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Application Manual - Watt Drive Antriebstechnik GmbH

1. in Table 6 1 Inputs outputs P7000 P6000 Analogue inputs ISAO ISA1 ISAO ISA1 Digital inputs ISD00 to ISD06 ISD00 to ISD03 Virtual inputs FIFO FIF1 FIFO FIF1 Input Safe stop ISDSH Analog outputs OSA0 Digital outputs OSD00 to OSD02 OSD00 OSD01 RSH only for safe stop Relay outputs OSD04 OSD02 Power outputs 24V 2A e g for motor holding OSD03 brake Virtual outputs OV00 OVO1 OV00 OVO1 Table 6 1 Inputs and outputs of positioning controllers For information on hardware for inputs and outputs see chapter 2 1 to J gt chapter 2 3 The detailed specification is described in the corresponding operating instructions Application Manual P7000 P6000 6 3 drive 6 1 1 Digital inputs 6 General software functions Function Effect Free function assignment for all digital inputs e The function selector is used to determine the function of the digital inputs 1 Selection of function for the digital input 1 2 Digital value FISOx FIEOx FISAx goo Ler Analog Digial Digal ULZEAT vatual Tab example Digital inputs 1500 1 01 IS02 isos Fig 6 2 Application Manual P7000 P6000 watt i maroo 6 General software functions Parameter for setting the digital inputs valid for DRIVE 7 Parameter RN Function
2. No Designation Function X4 RS232 port for PC with PROFITOOL or control unit KP10 X5 CAN interface Access to integrated CAN interface X7 TTL SSI encoder interface for connection of suitable encoders Setting the CAN address 3 trodes swith hardware address parameter value P COADR X8 Optional board slot e g optional module DPV1 X10 Voltage supply for 24 V ground optional module X11 PROFIBUS DP interface Input bus connection X13 Address encoder plug Only with optional module DPV1 1 S2 Address encoder switch Only with optional module DPV1 Table 2 8 Legend to Position plan P6000 X1 Designation X1 Designation Motor cable U Motor cable U Motor cable V Motor cable V Motor cable W Motor cable W PE conductor PE conductor PE conductor PE conductor D C ling voltage D C ling voltage Braking resistor Braking resistor D C ling voltage D C ling voltage PE conductor PE conductor NC Mains phase L3 Neutral conductor Mains phase L2 Mains phase Mains phase L1 Table 2 9 Power terminal designation P6000S and P6000T warty 2 Equipment hardware ono renin X2 Designation Function 20 OSD02 20 Make contact
3. Mains U Control SS a DC holding current controller Is f Starting current _ controller Is roa rh A v f characteristics U ele Driving profile generator DPG Reference f gt Q eo AG f Control Se ee ee Vibration damping Controller disq i lt Current limit value controller of current u a components Application Manual P7000 P6000 isq x iw Fig 8 4 Control technological block diagram for OpenLoop motor control method All settings are made in the Control function Loop control 8 10 drive 2 8 3 1 Start current controller Application Manual P7000 P6000 In the function mask all active functions are shown with a green status display Control vI 8 Speed Control OpenLoop for P7000 P6000 t cos B con M con W con M Fig 8 5 Function mask OpenLoop control Function Effect The motor is preloaded with a Increase of starting torque up to the certain current via a P controller preset speed limit g St ort vD on reat controler CIACT 1 Activ at acceleration and stationary operation Fig 8 6 Function mask Start current controller 8 11 mE e ee Oe Ce m oe oe eae drive Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 PROFITooL Meaning Value range WE Unit Parameter Function Controller OFF ON OFF CIACC JO
4. PROFITOOL Value range WE Unit Parameter Heat sink temperature 5 100 100 C unl Internal temperature 5 80 80 C pen Motor temperature s 502_WLTM only KTY84 130 Tee 180 C f WaRN Undervoltage 0 800 0 V a Motor protection percentage of the 0 100 0 aa maximum integrator value Overvoltage 0 800 800 V A Rotary speed 0 32767 32767 rpm a Apparent current 0 1000 1000 A a Torque 10000 10000 10000 Nm font Switching on delay Opens Option for the warning 0 10 0 S ace message Torque Table 6 57 Parameter warning thresholds Application Manual P7000 P6000 6 133 drive Application Manual P7000 P6000 6 General software functions Explanations Each warning can be emitted to any digital output The motor temperature warning WLTM indicates an overloading of the motor The device temperature warning WLTI takes the temperature value from the sensor mounted on the heat sink near the output stage transistors or in case of small controllers directly from the output stage module Due to high break away or starting torques it may be necessary to activate the torque warning threshold only if the threshold value is exceeded for a longer period of time This can be accomplished with parameter 508 TWLTQ Switch on delay for torque warning threshold Falling short of or exceeding the d c link direct voltage triggers the war
5. Attention Only SSI absolute value encoders as specified in the operating instructions must be used Setting the number of bits and other settings under the button SSl configuration are reserved for special SSI encoders Such encoders may only be used after express approval by WattDrive GmbH Application Manual P7000 P6000 6 82 watt i nett 6 General software functions 6 4 3 Motor Function Effect protection Shut down with an error message E T OTM if the motor temperature W PTC exceeds the limit value aa When using a linear temperature Monitoring of the motor temperature sensor the position controllers can by temperature sensors or thermal emita warning message at a defined switches temperature Shut down with an error message from E OLM if the applied current A xt time value exceeds the limit value t The positioning controllers are able to emit a warning message at a defined value of the I2xt motor protection integrator xt monitoring This function replaces a motor protection switch 1 Srreeder a TiLtteter encoder TIL portion encoder Motor and encoder T Motor temperature monitoring N PTC 2 Motor Encode Motor protecton Brake a Temperature monitoring OFF 0 No temperature control Mairim temperature fiso T lordy KTY A Fig 6 43 Monitoring of the motor temperature by temperature sensors or thermal switches
6. Application Manual P7000 P6000 A 10 drive Appendix B Index A Action register ssesesssesseseessoseesessrese 6 106 Active characteristic curve data set display 8 5 ACtUAl value sseceeussiettcnndattvcsasestecausaste e 4 5 Adaptation of the application data Sel sssrini ndeis paus nirud 3 13 Adjustment in minimized view e006 3 5 Amplification sssicesissinrisssssiresvssstsssiiva 6 66 analog input options ssssssseesssssssesseese 6 26 Angular synchronism sssssesssssssssssssessess 7 36 Automation network Integration eesssseeseesesssesesseese 4 9 8 22 Auto Stait sorana etan ranas 6 55 AXIS StatUS sn ivewecsesmricecnaetvuerneesteecsacstes 7 40 B Bar graph KP10 ooo eee eeeeeeeece seen eeeees 6 114 Basic function with reset eeeeeeeeeeeee 6 60 Break points si ccsicsesdeeeessseeeSiectthccecseanes 7 11 BUS SYSTEMS sisccssssuseedseavscedanduceas asaya 6 100 Cc Calculation Current limit values with adapted motor protection characteristic eeeeee 6 89 Switch off point of the Ixt monitoring 6 89 Calling up the Application Manual P7000 P6000 travel Set table ee teee cece eee ee eeee 5 41 CANOPEN sceseeeisetvecedssuecenses 4 9 6 100 8 22 Changing the operation level 3 2 3 3 Changing the password for an operation level 3 3 Chopping protection ceseeeeeeeeeeeeees 8 14 Circulation length cceeeeseeenee
7. PLC process program sequence 2 Lock power stage Time delay of error message E OC 1 _ 0 ms Error stop ramp Ok Cancel Apply Fig 6 67 Setting of fault reactions Application Manual P7000 P6000 6 127 drive Application Manual P7000 P6000 6 General software functions PROFITOOL Value range WE Parameter Converter undervoltage HALT LOCKH RESET HALT Bo gi Converter overvoltage HALT LOCKH RESET LOCKH p Converter overcurrent HALT LOCKH RESET LOCKH ie Motor overtemperature HALT RESET LOCKH 5 e Ixl motor cut off HALT RESET LOCKH ae External error message WARN RESET STOP ic tes u Wire breakage at 4 20 mA WARN RESET STOP ee Mixed up limit switches HALT RESET STOP Eo Limit switch contacted HALT RESET STOP a Software limit switch NOERR LOCKS WARN pog Positioning HALT RESET STOP 530_RPOS ERR Servo lag WARN RESET WARN salle ERR PLC sequential program WARN RESET HALT oe Time delay error message E OC 0 1000 ine 545_TEOC 1 ERR Table 6 53 Parameters for error reactions in case of error messages 6 128 drive Application Manual P7000 P6000 6 General software functions Explanations The functionality of the error reaction is described in Table 6 54 When switching in the motor line at the motor output to the positioning controller short term high voltage peaks and currents
8. 0 OFF OUT P7000 P6000 Function selector for digital output of the i 246 FOE03 OEDO3 user module OED03 0 OFF COUT P7000 P6000 Table 6 7 Parameter for setting the digital outputs Parameter for setting the digital outputs on terminal extension module ULZ EA1 Dene valid for Function Value range WE Parameters positioning MANAGER controller Function selector for digital output of the i 243 FOE00 OED00 user module OEDO0 0 OFF COUT P7000 P6000 Function selector for digital output of the i 244 FOE01 OED01 user module OED01 0 OFF COUT P7000 P6000 Function selector for digital output of the i 245 FOE02 OEDO2 user module OEDO2 0 OFF COUT P7000 P6000 Function selector for digital output of the i 246 FOE03 OEDO3 user module OED03 0 OFF COUT P7000 P6000 Table 6 8 Parameter for setting the digital outputs on terminal extension module ULZ EA1 Application Manual P7000 P6000 6 14 watt i marno 6 General software functions Parameter for setting the virtual digital outputs Virtual outputs can be used among others for e Creation of an event for the TxPDO event control in CANopen field bus communication e Status evaluation in the PLC DRIVE valid for Function Value range WE Parameters positioning MANAGER controller Function selector for virtual digital output i 248 FOVO00 ovo0 OVO0c 0 OFF COUT P7000 P6000 Function selector for virtual digital output
9. to P7000 1700THW1 170 A Table 2 16 Switch off limits l2xt acc to device size With active xt integrator the warning message can be submitted to a digital output field bus or PLC The hardware of the positioning controller will detect a short circuit at the motor output and switch off the motor Short circuit Info Detailed information on permissible current load for the positioning J gt controllers can be taken from the operating instructions Application Manual P7000 P6000 watt i aro 2 Equipment hardware Application Manual P7000 P6000 2 16 drive Application Manual P7000 P6000 3 Operation structure 3 1 Operation levels in the parameter structure 3 2 3 2 Operation with PROFITOOL uu 4 3 2 1 Operation MASKS ssccrcrrcrcrseree 3 5 3 3 Operation with KP10 operation panel 00d 9 3 4 COMMISSIONING iisaissccestasssstarstansessesescsenctsncescenareriaced L3 Due to the use of different operation variants and extensive possibilities for parameterization the operation structure is very flexible The well organized data structure thus supports the handling of data and the parameterization of the positioning controllers Parameterization of the positioning controllers may take place via the easy to use hand held KP10 operation panel or the comfortable PC user interface PROFITOOL 3 1 drive 3 Operation structure
10. watt i marny 6 General software functions 6 9 2 Warning Function Effect messages e A warning is submitted when EA forthcoming fault in the adjustable limits for various actual drive system will be values of the positioning controllers signalized to the system at or the motor are exceeded an early stage Warengs 2 Status woven Bue a Warming thresholds Coxe Fig 6 68 Display of warnings in the tab Warnings errors Warning messages are automatically reset as soon as the reason for the warning no longer exists They are reported or evaluated via e Digital outputs e Field bus status word e PLC sequential program e PROFITOOL status display The warning messages are displayed in the PROFITOOL in parameter 122 WRN according to Table 6 55 hexadecimal coded Warning Function Hex value Bit Warning message if the heat sink WoT temperature exceeds the value specified in 0001H 0 parameter 500 WLTI Warning message if the heat sink WOTD temperature exceeds the value specified in 0002H 1 parameter 501 WLTD Warning message if the motor temperature WOTM has exceeded the value specified in 0004H 2 parameter 502 WLTM Warning message if the voltage in the d c wov link exceeds the value specified in 0008H 3 parameter 504 WLOV Warning message if the voltage in the d c WUV link falls short of the value specified in 0010H 4 parameter 503 WLUV Table 6 55
11. 3 1 Operation levels With adjustable parameters the positioning controllers can be adapted to in the any application For the internal values of the positioning controllers there parameter are further parameters available which are password protected for structure reasons of operating safety The operation levels are adjusted by means of parameters The number of editable and displayable parameters changes in dependence on the operation level The higher the operation level the higher the number of parameters with access rights In contrast the clarity of the parameters actually needed by the user to reach his application as quickly as possible is reduced This means that operation is remarkably easier when choosing the lowest possible operation level Note The operation levels protect against unauthorized access Thus the operation level 01 MODE 2 is activated about 10 minutes after last activation of the button when using the KP10 operation panel Changing the operation level If a higher operation level is selected via parameter 01 MODE the associated password is automatically requested This password can be changed by means of a password editor setting 000 password disabled Operation Passwordin Target group iaee a Comment level 01 we 2 p MODE lavman no parameter without access right only for status monitoring 1 y available no parameterization display of basic parameters with basic knowledge for minimum operation Be
12. 6 General software functions Function Effect e Electronic cam controller e Replacement for mechanical with up to 16 cams cam controllers Can be used with positioning Short set up time by or speed control changing cams Selection of important settings for the application The cam controller implemented in the positioning controller can most simply be described as a cylinder with radially attached cams along the axis of the cylinder Up to 16 cams with start and end position related to the cylinder diameter cycle can be arranged in any order Each cam has an action register assigned which triggers the corresponding actions when the cam is reached This status can be reported to a superordinate controls e g by setting a flag CMx The flag status CMx can be transmitted via outputs or the field bus The cam status can be additionally used by describing a PLC flag in the sequencing control cam 16 Fig 6 52 Function of electronic cam controller The cam controller is started and works if a cam number unequal zero is specified Com gear 6 106 drive Cam settings 2 Application Manual P7000 P6000 6 General software functions Cycle cam gear mm Number lo cams o es Hysteresis to avoid jitter effects 0 men CAM gax ie drveni by ALTP 2 selets to achas postion Pressing the button Help in the windows Settings cam controller and Define action opens the online help
13. 5 17 drive Type 2 negative limit switch and index signal Type 3 4 positive limit switch and index signal Application Manual P7000 P6000 5 P7000 P6000 in positioning operation The initial movement takes place according to Fig 5 8 in direction of the positive right hardware limit switch this switch is inactive and the direction of movement is reversed with active flank The first index signal after the descending flank corresponds with the zero point Index signal I positive limit switch Hi Fig 5 8 Type 2 negative limit switch and index signal The initial movement takes place according to Fig 5 9 in direction of the positive right hardware limit switch if the reference cam is inactive see symbol A in Fig 5 9 As soon as the reference cam becomes active the direction of movement will be reversed for type 3 The first index signal after the descending flank corresponds with the zero point For type 4 the first index signal after the ascending flank corresponds with the zero point The initial movement takes place in direction of the negative left hardware limit switch and the reference cam is active see symbol B in Fig 5 9 5 18 watt dr ive 22 5 P7000 P6000 in positioning operation If the reference cam becomes inactive the first index signal of type 3 will correspond with the zero point With type 4 the movement direction will change as soon as the reference cam becom
14. Determination of the internal e Processing and filtering of processing of analog input analog setpoint specification signals 1 2 3 4 Function Filter Backlash Options 1 Specification of analog setpoint or use as digital input 2 Input filter for interference decoupling 3 Dead band function for interference decoupling around the zero point 4 Options for standardizing the analog input 5 Analog value 6 Digital value x Number of input Fig 6 11 Function block for adaptation of the digital inputs Application Manual P7000 P6000 6 23 drive Application Manual P7000 P6000 6 General software functions Configuration possibilities ISA0x FxPXy FxPXy fmax fmax f 0 10V 0 20mA FxPNy fmin 10V fmin HOV fmax FxNXy g U U I Fig 6 12 Standardizing with Fig 6 13 Dead band function with unipolar operation bipolar operation Cott TT ttt Inputs Andog Dial Oaume votua UFF IU ro farce Ou t sol im i DFF 0 ro lurrin 00 z J lim Fig 6 14 Analog inputs 6 24 watt i marSo 6 General software functions Both analog inputs ISAO and ISA1 can also be configured as digital inputs For this purpose the settings OFF 0 to PLCGO 36 of the function selectors FISAO and FISA1 are a
15. Function Relay contact for message Standby digital ground Message BRK2 Message Setpoint reached digital ground Auxiliary voltage 24 V CDS fixed speed 1 2 0 10V CDS fixed speeds Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V analog ground P6000 Setpoint 0 V 10 V with P6000 2 e N wl A Os aD CO Reference voltage 10V 10mA with P6000 3 1 Please remember that the control input ENPO on P7000 is part of the control function Safe Stop 2 Analog input differentially at P7000 3 Analog input differentially at P7000 Assignment of control terminals P7000 P6000 8 20 watt drive 8 Speed Control OpenLoop for P7000 P6000 Selection of setpoint The setpoint specification can either take place via n analog setpoint or via two fixed speeds The logic in Table 8 15 does thereby apply S1 S2 7 Factory setting ISD02 ISD03 Actual setpoint min 0 0 Analog input active variable 0 1 Analog input active variable Changeover analog input CDS fixed speed 0 Jits2 0 fixed speed 1 ii if S2 1 fixed speed 2 Changeover analog input CDS fixed speed 1 Jits2 0 fixed speed 1 100 if S2 1 fixed speed 2 Table 8 15 Truth table for setpoint specification S1 82 The CDS fixed speeds are set by means of a function mask x
16. Hyxxx Fxxx ACTSPEED Assign actual speed min Hxxx Fxxx ACTTORQUE Assign actual torque Nm Hxxx Fxxx ACTCURRENT Assign actual current effective A Hxxx OSAO Analog output value Hxxx ISAO ISA1 Assign analog input 0 1 Hyxx OUTPUT INPUT Read variable with output or input image EGEARPOS Hxxx Set reference encoder increments OSAO Hxxx Assign analog value Assign setpoint only with speed and REFVAL Hxxx FXxx torque control INPOSWINDOW Hxxx Setpoint reaches window FXxx f Hxxx F Cxx Fyyy Set floating point variable F Cxx f Fyyy Set floating point variable indexed Fxxx f Fyyy Calculate floating point variable FXxx ROUND Fyyy Round floating point variable Fxxx ABS Fyyy Floating point variable absolute value generation Fxxx PARAIn i PARA n PARA Hyyy Hzzz PARA Hyyy Set parameter Cxx d Cyy Hyyy Set counter Cxx d Hyyy Calculate counter Zxx t Hyyy Set timer PARA n Hxxx Fxxx Parameter number direct Application Manual P7000 P6000 7 13 drive Application Manual P7000 P6000 7 User programming gann Operand Comment and PARA HXXx Hyyy Fxxx Parameter number via integer yw variable SET PARA n i Hxxx FXxx Input parameter number direct PARA Hxxx Hyyy Hzzz Fxxx Specification parameter number and index via integer variable ACCR Hxxx Change acceleration DECR Hxxx ACCR 0 150 Scaling DECR 0 150
17. Initialization error 36 PDO object outside value range 37 Error in initialization of communication parameters 38 Target position memory overflow 39 Heartbeat Error 40 invalid CAN address 41 Insufficient memory to save communication objects 42 Guarding error in monitoring of a Sync PDO object 17 E PLC Error in processing of PLC sequential program 0 Error in sequencing control PLC 210 211 212 213 Error triggered through PLC SET ERR 1 Mxxx with Mxxx 1 Error in sub program invocation return with CALL RET Stack underflow unexpected RET without previous CALL invocation Stack overflow max nesting depth 250 CALL invocations reached Error when writing parameters buffer full Writing from the interrupt takes place via a buffer for max 30 entries whereby the buffer itself is processed in the main loop If this message occurs the buffer capacity has been reached i e the main loop was unable to process all assigned parameters The command WAIT PAR has the effect that the program processing is stopped until all parameters have been written and the buffer has been emptied With a high number of parameter access operations more than 30 successive parameter assignments or when assuring the parameter write access during the further processing of the program a WAIT PAR should be inserted Error when writing
18. PROFITOOL Value range WE Unit Parameter ia ae ae monitoring ORFs KI orp P a a 19250 150 E ea Application Manual P7000 P6000 6 83 drive Specification of temperature sensor connection X3 Application Manual P7000 P6000 6 General software functions Setting for parameter MOPTC BUS PROFITOOL Function 0 OFF Monitoring switched off 1 KTY linear PTC KTY84 130 tolerance band yellow Threshold value PTC with short circuit detection 2 PTC DIN 44081 44082 recommended for Triple PTC 3 TSS Klixon normally closed temperature switch Threshold value PTC without short circuit detection 41 PTC1 DIN 44081 44082 recommended for Single PTC Table 6 34 Setting for the type of motor PTC evaluation MOPTC x3 Specification wae mi pe e Measuring range max 12 V i Measuring range 100 Q 15 KQ Short circuit detection 18 Qto 100 Q Cycle time 5 ms Explanations The following temperature sensors can be evaluated linear PTC KTY84 130 tolerance band yellow Threshold value PTC acc to DIN 44081 DIN 44082 temperature dependent switch Klixon If the temperature exceeds a limit value the positioning controller switches the motor off with error message E OTM The reaction to the error Overtemperature motor can be parameterized see chapter 6 9 1 With KTY84 130 evaluation the actual mo
19. STOP 0 is available The control is only switched off if it had been switched on via PLC SET ENCTRL 1 control location PLC 7 39 drive Time Axis status Parameter write access Example program Application Manual P7000 P6000 7 User programming The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning Wait commands WAIT This command can be used to realize a certain time delay in milliseconds After expiration of this time the program will continue with the next successive program line The WAIT command is executed via the timer Z11 direct WAIT d via variable WAIT HXXX The program is continued if the following condition is fulfilled Position window reached WAIT REF Actual position in position window 1 Axis stopped WAIT ROT_O Position setpoint Target position 2 1 Positioning finished Output Axis in position will be set 2 Positioning mathematically finished WAIT PAR Wait until parameter write access has taken place If the parameter write access is mandatory for the further processing of the program a WAIT PAR should be inserted after the parameter assignments P00 NO10 SET H000 1 Assign value 1 to variable H000 NO20 SET PARA 460 1 H000 Write field parameter 460 Index 1 NO30 SET PARA 460 2 H000 Write field parameter 460 Index
20. drive A Type 2 no referencing Type 1 actual position 0 Type 0 Type 1 negative limit switch and index signal Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Attention The correction of the actual position takes place in form of jumps No acceleration ramps are active The correction is this dealt with like a trailing error compensation The maximum speed during the correction process can be adjusted under the function Limitations see chapter 6 2 2 Here the maximum speed of the positioning travel profile is not active No referencing is performed The zero point offset is added to the current position During initial switching on of the power stage the status referencing completed is set This type is most suitable for absolute encoders as long as no zeroizing is required For zeroizing you should select type 5 The actual position corresponds with the zero point it is set to 0 i e the closed loop control runs a actual position reset The zero point offset is added Not defined The initial movement takes place according to Fig 5 7 in direction of the negative left hardware limit switch this switch is inactive and the direction of movement is reversed with active flank The first index signal after the descending flank corresponds with the zero point Index signal a I negative limit switch l i Fig 5 7 Type 1 negative limit switch and index signal
21. i Application Manual P7000 P6000 7 User programming Note Breakpoints can also be set via the user interface of the PROFITOOL 1 CDE32 004 setup xj a Preset solution ital somundesioning a Raan settings Expanded gt gt Kee all oN resolver postion encoder m eference Faros i owal Motor and encoder ease 8 A a Achas values Enor Waening Mariss mode Save setting in devier Carcel Help Switching off the PLC e g via parameter 450 PLCST OFF the program processing is ended Example program SPO00 NO10 NOP no instruction N020 SET BRKPT 1 activate breakpoints N030 SET H000 0 assign variable N040 SET H001 10 assign variable N050 BRKPT Breakpoint N060 SET H000 1 increment variable N070 JMP H000 lt H001 N100 H000 smaller 10 N080 SET BRKPT 0 deactivate breakpoints N100 JMP N040 continue incrementing END With deactivated breakpoints this function is similar to an blank instruction NOP Blank instruction NOP This is an instruction without function i e the program processes the line but no reaction will occur The processing requires as with other commands computing time 7 22 drive Application Manual P7000 P6000 7 User programming How to use this function in the sequential program Ny NOP Instruction without function Program end END Both the text declaration as well as the actual
22. with 2 floating point variable SET Hxxx FXXX Assignment of a floating point variable with limitation to 2147483647 no rounding Application Manual P7000 P6000 7 26 marno 7 User programming with flag SET Hxxx MXXX with counter status SET Hxxx Cyy with timer status SET Hxxx Zxx via acceleration direct 2 SET Hxxx z Addition SET Hxxx Z Subtraction SET Hxxx z Multiplication SET Hxxx 2 z 0 Division SET Hxxx z Modulo via displacement with constant to the right SET Hxxx gt gt Z Division Hxxx by 27 to the left SET Hxxx lt lt z Multiplication Hxxx with 27 Calculation via second variable direct 2 SET Hxxx Hyyy Addition SET Hxxx Hyyy Subtraction SET Hxxx Hyyy Multiplication SET Hxxx Hyyy Hyyy 0 Division SET Hxxx Hyyy Modulo Calculation via displacement with second variable Right SET Hxxx gt gt Hyyy Division Hxxx by 2 YYY Left SET Hxxx lt lt Hyyy Multiplication Hxxx with 2 YYY Calculation by means of absolute value generation SET Hxxx ABS Hyyy Application Manual P7000 P6000 7 27 drive Application Manual P7000 P6000 7 User programming z Or Hyyy 0 is not permitted division by 0 error message will be triggered With this operation one must make sure that no value range overflow takes place 7 28 drive Setting special integer variable Application Manual P7000 P6000 7 User programmi
23. 1 Data set CDS2 Table 8 11 Parameters for setting the current limit controller Status Function Accelerations with activated current limit controller During the acceleration process with acceleration ramp RACC the acceleration RACC is reduced in a linear way from the the set value to 0 rpm s when 75 of the current limit is reached This means that the drive is no longer accelerated when the current limit is reached If the current limit is exceeded the speed setpoint will be reduced This reduction takes place with the steepness of the deceleration ramp CLRR This steepness increases linear from 0 to the preset value CLRR at current limit 125 CLCL This process only takes place in the range of the lowering speed CLSLR If the apparent current of the motor drops below the current limit the drive will again be accelerated along the acceleration ramp RACC The conditions mentioned before do thereby apply with active current limit control The controller is still active after the acceleration process Stationary operation If the motor load and thus the current increases during stationary operation the speed will be reduced when the motor current exceeds the current limit The motor speed is reduced along the deceleration ramp CLRR down to the maximum lowering speed CLSLR Deceleration with control The current control has no effect on the deceleration ramp l e the active curr
24. 4 Encoder 4 5 Positioning controller 5 6 General software functions 6 gt 7 User programming 7 gt 8 Speed control OpenLoop 8 gt Appendix Error messages and index A gt drive Pictograms Application Manual P7000 P6000 i Note Useful information chapters of the user manual or f gt Cross reference Further information in other 1 s gt Step 1 Step by step instructions Warning symbol gt b gt additional documentations General explanation Attention Operating errors may cause damage to or malfunction of the drive Danger high voltage Improper behaviour may cause fatal accident Danger from rotating parts The drive may automatically start Danger class acc to ANSI Z 535 This may result in physical injury or damage to material Danger to life or severe physical injury Danger to life or severe physical injury drive Application Manual P7000 P6000 Contents 1 Safety 1 1 Measures for your Safety wuss 1 1 1 2 Intended USC wcities 1 3 1 3 Responsibility ssssssssssssssdssssssssicarssersissessssissnansvarsrorerans 1 4 2 Equipment hardware 2 1 Terminal positions P7000 sssini 2 2 2 2 Terminal positions P6000 sssini 2 7 2 3 Light emitting diodes uses 2 11 2 4 Resetting parameter SettingS vss 2 12 2 5 Loading device software wuts 2 13 2 6 Device protection srssesescsesenssesssssssessstessnosssoseresentsens 2 14 3 Operation structure 3 1 Operatio
25. Data set 1 COSI Data set 2 CD52 Fined speed 1 s0 imn Fuedipeed2 10 In TBO 0 TBO 1 Fig 8 15 Function mask CDS fixed speeds PROFITOOL Meaning Value range WE Unit Parameter ETT 613 0_RCDS1 Fixed speed 1 Fixed speed at TBO 0 32764 500 min 614 0 RCDS22 CVF 613 1_RCDS1 614 1_RCDS2 CVF 5 z 32764 Fixed speed 2 Fixed speed at TBO 1 32764 100 min 1 Parameter for data set CDS1 2 Parameter for data set CDS2 Table 8 16 Parameters CDS fixed speeds Application Manual P7000 P6000 8 21 watt drive 8 Speed Control OpenLoop for P7000 P6000 8 5 Speed control With the preset solutions VSCC1 and VSCB1 the field bus is preset as OpenLoop setpoint source with The reference value specification for the speed control is either setpoint and accomplished via the device internal CANopen field bus interface n via field vscc1 or via the Profibus communication module VSCB1 us Speed prolie see chapter 8 2 2 see chapter 8 2 3 see chapter 6 2 3 Fig 8 16 Basic setting Speed control OpenLoop setpoint and control via bus Assignment of control terminal All inputs and outputs are set to O OFF They can be set as described in chapter 6 1 Inputs and outputs CANopen The drive controllers are integrated into the automation network via the device internal electrically isolated CANopen interface X5 Communica
26. ISDxx MP_UP ISDxx MP_DN 6 General software functions analog default speed value at input ISAxx Proportion of increase or reduction from the base value influenced by the inputs with functions MP_UP and MP_DN Input for offset setting to increase the setpoint Input for offset setting to reduce the setpoint 6 61 drive 6 3 Motor control Application Manual P7000 P6000 6 General software functions Function Effect e Optimization of controller e Optimal concentricity of the settings drive Adaptation of the controller to the moment of inertia of the system Setting the switching frequency of the output stage The positioning controller is based on the principle of field oriented controlling Field orientation means to memorize a current at the location in the motor at which the field has the biggest size The memorized current is thus optimally converted to torque This results in an optimal utilization of the machine with highest possible dynamics together with low losses The result is a very good rate of efficiency The digitally controlled drive is most suitable for applications calling for the following characteristics Speed constancy concentricity Position accuracy Dynamics constant torque Interference compensation The positioning controller can be operated in three different control modes e Torque control Torque Control TCON Speed control Speed Control
27. Note indicated The parameterization mode by control unit is not separately vale aan vk Cause of favit 1x E CPU Collective error message 2x E OFF Undervoltage cut off 3x E OC Overcurrent cut off 4x E OV Overvoltage cut off 5X E OLM Motor overloaded 6x E OLI Device overloaded 7x E OTM Motor temperature too high 8x E OTI Cooling temperature too high Table 2 15 Error messages Error messages can be displayed more accurately with the KP10 control unit or the PROFITOOL drive 2 4 Resetting parameter settings Parameter reset Factory setting Application Manual P7000 P6000 2 Equipment hardware The resetting of parameter settings is divided into two areas with differing effects The parameter reset returns an individual parameter to the last saved value Device reset restores the entire dataset to factory setting delivery defaults In the KEYPAD PARA menu If you are in the setup mode of a parameter and press the two arrow keys simultaneously the parameter you are currently editing will be reset to the setting saved last In PROFITOOL In the focussed settings window by actuating the Fi key The factory setting of the parameter is to be taken and entered in the tab Value Range KEYPAD Press both arrow keys of the KEYPAD simultaneously during servo controller power up to reset all parameters to their factory defaults and reinitialise the system PROFIT
28. PROFI line P7000 VO Positioning Inverter System 2Abis 170A P7000 375 W 90 kW P6000 Application manual drive 2 Antriebe mit System drive With delivery depending on supply package Overview of documentation Operation Manual P7000 P6000 Quick and easy initial commissioning Application Manual i Adapting the drive system to the application Application Manual P7000 P6000 ID no 1005 22 B 1 00 Dated 10 2005 Valid from software version V0 55 P7000 Valid from software version V1 3 P6000 We reserve the right to make technical changes drive Guide through this manual Application Manual P7000 P6000 Dear user this manual mainly addresses you as a programmer for drive and automation solutions It describes how you can match your new drive system optimally to the corresponding application At this point we assume that your drive is already running otherwise you should first read the operating instructions Don t let the sheer volume of this manual put you off Only the chapters 1 to 3 contain basic information you should become familiar with All other chapters and the appendix are intended for looking up information They show the full scope of functions and the flexibility of the software for the positioning controllers to solve the most diverse drive tasks 1 Safety 1 gt 2 Device hardware 2 3 Operation structure 3
29. Vid PPOfIDUS ssevecsevcvuces eievecesseeveceeses Speedlimit ss isseescestezeveas pew sventacessesreee Speed override ccecceseecceeesceeseeceeees Speed regulation 10V reference value s sssseseesessee 4 6 Block diagram si csssieccessiescccsesnteaces 6 52 via CANOpen cvecasscceteorsacesacesctecee esses 4 9 Vid PPOTIDUS issivenestseeceesesdenvecteccentey 4 9 with fixed speed cceeeceeeceeeceeeees 4 7 With PLO an scestecssseveccsseeveceeestvadesses 4 10 B 5 drive with reference encoder setpoint source 6 43 Speed synchronism eeeeeeseeeeeeeceee ees 7 36 Standardization csseceeecseeceeeeeeees 5 6 Standardization of actual parameter values 6 115 Standardization of the analog output 6 29 Standardizing with unipolar operation 6 24 Standards gotsnt scactensesttens cescecezeesoes ces 1 3 Start flank triggered ceeceeeceeeceeseeees 6 55 Level triggered ceceeeceeeceeeeeerees 6 55 Stop fed E E E T 6 37 REACTIONS vicescceiecs endeviteccdexeees dened 6 37 SUOP TEMP sssccvetscsscsccsstvsesisesseecascis 4 5 8 8 Switching point eeeeeeeeeeeeeeeeee ees 5 36 Switch off limits eeeeeeeeeseeeeeeee ees 2 15 SYNCHIONISM sczssesseacseesseacteetenes sisenes 6 39 Synchronization cesecsseceeeeeeeeees 6 111 T Table of fixed Speeds cesceecesceeeeeeeees 4 7 Tabular travel set PCT 2 PCC22 PCB 2 eestor csvcaetes
30. X2 Fig 2 1 2 Equipment hardware H3 Y ETE TILT COE X11 View of device P7000 No Designation Function H1 H2 H3 Light emitting diodes Equipment status display Setting the CAN address Sneath hardware address parameter value COADR Mains motor DC supply L L X1 Power terminal up to lt 22 kW Braking resistor L RB from gt 22 kW Braking resistor L RB Table 2 1 Legend to View of device P7000 2 2 drive Power terminal Application Manual P7000 P6000 2 Equipment hardware No Designation Function 8 digital inputs 2 analog inputs 10 bit X2 Control terminal 3 digital outputs 1 relay Safe stop with relay output Motoi temperatur PTC following DIN 44082 or X3 monitorin p KTY 84 130 linear temperature sensor or 9 Klixon thermal circuit breaker X4 RS232 port for PC with PROFITOOL or control unit KP10 X5 CAN interface CANopen interface DSP402 X6 Resolver connection Resolver TTL encoder X7 ats noo SSI absolute value transducer optionally Sin Cos interface transducer A Expansion board slot for e g optional module X8 Optional board slot ULZ_DPV1 PROFIBUS DP X9 Brake driver 2A max x o Voltage supply for 24 V ground optional module Interface X11 PROFIBUS DP Input bus connection X13 Address coding
31. A00 E00 E07 pp S00 503 P6000 S00 S06 P7000 Outputs i ppi E00 E03 Oppi S00 S02 P6000 S00 S04 P7000 Logic operands Operand Comment amp AND OR R Exclusive OR l lt lt gt gt ABS Absolute value generation Application Manual P7000 P6000 Mathematical operands Operand Comment Addition Subtraction Multiplication Division Modulo F a ROUND Rounding warty 7 User programming 7 3 1 Overview Comm and Operand Comment J ump instructions JMP Ny END unconditional jump ACTVAL lt gt Hxxx Fyyy Ny END Actual value ACTVAL lt gt Hxxx Fyyy Ny END ACTVAL Hxxx Fyyy Ny END ACTVAL 0 Ny END REFVAL lt gt Hxxx Fyyy Ny END Setpoint REFVAL lt gt Hxxx Fyyy Ny END REFVAL Hxxx Fyyy Ny END REFVAL 0 Ny END REF 0 1 Mxxx Ny END Axis status setpoint reached ROT_O 0 1 Mxxx Ny END Axis status standstill Ippi 0 1 Ny END Status of an input Oppi 0 1 Ny END Status of an output Mxxx 0 1 Myyy Ny END Status of a flag spec flag 0 1 Myyy Ny END a a special fag g Mxxx amp Ippi Ny END Logic operation flag input Mxxx amp Oppi Ny END Logic operation flag output Hxxx 0 Ny END Hxxx lt lt gt gt Hyyy Value of integer variables Ny END Fxxx 0 0 Ny END xx I lt lt
32. Here the application dependent setpoint structure is supplied with raw data and limited e The setpoint is changed in dependence on various system conditions errors warnings etc Fig 6 20 shows all functions of the setpoint generation for closed loop control types speed control and torque control These functions are described next If this mask is opened when presetting a positioning process the Speed profile function will not be displayed Reference Ramps Fig 6 20 Tab Setpoints Ramps 6 32 drive 6 2 1 Rotary speed profile Application Manual P7000 P6000 6 General software functions Function Effect Setting of acceleration and e Matching the dynamics of the deceleration ramps for the motor to the application rotary speed profile e Jerk reduced moving of the Setting of a slip for the start drive and end points of the linear ramp This function is only available for speed controlled and to a limited extent for torque controlled presettings It is described in chapter 4 2 1 6 33 watt i mate gt 6 General software functions 6 2 2 Limitations Function Effect e Limitation of torque and Setting maximum and speed minimum values The maximum permissible torque and the maximum speed are set as a percentage of their nominal values Note If the setting is higher the percentage based scaling of the torque is automatically reduced to the maximum torque that can be s
33. High anti clockwise Ratio Reference encoder pulses input pulse 32 8192 1024 Se revolution L Numerator for ratio between leading and following Ratio axis If leading and following axes are be counter 32768 32767 1 480 ECNO2 numerator 2 rotating a negative numerator must be entered The ENC numerator can be changed online A Denominator for ratio between leading and Rator following axis The denominator can be changed 0 65535 1 AB I ECDEZ denominator 3 ENC offline controller off Table 6 20 Configuration of a HTL reference encoder Reference encoder in speed controlled operation For speed regulation with reference encoder setpoint source no preset solution is available You should therefore select a preset solution which in any case complies with the desired control location e g terminal or field bus Then select the setting RDIG 4 from the function mask Setpoint ramp further settings instead of the specified setpoint source Fig 6 24 shows the structure of the selected setpoint preparation Transmission master encoder ratio Ramp generator Controller mar b Q Lines per Numerator oe l nan revolution Denominator ADIR O I Signal type Fig 6 24 Structure of setpoint preparation with reference encoder as speed setpoint source Application Manual P7000 P6000 6 43 drive Application Manual P7000 P6000 6 General software functions The spe
34. SCON e Position control Position Control PCON It has three control circuits which are superimposed to each other see illustration Fig 6 30 Depending on the preset solution the lower level control circuits are active e g with speed control only the speed and the 6 62 watt i marno 6 General software functions torque controller The speed setpoint is thereby directly delivered by the setpoint specification the positioning controller is decoupled and out of function Note Due text represents rent value D in the Dia Scope SCGFA SOG SOILS CCG CCILG E hoary Soll Postoning system G ar Rescwec sp Fig 6 30 Control structure Torque and speed controllers are designed as Pl controllers the positioning controller as P controller Amplification P proportion and integral action time I proportion of the individual controllers can be adjusted In the operation mask these settings are made in the function mask Control During commissioning the desired preset solution can be simply selected and parameterized with the help of the PROFITOOL This also includes the setting of the control mode The control structure and the parameters to be set are displayed when selecting the setting values Control Fig 6 31 When selecting the tab Output stage you can determine the switching frequency of the output stage see Table 6 29 Application Manual P7000 P6000 6 63 drive Application Manual
35. Scaling Wait commands Wait time in ms WAIT a Ho 0 4 294 967 295 ms ROT_0 Setpoint position target position REF Actual position in position window PAR Wait until parameter is written Travel commands only with positioning Go W A Hxxx W R Hxxx A HXXX R Hxxx 0 0 Hxxx A Hxxx V Hyyy Travel absolute by value of Hxxx with speed acc to parameter 724_POSMX and wait with program processing until target position is reached Travel relative by value of Hxxx with speed acc to parameter 724_POSMX and wait with program processing until target position is reached Travel absolute by value of Hxxx with speed acc to parameter 724_POSMX program processing continues Travel relative by value of Hxxx with speed acc to parameter 724_POSMX program processing continues perform selected referencing perform selected referencing and set reference position Hxxx Travel absolute by value of Hxxx with speed Hyyy program processing continues drive Application Manual P7000 P6000 Comm 7 User programming and Operand Comment Travel relative by value of Hxxx with R Hxxx V Hyyy speed Hyyy program processing continues GO T Hxxx Position via table T Cxx Travel via table entry Cxx W T Hxxx Travel via table entry Hxxx wait W T Cxx Travel via table entry Cxxx wait T xxx Travel via table entry xxx W Thx Travel via table entry xxx wait until position is reached V xxx Travel endle
36. The condition transition Control off is passed through when switching off the output stage The closed loop control is shut down via various control channels terminals bus PLC BUS Setting Reaction 1 1 As reaction in case of quick stop 0 0 Lock output stage drive runs out 1 1 The drive brakes with programmed deceleration ramp the output stage is subsequently locked Table 6 12 Setting of reaction with Control off Reaction with Stop feed The status Stop feed brakes an ongoing movement as long as the condition is active During braking acceleration to the previous status is possible When deactivated acceleration will take place along the programmed acceleration ramp Stop feed is triggered by e HALT switch on HALT switch off Terminals FIxxx HALT 0 FIxxx HALT 1 Field bus Bit HALT 1 Bit HALT 0 PLC SET HALT 1 SET HALT 0 Table 6 13 Triggering locations for HALT Application Manual P7000 P6000 6 37 drive Application Manual P7000 P6000 6 General software functions BUS Setting Reaction 0 0 No function please do not adjust 1 1 Braking with programmed deceleration ramp 2 2 Braking with quick stop ramp 3 3 Braking with max dynamics at the current level The speed setpoint is set to 0 4 4 Braking with max dynamics at the current level The speed setpoint is set to 0 Table 6 14 Settin
37. The controller parameters are adapted accordingly PROFITOOL Value range WE Unit Parameter Moment of inertia of 160_MOJ NM 2 motor Oiee 109 9 kgm _MOT Select No if the moment of inertia is unknown A 0 is entered as moment of inertia 160 MOJNM 0 The motor data are then used to determine a moment of inertia suitable for an IEC standard motor The moment of inertia of the motor depends on the number of pole pairs and the related rotor design The moment of inertia of standard three phase current motors with squirrel cage rotor acc to DIN VDE 0530 1000 min 1 6 pole 50 Hz and self ventilated saved in the positioning controller are shown in Table 6 45 Power P kW Moment of inertia J y kgm 0 09 0 00031 0 12 0 00042 0 18 0 00042 Table 6 30 Basic values for the moment of inertia related to a six pole IEC standard motor 6 70 watt i marno 6 General software functions Power P kW Moment of inertia J m kgm 0 25 0 0012 0 37 0 0022 0 55 0 0028 0 75 0 0037 1 1 0 0050 1 5 0 010 2 2 0 018 3 0 0 031 4 0 0 038 5 5 0 045 7 5 0 093 11 0 127 13 0 168 15 0 192 20 0 281 22 0 324 30 0 736 37 1 01 45 1 48 55 1 78 75 2 36 90 3 08 Table 6 30 Basic values for the moment of inertia related to a six pole IEC standard motor Performing identification The ENPO of the
38. The corresponding configurations of the cam controller must be made with the following parameters PROFITOOL Meaning Value range WE Parameter The cam positions can be specified in 0 743 x_CST Start position any sequence however should n 0 AP always be inside the cycle This 21948364 _CAM condition is not checked Unit 0 744 x_CEN End position Increments 65536 motor revolution a 0 DP with speed control user defined with 2147483647 CAM positioning 7 Setting switching points setting PLC markers Double clicking on the 745 x_CAC Action column opens the action window The ea han TN parameter is bit coded acc to Table CAM 6 43 6 107 drive Application Manual P7000 P6000 6 General software functions PROFITOOL Meaning Value range WE Parameter Cam controller cycle After the end of the defined cycle revolution of the cam controller the cycle is restarted Permitted only with reference position CCENC ENCD EGEAR With CCENC ACTP the cycle depends on the actual position of the positioning controller e g with endless positioning Cycle length of revolution Unit Increments 65536 motor revolution with speed control user defined with positioning Qn 2147483647 741_CCCY c CIN Number of cams Only the defined number of cams is evaluated If the defined number of cams is zero the cam controller will not be processe
39. a RCON ROPT RCON 290_SADD2 when switching over z cA REF via input a Settings for RSSL1 RSSL2 and SADD1 SADD2 BUS Setting Function 0 RCON Setpoint constantly zero 1 RAO Setpoint of analog input ISA00 2 RAI Setpoint of analog input ISA01 3 RSIO Setpoint for serial interface 4 RDIG Setpoint for digital input in Slave operation 5 RCAN Setpoint for CAN interface 6 RPLC Setpoint for PLC 7 RTAB Setpoint from travel set table 8 RFIX Setpoint of fixed value 9 RMIN Setpoint of minimum value 10 RMAX Setpoint of maximum value 11 ROPT Setpoint for communication module 12 RPARA Setpoint for parameter interface The following section describes the corresponding setpoint structures for torque speed control and positioning Symbol Meaning Setpoint source input partly with second characteristic set a Setpoint selector switch C Parameters Table 6 22 Symbols used in the block diagrams 6 47 drive Application Manual P7000 P6000 6 General software functions Symbol Meaning F Intermediate setpoints for display only ___ Limitation of setpoint mathematical influence Table 6 22 Symbols used in the block diagrams 6 48 watt 6 General software functions rive Application Manual P7000 P6000 6 49 watt i wate 6 General software functions Block diagram of setpoint specification position control Refer
40. input ISD05 ISD06 Function selector digital standard OFF PLC PLC PLC input ISD06 Function selector digital standard OSD00 240 FOS00 input OSD00 REF Function selector digital standard OSD01 241 FOS01 input OSD01 ROT_0 Function selector digital standard OSD02 242 FOS02 input OSD02 S_RDY Function selector digital standard om input OSD03 Or Table 5 14 Presetting of the control inputs and outputs on P7000 Application Manual P7000 P6000 5 42 watt drive 5 P7000 P6000 in positioning operation 5 6 2 Terminal Depending on the selected presetting the parameterization of inputs and i outputs differs from the factory setting see Table 5 15 After selecting the assignment tputs differs f the fact tti Table 5 15 Aft lecting th P6000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution 1 0 Parameters Function scT_1 Pcc_1 PE PCC_2 eae PCC_3 WE PCB_1 PCB 2 7 PCB 3 Function selector analog standard ISA00 180 FISAO PM10V OFF PLC OFF OFF PLC PLC input ISA00 ISA01 181 FISA1 Function selector analog standard OFF PLC PLC PLC input ISA01 isD00 210 Fisoo function selector digital standard ERR forF pic OFF PLC input ISD00 snot z11 Fiso re Mnp PLC FOSW PLC PLC input ISDO1 isp 212 iso2 Fonction selector digital standard onp pLc fTaBo PcL PCL input ISD02 Function selector dig
41. variable Po o Daisies l i S a ve shaft revolution De 4234967235 l ko a ee shaft revolutions Deeley i M 7 Application Manual P7000 P6000 5 drive Ready 3 Application Manual P7000 P6000 5 P7000 P6000 in positioning operation After the input of parameters the settings are checked by pressing Ready Pressing the Return button brings you back to the input of units Checking the settings The settings for units and standardization are checked fro plausibility and device internal value ranges and accepted In very few cases the following message will appear 5 Chooren standardization valves do not match intemal execution and have been resdusted 2 Please check the new adusimeri Ce we Fig 5 4 Error message caused by collision In this case value ranges or standardizations collided in the closed loop control The units and standardization assistant now suggests a different power or exponent for the unit and will ask you to check accept or change this in the units window which is directly opened upon acknowledgement Accepting the new setting also adapts the feed constant 5 8 watt dr iveDD 5 P7000 P6000 in positioning operation 5 2 3 Travel profile This mask is used to configure the limit values for the travel set the profile form and the travel range The units have already been determined see chapter 5 2 2 Positioning tabin process spiz co
42. 1 CANopen 5 4 2 PROFIBUS Application Manual P7000 P6000 5 P7000 P6000 in positioning operation With the preset solutions PCC_1 and PCB_1 the field bus is the reference source The specific settings of the I O terminals is described in chapter 5 6 Positioning via field bus either takes place via the device internal CANopen field bus interface or via the PROFIBUS communication module All general positioning functions as described under 5 2 can be used The drive controller is integrated into the automation network via the device internal electrically isolated CANopen interface X5 Communication takes place in accordance with profile DS301 Furthermore a standardized communication with the device profile for drives with changeable speed DSP402 is assured The following profiles are supported e Homing Mode referencing with 41 different types e Profile Position Mode for direct travel set specification with device internal jerk limited profile generation e Profile Velocity Mode for speed regulation of the drive This is a special positioning mode solely used for endless travelling A target position is of no relevance Online switching between modes i e with active control is possible In addition standardizations and units are applied according to the Factor Group and the control according to the DRIVECOM status machine Detailed information on configuration of the drive controller in the network can be found in
43. 12 Runtime error when activating an assistance parameter 13 Unidentifiable parameter access level 42 An exception message Exception was triggered 54 Runtime error when checking an assistance parameter 100 Internal parameter access error during controller initialization 101 Unknown switching frequency during initialization of the PWM 130 Error in current controller tuning 133 Error in performance of Macro State Machine 255 Userstack exceeded the maximum size drive Application Manual P7000 P6000 Appendix A m Error a Description 10 E PAR Parameterization error 0 Invalid parameter setting 5 After the device boot phase the value of a parameter is outside the valid range 6 Fault when initially initializing the parameter list A parameter could not be reset to default 7 Error when initializing a parameter with its saved setting 8 Error during internal parameter access via KP10 A parameter could not be read or written 47 Error when initializing the motor protection module 55 Internal error in status machine control 100 Error in controller initialization 101 Error when initializing the modulation 102 Error when initializing the brake chopper 103 Error when initializing the current model 104 Error when initializing the current control 105 Error when initializing the speed calculation 106 Error when initializing the speed cont
44. 2 NO40 SET PARA 270 H000 Write parameter 270 NO50 WAIT PAR Wait with program processing until all parameter write access have taken place END End of program 7 40 drive 7 4 PLC control and parameters Application Manual P7000 P6000 7 User programming An uncomplicated setting of the specified PLC control parameters enables the PLC function mask extended main window gt PLC or via Basic settings PLC with the corresponding PLC presetting 1 CDE32 004 setup TAr KIENS a a _ a A ee ee a Fig 7 5 PROFITOOL PLC function mask 7 41 m Ce ee e Cee Se ee oe eae pay 7 User programming 7 4 1 PLC variables All PLC variables are shown by means of parameters These parameters can be edited via the PROFITOOL in a PLC function mask see Fig 7 5 Changing PROFITOOL Meaning Value range ONLINE Parameter Integer variables are integer numerical values In combination with floating point variables or parameters 5 da aa the digits after the decimal point are not taken into 2 31 to 231 yes a ee consideration Rounding will also not take place Access in the sequential program H000 H127 Flag 0 1 Access in the sequential program M000 M255 0 1 yes a Time base 1 ms Timer 32 bit Access in the sequential program Z00 Z11 0 to 232 yes A62 PLC Z _PLCP Timers are set to a certain value and run back to 0 Counter for indexed 463 PLC_C addressing 8 bit Access
45. 4 3 Example for the fixed speed selection via terminal The following parameters are used to select or display the active travel set PROFITOOL Meaning Value range WE Unit boris Selection of travel set fixed speed This parameter describes the selection via 0 15 0 _ 278 TIDX inputs _RTAB Field bus Selection of a tabular set Display parameter Shows the currently 0 15 0 fas selected fixed speed With the STOP Logics feed enable terminal or bus a progressing movement can be stopped and restarted by application of the programmed speed profile 4 8 watt drive 4 P7000 P6000 in rotary speed operation 4 6 Speed control With the preset solutions SCC_3 and SCB_3 the field bus is preset as with source for reference values The specific settings on inputs and outputs reference value for the control locations CANopen SCC_3 and PROFIBUS SCB_3 are and control via described in chapter 4 8 field bus The reference value specification for the speed control is either accomplished via the device internal CANopen field bus interface SCC_3 or via the PROFIBUS communication module SCB_3 Speed prot e see chapter 4 2 1 see chapter 6 2 2 see chapter 6 2 3 Fig 4 7 Basic setting Speed control reference values and control via S 4 6 1 CAN The drive controllers are integrated into the automation network via the open pc f 3 device internal electrically isolated CANopen
46. 6 32 Rotary speed profile cesses 6 33 Limitations cener 6 34 Stp AMPS sncsononsnaaonena a 6 36 Reference encoder Master Slave operation 6 39 Setpoint structure further settings control location 6 46 Control location sesers 6 55 Motor potentiometer function 0 cette 6 58 Motor COMEPOD ssisiessssisssissasisasrnsasisacssssrsnminstsssnistiatane 6 62 Motor and transducer sss 6 67 M tor CGS asss pcneSeseeles eveestonieaceiel scene tenets 6 67 o E 6 74 Motor protection sssesecccceserereriris 6 83 Motor holding brake rrer 6 90 BUS SyStemS ween 6 100 ROPING SUN scape otcaninscactcctivncteah incon bretamnstetetin 6 100 PROFIBUS monere Sulonm ic tinataistratienta 6 104 Cam controller gene eee een ee ener eres 6 106 Setting KP LO secscsdsisssdsdcdsssdsarstessserisiecaisvesnsearsadsares 6 112 Actual values iscsssssssssssnssatssssiasesasnrastscsscasentansaiensans 6 117 Temperature monitoring eccrrrerercer 6 117 Device data scrcccccccrncncnenninenen 6 118 OPHONS sesictn sila neeyan ai 6 119 CANopen Field DUS sassssccccscsereriss 6 122 drive Application Manual P7000 P6000 6 9 6 9 1 6 9 2 7 1 7 2 7 2 1 7 2 2 7 2 3 7 2 4 7 2 5 7 2 6 7 3 7 3 1 7 3 2 7 4 7 4 1 7 4 2 7 5 7 5 1 7 5 2 7 5 3 7 5 4 8 1 8 2 8 2 1 8 2 2 8 2 3 WarningS errorsS sssssrssrisrisnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnna 6 124 Error MeSSagesS oscccccccccrcccicrri 6 124 Warning MESSAGES iieii ariane tr
47. AUTO 2 Operation status is set to GO and serves as status E indicator CTRL 3 PLC start together with activation of controller PLC start together with deactivation of controller PLC is started via field bus in EasyDrive ProgPos control BUS 4 word with the bit Start PLC When resetting the bit the PLC sequence is directly terminated by jumping to line 0 a The program is interrupted at the line specified under PLCBN the parameter J Ai akin line 450 PLCST changes to status BRKPT The program is restarted with 450 yes cae p PLCST G0 1 ah a Processing of the program starts with the line specified in PLCSN This is 456 PLCSN S very sensible if a program contains different independent routines _PLCC Application Manual P7000 P6000 Table 7 3 PLC control parameters 7 44 drive 7 5 PLC program examples Application Manual P7000 P6000 7 User programming The examples in this chapter are solely intended as programming exercises Neither the problem definitions nor the suggested solutions have been checked under the aspects of safety The examples shall demonstrate the possible solutions with the integrated sequencing control and what a typical program section could look like A preset solution which access the PLC must be set up e g PCT_3 18 positioning travel set specification via PLC control via terminal The specified values for path unit speed and acceleration are only examples and should s
48. Analog output for P6000 Function Effect Determination which scaled e Processing and filtering of actual value is to be analog actual values submitted to the analog Free assignment of function output 0 10V to the analog output e Output of analog values with a max frequency of 100 Hz e The analog output serves the purpose of diagnostics by means of a Voltmeter if no PROFITOOL with Digital Scope is available 4 Reference value10 V 2 3 Function Filter OSA00 S 1 Actual value 2 Selection of the actual analog value Output filter for interference decoupling from 10 to 3000 ms Reference value 10 V 5 Standardization of the analog output g Fig 6 17 Function block for adaptation of the analog output Configuration possibilities OSA00 10V u V ov OAMNO 1 OAMXO 1 Output value e g frequency Fig 6 18 Standardization of the analog output Application Manual P7000 P6000 6 29 drive Application Manual P7000 P6000 6 General software functions Dial AnolgFOSAD DutauMeaO vetva Functon Jac TN 2 Preveri actual speed OV cousspornds to _10__ Xo rele OV conesponds to __U X ol eleterce value TN connsponds to 100 X of reference vakin Fig 6 19 Tab Analog outputs FOSAO of the P6000 PROFITOOL Value range WE Unit Par
49. Hexadecimal representation of warning messages Application Manual P7000 P6000 6 131 drive Application Manual P7000 P6000 6 General software functions Warning Function Hex value Bit Warning message if the output speed WLS exceeds the value specified in parameter 0020H 5 505 WLS Warning message if the apparent current WIS has exceeded the value specified in 0040H 6 parameter 506 WLIS WIIT Warning message if the 1t integrator of 0080H 7 the device is active reserved 0100H 8 wit Warning message if the Ixt integrator of the 0200H 9 motor is active Warning message if the torque exceeds the WITO value specified in parameter 507 WLTQ dii 10 Table 6 55 Hexadecimal representation of warning messages Warning messages come with a hysteresis Physical magnitude Hysteresis Voltages Undervoltage 0V 10V Overvoltage 10V 10V Temperature 0 C 5 C Frequency 0Hz 1Hz Table 6 56 Hysteresis for warning messages Warning thresholds Warning thresholds determine when a warning is to be submitted Hew ork lanpaishue Irto terpereter Motor temperature forty FTH Motor protection Power shage protector Undarvedage Overvettage fi oo T 8 t fiso T von Fiss 0 X von Ana v a20 v anr o n 1000 Options 611000 Na oe Coce Fig 6 69 Warning thresholds 6 132 watt i marno 6 General software functions
50. Manual P7000 P6000 6 General software functions Time diagram for the motor holding brake BRK2 with speed control OpenLoop n 1 min SSCW SSHYS SSCW SSCCW SSHYS SSCCW SSHYS sti 0 POWER BRK2 0 TREF TCTRL TREF TCTRL kl ke Sl POWER Converter output stage BRK2 digital output Fig 6 50 Function of the motor holding brake BRK2 with speed control OpenLoop Explanations Speed set point gt speed limit SSCW or SSCCW Setting the speed reference above the value Speed limit speed hysteresis the motor accelerates on this value and the brake releases The reference will be fixed up to expiration of time TREF Parameterize time TREF to the opening time of the brake e After expiration of time TREF the brake shall be released and the reference will be accelerated to the set reference above Speed limit speed hysteresis value e The adjustable speed limit will be fixed to the slip speed of the motor so that the motor builts a torque against the brake Immediately after releasing the brake a torque for the load is available 6 98 drive Application Manual P7000 P6000 6 General software functions Speed set point gt speed limit SSCW or SSCCW Setting the reference below the adjustable speed limit the drive will be decelerated Reaching the speed limit closes the brake Refe ren
51. Manual P7000 P6000 6 General software functions Function Effect e Deceleration ramps in e Different ramp settings are dependence on various possible system conditions Switch of closed loop control Stop feed Quick stop Error Stop ramps Reaction at control off fi Show down with deceleration ramo Reaction at halt feed 1 Slow down with deceleration ramp za Reaction at quick stop 2 Brake with quick stop ramp contol off Duck stop iamo IIN Tars Reaction at error message a ace bo error deperning sachon producer specie Eno stop remo puri Tmin Error reactions Ok Cancel Fig 6 22 Stop ramp function mask PROFITOOL Value range WE Unit Parameters Reaction with Control off 1 1 0 663_SDOPC Shutdown Option Code ae _SRAM Reaction with Stop feed 0 4 1 664_HAOPC Stop Option Code a _SRAM Reaction at quick stop 0 8 2 661_QSOPC Quick Stop Option Code a _SRAM 592_STOPR 1 Quick stop ramp 0 32760 3000 rpm SRAM 6 36 watt i marno 6 General software functions PROFITOOL Value range WE Unit Parameters Reaction in case of error message 1 1 662_FROPC Fault Reaction Option SRAM Code 593_ERR_R 1 ERK Error stop ramp 0 32760 3000 rpm SRAM 1 Asetting of 0 rpm means braking with max dynamics max ramp Reactions in case of Control off
52. Motor and transducer sssssssssssssnssssnnssnnnsnnnssnnnnsnns 6 67 6 4 1 Motor data lscccccccccncsisnisiinisn 6 67 6 4 2 ENCOQET ist feontilentrecmsastadenienanre lewd laewat 6 74 6 4 3 Motor protection 2o cra ccleccest atest erie eee 6 83 6 4 4 Motor holding brake rreren 6 90 6 5 BUS SyStemS wees 6 100 6 5 1 CANOPEN cakani nanna 6 100 6 5 2 PROFIBUS irannurariinnunniuaniiana 6 104 6 6 Cam controller wuss 6 106 6 7 Setting P10 sacasscdaaccsusssansiasssnselssasuaxonsdeinsouiteinsan 6 112 Application Manual P7000 P6000 6 1 drive Application Manual P7000 P6000 6 8 6 8 1 6 8 2 6 8 3 6 8 4 6 9 6 9 1 6 9 2 6 General software functions Actual values sssrini 6 117 Temperature Monitoring esseere 6 117 Device Qati onanarinnnainaiiannan 6 118 OPON S nnancu 6 119 CANopen Field DUS sscccccccccserenes 6 122 WarningS errorsS sssssssssisrnsnnsnnnnnnnnnnnnnnnnnnnnnnnnnannnnnna 6 124 Error MeSSagesS ossccccccceccrencrie 6 124 Warning MESSAJES ccce 6 131 6 2 6 General software functions drive 6 1 Inputs and outputs Each input and output on the positioning controller has a parameter to assign a function These parameters are called function selectors In addition both the setpoint structure and the control location have an effect on the function of inputs and outputs In the preset solutions such settings have already been made The positioning controllers are equipped with the inputs and outputs listed
53. P7000 P6000 6 General software functions Display for permanent display of actual values and bar graph not active Low Level active High Level Fig 6 56 Display for permanent display of actual values and bar graph Permanent actual value display and bar graph can be used separately for the display of actual values The bar graph is used for the status display of system values or to show the trend of individual actual values The permanent actual value display is directly opened when accessing the VAL menu menu of actual values The input of an index is only necessary for field parameters i e a parameter with several entries For all other parameters it must be set to 0 KP20 setup User sppicetion VAL Daplaye Parameter for No Index Coetinuous actusl value dis 400 E Ba gh ha o0 Specification of index is only necessary for Sold parameters Fig 6 57 Configuration of the permanent actual value and bar graph display 6 114 watt i marno 6 General software functions PROFITOOL Value range WE Parameter Permanent actual value display 360_DISP 375_ DPIDX No Index 1 999 0 255 400 0 _KPAD foie 1 999 0 255 170 sor BARG 374 BGDX f a i _KPAD Adjustment possibilities for 360 DISP and 361 BARG rn Operati Function et ae DISP BARG PT
54. PROFITOOL The corresponding level is selected in menu option Extras Select new user level Changing levels does not require a password watt KIDDY 3 Operation structure 3 2 Operation with Connection and start PROFITOOL Connect the interface cable and switch on the power supply for the positioning controller e After the program start the PROFITOOL will automatically set up a link to the connected controller minimum V2 3 e If the automatic connection does not work check the setting in the menu Extras gt Options and set up the connection with the Icon Fig 3 1 Connection via RS232 interface cable 9 pin socket pins The most important functions Icon Function Menu Connect to the Communication gt Connect gt Single device device i Further information can be found in the help to the PROFITOOL Changing the device i Active device gt Change settings settings Print parameter data s t Active device gt Print settings Active device gt Control gt Basic Control drive ip operation modes no position setpoints lej gs gt g LJ q Active device gt Monitor gt Quickly changing digital scope values Digital Scope Saving settings from Active device gt Save settings of device device to file to Ey Application Manual P7000 P6000 3 4 drive G 3 2 1 Operation VIA ICON CHANGE DEVICE SETTINGS or via
55. Path in mm N002 SET H002 35 Speed in mm s NO10 GO 0 Perform referencing NO20 JMP IS03 0 NO20 continue if input high NO30 GO W R H001 V H002 Travel to position direction with 35 mm s NO40 WAIT 5000 Wait 5 s NO50 JMP NO20 Restart cycle END 7 46 bhi ba YY 7 User programming 7 5 2 Absolute The fourth position is to be approached with a speed of v 80 mm s positioning absolute followed by a wait period of always 1 s The travel back to initial position is to take place with three times the speed 240mm s Fig 7 6 Approach position Setting units and standardization in the standardization assistant Position mm Speed mm s Acceleration mm s2 Feed constant 100 mm corresponds with 1 revolution of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 Adapting the travel profile Max speed 250 mm s Max starting acceleration 50 mm s2 Max braking acceleration 50 mm s2 The example program can be transferred to the controller after referencing has been parameterized as described in chapter 5 2 4 Application Manual P7000 P6000 7 47 Daro 7 User programming Positions and speeds are directly transferred as values the specification of the acceleration takes place according to the machine parameters Standardization in s mm and v mm s TEXT Absolute Positioning DEF H000 Position_0 DEF H001 Position_1 DEF H002 Position_2 DEF H003 Position_3 D
56. SRAM 1 2 not supported 596_J TIME Slip 0 2000 100 ms SRAM 1 Field parameters Index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 7 Parameters speed profile generator OpenLoop Parameter 230 REF_R can be used to define a speed range in which the setpoint after the profile generator may differ from the input setpoint without the message Reference value reached REF becomes inactive Setpoint fluctuations caused by setpoint specification via analog inputs can therefore be taken into account Actual value REF_R Setpoint REF_R Ramp settings can be made independently from each other A ramp setting of zero means jump in setpoint ACCR Application Manual P7000 P6000 8 7 drive 8 2 3 Limitations 8 Speed Control OpenLoop for P7000 P6000 Stop ramps Function Effect e Limitation of motor current Setting maximum and and speed minimum values The maximum permissible currents are limited to a percentage of the nominal device current and the maximum speed to the nominal motor speed x Current limit Daa set 1051 Data set 20052 109 X Stat up cuen el fae View foo x Motor rated spend Himax x 4900 Vin 100 CEJ ea a Fig 8 3 Function mask OpenLoop limitations PROFITOOL Function Value range WE Unit Parameter The start current motor control function start current controll
57. The following encoders are evaluated by the P6000 Encoder type Connection to P6000 TTL incremental encoder TTL X7 SSI absolute value x7 encoder SSI HTL incremental encoder HTL X2 control terminal ISD01 ISD03 Permitted encoders with the associated connection specification are specified in the P7000 P6000 operating instructions Table 6 31 Accepted encoders on P6000 6 75 drive A Selecting the encoder configuration Application Manual P7000 P6000 6 General software functions Attention The configuration of the encoders uses the same parameters as the configuration of the reference encoder input see chapter 6 2 4 because the hardware interfaces are identical Changing the encoder parameterization thus has a direct influence on the configuration reference encoder The encoder configuration is determined at the start Moto Encoder Motor protection Brake Select encoder combination TT_TT 2 T TL motor and posbon encode USER rH User defined fe G masle encoder s HTL motes and HI_SI 3 j HT Lenotot encoder SSi pouton encode SI i 4 SSI matar and pashian encode HT TT 5 HTL motoe encoder TTL pos Fig 6 39 Encoder configuration with P6000 Depending on the selection of encoder combinations the following settings can be made PROFITOOL Value range WE Unit Parameter Selection of encoder
58. USER HT TT TT _ 430_ECTYP combinations z z _ENC Encoder Encoder c El E2 BUS Setting Function User defined 0 USER Is set by the drive if e g the reference encoder has been parameterized HTL 1 HT_HT HTL motor and position encoder TTL 2 TT_TT TTL motor and position encoder SSI 4 SLSI SSI motor and position encoder HTL SSI 3 HT_SI HTL motor encoder SSI position encoder TTL 5 HT_TT HTL motor encoder TTL position encoder 6 76 drive Encoder settings Application Manual P7000 P6000 6 General software functions For each encoder combination a special function mask is displayed NTL motor and posimen encoger Set input on 12 to encoder TTL cnotor and position encoder Encoder inet V4 son nN Tent So ENC 37 MTL encoder 0 ISD01 A IS0G2 B 15003 Encoder mot mounes on shaft som Encoder inet Q4 Tiranawon isho coder not moumes on shaft Rate Fig 6 40 Selection of special function masks for encoder configuration For HTL encoders the following parameters must be set PROFITOOL Value range WE Unit Parameter pee revolution HTL 32 8199 iin oe n1 numerator 32768 32767 1 eek n2 denominator 1 65535 1 aT Transmission ratio n2 n1 is encoder is not mounted on motor shaft Furthermore the digital inputs for encoder connection must be configured The connection of track signals A to ISD02 and B to ISDO3 is mandatory Con
59. User programming The syntax test checks the current program for errors in the command code The test is automatically conducted when saving the program to the drive controller or manually by pressing the corresponding button The result of this test is displayed in the status bar In case of error messages one can jump directly to the faulty program line by simply double clicking on the corresponding error message Renumbering the line numbers eases inserting program sets With renumbering the first line is identified by number N010 all further lines are incremented with a step width of 10 N020 NO030 If the representation of a program with the specified line range 001 254 is not possible this way the step width will be automatically reduced The program content is saved in two files 1 Program file plc This file contains the sequential program as well as the text declaration and therefore the complete program information When passing on the PLC program it is thus enough to just copy this file 2 Text declaration file lt Project name gt txt The file is used by the PROFITOOL to display the application specific parameter designations It is automatically generated from the text declaration of the program file after successfully completed loading of the program into the drive controller or into a dataset The file lt Project name gt txt is copied into the PROFITOOL directory LUST PROF Itool firmdata lt Projektname gt
60. User programming speed The new command is executed immediately i e the position specified in the previous command is no longer approached Reference for relative positioning is always the last position setpoint e without continuation of program GO W With this command the next successive program line is only processed after the actual position has reached the position window As long as the axis is not in the positioning window e g due to a trailing error the program is not continued The W is an abbreviation for Wait GO W go and wait Position or path via variable speed via variable GO A Hxxx V Hyyy Absolute travel by value of Hxxx with speed Hyyy program processing continues GO R Hxxx V Hyyy Relative travel by value of Hxxx with speed Hyyy program processing continues Position via variable speed via parameter GO A Hxxx Absolute travel by value of Hxxx program processing continues GO R Hxxx Relative travel by value of Hxxx program processing continues Relative travel commands with continuation must not be processed in a short endless loop as this would lead to a position overflow See following example NO10 SET H001 360 N020 GO R H001 N030 JMP N020 Position or path from table GO T Hxxx Travel acc to table entry program processing continues GO T Cxx Travel acc to table entry program processing continues GO T xxx Travel acc to table entry program processing c
61. as per reaction with 0 0 Control off see chapter 6 2 3 Stop ramps 2 1 0 START anti clockwise acceleration with travel profile generator 0 1 START clockwise acceleration with travel profile generator BRAKING and shut down of control as per reaction with Control off 1 1 _ See chapter 6 2 3 Stop ramps 1 The braking process can be be interrupted by simply attaching a start contact the motor will accelerate again 1 Sense of rotation REVERSING overlapping time STL and STR 1 0 min 2 ms 1 1 With OpenLoop speed control the DC holding current controller see chapter 8 3 4 becomes active in case of the response Control off 1 Braking with deceleration ramp when the speed setpoint 0 is reached Table 6 6 Truth table for control via terminals The limit switch evaluation is based on the evaluation of static signals No signal flanks are evaluated The limit switches are monitored in dependence on the sense of rotation so that mixed up limit switches will be reported as errors The drive runs out unguided The reactions for limit switch overrun and for mixed up limit switches can be adjusted see chapter 6 9 1 Error messages Mechanical overtravelling of limit switches is not permitted and is not monitored for plausibility drive FIxxx MAN Only with positioning via field bus Application Manual P7000 P6000 6 General software functions Ex
62. cams for zero point determination in positioning 33 FOSW Execution of follow up order in travel set positioning see chapter 5 3 2 34 CAMRS Resetting the cycle of thecam Setting the zero position of the cam switching unit see switching unit chapter 6 6 35 PLC Input used in sequence program Placeholder inputs can always be read irrespective of the setting 36 PLCGO Start stop the sequence program The PLC program is started with the first command line Cancelling ends the program run see chapter 7 4 For the P6000 a HTL encoder can be additionally connected to the inputs ISD01 ISD03 In this case the setting is 37 ENC HTL encoder 0 track ISDO1 index signal A track ISD02 and B track ISD03 see chapter 6 4 2 Encoder for P6000 Table 6 5 Application Manual P7000 P6000 Function selectors for digital inputs drive FIXxx STR STL Not with positioning Fixxx LCW LCCW Application Manual P7000 P6000 6 General software functions Explanation of various functions The start command for a direction of rotation can be specified via the terminals of the positioning controller The sense of rotation is thus determined by the start commands STR and STL If the setpoint has a negative sign this will cause an inverse behaviour when starting i e with a clockwise start the motor shaft will turn anti clockwise STL STR Explanation STOP braking and shut down of control
63. ceeseeesceesceeeeeees 6 62 Position control oie ssssescdiecsseueddiaavese vases 6 62 Block diagram cceeeeeeeeeeeeeeees 6 50 Position plan P6000 eee eeeeeeee neces 2 7 Positioning Pre set solution eeeeeeeeee seen eeeeeee 5 2 Possibilities of characteristic curve data set changeover with 651 CDSSL 8 4 Possible motor protections ceeeeeeee 6 89 Power terminal designation P6000 2 8 Pre set solution ccceceececeeeeeeeees 4 2 8 2 Application Manual P7000 P6000 Appendix B Index POSITIONING ers cccscsescsbacsuetcaissasedevercus 5 2 RESEN sissies ironiis ssaecdes dnadediesseeneees 2 12 Speed control OpenLoop eeeeeeee 8 2 Speed regulation scceecsecssceeeesees 4 2 Procedure Commissioning ceseeeeeeeeeeeeeees 3 13 PrOfIDUS eeeeeeeeeeeee eee 4 10 6 104 8 22 Profile essay veevecvevdeecesvieaveeevesedceevdeeedes 5 10 Profile Velocity mode ceseeeeeeeeeeeeees 4 9 PTC Evaluation ssecccveessesveecendendeceseveast 6 84 Q Qualification USEF ccececeseceseeeseeseeees 1 2 Quick stop Reactions seivessccseeevecesceesvesceaeieeed 6 38 QUICK StOPIAMP cicstaccsccvessssccevensezegese 2 5 30 R Ramp linear z2 sssticdeessswsnessedoeadeds 6 33 8 5 Ramps E E E E 4 3 8 5 Reactance coil seeseseeesesseseessossesesseo 6 22 Reference encoder seeeceeeceeeeeeeees 6 39 as speed setpoint Sour
64. direction of the positive right hardware limit switch Limit switch and reference cam are inactive see symbol A in Fig 5 11 Type 7 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point With type 8 the zero point corresponds with the first index signal with active reference cam Type 9 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 10 the reference cam is overtravelled and the first index signal after this corresponds with the zero point The initial movement is in direction of the negative left hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol B in Fig 5 11 With type 7 the zero point corresponds with the first index signal after descending flank of the reference cam Type 8 changes the direction of movement after descending flank of the reference cam The zero point corresponds with the first index signal after the ascending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch The limit switch is inactive and the reference cam is active see symbol C in Fig 5 11 5 20 drive Type 11 to 14 reference cams index signal and negative limit switch Application Manual P7000 P6000 5 P7000 P6000
65. e A transmission ratio of 56 3 was entered in the standardizing assistant under basic settings Conclusions gt with a reference sensor transmission ratio of 1 1 the reference sensor setpoint refers to the motor shaft of the gear motor gt witha reference sensor transmission ratio of 56 3 the reference sensor setpoint refers to the output shaft of the gear motor Position and speed of the reference encoder can be read with the help of special PLC variables SET Hxxx EGEARPOS Reading the reference encoder position in increments The submitted reference encoder increments are the actual increments of the reference encoder multiplied with the transmission ratio of the 7 reference encoder SET Hxxx EGEARSPEED Reading the reference encoder speed in rpm The output is the reference encoder speed multiplied with the transmission ratio of the reference encoder The position of the reference encoder can also be changed via the PLC SET EGEARPOS Hxxx Setting the reference encoder position in increments Application Manual P7000 P6000 7 37 drive Path optimized positioning of a round table i Application Manual P7000 P6000 7 User programming A GOR command relative positioning during synchronous travel results in a superimposed positioning V 300 t V 500 a0 1000 t tx 1 leading axis 2 following axis Fig 7 4 Relative positioning during synchronous travel t time of comm
66. for the digital outputs drive FOxxx LIMIT FOxxx REF Application Manual P7000 P6000 6 General software functions Explanation of various functions The LIMIT function detects if the setpoint exceeds the maximum value When exceeding the output is set Limit values e Torque control The limit value display becomes active when the torque reference exceeds the max torque Max torque 805 SCALE x 803 TCMMX x 852 MOMNM e Speed regulation The limit value display becomes active when the speed reference exceeds the max speed Max speed 813 SCSMX x 157 MOSNM e Positioning The limit value display becomes active when the speed reference exceeds the max speed or the torque reference exceeds the max torque Max torque 805 SCALE x 803 TCMMX x 852 MOMNM Max speed 813 SCSMX x 157 MOSNM The specified parameters except the online torque scaling 805 SCALE can be set in the function mask Limitations see chapter 6 2 2 Torque limat CC Motor sated torque Mmax 41 Na 100 Speed limit 100 00 x Motor rated speed imaxe Vin 100 a Fig 6 7 Function mask Limitations Explanations Both the special PLC flag STA_LIMIT and the bit LIMIT in the field bus EasyDrive status words have the same meaning Both the parameters 230 REF_R setting see chapter 4 2 1 for torque and speed regulations as well as 758 POWIN setting see chapter 5 2 3 for positioning can be used
67. g encoder Resolver 7 TTL 5 Resolver motor encoder TTL position HT_TT g encoder Application Manual P7000 P6000 6 79 drive Encoder settings Automatic determination of the encoder offset Encode Application Manual P7000 P6000 6 General software functions For each encoder combination a special function mask is displayed Encode ofset pion eect encode hat Signa comecton roc ON z Resolver motor encoder EIk Nume of pole pars 1 Encoder gitse FDIN Detect offre Scoene OnT z 554 poston encoder EZ Number of ber 12 13 SU Contgaston Teenermwston raw m Eo T A Fig 6 42 Selection of special function masks for encoder configuration For resolver encoders the following parameters must be set PROFITOOL Value range WE Unit Parameter 433_ECNPP Number of pole pairs resolver 1 80 1 ENC Encoder offset see also Automatic 434_ECOFF determination of the encoder 0000h FFFFh 0000h i ENC offset Track signal correction GPOC 685_ ECCON see also Track signal OPERETT SE ENC correction GPOC For commutation of synchronous motors excited by permanent magnets the rotor position is required before starting the control The determination therefore uses absolute measuring systems such as e g resolvers The relation between zero position of the absolute measuring system and rotor position must thereby be known A possible of
68. gt gt Fyyy Value of floating point variables Ny END Cxx d Ny END Counter status Zxx 0 Ny END Timer status END J ump to program end Sub program invocation Sub program invocation after line Ny CALE Ny Maximum nesting depth 250 RET Return to the line of sub program invocation BRKPT SET BRKPT 1 Activates breakpoint the set breakpoint is evaluated SET BRKPT 0 Deactivates breakpoint the set breakpoint is not evaluated Application Manual P7000 P6000 7 11 drive Application Manual P7000 P6000 7 User programming Comm and Operand Setting commands SET Oppi 0 1 Mxxx OUTPUT Hxxx Mxxx 0 1 Ippi Oppi Myyy M Cxx Mxxx Hxxx M Cxx 0 1 M Cxx Myyy Mxxx amp Myyy Mxxx STA_ERR Mxxx STA_WRN Mxxx STA_ERR_WRN Mxxx STA_ACTIV Mxxx STA_ROT_R Mxxx STA_ROT_L Mxxx STA_ROT_0 Mxxx STA_LIMIT Mxxx STA_REF Mxxx STA_HOMATD Mxxx STA_BRAKE Mxxx STA_OFF Mxxx STA_C_RDY Mxxx STA_WUV Mxxx STA_WOV Mxxx STA_ WIIT Mxxx STA_WOTM Mxxx STA_WOTI Mxxx STA_WOTD Mxxx STA_WIS Mxxx STA_WFOUT Mxxx STA_WFDIG Mxxx STA_ WIT Mxxx STA_ WTQ Mxxx STA_INPOS ENCTRL 0 1 Mxxx INV 0 1 Mxxx ERR 1 Mxxx Comment Output direct or with flag Set output image Set flag Set flag LSB of Hxxx Set flag indexed Link flag logically Read error status 1 gt error Read warning status 1 gt Warning Read warning error stat
69. in positioning operation Type 9 changes the direction of movement if the reference cam is inactive The zero point corresponds with the first index signal after the ascending flank With type 10 the first index signal is the zero point after descending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch Limit switch and reference cam are active As soon as the positive limit switch becomes active the direction of movement will change see symbol D in Fig 5 11 With type 7 the first index signal after overtravelling the reference cam corresponds with the zero point Type 8 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 9 the zero point corresponds with the first index signal with active reference cam Type 10 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point Index signal Reference cams positive limit switch Fig 5 11 Type 7 to 10 reference cams index signal and positive limit switch The initial movement is in direction of the negative left hardware limit switch Limit switch and reference cam are inactive see symbol A in Fig 5 12 Type 11 changes the direction of movement after the active reference cam The first index signal after the descendin
70. interface X5 Communication takes place in accordance with profile DS301 Control and target position specification is in accordance with the proprietary EasyDrive profile Basic Note If a speed control in compliance with DSP402 is demanded the Profile Velocity Mode must be used for to regulate the speed of the drive This mode is a special form of positioning Please choose the presetting PCC_1 Positioning travel set specification and control via CAN Bus Detailed information on configuration of the drive controller in the network can be found in the separate documentation CANopen data transfer protocol Application Manual P7000 P6000 A9 drive 4 6 2 PROFIBUS 4 7 Speed control with reference value via PLC J gt 4 8 Assignment of control terminal Application Manual P7000 P6000 4 P7000 P6000 in rotary speed operation The speed specification and control via PROFIBUS requires the external communication module ULZ DPV1 Control and speed specification is in accordance with the EasyDrive profile Basic Detailed information on configuration of the drive controller in a network can be found in the separate documentation PROFIBUS data transfer protocol For the preset solutions SCP_3 SCT_4 SCC_4 and SCB_4 the PLC is preset as source of reference values The specific settings for control locations 1 O terminals SCT_4 CANopen SCC_4 and PROFIBUS SCB_4 are described in chapter 4 8 P
71. is indicated by a parameter and binary coded via the outputs if parameterized The inputs planned for travel set selection are configured with Flxxx TABx see example in Table 5 11 The selection is binary coded The binary valence 2 2 2 23 results from the TABx assignment The setting TABO thereby has the lowest 2 the setting TAB3 the highest valence 2 A logic 1 level at the input activates the valence 5 28 watt drive 5 P7000 P6000 in positioning operation Example IE07 E06 1E05 1E04 1E03 1E02 iE01 iE00 Is03 1s02 1s01 isoo Selectable travel sets TAB3 TAB2 TAB1 TABO Se ce ite 0 15 2 22 2 22 TAB2 TAB1 TABO 7 0 7 22 21 20 TAB1 TABO TAB3 2 0 3 21 20 23 8 11 Table 5 11 Example for the travel set selection via terminal A separate release signal see Table 5 12 via an input or the field bus trigger is required to activate a travel set via terminal The selection of a new table index and thus a new travel task will interrupt the ongoing positioning process or the follow up order logic Control jecation Signal Comment Release of selected travel set The selection of a new table index and thus a new travel task will always interrupt the ongoing positioning process or the follow up order logic Next start Effect like TBEN if a follow up order is started but no follow up order is available or waiting F
72. jump instructions will be executed in any case without condition e Conditional jump instructions will only be executed when the specified condition is fulfilled The condition for execution is specified in parenthesis A line number or the end of the program is always specified as jump target Attention If aJMP SET command is set to non existing inputs outputs no error message will be generated These commands are not linked to any prerequisites axis position status of programmed variables and are thus executed directly and unconditionally JMP Ny Jump to set with number y JMP END Jump to program end Conditional jump instructions sub program invocations are linked with certain conditions which are specified in parenthesis If this condition is fulfilled the jump to the specified set number or the end of the program will be executed If the condition is not fulfilled the program will continue with the next successive set Note The execution of a conditional jump can be linked to one of the following conditions reached JMP ACTVAL Hyyy Fyyy Ny END exceeded JMP ACTVAL gt Hxxx Fyyy Ny END JMP ACTVAL gt Hxxx Fyyy Ny END fallen short of JMP ACTVAL lt Hxxx Fyyy Ny END JMP ACTVAL lt Hxxx Fyyy Ny END compare JMP ACTVAL Hxxx Fyyy Ny END JMP ACTVAL 0 Ny END JMP ACTVAL 0 Ny END 7 17 ay 7 User programming Note The command REFVAL is of rel
73. menu Active device gt Change settings Application Manual P7000 P6000 3 Operation structure Icon Function Menu Load settings from _ Active device gt Load settings into file into device device from Bus initialization A Communication gt Bus configuration change settings Disconnect the link to Communication gt Disconnect the device Compare device settings AAEE Active device gt Compare settings Note Further information can be found in the operating instructions for the PROFITOOL Preset solution a ie ison varaenn cent sa ESO Initial commissioning Basic settings Expanded gt gt m A Actual values Erroe Waming Manusi mode Save setting in device Cancel Helo Fig 3 2 Adjustment in minimized view This operation mask Settings can be used to parameterize the position controllers drive Application Manual P7000 P6000 3 Operation structure C Programme Lust Antriebstechnik GmbH LUST DriveM anager userdata sample x Fig 3 3 Adjustment in extended view Note Parameter changes only take place in the volatile random access memory and must subsequently be saved in the device by pressing the button Save device settings The same is achieved by simultaneous pressing of both arrow keys on the KP10 operation panel for approx 2 seconds in menu level see chapter 3 3 drive F
74. of two way relay X2 18 19 0SD02 19 _ Root of two way relay X2 19 18 0SD02 18 _ Break contact of two way relay X2 20 17 DGND digital ground 16 OSD01 digital output 15 OSD00 digital output 14 DGND digital ground 13 Uy Auxiliary voltage 24 V 12 ISD03 digital input 11 ISD02 digital input 10 ISD01 digital input 9 ISD00 digital input 8 ENPO Power stage hardware enable 7 Uy Auxiliary voltage 24 V DC 6 Uy Auxiliary voltage 24 V DC 5 OSA00 analog output 4 AGND analog ground 3 ISA01 analog input 2 ISA00 analog input 1 Up Reference voltage 10 5 V Table 2 10 Control terminal designation P6000 RS232 Pin No Function 1 15 V DC for control unit KP10 2 TxD data transmission 3 RxD data reception 4 not used 5 GND for 15 V DC of the control unit KP10 6 24 V DC voltage supply control print 7 not used 8 not used 9 GND for 24V DC voltage supply control print Table 2 11 Pin assignment of the serial interface X4 9 pin D Sub socket Application Manual P7000 P6000 2 9 drive CAN Encoder Application Manual P7000 P6000 2 Equipment hardware Pin No Function 1 Wave terminating resistor 120 Q internal for CAN by means of jumper between Pin 1 and Pin 2 2 CAN_LOW CAN signal 3 CAN_GND reference ground of CAN 24 V Pin 9 4 not used please do not connect 5 not used please do not connect 6 CAN
75. operation is only permitted when strictly complying with EMC directive 89 336 EEC The series P7000 P6000 complies with the low voltage directive 73 23 EEC For the drive controller the harmonized standards of series EN 50178 DIN VDE 0160 in connection with EN 60439 1 VDE 0660 part 500 and EN 60146 VDE 0558 are applied The harmonized standards EN 50178 DIN VDE 0160 and EN 61800 3 are applied for the drive controllers If the drive controller is used in special applications e g in areas subject to explosion hazards the applicable regulations and standards e g in Ex environments EN50014 General provisions and EN 50018 Flameproof housing must be strictly observed Repairs must only be carried out by authorized repair workshops Unauthorised opening and incorrect intervention could lead to physical injury or material damage The warranty granted by LUST will become void Note The use of drive controllers in mobile equipment is assumed an exceptional environmental condition and is only permitted after a special agreement 1 3 drive 1 3 Responsibility Application Manual P7000 P6000 1 Safety Electronic devices are never fail safe The company setting up and or operating the machine or plant is itself responsible for ensuring that the drive is rendered safe if the device fails EN 60204 1 DIN VDE 0113 Safety of machines in the section on Electrical equipment of machines stipula
76. plug Only with optional module DPV1 1 S2 Address encoder switch Only with optional module DPV1 Table 2 1 Legend to View of device P7000 X1 Designation X1 Designation Motor cable U Motor cable U Motor cable V Motor cable V Motor cable W Motor cable W PE conductor PE conductor PE conductor PE conductor D C ling voltage D C ling voltage Braking resistor Braking resistor D C ling voltage D C ling voltage PE conductor PE conductor NC Mains phase L3 Neutral conductor Mains phase L2 Mains phase Mains phase L1 Table 2 2 Power terminal designation P7000S and P7000T 2 3 drive Control terminal RS232 Application Manual P7000 P6000 2 Equipment hardware X2 Designation Function 1 DGND digital ground 2 24V Auxiliary voltage Uy 24 V DC 3 ISAO Analog input 10 bit 10 V 4 ISAO Analog input 5 ISA1 Analog input 10 bit 10 V 6 ISAL Analog input 7 osD00 Digital output 8 OSD01 Digital output 9 OSD02 Digital output 10 ENPO Power stage hardware enable 11 RSH Relay output safe stop 12 RSH Relay output safe stop 13 DGND digital ground 14 24V Auxiliary voltage Uy 24 V DC 15 ISD00 Digital input 0 16 ISD01 Digital input 1 I7 ISD02 Digital input 2 18 ISD03 Digital i
77. seee 8 13 8 3 3 Current limit controller screen 8 14 8 3 4 DC holding current controller n se 8 16 8 3 5 v f characteristics Curve ssscccccrerrrss 8 17 8 4 Speed control OpenLoop with 0 10 V or fixed Speeds oss 8 19 8 5 Speed control OpenLoop with setpoint and control via field bus Application Manual P7000 P6000 8 1 drive 8 1 Preset solutions 8 Speed Control OpenLoop for P7000 P6000 Pre set solutions are complete parameter datasets which are provided to handle a wide variety of typical application movement tasks The positioning controllers are automatically configured by setting a preset solution The parameters for e the control location of the positioning controller e the reference source e the assignment of signal processing input and outputs and e the type of control are the focal points of the setting The use of a pre set solution considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task A total of three preset solutions covers the typical areas of application for OpenLoop speed control with the closed loop controllers Abbrevia Control location Chapt Additionally required tion sass seit Bus control profile F Documentation VSCT1 0 10V analog 1 0 terminals 8 4 VSCC1 CANopen field bus CANopen field bus interface 8 5 CANopen data transfer p
78. sequential program must be quit with this command All subsequently following lines will be ignored In case of a missing END an error message will be emitted How to use this function in the sequential program END No line number is specified 7 23 drive i Setting a digital output A Setting logic flag Application Manual P7000 P6000 7 User programming Setting commands SET Note The results of calculations etc are always saved in the left variable F001 10 F002 15 Set F001 F002 5 is generated in F001 With the help of setting commands a vast variety of operations can be executed in the travel programs Setting of outputs direct via flags e Setting of flags direct indexed via logic operations e Setting calculation of variables Setting incrementing decrementing of counters Setting and starting of timers e Access to device parameters e g controller settings override functions setpoint tables etc e Changing of acceleration parameters direct SET Oppi SET Oppi via flag SET Oppi Mxxx Output image SET OUTPUT Hxxx Attention Only the outputs will be set which have their function selector FOppi PLC set direct SET Mxxx SET Mxxx indexed SET M Cxx SET M Cxx 7 24 marno 7 User programming via 2 flag direct SET Mxxx Myyy assign flag value indexed SET M Cxx Myyy via logic operation SET M
79. software functions 3 Application Manual P7000 P6000 valid for DRIVE Function Value range WE Farameter positioning MANAGER s controller Function selector for digital input of the user A 219 FIE05 IED05 module IED05 0 OFF CIN P7000 P6000 Function selector for digital input of the user 7 220 FIE06 IED06 module IEDO6 0 OFF CIN P7000 P6000 Function selector for digital input of the user 7 221 FIE07 IED07 module IED07 0 OFF CIN P7000 P6000 Table 6 3 Parameter for setting the digital inputs on terminal extension module ULZ EA1 Parameter for setting the virtual digital inputs Virtual inputs have the fixed value 1 High Level These can be used instead of a permanently switched on switch DRIVE Function Value range WE Lanmeter ae MANAGER g uerang 5 p g controller FIFO ni selector for virtual digital fixed input Sy 0 OFF a P7000 P6000 FIF1 Aig selector for virtual digital fixed input oie 0 OFF TA P7000 P6000 Table 6 4 Parameter for setting the virtual digital inputs Options Depending on the setting of the function selector an option is available for the corresponding input Setting the function selectors for the digital inputs drive 6 General software functions BUS Setting Function Effect 0 OFF no function Input switched off 1 START Start closed loop control Start of closed loop contro
80. synchronizes the cam controller to the current position Synchronization of the cam controller to the current position via terminal A positive flank at the input parameterized to start CAMRS 34 reset cycle of cam controller synchronizes the cam controller to the current position Stopping the cam controller The cam controller is stopped by the sequencing program of the PLC or by the field bus If the number of cams parameter 742 CCNUM number of cams is set to zero the cam controller is stopped e Transmission of CAN telegrams The cam controller itself does not transmit any CAN telegrams Setting the markers 98 or 99 the virtual outputs OVOO und OV01 creates an event handling to CAN see chapter 6 5 1 TxPDO Event control Application Manual P7000 P6000 6 111 drive 6 7 Setting KP10 Application Manual P7000 P6000 6 General software functions Function Effect e Determination of the Selection of important actual permanent displays values for permanent display Compilation of the user Selection of important defined parameter subject settings for the application area_11UA Definition of additional actual values in the VAL menu User defined parameter subject area_11UA The user defined subject area _11UA is only visible in the PARA menu of the operation panel KEYPAD KP 10 The parameter 13 UAPSP is underlain by a data field suitable for the input of max 14 parameter numbers f
81. the transition area 1 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 14 Parameters for v f characteristics curve Application Manual P7000 P6000 8 18 drive 8 4 Speed control OpenLoop with 0 10 V or fixed speeds Selecting the pre set solution Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 This chapter describes the preset solution of speed control OpenLoop with 0 10V or fixed speeds This chapter describes the inputs and outputs and the generation of setpoints The preset drive solution is selected via the 1st step during initial start up 1 Preset solution 2 Selection for preset solution Fig 8 12 Selecting the pre set solution VSCT1 All other standard settings are made via the PROFITOOL mask Basic settings speed control Upentoop 0 0 xj Target value ISAD analog target value see chapter 6 1 3 COS tered speeds see here in chapter Selection of setpoint Speed pofle see chapter 8 2 2 see chapter 8 2 3 Stopenmps see chapter 6 2 3 Fig 8 13 Basic setting Speed control OpenLoop 0 10 V or fixed speeds control via terminal 8 19 drive Assignment of control terminal KO S2 S1 STL STR ENPO P6000 Fig 8 14 Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000
82. to define an area in which the actual value 6 19 drive FOxxx ENMO ENMO Application Manual P7000 P6000 6 General software functions may deviate from the setpoint without the message Setpoint reached REF becoming inactive Setpoint fluctuations caused by setpoint specification e g via analog inputs can therefore be taken into account j 230 REF_R n 1 min o t Nsol nmax 100 ISAOx 50 0 REF 1 Fig 6 8 Digital output with setting Setpoint reached with use of the window Setpoint reached in speed regulation The message Setpoint reached depends on the type of control e Torque control Setpoint torque reached Speed regulation Setpoint speed reached e Positioning Absolute relative positioning Setpoint position reached If an ongoing positioning process is interrupted e g with HALT the message Setpoint reached will in this phase not be submitted The message will only appear after the actual target position has been reached Endless positioning speed mode Setpoint speed reached Explanations e Clockwise rotation ROT_R or Anti clockwise rotation ROT_L is detected in dependence on parameter 230 REF_R Switching process in the motor lead must generally take place in de energized state as otherwise problems such as burnt off contactor contacts overvoltage or overcurrent breaks of the positioning controller will occur In or
83. txt This file is now available on the PC used to generate the program or to load the source code into the drive controller However it can also be copied to other PCs The complete sequential program is saved in two parameters as machine code These parameters are contained in the device data set and can thus be loaded or saved via the PROFITOOL or in case of series commissioning via the DATACARD For reproduction of all program information or data each program must be saved as plc file The comment lines in the sequential program and the text declarations are not saved in the controller or in the device dataset i e they cannot be read back T T drive 7 2 6 Program handling Open Edit Saving after Create Edit 7 User programming An existing PLC program can be opened in different ways 1 Double click on the file plc This opens the PROFITOOL which in turn starts the PLC editor and opens the program 2 Opening via the PROFITOOL menu File Open PLC Sequential Program File Communkation View Active device Extras Window TD Device setting E MIES Prit o S Compare gt Dt Set Gag Fig 7 3 Opening a PLC program via PROFItool 3 Opening via the already started PLC editor 5 4 Opening of a program from a device dataset Za An existing PLC program can be saved by the PLC editor in different ways Application Manual P7000 P6000 7 8 warty 7 User programming
84. x travel set 0 15 Acceleration The acceleration values for starting and braking can be parameterized irrespective of each other The input 0 means that the acceleration will take place with maximum ramp steepness or maximum torque The acceleration values are limited by the maximum values in the travel profile PROFITOOL Value range WE Unit Parameters 276 x_PTACC Start up acceleration 0 4294967295 10000 variable _RTAB x travel set 0 15 277 x_PTDEC Braking acceleration 0 4294967295 10000 variable _RTAB X travel set 0 15 5 33 watt drive 5 P7000 P6000 in positioning operation Repetition A travel set with relative positioning can be repeated several times with the programmed value Like the follow up order the repetitions of the travel set are started in dependence on the start condition The execution of possible repetitions has priority over the execution of a follow up order PROFITOOL Value range WE Unit Parameters 762 x_FOREP Repetition 0 255 0 _RTAB X travel set 0 15 Follow up order The parameterization of a follow up order for a travel set enables the realization of small automated sequential programs The setting 1 signalizes that no further travel set follow up order is to be activated PROFITOOL Value range WE Unit Parameters 761 x_FONR Follow up order 1 15 1 _RTAB X travel set 0 1
85. 0 HTL 2 OFF 0 not voltageless with respect to the control electronics of the controller HTL 2 HTL reference encoder on control terminal X2 Voltageless input 475 CFREC ENC Reference encoder Table 6 17 Selecting the reference encoder for P6000 Selecting the reference encoder for P7000 PROFITOOL Meaning Value range WE Unit Parameters Selection of the reference encoder channel OFF 0 Off No reference encoder needed The TTL HTL encoder interfaces can be used for Reference motor encoders 475 CFREC encoder X6 1 No function OFE 0 X7 2 POFFO ENC X7 2 TTL reference encoder on X7 This input is not voltageless with respect to the control electronics of the controller Table 6 18 Selecting the reference encoder for P7000 Application Manual P7000 P6000 6 41 drive 6 General software functions Configuration of a TTL reference encoder PROFITOOL Meaning Value range WE Unit Parameters Input configuration on X7 P6000 ECTTL 1 P6000 P7000 ECTTL 4 OFF 0 SSISL 4 es P6000 The input is evaluated as TTL encoder The ECTTL 1 input index signal of the encoder is not evaluated in P7000 438 CFX7 the Reference encoder function OFF 0 SSIMS 7 _ENC tenet P7000 7 All other parameter settings are invalid for the ECTTL 4 reference encoder configuration These are here onl
86. 1 Saving a program into a file With this button a file plc is created on your PC this file contains the PLC program and the text declaration 2 Saving a program into a device zE With this button the PLC program is saved as machine code into two parameters in the controller The file lt Project name txt gt generated from the text declaration is thus saved in the corresponding PROFITOOL directory see 7 2 5 3 Saving a program into a dataset dal With an existing device dataset this button can be used to save a PLC program into an existing device dataset The file lt Project name ixt gt generated from the text declaration is thus saved in the corresponding PROFITOOL directory see 7 2 5 Attention It is not possible to generate a new dataset which only contains the PLC program Application Manual P7000 P6000 7 9 drive 7 User programming 7 3 PLC command syntax Operand Comment Operand Comment Cxx Cyy Counter index 00 10 b Value 1 32 Hxxx Hyyy Variable index 000 127 Counter reading 0 65535 Fxxx Fyyy Variable index 000 127 16 bit aa Timer reading ZX Z T dex 00 10 A ae i 0 4 294 967 295 32 bit Ny Line number 001 254 f Numerical floating point value Parameter number n 000 999 32 bit PARA n il Parameter index i 000 255 Integer numerical value Mxxx Myyy Flag index 000 255 2147483648 32 bit Inputs ipi ppi A00
87. 126 watt 7 WATES SS 6 General software functions Acknowledgement and resetting of errors resetting error Errors can be acknowledged and reset in different ways e Rising flank at digital input ENPO e Rising flank at a programmable digital input with setting of the function selector to RSERR e Writing the first value to parameter 74 ERES via bus system or via corresponding bit in control word e In PROFITOOL under tab Error warnings by pressing button Reset error e In PLC sequential program with command SET ERRRQ 1 Coorreectons _ Errors and the related error reactions Errors trigger different reactions These can be set for any error Error reactions Undervoltage inverter HALT 2 Lock power stage X Overvoltage inverter LOCKH 4 Lock power stage save against re start x Overcurrent inverter LOCKH 4 Lock power stage save against re start Se Overtemperature inverter LOCKH 4 Lock power stage save against re start EA Ixt switch off motor LOCKH 4 Lock power stage save against re start bd External error STOP 3 Slow down with fault decceleration Wire damage at 4 20 mA STOP 3 Slow down with fault decceleration Interchanged limit switches STOP 3 Slow down with fault decceleration Limit switch activated Slow down with fault deceleration Software limit switch Positioning 3 Slow down with fault decceleration Tracking error 1 Warming message actuated
88. 2 6 Pin assignment of resolver interface X6 9 pin D Sub socket Function is reeks ssi Hiperface 1 A A REFCOS 2 A A COS 3 5V 5 at 150mA 4 DATA DATA Data RS485 Table 2 7 Pin assignment for encoder interface X7 15 pin D Sub High Density socket drive Application Manual P7000 P6000 2 Equipment hardware Function ja peat SSI Hiperface 5 DATA DATA Data RS485 6 B B REFSIN 7 8 GND GND GND 9 R 10 R 11 B B SIN 12 Sense 13 Sense 14 CLK CLK 15 CLK CLK Table 2 7 Pin assignment for encoder interface X7 15 pin D Sub High Density socket warttsy gt 2 Equipment hardware 2 2 Terminal positions P6000 X7 X5 H1 H2 H3 X4 Fig 2 2 Position plan P6000 No Designation Function H1 H2 H3 Light emitting diodes Equipment status display Mains motor DC supply L L X1 Power terminal up to lt 22 kW Braking resistor L RB from gt 22 kW Braking resistor L RB 4 digital inputs 2 analog inputs X2 Control terminal 3 digital outputs of these 1 relay 1 analog output PTC thermal circuit breaker or linear temperature sensor KTY 84 130 X3 PTC terminal Table 2 8 Legend to Position plan P6000 Application Manual P7000 P6000 2 7 drive Power terminal Application Manual P7000 P6000 2 Equipment hardware
89. 3 Move drive to reference position zero point of machine 4 At this point enter the zero point offset the value by which the position is to be changed with respect to the displayed position 5 Repeat referencing start referencing 6 Save the setting zero point offset 7 The system will be automatically referenced when switching the mains supply on Manual referencing is no longer necessary Like referencing type 22 with subsequent possibility of continuous referencing Further explanations under Type 3 Like referencing type 20 with subsequent possibility of continuous referencing Types 3 and 4 can only be used with endless travel range 773 PORTA ON They serve the fully automatic compensation of slippage or inaccurate transmission ratio After initial referencing the actual position is overwritten with the zero point offset at every rising flank of the reference cam The path still to be travelled is corrected the axis is thus able to perform any number of relative movements to one direction without drifting off even with drives susceptible for slippage The circulation length 774 PONAR must come as close as possible to the path between two reference signals With other words E g the same position must be indicated after one circulation as otherwise disturbing movements may occur during a correction The permissible trailing distance 757 PODMX must be bigger than the maximum mechanical inaccuracy 5 16
90. 34 oo seececescceeeseeeeeees 5 24 TYPE 3D seiicescetvoeesscerecesteneedeesaesved 5 24 Type 4 to type 0 esesssssssssssseseseseeses 5 16 TYPO D 46 cascnttccas sesaaseasteadswancceneen 5 19 Type TO l icesisceiesesiesiesseiteedewsaied 5 20 Re initialization ceeccesesceeeesceeeeeee 2 12 Relative positioning cseeeseeeeeeeeeeee 7 38 RGDGIIS sciacscccanscascesnaceaceetotertheacesteees 1 3 Repetition s2ssccsdssscevdendeseveceesssesveesetes 5 34 Representation error NISTO ce vedaviesevvievecvevevecetene s 6 125 Reset ParaMelers 2cecesvidiseenssterieuvileteeeseee 2 12 Resetting parameter settings cscceeeeee 2 12 Responsibility ssccccsvevdessassnsdenvwsdessdeessees 1 4 Reversing lock ssccecescceeescceeenceeseece 5 11 Round table configuration 5 12 Rotary speed profile generator 4 3 6 33 Round table configuration ccesceeeeee 5 11 RG 232 acsvasiiascedesssediecevasehdesssdeuccseasees 2 4 S STe Ea E EE E E E E 1 1 Sequential program a E OEE EN TEE A E ESE A EAT 6 57 Serial interface as control location 6 57 Set COUNTET sic cccwscecvseseaverccussececsenmnsde s 7 31 Setpoint generation sss sacacvastasceteasesedesassacsdes 6 32 POACHED T 8 7 Setpoint fluctuation eeeeeseeeeeee eens 6 20 Setpoint generation csccesescceeeeeeeees 6 32 Setpoint UMP sscan sisisi 8 7 Setpoint reached ccesescceeeeceeeeeeeeees 6 20 Setpoint
91. 36 Incr 1 motor revolution If the reference encoder position is to be directly related to the output shaft the transmission ration must be entered for the reference encoder A transmission ratio in the standardizing assistant will be ignored when using the reference encoder 6 44 watt i marno 6 General software functions Example for reference encoder configuration with P6000 System structure e HTL reference encoder as setpoint specification connected to terminal X2 on P6000 e P6000 with gear motor i 56 3 e A transmission ratio of 56 3 was entered in the standardizing assistant under basic settings Conclusions gt witha reference encoder transmission ratio of 1 1 the reference encoder setpoint refers to the motor shaft of the gear motor gt with a reference encoder transmission ratio of 56 3 the reference encoder setpoint refers to the output shaft of the gear motor Further information on PLC programming see chapter 7 Concerning angular synchronism see chapter 7 3 2 Angular synchronism electronic transmission on page 7 36 Application Manual P7000 P6000 6 45 drive 6 2 5 Setpoint structure further settings control location H Application Manual P7000 P6000 6 General software functions Function Effect e The setpoint structure adds e The setpoint structure is up both setpoints channels adapted to the application by Each channel can obtain a the preset solution s
92. 4 14 Inactive Set delete switch point CM15 15 Inactive Set delete switch point CM16 16 23 255 Number of PLC flag 00h FFh 24 31 255 Number of PLC flag 00h FFh Table 6 43 Action register for the individual cams 745 x_CACTN In odder to avoid undefined conditions a flag CMx or PLC flag must only be used in a cam or action register The switch points can be set to outputs For this purpose the chosen output must be assigned to the cam controller e g OS02 CM4 46 The assignment of the output takes place in the Output mask button Outputs Explanations e Hysteresis An hysteresis can be specified as a measure to avoid jitter effects When the cam is reached the first time the entry position is saved If the cam is e g left at the same position the cam condition will only 6 110 watt i WATES SS 6 General software functions be deactivated when the hysteresis 747 CCHYS has also been left For a clear detection of the cam the cam length must be adapted to the max speed of the drive detection in 1ms cycle Entry position in the cam Hysteresis Jitter Cam Sgi L mi l l I Start position End position l l Extended cam status at re emtry at entry position Start position End position Fig 6 53Hysteresis with cam controller e Synchronization of the cam controller Synchronization of the cam controller to the current position via PLCMotion A positive flank of the flag M75
93. 41 Button TXPDO4 Events for sending of the fourth transmission PDO TxPDO4 Oh FFFFh 7000h i Bit by bit coded acc to Table 6 41 6 102 watt i marno 6 General software functions Bit Default TxPDOn n 1 4 send in case of change of 0 0 Input IS00 1 0 Input IS01 2 0 Input IS02 3 0 Input 1503 4 0 Input IE00 5 0 Input IE01 6 0 Input IE02 7 0 Input IE03 8 0 Input IE04 9 0 Input IE05 10 0 Virtual output OVO0 11 0 Virtual output OVO1 12 1 PLC Flag M98 1 13 1 PLC Flag M99 1 14 1 CAN status word 15 0 Extended CAN status word only with EasYDRIvE operating modes Table 6 41 Bit by bit coding of parameters TXEVn Explanations e The diagnose of the CANopen control and status word as well as the network status takes place in the function menu Actual values tab CANopen see chapter 6 8 4 Application Manual P7000 P6000 6 103 drive 6 5 2 PROFIBUS 2 J gt PROFIBUS configuration parameters Application Manual P7000 P6000 PROFITOOL or 6 General software functions configuration of the process data channel operating mode Motor and encoder CANopen fuddess Profibus Profitus o Process date channel configuration B s EasyOeive TablePos Positioning wath driv KEYPAD are used to set field bus address and For connecting the communication module ULZ DPV1 as wel
94. 41_MPACC Further settings function Geen eit 1000 min s _VF Deceleration Deceleration ramp for motor potentiometer Pet 642_MPDCC Further settings function Oiaoi 1000 min s _VF Display of current offset speed SOFMP 32764 32764 0 rpm n Table 6 27 Parameters for motor potentiometer function Settings for motor potentiometer function 640 MPSEL BUS KP PT Function 0 OFF no function Raising or lowering the speed within the speed range limits MOSNM x SCSMX with inputs MP_UP and MP_DN Raising or lowering the speed within the speed range limits MOSNM x 2 F2 SCSMX with inputs MP_UP and MP_DN if both inputs are set at the same time the offset speed is reset to 0 min 1 Fl Raising or lowering the speed within the speed range limits MOSNM x 3 F3 SCSMX with inputs MP_UP and MP_DN In case of a mains failure the offset speed is saved Raising or lowering the speed within the speed range limits MOSNM x SCSMX with inputs MP_UP and MP_DN if both inputs are set at the same time the offset speed is reset to 0 mint In case of a mains failure the offset speed is saved Raising or lowering the speed within the speed range limits MOSNM x 5 F5 SCSMX with inputs MP_UP and MP_DN When cancelling the start command the offset speed is reset to 0 min Raising or lowering the speed within the speed range limits MOSNM x SCSM X with inputs MP_UP and MP
95. 5 Start condition activating condition WANN This start condition can be used to adjust when a travel set is to be repeated or the follow up order is to be activated PROFITOOL Value range WE Unit Parameters 764 x_FOST Start condition SW WSTP SW _RTAB x travel set 0 15 Description of setting BUS Setting Meaning 0 SW Switch digital input or control bit starts the sequence Application Manual P7000 P6000 5 34 watt drive 5 P7000 P6000 in positioning operation BUS Setting Meaning The repetition or the follow up order is started with a 1 DT programmable delay time after the target position has been reached A repetition or the follow up order is started via a digital input 2 SW DT Jor control bit but at the latest after a defined delay time The drive moves to the target position with speed v1 of the 3 WSTP current travel set and then accelerates on the fly without stop to V2 or the repetition or the follow up order Effect start condition activation condition WIE The WIE condition is parameterized in dependence on the setting of the previously selected WANN activation condition PROFITOOL Value range WE Unit Parameters 765 x_FOSWC Effect of start signal OFF NEXT OFF _RTAB x travel set 0 15 Start condition SW Activation of the follow up order or repetition is fl
96. 7000 P6000 6 General software functions Note master encode EE ECTTL 1 TTL encoder gt fa B 0 A B Inctemental encoder signals Transmission ratio Irgat mouse tevohson 1024 The configuration of the reference encoder input uses the same parameters as the encoder configuration see chapter 6 4 2 because the hardware interfaces are identical Changing the reference encoder parameterization thus has a direct influence on the encoder configuration Master encoder Master encoder HTL 2 HI L encode lt 2 bed Please set function of following inputs to encoder ENC isD02 ENC 37 HT Lercoder 0 ISDOT A 1SDU2 B ISD03 _ 5003 ENC 37 HT L encoder 0 ISDO1 A ISD02 B Signal type AB 0 A B Irncemental encode synak Transmission rato Input imecise revolution 1024 Fig 6 23 Setting the reference encoder for TTL top and HTL input bottom only for P6000 Note The figures 1 2 and 3 are explained in Table 6 19 for the TTL input and in Table 6 20 for the HTL input 6 40 watt i marny 6 General software functions Selecting the reference encoder for P6000 PROFITOOL Meaning Value range WE Unit Parameters Selection of the reference encoder channel OFF 0 Off No reference encoder needed The TTL HTL encoder interfaces can be used for motor encoders TTLSI 1 TTL reference encoder on X7 This inputis OFF
97. 8 13 Current limit Controller seisine 8 14 DC holding current Controller sasse 8 16 V f CharacteriStiCS Curve ccein 8 17 Speed control OpenLoop with 0 10 V or fixed Speeds sssssssssnssnnnsnnsnnnnnnnnnnnnnnnnnnnnas 8 19 Speed control OpenLoop with setpoint and control via field bus sssini 8 22 Overview of all error MESSAGES we A 2 Index drive Application Manual P7000 P6000 drive 1 Safety 1 1 Measures for In order to avoid physical injury and or material damage the following information must your safety be read before initial start up The safety regulations must be strictly observed at any time Read the Operation Manual first Follow the safety instructions a e Please observe the user information Electric drives are generally potential h danger sources e Electrical voltage lt 230 V 460 V Dangerously high voltage may still be present 10 minutes after the power is cut You should therefore always check that the system has been deenergized applies only for P7000 P6000 e Rotating parts e Hot surfaces Protection against magnetic and or electromagnetic fields during installation and operation e For persons with pacemakers metal containing implants and hearing aids etc access to the following areas is prohibited Areas in which drive systems are installed repaired and operated Areas in which motors are assembled repaired and operated Motors with permanent magnets
98. 8 3 drive 8 Speed Control OpenLoop for P7000 P6000 Parameters for data set changeover PROFITOOL Function Value range WE Unit Parameter Changeover Control location for changeover of data 651 CDSSL set CDS see Table 8 4 OFF VF Speed threshold Speed limit for changeover to CDS 32764 32764 600 min 652 FLIM SLIM VF Display of active data set CDS 650 CDSAC not shown in PROFITOOL See Table 8 5 _VF Table 8 2 Explanations Parameters for data set changeover sets An overview of function areas with parameters for the second characteristics curve data set can be found in Table 8 3 Function areas with parameters for characteristics curve data Function area Parameter Fixed CDS speeds all parameters Speed profile generator OpenLoop Acceleration and deceleration ramps Current limit controller Limit value and function selector v f characteristics curve all parameters Start current controller Setpoint reduced setpoint and timer Application Manual P7000 P6000 Vibration damping controller Amplification Table 8 3 Function areas with parameters in the second data set CDS Possibilities of data set changeover BUS KP PT Function no changeover 0 OFF CDS 1 active Changeover when exceeding the speed setpoint of 1 SILIM the value in parameter SILIM CDS 2 is speed
99. AM Note In torque control mode no acceleration and deceleration ramps are active Only the slip time remains analogically valid i e it generates ramp shaped reference torque courses 4 4 watt drive 4 P7000 P6000 in rotary speed operation Parameter 230 REF_R can be used to define a speed range in which the actual value may differ from the reference value without the message Reference value reached REF becomes inactive Reference value fluctuations caused by reference value specification via analog inputs can therefore be taken into account Actual value REFR Setpoint REF_R Ramp settings can be made independently from each other A ramp setting of zero means jump in reference value ACCR 4 2 2 Limitations These functions are described in the general software functions in Stop ramps chapters 6 2 2 limitations and 6 2 3 stop ramps Limitations are adjustable for e torque e rotary speed Various stop ramps or reactions can be adjusted e switching off of closed loop control stop feed quick stop e Error Application Manual P7000 P6000 on drive 4 3 Torque control with reference value via analog input 4 4 Speed control with reference value via analog input Application Manual P7000 P6000 4 P7000 P6000 in rotary speed operation With the preset solution TCT_1 the scalable torque reference value is specified via the analog input ISAO T
100. CM1CF Marker 1 OFF INV OFF __RTAB X switching point 0 3 769 x_CM2CF Marker 2 OFF INV OFF __RTAB X switching point 0 3 770 x_CM3CF Marker 3 OFF INV OFF __RTAB X switching point 0 3 Marker function BUS Setting Meaning 0 OFF inactive 1 SET Marker is set to 1 2 CLEAR Marker is set to 0 3 INV Marker is inverted Application Manual P7000 P6000 5 38 drive 5 3 5 Teach in Application Manual P7000 P6000 5 P7000 P6000 in positioning operation PROFITOOL The actual position is transferred to the corresponding table by means of the PROFITOOL 1 Opening of the manual mode window and selection of the tab Travel set table 2 Moving the drive to the position to be learned 3 Enter the travel set number in the manual mode window and click on button Accept Positioning table process sets control via termina reference ard actual vah 2 100 mm REL 1 Relative teat a ire j deltas Manual mode positioning Manual mode Poriton Homing mode Deve wet table Stat Stat fokorr up onder Teach in Take ower of curert position in selected dive see dE ro Fig 5 16 Teach In via PROFITOOL Terminals If an input is parameterized for Teach in Flxx TBTEA the current position is transferred to the travel set in the table as target position with ascending flank 5 39 drive 5 4 Positioning and control via field bus 5 4
101. EF H004 Speed_v1 DEF H005 Speed_v2 END SP00 N001 SET H000 200 N002 SET H001 300 N003 SET H002 400 N004 SET H003 500 N005 SET H004 80 NO006 SET H005 240 N020 GO 0 Referencing N030 GO W A H000 V H004 Approach initial position N040 WAIT ROT_O Wait until axis has stopped N050 WAIT 1000 Wait 1s NO60 GO W A H001 V H004 Approach position 1 and wait until axis has stopped N070 WAIT 1000 N080 GO W A H002 V H004 Position 2 N090 WAIT 1000 N100 GO W A H003 V H004 Position 3 N110 WAIT 1000 N120 GO W A H000 V H005 return to initial position N130 JMP N050 END Application Manual P7000 P6000 7 48 drive 7 5 3 Relative positioning Application Manual P7000 P6000 7 User programming In the previous example the axis has always travelled further by the same distance this opens the possibility for a solution with relative positioning A counter always holds the actual position units and standardization see previous example TEXT Relative Positioning_1 DEF H000 Position_0 DEF H001 Distance_between_positions DEF H002 Speed_v1 DEF H003 Speed_v2 END P00 N001 SET H000 200 Position 0 in mm N002 SET H001 100 Distance between two positions in mm NOO5 SET H002 80 Speed in mm s NOO6 SET H003 240 Speed in mm s NO10 GO 0 Referencing N020 GO W A H000 V H002 Approach initial position and wait N030 SET COO 0 Set counter 0 N040 WAIT 1000 N050
102. Error when initializing the fault voltage compensation 124 Error when initializing the speed control without sensor SFC 125 Error when initializing the speed control without sensor U I model 126 Error when initializing the external AD converters 127 The desired method for commutation finding is not supported 128 Error when initializing the GPOC error correction method Error in configuration of HTL encoder HTL encoder was 129 parameterized as position speed or reference encoder but the input terminals FISO2 and FIS02 are not set to HTL evaluation 130 Error in current controller tuning 131 Error in self setting test signal generator 132 Error in UZK calibration 133 Error in performance of Macro State Machine 11 E FLT Floating point error 0 General error in floating point calculation 12 E PWR Unknown power circuitry 4 Power section not correctly detected 6 Power section not correctly detected 13 E EXT external error message input 1 Error message from an external device is present 15 E OPT Error on module in options module location 26 BUSOFF 27 Unable to send Transmit Protocol 28 Guarding error 29 Node Error 30 Initialization error A 6 drive Appendix A Fault location Error Error No Description 16 E CAN CAN bus error 0 CAN bus error 31 BUSOFF detected 32 Unable to send Transmit Telegram 33 Guarding error 34 Node Error 35
103. F PLC PLC PLC DOT 211 Fiso1 Fenton selector digital OFF INV PLC PLC PLC g standard input ISD01 p Function selector digital ISD02 212 FIS02 standard input ISD02 OFF TABO PLC PLC PLC p Function selector digital ISD03 213 FIS03 standard input ISD03 OFF TAB1 PLC PLC PLC Function selector digital ISD04 standard input ISD04 OFF TAB2 PLC PLC PLC Function selector digital ISD05 standard input ISD05 OFF TAB3 PLC PLC PLC Function selector digital ISD06 standard input ISD06 OFF PLC PLC PLC Function selector digital OSD00 240 FOS00 Standard input OSD00 BEE Function selector digital OSD01 241 FOS01 standard input OSD01 ROT_0 Function selector digital OSD02 242 FOS02 standard input OSD02 S_RDY Function selector digital 05003 standard input OSD03 ere Table 4 4 Presetting the control inputs and outputs in speed controlled operation of the P7000 Application Manual P7000 P6000 watt drive 4 P7000 P6000 in rotary speed operation 4 8 2 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 4 5 After selecting the P6000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution I O Parameters Function He ee scc_2 scc_3 TEF SCC_4 SCB_2 SCB_3 SCB_4 WE sA00 J180 FIsao Function selector analog standard Jouigy
104. FF O M Start current in of the 0 180 4 Start current 2 drive controller of the nominal 100 601 x_CICN rated current device current VF Timer for changeover to the reduced start putomiatic current Changeover to 605 x CITM changeover to Are reduced start current 9 60 2 VF setpoint after the time has run out Reduced start current 4 to start current after time CITM hasrun 0 180 50 602 x CICNR 3 VF out 0 Speed Speed at which the p of rated a 603_CISM i T motor speed 8 limit controller is switched off MOSNM _VF 1 From cut off speed the controlled start current is controlled back to the normal operating current of the v f characteristics curve The transition range is fixed to 5 of the rated motor frequency MOFN 2 The start current setting can also be found in the basic setting mask under the option Limitation 3 The changeover can be deactivated by setting the start current and the reduced start current to the same value 4 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 9 Parameters for start current controller Note Start current setpoint Please remember that the start current setpoint must always be lower at least 25 than the rated current of the current limit controller 8 12 drive2 8 3 2 Vibration damping controller 8 Speed Control OpenLoop for P7000 P6000
105. Fault Reaction FROPC shutdown l Quick Stop STOPR Quick Stop Fault Reaction ERR_R lt Fault Reaction Speed profile ACCR DECR Speed profile OpenLoop RACC RDEC Application Manual P7000 P6000 6 53 drive Application Manual P7000 P6000 Further parameters of setpoint structure 6 General software functions Function Value range WE Unit Parameters Analog setpoint input ISA00 32764 32764 0 282 RA0 Analog setpoint input ISA01 32764 32764 0 283 RA1 Setpoint for serial interface 32764 32764 0 284 RSIO Setpoint communication slot 32764 32764 0 287 ROPTN CAN bus setpoint 32764 32764 0 288 RCAN Setpoint of setpoint selector 1 32764 32764 291 REF1 Setpoint of setpoint selector 2 32764 32764 292 REF2 REF1 REF2 32764 32764 0 293 REF3 Setpoint after ramp generator 32764 32764 0 295 REF5 Setpoint after slip 32764 32764 0 296 REF6 Table 6 23 Parameters of the setpoint structure 6 54 drive 6 2 6 Control location Start flank triggered factory setting Start Level triggered Auto Start Application Manual P7000 P6000 6 General software functions Function Effect e The control location determines the The control location is automatically interface for submission of th
106. Function Effect The controller reduces the oscillation propensity by means of automatic dynamic speed or frequency changes This control function dampens the vibration behaviour of motors with rotor shafts which are susceptible for bending e This control function has an additional dampening effect on acceleration processes with mechanical components having high elasticity and or lots Pulse damping controller Data cet 1 CDS1 Data set 2 0052 100 xj Gain OFF Filer lees 0 1 ok XI Carcel Function mask Vibration damping controller Fig 8 7 PROFITOOL Meaning Value range WE Unit Parameter P proportion of controller Setting 0 is used to 1 Amplification switch off the controller 500 500 o 9 O11 APGN Suitable value for basic Lv setting 100 Filter time Filter for actual current 0 1 10 0 1 S 1 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Application Manual P7000 P6000 Table 8 10 Parameters for vibration damping controller 8 13 drive 8 3 3 Current limit controller Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 Function Effect e The drive accelerates along e Protection against the set acceleration ramp overcurrent shut down when When an adjustable current accelerating excessive limit is reached the moment of inertia acceler
107. GO W R H001 V H002 Approach next position NO60 SET C00 1 Count position counter N070 WAIT 1000 N080 JMP C00 3 N050 Position 3 not yet reached N090 GO W A H000 V H003 return to initial position N100 JMP N030 END The solution is even simpler and more elegant when doing without the counter and the comparison is made with the position setpoint SP TEXT Relative Positioning_2 DEF H000 Position_0 DEF H001 Distance_between_positions DEF H002 Speed_v1 DEF H003 Speed_v2 END P00 N001 SET H000 200 Position 0 in mm N002 SET H001 100 Distance between two positions in mm NO0O3 SET H002 80 Speed in mm s N004 SET H003 240 Speed in mm s NOO5 SET H004 500 Position setpoint 3 used for comparison NO10 GO 0 Referencing N020 GO W A H000 V H002 Approach initial position and wait N030 WAIT 1000 N040 GO W R H001 V H002 Approach next position N050 WAIT 1000 N060 JMP REFVAL lt H004 N040 Position 3 not yet reached N070 GO W A H000 V H003 return to initial position N080 JMP N030 END 7 49 drive 7 5 4 Sequential program Application Manual P7000 P6000 7 User programming Here the positioning controller is used as a freely programmable sequencing control for a speed profile An endless conveyor belt is operated with two speeds The belt is to be stopped when a target position gt 10000 has been reached The cycle is repeated by a new release input
108. In order to maintain the structure clear sub programs are used The main program takes over the initialization and call up the sub programs 1 to 3 in an endless loop Parameterization IS00 of inputs IS01 PROFITOOL IS02 IS03 Input ISD01 Program ISD02 Output OSD00 Program Start 1 Start of control PLC 35 Input can be used in sequential program PLC 35 Input can be used in sequential program HALT Feed release must have High Level Selection of speed 0 vi 1 v2 Release Target position reached Setting units and standardization in the standardization assistant Position Degree Speed Degree s Acceleration Degrees s Feed constant 360 corresponds with 1 revolution of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 Adapting the travel profile Max speed Max starting acceleration Max braking acceleration 900 degree s 320 Degrees s 320 Degrees s 7 50 marno 7 User programming The example program can be transferred to the controller after referencing has been parameterized as described in chapter 5 2 4 TEXT Sequencing control DEF H000 Speed DEF H001 Position END P00 Main program N005 GO 0 Perform referencing N010 SET M000 1 Flag 1 Axis is not to be started N015 SET M001 0 Flag 0 Axis is not moving N020 SET H001 10000 Target position for comparison N025 CALL N045 Sub program query inputs
109. Kp1o eve Actual torque value 14 ACTT 2 Y v Actual speed value 77 SPEED 2 v Vv d c link direct voltage 405 DCV 2 Y Vv Current actual value of control 400 ACTV 2 Y Current setpoint of control 406 REFV 2 v Vv Effective value of apparent current 408 APCUR 2 Y Vv System time after switching on 86 TSYS 3 Y Operating hours of positioning 87 TOP 3 v controller States of digital inputs and outputs 419 IOSTA 2 v v Filtered input voltage ISA00 416 ISAO 4 Y Filtered input voltage ISA01 417 ISA1 4 v Filtered input current ISA00 418 IISAO 4 Y Motor temperature with KTY84 407 MTEMP 2 v evaluation Internal temperature 425 DTEMP 2 Y v Heat sink temperature 427 KTEMP 2 Y v Filtered output voltage 420 OSA00 4 Y Table 6 44 Settings for permanent actual value and bar graph display Standardization of parameters with bar graph display Parameter Function Effect notes Reference value SPEED current actual only clockwise rotation only positive max speed speed values APCUR actual apparent 2 1 current N Table 6 45 Standardization of actual parameter values Application Manual P7000 P6000 6 115 drive Application Manual P7000 P6000 6 General software functions Parameter Function Effect notes Reference value ISAO Voltage or current at analog input 10 V 20 mA ISA00 ISA1 Voltage at analog input ISA01 wy MTEMP actual motor Motor temperature only with linear r 200 C temperature evaluation KTY KTEMP act
110. LC ssee chapter 7 Speed peofie see chapter 4 2 1 Lim sions see chapter 6 2 2 Stoprammes see chapter 6 2 3 Fig 4 8 Basic setting Speed control with PLC With these presettings the speed reference value is specified by means of the command SET REFVAL x If the control location has also been set to PLC SCP_3 the command SET ENCTRL 0 1 can be used to switch the control off or on Note Detailed information on handling the PLC as well as programming and operation with the PLC editor see chapter 7 User programming The control terminal for the speed control is configured in dependence on the chosen preset solution 4 10 watt drive 4 P7000 P6000 in rotary speed operation 4 8 1 Terminal Depending on the selected presetting the parameterization of inputs and i t outputs differs from the factory setting see Table 4 4 After selecting the assignmen fogs P7000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution I O Parameters Function SCT_1 SCC_2 SCC_3 scc_4 TCT_1 WE SCT_2 SCB_2 SCB 3 SCP_3 SCT_4 SCB 4 Function selector analog ISAO 180 FISAO standard input ISA0 PM10V OFF OFF OFF PLC PLC PLC Function selector analog ISA1 181 FISA1 standard input ISA1 OFF PLC PLC PLC i Function selector digital ISD00 210 FIS00 standard input ISD00 START OFF OF
111. N Network status Current network status 588 NMT _CAN Control word byte1 0 Hexadecimal coded control word for 573 H6040 CANopen communication _CAN Extended control word Extended hexadecimal coded control 574 H223E Byte 3 2 word for CANopen communication with _CAN EasyDRIvE operation mode Table 6 50 Parameter CANopen field bus status 6 122 a gt gt gt 6 General software functions drive PROFITOOL Meaning Parameter Status word bytel 0 Hexadecimal coded status word for 572 H6041 CANopen communication _CAN Extended status word Extended hexadecimal coded status word 575 H223F Byte 3 2 for CANopen communication with _CAN EasyDRIVvE operation mode By clicking on the corresponding control or status word it is displayed bit coded partly with text display see Fig 6 62 Table 6 50 Parameter CANopen field bus status Explanations A detailed diagnose of the bus system is only possible with commercial bus analysers Here only the control and status information can be checked For further information on CANopen communication please refer to the CANopen user manual Application Manual P7000 P6000 6 123 drive 6 9 Warnings errors 1 6 9 1 Error messages P7000 P6000 6 General software functions A Eno W arn Function Effect Quick identification of fault cause and determination of the reaction of the drive to a fa
112. N030 CALL N080 Sub program start axis N035 CALL N105 Sub program position comparison N040 JMP N025 Repeat Sub program 1 Query inputs N045 JMP M001 1 N075 If drive is in motion jump to RET N050 JMP IS02 0 N075 no query N055 SET M000 0 Start took place set flag 0 N060 SET H000 300 Set speed 1 N065 JMP IS01 0 N075 Speed 1 selected N070 SET H000 600 Speed 2 selected set N075 RET Sub program 2 Start axis N080 JMP M000 1 N100 N085 GO R H001 V H000 Axis starts with speed H000 target position H001 NO90 SET M000 1 Release detected reset flag N095 SET M001 1 Drive in motion N100 RET Sub program 3 Position comparison N105 JMP REF 1 N120 N110 SET OS00 0 N115 JMP N135 N120 SET M000 1 N125 SET M001 N130 SET OS00 1 N135 RET Drive stopped END Application Manual P7000 P6000 7 51 pay 7 User programming Application Manual P7000 P6000 7 52 drive 8 Speed Control OpenLoop for P7000 P6000 8 1 Preset solutions sssssssssssnssnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnannna 8 2 8 2 General FUNCTIONS sisssissaisrassrisnnninnniasninanunaninininvansunaan 8 3 8 2 1 Data set changeover siisiicsisissssnsesisinvsteisteusnadencnis 8 3 8 2 2 Speed profile generator OpenLoop e 8 5 8 2 3 Limitations Stop raMPS oo 8 8 8 3 OpenLoop motor control Method sss 8 10 8 3 1 Start current controller sree 8 11 8 3 2 Vibration damping Controller
113. OOL Select function Reset to factory default in the menu Active device Speed control 10 re Dawe Extras Wrdow 2 Ak e roton K Sedelo gt n Dm mraf Fig 2 3 Reset in PROFITOOL Note This factory setting also resets the selected default solution Check the terminal assignment and the functionality of the positioning controller in these operating modes or load your user dataset warty 2 Equipment hardware 2 5 Loading device With the PROFITOOL you can load a new device software Firmware into software the Flash EPROM of the devices This enables updating of the software without having to open the positioning controllers 1 For this purpose set up a connection between PROFITOOL and positioning controllers 2 From the menu Options choose the option Load device software Firmware From here the PROFITOOL will guide you through the other work steps LEDs H2 and H3 will light during transfer of the Firmware After successful transfer the LED H2 will go out if no ENPO signal is applied Application Manual P7000 P6000 2 13 drive 2 6 Device protection Application Manual P7000 P6000 2 Equipment hardware Function Effect Protection of the positioning controller against damage caused by overload The positioning controller stops the motor with an error message E OTI if the device temperature exceeds a fixed limit e E OLI if the in
114. OSW will then start the next selected travel set Input Fixxx TBEN 0 terminal Input Flxxx FOSW Release of selected travel set Bit The selection of a new table index and thus a new Perform travel task travel task will always interrupt the ongoing positioning process or the follow up order logic Field bus Next start Bit Effect like bit Perform follow up task if a follow Repetition perform up order is started but no follow up order is follow up order available or waiting FOSW will then start the next selected travel set Table 5 12 Release signal for new travel set Application Manual P7000 P6000 5 29 drive 5 3 2 Sequence of travel set selection with follow up order logic Application Manual P7000 P6000 5 P7000 P6000 in positioning operation The following parameters are used to select or display the active travel set PROFITOOL Meaning Value range WE Unit Parameters Travel set selection This parameter describes 0 15 0 pci aad _RTAB the selection via inputs Display parameter Shows the currently 0 15 0 alles _RTAB processed travel set With the HALT Logic Enable feed terminal or bus a progressing positioning can be interrupted either with the programmed or the quick stop ramp see chapter 6 2 3 and subsequently continued again The sequence of travel set editing is prioritized 1 Execution of the selected trave
115. Output 1 OSDOx T OEDOx OVOx N Fig 6 5 Function block for adaptation of the digital inputs Digtat AnsogFOSAU Dumao vetaa 0500 REF 10 Reterence teached pa x S01 FOT_0 10 Seandetil excited sj torn nse 5 ROY 25 Devies itisired Fig 6 6 Tab example Digital outputs watt i aro 6 General software functions Parameter for setting the digital outputs Dene valid for Function Value range WE Parameters positioning MANAGER controller Function selector digital standard input 240 FOS00 OsD00 OSD00 see Table 6 10 10 REF COUT P7000 P6000 Function selector digital standard input i 241 FOS01 OsD01 OsD01 8 ROT_0 COUT P7000 P6000 Function selector for standard output OSD02 242 FOS02 09002 Digital output with P7000 233 RDY our eee Two way relay with P6000 Function selector for electronic power i 251 FOS03 0SD03 drivers 2 A 0SDO3 7 0 OFF Cour aoe Function selector digital standard input 250 FOSO4 OsD04 OSD04 an O OFF fi OUT P7000 Normally open relay with P7000 T Function selector for digital output of the ii 243 FOE00 OED00 user module OED00 0 OFF COUT P7000 P6000 Function selector for digital output of the i 244 FOE01 OED01 user module OFDO1 0 OFF COUT P7000 P6000 Function selector for digital output of the i 245 FOEO2 OEDO2 user module OEDO2
116. P1RV value of 0 00 indicates that the module has no _OPT software Table 6 48 Parameters of the optional module identification The rest of the display depends on the respective module Besides the option detection the control and status word transmitted via field bus is also displayed when using PROFIBUS communication ccc Tempeintuns Device Option CANopen Indification option module Modde Profibus DP CM DPV1 Soltware verso O00 Process dala channel corfguraton Control word PZD1 6 P2D1 PZO PZD3 ort cons vori ort oora oori oota oora oori oora oori oori P2O4 P205 PZD6 Status word PZD1 6 P2D1 P202 F203 F2D4 FZDS Padb 20H or oon oo oci oon oct one oo or oor oo Fig 6 61 Status display for the PROFIBUS module ULZ DPV1 6 120 watt i marno 6 General software functions PROFITooL Function Parameter Process data Active EasyDrive operation mode Selection from 589 OPCFG channel menu Bus systems PROFIBUS see chapter 6 5 2 OPT configuration E Control word PZD1 Display of the hexadecimal coded EasYDRIvE control 6 word with the PZD s 1 6 598 x_PBCTR x By clicking on the corresponding PZD itis displayed _ OPT bit coded partly with text display see Fig 6 62 Control word PZD1 Display of the hexadecimal coded EasyDrive status 6 word with the PZD s 1 6 599 x_PBSTA x By clicking on the corresponding
117. P4 02 nstiecatnaasecdustecesdueasenusehiaawastecs 4 9 Dynamics MAXIMUM ccesceeceeceeeeeees 8 14 E EasyDrive profile cccscceeeeeeeees 4 10 8 22 Einstellung digitale Ausg nge f r BRK2 6 93 Electronic transmission 0esee0s 6 44 7 36 EMC Electromagnetic Compatibility 1 2 Emergency Stop facility cccecseceseeees 1 4 ENGOUGH esiasio aiaa 6 74 Encoder for P6000 ccseceeeeeeees 6 75 Encoder for P7000 sscesceccesceeeees 6 78 Encoder combination seceeeee 6 76 6 79 Encoder Offset nssssdavstesdeteivescesgetaciesesss 6 80 Error Reactions 2s vsssesacivgnacesvecesvasengense 6 39 VOSOl esa vdvwedeaed vivant wddsesa ee deueeeys 6 127 error history ceccesceccescecceecsccesencees 6 125 Emor log esseni renee e E Ea 6 125 Error MESSAGES cevssseccccscescceweces 2 11 6 124 Error reactions scecceceeeseeees 6 127 6 129 Error SOP VAMP izccsscnterscasetecessaeteensenne 6 39 Event control TXPDO ccsseecceeeseeeees 6 101 Example Setting F1 motor potentiometer function 6 60 Exponential representation in the KP10 display 3 12 Exponential value as Decimal point displacement TACUOM swscevdedsus des ddevevavereasseedesweens 3 12 F Factory Setting scsssesvesdsawceasttaveveeieaetes 2 12 Feed constant ss c wsseccvesavewscaveavcessasenecs 5 7 Feed enable csceccecssescseeeeees 4 8 5 30 field oriented C
118. P7000 P6000 6 General software functions Control Cornut Cinari contre Power stage Adapt the external inerta Speni cortices pan SOGFA Adapt stiffness of power train By sefing the iiine the echustmerts of speed end posfionng contol wil te caicidated automaticaly fion Speed cortolle gan SON Soeod corola ag time SCTLG Posten cortuie gan POG Acta speed tet ECTF Neference speed Re SCIP Iksstiston of contol siuchse EEan 9 bs acta Nomin EC Fig 6 31 Setting the positioning speed control PROFITOOL Value range WE Unit Parameter Amplification speed control ji 811_SCGFA scaling factor SCGFA Bade 109 00 4 _CTRL Moment of inertia of motor 0 100 0 Hig 160_ MO NM Button Moments of inertia T MOT Motor of inertia motor system 817_SC Button Moments of inertia 0 1000 o ms _CTRL SCG Amplification speed control 0 1000000000 0 035 Nm min a SCTLG Integral action time 812_SCTLG speed control Te 2000 12 6 ms _CTRL PCG Amplification positioning 473_PCG c ntrol 1 32000 4000 rpm CTRL 818 ECTF ECTF Filter actual speed value 0 100 0 6 ms CTRL ick 816_SCTF SCTF Filter speed setpoint 0 1000 0 ms CTRL 6 64 watt i marSo 6 General software functions PROFITOOL Value range WE Unit Parameter Reduction of speed control 809_SCGFO amplification ac en 50 00 f 2i NA ETRO Power stage switching
119. PZD itis displayed _ OPT bit coded partly with text display see Fig 6 62 Table 6 49 Parameters of the PROFIBUS module ULZ_DPV1 status display State workd Profibus xj Fig 6 62 Bit coded PZD display Explanations A detailed diagnose of the bus system is only possible with commercial bus analysers Here only the control and status information can be checked For further information on PROFIBUS communication please refer to the ULZ DPV1 user manual Application Manual P7000 P6000 6 121 drive 6 8 4 CANopen Field bus Application Manual P7000 P6000 6 Function General software functions Effect Provision of the CANopen e Clear identification of the communication status Temperatures Device Option Device address 1 Active mode EasyDeve ablePos Poshonng vath diring sel Labis State of network 127 Poe Operational correct data transfer Control weed byte 1 0 BeBe Extended contol wod byte 32 ARRAK cely Easy Dive lanna Status weed byte 1 0 2P26n Extended stahus word byte 3 2 A2A9H only E asy Drive Fig 6 63 CANopen communication status PROFITOOL Meaning Parameter Device address Device address resulting from the sum of 571 CAADR partly not displayed in the hardware coding and software setting _CAN function mask 580 COADR Active operation mode Active selected CAN open Operation mode 653 H6061 _CA
120. RK2 for closed loop The function is activated by selecting the braking function BRK2 through a digital output The time for release and application of the motor holding brake can be accounted for by means of seperate timing elements The possibility of building up torque is a prerequisite for releasing the brake Output options motor holding brake BRK7 Operation point Hysteresis Delay times Open break Reference selection Parameters for motor holding brake BRK2 Application Manual P7000 P6000 PROFITOOL Function Value range WE Unit Parameter Hysteresis NO FUNCTION 4 315 SSHYS 1 32764 10 min _FEPROM Release brake Delay of the setpoint 316 TREF setpoint specifica specification with motor 0 65535 100 ms _FEPROM tion brake brake applica tion time Apply brake Delay of deactivating the 317 TCTRL control off control with motor brake 0 65535 100 ms _ _FEPROM releasing the brake Table 6 37 Parameters for motor holding brake BRK2 Explanations e The re parameterization of digital output from or to the setting BRK2 does not work online For parameterization the output stage must be inactive e If the brake control BRK2 is linked with the motor protection control ENMO the timing element 247 TENMO Time between motor con tactor and active control is executed before or after the brake is trig gered 6 93 drive Application Man
121. Setting Function Effect 9 LIMIT Setpoint limitation active The internally processed setpoint exceeds the reference value limitation and is maintained at limit value level see Explanation of various functions 10 REF Setpoint reached The specified setpoint has been reached depending on actual value see Explanation of various functions 11 SIO Access to control word of The output can be set by means of the RS232 LUSTBus control word via the serial interface 12 OPTN Reserved for the The output is set via the module communication module ULZ_DPV1 PROFIBUS PROFIBUS 13 CAN Reserved for CAN Bus The output is set via the CAN Bus 14 BRK1 Holding brake function 1 Output becomes active in accordance with the holding brake function see chapter 6 4 4 Only suitable for U f operation 15 BRK2 Holding brake function 2 Output becomes active in accordance with the holding brake function see chapter 6 4 4 16 WUV Warning undervoltage in Warning message if the voltage in the d c link d c link falls short of the value specified in parameter 503 WLUV Device operable see chapter 6 9 2 Warning messages 17 WOV Warning overvoltage in Warning message if the voltage in the d c link d c link exceeds the value specified in parameter 5043 WLOV Device still operable see chapter 6 9 2 Warning messages 18 WIIT Warning t integrator has Warning message if the integrator for started device current P over time
122. Specification of parameter number and index via integer variables with floating point variable SET PARA n i Fxxx and index direct SET PARA Hxxx Hyyy Fxxx Specification of parameter number and index via integer variables Direct specification of parameter Specification of parameter number Note The data type must be observed during read write operations Example Do not assign floating point values to an integer type parameter value range violations possible Suitable for Data types Value range Function PLC variable USIGN8 0 255 USIGN16 0 65535 unsigned USIGN32 0 4294967295 INT8 128 127 Hxxx FXXX INT16 32768 32767 Integer signed 2147483648 Mia 2147483647 32 bit number with standardization 1 65536 INT32Q16 32767 99 32766 99 i e the low word indicates the fractional digits Fixed point number with Po FIXPOINT16 0 00 3276 80 standardization 1 20 i e increment value 0 05 32 bit floating point FLOAT32 BepIEEE number in IEEE format Table 7 1 Data types 7 32 drive Travelling with or without continuation of program Application Manual P7000 P6000 7 User programming Inverting INV The INV command can be used to logically invert an integer variable a flag or the status of a digital output With this e g an output with Low Level is inverted to High Level whereby it can be used in the progr
123. V 1000 1000 100 a 2 Minimum value ISA00 at 0V 1000 1000 o mi 3 Minimum value ISA00 at 0V 1000 1000 o ae 4 Maximum value ISA00 at 10V 1000 1000 100 a Rated Setpoint of scaling with speed control 157_MOSNM motor speed see chapter 6 2 2 Limitations Oiza 109090 1390 rpm _MOT Rated Reference value for scaling with torque control 852_MOMNM motor torque see chapter 6 2 2 Limitations 0 00 Kis 5090 i Nm _MOT Application Manual P7000 P6000 6 26 drive 6 General software functions Analog input options 4 10V conesponds to 2 UV conesponds to Parameter for the analog input ISA1 Fig 6 16 Options analog input ISA1 for setting 0 10V PROFITOOL Meaning Value range WE Unit Parameters 1 Maximum value ISA01 at 10V 1000 1000 100 Pu gt Minimum value ISA01 at 0V 1000 1000 0 Ac Rated Reference value of scaling with speed control 157_MOSNM motor speed see chapter 6 2 2 Limitations eee 1500 Ipo _MOT Rated Reference value of scaling with torque control 852_MOMNM motor torque see chapter 6 2 2 Limitations ene Nm _MOT i Note place with 1 ms The resolution of the analog inputs is 10 bit In order to achieve an optimal interference suppression they are scanned ad filtered with 250 us Further processing takes Application Manual P7000 P6000 6 27 watt i Daro 6 General software function
124. Value range WE Parameter Activation of cam only with defined travel direction The following settings are possible NEG 0 Only to negative direction The cam Sense of rotation dependent switches only in negative sense of rotation NEG OFF OFF 750 x_CCDIR switching POS 1 Only to positive direction The cam a _CAM switches only in positive sense of rotation OFF 2 To both directions The cam switches irrespective of the sense of rotation The following actions can also be multiply combined are possible for each cam Bit Default Cam action 0 Inactive Set delete switch point CM1 1 Inactive Set delete switch point CM2 2 Inactive Set delete switch point CM3 3 Inactive Set delete switch point CM4 4 Inactive Set delete switch point CM5 5 Inactive Set delete switch point CM6 6 Inactive Set delete switch point CM7 Table 6 43 Action register for the individual cams 745 x_CACTN Application Manual P7000 P6000 6 109 drive Application Manual P7000 P6000 6 General software functions Bit Default Cam action 7 Inactive Set delete switch point CM8 8 Inactive Set delete switch point CM9 9 Inactive Set delete switch point CM10 10 Inactive Set delete switch point CM11 11 Inactive Set delete switch point CM12 12 Inactive Set delete switch point CM13 13 Inactive Set delete switch point CM1
125. Value range WE positioning MANAGER s controller ISD00 Function selector digital standard input ISD00 see Table 6 5 1 START T P7000 P6000 ISD01 Function selector digital standard input ISD01 _ 0 OFF m P7000 P6000 ISD02 Function selector digital standard input ISD02 E 0 OFF aa P7000 P6000 S03 Function selector digital standard input ISD03 a 0 OFF aaa P7000 P6000 ISD04 Function selector digital standard input ISD04 a 0 OFF T P7000 ISD05 Function selector digital standard input ISD05 a 0 OFF a P7000 ISD06 Function selector digital standard input ISD06 a 0 OFF ak P7000 Table 6 2 Parameter for setting the digital inputs Parameter for setting the digital inputs on terminal extension module ULZ EA1 prye Function Value range WE Parameter n MANAGER 9 s P g controller IED00 Function selector for digital input of the user see Table 6 5 0 OFF 214 FIE00 P7000 P6000 module IED00 IN IEDO1 Function selector for digital input of the user on 0 OFF 215 FIEO1 P7000 P6000 module IED01 IN IED02 Function selector for digital input of the user i 0 OFF 216 FIE02 P7000 P6000 module IED02 IN IED03 Function selector for digital input of the user a 0 OFF 217 FIE03 P7000 P6000 module IED03 IN Function selector for digital input of the user 218 FIE04 IED04 module IED04 0 OFF CN P7000 P6000 Table 6 3 Parameter for setting the digital inputs on terminal extension module ULZ EA1 Application Manual P7000 P6000 6 5 drive 6 General
126. _DN if both inputs are set at the same time the offset speed is reset to 0 mint When cancelling the start command the offset speed is reset to 0 min Table 6 28 Settings for 320 MPSEL motor potentiometer function Application Manual P7000 P6000 6 59 drive i Application Manual P7000 P6000 6 General software functions Setting the inputs for motor potentiometer functions Note For terminal control the function selector of one digital or analog input with digital function must be controlled with MP UP Setpoint up MP DN Setpoint down see chapter 6 1 2 Digital outputs Example Setting F2 of the motor potentiometer function A digital potentiometer is supplied via two digital inputs One of the inputs has a reducing effect for the setpoint the other one raises the setpoint At the analog input ISAOx a base value can be specified as analog speed setpoint so that the digital inputs have the effect of an offset The motor potentiometer function assigns a setpoint to the setpoint source SOFMP O x7641_MPACL 4 642_MPDEC FMAX f Hz REF1 REF2F 5 Offset _ A t ms gt 1 Resetting the setpoint to the base value Fig 6 29 Basic function with reset to base value corresponds with setting F2 in Table 6 28 6 60 drive Application Manual P7000 P6000 Definitions on Fig 6 29 Basis Offset
127. _GND bridged with Pin 3 7 CAN_HIGH CAN signal 8 not used please do not connect 9 CAN_ 24 V 24 V 25 50 mA This supply voltage is required for CAN operation Table 2 12 Pin assignment of CAN interface X5 9 pin D Sub pin Pin No Function TTL Function SSI 1 A DATA 2 A DATA 3 5 V 150 mA 5 V 150 mA 4 not used please do not connect 5 not used please do not connect 6 B CLK 7 not used please do not connect 8 GND GND 9 R 10 R 11 B CLK 12 5 V sensor 5 V sensor 13 GND Sensor GND Sensor 14 15 Wave terminating resistor 120 Q internal for track B by means of jumper between Pin 14 and Pin 15 Table 2 13 Pin assignment for encoder terminal X7 15 pin D Sub High Density socket drive 2 3 Light emitting diodes P7000 P6000 Application Manual P7000 P6000 2 Equipment hardware The positioning controller is fitted with three status LED s in red H1 yellow H2 and green H3 at the top right Device status red LED H1 yellow LED H2 green LED H3 Supply voltage 24 V DC internal or external for control element applied or closed loop control in O O g Parameterization status Ready ENPO set O e J In service auto tuning active O J Warning at Standby O e J Warning active with operation self adjustment O g Error gt flash code O OLED off LED on 2K LED flashing Table 2 14 Meaning of the light emitting diodes
128. able 3 3 Exponential value as Decimal point displacement factor In the base value the decimal point is displaced by the number of digits corresponding with the exponential value Example Decimal point displacement by one digit to the left 57 63 107 Hz 5 763 Hz Decimal point displacement by two digits to the right 57 63 102 Hz 5763 Hz DATACARDS are created in dependence on the firmware of the positioning controllers In case of a firmware extension within the scope of a new device software version the extensions are automatically written to the DATACARD when saving WRITE DATACARDs are thus always upward compatible Note DATACARDS can only be read by the positioning controller type e g P6000 they have been written by 3 12 drive 3 4 Commissioning Application Manual P7000 P6000 3 Operation structure Commissioning procedure by following the user manual 1 initial commissioning by following the operating instructions Prerequisite is the general initial commissioning by following the operating instructions The user manual solely deals with the adaptation of the software functions If the settings made during initial commissioning by following the operating instructions are not sufficient for the application 2 Selecting the optimal pre set solution The pre set solutions cover the typical applications for the positioning controllers The dataset most appropriate f
129. adjustable speed range The brake can be released in dependence on a setpoint by means of a digital output that can be set by means of the function selector f Hz SBCW SBCCW BRK 1digital output Fig 6 47 Holding brake speed ranges with setting BRK1 6 91 drive Application Manual P7000 P6000 6 General software functions Output options motor holding brake BRK1 EJ Speed limit Uod se Articlockwise Operation point Hyctenests Parameters for motor holding brake BRK1 PROFITOOL Function Value range WE Unit Parameter Clockwise BRK1 Speed limit for 310 SBCW rotation motor brake clockwise 0 32764 0 min _FEPROM rotation Anti clockwise BRK1 Speed limit for 311 SBCCW rotation motor brake anti 32764 0 0 mint _FEPROM clockwise rotation Hysteresis BRK1 Switch on 312 SBHYS hysteresis of motor 32764 32764 1 mint _FEPROM holding brake Table 6 36 Parameters for motor holding brake BRK1 Explanations The speed limit for application release of the holding brake can be set independently for clockwise and anti clockwise rotation The switching hysteresis must be taken into consideration e The switching points for the motor holding brake BRK1 are coupled to the setpoint 6 92 drive Dre 6 General software functions Motor holding brake B
130. aft speed is to be determined by the reference sensor the gearbox ratio must be parameterized in the reference sensor configuration With angular synchronism configuration of input see chapter 6 2 4 the drive controller converts the incoming square wave pulses of a reference encoder directly to a position setpoint and approaches this point in a position controlled manner The configuration of the reference encoder input is described in detail in chapter 6 2 4 Switching on synchronous travel GOSYN 1 Switching off synchronous travel GOSYN 0 After switching on synchronous travel with the command GOSYN 1 the sequential program is immediately continued with the next successive set Note Switching synchronous travel on off occurs abrupt without limitation of the axis dynamics by ramps Soft coupling decoupling on a rotating leading axis is not possible 7 36 warty 7 User programming The reference sensor position refers to the motor shaft The unit is always in increments 65536 Incr 1 motor revolution If the reference sensor position is to be directly related to the output shaft the transmission ration must be entered for the reference sensor A transmission ratio in the standardizing assistant will be ignored when using the reference sensor Example for the P6000 System structure e HTL reference sensor as setpoint specification connected to terminal X2 on P6000 e P6000 with gear motor i 56 3
131. am as a status indicator How to use this function in the sequential program Ny INV Hxxx Logic inverting of an integer variable Ny INV Mxxx Logic inverting of a flag Ny INV Oppi Logic inverting of a digital output Travel commands in positioning GO These commands can be used to move the driven positioning axis These commands must only be used in positioning mode the setpoint channel must be set to PLC preset solution with setpoint via PLC With torque speed control GO commands are evaluated as NOP Effect of the individual positioning modes see chapter 5 2 1 There are generally five methods to move the axis e Absolute positioning Travelling to a certain position GO A e Relative positioning Travelling over a certain distance GOR e Endless positioning Travelling with defined speed GO V Start referencing GO 0 e Synchronous travel Electronic transmission GO SYN e with continuation of program GO If this command is submitted within the program the program will immediately continue with the following program line after the axis has been started In this way several commands can be processed parallel to an ongoing positioning If this command is submitted during an ongoing positioning the travel to the new target position will be continued with the changed 7 33 drive Travelling with continuation Travelling without continuation Application Manual P7000 P6000 7
132. ameters i 200_FOSAO Function OFF PLC ACTN our F 203_OATFO Filter 10 3000 10 ms Our OV corresponds A 201_0AMNO with a _OUT 10V corresponds F 202_0AMX0 with 200 200 100 our Explanations For both corner points 0 V 10 V the actual value can be adapted in the range from 200 to 200 from a reference value e Inthe hardware the analog output is filtered by a filter with a cut off frequency of 100 Hz Setting the function selector for FOSAO BUS Setting Function Reference value 0 OFF no function the input is switched off 1 ACTT current actual torque max torque 2 ACTN current actual speed max speed 3 AACTN Value of the current actual speed max speed 4 APCUR actual apparent current 2 ly 6 30 drive Application Manual P7000 P6000 6 General software functions BUS Setting Function Reference value 5 ISA00 ISA00 10 V 20 mA 6 ISA01 ISA01 10 V 7 MTEMP actual motor temperature 200 C 8 KTEMP actual heat sink temperature 200 C 9 DTEMP actual inside temperature 200 C 10 PLC Specify the value from the sequencing 10 000 control 6 31 drive 6 2 Setpoint generation Application Manual P7000 P6000 6 General software functions Function Effect e The setpoint generation All system conditions have serves the preparation of the an effect on the setpoint setpoint
133. ample f the right limit switch is approached during clockwise rotation the signal will cause the drive to stop However if this signal is overtravelled and the limit switch is no longer dampened the motor will start will restart in clockwise direction as long as clockwise starting is still enabled 1 mechanical end stop 2 Limit switch cannot be overtravelled Fig 6 3 Limit switch evaluation Note The evaluation of pulse switches or upstream limit switches is not supported Bridging in limit switch supply line and control cabinet is not monitored or detected The MAN function has the effect that a device configured for bus operation can be directly operated on the positioning controller in situ by the operator This function can be used for set up or emergency operation of the system The changeover is not possible with activated power stage or if the PROFITOOL is operated in control mode manual mode drive Application Manual P7000 P6000 6 General software functions If the input is activated the control location is set to Terminal 260 CLSEL TERM At the same time the setpoint source is set to the reference specified by parameter 289 SADD1 The selection of the setpoint source must be made in the function mask Reference Ramps Further Settings see Fig 6 4 r Source 1 Standadssterance RAD 1 Rterence of analog rent ISADU Fleference source om selection vie input npu luc
134. and GO R H000 V001 with H000 1000 and H001 200 A GOA command absolute positioning during synchronous travel aborts this travel The axis continues travelling with the transmitted travelling speed and performs the requested absolute positioning by observing the set ramps GO A and GO R positions as always refer to the output shaft The required transmission ratio can be configured through the standardizing assistant The target position is specified as an absolute value and the positioning controller moves the axis in the direction with the shortest path Relative movements do not take place in a path optimized way See also chapter 5 2 3 This type of positioning assumes that an endless travel path has been selected For the round table function the settings in the travel profile are decisive If round table function direction optimization and length of circumference are specified there under the commands will be executed in a path optimized manner Braking the drive STOP SET HALT BRAKE Various commands with and without controller stop are available to brake the drive 7 38 drive Stop feed Quick stop Braking with deceleration ramp only positioning Braking with quick stop ramp only positioning Emergency stop speed 0 and shut down of control only positioning Application Manual P7000 P6000 7 User programming With the command SET HALT 1 the drive is braked to standstill accor
135. ank triggered High Level The effect of a start signal during a running positioning process can be parameterized see Table 5 13 Bus Setting Meaning Signals occurring during an ongoing positioning process are ignored 0 OFF i Thus a signal never interrupts a running travel task Signals occurring during an ongoing positioning process cause an immediate change of the current target position A relative proportion is 1 STORE added to the previous target position and approached without intermediate stop The number of follow up orders to be executed depends on the accumulated signal flanks This function is useful for relative positioning Signals occurring during an ongoing positioning process cause an immediate change of the current target position A relative proportion is 2 NEXT added to the actual position at the time of the change and approached without intermediate stop This position is most suitable for compensation of a residual path Table 5 13 Effect of start condition for repetition and follow up order If no travel set is being processed or no repetition active the signal to activate the follow up order will start the travel set that has been selected via terminal or field bus system See Travel set selection page 5 28 Start condition SW DT The parameters effect start signal FOSWC in Table 5 13 and the delay time FODT must be set Application Manual P7000 P6000 5 35 dri
136. arato pna a Mode ls EasyDine ableP us Ponnrag mh diving oat table Evert corirol sending da TXPOOL IxPpz TXPOOG TXPDD4 6 100 drive i CANopen configuration 6 General software functions The CANopen user manual is required when connecting commissioning and diagnosing a drive controller in the CANopen network parameter PROFITOOL Function Value range WE Parameter Address Set the software field bus address 580_COADR CANopen The software address is added to 0 127 1 _CAN the hardware address set with the gt coding switch Baud rate Permissible data transmission 581_COBDR frequencies see Table 6 40 Bo aie ea _CAN Mode of Determination for DSP402 or 638_H6060 operation EasyDRIVE modes with the _CAN definition of control and status 4 6 1 channel see Table 6 40 The operating mode is preset when selecting a preset solution Baud rate 581 COBDR Operating mode 638 H6060 BUS Setting Baud rate Setting Mode of operation 0 B_1M 1 MBaud 4 1 B800 800 kBaud 3 EAaSYDRIVE ProgPos PLC control 2 B500 800 kBaud 2 EasYDRIVE Basic 3 B250 250 kBaud 1 EasYDRIVE TablePos travel set table 4 B125 800 kBaud 0 5 B50 50 kBaud 1 DSP402 Profile position mode 6 B20 20 kBaud 2 7 B10 10 kBaud 3 DSP402 Profile velocity mode 4 5 6 DSP402 Homing Mode Table 6 40 Setting
137. are sources of special dangers Danger If there is a necessity to access such areas a decision from a physician is required Application Manual P7000 P6000 1 1 drive Application Manual P7000 P6000 1 Safety Your qualification In order to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device The qualified personnel must familiarise themselves with the Operation Manual refer to IEC364 DIN VDE0100 Knowledge of the national accident prevention regulations e g VBG 4 in Germany During installation follow these instructions Always comply with the connection conditions and technical specifications Comply with the standards for electrical installations such as wire cross section earthing lead and ground connections Do not touch electronic components and contacts electrostatic discharge may destroy components drive 1 2 Intended use CE Application Manual P7000 P6000 1 Safety Drive controllers are components for installation into stationary electric systems or machines When installed in machines the commissioning of the drive controller i e start up of intended operation is prohibited unless it has been ascertained that the machine fully complies with the regulations of the EC directive 98 37 EC Machine Directive compliance with EN 60204 is mandatory Commissioning i e starting intended
138. as been set to 150 of the rated motor current for 120 s For servo motors the information provided by the manufacturer must be observed 6 87 drive Application Manual P7000 P6000 6 General software functions Explanations on the function of the motor protection characteristic As long as the current value at a certain frequency is below the characteristic the motor is in a safe operating state If the current value at a certain frequency is above the characteristic the motor is overloaded The l xt integrator becomes active Integration always takes place with the square value of the motor current according to the equation l 2 2 2 t J CdMot grenz dt for 0 lt It lt Itmax 0 The l xt integrator starts at 110 of the current limit value of the motor protection characteristic In I f nz 1 1x Rated motor current MOCNM x 100 100 I f results from the motor protection characteristic with In la Ib fn and Fy Condition Section Fig 6 46 Calculation I f lb la lfist lt fp 1 If x f l b In N b fy lt fist 3 I ly The limit value of the integrator is defined by a permissible overcurrent load factor MOPCM 100 However this value only applies for the rated point If the motor protection characteristic had been parameterized the permissible overcurrent applies for other frequencies over the overload time MOPCT 2 x Rated mo
139. ating point variable indexed SET F Cxx Fyyy Indexed assignment with 2 indexed variable SET Fxxx F Cxx Indexed assignment with 2 integer variable SET Fxxx Hxxx Assignment of integer variables via calculation direct SET FXXX f Addition of floating constants SET Fxxx f Subtraction of floating constants SET Fxxx f Multiplication of floating constants SET FXXX Division of floating constants Calculation via 2 variable direct SET Fxxx Fyyy Addition of floating variables SET Fxxx Fyyy Subtraction of floating variables SET Fxxx Fyyy Multiplication of floating variables SET Fxxx Fyyy Division of floating variables Calculation by rounding SET Fxxx ROUND Fyyy Mathematically rounded 2 8 gt 3 0 2 8 gt 3 0 Calculation by means of absolute value generation SET FXXX ABS Fyyy Absolute value generation 2 8 gt 2 8 SET Fxxx PARA Hyyy Hzzz Assign field parameter value SET Fxxx PARA Hyyy Assign parameter value SET Fxxx PARA n i Assign field parameter value SET Fxxx PARA n Assign parameter value SET FXXX ACTFRQ Actual frequency value only with U f SET Fxxx ACTSPEED Actual speed value SET Fxxx ACTTOURQUE Actual torque value SET Fxxx ACTTOURQUE Actual current value SET Fxxx ACTPOS Assign actual position value SET Fxxx REFPOS Assign position setpoint SET REFVAL Fxxx Assign setpoint via floating point variable only for torque speed control 7 30 pr
140. ation process is Protection against chopping decelerated in dependence of the drive on the selected function until sufficient current reserves are available again Acceleration processes with maximum dynamics along the current limit e In stationary operation the speed is reduced if the motor current is too high Current limit controller xj Date set 1 CD51 Data set 210082 Functor CEWFR 1 Speed seduction at leak cimert omero Garerd nt value 1 x Fig 8 8 Function mask Current limit controller 8 14 drive 8 Speed Control OpenLoop for P7000 P6000 PROFITooL Meaning Value range WE Unit Parameter Controller OFF ON 1 Function OFF Function disabled OFF CCWFR OFF 0 at CCWER see Table 8 12 CVE 0 180 1 Current limit value see Table 8 12 ofthe nominal 150 y 632 x_CLCL device current VF Note In the speed range from 0 to ee application speed the value of the 1 634_CLSR Application speed Acceleration ramp RACC is reduced to 25 0 30 000 min VF With setting 0 min this function is disabled Lowering speed If the apparent motor current is 100 of the 0 1000 150 mint O23 CLSLR set current limit CLCL the speed will be VF lowered to the lowering speed along the j 635 CLRR Deceleration ramp adjusted deceleration ramp 0 32000 1000 min s VF 1 Field parameter index x 0 Data set CDS1 index x
141. att 7 User programming Set counter direct SET Cxx d with variable SET Cxx Hyyy with counter SET Cxx Cyy Incrementing decrementing counter SET Cxx d SET Cxx d Incrementing decrementing counter via variable SET Cxx Hyyy SET Cxx Hyyy Setting and starting timers After assigning a timer time counting element with a value this value is automatically reduced by 1 every millisecond until finally the value of 0 is reached The timer Z11 must not be used when working with the command WAIT because this timer is used to execute the WAIT commands direct SET Zxx t with variable SET Zxx Hyyy The timer value is specified in ms Set parameter with integer variable SET PARA n Hxxx Direct specification of parameter number SET PARA Hxxx Hyyy Specification of parameter number via floating point variable with floating point variable SET PARA n Fxxx Direct specification of parameter number SET PARA Hxxx Fyyy Specification of parameter number via integer variable Application Manual P7000 P6000 7 31 drive i Setting field parameters Application Manual P7000 P6000 7 User programming Note Saving the sequential program the parameters and the travelling data into the Flash EPROM may also be triggered by the program SET PARA 150 1 with integer variable SET Para number n i Hxxx and index SET PARA Hxxx Hyyy Hzzz
142. ce eeeeeee 6 43 Configuration HTL see eeee eee ee eeeee 6 43 Configuration TTL seceeeeeeeeeeeees 6 42 Example for reference encoder configuration 6 45 in positioning operation 668 6 44 in speed controlled operation 6 43 Selection for P6000 eeeseeee scene 6 41 Selection for P7000 eeeeseeeeeeees 6 41 Reference encoder input Configuration sie cdsciedecsveeeeccvese cowed 7 36 Reference encoder input configuration 6 39 Reference Source cceccesceeceseeeeees 4 2 8 2 Field DUS lt cssccwseeetvctevastave des a 4 9 PLC sivsvecviavevacsscaeyedew cee sies eadevneer 4 10 Pre set solution csccesceeceseeees 4 2 8 2 Speed regulation sccescsscesceeeesees 4 7 Travel set table 0 ceeeceeece seen ees 5 28 Reference value reached sessar sorniera inansa 4 5 Referencing sesesssessesssesessesssssese 5 13 5 15 B 4 drive Absolute encoder ceseceeeeeeeeees 5 16 G neral ss asevsssdecsccssaevecedssangewsoss use 5 13 Homing Mode with CANopen 4 5 40 Start conditions cceeeecceeeseeeeeees 5 15 TaD sacrevesccesssessecceusscacetessaercossiees 5 4 TYPEN sicaceceasisetdeesie deve naaa 5 17 Type LIOTA is scasiewtssasetnaccsaeveaties 5 21 Type 17 to 30 ticccesevieereetiveesvivees 5 23 TYPO Z rossana iaaa irra Ea 5 18 TYPOS 44 cecacevtvecesccavedecaedencaienivess 5 18 Type 33 and
143. ce will be fixed at the speed limit up to expiration of time TCTRL Parameterize time TCTRL to the decelaration time of the brake e After expiration of time TCTRL the brake shall be closed safely References below the speed limit parameterized to the slip speed results in low torque The brake protect the load if there is no sufficient torque available during operation of the motor below the slip speed 6 99 drive 6 5 Bus systems 6 5 1 CANopen 2 Application Manual P7000 P6000 6 General software functions Function Effect Configuration as field bus Selection of important user settings for the application se susie Bus sytem The positioning controllers can be integrated into a field bus network The available bus systems are listed in Table 6 39 possible for Required Field bus positioning Connection documentation for controller commissioning P7000 device internal standard 7 CANopen P6000 via X5 User manual ULZ DPV1 P7000 external communication PROFIBUS P6000 module ULZ DPV1 CANopen user manual Download of required documentation under http www lust antriebstechnik de Table 6 39 Possible field bus systems PROFITOOL or KEYPAD are used to set field bus address and baud rate An operating mode can be additionally selected Further settings of the field bus configuration solely take place via the field bus system CANopen Pioliius Address CANopen Lt B
144. ct comparison 0 7 18 Value of an integer variable comparison with second variable cccecceeceeeeeeeeeeeeees 7 18 Value of a floating point variable direct comparison 7 18 Value of a floating point variable comparison with second variable ccceeceeeeeteeeeeeeeees 7 19 Status of a counter s es Status of a timer oo Sub programs CALL RET Setting a breakpoint BRKPT 0 00 eee eeeeeeeees 7 20 Blank instruction NOP were t 22 Program end END ve 7 22 Setting commands SET weve 123 Setting a digital OUtDUt eee eee eeeeeeeeeeeeeeeeeteceeeeeeteeeteeee 7 23 Setting a logic Marker oo eeceeseeeeeeceeeeeeeesetateetaeeessenaeees 7 23 Setting special markers variables status variables 7 24 drive Application Manual P7000 P6000 7 4 7 4 1 7 4 2 7 5 7 5 1 7 5 2 7 5 3 7 5 4 7 User programming Setting special markers variables control variables 7 24 Indexed assignment of a constant value Setting an integer variable Setting a special integer variable Setting a floating point variable Setting a special floating point variable Setting a counter eseese Setting and starting a timer Setting parameters 2 cccssseedceseccscscessneseensdasesseensceeseenactensens Setting field parameters cceeceeceeeeeeeeeeeeeeeeeeeeeeeeneerenee
145. ction valence 23 Binary travel set selection bit 3 valence 2 for speed see chapter 4 5 or positioning see chapter 5 3 1 17 LCW Limit switch for clockwise Limit switch evaluation without overrun protection The rotation reactions for limit switch overrun and for mixed up limit switches can be adjusted see chapter 6 9 1 Error messages See also Explanations to various functions 18 LCCW Limit switch anti clockwise Limit switch evaluation without overrun protection The rotation reactions for limit switch overrun and for mixed up limit switches can be adjusted see chapter 6 9 1 Error messages See also Explanations to various functions 19 SIO Input appears in the status word Status of input can be read out via the status word of the serial interface X4 parameter 550 SSTAT of the serial interface 20 OPTN Evaluation via field bus module Evaluated through the PROFIBUS Placeholder inputs can PROFIBUS always be read via the field bus 21 CAN Evaluation via CAN Bus Evaluated via CAN Bus placeholder inputs can always be read via field bus 23 USERI Only for P6000 Only for P6000 24 USER2 up to software V2 0 up to software V2 0 25 USER3 reserved for special software Input can be used by special software 23 DSEL Select data set Only with rotary speed control OpenLoop Changeover of data set 0 CDS1 1 CDS2 see chapter 8 2 1 24 MP_UP Motor potentiometer The rotary speed setpoint for the di
146. ctual position DEF H003 Zero offset The end of the text declaration is always followed by the line END The text declaration is optional PLC parameters without declaration are not saved in the text file or are not displayed in the PROFITOOL with their number PLC integer variables aloj x x Veiatlel Value Flea Vole H000 360 M000 HOD 5000 Moot H002 500 mode H003 MOOG H004 a M004 005 a MODS H006 0 M0 HOUT a MOO 008 a Moca H009 0 moga Hmo gE moo 4 le Tel Fig 7 2 Display of PLC values with application specific texts The Sequential program follows the text declaration It contains a program header the actual program section and the program end The program header consists of a line with program number at present only P00 possible SP00 The lines of the actual program section are referred to as command lines The maximum number of sets that can be saved in the positioning controller is limited to N001 N254 Each command line consists of a line number the command and the operand After separation by means of a semicolon a comment can be inserted N030 SET M000 0 Reference point not defined The program end is always followed by the line without line number END Example programs can be found in the installed PROFITOOL directory userdata samples PLC drive 7 2 4 Program testing and editing 7 2 5 PLC program files Application Manual P7000 P6000 7
147. d 742_CCNU M CIN Hysteresis for avoidance of jitter effects lt makes sense to select a bigger cam length than the hysteresis Unit Increments 65536 motor revolution with speed control user defined with positioning 0 2147483647 747_CCHY S IN Reference position Here the position source to feed the cam controller is set The following settings are possible ENCD 0 cam controller cycle related to the position encoder The cycle of the cam controller is determined by the current position of the position encoder EGEAR 1 cam controller cycle related to the reference encoder The cycle of the cam controller is determined by the external reference encoder ACTP 2 related to the actual position The cam controller cycle is determined by the actual position of the positioning controller ENCD ACTP ACTP 740_CCEN c CAM 6 108 watt i mary 6 General software functions Defining the cam action The following window opens when double clicking into the column Action 3 Action delfined a f Cam 0 iy Switch as function of cirection of rotation OFF 12 In both drecbon Cam gear switching points M o M om2 CM3 M cms M CMB M Cm7 M cm3 M emio F emn Fos Fomm F Mis Set switching points to outputs Outputs Set PLC fags Fag flag 258 0 255 Seon Hag 255 0 255 Ce e He PROFITooL Meaning
148. d field bus This activation requires that the drive is stopped Positioning table process sets control via terminal Driving eat table Osiving pestle Homing mode Lietewtch Manuatmede Switching points Speeds Quek pp Skw eg Accelerations Lim doen and spaad up applies to the acenion of herang mode PROFITooL Value range WE Unit Parameters Speed 0 4294967295 Rapid motion 1000 variable 721_ VQ OG _PRAM Speed 0 4294967295 cress sel 500 variable 720_VS OG _PRAM In jog mode the drive is controlled by means of two signals or inputs either in positive or negative direction If one of these signals becomes active while the control is active the drive will move with creep speed Rapid motion is activated by operating the second jog input also in creep speed status If the first signal is deactivated in rapid motion the drive will stop If it is set again the drive will again move with creep speed even if rapid motion had been requested An example for a jog sequence in positive travel direction is shown in Table 5 10 5 26 drive Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Ser No os ea Status of axis 1 0 0 Standstill 2 1 0 Creep speed 3 1 1 Rapid motion 4 0 1 Standstill 5 1 1 Creep speed 6 1 0 Creep speed 7 1 1 Rapid motion 8 1 0 Creep speed 9 0 0 Standstill Tabl
149. datasets In this way you can arrive more rapidly at your desired movement solution A total of nine preset solutions covers the typical areas of application for positioning with the closed loop controllers Abbrevia Control location Additionally required tion SELECTS Bus control profile SHEDS Documentation PCT_2 Tabular travel set 1 0 terminals 5 3 PCC_2 Tabular travel set CANopen 1E J interact 5 3 CANopen data transfer protocol 7 EasyDrive Profile TabPos Field bus communication module PCB 2 Tabular travel set PROFIBUS 5 3 PROFIBUS data transfer protocol EasyDrive Profile TabPos CANopen field bus interface PCC_1 CANopen field bus interface DSP402 Profiles position mode 5 4 CANopen data transfer protocol DSP402 Profiles velocity mode eae Field bus communication module pcg_ Field bus communication module pe peau 5 4 PROFIBUS data transfer protocol PROFIBUS EAT EasyDrive Profile DirectPos PCP_1 PLC PLC 5 5 see chapter 7 PCT_3 PLC 1 0 terminals 5 5 see chapter 7 PCC_3 PLC CANopen field Dus intestate 5 5 CANopen data transfer protocol EasyDrive Profile ProgPos Field bus communication module PCB_3 PLC PROFIBUS 5 5 PROFIBUS data transfer protocol EasyDrive Profile ProgPos Table 5 1 Preset solutions for positioning Application Manual P7000 P6000 All pre set solutions have an individual window for basic settings in PROFITOOL Tabs contained therein differ in their general and spec
150. der are a special feature because they directly create an absolute relation to the position Referencing with these encoders therefore does not require any movement and under certain conditions energizing of the drive may also not be necessary However adjustment of the zero point is still necessary The type 5 is particularly suitable for this purpose Application Manual P7000 P6000 5 15 drive Type 5 absolute encoder Type 4 continuous referencing neg reference cams Type 3 continuous referencing pos reference cams Application Manual P7000 P6000 5 P7000 P6000 in positioning operation This type is particularly suitable for absolute encoders e g SSI Multiturn Encoder Referencing takes place immediately after switching the mains supply on which means that it can also be activated in de energized state The current position complies with the zero point The zero position is calculated on basis of the absolute encoder position zero point offset According to this referencing with zero point offset 0 supplies the absolute position of the SSl encoder e g in operation of a SSI Multiturn Encoder Another referencing with unchanged setting of the zero point offset does not cause a change in position Referencing or zero point adjustment for the system must be performed as follows 1 Enter zero point offset 0 2 Referencing start referencing delivers the absolute position of the sensor
151. der to assure de energized switching the contacts of the motor contactor must be closed before the inverter power stage is released In 6 20 drive Application Manual P7000 P6000 6 General software functions the opposite case the contacts must remain closed until the inverter power stage has been switched off This can be achieved by implementing the corresponding safety periods for switching of the motor contactor into the control sequence of the machine or by using the special ENMO software function of the positioning controller The power contactor in the motor supply line can be controlled by the positioning controller With the timer parameter 247 TENMO the pickup and drop off time of the power contactor can be accounted for With this one can make sure that after the start release the setpoint is only specified after the contactor has closed or with inactive power stage the motor is disconnected from the positioning controller by the contactor Note In the time base of the TENMO timer additional times for typical contactor chattering have been taken into account Depending on the contactor these may take several 100 ms ENMO setting motor contactor n 1 min ENMO motor power contactor POWEREnd output stage of positioning inverter Fig 6 9 Function of motor contactor control via digital output with ENMO setting 6 21 drive Application Manual P7000 P6000 6 General so
152. device must be set before pressing the button Start identification i Note During self setting the electric motor circuit must be closed Contacts must thus only be bridged during the self setting phase If the actuation of the motor contactor is realized via the positioning controller with the function ENMO the motor contactor will be automatically closed during the identification Application Manual P7000 P6000 6 71 drive Application Manual P7000 P6000 6 General software functions In the steps Frequency response analysis and Measurement of the inductance characteristic the positioning controller measures the motor and determines the resistance values and the inductances In the subsequent operating point calculation the flow is adapted in such a way that the rated speed can be reached and the rated torque defined via the rated power is reached at rated speed If the voltage is found to be too low the flow is reduced to such an extent that the speed is reached in any case The rated torque is automatically reduced Finally the control circuits are preset After successful motor identification the calculated motor parameters are displayed in the function Show motor parameters Attention Motor parameters must only be changed by qualified personnel With an incorrect setting the motor may start unintentionally thrashing Motor parameters Metre type designation My_Motee States resintanee S
153. ding to the reaction Stop Feed see chapter 6 2 3 The drive thus remains energized With the command SET HALT 0 the drive is set in motion again with the previously specified travel set The braking process can be terminated at any time With the command SET BRAKE 1 the drive is braked according to the reaction Quick Stop see chapter 6 2 3 The drive controller is in Quick stop system state The controller is now switched off if switching off has been parameterized in the quick stop reaction and if it has been enabled via PLC SET ENCTRL 1 control location PLC With the command SET BRAKE 0 the quick stop condition is terminated This command must always be executed before the drive can be switched on again Termination of the quick stop and return to the previous travel set is possible as long as the drive is energized For normal braking with programmed deceleration ramp the command STOP B is available The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning For quick braking with quick stop ramp the command STOP M is available The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning for quickest possible braking speed setpoint 0 and subsequent shut down of the control the command
154. ds on the parameterized fault reaction see chapter 6 9 and the positioning mode Positioning mode Behaviour reaction Absolute Before releasing an absolute travel task the system will check whether the target is in the valid range meaning inside the range of the software limit switches If the Relative target is outside the limits no travel order will be submitted and the programmed fault reaction acc to 543 R SWL will be performed The drive moves until a software limit switch is detected Endless After this the programmed fault reaction acc to 543 R speed controlled SWL is performed A rapid stop is also performed with reactions of R SWL NOERR or WARN Table 5 9 Behaviour of the software limit switches 5 25 EN Application Manual P7000 P6000 drive 5 2 6 Manual operation J og mode J og mode via terminal or field bus Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Hardware limit switch The hardware limit switches are valid for all types of closed loop control They are connected via drive controller inputs For this purpose two inputs must be set up as described in chapter 6 1 1 Manual operation Jog mode is only valid for positioning With jog mode activated the drive is operated in speed controlled mode endless For manual operation two different jog speeds can be set These can be activated via the window PROFITOOL Manual operation or via terminal an
155. e Swacheg pori B innse 7 Units and standardisation Target position The target position can be parameterized in a user defined path unit PROFITOOL Value range WE Unit Parameters 272 x PTPOS Target position a li 0 variable _RTAB 2147483647 x travel set 0 15 Mode The mode defines the relation to the target position In this context please observe the notes in chapter 5 2 1 Positioning modes PROFITooL Value range WE Unit Parameters 274 x_PTMOD Mode ABS SPEED REL _RTAB X travel set 0 15 5 32 drive Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Mode settings BUS Setting Effect 0 ABS The target position always refers to a fixed reference zero point A relative travel task always refers to a variable position 1 REL Depending on the start conditions for repeat or follow up order this may either be the last target position or the current position The axis moves with the speed profile programmed in the 2 SPEED Note selected travel set The target position is of no relevance Speed The speed can be specified signed A negative setting is only evaluated in case of an endless positioning The speed is limited by the maximum speed in the travel profile PROFITooL Value range WE Unit Parameters 273 x_PTSPD 2147483648 Speed 2147483647 1000 variable _RTAB
156. e use arrow key to if necessary password of individual datasets possible change to dialog with display PASSW WRITE save all datasets to DC factory setting no LOCK write protection password UNLOCK write protection C1 next actual value Select parameter Enter setpoint Select partial parameter area C2 Select parameter index Select parameter index D Show actual value Show parameter value and Start drive with Start Enter Function completed without change if necessary change setpoint with arrow fault keys MP motor potentiometer function Application Manual P7000 P6000 Table 3 2 3 11 Menu structure of the KP10 operation panel at a glance drive Value display in exponential representation DATACARDS G Application Manual P7000 P6000 3 Operation structure The representation of the five digit numerical display for parameter values uses the exponential notation The setpoint specification in the CTRL menu is likewise specified and displayed using the exponential notation exponent gt base value gt Fig 3 11 Exponential representation in the KP10 display The exponential representation makes work easier when considering the exponential value a Decimal point displacement factor Exponential value Decimal point displacement direction in base value positive to the right walue increases negative to the left walue decreases T
157. e 0 1 H Hardware release sseeseeceeeceeeeeeees 6 22 Hexadecimal representation of warning MESSAGES ceeeeeeeeeeeeee 6 131 Holding TAKE fez sssstevecssdiecessscaveceeti teens 6 90 Speed ANGE scescesceecesceecesceeeees 6 91 HTL reference encoder INPUE cco sccaveve vasadcasedesveeecdessdecnsess 6 39 HYSUGIOSIS sascenssasvesendvaveceseevasss 6 97 6 132 l I2xt monitoring ssssssessessssssssesssee 6 83 6 85 Inputs ANALOG MPE ETA 6 24 digital isc esaweeves ec auevwegedesveecaversdeseds 6 4 of positioning controllers ceeeeeeee 6 3 B 2 drive Terminal extension module UM 8140 6 5 VIRAL 3 5 c8ccselouccas ied peeve saseatereueteys 6 6 Inputs and outputs Assignment 0eceeeceeeceee ees 4 2 8 2 Installation Connecting the KeyPad eseeeeee 3 9 Integral action time eeeeeseeeeeeeeeees 6 66 Interference suppression ceeeeeeeeeeees 6 27 J Jerk limitation veassecercstseeereessececeeetes 4 3 8 5 Jitter effects sss csccecdsesteckestuseusssncecessss 6 110 JOGIMOUG 5 555 c0dsssee eaessvesusesenscova recess 5 26 Jump in reference value ceseceeeeeeee 4 5 K KeyPad KP10 operation seceeeeeeeeees 3 9 L Leading AXIS d ch0cssecascasivesecsiedeesss seeesene 6 39 Light emitting diodes eeeeeeeeeeeeeeeeees 2 11 Limit SWILEN gesiess aran 5 25 HardWare lt csscustcastenvedeutoseeesecge ects 5 26 SOMWONC sccscsesccscdesse
158. e 5 10 Example jog operation in positive direction 5 27 drive 5 3 Positioning with table travel sets A 5 3 1 Travel set selection Application Manual P7000 P6000 5 P7000 P6000 in positioning operation For the preset solutions PCT_2 PCC_2 and PCB_2 the travel set table is preset as setpoint source The specific settings of the control via I O terminals or field bus are described in chapter 5 6 If the drive is controlled via field bus the special proprietary EasyDrive protocol TablePos is used There are 16 travel sets 0 15 A travel set consists of Target position Mode for absolute relative endless positioning Speed Start up acceleration Braking deceleration Repetition of a relative travel set NO of WD Follow up order logics with various provisional conditions Follow up orders enable the realization of small automated sequence programs 8 Travel set dependent switching points see chapter 5 3 4 A slip time in ms programmed in the travel profile serves as jerk limitation It applies for all travel sets The travel sets can only be set via the PC desktop PROFITOOL or field bus Note The travel sets have the predefined standard units Before parameterizing the travel sets you must therefore first set the units and the standardization see chapter see chapter 5 2 2 Travel sets can be selected and activated via terminal or field bus The number of the active travel set
159. e set when choosing a preset solution control command to start the closed Possible control locations are see loop control Table 6 26 Terminals Control unit Serial interface Optional slot PROFIBUS CAN interface PLC The control location is set with parameter 260 CLSEL PROFITOOL function mask Setpoint Ramps further settings PROFITOOL Value range WE Unit Parameters Control location for 260_CLSEL motor control OFF se PLG TERM _CONF Table 6 24 Parameter control location Evaluation of start signal Prerequisites for starting the controller e Hardware release ENPO is set at least 10 ms before setting the start signal High Level e The device status Safe Stop on P6000 only with hardware version SH is inactive The start signal is evaluated in dependence on the signal level Starting takes place after a Low High transition of the signal If the start signal is at High Level immediately after switching on the control is not started A Low High transition is required first Starting takes place when the start signal has High Level If the start signal is at High Level immediately after switching on the mains supply the control is started The function is also used for automatic starting after switching on the main supply It is switched on by parameter 7 AUTO ON 6 55 watt i matt gt 6 General software functions Attention With Auto Start the drive
160. e taken into account The track signals are corrected with fixed values These values can be determined by the GPOC using the ADAPT mode and stored in the positioning controller 2 ADAPT The optimal correction values are determined online with the GPOC At low speeds the adaptation is switched off thus to avoid drifting off of the error parameters The minimum speed for an adaptation is calculated on the basis of scanning frequency of the control x 60 500 With a 4 kHz scanning frequency of the control and a two pole resolver the adaptation will take place from 480 rpm 3 RESET The correction parameters are reset to factory setting RESET is not set as status but leaves the current status unchanged Table 6 33 Parameter settings 685 ECCON for the signal correction With TTL or SSI encoders the following parameters must be set PROFITOOL Value range WE Unit Parameter Lines per revolution TTL 432_ECLN1 ehcoder 32 8192 1024 ENC Number of bits Multiturn 0 16 12 448_SSIMU SSI encoder T _ENC 6 81 watt i mate 6 General software functions PROFITOOL Value range WE Unit Parameter Number of bits Singleturn 0 20 13 _ 447_SSISI SSI encoder lt _ENC Transmission ratio n2 n1 is encoder is not mounted on motor shaft 435_ECNO1 n1 numerator 32768 32767 1 ENC 436 _ECDE1 n2 denominator 1 65535 1 ENC
161. eaees Inverting INV ccivctsssivscsceccecesccnsccta ianeirensis Travel commands with positioning GO Travelling with or without continuation of program Travelling with Continuation 0 0 0 0 eee eee eect cette Travelling without continuation 00 0 0 eee Referencing cceeeee Travelling endless Speed synchronism 0 0c ee Angular synchronism electronic transmission Path optimized positioning of a round table Braking the drive STOP SET HALT BRAKE a 1 37 SOP GOO 2s sn fever E A hate cesses igexeeteciteside eres 7 37 QUICK SlOD sessscicsscssssisatasanidannncaeeeeea ties usanlauuenseeseendansabiadedenetees 7 38 Braking with deceleration ramp only positioning 7 38 Braking with quick stop ramp only positioning 0 0 7 38 Emergency stop speed 0 and shut down of control Only POSINONNG eriari aoee Eonia 7 38 Wait commands WAIT wa 7 39 TWIN E EEE OOE ENEE A 7 39 AXIS StAtus orenat aaar aiaa aaa ARARA 7 39 Parameter write ACCESS cececeseeseeeseeeeeeeeeeneeeeeeeeaeeeeeneaeees 7 39 Example program Aie ay E eE aia 7 39 PLC control and parameters sssrinin 7 41 PLC variables sisirin 7 42 PLC control parameters occ 7 43 PLC program examples LEEET LIL 7 45 Conveyor belt sscsssenenereeninirs 7 46 Absolute positioning secere 7 47 Relative positioning wuss 7 49 Sequential program sesssccecererererisrs 7 50 7 2 marny 7 User programmi
162. ed setpoint in rom is smoothened by means of the speed profile generator see chapter 4 2 1 The function HALT feed speed release can be used to couple or decouple the following axis via digital input or field bus when the motor control is active The speed setpoint of the reference encoder always refers to the motor shaft When using a gearbox on motor and target and the drive shaft speed is to be determined by the reference encoder the gearbox ratio must be parameterized in the reference encoder configuration The speed synchronism can also be activated via PLC see chapter 7 3 2 Speed synchronism on page 7 36 Further possibilities for adapting the setpoint source can be found in chapter 6 2 5 Reference encoder in positioning operation electronic transmission In positioning operation synchronous travel with reference encoder setpoint specification is controlled via PLC with special program commands For this purpose you should select a preset solution with specified setpoint via PLC Switching on synchronous travel GOSYN 1 coupling Switching off synchronous travel GOSYN 0 decouple Table 6 21 PLC commands to control synchronous travel Note Switching on synchronous travel occurs abrupt without limitation of the axis dynamics by ramps Soft coupling to a moving leading axis is not possible The reference encoder position refers to the motor shaft The unit is always in increments 655
163. eed irrespective of the circulation length When switching to the next travel set absolute or relative the system moves to the new target position in the present travel direction An active direction optimization is thereby neglected The travel task is changed while positioning is in progress If in this case the drive does not stop at the new target position e g because of a too long deceleration time the drive will overshoot and return to the target position If the reversing lock is in this case active the drive will brake to speed 0 accelerate again with the defined travel profile and continue in travel direction to the target position In case of overshooting a set path optimization is neglected Referencing is performed to generate an absolute position reference related to the entire axis and must normally be performed once after switching on the mains supply Referencing is required when running absolute positioning processes without an absolute encoder e g SSI Multiturn Encoder All other positioning procedures relative endless do not require referencing For zeroizing with absolute encoders referencing type 5 is available There are 41 different types which can be set as required by the application 5 13 drive 5 P7000 P6000 in positioning operation reference cam i index synnal Ji Realarenca cams B a S H i i the travel direction of the drive and the position of the zero pu
164. eeees 5 11 CM ProfibuSDPV1 cceceeeecees 4 10 8 22 COMMIMISSIONING vssvccsedeveceesteveceesae vides ees 3 13 CONGENEICILY azscsiveteusiudsencs teevecstabezeets 6 62 Conditional jump instructions 666 7 17 Connection an start eeeeeeeeeeeee seen eee 3 4 Connection via RS232 interface cable 3 4 Control and display elements ceee 3 9 KRIO aeneis eaea aa 3 9 Control location cceceeeeee 4 2 6 55 8 2 Drive controller c0eceeee 4 2 5 2 8 2 OPIN evsceceuiewidenvdevcceadsdvavesvdevdesevs 6 57 PUG E T A 4 10 5 41 Serial interface ceeeeesseeeeceeeee 6 57 Control location selector SOUINGS sierstenen aapa ea ais 6 56 CONTO OR crisissen nenesa 6 37 Control terminal designation eeeeeee 2 9 Controller initialization eeeeeeeeeeeeee 6 34 Current time value cceeeeeeeeeeeeeeeees 6 83 D Danger Symbols eceeeceeeceeeeeeeees 0 2 DANGGIS E T 1 1 Dead band function with bipolar operation 6 24 Deceleration ramp ceeeeeeeceeeeeeee eres 6 36 Device data siicsssecccessauecesiaesedeedeseeees 6 118 Device protection ccseeseeeeeeeeeeeeees 2 14 Digital output with setting Setpoint reached 6 20 Direction optimization cceeeeeeeeeeeee 5 11 Display B 1 drive O50 CDSAC srscsssswsccesdsaccsesteaseresenes 8 5 D530 cssescwsieaccocesiandins se cavesseeees 4 9 8 22 DS
165. ence encoder Coupling viaPLC ECNOx ECDEx JUL 1 x2 HTL TUU O 1 Numerator O X7 TTL Angular Denominator synchronism N020 GOSYN 0 1 P00 NO10 SET H010 1000 _ _ _ _ NO020 SET REFVAL H010 END mox SIO LUSTBUS Bian Further settings Travel profile generator Application Manual P7000 P6000 6 50 watt i maroo 6 General software functions Stop ramps Option Code for shutdown SDOPC Halt HAOPC Quick Stop QSOPG Shutdown Fault Reaction FROPC Halt Quick Stop Quick Stop STOPR Fault Reaction Fault Reaction ERR_R Application Manual P7000 P6000 6 51 watt i mate gt 6 General software functions Principle of setpoint specification speed torque control Further settings ar00 NO10 SET H010 1000 NO20 SET REFVAL H010 ECNOx ECDEx SU ro Suu Nominator RDIG L Synchronous speed SIO RS232 tandardization 0 10V Standardization 10 V RACC RDEC FIExx TE 0 min J Application Manual P7000 P6000 6 52 watt i marSo 6 General software functions Stop ramps S he ee es es ee se Option Code for shutdown SDOPC Halt HAOPC Quick Stop QSOPC
166. ent limit speed ramp does not change if the motor current exceeds the current limit Table 8 12 Application Manual P7000 P6000 Behaviour of the current limit controller at CLSL CCWFR 8 15 drive 8 3 4 DC holding current controller Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 Function Effect e After the deceleration ramp RDEC e This counteracts a rotation of the an adjustable direct current is motor shaft without load No stall injected into the motor torque is applied against a loaded motor shaft x Holding current 50 x Holding time OFF 0 as a wl Cancel Fig 8 9 Function mask DC holding current controller PROFITOOL Meaning Value range WE Unit Parameter DC holding current related to Denoting the rated current of the drive 0 180 50 608 eta current VF controller The output stage will be shut off after the set time has run out Holding time With setting 0 the 0 4 ol s we a controller is switched off Suitable value for basic setting 0 5 s Table 8 13 Parameters of the DC holding current controller Note The function is ineffective in device status Quick stop i e e with reaction Controller off 1 acc to reaction Quick Stop see chapter 6 2 3 when triggering quick stop via terminal Flxxx STOP or field bus control bit 8 16 watt drive 8 Speed C
167. er is J 199 601 x_CICN Start current i gt ofthe nominal device 100 ae controlled up to a defined speed in a Gurreit _VF data set dependent way The current limit motor control 0 180 632 x CLCL 2 Current limit value function current limit controller is of the nominal device 150 me limited in a data set dependent way current CMF oth 0 00 999 95 Speed limitation Percentage limitation of the speed of the rated motor 100 00 ji eae speed Rated motor speed 0 100000 1500 rpm a 1 Field parameters Index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 8 Parameters for the OpenLoop limitation function Application Manual P7000 P6000 8 8 drive Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 The stop ramps are described with the general software function in chapter 6 2 3 stop ramps Various stop ramps or reactions can be adjusted e Switching off of closed loop control Stop feed e Quick stop e Error 8 9 drive 8 3 OpenLoop motor control method 8 Speed Control OpenLoop for P7000 P6000 With default setting OpenLoop for speed control the drive controller uses the motor control method VFC This control method does not require any speed feedback because the drive controller works with v f characteristics curve control Function see control technological block diagram Fig 8 4
168. es inactive The first index signal after the ascending flank corresponds with the zero point Index signal l l I Reference cams l I Fig 5 9 Type 3 4 positive limit switch and index signal Type 5 6 negative limitswitch The initial movement takes place in direction of the positive right and index signal hardware limit switch and the reference cam is active see symbol A in Fig 5 10 For type 5 the first index signal after the descending flank corresponds with the zero point When the reference cam becomes inactive the direction of movement with type 6 will be reversed and the first index signal after the ascending flank corresponds with the zero point The initial movement takes place in direction of the negative left hardware limit switch and the reference cam is inactive see symbol B in Fig 5 10 1 Application Manual P7000 P6000 oy drive Type 7 to 10 reference cams index signal and positive limit switch Application Manual P7000 P6000 5 P7000 P6000 in positioning operation With type 5 the direction of movement is reversed as soon as the reference cam becomes active and the first index signal after the descending flank corresponds with the zero point For type 6 the first index signal after the ascending flank corresponds with the zero point Index signal IE I I I Reference cams l I Fig 5 10 Type 5 6 negative limit switch and index signal The initial movement is in
169. et with the drive controller during the controller initialization Limitations Torque limt fimo 000 s Molor rated torque Mmax 41 100 Speed limit 100 00 F Moter rated speed Fig 6 21 Limitations PROFITOOL Value range WE Unit Parameters Torque limitation 0 00 999 95 100 00 oan Rated motor torque 0 001 5000 4 1 Nm a y Speed limitation 0 00 999 95 100 00 ae Rated motor speed 0 100000 1500 rpm ec Application Manual P7000 P6000 6 34 drive Application Manual P7000 P6000 6 General software functions There are two possible ways to limit the torque variably while the closed loop control is active 1 Torque limitation via analog input ISA1 With setting FISA1 SCALE the set maximum torque is reduced from 0 0 V 100 10 V 2 Torque limitation by means of parameter 805 SCALE With this setting the set maximum torque is reduced from 0 100 The parameter is permanently stored i e after switching the mains supply on the setting is always 100 With this function the maximum torque can be dynamically changed via field bus or PLC If the analog input is set to FISA1 SCALE setting the parameter 805 SCALE will have no effect Function Value range WE Data Parameters types fixpointl6 805_SCALE 9 Torque scaling 0 00 100 00 100 00 RAM CTRL 6 35 drive 6 2 3 Stop ramps Application
170. evance for the speed control In case of positioning the command REF is processed because this command refers to Setpoint reached Setpoint reached JMP REFVAL Hxxx Fyyy Ny END exceeded JMP REFVAL gt Hxxx Fyyy Ny END JMP REFVAL gt Hxxx Fyyy Ny END fallen short of JMP REFVAL lt Hxxx Fyyy Ny END JMP REFVAL lt Hxxx Fyyy Ny END compare JMP REFVAL Hxxx Fyyy Ny END JMP REFVAL 0 Ny END JMP REFVAL l 0 Ny END Axis status REF reached JMP REF 1 Ny END Actual value in setpoint window REF not reached JMP REF 0 Ny END Actual value not in setpoint window in dependence on a flag JMP REF Mxxx Ny END Flag Mxxx 1 Mxxx 0 Axis stopped JMP ROT_O 1 Ny END Axis moves JMP ROT_O 0 Ny END in dependence on a flag JMP ROT_O Mxxx Ny END Status of a digital input Status 0 JMP Ippi 0 Ny END Status 1 JMP Ippi 1 Ny END Application Manual P7000 P6000 7 18 marono 7 User programming Status of a digital output Status 0 JMP Oppi 0 Ny END Status 1 JMP Oppi 1 Ny END Status of a logic flag JMP Mxxx Myyy Ny END JMP Mxxx Myyy Ny END JMP Mxxx 0 Ny END JMP Mxxx 1 Ny END JMP Mxxx amp Ippi Ny END JMP Mxxx Ippi Ny END JMP Mxxx Ippi Ny END JMP Mxxx amp Oppi Ny END JMP Mxxx Oppi Ny END JMP Mxxx Oppi Ny END Status of a special flag JMP spec flag Mxxx Ny END JMP
171. eveses 5 2 Targetposition pessier nenas 5 32 Teach IN ce dscitet sacs caeteaeidstcaecarwacteactenes 5 39 Temperature sensor csccescsecesccesesens 6 83 Temperature Sensors types eceeeeeeees 6 84 Terminals as control location eeeeeeeeeeeeeeee 6 57 Time diagram for the motor holding brake BRKZ cssdes tvs actessccecicacesasededieveeeaces 6 98 Time diagram for the motor holding brake BRK2 6 94 Torque Control cedscsceccsscasserceoseseasaveess 6 62 Torqgue control sidesiserisseseiiecesiiiiiessa 6 62 Block diagram sssssseessessessesssseesee 6 52 Torque limitation via analog input s ssssssssessssssssessese 6 35 via parameter ssesseesessessessesessrese 6 35 Track signal correction GPOC scceeeee 6 81 Trailing distance permissible sc vse scecevencsasedecesecseaedens 5 9 Travel profile wivececesavecdsavesydesedeseideceves ee 5 9 Travel set Display and selection c seeeeeeeeee 4 8 limit valies scecSesdescusdeidecessadeccesdeceds 5 9 Application Manual P7000 P6000 Appendix B Index REPCUUON secs stecsscerscgsemwecwascee steers 5 34 See follow up Order eeeeseeeeeeees 5 34 Switching points ccseeeseeeeeeees 5 36 Travel set Selection seceeeeeeeeeeeees 5 28 Travelling ENESE amp os ccsicisencasd Gedeweiestecaenlsoeens 7 36 with continuation ceeeeeeeeeeeeee 7 34 Truth table for control via terminals eseeeeeeee
172. forF lore fore feee pLc PLC input ISA00 SA01 181 FISAI Function selector analog standard OFF PLC PLC PLC input ISA01 isp00 210 FIisoo function selector digital standard stany ort orF ptc PLC input ISD00 i p01 _ 211 FIS01 Function selector digital standard OFF PLC PLC PLC input ISD01 isp02 212 FIso2 function selector digital standard RRR fTaBo Pc pLc PLC input ISD02 isp03 213 Fiso3 function selector digital standard lofe TAg Pc fPLc PLC input ISD03 OSA00 200 FOSA0 Function selector for analog output ACTN PLC PLC PLC OSA00 Function selector digital standard OSD00 240 FOS00 input OSD00 REF Function selector digital standard OSD01 241 FOS01 input OSD01 ROT_0 Function selector digital standard OSD02 242 FOS02 input OSD02 S_RDY Table 4 5 Presetting of the control inputs and outputs with speed control 4 12 Application Manual P7000 P6000 drive 5 P7000 P6000 in positioning operation 5 1 Pre set solutions wuss 5 2 5 2 General FUNCTIONS sssssssssisinrnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnan 5 4 5 2 1 Positioning Modes sasssahsicteatadulansestvehuabasdeusaadeuchia 5 5 5 2 2 Units and standardization vcs 5 6 5 2 3 Travel profile ccc 5 9 5 2 4 PTUs scan Galt a dati Sree da aneas 5 13 5 2 5 Limit Switch eeesesrrrerrr 5 25 5 2 6 Manual operation J og MOE seenen 5 26 5 3 Positioning with table travel sets sssi 5 28 5 3 1 Travel set selection cccccccccrererer 5 28 5 3 2 Sequence of travel set selection with follow
173. frequency 690_PMFS Tab Output stage AKHZ 0 16KHZ 3 8KHZ 1 kHz CONF Setting the switching frequency parameter PMFS BUS Setting Function 0 4KHZ 0 4 kHz 1 8KHZ 1 8 kHz 2 12KHZ 2 12 kHz 3 16KHZ 3 16 kHz Table 6 29 Output stage switching frequency Depending on the application the following steps must be performed to set the speed control circuit e Adaptation of the speed control amplification to the existing external inertia For this purpose one can either enter the known moment of inertia directly in the function mask button Moments of inertia or the speed control amplification can be changed in percent SCGFA in The moment of inertia for the system must thus be reduced to the motor J m Moment of inertia of the motor ni n2 MOJ NM J req reduced moment of inertia of the system Jun dies i J i Transfer factor Fig 6 32 Reduction of the moment of inertia e Adaptation to the stiffness of the drive line This is possible in two different ways The control circuits can either parameterized or the adaptation can be made through an assistant In the assistant the stiffness can be specified in percent and the Application Manual P7000 P6000 6 65 drive Application Manual P7000 P6000 6 General software functions newly calculated values can be transferred to the controller setting A value of lt 100 re
174. fset between the zero positions of rotor and encoder is referred to as encoder offset For servo motors form WattDrive GmbH it is assured that the encoder offset is always constant normally Oh It has been set in the corresponding motor datasets 6 80 drive A Track signal correction GPOC Application Manual P7000 P6000 6 General software functions Attention For the determination of the encoder offset the motor is energized Rotary movements are thereby possible Unknown encoder offsets can be detected by means of the PROFITOOL The button Determine encoder offset must be pressed for this purpose Resolvers show systematic faults which are reflected by the measured position and the speed calculated on this basis Dominant encoder faults are in this case amplification and phase faults as well as offset proportions of the track signals The Gain Phase Offset Correction GPOC was developed for this purpose This patented method evaluates the amplitude of the complex pointer described by the track signals using special correlation methods The dominant faults can thus be exactly determined and subsequently corrected without being influenced by other encoder faults KEYPAD Bus PROFITOOL Signal correction function 0 OFF The track signals are corrected with fixed values These values are individually determined for each device in the factory Scattering of the individual encoders cannot b
175. ftware functions e With setting TENMO 0 the motor contactor function is deactivated e With activation of the ENMO function the motor contactor is automatically closed during the self setting process e The motor contactor function is active if one of the function selectors of digital outputs OSDOx or OEDOx has the value ENMO or ENMO The time TENMO can be set in the PROFItool after selecting the function under Options Torque limt fimo S Motor sated lorque 100 Speed limit 100 00 Motor rated speed a E _ 100 Vivien 100 Qk Garnet Fig 6 10 Setting the breaking delay TENMO PROFITooL Value range WE Unit Parameters Making and breaking delay between digital output of T motor contactor and 0 2000 300 ms AA TENNO _OUT controller release output stage release Note If switching takes place with the output stage in the motor line still active a reactance coil must be used to avoid the error message E OC caused by transient currents in the switching phase Furthermore with error message E OC 1 the system will check whether the hardware release ENPO is applied before submitting the error message If this is not the case it is assumed that an intended switching process by a motor contactor took place in the motor line and error message will be suppressed 6 22 watt i net 6 General software functions 6 1 3 Analog inputs Function Effect
176. g flank corresponds with the zero point With type 12 the zero point corresponds with the first index signal with active reference cam 5 21 drive Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Type 13 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 14 the reference cam is overtravelled and the first index signal after this corresponds with the zero point The initial movement is in direction of the negative left hardware limit switch The limit switch is inactive and the reference cam is active see symbol B in Fig 5 12 Type 13 changes the direction of movement if the reference cam is inactive The zero point corresponds with the first index signal after the ascending flank With type 14 the first index signal is the zero point after descending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch The negative limit switch is inactive and the reference cam is active see symbol C in Fig 5 12 With type 11 the zero point corresponds with the first index signal after descending flank of the reference cam Type 12 changes the direction of movement after descending flank of the reference cam The zero point corresponds with the first index signal after the ascending flank of the reference cam The initial movement
177. g settings Positioning tabin process sets contiol via terminal Oring vet table Onving pratile Homingmode Link ewitch Manual mode Switching points Switching point Taget position mode RELS 1 ret to darting postion Actiowe Fiag CH1 T 1 Set cheer Gi ear Flog CH2 fore D Inactive fore 0 bnactirve Fsg H3 fore D Inactive fore U beaetinve Target position The target position is effective in dependence on the switching point mode and its linkage with a travel set PROFITOOL Value range WE Unit Parameters 2147483648 766 x_CPOS Target position 2147483647 0 variable _RTAB x switching point 0 3 Application Manual P7000 P6000 5 37 watt drive 5 P7000 P6000 in positioning operation Mode PROFITOOL Value range WE Unit Parameters 767 x_CREF Mode ABS RELE ABS _RTAB X switching point 0 3 Setting of mode BUS Setting Meaning The switching point refers to the reference position or the p ii absolute position of the system Relative to the travel set start position Switching point 1 ii responds after a relative path related to the start position Relative to the travel set end position The switching point 2 RELE responds after a relative path before reaching the end position Marker PROFITOOL Value range WE Unit Parameters 768 x_
178. g the reactions with HALT Reactions with quick stop Quick stop brakes a running movement The drive controller is in Quick stop state Acceleration up to the previous state Technology ready is possible during the braking process and in dependence on the reaction as long as the closed loop control is active Quick stop is triggered via Triggering p a E aff location Quick stop enable Quick stop disable Terminals FIxxx STOP 0 FIxxx STOP 1 Field bus Bit STOP 0 Bit STOP 1 PLC SET BRAKE 1 SET BRAKE 0 Table 6 15 Quick stop triggering locations BUS Setting Reaction 0 0 Lock output stage drive runs out 1 1 Braking with programmed deceleration ramp the output stage is subsequently locked 2 2 Braking with quick stop ramp the output stage is subsequently locked 3 3 Braking with max dynamics at the current level The speed setpoint is set to 0 the output stage is subsequently locked 4 4 Braking with max dynamics at the current level The speed setpoint is set to 0 the output stage is subsequently locked 5 5 Braking with programmed deceleration ramp The drive remains in quick stop state the axis is energized with speed 0 2 Table 6 16 Setting the reactions with quick stop 6 38 watt i marno 6 General software functions BUS Setting Reaction 6 6 Braking with quick stop ramp The drive remains in quick stop state the a
179. ginner 362 PSW2 extended basic parameters editable 2 000 e extended parameter display for commissioning and field bus connection Advanced 363 PSW3 e Parameterization for standard applications 3 000 e extended parameter display with expert knowledge in control technology Expert 364 PSW4 e all closed loop control parameters editable 4 000 e extended parameter display Others 365 PSW5 for system integrators 5 Expert personnel 367 PSWCT Operation and start up using the KP10 operation panel CTRL menu 573 1 WE Factory setting Table 3 1 Setting operation levels Application Manual P7000 P6000 3 2 drive Application Manual P7000 P6000 3 Operation structure If a password is set up for operation level 2 4 both viewing and editing of parameters in the corresponding operation level by means of the KP10 operation panel is maintained until a change to a lower operation level For this purpose a new operation level must be selected via parameter 01 MODE Changing the password for an operation level A password can only be changed via levels with operation rights i e passwords of a higher operation level cannot be changed or viewed A password is changed by selecting the parameter editing and finally saving the password by pressing the Enter key on the KP10 operation panel This change can also be made via PROFITOOL The password will only become active when changing to a lower operation level Changing the operation level in
180. gital motor potentiometer Raise setpoint function is raised see chapter 6 2 7 25 MP_DN Motor potentiometer The rotary speed setpoint for the digital motor potentiometer Reduce setpoint function is reduced see chapter 6 2 7 26 MAN Activation of manual mode With field bus operation CAN PROFIBUS changeover of setpoint source 289 SADD1 xx and control location to terminal 260 CLSEL TERM See also Explanations to various functions 27 TIPP J og mode positive direction In manual positioning the axis can be moved in creep speed or in rapid motion see chapter 5 2 6 28 TIPN J og mode negative direction In manual positioning the axis can be moved in creep speed or in rapid motion see chapter 5 2 6 Table 6 5 Application Manual P7000 P6000 Function selectors for digital inputs drive 6 General software functions BUS Setting Function Effect 29 TBEN Release of table position Acceptance of the selected positioning table index and execution of the corresponding travel set see chapter 5 3 1 30 HALT Feed enable The running movement of the axis is interrupted according to the HALT reaction see chapter 6 2 3 Reaction with Stop feed and continued when reset 31 PLCIS Stop PLC program The PLC program is stopped after the current command line has been processed When removing the signal the program continues with the next command line 32 HOMSW Reference
181. gt SLIM otherwise CDS 1 gt TERM Changeover via digital input l CDS 2 if IxDxx 1 otherwise CDS 1 Table 8 4 Settings for variants of data set changeover 8 4 watt drive 2d 8 Speed Control OpenLoop for P7000 P6000 BUS KP PT Function 3 ROT Changeover when reversing the sense of rotation CDS 2 if ccw rotation otherwise CDS 1 4 SIO Changeover via SIO CDS 2 if control bit is set otherwise CDS 1 5 CAN Control via CANopen interface CDS 2 if control bit is set otherwise CDS 1 6 OPTN Changeover via field bus to optional slot CDS 2 if control bit is set otherwise CDS 1 Changeover when exceeding the speed setpoint of 7 SLABS aaa value value formation in parameter CDS2 if speed gt SILIM otherwise CDS1 Table 8 4 Settings for variants of data set changeover Active characteristics curve data set display with 650 CDSAC BUS KP PT Function 0 CDS1 characteristics curve data set 1 CDS1 active 1 CDS2 characteristics curve data set 2 CDS2 active Table 8 5 Display of active data set 8 2 2 Speed profile generator Function Effect a OpenLoop Setting of acceleration and e Matching the dynamics of deceleration ramps for the the motor to the application rotary speed profile e Jerk reduced moving of the Setting of a slip for the start drive and end points of the linear ramp The ramps can be selected separately for each data set The parame
182. hay erduclarnce Wt Otm 0 0128 Rotoewaderttand 100 x 1024 Fig 6 36 Motor parameters PROFITOOL Value range WE Unit Parameter Primary resistor 0 0 500 0 6 0 Q CaaS Leakage inductance 0 0 10 0 0 018 H aaa Rotor resistance 0 0 500 0 4 2 Q ee 6 72 drive Application Manual P7000 P6000 6 General software functions PROFITOOL Value range WE Unit Parameter Rotor resistance scaling factor 120 recommended for rotor 20 300 100 837 MORRF _MOT resistance with warm motor Main inductance only for display calculated on 850_MOL_M basis of rated flow and ec 9a H Cmon magnetizing characteristic 840_MOFNM Rated flow 0 0 100 0 0 358 Vs MoT 6 73 drive 6 4 2 Encoder i Project planning with one encoder 6 General software functions Application Manual P7000 P6000 Function Effect Encoder setting Determination of the motor e Evaluation of up to two rotor position encoders e Determination of the movement of the connected mechanics Controlled operation of the drive requires the use of an encoder Configuration takes place via the tab Encoder Note This chapter solely describes the setting of the encoders The specification and acceptability of the encoders as well as their interfaces and connections is described in the operating instructions for the corresponding positioning con
183. he associated optimal controller setting can be set in two different ways 1 Motor database A database with the settings for all motors is available for motors from WattDrive GmbH 2 Motor identification for asynchronous motors with P6000 For unknown motors the motor identification on the basis of types plates can be performed with the PROFITOOL Application Manual P7000 P6000 6 67 drive Application Manual P7000 P6000 6 General software functions Molor Encode Motor protection Brake Actual motor Select new motor from data base Motor selection kientity new motor from type plate data Motortidertification Fig 6 34 Motor and encoder In both cases a presetting is determined for the controller which is based on the following assumptions e The torque controller is set up optimally so no further adjustments are necessary e The setting of the speed controller is based on the assumption that the moment of inertia of the machine reduced to the motor shaft is equal to the moment of inertia of the motor e The position controller has been designed for elastic coupling to the mechanics e Optimizations can be made according to chapter 6 3 Motor control Motor database If the data for the motor to be used are available in a database of the DRIVE MANAGER these can be selected via the option Motor selection and transferred to the device A database with the settings for all mo
184. he parameter settings for the analog input are described in chapter 6 1 3 the specific settings of inputs and outputs in chapter 4 8 Analog input options x L 10Vconempendito 100 Z OV comerponds to _o amp 2 OV conesponds to _o g 4 A0Vconerpondivo 100 a Fig 4 3 Setting the torque control With the preset solution SCT_1 the scalable rotary speed reference value is specified via the analog input ISAO The parameter settings for the analog input are described in chapter 6 1 3 the specific settings of inputs and outputs in chapter 4 8 Scaling of reference see chapter 6 1 3 see chapter 4 2 1 see chapter 6 2 2 see chapter 6 2 3 Fig 4 4 Basic setting Speed control 10V reference value 4 6 watt drive 4 P7000 P6000 in rotary speed operation 4 5 Speed control The fixed speed table is the reference source for the preset solutions with SCT_2 SCC_2 and SCB_2 There are 16 travel sets 0 15 to be entered reference value via the mask Fixed speeds from Fig 4 6 The specific settings of inputs from fixed and outputs for the control locations via I O terminals SCT_2 CANopen speed table SCC_2 or PROFIBUS SCB_2 are described in chapter 4 8 Speed control fixed speeds EJ Tabel of frend speede Speed profi see chapter 4 2 1 see chapter 6 2 2 see chapter 6 2 3 Fig 4 5 Basic setting Speed control fixed speeds Table of fixed speeds Table of fixed speed
185. i 249 FOVO1 Ovol ov0l 0 OFF COUT P7000 P6000 Table 6 9 Parameter for setting the virtual digital outputs Settings for the function selectors BUS Setting Function Effect 0 OFF no function Output switched off 1 ERR Collective error message Device is in error state The error must be rectified and reset before resuming operation see chapter 6 9 1 Error messages 2 WARN Collective warning Parameterizable warning limit fallen message short of device still operable see chapter 6 9 2 Warning messages 3 ERR Collective message fault Device is in error state The error must denied be rectified and reset before resuming operation see chapter 6 9 1 Error messages 4 WARN Collective message Parameterizable warning limit warning denied exceeded device still operable Fail safe design see chapter 6 9 2 Warning messages 5 ACTIVE Control in function Power stage active and closed loop control control functioning 6 ROT_R Sense of rotation Motor turns clockwise clockwise 7 ROT_L Sense of rotation anti Motor turns anti clockwise clockwise 8 ROT_0 Motor stopped Motor in standstill window depending on actual value Table 6 10 Setting the function selectors FOxxx for the digital outputs Application Manual P7000 P6000 6 15 drive Application Manual P7000 P6000 6 General software functions BUS
186. ial functions The general functions are listed in chapter 5 2 5 2 drive 5 P7000 P6000 in positioning operation The special functions i e the reference source for the respective presettings are described in chapter 5 3 to 5 5 Chapter 5 6 defines the characteristics of the control location or the device control including the terminal assignment Note After selection of the preset solution the units and standardization of the drive must first be adjusted as described in chapter 5 2 2 These are the basic requirements for the settings following thereafter Application Manual P7000 P6000 5 3 drive 5 2 General functions Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Activating the function button Basic Settings in PROFITOOL opens the following window H fretenn E C T C OFF 0 Ori a ade sandai pi OFF 0 Ori ot ade stancent pi l tk Fig 5 1 Preset solution Positioning Travel set tables control via terminal This chapter describes the types of positioning and the functions control buttons and tabs Units and standardization Travel profile Referencing Limit switch Manual operation 5 4 watt drive 5 P7000 P6000 in positioning operation 5 2 1 Positioning Positioning is sub divided into three different modes modes Positioning mode Meaning The positioning application requires an absolute reference posit
187. ied in Hxxx The GO 0 command is flank triggered Referencing can therefore only be stopped by a cancellation condition e g STOP B The status of referencing can be monitored with the special flag STA_HOMATD Example for referencing with status query NO10 SET H000 30 30 degree zero offset N020 GO 0 H000 N030 JMP STA_HOMATD 1 N050 HOMATD 1 gt Reference point i defined HOMATD 0 gt Reference point not defined N040 JMP N030 Return in query NO50 further program run after referencing the thus detected zero position will have the value 30 assigned in the device 7 35 drive Endless travel Speed synchronism i Angular synchronism electronic transmission i Application Manual P7000 P6000 7 User programming via variable GO V Hxxx Hxx Index of variables with speed value The sign of the value in Hxxx determines the travel direction Switching on synchronous travel GOSYN 1 Switching off synchronous travel GOSYN 0 With speed synchronism configuration of input see chapter 6 2 4 the speed of the reference encoder in rpm is switched to the setpoint structure The speed acceleration ramps see chapter 6 2 are active i e soft coupling and decoupling Note Speed synchronism is only active with speed control The speed setpoint of the reference sensor always refers to the motor shaft When using a gearbox on motor and target and the drive sh
188. ien SADDI RCON 0 Relerence constat 0 bed gt Source 2 RAD 1 Reimence of analog reer ISAND RAT 2 Reterence of analog ress ISA01 RSIO 3 Relerence of omal rhetace RSZ32 RDIG 4 Reimence of digtal input at siave operation ROAN 5 Reimener of CAN intesiace RPLC 6 Reference of PLE Standard inference RCON 0 Reletence Reference scence on selection vas incat input tuncton SADD 2 RIAB 7 Reletence of process sel lable REEX 8 Redesence of freed value JEE TER ARMIN 3 Reference of minimum vake Soeed motor poti RMAX 10 Reference of manmum vakse ROPT 11 Reimener of option mackie A TT OFF 0 Inactive hd Fig 6 4 Setting the parameter SADD1 in MAN mode A start signal must be switched to a digital input and parameterized FIxxx START Note While the MAN function is active no Saving of device settings must take place because the device setting would be changed in the background and the original setting would not become active when switching on the mains supply the next time drive 6 1 2 Digital outputs Application Manual P7000 P6000 6 General software functions Function Effect e The function selectors are Free function assignment for used to determine the all digital outputs function of the digital outputs 1 Selection of function for the digital 1 output 2 Digital value Output 2
189. in a building with ultimate speed Anti clockwise rota Speed limit of motor tion holding brake clock wise enables torque 32764 0 90 min ise building with ultimate speed Hysteresis NO FUNCTION 1 315 SSHYS 1 32764 10 min _FEPROM Release brake Delay of the setpoint 316 TREF setpoint specification with motor 0 65535 100 ms _FEPROM specification brake brake application time Apply brake Delay of deactivating the 317 TCTRL control off control with motor brake 0 65535 100 ms _ _FEPROM releasing the brake Table 6 38 Parameters for motor holding brake BRK2 Explanations The speed limit of speed control OpenLoop for releasing the motor holding brake is independently adjustable for clockwise or anti clock wise rotation Please consider the hysteresis e The speed of clockwise or anti clockwise rotation is adjusted to the slip speed of the motor e The value of the speed hysteresis for the motor holding brake is half the value of the slip of the motor e The re parameterization of a digital output from or to the setting BRK2 does not work online For parameterization the output stage must be inactive e If the brake control BRK2 is linked with the motor protection control ENMO the timing element 247 TENMO Time between motor contactor and active control is executed before or after the brake is triggered Application Manual P7000 P6000 6 97 drive Application
190. in the sequential program C00 C10 0 to 65535 yes PLCP The image can also be written in the program as special variable OUTPUT OSD00 OSD02 Bit0 Bit2 Image of the digital OED00 OED03 Bit 4 Bit 6 e 464 PLC_O outputs bitcoded OV00 OVO1 Bit7 Bit 8 y _PLCP In order to set outputs from within the program the corresponding function selector must be set to FOppi PLC Floating point l 3 37x1038 to 465 PLC_F variables Access in the sequential program F000 F127 337x108 yes PLCP The image can also be written in the program as special Image of digital and variable INPUT 466 PLC analog inputs bit 1SD00 ISD03 Bit 0 Bit 3 read only PLCP coded IED00 IED07 Bit 4 Bit 11 ISA00 ISA01 Bit 12 Bit 13 Table 7 2 PLC Variables and flags Application Manual P7000 P6000 7 42 warty 7 User programming 7 4 2 PLC control The PLC control parameters enable a flexible configuration of the PLC parameters program or of its sequence PROFITOOL Meanin Changing Parameter I ONLINE Name of the PLC The project name is defined when generating the sequential program text declaration The name directly designates the text declaration file project 468 PLCPJ program Project yes name name txt _PLCC max 32 characters without special characters spaces will be ignored This parameter enables the starting stopping depending on parameter 452 PLCCT PARA or indicates the current
191. ina aa 6 131 User programming PLC f ncHonality ciiictisiices corseesaretsravacestacnareisainaaintores 7 3 PLC Program sssusiriasnasis asoisunassnasuunanaasunaasaasinassaarinissa 7 4 PEC ditOr si cea astel desusbad scalars an 7 4 New generation Of program vcs 7 5 PLC program Structure oo 7 5 Program testing and editing occ 7 7 PLC program TGS caciccatacacacicanstacesacatacttdsadsseesnades 7 7 Program handling ces sccesiveesecsstendaees aaeeaeausneaiats 7 8 PLC Command SyntaX ssssssssssrnsnnsnnsnnnnnnnnnnnnnnnnnnnnnaa 7 10 QUEIVIGW txrintecuninternntelann anna ann 7 11 Detailed explanations voces 7 17 PLC control and parameters wuss 7 41 PLC VERE OS iannnoscnnnnunmccsniiananns 7 42 PLC control parameters occ 7 43 PLC program examples vse 7 45 Conveyor belt oo ecscesesssesseseesseetetseateteneeaees 7 46 Absolute positioning vcs 7 47 Relative positioning vcs 7 49 Sequential program sssccccerererinisns 7 50 Speed Control OpenLoop for P7000 P6000 Preset solution so siceiecescscsicoscesvescacorcasnesesstnovenssecmsiees 8 2 General FUNCTIONS sssssssssssnnsnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnan 8 3 Data set changeover 0 8 3 Speed profile generator OpenLoop sses 8 5 Limitations Stop raMpS sesccccererrcrriren 8 8 drive Application Manual P7000 P6000 8 3 8 3 1 8 3 2 8 3 3 8 3 4 8 3 5 8 4 8 5 OpenLoop motor control Method uss 8 10 Start current controller ssec 8 11 Vibration damping Controller vcs
192. ing operation The buttons Limitations and Stop ramps are described under the general software functions in chapters 6 2 2 Limitations and 6 2 3 Stop ramps Limitations are adjustable for e torque rotary speed Stop ramps or their reactions are adjustable for e switching off of closed loop control e stop feed quick stop e Error Speed override In positioning the travel speed can be scaled online The speed override function with a possible scaling range from 0 150 of the travel speed serves this function The override is set by means of the volatile parameter POOVR Data Function Value range WE types Parameters Speed v usign8 753 POOVR override ae 100 Ram PBAS The override function is activated by e Changing the parameter 753 POOVR e g via field bus e Analog input FISA1 SCALE The analog value is written directly to parameter 753 POOVR Manual changing of 753 POOVR is of no effect in this case e PROFIBUS EasyDrive control word DirectPos The transmitted value is set directly to parameter 753 POOVR Manual changing of 753 POOVR is of no effect in this case Application Manual P7000 P6000 5 10 drive 5 P7000 P6000 in positioning operation Profile PROFITOOL Meaning Value range WE Unit Parameters 0 Linear acceleration profile i e no jerk limitation i 3 J erk limited acceleration profile with programmed _ 597 MPTYP Type of profi
193. ion zero This position is either generated by referencing or by means of a position measuring system measuring absolute values An absolute distance is travelled with respect to this reference position ABSOLUTE Relative travel tasks refer to the last target position even if this position has not yet been reached e g when triggered during a progressing positioning process A new target position is thus calculated on the following basis Target position new Target position old relative distance Exceptions Terminating an endless travel task with a relative travel task RELATIVE Releasing a follow up task in the table of travel sets with the effect NEXT Immediately Rel Bez ActPos Here the relative distance refers to the actual position at the time of release A new target position is thus calculated on the following basis Target position new Actual position relative distance Relative positioning processes do not require a reference point or no reference travel For endless travel tasks the drive is moved with the specified speed speed mode A target position contained in this travel set is of no meaning Table travel sets releasing a follow up task with the start condition WSTP Without stop from target position are also endless travel tasks However these are cancelled at the specified travel position and transferred to the follow up order An endless travel task can only be terminated w
194. ion length 360 absolute target position 800 n 800 360 2 222 Target position 80 800 2 x 360 Target position gt circulation length Table 5 5 Endless travel range behaviour of absolute travel tasks 5 12 drive Behaviour of relative travel tasks Behaviour of endless travel tasks Behaviour in case of travel set changes during progressing positioning 5 2 4 Referencing Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Relative travel tasks always refer to the last target position even if this position has not yet been reached e g when triggered during a progressing positioning process With relative travel tasks paths longer than the circulation length are possible if the target position exceeds the circulation length Example Circulation length 360 relative target position 800 start position 0 The drive performs two complete revolutions 720 and stops during the 3rd revolution at 80 800 720 For endless travel tasks the drive is moved with the specified speed speed mode A target position contained in this travel set is of no meaning Table travel sets releasing a follow up task with the start condition WSTP Without stop from target position are also endless travel tasks However these are cancelled at the specified travel position and transferred to the follow up order Endless travel tasks run with specified sp
195. ired to achieve the specified speed reference value generator The parameter MPTYP linear jerk limited and JTIME can be used to slip linear ramps at their end points to limit the appearance of jerks Type of movement Setting dynamic jerky MPTYP 0 linear ramp without slip Protecting mechanics MPTYP 3 smoothened ramp by slip by J TIME ms Table 4 2 Activation of the jerk limitation JTIME f gt n 1 min ACCR 4 Fig 4 1 Rotary speed profile generator Application Manual P7000 P6000 se drive Application Manual P7000 P6000 4 P7000 P6000 in rotary speed operation Due to the jerk limitation the acceleration and deceleration times rise by the slip time JTIME The rotary speed profile is set in the PROFITOOL according to Fig 4 2 Aocelatabon E wud Ves Decelershon 1000 Treads Asea relerence reached s i Profile type 3 joll imdod ramp smoothing Smoothing to reauet jot fo Qk Cant Fig 4 2 Rotary speed profile PROFITOOL Value range WE Unit Parameters Acceleration 4 590_ACCR only for speed control Sele g min s SRAM Deceleration 1 591_DECR only for speed control ieee g min s SRAM 230_REF_R n u sl Area Reference reached 0 32760 20 min OUT Type of profile 0 Linear ramp 0 3 3 _ 597_MPTYP 3 J erk limited ramp a _SRAM 1 2 not supported i 596_J TIME Slip 0 2000 100 ms SR
196. is in direction of the negative left hardware limit switch Limit switch and reference cam are active As soon as the negative limit switch becomes active the direction of movement will change see symbol D in Fig 5 12 With type 11 the reference cam must be overtravelled so that the first index signal corresponds with the zero point Type 12 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 13 the zero point corresponds with the first index signal with active reference cam 5 22 watt dr iveDD gt 5 P7000 P6000 in positioning operation Type 14 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point Index signal _f oy l I I l l I I Reference cams i oo I l I l i I positive limit switch I i Fig 5 12 Type 11 to 14 reference cams index signal and negative limit switch Type 15 and 16 These types of referencing are not defined Type 17 to 30 reference cams Referencing types 17 to 30 are similar to types 1 to 14 The zero point determination does not depend on the index signal but solely on the reference cams or the limit switches vl oy v2 p2 n I vl 1 Reference cams Fig 5 13 Type 17 to 30 reference cams 2 Application Manual P7000 P6000 ee dri
197. ital standard ISD03 213 FIS03 input ISD03 OFF HOMSW HOMSW HOMSW HOMSW HOMSW HOMSW 05400 200 FOSAO Function selector for analog output ACTN PLC PLC PLC OSA00 Function selector digital standard OSD00 240 FOS00 input OSD00 REF Function selector digital standard OSD01 241 FOS01 input OSD01 ROT_0 Function selector digital standard OSD02 242 FOS02 input OSD02 S_RDY Table 5 15 Presetting of the control inputs and outputs on P6000 Application Manual P7000 P6000 5 43 watt drive 5 P7000 P6000 in positioning operation Application Manual P7000 P6000 5 44 drive 6 General software functions 6 1 Inputs and OUTPUTS ssssssssnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnann 6 1 1 Digital INputS csssctesrans dese anes tas eeienenaytnas 6 1 2 Digital QUtQUES cs csscdssscisssssssssstscscicstacscsseascainenes 6 1 3 Analog WOU soscccccrericncnnenerin 6 1 4 Analog output for P6000 octets 6 2 Setpoint generation rss 6 2 1 Rotary speed profile sccoccreiunnetsmninedan 6 2 2 LIMITATIONS ssc cevesetvarte seh scen talon aetiente ns 6 2 3 Stop AIDS sisirin aaia 6 2 4 Reference encoder Master Slave operation 6 2 5 Setpoint structure further settings control locaton ssrin a aa 6 46 6 2 6 Control OCation caserssdiastastatsjedettuivacs tendered canarias 6 55 6 2 7 Motor potentiometer function vce 6 58 6 3 Motor Control ssissisirasinrainsnarnisansaknnaannainnvannanniaansani 6 62 6 4
198. ith a new travel task Absolute travel tasks approach the new target position ENDLESS directly Relative travel tasks refer to the actual position at the time of release Endless positioning processes do not require a reference point or no reference travel Endless positioning can be used to realize a speed control or online switching between positioning and speed control The CANopen Profile DSP402 Profile Velocity Mode is a form of endless positioning Table 5 2 Types of positioning Application Manual P7000 P6000 ae drive 5 2 2 Units and standardization Li 1 5 P7000 P6000 in positioning operation Application Manual P7000 P6000 Note After selection of the preset solution the units and standardization of the drive must first be adjusted These are the basic requirements for the settings following thereafter These settings can be made through the PROFITOOL Units For positioning the units for position speed and acceleration can be set If not specified differently all positioning parameters are based on these units The following base units can be set e Translatory unit m e Rotary units Degree rev rad sec min e Special units Incr Steps e Units with user defined text max 20 characters User The time basis for the speed is automatically set to Exp Path unit s the one for acceleration to Exp Path unit s All parameters are integer values Floating point settings are
199. l motor is energized The sense of rotation depends on the setpoint Low High flank controlled Level controlled via AUTO Start function under Start Level triggered Auto Start on page 6 55 The reaction of the drive to remove the start signal can be programmed see chapter 6 2 3 Reactions in case of Control off STR Start clockwise Start release for clockwise rotation of motor not during positioning See also Explanations to various functions STL Start anti clockwise Start release for anti clockwise rotation of motor not during positioning See also Explanations to various functions INV Reversal The setpoint is inverted this causes a reversal of the sense of rotation only for speed control STOP Quick stop Quick stop in accordance with quick stop reaction Low active see chapter 6 2 3 Reactions with quick stop SADD1 Changing the setpoint source 1 280 RSSL1 The setpoint source 1 280 RSSL1 is switched over to the setpoint source set in 289 SADD1 see chapter 6 2 5 Setpoint structure further settings control location SADD2 Changing the setpoint source 2 281 RSSL2 The setpoint source 2 281 RSSL2 is switched over to the setpoint source set in 290 SADD2 see chapter 6 2 5 Setpoint structure further settings control location E EXT External error Error messages from external devices cause an error message with reaction a
200. l ProgPos is used Detailed information on handling the PLC as well as programming and operation with the PLC editor see see chapter 7 User programming The control terminal for positioning is configured in dependence on the chosen preset solution 5 41 watt drive 5 P7000 P6000 in positioning operation 5 6 1 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 5 14 After selecting the P7000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution I O Parameters Function scT_1 PCC_1 E PCC_2 ram PCC_3 WE PCB_1 PCB 2 7 PCB 3 isao 180 FIsao Function selector analog standard J osoy lore pic forr forr pic__ pic input ISA0 sal lagiigan FUN on selector analog standard ae PLC OFF OFF fpc PLC input ISA1 isD00 210 Fisoo Function selector digital standard erapy Jorr pic starr lore recam PLC input ISD00 spor 211 Fiso1 Function selector digital standard ofe fREcam Recam TBEN RECAM PLC RECAM input ISD01 isp02 2i2 Fiso2 Function selector digital standard opp pLc TaBo pic PLc input ISD02 goes 213 riso3 FUME selector digital standard opp pLc TABI pic PLc input ISD03 ISD04 Function selector digital standard OFF PLC TAB2 PLC PLC input ISD04 ISD05 Function selector digital standard OFF PLC TAB3 PLC PLC
201. l as the commissioning and diagnose of a drive controller in the PROFIBUS network the user manual ULZ DPV1 is required PROFITOOL Function Value range WE Parameter Address Set the software field bus address PROFIBUS The software address is only evaluated ifthe coding switchesS1 0 127 0 ei and S2 for the hardware address are set to 0 Process data Determination of the EASYDRIVE channel operating modes with definition of configuration the control and status channel see 0 255 0 589_OPCFG Table 6 42 The process data i _OPT channel is preset when selecting a preset solution Process data channel configuration 589 OPCFG Setting Mode of operation 0 3 4 EasyDRIve Basic 5 EasyDRIve ProgPos PLC control Table 6 42 Setting the PROFIBUS process data channel 6 104 watt i marno 6 General software functions Process data channel configuration 589 OPCFG Setting Mode of operation 6 EasyDrIve TablePos travel set table 7 EasyDaive DirectPos 8 Table 6 42 Setting the PROFIBUS process data channel Explanations e A diagnose of the PROFIBUS control and status word takes place with plugged on and active PROFIBUS module ULZ DPV1 in the function menu Actual values tab Option see chapter 6 8 3 Application Manual P7000 P6000 6 105 drive 6 6 Cam controller 1 Application Manual P7000 P6000
202. l set 2 Execution of repetition with relative travel sets Repetitions are performed with parameterizable start conditions The start conditions are identical with the ones of the follow up order 3 Jump to the next travel set The follow up order is performed with parameterizable start conditions The start conditions are identical with the ones for the repetitions Activation of a travel set always interrupts this sequence 5 30 watt dr iveDD 5 P7000 P6000 in positioning operation This sequence is shown in Fig 5 15 Select travel set Execure travel set Mods REL 1 Radiative i Repeat peer ele SWOT 2 rpa tel mae Tmax e Elect of starting signal OFF JOf Oriy ot de stort Oday LIW M Folcerup onder 2 Deve set 2 a itr SWOT 2 irp Il max Tmax e Eea of tate igyal OFF 100 Oriy ot ade stonda Day Co m Fig 5 15 Sequence of travel set selection with follow up order logic 31 Application Manual P7000 P6000 38 drive 22 5 3 3 Parameterization of the travel set table Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Positioning tadbie process sets contiol via terminal x Diving ont table Onving peatle Momingmode Lint amich Manus mode Switching points Tage postion f o Grass Mode PEL 1 Melatwe Perea pct OT 2 irat max Teac Etleck ol starir signal CEEE Dey Switching port A fo mactv
203. lable The PLC editor is an Add On component of the PROFITOOL and can thus only be used with the PROFITOOL Pick dit PicPrg AmE Ele Edt PLC Program osla ziele xja a oj zis zed ae 13 08 2004 1021 TMP Picin be XPW NMO NOP NO20 NOP NO30 NUP U PLC Text cockng Textcodirg 0 Eror 9L 0 Warnnels 1 The PLC editor is only required for project planning or initial commissioning series commissioning of the drive controller then takes place with the help of the PROFITooLdataset or the DATACARD The PLC program editor provides the functions Program generation Editor for program generation Generation of a text declaration file lt Project Name gt txt for the variables to display application specific texts in the PROFITOOL Command code syntax check Renumbering of line numbers Program handling _ Loading Saving Printing New generation of programs Loading Saving a program from to the drive controller Loading Saving a program from to PROFITOOL dataset Online help for PLC editor and command syntax with examples 7 4 drive 7 2 2 New generation of program 7 2 3 PLC program structure Application Manual P7000 P6000 7 User programming All PLC functions can be selected via control buttons els ne JHE For a quick start or a new generation of a sequential program the syntax test is called up with an empty text field The PLC editor
204. le CANopen field bus interface 4 5 CANopen data transfer protocol EasyDrive Profile Basic open p SCB_2 Fixed speed table Field bus module ULZ DPV1 EasyDrive Profile Basic 4 5 PROFIBUS data transfer protocol SCC_3 CANopen field bus interface CANopen field bus interface i 4 6 CANopen data transfer protocol EasyDrive Profile Basic Field bus communication Field bus module ULZ DPV1 SCB 3 module PROFIBUS EasyDrive Profile Basic nouns data iransTen proroco SCP_3 PLC PLC 4 7 see chapter 7 SCT_4 PLC 1 0 terminals 4 7 see chapter 7 scc_4 PLC CANapen EA bus Interface 4 7 CANopen data transfer protocol EasyDrive Profile ProgPos scB_4 PLC TEIA ae Module UEZ DENI 4 7 PROFIBUS data transfer protocol EasyDrive Profile ProgPos Application Manual P7000 P6000 Table 4 1 Preset solutions in rotary speed operation All pre set solutions have an individual window for basic settings in PROFITOOL Tabs or control buttons contained therein differ in their general and special functions The general functions are described in chapter 4 2 the special functions in the corresponding pre settings from chapter 4 4 to 4 7 4 2 watt drive 4 P7000 P6000 in rotary speed operation 4 2 General functions 4 2 1 Torque rotary The rotary speed profile generator generates the corresponding speed profile acceleration and deceleration ramps requ
205. le Slip time 596 J TIME oa 3 SRAM 1 2 no function Slip time with The acceleration and deceleration time increases by 0 2000 100 m 596 J TIME jerk limitation the slip time A jerk limitation is thus achieved SRAM Saneaor 0 Normal positive position values clockwise 195 FGPOL rotation rotation of motor 0 1 0 FG 1 No function OFF 0 Off limited travel path e g for linear axes ON 1 On endless travel path e g for round axes 773 PORTA Travel range Definition of a circulation length is required OFF ON OFF PBAS For the round table configuration further adjustment possibilities must be implemented Direction optimization Endless travel path round table configuration With an endless travel range frequently referred to as round table further detailed settings are possible All travel paths are in this case calculated on a range 0 lt travel path lt circulation length again PROFITOOL Meaning Value range WE Parameters Ea OFF 0 Switched off Direction ON 1 Switched on OFFON opp 773 PODOP optimization i _PBAS Further explanations see below OFF 0 No reversing lock POS 1 Positive sense of rotation locked 308_DLOCK Reversing lock NEG 2 Negative sense of rotation OPE se NEG ORF _CTRL locked Further explanations see below The circulation length specifies the Circulation position range Thereafter in case of Os 360 774_PONAR le
206. limit switch has responded 244 Positive software limit switch has responded 246 Internal setpoint limitation Travel set rejected by the contacted hardware or software limit switch due to a limitation of the travel range 36 E POS Positioning error 0 Error in positioning and sequencing control 241 Error of hardware limit switch detected during referencing or no reference cam found 242 Error of hardware limit switch interchanged during referencing 245 No reference point defined 247 Timeout reached at target position 248 Feed release missing technology not ready feed release missing HALT active quick stop active 249 Positioning currently not permitted referencing active step mode active positioning inactive 250 Initialization of standardization block the total transmission ratio numerator denominator can no longer be displayed in 16 bit 251 Standardization the standardized position can no longer be displayed in 32 bit 38 E HW Hardware limit switched has been approached 51 Left hardware limit switched has been contacted 52 Right hardware limit switched has been contacted Application Manual P7000 P6000 VED Appendix A Soe ey E Description No location 39 E HWE Hardware limit switched mixed up 1 Hardware limit switched mixed up negative setpoint for positive limit switch or positive setpoint for negative limit switch 41 E PER 4 Internal error in CPU periphery
207. lse Positioning tabin process setx control via terminal Driving vet table Onvingpratie Homingmode Link entch Manusimode Switchingsonts By selecting the referencing type 5 to 35 and determining the setting the reference signal positive limit switch negative limit switch can be defined The referencing sequence corresponds with the graphically displayed referencing type Application Manual P7000 P6000 Units and standardsation 0k Corce doo Fig 5 6 Selection window for referencing PROFITOOL Meaning Value range WE Unit Parameters The referencing type specifies the event required Referencing type to set the reference point 5 35 1 a _HOM Further explanations see below Rapid motion Referencing speed to the first referencing event Degree 727_HOSPD speed V1 reference cam zero pulse Dette ines 20 S _HOM Referencing speed from the first event for slow Degree 727_HOSPD Creep spe d Ne approaching of the referencing position 0an d2 3367293 2 S _HOM Degree Acceleration Acceleration during the entire referencing process 0 4294967295 10 a T c The reference point is always set with the 2147483648 729_HOOFF Zero point offset aro point offset 2147483647 0 cicadas pi Start condition for referencing 731_HOAUT Start condition Further explanations see below OFF ca TBEN at _HOM 5 14 watt drive 5 P7000 P6000 in positio
208. m data memory detected when starting device 2 OFF Mains failure D C link direct voltage lt 212 V 425 V is also displayed with normal mains off 3 E OC Overcurrent cut off Overcurrent due to 1 Incorrectly set parameters i 2 Short circuit earth leakage or insulation faults 3 Device internal defect Ixt shut down below 5 Hz quick Ixt to protect the output stage 1 permissible current time area exceeded reported by self status monitoring Output stage protection has tripped 43 The max permitted motor current was exceeded in dependence on the ZK voltage and the heat sink temperature Overcurrent shut down after wiring test x Short circuit earth leakage or insulation faults detected Overcurrent detected 1 Incorrectly set parameters 2 Short circuit earth leak or insulation fault in operation 3 Device internal defect 48 Overcurrent detected 1 Incorrectly set parameters 2 Short circuit earth leak or insulation fault in operation 3 Device internal defect 49 50 Internal fault in overcurrent monitoring drive Appendix A Error Fault are No Error location Description 4 E OV Overvoltage cut off Overvoltage caused by 1 1 Overload of brake chopper too long or to many brake operations 2 Mains overvoltage 5 E OLM Ixl motor cut off Ixt shut down to protect the motors 47 i Permissible cu
209. mont interpol point fb _100 fh 2 bequency interpol point Ib 50 Hz Point of switch off 150 XIN fo 120 s Enor reactiona Warming theesholds Fig 6 44 Pxt monitoring PROFITOOL Meaning Value range WE Unit Parameter Permissible permanent current Rated motor current Iy for MOPCN Rated motor current motor protection related to rated 0 1000 100 DON motor current Rated motor frequency fy 336_MOPFN Rated motor f 0 1 1000 0 H A Ee MOL IrEquEngy for motor protection 3 z _MOT Application Manual P7000 P6000 6 85 drive 6 General software functions PROFITOOL Meaning Value range WE Unit Parameter 1 Current interpolation point l3 1 Current interpolation of the motor protection 332_MOPCA 0 1000 100 y T point characteristic related to the i MOT max characteristic current 2 Current interpolation point Ip 2 Current interpolation of the motor protection 331_MOPCB 0 1000 100 Y point characteristic related to the m MOT max characteristic current 2 Frequency interpolation point 2 Frequency fp for motor protection 01 1000 50 Hz 333 MOPFB interpolation point AA MOT characteristic B Switch off point current time area maximum integrator value IN Overload factor related to rated 0 1000 150 352_MOPCM motor current MOT Overload time for xs Maximum
210. n be used 0S00 0 1 Mxxx see chapter 7 3 2 Setting commands SET 35 REFOK Referencing Referencing successfully completed 36 TABO Active table travel set Valence 2 37 TAB1 Active table travel set Valence 22 38 TAB2 Active table travel set Valence 22 39 TAB3 Active table travel set Valence 23 40 TBACT Travel set active Table travel set positioning active 41 EFLW No trailing error 42 STOP Quick stop active The drive is in Quick stop state 43 CM1 Switching point 1 Cam switching point see chapter 44 CM2 Switching point 2 6 6 45 CM3 Switching point 3 Switching point flag for positioning by means of table travel sets see chapter 5 3 4 46 CM4 Switching point 4 47 CM5 Switching point 5 48 CM6 Switching point 6 49 CM7 Switching point 7 50 CM8 Switching point 8 51 CM9 Switching point 9 52 CM10 Switching point 10 Cam switching points see chapter 6 6 53 CM11 Switching point 11 54 CM12 Switching point 12 55 CM13 Switching point 13 56 CM14 Switching point 14 57 CM15 Switching point 15 58 CM16 Switching point 16 59 BRK1 Holding brake function 1 Output becomes inactive in accordance inverted without motor _ with the holding brake function see current monitoring chapter 6 4 4 Only suitable for U f operation 60 BRK2 Holding brake function 2 Output becomes inactive in accordance inverted with the holding brake function see chapter 6 4 4 Table 6 10 Setting the function selectors FOxxx
211. n levels in the parameter structure s 3 2 3 2 Operation with PROFITOOL usssssssscssssssssssscsersssssees 3 4 3 2 1 Operation MASKS secaiccietia awit 3 5 3 3 Operation with KP10 operation panel 00008 3 9 3 4 COMMISSIONING sescssissoscscscstarssesstassaseteresssssesssarsrores 3 13 4 P7000 P6000 in rotary speed operation 4 1 Preset solutions sssssssssssnssnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnana 4 2 4 2 General TUNCHONS suisiisisisssisratatatccsacecassesstiascsnsicanins 4 3 4 2 1 Torque rotary speed profile generator occ 4 3 4 2 2 Limitations Stop rAMPS vo 4 5 43 Torque control with reference value via analog input se 4 6 drive Application Manual P7000 P6000 4 4 4 5 4 6 4 6 1 4 6 2 4 7 4 8 4 8 1 4 8 2 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 2 5 5 2 6 5 3 5 3 1 5 32 5 3 3 5 3 4 5 3 5 5 4 5 4 1 5 4 2 5 5 Speed control with reference value via analog input sssssssssssssrsssrssrnns 4 6 Speed control with reference value from fixed speed table sss 4 7 Speed control with reference value and control via field bus ss 4 9 CANOPEN isisisi manana ers n ere 4 9 PROFIBUS arcnnrcnannuininsuinnianaunus 4 10 Speed control with reference value via PLC 4 10 Assignment of control terminal sssini 4 10 Terminal assignment P7000 ues 4 11 Terminal assignment P6000 ues 4 12 P7000 P6000 in positioning operation Pre set SOLUTIONS sssssssssrnssrnsnnnsnnnssnnnnn
212. nd the evaluation is parameterized see chapter 6 4 3 dormiti The warning threshold can be programmed C VAL Table 6 46 Temperature parameters 6 117 drive 6 8 2 Device data Application Manual P7000 P6000 6 General software functions Function Effect Clear identification of positioning controller and device software e Provision of all positioning controller data The equipment data provide information about hardware and software which should always be at hand when calling the support hotline The device data can partly also be read off the type plates Tempestwes Device Option CANopen Sollware verson vzw S Cs CieeH Serial number 043601160 Data cel name To EEE Time Operating hora 39 h Time after power on 169 min Fig 6 59 Tab Device data PROFITOOL Meaning Value range Unit Parameter Software version Software revision 92 REV STAT Software version Revision index as 106 CRIDX appendix xx appendix to the revision 7 STAT number CS Check sum XOR M 115 CSXOR STAT Serial number Serial number of the 7 127 S_NR device STAT Data set Data set designation 0 28 characters 89 NAMDS designation _CONF d c link direct Current d c link direct 7 V 405 DCV voltage voltage VAL Table 6 47 Parameter Device data 6 118 marry 6 General software functions drive PROFITOOL Meaning Value range U
213. nection of an index signal to ISD01 is optionally possible With TTL or SSI encoders the following parameters must be set PROFITOOL Value range WE Unit Parameter Lines per revolution TTL 32 8192 1024 432_ECLN1 encoder ENC Number of bits Multiturn 0 16 12 448_SSIMU SSI encoder ENC Number of bits Singleturn 0 20 13 447_SSISI SSI encoder c _ENC n1 numerator 32768 32767 1 PEE To _ENC 436_ECDE1 n2 denominator 1 65535 1 ENC Transmission ratio n2 n1 is encoder is not mounted on motor shaft 6 77 drive A Accepted encoders Application Manual P7000 P6000 6 General software functions Attention Only SSI absolute value encoders as specified in the operating instructions must be used Setting the number of bits and other settings under the button SSl configuration are reserved for special SSI encoders Such encoders may only be used after express approval by WattDrive GmbH Encoder for P7000 The following encoders are evaluated by the P7000 Encoder type Connection to P7000 TTL incremental encoder TTL X7 SSI absolute value encoder SSI X7 Resolver X6 Accepted encoders with the associated connection specification are specified in the P7000 P6000 operating instructions Table 6 32 Accepted encoders on P7000 Attention The configuration of the TTL or SSI encoders uses the same parameter
214. ng 7 1 PLC The PLC firmware contains a routine for the sequential processing of a functionality user programmable sequential program Number of programs in the device memory 1 Number of command lines per program 254 Processing time per command line 1 50 ms The sequential program enables e Starting of the motor control e Setpoint specification for motor control torques speeds position Setting reading analog and digital outputs inputs e Reading writing parameters e Mathematical operations 4 2 modulo abs round e Logic operations AND OR Exclusive OR Time and counter functions e Single axis positioning control Work with the PLC functionality or the PLC editor requires an installed PROFITOOL because it is in integral part of this 1 CDE32 004 setup xj Preset solution Initial commissioning Baar eriting Expanded gt gt cones umi AAN Mss E resolver pastan encoder Oupti Reference Mamor Loop control Motor and encoder 8 BUS ee Poy a Bus systems Comge KP2W eet 3 a A Achas values Enor aring Save setting in devier Cancel Helo Fig 7 1 PROFITOOL main window Application Manual P7000 P6000 7 3 drive 7 2 PLC program 7 2 1 PLC editor Application Manual P7000 P6000 7 User programming The PLC editor is supplied as installation version on a separate CD ROM The languages German and English are avai
215. ng with value of parameter direct SET Hxxx PARA n with value of field parameter direct SET HXXX PARA n i with actual values direct SET Hxxx ACTPOS Assign actual position value SET Hxxx ACTFRQ Assign actual frequency value only for U f SET Hxxx ACTSPEED Assign actual speed value SET Hxxx ACTTORQUE Assign actual torque SET Hxxx ACTCURRENT Assign actual current value with setpoints direct SET Hxxx REFPOS Assign position setpoint with input and output functions SET Hxxx OSA0 Read value of analog output 0 10 000 OV 10V SET Hxxx ISAO Assign value of analog input 0 0 1 000 OV 10V SET Hxxx ISA1 Assign value of analog input 1 0 1 000 0V 10V SET Hxxx Input Assign input image SET Hxxx Output Assign output image SET OSA0 Hxxx Assign P6000 analog output 0 10 000 0V 10V SET Oppi 0 Set digital output to Low SET Oppi 1 Set digital output to High SET Oppi Mxxx Assign flag value to digital output The function selector of the outputs must be set to PLC SET REFVAL Hxxx Assign setpoint only for torque speed control HxxxAssign window setpoint reached only with positioning SET INPOSWINDOW 7 29 drive Setting floating point variable Setting special floating point variable Application Manual P7000 P6000 7 User programming direct SET FXXX f with 2 variable direct SET Fxxx Fyyy Assignment of flo
216. ngth overrun the system starts at 0 4294967295 _PBAS Application Manual P7000 P6000 5 11 With direction optimization activated an absolute target is always approached over the shortest possible distance Relative movements do not take place in a path optimized way drive Reversing lock Behaviour of absolute travel tasks Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Examples for a circulation length of 360 actual position of 0 and absolute positioning Without direction optimization With direction optimization 1 Reference value 120 Samet 3 Reference value 600 360 240 o C PER Table 5 4 Examples for a circulation length of 360 In a round table configuration a reversing lock always has priority If the negative sense of rotation was locked in the previous examples the system would always move in positive direction even if the direction optimization was active Absolute travel tasks are divided into three sections depending on their target position Travel range Effect Target position lt circulation length The drive approaches the specified target position Target position circulation length The drive will stop Within the range of the circulation length the drive travels to the Target position n x circulation length n integer proportion of target position circulation length Example Circulat
217. ning Undervoltage WLUV or Overvoltage WLOV The status word 122 WRN is made up of the existing warning messages It is displayed in the window Warnings errors 6 134 drive Application Manual P7000 P6000 7 User programming 7 1 PLC functionality ssssssssssssssssssssssssssssssssssasssasssesn 3 7 2 PLC program ssssssssnsnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnananna G 7 2 1 PLC editor Lses 7 4 7 2 2 New programming vce 7 5 7 2 3 PLC program structure sssccrccccccscrccreno 7 5 7 2 4 Program testing and editing cccssceeseeeeeeees 7 7 7 2 5 PLC program files errer 7 7 7 2 6 Program handling scccsecatceatatediveusbaalesintadatuulonaies 7 8 73 PLC command syntax use 7 3 1 OVEV EW viscscscscccstssctssssssssssssssssessseeceseeeeeneeees 7 11 7 3 2 Detailed explanations n 7 16 Jump instructions sub program invocations JMP 7 16 Unconditional jump instructions 0 0 00 cee eee eee 7 16 Conditional jump instructions 0 0 eee eeeeeeeeeeeeteteeeeetteeeaeees 7 16 Actual valie ccticcisscesetensiheiestacesteveieesedepaustdiiieeneied ieee 7 16 SIPOHI praana N A vente 7 17 AXIS STAS nna e easier ar Esie 7 17 Status of a digital input eee cece eeeeeeeeeeeeeeeeseeeeeeeeeeeetenes 7 17 Status of a digital output 7 18 Status of a logic marker 7 18 Status of a special Marker ccccceeeeeseeeeeeeeeeeeeeeeeneeaes 7 18 Value of an integer variable dire
218. ning operation Table 5 6 Settings for referencing Start of referencing The start conditions can be programmed BUS Setting Effect Referencing is requested via field bus DSP402 Homing mode or EasyDrive control word level triggered 1 referencing On 0 referencing Off Terminal ISxx HOMST flank triggered 0 gt 1 PLC command GO 0 flank triggered Referencing is started with every request 0 OFF Referencing is automatically started once when initially starting the 1 AUTO control No further referencing takes place if the referencing conditions remain unchanged for other starts of the control Only valid when positioning with table travel sets Referencing is automatically performed once when initially selecting a 2 IBEN travel set No further referencing takes place if the referencing conditions remain unchanged for other travel set selections Table 5 7 Referencing start conditions Referencing type The following describes the different types The individual reference points which correspond with the zero point are numbered in the graphs The different speeds V1 rapid motion V2 creep speed and the movement directions are also shown The four signals for the reference signal are e Negative left hardware limit switch e Positive right hardware limit switch e Reference cams e Index signal of the encoder In referencing the absolute encoders e g SSI Multiturn Enco
219. nit Parameter Operating hours h 87 TOP VAL Time after F 86 TSYS switching on 109539 min val With an actual value the value range is of no importance Table 6 47 Parameter Device data 6 8 3 Options Function Effect e Provision of all data fora e Clear identification of the connected optional module connected optional module e Status display Tempeatuns Device Opton CANopen Indification option module Modde 1 0 Module UM 8160 Sollwere vero UUD Fig 6 60 Optional module status display in this case the l O module ULZ EA1 The following modules can be used PROFIBUS field bus module ULZ DPV1 Communication module UM 8140 Detailed information on optional modules can be found in the user manual e g PROFIBUS user manual or in the installation instructions Application Manual P7000 P6000 6 119 drive Status display for the PROFIBUS module ULZ DPV1 Application Manual P7000 P6000 6 General software functions The data of the optional module are displayed first These consists of the detected module and if present of the software version of the module PROFITooL Meaning Parameter Module Identification of a connected module Possible displays 579 OPTN1 are _OPT NONE no module connected PROFI PROFIBUS communication module ULZ DPV1 101 1 0 terminal extension module ULZ EA1 Software version Software version of the connected optional module A 576 O
220. nnnnnnnnnnnnnnnnnnnnna 5 2 General functions ssscisscscstesssessinsssessssssessasssassicsrscsies 5 4 Positioning Modes errenneren 5 5 Units and standardization oo 5 6 Travel Profile ceser 5 9 Referencing acest dei aunitl amna 5 13 Limit SWItCh eesin 5 25 Manual operation J og mode sesen 5 26 Positioning with table travel sets sssi 5 28 Travel set selection ossccrercrerererern 5 28 Sequence of travel set selection with follow up order Oe eE A PE E EEEE E AEA PETE 5 30 Parameterization of the travel set table ww 5 32 Switching points lt ic islsshieicnsieteminendasiitiatartaias 5 37 Tachi srcrsnuovansneianniauniiunaan 5 39 Positioning and control via field bus sss 5 40 CANOPEN nissississrssrssrrsnienrennnnnnnnnnninnnnnnenrenrennnnnnnns 5 40 PRORIBUS cciiurerininnneniaa ninnaa 5 40 Positioning With PLC ssis 5 41 drive Application Manual P7000 P6000 5 6 5 6 1 5 6 2 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 6 2 6 6 2 7 6 3 6 4 6 4 1 6 4 2 6 4 3 6 4 4 6 5 6 5 1 6 5 2 6 6 6 7 6 8 6 8 1 6 8 2 6 8 3 6 8 4 Assignment of control terminal sssrinin 5 41 Terminal assignment P7000 ou 5 42 Terminal assignment P6000 ou eee 5 43 General software functions Inputs and OUtpUtS ute 6 3 Digital INpUtS eccerre 6 4 Digital OU PU S cccccccccccseniress 6 13 Analog INDUS ansionaan ninina 6 23 Analog output for P6000 octets 6 29 Setpoint generation ctee eee
221. not possible For the input of a value lower than 1 lt 1 of the base unit the exponent must additionally be set Base unit e g m and exponent e g E 2 thus determine the resulting unit z B cm Units and standardizations 1 x Dimension Exponent Basie unit Resulting unit R e oo gsi _7 gt ieren gt p Fig 5 2 Specification of units The parameter for the resulting unit is PROFITOOL Value range WE Unit Parameters Position Degree variable 792_FGPUN _FG 5 6 watt drive 5 P7000 P6000 in positioning operation PROFITOOL Value range WE Unit Parameters Speed Degree s variable 793_FGVUN _FG Acceleration S variable 796_FGAUN _FG After determining the units the input continues with the mechanical drive values Feed constant and gear factor 2 The feed constant converts the specified path units into output shaft F revolutions Furthermore the gear transmission ratio can be entered as a fraction This ensures that the output shaft position is always converted to the motor shaft without any rounding errors Contre gt gt Advance travel constant 0 Grad comesponding 1 Revolutions of daving shaft Gear if available Revobson of motorshalt 1 Revobsans of dining shall 1 Fig 5 3 Settings for units and standardization PROFITOOL Value range WE Unit Parameters ka aean TPR 0 4294967295 360
222. now offers the generation of a program kernel Program Synta Test Program kemea with new file Renuntering of line nunbers Load program from dataset Load program from device New program Qpen programas file Save programas file plc Gt text Find Replace Print program hline Help Save program to dataset Save program to device The PLC program editor supports the functions for program generation program handling and online help for the PLC editor These functions can be selected via control buttons see chapter 7 2 1 A program is divided into two parts 1 Text declaration for variables markers counters and timers used 2 Sequential program The text declaration serves the purpose of identifying the variables markers counters and timers used in the sequential program The text declaration is used to generate a text file which after being evaluated in the PROFITOOL displays the values in the application specific texts The text declaration starts with a designator which contains the project name of the text declaration file for details please refer to PLC program files STEXT Project name Start of text declaration This is followed by the assignment of parameter texts 7 5 drive Application Manual P7000 P6000 7 User programming DEF M000 Reference point_OK DEF H000 Setpoint position_1 DEF H001 Setpoint position_2 DEF H002 A
223. nput 3 19 ISD04 Digital input 4 20 ISD05 Digital input 5 21 ISD06 Digital input 6 22 ISDSH Digital input safe stop 23 REL Relay output 24 REL Relay output Table 2 3 Signal assignment for control terminal X2 P7000 Pin No Function 1 15 V DC for control unit KP10 2 TxD data transmission 3 RxD data reception 4 not used 5 GND for 15 V DC of the control unit KP10 6 24 V DC voltage supply control print 7 not used 8 not used 9 GND for 24 V DC voltage supply control print Table 2 4 Pin assignment of the serial interface X4 9 pin D Sub socket drive CAN Resolver Encoder Application Manual P7000 P6000 2 Equipment hardware Pin No Function 1 Wave terminating resistor 120 Q internal for CAN by means of jumper between Pin 1 and Pin 2 2 CAN_LOW CAN signal 3 CAN_GND reference ground of CAN 24 V Pin 9 4 CAN SYNC_LOW 5 Wave terminating resistor 120 Q internal for CAN SYNC by means of jumper between Pin 5 and Pin 4 6 CAN_GND bridged with Pin 3 7 CAN_HIGH CAN signal 8 CAN SYNC_HIGH 9 CAN_ 24 V 24 V 10 50 mA This supply voltage is required for CAN operation Table 2 5 Pin assignment of CAN interface X5 9 pin D Sub pin Pin No Function 1 Sine S2 2 Sine S4 3 Cosine S1 4 5V 5 PTC motor temperature monitoring 6 REF resolver excitation R2 7 REF excitation R1 8 Cosine 3 9 PTC Table
224. ntrol via terminal Oring set table Otivingpeatle Homingmode Lint amich Manusimode Swiching pants Limit values Max velcoty 10000 Grads fded taci ng danos Co t Neterenceteaches wnrdce 10 o Protan Proklo type E Soothing ima pm Precasting mea ye A Round tate configuration OFF 10 No tying drector barer Fig 5 5 Travel profile Limit values PROFITOOL Meaning Value range WE Unit Parameters Max Maximum speed of travel set All speeds are 724_POSMX speed limited to this value a eal ee ac 7 Max start up Max start up acceleration of the positioning set 0 4294967295 10000 variable 722_POACC acceleration _PRAM Max braking Max braking acceleration of the positioning set 0 4294967295 10000 variable 723_PODEC acceleration _PRAM Max difference between positioning reference Permissible trailing and actual value of the profile generator An error 7 757_PODMX distance reaction E FLW will be executed when exceeding Pave 94301233 aoe varable _PBAS see chapter 6 9 Reference Hysteresis for the target position to display the i status Target position reached If the actual 758 _POWIN reached chia settle 0 4294967295 100 variable z position is in this window the status will be set to _PBAS window 1 Table 5 3 Basic settings for travel profile 5 9 EN Application Manual P7000 P6000 watt dave 5 P7000 P6000 in position
225. o that setpoint source from a fixed most applications do not selection require any adaptation There is one setpoint e For special applications the structure each for speed internal processing of the controlled operation and setpoint can be adapted positioning operation through the flexible setpoint structure Note This chapter addresses solely users who cannot find their particular drive solution or an approach to their solution in the preset solutions Reference further settings Standred er rarner RPLC 6 Reference of PLC Ad Relerence soca 1 on sekcion wa rpd I input function SADD1 RCON 0 Reference constar 0 hd Source 2 Standardielerence ACON 0 Reterence constar Relerence soos 2 on selection vis Peet input n tunc on SADD2 ACON 0 Retesence constant 0 Sveed motor peti OFF 0 Inactive Control incation of motor control PLC I6 Corbal via process progam Evauabon of dat sonal OFF 0 edge triggered Ok Corcel Spply Fig 6 25 Tab Reference further settings The control location for the motor control is described in the separate chapter 6 2 6 6 46 drive Application Manual P7000 P6000 6 General software functions Settings for source 1 source 2 PROFITOOL Value range WE Unit Parameters RAO 280_RSSL1 Standard setpoint RCON ROPT RCON 281_RSSL2 _REF Ses TE
226. ol EASYDRIVE The control location is set to OPTN When controlling the positioning controller via PLC the control location is set to PLC 6 57 drive 6 2 7 Motor potentiometer function Function 6 General software functions Effect Simple adaptation of motor With two inputs the setpoint can be raised or reduced ina linear way speed to process MPSEL T 1 active motor potentiometer function in setpoint source FPOT Fig 6 27 Function block motor potentiometer function selector The motor potentiometer function can be parameterized in two ways 1 Via function mask Inputs FIxxx MP_xx and the corresponding options function 2 Via function mask Setpoint ramps further settings x vend mator pot Hem Fi 1 Standard MP function z x F2 2 Standud reset offset bo F3 3 Standard save offset at px Acceleration 1000 FATAL m Sharul a ermal leads eee Fig 6 28 Setting the motor potentiometer function via function mask Inputs Options 6 58 Application Manual P7000 P6000 watt i marny 6 General software functions Parameters for motor potentiometer function PROFITOOL Function Value range WE Unit Parameter Speed motor Configuration for motor potentiometer potentiometer function 0 6 0 OFF Me H L Settings see Table 6 28 Acceleration Acceleration ramp for motor potentiometer onj 6
227. on the motor power must be lower than or equal with the the converter power but should be at least quarter of the converter power For the purpose of motor identification the nominal data of the motor must be specified in the mask Fig 6 35 Motor identification 1 Rated volags Molton type designation 230 2 Rated cunent 2 Moment of inertia of motar known 3 Rated sperd _ 1500 1mm C Yes 4 Rated hieguency No Der Wert wed ous emer Tabele fur a H Asynchion Nommotoren beshenmt z Rated power 057_ kw Nm Disply motor parameters 3 Start identification Cancel Fig 6 35 Motor identification 3 Rated torque 6 69 drive Application Manual P7000 P6000 6 General software functions Setting the motor data PROFITOOL Value range WE Unit Parameter err a 839_MONAM Type designation motor max 25 digits Mot 155_MOVNM 1 Rated voltage 0 1000 230 V Mot 158 MOCNM 2 Rated current 0 1 64 2 95 A Mot 157_MOSNM 3 Rated speed 0 100000 1500 rpm Mot 156_MOFN 4 Rated frequency 0 1 1600 50 Hz MoT 5 Rated power 0 02 1000000 0 57 gy eee _MOT 6 Rated torque only with synchronous 0 001 5000 4 1 Nm 652 MOMNM _MOT servo motors S The moment of inertia of the motor is of relevance for the setting of the speed control If the moment of inertia of the motor is known it is recommended to enter this before starting the motor identification
228. oning controller switched on Setting special flags SET ENCTRL 0 1 Mxxx Control off on only with control variables control variables location PLC SET INV 0 1 Mxxx Invert setpoint only with speed control not with endless positioning Application Manual P7000 P6000 7 25 Daro 7 User programming SET ERR 0 1 Mxxx Trigger error SET ERRRQ 0 1 Mxxx Reset error Attention PLC must not be switched off with controller Observe the control location when switching on via PLC SET BRKPT 0 1 Mxxx Breakpoints off on SET ACCR 0 150 Scaling of acceleration from 0 percent to 150 percent SET ACCR 0 150 Scaling of deceleration from 0 percent to 150 percent SET HALT 0 1 Mxxx Stop feed acc to stop reaction see 6 2 3 and Braking the drive STOP SET HALT BRAKE page 7 38 SET BRAKE 0 1 Mxxx Trigger quick stop acc to quick stop reaction see 6 2 3 and Braking the drive STOP SET HALT BRAKE page 7 38 SET EGEARPOS HXXX Set run in reference encoder increments SET Hxxx EGEARPOS Read run in reference encoder increments SET Hxxx EGEARSPEED Read reference encoder speed in rpm Indexed assignment of a SET F Cxxx Value constant value SET H Cxxx Value SET M Cxxx Value Setting integer variable direct SET Hxxx Z indexed SET H Cxx z with 2 variable direct SET Hxxx Hyyy indexed SET H Cxx Hyyy with 2 indexed variable SET Hxxx H Cyy
229. ontinues Position or path via variable speed via variable GO W A Hxxx V Hyyy Absolute travel by value of Hxxx with speed Hyyy and wait for further program processing until target position is reached GO W R Hxxx V Hyyy Relative travel by value of Hxxx with speed Hyyy and wait for further program processing until target position is reached 7 34 drive Referencing Application Manual P7000 P6000 7 User programming Position via variable speed via parameter GO W A Hxxx Absolute travel by value of Hxxx and wait for further program processing until target position is reached GO W R Hxxx Relative travel by value of Hxxx and wait for further program processing until target position is reached Position or path from table GO W T Hxxx Travel acc to table entry Hxxx wait until position is reached GO W T Cxxx Travel acc to table entry Cxxx wait until position is reached GO WT xxx Travel acc to table entry wait until position is reached Referencing is performed using the specified referencing type and the associated speeds 727 HOSPD If this command is submitted within a program the next successive set will only be effective after referencing has been completed GO 0 Referencing is performed in dependence on the method specified in parameter 730 depending on software status GO 0 Hxxx Referencing is performed position 0 results from this Thereafter this zero position is set to the value specif
230. ontrol ccceceeeeseeeeeees 6 62 Fixed speed Selection Siac dcsenvecdecsewccesasseedeesavewes 4 8 Flag schesetevetnstunesetetezestianesrssathouesteg 6 106 Flu8aufbauphase MOUOM gcc saecicedssdideacdsaedded saesdaes Sane 6 94 FOUOWING AXIS c cecsnsczacssccesesssecstenssccess 6 39 Follow Up order seceeeceeeceeeceeeeeeee 5 34 ACUIVAUON sesine artise onaran 5 35 Application Manual P7000 P6000 Appendix B Index defined delay time esnseseesseneeseee 5 35 Effect of start condition 066 5 35 in dependence on the mode 5 33 PROMLY cides sthwecide nosinis 5 34 Signal for activation s ceseeeeeeees 5 35 Start condition eee ceeeeeeeeeeeeeeeees 5 34 Target position 0 0 eeeeeeceeeceeeee ees 5 35 WSIP ssicvcavudsiedvadvevece Wes viceens veees 5 35 Frequency response analysis sseeseeeee 6 72 Function BRKZ enan 6 98 Function areas Parameters for characteristic curve data set 8 4 Function block Adaptation of digital outputs 6 13 Adaptation of the analog output 6 29 Function of motor contactor control 6 21 Function Selector ssecseeeseeseeeseeeeees 6 6 digital OUtDUtS see eeeeeeeeeeeeeeeeees 6 15 Functions the most important ones eeee eee 3 13 Funktion BRK2 E T 6 94 G Gear faClOr zs casccavcsczteescsenestberenstensecaeens 5 7 Guide through this manual eeee
231. ontrol OpenLoop for P7000 P6000 8 3 5 v f The v f characteristics curve is automatically adapted during initial start characteristics up or via the motor identification Further optimization of the motor control method VFC does not take place with the help of the v f characteristics curve curve but via the P controllers described in chapter8 3 The VFC control method has been optimized for asynchronous standard motors or asynchronous geared motors acc to VDE 0530 E Data ve 1 CD51 Data set 210082 Boost vokage 0 v Fated motor voltage aco v Rated motor bequency w He Fig 8 10 v f characteristics curve VNx FNx f Hz gt Fig 8 11 v f characteristics curve with two supports 8 17 EN Application Manual P7000 P6000 watt dr ive 8 Speed Control OpenLoop for P7000 P6000 PROFITooL Meaning Value range WE Unit Parameter Start voltage at 0 mint nat 1 Boost voltage This is automatically 0 100 0 v 615 x_VB adapted via the start current _VF controller The values related to the Rated motor connected motor are 616 x_ VN voltage detected by the motor tt 299 X VF identification 1 Rated motor 0 1600 50 Hz 617 x_FN frequency VF When changing data sets Filtering in data the motor voltage is filtered 704_VTF 0 1P 0 003 s F set changeover to avoid sporadic changes _VF in
232. operating status of the sequential program OFF 0 PLC program sequence shut down switched off GO 1 Start PLC program sequence in progress Operating status of Ha an ie PLC program sequence interrupted yes 450 PLCST control The GO command continues the operation The program _PLCC processing can be interrupted BRKPT or ended OFF with BRKPT 2 the parameter at any time irrespective of the control location With GO the processing of the program can be resumed from the cancellation line as long as the control location is still valid e g terminal still set If this conditions is no longer fulfilled the parameter is set to OFF Cuitentorouramine Shows the currently processed program line The line number is also visible read 451 PLCPL prog in the digital oscilloscope PLCC Table 7 3 PLC control parameters Application Manual P7000 P6000 7 43 drive 7 User programming program line Changing PROFITOOL Meaning ONLINE Parameter Parameter PLCCT defines the location from which the sequential program is started PLC start via input TERM 0 The function selector for an input must be set to Fixxx PLCGO 0 gt Program stopped 1 gt Program started PARA 1 PLC start via parameter Operation status Start conditions of Manual change of operation status PLCST PLET the sequencing Automatic PLC start when starting the device parameter YS PLCC control
233. or display in the subject area _11UA In the parameter subject area no actual value parameters can be displayed All parameters displayed in this subject area can be edited in operation level 1 KP20 setup User appicaton IPARA User appscaton aL e The following parameters are displayed in the user delriable subc aea LTIUAL 0 0 D 0 0 0 D 0 0 a gt Fig 6 54 Configuration of the user defined parameter subject area 6 112 watt i WATES SS 6 General software functions PROFITOOL Value range WE Parameter User application PARA for user defined 0 999 0 sila _KPAD parameter subject area User defined actual value display e User defined actual values are only visible in the VAL menu of the KEYPAD operation panel KP10 e The parameter 12 UAVAL is underlain by a data field suitable for the input of max 14 parameter numbers for display in the VAL menu e Editable parameters can also be displayed All parameters entered here are also visible in operation level 1 The following parameters ace displayed additionally in the VAL merr 0 0 D 0 0 v 0 0 v a gt Fig 6 55 Configuration of user defined actual values in the VAL menu PROFITOOL Value range WE Parameter User application VAL for user defined actual 0 999 0 12C UAVAL X _KPAD value display Application Manual P7000 P6000 6 113 drive Application Manual
234. or the application is selected 3 individual adaptation of the preset solution to the application The pre set solution serves as initial point for an application related adaptation Further function related adaptations are made to the parameters in the function oriented subject areas Safe your settings in the unit 4 Check the settings of the application solution With respect to the safety of man and machine the application solution should only be checked at low rotary speeds The correct sense of rotation must be assured In events of emergency can be stopped by disconnecting the ENPO signal and thus blocking the controller output stage 5 Completion of commissioning After successful commissioning save your settings with DATACARD or PROFITOOL and l memorize the data set in the unit watt KDY 3 Operation structure Application Manual P7000 P6000 3 14 drive 4 P7000 P6000 in rotary speed operation 4 1 Preset SQIUGONS sicscicssscciaciucdssicassatsicersteraratsterarensiens 4 2 General FUNCHONG ssiicstacsiarinssiarstenccsssdsssssssdesssscatennies 4 2 1 Torque rotary speed profile generator 4 2 2 Limitations Stop ramps scicieissescsesedejcscisssciaseceiainss 4 3 Torque control with reference value via analog input sssssssssssssssrsssnnn 4 6 4 4 Speed control with reference value via analog input sssssssssssssssrssrnnn 4 6 4 5 Speed control with reference value from fixed speed table
235. parameters Parameter does not exist is no field parameter Value range violation value cannot be written etc Application Manual P7000 P6000 drive Application Manual P7000 P6000 Appendix A Error Fault hee No Error location Description 214 Error when reading parameters Parameter does not exist or is no field parameter 215 Internal error No code available or program instruction cannot be executed Internal error No code available program instruction cannot be executed or jump to next unused address This error occurs when a sequential program is loaded while a 216 sequential program is still active in the controller whereby the new program has different line numbers If not absolutely necessary you should switch off the PLC when loading a program 217 During a division operation in the program a division by zero has occurred Error in floating point operation in sequencing control The sequencing control is in wait state and shows the faulty program line Check the cancellation conditions value ranges for floating point operations If necessary correct the sequencing program or the faulty program line 220 er Note In floating point calculations value range violations 0 3 37E 38 can occur When comparing two floating point variables the cancellation condition may probably not be reached Make sure to use unambiguous and plausible val
236. plication Manual P7000 P6000 6 General software functions TREF is started with setpoint specification 0 min The time 317 TCTRL must be parameterized to the brake application time After expiration of the time 317 TCTRL the brake must be reliable closed and hold the load The output stage is subsequently locked In case of fault all outputs are set to LOW and the motor holding brake will close 6 95 drive oE Application Manual P7000 P6000 6 General software functions Motor holding brake BKRK2 for OpenLoop speed control By selecting the braking function BRK2 via a digital output the corresponding function is activated The time for releasing or applying the motor holding brake can be accounted for by using separate timing elements The switching points of the brake control are triggered in a setpoint dependent way The build up of torque is enabled by operating the motor at slip speed with the motor holding brake closed Uutput options motor holding brake GRK2 x Speed limat Ciockvise an 1 min Anticlockwine 0 Ven Fig 6 49 Tab motor holding brake BRK2 for speed control OpenLoop 6 96 watt i marno 6 General software functions Parameters for motor holding brake BRK2 Erl uterungen PROFITOOL Function Value range WE Unit Parameter Clockwise rotation Speed limit of motor holding brake clock wise enables torque 0 32764 90 m
237. r After each error the error log rotates one step further and the error parameter will indicate the last fault The error history is displayed in the function mask Error Warning When pressing button Diagnose the error cause is described in detail and remedial measures are suggested Last enor tra EGNA Digos Time port 0 mn Enor reactions Rem eror E ree history ndisit E0 00h Diagnosis ddist EO Oh Diagnosis dhit EO Oh Diagnosis Fig 6 65 Representation of the error history in the PROFITOOL 6 125 drive Error display with KEYPAD Application Manual P7000 P6000 6 General software functions E OTM 1 191h ae Time of error related to the operating hour meter Error location No error cause Error PROFITooL Meaning Value range WE Unit Parameter Last error Last error 95 ERR1 Error 0638 0 h _ERR Last error System time at 94 TERR time occurrence of last 0 65535 0 min _ERR error Error history second last error 96 ERR2 2 last O63333 Pe Ly Me MERR Error history third last error 97 ERR3 3 last ae o h _ERR Error history fourth last error 98 ERR4 4 last nee o h _ERR Table 6 52 Parameters of the error history Error Error Location No Fig 6 66 Error display with KEYPAD Note A list of errors and warning messages displayed in the PROFITOOL or KEYPAD can be found in the appendix 6
238. roller 107 Error when initializing the torque calculation 108 Error when initializing the position detection 109 Error when initializing the position controller 110 Error when initializing the V f characteristic control 111 Error when initializing current controlled operation 112 Error when initializing the flow control in field weakening range 113 Error when initializing the mains failure support 114 Error when initializing the current and voltage detection 115 Error when initializing the TTL encoder evaluation lines per revolution or transmission ratio are not supported 116 Error when initializing the HTL encoder evaluation lines per revolution or transmission ratio are not supported 117 Error when initializing the SSl interface and encoder evaluation lines per revolution or transmission ratio are not supported drive Application Manual P7000 P6000 Appendix A ae Error mae Description 10 E PAR Parameterization error Error when initializing the encoder function 118 prohibited combination of encoders e g a transducer is used as encoder and reference encoder 119 Error when initializing the control Invalid values for main inductance zero or negative 120 Error when initializing the analog output 121 Error when initializing the analog inputs 122 Error when initializing the resolver evaluation 123
239. rotocol interface EasyDrive Profile Basic VSCB1 Field bus communication Field bus communication module Profibus 8 5 Profibus data transfer protocol module Profibus EasyDrive Profile Basic Application Manual P7000 P6000 Table 8 1 Preset solutions in speed controlled operation All pre set solutions have an individual window for basic settings in PROFITOOL Tabs or control buttons contained therein differ in their general and special functions The general functions are described in chapter 8 2 the motor control method in chapter 8 3 and the special functions for the respective presettings in chapters 8 4 and 8 5 8 2 drive 8 Speed Control OpenLoop for P7000 P6000 8 2 General functions 8 2 1 Data set Function Effect changeover e Online switching between e Matching the dynamics of two data sets is possible the motor to the application Application Manual P7000 P6000 e Operation of two different motors with one positioning controller The OpenLoop speed control contains two data sets Switching to the second data set CDS2 e via terminals e when reaching the speed limit e when reversing the sense of rotation or access by bus is possible Note Online changeover between data sets CDS1 and CDS2 is possible cc Svelcherg r ne capable LDS2 4 speed gt p Speed threshold SUM oO 1min o cma a Fig 8 1 Function mask Data set changeover
240. rrent time area exceeded 6 E OLI Ixt converter cut off 48 l2xt shut down to protect the output stage permissible current time area exceeded 7 E OTM Motor overtemperature Motor overtemperature temperature sensor in motor has responded due to 47 1 Temperature sensor not connected or incorrectly parameterized 2 Motor overloaded 8 E OTI Drive unit overtemperature Output stage heat sink overheated due to 44 1 Too high ambient temperature 2 Too high load output stage or brake chopper Overtemperature inside the device caused by 45 1 Too high ambient temperature 2 Too high load output stage or brake chopper Application Manual P7000 P6000 drive Application Manual P7000 P6000 Appendix A Error Fault hove No Error location Description 9 E PLS Plausibility error with parameter or program sequence 0 Unidentifiable runtime error 4 Unknown switching frequency or unknown device type detected The parameter list could not be initialized in the device start list 6 Said f Possibly incorrect table with device class parameters Runtime monitoring detected invalid parameter object incorrect 7 i data type or incorrect data width 8 The current operation level does not contain a readable parameter or parameter access error via KP10 11 Runtime monitoring detected invalid length of the automatically saved memory area
241. s 6 3 Overcurrent protection sscsecsecsseeeeees 8 14 OVENIDG minoria s 5 10 P Parameter Characteristic curve changeover 8 4 Characteristic curve data set changeover 8 4 Device data si dsscciidesssbedecesteccacsass 6 118 Motor holding brake sseeeeeeeee 6 92 Motor potentiometer function 6 59 Subject area _51ER Error messages 6 126 parameter datasets ceeeceeeeeeee 4 2 8 2 Parameters digital OUMDUTS cs c seveveceseseeseevenes 6 15 Setpoint structure seeeeeeeeeeee scene 6 54 Path optimized positioning of a round table 7 38 Permanent actual value display KP10 6 114 PICLOGIAMS sivssscesvcetecevevedetaversedeneeseee 0 2 PLC Command syntax scceseeeeeeeeeeees 7 10 Control parameters sceeeeeeeeeees 7 43 Line renumbering ssceeeeeeeeeees 7 7 New generation of program 006 7 5 PEC CdItOF 2 casccscccastcseccercuwededsneetiees 7 4 PLC program Structure ceeeeee eens 7 5 Programi file sseceececeeeevasteusdeesieseseess 7 7 Program handling ssceeeeeeeeeees 7 8 Sequential program ceeeeeeeeeeeees 7 6 SMAR OSC vsds seas cdiaseeadedewsvsideeveraste 7 7 Text declaration cs sscsssseveaassteevecssceveess 7 5 Text declaration file ceeeeeeeeeeeeees 7 7 Variables and flags eeeeeeeeeeees 7 42 Position Control
242. s Setting the function selectors FISAO and FISA1 Bus Setting Function Effect ISAO ISA1 38 0 10V Analog setpoint Setpoint specification 0 10 V Observe the standardization input 0 10 V and adapt the setpoint structure by means of the setpoint 5 Y selector 39 SCALE Torque scaling Online torque scaling 0 100 of the maximum value see chapter 6 2 2 The torque scaling is tapped directly after the analog filter Y and before the dead band The dead band is thus without any effect for these functions 40 PM10V Analog setpoint Setpoint specification 0 10 V Observe the standardization input and adapt the setpoint structure by means of the setpoint Y 10 V 10 V selector 41 0 20V Current input Only for P6000 Vv 0 20 mA current input 42 4 20V Current input Only for P6000 4 20mA If the current drops below 3 mA the open circuit monitoring Vv is triggered The reaction to this error message is determined by parameter 529 R WBK 43 OVR Speed override 0 150 Scaling of the parameterized travel speed in positioning see chapter 5 2 3 sub subject Speed override Vv The override is tapped directly after the analog filter and before the dead band The dead band is thus without any effect for these functions Table 6 11 Function selectors for analog inputs FISAO and FISA1 Application Manual P7000 P6000 6 28 watt i pratt gt gt gt 6 General software functions 6 1 4
243. s 6 10 TTL reference encoder input 0006 6 39 U E E T E T 5 6 User defined subject area _11UA 6 112 V Value display in exponential representation 3 12 Value ranges ss scectsatwetdusdieenedsiitecesssteteets 5 8 View of device and terminals 00 2 7 WwW Wait commands eeeeeeeeeeceeeeeeee 7 40 Warning messages Hysteresis cceeceecesceecesceecseeees 6 132 Warning thresholds csseeeeeceeeeees 6 132 B 6 watt drive 22D WATT DRIVE Antriebstechnik GmbH Wollersdorferstrasse 68 A 2753 Markt Piesting Austria Tel 43 2633 404 0 Fax 43 2633 404 220 Internet http www wattdrive com e mail watt wattdrive com WATT DRIVE GmbH Eickelstrasse 4 D 59759 Arnsberg Germany Tel 49 2932 9681 0 Fax 49 2932 9681 81 Internet http www wattdrive de e mail info wattdrive de ID no 1005 22B 0 00 10 2005 Technische Anderungen vorbehalten We reserve the right to make technical changes
244. s as the configuration of the reference encoder input see chapter 6 2 4 because the hardware interfaces are identical Changing the encoder parameterization thus has a direct influence on the configuration of the reference encoder 6 78 watt i pett gt gt gt gt 6 General software functions Selecting the encoder The encoder configuration is determined at the start configuration x Moree Encoder Motor protection Brake Select encoder combination RSRS 1 Resniver motes encoder resolver position encoder USER 0 set defied e G master encoder AS AS 4 f Y netee ey uar ton re PET SISI 2 SSi moter and porition encoder RSSI 3 Resotvertnolor encoder SSi gusion encoder TTLTT 4 TTL moter and postion encodes FiS TT 5 Resohvermotor encoder TTL ponition encoder Fig 6 41 Encoder configuration for P7000 Depending on the selection of encoder combinations the following settings can be made PROFITOOL Value range WE Unit Parameter Selection of encoder USER RS TT RS RS _ 430_ECTYP combinations E z _ENC Encoder Encoder El E2 BUS Setting Function User defined 0 USER Is set by the drive if e g the reference encoder has been parameterized Resolver 1 RS_RS Resolver motor and position encoder SSI 2 SI_SI SSI motor and position encoder TTL 4 TT_TT TTL motor and position encoder SSI 3 Resolver motor encoder SSI position HT_SI
245. s specified in parameter 524 R EXT see chapter 6 9 1 Error messages E EX External error Error messages from external devices cause an error message with reaction as specified in parameter 524 R EXT see chapter 6 9 1 Error messages Low active RSERR Resetting an error message Error messages are reset with an ascending flank if the error is no longer present see 6 9 1 Acknowledgement and resetting of errors TBTEA Travel set positioning Teach in for position travel set table see chapter 5 3 5 Teach in HOMST Start referencing Start referencing in accordance with the parameterized referencing type 730_HOMTD see chapter 5 2 4 Referencing TABO Travel set selection valence 2 Binary travel set selection bit 0 valence 2 for speed see chapter 4 5 or positioning see chapter 5 3 1 Table 6 5 Application Manual P7000 P6000 Function selectors for digital inputs drive 6 General software functions BUS Setting Function Effect 14 TABL Travel set selection valence 2 Binary travel set selection bit 1 valence 21 for speed see chapter 4 5 or positioning see chapter 5 3 1 15 TAB2 Travel set selection valence 22 Binary travel set selection bit 2 valence 2 for speed see chapter 4 5 or positioning see chapter 5 3 1 16 TAB3 Travel set sele
246. s x Fig 4 6 Mask Fixed speeds PROFITOOL Value range WE Unit Parameters 1 269 x RTAB _RTAB x fixed speed 0 15 Rotary speed 32764 0 32764 0 0 0 min Note The rotary speed profile is the same for all fixed speed The realization of a variable speed profile in dependence on the speed can be realized with a PLC program for an example please refer to chapter 7 5 4 4 7 Application Manual P7000 P6000 drive Application Manual P7000 P6000 4 P7000 P6000 in rotary speed operation Selection of fixed speed Fixed speeds can be selected via terminal or field bus Profile EasyDrive Basic The number of the active fixed speed is indicated by a parameter and binary coded via the outputs if parameterized The inputs planned for fixed speed selection are configured with FIxxx TABx The selection is binary coded The binary valence 2 21 2 23 results from the TABx assignment The setting TABO thereby has the lowest 2 the setting TAB3 the highest valence 2 A logic 1 level at the input activates the valence Changing the status of the terminal activates a new fixed speed Example 1E07 1E06 1E05 1E04 1 03 1E02 1E01 1E00 1s03 1502 1s01 iso0 5 ectable travel sets TAB3 TAB2 TAB1 TABO e2 0 15 23 22 21 2 TAB1 TABO TAB3 5 Z 0 3 21 20 33 8 11 Table
247. scexcesssecceesesive 5 25 Limit switch evaluation cseceeeeeeeeee 6 10 Limit values Travel S tsccsscwadihas tesecustamaecateaveesen 5 9 Limitation ceececeeceeseeees 4 5 6 34 8 8 Rotary SPCGd lt 2 ccccsscsvsccascessdees cateeseds 8 8 rotary Speed devecesdeewceessveedeesteaves 6 34 TONGUE ae aasan E TEA 8 8 LOMQUE asivsvutdseivesnddnaie canana 6 34 Loading device Software cceceeceeeeeee 2 13 Low voltage directive eceeeeseeeeeeeeeees 1 3 M Manual operation ccccecescceeenceeeeees 5 26 Master Slave operation ccseeeeseeeeees 6 39 Measures for your Safety csccesceeeeees 1 1 Menu level wsvssccesssvveresteveccesstveceeeweeees 3 10 Menu STUCHUFE sossssssssosssessasssssssssssnsssas 3 10 KeyPad ata glance ceeeeeeeee scenes 3 11 Application Manual P7000 P6000 Appendix B Index KP10 overview ccesceccesesceeeeeeeeees 3 10 MOJE cccssaadceveseandsns sas vavasvesecteassacvenss 5 32 Moment of inertia ccecescceeesceeeeeee 6 70 Of the system ee eeeeeeeeceesceeceeeee 6 65 CCUCHON coscsscesadtcsscceesscesessesseesees 6 65 Moments of inertia cceceecceeesceeeeeee 6 70 Motor SElECUON cn svewvcvecsaveccesvevecedeavveceeee 6 68 type designation cseceeeeeseeeeeees 6 70 Motor contactor control ceeceeceeceeeeees 6 21 Motor control control location cceceecceeeeeeeeeeeees 6 55 Motor data 22
248. source Application Manual P7000 P6000 Appendix B Index Feld DUS ce nstseescaetsaeceusceeeceteceageets 8 22 Setpoint specification Block diagram cessceeeceeeeeeeeees 6 50 Setpoint structure Display parameter sseeeeeeeeeees 6 54 Setting digital outputs for BRK2 eeeee 6 97 Motor protection characteristic 6 87 Setting and starting timers cceceeceeees 7 31 Setting operation levels via 36KP KeyPad 3 2 Settings 360 DISP and 361 BARG 06 6 115 651 CDSSI cis siesateastceesscaeacseneseadeves 8 4 Control location selector eeee 6 56 Control location selector 260 CLSEL 6 56 Function selector for digital outputs 6 15 Inputs motor potentiometer functions 6 60 Motor potentiometer function 4 6 59 Motor protection characteristic 6 86 settings 240 FOS00 246 FOEO3 eee 6 15 Short CICUIE sisseccestezestes tice E 2 15 SlaVG oie devevocdetae vedas aay s riir rikiai 6 39 Slip EE E 6 33 8 5 Jerk limitation sirsssissisrossisssessrississss 5 28 Slip time J TME nassen e with jerk limitation eeeeeeeeeeeeee Specification Interface contacts cssseeeeeeeeeeeees Interface contacts P7000 Speed Control cesccecsccecescceeeeceeees Speed CONO ceccscceeescceeescceeeeceeees 10V reference value via CANOPEN s cssccsccesscescocescessseeses
249. spec flag MXXX Ny END JMP spec flag 0 Ny END JMP spec flag 1 Ny END Value of an integer variable compare direct comparison JMP Hxxx 0 Ny END JMP Hxxx 0 Ny END Value of an integer variable compare comparison with second iable JMP Hxxx Hyyy Ny END variable JMP Hxxx Hyyy Ny END exceeded JMP Hxxx gt Hyyy Ny END JMP Hxxx gt Hyyy Ny END fallen short of JMP Hxxx lt Hyyy Ny END JMP Hxxx lt Hyyy Ny END Value of a floating point compare variable direct comparison JMP Fxxx 0 0 Ny END JMP Fxxx 0 0 Ny END Application Manual P7000 P6000 7 19 drive Value of a floating point variable comparison with second variable Status of a counter Status of a timer i Application Manual P7000 P6000 7 User programming compare JMP Fxxx Fyyy Ny END JMP Fxxx Fyyy Ny END exceeded JMP Fxxx gt Fyyy Ny END JMP Fxxx gt Fyyy Ny END fallen short of JMP Fxxx lt Fyyy Ny END JMP Fxxx lt Fyyy Ny END JMP Cxx d Ny END Jump if value is reached JMP Cxx d Ny END Jump if value is not reached JMP Zxx 0 Ny END Timer run out JMP Zxx 0 Ny END Timer not yet run out Note A query for equality is only possible with a run out timer i e 0 because it cannot be assured that a certain intermediate status t is reached at the time of the query 7 20 drive Applica
250. ss via variable Travel absolute by value of Hxxx W A Hxxx V Hyy with speed Hyyy and wait with program processing until target position is reached Travel relative by value of Hxxx with W R Hox V Hyyy speed Hyyy and wait with program processing until target position is reached SYN 1 SYN0 oe synchronous travel on and Command to stop the drive STOP B Braking with parameterized oe deceleration only with positioning STOP M Braking with quick stop ramp only with positioning Braking with quick stop ramp and STOP 0 shut down of control if control SET BRAKE 0 1 Mxxx SET HALT 0 1 Mxxx location PLC only with positioning Perform quick stop acc to quick stop reaction see 6 2 3 1 Perform quick stop 0 End quick stop Stop feed acc to reaction see 6 2 3 1 Stop axis 0 Enable axis Further commands NOP INV Oppi Mxxx Hxxx END Instruction without function Inverting Quits the program all other lines will be ignored Do not enter line number wart y gt 7 User programming Comm and Operand Comment Insert breakpoint into program line BRKPT evaluation with active breakpoints see page 7 11 Application Manual P7000 P6000 7 16 drive 7 3 2 Detailed explanations A Unconditional jump instructions Conditional jump instructions G Actual value Application Manual P7000 P6000 7 User programming Jump instructions and sub program invocation JMP e Unconditional
251. sss 4 7 4 6 Speed control with reference value and control via field bus sss 4 9 4 6 1 CANOpen rnn 4 9 4 6 2 PROFIBUS ciejnostsnnimnnm ee 4 10 4 7 Speed control with reference value via PLC 4 10 4 8 Assignment of control terminal wesc 4 10 4 8 1 Terminal assignment P7000 ou 4 11 4 8 2 Terminal assignment P6000 ou eee 4 12 Application Manual P7000 P6000 4 1 drive 4 1 Preset solutions 4 P7000 P6000 in rotary speed operation Pre set solutions are complete parameter datasets which are provided to handle a wide variety of typical application movement tasks The positioning controllers are automatically configured by setting a preset solution The parameters for e the control location of the positioning controller e the reference source e the assignment of signal processing input and outputs and e the type of control are the focal points of the setting The use of a pre set solution considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task A total of eleven preset solutions covers the typical areas of application for torque speed control with the closed loop controllers morals Retarencesoure ne a TCT_1 10V analog torque 1 0 terminals 4 8 2 SCT_1 10V analog 1 0 terminals 4 8 2 SCT_2 Fixed speed table 1 0 terminals 4 5 SCC_2 Fixed speed tab
252. sssccscsccececesece sasaedences eves 6 67 Motor database ccccecescceeeneeeeeeee 6 68 Motor holding brake sceeeeeeeeeeees 6 90 BRK Ios ccwescetccdeceretcas tours etasevaceveste 6 91 Timeidiagram zsivsseseccedsidescessetecests 6 98 Motor identification cecescceeesceeeeees 6 69 Motor potentiometer function 666 6 58 Motor power contactor sceeceeeseeeeee 6 21 Motor protection cseeceeeceeeeeeeeeeees 6 83 Motor protection characteristic Factory Setting cssviesceavexesesevaeeesss 6 86 Setting ccesesadsectesnsaetaee abeacseacssacees 6 87 Motor shaft ses sescesiceswsedsteseses teswssaedouees 5 7 Motor temperature monitoring 6 83 Motorhaltebremse BRK2 068 6 93 6 96 Movement tasks ssccecseeeeeeeeeees 4 2 8 2 N Nominal motor data cccescceceeceeeeees 6 69 O Operation and data structure cceeceeeee 3 1 Operation levels in the parameter structure 3 2 Operation levels parameter structure 3 2 Operation panel KP10 sssssssssesssssssssseese 6 57 Optional board Slot scccesesceeeeeeeeees 6 57 Output shalt 2 ceiscessaveiveecteiieescaevaeecnses 5 7 Output analog 2iscdeseesdsvecessssesessbsd ceeuts 6 29 Outputs digital s sicsssevscscsscvedessascecedgessecedss 6 13 Terminal extension module UM 8140 6 14 B 3 drive T e E E E 6 15 Outputs of positioning controller
253. starts automatically after Mains On or after resetting an error depending on the error reaction Function Meaning Value range WE Parameter Auto Start OFF Start Low High flank triggered OFF ON OFF pas ON Start Level triggered z Table 6 25 Parameter Auto Start Input options Setting for start enable Allow auhomalac sat Fig 6 26 Setting of Auto Start function with selection via terminal TERM Setting of control location selector 260 CLSEL BUS kani Function 0 OFF no function 1 TERM Control via terminal strip 2 KPAD Control via KEYPAD 3 SIO serial interface RS232 Serial Input Output 4 CAN Control via CANopen interface 5 OPTN Control via communication module 6 PLC Control via sequencing program Control via parameter interface f PARAM NO FUNCTION Table 6 26 Settings for 260 CLSEL control location selector Application Manual P7000 P6000 6 56 drive Terminals TERM Operation panel KeyPaD KP10 KPAD Serial interface SIO Li CANopen interface CAN Optional slot OPTN e g PROFIBUS Sequential program PLC Application Manual P7000 P6000 6 General software functions To start the controller in control mode Terminal a digital input must be parameterized to FIxxx START With the settings Flxxx STR STL a start command can be specified for a direction of rotation The start commands are thereb
254. sults in a soft controller setting e g for a toothed belt drive whereas a value of gt 100 causes a hard controller setting for hard mechanics free of clearance and elasticity The torque current controller is optimally adjusted to the respective motor by means of the motor data set or the identification The tab Current controller is available for adaptation and testing by means of a test signal Cormol Cuneni contiofer Power stage Gein TCG 36 V A Lag time TCTLG _36 ma Tureny cuveni contate Stop sire materi 1600 4 Testsignal activate d current Detaits Fig 6 33 Function mask for setting the current controller PROFITooL Value range WE Unit Parameter vale 800_CCG Amplification CCG 0 500 1 WA CTRL eee 801_CCTLG Integral action time CCTLG 0 1 100 3 6 ms CTRL 6 66 watt i maroo 6 General software functions 6 4 Motor and The motor data are required for controlling the motor For this purpose transducer you must select the mask Motor and encoder TiLmotar encoder TIL postion encoder Motor and encoder The setting takes place in four stages Motor data encoder Motor protection Brake POND 6 4 1 Motor data Function Effect Setting of motor data on the Optimal operative behaviour basis of existing data sets or of the motor in case of asynchronous motors motor identification The electric motor data and t
255. t has started as device protection see chapter 6 9 2 Warning messages 19 WOTM Warning motor Warning message if the motor temperature temperature has exceeded the value specified in parameter 502 WLTM see chapter 6 9 2 Warning messages 20 WOTI Warning heat sink Warning message if the heat sink temperature of device temperature of the device exceeds the value specified in parameter 500 WLTI Table 6 10 Setting the function selectors FOxxx for the digital outputs 6 16 drive 6 General software functions BUS Setting Function Effect 21 WOTD Warning internal temperature in device Warning message if the internal temperature in the device has exceeded the value specified in parameter 501 WLTD see chapter 6 9 2 Warning messages 22 WLIS Warning message apparent current limit value Warning message if the apparent current has exceeded the value specified in parameter 506 WLIS see chapter 6 9 2 Warning messages 23 WLS Warning message speed limit Warning message if the rotary speed has exceeded the value specified in parameter 505 WLS see chapter 6 9 2 Warning messages 24 WIT Warning Ixt integrator has started motor Warning message if the motor protection integrator has exceeded the programmable threshold 337 WLITM see chapter 6 9 2 Warning messages 25 S_RDY Device initialized The output becomes active if the de
256. t restarting If the error is no longer present the device may be restarted after confirming the error message With programmed auto start 7 AUTO ON automatic starting of the device is prevented LOCKH Brake drive with error stop ramp to 0 rpm then block the output stage Secure against restarting LOCKS If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON automatic starting of the device is prevented Table 6 54 Meaning of error reactions 6 129 drive Application Manual P7000 P6000 6 General software functions BUS KP PT Function 6 RESET Lock output stages and wait for error reset by mains off on Note This error can only be reset by switching the mains supply G off and on again After a reset the device performs an initialisation and self test phase During this time the bus connection is interrupted and signal changes at the inputs are not detected The outputs additionally take on their hardware rest position The completion of an initialisation and self test phase can be displayed via a digital output as Device operable If the error is no longer present and the device reports to be operable after the reset the device can be restarted With programmed auto start 7 AUTO ON the device starts automatically Table 6 54 Meaning of error reactions 6 130
257. tegrated current time value exceeds the limit value set in dependence on the power module by a certain triggering time E OC when detecting short circuit or earth fault The positioning controller can submit a warning when the xt device protection integrator is started The software and hardware of the positioning controller automatically takes over the monitoring and protection of the device The power stage protects itself against overheating in dependence on e the heat sink temperature e the applied d c link voltage e the transistor modules used in the power stages and e the modulation switching frequency Note The current heat sink temperature of the positioning controller in the area of the power transistors KTEMP and the internal device temperature DTEMP are displayed in C see chapter 6 8 2 Under high loads the I xt integrator is activated The I xt monitoring serves the purpose of protecting the device against permanent overloads The switch off limit is calculated on the basis of rated current and the overload ability of the controller warty 2 Equipment hardware Device Switch off limit I xt device P6000 0007SAC1 0 375 kW to P6000 0150TEW1 15 kW P7000 0024SACI 2 4 A 1 8 x Rated device current for 30 s to P7000 0320TEW1 32 A P6000 0220TFW1 22 kW to P6000 0900THW1 90 kW 1 5 x Rated device current for 60 s EOSIN 45 A 2 0 x Rated device current for 3 s
258. ter MPTYP linear jerk limited and JTIME can be used to slip linear ramps at their end points to limit the appearance of jerks Type of movement Setting dynamic jerky MPTYP 0 linear ramp without slip MPTYP 3 smoothened ramp by slip by Protecting mechanics J TIME ms Table 8 6 Activation of the jerk limitation Application Manual P7000 P6000 a drive Application Manual P7000 P6000 8 Speed Control OpenLoop for P7000 P6000 i gt n 1 min t s Fig 8 1 Speed profile generator for OpenLoop speed control Due to the jerk limitation the acceleration and deceleration times rise by the slip time JTIME The rotary speed profile is set in the PROFITOOL according to Fig 8 2 speed profile Upen loop xj Dataset 1 CDS1 Dots set 2 052 Ok Caral Apok Fig 8 2 Function mask speed profile OpenLoop PROFITOOL Value range WE Unit Parameter Acceleration 1 620 x_RACC Data set dependent 0 32760 1000 mintys CVF Deceleration 1 621 x_DECR Data set dependent ee 1000 mintys CVF n m 230_REF_R Area Reference reached 0 32760 30 OUT Table 8 7 Parameters speed profile generator OpenLoop 8 6 watt drive 8 Speed Control OpenLoop for P7000 P6000 PROFITOOL Value range WE Unit Parameter Type of profile 0 Linear ramp 0 3 3 597_MPTYP 3 J erk limited ramp ae
259. tes safety requirements for electrical controls They are intended to protect personnel and machinery and to maintain the function capability of the machine or plant concerned and must be observed An emergency stop system does not necessarily have to cut the power supply to the drive To protect against danger it may be more beneficial to keep individual drives running or to initiate specific safety sequences Execution of the emergency stop measure is assessed by means of a risk analysis of the machine or plant including the electrical equipment in accordance with DIN EN 1050 and is determined by selecting the circuit category in accordance with DIN EN 954 1 Safety of machines Safety related parts of controls 1 4 drive Application Manual P7000 P6000 2 Equipment hardware 2 1 Terminal positions P7000 sssrinin 2 2 2 2 Terminal positions P6000 sssrinin 27 2 3 Light emitting diodes ws LL 2 4 Resetting parameter SettingS sss 12 2 5 Loading device software wuss 2 13 2 6 Device protection wesc LG Info This chapter shows general items concerning the equipment hardware which are required to understand and work with the application manual Further information on equipment hardware can be found in the corresponding operating instructions for the positioning controllers 2 1 drive2 gt 2 1 Terminal positions P7000 Application Manual P7000 P6000 X7 X6 X5 H1 H2 X4
260. the CANopen baud rate and operating mode TxPDO Event control Evert control serdeng data TXPOO TOO2_ _TXPON3 TxPOO4 Ss OK Gace LEN 6 101 Application Manual P7000 P6000 drive Application Manual P7000 P6000 6 General software functions The 4 transmission PDOs are sent in asynchronous mode factory setting see CANopen user manual in dependence on one or several events The events for each individual PDO can be selected from individual function masks see example in Fig 6 51 The same event e g input IS02 can be used several times i e with each TX event control Event control XPD01 Send TXPD01 at changing of t1500 Ism 1502 1503 M 100 M Iegi M Ico M IE03 ovon ovo I PLC Ilag 38 1 I PLE Ilag 39 1 T CAN slatue word byte 0 1 CAN status word byte 2 3 Fig 6 51 Function mask event control for TxPDO1 with P6000 The events are saved bit by bit in the parameters TXEVn n 1 4 PROFITOoL Function Value range WE Parameter Button TXPDO1 Events for sending of the first 148 TXEV1 transmission PDO TxPDO1 Oh FFFFh 7000h CAN Bit by bit coded acc to Table 6 41 7 Button TXPDO2 Events for sending of the second 149 TXEV2 transmission PDO TxPDO2 Oh FFFFh 7000h CAN Bit by bit coded acc to Table 6 41 3 Button TXPDO3 Events for sending of the third 675 TXEV3 transmission PDO TxPDO3 Oh FFFFh 7000h CAN Bit by bit coded acc to Table 6
261. the separate documentation CANopen data transfer protocol The travel set specification and control via PROFIBUS requires the external communication module ULZ DPV1 Control and target position specification is in accordance with the EasyDrive profile DirectPos Detailed information on configuration of the drive controller in the network can be found in the separate documentation PROFIBUS data transfer protocol 5 40 drive 5 5 Positioning with PLC 5 6 Assignment of control terminal Application Manual P7000 P6000 5 P7000 P6000 in positioning operation For the preset solutions PCP_1 PCT_3 PCC_3 and PCB_3 the PLC is preset as source of reference values The specific settings on inputs and outputs for the control locations PLC PCP_1 terminal PCT_3 CANopen PCC_3 or PROFIBUS PCB_3 are described in chapter 5 6 With these presettings the various positioning commands GO x and STOP x can be used If the control location has also been set to PLC PCP_1 the command SET ENCTRL 0 1 can be used to switch the control off or on All general positioning functions as described under 5 2 can be used The travel set table can be called up via a special positioning commands GOT x Automatic linkage via repetitions and follow up orders as well as the switching points cannot be used when specifying reference values via PLC If the drive is controlled via field bus the special proprietary EasyDrive protoco
262. time for maximum 0 600 120 S seo MOET MOT current Motor protection characteristic in factory setting i IS ly 335 MOPCN fy 336 MOPFN f Hz gt Application Manual P7000 P6000 fn Fig 6 45 Setting the motor protection characteristic in factory setting 6 86 drive Setting the motor protection characteristic Application Manual P7000 P6000 6 General software functions ly 335 MOPCN fy 336 MOPFN lp 331 MOPCB fy 333 MOPFB 332 MOPCA WE factory setting f Hz gt fp fy Fig 6 46 Adaptation of characteristic by means of interpolation points below the rated frequency fy for e g IEC asynchronous standard motors Explanations on the adjustment of the motor protection characteristic e As a rule of thumb the motor protection characteristic or the operation of the IEC asynchronous standard motor should comply with the following limit values in order to protect the motor Frequency Hz Rated motor current 0 30 la 25 fp 80 Ip 50 fy 100 Iy Switch off point acc to VDE0530 at 150 x ly for 120 s For servo motors setting a constant characteristic is recommended The information provided by the manufacturer must be observed e The switch off point defines the permissible current time area up to switching off For IEC asynchronous motors the switch off point acc to VDE0530 h
263. times the rating of the motor 4 1 4 Effective with warm motor too long reaction with cold motor 5 No full protection because only based on the permissible current Table 6 35 Possible motor protections Application Manual P7000 P6000 6 89 drive 6 4 4 Motor holding brake Application Manual P7000 P6000 6 General software functions The following software functions are used in both the controlling as well as the regulating modes of operation Function Effect An electro magnetic holding e The holding brake closes brake can be triggered in when falling below a speed dependence on limit values limit e Time controlled releasing or applying of the holding brake can optionally be taken into account The motor holding brake has the two modes BRK1 only for U characteristic control and BRK2 Parameter settings for the motor holding brake are made with the buttons Outputs Gira mente Irguts Trupesuen encesa Motor and encoder 6 90 drive Application Manual P7000 P6000 6 General software functions Digtal ansogFOSAD Orga UMBIAD vetval 0500 NEF 10 Retecence reached x osm e OSO S_ADY 25 Device rtaized gt j Motor holding brake BRK1 This function can only be used for the U f characteristic control For a controlled variant the BRK2 function is to be used The following illustration shows the function of the motor holding brake within the
264. tion Manual P7000 P6000 7 User programming Sub programs CALL RET A sub program is a part of the main program No independent program header e g P01 is generated The invocation is not realized by means of JMP but via CALL CALL Ny Invocation of a sub program or a jump to the first program line of the sub program RET Return from the sub program Possible structure of the program the line numbers only serve as examples NO10 Start of main program NO50 CALL N110 Sub program invocation N100 JMP End of main program NILO Start of sub program N200 RET End of sub program After processing of the sub program the program is continued with the set following the invocation CALL The maximum nesting depth for sub programs is 250 If this number is exceeded an error message will be issued and the running program will be aborted Setting a breakpoint BRKPT With this command the sequential program can be interrupted at any line How to use breakpoints in a sequential program Activating deactivating breakpoints in the sequential program Ny SET BRKPT 1 0 Setting breakpoints in a line in the sequential program Ny BRKPT With activated breakpoints the program processing is interrupted in line Ny parameter 450 PLCST BRKPT By starting parameter operation status on Start in the PLC window 450 PLCST GO the program processing is continued with the next command line 7 21 drive
265. tion takes place in accordance with profile DS301 Control and target position specification is in accordance with the proprietary EasyDrive profile Basic Detailed information on configuration of the drive controller in the network can be found in the separate documentation CANopen data transfer protocol Profibus The speed specification and control via Profibus requires the external communication module ULZ DPV1 Control and speed specification is in accordance with the EasyDrive profile Basic Detailed information on configuration of the drive controller in a network can be found in the separate documentation Profibus data transfer protocol Application Manual P7000 P6000 8 22 drive Appendix A Al Overview of all error MESSAGES siiis A 2 Application Manual P7000 P6000 A 1 drive A 1 Overview of all error messages Application Manual P7000 P6000 Appendix A The error messages are divided into error including error number and fault location Detailed explanations on error history and reactions can be found in chapter 6 9 1 Error Fault e Error Description No location 1 E CPU Hardware or software error 0 Unidentifiable error in control print Error in self test 6 Parameter initialization failed due to incorrect parameter description 10 Insufficient RAM area for Scope function 16 Error in program data memory detected during run time Error in progra
266. tor current MOCNM x overload time MO Imax f ited motor current MOCNM 100 2 92 ove factor MOPCM K x I 100 100 6 88 watt i marono 6 General software functions e Ifthe integrated current time value exceeds the motor dependent adjusted limit value the positioning controllers switch off the motor with error message E OLM The reaction to the error Ixt shut down motor can be parameterized see chapter 6 9 1 This function replaces a motor protection switch e A Motor protection warning threshold to signalize an expected shut down can be adjusted as a percentage value of the maximum integrator value see chapter 6 9 2 Possible motor protections A B c D C D Motor Thermistor Software Motor PTC Type of protection rotection Motor PTC function monitoring overload switch e g P ae monitoring Motor and motor PKZM y protection protection Overload in permanent e operation 2 Hea ae starting Blocking 2 Blocking J Ambient temperature O O gt 50 C 2 Restriction of O O cooling 2 Converter operation lt 50 Hz O No protection Limited protection Full protection 1 Operation in motor line between positioning controller and motor not permitted 2 Controller and motor have the same power rating 1 1 3 The controller is at least four
267. tor temperature is displayed in the actual value menu button Actual values The KTY84 130 evaluation has an adjustable Motor temperature warning threshold to warn in case of an expected overtemperature shut down see chapter 6 9 2 With evaluations by means of KTY84 130 the limit value can be set with parameter 334 MOTMX Maximum temperature 6 84 drive A xt t 6 General software functions Motor current I2xt monitoring The Ixt monitoring protects the motor against overheating over the complete speed range This is especially important with self ventilated motors In case of longer operation of IEC asynchronous standard motors with low speed the cooling provided by blower and housing is not sufficient Self ventilated asynchronous motors thus need a reduction of the maximum permissible permanent current in dependence on the rotation frequency The rotation is calculated on basis of the actual motor speed Correctly adjusted this function replaces a motor protection switch The characteristic can be adapted to the operating conditions by means of interpolation points Motor Encoder Motor protection Brake Temperature monitoring OFF 0 No temperature e pa Masaru temperature 150 T lordy KTYB4 Pt monitoring Permitted continuous current L j i Rated motor cuert IN 1 100 x Inq 4 5 Rated metee frequency N 50 He bi 1 amont interpol point fla 100 x 2 cu
268. tors without encoder information is available for motors from WattDrive GmbH Using the correct motor dataset ensures e that the electrical data of the motor are correctly parameterized e that the motor protection tab Motor protection is correctly set and e the control circuits for the drive are preset 6 68 drive Setting the nominal motor data Application Manual P7000 P6000 6 General software functions Motor databases for motors from WattDrive GmbH are not part of the PROFITOOL or its installation The motor databases are separately stored on the PROFITOOL installation CD ROM and can be installed from there Up to date versions can be downloaded from the website http www lust antriebstechnik de The Setup installs the motor database into the default directory of the PROFITOOL If a motor dataset is supplied on a data carrier floppy disk CD ROM it can be directly loaded via button Other directory Attention When selecting motor data from the database it must be assured that both the nominal data as well as the wiring are in accordance with the application This applies in particular for rated voltage speed and frequency Motor identification for asynchronous motors with P6000 If the motor data for the respective motor are not available the motor can be measured using the option Motor identification to calculate the controller setting As a prerequisite for successful motor identificati
269. trictly be adapted to the application described hereunder Basis for these examples is a gear motor with a rated speed of 1395 min 1 and a transmission ratio of 9 17 WattDrive GmbH therefore does not assume any responsibility and will not accept any liability for damage resulting from the type of use of this programming material or of parts thereof The numerical values for path speed and acceleration solely refer to the programming units specified in the positioning controllers 7 45 drive 7 5 1 Conveyor belt Application Manual P7000 P6000 7 User programming After the start the conveyor belt drive shall advance the belt by 1m corresponds with 10 revolutions of the output shaft with a speed of 35 mm s After a waiting time of 5 s the process shall be repeated until the input is reset Input used ISD03 Setting units and standardization in the standardization assistant Position mm Speed mm s Acceleration mm s2 Feed constant 1000 mm corresponds with 10 revolutions of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 Adapting the travel profile Max speed 250 mm s Max starting acceleration 50 mm s2 Max braking acceleration 50 mm s The example program can be transferred to the controller after referencing has been parameterized as described in chapter 5 2 4 STEXT Conveyor Belt DEF H001 Path DEF H002 Speed END P00 N001 SET H001 1000
270. trollers Types of project planning Fig 6 37 Project planning with one encoder Two different installation variants are possible e Mounting of encoder E1 to the motor Inverting the sense of rotation by using a ratio n1 n2 1 1 is possible e Mounting encoder E1 to the mechanics or gearbox output shaft dashed encoder E1 in Fig 6 37 Prerequisite is a fixed ratio n1 n2 between drive and output n1 n2 must be parameterized For a sufficient generation of a rotating field a position resolution of at least 7 bit 128 pulses related to one revolution of the motor shaft is required 6 74 drive Project planning with two encoders Accepted encoders Application Manual P7000 P6000 6 General software functions Example Encoder with 2048 pulses revolution n1 n2 10 gt 204 8 pulses revolution related to the motor shaft gt 7 bit gt 0 k For compensation of inaccuracies in the mechanics looseness play or for exact determination of the absolute position of the moving mechanics for positioning without referencing a second encoder E2 can be directly mounted to the mechanics DRIVE position VLLLLLLLLLN Fig 6 38 Project planning with two encoders e Encoder 1 on motor for speed regulation and commutation Encoder 2 on mechanics or gearbox output shaft for position control The transmission ratio n1 n2 must be parameterized Encoder for P6000
271. ture 3 3 Operation with Installation and connection of the operation panel KP10 operation a panel eoeesseee eoevvreve 2 Fig 3 7 Installation of the operation panel a on the positioning controller plug X4 for P7000 P6000 or b on the control cabinet door Control and display elements Chip card DATACARD to save and transfer settings Q 3 digit numerical display e g for parameter number 3 current menu 4 5 digit numerical display for parameter name and value Acceleration and deceleration ramp active 6 Bar graph display 10 digit Call up menu branches or parameters save changes Control start in drive Select menu subject area or parameter Increase setting Quit menu branches Cancel changes Control stop in drive oD Select menu subject area or parameter Reduce setting Fig 3 8 Control and display elements of the operation panel KP10 Application Manual P7000 P6000 3 9 drive Menu structure 3 Operation structure The KP10 operation panel has a menu structure for clearly arranged Actual values Subject area Drive DATACARD select select control read show Parameters write e select e Write Capacity indicator change protection Initial commissioning Fig 3 9 Menu functions In the menu level display MENU one can use the arrow keys to change between menus The Start Enter key opens a men
272. u the Stop Return key closes the menu aD MONI I MENT I a PILING I ILIV D sta Sta Stal Sta T F Application Manual P7000 P6000 Fig 3 10 Navigating through the menu level Note Parameter changes in the menu branch PARA only take place in the volatile random access memory and must subsequently be permanently saved to the read only memory In menu level this can be simply accomplished by simultaneous pressing of both arrow keys for approx 2 seconds 3 10 drive 3 Operation structure vat GED CARD A MENU P MENU P MENU MENU TTT TIT OT OTT Pac a gt a aD ew ADAAN ron TN B Wig 3 LUNI p STOP READ le b Sanne AT LLLI OT We T oS 7 T cg 0 9 T lt 2 go cD caro ES TH It a gt C1 ANP AUTO Ss DEEL e ALLS LT OT in Minne 22m T c2 p Lp ININE V a ININE V a for field INICA e INDE A ee para LETTE LETT TTT meters only _ amp T pe Ta er a l a l ce a Ty D gbi OFF p 9558 amp READS b MN OT mm O TT mp O A Select menu VAL Select menu PARA Select menu CTRL Select menu CARD load save show actual values parameterizing control drive with DATACARD B Show permanent actual Select the expert field Drive has stopped READ load from DC selection valu
273. ual P7000 P6000 6 General software functions Time diagram for the motor holding brake BRK2 n mint POWER BRK2 0 p REF TCTRL Pe gt MPT POWER Converter output stage BRK2 digital output MPT Flow build up phase motor automatically generated via control After successful build up of flow torque can be memorized Fig 6 48 Function of the motor holding brake BRK2 Erlauterungen Setpoint 0 min In the start phase the motor holding brake is switched in dependence on the setpoint If the current setpoint specification is 0 min the magnetizing phase for the built up of flow in the motor is executed over the time MPT The output BRK2 subsequently becomes active and the timing element 316 TREF is activated The time 316 TREF must be parameterized to the brake application time Upon expiration of the time 316 TREF the brake should be released and acceleration to the specified setpoint should take place After the time 316 TREF has expired the functionality of the motor holding brake BRK2 the message Setpoint reached and the standstill detection is determined by the actual value of the rotor Sollwert 0 min If with setpoint 0 min the actual value is in the window Setpoint reached of the parameter 230 REF_R in parameterization standstill of the motor is detected At the same time the timing element 317 6 94 drive Ap
274. ual heat sink lt 15 kW Temperatures gt 100 C in the temperature output stage module correspond with temperatures gt 85 C on the heat sink and causes shut down 200 C gt 15 kW Temperatures gt 85 C cause shut down because the temperature sensor is directly mounted to the heat sink DTEMP actual inside Inside temperatures gt 85 C cause shut 200 C temperature down DCV d c link direct Reference values depend on device design 500 V voltage P6000S 500 V 1000 V P6000T 1000 V ACTT current actual max torque torque Table 6 45 Standardization of actual parameter values 6 116 drive 6 8 Actual values ie 6 8 1 Temperature monitoring Application Manual P7000 P6000 6 General software functions Actual valves _ Function Effect e Visualization of device and motor temperatures Acutal values Temperatures Device Option CANopen Heat snk C Interior C Motce forby KTYB4 C Fig 6 58 Actual temperature display see chapter 6 9 2 e If a temperature of 150 C is exceeded a parameterizable error message will be displayed see chapter 6 9 1 PROFITooL Meaning Unit Parameter Heat sink Heat sink temperature of positioning controllers C 427 KTEMP _VAL Inside Inside temperature of positioning controllers o 425 DTEMP _VAL Motor Motor temperature Is only displayed if the motor is equipped with a linear temperature sensor KTY84 130 a
275. ue ranges in programming The cycle time of the sequencing control has been exceeded 221 i e the processing of the program takes more time than permitted 223 Error in indexed addressing e g SET H000 H C01 18 E SIO Error in serial interface 9 Watchdog for monitoring of communication via LustBus has tripped 19 E EEP Faulty EEPROM 0 Error when accessing the parameter ROM 2 Error when writing to the parameter ROM 4 Error when reading the parameter ROM in the device boot phase 7 Error when writing a String parameter to the parameter ROM 11 Checksum error when initializing the AutoSave parameters 15 Checksum error when initializing the device setting 20 E WBK Open circuit at current input 4 20 mA 1 Wire breakage at current input 4 to 20mA detected 127 Phase failure on motor detected A 8 watt i Aa Appendix A Error Fault ae No Error location Description 30 E ENC Error in rotary position transducer interface 0 Error in encoder interface 1 Error in encoder interface Wire breakage in track signals detected 117 Initialization of SSI interface 127 Error in commutation finding The commutation angle has not been determined accurately enough 137 Wire breakage SSI encoder 32 E FLW Servolag 240 Servo lag 33 E SWL Software limit switch evaluation has responded 0 Error in internal setpoint limitation 243 Positive software
276. ult e Display and resetting of drive system faults Setting of fault reactions Last error Erce JE CAN 31 322h Disgrosis Tene pork E mn Enot reactors Reset error Emor Festoty andist E0 00h e Adisa EO 00h Alh lsat EO 00h Warmgs Status Waning thresholds Fig 6 64 Tab Warnings errors Error messages Error messages can be detected and evaluated via the status LEDs of the controllers and the PROFITOOL A red flashing LED H1 indicates a fault The reaction to a fault can be parameterized in dependence on the cause of the fault Application Manual P7000 P6000 ee E cause of 1x E CPU various Collective error message 2x E OFF Undervoltage cut off 3x E OC Overcurrent cut off 4x E OV Overvoltage cut off Table 6 51 Error message signal 6 124 drive View of the error history in the PROFITOOL Application Manual P7000 P6000 6 General software functions es evan fae Cause of fault 5x E OLM Motor overloaded 6x E OLI Device overloaded 7x E OTM Motor temperature too high 8x E OTI Heat sink device temperature too high Table 6 51 Error message signal Note Further error numbers and possible causes can be found in the appendix Representation of the error history The last four errors are stored in the history Each error is saved with an error location number and the error time related to the operating hour mete
277. unction of buttons Explanation of setting Application Manual P7000 P6000 3 Operation structure Example Operation via mask 09 Ca Dio ZEA pomosaam AETS rpa ietie n poera ogan dH TEOTEO imsw aheem Fig 3 4 Example for operation via mask OK Accept changes and close mask Cancel Cancel changes and close mask Accept Accept changes activate and keep mask open Options gt Optional settings for the corresponding function for example Function max five digits Setting via Plain text display Display in operation panel KP200 XL field bus of function E ee ee Cee ee Se oe oe eae drive Application Manual P7000 P6000 3 Operation structure Help function In any input window key F1 can be used to call up a help function with further information on the corresponding parameter e g the mask Function selector analog standard input Parameter properties x ISAR Function selector Indication Value range Access Format Poramete number pa Symbol pisaan Fig 3 5 Identification Parameter number Number of parameter Abbreviation Name max five digits display in KP10 ISA Function selector Minimum OFF 0 Mmimum 4 20 424 Factoy sting Pvn a Fig 3 6 Value range Minimum Maximum Value range here between OFF and E EX Factory setting After a device reset to factory setting WE this value is automatically entered WaS 3 Operation struc
278. up order ole e AEE A ES 5 30 5 3 3 Parameterization of the travel set table 5 32 5 3 4 Switching points sessie 5 37 5 3 5 TEACA Iisa onie ieee 5 39 5 4 Positioning and control via field bus sss 5 40 5 4 1 CANOPEN sicsipatsasetassdlieitinenltesknacacdtanateretanencteagantes 5 40 5 4 2 PROFIBUS cesuets ceetaeseszscesh cactsnes eucalshagad enue viatsess 5 40 5 5 Positioning With PLC vss 5 41 5 6 Assignment of control terminal wens 5 41 5 6 1 Terminal assignment P7000 ou eee 5 42 5 6 2 Terminal assignment P6000 vcs 5 43 Application Manual P7000 P6000 5 1 drive 5 P7000 P6000 in positioning operation 5 1 Pre set Pre set solutions are complete parameter data sets which are provided to solutions handle a wide variety of typical application movement tasks The position controllers are automatically configured by loading a pre set solution into the random access memory RAM The parameters for e the control location of the drive controller e the reference source e the assignment of signal processing input and outputs and e the type of control are the focal points of the setting The use of a pre set solution considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task These modified pre set solutions are saved in the device as customized
279. us 1 gt Warning Error Control active Motor turning clockwise Motor turning anti clockwise Motor standstill Setpoint limitation Setpoint reached Reference point defined Quick stop active Deenergized state Control standby state Undervoltage warning Overvoltage warning Warning It Warning motor overtemperature Warning heat sink temperature Warning inside temperature at present no function always 1 at present no function always 1 at present no function always 1 Warning I t motor protection Warning torque Setpoint position reached Controller off on Invert setpoint only with speed and torque control Trigger error marno 7 User programming Comm R Operand Comment ERRRQ 1 Mxxx Reset error SET BRKPT 0 1 Mxxx Breakpoints off on BRAKE 0 1 Mxxx Quick stop off on HALT 0 1 Mxxx Halt Feed off on PCTRL 0 1 Mxxx no function Read reference encoder increments Hxxx EGEARPOS EGEARSPEED reference encoder speed F CXX H Cxx M Cxx Value Indexed assignment Hxxx z Hyyy H Cyy Fxxx Mxxx Cyy Zxx Set variable H Cxx z Hyyy Set integer variable indexed Hxxx z Hyyy Calculate variable Hxxx lt lt gt gt z Hyyy Displace variable Hxxx ABS Hyyy Variable absolute value generation Hxxx PARA n PARA n i Set variable Hxxx Fxxx REFPOS Position setpoint Hxxx Fxxx ACTPOS Actual position value Hxxx Fxxx ACTFRQ Assign actual frequency Hz
280. vailable as with the digital inputs see also Table 6 5 In addition there are the settings 0 10V 38 to OVR 43 for use as analog inputs Table 6 11 shows these additional adjustment possibilities of the function selectors Function selectors FISAO and FISA1 PROFITOOL Meaning Value range WE Unit Parameters Determination of the PM10V 180_FISAO Function internal processing of OFF 4 20 181_FISA1 i OFF y analog input signals IN Dead band around 192_IADBO Dead band zero 0 00 999 95 0 00 193 IADB1 IN Filter time of the 188_AFILO Filter analog input 0 7 3 ms 189_AFIL1 IN Setting of filters AFILO and AFIL1 PROFITOOL Meaning 0 ms 300 us 500 us lms 2 ms 4ms 8 ms SSD HO A w N ej 16 ms 3 Options C Various options are available depending on the setting Function Fig 6 15 shows the options mask for setting the function selector to PM10 V 40 analog setpoint input 10V 10V Application Manual P7000 P6000 6 25 drive Analog input options 10V conesponds to amp 0V coresponds to OV conesponds to 10V conesponds to 6 General software functions Parameter for the analog input ISAO Fig 6 15 Options analog input ISAO with setting PM10V PROFITOOL Meaning Value range WE Unit Parameters 1 Maximum value ISA00 at 10
281. ve Example travel set linkage with follow up order logic Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Delay time This field will only become active if the delay time DT SW DT for the follow up order has been selected under start condition PROFITOOL Value range WE Unit Parameters 763 x_FODT Delay time 0 65535 0 ms _RTAB x travel set 0 15 The following picture shows two examples for positioning with follow up order travel set 2 FOST SW DT or SW DT Travel set 1 Travel set 2 v FOST WSTP Travel set 1 Travel set 2 Switching point A and B Two switching points can be evaluated per travel set Switching points 0 3 are selected via two parameters The entry 0 does not select a switching point inactive PROFITOOL Value range WE Unit Parameters 771 x_PTSP1 Switching point A 0 4 0 _RTAB x travel set 0 15 772 x_PTSP2 Switching point B 0 4 0 _RTAB x travel set 0 15 5 36 watt dr ive 5 P7000 P6000 in positioning operation 5 3 4 Switching Four switching points can be defined Each switching point can modify up points to three markers The switching points can be used in all travel sets A maximum of two switching points can be used in each travel set Configuration takes place via the travel set dependent switching point configuration Each switching point has the followin
282. ve Type 31 and 32 Type 33 and 34 index signal Type 35 Application Manual P7000 P6000 5 P7000 P6000 in positioning operation Type 1 analog Type 17 Type 4 analog Type 20 Type 8 analog Type 24 Type 12 analog Type 28 Type 14 analog Type 30 Table 5 8 Type analogy for the individual types of referencing These types of referencing are not defined The zero point corresponds with the first index signal in direction of movement SS 1 Index signal Fig 5 14 Type 33 and 34 index signal The current position complies with the zero point No reset is performed 5 24 watt drive 5 P7000 P6000 in positioning operation 5 2 5 Limit switch Software limit switch The software limit switches are only valid for positioning They only become active after successful referencing The software limit switches are only activated by identical setting limit switch limit switch 0 Positioning lable process sets control wa terminal Software endswitch Positive 0 Giad Negotive 0 Giad Hardware endiwiches can be set vie function mask Ingats PROFITOOL Meaning Value range WE Unit Parameters Positive HE a ee 0 variable SNIGE Pa 2147483647 PBAS rotation software limitswitch 3147483648 760 SWLSN Negative in negative sense of 2147483647 0 variable PBAS rotation The behaviour or reaction depen
283. vice has been initialized after the power supply has been switched on 26 C_RDY Device operable The output becomes active if the device is operable by setting the signal ENPO and no error message is applied 27 USERO 28 USER1 Reserved for special 29 USER2 software 30 USER3 Output can be used by special software 31 WLTQ Warning message torque limit value exceeded Warning message if the torque exceeds the value specified in parameter 507 WLTQ 32 ENMO Switching of motor contactor The output becomes active when starting the control and the up time is extended by the time 247 TENMO when cancelling the start and stopping the drive see Explanation of various functions 33 ENMO Switching of motor contactor denied function The output becomes inactive when starting the control and the down time is extended by the time 247 TENMO when cancelling the start and stopping the drive see Explanation of various functions Application Manual P7000 P6000 Table 6 10 Setting the function selectors FOxxx for the digital outputs 6 17 drive Application Manual P7000 P6000 6 General software functions BUS Setting Function Effect 34 PLC Output of sequential Output is set by PLC program e g SET program ca
284. will occur when the output stage is active or the motor is still excited These will certainly not destroy the output stage of the positioning controller but will occasionally cause E OC 1 error messages The output stage is already deactivated with message E OC 1 when the overcurrent is detected With the programmable time delay TEOC the error message is held back and after this time has expired the system will check whether the hardware release ENPO is still set In this case the error message is signalized The error stop ramp can be parameterized in a separate tab see see chapter 6 2 3 BUS KP PT Function NOERR no reaction Trigger warning message no further reaction concerning the drive This warning is not of the same significance as the warning messages in chapter 6 9 2 NOTE In contrast to the general definition the error reaction Software limit switch causes a quick stop WARN Lock output stage If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON the device starts automatically after the reset HALT Brake drive with error stop ramp to 0 rpm then block the output stage If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON the device starts automatically after the reset STOP Block output stage and lock agains
285. xis is energized with speed 0 2 7 7 Braking with max dynamics at the current level The speed setpoint is set to 0 The drive remains in quick stop state the axis is energized with speed 0 2 8 8 Braking with max dynamics at the current level The speed setpoint is set to 0 The drive remains in quick stop state the axis is energized with speed 0 2 1 Transition to the state Technology ready is only possible by resetting the quick stop request In Quick stop state cancelling the signal Start closed loop control drive has no effect as long as the quick stop request is not reset as well Table 6 16 Setting the reactions with quick stop Reaction with error The reaction of the error stop ramp always depends on the corresponding error This is described in chapter 6 9 6 2 4 Reference encoder Function Effect Master Slave TTLor HTL reference encoder input as Following axis Slave operation setpoint source Master Speed and angle synchronous Voltageless connection when using the HTL synchronism related to a input on P6000 leading axis Master Emos e AIB incremental or pulse direction signals Master Slave operation e Transmission ratio can be set in form of a fraction The configuration of the reference encoder input must be set in function Setpoint ramps option Reference encoder Application Manual P7000 P6000 6 39 drive Li H Application Manual P
286. xxx amp Myyy Logic AND SET Mxxx Myyy Logic OR SET Mxxx Myyy Logic EXCLUSIVE OR via integer variable SET Mxxx Hxxx Assignment of LSB for Hxxx via digital inputs and outputs SET Mxxx Ippi assign status input SET Mxxx Oppi assign status output Setting special markers SET Mxxx STA_ERR Drive in error status variables status variables SET Mxxx STA_WRN Drive in warning status f SET Mxxx STA_ERR_WRN Drive in status error warning SET Mxxx STA_ACTIV Control active SET Mxxx STA_ROT_R Motor rotating clockwise SET Mxxx STA_ROT_L Motor rotating anti clockwise SET Mxxx STA_ROT_0 Motor stopped SET Mxxx STA_LIMIT Limit reached SET Mxxx STA_REF Setpoint reached SET Mxxx STA_HOMATD Axis referenced SET Mxxx STA_BRAKE Drive in braking state SET Mxxx STA_OFF Drive in de energized state SET Mxxx STA_C_RDY Drive in status Controller ready SET Mxxx STA_WUV Warning undervoltage SET Mxxx STA_WOV Warning overvoltage SET Mxxx STA WIIT Warning warning I 2 t SET Mxxx STA_WOTM Warning motor overtemperature SET Mxxx STA_WOTI Warning heat sink temperature SET Mxxx STA_WOTD Warning inside temperature SET Mxxx STA WIS Warning apparent current limit value SET Mxxx STA_WFOUT Warning output frequency limit value SET Mxxx STA_WFDIG Warning setpoint master error SET Mxxx STA WIT Warning I t motor protection SET Mxxx STA_WTQ Warning torque SET Mxxx STA_INPOS Position setpoint reached only with positi
287. y reserved for motor code setting or Master Slave ECTTL valid coupling A_B 0 Two 90 phase displaced incremental signals A B serve as input signals 484 ECST1 Signal type A_DIR 1 Track A is the clock input Track B defines A_B 0 A_DIR 1 A_B 0 inal 4 z a _ENC the direction of counting or rotation Low clockwise High anti clockwise Ratio Reference encoder pulses input pulse 32 8192 1024 arene revolution L Numerator for ratio between leading and following Ratio axis If leading and following axes are be counter 32768 32767 1 435 ECNO1 numerator 2 rotating a negative numerator must be entered The ENC numerator can be changed online Denominator for ratio between leading and oe 3 following axis The denominator can be changed 0 65535 1 eae offline controller off Table 6 19 Application Manual P7000 P6000 6 42 Configuration of a TTL reference encoder watt i WATES SS 6 General software functions Configuration of a HTL reference encoder with P6000 The digital inputs ISD02 and ISD03 must be set to Encoder input ENC 37 PROFItool Meaning Value range WE Unit Parameters A_B 0 Two 90 phase displaced incremental signals A B serve as input signals 483 ECST2 Signal type A_DIR 1 Track A is the clock input Track B defines A_B 0 A_DIR 1 A_B 0 ae i l z ENC the direction of counting or rotation Low clockwise
288. y decisive for the sense of rotation In order to save an input the start function with Auto Start can also be parameterized to a virtual input The controller is in this case started by setting the hardware release ENPO In the CONTROL menu the operation panel completely takes over the controller It sets the control location selector and the setpoint channel 1 to KP10 The second setpoint channel is disabled With the operation panel one can take over the control of the closed loop control and specify a signed setpoint to determine the sense of rotation A special bus protocol is used to control the positioning controllers via the serial interface terminal X4 The operating software PROFITOOL uses this protocol for communication and control of the positioning controllers As soon as the PROFITOOL function Control device is called up the control location is set to SIO Once the end of the control window is reached the PROFITOOL resets the original parameter setting Note If the communication between positioning controller and PROFITOOL is interrupted the setting cannot be reset by the PROFITOOL The positioning controller is controlled via a device internal CANopen interface Control modes according to the CANopen device profile DSP402 and the manufacturer specific protocol EASYDRIVE are available The control of the positioning controller via communication modules can take place through the manufacturer specific protoc

Application Manual - Watt Drive Antriebstechnik GmbH

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