FS_ISDOO Function of digital input ISD00 P 0102 MPRO_INPUT_FS_ISDO1 Function of digital input SD01 settings for the digital inputs ISDOO ISD06 are listed in P 0103 MPRO_INPUT_FS_ISDO2 Function of digital input ISDO2 the following table P0104 MPRO INPUT FS I5D03 Function of digital input ISDO3 P0105 MPRO INPUT FS ISDO4 Function of digital input
21. Restart m P0592 now shows the position end value of the correction range Start control in position control execute homing and then move to any position m The momentary correction value is written to P 0594 This value is subtracted from the approached position value This applies to all positions being approached Determining the direction of movement Position control The direction of movement is produced when the time related change in position reference speed feedforward value has exceeded the amount of the standstill window in the positive or negative direction Speed control The direction of movement is produced when the speed reference has exceeded the amount of the standstill window in the positive or negative direction 01 2012 1003374 YukonDrive Harmonic Drive AG 83 uonoeuip sod uono uip sod payejodiajul npea uonde1100 enjeA uonoeJ109 i uonoeurp Bau uonoenp Bau peiejodiejur enjeA U01109 anjeA uorooeJ109 puabe 9690 d 6S0 d iepesip Bd ine SG oe youd quod uonejodjaiu uonoaup sod sanjen e qei 0SZ a azeu Z n z L 0 en EA U0l 991109 lt T T s my90 9 1e unoo enje uonisod enjoe pe oe1109 enjeAuonisod yenjoe pejoeuooun r d esiw0Jo enje uonisod jenjoe pa 991109 uonisodpua Y enjeA uonoeuoo 16S0 d uonisodyeys Correction value formation from the defined correction interpolation correction Figure 61 YukonDrive 1
22. even if it has not yet been reached such as when activated during positioning In the case of relative positioning jobs paths greater than the circumference are possible if the target position is greater than the circumference Example Circumference 360 relative target position 800 start position 0 Here the drive performs two full revolu tions 720 and stops on the third revolution at 80 800 720 Response of infinite positioning jobs In the case of infinite positioning jobs the drive is moved at a preset speed A target position contained in this driving set is irrelevant Infinite positioning jobs move at preset speed without taking into account the circumference On switching to the next driving set absolute or relative the new target position is approached in the current direction of movement Any preset path optimization is ignored SERCOS profile When using the SERCOS profile the term weighting is used in defining the units The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position speed torque and acceleration weighting Weighting via the SERCOS profile SERCOS interface Units Position unit degree Velocity unit 1 min 1 s Torque force unit cNm Acceleration unit rad s
23. filter OFF PT1 6 PT2 7 PT3 8 PT4 9 A low pass filter 7 PT2 7 2 filter PT2 with limit frequency in P 0325 2 For lower frequencies the use of higher order 8 PT3 8 snilter ORE filters PT3 PT4 is not recommended 2 filter PT3 9 PT4 9 _filter OFF 2 filter PT4 P0327 CON SCON FilterPara coefficients of digital filter Coefficients of the digital filter 0 a0 x k a USER al x k1 2 USER a2 x k2 3 USER a3 x k 3 4 USER a4 x k 4 5 USER b1 y k 1 6 USER b2 y k 2 7 USER b3 y k 3 8 USER b4 y k 4 52 Harmonic Drive AG YukonDrive 1003374 01 2012 o o N eo Magnitude dB I So I w o l B o Ii ji 1 i i i 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Frequency Hz 0 T T 50 degyees 100 Phase 150 ii ii E 1 l i ji 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Frequency Hz 200 Figure 41 Frequency responses of PT1 PT2 PT3 PTA filters Magnitude dB l l I n 300 400 500 600 700 800 900 1000 Frequency Hz 100 nn o 50 a o x I G I a 50 Ep l 109 0 500 1000 1500 Frequency Hz Figure 42 Notch filter Blocking frequency 500 Hz and bandwidths 25 50 75 and 100 Hz 01 2012 1003374 YukonDrive Harmonic DriveAG 53 Note that the filters not only have an effect on the amount but also on the phase of the frequency response At lower
24. via SERCOS motion profile SERCOS via PROFIBUS DPV motion 7 PROFIBUS 7 PROFIBUS profile P0144 MPRO_DRVCOM_Auto_start DriveCom Auto start of system Autostart function I Normal operation The drive is stopped by Switch off drive first in case of A 0 Off 0 cancelling the start condition or in the event of power or fault reset an error I The drive automatically starts immediately on Start Restart drive automaticly VM 1 ON 1 completion of initialization provided the mains in case or power or fault z voltage is connected 01 2012 1003374 YukonDrive Harmonic Drive AG 99 Parameter name P no Designation in DM 5 Function Settings P0165 MPRO REF SEL Motion profile selection Selection of reference source 0 OFF 0 No setpoint No reference selected 1 ANAO 1 via analog channel ISAO Analog input ISAO 2 ANAI 2 via analog channel ISA1 Analog input ISAT 3 AB 3 via table Table values 4 PLC4 Basic Library PLC open CoDeSys IPLC 5 PLC 5 via IEC 61131 program CoDeSys IPLC 6 PARA 6 via Parameterdefinition he reference is preset by parameter 7 CiA 402 7 via CiA CiA 402 motion profile DS402 8 SERCOS 8 via SERCOS motion profile SERCOS 9 PROFIBUS 9 via PROFIBUS DPV motion profile PROFIBUS P 0301 Con Ref Mode Select Reference Mode Selection of interpolation mode 0 PC 0 setpoint effects to profile generator PC 0 The internal reference is generated by the Profile Generator In
25. 2 PROFIBUS DP 9 3 SERCOS 10 Technology option 10 1 General 10 2 SinCos module 10 3 SSI module 10 3 TTL module 10 3 TWINsync module 11 Process controller 11 1 Function controller structure setup Appendix Drive status Status bits State machine Manual mode Monitoring functions Interpolation method Quick commissioning Rotary motor system linear Motor SYSTEM ios tnnt tetendit edant aret suspe Qo Q0 Qo Co Q0 nd ni nM 01 2012 1003374 YukonDrive Harmonic Drive AG 3 NOTE This document does not replace the YukonDrive Operation Manual Please be sure to observe the infor mation contained in the For your safety Intended use and Responsibility sections of the Operating Manual For information on installation setup and commissioning and details of the warranted technical characteristics of the YukonDrive refer to the additional documentation Operating Manual We reserve the right to make technical changes The content of our Operation Manual was compiled with the greatest care and attention and based on the latest information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time Please visit www harmonicdrive de for details of the latest versions 4 Har
26. CiA DS402 SERCOS User Basic settings Reference value in Interpolator Increments Select Interpolation Mode Figure 80 Speed control in IP mode Speed Control BUS Sampling time 1 ms n_ref pe L Current Control Current Control 102 Harmonic Drive AG YukonDrive 1003374 01 2012 5 2 6 Position control via the Profile Generator PG mode In position control mode in PG mode the positioning commands are transmitted to the internal Profile Generator The setting is made in the motion profile Basic setting subject area A positioning command consists of m Ref Position Ref Position Target posi tion Ref Speed Maximum positioning speed m Maximum acceleration m Maximum deceleration With the additional information on jerk P 0166 MPRO REF JTIME and an override factor P 0167 MPRO REF OVR for the positioning speed the Profile Generator generates a time optimized trajectory for the position reference taking into account all limitations in order to reach the target position The position reference values are then fine interpolated in the interpolator The position references are used to generate pre control values for speed and acceleration These are scanned at the sampling time of the position controller normally 125 us and switched to the control loops For information on how to generate positioning commands with bus systems refer to the field bus documentation
27. ISD04 mr m Settings for the digital inputs ISDOO ISDO6 are listed in P0106 MPRO INPUT FS ISDO5 Function of digital input ISDOS the following table P0107 MPRO INPUT FS ISD06 Function of digital input ISDO6 MM MA Reserved for STO Safe Torque Off see also Inputs P0108 MPRO INPUT FS ISDSH Function of digital input ISDSH outputs section P0109 PRO INPUT FS ISAO0 Function of analog input ISA00 Analog input ISAOO see Analog inputs section P 0110 PRO_INPUT_FS_ISAQ1 Function of analog input ISAO1 Analog input ISA01 see Analog inputs section 01 2012 1003374 YukonDrive Harmonic Drive AG 125 6 1 1 Settings for digital inputs ISDOO ISDO6 P Nr Parameter name 7 Function P 0101 P 0107 Settings 0 OFF Input off o ENT Start of closed loop control motor is energized The direction of rotation depends on the reference 2 2 Not defined 3 STOP Quick stop according to quick stop reaction Low active see Reaction to quick stop m BAIT The running movement of the axis is interrupted according to the STOP reaction see Reaction to Halt Feed and continued when reset Limit switch evaluation without override protection The response to limit switch activa 5 LCW tion and to interchange limit switches is programmable see Error reactions alarms warnings section Limit switch evaluation without override protection The response to limit switch activa 6 LCCW ti
28. MPRO 402 HomingAcc in DriveManager Zeroing offset Absolute encoders e g SSI Multiturn encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders therefore requires no movement and under certain conditions no current to the drive Homing type 5 is recommended for the zero balancing A zero offset can be set via parameter P 0525 ENC_HomingOff Zero pulse evaluation If a reference motion is selected which requires an index pulse evaluation this evaluation will automatically be started in the background and automatically stopped when homing is completed It is possible to plot the zero pulse on the scope for diagnostic purposes Scope channel Encoder Position Channel 1 3 Np Reference cam limit switch The reference cam signal can be optionally linked to one of the digital inputs Inputs ISDOO to ISDOG are available In homing to a limit switch the digital input must be selected with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 01 2012 1003374 YukonDrive Harmonic Drive AG 109 Parameter name P no d Designation in DM 5 Function Setting P 0101 bis P 0107 3 STETIT P 2261 MPRO 402 HomingMethod Digital inputs MPRO INPUT FSISDxx 7 move pos direction for distance Homing method for inc
29. NoHiperface face interface 22 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 0x20 Common Interface gen Error 23 EncCHIInit Encoder channel 1 initialization Hiperface I I I 0x7305 0x20 Hiperface_Timeout Interface Timeout Encoder channel 1 initialization Hiperface 24 EncCH1Init_Hiperface_ A A Encoder impossible COMMAND in 0x7305 0x20 CommandMismatch response 25 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 0x20 EStatResp_Crc CRC error in error status response 158 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency P no t e id Error register Error code Error name Error location Description of error code P 0030 DS 402 SERCOS DS 402 2 Encoder channel 1 initialization Hiperface 26 EncCHIInit_Hiperface_ Error status response returns communica 0x7305 0x20 EStatResp Com 2 tion error Encoder channel 1 initialization Hiperface 27 EncCH1Init_Hiperface_ Error status response returns technology or 0x7305 0x20 EStatResp Tec process error 28 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 0x20 EStatResp None Error status response returns no error 29 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface 0x7305 0x20 Response Crc CRC error in response I I Encoder channel 1 initialization Hiperface 30 EncCH
30. PCON 3 Position control mode v PC0N 3 Position control mode gt Standard mode Homing mode Jog made Reverse mode Standard mode Homing mode Jog mode Reverse mode Motion profile _ ee Homing method Pao setpoint effects to profile generator x Type 1 1 Reference position homing offset parameter gt aes a Deceleration 10000 rev min s Speed 1000 rev min Mode O absolute relative to O actual O speed controlled reference Reference 3600000 mDegree Start Stop Stop Motor control Quick stop Halt operation Motor control Quick stop Halt operation Sm TET Sut Start Stat Start p Activate manual mode Manual mode off Activate manual mode Manual mode off gm Control mode PCON Select standard mode g Select homing method 1 Type 1 sets the current position as the zero Wi Start the power stage via START motion control Wi Start stop homing mode Set ramps Specify position reference Activate scope function see Scope screen Start motion Figure 46 Setting for Control window and scope in position controller optimization 56 Harmonic Drive AG YukonDrive 1003374 01 2012 Open scope Setting Channel Hand operating trigger CH 0 speed reference 6 nref CH 1 actual speed 13 nact Status Off CH 2 tracking error in user units 279 UsrPosDiff Trigger Container Trigger signal Speed reference 6 nref Mode Rising edge New iJ Level 30 rpm
31. SpeedThresh E ae Position reference limited e g with parameterized 17 P_LIM_activ Position setpoint limited ow i software limit switches from V 2 0 18 N_LIM_activ Speed setpoint limited Speed reference limitation active Warnings warning thresholds are set via P 0730 MON WarningLevel 130 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Does named Designation in DM 5 Description a e j es aus LUN Function of digital output Current reference active 19 LIM activ Current setpoint limited Current reference active 20 COM Set via communication profile Set output via COM option from V 2 0 21 ENMO Motor contactor output Activate motor contactor wiring of motor via contactor 22 PIG PLC sets output Use output via PLC program 23 WARN Warning Collective warning message 24 WUV Warning undervoltage Warning undervoltage in DC link 25 wov Warning overvoltage Warning voltage overload in DC link 26 WIT Warning Pxt power stage Warning l xt power stage protection threshold reached 27 WOTM Warning overtemperatur motor Warning motor temperature 28 WOTI Warning overtemperatur drive Warning heat sink temperature of inverter 29 WOTD Warning overtemperatur motor Warning internal temperature in inverter 30 WLIS Mes Curie iesu Warning apparent current limit value exceeded 31 WLS bari speed threshold Warning speed limit value exceeded 32 WIT Warning l xt motor protection Warning lxt motor prot
32. The duration of a test signal sequence results from the parameterized times t1 t2 P 1504 0 1 The number of test cycles P 1502 for the square signal sequence is set via P 1502 Number of cycles Ncyc m Square signal sequence The signal level is set via P 1503 0 1 SCD TSIG Offset and the times via P 1504 0 1 SCD TSIG Time m Sine generator with presetting of amplitude P 1505 SCD TSIG Amp and frequency P 1506 SCD_TSIG_ Freq m A PRBS Pseudo Random Binary Sequence noise signal with presetting of amplitu de P 1509 SCD_TSIG_ PRBSAmp and sampling time P 1508 SCD_TSIG_ PRBSTime This enables different frequency responses to be SCD TSIG Offset 0 plotted Addition of sine and Rectangle signal hu l Output l l l Amplitude P 1505 SCD_TSIG_Amp l P 1503 1 SCD TSIG Offset 1 l P 1503 0 l l 3 da P 1504 0 P 1504 1 SCD TSIG Time 0 SCD_TSIG_Time t P 1506 Period time SCD_TSIG_Freq A gt Figure 57 Addition of sine and rectangle signal 78 Harmonic Drive AG YukonDrive 1003374 01 2012 The PRBS signal is suitable for achieving a high bandwidth system excitation with a test signal A binary output sequence with parameterizable amplitude P 1509 SCD_TSIG_ RBSAmp and a random alternating frequency is generated with the aid of a looped back shift register PRBS Time range P 1509 SCD TSIG PRBS Amp F Tp Np Aprss cw P 1
33. With type 12 the zero corresponds to the first zero pulse with an active reference cam Type 13 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 14 the reference cam is overrun and the first zero pulse after that corresponds to the zero The initial movement is in direction of the negative left hardware limit switch It is inactive and the reference cam is active see symbol B in figure 91 Type 13 changes the direction of movement if the reference cam is inactive The zero corresponds to the first zero pulse after the rising edge With type 14 the first zero pulse after a falling edge of the reference cam is the zero point The initial movement is in direction of the positive right hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol C in figure 91 With type 11 the zero point corresponds to the first index pulse after falling edge of the reference cam Type 12 reverses the direction of movement after a falling edge of the reference cam The zero point corresponds to the first index pulse after the rising edge of the reference cam 116 Harmonic Drive AG YukonDrive 1003374 01 2012 The initial movement is in direction of the negative left hardware limit switch It and the reference cam are inactive As soon as the negative limit switch becomes active the direction of movement is r
34. actual torque value r rat ata tat mel 1 min nact rpm mref FF Nm mactiNm Figure 51 Graph of feedforward torque reference and actual torque value 01 2012 1003374 YukonDrive Harmonic Drive AG 63 P no Value Function P 0351 1 2 ms Speed controller filter time P 0360 30000 Position controller gain P 0372 1 2 ms Filter time for position controller feedforward P 0374 0 125 ms Delay time for position control feedforward P0375 100 Speed control feedforward scaling factor P 0376 100 Torque control feedforward scaling factor P 0386 6 Compensation of friction torques P1516 0 00014 kgm2 Mass inertia 45 Asynchronous motor field weakening For field weakening of asynchronous motors the motor parameters must be known very precisely This applies in particular to the dependency of the main inductance on the magnetizing current It is essential to carry out a motor identification for field weakening mode In the process default values for the control circuits and the magnetic operating point are set based on the rated motor data and the magnetizing current presetting in P340 CON FM Imag Two variants are available for operation in field weakening mode 64 Harmonic Drive AG YukonDrive 1003374 01 2012 JO1 UO05 qusun Vurisbewi wj NOD 0 Lv O d Vunsbeui wj NOD 3Inej p o Lp 0 d DNDSH 12e1eUD U L IA piewuojp j 1L queue U J pst
35. also enables so called overmodulation limitation to hexagon instead of circle in order to make better use of the inverter voltage P no Parameter name Settings Description in DM 5 Function P0432 0 CON CCONMode PRIO 0 PRIO_RES 1 Phase 2 HEX PHASE 3 select current control limitation mode Hard Change over of priority Priority with reserve CON CCON VLimit CON CCONOV Mode Phase Hexagon modulation limitation with correct phase angle Adaptation of current control Gain scheduling In the high overload range saturation effects reduce the inductance of many motors Consequently the current controller optimized to the rated current may oscillate or become unstable As a remedy it can be adapted to the degree of magnetic saturation of the motor The gain of the current controller can be adapted to the load case over four interpolation points Figure 32 PS motor electrical parameters Motor name Pole pairs Motor impedances Stator resistance Voltage limitation of us and us p qref ref Hard switch from d priority motorized to q priority regenerative Expert mode Switch from d priority motorized to q priority re generative A portion of the voltage is held in reserve the amount can be specified via parameter P 0431 CON CCON_VLimit Phase correct limitation Hexagon modulation with phase correct limitation More voltage is available for t
36. and a new one can be started immediately Driving sets in speed control Each driving set either for speed or torque has an acceleration and a braking ramp P no Index Parameter name Settings Designation in DM 5 Function P 0196 0 15 MPRO TAB SAcc Speed mode acceleration Acceleration ramp P 0197 0 15 MPRO TAB SDec Speed mode deceleration Braking ramp P0198 0 15 MPRO TAB SRef Speed mode reference value Reference Driving sets in torque control P no Index Parameter name Settings Designation in DM 5 Function P 0193 0 15 MPRO TAB TAcc Torque mode acceleration Acceleration ramp P 0194 0 15 MPRO TAB TDec Torque mode deceleration Braking ramp P0195 0 15 MPRO TAB TRef Torque mode reference value Reference 122 Harmonic Drive AG YukonDrive 1003374 01 2012 5 7 X Measuring switch function Touch probe Using the two fast digital inputs ISD05 06 a position value can be recorded and processed during ongoing operati on A positive or negative switching edge optionally triggers recording of a measured value After enabling the relevant measuring switch a value is only recorded on the first trigger Prior to any further measure ment the measuring switch must be enabled again P 2279 Bit O one time measurement P no CANopen object no Setting Function P 2285 2 CiA DS402 motion profile partial P 2279 POBE 0101 h Digital input ISDOS tri ing by a risi ex igital inpu triggering by a rising e
37. but the momentary temperature value is not displayed The actual value is displayed as O 14 Harmonic Drive AG YukonDrive 1003374 01 2012 Temperature monitoring OFF 0 No motor temperature sensor v Maximum temperature deg C only KTY 84 Temperature monitoring connected via X5 0 Motor temperatur connector X5 v Figure 10 Temperature monitor setting Parameter P no bezeichnung Designation in DM5 Function Einstellungen max motor temperature switch P0731 MON MotorTemMax Shut off threshold for KTY off value 0 0 1000 Default setting 100 96 P0732 MON MotorPTC Select motor temperature sensor Selection of sensor type 0 OFF 0 No sensor No evaluation KTY 1 KTY84 130 sensor Y84 130 PTC 2 PTC with short circuit proof PTC as per DIN 44081 with short circuit monitoring TSS 3 Switch Klixon ixon switch j ree PTC as per DIN 44081 without short circuit PTC1 4 PTCI without short circuit proof ies monitoring Not used 5 NTC 220 6 Sensor Type NTC NTC sensor 220 kQ2 NTC 1000 7 Sensor Type NTC NTC sensor 1 MO NTC 227 8 Sensor Type NTC NTC sensor 32 kQ 1 contact Sensor connection Connection variant X5 0 Motor temperature connector X5 Connection of the sensor to terminal X5 Via Resolver connector X6 or sincos EN X6 X7 1 Sensor connection is routed in encoder cable connector X7 P0733 MON Motorl2t Motor I2t protection parameters Pt characteristic setting 0 Lom 0 rat
38. digital input function The illustration shows how the weighting function works With the specified formulas the gain and offset can be defined Analog Output V A Output Output 410V Analog input 10V Output Input V me meut 10V Ees speshucoikretnee T 10V Y n 00 gy QUI OUT ND b P0428 0 1 INmax V INmin V i Offset 9 OUT nin V Nin Vx G Output OUTmin M I 9 Nmin1 x GI OUTmax V INmax x G Figure 110 Weighting of analog inputs 142 Harmonic Drive AG YukonDrive 1003374 01 2012 Example Analog torque weighting Default setting standard controller function An input voltage range of the torque scaling from O V to 10 V corresponds to 0 100 10 V to 0 V corresponds to 100 to 0 Correction of input and offset gain The entire 10 V input voltage range is to be used 10 V corresponds to 0 10 V corresponds to 100 of the torque scaling The following settings are required for this 10 V input voltage In 10 V corresponds to O V output voltage Out O V corresponds to 0 torque scaling 10 V input voltage Inmax 10 V corresponds to 10 V output voltage OUTmax 0 V corresponds to 100 torque scaling Based on the formula this results in Gain 6705 Offset O 5V 6 5 X Motor brake See Digital outputs Brake output rA Limits 71 Control limitation To protect the device motor and machine plant it is necessar
39. gain KP position from 4000 to 7538 59 Harmonic Drive AG 1003374 YukonDrive 01 2012 Feedforward of speed torque force The feedforward of the acceleration torque relieves the strain on the speed controller and optimizes the control response of the drive To feedforward the acceleration torque the mass inertia reduced to the motor shaft must be known f the parameter for the overall mass inertia of the system P 1516 has a value unequal to O that value will be automatically used to feedforward the acceleration torque The feedforward of the speed reference is preset by default to 100 via parameter P 0375 CON_IP_SFF_Scale This value should not be changed The acceleration torque feedforward can be optimized with P 0376 CON_IP_TFF_Scale Reducing this reduces the feedforward value conversely increasing this value also increases the feedforward value The position tracking error can be further reduced by predictive torque and speed feedforward that is in advance of the position reference setting Owing to the time discrete mode of operation of the control circuits and the limited dynamism of the current control circuit this prediction is necessary to prevent the individual control circuits from oscillating against one another Prediction in feedforward is achieved by delaying the speed and position controller reference setpoints Feedforward parameters Parameterbezeichnung P 4 P no Parameter name Settings Func
40. implemented Autocommutation IENCC 4 with minimized motion ECON 4 Current injection minimized In this case too the rotor must be able to move However with movement suitable parameterization the rotor movement can be reduced to just a few degrees mm HALLS 5 not implemented yet as from V 3 0 The IENCC 1 method movement of shaft permitted With IENCC the rotor aligns in direction of the injected current and thus in a defined position The relatively large movement up to half a rotor revolution must be taken into consideration This method cannot be used near end stops or limit switches It is advisable to use the rated current l m for the injected current The time should be set so that the rotor is at rest during the measurement For control purposes the commutation process can be recorded with the DriveManager Scope function The IECON 4 method movement of shaft not permitted The motor shaft motion can be minimized by a shaft angle controller The structure and parameters of the speed controller are used for the purpose The gain can be scaled via parameter P 0391 CON ICOM KpScale This therefore means that the speed control loop must already be set 01 2012 1003374 YukonDrive Harmonic Drive AG 73 m Increasing the gain results in a reduction of the motion m An excessively high gain will result in oscillation and noise In both methods 1 and 4 the flux forming current Isdref is injected as a test signal the c
41. in PG mode P 0166 Setting of smoothing time only in PG mode P 0167 Setting of speed override dependent on the maximum preset reference value only in PG mode P 0335 Reversing lock 5 2 3 Profile Generator Interpolated position mode The Profile Generator has 3 different operating modes m Absolute positioning The specified target position is approached m Relative positioning New position old position relative position m Speed mode The specified speed is implemented regardless of the position The Profile Generator calculates the motion profile in two stages 1 Speed Profile Generator Calculation of the speed profile taking into account a and v followed by integration of the speed to get the travel profile 2 Mean value filter In order to limit the jerk time a mean value filter is used to smooth the travel profile of the speed Profile Generator The jerk time is proportionate to the filtering depth of the mean value filter The longer the jerk time the lower the resulting jerk A jerk time of O means that the max permissible acceleration can be directly used for starting or braking the mean value filter is inactive 5 2 4 Speed control via the Profile Generator PG Mode To use the Profile Generator in speed control mode the two parameters P 0301 PG 0 and P 0300 SCON 2 must be set When the reference source has been selected the reference is scaled to the matching user unit The reference is transf
42. initialization SSi Error 0x7307 0x20 initializing SSI interface 15 EncCH3 Init_SSI_Mul Encoder channel 3 initialization SSi Plausi 0x7307 0x20 titurn bility check Multiturn from encoder 16 EncCH3Init_SSI_Sin Encoder channel 3 initialization SSi Plausi 0x7307 0x20 gleturn bility check Singleturn from encoder 17 EncCH3lnit SSI Pari Encoder channel 3 initialization SSi Parity 0x7307 0x20 tyPos error position transfer 160 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency P no FError name Error a Error register Error code 2 Description of error code P 0030 location DS 402 SERCOS DS 402 18 EncCH3Init_SSI_ Encoder channel 3 initialization SSi N 0x7307 0x20 SscTimeout imeout on SSC transfer 19 EncCH3Init_SSI_ Encoder channel 3 initialization SSi sis 0x7307 0x20 PosConvert Position data not consistent 20 EncCH3lnit_SSI_ Encoder channel 3 initialization SSi a REPE 0x7307 0x20 EncObs Encoder monitoring bit Encoder channel 3 initialization 38 EncCH3lnit w E P RM EnDat2 1 Plausibility check Position 0x7307 0x20 EnDat2 1_PositionBits zd Bits from encoder I Encoder channel 3 initialization 39 EncCH3lnit_ on EnDat2 1 Plausibility check Transfer 0x7307 0x20 EnDat2 1_TransferBits I Bits of transfer Encoder channel 3 initialization 40 EncCH3Init_Np_ A ne NP Plausibility check Lines and 0x7307 0x20 Nominal
43. is usable in all control modes 168 Harmonic Drive AG YukonDrive 1003374 01 2012 6997 d o 8992 d _ OAA ao Les NV NOD ue Ezod uuum o jesi vNY NOD Weyd Um 33M Wud zi9zd weno Sora 3384 sd3 Dud S997 d Z992 d 01 U02 SS9ZOJd 169 Harmonic Drive AG 1003374 YukonDrive Bild 117 Control structure of the process controller 01 2012 P no Parameter name Settings Function P 2658 CON PRC ENABLE Starting the process controller P 2659 CON PRC Kp P gain of the process controller P 2660 CON PRC KP SCALE Adaptation of the P gain P 2661 CON PRC Tn Process controller integral action time P 2662 CON PRC REFOFFSET Offset for the process controller output P 2663 CON PRC LIMPOS Positive process controller limitation P2664 CON PRC LIMNEG Negative process controller limitation P 2665 CON PRC CDIFFSIGN Adaptation of control difference sign P 2666 CON PRC REFVAL Process control reference value P 2667 CON PRC REFSCALE Scaling factor for the process controller reference P 2668 CON PRC ACTSEL Selection of the actual value source 0 SAOO 0 Analog input O 1 SAO1 1 Analog input 1 2 FIELDBUS 2 Field bus parameter CON PRC_ACTVAL_Fieldbus ID 2677 3 REFSPEED 3 Actual speed rpm 4 REFPOS 4 Actual position increments 5 SQREF 5 Reference value from speed control P 2669 CON_PRC_ACTOFFSET Offset for actual value cal
44. it all ramp functions such as acceleration and braking ramps jerk smoothing are implemented Internal generation always takes place with a sampling time of 1 ms 1 IP 1 setpoint effects directly to control loop IP 1 The reference assignment of the higher level without ramp control leads directly to the fine interpolator Adaptation of the sampling time between the PLC and the drive controller is essential x Adaptation of Sampling Time between ext Control P 0306 CON IpRefTS Sampling time for interpolation and drive controller 0 25 ms 1000 ms P0370 CON IP Interpolation type control Selection of interpolation method d The interpolation methods are described in section 0 Nolp 0 No interpolation i 1 Lin 1 Linear interpolation Linear interpolation 2 SplineExtFF 2 Interpolation with external feed forward Interpolation with external pre control value 3 Splinell 3 Cubic spline interpolation Cubic spline interpolation 4 NonIPSpline 4 Cubic spline approximation Cubic spline approximation 100 Harmonic Drive AG YukonDrive 1003374 01 2012 5 2 1 Control location control source Set control and Reference m P0159 Selection of control location m P0165 Selection of reference source m P0144 Selection of controller start condition Autostart 5 2 2 Profiles P 0301 Selection of reference processing via Profile Generator or interpolated position mode P 2243 Setting of different smoothing curves only
45. linear PS motor Motor name Motori A Name plate data Rated voltage 330 v Rated current 35 A Maximum speed 4 m s Magnet pitch NN 32 mm Rated force 220 N Weight Motor weight coil 27 kg Total weight 5 kg Cis Motor impedances Stator resistance 23 Ohm Stator inductance 55 mH Encoder Encoder period 40 um Start calculation Show motor parameters Figure 5 PS Linear motor screen 01 2012 1003374 YukonDrive Harmonic Drive AG 9 The following values are calculated m Translation of the linear nominal quantities into virtual rotary nominal quantities m Default values for autocommutation m Encoder lines per virtual revolution m Calculation of current speed and position control parameters m The default value for speed tracking error monitoring corresponds to 50 of the nominal speed m V F characteristic boost voltage rated voltage rated frequency Parameters P Nr Parameter name Settings Designation in DMS Function n Selection if linear or rotatory Selection for rotary or linear P 0490 MOT_IsLinMot gt LIN 1 motor data are valid motor P0450 MOT Type gt PSM Motortype Motor typ P0451 MOT Name Motorname Motor name P0457 MOT CNom Motor rated current Rated current P0492 MOT MagnetPitch Width of one motor pole NN Pole pitch NN Maximum nominal x P 0493 MOT SpeedMax Maximum speed motor speed P0494 MOT ForceNom 2 Nominal force o
46. of all connected drives with the master control system Free configuration of telegram content Maximum configurable data volume in MDT 20 bytes Maximum configurable data volume in DT 20 bytes Programmable parameter weighting and polarity for position speed acceleration and torque Modulo weighting Additive speed and torque references Fineinterpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control SService channel for parameter setting and diagnosis Support for touch probes 1 and 2 Support for configurable real time status and control bits Support for configurable signal status and control word Supported commands S 0 0099 Reset state class 1 S 0 0127 Preparation for switch to phase 3 S 0 0128 Prepare switch to phase 4 S 0 0148 Drive controlled homing 166 Harmonic Drive AG YukonDrive 1003374 01 2012 S 0 0152 Position spindle command S 0 0170 Touchprobe command S 0 0262 Parameter initialization to defaults command S 0 0263 Parameter initialization to backup values command S 0 0264 Save current parameter values command NOTE For a detailed description of the SERCOS field bus system refer to the separate SERCOS User Manual 10 Technology option 10 1 General It is possible to use one of the following encoder types by way of option slot 3 m SinCos L Modul H L encoder with commutation
47. open loop control 3 ACTV 3 Power activ d in function NEIN Output is activated when the device is initialized after 4 S RDY 4 Device initialized power on Output is activated when the device is Ready to switch TM n on based on setting of the ENPO signal and no error mes 5 C RDY 5 Control initialized j sage has occurred Device ready ReadyToSwitchOn flag in DriveCom status word set in states 3 4 5 6 7 The preset reference has been reached dependent on 6 REF arget reached control mode 7 HOMATD Homing attained Homing complete 8 E_FLW Following error Tracking error 9 ROT R Rotation right Motor in standstill window when running clockwise 10 ROT L Rotation left Motor in standstill window when running anti clockwise 11 ROT O Motor stand still Motor in standstill window depending on actual value 12 STOP Drive in Quickstop The drive is in the quick stop state The display system is in HALT state activated via DS 402 profile input or PROFIBUS IntermediateStop SERCOS 13 HALT Drive in halt from V 2 0 Reaction according to HALT Option Code P 2221 MPRO 402 HaltOC NE The output function LIMIT 14 detects when a reference 14 LIMIT Reference limitation MERE A reaches its limitation In this case the output is set Nact greater than Nx where Nx value in P 0740 15 N_GT_Nx Speed greater than Nx MON_SpeedThresh Nact less than Nx where Nx value in P 0740 MON_ 16 N LT Nx Speed less than Nx
48. right direction O shortest way Figure 69 Anti clockwise rotation Processing format absolut modulo rotary table modulo value 360 deg Position option O linear like left direction Q right direction Q shortest way Figure 70 Clockwise rotation 90 Harmonic Drive AG YukonDrive 1003374 01 2012 Path optimized movement With Path optimization activated an absolute target position is always approached by the shortest path Travel range Effect Target position less than circumference 120 360 Target position circumference 120s POS Target position greater than circumference 600 1x 360 240 800 2 x 360 80 Without path optimization 120 sww 240 600 360 240 sww w ty 240 Figure 71 Path optimization The drive moves to the specified target position The drive stops The drive moves to the position within the circumference target position n x circumference With path optimization 0 or O 5 Q x E a 120 E n g k e o te 120 LM nuu 0 me e 5 a 240 E 5 5 E a 240 t annuust 600 360 240 ananant 2407 01 2012 1003374 YukonDrive Harmonic Drive AG 91 Response of relative positioning jobs Relative positioning jobs always relate to the last target position
49. selected 8 ParaList_PST_VL 0x6320 Ox device voltage not supported 3 OFF 1 Off MON Device Undervoltage 0x3120 0x200 4 OverVoltage 1 OverVoltage Overvoltage Ox3110 0x100 MON_Device 5 OverCurrent 1 OverC t 1ONerGunten Overcurrent shut off by hardware 0x2250 0x80 HardwareTrap 2 OverCurrent_ soft Overcurrent shut off fast by software 0x2350 0x80 0 3 OverCurrent_ ADC Measuring range of AD converter exceeded 0x2350 0x80 4 OverCurrent_ nos VaL 2 Short circuit test on initialization 0x2350 0x80 WireTest 5 OverCurrent DC Fast Overcurrent shut off below 5 Hz 0x2350 0x80 6 OverCurrent Uu Total current monitoring 0x2350 0x80 Zero 7 OverCurrent_ I STS Fast l xt at high overload 0x2350 0x80 6 OvertempMotor 1 OvertempMotor_ Calculated motor temperature above threshold 0x4310 0x4 MON_MotTemp value 2 OvertempMotor_ PTCto DIN1 0x4310 0x4 MON_Device_DIN1 3 OvertempMotor_ PTC to DIN2 0x4310 0x4 MON_Device_DIN2 4 OvertempMotor_ PTCto DIN3 0x4310 0x4 MON_Device_DIN3 7 Overtemplnverter 1 Overtemplnverter I Heat sink temperature too high 0x4210 0x2 _MON_Device 01 2012 1003374 YukonDrive Harmonic Drive AG 153 Emergency Fehlercode P no NS Error register F Error name Error location Description of error code gem P 0030 DS 402 DS 402 SERCOS 8 OvertempDevice 1 OvertempDevice_MON_Device Interior temperature evaluation
50. set by way of the scaling factor P 0322 CON SCON KpScale The default setting of the scaling factor is 100 96 A change in scaling causes a change in the three variable at an appropriate ratio The recommended setting of the actual speed filter P 0351 CON SCALC TF for a synchronous motor is 0 6 to 1 2 ms Speed controller gain reduction at low rotation speeds To avoid standstill oscillations with a simultaneously highly dynamic speed control setting during a short positioning cycle the speed control gain can be adapted at low speeds or speed zero especially effective with TTL encoders m Speed gain reduction at low speeds m Prevents hum or rough running 48 Harmonic Drive AG YukonDrive 1003374 01 2012 Parameters Parameter name 2 E N P no Designation in DM5 Function Settings P 0336 CON SCON Kp Adaptation of speed control gain Reduction of speed controller gain at low speeds ScaleSpeedZero zero speed orspeed O Weighting of the speed controller gain reduction 0 ndex 0 96 gain for low zero speed N in percent definition of the speed limit to detect Weighting of the speed controller gain reduction 1 ndex 1 rpm zero speed in rpm filter time for change from zero to 2 ndex 2 ms Filter time for the speed transition from 0 to n higher speed Ts filter time for change from higher to zero 3 ndex 3 ms speed filter time for change from higher Filter time for the speed transition from
51. signals 10 2 SinCos module The SinCos module enables evaluation of high resolution encoders A track signal period is interpolated at a 12 bit resolution fine interpolation 10 3 TTL module With the TTL module the following operation modes are possible m Evaluation of a TTL encoder m Simulation of a TTL encoder signals from other encoders are converted into TTL signals and made available as output signals for a slave axis m TTLrepeater evaluation and transmission of incoming TTL signals for additional axes 10 4 TTL encoder with commutation signals With this module the evaluation of incremental encoders providing rectangular position signals and additional rec tangular commutation signals is possible NOTE For more information on the technology options please refer to the corresponding manuals 01 2012 1003374 YukonDrive Harmonic Drive AG 167 11 Process controller 11 1 Function controller structure setup The process controller function enables a measured process variable to be controlled to a reference setpoint value Examples of applications are print dancer controls etc Process controller calculation in speed controller cycle Process controller as PI controller with Kp adptation Process controller actual value selectable via selector Filtering and offset correct of reference and actual values Process controller output can be connected to different points in the general control structure Process controller
52. signment of the control word The TABO setting has the lowest significance 2 and the TAB3 the highest 2 01 2012 1003374 YukonDrive Harmonic Drive AG 121 Table settings dependent on control mode Control mode Table reference Acceleration ramp Braking ramp Speed Positioning mode Torque P0195 P0193 P0194 Speed P0198 P 0196 P 0197 Position P0202 P0199 P 0200 P 0201 P 0203 Reference setting Motion Control provides references in user defined travel units These values must be converted into internal units This is done by way of the scaling block Standardisation units There are three options for scaling of the drive controller The selection is made via P 0283 MPRO FG Type for more information see Scaling section Speed The speed can be specified signed A negative setting is only evaluated in case of infinite positioning It is limited by parameter P 0328 CON SCON SMax Starting and braking The acceleration values for starting and braking can be parameterized irrespective of each other The input must not be zero Accelerations are controlled by the limitations Follow up task The positioning jobs from zero up to the Number of follow up tasks to be processed set in P 0206 are continuously processed Once the driving set in P 0206 is finished the first data set is restarted Processing is only stopped by removing the start contact If a task has the setting REL at once the driving set can be aborted
53. system at the input and output A positive torque reference difference and non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 96 Harmonic Drive AG YukonDrive 1003374 01 2012 5 1 2 USER scaling without scaling wizard No wizard is available for USER scaling and it should only be used when scaling using the wizard is not possible The following schematic is provided as an aid to parameter setting Calculation of the factors P 0271 P 0272 for the position P 0274 for speed and P 0275 for acceleration is dependent on the selected User Unit 1 and the feed constant or gear ratio User Standardisation P 0270 MPRO FG PosNorm Position Pos Unit ge P0271 MPRO FG Num Pos incr n ooo hh P 0272 MPRO_FG_Den P 0273 MPRO_FG_Reverse Speed Speed Unit I L P 0274 MPRO_FG_SpeedFac Speed rev min Acceleration Acc Unit gt Acc rev s2 P 0275 MPRO_FG_AccFac Figure77 Schematic of user scaling Scaling examples for USER scaling Rotary motor scaling Presetting 1 motor revolution corresponds to 360 or 1048576 increments m Speed in rpm m Acceleration in rpm s m Positioning in degrees Example Given Pos Unit P 0284 um Speed Unit P 0287 m s Acc Unit P 0290 m s2 Feed constant 1 mm 10 rev Gearing 1 drive revolution 3 motor revolutions 01 2012 1003374 YukonDrive Harmonic DriveAG 97 Parameterization
54. the YukonDrive is based on the PROFldrive profile PROFIBUS PROFdrive Profile Version 4 0 Key features m Data transfer using two wire twisted pair cable RS 485 m Optionally 9 6 K 19 2 K 45 45 K 93 75 K 187 5 K 500 K 1 5 M 3M 6M or 12 MBaud m Automatic baud rate detection m PROFIBUS address can be set using the rotary coding switches or alternatively using the addressing parameters m Cyclic data exchange reference and actual values using DPVO m Acyclic data exchange using DPV1 m Synchronization of all connected drives using freeze mode and sync mode m Reading and writing drive parameters using the PKW channel or DPV1 NOTE For a detailed description of the PROFIBUS field bus system refer to the separate Profibus User Manual 9 3 SERCOS Short description of the YukonDrive SERCOS interface The basis for implementing SERCOS in the YukonDrive is the document titled Specification SERCOS Interface Version 2 2 Key features Data transfer by fibre optic cable Optionally 2 4 8 or 16 MBaud Automatic baud rate detection Transmission power adjustable by DIP switches SERCOS address programmable via buttons and display Cyclic data exchange of references and actual values with exact time equidistance SERCOS sampling time of 125 us to 65 ms multiples of 125 us programmable Multi axis synchronization between reference action times and actual value measurement times of all drives in the loop Full synchronization
55. the current device status In an error state the green rectangle at the top turns red The rectangles at the bottom turn from transparent to green as soon as a condition high is met ja As soon as an error is detected the status indicator at the top of the window turns red Pc on disable Detailed information on the error and on previous errors can be viewed by clicking the Error Alarm messages history button Q Quit error At the bottom of the window the current states are displayed A green light signifies active EE Target reached Reference limited EB Standstill EZ Movement right EZ Movement left Z3 Homing Jog mode active Homing attained Lett limit switch E Right limit switch HALT state EZ Motor brake closed Waming Figure 118 Drive status Fenster Status bits Status bits Servodr m x The Status bits window displays the current system states The basis of those states is the DriveCom state machine The active states are displayed in green A schematic view is presented in figure A 3 and in figure 5 36 in the Motion profile section Ready to switch on Switched on peration enabled Fault Voltage enabled Quick stop Switch on disabled Motor activ Warning Target reached Internal reference limitat Safety hold request Brake activ Halt activ Homing attained Homing jog mode activ Drive configurable Drive operation enabled Drive ready to switch on a ELE EL EER Figure
56. to switching off NOTE For servomotors always refer to the motor manufacturers specifications NOTE The limits are specified in the servocontroller as percentages of the rated quantities e g current torque speed so that following calculation logical default settings are available The default settings refer to 100 of the rated values and the parameters must thus be adapted to application and motor 01 2012 1003374 YukonDrive Harmonic Drive AG 17 Characteristic setting for a synchronous motor PSM Asynchronous motor by design has lower loss than the ASMs because permanent magnets replace the magnetizing current It is normally not internally cooled but discharges its heat loss by internal convection For that reason it has a different characteristic to an asynchronous motor The following diagram shows a typical setting for the permanently excited synchronous machine Ft monitoring Permitted continuous current Rated motor current IN Rated motor frequency FN 1 current interpol point ICI 2 current interpol point I1 2 frequency interpol point F1 Point of switch off 266 66 X IN for Figure 12 xt protection PSM 100 250 133 33 100 250 D Hz x Hz f Hz fu Error reactions Warning level It is necessary to adapt the l xt characteristic because the factory settings mostly do not exactly map the c
57. to the reference source selected in P 0164 MPRO REF SEL MAN This enables fast switching to manual control for setup or emergency running mode for example P no Parameter name Settings Designation in DM 5 Function P0164 MPRO INPUT FS ISDx Function of digital input Function selectionl 0 OFF No profile selected No profile selected 1 ANAO Profile via channel analog 0 Reference value of analog input ISAO 2 ANAI Profile via channel analog 1 Reference value of analog input ISAT 3 AB Profile via table positioning Reference from table 4 4 not defined Not defined 5 PLC Profile via PLC definition Reference from PLC 6 PARA Profile via parameter definition Reference via parameter 7 DS402 Profile via DS402 definition Reference via CIA402 1E1131 8 SERCOS Profile via SERCOS definition Reference via SERCOS 9 PROFI Profil via PROFIBUS definition Reference via PROFIBUS 10 VARAN Profil via VARAN definition Reference via VARAN 11 WIN Profil via TechOption definition Reference via external option not available for YukonDrive Required parameters P no Parameter name Settings Designation in DM 5 Function P 0101 P 0107 MPRO_INPUT_FS_ISD00 ISDO6 Function of digital input Set digital input to MAN 14 n 3 The control mode must not be changed when P 0159 MPRO_CTRL_SEL Motion control selection P switching reference source P0164 MPRO_REF_SEL_MAN Motion profile selection Target referenc
58. 0 1 Figure 106 References via analog input analog channel ISAOO and ISA01 01 2012 1003374 YukonDrive Harmonic Drive AG 137 Parameters for reference processing are available for all control modes torque speed and position control The scaling weighting an offset and a threshold dead travel are programmable The parameters are described in the following sections The reference can also be filtered via parameters P 0405 CON_ANA_FiltO and P 0406 CON ANA Filtl NOTE For additional information on PG and IP modes refer to the Motion control section 5 2 3 Profile generator Interpo lated mode 6 3 2 Reference input via analog inputs IP PG mode Parameter P 0301 CON REF Mode is used to determine whether the analog references are specified via the ramp generator setting PG 0 or directly setting IP 1 If direct input via IP mode is selected only the input filters are active The analog values are in this case scanned and filtered in the current control cycle and then directly transferred as references for the speed or torque control This is the operation mode to be set for example if the position controller or speed controller is implemented in a higher level control and transfers the speed references or torque references to the drive controller via the analog input With the two analog inputs ISAOO and ISAOT the analog references input signals are processed and filtered Four analog functions are available Analog
59. 003374 01 2012 Harmonic Drive AG 84 NOTE Parameterization is carried out in the selected user unit for the position as integer values NOTE t is advisable to use the same number of correction interpolation points for the positive and negative directions The first and last correction values in the table must be zero in order to avoid instability step changes of the actual posi ion value Differing correction values for the positive and negative directions at the same interpolation point will lead o instability in the associated actual position value when the direction is reversed and so possibly to a step response adjustment to the reference position 5 Motion profile Drive parameterization starts with setting up the reference interface between motion profile and control The basic settings can be made on the screen Interface between Motion profile and control standardisation basic setting reference value selector control selector autostart profilegenerator Reference type jog mode Figure 62 Reference interface Motion profile screen E Back Motion profile control command value units etc Standanksation unis Position unit 1 degree acceleration unit 1 rev min s Speed unit 1 rev min Torque force unit 1 Nm Control via TERM 1 via terminals Basic settings Reference via TAB 3 via table Profile mode PG 0 setpoint effects to profile generator Stop ramps Method Type 4
60. 012 1003374 YukonDrive Harmonic Drive AG 145 uonejuil zua uno woy xew b Z uno xew Kuo Buluayeampyaly WSV eys xeuu anbio Buyers xeuru Jonuoo id i x Qui Qui TC 3 gjeJpsi uno zxeui n eA euululuu sow uonongjsul WNS F uoyeyw H uone xrdpiniN pu B 1 zuenbeyyeyos I xew ul asd Jen Bunsseduy mno ZXeuil ZLYOS WONO LOW joe un NL NODS NOOD Ionuoo peeds TO I 6ZE0 d i Z bioy xew x l 4 Qu k Ot O WONL LOW uwr u joquoo id 09v0 d LEE d soqxeWL NOOS NOO ejeos nom uonglu uognioAes woy OEEO d 6 NxeWL NOOS NOO gt 0n xew b Z bio xeui ZEEO d eie sxeiL NODS NOD YSE YOIJUOD suu sug uone noje2 euiuo uoneniur anbsoy 3ueun2 Dependence in case of field weakening and or limitation by power stage Figuer 113 YukonDrive 1003374 01 2012 146 Harmonic Drive AG In the following cases additional limitations of the torque may occur so that the parameterized limit torque is not reached Possible parameterization error Ratio of rated current to rated torque incorrect The torque constant of the motor parameterized by way of the flux for a synchronous mac
61. 0x4210 1 0x40 9 I2tMotor Pxt integrator has exceeded 1 PtMotor MON I2t motor protection limit value 0x2350 1 0x1 permissible current time area 10 PowerAmplifier 2 lxt power stage protection limit 1 PtPowerAmplifer MON Device 0x2350 0x1 value exceeded 11 External 1 External_MPRO_INPUT External error message OxFFO 0x8000 12 CAN 1 ComOptCan_BusOff CAN option BusOff error 0x8140 0x8000 2 ComOptCan_Guarding CAN option Guarding error 0x8130 0x8000 CAN option Unable to send 3 ComOptCan_MsgTransmit 0x8100 0x8000 message 4 ComOptCan_HeartBeat CAN option Heartbeat error 0x8130 0x8000 5 ComOptCan Addr CAN option Invalid address 0x8110 0x8000 6 ComOptCan PdoMappingError Mapping error 0x8200 0x8000 CAN option Synchronization 7 ComOptCan_SyncTimeoutError 0x8140 0x8000 error 13 SERCOS 1 ComOptSercos_Hardwarelnit SERCOS Hardware initialization OxFFOO 0x1000 SERCOS Invalid communication ee 2 ComOptSercos_IllegalPhase OxFFOO 0x1000 phase 3 ComOptSercos CableBreak SERCOS Cable break OxFFOO 0x1000 i SERCOS Disturbed data E 4 ComOptSercos_DataDisturbed oo OxFFOO 0x1000 transmission 5 ComOptSercos_MasterSync SERCOS Faulty synchronization OxFFOO 0x1000 6 ComOptSercos MasterData SERCOS Data telegrams missing OxFFOO 0x1000 7 ComOptSercos_Address Double SERCOS Duplicate address OxFFOO OxFFOO SERCOS Faulty phase switching 8 ComOptSercos PhaseSwitchUp OxFFOO OxFFOO Up shift
62. 1003374 YukonDrive Harmonic Drive AG 67 Parameters voltage control filter time Time constant of the voltage controller actual value filter constant P0344 CON FM VConTF voltage control integration time Voltage controller lag time Tn constant P0346 CON FM VCoriTn P0458 MOT SNom Motor rated speed Rated speed of the motor Default values P0345 CON FM VConKp 0 1 A V P0347 CON FN VRef 90 68 Harmonic Drive AG YukonDrive 1003374 01 2012 4 6 Synchronous motor field weakening Synchronous motors can also be operated above their rated speed at rated voltage by reducing their voltage consump tion based on injection of a current component The following conditions must be met 1 To effectively reduce the voltage demand the magnitude of P 0471 stator inductance multiplied by P 457 rated current must be large enough relative to P 0462 rotor flux Chom Lag gt Factor Flux un 1 T 1 P 0457 P0471 gt Factor P 0462 Reference Factor 0 2 A Attention 2 If the speed achieved by field weakening is so high that the induced voltage exceeds the overvoltage threshold of the device for 400 V devices approximately 800 V for 230 V devices approximately 400 V this will result in DESTRUCTION of the servocontroller if no additional external safety measures are applied Condition Rotorflux Maximum speed inrad s lt 800 V 400 V device 400 V 230 V d
63. 119 Status bits window 174 Harmonic Drive AG YukonDrive 1003374 01 2012 State machine State machine of the drive controller The system states of the controller are recorded in the bordered boxes Red arrows designate the individual state transitions oriented to CiA 402 Changeable state transitions are bordered in grey Quick stop active System status 6 9 Quick stop 10 Quick stop actived deactived 12 Standstill detected Control active System status 5 4 Controller 5 Controller enabled blocked 13 Error Y 6 Power stage blocked Switched on System status 4 Error response active System status 7 3 Power stage 6 Power stage 14 Error response switched on blocked ended 7 Spin out of true or quick stop activated Ready to switched on System status 3 i 2 Quick stop 7 Quick stop Error System status 8 11 Spin out of true activated 15 Error acknow ledgement rJ Switched on blocked System status 2 p 16 Hardware enable blocked 1 UZK OK 8 UZK to low Y Not ready to switch on System status 1 0 Start Hardware enable blocked System initialisation running System status 0 Figure 120 State machine of the drive controller 01 2012 1003374 YukonDrive Harmonic DriveAG 175 Manual mode Manual mode enables a controller to be cont
64. 12 Homing method for increment coded encoders Typ 6 move negative direction for distance coded encoder Typ 7 move positive direction for distance coded encoder Typ 7 bis 10 Reference cam zero pulse and positive limit switch The initial movement is in direction of the positive right hardware limit switch It and the reference cam are inactive see symbol A in figure 90 Type 7 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse after a falling edge With type 8 the zero corresponds to the first zero pulse with an active reference cam Type 9 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 10 the reference cam is overrun and the first zero pulse after that corresponds to the zero The initial movement is in direction of the negative left hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol B in figure 90 With type 7 the zero point corresponds to the first index pulse after falling edge of the reference cam Type 8 reverses he direction of movement after a falling edge of the reference cam The zero point corresponds to the first index pulse after the rising edge of the reference cam The initial movement is in direction of the positive right hardware limit switch It is inactive and the reference cam is active see s
65. 1Init_Hiperface_ N Response with error bit Status returns com 0x7305 0x20 Response_Com sca munication error Encoder channel 1 initialization Hiperface 31 EncCH1Init_Hiperface_ N Response with error bit Status returns 0x7305 0x20 Response Tec technology or process error Encoder channel 1 initialization Hiperface 32 EncCH1Init_Hiperface_ E E Response with error bit Status returns 0x7305 0x20 Response None no error Encoder channel 1 initialization Hiperface 33 EncCH1Init Hiperface _ E Status telegram reports communication 0x7305 0x20 Status Com error Encoder channel 1 initialization Hiperface 34 EncCHIInit_Hiperface_ Status telegram returns technology or 0x7305 0x20 Status Tec process error 35 EncCH1Init_Hiper Encoder channel 1 initialization Hiperface j 0x7305 0x20 face_TypeKey Type identification of encoder unknown I Encoder channel 1 initialization Hiperface 36 EncCH1Init_Hiperface_ An attempt was made to write to the protec 0x7305 0x20 WriteToProt I tion cells in the encoder 37 EncCHTInit TTL Encoder channel 1 initialization TTL Con 0x7305 0x20 IncompatibleHardware trol pcb does not support TTL evaluation m Encoder channel 1 initialization EnDat2 1 38 EncCH1Init EnDat2 1 An A ge NAR Plausibility check Position Bits from 0x7305 0x20 PositionBits encoder 39 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 I PM I 0x7305 0x20 TransferBi
66. 2 Back Continue gt gt He This is the start screen of the SERCOS scaling wizard in which the settings for position speed torque and acceleration can be made From this screen the user is navigated through the scaling parameters li So as not to have to display all individual screens the following schematic views are presented g Schematic 1 Position data weighting method Wi Schematic 2 Speed data weighting method g Schematic 3 Force torque weighting method gm Schematic 4 Weighting method for acceleration Figure 72 Weighting wizard for SERCOS 92 Harmonic Drive AG YukonDrive 1003374 01 2012 Weighting of position data Schematic 1 Position data Weighting of position data translational mode Load Motor Load Motor L L annoa Parameter DENS mur weighting weighting weighting weighting Meter Grad Grad MK M 106 7 variabel S8 wo 0001 Grad LSB variabel Position resolution in translational mode LSB Unit Exponent Preferential translational weighting Weighting sed E Preferential Unit Weighting factor Weighting exponent mod method weighting Linear m 1 7 0 1 um Position resolution in rotary mode 1 revolution 360 degree LSB Unit F exp EDU UE rotative resolution 3 600 000 Preferential rotary weighting Weighting T A Preferential Unit Rotary position resolution Weigh
67. 2t _ON Pt Motor protection xt motor protection 9 Motor I2t OFF Pt Motor protection 0 Torque ON Motor torque Torque limit reached 1 Torque OFF Motor torque 2 Speed ON Motor actual speed Speed limit reached 3 Speed OFF Motor actual speed 4 TC ON Cooler power electronics temperature Heat sink temperature reached 5 TC OFF Cooler power electronics temperature 6 Tint ON Internal control electronics temperature Housing internal temperature reached 7 Tint OFF Internal control electronics temperature 8 Motorlemp ON Motor temperatur Motor temperature reached 9 MotorTemp OFF Motor temperatur 9 Field bus systems 9 1 CANopen CANopen functionality of the YukonDrive The CANopen Communication Profile is documented in the CiA DS 301 and regulates how communication is execut ed It differentiates between Process Data Objects PDOs and Service Data Objects SDOs The communication profile additionally defines a simplified network management system Based on the communication services of DS 301 Rev 4 01 the device profile for variable speed drives DSP402 was created It describes the operation modes and device parameters supported NOTE For a detailed description of the CANopen field bus system refer to the separate CANopen User Manual 01 2012 1003374 YukonDrive Harmonic Drive AG 165 9 2 PROFIBUS DP Short description of the YukonDrive PROFIBUS DP interface Reference to PROFIdrive specification The implementation in
68. 374 01 2012 8 Diagnostics 8 1 Error status Warning status Errors are shown on the drive controller display for D1 2 display see Operation Manual and in parallel in the DriveManager When a new error occurs the window below opens indicating the error name location and cause In addition the green rectangle in the Drive Status switches to red Drive status Servodrive g Device error occured i m Error 18 6 Fault Homing error Drive x Axis gt USB gt 0 gt Servodrive not ready missing moto Alarm messages Error history EMB Target reached Reference limited Quit error Homing error Drive not ready missing motor standstill Check motor standstill and its parameter EN Standstill Movement right No additional Info 0 s Movement left source MC_H0DMING c line 1232 Homing Jog mode active Homing attained Quitenornow _ Wr Negative limit switch Positive limit switch HALT state Motor brake closed if Bild 115 Current error display Clicking the Error button in the Drive Status window calls up a buffer memory log listing the last 20 errors When the 21st error occurs the oldest error in the list is overwritten Fehlerprotokoll Servodrive Servodrive gt USB gt 0 gt Servodrive Nr Eintrag Zeitstempel Ursache Abhilfe 1 Fehler 16 1 2755 9 8 Max speed difference detected Check your parameter data set 2 Fehler 3 1 2749 6 14 Es wurde Unterspannung ermitt
69. 4 Pos reference cams zero pulse at RefNock Jog mode Electronic gear Figure 63 Motion profile screen 01 2012 1003374 YukonDrive Harmonic Drive AG 85 5 1 Scaling By way of Motion Control reference values must be preset in user defined travel units These values are then converted into internal units A wizard is provided for scaling in the standard CiA DS402 and SERCOS profiles To start it click the Standardisation units button Scaling via USER is only possible by way of the Parameter Editor Normalization assistant start x Normalization profile Standard DS402 O Sercos User Figure 64 Selection of scaling mode P no Parameter name Setting Designation in DM 5 Function P0283 MPRO FG Type Factor group Type selection Scaling source Scaling is based on the parameters speci 0 STD DS402 Standard acc To CANopen DS402 fied in the CIA 402 profile Scaling is based on the parameters speci 1 SERCOS Units acc To SERCOS x fied in the SERCOS profile Scaling is based arameters P 270 2 User specific User defined units dio ease dI BFeEUE s 5 1 1 Standard DS 402 Profile Definition of the units for position speed and acceleration The scaling is entered using the Exponent syntax to P275 Units Position 0 v x deg 2 7 Degree v gt degree Speed 0 v x gt rev min m s 1 Meters per second Acceleration 0 x x m min 2 Mete
70. 508 SCD TSIG PRBS Time Su o A a Np 1 Nj DN Smagg E PRBS Frequence range ion ad RS 1 el aa s Ox 2T 2g k um 4n 6n PRBS Np wt PRBS PRBS Figure 58 PRBS signal in time and frequency range 01 2012 1003374 YukonDrive Harmonic Drive AG 79 Test signal generator parameters P no Parameter name Settings Designation in DM 5 Function P 1500 SCD TSGenCon estsignal generator control word Control word of test signal generator estsignal generator output signal P1501 SCD_TSIG_OutSel Test signal generator output selector selector P 1502 SCD_TSIG_Cycles Number of Testsignal Cycles Number of cycles P 1503 SCD TSIG Offset estsignal generator Offsets Level of square signal estsignal generator times for rectan y A P1504 SCD TSIG Time Period of square signal gular waves estsignal generator amplitude of P 1505 SCD TSIG Amp n f sinusoidal wave Amplitude of sine signal estsignal generator frequence of AE P1506 SCD_TSIG_Freq a Frequency of sine signal sinusoidal wave estsignal generator initial phase for Start phase of current space vector in VFCON P 1507 SCD TSIG SetPhase f rotating current vector and ICON mode estsignal generator PRBS minimum P1508 SCD TSIG PRBSTime PRBS signal generator sampling time toggle time estsignal generator PRBS signal z P 1509 SCD_TSIG_ PRBSAmp PRBS signal generator amplitude amplitude In DriveManager only the first seven character
71. 593 Interpolation point pitch The positions at which the correction interpolation points are plotted are defined via parameters P0593 ENC ACOR PosDelta Axis Correction Delta Position P 0593 Interpolation point pitch and P 0591 Start position Between the correction interpolation points the correction values are calculated by cubic spline interpolation Axis Correction Actual Position A P0594 ENC_ACOR_Val Actual position Value Axis Correction Table for neg Values of the correction table for negative direction of rotation P0595 ENC ACOR VnegTab i z speed in user units Axis Correction Table for pos Values of the correction table for positive direction of rotation P0596 ENC_ACOR_VposTab N I speed in user units 82 Harmonic Drive AG YukonDrive 1003374 01 2012 Execution With P 0530 channel selection for SERCOS 1st encoder With P 0531 channel selection for SERCOS 2nd encoder Selection of the encoder whose actual position value is to be changed with P 0590 Enter interpolation point pitch in P 0593 The correction values are determined using a reference measurement system e g laser interferometer The interpolation points for the various directions within the desired correction range are approached one after another and the corresponding position error is measured m The interpolation point specific correction values are entered manually in tables P 0595 pos direction and P 0596 neg direction m Save data m Restart
72. E Homing Limit switch error 0x8612 0x8000 rorLimitSwitch Homing Wrong homing 4 MotionControl_MC_HOMING_Un method homing method 0x8612 0x8000 knownMethod not available 5 MotionControl_MC_HOMING_ Homing Homing method 5 OxFFOO 0x8000 MethodUndefined available but not defined 6 MotionControl_MC_HOMING_ Homing Drive not ready for I J OxFFOO 0x8000 DriveNotReadyHoming oming 7 MotionControl MC HOMINC Homing Drive not ready for u I 2 OxFFOO 0x8000 DriveNotReadyJogging og mode 8 MotionControl MC HOMINC Homing Control mode does OxFFOO 0x8000 WrongConMode not match homing method 9 MotionControl_MC_HOMING_En Homing Encoder initializa a i OxFFOO 0x8000 coderlnitFailed tion error 10 MotionControl MC HOMING Homing Homing trave a OxFFOO 0x8000 MaxDistanceOverrun exceeded Max permissible tracking 11 MotionControl MPRO REF Ena m error on Start control OxFFOO 0x8000 bledOperationFailed exceeded 12 MotionControl MPRO REF SSP Memory overflow for table OxFFOO 0x8000 StackOverflow values 13 MotionControl MC HOMING Error initializing last actual OxFFOO 0x8000 RestoreBackupPos position after restart 156 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency P no n aS Error regis Error code Error name Error location Description of error code P 0030 ter DS 402 SERCOS D
73. ENPO terminal 10 on X4 is reserved for hardware enable In its default setting OFF it only executes the Hardware enable function Apart from this it can also be assigned the START function In combination with parameter P 0144 DRVCOM AUTO START ON autostart mode is active If the Safe Stop function is active the activation of the hardware enable ENPO via terminal 10 on X4 suffices to switch on the drive control When the ENPO is cancelled the drive runs down freely Power up sequence Regardless of which control mode was selected the power up sequence must be followed in order to start the drive Power up sequence Command System state ISDSH STO p STO ISDSH 2 Starting lockout 1 ENPO STO 4 E ENPO Enable Power 3 Ready for starting Z2mMS pi a START P FS_ISDXX or Start BIT START 1 4 Switched on Diese Zeitspanne ist gt Regelung aktiv motorabh ngig o control active 5 Control active t Figure 100 Power up sequence for contro 01 2012 1003374 YukonDrive Harmonic Drive AG 127 If the power up sequence as shown in figure 100 is followed the drive starts with a rising edge of the digital input parameterized to START or when the corresponding Start bit is set via a bus system The reference polarity determines the direction of rotation 6 1 4 Manual drive control via digital inputs Setting a digital input to MAN 14 allows a change of control location
74. Incremente Position encoder resolution Motor revolution 88 Harmonic Drive AG YukonDrive 1003374 01 2012 Indexing table Modulo The indexing table function is set up in the Motion Profile Standardisation subject area To be able to use the func tion a limit value must be entered for the upper position specifying the point at which a revolution is complete Linear mode define position range Example The position limit is set to 240 direction clockwise When the 240 position is reached the position is set to 0 and 240 is approached in the anti clockwise direction It is not necessary to preset a negative reference for the reversal of direction This application applies to linear and rotary drive systems Processing format O absolut modulo rotary table modulo value deg Position option linear like O left direction O right direction O shortest way 240 Positonlimit 240 Figure 68 Defining the position range 01 2012 1003374 YukonDrive Harmonic Drive AG 89 Example The position limit value is set to 360 The drive can perform more than one revolution There is no limit switch When 360 is passed the position is reset to O how ever The clockwise direction is locked Absolute reference values are corrected to anti clockwise Processing format absolut modulo rotary table modulo value 360 deg Position option O linear like left direction O
75. L r L L 0115 r L 01 1 08 nact rpm nref 1 min 0 CON_SCON_ActTorque Nm n T2 Differenz Zeit s 0 0 022 0 022 v Reference speed summed 1 min 32 755 100 67 245 v act speed from filter rpm 0 003 101 839 101 842 iv Istdrehmoment Nm 0258 0178 0 08 Figure 37 Small signal response Speed step 100 rpm This view shows a typical speed step response n 100 rpm with a rise time of 5 ms and an overshoot of approxi mately 13 96 The reference of the current must not reach the limit during the step This can be identified by its assuming a con stant value over a certain time during the acceleration phase In this case either the maximum torque P 0329 CON SCON TMax Tmax must be increased or the level of the reference reduced 01 2012 1003374 YukonDrive Harmonic Drive AG 47 Drehzahlsprung 600 U min Aufnahmedauer_ 85 ms Steiffigkeit 100 708 317 shi saw a p 7 28 2 M UE tn Ji 1 La Lal 1 303 uU r T x r T T T T T T T T T T T T 1 U fi Di i fi nref 1 min nact rpm 0 CON_SCON_ActT orque Nm Tt T2 Differenz Zeit s 0 0 033 0 038 v Reference speed summed 1 min 48 856 600 551 144 v act speed from filter rpm 5 806 601 993 607 799 v Istdrehmoment Nm 0 151 0 307 0 156 Figure 38 Speed step 600 rpm Scaling the control parameters The parameters for gain lag time and actual speed filter time can be
76. N_SCON_S_MaxPos Motor speed scaling of positive limit Speed limitation in positive direction P 0337 CONSCON_S_MaxScale Motor speed scaling Percentage speed weighting default 100 P0740 MON_SpeedThresh monitoring speed threshold Setting of threshold for maximum speed P0744 MON SDiffMax Monitoring speed difference threshold Setting of threshold for maximum tracking error P0167 MPRO REF OVR Motionprofile speed override factor Setting of override factor 7 1 2 Position limitation position limit Parameter name A x P no Designation in DM 5 Function Settings P 0743 MON_UsrPosDiffMax monitoring position difference threshold Limit value for the maximum permissible tracking error in USER units P0746 MON UsrPosWindow position window for target reached Standstill window for position reached status 7 1 3 Powerstage Limitation of rated motor current NOTE Information on motor temperature and current limitation is given in the Motor and Encoder sections I xt DC failure reaction If the value of the DC link voltage drops below the value set in parameter P 0747 MON PF OnLimit the error ERR 34 Power failure detected is reported and the parameterized error reaction is triggered P no Parameter name Settings Designation in DM 5 Function P0747 MON_PF_ONLimit voltage limit for power fail reaction Voltage threshold for power failure response By parameterizing a quick stop as the error reacti
77. OFF Offset Reference offset Nm P0184 0 Offset Offset for torque reference Offset for the torque reference Nm 1 SOffset Offset for Speed reference Offset for the speed reference rpm 2 POffset Offset for position reference Offset for the position reference user unit P0175 MPRO_ANA1_Thresh threshold Dead travel P0185 0 Threshold hreshold for torque reference Dead travel for the torque reference Nm 1 SThreshold hreshold for speed reference Dead travel for the speed reference rpm 2 PThreshold hreshold for position reference Dead travel for the position reference user unit P0176 acceleration ramp 0 and deceleration gt 3 MPRO ANAO TRamp Acceleration ramp 0 braking ramp 1 P 0186 ramp 1 0 TRamp orque acceleration ramp Torque acceleration ramp 1 TRamp orque deceleration ramp Torque braking ramp P0177 Speed mode acceleration 0 and 3 7 MPRO_ANAO_SRamp a Acceleration and braking ramp P0187 deceleration 1 0 SRamp Speed acceleration ramp Speed acceleration ramp 1 SRamp Speed deceleration ramp Speed braking ramp P0405 2 F 7 5 Pags CON ANA FiltO filter time Filter time for the analog input 0 100 ms The reference can be filtered via parameter P 0405 CON ANA FiltO 01 2012 1003374 YukonDrive Harmonic Drive AG 139 6 3 3 Function block Analog inputs Switching PG IP Analog channel and weighting Analog Input ISA00 ISA01
78. Phase Offset Correction can be activated for the analog track signals This enables the mean systematic gain phase and offset errors to be detected and corrected GPOC weights the amplitude of the complex pointer described by the track signals by special correlation methods The dominant errors can thereby be determined very precisely with no interference from other encoder errors and then corrected There are two GPOC variants to use Track signal correction can be used with stored values CORR or with online tracked values ADAPT Where multiple encoders are in use it is advisable to apply the method for the encoder used to determine the speed signal 01 2012 1003374 YukonDrive Harmonic Drive AG 25 Parameters Parameter name 4 AE P no 4 Designation in DM5 Function Settings P0549 y 7 P0561 ENC CH1 2 Corr Encoder Channel 1 2 Signal Correction Selection of correction method 0 OFF No reaction o method 1 CORR Correction with saved values Activate correction with stored values 2 ADAPT Auto correction Autocorrection 3 RESET Reset correction values Reset values P 0550 ENC_CH1 Encoder Channel 1 2 Signal Correction Signal correction P0562 2 CorrVal Values 0 Offset A Offset track A Defined offset of track signal A 1 Offset B Offset track B Defined offset of track signal B z Determined gain correction factor for track 2 Gain A Gain track A signal A Defined gain correction factor for track 3 Gain B Gain tra
79. Position Control with PG Mode P 0301 PG 0 P 0300 PCON 3 Motion profile Sampling Time Basic settings Reference value in Increments Profil Generator Interpolator PG Selct Stop Ramps Smoothing Interpolation il Mode Filter Controll E Feed forward controll isq ref isq ref Feed forward control n ref nef Position Current eps ref Controll Coo P 0165 OFF 0 ANAO 1 ANAO 2 Motion profile TAB 3 Refemen yalen poema not defined 4 sistent nee CiA DS402 SERCOS PARA 6 We CiA DS402 7 s iq UI SERCOS 8 PROFIBUS 9 VARAN 10 Figure 81 Configuration of position control in PG mode n BUS Sampling time 1 ms 01 2012 1003374 YukonDrive Harmonic Drive AG 103 5 2 7 Position control via IP mode In position control mode in IP mode position references are set at a sampling time specified by the higher level control The drive controller sampling time can be matched to the sampling time of the PLC using parameter P 0306 CON Ip Ref TS For more information on the sampling time refer to the field bus documentation The position references are then transferred to the fine interpolator The resulting pre control values for speed and acceleration are switched to the control loops Position Controll with IP Mode P 0301 IP 1 P 0300 PCONG i
80. S 402 19 FatalError Non resettable error 1 FatalError_PowerStage_ ws PST Data index too large 0x5400 0x8000 Limit Idx 2 FatalError_PowerStage_ PST Error in switching frequency A 0x5400 0x8000 SwitchFreq dependent data 3 FatalError_PowerStage_ PST Invalid EEPROM data 0x5400 0x8000 Datalnvalid 4 FatalError_Power PST CRC error 0x5400 0x8000 Stage CRC 5 FatalError PowerStage PST Error reading power stage data 0x5400 0x8000 ErrorReadAccess 6 FatalError_PowerStage_ 2 i PST Error writing power stage data 0x5400 0x8000 ErrorWriteAccess Current in braking resistor even 7 FatalError MON Chopper j 0x5420 0x8000 though transistor switched off 8 FatalError HW i A I Hardware identification error 0x5300 0x8000 dentification 9 FatalError FlashMemory Error in flash memory 0x5300 0x8000 20 HardwareLimitSwitch 1 HardwareLimitSwitch_ a2 Limit switches interchanged 0x8612 0x8000 nterchanged 2 HardwareLimitSwitch_LCW Hardware limit switch LCW 0x8612 0x8000 3 HardwareLimitSwitch a Hardware limit switch LCCW 0x8612 0x8000 LCCW General encoder initialization loca 21 Encoderlnit tions which cannot be assigned to a channel 1 Encoderlnit CON ICOM Encoder general initialization Exces 0x7300 0x20 EpsDelta sive motion 2 Encoderlnit CON ICOM Encoder general initialization Exces 0x7300 0x20 Tolerance sive tolerance 22 Encoder CHI1Init Encoder channel 1 initialization Encoder channel 1 in
81. WON LOW uiuru o4uoo id Z bio xew soqxeWl_ NOOS NO9 un BeNxeW NODS NOO uw ajeosxeWl NODS NOO se14041u02 SW Sure Rese uone no e2 euo ywq enbJo uang Torque limitation without field weakening Figure 112 YukonDrive 1003374 01 2012 144 Harmonic Drive AG Parameters P no Parameter name Settings DM 5 designation Function I et Scaling of the maximum torque referred to the rated P0329 CON SCON TMax motor torque scaling of limits torque P 0460 MOT TNom not changeable online motor torque scaling of nega Torque limitation in negative direction not changeable P 0330 CON_SCON_TMaxNeg PANE n tive limit online motor torque scaling of posi Torque limitation in positive direction not changeable P0331 CON SCON TMaxPos Ver es i tive limit online motor torque scaling online Percentage torque weighting de fault 100 change P0332 CON_SCON_TMaxScale 3 a ui apad pd factor able online P0460 MOT TNom motor rated torque Rated motor torque monitoring torque force 5 T ed P0741 MON TorqueThres Setting of limit for torque threshold exp digital input threshold The torque reference is limited symmetrically by parameter P 0332 If the limitation is to be directional the setting can be made via P 0330 negative direction and P 0331 positive direction The limitation of the torque reference always corresponds to the parameter with the lowest value 01 2
82. _ Pretrigger 10 Channels Trigger Time Options Time L0 J d Samplingtime base time Heference speed summed 6 25E 0 5 s l min Recording time 1 0 s act speed from filer 0 24476 rpm Position facking error in user unis Figure 47 Oscilloscope settings The position controller gain When a standard motor data set is read in the position controller gain is also adopted The setting equates to a controller with a medium rigidity NOTE In the default setting no smoothing is selected 01 2012 1003374 YukonDrive Harmonic Drive AG 57 CON_PCON_PosD j 0 5 ms CON_PCDN_PosDif incr 0 ms 4000 Zeit s nact rpm nref 17min P 0372 Speed feedforward filter time constant P 0374 Delay position reference 8 E i P 0360 Position control gain A LLLICLICLAL LLLL Q D udi peu uy aru Figure 48 Position gain after read in of a standard motor data set 58 Harmonic Drive AG YukonDrive 1003374 01 2012 rou waseg NOId NOI well yoru unu jau S L vL 3 cl UL L 60 80 0 90 g0 v0 0 cu ro a ae EEN PSI TAE pa ES pep pct TEND OR c p oT P pe ies 0 Lo zo l ak as 001 swo VAJ uonisod ALPA FEO d sui 6 0 juejsuoo SUN HYY peMesuoJpaaj paads ZZE0 d 8ESZ ureb jonuoo uonisod 09 0 d ueb uonsisod paziuimd OOL oor 006 OOLL Figure 49 Optimized position
83. ated P 0345 0 Features of this method m The method is relatively robust against parameter fluctuations m The voltage controller can only follow rapid speed and torque changes to a limited degree m Anon optimized voltage controller may cause oscillation the controller must be optimized fthe voltage controller oscillates the gain must be reduced If substantial variations between the q current reference and actual values occur during run up to reference speed in the field weakening range the drive may be at the voltage imit In this case a check should first be made as to whether the preset maximum value P 0340 has already been reached and can be increased If the maximum value has not yet been reached the voltage controller is not dynamic enough and the gain P 0345 must be increased f no suitable compromise can be found the voltage threshold as from which the voltage controller intervenes must be reduced by the scaling parameter P 0347 CON FM VRef This then also quadratically reduces the torque available fthe response with voltage controller is unproblematic and no particular demands are made in terms of dynamism he available torque can be optimized by setting P 0347 to values up to 98 96 Selection of calculated map voltage controller P 0435 2 In the case of very rapid speed or load changes in the field weakening range the setting P 0435 CON FM FwMode 2 is selected A characteristic for a higher control dynamism
84. ation The disable operation option code parameter determines which action is to be exe cuted at the transition from Operation enable to Switched on 4 and 5 the drive function stage is disabled P 2220 Designation in DM 5 Function POFF 0 Disable power stage drive function Disable power stages drive coasts to a stop SDR I Slow down with slow down ramp disable of The drive brakes with the programmed deceleration ramp then the power Reaction to Halt The Halt state brakes an ongoing movement for as long as the state is active During braking the drive can be ac celerated back to the previous state When deactivated the programmed acceleration ramp is again applied P 2221 Designation in DM 5 Function SDR 1 Slow down on slow down ramp The drive brakes with a programmed deceleration ramp QSR 2 Slow down on quickstop ramp Braking with emergency stop ramp a Braking with max dynamism at the current limit The speed reference is set CLIM 3 Slow down on current limit equal to 0 4 4 not implemented Reaction to Fault Reaction P2222 Designation in DM 5 Function POFF 0 Disabled drive motor is free to rotate SDR 1 Slow down on slow down ramp QSR 2 Slow down on quickstop ramp CLIM 3 Slow down on current limit 4 4 not implemented Braking ramp for Quick stop P2242 Settings Disable power stages the drive coasts to a stop The drive brakes with a programmed
85. c Drive AG YukonDrive 1003374 01 2012 Digital filter To suppress potential disturbance frequencies resonances which might cause a system to oscillate it is possible to activate two filter types For this there are two general digital filter with the following time discrete transfer function is implemented in the forward branch of the speed controller m y k B4 x k4 B 3 x I3 B 2 x k 2 B 1 x k 1 B 0 x k A 4 x k 4 A 3 x k 3 A 2 y k 2 A 1 y k 1 o Back Digital filter settings of speed controller Select Filter v 1 Filter center cut off 100 Hz 3 dB width 10 Hz 2 Filter center cut off 100 Hz f width 10 Hz Coefficients b x k 1 b1 s k 1 0 al x k 1 b2 k 2 0 a2 x k 2 0 b2 s k 3 0 a3 x k 3 b4 s k 4 0 a4 x k 4 Figure44 Screen for setting the digital filters With parameter P 0326 CON_SCON_FilterAssi it is possible to select a filter type to suppress unwanted frequencies The blocking frequency and bandwidth are required for this When writing the parameter the corresponding coefficients of the transfer function in P 0327 are changed For parameterization of standard filters field parameter P 0325 CON SCON FilterReq is provided to specify limit frequencies and bandwidths 01 2012 1003374 YukonDrive Harmonic Drive AG 51 Settings for assistanc
86. caling without scaling wizard 5 2 Basic setting 5 2 1 Control location control source Set control and Reference 5 2 2 Profiles 5 2 3 Profile Generator Interpolated position mode 5 2 4 Speed control via the Profile Generator PG mode 5 2 5 Speed control via IP mode 5 2 6 Position control via the Profile Generator PG mode 5 2 7 Position control via IP mode 5 2 8 Smoothing and Speed offset 5 3 Stop ramps 2 Harmonic Drive AG YukonDrive 1003374 01 2012 5 4 Homing 5 4 1 Drive controlled homing via BUS 5 5 Jog mode 5 6 Reference table 5 7 Measuring switch function Touch probe 6 Inputs outputs 6 1 Digital inputs 6 1 1 Settings for digital inputs ISDOO ISDO6 6 1 2 Hardware enable ISDSH STO Safe Torque Off 6 1 3 Hardware enable and autostart 6 1 4 Manual drive control via digital inputs 6 2 Digital outputs 6 3 Analog inputs 6 3 1 Analog channel ISAOx 6 3 2 Reference input via analog inputs IP PG mode 6 3 3 Function block Analog inputs 6 3 4 Weighting of analog inputs 6 4 Analog output Optional module 6 5 Motor brake 7 Limi Control limitation 1 Torque limitation torque force limits 2 Position limitation position limit 3 Powerstage A Software limit switche Diagnostics ser Error status Warning status 1 Error reactions 2 Error details Alarm amp warning details 3 Warnings 9 Field bus systems 9 1 CANopen 9
87. can be adapted via the field bus or an internal PLC to respond to a variable mass moment of inertia m By selecting the scaling there is always a refer back to the reference setting of 100 44 Harmonic Drive AG YukonDrive 1003374 01 2012 Speed controller optimization using step responses The speed controller is always set up using step responses They are recorded with the oscilloscope and used to analyze the setup quality of the speed controller To activate step responses the controller should be operated in speed control mode SCON The important factor here is that the speed controller shows low level signal response which means that the q current reference does not reach the limitation during the step In this case the magnitude of the reference step P 0402 must be reduced Parameters P no Parameter name Settings Designation DM 5 Function P0165 MPRO REF SEL TAB 3 via table Selection of reference source P0300 CON Cfg Con SCON 2 Speed control activated P0320 CON SCON Kp Speed controller gain P 0321 CON_SCON_Tn Speed controller lag time P 0322 CON_SCON_KpScale 100 Gain scaling P0328 CON_SCON_SMax Speed limitation P0351 CON_SCALC_TF ne commended sena 0 6 Actual speed filter to 1 2 ms P0402 CON SCON AddSRef Speed reference Speed reference 01 2012 1003374 YukonDrive Harmonic Drive AG 45 Execution via Manual mode window The reference steps necessary for optimization can be executed in a use
88. ck B signal B Calculated phase correction between track 4 Phase phase signals A and B Carrying out encoder correction m Open the open loop control window and set speed controlled mode m Set the optimization speed Resolver approx 1000 to 3000 rpm SinCos encoder approx 1 to 5 rpm m Adjust scope Plot actual speed value Switch to ADAPT during operation and wait about 1 3 minutes for the compen sation algorithms to reach their steady state The speed ripple should decrease after about 1 minute observed with scope Apply setting and save secure against mains power failure 1 Procedure Access the stored values with CORR or 2 Procedure Use current correction values with ADAPT With the Reset setting the values are restored to their factory defaults NOTE The setting made with ADAPT applies only to the motor with which the function was executed If the motor is replaced by another of the same type this method must be applied again 26 Harmonic Drive AG YukonDrive 1003374 01 2012 3 2 Resolver X6 channel 2 Channel 2 evaluates the resolver Functions of encoder channel 2 A 12 bit fine interpolation over one track signal period takes place The pole pairs are set via P 0560 ENC_CH2_Lines Use of a SinCos encoder Hall sensor via encoder channel 2 By way of resolver input X6 a low track up to 128 lines SinCos encoder or Hall sensor can be evaluated Points to note m The interface assignment in t
89. controller 1 PRC CTRL ResetlReady Reset I component via ramp after parameter 2680 subindex 1 2 bis 7 PRC_CTRL_FREE Reserve P 2882 CON_PRC_StatWord Status word of the process controller 0 PRC_STAT_On PSwitch on process controller 1 PRC STAT ResetlReady component of the process controller is reduced 2 7 PRC_STAT_FREE Reserve P 2683 CON_PRC_REFSEL Selection of reference source P 2684 CON_PRC_REFVAL_User User input of process control reference Procedure m Set process controller reference P 2666 CON_PRC_REFVAL Reference input in user units this parameter can be written cyclically over a field bus Scaling of the process controller reference P 2667 CON_PRC_REFSCALE The reference P2666 can be scaled taking into account the user units see Ap plication Manual Scaling Select actual value sources P 2668 CON PRC ACTSEL The actual value source must be set to the desired reference source e g field bus The field bus writes the actual value to parameter P 2677 CON PRC ACTVAL Fieldbus Select offset optional P 2669 CON PRC ACTOFFSET Setting of an offset for actual value calibration Scaling of the process controller actual value P 2670 CON PRC ACTSCALE filter time for the actual value filter ms The actual value is smoothed via the integral action time P 2670 gt 0 ms of the PT 1 filter Taking into account the user units Inversion of the control difference P 2665 CON PRC CDIFFSIGN Adaptation of co
90. ction 2 2 Setting of xt monitoring selection of temperature sensor charac teristic setting The desired encoders and their channels must be selected Open manual mode window Control mode VFC open loop mode section 4 7 Move motor at low speed Motor will jerk as it is in open loop mode Check direction Optimize current controller test signal generator section 4 2 The current of the test signal generator is automatically set when the motor data is entered Optimize speed controller step responses section 4 4 Determine mass inertia J Section 4 1 1 Basic settings Adjust speed filter P 0351 FS 0 6 ms Recommended SinCos encoder 0 2 ms 0 6 ms Resolver 0 6 ms 1 5 ms Adjust rigidity Section 4 1 1 Basic settings Scaling IO s field buses etc see parameter table section P 0731 P 0732 0 1 P 0733 0 6 P 1503 0 1 P0320 P 0321 P 0322 P1517 P 0351 P 1515 P1516 182 Harmonic Drive AG YukonDrive 1003374 01 2012 Notizen 01 2012 1003374 YukonDrive Harmonic Drive AG 183 Harmonic Drive AG Harmonic
91. deceleration ramp Braking with emergency stop ramp Braking with max dynamism at the current limit The speed reference is set equal to 0 MP_QuickStopDec 0 3000 Setting of quick stop ramp in rev min s 108 Harmonic Drive AG YukonDrive 1003374 01 2012 54 Homing The drive controlled homing runs are executed according to the CANopen drive profile DSP 402 as from V 2 0 NOTE These drive controlled homing runs with the corresponding parameters also used in the case of control via the SERCOS and PROFIBUS field buses and in conjunction with internal reference generation 5 4 Drive controlled homing via BUS Since relative sensor systems are used the drive must be homed triggered by bit 11 in control word 1 As soon as this bit is set by the master the drive performs a position controlled homing run using an internal Profile Generator taking into account homing speed homing acceleration and the strategy stored in the homing method Homing speed The homing speed is preset via parameter P 2262 MPRO 402 HomingSpeeds in DriveManager In this the user has the possibility to specify two different homing speeds P 2262 MPRO 402 HomingSpeeds Designation in DM 5 Function 0 SpeedSwitch Speed during search for switch Speed on the way to the limit switch 1 SpeedZero Speed during search for zero Speed during travel to zero point Homing acceleration The homing acceleration is preset via P 2263
92. der Speed Filter interface Figure 27 Basic setting screen 4 2 Current control By optimizing the current controller it can be adapted to the special requirements of the drive task For dynamic applications it is highly advisable to design the current controller as dynamically as possible with a short rise time For noise sensitive applications a less dynamic setting with a longer rise time is recommended Current controller optimization In order to optimize the current control loop two rectangular steps must be preset The first step stage 1 time 1 moves the rotor to a defined position The second step stage 2 time 2 is used to assess the current control step response This should correspond to the rated current of the motor The Start Test Signal button opens a screen containing a safety notice before the step response can be generated The necessary setting of the scope function is made automatically by the wizard The time base can be set manually 36 Harmonic Drive AG YukonDrive 1003374 01 2012 B CON CCON Kp Po3100 20 I0 CON CON Tn P3110 23 PWM Details of Torque and Current Control Step response of curent control isdref Step 2 Trigger Step 1 kake t Record transfer function P 01503 0 PO1503 1 P 1509 0 Step 1 043 4 Step 2 215 Noise Ampl
93. dge Steuerwort 3 p SEE Eee 0202 hex Digital input ISDO5 triggering by a falling edge 0304 hex Digital input ISDO6 triggering by a rising edge 0408 hex Digital input ISDO6 triggering by a falling edge P 2280 ee 0101 h Digital input ISDO5 tri ing by a risi eran ex igital inpu triggering by a rising edge 0202 hex Digital input ISDO5 triggering by a falling edge 0304 hex Digital input ISDO6 triggering by a rising edge 0408 hex Digital input ISDO5 triggering by a falling edge ie d he value is always written to this object As there is no 100 P 2081 60BA Position value in user units percent match with DS402 here 01 2012 1003374 YukonDrive Harmonic Drive AG 123 6 Inputs outputs 6 1 Digital Inputs All digital inputs of the controller are set by way of a function selector By this selector a unique function can be assigned to each input Other settings can be made by clicking the gt Options button Function selector for the digital inputs Digit Inputs ISDxx Hardware enable JAKOM GSSs TAB1 24 Binary table index 2 TAB2 25 Binary table index 2 2 TAB3 26 Binary table index 2 Digit Inputs OFF 0 No function P0101 ISD00 START 1 Start motor control P 0102 ISDO1 Terminal 2 not defined oes Pepa perd STOP 3 Force quickstop P 0105 ISD04 P 0106 ISDO5 P 0107 ISD06
94. dynamic stiffness Rigidity of the mechanism 1 F Mass moment of inertia mo P1516 SCD_Jsum Total inertia of motor and plant tor and load UNA Automatic estimation of mass P1517 SCD AT JsumCon Autotuning for Jsum estimation control word i i inertia control word P1518 SCD_AT_SConHysSpeed Autotuning Jsum hysteresis speed control speed limit Limitation of speed P1519 SCD_AT_SConHysTorg Autotuning Jsum hysteresis speed control torque limit Limitation of torque 4 8 2 Test signal generator TG The TG is a function for optimization of the control loops over a protracted period of motion with a reference value sequence The TG is particularly well suited to current controller optimization Various signal forms can be generated with the possibility of overlaying different signal forms Test signals additive reference values Regardless of the control mode additive reference values test signals which take effect immediately are used for the individual control loops The test signal generator can overlay defined signal forms If the test signal parameters are set to zero the pure signal forms are switched to the controllers see Structure of test signal generator P no Parameter name Settings Designation in DM 5 Function P0400 CON FM AddlsdRef additional d current d current reference additional torque force refer P 0401 CON SCON AddTRef Torque force reference ence value additional speed
95. e 22 for speed or positioning 26 AB3 Binary driving set selection Bit 3 significance 2 for speed or positioning 126 Harmonic Drive AG YukonDrive 1003374 01 2012 6 1 2 Hardware enable ISDSH STO Safe Torque Off For the function Save Torque Off STO according to EN 954 1 Category 3 under due consideration of the require ments specified in EN 61508 concerning the fulfilment of the systematic integrity for SIL 2 the drive controllers are equipped with an integrated circuit with feedback contact The logic cuts the power supply to the pulse amplifiers to activate the power stage Combined with the ENPO controller enable a two channel block is placed on the occurrence in the power circuit of a pulse pattern suitable to generate a rotating field in the motor AN Attetion When the ENPO is cancelled the motor runs uncontrolled Function testing The STO function protection against unexpected starting must essentially be checked to ensure it is operative During initial comissioning After any modification of the system wiring After replacing one or more items of system equipment When the STO is cancelled the motor runs uncontrolled The drive controller has its own relay contact for feedback terminal RSH on x4 AN Attention The machine manufacturer is responsible for determining the safety category required for an application mini mizing risk 6 1 3 Hardware enable and autostart The digital input
96. e is used MPRO OUTPUT FS MO Setting of analog output from P0125 the output can be used for a wide variety of other functions TOR BRAKE OFF 0 to BC Fail 56 section 6 2 P0147 MPRO DRVCOM EPCHK CHECK EnablePower Power up condition o OFF NO CHECK ENPO is set via Hardware enable ENPO is switched via the motor ENMO function contactor CHECK ENPO is set via su 1 ON i ENPO must be switched via a digital input terminals The timer ENMO Enable Motor Contactor generates an Time out in Ready to switch On Off delay of the motor contactor and thus of the power P0148 MPRO DRVCOM ENMO x 5 On to enable motor switch stage The effect is active when setting and resetting the START command and in case of error The lift time takes account of the mechanically dictated P0213 MPRO BRK LiftTime Motor brake lift time opening time of the brake An applied reference will only be activated when this timer has elapsed e Closetime starts after removing the start condition or P0214 MPRO CloseTime Motor brake close time in case of a fault It is the mechanically dictated time which a brake takes to close ae e rise time is the rise of the ramp to build up the refer P0215 MPRO RiseTime Motor brake torque rise time ence torque Mref F N e fade time is the descending ramp to reduce the refer P0216 MPRO_FadeTime Motor brake torque fade time ence torque Mref to 0 f the loads change on restarting a restart with
97. e parameter P 0326 CON SCON FilterAssi P no Parameter name Settings Description in DM 5 Function P0325 CON SCON FilterFreq filter frequencies of digital filter Limit frequencies 0 1 8000 Hz 1 st center cutoff 1 Mid blocking frequency 1 1 1000 Hz 1 st width Width 2 1 8000 Hz 2 nd center cutoff 2 Mid blocking frequency 3 1 1000 Hu 2 nd width Wide P0326 CON SCON FilterAssi digital filter design assistant eset amp switch off filter o filter active 0 OFF 0 R amp switch off fil No fil i irect write parameter m A di i CON 1 USER 1 Nel manualy write of filter coefficient DigFilCoeff Selection of a notch filter with the blocking 1 filter notch I 2 Notch 2 requency from P 0325 0 and the bandwidth 2 filter OFF from P 0325 1 Selection of a notch filter with the blocking t idi requency from P 0325 0 and bandwidth from filter notch Un M in series with a notch filter with the 3 NOTCH_NOTCH 3 P 0325 1 h hfil hth 2 filter notch blocking frequency from P 0325 2 and band width from P 0325 3 4 NOTCH_PT1 4 filter notch OTCH_PT1 4 und NOTCH_PT2 5 Ein gt 2 filter PT1 otchfilter mit der Sperrfrequenz in P 0325 0 und Bandbreite in P 0325 1 in Reihe mit einem 5 NOTCH_PT2 5 filterenotch iefpassfilter mit der Grenzfrequenz in 2 filter PT2 P 0325 2 filter OFF 6 PT1 6 2 filter PT1
98. e source P0165 MPRO REF SEL Motion profile selection Reference source P 0300 CON CfgCon Select control mode Control mode must not be changed When a digital input set to MAN 14 is activated the control location P 0159 MPRO REF SEL is set to TERM switch to TERM is not displayed in DM5 In parallel the reference source is set to the reference selected via paramater P 0164 MPRO REF SEL MAN Additionally the start signal must be connected to a digital input ISDxx Start The control mode P 0300 CON CfgCon cannot be switched MAN 14 mode is displayed in the remote bit in the CIA 402 128 Harmonic Drive AG YukonDrive 1003374 01 2012 NOTE m itis not possible to switch to MAN mode when the power stage is activated system states 1 2 3 or when the drive in the DM5 is operated via the Control window m Aleveltriggered START P 0144 MPRO DRVCOM AUTO START LEVEL 1 is ignored in MAN mode After activation of MAN mode the START input must be reset m When MAN mode is ended the motor control also stops 6 2 Digital Output The digital standard outputs OSDOO to OSDO2 can also be assigned corresponding functions via selectors P 0122 to P 0124 The relay output P 0125 MPRO RELOUTI is intended for the motor brake It can also be assigned other functions via function selectors P 0122 to P 0124 if necessary The digital output RELOUT2 is set to the STO SH H function and its setting cannot be changed Additional i
99. ection threshold 33 WLTO Warning torque force threshold Warning torque limit value exceeded 34 TBACT Table positioning active Table positioning in AUTO and activated state 35 TBO Actual table index 2 Significance 2 36 TBI Actual table index 2 Significance 2 37 TB2 Actual table index 2 Significance 2 38 TB3 Actual table index 2 Significance 2 39 54 CM1 CMI6 Cam switch 1 bis 16 Cam group as from V 2 0 55 SEINS Safe Standstill activ STO function activated 56 BC Fail Brake chopper failure signet Braking chopper error Warnings warning thresholds are set via P 0730 MON WarningLevel Output function Reference reached REF 6 P 0122 to P 0127 OSDxx REF 6 For torque and speed control as well as positioning the setting REF 6 can be used to define a range in which the actual value may deviate from the reference without the Reference reached REF message becoming inactive Reference fluctuations caused by reference input e g via analog inputs can thus be taken into account 01 2012 1003374 YukonDrive Harmonic Drive AG 131 n 1 min 130 U min 50 U min T ISAOx REF 6 Figure 103 REF setting Reference reached window for speed control via analog input Output function LIMIT 14 The output function LIMIT 14 detects when a reference value reaches its setpoint reference limit In this case the output is set The limit values for maximum torque and maximu
100. ed current FNom Rated current of the motor First current interpolation point of motor protection 1 1 1 rated current 0 Hz 3 is P characteristic Maximum permissible standstill current Second current interpolation point of motor protection 2 V 2 rated current f1 characteristic referred to maximum characteristic current 01 2012 1003374 YukonDrive Harmonic Drive AG 15 Parameter name d Designation in DM5 Function Settings G f Hz 3 interpolation point only ASM First frequency interpolation point of motor protection characteristic 5 1 5 Motor maximum currrent Max overload current referred to rated motor current max max max 6 t sec 6 Motor maximum currrent Overload time t at With the YukonDrive the temperature sensor cable can be connected to both X6 and X7 Does not apply to the YukonDrive Current time monitoring by the lxt characteristic The xt monitor protects the motor against overheating throughout the speed range When set correctly the I xt monitor replaces a motor circuit breaker The characteristic can be adapted to the operating conditions by way of the interpolation points Characteristic setting for an asynchronous motor ASM The following diagram shows a typical characteristic setting for an internally cooled asynchronous machine For third party motors the motor manufacturer s specifications apply Temperature monitoring
101. elt d Fehler 0 0 0 0 0 Bild 116 Error history storage of last 20 errors 01 2012 1003374 YukonDrive Harmonic Drive AG 151 8 1 1 Error reactions Each of the errors listed in parameter P 0033 sub ID 0 47 can be assigned one of the error reactions listed below However not every error has every selection option Parameter name San CM R P no T Description in DM 5 Error reactions Settings P 0030 Error Programmable reaction in case of s Error response Sub Id 0 8 Reactions failure 0 Ignore Ignore error The error is ignored Notify error reaction is forced by A specific error reaction can be 1 Specificl internal PLC function block programmed via PLC Notify error reaction is forced by I 2 Specific2 i Error reaction external external control unit B FaultReaction Notify error reaction as given by The error reaction is based on the value set in OptionCode fault reaction option codes object 605Eh Fault reaction option code Notify error execute quick stop and 2 4 ServoStop Quick stop waiting for restart of control wait for restart of control Notify error execute quick stop i y s 3 P Quick stop block power stage secure against 5 ServoStopAndLock disable power stage protect against d switching on restart 6 ServoHalt Notify error disable power stage Block power stage Notify error block power stage 7 ServoHaltAndLock d Block power stage block enable protect against restart Notif
102. en the interpolation points the scaling factor is interpolated in linear mode The current scaling of the inductance is plotted in the scope variable Is ActVal under Control Flux Model Observer Current Calculation To increase the current control dynamism and reduce the tendency to oscillation there is a so called observer It predicts the current 42 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Parameter name Settings Designation in DM 5 Function Select current observer Ae P 0433 CON CCON ObsMod mod Switching the observer on and off for current control ode 0 OFF 0 Observer not used The currents determined from the observer are used for the 2 Use observer design acc ra 1 Time Const 1 motor control The configuration is based on setting of a filter time contant y time constant in P 0434 index O 2 Direct 2 Use observer preset of Kp Direct parameterization of the observer feedback via P 0434 irec and Tn index 1 KP and 2 Tn 4 2 3 Current control with defined bandwidth It is possible based on the bandwidth to carry out a current controller draft design In this the controller gains can be determined by activating test signals Autotuning The calculations and the relevant autotuning are carried out in the drive contro The advanced settings are made in parameters P 1530 P 1531 and P 1533 ler P no Parameter name Settings Designation in DM5 Function Selectio
103. er Steepness limitation to reduce the process controller component unit X ms P0270 MPRO_FG_PosNorm Internal position resolution incr rev The process controller is to deliver an additive position reference P 2672 CON_PRC_OUTSEL 3 Then the possible change in the control variable is to be limited by way of the rate limiter The control variable change each time interval by the process controller results in a speed change on the motor shaft Example The amount of the process controller to change the speed on the motor shaft should not be higher than 100 revolutions per minute To achieve this the value of parameter CON_PRC_RateLimiter ID 2680 subindex O must be parameterized with a value corresponding to the user unit The unit of this parameter is x ms The x stands for the respective unit of the process controller output variable In this example the control variable additive position reference has the unit Increments see also parameter P 270 MPRO_FG_PosNorm This parameter indicates how many increments correspond to one motor revolution In the following the conversion of revolutions per minute into increments per millisecond is calculated Example CON_PRC_RateLimiter 0 P 2680 inc ms 100 rpm P 0270 inc rev 1 60 min s 1 1000 s ms To reduce the I component the same procedure is applicable CON_PRC_RateLimiter 1 Inc ms If a change in control variable is not desired CON_PRC_RateLimiter must be pa
104. erpolation method P0370 CON IP Interpolation method in IP mode 0 NOIp 0 No interpolation 1 Lin 1 Linear interpolation 2 Spline Ext FF 2 Interpolation with external pre control 3 Splinell 3 Cubic spline Interpolation 4 NonIPSpline 4 Cubic spline approximation NoIP 0 No interpolation The values are transferred 1 1 to reference processing in 1 ms cycles LIN 1 Linear interpolation Reference value Sollwerte A P5 P9 P4 P3 P2 P10 p1 gt time 125 us 125 us Zeit p 500 us l 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen Figure 121 Linear interpolation With the linear interpolation method the acceleration between two points is generally zero Pre control of the accelera tion values is thus not possible and speed jumps are always caused Application This method is used mainly for test purposes and for initial commissioning 178 Harmonic Drive AG YukonDrive 1003374 01 2012 SplineExtFF 2 Cubic spline interpolation with ext pre control value This method enables highly accurate adaptation of the position profile The expected result should exhibit high contouring accuracy and low reference actual value deviation Application This method is only used from previous firmware versions Splinell 3 Cubic Spline Interpolation Reference value Sollwerte A gt time asus asus Ze
105. erred in increments to the Profile Generator motion profile and passes via the fine interpolator basic settings to the speed controller 01 2012 1003374 YukonDrive Harmonic DriveAG 101 P 0165 OFF 0 ANAO 1 ANA0 2 TAB 3 not defined 4 PLC 5 PARA 6 CiA DS402 7 SERCOS 8 PROFIBUS 9 VARAN 10 Referncevalue in User units pE Speed Control with PG Mode P 0301 PG 0 P 0300 SCON 2 Sampling Time Motion profile Motion profile Basic settings sasa wa S Referencevalue Profil Generator Interpolator Speed Control in Increments PG n_ref r I pum f Select CiA DS402 Stop Ramps Interpolation SERCOS Smooth is i Mode User Filter Figure 79 Speed control in PG mode 5 2 5 Speed control via IP mode In speed control via IP mode Interpolated Velocity mode the reference values from the reference source are scaled always interpolated in linear mode and switched to the control loops No pre control values are generated P 0165 OFF 0 ANAO 1 ANAO 2 TAB 3 not defined 4 PLC 5 PARA 6 CiA DS402 7 amp SERCOS 8 PROFIBUS 9 VARAN 10 Motion profile UNES BUS Sampling time 1 ms Speed Control with IP Mode P 0301 IP 1 P 0300 SCON 2 Sampling Time Reference Valuein Standardisation assistent User units
106. errors The value in P 0372 CON IP SFFFT for the PT1 filter to delay the speed feedforward value should be chosen slightly larger than the value for the actual speed value filter P 0351 CON SCALC TF Useful values for floating mean value filters to delay the position reference setpoint are between 0 0625 ms and 1 5 ms 01 2012 1003374 YukonDrive Harmonic Drive AG 61 rou pased NO034 NOI udi eu unit pu inci N_PCON_PosDitt udi peu ung jau 006 sui GZL 0 bunjeDeijeDe sep Buni n lsioA eip inj yezsDunieDOZISA p 0 d su Z S13 6 19627 sep DunienejsjoA eip Jn WEZayI4 z 0d 8 S DumuejsieweDejeDe 09 0 d Bunienajs10A jui uonyipeld YukonDrive 1003374 01 2012 Harmonic Drive AG Figure 50 Prediction with feedforward 62 Friction torque It is advisable to compensate for higher friction torques in order to minimize tracking error when reversing the speed of the axis The drive controller permits compensation for Coulomb friction components by means of a signum function dependent on the reference speed nref_FF The speed controller can compensate for the other e g viscous friction components because of their lower change dynamism The compensation can be effected step by step as a percentage of the rated motor torque by means of P 386 CON_SCON_TFric The following graph shows a good match between the feedforward torque reference and the
107. esolver 5 94 PTC KTY Klixon 7 Ref R2 Analog excitation 9 9 PTC KTY Klixon Figure 22 Pin assignment connector X6 Pin assignment X6 for SinCos encoder Hall sensor X6 PIN Resolver Pin assignment X6 for SinCos encoder Hall sensor 1 Sin B 2 Sint Br 55 3 Cos At 5 A it 5 V max 150 mA sip 12 V max 100mA i 5 9 PTC KTY Klixon 6 reserviert ACHTUNG Nicht verbinden 7 GND 8 Cos A 9 9 PTC KTY Klixon Figure 23 Pin assignment connector X6 for SinCos encoder HalL sensor max 150 mA together with X7 In the case of a Hiperface encoder on X7 that is when US Switch is jumpered via X7 7 and X7 12 12 V is connected to X6 4 rather than 5 V The Sin is applied negated 01 2012 1003374 YukonDrive Harmonic Drive AG 31 Pin assignment X7 X7 s Absolute encoder SinCos Absolute encoder HIPERFACE PIN SSI EnDat 2 1 1 COS A A REFCOS Jumper between pins 7 and 12 3 5V max 150 mA 5V max 150 mA produces a voltage of 12V 100 mA on X7 3 4 R Data Data 5 R Data Data 6 SIN B B REFSIN 7 Us Switch a 8 GND GND GND o a 9 9_ o o 10 94 n SIN B B SIN 12 Sense Sense Us Switch 13 Sense Sense 14 CLK I CLK Figure 24 Pin Belegung Steckverbindung X7 A Attention A jumper between X7 7 and 12 delivers a voltage rise up to 11 8 V on X7 3 only for use of a Hiperface encode
108. eversed see symbol D in figure 91 With type 11 the reference cam must be overrun then the first zero pulse corresponds to the zero Type 12 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 13 the zero corresponds to the first zero pulse with an active reference cam Type 14 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse after a falling edge Zero pulse _ _ I I I I ifs L o I I I I Reference cam I I I I I I Figure91 Type 11 to 14 Reference cam zero pulse and negative limit switch Typ 15 16 These homing methods are not defined Typ 17 bis 30 reference cams The homing method types 17 to 30 are similar to types 1 to 14 Determination of the zero point does not depend on the zero pulse but solely on the reference cam or the limit switches 01 2012 1003374 YukonDrive Harmonic Drive AG 117 9 va v2 Q0 I vi v2 I l Reference cam 7 Figure92 Type 17 to 30 Reference cam Type comparison for the individual homing methods Type 1 corresponds to type 17 zero pulse Type 12 corresponds to type 28 zero pulse Type 4 corresponds to type 20 zero pulse Type 14 corresponds to type 30 zero pulse Type 8 corresponds to type 24 zero pulse Typ 31 32 These homing methods are not defined Typ 33 34 Zero pulse The zero cor
109. evice 2II P 0462 P 0458 P 0328 800 3 In contrast to field weakening of asynchronous motors synchronous motors can also be operated in the field weakening range with full rated torque at the nominal value of the q current Power beyond the rated power output can therefore be drawn from the machine in field weakening mode even at rated current This must be taken into consideration when configuring the motor 01 2012 1003374 YukonDrive Harmonic Drive AG 69 Variant 2 Voltage control Synchronous motor field weakening Variant 1 Figure 53 Synchronous machine field weakening 70 Harmonic Drive AG YukonDrive 1003374 01 2012 There are also two variants for field weakening of synchronous motors The choice of variant 1 or 2 is made via parameter P0435 FWMode Parameter name ms P no Designation in DM5 Function Settings Fieldweakening mode for A P0435 CON_FM_FWMode Selection mode for field weakening of synchronous motors synchrounus motors 0 None Fieldweakening is disabled Field weakening is off regardless of other settings ET d Field weakening is effected by way of a characteristic which sd se ontroller an 1 Table y specifies the d current dependent on the speed isd f n table parameter parameters P 0342 and P 0343 Field weakening is effected by way of a characteristic which is set internally via the motor parameters The d current reference is then
110. f motor Rated force P0496 MOT MassMotor 2 Mass of motor slide Mass of motor carriages Mass of total mass moved by P 0497 MOT MassSum 2 otal mass to be moved the motor P0498 MOT EncoderPeriod Period of line signals Encoder signal period Motor stray stator ES P0470 MOT Lsig IPrimary section inductance inductance P0471 MOT Rstat Motor stator resistance Stator resistance 1 The parameters are only of informative nature but should be set for a complete motor data set 2 The parameters are used for ca A Attention culation of controller settings and have a direct effect on the response of the servocontroller The parameters of the encoder used must be set manually as per the Encoder section or be read from the encoder database 10 Harmonic Drive AG YukonDrive 1003374 01 2012 2 4 Asynchronous motor 2 4 1 Electrical Data For commissioning of third party motors the rated data and characteristic variables of the motor must be known and be entered manually in the relevant screen Click the Identification button to calculate the basic setting for the control based on those values The impedances stator and stray impedances are obtained by measurement If the identification is successful the torque control is adequately configured An adjustment to the machine mechanism and to the motion profile is also required m Enter motor data m Click the Start identification button Calculation
111. f the zero pulse The decisive factor here is the rising edge of the scope signal 3 1 2 Overflow shift in multiturn range With this function the multiturn range can be shifted in absolute value initialization so that no unwanted overflow can occur within the travel The function is available for encoder channels 1 and 3 Parameters Parameter name ON P no Description in DM5 Function Settings Input of multiturn position MTBase in revolutions P0547 ENC_CH1_MTBase ENC CH1 s incl gearing for channel 1 Input of multiturn position MTBase in revolutions P0584 ENC_CH3_MTBase ENC CH3 incl gearing for channel_3 24 Harmonic Drive AG YukonDrive 1003374 01 2012 Initialisation range MT Base Default gt 2048 0 2048 Example If a portion of the travel distance is to the left of the threshold MT Base it is appended to the end of the travel range to the right of the 2048 via parameter P 0547 ENC CHI for encoder channel 1 or P 0584 ENC_CH3 for encoder channel 3 unit encoder revolutions incl gearing MT Base Initialisation range 2048 b 2048 Rus Figure 18 Overflow shift into the multiturn range 3 1 3 Use of a multiturn encoder as a singleturn encoder By way of parameters P 0548 ENC_CH1_MTEnable 1 and P 0585 ENC CH3 MrTEnable 1 a multiturn encoder can be run as a singleturn encoder 3 1 4 Encoder correction GPOC For each channel the correction method GPOC Gain
112. frequencies higher order filters PT3 PT4 should not be used as the phase within the control bandwidth is negatively influenced NOTE The coefficients can also be specified directly via parameter P 0327 CON_SCON_FilterPara They take effect directly so changing them is only recommended when the control is switched off Procedure Scope setting Isq unfiltered torque forming current Set shortest sampling time Create scope plot without notch filtering Click Mathematical functions gt FFT Fourier analysis icon From the following pop up menu choose isq Disturbance frequency is displayed Select filter Select filter center cutoff Enter disturbance frequency width Enter the bandwidth of the disturbance frequency the width has no effect when using PTx filters Create scope plot with notch filtering NOTE A higher bandwidth results in less attenuation of the blocking frequency because of the filter structure Oscillation of a motor shaft at speed zero quadrature axis actual current Figure 43 Oscillation of a motor shaft under current at standstill without filter 54 Harmonic Drive AG YukonDrive 1003374 01 2012 Oscillation suppression by a notch filter AW Ier ap ern ritur i quadrature axis actual current Figure44 Motor shaft under current at standstill with activated notch filter width f 40Hz mid frquency f 420 Hz 4 4 Position control The higher the dynamism of the
113. gister DS SERCOSS ocation i DS 402 402 3 TC_FPU riCore floating point error 0x5300 1 0x8000 4 TC FPU NO RET riCore floating point error no return f 0x5300 1 0x8000 ADDR address available 30 InitCon 1 InitCon_Analnput nitialization error analog input 0x5300 1 0x8000 nitialization error calculating motor 2 InitCon FM GetKM 0x5300 1 0x8000 torque constant 3 InitCon FM ASM nitialization error asynchronous motor 0x5300 1 0x8000 4 InitCon_FM_ nitialization error asynchronous motor in 0x5300 1 0x8000 ASM_FW field weakening 31 PLC 1 PLC_Location User specific Errors generated in PLC OxFFOO 0x8000 0 65536 program 32 Profibus 1 ComOptDp_Timeout PROFIBUS DP Process data Timeout OxFFOO 0x8000 33 Timing Task overflow 1 Timing ADCTask A i ADC task automatically interrupted 0x5300 0x8000 ReEntry 2 Timin_ControlTask Control task exceeded scan time 0x5300 0x8000 34 PowerFail Power failure detection Power failure detection supply voltage PowerFail 0x3220 0x8000 error 35 EncObs Encoder cable break 1 EncObs_CH1_Sincos Cable break Encoder channel 1 OxFFOO 0x20 2 EncObs_CH2_ Cable break Encoder channel 2 OxFFOO 0x20 Resolver 3 EncObs_CH3_Sincos Cable break Encoder channel 3 OxFFOO 0x20 4 EncObs CHI SSI Cable break Encoder channel 1 OxFFOO 0x20 36 VARAN 1 ComOptVARAN_ Error in hardware initialization VARAN 0x5300 0x8000 nitHError option 2 ComOptVARAN_ Bus off error no bus communication
114. gital encoder via serial communication 3 TTL Setting of the incremental number of lines For encoders with EnDat2 1 and Hiperface protocols the z Encoder Channel 1 Number of Lines i P 0542 ENC_CH1_Lines s lines per revolution are read out of the encoder and SinCos Encoder a automatically parameterized1 1 65535 1 65535 Determining the protocol type When starting the Encoder Channel 1 Absolute Position device and after changing the encoder parameters P0540 ENC CHI Abs n 2 Interface the absolute position of an incremental measuring system is read out via a digital interface Purely incremental encoder without absolute value 0 OFF information 1 SSI Serial communication to Heidenhain SSI protocol 2 EnDat2 1 5 To Heidenhain EnDat 2 1 protocol 3 Hiperface ii To Stegmann Hiperface protocoll Encoder Channel 1 Index Pulse P0541 ENC_CH1_Np Zero pulse evaluation Test Mode Setting of the incremental number of lines For Encoder Channel Number of Lines encoders with EnDat2 1 and Hiperface protocols the P0542 ENC CHI Lines i SinCos Encoder lines per revolution are read out of the encoder and automatically parameterized Encoder Channel 1 Number of r TEE A P 0543 ENC_CH1_MultiT i s Singleturn Bit width setting MultiTurn Bits I Encoder Channel 1 Number of P0544 ENC CHI SingleT Singleturn Einstellung der Bitbreite SingleTurn Bits P0545 ENC CHI Code Encoder Channel 1 Code Select Selecti
115. gure 15 Screen for setting the encoder channel 20 Harmonic Drive AG YukonDrive 1003374 01 2012 Assignment of encoder information to control Parameter name A red P no Description in DM5 Function Settings Encoder Channel Select for Motor Selection of encoder channel for commutation angle P0520 ENC_MCon A Commutation feedback signal for field oriented control Encoder Channel SelectforSpeed Selection of encoder channel for speed configuration P0521 ENC_SCon P 2 Control feedback signal for speed control Encoder Channel Select for Posi Selection of encoder channel for position information P0522 ENC PCon N a tion Control feedback signal for position control 0 off No function 2 Kanal 2 Channel 2 Resolver X6 NOTE When an encoder channel is selected and an encoder physically connected to the controller the wire break detector is automatically activated 3 1 SinCos X7 Kanal 1 Encoder channel 1 is used for evaluation of high resolution encoders The following encoders are supported Incremental encoders m SinCos m TIL Absolute encoders with digital interface m Hiperface m SSI m EnDat only with SinCos signals m EnDat 2 2 full digital m Purely digital SSI encoders without SinCos signals NOTE When using incremental TTL encoders on channel 1 there is no interpolation over time between the TTL lines The combined method pulse count time measurement is only available
116. haracteristic of which is shown in the diagram The diagram illustrates the IECON 4 method IECON Method Isdref I 1 P 0393 CON ICOM Current P 0392 gt CON ICON t 0 t t 3 time Figure 54 Schematic for the IENCC 1 and IECON 4 methods Parametereinstellung P no Setting Function P 0391 0 10000 96 Scaling of dynamism P0392 0 10000 ms Measuring time 0 500 ms Ramp time t 0 1 500 ms njected current time t 1 2 500 ms Ramp time t 2 3 500 ms njected current time t 3 P 0393 Preferential value 0 II1 Rated current 1 Step 1 1 1 2 Rated current I Step 2 For linear motors the values for time and current adjust automatically when calculating the data set NOTE m Inexperienced users should always choose the rated motor current amplitude as the current and a time of at least 4 seconds m The motor may possibly move jerkily during autocommutation The coupled mechanical system must be rated accordingly m If the axis is blocked i e the rotor is unable to align itself the method will not work correctly As a result the commutation angle will be incorrectly defined and the motor may perform uncontrolled movements 74 Harmonic Drive AG YukonDrive 1003374 01 2012 Description of the LHMES 2 method with a braked machine With this method saturation effects in stator inductance are evaluated Two test signal sequences are used for this purpose w
117. hat when calculating a motor data set the impedances must be taken from the data sheet The electrical data is determined automatically during identification Designs m Rotary motors Linear motors To start up a system quickly and easily and attain good overall performance we recommend using Harmonic Drive standard motors and encoders from the catalogue Note Each motor can only be operated if its eld model and the control parameters are correctly set Note Appendix B Quick Commissioning at the end of the Application Manual presents a short commissioning guide for rotary and linear drive systems respectively 6 Harmonic Drive AG YukonDrive 1003374 01 2012 2 1 Loading motor data You can obtain the data sets of all Harmonic Drive standard motors from the website Using the right motor data set ensures that the electrical data of the motor is known the motor protection is correctly set the control circuits of the drive are preset the torque controller is optimally set so no further adaptations are required for test running of the motor 2 1 1 Motor selection Selection of the desired motor data set via Motor selection possibly Harmonic Drive AG website All necessary parameters e g motor protection control parameters are read in With the motor selection the complete motor data set name parameter motion mode is loaded Preset parameters are overwritten Motor data must be saved in the device
118. he motor The current exhibits a higher ripple at high voltages however Electrical data of synchronous motor Motor1 5 Rated flux 0120 Vs 0 905 Ohm Stator inductance 33 mH Nonlinear stator inductance due to saturation of the motor 100 X 100 x 100 x 100 of Stator inductance 93 mH at DM5 screen for adaptation to current controller 0 100 x Rated current of 476 200 300 01 2012 1003374 YukonDrive Harmonic Drive AG 41 In the lower area of the screen the values for the interpolation points are entered On the left are the inductance values and on the right the values for the overload gt 100 of rated current Scaleing of q stator inductance L 96 0 100 0 90 P 0472 Interpolation 2 68 6 points Index 0 3 3 30 Scaling In 96 In x 5 l pi UI P 0472 Interpolations pointes Index 4 7 Figure33 Example of current control adaptattion Parameter name iovis s P no Description in DM 5 Function Settings nm q Stator inductance variation P0472 MOT LsigDiff I Scaling of q stator inductance in of MOT_Lsig Scaling of q stator inductance in 0 3 10096 Lsig q 0 3 f f A interpolation points 0 3 Scaling of rated motor current in 47 100 Current 0 3 I j Interpolation points 4 7 NOTE Betwe
119. hereby the position of the rotor axis is known after the first sequence and the direction of movement after the second This method is suitable for determining the rotor position with braked rotors or motors with a relatively high mass inertia Precondition The rotor must be firmly braked so that the motor is unable to move even when rated current is applied The stator of the machine must be iron core Parameterization of a test signal example Frequency of test signal f 333 Hz P 1506 Amplitude 1A P1505 Number of periods 50 P 1508 Direct component 31A P 1503 In most cases a good result is achieved with a test signal frequency of 333 Hz an amplitude of the magnitude of one quarter of the rated current evaluation of 50 oscillations and a direct component equivalent to the rated current 3 1A A Attention Parameters of the Autocommutation subject area must only be changed by qualified personnel If they are set incorrectly the motor may start up in an uncontrolled manner NOTE It is advisable to parameterize speed tracking error monitoring with the Power stage off error response This monitor ing feature reliably prevents the motor from racing 48 Commissioning 4 8 1 Autotuning The drive controller is able to automatically determine the moment of inertia reduced to the motor shaft by means of a test signal However this requires that the mass moment of inertia only fluctuates very little or not at all during mo
120. hine or the magnetizing current for an asynchronous machine does not match the ratio of rated current and rated torque If the torque constant is less than this ratio the motor current is limited in order to prevent excessively high motor current These parameterization error is avoided by using an original motor data set or by generating the motor data using the servocontroller s calculation wizard Maximum power stage current too low The maximum current resulting from the torque limitation is greater than the maximum current of the power stage The field forming d current is not equal to zero n the field weakening range the field forming current isd becomes unequal to 0 for the synchronous machine The q current component isq remaining for the torque is reduced correspondingly so that the maximum current is is not exceeded max n the upper field weakening range for asynchronous machines the speed is then more than 3 to 5 times the rated speed the slip is limited to the pull out slip by reducing the torque limit Speed limitation Speed Velocity The following illustration shows the structure of speed limitation The speed can be symmetrically limited in relation to the rated speed by the scaling parameter P 0328 CON SCON SMax Asymmetric limiting is possible via parameters P 0333 CON SCON SMaxNeg and P 0334 CON SCON SMaxPos An activated reversing lock P 0337 CON SCON DirLock also has an effect on the limitations with res
121. his case is different to that for the resolver section 3 6 Pin assignment m Resolver excitation must be disabled via parameter P 0506 ENC_CH2_Sel 2 SINCOS m Analog Hall sensors with 90 offset sinusoidal signals are supported corresponding to a low track SinCos encoder o Back Configuration of resolver input X6 channel 2 Encoder configuration channel 2 X6 Select from Database Encodemame Encader type RES 1 Resolver v Number of pole pairs 1 Gear ration if encoder is not fitted at the motor Signal correction GPOC OFF 0 No correction Figure 19 Screen for setting channel 2 01 2012 1003374 YukonDrive Harmonic Drive AG 27 P no Parameter name Settings Description in DMS Function P0564 ENC CH2 Info Encoder information ch2 Encoder name P0512 ENC CH2 Num ENC CH2 Gear Numerator Numerator of transmission ratio Encoder Channel 2 Number P0560 ENC CH2 Lines of Pole Pairs Parameterization of number of pole pairs of resolver l Correction of phase shift in the case of line lengths gt P0565 ENC_CH2_LineDelay Line delay compensation 50m Only following consultation with Harmonic Drive AG Correction of a resolver signals phase shift In the case of long resolver lines a phase shift occurs between the exciter signal and tracks A B due to the line inductance This effect reduces the amplitude of the resolver signals after demodula
122. ibration P 2670 CON_PRC_ACTTF Filter time for actual value filter P 2671 CON_PRC_ACTSCALE Scaling for the filtered process actual value P2672 CON PRC OUTSEL Selection parameter for the process controller output 0 OFF 0 Off 1 REFTORQUE 1 Additive torque reference 2 REFSPEED 2 Additive speed reference 3 REFPOS 3 Additive position reference 4 MOPRO 4 Value for MotionProfile CON_PRC_OUTSEL_MOPRO ID 2678 P 2673 CON PRC RAW ACTVAL Actual value of the selected actual value source RUEDA CON PRC ACTVAL Momentary actual value of the process controller after filtering and scaling P2675 CON_PRC_CDIFF Control difference of the process control loop P 2676 CON_PRC_OUTVAL Process controller control variable P 2677 CON_PRC_ACTVAL_FIELDBUS Parameter to which an actual value can be written from the field bus boron CON PRC OUTSEL MOPRO Parameter to which the contol variable can be written in order to be subsequently used in the motion profile P 2680 CON_PRC_RateLimiter Steepness limitation of the control variable 9 tel miter Steepness limitation in standard process controller operation unit X ms atelier Steepness limitation to reduce the process controller component unit X ms 170 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Parameter name Settings Function P 2681 CON PRC CtrlWord Control word of the process controller 0 PRC CTRL ON Switch on process
123. ighting Linear m min 1 6 0 001 mm min Preferential rotary weighting Weighting method Unit Weighting factor Weighting exponent Preferential weighting Rotary l min 1 4 0 001 1 min Rotary Ys 1 6 0 000001 1 s Figure 74 Weighting method for speed data Speed polarity The polarity of the speed data preceding sign can be inverted according to the application A positive speed reference difference indicates clockwise rotation looking at the motor shaft 94 Harmonic Drive AG YukonDrive 1003374 01 2012 Weighting of acceleration data Schematic 3 Acceleration data Weighting of acceleration data off translatorisch rotativ Load Motor Load Motor Load Motor Preferentioal Preferentioal translational Parameter translational Parameter weighting weighting weighting weighting s or s s or s s or s s or s Meter Meter Grad Grad PE IOES Variabel DEEIOES Variabel m s 2 LSB Wieght m s LSB Wieght All acceleration data reference actual and limit values are subject to the preset weighting If no weighting is selected the weighting factor and weighting exponent are irrelevant Acceleration in translational and rotary mode distance unit LSB Unit Factor Exponent time unit Preferential translational weighting Weighting method Unit Weighting fact
124. int table Fixed speeds fixed torques or fixed positions can be preset by way of a table A travel profile is generated internally using the Profile Generator The 16 table values can be selected using the on screen slider Reference input for fixed positions Each position value is assigned a speed and acceleration and braking ramps 01 2012 1003374 YukonDrive Harmonic DriveAG 119 Control mode TERM 1 control via terminals Set number Reference p 0202 0 Mode P0203 0 Speed Ppo201 350 Acceleration P 0199 0 aT Deceleration P 0200 0 a REL 1 Relative after target rea 3600 P0205 P 0202 1 P 0203 1 P 0201 1 P 0199 1 P 0200 1 Time delay 0l ms ms Ine P 0204 0 D ms PO204 1 ie aul P Max table index in Auto mode 0 P 0206 0 Actual table index o P 0207 0 Figure 96 Reference table screen There are 16 driving sets 0 15 P P no Index arameter paned Designation in DM 5 Function Settings P0199 0 15 MPRO TAB PAcc Position mode acceleration Acceleration ramp P 0200 0 15 MPRO TAB PDec Position mode deceleration Braking ramp P0201 0 15 MPRO TAB PSpd Position mode speed Speed Position mode reference P 0202 0 15 MPRO TAB PPos iss Reference P 0203 0 15 MPRO_TAB_PMode Position mode Positioning mode 0 ABS 0 Absolut Absolute positioning Relative positioning after target position 1 REL 1 Relative after target reached hed reache The current mot
125. int the system branches off to sas parameter P 0167 Profile Speed override factor The dead band threshold offset is thus without any effect for these functions Reference input 10 V Observe the scaling and adapt the 2 REFV 2 Analog command reference structure by means of the reference selector 1 Not defined 1 Not defined Not assigned 0 OFF 0 No function No function START REFANAEN Corresponds to the settings for d XA 1 28 RC The settings 1 28 can be used as digital inputs 1 28 digital inputs ISDOO to ISDO6 A Attention By switching parameter from PG 0 to IP 1 mode an analog input can be used as a fast input P 0301 from PG 0 to IP 1 mode an analog input can be used as a fast input The samplingtime set in parameter P 0306 for the interpolation takes effect NOTE The two analog inputs ISAOO and ISAO1 can also be used as digital inputs function 1 28 The switching thresh olds for reliable High Level and Low Level are high gt 2 4 V low lt 0 4 V 01 2012 1003374 YukonDrive Harmonic Drive AG 141 6 3 4 Weighting of analog inputs It is possible to change the weighting of the two inputs With the two parameters P 0428 and P 0439 the input gain and input offset can be changed Reasons for changing the weighting m Change to input voltage range of analog torque scaling m Change to input voltage range of speed override function m Change to switching threshold of a
126. ion task is interrupted and 2 REL at once 2 Relative at once a new pending task is directly accepted and executed Infinite motion SPD infinite motion task If a table value is set to SPD an infinite motion task is transmitted If a table value with the setting 3 SPEED 3 Endless Speed controlled j Hi Aa ABS or REL is additionally selected the infinite task is quit and the newly selected table value is approached from the current position 120 Harmonic Drive AG YukonDrive 1003374 01 2012 Parameter name SU a P no Index 5 Designation in DM 5 Function Settings No Max time for position or With follow up tasks Wait time until execution of the next P0204 0 15 MPRO TAB Wait time speed control motion task P0205 MPRO TAB Mode Operation mode Selection of table values Control via parameter 2 0 PARA 0 Selection of a table value via P 0207 P0207 1 TERM 1 Control via terminals Selection of a table value via terminal 2 AUTO 2 Control via timer P 0204 Selection of a table value via timer P 0204 3 BUS 2 Control via fieldbus Selection of a table value via field bus system Setting for number of table values to be worked through in sequence from top to bottom Example If this value is P 0206 MPRO_TAB_Maxldx Max Index im AUTO Mode set to 6 the first six reference values from the table are worked through in sequence This process is repeated until the table is disabled or the start co
127. is calculated internally Features of this method m Very fast adaptations with high dynamism are possible open loop control method m Motor parameters must be known quite precisely m A badly set table can result in continuous oscillation If continuous oscillation occurs it should first be determined whether the drive is temporarily at the voltage limit The preset negative d current value is then not sufficient In this case the scaling parameter P 0436 can be used to evaluate the map at higher speeds P 0436 gt 100 96 The voltage controller is overlaid on the evaluation of the map The voltage controller can be set in the same way as described above for setting 1 The set combination of voltage controller and map entails the highest commissioning commitment but it enables the best stationary behaviour highest torque relative to current and the best dynamic response to be achieved A Attention When configuring projects it must be ensured that the speed NEVER exceeds the value of P 0458 n In such cases the induced no load voltage reaches the overvoltage limit 72 Harmonic Drive AG YukonDrive 1003374 01 2012 47 Autocommutation For field oriented regulation of permanently excited synchronous machines with a purely incremental measuring system the commutation position must be determined once when the control is started adjustment of current rotor position to encoder zero Encoder offset This procedure is exec
128. it 500 us 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen Figure 122 Cubic Spline interpolation P 0305 125 ys cycle n this method interpolation is effected between the interpolation points of the control P1 P5 P9 P10 by means of cubic splines The trajectory is guided precisely by the control based on the specified points This may cause a slight jerk at those points noticeable in the form of noise Application High contouring accuracy slight noise is possible Noise refers to mathematical anomalies which cannot be entirely eliminated by the computing methods applied 01 2012 1003374 YukonDrive Harmonic Drive AG 179 NonlPSpline 4 Cubic Spline Approximation Reference value Sollwerte Target t Zielposition Startposition gt time 125 ul 125 us 125 125 us Zeit 500 ps 500 us 500 us 500 us Reference value from control Interpolated Datapoints Sollwert von der Steuerung Interpolierte St tzstellen Figure 123 Cubic Spline Approximation P 0305 125 us cycle With this method the interpolation points are approximated by means of B Splines The trajectory normally does not run exactly through the points specified by the control The deviation is normally negligibly small In the interpolation points the transitions are continuous with regard to acceleration which becomes apparent by minor noise
129. itialization 1 EncCHIInit Sincos Lines Sincos Plausibility check Lines from 0x7305 0x20 PRam ENC CHI Lines 2 EncCHIInit Sincos ABS Encoder channel 1 initialization Sin 0x7305 0x20 quareSum cos Getting AB SquareSum Timeout e Encoder channel 1 initialization 3 EncCH1Init Sincos EncObs j PM 0x7305 0x20 SinCos Encoder monitoring Sincos 3 Encoder channel 1 initialization 4 EncCH1Init_EnDat2 1_ EnDat2 1 No EnDat2 1 encoder 0x7305 0x20 NoEnDat2 encoder may be SSI 01 2012 1003374 YukonDrive Harmonic Drive AG 157 Emergency P no OM Error register Error code Error name Error location Description of error code P 0030 DS 402 SERCOS DS 402 5 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 FS i 0x7305 0x20 Line5 Plausibility check Lines from encoder 6 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Ie 0x7305 0x20 Multiturn Plausibility check Multiturn from encoder 7 EncCHIInit Encoder channel 1 initialization EnDat2 1 1 NS A 0x7305 0x20 EnDat2 1_Singleturn Plausibility check Singleturn from encoder 8 EncCH1Init_EnDat2 1_Crc Encoder channel 1 initialization EnDat2 1 T 0x7305 0x20 Pos CRC error position transfer 9 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 0x7305 0x20 CrcData CRC error data transfer Encoder channel 1 initialization EnDat2 1
130. itude 0 var Time t1 p 015040 1 s Time t2 15 Cycletime 5 ms P 1504 1 Set Defaut vis SetDefeut Record time 005 s Test Signal Generator _ Start Test Signal Stop Test Signal Figure 28 Screen for the current control loop Step response to rated current H1 T T T T T T T nm 10 0 002 00 0 004 0 005 Time isd A isdref A usd Figure 29 Step up to rated current 01 2012 1003374 YukonDrive Harmonic Drive AG 37 The faster the actual value approaches the setpoint reference the more dynamic is the controller setting During settling the overshoot of the actual value should be no more than 5 10 of the reference setpoint The current controller can also be set by way of the test signal generator This controller optimization method is described in more detail in section 4 7 Commissioning Determining the mass inertia of the motor Open the Loop control screen Activate hardware enable ISDSH ENPO Click the Basic setting button the screen in figure 27 opens up Click the Automatic determination of mass inertia button hardware enable required The new value of the mass inertia is displayed in P 1516 SCD_Jsum Save setting in device A Attention The motor shaft may move jerkily Adaptation to the rigidity of the mechanism Adaptation to the rigidity of the mechanism can be effected after calculating the mass moment of inertia P 1516 by writing parameter P 1515 for the rigidit
131. ive AG 33 7SOQUIS Jenjosay mq 493114 Bip Is 0d 04ju09 u8un 19jonuoa Ayo0jan 49 01ju02 M 40314 Bip BuiBboo nue uonisod Le eyjapjoe sda 0980 d pieiojpesj ui OUODUONSOd eIo1d uonolN uolisod Control structure Figure 25 YukonDrive 1003374 01 2012 Harmonic Drive AG 34 NOTE Synchronous and asynchronous machines and also synchronous linear motors ironless iron core can be controlled The following sequence should always be observed in order to optimize controllers 1 Current control loop For Harmonic Drive AG motors with motor encoder optimization of the current controller is not needed because the corresponding control parameters are transferred when the motor data set is loaded For linear motors and third party motors the motor must be calculated or identified section 3 Motor 2 Speed controller The settings of the speed controller with the associated filters are dependent firstly on the motor parameters mass moment of inertia and torque force constant and secondly on mechanical factors load iner tia mass friction rigidity of the connection Consequently either a manual or automatic optimization is often required 3 Position control loop The position control loop is dependent on the dynamism of the underlying speed controller on the setpoint reference type and on the jerk accelerati
132. l B in figure 88 If the reference cam becomes inactive the first index pulse of type 3 will correspond to the zero point With type 4 the direction reverses as soon as the reference cam becomes inactive The first zero pulse after the rising edge corresponds to the zero F Pax v2 gt e I Zero pulse MEE E Reference cam L4 3 Figure 88 Type 3 4 Positive reference cam and zero pulse 01 2012 1003374 YukonDrive Harmonic Drive AG 113 Typ 5 6 Negative reference cam and zero pulse The initial movement is towards the positive right hardware limit switch and the reference cam is active see symbol A in figure 89 With type 5 the first zero pulse after the falling edge corresponds to the zero When the reference cam becomes inactive the direction of movement with type 6 will be reversed and the first index pulse after the rising edge corresponds to the zero point The initial movement is towards the negative left hardware limit switch and the reference cam is inactive see symbol B in figure 89 With type 5 the direction of movement is reversed as soon as the reference cam becomes active and the first zero pulse after the falling edge corresponds to the zero For type 6 the first index pulse after the rising edge corresponds to the zero point I l v1 I I SAO V v2 I v2 l Nu Referenznocken l Figure 89 Type 5 6 Negative reference cam and zero pulse 114 Harmonic Drive AG YukonDrive 1003374 01 20
133. l ENMO software function of the drive controller A power contactor in the motor supply line can be directly controlled by the drive controller via parameter P 0125 MPRO_OUTPUT_FS_MOTO ENMO By way of the timer P 0148 MPRO_DRVCOM_ENMO_Ti the on and off delay of the power contactor can be taken into account This ensures that the reference will only be applied after the start enable when the contactor is closed or if the motor is isolated from the position controller via contactor when the power stage is inactive NOTE Note The MPRO_DRVCOM_ENMO_Ti timer time should allow additional times for typical contactor bounce They may be several hundred ms depending on contactor Motor brake output RELOUTI Output P 0125 MPRO_OUTPUT_FS_Motor_Brake should be used in conjunction with a brake If the output is set to BRAKE 2 the brake can be configured by way of the option field Motor brake details M Torque rise time P 0215 0 0 ms a Break lift time P 0213 0 0 ms b Break close time P 02140 ms cJ Torque fade time P 0216 0 D ms d a Torque bias Constant start value p 02180 0 Nm M sall Constant start value x Factor Factor last torque bias p 0217 0 0 X 1 3 apply break t 2 release break Figure 104 Brake output 01 2012 1003374 YukonDrive Harmonic Drive AG 133 An optional holding brake built in to the motor provides protection against unwanted motion
134. lncrement I Nominal Increment 41 EncCH3lnit En Encoder channel 3 initialization 0x7307 0x20 dat21 Common EnDat21 Interface gen rror 42 EncCH3Init SSI Encoder channel 3 initialization SSi 0x7307 0x20 Common nterface gen error 43 EncCH3lnit Encoder channel 3 initialization N 0x7307 0x20 Sincos Common Sincos Interface gen error 50 EncCH3lnit TOPT Encoder channel 3 initialization 0x7307 0x20 cfg interface gen error 25 EncoderCycl Geberzyklus 1 EncoderCycl_CON_ Encoder general cyclic Autocommuta OxFFOO 0x20 COM Epsdelta tion Excessive motion 2 EncoderCycl_CON_ Encoder general cyclic Autocommuta 5 OxFFOO 0x20 COM Tolerance tion Excessive tolerance 26 EncChiCycl 1 EncCH1Cycl_Np_ Encoder channel 1 cyclic NP Plausibil z 0x7305 0x20 Distance ity CounterDistance 2 EncCH1Cycl_Np_ Encoder channel 1 cyclic NP Delta 0x7305 0x20 DeltaCorrection correction not possible 3 EncCH1Cycl_Np_ Encoder channel 1 cyclic NP Plausibil 0x7305 0x20 Delta ity CounterDelta 27 EncCh2Cycl 1 EncCH2Cycl_NoLo I Not used 0x7306 0x20 cation 28 EncCh3Cycl 1 EncCH3Cycl_NoLo d Not used 0x7307 0x20 cation 29 TC TriCore 1 TC ASC TriCore ASC 0x5300 0x8000 2 TC ASC2 TriCore ASC2 0x5300 0x8000 01 2012 1003374 YukonDrive Harmonic Drive AG 161 Emergency Error P no Error name Error c i Error code vase ise Description of error code re
135. m speed depend on the control system A detailed description is given in the Limits section Torque control Limit value monitoring becomes active when the torque reference exceeds the max torque Speed control Limit value monitoring becomes active when the speed reference exceeds the max speed Positioning Limit value monitoring becomes active when the speed reference exceeds the max speed or the torque reference exceeds the max torque Infinite positioning speed mode Monitoring is activated in infinite positioning speed mode when the speed reference has been reached If an ongoing positioning operation is interrupted with HALT the Reference reached message is not sent in this phase The message only appears after the actual target position has been reached 132 Harmonic Drive AG YukonDrive 1003374 01 2012 Output function Switch motor contactor OSDxx ENMO 21 The motor cable must always be switched with the power cut otherwise problems such as burnt out contactor contacts overvoltage or overcurrent shut off may occur In order to assure de energized switching the contacts of the motor contactor must be closed before the power stage is enabled In the opposite case the contacts must remain closed until the power stage has been switched off This can be achieved by implementing the corresponding safety periods for switching of the motor contactor into the control sequence of the machine or by using the specia
136. measure A small increment e g 1000 corresponding to parameter P 0610 ENC_CH1_Nominalincrement A Basic increment reference measure B large increment e g 1001 corresponding to parameter P 0611 ENC_CH1_Nominal Increment B The number of lines is entered in parameter P 0542 ENC_CH1_ Lines A sector pitch difference of 1 and 2 is supported One mechanical revolution is precisely one whole multiple of the basic increment A Example of a rotary measurement system Basic increment Nominal Increment BP 0611 Basic increment Nominal Increment AP 0610 Number of Number of lines P 0542 reference marks Reference measure 1001 lines Reference measure A 1000 18 basic marks 18 coded marks 536 18 x 1000 lines lines corresponding to 20 Linear measurement system Linear measurement system NC H3 Number oflines Referece marks smal distance swide distance for after next for after next Reference mark Refernce mark P 0630 ENC CH3 Nominal Inarement A P 0631 ENC CH3 Nominal Inarement B Increment coded Increment coded reference mark reference mask B Figure 21 Schematic view of a linear scale with increment coded reference marks 30 Harmonic Drive AG YukonDrive 1003374 01 2012 3 6 Pin assignment for X6 and X7 X8 Pin assignment X6 for resolver X6 PIN Resolver Description 1 Sin 52 Analog differential input track A 3 Cos 51 Analog differential input track B R
137. monic Drive AG YukonDrive 1003374 01 2012 l Power stage 1 1 Setting the power stage parameters The YukonDrive can be operated with different voltages and switching frequencies for the power stage To operate the controller generally the power stage must be adapted to the local voltage conditions It must be ensured that the switching frequencies and voltage match DM5 setup screen Schaltfrequenz Spannungsversorgung 3x230 AC 1 3 x 230 V mains ptionen Figure 1 Power stage screen Parameter table Parameter name dT An P no A Designation in DMS Description Settings P 0302 CON_SwitchFreq Switching frequency Power stage switching frequency setting It is advisable to operate the drive controller with the default setting 3 kliz 16 ki Increasing the switching frequency can be useful to improve the N Switching frequency control dynamism Temperature related derating may occur Switching dependent on device k frequency noise decreases as the switching frequency rises audible range 12 kHz P 0307 CON_ VoltageSupply Voltage supply mode Adaptation to the voltage conditions 1x 230 V 0 3x 230 V 1 3x 400 V 2 3x 460 V 3 Votage supply mode Adjustable voltage range 3x480 V 4 Safety low voltage 5 01 2012 1003374 YukonDrive Harmonic Drive AG 5 Mains supply During initial commissioning the mains voltage setting must first be checked a
138. ms x Ae AAA Be Letty gt KY 1 225 470 9 Positionierung mit einem Verschliff von 2000ms Figure 84 With smoothing of 2000 ms Red actual speed value Grey actual position value 01 2012 1003374 YukonDrive Harmonic Drive AG 105 5 3 Stop ramps Each reference source has its own acceleration and braking ramps In addition to this there are the special decelera tion ramps to the CiA 402 standard listed below The ramp functions are only effective in certain system states The required settings can be selected from the screen Clicking the Error fault reactions button directly accesses the screen for the error responses Stop ramps Reaction at control off shutdown QSOPC 1 According Quickstop option code always disable drive function v Reaction at disable reference disable SDR 1 Slow down with slow down ramp disable of the drive function v Reaction at halt command SDR 1 Slow down on slow down ramp v Reaction at quick stop command QSR 2 Slow down on quickstop ramp v Quick stop ramp 3000 rev min s Reaction at fault POFF 0 Disable drive motor is free to rotate v Error fault reactions Figure 85 Stop ramps screen The following ramp options are available P no System state Stop ramps Preferred setting P2218 Quick stop MP_QuickStopOC 2 P 2219 Control off MP ShutdownOC SDR P2590 Taniman from Operation Enable to MC DisabledOpOC SDR Switch on
139. n to 0 to zero speed n Rpm Kp Scale 96 P0281 n ist Actual Speed P0336 2 N P0336 3 GainSpeed CON SCON KpScaleSpeed P 0336 0 10096 von P 0322 P0336 0 40 N P03 S P0336 Figure 39 Speed controller gain reduction Single mass observer to determine actual speed value With the single mass system observer the phase displacement over time in the feedback branch generated by the jitter filter can be reduced thereby considerably enhancing speed controller performance During basic setting of the speed controller by means of the calculation assistant P 1515 SCD_ConDesign a single mass system observer with medium dynamism has already been calculated The observation algorithms are calculated as soon as the selector P 0350 Index 1 is set to Filter 1 The PT1 filter and the selected observer type are then calculated in parallel Feedback via the PT1 filter or via the observer can then be toggled by the selector P 0350 index 1 01 2012 1003374 YukonDrive Harmonic Drive AG 49 Observer optimization m The mass moment of inertia must be determined correctly m The dynamism is set via the equivalent time constant P 0353 Index O which behaves in a similar way to the actual speed filter time constant Increasing the time constant enhances the noise suppression but also reduces the dynamism m Bywriting the calculation assistant P 0354 Def the observer is reconfigured This change takes effec
140. n figure 34 can be used to set the control parameters of the speed controller fthe travel range is not limited it is advisable to optimize the speed controller by means of step responses In this the motor model must be adapted precisely to the individual motor In the standard motor data set the speed controller is preset for a moderately stiff mechanism The speed controller may still need to be adapted to the moment of inertia and the stiffness of the mechanical system For load adaptation the coupled mass moment of inertia of the system is equal to the motor s moment of inertia load PI S5peed Controller P 0322 0 2 P 0320 0 0 005465 Nm rpm 100 de 0 CON SCON Kp 0 CON SCON KpScale Position and er FF Feedforward 7 P 0321 O 17 5825 ms Control 0 CON SCON Tn nef peon mef asgref unf amp gref Torque or gt Oo gt DQ 0 0 gt DigtalFiter Euren antral 4 t ssgref_scon Speed observer and State space Control Analysis of Speed Control 06 ms Encoder P 0351 0 05 Interface 0 CON SCALC TF P 0350 1 Feedback Selection OBS 0 Feedback from observer method v P 0350 0 Observer Method FILTER 0 PT1 fliter Figure34 Speed controller screen All parameters take effect online The scaling parameter P 0322 is transferred in defined real time according to the speed controller sampling time m With this the gain
141. n P0458 MOT_SNom the d current relative to the magnetizing current in parameter P 0340 CON FM Imag Up to the field weakening speed a constant magnetizing current is injected P 0340 Procedure u P 0341 0 selection of modified characteristic voltage controller Approach desired speeds slowly Adjust scope Isdref SQRT2 Imag value of speed The maximum amount of the field weakening d current is defined by parameter CON_FM_Imag P340 specification of effective value Enter values in table P 0342 Example P 0343 0 7 Index P 0348 Rated speed P 0342 0 7 MERE 5 Magnetizing current in field weakening mode 0 7 P0340 Tage ff Field weakening speed in in 96 in Vo 0 00 100 1 10 100 2 20 100 n 1800 rpm 3 30 100 4 Ls eff 100 96 40 90 5 50 70 6 60 55 7 70 0 66 Harmonic Drive AG YukonDrive 1003374 01 2012 P no P0340 P0341 P0342 P0343 Parameter name Settings CON FM Imag CON FM ImagSLim CON FM SpeedTab CON FM ImagTab Voltage controller parameters The voltage controller is overlaid on the selected characteristic When using the voltage controller a portion of the available voltage is used as a control reserve The more dynamic the running the more control reserve is required In this case it may be that the voltage for rated operation is not sufficient and also that the controller sta
142. n of standard motor P 1530 SCD_SetMotorControl control design method 2 Setting 3 CalcCCon PI Calculation of the Design current control for given 3 3 SCD_SetCCon_by Bandwidth bandwidth current controller parameters based on the andwl motor data and the specified bandwidth This setting parameterizes a dead beat con troller The structure is switched to feedback with observer the observer is designed to Design dead beat current j 4 SCD_SetCCon_Deadbeat tl a specific equivalent time constant for contro setting see parameter CON_CCON_ObsPara index 0 and the current controller gains are calculated accordingly Selection of commisioning P 1531 SCD Action Sel method Setting 6 TuneCCon Tune current control for given Activation of sinusoidal test signals and ad 6 SCD Action Sel TuneCCon N 3 bandwidth aptation of the current controller parameters based on the specified bandwidth w Desired bandwith for control Bandwidth specification for current control P1533 SCD_AT_Bandwidth design loop Setting range 10 4000 Hz 01 2012 1003374 YukonDrive Harmonic DriveAG 43 43 Speed control o motor ratio 1 1 Gain Lag time Gain scaling Filter time Low value for speed filter high control dynamism High value for speed filter control dynamism lower smooth running quality improves m Speed limitation The scree
143. n output X13 motor WireBreak_MotorBrake 0x6100 0x8000 holding brake 45 LERR_LockViolate Movement requested which was limited by reversing lock limit switch or refer 0x8612 0x8000 ence setpoint limitation Movement requested which was limited by reversing lock limit switch or refer 2 HEUS m 0x8612 0x8000 ence setpoint limitation Lock active in both directions 46 LERR positionLimit TNNT Negative software limit switch ap 1 Position Limit neg 0x8612 1 0x2000 proached e 2 Positive software limit switch ap 2 Position Limit pos 0x8612 1 0x2000 proached da T Reference setpoint outside software 3 Position Limit_Overtravel 2 0x8612 1 0x2000 limit switches 47 LERR_FSAFE Reserved 01 2012 1003374 YukonDrive Harmonic Drive AG 163 8 1 3 Warnings In order to get timely information on excessive or inadequate values via an external controller or the drive s internal PLC warning thresholds can be freely parameterized with P 0730 Each warning is assigned on and off thresholds This enables parameterization of a hysteresis When a warning is triggered the corresponding bit is entered in parameter P 0034 ERR WRN State The binary value enables a status interrogation Warnings can also be programmed onto digital outputs see section 6 I O s The following warning thresholds are supported by the parameter P0034 Warning thresholds BIT number 0 xt integrator motor warning
144. n the motor is run in Current control mode For a correct definition it is necessary for the motor to be able to align itself freely It is not necessary to determine the encoder offset for LTi standard motors A Attention The motor shaft must be able to move A connected brake is automatically vented if connected to the brake output The process takes about 10 seconds Then the current value of the offset is entered in the display field and the original parameter setting is restored Rev 11 09 01 2012 1003374 YukonDrive Harmonic Drive AG 19 Interfaces between encoder and control OFF e 1 Ch1 1 SinCos X7 oOo Singleturn P a 2 Ch2 2 Resolver X6 pinn oE information e 3 Ch3 3 Option X8 Motor commutation OFF e 1 Ch1 1 SinCos X7 o P0521 U Speed Info 2 Ch2 2 Resolver X6 e 3 Ch3 3 Option X8 Feedback s Speed 0 OFF 1 Ch1 1 SinCos X7 oOo P 0522 Position Info ee 2 Ch2 2 Resolver X6 e E E Figure 14 Interface configuration between encoder channels and control lt Back Encoder channels configuration Encoder selection Encoder for commutation and torque control loop CH2 2 Channel 2 R v Encoder offset deg Encoder for speed control loop CH2 2 Channel 2 Resolver X6 v Encoder for position control loop CH2 2 Channel 2 Resolver X6 v Fi
145. nd adjusted as necessary via parameter P 0307 CON_VoltageSupply The combination of voltage value and switching frequency corresponds to a stored power stage data set A Attention Any changes to parameters must be saved in the device The setting is only applied on the device after a power off on cycle If the power stage parameters are changed the rated currents overload values and braking chopper thresholds may also change Switching frequency As another power stage parameter the switching frequency can also be set via P 0302 CON_SwitchFreq It is advisable to operate the drive controller with the default setting Increasing the switching frequency can be useful to improve the control dynamism Temperature related derating may occur Switching frequency noise decreases as the switching frequency rises audible range 12 kHz For an overview ofthe currents dependent on the switching frequency refer to the Operation Manual 2 Motor With the controller permanently excited synchronous motors can fundamentally also be actuated as asynchronous motors In the case of motors from third party manufacturers basic suitability for operation with Harmonic Drive controllers must be verified on the basis of the motor data and the data of any installed encoder The values of the parameters for adaptation of the control device must be determined specifically for each motor by Calculation or Identification The difference between the two methods is t
146. nforma tion on the STO function can be found in the Safety section of the Operation Manual Digit Outputs OSDxx RELOUT1 e Settings No function OFF 0 e Error ERR 1 Motor brake BRAKE 2 Terminal Powerstage active ACTIVE 3 digital digital Value gt Inputs ETT ie J1S Safe torque off STO active SH S 55 niet pun NR BC Fai l 56 Figure 101 Function block for adaptation of the digital outputs Digital standard outputs ospoo OFF 0 No function P 0122 0 v DSD01 FF 0 No function P 0123 0 v 05002 OFF Q No function P 0124 0 v Relay outputs RELOUT1 OFF O No function P 0126 0 v Show status of digital outputs Figure 102 Screen for digital outputs Digit Outputs P 0122 OSDOO P 0123 OSDO1 P 0124 OSDO2 P 0126 RELOUT1 P 0142 0 C Low active C Low active C Low active C Low active Options Options Options Options 01 2012 1003374 YukonDrive Harmonic Drive AG 129 P no Parameter name Settings Designation in DM 5 Description P0122 S p MPRO OUTPUT FS OSDOx Function of digital output Function selection 0 OFF 0 No function Input off 1 ERR 1 Error Collective error message Output becomes active in accordance with the holding 2 BRAKE 2 Motor brake i brake function see section 4 6 Motor brake Z Power stage active and closed loop
147. ntact is removed P 0207 MPRO_TAB_Actldx Actual Index Display of the currently selected motion task NOTE Before a driving set can be executed the data set is first selected Then it must be read in If the activation is via terminal this is done with a digital input parameterized to TBEN A motion task is selected via field bus by setting the corresponding bits see SERCOS CANopen user manual NOTE Before configuring the driving set parameters the units and scaling must first be checked Selection of driving sets Activation Setting Description triggering via terminal_ Input ISDxx TBEN Enabling a selected driving set The selection of a new motion O configuration task always interrupts an ongoing positioning or follow up task logic riggering via terminal _ Input ISDxx TABO to TAB3 The binary significance 2 2 2 23 results from the TABx O configuration assignment The TABO setting has the lowest significance 2 triggering via field bus Cross check Execute motion task bit with system control word riggering via field bus Activate follow up task bit system Check adjustment with control word and the TAB3 the highest 2 A Logical 1 level at the input activates the significance Enabling a selected driving set The selection of a new motion task always interrupts an ongoing positioning or follow up task logic The binary significance 2 2 2 2 results from the TABx as
148. ntrol difference sign Activate process controller P 2681 CON PRC CtrlWord Control word Bit 0 1 process controller active Optimization of controller setup P 2659 CON PRC Kp Controller gain P 2660 CON PRC KP SCALE Scaling of gain P 2661 CON PRC Tn TN integral action time If the integral action time is set to the permissible maximum value the I component of the controller is inactive 10000 ms off Offset for the process controller output P 2662 CON PRC REFOFFSET Then the totalled variable is connected via a limitation to the output of the process control loop The user can parameterize the limitation via parameter P 2663 CON PRC LIMPOS for the positive limit and P 2664 CON PRC LIMNEG for the negative limit 01 2012 1003374 YukonDrive Harmonic Drive AG 171 RateLimiter Downstream of the control variable limiter there is another limitation which limits the changes to the control variable per sampling segment By way of field parameter P 2680 CON_PRC_RateLimiter the limitation of the control variable steepness per millisecond can be parameterized The subindex zero is for limitation in standard process controller operation Selecting subindex 1 activates reduction of the I component P no Parameter name Settings Function P 2680 CON_PRC_RateLimiter Steepness limitation of the control variable 0 RateLimiter Steepness limitation in standard process controller operation unit X ms 1 Ratelimit
149. of control settings for AS motor Motor name lt Name plate data Rated voltage 330 v Rated speed 3000 rpm Rated torque 47 Nm OR Inertia Motor inertia 0 00035 kg m m Motor impedances Rated current Rated frequency Total inertia 35 A 100 Hz 1 8145 0 00035364 kg m m Stator resistance 23 Ohm Leakage inductance 55 mH 100 Rotor resistance Ohm x ime Show motor parameters Figure 6 Motor identification AS motor electrical parameters Motor name cp Pole pairs 5 Rated flux 0120 Vs Motor impedances Stator resistance 23 Ohm Leakage inductance 55 mH 100 Rotor resistance 0 Ohm x Magnetisation characteristic Magnetisation current oA Main inductance scaling factor 100 Figure 7 Electrical data of the asynchronous machine 100 Rated main inductance 1E 09 mH 01 2012 1003374 YukonDrive Harmonic Drive AG 11 P0490 MOT IsLinMot gt ROT 0 Motor selection Selection for rotary or linear motor P0451 MOT Name Motor name Motor name P0455 MOT_FNom Motor nominal frequency P 0457 MOT CNom 2 Motor rated current Rated current P0459 MOT_PNomv Rated motor power P0461 MOT J Motor mass inertia P0471 MOT Lsig Stator resistance Secondary section inductance P0492 MOT MagnetPitch Pole
150. offset is added Typ 0 Not defined Typ 1 Negative limit switch and zero pulse The initial movement is as shown in figure 86 towards the negative left hardware limit switch which is inactive and the direction of movement is reversed when the edge is active The first zero pulse after the falling edge corresponds to the zero Zero pulse I l l Negative limit a S Figure86 Type 1 Negative limit switch and zero pulseFigure pulse Type 2 Positive limit switch and zero pulse The initial movement is as shown in figure 87 towards the positive right hardware limit switch which is inactive and the direction of movement is reversed when the edge is active The first zero pulse after the falling edge corresponds to the zero v1 Zero pulse I I l Positive limit switch Era Figure 87 Type 2 Positive limit switch and zero pulse 112 Harmonic Drive AG YukonDrive 1003374 01 2012 Typ 3 4 Positive reference cam and zero pulse The initial movement is as shown in figure 88 towards the positive right hardware limit switch if the reference cam is inactive see symbol A in figure 88 As soon as the reference cam is active the type 3 direction is reversed The first zero pulse after the falling edge corresponds to the zero For type 4 the first index pulse after the rising edge corresponds to the zero point The initial movement is towards the negative left hardware limit switch and the reference cam is active see symbo
151. on and interpolation methods Basic settings are made on the following screen Contolmode PCON 3 Position control mode P0300 v Figure 26 Basic settings screen for selection of the control parameters Parameter P 0300 CON_CFG_Con specifies the control mode with which the drive is to be controlled This parameter takes effect online Uncontrolled online switching can cause an extreme jerk a very high speed or an overcurrent which may cause damage to the system Selection of control mode m Current control TCON 1 m Speed control SCON 2 m Position control PCON 3 01 2012 1003374 YukonDrive Harmonic Drive AG 35 The basic settings include m Setting the mass moment of inertia of the plant m Setting the rigidity and scaling the speed controller m Setting the current speed position control gain factors m Setting the speed filters Bac Basic settings of motor control 0 SCD_Jsum kg m m 0 SCD AT SCo 1500 rpm 100 amp 0 0 SCD AT Co 1 525 Nm N gt 0 CON_SCON_KpScale Control design by stiffness ertia Control design Gain Adaption an by inertia 0 CON PCON Kp 7000 1 min D CON SCON Kp 0 012182 Nm rpm ef 0 CON SCON Tn 10 6398 ms Position Control O k Speed Control A naci Torque or Current Control and Feedforward ae am 0 CON SCALC TF lt Enco
152. on and to interchange limit switches is programmable see Error reactions alarms warnings section 7 mes p In manual positioning the axis can be moved in creep speed or in rapid positive motion a jog mode In manual positioning the axis can be moved in creep speed or in rapid negative motion 8 NCH N jog mode According to the homing method parameterized in P 02261 MPR0_402_Homing 9 HOMST Method 10 HOMSW Reference cam for zero point definition in positioning a EEG Error messages from external devices cause an error message with the reaction deter mined in parameter P 0030 Error Reaction Sub Index 11 12 WARN External collective warning 13 RSERR Error messages are reset with a rising edge if the error is no longer present 14 MAN In field bus operation switching of the reference source P 0165 CON CfgCon and the control location P 0159 MPRO CTRL to Term can be set via a digital switch 15 PROBE Only adjustable for the fast inputs ISDO5 and ISD06 16 PLC Input can be read by PLC program 17 PLC_IR Interruption of the PLC program 18 18 Not defined 19 19 Not defined 20 20 Not defined 21 BEN Import and execution of selected table driving set 22 BTBA Teach in for position driving set table 23 ABO Binary driving set selection Bit O significance 2 for speed 24 ABI Binary driving set selection Bit 1 significance 2 for speed or positioning 25 AB2 Binary driving set selection Bit 2 significanc
153. on channel 3 for TTL encoders The signal resolution over one track signal period is 12 bit in the case of multi turn and 13 bit in the case of single turn 01 2012 1003374 YukonDrive Harmonic Drive AG 21 Configuration of high resolution encodes input X7 Encoder configuration channel 1 X7 Select from Database Encodemame Cyclic position via DFF 0 No function v Details Absolut interface DOFF 0 Incremental encoder with zero puls w Gear ratio if encoder is not fitted at the motor 1 1 Signal correction GPOC OFF O No correction lt J Figure 16 Screen for setting channel 1 OFF P 0540 P 0545 so ssl 1 e P 0540 Absolute EnDat2 1_ 5 Position Interface Hiperface 3 P 0505 Positionvalue Encoder Channel 1 OFF SinCos X7 iis s dis i di gt Signal etting Puls SinCos 1 Correction per revolution e P 0505 P0510 P0511 Control I gear ratio Figure 17 Encoder configuration based on example of channel 1 22 Harmonic Drive AG YukonDrive 1003374 01 2012 Overview of parameters for channel 1 P no Parameter name Settings Designation in DM5 Function P0505 ENC CHI Sel Encoder Channel 1 Select Configuration of the incremental interface 0 OFF No evaluation High resolution SinCos encoder with fine 1 SinCos a R i interpolation 2 SSI Purely di
154. on of coding Gray binary 01 2012 1003374 YukonDrive Harmonic Drive AG 23 3 1 1 Zero pulse evaluation via encoder channel 1 The zero pulse evaluation via encoder channel CH1 is only set active for SinCos encoders with no absolute value interface Setting P 0505 ENC CHI Sel setting SinCos encoder P 0540 ENC CHI Abs setting OFF Incremental encoder with zero pulse m Sin Cos encoders only ever output a zero pulse when no absolute value interface is present m TTL encoders always have a zero pulse m Resolvers output no zero pulse Zero pulse evaluation only works by selecting the intended homing types see Homing in Motion profile section Test mode for zero pulse detection Test mode is activated by parameter P 0541 ENC_CH1_Np 1 Encoder initialization is triggered manually by P 0149 MPRO DRVCOM Init 1 Homing runs can also be carried out during test mode When homing is completed or if an error has occurred detection is aborted even though parameter P 0541 1 To reactivate test mode parameter P 0541 must be reset from 0 to 1 and re initialized To view the zero pulse with the scope function the variable CH 1 np 2 index pulse length 1 ms can be recorded on the digital scope AN Attention The pulse width of the scope signal does not match the pulse width of the actual zero pulse The representation on the scope appears wider 1 ms when using variable CH1 np 2 enabling better detection o
155. on on off aera Compensation referred to electrical angle EPSRS Compensation on dependent on Example three pole pairs motor The table in P el angle 0380 is populated three times within one mechani cal motor revolution The compensation is effected with the averaged table values Compensation referred to one mechanical motor revolution Compensation on dependent on 2 ABSPOS Example Three pole pairs motor The table in P absolute Position Er i 0380 is populated once within one mechanical motor revolution gt z The characteristic of the q current is averaged Anti Cogging recorded currents at E P 0383 CON TCoggTeach1 eer by a special filter and imported into the table of eachin 9 parameter P 0383 CON_TCoggTeach1 P 0385 CON_TCoggTeachCon Anti Cogging teach control word Start of teach function to fill table 4 2 2 Advanced torque control There are additional functions to improve the control performance of current and speed controllers Here the gt Limitation gt Gain Scheduling and gt Observer functions are described P 0310 P 0311 Curent control Flux control Lee at LEA ux contro APR xii 3 m i Current control Speed control x Figure 31 40 Block diagram of current and speed control ANZ sang m Harmonic Drive AG YukonDrive 1003374 01 2012 Limitation Limitation of the voltage components usqref and usdref This
156. on with a sufficiently steep deceleration ramp the DC link voltage can be maintained above the undervoltage threshold power failure bridging This reaction lasts until the drive has been braked to a low speed The default setting is O V function disabled 01 2012 1003374 YukonDrive Harmonic Drive AG 149 7 1 4 Software limit switches The software limit switches are only applicable in positioning mode and are only activated once homing has been completed successfully P no Parameter name Settings Designation in DM 5 Function Ae 607DH DS 402 Software Posi Positive and negative software P 2235 MPRO_402_SoftwarePosLimit eee DOW tion Limit limit switch 1 Software Position Limit min position lim Negative limit switch 2 Software Position Limit max position lim Positive limit switch The response to reaching a SW limit switch depends on the preset error response see parameter P 0030 Error reac tion Positioning mode Reaction Absolut Before enabling an absolute motion task a check is made whether the target is in the valid range that is within the software limit Relativ switches If the target is outside no motion task is signalled and the programmed error response as per P 0030 is executed Infinit The drive travels until a software limit switch is detected Then the nnnite rogrammed error response as per speed controlled prog p p P 0030 is executed 150 Harmonic Drive AG YukonDrive 1003
157. op ramp The drive remains in the quick stop ul quickstop state current is applied to the axis at speed 0 F Braking with max dynamism at the current limit The speed reference is Slow down on current limit and stay in N MA CLIM OS 7 ickst set equal to 0 The drive remains in UICKStO 3 P the quick stop state current is applied to the axis at speed O Reserve 8 Reserve d Transition to the state Ready for switching on is only possible by resetting the quick stop request In the Quick stop state cancelling the Start closed loop control drive signal has no effect as long as the quick stop request is not reset as well Reaction to Shutdown The condition transition Control off is passed through when the power stage is switched off The control can be switched off via one of the various control channels terminals bus PLC P2219 Designation in DM 5 Function In the event of a Shutdown command the stop variant selected in QSOPC 1 According Quickstop option code Response to quick stop P 2218 is executed POFF 0 Disable power stage drive function Disable power stages the drive coasts to a stop SDR 1 Slow down with slow down ramp disable of The drive brakes with a programmed deceleration ramp Then the hold the drive function ing brake if fitted engages according to its parameter setting 01 2012 1003374 YukonDrive Harmonic Drive AG 107 Reaction to Disable Oper
158. or Weighting exponent Preferential weighting Translational m s 1 6 0 001 mm s Preferential rotary weighting Weighting method Unit Weighting factor Weighting exponent Preferential weighting Rotary rad s 1 3 0 001 rad s Figure 75 Weighting method for acceleration data 01 2012 1003374 YukonDrive Harmonic Drive AG 95 Weighting of torque and force data Schematic 4 Torque force data Wichtungsart Kraft Drehmoment icra Lineare Wichtung der Kraft Rotative Wichtung Drehmoment JE an Last am Motor an Last am Motor an Last am Motor Vorzugs Parameter Vorzugs Parameter wichtung wichtung wichtung wichtung N N Nm Nm LSB LSB LSB 1 0 N variabel LSB 10 E 2 Nm variabel In percentage weighting the permanently permissible standstill torque of the motor is used as the reference value All torque force data is given in with one decimal place LSB Einheit Exponent Preferential translational weighting of force data Weighting method Einheit Weighting factor Weighting exponent Preferential weighting Translational N 1 0 IN Preferential rotary weighting of force data Weighting method Einheit Weighting factor Weighting exponent Preferential weighting Rotary Nm 1 2 0 01 Nm Figure 76 Weighting method for torque and force data Torque polarity The polarity is switched outside of a controlled
159. pect to the reference speeds for the control The setting POS locks the positive references and NEG the negative references With P 0745 MON RefWindow the standstill window is set for the speed NOTE Parameters P 0337 CON SCON SMaxScale P 0328 CON SCON SMax and P 0335 CON_SCON_DirLock are not changeable online Parameters P 0333 SCON SCON SMaxNeg P 0334 CON SCON SMaxPos are changeable online 01 2012 1003374 YukonDrive Harmonic Drive AG 147 z sod xeuru k sod xeuru z Deu xewu Beu xewu o43uoo9 peeds NOOS NOD ul uonejui peeds uonoeJgqns uns Uuoneyur H uoneondniw pue6e1 sodxeWS NOOS VEEOd un 34 T XEWS NOOS 87 0 d O WONS lON 8Sr0 d uw ejeosxeS NODS LEE0 d L2 BanxeWis NODS EEEO d uonesi eniu 4 JPod NODS NOO SEE0d Figure 114 Speed limitation YukonDrive 1003374 01 2012 148 Harmonic Drive AG Parameters Parameter name SS i P no 5 Designation in DM 5 Function Settings P0335 CON SCON DirLock Direction lock for speed reference value Directional lock left and right i Scaling to the rated speed in P 0458 Motor P 0328 CON_SCON_Max Speed control maximum speed rated speed P 0333 CON_SCON_S_MaxNeg Motor speed scaling of negative limit Speed limitation in negative direction P 0334 CO
160. pitch NN P0494 MOT ForceNom Rated force P0497 MOT MassSum 2 Total mass to be moved d The parameters are only of informative nature but should be set for a complete motor data set 2 The parameters are used for calculation of controller settings and have a direct effect on the response of the servocontroller 2 Harmonic Drive AG YukonDrive 1003374 01 2012 This initiates m Current controller tuning The current controller is automatically optimized m The motor impedances are automatically measured m Calculation of operating point m Calculation of current speed and position control parameters m V F characteristic boost voltage rated voltage rated frequency NOTE To start identification the hardware enables ENPO ISDSH must be switched and the DC link voltage must be present The identification may take a few minutes A Attention All existing motor parameters are overwritten 2 4 2 Saturation characteristic for main inductance The main inductance is frequently determined inaccurately in particular for higher powered motors An improvement of this value can be achieved at high speed with no load on the machine if possible by way of a measurement process Procedure Run motor at 50 90 nominal speed e g via Manual Mode Tuning is started when P 1531 Tune Lmag chracteristics 4 Sequence The main inductance is determined with varying magnetization The results are
161. r A Attention Encoders with a 5 V 5 voltage supply must have a separate Sense cable connection The sense cables are required to measure a supply voltage drop on the encoder cable Only use of the sensor cables ensures that the encoder is supplied with the correct voltage Always connect the Sense cables If a SinCos encoder is not delivering Sense signals connect pins 12 and 13 Sense to pins 3 and 8 5 V GND on the encoder cable end 32 Harmonic Drive AG YukonDrive 1003374 01 2012 4 Control 4 Control basic setting A servocontroller works on the principle of field oriented regulation In the motor the current is injected so that the magnetic flux is at the maximum and a maximum torque can be generated on the motor shaft or on the carriage of a linear motor Specified properties Constant speed synchronism Positioning accuracy absolute and repeatable Hygh dynamism Constant torque Disturbance adjustment When using a standard motor data set the control parameters are preset for the specific motor model If using third party motors a manual setting must be made for the drive by way of the motor identification or by calculation in order to get the appropriate control parameters for the motor model see Motor section The individual controllers for position speed and current are connected in series The matching control loops are selected by the control mode 01 2012 1003374 YukonDrive Harmonic Dr
162. r Controller Figure 30 Schematic for detent torque compensation Teach in The teach in run is initiated via parameter P 0385 CON TCoggTeachCon The teach procedure to determine the detent torque characteristic is as follows Performing the teach in Open manual mode window Set speed control Set parameter P 0385 to TeachTab 1 Start control Move the motor at low speed until table P 0383 has been completely populated Set parameter P 0385 to CalCorrTab 3 This imports all values into the compensation table Stop control Import compensation table values with P 0382 EPSRS 1 Electrical angle or ABSPOS 2 Absolute position into the device Save device data The interpolation between the table values is linear The characteristic is not saved automatically it must be saved manually The progress of the teach process and the compensation can be tracked on the scope The signal isqCoggTeach indicates the current output value of the teach table during teach mode while isqCoggAdapt contains the current value from the compensation table 01 2012 1003374 YukonDrive Harmonic Drive AG 39 The following parameters are available to activate this process P no Parameter name Settings DM5 description Function Anti Cogging compensation current P 0380 CON TCoggAddTab tabl Table with compensated values able 2 5 Compensated table values are imported into the P 0382 CON_TCoggComb Anti Cogging compensati
163. r friendly way via the Manual mode window The following settings are required for the manual mode window and the oscilloscope Control mode SCON 2 Speed control mode 9 Standard mode Jog mode Reverse mode Motion profile o profile generato Acceleration 0 rev min s Deceleration 1000 rev min s Reference 1000 rev min Start Stop Motor control Quick stop Halt operation Manual mode off Activate manual mode Figure 35 Optimizing the speed controller Digital Scope Servodrive gt nx Hand operating trigger Status Off Container New Channels Trigger Time Options Heference speed summed D l min Actual torque Nm Figure 36 Setting the channels on the oscilloscope m Open control window m Make settings Control mode SCON Speed controlled Acceleration ramp 0 Open scope Setting Channels CH 0 speed reference nref CH 1 actual speed nact CH 2 actual torque mact Trigger Trigger signal Speed reference nref Mode Rising edge Level 30 rpm Pretrigger 0 Time Samplingtime base time 6 25E 0 5 s Recording time 0 2 s 46 Harmonic Drive AG YukonDrive 1003374 01 2012 Kleinsignal Drehzahlsprung 100 U min zeit B5 ms 100 Steiffigkeit L 1132 L F La E s s f L Hos S L r
164. ra meterized with the value zero 172 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Parameter name Settings Function P2672 CON PRC OUTSEL Selector for the additive reference values 0 OFF 0 No reference selected 1 Additive torque reference 1 Additive torque reference must be given in Nm 2 Additive speed reference 2 Additive speed reference must be given in rpm 4 Additive position reference 3 Additive position reference must be given in increments 5 Value for MotionProfile P 2678 is the parameter to which the control variable can be written in order P 2678 CON_PRC_OUTSEL_MOPRO to be subsequently used in the motion profile NOTE The scaling of internal units to user specific units is set out in section 6 Motion profile Scope signals for visualization of the process control loop Number Scope variable Description 2666 Ref prc Process controller reference P 2666 CON_PRC_REFVAL 78 Cdiff prc Control difference of the process controller P 2675 CON PRC CDIFF 2676 Actuating var prc Control variable of the process controller P 2676 CON PRC OUTVAL 2673 Raw actual prc Actual value of the selected actual value source P 2673 CON PRC RAW ACTVAL Momentary actual value of the process controller after filtering and scaling P 2674 CON_ 2674 Actval prc PRC ACTVAL 01 2012 1003374 YukonDrive Harmonic Drive AG 173 Appendix Drive status The Drive status window displays
165. reference n P0402 CON SCON AddSRef Speed reference without ramps value direct without ramp additional position reference m P 0403 CON IP AddEpsRef I Position reference value additional speed reference n P0404 CON_SCON_AddSRamp Speed reference with ramp value via ramp generator NOTE By additive reference values pay attention for the control mode 76 Harmonic Drive AG YukonDrive 1003374 01 2012 40je1euec lyoJd A peeds NOOS 00 d Saeed 0 9d LOE d lllo1d uonoiN uonejod EI uonisod Jer bs a0uasajoy Ionuoo jua uno b L 1 je psi 10309 juaumo p lIonuoo jonuoo NOOd 00 d peeds uonisod dl LOE d duis jousda y jos e 440 NO jonu z Ped 00S d jaspsi L HO 0 JoyesauabyjeuBbis so les INO OISL 1 leubisiseL LOSE d 77 Harmonic Drive AG 1003374 YukonDrive Figure 55 Structure of the test signal generator 01 2012 sit t Tf Step 2 Step 1 0 varP 1503 0 Amplitude a 0 va P 1505 Amplitude 2 a 0 var P 1509 Step 2 0 vap 1503 1 Frequenzy f 0 Hz P 1506 Cycletime T PRBS 5 ms P 1508 Time t1 1 s P 15040 Time t2 1 s P 1504 1 P 1501 Output Signal Selection OFF 0 off Number of cycles N 1 P 1502 Duration of testsignal N t1 t2 2s Figure56 Screen for the test signal generator
166. rement coded encoder for positive coded encoder direction 6 move neg direction for Homing method for increment coded encoder for negative distance coded encoder direction Act position homing offset 5 posi UL Homing absolute value encoder multiturn encoder 4 _ not defined 3 _ not defined No homing mode act position 2 _ d g aet posi No homing only an offset adjustment is made homing offset Reference position homing 2 1 _ Actual position Zero offset parameter HOOFF 0 _ Not defined No homing 1 LCCW Neg end switch zero pulse Homing negative limit switch and zero pulse 2 LCW Pos end switch zero pulse Homing positive limit switch and zero pulse Pos reference cams zero pulse Homing to cam negative edge positive direction zero 3 HOMSW at RefNock Low pulse Pos reference cams zero pulse m Ho a 4 HOMSW Homing to cam positive edge positive direction zero pulse at RefNock High Neg reference cams zero pulse Homing to cam negative edge negative direction zero 5 HOMSW at RefNock Low pulse Neg reference cams zero pulse Homing to cam positive edge negative direction zero 6 HOMSW f at RefNock High pulse 7 Left reference cam polarity zero 7 bis 14 HOMSW Various homing runs to cam pulse at RefNock Low 15 16 _ not defined Reserved 17 LCCW Neg end switch Homing negative limit switch 18 LCW Pos end switch Homing positive limit switch Pos reference cams Stop at
167. rence RefSpeed ActSpeed d spee P0418 CON SCON RefTorque reference torque Torque reference P0419 CON SCON ActTorque actual torque Actual torque P 0700 MON CurrentRMS actual current r m s Actual current mean value P 0702 MON State Device status word Status word Power stage temperature of cooling P 0703 MON_PowerStage_TKK block Heat sink temperature P0704 MON Device Tint Power stage temperature of interior Interior temperature P0734 MON MotorTemp motor temperature Motor temperature n monitoring maximum position dif E P0742 MON UsrPosDiffHistory Position tracking error in user units ference Further actual values can be found in field parameter P 0701 P no Parameter name Setting Designation in DM 5 Function aR n Display of motor and controller P 0701 MON ActValues Monitoring actual values of motor and inverter actual values actual values of I2xt integrator for motor Actual value of the l xt integrator for 0 2xt Motor s protection motor protection actual values of I2xt integrator for inverter Actual value of the xt integrator for 1 2xt Inverter protection controller protection Actual value of motor current 2 Phasor actual motor current amplitude amplitude ee Actual amplitude value of 3 mag actual magnetization d current amplitude i magnetizing current 4 m actual torque constant Torque constant 01 2012 1003374 YukonDrive Harmonic Drive AG 177 Int
168. responds to the first zero pulse in the direction of movement I I Zero pulse LLL Figure93 Type 33 34 Zero pulse Typ 35 The current actual position corresponds to the zero 118 Harmonic Drive AG YukonDrive 1003374 01 2012 5 5 Jog mode Jog mode enables the drive to be moved manually A bus system or reference sourcing via terminal can be selected as the reference The unit corresponds to the selected user unit It is possible to select fast and a slow jog speeds in both directions For jogging in positive and negative direction two digital input parameters must be set to INCH_P 7 Jog and INCH_P 8 Jog For jogging at different speeds both switches must be activated If the Jog left switch is activated first and then switch two quick jog mode left is started If the Jog right switch is activated first quick jog mode right is started NOTE Acceleration and deceleration are set corresponding to the values defined for homing Jog speeds P 0168 1 Slow jog speed aw degree s Quick jog speed 100 degree s P 0168 0 Figure 94 Screen for jog mode settings It is also possible to move the drive by way of the manual mode window in jog mode The jog speeds in the manual mode window are oriented to the values of the upper screen Jog mode settings Standard mode Homing mode Jog mode Reverse mode Slow jog Quick jog Figure 95 Screen for jog mode in manual mode window 5 6 Setpo
169. rolled in different modes regardless of whether a higher level control system is pre installed or not All that is required is for the hardware to be enabled first STO and ENPO When the manual mode window is closed all the original settings are restored The drive motion can be plotted with the scope function permitting analysis of the control performance for example A Attention Before this function is started a controller must first have been commissioned into operation as specified in the Operation Manual When the Control window is opened the parameter settings in the connected device are automatically changed and are then restored when the window is closed Communication should not be interrupted such as by a power failure unplugging the connecting cable or suchlike while the Control window is active DANGER Manual mode causes the axis to execute movements The connected control system is not active and cannot intervene in the movement It must be ensured that no hazard is posed to people or machinery In an emergency the drive can be stopped at any time by cancelling the hardware enable ENPO STO In the case of lifting applications it must be ensured that a mechanical brake is installed NOTE If a drive cannot be moved by way of the Control window check the following points Controller system state Motor data Possibly safety switch Quick stop active Hardware enable via STO and ENPO Monitoring functions Ac
170. rs per minute gt rev min s deg s 3 Degrees per second deg min 4 Degrees per minute 5 Figure 65 Scaling for position speed acceleration 86 Harmonic Drive AG YukonDrive 1003374 01 2012 Definition of direction Referred to the motor the positive direction is clockwise as seen when looking at the motor shaft A side bearing plate Polarity of command values Position control modes clockwise anti clockwise Speed control modes clockwise anti clockwise Figure 66 Polarity of command values Feed constant deg 1 rev of driving shaft Gear ratio if available Input revolutions motor shaft 1 rev Output revolutions driving shaft 1 rev Position encoder resolution 1048576 incr 1 rev motor Processing format absolut modulo rotary table Figure 67 Feed constant gear ratio process format 01 2012 1003374 YukonDrive Harmonic Drive AG 87 Feed constant Feed constant defines the ratio of the feed rate to the output revolution Feed forward feed constant 3 revolution gear output side Gear ratio defines the ratio of a motor revolution upstream of the gearing to the number of revolutions on the gear output side Motor revolution gear ratio Revolution gear output side Position encoder resolution defines the encoder resolution in increments per motor revolution Encoder
171. rts to oscillate Designation in DM5 magnetization current r m s Only valid for ASM speed values for mag current scaling mag current scaling vs speed Function Effective value of the rated current for magnetization Field weakening activation point as of P 0348 MOT SNom This effects the switch to the 1 n characteristic P 0341 z 0 For P 0341 0 the field weakening works via the modified characteristic isd f n For a synchronous machine this value must be set to 0 Speed values scaled as of P 0458 n to populate the modified table d current scaled as of P0340 eff to populate the modified table ma The PI voltage controller can be optimized by adaptation of the P gain P 0345 the lag time P 0346 and the filter time constant for the motor voltage feedback P 0344 Parameter P 0347 sets the voltage reference though the threshold needs to be reduced in response to rising demands as this maintains a kind of voltage reserve for dynamic control processes A certain voltage reserve is necessary for stable operation It is specified by way of parameter P347 CON_FM_VRef lt 100 The value should be set high lt 90 96 where there are high demands in terms of dynamism For less dynamic response the maximum attainable torque can be optimized by higher values gt 90 96 NOTE If the control reserve is too small the inverter typically shuts off with an overcurrent error 01 2012
172. s can be changed As from the eighth character the number is rounded to zero Only values up to 8388608 exactly can be preset as a matter of principle After that the number format dictates that rounding is applied 4 9 Motor test via V F characteristic In V f mode it is possible to run a simple test indicating to the user whether a motor is connected correctly and mo ving in the right direction of rotation linear drive movement to the right left If the direction has been reversed the motor is stopped or executing uncontrollable movements the termination and the motor data must be checked Boost voltage at zero frequency 4 V PO313 0 Voltage at nominal frequency 400 V P0315 0 Nominal frequency 150 Hz P0314 0 Figure 59 V f open loop control for test purposes As a test mode a voltage frequency control system is implemented in such a way that the closed loop speed control circuit is replaced by open loop control So the reference in this case is also the speed reference the actual speed is set equal to the reference The feed frequency fref is calculated by way of the number of pole pairs of the motor P 0463 MOT PolePairs n SX Motor Polpaare fref zt P 0463 Motor Polp 80 Harmonic Drive AG YukonDrive 1003374 01 2012 A linear characteristic with two interpolation points is implemented with a fixed boost voltage setting P 0313 CON_ VFC VBoost at 0 Hertz As from the rated frequency P 0314 CON VFC FNom the ou
173. s of cubic jerk stabilized interpolation The actual position value is adapted on the basis of the corrected table Both tables contain 250 interpolation points The correction range is within the value range delimited by parameters P 0591 Start position and P 0592 End position correction The start position is preset on the user side the end position is determined on the drive side End position interpolation point pitch x number of interpolation points table values start position only if start position z 0 Required parameters Parameter name P no d Designation in DM 5 Function Settings ENC Channel selection as P0530 ENC EncoderlSel Channel selection for the 1st encoder SERCOS encoder 1 ENC Channel selection as A P0531 ENC_Encoder2Sel Channel selection for the 2nd encoder SERCOS encoder 2 Selection of the encoder whose actual position value is to be changed a Setting range P0590 ENC ACOR Sel Axis Correction Select 0 OFF 1 Ist encoder 2 2nd encoder P0591 ENC ACOR PosStart Axis Correction Start Position Definition of correction range The range is defined by parameters P 0591 Start Position and P 0592 End Position The start position is user specified the end position is determined P0592 ENC ACOR PosEnd Axis Correction End Position on the device side from the maximum value of correction table interpolation points used P 0595 P 0596 and the interpolation point pitch P 0
174. section 2 1 3 Motor motor ASM Selection of motor motion Decision whether to use a rotary or linear motion system P0490 section 2 1 3 Motor The identification only needs to be carried out if the motor s electrical data P 0470 is missing P 0476 P0471 Motor identification Identification sequence P0474 section 2 1 3 Motor Measurement of stator rotor resistance stray leakage inductanc P0462 Current controller tuning P0340 Calculation of nominal flux Setting of lxt monitoring selection of temperature sensor characteristic set P 0731 Motor protection d ting P 0732 0 1 P 0733 0 6 P 1503 0 1 P0320 P0321 P0322 P1517 P0351 P1515 P1516 01 2012 1003374 YukonDrive Harmonic Drive AG 181 Linear motor system Instruction Action P no Selection of motor The parameter is automatically set to PSM if parameter poAo section 2 2 Motor P 0490 LIN 1 is set Selection of motor motion W R n Selection for a linear motion system with P 0490 LIN 1 P0490 section 2 2 PS linear motor Motor data set calculation section 2 2 PS linear motor Motor protection section 2 2 3 Encoder setup section 3 Encoder System test via manual mode DM5 Online Help Manual mode window Control setup Optional settings Data set calculation Fill out Calculation of control setup for linear PS motors screen form and start calculation See calculated values se
175. speed controller the more dynamically the position controller can be set and the tracking error minimized In order to improve the dynamism and performance of the position controller the parameters listed in the screen below are available to optimize the speed and acceleration feedforward By adjusting the stiffness provides also the feedforward Back Configuration of position controller and feed forward control o ms 100 p WICONIPLACCEFTE _ GICON IP TFFScale es met v Acceleration Friction 05 ms 100 Z m Matoni SE Inepo p OI CONLIP SFFTF EN D CON IP SFFScale et I0 CON SCON TFie zt za we za 0 ms 7000 1 min O CONIPEpsdy 2979 10 CON_PCON Kp Y 0 Torque or i gd Curent ud Control Figure 45 Position controller setup screen 01 2012 1003374 YukonDrive Harmonic Drive AG 55 Position controller optimization The reference values for the necessary reference steps for controller optimization can be easily preset by way of a reference table or the Control window see also Motion profile section Reference via manual mode window Settings Control mode Control mode A renei 3 E
176. standard inputs ISA00 Function DFF 0J No function P 0109 0 Options 1SA00 filter time 1 ms P0405 0 ISA01 Function DFF 0 No function P0110 0 Options ISA01 filter time 1 ms P0406 0 Figure 107 Setting the analog inputs Scale offset dead travel function ramps At start of configuration the 10 V is assigned Scale to the maximum reference value e g 3000 rpm Component spread is compensated by way of the offset function and the Dead travel setting defines a dead travel range The setting for specifying torque references is made via the analog channel as in speed control The braking and acceleration ramp corresponds to the ramp for torque rise and fall 138 Harmonic Drive AG YukonDrive 1003374 01 2012 Scaling 10 V correspond to Offset 0 Backlash B Motion profile Acceleration ramp Deceleration ramp 6000 SPEED 1U Js rev min rev min l 1000 SPEED s 1000 SPEED s v Figure 108 Options Parameter name E ees P no Designation in DM 5 Function Settings P0173 STE MPRO ANAO Scale scale factors Scaling weighting P0183 0 Scale scale factor for torque reference Scaling for the torque reference Nm 10 V 1 SScale scale factor for speed reference Scaling for the speed reference rpm 10 V 2 PScale scale factor for position reference Scaling for the position reference user unit 10 V P0174 MPRO ANAI
177. t online m An optimization can be made iteratively in steps by adapting the equivalent time constant linked with rewri ting of the calculation assistant Parameters P no Parameter name Settings Designation in DM5 Function Selection of Speed calculation Selection of speed calculation P0350 CON SCALC SEL method method 0 SEL ObserverMethod Signal fi b tem Filter 0 PT Filter oe NAA T actual value filter activated OBSI 1 One mass observer Single mass observer Observer with acceleration Observer with acceleration OBSACC 2 sensor sensor OBS2 3 Two mass observer Dual mass observer 1 SEL_FeedbackMethod Feedback from Observer OBS 0 method Filter 1 Feedback from Filter CON SCALC Obs Equivalent time constant of P0353 Observer design parameters DesignPara observer 0 ime constant of observer Time constant 1 ms 1 Alpha Damping coefficient 2 Load point Load torque is applied 3 FI ime constant of speed filtering u ime constant of load torque 4 F2 as from V 3 0 adaption _ ime constant of oscillation 5 Fosc adaption 6 AccGain Acceleration measurement gain J k n Calculation assistant for P0354 CON SCALC ObsDesignAssi Observer design assistent observer 0 USER User defined design Default design for selected 1 DEF observer Observer design by double as from V 3 0 2 DR ration Observer design by time 3 TIMES constant 50 Harmoni
178. ta rotary system 01 2012 1003374 YukonDrive Harmonic Drive AG 7 Identification Calculate control settings subject to motor data identification Motor name Motorl Name plate data Rated voltage 330 v Rated current 476 A Rated speed 3000 rpm Rated frequency Rated torque 61 Nm OR O Ra 13145 Info Inertia Motor inertia 0 00035 kg mm V Hold brake applied Figure3 Indetification of Motor data nter motor data m Click the Start identification button This initiates m Current controller tuning The current controller is automatically optimized The motor impedances are automatically measured m Calculation of operating point m Calculation of current speed and position control parameters V F characteristic boost voltage rated voltage rated frequency Note To start identification the hardware enables ENPO ISDSH must be switched and the DC link voltage must be present The identification may take a few minutes Calculation Calculation of control settings for PS motor Motor name Name plate data Rated voltage 330 v Rated current 476 A Rated speed 3000 rpm Rated frequency 250 Hz Rated torque 61 Nm OR QO Rated powel Info Inertia Motor inertia 0 00035 kg mm Total inertia 0 00035364 kg mm Info Motor impedances
179. ted with the power disconnected The current position complies with the zero point The zero position is calculated on basis of the absolute encoder position zero offset According to this homing with zero point offset 0 supplies the absolute position of the SSl encoder e g in operation of a SSI Multiturn Encoder Another homing run with unchanged setting of the zero offset does not cause a change In position Homing to block or zero balancing of the system is performed as follows 1 Enter zero offset 0 2 Homing Start homing delivers the absolute position of the encoder 3 Move drive to reference position machine zero 4 Then enter the zero offset the value by which the position is to be changed 5 Repeat homing Start homing 6 Save setting zero offset 7 At power on the system is automatically homed Manual homing is no longer necessary Typ 4 Not defined Typ 3 Not defined Typ 2 No homing is performed No homing is performed The current position is added to the zero offset The first time the power stage is switched on the Homing completed status is set This method is suitable for absolute encoders as long as no zero balancing is required For zero balancing please select type 5 01 2012 1003374 YukonDrive Harmonic Drive AG 111 Typ 1 Actual position 0 The actual position corresponds to the zero point it is set to O i e the closed loop control runs an actual position reset The zero
180. the Last orque torque on shutdown is recommended In this case Motor brake factor for applica the actual value parameter is applied with a factor 1 100 P0217 MPRO BRK LastTorqFact tion of last torque 0 off ote On the very first power up a StartTorque P 0218 must be set If the moving load always remains constant Mref is set by way of parameter P 0218 StartTorque Msoll lasttorque lasttorque factor starttorque rar When following the formula and setting the LastTorg factor Motor brake contstant initial P0218 MPRO BRK StartTorq 0 one only uses the StartTorque setting If StartTorque orque O is set the Last Torque is also used On the very first opera tion there is no LastTorque though In this case StartTorque is set 0 and LastTorque factor unequal to 0 and then the control is started The last torque applied is adopted This parameter is only a display parameter In it the last Motor brake torque samples at SR teme 4 any a aopayiparemeren n deed P0219 MPRO BRK LastTorq addni torque applied is entered on shutdown and the scale factor P ast closing time 3 0217 is applied to it as a percentage where necessary Only for testing By setting this parameter the brake can be P0220 MPRO BRK Lock Lock brake y popu DS applied during operation 136 Harmonic Drive AG YukonDrive 1003374 01 2012 6 3 Analog inputs 6 3 1 Analog channel ISAOx To be able to specify reference setpoints for
181. the control via the two analog inputs ISAO and ISAT the following function selectors must be set accordingly Setting of analog input ISAO 1 P 0109 P 0110 must each be set to REV 2 The functions usable in analog mode are indicated by a mark see I O configuration section P no Parameter name Settings Designation in DM 5 Function P0109 Function of analog input gt MPRO_INPUT_FS_ISA00 01 Function of the analog input P0110 15A00 01 The analog reference can be passed on to the REFV 2 Analog command control P0165 MPRO REF SEL Motion profile selection Reference selector 1 0 Via analog channel ISA01 Selection of the analog reference source ANA1 2 Depending on the parameterized control mode P 0300 CON_CfgCon a speed or a torque can be set as the refer ence Structure diagram P Mode e Control Wightil 0 ISA00 ighting p 0406 amp ISA01 P 0405 P 0301 c Z w ML P MM L I PG Mode ME e function select e Profilegenerator PON0 mE Polog e MCA TRamp P 0176 0 1 e OVR 3 k P 0186 0 1 I E Ne I i REFV 2 I i Control not defined 1 SRamp P 0177 0 1 1b o i P 0187 0 1 e OFFO 1 Analogchannel Mex ER MEME je dig Funk 1 26 p a ee a ES 1 ea ieee ees at ee l Filter Scale Offset HE l Poiss porz potai Index 0 1 Index 0 1 Index
182. threshold exceeded 1 Heat sink temperature 2 Motor temperature 3 nterior temperature 4 Reserved for SERCOS P0034 Overspeed 5 Overspeed 6 Reserved for SERCOS 7 Reserved for SERCOS 8 Reserved for SERCOS 9 Undervoltage 0 Reserved for SERCOS 1 Reserved for SERCOS 2 Reserved for SERCOS 3 Reserved for SERCOS 4 Reserved for SERCOS 5 Reserved for SERCOS 6 xt integrator device exceeded 7 Monitoring of apparent current 8 Overvoltage 9 Protection of braking chopper warning threshold exceeded 20 Overtorque 21 Reserve 22 Reserve 23 Reserve 24 Speed reference limitation active 25 Current reference limitation 26 Right limit switch active 27 Left limit switch active 28 External warning via input 29 Reserve 30 Reserve 31 Reserve 164 Harmonic Drive AG YukonDrive 1003374 01 2012 The ON and OFF options enable suitable on and off thresholds switching hysteresis to be defined for the following warnings P0730 Parameter name MON Meaning of Warning A Warnings Index Warning Level Level 0 UnderVoltage ON DC link undervoltage Undervoltage 1 UnderVoltage OFF DC link undervoltage D OverVColtage ON DC link overvoltage Undervoltage 3 OverVoltage OFF DC link overvoltage 4 Current ON Motor current Motor current 5 Current OFF Motor current 6 Device I2t ON Pt internal device protection xt device protection 7 Device I2t OFF Pt internal device protection 8 Motor 1
183. ting exponent AS method weighting Rotary Degrees 3 600 000 7 0 0001 Degrees Modulo weighting If Modulo indexing table application is selected the number range of the position data modulo value must be entered When the modulo value is exceeded the Position polarity position is reset to O The polarity of the position data preceding sign can be inverted according to the application A positive position reference indicates clockwise rotation looking at the motor shaft Figure 73 Position data weighting method 01 2012 1003374 YukonDrive Harmonic Drive AG 93 Weighting of speed data Schematic 2 Speed data Weighting of speed data off translational mode rotative mode Load Motor Load Motor Load Motor Preferentioal Preferentioal translational Faremdiar translational Parameter weighting weighting weighting weighting min min oder s min s min oder s Meter Meter LSB LSB variabel LSB iB LSB variabel 10 E 6 mimin 10 E4 min 106 6 S If no weighting is selected the weighting factor and weighting exponent are irrelevant Position resolution in translational mode LSB Unit Factor Exponent Preferential translational weighting Distance Unit Time Unit Weighting method Unit Weighting factor Weighting exponent Preferential we
184. tion The moment of inertia has the following effect on the control response m Itis taken into account when calculating the speed controller gain m In feedforward the moment of inertia is used to translate the acceleration into force torque or q current m With a parameterized observer it represents a model parameter and the calculati on of the observer gain is based on the adjusted value To determine the mass inertia the drive controller generates a pendulum movement of the connected motor complete with the mechanism and uses the ratio of acceleration torque to speed change to determine the mass inertia of the overall system 01 2012 1003374 YukonDrive Harmonic Drive AG 75 After the control has been started determination of the mass inertia is activated by setting the control word P 1517 SCD_AT_JsumCon to the value Start 2 The drive executes a short pendulum movement by accelerating several times with the parameterized torque P 1519 SCD_AT_SConHysTorq to the parameterized speed P 1518 SCD_AT_SConHys Speed If the torque and speed have not been parameterized setting zero the process uses default values determined on the basis of the rated speed and nominal torque The mass moment of inertia determined for the entire system is calculated after the end of the test signal and entered in parameter P 1516 SCD_Jsum Parameters P no Parameter name Settings Designation in DM 5 Function P1515 SCD ConDesign Speed and position control
185. tion 3 EncCH3Init_SSI_ Encoder channel 3 initialization Encoder ie 0x7307 0x20 EncObs 20c monitoring 4 EncCH3Init EnDat2 Encoder channel 3 initialization EnDat2 1 0x7307 0x20 oEnDat2 No EnDat2 1 encoder encoder may be SSI 0x7307 5 EncCH3Init Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 l Lines Plausibility check Lines from encoder 6 EncCH3Init Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 1_Multiturn Plausibility check Multiturn from encoder 7 EncCH3lnit Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 1 Singleturn Plausibility check Singleturn from encoder 8 EncCH3lnit Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 1_CrcPos CRC error position transfer 9 EncCH3Init_ Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 1_CrcData CRC error data transfer 10 EncCH3Init EnDat2 Encoder channel 3 initialization EnDat2 1 0x7307 0x20 WriteToProt An attempt was made to write to the protection cells in the encoder 11 EncCH3Init_ Encoder channel 3 initialization EnDat2 1 0x7307 0x20 EnDat2 1_SscTimeout Timeout on SSC transfer 12 EncCH3Init_EnDat2 1_ Encoder channel 3 initialization EnDat2 1 0x7307 0x20 StartbitTimeout Timeout no start bit from encoder 13 EncCH3Init_EnDat2 1_ Encoder channel 3 initialization EnDat2 1 0x7307 0x20 PosConvert Position data not consistent 14 EncCH3Init_SSI_Lines Encoder channel 3
186. tion Einstellungen P0360 CON PCON KP Position control gain Gain of position controller Speed feedforward filter time for P P0372 CON IP SFFTF ai Filter time for position controller feedforward position control P 0374 CON_IP_EpsDly Position delay time Delay time for position control feedforward P0375 CON IP SFFScale Speed feedforward scaling factor Speed control feedforward scaling factor Torque Force feedforward scaling P 0376 CON_IP_TFFScale fares Torque control feedforward scaling factor actor Acceleration feed forward filter P 0378 CON_IP_ACC_FFTF Hine Filter time for acceleration feedforward im i friction compensation scaling i ne A P0386 CON_SCON_TFric me Scaling factor for friction compensation actor P1516 SCD Jsum Total inertia of motor and plant Reduced mass inertia of motor and machinet 60 Harmonic Drive AG YukonDrive 1003374 01 2012 A Attention When using linear interpolation feedforward is inactive NOTE The overall mass moment of inertia in P 1516 must not be changed to optimize the feedforward because this would also have an effect on other controller settings AN Attention In multi axis applications requiring precise three dimensional axis coordination such as in the case of machine tools the delay of the position signal must be equally set on all axes via parameter P 0374 IP_EpsDly Otherwise the synchronization of the axes may suffer leading to three dimensional path
187. tion and inverts their phase in the case of very long line lengths The phase shift can be equalized with parameter P 0565 ENC_CH2_LineDelay A Attention Approvals have been issued for lines up to max 50 m Longer line lengths are only permitted following explicit approval by Harmonic Drive AG 3 3 Optional encoder module X8 channel 3 With the optional channel 3 it is possible to evaluate encoder types such as EnDat2 1 SinCos TTL and SSI NOTE When using the optional encoder interface channel 3 the speed feedback encoder should be connected to channel 1 and the position encoder to channel 3 3 4 Encoder gearing For channels 1 and 3 one gear ratio each can be set for the encoder m Adaptation of a load side encoder to the motor shaft m Inversion of the encoder information With encoder channel 2 it is assumed that the resolver is always mounted on the motor shaft The adjustment range is therefore limited to 1 or 1 i e the encoder signal can only be inverted 28 Harmonic Drive AG YukonDrive 1003374 01 2012 Parameters of encoder gearing P no Parameter name Settings Designation in DM5 Function P0510 ENC CHI Num Encoder Channel 1 Gear Nominator Denominator in channel 1 P0511 ENC CHI Denom Encoder Channel 1 Gear Denominator Nominator in channel 1 P0512 ENC CH2 Num Encoder Channel 2 Gear Nominator Denominator in channel 2 P0513 ENC CH2 Denom Encoder Channel 2 Gear Denominator Nominator in channel 2
188. tput voltage remains constant An asynchronous machine is thus automatically driven into field weakening as the frequency rises The linked voltages phase to phase voltages are specified under voltages The internal voltage reference space vector variable is thus CON VFC VNom usdref sqrt 2 3 x CON VFC VBoost x ref CON VFC FNom Parameters P no Parameters Function Description boost voltage at zero P0313 CON VFC VBoost Boost voltage at standstill frequency P0314 CON_VFC_FNom nominal frequency Rated frequency voltage at nominal P0315 CON VFC VNom Voltage at rated frequency frequency NOTE Default reference value via manual mode 4 10 Axis correction The actual position value delivered by the encoder system and the real actual position value on the axis may vary for a number of reasons Possible causes m Inaccuracy of the measuring system m Transfer inaccuracies in mechanical elements such as the gearing coupling feed screw m Thermal expansion of machine components Figure 60 Axis correction 01 2012 1003374 YukonDrive Harmonic Drive AG 81 Such non linear inaccuracies can be compensated by axis correction use of position and direction dependent correction values For this a correction value table is populated with values for each of the two directions The respective correction value is produced from the current axis position and the direction of movement by mean
189. ts Plausibility check Transfer Bits of transfer 40 EncCH1Init_Np_ Encoder channel 1 initialization NP Plausi s g I 0x7305 0x20 Nominallncrement bility check Lines and Nominal Increment 41 EncCh1Init_Endat21_ Encoder channel 1 initialization Endat21 0x7305 0x20 Common Interface gen Error x Encoder channel 1 initialization SSI 42 EncChlInit SSI Common 0x7305 0x20 Interface gen error 43 EncChIInit Sincos Encoder channel 1 initialization Sincos 0x7305 0x20 Common Interface gen error 01 2012 1003374 YukonDrive Harmonic Drive AG 159 Emergency Error P no Ais M Error code Error name Errorlocation Description of error code register DS P 0030 SERCOS DS 402 402 23 EncChannel2Init Encoder channel 2 initialization Res 1 EncCH2Init_Res_Lines Plausibility check Lines from PRam_ENC_ 0x7306 0x20 CHI Lines 2 EncCH2Init Res ABS Encoder channel 2 initialization Res Get 8 I 0x7306 0x20 quareSum_TimeOut ting AB SquareSum Timeout 3 EncCH2Init_Res_En Encoder channel 2 initialization Res MP 0x7306 0x20 cObs Encoder monitoring resolver 24 EncCH3lnit 1 EncCH3Init_Module Encoder channel 3 initialization No M 0x7307 0x20 IdentificationFailed module inserted or wrong module 2 EncCH3Init Com Encoder channel 3 initialization General I 0x7307 0x20 mon_EO_Error EO error encoder op
190. tual values P no Parameter name Setting Designation in DM 5 Function P0276 MPRO FG UsrActPos actual position in user units Current position in user units P0277 MPRO FG UsrRefPos reference position in user units Reference position in user units P0278 MPRO FG UsrCmdPos position command in user units Position command in user units P0279 MPRO FG UsrPosDiff tracking error in user units Tracking error in user units 176 Harmonic Drive AG YukonDrive 1003374 01 2012 P no Parameter name Setting Designation in DM 5 Function P 0280 MPRO_FG_UsrRefSpeed reference speed in user units Speed reference in user unit P0281 MPRO_FG_UsrActSpeed actual speed in user units Actual value in user units P 0282 MPRO FG UsrCmdSpeed speed command in user units Speed command in user units actual motor voltage rms phase to P0312 CON CCON VMot Actual motor voltage phase P0410 CON ACT VDC actual DC link voltage Actual DC link voltage P0412 CON PCON ActPosition actual position in increments Actual position value in increments P0413 CON PCON RefPosition reference position in increments Position reference in increments 1 actual position difference RefPosition Difference between actual and reference P0414 CON_PCON_PosDiff a ae ActPosition position P0415 CON SCALC ActSpeed actual speed Actual speed P0416 CON SCON RefSpeed reference speed Reference speed Difference between actual and reference P0417 CON SCON SDiff speed diffe
191. urrent motor The difference between factory setting and the characteristic configured above is shown in the following illustration I A v lt r s Su 1300 Werkseinstellung fn Sub Id 04 Figure 13 Characteristic of PSM f Hz fff f Hz gt 18 Harmonic Drive AG YukonDrive 1003374 01 2012 If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in parameter P 0701 0 Frequency Motor current f 0 Hz 133 33 96 von f 250 Hz 100 von f 250 Hz 100 96 If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in parameter P 0701 0 3 Encoder A range of encoder variants are available to measure the position and speed The encoder interfaces can be flexibly selected for a specific application Selection of encoder channels CH1 CH2 CH3 Up to three encoder channels can be evaluated at a time The evaluation is made via connectors X6 and X7 They are part of the controller s standard on board configuration A third channel X8 can be ordered as an optional encoder input The screen figure 15 is used to set the encoders for torque speed and the position Determining the encoder offset The Encoder offset Detect option accesses a wizard to define the current encoder offset For the definitio
192. uted by the Autocommutation function after initial enabling of the control when the mains voltage has been switched on for the first time It can also be forced during commissioning by changing a parameter which causes a complete controller initialization e g change of autocommutation parameters change of control mode etc Owing to the differing requirements arising from the applications various commutation methods are provided The selection is made via the selector P 0390 CON ICOM For synchronous machines with no absolute measuring system the two methods IENCC 1 and IECON 4 are recommended Use of the much more complex LHMESS 2 commutation method requires prior consultation with Harmonic Drive AC Selection of commutation method Parameter name s A P no P Designation in DM 5 Function Settings Selection of commutationfind A P0390 CON_ICOM 7 Selection of the commutation method ing method OFF 0 Function off off Autocommutation IENCC 1 with motion A method that is easy ENCC 1 Current injection to parameterize but which causes the rotor to move as much as half a revolution or half a pole pitch with p 1 2 Autocommutation LHMES 2 with braked machine HMESS 2 Saturation of inductance During autocommutation the machine must be blocked by a suit i evaluated able brake The occurring torques and forces may attain the rated torque and force of the machine ECSC 3 not implemented Not
193. when the power is cut and in case of error If the brake is mounted on the axle mechanism and not directly on the shaft undesirably severe torsional forces may occur on sudden engagement of the brake A Attention Please check the settings of the stop ramps if use of a holding brake is specified Motion profile section Stop ramps The brake response can be adapted to the requirements of the application as shown in the following illustration and using the parameters listed This function can be used in both speed as well as position controlled operation 134 Harmonic Drive AG YukonDrive 1003374 01 2012 NEN 4 uin epe nb10 91z0 d l i GEE Baw asoj oyeiq o viCOd i yipiearq l I 1 1 MJ eunesuenbio I i Sizod i l I I I i po I EJ i i 1 UK ymsu se ONNI 8b L0d 4 MM I TD I A UD Alj2e obe1sioMod i 8170 d Lie0 d 61c0d enbio14je3s 96001 X enbJo34se llOSy Age joun EN pu 6 1 juawubisse 9n eA 92U93J9J9J I I I I I I I I I i p sojp ayeiq i I l l l l l l l l l 1 9An e l l l l l l l a eg p so 5 se 1 9 e41q sjlejap ayesquojow Brake response Brake output RELOUT1 Figure 105 135 Harmonic Drive AG 1003374 YukonDrive 01 2012 Parameter name P no Designation in DM 5 Function Settings Output for use of a motor holding brake If no brak
194. written to parameters P 0473 MOT LmagTab P 0474 MOT_LmagldMax The operating point is recalculated 01 2012 1003374 YukonDrive Harmonic Drive AG 13 2 5 Motor protection Temperature monitor setting The device can evaluate different temperature sensors With P 0732 the sensor fitted in the motor and the wiring variant are set sensor cable routed in resolver or separate In an evaluation via KTY the shutoff threshold of the motor temperature can additionally be set Temperature monitoring OFF 0 No motor temperature sensor v Maximum temperature Tr only KT Y84 uii deg C Temperature monitoring connected via XB Motor temperatur connector X5 v Ft monitoring Permitted continuous current Rated motor current IN 100 Rated motor frequency fN 50 Hz 1 current interpol point I0 30 2 current interpol point I1 80 2 frequency interpol point F1 250 Hz F1 f flHz Figure 8 Temperature monitor setting Parameters for temperature monitor setting m P 0732 0 selects the matching motor temperature sensor selects the matching wiring variant m P 0731 0 If thermal protection is implemented by way of a KTY the trigger temperature is set via this parameter m PO734 0 is the actual value parameter for the momentary motor temperature The readout is only active when a KTY is used When using a PTC PTC1 or TSS monitoring is active
195. y error block power stage p 3 y P pn g Block power stage reset only by switching the 24 8 WaitERSAndReset and reset only via switching off on control voltage 24 V 8 1 2 Error details Alarm amp warning details V control voltage off and back on P no Error name Error A Emergency code Error register 5 Description of error Error code SERCOS P 0030 location DS 402 DS 402 0 0 no error No error OxFFOO 0x 000 1 1 RunTimeError Runtime error 0x6010 0x1 2 RunTimeError_ Internal error in device x E 0x6010 Ox DynamicModules initialization 3 RunTimeEr is th a e Error in flash initialization 0x6010 Ox ror Flashmemory 4 RunTimeError PLC PLC runtime error 0x6010 Ox 2 ParaList 1 Parameterlnit Error in parameter initialization 0x6320 Ox 2 Parameter Basic parameter initialization A 0x6320 Ox VirginInit factory setting 152 Harmonic Drive AG YukonDrive 1003374 01 2012 Emergency P no Error name Error SOS Error register Error code Description of error code P 0030 location DS 402 SERCOS DS 402 3 ParameterSave Parameter data backup 0x5530 Ox 4 ParameterAdd Registration of a parameter 0x6320 Ox 5 ParameterCheck Check of current parameter list values 0x5530 Ox 6 ParameterLis Management of parameter list 0x6320 Ox tAdmin Non resetable errors from PowerStage EEPROM 7 Paralist PST 0x5400 Ox data error A Error in power stage initialization
196. y of the control By writing a percentage value the rigidity and thus also the phase reserve of the speed control loop is influenced Based on the rigidity set via P 1515 the mass moment of inertia and the filter time constant for the speed feedback P 0351 the PI speed controller P 0320 P 0321 and the P position controller P 0360 are set At the same time the observer for a single mass system is parameterized but not yet activated Speed feedback still takes place via the delaying digital filter 4 2 1 Detent torque compensation Anti cogging In order to compensate for detent torques caused by non sinusoidal EM curves the torque forming q current is entered in a table and taughtin for one pole pitch division After elimination of the offsets compensated table the q current is inverted and fed in as the feedforward value of the control see figure 4 6 m The compensation function can be described by means of compensating currents q current scope signal isqref dependent on a position electrical angle scope signal epsrs A teach in run imports the values into a table with 250 interpolation points Parameter P 0382 CON TCoggComp activates the function ON OFF 38 Harmonic Drive AG YukonDrive 1003374 01 2012 anti cogging P 0380 P 0383 Compensation current Tab Teach Tab o 0 ose 9 b Teaching ON OFF Compensation ON OFF P 0382 P 0385 isqref Position isqref nreg O Current Controlle
197. y to limit some variables The different limitations are described in the following They take effect independently of other limitations within the motion profile In addition the servocontroller offers the possibility to set the limits for positive and negative values asymmetrically and or to change the limits online The limits are specified as percentages of the rated quantities current torque speed so that following calculation logical default settings are available The default settings refer to 100 of the rated values and the parameters must thus be adapted to application and motor 71 Torque limitation torque force limits With parameter PO329 CON_SCON_TMax the maximum torque becomes limited The limitation in default settings is equal to the nominal torque of the motor The setting range is 0 1000 This parameter can not be changed online With parameter P0332 CON_SCon_TMaxScale it is possible to scale the torque limit as given in P 0329 online In addition it is possible to change the limitations online via parameter P 0330 CON_SCon_TMaxNeg and P 0331 CON_SCon_TMaxPos depending on the turning direction 01 2012 1003374 YukonDrive Harmonic DriveAG 143 xew y joJuoo Id Jo u02 peeds Joe u L njea JEWIUIW JSOW o uonoeuqng uns T uoneiur m uoneoidniniw pu B 1 xeWL NOOS NOO x x 4 a a O lt
198. ymbol C in figure 90 Type 9 changes the direction of movement if the reference cam is inactive The zero corresponds to the first zero pulse after the rising edge With type 10 the first zero pulse after a falling edge of the reference cam is the zero point The initial movement is in direction of the positive right hardware limit switch It and the reference cam are inactive As soon as the positive limit switch becomes active the direction of movement is reversed see symbol D in figure 90 With type 7 the first zero pulse after overrunning the reference cam corresponds to the zero Type 8 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 9 the zero corresponds to the first zero pulse with an active reference cam Type 10 changes the direction of motion after the active reference cam The zero corresponds to the first zero pulse after a falling edge 01 2012 1003374 YukonDrive Harmonic DriveAG 115 Figure 90 Type 7 to 10 Reference cam zero pulse and positive limit switch Typ 11 bis 14 Reference cam zero pulse and negative limit switch The initial movement is in direction of the negative left hardware limit switch It and the reference cam are inactive see symbol A in figure 91 Type 11 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse after a falling edge

Application Manual - Harmonic Drive AG

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