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Easy FDS 400/800 - Engelhardt GmbH

1. 50 Arms 100 Arms 250 154 241 mm EASYfds 800 R80 200 530Vac 80 Arms 120 Arms 250 x 154 241 mm EASYfds 800 R100 200 530Vac 100 Arms 160 Arms 250 154x241 mm EASYfds 800 R300 200 530 300 Arms 500 Arms 525 255 327 mm TECHNICAL CHARACTERISTICS POWER SUPPLY Power Supply voltage Vac 200 Vac to 530 Vac 3 Phase Line Net s Nominal Tension With symmetrical grounding TN TT Frequency line Hz 45 to 60 Hz Net s Frequency Max Vbus clamping Vdc 800 Vdc Inner Tension DC max max tension from Bus DC during the braking Nominal input current A Current Absorbed from Net 4A to 300A It s depends on the size of the convertor used ELECTRICAL CHARACTERISTICS Temperatures Range of working s temperature C 0 to 45 C It can be necessary the ventilation It s depends Page 20 EASYfds 800 Digital AC Brushless Servodrive User Manual on the size of the convertor used Continuous current A 4A to 300 A It s depends on the size of the convertor used Maximum current A 8A to 500 A from 0 4 sec to 10 sec max It s depends on the size of the convertor used Motor Inductance Minimum mH 2 5 mH Phase motor Phase If lower insert a value requested three phase inductor to obtain 2 5mH min PWM frequency kHz 16 to 8 K
2. 88 EASYfds 800 Digital AC Brushless Servodrive User Manual gt Setting up Digital Node Address 1 sse 88 gt Setting up function Motion Direction 89 gt Setting up function Max Positioning Error count 89 gt Setting up Function Brake Motor 7 1 1 1 csse 90 gt Setting up function Null Mechanical Resonance sess eene 90 gt Setting up Programmable Analogic Output Monitoring 91 gt Setting up AC Failure Mono Three Phase Power Lines se 91 gt Setting up Type External Reference LIMIT rhe cote e i d paie 92 gt Seine ip Mode Speed accuracies dai aii nae eek oe 93 gt Setting up Acceleration Time in REMOTE SPEED mee 93 gt Setting up Watch Dog Time out in REMOTE 5 177 m 94 gt Setting up Watch Dog Disable in REMOTE SPEED 1 esee 94 gt Visualization STOP causes for BIergenCy ees due etenrtvos tetra pn epe van rea ver dU s 95 gt Visualization RESOLVER Phase Compensation 95 gt Emulation controls Remote Positioner 1 sss 96 gt Function table of position s points Browser 97 gt Visualization of Error State and Warning e Ie Rep 98 gt Positioner Communication s Protocol Remote 99 gt AUTO Mo Pn 100 gt Configuration RS232 and ava
3. T Nominal Curert A S iD Maimun Curent A xT Gai Set Current Loop Gain 30 Curent Loop Gain P uw ee High Page 50 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 09 Set Velocity Loop Integrative Gain The Servoamplifier series EASY rns 800 is supplied of a speed s ring model PI If the AutoTuning Function is used the set up happens automatically The Function FF 09 permit to select 4 levels of Integrative gain To optimize the dynamic answer of the speed s ring it is possible to act on 4 preselected level of gain band A Set Gain 1 When Motor s Inertia Charges Low value Proportional Gain FF 10 between 1 0 and 2 0 max B Set Gain 2 When Motor s Inertia Charges Medium Value Proportional Gain FF 10 between 2 0 and 4 0 max C Set Gain 3 When Motor s Inertia Charges Medium High Value Proportional Gain FF 10 between 4 0 and 6 0 max D Set Gain 4 When Motor s Inertia Charges High Value Proportional Gain FF 10 between 6 0 and 10 0 max The gain band must be chosen following the following criteria According to the value of motor inertia charge it will have to be chosen the most opportune value of the Integrating gain then choose the most opportune value of the Proportional gain FF 10 For Low Value of total Inertia select Gain 1 Very low Integrative Gain For Medium Value of total Inertia select Gain 2
4. DISPLAY DISPLAY O SEL R32 to R SEL 24Vaux Page 16 EASYfds 800 Digital AC Brushless Servodrive User Manual Cables Box 20 16 10 16 10 n LINE LINE LINE MOTOR MOTOR MOTOR EASYfds 800 EASYfds 800 EASYfds 800 R04 R08 R04 R08 RE R20 R24 N2 N2 2 N SIZE SIZE j SIZE N2 CN3 EJ Mounting N 2 or 4 lives M5 Din 912 Example of assembly with space of 10 mm PICTURE EASYfds 800 Size R24 R16A R08 24 16 08 Ampere Nominal Current Page 17 Joued uo Ajquiasse ooeds EASYfds 800 Digital AC Brushless Servodrive User Manual Picture Picture Picture EASYfds 800 R24 EASYfds 800 R16 EASYfds 800 R0S INTRODUCTION The servoamplifier series EASY rps 800 is a converter with three phasic stage of power with IGBT modulated in PWM adapted to the pilotage of Rotating Brushless Motors equipped with Resolver transducer Facoder Linear Brushless Motors equipped with digital Encoder Hall sensor Completely galvanically protected and isolated it uses the most well developed parts to the ends to obtain the best results and trust Net Income 200 to 530Vac 480Vac 3Phase Nominal Only nets with symmetrical grounding net gt Feeder internal services 24Vdc 10 1 0A No
5. 0 ES FP It corresponds to a nibble Half Byte with value from 0 to 15 converted in ACSII The Node 0 indicates a BroadCast order which is sent to the all relative starting to this kind of order no drive answers The orders with node from 1 to F are addressed to the relative Positioner 1 15 and they involve always an answer from the interested Positioner Naturally before beginning to communicate it is necessary to attribute to all the connected positioners a different NODE in range 1 15 through keyboard of the Positioner and the function FF 59 It is necessary also to remember to save the parameters after having attributed to the node carrying out the Store with function FF 39 otherwise the node will be lost at the stop Page 102 EASYfds 800 Digital AC Brushless Servodrive User Manual Command Byte 8bit to convert in 2 ASCII characters which identifies the order Argument Byte 8bit to convert in 2 ASCII characters This field is present only in the orders which demand it and represent a complement of the same order as an example if you send the order read data from Positioner the argument identifies which is the data to be read Data This field is present only in the orders which demand it and is constituted from hexadecimal values converted in ASCII byte 8bit converted in 2 ASCII characters word 16 bit converted in 4 ASCII characters long word 32 bit conver
6. FF 38 Set Operative Parameter Table READ OPERATIVE PARAMETER amp Function which concurs entering in the Operating Table when for proof requirements the User Parameter was set up Table used for the Normal Operation It is the data table in which the servoamplifier is normally enslaved and used at the ignition FF 38 rd PAr FF 39 STORE Operative Parameter Table STORE OPERATIVE PARAMETER Record the operation data for the use conditions of the Servoamplifier It concurs to save the Operating Parameter Table in permanent way in Flash Memory It is used in order to save the operation data in permanent way FF 39 StOrE puse oss gd Store Memorization of parameters in permanent way FF 40 Monitoring Operating Status MONITORING It visualizes the state of operation of the Converter If the Converter is disabled and there are not errors appears the written disab If the Converter is enabled and there are not errors appears the written GO If there is an Error the display indicates the code of Error flashing The codification of the errors is described on page 36 and page 98 At every ignition the servoamplifier is enslaved at function FF 40 It is possible to select the functions from FF 00 with the keys on the frontal panel until to function FF 56 Page 73 EASYfds 800 Digital AC Brushless Servodrive User Manual
7. Page 26 EASYfds 800 Digital AC Brushless Servodrive User Manual INSTALLATION A ATTENTION Follow and respect scrupulously all the following indications supplied in order to cure the installation of the converter series EASY rps 800 Fix mechanically the converter on the bottom wall of the switchboard or closet so that it has the dissipater in vertical position Leave a free space of at least 20 cm under and 20 cm over of the drive If more converters are settled use the following criteria VENTILATION FOR NATURAL CONVECTION Fix the converters so to leave a free space of at least 5cm between the converters FORCED VENTILATION With the forced ventilation it is possible to place side by side the converters the minimal space 1cm between them obtaining therefore minor crow GROUND CONNECTION The converters series EASY rps 800 are constituted from a mechanical of galvanized sheet which concurs to obtain an optimal grounding which can be carried out indifferently either on the appropriate screw of the frontal panel or through the slab of bottom for the mechanical implantation N B It is indispensable to connect the converter to ground NET CONNECTION A ATTENTION Use the maximum caution and all precautions in carrying out the electrical connections either in the 400 Net Vac or with the motor connections RISK of DEATH amp ATTENTION Not touch or make electrical connections with inserted tension o
8. fds5020 Input Voltage Supply Frequency Line Current i put Line 200 to 530Vac Line 3 phase 90 60 Hz 20 Arms 3 phase Powerln Current Out Options Comments Wk Year 13 skva 20 Ams 122006 Absorbed Power Nominal Current Options and Week Year from Net Output to Motor Calibrations comments Production s Date Identifying Product Label Page 131 EASYfds 800 Digital AC Brushless Servodrive User Manual A Enclosure Working in modality Master Slave Motion Direction Master Modality Set up Option N 3 at function FF56 through the keys on the frontal panel of the Converter When the Option in object is selected the converter becomes the Master of a second Converter which will have to be set up as Slave Carry out the Store with the Function FF39 The working modality of Master previews the contemporary operation either in Speed or in Brace of two brushless motors which are mechanical bounded The Master converter generates the order V Reference destined to the second Slave Converter the order is available in exit on connector CN1 pin 7 When the Converter is set up as MASTER it enables the acknowledgment of the Input 2 for the operation Speeds Force Input 2 0 Operation in Speed Input 2 1 Operation in Brace or Current When Input 2 0 not connected or 0 the Converter works normally in Speed When Input 2 1 24V the converter works in modality of Force or Brace When In
9. ON Enabled FF 62 Digital Brake Function OUT Motor Brake Disabled NO Brake OFF Free Motor Dynamic Brake Function OFF OUT 24Vdc 3Amax Enabled Brake ON ON Braked Motor Dynamic Brake Function ON OUT 24Vdc 3Amax Encoder 125KHz Ec Set Brake Motor Function FF 63 Set Null Mechanical Resonance When to an Axis are demanded elevated Dynamic performances it is necessary to set up a high Gain of control rings and therefore there can be Mechanical Resonances Function FF 63 introduces a Digital filter which eliminates the Mechanical Resonances OFF Disabled ON Enabled FF 63 Null Mechanical Resonance Function OFF Disabled ON Enabled Set Null Mechanical Resonance Page 91 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 64 Set Programmable Analogic Output Monitoring Function which permits to program the Analogical Output accessible on connector CN3 13 as from table FF 64 Programmable Analogic Output Monitoring tP rEF Voltage Reference Output Monitoring tP cUr Current Motor Output Monitoring tP IAV Average Current Output Monitoring 000 V Relerence input Limi Reference 1 Analog Output Select Set Programmable Analogic Output Monitoring Reference Motor Current _ Motor IRMS FF 65 Set Three or Mono Phase Power Line Supply AC Failure Function which p
10. FF 40 dISAb 01 GO Visualization of Hardware Enable status List functions for working in Positioner Modality 41 Set Positioner EMERGENCY Stop Time Function which permit to set up the stop time of the Positioner in emergency conditions The time must be set up at the minimal value for which the mechanics does not endure damages for deceleration the time also must be small because in emergency conditions it is necessary to stop the axis in the shortest space and time possible The stop time in emergency conditions is independent from the one in Positioner modality Set up the minimal time possible for the arrest in emergency case FF 41 Min 000 Max 10000 Set up stop emergency time Page 74 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 42 Set Zero Axes Mode selection ZERO AXES MODE SELECTION Procedure Zero Axes 1 The axis starts searching the Proximity cams of Zero using the speed Zero Speed module and sign negative values moves in negative direction 2 When the axis crosses the Proximity of Zero It stops itself starts again in opposite sense to speed 1 2 of Zero Speed and now there are 2 possibilities A Zero On Resolver Pulse The axis annuls on the first impulse of zero of the resolver or encoder B Zero on Out From Zero Cams The axis annuls at the exit from proximity this opti
11. 120 gt Indication and Resolution Breakdowns and Anomalies of Working 121 gt Identifying Product Label e emm e emen 130 gt Enclosure Working mode Master Slave Motion Direction 131 gt Enclosure Working mode AXIS FOLLOWER Electric 132 gt Electromagnetic 124 Page 8 EASYfds 800 Digital AC Brushless Servodrive User Manual ATTENTION HIGH VOLTAGE Some inner circuits of the servoamplifier EASYfds 800 are subordinates to dangerous tensions which could cause serious dangers to the safety of the people or being really lethal It is prohibited to approach whichever part with the fed servoamplifier The user must install the servoamplifier in accordance with the actual Norms of Emergency on the Job he must follow precisely the indications on this handbook Whichever tampering opening of the servoamplifier or intervention non authorized involve the immediate decay of the guarantee The declines every responsibility for whichever type of damage deriving from an unsuitable use of the Converter DANGER It is allowed to install and to carry out maintenance operations on the servoamplifier and on the connected devices exclusively to qualified and trained staff who has a sufficient electronic knowledge It is
12. 30 Min 00000 gt Max 02 000 FF 31 Set Internal Wave Form Continuous Velocity Time Time T2 Set the time in which the Speed s profile remains constant Wave Form Set the time in which the speed s profile remains constant in the way of operation Wave Form inner Generator it determines the frequency of the order of Speed Setting T acceleration deceleration min 20 mS max 2 000 mS FF 31 Min 00020 Max 02 000 Page 70 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 32 Set Internal Wave Form Velocity Set the target of simulated Speed Wave Form generator Function which permit to set up the speed of movement in the way Wave Form Generator It determines the speed during the operation in the modality Wave Form If 12 bit minor resolution but 14 400 Rpm max If 14 bit greater resolution but 3 600 Rpm max If 16 bit greater resolution but 900 Rpm max FF 32 Min O gt Max gt Resolution Resolver bit Set up for working in Wave ia Form Generator modality FF 33 Set Internal Wave Form Start Stop Set the enable to the movement of the Function Wave Form generator Function which permit to try the axis in released way from the Numerical control moreover it concurs to determine the correct gain of the speed ring with the aid of an oscilloscope or with function SCOPE on interface BROWSE
13. e Not to open the servoamplifier During the operation all the covers the doors of the switchboards and the closets must be closed There is the danger of dead of serious accidents to the persons or to materials During the operation of the servoamplifier in hard conditions high temperatures in proximity of the dissipater and chassis can be reached They can catch up advanced values to 80C To manipulate or to operate in proximity of the servoamplifier being adopted are necessary all the precautions in order to avoid scalds After to have stopped the servoamplifier please attend 5 minutes at least so that temperature of the parts comes down less than 45 C It is prohibited to operate on the clips or connectors of the electrical connections when the servoamplifier is working There can be voltaic arcs with consequent possible damages to people or things and to the contacts electrical e Wait at least 5 minutes after to have detached the feeding power before touching the members under tension as sample electrical contacts or to loosen the electrical connections The electrolytic condensers placed inside o the servoamplifier maintain a dangerous tension until to 5 minutes after the disconnecting of the feeding tension The servoamplifier has inner electronic parts sensitive to the electrostatic discharges which can be damaged from a wrong manipulation or from the lack of grounding of the chassis Avoid the contact with highly insulat
14. lt order gt lt argument gt data lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 1 00 0E10 00C8 01F4 00002710 lt EOT gt AB lt ETX gt Positioner gt MASTER lt STX gt 1 b lt EOT gt 97 lt ETX gt In this case the order has been rejected The Positioner was in modality Manual INPUT5 OFF Page 113 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of Lite Positioning It permits to reach a precise point using speed acceleration and deceleration set up in the parameters or in the previous complete positioning order which has been sent Before to send this order it is necessary to verify and eventually wait for the Positioner status is in idle Order Code 0x01 Argument null Data lt End_Point Step gt Data Description Data Size Range Description End Point LongWord 8 000 000 cnt Ending point if the working is set up as Step 32 bit REMOTE_PTP_POSITIONER or STEP if set up as REMOTE_STEP_POSITIONER Sample Lite Positioning NODE 1 Referring to standard order string lt STX gt lt node gt lt order gt lt argument gt lt data gt lt EOT gt lt checkSum gt lt ETX gt If you want to execute the following positioning End Point 10000 count MASTER gt Positioner lt STX gt 1 01 00002710 lt EOT gt 20 lt ETX gt Positioner gt MASTER lt STX gt 1 a lt EOT gt 96 lt ETX gt In this case the order has been accept
15. 510 514 State5 682 680 684 State 6 853 851 855 N 16 Motor Poles Optimal Status Min tolerance Max tolerance State 1 0 2 2 State2 128 126 130 State 3 256 254 258 State 4 384 382 386 State5 512 510 514 State 6 640 638 642 State 7 768 766 770 State 8 896 894 898 Page 66 EASYfds 800 Digital AC Brushless Servodrive User Manual N 24 Motor Poles Optimal Status Min tolerance Max tolerance Statel 0 1 1 State2 85 84 86 State3 171 170 172 State4 256 255 257 State5 341 340 342 State6 427 426 428 State7 512 511 513 State8 597 596 598 State9 683 682 684 State 10 768 767 769 State 11 853 852 854 State 12 939 938 940 Digital Compensation Autophasing Revolver With the choice AUTO proceed as it follows At the demand enable enable the converter FF 27 AUTO PHASE EnABLE The procedure of verification of the phasing starts and the steps are executed The steps number depends on the Number of the used motor Poles At the end of the procedure is introduced a Digital compensation of the angle of Revolver Phase It is possible to set manually or to modify the Digital Compensation of the Offset of the angle of phase of the RESOLVER through the Browser as the
16. R100 R300 Nominal Tension Vac 480 480 480 480 480 480 480 480 480 480 480 480 Income Net 3Phase model TT TN 200Vac Min to 530Vac Max Nominal Power 480Vac In kW 3 3 6 6 9 9 13 2 16 5 19 8 26 4 33 0 41 2 66 0 82 4 247 Function in modality S1 Nominal Current A 4 8 12 16 20 24 32 40 50 80 100 300 Tolerance 2 rms Max Current A 8 16 24 32 40 48 64 80 100 120 160 500 Tolerance 2 rms 0 4 sec Min Speed lt 250Rpm 10 sec Max Speed gt 250Rpm Frequency PWM Power stage Khz 16 16 8 8 8 8 8 8 8 8 8 8 Dissipated Power from convertor W 44 70 115 145 175 220 340 410 480 720 960 2650 with nominal current included the nominal current dissipated from services Excluded the dissipated power from R Brake Dissipated Power from braking W 48 77 172 210 320 380 515 640 805 1 28 1 61 4 83 resistance R Brake KW KW KW Cycle duty 3 Attrition diregardable Absorbed Power from services W 22 22 22 22 22 22 22 22 22 22 22 22 circuits Form Coefficient of exit current I 1 01 1 01 1 01 1 01 1 01 1 01 1 01 1 01 1 01 1 01 1 01 1 01 Nominal and L loading motor min 3mH Threshold of Overvoltage Vde 900 900 900 900 900 900 900 900 900 900 900 900 intervention DC Bus overcharge R BRAKE Auxiliary Tension
17. Select the point to which the positioning Step is wanted to be associated as example the Stepl will be recalled from the state Input 1 etc it is previewed a N max of 7 programmable step Every single Step can be executed either ahead positive counting or behind negative counting a step Min of 1 count or Max 7 999 999 count can be set up The Positioner modality Step can be used either for Linear axis or for Rotary axis In case of using in a Rotary Axis there are 2 possibilities 1 Rotary Axis with ENDED NUMBER of Spins 8 000 000 Count The Max number of the Spins depends on the set up N Count Encoder Emulation Example 8 000 000 Count 4096 Count turn 1953 turns Max Rotary axis 2 Rotary Axis with LIMITLESS NUMBER of the Spins in one direction In case 1 there are not any particular prescriptions for the set up Page 78 EASYfds 800 Digital AC Brushless Servodrive User Manual In case 2 It is necessary to take note if the movement is unidirectional or if however the max counting N exceeds 8 000 000 there is the saturation of the digital counter Positioner In such case it is necessary to preview the enable of the zero setting counting at each turn Rotary Axis Table setting up the appropriate function electronic cams through Browser PC Connect the electronic cams Proximity to the income of Input 4 The function of zero setting counting at each turn of the Rotary Table can be useful when
18. VAUX Vde 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24 0 24Vdc 10 Motor Brake A 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Presence Motor Brake 2 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 30 30 Width of band of current Khz 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 governor Current loop Digital Exit opto insulated Vde 24 24 24 24 24 24 24 24 24 24 24 24 mA 50 50 50 50 50 50 50 50 50 50 50 50 Digital Income opto insulated Vde 24 24 24 24 24 24 24 24 24 24 24 24 mA 5 5 5 5 5 5 5 5 5 5 50 5 Page 23 EASYfds 800 Digital AC Brushless Servodrive User Manual AMBIENTAL CONDITIONS AND REQUESTED VENTILATION Temperatures dampness and stockage during Only in original package of producer temperature 25C 55C relative dampness max 95 without condense Duration in warehouse 1 year without any limitations see page 11 for longer duration Temperature and transport s dampness Temperature between 25C 70C relative dampness max 95 in absence of condense Tensions Tolerance and Net Frequency The 3phase Net must be grounding referred Tension 200 Vac Min 530 Vac Max Net frequency 45Hz min 60 Hz max Ambiental Working Temperature From 0 To 45 C With Forced
19. reception 5232 Reception RS232 Pin TX 232 transmission RS232 Transmission RS232 NHB gt Pin Pin GND Pin 10 GND232 mass or gnd RS232 Mass or Gnd RS232 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Connection serial line RS232 4 Digital Link Multidro CNI Connector 15 ways high density bulb Flying female Use shielded cable 2 twisted coppiole whole screen RS232 Lmax 5 meters For cable length gt 5m until 100m gt Use card Optional RS232toRS4835 CN1 Connection s denomination Comment Pin 1 N C Pin 2 N C Pin 3 N C Pin 4 N C Pin 5 N C Pin 6 RX 232 Reception RS232 Pin 7 TX 232 Transmission RS232 Pin 8 5V Optional 45VSupply Output Optional 100mA max Pin 9 GND Optional Gnd Supply Output Optional Pin 10 GND 232 Massa o Gnd RS232 Pin 11 Digital Link ending If used Digital link multidrop connection Connect Pin 11 with Pin 12 on the last Servodrive Pin 12 Digital Link Digital Link Multidrop Pin 13 Digital Link Digital Link Multidrop Pin 14 Digital Link Digital Link Multidrop Pin 15 Digital Link Digital Link Multidrop Page 35 EASYfds 800 Digital AC Brushless Servodrive User Manual INDICATION WORKING STATE DISPLAY INDICATION WORKING STATE At each ignition the converte
20. sse eise treten rni teet ned inen etit inicie 50 Setting up proportional Gain Velocity sess 51 Function digital oscilloscope Scope 52 Scope Diagrams optimizing tuning servo loop 53 Setting up Max Motor 54 VVVVVVVVVVV N N N N N N N N N N N N N N N N N N N N N N N N N N N N N N N N N N NNNN EASYfds 800 Digital AC Brushless Servodrive User Manual gt Setting up Nominal Motor Current erit dini qtue peti e pac B 54 gt Setting up Nominal Value V Reference 7 0 10 0 V 55 gt Setting Motor 56 gt Setting up automatic proceed Offset 0 sse 56 gt Compensation Offset External V Reference 57 gt Compensation Offset Internal V Reference sse ears Hc ee UAE laud 57 gt lt Setting up Ramp usen to tig NM FOU DS IN de eS 58 gt Setting up Drive Pre Alarm Temperatures 58 gt Visualization Transducer Type 59 gt Visualization 8 bit V Reference mener ener tens 59 gt Visualization 8 bit Speed cass cei bep Brit Esca Dto eic PDT 60 gt Visualization 8 bit Motor Current momentary 60 gt Visualization 8 bit Medium Motor Current 6
21. 105 shielded 150pF m Max length motor cables max 20m EASYfds 800 R50 6mmq 600Vrms 105C shielded 150pF m Max length motor cables max 20m EASYfds 800 R80 10mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R100 10mmq 600Vrms 105C shielded 150pF m Max length motor cables max 20m EASYfds 800 R300 600Vrms 105 shielded 150pF m Use N 5 cables x 6mmq Motor cables from 20 to 100 m max EASYfds 800 R04 1 5mmq 600Vrms 105C shielded 150pF m Insert L3phase 0 5mH 08Apk Motor cables from 20 to 100 m max EASYfds 800 R08 1 5mmq 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 16Apk Motor cables from 20 to 100 m max EASYfds 800 R12 2 5mmq 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 24Apk Motor cables from 20 to 100 m max EASYfds 800 R16 2 5mmq 600Vrms 105C shielded 150pF m Insert L3phase 0 5mH 322Apk Insert L3phase 0 5mH 40A pk Motor cables from 20 to 100 m max EASYfds 800 R20 R24 4mmq 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 64Apk Motor cables from 20 to 100 m max 600Vrms 105C shielded lt 150pF m Insert L 3phase 0 5mH 80Apk Motor cables from 20 to 100 m max 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 100Apk Motor cables from 20 to 100 m max 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 120Apk Motor cables from 20 to 100 m ma
22. 128 Pulse Turn 12bit 256 Pulse Turn 12bit 512 Pulse Turn 12bit 1024 Pulse Turn 12bit Page 45 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 03 14 Bit 512 Pulse Turn 14bit 1024 Pulse Turn 14bit 2048 Pulse Turn 14bit 4096 Pulse Turn 14bit FF 03 16 Bit 2048 Pulse Turn 16bit 4096 Pulse Turn 16bit 8192 Pulse Turn 16bit 16384 Pulse Turn 16bit Encoder 125KHz Set Encoder Emulation 04 Set IxT Gain The Servoamplifier series EASYrps 800 is supplied of a protection which limits the current according to the time During the protection s working the current towards the motor is limited to the nominal I value The IxT protection is useful to protect the stage of Power of the servoamplifier In nominal working conditions the servoamplifier can distribute the continuous current without any time limits however the servoamplifier can distribute the IMAX current for the minimal time of 0 4 sec until to 10 sec max In the normal applications protection IXT must never take part It could take part because there are some anomalies or in the application or mechanical impedances or wrong dimensioning of the cinematic chain The necessary condition so that the current I MAX is available for a high time is that the spin speed of the motor is greater than 250 r
23. 13 the value 8 50 The previewed regulation field is from 7 0 V to 10 0 V A Verify precisely the value of the Vreference tension generated from the axis card of the Numerical control correspondent to the max speed of the motor and insert the value in function FF 13 The wrong set up of function FF 13 can create the malfunctioning of the servomechanism when ordered and closed in ring of position from the CNC FF 13 Min 7 0 Max 10 0 Set V Reference Value 7 0 10 0 V Vref Max V Speed rpm Page 56 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 14 Set Speed Motor Function which permits to set up the motor speed Rpm correspondent to order external V Reference or if set up Internal V Reference The Max settable value depends on the set up of the Resolver resolution 12 bit 14 bit 16 bit If 12 bit minor resolution but 14 400 Rpm max If 14 bit greater resolution but 3 600 Rpm max If 16 bit greater resolution but 900 Rpm max If the speed to be programmed is inferior than 3 600 Rpm is convenient to set up always 14 bit because there is a greater resolution and therefore there is a better answer from the axis If the speed to be programmed is greater than 3 600 Rpm is indispensable to set up 12 bit The Function FF 14 previews the sign programming in fact it is possible to set up from 0 to Rpm in order to obtain the motor spin in clockwise sense
24. 2 2 2 3 Susceptibility Test to variation of net frequency Norm IEC 1000 2 2 2 4 Susceptibility Test to net harmonics Norm IEC 1000 2 2 2 4 Susceptibility Test to commutation s holes Norm IEC 1000 2 2 2 4 Harmonic Measurement of the feeding current Norm IEC 1000 2 2 2 4 Page 11 EASYfds 800 Digital AC Brushless Servodrive User Manual Measurement of fluctuations flicker induced in the feeding Norm CEI EN 61000 3 3 Susceptibility Test to disturbs lead induced from fields to radio frequency 150Khz to 80Mhz AM 80 a 1 Khz on feeding cables Norm CEI EN 61000 4 6 gt Susceptibility Test disturbs lead induced from fields to radio frequency 150Khz to 80Mhz AM 80 a 1 Khz on Data command cables Norm CEI EN 61000 4 6 gt Measurement of commutation s holes Norm IEC 146 1 1 gt Test of impulsive tension Norm CEI EN 50178 Par 9 4 5 1 Tab 17 column 4 gt Reliefs of radio interference Norm CEI EN 55011 e EN61800 3 VN Tests and verifications of conformity to Norm CEI EN 50178 Electrical safety Verification distances of isolation Norm IEC 664 1 EN 60950 1 EN 50178 Verification accessibility to dangerous tensions EN 60529 gt Protection against electric shock and danger of Energy transfer EN 60950 1 gt Contact current and current in the protection conductor EN 60950 1 Regulamentation of the grounding protection EN 60950 1 Dielectric Rigidity EN 60950 1 gt Held
25. 24Vdc 50mA N 1 Digital Output signaling the Working State of Servodrive Fault 2 Programmable Analogic Outputs D A 12 bit for each Monitoring User N 1 Analogic income V Reference 10Vdc Resolution A D 16 bit N 1 Analogic Income Limitation Income 0 10Vdc Resolution A D 12 bit N 1 Digital communication door RS232 File RS232 to RS485 Optional FieldBus Interface PROFIBUS CAN Optional integrated Digital Link Multidrop integrated for digital interconnession until N 15 23 Servodrives Function Null mechanical Resonance digital compensation mechanical resonance Function AutoSet Current Loop Automatic digital compensation current ring Function Resolver Autophasing digital compensation Phase s corner Manual Auto Function AutoOffset speed Automatic digital compensation Analogic Vreference Function Autotuning Speed Loop digital and completely automatic proceed for determining and setting up of Gain and Optimal parameter Loop Speed Visualization State of Parameters and Functioning State Display 5 numbers Programming and Setting up in Buttons on the Facade of the Servodrive Programming and setting up from Browser PC RS232 Monitoring and Digital Oscilloscope from Browser PC Digital Link Multidrop Possibility to record an event Digital Oscilloscope during the intervention of a protection Emulation Digital Remote Command Positioner and Digital Inputs Browser PC Page 5 EASYfds 800 Digi
26. 336 CEE Norms EN61800 3 EN 50081 2 EN 50082 2 for the affixing brand CE The servoamplifiers series EASYfds 800 are conformed to tests TUV Conformity Moreover the servoamplifiers series EASYfds 800 are conformed to essential requirement of Emergency Electrical of the Directive 73 23 CEE Norms EN 50178 EN 60204 1 for the affixing brand CE Page 135 EASYfds 800 Digital AC Brushless Servodrive User Manual CABLE A CABLE B CABLE D EASYfds 800 SERVODRIVE BRUSHLESS MOTOR CABLE C CABLE E RESOLVER N CNC INTERNAL EMI FILTER ESS MOTOR CONNECTION ER CONNECTION CABLE F SERVODRIVE GROUNDING CHASSIS ELETTROMAGNETIC COMPATIBILITY EMC It is necessary to respect the types of connection in order to be conforming to mentioned norms The tests have been carried out according to the logons indicated in the picture Use where indicated cables of shielded type depending on the applications and typologies of wiring it can be necessary to insert an external EMI filter net type Siemens B 84143BR The converters series EASYfds 800 are equipped of an inner EMI filter net TIPOLOGY LOGONS EMC CONFORMITY MOTOR CONNECTION Use shielded cable cable D 3 wires earth screen length max 20 m MOTOR IMPORTANT Connect motor earth on the appropriate screw
27. 503 ee LAdNI YSA710 S 33 EEN 1 HHATOSSH caus YOLOW 318v2 lt HOLON SSWIHS NH Tuis amp 02 0T 2PA00S 00F SN 9 ssa 008 SPJASVA ssna SN 9 ssi ISNA ANIT Page 32 EASYfds 800 Digital AC Brushless Servodrive User Manual Connections CN3 CNC or PLC Connections Line Net 200 530Vac 3 Phase Connections Brushless Motor CNDB HD 26FEMALE CN3 LINE FUSE REQUIRED EASYfds 800 LINE FUSE m 6 NE ee 6 5 LINE 0 FAULT OUT 7 Faur emmen 400 500Vac 10 20 A emos M MERE LINE INPUT 4 2 VREFERENCE xs V REFERENCE REFERENCE qe point PE EARTH INPUT Ls 1 vREFERENCE screw we SHIELD is Bi 4 croun 14 BRUSHLESS 19 17 yoron sav ENABLE MOTOR In IM _ INPUT w 4 GNDENABLE GND 24 V W LOW oro Tom Us INPUTS _ ow SHIELDED CABLE MOTOR OUTPUT Enable Asse Elettrico e PAIR TWISTED AND SHIELDED CABLE 19 TWISTED AND SHIELDED CABLE 2 20 ENCODER OUT tI 7 ENCODER 11 THERMAL OUTPUT 1 THERMAL 22 150 OHM RESISTOR RESOLVER RESOLVER
28. Argument null Data null Sample Referring to standard order string lt STX gt lt node gt lt order gt lt argument gt lt data gt lt EOT gt lt checkSum gt lt ETX gt PLC gt Positioner lt STX gt 1 11 lt EOT gt 97 lt ETX gt Positioner gt PLC lt STX gt 1 a lt EOT gt 96 lt ETX gt The Positioner has answered OK and it has started to execute the cycle Page 118 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of Complete SpeedSet This order is operative when the Servodrive is settled as REMOTE SPEED SET Essentially addressed to mandrels commands Digital order of moving actuation in speed It permits to reach a certain speed from the actual one with certain acceleration and to set a wotchDog to control the continuous communication between Master and working Order Code 0x06 Argument null Data lt Seed gt lt Acc gt lt WatchDogTime gt lt WatchDogEnable gt Data Description Data Size Range Description Speed Word 16 bit 20 14400 rpm Positioning Speed Acc Word 16 bit 10 1000 Acceleration expressed in revolutions revolution s2 motor turns at square second WatchDogTime 16 bit 200 10000 ms Time of WatchDog if the order of set speed is not refreshed within this time the axis stops itself for emergency WatchDog enable Byte 8 bit 0x00 gt WatchDog disabled 0x01 gt WatchDog enabled Sample SpeedSet
29. CNC Verify harness emulation encoder connection correct differential as indicated on handbook check Line or lacking ending Receiver 26LS32 and resistance of resistances of UA UB ending line UO Too soft starting e Insufficient proportional Increase proportional and derivative gain on CNC gain on CNC Integrative gain on CNC is excessive Decrease integrative gain and check Feed Forward on CNC The axis closed in position ring moves in opposite sense Harness emulation encoder with inverted counting Inverted V Reference Moving manually the axis verify if the sign of the counting on the CNC corresponds to the direction sense of the axis If it disagrees it is necessary to invert the counting UA UA with UB UB and check if the sense of the axis moving is correct If the axis gets away it is necessary to invert the sign of V REF acting on SW2 1 The axis closed in position ring gets away as soon as it is enabled Inverted V Reference emulation inverted Harness encoder with counting Error of harness emulation encoder or lacking connection Invert the V Reference acting on SW2 and check if the axis gets again away and if the direction sense is correct Moving manually the axis verify if the sign of the counting on the CNC corresponds to the direction sense of the axis If it disagrees it is necessary to invert the counting UA UA with UB UB Verify the ha
30. INPUT LINE DRIVER 23 x TERMINATION REQUIRED 3 2 1 RS422 261531 5 cos 25 a ae 15 UA ENCODER INPUT ya FNS aia Input Follower Axis UB FNCODER UA i ENCODER is INPUT UB i Input Follower Axis M SHIELD CABLE CN1 TO PC 2232 6109 RS232 GND232 PIN10 x 1 4 11 Resistance of Ending INPUT meet un Digital S Link 2 4 MN 56 IE OUTPUT To connect pins 11 and 12 on last the drive of the chain RR DLINK PIN12 Digital Link Input DLINK PIN14 DLINK PIN13 DLINK PIN15 INPUT 24V aux Digital Link Output BRAKE OUT BRAKE OUT OUTPUT BRAKE 2A Max INVH9VIG ONIYIM TVOIdAL ConnectionsCN5 N 8 Input N 4 Out Connections Connections Digital Link 24Vaux and Brake Out Page 33 EASYfds 800 Digital AC Brushless Servodrive CONNECTION RESOLVER CN2 CN2 Connector 15 ways high density bulb Flying male Use cable with twisted and single shielded BBBBIBIB whole screen Lmax 20m User Manual CN2 Connection s denomination Connection Pin 1 REF R1 RESOLVER Pin 2 SIN S3 RESOLVER Pin 3 SIN S1 RESOLVER Pin 4 COS S4 RESOLVER Pin 5 COS S2 RESOLVER Pin 6 REF R3 RESOLVER Pin 7 TERMICA 1 TERMICAL MOTOR Pin 8 GND Supply External Encoder GND Supply External Encoder Follo
31. Imax and continuous I Increase Velocity Gain acting on dip Switch See table Verify calibration of servoamplifier set up speed Verify proportional gain Pid and Feed Forward on CNC Verify acceleration on CNC and eventually decrease the value The servodrive works in jerks Insufficient Values of I max current and continuous I Wrong gains position ring CNC Wrong calibration of servoamplifier speed Lacking of connection of analogic mass of servoamplifier with the CNC Verify the set up data on dip Switch of Imax and continuous I Verify proportional gain Pid and Feed Forward on CNC Verify calibration of servoamplifier set up speed Verify that the analogic mass referred to chassis Servoamplifier is connected in strong way to GND analogic mass on CNC Drift of the axis with order of speed 0V Speed on servoamplifier is not calibrated Lacking of connection of analogic mass of servoamplifier with the CNC Set gains position at 0 on CNC calibrate offset on the converter and restore gains on CNC Verify that the analogic mass referred to chassis Servoamplifier is connected in strong way to GND analogic mass on CNC Page 123 EASYfds 800 Digital AC Brushless Servodrive User Manual Wrong connection of encoder emulation Lacking shield cable emulation encoder or wrong connection RS422 Verify harness emulation encoder reading and sign of counting on
32. Increase speed Gain Do the automatic calibration of Offset Increase Ke Value Modality Point Step Positioner Error of End of Stroke Wrong Value of setting up end of stroke Software Correct Setting Up of end of stroke Software Modality Remote Positioner It does not execute the Zero axes Lacking Enable Input 5 is not set up in modality Auto Enable the converter Enable 1 Set input 5 1 On Modality Remote Positioner It does to end the Zero axes Lacking Connection of Proximity of Zero axes Wrong Command SW Verify the harness and the state of Input 4 using the Browser gt Correct command SW Modality Remote Positioner It does not execute the positioning Input 5 is not set up in modality Auto The Zero axes has not been executed Incorrect Input State Wrong Command SW gt Set up Input 5 1 On Execute the Zero axes Verify Input State Correct Command SW Modality Too low value of Servo Set Up Servo Error With bigger Page 126 EASYfds 800 Digital AC Brushless Servodrive User Manual Remote Positioner Servo Error during the Positioning Error Very high mechanical friction The set up max current is too low The Gain of Speed Ring is too low High acceleration value Verify the mechanics Verify the Set up Current and if necessary increase the value Increase speed Gain Decre
33. Low Integrative Gain For Medium High Value of total Inertia select Gain 3 Middle Integrative Gain For High Value of total Inertia select Gain 4 Very high Integrative Gain The Very low level corresponds to the lowest gain and the axis will have a soft behavior Increasing the level of the selection the enslavement of the servomechanism will become readier but the answer will be more abrupt In according to the application set up the opportune value FF 09 Denomination Gain 1 Very low integrative gain Gain 2 Low integrative gain Gain 3 Middle integrative gain Gain 4 High integrative gain S75 Ver an Speed rpm Ramp Time ms Proportional Gain j Velocity L Integrativ in W integral Gain Set elocity Loo tegrative Ga Gaini Auto Offset Gain2 Auto Offset Gain3 B i COMMAND Page 51 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 10 Set Velocity Loop Proportional Gain It is possible to set up the proportional gain of the speed ring between 1 0 to 30 0 Standard Value 1 0 which corresponds to the minimal gain it is right for low inertia values and however when charge inertia from the motor corresponds to values comprised between 1 and 2 If the AutoTuning Function is used the set up happens in automatic way For high inertia Values of motor Inertia charge increase the gain in accordance with the application considering that t
34. NODE 1 If you want to execute the following Speed Servodrive NODE 1 Speed 3600 rpm Acceleration 60 revolution s2 from 0 to 3600 rmp in 1 s WatchDogTime 400 ms WatchDogEnable Yes Referring to standard order string lt STX gt lt node gt lt order gt lt argument gt lt data gt lt EOT gt lt checkSum gt lt ETX gt MASTER gt Servodrive lt STX gt 1 06 0 10 003C 0190 01 lt EOT gt 72 lt ETX gt Servodrive MASTER lt STX gt 1 a lt EOT gt 96 lt ETX gt In this case the order has been accepted Page 119 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of SpeedSet Lite This order is operative when the Servodrive is settled as REMOTE SPEED SET Essentially addressed to mandrels commands Digital order of moving actuation in speed Simplified order It permits to reach a certain speed from the actual one It is not necessary to order the acceleration and the set up WatchDog condition in the parameters or given in the previously order of SpeedSet Complete Order Code 0x07 Argument null Data Speed Data Description Data Size Range Description Speed Word 16 bit 20 14400 rpm Positioning Speed Sample If you want to execute the following Speed Set Speed 1500 rpm Referring to standard order string lt STX gt node order argument data lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 1 07 0
35. Point to Point 15 programmed positions and ordered from 5 N Input Step 7 positions order of incremental ordered from N 5 Input Remote all the orders for Positioner from digital line RS232 485 WAVE FORM Operation for modality Test in which the servoamplifier is programmed in order to simulate a profile of Speed or Brace which is used in order to carry out tests and optimizations during final testing and Installation on System FF 29 NOR AL Normal Servodrive PtP Point to Point Positioner StEP Step Positioner r PtP Read Point to Point r SPEd Read Step Point FOR GE Wave Form Page 68 EASYfds 800 Digital AC Brushless Servodrive User Manual POSITIONER TYPE N 3 modalities of Positioner Operation are possible gt POINT to POINT Modality which permits the positioning on 15 programmable Positions from Browser PC or for autolearning on the point The execution of the positioning on the programmed points happens through order carried out on 5 Digital Input according with a specific logical table In order to execute the program steps it is necessary to have executed the Zero Axes The enslavement happens with resolution within 1 count The resolution depends on the N count set up turn Min 128 until to max 16 384 Count turn The maximum excursion possible of the axis corresponds to 8 000 000 Count STEP Modality which permits the incremental
36. XP Visualization in real time of working sizes Monitoring Visualization of Imput state Visualization of Output state Visualization of Enable Hardware state Visualization of Enable Software state Visualization of Count Visualization of Options Visualization and set up of all working parameters Visualization working dynamics with Scope function Digital Oscilloscope Recording and file of working parameters Visualization model servoamplifier and set up working modality Utility for order s emulation from remote Positioner Utility for emulation Input VVVVVVVVVVV VV p SE 3 AC Brushless Servodrive Browser EASYfds 800 V4 6 33 23456 END secte Serial f Motor Master with Ramp Torque Reference Encoder 125KH2 z 1 0 Nominal Curent ES A 500 Speed O Command Speed pm 12 8 Motor Poles 20 Memm Cren 8_200 Tne is 9 Real Speed pm 12 Resolver High Current normal Time Gain 200 Dec Time ins 55 Curent 163849 Encoder pulses poc 15 StopEme Time ms 0 Brake Dose R Null Mechanical Resonance 3 Power Votage vdc S 0 Resolver Phase NSSF Oval Speed V Reference Input Lt S 20 dive Eme Tempere Reference 8 Analog Output Select nesena 100 Acc Time ms a O Zero Preset cnt User reat Eemal
37. Zero axes Speed SET SPEED and DIRECTION ZERO AXES Speed Set up and direction searching zero axes The Sign sets up the direction of the search zero axes sample sign searches Zero axes in ahead direction or positive counting vice versa for the sign For research Zero axes it is recommended a low speed for safety reasons and in order to optimize the precision of Proximity acknowledgment of Zero FF 47 Min 1000 gt 1000 rpm ZeroS peed rpm 2 ol Zero Preset cnt Servo Error ent POSITIONER COMMAND Set up speed execution zero axes FF 48 Set Jog Speed SET SPEED JOG MANUAL MOVING Set up speed of movement execution in modality JOG MANUAL The max programmable speed depends on the set up resolution Resolver Resolver Resolution 12 Bit 14 400 Rpm max recommended max 13 200 Rpm margin 10 Resolver Resolution 14 Bit 3 600 Rpm max recommended max 3 300 Rpm margin 10 Resolver Resolution 16 Bit 900 Rpm max recommended max 800 Rpm margin 10 For motor speed until to 3 000 Rpm it is recommended the resolution 14 Bit For motor speed higher than 3 000 Rpm it is necessary to set up resolution 12 Bit In JOG modality the axis moves at 10 of the set up speed for a time of approximately 4 second in order to pass subsequently to 10096 This modality permits to do precise positioning in order to learn in automatic way the quota to be re
38. allowed the putting in service Only to qualified and trained staff with a good electronic knowledge and a good knowledge relative to the technology of the servoamplifiers Page 9 EASYfds 800 Digital AC Brushless Servodrive User Manual SAFETY S INDICATIONS DANGER transport installation putting in function and the maintenance can be entrusted exclusively to qualified and competent technical staff who has the necessary requirement in order to carry out the transport the installation the assembly the putting in function and who knows the working of the servoamplifier and who has of the opportune qualifications for the development of such activities The technical staff must know and observe the following norms and directives IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC Report 664 or DIN VDE 0110 National accident prevention dispositions or BGV A2 It is indispensable to read and to take note of the present documentation before proceeding to the installation and putting in function of the converter A wrong use can involve damages to persons or things Observe absolutely the technical data and all the indications on the connection conditions e The user has to carry out a careful risk analysis for the machinery and the switchboard in which the servoamplifier is fixed and enclosed He must adopt all the necessary precautions so that unexpected movements of the machinery do not cause damages to persons or to things
39. alternative the position can be calculated in analytical way and therefore the point quota can be set up through keys on the frontal converter or through the program browser on the PC and then memorized Page 77 EASYfds 800 Digital AC Brushless Servodrive User Manual Software End of Stroke It is possible to set up the quota of end stroke software Ahead and Behind as intrinsic emergency of the machine ulterior safety beyond the Proximity of end stroke Hardware The maximum excursion possible for the end stroke software ahead 8 000 000 count The maximum excursion possible for the end stroke software behind 8 000 000 count It protects from wrong maneuvers especially when it works in MANUAL Modality or in the event of wrong set up Positioning quota In case of wrong maneuver the axis would go beyond the end stroke software the axis stops at the quota of set up end stroke software remaining enslaved in position it is also marked the error with code EE 21 End Stroke Ahead EE 22 End Stroke Behind Error of positioning is marked through OUT 2 0 Axis in incorrect position FF 44 Pnt H0 gt 15 FC POS FC nEG FF 45 Set Capture Step1 to Step7 STEP CAPTURE It is the function which permits of being able to record or to set up the Points of execution program STEP Step of execution program N 7 Points of positioning in modality STEP Step 1 Step 7
40. and grounding The Servoamplifier EASY rps 800 as single object satisfies requirement for brand CE however when it is installed in a box or electrical closet it is necessary the correct employment of the user in order to respect of the conformity of the brand CE of the entire equipment Page 12 EASYfds 800 Digital AC Brushless Servodrive User Manual The wrong use inside the switchboard can not to satisfy the overcoming of the tests for the conformity of the brand CE of the entire equipment therefore the user will to carry out the application and the wirings in competent way Norm of Reference EN 50082 2 narrows Distribution According to Atmosphere or Industrial Atmosphere Definitions Narrow distribution modality of commercialization in which the constructor limits the supply of apparatuses to suppliers customers or users who separately or jointly have technical competence of requirement EMC for the application of servoamplifier with electrical working According to Environment or Industrial Environment Environment which comprises the users Industrial different from those directly connected to an electrical feeding net with low tension which feeds buildings used for domestic utilizations Conforming use of servoamplifiers The servoamplifiers are employed as parts on systems or on electrical machinery and can be put in function only as members integrated in the system The producer of the switchboard or machin
41. eee 26 27 Kind of Typologies of Connection Motor and Cables Length 28 Regulations Connections castes de 29 EASYfds 800 Signal Connections sss 30 Typical Roin d lu rm 31 Connection Resolver CN2 and Control CN3 me C Connection serial line RS232 Digital Link Multidrop CN 1 nne ite E 34 Indications of working state a rH ULP ORPHEO POR ROR Mi EU Tm 36 Programming or Modifying Parameters on the Frontal panel Keyboard ss 38 Programming or Modifying Parameters on the Browser Serial 5232 39 Setting up Parameters of calibration 40 Setting du l0 MENT 43 Setting up N Pole s poles usse siepe 43 Setting up resolution Resolver 12 14 16bit 5 s bebe net cecinit taedia 44 Setting up impulses revolution Emulation Encoder 12 14 bit 44 zer Up pense UN Ihi dU due Ai 45 Selection mode V Reference inner GUIBE Loue Deere tpa rue tried gs nire tb Cp Cae 47 Setting up working mode Speed Current Couple esses Selection filter Low pass type 48 Gan Current LOODL atacado 49 Selection Integrative Gain Velocity 00
42. negative spin sense the Axis Follower must turn at speed The Master starting is what determines the whole movement of the electrical Axis The Master starting can be programmed as Positioner or as Axis commanded in Speed from external numerical control or from digital Remote order of speed The Starting Position of the Master becomes Position Reference for the Axis Follower Set up on Master Axis Motion Direction Normal Encoder pulses 1024 Set up on Axis Follower Motion Direction Reverse Encoder pulses 2048 Set up on Axis Follower External Encoder Axis Follower and Remote Positioner Set up on Axis Follower Home Position for hooking Electrical Axis It is necessary to execute the Zero axes on Axis Follower Connect Encoder OUT of Master Axis to Encoder INPUT of Axis Follower Connect the PLC CNC to Input 8 Axis Follower for the synchronism of Axis hooking YYY Do the connection as the winding diagram Page 134 EASYfds 800 Digital AC Brushless Servodrive User Manual ENABLE 424V lt 7 PLC MASTER EASYfds800 AXIS ZEROED 1X ZEROED INPUT 8 COMMOUT OUTPUT1 AXIS FOLLOWER CN3 EASYfds800 ELECTROMAGNETIC COMPATIBILITY EMC PRESCRIPTION From tests and measures carried out the servoamplifiers series EASYfds 800 are conformed to essential requirements of Electromagnetic Compatibility of the Directive 89
43. or decreasing positioning on 7 programmable Step from Browser PC or for autolearning on the point The execution of the positioning on the programmed points happens through order carried out on N 3 Digital Input according with a specific logical table In order to execute the program steps it is necessary to have executed the Zero Axes The enslavement happens with resolution within 1 count The resolution depends on the N count set up turn Min 128 until to max 16 384 Count turn The maximum excursion possible of the axis corresponds to 8 000 000 Count It is previewed the employment for axis with linear movement or for turning axis In case of using for turning axis there is the possibility of count at zero at the every mechanical turn Table using an external proximity connected to Input 4 gt REMOTE Modality which permit the positioning with digital order RS232 coming from PC Industrial Computer or PLC and consequent connection of the Digital Link Multidrop This working modality permits extreme flexibility of the Positioning points in fact it is previewed a Protocol of communication which comprehends Acceleration Deceleration Speed Position Target Order axis real Quota Busy The management of the positioning points and of the remaining parameters is remitted to the controller The servoamplifier carries out the function of Positioner and puts into effect every new order using the optimal parameters for the
44. original packing of the producer temperature 25C 55C relative humidity max 9546 in absence of condense The support or shelving must refer to a conductive support put to earth in order to avoid electrostatic discharges Duration in warehouse 1 year without any limitations if greater of 1 year it is necessary to execute regeneration operation of condensers which must be carried out feeding with monophase tension 230Vac for approximately 60 minutes between the clips income net R S Maintenance the Servoamplifiers series EASYFDS 800 do not need of maintenance inside there are not fuses it is prohibited to open the apparatuses the eventual inobservance involves the cancellation of the guarantee Page 14 EASYfds 800 Digital AC Brushless Servodrive User Manual This handbook is for technical staff with the following requirement TRANSPORT Only staff with knowledge in matter of moving of electronic equipment sensitive to the electrostatic discharges INSTALLATION Only technicians with attestation of electro technical formation PUT IN FUNCTION Only technicians with wide knowledge in the fields of electro technical electronic and techniques of electrical working Picture EASYfds 800 R24 Page 15 EASYfds 800 Digital AC Brushless Servodrive lt P lt EASYfds 800 R100 EASYfds 800 R300 MECHANICAL MOTOR MOTOR EASYfds 800 EASYfds 800 User Manual
45. picture CNC EASYfds 800 ACTA 261 532 LINE LINE TRANSMITTE 26LS31 _ i aL bd i 261532 7 1 6 26LS32 TERMINATION RESISTOR iR LINE IMPEDANCE 150R 120 ohm 150 ohm Connect to shell SHIELD UA UAN UB UB P TYPICAL VALUE 3V min 20mA U0 UON 0 ENCODER OUT Connections Page 121 EASYfds 800 Digital AC Brushless Servodrive User Manual INDICATION AND RESOLUTION OF TROUBLES AND ANOMALIES Troubles removal The following table is a help for the resolution of the most common problems which can be present during the installation or the starting of the axis or the normal working There are indicated the causes and the reasons most frequently depending on the used system the anomalies causes can be different the same in the multi axis systems the causes can be read and depending on the numerical control ERROR Possible Error s Causes Steps for the error s removal The motor does e Disabled Servoamplifier Active the signal Enable on CNC not turn and verify the relative harness e Exchanged motor phases from motor side or convertor e Lacking of connection of a motor phase e Motor brake not free e N Motor Poles correctly set up e Mechanical block of the starting e Wrong resolver connections e CableV reference from CNC interrupted or wrong parameters e Damage on the control
46. the programmed speed from value 0 to max value Sample V Ref 10 0V step from 0 to 10V Speed 3 000 Rpm T Ramp 400 ms Result Applied the step of v Ref the speed of the motor begins to grow with a linear ramp starting from speeds 0 Rpm until reaching 3 000 Rpm in time of 400 ms T Ramp min 30 ms T Ramp max 2 000 ms FF 16 Min 00 030 gt Max 02 000 Set Ramp Time External Vreference FF 17 Set Temperature Drive Pre Alarm Function which permits to program the threshold of Emergency Servodrive Temperature Temperature Min 40 C Temperature Max 80 C FF 17 Min 000 40 Max 000 80 Set Temperature Drive Pre Alarm Page 59 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 18 Monitoring Transducer Resolver or Encoder Hall Facoder Function which permits to select the kind of Transducer bound together to the used brushless motor It is possible to interface the following Transducers Resolver gt Facoder Digital Encoder Tamagawa of Incremental Kind Integrated Halls Line Driver gt Digital Encoder Hall Sensor For Linear Axis pilotage Resolver Used in the most part of the applications it permits to obtain a highest reliability and temperatures of working motor higher than 100 C moreover thanks to the sophisticated electronic circuit on the servoamplifier EASYfds 800 it is possible to obtai
47. to allpied tension EN 60146 1 1 gt Test of impulsive tension EN 50178 gt Thermal prescriptions EN 60950 1 EN 60146 1 1 gt Dry heat test EN 50178 Damp heat test EN 50178 gt Circuits SELV EN 60742 EN 61558 1 gt General requests for electrical workings EN 61136 1 gt Machinery for the information s technology EN 60950 1 gt Test of susceptibility to sinusoidal vibrations Norm CEI EN 50178 1999 On page 132 are described the indications regarding the installation for the execution of the carried out measurements differences regarding the installation described in the documentation impose to the customer the execution of new measurements in the own equipment machinery or switchboard in order to satisfy law requirement UL and Cul Compliants The Servoamplifier EASY rps 800 is planned and constructed in order to satisfy all requirements demanded from actual Norms UL and cUL UL and cUL Compliants Prescriptions EMC The Servoamplifier EASYrps 800 for brushless motors is a product destined to be incorporated in more complex equipment generally it is mounted inside of a closet or switchboard because the servoamplifier is connected with other equipment or numerical control Therefore the Electromagnetic Compatibility depends on factors that are not under the control of the manufacturer of the converter but depends on the application from the correctness wirings and shielding cables of the switchboard machinery
48. 0 gt Visualization 8 bit Servoamplifier temperature 61 gt Visualization 8 bit Voltage DC Power bus 61 gt Visualization 8 bit External REFLIMIT voltage 62 gt Visualization software version Software Relise sss 62 gt Setting up automatic proceed Autophasing Revolver sese 63 gt Visualization with sign of the computations Emulation Encoder 1 67 gt Selection Working Mode Normal Wave 1 67 gt Internal Wave form acceleration setting up time T1 69 gt Internal Wave form acceleration setting up time T2 69 gt Internal Wave form Speed oae pe Hanoi tei abt iu tito 70 gt Internal Wave form Start 70 gt Visualization N of matricula osse 70 gt Auxiliary Table reading of parameters x User test 71 Recording Auxiliary Table X User test 71 Reading Default Parameters Factory Calibration diese inde peo tet ibit rd fe 71 gt Operative Table reading of parameters Normal working sss 72 gt Recording operative table 72 gt MONITORING Working SIME te as pide ipti ada eU Fed Ea eR et 72 gt Functions list for the working mode Positione
49. 06 Under Voltage Verify the feeding tension 400 500Vac it must be within the specified tolerances Verify the fuses protecting the net 07 flashing Error 07 AC Failure Lacking of one or more steps of feeding tension400 500Vac Verify the fuses protecting the net Page 37 EASYfds 800 Digital AC Brushless Servodrive User Manual EE 08 Error 08 OverSpeed flashing Verify the correct set up of speed parameter FF 14 Verify the correct set up of Gain parameters speed loop EE 09 Error 09 Follower Encoder Error Wire or Connections Error flashing Verify The connections Encoder Input Follower and the correct value of feeding tension external Encoder Error preview only if external Encoder is used for elliptical axis EE 10 Error 10 Digital Encoder Transducer Error Wiring Error flashing Verify The connections of income Digital Encoder or Facoder used as motor transducer and the correct value of feeding tension Error preview only if the Encoder is used substituting the Resolver EE 14 Error 14 Servo Error Positioner flashing Verify la Cinematic attritions or mechanical stumbles Servo Error set up with too little value or Gain KE and Gain low EE 15 Error 15 Checksum Calibration Error flashing Data of Calibration Software of factory are corrupted It is necessary the repair and the ri calibration in factory EE 16 Error 16 Checksum Parameter Error Dat
50. 12 6 57 18 8 43 24 12 28 36 16 21 48 24 14 72 It is necessary to verify the sense of spin of the motor and the sign of the counting during the execution of the auto phasing Page 64 EASYfds 800 Digital AC Brushless Servodrive User Manual 1 2 3 4 The motor must turn in clockwise sense seen from the drive shaft and the counting must have positive sign If the spin sense of the motor is clockwise and the counting is positive it means that the motor phases are connected correctly with phase difference 120 between them and the resolver wiring is correct If the motor turns in counter clockwise sense it means the Motor phases are inverted Connect in correct way the Motor Phases U V W with the clips U V W servoamplifier In alternative it is sufficient to invert two phases between them as an example U with V Restart the phasing procedure and verify that the motor turns in clockwise sense If the phasing counting has a negative sign it means that the logon of the Resolver is wrong It is necessary to correct the logon Invert signal Cos with Cos directly on bulb connector revolver CN2 pin 5 with pin 9 of CN2 Restart the phasing procedure and verify that the counting is positive Verify that the typical count for every step correspond to the over table from this is possible to deduce the N motor poles when this is unknown if necessary set up the correct N motor poles in the F
51. 42 EASYfds 800 Digital AC Brushless Servodrive User Manual Parameter Function s description FF 54 gt Monitoring Digital OUT 1 to OUT 4 FF 55 Set Speed Rate Speed Variation 56 5 Options Operation Modality FE 57 Set AutoTuning Velocity Loop Gain FF 58 gt Monitoring SIZE Servodrive FF 59 Set Digital Node Address FF 60 Set Motion Direction FF 61 Set Max Positioning Error Count FF 62 Set Brake Motor Function FF 63 Set Null Mechanical Resonance FE 64 Set Programmable Analogic Output Monitoring FF 65 Set Three or Mono Phase Power Line Supply AC Failure FF 66 Set Type External Reference LIMIT FF 67 Set Jog Mode Speed FF 68 Set Acceleration Time in Modality Remote Speed Mode FF 69 Set Watch Dog Timeout in Modality Remote Speed Mode FF 70 Set Watch Dog Disable in Modality Remote Speed Mode FF 71 Monitoring Causes of the Stop for Emergency Code Error 0 Normal Operation NO ERROR Code Error 1 Hardware Enable Code Error 2 Software Disable Code Error 3 User INPUT 3 z OFF Start Stop Code Error 4 Software End of Stroke Code Error 5 User INPUT 5 z OFF Auto Manual Code Error 6 Abort from Master Servodrive FF 72 Monitoring Resolver Phase Compensation Page 43 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 00 Set up Password
52. 5 C at strands Connection Three phase Net EASYfds 800 R08 1 5mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R12 2 5mmq 600Vrms 105 at strands Connection Three phase Net EASYfds 800 R16 2 5mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R20 R24 24mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R32 4mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R40 6mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R50 6mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R80 10mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R100 10mmq 600Vrms 105 C at strands Connection Three phase Net EASYfds 800 R300 600Vrms 105 C at strands Use N 5cables x 6mmq Max length motor cables max 20m EASYfds 800 R04 1 5mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R08 1 5mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R12 2 5mmq 600Vrms 105C shielded 150pF m Max length motor cables max 20m EASYfds 800 R16 2 5mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R20 R24 4mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R32 4mmq 600Vrms 105C shielded lt 150pF m Max length motor cables max 20m EASYfds 800 R40 600Vrms
53. 5DC lt EOT gt 88 lt ETX gt Positioner gt MASTER lt STX gt 1 a lt EOT gt 96 lt ETX gt In this case the order has been accepted Page 120 EASYfds 800 Digital AC Brushless Servodrive User Manual PRESCRIPTION CONNECTIONS ENCODER EMULATION The Servoamplifier series EASYfds 800 does an exit Emulation Encoder programmable which depends on the resolver resolution 12 14 or 16 bit it can be set as from the table 12 BIT Resolver resolution 128 256 I G 512 I G 1024 I G 14 BIT Resolver resolution 512 I G 11024 2048 4096 16 BIT Resolver resolution 2048 4096 8192 16384 I G The Emulation Encoder exit if of kind RS422 Line driver 26LS31 The counting transmission is of incremental kind and it is supplied on a balanced differential line It is necessary a circuit of equivalent income differential line receiver 26LS32 or similar The transmission done on the line RS422 permits connections in industrial places until 20m For cable length superior than 20 m contact the constructer The cable has to be 3 twisted and single shielded whole screen The Max admissible length of the cable is 20 meters It is demanded the connection GND CN3 pin 25 with earth GND of the control It is demanded the termination by resistors Typical value 120 150 ohm on control income between signals UA e UAM UB e UB U0 e U0 as indicated in the
54. A To modify the calibration parameters it is necessary to insert the Password Select function FF 00 therefore using the BLUE keys Up Down placed on the panel set up number 0 1 2 3 4 Hold pressed key SEL and the password is recognized FF 00 01234 3 Connect Set Password FF 01 Set Motor Poles The servoamplifier series EASYFDS 800 is able to pilot Brushless motors equipped with Resolver transducer which have the following N motors poles 2 4 6 8 12 16 24 In the event of brushless motor with different N Motor Poles contact the constructor It is indispensable to set up the correct Motor Poles Read the characteristic N Motor Poles on the date sheet of the used motor in case of wrong set up the motor doesn t work or the movement is very irregular and noisy It is possible to select the N motor Poles in the following configurations 2 4 6 8 12 16 24 Poles FF 01 2 Motor Poles 4 Motor Poles 6 Motor Poles 8 Motor Poles 12 Motor Poles 16 Motor Poles 24 Motor Poles Page 44 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 02 Set Resolver Resolution 12 14 16 bit The Servoamplifier series EASY rps 800 is previewed for the operation with Resolver transducer Resolver with N 2 4 6 Resolver Poles can be interfaced The Resolvers more commonly used are those wit
55. Active OFF Disabled 00007 IN7 Normal Jog ON Active OFF Disabled 00008 IN8 Axis Follower ON Active OFF Disabled The Browser EASYfds800 has the Function ay Selecting the key input SET it is possible to Emulate and to Set the status of Input 1 8 ES Userl m INPUT 1 to INPUT 8 User Input Simulator Page 85 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 54 Monitoring Digital OUT 1 to OUT 4 SHOW USER OUTPUT It indicates the status of Output on the display It is useful to verify the Output and the correctness of the harness DISPLAY FF 54 00001 OUT1 gt ON OFF 00002 OUT2 gt ON OFF 00003 OUT3 gt ON OFF 00004 OUT4 gt ON OFF The OUTPUT depending on the operation modality Normal Servodrive or Positioner has different function In Positioner Modality they assume function at right as in figure Output 1 Axis Zeroed E Output 2 Axis on Position E Output t3 IxT Overload Output 4 Monitoring Digital OUT 1 to OUT 4 FF 55 Set Speed Rate SPEED RATE SETTING Optional function available only in modality Normal Servodrive It set up the reduction percentage of speed when used Speed Rate Option It uses Input 1 When Input 1 0 speed of the axis is the nominal set up in function FF 14 When Input 1 1 speed of the axis is reduce
56. DOWN relating the function that one agrees to visualize or to program when on the display the wished function appears press Green key SEL newly on the display the programmable values will appear Using Blue keys UP or DOWN select the new value to be programmed or to be visualized Visualization error state If there is an error the display flashes indicating the error code there can be GREEN key SEL and then press the BLUE selection keys The presence of an error provokes the stop of the converter with the arrest of the operation of the stage power and the consequent signaling of Fault Some kinds of error do not provoke the stop of the stage power and consequently the signal Faul is not generated IxT error servo positioner ending run FW and REW In the event of presence of one or more errors these are signaled and recorded the reset To reset the errors it is necessary to disable the servoamplifier Enable 0 then when the servoamplifier is enable Enable the 1 the error or the errors are reset in case of persistence of the anomaly which caused the errors these will continue to be visualized until the elimination of the cause For the resolution of the errors refer to the paragraph Out of Order Indication and Errors and anomalies resolution at page 121 for the codification and meaning of Errors refer to the table at page 36 Page 36 EASYfds 800 Digital AC Brushless Servodrive User Manual DISPLA
57. EASYfds 800 Digital AC Brushless Servodrive User Manual User Manual EAS Yfds 800 Digital AC Brushless Servodrive June 2007 Edition 3 3 to 247kW 2480Vac A 4 gt February 2006 9 Edition 1 Page 1 EASYfds 800 Digital AC Brushless Servodrive User Manual February 2007 9 Edition 2 June 2007 9 Edition 3 PRELIMINARY VERSION English language EASY rps 800 o o Oo SEL J 4 HIGH DYNAMIC FULL DIGITAL SERVODRIVE EUROPE Made in EU NR A Pay particular attention to things indicated on the manual when this sign appears The producer reserves to apply technical modifications to improve the apparatuses without the obligation of preventive information All rights are reserved No part of the document can in whatever form be reproduced photocopy prints microfilm or other process or diffused by using electronic systems without the written approval of the society Page 2 EASYfds 800 Digital AC Brushless Servodrive User Manual EAS Yfds 800 HIGH DYNAMIC DIGITAL SERVOAMPLIFIER FOR BRUSHLESS MOTOR Instruction and User Manual Assembly Installation Working Filename T V Edition February 2007 PA Designed EMC APPROVED Date 22 02 2007 Authorized distributor All rights are reserved The information in this document can endure variations without that preventive communication is given
58. ED ISOLATION TRANSFORMER REQUIRED D LINE 400 500 VA WITHOUT GROUNDING R c E LINE 400 500 VAC Grounding not Symmetrical R O 1 O EASYfds 800 2 EASYtds 800 4 ISOLATION TRANSFORMER ISOLATION TRANSFORMER ISOLATION TRANSFORMER REQUIRED REQUIRED REQUIRED F LINE 400 500 VAC Grounding not Symmetrical 2 Saul 1 MOd Jo S d L EASYfds 800 A Standard Condition Income line net with symmetrical grounding B Income Line Net without grounding It is requested an isolating transformer C Income Line Net with asymmetrical grounding It is requested an isolating transformer D Income Line Net without grounding It is requested an isolating transformer E Income Line Net with asymmetrical grounding 1 It is requested an isolating transformer F Income Line Net with asymmetrical grounding 2 It is requested an isolating transformer Page 30 EASYfds 800 Digital AC Brushless Servodrive User Manual EASYfds 800 SIGNAL CONNECTIONS sls IA 15 VOUT 26 PAETE i ENCODER INPUT INPUT 8 VOUT 25 lt lt ENCODER INPUT lt lt 1 5 FAULT2 OUT EMITTER 24 6 ENCODER INPUT 0 ENCODER OUT lt 15 FAULT1 IN COLLECTOR lt lt ENCODER INPUT 0 ENCODER OUT 0 28 5 22 g o 44K REFLIMIT lt ENABLE INPUT B ENCODER OUT lt B E
59. F 01 and restart the phasing procedure When satisfied point 1 the phasing procedure will happen in correct way and at the end there will not be any signals of errors in case of positive outcome there will be the written DONE and then the N of Count Correspondents to the phase difference of the Resolver In this condition the motor remains enslaved in brace and blocked if necessary turn mechanically the resolver loosening the appropriate lives until reading on display of the converter one of the states previewed according to the following tables then block the lives of the resolver N 2 Motor Poles Optimal Status Min tolerance Max tolerance Statel 0 212 12 N 4 Motor Poles Optimal Status Min tolerance Max tolerance State1 0 6 State2 512 506 518 Page 65 N 6 Motor Poles EASYfds 800 Digital AC Brushless Servodrive User Manual Optimal Status Min tolerance Max tolerance Statel 0 4 4 State2 341 335 347 State 3 682 676 688 N 8 Motor Poles Optimal Status Min tolerance Max tolerance Statel1 0 3 3 State2 256 253 259 State3 512 509 515 State 4 768 765 771 N 12 Motor Poles Optimal Status Min tolerance Max tolerance State 1 0 2 2 State2 171 169 173 State3 341 4 339 343 State4 512
60. KE OUT Page 31 User Manual EASYfds 800 Digital AC Brushless Servodrive mu xew vz 34vu8 1nd1nO Avez 2 1NdN sxy 1 4 Indul H3002N3 TYPICAL WIRING DIAGRAM is azsuinoss NOILYNUWSL UIT OST g N3002N3 7 Y TU ST8VJ GSC1SIHS ONY GZLSIML NIVd inant A GND A 72 mium yams 1109 ASt QNO TAO Ashe 32N38333H EAO 1 39N38343W w 32N333338 318V2 0307131 5 NOH NM HA NNN a 1 M3d02N3 1257192 22753 10 1 0 1 11nv3 801231102 1103 TRS 3793392 2 A ap ziaviia LH te 31383438 a r 100 1104 R antha o gt ad assy a qeu3 d indino yur pensia m nra To ANT TT indu yur jeubig e ipu3 jo 9oumsioy H be aui ISP uo Zp pue pp 3224409 OL zs eu oF A CtZURS a 65 4 xe ECKE OL 25254 mmm ee V 318Y2 073 E t g 12 A0 0 4 Indu LNdNi 2 vn FT M3002N3 a ar 7 1NdNI H30O02N3 T I3IHS 502 s
61. NCODER OUT lt 2 o 20 O 15 our MONITORING 2 PROGR 42K OUT MONITORING 1 SPEED lt lt GND 24V A ENCODER OUT lt lt lt lt VREFERENCE 11 19 O H ENCODER OUT X amp o lt VREFERENCE 0 K OUT MASTER Menon CNDB26HDFEMALE CN2 1 ENCODER INPUT O 9 COSINE 52 A ENCODER INPUT 14 4 B ENCODER INPUT 4 i _ 5 84 B ENCODER INPUT ae o lt KSINE 1 GND ENCODER OPTIONAL o 5 5V ENCODER OPTIONAL SINE 53 MOTOR THERMAL cli al ce MNA 65 MOTOR THERMAL E lt lt REF RESOLVER R1 REF RESOLVER R3 X 0 CNDB15HDFEMALE CN1 diesem lt lt RS232 RX DIGITAL LINK TERMINATION lt lt DIGITAL LINK IN lt lt 12 x RS232 TX 5VOUT Optional o ii IN 13 o DIGITAL LINK OUT 14 o A x DIGITAL LINK IN i GND IN NEN 65 DIGITAL LINK OUT 15 CNDB15HDMALE OUTPUT 1 OUTPUT 2 OUTPUT 3 Drive ready OUTPUT 4 24V COMMON OUT lt 415V OUT GND 24V COMMON INPUT lt lt XK GND 32 INPUT 1 INPUT 2 INPUT 3 INPUT 4 INPUT 5 INPUT 6 INPUT 7 INPUT 8 24V AUX SL 3 5 4 GND AUX BRAKE OUT BRA
62. Nominal Current is smaller than 5096 of the I Nominal current of size servoamplifier and the minimal spin speed of the motor is greater than 250 rpm during the phase in which it is demanded elevated current for long time Sample EASYFDS 800 size R08 Motor I Nominal 3A Min Speed smaller than 250rpm Select LC Ht because the set up current for the motor 3A is smaller than 50 of the I Nominal current of size and the Min Speed is smaller than 250rpm Select HC Ht High Current High Time I Nominal motor gt 50 Size when the set up value of the Nominal Current is greater than 50 of the I Nominal current of size servoamplifier Sample EASYFDS 800 size R08 Motor I Nominal 6 5A Min Speed smaller than 250rpm Select HC Ht because the set up current for the motor 6 5A is greater than 50 of the I nominal current of size and the Min Speed is smaller than 250rpm FF 04 LC Lt INominal motor lt 50 Size Servodrive Normal Time IxT HC Lt 1 Nominal motor gt 50 Size Servodrive Normal Time IxT LC Ht 1 Nominal motor lt 50 Size Servodrive High Time IxT HC Ht I Nominal motor gt 50 Size Servodrive High Time IxT Page 47 EASYfds 800 Digital AC Brushless Servodrive User Manual Nona Carer A Maru Core A kT Gain Low Current normal Time V High Current normal Time Low Current high Time High Current high Time FF 05 Set VReference External Int
63. ONS LIST Parameter Function s Description FF 00 Password 1234 Set Password to modify Parameter FF 01 Set Motor Poles Pole FF 02 Set Resolver Resolution 12 14 16 bit FF 03 Set Encoder Emulation Pulse Turn FF 04 Set xT Gain FF 05 Set VReference External Internal FF 06 Set Speed Current Mode FF 07 Set V Reference Low Pass Filter FF 08 Set Current Loop Gain FF 09 Set Velocity Loop Integrative Gain FF 10 Set Velocity Loop Proportional Gain 96 FF 11 Set Max Current A FF 12 Set Nominal Current A FF 13 Set V Reference Value 7 0 10 0 V V FF 14 Set Speed Motor rpm 15 Set Automatic Offset Compensation FF 16 Set Ramp Time External Vreference ms FF 17 Set Temperature Drive Pre Alarm C FF 18 Monitoring Transducer Resolver or Encoder Hall Facoder FF 19 Monitoring V Reference 8 bit rpm FF 20 Monitoring Motor Speed 8 bit rpm FF 21 Monitoring Motor Current 8 bit A FF 22 Monitoring Average Motor Current 8 bit A Page 41 EASYfds 800 Digital AC Brushless Servodrive User Manual Parameter Function s description FF 23 Monitoring Servodrive Temperature 8 bit C FF 24 Monitoring DC Power Bus Voltage 8 bit
64. R EASYfds 800 PC or Computer FF 33 STOP START FF 34 Monitoring Serial Number ServoDrive It Visualizes the Serial Number of the servoamplifier FF 34 02867 Visualization Serial Number emp ee TRE Page 71 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 35 Set Auxiliary Parameter Table READ USER PARAMETER It allows to approach and to read the list of the parameters saved in the User Parameter which concurs to save temporary Calibrations of test without for this losing the data in the Operating Table Only to use for proofs or test FF 35 rd US FF 36 STORE Auxiliary Parameter Table STORE USER PARAMETER It concurs to save in permanent way the data of the User Parameter table in Flash Memory amp Only to use for proofs or test FF 36 st US FF 37 Set Default Parameter Table READ DEFAULT PARAMETER It allows to approach and to read the list of the parameters of Default which concurs to restore the Calibrations of factory Standard of the converter amp Only to use in order to restore the data of factory programming FF 37 dEF Lt Set up of Default Parameters SET Factory calibration Operative Eg v Defaults Page 72 EASYfds 800 Digital AC Brushless Servodrive User Manual
65. Servodrive User Manual FF 42 rESol CAnnE Zero Home Enabled Zero on Resolver Pusle Zero on Resolver Pusle Zero on Out From ZeroCamme Zero Axes Mode selection FF 43 Set Jog Jog Keyboard command JOG KEYBOARD COMMAND If the converter is set up for operation in Positioner Modality it is possible to choose the movement in MANUAL or AUTO way Choice MANUAL or AUTO is selected from the state of Input 5 G Input 5 0 Off Set MANUAL mode GInput 5 1 On Set AUTO mode If MANUAL mode set up it can be move the axis in modality JOG Modality JOG through keys UP DOWN Blue key on the frontal converter In alternative it is possible to move the axis in JOG through Input 1 and Input 2 Modality JOG through Input 1 JOG and Input 2 JOG Input 1 JOG Input 2 JOG FF 43 JOG JOG P JOG n It is possible to program the working modality in Jog 1 Normal 2 Dual Speed Page 76 EASYfds 800 Digital AC Brushless Servodrive User Manual Points amp Steps 500 Joa Speed pm f JOG mode Jog Mode Selection Normal pm Dual Speed 1 Normal When the Servodrive works in Jog Modality it carries a controlled movement in position at Constant Programmed Speed 2 Dual Speed When the Servodrive works in Jog Modality it carries out a controlled movement in position at Speed reduced at 10 for app
66. Society does not assume any responsibility for errors or damages derived by the use or wrong interpretations of the instructions in this publication This document cannot be reproduced neither entire neither partially without the written authorization of society Page 3 EASYfds 800 Digital AC Brushless Servodrive User Manual GENERAL CHARACTERISTICS EASYfds 800 9 9 0 o o o o o o O AC Brushless Servodrive model Monoaxis Voltage Input Power Line 200Vac Min 530Vac Max 3 phase Line Auxiliary feed services 24 Vdc 1 0A 3A Max con fed Motor Brake Inner EMI Net Filter TUV emc approved Intelligent management and direct pilotage integrated Motor Brake Max 24 Dynamic Braking of the Axis function in case of error or disable Power s stage Module IGBT last generation totally isolated and protected PWM with double frequency modulation from 8 Khz until 16 Khz Nominal Current from 4A until 300A Max Current from 8A until 500A Special Function Custom Firmware available on demand Accurate measure of the Currents Motor Phase with sensors to effect HALL Measure and Monitoring of tension DC Power Bus opto insulated Relief and signaling Error for lack of 1 or more phases Net Line AC Failure Unit of recovery energy integrated braking Internally Brake Resistor Modality of operating in Speed 1 income analogic Vref 10V Modality of operati
67. Vdc FF 25 Monitoring External REFLIMIT Voltage 8 bit Vdc FF 26 Monitoring Software Relise FF 27 Set Autophasing Resolver procedure FF 28 gt Monitoring Show Encoder Count to 1 Turn count Turn FF 29 Set Running Mode Normal or Wave Form or TYPE of Positioner FF 30 Set ineme Wave Form Acceleration Time set Time 1 FF 31 Set Internal Wave Form Continuous Velocity Time set Time T2 FF 32 Set Internal Wave Form Velocity rpm FF 33 Set Internal Wave Form Start Stop Start Stop FF 34 gt Monitoring Serial Number ServoDrive FF 35 Set Auxiliary Parameter Table FF 36 STORE Auxiliary Parameter Table FF 37 Set Default Parameter Table FF 38 Set Operative Parameter Table Standard FF 39 Q STORE Operative Parameter Table Standard FF 40 Monitoring Operating Status FF 41 Set Positioner EMERGENCY Stop Time 42 Set Zero axes Mode selection FF 43 Set Jog Jog Keyboard command FF 44 Set Capture Point 1 to Point 15 and Software End of Stroke 45 Set Capture Stepi to Step7 FF 46 Set Positioner Speed rpm FF 47 Set Zero axes Speed rpm FF 48 Set Jog Speed rpm FF 49 Set Positioner Acceleration Time mS FF 50 Set Positioner Deceleration Time mS FF 51 Set Positioner Gain Loop KE FF 52 Set Positioner Servo Error N count to Servo Error FF 53 gt Monitoring Digital INPUT 1 to INPUT 8 Page
68. Verity the correct connection phases U V W motor and correct it Verify the correct lock of the terminal and motor connector U V W gt Check brake and harness Verify N used Motor Poles and settle Dip Switch gt Check the mechanical system if there are rupture or axis stumbles Verify Resolver harness gt Verify harness from the CNC verify the correctness of the set up parameters Verify the cable s harness cable The motor is e Wrong Gain speed ring of Set a selection dip Switch Velocity oscillating Servoamplifier Gain at a bigger value e Wrong Gain Position Ring CNC e Wrong speed regulation of Servoamplifier gt Verify proportional gain and PID on too big CNC Verify sped calibration on CNC and Servoamplifier Page 122 EASYfds 800 Digital AC Brushless Servodrive User Manual Interrupted Shield of the resolver cable Verify continuity of screen and execution as indicated on this handbook The motor overheats WorngValues of I max current and continuous I Verify data of motor s number plate and set Imax and continuous I on dip Switch The CNC signals following error Insufficient Values of I max current and continuous I Wrong gains speed ring of servoamplifier Wrong calibration of servoamplifier speed Wrong gains position ring CNC Set up Acceleration on CNC excessive Verify the set up data on dip Switch of
69. Y STATE Display Visualization The display with 5 numbers 7 segments present on the frontal panel has the function to indicate the working state of the converter and offers the possibility to visualize all the programming functions which can be carried out by the three keys Sel Up 4 Down DISPLAY STATE disab Appears the signal disab if the converter is not enabled and if there are not errors 01 GO Appears the signal GO if the converter is enable and if there are not errors on the right will appear a line indicating the rotation sense of the motor gt The first left number indicates address node from 1 to 16 EE 01 flashing Error 01 Over Voltage Verify the feeding tension 400 500Vac it must be within the specified tolerances EE 02 flashing Error 02 Thermal Protection ServoDrive Motor Verify the convertor temperature Cabinet ventilation Verify the motor temperature the Termichal motor connection EE 03 flashing Error 03 IxT Protection Verify the correct connection motor phases the motor brake tension Verify setting N motor Poles attritions or mechanical stumbles EE 04 flashing Error 04 Resolver Error Verify the Resolver Connections EE 05 flashing Error 05 Over Current Verify eventual short circuits between motor phases and towards ground Verify setting Max Current 06 flashing Error
70. a of Software Parameters are corrupted flashing It is necessary riplan the parameters from user file or manual Browser AA 21 Warning 21 Positive End of Stroke SW E o S Positive Signaling of axis in position of over run positive software flashing Verify The position of axis the correctness of programmed parameter ending run and the correctness of programmed positioning point To exit from state of Over Run Software is enough to order a new correct position or an execution Zero Axes AA 22 Warning 22 Negative End of Stroke SW E o S Negative Signaling of axis in position of over run negative software flashing Verify The position of axis the correctness of programmed parameter ending run and the correctness of programmed positioning point To exit from state of Over Run Software is enough to order a new correct position or an execution Zero Axes 23 Warning 23 Stop for Emergency Signaling of stop of axis caused from an emergency condition during the flashing positioning step or execution zero Axes To exit from state of Stop for Emergency is enough to order a new correct position or an execution Zero Axes Use the function FF 71 to see the Warning s cause Page 38 EASYfds 800 Digital AC Brushless Servodrive User Manual Programming or Modification Parameters from Keyboard Panel The Servoamplifier series EAS 800 is protected from modifying a
71. act the producer Connect the screen directly to shell of bulb connector CN3 and CNC side Digital incomes 0 5mmq Digital Output 0 5mmq Command signals 0 5mmq Prescription Fuses of Protection Income Net It is requested the protection for the connection between the net three phase 400 500Vac and clips income net of the servoamplifier the protection must be single for every servoamplifier Use exclusively the prescribed model of Fuse or with the same characteristics The use of inadequate fuses during the employment can cause dangerous conditions of in case of short circuit with possible damages to persons or to things The prescribed Fuses are produced from the Bussmann and are accredited CE UL CSA Model Fuse Fuse s Code EASYfds 800 R04 Bussmann series CUBEFuse TCF5 EASYfds 800 ROS Bussmann series CUBEFuse TCF10 EASYfds 800 R12 Bussmann series CUBEFuse TCF10 EASYfds 800 R16 Bussmann series CUBEFuse 15 EASYfds 800 R20 Bussmann series CUBEFuse TCF20 EASYfds 800 R24 Bussmann series CUBEFuse TCF25 EASYfds 800 R32 Bussmann series CUBEFuse TCF30 EASYfds 800 R40 Bussmann series CUBEFuse TCF40 EASYfds 800 R50 Bussmann series CUBEFuse 50 EASYfds 800 R80 Bussmann series CUBEFuse TCF80 EASYfds 800 R100 Bussmann series CUBEFuse TCF100 EASYFD 600 R300 OMEGA series NH2 NH2G300
72. al Speed Scale 800 rpm division 40 ms division Selection and set up of Time s Scale gt It is possible to visualize 2 channels at the same time and they can be selected on traces and CH2 gt The trigger permits to determine which value and type of forehead the measure must start gt Modality trigger Auto The measure comes continuously refreshed at every successive data buffer Normal The measure start and remains recorded every time the largeness to be measured has exceeded the value and the forehead of the trigger Single The measure starts and remains recorded every time the largeness to be measured has exceeded the value and the forehead of the trigger Page 53 User Manual EASYfds 800 Digital AC Brushless Servodrive gt It is possible to select the times scale 20 mS div minimal until to 2 Sec div Max OAHJS ONINONL 9NIZVWIJLdO YOA SWVHDOVIG A YNIA A LXI 1 V VITO0S OPAG T d9VHNAV dl su WOL ALIOQ0TMA dl vinord ALIOOTHIA dl ALIOOTHA dl ALIOOTHA dl ALIO0TJA dl Page 54 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 11 Set Max Current Function which allows setting up the Max Current of the servoamplifier Standard value Max of Converter Size Normally set up the value of Current equal approximately to 2 times the
73. an answer Every communication implies an order and an answer At every order the MASTER must wait for the answer from the interested start before sending a new order Page 100 EASYfds 800 Digital AC Brushless Servodrive User Manual Modality of operation When the Servodrive is set up as Remote Positioner Remote PTP Positioner Remote STEP Positioner Remote SPEED Set 2 working modality are available Input 5 ON gt modality AUTO Input 5 OFF gt modality MANUAL AUTO In the AUTO modality it is possible to execute the movement orders receipts from remote through serial line RS232 Zero axes positioning perforation cycle In this modality the input carry out the following functions INPUT 5 AUTO JOG INPUT 4 Zero Proximity INPUT 3 Start Abort It permits to synchronize the start of the all axis INPUT 2 not used INPUT 1 not used In this modality it is possible through INPUT 3 which acts as START ABORT to synchronize the departure of all the axis to which a positioning order has been sent If the positioning order is sent to the Positioner while INPUT 3 is OFF the order is stored and it remains waiting for the transition OFF ON of INPUT 3 which will do to start the positioning INPUT 3 will have to persist ON for the entire time of the positioning if it changes in OFF before the end of the positioning it aborts it through a controlled stopping which uses the parameter StopEmeTime in ord
74. and of acceleration execution Positioning Command of deceleration execution Positioning Command of the Point of Positioning Command of reading of the State of Operation Positioning Command of execution Zero axes Command of Start Positioning Command of Stop Emergency Positioning VVVVVVVV V 73 RS232 Remote Positioner lel Move Mode Speed rpm stant Acc Time ms Emulation orders Remote 4 End Point Step cnt Positioner Positione Status IDLE ead Zaoa Page 97 EASYfds 800 Digital AC Brushless Servodrive User Manual Function table Browser positioning points Modality Inputs Positioner Point to Point Step Operation which previews the working in Positioner modality from Input Table Positioning Points End stroke Software 1 Positioner Points amp Steps 8000000 8000000 Table Positioning Points Steps EndStroke SW Page 98 EASYfds 800 Digital AC Brushless Servodrive User Manual Visualization of error state and Warnings Indication of error state Key to open the visualization window of error state and Warnings Errors amp Warnings m Window of visualization oferror state and Warnings The visualization Window of the Error and Warning State allows to verify the meaning and if there are more contemporary errors There are indicates Hardware and Firmware Errors gt There are indicates the Errors for
75. ard movements it is recommended to set up elevated acceleration time in this way the movements have a soft behavior The acceleration and deceleration time is diversified because in some applications it can be indispensable or useful to accelerate or to decelerate in diversified way In Remote Positioner modality this Function has not effect because the data of performance are digitally transmitted through the communication protocol FF 50 Min 20 Max 10000 ms Normal Servo Drive M 2 500 Speed pm 200 Acc Time ms 200 Dec Time ms 100 StopEme Time ns Set up time of Positioner deceleration Page 82 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 51 Set Positioner Gain Loop SET KE POSITION LOOP GAIN Set up of the gain of the position ring called KE which comprises the Integrating and Proportional gain It is previewed a particular algorithm which concurs to optimize the gain of the position ring in independent way from the Resolver resolution To increase the gain of the position ring it is necessary to increase the KE Increasing the KE the axis becomes more rigid in position and hard behavior set up at a value which concurs to obtain good enslavement in position and soft behavior of the axis To decrease the gain of the position ring it is necessary to decrease the KE in this way the axis becomes less rigid in positi
76. ase the acceleration Modality Remote Positioner Positioning Error Very high mechanical friction The set up max current is too low The Gain of Speed Ring is too low High Offset Set Up Ke has too low value Verify the mechanics Verify the Set up Current and if necessary increase the value Increase speed Gain Do the automatic calibration of Offset Increase Ke Value Modality Wrong Value of setting gt Correct Setting Up of end of stroke Remote Positioner up end of stroke Software Software Error End of Stroke Error 01 Net Tension out of Verify the net tension if it is in the Overvoltage nominal range Too high acceleration of the Axis R BRAKE overheating preview range Decrease the set up acceleration on the CNC Verify the ventilation with closed electrical panel Error 02 Termichal protection Motor Servodrive Motor overheating Servoamplifier overheating Damage or insufficient ventilation inside electrical panel or closet CN2 Resolver disconnected Verify mechanics and calibration of Imax and I continous currents if there are excessive acceleration on CNC Verify correct assembly and the sufficient space between the converters Verify insufficient ventilation or too high ambiental temperature check the efficiency of the ventilation or refreshing system Connect CN2 Resolver Page 127 EASYfds 800 Digital AC B
77. ata gt lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 103 lt EOT gt A5 lt ETX gt Positioner gt MASTER lt STX gt 1 a lt EOT gt 96 lt ETX gt In this case the Positioner NODE 1 has answered OK This means that it has correctly receipt the order and let start the proceed of Zero axes Page 112 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of complete Positioning This order permit to reach a determinate Point with a specific speed acceleration and deceleration It can be sent before to have executed the Zero axes with particular attention Before to send this order it is necessary to verify and eventually wait for the Positioner status is in idle Order Code 0x00 Argument null Data Seed Acc Dec End Point Data Description Data Size Range Description Speed Word 16 bit 20 14400 rpm Positioning speed Acc Word 16 bit 10 10000 ms Acceleration time Dec Word 16 bit 10 10000 ms Deceleration time End Poi LongWord 8 000 000 cnt Ending point if the working is set up as nt Step 32 bit REMOTE_PTP_POSITIONER or STEP if set up as REMOTE_STEP_POSITIONER Sample positioning NODE 1 If you want to execute the following positioning of axis NODE 1 e Speed 3600 rpm e Acceleration 200 ms e Deceleration 500ms e End Point 10000 count Referring to standard order string lt STX gt node
78. ation Speed for the Standard applications where it is necessary to regular the motor Speed Page 48 EASYfds 800 Digital AC Brushless Servodrive User Manual Select Cur way regulation Brace for those applications where it is necessary to regular the Brace or motor Force rather than the Speed amp Select Cur when the servoamplifier is previewed for operation Option Slave FF 06 Speed Speed regulation way Cur Brace regulation way Exemal _ 9 Heference source Set Speed Current Mode Reference Mode Speed erence Filter v Current eene FF 07 Set V Reference Low Pass Filter It is previewed a filter low pass filter in order to filter the vhf Noise which could be coupled on the external wiring V Reference coming from Numerical control or PLC with axis card Select the LO F way Filter VReference vlf when the servoamplifier is used in Speed way or in order to filter effectively the External V Reference Select the High F way VReference Filter vhf when the servoamplifier is used in way Brace Current Select the High F way if Option Slave is inserted It increases the passing band in frequency FF 07 Lo F Filter VReference low Frequency High F Filter VReference high Frequency Reference source Set V Reference Low Pass Filter Reference Filter Se ERN IS ee oe ax Low freq High freq Page 49 EASYf
79. board A temperature inferior to 60C concurs to guarantee a greater longevity and reliability of the components and of electronic parts of the servoamplifier FF 23 C Temperature Servoamplifier gt 8 bit FF 24 Monitoring DC Power Bus Voltage 8 bit It indicates the Power tension Vdcbus It is possible to verify the value of the tension of Bus DC of Power it has an indication on the margins of operation regarding the value of the electrical Net Line FF 24 Vdc Bus 6 bit 34557 DC Power Bus Voltage 8 bit Page 62 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 25 Monitoring External REFLIMIT Voltage 8 bit Visualization expressed in Volt of external REFLIMIT Voltage It is possible to visualize the value of the tension of External Reference REFLIMIT The visualized tension indicates the correspondence of the Limit applied for CURRENT LIMIT SPEED LIMIT FF 25 External REFLIMIT Voltage gt 8 bit FF 26 Monitoring Software Relise It indicates the version of the Software code installed on the converter amp Important The software Relise now issued corresponds to Software Relise 12 63 February 2007 Monitoring Software Relise Page 63 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 27 Set Autophasing Res
80. confirmation of the happened programming The carried out modification has only temporary value if it must be of permanent definitive kind it is necessary to carry out the memorization in the Flash memory otherwise at the first extinction of the servoamplifier the set up data will be lost To record in permanent way the set up data select the FF 39 press the Green key SEL The display will visualize Store therefore press the green key SEL for some second until the display flashes as confirmation of the happed programming The available Functions are from function FF 01 until to function FF 72 The Function FF 00 is previewed in order to insert the password It is possible to carry out the programming of the data either from the panel keyboard of the servoamplifier or from the appropriate Browser of Computer Serial Line RS232 Page 39 EASYfds 800 Digital AC Brushless Servodrive User Manual Programming or Modification of Parameters from Browser PC Serial RS232 The programming or modification of the working parameters can be carried out indifferently through the keys and display placed on the panel of the servoamplifier or through the appropriate interface Browser for PC The use of the Browser allows to visualize and to set up all the parameters at the same time moreover there have been inserted utilities in order to facilitate the putting in service Compatibility with operative systems Windows 95 98 2000
81. continuous Current Motor The Imax current represents the current limit which is used in steps of acceleration and deceleration of the axis During acceleration deceleration in normal working conditions the absorbed Imax current from the motor will have to be comprised between 70 80 of the max set up value which permits to have the sufficient current margin which can compensate variations of frictions and mechanical rendering either in the time or for climatic variations If these working conditions Use function SCOPE on the BROWSER EASYfds 800 the dimensioning of the servoamplifier and motor is corrected and are the right working margins If instead during the acceleration deceleration steps the current absorbed from the motor reaches the set up Imax value or however the max size it is necessary To reduce acceleration deceleration of the axis or to use motor servoamplifier of Brace and greater Size If the discussed considerations are applied it will have the correct dimensioning of the cinematic chain A The Imax current is distributed from servoamplifier x 0 4 second max in the condition of blocked rotor or if motor speed lt 250 rpm while it is distributed for a time until to 10 second if the motor speed is gt 250 Rpm if the limits are exceed the IXT protection takes part With the presence of the IxT protection the Max current is limited to the value of the Continuous and remains in this state the IxT protection with Di
82. corded Page 80 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 48 Min O gt Max 3600 rpm FF 49 Set Positioner Acceleration Time SET POSITIONER ACCELERATION Set up acceleration time for execution program Point to Point or Step The set up time acceleration defines the time which the axis employs to reach the programmed speed from 0 to speed max It is recommended to set up acceleration times min 100ms until to max 2 000ms Small acceleration times renders the axis very fast in acceleration this can be useful for applications in which it is very important to employ the less time possible for the Positioning In this case more decreases the acceleration time more increases the current to the motor and in fact the necessary current to accelerate the axis depends either from the Inertia Charge or from the acceleration time For correct use it is necessary to set up the acceleration time so that the current to the motor is at max 80 of the Imax converter during the phase of acceleration to have a sufficient margin of correct regulation of rings position and speed In case of moving liquids or other material sensitive to hard movements it is recommended to set up elevated acceleration time in this way the movements have a soft behavior The acceleration and deceleration time is diversified because in some applications it can be indispensable or useful to accelerate or
83. ctions of the digital working parameters executed from non authorized staff The protection is assured from a password which is necessary to insert in function FF 00 in order to enable eventual modifications If the Password is not inserted 4 numbers it is not possible to carry out any kind of modification to the operation parameters For the safety the user or the constructor of the switchboard or machinery has to maintain the password secret and the communication has to be given only to authorized staff It is necessary to insert the password when it is necessary to modify or to program the parameters using the keys on the panel Press Green Key SEL then press Blue key DOWN select function FF 00 insert the password acting on the keys Up Down therefore press Green key SEL for some second until the display it flashes as confirmation of the acknowledgment of the password which qualifies to carry out modifications to the programming parameters To select the Function to modify or to visualize press Green key SEL therefore press one of two Blue keys UP or DOWN depending on the function agreed to be visualized or to programmed when on the display the wished function appears press again Green key SEL on the display the programmable values will appear Using Blue keys UP or DOWN select the new value which is wanted to be programmed therefore press Green key SEL for some second until the display flashes as
84. d Mode Page 95 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 71 Monitoring Causes to Stop for Emergency Function which permits to visualize the Cause of Arrest for Emergency during a movement executed in the Positioner Modality FF 71 Causes to Stop for Emergency 00000 Normal Operation NO ERROR 00001 Hardware Enable OFF Servodrive Disable 00002 Software Disable OFFz Servodrive Disable 00003 User INPUT 3 OFF Stop Start Stop 00004 Software End of Stroke Protections Positive Negative 00005 User INPUT 5 OFF Manual Jog Auto Manual Jog 00006 Abort from Master Servodrive FF 72 Monitoring Resolver Phase Compensation Function which permits to visualize the Digital Compensation of the mechanical angle of Resolver Phase Min 00000 Max 01024 FF 72 Min 00000 gt Max 01024 Frcoder1254H2 Be 12 Motor Poles Resolver pi Encoder pulses Brake Digtal Brake Monitoring Motion Direction Resolver Phase Compensation Resolver Phase Page 96 EASYfds 800 Digital AC Brushless Servodrive User Manual Emulation orders Remote Positioner Function previewed on Browser EASYfds 800 Q It permits to emulate all the orders sent from PLC remote PC Set up way of Positioning Absolute Incremental Rotary Tables Command of speed execution Positioning Comm
85. d to the percentage set up in the FF 55 Example motor speed 3 000 Rpm FF 55 20 600 Rpm Reduction Percentage of speed 1096 min to 10096 max When Input 1 1 ON the speed of the motor passes from 3 000 Rpm to 600 Rpm FF 55 Set up percentage speed reduction 0 0 O 10 00100 Page 86 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 56 Set Options Operation Modality SHOW OPTIONS Function which permits to Visualize and Set up the State of the Optional Functions List and codification visualized Options FF 54 Options Operation Modality 00000 Standard 00001 Ramp Circuit which determines a Ramp time for External V Reference Tension 00002 Slave Option which permit the application Master Slave of 2 Servoamplifiers 00003 Master Torque Reference Option for application Master Slave of 2 Servoamplifiers Condition mechanical constrained motors 00004 Master with Ramp Torque Reference Option for the application Master Slave of 2 Servoamplifiers insert ramp time for External V Reference Tension Condition mechanical constrained motors 00005 Speed Rate Option which set up a reduction percentage 46 of motor speed 00006 Motion Reverse Option which permits to invert the spin sense of motor using the digital income Input 3 00007 Master Velocity Reference Option for applica
86. ds 800 Digital AC Brushless Servodrive User Manual FF 08 Set Current Loop Gain The Servoamplifier series EASYrps 800 is supplied of an auto adaptive current ring to the inductive charge and the tension of Bus DC 3 sets up are previewed which can be selected according to the value of the inductance of the motor phase phase and to the tension Line Net Generally the gain is set up to the level nor G Normal Gain Current Loop which in the most part of the applications is sufficient A Except for different indications the level must be set up in standard configuration G Set Lo G Low Gain Current Loop Inductance Phase Motor Phase gt 3mH and net 400 500 Vac Set nor G Normal Gain Current Loop Inductance Phase Motor Phase lt 3mH and net 400 500 Vac Set nor G Normal Gain Current Loop Inductance Phase Motor Phase gt 3mH and net 400Vac Set High G High Gain Current Loop Inductance Phase Motor Phase 3mH and net 400Vac Set High G High Gain Current Loop Inductance Phase Motor Phase gt 3mH and net 230 400Vac Set High G High Gain Current Loop Inductance Phase Motor Phase 3mH and net 230 400Vac amp Set up High G for the particular applications in which the electrical constant of time of the motor is very small or in applications with very high dynamics FF 08 Lo G Low Gain Current Loop nOr G Normal Gain Current Loop High G High Gain Current Loop
87. e WARNING PTP EOSP Warning amp 0x0001 WARNING PTP EOSN Warning amp 0x0002 Note The state of enabling of the start depends on the combination of the Enable hardware and the Disable Software To be enabled they must be ON amp OFF respectively User Manual EASYfds 800 Digital AC Brushless Servodrive User Manual Sample reading order Positioner State Node 1 Referring to standard order string lt STX gt node order lt argument gt data lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 1 04 00 lt gt F9 lt ETX gt Positioner gt MASTER lt STX gt 1 a OE lt EOT gt OB lt ETX gt In this case the Positioner Node 1 has answered to have correctly receipt the order and to be in error state Sample reading quota axis Positioner Node 1 Referring to standard order string lt STX gt lt node gt lt order gt lt argument gt lt data gt lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 1 04 00 lt gt F9 lt ETX gt Positioner gt MASTER lt STX gt 1 0000001 lt gt FC lt ETX gt In this case the Positioner Node 1 has answered to have correctly receipt the order and that the quota 31 0x0000001F 31 decimal Page 110 EASYfds 800 Digital AC Brushless Servodrive User Manual Write data to the Positioner With this order it is possible to write some data of the Position
88. e of the closet exceeds the 45C that concurs to guarantee the operation in the parameters prescribed from the constructors of the electronic parts Consequently are requested several periodic controls of cleaning filters air of closet and operation of ventilation or arranges of cooling Page 13 EASYfds 800 Digital AC Brushless Servodrive User Manual The Servoamplifiers series EASY rns 800 are designed exclusively to the enslavement of brushless servomotors synchronous with regulation of Brace Speed and Position The Brushless servomotors must have nominal tension of isolation during the working bigger than the tension of intermediate circuit BUS DC given by the servoamplifier As for the power wirings Net and Brushless Motor use only branch cables of section adapted to the used servoamplifier size refer to the table on page 24 It is necessary to insert fuses or magnetotermic protection as protection of the connection between the net three phase and the 400 500 income Vac lines R S T servoamplifier clips As regards the safety it is indispensable the use of the fuses indicates on the table on page 25 refer the size of the used servoamplifier Transport stockage maintenance Transport Only skilled staff only in original packing of the producer Avoid impacts the temperature must be comprised between 25C 70C the atmospheric humidity cannot exceed the relative humidity max 95 in absence of condense Stockage only in
89. ed Page 114 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of Positioning Abort This order aborts eventual positioning in course stopping the axis in controller way using the emergency Stop Emergency Time memorize in the parameters Order Code 0x02 Argument null Data null Sample Referring to standard order string lt STX gt node order argument data lt EOT gt lt checkSum gt lt ETX gt PLC gt Positioner lt STX gt 1 02 lt EOT gt A4 lt ETX gt Positioner gt PLC lt STX gt 1 a lt EOT gt 96 lt ETX gt The positioned has answered OK Page 115 EASYfds 800 Digital AC Brushless Servodrive User Manual Special Order Set Drilling Cycle This order permits to set up the performing cycle When set up the performing cycle it remains memorized and it is enough to give the order Start performing cycle to execute it The performing cycle works in relative respect of the axis position at START moment and it ends coming back to the starting position The performing cycle has 2 different types CJ Hole cycle P1 cnt VD rpm cnt V2 rpm F2 cnt P4 cnt al 100 TO ms 21 30000 sun Cycle Direction Positive o TYPE A TYPE B C Hole cycle P1 cnt VD rpm cnt V2 rpm V1 P2 cnt 19000 100 EASYfds 800 Digital AC Brushless S
90. er Order Code 0x05 Argument Data code to be written see table Data Data to be written Table code Identifying data to be written Code datato Size Data be written 0x00 Byte Software Disable 0x01 disable 0 00 disable 0x01 LongWord Set quota Preset Zero axes This order overwrite temporary Until the extinguishment or the next modification the quota of preset zero axes set up in the parameters 0x02 Byte Brake Motor 0x012ON 0x00 OFF Sample Set quota Preset Zero axes NODE 1 Referring to standard order string lt STX gt node order argument data lt EOT gt lt checkSum gt lt ETX gt With this sample we want to set up a quota of preset Zero axes Quota assigned to the zero notch during the zero axes proceed the value of 1000 decimal MASTER gt Positioner lt STX gt 1 0501 000003E8 lt EOT gt 9B lt ETX gt Positioner gt MASTER lt 5 gt 1 lt gt 96 lt ETX gt In this case the Positioner NODE 1 has answered OK Page 111 EASYfds 800 Digital AC Brushless Servodrive User Manual Command Zero Axes This order let start the proceed of Zero axes Before to send this order it is necessary to verify and eventually wait for the Positioner status is in idle Order Code 0x03 Argument null Data null Sample Zero axes NODE 1 Referring to standard order string lt STX gt lt node gt lt order gt lt argument gt lt d
91. er to decelerate If it is not useful to synchronize the axis INPUT 3 must be connect fixed ON Note The zero axes is executed in closed position loop reason for which the Servo error is always operating the end stroke will be active after the zero aces MANUAL In manual modality it is possible to move the axis in JOG from INPUT or keyboard The Position loop is always closed for this the axis does not derive when it is stopped In this modality the input have the following functions e INPUT 5 AUTO JOG e INPUT 4 not used e INPUT 3 not used e INPUT 2 JOG e INPUT 1 JOG Page 101 EASYfds 800 Digital AC Brushless Servodrive User Manual Communication Protocol Set up Serial Line RS232 e BaudRate 38400 e Stop Bit 1 e Parity none e Flow Control none The protocol is relatively simple Order from MASTER to Positioner Every order is composed by an ASCII string with the following structure lt STX gt lt node gt lt order gt lt argument gt lt data gt lt EOT gt lt checkSum gt lt ETX gt Description of the fields STX Character of beginning String which corresponds to a byte 0x02 This character can be produced from the keyboard of a PC pressing the key B while the CTRL is pressed Node Single character ASCII which identifies the Positioner to which is addressed the order It can have one of following Values 0 1 2 3 4 6 8 9
92. ermits to select the kind of the Net Line Un1 PH Mono Phase Power Line Supply AC Failure Protection Disabled ThrEE Three Phase Power Line Supply AC Failure Protection Enabled The Protection AC Failure finds the lack of 1 or more phases of the Net Line or Failure of 1 or more protection fuses FF 65 Power Line Supply select Un1 PH Mono Phase Power Line Supply AC Failure Disabled tHrEE Three Phase Power Line Supply AC Failure Enabled 37 23455 7 Seral N Berl Encoder Sis Y Tree Pras Mono Phase gp Set Three or Mono Phase Power Line Supply AC Failure Page 92 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 66 Set Type External Reference LIMIT Function which permits to Set up and enable the Income External Reference LIMIT When selected Speed Limit The Income External Reference LIMIT is enabled Used in order to limit the Max Speed as an example to operate in safety conditions The Function previews a limitation of the Motor Speed which acts in Linear and Proportional way to the tension present at REFLIMIT Income gt OVin no Speed Limitation gt 10Vin corresponds to the Max limitation When selected Current Limit The Income External Reference LIMIT is enabled Used to limit the Current as an example in order to limit the Motor Brace in determined working or safety conditions The Function previews a limitation of the exit Cu
93. ernal The Servoamplifier series EASY rbps 800 uses a reference of speed or of brace V Reference the source of V Reference can be External or Inner If the servoamplifier is used in Positioner way it is automatically set up the Inner reference consequently is ignored the external VRereference connection Select Out external VRereference when the speed order comes from the axis card of a Numerical control or PLC with axis card Select In Internal VRereference when the order does not come from a CNC or PLC with axis card and for the application is enough the spin of the motor to constant speed It replaces an eventual external potentiometer FF 05 Out External VRereference In Internal VRereference Ice Set VReference External Internal Internal erence Mode v External FF 06 Set Speed Current Mode The Servoamplifier series EASY rps 800 is predisposed for the work in modality of Speed or Brace or Current The normal or standard condition of use in the most part of applications is the working in speed ring in this modality with a speed order the servoamplifier regales the PWM and the current to the motor so that the ordered speed is realized In some applications it is necessary to regulate the Brace of the brushless motor and not Speed of it as an example a trailer roller in such case the servoamplifier will have to be set up in Brace modality Select Speed way regul
94. ervodrive User Manual Order Code 0x10 Argument lt type gt Data lt DIR gt lt T0 gt V0 P1 V1 P2 V2 P3 V3 lt P4 gt Description Arg Data Size Range Description TIPE Nibble Single 0 1 0 Cycle TYPE A ASCII character 1 2 Cycle TYPE B DIR Nibble Single 0 1 0 positive direction ASCII character 1 negative direction The speed and the moving are expressed in coefficients Only positive values without signs These data dicide the cycle s direction TO Word 16 bit 40 10000 ms Time in ms to go to speed 0 to VO This time determines the acceleration which will be used during all the working cycle VO Word 16 bit 0 3600 rpm Speed in RPM which will be used also at the end of the cycle for the coming back on the starting point P1 Long Word 32 bit It settles the P1 position in Count as to the starting point PO considered equal to ZERO V1 Word 16 bit 0 3600 rom Speed in RPM P2 Long Word 32 bit It settles the P2 position in Count as to starting point PO V2 Word 16 bit 0 3600 rpm Speed in RPM P3 Long Word 32 bit It settles the P3 position in Count as to starting point PO V3 Word 16 bit 0 3600 rpm Speed in RPM This data is omitted in case of cycle TYPE B P4 Long Word 32 bit It settles the P4 position in Count as to starting point PO This data is omitted in case of cycle TYPE B Sample se
95. ery has to realize a careful risk analysis for the switchboard or machinery and he has to adopt all the necessary measures so that eventual unexpected movements do not cause damages to persons or to things In case of use of the servoamplifier in domestic commercial and industrial sphere as also in small companies the customer must adopt measures of additional net filtrations The Servoamplifiers series EASYrps 800 can be used with directed connections to industrial three phase nets with grounding net TN net TT with ground Neutral center and symmetrical nominal current of max 5000 A to 528Vac Max The servoamplifiers cannot be put in function in industrial three phase nets without grounding or in nets with not symmetrical grounding with a tension greater than 305Vac As regards the connection to nets different from net TN net TT with ground Neutral for emergency reasons it is indispensable to use a de coupling transformer as indicated to page 29 The servoamplifiers can only work in a switchboard into a closed closet The maximum temperature admitted inside of the switchboard or closet during the working is 45 in the switchboard or closet a systems of aeration or air conditioners can be necessary in order to guarantee a temperature max of 45C inside of the closet in conditions of elevated external temperatures A protection thermo switch is requested because the operation of the servoamplifier can be stopped if the temperature insid
96. f Reference source 7000 Continuous Time ms 0 Zero Home e rout 1 Jog M ume Current Reference Mode Speed pm Zero Home Enabled Input 3 High freq Reference Filter Zero on Resolver Pulse i Speed Lmt Ext Ref Limit Remote Speed Set O End of Stroke cct Input 4 Zero Proximity p Ref E ent Input 5 Auto Jog EE End of Stroke cnt input ServoEmor Disable I an 2 10 Ace evolution s2 E Input 7 Nomal Jog Speed gon WatchDog Time ms f 2000 Servo Eror crt input 8 Axis Follower Ramp Time ms Enabled WatchDog 5 Max Pos Error cnt 10 Proportional Gain geen seme lo 2 on Poston Lo Hiec D El Output 3 Overioad E Output 4 C e E connec a E FT x Bb ste SCOPE meom Page 40 EASYfds 800 Digital AC Brushless Servodrive User Manual SET UP CALIBRATION PARAMETERS The Servoamplifier series EASY rps 800 is conceived in order to simplify at the maximum the calibration and the set up of the parameters so to permit to the customer a fast optimization of the putting in function of the Servomechanism To modify the calibration parameters it is necessary to insert the Password select function FF 00 therefore using the keys Up down Set up the number 1234 Press the Green key SEL until the display flashes and the password is recognized Now it is possible to modify the calibration parameters FUNCTI
97. f opposite direction 0x0A Busy The previous order is in course Until the previous order is not ended it does not accept new orders 0x0B Wait for START It is waiting for the Start USER INPUT3 gt ON To execute the ordered positioning In the meantime it can accept other positioning orders 0x0C JOG Mode The positioning is in MANUAL INPUT5 OFF The positioning controls are temporary disabled the positioned can move only in JOG from digital input or from keyboard 0x0D Positioner OFF The working is not set up as Positioner and for this it can not accept positioning orders OxOE ERROR The Positioner is in Error State OxOF Positioner Disabled The working is disabled So the Input HARDWARE ENABLE is disable or the MASTER has previous enabled the DISABLE SOFTWARE Page 108 EASYfds 800 Digital AC Brushless Servodrive Errors Table Error Error Code ERROR OVER VOLTAGE Error amp 0x0001 ERROR THERMAL Error amp 0x0002 ERROR IxT Error amp 0x0004 ERROR RESOLVER Error amp 0x0008 ERROR OVER CURRENT Error amp 0x0010 ERROR UNDER VOLTAGE Error amp 0x0020 ERROR ACFAIL Error amp 0x0040 ERROR OVER SPEED Error amp 0x0080 ERROR FOLLOWER WIRE Error amp 0x0100 ERROR SPEED WIRE Error amp 0x0200 ERROR PTP SERVO Error amp 0x2000 ERROR CALIB CHECKSUM Error amp 0x4000 ERROR PARAM CHECKSUM Error amp 0x8000 Warning Warning Cod
98. fter the optimal N of count for the application in the numerical control The compensation of the Offset can be executed through the keys on the panel or Browser PC Page 57 EASYfds 800 Digital AC Brushless Servodrive User Manual Offset compensation external V Reference If connected the numerical control set up in the same time all the ring gain of Position at zero so also exclude the servant error Enable the converter EASY FDS 800 select FF 15 and launch the function AUTO The automatic procedure of calibration starts and on the display the counting Encoder Emulation appears which will increase or vice versa when they become stabilized at a fixed value the calibration is finished Therefore hold pressed green key SEL for some seconds until the display flashes as confirmation of the happened programming Select working modality FF 39 Store Permanent Recording In such a way the external order V Reference is optimized in the best condition and the best performances will be obtained when restored the ring position on the numerical control Offset compensation Internal V Reference Advised operation in the event of use Working Way POSITIONER The compensation has already been carried out during the test converter however the calibration can be repeated in order to optimize the application It is convenient to carry out the compensation of the Offset when the servoamplifier is on from at least 30 minutes in thi
99. h 2 Resolver Poles The Resolvers with number of Poles greater than 2 are normally used when high Resolutions of enslavement and Positioning of the servomechanism must be obtained The interface resolution Resolver is 12 14 16 Bit The choice of the Resolver Resolution must be carried out considering the maximum speed of the used motor considering the limits of the Speed max is better the higher resolution If the servoamplifier is used in modality Positioner pay attention to the limits of the max Speed FF 02 Max Speed 900 rpm 800rpm max Positioner Max Speed 3600 rpm 3300rpm max Positioner Max Speed 14400 rpm 13200rpm max Positioner 12 Bit Resolution X 14 Bit Resolution X 16 Bit Resolution X Encoder 125KHz Type Set Resolver Resolution FF 03 Set Encoder Emulation 12 14 16 bit The Servoamplifier series EAS Yrps 800 transforms the signals coming from the Resolver digital data which represent the angular position of the brushless motor rotor The Digital Resolver Resolution can be chosen between 12 14 e16 bit and it is function of the max speed of the used motor consequently are generated digital signals which emulate a Encoder of Incremental kind The N of counting of the Encoder Emulation depends on the set up resolution of the Resolver It is possible to select the optimal Resolution for the application FF 03 12 Bit
100. hz Modulation PWM to optimize zero crossing and to obtain high performance of current s loop V Power out max Vac 0 96 Vacinputline max Max Vout towards the motor Overvoltage Vdc 900 Vdc max Vdc Bus Overvoltage s protection Undervoltage Vdc 150 Vdc min Vdc Bus Undervoltage s protection Auxiliary power W 22 VA 24Vdc 10 Absorbed power services Rendering of power s circuit 95 to 98 It s depends on the size of the convertor used Temperature Protection Max C 80 C Temperature heat sink Threshold of intervention of thermic protection Resolver Frequency kHz 12 5 kHz sinusoidal excitation Frequency etc resolver Resolver Resolution Resolution Resolution 12 14 16 bit Resolution bit resolver N Motor Poles 2 4 6 8 12 16 24 Motor Poles Programmable Motor s Poles N Poles of Brushless Motor Encoder Emulation Pulse Turn 128 256 512 1024 12 Bit resolution N programmable emulated 512 1024 2048 4096 14 Bit resolution computations 2048 4096 8192 16384 16 Bit resolution Fault output mA Vde Opto insulater out 50 mA 24Vdc Signal fault convertor out Close x drive OK Optois Danger Pay attention to polarity of opto insulatedre V Reference input V Kohm 10 V Nominal References Analogic Income differential Input Range 7 to 10V 10 Kohm Income s impedance Enable input mA Vde Digital Input Income High 1 permission Digital Input opto insulated Input current 20 mA 12 to 24 Vdc Input Inpu
101. ilable commands sss 101 gt Command from PLC PC t 101 gt Reply from Positioner to PLC PG euasit cities as ipe bilia pe xn 103 gt Available 105 gt Reading data from POsIttODet uu eret reete idera era elati e 106 dir i4 cg M 107 gt Errors and warning table sss 108 gt Sample reading command about Positioner state Node 1 109 gt Sample reading about axis quota Positioner Node 1 sess 109 gt Sample set quota preset Zero axes mode or oo VAR EY VR TO VU ide stele Y duo 110 gt Write data tu DOSIONGE 110 gt sProcslufe Zer AXES iu voi deo plates fusa Y PA D VERRE UR 111 gt Complete Position s comhhand i isee rere re Inh eR E E EY a e A ERR EUR YA ons 112 gt POST AP 113 gt Command of ABORT esas VACARE Di n 114 gt Command of drilling cycle Set Custom 115 gt Commando of drilling cycle Start rn nho nhanh nh rae ra gn ean 117 gt Command of Complete Speed Set 118 gt Command of LITE SpeedSet 2 vase pa PU a MM 119 gt Regulation connection Encoder Emulation RS422 line driver
102. ime Modality Remote Speed Mode Page 94 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 69 Set Watch Dog Timeout in Modality Remote Speed Mode Function to select the time Watch Dog Timeout in Modality Remote Speed Mode The protection Watch Dog Timeout is useful to guarantee the safety in case of use in Modality Remote Speed Mode The Modality Remote Speed Mode previews a refreshment of the data of movement performance In particular it is selected a Time within the Servodrive must receive a new Remote Digital Commando if the commando is not recognized within such Time the Converter arrests itself as condition of Emergency stop Min 00200 200 msec Max 10000 10000 msec FF 69 Min 00200 gt Max 10000 CIL Remote Speed Set 100 Acc revolution s2 Set Watch Dog Timeout in WatchDog Time ns WatchDog v Enabled Disabled Auto TUNING Modality Remote Speed Mode FF 70 Set Watch Dog Disable in Modality Remote Speed Mode Function which permits of enable or disable the Protection Watch Dog in Modality Remote Speed Mode FF 70 STATUS EnAb E Watch Dog Enabled DISAb Watch Dog Disabled Remote Speed Set 100 Acc fevolution s2 500 WatchDog Time ms WatchDog Enabled Disabled pap pom Set Watch Dog Disable in Modality Remote Spee
103. in counting 0x02 word Error 16 bit pattern see table 0x03 word Warning 16 bit pattern see table 0x04 word Motor Speed rpm 0x05 word Average Current mA 10 gt 1bit 10mA 0x06 byte Drive temperature C Celsius 0x07 byte 8 bit user input pattern bitO2IN1 bit7 IN8 0x08 byte 4 bit user output pattern bitOZOUT1 bit3 OUT4 0x80 LongWord PositionTarget in counting 0x82 word Serial Number 0x83 word Relise software 0x86 byte Hardware enable status O disabled 0 enabled 0x87 byte Software disable status O enabled 0 disabled 0x8A byte Brake status 0 1 ON Page 107 EASYfds 800 Digital AC Brushless Servodrive User Manual Positioner state The state of the Positioner is represented from a byte 2 ASCII characters as from following table Code State Description 0x00 IDLE The positioned is ready to execute a new positioning order 0x01 IDLE The positioned is ready to execute a new positioning Out of Position order but the previous ordered point has not been reached 0x02 IDLE The positioned is waiting for the order of Zero axes Waiting Zero In this state it can also execute positioning orders Command It is necessary to order the positioning orders with a big attention because the Quota is not considerable in absolute and the end strokes are not operative 0x03 IDLE The axis is in one of the end strokes and accepts only End Of Stroke Status moving orders o
104. ircuit servoamplifier Verify the presence of short circuits between Phase and Phase or Phase towards Ground on the motor Substitute the motor Verify and eventually remove short circuits between phases U V W or towards the screen and ground For the motor cable length gt 20m it is necessary to insert three phase inductor 0 5 mH as indicated on the handbook Verify the used motor cable It has to be shielded length lt 20m and capacity inferior to 150pF m Verify the charge inductance value see motor handbook the inductance Phase Phase must be bigger than 2 5mH If it is inferior it is necessary to insert inductor between Servoamplifier and brushless motor Disconnect the cable U V W from the terminal of servoamplifier switch on the Servoamplifier and enable If ERROR 05 appears it means that the converter is damaged substitute it Page 128 EASYfds 800 Digital AC Brushless Servodrive User Manual Error 06 Undervoltage Excessive Axis acceleration LINE s tension out of tolerance Decrease acceleration set up on CNC Verify LINE s tension Error 07 AC Failure Lacking of 1 or more phases Net LINE LINE s tension out of tolerance Verify the fuses for net s protection Verify LINE s tension Error 08 OverSpeed Wrong speed parameter FF 14 Wrong parameter gain speed s loop Wrong VRefer Tension Verify set up of speed parameter FF 14 Verify the cor
105. ities of the motor cable towards the converter Place the inductance close to the servoamplifier CONNECTION RESISTANCE EXTERNAL BRAKE Optional If used external R Brake For connection use shielded thread of length max 1 5 m The wiring and implantation of the resistance Brake will have to be carried out respecting the safety norms for tensions 500Vac The Standard version previews R BRAKE into the drive Page 28 User Manual EASYfds 800 Digital AC Brushless Servodrive MOTOR TYPE CONNECTIONS for cables of lenght until to 100 meters BRUSHLESS MOTOR O0g 8X0b cCOG6CTPS9u Sonoda IVGIIOWOR HHIAITdWWO uHNs 0085PJAS V3 HAIA ANONS 008SPJASYI BRUSHLESS MOTOR TYNOLdO 3802 WOIOMOL wados s1939u oz sagen 104 4939 OL 91925 yua 104 HUs 0 HOLONGNE CISIHS 008SPJASV3 401 2n0NI 3S vHd xem wados 493 001 03 02 346491 jo 91425 104 __ BRUSHLESS MOTOR Page 29 EASYfds 800 Digital AC Brushless Servodrive User Manual REGULAION CONNECTION NETS TN Kind of Net connections 400 500 Vac A LINE 400 500 VAC B LINE 400 500 VAC C LINE 400 500 VAC Symmetrical grounding WITHOUT GROUNDING Grounding not Symmetrical STANDARD CONDITION R R EASYfds 800 EASYfds 800 ISOLATION TRANSFORMER REQUIR
106. itoring Pin 14 REFLIMIT Programmable analogic Income Limitation Cuple or speed Pin 15 ENCODER Input B External Encoder Follower Line driver required Type 26LS31 or similar Pin 16 ENCODER Input External Encoder Follower Line driver required Type 26LS31 or similar Pin 17 ENCODER Input A External Encoder Follower Line driver required Type 26LS31 or similar Pin 18 ENCODER Input External Encoder Follower Line driver required Type 26LS31 or similar Pin 19 UA Out emulation Encoder line driver RS 422 150 ohm ending Pin 20 UA Out emulation Encoder line driver RS 422 150 ohm ending Pin 21 UB Out emulation Encoder line driver RS 422 150 ohm ending Pin 22 UB Out emulation Encoder line driver RS 422 150 ohm ending Pin 23 U0 Out emulation Encoder line driver RS 422 150 ohm ending Pin 24 UON Out emulation Encoder line driver RS 422 150 ohm ending Pin 25 GND GND Pin 26 INPUT 8 Digital Input Permits the synchrone of the function electrical shaft Page 34 EASYfds 800 Digital AC Brushless Servodrive User Manual Connection serial line RS232 Computer or PC PLC CN1 CN1 Connector 15 ways high density bulb Flying female Use shielded cable 2 twisted coppiole whole screen RS232 Lmax 5 meters Connect the cable s screen directly to the shell of connector bulb CN1 and PC side Connection s denomination Comment Pin Pin Pin Pin Pin Pin 232
107. l regulation of the gain s parameters Inner Positioner Mode Point to Point N 15 positions programmable for autolearning or Set Modo Step 7 positions programmable for autolearning or Set Modo Remote Communication protocol from PC PLC o CNC Digital LinK Input Output 5 Digital Output N 4 programmable 1 digital Output Fault N 8 Digital Input N 8 programmable used for Positioner and special function N 1 Digital Input Income Enable Servoamplfier LIST OF SERVOAMPLIFIERS MODELS EASYrps 800 Page 19 EASYfds 800 Digital AC Brushless Servodrive User Manual Model Power supply Nominal Max Mechanical Current Current Dimensions EASYfds 800 R05 200 to 530Vac 3Phase 5 Arms 10 Arms 250 76 241 mm EASYfds 800 R10 200 530 10 Arms 20 Arms 250 76 241 EASYfds 800 R12 200 530 12 Arms 24 Arms 250x 76 241 EASYfds 800 R16 200 530Vac 16 Arms 32 Arms 250x 76 241 EASYfds 800 R20 200 530Vac 20 rms 40 Arms 250 93 241 EASYfds 800 R24 200 530Vac 24 Arms 48 Arms 250 93 241 mm EASYfds 800 R32 200 530Vac 32 Arms 64 Arms 250 x 154x241 mm EASYfds 800 R40 200 530Vac 40 Arms 80 Arms 250 x 154x241 EASYfds 800 R50 200 530
108. liance with the directive in matter of electromagnetic compatibility like shielding corrected grounding manipulations of connectors and rests of cables Conformity TUV The tests of electromagnetic compatibility have been conduct in authorized and certificated TUV laboratory Conformity CE The Servoamplifiers series EASYrps 800 in accordance with the Directive on the electromagnetic Compatibility 89 336 CEE and to the Directive on the low tension 73 23 CEE Certification Files File 04 44A File RD2004 017A File SIC031884A File V03 170A List of standardized tests References Norms Susceptibility Test to electrostatic discharge Norm CEI EN 61000 4 2 Susceptibility Test to disturb from the net BURST Norm CEI EN 61000 4 4 Susceptibility Test to disturbs induced on cables of power signal Command Norm CEI EN 61000 4 4 Susceptibility Test to electromagnetic fields irradiates to radiofrequency 26 to1000Mhz AM 80 A 1 Susceptible Norm CEI EN 61800 3 Part 3 par 5 3 3 1 Susceptibility Test to impulsive disturbs with high energy Norm CEI EN 61000 4 5 Susceptibility Test to magnetic disturbs to net frequency Norm CEI EN 61000 4 8 Susceptibility Test to tension s variation of Net Norm IEC 1000 2 1 2 4 Susceptibility Test to tensions holes Norm IEC 1000 2 1 Susceptibility Test to quick interruptions Norm IEC 1000 2 1 Susceptibility Test to dissymmetry of tension Norm IEC 1000
109. minal gt Adjustments and digital sets up optimized to simplify the putting in function Page 18 EASYfds 800 Digital AC Brushless Servodrive User Manual Programming and set up parameters on keyboard on frontal panel or with the use of an appropriate program Browser compatible with Windows 95 98 NT 2000 XP connecting the computer to accessible serial line RS232 on the frontal panel of the servoamplifier series EASYrps 800 Digital Brake Digital Management and direct pilotge of motor brake Dynamic Brake Function Function of digital brake in case of fault or of brake s lack BUSofField ProfiBus Can Open Optional Digital Link Multidrop Sending and Receipt of digital data for remote function Communication protocol Remote Positioner Digital Speed Command Connexcting Digital Link until 15 Servoamplifiers expansible until 23 Indication of functioning state and or error indication bi 5 numbers display Incorporated EMI Filter to reduce the emixions on the net conformly to CE norms Autophasing Resolver 1 Assisted automatic proceed for manual regulation of the corner of timing of the resolver 2 Automatic proceed for electronic compensation of the corner of timing of the resolver Autocompensation Offset circuit income differential External Vreference AutoTuning Automatic proceed with rlief Real Time of the dynamic charachteristics of axis and consequqntly auto set up and optima
110. mmunication Multidrop The allocation of the Address can be carried out exclusively through Function FF 59 accessible through the keys on the frontal panel Assign Address 1 to Axis 1 N 2 to the Axis 2 etc During test in factory it is assigned the default Address N 1 Digital Node Address 1 16 Max N 15 expansible Servodrive to N 23 FF 59 Min 00001 gt Max 00016 I TS Type 10 Nominal Curent A Digital Node Address Page 89 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 60 Set Motion Direction Function which permits to invert the Spin sense of the Motor in case of working in modality Positioner and Normal Servodrive nor Al Normal working rE rSE Working which permits to invert the Spin sense of the Motor in case of working in modality Positioner and Normal Servodrive FF 60 nor Al rE rSE Set Motion Direction FF 61 Set Max Positioning Error Count Function which permits to set up the maximum error of instantaneous Positioning Count NOT cumulative in case of working in Positioner Modality FF 61 Min 1 Max 25 Set Max Positioning Error Count Page 90 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 62 Set Brake Motor Function Digital Motor Brake Function OFF Disabled
111. n a very accurate resolution of the position until to 16 384 count for motor turn 16 bit Resolver Resolution Facoder Digital Encoder Tamagawa of incremental Kind integrated Halls supplied of Line Driver for the exits A B Z Encoder and for the Hall effects U V W The resolution of this kind of Encoder is smaller than the Resolver It is advised the use of it when the length of motor cables and transducer exceed the 25m in fact thanks to the digital transmission Encoder Line Driver is possible to reach Max Length of the transducer cable 150 m Set up Frequency Max Encoder Browser EAS Yfds 800 Digital Encoder Hall Sensor It is previewed the interfacing to an Encoder of Digitalis Incremental kind which can be of Rotating or Linear kind FF 19 Monitoring V Reference 8 bit Visualization expressed in Rpm of the commando V Reference The indication has sign and the resolution of the visualization is 8 bit FF 19 gt 8 bit Page 60 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 20 Monitoring Motor Speed 8 bit Visualization expressed in Rpm of Motor Speed The indication has sign and the resolution of the visualization is 8 bit FF 20 Motor Speed gt 8 bit FF 21 Monitoring Motor Current 8 bit Visualization expressed in Ampere Rms of instanta
112. neous Motor Current The indication has sign and the resolution of the visualization is 8 bit FF 21 Motor Current 6 bit FF 22 Monitoring Average Motor Current 8 bit Visualization expressed in A rms of the Motor medium Current module IxT The Display indicates the module of the distribution medium of current from the servoamplifier The resolution of the visualization is 8 bit A This function is important to verify the medium current absorbed from the motor during the cycle machine this concurs to verify the working margins respect the participation of the IxT protection The indication has only positive sign and the resolution of the visualization is 8 bit the measure is integrated in the time which is function of the IxT protection min 0 4 sec max 10sec FF 22 Average Motor Current gt 8 bit Page 61 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 23 Monitoring Servodrive Temperature 8 bit Visualization expressed in C of the Servoamplifier Temperature It indicates the temperature of the Power Dissipater the thermal protection starts at 80C It indicates the temperature of the Power dissipater during the working If the working temperature exceeds the 60C check to have respected the prescription of assembly and aeration if necessary improve the aeration and adapt the ventilation of the
113. ng in Speed Digital Command from Remote Digital Link Modality of operating in Brace 1 income analogic Vref 10V Modality of operating in Brace Digital Command from Remote Digital Link Modality of operating in Position Manual Jog Digital Input IN1 IN2 Modality of operating in Position Pulse e Direction Remote Digital Link or D Inputs Modality of operating in Position Point to Point Remote Digital Link or D Inputs Modality of operating in Position Follower Axis e Master Axis Electric Axis Modality of operating in Position External digital Encoder Line Driver RS422 Dynamics limitation of the Current Brace 2 income analogic Vref 0 10V Dynamics limitation of the Speed 2 income analogic Vref 0 10V Page 4 EASYfds 800 Digital AC Brushless Servodrive User Manual 0 0 0 0 O Oo O0 Motor Transducer Resolver Standard Facoder Optional digital Encoder Optional Max length of Resolver cable 25m Standard 50m Special cable on demand Max length of Motor cable 25m Standard 50m Special cable Toroid on demand Protections Full Protection Resolution acquisition Resolver 12 14 16 Bit Output Emulous increasing Encoder 256 Min to 65 536 Max Pulse Revolution Pilotage of rotating and linear motor Programmable Motor Poles 2 4 6 8 12 16 24 Poles N 8 Digital Inputs Opto insulated 0 24Vdc 4 Digital Outputs Opto insulated
114. nse and Axis Follower in negative spin sense A rigid mechanical constraint does not exist because the two motors have a freedom degree of movement The Master starting is what determines the whole movement of the electrical Axis The Master starting can be programmed as Positioner or as Axis commanded in Speed from external numerical control or from digital Remote order of speed Set up the Option External Encoder Axis Follower on the servodrive Axis Follower The Position of the Master starting becomes Reference of position for the Axis Follower Connect Encoder OUT of the Master Axis to Encoder INPUT of the Axis Follower Connect OUT SINC 15VU of the Master Axis to Input 8 Synchronism Axis Follower VN VVVV Do the connection as the winding diagram Page 133 EASYfds 800 Digital AC Brushless Servodrive User Manual FAULT IN 24V ENABLE ENABLE 24V PLC CNC M AST E R FAULT OUT EASYfds800 cns INPUT 8 UB INPUT UB INPUT AXIS FOLLOWER UA INPUT CN3 ENABLE EASYfds800 FAULT OUT AXIS FOLLOWER Electrical Axis Condtion 2 No mechanical constraint between Master and Axis Follower Sample of Application Realization of an electrical Axis between two mechanical parts completely free There are N 2 Motors which will have to execute a movement with direction and pursuit relation to be programmed The two Motors turns in opposite direction Master in positive sense and Axis Follower in
115. nsertion of the net It is recommended to wait approximately 5 10 seconds between the moment in which the drive extinguishes and the next relighting so that the protection s circuit in inrush current has the maximum effectiveness MOTOR S CONNECTION The connection to the motor must be carried out like indicated in the successive figure Use shielded cable to low ability 150pF max and range temperature 105C 3 Thread Ground screen The screen must be connected either from the motor side or the converter side on the appropriate screw of frontal panel For lengths of the motor cable until to 20m is recommended the use of a toroid N 3 coils which includes U V W EPCOS B64290140X830 placed close to the terminal board of the servoamplifier In this way the parasitic currents decreases and the motor bearings life became longer It is important also the connection of the ground thread motor which must be connected on the clip of the motor to be connected also on the drive on the appropriate screw frontal panel IMPORTANT The ground thread motor must be connected directly on the converter in order to go to ground through the chassis of the same one in this a way is avoided to make sliding parasitic high frequency currents on reported to mass cables IMPORTANT For cables longer than 20m it is necessary to interpose a three phase inductance 0 5mH between the servoamplifier and the motor so to decouple the parasitic capac
116. odrive Error 16 Checksum Parameter Error e Corrupted parameter Software Parameters using the browser or data of It is necessary to reload the User manually through the Keys on the frontal panel Error 21 AA 21 Warning e Modality Positioner Verify the postion of the Axis the Axis in Positive End correctness of the set up parameter of Positive End Stroke Positive End of Stroke Position Stroke Software Software Software Error 22 i AA 22 Warning e Modality Positioner Verify the position of the Axis the Axis in Negative End correctness of the set up parameter Stroke Position of Negative End Stroke Negative End of SOR ie Software Stroke Software Error 23 AA 23 Warning Monitoring Causes of the Stop for Emergency Stop forEmergency Code Error 0 Code Error 1 Code Error 2 Code Error 3 Code Error 4 Code Error 5 Code Error 6 Normal Operation NO ERROR Hardware Enable Software Disable User INPUT 3 OFF Start Stop Software End of Stroke User INPUT 5 OFF Auto Manual Abort from Master Servodrive Page 130 EASYfds 800 Digital AC Brushless Servodrive User Manual Identifying Product Label Identification of Serial Number model and size of servoamplifier Servoam Model erial number EASYfds800R20 Current Input 3 phase Line Bar Cog
117. olver procedure Automatic procedure Autophasing Resolver Function which permits to carry out and to verify the Resolver phasing by the use of an automatic procedure The function is enabled only from the keys on the frontal panel and not from the browser Function FF 27 allows putting in phase the electrical angle of the Resolver with the electrical angle of the Brushless Motor with absolute precision this permit a pilotage of the optimized motor in order to obtain the maximum performances in terms of rendering and enslavement Select function FF 27 with disabled converter In the Function there are 2 choices HAND Autophasing Procedure assisted with manual regulation of the mechanical angle Resolver AUTO Autophasing Procedure assisted with digital regulation of the mechanical angle Resolver If the choice HAND is the one carried out proceed as it follows At the demand enable to enable the converter FF 27 HAND PHASE EnABLE It starts the procedure of verification of the phasing and steps are executed the steps number depends on the Poles Number of the used motor If the Number of the Motor Poles is unknown it is possible to determine it observing the table and confronting the count Number found during the execution of one step as from table N Motor Poles Count s Number Step s Number typical for step Carried out in AutoPhasing Test 2 171 6 4 85
118. on and the soft behavior For very low KE values next to the value 1 the position ring could have an insufficient gain to exceed the frictions with consequence of not perfect attainment of the position Therefore in case of axis with elevated friction is recommended value of KE a not inferior to 40 If during the positioning it is observed that the axis stops on the point with Overshoot beyond the point and then it returns behind in order to place correctly it means that the Proportional gain Ring of Speed FF 10 is too much low try to increase until to the optimization or the time of Deceleration is too small to increase FF 51 Min 00000 gt Max 00200 B a Endat Sickert A i eraot Stoker Set Positioner Gain Loop 2000 Servo Eror ert 5 Max Pos Eror crt KE Positioner Ring EE Le Set Positioner Servo Error SET SERVO ERROR Set up N of count to determine Servo Error of the Positioner The N of count for motor turn depends on the N impulses turn Emulation set up Encoder As an example if set up 1024 is recommended a Servo Error of 1024 4096 count which corresponds to 1 motor turn to 4 turns The Error Servo Positioner is previewed during the dynamic movement The Max Positioning Error is previewed when the Positioner reaches the point the Positioning error can depend from too small Ke or from Offset calibration Littler is the Servo Error and greate
119. on frontal panel screen of cables CONNECTION RESOLVER Use cable E cable with 3 single twisted and singularly shielded coppiole screen Connect the screen on the chassis of the bulb connector length max 20 m Page 136 EASYfds 800 Digital AC Brushless Servodrive User Manual CONNECTION NET Cable B Using external filter EMI Cable shielded between the clips net income of converter and filter Using inner filter EMI to the converter cable not shielded CONNECTION NUMERICAL CONTROL Use cable C shielded whose screen groups all the logons IMPORTANT Connect the screen either on the converter or on the CNC chassis bulb CONNECT TO EARTH the CHASSIS OF the CONVERTER stocking Page 137 EASYfds 800 Digital AC Brushless Servodrive User Manual AUTHORIZED RETAILER Page 138
120. on is clearly less precise 3 At the zero point is attributed the quota Zero Preset default 0 In this way it is possible to move the Zero in whichever point of the stroke independently from the physical position in which the Zero axes is made 4 If Zero Home Enabled the axis goes in position of Zero Home Zero Home is referred to the annulled and preset up axis 5 The End stroke software becomes active after Zero setting and Preset Selection of the Modality of execution Zero axes RESol Zero Axes Zero On Resolver Pulse MAX PRECISION of Zero setting Axis Search of the Zero Cams in one predefined direction with the sign of the programmed speed for execution Zero axes When the Axis finds the Proximity of Zero it exceeds it and inverts the movement when it exits from the Proximity it recognizes the forehead of reduction of marks and goes searching the first notch of Zero Encoder Emulation To the acknowledgment of the notch of Zero Resolver the counting are annulled CannE Zero Axes Zero on Out From Zero Cams STANDARD PRECISION of setting Zero Axes Search of the Zero Cams in one predefined direction with the sign of the programmed speed for execution Zero axes When the Axis finds the Proximity of Zero it exceeds it and inverts the movement when it exits from the Proximity recognizes the forehead of reduction of it annuls the counting Page 75 EASYfds 800 Digital AC Brushless
121. oo elevate values will rend axis noisy The most commonly usual values of formulation are comprised between 1 and max 10 FF 10 Min 1 0 Max 30 0 Set Velocity Loop Proportional Gain A when the axis closed in ring of Position in order to improve the enslavement in stop position it is necessary to set up the correct Derivative Gain on the Numerical control if the Derivative Gain is excluded or not correct set up the axis can derive the position for Offset Confront the measures visualized with SCOPE Function on Browser PC EASYfds 800 Function AUTO TUNING Velocity Loop amp It is possible to carry out the regulations of the Speed Loop in automatic way using the Browser and the appropriate Function Auto TUNING It is necessary to carry out the logon from the Browser towards the Servodrive Hardware Enable and Software enable ON Launch the application selecting the function Auto TUNING It starts an Automatic procedure in which the optimal parameters of the ring are found and set up Velocity Loop In order to record in permanent way the parameters is necessary to carry out the parameters STORE Function STORE Function Auto TUNING Page 52 EASYfds 800 Digital AC Brushless Servodrive User Manual Function Digital Scope A Offset Single Mode Ea Command Speed n z Signal Command Speed Scale 800 rpm division Re
122. ors materials films in plastic man made fibers etc before handling the converter unload to mass the own electrostatic charge as an sample through a grounding wire part Page 10 EASYfds 800 Digital AC Brushless Servodrive User Manual EUROPEAN DIRECTIVES AND NORMS The servoamplifier for brushless motors series EASY rps 800 is a component destined to the exclusive assembly on electrical systems blots in the industrial field In case of assembly on machinery systems the consistent use of the servoamplifier is prohibited until when it comes established that the machine system satisfies the requirement sets up from the Directive Blots 98 37 CE and the Directive in matter of Electromagnetic Compatibility 89 336 CEE Norms EN61800 3 EN50081 2 EN50082 2 must be observed amp DANGER The producer of the machinery system has to realize an accurate risk analysis for the machinery and to adopt the necessary measures so that eventual unexpected movements do not cause damages to persons or to things The Directive on the low tension 73 23 CEE inherent to the servoamplifier demands the respect of the norms harmonized of series EN 60204 1 and EN50178 The observance of the limit values demanded from the directive in matter of electromagnetic compatibility of the system machinery or switchboard is under the responsibility of the producer of the system machinery or switchboard This documentation contains the indications for an installation in comp
123. picture Exe Te uar Paes c Encoder pulse Boke Daal rake Motion Direction Digital compensation Autophasing Resolver Resolver Phase Page 67 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 28 Monitoring Show Encoder Count to 1 Turn Function which allows visualizing counting of the Emulation Encoder with indication of the sign within a motor turn Function which concurs to verify the correct logon of the Resolver wiring It is sufficient to verify that the sign of the Count visualized on the Display at Function FF 28 is positive clockwise spin motor seen from the drive shaft The counting visualized is consequence of the motor N count turn set up at the FF 03 To every motor turn in correspondence of the heel of 0 Encoder the count are annulled so that it is possible to make all the verifications of the case within a motor turn FF 28 1024 29 Running Mode Normal or Wave Form or TYPE of Positioner It indicates the Working Modality Operation of the Servoamplifier gt NORMAL SERVODRIVE Standard Working in which the servoamplifier is programmed in order to work in Speed modality or Brace with commando of Reference which can be External or Inner gt POSITIONER Positioner working in which the servoamplifier is programmed in order to realize a Servant of Position with 3 modalities of operation
124. pm motor 6 poles For applications in which it is necessary a current demand greater than the I nominal for a time greater than 0 4 sec is better to program the moving of the axis at an speed bigger than 250 rpm in order to obtain the advantage of having at disposal the current I MAX for a greater time Page 46 EASYfds 800 Digital AC Brushless Servodrive User Manual A Select HC Lt Low Current Low Time I Nominal motor lt 50 Size when the set up value of the Nominal Current is smaller than 5096 of the I Nominal current of size servoamplifier and the minimal spin speed of the motor is greater than 250 rpm during the phase in which it is demanded elevated current for long time Sample EASYFDS 800 size R08 Motor I Nominal 3A Min Speed greater than 250rpm Select HC Lt because the set up current for the motor 3A is smaller than 50 of the I Nominal current of size and the Min Speed is greater than 250rpm amp Select HC Lt High Current low Time I Nominal motor gt 50 Size when the set up value of the Nominal Current is greater than 50 of the I Nominal current of size servoamplifier Sample EASYFDS 800 size R08 Motor I Nominal 6 5A Min Speed greater than 250rpm Select HC Lt because the set up current for the motor 6 5A is greater than 50 of the I Nominal current of size and the Min Speed is greater than 250rpm Select LC Ht Low Current High Time I Nominal motor 50 Size when the set up value of the
125. program step ordered from Remote unit If it comes carried out the connection of the Digital Link Multidrop they can be controlled until to N 15 servoamplifiers expansible until to N 23 in Remote Positioner modality with a single serial logon towards the controller which can be a PC Industrial Computer or PLC In order to execute the program steps it is necessary to have executed the Zero Axes The enslavement happens with resolution within 1 count The resolution depends on the N count set up turn Min 128 until to max 16 384 Count turn The maximum excursion possible of the axis corresponds to 8 000 000 Count Page 69 EASYfds 800 Digital AC Brushless Servodrive User Manual 300 04 E Normal Servo Drive ve Normal Servo Drive Nominal Current A Inputs PTP Positioner Maximum Current A Input STEP Positioner Remote PTP Positioner Remote STEP Positioner Remote Speed Set Wave Form Gen Setting of Working Modality Time kT Gair Current Loop Gain Mechanical Resonance FF 30 Set Internal Wave Form Acceleration Time Time T1 Set the acceleration time Wave Form simulation Speed s Profile Function which concurs to set up the time of acceleration deceleration of the Speed Profile in the way of operation Wave Form inner Generator Used for Test The setting 0 mS permits to simulate an order at step Setting T acceleration deceleration min 0 mS max 2 000 mS FF
126. put 2 1 The Converter regulates a Force or a Brace proportional to the V reference order coming from the Numerical control or Axis Card in this case the Converter cannot enslave a Position It is necessary to introduce an appropriate Algorithm SW on the control of Position CNC when it is ordered a Brace rather than a Speed In the working in Brace the gain of the Loop of Position must be excluded to avoid that an Error of Position is accumulated The gain of the Position Ring must be restored when previewed in Speed working Slave Modality Set up Option N 2 FF56 through the keys of the frontal panel of the Converter Carry out the Store FF39 When the Option in object is selected the converter becomes Slave of the Master Converter Set up Function FF14 at value 3000 3000 Set up the sign of opposite value to the set up one on the Master Converter it is necessary when the Slave motor is mechanically bounded and the spin sense is opposite to the one of the Master motor in order to obtain the push in the same direction Sample If the Master Converter is set up FF14 3000 the Slave Converter must be set up 3000 Sample If the Master Converter is set up FF14 3000 the Slave Converter must be set up 3000 Set up the Max Slave Current FF11 25 of the current set up on Master Converter Sample Imax FF11 Master Converter 16A set up Imax FF11 Converter Slave 4 0A When the Converter is set up as slave enables
127. r sess 73 gt Setting up stop time Positioner in emergency condition sess 73 gt Setting up Zero axes Mode selection 1 1 1 sse 74 gt Manual Control JOG From converter buttons sss 75 gt Setting up Position s points Point to Point and Software End of Stroke 76 gt Setting up Position s points Step 77 gt Setting p s Sea pei ava patio E dn 78 gt Setting up execution speed Zero axes 79 gt Setting up Moving Speed Manual JOG 79 gt Setting up Positioner acceleration time Rates reci qu pce tei rere eon 80 gt Setting up Positioner deceleration time esses 81 gt Setting up position s Gain ring KE 7T 82 gt Setting up Servo Error 1 DG Ene ba RE reve ru Lad 82 Visualization of Digital Input State Input 1 t Input 83 gt Visualization of Digital Output State 85 gt Setting up Speed of profile of electronic cams Speed 85 gt Setting up and visualization Options operation Modality osse 86 gt AutoTuning Speed loop Gain sss 87 gt Visualization Size Servoamplifier SIZE
128. r ignited drive RISK of DEATH amp ATTENTION Wait at least 5 minutes from the moment in which the feeding Power is removed the inner abilities must be unloaded before operating on the connections Motor Net external Brake Resistance optional Page 27 EASYfds 800 Digital AC Brushless Servodrive User Manual ATTENTION Do Not open the converter dangerous tensions are present inside There are not any fuses but only electronic protections for this reason it is not necessary and possible to carry out a simple substitution fuse or repair In case of checking of opening or tampering of the converter the guarantee will decay As regards the electrical connections it is possible to refer to table WIRING DIAGRAM at page 30 CONNECTION 400 500 VAC LINE It s necessary to insert fuses in series to the line as protection from eventual short circuits using the correct series to 500 VAC use the table at page 21 Depending on the applications it can be necessary to insert an additional net filter in order to render the system compatible with the norms EMC It depends on the cables and on the disposition of power s cables and net into the switchboard or into the closet in the servoamplifiers is requested a net filter on board which that in the most part of the cases is enough if the wirings and groundings are correct The local pOwer source inside of the converter requires a circuit which limits the current to the i
129. r EAS Yrps 800 visualizes automatically the Function FF 40 which corresponds to the Monitoring Function In the normal working when the converter is stopped and there are not errors on the Display appears the written disab When the drive is starting Enable 1 the display indicates the written 01 GO The Display indicates also the angular position of the rotor brushless motor using the last number with the ignition of a single segment the sense of spin of the segment indicates the sense of spin of the motor If the display it flashes during the use of a function different from the one of monitoring FF 40 it means that an error is happening In order to visualize the error it is necessary to select function FF 40 monitoring every error comes recorded and visualized in accordance with the table on page 23 Selection of Programming Function from Frontal Panel It is possible to select the function that one agrees to modify or to visualize using the keys SEL UP DOWN 1 green key 2 Blue keys placed on the frontal Panel Thegreen key SEL itis useful to select the function to visualize or to program The blue key UP itis useful to select a function of increasing number The blue key DOWN it is useful to select a function of decreasing number At each start the converter visualizes automatically the Function FF 40 to select another function press Green key SEL therefore press one of the two Blue keys UP or
130. r is the possibility that this takes part during phases of acceleration deceleration in the event the axis is not calibrated correctly Page 83 EASYfds 800 Digital AC Brushless Servodrive User Manual In the event of Servo Error the axis arrests in the minor time possible It indicates error FF 14 the Error is marked through Output 2 0 open transistors FF 52 Min 00000 gt Max 20000 Count Set up Max Positioning Error FF 53 Monitoring Digital INPUT 1 to INPUT 8 SHOW USER INPUT Using the Browser EASYfds800 it is possible to visualize the State of Input 1 input 8 The Input depending on the operation modality Normal Servodrive or Positioner has different function In Positioner Modality they assume function at right as in figure Monitoring Digital INPUT 1 to INPUT 8 It indicates the status of Input on the display A It is useful to verify the Input and the correctness of the harness Page 84 EASYfds 800 Digital AC Brushless Servodrive User Manual DISPLAY FUNCTION STATUS STATUS FF 53 00001 IN1 Jog ON gt Active OFF gt Disabled 00002 IN2 Jog ON gt Active OFF gt Disabled 00003 Start Stop ON gt Active OFF gt Disabled 00004 INA Zero Proximity ON gt Active OFF gt Disabled 00005 IN5 Auto Jog ON Active OFF Disabled 00006 IN6 Servo Error Disable ON gt
131. r which can be one of the following 5 possibilities Replay Name Description a OK The order has been accepted and the checkSum is correct b Rejected The order has been receipt correctly but it has not been accepted Sample if you order a positioning before while the starting is in manual modality INPUT5 OFF Cc UnKnow_cmd The order has been correctly receipt the cheksum corresponds but the order code is unknown d UnKnow argument The order has been correctly receipt the cheksum corresponds but the code of the argument connected to the order is unknown x CheckSum error The string has not been correctly receipt Page 104 EASYfds 800 Digital AC Brushless Servodrive User Manual Dati This field is present only in the orders which demand it when you read something from the starting and is constituted from hexadecimal values converted in ASCII byte 8bit converted in 2 ASCII characters word 16 bit converted in 4 ASCII characters long word 32 bit converted in 8 ASCII characters This field is omitted when the code of the replay is different from a EOT Single character 0x04 which indicates that the useful data are finished and that the 2 which will follow are the checksum This character can be produced from the keyboard of a PC pressing the key D while the CTRL is pressed CheckSum Two characters deriving from the conversion in ASCII of the B
132. rectness of set up of parameter gain speed s loop Verify Vreference Value Error 09 Follower Encoder Error Previewed error only if used external Encoder for elliptical Axis Connection Encoder Input Follower interrupted or wrong Wrong Feeding Tension of external Encoder Verify the connections Encoder Input Follower Verify the correct value of feeding tension of external encoder Error 10 Digital Encoder Transducer Error Previewed error only if used transducer Encoder instead of Resolver Connections Digital Encoder interrupted or wrong Wrong Feeding Tension of external Encoder Verify the connection of Income of Digital Encoder or Facoder used as Motor transducer Verify the correct value of feeding tension of external encoder Error 14 Servo Error Positioner The Axis stops accidental or at cold The Axis stops during acceleration Or deceleration phases or during the positioning Stop Emergency during a positioning Verify the Cinematic fictions mechanical stumbles Wrong Set up Servo Error increase the Count N Error Wrong Gain KE Speed Verify stop causes visualize function FF 71 Page 129 EASYfds 800 Digital AC Brushless Servodrive User Manual Error 15 Checksum Calibration Error e Corrupted Calibration Software of in repair factory Data of gt It is necessary to send the serv
133. rness emulation encoder perfect correspondence of signals UA UAM UB UB 00 UO Correct eventual errors Page 124 EASYfds 800 Digital AC Brushless Servodrive User Manual You cannot read the counts of emulation encoder on CNC Error of harness emulation encoder or lacking connection The Done Connection is not conforming to RS422 Lacking connection of screen cable emulation encoder Lacking connection GND CN3 25 with mass CNC Verify the harness emulation encoder perfect correspondence of signals UA UA UB UB 00 UO Correct eventual errors Verify income circuit CNC it has to be previewed Line Receiver type 26LS32 verify ending Resistors Verify that the screen cable emulation encoder is connected to the shell of CN3 and at motor side Very important Verify that the connection between GND CN3 25 and GND of the income circuit CNC has been made When the axis is moving it loses the counts of Lacking connection of screen cable emulation encoder Verify that the screen cable emulation encoder is connected to the shell of CN3 and at motor side emulation Encoder The Done Connection is Verify income circuit CNC it has to not conforming to RS422 be previewed Line Receiver type 261 532 verify ending Resistors Lacking connection GND Verify that the connection between CN3 25 with mass CNC GND CN3 25 and GND of the income circuit CNC has been made Modalit
134. roximately 4 seconds then the speed passes at 100 of the one set up This utility is useful to be able to make of the precise and near positioning when the point of positioning for auto learning is needed FF 44 Set Capture Point 1 to Point 15 or Software End of Stroke POINT to POINT CAPTURE It is the function which permits to record or to set up the Points of program execution Home Position and end stroke software Points of execution program N 15 Points of positioning Point 1 Point 15 The point is selected to which the positioning is wanted to be associated as example the point 1 will be recalled from the state Input 1 etc is possible to find the point for auto learning moving itself in Modality JOG once caught up the point execute the memorization of the same one holding pressed the green key on the frontal converter In alternative the position can be calculated in analytical way and therefore the point quota can be set up through keys on the frontal converter or through the program browser on the PC and then memorized Home Position It is the Homing position the point in which the axis is after to have executed the zero axes and it can be considered the point of departure of Program execution It is possible to find the point for autolearning moving itself in Modality JOG once caught up the point execute the memorization of the same one holding pressed the green key on the frontal converter In
135. rrent towards the Motor it acts in Linear and Proportional way to the tension present at REFLIMIT Income gt OVin no Current Limitation gt 10Vin corresponds to the Max limitation nOr AL STANDARD NO ENABLE External Reference LIMIT SPEEd SPEED LIMIT Cur nt CURRENT LIMIT FF 66 Type External Reference LIMIT nOr AL External Reference LIMIT NO ENABLE STANDARD SPEEd SPEED LIMIT OVin 0 Limit 10Vin 100 Limit Cur nt CURRENT LIMIT OVin 0 Limit 10Vin 100 Limit Ext Ref Limit Set Type External Reference LIMIT Normal v Speed Limit Current Limit Page 93 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 67 Set Jog Mode Speed Function which permits to select the working Modality in JOG nOr AL the Normal Modality at constant Speed dUAL Modality with 2 Speed Step FF 67 Jog Mode Speed nOr AL Normal Modality at constant speed dUAL Modality with 2 speed step Step1 Initial Speed reduced at 10 for 4 seconds Step2 Speed at 100 set up for JOG execution Time E Set Jog Mode Speed FF 68 Set Acceleration Time Modality Remote Speed Mode Function which permits to select the Acceleration time in the working Modality Remote Speed Mode Min 00010 10 revolution s2 Max 10000 10000 revolution s2 FF 68 Min 00010 gt Max 10000 Set Acceleration T
136. rushless Servodrive User Manual Error 03 Intervention of Protection IxT Mechanical blockage of starting Excessive friction of starting Insufficient Dimension of the motor or of the mechanical reducer Verify the mechanics all Axis long so that there are not any rupture or mechanical stumbles Verify that the connection U V W of the motor and the N Motor Poles are not exchanged Verify the mechanical regulation in general and in particular the guides ones air pressure if air sliding block are used Verify the starting dimension taking note of the frictions and of the effective rendering of the reducer Error 04 Error Resolver Resolver Damage Wrong connection or lacking connection of resolver CN2 Resolver Cable with excessive length or of wrong type Verify Resolver on Motor If the signal is present also with stopped motor It is probable a damage Verify the connection Resolver as indicated on the handbook and the continuity from motor to CN2 Verify that cable is of the indicated kind in the manual If the length gt 20m contact the constructor Error 05 Overcurrent Short circuit on motor or between Phase Phase or Phase towards ground Short circuit on motor cable Or on the connections Motor cable of excessive length 20m Motor cable with eddy current capacity gt 150pF m Minimum Value of inductance of charge inferior to 2 5 mH Damage on power c
137. s way the inner electronic circuits will have reached the thermal stability Select working modality FF 29 Normal Normal Servodrive Select working modality FF 05 In Internal V Reference Select working modality FF 14 0000 Speed 0 Enable the converter EASY FDS 800 select FF 15 and launch the AUTO function It starts the automatic procedure of calibration and on the display the counting Encoder Emulation appears which will increase or vice versa when they will be stabilized at a fixed value the calibration is finished Therefore hold pressed green key SEL for some second until the display flashes as confirmation of the happened programming Select working modality FF 39 Store Permanent recording Restore functions FF 29 FF 05 FF 14 to the original values or of the application Vref Max Speed rpm Ramp Time ms Proportional Gain Integral Gain Set Automatic Offset Compensation Auto Tuning Page 58 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 16 Set Ramp Time External V Reference Function which permit to introduce a programmable ramp s time from 30 ms to 2 000 ms on external V Reference reference It is possible to visualize the state of the Option at function FF 56 or on Browser PC The Ramp s Time of set up permits that with a signal with applied step to the income external V Reference is produced a ramp of equal time to that one set up in order to reach
138. sable Enable cycle isn t reset FF 11 Min O gt Max gt Size Servoamplifier Set Max Current eo aa Maximum Current FF 12 Set Nominal Current Function which allows setting up the Nominal Current or continuous Motor To set up the distributed continuous current from the converter it is necessary to verify the current of plate of the motor then to set up the value correspondent to the Stall Current Page 55 EASYfds 800 Digital AC Brushless Servodrive User Manual amp If a higher current is set up the motor could endure damages due to overheating For modality of S1 operation medium current absorbed from the motor elevated because the kind of job in which is demanded an elevated continuous brace pay attention to the dimensioning of motor servoamplifier to have sufficient margin of operation which avoids the presence of protection IXT FF 12 Min O gt Max s Size Servoamplifier Nominal Current A Maximum Current A Set Nominal Current FF 13 Set V Reference Value 7 0 10 0 V Function which allows setting up the nominal value of the external V Reference Inserting the corrected value the drive car can be adapted to the set up value Optimizing the answer to the speed order coming from the axis card of the numerical control SAMPLE Nominal V Reference card axes 8 50 V 3000 motor Rpm Set up in function FF
139. t 1 Input 8 mA Vde Digital Input Income High 1 permission N 8 Digit Input Opto insulated Input current 20 mA 12 to 24 Vdc Input Output 1 Output 4 mA Vde Digital Output 50 mA 24Vdc N 4 Digital Output opto insulated Closed x Output 1 Danger Pay attention to polarity of opto insulater Page 21 EASYfds 800 Digital AC Brushless Servodrive User Manual DYNAMIC PERFORMANCES Velocity loop bandwith Hz 300 Hz Current loop bandwith Hz 3000 Hz V refer input bandwith Hz Settable on 2 levers 300Hz Velocity mode 3000 Hz Current mode Linearity Better 0 3 Max speed setting Rpm Resolution 12 bit 14 400 rpm Max Speed Tracking rate Resolution 14 bit 3 600 rpm Resolver Resolution 16 bit 960 PROTECTION Overvoltage DC Bus Undervoltage DC Bus AC Failure Overspeed Termichal Convertor Termichal Motor Short circuit between phase motor phase and towards ground Overcurrent Motor Overcurrent braking resistance Ixt Erred connections Resolver Erred connections Facoder Erred connections Digital Encoder Error Servopositioner End stroke Software Forward and Reverse Positioner Page 22 EASYfds 800 Digital AC Brushless Servodrive TECHNICAL TABLE OF SERIES EASYrops 800 User Manual NOMINAL VALUE Type R04 RO8 R12 R16 R20 R24 R32 R40 R50 R80
140. t cycle TYPE A If you want to set a performing cycle TYPE As in the pictures Positioner Node 1 Referring to standard order string lt STX gt node order argument data lt EOT gt lt checkSum gt lt ETX gt MASTER gt Positioner lt STX gt 1 10 0 0 0064 00C8 00002710 0064 00003A98 0096 00004E20 0064 00007530 lt EOT gt 57 lt ETX gt Positioner gt MASTER lt STX gt 1 lt EOT gt 96 lt ETX gt In this case the order has been accepted Page 117 EASYfds 800 Digital AC Brushless Servodrive User Manual Order of Start Drilling Cycle This order let start the drilling cycle previously set up and finishes with the coming back on the starting position of the same cycle When the order start drilling cycle has been sent It is possible to settle a new drilling cycle while the actual is working If it is necessary to do more equal drilling cycles it is enough to send each time the order Start Drilling Cycle without re settle it This order can be sent also before to execute the Zero axes paying very attention Before to send this order it is necessary to verify and eventually wait for the Positioner status is in idle Obviously the positioned has to be in AUTO Input5 ON and the starting is synchronized from Input 3 ON as the normal positioning point to point The order of positioning abort previously described aborts also the drilling cycle Order Code 0x11
141. tal AC Brushless Servodrive User Manual INDEX Page lt SUMMATY E E 6 Safety s indications Mme 11 Directions and Europeans Laws Agreement CE TUV emc ose pata tas Regulation EMC des ea Reference law EN 50082 2 restricted distribution Conforming Usage of Servoamplifiers series EASYfds 800 MORE Carriage SUC ocio ene aterert roe opu cca caet dti fedi Mechanical open PRODR REO nni bat anni 16 Picture ipii pd series EASYfds 800 R24 esed 7 Introduction 7 Sone a E uS Models list series EASYfds 800 E Technical Characteristics etu p Noa eee anne Dynamic Performances MEER 21 2 a a aaa a L Technical data table ND Environment Conditions and ventilation requested WORDS Regulations and sections of motor cable and net I Regulations and sections of Resolver cables and control ATA 25 Regulation Fusibles Income 25 a l sta llati C 26 Connection t the NP s ta arsenate cine taste oma Marca
142. tandard No Position Recovery from Disab FF 57 Set AutoTuning Velocity Loop Gain Function which permits to determine in completely Automatic way the optimal Set of the Velocity loop Gain it can be used to optimize the performances of the Axis The completely Digital procedure previews a functional Test of the Axes the Servodrive puts into effect a movement of the Axis depending on a particular Algorithm The Servodrive EASYfds 800 finds the dynamic characteristics Mechanical Inertias At the end of the procedure the optimal Set of the Velocity loop Gain is set up to record in permanent way the parameters it is necessary to carry out the STORE FF 57 EnAb E AutoTuning Velocity Loop ERES BE Gain set 1 Page 88 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 58 Monitoring SIZE Servodrive Function which visualizes the Servoamplifier Size FF 58 50 100 FF 59 Set Digital Node Address It assigns the Node digital Address for the logon Digital Link Multidrop Function which must be programmed from the user in order to assign to the digital address to each servoamplifier in the use modality in digital logon Multidrop e t is forbidden to assign to the same address more servoamplifiers because it could cause a conflict between more servoamplifiers and block as consequence the line of digital co
143. ted in 8 ASCII characters EOT Single character 0x04 which indicates that the useful data are finished and that the 2 which will follow are the checksum This character can be produced from the keyboard of a PC pressing the key D while the CTRL is pressed CheckSum Two characters deriving from the conversion in ASCII of the Byte correspondent to the sum of all the transmitted characters ASCII excluded STX and ETX see following example ETX Character of end string which corresponds to a byte 0x03 This character can be produced from the keyboard of a PC pressing key C while the CTRL is pressed Page 103 EASYfds 800 Digital AC Brushless Servodrive User Manual ANSWER from Positioner to PLC PC Each answer is composed from a string with the following structure lt STX gt node replay data lt EOT gt lt checkSum gt lt ETX gt Description of the fields STX Character of beginning String which corresponds to a byte 0x02 This character can be produced from the keyboard of a PC pressing the key B while the CTRL is pressed Node Single character ASCII which identifies the Positioner from which comes the answer It can have one of following Values a T 4 a 6 9 Tos 0 FP and it identifies positioners NODE 1 NODE 15 respectively No starting can have node zero because it is only for the BroadCast Replay Single ASCII characte
144. the Positioning Step executed in a turn do not correspond to a complete turn It is necessary to resynchronize the first Step at each new turn of the table in such way that although the Steps are not an exact sub multiple of the turn table it is possible to recover the mechanical difference digitally FF 45 StEP 1 StEP7 FF 46 Set Positioner Speed SET SPEED POSITIONING PROGRAM Set up execution speed program in the modality Point to Point or Step The max speed programmable depends on the set up resolution of Resolver Resolver Resolution 12 Bit 14 400 Rpm max recommended max 13 200 Rpm margin 10 Resolver Resolution 14 Bit 3 600 Rpm max recommended max 3 300 Rpm margin 10 Resolver Resolution 16 Bit 900 Rpm max recommended max 800 Rpm margin 10 For motor speed until to 3 000 Rpm it is recommended the resolution 14 Bit For motor speed higher than 3 000 Rpm it is necessary to set up resolution 12 Bit amp In modality Remote Positioner this Function has not effect because the performance data is digitally transmitted through the communication protocol FF 46 Min O gt Max Resolver Resolution Bit 3500 Speed tpr Acc Time ms Set Positioner Speed Dec Time ns amp 100 StopEme Time ns Points amp Steps 500 Jog Speed pm Page 79 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 47 Set
145. the acknowledgment of Input 1 for the working with full current during pushing phase When Input 1 0 unconnected or set up at 0 the Slave Converter works with Imax reduced at 25 during the translation of the axis It is useful to have the max dynamics in the translations When Input 1 1 The Slave Converter uses the full current in the phase of push The Input 1 must be enabled exclusively during the phase in which it is necessary the max push Motion Direction The Converter works in Normal way as single axis the spin sense of the motor is determined from the sign in the FF14 The Selection Motion Direction can be carried out from Browser PC It is possible to invert the motion of the Axis through the digital income Input3 it is necessary to set up to function FF56 6 see page 86 Page 132 EASYfds 800 Digital AC Brushless Servodrive User Manual Input3 0 Normal Direction Input 3 21 Reverse Direction Enclosure AXIS FOLLOWER Electrical Axis If there is a mechanical rigid constraint between the servodrive Master and Axis Follower it is necessary to set up the Function Master Slave FF 56 gt gt choose option 3 Condition 1 There are NOT rigid mechanical constraint between Master and Axis Follower Sample of Application Mechanical Portal in which there are 2 Motors placed at the extremities fastens with pinion and rack The two Motors turn in opposite direction Master in positive se
146. tion Master Slave of 2 Servoamplifiers Condition NOT mechanical constrained motors 00008 Master with Ramp Velocity Reference Option for the application Master Slave of 2 Servoamplifiers insert ramp time for External V Reference Tension Condition NOT mechanical constrained motors 00009 External Encoder Slave Follower Option for application Electrical shaft At the start the servodrive is servant at position 0 it remains waiting for the confirmation IMPUTS When INPUTS 1 ON the servodrive synchronizes and follows the position reference coming from external encoder or Master Servodrive 00010 Standard Positioner No position recovery from Disable Servodrive in Positioner modality Option in case of ENABLE 0 It permits to do manual moving of the axes the position loop ignores the counting and when the servo drive is enabled ENABLE 1 it enslaves itself in position found at the enabling moment and it does not enslave itself in the previous position when the servodrive was disabled Page 87 EASYfds 800 Digital AC Brushless Servodrive User Manual EJ AC Brushless Servodrive Browser EASYfds 800 q R 9 E 4981 Serial N Options VIsualizing Standard Ramp Slave Master Torque Reference Master with Ramp Torque Reference Speed Rate Motion Reverse with Input3 ON Master Velocity Reference Master with Ramp Velocity Reference Extemal Encoder Slave Follower S
147. to decelerate in diversified way In Remote Positioner modality this Function has not effect because the data of performance are digitally transmitted through the communication protocol FF 49 Min 20 Max 10000 ms Normal Servo Drive Set up time of Positioner acceleration Page 81 EASYfds 800 Digital AC Brushless Servodrive User Manual FF 50 Set Positioner Deceleration Time SET DECELERATION TIME EXECUTING PROGRAM Set up acceleration time for execution program Point to Point or Step The set up time acceleration defines the time which the axis employs to reach the programmed speed from 0 to speed max It is recommended to set up acceleration times min 100ms until to max 2 000ms Small acceleration times renders the axis very fast in acceleration this can be useful for applications in which it is very important to employ the less time possible for the Positioning In this case more decreases the acceleration time more increases the current to the motor in fact the necessary current to accelerate the axis depends either from the Inertia Charge or from the acceleration time For correct use it is necessary to set up the acceleration time so that the current to the motor is at max 80 of the Imax converter during the phase of acceleration to have a sufficient margin of correct regulation of rings position and speed In case of moving liquids or other material sensitive to h
148. ventilation For Temperatures higher than 45C decrees the Imax current of 3 for each exceeding C Sample EASYfds 800 R20 Temperature max 55C Setting I MAX 28A max 55C 45C 10 1C 10 10C 3 decreasing x 10 30 decreasing Imax I 40A 30 28A max Working atmospherically dampness Relative dampness max 95 without condenses Installation height Until 1000m on sea level without any limitations From 1000m on sea level until 2500m on sea level it is necessary to decrease the Imax current of 1 596 each 100m Sample EASYfds 800 R20 installed at 1900m on sea level Setting I MAX 34 6A max 1900m 1000m 900m 100m x 9 900m 1 5 decreasing x 9 100m 13 5 decreasing Imax I max 40A 13 5 34 6A max Protection level IP 20 Soiling level Soiling level 2 as EN60204 EN50178 Ventilation Assure the forced air recirculation on the switchboard in order to guarantee max 45C of inner temperature into the closet In particular environmental conditions it can be necessary to install an air conditioner Page 24 EASYfds 800 Digital AC Brushless Servodrive User Manual REGULATION OF MOTOR CABLES AND NET INCOME Connection s model Cables section Cables characteristics Connection Three phase Net EASYfds 800 R04 1 5mmq 600Vrms 10
149. wer Pin 9 ENCODER Input B ENCODER External Line driver required 26LS31 or similar Pin 10 ENCODER Input A ENCODER External Line driver required 26LS31 or similar Pin 11 TERMICA 2 TERMICAL MOTOR Pin 12 5V Supply External Encoder 5V Supply External Encoder Follower Pin 13 N C N C Pin 14 ENCODER Input B ENCODER External Line driver required 26LS31 or similar Pin 15 ENCODER Input A ENCODER External Line driver required 26LS31 or similar CONNECITON CHECK CN3 Use cable with twisted and single shielded coppiole t whole screen Lmax 10 20m Connector 26 ways high density bulb Flying male CN3 Connection s denomination Pin 1 REFERENCE 10V max differential 10Kohm impedance Pin 2 REFERENCE 10V max differential 10Kohm impedance Pin 3 GND GND Pin 4 GNDENABLE OV income Enable It can be connected to gnd Pin 5 ENABLE Input Enable range 15 24V Enable 1 Pin 6 FAULTI Output Fault opto insulated collector Income 24 50mA max Pin 7 FAULT2 Output Fault opto insulated issuer Exit 24V 50mA max Pin 8 15 VOUT Output voltage 15V 15 50 mA max Pin 9 15 VOUT Output voltage 15V 15 50 mA max Pin 10 OUT MASTER Output Master Servodrive to Slave Pin 11 GND GND Pin 12 OUT MONITORING 2 Programmable analogic exit Monitoring Pin 13 OUT MONITORING 1 Analogic exit Motor speed Mon
150. while if programmed from 0 to Rpm it will obtain the motor spin in counter clockwise sense Set up sign for motor spin in clockwise sense positive push if set up in Brace Set up sign for motor spin in counter clockwise sense negative push if set up in Brace For applications in which the used speed of the motor is inferior to 900 Rpm and one must have high precision of enslavement and positioning it is possible to select resolver resolution at 16 bit which permits to generate exit Encoder Emulation until to 16 384 Impulses turn Set up the correct value of the motor speed a wrong value causes wrong working FF 14 Min O gt Max gt Speed Motor rpm Set Speed Motor Vref Max Speed rpm FF 15 Set Automatic Offset Compensation Automatic function which permits to correct eventual offset coming from V Reference axis card of the Numerical control It permits to recover eventual Offset insides to the regulation of the converter when it is used in the Positioner modality 2 choices are possible HAND manual regulation through keys Up Down on the panel AUTO automatic regulation of the offset it acts automatically It is convenient to use the choice AUTO because fast and simple to be used NOTE In order to obtain an automatic compensation of offset which is fast and very precise it can be convenient to set up the max available N of count encoder in order to restore a
151. working in Positioner Modality Page 99 EASYfds 800 Digital AC Brushless Servodrive User Manual Communication Protocol RS232 Remote Control General Description It is possible to command until N 15 Servodrives expansible to N 23 through a serial line RS232 connected to a MASTER For MASTER we mean the element which commands the starting which can be a PLC The serial line from the MASTER is connected to one whichever of the starter which transform it in a serial differential line MultiDrop RS485 and spreads it to the others Every connected starter must be marked from a different identification later called NODE which consists in a number 1 15 to set up through keyboard of the starting F59 before inserting it in line multiDrop RS485 If more starters on the same line have the same NODE and the MASTER tries more to communicate the line can be damaged For being able to be commanded from remote the starters must be in one of the following configurations e Remote PTP Positioner e Remote STEP Positioner e Remote SPEED Set In these configurations the MASTER can send of the orders to the starters Only the MASTER is enabled to begin a communication the start never decide independently to begin to transmit but it answers only to precise orders receipts from the MASTER Every order contains into it also the information of the node to which it is directed only the interested start will do the order and will send
152. x 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 120Apk Motor cables from 20 to 100 m max 600Vrms 105C shielded lt 150pF m Insert L3phase 0 5mH 500Apk Motor cables from 20 to 100 m max EASYfds 800 R32 4mmq EASYfds 800 R40 6mmq EASYfds 800 R50 6mmq EASYfds 800 R80 10mmq EASYfds 800 R100 10mmq EASYfds 800 R300 Use Scavi x6mmq 600Vrms 105C shielded lt 150pF m The motor cables must have max capacity of 150pF m and working temperature of 105C Page 25 EASYfds 800 Digital AC Brushless Servodrive User Manual SECTION OF RESOLVER CABLES AND COMMAND CABLES Connection Resolver and Termichal protection motor safety 4 x 2 x 0 25mmq twisted and single shielded whole screen Max Length 20 m If length gt 20m contact the producer Connect the screen directly to shell of bulb connector CN2 and motor side Connection encoder emulation output RS422 LINE DRIVER 26LS31 Differential transmission on salace line It is requested ending s impedance Impedance range 150 ohm min 470 ohm max twisted and sigle shielded whole screen Max Length 20 m If length gt 20m contact the producer Connect the screen directly to shell of bulb connector CN3 and CNC side Command s signals V Reference Analogic differential Income 10V Impedance 10 Kohm 1x2 x 0 25mmq single shielded Max length 10 m If length 10m cont
153. y Lacking Enable Enable the converter Enable 1 Positioner It does not execute the Zero axes Input 5 is not set up in modality Auto Set Input 5 1 On Modality Positioner It does to end the Lacking Connection of Proximity of Zero axes Stop for Emergency Verify Error Code FF 71 Verify the harness and the state of Input 4 using the Browser Zero axes Modality Input 5 is not set up in gt Set up input 5 1 On Point Step modality Auto Positioner The Zero axes have not Execute the Zero axes It does not execute the Positioning been executed Incorrect Input State Verify Input State Page 125 EASYfds 800 Digital AC Brushless Servodrive User Manual Modality Point Step Positioner Servo Error during the positioning Too low value of Servo Error Very high mechanical friction The Set Up Max Current is too low The Gain of Speed Ring is too low High acceleration Set Up Servo Error With bigger value Verify the mechanics Verify the Set up Current and if necessary increase the value Increase speed Gain Decrease the acceleration Modality Point Step Positioner Positioning Error Very high mechanical friction The set up max current is too low The Gain of Speed Ring is too low High Offset Set Up Ke has too low value Verify the mechanics Verify the Set up Current and if necessary increase the value
154. yte correspondent to the sum of all the transmitted characters ASCII excluded STX and ETX see following example ETX Character of end string which corresponds to a byte 0x03 this character can be produced from the keyboard of a PC pressing key C while the CTRL is pressed Page 105 EASYfds 800 Digital AC Brushless Servodrive User Manual COMMANDS The following commands are available Servodrive set up as Positioner REMOTE_PTP_POSITIONER o REMOTE_STEP_POSITIONER The following commandos are available Servodrive set up as Positioner REMOTE_PTP_POSITIONER or REMOTE_STEP_POSITIONER Read data from starting Write data at starting Order of Zero axes Order of Complete Positioning Order of Lite Positioning Order of ABORT Positioning in course Order Set Cycle Perforation Order Start Cycle Perforation Servodrive set up as REMOTE SPEED SET Order of complete Set Speed Commando of Set Speed Lite Write data at starting Page 106 EASYfds 800 Digital AC Brushless Servodrive User Manual Read data from Positioner With this commando it is possible to read the data selected from the Positioner Order Code 0x04 Argument Code of the data to be read See table Data null Table code data to be read Code of the data Size Data to be read 0x00 byte State of the Positioner see table 0x01 LongWord Quota real axis

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