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1. 88 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP At a Glance ASCII INxMODE Default 0 valid for all OPMODES ASCII INxTRIG Default 0 valid for all OPMODES The terminals DIGITAL IN1 2 PSTOP and NSTOP X3 11 12 13 14 can be used in combination with internal functions Change this only while the amplifier is disabled reset Function can be combined with ID Function Active Auxiliary value x DIGITAL DIGITAL PSTOPX3 NSTOPX3 edge INxTRIG IN1 X3 11 IN2 X3 12 13 14 Level IN1IMODE IN2MODE IN3MODE IN3MODE 0 Off x x x x 1 Reset x x 2 PSTOP Na Low x 3 NSTOP Na Low 7 x 4 PSTOP Intg Off a Low x 5 NSTOP Intg Off a Low x 6 PSTOP NSTOP y Low x 7 P Nstop intg Off 4 Low x Anln1 Anin2 High Low x x x x Mt_No_Bit fa x x x x 10 Intg Off fal x x x x 11 v Torg Contr High Low x x x x 12 Reference A x x x x 13 ROD SSI High Low x x x x 14 FError_clear Pal x x X x 15 Start_MT Next Can be x x X x set 16 Start_MT No x A Motion task no x x x x 17 Start_MT I O fal xX x x x 18 Ipeak2 x Pal of Ipeak x x x x 89 Function can be combined with ID Function Active Auxiliary value x DIGITAL DIGITAL PSTOPX3 NSTOPX3 edge INxTRIG IN1 X3 11 IN2 X3 12 13 14
2. Ata Glance Overview of the different field values included in the Homing screen What s in this This section contains the following topics section Topic Page Overview of the Homing screen 117 Homing 1 122 Homing 2 127 Homing 3 130 Homing 4 132 Homing 5 134 Homing 7 135 Jog mode 138 112 Overview of the Homing screen At a Glance Diagram Homing 101 gt lt Homing C Start 0 Immediate homing Stop v Direction of motion p um s Setp Ramp Setp Ramp Offset p ms ms p um Jog mode V F4 p um s OK Cancel Apply Homing is an essential task used to zero the drive for subsequent positioning operations You can choose between various types of homing After homing the drive reports InPosition and then enables the position controller in the servo amplifier 113 Start CAUTION Take care that the zero point of the machine reference point is ina position that permits the subsequent positioning operations The software limit switches that were set as parameters may be ineffective The axis could move on to the hardware limit switch or even the mechanical stop There is a risk of damage If the reference point zero point of the machine is approached with excessive velocity for instance because of high moments of inertia it may be overshot and in the worst case move on to the hardware limit switch or
3. Topic Page Directions for use 12 Product Overview 15 Motion Control Overview 16 Feedback Device 19 The Motion Profile 20 Limits and Ranges of Operation 21 Acceleration and Deceleration 22 Software and hardware configuration 23 RS232 link connection to the PC X6 25 Installing Accessing and Starting to Use UniLink 27 Axis Commissioning Checklist Procedures 29 Screen layout 43 11 Directions for use Setup software The setup software is intended to be used for altering or storing the operational parameters for the digital servo amplifiers The servo amplifier that is connected is commissioned with the aid of the software whereby the drive can be directly controlled by the setup and service functions Due to the specific nature of PCs these functions are cannot be deemed functionally safe without taking further measures A PC program might be unexpectedly disturbed or stopped so that in the event of a malfunction any movements that have already been initiated cannot be stopped from the PC CAUTION The manufacturer of the machine must carry out a hazard analysis for the machine and is responsible for the functional mechanical and personnel safety aspects of the machine This applies especially to the initiation of movements with the aid of functions in the commissioning software Only personnel who have extensive knowledge in the fields of drive technology and control technolo
4. Definition of the dimension unit for acceleration This unit is used for the ramps of the path generator internal motion blocks OPMODE 8 and for the braking and acceleration ramps in velocity mode ID Function Note 0 ms gt VLIM Acceleration expressed in rise time ms to reach the desired speed 1 rad s Acceleration expressed in rad s2 2 rpm s Acceleration expressed in min 1 s rpm per sec 3 PUNIT s2 Acceleration expressed in PUNIT s i 1000 PUNIT s2 Acceleration expressed in 1000 PUNIT s 5 10 6 PUNIT s2 Acceleration expressed in 10 6 PUNIT s2 With the setting ms gt VLIM it remains possible to select acceleration for the motion block in mm s2 If the setting is changed all related braking and acceleration settings are converted internally in the unit currently selected The automatic adjustment of the parameters does not apply to internal motion blocks The unit used for acceleration must therefore be defined before the first motion block is created In the event of later modification the acceleration and braking values for all motion blocks must be verified and any necessary corrections made 62 Speed ASCII VUNIT Default 0 Valid for all OPMODES Definition of the global unit for velocity and speed This unit applies to all parameters depending on the velocity speed of the speed position controller
5. Determines the number of increments per turn that are output Change this only while the amplifier is disabled Increments per motor turn for feedback type Resolutio Resolver 2 poles Resolver 4 poles Resolver 6 poles HIPERFACE n EnDat 256 256 512 768 256 512 512 1024 1536 512 1024 1024 2048 3072 1024 2048 2048 4096 4096 8192 8192 to 3000 rpm 16384 16384 to 1500 rpm The resolution in the controls can be increased by quadruple evaluation of the increments FIRMWARE MHDA version 1 2 and higher NI Offset ASCII ENCZERO Default 0 valid for all OPMODES Determines the position of the zero marker pulse when A B 1 The entry is referred to the zero crossing of the feedback unit Single Turn Multi Turn ASCII SSIMODE Default 0 valid for all OPMODES Determines whether the output format is compatible to a single turn or multi turn SSI encoder Change this only while the amplifier is disabled ID Function 0 Single Turn 1 Multi Turn 78 Baudrate SSI Clock SSI Code ROD Interpolation valid for all OPMODES ASCII SSIOUT Default 0 Determines the serial transmission rate Change this only while the amplifier is disabled ID Function 0 200 kBaud 1 1 5 MBaud ASCII SSIINV Defa
6. Valid for all OPMODES Select the number of motor poles The current setpoint can be set for the operation of 2 pole to 32 pole motors Change this only while the drive is disabled ASCII MPOLES Default 6 Valid for all OPMODES The standstill current is the RMS current value that the motor requires at standstill to produce the standstill torque defines the maximum value for the entry of Irms in the current controller ASCII MICONT Default standstill current Valid for all OPMODES 66 lo max Max speed n max Number Reference In this field set the maximum peak current The peak current RMS value should not exceed four times the rated current of the motor The actual value is also determined by the drive s peak current that is used defines the maximum value for the entry of Ipeak in the current loop ASCII MIPEAK Valid for all OPMODES Default peak current In this field set the inductance of the motor pbhase phase You can take this value from the motor manual ASCII L Default 0 mH Valid for all OPMODES Maximum authorized speed for the motor Limit the possible entries for the SPEED LIMIT parameter in the SPEED screen page ASCII MSPEED Default 3000 rpm Valid for all OPMODES Select the desired motor from the motor database The data is loaded once the motor has
7. ID Function Note 0 Compatibility mode Definition of speed in min 1 definition of velocity in m s 1 1 min unit min 1 rad s unit radians s 3 s unit degrees s 4 Pulses 250 u s unit Pulses 250 us 5 PUNIT s unit PUNIT s 6 PUNIT min unit PUNIT Min 9 1000 PUNIT s unit 1000 PUNIT s 8 1000 PUNIT min unit 1000 PUNIt Min application Note 1 All parameters that are dependent on speed are normally defined in the form of fixed point numbers over 32 bits with 3 decimal places This is why many parameters in particular 1000 PUNIT s cannot cover the entire speed range according to the selected resolution It is therefore necessary to make sure a suitable unit is selected according to the application 2 All parameters that are dependent on velocity are normally defined in the form of integers over 32 bits This is why it is not possible to define a speed using a number with a decimal point particularly for the setting Pulses 250 us It is therefore necessary to make sure a suitable unit is selected according to the 63 Position ASCII PUNIT Default 0 Valid for all OPMODES Definition of the global unit for all parameters dependent on position The possible settings are as follows ID Function Note 0 Counts Internal unit specific application dm unit 1 dm 2 cm unit 1 cm 3 mm unit 1 mm 4 100 um unit 0 1 mm 5 10 um unit 0 01 mm 6
8. 4 192 Error Messages 7o3 ce a awk eae Ree he Re ee bog eo a ee 193 Warning 3M Ssages s r ict teari eae ebb ee ade Reda a date Aes 196 Troubleshooting 2 i 00 atta ak ed id hee aed cea eee 197 Troubleshooting soe tiete cae ees ta he EAP bees Ce ApS ee 197 eee ee ee aie ee eee A ee eae eens eae 199 ol aria ak a Cah rl lau a aa MS it wih Mtr a el ara 207 About the book At a Glance Document Scope This booklet explains the installation and operation of the setup software UniLink for digital servo amplifiers e product overview motion control overview dialog screen layout axis commissioning checklist procedures error and warning messages troubleshooting CAUTION Meaning General warning General instructions mechanical hazard Failure to observe this precaution can result in injury or equipment damage DANGER Meaning Danger to personnel from electricity and its effects Failure to observe this precaution will result in death or serious injury User Comments We welcome your comments about this document You can reach us by e mail at TECHCOMM modicon com About the book 10 General information At a Glance Information What s in this chapter This help system explains the installation and operation of the setup software UniLink for digital servo amplifiers This chapter contains the following topics
9. 97 If the position angular position of the motor shaft exceeds a preset value auxiliary value x a HIGH signal will be output After the function has been selected you can enter the signaling position in increments a number or fraction of motor turns N as the auxiliary value x Make the calculation according to the following equation X 1048576 N counts Maximum possible entry value x 231 2147483648 this corresponds to N 2048 7 In Position When the target position for a motion task has been reached the InPosition window this is signaled by the output of a HIGH signal A cable break will not be detected The width of the InPosition window for all the valid motion tasks is entered in the Position Data screen page If a sequence of motion tasks is performed one after another then the signal for reaching the final position of the motion task sequence will be output This corresponds to the target position of the last motion task The function 16 Next_InPos signals that the target position of each motion task has been reached in a sequence of motion tasks 8 Abs I lt x The output is a HIGH signal as long as the absolute r m s value of the actual current is lower than a defined value in mA auxiliary value x After the function has been selected you can enter the current value as the auxiliary value x 9 Abs I gt x The output is a HIGH signal as long as the absolute r m s value of the actual cur
10. valid for all OPMODES Holding brake To operate a 24 V parking brake directly in the motor of a servo amplifier select 0 with Otherwise select 1 without Meaning The brake function is disabled If the brake function is enabled then the output at the BRAKE X9 2 terminal will be 24V if the ENABLE signal is present brake off and 0 V if the ENABLE signal is missing brake activated ID Function 0 Without With ASCII MBRAKE Default 0 valid for all OPMODES See the Lexium 17Dx drive user guides for the time function relationship between the ENABLE signal the speed setpoint actual speed value and the braking force Change this only while the amplifier is disabled reset 70 Loading data to the disk Motor unit Level of phase shift Kp Tn Phase shift correction factor Slippage correction factor Load the file for the motor parameters of a drive hard disk floppy disk For this the amplifier can be disabled Define the motor speed value If 1 min rpm is used the speed parameter will apply to VUNIT ASCII MUNIT Default 0 Valid for all OPMODES Defines the magnetization current for an asynchronous motor in general this value is 40 50 that of the direct current The magnetization current remains at a constant speed lower than that of the nominal speed of the motor If the motor is operating at a sp
11. Analog 1 0 ROD SSI Encoder Input Axis Drive Aa SW Apply Configuration us OK Disable k Disable F12 C Enable Shift 12 This screen page displays the control loops of the servo drive in a simplified block diagram A click with the left mouse button on a button on the screen page calls up the corresponding function or screen page Button Description Save the current parameter to data media hard disk diskette You can save parameters and motion task data to one single file or to separate files Load a control parameter file or a motion block parameter file from data media hard disk diskette For this the amplifier must be disabled 52 Button Description Open the screen page TERMINAL for the direct input of ASCII commands only for advanced users and with the support of our application department D m zZ O J Open the screen page ACTUAL VALUES to display the actual drive status Open the screen page OSCILLOSCOPE SERVICE for the graphic display of the setpoint actual values and to access the service functions reversing mode const speed etc for optimizing the amplifier W e Open the screen page BODEPLOT When using a Bode plot generator this page generates a graphic representation of the amplifier s behavior controls Bi Non volatile storag
12. _ Reversing mode rpm Speed rpm r Torque vf t ms Da R m Direct current cles t2 setpoint value A v1 1000 rpm v2 1000 rpm Electrical angle 0 i tl 1000 ms t2 1000 ms m Motion Task _ No I OK Cancel Apply Service Settings of the parameters for the service functions operation parameters Direct Setpoint elect Current setpoint in A for the function phase angle of the electrical field current angle Speed Rotational speed Speed in rpm for the function Torque Current Current setpoint in A for the function Reversing v1 speed in rpm for clockwise rotation mode ti duration in ms of the clockwise rotation v2 speed in rpm for counterclockwise rotation t2 duration in ms of the counterclockwise rotation Motion No Parameters for the motion task must be entered in the screen page Motion task parameters 157 2 22 Screen page Terminal Overview of the Terminal screen At a Glance Diagram i Terminal 3 DRIVEO gt VER 3 80 DRIVE Rev create d Mar 01 08 44 27 2001 Command OK Cancel Apply Communication with the servo amplifier is made through ASCII commands You can obtain a complete list of the commands from our application department Commands that are sent to the servo amplifier are marked by gt The answers from the servo amplifier appear without any preceding characters When
13. 100 of the peak current of the instrument After the function has been selected you can enter the percentage value auxiliary variable x Make the conversion according to the following equation x Ipeak2 Ipeak 100 gt Ipeak2 x 100 Ipeak 19 Macro_IRQ Executes an interrupt routine 20 Start_Jog v x Start of the setup mode Jog Mode with a defined speed After selecting the function you can enter the speed in the auxiliary variable x The sign of the auxiliary variable defines the direction A rising edge starts the motion a falling edge interrupts it 21 U_Mon off Turns off the undervoltage monitoring function of the amplifier 22 MT_Restart Continues the motion task that was previously interrupted 23 Start_No x Starts a motion task that is stored in the amplifier with definition of the motion task number After the function has been selected you can enter the motion task number auxiliary variable x Motion task number 0 initiates homing reference traverse A rising edge starts the motion task Note The motion task does not stop automatically if the start signal is removed The motion task must be stopped by ea falling edge on another digital input configured with 16 Start_MT No x e the ASCII command STOP e the STOP function of the setup software 94 24 0PMODE A B Changeover of the operating mode OPMODE The numbers of the OPMODES that are to be changed over are
14. ASCII ACCUNIT Default 0 Valid for all OPMODES This parameter determines the acceleration time to v_cmd This parameter determines the deceleration braking time from v_cmd to zero Determines which type of acceleration braking ramp should be used to carry out a motion task Trapeze The drive is given a constant linear acceleration deceleration to the target speed Sine2 To limit any jolting the drive is accelerated decelerated within the acceleration time along an acceleration ramp without any discontinuities The resulting speed characteristic corresponds to a sine curve Variable The acceleration braking ramps can be adjusted in preparation The setting for the rate of change limiting of the acceleration braking ramps Limiting jumps during acc dec x a t_acc_total TS t_acc_total Tl 100 t t_dec_total 200 gt CE a T2 t_dec_total T1 14 T2 12 OK Cancel Apply t_acc_total Display of the total acceleration time t_dec_total Display of the total deceleration braking time 141 T1 Rate of change limiting the acceleration ramp maximum is half the acceleration time T2 Rate of change limiting the deceleration ramp maximum is half the deceleration time 142 Next motion task Next motion task Next number Accel decel Start condition After the presen
15. ASCII SERCOS Default Valid for all OPMODES Using this function it is possible to read the special Sercos IDNs not represented by an ASCII parameter The number of the IDN should be written into this field and data can be requested by activating the Transmit Data button ASCII SERCLIST Default Valid for all OPMODES This parameter may also be used to read IDN lists using the Read IDN function For this the requested list item must be chosen from this field before activating the Read IDN function This field contains the result of the Read IDN function in decimal and hexadecimal format 177 EL 7 Read Error Product Sercos Settings Standard Sercos Settings ASCII SERCERR Default Valid for all OPMODES This parameter will be set to 1 if the IDN number is not supported by the Read IDN list function EOT consequence IDN P3015 This parameter defines the consequence of the Hardware Limit Switch if the corresponding digital inputs are set to the limit switches If the hardware limit switch consequence is set to 0 then the Limit switch consequence is a warning Otherwise if the IDN P3015 is set to 1 then the switch consequence is a fault Clearfault allow coldstart IDN P3016 This parameter defines the consequence of the reset command IDN 99 ASCII CLRFAULT for faults which require a coldstart If this IDN is set faults
16. Err Expansion card error message The error may be due to the following reasons no power supply output overload or short circuit 24V Shows that 24V power supply for the expansion card is present 180 2 28 Error and warning messages General overview of the Error and warning messages At a Glance Explanations and designations of the various warning and error messages What s in this This section contains the following topics ion section Topic Page Error Messages 193 Warning messages 196 181 Error Messages At a Glance Errors that occur are displayed as a coded error number in the LED display on the front panel and in the Status screen page All error messages result in the BTB RTO contact being opened and the output stage of the amplifier being switched off the motor loses all torque The motor holding brake is activated Errors that are recognized by the mains supply monitoring are only reported after the servo amplifier has been enabled Number Designation Explanation FO1 Heat sink temperature The heat sink temperature is too high the limit is set by the manufacturer to 80 C F02 Overvoltage Overvoltage in the DC link circuit the limit depends on the mains supply voltage F03 Following error Message from the position controller F04 Feedback Cable break short circuit short to groun
17. SWE2 213 0 Signal for actual position gt SWE4 1 Signal for actual position lt SWE2 1 Signal for actual position lt SWE4 26 0 SWE2 functions as signal threshold 214 JO Reserved 1 SWE2 functions as SW limit switch 1 136 Bit variable SWCNFG Bit Value Description Bit Value Description 27 0 Reserved 215 JO Reserved 1 1 Resolution ASCII Default 10000 valid for OPMODE 8 PGEARI numerator ASCII Default 1 valid for OPMODE 8 PGEARO denominator The resolution can be defined at will through the entries for the numerator denominator Make changes only while the amplifier is disabled reset Examples e e An entry of 10000 1 produces a resolution of 10 mm turn e An entry of 10000 3 produces a resolution of 3 333 mm turn e Ifthe unit is in degrees e Rotary table with geared motor i 31 31 motor turns for one turn of the table e The entry 360 31 provides operation with position entries in degrees without rounding off The maximum range of movement is limited to 2047 motor turns If a larger range 32767 is required please consult our applications department 137 2 15 Screen page Motion task parameters General overview of the Motion task parameters screen At a Glance Overview of the different field values included in the Motion task parameters screen page What s in this This section contai
18. data are invalid until the zero pulse from the encoder has been received SSI SSl encoder emulation In the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create a position output in a format that is compatible with the standard SSl absolute encoder format 24 bits are transmitted Radio button SINGLE TURN selected The upper 12 bits are fixed to ZERO the lower 12 bits contain the position information For 2 pole resolvers the position value refers to the position within one turn of the motor for 4 pole resolvers it is within half a turn and for 6 pole resolvers it is within a third of a turn Exception If an encoder with Sincos Stegmann is used as the feedback unit then the upper 12 bits are set to 1 data invalid until a homing run is performed Radio button MULTI TURN selected The upper 12 bits contain the number of motor turns the lower 12 bits contain the position information ROD Interpolation Digitization and interpolation of the sine encoder input signals feedback to TTL level incremental output This function works properly only with sine encoder feedback systems The parameter INTERPOLATION determines the multiplier for the number of lines of the feedback encoder per electrical motor rotation 77 Resolution ROD ASCII ENCOUT Default 1024 valid for all OPMODES
19. this function will lead to slipping of the axis 95 Digital outputs DIGITAL OUT1 DIGITAL OUT2 Values ASCII codes and values ASCII OXMODE Default 0 valid for all OPMODES ASCII OxTRIG Default 0 valid for all OPMODES You can combine the following standard pre programmed functions with the digital outputs DIGITAL OUT1 O1MODE terminal X3 16 or DIGITAL OUT2 O2MODE terminal X3 17 Change this only while the amplifier is disabled reset High functions The presence of the function that is set is indicated by a High signal on the corresponding interface terminal Low functions The presence of the function that is set is indicated by a Low signal on the corresponding interface terminal ID Function Logic Auxiliary value OxTRIG 0 Off 1 Abs v_act lt x High Speed rpm 2 Abs v_act gt x High Speed rpm 3 Mains RTO Low 4 Regen off High 5 Sw_Limit High 6 Pos gt x High Position increments 7 In Position High 8 Abs l lt x High Current mA 9 Abs l gt x High Current mA 10 FError Low 11 12t High 12 Posreg 1 High 13 Posreg 2 High 14 Posreg 3 High 15 Posreg 4 High 16 Next InPos High 17 Error Warn High 18 Error High 96 Description of the digital outputs ID Function Logic Auxili
20. uses the same voltage as the CANopen interface The interface is selected from the setup software Pin No see below T 7 om i 1 Pcom 1 1 _ i 1 1 bs 25 Link between the PC and the servo amplifier see illustration component side of the built in SubD connector i e solder side PC X6 PC X6 RS 232 9 pin Sub D RS 232 9 pin Sub D 25 pin Sub D 9 pin Sub D oy ay O 2 Wed RxD TxD PCom RxD TxD GROU ND Female Female Female 00000000 0 0 0 eoo0o00000000 0 N a o wo lo 0 3 2 26 Installing Accessing and Starting to Use UniLink Installation The following procedure helps you install UniLink on your computer Procedure to be The following procedure shows you how to install UniLink followed Step Action 1 Insert your Lexium Motion Tools CD into the CD drive of your computer 2 Follow the easy software installation instructions 3 When you are asked to choose a directory in which to install UniLink select the default directory or specify another directory of your choice No errors should be reported during the installation process If you receive an error message repeat the installation procedure Access and Use The following procedure shows you how
21. Commanded and actual motion profile shapes have the following characteristics that are also universal to all motion operations Profile Characteristic Meaning Moving Moving refers to the execution of a motion instruction that makes the motor move The motor is considered moving for as long as the motion controller is commanding new positions The point at which motion stops is known as the target position In Position When a motion command stops executing and the motor slows to within a few counts of its target position the motor is considered to be stopped or In position A range of positions typically plotted in a motion profile represents the In position status This status is signaled when the motor gets close enough to the target position within its In position range that you have specified An In position signal is often used to make sure the motor stops before the machinery continues its operation 20 Limits and Ranges of Operation At a Glance Two Types of Settings Another important task in achieving best system performance is setting certain motion limits and ranges of operation to protect equipment from damage and to optimize operational efficiency There are two types of settings for motion limits and ranges of operation e fault limits e tolerance bands Type of Setting Meaning Fault limit Fault limits are settings that signal errors when certain limits on
22. In 2 is used for the limiting of the peak current of the instrument Ipeak Ipeak Ipeak An In 2 10 V Xcmd Scaling An In 1 An In 1 If you use the digital input function lpeak2x as well as the setpoint function lpeak1 the servo amplifier will use the lower of the two settings for Ipeak 4 Xcmd An In 1 An In 2 The servo amplifier uses the sum of both analog inputs depending on the setting of OPMODE Xcmd Scaling An In 1 An In 1 Scaling An In 2 An In 2 OPMODE An in1 AnIn2 1 analog speed speed setpoint 3 analog torque current torque setpoint all other settings inactive 5 Xcmd An In 1e An in 2 The servo amplifier uses the product of both setpoint inputs depending on the setting of OPMODE The voltage on An In 2 has the effect of a weighting factor for An In 1 the scaling for An In 2 is ineffective Xcmd An In 1 Scaling An In 1 An In 2 OPMODE Anini Anin2 1 analog speed speed setpoint 3 analog torque current torque setpoint all other settings inactive 6 electric gear Correction of the gearing ratio nominator y GEARO of the electrical gearing through An In 2 for OPMODE 4 An In 1 is used as a speed or torque setpoint for OPMODE 1 or 3 GEAROeff GEARO 1 An In 2 Scaling An In 2 100 7 Icmd Setp 1 amp Nmax Setp 2 The servo amplifier uses Setp 1 as current or torque setpoint Setp 2 defines the maximum rot
23. In the AXIS status field NO SW EN e click on the SW Enable check box ENABLE now stands in the AXIS status field The motor now stands under speed control with n 0 rpm If the current controller is not stable in operation motor oscillates with a frequency clearly above 500Hz2 please contact our applications department 35 Optimizing the speed controller Screen page speed controller Step Action 1 SETP OFFSET Leave the amplifier enabled If the axis is drifting alter the parameter Setp Offset until it stands still or use the function AUTO OFFSET 2 SETP RAMP The setpoint ramps are used to smooth the setpoint input filter effect Set the mechanical time constant for the complete system i e the rise time for the speed from 0 to Nema AS long as the ramps that are set are shorter than the mechanical response time for the complete system the response speed will not be affected 3 LIMIT SPEED Set the desired final limit speed 4 KP Tn Increase KP until the motor starts to oscillate audible and visible on the oscilloscope and then reduce KP again until the oscillations have definitely stopped and stability is assured Use the motor specific default value for Tn 5 Start reversing mode Start the reversing mode F8 v1 v2 approx 10 Of Nnom for the motor Observe the speed response on the oscilloscope If the settings are correct there must be a stable s
24. In the event of instrument related errors the drive changes to the Error response active state In this state the power stage is immediately switched off After this error message it changes to the Error state This state can only be changed by the Error reset bit command To enable this it is first necessary to have eliminated the cause of the error see ASCII ERRCODE command State machine transitions Transition 0 event Reset 24V power supply activated Action Initialization started Transition 1 event Initialization successfully completed switch on of drive inhibited Action None Transition 2 event Bit 1 voltage inhibited and bit 2 fast stop set to 1 in the control word command switch off the voltage is present on the DC link Action None Transition 3 event Bit 0 switch on also set to 1 command switch on Action The output stage is activated and the motor is generating torque Transition 4 event Bit 3 operation enabled also set to 1 command operation enabled Action Motion functions are activated according to the active operating mode 172 Transition 5 event Bit 3 cancelled command inhibited Action Motion functions are deactivated The motor is slowed by the requisite ramp according to the operating mode Transition 6 event Bit 0 set to 0 ready for switch on Action The
25. Screen page Position data 139 2 15 Screen page Motion task parameters 146 2 16 Screen page Gearing 153 2 17 Screen page Drive status 156 2 18 Screen page Actual values 158 2 19 Screen page Oscilloscope 161 2 20 Screen page Bode plot 164 2 21 Screen page Service parameters 165 2 22 Screen page Terminal 166 2 23 Screen page Modbus Plus 168 2 24 Screen page FIPIO 176 2 25 Screen page PROFIBUS 179 2 26 Screen pages SERCOS 185 2 27 Screen page I O expansion 190 2 28 Error and warning messages 192 2 29 Troubleshooting 197 48 49 2 1 Screen page Communication Screen page Communication At a Glance This dialog is the first dialog that appears when you start UniLink It allows you to e communicate directly with the servo drive online via the COM1 COM2 COM3 COM4 and Drive Connect buttons e use the UniLink software offline without connection to the drive via the Offline button e scan the serial ports and the CAN bus to see what devices are networked and available COM1 COM2 Diagram COM3 and COM4 COM2 Offline Disconnect interfaces Click on one of these communication ports the port that you are using on your PC to transfer the parameter values from the drive to your PC Then click on the drive connect button described below to connect online and communicate directly with the servo drive If the port that you are using is av
26. a following task 15 Start_MT Next externally the number of inputs that are available for selecting the motion tasks will be further reduced Examples of possible assignments of the digital inputs for various applications o without reference switch Start a following task that is defined in the motion task using the setting Start with I Application Motion task number MSB 2 20 00 0000 gt LSB Selectable NSTOP PSTOP DIGITAL IN 2 DIGITAL IN1 Motion task numbers 7 motion tasks homing Start_MT 1 0 92 21 20 Oto7 without reference switch 3 motion tasks homing Start_MT Next Start_MT I O o1 20 Oto3 92 Application Motion task number MSB 20s20sensenn gt LSB Selectable NSTOP PSTOP DIGITAL IN 2 DIGITAL IN 1 Motion task numbers 3 motion tasks homing 21 20 Reference Start _MT I O Oto3 with reference switch 1 motion task homing with Reference reference switch Start a following task that is defined in the motion task using the setting Start with I O Start_MT Next 90 Start_MT I O Oto1 10 Intg Off Switch off the integral component of the speed controller the P gain remains at the set value the actual rotational speed feedback remains in operation 11 v Torq Conir Bypasses the speed controller The analog setpoint is taken 1 1 as the setpoint for current c
27. acceleration deceleration profiles can be chosen The choice of profile depends on the mechanical structure of the machine and the required dynamical quality If the machine tends to sway e g robot arm sine would be the best choice This reduces the excitation to sway The disadvantage of this profile is the double up of the acceleration deceleration time If the machine is mechanically stiff and there are high requirements in dynamics the linear profile should be chosen This leads to a torque step at the beginning and the end of each acceleration deceleration ramp The following table describes the two fundamental acceleration and deceleration types linear and exponential A motion profile may accommodate a combination of these two types Accel Decel Description Type Linear Linear is a rate of acceleration and deceleration that theoretically represents a steady speed up and slow down Sine2 To limit any jolting the drive is accelerated decelerated within the acceleration time along an acceleration ramp without any discontinuities The resulting speed characteristic corresponds to a sine curve 22 Software and hardware configuration Operating System Description of the software Unilink runs on WINDOWS 95 c 98 ME 2000 or WINDOWS NT 4 0 Service Pack 3 or later Unilink does not run on DOS OS2 or WINDOWS 3 xx However it can be used on an ASCII terminal no user inter
28. all OPMODES Display the serial number of the servo amplifier ASCII TRUN Default Valid for all OPMODES Display of the operational time of the servo amplifier saved at 8 minute intervals If the 24V supply is switched off a maximum of 8 min operational time will be unregistered ASCII ADDR Default 0 Valid for all OPMODES The entry is the station address 1 63 of the amplifier This number is required by the fieldbus CANopen PROFIBUS DP SERCOS etc and for the parameter setting of the servo amplifier in multi axis systems for an unambiguous identification of the servo amplifier within the system see User guide for the Lexium 17x series amplifier The address is displayed in the setup software in the title bar of every screen page as long as you are working online In offline operation the display is not the actual station address but a number above 100 In this way you can instantly recognize the offline mode You can also use the keys on the front panel of the servo amplifier to set the station address see Installation Manual 60 Baudrate Name Auto validation Ext WD ASCII CBAUD Default 500 Kbit s Valid for all OPMODES The entry is the transmission rate of the amplifier 10 20 50 100 125 250 333 500 666 800 1000 kbit s The transmission rate is required by the fieldbus CANopen and for the parameter setting of the se
29. distance ASCII VREF Default 0 valid for OPMODE 8 Determines the velocity for the homing operation The sign is automatically fixed by the direction of motion that is selected The size is defined by VUNIT ASCII ACCR Default 10 ms valid for OPMODE 8 Acceleration ramp for the homing operation The size is defined by ACCUNIT Entry in milliseconds 1 32767 ms The ramp is also valid for constant velocity mode ASCII DECR Default 10 ms valid for OPMODE 8 The deceleration braking ramp for homing The size is defined by ACCUNIT Entry in milliseconds 1 32767 ms The ramp is also valid for constant velocity mode This deceleration ramp is only used if the operating mode allows it For homing to a hardware limit switch the emergency ramp is used 129 Offset ASCII ROFFS Default 0 valid for OPMODE 8 With the reference offset you can assign an absolute position value other than 0 to the reference point With an offset for the reference position you are not actually making a physical change but the offset is used as a reference value within the position control of the servo amplifier Homing to the reference switch will then not finish at zero but at the preset reference offset value The reference offset must be set before homing is started The size is defined by PUNIT An alteration of the offset only takes effect after a new homing o
30. entered in the auxiliary variable x as a decimal number You have to calculate this decimal value from a 2 byte hex value Bits 0 7 of the hex value contain the number of the OPMODE to which the system changes when a falling edge is detected at the appropriate input bits 8 15 contain the number for the response to a rising edge When the controller is switched on the OPMODE is set according to the input level Example Preparation for the changeover between OPMODE 1 LOW state and OPMODE 2 HIGH state according to the state of the digital input DIGI INI Function DIGI IN1 24 2 Byte Hex value 0801 gt decimal value 2049 Auxiliary value x 2049 25 Zero_latch Sets the ROD zero latch zero pulse offset The current position depending on the ROD resolution that is set is calculated at the rising edge and stored as NI Offset This function is used to perform an automatic save of all parameters 26 Pos latch No function 27 Emerg Stop The LOW level initiates an emergency stop phase motion is cancelled and the drive is stopped using the EMERGENCY RAMP Regardless of the OPMODE that is currently set the speed controller is activated during the emergency stop phase 32 Brake A rising edge at the input triggers the braking output of the amplifier This function is only available while the amplifier is disabled If an error message is active the brake cannot be de energized Note With suspended loads
31. in the RAM are lost when the auxiliary voltage is switched off 203 Glossary Ramps RBallast RBext RBint Regen circuit RES Reset Reversing mode ROD ROD interface Limiting of the rate of change of the speed setpoint value Regen resistor External regen resistor Internal regen resistor Converts superfluous regenerative energy that is fed back by the motor during braking into heat in the regen resistor Resolver New start of the microprocessor Operating with a periodic change of direction Incremental encoder output Incremental position output Servo amplifier Short circuit Speed coniroller Speed limit SRAM SSI SSI interface SW SETP Instrument for controlling the torque speed and position of a servomotor Electrically conductive connection between two phases Regulates the difference between the speed setpoint SW and the actual speed to 0 Output current setpoint Maximal value for the speed normalization at 10V Static RAM Synchronous serial interface Cyclically absolute serial position output Set Point 204 Glossary T tacho tacho time constant Tacho voltage Tn integration time Filter time constant in the speed feedback of the control loop Voltage proportional to the actual speed Integral component of the control loop U UL Underwriter Laboratory V VAC Alternating AC voltage VDC DC voltage VDE Verein deutscher El
32. motor movement such as speed and position as well as electrical current are exceeded Fault limits are designed to protect equipment from damage and can cause the drive and motor to shut down For example every motion control system has hardware limit switches which are used in the position loop to set a limit on how far the actual motor position can deviate from the commanded position before a fault is signaled You may also program software limits The difference or gap between commanded position and actual position is known as following error Such a limit protects against motor runaway and stalling Tolerance band Tolerance bands are set and specify the safe efficient physical ranges for the equipment Some of these tolerance bands do the following inthe current loop set a limit on the amount of electrical current to the drive and motor This protects the motor from damage that would be caused by excessive current inthe position loop place a limit on how far the motor can travel in a positive or negative direction seta range of positions that are considered to be In position That is this range specifies how far the motor can deviate from its commanded position and still be considered in the correct position 21 Acceleration and Deceleration At a Glance Two Types of Acceleration and Deceleration If the servo amplifier is operated with motion tasks under position control different
33. processing If the value leaves this window then the position controller generates an error message and brakes the drive using the emergency ramp 110 Mode Position Response ASCII EXTPOS _ Default 0 valid for all OPMODES Mode determines the type of position control loop P PI With a P type position controller this screen looks different Position response determines the feedback source for the position loop For most applications the commutation and position control data comes from the same source This source is determined by the Feedback screen and may be either a resolver or an Endat Hiperface encoder In some cases it is best to retrieve position data for commutation from another source For such cases the Feedback type parameter continues to be the source for the commutation and the source for the position controller is determined by the gearing mode Standard Feedback e the feedback type is defined by the Feedback parameter e itis not possible to read an encoder via X1 or X5 External reading ROD SSI for the field bus e the feedback type is defined by the Feedback parameter the external encoder is defined by the Gearing mode External reading ROD SSI for the position loop e the response type is determined by an external source via the electric gear parameter 111 2 13 Screen page Homing General overview of the Homing screen
34. ratings which must be as high or higher than the actual DC link voltage are used then each amplifier on the DC bus must be set up for the motor with the lowest rated voltage If the settings are not all the same then the desired distribution of the regen power will not be achieved ASCII PMODE Default 1 Valid for all OPMODES Handles the message Phase missing Change this only while the amplifier is disabled reset ID Function Note 0 No message A missing mains supply phase is not evaluated Operation is possible on two phases The peak current for acceleration is limited to 4A 1 Warning A missing mains supply phase is reported as a warning display and can be output on a digital output The servo amplifier will not be disabled The peak current for acceleration is limited to 4A 59 Hardware Firmware Serial number Run time Address ID Function Note 2 Error A missing mains supply phase is reported as a fault display and can be output on a digital output The servo amplifier is disabled and the BTB RTO contact opened ASCII HVER Default Valid for all OPMODES Display the version and revision level of the servo amplifier hardware ASCII VER Default Valid for all OPMODES Display the version and revision level of the servo amplifier firmware ASCII SERIALNO Default Valid for
35. switch activated n12 Default values only HIPERFACE Motor default values were loaded n13 Expansion card Expansion card not functioning correctly n14 SinCos SinCos communication is not determined n15 n31 Reserved Reserved n32 Firmware beta version The firmware is a beta version These warning messages lead to a controlled shut down of the drive braking with the emergency ramp 184 2 29 Troubleshooting Troubleshooting At a Glance The following table should be understood as a First aid box There may be a wide variety of causes of any fault that occurs depending on the conditions in your system In multi axis systems there may be several causes of a fault Our applications department can give you further assistance with problems Fault Possible causes Measures to remove the cause of the fault Fault message Communication fault Amplifier disabled Cable plugged into wrong socket of the servo amplifier or PC Wrong PC interface selected Use a null modem cable Plug the cable into the correct socket of the servo amplifier or PC Select the correct interface Motor doesn t rotate Amplifier disabled Analog setpoint failed Motor phases swapped Brake not released Drive is mechanically blocked Motor pole number set incorrectly Feedback set up incorrectly Current limit activated analog or digital 1 0 Apply enable signal Check PLC pro
36. the DC link voltage is lower than a defined value in volts auxiliary value x After the function has been selected you can enter a voltage value as the auxiliary value x 21 Enable A HIGH signal is output if the servo amplifier is enabled To obtain the enable the external Enable signal on terminal X3 15 must be present the Enable status must be set in the setup software or via the fieldbus interface and no errors must be present that would cause an automatic internal disabling of the servo amplifier 22 Zero Pulse The zero mark pulse HIGH signal is indicated by the encoder emulation This function is only useful at very low speeds 24 Ref_OK The output signals High if a reference point is available Reference traverse homing has been carried out or a reference point has been set 28 Posreg 0 The preset function of the corresponding position register is indicated by a HIGH signal Valid only with expansion card I 0 14 08 29 Posreg 5 The preset function of the corresponding position register is indicated by a HIGH signal Valid only with expansion card I 0 14 08 99 2 10 Screen page Current Overview of the Current screen At a Glance Irms Diagram Hi Current loop 101 Warning It 0 OK Cancel Use the default values for the motor Please do not make any alterations to the settings for the current controller unless they have been discussed with our Applications de
37. the software This signal is logically AND linked inside the servo amplifier with the hardware enable terminal X3 15 55 DANGER This function does not ensure personnel safety To disable the servo amplifier in a way that ensures personnel safety the enable signal terminal X3 15 must be removed and the line mains power must be switched off or Option AS must be used Failure to observe this precaution will result in death or serious injury Exit Ends the processing of the current parameter set If you have made any changes you will be asked if you want to save the data 56 2 3 SLOT Screen page Slot At a Glance The screen page depends on the built in expansion card I O expansion card l O 14 08 in preparation SERCOS PROFIBUS DP FireWire in preparation Modbus Plus 57 2 4 Screen page Basic Setup Overview of Basic Setup At a Glance Diagram Basic Setup 101 1x r PC Software Drive 2 00 KS232 Hardware m Power supply Firmware Regen resistor Internal Serial number Address Baudrate Regen power 0 ly 0 Ju Run time Name ax Mains Voltage E h m 230 V f H Units Mains phase missing Acceleration Velocity Position ms gt VLIM Wi rpm W m M OK Cancel Apply PC Software Display the version and revision level of the current setup software Regen
38. to access and begin using UniLink Step Action 1 Click on the Unilink shortcut icon on your desktop 2 Follow the instructions in the online help topic for the UniLink access dialog box 3 Choose whether to use UniLink online connected to the drive or offline not connected to the drive as follows e for online select the communications port through which your drive is connected The Amplifier dialog box then appears The Amplifier dialog box provides access to other dialogs boxes e for offline click on the Offline button You are then asked to download a data file Note only use the RS 232 serial cable to connect to the amplifier Do not use the Modbus cable Begin using UniLink according to the remainder of the information in the UniLink access dialog the Amplifier dialog and throughout the online help in general 27 Function keys Overview of the functions of the different keys Function key Function Comment F1 Help Contextual help F2 Reserved Reserved F3 Reserved Reserved F4 Jog mode Starts the Jog Mode The drive operates under the parameters that are pre selected on the Motion Tasks page while the F4 key is pressed F5 DC The drive operates under the parameters that are pre F6 Speed selected on the Oscilloscope Service pages F7 Torque F8 Reversing F9 Stop OFF Brakes the motion The response of the am
39. um unit 1 um 7 100 nm unit 0 1 um 10 nm unit 0 01 um nm unit 1 nm With the pulse setting no path or distance unit can be displayed In this case it is possible to implement units specific to the application These then depend solely on the resolution used 64 2 5 Screen page Motor Screen page Motor At a Glance Information and descriptions concerning the different fields of the Motor screen What s in this This section contains the following topics ion secuo Topic Page Overview of the Synchronous motor screen 68 Overview of the Asynchronous motor screen 71 65 Overview of the Synchronous motor screen At a Glance Motor type Number of poles All parameters that appear on this screen page are defined by the default values of the motor internal database of drive Most of the time it is not necessary to modify them Diagram Ma Ed lo No of poles 0 A 0 m lo max L 0 A 0 mH i Max speed n max 0 rpm OK OK Number Reference Holding brake po n max p Motor selected v none ly u Start Phi rpm Current advance elect 0 lo max Final Phi value elect 0 Cancel This parameter enables us to distinguish between synchronous motors MTYPE 1 and asynchronous MTYPE 3 motors If an asynchronous motor is selected this screen page looks different ASCII MTYPE Default 6
40. using this integrated terminal function the following restrictions apply e The last 200 lines are displayed e The transmission from the servo amplifier to the PC is limited to a maximum of 1000 bytes per command e Awatchdog timer limits the transmission time in both directions to a maximum of 3 sec If the number of characters is more than 1000 or the transmission time is more than 3 seconds then the terminal reports a fault 158 Command Enter the ASCII command here with the corresponding parameters End the entry with RETURN or press the APPLY button to start the transmission CAUTION The terminal software should be used only by experts Failure to observe this precaution can result in injury or equipment damage 159 2 23 Screen page Modbus Plus Screen page Modbus Plus At a Glance Overview of the different field values included in the Modbus Plus screen page What s in this This section contains the following topics section Topic Page Screen page Modbus Plus 169 Configuration of Address and TimeOut via Unilink or via a Terminal 173 Peer Cop Data 174 Global data configuration via Unilink or via a terminal 175 160 Screen page Modbus Plus Different The communication parameters may be configured in 2 ways configuration e via the Unilink software terminal mode or via any terminal Some ASCII parameters commands are de
41. which require a coldstart will not clear Position polarity IDN 55 The position polarity parameter is used to invert the polarities of position data Polarities are not inverted internally but externally i e on the input and output of a closed loop system The motor shaft turns clockwise when there is a positive position command difference and no inversion Feedback inversion 1 This function enables the sign of the Feedback value 1 to be inverted Feedback inversion 2 This function enables the sign of the Feedback value 2 to be inverted Velocity inversion IDN 43 The velocity inversion parameter enables the sign of velocity data to be inverted The signs are not inverted internally but externally i e on the input and output of a closed loop system The motor axis turns clockwise when there is a positive velocity command and no inversion Velocity sign This function enables the sign of the velocity value to be reversed 178 2 27 Screen page I O expansion Overview of the screen page I O expansion At a Glance PosReg 1 5 Ferreur Next InPos In Position Start_MT No x MT_Restart Start Jog v x Start_MT Next FError_clear Reference This screen displays individual status of the I O 14 08 channels on the expansion card as well as overall status of the card The preset function of the corresponding position register is indicated by a high signal the PosReg 1 4 functi
42. 0 turns min gt vmax resolution number of motor turns 10000 3 3000 u m min 10 000 000 u m min or gt vmax resolution number of motor turns 10 3 3000 mm min 10 000 mm min Example 2 resolution 180 mech turn number of motor turns 3000 turns min gt vmax resolution number of motor turns 180 3000 mech min 9000 mech s t_acc dec_min enter the time in ms that the drive requires with the mechanically permissible maximum acceleration to accelerate from zero speed to vmax 32 Step Action 5 In position e enter the window for InPosition This value is used for the InPosition message the dimensional unit is derived from the resolution mech or length unit Typical value e g approx resolution 1 100 turn 6 max following error enter the window for the following error This value is used for the message FOLLOWING ERROR The dimensional unit is derived from the resolution mech or length unit Typical value e g approx resolution 1 10 turn 7 Save parameters click on the button shown below 2 SAVE answer the query RESET AMPLIFIER with YES 33 Optimization of the control loops The basic setting must be finished Step Action 1 OPMODE Set the OPMODE 1 analog speed screen page AMPLIFIER 2 Setp function Set the analog I O function to 0 Xsetp An In 1 screen
43. Ae ae See a a S a ene eh Ses wate a ea igh 127 HOMING 3 ij thas eee ei aed eae ee ea bey Pee ee ae ad 130 Homing 4 s cim sonia bata Sti Fete a ve a A Se 132 Homing Sorea Deters tick Meno bl eee eee hose ohare eee es 134 HOMINO Z ir het et ete itt el wae adie ace eee Se ees 135 JOG Modere nsn oie ah ete ene Re aaa bh QE RD paged Gen Sea teeta cee Reales 138 Screen page Position data 2 6 cece 139 Overview of the Position data screen 1 0 0 0 cece eee eee 139 Screen page Motion task parameters 1 2 eee 146 General overview of the Motion task parameters screen 146 Overview of the Motion task parameters screen 2000e0 eee 147 Acceleration Deceleration 00 0 0 c eect eee 149 Next motion task 32 02 e raitea vb dae ee wie be dee ede ad 151 Screen page Gearing 0 c cee eee 153 Overview of the Gearing screen 0 tee 153 Screen page Drive status eee eee 156 Introduction to the Drive status Screen 2 0 ee 156 Screen page Actual values 0 ect eee 158 Overview of the Actual values Screen 2 2 0 eee eee 158 Screen page Oscilloscope 0 6 eects 161 Overview of the Oscilloscope screen uuu cece eee eee 161 Screen page Bode plot 0 0c eee ete eee 164 Overview of Bode plot screen n auna cee eee 164 2 21 2 22 2 23 2 24 2 25 2 26 2 27 2 28 2 29 Glossary Index Scr
44. CII TRUN Default valid for all OPMODES Display of the operational time of the servo amplifier saved at 8 minute intervals If the 24V supply is switched off maximum 8 minutes of operation are unregistered ASCII FLTHIST Default valid for all OPMODES The last 10 faults that occurred are displayed together with the time of their occurrence referred to the operating hours ASCII FLTCNT Default valid for all OPMODES Display of the frequency of all faults that caused the servo amplifier to switch off 148 Actual errors ASCII ERRCODE Default valid for all OPMODES Display of the errors presently being reported by the servo amplifier corresponds to the error messages Fxx in the LED display on the front panel of the amplifier Actual warnings ASCII STATCODE Default valid for all OPMODES Display of the warnings presently being reported by the servo amplifier corresponds to the nxx warnings in the LED display on the front panel of the amplifier Reset ASCII CLRFAULT Default valid for all OPMODES Software reset of the servo amplifier The servo amplifier must be disabled Present errors are deleted the firmware is re initialized and communication is re established If only errors marked with an asterisk in the error listing are present then the errors are cancelle
45. HOMING button e check that the parameter v Jog Mode is set to 1 10 of the preset speed limit vmax The sign of v determines the direction Alter the value if necessary and click on APPLY e start the function Jog Mode by using the function key F4 and move the load to approximately the middle of the motion path WARNING If the drive moves in the wrong direction release the F4 function key and change the sign of the parameter v Jog mode Use F4 again to move the load to approximately the middle of the motion path Set reference point e set the homing type Start the homing run When the reference point is set the current position is set to the offset value e stop the homing run click on the check box SW disable in the amplifier window 38 Step Action 4 Define test motion blocks click on the POSITION button click on the POSITION DATA button e select task 1 with a double click Enter the values from the table below then select task 2 and enter the corresponding values Task 1 Task 2 Units Sl Sl type REL setpoint REL setpoint s_cmd 10 of total path 10 of total path v_cmd_source digital digital v_cmd 10 of vmax 10 of vmax t_acc_tot 10 t_acc dec_min 10 t_acc dec_min t_dec_tot 10 t_acc dec_min 10 t_acc dec_min ramp trapeze trapeze next motion task with with next number 2 1 acc dec to target position to target position start co
46. Ipeak 105 Phase missing from the mains 61 PID T2 108 PI PLUS 109 Poles Resolver 75 Pos latch 98 Pos gt x 101 210 Index Position 66 Actual value 160 Position register 143 Posreg 0 103 Posreg 5 103 Presentation of the product 15 Print 44 PSTOP 94 R Ramp 149 Rate of occurrence 156 Rated current Irms 104 Ref_OK digital output 103 Reference Offset 137 Reference point Actual value 160 Reference digital input 96 Regen off 101 Regen Power Configuration 59 Regen power Actual value 159 Regen Resistor 59 Reset Input 94 Switch 157 Resolver Bandwidth 76 No of poles 75 Offset 76 Resolver bandwidth 76 Resolvers 19 ROD Nl Offset 80 Resolution 80 ROD Interpolation 81 ROD SSI 96 Rotary direction 107 Run time 62 Run time drive status 156 S s_cmd 148 Save 161 Saving 161 Save as 44 Save in EEPROM 54 Save to disk 53 Scaling setpoints 84 Screen layout 43 Screen page Actual values 158 Analog I O 83 Asynchronous motor 71 Basic setup 59 Current 104 Digital I O 89 Drive 53 Encoder 79 Entry of service parameters 165 Feedback 75 FIPIO 177 Gearing 153 Homing 118 Modbus Plus 170 Motion task parameters 147 Oscilloscope 161 Position P 114 Position Pl 111 Position data 139 Speed 106 Synchronous motor 68 Terminal 166 Screen page Communication 50 Screen page Control of PROFIBUS instruments 180 Screen page I O exp
47. Level IN1IMODE IN2MODE IN3MODE IN3MODE 19 Macro_IRQ A z x 20 Start_Jog v x x Speed in rpm x x x x 21 U_Mon off Pal x 22 MT_Restart Pal x x x 23 Start_No x A Motion task no x x x x 24 OPMODE A B A Opmode no x x x 25 Zero_latch Pal x x x x 26 Pos latch Pal x 27 Emerg Stop Na Low x x x 32 Brake A x x x x 90 Description of the digital inputs 0 Off No function 1 Reset Software reset of the amplifier in the event of a fault All the functions and displays are set to the initial status Parameters that are not stored in the EEPROM are erased the parameters stored in the EEPROM are loaded If any of the error messages F01 F02 F03 F05 F08 F13 F16 or F19 are present then no software reset will be carried out Only the error message will be deleted This means that for example the encoder output signals are stable and can continue to be evaluated by the controls 2 PSTOP Limit switch function A LOW signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotation clockwise when looking at the motor shaft at the A end of the motor parameter ROTARY DIRECTION positive The motor brakes with emergency ramp and stands with the I component under control mechanical disconnection stop is not permitted A falling edge releases the brake the OV level disables the negative setpoint 3 NSTOP Limit switch function A LOW signal on the input terminal N
48. MRESBW 76 MRESPOLES 75 MSPEED 69 71 MTANGLP 70 MTR 71 MTYPE 68 71 MUNIT 70 73 MVANGLB 70 MVANGLF 70 MVR 72 NREF 120 OPMODE 56 OxMODE 99 OxTRIG 99 PBAL 159 PBALMAX 59 PBALRES 59 PE 160 PEINPOS 142 PEMAX 112 114 PFB 160 PGEARI 145 PGEARO 145 PMODE 61 POSCNFG 141 PRD 159 PTMIN 141 PUNIT 66 PVMAX 141 ROFFS 137 SAVE 54 SBAUD 187 SERCERR 189 SERCLIST 188 SERCOS 188 SERIALNO 61 SLEN 187 SPHAS 187 SSIGRAY 81 SSIINV 81 SSIMODE 80 SSIOUT 81 SSTAT 187 STATCODE 157 STOP 119 140 SWCNFG 143 SWEx 143 TEMPE 159 Index TEMPH 159 TRUN 62 156 V 160 VBUS 159 VBUSBAL 60 VCMD 160 VER 61 VJOG 138 VLIM 106 VLO 77 VOSPD 108 VREF 136 VSCALEx 84 VUNIT 65 Auto validation 63 Auto Offset setpoint 84 Axis Commissioning Checklist Procedures 29 Axis Type 141 B Baudrate 62 Bus voltage DC link 159 C Cancel Saving 161 Channel 162 Command Terminal 167 common parameter management with messaging 174 Communication 44 Configuration Address 173 Global data 175 TimeOut 173 configuration Peer Cop 174 Current D component 159 Current Q component 159 D DC Link 103 DC link voltage 159 DC Link gt x 102 Dead Band 84 Deceleration braking ramp 136 Delay time 152 Description RS232 26 Description of the software 23 Digital inputs 92 Digital outputs 99 Direction of movement 136 Disab
49. N R P Initial point in positive direction from reference switch Vre l Vref l I l N R P Initial point in negative direction from reference switch SP P Initial point at reference switch Vre I Vref 117 Note Before starting homing check the safety of the system since the load may move even if the limit switches ar disconnected or defectiv The limit switch functions 2 PSTOP and 3 NSTOP must be activated to achieve the full homing functionality 118 Homing with reference switch positive direction of motion positive rotation with zero mark A P Initial point in positive direction SP from reference switch l 4 S Vref i l NM R P Initial point in negative SP direction from reference switch l Vre l S I Vref l I N R P Initial point at reference switch Vref Vref 119 Note Before starting homing check the safety of the system since the load may move even if the limit switches ar disconnected or defectiv The limit switch functions 2 PSTOP and 3 NSTOP must be activated to achieve the full homing functionality 120 Homing 2 Diagrams Homing with reference switch negative direction of motion positive rotation with zero mark N p AN P SP Initial point in positive direction from limit switch Initial point at limit switch Note ha
50. Overview of the Encoder Input screen 000 cee eee 78 2 8 2 9 2 10 2 12 2 13 2 14 2 15 2 16 2 17 2 18 2 19 2 20 Screen page Analog I O 2 1 ete 82 General overview of the Analog I O screen 000 c ee eee eee 82 Analog Inputs Outputs Analog I Os 0 000 eee eee 83 Analog inputs AN IN 1 ANIN2 2 0 ee eee 84 Analog outputs AN OUT 1 AN OUT 2 0 0c cee eee 88 Screen page Digital I O nnana eee 89 Overview of Digital I O 2 0 0 ete 89 OVEIVICW gush setts onc tenaete feats EE nineteen fae ateaoaand 90 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP 91 Digital outputs DIGITAL OUT1 DIGITAL OUT2 0000 98 Screen page Current 0 0 tte ee 104 Overview of the Current Screen 0 000 tte 104 Screen page Speed 6 eee tenes 106 Introduction to the Speed screen 0 cette eee 106 Screen page Position 1 0 0 2 cee teens 110 Screen page Position 0 00 c ccc eee eee 110 Overview of the Position screen PI n uana 000 e ee eee 111 Overview of the Position screen P 0 0 114 Screen page Homing 0 0 c eect eee 116 General overview of the Homing screen 0 00000 cee eee eee eee 116 Overview of the Homing screen 0 00 cece eee 117 Homing Vise ies ete ee eee a ee a Eat Sah Ey bee eee he eae 122 FIOMING 2i eye aie 3 ite
51. PPLY and then on OK Select motor e click on the MOTOR button below the picture of the motor open the motor selection table by clicking on the arrow in the field NUMBER Reference click on the motor that is connected click on APPLY answer the query about the brake e answer the query Save to EEPROM Reset with NO the data are in the RAM and will be permanently saved later Select feedback resolver encoder click on the FEEDBACK button e the values that are displayed correspond to the default data that you have loaded for the motor alter the fields if necessary click on APPLY and then on OK 30 Step Action Set up the encoder emulation ROD SSI click on the ENCODER CONNECTOR button select the desired encoder emulation set up the corresponding parameters in the right half of the window click on APPLY and then on OK Configure the analog inputs outputs click on the I O ANALOG button select the desired ANALOG FUNCTION Set the scaling relative to 10V for the analog input that is used set up the required output signals for AN OUT 1 and AN OUT 2 click on APPLY and then on OK Configure the digital inputs outputs click on the I O DIGITAL button assign the required functions to the digital inputs left half of window and enter the auxiliary variable X if it is necessary assign the required functions to the digital inputs right half of window and
52. Resistor ASCII PBALRES Default 0 internal Valid for all OPMODES Preselection of the regen resistor If you use an external regen resistor set 1 external here Regen Power ASCII PBALMAX Default 80 W 200 W Valid for all OPMODES The limit for the continuous power of the regen resistor Change this only while the amplifier is disabled 58 Max Mains Voltage Mains phase missing ASCII VBUSBAL Default 1 Valid for all OPMODES This parameter is used to adjust the regen and switch off levels of the servo amplifiers to suit the mains power supply voltage or the system conditions for multi axis systems with parallel connected DC link circuits ID Max Mains Voltage DC link voltage rated motor voltage max motor voltage 0 230 V 310 V 430 V 1 400 V 560 V 750 V 2 480 V 675 V 870V Single amplifier usually the setting taken is the mains supply voltage that is actually available If the motor has a higher voltage rating than the DC link voltage that occurs as a result of the available mains supply voltage then you can raise the regen and switch off levels by selecting the max mains voltage that is permissible for the motor see table Multi axis systems with parallel connected DC link circuits in a system the DC link circuits of the servo amplifiers are usually connected in parallel DC bus If motors with differing voltage
53. Rotary A rotary axis is an axis with unlimited travel The software limit switches have no significance in this case A rotary axis always makes a relative movement even if the tasks are entered as absolute ones The actual position is set to zero with every start A reference point is not required ASCII PVMAX Default 100 valid for OPMODE 8 This parameter is used to adjust the maximum speed of movement to suit the limits of the operative machinery The calculation of the upper setting limit depends on the final limit speed of the drive The value that is entered is used as a limit for the v_setp entry in the motion tasks During commissioning you can limit the speed by using v_max without changing the setting for the motion blocks A lower value of v_max overrides the v_setp of the motion tasks ASCII PTMIN Default 1 ms valid for OPMODE 8 A drive is always so dimensioned that it can provide more power than the application requires This parameter determines the limit for the maximum mechanical acceleration time to v_max that must not be exceeded by the drive This time is simultaneously valid as the minimum limit for the entry t_accel_tot acceleration time from O to v_setp and t_brake_tot braking time from v_setp down to 0 for the motion tasks Depending on the type of acceleration unit that is configured you can enter either the acceleration time period or an accelerati
54. STOP terminal X3 14 inhibits the negative direction of rotation counterclockwise when looking at the motor shaft at the A end of the motor parameter ROTARY DIRECTION positive The motor brakes with emergency ramp and stands without the I component under proportional control mechanical disconnection stop is permitted A falling edge releases the brake the OV level disables the positive setpoint 4 PSTOP Intg Off Limit switch function A LOW signal on the input terminal PSTOP terminal X3 13 inhibits the positive direction of rotation clockwise when looking at the motor shaft at the A end of the motor parameter ROTARY DIRECTION positive The motor brakes with emergency ramp and stands without the I component under proportional control mechanical disconnection stop is permitted A falling edge releases the brake the OV level disables the negative setpoint 5 NSTOP Intg Off Limit switch function A LOW signal on the input terminal NSTOP terminal X3 14 inhibits the negative direction of rotation counterclockwise when looking at the motor shaft at the A end of the motor parameter ROTARY DIRECTION positive The motor brakes with emergency ramp and stands without the l component under proportional control mechanical disconnection stop is permitted A falling edge releases the brake the OV level disables the positive setpoint 91 6 PSTOP NSTOP Limit switch function STOP regardless of the direction of r
55. To tune a motor you must set up initial values for and adjust several motion parameters using UniLink These parameter settings compensate for the difference between the actual motion and the commanded motion getting the actual as close to the commanded as possible with minimal oscillation and noise This difference is called following error Load The load is the mechanism and equipment that each motor drives It is everything connected to the output shaft of a motor including the shaft itself A motor must be appropriately sized to its load to ensure the motor is powerful enough to carry out your automation tasks A servo system delivers and converts motion to a load via one or more of the following mechanical techniques e direct drive e motor connected to a rotating table e screw drive e motor connected to a lead screw carrying a slide moving table rack and pinion e motor connected to a cogwheel that moves a rack belt and pulleys e motor connected to rollers that move conveyor belts or chains and sprockets 17 Feedback Device Every closed loop servo system needs at least one device to return feedback information from each motor or load to servo drive Depending on the feedback device feedback is transmitted back to the servo drive in the form of digital signals or analog signals Two types of feedback devices are supported e encoder See Feedback Device p 19 returns analog or digit
56. Unilink Software Setup General information eng Document set Document set Related Documents Related Documentation for Multi Axis Hardware e user guide for the Lexium 17S 890 USE 121 series servo amplifier e user guide for the Lexium 17S HP 890 USE 123 series servo amplifier e Lexium BPH series servo motors AMOMANO01U Related Documentation for Single Axis Hardware e user guide for the Lexium 17D 890 USE 120 series servo amplifier e user guide for the Lexium 17D HP 890 USE 122 series servo amplifier e Lexium BPH series servo motors AMOMANO01U Other documentation CanOpen manual Lexium Motion tools CD Modbus manual Lexium Motion tools CD Profibus DP manual Lexium Motion tools CD Fipio manual Lexium Motion tools CD Document set Table of Contents Chapter 1 Chapter 2 2 1 2 2 2 3 2 4 2 5 2 6 2 7 About the book 2 0 0 ee 9 General information 0 0 cece eee eee 11 At a Glance oee escent ee 8 A eee ae baad awe vad oe 11 Directions Tor se e anro are onn a e wip alee a Maly er ackcdeeie Anal AA 12 Product Overview seseo ede T n eae Ha eae a E E RS 15 Motion Control Overview 1 0 2 0 0c cc ete eens 16 Feedback Device n 440 eae Pai Yea Pea vee diene ae 19 The Motion Profile 0 a a aa ea a eee 20 Limits and Ranges of Operation 0 0 c cece eee ee 21 Acceleration and Deceleration 0000 0c cece eee 22 Software a
57. a terminal 163 Configuration of Address and TimeOut via Unilink or via a Terminal Address Configuration TimeOut Configuration Note an address should not be duplicated on the network and should be between 1 and 64 Configuration via Unilink e configure the Address field using the station address in the basic screen of Unilink Configuration via a terminal e enter the terminal screen e enter the ADDR command lt Address gt e enter the ADDR command without parameters to check that the configuration has been correctly implemented Configuration via Unilink e configure the Bus Time Out field with the selected value Configuration via a terminal e enter the terminal screen e enter the TIMEMBP command lt Value in 0 01 sec gt e enter the TIMEMBP command without parameters to check that the configuration has been correctly implemented TimeOut represents e the maximum period of time during which a token is not received e the maximum period of time between 2 PEERCOPs being received When a TimeOut is detected the drive faults 164 Peer Cop Data Peer Cop Configuration Common Parameter Management with Messaging Peer Cop data are the registers transmitted by the command station The number of registers received by the drive can be configured by the user Peer Cop command data reception is confirmed by selecting a number of received Peer Cop regist
58. ailable not used by other equipment or programs the name COM1 COM2 COM3 or COM4 appears black Otherwise the name appears gray 50 Offline Disconnect interfaces Even when no drive is connected you can still use UniLink You can load axis commissioning data from the PC work on it and save it again If you do not load data the manufacturer s default settings basic setup will be applied Software functions and UniLink dialogs that are only available in online mode will not be selectable You can open more than one data set for editing by clicking on Offline again The individual data sets are identified in the title bar by the designations AMPLIFIER 101 AMPLIFIER 102 and so on Instead of the axis address a sequential number above 100 is displayed If you have loaded an existing data set from the PC then the folder name data set name and servo drive name will also be displayed Deactivates the access to the setup software via the interfaces COM1 to COM4 This function is important as in order for an external program to access the servo amplifier the setup software must be active 51 2 2 Screen page Amplifier Overview of the functions of the Amplifier At a Glance E Drive 101 lt gt Digital o Oo OPMODE Slot Torque o Digital speed 25 Positi Current osition Rs H 0 1 Feedback Resolver _ Motor Motor selection
59. al signals optical e resolver See Feedback Device p 19 returns analog signals magnetic Servo Drive Amplifier The servo drives comprise a three phase power supply and high performance control unit all housed in a single enclosure The several control loops are performed totally digitally 18 Feedback Device At a Glance Resolvers Encoders Servo motors are available with these feedback units e resolver e HIPERFACE compatible Stegmann encoder e ENDAT compatible Heidenhain encoder In a closed loop feedback system the innermost loop is the commutation loop which monitors the motor s rotor and ensures that it keeps spinning Outer loops are e position loop e velocity loop e current loop Velocity information and the velocity loop are derived from position information The current loop is also known as a torque loop since amplitude of the electrical current is directly proportional to torque The servo amplifier can use single two poles or multi speed multiple poles resolver feedback to calculate primary position velocity and commutation information A resolver can be thought of as a transformer whose output is unique for any given shaft position an absolute position feedback The transformer is driven with a sinewave reference signal Two AC signals are returned from the resolver into the Sine and Cosine inputs All three of these sinewave signals are low level an
60. alid for all OPMODES Shows the momentary position in user units u m ASCII PE Default valid for all OPMODES Shows the momentary following error in user units um Shows whether a reference point is set or not 152 2 19 Screen page Oscilloscope Overview of the Oscilloscope screen At a Glance Diagram Oscilloscope 101 Ox O a rpm ae 0 0 0 1 1 4 0 002 0 004 0 006 0 008 Save 5 F Resolution Channel Trigger signal Trigger level Ready Normal ejm Ret Lwl ret w 0 Save Time Division B act y Trigger positionTrigger edge Cancel lanl 10 v ms Bo m 50 v Positive v Sene Default Parameters Speed F6 w Start Stop F9 values ae Cycle time for the measurement acquisition gt 2504s Various value are graphically displayed in a diagram You can display up to three variables simultaneously as a function of time Start Start saving the data Cancel Stop saving the data Save Saves the recorded measurements to a data medium in CSV format to be evaluated with MS Excel Load Loads a CSV data file and displays the curves on the oscilloscope diagram 153 Channel Trigger level Trigger position Trigger edge Trigger signal Resolution Time Division Assignment of the displayed variables to the channels At present the fol
61. ansion 190 Screen page PROFIBUS instrument control 183 Screen page SERCOS 186 Serial number 61 Service 45 Service functions Direct current 163 Reversing 163 Speed 163 Start 163 Stop 163 Torque 163 211 Index Servo Drive Amplifier 18 Servo motor 17 Setp Ramp 107 Setp Ramp 107 Setp Functions 85 Setpoint speed 160 Slot 58 Slot Exp x 55 Software limit switches Position register 143 Speed 65 SpeedLimit 106 SSI Baudrate 81 SSl Code 81 SSl Mode 80 81 Start Jog mode 138 Motion task 140 Saving 161 Service function 163 Start by I O edge 152 Start condition 152 Start_Jog v x 97 Start_MT I O 97 Start_MT Next 96 Start_MT No x 96 Start_No x 97 Status bar 43 Stop Homing 119 Motion task 140 Service function 163 Sw_limit 101 T T Setp 84 t_acc dec_min 141 t_acc_total 149 t_dec_total 149 The Motion Profile 20 Time Division 162 Title bar 43 Tn Current contr 105 Position contr 112 Speed contr 108 Toolbar 43 Triggering Trigger level 162 Trigger position 162 Trigger Signal 162 Troubleshooting 197 Type 148 U U_Mon off 97 V v Jog mode 138 v_cmd source 148 v_max 141 W Warning messages 196 Window 45 Z Zero Pulse 103 212
62. ar The rotor locks onto a stator pole Speed Operates the drive at constant speed An internal digital setpoint is provided speed is adjustable Torque Operates the drive with constant current An internal digital setpoint is provided current is adjustable The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or similar Reversing Operates the drive in reversing mode with separately adjustable speed and reversing time for each direction of rotation Motion task Starts the motion task that is selected in the screen page Entry of service parameters Starts the service function selected Stops the service function selected When the curves are displayed when reading the file or beginning a save a mouse Click displays the values measured for the signals in the coordinates system for the time period selected If the user clicks outside the coordinates system or clicks while holding down the SHIFT key the values displayed are reset to 0 155 2 20 Screen page Bode plot Overview of Bode plot screen Overview In preparation 156 2 21 Screen page Service parameters Overview of the Entry of service parameters screen At a Glance Diagram Entry of service parameters Eq Speed _
63. are supply disabled connect the PC interface X6 RS232 of the Configuration servo amplifier to the PC serial interface using a three wire cable do not use a null modem type connection cable CAUTION Only disconnect and connect the cable with the power supply off amplifier and PC Failure to observe this precaution can result in injury or equipment damage The amplifier interface is electrically isolated by an optocoupler and uses the same voltage as the CANopen interface Minimum configuration for the computer CPU 80486 or above Operating System WINDOWS 95 c 98 ME 2000 NT 4 x Graphics card Color WINDOWS compatible Drives Floppy disk drive Hard disk with 5Mb of free space CD ROM drive for online documentation RAM Memory 8Mb minimum Link One free serial link COM1 COM2 COM3 COM4 This link must not be used by another software program or hardware device 24 RS232 link connection to the PC X6 At a Glance You can set the operation position control and motion block parameters using the setup software from a standard PC With the hardware supply disabled connect the PC interface X6 RS232 of the servo amplifier to the PC serial interface using a three wire cable do not use a null modem type connection cable Before starting this operation check there is no supply voltage The interface which is electrically isolated with optocouplers
64. ary speed 84 Icmd Scaling Setp 1 Setp 1 nmax Scaling Setp 2 Setp 2 8 Pemd An In 1 Input 1 is used as position setpoint For example for adjusting a valve setting 9 Xcmd An In 1 Ferraris An In 2 The servo amplifier uses the input 1 as current torque or speed setpoint depending on the OPMODE parameters Input 2 is used as a Ferraris sensor input acceleration sensor for implementing speed control using this sensor 85 Analog outputs AN OUT 1 AN OUT 2 AN OUT 1 2 ASCII ANOUTx Default 1 valid for OPMODES 1 3 The analog outputs 1 ANOUT1 terminal X3 8 and 2 ANOUT2 terminal X3 9 each provide various analog actual setpoint values depending on the selection in the commissioning software Make changes only while the amplifier is disabled reset Output resistor 2 2kQ Resolution 10 bit ID Function Description 0 Off inactive 1 v_Act The speed monitor provides a DC voltage referred to AGND analog to the actual speed 2 l_act The current monitor provides a DC voltage referred to AGND analog to the actual current The output is the actual in phase current active component Iq which is nearly proportional to the motor output torque Amplitude 10 V for the preset peak current r m s value in the current controller 3 v_cmd The output provides 10V referred to AGND for the internal speed setpoint Amplitude 10V a
65. ary value OxTRIG 19 DC_Link gt x High 20 DC_Link lt x High 21 Enable High 22 Zero Pulse High 23 Reserved 24 Ref_OK High 25 27 Reserved x 28 Posreg 0 High 29 Posreg 5 High 0 Off No function assigned 1 Abs v_act lt x As long as the absolute value for the motor speed is lower than a preset value auxiliary value x a HIGH signal will be output After the function has been selected you can enter the speed in rev min as the auxiliary value x 2 Abs v_act gt x As long as the absolute value for the motor speed is higher than a preset value auxiliary value x a HIGH signal will be output After the function has been selected you can enter the speed in rev min as the auxiliary value x 3 Mains RTO This signals the operational readiness of the amplifiers power output stage After switching on the mains supply a LOW signal is output until the DC link circuit is fully charged up A HIGH signal is output when the charging of the DC link circuit is finished If the DC link voltage falls below 100V then OV will be output The Undervoltage monitoring is inactive 4 Regen off Signals if the preset Regen power screen page Basic Setup is exceeded 5 Sw_limit Produces a HIGH signal if a software limit switch is reached a preset function of the corresponding position register set to SW limit switch 1 or SW limit switch 2 the function is defined in the screen page Position Data 6 Pos gt x
66. been selected If an encoder is used as a feedback device the motor number will automatically be reported to the servo drive Change this only while the drive is disabled The following motor related parameters are automatically updated when you select a motor Screen page Parameters Basic Setup Maximum mains voltage Motor Number of poles lo lo max L Maximum Speed Current advance Start Phi Limit Phi Brake Feedback Feedback Type Number of Resolver Poles Offset Current KP Tn Speed KP Tn PID T2 Feedback Maximum Speed Overspeed ASCII MNAME Default blanks valid for all OPMODES ASCII MNUMBER Default 0 valid for all OPMODES 67 Holding brake Current Advance Limit Phi and Start Phi Motor unit Loading the data from a disk If you want to operate a 24 V holding brake in the motor directly from the servo drive this parameter enables you to activate the brake function ID Function Meaning 0 Without The brake function is disabled 1 With If the brake function is enabled then the output at the BRAKE X9 2 terminal will be 24V if the ENABLE signal is present brake off and 0 V if the ENABLE signal is missing brake activated ASCII MBRAKE Default 0 valid for all OPMODES See the Lexium 17Dx drive user guides for the time function relationship between the ENABLE signal the speed setpoint the speed value and the bra
67. card status Descriptions of the various MBPSTATE states Value of MBPSTATE Description 0 Card not configured 1 Card in Run 2 Card not communicating 3 Network communication fault 4 DPRAM communication fault Descriptions of the various MBPSTATE states Value of MBPSTATE Description 0 Card not configured 1 Card in Run 2 Card not communicating 3 Network communication fault 4 DPRAM communication fault e 3 MBPDRVSTAT Status read by Unilink Updated by the drive it informs the MBP card of the drive status Descriptions of the various MBPDRVSTAT states Value of MBPDRVSTAT Description 1H Drive ready 2H Network communication fault 4H DPRAM communication fault 8H MBTNTO Communication fault network ignored MBPNTO 0 communication fault reported to the drive MBPNTO 1 communication fault ignored by the drive it is accessible in write mode via the ASCII MBPDRVSTAT command Either MBPDRVSTAT 8h for MBPNTO 1 162 Procedure to be followed or MBPDRVSTAT Oh for MBPNTO 0 The Modbus Plus Lexium communication is configured as follows Step Action 1 Power up the drive The network cable does not have to be connected 2 Ensure the good working order of the Modbus Plus card option The green diagnostics LED should flash regularly 6 flashes per second 3 Launch the Unilink software or
68. ch Homing 3 Move to reference switch without zero mark recognition The reference point is set to the transition of the reference switch Homing 4 Move to hardware limit switch without zero mark recognition The reference point is set to the transition of the hardware limit switch Homing 5 Move to the next zero mark of the feedback unit The reference point is set to the next zero mark of the feedback unit Homing 6 Sets the reference point to the actual position the following error is not lost Homing 7 Move to mechanical stop with zero mark recognition The reference point is set to the first zero crossing of the feedback unit NM zero mark beyond mechanical stop Homing 8 Drives to an absolute SSI position At the start of the homing run a position is read from the SSI input GEARMODE 7 converted according to the scaling factors GEARI and GEARO as well as the reference offset then used as the target position On the following pages you can find the paths traversed during homing types 1 to 5 for every possible initial situation positive rotation negative and positive directions of motion The meanings of the abbreviations in the drawings are N limit switch NSTOP P limit switch PSTOP SP start position R reference switch vref preset velocity NM zero mark of the resolver 116 Homing 1 Diagrams Homing with reference switch negative direction of motion positive rotation with zero mark
69. constant for the PT1 filter in the actual speed feedback tachometer smoothing can be altered This may improve the step response and smoothness of running particularly for very small highly dynamic motors PI PLUS ASCII GVFR Default 1 valid for OPMODES 0 1 This parameter only effects when the I component is switched on GVTN 0 With the default setting the speed controller functions as a standard Pl controller with slight overshoot in the step response If PI PLUS is reduced to 0 65 the overshoot is avoided and the actual value approaches the setpoint slowly 105 2 12 Screen page Position Screen page Position At a Glance Overview of the different field values included in the Position screen page What s in this This section contains the following topics ion section Topic Page Overview of the Position screen PI 111 Overview of the Position screen P 114 106 Overview of the Position screen Pl At a Glance Diagram Hj Position loop 101 Ff Factor Homing Position Data did Position Speed Speed Torque Gearing reference reference m Z KV KP PID T2 0 0 0 ms Tn pT ig OP position Pl speed PI position P speed Max following error 0 um T Tacho 0 Feedback Standard feedback unit O External ROD SS1 for the field bus O External ROD SSI for the positio
70. d FO5 Undervoltage Undervoltage in DC link the limit is set by the manufacturer to 100V F06 Motor temperature Temperature sensor faulty or motor temperature too high the limit is set by the manufacturer to 145 C F07 Auxiliary voltage Internal auxiliary voltage not OK F08 Overspeed Motor running away the speed is higher than permitted F09 EEPROM Checksum error F10 Flash EPROM Checksum error F11 Brake Cable break short circuit short to ground F12 Motor phase Motor phase missing cable break or similar F13 Internal temperature Internal temperature too high F14 Output stage Fault in the power output stage F15 It max It max value exceeded F16 Mains BTB RTO 2 or 3 supply phases missing F17 A D converter Error in the analog digital conversion F18 Regen Regen circuit faulty or incorrect setting F19 Main phase A main supply phase is missing can be switched off for 2 phase operation F20 Slot error Hardware error on the expansion card F21 Handling error Software error on the expansion card 182 Number Designation Explanation F22 Short circuit to earth 40 70 amps types only short circuit to earth F23 CAN bus off CAN bus total communication error F24 Warning Error warning display F25 Communication error Commutation error F26 Limit switch Homing error limit switch reached F27 AS Option Operating error for AS option F28 Reserved Reserved F29 SERCOS SERCOS err
71. d but no reset of the amplifier takes place 149 2 18 Screen page Actual values Overview of the Actual values screen At a Glance Analog In 1 2 I7t mean value Effective current Diagram Control screen 3 DRIVEO ix Analog Input 1 18 mV Angle of rotation 89 2 mech Analog Input 2 15 mV 1015 4a points Actual speed 0 rpm Pt Mean value 0 i rpm Effective current 0 004 A Sepa us Current D comp 0 006 A Position 259910 um Current Q comp 0 002 A Following error 0 pm Bus voltage 347 V Reference point Not set Regen power 0 Ww Heat sink temperature Dy EC Internal temperature mm E Apply ASCII ANIN1 Default valid for all OPMODES ASCII ANIN2 Default valid for all OPMODES Displays the actual voltages in mV at the setpoint inputs ASCII 12T Default valid for all OPMODES The actual effective load is shown as of the preset effective current Irms ASCII I Default valid for all OPMODES This shows the value in A of the actual current indication r m s value always positive 150 Current D component Current Q component Bus voltage Regen power Heat sink temperature Internal temperature Angle of rotation ASCII ID Default valid for all OPMODES Shows the value in A of the current D component Id r
72. d controls the position of the motor shaft in synchronism with this master control signal Cycle time of the electrical gearing 250 micro seconds A value averaged over 1000 s is used 145 Input Type ASCII GEARMODE Default 6 valid for OPMODE 4 The servo amplifier can be controlled through different interfaces and from various sources For the connector pin assignments see the Installation Manual ID Function Comments 0 Encoder Dig I O With an incremental encoder track A B 24V signal level connected to the analog 24V X3 inputs INPUT ANA 1 2 connector X3 11 12 An additional function assignment for the inputs is not necessary Any assignments on the screen page Digital I O will be ignored 1 Pulse direction With a stepper motor control pulse direction 24V signal level connected to the digital Dig 1 O 24V X3 inputs DIGITAL IN 1 2 terminals X3 11 12 An additional function assignment for the inputs is not necessary Any assignments on the screen page Digital I O will be ignored Reserved 5V X5 Set encoder emulation to INPUT With an incremental encoder track A B 5V signal level connected to connector X5 In this case the incremental position signal from another amplifier can be used as the master signal 4 Pulse direction 5V Set encoder emulation to INPUT With a stepper motor control pulse direction 5V X5 signal level connected to connector X5 Re
73. d susceptible to noise Encoders direct pulses of light from a light source at the motor or load to photo detectors through an encoded disk These light pulses are then converted into digital feedback information There are two general types of encoders rotary and linear Rotary rotating disk encoders are typically mounted to the motor shaft Linear encoders are typically mounted to the load 19 The Motion Profile At a Glance Closing the Gap between Commanded and Actual Basic Motion Profile Characteristics Motion operations are universally embodied in a graph called the motion profile Understanding and using motion profiles to define your motion application is an important part of achieving best system performance The motion profile plots one or more motion operations and measures it against time Commanded motion The motion that is supposed to happen ideally and precisely without error when the motor executes a velocity or position command Actual motion The motion that really happens in the motor when a velocity or position command is executed Best system performance is achieved when you can stabilize or dampen the difference or close the gap between the commanded motion and the actual motion This difference is called following error Stabilizing the servo system means setting the relevant parameters in the amplifier to get as close to the commanded position as possible
74. e I S Vref R P Initial point at reference switch SP Vre a fl S Vref Note Before starting homing check the safety of the system since the load may move even if the limit switches ar disconnected or defective The limit switch functions 2 PSTOP and 3 NSTOP must be activated to achieve the full homing functionality 124 Homing 4 Diagrams Homing without reference switch negative direction of motion positive rotation without zero mark N ya P SP SP l Vref Vref Vref Vref Initial point in positive direction from limit switch Initial point at limit switch Note hardware limit switches must be present and connected The limit switch functions 2 PSTOP and 3 NSTOP must be switched on Homing with reference switch positive direction of motion positive rotation without zero mark Ps ag ET B SP l ISP l l l Vref l Vref i 1 S S Vref Vref Initial point in negative direction from limit switch Initial point at limit switch 125 Note hardware limit switches must be present and connected The limit switch functions 2 PSTOP and 3 NSTOP must be switched on 126 Homing 5 Diagram Homing without reference switch negative direction of motion positive rotation with zero mark N P SP I Vref l I l l Vref l Homing with ref
75. e Limit switch To limit the range of movement of the machine implemented as an n c break contact M Machine The total assembly of parts or devices that are connected together of which at least one is movable Mb Megabyte Monitor output Output of an analog measurement Motion block A group of data containing all the position parameters that are required for a motion task MS DOS Operating system for a PC Multi axis Machine with several independent drive axes system N NI Zero pulse mark NSTOP Limit switch input for CCW rotation 202 Glossary O Optocoupler Optical connection between two electrically independent systems P controller PC PGND Phase shift PID controller PID T2 PLC PLC Position controller PSTOP Pulse power of the regen circuit Control loop that has purely proportional response Personal Computer Ground for the interface Compensation for the lag between the electromagnetic and the magnetic field in the motor Control loop with proportional integral and differential response Filter time constant for the speed controller output Programmable Logic Controller Programmable Logic Controller Regulates the difference between the position setpoint and the actual position to 0 Output speed setpoint Limit switch input for CW rotation The maximum power that can be handled by the regen circuit RAM Volatile memory in the servo amplifier Data that are stored
76. e displayed in gray In addition the previous state is indicated by the number of the corresponding arrow symbol displayed in bold PROFIBUS 2 DRI VEO x D bit Adresse 2 DP State 1500 00 kBaud H0450 PROFIBUS Interface States Watchdog State Lexium F Bus Interface PNO Identno Profibus Type PPO Sotie 2 Entr e gt Baud Search Baud onto DP Control Ie Communication wait Param wait Config Data Exchange OK Sortie Entr e Sortie Buff ntr e S ortie Buffer aw PZD PKE _ IND STW HSW P2D3 P2ZD4 P2ZD5 PZD6 fi 4E2 0000 ps a 0000 0006 0000 0000 l 0000 0000 0000 PKE _ IND Zsw Hw PZD3 PZD4 P2ZD5 PZD6 24E2 o 000 ir tes EA 0000 l 368C E EB2 fi 402 0000 Entr e Baudrate PNO Identification Address Commande d appareil OK Annuler _ Apotiauer_ The baudrate indicated by the master of the PROFIBUS network is displayed here The PNO identifier indicates the number of the servo amplifier in the identification listing of the PROFIBUS user architecture Station address of the amplifier This address is defined in the Basic setup screen 170 PPO Typ PPO Type BUS status Input Output Buffer The amplifier only takes the PPO type 2 into account in the PROFIDRIVE profile Displays the communication status of the bus The data can be transmitted to the PROFIBUS
77. e of the currently valid parameter set in the EEPROM of the servo amplifier In this way you can permanently save all the parameter changes that you have made since the last switch on reset of the servo amplifier SAVE ASCII SAVE Default Valid for all OPMODES Button Description Stop the currently active service function This is the same as using the function key F9 Stop cancel motion functions in the OPMODES 0 2 and 8 Movements in OPMODES 0 to 3 can only be stopped by using the DISABLE F12 button Cancel all the parameters that have been set up and load the manufacturer s default values gt m Performs a hardware reset 53 Basic setup Slot Exp x Analog I O Digital I O Encoder Connector OPMODE ASCII COLDSTART Default Valid for all OPMODES Opens the screen page BASIC SETUP Opens the screen page for the built in expansion card description manual for the expansion card Opens the screen page ANALOG I O Opens the screen page DIGITAL I O Open the screen page ENCODER ASCII OPMODE Default 1 Valid for all OPMODES Set the basic function of the servo amplifier for your application here ID Function Comments 0 Digital rotational speed Speed control with digital setpoint Analog rotational speed Speed control with analog setpoint 2 D
78. e shaft end with e positive voltage on terminal X3 4 against terminal X3 5 or e positive voltage on terminal X3 6 against terminal X3 7 or ID Function 1 positive 2 negative ASCII ACC Default 10 ms valid for OPMODES 0 1 Acceleration time to the speed limit valid for both directions The longer this time the smoother and more favorable the acceleration As long as the ramp time is less than the mechanically limited rise time of the system the response time of the system will not be negatively affected The ramp time settings are still effective if the limit switches are activated ASCII DEC Default 10 ms valid for OPMODES 0 1 Braking time to the zero speed valid for both directions The longer this time the smoother and more favorable the acceleration As long as the ramp time is less than the mechanically limited fall time of the system the response time of the system will not be negatively affected In most cases the Setp ramp and the Setp ramp can be set to the same value The ramp time settings are still effective if the limit switches are activated 103 Overspeed Emergency ramp KP Tn PID T2 ASCII VOSPD Default 3600 rpm valid for OPMODES Determines the upper limit of the motor speed If this limit is exceeded the servo amplifier switches into the overspeed fault condition error me
79. eactive current ASCII IQ Default valid for all OPMODES Shows the value in A of the current Q component Iq active current The sign that is displayed is negative in regenerative operation motor under braking ASCII VBUS Default valid for all OPMODES The DC link DC bus voltage produced by the amplifier is shown in V ASCII PBAL Default valid for all OPMODES The mean value calculated during 30s of the regenerative power is shown in W ASCII TEMPH Default valid for all OPMODES The temperature of the heat sink in the servo amplifier is shown in C ASCII TEMPE Default valid for all OPMODES The temperature inside the servo amplifier is shown in C ASCII PRD Default valid for all OPMODES Displays the actual angle of rotation of the rotor only for speeds n lt 20 rpm in mech with the counts referred to the mechanical zero point of the measuring system 151 Actual speed Setpoint speed Position Following error Reference point ASCII V Default valid for all OPMODES Displays the actual rotational speed of the motor in rpm ASCII VCMD Default valid for all OPMODES Displays the currently set speed in rpm ASCII PFB Default v
80. ed in OPMODES1 or 3 Failure to observe this precaution can result in injury or equipment damage 131 2 14 Screen page Position data Overview of the Position data screen At a Glance Diagram Position data 101 x Motion tasks Number C Start C Stop Select Group No XRef v_Ref Mode Next number Input 1 Motion not enabled Software limits Position thresholds gt Pasi i Pati Axis Type tacc dec min osition register osition ms 1 Inactve 0 In Position v max 2 Inacive 0 m y LTS 3 macie____ E w A inacive o Resolution 0 000001 Turn s Ca a a For each one of the positioning tasks you must define motion tasks These motion tasks can be selected by a motion task number and are stored in the servo amplifier Motion task Stored in Precondition for storing Comments 0 RAM None Temporary buffer store for copying operations 1 180 EEPROM Power stage deactivated Permanently stored 192 255 RAM None Volatile storage When the servo amplifier is switched on the RAM motion blocks 192 255 are automatically pre loaded with the parameters of the motion blocks 1 64 Click on the motion task number in the scroll list to select the motion task When a motion task has been selected the Motion Task Parameters screen is displayed You can edit the values in t
81. eed greater than its nominal speed this current is lowered in inverse proportion to this speed by phase shift reduction ASCII MIMR Default 0 A Valid for all OPMODES Proportional P gain of the flux controller This is implemented as the PI controller ASCII GF Default 15 Valid for all OPMODES Reinitialization I time for the flux controller This is implemented as the PI controller ASCII GFTN Default 50 ms Valid for all OPMODES Correction factor for lowering phase shift This correction factor is used to compensate for the non linearity of the inductance of the motor when the magnetization current is lowered by increasing the speed during phase shift reduction ASCII MCFW Default 1 5 Valid for all OPMODES Correction factor for the time constant of the rotor armature This improves torque over the reduction range and the stationary range of phase shift ASCII MCTR Default 1 5 Valid for all OPMODES 71 2 6 Screen page Feedback Overview of the Feedback screen At a Glance Diagram IB Feedback 101 x Feedback type No of poles O Resoher Bandwidth Hz Offset 7 hz 0 Rebootthe drive to confirm changes OK Cancel Apply 72 Feedback type No of poles ASCII FBTYPE Default 0 valid for al
82. een page Service parameters 2 0 0 eee eee 165 Overview of the Entry of service parameters screen 0 55 165 Screen page Terminal 0 0 0 0 eects 166 Overview of the Terminal screen 000 c eects 166 Screen page Modbus Plus 0 0 0 cece eee eee ee 168 Screen page Modbus Plus 0 000 cece eee eee 168 Screen page Modbus Plus 0 0 0 cece eee eee eee 169 Configuration of Address and TimeOut via Unilink or via a Terminal 173 Peer Cop Datas i itinga se cee ei de bisa aid ded doit dele 174 Global data configuration via Unilink or via a terminal 175 Screen page FIRION 2 254 wet Sete ed aie ar ee hehe tee Se 176 Screen page FIPO paT 25 de segs fess eit ates a a a Statice a ne ae 176 Screen page PROFIBUS 0 c cece eee 179 Screen page PROFIBUS 0 0 0 eects 179 Screen page PROFIBUS 0 0 2 cece eee 180 Screen page PROFIBUS instrument control 2 000005 182 Screen pages SERCOS 0 2 0 eect eee 185 Screen pages SERCOS 0 2 ee tees 185 Overview of the screen page SERCOS 0 cece eee 186 SERCOS Service screen page 1 0 6 nurunun 188 Screen page I O expansion 000 e eects 190 Overview of the screen page I O expansion 0 0 cece eee ee 190 Error and warning messages 0 cece tees 192 General overview of the Error and warning messages
83. ektrotechniker X XGND Ground for the 24V supply Z Zero pulse mark Produced by incremental encoders once per turn used to zero the machine 205 Glossary 206 Index A Abs I 102 Abs I gt x 102 Abs v_act 101 Abs v_act gt x 101 Accel decel 151 Acceleration 64 Acceleration and Deceleration 22 Acceleration ramp 136 Actual current 158 Actual errors 157 Actual speed 160 Actual warnings 157 Address 62 Analog inputs 84 Analog outputs 88 Angle of rotation 159 ASCII command ACC 107 ACCR 136 ACCUNIT 64 ADDR 62 186 AENA 63 ALIAS 62 ANCNFG 85 ANDB 84 ANIN1 158 ANIN2 158 ANOFFx 84 ANOUTx 88 ANZEROx 84 AVZI 84 CBAUD 62 CLRFAULT 157 COLDSTART 54 DEC 107 DECR 136 DECSTOP 108 DIR 107 DIS 57 DREF 136 EN 57 ENCIN 155 ENCMODE 79 ENCOUT 80 81 ENCZERO 80 ERRCODE 157 EXTPOS 113 115 EXTWD 63 207 Index FBTYPE 75 FILTMODE 76 FLTCNT 156 FLTHIST 156 GEARI 155 GEARMODE 154 GEARO 155 GF 73 GFTN 73 GP 112 114 GPFFV 111 114 GPTN 112 GPV 112 GV 108 GVFBT 109 GVFR 109 GVT2 108 GVTN 108 HVER 61 l 158 12T 158 I2TLIM 105 ICONT 104 ID 159 INxMODE 92 INxTRIG 92 IPEAK 105 IQ 159 ISCALEx 84 KTN 105 L 69 MBRAKE 70 72 MCFW 73 MCTR 73 MH 119 MICONT 68 71 MIMR 73 MIPEAK 69 71 MJOG 138 MLGQ 105 MNAME 69 72 MNUMBER 69 72 MPHASE 76 MPOLES 68 71
84. enter the auxiliary variable X if it is necessary click on APPLY and then on OK Save parameters click on the button answer the query RESET AMPLIFIER with YES Click on the radio button SW disable at bottom right NO ENABLE now stands in the AXIS status field 31 Procedure to be followed If you want to use the position control of the servo amplifier then you must enter the specific parameters for your drive Step Action 1 Axis type e click on the POSITION button e click on the POSITION DATA button e select the axis type linear or rotary Resolution e enter the denominator and numerator for the resolution Here you adjust the path traversed by the load in positioning units length unit for linear axes or mech for rotary axes to match the number of turns of the motor only integer entries are permitted Example 1 Ratio 3 333 mm turn gt resolution 10000 3 u m turn all other path entries in u m or gt resolution 10 3 mm turn all other path entries in mm Example 2 Ratio 180 mech turn gt resolution 180 1 mech turn all other path entries in mech vmax e enter the maximum traversing speed for the load that results from the resolution at the rated speed of the motor The dimensional unit is derived from the resolution mech sec or length units sec Example 1 resolution 10000 3 u m turn number of motor turns 300
85. er that is higher than 0 and configuring the command station address Configuration via Unilink e Configure the Peer Cop Station field with the command station address e Configure the Peer Cop Length field with the number of received Peer Cop registers Configuration via a terminal Selecting the number of a Peer Cop register e Enter the terminal screen e Enter the PEERCOP command lt Number of PeerCop registers gt e Enter the PEERCOP command without parameters to check that the configuration has been correctly implemented Command station configuration e Enter the PEERCOP command lt Command station address gt Enter the PEERCOPS command without parameters to check that the configuration has been correctly implemented For example e lf the number 2 is entered in the Number of Peer Cop Registers parameter of the drive and the PLC only the STW and VCMD variables will be implemented by the drive e The configured number of Peer Cop registers should be adjusted in relation to the application requirements The smallest possible number of Peer Cops should be used to optimize the network bandwidth and feed through time of the Modbus Plus card However you are strongly advised to always use the STW command word If no Peer Cop data is received from the command station before the end of the specified wait time the drive faults It can still be accessed via messaging Writing parameters via Peer Cop data exchanges is a pr
86. erence switch positive direction of motion positive rotation with zero mark e Vref Note behavior for successively repeated starts of Homing 5 the position controller can only hold the motor in the zero position by passing the zero mark by 1 count On a repeated start of Homing 5 depending on the position 1 count in advance of or 1 count behind the zero mark and the count direction the movement may be a full motor turn 127 Homing 7 Diagrams Homing to mechanical stop negative direction of motion positive rotation with zero mark Vref Vref wv Homing to mechanical stop positive direction of motion positive rotation with zero mark Vref Vref Note using this type of homing run can damage the mechanical stop on the machine The peak current Ipeak and the continuous current Irms are limited for the duration of the homing run A more severe limiting of the current is possible Consult our applications department 128 Direction of motion v for homing Accel ramp Decel ramp ASCII DREF Default 0 valid for OPMODE 8 Determines the direction of motion for homing The setting distance dependent is only relevant for Homing 5 with one turn In this case the direction is chosen to give the shortest distance to the zero mark ID Function 0 Negative direction 1 Positive direction 2 Zoned
87. es made to the servo parameter values may be saved to the drive and the file UniLink dialogs step you through the complete startup phase of your programming projects All the parameters of the drive can be saved in a separate file for each axis Each drive file is a unique custom configuration for that drive and can be accessed offline not connected to the drive or online connected to the drive Please see also the axis commissioning checklist procedures See Axis Commissioning Checklist Procedures p 29 15 Motion Control Overview What is a Motion Control System Closed Loop Servo Systems A motion control system essentially comprises an intelligent motion controller that operates with other PLCs in a PLC environment to perform complex specialized moves in one or more directions or axes These complex and specialized moves which are needed in the automation of industrial tasks are collectively known as motion The automation of motion is known as motion control Motion control systems automate many different types of manufacturing activities making cars refining oil weaving carpets wrapping candy warehousing toys and so on A motion controller runs a motion control system In a servo system feedback information motor position and motor velocity is sent from the motor back to the servo amplifier The servo amplifier analyzes the feedback makes adjustments as needed and generates new currents to b
88. even the mechanical stop There is a risk of damage The position controller cannot be operated without first making a reference traverse homing A homing reference traverse must be made after the 24V auxiliary voltage has been switched on The start signal must not be removed during homing The start signal must remain present until the InPosition message appears Failure to observe this precaution can result in injury or equipment damage ASCII MH Default valid for OPMODE 8 Radio button to start homing CAUTION The SW enable is set automatically when homing starts Homing will only be started in OPMODE 8 However the SW enable is set in all OPMODES The drive can therefore be accelerated by an analog setpoint that is applied if the START command is executed in OPMODES 1 or 3 Failure to observe this precaution can result in injury or equipment damage 114 Stop Homing ASCII STOP Default valid for all OPMODES Radio button to start cancel the homing The SW enable remains set ASCII NREF Default 0 valid for OPMODE 8 You can choose which type of reference traverse should be performed A preset zero point offset screen page Encoder is taken into account for the position output and display Exception homing 5 in this case the true current position is displayed Zero point recognition the reference point is set t
89. ew What is UniLink Single Axis Motion Control Multi Axis Motion Control Tuning Your Axis with UniLink UniLink is an axis commissioning tool for both single axis and multi axis motion control applications With its graphical user interface and Windows dialogs UniLink provides an easy point and click method for configuring parameters in a single axis standalone system or in a multi axis fiber optic SERCOS network In a single axis system UniLink runs on a computer PC connected to one drive The communication is established via the RS232 interface In a multi axis system UniLink runs on a computer PC connected to one drive The communication with the first drive is established via the RS232 interface The other drives are connected to the first via a special cable Y shaped adapter on the built in CAN bus This way you can communicate with several drives without modifying the connections During the configuration process UniLink allows you to tune the servo motor for each axis quickly and efficiently From UniLink while online with an axis and its motor you adjust servo parameter values such as gains and limits and execute them immediately While watching and listening to the motor spin you may use the UniLink oscilloscope to adjust and readjust these values until the motor reaches its best performance optimum speed without oscillation and noise or anything else that would make the motor unstable The chang
90. f the transmit output of the drive to the next station in the ring The optical power can set for the length of plastic optical cable in meters from 1 to 45 meters The default is 5 meters If the optical power is not adjusted properly there will be errors in the telegram transmission and the red error LED on the drive will light In normal communication the green transmit and receive LED s will light fiber optic transmission diodes ASCII SPHAS Default Valid for all OPMODES This field displays the actual phase of the Sercos communication ASCII SSTAT Default Valid for all OPMODES This field displays the actual status of the Sercos communication according the Sercos status word in text format With this button it is possible to open the screen page Sercos service 176 SERCOS Service screen page At a Glance Read IDN Read List Item EL 7 Dec EL7 Hex Diagram Standard SERCOS product settings Read IDN 0 an 0 positive 1 negative Read List Item 0 0 Position command polarity EL 7 Decimal in 0 Position feedback 1 polarity EL 7 Hexadecimal 0 0 Position feedback 2 polarity EL 7 Read Error a 0 Velocity command polarity Jo Velocity feedback polarity Product SERCOS Settings 0 EOT consequence 0 waming 1 fault Jo Clearfault allow coldstart 0 yes 1 no Transmit data Cancel
91. face Configuration of the link 9600 bauds 8 data bits 1 stop bit no parity The servo amplifier is adaptable to your machine In the worst case you will not be able to transfer parameters directly to the servo amplifier Instead this will have to be performed via a computer using the setup software The computer and servo amplifier are connected via a serial link null modem cable Communication between the computer and the servo amplifier is achieved via the setup software It will be relatively simple to modify the parameters and see an immediate reaction on the servo amplifier as this is permanently connected online All values currently in operation are simultaneously read from the servo amplifier then displayed on the screen of the computer oscilloscope functions The servo amplifier automatically recognizes the modules extension cards that are added to it The Unilink software automatically recognizes the software version numbers of the drives This document describes the different functions of the drive firmware accessible via Unilink for versions 4 2 or later You can save archive the data then reload them Data currently in use can be printed You are provided with default data including all functional combinations between the servo amplifier and the motor With the default data provided you will be able to control your servo amplifier without too many problems 23 Hardware With the hardw
92. fined to allow these parameters to be read or modified e via the Modbus Plus screen of the Unilink software MODBUS DRIVEO x Address Modbus Settings Bus Time Out 10 ms ommunication Status Peer Cop Station DPR Peer Cop Length 2 Byte Modbus Global Data Length 2 Byte Drive OK Cancel The following table describes different parameters in the Modbus Plus screen Parameter ASCII Range Defaul Note command t value Address ADDR 1 63 1 Modbus node address read only Bus Time TIMEMBP 0 01 60 1 In seconds Incrementation of 10 ms Out Peer Cop PEERCOPS 1 64 0 Must be different to the drive address 0 Station PEERCOP register not received Peer Cop PEERCOP 0 9 0 Number of PEERCOP registers received Length o no PEERCOP registers received Global Data GDTX 0 18 0 Number of Global data registers Length transmitted 0 no Global data transmitted DPR DPRSTATE 16 bit length 1 ModBus MBPSTATE 0 16 bit length 2 161 Parameter ASCII Range Defaul Note command t value Drive MBPDRVST 1 100 0 16 bit length AT 3 Legend e The station address is entered in the Unilink basic setup screen e 1 DPRSTATE Status in initialization phase DPRSTATE 80 Message ready e 2 MBPSTATE Status read by Unilink Updated by MBP card it informs the drive of the MBP
93. g the stability of the speed control For VLO 1 the pre control is optimal for VLO 0 the action is suppressed 75 2 7 Screen page Encoder Input Overview of the Encoder Input screen At a Glance Diagram Encoder input 101 x Encoder input 101 x Encoder emulation X5 Resolution CE OOOO on NI Offset 0 incr OK Cancel Encoder emulation X5 Baudrate SS 200 kBaud SSI Clock Single Turn O Multi Turn 5S Code OK Cancel Encoder input 101 x ROD Interpolation Encoder emulation X5 Interpolation n OK Cancel Sine lines 76 Encoder emulation X5 Encoder emulation cycle time 0 125us ASCII ENCMODE Default 1 valid for all OPMODES Change this only while the amplifier is disabled ID Function Comments 0 Input Used as an input 1 ROD Incremental encoder emulation In the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create incremental encoder compatible pulses max 250 kHz Pulses are given out at the connector X5 as two signals A A and B B with a 90 electrical phase difference and a zero pulse Exception If a Sincos Stegmann encoder is used as the feedback unit then the output of the zero pulse is inhibited
94. gram and cable Correct motor phase sequence Check cable and inverse diode Check drive Correct setting Correct feedback setting Correct current limitation Motor oscillates Gain KP too high Interference in feedback system Analog GND AGND is not connected with the analog setpoint source Reduce KP speed contr Replace the feedback cable Connect AGND with setpoint source Motor runs too soft Integral time Tn too high Gain KP too low PID T2 too high T Tacho too high Reduce Tn speed contr Increase KP speed contr Reduce PID T2 Reduce T Tacho Motor runs roughly Integral time Tn too low Gain KP too high PID T2 too low T Tacho too low Increase Tn speed contr Reduce KP speed contr Increase PID T2 Increase T Tacho 185 186 Glossary A AGND Analog ground B BTB RTO Ready to operate Cc CE Communaut Europ enne EC CLK Clock Clock Clock signal COM Serial interface for a PC Common mode voltage Continuous power of the regen circuit Disturbance amplitude that can be compensated for by a differential analog input Average power that can be dissipated in the regen circuit 199 Glossary Counts Internal count pulses 1 pulse 1 2 turn Current Regulates the difference between the current setpoint and the actual current to 0 controller Output power outp
95. gy are permitted to carry out online parameter setting of a drive that is running Sets of data that are stored on data media are not safe from undesirable alteration by third parties So after you have loaded a set of data you must check all the parameters before enabling the servo amplifier Failure to observe this precaution can result in injury or equipment damage 12 Servo amplifier The BTB RTO contact must be wired into the safety loop of the system The safety loop and the Stop and Emergency Stop functions must fulfill the requirements of EN60204 EN292 and VDI2853 The servo amplifiers are components which are built into electrical equipment or machines and can only be commissioned as integral components of such equipment The servo amplifier is to be used only on earthed three phase industrial mains supply networks TN system TT system with earthed neutral point The servo amplifiers must not be operated on power supply networks without an earth or with an asymmetrical earth If the servo amplifiers are used in residential areas or in business or commercial premises then additional filter measures must be implemented by the user The servo amplifier is only intended to drive specific brushless synchronous servomotors with closed loop control of torque speed and or position The rated voltage of the motors must be at least as high as the DC link voltage of the servo amplifier The servo amplifiers may
96. he scroll list directly 132 Number Start Stop Entry of a motion task number to start the motion task from a PC ASCII MOVE Default valid for OPMODE 8 Start the motion task that has the number that can be seen in the NUMBER field The amplifier must be enabled input X3 15 has a High signal CAUTION The SW enable is automatically set when the motion task starts The motion task is only started in OPMODE8 However the SW enable is set in all OPMODES The drive can therefore be accelerated by an analog setpoint that is applied if the START command is executed in OPMODES 1 or 3 The motion task is not started if the target position is beyond the defined SW limit switches warning messages n06 n07 and n08 Failure to observe this precaution can result in injury or equipment damage ASCII STOP Default valid for OPMODE 8 Stops the current motion task The SW enable remains set 133 Axis Type v max t_acc dec_min ASCII POSCNFG Default 0 valid for OPMODE 8 Here you select whether the axis is to be operated as a linear or a rotary axis ID Function Comments 0 Linear A linear axis is an axis with a limited range of travel A linear axis moves within the traversing limits that are given by the software limit switches both absolutely and relatively A reference point must be set 1
97. hen the position controller generates an error message and brakes the drive using the emergency ramp ASCII GPV Default 7 valid for OPMODES 4 5 8 Determines the proportional gain for the speed section of the controller Increase the value up to the level where the motor starts to oscillate and then back it off until the oscillations have clearly stopped Typical values are the same as for the KP of the speed controller Rule as for the KP of the speed controller Displays the value from the Speed screen page Displays the value from the Speed screen page 108 Mode Position Response ASCII EXTPOS _ Default 0 valid for all OPMODES Mode determines the type of position control loop P PI With a P type position controller this screen looks different Position response determines the feedback source for the position loop For most applications the commutation and position control data comes from the same source This source is determined by the Feedback screen and may be either a resolver or an Endat Hiperface encoder In some cases it is best to retrieve position data for commutation from another source For such cases the Feedback type parameter continues to be the source for the commutation and the source for the position controller is determined by the gearing mode Standard Feedback e the feedback type is defined by the Feedback parameter e iti
98. igital torque Torque control with digital setpoint speed controller has to be optimized 3 Analog torque Torque control with analog setpoint speed controller has to be optimized 4 Position electr gearing Position control Pulse follower 5 Position ext position nodes Position control interpolates external nodes 6 SERCOS position control Position control with SERCOS expansion card 7 reserved reserved 8 Position motion blocks Position control by stored motion blocks 54 Position Speed Current Feedback Motor Status OK Fault Axis Disable Enable SW DANGER The OPMODE can be switched over while the drive is running This could lead to dangerous acceleration So only switch over OPMODE while the drive is running if the drive application allows it Failure to observe this precaution will result in death or serious injury Opens the screen page POSITION Open the screen page SPEED Opens the screen page CURRENT Opens the screen page FEEDBACK Opens the screen page MOTOR Open the screen page DRIVE STATUS If a fault is present the text for the buttons will change The enable status of the amplifier is displayed Enable Disable ASCII DIS disable F12 ASCII EN enable Shift F12 Default Default Valid for all OPMODES Valid for all OPMODES Disables or enables the servo amplifiers via
99. ion carries out an automatic adjustment of the setpoint offset Conditions analog inputs short circuited or OV from the controls 82 Setpoint functions ASCII ANCNFG Default 0 valid for all OPMODES ID Function 0 Xcmd Analog In 1 vemd An In 1 Icmd An In 2 vemd An In 1 Iffd An In 2 Xemd An In 1 Ipeak An In 2 Xemd An In 1 AnIn2 Xemd An In 1 AnIn2 Electric gear Icmd Setp 1 amp Nmax Setp 2 Pcmd An In 1 Xemd An In 1 Ferraris An In 2 OO OI NI aI BR wo dD 0 Xcmd Analog In 1 The servo amplifier only uses the An In 1 and operates in the mode that is set by the OPMODE parameter The digital input function 8 An In 1 An In 2 can be used to change over to An In Xcmd Scaling An In 1 An In 1 1 vemd An In 1 Icmd An In 2 The servo amplifier only uses one of the two analog inputs depending on the setting of OPMODE vemd Scaling An In x An In x OPMODE AN In 1 AN In 2 1 analog speed speed setpoint inactive 3 analog torque inactive current torque setpoint all other settings inactive inactive 2 vemd An In_1 Iffd An In 2 An In 2 is used as current feed forward OPMODE 0 1 vemd Scaling An In 1 An In 1 Iff Scaling An In 2 An In 2 3 Xcmd An In 1 Ipeak1 An In 2 83 The servo amplifier uses An In 1 depending on the setting of OPMODE An
100. iority for writing operations when messaging these same parameters If one of these common parameters has not been declared in Peer Cop data exchange it still remains accessible in writing via messaging 165 Global data configuration via Unilink or via a terminal Global data configuration Updating global data is confirmed by selecting a number of Global data registers greater than 0 Configuration via Unilink e configure the Global Data length field with the number of registers Configuration via a terminal Selecting the number of Global data registers e enter the terminal screen e enter the GDTX command lt Number of Global data registers gt e enter the GDTX command without parameters to check that the configuration has been correctly implemented Example e if the number 2 is entered in the Number of Global data registers drive and PLC parameters only the ZSW and STATCODE variables will be updated by the drive e the number of configured Global data registers should be adjusted in relation to the application requirements The smallest possible amount of global data must be used in order to optimize the network bandwidth and feed through time of the Modbus Plus card 166 2 24 Screen page FIPIO Screen page FIPIO At a Glance The communication parameters of the drive should be entered in the FIPIO screen of the Unilink s
101. ith a defined delay after the target position has been reached You can enter the delay time with the Delay time parameter This is only meaningful with Accel Decel to v 0 143 1 0 or Time The next task is started by a signal at a digital input one of the terminals X3 11 14 or after a defined delay This is only meaningful with Accel Decel to v 0 The trigger is the event that occurs first the start signal or the end of the delay time Condition the digital input must have the function 15 Start_MT Next assigned and the target position must have been reached You can preselect the logic with the Start with parameter and enter the delay time with the Delay time parameter Start by I O edge The logic for the digital input that has the function 15 Start_MT Next assigned to it LOW level 0 07 V HIGH level 12 30V 7mA Delay time The entry in ms for the delay time between reaching the target position and starting the next task 144 2 16 Screen page Gearing Overview of the Gearing screen At a Glance Diagram Gearing 101 x Input Type Encoder master Dig I 0 24V X0 7 Input pulses per turn x 0 256 ly 0 0 pulses 1 Tum OK Cancel Ratio The servo amplifier receives a position setpoint from another instrument master servo amplifier stepper motor control encoder or similar an
102. king force This value should only be changed while the drive is disabled and should be followed by a reset In this field enter a current dependent phase advance to make use of the reluctance torque for motors with magnets embedded in the rotor This is for advanced users ASCII MTANGLP Default 0 valid for all OPMODES The inductive phase shift between the motor current and the motor voltage can be compensated at high speeds With the given voltage conditions a higher torque can be achieved at the speed limit Alternatively the achievable speed limit can be increased by up to 30 The phase shift is increased depending on the motor speed linearly from the Start Phi value up to the maximum speed of the motor The phase shift correction is increased linearly from the Start Phi value and reaches the limit Phi value at maximum speed The optimum setting depends on the motor type and the speed limit ASCII MVANGLB Default 2400 rpm valid for all OPMODES ASCII MVANGLF Default 20 valid for all OPMODES Define the motor speed parameters If the unit 1 min rpm is used the velocity speed parameter settings are applied for VUNIT ASCII MUNIT Default 0 valid for all OPMODES Load a motor database from a data medium hard or floppy disk In this case the drive must be deactivated 68 Overview of the Asynchronous motor screen At a Glance Motor ty
103. l OPMODES Change this only while the amplifier is disabled reset ID Function Comments 0 Resolver It is possible to connect 2 4 or 6 pole resolvers to the servo amplifier Cycle time 62 5 us 1 reserved a 2 HIPERFACE Feedback from a high resolution absolute encoder single or multi turn using HIPERFACE compatible interface e g SRS x0 SRM x0 SCS x0 SCM x0 from Stegmann Cycle time 125 us 3 Auto The servo amplifier detects the connected feedback system automatically Resolver EnDat or Hiperface 4 EnDat Feedback from a high resolution absolute encoder single or multi turn using EnDat compatible interface e g ECN 1313 EQN 1325 from Heidenhain Cycle time 125 us reserved SinCos EEP Sine cosine encoder The offset data is loaded from the serial EEPROM 7 SinCos W amp S Sine cosine encoder The offset data are detected by the servo amplifier 8 15 reserved 16 Res amp SinCos Both feedback systems are installed The drive starts running with the resolver feedback After a short delay the feedback switches to SinCos W amp S ID 7 ASCII MRESPOLES Default 2 valid for all OPMODES This parameter becomes effective only with resolver feedback FBTYPE 0 or 3 Standard resolvers have 2 poles Change this only while the amplifier is disabled 73 Resolver bandwidth ASCII MRESBW Default 600 valid for all OPMODES With a wide bandwidth the drive will resp
104. le 57 E Emergency ramp 108 Enable Message 103 Switch 57 Encoder emulation 79 Encoders 19 Entry of service parameters 165 Error messages 194 Error Warn 102 Exit 57 Ext WD 63 F Feedback Device 18 At a Glance 19 Feedback type 75 Feedback actual speed filter 109 FError_clear 96 Ff Factor 111 114 FIPIO 177 Firmware 61 Following Error 112 114 Following error 160 G Gearing mode 154 209 Index H Hardware Configuration 24 Heat sink temperature 159 Homing 120 Homing 1 123 Homing 2 128 Homing 3 131 Homing 4 133 Homing 5 134 Homing 7 135 In Position 101 142 Internal temperature 159 Intg Off 96 Ipeak2 x 97 It Actual value 158 Message 102 Threshold 105 J Jog mode 138 K KP Current contr 105 Position speed contr 112 Speed contr 108 KV 112 114 L Last 10 faults 156 Limits and Ranges of Operation 21 Load 17 Load from disk 53 Macro_IRQ 97 Mains RTO 101 Max Mains Voltage 60 Menu bar 44 Modbus Plus 170 Monitor 1 2 88 Motion task number 140 Motor Tuning 17 MT_No_Bit 95 MT_Restart 97 N Name 62 Next motion task 151 Next number 151 NSTOP 94 Number of the motion task 140 O Offset Auto 84 Encoder 76 Resolver 76 Setpoint 84 Zero pulse ROD 80 Operating System 23 OPMODE 56 OPMODE A B 98 Oscilloscope resolution 162 Overspeed 108 P PC Software 59 Peak current
105. lowing variables can be selected l_act Actual torque current _CMD Torque setpoint v_act Actual velocity v_CMD Velocity setpoint VBus DC link bus voltage FERROR Following error Off Unused channel User defined Manual entry Y value for triggering X value for triggering time axis Triggering on the rising or falling edge The current and speed variables can be used as trigger signals In addition Direct can be used for immediate independent triggering Choosing User defined User allows an ASCII parameter to be entered manually The number of measured points per time unit storage depth Setting fine normal coarse Scaling of the time axis Select the time division Setting 1 500 ms div Total length of the time axis 8 x ms Div 154 Service functions Start service Stop service Cursor function Mouse pointer Select one of the service functions described below Click on the Parameter button and set the corresponding parameter Then start the function by using the START button The function will continue to be performed until you click on the STOP button or press the function key F9 Direct current Apply a direct current to the motor with adjustable size and electrical field vector angle The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or simil
106. n address and the name of the currently valid data set drive are displayed in the title bar During offline operation instead of the station address a number above 100 will be shown possibly with the storage location folder file name of the data set that has been loaded Toolbar The typical Windows style buttons can be used for a direct start of individual functions Status Bar Current information about data communication is shown here 42 Menu bar FILE Open A parameter and or motion task data set is read from the data medium hard disk diskette and becomes the configuration currently in use For this the amplifier must be disabled Close The current data set is closed and not saved Save Saves the current parameter or motion task data set to a data medium hard disk diskette while keeping the file name if the data set already has a name If the data set has not yet got a name you will be prompted to enter a name and storage location You can save parameters and motion task data to one single file or to separate files Save as Saves the current parameter or motion task data set to a data medium hard disk diskette You will be prompted to enter a name and storage location Print The current data set will be printed out You can choose whether the print data are sent to the system printer or saved to a file Print preview Print setup Use these functions in
107. n loop OK Cancel Apply ms Cycle time of the position controller 250 s Subscreens Position Data Opens the Position data screen page Homing Opens the Homing screen page Gearing Opens the Gearing screen page Ff Factor ASCII GPFFV Default 1 valid for OPMODES 4 5 8 Determines the feed forward factor for the position controller Feed forward is used to ease the task of the position controller A better setting for the Ff factor means a better utilization of the dynamic range of the position controller The most favorable setting usually about 1 0 depends on factors external to the drive such as friction dynamic resistance and stiffness 107 KV Tn max Following Error KP PID T2 Feedback ASCII GP Default 0 15 valid for OPMODES 4 5 8 Determines the proportional gain of the position controller Amplitude speed in m s at 1 mm position deviation ASCII GPTN Default 10 ms valid for OPMODES 4 5 8 Determines the integral action time integration time constant for the position controller Tn 0 ms disconnects the Integral action component ASCII PEMAX Default 262144 valid for OPMODES 4 5 8 The following error is the maximum difference window between the position setpoint and the actual position that is permitted during processing If the value leaves this window t
108. nd hardware configuration 00 0 c eee eee 23 RS232 link connection to the PC X6 1 0 cee eee 25 Installing Accessing and Starting to Use UniLink 27 Axis Commissioning Checklist Procedures 0000 cece ee eaee 29 Screen lAVOUL irn a chase ete gfe dag doe che aap a ar edate iaee aad eth Reals 43 Parameters and functions 000c cece eee ee eens 47 Parameters and functions 0000 cece eee 47 Screen page Communication 0000 e eee eee eee eee eee 50 Screen page Communication 00 0 cece eee eee eee 50 Screen page Amplifier 0 0000 cece eee eens 52 Overview of the functions of the Amplifier 0 0000 e eee eee 52 SEOT RS Sae GG le els Sirs cate pees ete eer ees i ee eet ek 58 Screen page Slots a ce aiei espina bd Ene A Agi EE weeds baat ede wee 8 58 Screen page Basic Setup 1 2 20 0 cee eee 59 Overview of Basic Setup 0 0 kee tees 59 Screen page Motor 1 2 0 0 cette teens 67 Screenipage Motoi siena nsdan anai she Goce alg eala a whale EE bi Rigas le eect 67 Overview of the Synchronous motor screen 0 00 0c eee eee 68 Overview of the Asynchronous motor screen 0000 cece eee eee 71 Screen page Feedback 0 0 cee eee eee eee eee eee 74 Overview of the Feedback screen 000 cee eee eee eee 74 Screen page Encoder Input n anana 0 00 e eee eee eee eee 78
109. ndition immediately immediately APPLY OK click click 5 Save parameters click on the button shown below SAVE answer the query RESET AMPLIFIER with YES 39 Optimizing the position controller Optimization Optimization CAUTION The starting of motion tasks with the aid of commissioning software functions is only permitted in combination with an interlock device according to EN292 1 that operates directly on the drive circuitry Failure to observe this precaution can result in injury or equipment damage Step Action 1 Start motion task e click on the POSITION button select motion task 1 click on START motion task 1 is started and because of the definition of the motion task sequence the drive moves in position controlled reversing operation Optimize parameters Click on the POSITION DATA button PID T2 FEEDBACK The speed controller is not used in OPMODES 4 5 and 8 The position controller includes an integral speed controller that takes on the preset parameters for PID T2 and FEEDBACK from the screen page SPEED CONTROLLER 4 KP Tn If KP is set too low the position controller tends to oscillate Use the value for the optimized speed controller for KP Tn should be 2 3 times as large as the Tn value for the optimized speed controller 5 KV The acceleration behavior of the motor should be well damped no tendency to oscilla
110. ns the following topics section Topic Page Overview of the Motion task parameters screen 147 Acceleration Deceleration 149 Next motion task 151 138 Overview of the Motion task parameters screen At a Glance Number Units general Diagram Motion task parameters EG Number I Next motion task With wy Units Units Next number ISI um ms gt VLIM ig 2 Type t_acc_total Acc Dec Abs m 5 ms when v 0 ly X_Ref t_dec_total Start condition 500 um 5 ms Immediately KA Type v_Ref Ramp Start by I 0 edge Digital Variable F Normally active Ir v Ref Delay time 4300 um s Setting 1000 ms OK OK Cancel Apply You can use the ASCll terminal to completely define motion blocks with the ORDER command You can obtain further information about this command from our applications department Displays the currently active motion task number Select the unit for path and speed entries Selection Path Velocity Counts x 1048576 N Incr with N no of motor turns Nmax 2047 x 140 32 n min Incr with n rotational speed of the motor shaft SI u m position unit u m velocity unit 139 Type s cmd v_cmd source v_cmd This selection determines whether the motion task is interpreted as a relative or an absolute task ABS movement to an absolute target p
111. o amplifier is installed and all the necessary electrical connections have been made See manual User guide for the Lexium 17x series amplifier the 24V auxiliary supply and the 230 480V main power supply are switched off a personal computer with the commissioning software installed is connected an interlock device according to EN292 1 is connected the controls provide an LOW signal for the ENABLE input of the servo amplifier Terminal X3 15 i e the servo amplifier is disabled 29 Switch on auxiliary supply Basic settings Step Action Switch on the 24V auxiliary supply for the servo amplifier LED display X XX firmware version BTB RTO contact open After about 5 seconds LED display YY amount of current blinking point for CPU o k BTB RTO contact closed Switch on personal computer Start commissioning software Click on the interface COM1 COM2 COM3 or COM4 that is used for communication with the servo amplifier The parameters are transmitted to the PC Click on the radio button SW disable at bottom right NO ENABLE now stands in the AXIS status field The servo amplifier remains disabled and the main power supply is switched off Step Action 1 Set up basic parameters address ballast details line mains supply voltage etc e click on the SETTINGS button above the picture of the motor alter the fields if necessary click on A
112. o the first zero crossing point of the feedback unit zero mark after recognition of the reference switch transition Two pole resolvers and all encoders have just one zero crossing per turn so the positioning at the zero mark is unambiguous within a motor turn For 4 pole resolvers there are two zero crossings per turn and for 6 pole resolvers there are three zero crossings If the transition of the reference switch lies very close to the zero crossing point of the feedback unit then the positioning to the zero mark can vary by one motor turn Note the repetition accuracy of homing operations that are made without zero point recognition depends on the traversing speed and the mechanical design of the reference switch or limit switch Homing 0 Sets the current position point to the value of the Offset field setpoint The motor does not run the following error is lost Homing 1 Traverse to the reference switch with zero mark recognition 115 In this case a reference traverse can also be made without hardware limit switches The precondition is one of the initial situations shown below negative traverse positive rotation negative traverse negative rotation Vref Vref Homing 2 Move to hardware limit switch with zero mark recognition The reference point is set to the first zero crossing of the feedback unit NM zero mark beyond the limit swit
113. oftware except for the FIPIO address This screen is accessible as soon as Unilink is connected to a drive with the FIPIO card option The FIPIO screen of the Unilink software FIPIO address 2 Communication Time_out FIPIO put DPR Output Drive OK Cancel The following table describes the various parameters of the FIPIO screen Parameter ASCII command Identifier Value range Fault Access Note FIPIO ADDR 1 62 1 Read Node address address 1 Input TO_IN 413 20ms 32ms 64ms 20 ms Read TimeOut 2 256ms 1s 4s Write Output TO_OUT 414 32ms 64ms 256ms 1s 256 ms Read TimeOut 3 4s Write FIPIO MBPSTATE 4 0 Read 16 bit length DPR DPRSTATE 5 Read 16 bit length Drive MBPDRVSTAT 6 1 100 0 Read 16 bit length The FIPIO address can also be configured using the dialogue box display and push button on the front panel of the drive 1 The address is configured on the FIPIO bus using the Basic Setup screen in Unilink Address settings possible from 1 to 62 2 Input TimeOut maximum response time of drive 167 3 Output TimeOut maximum QW refresh time 4 MBPSTATE Status read by Unilink updated by the FIPIO card it informs the drive of the FIPIO card status Description of the various MBPSTATE states 0 Card not configured 1 Card in Run 2 Card not communicating STOP 3 Network communication fault 4 DPRAM communication fa
114. on in the drive selected 134 In Position Position register ASCII PEINPOS Default 4000 valid for OPMODES 4 5 8 Sets the InPosition window Determines at which distance from the set position the InPosition message should be reported A programmable register that can have various functions assigned to it Make changes only while the amplifier is disabled reset Position register Function Comments 1 SWE1 2 SWE2 3 SWE3 4 SWE4 inactive x x x x x lt Position Threshold for signal x x x x x gt Position Threshold for signal x x x x SW limit switch 1 Limit switch function x SW limit switch 2 Limit switch function x SW limit switches 1 2 The software limit switches from part of the monitoring functions of the position controller SW limit The monitoring checks whether the actual position value is lower than the switch 1 preset value the negative direction of travel is now inhibited You have to leave limit switch 1 by moving in the positive direction SW limit The monitoring checks whether the actual position value is higher than the switch 2 preset value the positive direction of travel is now inhibited You have to leave limit switch 1 by moving in the negative direction 135 The drive brakes with the emergency ramp and remains at standstill under torque The principle of positioning
115. on is defined in the Position data PosReg5 screen only via ASCIl Contouring error low active The width of this error window is entered in the screen Position for all enabled motion tasks The start of each motion task in an automatically executed sequence of motion tasks is signaled by an inversion of the output signal The output produces a low signal at the start of the first motion task of the sequence When the target position for a motion task has been reached InPosition window a high signal is generated A cable break will not be detected The width of the InPosition window for all enabled motion tasks is entered in the screen Position data Start of the motion task that has the number and bit code at the digital entry AO to A7 A rising edge starts the motion a falling edge cancels it Restarts the motion task that had been stopped Starting in jog mode at a given speed After selecting the function you can enter the speed in the auxiliary variable x The sign of the auxiliary variable defines the direction A rising edge starts the motion a falling edge cancels it This task which is defined in the motion task by Start with I O is started The target position of this motion task must be reached before the following task can be started Erases the error message or the supervisor s response Checks reference switch 179 A0 7 Motion task number Bit1 to Bit8
116. ond more rapidly to control loop deviations gt smaller following error A very wide bandwidth only makes sense with low moments of inertia low KP and very high values of acceleration A narrower bandwidth produces a filter effect The speed and positional control are smoother the encoder emulation is quieter as well Offset ASCII MPHASE Default 0 valid for all OPMODES Compensates for a mechanical position error of the resolver encoder in the motor Change this only while the amplifier is disabled If an encoder with EnDat or Hiperface is used as a feedback unit the offset is automatically transmitted to the servo amplifier while the system is booting DANGER An incorrect setting can cause the motor to run away even with an OV setpoint Failure to observe this precaution will result in death or serious injury Speed monitor ASCII FILTMODE Default 1 valid for all OPMODES ID Function Note 0 OFF 16 kHz VL 16 kHz loop speed 1 OFF 4 kHz VL TaFilter 2 ON 16 kHz VL Speed monitor 3 ON 4 kHz VL Speed monitor 74 Acceleration feedforward ASCII VLO Default 1 0 valid for all OPMODES This parameter generates a dynamic pre control for the detection of current values Luenberger monitor in particular for resolver feedback It reduces phase slippage in the detection of the current value so improvin
117. only be operated in a closed switchgear cabinet taking into account the ambient conditions defined in the installation manual 13 Option AS restart lock for personnel safety The AS restart lock is exclusively intended to provide safety for personnel by preventing the restart of a system To achieve this personnel safety the wiring of the safety circuits must meet the safety requirements of EN60204 EN292 and EN954 1 The AS restart lock must only be activated e when the motor is no longer rotating setpoint OV speed Orpm enable OV Drives with a suspended load must have an additional safe mechanical blocking e g by a motor holding brake e when the monitoring contacts KSO1 2 and BTB RTO for all servo amplifiers are wired into the control signal loop to recognize a cable break The AS restart lock may only be controlled by a CNC if the control of the internal safety relay is arranged for redundant monitoring The AS restart lock must not be used if the drive is to be made inactive for the following reasons 1 cleaning maintenance and repair operations long inoperative periods In such cases the entire system should be disconnected from the supply by the personnel and secured main switch 2 emergency stop situations In an emergency stop situation the main contactor is switched off by the emergency stop button or the BTB contact in the safety circuit 14 Product Overvi
118. only while the Communication OK message is displayed Input output data can only be transmitted when the monitoring threshold of the amplifier has been activated in the hardware configuration of the master Output Last object received by the master Input Last object sent by the master 171 Screen page PROFIBUS instrument control At a Glance The following table describes the states and transitions of the instrument States Not ready for switch on The drive is not ready to be switched on The software of the drive does not indicate the Ready to operate state RTO Switch on inhibited The drive is not ready to be switched on The parameters can be transmitted the DC link DC Bus can be switched on but motion functions cannot yet be executed Ready for switch on The voltage must be applied to the DC link The parameters can be transmitted but motion functions cannot yet be executed Ready for operation Ready To Operate RTO The voltage must be applied to the DC link The parameters can be transmitted but motion functions cannot yet be executed The output stage is activated Operation enabled No error is present The output stage is activated and motion functions can be executed Fast stop activated The motor has been stopped using the emergency ramp The output stage is activated and motion functions can be executed Error response active error
119. ontrol i e change over from speed control to current torque control High level at the input torque control Low level at the input speed control 12 Reference Reference Point cam reference switch 13 ROD SSI Changeover of the encoder emulation position output on connector X5 High level at the input SSI compatible position signals Low level at the input ROD compatible position signals 14 FError_clear Clears the warning of a following error display no 03 or the response monitoring display no 04 15 Start_MT Next The following task that is defined in the motion task by Start with I O is started The target position of the present motion task must be reached before the following task can be started 16 Start_MT No x Start a motion task that is stored in the servo amplifier by giving the motion task number After the function has been selected you can enter the motion task number auxiliary variable x Motion task number 0 initiates homing reference traverse A rising edge starts the motion task a falling edge interrupts the motion instruction 93 17 Start_MT I O Start of the motion task that has the number that is presented bit coded at the digital inputs PSTOP NSTOP DIGITAL IN1 DIGITAL IN2 see function 9 MT_No_Bit A rising edge starts the motion task a falling edge interrupts the motion instruction 18 Ipeak2 x Switch over to a second lower peak value of current Scaled as x 0
120. or F30 Emerg Stop Timeout Emergency stop time exceeded F31 Wrong Firmware version Wrong version of Firmware F32 System fault The software does not respond correctly These error messages can be cancelled by the ASCII command CLRFAULT without making a reset If only these errors are present and the RESET button or the I O function RESET is used the CLRFAULT command is also all that is carried out 183 Warning messages At a Glance Faults that occur but do not cause a switch off of the output stage of the amplifier BTB RTO contact remains closed are displayed as a coded warning number in the LED display on the front panel They are also shown in the screen page STATUS Warnings that are recognized by the supply monitoring are only reported after the servo amplifier has been enabled Number Designation Explanation n01 l2t Threshold I t exceeded n02 Regen power Preset regen power reached n03 S_fault Exceeded preset following error window n04 Node guarding Response monitoring fieldbus is active n05 Mains phase missing Supply phase missing n06 Sw limit switch 1 Passed software limit switch 1 n07 Sw limit switch 2 Passed software limit switch 2 n08 Motion task error A faulty motion task was started nog No reference point No reference point set at start of task n10 PSTOP PSTOP limit switch activated n11 NSTOP NSTOP limit
121. osition referred to the reference point REL cmd relative to last target setpoint position in connection with motion block changeover e g summing operation REL act relative to actual position at start in connection with motion block changeover e g register control REL InPos when the load is in the InPosition window relative to last target position When the load is not in the InPosition window relative to actual position at start Contact our Technical Help department Contact our Technical Help department In the setup software the transmission of an absolute task to the RAM of the servo amplifier is prevented for axes of the ROTARY type This parameter determines the distance to be traveled The velocity can be defined in the motion block or provided as an analog setpoint Digital Setpoint provision in the v_cmd field Analog An In 1 Analog setpoint provision at input An In 1 terminals X3 4 5 scaling is used This value read in at the start of the motion task This parameter determines the velocity of movement for digital setpoint provision If v_max is set to a value that is less than v_cmd at a later time the position controller will use the smaller value 140 Acceleration Deceleration Units acceleration t_acc_total t_dec_total Ramp Setting Select the unit for acceleration and ramp entries m s in preparation
122. otation ALOW Signal on the input terminal PSTOP terminal X3 13 or NSTOP terminal X3 14 inhibits both directions The motor brakes with emergency ramp and stands with the I component under control mechanical disconnection stop is not permitted A falling edge releases the brake the OV level switches the internal speed setpoint to OV 7 P Nstop Intg Off Limit switch function STOP regardless of the direction of rotation ALOW Signal on the input terminal PSTOP terminal X3 13 or NSTOP terminal X3 14 inhibits both directions The motor brakes with emergency ramp and stands without the l component under proportional control mechanical disconnection stop is permitted A falling edge releases the brake the OV level switches the internal speed setpoint to OV 8 Anin1 Anin2 Switches over the setpoint inputs An In 1 2 This function is only effective if the analog setpoint function 0 Xcmd An In 1 has been selected High level at the input Setpoint input 2 terminals X3 6 7 is active Low level at the input Setpoint input 1 terminals X3 4 5 is active 9 MT_No_Bit Here you can select the motion tasks that are stored in the amplifier numbers 1 7 or the homing 0 The motion task number is presented externally at the digital inputs as a logical word with a width of max 3 bits An input is required to start the motion task 17 Start_MT I O If you wire up a reference switch 12 Reference and also want to start
123. output stage is deactivated The motor is not generating torque Transition 7 event Bit 1 or bit 2 set to 0 Action command Fast stop or Voltage inhibited Transition 8 event Bit 0 set to 0 Operation activated gt ready for switch on Action The output stage is deactivated and the motor loses its torque Transition 9 event Bit 1 set to 0 operation activated gt switch on inhibited Action The output stage is deactivated and the motor loses its torque Transition 10 event Bit 1 or 2 set to 0 RTO gt switch on inhibited Action The output stage is deactivated and the motor loses its torque Transition 11 event Bit 2 set to 0 operation activated gt fast stop Action The motor has been stopped using the emergency ramp The output stage remains activated The setpoints are cancelled e g motion block number digital setpoint Transition 12 event Bit 1 set to 0 Fast stop gt switch on inhibited Action The output stage is deactivated and the motor loses its torque Transition 13 event Error response active Action The output stage is disabled and the motor loses its torque Transition 14 event Error Action None Transition 15 event Bit 7 set to 1 Error gt switch on inhibited Action Error acknowledged with or without reset depending on the error Transition 16 event Bit 2 set to 1 Fast stop gt operation activated Action Motion function reactivated The state transitions are assigned by internal e
124. page ANALOG I O 3 Save the parameters e click on the button shown below 2 SAVE e answer the query RESET AMPLIFIER with YES 4 ANIn1 Short circuit the setpoint input 1 or apply OV to it 5 OSCILLOSCOPE Channel1 n_act Channel2 _act screen page OSCILLOSCOPE 6 Reversing mode Go to the screen page OSCILLOSCOPE SERVICE PARAMETER and set the parameters for reversing mode to values that are safe for your machine In OSCILLOSCOPE mode the positioning control loop is switched off CAUTION During operation of the service function Reversing mode the analog setpoint input is switched off and the internal positioning control is disabled Make sure that the individual motion of the selected axis is possible without any hazard For safety only operate the ENABLE signal of the amplifier with an interlock switch and check the EMERGENCY STOP function for this axis Failure to observe this precaution can result in injury or equipment damage 34 Optimizing the current controller Screen page current controller Step Action 1 If a suitable amplifier motor combination is used the current controller will already have a stable setting for almost all applications Ipeak e reduce Ipeak to the Irated value of the motor protection of the motor Power up Provide the analog setpoint e anin1i 0V Enable the amplifier e high signal at Enable input X3 15
125. partment Cycle time of the current controller 62 5 u s ASCII ICONT Default 50 of rated current valid for all OPMODES Sets the rated output current that is required The adjustment is usually made to l the standstill current for the motor that is connected The value that can be entered is limited to the rated current of the amplifier or the standstill current of the motor lo the lower of the two values The function is used in the monitoring of the actual r m s current that is drawn The limit that is set by the Irms setting reacts after approx Tiz 5 secs at maximum load The calculations for current settings other than the rated values are made according to the equation Trot I ms 15s I peak rms 100 Ipeak I t warning KP Tn ASCII IPEAK Default 50 of peak current valid for all OPMODES Sets the required pulse current r m s value The value that can be entered is limited to the rated peak current of the motor or amplifier the lower of the two values ASCII I2TLIM Default 80 valid for all OPMODES Sets the level as a percentage value of the r m s current above which a message will be sent to one of the programmable outputs DIGITAL OUT 1 2 X3 16 or X3 17 A warning appears in the display ASCII MLGQ Default 1 valid for all OPMODES Determines the proportional gain of the c
126. pe Number of poles lo max Rotor time constant Max speed n max All parameters that appear on this screen page are defined by the default values of the motor internal database of drive Most of the time it is not necessary to modify them This parameter is used to distinguish between synchronous motors MTYPE 1 and asynchronous motors MTYPE 3 If asynchronous type is selected the screen looks different ASCII MTYPE Default 1 Valid for all OPMODES Select number of motor poles The current setpoint can be set for the operation of 2 pole to 32 pole motors Change this only while the amplifier is disabled ASCII MPOLES Default 6 Valid for all OPMODES The standstill current is the RMS current value that the motor requires at standstill to produce the standstill torque defines the maximum value for the entry of Irms in the current controller ASCII MICONT Default standstill current Valid for all OPMODES In this field set the maximum peak current The peak current RMS value should not exceed four times the rated current of the motor The actual value is also determined by the drive s peak current that is used defines the maximum value for the entry of Ipeak in the current loop ASCII MIPEAK Default peak current Valid for all OPMODES Defines the rotor time constant for the nominal load Tr Lh Rr Lh is the magneti
127. peration The reference offset is entered in m The parameter Resolution must be set correctly for your application 130 Jog mode At a Glance F4 Jog mode is defined as an endless motion at a constant velocity This type of operation can be started without a reference point being set The hardware limit switches are monitored Software limit switches are only monitored if a reference point has been set Acceleration and deceleration ramps are taken from the settings for homing ASCII VJOG Default 0 valid for OPMODE 8 Determines the velocity for jog mode The sign that is entered determines the direction of movement Before starting the jog mode the velocity value must be entered The size is defined by VUNIT ASCII MJOG Default valid for OPMODE 8 Start the jog mode by pressing the function key F4 The drive moves with the preset velocity in the direction which is indicated by the sign of the velocity for the jog mode v as long as the function key is pressed If a communication error occurs while pressing the button the drive stops with the emergency deceleration ramp CAUTION When the function Jog mode is started the SW enable is set automatically The Function Jog mode is only started in OPMODE 8 However the SW enable is set in all OPMODES The drive can therefore be accelerated by an analog setpoint that is applied if the START command is execut
128. plifier varies according to the operating mode in progress OPMODE 0 The amplifier brakes according to the preset braking ramp for the velocity loop DEC OPMODE 2 The amplifier slows down OPMODE 8 Brakes the motion task in progress The amplifier brakes according to the predefined braking ramp for the motion task F12 Disabled Software disabled Shift F12 Enabled Software enabled 28 Axis Commissioning Checklist Procedures General Parameterization This document provides you with strategies for the commissioning of the digital servo amplifier and the optimization of its control loops These strategies cannot be universally valid You may have to develop your own strategy depending the specification of your machine However the sequences that are presented here will help you to understand the basic methodology CAUTION The manufacturer of the machine must create a hazard analysis for the machine and is responsible for the machine with regard to functional mechanical and personnel safety This applies particularly to the initiation of movements with the aid of commissioning software functions The commissioning of the servo drive with the aid of Setup software functions is only permitted in combination with an interlock device according to EN292 1 that operates directly on the drive circuitry Failure to observe this precaution can result in injury or equipment damage the serv
129. rdware limit switches must be present and connected The limit switch functions 2 PSTOP and 3 NSTOP must be switched on 121 Homing with reference switch positive direction of motion positive rotation with zero mark Initial point in negative direction from limit switch Initial point at limit switch Note hardware limit switches must be present and connected The limit switch functions 2 PSTOP and 3 NSTOP must be switched on 122 Homing 3 Diagrams Homing with reference switch negative direction of motion positive rotation without zero mark IN R P Initial point in positive direction SP from reference switch Vre l I I I I Vref N R P Initial point in negative direction SP from reference switch Vref N R P Initial point at reference switch SP Vref Vref Note before starting homing check the safety of the system since the load may move even if the limit switches ar disconnected or defective The limit switch functions 2 PSTOP and 3 NSTOP must be activated to achieve the full homing functionality 123 Homing with reference switch positive direction of motion positive rotation without zero mark N A P Initial point in positive direction l SP l from reference switch l l Vre l l S Vref R P Initial point in negative direction SP l from reference switch l Vr
130. rent is higher than a defined value in mA auxiliary value x After the function has been selected you can enter the current value as the auxiliary value x 10 FError If the position goes outside the preset contouring error window this is indicated by a LOW signal The width of the following error window is entered in the screen page Position for all the valid motion tasks 11 1 If the preset It monitoring threshold is reached Current screen page this is indicated by a HIGH signal 12 15 Posreg 1 4 The preset function of the corresponding position register the function is defined in the Position Data screen page is indicated by a HIGH signal 16 Next InPos 98 The start of each motion task in an automatically executed sequence of motion tasks is signaled by an inversion of the output signal The output produces a Low signal at the start of the first motion task of the motion task sequence 17 Error Warn The output produces a HIGH signal if an error or a warning message is signaled by the servo amplifier 18 Error The output produces a HIGH signal if an error message is signaled by the servo amplifier 19 DC Link gt x A HIGH signal is output if the actual value of the DC link voltage is higher than a defined value in volts auxiliary value x After the function has been selected you can enter a voltage value as the auxiliary value x 20 DC Link lt x A HIGH signal is output if the actual value of
131. ring the motor to the commanded velocity This cycle constantly repeats itself in a closed loop A closed loop that controls the position of the shaft or load is called a position loop A closed loop that keeps the velocity of the motor on the commanded value is called a velocity loop 16 Servo System A servo system in addition to the motion controller consists of mponen 7 7 A F z 3 Components Servo motor A servo motor moves mechanisms in a single axis of motion Electrical motors are driven by magnetic fields Motors have a stationary field generated by the magnets of the motor and a rotating or movable field called stator winding or armature They operate on the principles of synchronous motors All rotary motors have some type of bearing that supports the rotor at each end Every motor has at least two magnetic motor poles normally four or six The servo amplifier generates the current in the stator so that a controllable torque is available at the shaft The servo motors turn in two directions positive and negative Two forms of angular measurement are commonly used in motion control degrees and radians 360 degrees 27 radians one revolution The servo amplifier operates with standard synchronous servo motors as well as with direct drive motors rotary or linear For more information about these motors see the motor manuals Motor Tuning Tuning the motor is a fundamental task in achieving best system performance
132. rvo amplifier in multi axis systems see Installation Manual You can also use the keys on the front panel of the servo amplifier to set the baud rate see Installation Manual ASCII ALIAS Default blanks Valid for all OPMODES Here you can assign a name 8 chars max to the servo amplifier e g X AXIS This makes it easier for you to associate the servo amplifier with a function within the system The name is displayed in the setup software in the title bar of every screen page In offline mode the name is an indication of the origin of the currently active data set ASCII AENA Default 1 Valid for OPMODES 0 2 4 8 Definition of the SW status Activation of the setpoint on powering up the amplifier or after pressing the RESET button to clear errors ASCII EXTWD Default 100 ms Valid for all OPMODES Definition of the watchdog period for the communication expansion card This watchdog is only active when the value is greater than 0 and the output stage is enabled If the preset duration is reached and the clock is not triggered the warning message n04 Response time monitoring is generated and the amplifier stops The amplifier remains operational and the output stage remains enabled This warning message must be cleared using the RESET key in order for a new setpoint to be accepted 61 Acceleration ASCII ACCUNIT Default 0 Valid for all OPMODES
133. s not possible to read an encoder via X1 or X5 External reading ROD SSI for the field bus e the feedback type is defined by the Feedback parameter the external encoder is defined by the Gearing mode External reading ROD SSI for the position loop e impossible in this mode 109 Overview of the Position screen P At a Glance Ff Factor KV max Following Error Cycle time of the position controller 250 us Subscreens Position Data Opens the Position data screen page Homing Opens the Homing screen page Gearing Opens the Gearing screen page ASCII GPFFV Default 1 valid for OPMODES 4 5 8 Determines the feed forward factor for the position controller Feed forward is used to ease the task of the position controller A better setting for the Ff factor means a better utilization of the dynamic range of the position controller The most favorable setting usually about 1 0 depends on factors external to the drive such as friction dynamic resistance and stiffness ASCII GP Default 0 15 valid for OPMODES 4 5 8 Determines the proportional gain of the position controller Amplitude speed in m s at 1 mm position deviation ASCII PEMAX Default 262144 valid for OPMODES 4 5 8 The following error is the maximum difference window between the position setpoint and the actual position that is permitted during
134. scade Tile vertically Arrange icons Use these functions in the same way as for any other Windows software SERVICE STOP F9 Brakes the motion The response of the amplifier varies according to the operating mode in progress OPMODE 0 The amplifier brakes according to the preset braking ramp for the velocity loop DEC OPMODE 2 The amplifier slows down OPMODE 8 Brakes the motion task in progress The amplifier brakes according to the predefined braking ramp for the motion task If the screen page Oscilloscope Service is active you can also start the service function from here Help function HTML help file 44 Parameters and functions Parameters and functions At a Glance This chapter describes all the parameters that can be accessed via the setup software 47 What s in this chapter This chapter contains the following Sections Section Topic Page 2 1 Screen page Communication 50 2 2 Screen page Amplifier 52 2 3 SLOT 58 2 4 Screen page Basic Setup 59 2 5 Screen page Motor 67 2 6 Screen page Feedback 74 2 7 Screen page Encoder Input 78 2 8 Screen page Analog I O 82 2 9 Screen page Digital I O 89 2 10 Screen page Current 104 2 11 Screen page Speed 106 2 12 Screen page Position 110 2 13 Screen page Homing 116 2 14
135. served Reserved Sin Cos Encoder X1 With a sine cosine encoder connected to connector X1 146 Ratio ASCII ENCIN x Default 4096 valid for OPMODE 4 ASCII GEARO y Default 8192 valid for OPMODE 4 ASCII GEARI z Default 8192 valid for OPMODE 4 You can use the entry fields in this equation to determine the transmission ratio Ratio _nput pulses pertum electr gearing correction factor through An In 2 X Zz where x Normalization for the input pulses 256 actual no of pulses y z ratio with y 32768 32767 and z 1 32767 If you have any queries please contact our applications department 147 2 17 Screen page Drive status Introduction to the Drive status screen At a Glance Run time Last 10 faults Rate of occurrence Diagram fi Status 3 DRIVEo Time 9018 1 Fault history H MIN Error frequency F29 Sercos 9017 58 F03 following error 95 F29 Sercos 9011 14 F04 Feedback missing 62 F29 Sercos 9011 15 F05 Undervoltage 2 F29 Sercos 9011 11 F06 Motor temperature 51 F29 Sercos 9011 11 F08 Overspeed 32 F29 Sercos 9011 11 F16 No network supply 14 F29 Sercos 8987 58 F23 CAN Bus Off 1 F29 Sercos 8985 52 F25 Commutation error 23 F29 Sercos 8981 40 F28 8 F29 Sercos 8980 23 F29 Sercos 1206 Actual errors Actual warnings F29 Sercos No C _Reset_ AS
136. ssage F08 ASCII DECSTOP Default 10 ms valid for OPMODES The braking ramp for emergency braking This braking ramp is used if the message n03 following error or n04 response monitoring occurs It is also used on the activation of a hardware or software limit switch ASCII GV Default 1 valid for OPMODES 0 1 Determines the proportional gain also known as AC gain Increase the value up to the level where the motor starts to oscillate and then back it off until the oscillations have clearly stopped Typical values for this setting are between 10 and 20 Rule at KP 1 and a control deviation of v_cmd v_act 3000 rpm the instrument delivers the peak current ASCII GVTN Default 10 ms valid for OPMODES 0 1 Determines the integration time constant Smaller motors permit shorter integration times Larger motors or high moments of inertia in the load usually require integration times of 20 ms or more With Tn 0 ms the integral action component is inactive ASCII GVT2 Default 1 ms valid for OPMODES Affects the proportional gain P gain at medium frequencies It is often possible to improve the damping of the speed control loop by increasing PID T2 to about Tn 3 The setting is made if required after the basic setting of KP and Tn r 104 Feedback ASCII GVFBT Default 0 4 ms valid for OPMODES If necessary the time
137. t Ana 7 cor 0 nput 1 jo Analog In 2 ie 5 Analog Out 2 nput 3 jo Offset Scaling input fo 0 Of F 0 mV 0 rpm 10V Enable lo Output 1 Jo Auto Offset 10 A LOV Output 2 o 1 0 Com jo Deadband 0 mV OK Cancel Apply Cycle time of the analog I O functions 250 micro seconds An In 1 is read every 125 micro seconds The actual values of the analog inputs outputs are shown in the diagram of the connector X3 Analog inputs AN IN 1 AN IN 2 Deadband Offset Scaling T Setpoint Auto Offset ASCII ANDB Default 0 mV valid for OPMODES 1 3 Suppresses small input signals The function is useful with OPMODE1 analog speed without higher level position control ASCII ANOFFx Default 0 mV valid for all OPMODES Is used to compensate the offset voltages of CNC controls and the analog inputs 1 ANOFF1 or 2 ANOFF2 Adjusts the axis to standstill while the setpoint OV ASCII VSCALEx Default 3000 valid for OPMODE 1 Scaling of the speed setpoint value Input xx rpm 10 V ASCII ISCALEx Default peak current valid for OPMODE 3 Scaling of the speed setpoint value Input xx A 10 V ASCII AVZ1 Default 1 ms valid for OPMODE 1 You can enter a filter time constant here for An In 1 clock rate 8 kHz 1st order filter ASCII ANZEROx Default valid for all OPMODES This funct
138. t task is finished a new task will start automatically The In Position signal is only enabled when the last motion task no further task has been processed You can use the function 16 Next InPos to generate a signal at one of the digital outputs when each target position within a sequence of motion tasks has been reached The number of the next task which will be started automatically after the present task is finished Select the action to be taken when the target position for the present motion task is reached on v_act 0 The drive brakes to a stop in the target position The next motion task is then started from target The drive moves at v_cmd of the present motion task to the target position and then accelerates through to v_cmd of the next task to target The changeover to the next task is brought so far forwards that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached Immediately The next task is started as soon as the target position is reached 1 0 The next task is started by a signal at a digital input one of the terminals X3 11 14 This is only meaningful with Accel Decel to v 0 Condition the digital input must have the function 15 Start _MT Next assigned and the target position must have been reached You can preselect the logic with the Start with parameter Time The next task is started w
139. t the preset speed limit in the speed controller 4 _cmd The output provides 10V referred to AGND for the internal current setpoint corresponds to the preset peak current at the output of the speed controller Amplitude 10 V for the preset peak current r m s value in the current controller 5 FError The output provides 10V referred to AGND for the preset following error window 6 Slot reserved by the expansion card 86 2 9 Screen page Digital I O Overview of Digital I O At a Glance Overview of the different fields contained in the Digital I O screen What s in this This section contains the following topics section Topic Page Overview 90 Digital inputs DIGITAL IN1 DIGITAL IN2 PSTOP NSTOP 91 Digital outputs DIGITAL OUT 1 DIGITAL OUT2 98 87 Overview At a Glance Diagram Cycle time of digital I O functions 1 ms The digital I O states are displayed Digital 1 0 101 a nput 1 Analog Com 0 Function Value x ER P Eir Output 1 0 0ff u i Analog 1 In jo wee Analog 1 In o ae Value x Analog 2 In 0 Value x Analog 2 In jo mo oon 0 Analog Outl jo Analog Out jo nput 3 Analog Com o Output I Function Value x nai f Function mo Wy I npu t purae Value x E Input 4 jo 7 Input 4 C Enable o Function Value x S por Ul l 1 0 Com jo OK Cancel Apply
140. tep response in both directions Diagram Step response i Diagram Step response 2 n speed SW setpoint t time 1 optimum 2 KP too high t 6 KP You can produce a fine tuning of the speed response by cautiously increasing KP Aim the smallest overshoot but still retaining good damping A larger total moment of inertia make it possible to use a larger value for KP 7 PID T2 You can dampen out disturbances such as a small amount of play in the gearing by increasing PID T2 to about 1 3 the value of Tn 36 Settings Step Action 8 FEEDBACK You can further improve the smooth running by using FEEDBACK especially for small drives with a low torque 9 End reversing mode Finish the reversing mode operation F9 Step Action e setup the correct motor specific value for Ipeak current controller again e start up reversing mode again and observe the step response If there is any tendency to oscillation reduce KP slightly e save the present parameter set in the EEPROM e click on the button shown below 37 Optimizing the position controller Preparation Preparation Step Action 1 OPMODE Select OPMODE 8 screen page AMPLIFIER Position the load in a middle position The aim is to use the Jog Mode function to move the load to approximately the middle of the motion path e click on the POSITION button e click on the
141. the same way as for any other Windows software Exit Terminates the program COMMUNICATION COM1 COM2 COMS3 COM4 If one of these interfaces ports is available for communication with a servo amplifier which means that it is not used by other equipment or drivers then the text label appears in full black and can be selected Select this interface and use it for the connection to the servo amplifier Offline You can still work with the setup software even if there is no servo amplifier connected You can load a set of data from the hard disk diskette work on it and save it again The software functions and screen pages that only have a use in the online mode will not be selectable Disconnect interfaces This deactivates the access to the setup software from interfaces COM1 and COM4 This function is important if for instance the servo amplifier is to be accessed from an external program without closing the setup software Multidrive With this function you can establish connection to other amplifiers that are connected via the CAN bus with the amplifier that communicates via the RS232 interface with the PC Therefore all devices must have different addresses This function should not be used in running field bus applications 43 VIEW Toolbar Switch to insert the toolbar above or the status bar below into the Status bar screen WINDOW Ca
142. the software limit switch can be seen in the diagram below Reference traverse load Motion task load NI SE1 SE2 HE2 MA2 Legend MA1 Machine stop left HE1 Hardware limit switch left NI Zero pulse initiator reference SE1 Software limit switch 1 SE2 Software limit switch 2 HE2 Hardware limit switch right MA2 Machine stop right Positive count direction Negative count direction ASCII SWCNFG Default 0 valid for all OPMODES enabled ASCII SWEx Default 0 valid for all OPMODES position Configuration variables for the position register SWCNFG is a binary coded bit variable It is transferred to the ASCII terminal programs as a decimal number Bit variable SWCNFG Bit Value Description Bit Value Description 20 0 Monitoring of SWE1 inactive 28 0 Monitoring of SWE3 inactive 1 Monitoring of SWE1 active 1 Monitoring of SWES active 21 0 Signal for actual position gt SWE1 99 0 Signal for actual position gt SWE3 1 Signal for actual position lt SWE1 1 Signal for actual position lt SWE3 22 0 SWE1 functions as signal threshold 210 JO Reserved 1 SWE1 functions as SW limit switch 1 23 0 Reserved 211 0 Reserved 1 1 p24 0 Monitoring of SWE2 inactive 212 JO Monitoring of SWE4 inactive 1 Monitoring of SWE2 active 1 Monitoring of SWE4 active 25 0 Signal for actual position gt
143. tion with a minimum following error If KV is larger the tendency to oscillation increases If it is smaller the following error increases and the drive becomes too soft Vary KV until the desired response is achieved 6 FF The integral component of the control loop is in the position controller not the speed controller so no following error results at Jog Mode pure proportional control The following error that arises during acceleration is affected by the FF parameter This error is smaller if the FF parameter is increased If increasing FF does not produce any improvement then you can increase KP a little to make the speed control loop somewhat stiffer 40 Incorrect operation If the drive does not run satisfactorily under position control first look for external causes such as mechanical play in the transmission chain limits the KP jamming or slip stick effects self resonant frequency of the mechanical system is too low poor damping drive is too weakly dimensioned before trying to optimize the control loop again 41 Screen layout At a Glance General screen Unilink Communication Title bar File Communication View Window Service 2 l Menu bar Toolbar alele COM1 COM2 Communication COM3 com4 Offline Disconnect Interfaces Local Not Connected Y Status bar Title bar The program name statio
144. ult 5 DPRSTATE 0 Initialization of the FIPIO card 80 Nominal phase no message 81 Message received 82 Response transmitted 6 MBPDRVSTAT The status is read by Unilink and updated by the drive This enables the FIPIO card to be informed of the drive status and is accessible in read only mode via the ASCII command MBPDRVSTAT Description of the various MBPSTATE states 1H Drive ready 2H Network communication fault 4H DPRAM communication fault 8H MBPNTO Communication fault network ignored MBPNTO 0 communication fault reported to the drive MBPNTO 1 communication fault ignored by the drive it is accessible in write mode via the ASCII MBPDRVSTAT command Either MBPDRVSTAT 16 08 for MBPNTO 1 or MBPDRVSTAT 16 00 for MBPNTO 0 168 2 25 Screen page PROFIBUS Screen page PROFIBUS At a Glance Overview of the different field values included in the PROFIBUS screen page What s in this This section contains the following topics ion section Topic Page Screen page PROFIBUS 180 Screen page PROFIBUS instrument control 182 169 Screen page PROFIBUS At a Glance This screen displays the states of control word STW and state word ZSW bits The instrument state indicated by the state word is visible in the state machine The actual state is displayed in black all other states ar
145. ult 0 valid for all OPMODES Determines whether the output level is normal or inverted Change this only while the amplifier is disabled ID Function 0 Normal 1 Inverted ASCII SSIGRAY Default 0 valid for all OPMODES Determines whether the output is in binary or GRAY code Change this only while the amplifier is disabled ID Function 0 Binary 1 Gray ASCII ENCOUT Default 16 valid for all OPMODES Determines the multiplier for the number of lines of the feedback encoder per electrical motor rotation Maximum output pulse value 400 000 pulses second 79 2 8 Screen page Analog I O General overview of the Analog I O screen Ata Glance Overview of the different fields contained in the Analog I O screen What s in this This section contains the following topics section Topic Page Analog Inputs Outputs Analog I Os 83 Analog inputs AN IN 1 AN IN 2 84 Analog outputs AN OUT 1 AN OUT 2 88 80 Analog Inputs Outputs Analog I Os At a Glance Diagram Bl Digital 0 101 x Setp function PAOTRET Analog Com o FaultRA 0 Analog In 1 Fault RB o Scaling O w Analog 1 In 0 0 0 Analog 1 In jo 7 ies POLON an Analog 2 In o0 T Setpoint Analog 2 In 0 0 ms 0 A 10V Analog Outl 0 mV Analog Out2 o F m Auto Offse
146. urrent controller Rule at KP 1 and ata control deviation _cmd l_act peak armature current the rated motor voltage will be output ASCII KTN Default 0 6 ms valid for all OPMODES Determines the integral action time integration time constant of the current controller 101 2 11 Screen page Speed Introduction to the Speed screen At a Glance SpeedLimit Diagram E Velocity loop 101 Speed Limit O Rotary direction Positive iy Overspeed 0 rpm Accel ramp 0 ms Decel ramp 0 ms Emergency ramp 0 ms PI PLUS 0 Feedback 0 ms OK Cancel Apply Use the default values for the motor as a starting point for optimization Cycle time of the speed controller 250us ASCII VLIM Default 3000 rpm valid for OPMODES 0 1 Limits the motor speed The maximum value also depends on the motor and encoder used 102 Rotary direction Setp Ramp Setp Ramp ASCII DIR Default 1 valid for OPMODES Fixes the direction of rotation of the motor shaft referred to the polarity of the setpoint Make changes only while the amplifier is disabled reset This parameter is not available if a SERCOS interface is built in After changing the rotary direction the hardware limit switches have to be exchanged Standard setting right hand cw rotation of the motor shaft looking at th
147. ut voltage D DC link bus Rectified and smoothed power voltage voltage DGND Digital ground DIN Deutsches Institut fur Normung German standardization institute Disable Removal of the ENABLE signal OV or open Disk Magnetic storage diskette hard disk E Earth short EEPROM EMV EN Enable Electrically conductive connection between a phase and PE Electrically erasable programmable memory in the servo amplifier Data stored in EEPROM are not lost if the auxiliary voltage is switched off Electromagnetic compatibility European standard Enable signal for the servo amplifier 24V 200 Glossary G Gray Code A binary code known as reflected in which the change from term n to term n 1 is carried out by changing only a single digit and so the code can be read unambiguously H Holding brake A brake in the motor that can only be applied when the motor is at standstill IEC International Electrotechnical Commission Incremental Position indication through 2 signals with a 90 phase difference not an absolute encoder position output interface Ipeak peak The r m s value of the pulse current current Irms r m s The r m s value of a steady current current ISO International Standardization Organization It threshold Monitoring of the r m s current that is actually drawn K KP P gain Proportional gain of a control loop 201 Glossary L LED Light emitting diod
148. vents for example DC link supply voltage cut off and by the control word flags bits 0 1 2 3 7 173 2 26 Screen pages SERCOS Screen pages SERCOS At a Glance Overview of the different field values included in the screen pages SERCOS and SERCOS Service What s in this This section contains the following topics section Topic Page Overview of the screen page SERCOS 186 SERCOS Service screen page 188 174 Overview of the screen page SERCOS At a Glance Address Diagram m SERCOS 1 DRIVE 3 Address Baudrate 4 MBaud v Fiber Optic Cable Length Bo m Phase Status Drive notin phase 4 OK Cancel Apply SERCOS Service ASCII ADDR Default 0 Valid for all OPMODES The address marks the Sercos station address of the drive within the Sercos communication The address can be changed between 0 and 63 in the Basic setup screen An address 0 designates the drive as a repeater on the Sercos ring 175 Baud rate LWL length Phase Status SERCOS Service ASCII SBAUD Default 4MBaud Valid for all OPMODES In this field it is possible to set the Sercos baud rate The default value is 4 Baud ASCII SLEN Default 5m Valid for all OPMODES Within this parameter it is possible to change the optical power o
149. zation inductance of the axis and Rr is the resistance of the rotor ASCII MTR Default 200 ms Valid for all OPMODES This is the maximum speed of the motor Limits are entered in the parameter Speed limit Screen page Speed ASCII MSPEED Default 3000 rpm Valid for all OPMODES 69 Nominal speed Nominal speed of the asynchronous motor This defines the point above which a reduction in phase shift is applied For example if a 4 pole motor is to operate at 50Hz the nominal speed must be set to 1500 ASCII MVR Default 3000 rom Valid for all OPMODES Number Select the desired motor from the motor database The data is loaded once the Reference motor has been selected If an encoder is used as a feedback device the motor number will automatically be reported to the servo drive Change this only while the amplifier is disabled The parameters concerning the following motor are automatically updated when you select a motor Unilink dialog Parameters Basic Setup Maximum mains voltage Motor Number of poles lo lo max L Maximum Speed Current advance Start Phi Limit Phi Brake Feedback Feedback Type Number of Resolver Poles Offset Current KP Tn Speed KP Tn PID T2 Feedback Maximum Speed Overspeed ASCII MNAME Default blanks valid for all OPMODES ASCII MNUMBER Default 0 rom

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