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User Manual - Sanpa Endüstriyel Otomasyon

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1. rum 9 3 9pJ8A SUOUBUI SOX i ga e ONS VI spio y oouelq SOX rone osues qni nia F0 10suos AQ S 0X Z oau a 2 niq ad 0 Old T ii c um 91d OUOJJEUJ s 6S0J 1 MN Y IEH oibus M cmm 9 IeH ope Gh o g IEH MA l mm pieius v 0J9u olei omm v OJ8U p1 A E jum a OJGU OSSOJ ER c MN 8 oJ8u nig x NCAT S UOJIBUUODI9 U JO OSUU0D jeubis JOJON Page 35 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 11 SinCos one sinwave per pole pitch I unm L J f E uy i po JJ PREE EE S3 7z Sle Za 83 532855828 2228 2 S oe 3 c of B9 o D g OE c 2 co ooo dis 0 3 n l o L E c f co wm a Page 36 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 12 Frequecy input output connection The drive has the possibility to read two inputs in frequency The first input is on the X2 connector Encoder IN The input can receive signals in quadrature and frequency sign b42 5 from an incremental encoder as from standard LineDrive RS422 Follow the outline of connection for the reference of frequency whether from an
2. ANL m ANL Y ANL j NS bod d REEL ENS EE 1 ol ANH NI j i ANH Li ANH m ET L TEE bu dg 2 i ODE ODE LAST NODE See par Digital Lock Positioner about the programming 5 13 Serial line connection The serial line of the SLVD N can be configured as either RS 422 or as RS 485 depending on how the connection is made Realize the ending only on the last node like shown in the following For the pin see Signal connectors layout ASTER L PA 12 TY A i 2 TX PA A LE 1 PA PA t ld iT EN aed E P la wd D ee E DR Gan 4 1 RX t4 qi 1 Rx 5 MEE d o d E Eo des Bi is vires T jete 134 bd m m t r b j TX EE BEEN riu d R ME h 2 PY kx a EE deg l tog b a utl j 6 TER DE 1 NODE n LAST NODE ASTER t f i Y A T lt AH T oU N T i ht LO jo ave x1 po QS N i WS i IN i i Ho Sn L xf S44 n IN bout i Ean ey fal NC oo x1 b 2X 3 X e D lt i iS i NH rho qe ug ls s bo de We del kd E j i Vo d Pak VU VJ B V VJ dd V V I l i in ODE ODE LAST NODE Page 39 of 193 Parker Hann
3. SLVDN User s Manual Change of the value slave axis module in phase Pr185 184 I Speed Acceleration Pr108 l I Pri09 RARE l NNNNNNN l l l l l b181 12 l gt l 7 SY Pr119 118 Target position Pr169 168 Na rs M M NN oe n Select CAMI table inen dE AA cp C A 7 No source TEN As Pr135 134 gt 0 4 i b180 4 l A position rr oars Se Se SSS aS aS Pr169 168 5 gt Master position Bao Save kis offset l l b180 1 module Prit7 116 eclesial P 0 HA TAB gt Pri15 114 aster axis CAM data b150 3 Nastor posite A Master module position Pr171 170 b180 5 s 4Pr121 120L Pr111 110 gt Pri13 112 l b 5 1814 Ll Pe b150 6 J l b180 2 mc i Salle es Ce me zv ar y PA A H TaB 4 Pr173 172 b180 6 A l s 51812 l Speed mode b180 3 l Me et ee ea T I PO nones peg l Pr175 174 Master reference l r b180 7 eo E i Pr100 Pr101 l gt Ramp time for D AA AI a a en te E l Speed Pr100 1 Pr123 122 Master axis Engage disengage phase cam phase b150 12 Master quota and master rephasing Set Pr102 Positive edge bi 50 14 detector Pr127 126 Immediate electronic cam Dina A E Engage master axis engaging i
4. Parker Hannifin S p A S B C Division Page 21 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 4 2 Fastening Fit in a vertical position The SLVDIN SLVD2N SLVD5N SLVD7N converter must be mounted using an omega guide Omega guide 82 ATA AA I ows i IH L g U 78 W As 56 5 Apo 5 25 5 5 5 5 Ml Page 22 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 4 3 Mounting instructions A space of at least 100 mm must be left free above and beneath the converter Ir o o m o vog The converter must be mounted vertically power block X6 above Page 23 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 ELECTRICAL CONNECTIONS 5 1 Signal connectors layout AREE Terminal block 7 poles 5 08 step X6 Power amp q ced ced ced ced
5. Pr3 m 3 encoder OUT Virtual speed encoder p Enable virtual axis Address encoder CAN our Motor position n s Pr27 e b40 1 X1 Enable reference ge o gt encoder CAN by b42 0 b70 8 CAN pointer Enable message Pr48 Virtual speed encoder encoder CAN out Pr3 PETS b70 10 CAN baudrate CAN setpoint Pr158 v Input encoder cay TUltiplicative factor Pointer encoder CAN p counter Pr154 b70 8 xi Pr157 156 lt e CAN Pr155 Pr202 CAN setpoint Address encoder divisor CAN read Page 116 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 10 PROGRAMMING DIGITAL INPUTS AND OUTPUTS 10 1 The pico PLC The internal pico PLC is used to connect the external world inputs outputs with the world of the parameters of the SLVD N The PLC can be used to copy digital input to a binary parameter to copy a binary parameter to a digital output and to execute mathematical and Boolean operations The PLC program must be inserted as a list of instructions by using the keyboard or by the serial line using a PC and an interface program A PLC program see Appendix F written to meet the needs of a large number of applications corresponds to the default parameters b99 12 In most cases it is not necessary to program the PLC itself The main features of the pico PLC are
6. MSTB2 5 7 ST 5 08 Phoenix model 9 29 ll le 9 bed oad Page 24 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Terminal block 8 poles 7 62 step X6 Power 7 PC4HV 8 ST 7 62 Phoenix model Page 25 of 193 Parker Hannifin S p A S B C Division D Sub 15 male poles HD X1 Serial Termination 422 CANIH D Sub 15 female poles HD X3 Feedback ECCH PTC 16 CLK SLVDN User s Manual D Sub 15 female poles HD X2 encoder I O Enc IN C Enc IN C 3 Enc OUT C 6 OVA 7 Enc IN A 8 Enc INB y 9 Enc OUT A 10 Enc OUT B 11 IN2 12 Enc IN A 13 Enc IN B 14 Enc OUT A 15 Enc OUT B Terminal block 15 poles 3 5mm step X4 Phoenix MCVWI 5 15 ST 3 5 6 RE 10 8 SINE S BMN
7. Page 74 of 193 Parker Hannifin S p A S B C Division b42 2 A Current limit Leftlimit 40 4 Analogue reference offset Rightlimit 40 5 B Pri Analogue oc stop 40 6 ier Pras Reference offset Main reference ER v Pri Pr7 Accel and dece Full scale ref 1 ramp Stop Analog input Pro control gt Pr b40 0 Lhe NC i e AD pM ad Reference hold L P 8 EE gt P3 gt Pr16 dampening Frequency Full scale ref 2 n 2 40 3 p acc dec EN p input Frequency reference m gt p gt 0 AE Pr 9 540 13 eH Pr11 Mi Peak current Pr5 gt Stop ramp Pr19 Internal reference Pr6 Pro Reserved reference Pr12 Motor speed lt A gt Pt active o Motor Pr33 p Bd Speed window E 3 Nominal current lt gt gt b40 7 b40 8 max Pr22 No Analogue auxiliary input torque Oat High speed limit lt j4 Pri4 In speed al gt je Loww speed limit SLVDN User s Manual Main analogue input Band limiter Pr18 IN xx Pr35 Torque monitor y Default param
8. C Cr m cnl Master quota and master rephasing Single shot b180 13 b181 15 SLVDN User s Manual Slave axis module y Multiplicative factor Reference module position Pr101 100 Pr115 114 Positioning SS SAS l Speed Acceleration Pr108 gt Pr109 l l l Target position Master position Pr119 118 qud peni mue e Mug Us RA XUE TUA aE SEE UR TA ETE 1 l Master axe eR my SEI NS 7 I See et Boe see ea eee position offset l H TABO Fritz Master axe Master axe l b180 4 b150 3 7 i l Pr169 168 5 A ly rr a O T Master position 1 module position Al o el CAM1 Slave position Pr121 120 Pr111 110 Pr113 112 b180 1 from cam T MES ll ISI A A II UNE XE al i ed H TABi l Pr135 134 I iue Cam data Pr171 170 l gt gt b181 1 gt t Pr115 114 b180 2 gt a Slave axe b180 9 l p TAB2 Tey i i module l Pr173 172 P180 6 CER a Master reference 6150 12 b181 2 b180 3 Pr127
9. 9 CLK 9 OVA 10 PTC 10 IN3 11 COS 11 N2 12 COS 12 INI 13 DATA 13 INO 14 DATA 14 OUTI 15 ECC 15 OUTO Terminal block 4 poles D Sub 9 female poles X7 X5 1 IDC 2 DC Connector for 3 BRC 4 IIN optional cards SLVDIN SLVD2N SLV5N SLVD7N MSTB 2 5 4 ST 5 08 Phoenix model SLVDION SLVD15N SLVD17N PC4 4 ST 7 62 Phoenix model O CO VJ Qi BY Go RO Page 26 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 2 Sections and cable specifications Power cable specifications Maximum length 35m mobile or fixed installation depending on the applications max conductor capacity 150pF m use only stranded copper wire rated for 60 75 C Use only appropriate crimping tools to fix terminal lugs The cable used for the analogue reference must be a shielded twisted pair The cable used to connect the signals of the simulated encoder must consist of three twisted pairs with a general shield Shielded cables are also recommended for digital inputs and outputs All cables must have a minimum section of 0 22 mm Sections and tightening torques SLVDIN Models SLVD2N SLVD7N SLVDION E a SEVDSN Terminal block X6 and X7 1 5 mm 2mm 2 5 mm 4 mm AWGI4 AWGIA AWG12 AWG10 Tightening torque 0 5 0 6 Nm M3 Terminal block X4 0 22 1 mm
10. ENTRY DESCRIPTION Sub Index 0 Description number of entries Entry Category Mandatory Access ro PDO Mapping No Value Range 2 Default Value 2 Sub Index 1 Description Speed during search for switch e Mandatory Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value 0 Sub Index 2 Description Speed during search for zero Entry com Mandatory Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value 0 12 3 7 4 Object 609A Homing acceleration The homing acceleration establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes and is given in acceleration units OBJECT DESCRIPTION INDEX 609Ah Name Homing acceleration Object Code VAR Data Type UNSIGNED32 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No Page 167 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 8 Functional description By choosing a method of homing by writing a value to homing method will clearly establish the homing signal positive limit switch negative limit switch home switch the direction of actuation and where appropriate he position of the index pulse The home position and the zero position are offset by the home offset see the definition of home offs
11. program steps 256 scanning time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits fast inputs 2 512 us PLC PARAMETERS Par Description Field Range Def Res Pr71 Constant value 1 Double word R W 32768 432767 1 1 Pr72 Constant value 0 Double word R W 32768 32767 0 1 Pr73 Constant value 1 Double word R W 32768 32767 1 1 Pr74 Constant value 2 Double word R W 32768 432767 2 1 Pr75 Constant value 10 Double word R W 32768 432767 10 1 Pr76 Constant value 100 Double word R W 32768 32767 100 1 Pr77 Constant value 1000 Double word R W 32768 32767 1000 1 Pr78 Constant value 1024 Double word R W 32768 32767 1024 1 Pr79 Constant value 4096 Double word R W 32768 32767 4096 1 Pr80 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr81 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr82 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr83 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr84 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr85 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Pr86 Free parameter A p
12. Depending on the different algorithms of interpolation there is a different delay between the moment the target position is received on the PDO and validated by the sync and the moment when the target position is active in the trajectory setpoint of the motor In case of cycle time less than 2500 usec the position loop trajectory setpoint is immediately upgraded with the last received position setpoint as soon as the sync signal is received In case of cycle time longer than 2500 usec both with linear interpolation and cubic interpolation with position and velocity the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the cycle time started with the sync signal that validated the target position so with a cycle time delay As last in case of cycle time longer than 2500 usec and cubic interpolation with position reference only the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the next cycle time started with the sync signal that validated the target position so with two cycle time delay Index Object Name Type Attr id oCoh vam MerPolation sub mode NTEGERI6 rw O 60ClIh ARRAY Interpolation data record INTEGER32 rw O Index a ee Name Type Chapter 6040h VAR Controlword UNSIGNEDI6 dc 6041h VAR Statusword UNSIGNEDI6 dc 605Ah VAR Quick
13. Function y senx Triangular profile of speed Tabl Engage ramp Prl02 10 i Tab2 Disengage ramp Pr102 11 Tab3 Function y x senx Triangular profile of speed Pr102 13 CAM2 Adaptation module of CAMI through Pr176 177 and Pr178 179 Pr102 14 CAMI Adaptation module of CAMI through Pr176 177 and Pr178 179 After selecting the function by Pr182 the parameter is automatically set to zero The four tables are the same in both CAM generators the same table with the same function can be selected in both generators As a default drive configuration TABO is active in CAMI and TAB3 is active in CAM2 In order to change the default setting there are some immediate commands active for both CAM generators or for CAMI only of the enable commands on programmable master phase see the OPMII block diagram The qualifications given from the parameters b181 9 b181 10 and b181 11 determine the algebraic sum of the references generated into the counter reference Pr131 130 This counter beyond visualizing the sum given from the references can be employed in order to supply to Encoder CAN marks them whose increments are generate to you from a single generator without to influence on the reference of position of the axis being generated therefore a commanded virtual axis through the qualified reference When the selected table is changed the two gene
14. AWGI6 Tightening torque 0 22 0 25 Nm M2 Resolver cable The cable must consist of three individually shielded and insulated twisted pairs protected by a shield The conductor conductor capacity for the length used cannot exceed 10 nF and the section cannot be less than 0 22 mm The maximum length is 35 m Connect of an EMI filter if any In case of direct connection to mains the converter filter connection cable length should not be over 30cm In case of auto transformer the EMC filter can be connected upstream or downstream from the auto transformer If it is connected upstream it may be necessary to use a shielded cable between the auto transformer and the SLVD N Page 27 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 3 Protections The converter don t have protection against overload and short circuit towards the mains The user must install the appropriate protection The fuses ta the drive power network must be sized as follows Models Delayed fuses Fuses to Ul standard to European standard Listed JDDZ SLVDIN SLVD2N 6A Classes CC 6A SLVD5N 10A Classes CC 8A SLVD7N 14A Classes CC 10A SLVDION 16A Classes CC 15A SLVDISN 20A Classes CC 20A SLVDI7N 25A Classes CC 25A A thermo magnetic switch properly chosen depending on the power cables used can be used instead of fuses not use in installations with UL standard Use a 3 15A fast fuse for
15. Open tab it is possible to search previously stored files selecting the relevant route The MotionWiz program can be found on the CD rom supplied with the drive or downloaded from our website www sbcelettronica com Page 123 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 11 SERIAL INTERFACE The serial communication of the converter is half duplex master slave using an asynchronous RS 485 RS 422 line The converters take control of the line only if interrogated by the master The same serial line can be connected to up to 32 converters by setting a different serial address in each to the Pr27 parameter It is also possible to set the transmission speed by using the Pr26 parameter as specified in the table below Pr26 decimal base b s time out ms 0 600 512 1 1200 256 2 2400 128 3 4800 64 5 9600 32 6 19200 16 7 38400 12 8 57600 8 For the connection diagrams see the section Connecting the serial line 11 1 Communication protocol The column on the right in the table above shows the time out value expressed in milliseconds for each communication speed This is the time within which the message must be sent beginning from the start of each message STX If a message is interrupted after this time the converter ignores what has been received and waits for the beginning of a new message The message consists of several consecutive bits The forma
16. 235 32761 reserved Page 159 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 2 5 Object 605A Quick stop option code The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX 605Ah Name Quick stop option code Object Code VAR Data Type INTEGERI6 Category Optional Access rw PDO Mapping No Value Range INTEGERI6 Default Value 2 DATA DESCRIPTION Value Description disable drive function slow down on slow down ramp slow down on quick stop ramp slow down on slow down ramp and stay in QUICK STOP slow down on quick stop ramp and stay in QUICK STOP N O Dun 12 3 2 6 Object 605Ex Fault reaction option code The parameter Fault reaction option code determines what action should be taken if a fault occurs OBJECT DESCRIPTION INDEX 605E Fault code VAR INTEGER16 Optional reaction option Name Object Code Data Type Category ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INTEGER 16 Default Value 2 Page 160 of 193 Parker Hannifin S p A S B C Division DATA DESCRIPTION Value Description ny manufacturer Specific 0 disable drive motor is free to rotate 1
17. 5 7 0 4 Number of significant bytes in the data field Acyclic response to a parameter request message from drive to master PDO 2 Data reply Data length 8 bytes Pr27 16 address 32 bit reply data Identifier Dof f Piom s ID7 ID6 IDS ID4 ID3 A2 jar Ao x x x x x jo j jo i Jas as as jas A0 A6 Drive address Pr49 valid values 1 127 PDO3 tx object This is used to generate a message with the data required to implement a reserved function PDO4 tx rx object In this case a parameter exchange function is implemented with the movement related to the logic functions managed by pico PLC In fact for each transmission of PDO4 rx from the master to the drive node the bytes contained in the message are interpreted as follows Parameter Pr80 83 write message from master to drive PDO 4 rx Data receive Data length 8 bytes Field Name 16 bit value 16 bit value 16 bit value 16 bit value Identifier A0 A6 Slave drive address Pr49 valid values 1 127 Page 145 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual The bytes of the message are written to the corresponding parameters only if the function described is enabled by setting bit b99 5 to 1 and is done immediately prior to the next pico PLC scan cycle every 6 144 msec from the reception of the PDO4 rx message In much the same way as described above the parameters Pr84 87 are sent through P
18. C 113 F If necessary use an appropriate air conditioning e The size and temperature rating of wires and cables used for connecting the drive must be in compliance with the specification given in the instruction manual see NEC 310 16 for USA Use also the specified tightening torque e Make sure about the correct drive motor matching voltage and current ratings must be compatible Page 11 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual e The user is responsible for over current and short circuit protection of the drive Read carefully the specification given in the user manual 2 5 Safety instructions for operation DANGER High voltage Risk of electric shock Danger of life e All live parts must be protected against direct contact The drive must be closed inside a cabinet before switching it on e Working on power live parts terminals must be conducted with the drive switched off Dangerous voltages may be present at power terminals even after the supply has been switched off and the motor stopped Make sure the equipment cannot switched on unintentionally Wait at least 6 minutes before working on live parts after the unit has been switched off e The drive and the motor must be permanently connected to earth accordingly to the connection diagram even for brief measurements or tests A DANGER High leakage current Risk of electric shock Danger of life e Earth leakage current during o
19. Field Name Command 0 Command 1 Command 2 Command 3 Contents Identifier ID2 IDO IDIO ID9 ws ID7 ID6 ID5 ID4 1D3 ARE ARA ESA A A Each drive receives and executes the speed reference and saves the actual motor position if b150 2 1 the drive answers with a cyclic reply This message is for several drives The following table shows to which drive the Command Pr102 first 8 bit is sent to bi YE dP CC La ves mw 8 T L Live OS Lives L8 L Dive O ES SI bier L L L5 Liv OSS Dives s O S Les Y amp O Lm w O Lea w O S Lowe L8 XL owa o L8 ML ws LL s Each command is made up of 8 bit Pr102 and it is sent to several drives Each command value is set by the user through the pico PLC of each drive Page 132 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Acyclic data write message or parameter request from the master to the SLVD N Acyclic data write or request Data length 7 byte Field Name Cmd amp Len Data Address Data 5 bit command and 3 bit length 32 bit data Identifier m wo IDIO ID9 ID8 ID7 ID6 ws 1D4 1D3 AEREAS ei o Eo ee AS A0 A3 SLVD N slave address Pr27 1 valid values 1 15 Cmd amp Len Sub field Value Meaning Cmd 0 4
20. How gioll Ex SIN 6 I je S N EMEN E bit ECC lack 5 n Page 32 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 8 Encoder connection EC Page 33 of 193 SLVDN User s Manual Parker Hannifin S p A S B C Division 5 9 Encoder EnDat connection N 9P9A QUOC S 0X k y onl j0sues dn n TORT e QNS V pJoA OOURIG S0X is G E 0sues AQ oU OXI Y 0J9Uu nid 0 73 Old aplan ae S uN Old Suone e 9 y ER ES0J L el rerep zbi y 6 E yoop oye o 6 9 H pop Sor zs 5d ms pieius i m 1 uN v 0J9U ojjelb i 91 3 E OJ9U epJoA El 8 0JOU OSSOJ El 7 MM 9 0J9U Iq oh uoJioeuuooJeju Jojoeuuoo JeUuBIS JOON As far as the cable is concerned you may use a Heidenhain cable or one with the same features The cable must not be longer than 20 metres Page 34 of 193 SLVDN User s Manual Parker Hannifin S p A S B C Division Incremental encoder with Hall sensor 5 10
21. POS CAMI e CAM2 P185 184 CAM2 axis module z Page 104 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Decimal parameters Par Description Field Def b150 2 Position loop If 1 the position loop is absolute value otherwise is W 0 in slave module b150 3 Command phase shift master If 1 positioner module comes used W 0 in order to modify the phase between master and slave or like generator of virtual axis When the final position Pr118 119 is equal to Pr116 117 this bit reset automatically Not use this command and Pr102 1 at the same time b150 6 Enable encoder input X3 If 1 enable the read of master W 1 encoder b150 8 Enable master axis phase If 1 enable the copy of the parameter W 0 Pr123 122 on Pr113 112 at the first edge of input 0 or at zero encoder b150 10 Type 1 reset Reset command for motor positions and reference zz b150 11 Electronic cam engage with linear ramp Engage command for cam mode when the master arrives to Pr127 126 value with a linear ramp defined in Pr133 132 and Pr137 136 b150 12 In phase electronic cam engage Engage command for cam mode W 0 when the master arrives to Prl27 126 value terminated the command the bit reset automatically b150 13 In phase electronic cam disengages Disengage command for cam W 0 mode when the master arrives to Pr129 128 value terminated the comma
22. Page 102 of 193 Parker Hannifin S p A S B C Division Decimal parameters SLVDN User s Manual Par Description Field Range Def Res Pr101 100 Reference module position addition as module W 27 0 1 of POS CAM1 CAM2 Pr102 Function selector The value indicates one W 0 14 0 1 predetermined function see the predetermined function table Once that the command has been given the table comes generated with the selected function It is an autoreset parameter Pr103 Pointer to the cam table Through Pr103 it is W 0 254 1 possible to approach the table cam Pr104 will 1756 contain the value of the Pr103 element of the table Pr104 Table element value Pr 104 is the value of R 0 0 1 Pr103 element of the table 10000 Pr105 Value virtual table b181 8 Value in degree to W 1 engage disengage axis Pr106 Feed forward scale W 1 Pr108 Regime speed positioner Is the regime speed W 0 1000 1 used during the generation of the position profile 9000 rpm Pr109 Speed up time positioner Acceleration ramp W 0 002 0 500 1 used during the generation of the position profile 30000 ms s krpm Pr111 110 Master axis module Module axis master W 0 218 10000 1 Pr113 112 Master axis position Master axis position R 1 Pr115 114 Slave axis module Module axis slave W 0 218 10000 1 Pr117 116 Master axis position offset W 07223 0 1 Pr119 118
23. When used in the first environment residential commercial environment drives may produce radio frequency interference dangerous for other equipments additional filtering measures must be implemented by the user 2 9 Materials and disposal zinc coated steel sheet thickness 1mm and 2mm extruded aluminium AlSi ABS Novodur thickness 2mm minimum adhesive polycarbonate label Electrolytic capacitor contain electrolyte and printed circuit boards contain lead both of which are classified as hazardous waste and must be removed and handled according to local regulations E The S B C division of the Parker Hannifin Company together with local distributors and in accordance with EU standard 2002 96 EC undertakes to withdraw and dispose of its products fully respecting environmental considerations Page 14 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 2 10 Warranty The warranty duration if 1 one year The converter must not be opened accessed or modified in any of its part Any attempt to do so would cause the 1 year warranty to be cancelled with immediate effect Parker Hannifin declines any responsibility for damages that may be caused by inappropriate use of the converter 3 Main hardware features 3 1 Ambient conditions operation 3K3 Class 0 45 C 32 113 F temperature storage 1K4 Class 25 55 C 4 131 F tra
24. default status the pico PLC in the converter runs the program described in Appendix and the following functions will be set at the input output connectors X4 inputs Converter on 24V on Stop Start 24V Stop X4 outputs DriveOK 24V ok Motor Overloaded it Page 54 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 8 9 Speed control adjustment SOME IMPORTANT CONCEPTS SPEED LOOP The main task of a converter is to control motor speed so that it follows as faithfully as possible the speed request that is generally known as the REFERENCE Faithfully following the reference means that the motor speed should equal the reference in static conditions and also that the motor speed is as equal as possible to the speed requested during dynamic conditions To carry out this task the converter must know some of the features of the motor used and the mechanical part attached to it This information is communicated to the converter by using the so called ADJUSTMENT PARAMETERS ERROR The error is the difference between the reference speed and the motor speed The size of the error is used by the speed loop in order to evaluate how much current must be supplied to the motor based on the adjustment parameters TORQUE The current that circulates in the windings of the motor is transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the
25. mo IDIO ID9 tbs ID7 me ID5 ID4 ID3 A2 Al AO X X X X X 1 0 0 0 0 1 0 A3 A0 A3 SLVD N slave address Pr27 1 valid values 1 15 Note 1 as for the real time mode bit 41 9 is set to 1 every synchronism message receiving via SBCCAN Therefore it is possible to check the communication status between Master and Slave via CANbus through a simple pico PLC program The pico PLC code on the drive be as follows Ld 41 9 Out 41 5 Rst 41 9 If the check of the communication status between Master and Slave via CANbus is implemented into the drive pico PLC the test is executed every 6 144 ms i e minimum execution time of pico PLC program or multiples Page 140 of 193 Parker Hannifin S p A S B C Division 12 2 CANopen C version Note the C version is compatible with sLVD drive The CANbus node must be set through Pr49 with values from 1 to 127 SLVDN User s Manual Transmission speed depends on Pr31 Pr48 e b150 4 as the following table 0 15Skbps Mbps 0 0 125kbps 50kps 1 10 kbps All changes in speed address or function mode are activated using the b42 3 command or when the converter is powered on again The following objects are available based on CANopen s Pre defined Connection Set Objects Function code COB Ids Index NMT object 0000 0x00 EMERGENCY objec 0001 0x8 1 Oxff 0x1014 SDO tx objec
26. position With a multiturn encoder initialize the absolute position read at power up in Pr62 63 by following the procedure below bring the axis on the desired mechanical position Select the OPM 13 Pr31 13 set bit b40 2 1 disable drive hardware when b41 5 0 set the desired position in Pr64 65 enter command b94 14 1 Switch off and on again When the unit is powered on Pr62 63 shows the desired position on the absolute multiturn Such absolute position has a range of 2 IMPORTANT after set one of the above mentioned command b94 14 and b99 9 with drive disabled the flag b41 6 encoder ok set to 0 the drive needs to restart for to permit new enable of the axe The procedure of encoder phasing is not necessary with Parker Hannifin Divisione S B C s motor but when the system requires the phasing the procedure of the phasing is the same for incremental encoder see paragraph encoder phasing and it must finalized as follows If the Endat interface single turn or multiturn after the phasing is possible to save this information so at every start up the phasing procedure isn t necessary for take it to bring the motor shaft in the position that Pr28 0 disable the drive and save with command b99 9 1 After this command is necessary start again the drive Alternative to this procedure when Endat interface disconnect and disable the drive is available to supply a positive tension between phase B and C r
27. 126 Engage phase l m mB8 P Pr123 122 Pr175 174 bi o7 S l gt Master axe j bres m phase l i t L Pr129 128 Disengage phase CAM1 selection NET A A e oea icio A A A E ee ee hod asp m V ze ea z Positive edge Position value detector TABS Pr187 186 b150 8 r A gt CAM2 TAB2 Cam data ame ar i i Pr185 184 Y Master axe phase TABI Modulo asse Master axe position r caught I slave Pr113 112 gt gt jJ Pr125 124 TABO Positive edge I l Disengage 0180 101 31 detector b70 14 l Master quota caught l i Engage 180 11 4 gt 1 gt l Page 107 of 193 of reference Regulation reference position b181 13 p rez a M d P Pr61 60 b181 14 Pr183 Divisor factorof reference b181 11 Auxiliary b181 9 incremental counter b181 10 i Lo gt Pr131 130 Parker Hannifin S p A S B C Division 9 8 Position control through operating mode 15 the SLVDN User s Manual CANbus If operating mode 15 is enabled the SLVD N will execute a position loop of a proportional type with feed forward In this case the generator of profiles is considered external and must send the information about the position and speed reference via CANbus in accordance with the SBCCAN protocol see the section on the CANbus If b70 1 0 feedback is provided by the resolver If b70 1 1 the feedback is provided by the encoder X3 O
28. 1D5 m4 ID3 A2 AT AX SEX x Xo EX E505 51 0 1 59 0 AS A0 A4 SLVD N slave address Pr27 1 valid values 1 31 If the converter is in the alarm status it will send this message on the bus alarm 0 no alarm 12 1 3 Description of the fields Extended message set 2 The extended message set 2 permits a memory area exchange between the master and the SLVD N with both communication and realtime mode The data exchange is synchronous the data transmitted from the master to the SLVD N are stored in a temporary buffer when the master sends the synchronous message to all the drives each SLVD N copies the temporary buffer onto the writing block area and sends back the reading block area Block send message from the master to the SLVD N ID2 m IDO IDIO ID9 ms ID7 we DS ID4 ID3 2 AT A0 X X Xp XIX 1 179 1 01 07 20 9 3 AS A0 A3 SLVD N slave address Pr27 1 valid values 1 15 Page 139 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Synchronism message from the master to the SLVD N Block sync Data length FieldName o m2 m 1D0 IDIO m ms ID7 ID6 ID5 ID4 ID3 EA ERR RESIS AE SESE SEES Data received are stored from Pr80 to Pr83 and SLVD N sends parameters from Pr84 to Pr87 by the following message Block reply message from SLVD N to the master 8 bytes Data 64 bit of data I2 m
29. 1mH 5 5Arms 11 Ap sat SLVD7N 2 5mH 6 8Arms 17Ap sat 1mH 5 5Arms 11 Ap sat SLVDION Not necessary Not necessary SLVDIS5N 1 2mH 18Arms 45Ap sat 0 5mH 15Arms 30Ap sat SLVD17N 1 2mH 18Arms 45Ap sat 0 5mH 15Arms 30Ap sat Page 190 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 19 Appendix G External ca In the terminal block X7 there are positive and negative poles of the intermediary DC circuit of the drive Only for some models it s possible to connect the external capacitors to storage all or part of the kinetic energy of the motor instead of to use the braking resistor Additional external capacitor model supply phase 3 phase SLVDIN No permitted SLVD2N No permitted SLVD5N No permitted SLVD7N No permitted SLVDION No permitted 2200uF 450V SLVDISN No permitted 2200uF 450V SLVDI7N No permitted 2200uF 450V Type of capacitor Itelcond AY X HR222X450DC or similar Connections use only stranded copper wire rated for 60 75 C minimum 300V max length 30cm minimum section 4mm AWGI0 keep the cables of two poles near stranded if it s possible for to minimize the area of coil Page 191 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 20 Revision history of the User Manual Rev 0 0 First edition Rev 0 1 April 2006 PTC alarm Serial connection cable Rev 0 2 June 2006 Pr44 range
30. 21 Home offset If the home offset is not implemented then it shall be zero OBJECT DESCRIPTION INDEX 607Ch Name Home offset Object Code VAR Data Type INTEGER32 Category Optional Page 165 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER32 Default Value 0 12 3 7 2 Object 6098 Homing method The homing method object determines the method that will be used during homing OBJECT DESCRIPTION INDEX 6098 Name Homing method Object Code VAR Data Type INTEGER8 Category Conditional Mandatory if hm supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value 0 DATA DESCRIPTION Value Description 128 1 manufacturer specific 0 No homing operation required 1 35 Methods 1 to 35 see the functional description 36 127 reserved 12 3 7 3 Object 6099 Homing speeds This entry in the object dictionary defines the speeds used during homing and is given velocity units OBJECT DESCRIPTION INDEX 6099 Name Homing speeds Object Code ARRAY Data Type UNSIGNED32 Category Mandatory if hm supported Page 166 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual
31. 32767 if b231 1 0 and it can be set lt 0 to reverse the count only with incremental encoders and not with SinCos encoders as the latter require a correct cabling of sine cosine signals traces A and B If b231 1 1 the value of parameter is the exponent exponent 2 only for incremental encoder in 0 18 quadrature and the max value is 18 The sign reverse the count Pr197 Feedback break threshold Amplitude sinusoidal R W 1 500 250 1 signals threshold resolver and SinCos M count Pr200 N of turn for Multiturn encoder read only R W turn 0 Jl M Pr201 Encoder vibration step see section encoder R W 1 phasing M Pr202 Encoder CAN address see section encoder R W 1 CAN M Pr206 Nominal DC BUS When the drive is supplied in W 07744 0 I continuous voltage the power supply voltage M value must be written in this parameter The voltage must not inferior to 12V This configuration is enabled at the start up the drive With b39 0 1 is enabled the undervoltage alarm Pr208 Braking resistance Default 400 SLVD N 1 2 5 R W l and 7 160 SLVD N 10 15 and 17 M Pr209 Power of the braking resistance Default 60W R W fi SLVD N 1 2 5 and 7 120W SLVD N 10 15 M and 17 Pr217 To select the type of motor connected to the R W 0 1 0 Jl drive 0 rotary brushless motor 1 4 pole M asynchronous motor in sensor vector control mode P1218 Base speed async Asynchronous
32. A3 SLVD N slave address Pr27 1 valid values 1 15 The Pr103 parameter is used as the status if b150 3 0 all the 16 bits are sent if b150 3 1 only the first 8 bits are sent If b150 0 1 the message is 8 byte long and it isn t dependet on b150 3 Pr103 made up of 16 bit When b150 1 1 the message has the following information Byte 1 Byte8 bit 6bit 5bit 4bit 3bit 2bit Ibit Obit 7bit 6bit 5bit 4bit 3bit 2bit Ibit Obit MSB LSB In3 In2 In InO MultiCyclic message from master to the SLVD N MultiCyclic data Data length 2 4 6 8 byte Field Name Speed Speed Reference Speed Reference 2 Speed Reference 3 Reference0 1 ID2 m wo IDIO ID9 tbs ID7 we 1s 1D4 ID3 BNEXENSBESESIESGEESECNNE NN E E RECEN This message contains several data which are sent to several slave drives One data speed reference is addressed for one drive based on an addressing logic The following table shows which information speed reference Prl05 is sent to which drive based on the AO0 Al group address value A0 A1 Speed reference 0 Speed reference 1 Speed reference 2 Speed reference 3 3 bii Drivea Diei Page 131 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual MultiSynchronism message from the master to the SLVD N MultiSynchronism message Data length 1 2 3 4 byte
33. Asynchronous motor Frequency input output TABO profiles in memory OPM13 Master reference Rev 0 3 June 2006 CANopen DSP402 Rev 0 4 July 2007 Incremental encoder with Hall sensor Identification Safety instruction Continuous working External capacitor Rev 0 5 January 2008 Terminal X3 output of CANI H pin 14 L pin 15 Pr89 OPM13 Pr107 deceleration ramp Object DSP402 Conventions Frequency Direction Continuous working derating for SLVDION in 1 phase supply Rev 0 6 February 2009 SLVDI7N b40 11 b231 11 For other informations log into website www sbcelettronica com Arranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date Page 192 of 193 EUROPE BELGIUM LUXEMBURG PROCOTEC BVBA Lieven Bauwensstraat 25A 8200 Brugge Industriezone Waggelwater Tel 32 50 320611 Fax 32 50 320688 www procotec be info procotec be DENMARK SERVOTECH AS Ulvehavevej 42 46 7100 VEJLE Tel 45 7942 8080 Fax 45 7942 8081 www servotech dk servotech servotech dk FRANCE TRANSTECHNIK SERVOMECANISMES S A Z A Ahuy Suzon 17 Rue Des Grandes Varennes 21121 Ahuy Tel 33 380 550000 Fax 33 380 539363 www transtechnik fr infos transtechnik fr GREAT BRITAIN AMIR POWER TRASMISSION LTD Amir House Maxted Road Hemel Hempstead Hertfordshire HP2 7DX Tel
34. Decel Ramp b231 13 1 245 sss Final position 249 Pr119 250 Pr108 Speed 251 Pr109 Accel Decel ramp 50 252 Pr107 Decel Ramp b231 13 1 22 Els Final position 254 Pr119 OPERATING MODE 13 PARAMETERS Par Description Field Range Def Res Pr103 Acceleration and deceleration ramp el R W 0 500 1 ms Axis The acceleration and deceleration 30000 required for the motor can be limited in order to s Krpm achieve a jump of 1000 rpm that takes Pr103 thousandths of a second This can be useful when the axis is suddenly attached Pr104 Addition speed R W 6000 0 1 Pr107 Deceleration ramp positioner This is R W 0 002 0 5 1ms enabled if the bit b231 13 1 rel softw gt 6 30000 It s the deceleration ramp of the position profile s Krpm Pr108 Full speed positioner This is the full speed R W 0 9000 1000 1 that will be used during the generation of the position profile Page 83 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Res Pr109 Acceleration ramp positioner This is the R W 0 002 0 5 Ims acceleration ramp that will be used during the 30000 positioning profile If b231 13 0 this parameter s Krpm defines the acceleration and deceleration ramps of the position profile Pr114 115 Actual position electrical shaft Read
35. Not ready to switch XXXX Xxxx x1xx 0000 Switch on disabled XXXX xxxx x01x 0001 Ready to switch on XXXX xxxx x01x 0011 Switched on XXXX xxxx x01x 0111 Operation enabled XXXX xxxx x0Ox 0111 Quick stop active XXXX Xxxx xOxx 1111 Fault reaction active XXXX Xxxx xOxx 1000 Fault Table 7 Device state bits x irrelevant for this state BIT 4 VOLTAGE ENABLED High voltage is applied to the drive when this bit is set to 1 BIT 5 QUICK STOP When reset this bit indicates that the drive is reacting on a quick stop request Bits 0 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to regenerate The setting of the other bits indicates the status of the drive e g the drive is performing a quick stop as result of a reaction to a non fatal fault The fault bit is set as well as bits 0 1 and 2 BIT 7 WARNING A drive warning is present if bit 7 is set The cause means no error but a state that has to be mentioned e g temperature limit job refused The status of the drive does not change The cause of this warning may be found by reading the fault code parameter The bit is set and reset by the device Page 157 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual BIT 8 This bit may be used by a drive manufacturer to implement any manufacturer specific functionality BIT 9 REMOTE If bit 9 is set then parameters may be
36. O Defective components drive motor wires sensors etc O Incorrect control software or firmware errors e In order to prevent personal injury due to unintended dangerous motor movements pay the maximum attention and work on the machine with a qualified and tested safety system Isolate the drive power connection Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before start up Don t operate the machine if the emergency stop is not working O Install properly fences guards coverings and light barriers in order to prevent people from accidentally entering the machine s range of motion Secure vertical axes against falling or dropping after switching off the motor power Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone O O OO 2 6 Safety instructions for maintenance A cm WARNING It is extremely dangerous to remove covers or part of the external enclosure from the equipment Risk of personal injury The warranty immediately decay e In case of malfunction consult the alarm list described in the user manual or address Parker Hannifin The drives are not field repairable 2 7 Compatibility with RCD devices A CAUTION The use of RCD Residual Current Devices is strongly not recommended If the use of RCD is mandatory use type B only for DC and AC prospective earth current Set the trip level at 300m
37. SET Pa y 12 2 RES Pa y 13 2 FIN Pb40 y Pb150 y 14 2 END 15 2 The first 4 bits b0 b3 of the first byte in each instruction contain the instruction code In the first 8 instructions in the table LD ORN and the SET and RES instructions the remaining 4 bit of the first byte b4 b7 contain the value y while the second byte contains the value Pa In the ADD SUB MUL e DIV instructions the second byte contains the value Pa the third byte the value Pb and the fourth byte the value Pc In the END instruction the second byte is not used In the FIN instruction the fifth bit b4 of the first byte selects the parameter b4 0 if it refers to Pb40 b4 1 if it refers to Pb150 the sixth bit b5 of the first byte is used for logical negation b5 0 the bit is copied b5 1 the bit is negated before being copied The second byte of the FIN instruction contains the value of y If the FIN instructions are used they must be the first instructions of the program and cannot be more than 2 They occupy the addressed from Oh to 3h If a FIN instruction is inserted beginning at the 4h address or after any other instruction the FIN instruction does not function and is ignored NOP The instructions must follow each other beginning at address Oh and no byte can be left empty There is only one program and it is terminated with the END instruction Examples of using the serial line In order to better understand how to implement the
38. SOLUTIONS AUSTRALIA PTY LTD Factory 2 21 29 Railway Avenue Huntingdale 3166 Melbourne Victoria Tel 613 9563 0115 Fax 613 9568 4667 www motion solutions com au sales motion solutions com au Via Gounod 1 20092 Cinisello Balsamo MI Italia Tel 39 0266012459 Fax 39 0266012808 www sbcelettronica com sales sbc parker com Parker Hannifin S p A Electromechanical Automation Robert Bosch Str 22 Tel 49 0 781 509 0 www parker emd com Parker Hannifin GmbH Electromechanical Automation D 77656 Offenburg Germania Fax 49 0 781 509 98 258 sales hauser parker com Parker Hannifin pic Electromechanical Automation 21 Balena Close Poole Dorset BH17 7DX UK Tel 44 0 1202 50 6200 Fax 44 0 1202 69 5750 www parker emd com sales digiplan parker com
39. TABO 2 word dec ramp Pr107 TABO 4 e 5 word final position Pr118 119 With the qualified function b231 10 1 is possible execute automatically another profile simply setting up in the pointer parameter Pr193 another value Every scansion the parameters are transferred from the table to the positioner variables if the function is able b231 10 1 In order to insert the values in variables of TABO using the configuration tool it is necessary open the monitor window where it is possible to access from Pr2048 to Pr2302 parameter where there are the variables of the 51 trapezoidal profiles and it possible read and modify them To insert the values via keypad it necessary OPM14 or OPMII and use the parameters Pr103 and Pr104 see the paragraph Automatic activation of CAM tables It is necessary save the parameters for guarantee the memory of the profiles inserted Page 82 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual b231 10 1 TABO activation by profiles Pointer to table Pr193 TABO point Positioner variables 0 Pr108 Speed 1 Pr109 Accel Decel ramp 0 2 Pr107 Decel Ramp b231 13 1 Ee Final position 4 Pr119 5 Pr108 Speed 6 Pr109 Accel Decel ramp l 7 Pr107 Decel Ramp b231 13 1 gt EIS Final position 9 Pr119 P 245 Pr108 Speed 246 Pr109 Accel Decel ramp 49 247 Pr107
40. Target position positioner Parameter in which W 1 setting up the final position for the generator of trapezoidal profile considering 4096 steps to the turn Pr121 120 Master position R 1 Pr123 122 Master axis phase If b150 8 1 at first positive R 0 22 0 1 edge of 0 digital input or at zero encoder input see block diagram the position of master axe becomes Pr123 122 Pr125 124 Master axis phase caught At every positive R 07225 0 1 edge of 0 digital input or at zero encoder input see block diagram the position of master axe becomes Pr125 124 Pr127 126 Master axis engage phase If b150 12 1 when W 0 225 0 1 master position Pr113 112 exceeds Pr127 126 Pr102 is brought in position 2 and b150 12 returns 0 to indicate the engage Page 103 of 193 Parker Hannifin S p A S B C Division Par Description Field SLVDN User s Manual Range Def Res Pr129 128 Master axis disengage phase If b150 13 1 when master position Prl13 112 exceeds Pr129 128 Pr102 is brought in position 1 and b150 13 returns 0 to indicate that the positioner is enabled and which will control the disengage phase 0 223 0 Pr131 130 Auxiliary incremental counter of POS CAMI and CAM2 reference Pr133 132 Cam engage with ramp Start point of the engage ramp according to the master position 0 223 Pr135 134 Slave position from cam Only read and indicates the axe slave position in output to electr
41. Use of a transformer connected the secondary in a star configuration with electrostatic shield U HE gt T i ic m L NIE 1 if K j A o y IN en n 2 R d L m y A a A ELT b 10 15 and 17 versions have two PE pins Use of the auto transformer a l L m d m LI ES MS a a a 7o e d A 10 15 and 17 versions have two PE pins Page 29 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Note 1 The EMC filter can be connected upstream or downstream from the auto transformer If it is connected upstream it may be necessary to use a shielded cable between the auto transformer and the SLVD N If it is connected downstream the cable between the filter and the SLVD N must be as short as possible and it cannot exceed 30 cm Note 2 Use the following formula to dimension the transformer Pt Paz 1 7 80 E 4n 2 where Pt is the power in VA of the transformer Paz is the sum of the rated powers of the motors in W
42. V 4 096 max current mA 1 5 resolution bit 10 Overload Short circuit protection yes Page 18 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 3 5 Main software features The following functions have been implemented in the basic software of the SLVD N Speed controller Advanced manager of torque limits Management of speed windows Carries out positioning with a trapezoidal speed profile Provides the functions of an electrical shaft with variable ratio and phase correction Provides the functions of an electronic cam Simulates a stepper motor Controls the motor torque with the addition of speed control The internal PLC can be programmed to manage inputs and outputs Page 19 of 193 Parker Hannifin S p A S B C Division 4 MOUNTING SLVDN User s Manual 4 1 Dimensions and weights SLVDIN SEVD2N SLVD3N SLVD7N SLVDION SLVDISN SLVDI7N 1 1 kg 3 1 kg 2 43 lbs 6 84 Ibs Measurements expressed in mm lateral front Page 20 of 193 SLVDN User s Manual c lt n e eS mom t 1l m 2 d 23 l aa a i ud ae RN y LI Lures resp ds br SSeS EXE 146
43. and control cables must be shielded and wherever possible kept segregated minimum distance 20 cm If control and power cables must cross the intersection must be at a right angle The shielded cables must be unbroken and grounded to a copper bar using the cable clamps connections as shown in the drawing at 360 in order to obtain a good conductivity 360 shield connection In general the shield should be connected at each extremity In certain circumstances however control cable shields may be connected only at one end to eliminate mains hum that could interfere with the control signal Decide case by case as numerous factors must be considered Adopt the following general approach if the screen is solely for shielding connect at both ends If current flowing in the shield interferes with the shielded signals connect at one end only The incoming cable must be connected to an earth terminal by means of a screw to ensure proper contact between screen and earth As far as possible keep the power side drive and control side PLC or NC physically separated by separating the metal mounting plates Inside the electrical cabinet the two plates must be connected through a copper strap 5 18 3 General suggestions on cable connections Avoid routing noise emitting cables in parallel with clean cables Avoid parallel cables especially in the vicinity of the filter ensure physical separation Avoid cable loops keep cables as short
44. communication protocol on the serial line some examples of each type of message are given below The values indicated are only indicative as examples First example reading a 1 byte parameter Suppose we want to read the value of the parameter Pr25 release software and that its value is 43 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E 80 01 32 B3 Page 127 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual The converter responds with the message 7E 20 01 32 2B 7E 00 Second example reading a 2 byte parameter Suppose we want to read the reference speed Pr7 and that its value is 2000 Suppose also that the converter has the serial address 1 The message to be sent is the following 7E 81 02 S0E 91 The converter responds with the message 7E 21 02 0E D0 07 08 Third example writing a 1 byte parameter Suppose we want to select operating mode 1 Pr31 Suppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 01 3E 01 SE3 The converter responds with the message 7E 23 Fourth example writing a 2 byte parameter Suppose we want to set the rated current to 2 5 A Pr33 Suppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 02 42 19 00 00 The converter responds with the me
45. cycle time is set in the object 0x1006 communication cycle period and depending on the value set in this object different ways of regulation are possible If the value is less than 2500 usec the position loop is executed at the moment the sync signal is received the position reference received on the PDO is directly processed as target of the position loop If the value is more or equal than 2500 usec the position reference received is interpolated according the interpolation sub mode index 0x60c0 the interpolation may be cubic or linear If object 0x60c0 is 0 the interpolation algorithm is linear otherwise if 1 is cubic with both position and velocity reference if 2 is cubic with position reference only If on the synchronous PDO 4 rx it is not mapped the position reference the position loop is not executed but the velocity reference received is set the velocity reference may be supplied in counts sec or RPM respectively mapping object 0x60c1 2 or 0x60c1 3 in this case the external controller executes position loop Note In interpolated position mode factor group conversion are not active If the cycle time is less than 2500 usec the feedforward of velocity may be computed by the drive if bit 247 7 is set from the delta of position reference in the cycle time gain of feedforward component should be set accordingly with the cycle time Otherwise feedforward of velocity may be sent with PDO4 rx mapping in RPM units the object 0x60c1 3
46. eects el ueniens eli Ses ecu LE Se NUES 50 8 6 2 Type 2 PUSE oec idee db das retro ance RN a ed e een seca ees 31 8 7 Feedback from SinCos encoder with Endat interface 52 8 7 1 Motor PH eee te e oe ene ta a ase 53 8 8 First commissioning s coo ee A A 54 8 9 Speed control adjustment sssscvcccccssccescavevccdsesedssecsenscesusseassobdendescexwscdesbenrsdebteneade 55 9 PARAMETERS AND PROGRAMMING eere eene nennen nnn nennt 61 9 1 Decimal parameters uuu odi apis ide 65 9 2 Binary A A DR Poen 0d 71 9 3 Operating MODES m 76 9 4 Torque control operating mode 1 oooocccoononnccoononoccnnnonacoccnnnonccconnnocccccncnoccccnnno 81 9 5 Digital Lock Positioner operating mode 13 e ceres 82 9 5 1 TABO profiles andnetnorty udis esee a 82 9 6 Electronic cam operating mode 14 eee ee ecce esee eere eene ee eere eo ete 86 9 6 1 POSITODIDE d cedet adt ut cS LR LE c De Ned ede 86 9 6 2 Speed TROde Ls aerea erred eoe eo don qe RON deber ih RERO RAE 87 9 6 3 bleottonio A adio quM OS 87 9 6 4 Eiticareneas eX XM ess cost esaet A iue ens bee mI de de 94 9 7 Electronic cam op mod 11 eee e e eee eerte eee eerte eene eee aes e eee sa see 96 9 7 1 A A A II E UE 97 9 7 2 CAMI add CANDO ide 97 9 7 3 Automatic activation of CAM tables ooo
47. encoder or from an external module NTA H 15 HB i I ALIMENTAZION The second input in frequency is on the X4 connector digital inputs The input can receive signals in quadrature and frequency sign b42 4 from IN2 and IN3 digital inputs Follow the outline of connection AA Y m M E Y H li M T Y Y E Page 37 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual In the case it comes used a encoder external like reference and this device is lacking in feeding is possible to use IN2 of the terminal block X4 for feeding the device You see following outline connecting an external local power source maximum 24Vdc to pin the 11 of X4 IN2 the tension is brought inner to pin the 11 of X2 IN2 ole 4 Le be ec De De Ce Ded Cer Note to employ IN2 in order t
48. initialize has been achieved The user must set this flag to 0 The scanning of Tab3 table can be substituted with a scanning of a virtual table if setting b181 8 1 All points in Tab3 table have the value decided in Pr105 After the execution of the commands the bits are automatically set to zero All parameters that are not declared are reserved and must not be used OPMIA parameters Parametri opm14 Par Description Fiel Range Def Res d Pr100 Speed in speed mode W 6000 0 1 rpm Pr101 Ramp time for Pr100 This is the acceleration ramp W 0 002 0 500 1 that will be used by the speed mode 30 000 ms s krpm Pr102 Function selector Enables the functioning as a W 053 0 1 halted motor positioning electronic cam and speed Pr103 Pointer to the cam table Pr103 is used to access 0 1756 257 1 the cam table Pr104 will contain the value of the Pr103th element in the table Pr104 Table element value Pr104 is the value of the Pr103th element in the table 10000 ye Pr105 Virtual table value b181 8 Engage and W 1 disengage space in degree Pr106__ Feedforward scale W 1 Pr108 Full speed positioner This is the full speed that W 0 9000 1000 1 will be used during the generation of the position rpm profile Pr109 Acceleration time positioner This is the W 0 002 0 500 1 acceleration ramp that will be used during the 30000 m
49. modified via the CAN network and the drive executes the content of a command message If the bit remote is reset then the drive is in local mode and will not execute the command message The drive may transmit messages containing valid actual values like a position actual value depending on the actual drive configuration The drive will accept accesses via SDO in local mode BIT 10 TARGET REACHED If bit 10 is set by the drive then a set point has been reached The set point is dependent on the operating mode The description is situated in the chapter of the special mode The change of a target value by software alters this bit If quick stop option code is 5 6 7 or 8 this bit must be set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is set too BIT 11 INTERNAL LIMIT ACTIVE This bit set by the drive indicates that an internal limitation is active e g position range limit BIT 12 AND 13 These bits are operation mode specific The description is situated in the chapter of the special mode The following table gives an overview Operation mode Bit E vl pp pv tq hm ip reserve Set point reserve Homing ip mode pa d acknowledge apad d attained active jo e Following error Maeda dd Asai Homing error reserved d error d Table 8 Mode specific bits in the statusword BIT 14 AND 15 These bits may be us
50. motor speed in R W rpm 0 Jl synchronism conditions M Page 69 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Pr220 Pr33x J1 cos p Par Description Field Range Def Ris Pr219 SLIP ASYNC Asynchronous motor slip R W 0232767 0 1 M rpm Pr220 MAGN_CURR_ASYNC Asynchronous motor R W 0 32767 0 1 magnetizing current M A Page 70 of 193 Parker Hannifin S p A S B C Division 9 2 Binary parameters SLVDN User s Manual The binary parameter Pb40 can be read and set and then stored The binary parameter Pb41 provides indications about the status of the system The parameters Pb42 and Pb99 be read and set and then stored Par Descrption Field Def b39 0 Undervoltage in continuous current b39 0 1 When the drive is supplied in continuous voltage this bit permits the control of the undervoltage alarm b39 2 1 if feedback supply actives b39 9 1 If fine phasing on encoder zero point dog is activated b39 15 CAN encoder receive watchdog see par encoder CAN b40 0 Selection of the first or second full scale of the speed reference If 0 R W 0 Pr2 will be used to rate the analogue reference If 1 parameter M Pr3 will be used b40 1 Activation of the algorithm to suppress vibration at 0 speed If 0 R W 1 the algorithm is turned on M b40 2 Selection of the reserved user
51. object PDO2 tx rx object A protocol for parameter access pico PLC instructions and drive cam table is implemented by exchanging the 8 8 read write bytes of the PDO2 which when the master receives the message PDO rx interprets the contents of the first 7 bytes in accordance with the following format Acyclic data write message or parameter request from master to drive PDO 2 Acyclic data write or request Data length Field Name Cmd amp Len Data Address 5 bit command and 3 bit 16 bit data address 32 bit data length Identifier Docs ije d a er E ID5 x E E fot p ej A0 A6 Drive movement address Pr49 valid values 1 127 Data For data writing the field will contain the value of the parameter For bit change the field will contain the mask of the bits to change Page 144 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual For data reading the field is insignificant For pico PLC writing it will contain the operating code of the instruction see Serial interface Data Address This field is the address of the parameter involved in the operation parameter number 2 The PLC instructions have addresses in the range 8192 to 8703 The cam table has addresses from 4096 to 4608 Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not use Len
52. phase phase inductance K M 018 0 0 1 of the motor 500 0 mH Pr48 Can bus speed code See the section CANBUS M 0 7 0 Pr49 Can Open Address 1 127 1 Pr89 Result of encoder phasing At the end of phasing R 077 0 1 procedure this parameter shows if the result is ok or it s necessary to repeat the procedure according the conditions Pr164 Speed feedback filter 1 255 100 1 Page 68 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Ris Pr188 Analogue output pointer The number indicates R W 512 0 Jl which parameter to monitor It comes used with to M the Pr189 If the parameter pointed is Pr0 will be had in escape 4 096V when Pr0 Pr32 if the parameter pointed is Pr35 will be had in escape 4 096V when Pr35 is equal to the pick current For the other parameters the range in escape is 512 counts 4 096V Therefore if the parameter to monitor necessity more counts is necessary to attribute to Pr189 a such value to bring back the scale of reading of the parameter within the 512 counts 2Pr189 see par analogue outputs programmable Pr189 Analogue input scale Defines the scaling of the R W 32767 0 1 analogue output M 32767 Pr196 No of FBK Encoder pulses Indicates the R W 32767 1024 number of pulses per revolution times 4 in the M 32767 count ranging from 1 to
53. rfg use ref reserved reserved 8 Halt Halt Halt Table 5 Mode specific bits in the controlword BITS 9 10 These bits are reserved for further use They are inactive by setting to zero If they have no special function they must be set to zero BITS 11 12 13 14 AND 15 These bits are manufacturer specific 12 3 2 2 Object 60411 Statusword The statusword indicates the current state of the drive No bits are latched The statusword consist of bits for the current state of the drive the operating state of the mode and manufacturer specific options OBJECT DESCRIPTION INDEX 6041h Name Statusword Object Code VAR Data Type UNSIGNEDI6 Category Mandatory ENTRY DESCRIPTION Access ro PDO Mapping Possible Value Range UNSIGNED16 Default Value No Page 156 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual iag M Bit Description 10 0 Ready to switch on M 1 Switched on M 2 Operation enabled M 3 Fault M 4 Voltage enabled M 5 Quick stop M 6 Switch on disabled M 7 Warning O 8 Manufacturer specific O 9 Remote M 10 Target reached M 11 Internal limit active M 12 13 Operation mode specific O 14 15 Manufacturer specific O BITS 0 3 5 AND 6 The following bits indicate the status of the device Value binary State XXXX XXXX xOxx 0000 on
54. scale of the analogue reference this is the rpm value that corresponds to a reference voltage of 10 V Value of the acceleration deceleration ramps in seconds per 1000 rpm with a resolution of 1 millisecond If the acceleration deceleration ramps must be set differently you must go to the extended menu in order to access the Pr9 Pr10 e Pr11 parameters Integral gain of the speed regulator Speed regulator damping Peak current supplied by the converter expressed as a percentage of the peak drive rating Number of poles of the motor Rated speed rpm Rated current supplied by the converter which can be maintained indefinitely expressed as rated current of the motor A Instantaneous current required by the motor expressed as a percentage of the peak drive rating Bit parameter for the basic commands The extended menu offers access to all the parameters and instructions of the pico PLC in addition to those specified above Page 64 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 1 Decimal parameters The extended menu is used to set all the following parameters This menu is invoked by setting b99 6 to 1 and b99 7 must be set to 0 Description field R read W write M memory K key parameter Par Description Field Range Def Ris PrO Motor speed a read only parameter expressed in R 15 000 0 lrpm rpm the PrO message is not ever displayed on the rpm screen Instead
55. set point acknowledge equal 0 its ability to accept new data again 5 In Figure 18 this mechanism results in a velocity of zero after ramping down in order to reach a target position x1 at tl After signaling to the host that the set point is reached like described above the next target position x2 is processed at t2 and reached at t3 velocity A V v S N 1 a t Ei En 3 time Figure 18 Single set point If the bit change set immediately is 1 dashed line in Figure 17 the new target position will be active immediately In Figure 19 the drive receives the first target position at t0 At the time point tl the drive receives a second target position The drive readapts the actual move to the new target position immediately velocity A Y M ri 1 gt gt t t t time Figure 19 Change set immediately 12 3 9 4 Functional description Figure 33 shows the meaning of the sub function position reached Symmetrically around the target position a window is defined for the accepted position range If a drive is situated in the accepted position range over the time position window time the bit target reached bit 10 in the statusword is to set Page 178 of 193 Parker Hannifin S p A S B C Division Position not reached Accepted position range SLVDN User s Manual Position Position window Position window Position reached Position n
56. shown as low The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive gt Index Pulse Negative Limit Switch Figure 22 Homing on the negative limit switch and index pulse Page 168 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 8 1 2 Method 2 Homing on the positive limit switch and index pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive here shown as low The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive Index pulse Positive Limit Switch Figure 23 Homing on the positive limit switch and index pulse 12 3 8 1 3 Methods 3 and 4 Homing on the positive home switch and index pul Using methods 3 or 4 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch a Index pulse Home switch Figure 24 Homing on the positive home switch and index pulse Page 169 of 193 Parker Hannifin S p A S B C Division SLVD
57. slow down on slow down ramp slow down on quick stop ramp 12 3 2 7 Object 60601 Modes of operation SLVDN User s Manual The parameter modes of operation switches the actually choosen operation mode OBJECT DESCRIPTION INDEX 6060h Modes of Name operation Object Code VAR Data Type INTEGERS Category Mandatory ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value No DATA DESCRIPTION Value Description 1 Profile Position Mode 6 Homing Mode 7 Interpolated Position Mode NOTE A read of modes of operation shows only the value of modes of operation The actual mode of the drive is reflected in the object modes of operation display It may be changed by writing to modes of operation 12 3 2 8 Object 6061h Modes of operation display The modes of operation display shows the current mode of operation The meaning of the returned value corresponds to that of the modes of operation option code index 6060 Page 161 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual OBJECT DESCRIPTION INDEX 6061h Mas Modes of operation LL display Object Code VAR Data Type INTEGER8 Category Mandatory ENTRY DESCRIPTION Access ro PDO Mapping Possible Value Range INTEGER8 Default Value No DATA DESCRIPTION Same as for object 6060
58. te el ebd EM as eR 177 12 3 9 4 Functional description ie FI rt in e doeet p ie eR a 178 12 3 10 Interpolated Position Mode operative mode 202 180 12 3 10 1 Object 60COh Interpolation sub mode select ssssssss 182 12 3 10 2 Object 60C1h Interpolation data record sss 182 12 3 11 O 185 13 APPENDIX A CONVENTIONS 0 eseeeeeseseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 186 14 APPENDIX B SOFTWARE TIMING eere eene 187 15 APPENDIX C DEFAULT PROGRAM FOR THE PICO PLC 187 16 APPENDIX D FLASH INFORMATION esee e eese esee serene 188 T APPENDIX E 4 A bene 2 52 22 22 02 8080000 aaron 189 18 APPENDIX F CONTINUOUS WORKING esee eee eeeuse 190 19 APPENDIX G EXTERNAL CAPACITOR ecce ecce e eese e eren 191 20 REVISION HISTORY OF THE USER MANUAL e eeseeues 192 Page 6 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 1 INTRODUCTION 1 1 General information This manual describes the installation and commissioning of the frequency converter SLVD N Small Low Voltage Drive New for brushless motors Read carefully all the sections and the history of the revision of the manual on the final page before using it 1 2 Product description The SLVD N
59. the ground bars fee rotor connection sect nn See line connectlon section Protection a bar PE di 3 15 Ura the protect lan only IF the power auppl y output la ra protechl HIGH Frequency bar TO AXIX CONTROL See signal connect lor See resolver zecklon connection section Page 42 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual The PE bar for power grounding must be mounted directly in contact insulated columns are not to be used The signal cable shields can be connected to a bar HF different from the PE bar or connected directly the metallic cable clamps to electrical cabinet back plate n the Cable connections par it is possible see every detail of this image The electric cabinet bottom must be electrically conductive for example zinc coated Strip off any paint coat to ensure contact The grounding bar must be in contact with the cabinet bottom or ensure an excellent electric connection and it must NOT insulated Route power cables away from signal cables 5 18 How to suppress interference For the drive to meet the product requirements regarding electromagnetic compatibility EN61800 3 the installation must be carried out according to the following instructions Because of strong PWM voltage fronts undesirable currents of significant force can sometimes circulate through capacitive couplings and groun
60. the parameters b70 4 Pr55 and Pr88 are reserved for this task and are no longer available for their standard functions servo error window and PLC program A user message can be sent by setting b70 12 to 1 In this case Error Code will be OxFF09 and the Data field will contain the value in Pr152 153 b70 12 will be reset to 0 once the message has been sent SDO tx rx object Below is a list of the objects in the device dictionary Object dictionary Index 0x1000 Device type 301 0x1001 Error register 0x1014 COB ID emergency obj 0x1018 Identity 0x100c Guard time 0x100d Life time factor 0x1200 Server SDO parameters 0x2000 Parameters area 0x2001 Parameters area set bit 0x2002 Parameters area reset bit 0x2003 Pico PLC area 0x2004 I table area CAMO 0 254 0x2005 II table area CAMO 255 256 0x2006 I table area CAMI 0 254 0x2007 II table area CAMI 255 256 0x2008 I table area CAM2 0 254 0x2009 II table area CAM2 255 256 0x200A I table area CAM3 0 254 0x200B II table area CAM3 255 256 As a general rule sub index 0 of indexes 0x2000 0x2002 represents the number of the sub indexes available and the subsequent 1 N sub indexes represent the parameter number concerned 1 Sub index 1 Pr 0 Sub index 2 gt Pr 1 Sub_index n 1 gt Pr n Example of device memory access by SDO Page 143 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual
61. the write message of a parameter The message has the following format STX 101 ADDR BK LUN PAR DO Dn CHK Page 125 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual CMD6 is the change bit message of a byte parameter The message has the following format STX 110 ADDR BK LUN PAR D0 D1 CHK In this case LUN 2 or else two bytes are sent for the data The first byte is the mask containing the Os in the positions of the bits to be changed and 1s in the other positions while the second byte contains 1s in the positions of the bits that are to be set to 1 and Os in the other positions The PAR address is that of the parameter byte where one or more bits are to be modified If the parameter is a word and the bit to be modified is one of the first 8 b0 b7 PAR the parameter address otherwise if the bit to be modified is one of the upper 8 b8 b15 PAR the address parameter 1 CMD7 7 is the write message of a parameter to all converters connected to the serial line The message has the following format STX 11100000 BK LUN PAR DO Dn CHK The address of the peripheral device ADDR must be 0 Notes The parameters that are represented on the screen with decimals must be treated as complete values For example a value of 978 5 is read and written as 9785 All values that are receded by the symbol are to be understood as hex numbers The value include
62. to control the motor in position 11 13 14 15 by using the position loop described in the diagram in the figure Page 76 of 193 Parker Hannifin S p A S B C Division Pr106 Feedforward scale 1 Reference speed feedforward gt b70 7 b70 6 Window of position error Servo error Pr55 Servo window 1 b70 4 lt Servo error gt Pr56 Servo window 2 m b70 5 lt dt abs A Pr51 Position error SLVDN User s Manual Pr61 60 Reference position Pr65 64 Position offset Feedback EO gt Pr57 lt Proportional gain for the positioner regulator Pr50 Max speed O Pr6 Speed reference Caugth position Motor quota caugth b70 15 m Quota caugth gt Pr69 68 Motor feedback Motor position b70 1 encoder Pr63 62 Master reference Pr54 Master speed encoder Reference multiplier d x2 encoder IN Counter encoder s t Encoder Pr52 IN input e gt Hp DE Pr53 Pr67 66 Reference divider encoder IN reference CAN multiplier Master Speed x1 Pr154 Pr159 Encod Pr155 EO C
63. to set the default values of the converter as it was supplied by the manufacturer do the following power off the converter using the hardware pin 13 of X4 open connect only 24Vdc power on the drive set b99 7 and b99 13 to 0 issue the command b99 12 save the set up using commands b99 14 and b99 15 8 2 Selection of motor type The first time the converter is powered up or following a default command the drive indicates a dEF condition alarm Pr23 15 In order to leave the drive s initial condition the operator shall have to input the motor data The parameters defining motor types are as follows Pr29 Number of motor poles N Pr32 Rated speed of the motor r p m Pr33 rated motor current ex 2 5A write 2 5 A Pr34 number of resolver poles N Pr46 phase phase motor resistance ex 1 8Q write 1 8 ohm Pr47 phase phase motor inductance ex 2 6mH write 2 6 mH With asynchronous motors the values above shall be supplemented with the following parameters Pr217 1 Pr218 base speed r p m Pr219 slip r p m Solo per motore asincrono Pr220 magnetizing current A Page 48 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual After setting the parameters that fit the motor the operator must give the save data command b99 15 deive disabled b41 5 0 The drive will calculate the correct values of Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 The automatic calculus is done only if the drive is in default con
64. with address setting into Pr202 The output encoder CAN is enable if Pb42 1 0 and it generates a encoder signal with the same address to CAN node The CAN node address regarding SBC protocol is the value Pr27 1 If the address of the input encoder Pr202 is setting at the same value of the output address Pr27 1 the axe which generates the encoder CAN reads input the encoder CAN output signal If the command b42 0 is enable is possible to generate a encoder virtual signal But differently to encoder traditional setting b70 10 1 the reference isn t the speed into Pr3 but is the position into the parameter pointed from Pr158 The bit b39 15 is watchdog bit for encoder CAN and every time that an encoder message arrives the status is 1 Page 115 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual If the encoder CAN function is activated the number of the free parameter decrease See the next table Par Description Field Range Def Res Pr154 ratio numerator encoder in CAN W 32000 0 1 Pr155 ratio denominator encoder in CAN W 32000 0 1 Pr156 encoder CAN counter W 77 0 1 Pr157 encoder CAN counter W 99 0 1 Pr158 pointer for encoder out via CAN W 07255 0 1 Pr159 Encoder CAN speed W 32000 0 1 Not compatible function with operating OPM15 Pulse numebr per b42 0 turn motor de RS Pr44 e X2 Motor position e
65. 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not use Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8703 The electronic cam0 table have the address from 4096 to 4609 The electronic cam1 table have the address from 4610 to 5123 The electronic cam2 table have the address from 5124 to 5637 The electronic cam3 table have the address from 5638 to 6151 Data If the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If the parameter is to be read the field has no meaning If plc programme is written it contains the instruction code see the section Serial interface Acyclic response message to a parameter request from the SLVD N to the master Data reply Data length 5 bytes Addr amp Spare Data Pr27 1 32 bit reply data Identifier mio ID ts ID7 ID6 IDS ID4 ID3 Page 133 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Broadcast write parameter message from the master to the SLVD N Broadcast data write Data length 7 bytes Field Name Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Not used l Write 2 SET bit Pr Pr O
66. 00 parameters array 0 254 read write access 0x2001 parameters array 254 NR_PAR read write access 0x2002 parameters array 0 254 set bit access 0x2003 parameters array 254 NR_PAR set bit access 0x2004 parameters array 0 254 reset bit access 0x2005 parameters array 254 NR_PAR reset bit access 0x2006 pico plc area first 254 instructions 0x2007 pico plc area last 2 instructions 0x2008 CAM 1 table first 254 points read write access 0x2009 CAM 1 table first last 3 points read write access 0x200a CAM 2 table first 254 points read write access Page 150 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 0x200b CAM 2 table first last 3 points read write access 0x200c CAM 3 table first 254 points read write access 0x200d CAM 3 table first last 3 points read write access 0x200e CAM 4 table first 254 points read write access 0x200f CAM 4 table first last 3 points read write access 0x2020 SDO timeout 0x2060 digital and analog input 0x2063 encoder B counter 12 3 2 Dictionary object summary of dsp402 in SLVD N 0x6007 Abort connection option code with the following available values 0 No action 1 Alarm alarm MISSING SYNC TRIP Er16 if sync is missing when b271 8 1 the sync signal interval exceeds the 120 of the nominal sync cycle lasting time of index 0x1006 communication cycle period the regularity of sync signal is checked with a resolution of
67. 00 3 1 constant of a first order filter placed on the digital M 1 128 signal of the torque request The frequency of the usec Page 66 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual of the torque or of the current that the motor is supplying Par Description Field Range Def Ris Pr19 Peak current This is the maximum current that R W 0 100 0 100 0 0 1 the converter can supply to the motor It is M VoIp ides expressed as a percentage of the peak current of the converter In general it should never exceed three times the rated current of the motor Pr20 DC bus voltage read only Displays the value R 0 850 1 of the voltage present on the DC bus Volt Pr21 Torque limiter read only Can be used by the R 0 100 1 operating modes to limit the torque to the motor Cn Pr22 Auxiliary analogue reference The value R 100 0 2 displayed will be Pr22 Vin 100 9 76 The resolution is of 0 2 Pr23 Alarm code This is the code for the alarm that is R 0 255 present Code 0 represents the absence of alarms Consult the table of alarm codes for more details Pr24 Latest alarm This parameter contains the latest R 0 255 alarm Pr24 will be set to 0 during the execution of M the alarm reset command b99 10 Pr25 Software version code read only Indicates the R 0 255 version of the software that has been insta
68. 2 048 msec If the node does not receive the guarding message before its lifetime an ABORT CONN TRIP Er13 is generated 2 disable voltage 3 quick stop 0x6040 Control word 0x6041 Status word 0x605a Quick stop option code valid values 0 1 2 5 6 0x605b Shut down option code valid values 0 1 0x605c Disable operation option code valid values 0 1 0x605e Fault reaction option code valid values 0 1 2 0x6060 Mode of operation valid values 1 om201 6 om200 7 om202 1 om11 2 0m13 3 om14 0x6061 Modes of operation display see the previous 0x6063 position actual value counts If read by mean of SDO or mapped on PDO 1 or 2 returns the value of position feedback in counts from pr 132 133 if mapped on PDO 4 returns the value of the position feedback at the sync signal 0x6064 position actual value units If read by mean of SDO or mapped on PDO 1 or 2 returns the value in counts of position feedback pr 132 133 transformed in user units by mean of position factor if mapped on PDO 4 returns the value of the position feedback at the sync signal in counts the algorithm of interpolated mode does not support factor group 0x6065 Following error window it is converted in counts by mean of position factor then set in SERVOI pr 140 141 the parameters is used to test following error The parameters of SERVO are changed by the firmware only if in remote mode 0x6066 Foll
69. 2000 1 1 Pr154 the user can set the ratio desired for the M 132000 input reference frequency Pr157 156 Encoder CAN counter steps 1 Page 78 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Ris Pr158 ENCODER CAN pointer b70 10 Pr159 Speed encoder IN via CAN Ria Pr212 F Dir reference multiplier Using this parameter R W 32000 1 and Pr213 the user can set the ratio desired for the M 132000 input reference frequency Pr213 F Dir reference divider Using this parameter and R W 32000 1 1 Pr212 the user can set the ratio desired for the M 32000 input reference frequency Pr215 214 F Dir counter R steps 1 M Pr216 F Dir rotation speed read only Unit rpm R rpm 1 Indicates the input reference frequency translated M into rpm based on 4096 imp revolution Page 79 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Descrizione Campo Def b70 0 Encoder in capture If 0 the capture of the value encoder master R W 0 is made from input 0 Otherwise it is made by the input of the zero M trace encoder b70 1 Feedback If 0 feedback is done by the resolver If 1 feedback R W 0 is done by the encoder In this last case the parameters Pr52 and M Pr53 serve to rate the pulses pe
70. 222222220222202252222522 02 002220 029222 129 12 1 SBC CAIN idad 129 12 1 1 Description of the fields in real time mode see 130 12 1 2 Description of the fields in communication mode sss 137 12 1 3 Description of the fields Extended message set 2 sss 139 12 2 CAN Open C Version D 141 12 3 CANopen DSP402 D version eere eee ee eee eee ee ee eoe e eee e ee eee ee oeS 149 12 3 1 Dictionary object summary of ds301 in SLVD N see 150 12 3 2 Dictionary object summary of dsp402 in SLVD N esee 151 12 3 2 1 Object 6040h Gontrolwotd 5 2 eee tede ER ie ie o trice egt 154 123 222 Object 6041h Status ada dde 156 12 3 2 3 Object 605Bh Shutdown option code ooooooccnncccooccconaconcconnnonnnoconocconocannc nnnons 158 12 3 2 4 Object 605Ch Disable operation option code sese 159 12 3 2 5 Object 60SAh Quick stop Option code rre eret enr e rta caian 160 12 3 2 6 Object 605Eh Fault reaction option code ssssssseeeeee 160 12 3 2 7 Object 6060h Modes of Operation ti des 161 12 3 2 8 Object 6061h Modes of operation display oooonoconocccicocincnconncconacona nono nonnnonns 161 12 3 3 Functional descripta ais 162 12 3 3 1 Modes of operation function dida 162 12 3 4 Homing mode operative mode 200 sse 163 12 3 5 General T
71. 32 133 and Pr136 137 b150 12 Electronic cam engaging in phase Command to engage the cam W 0 movement when the master reaches the level of Pr126 127 This bit is automatically set to 0 when the command has been enabled b150 13 Electronic cam release in phase Command to release the cam W 0 movement when the master reaches the level of Pr128 129 This bit is automatically set to 0 when the command has been enabled b150 14 Immediate electronic cam engaging Command to engage the cam W 0 movement This bit is automatically set to 0 when the command has been enabled b150 15 Immediate electronic cam release Command to release the cam W 0 movement This bit is automatically set to 0 when the command has been enabled Page 91 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Fiel Def d b180 0 Start Tab0 on master phase of Pr168 169 1 activates the TabO table W 0 to the specified phase master in Pr168 169 The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110 111 b180 1 Start Tabl on master phase of Pr170 171 1 activates the Tabl table W 0 to the specified phase master in Pr170 171 The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110 111 b180 2 Start Tab2 on master phase
72. 44 1442 212671 Fax 44 1442 246640 www amirpower co uk apt amirpower co uk QUIN SYSTEMS LIMITED Oakland Business Centre Oakland Park Wokingham Berkshire RG41 2FD U K Tel 44 118 9771077 Fax 44 118 9776728 www quin co uk sales amp quin co uk HOLLAND VARIODRIVE AANDRIJF EN BESTURINGSTECHNIEK B V A van Leeuwenhoekstraat 22 3261 LT Oud Beijerland Tel 31 186 622301 Fax 31 186 615228 www variodrive nl salesGvariodrive nl PORTUGAL SIEPI LDA Parque Industrial do Arneiro Lote 46 Sao Juli o do Tojal 2660 456 Loures Tel 351 21 9737330 Fax 351 21 9737339 www gruposiepi com Siepi mail Telepac Pt Divisione S B C Worldwide distribution SPAIN INTRA AUTOMATION SL C ALABAU 20 Horno Alcedo E 46026 Valencia Tel 34 96 3961008 Fax 34 96 3961018 www intraautomationsl com info intraautomations com SWITZERLAND INDUR ANTRIEBSTECHNIK AG Margarethenstrasse 87 CH 4008 Basel Tel 41 61 2792900 Fax 41 61 2792910 www indur ch info indur ch TURKEY SANPA LTD STI Plaj Yolu Ersoy Apt No 14 D 4 34740 Suadiye Istanbul Tel 90 216 4632520 Fax 90 216 3622727 www sanpaltd com tr sanpa turk net NORTH AMERICA CANADA PARS ROBOTICS GROUP INC 441 Esna Park Drive units 11 12 Markham Ontario L3R 1H7 Tel 1 905 4772886 Fax 1 905 4770980 www parsrobotics com pars parsrobotics com UNITED STATES PARKER HANNIFIN CORPORATION COMPUMOTOR DIVISION 5
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74. A fire protection level or more Setting the trip level at 30mA protection level against direct contact is possible only using time delayed RCD and low leakage current EMC filters but in any case the drives are not guaranteed to operate with 30mA trip level Page 13 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 2 8 Applicable standards Safety 73 23 CEE directive Low voltage directive modified by 93 68 CEE EN 50178 Electronic equipment for use in power installations EN 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements EN 61800 2 Adjustable speed electrical power drive systems Part 2 General requirements Rating specifications for low voltage adjustable frequency a c power drive systems EN 61800 5 1 Adjustable speed electrical power drive systems safety requirements thermal and energy UL508C USA Power Conversion Equipment CSA22 2 Nr 14 05 Canada Power Conversion Equipment Electromagnetic Compatibility Immunity Emission 89 336 CEE directive EMC directive EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test method The drives are to be intended as components to be used in a second environment industrial environment and category C3 together with specific EMC filters and installed accordingly to the recommendation given in the user manual
75. DIO ID ws ID7 ID6 ID5 IDA 13 PE RAP Sr es dep 5 59 o9 AS A0 A4 SLVD N slave address Pr27 1 valid values 1 31 Data length Field Name Contents EB EE o Broadcast write parameter message from the master to the SLVD N Broadcast data write Data length 7 bytes Field Name Cmd amp Len Data Address 5 bit command and 3 bit length 16 bit data address Identifier D2 D1 mo IDIO ID9 18 ID7 ID6 ID5 ID4 ID3 Pi fi IIX X XJ X x o jA4 1 0 0 0 1j I Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Not used l Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8703 Data When the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If plc programme is written it contains the instruction code see the section Serial interface Page 138 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Alarm message from the SLVD N to the master Data length Field Name Addr Error Contents Pr27 1 Pr23 Identifier D2 IDI IDO IDIO ID9 ID8 ID7 ID6
76. DO4 tx by the slave to the master with the following format Parameter Pr84 87 read message from master to drive PDO 4 rx Data send Data length 8 bytes Field Name Pr84 Pr87 16 bit value 16 bit value 16 bit value 16 bit value Identifier 102101100 gt e 1 Dio INpepepxpxpxpxpr opo r ps pes The bytes of the message containing the parameters Pr84 87 are sent to the master only if the function described is enabled by setting bit b99 5 to 1 and is done every Pr161 pico PLC scan cycles every 6 144 msec If Pr161 is set to zero the bytes are not sent even if b99 5 1 The data is sent when the pico PLC program scan is complete The exchange structure implemented by the PDO4 allows access to the parameters Pr80 87 that do not have a predefined function in the converter but can be processed and interpreted with different functions and meanings according to the logic implemented in the pico PLC program Adjourn Pr80 83 Send Pr84 87 Send Pr84 87 PDO4 tx PDO4 tx Page 146 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual PDO1 tx rx object Realtime Mode Pr31 15 In the same way as for the SBCCAN protocol a real time mode has been implemented operating mode 15 which for CANopen networks uses PDO1 rx tx for cyclical data exchange and the SYNC message for synchronizing the position loops The message COB IDs are different from SBCCAN execution for the purposes of compa
77. E The length of each parameter is two bytes The BK field is represented by the 5 most significant bits and represents the 5 most significant bits of the parameter address PAR write read address of the parameter or PLC instruction The parameter address is the number of the parameter 2 with 13 bit field PAR represents the least significant eight bits of the address the 5 most significant bits must be written in the BK field The table used by electronic cam starts at the address 4096 The PLC instructions have the address from 0 up to 255 DO Dn data transmitted CHK 256 module sum of all the fields excluding the STX checksum Message types CMD1 is the response message of the converter to a data request The response message has the following format STX 001 ADDR BK LUN PAR DO Dn CHK or it can be the confirmation message to a data write or data modify In this case the format is the following STX 001 ADDR where ADDR always identifies which converter is answering CMD2 is the read message of an instruction in the PLC area The message has the following format STX 010 ADDR BK LUN PAR CHK CMD3 is the write message to an instruction in the PLC area The message has the following format STX 011 ADDR BK LUN PAR DO Dn CHK CMD4 is the read message of a parameter The message has the following format STX 100 ADDR BK LUN PAR CHK CMDS is
78. HIOPHIUIOTES erecto Pasta Ip RR UHR Nette aria uu f Meri rs qq 163 12 35 55 1 TTnputdato descpt igno so uero Rc 163 1332 Output data description 24 5 aot ese eof pr marie Pee e ea e o saria ed 164 12 3 3 5 Internal States ooo docu ob RM o 164 12 3 5 3 1 Controlword of homing mode sese 164 12 3 5 3 2 Statusword of homing mode i use d eee vente ese esie 164 12 3 6 Object dictionary ent HOS secu c ett o td eo dao ete 165 123 01 Objects defined in this Chapters oco cte e ott eerta ir ears y Ron i tie 165 12 3 6 2 Objects defined in other chapters use e eet esa ceo ecient tea Desde 165 12 3 7 Object deseriptiOT ome ee a ets a teda ae eh E edtud ust 165 12 3 7 1 Object 607Ch Home Gis tic tex cos e ue teret DA Rt bae vtist dU rada tee qve 165 Page 5 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 7 2 Object 6098h Homing qmiethodb ss o eee Ese Seo Re tei tie 166 12 37 35 Object 6099h Homing speeds ooo eei y ate De o Dun ei EA a ades 166 12 3 7 4 Object 609Ah Homing acceleration essen 167 12 3 8 Functional description o one Ru M teta NUN 168 12 3 8 T Homing THE THOUS o ES 168 12 3 8 T T Method 1 Homing on the negative limit switch and index pulse 168 12 3 8 1 2 Method 2 Homing on the positive limit switch and index pulse 169 12 3 8 1 3 Methods 3 and 4 Homing on the positive home switch and index pul 169 12 3 8 1 4 Methods 5 and 6 Ho
79. Hannifin S p A S B C Division SLVDN User s Manual INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Category Mandatory ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNEDI6 Default Value No DATA DESCRIPTION The bits of the controlword are defined as follows 15 11 10 9 8 7 6 4 3 2 1 0 0 Optional M Mandatory BITS 0 3 AND 7 Device control commands are triggered by the following bit patterns in the controlword Shutdown 0 X 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 3 De 0 X x 0 x 7 9 10 12 voltage Quick stop 0 X 0 1 X 7 10 11 pene 0 0 1 1 1 5 operation p 0 1 1 1 1 4 16 operation Fault reset X X X X 15 Table 4 Device control commands bits marked X are irrelevant In the state SWITCHED ON the drive executes the functionality of this state It exists no functionality in the state SWITCHED ON The drive does not do any in this state BITS 4 5 6 AND 8 Page 155 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual These bits are operation mode specific The description is situated in the chapter of the special mode The following table gives an overview Bit Operation mode Velocity mode Profile velocity mode Profile torque mode 4 rfg enable reserved reserved 5 rfg unlock reserved reserved 6
80. Homing mode carried out successfully 0 Homing error No homing error 1 Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code Table 12 Homing mode bits of the statusword Page 164 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 6 Object dictionary entries 12 3 6 1 Objects defined in this chapter M Index Object Name Type Attr O 607Ch VAR Home offset INTEGER32 rw O 6098h VAR Homing method INTEGER8 rw M 6099h ARRAY Homing speeds UNSIGNED32 rw M 609Ah van Zoming UNSIGNED32 tw 0 acceleration 12 3 6 2 Objects defined in other chapters Index Object Name Type Chapter 6040h VAR Controlword UNSIGNED16 dc 6041h VAR Statusword UNSIGNED16 de 12 3 7 Object description 12 3 7 1 Object 607C Home offset The home offset object is the difference between the zero position for the application and the machine home position found during homing it is measured in position units During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in the following diagram Home Zero position position HOME OFFSET S Figure
81. IN2 IN3 Pr212 s Freq Dir Pr213 Pr215 21 dt Quadra Reference Fre dir counter Fre dir b42 4 divider Pr216 Freq dir Quadrature Mastel speed Page 114 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 9 10 Encoder Can If this function is enable it is possible to generate and receive the encoder like signals by the CAN line which replaces quadratures signal The running is trasparent respect to the traditional encoder signals the CAN line must be connected instead of quadratures signals and must be considered that every encoder signal is available every 1 024msec over the CAN and the signal has 4byte for data It is possible to have up to a maximun of three encoder signals if the speed of the CAN is 1Mbs and only one encoder signal if the speed is 500kbs SLVD N drive needs some bit and parameters about the correct operation b70 8 enable the encoder CAN function it activates at the succesive switching on after save the setting of the bit b70 9 selects the counter by CAN or encoder input for the OPM b70 10 enable the encoder CAN virtual through the parameter pointed from Pr158 Pr154 reduction ratio numerator of the input encoder counting by CAN Pr155 reduction ratio denominator of the input encoder counting by CAN Pr156 157 counting encoder CAN Pr158 pointer to the parameter to send as virtual encoder on the CAN The encoder CAN is active in input and accepts the CAN signal
82. LD OUT END END 90 0 41 5 90 1 40 6 41 4 91 0 41 11 91 1 Page 187 of 193 digital input 0 used to power the drive digital input 1 used for the stop function digital output O indicates that the converter is OK digital output 1 indicates that the thermal motor image is active end of the program Parker Hannifin S p A S B C Division SLVDN User s Manual 16 Appendix D Flash information e TOSAVEUSA IL b99 15 PARAMETERS e TOSAVE THE PLC USA IL b99 14 PROGRAM e TO CHANGE THE INSTRUCTIONS PLC b99 13 MUST BE 0 e WHEN THE OPERATING MODE IS CHANGED YOU MUST USE 599 11 TO LOAD THE DEFAULT PARAMETERS b40 2 MUST BE 0 e BEOFRE CHANGING P131 BE SURE THAT b40 2 0 e THE SPEED REFERENCE WILL BE LIMITED TO THE VALUE OF Pr32 e USING THE TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 e TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE 1 e IF YOU CANNOT MODIFY THE READ WRITE PARAMETERS USING THE KEYPAD BE SURE THAT E b99 7 IS 0 IF IT WAS 0 PROBABLY THE SAME PARAMETERS WERE MODIFIED BY THE PLC PROGRAM Page 188 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 17 Appendix E Alarms Cos am J O oS S 0 wok OOO SSS 1 Over Voltage on the D C Link Check the three phase power line Check the break circuit and the braking resistor Under Voltage on the D C Link Check the three phase power line 3 Over current Check for any mechanical blockage and make sure the
83. N User s Manual 12 3 8 1 4 Methods 5 and 6 Homing on the negative home switch and index pul Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch L 5 mn j Index pulse Home switch Figure 25 Homing on the negative home switch and index pulse 12 3 8 1 5 Methods 7 to 14 Homing on the home switch and index pulse These methods use a home switch which is active over only portion of the travel in effect the switch has a momentary action as the axle s position sweeps past the switch Using methods 7 to 10 the initial direction of movement is to the right and using methods 11 to 14 the initial direction of movement is to the left except if the home switch is active at the start of the motion In this case the initial direction of motion is Dependent on the edge being sought The home position is at the index pulse on either side of the rising or falling edges of the home switch as shown in the following two diagrams If the initial direction of movement leads away from the home switch the drive must reverse on encountering the relevant
84. Object Code VAR Data Type UNSIGNED32 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 12 3 9 2 6 Object 6086 Motion profile type The motion profile type is used to select the type of motion profile used to perform a profiled move Value Description Linear ramp trapezoidal 0 profile Page 176 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual OBJECT DESCRIPTION INDEX 6086h Name Motion profile type Object Code VAR Data Type INTEGER 16 Category Conditional Mandatory if pp or pv supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER 16 Default Value 0 12 3 9 3 Functional description Two different ways to apply target positions to a drive are supported by this device profile Set of set points After reaching the target position the drive unit immediately processes the next target position which results in a move where the velocity of the drive normally is not reduced to zero after achieving a set point Single set point After reaching the target position the drive unit signals this status to a host computer and then receives a new set point After reaching a target position the velocity normally is reduced to zero before starting a move to the next set point The two modes are controlled by the timing of the bits new set p
85. PERATING MODE 15 PARAMETERS Par Description Field Range Def Res Pr102 CANbus commands see the section on the R W 0 1 CANbus Pr103 CANbus status see the section on the CANbus R W 0 1 Pr104 Feed forward speed The value of this parameter is R W 49000 0 1 summed at the output of the position loop in order rpm to obtain the speed request Pr6 Pr105 Feed forward speed via CANbus This is the feed R W rpm 0 1 forward value received via the CANbus When the SYNC b150 8 1 is received Pr105 will be copied to Pr104 and will become active Pr114 115 Position reference via CANbus This is the R W count 0 1 position reference received via the CANbus When the SYNC b150 8 1 is received Pr114 115 will be copied to Pr60 61 and will become active Pr116 117 Motor position via the CANbus When the SYNC R W count 0 1 b150 8 1 is received Pr62 63 will be copied to Pr116 117 and if feedback transmission has been enabled b150 2 1 it will automatically be transmitted via the CANbus Par Description Field Def b150 2 Feedback transmission enable If 1 when the type 0 SYNC is R W 0 received Pr116 117 will be transmitted via the CANbus b150 3 Reply status If 0 the cyclic reply uses 16 bit status Pr103 if 1 R W 0 the cyclic reply status is a byte equal to the first 8 bit of Pr103 b150 4 Low speed mode In the case of Pr48 0 if
86. Page 109 of 193 enable auto answer sync 0 Pb150 4 Pr 61 Pr60 realtime mode low speed enable auto answer sync 1 target position motor position 0 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 9 Additional useful functions The standard drive functions include protection functions whose parameters can be set such as automatic limitations of current delivered based on the estimated dissipation thermal image or i t drive and motor diagnostic functions always available to the user who can always check the drive status configuration functions for some drive inputs outputs the activation of parameter saving restoring procedures and further functions common to motion control equipment 9 9 1 Homing function The homing function which is available exclusively with operating modes 13 14 and 15 provides a typical axis reset procedure Before using the homing function perform the following settings connect the homing sensor to digital input 3 set the homing speed in parameter Pr4 pay attention to the direction of rotation set Pr5 0 b40 12 1 b40 13 0 b40 2 0 To activate the homing procedure set b94 12 1 for a type 1 reset or b94 13 1 for a type 2 reset When the homing procedure is concluded the respective activation bit will be reset If you wish to abort the procedure reset the command bit stop the motor e g by resetting Pr5 and if necessary read b40 2 which will remain on zero RE
87. Pr7 is the reference for the speed regulator In rpm some operating modes Pr7 can be used as a reference for other values torque acceleration and in these cases Pr7 will be expressed in the most suitable unit of measurement Page 65 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual filter cut will be 1240 Pr18 Hertz Par Description Field Range Def Ris Pr8 Acceleration ramp for positive speed Positive R W 0 002 0 002 0 001 speed acceleration required by the motor via the M 65 535 S speed reference is internally limited so that to s krpm achieve an acceleration of 1000 rpm Pr8 seconds are necessary Pr9 Deceleration ramp for positive speed Positive R W 0 002 0 002 0 001 speed deceleration required by the motor via the M 65 535 S speed reference is internally limited so that to s krpm achieve an acceleration of 1000 rpm Pr8 seconds are necessary PrlO0 Acceleration ramp for negative speed Negative R W 0 002 0 002 0 001 speed acceleration required by the motor via the M 65 535 S speed reference is internally limited so that to s krpm achieve an acceleration of 1000 rpm Pr10 seconds are necessary Pr11 Deceleration ramp for negative speed Positive R W 0 002 0 002 0 001 speed deceleration required by the motor via the M 65 535 S speed reference is internally limited so that to s krpm achie
88. R Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8703 Data If the parameter is to be written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If plc programme is written it contains the instruction code see the section Serial interface Alarm message from the SLVD N to the master Data length Field Name Addr Error Contents Pr27 1 Pr23 Identifier ID2 IDI IDO IDIO ID9 ws ID7 We ms 1D4 1D3 ADERAT ACA e Sl ee 9 EE DOME DARA Ase A0 A3 SLVD N slave address Pr27 1 valid values 1 15 If the converter is in the alarm status it will send this message on the bus alarm 0 no alarm Page 134 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual To evaluate the minimum sampling time use the following formula TCmin Nr Nt 5 0 12 where TCmin is the minimum sampling time in milliseconds Nr is the number of SLVD N that receive the reference Nt is the number of SLVD N that transmit the feedback The constant 0 12 is valid for 1 Mbps bus speed Note 1 bit 41 15 can be used in real time mode bit 41 15 is set to 1 every synch
89. R Dea a Toa als a qua 7 VGH CATON ica ciao 2 SAFETY INSTRUCTIONS wisccccesiiesetieiiecnseeciscedeudsecedesndswedavssnssdessdvanduwcserndarcdesesnueds 10 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 Symbols and signals ara LU General into Mat e LO Safety instructions for transportation and storage 11 Safety instructions for commissioning eee e eee e ee eee ee eene ee eseeeeesssees L Safety instructions for operation oocommos 12 Safety instructions for maintenance eese eee ee eee ee ee eere eee ease eo se eeessseeess 13 Compatibility with RCD devices eee esee e eene e eere eee eese eoe sees sseeess 13 Applicable Standards inicio LA Materials and disposal iua caciones 14 MA p Ez 3 MAIN HARDWARE FEATURES eeeeeeeeeeeee eene nenne nennt nnne nnn nane nnn 15 3 1 32 3 3 3 4 3 5 Ambient conditions ii 19 Vibrations and Shoe ks aei erento entes ia LO Power Supply iino uito cas LO Technical characteristics oe eo ee eeriso eee io enne epa anuncia sva a eerta oe oo aa erede seo precee na L7 Main software features eere eee ero oe oer naa eren ganar eu ions eo na ee eee p eeu ae ess rose caracas LD A lejyncme Q 20 4 1 4 2 4 3 Dimensions and weighs onto n tree tar ne RS Pee A Fastening dia tusbalsosaieasspansasseves 2c Mounting Instructio
90. SET TYPE 1 DESCRIPTION When the procedure is activated b94 12 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are reset the position loop is enabled by setting b40 2 1 and command b94 12 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At this point the procedure continues as described above RESET TYPE 2 DESCRIPTION When the procedure is activated b94 13 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are programmed with the value of parameter Pr28 the position loop is enabled by setting b40 2 1 and command b94 13 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At th
91. SLVD N converter when we speak of gain in this document we refer to the rigidity of the axis better known as the STIFFNESS To better illustrate what stiffness means we can imagine a motor controlled by a converter with a requested speed of 0 The motor shaft will appear immobile but if we apply a torque to the shaft it will demonstrate an angle that is proportional to the torque applied Suppose we apply the rated torque of the motor and measure the stiffness in degrees The measured degrees will be the index of the regulator tuning quality Clearly it is not the only quality index WHAT IS NEEDED To adjust a SLVD N converter correctly an oscilloscope with memory must be used A technician who can use it to carry out the operation will also be needed If it is not possible to use an oscilloscope a more approximate but applicable adjustment method will be illustrated at the end of this section Page 55 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual BEFORE BEGINNING Study the diagram below carefully Fig 1 Tek Run 500 S s Hi Res Trig Gi 200v cHh2 00V M Tooms Chi FOV 28 mar 1996 08 40 26 Fig 1 This diagram shows the response of the system to a square wave speed reference Channel 1 Chl represents the speed and channel 2 Ch2 the current of the motor In practice the probe has been connected to terminal 6 of the X4 Vout The two traces cannot be seen at the same time but the trace
92. SLVDI7N secondary connected to ground Ferrite toroids are generally used for the motor output with multiple turns obtained by winding the 3 motor cables contemporarily Page 45 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 6 Status LED Two LEDs are lit The power LED if on indicates whether there is power for the electronic part The status LED gives a series of information about the status of the converter Ifit is off the converter is shut off without active alarms Ifit is on the converter is on If it blinks quickly 5 Hz the converter is powered on The alarms are not active but the Ft control is active If it blinks with a pause after two series of blinks the converter is shut off and an alarm is active The active alarm can be identified by counting the number of blinks between the two pauses 7 Using the keyboard optional The keyboard display module is easy to use It is used to program the functional data control the status of the converter and send commands It consists of only three keys located directly beneath the display The keys are marked M The M key is use to modify the display and consequently the function of the e keys There are two types of display parameter mode and parameter value mode When the converter is powered on if there is no alarm the user sees IDLE or RUN on the screen depending on whether the converter i
93. Write Pr80 to the drive You will need to write the object by SDO with index sub index 0x2000 0x51 80 1 If the number of bytes written is greater than two the operation will also change the parameter Pr81 Read Pr60 from the drive You will need to read the object by SDO with index sub index 0x2000 0x3d 60 1 The value returned will have a length of 4 bytes the most significant of which will contain Pr61 If they are not needed they can simply be discarded Set bit 4 of Pr40 You will need to write the object by SDO with index sub inidex 0x2001 0x20 407 1 with the value 0x0010 that represents in binary the bits involved in the operation in our case bit 4 Reset bits 4 and 5 of Pr40 You will need to write the object by SDO with index sub inidex 0x2002 0x29 404 1 with the value 0x0030 that represents in binary the bits involved in the operation in our case bits 4 and 5 Write bytes 0 and 1 of the pico PLC area You will need to write the object by SDO with index sub index 0x2003 0x01 0 1 with the value corresponding to the operating code of the instruction to add For example the instruction LD 90 0 requires the value 0x00 to be written in byte 0 and Ox5a in byte 1 In addition to the objects described above other objects are implemented based on CANopen s Predefined Connection Set although these are not found in the object dictionary These objects can be useful in accessing drive movement parameters PDO tx rx
94. algebraic sum of the three generators pass through a ratio block that Pr182 and Pr183 before being transmitted to the loop of position Page 100 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 7 3 Automatic activation of CAM tables Beside enabling tables on programmable master phase or by immediate command as shown above the drive offers a default function providing for an automatic sequence to enable the tables in order to concur some functionalities like engage and disengage cam with connection tables The operation is enabled through the activation of bit b180 15 1 and by using bit 181 4 command in order to start sequence TabO and bit 231 14 command in order to start per a disengaging sequence The switch between active tables always occurs during master phase 0 Tabl and Tab2 are used as a link during the switch between TabO and Tab3 and the other way round and therefore they cannot be active longer than one master module 10 G ac Master with positive speed Master with negative speed As shown in the figures the table switching sequence is automatically inverted when the speed is negative The above described function is essential for instance in applications where the user wants to complete an engage disengage phase starting from a gearing function Electrical axis by means of linear linking ramps By linear links we mean the tables describing the two engage and disengage ramps Let s suppose th
95. and n is the number of powered drive units Direct connection to 230V power m f J id 1 H USE id ll 7 a ad MIO TUNE me ee 10 and 15 versions have two PE pins Note 3 The cable connecting the filter and the SLVD N must be as short as possible and in no case can it exceed 30 cm If the unit is connected directly to the mains currents on the order of 100A may be required when it is powered on for less than 3 ms Therefore protection fuses should be used If many units are installed in parallel a sequential power supply procedure is recommended Mono phase connection If a mono phase connection is used between L1 L2 or L2 L3 or L1 L3 a derating of the power supplied by the SLVD N converter is obtained see the appendix Page 30 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 6 Motor connection diagrams Page 31 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 7 Resolver connection diagrams FETI 6 blac T
96. arameter that can be stored R W 327682 32767 0 1 by the user word Pr87 Parametro libero Parametro memorizzabile a R W 32768 32767 0 1 disposizione dell utente word Page 117 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Res Pr88 Free parameter A parameter that can be stored R W 32768 32767 0 1 by the user word Par Description Field Def b90 0 Digital input 0 R 0 b90 1 Digital input 1 R 0 b90 2 Digital input 2 R 0 b90 3 Digital input 3 R 0 b90 X Status of digital input X If X is greater than 3 this is a bit that can be W 0 stored by the user b90 0 converter enabled b91 0 Digital output 0 W b91 1 Digital output 1 W b91 Y Status of digital output Y If Y is greater than 1 this is a bit that can be W 0 stored by the user Parameter Pb91 is not saved and is set to 0 when the unit is powered on Pr92 First timer of the PLC Every 6 144 ms if Pr92 is not 0 it is decremented W 0 If it is equal to 0 b99 0 is set to 1 Pr93 Second time of the PLC Every 6 144 ms if Pr93 is not 0 it is W 0 decremented If it is equal to 0 b99 1 is set to 1 b94 0 Force a double word formatted operation When the unit is powered on W 0 this is 0 If it is set to 1 the first mathematical operation executed by the pi
97. as possible and close to the common potential In particular keep the main cables separate from motor cables If the motor is of the embedded brake type keep the 24Vdc brake cables separate from the other cables resolver and motor Page 44 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 18 4 Mains and motor side filters It is usually necessary to use external filters in addition to internal filters the drive is provided with on the mains input and sometimes on the motor output The mains filter must be mounted as close as possible to the drive and on the same drive panel and must have a large area of contact with the power panel or the mounting plate If distance exceeds 30cm the effect decreases and a screened cable must be used between filter and converter The filter earth terminal must be connected to the earth bar along the shortest possible route With SLVD N series the utilization of the external filters depend of the model and the sistem supply the following char shows the different courses supply iodi three phase by transformer with three phase direct connection or electrostatic shield auto transformer mono phase with transformer mono phase direct connection SLVDIN SLVD2N Up to 20 meters without external filter SLVD5N SLVD7N _ Upto 10 meters without external filter External filter necessary SLVDION SLVDISN Up to 30 meters without external filter
98. ase for release If b150 13 1 when W 0 27 0 1 the position of the master Prl12 113 exceeds Pr128 129 Prl02 is brought to position 1 and b150 13 returns to 0 to indicate that the positioner has been enabled and will control the release phase Pr132 133 Engage cam with ramp This is the position on W 0 2 0 1 which the engage ramp related to the master starts Pr134 135 Slave cam position Read only parameter depends R 0 2 1 of Pr102 that shows the position at the output of the cam Pr136 137 Engage cam ramp This is the step value performed W 142 0 1 by the slave during the engage ramp the value must be less then an half of the slave axis module Pr154 Multiplicative factor of reference ENCODER W 1 1 CAN Pr155 Divisor factor of reference ENCODER CAN W 1 1 Pr157 156 ENCODER CAN input counter w zz E 1 Pr158 ENCODER CAN pointer b70 10 W 1 Pr169 168 Master phase for engaging of Tab 0 b180 0 w 22 1 Pr171 170 Master phase for engaging of Tab 1 b180 1 w 42 1 Pr173 172 Master phase for engaging of Tab 2 b180 2 W 42 1 Pr175 174 Master phase for engaging of Tab 3 b180 3 W 42 1 Pr177 176 Engage point inside to the master module of the W 22 1 Page 90 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Fiel Range Def Res d Pr179 178 Space in count of master mod
99. aster speed is used to find the home switch and the slower speed is used to find the index pulse The manufacturer is allowed some Page 163 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual discretion in the use of these speeds as the response to the signals may be dependent upon the hardware used 12 3 5 2 Output data description There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops 12 3 5 3 Internal states The homing mode will control by the bits of the controlword and statusword 12 3 5 3 1 Controlword of homing mode 159 8 7 6 5 4 3 0 Halt reserve Homing operation d start MSB LSB Name Value Description 0 Homing mode inactive y 0 gt 1 Start homing mode Homing operation start 1 Homing mode active 1 gt 0 Interrupt homing mode Halt 0 Execute the instruction of bit 4 1 Stop axle with homing acceleration Table 11 Homing mode bits of the controlword 12 3 5 3 2 Statusword of homing mode 15 14 13 12 11 10 9 0 Target Homing error Homing attained cached MSB LSB Name Value Description Target reached 0 Halt 0 Home position not reached Halt 1 Axle decelerates 1 Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing 0 Homing mode not yet completed attained 1
100. at Tab0 has been programmed with a y x function gearing and that Tab3 has been programmed as a fixed axis that is y constant K We will need to calculate both linking tables in Tabl and Tab2 to be able to engage and disengage the axis If we consider for instance the master cycle in a module in degrees 360 we will have to set in Pr105 the master module sector value ranging between 0 and 360 that we are going to use in order to perform the two engaging and disengaging ramps Using the Pr102 parameter and the predefined functions that already they previewed the two tables is possible to calculate the engage in Tabl with Pr102 9 and the disengage in Tab2 with Pr102 10 Through the commands of the functions predefined is always estimated the function of Gearing Y X in Tab0 with Pr102 5 The Tab3 can be replaced in this application with one fictitious table qualifying the bit Pb181 8 1 setting up the constant of the table in Pr105 It s possible to extrapolate in this application the constant of Pr105 reading the first value of the table of Tabl engage in Pr104 with Pr103 1256 Page 101 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual b181 14 Disengage comand b181 13 Engage comand Tab 3 Tab 1 Tab 0 Tab 2 Tab 3 0 Master module ds Master module 360 Master module n Master module pud Master module 360 Speed curve for slave axe The above described tables are of course an exam
101. b mode select For the linear interpolation mode each interpolation data record simply can be regarded as a new position set point To describe a cubic spline interpolation e g four or more data words are needed for the spline coefficients and further interpolation parameters After the last item of an interpolation data record 1s written to the devices input buffer the pointer of the buffer is automatically incremented to the next buffer position OBJECT DESCRIPTION INDEX 60C1h Name Interpolation data record Object Code ARRAY Data Type INTEGER32 Category Optional Page 182 of 193 Parker Hannifin S p A S B C Division ENTRY DESCRIPTION SLVDN User s Manual Sub Index 0 Description number of entries 3 Entr Casey Mandatory Access ro PDO Mapping No Value Range 3 Default Value No Sub Index 1 Description Position setpoint in counts the first parameter of ip function fip xl xN UP Mandatory Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 2 Description Velocity setpoint in counts sec the second parameter of ip function fip xl xN d Optional Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 3 Description Velocity setpoint in rpm the 3 rd parameter of ip function fip xl xN Entr ues O
102. b150 4 1 the speed of R W O the functioning mode of the CANbus in real time will be set to 500kbps otherwise the same mode will have the speed of 1Mbps b150 6 Feedback transmission enable If 1 when the type 1 SYNC is R W 0 received Pr116 117 will be transmitted via the CANbus Page 108 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Def b150 8 Sync The command via the CANbus of synchronism sets b150 8 to R W 0 1 thereby allowing the torque of Pr105 on Pr104 Pr115 114 on Pr61 60 and Pr63 62 on Pr117 116 The references of the position control are updated and after this procedure b150 8 is automatically set to 0 b150 10 Type 1 reset Command to set the motor positions and reference to R W 0 0 b150 11 Type 2 reset Command that sets the motor position and the R W 0 reference to the position of the motor shaft Pr28 and Pr64 65 to 0 b150 12 Type 3 reset Command that copies the motor position to the R W 0 reference and sets Pr64 65 to 0 opm 15 for sLVD drive Pr105 feedforward speed from CanBus feedforward speed Pb150 10 reset 1 Pb150 2 position reference ition referen from CanBus position rererence Pb150 6 Pr 63 Pr62 70 1 reri motor position motor position Pr 66 Pr67 to CanBus encoder in Sync
103. be activated writing life time factor and guard time besides a missing guarding event life guarding protocol can be triggered by a missing sync if b271 8 1 or a bus off condition In any case state machine present state of ds301 communication can be changed according to what is set in the object 0x1029 error behaviour 0 enter pre operational 1 no change 2 stop Note NMT commands are handled every 1 024 msec so subsequent commands should be sent to the drive not closer than 1 204 msec including broadcast NMT commands 12 3 1 Dictionary object summary of ds301 in SLVD N 0x1000 device type 0x1001 error register 0x1005 syne cob id 0x1006 communication cycle period 0x100c guard time 0x100d life time factor 0x1014 Cob Id Emergency object 0x1017 Producer heartbeat time 0x1018 Identity object 0x1029 Error behaviour 0x1200 SDO server parameters pdo 0x1400 PDO 1 rx communication parameters 0x1401 PDO 2 rx communication parameters 0x1403 PDO 4 rx communication parameters 0x 1600 PDO 1 rx mapping parameters 0x1601 PDO 2 rx mapping parameters 0x 1603 PDO 4 rx mapping parameters 0x1800 PDO 1 tx communication parameters 0x1801 PDO 2 tx communication parameters 0x1803 PDO 4 tx communication parameters 0x1a00 PDO 1 tx mapping parameters 0x1a01 PDO 2 tx mapping parameters 0x1a03 PDO 4 tx mapping parameters manufacturer 0x20
104. co PLC is done by using three double word type operands After the execution of the operation b94 0 is automatically set to 0 If Pr60 Pr68 Pr110 Pr148 are used the double word formatting is implicit b94 5 First fast input disable b94 5 1 When the unit is powered on this is 0 W 0 b94 6 Second fast input disable b94 6 1 When the unit is powered on this is W 0 0 b99 0 Status of the first timer Equal to 1 if Pr92 0 WwW 0 b99 1 Status of the second timer Equal to 1 if Pr93 0 W 0 b99 2 Equal to 1 if the result of the last PLC operation is negative W 0 b99 3 Equal to 1 if the result of the last PLC operation is 0 W 0 b99 13 PLC status If set to 1 the PLC program is executed If 0 the program is W 1 not executed but the PLC instructions can be modified Page 118 of 193 Parker Hannifin S p A S B C Division PLC INSTRUCTIONS Pay HF rp Y Pa y Pa y LDN OUR D OUTN Pa y Pa y SET RST Pa Pb Pc ADD Pa Pb Pc Pa Pb Pc ADD Cse SUB MUL Pa Pb Pc m DIV m END Pa y Pa y Pa y Pa y Pa y Pa y Pa y Pa y Pa y Pa y Pa y Pa Pb Pc Pa Pb Pc Pa Pb Pc Pa Pb Pc y 0 1 SLVDN User s Manual loads the y bit of the Pa parameter on the stack loads the negated y bit of the Pa parameter on the stack sets the y bit of the Pa parameter to the value loaded on the stack places the y bit of the Pa
105. d can be the constants most used by normal applications When the arithmetic operations ADD SUB MUL DIV are used the operators are assumed to be words and are signed If a double word operation is required set b94 0 1 before the operation itself After the operation the PLC will automatically set this bit to 0 The parameters Pr58 Pr69 and Pr110 Pr149 are treated as double words so that in an operation such as ADD 71 72 64 the result 1 will be written in the double word Pr64 65 without having to set b94 0 1 before the operation If Pr80 1 and Pr81 0 the operation ADD 80 72 64 will give the result Pr64 65 1 while the same operation executed with b94 0 1 will assume Pr81 as the high word of the double word Pr80 81 and the result will be Pr64 65 65535 In the first case operators other than Pr58 Pr69 Pr110 Pr149 are treated as words while in the second case they are treated as double words Page 120 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual In the mathematical operations on double words the operands and the result are defined as follows the parameter of the operand defines the least significant part while the most significant part is represented by the next word After every arithmetic operation b99 2 0 if the result is positive and b99 2 1 if it is negative In the same way b99 3 1 if the result is O and b99 3 0 if it is not 0 These settings remain active until the next arithmetic operation
106. d inside the brackets identifies the base unit byte of the message All messages must be terminated with a time out which is a function of the speed well defined to be considered valid and must have the exact parity and checksum The converter responds to a request or to a data send only if the message has been received correctly In the case of an error in the message no response is transmitted The only exception is message type 7 that is used to send data with a single message to all the converters connected to the serial line Initializing and managing the serial line The converter is delivered with a 0 address Pr27 0 and a speed of 9600 bps Pr26 5 To modify the configuration first set the speed in Pr26 then the serial address in Pr27 and finally initialise it by issuing the command b42 3 Use the b99 15 command to store the configuration Each pico PLC instruction occupies 2 or 4 bytes whose format is the following Since the maximum length of each instruction in 2 bytes and the total area available in the PLC is 256 bytes the PLC program can have at the most 128 instructions Page 126 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Instruction Code Length bytes LD Pa y 0 2 LDN Pay 1 2 OUT Pay 2 2 OUTN Pa y 3 2 AND Pay 4 2 ANDN Pa y 5 2 OR Pa y 6 2 ORN Pay 7 2 ADD Pa Pb Pc 8 4 SUB _ Pa Pb Pc 9 4 MUL Pa Pb Pc 10 4 DIV Pa Pb Pc 11 4
107. d of current and in the configuration of default it is used also in the position control After to have saved the configuration the activation of the selected feedback happens to the successive start up of the drive 8 5 Feedback from incremental encoder at square or sinusoidal wave About the connection draw see the paragraph Encoder connection See paragraph setting feedback to set the system Write the number of pulses in Pr196 and save the parameters with Pr99 15 command turn off and turn on the drive for the activation of the new setup The user must not use Pr159 Pr160 reserved The phasing procedure must be run upon every drive start up It s possible choose among two type of procedure and it s necessary that the motor must be free to rotate also when the motor is mounted into the system the brake of the motor must be disable The movement of the motor during the procedure 1 is wider that during the procedure 2 During the phasing procedure 1 the drive checks the connections and the movement of the motor is broadest so this procedure is recommended for the first time see paragraph encoder phasing 8 6 Encoder phasing 8 6 1 Type 1 phasing Pb94 2 actives this procedure The parameters are shown in the table below Par Description Field Range Def Pr196 Insert number of pulses revolution If b231 1 0 Pr196 32767 is the value of encoder pulses R W 1024 If b231 1 1 Pr196 th
108. described in the chapter The pico PLC The parameters are divided on the basis of their function in the following way From PrO to Pr49 and from Pr188 to Pr231 From Pr50 to Pr70 From Pr71 to Pr99 From Pr100 to Pr150 from Pr168 to Pr187 From Pr151 to Pr163 From In0 to In255 pico PLC instructions The units of measurement and the main resolutions of the parameters are Parameter type Revolutions minute Seconds 1000 revolutions minute 0 001 4096 steps revolution 1 4096 of a revolution of the peak current of the converter Below we describe how to interpret the symbols used in the block diagrams The main block diagram describes graphically how the converter works Each rectangular block represents one or more read write parameters The rhomboid blocks represent read only parameters You can find other functional blocks in the diagram such as GREATER THAN EQUAL TO LESS THAN logical AND OR For all these functional blocks standard symbols are used Binary parameters are represented as switches and the position in the diagram corresponds to the default value Page 62 of 193 Parker Hannifin S p A S B C Division moov Pr Pr X X lt gt bxy de A B C A pe C SLVDN User s Manual Read write of the PrX parameter A value of the PrX parameter Read write of the PrX parameter B value that depends on the values of A and PrX Read only parameter PrX indicates the value of A which ca
109. diate activation Indication W 0 of which table is active in CAMI generator b180 7 Immediate start Tab 3 1 TAB3 immediate activation Indication W 0 of which table is active in CAMI generator b180 8 O Upgrade automatically to CAM1 1 Upgrade CAMI only on W 0 engage b180 10 or b180 13 b180 9 CAM 1 engaging immediately Signal lock Unlock CAM 1 R 0 Page 105 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual amp T7 Par Description Field b180 10 Electronic CAM2 engaging on master phase 0 b180 11 Electronic CAM2 release on master phase 0 b180 12 CAM 2 engaging immediately Signal lock Unlock CAM 2 b180 13 Electronic CAM2 execution on single shot b180 15 Enable swap table engage release linear b181 0 Enabled Tab 0 in the Cam 1 TABO is enabled b181 1 Enabled Tab 1 in the Cam 1 TABI is enabled b181 2 Enabled Tab 2 in the Cam 1 TAB2 is enabled b181 3 Enabled Tab 3 in the Cam 1 TAB3 is enabled LE ADAL ZE olololololololololo b181 4 Command swap of Tab 3 Tab 3 Tab1 Tab 0 The switching between the tables is showed in the picture The switching starts from TAB3 to TABO clockwise direction b181 5 Command swap of Tab 0 Tab 0 Tab2 Tab 3 The switching between the tables is showed in the picture The switching starts from TAB3 to TABO counterclockwise direction b181 6 Selection Table i
110. ding systems conducted interference Besides also high frequency interferes in the form of radiation especially through the motor cable in free space are generated radiated interference The reduction suppression of both conducted and radiated interference can be obtained through Y grounding Y shielding Y filtering In particular filters reduce the interference conducted in the cables and the return of interference conducted at the source the frequency converter by using paths with the lowest possible impedance In this way other systems connected to the same electrical line can be protected effectively and the frequency converter will also be protected from the interference of other systems 5 18 1 Grounding In the electric panels where the drives are usually installed there are two ground systems EMC ground or HF reference high frequency represented by the wall made of non painted metal onto which drives and filters are fixed The safety ground or PE protective earth according to the EN60204 1 standard Fix drive and mains filters the 24Vdc power supply etc on the metal wall making sure that there is a proper electric contact HF connection possible widest Carry the safety ground using cables having a minimum section of 10mm Page 43 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 18 2 Cable connections and shielding With the exception of mains cables to the filter all power
111. dition alarm15 8 3 Changing motor data After having entered a data save command no other changes shall be made to the motor parameters In order to change the entered parameter values new motor enter command b94 3 The drive shall return to its default condition and changing motor data shall be enabled again Repeat the data save procedure with command b99 15 with drive disabled if you want to recalculate parameters Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 with the new motor data 8 4 Setting feedback The drive can use various types of sensor for the control of the speed and current loop The choice of the type of drive must be made in phase of order because there are different configuration type of the drive 8 4 1 Feedback configuration The following table reassumes all the possible configurations and indicates the relative formulation of the parameters Type of motor Feedback setup Number feedback of pulses Supply Drive code b42 9 b42 8 b42 7 b42 6 revolution Resolver Encoder 1 Encoder SinCos SLVD NE EnDat SinCos SinCos One sin wave per pole SLVD NF pitch Incremental encoder with Hall SLVD NH sensor Auxiliar pw un T supply max SLVD N incremental encoder 24Vdc if used SLVD NE in quadrature IN2 Page 49 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual This selection configures the feedback of the speed control an
112. dule In both masters the selected cams can be scaled in a sector of the master module by programming the starting point and the space in which the cam shall be executed It is possible of course to scan the cam in this way also between two master modules Page 99 of 193 Parker Hannifin S p A S B C Division Example 1 3000 2500 2000 1500 1000 500 0 Speed profile axis slave without cam scale Profilo risultante 500 1000 1500 2000 Speed rpm 2000 4000 Master module Example 2 5000 4000 3000 2000 1000 0 Speed profile axis slave with cam scale 1000 2000 3000 4000 5000 Speed rpm 4000 6000 8000 Master module count SLVDN User s Manual Scale CAMI Pr115 114 10000 module Pr177 176 00 start point Pr179 178 10000 execution space Scale CAM2 Pr185 184 10000 module Pr177 176 0 start point Pr179 178 10000 execution space Scale status of the OPM11 default of cam Scale CAMI Pr115 114 10000 module Pr177 176 6500 start point Pr179 178 9500 execution space Pr102 14 calculation scale command Scale CAM2 Pr185 184 10000 module Pr177 176 0 start point Pr179 178 3000 execution space Pr102 13 calculation scale command After the default of operating mode the CAM2 generator operates on table 3 but through the management of bit b182 6 and b181 7 is possible to change the reference table The reference of position given from the
113. e and prevents any further enabling command To enable the drive you ll need to switch it off and on again b99 10 Command to reset alarms This command sets Pr23 and Pr24 to 0 0 R W If the alarm continues it is displayed on the screen This command cannot be used if there is a check sum error Pr23 10 11 In this case it is necessary to set the default parameters b99 12 and then reset the alarm Page 73 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Descrption Field Def b99 11 Default values of the parameters in operating mode This 0 R W command sets the operating mode parameters to the default values The command is executed only if b40 2 0 b99 12 Default values This command sets all parameters to the default 0 R W values and sets those used by the operating mode to 0 Furthermore M it sets the pico PLC program as described in Appendix There is a check sum alarm Pr23 and Pr24 will be set to 0 thereby permitting the alarm to be reset The command is executed only if b99 13 0 b99 13 Status of the pico PLC If set to 1 the PLC program is executed If 1 R W set to 0 the pico PLC is in stop and the PLC instructions can be M modified b99 14 Storing of the pico PLC instructions This command saves the 0 R W pico PLC program It cannot be used if a check sum alarm has been indicated In this case it is necessary to set the default parameters reset the alarm and then s
114. e bridge between the IN and BRC pin and to connect the external resistance between the DC and BRC pin for SLVDION SLVDISN and SLVDI7N versions connect the external braking between the DC and BRC pin and insert a bridge between DC and IN The minimum cross section of the conductors depends on the drive size and it is equal to the minimum cross section of the conductors between motor and drive see paragraph Sections and cable specifications It is necessary to minimize the connection cable length In any case the cable length must be less than 3 m Internal resistance External resistance SLVDION SLVDI5N All models SLVDIN SLVD7N SLVD17N When the values of external braking are different higher to the default value ohm value and power value it s necessary to set these value in these parameter Pr208 Braking resistance Value of braking resistance Is necessary insert the value of resistance when is used an external resistance with advanced value Pr209 Power of braking resistance Value of power of braking resistance Is necessary insert the value of power when is used an external resistance with advanced value b99 4 Braking resistance overload alarm disable alarm Page 41 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 17 Cable connections The following pictures show how to realize the cable connections in particular how to connect the cable shields to
115. e mapped at the index 0x2020 as Unsigned 16 with a default value of 5000 1 unit 1 024 msec Both standard guarding protocols are available Node guarding and heartbeat the two cannot exist in the same time Heartbeat is activated when a producer heartbeat time is set different from 0 Three PDO channels PDO 1 2 4 from the predefined standard connection set are available PDO 1 and 2 are serviced by a cyclic routine executed every 2 048 msec and they are remappable elements of 2 or 4 bytes can be mapped the RTR is allowed event time and inhibit time are active they can handle synchronous requests serviced every 2 048 msec or they can be handled as event driven PDO 4 is the PDO channel used for strictly realtime operation as controlling motor trajectory or position loop the PDO is synchronous type 1 no RTR is allowed and a restricted set of parameters can be mapped in particular PDO 4rx 0x6040 control word 0x60c1 1 position reference in counts 0x60c1 2 velocity reference in counts sec 0x60c1 3 velocity reference in rpm PDO 4 tx 0x6041 status word 0x6063 position feedback in counts 0x6064 position feedback in counts normally in user unit in this case as well in counts 0x2060 Word composed with digital input and aux analog input b0 InO bl Inl b2 In2 b3 In3 b4 b15 Analog input aux Page 149 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Life guarding protocol is implemented and can
116. e position of the motor shaft R W 0 Pr62 63 to the main reference Pr60 61 and of the positioner Pr116 117 by setting that of the electrical shaft to 0 b150 13 Final position evaluation enable disable Pr118 119 If 0 R W 1 eventual modifications to Pr118 119 will not be considered M b231 10 Tab0 enable profile R W 0 b231 13 Enable Pr107 1 the parameter Pr107 is enabled as deceleration R W 0 ramp and Pr109 defines only the acceleration ramp of the position profile Page 84 of 193 Parker Hannifin S p A S B C Division Reset 1 Ref Position Motor ref 0 Reset 2 Ref Position Motor ref Master reference b150 10 b150 11 OPMIS3 lt E150 gt progress SLVDN User s Manual Acceleration Pr108 Pr109 Speed A sa Profile direction Actual position Pr117 116 Target position Pr61 60 Posizione attuale b150 13 b150 3 lt Profile position Pr119 118 Encoder IN rotation speed Pr54 Page 85 of 193 b150 8 Additional speed Pr104 Pr115 114 4 Velocita in somma ty Pr103 Acceleration and deceleration ramp Pa
117. e value is exponential See the M s 18 parameter description b94 2 Command phasing 1 It s necessary to disable he 0 software Pb40 9 0 enable the hardware Pb41 5 1 and driver OK Pr23 0 Execute the command the motor executes two movements and the last is about 90 degree electric with control sign of the encoder feedback Introduce the correct number of the motor poles Pr29 Pr89 Status R 0 if positive result 2 if wrong enabling 3 if positive feedback 4 if wrong motor poles and or number of encoder pulses 5 se drive non pronto Pr23 40 o inrush aperto Page 50 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual b41 6 Phasing result 1 if positive result of the procedure and R 0 necessary condition for drive OK Pb41 4 8 6 2 Type 2 phasing Pb94 4 actives this procedure The parameters are shown in the table below Par Description Field Range Def Pr196 Insert number of pulses revolution If b231 1 0 Pr196 32767 is the value of encoder pulses R W 1024 If b231 1 1 Pr196 the value is exponential See the M parameter description b94 4 Command phasing 2 It s necessary to disable he 0 software Pb40 9 0 enable the hardware Pb41 5 1 and driver OK Pr23 0 Execute the command the motor executes a vibration the standing depends to the type of the motor and to the load Pr89 Status R 0 if positive result 2 if wrong e
118. eak output current 2 sec gt 5 5 E Shaft power Continuous service installed load Power stage dissipation Internal fan capacity Switching frequency Output frequency Max continuous external braking power 400 415 435 Vdc 135 intervention 230 restoration SEHEN B kie aS A lun N E N 0 450 dynamic braking and intermediate DC circuit SLVDIN SLVD2N SLVDS5N SLVD7N SLVDION SLVDISN SEVDI7N 680 820 1800 A 120 10 7 z ues E x cess y 1 22 1 20 N lt e lt E Page 17 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Feedback Resolver Encoder Encoder Hall Max Frequency encoder input kHz 400 Max Frequency kHz 160 Seriallink RS422 RS485 Fieldbus _ CANISO DISIIS8 O input impedance kQ 20 5 Input High voltage range V 10 24 Input Low voltage range V 0 5 Type of driving required a PNP Reaction time us lt 2 5 gt CV supply Output High voltage range I V Output Low voltage range V Max current for single output mA 100 Overload Short circuit protection si pull down interno kQ 20 voltage V 10 CMR dB gt 50 resolution bit 15 sign input impedance kQ gt 10 max frequency Hz 500 t voltage V 10 CMR dB gt 50 resolution bit 10 input impedance kQ gt 10 max frequency Hz 500 voltage
119. ed by a drive manufacturer to implement any manufacturer specific functionality 12 3 2 3 Object 605B Shutdown option code The parameter shutdown option code determines what action should be taken if there is a transition OPERATION ENABLE READY TO SWITCH ON Page 158 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual OBJECT DESCRIPTION INDEX 605Bh Name Shutdown option code Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INTEGERI6 Default Value 0 DATA DESCRIPTION Value Description 32768 1 manufacturer specific 0 Disable drive function 1 Slow down with slow down ramp disable of the drive function 2 32767 reserved 12 3 2 4 Object 605C Disable operation option code The parameter disable operation option code determines what action should be taken if there is a transition OPERATION ENABLE SWITCHED ON OBJECT DESCRIPTION INDEX 605Ch Name Disable operation option code Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INTEGERI6 Default Value 1 DATA DESCRIPTION Value Description 32768 1 manufacturer specific 0 Disable drive function 1 Slow down with slow down ramp and then disabling of the drive function
120. eed the maximum limit of the instructions otherwise the last instructions will be lost The pico PLC program can be edited or modified only when the PLC is in stop b99 13 0 Page 121 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 10 2 Programming with MotionWiz The SLVD N serial kit is supplied to enable communication between a PC and the drive The kit includes an RS 422 RS 232 converter relative 230V power supply and serial connection cable The enclosed communication software supplied free of charge designated MotionWiz has the following HW SW requirements PII microprocessor or higher Windows2000 or WindowsXP mouse and serial port for drive connections The main features of MotionWiz are serial connection of up to 32 drives reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation O status file storage of parameterisation including pico PLC program uploading of parameterisation including pico PLC program from a file that can be selected from among those previously stored oscilloscope function CL 422 Serial link personal computer Asn a DB9 DB25 gt p T MEA 2 0 WE A DB9 adaptalion cable__ pis HD Serial link X1 SLVD Note the adaptation cable is
121. efore they can be used only in machine or systems that are in compliance with the low voltage directive 73 23 CEE modified by 93 68 CEE and with the electro magnetic compatibility directive 89 336 CEE e Electronic equipments are generally not fail safe components Therefore the machine manufacturers should carry out a risk analysis for the whole machine in order to ensure that moving parts motors cannot bring personal injury in case of failures of electronic devices Page 10 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 2 3 Safety instructions for transportation and storage e The ambient conditions given in the product documentation must be observed for transportation and storage temperature humidity mechanical stress and aggressive atmosphere e Drives contain components sensitive to electrostatic charges which can be damaged by inappropriate handling Therefore during installation removal of drives provide the necessary safety precautions against electrostatic discharges discharge electrostatic charges of the human body before touching the drive always place the drive above conductive plates and avoid touching it with insulating material like synthetic fibres polymeric materials etc WARNING Risk of injury by incorrect handling e Incorrect handing of the equipment may cause severe personal injury Use appropriate tools for transportation lifting handling and mounting Wear appropriate c
122. ence b180 14 1 from motor position 1 only for opm 14 0 for other opm Page 80 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 4 Torque control operating mode 1 This operating mode does not control the torque in the classic way since the speed control continues to work to control the speed limit The torque reference will be the Pr7 main reference To set up the torque control you must first adjust the speed control in order to establish a stable system and then set Pr31 1 in order to program the operating mode by setting the default values with the command b99 11 Set Pr2 1000 10 V 100 0 of the torque b40 0 0 b40 12 0 b40 2 1 to enable the reserved reference and Pr100 to limit the maximum speed of the motor OPERATING MODE I PARAMETERS Par Description Field Range Def Ris Pr100 Maximum speed This parameter is used to limit R W 0 9000 3000 1 the absolute maximum speed of the motor during M rpm the torque function Page 81 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 5 Digital Lock Positioner operating mode 13 Operating mode 13 includes the Digital Lock dynamic positioner and flow speed functions in order to use them at the same time The tracking function refers to the input frequency signal X3 connector set as an input encoder signal by setting b42 0 0 b42 1 1 and b42 5 1 This encod
123. ength 7 bytes Cmd amp Len 5 bit command and 3 bit length Identifier ID2 ti wo IDIO ID9 ID8 ID7 ID6 DS ID4 ID3 A AY AOE X axa o0 12973 21 A0 A4 SLVD N slave address Pr27 1 valid values 1 31 Cmd amp Len Sub field Value Meaning Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8703 The electronic cam0 table have the address from 4096 to 4609 The electronic cam1 table have the address from 4610 to 5123 The electronic cam2 table have the address from 5124 to 5637 The electronic cam3 table have the address from 5638 to 6151 Data If the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified If the parameter is to be read the field has no meaning If plc programme is written it contains the instruction code see the section Serial interface Page 137 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Response to a parameter request message from the SLVD N to the master Data reply 5 byte Addr amp Spare Data Pr27 1 8bit Identifier I
124. er signal is counted at every end of the communication of A and B signals The counter of the motor position is incremented at the rate of 4096 steps per revolution The user can program the ratio between the master and the slave by using parameters Pr52 and Pr53 It is possible to choose the ramp to use during the engaging or release phase Pr103 See the connection diagrams in the section Input frequency connection If you use a digital input for the engaging command the digital input 0 in FAST IN mode must be used in order to minimize phase errors The positioner function follows a trapezoidal profile in which the acceleration and deceleration ramps are defined by Pr109 and by Pr107 if b231 13 1 the full speed by Pr108 and the final position by Pr118 119 one revolution of the motor equals 4096 steps The parameters can be modified at any time The current position of the positioner is given by the parameter Pr116 117 You can add a speed by using Pr104 9 5 T TABO profiles in memory In OPMI13 is possible use the TABO to memory up to 51 trapezoidal profiles and for everyone is possible memorize the speed the acceleration deceleration ramp and the final position in double word The Pr193 parameter contains the number of the profile to execute with b231 10 1 bit the function is able to transfer the block of 4 variables of profile in the positioner variables TABO 1 word speed Pr108 TABO 2 word acc dec ramp Pr109
125. erence frequency translated into rpm based on 4096 imp revolution Pr55 Window for servo error 1 If the position error as R W count 1000 1 an absolute value exceeds the value set in Pr55 M b70 4 is set to 1 Otherwise b 70 4 0 Pr56 Window for servo error 2 If the position error as R W count 1000 1 an absolute value exceeds the value set in Pr56 M b70 5 is set to 1 Otherwise b 70 5 0 Pr57 Proportional gain for the position regulator R W 0 100 1 M 32000 Pr58 59 Encoder in captured The value encoder master is R count 0 1 captured on the positive edge of the selected input see b70 0 Pr60 61 Regulator position reference R count 0 1 Pr62 63 Motor position fbk If incremented by 4096 R W count 0 1 steps per revolution M Pr64 65 Position offset R count 0 1 Pr66 67 Encoder in counter R count 0 1 Pr68 69 Value captured Value of the position of the count 0 1 motor captured on the positive end of the digital input 1 Pr96 95 Deposit of value comparator b94 8 1 Pr98 97 Deposit of value comparator b94 9 R W 1 M Pr106 Feed forward scale The range is from 0 to 2000 0 2000 0 1 but if Pr106 1000 the feed forward doesn t use the scale Pr154 CAN Reference multiplier Using this parameter R W 32000 1 1 and Pr155 the user can set the ratio desired for the M 32000 input reference frequency Pr155 CAN Reference divider Using this parameter and R W 3
126. espect the phase A it s important to verify that the phase phase resistance limits the current to the rated value so that the shaft aligned only for S B C motor for other type see the paragraph motor phases set the command b99 9 1 and start again the drive Page 52 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 8 7 1 Motor phases In this paragraph is showed a procedure not necessary for the motors of the S B C Division essential for the motor connection because allows to find the motor phases A U B V C W The procedures shown in this document are dangerous for the operator and could damage the motor under test A qualified and AG trained personnel with advanced skills in electronics and drive technology is therefore needed the operator must be sure that these procedures are proceeding in safety condition Necessary instruments power supply 24Vdc with output current equal or higher to the rated current of the motor under test Verify that the phase phase resistance of the motor limits the current at the rated value with 24V voltage applied Necessary requisites motor free without load and inertia applied Procedure connect the positive pin of the 24Vdc supply voltage at one motor phase assign name A at this phase Connect the negative pin at one of the other phases at random Feeding the circuit the rotor will turn and to assume a new position Observing the motor shaft move the nega
127. et for how this offset is used Various homing positions are illustrated in the following diagrams An encircled number indicates the code for selection of this homing position The direction of movement is also indicated Further homing methods may be defined by the manufacturer using the negative values of homing method There are four sources of homing signal available these are the negative and positive limit switches the home switch and the index pulse from an encoder In the diagrams of homing sequences shown below the encoder count increases as the axle s position moves to the right in other words the left is the minimum position and the right is the maximum position For the operation of positioning drives an exact knowledge of the absolute position is normally required Since for cost reasons drives often do not have an absolute encoder a homing operation is necessary There are several application specific methods The homing method is used for selection The exact sequence of the homing operation is clearly described by the method In some circumstances a device has several methods to choose from using the homing method 12 3 8 1 Homing methods The following sub sections describe the details of how each of the homing modes shall function 12 3 8 1 1 Method 1 Homing on the negative limit switch and index pulse Using this method the initial direction of movement is leftward if the negative limit switch is inactive here
128. eter Check Sum PLC gt Check Sum parameter 3J Brake overload p gt Calibra error Braking resistance protection gt Auxiliary alarm Ambient overtemperature gt Brake overcurrent Speed FBK initializing error p PTC alarm active p Software enable 40 9 Motor speed Torque limit Alarm Bro management gt j o overvoltage gt undervoltage gt Drive ok Zero speed overcurrent gt KEDE Speed loop FBK error P forward External alarm Mp EE T Drive enable Overspeed limit Over BP gt NH Pr13 speed Hardware enable gt gt Page 75 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 3 Operating modes Parameter Pr31 default 0 is used to select the operating mode Every operating mode controls speed using parameter Pr6 and can use parameter PR21 to limit the torque at the motor see the block diagram Speed control will use as reference Pr7 or Pr6 depending on the value of b40 2 Before changing Pr31 b40 2 must be set to 0 in order to avoid unwanted movements of the motor Therefore it is possible to set Pr31 to the value that corresponds to the selected operating mode The parameter b99 11 is used to load the default parameters for the selected operating mode By setting b40 2 to 1 the operating mode will be turned on All operating modes need
129. hich execute automatic loading of the tables are predefined and in addition there are the commands who allow the activation of the other tables in the cam generator The user can generate the function for every table through points construction variable TAB or through the motion laws predetermined in the drive in one of the four tables Following comes illustrated like recalling the functions Predetermined function Table Pr102 6 Pr102 5 d function y x function y x senx Tab0 Pr102 8 function y senx Triangular profile of speed Page 87 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Tabl Engage ramp Tab2 Disengage ramp Pr102 11 Tab3 function y x senx Triangular profile of speed Prl102 14 CAMI Adaptation module of CAM through Pr176 177 and Pr178 179 Pr102 can be setting through serial line CAN or pico PLC internal to the drive It s not possible set this parameter using the display The activation of the table in the cam generator can be given by direct command that executes immediately the selected table or defining one phase of the master and determining the activation point It is to cure of the customer the synchronization of the functions during the passages between the tables As a OPMIA default configuration the CAMI i
130. home position is at the index pulse found in the selected direction L Index pulse NENNEN NEM MEN MN Figure 29 Homing on the index pulse 12 3 8 1 10 Method 35 Homing on the current position In method 35 the current position is taken to be the home position Page 172 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 9 Profile position mode operative mode 201 In profile position mode Pr31 201 the buffer of targets allowed is 2 elemets long one for the profile in execution the other for the next the motion profile type only valid value is 0 trapezoidal profile with linear ramp 12 3 9 1 Internal states The profile position mode will control by the bits of the controlword and statusword Index Object _ Name Type Attr M O 607Ah VAR Target position INTEGER32 rw M 608 1h VAR Profile velocity UNSIGNED32 rw M 6083h VAR Profile acc dec UNSIGNED32 rw M 6085h VAR Quick stop deceleration UNSIGNED32 rw O 6086h VAR Motion profile type INTEGER16 rw M 12 3 9 1 1 Controlword of profile position mode 15 9 8 7 6 5 4 3 0 Halt abs rel Change set immediately New set point MSB LSB Name Value Description New set 0 Does not assume target position point 1 Assume target position Change set 0 Finish the actual positioning and then start the next immediately positioning 1 Interrupt the actual positioning and sta
131. ic message from the master to the SLVD N Data length 8 6 4 bytes Identifier ID2 IDI IDO ID10 ID9 ID8 ID7 ID6 IDS ID4 ID3 AS IA A IEEE XR FSS sp s ERAEN A0 A3 SLVD N slave address Pr27 1 valid values 1 15 Pr102 is used as a command and must be managed by the pico PLC The data type depends on the message length as follows 8 Positionreference 4 byte Speed reference Q byte Pr102 2 byte 6 Position reference 4 byte PrI02 2 byte iTS 4 Speed reference 2 byte Prl02 byte O Synchronism message from the master to the SLVD N Synchronism message 1 byte Sync Sync type 8 bit Identifier IDO IDIO ID9 1D8 ID7 we ws 1D4 ID3 Xs E LR 1261 207 OO 159 1 9 7159 126 315975 Type 0 synchronism Sync 0 every SLVD N activates the speed references and the position references and stores the actual position of the motor if b150 2 1 the drive answers with a cyclic reply Type 1 synchronism Sync 1 stores the actual position of the motor if b150 6 1 the drive answer with a cyclic reply Page 130 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Cyclic message from the SLVD N to the master Cyclic reply Data length 6 7 byte Field Name Status Data Pr27 1 8bit Pr116 117 32 bit Identifier IDIO ID ID8 ID7 ID6 ID5 ID4 ID3 Exc Spe ipe og quo qoc ors pgs A0
132. if the parameter to monitor necessity more counts is necessary to attribute to Pr189 a such value to bring back the scale of reading of the parameter within 512 counts Prio 9 9 9 Master reference There are three different type of master reference Encoder ref Reference on digital bus via CAN see encoder CAN Frequency direction ref The type of reference signal must be connected to the relative connector see par frequency input output connection Each reference has a input counter that encoder signal is calculated on every edge of A and B signal The counter of the motor position increases 4096 imp revolution It s possible to set the relation between master and slave with multiplicative and divisor factors The encoder ref from IN2 IN3 can be set as frequency direction input type or as input in quadrature b42 4 and b42 5 Pr54 Master encoder Sposa Reference multiplier d X2 encoder IN Counter encoden dt Encoder Pr52 IN input e ME Pr53 Pr67 66 b70 9 Reference divider encoder IN Master speed reference CAN multiplier Pr154 Pr159 Master reference X1 gt operative mode Eng Pr155 ngoger Counter CAN CAN input Reference CAN input divider Reference Fre dir multiplier
133. ifin S p A S B C Division SLVDN User s Manual 5 14 Can line connection There is a Can bus interface on the drive type Physical layer ISO DIS11898 the DATA link is full CAN version 2 0 part A ID 11 bit and a subset used for application layer SBC Can L ANL L H ANH H um bo b o po 5 15 External 24V power supply for the control stage The drive electronics must be supplied with an external 24Vdc power supply 1A minimum per drive pins 1 and 2 of terminal block X4 The 24Vdc power supply must be exclusively dedicated to the drive Sharing the power supply with other devices e g brakes electro valves etc could cause malfunctions tecti f P ter ist f the fuse terninal b SUPPL 22 H T El Eu IN a KEF NS f po KEF H MON HF sional A K x QUT El BUT Page 40 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 16 External braking resistance When a higher braking power is needed it is possible to connect an external braking resistance to the drive by X7 terminal block About the connection must use the X7 terminal block to remove th
134. in the drive The event is marked with the bit b150 12 1 to the start of the ramp after the activation of the table the b150 12 is automatically set to zero As to the engage phase needs to define one internal point to the master module for the start of the disengage ramp To difference of the engage cam executed the disengage phase is a simply deceleration ramp and comes executed through the positioning of the OPM14 The release point is written in the Pr128 129 parameter in step module master Activating bit 150 13 reserves the start of disengage of the slave in the point programmed the bit Pb150 13 is automatically set to zero after the disengage Activated the disengage phase on the programmed point it is necessary to define the point of stop in which stopping the slave in step module slave this point of stop is written in the Pr118 119 parameter in step module slave This space must be sufficient to permit to stop the axis with the deceleration ramp programmed on the Pr109 in the start point in Pr128 129 and the final position point in Pr118 119 are too much near pay attention to master slave module conversion is necessary to add to the final position one or more slave modules Pr118 119 slave module final position internal at the slave module The compilation of the cam table is made in background and at the conclusion Pr102 is automatically set to zero pay attention that if b40 2 0 the Pr102 parameter comes forced however
135. ing read only Unit R 0 100 0 0 1 of the rated temperature Indicates the estimate of Vo Temp the heat in the innermost coils of the motor If this reaches the value of 100 0 equal to the nominal value b41 11 will become 1 and therefore the current will be limited to the nominal value Description if the drive generate the max current starting from 0 current after 2s Pr36 100 and Pb41 11 1 result the drive limits the current at the rated current This situation remains until the drive generates 0 current and after 35s Pr36 is 0 again Pr37 Thermal image of the braking resistor read R 0100 0 0 1 only Unit of the rated temperature Indicates Temp the estimate of the heat of the braking resistor If the value reaches 120 0 the converter issues an alarm Pr43 Zero encoder offset This parameter is used to R W 0 4095 0 Jl modify the position of the output zero trace for the M count zero resolver Pr28 Pr44 Number of pulses per revolution Range R W 4 65000 1024 1 4 65000 default 1024 This is the number of M count pulses per revolution that is used by the simulation encoder The maximum frequency is 160 kHz dius encoder pulses x ispeed rpm lt 160 kHz 60 sec min Pr45 Main analogue input Represents the value ofthe M 32767 1 main analogue input 10V Pr46 Motor resistance The phase phase resistance of K M 0 1 0 0 1 the motor 300 0 Ohm Pr47 Motor inductance The
136. is a digital frequency converter for brushless motors The operator interface based on parameters makes it easy to configure the converter Configurations of different kinds make suitable it for many applications The SLVD N provides functions as a positioner with a trapezoidal profile electrical shaft electronic cams spindle orientation simulator of a step motor and torque control and it also contains a PLC It uses widely diffused industrial programming standards and guarantees a high degree of freedom in selecting inputs and outputs The SLVD N also offers the possibility to develop additional functions that are not included in the basic functionality of the converter such as gain correction for loops based on speed or space monitoring the used torque for tool life control etc The SLVD N is equipped with a RS 422 RS 485 serial interface which is used to configure monitor and send commands to up to 32 SLVD Ns at the same time Standard operator panels can be connected to support the SBC protocol A CANbus interface is also available which can be used in communication mode and also in real time mode The CANbus can be used to set up a wide band digital link thereby simplifying the cabling of the system Page 7 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 1 3 Identification The converters of the SLVD N series are available in 6 models SLVDIN SLVD2N SLVDSN SLVD7N SLVDION SLVDI5N and SLVD17N The numbe
137. is executed the operation is executed only if the stack bit is equal to 1 A mathematical operation can be executed by placing the result in one of the constant parameters Pr71 Pr79 in order to set bit b99 2 and b99 3 If the DIV operation is executed on a double word the most significant part of the result contains the remainder of the division that is if b94 0 1 and the operation DIV 79 77 80 is executed the result will be Pr80 4 and Pr81 96 The FIN instruction Two instructions are available for the fast acquisition of inputs in this case the scanning occurs at the rate of 512us normal scanning is at the rate of 6 144ms If this is used they must be the first instructions of the PLC The first instruction FIN copies digital input 0 to the y bit of the Pb40 parameter the second operand 0 or Pb150 the second operand 1 The second FIN copies digital input 1 to the y bit of the pPb40 parameter second operand 0 or Pb150 second operand 1 If the value 2 is added to the second operand the input must be negated before being copied If an FIN instruction is inserted in a different position it will not have any effect The FIN instructions can be enabled disabled using a bit for each FIN the first FIN is enabled if b94 5 0 the second FIN is enabled if b94 6 0 The FIN instruction inserted in the PLC program after the first two instructions and in any case if it follows any instruction that is not a FIN instruction is ignored The
138. is on The motor shaft may be rotating Corresponding to Pr0 this message indicates that the converter has registered an alarm xx indicates the alarm code and has shut off When it registers an alarm the converter is brought to Pr0 displaying the alarm code Indicates the parameter xx whose value can be displayed by pressing the M key Indicates the parameter at bit xx Indicates the bit yy of parameter xx By pressing the M key the status of the bit is displayed Indicates bit yy of parameter 1xx By pressing the M key the status of the bit is displayed Indicates instruction xx of the PLC program Is displayed for about 1 second whenever a command is sent Is displayed for about 1 second whenever an alarm reset command is sent b99 10 Indicates that the drive is set to default status and must be programmed with the basic parameters of the motor Indicates that the converter has malfunctioned Page 47 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 8 START UP In Its basic configuration the drive can control both synchronous permanent magnet motors brushless and asynchronous induction motors with feedback The setting of Pr217 can select either of the following Pr217 0 synchronous motor default setting Pr217 1 asynchronous motor The drive is supplied with default factory parameter settings See the following chapters for use and start up 8 1 Setting the default parameters If you want
139. is point the procedure continues as described above Page 110 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 9 2 Speed adjustment In the operating mode default conditions Pr31 0 the drive adjusts the motor in speed based on the reference value The reference origin can be selected with the main block parameters between analogue external potentiometer internal digital or external pulse string It is possible to make comparison by zero speed and other speeds set acceleration and deceleration ramps change the current and torque limits and check the drive status The main block diagram shows the main drive structure how the configuration parameters act bit or Pb parameters and the main numerical parameters Pr 9 9 3 Current or torque adjustment typical To set the converter to Current mode torque adjustment the speed ring is excluded by setting b42 2 1 The main analogue reference is assumed as torque reference current If the nominal current value is exceeded the thermal image trips as in the speed operation 9 9 4 Virtual encoder The virtual encoder function is enabled by setting b42 0 1 42 1 0 and 42 5 1 A virtual encoder will be available at the X3 connector and its speed will be as set in Pr3 The set speed has a resolution equal to 1 rpm and a value in the range 3500 and 3500 rpm The output signals phase A phase B will simulate an encoder of Pr44 steps revolution w
140. ithout phase C of 0 After the programming the configuration must be saved and the unit must be powered off and on again Not compatible function with operating OPM15 Page 111 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Pulse numebr per b42 0 turn motor di NT Pr44 e X2 Motor position e Pr3 m encoder OUT Virtual speed encoder n Enable virtual axis Address encoder CAN our Motor position e d Pr27 gt b40 1 X1 Enable reference Oe s e encoder CAN by b42 0 b70 8 CAN pointer Enable message Pr48 Virtual speed encoder encoder CAN out Pr3 Ll p b70 10 CAN baudrate CAN setpoint Pr158 di Input encoder can Multiplicative factor Pointer encoder CAN p counter Pr154 b70 8 xi Pr157 156 40 i CAN i Pr155 Pr202 CAN setpoint Address encoder divisor CAN read 9 9 5 Value comparators These functions are enabled ONLY with operating mode 11 13 and 14 The Pr96 95 and Pr98 97 parameters have the alternative function of value comparators With b94 10 0 then b94 8 1 if Pr96 95 gt Pr63 62 or Pr66 67 if feedback encoder With b94 10 1 then b94 8 1 if Pr96 95 gt Pr61 60 With b94 11 0 then b94 9 1 if Pr98 97 gt Pr63 62 or Pr66 67 if feedback encoder With b94 11 1 then b94 9 1 if Pr98 97 gt Pr61 60 This function is r
141. k 0x7310 Er05 over temperature motor Oxff07 Er06 over temperature drive 0x4310 Er07 aux trip 1 Oxff00 Er08 aux trip 2 Oxff01 Erl0 checksum PLC 0x6310 Erl1 checksum Parameter 0x6310 Erl4 braking resistance alarm 0x7113 Er15 default Parameter 0x6320 Er17 calibration alarm 0x5210 Er22 over temperature ambient 0x4110 Er24 over current braking 0x7112 Er25 speed feedback error Oxff0e Er27 overload digital output 0x2320 Er30 hardware data memory 0x5530 When alarms are reset with b99 10 Error code will be 0x0000 Two additional pop up message not related to alarms can be enabled using command bits and in this case the Err Reg field will contain 0x00 while Error code will be Oxff05 for the target position reached message and Oxff06 for the value drive captured message The Data field in addition to the drive address will in the first case contain the position reached by the motor Page 142 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual and in the second case the captured position of the motor on the positive front of the input INI The target position reached message is generated when the motor after the target position is changed in operating mode 13 b150 0 1 in operating mode 14 Pr102 not zero will go to the target position at less than a tolerance set in Pr55 for at least a time of Pr88 2 048msec When this message is enabled
142. limit switch Page 170 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual eee d Q A HATS E lt i 8 6 gt 8 Co Ormond dr T Index pulse y Home switch oe Pee Positive limit switch Figure 26 Homing on the home switch and index pulse positive initial move Q A essesesees lessseseseseses mens E TUM Index pulse y Home switch Negative limit switch Figure 27 Homing on the home switch and index pulse negative initial move 12 3 8 1 6 Methods 15 and 16 Reserved These methods are reserved for future expansion of the homing mode Page 171 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 8 1 7 Methods 17 to 30 Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following diagram Home switch PU Figure 28 Homing on the positive home switch 12 3 8 1 8 Methods 31 and 32 Reserved These methods are reserved for future expansion of the homing mode 12 3 8 1 9 Methods 33 to 34 Homing on the index pulse Using methods 33 or 34 the direction of homing is negative or positive respectively The
143. lled Pr26 Serial line speed code This is the code for R W 0 8 5 1 programming the transmission speed For more M information consult the section on the serial interface Pr27 Serial line address code For more information R W 0731 0 1 1 consult the relevant section M Pr28 Motor shaft position read only Indicates the R 0 4095 1 absolute position of the resolver count Pr29 Number of motor poles R W 2 64 0 l K M Pr30 Offset of the resolver position Used to correct R W 32767 0 I electronically the mechanical position of the M resolver Pr31 Operating mode Used to select the active R W 0 15 0 l operating mode The value 0 means that no M operating mode has been selected Pr32 Rated speed This is the rated speed of the motor R W 0 9000 0 I The speed that has been set is used to limit the K M rpm speed request Therefore it should be set to about 1096 greater than the maximum operational speed Pr33 Rated current of the motor The rated current off R W 0 1 In 0 0 1 the motor must be set K M A Pr34 Number of poles on the resolver R W 2 448 0 I K M Pr35 Torque monitor Unit of the torque at peak R 07100 0 0 1 current resolution 0 1 Indicates the percentage Page 67 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Ris Pr36 Thermal image wind
144. lly R b41 7 External alarm An alarm that can be used by the user 0 R W b41 8 Auxiliary alarm A second alarm that can be used by the user 0 R W b41 9 CANbus watchdog This bit is set to 1 at every block sync reception R via SBCCAN b41 10 Saturation of the speed regulator b41 10 1 when the speed R regulator is supplying the maximum current b41 11 FT active Indicates that Pr36 has reached the 100 0 value and R therefore the converter is limiting the current to the nominal value b41 12 Converter enabled R b41 13 Bus warning Indicates a momentary communication error on the 0 R SBCCAN b41 14 Bus off error Indicates a permanent communication error on the 0 R SBCCAN b41 15 CANbus watchdog This bit is set to 1 at every sync 0 or 1 0 R reception via SBCCAN b42 0 Virtual encoder enabled Default 0 1 function enabled See the 0 R W section Other useful functions M b42 Encoder port direction 0 output 1 input 0 R W M b42 2 Torque control If set to 1 the main analogue reference is assumed 0 R W as the reference for the torque control torque servocontrolled mode M b42 3 Reinitializing the serial line and the SBCCAN Command to 0 R W initialise serial communication whenever the speed value of the M serial line Pr26 has been modified Command to initialise the SBCCAN whenever the address or the function mode has been modified The serial line and the SBCCAN are in any case initialise when the converte
145. lothing for accident prevention safety shoes safety glasses safety gloves etc 2 4 Safety instructions for commissioning A DANGER e The high voltages inside the drive imply risk of electric shock Make sure that drive and motor are properly grounded accordingly to national regulations Furthermore the drive before switching it on must be closed in a protective cabinet in order to avoid direct contact with accessible live parts e Only qualified and trained personnel is allowed to perform installation and commissioning using appropriate tools and following the safety precautions given in this instruction Make sure that supply voltage has been switched off before installing and wiring e Drives are only allowed to be operated on TT TN grounded industrial mains having maximum 480V 10 line to line rms voltage as specified in the user manual Do not directly install the drive on ungrounded IT or asymmetrically grounded mains In case of ungrounded mains coupling with Dyn transformer with grounded secondary circuit is necessary Refer to drive technical data and wiring instruction e All the components used in the cabinet in which the drive is installed cables contactors inductors and transformers fuses etc and the connected motor must be in compliance with the specification given in the product documentation in addition to national regulations Make sure that the maximum temperature inside the cabinet does not exceed 45
146. ming on the negative home switch and index pul 170 12 3 8 1 5 Methods 7 to 14 Homing on the home switch and index pulse 170 12 3 8 1 6 Methods 15 and 16 Reserved 5 secs seems 171 12 3 8 1 7 Methods 17 to 30 Homing without an index pulse 172 12 3 8 1 8 Methods 31 and 32 Reserved aos ose OR Pra eH RS EE EE SUE 172 12 3 8 1 9 Methods 33 to 34 Homing on the index pulse sssesss 172 12 3 8 1 10 Method 35 Homing on the current position 172 12 3 9 Profile position mode operative mode 201 ooooonccnnncninccnococonononnnnonncconccco nacion 173 J239 tia States Sai aioe sancti ascen c eos aL cens RM IAS 173 12 3 9 1 1 Controlword of profile position mode sss 173 12 3 9 1 2 Statusword of profile position mode ssssssssseeeee 173 12 392 Object dictionary entr les ias 174 12 3 9 2 1 Objects defined in this Chapter ooonconnconiccniocnnonnconncconocanc nono nonnnnonnncnnno 174 12 3 9 2 2 Object 607Ah Target position uideo coa te tae Pret eon n Festa Pe ito tent 174 12 3 9 2 3 Object 6081h Profile velocity eee teet tte eite tt tes 175 123 924 Object 6083h Profile acceleration deceleration 175 12 3 9 2 5 Object 6085h Quick stop deceleration esses 176 123 9 2 6 Object 6086h Motion profile type sess 176 123 93 Functional desetiptlotios uses es ee A
147. mo S B C SLVD N SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N User Manual rev 0 6 February 2009 software rel 7 Parker Hannifin S p A S B C Division SLVDN User s Manual This user manual is for the standard version of the converter All information in this user manual including methods techniques and concepts described herein are proprietary information of Parker Hannifin Divisione S B C EME Division and of its licensees and they shall non be copied or used without express authorization Parker Hannifin S p A Divisione S B C is committed to a continuous product upgrade and reserves the right to modify products and user manuals at any time without prior notice No part of this user manual may be howsoever reproduced without previous consent by Parker Hannifin S p A Divisione S B C Abbreviations FBK Feedback Pr Decimal parameter b Binary parameter bit FEW Feedforward control advance function R Read parameter W Write parameter Keypad display Keypad Drive Converter ISBN 0902120830 Page 2 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual TOINTRODUC TION sc GE caca UE nU ap eli d viii Re iU eO 7 1 1 1 2 1 3 General informatiOn eoe ee ee eu uoa o a see aee eun asas esae aao een ea suero asse densases deas Pose Psesaeasee P Product description uui i iter eduL eei edis eva alo oa ci dd ne ERE akon av DkM ve V
148. modes of operation NOTE The actual mode is reflected in the modes of operation display index 6061n and not in the modes of operation index 6060 12 3 3 Functional description 12 3 3 1 Modes of operation function The device behaviour depends on the activated modes of operation It is possible to implement different device modes Since it is not possible to operate the modes in parallel the user is able to activate the required function by selecting a mode of operation An example of exclusive functions are those for position and torque control which can only control one variable at any one time The variables can perform at most a limited function Such hybrids are regarded as the particular characteristics of a mode of operation Position control operation and encoder profile support can be active at the same time for example Consequently encoder profile support is not regarded as a mode of operation Modes of operation 6060h Y Velocity mode Operation mode function Profile velocity mode lt wt Profile torque mode Modes of operation display 6061h Page 162 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 4 Homing mode operative mode 200 In homing mode Pr31 200 all the standard methods are available the index is referred to the feedback C encoder input track Z it is also possible to refer the index to the absolute in the shaft revolution position of zero of
149. motor is the appropriate size for its current use T Check the motor connections and for any phase phase or phase ground short circuits Check the machine speed and the service cycle Make sure a line trap isn t connected to the motor connectors on both sides drive motor 5 PTC motor alarm Check the PTC connection cable If the alarm persists disable the drive remove power from the motor and de energize the drive 24VDC Remove the PTC connector from the drive short circuit the PTC connecting PTC and PTC on the same drive terminal block Supply power to the drive 24VDC If the alarm persists either the drive is in fault state or the PTC on the motor is in fault state at the end of the test remove the PTC short circuiting connection Drive Over Temperature Check the cooling fans and for any restrictions to air flow Check the breaking cycle Check the environmental temperature of the electrical control panel where the drive is installed as well as the external room temperature 7 10 1 15 Default parameter 17 Calibration error O 24 Braking transistor protection Short circuit braking resistance If an external braking resistor is connected to the drive check the resistor statures and wiring Can be only reset at the next power on Feedback speed error Check the selection of feedback and the connection Limitation of current I T The drive goes in IT mode due to an overload i
150. n t included in the serial kit Page 122 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 10 3 MotionWiz The configuration tool is called MOTIONWIZ and is used to program the drive while controlling the whole system in real time PLC programs can also be edited and new files can be generated The first step is to install the program E cia click on the icon SetupMotionWiz exe Follow the instructions that appear during the installation An icon linking to the program will be generated on your desktop at the end of the installation process n i Park Ha Tie alior Click on the icon to start the configuration program The following window will be displayed on your monitor MOTION hidrive 2 hidrive 3 hidrive 1 prova2 prova3 continued provad provai File menu Data on PC Data on drive Tipo Motore Drive n a Tipo Drive Com n a It is possible to select the desired language Italian or English How to generate a new file to set the data for motor and drive use the databases provided by the software that can be accessed through the icons below the figures when the drive and the motor pictures are out of focus it means that the relevant data have not been set yet Press ENTER to access the configuration functions How to use an existing file the file menu shows a list of most recent files To open a file click on a name in the list Alternatively using the
151. n UNSIGNED32 rw O 6086 VAR Motion profile type INTEGERI6 rw M Index Object Name Type Chapter 6040 VAR Controlword UNSIGNED 16 dc 6041 VAR Statusword UNSIGNEDI6 dc 605A VAR Quick stop option code INTEGER16 dc 6093 1 2 ARRAY Position factor UNSIGNED32 fg 6094 1 2 ARRAY Velocity encoder factor UNSIGNED32 fg 6097 1 2 ARRAY Acceleration factor UNSIGNED32 fe 12 3 9 2 2 Object 607A Target position The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position is given in user defined position units It is converted to position increments using the position factor The target position will be interpreted as absolute or relative depending on the abs rel flag in the controlword Page 174 of 193 Parker Hannifin S p A S B C Division OBJECT DESCRIPTION INDEX 607Ah Name Target position Object Code VAR Data Type INTEGER32 Category Conditional Mandatory if pp or pc supported EN TRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No 12 3 9 2 3 Object 6081n Profile velocity SLVDN User s Manual The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion The p
152. n also be binary Read write of binary parameter The position of the switch indicates bx y 0 The value of the binary parameter bx y positions the switch e If A is less than B C 1 true Otherwise C 0 false The value of G is the lowest value of A B C D EF Only if A 1 B 1 and C 1 Otherwise C 0 If A or B is equal to 1 C 1 Otherwise C 0 values coming from the hardware values sent to the hardware the value of A is converted to B For example if in the triangle symbol you see A D this means that the analogue value of A was converted into the digital value B The maximum value of A will be PrX Page 63 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Reduced and extended menu When the SLVD N is in the default status only a limited number of parameters is displayed These parameters are the only parameters necessary for those applications where the SLVD N is used as a simple converter and where the advanced functions of the converter for example if the SLVD N is used with a numeric control or with an intelligent axis board are not used To switch between the limited menu and the extended menu enter b99 6 limited menu if equal to 0 extended menu is 1 The parameters in the limited menu are Pr0 Prl Pr2 Pr8 Pr16 Pr17 Pr19 Pr29 Pr32 Pr33 Pr35 Pb99 Actual speed of the motor shaft in rpm revolutions per minute Offset for the main analogue reference Full
153. n are no more available in this release Page 147 of 193 Parker Hannifin S p A S B C Division The use of CANopen involves the reduction of the number of the free parameter See the next table SLVDN User s Manual b39 13 CANopen send user fault The message user fault is sent when this bit is 1 Par Description Field Range Def Ris Pr152 CANopen user emgy message W 971 0 1 Pr153 CANopen user emgy message W 27 0 l Pr161 CANopen user emgy message W 971 0 1 Par Description Field Def 0 b39 14 CANopen Node Guard watchdog b70 12 1 enable Pr152 on emgy message CANopen command bit this bit generates an user message with Pr153 152 value Automatically reset when it is sent b99 5 CANopen enable exchange CANopen block Page 148 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 CANopen DSP402 D version The CANbus node must be set through Pr49 with values from 1 to 127 Transmission speed depends on Pr31 Pr48 e b150 4 as the following table Pr31 15 Pr31 15 Pb150 4 0 125kbps IMps 0 0 125kbps 500 kbps 1 Mbps po 2 500 kbps All changes in speed address or function mode are activated using the b42 3 command or when the converter is powered on again In the CANopen implementation of SLVD N an SDO channel is available standard cob id with a changeable timeout valu
154. n e bo 150 8 E hase E gt pl Zero Es b150 13 encoder Y Master axis Master axis position Pr113 112 9 3 E phase captured Pr125 124 Positive edge detector b70 14 Master axis captured Pr129 128 Release master Page 93 of 193 axis phase Set Pr102 gt gt b150 15 Immediate electronic cam release Slave axis Pr115 114 module Regulator position Pr61 60 reference Parker Hannifin S p A S B C Division SLVDN User s Manual 9 6 4 Linear engage CAM With OPM 14 exists the possibility to program a linear engage cam on master module It s necessary to define the space to use of the module master in which executing the engage cam of the slave Program the Pr132 133 parameter like start point and the Pr126 127 parameter like final point setting the bit Pb150 11 reserves the start of the slave in the start point of the module master programmed It is necessary that in this point the value of Pr134 135 is equal to the position caught from the slave to end of the ramp that is to start of the ramp the slave must be found in advance regarding the engage point in phase with equal distance to Pr136 137 The bit Pb150 11 is automatically set to zero after the engage In the final point of the engage cam automatically is activated the cam table wrote
155. n the CAM 2 The state of this bit together with W 0 bit b181 7 identifies the selected table see table below b181 7 Selection Table in the CAM 2 The state of this bit together with W 0 bit b181 6 identifies the selected table see table below Table selection b181 6 b181 7 Tab0 1 1 Tabl 1 0 Tab2 0 1 Tab3 0 0 b181 8 Enable virtual table Tab 3 W 0 b181 9 Enable counter position from CAMI to global counter W 0 Pr131 130 This command b181 9 1 enable the reference of CAMI This value is added algebraically to global counter of reference b181 10 Enable counter position from CAM 2 to global counter W 0 Pr131 130 This command b181 10 1 enable the reference of positioner This value is added algebraically to global counter of reference b181 11 Enable counter position from trapezoidal positioner to global W 0 counter Pr131 130 This command b181 11 1 enable the reference of CAM2 This value is added algebraically to global counter of reference b181 13 Enable counter position from CAM 1 to reference position W 0 Pr60 61 b181 14 Enable counter position from CAM 2 to reference position W 0 Pr60 61 b181 15 Enable counter position from trapezoidal positioner to reference W 0 position Pr60 61 Page 106 of 193 Parker Hannifin S p A S B C Division OPMII
156. nabling 5 if drive not ready Pr23 40 or open inrush 6 Pr201 parameter calculated frequency of vibration is different of 25 unit from starting value 7 Pr201 parameter calculated frequency of vibration exceeds 200 unit max value b41 6 Phasing result 1 if positive result of the procedure and R 0 necessary condition for drive OK Pb41 4 18 The calculated value of Pr201 at the end of the procedure if it is save it permits at the new start up that the procedure starts from this value and if the mechanical conditions don t change is maked only one vibration of standing fixed by Pr201 N B during the phasing procedure the motor must be motionless so if the motor is on vertical axe this system must be motionless without to use the brake N B the encoder simulation can t use zero encoder track as reference for reset the machine when the system uses a axis control and the FBK is a incremental encoder Page 51 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 8 7 Feedback from SinCos encoder with Endat interface About the connection draw see the paragraph Encoder EnDat connection See paragraph setting feedback to set the system Pr196 is updated in automatic to the values made from read the Eeprom inside to the encoder The user must not use Pr159 Pr160 reserved In case of encoder single turn at power up Pr62 63 P128 that is the absolute revolution
157. ncy Output frequency The performance of converter is guaranteed only with synchronous motors with permanent magnets MB and SMB Series that have been manufactured by us Page 9 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 2 Safety instructions 2 1 Symbols and signals Several symbols and signals are used in this safety instruction Pay attention to the following meanings Extremely severe risk Disregarding the following advise may involve danger of life Severe risk Disregarding the following advise may involve serious personal injury Medium risk Disregarding the following advise may involve personal injury 2 2 General information e Only persons who are qualified and trained for the use and operation of the equipment may work on this equipment or within its proximity The persons are qualified if they have sufficient knowledge of the assembly transportation installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions The user must also observe local safety regulations e Before installing and commissioning the drive read carefully this documentation and strictly observe all technical safety and wiring information including identifying labels placed on the drive ratings In case of doubt contact the Parker Hannifin service centre e Drives are to be intended as components for use in machine or systems Ther
158. nd the bit reset automatically b150 14 Immediate electronic cam engage Engage command for cam W 0 mode terminated the command the bit reset automatically b150 15 Immediate electronic cam disengage Disengage command for W 0 cam mode terminated the command the bit reset automatically b180 0 Start Tab 0 on master phase of Pr168 169 1 enables Tab0 at the W 0 master phase declared in Pr169 168 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 1 Start Tab 1 on master phase of Pr170 171 1 enables Tab0 at the W 0 master phase declared in Pr171 170 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 2 Start Tab 2 on master phase of Pr172 173 1 enables Tab0 at the W 0 master phase declared in Pr173 172 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 3 Start Tab 3 on master phase of Pr174 175 1 enables Tab0 at the W 0 master phase declared in Pr175 174 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 4 Immediate start Tab 0 1 TABO immediate activation Indication W 0 of which table is active in CAMI generator b180 5 Immediate start Tab 1 1 TAB1 immediate activation Indication W 0 of which table is active in CAMI generator b180 6 Immediate start Tab 2 1 TAB2 imme
159. ns inn 5 ELECTRICAL CONNECTIONS 5 5 arias neni pans ro tir Ras no ae aal Ya nS Eu ni Y ska ae E Deko Enn E Ee kk duda 24 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 5 12 Signal connectors layout sssesssesssecesocesooessocessccssocesocesoosssoesssccsssecssocesocsssosessess 24 Sections and cable specificatioNs oooomsmss 27 Proteccion ca io PE Protective Earth comnectioNs ooooomommmmm ZO Line connection GIA GPAMIS ccclsscceruiassedsenacsscccdassissersensssetsecsisevecesessccesuentsessienssene 29 Motor connection diagrams esssesssesssecsscocesocesoosesocesoecesocesocesoosesoesssecesocesoessssse JL Resolver connection diagrams ssesssesssecesooesoocesocessccesocesooesooeesscessccesoossoosessee IZ Encoder connection ssssecesssooessssooeessocecssooccesssocesssoocessooccssosocesssoossssoosessssessssse JJ Encoder EnDat connection esssoossesooccesosecesssoosessoocsssosecessooossssooesssosesesssesesssse OF Incremental encoder with Hall sensor ssseocsssoocsssooecesssooesessooeessooesssosesessse OD SinCos one sinwave per pole pitch sesssesssecssocssocesoossoocsssecssocssoossoosessesssesss J Frequecy input output connection oooomocsmsm OT Page 3 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 12 1 Connecting the SLVD N to the digital lock eese 38 5 13 Serial line CONNECTION scpoiivaissssevsesorssdevsi
160. nsportation 2K3 Class 25 70 C 13 158 F humidity operation 3K3 Class 5 85 96 without ice and condensation 3K3 class storage 1K3 Class 5 95 without ice and condensation transportation 2K3 Class 95 a 40 C altitude lt 1000 mslm lt 3281 feet asl Protection d gres IP20 only in close electric cabinet UL open type equipment Pollution degree 2 or lower no conductive dust allowed For higher installation altitude derate the output current by 1 5 each 100m up to 2000m maximum 3 2 Vibrations and shocks frequency Hz Width mm acceleration m s working 2 lt f lt 9 0 3 3M1 class 9 lt f lt 200 1 2 lt f lt 9 3 5 transportation 9 lt f lt 200 10 2M1 class 200 lt f lt 500 15 Free fall 0 25 meters max Page 15 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 3 3 Power supply EMC Filter internal Mains frequency 50 60 5 Variation rate of frequency Supply voltage V 200 10 230 10 3 phase or 1 phase only for TT TN mains DC voltage range 282 10 325 10 Maximum dissymmetry of voltage EMC Filter intemal Page 16 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 3 4 Technical characteristics dM Models SLVDI7N Rated input current 15 29 599 838 1197 1796 2036 1 Rated output current 34 2 0 345 5 L 60 39 6 ie P
161. nual 9 7 Electronic cam op mod 11 Operating mode 11 is expressly designed to meet the needs of packaging machines that require 2 electronic cams This program is in the drive s basic configuration and it can be programmed by selecting Pr31 14 and b99 11 1 parameters to select the operating mode and to select default parameters of operating mode Some of the most widely used motion functions of industrial automation are available within this mode Namely this operating mode includes the following position reference generator positioner speed mode generator caml generator cam2 generator The resulting position reference is incremental and is generated by algebraic sum of the references see the following picture Positionator P Cam 1 e Resulting position iii reference Cam 2 E This diagram allows to identify a general flow in operating mode 11 If you carefully analyze this mode you will see that the programmer can use several enabling commands programmable bits at different levels in order to address the flow of the generated position reference or references in several display modes For instance for each generator a position reference can be enabled in the position loop or into a general position counter X 4 Position loop Y Positioner Modul n Counter reference counter at modul generator P s
162. o carry the feeding to the encoder wants to say not to have more to disposition the digital input IN2 5 12 1 Connecting the SLVD N to the digital lock S v Ne At 1 box Pd e At Kf x x i X ZA 4 ente 0 LON PUN LA E i f i n pol 20R EN _ EX X AL IN LA e x i x X 5 2 fo lt I LA CN m J DANS E om rT In the example given above the connection of two SLVD N to the Digital Lock with a master is shown but the diagram could be extended to several converters respecting the series connection The line charge resistors must be connected to the last converter The master can be an encoder powered externally or an encoder simulator of another converter The signal of the master encoder must in any case be of differential type 5V RS 422 Therefore it is possible to connect a maximum of ten slave SLVD N If the master is a SLVD N type converter you can connect up to 32 converters to the electrical shaft by using the same signal of the simulated encoder standard RS 422 Alternative at the reference in frequency it s possible to execute a connection in digital lock by the digital bus on X1 connector Follow the outline Page 38 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual
163. of Pr172 173 1 activates the Tab2 table W 0 to the specified phase master in Pr172 173 The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110 111 b180 3 Start Tab3 on master phase of Pr174 175 1 activates the Tab3 table to the specified phase master in Pr174 175 The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110 111 z b180 4 Start Tab 0 Immediate activation of Tab0 Show table activate in CAM generator b180 5 Start Tab 1 Immediate activation of Tabl Show table activate in CAM generator b180 6 Start Tab 2 Immediate activation of Tab2 Show table activate in CAM generator b180 7 Start Tab 3 Immediate activation of Tab3 Show table activate in CAM generator b181 0 Enabled Tab 0 in the Cam 1 Tab0 activates b181 1 Enabled Tab 1 in the Cam 1 Tab0 activates b181 2 Enabled Tab 2 in the Cam 1 Tab0 activates b181 3 Enabled Tab 3 in the Cam 1 Tab0 activates b181 8 Enable virtual table Tab 3 with value in Pr105 zz mu cO ooooO co b181 12 Activation change value of the slave module in phase Page 92 of 193 Parker Hannifin S p A S B C Division Positioning OPMI4
164. ofile position mode Interpolated position mode Page 152 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Device Control state machine CAN node Device Profile 402 p Application layer and communication profile DS 301 Homing mode Profile Position mode E S g o Q o ES o o o o Interpolated Position mode Here by the schematic of device control with controlword e statusword Control word Y 6040h State machine Internal events Page 153 of 193 C Motor Parker Hannifin S p A S B C Division Power disable Not ready to switch On 1 Y Switch On disabled SLVDN User s Manual Fault reaction active 4 j Ready to Switch On Switched On A i j Operation enable Power enable If Pt current clamping is active bit 11 of the statusword rises 12 3 2 I Object 6040h Controlword The controlword consist of bits for the controlling of the state the controlling of operating modes and manufacturer specific options OBJECT DESCRIPTION Page 154 of 193 Quick stop active Parker
165. oint and change set immediately in the controlword and set point acknowledge in the statusword These bits allow to set up a request response mechanism in order to prepare a set of set points while another set still is processed in the drive unit This minimizes reaction times within a control program on a host computer DATA New setpoint 2 4 6 Change set immediately 1 Setpoint acknowledge 3 5 Figure 17 Set point transmission from a host computer Page 177 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Figure 17 Figure 18 and Figure 19 show the difference between the set of set points mode and the single set point mode The initial status of the bit change set immediately in the controlword determines which mode is used To keep simple these examples only trapezoidal moves are used If the bit change set immediately is 0 continuously drawn line in Figure 17 a single set point is expected by the drive 1 After data is applied to the drive a host signals that the data is valid by changing the bit new set point to 1 in the controlword 2 The drive responds with set point acknowledge set to 1 in the statusword 3 after it recognized and buffered the new valid data Now the host may release new set point 4 and afterwards the drive signals with
166. onding to the module in Pr144 145 Inside the module can be defined 2 further values Pr146 147 and Pr148 149 indicating the position at which the digital output is toggled The user has to initialise the value of the motor position at Pr142 143 and the output status at b91 1 the function is enabled by b70 3 1 and in this case Pr142 143 shows the motor position inside the module An offset for this position may be set at Pr140 The refresh time of the digital output is 512 us The limits for the parameter values are Pr140 range 22 2P Pr142 143 range 0 2 Pr144 145 range 0 2 Pr146 147 range 0 2 Pr148 149 range 0 2 0 lt Pr146 147 lt Pr148 149 lt Pr144 145 9 9 8 Analogue output programmable In X4 terminal block is available one analogue output programmable The parameter Pr188 defines the parameter to monitor The analogue output scale has a range from 512 to 512 counts corresponding 4 096 V By parameter Pr189 is possible to modify the scale the value is the exponent of base 2 There are three different cases Pr188 Pr0 monitor speed has in escape 4 096V when Pr0 Pr32 while 4 096V when Pr0 Pr32 with Pr189 0 Page 113 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Pr188 Pr35 monitor torque has in escape 4 096V when Pr35 is equal to pick current if Pr19 100 with Pr189 0 In other cases Pr188 Pr range in escape 512 counts as 4 096V Therefore
167. onic cam independent from selector Pr102 0 223 Pr137 136 Cam engage ramp Defines the space to cover during the engage ramp in slave steps the value must be however smaller of half of slave module z i Pr154 Multiplicative factor of reference ENCODER CAN Pr155 Divisor factor of reference ENCODER CAN Pr157 156 Encoder CAN counter Pr158 Encoder CAN pointer b70 10 Pr169 168 Master phase for engaging of the Tab 0 b180 0 When the master phase matches the programmed value then the slave engages to the master TABO is enabled zjaw Pr171 170 Master phase for engaging of the Tab 1 b180 1 When the master phase matches the programmed value then the slave engages to the master TABI is enabled Pr173 172 Master phase for engaging of the Tab 2 b180 2 When the master phase matches the programmed value then the slave engages to the master TAB2 is enabled Pr175 174 Master phase for engaging of the Tab 3 b180 3 When the master phase matches the programmed value then the slave engages to the master TAB3 is enabled Pr177 176 Scale CAM start cam If is enabled when CAM1 arrives in this position in its module then starts the engage of CAMI z Pr179 178 Scale CAM Space cam Pr182 Multiplicative factor of reference sum between POS CAMI e CAM2 Pr183 Divisor factor of reference sum between
168. only R count 1 parameter Indicates the actual position with reference to the electrical shaft Pr116 117 Actual position positioner Read only R count 1 parameter Indicates the actual position with reference to the trapezoidal profile Pr118 119 Final position positioner Used to set the R W count 1 final position that is desired for the generator of the trapezoidal profile based on 4096 steps per revolution Pr193 Profile selection from Tab 0 R W 0 1 Par Description Field Def b150 0 Active positioner During the positioning Pr118 119 z R W 0 Pr116 117 this bit is high M b150 2 Engaged electrical shaft During the engaging phase when the R W 0 ramp Pr103 is not 0 this bit indicates the end of the transitory M phase b150 3 Encoder in selection If 0 the encoder input conditioned by Pr52 R W 0 and Pr53 is used as the master for the electrical axis function If M 1 it updates directly Pr118 119 to execute the step like function or pulses train b150 4 Profile direction Read only flag Indicates the direction of the R 0 motion of the positioner M b150 6 Profile feed forward If 1 the profile feed forward is disabled R W 0 M b150 8 El Axis engaging release This bit it used to engage 1 and R W 0 release 7 0 the axis from the input encoder reference M b150 10 Type 1 reset Command to set all the motor position and R W 0 reference to 0 b150 11 Type 2 reset Command that sets th
169. ooooccooccccoonncconnnocononoconanononnnnnonnnccnn ccoo 101 9 8 Position control through the CANbus operating mode 15 108 Page 4 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 9 Additional useful functions sessesseseesossesossossesoosoeseesossesoesossesossossessossesossoso 110 9 9 1 UPI TURCO Aaa Set Sate Macc eu sts ode te TD adu 110 9 9 2 Speed adjustment onnaa A AAA 111 9 9 3 Current or torque adjustment typical seen 111 9 9 4 N rtualenucoder ooa otn dab aate eese eer ee eae cere ae 111 9 9 5 Val ecompatatorS io se re a e a elena obit O 112 9 9 6 Value Capture oe ternen a tuti e a aa ea SDN 112 9 9 7 Output cam programmer sy 4 decaeeeees soe aeke tein n o sede een ee onte edo Fee Ryan te d rd bera io outs 113 9 9 8 Analogue output programmable eren 113 9 9 9 M sterreference teita innen o EREE 114 9 9 10 Encoder Caricias 115 10 PROGRAMMING DIGITAL INPUTS AND OUTPUTS 117 10 1 THE PICO P P PATH 117 10 2 Programming with Motion WIE ecece escee scenes eese eerte ot thee Posee e ee eg ree pP edo repe 122 10 3 Motion Woods ERE uM ME eis e ERE HAE soeter itso robos os DEA UNE 123 TT SERIAL INTERFACE coccion 124 11 1 Communication protocol ssessseessocssocesooessocesoccssocesocesoosesoeessecssocssocsssoosssosesse 124 12 CANBUS INTERFACE 2 5 222 22 22222222222 22
170. ot reached target position Figure 33 Position reached Figure 34 shows the meaning of the sub function following error in the profile position mode Symmetrically around the reference position a window is defined for the accepted following error tolerance If a drive is situated out of the accepted position range for more than following error time out time the bit following error bit 13 in the statusword is set Accepted following Following error Position Error tollerance Following Following error Jj error window window No following error Following error reference position Figure 34 Following error The following error window is used to signal by mean of status word the servo error condition on user defined BIT14 when Interpolated position mode is active and with standard bit 13 in profile position mode This feature isn t valid for rel 206 yet If the user sets b272 3 a fault reaction sequence is entered and according to the fault reaction option code valid values 0 1 2 the motor is stopped and finally disabled sending an emergency message with error code Oxffll feature isn t valid for rel 206 yet Page 179 of 193 and user data loaded with pr 108 109 This Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 10 Interpolated Position Mode operative mode 202 In Interpolated Position Mode Pr31 202 the
171. ounter CAN CAN input Reference CAN input divider Reference Fre dir multiplier IN2 IN3 Pr212 zu d FregDir Pr213 Pr215 21 dt Quadra Reference Fre dir b42 4 divider counter Fre dir Freq dir Quadrature Master speed Page 77 of 193 A o X4 12 Digital input 1 Master quota caugth b70 14 b180 14 RH Quota caugth gt Pr59 58 b70 0 X4 13 e Zero Digital input 0 encoder Master reference operative mode Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Field Range Def Ris Pr50 Maximum speed This parameter limits the R W 0 9000 3000 1 maximum speed of the motor It can be useful to M limit the speed during a sudden link or during a rpm quick change of speed Pr51 Position error R W 32768 0 l M 32767 count Pr52 Reference multiplier Using this parameter and R W 32000 1 1 Pr53 the user can set the ratio desired for the input M reference frequency Pr53 Reference divider Using this parameter and Pr52 R W 32000 1 1 the user can set the ratio desired for the input M rpm reference frequency Pr54__ Encoder in rotation speed read only Indicates R rpm 0 1 the input ref
172. owing error timeout resolution of 1 024 msec per unit Page 151 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 0x6067 Position window in user units converted by mean of position factor and compared with the motor position to check if target reached in profile position and interpolated position modes 0x6068 Position window time resolution of 1 024 msec per unit 0x607a Target position in user units converted by mean of position factor and used in profile position mode in this mode some elements of CAM tab 0 are used as spare memory and so affected by changes 0x607c Home offset in position units converted by position factor 0x6081 profile velocity profile velocity in profile position mode in counts sec o RPM depending on unit selection standard or not with b272 8 0x6083 profile acceleration acceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 8 0x6084 profile deceleration deceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 8 0x6085 quick stop deceleration deceleration in quick stop action 0x6086 Motion profile type valid values 0 0x6093 1 Position factor Numerator position factor 0x6093 2 Position factor Denominator position factor 0x6094 1 Velocity encoder factor Numerator velocit
173. parameter to the value of stack negating it if the stack 1 the y bit of the Pa parameter is set to 1 if the stack 1 the y bit of the Pa parameter is set to 0 if the bit loaded on the stack contains the result of the logical AND operation between itself and the y bit of the Pa parameter the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter the bit loaded on the stack contains the result of the logical OR operation between itself and the y bit of the Pa parameter the bit on the stack contains the result of the logical OR operation between itself and the y bit of the negated Pa parameter if the bit on the stack 1 the addition operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the subtraction operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the multiplication operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the division operation is executed on the parameters in which Pc Pa Pb end of program input with fast scanning Page 119 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual FUNCTIONAL DESCRIPTION The pico PLC program is scanned every 6 144 milliseconds With this sampling the input is first read the two timers Pr92 Pr93 b99 0 and b99 1 are updated the user program is scanned and the output is upda
174. peration may exceed 3 5 mA AC or 10mA DC e Earth connection must be permanent use copper wire having a minimum size of 10mm throughout all the length e Before switching the equipment on make sure that all devices including the motor are permanently connected to earth even for brief test or measurements as shown in the wiring diagrams Otherwise high voltages may appear on equipment conductive surfaces with danger of electrical shock e Always refer to current local regulations for grounding For installation within European Community refer to EN61800 5 1 product standard section 4 2 5 4 2 For installation in the USA refer to NEC National Electric Code and NEMA National Electric Manufacturers Association The product installation should always comply with the above said standards A WARNING Hot surfaces Danger of injury Danger of burns e Some external surfaces of the equipment and same internal part may reach very high temperatures Danger of burn and injury if touching these parts e After switching the equipment wait at least 15 minutes to allow it to cool before touching it Page 12 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual A DANGER Dangerous movements Danger of life e Dangerous movements can be caused by faulty control of the connected motor Same common example are O Improper or wrong installation and wiring O Wrong input parameters before or during operation programming
175. ple case to describe the engage and disengage functions of an axis by changing tables and they are calculated in order to allow these functions for an axis that needs to be dynamically disengaged engaged according to a gearing law Pr102 5 Y 5 Of course it 1s possible to describe different tables for similar functions and load them in the relevant array In order to accomplish this and more generally to ensure user access to cam tables as it happened previously for Tab0 these can be either read and written using the keypad or pico PLC by pointer Pr103 and value in Pr104 or through SBC Can or serial port RS422 using address 4096 adjacent areas of 257 words per table Keypad SBC CAN o serial Tab 0 0 lt Pr103 lt 256 4096 lt address lt 4096 513 Tab 1 500 lt Pr103 lt 756 4096 5 14 lt address lt 4096 1027 Tab 2 1000 lt Pr103 lt 1256 4096 1028 lt address lt 4096 1541 Tab 3 1500 lt Pr103 lt 1756 4096 1542 lt address lt 4096 2055 With CANopen version you can use the tables by SDO as follow CANopen Tab 0 Point 0 254 Index 0x2004 Sub index 1 255 Point 255 256 Index 0x2005 Sub index 1 2 Tab 1 Point 0 254 Index 0x2006 Sub index 1 255 Point 255 256 Index 0x2007 Sub index 1 2 Tab 2 Point 0 254 Index 0x2008 Sub index 1 255 Point 255 256 Index 0x2009 Sub index 1 2 Tab 3 Point 0 254 Index 0x200A Sub index 1 255 Point 255 256 Index 0x200B Sub index 1 2
176. ptional Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Page 183 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Operation enbled G O z 9 o9 o o A Disable 9 2t Quick stop voltage shutdown 25 e 2 5 g 9 Wo on Te 19 cm E ao a E Oc oO ge SoD 5 Ou aa Coo E ks a Oo 2 Interpolation inactive Enable interpolation Disable interpolation Interpolation active Page 184 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 11 Drive parameters Some debug commands and parameters are added concerning CANopen Par Description Field Range _ Def Ris Pr273 CANOPEN_CTRL_WORD Control of drive status R 32768 0 1 32767 Pr274 CANOPEN_STATUS_WORD Status of the drive R 32768 0 1 32767 Pr275 CANOPEN_DS301_STATUS Status off R 32768 0 1 communication profile DS301 1332787 Par Description Field Def b271 8 Enable sync check 1 enables missing sync check dsp 402 R W 0 CANopen b272 1 Conversion of velocity 1 conversion of velocity and acceleration R W 0 in standard units counts sec e counts sec 0 conversion of velocity and acceleration in rpm e msec krpm b272 3 Fault reaction sequence 1 a fault reaction sequence is entered and R W 0 according
177. r is powered on b42 4 Encoder in IN2 IN3 1 quadrature 0 FD If it is 1 the 1 R W frequency input is programmed to receive two phases in quadrature M If it is 0 it is enabled to receive a frequency direction input Page 72 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Descrption Field Def b42 5 Frequency input X3 connector If set to 1 the frequency inputis 1 R W programmed to receive two quadrature phases and this is the default M value If set to 0 a frequency direction type of input can be received b42 6 Selection the type of feedback Is possible choose between resolver M b42 7 and encoder see the paragraph setting feedback b42 8 b42 9 b94 0 Force a double word formatted operation When the unit is powered on 0 R W this is 0 If it is set to 1 the first mathematical operation executed by the pico PLC is done by using three double word type operands After the execution of the operation b94 0 is automatically set to 0 If Pr60 Pr68 Pr110 Pr148 are used the double word formatting is implicit b94 1 Command to set the main reference offset to 0 This command is 0 R W used to automatically set the Prl parameter in order to automatically set the voltage offset on the main analogue reference to 0 This operation can be done only if the absolute value of the offset is less than 200 Mv b94 2 Type 1 encoder pha
178. r revolution at 4096 b70 2 Feedback direction If 1 the rotation of the motor is inverted R W 0 Only with feedback done by the resolver M b70 4 Servo error b70 4 will be set to 1 if the position error as an absolute R 0 value exceeds the value set in Pr55 b70 5 Servo error b70 5 will be set to 1 if the position error as an absolute R 0 value exceeds the value set in Pr56 b70 6 Feed forward enable If set to 1 the feed forward on the position R W 0 regulator is enabled M b70 7 Feed forward scale enable If b70 6 1 is possible enable the feed R W 0 forward scale M b70 8 Enable encoder CAN b70 9 Master frequency reference Encoder in 0 Encoder CAN 1 b70 10 Enable encoder CAN pointer Pr158 b70 13 Frequency reference master 0 Encoder CAN 1 R W 0 frequency direction IN2 IN3 the status of the bit defines the M reference between encoder CAN b70 13 0 and digital inputs IN2 IN3 b70 13 1 b70 14 Value master captured If set to 1 this means that the value master R W 0 has been captured The user must set the bit to 1 see operating mode M 14 b70 15 Value motor captured If set to 1 this means that the value motor R W 0 has been captured The user must set the bit to 1 M b180 14 Master Motor reference captured The captured level from the R W 0 master reference or of the motor position is downloaded in Pr59 58 this bit selects which of two quote is captured b180 14 0 from master refer
179. r that follows the SLVD N abbreviation corresponds to the rated current of the converter in amperes Use the following table to specify the order code SLVD 1 N S YI 2 C E 3 D H 1 F 10 15 17 Where S SBC CAN protocol standard C CAN Open protocol DS301 D CAN Open protocol DS402 Resolver EnDat incremental sinc encoder input from motor feedback Incremental encoder hall sensors input from motor feedback SinCos one sin wave per pole pitch Optional board E5 EtehrCAT A label is attached on the right side of the converter that contains all the essential information to correctly identify the unit Serial number Model Nominal plate data It is important to refer to this label before requesting any kind of technical information from Parker Hannifin S p A S B C Division Page 8 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual An example of this label is given below SLUDSNS S N 06100001 PARKER HRNNIFIN S P A D SBC 1visione_ o Via Gounod 20092 Cinisello B MILANO ITALY SLUDSNS S N 06100001 INPUT OUTPUT 3Ph 230V 3Ph 0 230U 6 12A SA 50 60 Hz 0 450 Hz A Ana C READ INSTALLATION USE COPPER INSTRUCTION MANUAL WIRE BEFORE INSTALLING RATED 60 75 C Model Serial number S N 0610000 Power supply OUTPUT 3Ph 0 230U Output voltage Input voltage 6 1 SA 0 450 Hz Input freque
180. raically with the reference of the master in the CAMI generator When the profile is finished the bit Pb150 3 is automatically set to zero it can be activated again if another quota is loaded in the final position Pr119 118 Page 86 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 6 2 Speed mode It actives with Pr102 3 and the parameters are Pr100 speed and Pr101 acceleration and deceleration ramp 9 6 3 Electronic cam Four tables are available namely TABO TABI TAB2 and TAB3 that have been implemented to perform a series of cam functions Each table is described by a vector made of 257 elements that indicate the position to be taken by the controlled axis when the motor axis is in the position element number e master modul Master position 256 In each table the value of the vector elements is ranging between 0 and 9999 whereas 10 000 shall be the count number set in the slave module parameter In order to generate a table the axis route must be divided into 257 points the value of each point will have to be rated to 10000 because this is the maximum value that can be written in the table elements The 257th element of each table defines the cam as closed if it is 0 or as open if it is 10 000 The block diagram highlights that the OPM14 has only one cam generator and is possible select one of four tables Tab0 Tabl Tab2 e Tab3 As a default OPM14 TABO is active Some functions in w
181. rators will have a different behaviour Based on the executed command CAMI immediately activates the execution of the selected table as well as a change of module The selection of engage disengage of the CAM1 happens Page 98 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual in correspondence of the master phases The b180 9 beyond signaling the state of engage disengage of the CAMI it allows an engage disengage immediate of the same without to consider the master phase Modules with negative sign cannot be set in CAMI CAM2 will be engaged and disengaged only by command and always when the master is in phase 0 or by a single execution command Single Shoot The b180 12 beyond signaling the state of engage disengage of the CAM2 it allows an engage disengage immediate of the same without to consider the master phase The user will have to check the synchronization of the new cam A module with negative sign can be set in CAM2 Pr185 184 With b180 8 0 command the CAM2 variation table and module is calculated immediately without the engage disengage commands of the cam If the b180 8 1 command the table and the module set up in CAM2 are updated through an engage command b180 10 or b180 13 single shot The user will have to check the continuity of speed and ramp during table and module changes and especially during the engage phase immediate As a default configuration the cams are scanned throughout the master mo
182. reference If 1 the reserved 0 R W reference of the operating mode in use is used If 0 the reference M selected by b40 0 b40 12 and b40 13 is used b40 3 Reference hold If 1 the reference will not be updated and the 0 R W motor will not follow the variations of the input reference If 0 the M reference will follow the variation of the input reference b40 4 Left limit switch If 1 and the reference selected requires negative 0 R W speed the reference is set to 0 following the ramp set in Pr12 If 0 M no control is made b40 5 Right limit switch If 1 and the reference selected requires 0 R W negative speed the reference is set to 0 following the ramp set in M Pr12 If 0 no control is made b40 6 Stop function If 1 the motor is set to zero speed following the 0 R W ramp set in Pr12 M b40 7 Selection of the absolute relative speed window If 0 the speed 0 R W window Pr14 Pr15 b41 1 will function in relative mode Otherwise M if 1 it will function in absolute mode b40 8 Analogue torque limit If 1 Pr22 will be used and also the 0 R W auxiliary analogue input in order to limit the torque to the motor The M sign of voltage at aux differential analog input doesn t interest b40 9 Software enable If 0 the converter cannot be enabled 1 R W M b40 10 Reserved b40 11 Injection of third harmonic in modulation 0 W b40 12 Selection of the digital analogue reference If 0 the analog
183. rker Hannifin S p A S B C Division SLVDN User s Manual 9 6 Electronic cam operating mode 14 Operating mode 14 is expressly designed to meet the needs of packaging machines that require electronic cams This program is in the drive s basic configuration and it can be programmed by selecting Pr31 14 and b99 11 1 parameters to select the operating mode and to select default parameters of operating mode By setting b40 2 to 1 the OPM14 will be turned on and using opportunely the mode selector Pr102 is possible select the source for the position loop The possible sources are NO source Mode selector Pr102 Reference position Speed mode In OPM14 counters for the position loop are visualized to module Pr60 61 Pr62 63 and the value of the module is set on the parameter Pr114 115 9 6 1 Positioning This is a trapezoidal profile generator with the following user definable parameters Speed profile acceleration and deceleration ramp final value in motor step The parameter referred to the final position is absolute The difference between the final position Pr119 118 and the reference position Pr60 61 generates the direction of the movement The generator of the profile begins when the Pr102 is equal to 1 and when reached the position the mode selector is automatically set to zero Alternatively with the bit Pb150 3 1 and Pr102 2 the quota written in the final position comes added algeb
184. rofile velocity is given in user defined speed units It is converted to position increments per second using the velocity encoder factor OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX 6081h Name Profile velocity Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 12 3 9 2 4 Object 6083 Profile acceleration deceleration The profile acceleration deceleration is given in user defined acceleration units It is converted to position increments per second using the normalizing factors Page 175 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual OBJECT DESCRIPTION INDEX 6083h Name Profile acceleration deceleration Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 12 3 9 2 5 Object 6085 Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the quick stop option code see 605Ah is set to 2 The quick stop deceleration is given in the same units as the profile acceleration OBJECT DESCRIPTION INDEX 6085h Name Quick stop deceleration
185. ronism and multisynchronism message receiving via SBCCAN Therefore it is possible to check the communication status between Master and Slave via CANbus through a simple pico PLC program The pico PLC code on the drive be as follows Ld 41 15 Out 41 5 Rst 41 15 If the check of the communication status between Master and Slave via CANbus is implemented into the drive pico PLC the test is executed every 6 144 ms i e minimum execution time of pico PLC program or multiples Attention both Pr103 Status and Pr102 Command must be set through a specific pico PLC program into each drive Note 2 the Master can send the new reference data only if at least 400 us passed from the last synchronism message or if the response message has already been received The typical timing of the SBCCAN in real time mode is shown in the diagram on the next page Page 135 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Feedback from drive1 Feedback from drive2 Feedback from drive3 Feedback from drive4 A cyclic msg to drive1 cyclic msg to drive 2 Tx reference Change Pr of drive X cyclic msg to drive 3 yclic msg to drive 4 E RX Feedback Require Pr of drive X LI Drive X reply C Page 136 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 1 2 Description of the fields in communication mode Write or parameter request message from the master to the SLVD N Data l
186. rotocol at a time 12 1 SBC CAN The CANbus on the SLVD N has two functional modes The first functional mode is real time mode This is to establish a real time digital link between 15 SLVD Ns and a control that executes the calculation of the trajectories and sends the position reference the speed reference or both to the SLVD Ns which can change the actual position of the motors b150 2 1 Real time mode is active when Pr31 15 The second functional mode is communication mode This is used to write or read every parameter of each SLVD N connected to the bus maximum of 15 This function is very useful when you want to sue the motion functions that have already been realized in the base software of the SLVD N Communication mode is automatically set when Pr31 15 The CANbus node must be set through Pr27 with values from 0 to 14 Transmission speed depends on Pr31 Pr48 e b150 4 as the following table I25kbps IMbps 0 125kbps 500kbps 1 7 For bus length greater then about 1000 m bridge or repeater devices may be needed All changes in speed address or function mode are activated using the b42 3 command or when the converter is powered on again In the messages via CANbus the node number is identified through Pr27 1 inreal time 1 to 15 incommunication 1 to 31 Page 129 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 1 1 Description of the fields in real time mode Cycl
187. rrent that can produce acoustic noise and mechanical vibration By raising the value of Pr18 to 3 the situation is much improved fig 6 Tek Run 500 S s Sample DEE E T seem 1 ERR OV 28 Mar 1996 08 46 27 Page 58 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Tek Run 500 S s Hi Res Trig e quo a 28 Mar 1996 08 47 40 OV Fig 6 If mechanical parts are used which very easily tend to enter into oscillation we recommend you use very low values of Pr16 In this configuration the SLVD N typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations This configuration is shown in figure 7 Tek Run 250 S s Hi Res Trig E E ipei rg i i i dedere a Oe eo E OV 28 Mar 1996 08 50 13 Page 59 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual ADJUSTMENT WITHOUT USING INSTRUMENTATION If you do not have an oscilloscope you must A Determine the value of Pr16 as described above B Determine the Pr17 parameter by using the following formula 153 41 Pr16 J Nm Pr17 1488 picco where J tot 18 the total inertia motor load expressed in kgm Nm pic o is the available torque with the peak current of the converter C Turn on the converter and use the external control to move the axis Move Pr17 to find the value where the axis seems to move best D Estimate the value of Pr18 by u
188. rt the next positioning dba 0 Target position is an absolute value 1 Target position is a relative value Halt 0 Execute positioning 1 Stop axle with profile deceleration if not supported with profile acceleration Table 9 Profile position mode bits of the controlword 12 3 9 1 2 Statusword of profile position mode 15 14 13 12 11 10 9 0 Following Set point Target error acknowledge reached MSB LSB Page 173 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Name Value Description Tarpet 0 Halt 0 Target position not reached Halt 1 Axle decelerates reached 1 Halt 0 Target position reached Halt 1 Velocity of axle is 0 0 Trajectory generator has not assumed the positioning values Set point acknowledge yet TON 1 Trajectory generator has assumed the positioning values Following 0 No following error error 1 Following error Table 10 Profile position mode bits of the statusword 12 3 9 2 Object dictionary entries 12 3 9 2 1 Objects defined in this chapter Index Object Name Type Attr M O 607A VAR Target position INTEGER32 rw M Index Object Name Type Attr M O 6081 VAR Profile velocity UNSIGNED32 rw M 6083 VAR Profile acceleration deceleration UNSIGNED32 rw M 6085 VAR Quick stop deceleratio
189. s positioning profile s krpm Page 89 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Description Fiel Range Def Res d Pr110 111 Master axis module This is the value of the master W 0 2 10000 1 axis module Pr112 113 Master axis position This is the present position of R 1 the master axis Pr114 115 Slave axis module This is the value of the slave W 0 2 10000 1 axis module Pr116 117 Master position offset w 0227 0 1 Pr118 119 Final position positioner The parameter used to W 1 set the final position desired for the generator of the trapezoidal profile based on 4096 steps per revolution Pr120 121 Master position R 1 Pr122 123 Master axis phase If b150 8 1 at the first positive W 0 2 0 1 front of digital input 0 or of the zero encoder input see the block diagram the position of the master axis become Pr122 123 Pr124 125 Master axis phase captured At each positive front W 0 2 0 1 of digital input O or of the zero encoder input see the block diagram the position of the master axis is copied into in Pr124 125 Pr126 127 Master axis phase for engaging If b150 12 1 w 02 0 1 when the position of the master Pr112 113 exceeds Pr126 127 Prl02 is brought to position 2 and b150 12 returns to 0 to indicate that engaging has been achieved Pr128 129 Master axis ph
190. s of automatic machines using electronic cams Four tables are available namely TABO TABI TAB2 and TAB3 that have been implemented to perform a series of cam functions A vector made of 257 elements describes each table that indicate the position to be taken by the controlled axis when the motor axis is in the position element number e master modul 256 Master position In each table the value of the vector elements is ranging between 0 and 9999 whereas 10 000 shall be the count number set in the slave module parameter In order to generate a table the axis route must be divided into 256 points the value of each point will have to be rated to 10000 because this is the maximum value that can be written in the table elements The 257th element of each table defines the cam as closed if it is 0 or as open if it is 10 000 The cams will be able to perform the points listed in the table if the required speed and torque are within the motor s electric limits Maximum Speed and Torque Through a series of parameters it is possible to automatically program one of the motion laws that have been set in the drive in one of the four tables Functions can be retrieved as follows Page 97 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Predetermined function Table Pr102 6 Pr102 5 Y Function y x Function y x senx Tab0 Pr102 8
191. s on or off This is also the position of the PrO parameter To view all the parameters press the o keys If you want to verify the value press the M key When the value is displayed it can be modified by using the e keys To return to parameter mode press the M key again The type of display depends on the type of parameter displayed If you need to increment or decrement quickly the value of a parameter you can do this by pressing the M key while the increment key or decrement key is held down Page 46 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual IDLE L m SLVD_N Keypad M e MA v RI pe Pb 99 A b99 xx M XX DU The following messages may be displayed on the screen in addition to the value of the parameters and the instructions of the pico PLC r XX IdLE run Er Xx Pr Xx Pb Xx bxx yy Hxx yy In xx donE rESet dEF triP x When the converter is powered on this message indicates which version of the software is installed When the converter is powered on and corresponding to Pr0 this message indicates that there is no alarm and that the converter is off When the converter is powered on and corresponding to Pr0 this message indicates that there is no alarm and that the converter
192. s scanned through the master module using Adaptation module command Pr102 14 the function is scanned in one sector of master module The selected cam can be scaled in a sector of the master module by programming the starting point Pr177 176 and the space Pr179 178 in which the cam shall be executed The parameter values starting point and space must be included between 0 and master module in Pr111 110 Motor speed limit 3000rpm Slave module Pr115 114 Speed axis slave rpm 1500rpm 0 2500 5000 7500 10000 count Page 88 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual b150 12 and b150 13 command the engage and the disengage in correspondence of the master phases written in Pr127 126 and in Pr 129 128 they are always referred to master module of CAMI The engage disengage of CAMI b150 12 e b150 13 commands in correspondence of the master phases written in Pr127 126 and in Pr 129 128 are always referred to normalization of the module Engage point in master module is master position Pr113 112 start point Pr177 176 engage phase Pr127 126 Disengage point in master module is master position Pr113 112 start point Pr177 176 disengage phase Pr129 128 By setting the function b150 8 the user can define the position of the master Pr122 123 on the positive side of digital input 0 or of the zero trace encoder input selector b70 0 b70 14 shows that the
193. sedv ccossbuveacincevssenetscuvsssutieactpecvesevasvbacsobooveess 39 5 14 Can line COMM O CELT iii ie eddie 40 5 15 External 24V power supply for the control stage eese 40 5 16 External braking resistance ooomssss 41 5 17 Cable connections ia cosieie eer eins tek tota bye es r Resideo e EYFel M sestese oed rie beu tos sossen 42 5 18 How to suppress interference ce e eee ee eee eere eee eo sese eo see eene eese ees ase 43 5 18 1 SPOUT Gas eter ON 43 5 18 2 Cable connections and shielding cas tis eem aee ec icio Dueb aa aust 44 5 18 3 General suggestions on cable connections ooooonooconocococccononcnnncconocono nono nonnncconncnns 44 5 18 4 Mains and motor side Tilt dia 45 B STATUS BED unie ea EE 46 7 USING THE KEYBOARD OPTIONAL ee ecce eene e nennen nnne nnn 46 Si SPAR TU gue S 48 8 1 Setting the default parameters sscccscscssssssssscssssscccssssssssscsssssssssesssssessscees 48 8 2 Selection of motor type sessseessecssoseccocssoocssoeesocossocecocscooesssoesssoccosscossssseesseessssee 48 8 3 Changing motor data iii 49 8 4 eaniAcdeqee C 49 8 4 1 Feedback configurdtlon eere e ce beca does to Hec d vet reve ta e id 49 8 5 Feedback from incremental encoder at square or sinusoidal wave 50 8 6 Encoder PAS INS s dixe O 50 8 6 1 Type LAS Sz
194. sing vector orientation See specific section 0 R W b94 3 Basic parameters keylock If set to 1 it is possible to modify the basic parameters see the section Power on the SLVD N for the first time b94 4 Type 2 encoder phasing vibration See specific section 0 R W b94 8 Value comparator See the section Other useful functions b94 9 Value comparator See the section Other useful functions b94 10 Value comparator See the section Other useful functions 0 R W b94 11 Value comparator See the section Other useful functions 0 R W b94 12 Homing 1 See the section Other useful functions 0 R W b94 13 Homing 2 See the section Other useful functions 0 R W b94 14 Set absolute position on encoder Multiturn Defines the machine 0 W zero position The value is set in register Pr64 65 The command must be given while the drive is disabled In order for this function to be available save the parameters and switch the drive off and on again disables the drive and prevents any further enabling command To enable the drive you ll need to switch it off and on again b99 6 Extended menu enable If set to 1 the extended menu is enabled 0 R W M b99 7 Safety If set to 1 parameters cannot be modified 0 R W M b99 8 UV auto reset If set to 1 the under voltage alarm will automatically 0 R W be set to 0 when power returns M b99 9 Phase value saving The command saves the phase value on the encoder EnDat disables the driv
195. sing the following formula Pr17 Pr16 Pr18 0 68 If the result is less than 1 Pr18 must be set to 1 If the adjustment is not satisfactory repeat the procedure with lower values of Pr16 Page 60 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 PARAMETERS AND PROGRAMMING The torque speed acceleration and position control functions are carried out by special digital electronics In this section we explain how parameters are set and the meaning of each parameter We also provide the functional block diagram and the description of advanced functions The system is easy to use and flexible In the diagram below the general block diagram of the part of the converter that is controlled by parameters is presented analogue Q b40 2 digital LIMIT SWITCH O Ae A SPEED ed gt internal MANAGEMENT aus REGULATOR Eu TORQUE DEMAND TORQUE OPERATING IMIT MODE MANAGEMENT SPEED ALARMS WINDOW MANAGEMENT Pr31 DIGITAL DOUBLE TOE LOCK ELECTR ELECTR REAL TIME CONTROL and CAM POSITIONE CAM CAN Page 61 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual The main block diagram and the diagrams for special functions operating modes are described later in more detail How to associate inputs outputs to the parameters of the converter is
196. ssage 7E 23 Fifth example setting a bit to 1 Suppose we want to send the command to save the PLC program b99 14 1 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E C0 02 C7 BF 40 88 The converter responds with the message 7E 20 Sixth example setting a bit to 0 Suppose we want to disable the converter via software b40 9 0 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E C0 02 51 FD 00 10 The converter responds with the message 7E 20 Seventh example writing a PLC instruction Suppose we want to set the first instruction of the PLC as LD 90 4 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E 60 02 00 40 5A SFC The converter responds with the message 7E 20 Page 128 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 CANBUS interface A CANbus interface based on the physical layer ISO DIS11898 is included on the SLVD N converter The Data link layer is the full CAN version 2 0 part A ID 11 bit and a subset of the application layer SBCCAN is used Are available two CAN protocols 1 SBC CAN standard 2 CANopen DS301 requested C version 3 CANopen DSP402 requested D version Note to be expressly requested when placing your order the drive may only have one p
197. stop option mode INTEGERI6 de 6060h VAR Modes of operation INTEGER8 dc Page 180 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual oeiki WAR Modes GE operation eee de display 6063h VAR Position actual value INTEGER32 pc Page 181 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 12 3 10 1 Object 60C0 Interpolation sub mode select For the interpolated position mode a manufacturer may offer different interpolation algorithms This object reflects or changes the actually chosen interpolation mode OBJECT DESCRIPTION INDEX 60COh Name Interpolation sub mode select Object Code VAR Data Type INTEGER16 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range 0 2 Default Value 0 DATA DESCRIPTION Value Description 2 Cubic interpolation only position d Cubic interpolation speed position 0 Linear interpolation 1 32767 reserved 12 3 10 2 Object 60C 1s Interpolation data record The interpolation data record are the data words which are necessary to perform the interpolation algorithm The number N of data words in the record is defined by interpolation data configuration The interpretation of the data words in interpolation data record may vary with the different possible interpolation modes as set by the interpolation su
198. t required more current that was available Check The cables between motor and SLVD N there should be no inverted phases Take special care with motors with terminals rather than the connector it s easy to make a mistake Adhere strictly to the wiring diagrams Page 189 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 18 Appendix F Continuous working In continuous operation the limit power depends on the voltage of the supply network and of the model see the following table The data are estimated in order to guarantee 20 000 hours of service average life of the capacitor Maximum continuous power without inductance of network Supply network mode phase 3 phase SLVDIN No derating No derating SLVD2N 650W No derating SLVD5N 650W 1100W SLVD7N 650W 1100W SLVDION 1850W No derating SLVDI5N 1850W 4700W SLVD17N 1850W 4700W Maximum continuous power with inductance of network Supply network todel 1 phase 3 phase SLVDIN No derating No derating SLVD2N No derating No derating SLVDSN 1000W No derating SLVD7N 1000W 1700W SLVDION No derating No derating SLVDISN 3000W No derating SLVD17N 3000W 4850W Data of network inductance Supply network model 1 phase 3 phase SLVDIN Not necessary Not necessary SLVD2N 2 5mH 5Arms 14Ap sat Not necessary SLVD5N 2 5mH 6 8Arms 17Ap sat
199. t 1011 0x581 0x5ff 0x1200 SDO rx object 1100 0x601 0x67f 0x1200 AO 1100 0x701 0x77f Ox100c Ox100d Node guarding NMT object NMT state machine DS301 NMT Error Control amp Boot Up Protocol Boot Up Node Guarding 39 14 1 for each receipt EMERGENCY object Below is a description of emergency object implementation Page 141 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Emergency message dal Drive al master Emergency message Data length Field Name Contents 16 bit code 8 bit error 8 bit address 32 bit reply data Identifier 12 mpi Ino j A0 A6 Drive address Pr49 valid values 1 127 An alarm message and two pop up messages are available for this object and each of these can be enabled or disables by setting the appropriate commands Alarm message enabled if b150 1 1 Target position reached enabled if b150 5 1 Value motor captured enabled if b150 7 1 The alarm message if enabled is sent each time that the current alarm status Pr 23 changes so that when a new alarm occurs or when the alarms are reset the value 0x01 is sent to the field Err Reg and the least significant byte of the Data field will contain the drive s alarm code The field Error Code will contain a specific code based on the different drive alarm Er01 over voltage 0x3210 Er02 under voltage 0x3220 Er03 over current 0x2340 Er04 encoder brea
200. t Incremental global counter When the position reference of at least one generator is enabled in the position loop the reference loading into a global counter defined by module is automatically enabled Page 96 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 9 7 1 Positionator This is a trapezoidal profile generator with the following user definable parameters speed profile acceleration and deceleration ramp value target position in motor step The parameter referred to the target position is absolute The difference between the target position and the reference position generates the direction of the movement The thus position reference generated in this way is loaded into the position loop by b181 15 0 command and moreover is possible to unload the reference of the positioning to the inside of the cam generators through algebraic sum with the reference of the master with the selection command b150 3 Pay attention if both commands b150 3 1 and b181 15 0 because the reference of the positioning is used two times algebraic sum to the reference of the master in input to two generators CAMI and CAM2 and sum in outpu to the references of CAMI and CAM2 Activating the command b181 10 1 is possible to unload the reference generated from the positioning in the global counter position Pr131 130 9 7 2 CAMI and CAM2 The two CAM generators are specifically designed to meet the requirement
201. t of the bits is the following 1 start bit 8 bit of data defined by a following byte enclosed within brackets parity bit even 1 stop bit The structure of the message is the following STX CMD ADDR BK LUN PAR DO Dn CHK where STX 7E indicator of transmission start If a field in the message different from STX assumes the value 7E this field is followed by a 0 00 so that it will not be interpreted as an STX CMD ADDR command and address of the peripheral device This is never 0 This data is composed in the following way the first 5 bits bits 0 4 define the address of the converter from 0 to 31 the remaining 3 bits bits 5 7 define the type of message sent as described in the following table Page 124 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual CMD bit7 bit6 bit 5 type of message 1 0 0 1 converter response 2 0 1 0 jreading a pico PLC instruction 3 0 1 1 writing a pico PLC instruction 4 1 0 0 reading a parameter 5 1 0 1 writing a parameter 6 1 1 0 bit modification El 1 1 1 writing a parameter to all the slaves BK LUN the LUN field first 3 bits indicates the number of bytes of the data transmitted a parameter or a PLC instruction the values can range from 1 to 4 This value does not include eventual O characters 00 which are inserted after the values that coincide with the character of transmission start 7
202. ted For this reason reading the input and setting the output can vary by 6 144 ms with respect to the physical event If the microprocessor is overloaded with work the operating mode is active there are frequent serial requests and the PLC program is long it may take more than 6 144 milliseconds to scan the entire PLC program All the instructions of the pico PLC with the exception of the arithmetic instructions are single bit instructions The available stack has a depth of only one bit The LD LDN instruction loads the bit defined as the operant on the stack with all the other logical instructions work on the stack itself The arithmetic instructions are executed only if the stack bit is set to 1 The truth table for the logical operations is given below for the convenience of the user AND logical operation OR logical operation The respective negative operations ANDN and ORN follow the same logic except that the negated value of the bit specified will be used 12 bits from b90 4 to b90 15 are reserved on the PLC and can be stored 14 additional bits from b91 2 to b91 15 are available on the PLC but cannot be stored They are always set to 0 when the converter is powered on 10 word parameters are also reserved These are from Pr80 to Pr88 They can be stored and used as 5 double word parameters just as the 13 parameters from Pr151 to Pr163 The pico PLC includes 9 constants for arithmetic operations These are from Pr71 to Pr79 an
203. the 24V power supply protection 5 4 PE Protective Earth connections It is necessary to minimize the length of the individual cables to be grounded For this reason we recommend that a grounding bar be placed as close as possible to the frequency converters The grounding bar must be a copper bar and must be installed in contact with the cabinet metal frame The table shows the minimum dimensions depending on length m mm mm 05 120 6 L1 40 6 L Es p 0 3 4 To connect the converter to the grounding bar use either one cable with a minimum section of 10mm or two cables with the same section as power cables Use copper grounding cables BARRA PE BARRA PE SLVDI 7N SLVD10 15 17N Page 28 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 5 5 Line connection diagrams The SLVD N converter can be connected to the power supply in various ways If a transformer with an electrostatic shield between the primary and the secondary is used EMC filters will not have to be installed If an auto transformer a transformer without electrostatic shield or a direct connection to the power network is used EMC filters must be used The converter can be used only in grounded TT and TN industrial networks with a max short circuit symmetrical current of 5kA maximum at 230V 10 Do not use in ungrounded networks or in networks with asymmetrical grounding IT
204. the axis has a limited course By observing the oscilloscope we will note torque the formula to be used is the following c 28 where a represents the Page 56 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual that as Pr17 varies the response will change For decreasing values of Pr17 the response of the system will be as shown in figure 2 below Tek Run 500 S s Hi Res Trig OV 28 Mar 1996 08 42 16 Fig 2 For increasing values of Pr17 the response of the system will be similar to what is shown in figure 3 below Tek Run 500 S s Hi Res E T OV 28 Mar 1996 08 43 22 The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below Page 57 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Tek Run 500 S s Hi Res Trig E T OV 28 Mar 1996 08 44 37 Fig 4 An overshoot of about 10 must be obtained It is important that after the overshoot an undershoot does not occur Once the optimal value of Pr17 has been established we must analyze the movement of the axis If it moves without vibrations and acoustic noise the adjustment of the system is complete Otherwise we must repeat the preceding procedures with lower values of Pr16 In some applications it is possible to reduce acoustic noise by using a higher value of Pr18 Figure 5 shows that once the optimal adjustment has been achieved there is also an oscillation of the cu
205. the message indicating the status of the converter is displayed Pri Analogue reference offset Expressed as a count W 10 000 0 I of the input converter 1 0 3 count mV Pr2 First full scale of analogue reference If b40 0 0 W 10000 3000 1 rpm and b40 12 0 the value of Pr7 will be equal to rpm Vin Pr2 9 76 where Vin is the voltage at the analogue input Pr3 Second full scale of the analogue reference If W 10000 3000 1 rpm b40 0 0 and b40 12 0 the value of Pr7 will be rpm equal to Vin Pr2 9 76 where Vin is the voltage at the analogue input If b42 0 1 b42 1 0 and b42 5 1 Pr3 is the speed of the virtual axis Pr4 Full scale of frequency reference connector W 32768 3000 1 X2 If b40 12 1 and b40 13 1 the value of Pr7 will be the following 32767 If b42 5 0 Pr7 Fin Pr4 2 2000000 frequency sign signals If b42 5 1 Pr7 Fin Pr4 2 500000 quadrature signals where Fin is the frequency present at the encoder input Fin enc speed Rpm enc pulses turn 60 Pr5 Internal reference If b40 12 1 and b40 13 0 W 9000 0 1lrpm Pr7 will be equal to Pr5 rpm Pr6 Reserved speed reference read only If R 39000 0 lrpm b40 2 1 this value is used as a reference for the rpm speed regulator The active operating mode will write its speed request in parameter Pr6 Pr7 Main reference read only If b40 2 0 is used R 9000 rpm
206. the position feedback resolver SinCos absolute etc setting the homing method to the same absolute value as for track Z indexing but negative In this case the presetting of the position counters on the index is completed without axis movement For homing procedures 3 predefined bit are used b91 2 home switch b91 3 Left limit switch b91 4 Right limit switch The active level of the 3 bit can be inverted by mean of a bit mask mapped at index 0x2021 as U16 where bit 2 3 4 are processed by a XOR operation with the logical status of b91 2 91 3 and 91 4 ex by pico PLC 12 3 5 General information This chapter describes the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of achieving this using limit switches at the ends of travel or a home switch zero point switch in mid travel most of the methods also use the index zero pulse train from an incremental encoder Control word Homing option code Status word ee Homing speed Homing Homing acceleration Position demand value Home offset _ __ Figure 20 The homing function 12 3 5 1 Input data description The user can specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position There are two homing speeds in a typical cycle the f
207. tibility with CANopen networks Cyclic message from master to drive PDOI rx Cyclic data Data length 8 6 4 bytes Field Name Data position ref 32 bits speed ref 16 bits Pr102 Identifier D2 IDI IDO IDIO ID9 ms ID7 me IDS ID4 ID3 X X X 0 1 0 0 A2 Al AO X X A6 A5 A4 A3 A0 A6 Slave drive address Pr49 valid values 1 127 Pr102 is used as a command and must be managed by the pico PLC Based on the length of the message the data received is interpreted in the following way Data length 8 Position reference 4 byte Speed reference 2 byte Pr102 2 byte 6 Position reference 4 byte Pr102 2 byte 4 Speed reference 2 byte Pr102 2 byte Synchronism message from master to drive Synchronism message Data length 0 bytes Field Name Contents Identifier ID2 ID1 IDO ID10 0 0 0 0 Upon receipt of the sync message each drive activates the speed and position references and saves the current motor position If b150 2 1 the drive responds with a message cyclic reply Cyclic reply message from device to Master PDO1 tx Cyclic reply 8 bytes Identifier ID2 IDI IDO IDIO ID9 ID8 ID7 ID6 105 ID4 ID3 0 0 1 1 A6 A5 A4 A3 Data length Field Name Pr103 16bit NOTE The other features of SBCCa
208. tive pin of the 24Vdc voltage on the other phase if the rotor turns counter clockwise watching frontally the drive shaft the phase connected to the negative pin is the phase C otherwise if the rotor turns clockwise this phase connected to the negative pin is the phase B Result after to have connected the motor and the device of feedback to the drive the counter of the feedback increases if the motor turns clockwise and decrease if turns counter clockwise sense To avoid to damage the motor winding to power the circuit only for the necessary time Page 53 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 8 8 First commissioning The steps to be followed carefully the first time the converter is used are given below 1 2 3 4 5 6 Connect the motor to the converter by following carefully the diagrams in the manual Make sure that the converter is shut off pin 13 of the X4 connector open Power the converter on The IdLE message will appear on the screen Set the analogue reference to 0 V pin 6 7 of the X4 connector and power the converter on 24 V at pin 13 of the X4 connector At this point the motor shaft should be stopped Any change in the voltage of the analogue reference should produce a proportional change in the speed of the motor If this does not happen control the cabling The converter comes with default values pre defined that satisfy most applications In the
209. to be displayed can be programmed using the binary parameter Pb42 4 The V div scale and the time basis will not be discussed here since they can vary greatly ESTIMATING THE Pr16 Before turning the converter on the user should estimate the value of Pr16 The value of Pr16 is what defines the gain of the system To convert the value of Prl6 into grades per rated Pr33 100 Prl6 Ipd stiffness and Ipd is the peak current of the drive Before using the formula Pr33 must be set with the correct value of the rated current of the motor To evaluate the correct value of a let s consider that if the mechanical part to be moved is rigid non elastic and if there is no transmission play the optimal stiffness would be about 4 degrees If the mechanical part is not rigid enough it could be necessary to reduce the gain If the torque of the motor has been sized in order to obtain strong acceleration but during the operation the disturbing torques are very low it is possible to choose stiffness angles of 20 30 or 40 degrees thereby maintaining acceptable performance If it is difficult to choose the proper stiffness angle the user can begin with 10 degrees that is the default adjustment if a motor with the same rated current as the converter s is used At this point let us set the Pr16 to the estimate and turn on the axis with a square wave reference The user must be careful to choose reference ranges and frequencies in order to avoid problems if
210. to the fault reaction option code valid values 0 1 2 the motor is stopped and finally disabled sending an emergency message b272 9 Remote mode 1 Remote mode CANopen 0 remote disabled R W 0 Note When in remote mode the bit b40 6 b40 2 and the parameters Pr8 Pr9 Pr10 Pr11 Pr12 and Pr55 are handled by firmware according to CANopen network setting and commands and should not be modified by the user Note When in interpolated position mode Feed forward of speed enable in case of sync frequency is gt 400Hz set b247 7 1 b70 6 0 and b70 7 0 Otherwise when the frequency is 400Hz set b247 7 0 b70 6 0 and b70 7 0 Page 185 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual 13 Appendix A Conventions Reference Positive Motor shaft movement motor shaft view 7 achometer signal __ signal lu eopleesn 9 couple esin 9 sin 9 E Positive auxiliary input Pr22 o y Pr38 positive Positive auxiliary analogue output Encoder In A mm Increment counter B nnan rm frequency A sar Increment counter direction B low Page 186 of 193 Parker Hannifin S p A S B C Division 14 Appendix B Software timino SLVDN User s Manual Torque limits management 512 us 6 144 ms Program scanning pico PLC 6 144 ms 49 152 ms 15 Appendix C Default program for the pico PLC 90 0 41 5 LD OUT 40 6 LD OUT 91 0 LD OUT 91 1
211. to zero Moreover there are two conditions for a corrected operation of this engage cam 1 The final point of the disengage ramp is not accidentally chosen in the module slave but direct consequence of the chosen space of the engage cam The slave axis must be situated in advance regarding the position of Pr134 135 when the master is in Pr126 127 position of the quota Pr127 126 Pr133 132 ePr115 114 2ePr111 110 Advance quote Pr137 136 2 The speed in the points of passage between cam and deceleration ramp must be concord Pr108 cam speed Page 94 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Cam table engage automatic b150 12 1 autoset after engage and autoreset after engage to the drive s TAB XL Master Module Pr110 111 30000 Step Motor lt Slave Module Pr114 115 10000 Step Motor space covered in engage from slave Pr137 136 1000 step slave module Reservation envase a Master space engage 6000 Step Slave space engage 2000 Step Pr132 133 24000 Pr126 127 30000 step master module step master module Master module Pr110 111 30000 Step Motor Slave module Pr114 115 10000 Step Motor Reservation engage slave axis O master module Pr128 12 b150 13 1 autoreset Depends on dynamics of the machine 1 1 1 2 Slave axis mnacitiania ama ntan 0 30000 Page 95 of 193 Parker Hannifin S p A S B C Division SLVDN User s Ma
212. tore the new parameters b99 15 Storing of parameters This command stores all parameters It 0 R W cannot be used if a check sum alarm has been indicated In this case it is necessary to set the default parameters reset the alarm and then store the new parameters b231 1 Set encoder pulses as exponent on base 2 This bit decides the 0 R W format of Pr196 parameter b231 2 Multiturn position read 1 if multiturn absolute position is read at 0 R W start up b231 3 IEC 61131 automatic memory extension 1 the pico PLC is 0 R W disabled b99 13 0 the all instructions of the pico PLC 512 byte are used as automatic variables for the IEC 61131 programming language b231 5 Time out pico PLC 0 R W b231 10 1 enable profiles on TABO Motor control PWM 0 8 kHz 1 4 kHz except SLVDI7N If 0 the first time the drive is powered on again PWM at 4Khz is enabled The setting is enabled at the next power on b231 11 Motor control PWM 0 8 kHz 1 4 kHz only SLVDI7N If 1 R W 0 the first time the drive is powered on again PWM at 8Khz is enabled the drive peak currents is limited to 90 30Arms Pr35 90 The setting is enabled at the next power on b231 12 PTC motor pre alarm 1 This pre alarm allows to stop the 0 R machine before around 125 C 257 F reaching the alarm limit around 135 C 275 F b231 15 Enable IEC 61131 1 Start 0 Stop 0 R W
213. ue 0 R W input will be selected as the main reference If 1 the reference will M be digital and b40 13 can be used to select parameter Pr4 or parameter Pr5 Page 71 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Par Descrption Field Def b40 13 Selector of internal reference Pr5 or frequency reference Pr4 If 0 R W b40 12 1 b40 13 can be used to make the selection If 0 the M internal reference can be used If 1 the frequency input encoder in which can be configured as frequency direction or as a quadrature signal by using b42 5 b40 15 Reserved b41 0 Overspeed When the absolute value of the motor speed exceeds the R value set in Pr13 b41 0 1 Otherwise b41 0 0 b41 1 In speed If b40 7 0 and if the difference in speed between the R motor and the reference is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 b41 2 Zero speed If the motor speed Pr0 0 b41 2 1 Otherwise b41 2 R 0 b41 3 Forward If the motor speed Pr0 is positive b41 3 0 Otherwise R b41 3 1 b41 4 Converter O K If 1 there is no alarm Otherwise 0 R b41 5 Status of hardware enable When hardware enable is present 1 0 R W b41 6 Phasing O K If 1 phasing has been completed successfu
214. ule where the CAM W 22 1 is executed Pr185 184 Change of the value slave axis module in phase W 2 1 Variation of slave module and with b181 12 slave module value is changed immediately Pr212 Multiplicative factor of Frequency Direction W 1 1 reference Pr213 Divisor factor of Frequency Direction reference W 1 1 Pr215 214 Counter Frequency Direction input W 2 1 Pr216 Frequency Direction input rotare speed R 1 Parametri binari Par Description Fiel Def d b150 2 Position loop If 1 the position loop works on absolute positions W 0 otherwise on slave axis module b150 3 Master phase shift command If 1 the positioner module is used to W 0 change the phase between the master and the slave or as the generator of the virtual axis When the final position Pr118 119 equals Pr116 117 this bit is automatically set to 0 Do not use this command together with Pr102 1 b150 6 Encoder input enable X3 If 1 the reading of the encoder master is W 1 enabled b150 8 Phase master axis enable If 1 the copying of parameter Pr122 123 W 0 to Pr112 113 to the first front of the rise of input 0 or the zero encoder is enabled b150 10 Type 1 reset Command to set all the motor positions and references to W 0 b150 11 Cam engaging in phase with ramp Command to engage the cam W 0 movement when the master reaches the level of Pr126 127 with a ramp defined by the parameters Pr1
215. un every 6 144 ms If the value comparators functions are not used the Pr95 Pr96 Pr97 Pr98 b94 10 and b94 11 parameters by the PLC program as general purpose registers 9 9 6 Value capture At every positive front of digital input 0 the value of Pr63 62 or Pr66 67 is captured and stored in Pr68 69 and b70 15 is set to 1 to signal the event b70 15 is not reset automatically but must be executed by the pico PLC or the serial line Analogous situation at every positive front of digital input 0 the value of Pr66 67 is captured and stored in Pr58 59 and b70 14 is set to 1 to signal the event b70 14 is not reset automatically but must be executed by the pico PLC or the serial line Page 112 of 193 Parker Hannifin S p A S B C Division SLVDN User s Manual Captured motor value b70 15 Captured value Position control Pr69 68 gt gt Zero encoder feedback e Fae Digital Motor position Y input 1 gt Pr63 62 i ZEM b70 1 b70 0 d n Zero encoder Digital ZEF input 0 only with encoder hall sensor feedback Feedback E position Y Captured value pelea gt Pr59 58 b70 14 Captured master value 9 9 7 Output cam programmer This function gives a digital output pin 8 X4 according to the present position of the motor in a module The user has to set the value corresp
216. user can make use of two timers Pr92 and Pr93 To use the first timer load the time as a number of sampling 6 144 ms into PR92 For example Pr92 100 is equal to 614 milliseconds Pr92 will automatically be decremented as time goes by and the b99 0 bit will remain set to 0 until the timer has expired When Pr92 0 then b99 0 1 The second timer works the same way using the PR93 parameter and the b99 1 bit Pr92 Pr93 b99 0 and b99 1 are updated only before the pico PLC program is scanned The maximum number of instructions is 256 The arithmetic operations occupy the space of two logical operations If they are used the maximum number of instructions accepted is reduced The PLC program must always end with the END instruction The pico PLC program can be edited via serial link or directly using the keyboard In this last case in order to facilitate the modification of the program if you want to delete an instruction go to the instruction to be deleted and hit the M key The type of instruction is then displayed By holding down the M key and pressing the key the instruction will be deleted when both keys are released If you want to add an instruction after the In06 go to the next instruction In07 and hit the M key The type of instruction is then displayed By holding down the M key and pressing the key the FIN instruction will be inserted when both keys are released In this last case make sure that the program does not exc
217. ve an acceleration of 1000 rpm Pr11 seconds are necessary Pr12 Deceleration ramp for limit switch and stop R W 0 002 0 002 0 001 functions Deceleration required by the motor for M 65 535 S limit switch and stop functions is internally limited s krpm so that to achieve an acceleration of 1000 rpm Pr12 seconds are necessary Pr13 Overspeed limit If the absolute value of the R W 0 13000 3500 1 rpm motor speed exceeds the value set in Pr13 b41 0 M rpm will be 1 Otherwise it will be 0 Pr14 High speed limit If b40 7 0 and if the difference R W 13000 20 1lrpm of the speed of the motor and the reference is less M rpm than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 If b40 7 1 and if the motor speed is less than Prl4 and greater than Pr15 b41 1 will be 71 Otherwise it will be 0 Prl5 Low speed limit If b40 7 0 and if the difference R W 13000 20 1 rpm of the speed of the motor and the reference is less M rpm than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 If b40 7 1 and if the motor speed is less than Prl4 and greater than Pr15 b41 1 will be 71 Otherwise it will be 0 Prl6 Integral gain of the speed regulator R W 032767 120 1 M Pr17 Damping of the speed regulator If Pr16 0 Pr17 R W 0 32767 2000 1 is the proportional gain of the speed regulator M Pr18 Band width limiter Pr18 is used to set the time R W 1 10
218. y factor 0x6094 2 Velocity encoder factor Denominator velocity factor 0x6097 1 Acceleration factor Numerator acceleration factor 0x6097 2 Acceleration factor Denominator acceleration factor 0x6098 Homing method all standard values available 0x6099 1 Homing speeds searching sensor velocity in counts sec or RPM depending on unit selection standard or not with b272 8 0x6099 2 Homing speeds searching index velocity in counts sec or RPM depending on unit selection standard or not with b272 8 0x609a Homing acceleration acceleration homing in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 8 0x60c0 Interpolation sub mode selection valid values O linear interpolation 1 cubic interpolation with position and velocity 2 cubic interpolation with position 0x60c1 1 Interpolation data record INTEGER32 interpolator position reference 0x60c1 2 Interpolation data record INTEGER32 interpolator velocity reference in counts sec 0x60c1 3 Interpolation data record INTEGER32 interpolator velocity reference in RPM 0x6502 Supported drive modes see see 0x6060 0x6504 Drive Manufacturer Parker Hannifin div SBC Italy 0x6505 http drive catalog address http www sbcelettronica com http www parker eme com Following modes of operation of dsp 402 are implemented beside the device control state machine Homing mode Pr

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