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1. User Manual RS 232 Firmware Milan drwe advanced Servo motor with integral controls User Manual RS 232 Firmware Preface Thoroughly read the present manual and all safety instructions and warnings in particular before installation and commissioning of the servo drive Observe all warning plates attached to the device Please make sure that all warning plates are legible and that missing or damaged signs are replaced For more detailed information refer to Website For technical and general information customers may refer to the following address http www milan drive de Contact In case you have any questions or problems when reading these operating instructions please contact one of the addresses mentioned at the end of these instructions or the sales agent responsible for your area Possibly other functions may be available which are not described in this document However the manufacturer shall not be obliged to provide these functions with a new drive or when performing maintenance work The contents of this document were checked for compliance with the described hardware and software Deviations may nevertheless occur we assume no liability for full compliance with all data The information contained in these documents
2. Max torque Nominal position value Function value min depending on the uit 2 4 Function value max selected function 219 219 4 rpm mNm Interface value min V 10 10 Interface value max V 10 10 Input type 10V 10V 108 GFC AntriebsSysteme GmbH User Manual Configuration group box 13 4 11 Reference operation window RS 232 Firmware Designation field Parameters Unit Parameters Min Max Type None Marker Flank Limit switch positive Limit switch negative Block plus Block minus Reference memory Start Power up First start Manual Input Reference traverse Positive Negative Reference offset system dependent Absolute resolver position Inc Behaviour after reference No operation Approach limit switch positive Approach limit switch negative Approach position Position after ref operation system dependent 271 24 Brake after ref operation No Yes Acceleration ramp Linear Sinesquare Acceleration system dependent 100 2184 Deceleration ramp Linear Sinesquare Deceleration System dependent 100 2184 Output speed speed system dependent system dependent Torque Force system dependent system dependent Reference position system dependent
3. eessssssseeeee eene nennen 85 9 2 Maintenance of the version according to ATEN nennen 85 Disposal and recycling 86 Declaration of conformity and declaration of Incorporation 87 11 1 Konformit tserkl rung f r Antriebe in Ausf hrung nach ATEX Option cccceeeeeseeeetees 89 Literature 90 12 1 Milan user manual een ae ee ea 90 Appendix 91 13 1 TOUDE SKGO EE 91 13 2 FaultS and warnings iui cn nee E E A aa ee ee 93 19 221 Drive Tault windows taceo near nn 93 13 2 2 Drive warning windoW r nneee nennen dann rn 95 13 3 Event buffer assignment Tei 96 GFC AntriebsSysteme GmbH 5 RS 232 Firmware User Manual 13 3 1 13 3 2 13 3 3 13 3 4 13 3 5 13 3 6 13 4 13 4 1 13 4 2 13 4 3 13 4 4 13 4 5 13 4 6 13 4 7 13 4 8 13 4 9 13 4 10 13 4 11 Class 1 Faulls rene cnin i Po eee lan 96 Class 2 Warmings ua 97 Glass 4 MIO 4 es sr an an a pa ee are Ka 97 Glass 8 Paramielers ceci een nen aan haare ehe baa RR ZR ce RR ea oh 98 Glass 16 Command usse naeh neh va iquat ere ka seen 98 Glass 32 Syste 98 Parameter lISts urn aa aind Ei 99 Summary of system units which can be selected and combined 99 Actual vales dle 100 Drive information WiINKOW ccccceeeeeececeeeeeeeeeeeeaeeeeeeeeeteceaaeeeeeeeeeseceeaaaeeeeeeeesecenaaeeeeeeeseseeensaaeess 101 Manual operation windoW en ee an Eee uoa uda
4. 07 2353 Maximum values group box Acceleration ramp Linear Sinesquare Acceleration system dependent 100 2184 Deceleration ramp Linear Sinesquare Deceleration system dependent 100 a Output speed speed system dependent system dependent Torque Force system dependent system dependent Set reference position group box Reference position system dependent a 21 GFC AntriebsSysteme GmbH 109 RS 232 Firmware User Manual 110 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware GFC AntriebsSysteme GmbH 111 Riesa S Bern Cottbus Leipzig Halle N Bautzen me Mei en Coswig B10 NS Flughafen Nossen DD Klotzsche Ost ie DD Neustadt C rs Dresden Siebenlehn S Pirna wem Chemnitz Freital Hof up Eisenach Prag Grenzstrasse 5 Daimlerstrasse 9 01640 Coswig 73760 Ostfildern Tel 49 0 3523 94 60 Tel 49 0 711 34803 0 Fax 49 0 3523 74142 Fax 49 0 711 34803 3034 gfc antriebe gfc antriebe de riester wof auma com Y003 804 001 en 1 11
5. Pay attention to additional national regulations Only remove electrical connections when disconnected from the mains Wait at least two minutes after disconnecting the voltage supply and unplugging the plug socket connectors before opening the drive GFC AntriebsSysteme GmbH 11 RS 232 Firmware User Manual 2 3 Commissioning Before commissioning and test run observe the following points e Ensure that all electrical connections are correctly wired see chapter electrical connection e Ensure that the permissible supply voltage levels at the connections of the power and signal plugs are not exceeded 230 VAC power supply 24 VDC auxiliary voltage for electronics option 24 VDC auxiliary voltage for holding brake fan option e Ensure correct polarity of DC voltage supply During electrical operation certain parts inevitably carry lethal voltages Electric shock risk gt Work on the electrical system or equipment must only be carried out by a skilled electrician himself or by specially instructed personnel under the control and supervision of such an electrician and in accordance with the applicable electrical engineering rules The general and regional installation and safety regulations for work on power installations with hazardous voltages e g EN 50178 as well as the regulations on the expert use of tools and the use of personal protective equipment have to be observed NOTE Pow
6. Brake Same as Maintain position if the holding time exceeds the apply and release time the current position is maintained via the holding brake Without power The drive is not supplied with power during the Holding time The position may change Holding time This field defines the holding time between the DDRs in case a linking was defined between the DDRs The time is entered in ms Next DDR The next DDR which is to be started in case of a linking and after the holding time has elapsed is entered here 6 12 2 Maximum values group box The limit values for the DDR are defined in this group box Depending on the controller type the Max torque and Max output speed limit values are shown masked out The designations and units depend on the system type the motor system view and the selected display units The slope and the type of the acceleration and deceleration are defined using the Acceleration value Deceleration value Acceleration ramp and Deceleration ramp fields The sinesquare ramp type limits the jolt 6 12 3 Features group box The following features may be activated within the Features group box These features only affect the selected DDRs Synchronisation The DDR will only be started after a synchronisation impulse has been received via digital input or bus Nominal value externally allowed Not the nominal value entered in the DDR is used but the nominal value specified by the fieldbus or the analogue input
7. it will signal each missing priority by opening an information window Message dialogue 1 message The leading priority was not achieved Please close and open the interface if you want to retry 6 3 5 Parameter tree The parameter tree can be used to call up the dialog boxes for programming status indication and operation The contents of the parameter tree depend on the operating software version and the support of some of the functions These dialog boxes are described in the following chapters EE x Actual values Drive information Drive fault Drive warning perational data Event buffer Manual operation DDR programming DDR editor E Parameters E Drive Name plate Hardware Control loop Speed position controller System 140 drive Fieldbus Reference operation E Technological functions Flying referencing Electric shaft 42 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 4 Actual values window In the Actual values window the current values of the drive are shown depending on the selected view motor and system view These values are automatically updated The system view is converted in the MDAwin operating software The setting of the desired display units is made via the System window The drive only supplies data relevant to the motor which correspond to the motor view E Status Actual values Drive information Drive fault Drive warning perational data E
8. 1 time Holding brake Fan group box Brake available not available Brake apply time ms 0 5 000 Brake release time ms 0 5 000 Fan available not available Global settings group box Max torque positive mNm 0 10 000 Max torque negative mNm 0 10 000 Max speed positive rpm 0 8 000 Max speed negative rpm 0 8 000 Position holding time ms 0 8 000 lt monitoring None Internal External 100 W External 200 W External 400 W Ballast warning 0 219 4 Ballast fault 0 278 4 UZK correction factor 0 1 000 104 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 4 7 Control loop window Parameters Unit Parameters Default Min Max Field P amplification 0 001 32 Field I reset time us 0 2794 Torque P amplification 0 001 218 4 Torque l reset time us 0 2794 13 4 8 Speed position controller window Parameters Unit Parameters Default Min Max Parameter record 1 4 Output speed P 0 001 32 amplification Output speed l reset us 0 SE time Position P amplification 1 s 0 01 250 Position pilot control 0 1 Positioning window depending on system type system conversion display Contouring error window units GFC AntriebsSysteme GmbH 105 RS 232 Firmware User Manual 13 4 9 System window Designation field Parameters Unit Parameters Min Max System type Linear activated not activated Round shaft Modulo S not activated acti
9. APP 02 01 and operating software version MDAwin 02 01 The limit switch negative is connected to this input The drive stops once the signal is removed or applied Cmd QStop Limit switch positive warning This function is available from firmware version APP 02 01 and operating software version MDAwin 02 01 The limit switch negative is connected to this input The drive stops once the signal is removed or applied Cmd QStop 6 18 2 Digital Output group box The number of the output 1 to 4 is selected in the input field on the upper right The Module address and Output number fields are definitely assigned and may not be changed The high active checkbox defines the logic state of the output o Output low active i e output active for logically not active example relay controlled if signal not active Output high active i e output active for logically not active example relay controlled if signal is active If the DDR dependent checkbox is activated the selected output function is only applied to the DDR entered in the DDR no field For all functions described in the following there is a note indicating the influence of the activated checkbox on the function or whether the checkbox may not be selected The function of the output is determined by the Function drop down list None Output has no function is not used Collective warning A warning is present The DDR dependent function may not be selected Collective fault A fault is a
10. ATEX category II 3D the drive must be cleaned from dust collections at a regular basis to prevent an accumulation of ignitable dust layer from accumulating on the drive For this reason we recommend horizontal installation 3 1 Ambient conditions during operation Operation temperature For version with resolver 10 C to 50 C For version with absolute encoder 5 C to 50 C Combustible dust hazard protection for use in the zone 22 optional II 3D IPeX T 150 C X II 3D c T150 C X reduced rates on the tests for resistance to impact according to EN 50014 chapter 23 4 3 1 On and off cycles Refer to the technical data sheet Air humidity during operation Relative humidity 85 Installation height Up to 1 000 m above sea level without performance reduction Between 1 000 and 2 000 m above sea level a performance reduction of 1 per 100 m Ventilation and mounting position The MDA is equipped with convection cooling The cooling system may be mounted in any position Optimum cooling is achieved for a horizontal mounting position Reduction in performance at rising ambient temperature refer to technical data sheet 20 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Thrusts and vibrations Refer to the technical data sheet 3 2 Device identification The name plate is attached to the drive motor and contains the following information Type designation bn Co
11. Fieldbus window the parameters for the fieldbus may be set Control loop E BP Fieldbus 2 51 xf Speed position controller System Type Profis Disable fieldbus access o M 170 drive Fieldbus Reference operation E Technological functions Slave address 125 Rights Ne z peration mode jp Flying referencing Diagnosis On he Electric shaft Type The bus module included within the drive is automatically detected and viewed if there is a connection to the drive available online Slave Address The address of the slave 0 127 is entered in this field An address may be assigned only once within a segment Baud rate For CANopen the baud rate must be set in this field It must comply with to the baud rate of the master For Profibus DP the baud rate of the master is automatically detected and adapted For Profibus DP this field is not displayed Diagnosis For firmware APP 02 00 in combination with operating software MDAwin 02 00 the fault diagnosis can be switched off for Profibus DP For more detailed information please refer to the fieldbus specific interface description The Operation mode Disable fieldbus access and Rights fields still do not have any function and are reserved for subsequent enhancements After having modified the slave address the actuator must be switched off After renewed switching on the actuator can be accessed using the new address For more detailed information on the fieldbus interfac
12. GFC AntriebsSysteme GmbH 3 RS 232 Firmware User Manual 5 5 life CT EN 5 5 1 Digital Inputs E 31 5 5 2 Digital Outputs relay 0a nee 31 5 5 3 Digital outputs transistor oufputel cece eeeeeee erecta eee eeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeseaeeeesseaeeeseeaeees 31 5 5 4 Apalogue Spouse 32 5 6 Fieldbus plion Mo 32 5 6 1 PROFIBUS DP sis 2 25 Sis gien er ER Re eee 32 5 6 2 GANOPen egent 32 5 7 Holding eege ten EE 33 6 Operating software MDAwin 34 6 1 System requirements oett etn tie xe xr RP regen FN REPE EROR EE XP reiner 34 6 1 1 Software installation sessssssssssssseseseseeeeneennn nennen nnne nenne nenne tenens entes enne ns 34 6 2 nniforoli eor E E sts 34 6 3 User interface TE 35 6 3 1 urge 35 6 3 2 neri eee eee eee tee 36 6 3 3 siele een 40 6 3 4 SLATS CC ai 41 6 3 5 Parameter TOC 1 tree te eier 42 6 4 Actual values tlnle e eisen eisen 43 6 5 Drive information window een nnd eat 44 6 5 1 nisseise relom e 44 6 5 2 into drive grOUD acces see tala c M 45 6 5 3 Info collective warning group esesseeseeeeeenennnnennennneennnmenenn nnne nnn nnn rne nnne rennen rer 45 6 5 4 Info collective Tault group ae ee ee
13. Reference operation Technological functions Max torque 220 mNm Max torque 1500 mNm Flying referencing Electric shaft r Features r Features Synchronisation Synchronisation Nominal value externally allowed Nominal value externally allowed Stop with position dwell time Stop with position dwell time Stop with brake Stop with brake Intermediate stop without current Intermediate stop without current IV with speed limitation with speed limitation Run The drive runs with the settings in the manual operation as long as the Run button is pressed down This function cannot be executed in real time Start Use the Start button to start a DDR with the settings in the Manual operation window The DDR is terminated when reaching the limit condition time or position or by means of a stop command This function cannot be executed Stop in real time Click the button to transfer the manual operation DDR input tot he drive and to start the DDR Loading the changed data via the Write or Write changes command is not required The active DDR manual operation or normal operation is terminated This function cannot be executed in real time The functions Run Start DDR and Stop DDR CANNOT be executed in real time and do NOT meet the requirements of an emergency stop 52 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 12 DDR editor window In the DDR editor window the driving data records are
14. Stop with position dwell time In case the DDR is stopped via the Stop command or DDR end without linking the position will be actively maintained during the position dwell time Stop with brake If the DDR is stopped via Stop command or DDR end without linking the holding brake is activated Intermediate stop without current In case the DDR was interrupted by an intermediate stop the position is not maintained actively during the intermediate stop with speed limitation For the controller types Absolute position Relative position Modulo position and Contouring error the output speed speed is limited with regards to the contouring error compensation GFC AntriebsSysteme GmbH 55 RS 232 Firmware User Manual 6 13 Name plate window The Name plate window is the electronic name plate of the drive It contains information on the order and the drive The information may not be changed except for the customer designation1 and 2 E Status Actual values Drive information Commission number Works number Serial no Customer designation Date of final test Wiring diagram DAC Terminal plan MES Firmware application Motor control firmware Logic variant Interface variant Bus module variant Power supply unit variant Power board variant Parameter version Commission number EZ Name plate Application firmware 02 01 T 06 11 27 Drive fault Works number Motor co
15. The reference switch is required for the Marker and Flank reference types refer to Reference operation window section This signal is used to start the reference operation The DDR dependent function may not be selected L1 DDR dependent The drive may only be started if the signal is on logically high Global release signal Cmd Stop If a DDR is terminated using this signal the drive stops with the deceleration ramp of the active DDR M DDR dependent The indicated DDR is executed as long as the input is logically high If the input becomes logically low the DDR is stopped The limit switch positive is connected to the input Drive stops when the signal is deactivated or activated Cmd QStop The DDR dependent function may not be selected The limit switch negative is connected to the input Drive stops when the signal is deactivated or activated Cmd QStop The DDR dependent function may not be selected Drive stops when the signal is deactivated or activated Cmd RFO The drive is stopped at maximum torque and remains connected to the mains during standstill No fault signal is issued The DDR dependent function may not be selected Drive stops when the signal is deactivated or activated Cmd QStop The drive is stopped at maximum torque Afterwards a fault is signalled For standstill of the motor the motor is disconnected from the mains The DDR dependent function may not be selected Power amplifier is deactivated
16. X2 If the power supply of the drive is available the external 24 VDC supply is disconnected via an internal relay The power supply unit should supply a current of 0 5 A 5 3 2 Holding brake Fan The auxiliary voltage for holding brake fan is only required if the drive is equipped with a holding brake fan The GND of the auxiliary voltages for electronics and holding brake fan is internally connected Both auxiliary voltages may be supplied from a single power supply unit The required current depends on the version refer to technical data sheet MDA 5 4 Ballast resistor The ballast resistor has a maximum continuous power of 3 kW for all sizes NOTE The ballast resistor is electronically protected against thermal overload when taking in braking energy Optimum protection is only guaranteed if the Pt monitoring is correctly set gt Please refer to the chapter Hardware window for information about l t monitoring 5 4 1 Internal As standard the drive is equipped with an internal ballast resistor The resistor is designed for a high impulse load occurring for a short time as it is the case during deceleration 5 4 2 External option For the consumption of braking power with more than 50 watts permanent power or in case of increased ambient temperature an external ballast resistor is required or recommended This option has to be indicated when placing an order The external ballast resistor is conn
17. actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion Pay attention to additional national regulations Only remove electrical connections when disconnected from the mains Wait at least two minutes after disconnecting the voltage supply and unplugging the plug socket connectors before opening the drive The connections X2 to X8 are made with M12 connectors The enclosure protection indicated on the name plate is onlx ensured if connectors are connected to all sockets or temporary covers are fitted and fastened with the specific torque and if the enclosed fixing bushes have been mounted properly Check whether type of current supply voltage and frequency correspond to motor data refer to name plate at motor Loosen screws and remove fixing bush refer to figure 2 3 7 Figure 2 3 7 fixing bush for M12 Attention The screws in the cover are not secured against falling out When opening the cover ensure that no screws are lost Slip fixing bush onto the cable refer to figure 2 3 8 The diameter of the M12 connector must be 16mm maximum Fit M12 connector and fasten it tightly e Set the fixing bush in position and tighten it with screws refer to figure 2 3 9 Attention Set the fixing bush with the three screw holes showing to the outer side of the MDA refer to figure 2 3 9 Figure 2 3 8 slipping the fixing bush
18. after disconnecting the voltage supply and unplugging the plug socket connectors before opening the drive For the version according to ATEX category II 3D the drive has to be opened when connecting the 230V mains supply refer to figure 2 3 1 For this loosen the 4 screws at the cover with an Allen key and carefully lift the cover The internal brake resistor is fitted within the cover refer to figure 2 3 2 Attention The screws in the cover are not secured against falling out When opening the cover ensure that no screws are lost Use cable glands with EEx e approval and of size suitable for connecting cables only The enclosure protection stated on the name plate is only ensured if suitable cable glands are used and fitted correctly As standard cable glands with an M20x1 5 thread for a cable diameter of 8 5 mm to 13 mm are mounted Seal cable entries which are not used with suitable plugs e Check whether type of current supply voltage and frequency correspond to motor data refer to name plate at motor Loosen screws and carefully lift the cover refer to figures 2 3 1 and 2 3 2 cover may not be removed completely since the internal brake resistor and potential compensation remain Figure 2 3 2 MDA opened connected e Strip cable at a length of 130 mm and slip the enclosed glass fibre hoses over the wires The screen must be cut to a length of 30 mmin accordance with the cable glands used Inse
19. be equipped with a fieldbus interface By means of the Fieldbus In and Out plugs the drive may easily be integrated into a segment The last bus device must be terminated using an external bus termination refer to accessories Subsequent installation or modification of a fieldbus interface may be performed by the service of GFC AntriebsSysteme 5 6 1 PROFIBUS DP Profibus DP enables a baud rate of up to 12 MBaud The drive supports Profidrive V2 0 For further information refer to the Interface description Profibus DP user manual 5 6 2 CANopen For CANopen a baud rate of up to 1MBaud is possible The drive supports the CiA DSP 4 02 CANopen profile For further information refer to the Interface description CANopen user manual 32 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 5 7 Holding brake optional The drive is optionally available with an integral holding brake which has to be specified when placing the order This holding brake blocks the motor shaft if there is no voltage supply available primary 230 VAC The brake management control of the holding brake while taking the apply and release time into account is performed by the controls Separate power supply is required for the holding brake 24 VDC 1 0 A The power supply is connected to plug X2 To check the function of the holding brake if there is no power supply available at the drive the brake may be released by connecting the BRAKEON signal X2
20. ber die elektromagnetische Vertr glichkeit 89 336 EWG und der Niederspannungsrichtlinie 73 23 EWG GFC Servosysteme Milan Drive Advanced der Baureihen MDA 35 1 MDA 56 1 MDA 63 1 in serienm iger Ausf hrung sind zum Anbau bzw Einbau in Handlingger ten Zufuhrsysteme und andere Ger te und Maschinen bestimmt Die GFC AntriebsSysteme GmbH als Inverkehrbringer erkl rt hiermit dass oben genannten Servoantriebssysteme den Anforderungen folgender Richtlinien entsprechen Elektromagnetische Vertr glichkeit EMV 89 336 EWG Niederspannungsrichtlinie 73 23 EWG Zur Beurteilung der Gerate wurden folgende Normen herangezogen a hinsichtlich elektromagnetischer Vertr glichkeit EN 61800 3 2002 b hinsichtlich der Niederspannungsrichtlinie EN 61800 5 1 2003 EN 60204 1 1997 EN 50178 1 1997 GFC AntriebsSysteme GmbH Grenzstra e 5 01610 Coswig Telefon 03523 9460 Telefax 03523 74 142 www gfc antriebe de Diese Erkl rung beinhaltet keine Zusicherung von Eigenschaften Ole Sicherheishimusecse der migeleferten Produktdokumentation sind zu beachten GFC AntriebsSysteme GmbH 87 RS 232 Firmware User Manual GEC AntriebeSysteme GmbH Erkl rung des Herstellers gem EG Maschinenrichtlinien 98 37 EG Artikel 4 Absatz 2 bzw Anhang IIl B GFC Servosgystema Milan Driva Advanced der Baureihen MDA 35 1 MDA 58 1 MDA amp 3 1 in seriarm iger Ausf hrung sind zum Anbau Bzw Ein
21. data manager No 32 Drive does not stop after stop command Drive does not stop within 2 5 s after stop command Positioning window too small Control parameter setting too limited Ramps and speeds very high for small maximum torque i e high contouring error Enlarge positioning window Control parameter setting too limited Check operating profile Motor No 512 Fault Power electronics Absence of mains voltage Control parameter setting too limited Drive overload Zwischenkreisspannung im Fenster Istwerte und Sicherung bzw Versorgungsspannung berpr fen Regelparameter weniger hart einstellen Antriebsauslegung berpr fen Motor No 8192 Output speed fault Drive generates a fault when starting a DDR Speed limit setting too low Correctly set speed limit in hardware window 92 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 2 Faults and warnings 13 2 1 Drive fault window Register Description 1 Faults Voltage 2 Faults Temperature 3 Faults Motor 4 Faults LocalCAN 5 Faults Fieldbus 6 7 8 Faults Driving data record Faults Parameters Faults Logic hardware 9 16 Fault registers 09 to 16 Register 1 voltages Bit Decimal Description S O o 1 Voltage monitoring DC circuit link UZK lt 180V Voltage monitoring DC circuit link UZK lt 400V Voltage monitoring Brake Register 2 temp
22. drive will be stopped and a fault signal be issued The Function defines the function of the analogue input None Output speed setpoint Torque setpoint Input has no function is not used The nominal output speed or the nominal speed are specified via the analogue input if the Nominal value externally allowed feature is activated The nominal torque or the nominal force are specified via the analogue input if the Nominal value externally allowed feature is activated 66 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Max output speed Max torque Nominal position value The maximum output speed or speed are limited via the analogue input The function corresponds to the Max speed positive negative field in the Global settings group in the Hardware window and has global influence on all driving data records The maximum torque or force are limited via the analogue input The function corresponds to the Max torque positive negative field in the Global settings group in the Hardware window and has global influence on all driving data records For firmware APP 01 06 and higher in combination with the operating software MDAwin 01 04 a position can be specified via the analogue input The position is limited to a value range of 16 bit The range of the selected Function is defined via the Function value min and Function value max fields The unit depends on the selected function Output speed Set
23. eb LEER RR deed 45 6 5 5 Status digital Inputs group eicere eisen de edad ua 45 6 5 6 Status digital outputs group teer reper D tee Ext dE rara EX Fer a RO Avie eta LER ER eka 45 6 6 Drive Tault WIDdOW ET 46 6 7 Drive warning WIDgOW secco pentaedua re ike etae ehe et Ree Ra dae enden 47 6 8 Operational data window teilen eb 48 6 9 Fieldbus monitoring windouw essen nennen nnne nnne nnne nnns 49 6 10 Event buffer WIDdOW Lecce ee ee neh 50 6 10 1 JEventlogging group e e EE 50 6 102 View group DOK m 51 6 11 Manual operation window ee ee en lee 52 6 12 DDR editor windoW r2 e een een 53 642 1 Controller type een EES e eoe Rec e ed 53 6 12 2 Maximum values group DOX ii rrr euren 55 6 12 3 Features group DON rsen tiimeineen edades aca i REEN EENEN se enden ana ae donate ER BEBE L TE 55 6 13 Name plate window R 56 6 14 Hardware window ee ale Ha hen 57 6 143 Motor data group DOX oed ere een 57 6 14 2 Motor transmitter group Dos 58 6 14 3 Holding brake fan group DbOx eese rentre then etn tnu thank hn ERR Rn E th nern denen 58 6 14 4 Global settings group box ssssssssseseseeeseneeneeeennenennene nnne nn nnns nnne etes etes nn rer nennen nnns 58 4 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 10 11 12 13 6 15 Control loop WindOW een el 59 6 16 Speed position controller window c cccecceeeneeeeeneeeeneeeeeeeeseaeeeeaeeseaeeseaeeese
24. ecu ecd en 102 DDR editor WIN GOW ee nk eine 103 Hardware WINDOW EE 104 Gonttol loop WIndOW eror rr ER pen fete ER ebrei ate ie c Er tpa E RR 105 Speed position controller window sesssssssseseeeeeeeeenennenen nnne nnne en 105 System WINDOW E 106 VO dive window 107 Reference operation window ENEE 109 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 1 Safety instructions 1 1 Designated use Milan Drive Advanced servo drives also called MDA in the following are designed as equipment for the use in industrial environments As standard the servo drives are designed for installation in industrial robots pick and place units and many other equipment and devices For other applications please consult us The manufacturer is not liable for any damage resulting from use in other than the designated applications Such risk lies entirely with the user Observance of these operation instructions is considered as part of the servo drive s designated use Please read these instructions thoroughly as they are intended for your personal safety and also help enhancing the lifetime of your servo drive 1 2 General notes e During operation parts move or rotate within this unit Important dangers can arise from rotating shaft couplings with keyway and inserted parallel key Remove inserted parallel keys or protect them against loosening by taking suitable measures e During operation surfaces of the dri
25. indicated incorrectly 36 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware From time to time updates with enhanced functions or bug fixes are released In this instance GFC will send you the files called Firmware DAC MC 02 02 D02 elf S oder Firmware Dac App 01 04_P02 D02 E07 bin The parts marked in bold indicate type of firmware and current version To ensure safe update performance the following steps must be observed To ensure a suitable combination of motor control and application on the drive the parameter designations must be identical i e in the Name plate of the operating software MDAwin the fields Firmware Application and Firmware MotorControl must show identical parameter designations after the update procedure The numerical sequence following the D must be identical e g DO2 Firmware Update Procedure Open the MDAwin operating software and go online Updates can be executed in online level 4 First of all the current drive configuration should be displayed and saved via menu item File Save to ensure that data recovery is possible in case of a fault or data loss Update Firmware Motor Control The update of the MotorControl firmware can be downloaded to the drive via menu item Extras Download Firmware MotorControl The firmware transfer is displayed in the operating software via a progress bar Upon termination of the update the drive performs an automatic reset this can be noticed
26. is subject to regular revision and any required modification will be included in the next issue We reserve the right to alter the present document without prior notification Issue Note 1 05 First issue 1 06 General update 1 07 Update due to functional extension with firmware APP 02 00 1 09 Update due to Consolidation of user manual RS232 Firmware and RS232 Firmware ATEX II 3D Functional extension with Firmware APP 02 04 and MDAwin 02 04 Correction of operation instructions overview of electrical connection page 22 2 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Table of contents 1 Safety instructions 7 1 1 Designated ICT 7 1 2 EECH ET H 1 3 Warhings arid Totes irent iere reete e Fen einen enge 7 1 3 1 Used danger Signe aaa nee nenn 8 1 3 2 Used mand elle LEE 8 1 3 8 Further symbols E E 8 2 Assembly and commissioning 9 2 1 cr je 9 2 2 Installation electrical conpechon nennen nenne 10 2 3 ell ll 12 2 3 1 Connection with Ex cable gland optional 13 2 3 2 M12 connector with fixing bush Optional 15 2 4 Commissioning for a linear axis nennen nennen nnne 16 3 Operation 20 3 1 Ambient conditions during operation eesesssesseeeeeeeeennneneennn eene nennen nnne nnns 20 3 2 DOVICEASNTUTICATION EE 21 3 2 1 Additional name plate for v
27. kein Schleppfehler Hardware i Stromregler C Tippen 2 Lol Drehzahl Lageregler C F hrung dics System A 1 0 Antrieb C Start Referenzieren C Referenz gesetzt Feldbus Drehzahl Position C Sollwert Quittierung feierenzlnt Referenz setzen Antrieb steht E Technologiefunktionen Fliegendes Referenzieren C Sollwert aktivieren C Frei Elektrische Welle iu Frei This window displays the control word and status word of a drive equipped with fieldbus interface For this there must be an active connection to the drive The update is carried out at the same frequency as the update of other displays like speed or position No indication can be made on transient procedures via the fieldbus monitor This window is used to commission a drive with fieldbus interface GFC AntriebsSysteme GmbH 49 RS 232 Firmware User Manual 6 10 Event buffer window This function is available from firmware version APP 02 04 and operating software version MDAwin 02 04 and higher E Status Actual values r Protokollierung Ehe an IV Fault IV Info IV Command DsunUhrzeit Gs oer IV Warning IV Parameter IV System message setzen Operational data ATUM Event buffer I ep oi oi Manual operation v St rungen M Info v Befehl DDR programming JW Warnungen IV Parameter IV System DDR editor Dat T M 5 ate yp sg H feces t 01 01 2005 00 00 system message System start 0 E Drive 02
28. limit switch minus is activated Drive without power The motor is not supplied with power The position may change if there is no holding brake available Drive at standstill The motor shaft does not move The monitoring is always active if the servo controller is supplied with power or auxiliary voltage Therefore it is also indicated if the motor shaft is moving due to external influences Brake active The holding brake is not supplied with power and blocks the motor shaft Fan active The fan is activated optional Info Analogue In1 In this field the current measured value 10 bit of the analogue input is indicated Within firmware version APP 02 01 and operating software version MDAwin 02 01 the current functional value is displayed without unit indication Calculating the functional value is made by using the analogue input settings in the UO drive window 6 5 3 Info collective warning group The collective warning group box contains the cause s for a collective fault For further details refer to the Drive warning dialog box 6 5 4 Info collective fault group The group box contains the causes for a collective fault For further details refer to the Drive fault dialog box 6 5 5 Status digital inputs group This group box is used to indicate the current logic status of the digital inputs i e option button active if input is high active high 24 V or if input is low active low 0 V 6 5 6 Status digital outputs gro
29. master and therefore also of the slave A fault which occurs at the slave has to be acknowledged directly at the slave 6 21 2 2 Commissioning 78 The settings described above have to be performed to be able to use the technological function A start command at the master activates the synchronisation after successful synchronisation the Synchronous running signal is displayed in the Drive information window After successful synchronisation a driving data record can be started by means of another i e second start command at the master and the slave follows the movements of the master in the set Sync mode All drive tasks performed by the master individual DDR end to end driving program or manual operation are synchronously performed by the master When using the gear factors ensure that the slave is not operated beyond its physical limits The gear transmission ratio therefore has to be selected as to ensure that the output speed for the slave does not exceed the set maximum output speed GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 22 Online monitoring This function is available for firmware version APP02 00 and operating software version MDAwin 02 00 and higher Online monitoring is used for recording and graphic representation of nominal and actual values of the servo drives Data management and graphic editing is performed using a LabView application Thereby the read out data is also made available to ex
30. may not be exceeded These fields may not be modified NOTE Modifications of the motor data the motor offset and the UZK correction factor may cause major faults or even a complete failure of the drive gt The values may only be changed by the service of GFC AntriebsSysteme GFC AntriebsSysteme GmbH 57 RS 232 Firmware User Manual 6 14 2 Motor transmitter group box This group box contains parameters for adapting the controls to the motor transmitter The Position indicator and the Pos ind resolution depend on the motor used and are programmed in the factory The Speed limit contains the output speed limit If the measured actual output speed exceeds this speed limit the drive is switched off without power and changes to the fault mode This value may be change in level 4 Planning After a motor change the motor offset has to be entered in the Motor offset field value 1 means not defined and will issue a waning or fault signal If this value is not known it may be determined via the Start motor adjustment button The motor adjustment is adapted via the Motor adjustment and Motor adjustment time values These fields may only be modified by the service of GFC AntriebsSysteme 6 14 3 Holding brake fan group box Via the commands in this group box the controls are adapted to the optional holding brake within the motor The brake requires an apply time for engaging and a release time for rele
31. on the supply voltage again to avoid incorrect positioning 82 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 7 3 Monitoring Bit 31 bis 24 When leaving the working range of the absolute encoder the AEN range bit is set The bit is set in the Driving data manger register of the Drive warning window as numerical value 16 If the drive is run back to the working range of the absolute encoder the AEN bit is reset Bereich Absolutwertgeber Underflow Overflow OxFFFF 0x0000 0x0000 0x0001 If a reference bit is set by a reference operation the AEN range bit will be reset and remains reset until the range of the absolute encoder is left again The status of the AEN range bit is saved to the EEPROM when switching off If the bit was reset when switching off the status of the reference bit is always restored when switching on If the AEN bit is set when switching on a fault signal numerical value 256 is set in the driving data manager register of the Drive fault window is issued since the drive was outside the working range of the absolute encoder when switching off The reference bit is also reset and a new reference operation has to be performed 7 4 Adjustment Before performing the mechanic installation of the servo drive into the application environment the absolute encoder has to be adjusted The drive has to be run to the outer positive or negative limit of the absolute
32. output Drive information Drive fault Module address Interface v Module address Interface v Drive warning Operational data Input number fi Output number fi Event buffer IV high active IV DDR dependent IV high active IV DDR dependent Manual operation d DDR programming Function Start stop x Function por active DI DDR editor DDR no DDR no 2 Parameters Drive Name plate Hardware S Analogue input Control loop Speed position controller Module address Input number Fault range Inverse Reference operation Technological functions Flying referencing Electric shaft Function eb Interface value min om w Interface value max so v Input type bn an d Function value min Function value max 6 18 1 Digital Input group box The number of the input 1 to 4 is selected in the input field on the upper right The Module address and Input number fields are definitely assigned and may not be changed The high active checkbox defines the logic state of the input o Input low active i e for low level the input is logically active Input high active i e for high level the input is logically active If the DDR dependent checkbox is activated the selected input function is only applied to the DDR entered in the DDR no field For all functions described in the following there is a note indicating the influence of the activated checkbox on the function or whether the che
33. pin 5 with BRAKEGND X2 pin 4 By releasing the holding brake the drive loses the stop torque and a load will no longer be decelerated gt Before releasing the holding brake an appropriate safety device which may take on this holding function has to be activated The required basic configuration in the Hardware window is made in the factory When programming driving data records DDR window it can be defined whether the brake is to be activated after a stop command Stop with brake features activated The behaviour of the brake after a reference operation is determined in the Reference operation window via the Brake after ref operation drop down list NOTE The holding brake is not designed for braking the drive gt If the holding brake is used for braking the braking effect may decrease or lack completely The lifetime of the friction lining depends on the peak temperature during breaking The latter depends on output speed delay time and current braking torque Subsequent installation of a holding brake may be performed by the service of GFC AntriebsSysteme by exchanging the motor and adapting the controls GFC AntriebsSysteme GmbH 33 RS 232 Firmware User Manual 6 Operating software MDAwin For the tables containing the parameters and the fault numbers quoted in the following chapters please refer to the appendix 6 1 System requirements An operating system Windows NT 4 0 Window
34. programmed or may be checked E Status Actual values Drive information Drive fault Drive warning perational data Event buffer Manual operation B DDR programming DDR editor E Parameters Drive Name plate Hardware Control loop Speed position controller System 1 0 drive Fieldbus Reference operation E Technological functions Flying referencing Electric shaft Driving data record Controller type Nominal output speed Target time Controller record Maximum values Acceleration ramp Acceleration value Deceleration ramp Deceleration value Program identification Output speed z 2000 rpm 7000 ms 1 Linear jd 30000 tpm s Linear 30000 rpm s Driving data record linking Maintain position z Holding time 3000 ms Next DDA 2 Features Synchronisation Nominal value externally allowed IV Stop with position dwell time Stop with brake Intermediate stop without current Max torque 500 mNm with speed limitation Driving data record Use this field to select a DDR 1 to 99 The DDR 0 is reserved as buffer of Program identification 6 12 1 Controller type operation commands by the CANopen and cannot be used as regular DDR This field is provided for the identification of programs stored in the drive The controller type for the DDR is determined in this field The controller type can only be changed in level 4 or higher No Torque Force
35. resolution of 4096 increments per rotation 5 1 2 Absolute encoder option As an option the drive may also be equipped with a multi turn absolute encoder The encoder has a resolution of 4096 increments per rotation and a multi turn range of 4096 rotations When using an absolute encoder a reference operation for commissioning only is not required after switching on the power supply Using an absolute encoder within the MDA requires a special procedure during commissioning For information on the commissioning of drives with absolute encoder please refer to the Multi turn absolute encoder section GFC AntriebsSysteme GmbH 29 RS 232 Firmware User Manual 5 2 DC link charging circuit for input current limitation The integral DC link charging circuit limits the switch on peak within the switch on torque to values 20A A premature tripping of safety equipment is therefore avoided After the limitation period set to 2 seconds has expired the drive is ready for operation NOTE Time and number of starts have an impact on the lifetime of the DC link charging circuit gt For information on the switch on and switch off cycles please refer to the technical data sheet 5 3 Auxiliary voltages 5 3 1 Electronics To ensure that the signals remain active or the bus communication established even if the power supply of the drive is disconnected a separate auxiliary voltage 24 VDC may be connected to the plug
36. set Manual operation r Info collective fault DDR programming Cmd Stop Cmd RFO C Voltage Temperature DDR editor C Cmd Stop Synchronlauf Motor Local CAN E Parameters C Fieldbus DDR E Drive C Ack Stop Ack RFO C Parameters Logic hardware Name plate C Ack OStop Hardware r Status digital inputs Control loop Info drive Cn Speed position controller C Limit switch plus Limit switch minus C 3 System Drive without power Drive at standstill 1 0 drive Brake active Fan active m Status digital outputs Fieldbus Co Reference operation Technological functions Flying referencing 6 5 1 Info Status group Info analogue int 521 C 03 The option buttons of the Info status group box provide information on the status of the application They include the following signals Warning Error DDR active Setpoint Active in case a warning is present A warning will not cause the drive being switched off Detailed information on the warning is contained in the Info collective warning group box or in the Drive warning dialog box Active in case an error is present An error will not cause a switching off of the drive Detailed information on the fault is contained in the Info collective fault group box or in the Drive fault dialog box A driving data record is being processed The setpoint specified in the DDR has been reached Reference operation active Fieldbus active Intermediate stop Single step
37. shaft system The drive positions within a system rotation on the shortest way possible for specifications gt 360 the integral multiple is ignored During positioning the gear reduction ratio Gear factor input Gear factor output and the System conversion are observed The output speed speed for compensating the contouring error may be limited by activating the with speed limitation feature and entering a Max output speed Max speed NOTE 2 The max possible distance for a position controlled driving data record amounts to approx 536 million increments To be able to use the full range of the position controller or to cover longer distances the distance has to be divided into several driving data records running one after the other Contouring error During the Target time the drive runs at Nominal output speed or at the Nominal speed An existing contouring error will be compensated The output speed speed for compensating the contouring error may be limited by activating the with speed limitation feature and entering a Max output speed Max speed Depending on the controller type the fields in this window will be shown hidden and the identification adapted These dependencies are shown in the following table for round shaft system or motor Controller None Torque Output Position Contouring type speed error from level 3 Nominal value Nominal torque Nominal Nominal p
38. supply for electronics GND 3 BRAKE24 Power supply for brake max 2A holding brake fan per 1A V 24VDC 4 BRAKEGN Power supply for brake D GND 5 BRAKEON Release of brake a is released by connecting to Thread Screen 4 2 3 Plug X3 Programming interface RS232 Pin Signal Description Note 1 Not connected 2 RxD Receive PC TxD SUB D 9pin Pin 2 3 TxD Transmit PC RxD SUB D 9pin Pin 3 4 Not connected 5 GND Power supply for electronics PC GND SUB D Qinl Pin 5 GND Thread Screen GFC AntriebsSysteme GmbH 25 RS 232 Firmware User Manual 4 2 4 Plugs X4 X5 Fieldbus Vcc Bus and Vcc Bus are used to supply the bus termination resistor Power supply via Vcc Bus and Vcc Bus causes the destruction of the bus interface PROFIBUS Pin Signal Description Note 1 Vcc Bus Power supply for bus 5V supply for termination resistor 2 RS485 Profibus A cable SUB D 9pin Pin 8 green 3 Vcc Bus Power supply for bus 5V supply for termination resistor 4 RS485 Profibus B cable SUB D 9pin Pin 3 red 5 Screen CANopen Pin Signal Description Note 1 Screen 2 Vcc Bus Power supply for bus 5V supply for termination resistor 3 Vcc Bus Power supply for bus 5V supply for termination resistor 4 CAN H CANHigh 5 CAN L CAN Low 26 GFC AntriebsSysteme GmbH User Manual RS 2
39. the DDR Check setting in the Reference operation window Check settings in the reference operation window Motor turns incorrectly System incorrectly configured GND for analogue input is missing Check setting in the System window Connect GND Drive vibrates in the output speed mode Amplification Kp P part too high Analogue GND missing Reduce amplification Kp Connect analogue GND Drive is too soft in the output speed mode Reset time Tn I part too high Amplification Kp too low Reduce reset time Tn Increase amplification Kp Drive oscillates in the output speed mode Reset time Tn too low Amplification Kp too high Increase reset time Tn Reduce amplification Kp GFC AntriebsSysteme GmbH 91 RS 232 Firmware User Manual Some fault signals and possible fault causes are listed hereafter Fault Possible fault cause Remedy fault cause Drive data manager No 2 DDR parameter wrong Drive generates a fault when starting a DDR Drive is in end position Software end switch set and calculated target point outside software end switch range Start of a DDR in wrong Profibus type of duty Start of FDS 0 via Profibus or MDAwin When linking DDR 0 selected as next DDR Operation in opposite direction Correct software end switch or target position Set correct type of duty Starting a DDR 1 99 Linking a DDR 1 99 Drive
40. the Speed position controller window the parameter of the speed controller the parameters of the position controller and further settings for the position control have been made 4 parameter records may be defined for the speed position controller For each DDR the parameter record to be used may be selected Event buffer Manual operation DDR programming DDR editor E Parameters E Drive Name plate Hardware Control loop Speed position controller System 1 0 drive Fieldbus Rafaranra nnaratian Speed position controller Output speed P amplification Output speed l reset time Position P amplification Position pilot control Positioning window Contouring error window EZ Speed position controller alle x Speed position controller 1 T Output speed P ampiification 5 800 Positioning window 10 inc Output speed l reset time 1310 us Contouring error window 1000 inc Position P amplification 5 50 17s Position pilot control 1 000 The number of the controller parameter record can be set in this field Four controller parameter records are available The amplification factor Kp for the speed controller is entered in this field The factor changes the P part of the PI controller The default value is 5 8 If the P part is too high the drive does not run smoothly and tends to vibrate if the P part is too low the drive is soft and slow The reset time Tn is determined for the speed control
41. traverse Positive zl Deceleration ramp Linear zl Manual operation Reference offset 0 000 mm Deceleration value 60000 mm min s E DDR programming DDR editor Absolute resolver position fa Inc Max speed 30000 mm min SE Start reference operation Max force 524 mN Name plate Behaviour after reference Approach position zl Set reference position Hardware M z Control loop Position after ref operation f 0 000 nm Reference position 0 000 mm Speed position controller System Brake after ref operation No TECE 1 0 drive Fieldbus Reference operation cb e Configure reference operation Type Limit switch minus Start Manual Reference offset value lt 0 Behaviour after reference Approach position Position after ref operation 0 e Determine limit values Acceleration ramp Linear Acceleration 1000 Brake ramp Linear Delay 1000 Output speed 500 Force 500 e Click the Write button to save changed settings Step 5 Performance of reference operation e Click Start reference operation button The functions Run Start DDR and Stop DDR CANNOT be executed in real time and do NOT meet the requirements of an emergency stop e The load is operated in direction of the limit switch minus ESM ESL When releasing the limit switch the reference point is set Since Reference offset 0 was entered the zero point of the axis is within the travel range of the axis After Beh
42. 01 01 2005 00 00 system message System start 0 Name plate 03 01 01 2005 00 00 Warning Motorparameter Hardware 04 01 01 2005 00 00 system message System start 0 Control loop 05 01 01 2005 00 00 Warning Motorparameter 0 Spas nasi tral 06 01 01 2005 00 00 system message System start a punc FEST 07 01 01 2005 00 00 Warning Motorparameter 0 System 08 01 01 2005 00 00 Fault Bearb Datensatz 0 1 0 drive og 09 01 2007 08 35 Parameter Write PSWKONFIG 0 Fieldbus 10 09 01 2007 08 35 Command FDS starten 2 5 11 09 01 2007 08 35 Fault Bearb Datensatz 0 T Reference operation 12 08012007 0835 Command FDS stoppen D E Technological functions 13 09 01 2007 08 35 Command Neue Solldrehzahl 34 Flying referencing 14 03 01 2007 08 35 Command Neue Solldrehzahl 21 Electric shaft The event buffer is a ring buffer with a maximum buffer capacity of 100 event entries Events of up to 6 different signal types may be recorded When reaching the maximum buffer capacity the oldest entry is overwritten 6 10 1 Event logging group box A filter can be set for entries into the event buffer The recording to the events can be restricted to obtain more buffer capacity for certain events In the Event logging group the event types to be recorded can be selected The following event types can be recorded independently of each other Faults Fault signals Drive fault Warnings Warning signals Drive warning Info Status signals Drive info Parameters Parameter changes vi
43. 32 Firmware 4 2 5 Plug X7 Inputs Pin Signal Description Note 1 DIN1 Digital input 1 2 DIN2 Digital input 2 3 DINS Digital input 3 4 DIN4 Digital input 4 5 6 7 24VOUT Power supply 24VDC Output max 100 mA galvanically isolated AIN1 Analogue input 1 Standard 10V to 10V GND Power supply GND Common reference point for digital inputs DIN1 to DIN4 and power supply 24VOUT 8 AGND GND analogue input Internally connected to GND of the auxiliary voltage for electronics Thread Screen 4 2 6 Plug X8 Outputs NOTE Digital outputs 2 through 4 are opto decoupled transistor outputs Wrong connections can lead to damage gt Please refer to chapter Digital outputs transistor outputs for Information regarding correct connections Pin Signal Description Note 1 DOUT white Digital output 1 relais 2 DOUT1COM brown Digital output 1 common relais 3 DOUT2 green Digital output 2 4 DOUT2COM yellow Digital output 2 common 5 DOUT3 grey Digital output 3 6 DOUT3COM pink Digital output 3 common 7 DOUT4 blue Digital output 4 8 DOUT4COM red Digital output 4 common Thread Screen The digital outputs are only supplied according to ATEX category II 3D if no fieldbus interface is used Version and plug assignments for your MDA are listed on the order related wiring diagram supplied GFC Antr
44. CAN Connection CAN XC DSP 386 Connection CAN XC I OBox 401 Fieldbus Connection monitoring via bus 402 Fault in the slave drive for Technological function Electric shaft 417 Driving data manager Reference operation fault 418 Process driving data record 419 Quickstop is performed 420 Drive blocked during driving data record 421 Switch on limit active 422 Drive does not stop after stop command 423 Positioning commands without set reference 424 Analogue value outside the valid range 425 Overflow of absolute encoder 433 Parameters Fault Motor parameters 434 Fault System parameters 449 Logic hardware Fault in the EEPROM 450 Fault in the Flash CRC 451 Fault during system start 96 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 3 2 Class 2 Warnings Number Register Designation 65 Voltage Voltage monitoring DC circuit link UZK 66 Voltage monitoring Brake 81 Temperature Temperature monitoring Motor 82 Temperature monitoring Electronics 83 Temperature monitoring Power electronics 84 Temperature monitoring Ballast resistor 85 Derating 97 Motor 113 Fieldbus Connection CAN XC DSP 114 Connection CAN XC I OBox 129 Connection monitoring via bus 145 Driving data manager Contouring error available 146 Global speed limit reached 147 Global torque limit reached 148 Switch on limit a
45. Connect cables according to the order related wiring diagram The actuator must only be set under voltage if connectors are connected to all sockets or temporary covers are fitted and fastened with the specific torque and if the enclosed fixing bushes have been mounted properly Figure23 3 9 tightening fixing bush GFC AntriebsSysteme GmbH 15 RS 232 Firmware User Manual 2 4 Commissioning for a linear axis The settings for software commissioning depend on the selected use and are determined by the used positioning system In this section the commissioning is performed for a linear axis with limit switches and a servo drive with a resolver For drives with absolute encoder some other points have to be observed They are described in detail in the Multi turn absolute encoder section Linear axis with limit switches Linear asis Planetary Gear ESM limit switch negative ESP limit switch po sitive Cutputs DOUT 1 to 4 nut Servo Drive MDA DDR tactive SESM software Wm ft switch negative DDR 2active SESP software limit switch positive target reached NP reference polntimschanlcal zero Our example contains the following components e Servo drive MDA 35 1 e Planetary gear with a multiplication of i 10 with inversion of direction of rotation e Linear axis with a slope of s 60 mm turn e 2 hardware limit switches with NC contact The following steps are required for commissioning e Start up o
46. DC 1A 5 5 3 Digital outputs transistor outputs The digital outputs 2 3 and 4 are potential free via an opto isolator The outputs are not interconnected i e both connections of the transistor output are wired to the plug The transistor output may be loaded with a max of 30 VDC 10 mA and is not short circuit proof The digital outputs can be operated as open collector or common collectors o 1 9 I Open collector enables simple logic links by connecting the outputs in parallel while using a common collector resistor The signal voltage is compatible to most common PLC voltages The connection to a PLC is mostly operated as common oollectors DOUT COM NOTE If the optional fan is integrated output 3 is internally used for controlling the fan If the optional holding brake is integrated output 4 is internally used for controlling the holding brake gt These digital outputs cannot be used for other functions GFC AntriebsSysteme GmbH 31 RS 232 Firmware User Manual 5 5 4 Analogue input The analogue input has an input range of 10 V to 10 V The resolution is 10 bit The analogue input is not potential free The input range may be limited by the software the resolution will however be reduced accordingly 10V A D T Wandler 10 Bit T 10V I Analog Eingang N I Analog Eingang GND l MDA X7 5 6 Fieldbus option As an option the drive may also
47. Jack B coded inverted CANopen Pin X5 Fieldbus optional PROFIBUS M12 5 Pin B coded inverted CANopen Jack X6 Local CAN not implemented M12 3 Pin X7 Input M12 8 Jack X8 Output M12 8 Pin 4 2 Wiring assignment The numbering of pins and sockets of the device plugs corresponds to the usual standard and is shown in the following M12 standard assignment for device plug cable plug pin side ap Ggs 1 white w ef M N 2 brown N 1 brown Lef iak 3 green 2 16 W e e e Greg iH 4 black w i ie 6 rosa 3 4e 5 grey X94 5 6 7 blue N P v 4 8 red GFC AntriebsSysteme GmbH 23 RS 232 Firmware User Manual M12 standard assignment for mounting jack cable jack pin side 3 5 poles S polas 1 white pun 2 brown UC m UN 3 green d 1 brown Ze x CH 1 2 ON O1 20 2 white fj MON 4 yellow O 5 gre 3 blue O7 8 O grey O 4 black Kl Zen SE 6 rosa Yaad an LO cy 7 blue MN e 5 grey N ge pr 8 red Lethal voltages at the control and power connections even if the drive is at a standstill Electric shock risk gt Disconnect all wires of the connected control and power cables also those which are not required at the respective terminals in the control cabinet and protect them against direct contact gt It is not permitted by any means to just to cut the connecting cables at the unassembled end For work
48. MDAwin GFC AntriebsSysteme GmbH 39 RS 232 Firmware User Manual 6 3 3 Tool bar Important functions may be directly performed via the tool bar Some buttons are only activated in the online mode level 1 to 6 Da i Sa onnect amp Disconnect connection MS Motor System Iesel Language Start DDR and DDR no Stop DDR These icons corresponds to the functions New Open and Save in the File menu By means of this button a connection to the drive is established and a change over to the Online Level 1 mode performed To reach a higher level the desired level has to be selected in the Mode menu and the respective password to be entered The current status of the connection is indicated in the status bar and the title bar For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive The online data is directly available in the windows after establishing the connection to the drive For previous versions of the operating software click the Read button to start reading before change parameters can be transferred to the drive In addition a progress bar is implemented which indicates that reading or writing is in progress This button is used to disconnect an existing connection and to change over to the offline mode For MDAwin 02 00 operating software and higher the online connection has to be actively disconnected before the operatin
49. Output speed Speed Absolute Position Relative Position DDR is not defined During the Target time the drive controls to the nominal torque or the nominal force A target time of 0 means infinite without time limit Via Max speed Max output speed the maximum output speed or speed may be limited During the Target time the drive runs at Nominal output speed or at Nominal speed A target time of 0 means infinite without time limit By entering a value for Max torque max force the maximum torque or the maximum force is limited The absolute position Nominal position is approached at Nominal output speed or Nominal speed Absolute positioning is only possible if the Reference is set By entering a value for Max torque max force the maximum torque or the maximum force is limited The output speed speed for compensating the contouring error may be limited by activating the with speed limitation feature and entering a Max output speed Max speed The drive is operated at Nominal output speed or Nominal speed by the relative Nominal position By entering a value for Max torque max force the maximum torque or the maximum force is limited The output speed speed for compensating the contouring error may be limited by activating the with speed limitation feature and entering a Max output speed Max speed GFC AntriebsSysteme GmbH 53 RS 232 Firmware User Manual Modulo Position Only round
50. Single step pause Reference set Cmd RFO Cmd Stop Cmd Qstop The reference operation is being executed A connection to the master via fieldbus is available A DDR was interrupted by the Intermediate stop command The single step mode is activated A DDR was terminated in the single step mode The drive is waiting for a new start command The reference point was set This enables absolute positioning The controller release RFO was eliminated A DDR is terminated with maximum ramp the drive then maintains the position at maximum torque The Stop command is active via operating software fieldbus or digital input an active DDR is terminated using the specified brake ramp The quick stop command is active via fieldbus or digital input A DDR is terminated at max brake ramp then the motor is disconnected from the mains The command causes a fault 44 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Synchronous running This function is available for firmware APP 02 00 in combination with the MDAwin 02 00 operating software and indicates the status of the Electric shaft technological function Ack Stop Ack Qstop Ack Rf0 Acknowledges that either the Stop quick stop or RFO command was executed 6 5 2 Info drive group The option buttons of the Info drive group box contain information on the current status of the servo drive Limit switch plus The limit switch plus is activated Limit switch minus The
51. a MDAwin or fieldbus Command Internal drive commands System Internal system signals Online level 4 is required for selection and transmission to the drive In the drive the operational data is updated every second within the RAM and is saved to the EEPROM every 100s The drive has to be supplied with power for at least 100s to enable a remanent update of the operational data The servo drive is equipped with an internal real time clock without buffer the time is not updated while the drive is switched off Therefore all signals are marked with a time stamp starting with 06 01 2005 as the date and 0 00 as the time if the clock was not set via MDAwin or if the drive was completely disconnected from the mains Click the Set date time button to mark the signals with a time stamp 50 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 10 2 View group box The View group filters those event types which are read from the event buffer and shown in the indication field Since these event types can already be filtered when saving to the event buffer the maximum which can be shown in the indication field is the contents of the event buffer reduced by the event types filtered for indication Click Update or Read to update the event indication in Online Level 4 If too many event types are selected for logging important signals and warnings are immediately overwritten If the motor is disconnected from the mains the time sta
52. aeeseeeeseeeeseeeeseaeeseaes 60 6 17 System WIN COW 61 6 18 W O drive WINDOW 5 55255 63 6 18 1 Digital Input group DOX mene nnmrnenn nennen nnne nnne nennen entres ener 63 648 2 Digital Qutput group DOX e cete eet en nina 65 6 18 3 Analogue input group box ENNEN 66 6 19 Fieldbus window 68 6 20 Reference operation window NENNEN 69 6 20 1 Configuration group Don 69 6 20 2 Limits group BOX en anne een ede aed 74 6 20 3 Set reference position group box 74 6 21 Technological function WINKOW ceeeeeeeeee scene eeeeeeeeeeeeaeeeeeeeaeeeeeeeaeeeeeeeaeeeeseesaeeeesenaeeeetenaeeeeeeaas 75 6 21 1 FLYING REI DEE 75 6 21 1 1 Flying measuring 76 6 21 1 2 Flying referencing 76 6 21 2 Electi shaft au see ee er ee 77 6 21 2 1 Functional description 78 6 21 2 2 Commissioning 78 6 22 Online MON M E 79 6 224 Software installation iiit e e a be ere ea e EEan tees 79 6 22 2 Functional description ee ee nee 79 Multi turn absolute encoder 82 7 1 BASIC SCTINGS deed 82 7 2 Absolute encoder range e ecccccesecceeeesenceeeeseneeeeeseneeeeaaeeeesaaaeeeesegaeeeesesaaeeesesaeseseeseenesensiseeneneaas 82 7 3 KONKON aS 83 7 4 leid 83 7 5 Reference operah Om Em 83 Transport and storage 84 Maintenance 85 9 1 Maintenance on drives in standard version
53. al blocks for Profibus DP Order no Y004 012 Functional block description PLC function blocks for CANopen Order no Y004 014 Operation instructions Operation box PV 1608 Order no Y004 010 90 GFC AntriebsSysteme GmbH User Manual 13 Appendix 13 1 Trouble shooting RS 232 Firmware In the following some fault descriptions and the possible cause of fault is listed Faults Possible cause of fault Remedy cause of fault as follows No connection to the drive over RS232 possible Cable incorrect or defective Cable at motor or PC incorrectly connected Incorrect interface selected No power at the drive Check cable for correct pin assignment and function Connect cable to X3 at the motor or correct interface at the PC Select the correct interface in the operating software Check power supply and auxiliary voltage Motor without current Controller release is missing Stop command is present Mains voltage is missing Issue RFO release Deactivate stop command at digital inputs and fieldbus Check DC link circuit in the Actual value window check voltage supply if required Motor does not turn Setpoint is missing Brake does not release Drive is mechanically locked Limit values are incorrect Reference bit is not set Drive info window Specify setpoint in the DDR or externally Check holding brake supply Check drive Check global limit values and limit values in
54. al connections are established via standardised signal M12 and power plug socket connectors M23 For connection the drive does not have to be opened When establishing the electrical connections the following points have to be observed e Switch off voltage before connection e Operate drive system only with an earthed supply e Lay power control and bus cables separately Lethal voltages at electrical connections Electric shock risk gt Work on the electrical system or equipment must only be carried out by a skilled electrician himself or by specially instructed personnel under the control and supervision of such an electrician and in accordance with the applicable electrical engineering rules Before commissioning and test run observe the following points In case of excessive voltage or wrong polarity at the connections the servo system may be destroyed gt For electrical installation refer to the order related wiring diagram 10 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware For the version according to ATEX category II 3D the drive is equipped with a cable gland instead of the M23 connector and therefore has to be opened when connecting the 230V mains supply For work carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion
55. ange was left before switching off GFC AntriebsSysteme GmbH 83 RS 232 Firmware User Manual 8 Transport and storage Correct transport proper storage mounting and installation as well as careful commissioning and maintenance are essential to ensure a trouble free and safe operation Do not cover the housing with another layer of paint since the thermal behaviour of the drive would be changed e Transport to place of installation in sturdy packing e Store in well ventilated dry room e Protect against floor dampness by storage on a shelf or on a wooden pallet e Cover to protect against dust and dirt plugs must be sealed with protective caps e Apply suitable corrosion protection agent to uncoated surfaces 84 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 9 Maintenance 9 1 9 2 Maintenance on drives in standard version The standard version of the Milan Drive Advanced is maintenance free Milan Drive Advanced servo drives are filled with grease for life Grease change and relubrication are not required For an increased ambient temperature and high radial and or axial force of the bearings the bearings should be checked at regular intervals and be exchanged in due course if required Maintenance of the version according to ATEX HINWEIS Regular inspection and maintenance performed by qualified and trained personnel according to the European standard EN 60079 17 Inspection and mainte
56. as no connection to the indicator Online Level 1 is displayed but Communication error is indicated in the title bar An option button each shows whether a warning or an error is active In the right section of the status bar the active driving data record and the current view motor view torque mNm output speed rpm and position inc System view independent of the system and the display units The system view is converted in the MDAwin operating software The drive only supplies data relevant to the motor which correspond to the motor view In case a reference operation is performed or none of the driving data records is active MDAwin indicates DDR 0 GFC AntriebsSysteme GmbH 41 RS 232 Firmware User Manual Leading priority Parameter change rights Two priorities are administered for the MDA servo drives The parameter change rights and the leading priority These two priorities can be individually assigned to different users To recognise priority assignment they are displayed in the status bar as PH parameter change rights and FH leading priority as from operating software MDAwin 02 01 If another user fieldbus master already possesses the priority rights he must abandon his priority first To enable access to an MDA via the operating software MDAwin the respective priority must be available If applicable the priority must be abandoned by the bus master first If a user program cannot obtain a priority
57. asing During these times the full holding torque is applied by the controls so that the position may be maintained during engaging or releasing the holding brake The motor is only started at the end of the release time This prevents the motor from working against the still engaged brake Use the Fan field to define the control of an optionally mounted fan 6 14 4 Global settings group box The Global settings group box is used to define the global maximum values both positive and negative for Torque and Output speed These values have priority over those values which were defined in the DDR however they may not exceed the values in the Motor data group box By means of the Position holding time field the time after the expiry of a DDR is determined during which the position is actively maintained by the drive For the setting 0 ms the position will be infinitely maintained The duration of the position holding time also determines how long the setpoint reached signal is displayed When operating the MDA with a bus system it may be required to increase the position holding time to ensure that the signal is displayed for an appropriate period via the bus As from firmware version APP 02 01 and operating software version MDAwin 02 01 the quick stop ramp can be set within the drive The parameters Quick stop ramp and Quick stop deceleration are used to set the ramp form as well as the deceleration value For example the quick stop ramp
58. ates a potentially hazardous situation which if the warnings and notes are not observed could result in minor injuries or material damage Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences measures or Possible consequence s on non observance prohibitions gt Measure s to avoid the hazard 7 GFC AntriebsSysteme GmbH RS 232 Firmware User Manual NOTE contains important information on the product or highlights a section of the documentation to which special attention should be paid Pictograph on NOTE consequences or measures Type of hazard and its source Possible consequence s on non observance gt Measure s to avoid the hazard 1 3 1 Used danger signs Danger signs warn about a danger source Layout yellow triangle and symbol General danger zone in combination with personal injuries Please heed all measures marked with the danger sign to prevent injuries or damage Hazardous electrical voltage Danger due to electric shock Hot surfaces Danger of burns gt gt gt 1 3 2 Used mandatory signs Mandatory signs call on the user to do something to prevent a danger Layout blue circle and symbol General mandatory sign Heed instruction Caution Disconnect plug before opening EN GE 1 3 3 Further symbols Information Contains important tips and information In case of non observance no
59. aviour after reference was defined the axis moves to the absolute position 0 e To ensure that a reference operation is performed during further operation the Start parameter may be set to Powerup or First start Step 6 Definition of driving data records DDR e Click the Start reference operation button in the DDR editor window GFC AntriebsSysteme GmbH 19 RS 232 Firmware User Manual 3 Operation NOTE The MDA servo drive is designed for continuous operation S1 Excessive switching on and off may damage the DC link circuit For information on the switching cycles please refer to the technical data sheet Lethal voltages at the connection terminals of the intermediate circuit up to two minutes after disconnecting the voltage supply when plugging in or removing the connections Danger of burns and electric shocks due to electric arcs gt Only remove electrical connections when disconnected from the mains gt Wait at least two minutes after disconnecting the voltage supply and unplugging the plug socket connectors before touching live connections or sections of the equipment Hot surfaces During operation the surface temperature of the drive unit may rise up to 100 C according to its enclosure protection Risk of burns gt Do not touch unless measuring the temperature if necessary wait until the temperature has cooled down to 40 C gt For the version according to
60. bau in Handingger ten Zufuhrsystome und andere Ger te und Maachinen bestimmt Die GFC Antriebssysteme ala Irmeerkahrbnnger erkl rt hiermit dass bei dar Konstruktion der oben genannten Servoantriabssysteme folgende einschl gigen Bestimmungen angewandt wurden EN ISO 12100 1 2004 EN ISO 12100 2 2004 EN 60 204 1 2002 Dis Inbetriebnahme ial solange untersagt bis sichergestellt wurde dass die gesamte Maschine in dia MDA Servoantriebssysteme eingebaut sind den Bestimmungen der EG Richtlinia 8B 37 ECG entspricht GPC AntrebsaSyatema GmbH Coswig 2005 04 26 Granzalra e 5 01610 Coswig gan Riester GL Talefon 03523 9460 Talofax 03523 74 142 viewer OT nities de 88 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 11 4 Konformit tserkl rung f r Antriebe in Ausf hrung nach ATEX Option EG Konformit tserkl rung gem der Richtlinie des Rates zur Angleichung der Rechtsvorschriften der Mitgliederstaaten ber Explosionsschutzrichtlinie 94 9 EG die elektromagnetische Vertr glichkeit 89 336 EWG und der Niederspannungsrichtlinie 73 23 EWG GFC Servosysteme Milan Drive Advanced der Baureihen MDA 35 1 MDA 56 1 MDA 63 1 In serienm iger Ausf hrung sind zum Anbau bzw Einbau in Handlingger ten Zuf hrsysteme und andere Ger te und Maschinen bestimmt Die GFC AntriebsSysteme GmbH als Inverkehrbringer erkl rt hiermit dass die oben genannten Servoantriebssysteme den Anforderungen folgend
61. carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion Pay attention to additional national regulations Only remove electrical connections when disconnected from the mains Wait at least two minutes after disconnecting the voltage supply and unplugging the plug socket connectors before opening the drive The following tables list the standard assignment only The connection of the respective drive may therefore deviate Ready made cables are available for the MDA For more detailed information please refer to the accessories catalogue 4 2 1 Plug X1 Power supply for drive external ballast resistor Pin Signal Description Note PE PE Protective earth 1 230VAC N Mains 2 230VAC L1 Mains 4 RBal Ballast resistor Optional 5 lee DEET optional 6 reserved Thread Screen The M23 plug is not available in the version according to ATEX category Il 3D Version and plug assignments for your MDA are listed on the order related wiring diagram supplied 24 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 4 2 2 Plug X2 Auxiliary voltage for electronics and holding brake Pin Signal Description Note 1 24V Power supply for approx 250mA electronics 24VDC 2 GND Power
62. ckbox may not be selected The function of the input is determined by the Function drop down list None Input has no function or is not used Synchronisation Starts the next DDR if is waiting for a synchronisation impulse refer to DDR editor Feature The DDR dependent function may not be selected In the single step mode DDR with end to end connection are considered as a single DDR Go to DDR x L1 DDR dependent end to end change over to DDR 99 DDR dependent end to end change over to the specified driving data record Intermediate stop The current DDR is interrupted refer to DDR editor Feature The DDR dependent function may not be selected Single step mode The single step mode is activated Press Start to acknowledge each DDR change over DDRs with end to end linking DDR groups are considered as a single DDR and are processed without interruption GFC AntriebsSysteme GmbH 63 RS 232 Firmware User Manual Reference Reference start Start Stop Limit switch positive Limit switch negative Controller enable RFO Quick stop Power amplifier off Start Stop from the mains If the Stop switch is operated twice for an active DDR with the Maintain position feature the drive is disconnected from the mains gt The Stop with brake feature can be additionally used to lock the motor shaft if the drive is equipped with an internal holding brake The reference switch is connected to the input
63. connection to the drive For previous versions of the operating software click the Read button to start reading before changed parameters can be transferred to the drive In addition a progress bar is implemented which indicates that reading or writing is in progress Click the Single step button to activate the single step mode of driving data records DDR without end to end connection the next driving data record without end to end connection is only started when clicking the Next DDR button The Next DDR button is only active if the single step mode has been activated In the single step mode DDR with end to end connection are considered as a single DDR DDR with end to end connection DDR groups are processed without interruption according to linking type and holding time Next DDR 6 3 4 Status bar Click Next DDR to start the next driving data record for active single step mode Condition processing of the previous driving data record has to be completed The status bar provides a quick overview over important states and current values Status of the connection Drive status Actual values The current status of the connection online offline and the current access level is shown by means of an option button The used interface e g COM1 is shown in the next option field The indication of the online connection always has to be considered in combination with the title bar If the user changes to online level 1 and h
64. ctive 149 Overflow of absolute encoder 161 Parameters Warning Motor parameters 162 Warning System parameters 177 Logic hardware Fault in the EEPROM 178 Fault in the Flash CRC 179 Fault during system start 13 3 3 Class 4 Info Number Register Designation 1 Info Collective warning 2 Collective fault 3 Diving data record active 4 Setpoint reached type of setpoint depends on the driving data record type 5 Reference operation active 6 Fieldbus active 7 Control error 8 Intermediate stop during driving data record processing 9 Single step mode active 10 Single step pause active 11 Reference set 17 Command Stop is active 18 Command RFO is active 19 Command Quick stop is active 20 Synchronous mode active for technological function Electric Shaft 33 Limit switch right 34 Limit switch left 35 Drive without power 36 Drive at standstill 37 Brake active 38 Fan active GFC AntriebsSysteme GmbH 97 RS 232 Firmware User Manual 13 3 4 Class 8 Parameters Currently there are no entries for this class 13 3 5 Class 16 Command Number Register Designation 0 Sta
65. d or axial force of the bearings the bearings should be checked at regular intervals and be exchanged in due course if required For work carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion Pay attention to additional national regulations GFC AntriebsSysteme GmbH 85 RS 232 Firmware User Manual 10 Disposal and recycling Servo drives by GFC AntriebsSysteme have an extremely long lifetime However they have to be replaced at one point in time The drives have a modular design and may therefore easily be disassembled separated and sorted according to materials i e electronic scrap metals plastics greases and oils The following generally applies Collect greases and oils during disassembly As a rule these substances are hazardous to water and must not be released into the environment See disassembled material to a sound disposal or to separate recycling according to materials Observe the national regulations for waste disposal 86 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 11 Declaration of conformity and declaration of Incorporation GFC AntriebsSysteme GmbH EG Konformit tserkl rung gem der Richtlinie des Rates zur Angleichung der Rechtsvorschriften der Mitgliederstaaten
66. damage is to be expected 8 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 2 Assembly and commissioning 2 1 Assembly Check servo drive for transport damage before assembly Possible damage has to assessed and eliminated if required Make sure that the means of transport ropes or hooks have appropriate supporting strength and stability Proper installation or assembly of the servo drives lies within the responsibility of the customer Respecting and observing the instructions of the present section is the prerequisite for specified product characteristics and for meeting possible warranty claims Inappropriate assembly may cause damage and functional failures of the servo drive Assembly and commissioning may only be performed by suitably trained personnel Assembly work may only be performed gt if the servo drive is at standstill not live and protected against accidental switching on Mounting the flange The servo drive is mounted using four screws at the A end shield Screw diameter and minimum reach of screw at the flange connection surface of the machine have to be selected according to the dimensions of the fixing holes The fastening screws are not included in the delivery For data and dimensions of the flanges please refer to the dimension sheet and the technical data sheet The flange mounting surface on the machine has to be level and torsion resistant A deviation of more than 0 03 mm from t
67. e 4000 mNm Control loop Pos ind resolution IE inc tum Max torque negative 4000 mNm Speed position controller System Speed limit s000 rpm Max speed positive 4000 rpm dive Motor offset fi 932 Inc Max speed negative 4000 rpm Fieldbus Reference operation Motor adjustment field 2000 Position holding time 0 ms T i Technological functions Motor adjustment time ham ms Flying referencing er itor Electric shaft montomg intemal zi Ballast warning 0 Ballast fault fa UZK correction factor The UZK correction factor field contains a correction factor for adapting the hardware This value is set in the factory and may not be modified NOTE Modifications of the UZK correction factor may cause major faults or even a complete failure of the drive gt The values may only be changed by the service of GFC AntriebsSysteme Pt monitoring Use this field to set the type of the connected ballast resistor For the type none there is no I T monitoring Due to this monitoring an overload of the brake resistance is detected and an alarm is emitted As from Firmware APP 02 01 and MDAwin 02 01 the l t monitoring is set in the factory to the load resistance used and can only be changed by GFC AntriebsSysteme 6 14 1 Motor data group box This group box contains parameters for adapting the controls to the motor The Max motor torque and Max motor speed fields contain the max values of the motor which
68. e please refer to the fieldbus specific interface description 68 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 20 Reference operation window In the Reference operation window the parameters for the reference operation are configured E Status Actual values Drive information Drive fault Drive warning perational data Event buffer Manual operation B DDR programming DDR editor E Parameters E Drive Name plate Hardware Control loop System 1 0 drive Fieldbus Reference operation Speed position controller r Configuration Type Limit switch negative zl Start Jang zl Reference traverse Postve zl 0 000 mm Absolute resolver position D Ire Start reference operation Behaviour after reference Approach position mE Position after ref operation 10 000 mm Brake after ref operation No e Reference offset m Maximum values Acceleration ramp Acceleration value Deceleration ramp Deceleration value Max speed Max force 60000 mm min s 60000 mm min s 30000 mm min 524 mN r Set reference position Reference position Joan mm Set reference a 6 20 1 Configuration group box The procedure for determining the reference point is selected in the Type drop down list None Marker Flank Limit switch positive Limit switch negative Block Plus Block Minus Reference memory Please refer to the chapter Multi
69. e motor view the current position is indicated in increments In the system view the position is indicated in the selected display unit depending on the selected system linear or round shaft When executing positioning driving data records absolute relative modulo and contouring error driving data records the current error is displayed The indication depends on the system motor linear or round shaft and the selected display unit The current temperatures in motor electronics and switch gear are indicated in the selected unit C or F In this field the current load of the ballast resistor is indicated in 96 Apart from the DC link circuit UZK and the internal voltage supply 24V internal the current measured values of the auxiliary voltage the current measured values of the auxiliary voltage 24V external and the Brake voltage are indicated GFC AntriebsSysteme GmbH 43 RS 232 Firmware User Manual 6 5 Drive information window In the Drive information window statuses signals and commands are indicated using option buttons E Status Actual values r Info status r Info collective warning Drive information C Waming Error C Voltage Temperature Drive fault C DDR active Setpoint C Motor Local CAN Drive warning Ref traverse active Fieldbus active C Fieldbus DDR Operational data C Intermediate stop Single step C Parameters Event buffer Single step pause Ref
70. e popup window indicates that a fault has occurred Click the Info button to directly open the Drive fault window Click the Acknowledge fault button to acknowledge the fault if the cause of the fault is no longer present The language of the popup window depends on the settings of your Microsoft Windows A fault may only be acknowledged if the cause is no longer active If a fault is reset via acknowledge Fault the fault number is also deleted from the fault register Click the Info button first to have the fault displayed 46 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 7 Drive warning window The Drive warning window contains detailed information on the causes of a warning SES Status Actual values Voltage Drive information Drive fault Temperature BESSE Drive warning Motor Wd perational data Event buffer Local CAN o Manual operation Bus Wd DDR programming DDR editor Driving data manager e D Parameters Parameter Wd Drive Name plate Logic hardware o Hardware Reg9 Control loop Speed position controller Reg 10 o Y System s 1 0 drive Ra S M Fieldbus Reg 12 o sl Reference operation Reg 13 ooo y Technological functions Flying referencing Reg 14 o v Electric shaft Reg15 RE Reg16 o A warning number is indicated in the drop down list Click on the drop down list to view the active warning cause s After remed
71. e the first DDR Manual The reference operation must either be started via the Start reference operation button or via the Reference start via fieldbus The reference operation may be restarted at any time For servo drives with absolute encoder or resolver with reference memory this parameter must be set to Powerup once the reference operation has been completed Input The reference operation is started via a Reference start via digital input After the reference point is set the reference operation may not be repeated In the Reference offset field the position offset is entered between zero point and reference point If the reference offset 0 both the reference point and the zero point are identical Referenz Offset O M NP RP x K RP M x Referenz Offset O NP zero point RP reference point x position If the value 1 is entered in the Absolute resolver position field the reference point is set when detecting the required flank of the reference switch marker flank or limit switch For values between 0 and 4095 the reference point is set with regards to the position of the position indicator This means when detecting the required flank the flank is converted to the indicated motor increment Therefore the reference point is independent of the switching behaviour of the reference switch The motor offset must be considered when entering the data since otherwise the reference point may differ by o
72. ected to pins 4 and 5 of the X1 plug For this version no internal ballast resistor is installed in the servo controls in the factory therefore the external brake resistor must always be connected to the motor electronics The resistance value of the external braking resistor may not fall below 50 Ohms An external fuse 10 A is recommended for protecting the regen circuit Conversion from internal to external ballast resistor may only be performed by GFC AntriebsSysteme 30 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 5 5 Inputs outputs For the wiring of the inputs and outputs refer to the enclosed wiring diagram and the electrical connection section NOTE The digital inputs and outputs are not supplied via the internal 24 V supply gt If the signals should be maintained even for switched off power supply the inputs and outputs have to be supplied separately 5 5 1 Digital inputs The digital inputs are potential free All digital inputs have a common reference point plug X7 pin 7 This reference point is internally connected to the 24 V OUT supply The logic levels are PLC compatible i e nominal voltage high 24 V High level of 13V 30V low level of 0 5 V Internal resistance 10 kOhm 5 5 2 Digital outputs relay Digital output 1 of the interface is a relay output Digital outputs equipped with a relay are potential free The NO contact may be loaded with a max of 30 V
73. ective 94 9 EC The servo drives are designed to meet enclosure protection IP 64 and fulfil the requirements of EN 50281 1 1 1998 section 6 Electrical apparatus for use in presence of combustible dust requirements for category 3 electrical equipment protected by enclosures To comply with all requirements of EN 50281 1 1 1998 the following points must imperatively be observed e In compliance with the ATEX directive 94 9 EC the servo drives must be equipped with an additional identification II3D IP6X T150 C e The maximum surface temperature of the servo drives based on an ambient temperature of 40 C in accordance with EN 50281 1 1 section 10 4 is 150 C In accordance with section 10 4 an increased dust deposit on the equipment was not considered for the determination of the maximum surface temperature e The correct connection of the thermo switches or the PTC thermistors as well as fulfilling the requirements of the duty type and the technical data are prerequisites for compliance with the maximum surface temperature of servo drives e The connection plug may only be plugged in or pulled out when device is disconnected from the mains e The cable glands used also have to meet the requirements of category II3 D and must at least comply with enclosure protection IP 67 e The servo drives must be connected by means of an external ground connection to the potential compensation e As a general rule the requiremen
74. encoder range Run drive with positive negative speed control until the AEN range bit is set Then run drive with negative positive speed control in the opposite direction until the AEN range bit has just been reset On the basis of the set reference position the AEN working range amounts to less than 4096 motor turns in negative rotation direction if the rotation direction was negative or to less than 4096 motor turns in positive direction if the opposite direction was positive Afterwards the drive can be mechanically installed in the application environment 7 5 Reference operation The actual reference operation is performed after the adjustment For details on the reference operation please refer to the Reference operation section Option Enter the desired Reference position in the Reference position group box and click the Set reference button The reference position has to be within the multi turn range of the absolute encoder as determined above After the reference bit is active and the absolute position has been adapted to the system the parameters in the Reference operation window have to be set to the following values Type Reference memory Start Powerup With this setting the status of the reference bit before switching off the controls is saved to the EEPROM Each time the drive is restarted this status is read in again and the absolute position is taken over from the absolute encoder unless the multi turn r
75. ent actual value of the position controller is overwritten by the setpoint of the reference switch Active position In this field the actual value of the position controller at the time of activation of the reference switch is displayed in increments Nominal position In this field the position the position controller should have at the time of activation of the reference switch i e the correct position of the reference switch within the system The position value can only be entered as increments i e as motor view The positions are not converted into the system view A reference switch has to be connected to digital input 1 of the MDA to be able to use the Flying referencing technological function also called Flying measuring The input is assigned with an interrupt required for this technological function This input has to be assigned the Reference function Due to the hardware requirements only MDA for a special hardware version and higher interrupt capacity of digital input 1 can be used GFC AntriebsSysteme GmbH 75 RS 232 Firmware User Manual Only one reference switch within the system can be evaluated The reference switch will only be evaluated again after completing the driving data record Flying referencing can be applied to the three operation modes speed torque and position control For speed and torque the actual value is immediately corrected for position control only if the drive is at a stands
76. er intermediate circuit and motor terminals may carry hazardous voltages even if the MDA is not in operation gt After switching off the device always allow 2 minutes for discharging before starting any work on the MDA If measurements and tests have to be performed on the live device the provisions according to VBG 4 0 have to be observed in particular those of 8 Permissible deviations when working on live parts The device must not be used as Emergency shutdown device refer to EN 60204 9 2 5 4 When installing the MDA deviations from the safety regulations are not permitted The MDA is not equipped with an integral power switch and will therefore be live as soon as the mains connection has been established NOTE The MDA contains electronic parts gt Cables connected to the MDA must never be subject to an insulation test with a high voltage level 12 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 2 3 1 Connection with Ex cable gland optional For work carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion Pay attention to additional national regulations Only remove electrical connections when disconnected from the mains Wait at least two minutes
77. er Richtlinien entsprechen Ger te und Schutzsysteme zur bestimmungsgem en Verwendung in explosionsgef hrdeten Bereichen 94 9 EG Kategorie Il 3D Elektromagnetische Vertr glichkeit EMV 89 336 EWG Niederspannungsrichtlinie 73 23 EWG Zur Beurteilung der Ger te wurden folgende Normen herangezogen a hinsichtlich der Explosionsschutzrichtlinie EN 50281 1 1 10 1999 EN 1127 1 10 1997 EN 13463 1 04 2002 b hinsichtlich elektromagnetischer Vertr glichkeit EN 61800 3 2002 c hinsichtlich der Niederspannungsrichtlinie EN 61800 5 1 2003 EN 60204 1 1997 EN 50178 1 1997 GFC AntriebsSysteme GmbH Coswig 2005 10 21 Grenzstrasse 5 01610 Coswig tices iester Telefon 03523 9460 x sch ftsleitung Telefax 03523 74142 www dfc antriebe de Diese Erkl rung beinhaltet keine Zusicherung von Eigenschaften Die Sicherheitshinweise der mitgelieferten Produktdokumentation sind zu beachten GFC AntriebsSysteme GmbH 89 RS 232 Firmware User Manual 12 Literature 12 1 Milan user manuals Short instructions Order no Y004 135 User manual RS232 Firmware Order no Y003 804 Dimension sheet Order no Y003 805 2D and 3D CAD data of the MDA for common CAD systems can be ordered from GFC AntriebsSysteme Technical data Order no Y003 806 Interface description PROFIBUS DP Order no Y004 011 Interface description CANopen Order no Y004 013 Functional block description S7 function
78. er the position holding time Hardware window has expired There is always a difference between the nominal position value and the actual position value if the drive is running For the controller types absolute position relative position modulo position and contouring error the Contouring error warning will be activated if this value has been exceeded this means that the occurring contouring error may not be compensated by the position controller since e g the torque is not sufficient 60 GFC AntriebsSysteme GmbH User Manual 6 17 System window RS 232 Firmware In the System window the adaptations to the existing system are determined This adaptation requires Level 4 except for the display units time position and temperature E Status Actual values Drive information Drive fault Drive warning perational data Event buffer Manual operation E DDR programming DDR editor E Parameters B Drive Name plate Hardware Control loop Speed position controller System 1 0 drive Fieldbus Reference operation E Technological functions Flying referencing E System System type Linear zl y y 3 ESM bh ESP Legend 1 ESM 2 m Motor primary gear MDA Motor primary gear Linear axis Software limit switch minus Software limit switch plus Software limit switches Electric shaft IV Inversion of direction gear v Software limit switch Gear factor
79. eratures LD 1 TemperaturemonitoringMotor 3 8 JTemperatuemonitringBalastresistor Register 3 motor 0 1 J Resovesinal O 3 8 JEncderndex J 6 o reserved 5 0 0 00000 0000000 8 256 reserved 9 512 FaultPowerelectronics Register 4 LocalCAN 0 1 j ConnctonCANXC DSP gt Register 5 fieldbus o 1 Connection monitoring via bus Fault in the slave drive for Technological function Electric shaft GFC AntriebsSysteme GmbH 93 RS 232 Firmware User Manual Register 6 driving data manager 3 8 JDriveblokeddurngdrivingdatarecord N 6 64 Posiionngcommandswithoutsetreferenee 8 256 Overflow of absolute encoder Register 7 parameters Bit Decimal Description S O 0 1 Fault Motor parameters Register 8 Logic hardware 0o 1 Faulinthe EEPROM Fault in the Flash CRC Fault during system start 94 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 2 2 Drive warning window Register Description 1 Warnings Voltage 2 Warnings Temperature 3 Warnings Motor 4 Warnings LocalCAN 5 Warnings Fieldbus 6 7 8 Warnings Driving data manager Warnings Parameters Warnings Logic hardware 9 16 Warning registers 09 to 16 Register 1 vol
80. ersion according to ATEX optional 21 3 3 Technical fo ic 42 ee ek 21 3 4 Applications in Ex zone 22 option sessseeeeennmeennmnenn nennen nnne nnns 22 4 Electrical connection 23 4 1 GNI C H PRM 23 4 2 WINING ASSIQMINGIN e 23 4 2 1 Plug X1 Power supply for drive external ballast resistor seeene 24 4 2 2 Plug X2 Auxiliary voltage for electronics and holding brake AA 25 4 2 3 Plug X3 Programming interface HG 25 4 2 4 Plugs X4 X5 Fieldbus ier een ne nenne e re en daran 26 4 2 5 Pug XCF SPS T 27 4 2 6 PIUG ele 27 4 3 Pug algne me senros tet te e een 28 5 Detailed information on the drive 29 5 1 Position Indicato ieiuna niana nAAL AEA EENAA EA AER aE AAE AEA ANE A E 29 5 1 1 aite 29 5 1 2 Absolute encoder option u440ur444nH0nnennnnnnannnnannannnnnnnannnnnnnnnnnnnnnnnnnnnnnnennnnnnensnnanan nenn 29 5 2 DC link charging circuit for input current Imftaiton 30 5 3 DIETAS f E 30 5 3 1 EIOCHOMICS T 30 5 3 2 Holding prake GE puit et en Ib 30 5 4 Balast TOSI M ee ei eu 30 5 4 1 Internal 30 5 4 2 External OPON C Q 30
81. f the user interface and establishment of a connection e Definition of the system e Definition of the inputs outputs e Definition of the reference operation e Perform reference operation e Definition of driving data records Step 1 Start of MDA win user interface and setting up of a connection e Installation refer to section software installation e Start of MDAwin exe e Select appropriate interface Menu options refer to section Tool bar e Click the Connect button to set up a connection to the drive e Change to Online level 4 Default password 0000 via the Menu mode e Read parameters from the drive READ button 16 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Step 2 Definition of the system e To open the System window click on System in the parameter tree E Status Actual values Drive information Drive fault Drive warning Operational data Event buffer Manual operation E DDR programming DDR editor El Parameters E Drive Name plate Hardware Control loop Speed position controller System 1 0 drive Fieldbus Reference operation E Technological functions Flying referencing Electric shaft E System System type Linear D Legend ESM ESP MD Motor primary gear Linear axis Software limit switch minus Software limit switch plus m Motor primary gear Software limit switches IV Inversio
82. ftware limit switches the DDR is not started and a fault is signalled GFC AntriebsSysteme GmbH 61 RS 232 Firmware User Manual NOTE For the controller types Torque Output speed Modulo position and Contouring error the software limit switches will not be evaluated gt When using DDRs with the above mentioned controller types for a linear system hardware limit switches should be available to avoid damage destruction of the linear axis Inversion of direction By activating the Inversion of direction gear checkbox it is determined that the directions of the gear input and gear output differ The inversion of direction system checkbox adapts the direction of movement between motor or gear and linear axis Conversion These fields are used to define the conversion factor of primary movement motor view to secondary movement system view The values of the user interface are converted by this factor between motor and system view refer to section 6 3 3 To facilitate the input the unit Gear rotation should be selected on the left Any available gear Gear input and Gear output fields is taken into consideration For the Motor turn and Increments units the gear reduction included in the specified conversion factor Conversion fi Gear rotation z feo mm m Depending on the selected System type you may chose on the right side between rotary units round shaft turns degree seconds or translato
83. g software can be terminated using the Close window windows button X As long as a connection is established the button is deactivated Use these buttons to change over between Motor view M and System view S display Nominal actual and limit values are displayed in the units relevant to this view The system view is converted in the MDAwin operating software The drive only supplies data relevant to the motor which correspond to the motor view When using fieldbus connections only motor specific data is available via fieldbus The conversion of the values indicated in system view has to be performed by the corresponding superordinate control system Use the Language buttons to either view the user interface of the operating software in German or in English Use the Start button to start the driving data record entered in the DDR no field This function cannot be executed in real time Use this button to stop an active driving data record i e the drive is stopped with the specified brake ramp This function cannot be executed in real time The functions Start DDR and Stop DDR CANNOT be executed in real time and do NOT meet the requirements of an emergency stop Read Use this button to read the configuration from the drive The current settings in the operating software will be overwritten For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive In additi
84. he perpendicular position to the shaft axis is not permitted Furthermore the output shaft and the gear or drive shaft have to be in perfect alignment to prevent deformation of the bearing shaft The A end shield may be damaged during assembly if exposed to excessive radial load or if the Screws are fastened applying excessive torque When mounting hollow shaft gearboxes or other shaft fittings pinions pulleys etc no axial forces e g due to hammering may be transmitted to the servo drive This might damage bearings housing shaft and holding brake In principle all axial forces acting upon the output shaft should be reduced to a minimum Any mounting position is possible ideal heat elimination is achieved in the horizontal mounting position Hot surfaces During operation the surface temperature of the drive unit may rise up to 100 C according to its enclosure protection gt Do not touch unless measuring the temperature if necessary wait until the temperature has cooled down to 40 C gt For the version according to ATEX category ll 3D the drive must be cleaned from dust collections at a regular basis to prevent an accumulation of ignitable dust layer from accumulating on the drive For this reason we recommend horizontal installation GFC AntriebsSysteme GmbH 9 RS 232 Firmware User Manual 2 2 Installation electrical connection In the standard version the electric
85. iebsSysteme GmbH 27 User Manual RS 232 Firmware 4 3 Plug alignments X1 to X8 is indicated on the DAC wiring diagram included in the scope of The alignment of the plugs drive de The following two figures are extracts of the DAC standard wiring diagram for the sizes MDA 35 1 or MDA 56 1 and 63 1 supply The wiring diagram may also be downloaded from the Internet www milan MDA 35 1 t ano on m cinco lt ino Winn ino win iw p noowy Cu N COTIVNY urs ayog dam ansa un unj s Dxq Aiccrs anod aen iesus CunGuosusA smon200 APKS and oa fiunfiios ia 340A scans aa Buggi UDAAN AINS amo unvemug BurGuos aA 2300423 S ag unser DuntiansuaA amp APINA MD Gauw DunDios aA uojoeuuoo Jeworsno epuny ssniyosuy u a aap re wero sam 8 9519 uonoeuuoo JeWO SND epuny ssnaosuy a D Lage der Stecker Position of the plugs Lage der Stecker Position of the plugs a D a A AE uOJXDunO AM APUN 3NH3INI u3e18gauufy Jn ZINUDS uap san us unmmuisag aui ur pappoju op puo paJnBrijuo2 pai2elas 30 uo suDp boo uui iuouooy zl DA ld POT DD Japun INYFLNI iu3aussqauan 1 zinu2s uap sagn uebuneunsac ay u PAPOOWROP puo Pas Hyuod paj2ajas aQ UD swouboPp Dain puppy l MDA 56 1 und 63 1 GFC AntriebsSysteme GmbH 28 User Manual RS 232 Firmware 5 Detailed information on the drive For the Milan Drive Adva
86. igital input Module address Input number IV high active Function DDR no r IV DDR dependent Ta User Manual Digital output Module address Output number IV high active Function DDR no F IV DDR dependent EZ r Analogue input Module address Input number Inverse Function Input type interface S Fault range Output speed sett D Function value min o Function value max fom Interface value min noo wv Interface value max so v 40 10V 2 Configuration of the digital inputs Digital input 1 2 3 4 high active E M D Oo DDR dependent E M Oo LH Function Start stop Start stop Limit switch negative Limit switch positive DDR no 1 2 0 0 Configuration of the digital outputs Digital input 1 2 3 4 high active E M M oO DDR dependent oO M al oO Function Error DDR active DDR active Setpoint reached DDR no 0 1 2 0 Click the Write button to save changed settings GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Step 4 Definition of the reference operation e Open Reference operation window E Status Actual values m Configuration gt Maximum values Drive information Drive fault Type Limit switch negative zl Acceleration ramp Linear EI Drive waming Start Manual z Acceleration value s0000 mm min s perational data Event buffer Reference
87. ine help for MDAwin as from version 02 04 For further information please refer to chapter Menu bar 6 2 Introduction Using the MDA Win operating software the servo drive may be conveniently configured programmed and operated e special functions for easy commissioning e operation of the servo drive e programming of the driving data records e simple fault diagnosis The functions Start DDR and Stop DDR CANNOT be executed in real time and do NOT meet the requirements of an emergency stop The configuration programming may be saved at any time on the hard drive or any other storage medium 34 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 3 User interface The program runs in a window which has been optimised for a resolution of 1024x768 The window may be changed in size i e minimized and maximized The user interface consists of the following elements e Title bar e Menu bar e Toolbar e Tree view for navigation e Dialog box e Status bar S nn windows interface module DAC application Titl s Aoi x4 itle bar Datei gus Extras MDA Optionen Ansicht Fenster D H5s5 Ms 4 eea Menu bar __Start BOR StpDDR DDR no fi Read Write Single step Nex DDR E x A 5 9 Tool bar x Drive fault Drive waming Operational data E Actual values Eft buffer afiual operation r Current values gt DDR prog
88. ing the selected transmission ratio Position The slave synchronises to the position of the master while observing the selected transmission ratio Behaviour on error This input field currently has no function After programming the drive has been completed the connection of the MDAwin to the drive has to be reset correctly to Online Level 1 since the control change rights have to be transferred to the master when starting the synchronisation GFC AntriebsSysteme GmbH 77 RS 232 Firmware User Manual 6 21 2 1 Functional description The Electric shaft technological function is a synchronous control of two drives Apart from the synchronous operation of two drives reduction ratios and therefore mechanic gears can be simulated The drives are linked via CAN bus the communication between the drives is established without any external master This function is only available for two drives without CANopen interface Since no CANopen specific operation mode is used the CANopen mode is no longer available for the two interfaces Additional CANopen devices can however still be integrated in the network The bus communication can be considerably impaired due to the high bus load of the electric shaft The two drives do not exchange any programming telegrams The necessary programming has to be performed separately on both drives and has to be synchronised A fault within the drive is signalled to the master and leads to a quick stop of the
89. ing the monitoring via MDA win the MDA_Monitoring exe file has to be started separately The monitoring program allows to display different nominal and actual values can either be displayed as a line chart or an oscilloscope diagram The position in increments the speed in rpm at the motor the torque in Nm at the motor can be displayed as actual values The indicated nominal value depends on the controller type set in the active DDR GFC AntriebsSysteme GmbH 79 RS 232 Firmware User Manual Line chart view P Online Monitoring V1 01 vi StatiStop commu State Efassungeziler Datenstatus EN not Init 261 9 sj Sollwert erreicht Linienschreiber Ansicht Oszilloskop Ansicht Position Drehzahl Drehmoment Position Incremens Sollwert Trigger 6958 00 Drehzahl 293 00 33 00 6898 00 T Ss 2 Bt D j0 00 Sollwert NE Gm a erre rap rrr rag 5 479 7 000 8 000 8 500 9 000 eebe Zeit s EXC Tal M S The elements are operating elements of the monitoring program Start stop Starts or stops the recording Commu State communication status of the connection between MDAwin and the monitoring program Erfassungsz hler counter of valid and computed telegrams exchanged by MDAwin and the monitoring program Datenstatus lights up when receiving valid telegramms Triggerauswahl The trigger selection can only be performed if the recording has been stopped via the start s
90. input 10 00 Negative f 0 000 mm Gear factor output 1 00 Positive 20 000 mm i 10 00 r System conversion Inversion of direction system Conversion 1 Gear rotation bd 60 mm m r Display units Time Minute v Position mm M Temperature Celsius E System type Linear Use this field to select the existing system The servo drive is mounted to a linear axis or in a system with translatory movements Round shaft Modulo The servo drive is mounted to a round shaft or in a system with rotary movements The modulo function is used for a circulating system where positions are to be approached via the shortest distance within motor or system rotation The system view displayed in the upper part of the window changes its appearance depending on the system type the gear and system inversion The system view can be used to check whether the settings made match the mechanic system which is to be used in the drive Software limit switch Independent of the hardware limit switches ESL ESM and ESR ESP additional software limit switches may be determined by activating the Software limit switch check box The value for the Limit switch Minus must be lower than the value for the Limit switch Plus Before starting a DDR with the controller type absolute position or relative position it is checked whether the nominal position target position is within the software limit switches If the nominal position is not within the so
91. iour on error fo Operation mode The desired operation mode is set in this field Master The drive in this operation mode specifies nominal values Slave The drive in this operation mode receives its nominal values from the master The Gear factor input and Gear factor output fields are used to set the output speed or the positioning ratio of the master to the slave and are only evaluated in the slave operation mode In the master operation mode no entries can be made in these fields CAN ID master The CAN ID master has to be selected within a range between 265 and 271 The ID is required for the communication between master and slave CAN ID slave The CAN ID slave has to be selected within a range between 257 and 264 The ID is required for the communication between master and slave The setting of the CAN ID master and the CAN IS slave have to match both with regards to the master and the slave Set the baud rate in the Fieldbus window to at least 500 kBit s for both drives to be able to use the technological function Due to the high baud rates both drives have to be equipped with a termination resistor Timeout This input field is used for setting the bus monitoring The unit to be entered is cycles whereas 1 cycle corresponds to 1 ms Sync mode This drop down box is use to set the behaviour of the slave The sync mode is only evaluated in the slave operation mode Speed The slave synchronises to the speed of the master while observ
92. is used in the event of faults to bring the drive to an orderly standstill The setting of deceleration values of the quick stop ramp influences the time needed for the drive to come to a standstill triggered by the quick stop function If the value 0 is recorded the drive does not introduce a deceleration gt The deceleration value must be set to the highest possible value at least superior to 0 to ensure the standstill of the drive If the deceleration value 0 is recorded the drive does not introduce a deceleration gt The deceleration value must be set to a value superior to 0 in order to ensure the standstill of the drive 58 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 15 Control loop window The parameters of the control loop are set in the Control loop window These parameters are adapted to the mounted motor in the factory and may not be changed Parameter aiid Drive Name plate Field P amplification fi 830 Torque P amplifcation 830 Hardware Field l reset time fi 350 us Torque l reset time fi 350 us Speed position controller NOTE Modifications of the parameters of the control loop may cause major faults or even a complete failure of the drive gt The values may only be changed by the service of GFC AntriebsSysteme GFC AntriebsSysteme GmbH 59 RS 232 Firmware User Manual 6 16 Speed position controller window In
93. ler in this field The factor changes the I part of the PI controller The default value is 1310 us The value may be changed within a range from 0 to 655350 us with a resolution of 10 us The value 0 us deactivates the I part If the I part is too high the drive is too soft if it is too low the drive does not run smoothly Large foreign moments of inertia usually require higher reset times Use this field to determine the Kp amplification Within the range 0 01 to 250 the Kp amplification may be changed with a resolution of 0 01 The default value is 6 50 The higher the value the faster will a position difference be compensated This value is used to determine the amplification of the pilot control i e that part of the nominal output speed which is directly supplied to the speed controller The part may be modified within the range from O deactivated to 1 The default value is 1 0 For position pilot control 1 a contouring error is almost compensated however the drive runs at fluctuating output speed specification e g noise via analogue input with a lot of vibration and quite noisily Reaching the target position is checked for the controller types Absolute position Relative position and Modulo position The size of the positioning window window determines as from which distance onwards from the nominal position the signal Target reached is to be issued The Setpoint reached signal in the Drive info window is reset aft
94. m Output speed speed rpm rps K min Zmin min Zmin s Zsec min Zsec s m min m s dm min dm s cm min cm s mm min mm s Acceleration ramp rpm s Deceleration ramp rps s min s s s Zmin min s Zmin s s Zsec min s ZS C S S m min s m s s dm min s dm s s cm min s cm s s mm min s mm s s um minxs um minxs GFC AntriebsSysteme GmbH 99 RS 232 Firmware User Manual 13 4 2 Actual values window Parameters Unit Min Max Active DDR 0 99 Torque Force depending on system type system conversion display units controller type Output speed speed depending on system type system conversion display units controller type Position depending on system type system conversion display units controller type Error depending on system type system conversion display units controller type DC link circuit V Brake voltage V 24 V intern V 24 V extern V Display values Temp Motor CIF Temp Electr CIF Temp Power electronics CIE t 96 0 100 100 GFC AntriebsSysteme GmbH User Manual 13 4 3 Drive information window RS 232 Firmware Group Parameters Status Warning Error DDR active Setpoint Ref traverse active Fieldbus active Intermediate stop Single step Single step pause Ref set Cmd Stop Cmd QStop Cmd RFO Ack Stop Ack Qstop Ack RFO Collective
95. mmission number Sg Works number 5 Wiring diagram number G Rated torque Rated output speed Power supply CE symbol Current consumption Enclosure protection The MDA has an electronic name plate Some of the data on the name plate can be called via a bus connection refer to Name plate window section 3 2 1 Additional name plate for version according to ATEX optional For the version according to ATEX category II 3D an additional name plate is attached to the drive motor and contains the following information GFC Ex symbol CE symbol AntriebsSysteme GmbH D 01640 Coswig II 3D IP5X T 150 C X II 3D c T 150 C 10 C lt Ta lt 50 C GFC Furtheron there are some more warning and information plates according to ATEX attached to the device Please make sure that all warning and information plates according to ATEX are legible and that missing or damaged signs are replaced 3 3 Technical data For the technical data and information on dimensions and weights please refer to the Technical data sheet and the Dimension sheet These data sheets can be downloaded via the Internet at www milan drive de GFC AntriebsSysteme GmbH 21 RS 232 Firmware User Manual 3 4 Applications in Ex zone 22 option Milan Drive Advanced servo drives in the version according to ATEX category II 3D basically meet the requirements for applications in dust hazardous locations of zone 22 in accordance with ATEX dir
96. motor is without power and slows down The DDR dependent function may not be selected L1 DDR dependent If the single step mode is active the next DDR is started via a logic LH flank low to high Otherwise the signal has no function M DDR dependent Starts the indicated DDR Stops the current DDR Drive stops when the signal is deactivated or activated Cmd Stop If a DDR is terminated using this signal the drive stops with the deceleration ramp of the active DDR If a DDR is active and in Maintain position operating the Stop switch disconnects the motor Teach In Acknowledge fault O DDR dependent The input saves the current actual position value in the active DDR M DDR dependent The input saves the current actual position value in the determined DDR Use the input to acknowledge a fault The DDR dependent function may not be selected 64 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Set reference manual The function is available for firmware APP 02 00 and operating software 02 00 and higher This function can be used to determine one position as reference without having to perform a reference operation This is suitable for programming the reference operation directly to the reference memory refer to Reference operation window and Multi turn absolute encoder section The DDR dependent function may not be selected Limit switch negative warning This function is available from firmware version
97. mp is lost and hast o be reset For an overview of all signals refer to the tables in the appendix GFC AntriebsSysteme GmbH 51 RS 232 Firmware User Manual 6 11 Manual operation window The Manual operation window contains two driving data records with the most important parameters for quick commissioning of the drive The parameters are described in the chapter on the DDR editor window For simple handling the most important commands are available on the buttons mE zi5 Status Actual values r Push to run 1 m Push to run 2 Drive information Drive fault Start Stop Run Start Stop Drive warning Operational data Controller type Relative position Controller type Dutput speed x Event buffer Nominal position 50000 inc Nominal output speed 2500 pm Manual operation Nominal output speed 3000 rpm DDR programming DDR editor Target time 10000 ms E Parameters Controller record fi Controller record E Drive Name plate m Maximum values m Maximum values Hardware Acceleration ramp Linear X Acceleration ramp Linear X Control loop Acceleration value fi 0000 pms Acceleration value fi 000 pms Speed position controller S System Deceleration ramp Linear zl Deceleration ramp Linear zl 1 0 drive Deceleration value 10000 rpms Deceleration value fi 000 tpm s Fieldbus Max output speed o rpm
98. n of direction gear IV Software limit switch Gear factor input fi 0 00 Negative f 0 000 mm Gear factor output fi 00 Positive 30 000 mm i 10 00 r System conversion Inversion of direction system Conversion fi Gear rotation x fo mm m r Display units Time Minute E Position mm Temperature ces zl e Determine system type System type Linear e Observe planetary gear Enter gear multiplication in the fields Gear factor input 10 Gear factor output 1 Activate Inversion of direction gear e Enter the slope of the linear axis Conversion fi Gear rotation Select the unit Gear rotation to take the gear into consideration e No software limit switch deactivate the Software limit switch field e Select display units for system view linear Display unit Time minute Position mm and Temperature Celsius e Click the Write button to save changed settings GFC AntriebsSysteme GmbH 17 RS 232 Firmware Step 3 Definition of the inputs outputs Open I O drive window 1 18 Status Actual values Drive information Drive fault Drive warning Operational data Event buffer Manual operation DDR programming DDR editor Parameters Drive Name plate Hardware Control loop Speed position controller System Fieldbus Reference operation Technological functions Flying referencing Electric shaft r D
99. n to the drive The settings may be viewed but not modified For Online Level 2 Operator Online Level 3 Maintenance and Online Level 4 Planning a password is required default 0000 Independent of the function of the user parameters may be changed and the drive be started and stopped within this level Online Level 5 is reserved for the service technicians of GFC AntriebsSysteme Online Level 6 is reserved for the administrators of GFC AntriebsSysteme or for the configuration in the factory Extra Use the Download Firmware Application command to download the firmware of the application to the drive The Download Bootloader Application command updates both the application and the bootloader Bootloader is an auxiliary software for download This function only has to be used if you receive an update file whose use has expressly been stipulated This is the case for major version changes For operating software version MDAwin 02 00 and higher a popup window indicates if the bootloader has to be used Use the Download Firmware Motorcontrol command to download the firmware for motor control The present functions are only available from Online Level 4 NOTE When downloading the firmware Application DAC APP and Motorcontrol DAC MC the compatibility versions Pxx Dxx and Exx behind the version identification have to match gt In case of different compatibility versions the proper function is not ensured or the values are
100. nance of electrical installations in hazardous areas is required Check actuator visually Ensure that no outside damage or changes are visible The electric connecting cables must be without damage and wired correctly Do a thorough touch up of possible damage to paint finish to prevent corrosion Cable entries cable glands plugs etc have to be checked for correct tightness and sealing Observe torques according to manufacturer s details If required replace the components Only use components which have a test certificate Check whether Ex connections are fastened correctly Take care of possible discoloration of the terminals and wires This would indicate an increased temperature For Ex housings take care especially of a possible collection of water This may originate from breathing due to severe temperature variations e g change of night and day from damaged seals etc Remove any water immediately Ensure that all housing covers are handled carefully and that the seals are checked All cable and motor protection components have to be checked If defects which affect the safety are detected during maintenance repair measures have to be initiated without delay When exchanging parts seals etc only original spare parts shall be used The motor bearings have to be replaced after 90 of the standard lifetime Refer to the technical data sheet For an increased ambient temperature and high radial an
101. nced servo drive the motor and the controls are firmly connected as a unit In the standard version the electrical connections are established via standardised signal M12 and power plug socket connectors M23 Motor The MES servo motors are three phase synchronous motors with special permanent magnets Permanent ambient temperatures up to 155 C insulation class F are permitted The motor temperature is monitored by a sensor integrated in the motor winding As an option the motor is also available with integral holding brake the shaft end is optionally available with parallel key groove Electronics The DAC servo controls combine all components necessary for independent electronic controls in one housing These are e aself commutated intermediate circuit including a mains filter for direct connection to the mains e 4 quadrant operation integral brake resistor e integral voltage supply for electronics e sequence control and motor control e fieldbus interfaces Profibus DP CANopen option e digital galvanically isolated inputs and outputs e analogue input option e RS232 interface for the operation and programming via MDAwin programming tool for computers with Windows operating system Therefore the MDA may be operated independently for many drive solutions or may also be integrated in automation systems 5 1 Position indicator 5 1 1 Resolver As standard the drive is equipped with a resolver The resolver has a
102. ne motor turn If Start Manual has been selected the reference operation may be started via the Start reference operation button In the Behaviour after reference field the behaviour after setting the reference point is defined No operation The drive stops in the current position after the reference operation If a behaviour after reference is selected for the type None and the start Powerup the drive performs an operation to the position entered in the Position after ref operation or the limit switches after switching on Approach limit switch positive After the reference operation the limit switch plus is approached If Software limit switch is activated the Software limit switch plus is approached Approach limit switch negative After the reference operation the limit switch minus is approached If Software limit switch is activated the Software limit switch minus is approached Approach position After the reference operation the position is approached in the Position after ref operation field Next DDR After the reference operation the DDR of which the number is entered within the field Next DDR will be executed GFC AntriebsSysteme GmbH 73 RS 232 Firmware User Manual In the Position after ref operation field the position is entered which is approached after a reference operation if Behaviour after ref operation Approach position is selected The Brake after ref operation field indicates whether
103. ntrol firmware 02 03 D02 Drive warning Operational data Serial no motor Logic variant Event buffer Manual operation Serial no electr Interface variant 2035 266 01 E DDR programming DDR editor Customer designation GFC Bus module variant 039 575 01 PBD E Parameters E Drive Customer designation 2 AntriebsSysteme Power supply unit variant oi 00 Name plate Hardware Date of final test Power board variant oi 00 Control loop Speed position controller Wiring diagram DAC 1110 414P0 000 Parameter version System M D drive Terminal plan MES 3010 K 1040 000 Fieldbus This field indicates the order number of GFC AntriebsSysteme This field contains the definite works number of the drive The Serial no motor and serial no electr fields contain the definite serial number of the motor and the controls The Customer designation 1 and Customer designation 2 fields contain information specified by the customer max 20 characters each These entries may also be changed in Online Level 4 The date of the final test is entered in this field The Wiring diagram DAC field contains the number of the wiring diagram for the controls The diagram shows the position of the plug and the wiring assignment The name plate also bears this number A copy of this wiring diagram is included in the scope of delivery of the drive The wiring diagram may also be downloaded or printed out from the Internet This field contains the number of the terminal plan between m
104. on a progress bar is implemented which indicates that reading or writing is in progress 40 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Write Write changes Single step Activate the Write button to write the complete current configuration to the drive Only those parameters will be accepted for which the required access rights level are available The Write button is only active after reading the configuration from the drive Read button or Read MDA active For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive The online data is directly available in the windows after establishing the connection to the drive For previous versions of the operating software click the Read button to start reading before changed parameters can be transferred to the drive In addition a progress bar is implemented which indicates that reading or writing is in progress The Write changes button only transfers the changed parameters to the drive Only those parameters will be accepted for which the required access rights level are available The Write changes button is only active after reading the configuration from the drive Read button or Read MDA active For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive The online data is directly available in the windows after establishing the
105. orce field Motor with absolute encoder When switching off the power supply the status of the reference bit is stored in the EEPROM The reference bit is restored during a restart the current position is directly read out from the absolute encoder GFC AntriebsSysteme GmbH 69 RS 232 Firmware User Manual Motor with resolver When switching off the power supply the current actual position is stored in the EEPROM This position is used when rebooting The position is only correct if the drive is not operated when not supplied with power gt Use mounted brakes or other suitable means to ensure that the position of the drive cannot be changed when the drive is switched off If this cannot be ensured a reference operation has to be performed after each restart The required direction of rotation of the motor for setting the reference point is defined in the Reference operation field This field is only effective for the reference types marker and flank For more detailed information on the reference operations please refer to the following charts The following charts show the sequence of the reference types depending the start position and the direction of operation The abbreviations stand for the following ESM Limit switch minus negative ESP Limit switch plus positive SP Start position RP Reference position RM Marker REF Flank V Speed including direction positive or negative x Position The
106. orrection factor for the calculation of the DC link circuit After entering the current mains voltage the firmware calculates the UZK correction factor This function is only available in Online Levels 5 and 6 NOTE The Uzk factor is preset in the factory gt A subsequent change of the Uzk factor may cause faults or even the failure of the drive Use the Change password command to change the passwords for Online Levels 2 to 5 The current password of the level is required to change a password The new password has to be entered twice The password has to have at least 4 characters and must not be longer than 7 characters All ASCII standard characters no special characters may be used for the password The password is case sensitive upper case lower case Select the Activate technology function command to activate customer specific special functions of the drives This function has not yet been implemented MDA Use the Read command to read the configuration from the drive The current settings in the operating software will be overwritten Via the Write command all parameters which may be accessed in the current level are written to the drive Via the Write changes command all changed parameters which may be accessed in the current level are written to the drive For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive In addition a progress ba
107. osition Nominal output output speed speed 3 Nominal output Nominal output speed speed 3 Target time Target time Target time Target time Max torque Max torque Max torque Max torque 3 Max output Max output Max output Max output speed speed speed speed if with speed limitation feature is activated Controller parameter record Driving data record linking None For each DDR a controller parameter record may be selected The controller parameter records are defined in the Speed position controller window The Driving data record linking defines the behaviour between two driving data records In case a linking was selected a holding time and the next DDR must be defined The following linking types are available There is no change over to another DDR the drive stops after processing the DDR behaviour is defined via Features Overhung Change over to the next DDR without any stop end to end connection The change over to the next DDR is made using the settings for acceleration value and acceleration ramp of the next DDR For end to end linking the position reached signal is rather short In the single step mode DDR with end to end connection are considered as a single DDR 54 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Maintain position The current position is actively maintained for the Holding time at the Max torque DDR or global inbetween the DDRs
108. otor and controls This field contains the version of the application firmware as well as version indications for the compatibility to operating software Pxx parameter structure Exx and motorcontrol firmware Dxx This field contains the motor control firmware and the version number of the application firmware Dxx Article no and variant of the logic board Article no and variant of the interface board Article no and variant of the bus module Article no and variant of the power supply unit Article no and variant of the power board Version indication for parameter structure 56 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 14 Hardware window The Hardware window contains the basic configurations of the servo drive Some of them are programmed in the factory and may therefore not be changed Status Start motor adjustment UZK correction factor o Actual values m Motor data r Holding brake Fan Drive information Drive fault Motor type Brake available Drive warning Max motor torque bo mNm Brake apply time 40 ms Operational data A Event buffer Max motor speed bo rpm Brake release time 40 ms Manual operation Motor pole pais 7 Fan not available v B DDR programming DDR editor Current factor j 300 E Parameters E Drive m Motor transmitter r Global settings Name plate Position indicator Resolver Max torque positiv
109. p Linear Sinesquare Deceleration ramp Linear Sinesquare Synchronisation Nominal value externally allowed Stop with position dwell time Stop with brake Intermediate stop without current with speed limitation mn eatures group box Synchronisation Nominal value externally allowed Stop with position dwell time Stop with brake Intermediate stop without current with speed limitation 102 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 4 5 DDR editor window Maximum values group box Designation field Parameters Unit Parameters Min Max Driving data record DDR no 1 99 Program identification Program number 1 99 Controller type None Torque Output speed Absolute position Relative position Modulo position Contouring error Nominal output speed or nominal position depending on system type system conversion display units controller type Nominal output speed or nominal speed depending on system type system conversion display units controller type not activated or depending on system type target time ms system conversion display units Controller parameter 1 4 record Driving data record linking None Overhung Maintain po
110. perienced LabView users and for other LabView functions 6 22 1 Software installation If no LabView software packages have been installed on your computer so far install the LabView Runtime LVRunTime exe included on the CD The MDA Monitoring ini and MDA Monitoring exe files have to be stored in the same directory as the MDAwin file To install LabView Runtime you need administrator rights 6 22 2 Functional description Use the Start Monitor or Stop Monitor commands to activate or quit the online monitoring function If a connection between MDAwin and the drive already exists and if the online monitoring program is then started monitoring is directly started within the operating software MDAwin even without command selection Start Monitor Stopp Monitor Activation of the online monitoring starts the transmission of status telegrams between drive and MDAwin Since the telegram sequence is very high due to the required accuracy of the monitoring the processing of programming or control commands is delayed This has to be specially observed when using the start and stop functions via MDAwin since the control of the drive can be considerably delayed Due to the monitoring function the transmission of commands via RS232 is delayed The reaction time of the drive to start and stop commands via MDAwin RS232 is considerably increased gt While using the monitoring the drive should not be controlled via MDAwin After activat
111. point rpm at motor Torque setpoint mNm at motor Max output speed rpm at motor Max torque mNm at motor Nominal position value Increments at motor The input range of the analogue signal is determined via the Interface value min and Interface value max fields The Input type is 10V to 10V with 10 bit depth for the standard interface If the input range is to be changed within the limits specified by the standard interface this can be done in the Value min and Value max fields filter adjustment Dead zone value The response behaviour of the analogue input can be set via filter adjustment For small values the analogue input quickly responds to signal fluctuations for higher values the fluctuations are increasingly filtered The functional value 0 margin is set via the dead zone value to ensure that a stable functional value setpoint value 0 can be generated even in the event of input signal fluctuations Example The output speed is to be adjusted within a range between 0 to 1000 rpm via an external potentiometer 0 to 5 V The following settings have to be made m Analogue input Module address finterface z Input number a Inverse Fault range Function Output speed seit zl Function value min o Function value max on Interface value min onn wv Interface value max o0 Input type Dn an d GFC AntriebsSysteme GmbH 67 RS 232 Firmware User Manual 6 19 Fieldbus window In the
112. position ranges of the absolute encoder 24bit and position controller 32bit differ you have to ensure before commissioning that the position of the absolute encoder has no zero point overrun Refer to Adjustment section If the working range of the system is within the multi turn range of the absolute encoder and the encoder shows no overrun the position is definite Bereich Absolutwertgeber Arbeitsbereich x Xs Bereich Absolutwertgeber maximum value range of the absolute encoder Arbeitsbereich application values If the working range includes one or several zero points overruns of the absolute encoder the indicated position after a restart of the system may differ from the actual position after a restart of the system Arbeitsbereich Bereich Absolutwertgeber The zero point is set to position xi The working range yellow lies between x and xs within the working range there is an overrun of the absolute encoder at xo If the drive is switched off and on at position x2 with reference to the absolute encoder the drive is still at x Xa But the position corresponds absolutely to a working range orange between x and va If the position is changed beyond the working range of the absolute encoder while the voltage is disconnected and if the supply voltage is connected again a position offset of 2 bit occurs The user has to ensure that the position of the drive has returned to the working range before switching
113. pply is shown in this field In the drive the operational data is updated every second within the RAM and is saved to the EEPROM every 100s The drive has to be supplied with power for at least 100s to enable a remanent update of the operational data The indication of the operational data in MDAwin is not automatically updated but hast o be read out by the user themselves refer to Tool bar Read 48 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 9 Fieldbus monitoring window This function is available from firmware version APP 02 04 and operating software version MDAwin 02 04 and higher Sif MDA Windows Interface Module DAC Application Datei Modus Extras MDA Optionen Ansicht Fenster Dd B5 M sS m zs 28 Starten EDS Stoppen FDS Nr Lesen ind Schreibe Einzelschritt N chster SES Schreiber E Status Istwerte r Steuerwort Antrieb Info C Ein Einschaltbereit piss uaa Spannung einschalten C Betriebsbereit Antrieb Warnung Betriebsdaten Schnellstop C Betrieb freigegeben Feldbus Monitor C Betrieb freigeben C St rung Ereignisspeicher Handbetrieb C Hochlaufgeber sperren Fahrauftrag verwerfen C Spannung eingeschaltet E FDS Programmierung C Hochlaufgeber stoppen Zwischenhalt C Schnellstop E Bi Eo Sollwert freigeben Fahrauftrag aktivieren Einschaltsperre E Antrieb St rung quittieren C Wamung Jeer C Tippen 1 C im Toleranzbereich
114. r is implemented which indicates that reading or writing is in progress The Start and Stop commands match the Start DDR and Stop DRR buttons of the tool bar and are described in the chapter Toolbar Via the Acknowledge fault command a fault signal may be reset if the cause of the fault has been eliminated 38 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Options View Window Use the RS232 command to select the serial interface used for the communication with the drive Use the Language or Sprache command to either view the user interface of the operating software in German or in English A language button in the tool bar is available for operating software version MDAwin 02 01 and higher Via the View menu the elements toolbar status bar parameter tree command bar and single step bar of the user interface may be opened or closed The Window menu contains Windows standard functions for handling windows and a list of the open dialog boxes An shows that parameters have been changed in this dialog box As from version MDAwin 02 04 a further menu command Close all windows has been integrated allowing to close all open windows at once Menu item contains information about MDAwin and allows displaying help topics The help topics are from the online user manual supported by the MDAwin as from version 02 04 They are separate MdaWin DE chm and MdaWin EN chm files and must be saved into the same directory as
115. r by means of a reference operation The DDR dependent function may not be selected The limit switch positive is activated The DDR dependent function may not be selected The limit switch negative is activated The DDR dependent function may not be selected The motor is not supplied with power no DDR active The DDR dependent function may not be selected The motor does not turn output speed 0 The DDR dependent function may not be selected Quick stop command Cmd QStop successfully acknowledged The DDR dependent function may not be selected Stop command Cmd Stop successfully acknowledged The DDR dependent function may not be selected RFO command Cmd RFO successfully acknowledged The DDR dependent function may not be selected For firmware APP 02 00 and operating software MDAwin 02 00 Output can be used as local peripheral device of a Profibus master The DDR dependent function may not be selected 6 18 3 Analogue input group box The Module address and Input number fields are definitely assigned and may not be changed The Characteristics determine the direction of action of the analogue input Normal Inverse Fault range The minimum input value is assigned to the minimum function value The minimum input value is assigned to the maximum function value Not yet implemented The minimum input value is assigned to the minimum function value If the input value is not within the determined range the
116. ramming t Se DDR editor Active DDR Kr Temp motor IS e ee Tree VIEW E Parameters Torque Ip mNm Temp electronics xo IB r 7 Drive Name plate Dutput speed fe pm Temp motor controls 25 9 HE a Se Hardware Position Foo ine Ft 0 0 xn pv Control loop LU s Speed position controller Error p System s 1 0 drive Dk circuit 315 v 24 V intemal 24 4 V SS E Brake voltage 242 v 24V extemal pr y Reference operation Ss E Technological functions t wem Flying referencing p Electric sha Dialog box Background Drawing C Warning DDA 0 O mNm O rpm Online level COM ttm Status bar 6 3 1 Title bar Tat Z The title bar shows whether there is a connection to the servo drive The status of the connection can also be seen in the status bar DAC Application Communication Error Bootloader Application Unknown Application A connection to the drive is available i e the drive is online There is no connection to the drive i e the drive is offline The drive runs in the bootloader mode The operating software cannot recognise the firmware of the drive In case the configuration was changed and not yet saved there will be an asterisk behind the MDA windows interface module DAC application text GFC AntriebsSysteme GmbH 35 RS 232 Firmware User Manual 6 3 2 Menu bar Standard and special functions may be executed and settings be performed via the menu bar File Use the New command to
117. reference operation is used for setting the machine or the system gt Check the safety of the installation before performing a reference operation 70 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware NOTE For firmware version APP 02 00 and higher the reference behaviour of the reference marker has changed If the drive has already reached the reference marker the reference is set directly when leaving the marker see illustrations below Type marker reference traverse positive ESM RM ESP type marker reference traverse negative ESM RM ESP GFC AntriebsSysteme GmbH 71 RS 232 Firmware User Manual type flank reference traverse positive ESM REF ESP type flank reference traverse negative ESM REF ESP 07T e SEN SP2 When using the limit switches as reference switches the setting of the reference traverse is without function Type limit switch positive ESM ESP oO 8 BES x type limit switch negative ESM ESP 72 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware In the Start field the start of the reference operation is defined Powerup After switching on the voltage supply a reference operation will automatically be started First Start When starting the reference operation is performed befor
118. return to online level 4 to display the actuator data and to check in the Firmware MotorControl field of the Name plate window whether the correct version is displayed e g 01 04 P02 D02 E07 Should any difficulties occur during update please contact your competent service engineer GFC AntriebsSysteme GmbH 37 RS 232 Firmware User Manual With the Set defaults parameter command the default settings may be restored This function is only available in Online Levels 5 and 6 NOTE All parameters are reset to their default settings gt The function may only be used after consultation with GFC for the motor parameters which cannot be changed by the user are also reset to the default settings If default parameters are to be restored at a drive this can generally be made in level 4 Proceed as follows Start the operating software when starting the operating software the default values are automatically indicated Select the Save command to save the default settings to a file with the extension dac Generally speaking all default values are stored a write procedure will only overwrite those values which are enabled in the set user level Set up an online connection at the drive click the Read button to read the drive data and change to Online Level 4 Open the stored file with the default settings and click Write to load them to the drive Use the Calculate UZK factor command to determine a c
119. rrectly performed The drive may not remain in position or be processing a driving data record During flying referencing driving data records with end to end connection cannot be executed If the reference switch is passed while processing a driving data record the actual position determined by the position controller of the motor resolver or absolute encoder is indicated MDAwin will only be updated when reading is triggered i e by clicking the Read button For speed and torque driving data records this position is directly replaced by the predetermined nominal position For positioning driving data records the nominal position is corrected in the driving data record and the corrected position is approached The corrected position value actual value of the position controller is only applied after terminating the driving data record 76 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 21 2 Electric shaft This function is available for firmware version APP02 00 and operating software version MDAwin 02 00 and higher In addition two MDAs with CANopen interface are required Speed position controller E Electric shaft Tel x System 120 drive Fieldbus Reference operation Technological functions Flying referencing Electric shaft Altemation ID Operation mode inactive DI Gear factor input Gear factor output fi CAN ID master 265 CAN ID slave 257 Timeout 100 cycles Syne mode Speed hd Behav
120. rt cable through cable glands and fit the screen in compliance with the requirements Ballast R e Strip wires at a length of 15mm respective 10 mm PE for stranded wires use end sleeves according to DIN 46228 One wire for each connection is permitted only U LI H blue N V L2 black e The PE of mains supply hast o be fixed to the PE terminal block refer to figure 2 3 5 1 31415 17 9 T OOO C RB U U NL1 PE figure2 3 3 wiring diagram GFC AntriebsSysteme GmbH 13 RS 232 Firmware User Manual e Connect cables according to order related wiring diagram The wires of the voltage supply are directly wired to the terminal block of the power board refer to figure 2 3 4 Close the cover and tighten the screws with a torque of 1 3 Nm Figure 2 3 4 is the enlarged section white circle of figure 2 3 2 Figure 2 3 4 terminal block of the MDA The PE of mains supply hast o be fixed to the terminal supply refer to figure 2 3 5 For the version according to ATEX category II 3D the MDA is equipped with an external PE To this terminal block a PE cable with 4 mm minimum has to be connected refer to figure 2 3 6 Figure 2 3 6 external PE GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 2 3 2 M12 connector with fixing bush Optional For work carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open
121. rt reference operation 1 Synchronisation signal active 2 Switch single step mode on off 3 Execute single step operation 4 Limit switch positive 5 Limit switch negative 6 Switch off motor current 7 Quickstop 8 Enable disable controller 9 Intermediate stop 10 Start DDR 11 Stop DDR 12 Go to FDS x 13 New nominal speed 14 New nominal torque 15 New nominal position 16 Start reference operation manually 17 Set reference 18 Execute resolver adjustment 19 Reference mark 20 New limit speed maximum speed 21 New limit torque maximum torque 22 Stop ramp function generator freeze output speed 23 Drive runs at DDR inching 1 24 Drive runs at DDR inching 2 25 Transfer nominal value to DDR 26 Stop signal active passive 27 Start DDR no linking 28 Quickstop without fault signal 29 Override set function 30 Override set value 31 Connect motor to power 13 3 6 Class 32 System Number Register Designation 0 None 1 System start 98 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 4 Parameter lists 13 4 1 Summary of system units which can be selected and combined Unit Round shaft Modulo Linear Temperature C F Target time ms Torque force mNm N Position amp error Inc U zmin Zsec m dm cm mm u
122. ry units linear m dm cm mm um Display unit Time This setting allows the change of the time unit for some of the parameters Apart from time indications output speed or speed values will also be affected The indication of values in the motor view will however not be changed Display unit Position This setting allows the change of the position unit for some of the parameters The selection depends on the System type chosen rotary units turns degree seconds for round shaft or translatory units m dm cm mm um for linear axis The indication of values in the motor view will however not be changed Display unit Temperature This setting allows the selection of the temperature units between C and F for some of the parameters Gear factor The reduction of the gear optionally mounted at the motor is included in the Gear factor input and Gear factor output fields The changes will not be applicable unless the drive is at standstill Terminate driving data records before writing system changes 62 GFC AntriebsSysteme GmbH User Manual 6 18 I O drive window The digital and analogue inputs and outputs of the drive are configured in the UO drive window The number and the type of the inputs outputs depends on the nterface variant Level 4 Planning is required for changing the parameters El Status Actual values RS 232 Firmware a r Digital input r Digital
123. s 2000 or Windows XP and a free serial interface 115 kBit are required for operation When using interface adapters e g USB RS232 or Ethernet RS232 no comprehensive functional warranty for the MDAwin operating software may be granted Service cable Z036 657 SUB D 9 pin to M12 5 pin is required to connect the servo drive X3 to the PC If there is no service cable available you may pre assemble a cable yourself for the pin assignment refer to the DAC wiring diagram and the electrical connection section Plug X3 Programming interface 6 1 1 Software installation To be able to run the operating software MDA Win operating system Windows NT 4 0 Windows 2000 or Windows XP is required You can find the MDAwin operating software on the included CD ROM in the B MDAwin operating software folder or can be download the software via Internet at www milan drive de The operating software consists of the MDAwin exe and LgEnglish dll files The files may be copied to a directory on the hard disk of the PC The program may be started from this directory An installation is not necessary The library file LgEnglish dll is required if MDAwin is to be viewed in English language To be able to use the online monitoring functions available for MDAwin version 02 00 and higher further software packages are required For more detailed information refer to the Online Monitoring section Further files are required to allow using the onl
124. sition Brake Without power Holding time ms 0 1000000 Next DDR 0 99 Max torque max force mNm N 0 system dependent Acceleration value System 100 SE dependent Deceleration value system 100 218 4 dependent Acceleration ramp Linear Sinesquare Deceleration ramp Linear Sinesquare eatures group box Synchronisation Nominal value externally allowed Stop with position dwell time Stop with brake Intermediate stop without current with speed limitation activated not activated activated not activated activated not activated activated not activated activated not activated activated not activated GFC AntriebsSysteme GmbH 103 RS 232 Firmware User Manual 13 4 6 Hardware window Motor data group box Designation field Parameters Unit Parameters Min Max Motor type not initialised MES 35 3000 MES 56 3000 MES 63 3000 Max motor torque mNm 0 10 000 Max motor speed rpm 0 8 000 Motor pole pairs not initialised 3 4 5 6 Current factor 1 000 10 000 Motor transmitter group box Position indicator Resolver Absolute encoder Pos ind resolution inc turn 1 278 1 Speed limit 1 min 0 8 000 Motor offset Inc 1 2704 Motor adjustment 0 275 1 field Motor adjustment ms 0 275
125. start a new configuration using default values Use the Open command to load a configuration from a file All settings in the operating software are overwritten Use the Save command to save the current configuration to a file The file name where the configuration is saved may be entered or selected in a dialog box All parameters are written Apart from the parameters the current actual values and status signals are saved Before overwriting this action has to be confirmed in a popup window Use the Printer setup menu to select the printer Click the Exit command to close the operating software If there is still an online connection to the drive the connection is first correctly shut down and then the operating software is closed The Compare Print Print Preview Last file commands currently have no function As from version MDAwin 02 04 the Print menu item allows to export the set drive parameters into an XML file Mode In the Offline mode there is no connection to the drive In this mode all parameters within the limit values may be changed and saved to a file To change to an online level a connection to the drive has to be established go online For operating software MDAwin 02 00 and higher reading is automatically started when establishing a connection to the drive In addition a progress bar is implemented which indicates that reading or writing is in progress In Online Level 1 Observer lowest level there is a connectio
126. tages Bit Decimal Description o 1 Voltage monitoring DC circuit link UZK Voltage monitoring Brake Register 2 temperatures 0 1 TemperaturemonitoringMotor Z gt Z gt S O 3 8 Temperature monioringBalastresistor Register 3 motor Register 4 LocalCAN Connection CAN XC DSP 1 2 Connection CAN XC I OBox 4 2 15 Register 5 fieldbus Connection monitoring via bus Register 6 driving data manager The alarm signal limit switch reached is available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Limit switch positive or negative reached Register 7 parameters o 1 Warning Motor parameters Warning System parameters reserved Register 8 Logic hardware GFC AntriebsSysteme GmbH 95 RS 232 Firmware User Manual 13 3 Event buffer assignment list 13 3 1 Class 1 Faults Number Register Designation 337 Voltage Voltage monitoring DC circuit link UZK 180V 338 Voltage monitoring DC circuit link UZK 400V 339 Voltage monitoring Brake 353 Temperature Temperature monitoring Motor 354 Temperature monitoring Electronics 355 Temperature monitoring Power electronics 356 Temperature monitoring Ballast resistor 369 Motor Motor faults 385 Local
127. the holding brake is to be activated after the reference operation A driving data number is entered into the Next DDR field the actuator is supposed to execute this number after completion of the reference operation The Timeout field is provided for time setting after which the drive stops with a fault signal if no reference signal could be detected 6 20 2 Limits group box The limit values for the reference operation are defined in this group box The units depend on the motor system view and the selected display units The slope and the type of the acceleration and deceleration are defined using the Acceleration value Deceleration value Acceleration ramp and Deceleration ramp fields The sinesquare ramp type limits the jolt 6 20 3 Set reference position group box In this section the current position can be set to a certain position value at any time The new position is entered in the Reference position field Click the Set reference position button to immediately accept this data from the drive NOTE When repeating the start of a reference operation the reference bit is reset If the reference operation is aborted the reference bit remains reset 74 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 6 21 Technological function window The Technological function node lists the optional technological functions supported by the operating software The parameters required for the selected technological func
128. till 6 21 1 1 Flying measuring Flying measuring can be activated by selecting the reference type To be able to perform the function correctly flying measuring has to be active or activated before starting a driving data record If the reference switch is passed when processing the driving data record the actual position determined by the position controller of the motor resolver or absolute encoder is displayed MDAwin will only be updated when reading is triggered i e by clicking the Read button From the determined actual position and correct position determined for the reference switch within the system the superordinate control system may calculate the slack and define a new nominal position To this end the value has to be entered as nominal position in the driving data record and the driving data record has to be restarted to apply the new nominal position 6 21 1 2 Flying referencing During commissioning the nominal position has to be determined in increments i e the correct position of the reference switch in the system has to be determined The position can be approached via the manual operation driving data records in push to run operation the read out position can be entered in the nominal position field Flying referencing is activated by selecting the reference type Flying referencing has to be started while the drive is disconnected from the mains and before starting a driving data record to ensure the function is co
129. tion may be set in the respective window Technological functions have to be activated separately The activation key can be ordered from GFC AntriebsSysteme Enter the activation key in the Activate technological function command in the Tools menu Activation ID If the Flying referencing technological function has been activated by entering the activation key this is indicated in the Activation ID field If the function is not activated disabled is displayed in the indication field 6 21 1 Flying referencing This function is available for firmware version APP02 00 and operating software version MDAwin 02 00 and higher Furthermore a more recent hardware generation of the DAC servo controller is required VU anve Fieldbus BER Reference operation E Technological functions Altemation ID unlocked M Flying referencing Reference t Electric shaft ss PEDE Flying referencing m Active position Nominal position Reference type Use this field to select the desired reference type Flying measuring If the reference switch is operated the current actual value of the position controller is provided for further processing by a control system The control System can determine a possibly existing slack and send new actual values for correction to the drive Flying referencing The Flying measuring and the subsequent correction of the slack is automatically performed by the drive If the reference switch is operated the curr
130. top button Functions of the digital output are available as trigger Messkurven l schen deletes the line chart recorder contents 80 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware Oscilloscope view E Online Monitoring V1 01 vi SE Erfassungsz hler Datenstatus ME C notInit IE Q J Sollwert erreicht Linienschreiber Ansicht Oszilloskop Ansicht Position Drehzahl Speichern Laden Y Achse Ein Aus Kanalauswahl CIO 13 Position y QD J Drehzahl J unin Uess e 55 mE E G _ Zeit Achse Puffergr e sec Hio Y _ Bildschirm Update Update Zeit sec Jos y Zeit sec HA Sal Cursor apma Cursori KT al Two data lines are shown within the window of the oscilloscope diagram They can both be selected via channel selection The save and load functions are used to save and reopen files with the oscilloscope diagram data view GFC AntriebsSysteme GmbH 81 RS 232 Firmware User Manual 7 Multi turn absolute encoder This chapter contains important information and special characteristics regarding commissioning and reference operation for drives with multi turn absolute encoders 7 1 Basic settings The following values have to be entered in the Motor transmitter group box in the Hardware window Parameter Value Note Position indicator Absolute encoder Pos ind resolution 4096 number of inc turn 7 2 Absolute encoder range Since the
131. ts of EN 50281 1 1 must be respected in dust hazardous locations During commissioning service and maintenance respective special care as well as qualified and trained personnel is required for the safe operation of servo drives For work carried out in hazardous areas special regulations Standard EN 60079 14 and EN 60079 17 must be observed Work at the open actuator under voltage must only be performed if it is assured that for the duration of the work there is no danger of explosion Pay attention to additional national regulations Only remove electrical connections when disconnected from the mains Wait at least two minutes after disconnecting the voltage supply and unplugging the plug socket connectors before opening the drive 22 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 4 Electrical connection 4 1 Overview The following table shows the function and the type of plug at the drive A detailed description is contained in the following chapter For the version and the plug wiring of your MDA please refer to the included order specific wiring diagram The order specific wiring diagram can be downloaded from the Internet Name Function Size no of poles Note Power x1 a M2 Pi External ballast resistor optional rs X2 Auxiliary voltage electronics Brake optional M12 5 Pin Fan optional X3 RS232 M12 5 Jack X4 Fieldbus optional PROFIBUS M12 5
132. turn absolute encoder in this manual No reference operation is being executed The actual position depends on the motor transmitter and the reference is set in this position The reference point is set when reaching a reference marker Hardware limit switches are required for this configuration type If the reference marker is passed a signal pulse will be issued for setting the functions of the digital inputs please refer to the I O drive window section The reference point is set when detecting the flank of the reference switch For operation in positive direction the reference switch only generates a flank from low to high within the entire travel range A sensor is required for this type for setting the functions of the digital inputs please refer to the I O drive window section The reference point is set when releasing the limit switch positive Hardware limit switches are required for this type for setting the functions of the digital inputs please refer to the I O drive window section The reference point is set when releasing the limit switch negative Hardware limit switches are required for this type for setting the functions of the digital inputs please refer to the I O drive window section The reference point is set for operation in positive direction when reaching the force specified in the Force field The reference point is set for operation in negative direction when reaching the force specified in the F
133. up This group box is used to indicate the current logic status of the digital outputs i e option button active if output is high active controlled or if output is low active not controlled 0 V GFC AntriebsSysteme GmbH 45 RS 232 Firmware User Manual 6 6 Drive fault window The Drive fault window shows detailed information on the cause of a fault SES Status Actual values Voltage Sa ein Tenpsialum DC link circuit lt 180V Drive warning Motor fp i x perational data Event buffer Local CAN o Manual operation Fieldbus p rl DDR programming Se DDR editor Driving data manager o X Parameters Parameter bd E Drive A Name plate Logic hardware o x Hardware Reg3 nd Control loop Speed position controller Reg 10 o x System Rea 11 nd 170 drive Fieldbus Rea 12 o DI Reference operation Reg 13 ct y Technological functions Flying referencing Reg 14 o e Electric shaft Reg15 D y Reg 16 fo v A fault code is indicated in the drop down list Click on the drop down list to view the active fault cause s After remedying the cause of fault the fault has to be acknowledged via the DAC fault window or via the MDA Acknowledge fault window For the table with the fault numbers please refer to the appendix DAC Fehler Es ist ein Ger tefehler aufgetreten Bitte best tigen Sie den Fehler Info Fehler quittieren Th
134. vailable a DDR was interrupted The DDR dependent function may not be selected DDR active L1 DDR dependent a DDR or DDR dependent the indicated DDR is being processed Setpoint reached LI DDR dependent the setpoint generally or DDR dependent the setpoint specified in the DDR has been reached Reference operation The reference operation is being executed The DDR dependent function may not be selected Fieldbus active Connection to the master established or fieldbus communication is available The DDR dependent function may not be selected Contouring error DDR dependent The error generally or DDR dependent the error in the mentioned DDR exceeds the value that is defined in the contouring error window Intermediate stop The drive has interrupted a DDR and is in the intermediate stop function The DDR dependent function may not be selected Single step mode The single step mode is active The DDR dependent function may not be selected GFC AntriebsSysteme GmbH 65 RS 232 Firmware User Manual Single step pause Reference set Limit switch positive Limit switch negative Drive without power Drive at standstill Acknowledge Quick stop Acknowledge Stop Acknowledge RFO stop PB I O extension A DDR has been completely processed the drive is waiting in the single step mode for a new start command The DDR dependent function may not be selected The reference position was set manually o
135. vated Motor primary gear group box Inversion of direction gear activated not activated Gear factor group box Gear factor input 0 01 100 Gear factor output 0 01 100 Display box i 0 0001 10000 Software limit switches group box Software limit switch Negative depending on system type system conversion display units System conversion group box Inversion of direction system activated not activated Conversion factor Primary movement 1 65 000 Secondary movement 1 65 000 Primary conversion parameters Motor turn turns Gear rotation turns Increments inc Secondary conversion parameters Turn turns System type Round shaft modulo C ZC Minute ZMin Second ZSec Secondary conversion parameters m m System type Linear dm dm cm cm mm mm um um Display units group box Time Second sec Min min Temperature Celsius C Fahrenheit KS Position Turn 1 System type Round shaft Modulo Ee Z Minute L Second Z Position System type Linear m m dm dm cm cm mm mm um um 106 GFC AntriebsSysteme GmbH User Manual RS 232 Firmware 13 4 10 I O drive window Digital input group box Designation field Parameters Parameters Min Max Input number 1 4 Module address fixed Input number fixed S
136. ve unit may heat up according to its enclosure protection The surface temperature can rise up to above 100 C Before touching the unit measure the temperature for safety reasons if required wait until it has cooled down to 40 C 1 3 Warnings and notes Failure to observe of the warnings and notes may lead to serious injuries or damage Qualified personnel must be thoroughly familiar with all warnings and notes in these operation instructions In order to highlight safety relevant procedures in these operation instructions the following safety instructions apply DANGER indicates an imminently hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage This note is only used in case of danger to life and a high level of hazard Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences eer iere Possible consequence s on non observance gt Measure s to avoid the hazard WARNING indicates a potentially hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences eene diene Possible consequence s on non observance gt Measure s to avoid the hazard CAUTION indic
137. vent buffer Manual operation B DDR programming DDR editor Parameters E Drive Name plate Hardware Control loop Active DDR Torque Force Speed Output speed Position Contouring Error Temperatures Pt Voltages r Current values Active DDR Temp motor 7 6 ie Torque p mNm Temp electronics 38 0 HE Dutput speed p rpm Temp motor controls 28 3 ME Position 1 inc Ft noh x Error br inc DC link circuit ps y 24 V intemal 244 v Brake voltage 432 v 24 V external jo wv The active DDR is indicated here In case a reference operation is performed or none of the driving data records is active DDR 0 is indicated The DDR 0 is displayed even if drives equipped with CANopen interface are operated in a CANopen standardised operation mode refer to interface description CANopen for further information about the CANopen interface In the motor view the current torque is indicated in mNm In the system view the Force linear system or the Torque round shaft system is indicated in the selected display unit Linear or round shaft refer to section depending on the selected system linear or round shaft In the motor view M the current output speed is indicated in rpm In the system view S the speed linear system or the output speed round shaft system is indicated in the selected display unit depending on the selected system linear or round shaft In th
138. warning Voltage Temperature Motor Local CAN Fieldbus DDR Parameters Collective fault Voltage Temperature Motor Local CAN Fieldbus DDR Parameters Logic hardware Drive Limit switch plus Limit switch minus Drive without power Drive at standstill Brake active Fan active Info analogue in1 Status digital inputs E1 E2 ES E4 Status digital outputs A1 A2 A3 A4 GFC AntriebsSysteme GmbH 101 RS 232 Firmware User Manual 13 4 4 Manual operation window Maximum values group box Designation field Parameters Unit Parameters Min Max Controller type None Torque Output speed Absolute position Relative position Modulo position Contouring error Nominal output speed or target position depending on system type system conversion display units controller type Nominal output speed or nominal speed depending on system type system conversion display units controller type not activated or depending on system type target time ms system conversion display units Controller parameter record 1 4 Max torque max force mNm N 0 system dependent Acceleration value System 100 215 1 dependent Deceleration value system 100 peg dependent Acceleration ram
139. when the operating software returns into online level 1 Now return to online level 4 to display the drive data and to check in the Firmware MotorControl field of the Name plate window whether the correct version is displayed e g 02 02 D02 Update firmware application Prior to a firmware application update it must be checked whether the update parameter version is different from the current version at the drive For this the Parameter version field in the name plate window of the MDAwin operating software must be compared with the update file name for the numerical sequence after the E e g E07 If the parameter version is different Download the update of the firmware application to the drive via menu item Extras Download Bootloader Application If the parameter version is identical Download the update of the firmware application to the drive via menu item Extras Download Firmware Application If an update is performed via this menu item in spite of a parameter version difference the drive changes to bootloader mode after the download This is shown in the title bar refer to the chapter tile bar in this manual In this case the update can be performed again using the correct menu item The firmware transfer is displayed in the operating software MDAwin via a progress bar Upon termination of the update the drive performs an automatic reset this can be noticed when the operating software returns into online level 1 Now
140. ying the cause of warning the warning is automatically reset For the table with the warning numbers please refer to the appendix GFC AntriebsSysteme GmbH 47 RS 232 Firmware User Manual 6 8 Operational data window The Operational data window shows recorded operating data such as operation time motor running time and various faults M E Status Actual values Operation time Sd 5h43m58s Fault Temp PE p Drive information 423 Drive fault Motor running time 2d13h56m46s Fault Temp Electr fo Drive warning Fault DC ink circuit eo Fault Temp Motor Fc e Fault Bus fo Fault Excess current fi Manual operation Restarts 125 DDR programming DDR editor Operation time Total on time of the electronics in days hours minutes and seconds Motor running time Total period during which the motor was supplied with power in days hours minutes and seconds Faults In the Fault Temp PE Fault Temp Electr Fault Temp Motor Fault excess current Fault DC link circuit Fault Temp PE Temperature of the power amplifier Fault Temp Electr Temperature of the electronics Fault Temp Motor Temperature of the motor Fault excess current exceeded current of the motor Fault DC link circuit DC link circuit Fault Bus Fieldbus fields the number of the respective faults causing a fault signal are recorded and indicated Restarts The number of power on procedure of the voltage su
141. ynchronisation Go to DDR x Intermediate stop Single step mode Reference Reference start Start stop Limit switch negative Limit switch positive Controller enable RFO Quickstop Power amplifier off Start high active activated not activated DDR dependent activated not activated Function None Stop Teach in Ack fault Reference set manually DDR no 1 99 Digital output group box Output number 1 4 Module address fixed Output number fixed Collective warning Collective fault DDR active Setpoint reached Reference operation Fieldbus active Control error Intermediate stop Single step mode Single step pause Reference set Limit switch positive Limit switch negative Drive without power Drive at standstill Ack Quick stop Ack Stop Ack RFO stop high active activated not activated DDR dependent activated not activated Function None GFC AntriebsSysteme GmbH 107 RS 232 Firmware User Manual Analogue input group box Designation field Parameters Unit Parameters Min Max Module address Interface Input number 1 Inverse activated not activated Fault range activated not activated Function None Output speed setpoint Torque setpoint Max output speed

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